(qr) function was static, so moved it

hmi/scripts/qr_code_decoder

@@ -37,6 +37,30 @@ def validate_image(qr_image: ndarray, qr_code_rect: tuple, threshold_percentage:
     return False
 
 
+def decode_qr_code(image: ndarray) -> str:
+    """
+    Decode the QR code from the image.
+
+    :param image: image to run qr decoding on
+    """
+
+    qr_list: List[Decoded] = qr_decode(image)  # Gets all QR codes in the image
+    qr: Optional[Decoded] = None
+
+    # Stores all QRs that occupy the required percentage of the screen
+    for qr_i in qr_list:
+        if validate_image(image, qr_i.rect):
+            qr = qr_i
+            break
+
+    if not qr:
+        # qr code does not occupy the required percentage of the screen
+        rospy.logwarn("QR code does not occupy the required percentage of the screen.")
+        return ""
+
+    return qr.data.decode("utf-8")
+
+
 class QRCodeDecode(AbstractHMIServer):
     """
     QRCodeDecode class for decoding QR codes.
@@ -60,7 +84,7 @@ class QRCodeDecode(AbstractHMIServer):
     def _image_callback(self, msg: CompressedImage) -> None:
         # Will be called every time a new image is received
         image = self._cv_bridge.compressed_imgmsg_to_cv2(msg)
-        result = self.decode_qr_code(image)
+        result = decode_qr_code(image)
 
         # If we see a QR code
         if result:
@@ -99,29 +123,6 @@ class QRCodeDecode(AbstractHMIServer):
         self.reset_server()
         return result
 
-    def decode_qr_code(self, image: ndarray) -> str:
-        """
-        Decode the QR code from the image.
-
-        :param image: image to run qr decoding on
-        """
-
-        qr_list: List[Decoded] = qr_decode(image)  # Gets all QR codes in the image
-        qr: Optional[Decoded] = None
-
-        # Stores all QRs that occupy the required percentage of the screen
-        for qr_i in qr_list:
-            if validate_image(image, qr_i.rect):
-                qr = qr_i
-                break
-
-        if not qr:
-            # qr code does not occupy the required percentage of the screen
-            rospy.logwarn("QR code does not occupy the required percentage of the screen.")
-            return ""
-
-        return qr.data.decode("utf-8")
-
     def reset_server(self) -> None:
         """
         Re-initialize the server.