行空板M10扩展板 ——小智AI车（MCP）- Makelog(造物记)

【项目背景】

之前我尝试搭建了一个智能家居小助手项目，通过 ESP32-S3 摄像头安装小智 AI，利用电脑运行 MCP 服务，再借助行空板 M10 上的物联网平台 SIOT 与行空板 M10 进行通信，实现对 LED 与风扇开关的控制。之所以选择让电脑作为中间服务的枢纽，主要是因为在行空板 M10 上安装 MCP 库时遇到了困难。在“行空板 M10 扩展板组合活动群”里，我提出了行空板 M10 上无法安装 MCP 库的问题。幸运的是，群内的大神“Sky”及时为我提供了一个离线安装包，这让我看到了解决问题的希望。此外，我偶然看到了“豆爸”分享的关于 K10 小智与行空板 M10 MCP 服务器进行院线热映电影查询的项目文章。虽然文章中并未详细阐述如何安装 MCP 库，但在文章配图里，我注意到行空板 M10 中的文件夹里有 python3.12.7 离线安装包的存在。基于这些线索，我决定对整个智能家居小助手项目进行优化，尝试在行空板 M10 上直接安装 MCP 库，摆脱对电脑中间服务的依赖，使系统架构更加简洁高效，提升整个智能家居控制系统的稳定性和便捷性，让智能家居小助手的运行更加流畅自如，更好地服务于日常生活场景中的智能控制需求。

【项目准备】
解决在行空板M10上安装mcp库

问题描述：行空板 M10 上的 Python 版本为 3.7，安装依赖库时找不到对应的库。需要升级 Python 到 3.12 版本。
MonJune-202506233704..png
解决方案：

1.安装 Pyenv：

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# 检查权限
ls -l install.sh
# 添加权限
chmod +x install.sh
# 运行脚本
./install.sh
# 加载配置
source ~/.bashrc
# 验证 Pyenv 是否可用
pyenv --version

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2.使用 Pyenv 安装 Python 3.12：

cd 2-installPythonIntoPyenv

# 运行脚本
./install.sh

(4)全局切换pyenv global 3.12.7
设置全局默认的 Python 版本

检查 Python 版本是否已安装可以手动检查：ls ~/.pyenv/versions/
如果确实存在 3.12.7 目录，说明该版本已经安装。

(5)在终端，使用pip install mcp，安装mcp,同时安装python-dotenv>=1.0.0，websockets>=11.0.3 ，pydantic>=2.11.4

配置小智AI

获取MCP接入点

【程序编写】

编写mcp服务文件，move.py，

功能描述：控制行空车的前进、后退、左转、右转和停车。
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# move.py
from mcp.server.fastmcp import FastMCP
import sys
import logging

logger = logging.getLogger('MoveServer')

# 修复Windows控制台UTF-8编码问题
if sys.platform == 'win32':
sys.stderr.reconfigure(encoding='utf-8')
sys.stdout.reconfigure(encoding='utf-8')

# 创建MCP服务器

mcp = FastMCP("MoveServer")

@mcp.tool()
def forward() -> dict:
"""
控制行空车前进。

该函数将设置P5和P6引脚为低电平，P8和P16引脚为50%占空比的PWM输出，使行空车前进。

Returns:
      dict: 返回一个字典，包含操作结果。
"""

result = "行空车前进"
logger.info(result)
return {"success": True, "result": result}

@mcp.tool()
def back() -> dict:
"""
控制行空车后退。

该函数将设置P5和P6引脚为高电平，P8和P16引脚为50%占空比的PWM输出，使行空车后退。

Returns:
      dict: 返回一个字典，包含操作结果。
"""

result = "行空车后退"
logger.info(result)
return {"success": True, "result": result}

@mcp.tool()
def left() -> dict:
"""
控制行空车左转。

该函数将设置P5引脚为高电平，P6引脚为低电平，P8和P16引脚为50%占空比的PWM输出，使行空车左转。

Returns:
      dict: 返回一个字典，包含操作结果。
"""

result = "行空车左转"
logger.info(result)
return {"success": True, "result": result}

@mcp.tool()
def right() -> dict:
"""
控制行空车右转。

该函数将设置P5引脚为低电平，P6引脚为高电平，P8和P16引脚为50%占空比的PWM输出，使行空车右转。

Returns:
      dict: 返回一个字典，包含操作结果。
"""

result = "行空车右转"
logger.info(result)
return {"success": True, "result": result}

@mcp.tool()
def stop() -> dict:
"""
控制行空车停止。

该函数将设置P8和P16引脚的PWM输出为0，使行空车停止。

Returns:
      dict: 返回一个字典，包含操作结果。
"""

result = "行空车停车"
logger.info(result)
return {"success": True, "result": result}

# 启动服务器
if __name__ == "__main__":
mcp.run(transport="stdio")
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修改小智AI管道文件mymcp.py，

功能描述：连接到 MCP 服务器，并通过 WebSocket 端点将输入和输出与指定的 Python 脚本进行管道通信。
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"""
This script is used to connect to the MCP server and pipe the input and output to the websocket endpoint.
Version: 0.1.0

Usage:

export MCP_ENDPOINT=
python mcp_pipe.py

"""

import asyncio
import websockets
import subprocess
import logging
import os
import signal
import sys
import random
from dotenv import load_dotenv
from pinpong.board import Board,Pin
#from pinpong.extension.unihiker import *
import json

Board().begin()
p_p5_out=Pin(Pin.P5, Pin.OUT)
p_p8_pwm=Pin(Pin.P8, Pin.PWM)
p_p6_out=Pin(Pin.P6, Pin.OUT)
p_p16_pwm=Pin(Pin.P16, Pin.PWM)
# 设置日志记录器
# Load environment variables from .env file
#load_dotenv()

# Configure logging
logging.basicConfig(
level=logging.INFO,
format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
)
logger = logging.getLogger('MCP_PIPE')

# Reconnection settings
INITIAL_BACKOFF = 1 # Initial wait time in seconds
MAX_BACKOFF = 600 # Maximum wait time in seconds
reconnect_attempt = 0
backoff = INITIAL_BACKOFF

async def connect_with_retry(uri):
"""Connect to WebSocket server with retry mechanism"""
global reconnect_attempt, backoff
while True: # Infinite reconnection
      try:
         if reconnect_attempt > 0:
            wait_time = backoff * (1 + random.random() * 0.1) # Add some random jitter
            logger.info(f"Waiting {wait_time:.2f} seconds before reconnection attempt {reconnect_attempt}...")
            await asyncio.sleep(wait_time)

         # Attempt to connect
         await connect_to_server(uri)

      except Exception as e:
         reconnect_attempt += 1
         logger.warning(f"Connection closed (attempt: {reconnect_attempt}): {e}")
         # Calculate wait time for next reconnection (exponential backoff)
         backoff = min(backoff * 2, MAX_BACKOFF)

async def connect_to_server(uri):
"""Connect to WebSocket server and establish bidirectional communication with `mcp_script`"""
global reconnect_attempt, backoff
try:
      logger.info(f"Connecting to WebSocket server...")
      async with websockets.connect(uri) as websocket:
         logger.info(f"Successfully connected to WebSocket server")

         # Reset reconnection counter if connection closes normally
         reconnect_attempt = 0
         backoff = INITIAL_BACKOFF

         # Start mcp_script process
         process = subprocess.Popen(
            ['python', mcp_script],
            stdin=subprocess.PIPE,
            stdout=subprocess.PIPE,
            stderr=subprocess.PIPE,
            encoding='utf-8',
            text=True # Use text mode
         )
         logger.info(f"Started {mcp_script} process")

         # Create two tasks: read from WebSocket and write to process, read from process and write to WebSocket
         await asyncio.gather(
            pipe_websocket_to_process(websocket, process),
            pipe_process_to_websocket(process, websocket),
            pipe_process_stderr_to_terminal(process)
         )
except websockets.exceptions.ConnectionClosed as e:
      logger.error(f"WebSocket connection closed: {e}")
      raise # Re-throw exception to trigger reconnection
except Exception as e:
      logger.error(f"Connection error: {e}")
      raise # Re-throw exception
finally:
      # Ensure the child process is properly terminated
      if 'process' in locals():
         logger.info(f"Terminating {mcp_script} process")
         try:
            process.terminate()
            process.wait(timeout=5)
         except subprocess.TimeoutExpired:
            process.kill()
         logger.info(f"{mcp_script} process terminated")

async def pipe_websocket_to_process(websocket, process):
"""Read data from WebSocket and write to process stdin"""
try:
      while True:
         # Read message from WebSocket
         message = await websocket.recv()
         logger.debug(f"<< {message[:120]}...")

         # Write to process stdin (in text mode)
         if isinstance(message, bytes):
            message = message.decode('utf-8')
         process.stdin.write(message + '\n')
         process.stdin.flush()
except Exception as e:
      logger.error(f"Error in WebSocket to process pipe: {e}")
      raise # Re-throw exception to trigger reconnection
finally:
      # Close process stdin
      if not process.stdin.closed:
         process.stdin.close()

async def pipe_process_to_websocket(process, websocket):
"""Read data from process stdout and send to WebSocket"""
global p_p5_out,p_p8_pwm,p_p6_out,p_p16_pwm
try:
      while True:
         # Read data from process stdout
         data = await asyncio.get_event_loop().run_in_executor(
            None, process.stdout.readline
         )

         if not data: # If no data, the process may have ended
            logger.info("Process has ended output")
            break

         # Send data to WebSocket
         logger.debug(f">> {data[:120]}...")
         print(data)
         # 解析 JSON 字符串
         json_str = json.loads(data)
         print(json_str['id'])

         if json_str['id']>1:
            print(json_str['id'])
            if json_str.get('result', {}):

            text=json.loads(json_str['result']['content'][0]['text'])
            if text['success']:
               print(text['result'])
               L=480
               if "前进" in text['result']:
                           print("******************************")
                           p_p5_out.write_digital(0)
                           p_p8_pwm.write_analog(L)
                           p_p6_out.write_digital(0)
                           p_p16_pwm.write_analog(512)
               if "后退" in text['result']:
                           print("******************************")
                           p_p5_out.write_digital(1)
                           p_p8_pwm.write_analog(L)
                           p_p6_out.write_digital(1)
                           p_p16_pwm.write_analog(512)
               if "左转" in text['result']:
                           print("******************************")
                           p_p5_out.write_digital(1)
                           p_p8_pwm.write_analog(L)
                           p_p6_out.write_digital(0)
                           p_p16_pwm.write_analog(512)
               if "右转" in text['result']:
                           print("******************************")
                           p_p5_out.write_digital(0)
                           p_p8_pwm.write_analog(L)
                           p_p6_out.write_digital(1)
                           p_p16_pwm.write_analog(512)
               if "停车" in text['result']:
                           print("******************************")
                           p_p8_pwm.write_analog(0)
                           p_p16_pwm.write_analog(0)
         # In text mode, data is already a string, no need to decode
         await websocket.send(data)
except Exception as e:
      logger.error(f"Error in process to WebSocket pipe: {e}")
      raise # Re-throw exception to trigger reconnection

async def pipe_process_stderr_to_terminal(process):
"""Read data from process stderr and print to terminal"""
try:
      while True:
         # Read data from process stderr
         data = await asyncio.get_event_loop().run_in_executor(
            None, process.stderr.readline
         )

         if not data: # If no data, the process may have ended
            logger.info("Process has ended stderr output")
            break

         # Print stderr data to terminal (in text mode, data is already a string)
         sys.stderr.write(data)
         sys.stderr.flush()
except Exception as e:
      logger.error(f"Error in process stderr pipe: {e}")
      raise # Re-throw exception to trigger reconnection

def signal_handler(sig, frame):
"""Handle interrupt signals"""
logger.info("Received interrupt signal, shutting down...")
sys.exit(0)

if __name__ == "__main__":
# Register signal handler
signal.signal(signal.SIGINT, signal_handler)

# mcp_script
#if len(sys.argv) < 2:
# logger.error("Usage: mcp_pipe.py ")
# sys.exit(1)

mcp_script = "move.py"

# Get token from environment variable or command line arguments
#endpoint_url = os.environ.get('MCP_ENDPOINT')
endpoint_url="wss://api.xiaozhi.me/mcp/?token=eyJhbGciOiJFUzI1NiIsInR5cCI6IkpXVCJ9.eyJ1c2VySWQiOjEyODIzNSwiYWdlbnRJZCI6MTkwMjQsImVuZHBvaW50SWQiOiJhZ2VudF8xOTAyNCIsInB1cnBvc2UiOiJtY3AtZW5kcG9pbnQiLCJpYXQiOjE3NTA5MDkyNzV9.ms9egq4Y1huI4OsEg6p2OaNHLbXSfCbHXyqecQQK0HbWHxsh6nl88Ad8yjzGF7Znyn4uUDBC2JtMoSXi1PMOcg"
if not endpoint_url:
      logger.error("Please set the `MCP_ENDPOINT` environment variable")
      sys.exit(1)

# Start main loop
try:
      asyncio.run(connect_with_retry(endpoint_url))
except KeyboardInterrupt:
      logger.info("Program interrupted by user")
except Exception as e:
      logger.error(f"Program execution error: {e}")
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