更新工具调用

robowaiter/behavior_lib/act/DealChat.py

@@ -2,16 +2,19 @@ import py_trees as ptree
 from robowaiter.behavior_lib._base.Act import Act
 
 from robowaiter.llm_client.multi_rounds import ask_llm, new_history
+import random
+
+import spacy
+
+nlp = spacy.load('en_core_web_lg')
+
 
 class DealChat(Act):
     def __init__(self):
         super().__init__()
         self.chat_history = ""
         self.function_success = False
-        self.func_map = {
+        self.func_map = {"create_sub_task": self.create_sub_task, "get_object_info": self.get_object_info, "find_location": self.find_location}
-            "create_sub_task": self.create_sub_task,
-            "get_object_info": self.get_object_info
-        }
 
     def _update(self) -> ptree.common.Status:
         # if self.scene.status?
@@ -26,18 +29,14 @@ class DealChat(Act):
 
         history = self.scene.state["chat_history"][name]
         self.scene.state["attention"]["customer"] = name
-        self.scene.state["serve_state"] = {
+        self.scene.state["serve_state"] = {"last_chat_time": self.scene.time, }
-            "last_chat_time": self.scene.time,
-        }
 
         function_call, response = ask_llm(sentence, history, func_map=self.func_map)
 
-
         self.scene.chat_bubble(response)  # 机器人输出对话
 
         return ptree.common.Status.RUNNING
 
-
     def create_sub_task(self, **args):
         try:
             goal = args['goal']
@@ -55,7 +54,6 @@ class DealChat(Act):
 
         self.scene.robot.expand_sub_task_tree(goal_set)
 
-
     def get_object_info(self, **args):
         try:
             obj = args['obj']
@@ -66,7 +64,52 @@ class DealChat(Act):
             print("参数解析错误")
 
         near_object = "None"
+
+        # 场景中现有物品
+        cur_things = set()
+        for item in self.status.objects:
+            cur_things.add(item.name)
+        # obj与现有物品进行相似度匹配
+        query_token = nlp(obj)
+        for w in self.all_loc_en:
+            word_token = nlp(w)
+            similarity = query_token.similarity(word_token)
+            if similarity > max_similarity:
+                max_similarity = similarity
+                similar_word = w
+        print("max_similarity:",max_similarity,"similar_word:",similar_word)
+
+        if similar_word:   # 存在同义词说明场景中存在该物品
+            near_object = random.choices(list(cur_things), k=5)   # 返回场景中的5个物品
+
         if obj == "洗手间":
             near_object = "大门"
 
         return near_object
+
+    def find_location(self, **args):
+        try:
+            location = args['obj']
+            self.function_success = True
+        except:
+            obj = None
+            print("参数解析错误")
+
+        near_location = None
+        # 用户咨询的地点
+        query_token = nlp(location)
+        max_similarity = 0
+        similar_word = None
+        # 到自己维护的地点列表中找同义词
+        for w in self.all_loc_en:
+            word_token = nlp(w)
+            similarity = query_token.similarity(word_token)
+            if similarity > max_similarity:
+                max_similarity = similarity
+                similar_word = w
+        print("similarity:", max_similarity, "similar_word:", similar_word)
+        # 存在同义词说明客户咨询的地点有效
+        if similar_word:
+            mp = list(self.loc_map_en[similar_word])
+            near_location = random.choice(mp)
+        return near_location

robowaiter/llm_client/find_obj_utils.py

@@ -30,9 +30,8 @@ all_obj = ['马克杯', '香蕉', '牙膏', '面包', '软饮料', '酸奶', 'AD
 all_loc = ['吧台', '餐桌', '沙发', '灶台', '大门', '灯开关', '空调开关', '橱柜', '卫生间', '窗户', '音响', '休闲区', '工作台', '服务台', '收银台', '墙角',
               '蛋糕柜', '充电处', '冰箱', '书架']
 
-all_loc_en = ['bar', 'Table', 'sofa', 'stove', 'Gate', 'light switch', 'airconditioner switch', 'cabinet', 'bathroom', 'window',
+all_loc_en = ['bar', 'Table', 'sofa', 'stove', 'Gate', 'light switch', 'airconditioner switch', 'cabinet', 'bathroom', 'window','audio', 'lounge area',
-              'audio', 'lounge area', 'workstation', 'service counter', 'cashier counter', 'corner',
+              'workstation', 'service counter', 'cashier counter', 'corner','cake display', 'ChargingStations', 'refrigerator', 'bookshelf']
-              'cake display', 'ChargingStations', 'refrigerator', 'bookshelf']
 
 loc_map_en = {'bar': {'工作台', '服务台', '收银台', '蛋糕柜'},
            'Table': {'大门', '休闲区', '墙角'},

robowaiter/scene/scene.py

@@ -124,6 +124,25 @@ class Scene:
         with open(self.filename, 'rb') as file:
             self.map_file = pickle.load(file)
 
+        # tool register
+        self.all_loc_en = ['bar', 'Table', 'sofa', 'stove', 'Gate', 'light switch', 'airconditioner switch', 'cabinet', 'bathroom', 'window', 'audio',
+                      'lounge area', 'workstation', 'service counter', 'cashier counter', 'corner', 'cake display', 'ChargingStations',
+                      'refrigerator', 'bookshelf']
+
+        self.loc_map_en = {'bar': {'工作台', '服务台', '收银台', '蛋糕柜'}, 'Table': {'大门', '休闲区', '墙角'},
+                      'sofa': {'餐桌', '窗户', '音响', '休闲区', '墙角', '书架'},
+                      'stove': {'吧台', '橱柜', '工作台', '服务台', '收银台', '蛋糕柜', '冰箱'},
+                      'Gate': {'吧台', '灯开关', '空调开关', '卫生间', '墙角'}, 'light switch': {'大门', '空调开关', '卫生间', '墙角'},
+                      'airconditioner switch': {'大门', '灯开关', '卫生间', '墙角'},
+                      'cabinet': {'灶台', '吧台', '工作台', '服务台', '收银台', '蛋糕柜', '充电处', '冰箱'}, 'bathroom': {'大门', '墙角'},
+                      'window': {'餐桌', '沙发', '休闲区'}, 'audio': {'餐桌', '沙发', '休闲区', '墙角', '书架'},
+                      'lounge area': {'沙发', '餐桌', '墙角', '书架', '音响'}, 'workstation': {'吧台', '服务台', '收银台'},
+                      'service counter': {'吧台', '工作台', '收银台'}, 'cashier counter': {'吧台', '工作台', '服务台'},
+                      'corner': {'卫生间', '沙发', '灯开关', '空调开关', '音响', '休闲区', '书架'},
+                      'cake display': {'吧台', '橱柜', '服务台', '收银台', '冰箱'},
+                      'ChargingStations': {'吧台', '餐桌', '沙发', '休闲区', '工作台', '服务台', '收银台', '墙角', '书架'},
+                      'refrigerator': {'吧台', '服务台', '蛋糕柜'}, 'bookshelf': {'餐桌', '沙发', '窗户', '休闲区', '墙角'}}
+
 
     def reset(self):
         # 基类reset，默认执行仿真器初始化操作