feat: implement stop functionality for robot operations and remove obsolete stop endpoint

src/iiwa_web/iiwa_web/main.py

@@ -6,6 +6,7 @@ import uvicorn
 from fastapi import FastAPI
 from fastmcp import FastMCP
 from sensor_msgs.msg import JointState
+from std_srvs.srv import Trigger
 
 from .dynamic_router import build_dynamic_router
 from .ros_node import CobotWebNode, get_bridge, set_bridge
@@ -47,6 +48,16 @@ def main():
     app.include_router(positions.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)
 
 

src/iiwa_web/iiwa_web/runner.py

@@ -9,8 +9,6 @@ from typing import Optional
 
 import yaml
 from fastapi import APIRouter, Form, HTTPException, Query, UploadFile, File
-from std_srvs.srv import Trigger
-
 from .ros_node import get_bridge
 
 router = APIRouter(prefix="/sequences", tags=["sequences"])
@@ -95,12 +93,12 @@ async def start_runner(
     return {"status": "started", "pid": _process.pid, "config": filename}
 
 
-@router.post("/stop", summary="Остановить motion_sequence_runner и послать cobot/stop")
-def stop_runner():
+def stop_if_running() -> Optional[int]:
+    """Kill the runner process if it is running. Returns exit code or None if not running."""
     global _process
     with _lock:
         if not _process or _process.poll() is not None:
-            raise HTTPException(404, "Runner не запущен")
+            return None
         pgid = os.getpgid(_process.pid)
         os.killpg(pgid, signal.SIGTERM)
         try:
@@ -108,10 +106,8 @@ def stop_runner():
         except subprocess.TimeoutExpired:
             os.killpg(pgid, signal.SIGKILL)
             _process.wait()
-        code = _process.returncode
+        return _process.returncode
 
-    result = get_bridge().call_service(Trigger, "cobot/stop", Trigger.Request())
-    return {"status": "stopped", "returncode": code, "success": result.success, "message": result.message}
 
 
 @router.get("/status", summary="Статус motion_sequence_runner")

src/iiwa_web/iiwa_web/trajectory.py

@@ -5,7 +5,6 @@ from datetime import datetime
 from builtin_interfaces.msg import Duration
 from fastapi import APIRouter, File, HTTPException, Query, UploadFile
 from pydantic import BaseModel, Field
-from std_srvs.srv import Trigger
 from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
 
 from .config_loader import load_joint_limits, load_joint_names
@@ -172,11 +171,9 @@ async def send_csv_trajectory(
     return {"status": "sent", "points": len(rows), "filename": file.filename}
 
 
-@router.post("/stop", summary="Остановить выполнение траектории")
-def stop_trajectory():
+def send_stop_trajectory() -> None:
+    """Publish a hold-position (or empty) trajectory to freeze joint motion."""
     bridge = get_bridge()
-
-    # Replace ongoing trajectory with single point at current position
     joint_states = bridge.get_latest("/joint_states")
     if joint_states is not None and len(joint_states.position) >= N_JOINTS:
         current_positions = list(joint_states.position[:N_JOINTS])
@@ -189,10 +186,6 @@ def stop_trajectory():
         _publish(msg)
         _log("[stop] joint_states недоступны, отправлена пустая траектория")
 
-    # cobot/stop cancels MoveIt action-based motion
-    result = bridge.call_service(Trigger, "cobot/stop", Trigger.Request())
-    _log(f"[stop] cobot/stop -> success={result.success}, message={result.message}")
-    return {"status": "stopped", "success": result.success, "message": result.message}
 
 
 @router.get("/logs", summary="Последние лог-записи траекторного модуля")