start float single

src/rov_msgs/CMakeLists.txt

@@ -38,6 +38,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/FloatData.msg"
   "msg/FloatCommand.msg"
   "msg/FloatSerial.msg"
+  "msg/FloatSingle.msg"
   "msg/PixhawkInstruction.msg"
   "srv/AutonomousFlight.srv"
   "srv/MissionTimerSet.srv"

src/rov_msgs/msg/FloatSingle.msg

@@ -0,0 +1,4 @@
+uint8 team_number
+uint32 time_ms
+float32 pressure
+float32 average_pressure

src/surface/gui/gui/widgets/float_comm.py

@@ -6,14 +6,15 @@
                              QVBoxLayout, QWidget)
 from pyqtgraph import PlotWidget
 
-from rov_msgs.msg import FloatCommand, FloatData, FloatSerial
+from rov_msgs.msg import FloatCommand, FloatData, FloatSerial, FloatSingle
 
 
 class FloatComm(QWidget):
     """FloatComm widget for sending Float Communication Commands."""
 
     handle_data_signal = pyqtSignal(FloatData)
     handle_serial_signal = pyqtSignal(FloatSerial)
+    handle_data_single_signal = pyqtSignal(FloatSingle)
 
     def __init__(self) -> None:
         super().__init__()
@@ -23,26 +24,32 @@ def __init__(self) -> None:
 
         self.handle_data_signal.connect(self.handle_data)
         self.handle_serial_signal.connect(self.handle_serial)
+        self.handle_data_single_signal.connect(self.handle_single)
         GUIEventSubscriber(FloatData, "transceiver_data", self.handle_data_signal)
         GUIEventSubscriber(FloatSerial, "float_serial", self.handle_serial_signal)
+        GUIEventSubscriber(FloatSingle, "transceiver_single", self.handle_data_single_signal)
 
         command_pub = GUIEventPublisher(FloatCommand, "float_command")
 
         info_layout = QVBoxLayout()
 
+        single_layout = QHBoxLayout()
+
         self.team_number = QLabel('Waiting for Team #')
-        self.profile_number = QLabel("Waiting for profile #")
-        self.profile_half = QLabel("Waiting for profile half")
+        self.time = QLabel("Waiting for Time")
+        self.pressure = QLabel("Waiting for Pressure")
+        self.average_pressure = QLabel("Waiting for Avg Pressure")
 
-        single_layout = QHBoxLayout()
+        single_layout.addWidget(self.team_number)
+        single_layout.addWidget(self.time)
+        single_layout.addWidget(self.pressure)
+        single_layout.addWidget(self.average_pressure)
 
         self.single_time = QLabel('Waiting for Time')
         self.single_pressure = QLabel('Waiting for Pressure')
-        single_layout.addWidget(self.team_number)
-
-        left_side_layout = QVBoxLayout()
+        self.profile_number = QLabel("Waiting for profile #")
+        self.profile_half = QLabel("Waiting for profile half")
 
-        left_side_layout.addLayout(single_layout)
         info_layout.addWidget(self.profile_number)
         info_layout.addWidget(self.profile_half)
 
@@ -88,7 +95,9 @@ def __init__(self) -> None:
 
         self.plots = [PlotWidget(), PlotWidget()]
 
+        left_side_layout = QVBoxLayout()
         left_side_layout.addLayout(info_and_buttons)
+        left_side_layout.addLayout(single_layout)
         left_side_layout.addWidget(self.console)
 
         layout.addLayout(left_side_layout)
@@ -152,3 +161,10 @@ def handle_serial(self, msg: FloatSerial) -> None:
         """
         self.console.moveCursor(QTextCursor.MoveOperation.End)
         self.console.insertPlainText(f'{msg.serial}\n')
+
+    @pyqtSlot(FloatSingle)
+    def handle_single(self, msg: FloatSingle) -> None:
+        self.team_number.setText(f"Team #: {msg.team_number}")
+        self.time.setText(f"Time: {msg.time_ms} (ms)")
+        self.pressure.setText(f"Pressure: {msg.pressure}")
+        self.average_pressure.setText(f"Avg Pressure: {msg.average_pressure}")

src/surface/transceiver/launch/serial_reader_launch.py

@@ -20,7 +20,8 @@ def generate_launch_description() -> LaunchDescription:
         output="screen",
         remappings=[("/surface/transceiver_data", "/surface/gui/transceiver_data"),
                     ("/surface/float_command", "/surface/gui/float_command"),
-                    ("/surface/float_serial", "/surface/gui/float_serial")]
+                    ("/surface/float_serial", "/surface/gui/float_serial"),
+                    ("/surface/transceiver_single", "/surface/gui/transceiver_single")]
     )
 
     return LaunchDescription([

src/surface/transceiver/transceiver/serial_reader.py

@@ -8,7 +8,7 @@
 from serial import Serial
 from serial.serialutil import SerialException
 
-from rov_msgs.msg import FloatCommand, FloatData, FloatSerial
+from rov_msgs.msg import FloatCommand, FloatData, FloatSerial, FloatSingle
 
 MILLISECONDS_TO_SECONDS = 1/1000
 SECONDS_TO_MINUTES = 1/60
@@ -36,6 +36,9 @@ def __init__(self) -> None:
         self.data_publisher = self.create_publisher(FloatData, 'transceiver_data',
                                                     QoSPresetProfiles.SENSOR_DATA.value)
 
+        self.ros_single_publisher = self.create_publisher(FloatSingle, 'transceiver_single',
+                                                          QoSPresetProfiles.SENSOR_DATA.value)
+
         self.create_subscription(FloatCommand, 'float_command', self.send_command,
                                  QoSPresetProfiles.DEFAULT.value)
 
@@ -75,7 +78,9 @@ def ros_publish(self, packet: str) -> None:
 
         try:
             if SerialReaderPacketHandler.is_ros_single_message(packet):
-                self.serial_packet_handler.handle_ros_single(packet)
+                single_msg = self.serial_packet_handler.handle_ros_single(packet)
+                if single_msg:
+                    self.ros_single_publisher.publish(single_msg)
             else:
                 msg = self.serial_packet_handler.message_parser(packet)
                 self.data_publisher.publish(msg)
@@ -94,19 +99,25 @@ def is_ros_single_message(packet: str) -> bool:
         ros_single = ROS_PACKET + "SINGLE"
         return packet[:len(ros_single)] == ros_single
 
-    def handle_ros_single(self, packet: str) -> None:
-        if self.surface_pressures.full():
-            return
-
+    def handle_ros_single(self, packet: str) -> FloatSingle | None:
         packet_sections = packet.split(SECTION_SEPARATOR)
+        team_number = packet_sections[2]
         data = packet_sections[3]
+        time_ms = int(data.split(COMMA_SEPARATOR)[0])
         pressure = float(data.split(COMMA_SEPARATOR)[1])
 
+        if self.surface_pressures.full():
+            return FloatSingle(team_number=team_number,
+                               time_ms=time_ms,
+                               pressure=pressure,
+                               average_pressure=self.surface_pressure)
+
         self.surface_pressures.put(pressure)
 
         q = self.surface_pressures.queue
         avg_pressure = sum(q) / len(q)
         self.surface_pressure = avg_pressure
+        return None
 
     def message_parser(self, packet: str) -> FloatData:
         msg = FloatData()