From 02e0c25847c5b034acf3d6e018a2aa99cabb96ea Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?=
 =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= <grabardm@ml-dev.ru>
Date: Wed, 27 May 2026 17:13:42 +0300
Subject: [PATCH] Append fastMCP model

---
 README.md                                 |  6 ++++++
 rosdep.yaml                               |  6 ++++++
 src/iiwa_config/config/api_endpoints.yaml |  2 +-
 src/iiwa_web/iiwa_web/main.py             | 15 +++++++++++++--
 src/iiwa_web/setup.py                     |  1 +
 5 files changed, 27 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index 4dab777..40775a2 100644
--- a/README.md
+++ b/README.md
@@ -291,3 +291,9 @@ docker run -it --rm --network host evilfisru/lwa:jazzy-lwa7-noble
 # dev - src остаётся для отладки
 `docker build --build-arg BUILD_TYPE=dev -t my-image .`
 ```
+
+```
+# URL для доступа к MCP LLM
+http://localhost:8007/mcp/mcp
+
+```
\ No newline at end of file
diff --git a/rosdep.yaml b/rosdep.yaml
index dc5ed4f..9d985f2 100644
--- a/rosdep.yaml
+++ b/rosdep.yaml
@@ -12,3 +12,9 @@ python3-multipart:
   ubuntu:
     pip:
       packages: [python-multipart]
+
+python3-fastmcp:
+  ubuntu:
+    pip:
+      packages: [fastmcp]
+
diff --git a/src/iiwa_config/config/api_endpoints.yaml b/src/iiwa_config/config/api_endpoints.yaml
index 80265b0..cfa4948 100644
--- a/src/iiwa_config/config/api_endpoints.yaml
+++ b/src/iiwa_config/config/api_endpoints.yaml
@@ -30,7 +30,7 @@ endpoints:
     msg_type: std_srvs/srv/Trigger
     summary: "Немедленно остановить движение"
     description: "Вызывает сервис экстренной остановки — движение прерывается немедленно."
-    tags: [robot]
+    tags: [motion]
     response_fields: [success, message]
     timeout: 5.0
     enabled: true
diff --git a/src/iiwa_web/iiwa_web/main.py b/src/iiwa_web/iiwa_web/main.py
index 758ead2..158dfa3 100644
--- a/src/iiwa_web/iiwa_web/main.py
+++ b/src/iiwa_web/iiwa_web/main.py
@@ -4,6 +4,7 @@ from contextlib import asynccontextmanager
 import rclpy
 import uvicorn
 from fastapi import FastAPI
+from fastmcp import FastMCP
 from sensor_msgs.msg import JointState
 
 from .dynamic_router import build_dynamic_router
@@ -22,15 +23,25 @@ def main():
     endpoints_path = node.get_parameter('endpoints_path').value or None
     joint_limits_path = node.get_parameter('joint_limits_path').value or None
 
+    _schema_app = FastAPI()
+    _schema_app.include_router(build_dynamic_router(endpoints_path, joint_limits_path))
+    _schema_app.include_router(runner.router)
+    _schema_app.include_router(trajectory.router)
+
+    mcp = FastMCP.from_fastapi(app=_schema_app)
+    mcp_http = mcp.http_app(path='/mcp')
+
     @asynccontextmanager
     async def lifespan(_: FastAPI):
-        get_bridge().subscribe("/joint_states", JointState)
-        yield
+        async with mcp_http.router.lifespan_context(_):
+            get_bridge().subscribe("/joint_states", JointState)
+            yield
 
     app = FastAPI(lifespan=lifespan)
     app.include_router(build_dynamic_router(endpoints_path, joint_limits_path))
     app.include_router(runner.router)
     app.include_router(trajectory.router)
+    app.mount("/mcp", mcp_http)
 
     uvicorn.run(app, host=host, port=port)
 
diff --git a/src/iiwa_web/setup.py b/src/iiwa_web/setup.py
index 6377dd5..b288152 100644
--- a/src/iiwa_web/setup.py
+++ b/src/iiwa_web/setup.py
@@ -16,6 +16,7 @@ setup(
         'fastapi',
         'uvicorn[standard]',
         'python-multipart',
+        'fastmcp',
     ],
     zip_safe=True,
     maintainer='daniel',