From 2385e49e5dc1be01374fc1f29f779373f4f91ff2 Mon Sep 17 00:00:00 2001
From: benjaminwp18 <90342856+benjaminwp18@users.noreply.github.com>
Date: Sat, 8 Jun 2024 14:40:05 -0400
Subject: [PATCH] Display and offset temp

---
 src/surface/gui/gui/operator_app.py        |  8 ++-
 src/surface/gui/gui/widgets/temperature.py | 59 ++++++++++++++++++++--
 2 files changed, 61 insertions(+), 6 deletions(-)

diff --git a/src/surface/gui/gui/operator_app.py b/src/surface/gui/gui/operator_app.py
index a8e2e73a..f1c91d3f 100644
--- a/src/surface/gui/gui/operator_app.py
+++ b/src/surface/gui/gui/operator_app.py
@@ -4,6 +4,7 @@
 from gui.widgets.float_comm import FloatComm
 from gui.widgets.timer import InteractiveTimer
 from gui.widgets.task_selector import TaskSelector
+from gui.widgets.temperature import TemperatureSensor
 from PyQt6.QtWidgets import QGridLayout, QTabWidget, QWidget, QVBoxLayout
 
 
@@ -21,8 +22,11 @@ def __init__(self) -> None:
         timer = InteractiveTimer()
         main_layout.addWidget(timer, 0, 1)
 
-        task_selector = TaskSelector()
-        main_layout.addWidget(task_selector, 1, 1)
+        # task_selector = TaskSelector()
+        # main_layout.addWidget(task_selector, 1, 1)
+
+        temp_sensor = TemperatureSensor()
+        main_layout.addWidget(temp_sensor, 1, 1)
 
         self.float_comm: FloatComm = FloatComm()
         main_layout.addWidget(self.float_comm, 0, 0)
diff --git a/src/surface/gui/gui/widgets/temperature.py b/src/surface/gui/gui/widgets/temperature.py
index c5350b8c..353a8f14 100644
--- a/src/surface/gui/gui/widgets/temperature.py
+++ b/src/surface/gui/gui/widgets/temperature.py
@@ -1,17 +1,68 @@
+from collections import deque
+
 from gui.gui_nodes.event_nodes.subscriber import GUIEventSubscriber
 from rov_msgs.msg import Temperature
 from PyQt6.QtCore import pyqtSignal, pyqtSlot
 from PyQt6.QtWidgets import (QGridLayout, QLabel, QLineEdit, QPushButton,
                              QVBoxLayout, QWidget)
 
-class ThrusterTester(QWidget):
+MIN_TEMP_C = 10
+MAX_TEMP_C = 30
+QUEUE_LEN = 5
 
 
-    temperature_reading_signal: pyqtSignal = pyqtSignal()
+class TemperatureSensor(QWidget):
+    temperature_reading_signal: pyqtSignal = pyqtSignal(Temperature)
 
     def __init__(self) -> None:
-        self.cmd_client: GUIEventSubscriber = GUIEventSubscriber(
+        super().__init__()
+
+        self.temperature_reading_signal.connect(self.temperature_received)
+        self.temp_subscriber: GUIEventSubscriber = GUIEventSubscriber(
             Temperature,
-            "temperature",
+            "/tether/temperature",
             self.temperature_reading_signal
         )
+
+        self.temps: deque[float] = deque(maxlen=QUEUE_LEN)
+        self.offset = 0.0
+
+        root_layout = QVBoxLayout()
+        self.setLayout(root_layout)
+
+        self.ave_temp_label = QLabel()
+        self.ave_temp_label.setText('Waiting for temp...')
+
+        self.offset_field = QLineEdit()
+        self.offset_field.setPlaceholderText('Enter offset (C)')
+
+        self.offset_button = QPushButton('Set offset')
+        self.offset_button.clicked.connect(self.set_offset)
+
+        root_layout.addWidget(self.ave_temp_label)
+        root_layout.addWidget(self.offset_field)
+        root_layout.addWidget(self.offset_button)
+
+    def set_offset(self) -> None:
+        offset_text = self.offset_field.text()
+
+        if offset_text == '':
+            offset_text = '0'
+
+        try:
+            self.offset = float(offset_text)
+            self.offset_button.setText('Offset applied')
+        except ValueError:
+            self.offset_button.setText('Illegal')
+            return
+
+    @pyqtSlot(Temperature)
+    def temperature_received(self, msg: Temperature) -> None:
+        if MIN_TEMP_C <= msg.reading <= MAX_TEMP_C:
+            self.temps.append(msg.reading)
+
+            ave = sum(self.temps) / QUEUE_LEN
+            offset_ave = ave + self.offset
+            self.ave_temp_label.setText(f'{round(offset_ave, 4)}\tC')
+
+            self.offset_button.setText('Set offset')