Fix sensor publish topics and add MQTT tests by Dinithi-Gunathilake · Pull Request #45 · Pera-Swarm/robot-library-python

Dinithi-Gunathilake · 2026-01-11T17:48:08Z

No description provided.

… documentation

…formatting

…to requirements

…ex path

Added error handling for invalid hex code formats in set_color_from_hex_code method.

Removed unnecessary import statements for math and json modules.

Added error handling to log exceptions during rotation.

Copilot

Pull request overview

This pull request ports robot control functionality from Java to Python, adding MQTT client tests and implementing sensor, communication, and motion control modules. The PR establishes the foundation for a robot control library with comprehensive MQTT-based communication.

Changes:

Adds MQTT client tests with mock infrastructure for unit testing
Implements sensor classes (distance, color, proximity) with MQTT communication
Adds type definitions for RGB colors and proximity readings
Implements helper modules for motion control, coordinates, and MQTT handling

Reviewed changes

Copilot reviewed 47 out of 48 changed files in this pull request and generated 24 comments.

Show a summary per file

File	Description
tests/test_mqtt_client.py	New comprehensive MQTT client tests with mocking framework
src/robot/virtual_robot.py	New virtual robot base class with sensor interrupt handlers
src/robot/types/rgb_color_type.py	RGB color type with multiple input format support
src/robot/types/proximity_reading_type.py	Proximity sensor reading type with distance and color parsing
src/robot/sensors/*.py	Sensor implementations (distance, color, proximity) with MQTT integration
src/robot/mqtt/robot_mqtt_client.py	MQTT client wrapper with channel prefix support and queue management
src/robot/robot_base.py	Complete robot base class with lifecycle management and subscription handling
src/robot/helpers/*.py	Helper classes for motion control, coordinates, and MQTT operations
src/robot/indicators/neopixel.py	NeoPixel LED controller with MQTT-based color changes
src/robot/communication/*.py	Simple and directed communication modules
docs/Makefile	Updated livehtml target with clean dependency
.flake8	New flake8 configuration file
.github/workflows/ci.yml	Updated CI workflow to run on PR to dev/main branches

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Copilot · 2026-01-11T17:54:15Z

src/robot/virtual_robot.py

+
+    def sensor_interrupt(self, sensor: str, value: str) -> None:
+        if sensor == "distance":
+            print(f"Distance sensor interrupt on {self.id}with value{value}")


Missing spaces in the print statement. Should be "on {self.id} with value {value}" instead of "on {self.id}with value{value}".

Copilot · 2026-01-11T17:54:15Z

src/robot/virtual_robot.py

+        if sensor == "distance":
+            print(f"Distance sensor interrupt on {self.id}with value{value}")
+        elif sensor == "color":
+            print(f"Color sensor interrupt on {self.id}with value{value}")


Missing spaces in the print statement. Should be "on {self.id} with value {value}" instead of "on {self.id}with value{value}".

Copilot · 2026-01-11T17:54:15Z

src/robot/sensors/proximity.py

+    def __init__with_angles(
+        self, robot, angles: list[int], mqtt_client: RobotMqttClient
+    ):  # helper to mirror overload
+        super().__init__(robot, mqtt_client)
+        self._topics_sub = {}
+        self._angles = list(angles)
+        self._subscribe("PROXIMITY_IN", f"sensor/proximity/{self.robot_id}")
+        self._proximity_lock = False
+        self._proximity = None
+


The __init__with_angles method is a duplicate of init with only slight differences. This is not a valid Python pattern. Python doesn't support method overloading in the same way as Java. Consider using a single init with a default parameter value for angles or using a class method as an alternative constructor pattern (e.g., @classmethod def with_angles(...)).

Copilot · 2026-01-11T17:54:16Z

src/robot/types/proximity_reading_type.py

+class ProximityReadingType:
+    def __init__(self, angles: list[int] | tuple[int, ...], s: str):
+        reading_count = len(angles)
+        values = s.split()
+
+        self._distances: list[int] = [0] * reading_count
+        self._colors: list[RGBColorType] = [
+            RGBColorType(0, 0, 0) for _ in range(reading_count)
+        ]
+
+        if len(values) != reading_count * 2:
+            raise ProximityException(
+                f"ProximityReadingType: length mismatch {len(values)}"
+            )
+
+        for i in range(reading_count):
+            vi = values[i]
+            if vi == "Infinity":
+                print(f"Proximity: Infinity reading received for {i}")
+                self._distances[i] = -1
+            else:
+                self._distances[i] = int(vi)
+
+            color = RGBColorType(0, 0, 0)
+            color.set_color_from_hex_code(values[reading_count + i])
+            self._colors[i] = color
+
+    def distances(self) -> list[int]:
+        return self._distances
+
+    def colors(self) -> list[RGBColorType]:
+        return self._colors
+
+    def __str__(self) -> str:
+        parts: list[str] = []
+        parts.extend(str(d) for d in self._distances)
+        parts.append(" ")
+        parts.extend(str(c) for c in self._colors)
+        return " ".join(parts)


The ProximityReadingType class lacks test coverage. The class handles complex parsing of distance and color data with special cases like "Infinity" values, and should be tested to ensure it correctly handles various input formats and edge cases.

Copilot · 2026-01-11T17:54:16Z

src/robot/communication/simple_comm.py

+            print(self._topics_sub.get("COMMUNICATION_IN_SIMP"))
+            print(f"Received (unknown simp): {topic}> {msg}")


Line 35 prints the expected topic but doesn't provide useful context. This debug print statement should either be removed or combined with line 36 to provide clearer information about what was expected vs what was received.

Suggested change

print(self._topics_sub.get("COMMUNICATION_IN_SIMP"))

print(f"Received (unknown simp): {topic}> {msg}")

expected_topic = self._topics_sub.get("COMMUNICATION_IN_SIMP")

print(

f"Received (unknown simp): expected '{expected_topic}', "

f"but got '{topic}' with message '{msg}'"

)

Copilot · 2026-01-11T17:54:19Z

tests/test_mqtt_client.py

+@pytest.fixture(autouse=True)
+def patch_mqtt_client(monkeypatch):
+    """Replace paho.mqtt with a lightweight fake and skip real sleeps."""
+    import robot.mqtt.robot_mqtt_client as mqtt_client_mod


Module 'robot.mqtt.robot_mqtt_client' is imported with both 'import' and 'import from'.

Copilot · 2026-01-11T17:54:20Z

src/robot/motion.py

-    """Placeholder motion controller."""
-
-    pass
+from .helpers.motion_controller import MotionController  # noqa: F401


Import of 'MotionController' is not used.

Copilot · 2026-01-11T17:54:20Z

src/robot/mqtt_client.py

-    """Placeholder MQTT client wrapper."""
-
-    pass
+from .mqtt.robot_mqtt_client import RobotMqttClient  # noqa: F401


Import of 'RobotMqttClient' is not used.

Copilot · 2026-01-11T17:54:20Z

src/robot/mqtt/mqtt_msg.py

+from __future__ import annotations
+
+
+class MqttMsg:


This class implements lt, but does not implement le or ge.

Copilot · 2026-01-11T17:54:20Z

src/robot/robot_base.py

+    def delay(self, milliseconds: int) -> None:
+        try:
+            time.sleep(max(0, milliseconds) / 1000.0)
+        except Exception:


'except' clause does nothing but pass and there is no explanatory comment.

NuwanJ and others added 13 commits September 11, 2025 22:38

Add MQTT and robot settings modules, restructure imports, and enhance…

2192c4c

… documentation

Update CI workflow to trigger on pull requests for dev and main branches

c8d1fe5

Add flake8 configuration, refactor code for consistency, and improve …

11d0e37

…formatting

Update CI workflow to install dependencies and add flake8 and pytest …

82ee927

…to requirements

fix: Address CoPilot settings

a24e223

fix: Improve debug output for unknown message handling in ColorSensor

6cf4e7d

Merge remote-tracking branch 'origin/dev' into java-to-python-porting

bae534f

docs: Update API documentation to include new modules and correct ind…

db6df50

…ex path

Merge remote-tracking branch 'origin/dev' into java-to-python-porting

387b21c

Improve hex code validation in set_color_from_hex_code

a3fb52d

Added error handling for invalid hex code formats in set_color_from_hex_code method.

Clean up imports and unused parameters in coordinate.py

a471a0e

Removed unnecessary import statements for math and json modules.

Improve error handling in motion_controller.py

602a0bc

Added error handling to log exceptions during rotation.

Improved MQTT robustness and tests

e9a67e7

Dinithi-Gunathilake requested review from KavinduMethpura, NuwanJ and Copilot January 11, 2026 17:48

Copilot started reviewing on behalf of Dinithi-Gunathilake January 11, 2026 17:48 View session

Copilot AI reviewed Jan 11, 2026

View reviewed changes

Added proximity parsing tests and MQTT fixes

fdb3a43

Dinithi-Gunathilake force-pushed the bug-fix branch from 3560baa to fdb3a43 Compare January 12, 2026 04:29

GayashaSandeepa added 2 commits January 12, 2026 13:49

Update motion_controller.py

162ea6d

Adding the final changes and python file to test the functions

8b23fe3

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Fix sensor publish topics and add MQTT tests#45

Fix sensor publish topics and add MQTT tests#45
Dinithi-Gunathilake wants to merge 16 commits intodevfrom
bug-fix

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		print(self._topics_sub.get("COMMUNICATION_IN_SIMP"))
		print(f"Received (unknown simp): {topic}> {msg}")

-            print(self._topics_sub.get("COMMUNICATION_IN_SIMP"))
-            print(f"Received (unknown simp): {topic}> {msg}")
+            expected_topic = self._topics_sub.get("COMMUNICATION_IN_SIMP")
+            print(
+                f"Received (unknown simp): expected '{expected_topic}', "
+                f"but got '{topic}' with message '{msg}'"
+            )

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