From 0e3fd0358fe3c5d10c11c14eb996205782cc856f 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: Tue, 29 Sep 2026 09:06:24 +1000
Subject: [PATCH] =?UTF-8?q?=D0=94=D0=BE=D0=B1=D0=B0=D0=B2=D0=BB=D0=B5?=
 =?UTF-8?q?=D0=BD=20stop=20=D0=B2=20mcp?=
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---
 src/iiwa_web/iiwa_web/main.py | 44 +++++++++++++++++++++++++----------
 1 file changed, 32 insertions(+), 12 deletions(-)

diff --git a/src/iiwa_web/iiwa_web/main.py b/src/iiwa_web/iiwa_web/main.py
index e12f9e5..1cb8381 100644
--- a/src/iiwa_web/iiwa_web/main.py
+++ b/src/iiwa_web/iiwa_web/main.py
@@ -3,7 +3,7 @@ from contextlib import asynccontextmanager
 
 import rclpy
 import uvicorn
-from fastapi import FastAPI
+from fastapi import FastAPI, APIRouter
 from fastmcp import FastMCP
 from sensor_msgs.msg import JointState
 from std_srvs.srv import Trigger
@@ -13,6 +13,34 @@ from .ros_node import CobotWebNode, get_bridge, set_bridge
 from . import runner, trajectory, positions
 
 
+stop_router = APIRouter(tags=["stop"])
+
+@stop_router.post("/stop", summary="Остановить всё: runner, траекторию и планировщик")
+def stop_all():
+    runner.stop_if_running()
+    trajectory.send_stop_trajectory()
+
+    try:
+        result = get_bridge().call_service(
+            Trigger,
+            "cobot/stop",
+            Trigger.Request()
+        )
+
+        return {
+            "status": "stopped",
+            "success": result.success,
+            "message": result.message,
+        }
+
+    except RuntimeError:
+        return {
+            "status": "stopped",
+            "success": True,
+            "message": "Планировщик не запущен",
+        }
+
+
 def main():
     rclpy.init()
     node = CobotWebNode()
@@ -31,9 +59,10 @@ def main():
     _schema_app.include_router(runner.router)
     _schema_app.include_router(trajectory.router)
     _schema_app.include_router(positions.router)
+    _schema_app.include_router(stop_router)
 
     mcp = FastMCP.from_fastapi(app=_schema_app)
-    mcp_http = mcp.http_app(path='/mcp')
+    mcp_http = mcp.http_app(path='/')
 
     @asynccontextmanager
     async def lifespan(_: FastAPI):
@@ -46,18 +75,9 @@ def main():
     app.include_router(runner.router)
     app.include_router(trajectory.router)
     app.include_router(positions.router)
+    app.include_router(stop_router)
     app.mount("/mcp", mcp_http)
 
-    @app.post("/stop", tags=["stop"], summary="Остановить всё: runner, траекторию и планировщик")
-    def stop_all():
-        runner.stop_if_running()
-        trajectory.send_stop_trajectory()
-        try:
-            result = get_bridge().call_service(Trigger, "cobot/stop", Trigger.Request())
-            return {"status": "stopped", "success": result.success, "message": result.message}
-        except RuntimeError:
-            return {"status": "stopped", "success": True, "message": "Планировщик не запущен"}
-
     uvicorn.run(app, host=host, port=port)