llava_node.hpp

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// MIT License
//
// Copyright (c) 2024 Miguel Ángel González Santamarta
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// SOFTWARE.
 
#ifndef LLAVA_ROS__LLAVA_NODE_HPP
#define LLAVA_ROS__LLAVA_NODE_HPP
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
 
#include <memory>
#include <string>
 
#include "common.h"
 
#include "llama_msgs/action/generate_response.hpp"
#include "llama_ros/llama_node.hpp"
#include "llava_ros/llava.hpp"
 
namespace llava_ros {
 
class LlavaNode : public llama_ros::LlamaNode {
 
  using GenerateResponse = llama_msgs::action::GenerateResponse;
  using GoalHandleGenerateResponse =
      rclcpp_action::ServerGoalHandle<GenerateResponse>;
 
public:
  LlavaNode();
 
  std::string base64_encode(unsigned char const *bytes_to_encode, size_t in_len,
                            bool url = false);
 
protected:
  void create_llama() override;
  bool goal_empty(std::shared_ptr<const GenerateResponse::Goal> goal) override;
  void execute(
      const std::shared_ptr<GoalHandleGenerateResponse> goal_handle) override;
};
 
} // namespace llava_ros
 
#endif