feat: Task and TaskFeedback actions

src/rai_hmi/rai_hmi/action_handler_mixin.py

@@ -0,0 +1,81 @@
+from abc import abstractmethod
+
+from rclpy.action import ActionClient, ActionServer
+from rclpy.node import Node
+
+from rai_hmi.task import Task
+from rai_interfaces.action import Task as TaskAction
+from rai_interfaces.action import TaskFeedback
+
+
+class TaskActionMixin(Node):
+    """
+    Mixin class to handle Task action client and TaskFeedback action server.
+
+    Provides methods to:
+    - Send a task to the action server.
+    - Handle feedback from the action server.
+    - Handle task result responses.
+    - Implement an action server for providing task feedback.
+
+    Abstract Methods:
+        handle_task_feedback_request: Must be implemented by subclasses to process task feedback requests.
+    """
+
+    def initialize_task_action_client_and_server(self):
+        """Initialize the action client and server for task handling."""
+        self.task_action_client = ActionClient(self, TaskAction, "perform_task")
+        self.task_feedback_action_server = ActionServer(
+            self, TaskFeedback, "provide_task_feedback", self.handle_task_feedback
+        )
+
+    def add_task_to_queue(self, task: Task):
+        """Sends a task to the action server to be handled by the rai node."""
+
+        if not self.task_action_client.wait_for_server(timeout_sec=10.0):
+            self.get_logger().error("Task action server not available!")
+            return
+
+        goal_msg = TaskAction.Goal()
+        goal_msg.task = task.name
+        goal_msg.description = task.description
+        goal_msg.priority = task.priority
+
+        self.get_logger().info(f"Sending task to action server: {goal_msg.task}")
+        self._send_goal_future = self.task_action_client.send_goal_async(
+            goal_msg, feedback_callback=self.task_feedback_callback
+        )
+        self._send_goal_future.add_done_callback(self.task_goal_response_callback)
+
+    def task_goal_response_callback(self, future):
+        """Callback for handling the response from the action server when the goal is sent."""
+        goal_handle = future.result()
+        if not goal_handle.accepted:
+            self.get_logger().error("Task goal rejected by action server.")
+            return
+
+        self.get_logger().info("Task goal accepted by action server.")
+        self._get_result_future = goal_handle.get_result_async()
+        self._get_result_future.add_done_callback(self.task_result_callback)
+
+    def task_feedback_callback(self, feedback_msg):
+        """Callback for receiving feedback from the action server."""
+        self.get_logger().info(f"Task feedback received: {feedback_msg.feedback}")
+
+    def task_result_callback(self, future):
+        """Callback for handling the result from the action server."""
+        result = future.result().result
+        if result.success:
+            self.get_logger().info(
+                f"Task completed successfully: {result.result_message}"
+            )
+        else:
+            self.get_logger().error(f"Task failed: {result.result_message}")
+
+    @abstractmethod
+    def handle_task_feedback_request(self, goal_handle):
+        """Abstract method to handle TaskFeedback action request."""
+
+    def handle_task_feedback(self, goal_handle):
+        """Handles the TaskFeedback action request."""
+        return self.handle_task_feedback_request(goal_handle)

src/rai_hmi/rai_hmi/base.py

@@ -13,7 +13,6 @@
 # limitations under the License.
 #
 
-from abc import abstractmethod
 from enum import Enum
 from typing import List, Optional, Tuple, cast
 
@@ -23,21 +22,19 @@
 from langchain_core.documents import Document
 from langchain_core.tools import BaseTool
 from langchain_openai import OpenAIEmbeddings
-from rclpy.node import Node
 from std_msgs.msg import String
 from std_srvs.srv import Trigger
 
-from rai_hmi.task import Task
+from rai_hmi.action_handler_mixin import TaskActionMixin
 from rai_hmi.tools import QueryDatabaseTool, QueueTaskTool
-from rai_interfaces.srv import Feedback
 
 
 class HMIStatus(Enum):
     WAITING = "waiting"
     PROCESSING = "processing"
 
 
-class BaseHMINode(Node):
+class BaseHMINode(TaskActionMixin):
     """
     Base class for Human-Machine Interface (HMI) nodes in a robotic system.
 
@@ -90,10 +87,6 @@ def __init__(self, node_name: str):
             Trigger, "rai_whoami_identity_service"
         )
 
-        self.feedback_service = self.create_service(
-            Feedback, "feedback_request", self.feedback_request_callback
-        )
-
         self.agent = None
         # order of the initialization is important
         self.system_prompt = self._initialize_system_prompt()
@@ -122,22 +115,6 @@ def query_faiss_index_with_scores(
         output = self.faiss_index.similarity_search_with_score(query, k)
         return output
 
-    @abstractmethod
-    def handle_feedback_request(self, feedback_query: str) -> str:
-        """Abstract method to handle feedback requests."""
-
-    def feedback_request_callback(
-        self, request: Feedback.Request, response: Feedback.Response
-    ):
-        """Callback method for the feedback service."""
-        feedback_query = request.query
-        self.get_logger().info(f"Received feedback request: {feedback_query}")
-
-        feedback_response = self.handle_feedback_request(feedback_query)
-
-        response.response = feedback_response
-        return response
-
     def _initialize_system_prompt(self):
         while not self.constitution_service.wait_for_service(timeout_sec=1.0):
             self.get_logger().info(
@@ -194,9 +171,3 @@ def _load_documentation(self) -> Optional[FAISS]:
             )
             return None
         return faiss_index
-
-    def add_task_to_queue(self, task: Task):
-        """Publishes a task to be handled by the rai node."""
-        msg = String()
-        msg.data = task.json()
-        self.task_addition_request_publisher.publish(msg)

src/rai_hmi/rai_hmi/voice_hmi.py

@@ -18,7 +18,7 @@
 import rclpy
 from langchain.agents import AgentExecutor, create_tool_calling_agent
 from langchain.prompts import ChatPromptTemplate
-from langchain_core.messages import AIMessage, BaseMessage, HumanMessage, SystemMessage
+from langchain_core.messages import AIMessage, BaseMessage, HumanMessage
 from langchain_openai import ChatOpenAI
 from rclpy.callback_groups import ReentrantCallbackGroup
 from std_msgs.msg import String
@@ -76,25 +76,9 @@ def handle_human_message(self, msg: String):
         self.hmi_publisher.publish(String(data=output))
         self.processing = False
 
-    def handle_feedback_request(self, feedback_query: str) -> str:
-        self.processing = True
-
-        # handle feedback request
-        feedback_prompt = (
-            "The task executioner is asking for feedback on the following:"
-            f"```\n{feedback_query}\n```"
-            "Please provide needed information based on the following chat history:"
-        )
-        local_history: List[BaseMessage] = [
-            SystemMessage(content=self.system_prompt),
-            HumanMessage(content=feedback_prompt),
-        ]
-        local_history.extend(self.history)
-        response = self.agent.invoke({"user_input": "", "chat_history": local_history})
-        output = response["output"]
-
-        self.processing = False
-        return output
+    # TODO: Implement
+    def handle_task_feedback_request(self, goal_handle):
+        pass
 
 
 def main(args=None):

src/rai_interfaces/CMakeLists.txt

@@ -22,6 +22,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/RAIDetectionArray.msg"
   "srv/RAIGroundingDino.srv"
   "srv/Feedback.srv"
+  "action/Task.action"
+  "action/TaskFeedback.action"
   DEPENDENCIES std_msgs vision_msgs sensor_msgs
 )
 

src/rai_interfaces/action/Task.action

@@ -0,0 +1,12 @@
+# Goal
+string task
+string description
+string priority
+
+---
+# Result
+bool success
+
+---
+# Feedback
+string current_status

src/rai_interfaces/action/TaskFeedback.action

@@ -0,0 +1,13 @@
+# Goal
+string issue_description
+string current_task
+string additional_info
+
+---
+# Result
+string informations
+bool success
+
+---
+# Feedback
+string feedback