nova-control-mcp-server 0.0.4 → 0.0.6

package/README.md

@@ -1,6 +1,6 @@
 # nova-control-mcp-server
 
-An [MCP (Model Context Protocol)](https://modelcontextprotocol.io) server for controlling the [NOVA DIY Artificial Intelligence Robot](https://www.creoqode.com/nova) by Creoqode. It exposes the same servo commands as [nova-control-command](../nova-control-command) as MCP tools, allowing any MCP-capable AI assistant (Claude Desktop, Cursor, …) to control the robot arm directly.
+An [MCP (Model Context Protocol)](https://modelcontextprotocol.io) server for controlling the [NOVA DIY Artificial Intelligence Robot](https://www.creoqode.com/nova) by Creoqode. It exposes the same servo commands as [nova-control-command](../nova-control-command/README.md) as MCP tools, allowing any MCP-capable AI assistant (Claude Desktop, Cursor, …) to control the robot arm directly.
 
 ## Prerequisites
 
@@ -113,19 +113,24 @@ Point your MCP client at `http://<host>:3000/mcp`. For Claude Desktop with a rem
 
 ## Tools
 
-The server exposes the following tools. The serial connection is opened lazily on the first tool call and kept alive for the lifetime of the server process.
+The server exposes the following tools. The serial connection is opened lazily on the first tool call; call `disconnect` to free the port, or let the server exit cleanly.
+
+All movement tools accept an optional `within_ms` parameter. When provided, the robot moves smoothly to the target using a trapezoidal velocity profile (ramp-up → constant speed → ramp-down) over the given number of milliseconds. Without `within_ms`, the servos move at constant maximum speed.
 
 | tool | parameters | description |
 |---|---|---|
-| `home` | — | send all servos to their home positions |
-| `move` | `shift_to?`, `roll_to?`, `pitch_to?`, `rotate_to?`, `lift_to?` (all `number`, at least one required) | set one or more servo positions atomically |
-| `shift_to` | `deg: number` | shift head forward (>90°) or back (<90°) — s1 |
-| `roll_to` | `deg: number` | roll head clockwise (>90°) or counter-clockwise (<90°) — s2 |
-| `pitch_to` | `deg: number` | pitch head up (>110°) or down (<110°) — s3 |
-| `rotate_to` | `deg: number` | rotate body around Z-axis — s4 |
-| `lift_to` | `deg: number` | lift head on secondary axis, range 20°–150° — s5 |
+| `home` | `within_ms?` | send all servos to their home positions |
+| `move` | `shift_to?`, `roll_to?`, `pitch_to?`, `rotate_to?`, `lift_to?` (at least one required); `within_ms?` | set one or more servo positions atomically |
+| `move_to` | `within_ms: number` (required, must be > 0); `s1?`, `s2?`, `s3?`, `s4?`, `s5?` | move one or more servos smoothly to target positions using a trapezoidal ramp-up/ramp-down profile |
+| `shift_to` | `angle: number`; `within_ms?` | shift head forward (>90°) or back (<90°) — s1 |
+| `roll_to` | `angle: number`; `within_ms?` | roll head clockwise (>90°) or counter-clockwise (<90°) — s2 |
+| `pitch_to` | `angle: number`; `within_ms?` | pitch head up (>110°) or down (<110°) — s3 |
+| `rotate_to` | `angle: number`; `within_ms?` | rotate body around Z-axis — s4 |
+| `lift_to` | `angle: number`; `within_ms?` | lift head on secondary axis, range 20°–150° — s5 |
 | `wait` | `ms: number` | pause for `ms` milliseconds before the next action |
 | `get_state` | — | return current servo positions as a JSON object with keys `s1`–`s5` |
+| `run_script` | `script: string` | execute a multi-line movement script (one command per line; blank lines and `#`-comments ignored; commands: `home`, `shift-to`, `roll-to`, `pitch-to`, `rotate-to`, `lift-to`, `move`, `wait`) |
+| `disconnect` | — | close the serial connection to free the port; the connection reopens automatically on the next movement command |
 
 ### Servo mapping
 
@@ -141,15 +146,26 @@ The server exposes the following tools. The serial connection is opened lazily o
 
 Once the server is running inside Claude Desktop you can give natural-language instructions like:
 
-- *"Move NOVA's head to look straight up."* → `pitch_to(deg: 130)`
-- *"Rotate the body 45° to the left."* → `rotate_to(deg: 45)`
-- *"Shift to 100°, wait half a second, then return to home."* → `shift_to(100)` + `wait(500)` + `home()`
+- *"Move NOVA's head to look straight up."* → `pitch_to(angle: 130)`
+- *"Rotate the body 45° to the right."* → `rotate_to(angle: 45)`
+- *"Move the head to 120° smoothly over 800 ms."* → `move_to(within_ms: 800, s1: 120)`
+- *"Shift to 100° with a fluid ramp, wait half a second, then return to home."* → `shift_to(angle: 100, within_ms: 600)` + `wait(500)` + `home()`
 - *"What is the current servo state?"* → `get_state()`
+- *"Run the greeting sequence from this script."* → `run_script(script: "home\nwait 500\nshift-to 110\nwait 400\nhome")`
+- *"Free the serial port."* → `disconnect()`
 
 ## Exit behaviour
 
 The server exits cleanly on `SIGINT` (Ctrl+C) or `SIGTERM`, closing the serial connection before quitting.
 
+## Related packages
+
+| package | description |
+|---|---|
+| [`nova-control-browser`](../nova-control-browser/README.md) | browser ESM module — Web Serial API (Chrome / Edge 89+) |
+| [`nova-control-node`](../nova-control-node/README.md) | Node.js ESM module — `serialport` package (used internally by this server) |
+| [`nova-control-command`](../nova-control-command/README.md) | CLI — one-shot commands, interactive REPL, and script files |
+
 ## License
 
 MIT

package/dist/nova-control-mcp-server.js

@@ -7,9 +7,9 @@ import { Server as i } from "@modelcontextprotocol/sdk/server/index.js";
 import { StdioServerTransport as a } from "@modelcontextprotocol/sdk/server/stdio.js";
 import { StreamableHTTPServerTransport as o } from "@modelcontextprotocol/sdk/server/streamableHttp.js";
 import { CallToolRequestSchema as s, ListToolsRequestSchema as c } from "@modelcontextprotocol/sdk/types.js";
-import { openNova as l } from "nova-control-node";
+import { openNova as l, runScript as u } from "nova-control-node";
 //#region src/nova-control-mcp-server.ts
-function u() {
+function d() {
 	try {
 		let { values: e } = r({
 			args: process.argv.slice(2),
@@ -46,34 +46,41 @@ function u() {
 		process.stderr.write(`nova-control-mcp: ${e.message ?? e}\n`), process.exit(1);
 	}
 }
-var d = "", f = 9600, p;
-async function m() {
-	return p ??= await l(d, f), p;
+var f = "", p = 9600, m;
+async function h() {
+	return m ??= await l(f, p), m;
 }
-function h() {
-	p != null && (p.destroy(), p = void 0);
+function g() {
+	m != null && (m.destroy(), m = void 0);
 }
-function g(e, t = 9600) {
-	d = e, f = t;
+function _(e, t = 9600) {
+	f = e, p = t;
 }
-function _() {
-	h(), d = "", f = 9600;
+function v() {
+	g(), f = "", p = 9600;
 }
-var v = [
+var y = [
 	{
 		name: "home",
-		description: "send all servos to their home positions",
+		description: "send all servos to their home positions — pass within_ms for smooth, fluid motion with automatic velocity ramp-up and ramp-down; without within_ms the robot moves at constant maximum speed",
 		inputSchema: {
 			type: "object",
-			properties: {}
+			properties: { within_ms: {
+				type: "number",
+				description: "duration in milliseconds for smooth motion with trapezoidal ramp-up and ramp-down — servos glide gradually to the target instead of jumping; omit for constant-speed movement"
+			} }
 		}
 	},
 	{
 		name: "move",
-		description: "set one or more servo positions atomically — at least one of shift_to, roll_to, pitch_to, rotate_to, lift_to is required",
+		description: "set one or more servo positions atomically — at least one of shift_to, roll_to, pitch_to, rotate_to, lift_to is required; pass within_ms for smooth, fluid motion with automatic velocity ramp-up and ramp-down",
 		inputSchema: {
 			type: "object",
 			properties: {
+				within_ms: {
+					type: "number",
+					description: "duration in milliseconds for smooth motion with trapezoidal ramp-up and ramp-down — servos glide gradually to their targets instead of jumping; omit for constant-speed movement"
+				},
 				shift_to: {
 					type: "number",
 					description: "shift head forward (>90°) or back (<90°) — s1"
@@ -99,62 +106,126 @@ var v = [
 	},
 	{
 		name: "shift_to",
-		description: "shift head forward (>90°) or back (<90°) — s1",
+		description: "shift head forward (>90°) or back (<90°) — s1; pass within_ms for smooth motion with trapezoidal velocity profile (ramp-up → constant speed → ramp-down)",
 		inputSchema: {
 			type: "object",
-			properties: { deg: {
-				type: "number",
-				description: "target angle in degrees"
-			} },
-			required: ["deg"]
+			properties: {
+				angle: {
+					type: "number",
+					description: "target angle in degrees"
+				},
+				within_ms: {
+					type: "number",
+					description: "duration in milliseconds for smooth motion with trapezoidal ramp-up and ramp-down; omit for constant-speed movement"
+				}
+			},
+			required: ["angle"]
 		}
 	},
 	{
 		name: "roll_to",
-		description: "roll head clockwise (>90°) or counter-clockwise (<90°) — s2",
+		description: "roll head clockwise (>90°) or counter-clockwise (<90°) — s2; pass within_ms for smooth motion with trapezoidal velocity profile",
 		inputSchema: {
 			type: "object",
-			properties: { deg: {
-				type: "number",
-				description: "target angle in degrees"
-			} },
-			required: ["deg"]
+			properties: {
+				angle: {
+					type: "number",
+					description: "target angle in degrees"
+				},
+				within_ms: {
+					type: "number",
+					description: "duration in milliseconds for smooth motion with trapezoidal ramp-up and ramp-down; omit for constant-speed movement"
+				}
+			},
+			required: ["angle"]
 		}
 	},
 	{
 		name: "pitch_to",
-		description: "pitch head up (>110°) or down (<110°) — s3",
+		description: "pitch head up (>110°) or down (<110°) — s3; pass within_ms for smooth motion with trapezoidal velocity profile",
 		inputSchema: {
 			type: "object",
-			properties: { deg: {
-				type: "number",
-				description: "target angle in degrees"
-			} },
-			required: ["deg"]
+			properties: {
+				angle: {
+					type: "number",
+					description: "target angle in degrees"
+				},
+				within_ms: {
+					type: "number",
+					description: "duration in milliseconds for smooth motion with trapezoidal ramp-up and ramp-down; omit for constant-speed movement"
+				}
+			},
+			required: ["angle"]
 		}
 	},
 	{
 		name: "rotate_to",
-		description: "rotate body around Z-axis — s4",
+		description: "rotate body around Z-axis — s4; pass within_ms for smooth motion with trapezoidal velocity profile",
 		inputSchema: {
 			type: "object",
-			properties: { deg: {
-				type: "number",
-				description: "target angle in degrees"
-			} },
-			required: ["deg"]
+			properties: {
+				angle: {
+					type: "number",
+					description: "target angle in degrees"
+				},
+				within_ms: {
+					type: "number",
+					description: "duration in milliseconds for smooth motion with trapezoidal ramp-up and ramp-down; omit for constant-speed movement"
+				}
+			},
+			required: ["angle"]
 		}
 	},
 	{
 		name: "lift_to",
-		description: "lift head on secondary axis, range 20°–150° — s5",
+		description: "lift head on secondary axis, range 20°–150° — s5; pass within_ms for smooth motion with trapezoidal velocity profile",
 		inputSchema: {
 			type: "object",
-			properties: { deg: {
-				type: "number",
-				description: "target angle in degrees"
-			} },
-			required: ["deg"]
+			properties: {
+				angle: {
+					type: "number",
+					description: "target angle in degrees"
+				},
+				within_ms: {
+					type: "number",
+					description: "duration in milliseconds for smooth motion with trapezoidal ramp-up and ramp-down; omit for constant-speed movement"
+				}
+			},
+			required: ["angle"]
+		}
+	},
+	{
+		name: "move_to",
+		description: "move one or more servos smoothly to their target positions, completing the movement in the specified number of milliseconds using a trapezoidal ramp-up/ramp-down profile",
+		inputSchema: {
+			type: "object",
+			properties: {
+				within_ms: {
+					type: "number",
+					description: "total movement duration in milliseconds (must be > 0)"
+				},
+				s1: {
+					type: "number",
+					description: "head shift target angle (optional)"
+				},
+				s2: {
+					type: "number",
+					description: "head roll target angle (optional)"
+				},
+				s3: {
+					type: "number",
+					description: "head pitch target angle (optional)"
+				},
+				s4: {
+					type: "number",
+					description: "body rotate target angle (optional)"
+				},
+				s5: {
+					type: "number",
+					description: "head lift target angle (optional)"
+				}
+			},
+			required: ["within_ms"]
 		}
 	},
 	{
@@ -176,81 +247,125 @@ var v = [
 			type: "object",
 			properties: {}
 		}
+	},
+	{
+		name: "run_script",
+		description: "execute a multi-line movement script — one command per line; blank lines and lines starting with # are ignored; commands: home | shift-to <angle> | roll-to <angle> | pitch-to <angle> | rotate-to <angle> | lift-to <angle> | move [shift-to <angle>] [roll-to <angle>] [pitch-to <angle>] [rotate-to <angle>] [lift-to <angle>] | wait <ms>",
+		inputSchema: {
+			type: "object",
+			properties: { script: {
+				type: "string",
+				description: "multi-line movement script"
+			} },
+			required: ["script"]
+		}
+	},
+	{
+		name: "disconnect",
+		description: "close the serial connection to the robot — call this when you are done to free the serial port; the connection reopens automatically on the first subsequent movement command",
+		inputSchema: {
+			type: "object",
+			properties: {}
+		}
 	}
 ];
-async function y() {
-	return await (await m()).home(), "all servos moved to home positions";
-}
 async function b(e) {
-	let t = {};
-	if (e.shift_to != null && (t.s1 = Number(e.shift_to)), e.roll_to != null && (t.s2 = Number(e.roll_to)), e.pitch_to != null && (t.s3 = Number(e.pitch_to)), e.rotate_to != null && (t.s4 = Number(e.rotate_to)), e.lift_to != null && (t.s5 = Number(e.lift_to)), Object.keys(t).length === 0) throw Error("move: at least one of shift_to, roll_to, pitch_to, rotate_to, lift_to is required");
-	let n = await m();
-	return n.State = t, await n.sendServoState(), `servos updated: ${JSON.stringify(t)}`;
+	let t = e.within_ms == null ? void 0 : Number(e.within_ms);
+	return await (await h()).home(t), "all servos moved to home positions";
 }
 async function x(e) {
-	let t = Number(e.deg), n = await m();
-	return n.State = { s1: t }, await n.sendServoState(), `s1 (shift) → ${t}°`;
+	let t = {};
+	if (e.shift_to != null && (t.s1 = Number(e.shift_to)), e.roll_to != null && (t.s2 = Number(e.roll_to)), e.pitch_to != null && (t.s3 = Number(e.pitch_to)), e.rotate_to != null && (t.s4 = Number(e.rotate_to)), e.lift_to != null && (t.s5 = Number(e.lift_to)), Object.keys(t).length === 0) throw Error("move: at least one of shift_to, roll_to, pitch_to, rotate_to, lift_to is required");
+	let n = e.within_ms == null ? void 0 : Number(e.within_ms);
+	return await (await h()).moveTo(t, n), `servos updated: ${JSON.stringify(t)}`;
 }
 async function S(e) {
-	let t = Number(e.deg), n = await m();
-	return n.State = { s2: t }, await n.sendServoState(), `s2 (roll) → ${t}°`;
+	let t = Number(e.angle), n = e.within_ms == null ? void 0 : Number(e.within_ms);
+	return await (await h()).shiftHeadTo(t, n), `s1 (shift) → ${t}°`;
 }
 async function C(e) {
-	let t = Number(e.deg), n = await m();
-	return n.State = { s3: t }, await n.sendServoState(), `s3 (pitch) → ${t}°`;
+	let t = Number(e.angle), n = e.within_ms == null ? void 0 : Number(e.within_ms);
+	return await (await h()).rollHeadTo(t, n), `s2 (roll) → ${t}°`;
 }
 async function w(e) {
-	let t = Number(e.deg), n = await m();
-	return n.State = { s4: t }, await n.sendServoState(), `s4 (rotate) → ${t}°`;
+	let t = Number(e.angle), n = e.within_ms == null ? void 0 : Number(e.within_ms);
+	return await (await h()).pitchHeadTo(t, n), `s3 (pitch) → ${t}°`;
 }
 async function T(e) {
-	let t = Number(e.deg), n = await m();
-	return n.State = { s5: t }, await n.sendServoState(), `s5 (lift) → ${t}°`;
+	let t = Number(e.angle), n = e.within_ms == null ? void 0 : Number(e.within_ms);
+	return await (await h()).rotateBodyTo(t, n), `s4 (rotate) → ${t}°`;
 }
 async function E(e) {
+	let t = Number(e.angle), n = e.within_ms == null ? void 0 : Number(e.within_ms);
+	return await (await h()).liftHeadTo(t, n), `s5 (lift) → ${t}°`;
+}
+async function D() {
+	return m == null ? "not connected" : (g(), "disconnected");
+}
+async function O(e) {
+	let t = Number(e.within_ms);
+	if (isNaN(t) || t <= 0) throw Error("move_to: within_ms must be a positive number");
+	let n = {};
+	if (e.s1 != null && (n.s1 = Number(e.s1)), e.s2 != null && (n.s2 = Number(e.s2)), e.s3 != null && (n.s3 = Number(e.s3)), e.s4 != null && (n.s4 = Number(e.s4)), e.s5 != null && (n.s5 = Number(e.s5)), Object.keys(n).length === 0) throw Error("move_to: at least one servo target (s1–s5) must be specified");
+	return await (await h()).moveTo(n, t), "move completed";
+}
+async function k(e) {
 	let t = Number(e.ms);
 	if (isNaN(t) || t < 0) throw Error(`wait: invalid duration '${e.ms}' — expected a non-negative number`);
 	return await new Promise((e) => setTimeout(e, t)), `waited ${t} ms`;
 }
-async function D() {
-	let e = await m();
+async function A() {
+	let e = await h();
 	return JSON.stringify(e.State);
 }
-function O() {
+async function j(e) {
+	let t = String(e.script ?? "");
+	return await u(await h(), t), "script executed successfully";
+}
+function M() {
 	let e = new i({
 		name: "nova-control-mcp-server",
-		version: "0.0.4"
+		version: "0.0.6"
 	}, { capabilities: { tools: {} } });
-	return e.setRequestHandler(c, async () => ({ tools: v })), e.setRequestHandler(s, async (e) => {
+	return e.setRequestHandler(c, async () => ({ tools: y })), e.setRequestHandler(s, async (e) => {
 		let t = e.params.name, n = e.params.arguments ?? {};
 		try {
 			let e;
 			switch (t) {
 				case "home":
-					e = await y();
+					e = await b(n);
 					break;
 				case "move":
-					e = await b(n);
+					e = await x(n);
 					break;
 				case "shift_to":
-					e = await x(n);
+					e = await S(n);
 					break;
 				case "roll_to":
-					e = await S(n);
+					e = await C(n);
 					break;
 				case "pitch_to":
-					e = await C(n);
+					e = await w(n);
 					break;
 				case "rotate_to":
-					e = await w(n);
+					e = await T(n);
 					break;
 				case "lift_to":
-					e = await T(n);
+					e = await E(n);
+					break;
+				case "move_to":
+					e = await O(n);
 					break;
 				case "wait":
-					e = await E(n);
+					e = await k(n);
 					break;
 				case "get_state":
+					e = await A();
+					break;
+				case "run_script":
+					e = await j(n);
+					break;
+				case "disconnect":
 					e = await D();
 					break;
 				default: return {
@@ -276,14 +391,14 @@ function O() {
 		}
 	}), e;
 }
-async function k(e) {
+async function N(e) {
 	let t = new a();
 	await e.connect(t);
 	for (let e of ["SIGINT", "SIGTERM"]) process.on(e, () => {
-		h(), process.exit(0);
+		g(), process.exit(0);
 	});
 }
-async function A(e, t) {
+async function P(e, t) {
 	let r = new o({ sessionIdGenerator: void 0 });
 	await e.connect(r);
 	let i = n(async (e, t) => {
@@ -295,17 +410,17 @@ async function A(e, t) {
 		}), i.once("error", n);
 	});
 	for (let e of ["SIGINT", "SIGTERM"]) process.on(e, async () => {
-		await r.close(), i.close(), h(), process.exit(0);
+		await r.close(), i.close(), g(), process.exit(0);
 	});
 }
-async function j() {
-	let { Port: e, BaudRate: t, Transport: n, ListenPort: r } = u();
-	d = e, f = t;
-	let i = O();
-	n === "http" ? await A(i, r) : await k(i);
+async function F() {
+	let { Port: e, BaudRate: t, Transport: n, ListenPort: r } = d();
+	f = e, p = t;
+	let i = M();
+	n === "http" ? await P(i, r) : await N(i);
 }
-t(process.argv[1]) === e(import.meta.url) && j().catch((e) => {
+t(process.argv[1]) === e(import.meta.url) && F().catch((e) => {
 	process.stderr.write(`nova-control-mcp: fatal: ${e.message ?? e}\n`), process.exit(1);
 });
 //#endregion
-export { _ as _destroyForTests, g as _setupForTests, O as createServer };
+export { v as _destroyForTests, _ as _setupForTests, M as createServer };

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "nova-control-mcp-server",
   "description": "MCP server for controlling a NOVA DIY Artificial Intelligence Robot by Creoqode",
-  "version": "0.0.4",
+  "version": "0.0.6",
   "type": "module",
   "keywords": [
     "nova",