feat: 新增轮足机器人导航MCP服务器
添加 lzwcai_temi_mcp 包，实现基于MQTT的轮足机器人导航控制服务器。包含以下功能： - 通过 MQTT 发布机器人控制命令 - 提供 goto、speak、reception、repose、patrol 等导航工具 - 支持通过 MCP 协议与AI助手集成 - 更新 lzwcai_lark_mcp 版本至 0.1.11
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0
lzwcai_temi_mcp/__init__.py
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lzwcai_temi_mcp/__init__.py
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lzwcai_temi_mcp/lzwcai_temi_mcp/__init__.py
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lzwcai_temi_mcp/lzwcai_temi_mcp/__init__.py
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lzwcai_temi_mcp/lzwcai_temi_mcp/main.py
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lzwcai_temi_mcp/lzwcai_temi_mcp/main.py
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from typing import Sequence
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import logging
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import asyncio
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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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from .mcp_mqtt import get_mcpmqtt_handler
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from .nav_server import NavServer
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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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async def serve() -> None:
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server = Server("terminal_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="goto",
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description="轮足机器人导航到指定地点为用户引路。触发关键词：带我去、导航、引路、带路、怎么走、在哪里。",
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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="轮足机器人进行语音播报:告诉、提醒、告知、提示、通知",
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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="轮足机器人去接待客人:去接人、请迎接客人、去接待、迎接一下、带人过来",
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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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"name": {
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"type": "string",
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"description": "客人姓名",
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"minLength": 1
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}
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},
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"required": ["location", "name"]
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}
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),
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Tool(
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name="repose",
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description="轮足机器人、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="patrol",
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description="轮足机器人、助手、机器人去巡逻:巡逻、巡查、去检查一下、去看看、去巡视",
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inputSchema={
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"type": "object",
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"properties": {
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"locations": {
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"type": "array",
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"description": "机器人巡逻经过的地点列表",
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"items": {
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"type": "string"
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}
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}
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},
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"required": ["locations"]
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}
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)
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]
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@server.call_tool()
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async def call_tool(name: str, arguments: dict) -> Sequence[TextContent]:
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"""处理工具调用"""
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try:
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result = ""
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if name == "goto":
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if "location" not in arguments:
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raise ValueError("缺少必要参数: location")
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result = await nav_server.goto(
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location=arguments["location"]
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)
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elif name == "speak":
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if "speech" not in arguments:
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raise ValueError("缺少必要参数: speech")
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result = await nav_server.speak(
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speech=arguments["speech"]
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)
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elif name == "reception":
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if "location" not in arguments:
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raise ValueError("缺少必要参数: location")
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result = await nav_server.reception(
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location=arguments["location"],
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name=arguments.get("name", "贵宾")
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)
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elif name == "repose":
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result = await nav_server.repose()
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elif name == "patrol":
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if "locations" not in arguments:
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raise ValueError("缺少必要参数: locations")
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result = await nav_server.patrol(
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locations=arguments["locations"]
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)
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else:
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raise ValueError(f"未知工具: {name}")
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return [TextContent(type="text", text=result)]
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except Exception as e:
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logger.error(f"工具调用失败: {str(e)}")
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raise ValueError(f"执行失败: {str(e)}")
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options = server.create_initialization_options()
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async with stdio_server() as (read_stream, write_stream):
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await server.run(read_stream, write_stream, options)
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def main():
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asyncio.run(serve())
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if __name__ == "__main__":
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main()
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113
lzwcai_temi_mcp/lzwcai_temi_mcp/mcp_mqtt.py
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lzwcai_temi_mcp/lzwcai_temi_mcp/mcp_mqtt.py
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import paho.mqtt.client as mqtt
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import json
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import logging
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import threading
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from typing import Optional
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import uuid
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import threading
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import requests
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from os import getenv
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logging.basicConfig(level=logging.INFO)
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logger = logging.getLogger(__name__)
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MQTT_CLIENT_ID = f"MCPMQTT-{uuid.uuid4().hex[:8]}"
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def getConfig_url(array):
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url = "http://lzwcai-demp-corp-manager:8086/system/config/getConfig"
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data = [array]
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try:
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response = requests.post(url, json=data, timeout=5)
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response.raise_for_status()
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data = response.json()['data']
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return data[0]['configValue']
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except Exception as e:
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print(f"Error fetching config for {array}: {e}")
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return None
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class MQTTHandler:
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def __init__(self):
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self.client = mqtt.Client()
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self.tasks = {} # {task_id: task_data}
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self._lock = threading.Lock()
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# 获取MQTT配置，提供默认值
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self.mqtt_username = getenv('MQTT_USERNAME') or 'lzwc'
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self.mqtt_password = getenv('MQTT_PASSWORD') or 'Lzwc@4187.'
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mqtt_broker_raw = getenv('MQTT_BROKER') or 'emqx'
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# 移除协议前缀，只保留主机名
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self.mqtt_broker = mqtt_broker_raw.replace('tcp://', '').replace('mqtt://', '')
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mqtt_port_str = getenv('MQTT_PORT')
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self.mqtt_port = int(mqtt_port_str) if mqtt_port_str else 1883
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# 记录配置信息
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logger.info(f"MQTT配置 - Broker: {self.mqtt_broker}, Port: {self.mqtt_port}, Username: {self.mqtt_username}")
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if not getenv('MQTT_BROKER'):
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logger.warning("MQTT_BROKER环境变量未设置，使用默认值")
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if not mqtt_port_str:
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logger.warning("MQTT_PORT环境变量未设置，使用默认端口1883")
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self.client.username_pw_set(self.mqtt_username, self.mqtt_password)
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self.client.on_connect = self._on_connect
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self.client.on_message = self._on_message
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self.client.on_disconnect = self._on_disconnect
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try:
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logger.info(f"正在连接 MQTT 代理: {self.mqtt_broker}:{self.mqtt_port}")
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self.client.connect(self.mqtt_broker, self.mqtt_port, 60)
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self.client.loop_start()
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except Exception as e:
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logger.error(f"连接 MQTT 失败: {e}")
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def _on_connect(self, client, userdata, flags, rc):
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"""MQTT 连接回调"""
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if rc == 0:
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logger.info("已成功连接到 MQTT 代理服务器")
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else:
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logger.error(f"连接 MQTT 代理服务器失败，返回码: {rc}")
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def get_status(self, task_id: str = None):
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"""获取任务状态
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Args:
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task_id: 可选参数，指定任务ID。如果为None则返回所有任务状态
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Returns:
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如果指定task_id则返回该任务的状态，否则返回所有任务状态
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"""
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with self._lock:
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if task_id:
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return self.tasks.get(task_id, {}).copy()
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return {k: v.copy() for k, v in self.tasks.items()}
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def _on_message(self, client, userdata, msg):
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try:
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payload = json.loads(msg.payload.decode())
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logger.info(f"[MQTT] topic={msg.topic} msg: {payload}")
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# task_id = payload.get('task_id')
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# if task_id and task_id in self.tasks:
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# with self._lock:
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# self.tasks[task_id].update({
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# 'status': payload.get('status', 'UNKNOWN'),
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# 'description': payload.get('description', '')
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# })
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except Exception as e:
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logger.error(f"[错误] 处理消息失败: {e}")
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def _on_disconnect(self, client, userdata, rc):
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"""MQTT 断开连接回调"""
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if rc != 0:
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logger.warning("意外断开与 MQTT 代理服务器的连接。")
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try:
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logger.info("尝试重新连接 MQTT...")
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client.reconnect()
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except Exception as e:
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logger.error(f"重新连接 MQTT 失败: {e}")
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# 单例模式
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_instance: Optional[MQTTHandler] = None
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def get_mcpmqtt_handler() -> MQTTHandler:
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"""获取单例"""
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global _instance
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if _instance is None:
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_instance = MQTTHandler()
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return _instance
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102
lzwcai_temi_mcp/lzwcai_temi_mcp/nav_server.py
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lzwcai_temi_mcp/lzwcai_temi_mcp/nav_server.py
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from typing import Optional, Sequence, List, Dict, Any
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import logging
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import json
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from .mcp_mqtt import get_mcpmqtt_handler
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logger = logging.getLogger(__name__)
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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 pub_cmd(self, device_id: str, action: str, params: Dict[str, Any]):
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"""
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发送MQTT命令
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:param device_id: 设备ID
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:param action: 动作指令 (对应 Kotlin 中的 action/cmd/type)
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:param params: 其他参数 (将被合并到根 JSON 对象中)
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"""
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try:
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payload = {
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"device_id": device_id,
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"action": action
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}
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if params:
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payload.update(params)
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logger.info(f"Publishing command: {action}, payload: {payload}")
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self.mmhandler.client.publish("robot/cmd", json.dumps(payload), qos=2)
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return f"{action} 任务已经下达完成"
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except Exception as e:
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logger.error(f"Failed to publish command: {str(e)}", exc_info=True)
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return f"Failed to publish command: {str(e)}"
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async def goto(self, location: str, flag: bool = False):
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"""轮足导航到指定位置"""
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try:
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if not location:
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return "Location is not specified."
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# Kotlin 端对应 action: "goto"
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# Kotlin 端参数: location (or target)
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params = {
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"location": location
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}
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return await self.pub_cmd("temi-test", "goto", 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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return f"Failed to call navigation mcp-tool: {str(e)}"
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async def speak(self, speech: str):
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"""轮足机器人语音播报"""
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try:
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if not speech:
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return "Speech content is not specified."
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params = {
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"text": speech,
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"lang": "zh"
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}
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return await self.pub_cmd("temi-test", "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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return f"Failed to call speak mcp-tool: {str(e)}"
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async def reception(self, location: str, name: str = "贵宾"):
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"""轮足机器人移动到指定位置迎宾"""
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try:
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if not location:
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return "Location is not specified."
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params = {
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"location": location,
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"text": f"您好，{name}，我是接待机器人。",
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}
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return await self.pub_cmd("temi-test", "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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return f"Failed to call reception mcp-tool: {str(e)}"
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async def repose(self):
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"""轮足机器人重新定位"""
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try:
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params = {}
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return await self.pub_cmd("temi-test", "repose", 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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return f"Failed to call repose mcp-tool: {str(e)}"
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async def patrol(self, locations: list):
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"""轮足机器人巡逻"""
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try:
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if not locations:
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return "locations is not specified."
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params = {
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"flag": False,
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"locations": locations
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}
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return await self.pub_cmd("temi-test", "patrol", params)
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except Exception as e:
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logger.error(f"Failed to call patrol mcp-tool: {str(e)} ", exc_info=True)
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return f"Failed to call patrol mcp-tool: {str(e)}"
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13
lzwcai_temi_mcp/mcp-server.json
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13
lzwcai_temi_mcp/mcp-server.json
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{
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"mcpServers": {
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"lzwcai_temi_mcp": {
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"disabled": false,
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"type": "stdio",
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"timeout": 30,
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"command": "uvx",
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"args": [
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"lzwcai_temi_mcp"
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]
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}
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}
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}
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26
lzwcai_temi_mcp/pyproject.toml
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26
lzwcai_temi_mcp/pyproject.toml
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[build-system]
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requires = ["hatchling"]
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build-backend = "hatchling.build"
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[project]
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name = "lzwcai_temi_mcp"
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version = "0.1.1"
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description = "MQTT-based navigation server for robot"
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requires-python = ">=3.10"
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dependencies = [
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"fastapi>=0.95.0",
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"uvicorn>=0.21.0",
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"paho-mqtt>=2.0.0",
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"pydantic>=1.10.0",
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"python-dotenv>=0.21.0",
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"mcp[cli]>=1.6.0",
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"requests>=2.25.0"
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]
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[project.scripts]
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lzwcai_temi_mcp = "lzwcai_temi_mcp.main:main"
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[tool.hatch.build.targets.wheel]
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packages = ["lzwcai_temi_mcp"]
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