499 lines
22 KiB
Python
499 lines
22 KiB
Python
from typing import Optional, Sequence, List
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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, user_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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"user_id": user_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} 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 nav_to(self, user_id: str, location: str, flag: bool):
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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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else:
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params = {
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"data": {"location": location, "flag": flag}
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}
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return await self.publish_Cmd("123456", user_id, "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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return f"Failed to call navigation mcp-tool: {str(e)}"
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async def speak(self, user_id: str, 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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else:
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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", user_id, "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, user_id: str, location: str):
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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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else:
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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", user_id, "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 notification(self, user_id: str, location: str, text: str):
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"""轮足机器人移动到指定位置通知"""
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try:
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if not location or not text:
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return "Location or text is not specified."
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else:
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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", user_id, "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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return f"Failed to call notification mcp-tool: {str(e)}"
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async def repose(self, user_id: str):
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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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"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", user_id, "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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return f"Failed to call repose mcp-tool: {str(e)}"
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async def delivery(self, user_id: str, first_location: str, next_location: str):
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"""轮足机器人配送"""
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try:
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if not first_location or not next_location:
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return "first_location or next_location is not specified."
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else:
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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", user_id, "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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return f"Failed to call delivery mcp-tool: {str(e)}"
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async def patrol(self, user_id: str, 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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else:
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params = {
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"data": {"locations": locations}
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}
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return await self.publish_Cmd("123456", user_id, "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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async def startFaceRecognize(self, device_id: str, user_id: str):
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"""人脸识别"""
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try:
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if not device_id:
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return "device_id is not specified."
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else:
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params = {
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"data": {}
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}
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return await self.publish_Cmd("123456", user_id, "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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return f"Failed to call face recognize mcp-tool: {str(e)}"
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async def scanQRCode(self, device_id: str, user_id: str):
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"""扫描二维码"""
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try:
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if not device_id:
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return "device_id is not specified."
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else:
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params = {
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"data": {}
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}
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return await self.publish_Cmd("123456", user_id, "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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return f"Failed to call QR code scan mcp-tool: {str(e)}"
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async def save_position(self, user_id: str, location_name: str):
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"""保存当前位置"""
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try:
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if not location_name:
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return "location is not specified."
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else:
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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", user_id, "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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return f"Failed to call save_position mcp-tool: {str(e)}"
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async def guide(self, user_id: str, datas: List[TourStop]):
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"""引导"""
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try:
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if not datas:
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return "datas is not specified."
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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", user_id, "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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return f"Failed to call guide mcp-tool: {str(e)}"
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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="nav_to",
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description="轮足机器人导航到指定地点为用户引路。支持普通引导和通知两种模式。普通引导用于一般带路场景；通知模式下，机器人到达后会播放提示。适用于带路、引路、前往某个位置等场景。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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"flag": {
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"type": "boolean",
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"description": "是否为通知类型的导航。True为通知，False为普通引导（默认）。"
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},
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"user_id": {
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"type": "string",
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"description": "用户ID"
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}
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},
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"required": ["location", "user_id"]
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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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"user_id": {
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"type": "string",
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"description": "用户ID"
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}
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},
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"required": ["speech", "user_id"]
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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、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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"user_id": {
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"type": "string",
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"description": "用户ID"
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}
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},
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"required": ["location", "user_id"]
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}
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),
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# Tool(
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# name="notification",
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# description="轮足机器人去通知事情: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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# "user_id": {
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# "type": "string",
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# "description": "用户ID"
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# }
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# },
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# "required": ["location","text", "user_id"]
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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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"user_id": {
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"type": "string",
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"description": "用户ID"
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}
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},
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"required": ["user_id"]
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}
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),
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Tool(
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name="delivery",
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description="轮足机器人去运输物品: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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"user_id": {
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"type": "string",
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"description": "用户ID"
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}
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},
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"required": ["first_location","next_location", "user_id"]
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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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"user_id": {
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"type": "string",
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"description": "用户ID"
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}
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},
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"required": ["locations", "user_id"]
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}
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),
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# Tool(
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# name="guide",
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# description="轮足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={
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# "type": "object",
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# "properties": {
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# "user_id": {
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# "type": "string",
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# "description": "用户ID"
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# }
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# },
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# "required": ["user_id"]
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# }
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# )
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# Tool(
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# name="face",
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# description="轮足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",
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# inputSchema={
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# "type": "object",
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# "properties": {
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# "device_id": {
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# "type": "string",
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# "description": "设备ID",
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# "minLength": 1
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# },
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# "user_id": {
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# "type": "string",
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# "description": "用户ID"
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# }
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# },
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# "required": ["device_id", "user_id"]
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# }
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# ),
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# Tool(
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# name="qrcode",
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# description="轮足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",
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# inputSchema={
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# "type": "object",
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# "properties": {
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# "device_id": {
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# "type": "string",
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# "description": "设备ID",
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# "minLength": 1
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# },
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# "task_id": {
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# "type": "string",
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# "description": "任务ID"
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# },
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# "user_id": {
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# "type": "string",
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# "description": "用户ID"
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# }
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# },
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# "required": ["device_id", "user_id"]
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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 == "nav_to":
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if "location" not in arguments or "user_id" not in arguments:
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raise ValueError("缺少必要参数: location or user_id")
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result = await nav_server.nav_to(
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user_id=arguments["user_id"],
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location=arguments["location"],
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flag=arguments.get("flag", False)
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)
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elif name == "speak":
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if "speech" not in arguments or "user_id" not in arguments:
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raise ValueError("缺少必要参数: speech or user_id")
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result = await nav_server.speak(
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user_id=arguments["user_id"],
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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 or "user_id" not in arguments:
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raise ValueError("缺少必要参数: location or user_id")
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result = await nav_server.reception(
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user_id=arguments["user_id"],
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location=arguments["location"]
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)
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# elif name == "notification":
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# if "location" not in arguments or "text" not in arguments or "user_id" not in arguments:
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# raise ValueError("缺少必要参数: location、text or user_id")
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# result = await nav_server.notification(
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# user_id=arguments["user_id"],
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# location=arguments["location"],
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# text=arguments["text"]
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# )
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elif name == "repose":
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if "user_id" not in arguments:
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raise ValueError("缺少必要参数: user_id")
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result = await nav_server.repose(user_id=arguments["user_id"])
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elif name == "delivery":
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if "first_location" not in arguments or "next_location" not in arguments or "user_id" not in arguments:
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raise ValueError("缺少必要参数: first_location、next_location or user_id")
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result = await nav_server.delivery(
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user_id=arguments["user_id"],
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first_location=arguments["first_location"],
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||
next_location=arguments["next_location"]
|
||
)
|
||
elif name == "patrol":
|
||
if "locations" not in arguments or "user_id" not in arguments:
|
||
raise ValueError("缺少必要参数: locations or user_id")
|
||
result = await nav_server.patrol(
|
||
user_id=arguments["user_id"],
|
||
locations=arguments["locations"]
|
||
)
|
||
# elif name == "face":
|
||
# if "device_id" not in arguments or "user_id" not in arguments:
|
||
# raise ValueError("缺少必要参数: device_id or user_id")
|
||
# result = await nav_server.startFaceRecognize(
|
||
# device_id=arguments["device_id"],
|
||
# user_id=arguments["user_id"]
|
||
# )
|
||
# elif name == "qrcode":
|
||
# if "device_id" not in arguments or "user_id" not in arguments:
|
||
# raise ValueError("缺少必要参数: device_id or user_id")
|
||
# result = await nav_server.scanQRCode(
|
||
# device_id=arguments["device_id"],
|
||
# user_id=arguments["user_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()
|