implement brain api service & implement chatui with gradio & refactor brain class for api and manage.sh

.gitignore

@@ -5,4 +5,5 @@ pids/
 logs/
 .ipynb_checkpoints
 packages
-*.ipynb
+*.ipynb
+.idea

README.md

@@ -1,18 +1,22 @@
 # Preparations before Flight
+
+## Hardware setup
 * turn uadis hotpot on
 * plugin xiaomi repeater "_plus" to powers source
 * connect rpi to power source
 * wait for boot and ams vpn connection
     * until connected devices @uadis increment +1 with device name "uad"
 
-* manual setup:
+### manual cli-rpi setup:
-    * ssh into     
+ * ssh into     
-    * cd tello-commander
+ * cd tello-commander
-    * source venv/bin/activate
+ * source venv/bin/activate
-    * ./manage.sh connect-drone
+ * ./manage.sh connect-drone
-        * ifconfig: check if wlan1 is up
+   * ifconfig: check if wlan1 is up
-    * ./manage.sh start-commander
+ * ./manage.sh start-commander
-    * start drone
+ * start drone
-        * until repeater lights blue without blinking
+   * until repeater lights blue without blinking
-    * ./manage.sh get-dhcp
+ * ./manage.sh get-dhcp
-    * ./manage start-talikng
+ * ./manage start-talikng
+
+### auto chatui-rpi setup:

brain/brain_base.py

@@ -1,7 +1,10 @@
+import ast
+import json
 import os
 
-from commander.commands import CommandHandler
+from loguru import logger
 
+from commander.commands import CommandHandler
 
 
 class BaseBrain:
@@ -20,13 +23,48 @@ class BaseBrain:
                 with open(prompt_filepath, "r") as f:
                     return f.read()
 
+    def _is_valid_json(self, answer):
+        try:
+            response_json = json.loads(answer)
+            return True
+        except ValueError as e:
+            logger.error(f"chatgpt failed to return json obj: {answer}")
+            return False
+
+    def _gc(self):
+        self.cmd_prompt = None
+        self.response = None
+
     def is_emergency(self, input):
         if input == "q":
-            print("##### BASE BRAIN: EMERGENCY STOP DETECTED!!! #####")
+            msg = "##### BASE BRAIN: EMERGENCY STOP DETECTED!!! #####"
+            logger.warning(msg)
+            self.response_to_chatui = msg
             self.command_handler.handle({"command": "emergency"})
             return True
         else: 
             return False
 
-    def listen(self):
+    def listen(self, channel="cli", prompt=None):
-        self.cmd_prompt = input("\n\nwhat should I do now?\n(enter q for emergency)\n\t")
+        if channel == "cli":
+            self.cmd_prompt = input("\n\nwhat should I do now?\n(enter q for emergency)\n\t")
+        elif channel == "api":
+            self.cmd_prompt = prompt
+
+    def command(self):
+        if self._is_valid_json(self.answer):
+            command = ast.literal_eval(self.answer)
+            if command == {}:
+                msg = f"I failed to understand: {command}"
+                logger.warning(msg)
+                self.response_to_chatui = msg
+            else:
+                msg = f"I will send this command: {command}"
+                logger.success(msg)
+                self.response_to_chatui = msg
+                self.command_handler.handle(command)
+        else:
+            msg = f"\tI will skip this:\n {self.answer}"
+            logger.warning(msg)
+            self.response_to_chatui = msg
+        self._gc()

brain/brain_openai.py

@@ -1,10 +1,9 @@
 import os
 import sys
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-import json
-import ast
 
 import openai
+from loguru import logger
 
 from brain_base import BaseBrain
 from settings.config import settings
@@ -13,48 +12,25 @@ from settings.config import settings
 
 class CloudSTTBrain:
     def __init__(self):
-        print("not implemented")
+        logger.error("not implemented")
 
 
 class CloudChatBrain(BaseBrain):
-
     def __init__(self):
         super().__init__() 
         openai.api_key = settings.OPENAI_API_KEY
 
-    def _is_valid_json(self, answer):
-        try:
-            response_json = json.loads(answer)
-            return True
-        except ValueError as e:
-            print(f"chatgpt failed to return json obj: {answer}")
-            return False
-
-    def _gc(self):
-        self.cmd_prompt = None
-        self.response = None
-
     def understand(self):
+        ## BURADA TRY:EXCEPT BLOCKU GEREKİR
         self.response = openai.ChatCompletion.create(
             model="gpt-3.5-turbo",
-            temperature=0.2,
+            temperature=0.3,
             messages=[
                 {"role": "system", "content": self.sys_prompt},
                 {"role": "user", "content": self.cmd_prompt}
             ])
-
+        self.answer = self.response.choices[0].message.content
-    def command(self):
+
-        answer = self.response.choices[0].message.content
-        if self._is_valid_json(answer):
-            command = ast.literal_eval(answer)
-            if command == {}:
-                print(f"I failed to understand: {command}")
-            else:
-                print(f"I will send this command: {command}")
-                self.command_handler.handle(command)
-        else:
-            print(f"\tI will skip this:\n {command}")
-        self._gc()
 
 
 

brain/cli.py

@@ -5,7 +5,7 @@ brain = CloudChatBrain()
 
 while True:
     try:
-        brain.listen()
+        brain.listen(channel="cli")
         if not brain.is_emergency(brain.cmd_prompt):
             brain.understand()
             brain.command()

brain/service_gradio.py

@@ -3,31 +3,31 @@ import random
 import gradio as gr
 from loguru import logger
 
+from brain.brain_openai import CloudChatBrain
 
 
-def make_completion(history):
+def brain_commander(prompt, history):
-    return "ok"
+    brain.listen(channel="api", prompt=prompt)
-
+    brain.understand()
-def answer(input, history):
+    history.append({"role": "user", "content": prompt})
-    history.append({"role": "user", "content": input})
+    history.append({"role": "assistant", "content": brain.answer})
-    response = random.choice(["How are you?", "I love you", "I'm very hungry"])
-    history.append({"role": "assistant", "content": response})
     messages = [(history[i]["content"], history[i+1]["content"]) for i in range(0, len(history)-1, 2)]
-    logger.debug(history)
+    brain.command()
     return messages, history
 
 
+brain = CloudChatBrain()
 
 with gr.Blocks() as demo:
-    chatbot = gr.Chatbot(label="Fly my drone with chatGPT as copilot")
+    chatbot_ui = gr.Chatbot(label="drone flight with chatgpt as copilot")
     state = gr.State([])
     with gr.Row():
         prompt = gr.Textbox(
                     show_label=True,
-                    label="what should I do now?\n(enter q for emergency)",
+                    label="what should I do now?   (enter q for emergency)",
-                    placeholder="Enter text and press enter")\
+                    placeholder="Enter flight command and press enter")\
                 .style(container=True)
-    prompt.submit(answer, [prompt, state], [chatbot, state])
+    prompt.submit(brain_commander, [prompt, state], [chatbot_ui, state])
 
 
 demo.launch(server_name="0.0.0.0", server_port=8890, debug=True)

manage.sh

@@ -5,11 +5,11 @@
 ######################
 ## SCRIPT INIT
 ######################
-DRONE_INTERFACE=$(yq '.commander.drone_interface' < settings/admin.yml)
+DRONE_INTERFACE=$(yq '.drone_interface' < settings/admin.yml)
-DRONE_WPA_SUPP_CONF=$(yq '.commander.drone_wpa_supp' < settings/admin.yml)
+DRONE_WPA_SUPP_CONF=$(yq '.drone_wpa_supp' < settings/admin.yml)
-NET_INTERFACE=$(yq '.commander.net_interface' < settings/admin.yml)
+NET_INTERFACE=$(yq '.net_interface' < settings/admin.yml)
-NET_WPA_SUPP_CONF=$(yq '.commander.net_wpa_supp' < settings/admin.yml)
+NET_WPA_SUPP_CONF=$(yq '.net_wpa_supp' < settings/admin.yml)
-#ENV_FOR_DYNACONF=$(yq '.commander.env_for_dynaconf' < settings/admin.yml)
+#ENV_FOR_DYNACONF=$(yq '.env_for_dynaconf' < settings/admin.yml)
 
 pids_dir='./pids'
 if [[ ! -d "$pids_dir" ]]; then
@@ -34,13 +34,6 @@ connect_using_wpa_supp() {
 	sudo wpa_supplicant -D nl80211 -i $DRONE_INTERFACE -c network/$DRONE_WPA_SUPP_CONF
 }
 
-#wait_for_drone() {
-    #while ! ping -c1 192.168.10.1 &>/dev/null; do
-    #    echo "Drone is offline. Waiting.."; sleep 2
-    #done
-    #echo "Drone is available, can ask for dhcp"; sleep 1
-#}
-
 get_dhcp_ip () {
     while true; 
     do
@@ -70,11 +63,12 @@ start_commander_service() {
 }
 
 start_brain_service() {
-    venv/bin/python brain/service.py $1
+    venv/bin/python -m gradio brain/service.py $1
 }
 
-talk_to_drone() {
+talk_to_drone_via_cli() {
-    ENV_FOR_DYNACONF=$1 python brain/cli.py
+    commander_host=$1
+    ENV_FOR_DYNACONF=$commander_host python brain/cli.py
 }
 
 kill_everything() {
@@ -172,11 +166,25 @@ elif [ "$1" == "start-commander" ]; then
 elif [ "$1" == "stop-commander" ]; then
     commander_pid_file="$pids_dir/commander_pid.txt"
     if [ -f "$commander_pid_file" ]; then
-        sudo killport 8889
         sudo pkill -15 -P $(cat $commander_pid_file)
+        sudo killport 8889
         echo "stopped commander"
 	fi
 
+elif [ "$1" == "start-brain" ]; then
+    start_brain_service $2 > logs/brain.log 2>&1 &
+    brain_pid=$!
+    echo "started brain service with PID brain_pid"
+    echo brain_pid > $pids_dir/brain_pid.txt
+
+elif [ "$1" == "stop-brain" ]; then
+    brain_pid_file="$pids_dir/brain_pid.txt"
+    if [ -f "brain_pid_file" ]; then
+        sudo pkill -15 -P $(cat brain_pid_file)
+        sudo killport 8890
+        echo "stopped brain service"
+	fi
+
 elif [ "$1" == "prepare-flight" ]; then
     ./manage.sh connect-drone
     ./manage.sh get-dhcp
@@ -189,8 +197,8 @@ elif [ "$1" == "finish-flight" ]; then
     ./manage.sh stop-commander
     kill_everything
     echo "flight finished"
-elif [ "$1" == "start-talking" ]; then
+elif [ "$1" == "start-clitalk" ]; then
-    talk_to_drone $2
+    talk_to_drone_via_cli $2
 
 ######################
 ## INFO
@@ -201,10 +209,11 @@ else
   - list-wifis
   - connect-/ disconnect-drone
   - get-/ kill-dhcp
-  - start-/ stop-jupyter
+  - start-/ stop-jupyter (8888)
-  - start-/ stop-cs
+  - start-/ stop-cs (8888)
-  - start-/ stop-commander [port]
+  - start-/ stop-commander [port (8889)]
-  - start-talking tuncel / commander
+  - start-/ stop-brain [port (8890)]
+  - start-clitalk [host (tuncel/commander)]
   - turn-off
   - prepare-/ finish-flight"
 fi

requirements.txt

@@ -0,0 +1,149 @@
+aiofiles==22.1.0
+aiohttp==3.8.4
+aiosignal==1.3.1
+aiosqlite==0.19.0
+altair==5.0.0
+anyio==3.6.2
+argon2-cffi==21.3.0
+argon2-cffi-bindings==21.2.0
+arrow==1.2.3
+asttokens==2.2.1
+async-timeout==4.0.2
+attrs==23.1.0
+Babel==2.12.1
+backcall==0.2.0
+backoff==2.2.1
+beautifulsoup4==4.12.2
+bleach==6.0.0
+certifi==2023.5.7
+cffi==1.15.1
+charset-normalizer==3.1.0
+click==8.1.3
+comm==0.1.3
+contourpy==1.0.7
+cycler==0.11.0
+debugpy==1.6.7
+decorator==5.1.1
+defusedxml==0.7.1
+djitellopy==2.4.0
+dynaconf==3.1.12
+executing==1.2.0
+fastapi==0.95.1
+fastjsonschema==2.16.3
+ffmpy==0.3.0
+filelock==3.12.0
+fonttools==4.39.4
+fqdn==1.5.1
+frozenlist==1.3.3
+fsspec==2023.5.0
+gradio==3.31.0
+gradio_client==0.2.5
+h11==0.14.0
+httpcore==0.17.1
+httptools==0.5.0
+httpx==0.24.0
+huggingface-hub==0.14.1
+idna==3.4
+ipykernel==6.23.0
+ipython==8.13.2
+ipython-genutils==0.2.0
+isoduration==20.11.0
+jedi==0.18.2
+Jinja2==3.1.2
+json5==0.9.11
+jsonpointer==2.3
+jsonschema==4.17.3
+jupyter-events==0.6.3
+jupyter-ydoc==0.2.4
+jupyter_client==8.2.0
+jupyter_core==5.3.0
+jupyter_server==2.5.0
+jupyter_server_fileid==0.9.0
+jupyter_server_terminals==0.4.4
+jupyter_server_ydoc==0.8.0
+jupyterlab==3.6.3
+jupyterlab-pygments==0.2.2
+jupyterlab_server==2.22.1
+kiwisolver==1.4.4
+linkify-it-py==2.0.2
+loguru==0.7.0
+markdown-it-py==2.2.0
+MarkupSafe==2.1.2
+matplotlib==3.7.1
+matplotlib-inline==0.1.6
+mdit-py-plugins==0.3.3
+mdurl==0.1.2
+mistune==2.0.5
+multidict==6.0.4
+nbclassic==1.0.0
+nbclient==0.7.4
+nbconvert==7.4.0
+nbformat==5.8.0
+nest-asyncio==1.5.6
+notebook==6.5.4
+notebook_shim==0.2.3
+numpy==1.24.3
+openai==0.27.6
+opencv-python==4.7.0.72
+orjson==3.8.12
+packaging==23.1
+pandas==2.0.1
+pandocfilters==1.5.0
+parso==0.8.3
+pexpect==4.8.0
+pickleshare==0.7.5
+Pillow==9.5.0
+platformdirs==3.5.0
+prometheus-client==0.16.0
+prompt-toolkit==3.0.38
+psutil==5.9.5
+ptyprocess==0.7.0
+pure-eval==0.2.2
+pycparser==2.21
+pydantic==1.10.7
+pydub==0.25.1
+Pygments==2.15.1
+pyparsing==3.0.9
+pyrsistent==0.19.3
+python-dateutil==2.8.2
+python-dotenv==1.0.0
+python-json-logger==2.0.7
+python-multipart==0.0.6
+pytz==2023.3
+PyYAML==6.0
+pyzmq==25.0.2
+regex==2023.5.5
+requests==2.30.0
+rfc3339-validator==0.1.4
+rfc3986-validator==0.1.1
+semantic-version==2.10.0
+Send2Trash==1.8.2
+six==1.16.0
+sniffio==1.3.0
+soupsieve==2.4.1
+stack-data==0.6.2
+starlette==0.26.1
+terminado==0.17.1
+tiktoken==0.3.3
+tinycss2==1.2.1
+tomli==2.0.1
+toolz==0.12.0
+tornado==6.3.1
+tqdm==4.65.0
+traitlets==5.9.0
+typing_extensions==4.5.0
+tzdata==2023.3
+uc-micro-py==1.0.2
+uri-template==1.2.0
+urllib3==2.0.2
+uvicorn==0.22.0
+uvloop==0.17.0
+watchfiles==0.19.0
+wcwidth==0.2.6
+webcolors==1.13
+webencodings==0.5.1
+websocket-client==1.5.1
+websockets==11.0.3
+y-py==0.5.9
+yarl==1.9.2
+ypy-websocket==0.8.2

settings/admin.yml

@@ -1,9 +1,8 @@
-commander:
+drone_interface:
-  drone_interface:
+ wlan1
-   wlan1
+net_interface:
-  net_interface:
+  wlan0
-    wlan0
+drone_wpa_supp:
-  drone_wpa_supp:
+  wpa_supp_djituad0_plus.conf
-    wpa_supp_djituad0_plus.conf
+net_wpa_supp:
-  net_wpa_supp:
+  wpa_supp_uadis.conf
-    wpa_supp_uadis.conf