Fix sensor publish topics and add MQTT tests

.flake8

@@ -0,0 +1,4 @@
+[flake8]
+max-line-length = 110
+extend-ignore = E203
+exclude = .venv, .git, __pycache__, build, dist

.github/workflows/ci.yml

@@ -1,6 +1,10 @@
 name: CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+    branches:
+      - dev
+      - main
 
 jobs:
   build:
@@ -13,10 +17,9 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+          pip install -r requirements.txt
       - name: Lint with flake8
         run: |
-          pip install flake8
           flake8 src tests
       - name: Run tests
         run: |

.prettierrc.json

@@ -3,7 +3,7 @@
   "useTabs": false,
   "singleQuote": true,
   "trailingComma": "all",
-  "printWidth": 120,
+  "printWidth": 110,
   "semi": true,
   "endOfLine": "lf",
   "overrides": [

.vscode/settings.json

@@ -28,5 +28,6 @@
   "python.analysis.typeCheckingMode": "basic",
   "python.analysis.autoImportCompletions": true,
   "python.defaultInterpreterPath": ".venv/bin/python",
-  "python.terminal.activateEnvInCurrentTerminal": true
+  "python.terminal.activateEnvInCurrentTerminal": true,
+  "cSpell.words": ["MQTT"]
 }

README_TESTING.md

@@ -0,0 +1,248 @@
+# Robot Library Python — Testing Guide
+
+## Overview
+
+The robot library includes comprehensive unit and integration tests to validate functionality without requiring a physical robot or external MQTT broker.
+
+- **Unit Tests** (`test_all.py`): Fast, isolated tests using mocks
+- **Integration Tests** (`test_integration.py`): Real MQTT client behavior with in-process broker or live broker
+
+## Quick Start
+
+### Run All Tests
+
+From the repository root:
+
+```bash
+cd src
+python -m unittest discover -s robot -p "test_*.py" -v
+```
+
+Or run specific test suites:
+
+```bash
+# Unit tests only
+python -m unittest robot.test_all -v
+
+# Integration tests only
+python -m unittest robot.test_integration -v
+
+# Both
+python -m unittest robot.test_all robot.test_integration -v
+```
+
+### Expected Output
+
+```
+test_coordinate_publish_and_setters (robot.test_all.RobotPackageSmokeTests...) ... ok
+test_motion_controller_stub_coord_and_moves (robot.test_all.RobotPackageSmokeTests...) ... ok
+test_neopixel_and_indicator_publish (robot.test_all.RobotPackageSmokeTests...) ... ok
+test_proximity_reading_type (robot.test_all.RobotPackageSmokeTests...) ... ok
+test_rgb_color_type_basic (robot.test_all.RobotPackageSmokeTests...) ... ok
+test_sensors_handle_subscription (robot.test_all.RobotPackageSmokeTests...) ... ok
+test_client_initialization (robot.test_integration.IntegrationTestRobotMqttClient...) ... ok
+test_mqtt_msg_queueing (robot.test_integration.IntegrationTestRobotMqttClient...) ... ok
+test_multiple_subscribers (robot.test_integration.IntegrationTestRobotMqttClient...) ... ok
+test_publish_and_receive (robot.test_integration.IntegrationTestRobotMqttClient...) ... ok
+test_client_queue_operations (robot.test_integration.RobotMqttClientMockTests...) ... ok
+test_in_queue_append (robot.test_integration.RobotMqttClientMockTests...) ... ok
+
+Ran 12 tests in 0.024s
+
+OK
+```
+
+## Test Structure
+
+### Unit Tests (`src/robot/test_all.py`)
+
+Fast smoke tests using lightweight mocks, no external dependencies.
+
+**Coverage:**
+- `RGBColorType`: Color initialization, hex code parsing, string parsing, comparison
+- `ProximityReadingType`: Distance/color parsing, list operations
+- `Coordinate`: Getters, setters, publish operations
+- `MotionController`: Movement calculations, zero-speed handling
+- `NeoPixel`: Initialization, color changes, publish
+- `Sensors` (Distance, Color, Proximity): Subscription handling, state updates
+
+**Run:**
+```bash
+python -m unittest robot.test_all -v
+```
+
+**Execution Time:** < 0.01s
+
+### Integration Tests (`src/robot/test_integration.py`)
+
+Tests for `RobotMqttClient` behavior with real or simulated MQTT broker.
+
+**Coverage:**
+- Client initialization and connection
+- Publish/subscribe with in-process broker
+- Multi-client message routing
+- Message queue operations
+- Connection lifecycle
+
+**Run:**
+```bash
+python -m unittest robot.test_integration -v
+```
+
+**Execution Time:** < 0.05s
+
+## MQTT Broker Setup (Optional)
+
+### For Development/Integration Testing
+
+The integration tests work with or without a real MQTT broker:
+
+- **Without broker**: Uses in-process `InMemoryMQTTBroker` stub (tests skip gracefully)
+- **With broker**: Tests connect to real `localhost:1883`
+
+#### Install Mosquitto (Windows via Chocolatey)
+
+```powershell
+choco install mosquitto
+```
+
+#### Start Mosquitto
+
+```bash
+mosquitto -p 1883
+```
+
+Or use Windows Service:
+```powershell
+net start mosquitto
+```
+
+#### Verify Connection
+
+```bash
+python -c "from paho import mqtt; print('MQTT available')"
+```
+
+## Development Workflow
+
+### Before Committing
+
+1. **Run all tests:**
+   ```bash
+   cd src
+   python -m unittest robot.test_all robot.test_integration -v
+   ```
+
+2. **Check for syntax errors (optional):**
+   ```bash
+   python -m py_compile robot/**/*.py
+   ```
+
+3. **Run specific test file:**
+   ```bash
+   python -m unittest robot.test_all.RobotPackageSmokeTests.test_rgb_color_type_basic -v
+   ```
+
+### Adding New Tests
+
+1. Add test method to existing test class or create new `TestCase`:
+   ```python
+   def test_new_feature(self):
+       # Arrange
+       obj = MyClass()
+
+       # Act
+       result = obj.do_something()
+
+       # Assert
+       self.assertEqual(result, expected_value)
+   ```
+
+2. Run tests to verify:
+   ```bash
+   python -m unittest robot.test_all -v
+   ```
+
+## Dependencies
+
+### Required
+- Python 3.10+
+- (No external packages for unit tests)
+
+### Optional
+- `paho-mqtt`: For real MQTT broker integration (auto-stubbed if missing)
+- Mosquitto: Real MQTT broker for development (optional)
+
+## Troubleshooting
+
+### Import Errors in IDE
+
+If VS Code shows `Import "robot.x.y" could not be resolved`:
+
+1. Ensure `src/` is the Python source root
+2. VS Code settings (`.vscode/settings.json`):
+   ```json
+   {
+     "python.analysis.extraPaths": ["${workspaceFolder}/src"]
+   }
+   ```
+
+### Tests Won't Run
+
+**Error: `No module named robot`**
+```bash
+cd src
+python -m unittest robot.test_all -v  # Must run from src/
+```
+
+**Error: `ModuleNotFoundError: No module named 'paho'`**
+- This is expected and graceful. Tests skip MQTT connection tests.
+- To fix: `pip install paho-mqtt`
+
+### MQTT Connection Refused
+
+If tests show `MQTT connection error`:
+1. Ensure Mosquitto is running: `mosquitto -p 1883`
+2. Check if port 1883 is in use: `netstat -ano | findstr :1883`
+3. Tests will skip gracefully if broker unavailable
+
+## Test Coverage
+
+| Module | Status | Notes |
+|--------|--------|-------|
+| `types/` | ✅ Full | RGBColorType, ProximityReadingType |
+| `sensors/` | ✅ Full | Distance, Color, Proximity |
+| `helpers/` | ✅ Partial | Coordinate, MotionController (logic tested) |
+| `indicators/` | ✅ Full | NeoPixel |
+| `mqtt/` | ✅ Partial | RobotMqttClient (connection + queue ops) |
+| `communication/` | ⚠️ Mock only | Requires full robot context |
+| `robot_base/` | ⚠️ Mock only | Requires MQTT server + robot setup |
+
+## CI/CD Integration
+
+For GitHub Actions or similar:
+
+```yaml
+- name: Run Tests
+  run: |
+    cd src
+    python -m unittest discover -s robot -p "test_*.py" -v
+```
+
+## Performance Benchmarks
+
+| Test Suite | Count | Duration | Notes |
+|-----------|-------|----------|-------|
+| Unit Tests | 6 | < 0.01s | No I/O, no network |
+| Integration Tests | 6 | < 0.05s | In-process broker or real MQTT |
+| **Total** | **12** | **< 0.1s** | Fast feedback loop |
+
+## Further Reading
+
+- [unittest Documentation](https://docs.python.org/3/library/unittest.html)
+- [MQTT Protocol](https://mqtt.org/)
+- [Mosquitto Docs](https://mosquitto.org/documentation/)
+
+---
+
+**Last Updated:** January 12, 2026

docs/Makefile

@@ -25,5 +25,5 @@ apidoc:
 html:
 	$(SPHINXBUILD) -b html "$(SOURCEDIR)" "$(BUILDDIR)/html"
 
-livehtml:
+livehtml: clean
 	sphinx-autobuild  --host 0.0.0.0 --port ${PORT} -c . "$(SOURCEDIR)" "$(BUILDDIR)/html"

docs/api/robot.communication.rst

@@ -4,6 +4,14 @@ robot.communication package
 Submodules
 ----------
 
+robot.communication.communication module
+----------------------------------------
+
+.. automodule:: robot.communication.communication
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
 robot.communication.directed\_comm module
 -----------------------------------------
 

docs/api/robot.exception.rst

@@ -0,0 +1,10 @@
+robot.exception package
+=======================
+
+Module contents
+---------------
+
+.. automodule:: robot.exception
+   :members:
+   :show-inheritance:
+   :undoc-members:

docs/api/robot.helpers.rst

@@ -12,6 +12,14 @@ robot.helpers.coordinate module
    :show-inheritance:
    :undoc-members:
 
+robot.helpers.motion\_controller module
+---------------------------------------
+
+.. automodule:: robot.helpers.motion_controller
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
 robot.helpers.robot\_mqtt module
 --------------------------------
 

docs/api/robot.indicators.rst

@@ -4,6 +4,14 @@ robot.indicators package
 Submodules
 ----------
 
+robot.indicators.abstract\_indicator module
+-------------------------------------------
+
+.. automodule:: robot.indicators.abstract_indicator
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
 robot.indicators.neopixel module
 --------------------------------
 

docs/api/robot.interfaces.rst

@@ -0,0 +1,10 @@
+robot.interfaces package
+========================
+
+Module contents
+---------------
+
+.. automodule:: robot.interfaces
+   :members:
+   :show-inheritance:
+   :undoc-members:

docs/api/robot.mqtt.rst

@@ -0,0 +1,29 @@
+robot.mqtt package
+==================
+
+Submodules
+----------
+
+robot.mqtt.mqtt\_msg module
+---------------------------
+
+.. automodule:: robot.mqtt.mqtt_msg
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
+robot.mqtt.robot\_mqtt\_client module
+-------------------------------------
+
+.. automodule:: robot.mqtt.robot_mqtt_client
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
+Module contents
+---------------
+
+.. automodule:: robot.mqtt
+   :members:
+   :show-inheritance:
+   :undoc-members: