Append fastMCP model

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)
 

src/iiwa_web/setup.py

@@ -16,6 +16,7 @@ setup(
         'fastapi',
         'uvicorn[standard]',
         'python-multipart',
+        'fastmcp',
     ],
     zip_safe=True,
     maintainer='daniel',