dora-robomaster / operators /sentence_transformers_op.py
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from sentence_transformers import SentenceTransformer
from sentence_transformers import util
from dora import DoraStatus
import os
import sys
import inspect
import torch
import pyarrow as pa
SHOULD_NOT_BE_INCLUDED = [
"utils.py",
"sentence_transformers_op.py",
"chatgpt_op.py",
"whisper_op.py",
"microphone_op.py",
"object_detection_op.py",
"webcam.py",
]
SHOULD_BE_INCLUDED = ["planning_op.py"]
## Get all python files path in given directory
def get_all_functions(path):
raw = []
paths = []
for root, dirs, files in os.walk(path):
for file in files:
if file.endswith(".py"):
if file not in SHOULD_BE_INCLUDED:
continue
path = os.path.join(root, file)
with open(path, "r", encoding="utf8") as f:
## add file folder to system path
sys.path.append(root)
## import module from path
raw.append(f.read())
paths.append(path)
return raw, paths
def search(query_embedding, corpus_embeddings, paths, raw, k=5, file_extension=None):
# TODO: filtering by file extension
cos_scores = util.cos_sim(query_embedding, corpus_embeddings)[0]
top_results = torch.topk(cos_scores, k=min(k, len(cos_scores)), sorted=True)
out = []
for score, idx in zip(top_results[0], top_results[1]):
out.extend([raw[idx], paths[idx], score])
return out
class Operator:
""" """
def __init__(self):
## TODO: Add a initialisation step
self.model = SentenceTransformer("BAAI/bge-large-en-v1.5")
self.encoding = []
# file directory
path = os.path.dirname(os.path.abspath(__file__))
self.raw, self.path = get_all_functions(path)
# Encode all files
self.encoding = self.model.encode(self.raw)
def on_event(
self,
dora_event,
send_output,
) -> DoraStatus:
if dora_event["type"] == "INPUT":
if dora_event["id"] == "query":
values = dora_event["value"].to_pylist()
query_embeddings = self.model.encode(values)
output = search(
query_embeddings,
self.encoding,
self.path,
self.raw,
)
[raw, path, score] = output[0:3]
print(
(
score,
pa.array([{"raw": raw, "path": path, "query": values[0]}]),
)
)
send_output(
"raw_file",
pa.array([{"raw": raw, "path": path, "query": values[0]}]),
dora_event["metadata"],
)
else:
input = dora_event["value"][0].as_py()
index = self.path.index(input["path"])
self.raw[index] = input["raw"]
self.encoding[index] = self.model.encode([input["raw"]])[0]
return DoraStatus.CONTINUE
if __name__ == "__main__":
operator = Operator()