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

lzwcai_lark_mcp/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "hatchling.build"
 
 [project]
 name = "lzwcai-lark-mcp"
-version = "0.1.10"
+version = "0.1.11"
 description = "Lark MCP server"
 requires-python = ">=3.10"
 dependencies = [

lzwcai_lark_mcp/test.py

@@ -35,7 +35,7 @@ def main() -> None:
         mcp_module.types = types_module
         sys.modules["mcp"] = mcp_module
         sys.modules["mcp.types"] = types_module
-    from lzwcai_lark_mcp.tools import send_asset_confirmation_card
+    from lzwcai_lark_mcp.tools import send_stranger_card
     app_id = os.getenv("app_id", "")
     app_secret = os.getenv("app_secret", "")
     auth_url = "https://open.feishu.cn/open-apis/auth/v3/tenant_access_token/internal"
@@ -53,17 +53,18 @@ def main() -> None:
     if not token:
         raise RuntimeError(f"lark auth response missing token: {data}")
     user_id = "gegg1d78"
-    result = send_asset_confirmation_card(
+    result = send_stranger_card(
         token,
         user_id,
         "CONF-20260301-001",
         "2026-03-01 10:30:00",
         [
             {"华为手机": "huawei_phone"},
-            {"红米手机": "redmi_phone"},
+            {"红米手机": "redmi_phone"}
-            "MacBook Pro"
         ],
-        "如有误报请点击反馈"
+        face_cap="img_v3_02vj_b25b040f-b6c1-49f4-a29d-a02c99a13a9g",
+        user_ids=["347f5e71", "gegg1d78"],
+        remark="如有误报请点击反馈"
     )
     print(result)
 

lzwcai_temi_mcp/lzwcai_temi_mcp/main.py

@@ -0,0 +1,151 @@
+from typing import Sequence
+import logging
+import asyncio
+from mcp.server import Server
+from mcp.server.stdio import stdio_server
+from mcp.types import Tool, TextContent
+from .mcp_mqtt import get_mcpmqtt_handler
+from .nav_server import NavServer
+
+# 配置日志
+logging.basicConfig(
+    level=logging.INFO,
+    format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
+)
+logger = logging.getLogger(__name__)
+
+async def serve() -> None:
+    server = Server("terminal_temi_mcp")
+    mmhandler = get_mcpmqtt_handler()
+    nav_server = NavServer(mmhandler)
+
+    @server.list_tools()
+    async def list_tools() -> list[Tool]:
+        """列出所有工具"""
+        return [
+            Tool(
+                name="goto",
+                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。",
+                inputSchema={
+                    "type": "object",
+                    "properties": {
+                        "location": {
+                            "type": "string",
+                            "description": "目标地点名称",
+                            "minLength": 1
+                        }
+                    },
+                    "required": ["location"]
+                }
+            ),
+            Tool(
+                name="speak",
+                description="轮足机器人进行语音播报:告诉、提醒、告知、提示、通知",
+                inputSchema={
+                    "type": "object",
+                    "properties": {
+                        "speech": {
+                            "type": "string",
+                            "description": "要播报的语音内容",
+                            "minLength": 1
+                        }
+                    },
+                    "required": ["speech"]
+                }
+            ),
+            Tool(
+                name="reception",
+                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",
+                inputSchema={
+                    "type": "object",
+                    "properties": {
+                        "location": {
+                            "type": "string",
+                            "description": "引导接待客人到这个位置",
+                            "minLength": 1
+                        },
+                        "name": {
+                            "type": "string",
+                            "description": "客人姓名",
+                            "minLength": 1
+                        }
+                    },
+                    "required": ["location", "name"]
+                }
+            ),
+            Tool(
+                name="repose",
+                description="轮足机器人、助手、机器人去重新定位",
+                inputSchema={
+                    "type": "object",
+                    "properties": {},
+                    "required": []
+                }
+            ),
+            Tool(
+                name="patrol",
+                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",
+                inputSchema={
+                    "type": "object",
+                    "properties": {
+                        "locations": {
+                            "type": "array",
+                            "description": "机器人巡逻经过的地点列表",
+                            "items": {
+                                "type": "string"
+                            }
+                        }
+                    },
+                    "required": ["locations"]
+                }
+            )
+        ]
+
+    @server.call_tool()
+    async def call_tool(name: str, arguments: dict) -> Sequence[TextContent]:
+        """处理工具调用"""
+        try:
+            result = ""
+            if name == "goto":
+                if "location" not in arguments:
+                    raise ValueError("缺少必要参数: location")
+                result = await nav_server.goto(
+                    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"],
+                    name=arguments.get("name", "贵宾")
+                )
+            elif name == "repose":
+                result = await nav_server.repose()
+            elif name == "patrol":
+                if "locations" not in arguments:
+                    raise ValueError("缺少必要参数: locations")
+                result = await nav_server.patrol(
+                    locations=arguments["locations"]
+                )
+            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()

lzwcai_temi_mcp/lzwcai_temi_mcp/mcp_mqtt.py

@@ -0,0 +1,113 @@
+import paho.mqtt.client as mqtt
+import json
+import logging
+import threading
+from typing import Optional
+import uuid
+import threading
+import requests
+from os import getenv
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+MQTT_CLIENT_ID = f"MCPMQTT-{uuid.uuid4().hex[:8]}"
+
+def getConfig_url(array):
+    url = "http://lzwcai-demp-corp-manager:8086/system/config/getConfig"
+    data = [array]
+    try:
+        response = requests.post(url, json=data, timeout=5)
+        response.raise_for_status()
+        data = response.json()['data']
+        return data[0]['configValue']
+    except Exception as e:
+        print(f"Error fetching config for {array}: {e}")
+        return None
+
+class MQTTHandler:
+    def __init__(self):
+        self.client = mqtt.Client()
+        self.tasks = {}  # {task_id: task_data}
+        self._lock = threading.Lock()
+        
+        # 获取MQTT配置，提供默认值
+        self.mqtt_username = getenv('MQTT_USERNAME') or 'lzwc'
+        self.mqtt_password = getenv('MQTT_PASSWORD') or 'Lzwc@4187.'
+        mqtt_broker_raw = getenv('MQTT_BROKER') or 'emqx'
+        # 移除协议前缀，只保留主机名
+        self.mqtt_broker = mqtt_broker_raw.replace('tcp://', '').replace('mqtt://', '')
+        mqtt_port_str = getenv('MQTT_PORT')
+        self.mqtt_port = int(mqtt_port_str) if mqtt_port_str else 1883
+        
+        # 记录配置信息
+        logger.info(f"MQTT配置 - Broker: {self.mqtt_broker}, Port: {self.mqtt_port}, Username: {self.mqtt_username}")
+        if not getenv('MQTT_BROKER'):
+            logger.warning("MQTT_BROKER环境变量未设置，使用默认值")
+        if not mqtt_port_str:
+            logger.warning("MQTT_PORT环境变量未设置，使用默认端口1883")
+
+        self.client.username_pw_set(self.mqtt_username, self.mqtt_password)
+        self.client.on_connect = self._on_connect
+        self.client.on_message = self._on_message
+        self.client.on_disconnect = self._on_disconnect
+        try:
+            logger.info(f"正在连接 MQTT 代理: {self.mqtt_broker}:{self.mqtt_port}")
+            self.client.connect(self.mqtt_broker, self.mqtt_port, 60)
+            self.client.loop_start()
+        except Exception as e:
+            logger.error(f"连接 MQTT 失败: {e}")
+
+
+    def _on_connect(self, client, userdata, flags, rc):
+        """MQTT 连接回调"""
+        if rc == 0:
+            logger.info("已成功连接到 MQTT 代理服务器")
+        else:
+            logger.error(f"连接 MQTT 代理服务器失败，返回码: {rc}")
+
+    def get_status(self, task_id: str = None):
+        """获取任务状态
+        Args:
+            task_id: 可选参数，指定任务ID。如果为None则返回所有任务状态
+        Returns:
+            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
+        """
+        with self._lock:
+            if task_id:
+                return self.tasks.get(task_id, {}).copy()
+            return {k: v.copy() for k, v in self.tasks.items()}
+
+    def _on_message(self, client, userdata, msg):
+        try:
+            payload = json.loads(msg.payload.decode())
+            logger.info(f"[MQTT] topic={msg.topic} msg: {payload}")
+            
+            # task_id = payload.get('task_id')
+            # if task_id and task_id in self.tasks:
+            #     with self._lock:
+            #         self.tasks[task_id].update({
+            #             'status': payload.get('status', 'UNKNOWN'),
+            #             'description': payload.get('description', '')
+            #         })
+                
+        except Exception as e:
+            logger.error(f"[错误] 处理消息失败: {e}")
+
+    def _on_disconnect(self, client, userdata, rc):
+        """MQTT 断开连接回调"""
+        if rc != 0:
+            logger.warning("意外断开与 MQTT 代理服务器的连接。")
+            try:
+                logger.info("尝试重新连接 MQTT...")
+                client.reconnect()
+            except Exception as e:
+                logger.error(f"重新连接 MQTT 失败: {e}")
+
+# 单例模式
+_instance: Optional[MQTTHandler] = None
+
+def get_mcpmqtt_handler() -> MQTTHandler:
+    """获取单例"""
+    global _instance
+    if _instance is None:
+        _instance = MQTTHandler()
+    return _instance

lzwcai_temi_mcp/lzwcai_temi_mcp/nav_server.py

@@ -0,0 +1,102 @@
+from typing import Optional, Sequence, List, Dict, Any
+import logging
+import json
+from .mcp_mqtt import get_mcpmqtt_handler
+
+logger = logging.getLogger(__name__)
+
+class NavServer:
+    def __init__(self, mmhandler=None):
+        self.mmhandler = mmhandler or get_mcpmqtt_handler()
+
+    async def pub_cmd(self, device_id: str, action: str, params: Dict[str, Any]):
+        """
+        发送MQTT命令
+        :param device_id: 设备ID
+        :param action: 动作指令 (对应 Kotlin 中的 action/cmd/type)
+        :param params: 其他参数 (将被合并到根 JSON 对象中)
+        """
+        try:
+            payload = {
+                "device_id": device_id,
+                "action": action
+            }
+            if params:
+                payload.update(params)
+            
+            logger.info(f"Publishing command: {action}, payload: {payload}")
+            self.mmhandler.client.publish("robot/cmd", json.dumps(payload), qos=2)
+            return f"{action} 任务已经下达完成"
+        except Exception as e:
+            logger.error(f"Failed to publish command: {str(e)}", exc_info=True)
+            return f"Failed to publish command: {str(e)}"
+
+    async def goto(self, location: str, flag: bool = False):
+        """轮足导航到指定位置"""
+        try:
+            if not location:
+                return "Location is not specified."
+            
+            # Kotlin 端对应 action: "goto"
+            # Kotlin 端参数: location (or target)
+            params = {
+                "location": location
+            }
+            return await self.pub_cmd("temi-test", "goto", params)
+        except Exception as e:
+            logger.error(f"Failed to call navigation mcp-tool: {str(e)} ", exc_info=True)
+            return f"Failed to call navigation mcp-tool: {str(e)}"
+
+    async def speak(self, speech: str):
+        """轮足机器人语音播报"""
+        try:
+            if not speech:
+                return "Speech content is not specified."
+            
+            params = {
+                "text": speech,
+                "lang": "zh" 
+            }
+            return await self.pub_cmd("temi-test", "speak", params)
+        except Exception as e:
+            logger.error(f"Failed to call speak mcp-tool: {str(e)} ", exc_info=True)
+            return f"Failed to call speak mcp-tool: {str(e)}"
+
+    async def reception(self, location: str, name: str = "贵宾"):
+        """轮足机器人移动到指定位置迎宾"""
+        try:
+            if not location:
+                return "Location is not specified."
+            
+            params = {
+                "location": location,
+                "text": f"您好，{name}，我是接待机器人。", 
+            }
+            return await self.pub_cmd("temi-test", "reception", params)
+        except Exception as e:
+            logger.error(f"Failed to call reception mcp-tool: {str(e)} ", exc_info=True)
+            return f"Failed to call reception mcp-tool: {str(e)}"
+
+    async def repose(self):
+        """轮足机器人重新定位"""
+        try:
+            params = {}
+            return await self.pub_cmd("temi-test", "repose", params)
+        except Exception as e:
+            logger.error(f"Failed to call repose mcp-tool: {str(e)} ", exc_info=True)
+            return f"Failed to call repose mcp-tool: {str(e)}"
+
+    async def patrol(self, locations: list):
+        """轮足机器人巡逻"""
+        try:
+            if not locations:
+                return "locations is not specified."
+            params = {
+                "flag": False,
+                "locations": locations
+            }
+            return await self.pub_cmd("temi-test", "patrol", params)
+        except Exception as e:
+            logger.error(f"Failed to call patrol mcp-tool: {str(e)} ", exc_info=True)
+            return f"Failed to call patrol mcp-tool: {str(e)}"
+

lzwcai_temi_mcp/mcp-server.json

@@ -0,0 +1,13 @@
+{
+  "mcpServers": {
+    "lzwcai_temi_mcp": {
+      "disabled": false,
+      "type": "stdio",
+      "timeout": 30,
+      "command": "uvx",
+      "args": [
+        "lzwcai_temi_mcp"
+      ]
+    }
+  }
+}

lzwcai_temi_mcp/pyproject.toml

@@ -0,0 +1,26 @@
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+name = "lzwcai_temi_mcp"
+version = "0.1.1"
+description = "MQTT-based navigation server for robot"
+requires-python = ">=3.10"
+dependencies = [
+    "fastapi>=0.95.0",
+    "uvicorn>=0.21.0",
+    "paho-mqtt>=2.0.0",
+    "pydantic>=1.10.0",
+    "python-dotenv>=0.21.0",
+    "mcp[cli]>=1.6.0",
+    "requests>=2.25.0"
+]
+
+[project.scripts]
+lzwcai_temi_mcp = "lzwcai_temi_mcp.main:main"
+
+
+[tool.hatch.build.targets.wheel]
+packages = ["lzwcai_temi_mcp"]
+