Initial project setup with core files including .gitignore, LICENSE, pyproject.toml, and main application structure. Added MQTT handling and navigation server functionality for robot control.
This commit is contained in:
489
temi_mcpserver/temiRobot/temi_mcpserver.py
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489
temi_mcpserver/temiRobot/temi_mcpserver.py
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@@ -0,0 +1,489 @@
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from typing import Optional, Sequence
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import logging
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from fastapi import FastAPI
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from pydantic import BaseModel
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from mcp.server import Server
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from mcp.server.stdio import stdio_server
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from mcp.types import Tool, TextContent
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import asyncio
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import json
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import time
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import uuid
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from .mcp_mqtt import get_mcpmqtt_handler
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# 配置日志
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logging.basicConfig(
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level=logging.INFO,
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format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
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)
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logger = logging.getLogger(__name__)
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class TourStop(BaseModel):
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name: str
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text: str
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class NavServer:
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def __init__(self, mmhandler=None):
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self.mmhandler = mmhandler or get_mcpmqtt_handler()
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async def publish_Cmd(self, device_id: str, cmd: str, params: dict):
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try:
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payload = {
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"device_id": device_id,
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"cmd": cmd,
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"data": params["data"]
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}
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self.mmhandler.client.publish("robot/cmd", json.dumps(payload), qos=2)
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return f"{cmd}工具执行成功"
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except Exception as e:
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logger.error(f"Failed to publish {cmd} command: {str(e)}", exc_info=True)
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raise
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async def nav_to(self, location: str):
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"""
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机器人导航去某个地方。
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Args:
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- location (str): 目标地点名称
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Returns:
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str: 命令执行结果消息
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Raises:
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ValueError: 如果参数无效或为空
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Exception: 如果MQTT发布失败
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"""
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if location:
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try:
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if location == "充电桩":
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location = "home base"
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params = {
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"data": {"location": location}
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}
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return await self.publish_Cmd("123456", "nav", params)
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except Exception as e:
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logger.error(f"Failed to call navigation mcp-tool: {str(e)} ", exc_info=True)
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raise
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async def speak(self, speech: str):
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"""
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机器人说某些话。
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Args:
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- speech (str): 说话内容
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Returns:
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str: 命令执行结果消息
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Raises:
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ValueError: 如果参数无效或为空
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Exception: 如果MQTT发布失败
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"""
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if speech:
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try:
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params = {
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"data": {"speech": speech}
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}
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return await self.publish_Cmd("123456", "speak", params)
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except Exception as e:
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logger.error(f"Failed to call speak mcp-tool: {str(e)} ", exc_info=True)
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raise
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async def reception(self, location: str):
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"""
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机器人接待客人。
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Args:
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- location (str): 机器人去这个位置接待客人
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- task_id (Optional[str]): 任务id，不传则自动生成
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Returns:
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str: 命令执行结果消息
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Raises:
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ValueError: 如果参数无效或为空
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Exception: 如果MQTT发布失败
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"""
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if location :
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try:
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params = {
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"data": {
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"location": location
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}
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}
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return await self.publish_Cmd("123456", "reception", params)
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except Exception as e:
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logger.error(f"Failed to call reception mcp-tool: {str(e)} ", exc_info=True)
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raise
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async def notification(self, location: str, text: str):
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"""
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机器人通知事情。
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Args:
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- location (str): 机器人去这个位置通知事情
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- text (str): 通知事情的内容
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- task_id (Optional[str]): 任务id，不传则自动生成
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Returns:
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str: 命令执行结果消息
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Raises:
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ValueError: 如果参数无效或为空
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Exception: 如果MQTT发布失败
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"""
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if location :
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try:
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params = {
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"data": {
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"location": location,
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"text": text
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}
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}
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return await self.publish_Cmd("123456", "notification", params)
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except Exception as e:
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logger.error(f"Failed to call notification mcp-tool: {str(e)} ", exc_info=True)
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raise
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async def repose(self):
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"""
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机器人重新定位。
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"""
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try:
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params = {
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"data": {
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"action": "repose"
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}
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}
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return await self.publish_Cmd("123456", "map", params)
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except Exception as e:
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logger.error(f"Failed to call repose mcp-tool: {str(e)} ", exc_info=True)
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raise
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async def delivery(self, first_location: str, next_location: str):
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"""
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机器人运送物品。
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Args:
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- first_location (str): 机器人去这个位置取物品
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- next_location (str): 机器人将物品送到这个位置
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- task_id (Optional[str]): 任务id，不传则自动生成
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Returns:
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str: 命令执行结果消息
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Raises:
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ValueError: 如果参数无效或为空
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Exception: 如果MQTT发布失败
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"""
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if first_location and next_location:
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try:
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params = {
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"data": {
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"first_location": first_location,
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"next_location": next_location
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}
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}
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return await self.publish_Cmd("123456", "delivery", params)
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except Exception as e:
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logger.error(f"Failed to call delivery mcp-tool: {str(e)} ", exc_info=True)
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raise
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async def startFaceRecognize(self, device_id: str):
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"""
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机器人进行人脸识别。
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Args:
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- device_id (str): 设备id
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Returns:
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str: 命令执行结果消息
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Raises:
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ValueError: 如果参数无效或为空
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Exception: 如果MQTT发布失败
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"""
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if device_id:
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try:
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params = {
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"data": {}
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}
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return await self.publish_Cmd("123456", "face", params)
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except Exception as e:
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logger.error(f"Failed to call face recognize mcp-tool: {str(e)} ", exc_info=True)
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raise
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async def scanQRCode(self, device_id: str):
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"""
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机器人进行二维码扫描。
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Args:
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- device_id (str): 设备id
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Returns:
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str: 命令执行结果消息
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Raises:
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ValueError: 如果参数无效或为空
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Exception: 如果MQTT发布失败
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"""
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if device_id:
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try:
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params = {
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"data": {}
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}
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return await self.publish_Cmd("123456", "qrcode", params)
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except Exception as e:
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logger.error(f"Failed to call QR code scan mcp-tool: {str(e)} ", exc_info=True)
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raise
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async def save_position(self, device_id: str, location_name: str):
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"""
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机器人保存具体地点。
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Args:
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- device_id (str): 设备id
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- location_name (str): 地点名称
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Returns:
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str: 命令执行结果消息
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Raises:
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ValueError: 如果参数无效或为空
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Exception: 如果MQTT发布失败
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"""
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if device_id and location_name:
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try:
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params = {
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"data": {"location_name": location_name}
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}
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return await self.publish_Cmd("123456", "saveLocation", params)
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except Exception as e:
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logger.error(f"Failed to call save_position mcp-tool: {str(e)} ", exc_info=True)
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raise
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async def guide(self):
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"""
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机器人导览。
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Args:
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Returns:
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str: 命令执行结果消息
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Raises:
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ValueError: 如果参数无效或为空
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Exception: 如果MQTT发布失败
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"""
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try:
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datas = [
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TourStop(name="前台", text="欢迎来到我们的场所，这是入口区域"),
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TourStop(name="灵泽万川展厅", text="这是我们的主大厅，提供接待服务"),
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TourStop(name="爱易拍展厅", text="这里展示我们的主要产品和成果")
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]
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params = {
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"data": [data.model_dump() for data in datas]
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}
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return await self.publish_Cmd("123456", "guide", params)
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except Exception as e:
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logger.error(f"Failed to call guide mcp-tool: {str(e)} ", exc_info=True)
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raise
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async def serve() -> None:
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server = Server("temi_mcp")
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mmhandler = get_mcpmqtt_handler()
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nav_server = NavServer(mmhandler)
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@server.list_tools()
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async def list_tools() -> list[Tool]:
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"""列出所有工具"""
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return [
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Tool(
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name="nav_to",
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description="数字员工、终端、具身机器人、前台机器人、助手、机器人导航带路到指定地点:带我去、去XX、请引路、导航去、我想去、能带我去吗、带路、送我去、在哪里、前往XX、去XX位置、带我过去、请带我到、我想前往、去那个地方、我要去、能不能去、带我导航、这个地方怎么走、我想找XX、导航带我去、请带路到、我要去那边、走一趟去、去下XX、到XX怎么走",
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inputSchema={
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"type": "object",
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"properties": {
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"location": {
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"type": "string",
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"description": "目标地点名称",
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"minLength": 1
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}
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},
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"required": ["location"]
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}
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),
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Tool(
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name="speak",
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description="数字员工、终端、具身机器人、前台机器人、助手、机器人进行语音播报:告诉、提醒、告知、提示",
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inputSchema={
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"type": "object",
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"properties": {
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"speech": {
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"type": "string",
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"description": "要播报的语音内容",
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"minLength": 1
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}
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},
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"required": ["speech"]
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}
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),
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Tool(
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name="reception",
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description="数字员工、终端、具身机器人、前台机器人、助手、机器人去接待客人:去接人、请迎接客人、去接待、迎接一下、带人过来、把客人带过来、去门口接人、去接一下、请接人、接客人、帮我迎接、去把人接过来、接待来访者、请去接一下客人、送客人过来、从XX接到YY、引导访客、带访客过来、请引领客人、去门口把人接进来、从入口接人、去接待处接人、带客人进来",
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inputSchema={
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"type": "object",
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"properties": {
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"location": {
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"type": "string",
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"description": "引导接待客人到这个位置",
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"minLength": 1
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},
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},
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"required": ["location"]
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}
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),
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Tool(
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name="notification",
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description="数字员工、终端、具身机器人、前台机器人、助手、机器人去通知事情:通知、告诉、提醒、告知、提示",
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inputSchema={
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"type": "object",
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"properties": {
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"location": {
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"type": "string",
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"description": "去这个位置通知事情",
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"minLength": 1
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},
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"text": {
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"type": "string",
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"description": "通知事情的内容",
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"minLength": 1
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}
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},
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"required": ["location","text"]
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}
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),
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Tool(
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name="repose",
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description="数字员工、终端、具身机器人、前台机器人、助手、机器人去重新定位",
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inputSchema={
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"type": "object",
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"properties": {},
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"required": []
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}
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),
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Tool(
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name="delivery",
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description="数字员工、终端、具身机器人、前台机器人、助手、机器人去运输物品:帮我送东西、去送一下、去送物品、帮我拿过去、送这个过去、去送快递、运送一下、帮我带东西、把东西送过去、物品配送、拿去给XX、去取个东西、取完送过去、帮我捎个东西、把这个拿去、请运过去、送过去给谁、请配送一下、帮我转交、帮我送到、从XX拿到YY、物品搬运",
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inputSchema={
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"type": "object",
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"properties": {
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"first_location": {
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"type": "string",
|
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"description": "去这个位置取物品",
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"minLength": 1
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},
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"next_location": {
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"type": "string",
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"description": "将物品运输、送到这个位置",
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"minLength": 1
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||||
}
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},
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"required": ["first_location","next_location"]
|
||||
}
|
||||
),
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# Tool(
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# name="guide",
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# description="数字员工、终端、具身机器人、前台机器人、助手、机器人进行导览服务:导览、介绍、参观、带领参观、导游、讲解、展示、演示、介绍场所、带我看看",
|
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# inputSchema={
|
||||
# "type": "object",
|
||||
# "properties": {
|
||||
# },
|
||||
# "required": []
|
||||
# }
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# )
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# Tool(
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# name="face",
|
||||
# description="数字员工、终端、具身机器人、前台机器人、助手、机器人进行人脸识别:识别人脸、人脸识别、脸部识别、面部识别、认脸、看看是谁、识别一下、看看这个人、辨识人脸、扫脸、人脸检测、看脸识别、脸部检测、识别面孔、看人脸、人脸扫描、脸识别、面孔识别、认人、识别身份、看看这是谁、人脸认证、脸部扫描、面部扫描",
|
||||
# inputSchema={
|
||||
# "type": "object",
|
||||
# "properties": {
|
||||
# "device_id": {
|
||||
# "type": "string",
|
||||
# "description": "设备ID",
|
||||
# "minLength": 1
|
||||
# },
|
||||
# },
|
||||
# "required": ["device_id"]
|
||||
# }
|
||||
# ),
|
||||
# Tool(
|
||||
# name="qrcode",
|
||||
# description="数字员工、终端、具身机器人、前台机器人、助手、机器人进行二维码扫描:扫码、扫二维码、扫QR码、二维码识别、码扫描、扫一下码、读取二维码、识别二维码、二维码扫描、QR扫描、扫描条码、扫描编码、读码、解析二维码、扫描识别、码识别、条码扫描、扫描二维码、读取码、扫描条形码、二维码读取、码解析",
|
||||
# inputSchema={
|
||||
# "type": "object",
|
||||
# "properties": {
|
||||
# "device_id": {
|
||||
# "type": "string",
|
||||
# "description": "设备ID",
|
||||
# "minLength": 1
|
||||
# },
|
||||
# "task_id": {
|
||||
# "type": "string",
|
||||
# "description": "任务ID"
|
||||
# }
|
||||
# },
|
||||
# "required": ["device_id"]
|
||||
# }
|
||||
# )
|
||||
]
|
||||
|
||||
@server.call_tool()
|
||||
async def call_tool(name: str, arguments: dict) -> Sequence[TextContent]:
|
||||
"""处理工具调用"""
|
||||
try:
|
||||
result = ""
|
||||
if name == "nav_to":
|
||||
if "location" not in arguments:
|
||||
raise ValueError("缺少必要参数: location")
|
||||
result = await nav_server.nav_to(
|
||||
location=arguments["location"]
|
||||
)
|
||||
elif name == "speak":
|
||||
if "speech" not in arguments:
|
||||
raise ValueError("缺少必要参数: speech")
|
||||
result = await nav_server.speak(
|
||||
speech=arguments["speech"]
|
||||
)
|
||||
elif name == "reception":
|
||||
if "location" not in arguments:
|
||||
raise ValueError("缺少必要参数: location")
|
||||
result = await nav_server.reception(
|
||||
location=arguments["location"],
|
||||
)
|
||||
elif name == "notification":
|
||||
if "location" not in arguments or "text" not in arguments:
|
||||
raise ValueError("缺少必要参数: location或text")
|
||||
result = await nav_server.notification(
|
||||
location=arguments["location"],
|
||||
text=arguments["text"]
|
||||
)
|
||||
elif name == "repose":
|
||||
result = await nav_server.repose()
|
||||
elif name == "delivery":
|
||||
if "first_location" not in arguments or "next_location" not in arguments:
|
||||
raise ValueError("缺少必要参数: first_location或next_location")
|
||||
result = await nav_server.delivery(
|
||||
first_location=arguments["first_location"],
|
||||
next_location=arguments["next_location"]
|
||||
)
|
||||
# elif name == "face":
|
||||
# if "device_id" not in arguments:
|
||||
# raise ValueError("缺少必要参数: device_id")
|
||||
# result = await nav_server.startFaceRecognize(
|
||||
# device_id=arguments["device_id"],
|
||||
# )
|
||||
# elif name == "qrcode":
|
||||
# if "device_id" not in arguments:
|
||||
# raise ValueError("缺少必要参数: device_id")
|
||||
# result = await nav_server.scanQRCode(
|
||||
# device_id=arguments["device_id"],
|
||||
# )
|
||||
else:
|
||||
raise ValueError(f"未知工具: {name}")
|
||||
return [TextContent(type="text", text=result)]
|
||||
except Exception as e:
|
||||
logger.error(f"工具调用失败: {str(e)}")
|
||||
raise ValueError(f"执行失败: {str(e)}")
|
||||
|
||||
options = server.create_initialization_options()
|
||||
async with stdio_server() as (read_stream, write_stream):
|
||||
await server.run(read_stream, write_stream, options)
|
||||
|
||||
def main():
|
||||
asyncio.run(serve())
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user