Avoid passing MQTT queue in robot interface

Author: andchiind

src/isar/script.py

@@ -25,7 +25,7 @@
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
 from robot_interface.robot_interface import RobotInterface
-from robot_interface.telemetry.mqtt_client import MqttTelemetryPublisher
+from robot_interface.telemetry.mqtt_client import MqttTelemetryPublisher, TelemetryParameters
 
 
 def print_setting(
@@ -155,14 +155,14 @@ def inspections_callback(inspection: Inspection, mission: Mission) -> None:
     robot_heartbeat_thread.start()
     threads.append(robot_heartbeat_thread)
 
-    publishers: list[MqttTelemetryPublisher] = robot_interface.get_telemetry_publishers(
-        queue=events.mqtt_queue,
+    telemetry_params: list[TelemetryParameters] = robot_interface.get_telemetry_publishers(
         robot_name=settings.ROBOT_NAME,
         isar_id=settings.ISAR_ID,
     )
-    for publisher in publishers:
-        publisher.start()
-        threads.append(publisher)
+    for telemetry_parameter in telemetry_params:
+        telemetry_thread = MqttTelemetryPublisher(events.mqtt_queue, telemetry_parameter)
+        telemetry_thread.start()
+        threads.append(telemetry_thread)
 
     utility_threads: list[Thread] = robot_interface.get_utility_threads()
     for utility_thread in utility_threads:

src/robot_interface/robot_interface.py

@@ -8,7 +8,7 @@
 from robot_interface.models.mission.status import MissionStatus, RobotStatus, TaskStatus
 from robot_interface.models.mission.task import InspectionTask
 from robot_interface.models.robots.media import MediaConfig
-from robot_interface.telemetry.mqtt_client import MqttTelemetryPublisher
+from robot_interface.telemetry.mqtt_client import MqttTelemetryPublisher, TelemetryParameters
 
 
 class RobotInterface(metaclass=ABCMeta):
@@ -216,8 +216,8 @@ def generate_media_config(self) -> MediaConfig | None:
 
     @abstractmethod
     def get_telemetry_publishers(
-        self, queue: MQTTQueue, isar_id: str, robot_name: str
-    ) -> list[MqttTelemetryPublisher]:
+        self, isar_id: str, robot_name: str
+    ) -> list[TelemetryParameters]:
         """
         Set up telemetry publisher threads to publish regular updates for pose, battery
         level etc. from the robot to the MQTT broker. The publishers on the robot side
@@ -231,8 +231,8 @@ def get_telemetry_publishers(
 
         Returns
         -------
-        List[MqttTelemetryPublisher]
-            List containing all threads that will be started to publish telemetry.
+        List[TelemetryParameters]
+            List containing all parameters needed to start the telemetry threads.
 
         """
         raise NotImplementedError

src/robot_interface/telemetry/mqtt_client.py

@@ -1,6 +1,6 @@
+from dataclasses import dataclass
 import json
 import logging
-from queue import Queue
 import time
 from collections.abc import Callable
 from datetime import UTC, datetime
@@ -18,24 +18,27 @@
 )
 from robot_interface.telemetry.payloads import CloudHealthPayload
 
+@dataclass
+class TelemetryParameters:
+    name: str
+    method: Callable[[], str]
+    topic: str
+    interval: float
 
 class MqttTelemetryPublisher(Thread):
     def __init__(
         self,
-        name: str,
         mqtt_queue: MQTTQueue,
-        telemetry_method: Callable,
-        topic: str,
-        interval: float,
+        parameters: TelemetryParameters,
     ) -> None:
         self.mqtt_queue: MQTTQueue = mqtt_queue
-        self.telemetry_method: Callable = telemetry_method
-        self.topic: str = f"isar/{settings.ISAR_ID}/{topic}"
-        self.interval: float = interval
+        self.telemetry_method: Callable[[], str] = parameters.method
+        self.topic: str = f"isar/{settings.ISAR_ID}/{parameters.topic}"
+        self.interval: float = parameters.interval
 
-        self.logger: Logger = logging.getLogger("telemetry")
+        self.logger: Logger = logging.getLogger(f"telemetry - {parameters.name}")
 
-        Thread.__init__(self, name=f"Telemetry thread - {name}")
+        Thread.__init__(self, name=f"Telemetry thread - {parameters.name}")
 
     def stop(self) -> None:
         return

tests/test_mocks/robot_interface.py

@@ -4,7 +4,6 @@
 from alitra import Frame, Orientation, Pose, Position
 
 from isar.models.events import Event
-from isar.models.mqtt_queue import MQTTQueue
 from isar.state_machine.states_enum import States
 from robot_interface.models.exceptions.robot_exceptions import (
     RobotCommunicationException,
@@ -17,7 +16,7 @@
 from robot_interface.models.robots.media import MediaConfig, MediaConnectionType
 from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import (
-    MqttTelemetryPublisher,
+    TelemetryParameters,
 )
 from tests.test_mocks.inspection import stub_image_metadata
 
@@ -86,8 +85,8 @@ def register_inspection_callback(
         return
 
     def get_telemetry_publishers(
-        self, queue: MQTTQueue, isar_id: str, robot_name: str
-    ) -> list[MqttTelemetryPublisher]:
+        self, isar_id: str, robot_name: str
+    ) -> list[TelemetryParameters]:
         return []
 
     def robot_status(self) -> RobotStatus: