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.idea/workspace.xml

@@ -6,8 +6,7 @@
   <component name="ChangeListManager">
     <list default="true" id="fa28c5e7-7701-41dc-9f17-0b006dec0c27" name="Changes" comment="">
       <change beforePath="$PROJECT_DIR$/app.py" beforeDir="false" afterPath="$PROJECT_DIR$/app.py" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/server/uav_api.py" beforeDir="false" afterPath="$PROJECT_DIR$/server/uav_api.py" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/uav_api.py" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/prompts.py" beforeDir="false" afterPath="$PROJECT_DIR$/prompts.py" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -189,7 +188,8 @@
       <workItem from="1690062126029" duration="3577000" />
       <workItem from="1690068665233" duration="59000" />
       <workItem from="1691001889072" duration="1298000" />
-      <workItem from="1691003416341" duration="16780000" />
+      <workItem from="1691003416341" duration="16951000" />
+      <workItem from="1691213146639" duration="1326000" />
     </task>
     <servers />
   </component>
@@ -228,7 +228,7 @@
     <SUITE FILE_PATH="coverage/conversational_uav_explorer$pytest_for_test_fewshot_test_invalid_command2.coverage" NAME="pytest for test_fewshot.test_invalid_command2 Coverage Results" MODIFIED="1689919761343" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/test" />
     <SUITE FILE_PATH="coverage/conversational_uav_explorer$gradio_theme.coverage" NAME="gradio_theme Coverage Results" MODIFIED="1690008184752" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$" />
     <SUITE FILE_PATH="coverage/conversational_uav_explorer$pytest_for_test_fewshot_test_location_no_action4.coverage" NAME="pytest for test_fewshot.test_location_no_action4 Coverage Results" MODIFIED="1689926082281" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/test" />
-    <SUITE FILE_PATH="coverage/conversational_uav_explorer$app.coverage" NAME="app Coverage Results" MODIFIED="1691212809195" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$" />
+    <SUITE FILE_PATH="coverage/conversational_uav_explorer$app.coverage" NAME="app Coverage Results" MODIFIED="1691214438868" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$" />
     <SUITE FILE_PATH="coverage/conversational_uav_explorer$testing.coverage" NAME="testing Coverage Results" MODIFIED="1689806315429" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/test" />
     <SUITE FILE_PATH="coverage/conversational_uav_explorer$pytest_for_test_fewshot_test_no_location1.coverage" NAME="pytest for test_fewshot.test_no_location1 Coverage Results" MODIFIED="1689810960745" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/test" />
     <SUITE FILE_PATH="coverage/conversational_uav_explorer$pytest_for_test_fewshot_test_parking_garage.coverage" NAME="pytest for test_fewshot.test_parking_garage Coverage Results" MODIFIED="1689923732887" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/test" />

app.py

@@ -5,23 +5,6 @@ from fewshot import FewShot4UAVs
 
 fewshot = FewShot4UAVs()
 
-"""def send_command(command, location=None):
-    url = f"http://url/{command}"
-    data = {}
-    if location:
-        data["location"] = location
-    response = requests.post(url, json=data)
-    return response.content
-
-
-def parse_command(text):
-    tokens = re.split(' \t|\n|: ', text.lower())
-    print(tokens)
-    if len(tokens) >= 2:
-        return tokens[1]
-    else:
-        return 'none'"""
-
 
 def transcribe(audio):
     messages = [
@@ -29,33 +12,41 @@ def transcribe(audio):
          "content": prompt_chat_response}
     ]
 
-    audio_file = open(audio, "rb")
-    transcript = openai.Audio.transcribe("whisper-1", audio_file)
+    try:
+        audio_file = open(audio, "rb")
+        transcript = openai.Audio.transcribe("whisper-1", audio_file)
 
-    original_transcript = transcript["text"]
-    messages.append({"role": "user", "content": original_transcript, "name": "Operator"})
+        original_transcript = transcript["text"]
+        messages.append({"role": "user", "content": original_transcript, "name": "Operator"})
+    except Exception as e:
+        print(f"An error occurred during transcribing: {e}")
+        return str(e)  # Return the error message to Gradio UI
 
-    formatted_command_text = fewshot.get_command(original_transcript)
-    messages.append({"role": "function", "content": formatted_command_text, "name": "UAV"})
+    try:
+        formatted_command_text = fewshot.get_command(original_transcript)
+        messages.append({"role": "function", "content": formatted_command_text, "name": "UAV"})
+    except Exception as e:
+        print(f"An error occurred during formatting the command: {e}")
+        return str(e)
 
-    # turn on the below to invoke API
-    # command = parse_command(formatted_command_text)
-    # send_command(command)
+    try:
+        response = openai.ChatCompletion.create(
+            model="gpt-3.5-turbo",
+            messages=messages
+        )
 
-    response = openai.ChatCompletion.create(
-        model="gpt-3.5-turbo",
-        messages=messages
-    )
+        uav_response = response["choices"][0]["message"]["content"]
+        messages.append({"role": "assistant", "content": uav_response, "name": "Assistant"})
 
-    uav_response = response["choices"][0]["message"]["content"]
-    messages.append({"role": "assistant", "content": uav_response, "name": "Assistant"})
+        chat_transcript = ""
+        for message in messages:
+            if message['role'] != 'system':
+                chat_transcript += f"{message['name']}: {message['content']} \n\n"
 
-    chat_transcript = ""
-    for message in messages:
-        if message['role'] != 'system':
-            chat_transcript += f"{message['name']}: {message['content']} \n\n"
-
-    return chat_transcript
+        return chat_transcript
+    except Exception as e:
+        print(f"An error occurred during building chat transcript: {e}")
+        return str(e)
 
 
 with gr.Blocks(theme='sudeepshouche/minimalist') as demo:
@@ -63,7 +54,7 @@ with gr.Blocks(theme='sudeepshouche/minimalist') as demo:
     # Conversational UAV Explorer
     Press record and speak into the microphone to give a command. Make sure to stop recording before pressing "Give Command."\n\n
     Commands: Take picture, Go to, Land, Take off""")
-    with gr.Row().style():
+    with gr.Row():
         audio_input = gr.Audio(source="microphone", type="filepath")
         output = gr.Textbox(label="Transcript")
     with gr.Row():

commands.txt

@@ -1,2 +1,2 @@
 
-GOTO 	Yellow House
+TAKEPICTURE 	greenhouse

prompts.py

@@ -103,7 +103,7 @@ examples_few_shot = [
         "command": "TAKEOFF"
     },
     {
-        "sentence": "Land now.",
+        "sentence": "Land.",
         "command": "LAND"
     },
     {

server/uav_api.py

@@ -1,5 +1,4 @@
 from flask import Flask
-from app import send_command
 
 app = Flask(__name__)
 

test/test_multiplecommands.py

@@ -0,0 +1,61 @@
+import pytest
+import re
+from fewshot import FewShot4UAVs
+
+
+@pytest.fixture
+def fewshot():
+    return FewShot4UAVs()
+
+
+# format: <command> \t<goal>
+def parse_multiple_commands(text):
+    text = text.lstrip('\n')
+    lines = text.split("\n")
+    first_action = lines[0].split()[0].lower()
+    second_action = lines[1].split()[0].lower()
+    return first_action, second_action
+
+def test_multiple_actions(fewshot):
+    text = "Take a photo and then take off."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ('takephoto', 'takeoff')
+
+
+def test_two_go_to(fewshot):
+    text = "Go to the Kroger on Lombardy St and then go to Roots on W Grace St."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ('goto', 'goto')
+
+
+def test_multiple_actions_and_locations(fewshot):
+    text = "Fly to the park and take a picture of the red house."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ('goto', 'takephoto')
+
+def test_action_and_location(fewshot):
+    text = "Fly to the park and take a picture."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ('goto', 'takephoto')
+
+def test_action_and_location_synonyms(fewshot):
+    text = "Hover and head to the closest park."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ('takeoff', 'goto')
+
+def test_action_synonyms(fewshot):
+    text = "Ascend and then take a photo."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ('takeoff', 'takephoto')
+    
+def test_action_synonyms2(fewshot):
+    text = "Descend and then take a photo."
+    output = fewshot.get_command(text)
+    command = parse_multiple_commands(output)
+    assert command == ('land', 'takephoto')

test/test_singlecommands.py

@@ -0,0 +1,119 @@
+import pytest
+import re
+from fewshot import FewShot4UAVs
+
+
+@pytest.fixture
+def fewshot():
+    return FewShot4UAVs()
+
+
+# format: <command> \t<goal>
+def parse_command(text):
+    tokens = re.split(' \t|\n|: ', text.lower())
+    print(tokens)
+    if len(tokens) >= 2:
+        return tokens[1]
+    else:
+        return 'none'
+    
+    
+def test_red_house(fewshot):
+    text = "Go to the red house on W Broad St."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+
+def test_take_off(fewshot):
+    text = "Take off from where you are."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "takeoff"
+
+
+def test_take_off_synonym(fewshot):
+    text = "Lift off."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "takeoff"
+
+
+def test_land(fewshot):
+    text = "Land now."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "land"
+
+def test_purple_house(fewshot):
+    text = "Travel to the purple house on the left side."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+
+def test_parking_garage(fewshot):
+    text = "Fly to the parking garage across the street."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+
+def test_gym(fewshot):
+    text = "Check out the Cary St Gym."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+
+def test_cease_flight(fewshot):
+    text = "Cease flight."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "land"
+
+
+def test_stop_flight(fewshot):
+    text = "Stop the flight."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "land"
+
+def test_location_no_action(fewshot):
+    text = "Willow Lawn."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+
+def test_location_no_action2(fewshot):
+    text = "Whole Foods on W Broad St."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+
+def test_location_no_action3(fewshot):
+    text = "Starbucks at N Robinson St."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+
+def test_with_extra_words(fewshot):
+    text = "Please go to the Whole Foods on W Broad St."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+def test_with_extra_words2(fewshot):
+    text = "Go to the Whole Foods on W Broad St please."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "goto"
+
+def test_action_synonyms3(fewshot):
+    text = "Descend"
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == 'land'

test/test_unviablecommands.py

@@ -0,0 +1,71 @@
+import pytest
+import re
+from fewshot import FewShot4UAVs
+
+
+@pytest.fixture
+def fewshot():
+    return FewShot4UAVs()
+
+# format: <command> \t<goal>
+def parse_command(text):
+    tokens = re.split(' \t|\n|: ', text.lower())
+    print(tokens)
+    if len(tokens) >= 2:
+        return tokens[1]
+    else:
+        return 'none'
+
+def test_picture(fewshot):
+    text = "Take a picture."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "none"
+
+
+def test_snap_pic(fewshot):
+    text = "Snap a photo."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "none"
+
+def test_no_location1(fewshot):
+    text = "Check out."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "none"
+
+
+def test_no_location2(fewshot):
+    text = "Go to."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "none"
+
+
+def test_no_location3(fewshot):
+    text = "Travel to."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "none"
+
+
+def test_no_location4(fewshot):
+    text = "Head to."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "none"
+
+
+def test_empty_input(fewshot):
+    text = ""
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "none"
+
+def test_invalid_command(fewshot):
+    text = "Do something."
+    output = fewshot.get_command(text)
+    command = parse_command(output)
+    assert command == "none"
+