[gpt4v_vqa] add token and quota calculation

gpt4v_vqa/node_scripts/gpt4v_vqa_node.py

@@ -10,16 +10,15 @@
 import ros_numpy
 import rospy
 from dynamic_reconfigure.server import Server
-from jsk_recognition_msgs.msg import (
-    QuestionAndAnswerText,
-    VQATaskAction,
-    VQATaskGoal,
-    VQATaskResult,
-)
+from jsk_recognition_msgs.msg import (QuestionAndAnswerText, VQATaskAction,
+                                      VQATaskGoal, VQATaskResult)
 from sensor_msgs.msg import Image
 
 from gpt4v_vqa.cfg import GPT4VConfig
 
+COST_PER_TOKEN_FOR_INPUT = 0.01 / 1000
+COST_PER_TOKEN_FOR_OUTPUT = 0.03 / 1000
+
 
 class GPT4VClientNode(object):
     def __init__(self, api_key: str):
@@ -113,6 +112,10 @@ def _ac_cb(self, goal: VQATaskGoal):
             result.result.result.append(
                 QuestionAndAnswerText(question=question, answer=answer)
             )
+            input_tokens = response["usage"]["prompt_tokens"]
+            output_tokens = response["usage"]["completion_tokens"]
+            rospy.loginfo(f"Used tokens for this completion is {input_tokens} for input and {output_tokens} for output.")
+            rospy.loginfo(f"Which costs ${input_tokens * COST_PER_TOKEN_FOR_INPUT} USD for input and ${output_tokens * COST_PER_TOKEN_FOR_OUTPUT} USD for output.")
         if len(result.result.result) == 0:
             rospy.logerr("No answers found")
             self.ac.set_aborted(result)