Changed build system

9 files changed, 195 insertions, 51 deletions

diff --git a/.gitmodules b/.gitmodules
index 6ada206..e95254d 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,3 +4,6 @@
 [submodule "whisper-asr-webservice"]
 	path = whisper-asr-webservice
 	url = https://github.com/ahmetoner/whisper-asr-webservice
+[submodule "noetic-llama/src/pal_msgs"]
+	path = noetic-llama/src/pal_msgs
+	url = git@github.com:pal-robotics/pal_msgs.git
diff --git a/noetic-llama/src/ollamawrapper/CMakeLists.txt b/noetic-llama/src/ollamawrapper/CMakeLists.txt
index 4533887..82b4be4 100644
--- a/noetic-llama/src/ollamawrapper/CMakeLists.txt
+++ b/noetic-llama/src/ollamawrapper/CMakeLists.txt
@@ -21,7 +21,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+catkin_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##
diff --git a/noetic-llama/src/ollamawrapper/setup.py b/noetic-llama/src/ollamawrapper/setup.py
new file mode 100644
index 0000000..221ba55
--- /dev/null
+++ b/noetic-llama/src/ollamawrapper/setup.py
@@ -0,0 +1,9 @@
+from setuptools import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+setup_args = generate_distutils_setup(
+    packages = ["capabilities"],
+    package_dir = {"": "src"}
+)
+
+setup(**setup_args)
\ No newline at end of file
diff --git a/noetic-llama/src/ollamawrapper/src/capabilities/__init__.py b/noetic-llama/src/ollamawrapper/src/capabilities/__init__.py
index 7c07dce..daf617c 100644
--- a/noetic-llama/src/ollamawrapper/src/capabilities/__init__.py
+++ b/noetic-llama/src/ollamawrapper/src/capabilities/__init__.py
@@ -1,2 +1,3 @@
 from .weather import *
-from .basicmaths import *
\ No newline at end of file
+from .basicmaths import *
+# from .gestures import *
\ No newline at end of file
diff --git a/noetic-llama/src/ollamawrapper/src/capabilities/basicmaths.py b/noetic-llama/src/ollamawrapper/src/capabilities/basicmaths.py
index e2491e0..ebad59c 100644
--- a/noetic-llama/src/ollamawrapper/src/capabilities/basicmaths.py
+++ b/noetic-llama/src/ollamawrapper/src/capabilities/basicmaths.py
@@ -1,5 +1,7 @@
+import rospy
 
-def add(num1=1, num2=2):
+
+def add(num1, num2):
     """Returns the output of two numbers added together
 
     Args:
@@ -9,4 +11,45 @@ def add(num1=1, num2=2):
     Returns:
         int: The sum of the two numbers
     """
-    print("%f + %f = %f" % (num1, num2, num1 + num2))
\ No newline at end of file
+    print("%f + %f = %f" % (num1, num2, num1 + num2))
+    return num1 + num2
+
+def sub(num1, num2):
+    """Returns the output of two numbers subtracted from each other
+
+    Args:
+        num1 (int): The first number
+        num2 (int): A number to subtract the first number from
+    """
+    print("%f - %f = %f" % (num1, num2, num1 - num2))
+    return num1 - num2
+
+
+def mult(num1, num2):
+    """Returns the output of two numbers multiplied with each other
+
+    Args:
+        num1 (int): The first number to multiply together
+        num2 (int): The second number to multiply together
+    """
+    print("%f × %f = %f" % (num1, num2, num1 * num2))
+    return  num1 * num2
+
+def div(num1, num2):
+    """Returns the output of two numbers divided with each other
+
+    Args:
+        num1 (int): The enumerator
+        num2 (int): The denominator
+    """
+    print("%f ÷ %f = %f" % (num1, num2, num1 / num2))
+    return num1 / num2
+
+"""class A:
+    def funct():
+
+
+a = A()
+
+def func():
+    a.funct()"""
diff --git a/noetic-llama/src/ollamawrapper/src/capabilities/gestures.py b/noetic-llama/src/ollamawrapper/src/capabilities/gestures.py
new file mode 100644
index 0000000..683a7a3
--- /dev/null
+++ b/noetic-llama/src/ollamawrapper/src/capabilities/gestures.py
@@ -0,0 +1,82 @@
+#!/usr/bin/env python
+import sys
+import rospy
+from move_base_msgs.msg import MoveBaseAction , MoveBaseGoal
+import moveit_commander
+import actionlib
+from pal_interaction_msgs.msg import TtsActionGoal, TtsAction, TtsGoal
+from geometry_msgs.msg import PoseStamped
+
+class arm_move:
+    def __init__(self):
+        moveit_commander.roscpp_initialize(sys.argv)
+        self.ac = actionlib.SimpleActionClient('/tts' , TtsAction)
+        self.ac.wait_for_server()
+        self.tts_goal = TtsActionGoal()
+        self.tts_goal.goal.rawtext.text = 'Hi,_I_am_up'
+        self.tts_goal.goal.rawtext.lang_id = 'en_GB'
+        self.ac.send_goal(self.tts_goal.goal)
+        self.scene = moveit_commander.PlanningSceneInterface()
+        self.arm = moveit_commander.MoveGroupCommander('arm')
+        self.reference_frame = 'arm_1_link'
+        self.arm.set_pose_reference_frame(self.reference_frame)
+        self.arm.allow_replanning(True)
+        self.target_pose = PoseStamped()
+        self.target_pose.header.frame_id = self.reference_frame
+        self.object1_move_1 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94]
+        self.object1_move_2 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94]
+        self.object1_move_3 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94]
+        self.object2_move_1 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94]
+        self.object2_move_2 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94]
+        self.object2_move_3 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94]
+        self.object3_move_1 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94]
+        self.object3_move_2 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94]
+        self.object3_move_3 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94]
+
+    def goto_obj1(self):
+        """
+        A Function for reaching to object 1 # change the name of the object here
+        """
+        self.arm.go(self.object1_move_1 , wait=True)
+        rospy.sleep(5)
+        self.arm.go(self.object1_move_2 , wait=True)
+        rospy.sleep(5)
+        self.arm.go(self.object1_move_3 , wait=True)
+
+    def goto_obj2(self):
+        """
+        A Function for reaching to object 1 # change the name of the object here
+        """
+        self.arm.go(self.object2_move_1 , wait=True)
+        rospy.sleep(5)
+        self.arm.go(self.object2_move_2 , wait=True)
+        rospy.sleep(5)
+        self.arm.go(self.object2_move_3 , wait=True)
+
+    def goto_obj3(self):
+        """
+        A Function for reaching to object 1 # change the name of the object here
+        """
+        self.arm.go(self.object3_move_1 , wait=True)
+        rospy.sleep(5)
+        self.arm.go(self.object3_move_2 , wait=True)
+        rospy.sleep(5)
+        self.arm.go(self.object3_move_3 , wait=True)
+
+    def speak(self, params):
+        """
+        A function to speaking 
+        
+        """
+        self.goal.goal.rawtext.text = params # 'Please_take_the_bottle_from_my_hand'
+        self.ac.send_goal(self.goal.goal  )
+
+arm = arm_move()
+
+def speak(tosay):
+    """Function to make the tiago speak arbitrary words
+
+    Args:
+        tosay (string): A string to say using the speaker
+    """
+    arm.speak(tosay)
\ No newline at end of file
diff --git a/noetic-llama/src/ollamawrapper/src/ollamawrapper.py b/noetic-llama/src/ollamawrapper/src/ollamawrapper.py
index 66843f8..400816e 100644
--- a/noetic-llama/src/ollamawrapper/src/ollamawrapper.py
+++ b/noetic-llama/src/ollamawrapper/src/ollamawrapper.py
@@ -7,31 +7,33 @@ import typing
 import jinja2
 import ollama
 import rospy
+import time
 import sys
 import os
 
-import capabilities
-# yes we need both
-from capabilities import *
-
-ollama_api_url = rospy.get_param("/stt/ollama_api_url", "192.168.122.1:11434")
+ollama_api_url = rospy.get_param("/stt/ollama_api_url", "127.0.0.1:11434")
 base_ollama_model = rospy.get_param("/stt/ollama_base_model", "nexusraven:13b-v2-q2_K")
 
-@dataclass
-class FunctionCapability:
-    modulename: str
-    module: None
-    functioname: str
-    function: None
-    docstring: str
-    argnames: list
+def handle_ollama_call(req):
+    print("Recieved ollama request '%s'" % req.input)
+    o = main(req.input)
+    # print(o.keys())
+    return OllamaCallResponse(
+        o["total_duration"],
+        o["load_duration"],
+        o["prompt_eval_duration"],
+        o["eval_count"],
+        o["eval_duration"]
+    )
 
-class FunctionCapablilites(list):
-    def to_modelfile(self, model):
-        environment = jinja2.Environment(loader = jinja2.FileSystemLoader(os.path.dirname(__file__)))
-        template = environment.get_template("Modelfile.jinja2")
+rospy.init_node("ollama_wrapper_server")
 
-        return template.render(functioncapabilities = self, model = model)
+print("hello?")
+import capabilities
+from capabilities import *
+s = rospy.Service("/stt/ollamacall", OllamaCall, handle_ollama_call)
+print("spin")
+rospy.spin()
 
 def getfunctioncapabilities():
     functioncapabilities = FunctionCapablilites()
@@ -53,45 +55,49 @@ def getfunctioncapabilities():
 
     return functioncapabilities
 
+@dataclass
+class FunctionCapability:
+    modulename: str
+    module: None
+    functioname: str
+    function: None
+    docstring: str
+    argnames: list
+
+class FunctionCapablilites(list):
+    def to_modelfile(self, model):
+        environment = jinja2.Environment(loader = jinja2.FileSystemLoader(os.path.dirname(__file__)))
+        template = environment.get_template("Modelfile.jinja2")
+
+        return template.render(functioncapabilities = self, model = model)
+
 def get_functions(ollama_output):
     return [f.strip() for f in ollama_output[8:].strip().split(";") if f != ""]
 
-def main(prompt):
-    functioncapabilities = getfunctioncapabilities()
-    modelfile = functioncapabilities.to_modelfile(base_ollama_model)
+MODEL_NAME = "noeticllama:" + str(int(time.time()))
+client = ollama.Client(host = "http://%s" % ollama_api_url)
 
-    client = ollama.Client(host = "http://%s" % ollama_api_url)
+for mn in [m["name"] for m in client.list()["models"]]:
+    if mn.startswith("noeticllama"):
+        client.delete(mn)
 
-    client.create(model = "temp", modelfile = modelfile)
+functioncapabilities = getfunctioncapabilities()
+modelfile = functioncapabilities.to_modelfile(base_ollama_model)
+client.create(model = MODEL_NAME, modelfile = modelfile)
 
+def main(prompt):
     # with open("Modelfile", "r") as f:
     #    ollama.create(model = "temp", modelfile= f.read())
-    ollama_output = client.generate(model='temp', prompt = prompt, options={"stop": ["Thought:"]})
+    ollama_output = client.generate(
+        model = MODEL_NAME, 
+        prompt = prompt, 
+        options = {"stop": ["Thought:"]},
+        keep_alive = "30m"
+    )
     #print(ollama_output)
 
     for func_str in get_functions(ollama_output["response"]):
         rospy.loginfo("Generated function: " + func_str + ":")
         exec(func_str)
 
-    client.delete("temp")
-    return ollama_output
-
-def handle_ollama_call(req):
-    print("Recieved ollama request '%s'" % req.input)
-    o = main(req.input)
-    # print(o.keys())
-    return OllamaCallResponse(
-        o["total_duration"],
-        o["load_duration"],
-        o["prompt_eval_duration"],
-        o["eval_count"],
-        o["eval_duration"]
-    )
-
-def handle_ollama_server():
-    rospy.init_node("ollama_wrapper_server")
-    s = rospy.Service("/stt/ollamacall", OllamaCall, handle_ollama_call)
-    rospy.spin()
-
-if __name__ == "__main__":
-    handle_ollama_server()
\ No newline at end of file
+    return ollama_output
\ No newline at end of file
diff --git a/noetic-llama/src/pal_msgs b/noetic-llama/src/pal_msgs
new file mode 160000
+Subproject d101a28f5911e8e5d3c8d42eefdf1dc3924821a
diff --git a/noetic-llama/src/whisperwrapper/src/whisperwrapper.py b/noetic-llama/src/whisperwrapper/src/whisperwrapper.py
index 439c8de..4cd703b 100644
--- a/noetic-llama/src/whisperwrapper/src/whisperwrapper.py
+++ b/noetic-llama/src/whisperwrapper/src/whisperwrapper.py
@@ -12,7 +12,7 @@ import time
 import json
 import os
 
-whisper_api_url = rospy.get_param("/stt/whisper_api_url", "192.168.122.1:9000")
+whisper_api_url = rospy.get_param("/stt/whisper_api_url", "127.0.0.1:9000")
 pause = rospy.get_param("/stt/speech_recogn_pause_time", 0.8)
 energy = rospy.get_param("/stt/speech_recogn_energy", 400) 
 dynamic_energy = rospy.get_param("/stt/speech_recogn_dyn_energy_flag", False)