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main.go
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main.go
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package main
import (
"bytes"
"context"
_ "embed"
"encoding/json"
"flag"
"fmt"
"io"
"log/slog"
"net/http"
"os"
"time"
"github.com/charmbracelet/huh"
"github.com/rhettg/agent"
"github.com/rhettg/agent/provider/openaichat"
"github.com/rhettg/agent/tools"
"github.com/sashabaranov/go-openai"
"github.com/sashabaranov/go-openai/jsonschema"
"gitlab.com/greyxor/slogor"
)
//go:embed system.txt
var systemMessage string
func errorf(format string, a ...interface{}) {
fmt.Fprintf(os.Stderr, format, a...)
os.Exit(1)
}
func main() {
envFile, err := loadEnvFile(".env")
if err != nil && !os.IsNotExist(err) {
errorf("failed to load .env file: %v\n", err)
}
for k, v := range envFile {
_ = os.Setenv(k, v)
}
slog.SetDefault(slog.New(slogor.NewHandler(os.Stderr, &slogor.Options{
TimeFormat: time.Stamp,
Level: slog.LevelDebug,
ShowSource: false,
})))
displaySnapshot := flag.Bool("snapshot", false, "display snapshot")
flag.Parse()
if *displaySnapshot {
imgData, err := grabImage(context.Background())
if err != nil {
errorf("failed to grab image: %v\n", err)
}
slog.Info("grabbed image", "size", len(imgData))
// Sometimes we get a bad image
if len(imgData) <= 4096 {
errorf("truncated image, try again")
}
overlayImgData, err := overlay(imgData)
if err != nil {
errorf("failed to overlay image: %v\n", err)
}
displayImage(overlayImgData)
return
}
slog.Info("booting up")
apiKey := os.Getenv("OPENAI_API_KEY")
if apiKey == "" {
errorf("OPENAI_API_KEY is not set")
}
client := openai.NewClient(apiKey)
eyesP := openaichat.New(client, "gpt-4-vision-preview",
openaichat.WithMaxTokens(512),
openaichat.WithMiddleware(openaichat.Logger(slog.Default())),
)
p := openaichat.New(client, "gpt-4-1106-preview",
openaichat.WithMiddleware(openaichat.Logger(slog.Default())),
)
ts := tools.New()
ts.Add(forwardCommand, forwardHelp, forwardSchema, forward)
ts.Add(backwardCommand, backwardHelp, backwardSchema, backward)
ts.Add(rightCommand, rightHelp, rightSchema, right)
ts.Add(leftCommand, leftHelp, leftSchema, left)
ts.Add(eyesCommand, eyesHelp, eyesSchema, askEyes(eyesP))
a := agent.New(p, tools.WithTools(ts))
a.Add(agent.RoleSystem, systemMessage)
for {
var prompt string
text := huh.NewText().
Title("operator").
Placeholder("Where are you?").
Value(&prompt)
form := huh.NewForm(huh.NewGroup(text))
err = form.Run()
if err != nil {
errorf("error getting prompt: %v\n", err)
}
fmt.Println("operator: " + prompt)
a.Add(agent.RoleUser, prompt)
slog.Info("asking llm")
for {
slog.Debug("stepping")
msg, err := a.Step(context.Background())
if err != nil {
errorf("error getting message: %v\n", err)
}
if msg == nil {
continue
}
response, err := msg.Content(context.Background())
if err != nil {
errorf("error getting response: %v\n", err)
}
slog.Debug("step", "role", msg.Role, "function", msg.FunctionCallName, "content", response)
if msg.Role == agent.RoleAssistant && msg.FunctionCallName == "" {
fmt.Println(response)
break
}
}
}
}
var forwardCommand = "fwd"
var forwardHelp = `Move foward`
var forwardSchema = jsonschema.Definition{
Type: "object",
Properties: map[string]jsonschema.Definition{
"distance": {
Type: "integer",
Description: "distance to move forward. 100 is 6-inches.",
},
},
}
var backwardCommand = "back"
var backwardHelp = `Move backward`
var backwardSchema = jsonschema.Definition{
Type: "object",
Properties: map[string]jsonschema.Definition{
"distance": {
Type: "integer",
Description: "distance to move forward. 100 is 6-inches.",
},
},
}
var rightCommand = "rt"
var rightHelp = `rotate right`
var rightSchema = jsonschema.Definition{
Type: "object",
Properties: map[string]jsonschema.Definition{
"angle": {
Type: "integer",
Description: "angle to move right. 90 is a quarter turn.",
},
},
}
var leftCommand = "lt"
var leftHelp = `rotate left`
var leftSchema = jsonschema.Definition{
Type: "object",
Properties: map[string]jsonschema.Definition{
"angle": {
Type: "integer",
Description: "angle to move left. 90 is a quarter turn.",
},
},
}
const (
maxDistance = 500
minDistance = 10
maxAngle = 180
minAngle = 0
)
func forward(ctx context.Context, arguments string) (string, error) {
args := struct {
Distance int `json:"distance"`
}{}
err := json.Unmarshal([]byte(arguments), &args)
if err != nil {
return "", err
}
if args.Distance < minDistance {
return fmt.Sprintf("min distance is %d", minDistance), nil
}
if args.Distance > maxDistance {
return fmt.Sprintf("max distance is %d", maxDistance), nil
}
err = sendCommand(ctx, fmt.Sprintf("fwd %d", args.Distance))
if err != nil {
return "", err
}
slog.Info("forward", "distance", args.Distance)
return "OK", nil
}
func backward(ctx context.Context, arguments string) (string, error) {
args := struct {
Distance int `json:"distance"`
}{}
err := json.Unmarshal([]byte(arguments), &args)
if err != nil {
return "", err
}
if args.Distance < minDistance {
return fmt.Sprintf("min distance is %d", minDistance), nil
}
if args.Distance > maxDistance {
return fmt.Sprintf("max distance is %d", maxDistance), nil
}
err = sendCommand(ctx, fmt.Sprintf("bck %d", args.Distance))
if err != nil {
return "", err
}
slog.Info("backward", "distance", args.Distance)
return "OK", nil
}
func left(ctx context.Context, arguments string) (string, error) {
args := struct {
Angle int `json:"angle"`
}{}
err := json.Unmarshal([]byte(arguments), &args)
if err != nil {
return "", err
}
if args.Angle < minAngle {
return fmt.Sprintf("min angle is %d", minAngle), nil
}
if args.Angle > maxAngle {
return fmt.Sprintf("max angle is %d", maxAngle), nil
}
err = sendCommand(ctx, fmt.Sprintf("lt %d", args.Angle))
if err != nil {
return "", err
}
slog.Info("turn left", "angle", args.Angle)
return "OK", nil
}
func right(ctx context.Context, arguments string) (string, error) {
args := struct {
Angle int `json:"angle"`
}{}
err := json.Unmarshal([]byte(arguments), &args)
if err != nil {
return "", err
}
if args.Angle < minAngle {
return fmt.Sprintf("min angle is %d", minAngle), nil
}
if args.Angle > maxAngle {
return fmt.Sprintf("max angle is %d", maxAngle), nil
}
err = sendCommand(ctx, fmt.Sprintf("rt %d", args.Angle))
if err != nil {
return "", err
}
slog.Info("turn right", "angle", args.Angle)
return "OK", nil
}
func sendCommand(ctx context.Context, cmd string) error {
url := "http://bni/v1/ci"
reqData := struct {
Command string `json:"command"`
}{
Command: cmd,
}
data, err := json.Marshal(reqData)
if err != nil {
return err
}
req, err := http.NewRequestWithContext(ctx, http.MethodPost, url, bytes.NewBuffer(data))
if err != nil {
return err
}
req.Header.Set("Content-Type", "application/json")
c := &http.Client{}
resp, err := c.Do(req)
if err != nil {
return err
}
if resp.StatusCode != http.StatusAccepted {
return fmt.Errorf("bad status code: %d", resp.StatusCode)
}
if resp.Header.Get("Content-Type") != "application/json" {
return fmt.Errorf("bad content type: %s", resp.Header.Get("Content-Type"))
}
defer resp.Body.Close()
result := struct {
Result string `json:"result"`
}{}
respData, err := io.ReadAll(resp.Body)
if err != nil {
return err
}
err = json.Unmarshal(respData, &result)
if err != nil {
return err
}
slog.Info("command sent", "command", cmd, "result", result.Result)
return nil
}