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AndyZeAndyZe
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Implement OpenAI server
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‎.clang-format

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---
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BasedOnStyle: Google
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ColumnLimit: 120
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MaxEmptyLinesToKeep: 1
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SortIncludes: false
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Standard: Auto
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IndentWidth: 2
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TabWidth: 2
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UseTab: Never
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AccessModifierOffset: -2
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ConstructorInitializerIndentWidth: 2
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NamespaceIndentation: None
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ContinuationIndentWidth: 4
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IndentCaseLabels: true
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IndentFunctionDeclarationAfterType: false
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AlignEscapedNewlinesLeft: false
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AlignTrailingComments: true
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AllowAllParametersOfDeclarationOnNextLine: false
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ExperimentalAutoDetectBinPacking: false
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ObjCSpaceBeforeProtocolList: true
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Cpp11BracedListStyle: false
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AllowShortBlocksOnASingleLine: true
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AllowShortIfStatementsOnASingleLine: false
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AllowShortLoopsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: None
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AllowShortCaseLabelsOnASingleLine: false
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AlwaysBreakTemplateDeclarations: true
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AlwaysBreakBeforeMultilineStrings: false
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BreakBeforeBinaryOperators: false
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BreakBeforeTernaryOperators: false
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BreakConstructorInitializersBeforeComma: true
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BinPackParameters: true
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ConstructorInitializerAllOnOneLineOrOnePerLine: true
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DerivePointerBinding: false
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PointerBindsToType: true
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PenaltyExcessCharacter: 50
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PenaltyBreakBeforeFirstCallParameter: 30
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PenaltyBreakComment: 1000
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PenaltyBreakFirstLessLess: 10
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PenaltyBreakString: 100
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PenaltyReturnTypeOnItsOwnLine: 50
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SpacesBeforeTrailingComments: 2
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SpacesInParentheses: false
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SpacesInAngles: false
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SpaceInEmptyParentheses: false
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SpacesInCStyleCastParentheses: false
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SpaceAfterCStyleCast: false
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SpaceAfterControlStatementKeyword: true
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SpaceBeforeAssignmentOperators: true
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# Configure each individual brace in BraceWrapping
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BreakBeforeBraces: Custom
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# Qualifiers (const, volatile, static, etc)
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QualifierAlignment: Custom
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QualifierOrder: ['static', 'inline', 'constexpr', 'const', 'volatile', 'type']
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# Control of individual brace wrapping cases
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BraceWrapping:
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AfterCaseLabel: true
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AfterClass: true
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AfterControlStatement: true
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AfterEnum: true
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AfterFunction: true
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AfterNamespace: true
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AfterStruct: true
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AfterUnion: true
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BeforeCatch: true
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BeforeElse: true
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IndentBraces: false
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...

‎.clang-tidy

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---
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Checks: '-*,
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performance-*,
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-performance-enum-size,
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llvm-namespace-comment,
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modernize-redundant-void-arg,
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modernize-use-nullptr,
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modernize-use-default,
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modernize-use-override,
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modernize-loop-convert,
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modernize-make-shared,
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modernize-make-unique,
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modernize-avoid-bind,
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misc-unused-parameters,
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readability-braces-around-statements,
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readability-named-parameter,
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readability-redundant-smartptr-get,
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readability-redundant-string-cstr,
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readability-simplify-boolean-expr,
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readability-container-size-empty,
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readability-identifier-naming,
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readability-static-definition-in-anonymous-namespace,
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'
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HeaderFilterRegex: ''
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CheckOptions:
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- key: llvm-namespace-comment.ShortNamespaceLines
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value: '10'
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- key: llvm-namespace-comment.SpacesBeforeComments
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value: '2'
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- key: misc-unused-parameters.StrictMode
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value: '1'
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- key: readability-braces-around-statements.ShortStatementLines
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value: '2'
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# type names
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- key: readability-identifier-naming.ClassCase
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value: CamelCase
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- key: readability-identifier-naming.EnumCase
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value: CamelCase
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- key: readability-identifier-naming.UnionCase
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value: CamelCase
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# function names
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- key: readability-identifier-naming.FunctionCase
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value: camelBack
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# method names
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- key: readability-identifier-naming.MethodCase
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value: camelBack
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# variable names
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- key: readability-identifier-naming.VariableCase
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value: lower_case
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- key: readability-identifier-naming.ProtectedMemberSuffix
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value: '_'
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- key: readability-identifier-naming.PrivateMemberSuffix
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value: '_'
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# const static or global variables are UPPER_CASE
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- key: readability-identifier-naming.EnumConstantCase
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value: UPPER_CASE
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- key: readability-identifier-naming.StaticVariableCasePrefix
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value: 's_'
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- key: readability-identifier-naming.StaticConstantCase
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value: UPPER_CASE
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- key: readability-identifier-naming.GlobalConstantCase
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value: UPPER_CASE
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- key: readability-identifier-naming.ClassConstantCase
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value: UPPER_CASE
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‎.codespell_words

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‎.pre-commit-config.yaml

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# To use:
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#
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# pre-commit run -a
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#
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# Or:
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#
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# pre-commit install # (runs every time you commit in git)
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#
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# To update this file:
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#
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# pre-commit autoupdate
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#
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# See https://github.com/pre-commit/pre-commit
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repos:
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# Standard hooks
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v4.5.0
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hooks:
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- id: check-added-large-files
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- id: check-case-conflict
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- id: check-json
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- id: check-merge-conflict
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- id: check-symlinks
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- id: check-toml
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- id: check-yaml
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- id: debug-statements
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- id: destroyed-symlinks
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- id: detect-private-key
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- id: end-of-file-fixer
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- id: mixed-line-ending
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- id: pretty-format-json
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- id: trailing-whitespace
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- repo: https://github.com/psf/black
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rev: 23.10.0
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hooks:
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- id: black
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- repo: local
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hooks:
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- id: clang-format
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name: clang-format
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description: Format files with ClangFormat.
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entry: clang-format-14
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language: system
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files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
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args: ['-fallback-style=none', '-i']
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- repo: https://github.com/codespell-project/codespell
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rev: v2.2.6
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hooks:
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- id: codespell
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args: ['--write-changes', '--ignore-words=.codespell_words', '--skip="*.eps"']
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exclude: CHANGELOG.rst
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- repo: https://github.com/cheshirekow/cmake-format-precommit
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rev: v0.6.10
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hooks:
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- id: cmake-format
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- id: cmake-lint
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args:
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- "--disabled-codes=C0301" # Disable Line too long lint
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- "--suppress-decorations"

‎CMakeLists.txt

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cmake_minimum_required(VERSION 3.8)
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project(ros2_openai_server)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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set(THIS_PACKAGE_INCLUDE_DEPENDS ai_msgs cv_bridge rclcpp sensor_msgs)
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find_package(ament_cmake REQUIRED)
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find_package(CURL REQUIRED)
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find_package(nlohmann_json REQUIRED)
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find_package(OpenCV REQUIRED)
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foreach(dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
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find_package(${dependency} REQUIRED)
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endforeach()
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find_package(ament_cmake REQUIRED)
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add_executable(openai_server src/openai_server.cpp)
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ament_target_dependencies(openai_server ${THIS_PACKAGE_INCLUDE_DEPENDS})
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target_link_libraries(openai_server b64 CURL::libcurl nlohmann_json
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${OpenCV_LIBS})
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install(
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TARGETS openai_server
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/ros2_openai_server)
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install(
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DIRECTORY test_data
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DESTINATION DESTINATION
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share/ros2_openai_server)
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ament_export_dependencies(rosidl_default_runtime)
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ament_package()

‎README.md

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# ros2_openai_server
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OpenAI server node for ROS2 Applications
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## Setup
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Requires an OpenAI key as described here: https://help.openai.com/en/articles/4936850-where-do-i-find-my-openai-api-key
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Set it as an environment variable: `export OPENAI_API_KEY="..."`
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## Run
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Here's a quick example:
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`ros2 run ros2_openai_server openai_server`
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Send it a prompt. Here's an example that returns a bool from a yes/no question. Not that the `image` field of the service request may be left empty.
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`ros2 service call /openai_bool_response ai_msgs/srv/BoolResponse prompt:\ "are you a pirate? please respond with a one-word answer, yes or no"`
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Here's an example that returns a full string.
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`ros2 service call /openai_string_response ai_msgs/srv/StringResponse prompt:\ "are you a pirate?"`
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## Citation
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If you use this work, please cite it like so:
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- Zelenak, A., Lock, J., & Aldrich, B. (2024) *An OpenAI Server for ROS2*. Github. **https://github.com/robosoft-ai/ros2_openai_server**

‎package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>ros2_openai_server</name>
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<version>0.0.0</version>
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<description>A server which sends prompts to OpenAI</description>
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<maintainer email="andyz@utexas.edu">andy</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>ai_msgs</depend>
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<depend>cv_bridge</depend>
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<depend>rclcpp</depend>
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<depend>sensor_msgs</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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