Добавлен stop в mcp

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)