nUR MCP Server

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

Implementation Reference

• src/nonead_universal_robots_mcp/server.py:820-862 (handler)

  The handler function decorated with @mcp.tool(), which registers and implements the setup_multi_robot_coordination tool. It sets up multi-robot coordination by registering robots and setting the collaboration mode using the AdvancedMultiRobotCoordinator.

  @mcp.tool()
  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:820-820 (registration)

  The @mcp.tool() decorator registers the function as an MCP tool.

  @mcp.tool()

• src/nonead_universal_robots_mcp/server.py:55-55 (helper)

  Initialization of the multi_robot_coordinator used by the tool in initialize_extended_modules() function.

  multi_robot_coordinator = AdvancedMultiRobotCoordinator()