Add streaming support (#20)

* refactor: better error handling and response parsing for ROS2 tools, add blacklist where applicable. * feat(ros2): add ros2 topic echo tool. * chore: bump version to 1.0.4, update CHANGELOG.md * chore: bump langchain versions. * Simplified within_bounds function by removing redundant 'elif' condition. Improved code readability and maintainability. (#13) * Add unit tests and CI. (#14) * feat(tests): add unit tests for most tools and the ROSATools class. * fix: passing a blacklist into any of the tools no longer overrides the blacklist passed into the ROSA constructor. They are concatenated instead. * feat(CI): add ci workflow. * fix: properly filter out blacklisted topics and nodes. * feat(tests): add ros2 tests. * feat(ci): update humble jobs. * feat(ci): finalize initial version of ci. * feat(tests): add stubs for additional test classes. * docs: update README * chore: bump version to 1.0.5 * fix typos (#17) * Add streaming support (#19) * chore: remove verbose logging where it isn't required. * chore: remove unnecessary apt installations. * fix: minor typo * chore: update gitignore * chore: update PR template * Update turtle agent demo to support streaming responses. * feat(streaming): add the ability to stream responses from ROSA. * feat(demo): update demo script, apply formatting. * feat(demo): update demo TUI, fix bounds checking in turtle tools. * feat(demo): clean up Docker demo, add another example of adding tools to the agent. * docs: update README. * docs: update README. * Update README.md * chore: minor formating and linting. * chore: switch setup configuration to use pyproject.toml * feat(demo): properly implement streaming REPL interface. * chore: bump version to 1.0.6 * chore: specify version in CHANGELOG. --------- Co-authored-by: Kejun Liu <[email protected]> Co-authored-by: Kejun Liu <[email protected]>
nasa-jpl · Aug 30, 2024 · d22eb90 · d22eb90
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diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
@@ -1,14 +1,17 @@
 ## Purpose
 - Clear, easy-to-understand sentences outlining the purpose of the PR
+
 ## Proposed Changes
 - [ADD] ...
 - [CHANGE] ...
 - [REMOVE] ...
 - [FIX] ...
+
 ## Issues
 - Links to relevant issues
 - Example: issue-XYZ
+
 ## Testing
 - Provide some proof you've tested your changes 
 - Example: test results available at ...
-- Example: tested on operating system ...
+- Example: tested on operating system ...
diff --git a/.github/workflows/publish.yml b/.github/workflows/publish.yml
@@ -16,10 +16,10 @@ jobs:
         python-version: '>=3.9 <4.0'
 
     - name: Install dependencies
-      run: pip install setuptools wheel twine
+      run: pip install build twine
 
     - name: Build package
-      run: python setup.py sdist bdist_wheel
+      run: python -m build
 
     - name: Publish package
       env:

diff --git a/.gitignore b/.gitignore
@@ -1,5 +1,8 @@
 .idea
+.vscode
 src/jpl_rosa.egg-info
 build/
 dist/
-__pycache__/
+__pycache__/
+docs
+.DS_Store
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,6 +5,31 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [1.0.6]
+
+### Added
+
+* Implemented streaming capability for ROSA responses
+* Added `pyproject.toml` for modern Python packaging
+* Implemented asynchronous operations in TurtleAgent for better responsiveness
+
+### Changed
+
+* Updated Dockerfile for improved build process and development mode support
+* Refactored TurtleAgent class for better modularity and streaming support
+* Improved bounds checking for turtle movements
+* Updated demo script for better cross-platform support and X11 forwarding
+* Renamed `set_debuging` to `set_debugging` in system tools
+
+### Fixed
+
+* Corrected typos and improved documentation in various files
+* Fixed potential issues with turtle movement calculations
+
+### Removed
+
+* Removed unnecessary logging statements from turtle tools
+
 ## [1.0.5]
 
 ### Added

diff --git a/Dockerfile b/Dockerfile
@@ -1,52 +1,43 @@
-FROM osrf/ros:noetic-desktop as rosa-ros1
+FROM osrf/ros:noetic-desktop AS rosa-ros1
 LABEL authors="Rob Royce"
 
 ENV DEBIAN_FRONTEND=noninteractive
+ENV HEADLESS=false
+ARG DEVELOPMENT=false
 
 # Install linux packages
 RUN apt-get update && apt-get install -y \
+    ros-$(rosversion -d)-turtlesim \
     locales \
-    lsb-release \
-    git \
-    subversion \
-    nano \
-    terminator \
-    xterm \
-    wget \
-    curl \
-    htop \
-    gnome-terminal \
-    libssl-dev \
-    build-essential \
-    dbus-x11 \
-    software-properties-common \
-    build-essential \
-    ssh \
-    ros-$(rosversion -d)-turtlesim
+    xvfb \
+    python3.9 \
+    python3-pip
 
 # RUN apt-get clean && rm -rf /var/lib/apt/lists/*
-RUN apt-get update && apt-get install -y python3.9
-RUN apt-get update && apt-get install -y python3-pip
 RUN python3 -m pip install -U python-dotenv catkin_tools
-RUN python3.9 -m pip install -U jpl-rosa>=1.0.5
-
-# Configure ROS
-RUN rosdep update
-RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc
-RUN echo "export ROSLAUNCH_SSH_UNKNOWN=1" >> /root/.bashrc
+RUN rosdep update && \
+    echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc && \
+    echo "alias start='catkin build && source devel/setup.bash && roslaunch turtle_agent agent.launch'" >> /root/.bashrc && \
+    echo "export ROSLAUNCH_SSH_UNKNOWN=1" >> /root/.bashrc
 
 COPY . /app/
 WORKDIR /app/
 
-# Uncomment this line to test with local ROSA package
-# RUN python3.9 -m pip install --user -e .
+# Modify the RUN command to use ARG
+RUN /bin/bash -c 'if [ "$DEVELOPMENT" = "true" ]; then \
+    python3.9 -m pip install --user -e .; \
+    else \
+    python3.9 -m pip install -U jpl-rosa>=1.0.5; \
+    fi'
 
-# Run roscore in the background, then run `rosrun turtlesim turtlesim_node` in a new terminal, finally run main.py in a new terminal
-CMD /bin/bash -c 'source /opt/ros/noetic/setup.bash &&  \
-    roscore &  \
-    sleep 2 &&  \
-    rosrun turtlesim turtlesim_node > /dev/null &  \
-    sleep 3 &&  \
-    echo "" && \
-    echo "Run \`catkin build && source devel/setup.bash && roslaunch turtle_agent agent\` to launch the ROSA-TurtleSim demo." &&  \
-    /bin/bash'
+CMD ["/bin/bash", "-c", "source /opt/ros/noetic/setup.bash && \
+    roscore > /dev/null 2>&1 & \
+    sleep 5 && \
+    if [ \"$HEADLESS\" = \"false\" ]; then \
+    rosrun turtlesim turtlesim_node & \
+    else \
+    xvfb-run -a -s \"-screen 0 1920x1080x24\" rosrun turtlesim turtlesim_node & \
+    fi && \
+    sleep 5 && \
+    echo \"Run \\`start\\` to build and launch the ROSA-TurtleSim demo.\" && \
+    /bin/bash"]
diff --git a/demo.sh b/demo.sh
@@ -12,59 +12,65 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-#
 
-# This script is used to launch the ROSA demo in Docker
+# This script launches the ROSA demo in Docker
 
-# Check if the user has docker installed
+# Check if Docker is installed
 if ! command -v docker &> /dev/null; then
-    echo "Docker is not installed. Please install docker and try again."
+    echo "Error: Docker is not installed. Please install Docker and try again."
     exit 1
 fi
 
+# Set default headless mode
+HEADLESS=${HEADLESS:-false}
+DEVELOPMENT=${DEVELOPMENT:-false}
 
-# Get the platform
-platform='unknown'
-unamestr=$(uname)
-if [ "$unamestr" == "Linux" ]; then
-    platform='linux'
-elif [ "$unamestr" == "Darwin" ]; then
-    platform='mac'
-elif [ "$unamestr" == "Windows" ]; then
-    platform='win'
-fi
+# Enable X11 forwarding based on OS
+case "$(uname)" in
+    Linux)
+        echo "Enabling X11 forwarding for Linux..."
+        export DISPLAY=:0
+        xhost +local:docker
+        ;;
+    Darwin)
+        echo "Enabling X11 forwarding for macOS..."
+        ip=$(ifconfig en0 | awk '$1=="inet" {print $2}')
+        export DISPLAY=$ip:0
+        xhost + $ip
+        ;;
+    MINGW*|CYGWIN*|MSYS*)
+        echo "Enabling X11 forwarding for Windows..."
+        export DISPLAY=host.docker.internal:0
+        ;;
+    *)
+        echo "Error: Unsupported operating system."
+        exit 1
+        ;;
+esac
 
-# Enable X11 forwarding for mac and linux
-if [ "$platform" == "mac" ] || [ "$platform" == "linux" ]; then
-    echo "Enabling X11 forwarding..."
-    export DISPLAY=host.docker.internal:0
-    xhost +
-elif [ "$platform" == "win" ]; then
-    # Windows support is experimental
-    echo "The ROSA-TurtleSim demo has not been tested on Windows. It may not work as expected."
-    read -p "Do you want to continue? (y/n): " confirm
-    if [ "$confirm" != "y" ]; then
-        echo "Please check back later for Windows support."
-        exit 0
-    fi
-    export DISPLAY=host.docker.internal:0
+# Check if X11 forwarding is working
+if ! xset q &>/dev/null; then
+    echo "Error: X11 forwarding is not working. Please check your X11 server and try again."
+    exit 1
 fi
 
-# Build the docker image
-echo "Building the docker image..."
-docker build -t rosa -f Dockerfile .
+# Build and run the Docker container
+CONTAINER_NAME="rosa-turtlesim-demo"
+echo "Building the $CONTAINER_NAME Docker image..."
+docker build --build-arg DEVELOPMENT=$DEVELOPMENT -t $CONTAINER_NAME -f Dockerfile . || { echo "Error: Docker build failed"; exit 1; }
 
-# Run the docker container
-echo "Running the docker container..."
-docker run -it --rm --name rosa \
-       -e DISPLAY=$DISPLAY \
-       -v /tmp/.X11-unix:/tmp/.X11-unix \
-       -v ./src:/app/src \
-       -v ./data:/root/data \
-       --network host \
-       rosa
+echo "Running the Docker container..."
+docker run -it --rm --name $CONTAINER_NAME \
+    -e DISPLAY=$DISPLAY \
+    -e HEADLESS=$HEADLESS \
+    -e DEVELOPMENT=$DEVELOPMENT \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+    -v "$PWD/src":/app/src \
+    -v "$PWD/tests":/app/tests \
+    --network host \
+    $CONTAINER_NAME
 
 # Disable X11 forwarding
 xhost -
 
-exit 0
+exit 0
diff --git a/pyproject.toml b/pyproject.toml
@@ -0,0 +1,47 @@
+[build-system]
+requires = ["setuptools>=45", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "jpl-rosa"
+version = "1.0.6"
+description = "ROSA: the Robot Operating System Agent"
+readme = "README.md"
+authors = [{ name = "Rob Royce", email = "[email protected]" }]
+license = { file = "LICENSE" }
+classifiers = [
+    "Development Status :: 4 - Beta",
+    "Environment :: Console",
+    "Intended Audience :: Science/Research",
+    "License :: OSI Approved :: Apache Software License",
+    "Natural Language :: English",
+    "Operating System :: Unix",
+    "Programming Language :: Python :: 3",
+    "Topic :: Scientific/Engineering",
+    "Topic :: Scientific/Engineering :: Artificial Intelligence",
+]
+keywords = ["Robotics", "Data Science", "Machine Learning", "Data Engineering", "Data Infrastructure", "Data Analysis"]
+requires-python = ">=3.9, <4"
+dependencies = [
+    "PyYAML==6.0.1",
+    "python-dotenv>=1.0.1",
+    "langchain==0.2.14",
+    "langchain-community==0.2.12",
+    "langchain-core==0.2.34",
+    "langchain-openai==0.1.22",
+    "langchain-ollama",
+    "pydantic",
+    "pyinputplus",
+    "azure-identity",
+    "cffi",
+    "rich",
+    "pillow>=10.4.0",
+    "numpy>=1.21.2",
+]
+
+[project.urls]
+"Homepage" = "https://github.com/nasa-jpl/rosa"
+"Bug Tracker" = "https://github.com/nasa-jpl/rosa/issues"
+
+[tool.setuptools.packages.find]
+where = ["src"]
diff --git a/setup.py b/setup.py
@@ -12,57 +12,7 @@
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
 
-import pathlib
 from distutils.core import setup
 
-from setuptools import find_packages
-
-here = pathlib.Path(__file__).parent.resolve()
-long_description = (here / "README.md").read_text(encoding="utf-8")
-rosa_packages = find_packages(where="src")
-
-setup(
-    name="jpl-rosa",
-    version="1.0.5",
-    license="Apache 2.0",
-    description="ROSA: the Robot Operating System Agent",
-    long_description=long_description,
-    long_description_content_type="text/markdown",
-    url="https://github.com/nasa-jpl/rosa",
-    author="Rob Royce",
-    author_email="[email protected]",
-    classifiers=[
-        "Development Status :: 4 - Beta",
-        "Environment :: Console",
-        "Intended Audience :: Science/Research",
-        "License :: OSI Approved :: Apache Software License",
-        "Natural Language :: English",
-        "Operating System :: Unix",
-        "Programming Language :: Python :: 3",
-        "Topic :: Scientific/Engineering",
-        "Topic :: Scientific/Engineering :: Artificial Intelligence",
-    ],
-    keywords="Robotics, Data Science, Machine Learning, Data Engineering, Data Infrastructure, Data Analysis",
-    package_dir={"": "src"},
-    packages=rosa_packages,
-    python_requires=">=3.9, <4",
-    install_requires=[
-        "PyYAML==6.0.1",
-        "python-dotenv>=1.0.1",
-        "langchain==0.2.14",
-        "langchain-community==0.2.12",
-        "langchain-core==0.2.34",
-        "langchain-openai==0.1.22",
-        "pydantic",
-        "pyinputplus",
-        "azure-identity",
-        "cffi",
-        "rich",
-        "pillow>=10.4.0",
-        "numpy>=1.21.2",
-    ],
-    project_urls={  # Optional
-        "Bug Reports": "https://github.com/nasa-jpl/rosa/issues",
-        "Source": "https://github.com/nasa-jpl/rosa",
-    },
-)
+if __name__ == "__main__":
+    setup()
diff --git a/src/rosa/prompts.py b/src/rosa/prompts.py
@@ -95,4 +95,10 @@ def __str__(self):
         "You must use your math tools to perform calculations. Failing to do this may result in a catastrophic "
         "failure of the system. You must never perform calculations manually or assume you know the correct answer. ",
     ),
+    (
+        "system",
+        "When you see <ROSA_INSTRUCTIONS> tags, you must follow the instructions inside of them. "
+        "These instructions are instructions for how to use ROS tools to complete a task. "
+        "You must follow these instructions IN ALL CASES. ",
+    ),
 ]