Add chat history functionality in QA node.

config/llm_prompts/tournique_steps_history_prompt

@@ -0,0 +1,17 @@
+You are an AI assistant helping a User follow a set of instructions. Answer each
+question from the User referring to the provided Instructions and the current Chat History.
+
+Instructions:
+Step 1: 'place tourniquet over affected extremity 2-3 inches above wound site
+Step 2: 'pull tourniquet tight
+Step 3: 'apply strap to strap body
+Step 4: 'turn windless clock wise or counter clockwise until hemorrhage is controlled
+Step 5: 'lock windless into the windless keeper
+Step 6: 'pull remaining strap over the windless keeper
+Step 7: 'secure strap and windless keeper with keeper securing device
+Step 8: 'mark time on securing device strap with permanent marker 
+
+Chat History:
+{chat_history}
+User: {question}
+Assistant: 

ros/angel_system_nodes/angel_system_nodes/audio/dialogue_development.py

@@ -13,6 +13,7 @@
 
 MESSAGES = [
     "Why are we doing this?",
+    "What did I just ask you?",
     "The following messages are for development and debugging use only.",
     "Every 3-5 seconds, a new message will be emitted from this node.",
     "This will provide data to downstream nodes in the absence of rosbag data.",

ros/angel_system_nodes/angel_system_nodes/audio/question_answerer.py

@@ -1,3 +1,5 @@
+import collections
+from dataclasses import dataclass
 import json
 import openai
 import os
@@ -19,7 +21,7 @@
 INPUT_QA_TOPIC = "in_qa_topic"
 OUT_QA_TOPIC = "out_qa_topic"
 FEW_SHOT_PROMPT = "few_shot_prompt_file"
-
+CHAT_HISTORY_LENGTH = "chat_history_length"
 
 class QuestionAnswerer(dialogue.AbstractDialogueNode):
     def __init__(self):
@@ -31,10 +33,12 @@ def __init__(self):
                 (INPUT_QA_TOPIC,),
                 (OUT_QA_TOPIC,),
                 (FEW_SHOT_PROMPT,),
+                (CHAT_HISTORY_LENGTH, -1)
             ],
         )
         self._in_qa_topic = param_values[INPUT_QA_TOPIC]
         self._out_qa_topic = param_values[OUT_QA_TOPIC]
+        self._chat_history_length = param_values[CHAT_HISTORY_LENGTH]
         self.prompt_file = param_values[FEW_SHOT_PROMPT]
 
         self.question_queue = queue.Queue()
@@ -43,7 +47,7 @@ def __init__(self):
 
         with open(self.prompt_file, "r") as file:
             self.prompt = file.read()
-        self.log.info(f"Initialized few-shot prompt to:\n\n {self.prompt}\n\n")
+        self.log.info(f"Initialized few-shot prompt to:\n\n{self.prompt}\n\n")
 
         self.is_openai_ready = True
         if not os.getenv("OPENAI_API_KEY"):
@@ -68,13 +72,23 @@ def __init__(self):
             SystemTextResponse, self._out_qa_topic, 1
         )
 
+        self._chat_history = None
+        if self._is_using_chat_history():
+            self._chat_history = collections.deque([], maxlen=self._chat_history_length)
+
+    def _is_using_chat_history(self):
+        return self._chat_history_length > 0
+
+
     def get_response(self, msg: DialogueUtterance) -> str:
         response_text = ""
         try:
             if self.is_openai_ready:
-                response_text = colored(
-                    f"{self.prompt_gpt(msg.utterance_text)}\n", "light_green"
+                prompt_fn = (
+                    self.prompt_gpt_with_chat_history if self._is_using_chat_history()
+                    else self.prompt_gpt
                 )
+                response_text = colored(f"{prompt_fn(msg.utterance_text)}\n", "light_green")
         except RuntimeError as err:
             self.log.info(err)
             response_text = colored(
@@ -114,8 +128,8 @@ def publish_generated_response(
         self._qa_publisher.publish(publish_msg)
 
     def prompt_gpt(self, question, model: str = "gpt-3.5-turbo"):
-        prompt = self.prompt.format(question)
-        self.log.debug(f"Prompting OpenAI with\n {prompt}\n")
+        prompt = self.prompt.format(question=question)
+        self.log.info(f"Prompting OpenAI with\n{prompt}\n")
         payload = {
             "model": model,
             "messages": [{"role": "user", "content": prompt}],
@@ -129,9 +143,43 @@ def prompt_gpt(self, question, model: str = "gpt-3.5-turbo"):
         )
         return (
             json.loads(req.text)["choices"][0]["message"]["content"]
-            .split("A:")[-1]
-            .lstrip()
+                .split("A:")[-1]
+                .lstrip()
+        )
+
+    def prompt_gpt_with_chat_history(self, question, model: str = "gpt-3.5-turbo"):
+        prompt = self.prompt.format(chat_history=self._format_chat_history_str(),
+                                    question=question)
+        self.log.info(f"Prompting OpenAI with\n {prompt}\n")
+        payload = {
+            "model": model,
+            "messages": [{"role": "user", "content": prompt}],
+            "temperature": 0.7,
+            "max_tokens": 64,
+        }
+        req = requests.post(
+            "https://api.openai.com/v1/chat/completions",
+            json=payload,
+            headers={"Authorization": "Bearer {}".format(self.openai_api_key)},
+        )
+        answer = (
+            json.loads(req.text)["choices"][0]["message"]["content"]
+                .split("Assistant:")[-1]
+                .lstrip()
         )
+        self._append_chat_history(role="User", text=question)
+        self._append_chat_history(role="Assistant", text=answer)
+        return answer 
+
+    def _append_chat_history(self, role: str, text: str):
+        if self._is_using_chat_history():
+            self._chat_history.append(QuestionAnswerer.ChatMessage(role=role, text=text))
+
+    def _format_chat_history_str(self):
+        result = ""
+        for msg in self._chat_history:
+            result += f"{msg.role}: {msg.text}\n"
+        return result
 
     def _apply_filter(self, msg):
         """
@@ -142,6 +190,11 @@ def _apply_filter(self, msg):
         if msg.intent == "inquiry":
             return msg
         return None
+
+    @dataclass(frozen=True)
+    class ChatMessage:
+        role: str
+        text: str
 
 
 main = make_default_main(QuestionAnswerer)

tmux/demos/cooking/dialogue_development_chat_history.yml

@@ -0,0 +1,100 @@
+#
+# Used to evaluate Dialogue System.
+# This configuration should be run by itself (e.g. not in combination with
+# another tmuxinator launch).
+#
+# NOTE: In order to query GPT, you will need to execute
+# ```
+# export OPENAI_API_KEY="YOUR API KEY"
+# export OPENAI_ORG_ID="YOUR ORG ID"
+# ```
+#
+
+name: Dialogue Development
+root: <%= ENV["ANGEL_WORKSPACE_DIR"] %>
+
+# Optional tmux socket
+# socket_name: foo
+
+# Note that the pre and post options have been deprecated and will be replaced by
+# project hooks.
+
+# Project hooks
+
+# Runs on project start, always
+# on_project_start: command
+on_project_start: |
+  export ROS_NAMESPACE=${ROS_NAMESPACE:-/debug}
+  export CONFIG_DIR=${ANGEL_WORKSPACE_DIR}/config
+  export NODE_RESOURCES_DIR=${ANGEL_WORKSPACE_DIR}/src/angel_system_nodes/resource
+# Run on project start, the first time
+# on_project_first_start: command
+
+# Run on project start, after the first time
+# on_project_restart: command
+
+# Run on project exit ( detaching from tmux session )
+# on_project_exit: command
+
+# Run on project stop
+# on_project_stop: command
+
+# Runs in each window and pane before window/pane specific commands. Useful for setting up interpreter versions.
+# pre_window: rbenv shell 2.0.0-p247
+
+# Pass command line options to tmux. Useful for specifying a different tmux.conf.
+# tmux_options: -f ~/.tmux.mac.conf
+tmux_options: -f <%= ENV["ANGEL_WORKSPACE_DIR"] %>/tmux/tmux.conf
+
+# Change the command to call tmux.  This can be used by derivatives/wrappers like byobu.
+# tmux_command: byobu
+
+# Specifies (by name or index) which window will be selected on project startup. If not set, the first window is used.
+# startup_window: editor
+
+# Specifies (by index) which pane of the specified window will be selected on project startup. If not set, the first pane is used.
+# startup_pane: 1
+
+# Controls whether the tmux session should be attached to automatically. Defaults to true.
+# attach: false
+
+windows:
+  # - ros_bag_play: ros2 bag play <<PATH_TO_BAG_FILE>>
+  - vocal:
+      layout: even-vertical
+      panes:
+        - dialogue_development_emitter: ros2 run angel_system_nodes dialogue_development --ros-args
+           -r __ns:=${ROS_NAMESPACE}
+           -p dev_dialogue_output_topic:=dev_dialogue_output_topic
+           -p interval_seconds:=5
+  - emotion_detection:
+      layout: even-vertical
+      panes:
+        - base_emotion_detection: ros2 run angel_system_nodes base_emotion_detector --ros-args
+           -r __ns:=${ROS_NAMESPACE}
+           -p in_emotion_topic:=dev_dialogue_output_topic
+           -p out_emotion_topic:=base_emotion_output_topic
+        - gpt_emotion_detection: ros2 run angel_system_nodes gpt_emotion_detector --ros-args
+           -r __ns:=${ROS_NAMESPACE}
+           -p in_emotion_topic:=dev_dialogue_output_topic
+           -p out_emotion_topic:=gpt_emotion_output_topic
+  - intent_detection:
+      layout: even-vertical
+      panes:
+        - base_intent_detection: ros2 run angel_system_nodes base_intent_detector --ros-args
+           -r __ns:=${ROS_NAMESPACE}
+           -p in_intent_topic:=base_emotion_output_topic
+           -p out_intent_topic:=base_intent_output_topic
+        - gpt_intent_detection: ros2 run angel_system_nodes gpt_intent_detector --ros-args
+           -r __ns:=${ROS_NAMESPACE}
+           -p in_intent_topic:=base_emotion_output_topic
+           -p out_intent_topic:=gpt_intent_output_topic
+  - question_answering:
+      layout: even-vertical
+      panes:
+        - gpt_question_answering: ros2 run angel_system_nodes question_answerer --ros-args
+           -r __ns:=${ROS_NAMESPACE}
+           -p in_qa_topic:=gpt_intent_output_topic
+           -p out_qa_topic:=system_response_topic
+           -p chat_history_length:=10
+           -p few_shot_prompt_file:=${CONFIG_DIR}/llm_prompts/tournique_steps_history_prompt