feat: 添加机器人模式切换和连续移动功能
- 新增switch_mode方法用于切换机器人运控模式 - 添加ContinuousMove方法实现机器人连续移动控制 - 更新工具调用处理以支持新功能 - 调整版本号至0.0.9
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@@ -4,7 +4,7 @@ build-backend = "hatchling.build"
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[project]
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name = "terminal_go2_mcp"
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version = "0.0.5"
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version = "0.0.9"
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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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@@ -35,6 +35,25 @@ class TerminalGo2McpServer:
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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 switch_mode(self, name: str):
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"""
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切换机器人模式。
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Args:
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- name (str): 模式名称
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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 name:
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try:
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params = {"name": name}
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return await self.pubCmd("msc", "SelectMode", params)
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except Exception as e:
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logger.error(f"Failed to call switch_mode mcp-tool: {str(e)} ", exc_info=True)
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raise
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async def custom_action(self, action: str):
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"""
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机器人自定义动作展示。
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@@ -54,24 +73,26 @@ class TerminalGo2McpServer:
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logger.error(f"Failed to call action mcp-tool: {str(e)} ", exc_info=True)
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raise
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async def save_position(self, location_name: str):
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async def ContinuousMove(self, on: bool, vx: float, vy: float, vyaw: float):
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"""
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机器人保存具体地点。
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开始连续移动。
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Args:
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- location_name (str): 地点名称
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- on (bool): 是否开始连续移动
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- vx (float): x方向速度
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- vy (float): y方向速度
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- vyaw (float): 偏航角速度
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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_name:
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try:
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params = {"location_name": location_name}
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return await self.pubCmd("nav", "save_location", params)
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except Exception as e:
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logger.error(f"Failed to call saveLocation mcp-tool: {str(e)} ", exc_info=True)
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raise
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try:
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params = {"on": on, "vx": vx, "vy": vy, "vyaw": vyaw}
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return await self.pubCmd("sport", "ContinuousMove", params)
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except Exception as e:
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logger.error(f"Failed to call ContinuousMove: {str(e)}", exc_info=True)
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raise
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# 新增OAC相关命令
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async def obstacle_avoidance_switch(self, enable: bool):
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@@ -428,9 +449,24 @@ async def serve() -> None:
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# "required": ["speech"]
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# }
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# ),
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Tool(
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name="switch_mode",
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description="切换机器人模式。运控模式:ai、normal、advanced",
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inputSchema={
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"type": "object",
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"properties": {
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"name": {
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"type": "string",
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"description": "模式名称",
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"minLength": 1
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}
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},
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"required": ["name"]
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}
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),
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Tool(
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name="custom_action",
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description="机器人自定义动作展示。支持多种动作包括：基础动作(Damp阻尼、BalanceStand平衡站立、StandUp站起、StandDown蹲下、Sit坐下、RecoveryStand恢复站立)、表演动作(Hello打招呼、Stretch伸展、Content满足、Heart爱心、Scrape刮擦)、高难度动作(FrontFlip前空翻、BackFlip后空翻、LeftFlip左空翻、FrontJump前跳、FrontPounce前扑、Dance1舞蹈1、Dance2舞蹈2)、自由模式(FreeWalk自由行走、FreeBound自由跳跃、FreeJump自由跳跃、FreeAvoid自由避障、WalkUpright直立行走、CrossStep交叉步)等。",
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description="机器人自定义动作展示。支持多种动作包括：基础动作(Damp阻尼、BalanceStand平衡站立、StandUp站起、StandDown蹲下、Sit坐下、RiseSit站起(相对于坐下)、RecoveryStand恢复站立)、表演动作(Hello打招呼、Stretch伸展、Content满足、Heart爱心、Scrape刮擦)、高难度动作(FrontFlip前空翻、BackFlip后空翻、LeftFlip左空翻、FrontJump前跳、FrontPounce前扑、Dance1舞蹈1、Dance2舞蹈2)、自由模式(FreeWalk自由行走、FreeBound自由跳跃、FreeJump自由跳跃、FreeAvoid自由避障、WalkUpright直立行走、CrossStep交叉步)等。",
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inputSchema={
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"type": "object",
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"properties": {
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@@ -443,21 +479,36 @@ async def serve() -> None:
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"required": ["action"]
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}
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),
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# Tool(
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# name="save_position",
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# description="机器人保存具体地点。",
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# inputSchema={
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# "type": "object",
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# "properties": {
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# "location_name": {
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# "type": "string",
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# "description": "地点名称",
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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="StartContinuousMove",
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description="开始连续移动。",
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inputSchema={
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"type": "object",
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"properties": {
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"vx": {
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"type": "number",
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"description": "x方向速度"
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},
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"vy": {
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"type": "number",
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"description": "y方向速度"
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},
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"vyaw": {
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"type": "number",
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"description": "偏航角速度"
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}
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},
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"required": ["vx", "vy", "vyaw"]
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}
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),
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Tool(
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name="StopContinuousMove",
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description="停止连续移动。",
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inputSchema={
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"type": "object",
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"properties": {}
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}
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),
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Tool(
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name="obstacle_avoidance_switch",
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description="开启/关闭避障功能。",
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@@ -494,50 +545,50 @@ async def serve() -> None:
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"required": ["x", "y", "yaw"]
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}
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),
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Tool(
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name="move_to_absolute_position",
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description="移动到绝对位置。",
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inputSchema={
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"type": "object",
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"properties": {
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"x": {
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"type": "number",
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"description": "x坐标"
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},
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"y": {
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"type": "number",
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"description": "y坐标"
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},
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"yaw": {
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"type": "number",
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"description": "偏航角"
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}
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},
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"required": ["x", "y", "yaw"]
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}
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),
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Tool(
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name="move_to_increment_position",
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description="移动到相对位置。",
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inputSchema={
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"type": "object",
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"properties": {
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"x": {
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"type": "number",
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"description": "x坐标增量"
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},
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"y": {
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"type": "number",
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"description": "y坐标增量"
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},
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"yaw": {
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"type": "number",
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"description": "偏航角增量"
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}
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},
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"required": ["x", "y", "yaw"]
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}
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),
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# Tool(
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# name="move_to_absolute_position",
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# description="移动到绝对位置。",
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# inputSchema={
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# "type": "object",
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# "properties": {
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# "x": {
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# "type": "number",
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# "description": "x坐标"
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# },
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# "y": {
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# "type": "number",
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# "description": "y坐标"
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# },
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# "yaw": {
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# "type": "number",
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# "description": "偏航角"
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# }
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# },
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# "required": ["x", "y", "yaw"]
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# }
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# ),
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# Tool(
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# name="move_to_increment_position",
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# description="移动到相对位置。",
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# inputSchema={
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# "type": "object",
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# "properties": {
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# "x": {
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# "type": "number",
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# "description": "x坐标增量"
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# },
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# "y": {
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# "type": "number",
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# "description": "y坐标增量"
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# },
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# "yaw": {
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# "type": "number",
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# "description": "偏航角增量"
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# }
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# },
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# "required": ["x", "y", "yaw"]
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# }
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# ),
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# Tool(
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# name="start_mapping",
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# description="开始建图。",
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@@ -770,18 +821,24 @@ async def serve() -> None:
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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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if name == "custom_action":
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if name == "switch_mode":
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result = await mcp_server.switch_mode(arguments["name"])
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elif name == "custom_action":
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result = await mcp_server.custom_action(arguments["action"])
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elif name == "StartContinuousMove":
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result = await mcp_server.StartContinuousMove(arguments["vx"], arguments["vy"], arguments["vyaw"])
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elif name == "StopContinuousMove":
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result = await mcp_server.StopContinuousMove()
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elif name == "save_position":
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result = await mcp_server.save_position(arguments["location_name"])
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elif name == "obstacle_avoidance_switch":
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result = await mcp_server.obstacle_avoidance_switch(arguments["enable"])
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elif name == "obstacle_move":
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result = await mcp_server.obstacle_move(arguments["x"], arguments["y"], arguments["yaw"])
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elif name == "move_to_absolute_position":
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result = await mcp_server.move_to_absolute_position(arguments["x"], arguments["y"], arguments["yaw"])
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elif name == "move_to_increment_position":
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result = await mcp_server.move_to_increment_position(arguments["x"], arguments["y"], arguments["yaw"])
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# elif name == "move_to_absolute_position":
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# result = await mcp_server.move_to_absolute_position(arguments["x"], arguments["y"], arguments["yaw"])
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# elif name == "move_to_increment_position":
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# result = await mcp_server.move_to_increment_position(arguments["x"], arguments["y"], arguments["yaw"])
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# elif name == "start_mapping":
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# result = await mcp_server.start_mapping()
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# elif name == "end_mapping":
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