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‎cli.py‎

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#!/usr/bin/env python3
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import asyncio
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import websockets
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import json
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import argparse
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import sys
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async def send_request(uri, prompt, execute=False, verbose=True):
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try:
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async with websockets.connect(uri) as websocket:
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request = {
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"type": "code",
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"prompt": prompt,
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"execute": False
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}
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if verbose:
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print(f"Sending request: {json.dumps(request, indent=2)}")
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await websocket.send(json.dumps(request))
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response_message = await websocket.recv()
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response = json.loads(response_message)
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if verbose:
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print(f"Raw Response: {json.dumps(response, indent=2)}")
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if "code" in response:
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print(f"\nGenerated Code:")
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print("--------------------------------------------------")
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print(response["code"])
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print("--------------------------------------------------")
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print(f"Timing: {response.get('timing', 'N/A')} seconds")
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else:
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print(f"Received non-code response: {response}")
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# If execute is True and we got code, send the execute request
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if execute and "code" in response:
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execute_request = {
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"type": "execute",
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"task": prompt,
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"code": response["code"]
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}
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if verbose:
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print(f"Sending execute request: {json.dumps(execute_request, indent=2)}")
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await websocket.send(json.dumps(execute_request))
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# We might not get a response for execute, or maybe we do?
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# The server code 'execute' function prints but doesn't seem to send a response back on the websocket immediately
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# unless post_transcript/post_code happens.
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# But handle_message doesn't await anything after execute().
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# Codebotler server:
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# elif data['type'] == 'execute':
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# execute(data['code'])
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# So we probably won't receive a specific confirmation message for 'execute' type from handle_message.
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# But let's assume we proceed.
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return response
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except ConnectionRefusedError:
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error_msg = f"Error: Could not connect to server at {uri}. Is Codebotler running?"
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if verbose:
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print(error_msg)
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return {"error": error_msg}
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except Exception as e:
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error_msg = f"An error occurred: {e}"
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if verbose:
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print(error_msg)
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return {"error": error_msg}
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def main():
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parser = argparse.ArgumentParser(description="CLI for Codebotler Code Generation")
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parser.add_argument("prompt", type=str, help="Natural language prompt for code generation")
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parser.add_argument("--host", type=str, default="localhost", help="Server host (default: localhost)")
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parser.add_argument("--port", type=int, default=8190, help="Server port (default: 8190)")
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parser.add_argument("--execute", action="store_true", help="Execute the generated code on the server")
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args = parser.parse_args()
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uri = f"ws://{args.host}:{args.port}"
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asyncio.run(send_request(uri, args.prompt, args.execute))
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if __name__ == "__main__":
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main()

‎scripts/integration_test.py‎

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#!/usr/bin/env python3
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import os
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import sys
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import yaml
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import random
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import time
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import asyncio
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import argparse
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import termios
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import tty
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from pathlib import Path
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# Ensure we can import from src/codebotler
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# Assuming the script is run from the workspace root or src/codebotler/scripts
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# We want to add 'src/codebotler' to path so we can import cli
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# Or better, add 'src' so we can do 'from codebotler import cli'
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CURRENT_DIR = Path(__file__).resolve().parent
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# Add src/codebotler to sys.path
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CODEBOTLER_DIR = CURRENT_DIR.parent
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SRC_DIR = CODEBOTLER_DIR.parent
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sys.path.insert(0, str(CODEBOTLER_DIR))
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print(f"DEBUG: CURRENT_DIR={CURRENT_DIR}")
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print(f"DEBUG: CODEBOTLER_DIR={CODEBOTLER_DIR}")
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print(f"DEBUG: sys.path[0]={sys.path[0]}")
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print(f"DEBUG: Files in CODEBOTLER_DIR: {list(CODEBOTLER_DIR.iterdir())}")
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try:
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import cli
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except ImportError as e:
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print(f"Error: Could not import 'cli': {e}")
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sys.exit(1)
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COMMAND_TEMPLATES = {
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"move": "Go to {{location}}.",
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"observe": "If there is an {{object}} in the room, say yes",
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#"say": "Say {{phrase}}"
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#"pick": "Grab the {{object}}.",
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"pick": "If there is an {{object}}, grab it. If not say that the {{object}} does not exist"
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#"place": "Place the object in the bin"
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}
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OBJECTS = ["can", "cup", "chair", "bottle", "book", "laptop", "phone", "notebook", "pen", "backpack", "keyboard", "mouse", "table", "lamp"]
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PICK_OBJECTS = ["soda can", "cup", "plastic bottle"]
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PHRASES = [
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"Hello",
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"How are you?",
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"I am a robot.",
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"I like to help humans.",
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"I am testing Codebotler.",
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"I will be moving around.",
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"I will be looking for objects.",
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]
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def load_locations():
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data_path = SRC_DIR / "codebotler_amrl_impl" / "data.yaml"
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if not data_path.exists():
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print(f"Error: Could not find data.yaml at {data_path}")
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return []
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with open(data_path, "r") as f:
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data = yaml.safe_load(f)
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map_name = data.get("MAP", "ahg2apt")
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locations_dict = data.get("LOCATIONS", {}).get(map_name, {})
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return list(locations_dict.keys())
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def get_key():
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fd = sys.stdin.fileno()
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old_settings = termios.tcgetattr(fd)
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try:
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tty.setraw(sys.stdin.fileno())
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ch = sys.stdin.read(1)
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finally:
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termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
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return ch
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def wait_for_user_input():
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print("Press Enter or Space to continue, Esc to quit...")
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while True:
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key = get_key()
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if key == '\x1b': # Escape key
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return False
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if key == ' ' or key == '\r' or key == '\n':
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return True
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# Ignore other keys
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def main():
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parser = argparse.ArgumentParser(description="Integration test for Codebotler")
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parser.add_argument("--single-step", action="store_true", help="Enable single-step mode (wait for user input before each command)")
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args = parser.parse_args()
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locations = load_locations()
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if not locations:
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print("No locations found. Exiting.")
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return
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print(f"Loaded {len(locations)} locations: {locations}")
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last_action = None
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# Default server config
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host = "10.1.0.13"
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port = 8190
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uri = f"ws://{host}:{port}"
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try:
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while True:
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if args.single_step:
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if not wait_for_user_input():
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print("\nQuitting...")
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break
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command_type = ""
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command_text = ""
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if last_action == "pick" and False:
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command_type = "place"
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command_text = COMMAND_TEMPLATES["place"]
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else:
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# Sample action type (move or pick)
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command_type = random.choice(list(COMMAND_TEMPLATES.keys()))
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if command_type == "move":
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loc = random.choice(locations)
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command_text = COMMAND_TEMPLATES["move"].replace("{{location}}", loc)
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elif command_type == "say":
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phrase = random.choice(PHRASES)
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command_text = COMMAND_TEMPLATES[command_type].replace("{{phrase}}", phrase)
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elif command_type == "observe":
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obj = random.choice(OBJECTS)
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command_text = COMMAND_TEMPLATES[command_type].replace("{{object}}", obj)
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elif command_type == "pick":
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obj = random.choice(PICK_OBJECTS)
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command_text = COMMAND_TEMPLATES[command_type].replace("{{object}}", obj)
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print(f"\n--- Spending command: {command_text} ---")
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# Send to codebotler via cli
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# We use the programmatic interface we added to cli.py
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response = asyncio.run(cli.send_request(uri, command_text, execute=True, verbose=True))
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if "error" in response:
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print("Failed to send command. Is the server running?")
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# Wait a bit before retrying to strictly avoid spamming failed connect requests
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time.sleep(5)
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else:
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# Update state
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last_action = command_type
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# Wait a bit before next command
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time.sleep(5)
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except KeyboardInterrupt:
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print("\nStopping integration test.")
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if __name__ == "__main__":
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main()

‎scripts/verify_exec.py‎

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import sys
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import os
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from robot_interface.src.robot_client_interface import execute_task_program
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# Simulating a user program that just prints something
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# Important: this defines task_program() because that's what the system assumes
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program = """
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def task_program():
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print("Hello from subprocess!")
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if 'go_to' in locals() or 'go_to' in globals():
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print("go_to is available")
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else:
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print("go_to is MISSING")
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"""
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# We don't need a real robot instance for this test, as the subprocess will create a new one.
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# But execute_task_program expects one.
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class MockRobot:
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pass
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print("Running verification...")
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try:
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execute_task_program(program, MockRobot())
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print("Verification passed (no crash).")
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except Exception as e:
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print(f"Verification failed: {e}")

‎server.log‎

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Traceback (most recent call last):
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File "/home/ros/cobot_ws/src/codebotler/codebotler.py", line 9, in <module>
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import websockets
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ModuleNotFoundError: No module named 'websockets'

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