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stex2005stex2005
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+67
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‎server.py‎

Lines changed: 67 additions & 49 deletions
Original file line numberDiff line numberDiff line change
@@ -2112,12 +2112,7 @@ def get_action_details(action_type: str) -> dict:
21122112
if not action_type or not action_type.strip():
21132113
return {"error": "Action type cannot be empty"}
21142114

2115-
result = {
2116-
"action_type": action_type,
2117-
"goal": {},
2118-
"result": {},
2119-
"feedback": {}
2120-
}
2115+
result = {"action_type": action_type, "goal": {}, "result": {}, "feedback": {}}
21212116

21222117
# Get goal, result, and feedback details in a single WebSocket context
21232118
with ws_manager:
@@ -2131,7 +2126,12 @@ def get_action_details(action_type: str) -> dict:
21312126
}
21322127

21332128
goal_response = ws_manager.request(goal_message)
2134-
if goal_response and isinstance(goal_response, dict) and "values" in goal_response and "error" not in goal_response:
2129+
if (
2130+
goal_response
2131+
and isinstance(goal_response, dict)
2132+
and "values" in goal_response
2133+
and "error" not in goal_response
2134+
):
21352135
typedefs = goal_response["values"].get("typedefs", [])
21362136
if typedefs:
21372137
for typedef in typedefs:
@@ -2141,24 +2141,24 @@ def get_action_details(action_type: str) -> dict:
21412141
examples = typedef.get("examples", [])
21422142
const_names = typedef.get("constnames", [])
21432143
const_values = typedef.get("constvalues", [])
2144-
2144+
21452145
fields = {}
21462146
field_details = {}
21472147
for i, (name, ftype) in enumerate(zip(field_names, field_types)):
21482148
fields[name] = ftype
21492149
field_details[name] = {
21502150
"type": ftype,
21512151
"array_length": field_array_len[i] if i < len(field_array_len) else -1,
2152-
"example": examples[i] if i < len(examples) else None
2152+
"example": examples[i] if i < len(examples) else None,
21532153
}
2154-
2154+
21552155
result["goal"] = {
2156-
"fields": fields,
2156+
"fields": fields,
21572157
"field_count": len(fields),
21582158
"field_details": field_details,
21592159
"message_type": typedef.get("type", ""),
21602160
"examples": examples,
2161-
"constants": dict(zip(const_names, const_values)) if const_names else {}
2161+
"constants": dict(zip(const_names, const_values)) if const_names else {},
21622162
}
21632163

21642164
# Get result details using action-specific service
@@ -2171,7 +2171,12 @@ def get_action_details(action_type: str) -> dict:
21712171
}
21722172

21732173
result_response = ws_manager.request(result_message)
2174-
if result_response and isinstance(result_response, dict) and "values" in result_response and "error" not in result_response:
2174+
if (
2175+
result_response
2176+
and isinstance(result_response, dict)
2177+
and "values" in result_response
2178+
and "error" not in result_response
2179+
):
21752180
typedefs = result_response["values"].get("typedefs", [])
21762181
if typedefs:
21772182
for typedef in typedefs:
@@ -2181,24 +2186,24 @@ def get_action_details(action_type: str) -> dict:
21812186
examples = typedef.get("examples", [])
21822187
const_names = typedef.get("constnames", [])
21832188
const_values = typedef.get("constvalues", [])
2184-
2189+
21852190
fields = {}
21862191
field_details = {}
21872192
for i, (name, ftype) in enumerate(zip(field_names, field_types)):
21882193
fields[name] = ftype
21892194
field_details[name] = {
21902195
"type": ftype,
21912196
"array_length": field_array_len[i] if i < len(field_array_len) else -1,
2192-
"example": examples[i] if i < len(examples) else None
2197+
"example": examples[i] if i < len(examples) else None,
21932198
}
2194-
2199+
21952200
result["result"] = {
2196-
"fields": fields,
2201+
"fields": fields,
21972202
"field_count": len(fields),
21982203
"field_details": field_details,
21992204
"message_type": typedef.get("type", ""),
22002205
"examples": examples,
2201-
"constants": dict(zip(const_names, const_values)) if const_names else {}
2206+
"constants": dict(zip(const_names, const_values)) if const_names else {},
22022207
}
22032208

22042209
# Get feedback details using action-specific service
@@ -2211,7 +2216,12 @@ def get_action_details(action_type: str) -> dict:
22112216
}
22122217

22132218
feedback_response = ws_manager.request(feedback_message)
2214-
if feedback_response and isinstance(feedback_response, dict) and "values" in feedback_response and "error" not in feedback_response:
2219+
if (
2220+
feedback_response
2221+
and isinstance(feedback_response, dict)
2222+
and "values" in feedback_response
2223+
and "error" not in feedback_response
2224+
):
22152225
typedefs = feedback_response["values"].get("typedefs", [])
22162226
if typedefs:
22172227
for typedef in typedefs:
@@ -2221,24 +2231,24 @@ def get_action_details(action_type: str) -> dict:
22212231
examples = typedef.get("examples", [])
22222232
const_names = typedef.get("constnames", [])
22232233
const_values = typedef.get("constvalues", [])
2224-
2234+
22252235
fields = {}
22262236
field_details = {}
22272237
for i, (name, ftype) in enumerate(zip(field_names, field_types)):
22282238
fields[name] = ftype
22292239
field_details[name] = {
22302240
"type": ftype,
22312241
"array_length": field_array_len[i] if i < len(field_array_len) else -1,
2232-
"example": examples[i] if i < len(examples) else None
2242+
"example": examples[i] if i < len(examples) else None,
22332243
}
2234-
2244+
22352245
result["feedback"] = {
2236-
"fields": fields,
2246+
"fields": fields,
22372247
"field_count": len(fields),
22382248
"field_details": field_details,
22392249
"message_type": typedef.get("type", ""),
22402250
"examples": examples,
2241-
"constants": dict(zip(const_names, const_values)) if const_names else {}
2251+
"constants": dict(zip(const_names, const_values)) if const_names else {},
22422252
}
22432253

22442254
# Check if we got any data
@@ -2248,7 +2258,6 @@ def get_action_details(action_type: str) -> dict:
22482258
return result
22492259

22502260

2251-
22522261
@mcp.tool(
22532262
description=(
22542263
"Get action status for a specific action name. Works only with ROS 2.\n"
@@ -2271,13 +2280,13 @@ def get_action_status(action_name: str) -> dict:
22712280
return {"error": "Action name cannot be empty"}
22722281

22732282
# Ensure action name starts with /
2274-
if not action_name.startswith('/'):
2283+
if not action_name.startswith("/"):
22752284
action_name = f"/{action_name}"
2276-
2285+
22772286
# Try to get action status by subscribing to the status topic
22782287
status_topic = f"{action_name}/_action/status"
22792288
status_msg_type = "action_msgs/msg/GoalStatusArray"
2280-
2289+
22812290
try:
22822291
# Subscribe to action status topic
22832292
with ws_manager:
@@ -2287,15 +2296,15 @@ def get_action_status(action_name: str) -> dict:
22872296
"type": status_msg_type,
22882297
"id": f"get_action_status_{action_name.replace('/', '_')}",
22892298
}
2290-
2299+
22912300
send_error = ws_manager.send(message)
22922301
if send_error:
22932302
return {
22942303
"action_name": action_name,
22952304
"success": False,
22962305
"error": f"Failed to subscribe to status topic: {send_error}",
22972306
}
2298-
2307+
22992308
# Wait for status message
23002309
response = ws_manager.receive(timeout=3.0)
23012310
if not response:
@@ -2304,49 +2313,58 @@ def get_action_status(action_name: str) -> dict:
23042313
"success": False,
23052314
"error": "No response from action status topic",
23062315
}
2307-
2316+
23082317
response_data = json.loads(response)
2309-
2318+
23102319
if response_data.get("op") == "status" and response_data.get("level") == "error":
2311-
return {"error": f"Action status error: {response_data.get('msg', 'Unknown error')}"}
2312-
2320+
return {
2321+
"error": f"Action status error: {response_data.get('msg', 'Unknown error')}"
2322+
}
2323+
23132324
if "msg" not in response_data or "status_list" not in response_data["msg"]:
23142325
return {
23152326
"action_name": action_name,
23162327
"success": True,
23172328
"active_goals": [],
23182329
"goal_count": 0,
2319-
"note": f"No active goals found for action {action_name}"
2330+
"note": f"No active goals found for action {action_name}",
23202331
}
2321-
2332+
23222333
status_list = response_data["msg"]["status_list"]
23232334
status_map = {
2324-
0: "STATUS_UNKNOWN", 1: "STATUS_ACCEPTED", 2: "STATUS_EXECUTING",
2325-
3: "STATUS_CANCELING", 4: "STATUS_SUCCEEDED", 5: "STATUS_CANCELED", 6: "STATUS_ABORTED"
2335+
0: "STATUS_UNKNOWN",
2336+
1: "STATUS_ACCEPTED",
2337+
2: "STATUS_EXECUTING",
2338+
3: "STATUS_CANCELING",
2339+
4: "STATUS_SUCCEEDED",
2340+
5: "STATUS_CANCELED",
2341+
6: "STATUS_ABORTED",
23262342
}
2327-
2343+
23282344
active_goals = []
23292345
for status_item in status_list:
23302346
goal_info = status_item.get("goal_info", {})
23312347
goal_id = goal_info.get("goal_id", {}).get("uuid", "unknown")
23322348
status = status_item.get("status", -1)
23332349
stamp = goal_info.get("stamp", {})
2334-
2335-
active_goals.append({
2336-
"goal_id": goal_id,
2337-
"status": status,
2338-
"status_text": status_map.get(status, "UNKNOWN"),
2339-
"timestamp": f"{stamp.get('sec', 0)}.{stamp.get('nanosec', 0)}"
2340-
})
2341-
2350+
2351+
active_goals.append(
2352+
{
2353+
"goal_id": goal_id,
2354+
"status": status,
2355+
"status_text": status_map.get(status, "UNKNOWN"),
2356+
"timestamp": f"{stamp.get('sec', 0)}.{stamp.get('nanosec', 0)}",
2357+
}
2358+
)
2359+
23422360
return {
23432361
"action_name": action_name,
23442362
"success": True,
23452363
"active_goals": active_goals,
23462364
"goal_count": len(active_goals),
2347-
"note": f"Found {len(active_goals)} active goal(s) for action {action_name}"
2365+
"note": f"Found {len(active_goals)} active goal(s) for action {action_name}",
23482366
}
2349-
2367+
23502368
except json.JSONDecodeError as e:
23512369
return {"error": f"Failed to parse status response: {str(e)}"}
23522370
except Exception as e:

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