nUR MCP Server

Instructions

Implementation Reference

• src/nonead_universal_robots_mcp/server.py:326-356 (handler)

  Handler function for 'get_program_state' tool. Queries the UR robot's dashboard for loaded program, program state, save status, and running status via RTDE/DashboardClient, formats the response.

  @mcp.tool()
  def get_program_state(ip: str):
      """获取指定IP机器人的程序执行状态
          IP：机器人地址"""
      try:
          if '连接失败' in link_check(ip):
              return return_msg(f"与机器人的连接已断开。")
  
          robot_list[ip].robotConnector.DashboardClient.ur_get_loaded_program()
          prog_name = robot_list[ip].robotConnector.DashboardClient.last_respond
          robot_list[ip].robotConnector.DashboardClient.ur_programState()
          prog_state = robot_list[ip].robotConnector.DashboardClient.last_respond
          robot_list[ip].robotConnector.DashboardClient.ur_isProgramSaved()
          flg = robot_list[ip].robotConnector.DashboardClient.last_respond
          robot_list[ip].robotConnector.DashboardClient.ur_running()
          running = robot_list[ip].robotConnector.DashboardClient.last_respond
  
          prog_saved = ''
          prog_running = ''
          if flg.startswith("false"):
              prog_saved = '程序未保存，请及时保存或备份正在编辑的程序。'
          if running == 'Program running: true':
              prog_running = '机械臂正在动作。'
          logger.info(
              f"IP为{ip}的优傲机器人当前加载的程序是：{prog_name}，程序的执行状态是：{prog_state}。{prog_saved}。{prog_running}")
          return return_msg(
              f"IP为{ip}的优傲机器人当前加载的程序是：{prog_name}，程序的执行状态是：{prog_state}。{prog_saved}。{prog_running}")
      except Exception as e:
          logger.error(f"程序的执行状态获取失败: {str(e)}")
          return return_msg(f"程序的执行状态获取失败: {str(e)}")