Zendion/agrobot_base
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agrobot_base
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inclusao dados ultrassom

This commit is contained in:
Diego Freitas 2024-11-12 09:48:21 -03:00
parent ffc9ed8af5
commit 1af09acc9e
39 changed files with 40467 additions and 72965 deletions
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AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs generated
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@ -28,30 +28,30 @@
/// </summary>
private void InitializeComponent()
{
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea10 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend10 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series10 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea11 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend11 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series11 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea12 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend12 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series12 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea13 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend13 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series13 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea9 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend9 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series9 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea14 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend14 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series14 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea15 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend15 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series15 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea16 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend16 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series16 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea17 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend17 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series17 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea18 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend18 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series18 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea19 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend19 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series19 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea20 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend20 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series20 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea21 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend21 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series21 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea22 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend22 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series22 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea23 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend23 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series23 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea24 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend24 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series24 = new System.Windows.Forms.DataVisualization.Charting.Series();
this.trbMomento = new System.Windows.Forms.TrackBar();
this.panel1 = new System.Windows.Forms.Panel();
this.tabControl4 = new System.Windows.Forms.TabControl();
@ -87,8 +87,7 @@
this.pnlOrientacaoGPS = new System.Windows.Forms.Panel();
this.panel2 = new System.Windows.Forms.Panel();
this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabCodFalhas = new System.Windows.Forms.TabPage();
this.tvwFalhas = new System.Windows.Forms.TreeView();
this.tabSituacao = new System.Windows.Forms.TabPage();
this.tabDirecional = new System.Windows.Forms.TabPage();
this.txtDIR_Controlar_ET = new System.Windows.Forms.TextBox();
this.label39 = new System.Windows.Forms.Label();
@ -299,18 +298,7 @@
this.cmbSen_Filtro = new System.Windows.Forms.ComboBox();
this.label63 = new System.Windows.Forms.Label();
this.chartSensoriamento = new System.Windows.Forms.DataVisualization.Charting.Chart();
this.tabSinaleiros = new System.Windows.Forms.TabPage();
this.lblU1 = new System.Windows.Forms.Label();
this.lblU2 = new System.Windows.Forms.Label();
this.lblU3 = new System.Windows.Forms.Label();
this.lblU4 = new System.Windows.Forms.Label();
this.picRoboSuperior = new System.Windows.Forms.PictureBox();
this.lblManual = new System.Windows.Forms.Label();
this.lblOperacao = new System.Windows.Forms.Label();
this.pnlManual = new System.Windows.Forms.Panel();
this.pnlOperacao = new System.Windows.Forms.Panel();
this.lblAutomatico = new System.Windows.Forms.Label();
this.pnlAutomatico = new System.Windows.Forms.Panel();
this.tabUltrassom = new System.Windows.Forms.TabPage();
this.tabOrientacao = new System.Windows.Forms.TabPage();
this.pnlInclinacao = new System.Windows.Forms.Panel();
this.pnl3D = new System.Windows.Forms.Panel();
@ -406,6 +394,28 @@
this.label36 = new System.Windows.Forms.Label();
this.txtMomento = new System.Windows.Forms.TextBox();
this.btnPlay = new System.Windows.Forms.Button();
this.tvwFalhas = new System.Windows.Forms.TreeView();
this.lblManual = new System.Windows.Forms.Label();
this.lblOperacao = new System.Windows.Forms.Label();
this.pnlManual = new System.Windows.Forms.Panel();
this.pnlOperacao = new System.Windows.Forms.Panel();
this.lblAutomatico = new System.Windows.Forms.Label();
this.pnlAutomatico = new System.Windows.Forms.Panel();
this.label117 = new System.Windows.Forms.Label();
this.pnlUltrassom = new System.Windows.Forms.Panel();
this.pnlP_10 = new System.Windows.Forms.Panel();
this.pnlP_11 = new System.Windows.Forms.Panel();
this.pnlP_7 = new System.Windows.Forms.Panel();
this.pnlP_12 = new System.Windows.Forms.Panel();
this.pnlP_8 = new System.Windows.Forms.Panel();
this.pnlP_9 = new System.Windows.Forms.Panel();
this.pnlP_6 = new System.Windows.Forms.Panel();
this.pnlP_3 = new System.Windows.Forms.Panel();
this.pnlP_5 = new System.Windows.Forms.Panel();
this.pnlP_2 = new System.Windows.Forms.Panel();
this.pnlP_4 = new System.Windows.Forms.Panel();
this.pnlP_1 = new System.Windows.Forms.Panel();
this.picRobo = new System.Windows.Forms.PictureBox();
((System.ComponentModel.ISupportInitialize)(this.trbMomento)).BeginInit();
this.panel1.SuspendLayout();
this.tabControl4.SuspendLayout();
@ -413,7 +423,7 @@
this.tabMapaDinamico.SuspendLayout();
this.panel2.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabCodFalhas.SuspendLayout();
this.tabSituacao.SuspendLayout();
this.tabDirecional.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picDIR_DT)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picDIR_DF)).BeginInit();
@ -454,8 +464,7 @@
this.groupBox1.SuspendLayout();
this.gpbSEN_Filtro.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.chartSensoriamento)).BeginInit();
this.tabSinaleiros.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picRoboSuperior)).BeginInit();
this.tabUltrassom.SuspendLayout();
this.tabOrientacao.SuspendLayout();
this.tabSonar.SuspendLayout();
this.tabControl3.SuspendLayout();
@ -471,6 +480,8 @@
((System.ComponentModel.ISupportInitialize)(this.chartCpu)).BeginInit();
this.panel6.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).BeginInit();
this.pnlUltrassom.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picRobo)).BeginInit();
this.SuspendLayout();
//
// trbMomento
@ -849,13 +860,13 @@
//
// tabControl1
//
this.tabControl1.Controls.Add(this.tabCodFalhas);
this.tabControl1.Controls.Add(this.tabSituacao);
this.tabControl1.Controls.Add(this.tabDirecional);
this.tabControl1.Controls.Add(this.tabMovimentacao);
this.tabControl1.Controls.Add(this.tabAtuador);
this.tabControl1.Controls.Add(this.tabErvas);
this.tabControl1.Controls.Add(this.tabSensoriamento);
this.tabControl1.Controls.Add(this.tabSinaleiros);
this.tabControl1.Controls.Add(this.tabUltrassom);
this.tabControl1.Controls.Add(this.tabOrientacao);
this.tabControl1.Controls.Add(this.tabSonar);
this.tabControl1.Controls.Add(this.tabSegmentacao);
@ -867,26 +878,23 @@
this.tabControl1.Size = new System.Drawing.Size(504, 548);
this.tabControl1.TabIndex = 0;
//
// tabCodFalhas
// tabSituacao
//
this.tabCodFalhas.Controls.Add(this.tvwFalhas);
this.tabCodFalhas.Location = new System.Drawing.Point(4, 22);
this.tabCodFalhas.Name = "tabCodFalhas";
this.tabCodFalhas.Padding = new System.Windows.Forms.Padding(3);
this.tabCodFalhas.Size = new System.Drawing.Size(496, 522);
this.tabCodFalhas.TabIndex = 9;
this.tabCodFalhas.Text = "Código de Falhas";
this.tabCodFalhas.UseVisualStyleBackColor = true;
//
// tvwFalhas
//
this.tvwFalhas.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.tvwFalhas.Location = new System.Drawing.Point(6, 6);
this.tvwFalhas.Name = "tvwFalhas";
this.tvwFalhas.Size = new System.Drawing.Size(484, 510);
this.tvwFalhas.TabIndex = 0;
this.tabSituacao.Controls.Add(this.label117);
this.tabSituacao.Controls.Add(this.tvwFalhas);
this.tabSituacao.Controls.Add(this.lblManual);
this.tabSituacao.Controls.Add(this.lblOperacao);
this.tabSituacao.Controls.Add(this.pnlManual);
this.tabSituacao.Controls.Add(this.pnlOperacao);
this.tabSituacao.Controls.Add(this.lblAutomatico);
this.tabSituacao.Controls.Add(this.pnlAutomatico);
this.tabSituacao.Location = new System.Drawing.Point(4, 22);
this.tabSituacao.Name = "tabSituacao";
this.tabSituacao.Padding = new System.Windows.Forms.Padding(3);
this.tabSituacao.Size = new System.Drawing.Size(496, 522);
this.tabSituacao.TabIndex = 9;
this.tabSituacao.Text = "Situação";
this.tabSituacao.UseVisualStyleBackColor = true;
//
// tabDirecional
//
@ -1558,17 +1566,17 @@
//
// chartMovVelocidade
//
chartArea10.Name = "ChartArea1";
this.chartMovVelocidade.ChartAreas.Add(chartArea10);
legend10.Name = "Legend1";
this.chartMovVelocidade.Legends.Add(legend10);
chartArea17.Name = "ChartArea1";
this.chartMovVelocidade.ChartAreas.Add(chartArea17);
legend17.Name = "Legend1";
this.chartMovVelocidade.Legends.Add(legend17);
this.chartMovVelocidade.Location = new System.Drawing.Point(4, 4);
this.chartMovVelocidade.Margin = new System.Windows.Forms.Padding(2);
this.chartMovVelocidade.Name = "chartMovVelocidade";
series10.ChartArea = "ChartArea1";
series10.Legend = "Legend1";
series10.Name = "Series1";
this.chartMovVelocidade.Series.Add(series10);
series17.ChartArea = "ChartArea1";
series17.Legend = "Legend1";
series17.Name = "Series1";
this.chartMovVelocidade.Series.Add(series17);
this.chartMovVelocidade.Size = new System.Drawing.Size(474, 356);
this.chartMovVelocidade.TabIndex = 96;
this.chartMovVelocidade.Text = "chart1";
@ -1977,17 +1985,17 @@
//
// chartMovTemperatura
//
chartArea11.Name = "ChartArea1";
this.chartMovTemperatura.ChartAreas.Add(chartArea11);
legend11.Name = "Legend1";
this.chartMovTemperatura.Legends.Add(legend11);
chartArea18.Name = "ChartArea1";
this.chartMovTemperatura.ChartAreas.Add(chartArea18);
legend18.Name = "Legend1";
this.chartMovTemperatura.Legends.Add(legend18);
this.chartMovTemperatura.Location = new System.Drawing.Point(4, 4);
this.chartMovTemperatura.Margin = new System.Windows.Forms.Padding(2);
this.chartMovTemperatura.Name = "chartMovTemperatura";
series11.ChartArea = "ChartArea1";
series11.Legend = "Legend1";
series11.Name = "Series1";
this.chartMovTemperatura.Series.Add(series11);
series18.ChartArea = "ChartArea1";
series18.Legend = "Legend1";
series18.Name = "Series1";
this.chartMovTemperatura.Series.Add(series18);
this.chartMovTemperatura.Size = new System.Drawing.Size(474, 336);
this.chartMovTemperatura.TabIndex = 95;
this.chartMovTemperatura.Text = "chart1";
@ -2395,17 +2403,17 @@
//
// chartMovTensao
//
chartArea12.Name = "ChartArea1";
this.chartMovTensao.ChartAreas.Add(chartArea12);
legend12.Name = "Legend1";
this.chartMovTensao.Legends.Add(legend12);
chartArea19.Name = "ChartArea1";
this.chartMovTensao.ChartAreas.Add(chartArea19);
legend19.Name = "Legend1";
this.chartMovTensao.Legends.Add(legend19);
this.chartMovTensao.Location = new System.Drawing.Point(4, 4);
this.chartMovTensao.Margin = new System.Windows.Forms.Padding(2);
this.chartMovTensao.Name = "chartMovTensao";
series12.ChartArea = "ChartArea1";
series12.Legend = "Legend1";
series12.Name = "Series1";
this.chartMovTensao.Series.Add(series12);
series19.ChartArea = "ChartArea1";
series19.Legend = "Legend1";
series19.Name = "Series1";
this.chartMovTensao.Series.Add(series19);
this.chartMovTensao.Size = new System.Drawing.Size(474, 336);
this.chartMovTensao.TabIndex = 131;
this.chartMovTensao.Text = "chart1";
@ -2904,17 +2912,17 @@
//
// chartMovGeral
//
chartArea13.Name = "ChartArea1";
this.chartMovGeral.ChartAreas.Add(chartArea13);
legend13.Name = "Legend1";
this.chartMovGeral.Legends.Add(legend13);
chartArea20.Name = "ChartArea1";
this.chartMovGeral.ChartAreas.Add(chartArea20);
legend20.Name = "Legend1";
this.chartMovGeral.Legends.Add(legend20);
this.chartMovGeral.Location = new System.Drawing.Point(4, 4);
this.chartMovGeral.Margin = new System.Windows.Forms.Padding(2);
this.chartMovGeral.Name = "chartMovGeral";
series13.ChartArea = "ChartArea1";
series13.Legend = "Legend1";
series13.Name = "Series1";
this.chartMovGeral.Series.Add(series13);
series20.ChartArea = "ChartArea1";
series20.Legend = "Legend1";
series20.Name = "Series1";
this.chartMovGeral.Series.Add(series20);
this.chartMovGeral.Size = new System.Drawing.Size(474, 311);
this.chartMovGeral.TabIndex = 94;
this.chartMovGeral.Text = "chart1";
@ -2949,17 +2957,17 @@
//
// chartAtuador
//
chartArea9.Name = "ChartArea1";
this.chartAtuador.ChartAreas.Add(chartArea9);
legend9.Name = "Legend1";
this.chartAtuador.Legends.Add(legend9);
chartArea21.Name = "ChartArea1";
this.chartAtuador.ChartAreas.Add(chartArea21);
legend21.Name = "Legend1";
this.chartAtuador.Legends.Add(legend21);
this.chartAtuador.Location = new System.Drawing.Point(4, 276);
this.chartAtuador.Margin = new System.Windows.Forms.Padding(2);
this.chartAtuador.Name = "chartAtuador";
series9.ChartArea = "ChartArea1";
series9.Legend = "Legend1";
series9.Name = "Series1";
this.chartAtuador.Series.Add(series9);
series21.ChartArea = "ChartArea1";
series21.Legend = "Legend1";
series21.Name = "Series1";
this.chartAtuador.Series.Add(series21);
this.chartAtuador.Size = new System.Drawing.Size(489, 241);
this.chartAtuador.TabIndex = 95;
this.chartAtuador.Text = "chart1";
@ -3006,16 +3014,16 @@
//
// chartErvas
//
chartArea14.Name = "ChartArea1";
this.chartErvas.ChartAreas.Add(chartArea14);
legend14.Name = "Legend1";
this.chartErvas.Legends.Add(legend14);
chartArea22.Name = "ChartArea1";
this.chartErvas.ChartAreas.Add(chartArea22);
legend22.Name = "Legend1";
this.chartErvas.Legends.Add(legend22);
this.chartErvas.Location = new System.Drawing.Point(6, 6);
this.chartErvas.Name = "chartErvas";
series14.ChartArea = "ChartArea1";
series14.Legend = "Legend1";
series14.Name = "Series1";
this.chartErvas.Series.Add(series14);
series22.ChartArea = "ChartArea1";
series22.Legend = "Legend1";
series22.Name = "Series1";
this.chartErvas.Series.Add(series22);
this.chartErvas.Size = new System.Drawing.Size(484, 510);
this.chartErvas.TabIndex = 0;
this.chartErvas.Text = "chart1";
@ -3278,142 +3286,31 @@
//
// chartSensoriamento
//
chartArea15.Name = "ChartArea1";
this.chartSensoriamento.ChartAreas.Add(chartArea15);
legend15.Name = "Legend1";
this.chartSensoriamento.Legends.Add(legend15);
chartArea23.Name = "ChartArea1";
this.chartSensoriamento.ChartAreas.Add(chartArea23);
legend23.Name = "Legend1";
this.chartSensoriamento.Legends.Add(legend23);
this.chartSensoriamento.Location = new System.Drawing.Point(2, 4);
this.chartSensoriamento.Margin = new System.Windows.Forms.Padding(2);
this.chartSensoriamento.Name = "chartSensoriamento";
series15.ChartArea = "ChartArea1";
series15.Legend = "Legend1";
series15.Name = "Series1";
this.chartSensoriamento.Series.Add(series15);
series23.ChartArea = "ChartArea1";
series23.Legend = "Legend1";
series23.Name = "Series1";
this.chartSensoriamento.Series.Add(series23);
this.chartSensoriamento.Size = new System.Drawing.Size(491, 389);
this.chartSensoriamento.TabIndex = 95;
this.chartSensoriamento.Text = "chart1";
//
// tabSinaleiros
// tabUltrassom
//
this.tabSinaleiros.Controls.Add(this.lblU1);
this.tabSinaleiros.Controls.Add(this.lblU2);
this.tabSinaleiros.Controls.Add(this.lblU3);
this.tabSinaleiros.Controls.Add(this.lblU4);
this.tabSinaleiros.Controls.Add(this.picRoboSuperior);
this.tabSinaleiros.Controls.Add(this.lblManual);
this.tabSinaleiros.Controls.Add(this.lblOperacao);
this.tabSinaleiros.Controls.Add(this.pnlManual);
this.tabSinaleiros.Controls.Add(this.pnlOperacao);
this.tabSinaleiros.Controls.Add(this.lblAutomatico);
this.tabSinaleiros.Controls.Add(this.pnlAutomatico);
this.tabSinaleiros.Location = new System.Drawing.Point(4, 22);
this.tabSinaleiros.Name = "tabSinaleiros";
this.tabSinaleiros.Padding = new System.Windows.Forms.Padding(3);
this.tabSinaleiros.Size = new System.Drawing.Size(496, 522);
this.tabSinaleiros.TabIndex = 4;
this.tabSinaleiros.Text = "Sinaleiros";
this.tabSinaleiros.UseVisualStyleBackColor = true;
//
// lblU1
//
this.lblU1.AutoSize = true;
this.lblU1.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
this.lblU1.Location = new System.Drawing.Point(77, 467);
this.lblU1.Name = "lblU1";
this.lblU1.Size = new System.Drawing.Size(68, 17);
this.lblU1.TabIndex = 9;
this.lblU1.Text = "U1: 0 mm";
//
// lblU2
//
this.lblU2.AutoSize = true;
this.lblU2.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
this.lblU2.Location = new System.Drawing.Point(372, 467);
this.lblU2.Name = "lblU2";
this.lblU2.Size = new System.Drawing.Size(68, 17);
this.lblU2.TabIndex = 8;
this.lblU2.Text = "U2: 0 mm";
//
// lblU3
//
this.lblU3.AutoSize = true;
this.lblU3.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
this.lblU3.Location = new System.Drawing.Point(77, 206);
this.lblU3.Name = "lblU3";
this.lblU3.Size = new System.Drawing.Size(68, 17);
this.lblU3.TabIndex = 7;
this.lblU3.Text = "U3: 0 mm";
//
// lblU4
//
this.lblU4.AutoSize = true;
this.lblU4.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
this.lblU4.Location = new System.Drawing.Point(372, 206);
this.lblU4.Name = "lblU4";
this.lblU4.Size = new System.Drawing.Size(68, 17);
this.lblU4.TabIndex = 5;
this.lblU4.Text = "U4: 0 mm";
//
// picRoboSuperior
//
this.picRoboSuperior.Image = global::AgroBase.Properties.Resources.robo_superior;
this.picRoboSuperior.Location = new System.Drawing.Point(147, 206);
this.picRoboSuperior.Name = "picRoboSuperior";
this.picRoboSuperior.Size = new System.Drawing.Size(219, 278);
this.picRoboSuperior.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picRoboSuperior.TabIndex = 4;
this.picRoboSuperior.TabStop = false;
//
// lblManual
//
this.lblManual.AutoSize = true;
this.lblManual.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
this.lblManual.Location = new System.Drawing.Point(393, 24);
this.lblManual.Name = "lblManual";
this.lblManual.Size = new System.Drawing.Size(65, 17);
this.lblManual.TabIndex = 3;
this.lblManual.Text = "MANUAL";
//
// lblOperacao
//
this.lblOperacao.AutoSize = true;
this.lblOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
this.lblOperacao.Location = new System.Drawing.Point(212, 24);
this.lblOperacao.Name = "lblOperacao";
this.lblOperacao.Size = new System.Drawing.Size(85, 17);
this.lblOperacao.TabIndex = 3;
this.lblOperacao.Text = "OPERAÇÃO";
//
// pnlManual
//
this.pnlManual.Location = new System.Drawing.Point(375, 44);
this.pnlManual.Name = "pnlManual";
this.pnlManual.Size = new System.Drawing.Size(100, 100);
this.pnlManual.TabIndex = 2;
//
// pnlOperacao
//
this.pnlOperacao.Location = new System.Drawing.Point(204, 44);
this.pnlOperacao.Name = "pnlOperacao";
this.pnlOperacao.Size = new System.Drawing.Size(100, 100);
this.pnlOperacao.TabIndex = 2;
//
// lblAutomatico
//
this.lblAutomatico.AutoSize = true;
this.lblAutomatico.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
this.lblAutomatico.Location = new System.Drawing.Point(18, 24);
this.lblAutomatico.Name = "lblAutomatico";
this.lblAutomatico.Size = new System.Drawing.Size(99, 17);
this.lblAutomatico.TabIndex = 1;
this.lblAutomatico.Text = "AUTOMÁTICO";
//
// pnlAutomatico
//
this.pnlAutomatico.Location = new System.Drawing.Point(18, 44);
this.pnlAutomatico.Name = "pnlAutomatico";
this.pnlAutomatico.Size = new System.Drawing.Size(100, 100);
this.pnlAutomatico.TabIndex = 0;
this.tabUltrassom.Controls.Add(this.pnlUltrassom);
this.tabUltrassom.Location = new System.Drawing.Point(4, 22);
this.tabUltrassom.Name = "tabUltrassom";
this.tabUltrassom.Padding = new System.Windows.Forms.Padding(3);
this.tabUltrassom.Size = new System.Drawing.Size(496, 522);
this.tabUltrassom.TabIndex = 4;
this.tabUltrassom.Text = "Ultrassom";
this.tabUltrassom.UseVisualStyleBackColor = true;
//
// tabOrientacao
//
@ -3986,17 +3883,17 @@
//
// chartCpu
//
chartArea16.Name = "ChartArea1";
this.chartCpu.ChartAreas.Add(chartArea16);
legend16.Name = "Legend1";
this.chartCpu.Legends.Add(legend16);
chartArea24.Name = "ChartArea1";
this.chartCpu.ChartAreas.Add(chartArea24);
legend24.Name = "Legend1";
this.chartCpu.Legends.Add(legend24);
this.chartCpu.Location = new System.Drawing.Point(2, 3);
this.chartCpu.Margin = new System.Windows.Forms.Padding(2);
this.chartCpu.Name = "chartCpu";
series16.ChartArea = "ChartArea1";
series16.Legend = "Legend1";
series16.Name = "Series1";
this.chartCpu.Series.Add(series16);
series24.ChartArea = "ChartArea1";
series24.Legend = "Legend1";
series24.Name = "Series1";
this.chartCpu.Series.Add(series24);
this.chartCpu.Size = new System.Drawing.Size(491, 389);
this.chartCpu.TabIndex = 134;
this.chartCpu.Text = "chart1";
@ -4453,6 +4350,206 @@
this.btnPlay.UseVisualStyleBackColor = true;
this.btnPlay.Click += new System.EventHandler(this.btnPlay_Click);
//
// tvwFalhas
//
this.tvwFalhas.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.tvwFalhas.Location = new System.Drawing.Point(6, 161);
this.tvwFalhas.Name = "tvwFalhas";
this.tvwFalhas.Size = new System.Drawing.Size(484, 355);
this.tvwFalhas.TabIndex = 18;
//
// lblManual
//
this.lblManual.AutoSize = true;
this.lblManual.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
this.lblManual.Location = new System.Drawing.Point(393, 6);
this.lblManual.Name = "lblManual";
this.lblManual.Size = new System.Drawing.Size(65, 17);
this.lblManual.TabIndex = 16;
this.lblManual.Text = "MANUAL";
//
// lblOperacao
//
this.lblOperacao.AutoSize = true;
this.lblOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
this.lblOperacao.Location = new System.Drawing.Point(212, 6);
this.lblOperacao.Name = "lblOperacao";
this.lblOperacao.Size = new System.Drawing.Size(85, 17);
this.lblOperacao.TabIndex = 17;
this.lblOperacao.Text = "OPERAÇÃO";
//
// pnlManual
//
this.pnlManual.Location = new System.Drawing.Point(375, 26);
this.pnlManual.Name = "pnlManual";
this.pnlManual.Size = new System.Drawing.Size(100, 100);
this.pnlManual.TabIndex = 14;
//
// pnlOperacao
//
this.pnlOperacao.Location = new System.Drawing.Point(204, 26);
this.pnlOperacao.Name = "pnlOperacao";
this.pnlOperacao.Size = new System.Drawing.Size(100, 100);
this.pnlOperacao.TabIndex = 15;
//
// lblAutomatico
//
this.lblAutomatico.AutoSize = true;
this.lblAutomatico.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
this.lblAutomatico.Location = new System.Drawing.Point(18, 6);
this.lblAutomatico.Name = "lblAutomatico";
this.lblAutomatico.Size = new System.Drawing.Size(99, 17);
this.lblAutomatico.TabIndex = 13;
this.lblAutomatico.Text = "AUTOMÁTICO";
//
// pnlAutomatico
//
this.pnlAutomatico.Location = new System.Drawing.Point(18, 26);
this.pnlAutomatico.Name = "pnlAutomatico";
this.pnlAutomatico.Size = new System.Drawing.Size(100, 100);
this.pnlAutomatico.TabIndex = 12;
//
// label117
//
this.label117.AutoSize = true;
this.label117.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
this.label117.Location = new System.Drawing.Point(6, 141);
this.label117.Name = "label117";
this.label117.Size = new System.Drawing.Size(118, 17);
this.label117.TabIndex = 19;
this.label117.Text = "Código de Falhas";
//
// pnlUltrassom
//
this.pnlUltrassom.Controls.Add(this.pnlP_10);
this.pnlUltrassom.Controls.Add(this.pnlP_11);
this.pnlUltrassom.Controls.Add(this.pnlP_7);
this.pnlUltrassom.Controls.Add(this.pnlP_12);
this.pnlUltrassom.Controls.Add(this.pnlP_8);
this.pnlUltrassom.Controls.Add(this.pnlP_9);
this.pnlUltrassom.Controls.Add(this.pnlP_6);
this.pnlUltrassom.Controls.Add(this.pnlP_3);
this.pnlUltrassom.Controls.Add(this.pnlP_5);
this.pnlUltrassom.Controls.Add(this.pnlP_2);
this.pnlUltrassom.Controls.Add(this.pnlP_4);
this.pnlUltrassom.Controls.Add(this.pnlP_1);
this.pnlUltrassom.Controls.Add(this.picRobo);
this.pnlUltrassom.Location = new System.Drawing.Point(6, 6);
this.pnlUltrassom.Name = "pnlUltrassom";
this.pnlUltrassom.Size = new System.Drawing.Size(484, 510);
this.pnlUltrassom.TabIndex = 19;
//
// pnlP_10
//
this.pnlP_10.BackColor = System.Drawing.Color.Red;
this.pnlP_10.Location = new System.Drawing.Point(346, 77);
this.pnlP_10.Name = "pnlP_10";
this.pnlP_10.Size = new System.Drawing.Size(30, 30);
this.pnlP_10.TabIndex = 6;
//
// pnlP_11
//
this.pnlP_11.BackColor = System.Drawing.Color.Red;
this.pnlP_11.Location = new System.Drawing.Point(346, 191);
this.pnlP_11.Name = "pnlP_11";
this.pnlP_11.Size = new System.Drawing.Size(30, 30);
this.pnlP_11.TabIndex = 5;
//
// pnlP_7
//
this.pnlP_7.BackColor = System.Drawing.Color.Red;
this.pnlP_7.Location = new System.Drawing.Point(99, 77);
this.pnlP_7.Name = "pnlP_7";
this.pnlP_7.Size = new System.Drawing.Size(30, 30);
this.pnlP_7.TabIndex = 3;
//
// pnlP_12
//
this.pnlP_12.BackColor = System.Drawing.Color.Red;
this.pnlP_12.Location = new System.Drawing.Point(346, 306);
this.pnlP_12.Name = "pnlP_12";
this.pnlP_12.Size = new System.Drawing.Size(30, 30);
this.pnlP_12.TabIndex = 4;
//
// pnlP_8
//
this.pnlP_8.BackColor = System.Drawing.Color.Red;
this.pnlP_8.Location = new System.Drawing.Point(99, 191);
this.pnlP_8.Name = "pnlP_8";
this.pnlP_8.Size = new System.Drawing.Size(30, 30);
this.pnlP_8.TabIndex = 3;
//
// pnlP_9
//
this.pnlP_9.BackColor = System.Drawing.Color.Red;
this.pnlP_9.Location = new System.Drawing.Point(99, 306);
this.pnlP_9.Name = "pnlP_9";
this.pnlP_9.Size = new System.Drawing.Size(30, 30);
this.pnlP_9.TabIndex = 2;
//
// pnlP_6
//
this.pnlP_6.BackColor = System.Drawing.Color.Red;
this.pnlP_6.Location = new System.Drawing.Point(286, 44);
this.pnlP_6.Name = "pnlP_6";
this.pnlP_6.Size = new System.Drawing.Size(30, 30);
this.pnlP_6.TabIndex = 5;
//
// pnlP_3
//
this.pnlP_3.BackColor = System.Drawing.Color.Red;
this.pnlP_3.Location = new System.Drawing.Point(286, 340);
this.pnlP_3.Name = "pnlP_3";
this.pnlP_3.Size = new System.Drawing.Size(30, 30);
this.pnlP_3.TabIndex = 2;
//
// pnlP_5
//
this.pnlP_5.BackColor = System.Drawing.Color.Red;
this.pnlP_5.Location = new System.Drawing.Point(223, 44);
this.pnlP_5.Name = "pnlP_5";
this.pnlP_5.Size = new System.Drawing.Size(30, 30);
this.pnlP_5.TabIndex = 4;
//
// pnlP_2
//
this.pnlP_2.BackColor = System.Drawing.Color.Red;
this.pnlP_2.Location = new System.Drawing.Point(223, 340);
this.pnlP_2.Name = "pnlP_2";
this.pnlP_2.Size = new System.Drawing.Size(30, 30);
this.pnlP_2.TabIndex = 2;
//
// pnlP_4
//
this.pnlP_4.BackColor = System.Drawing.Color.Red;
this.pnlP_4.Location = new System.Drawing.Point(159, 44);
this.pnlP_4.Name = "pnlP_4";
this.pnlP_4.Size = new System.Drawing.Size(30, 30);
this.pnlP_4.TabIndex = 3;
//
// pnlP_1
//
this.pnlP_1.BackColor = System.Drawing.Color.Red;
this.pnlP_1.Location = new System.Drawing.Point(159, 340);
this.pnlP_1.Name = "pnlP_1";
this.pnlP_1.Size = new System.Drawing.Size(30, 30);
this.pnlP_1.TabIndex = 1;
//
// picRobo
//
this.picRobo.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.picRobo.Image = global::AgroBase.Properties.Resources.robo_superior;
this.picRobo.Location = new System.Drawing.Point(3, 3);
this.picRobo.Name = "picRobo";
this.picRobo.Size = new System.Drawing.Size(478, 504);
this.picRobo.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
this.picRobo.TabIndex = 0;
this.picRobo.TabStop = false;
//
// frmResultadosOperacao
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@ -4479,7 +4576,8 @@
this.tabMapaDinamico.ResumeLayout(false);
this.panel2.ResumeLayout(false);
this.tabControl1.ResumeLayout(false);
this.tabCodFalhas.ResumeLayout(false);
this.tabSituacao.ResumeLayout(false);
this.tabSituacao.PerformLayout();
this.tabDirecional.ResumeLayout(false);
this.tabDirecional.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.picDIR_DT)).EndInit();
@ -4539,9 +4637,7 @@
this.gpbSEN_Filtro.ResumeLayout(false);
this.gpbSEN_Filtro.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.chartSensoriamento)).EndInit();
this.tabSinaleiros.ResumeLayout(false);
this.tabSinaleiros.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.picRoboSuperior)).EndInit();
this.tabUltrassom.ResumeLayout(false);
this.tabOrientacao.ResumeLayout(false);
this.tabSonar.ResumeLayout(false);
this.tabSonar.PerformLayout();
@ -4562,6 +4658,8 @@
this.panel6.ResumeLayout(false);
this.panel6.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).EndInit();
this.pnlUltrassom.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.picRobo)).EndInit();
this.ResumeLayout(false);
this.PerformLayout();
@ -4829,13 +4927,7 @@
private System.Windows.Forms.Label label95;
private System.Windows.Forms.Label label96;
public System.Windows.Forms.DataVisualization.Charting.Chart chartMovTensao;
private System.Windows.Forms.TabPage tabSinaleiros;
private System.Windows.Forms.Label lblManual;
private System.Windows.Forms.Label lblOperacao;
private System.Windows.Forms.Panel pnlManual;
private System.Windows.Forms.Panel pnlOperacao;
private System.Windows.Forms.Label lblAutomatico;
private System.Windows.Forms.Panel pnlAutomatico;
private System.Windows.Forms.TabPage tabUltrassom;
private System.Windows.Forms.TabPage tabOrientacao;
private System.Windows.Forms.Panel pnl3D;
private System.Windows.Forms.Panel pnlInclinacao;
@ -4861,11 +4953,6 @@
private System.Windows.Forms.TextBox txtDesvioNecessario;
private System.Windows.Forms.Label label99;
private System.Windows.Forms.CheckBox chbGrade;
private System.Windows.Forms.Label lblU1;
private System.Windows.Forms.Label lblU2;
private System.Windows.Forms.Label lblU3;
private System.Windows.Forms.Label lblU4;
private System.Windows.Forms.PictureBox picRoboSuperior;
private System.Windows.Forms.TabControl tabControl3;
private System.Windows.Forms.TabPage tabSonarRGB;
private System.Windows.Forms.TabPage tabSonarCalor;
@ -4916,12 +5003,33 @@
public System.Windows.Forms.DataVisualization.Charting.Chart chartCpu;
private System.Windows.Forms.TextBox txtDuracaoOperacao;
private System.Windows.Forms.Label label115;
private System.Windows.Forms.TabPage tabCodFalhas;
private System.Windows.Forms.TreeView tvwFalhas;
private System.Windows.Forms.TabPage tabSituacao;
private System.Windows.Forms.CheckBox chbDesenharErvas;
private System.Windows.Forms.TabPage tabErvas;
private System.Windows.Forms.DataVisualization.Charting.Chart chartErvas;
private System.Windows.Forms.TextBox txtErvasTerreno;
private System.Windows.Forms.Label label116;
private System.Windows.Forms.TreeView tvwFalhas;
private System.Windows.Forms.Label lblManual;
private System.Windows.Forms.Label lblOperacao;
private System.Windows.Forms.Panel pnlManual;
private System.Windows.Forms.Panel pnlOperacao;
private System.Windows.Forms.Label lblAutomatico;
private System.Windows.Forms.Panel pnlAutomatico;
private System.Windows.Forms.Label label117;
private System.Windows.Forms.Panel pnlUltrassom;
private System.Windows.Forms.Panel pnlP_10;
private System.Windows.Forms.Panel pnlP_11;
private System.Windows.Forms.Panel pnlP_7;
private System.Windows.Forms.Panel pnlP_12;
private System.Windows.Forms.Panel pnlP_8;
private System.Windows.Forms.Panel pnlP_9;
private System.Windows.Forms.Panel pnlP_6;
private System.Windows.Forms.Panel pnlP_3;
private System.Windows.Forms.Panel pnlP_5;
private System.Windows.Forms.Panel pnlP_2;
private System.Windows.Forms.Panel pnlP_4;
private System.Windows.Forms.Panel pnlP_1;
private System.Windows.Forms.PictureBox picRobo;
}
}

50
AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
View File

@ -858,7 +858,7 @@ namespace AgroBase.Forms.Operacoes
{
var Log = LogsDirecional.Where(x => x.Modulo_ID == ID).FirstOrDefault(x => x.Momento == MomentoAtual);
double Angulo = Log?.Angulo ?? 0;
double Angulo = Math.Abs(Log?.Angulo ?? 0);
double Multiplicador = (Log?.Sentido ?? Enums.Sentido.Parado) == Enums.Sentido.Horario ? 1 : -1;
Image img = Resources.roda_superior;
if (ID.StartsWith("D"))
@ -973,7 +973,7 @@ namespace AgroBase.Forms.Operacoes
visualizador3D.AtualizarAngulos(LogWit.AngleX, LogWit.AngleY, LogWit.AngleZ);
txtTemperatura.Text = LogWit.Temperatura.ToString("0.00");
txtAltitude.Text = LogWit.Altitude.ToString("0.00");
txtPressao.Text = LogWit.Pressao.ToString("0.00");
txtPressao.Text = LogWit.Pressao + " Pa (" + (LogWit.Pressao / 101300.0).ToString("0.00") + " atm)";
var LogSen = LogsSensoriamento.FirstOrDefault(x => x.Momento == MomentoAtual);
pnlManual.BackColor = LogSen.StatusSinaleiroMN == Enums.StatusLED.Aceso ? Color.Yellow : Color.Gold;
@ -981,10 +981,46 @@ namespace AgroBase.Forms.Operacoes
pnlOperacao.BackColor = LogSen.StatusSinaleiroOP == Enums.StatusLED.Aceso ? Color.Green : Color.DarkGreen;
var LogA05 = LogsA05.FirstOrDefault(x => x.Momento == MomentoAtual);
lblU1.Text = "U1: " + LogA05.U1.ToString() + " mm";
lblU2.Text = "U2: " + LogA05.U2.ToString() + " mm";
lblU3.Text = "U3: " + LogA05.U3.ToString() + " mm";
lblU4.Text = "U4: " + LogA05.U4.ToString() + " mm";
foreach (var pnl in pnlUltrassom.Controls.OfType<Panel>().OrderBy(x => x.Name))
{
int id = int.Parse(pnl.Name.Replace("pnlP_", ""));
var _Sensor = LogA05.Configuracao.Sensores.FirstOrDefault(x => (int)x.Posicao == id);
pnl.Visible = _Sensor != null;
pnl.BackColor = LogA05.Conectado && _Sensor != null && _Sensor.SensorAtuado ? Color.Red : Color.Gray;
pnl.Tag = _Sensor != null ? $"{_Sensor.ID:00};{_Sensor.LeituraCm:F2}" : null; // Armazena o ID e a Leitura no Tag do Panel
pnl.Paint += (s, _e) =>
{
// Pega o ID e a leitura armazenados no Tag, se houver
string tag = pnl.Tag?.ToString();
if (!string.IsNullOrEmpty(tag))
{
var parts = tag.Split(';');
string sensorID = parts[0];
string leitura = parts.Length > 1 ? parts[1] : "";
Font font = new Font("Arial", 9, FontStyle.Bold);
// Calcula a posição para o ID do sensor (primeira linha)
SizeF idSize = _e.Graphics.MeasureString(sensorID, font);
float idX = (pnl.Width - idSize.Width) / 2;
float idY = (pnl.Height - idSize.Height) / 8; // Ajuste para centralizar no terço superior
_e.Graphics.DrawString(sensorID, font, Brushes.White, idX, idY);
// Calcula a posição para o valor de leitura (segunda linha)
Font fontLeitura = new Font("Arial", 7, FontStyle.Regular);
SizeF leituraSize = _e.Graphics.MeasureString(leitura, fontLeitura);
float leituraX = (pnl.Width - leituraSize.Width) / 2;
float leituraY = idY + idSize.Height + 1; // Posiciona logo abaixo do ID
_e.Graphics.DrawString(leitura, fontLeitura, Brushes.White, leituraX, leituraY);
}
};
pnl.Invalidate(); // Redesenha o Panel para aplicar as mudanças
}
}
private void AtualizarInformacoesKinect()
@ -1253,7 +1289,5 @@ namespace AgroBase.Forms.Operacoes
}
}
}
}
}

4
AgroBase/AgroBase/Forms/frmA05Config.cs
View File

@ -1,6 +1,4 @@
using AgroBase.Comum;
using AgroBase.Models;
using AgroBase.Models.Modules;
using AgroBase.Models;
using System;
using System.Data;
using System.Drawing;

2
AgroBase/AgroBase/Forms/frmMKS.cs
View File

@ -549,7 +549,7 @@ namespace AgroBase.Forms
{
try
{
serialPort1.Write(data, start, length);
SerialService.EnviarDadosPortaSerial(serialPort1, data, start, length);
txDisplay();
}
catch

1
AgroBase/AgroBase/Models/ModbusModel.cs
View File

@ -33,6 +33,7 @@ namespace AgroBase.Models
public byte Endereco { get; set; }
public byte[] Comando { get; set; }
public bool Enviado { get; set; } = false;
public bool ErroEnvio { get; set; } = false;
public int TamanhoEsperado { get; set; } = 3;
public int TimeoutResposta { get; set; } = 500;
public byte[] Resposta { get; set; }

14
AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
View File

@ -1222,8 +1222,7 @@ namespace AgroBase.Models.Modules
await Task.Delay(500);
var Leitura = MKS057DService.DadosLeitura.FirstOrDefault(x => x.Endereco == Addr);
bool Sucesso = Leitura != null && Leitura.Entradas != null && Leitura.Entradas[0] == true;
bool Sucesso = ReferenciaEstaEmZero(Addr);
int _angulo = 45;
@ -1236,9 +1235,7 @@ namespace AgroBase.Models.Modules
DateTime Inicio = DateTime.Now;
while (!Sucesso && Inicio.AddSeconds(30) > DateTime.Now)
{
Leitura = MKS057DService.DadosLeitura.FirstOrDefault(x => x.Endereco == Addr);
Sucesso = Leitura != null && Leitura.Entradas != null && Leitura.Entradas[0] == true;
Sucesso = ReferenciaEstaEmZero(Addr);
if (Sucesso)
{
@ -1271,6 +1268,13 @@ namespace AgroBase.Models.Modules
}
}
private bool ReferenciaEstaEmZero(byte Addr)
{
var Leitura = MKS057DService.DadosLeitura.FirstOrDefault(x => x.Endereco == Addr);
bool Sucesso = Leitura != null && Leitura.Entradas != null && Leitura.Entradas[0] == true;
return Sucesso;
}
}
public class MvdMotorMOVSensorimanetoGrafico

28
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
View File

@ -708,13 +708,19 @@ namespace AgroBase.Models
OperacaoCarregar.AtualizaListaCameras(null, new List<Panel>(), false);
if (OperacaoCarregar.DispSen != null && OperacaoCarregar.DispSen.Dados.Conectado)
if (OperacaoCarregar.DispSen != null)
{
if (OperacaoCarregar.DispSen.Dados.ConfiguracaoSensorUltrassom == null)
{
OperacaoCarregar.DispSen.Dados.ConfiguracaoSensorUltrassom = UltrasonicA05Helper.CarregarConfiguracaoPadrao(ConfiguracaoSensorUltrassonico.NaoUtilizado);
}
if (OperacaoCarregar.DispSen.Dados.Conectado)
{
OperacaoCarregar.DispSen.Dados.Sinaleiros.ForEach(x => x.Comportamento = VariaveisEquipamento.ComportamentoPorStatus(StatusOperacao.NaoIniciado));
OperacaoCarregar.DispSen.Dados.Sinaleiros.First(x => x.ID == (Modo == ModoOperacao.Manual ? "LEDMN" : "LEDAT")).Comportamento.statusLED = StatusLED.Aceso;
OperacaoCarregar.DispSen.Dados.Sinaleiros.First(x => x.ID == "LEDOP").Comportamento = VariaveisEquipamento.ComportamentoPorStatus();
OperacaoCarregar.DispSen.Dados.ConfiguracaoSensorUltrassom = UltrasonicA05Helper.CarregarConfiguracaoPadrao(ConfiguracaoSensorUltrassonico.NaoUtilizado);
//OperacaoCarregar.DispSen.Dados.Sinaleiros.ForEach(x => OperacaoCarregar.DispSen.AdicionarMensagemFila(OperacaoCarregar.DispSen.Dados.Modulo_ID, x.ProtocoloComando(), true, false));
foreach (var Sinaleiro in OperacaoCarregar.DispSen.Dados.Sinaleiros)
@ -722,6 +728,7 @@ namespace AgroBase.Models
GeneralJoystick.EnviarComandoSensoriamento(S_Code.sLED, Sinaleiro.ID, Sinaleiro.Comportamento);
}
}
}
OperacaoCarregar.Controle.Angulo = OperacaoCarregar.Controle.Angulo_Max;
OperacaoCarregar.Controle.PercentualVelocidadeSP = OperacaoCarregar.Controle.PercentualVelocidadeMin;
@ -818,7 +825,7 @@ namespace AgroBase.Models
Directory.CreateDirectory(Variaveis.CaminhoOperacoes + ID + "/");
await RealizarCalibracaoInicialAsync();
await RealizarCalibragemInicialAsync();
Mapa.ReiniciarTrajetoriaDinamica();
Mapa.GerarTrajetoriaDinamica();
@ -857,8 +864,9 @@ namespace AgroBase.Models
Variaveis.OperacaoEmAndamento.Finalizando = false;
}
public async Task RealizarCalibracaoInicialAsync()
public async Task RealizarCalibragemInicialAsync()
{
var DispAtu = Variaveis.OperacaoEmAndamento.DispAtu;
if (DispAtu != null)
{
// Ligar bomba
@ -886,6 +894,16 @@ namespace AgroBase.Models
await Task.Delay(1000);
}
var DispMvd = Variaveis.OperacaoEmAndamento.DispMvd;
if (DispMvd != null)
{
// Referenciar motores de passo
if (DispMvd.Dados.Modulos.Any(x => x.DirMotor.Inicializado))
{
GeneralJoystick.EnviaComandoMotor(Keys.R);
}
}
if (KinectService.Iniciado)
{
KinectService.RecalibrarSubdivisoes();
@ -1980,10 +1998,12 @@ namespace AgroBase.Models
{
Momento = Agora,
Endereco = UltrasonicA05Service.slaveAddress,
Conectado = UltrasonicA05Service.Iniciado,
U1 = UltrasonicA05Service.DadosLeitura.U1,
U2 = UltrasonicA05Service.DadosLeitura.U2,
U3 = UltrasonicA05Service.DadosLeitura.U3,
U4 = UltrasonicA05Service.DadosLeitura.U4,
Configuracao = UltrasonicA05Service.DadosLeitura.Configuracao ?? Variaveis.OperacaoEmAndamento.DispSen.Dados.ConfiguracaoSensorUltrassom,
};
SalvarLog(T_Code.A05.ToString(), logA05, Fim);

14
AgroBase/AgroBase/Models/UltrasonicA05Model.cs
View File

@ -1,5 +1,4 @@
using AgroBase.Services;
using OpenHardwareMonitor.Hardware;
using System;
using System.Collections.Generic;
using System.Linq;
@ -148,13 +147,13 @@ namespace AgroBase.Models
if (sensorEsquerdoFrente != null && sensorEsquerdoTras != null)
{
erroAlinhamento += (sensorEsquerdoFrente.Leitura - sensorEsquerdoTras.Leitura) * -1;
erroAlinhamento += (sensorEsquerdoFrente.LeituraCm - sensorEsquerdoTras.LeituraCm) * -1;
pesoTotal += 0.5; // Peso para o lado esquerdo
}
if (sensorDireitoFrente != null && sensorDireitoTras != null)
{
erroAlinhamento += (sensorDireitoFrente.Leitura - sensorDireitoTras.Leitura);
erroAlinhamento += (sensorDireitoFrente.LeituraCm - sensorDireitoTras.LeituraCm);
pesoTotal += 0.5; // Peso para o lado direito
}
@ -212,6 +211,7 @@ namespace AgroBase.Models
public class UltrasonicA05Model
{
public bool Conectado { get; set; }
public DateTime Momento { get; set; }
public byte Endereco { get; set; }
public int U1 { get; set; }
@ -252,7 +252,7 @@ namespace AgroBase.Models
}
}
public bool EmUso => LimiteMaximo || LimiteMinimo;
public double Leitura { get; set; }
public double LeituraCm { get; set; }
public bool SensorAtuado
{
get
@ -260,17 +260,17 @@ namespace AgroBase.Models
// Caso LimiteMinimo e LimiteMaximo estejam configurados
if (LimiteMinimo && LimiteMaximo)
{
return Leitura < (LimiteMinimoVal - MargemMinimo) || Leitura > (LimiteMaximoVal + MargemMaximo);
return LeituraCm < (LimiteMinimoVal - MargemMinimo) || LeituraCm > (LimiteMaximoVal + MargemMaximo);
}
// Caso apenas LimiteMinimo esteja configurado
else if (LimiteMinimo)
{
return Leitura < (LimiteMinimoVal - MargemMinimo);
return LeituraCm < (LimiteMinimoVal - MargemMinimo);
}
// Caso apenas LimiteMaximo esteja configurado
else if (LimiteMaximo)
{
return Leitura > (LimiteMaximoVal + MargemMaximo);
return LeituraCm > (LimiteMaximoVal + MargemMaximo);
}
return false;
}

34
AgroBase/AgroBase/Services/BLD300RService.cs
View File

@ -21,6 +21,15 @@ namespace AgroBase.Services
}
if (_PortaBLD != null && !_PortaBLD.IsOpen)
{
if (!SerialPort.GetPortNames().Any(x => x == _PortaBLD.PortName))
{
_PortaBLD = null;
foreach (var d in SerialService.DispositivosMapeados.Where(x => x.Dispositivo == T_Code.Bld))
{
SerialService.DispositivosMapeados.Remove(d);
}
return false;
}
try
{
_PortaBLD.Open();
@ -207,6 +216,8 @@ namespace AgroBase.Services
public static async Task<bool> VerificaPortaBLD(SerialPort porta)
{
EnvioLiberado = false;
if (!Iniciado)
{
porta.Close();
@ -215,8 +226,6 @@ namespace AgroBase.Services
AtualizarPortaCOM(porta);
}
EnvioLiberado = false;
var Parametro = Parametros.First(x => x.Chave == "Versao");
List<string> Mod_IDs = new List<string>();
@ -240,7 +249,10 @@ namespace AgroBase.Services
var comando = ModbusService.ComandoGetParametro(Addr, Parametro);
EnviarComando(_PortaBLD, comando);
if (!EnviarComando(_PortaBLD, comando))
{
break;
}
var resposta = await SerialService.LerDadosDaPortaSerialAsync(_PortaBLD, 7, 1000);
DecifrarResposta(resposta, Parametro, Addr);
@ -250,18 +262,18 @@ namespace AgroBase.Services
}
}
if (Iniciado)
if (Mod_IDs.Any())
{
DefinirDispositivo(Mod_IDs);
}
else
if (!Iniciado)
{
_PortaBLD.Close();
_PortaBLD = null;
}
EnvioLiberado = true;
return Iniciado;
}
@ -354,7 +366,7 @@ namespace AgroBase.Services
((System.Timers.Timer)sender).Start();
}
private static void EnviarComando(SerialPort _Porta, byte[] Comando)
private static bool EnviarComando(SerialPort _Porta, byte[] Comando)
{
lock (FilaLock)
{
@ -368,7 +380,7 @@ namespace AgroBase.Services
}
if (_Porta.IsOpen)
{
_Porta.Write(Comando, 0, Comando.Length);
return SerialService.EnviarDadosPortaSerial(_Porta, Comando, 0, Comando.Length);
}
}
}
@ -376,6 +388,7 @@ namespace AgroBase.Services
{
throw ex;
}
return false;
}
}
@ -613,11 +626,11 @@ namespace AgroBase.Services
if (comando != null && comando.Length > 0)
{
//Console.WriteLine("Enviando comando para o endereço: " + Comando.Endereco);
EnviarComando(_PortaBLD, comando);
Comando.ErroEnvio = !EnviarComando(_PortaBLD, comando);
Comando.Enviado = true;
if (Comando.AguardaResposta)
if (Comando.AguardaResposta && !Comando.ErroEnvio)
{
byte[] resposta = await SerialService.LerDadosDaPortaSerialAsync(_PortaBLD, 7, Comando.TimeoutResposta);
bool Respondido = DecifrarResposta(resposta, Comando.Parametro, Comando.Endereco);
@ -750,6 +763,7 @@ namespace AgroBase.Services
{
public DateTime Momento { get; set; } = DateTime.Now;
public bool Enviado { get; set; } = false;
public bool ErroEnvio { get; set; } = false;
public byte Endereco { get; set; }
public ModbusParametrosModel Parametro { get; set; }
public float Valor { get; set; }

6
AgroBase/AgroBase/Services/DispositivosService.cs
View File

@ -216,7 +216,7 @@ namespace AgroBase.Comum
try
{
_Porta.Write(Dados);
bool erroEnvio = !SerialService.EnviarDadosPortaSerial(_Porta, Dados);
//Console.WriteLine("Dados enviados: " + Dados);
lock (_logsLock)
{
@ -225,6 +225,7 @@ namespace AgroBase.Comum
Momento = DateTime.Now,
Enviado = true,
Protocolo = Dados,
ErroEnvio = erroEnvio,
});
}
}
@ -765,7 +766,7 @@ namespace AgroBase.Comum
string Recebido = "";
try
{
Recebido = _Porta.ReadLine();
Recebido = SerialService.ReadLineWithTimeout(_Porta, 2000);
}
catch (Exception ex)
{
@ -1043,6 +1044,7 @@ namespace AgroBase.Comum
public DateTime Momento { get; set; }
public string Protocolo { get; set; }
public bool Enviado { get; set; }
public bool ErroEnvio { get; set; }
}

5
AgroBase/AgroBase/Services/GPSService.cs
View File

@ -7,7 +7,6 @@ using System.Globalization;
using System.IO.Ports;
using System.Linq;
using static AgroBase.Models.Enums;
using static AgroBase.Services.SerialService;
namespace AgroBase.Services
{
@ -66,7 +65,7 @@ namespace AgroBase.Services
{
if (Iniciado)
{
DispositivosMapeados.Add(new DispositivoDetalhesModel()
SerialService.DispositivosMapeados.Add(new SerialService.DispositivoDetalhesModel()
{
PortaCOM = PortaGPS.PortName,
Dispositivo = T_Code.Gps,
@ -80,7 +79,7 @@ namespace AgroBase.Services
{
if (PortaGPS.IsOpen)
{
string Recebido = PortaGPS.ReadLine();
string Recebido = SerialService.ReadLineWithTimeout(PortaGPS, 2000);
if (Recebido.Length > 2)
{
ProcessarStringNMEA(Recebido);

11
AgroBase/AgroBase/Services/LoRaService.cs
View File

@ -135,7 +135,11 @@ namespace AgroBase.Services
var comando = ComandoRequisitarParametros();
await AlterarStatusReleModo(Estado.Ligado);
EnviarComando(porta, comando);
if (!EnviarComando(porta, comando))
{
porta.Close();
return false;
}
await Task.Delay(1000);
var resposta = SerialService.VerificarRespostaPortasDesconhecidas(porta);
await AlterarStatusReleModo(Estado.Desligado);
@ -699,7 +703,7 @@ namespace AgroBase.Services
}
}
public static void EnviarComando(SerialPort _Porta, byte[] Comando)
public static bool EnviarComando(SerialPort _Porta, byte[] Comando)
{
if (_Porta != null)
{
@ -709,11 +713,12 @@ namespace AgroBase.Services
}
if (_Porta.IsOpen)
{
_Porta.Write(Comando, 0, Comando.Length);
Console.WriteLine($"Dados enviados LoRa: {Comando.Length}");
MensagensEnviadas++;
return SerialService.EnviarDadosPortaSerial(_Porta, Comando, 0, Comando.Length);
}
}
return false;
}
private static byte[] ComandoConfigurarModulo()

60
AgroBase/AgroBase/Services/MKS057DService.cs
View File

@ -21,8 +21,19 @@ namespace AgroBase.Services
{
return false;
}
lock (_PortaLock)
{
if (_PortaMKS != null && !_PortaMKS.IsOpen)
{
if (!SerialPort.GetPortNames().Any(x => x == _PortaMKS.PortName))
{
_PortaMKS = null;
foreach (var d in SerialService.DispositivosMapeados.Where(x => x.Dispositivo == T_Code.Mks))
{
SerialService.DispositivosMapeados.Remove(d);
}
return false;
}
try
{
_PortaMKS.Open();
@ -31,17 +42,23 @@ namespace AgroBase.Services
{
RegisrarErrosComunicacao(0, $"Erro ao abrir porta {_PortaMKS.PortName}. Erro={ex.Message}");
//_PortaMKS = null;
AtualizarPortaCOM(new SerialPort() { PortName = _PortaMKS.PortName, BaudRate = _PortaMKS.BaudRate });
}
}
return _PortaMKS != null && _PortaMKS.IsOpen && DadosLeitura.Any(x => x.Iniciado);
}
}
}
public static int TaxaAmostragem { get; set; } = 1000;
public static SerialPort _PortaMKS = new SerialPort();
private static System.Timers.Timer tmrLoopComandos = new System.Timers.Timer() { Interval = 100, Enabled = false };
private static System.Timers.Timer tmrReceberDados = new System.Timers.Timer() { Interval = TaxaAmostragem, Enabled = false };
public static readonly object _PortaLock = new object();
public static async Task<bool> VerificaPortaMKS(SerialPort porta)
{
EnvioLiberado = false;
if (!Iniciado)
{
porta.Close();
@ -59,28 +76,42 @@ namespace AgroBase.Services
DataSended = Convert.ToByte("43");
await SendRelevantData(Addr, QueryCommand[DataSended]);
await Task.Delay(1000);
if (DadosLeitura.Any(x => x.Endereco == Addr && x.Iniciado))
bool respondido = false;
DateTime inicio = DateTime.Now;
while (!respondido && inicio.AddMilliseconds(1000) > DateTime.Now)
{
await Task.Delay(100);
respondido = DadosLeitura.Any(x => x.Endereco == Addr && x.Iniciado);
}
if (respondido)
{
Mod_IDs.Add(Modulo.Modulo_ID);
}
}
if (Mod_IDs.Any() || Iniciado)
if (Mod_IDs.Any())
{
DefinirDispositivo(Mod_IDs);
}
else
if (!Iniciado)
{
lock (_PortaLock)
{
_PortaMKS.Close();
_PortaMKS = null;
}
}
EnvioLiberado = true;
return Iniciado;
}
public static void AtualizarPortaCOM(SerialPort Porta)
{
lock (_PortaLock)
{
_PortaMKS = new SerialPort();
_PortaMKS.PortName = Porta.PortName;
@ -91,6 +122,7 @@ namespace AgroBase.Services
_PortaMKS.Open();
}
}
private static void DefinirDispositivo(List<string> Mod_IDs)
{
@ -287,6 +319,8 @@ namespace AgroBase.Services
}
private static void ReconectarPortaCOM()
{
lock (_PortaLock)
{
if (_PortaMKS == null)
{
@ -311,6 +345,7 @@ namespace AgroBase.Services
RegisrarErrosComunicacao(0, $"Erro ao reestabelecer conexão com a porta {_PortaMKS.PortName}");
}
}
}
@ -450,7 +485,6 @@ namespace AgroBase.Services
private static List<MKS057ComandoModel> FilaComandos = new List<MKS057ComandoModel>();
private static readonly object FilaLock = new object();
private static System.Timers.Timer tmrLoopComandos = new System.Timers.Timer() { Interval = 100, Enabled = false };
private static bool EnvioLiberado { get; set; } = true;
public static List<MKS057DModel> DadosLeitura = new List<MKS057DModel>();
@ -648,6 +682,8 @@ namespace AgroBase.Services
{
byte Addr = data[1];
lock (_PortaLock)
{
if (_PortaMKS == null)
{
RegisrarErrosComunicacao(Addr, "Porta serial não está definida");
@ -656,7 +692,7 @@ namespace AgroBase.Services
{
try
{
_PortaMKS.Write(data, start, length);
SerialService.EnviarDadosPortaSerial(_PortaMKS, data, start, length);
txDisplay();
}
catch
@ -669,6 +705,7 @@ namespace AgroBase.Services
RegisrarErrosComunicacao(Addr, "Porta serial não está aberta");
}
}
}
private static void port_DataReceived(object sender, SerialDataReceivedEventArgs e) // Evento de recebimento de dados da porta serial
{
@ -676,6 +713,8 @@ namespace AgroBase.Services
}
private static void ProcessarDadosRecebidos()
{
lock (_PortaLock)
{
if (_PortaMKS.IsOpen)
{
@ -691,6 +730,7 @@ namespace AgroBase.Services
}
}
}
}
private static async Task SendRelevantData(byte Addr, int data) // Verifica o tipo de dados e envia
{
@ -2283,17 +2323,19 @@ namespace AgroBase.Services
private static void rxDisplay()
{
rCHK = 0x00;
Console.Write("RX: ");
//Console.Write("RX: ");
for (int a = 0; a < Data_Number - 1; a++)
{
rCHK += SerialBuffer_RX[a];
Console.Write("{0:X2} ", SerialBuffer_RX[a]);
//Console.Write("{0:X2} ", SerialBuffer_RX[a]);
}
Console.WriteLine("{0:X2} rCHK: {1:X2} Length: {2}", SerialBuffer_RX[Data_Number > 0 ? Data_Number - 1 : Data_Number], (byte)rCHK, Data_Number);
//Console.WriteLine("{0:X2} rCHK: {1:X2} Length: {2}", SerialBuffer_RX[Data_Number > 0 ? Data_Number - 1 : Data_Number], (byte)rCHK, Data_Number);
}
private static void txDisplay()
{
return;
Console.Write("TX: ");
for (int a = 0; a < Buffer.Length; a++)
{

6
AgroBase/AgroBase/Services/ModbusService.cs
View File

@ -228,10 +228,14 @@ namespace AgroBase.Services
//await Task.Delay(100);
DescartarDadosBuffer();
_PortaModbus.Write(Comando.Comando, 0, Comando.Comando.Length);
Comando.ErroEnvio = !SerialService.EnviarDadosPortaSerial(_PortaModbus, Comando.Comando, 0, Comando.Comando.Length);
Comando.Enviado = true;
if (!Comando.ErroEnvio)
{
Comando.Resposta = await SerialService.LerDadosDaPortaSerialAsync(_PortaModbus, Comando.TamanhoEsperado, Comando.TimeoutResposta);
}
Comando.RespondidoEm = DateTime.Now;

2
AgroBase/AgroBase/Services/PZEMService.cs
View File

@ -97,7 +97,7 @@ namespace AgroBase.Services
{
try
{
if (!resposta.Any())
if (!resposta.Any() || resposta.Length < 16)
{
return false;
}

172
AgroBase/AgroBase/Services/SerialService.cs
View File

@ -101,6 +101,150 @@ namespace AgroBase.Services
private static bool VarreduraEmAndamento = false;
public static bool EnviarDadosPortaSerial(SerialPort _porta, string Dados, bool DebugMode = false)
{
bool ForceDebug = false;
if (ForceDebug)
{
DebugMode = true;
}
// Verifica se a porta está definida
if (_porta == null)
{
Console.WriteLine("A porta serial não está definida.");
return false;
}
// Verifica se a porta está aberta
if (!_porta.IsOpen)
{
Console.WriteLine("A porta serial não está aberta.");
return false;
}
try
{
// Define o tempo de espera máximo para a operação de escrita
_porta.WriteTimeout = 2000; // 2 segundos de timeout para escrita (ajuste conforme necessário)
// Verifica se há dados para enviar
if (string.IsNullOrEmpty(Dados))
{
if (DebugMode)
Console.WriteLine("Nenhum dado para enviar.");
return false;
}
// Tenta enviar os dados na porta serial
_porta.Write(Dados);
if (DebugMode)
Console.WriteLine("Dados enviados com sucesso.");
return true;
}
catch (TimeoutException)
{
// Timeout ocorreu, o que significa que não foi possível escrever os dados no tempo estipulado
if (DebugMode)
Console.WriteLine("Erro: Timeout ao tentar enviar dados.");
return false;
}
catch (InvalidOperationException ex)
{
// A porta não estava aberta ou algo relacionado a uma falha de operação na porta
if (DebugMode)
Console.WriteLine("Erro: A porta serial não está aberta ou houve uma falha na operação. " + ex.Message);
return false;
}
catch (UnauthorizedAccessException ex)
{
// Caso a porta serial esteja sendo acessada por outro processo
if (DebugMode)
Console.WriteLine("Erro: Acesso negado à porta serial. " + ex.Message);
return false;
}
catch (Exception ex)
{
// Captura outros tipos de erro inesperados
if (DebugMode)
Console.WriteLine("Erro inesperado: " + ex.Message);
return false;
}
}
public static bool EnviarDadosPortaSerial(SerialPort _porta, byte[] Dados, int inicio, int comprimento, bool DebugMode = false)
{
bool ForceDebug = false;
if (ForceDebug)
{
DebugMode = true;
}
// Verifica se a porta está definida
if (_porta == null)
{
Console.WriteLine("A porta serial não está definida.");
return false;
}
// Verifica se a porta está aberta
if (!_porta.IsOpen)
{
Console.WriteLine("A porta serial não está aberta.");
return false;
}
try
{
// Define o tempo de espera máximo para a operação de escrita
_porta.WriteTimeout = 2000; // 2 segundos de timeout para escrita (ajuste conforme necessário)
// Verifica se há dados para enviar
if (Dados == null || Dados.Length == 0)
{
if (DebugMode)
Console.WriteLine("Nenhum dado para enviar.");
return false;
}
// Tenta enviar os dados na porta serial
_porta.Write(Dados, inicio, comprimento);
if (DebugMode)
Console.WriteLine("Dados enviados com sucesso.");
return true;
}
catch (TimeoutException)
{
// Timeout ocorreu, o que significa que não foi possível escrever os dados no tempo estipulado
if (DebugMode)
Console.WriteLine("Erro: Timeout ao tentar enviar dados.");
return false;
}
catch (InvalidOperationException ex)
{
// A porta não estava aberta ou algo relacionado a uma falha de operação na porta
if (DebugMode)
Console.WriteLine("Erro: A porta serial não está aberta ou houve uma falha na operação. " + ex.Message);
return false;
}
catch (UnauthorizedAccessException ex)
{
// Caso a porta serial esteja sendo acessada por outro processo
if (DebugMode)
Console.WriteLine("Erro: Acesso negado à porta serial. " + ex.Message);
return false;
}
catch (Exception ex)
{
// Captura outros tipos de erro inesperados
if (DebugMode)
Console.WriteLine("Erro inesperado: " + ex.Message);
return false;
}
}
public static async Task RealizarVarreduraPortasUSB(System.Timers.Timer tmr)
{
tmr.Interval = InteraloVerificacao;
@ -120,6 +264,7 @@ namespace AgroBase.Services
var Portas = SerialPort.GetPortNames();
var PortasNaoMapeadas = Portas.Where(x => !dispositivosMapeados.Select(y => y.PortaCOM).Contains(x)).ToList();
List<string> PortasSemResposta = new List<string>();
for (int i = 0; i < PortasNaoMapeadas.Count(); i++)
{
@ -170,7 +315,10 @@ namespace AgroBase.Services
ProtocoloCheck = Variaveis.OperacaoEmAndamento.DispAtu.Dados.ProtocoloVerificacao(true);
AtualizarConsole("Procurando dispositivo ATU");
_Porta.Write(ProtocoloCheck);
if (!EnviarDadosPortaSerial(_Porta, ProtocoloCheck))
{
continue;
}
await AguardaRespostaPorta(_Porta, 1000);
@ -185,7 +333,10 @@ namespace AgroBase.Services
ProtocoloCheck = Variaveis.OperacaoEmAndamento.DispSen.Dados.ProtocoloVerificacao(true);
AtualizarConsole("Procurando dispositivo SEN");
_Porta.Write(ProtocoloCheck);
if (!EnviarDadosPortaSerial(_Porta, ProtocoloCheck))
{
continue;
}
await AguardaRespostaPorta(_Porta, 1000);
@ -247,11 +398,17 @@ namespace AgroBase.Services
{
await ProcuraDispositivoModbus(ModbusService._PortaModbus, false);
}
if (MKS057DService.Iniciado)
lock (MKS057DService._PortaLock)
{
if (DispositivosMapeados.Any(x => x.Dispositivo == T_Code.Mks) && MKS057DService._PortaMKS != null &&!PortasNaoMapeadas.Contains(MKS057DService._PortaMKS.PortName))
{
//await ProcuraDispositivoMKS(MKS057DService._PortaMKS);
Task.Run(async () => {
await ProcuraDispositivoMKS(MKS057DService._PortaMKS);
});
}
if (BLD300RService.Iniciado)
}
if (DispositivosMapeados.Any(x => x.Dispositivo == T_Code.Bld) && !PortasNaoMapeadas.Contains(BLD300RService._PortaBLD.PortName))
{
await ProcuraDispositivoBLD(BLD300RService._PortaBLD);
}
@ -331,7 +488,7 @@ namespace AgroBase.Services
return false;
}
private static string ReadLineWithTimeout(SerialPort porta, int timeout)
public static string ReadLineWithTimeout(SerialPort porta, int timeout)
{
CancellationTokenSource cts = new CancellationTokenSource();
Task<string> task = Task.Run(() => porta.ReadLine(), cts.Token);
@ -472,7 +629,7 @@ namespace AgroBase.Services
{
string ProtocoloCheck = Modulo.ProtocoloVerificacao(true);
porta.Write(ProtocoloCheck);
EnviarDadosPortaSerial(porta, ProtocoloCheck);
await AguardaRespostaPorta(porta, 1000);
@ -577,11 +734,14 @@ namespace AgroBase.Services
}
private static async Task<bool> ProcuraDispositivoMKS(SerialPort porta)
{
lock (MKS057DService._PortaLock)
{
if (MKS057DService.Iniciado && porta.PortName != MKS057DService._PortaMKS.PortName)
{
return false;
}
}
if (!MKS057DService.Referenciando && (!MKS057DService.Iniciado || Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Any(x => !x.DirMotor.MKS_Inicializado)))
{

2
AgroBase/AgroBase/Services/UltrasonicA05Service.cs
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@ -125,7 +125,7 @@ namespace AgroBase.Services
for (int i = 0; i < Variaveis.OperacaoEmAndamento.DispSen.Dados.ConfiguracaoSensorUltrassom.Sensores.Count(); i++)
{
var sensor = Variaveis.OperacaoEmAndamento.DispSen.Dados.ConfiguracaoSensorUltrassom.Sensores[i];
sensor.Leitura = leituras[i];
sensor.LeituraCm = leituras[i] / 1000.0;
}
DadosLeitura.Configuracao = Variaveis.OperacaoEmAndamento.DispSen.Dados.ConfiguracaoSensorUltrassom;
}

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AgroBase/AgroBase/bin/Debug/Logs/Mbs_err.txt
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@ -3,3 +3,14 @@
12/09/2024 15:47:36:349 - Porta COM3 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
12/09/2024 16:37:44:764 - Porta COM68 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
12/09/2024 16:46:08:695 - Porta COM3 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
11/11/2024 08:37:14:124 - Porta COM74 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
11/11/2024 08:51:01:166 - Porta COM74 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
11/11/2024 09:09:29:723 - Porta COM74 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
11/11/2024 09:10:38:034 - Porta COM74 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
11/11/2024 09:10:51:069 - Porta COM74 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
11/11/2024 09:31:00:460 - Porta COM68 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
11/11/2024 09:31:08:546 - Porta COM68 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
11/11/2024 09:32:16:104 - Porta COM68 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
11/11/2024 09:33:39:070 - Porta COM68 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
11/11/2024 09:35:21:159 - Porta COM68 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
11/11/2024 13:38:33:524 - Porta COM85 - 0: Erro ao processar fila de comandos. Erro=The port is closed.

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AgroBase/AgroBase/bin/Debug/Python/Output/ervas_Cam_Solo_0.json
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@ -1,60 +1,60 @@
[
{
"timestamp": 1730223063.4357438,
"timestamp": 1730295218.2382877,
"x_max": 640.0,
"y_max": 480.0,
"objetos": []
},
{
"timestamp": 1730223063.4682589,
"timestamp": 1730295218.269745,
"x_max": 640.0,
"y_max": 480.0,
"objetos": []
},
{
"timestamp": 1730223063.4987152,
"timestamp": 1730295218.2992513,
"x_max": 640.0,
"y_max": 480.0,
"objetos": []
},
{
"timestamp": 1730223063.5311768,
"timestamp": 1730295218.3407083,
"x_max": 640.0,
"y_max": 480.0,
"objetos": []
},
{
"timestamp": 1730223063.5636268,
"timestamp": 1730295218.3711867,
"x_max": 640.0,
"y_max": 480.0,
"objetos": []
},
{
"timestamp": 1730223063.5956206,
"timestamp": 1730295218.40322,
"x_max": 640.0,
"y_max": 480.0,
"objetos": []
},
{
"timestamp": 1730223063.6291697,
"timestamp": 1730295218.434695,
"x_max": 640.0,
"y_max": 480.0,
"objetos": []
},
{
"timestamp": 1730223063.6596236,
"timestamp": 1730295218.4676962,
"x_max": 640.0,
"y_max": 480.0,
"objetos": []
},
{
"timestamp": 1730223063.6940958,
"timestamp": 1730295218.4993818,
"x_max": 640.0,
"y_max": 480.0,
"objetos": []
},
{
"timestamp": 1730223063.7330477,
"timestamp": 1730295218.535353,
"x_max": 640.0,
"y_max": 480.0,
"objetos": []

18
AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html
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@ -25,7 +25,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_f874e23c9f6634fbbbee12e7268299a5 {
#map_bb24316082a755985574b8eccdf68f8d {
position: relative;
width: 100.0%;
height: 100.0%;
@ -39,14 +39,14 @@
<body>
<div class="folium-map" id="map_f874e23c9f6634fbbbee12e7268299a5" ></div>
<div class="folium-map" id="map_bb24316082a755985574b8eccdf68f8d" ></div>
</body>
<script>
var map_f874e23c9f6634fbbbee12e7268299a5 = L.map(
"map_f874e23c9f6634fbbbee12e7268299a5",
var map_bb24316082a755985574b8eccdf68f8d = L.map(
"map_bb24316082a755985574b8eccdf68f8d",
{
center: [0.0, 0.0],
crs: L.CRS.EPSG3857,
@ -60,13 +60,13 @@
var tile_layer_e5ecc91c27eadae77cb4743fe8d836e5 = L.tileLayer(
var tile_layer_ba7df28846484ea0aeeca5cdafc6169c = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
);
tile_layer_e5ecc91c27eadae77cb4743fe8d836e5.addTo(map_f874e23c9f6634fbbbee12e7268299a5);
tile_layer_ba7df28846484ea0aeeca5cdafc6169c.addTo(map_bb24316082a755985574b8eccdf68f8d);
</script>
@ -87,7 +87,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_f874e23c9f6634fbbbee12e7268299a5);
trajeto_json.addTo(map_bb24316082a755985574b8eccdf68f8d);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -145,7 +145,7 @@
var marcadorDinamico = L.marker([0, 0], {
icon: customIcon
}).addTo(map_f874e23c9f6634fbbbee12e7268299a5);
}).addTo(map_bb24316082a755985574b8eccdf68f8d);
// Conectar ao broker MQTT
const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@ -183,7 +183,7 @@
marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_f874e23c9f6634fbbbee12e7268299a5.setView(novaPosicao, map_f874e23c9f6634fbbbee12e7268299a5.getZoom());
map_bb24316082a755985574b8eccdf68f8d.setView(novaPosicao, map_bb24316082a755985574b8eccdf68f8d.getZoom());
});
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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