setup_multi_robot_coordination

Configure multiple industrial robots to work together by specifying robot IDs and collaboration modes like sequential, parallel, synchronous, or hierarchical.

Instructions

设置多机器人协同工作环境

参数:
- robot_ids: 参与协同的机器人ID列表
- collaboration_mode: 协作模式，可选值包括"sequential", "parallel", "synchronous", "hierarchical"

返回:
- 成功或失败的消息

Input Schema

TableJSON Schema

Name	Required	Description	Default
`robot_ids`	Yes
`collaboration_mode`	No		parallel

Implementation Reference

src/nonead_universal_robots_mcp/server.py:821-862 (handler)

The handler function decorated with @mcp.tool(), implementing the setup_multi_robot_coordination tool. It initializes multi-robot coordination by registering connected robots and setting the collaboration mode using the AdvancedMultiRobotCoordinator instance.

def setup_multi_robot_coordination(robot_ids: list, collaboration_mode: str = "parallel"):
    """
    设置多机器人协同工作环境
    
    参数:
    - robot_ids: 参与协同的机器人ID列表
    - collaboration_mode: 协作模式，可选值包括"sequential", "parallel", "synchronous", "hierarchical"
    
    返回:
    - 成功或失败的消息
    """
    try:
        if multi_robot_coordinator is None:
            return return_msg("多机器人协调器未初始化")
        
        # 映射协作模式字符串到枚举值
        mode_map = {
            "sequential": CollaborationMode.SEQUENTIAL,
            "parallel": CollaborationMode.PARALLEL,
            "synchronous": CollaborationMode.SYNCHRONOUS,
            "hierarchical": CollaborationMode.HIERARCHICAL
        }
        
        if collaboration_mode not in mode_map:
            return return_msg(f"不支持的协作模式: {collaboration_mode}")
        
        # 注册机器人到协调器
        for robot_id in robot_ids:
            # 检查机器人是否已连接
            if robot_id in robot_list and robot_list[robot_id].robotConnector.RTDE.isRunning():
                multi_robot_coordinator.register_robot(robot_id)
                logger.info(f"机器人 {robot_id} 已注册到协调器")
            else:
                return return_msg(f"机器人 {robot_id} 未连接或不可用")
        
        # 设置协作模式
        multi_robot_coordinator.set_collaboration_mode(mode_map[collaboration_mode])
        
        return return_msg(f"多机器人协同环境设置成功，协作模式: {collaboration_mode}")
    except Exception as e:
        logger.error(f"设置多机器人协同环境失败: {str(e)}")
        return return_msg(f"设置多机器人协同环境失败: {str(e)}")

src/nonead_universal_robots_mcp/server.py:821-821 (registration)
The @mcp.tool() decorator registers the function as an MCP tool.
```
def setup_multi_robot_coordination(robot_ids: list, collaboration_mode: str = "parallel"):
```

src/nonead_universal_robots_mcp/server.py:48-74 (helper)

Initializes the global multi_robot_coordinator instance used by the tool, along with other modules.

def initialize_extended_modules():
    """初始化所有扩展模块"""
    global multi_robot_coordinator, advanced_trajectory_planner
    global advanced_data_recorder, advanced_data_analyzer

    try:
        # 初始化多机器人协调器
        multi_robot_coordinator = AdvancedMultiRobotCoordinator()
        logger.info("高级多机器人协调器初始化成功")

        # 初始化高级轨迹规划器
        advanced_trajectory_planner = AdvancedTrajectoryPlanner()
        logger.info("高级轨迹规划器初始化成功")

        # 初始化高级数据记录器
        advanced_data_recorder = AdvancedDataRecorder()
        logger.info("高级数据记录器初始化成功")

        # 获取数据分析器实例（单例）
        advanced_data_analyzer = get_data_analyzer()
        logger.info("高级数据分析器初始化成功")

        return True
    except Exception as e:
        logger.error(f"初始化扩展模块失败: {str(e)}")
        return False

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