Mes canvis

backend/.env.example

@@ -17,4 +17,7 @@ PIPER_URL=
 
 LLAMA_CPP_URL=https://ollama.epsem.aranroig.com/v1/chat/completitions
 LLAMA_PREAMBLE=./prompts/preamble.md
-LLAMA_API_KEY=your_api_key
+LLAMA_API_KEY=your_api_key
+
+# MCP server (Python FastMCP) — SSH-tunelled from remote machine
+MCP_URL=http://localhost:5001

backend/run-mcp.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+REMOTE_PORT=2223
+HOST=ollama.epsem.aranroig.com
+PORT=5001
+REMOTE_USER=root
+REMOTE_HOST=ollama.epsem.aranroig.com
+ssh -p ${REMOTE_PORT} -N -R ${HOST}:${PORT}:localhost:${PORT} -o ServerAliveInterval=30 \
+			-o ServerAliveCountMax=3 \
+			-o ExitOnForwardFailure=yes \
+    			${REMOTE_USER}@${REMOTE_HOST}

backend/src/controllers/audio.controller.ts

@@ -87,7 +87,7 @@ router.post('/upload', upload.single('file'), async (req, res) => {
     tmpTxt = txtPath;
     await writeFileAsync(txtPath, transcription);
 
-    const llmResponse = await llamacppService.chatWithPreamble(transcription).catch(
+    const llmResponse = await llamacppService.chatWithMcpTools(transcription).catch(
       (err: unknown) => {
         const msg = err instanceof Error ? err.message : String(err);
         console.error(`[audio] llama.cpp failed: ${msg}`);

backend/src/index.ts

@@ -4,7 +4,7 @@ import router from './routes/router.js';
 import { getAppPort, getConfig } from './config.js';
 import { whisperService } from './services/whisper.service.js';
 import { piperService as piperWorker } from './services/piper.service.js';
-import { mcpClient } from './services/mcpClient.service.js';
+import { mcpClient } from './services/mcp.service.js';
 
 const app = express();
 
@@ -30,12 +30,9 @@ const server = app.listen(getAppPort(), async () => {
   console.log(`QuiBot backend listening on port ${getAppPort()}`);
   whisperService.spawn();
   piperWorker.initWav().catch(() => { /* model may not exist yet → lazy init on first TTS call */ });
-  try {
+  mcpClient.connect().catch((err) => {
-    await mcpClient.start();
+    console.error(`[mcp] Failed to start MCP client: ${err instanceof Error ? err.message : String(err)}`);
-    console.log('[server] MCP client started');
+  });
-  } catch (err) {
-    console.error(`[server] MCP client failed to start: ${err instanceof Error ? err.message : String(err)}`);
-  }
 });
 
 async function shutdown(signal: string) {

backend/src/services/llama.service.ts

@@ -1,54 +1,171 @@
 import { getLlamacppUrl, getLlamacppApiKey, getLlamacppPreamble } from '../config.js';
+import { mcpClient, McpToolDef } from './mcp.service.js';
 
-interface LlamaRequest {
+interface LlamaMessage {
-  messages: Array<{ role: string; content: string }>;
+  role: string;
+  content?: string | null;
+  tool_call_id?: string;
+  tool_calls?: Array<{
+    id: string;
+    type: string;
+    function: { name: string; arguments: string };
+  }>;
 }
 
-interface LlamaChatChoice {
+interface LlamaToolCallResult {
-  message: {
+  content: Array<{
-    content: string;
+    type: string;
+    text?: string;
+  }>;
+  isError?: boolean;
+}
+
+interface LlamaToolDefinition {
+  type: 'function';
+  function: {
+    name: string;
+    description: string;
+    parameters: object;
+  };
+}
+
+interface LlamaRequest {
+  messages: LlamaMessage[];
+  tools?: LlamaToolDefinition[];
+  tool_choice?: 'auto' | 'none';
+}
+
+interface LlamaResponseChoice {
+  message?: {
+    content?: string;
+    tool_calls?: Array<{
+      id: string;
+      type: string;
+      function: { name: string; arguments: string };
+    }>;
   };
 }
 
 interface LlamaResponse {
-  choices?: LlamaChatChoice[];
+  choices?: LlamaResponseChoice[];
 }
 
+const MAX_TOOL_ITERATIONS = 10;
+
 export const llamacppService = {
   async chat(messages: Array<{ role: string; content: string }>): Promise<string> {
+    let history: LlamaMessage[] = messages.map(m => ({ role: m.role, content: m.content }));
+
     const apiUrl = getLlamacppUrl();
-    if (!apiUrl) {
+    if (!apiUrl) return '';
-      return '';
-    }
 
     const apiKey = getLlamacppApiKey();
     const headers: Record<string, string> = { 'Content-Type': 'application/json' };
-    if (apiKey) {
+    if (apiKey) headers['Authorization'] = `Bearer ${apiKey}`;
-      headers['Authorization'] = `Bearer ${apiKey}`;
+
+    const request: LlamaRequest = { messages: history };
+    const res = await fetch(apiUrl, { method: 'POST', headers, body: JSON.stringify(request) });
+
+    if (!res.ok) {
+      const text = await res.text().catch(() => '');
+      throw new Error(`llama.cpp request failed (${res.status}): ${text.slice(0, 300)}`);
     }
 
-    const response = await fetch(apiUrl, {
+    const data = (await res.json()) as LlamaResponse;
-      method: 'POST',
+    const choice = data.choices?.[0];
-      headers,
-      body: JSON.stringify({ messages } satisfies LlamaRequest),
-    });
 
-    if (!response.ok) {
+    if (!choice?.message || !choice.message.content) {
-      const text = await response.text().catch(() => '');
+      return '';
-      throw new Error(`llama.cpp request failed (${response.status}): ${text.slice(0, 300)}`);
     }
 
-    const data = (await response.json()) as LlamaResponse;
+    return choice.message.content.trim();
-    const content = data.choices?.[0]?.message?.content?.trim() ?? '';
-    return content;
   },
 
   async chatWithPreamble(userText: string): Promise<string> {
     const preamble = getLlamacppPreamble();
-    const messages = preamble ? [
+    const msgs = preamble
-      { role: 'system', content: preamble },
+      ? [{ role: 'system' as const, content: preamble }, { role: 'user' as const, content: userText }]
-      { role: 'user', content: userText },
+      : [{ role: 'user' as const, content: userText }];
-    ] : [{ role: 'user', content: userText }];
+    return this.chat(msgs);
-    return this.chat(messages);
+  },
+
+  async chatWithMcpTools(userText: string): Promise<string> {
+    const preamble = getLlamacppPreamble();
+    const initialMessages: LlamaMessage[] = preamble
+      ? [{ role: 'system', content: preamble }, { role: 'user', content: userText }]
+      : [{ role: 'user', content: userText }];
+
+    if (!mcpClient.getReady()) {
+      console.log('[llama] MCP not ready, falling back to preamble-only chat');
+      return this.chatWithPreamble(userText);
+    }
+
+    const tools = mcpClient.getTools();
+    const llamaTools: LlamaToolDefinition[] = tools.map((t) => ({
+      type: 'function',
+      function: {
+        name: t.name,
+        description: t.description,
+        parameters: t.inputSchema,
+      },
+    }));
+
+    return this._chatWithTools(initialMessages, llamaTools);
+  },
+
+  async _chatWithTools(messages: LlamaMessage[], tools: LlamaToolDefinition[]): Promise<string> {
+    const apiUrl = getLlamacppUrl();
+    if (!apiUrl) return '';
+
+    let iter = 0;
+    const history: LlamaMessage[] = messages.map((m) => ({ ...m }));
+
+    while (iter < MAX_TOOL_ITERATIONS) {
+      const apiKey = getLlamacppApiKey();
+      const headers: Record<string, string> = { 'Content-Type': 'application/json' };
+      if (apiKey) headers['Authorization'] = `Bearer ${apiKey}`;
+
+      const body: LlamaRequest = { messages: history, tools, tool_choice: 'auto' };
+      const res = await fetch(apiUrl, { method: 'POST', headers, body: JSON.stringify(body) });
+
+      if (!res.ok) {
+        const text = await res.text().catch(() => '');
+        throw new Error(`llama.cpp request failed (${res.status}): ${text.slice(0, 300)}`);
+      }
+
+      const data = (await res.json()) as LlamaResponse;
+      const choice = data.choices?.[0];
+
+      if (!choice?.message) {
+        throw new Error('llama.cpp response has no message');
+      }
+
+      if (!choice.message.tool_calls || choice.message.tool_calls.length === 0) {
+        return choice.message.content?.trim() ?? '';
+      }
+
+      history.push({ role: 'assistant', ...choice.message });
+
+      for (const toolCall of choice.message.tool_calls) {
+        let resultText = '';
+        try {
+          const args = JSON.parse(toolCall.function.arguments);
+          resultText = await mcpClient.callTool(toolCall.function.name, args);
+        } catch (err) {
+          const msg = err instanceof Error ? err.message : String(err);
+          resultText = `Error calling tool "${toolCall.function.name}": ${msg}`;
+        }
+
+        history.push({
+          role: 'tool',
+          content: resultText,
+          tool_call_id: toolCall.id,
+        });
+      }
+
+      iter++;
+    }
+
+    throw new Error(`Exceeded max tool-call iterations (${MAX_TOOL_ITERATIONS})`);
   },
 };

backend/src/services/mcp.http.service.ts

@@ -1,74 +0,0 @@
-import { getMcpUrl } from '../config';
-
-class McpHttpService {
-  private sessionId: string | null = null;
-
-  async callTool(name: string, args: Record<string, unknown>): Promise<{ text: string; isError?: boolean }> {
-    const baseUrl = getMcpUrl();
-    if (!baseUrl) {
-      throw new Error('MCP HTTP service not configured (set MCP_URL env var)');
-    }
-
-    const url = `${baseUrl}/mcp`;
-
-    if (!this.sessionId) {
-      const initRes = await fetch(url, {
-        method: 'POST',
-        headers: { 'Content-Type': 'application/json' },
-        body: JSON.stringify({
-          jsonrpc: '2.0',
-          id: 1,
-          method: 'initialize',
-          params: {
-            protocolVersion: '2025-03-26',
-            capabilities: {},
-            clientInfo: { name: 'quibot-backend', version: '1.0.0' },
-          },
-        }),
-      });
-      const initData = await initRes.json();
-      this.sessionId = String(initData.sessionId || initData.result?.sessionId);
-
-      await fetch(url, {
-        method: 'POST',
-        headers: { 'Content-Type': 'application/json' },
-        body: JSON.stringify({
-          jsonrpc: '2.0',
-          id: 2,
-          method: 'notifications/initialized',
-        }),
-        ...(this.sessionId && { headers: { 'Mcp-SessionId': this.sessionId } }),
-      });
-    }
-
-    const res = await fetch(url, {
-      method: 'POST',
-      headers: {
-        'Content-Type': 'application/json',
-        ...(this.sessionId && { 'Mcp-SessionId': this.sessionId }),
-      },
-      body: JSON.stringify({
-        jsonrpc: '2.0',
-        id: Date.now(),
-        method: 'tools/call',
-        params: { name, arguments: args },
-      }),
-    });
-
-    const data = await res.json();
-    if (data.error) {
-      return { text: JSON.stringify(data.error), isError: true };
-    }
-    const content = data.result?.content?.[0];
-    if (!content?.text) {
-      throw new Error('MCP tool returned no content');
-    }
-    return { text: content.text };
-  }
-
-  async shutdown(): Promise<void> {
-    this.sessionId = null;
-  }
-}
-
-export const mcpHttpService = new McpHttpService();

backend/src/services/mcp.service.ts

@@ -0,0 +1,105 @@
+import { Client } from '@modelcontextprotocol/sdk/client/index.js';
+import { SSEClientTransport } from '@modelcontextprotocol/sdk/client/sse.js';
+import { getMcpUrl } from '../config.js';
+
+export interface McpToolDef {
+  name: string;
+  description: string;
+  inputSchema: object;
+}
+
+let mc: Client | null = null;
+let cachedTools: McpToolDef[] = [];
+let connected = false;
+let connecting = false;
+
+async function connectInternal(): Promise<void> {
+  if (connected) return;
+  if (connecting) throw new Error('MCP client connection already in progress');
+  connecting = true;
+
+  const rawUrl = getMcpUrl();
+  if (!rawUrl) {
+    console.warn('[mcp] MCP_URL not configured, tools disabled');
+    connecting = false;
+    return;
+  }
+
+  // Ensure the URL points at the /sse endpoint (FastMCP default)
+  let connectUrl = rawUrl;
+  try {
+    const u = new URL(rawUrl);
+    if (u.pathname === '/' || u.pathname === '') {
+      u.pathname = '/sse';
+      connectUrl = u.toString();
+    }
+  } catch {
+    // not a valid URL, use as-is
+  }
+
+  console.log(`[mcp] Connecting to ${connectUrl}...`);
+
+  try {
+    mc = new Client(
+      { name: 'quibot-backend', version: '1.0.0' },
+      { capabilities: {} },
+    );
+
+    const transport = new SSEClientTransport(new URL(connectUrl));
+    await mc.connect(transport);
+
+    console.log('[mcp] Connected, listing tools...');
+    const toolsResult = await mc.listTools();
+    cachedTools = (toolsResult.tools ?? []).map((t) => ({
+      name: t.name,
+      description: t.description ?? '',
+      inputSchema: t.inputSchema as object,
+    }));
+
+    connected = true;
+    connecting = false;
+    console.log(`[mcp] Connected to MCP server with ${cachedTools.length} tool(s): ${cachedTools.map((t) => t.name).join(', ') || '(none)'}`);
+  } catch (err) {
+    const msg = err instanceof Error ? err.message : String(err);
+    connecting = false;
+    console.error(`[mcp] Connection failed: ${msg}`);
+    throw err;
+  }
+}
+
+export const mcpClient = {
+  async connect(): Promise<void> {
+    await connectInternal();
+  },
+
+  getReady(): boolean {
+    return connected;
+  },
+
+  getTools(): readonly McpToolDef[] {
+    return cachedTools;
+  },
+
+  async callTool(name: string, args: Record<string, unknown>): Promise<string> {
+    if (!mc) throw new Error('MCP client not connected');
+    const result = await mc.callTool({ name, arguments: args });
+    const content = result.content as Array<{ type: string; text?: string }>;
+    const texts = content
+      .filter((c) => c.type === 'text')
+      .map((c) => c.text ?? '');
+    return texts.join('\n') || '[MCP tool returned no text content]';
+  },
+
+  async shutdown(): Promise<void> {
+    if (mc) {
+      try {
+        await mc.close();
+      } catch {
+        // ignore close errors on shutdown
+      }
+      mc = null;
+    }
+    connected = false;
+    cachedTools = [];
+  },
+};

backend/src/services/mcpClient.service.ts

@@ -1,202 +0,0 @@
-import { spawn, ChildProcess } from 'child_process';
-import { join } from 'path';
-import { fileURLToPath } from 'url';
-import { getMcpUrl } from '../config';
-import { mcpHttpService } from './mcp.http.service';
-
-const __filename = fileURLToPath(import.meta.url);
-const __dirname = join(__filename, '..');
-
-// Path to the compiled MCP server (two levels up from backend/src/)
-const MCP_BIN = join(__dirname, '..', '..', 'mcp', 'dist', 'index.js');
-
-let _proc: ChildProcess | null = null;
-let nextId = 1;
-let pending = new Map<number | string, { resolve: (v: unknown) => void; reject: (e: Error) => void }>();
-
-function send(msg: Record<string, unknown>): number {
-  const id = nextId++;
-  _proc!.stdin!.write(JSON.stringify({ jsonrpc: '2.0', id, ...msg }) + '\n');
-  return id;
-}
-
-export const mcpClient = {
-  async start(): Promise<void> {
-    const hasMcpBin = (() => {
-      try {
-        require('fs').accessSync(MCP_BIN);
-        return true;
-      } catch {
-        return false;
-      }
-    })();
-
-    if (!hasMcpBin) {
-      const url = getMcpUrl();
-      if (url) {
-        console.log('[mcp] Local MCP binary not found, using HTTP service at', url);
-        return;
-      }
-      throw new Error('MCP local binary and HTTP URL both unavailable');
-    }
-
-    if (_proc) return;
-    return new Promise<void>((resolve, reject) => {
-      _proc = spawn('node', [MCP_BIN], { stdio: ['pipe', 'pipe', 'pipe'], env: { ...process.env } });
-
-      _proc.stdout!.on('data', (chunk: Buffer) => {
-        const text = chunk.toString();
-        for (const line of text.split('\n')) {
-          if (!line.trim()) continue;
-          let parsed: { jsonrpc?: string; id?: number | string; method?: string; result?: unknown; error?: unknown };
-          try { parsed = JSON.parse(line); } catch { continue; }
-          if (parsed.jsonrpc !== '2.0') continue;
-          if (parsed.method) {
-            // notifications or responses without matching id — ignore for now
-            continue;
-          }
-          if (!parsed.id) continue;
-          const p = pending.get(parsed.id);
-          if (!p) continue;
-          pending.delete(parsed.id);
-          if (parsed.error) {
-            p.reject(new Error(`MCP error: ${JSON.stringify(parsed.error)}`));
-          } else {
-            p.resolve(parsed.result);
-          }
-        }
-      });
-
-      _proc.stderr!.on('data', (chunk: Buffer) => {
-        console.log(`[mcp-client] stderr: ${chunk.toString().trim()}`);
-      });
-
-      _proc.on('exit', (code, signal) => {
-        console.error(`[mcp-client] Exited code=${code} signal=${signal}`);
-        _proc = null;
-        for (const [, p] of pending) {
-          p.reject(new Error('MCP client process exited'));
-        }
-        pending.clear();
-      });
-
-      _proc.on('error', (err: Error) => {
-        console.error(`[mcp-client] Error: ${err.message}`);
-        reject(err);
-      });
-
-      // Send initialize request
-      const initId = send({
-        method: 'initialize',
-        params: {
-          protocolVersion: '2025-03-26',
-          capabilities: {},
-          clientInfo: { name: 'quibot-backend', version: '1.0.0' },
-        },
-      });
-
-      pending.set(initId, {
-        resolve: () => {
-          // Send initialized notification
-          _proc!.stdin!.write(
-            JSON.stringify({ jsonrpc: '2.0', method: 'notifications/initialized' }) + '\n',
-          );
-          resolve();
-        },
-        reject,
-      });
-
-      setTimeout(() => {
-        const p = pending.get(initId);
-        if (p) {
-          pending.delete(initId);
-          p.reject(new Error('MCP initialize timed out'));
-        }
-      }, 15_000);
-    });
-  },
-
-  async callTool(name: string, args: Record<string, unknown>): Promise<{ text: string; isError?: boolean }> {
-    if (!_proc) {
-      await this.start();
-    }
-
-    try {
-      return await this._callToolLocal(name, args);
-    } catch (localErr) {
-      const url = getMcpUrl();
-      if (url) {
-        console.log(`[mcp] Local MCP failed: ${localErr instanceof Error ? localErr.message : localErr}. Falling back to HTTP service.`);
-        return await mcpHttpService.callTool(name, args);
-      }
-      throw localErr;
-    }
-  },
-
-  async _callToolLocal(name: string, args: Record<string, unknown>): Promise<{ text: string; isError?: boolean }> {
-    if (!_proc?.stdin) {
-      throw new Error('MCP client not ready');
-    }
-
-    return new Promise((resolve, reject) => {
-      const id = send({
-        method: 'tools/call',
-        params: { name, arguments: args },
-      });
-
-      let cleared = false;
-      const timer = setTimeout(() => {
-        if (cleared) return;
-        cleared = true;
-        pending.delete(id);
-        reject(new Error(`MCP tool "${name}" timed out`));
-      }, 180_000);
-
-      pending.set(id, {
-        resolve: (result: unknown) => {
-          if (cleared) return;
-          cleared = true;
-          clearTimeout(timer);
-          pending.delete(id);
-          const res = result as { content?: Array<{ type: string; text?: string }> };
-          if (res?.content?.[0]?.text !== undefined) {
-            resolve({ text: res.content[0].text });
-          } else {
-            reject(new Error('MCP tool returned no content'));
-          }
-        },
-        reject: (err: Error) => {
-          if (cleared) return;
-          cleared = true;
-          clearTimeout(timer);
-          reject(err);
-        },
-      });
-    });
-  },
-
-  async shutdown(): Promise<void> {
-    if (!_proc) return;
-    _proc.kill('SIGTERM');
-    const current = _proc;
-    await new Promise<void>((resolve) => {
-      let done = false;
-      const cleanup = () => {
-        if (done) return;
-        done = true;
-        _proc = null;
-        for (const [, p] of pending) {
-          p.reject(new Error('MCP client shut down'));
-        }
-        pending.clear();
-        resolve();
-      };
-      current.once('exit', () => cleanup());
-      setTimeout(() => {
-        const proc = _proc;
-        if (proc && !proc.killed) proc.kill('SIGKILL');
-        cleanup();
-      }, 3000);
-    });
-  },
-};

backend/src/services/piper.service.ts

@@ -161,7 +161,10 @@ private resolveInitError(err: Error): void {
       // reject all pending (new format: {resolve, reject})
       for (const [, entry] of this.respMap) entry.reject(new Error('piper process exited'));
       this.respMap.clear();
-      if (this.pendingInit) { this.initReject(new Error('piper process exited')); this.pendingInit = null; }
+      if (this.pendingInit && this.initReject) {
+        this.initReject(new Error('piper process exited'));
+        this.pendingInit = null;
+      }
     });
 
     // ── cleanup old WAV files every 5 min ──

backend/src/services/whisper.service.ts

@@ -10,7 +10,7 @@ const SCRIPT_DIR = join(__dirname, '..');
 
 const PYTHON = join(SCRIPT_DIR, '..', '.venv', 'bin', 'python3');
 
-const whisperModel = process.env.WHISPER_MODEL ?? 'base';
+const whisperModel = process.env.WHISPER_MODEL ?? 'small';
 const whisperLanguage = process.env.WHISPER_LANGUAGE ?? 'ca';
 
 interface TranscriptResult {

mcp/.gitignore

@@ -1,2 +1 @@
-node_modules/
+.venv/
-dist/

mcp/mcp_server.py

@@ -0,0 +1,46 @@
+from fastmcp import FastMCP
+import requests
+import threading
+
+mcp = FastMCP("Test MCP server")
+
+def fire_and_forget(url: str):
+    try:
+        requests.get(url, timeout=2)
+    except Exception:
+        pass  # ignore all errors so it never affects the tool
+
+@mcp.tool()
+def add(a: int, b: int) -> int:
+    """Add two numbers together"""
+    return a + b
+
+@mcp.tool()
+def greet(name: str) -> str:
+    """Greet someome by its name"""
+    return f"Hello {name}! Welcome!"
+
+@mcp.tool()
+def multiply(a: int, b: int) -> int:
+    """Multiply two numbers"""
+    return a * b
+
+@mcp.tool()
+def get_time() -> str:
+    """Get the current time"""
+    from datetime import datetime
+    return datetime.now().strftime("%I:%M %p")
+
+@mcp.tool()
+def moure_brac() -> str:
+    """Mou els braços"""
+
+    url = "http://quibot.local:8000/greet"
+
+    # start background request (non-blocking)
+    threading.Thread(target=fire_and_forget, args=(url,), daemon=True).start()
+
+    return "Braços moguts"
+
+if __name__ == "__main__":
+    mcp.run(transport="sse", port=5001)

mcp/package.json

@@ -1,26 +0,0 @@
-{
-  "name": "quibot-mcp",
-  "version": "1.0.0",
-  "description": "QuiBot MCP server — exposes robot controls as MCP tools and resources",
-  "type": "module",
-  "bin": {
-    "quibot-mcp": "./dist/index.js"
-  },
-  "scripts": {
-    "build": "tsc",
-    "start": "node dist/index.js",
-    "dev": "tsx src/index.ts"
-  },
-  "dependencies": {
-    "@cfworker/json-schema": "^4.1.1",
-    "@modelcontextprotocol/sdk": "^1.29.0",
-    "axios": "^1.7.0",
-    "form-data": "^4.0.0",
-    "zod": "^3.25"
-  },
-  "devDependencies": {
-    "@types/node": "^22.19.21",
-    "tsx": "^4.19.0",
-    "typescript": "^5.6.0"
-  }
-}

mcp/src/index.ts

@@ -1,581 +0,0 @@
-#!/usr/bin/env node
-import { McpServer } from "@modelcontextprotocol/sdk/server/mcp.js";
-import { StdioServerTransport } from "@modelcontextprotocol/sdk/server/stdio.js";
-import axios, { AxiosError } from "axios";
-import * as z from "zod";
-import fs from "node:fs";
-
-// --- Config from env (same as backend) ---
-const RASPBERRY_PI_HOST = process.env.RASPBERRY_PI_HOST ?? "http://raspberrypi.local";
-const RASPBERRY_PI_PORT = Number(process.env.RASPBERRY_PI_PORT) || 8000;
-const QUIBOT_TOKEN = process.env.QUIBOT_TOKEN ?? "MY_SECRET_TOKEN";
-
-const RPI_URL = `${RASPBERRY_PI_HOST}:${RASPBERRY_PI_PORT}`;
-
-function rpiUrl(path: string, query?: Record<string, string>): string {
-  const url = `${RPI_URL}${path}`;
-  if (!query) return url;
-  const q = new URLSearchParams({ token: QUIBOT_TOKEN, ...query });
-  return `${url}?${q}`;
-}
-
-// --- Helpers ---
-async function rpiPost(path: string, query?: Record<string, string>, body?: unknown): Promise<unknown> {
-  try {
-    const res = await axios.post(rpiUrl(path, query), body, { timeout: 10000 });
-    return res.data;
-  } catch (err) {
-    if (err instanceof AxiosError && err.response) {
-      throw new Error(`Pi error ${err.response.status}: ${JSON.stringify(err.response.data)}`);
-    }
-    throw err;
-  }
-}
-
-async function rpiGet(path: string, query?: Record<string, string>): Promise<unknown> {
-  try {
-    const res = await axios.get(rpiUrl(path, query), { timeout: 10000 });
-    return res.data;
-  } catch (err) {
-    if (err instanceof AxiosError && err.response) {
-      throw new Error(`Pi error ${err.response.status}: ${JSON.stringify(err.response.data)}`);
-    }
-    throw err;
-  }
-}
-
-async function rpiPostMultipart(path: string, formData: FormData): Promise<unknown> {
-  try {
-    const res = await axios.post(rpiUrl(path), formData, {
-      timeout: 30000,
-      headers: { "Content-Type": "multipart/form-data" },
-    });
-    return res.data;
-  } catch (err) {
-    if (err instanceof AxiosError && err.response) {
-      throw new Error(`Pi error ${err.response.status}: ${JSON.stringify(err.response.data)}`);
-    }
-    throw err;
-  }
-}
-
-// --- MCP Server ---
-const server = new McpServer({
-  name: "quibot",
-  version: "1.0.0",
-});
-
-// === TOOLS ===
-
-server.registerTool(
-  "motor_step",
-  {
-    description: "Move stepper motors in a direction (fire-and-forget — motor runs until stop)",
-    inputSchema: z.object({
-      direction: z.enum(["forward", "backward", "left", "right"]),
-    }),
-  },
-  async ({ direction }) => {
-    const piPath = direction === "backward" ? "/motor/step/backwards" : `/motor/step/${direction}`;
-    try {
-      const result = await rpiPost(piPath);
-      return {
-        content: [{ type: "text", text: JSON.stringify(result) }],
-      };
-    } catch (err) {
-      const msg = err instanceof Error ? err.message : String(err);
-      return {
-        content: [{ type: "text", text: `Error: ${msg}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "motor_stop",
-  {
-    description: "Stop all stepper motors immediately (disables driver via GPIO EN)",
-    inputSchema: z.object({}),
-  },
-  async () => {
-    try {
-      const result = await rpiPost("/motor/stop");
-      return { content: [{ type: "text", text: JSON.stringify(result) }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "audio_upload_transcribe",
-  {
-    description:
-      "Upload an audio file to the Raspberry Pi and get transcription + LLM response. The Pi runs Whisper for transcription and llamacpp with preamble for response.",
-    inputSchema: z.object({
-      audioBase64: z.string().describe("Base64-encoded audio file"),
-      format: z.string().describe("Audio format (wav, m4a, mp3, etc.)"),
-    }),
-  },
-  async ({ audioBase64, format }) => {
-    try {
-      const buffer = Buffer.from(audioBase64, "base64");
-      const formData = new FormData();
-      const fname = `audio-upload-${Date.now()}.${format}`;
-      formData.append("file", new Blob([buffer]), fname);
-
-      const result = await rpiPostMultipart("/transcribe", formData);
-      return { content: [{ type: "text", text: JSON.stringify(result) }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "motor_upload",
-  {
-    description: "Upload an audio file to the Raspberry Pi for processing",
-    inputSchema: z.object({
-      filePath: z.string().describe("Path to audio file on local machine"),
-      format: z.string().describe("Audio format (wav, m4a, mp3, etc.)"),
-    }),
-  },
-  async ({ filePath, format }) => {
-    try {
-      if (!fs.existsSync(filePath)) {
-        return { content: [{ type: "text", text: `File not found: ${filePath}` }], isError: true };
-      }
-      const fd = new (await import("form-data")).default();
-      fd.append("file", fs.createReadStream(filePath));
-      fd.append("format", format);
-      await axios.post(`${RPI_URL}/audio/upload?format=${format}&token=${QUIBOT_TOKEN}`, fd, {
-        headers: fd.getHeaders(),
-        timeout: 30000,
-      });
-      return { content: [{ type: "text", text: `Uploaded: ${filePath}` }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "audio_list",
-  {
-    description: "List incoming audio files on the Raspberry Pi",
-    inputSchema: z.object({}),
-  },
-  async () => {
-    try {
-      const files = await rpiGet("/audio/incoming");
-      return { content: [{ type: "text", text: JSON.stringify(files, null, 2) }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "audio_lifecycle",
-  {
-    description: "Manage audio file lifecycle: lock, unlock, cancel, or process a file",
-    inputSchema: z.object({
-      filename: z.string().describe("Audio filename"),
-      action: z.enum(["lock", "unlock", "cancel", "process"]).describe("Lifecycle action to perform"),
-    }),
-  },
-  async ({ filename, action }) => {
-    try {
-      const result = await rpiPost(`/audio/${action}/${filename}`);
-      return { content: [{ type: "text", text: JSON.stringify(result) }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "eye_set_shape",
-  {
-    description: "Set the LED eye shape on the robot's WS2811 matrix",
-    inputSchema: z.object({
-      shape: z.enum(["EYES_OPEN", "EYES_FW", "EYES_DOWN", "EYES_GESTURE"]).describe("Eye shape pattern"),
-    }),
-  },
-  async ({ shape }) => {
-    try {
-      const result = await rpiPost(`/eye/shape/${shape}`);
-      return { content: [{ type: "text", text: JSON.stringify(result) }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "eye_set_color",
-  {
-    description: "Set the LED eye color on the robot's WS2811 matrix",
-    inputSchema: z.object({
-      color: z.enum(["RED", "GREEN", "BLUE", "YELLOW", "CYAN", "MAGENTA", "WHITE", "OFF", "ORANGE", "VIOLET", "DARK_RED"]).describe("Eye color name"),
-    }),
-  },
-  async ({ color }) => {
-    try {
-      const result = await rpiPost(`/eye/color/${color}`);
-      return { content: [{ type: "text", text: JSON.stringify(result) }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "eye_toggle",
-  {
-    description: "Turn eyes on or off (enable/disable LED matrix breathing thread)",
-    inputSchema: z.object({
-      state: z.enum(["on", "off"]).describe("Eye power state"),
-    }),
-  },
-  async ({ state }) => {
-    try {
-      const result = await rpiPost(`/eye/${state}`);
-      return { content: [{ type: "text", text: JSON.stringify(result) }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "gesture_toggle_mode",
-  {
-    description: "Toggle between block mode and gesture mode on the robot",
-    inputSchema: z.object({}),
-  },
-  async () => {
-    try {
-      const result = await rpiPost("/gesture/toggle");
-      return { content: [{ type: "text", text: JSON.stringify(result) }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "gesture_on",
-  {
-    description: "Enable gesture sensor polling (PAJ7620U2)",
-    inputSchema: z.object({}),
-  },
-  async () => {
-    try {
-      const result = await rpiPost("/gesture/on");
-      return { content: [{ type: "text", text: JSON.stringify(result) }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "gesture_off",
-  {
-    description: "Disable gesture sensor polling",
-    inputSchema: z.object({}),
-  },
-  async () => {
-    try {
-      const result = await rpiPost("/gesture/off");
-      return { content: [{ type: "text", text: JSON.stringify(result) }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "run_command",
-  {
-    description: "Run a whitelisted system command on the Raspberry Pi",
-    inputSchema: z.object({
-      task: z.enum(["restart_nginx", "uptime", "update"]).describe("Command to run"),
-    }),
-  },
-  async ({ task }) => {
-    try {
-      const result = await rpiPost("/run", { task });
-      return { content: [{ type: "text", text: JSON.stringify(result) }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-server.registerTool(
-  "tts_speak",
-  {
-    description: "Synthesize speech via Piper TTS and play it on the Raspberry Pi",
-    inputSchema: z.object({
-      text: z.string().describe("Text to speak"),
-      lang: z.string().default("ca").describe("Language code (ca, es, en)"),
-    }),
-  },
-  async ({ text, lang }) => {
-    try {
-      const result = await rpiGet("/tts", { text, lang: lang || "ca" });
-      return { content: [{ type: "text", text: JSON.stringify(result) }] };
-    } catch (err) {
-      return {
-        content: [{ type: "text", text: `Error: ${err instanceof Error ? err.message : String(err)}` }],
-        isError: true,
-      };
-    }
-  },
-);
-
-// === RESOURCES ===
-
-server.registerResource(
-  "config",
-  "quibot://config",
-  { description: "Current Raspberry Pi connection config and token" },
-  async () => ({
-    contents: [
-      {
-        uri: "quibot://config",
-        name: "QuiBot Configuration",
-        mimeType: "application/json",
-        text: JSON.stringify(
-          { raspberryPiHost: RASPBERRY_PI_HOST, raspberryPiPort: RASPBERRY_PI_PORT, token: QUIBOT_TOKEN },
-          null,
-          2,
-        ),
-      },
-    ],
-  }),
-);
-
-server.registerResource(
-  "available-directions",
-  "quibot://directions",
-  { description: "Available motor movement directions" },
-  async () => ({
-    contents: [
-      {
-        uri: "quibot://directions",
-        name: "Available Motor Directions",
-        mimeType: "text/plain",
-        text: ["forward", "backward"].map((d) => `  POST /motor/step/${d}`).join("\n"),
-      },
-    ],
-  }),
-);
-
-server.registerResource(
-  "eye-shapes",
-  "quibot://eyes/shapes",
-  { description: "Available LED eye shapes and their meanings" },
-  async () => ({
-    contents: [
-      {
-        uri: "quibot://eyes/shapes",
-        name: "Available Eye Shapes",
-        mimeType: "text/plain",
-        text: [
-          "  EYES_OPEN  — Normal resting eyes (default)",
-          "  EYES_FW    — Forward-looking eyes",
-          "  EYES_DOWN  — Downward/downcast eyes",
-          "  EYES_GESTURE — Gesture-acknowledge eyes",
-        ].join("\n"),
-      },
-    ],
-  }),
-);
-
-server.registerResource(
-  "color-actions",
-  "quibot://blocks/colors",
-  { description: "Color-to-action mapping for block recognition" },
-  async () => ({
-    contents: [
-      {
-        uri: "quibot://blocks/colors",
-        name: "Color Block Actions",
-        mimeType: "text/plain",
-        text: [
-          "  RED    → Advance forward",
-          "  GREEN  → Turn right",
-          "  BLUE   → Turn left",
-          "  YELLOW → Take / pick up block",
-          "  ORANGE → Leave / eject block",
-          "  VIOLET → Idle",
-          "  BLACK  → Reference / no block",
-        ].join("\n"),
-      },
-    ],
-  }),
-);
-
-server.registerResource(
-  "gestures",
-  "quibot://gestures",
-  { description: "Available PAJ7620U2 gestures" },
-  async () => ({
-    contents: [
-      {
-        uri: "quibot://gestures",
-        name: "Available Gestures",
-        mimeType: "text/plain",
-        text: [
-          "  GS_FORWARD      → Hand moving forward (toward sensor)",
-          "  GS_BACKWARD     → Hand moving backward (away from sensor)",
-          "  GS_LEFT         → Hand moving left",
-          "  GS_RIGHT        → Hand moving right",
-          "  GS_UP           → Hand moving up",
-          "  GS_DOWN         → Hand moving down",
-          "  GS_CLOCKWISE    → Clockwise wave motion",
-          "  GS_ANTICLOCKWISE→ Counter-clockwise wave motion",
-          "  GS_WAVE         → Wave hello gesture",
-        ].join("\n"),
-      },
-    ],
-  }),
-);
-
-server.registerResource(
-  "pi-status",
-  "quibot://status/pi",
-  { description: "Check if Raspberry Pi HTTP server is reachable" },
-  async () => {
-    try {
-      const res = await axios.get(`${RPI_URL}/health`, { timeout: 5000 });
-      return {
-        contents: [
-          {
-            uri: "quibot://status/pi",
-            name: "Pi Status",
-            mimeType: "application/json",
-            text: JSON.stringify({ status: "connected", data: res.data }, null, 2),
-          },
-        ],
-      };
-    } catch {
-      return {
-        contents: [
-          {
-            uri: "quibot://status/pi",
-            name: "Pi Status",
-            mimeType: "application/json",
-            text: JSON.stringify({ status: "disconnected", error: "Cannot reach Raspberry Pi" }, null, 2),
-          },
-        ],
-      };
-    }
-  },
-);
-
-// === PROMPTS ===
-
-server.registerPrompt(
-  "quibot-setup",
-  {
-    description: "Get a complete reference for controlling the QuiBot robot via MCP",
-  },
-  () => ({
-    messages: [
-      {
-        role: "user",
-        content: {
-          type: "text",
-          text: `# QuiBot MCP Server
-
-You can control the physical QuiBot robot with these tools:
-
-## Motor Control
-- motor_step(direction) — Move forward, backward, left, or right
-- motor_stop() — Stop all motors
-- motor_upload(filePath, format) — Upload audio file to Pi
-
-## Audio
-- audio_upload_transcribe(audioBase64, format) — Upload + Whisper transcribe + llamacpp response
-- audio_list() — List incoming audio files
-- audio_lifecycle(filename, action) — lock/unlock/cancel/process audio
-- tts_speak(text, lang) — Synthesize and play speech via Piper TTS
-
-## Eyes (WS2811 LED Matrix)
-- eye_set_shape(shape) — Set face expression shape
-- eye_set_color(color) — Change eye color
-- eye_toggle(state) — Turn eyes on/off
-
-## Gesture Sensor
-- gesture_on() / gesture_off() — Enable/disable gesture polling
-- gesture_toggle_mode() — Toggle between block/gesture mode
-
-## System
-- run_command(task) — Run system commands on Pi (uptime, restart_nginx)
-
-## Resources
-- quibot://status/pi — Check if Pi is reachable
-- quibot://config — Current connection config
-- quibot://blocks/colors — Color-to-action mapping
-- quibot://gestures — Gesture reference
-`,
-        },
-      },
-    ],
-  }),
-);
-
-// === START ===
-
-async function main() {
-  const transport = new StdioServerTransport();
-  await server.connect(transport);
-  console.error("[quibot-mcp] Server connected, waiting for requests via stdio...");
-}
-
-main().catch((err) => {
-  console.error("[quibot-mcp] Failed to start:", err);
-  process.exit(1);
-});

mcp/tsconfig.json

@@ -1,18 +0,0 @@
-{
-  "compilerOptions": {
-    "target": "ES2022",
-    "module": "Node16",
-    "moduleResolution": "Node16",
-    "outDir": "./dist",
-    "rootDir": "./src",
-    "strict": true,
-    "esModuleInterop": true,
-    "skipLibCheck": true,
-    "forceConsistentCasingInFileNames": true,
-    "resolveJsonModule": true,
-    "declaration": true,
-    "sourceMap": false
-  },
-  "include": ["src/**/*"],
-  "exclude": ["node_modules", "dist"]
-}

rasp/server.py

@@ -0,0 +1,81 @@
+from flask import Flask, request, jsonify
+import sys
+import os
+
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), 'Rasp'))
+
+import time
+import pigpio
+import motion
+from motion import (
+    motion_setup, motion_setup_steppers, motion_setup_sensors, motion_cleanup,
+    enable_wheels, enable_arms, enable_syringe,
+    arms_home, syringe_home,
+    distance_to_object,
+    ON, OFF, CW, CCW,
+)
+
+def _pi_connect():
+    pi = pigpio.pi()
+    if not pi.connected:
+        print("ERROR: pigpiod no està en marxa. Executa: sudo pigpiod -s 1")
+        sys.exit(1)
+    return pi
+
+def _setup_motors():
+    """Setup mínim per a tests de motors (sense sensors I2C)."""
+    pi = _pi_connect()
+    motion_setup_steppers(pi)
+    return pi
+
+def _setup_sensors():
+    """Setup mínim per a tests de sensors I2C (sense steppers)."""
+    pi = _pi_connect()
+    motion_setup_sensors(pi)
+    return pi
+
+def _teardown_motors(pi):
+    motion_cleanup()
+    pi.stop()
+
+def _teardown_sensors(pi):
+    pi.stop()
+
+def test_arms_pair():
+    pi = _setup_motors()
+    enable_arms(ON); time.sleep(0.1)
+    motion.arm_R.move(+200); motion.arm_L.move(+200)
+    time.sleep(1.5)
+    motion.arm_R.move(-200); motion.arm_L.move(-200)
+    time.sleep(0.5)
+    enable_arms(OFF)
+
+app = Flask(__name__)
+
+@app.route("/")
+def home():
+    return jsonify({
+        "message": "Flask API is running"
+    })
+
+@app.route("/greet", methods=["GET"])
+def greet():
+    test_arms_pair()
+    return jsonify({
+        "message": "Hello, world!"
+    })
+
+
+# Simple error handlers
+@app.errorhandler(404)
+def not_found(e):
+    return jsonify({"error": "Route not found"}), 404
+
+
+@app.errorhandler(500)
+def server_error(e):
+    return jsonify({"error": "Internal server error"}), 500
+
+
+if __name__ == "__main__":
+    app.run(debug=True, host="0.0.0.0", port=8000)