Added the ROS servicecall API

11 files changed, 317 insertions, 17 deletions

diff --git a/noetic-llama/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 6992623..6992623 100644
--- a/noetic-llama/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
diff --git a/noetic-llama/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 53bcc43..53bcc43 100644
--- a/noetic-llama/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
diff --git a/.gitignore b/.gitignore
index 47f393a..22110b7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,6 @@
 *.env
 devel/
+install/
 
 # Byte-compiled / optimized / DLL files
 __pycache__/
diff --git a/noetic-llama/.catkin_workspace b/noetic-llama/.catkin_workspace
new file mode 100644
index 0000000..52fd97e
--- /dev/null
+++ b/noetic-llama/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/noetic-llama/src/ollamamessages/CMakeLists.txt b/noetic-llama/src/ollamamessages/CMakeLists.txt
new file mode 100644
index 0000000..b397131
--- /dev/null
+++ b/noetic-llama/src/ollamamessages/CMakeLists.txt
@@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(ollamamessages)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## 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()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  OllamaCall.srv
+)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+  LIBRARIES ollamamessages
+  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
+  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/ollamamessages.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/ollamamessages_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_ollamamessages.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/noetic-llama/src/ollamamessages/package.xml b/noetic-llama/src/ollamamessages/package.xml
new file mode 100644
index 0000000..8e6c9b6
--- /dev/null
+++ b/noetic-llama/src/ollamamessages/package.xml
@@ -0,0 +1,70 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ollamamessages</name>
+  <version>0.0.0</version>
+  <description>The ollamamessages package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="eden@todo.todo">eden</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ollamamessages</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/noetic-llama/src/ollamawrapper/srv/OllamaCall.srv b/noetic-llama/src/ollamamessages/srv/OllamaCall.srv
index 872a74b..aedae15 100755
--- a/noetic-llama/src/ollamawrapper/srv/OllamaCall.srv
+++ b/noetic-llama/src/ollamamessages/srv/OllamaCall.srv
@@ -1,8 +1,7 @@
-text input
+string input
 ---
 int64 total_duration
 int64 load_duration
-int64 prompt_eval_count
 int64 prompt_eval_duration
 int64 eval_count
 int64 eval_duration
diff --git a/noetic-llama/src/ollamawrapper/CMakeLists.txt b/noetic-llama/src/ollamawrapper/CMakeLists.txt
index c94424b..4533887 100644
--- a/noetic-llama/src/ollamawrapper/CMakeLists.txt
+++ b/noetic-llama/src/ollamawrapper/CMakeLists.txt
@@ -55,10 +55,10 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate services in the 'srv' folder
-add_service_files(
-  FILES
-  OllamaCall.srv
-)
+#add_service_files(
+#  FILES
+#  OllamaCall.srv
+#)
 
 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -104,9 +104,9 @@ generate_messages(
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES ollamawrapper
-#  CATKIN_DEPENDS roscpp rospy std_msgs
-#  DEPENDS system_lib
+  LIBRARIES ollamawrapper
+  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
+  DEPENDS system_lib
 )
 
 ###########
@@ -164,6 +164,18 @@ catkin_install_python(PROGRAMS
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+install(
+  DIRECTORY src/capabilities/
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/capabilities
+)
+
+install(FILES
+  src/Modelfile.jinja2
+  src/ollamafunctiongrammar.ppeg
+  src/parser.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 ## Mark executables for installation
 ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
 # install(TARGETS ${PROJECT_NAME}_node
diff --git a/noetic-llama/src/ollamawrapper/package.xml b/noetic-llama/src/ollamawrapper/package.xml
index cfad2a4..cfad2a4 100644..100755
--- a/noetic-llama/src/ollamawrapper/package.xml
+++ b/noetic-llama/src/ollamawrapper/package.xml
diff --git a/noetic-llama/src/ollamawrapper/src/capabilities/weather.py b/noetic-llama/src/ollamawrapper/src/capabilities/weather.py
index 0108ee5..4d6e073 100644
--- a/noetic-llama/src/ollamawrapper/src/capabilities/weather.py
+++ b/noetic-llama/src/ollamawrapper/src/capabilities/weather.py
@@ -3,8 +3,10 @@ import dotenv
 import geocoder
 import requests 
 
-if os.path.exists(os.path.join(os.path.dirname(__file__), "..", "..", "..", "apikeys.env")):
-    dotenv.load_dotenv(os.path.join(os.path.dirname(__file__), "..", "..", "..", "apikeys.env"))
+APIKEYS_PATH = "/home/eden/Documents/noetic-llama/noetic-llama/apikeys.env"
+# APIKEYS_PATH = os.path.join(os.path.dirname(__file__), "..", "..", "..", "apikeys.env")
+if os.path.exists(APIKEYS_PATH):
+    dotenv.load_dotenv(APIKEYS_PATH)
 
 if "BINGMAPS" not in os.environ:
     raise Exception("'BINGMAPS' API key environment variable not found")
diff --git a/noetic-llama/src/ollamawrapper/src/ollamawrapper.py b/noetic-llama/src/ollamawrapper/src/ollamawrapper.py
index f7abec1..f344299 100644
--- a/noetic-llama/src/ollamawrapper/src/ollamawrapper.py
+++ b/noetic-llama/src/ollamawrapper/src/ollamawrapper.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 from dataclasses import dataclass
-from ollamawrapper.srv import OllamaCall, OllamaCallResponse
+from ollamamessages.srv import OllamaCall, OllamaCallResponse
 import inspect
 import typing
 import jinja2
@@ -53,7 +53,7 @@ def getfunctioncapabilities():
 def get_functions(ollama_output):
     return [f.strip() for f in ollama_output[8:].strip().split(";") if f != ""]
 
-def main():
+def main(prompt):
     functioncapabilities = getfunctioncapabilities()
     modelfile = functioncapabilities.to_modelfile("nexusraven:13b-v2-q3_K_S")
 
@@ -63,18 +63,27 @@ def main():
 
     # with open("Modelfile", "r") as f:
     #    ollama.create(model = "temp", modelfile= f.read())
-    ollama_output = client.generate(model='temp', prompt='What\'s the weather like in Lincoln right now? What\'s 2 + 2?', options={"stop": ["Thought:"]})
-    print(ollama_output)
+    ollama_output = client.generate(model='temp', prompt = prompt, options={"stop": ["Thought:"]})
+    #print(ollama_output)
 
     for func_str in get_functions(ollama_output["response"]):
         print(func_str + ":")
         exec(func_str)
 
     client.delete("temp")
+    return ollama_output
 
 def handle_ollama_call(req):
-    print("Recieved ollama request %s" % req.input)
-    return OllamaCallResponse(1, 2, 3, 4, 5, 6)
+    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")