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ajustes no controle dos atuadores

This commit is contained in:
Diego Freitas 2025-04-15 10:16:27 -03:00
parent 99d0ff87a5
commit 38a3e54fe2
16 changed files with 194 additions and 106 deletions
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AgroBase/.vs/AgroBase/FileContentIndex/f958ecd0-170f-40c5-847b-6fd4ff66337b.vsidx → AgroBase/.vs/AgroBase/FileContentIndex/c0fa2e4f-b399-46d1-94e2-b2d4a1ec8928.vsidx
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AgroBase/.vs/AgroBase/v17/.suo
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AgroBase/.vs/AgroBase/v17/DocumentLayout.json
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95
AgroBase/AgroBase/Models/Modules/AtuadorModel.cs
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@ -472,7 +472,7 @@ namespace AgroBase.Models.Modules
var config2 = new List<byte> var config2 = new List<byte>
{ {
Variaveis.ID_Num_sMOD, Variaveis.ID_Num_sMOD,
(byte)CanMessagePosicaoDados.Config1, (byte)CanMessagePosicaoDados.Config2,
(byte)S_Code.sMOD, (byte)S_Code.sMOD,
}; };
config2.AddRange(PinoutModel.PinoProtocolo(Pinout, Funcoes, false)); config2.AddRange(PinoutModel.PinoProtocolo(Pinout, Funcoes, false));
@ -1192,7 +1192,7 @@ namespace AgroBase.Models.Modules
return sensor?.Componente ?? bico?.Componente ?? bomba?.Componente ?? S_Code.sVZO; return sensor?.Componente ?? bico?.Componente ?? bomba?.Componente ?? S_Code.sVZO;
} }
private void DefinirOuCriar(int CompID_Num, S_Code componente, bool Iniciado, List<dynamic> Parametros) private void DefinirOuCriar(int CompID_Num, CanMessagePosicaoDados Posicao, S_Code componente, List<dynamic> Parametros)
{ {
var Disp = Variaveis.OperacaoEmAndamento.DispAtu; var Disp = Variaveis.OperacaoEmAndamento.DispAtu;
var item = Disp.Dados.DadosLeitura; var item = Disp.Dados.DadosLeitura;
@ -1208,15 +1208,26 @@ namespace AgroBase.Models.Modules
_sensor = new FirmwareSensorFluxo() _sensor = new FirmwareSensorFluxo()
{ {
ID = sensor.ID, ID = sensor.ID,
Iniciado = Iniciado, Iniciado = false,
Vazao = -1, Vazao = -1,
}; };
item.SensoresFluxo.Add(_sensor); item.SensoresFluxo.Add(_sensor);
} }
if (_sensor != null) if (_sensor != null)
{ {
_sensor.Iniciado = Iniciado; switch (Posicao)
{
case CanMessagePosicaoDados.Status:
{
_sensor.Iniciado = Parametros.Count > 0 ? Parametros[0] : false;
break;
}
case CanMessagePosicaoDados.Dados1:
{
_sensor.Vazao = Parametros.Count > 0 ? Parametros[0] : -1; _sensor.Vazao = Parametros.Count > 0 ? Parametros[0] : -1;
break;
}
}
} }
break; break;
} }
@ -1229,15 +1240,26 @@ namespace AgroBase.Models.Modules
_sensor = new FirmwareSensorPressao() _sensor = new FirmwareSensorPressao()
{ {
ID = sensor.ID, ID = sensor.ID,
Iniciado = Iniciado, Iniciado = false,
Pressao = -1, Pressao = -1,
}; };
item.SensoresPressao.Add(_sensor); item.SensoresPressao.Add(_sensor);
} }
if (_sensor != null) if (_sensor != null)
{ {
_sensor.Iniciado = Iniciado; switch (Posicao)
{
case CanMessagePosicaoDados.Status:
{
_sensor.Iniciado = Parametros.Count > 0 ? Parametros[0] : false;
break;
}
case CanMessagePosicaoDados.Dados1:
{
_sensor.Pressao = Parametros.Count > 0 ? Parametros[0] : -1; _sensor.Pressao = Parametros.Count > 0 ? Parametros[0] : -1;
break;
}
}
} }
break; break;
} }
@ -1250,15 +1272,26 @@ namespace AgroBase.Models.Modules
_sensor = new FirmwareSensorMassa() _sensor = new FirmwareSensorMassa()
{ {
ID = sensor.ID, ID = sensor.ID,
Iniciado = Iniciado, Iniciado = false,
Massa = -1, Massa = -1,
}; };
item.SensoresMassa.Add(_sensor); item.SensoresMassa.Add(_sensor);
} }
if (_sensor != null) if (_sensor != null)
{ {
_sensor.Iniciado = Iniciado; switch (Posicao)
{
case CanMessagePosicaoDados.Status:
{
_sensor.Iniciado = Parametros.Count > 0 ? Parametros[0] : false;
break;
}
case CanMessagePosicaoDados.Dados1:
{
_sensor.Massa = Parametros.Count > 0 ? Parametros[0] : -1; _sensor.Massa = Parametros.Count > 0 ? Parametros[0] : -1;
break;
}
}
} }
break; break;
} }
@ -1271,15 +1304,26 @@ namespace AgroBase.Models.Modules
_sensor = new FirmwareRele() _sensor = new FirmwareRele()
{ {
ID = sensor.ID, ID = sensor.ID,
Iniciado = Iniciado, Iniciado = false,
Leitura = Estado.Desligado, Leitura = Estado.Desligado,
}; };
item.BicosPulverizadores.Add(_sensor); item.BicosPulverizadores.Add(_sensor);
} }
if (_sensor != null) if (_sensor != null)
{ {
_sensor.Iniciado = Iniciado; switch (Posicao)
{
case CanMessagePosicaoDados.Status:
{
_sensor.Iniciado = Parametros.Count > 0 ? Parametros[0] : false;
break;
}
case CanMessagePosicaoDados.Dados1:
{
_sensor.Leitura = Parametros.Count > 0 ? Parametros[0] : Estado.Desligado; _sensor.Leitura = Parametros.Count > 0 ? Parametros[0] : Estado.Desligado;
break;
}
}
} }
break; break;
} }
@ -1292,7 +1336,7 @@ namespace AgroBase.Models.Modules
_sensor = new FirmwareBombaPressurizadora() _sensor = new FirmwareBombaPressurizadora()
{ {
ID = sensor.ID, ID = sensor.ID,
Iniciado = Iniciado, Iniciado = false,
Estado = Estado.Desligado, Estado = Estado.Desligado,
Potencia = -1, Potencia = -1,
Pressao = -1, Pressao = -1,
@ -1302,11 +1346,22 @@ namespace AgroBase.Models.Modules
} }
if (_sensor != null) if (_sensor != null)
{ {
_sensor.Iniciado = Iniciado; switch (Posicao)
{
case CanMessagePosicaoDados.Status:
{
_sensor.Iniciado = Parametros.Count > 0 ? Parametros[0] : false;
break;
}
case CanMessagePosicaoDados.Dados1:
{
_sensor.Estado = Parametros.Count > 0 ? Parametros[0] : Estado.Desligado; _sensor.Estado = Parametros.Count > 0 ? Parametros[0] : Estado.Desligado;
_sensor.Potencia = Parametros.Count > 1 ? Parametros[1] : -1; _sensor.Potencia = Parametros.Count > 1 ? Parametros[1] : -1;
_sensor.PressaoSP = Parametros.Count > 2 ? Parametros[2] : -1; _sensor.PressaoSP = Parametros.Count > 2 ? Parametros[2] : -1;
_sensor.Pressao = Parametros.Count > 3 ? Parametros[3] : -1; _sensor.Pressao = Parametros.Count > 3 ? Parametros[3] : -1;
break;
}
}
} }
break; break;
} }
@ -1324,7 +1379,7 @@ namespace AgroBase.Models.Modules
S_Code componente = DetectarComponenteDoID_Num(ID_Num); S_Code componente = DetectarComponenteDoID_Num(ID_Num);
Console.WriteLine($"[ATU] Componente={componente.ToString()}, ID_Num={ID_Num}, Data={FuncoesGlobais.ConverterComandoBytesParaTexto(data)}"); //Console.WriteLine($"[ATU] Componente={componente.ToString()}, ID_Num={ID_Num}, Data={FuncoesGlobais.ConverterComandoBytesParaTexto(data)}");
switch (posicao) switch (posicao)
{ {
@ -1336,7 +1391,7 @@ namespace AgroBase.Models.Modules
bool conectado = data[3] == 1; bool conectado = data[3] == 1;
int versao = data[4]; int versao = data[4];
Console.WriteLine($"[ATU] Resposta {ID_Num} recebida. Tipo={tipoModulo}, Conectado={conectado}, Versão={versao}"); //Console.WriteLine($"[ATU] Resposta {ID_Num} recebida. Tipo={tipoModulo}, Conectado={conectado}, Versão={versao}");
item.Conectado = conectado; item.Conectado = conectado;
item.Dispositivo = tipoModulo; item.Dispositivo = tipoModulo;
@ -1345,7 +1400,7 @@ namespace AgroBase.Models.Modules
else else
{ {
bool Iniciado = data[2] == 1; bool Iniciado = data[2] == 1;
DefinirOuCriar(ID_Num, componente, Iniciado, new List<dynamic>()); DefinirOuCriar(ID_Num, posicao, componente, new List<dynamic>() { Iniciado });
} }
break; break;
} }
@ -1356,25 +1411,25 @@ namespace AgroBase.Models.Modules
case S_Code.sBIC: case S_Code.sBIC:
{ {
Estado estado = (Estado)data[2]; Estado estado = (Estado)data[2];
DefinirOuCriar(ID_Num, componente, true, new List<dynamic>() { estado }); DefinirOuCriar(ID_Num, posicao, componente, new List<dynamic>() { estado });
break; break;
} }
case S_Code.sFLX: case S_Code.sFLX:
{ {
double vazao = ConverterByteParaDouble(data, 2); double vazao = ConverterByteParaDouble(data, 2);
DefinirOuCriar(ID_Num, componente, true, new List<dynamic>() { vazao }); DefinirOuCriar(ID_Num, posicao, componente, new List<dynamic>() { vazao });
break; break;
} }
case S_Code.sMAS: case S_Code.sMAS:
{ {
double massa = ConverterByteParaDouble(data, 2); double massa = ConverterByteParaDouble(data, 2);
DefinirOuCriar(ID_Num, componente, true, new List<dynamic>() { massa }); DefinirOuCriar(ID_Num, posicao, componente, new List<dynamic>() { massa });
break; break;
} }
case S_Code.sPRS: case S_Code.sPRS:
{ {
double pressao = ConverterByteParaDouble(data, 2); double pressao = ConverterByteParaDouble(data, 2);
DefinirOuCriar(ID_Num, componente, true, new List<dynamic>() { pressao }); DefinirOuCriar(ID_Num, posicao, componente, new List<dynamic>() { pressao });
break; break;
} }
case S_Code.sBMB: case S_Code.sBMB:
@ -1383,7 +1438,7 @@ namespace AgroBase.Models.Modules
int percentualPotencia = data[3]; int percentualPotencia = data[3];
int pressaoSp = data[4]; int pressaoSp = data[4];
int pressaoAtual = data[5]; int pressaoAtual = data[5];
DefinirOuCriar(ID_Num, componente, true, new List<dynamic>() { estado, percentualPotencia, pressaoSp, pressaoAtual }); DefinirOuCriar(ID_Num, posicao, componente, new List<dynamic>() { estado, percentualPotencia, pressaoSp, pressaoAtual });
break; break;
} }

18
AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
View File

@ -262,7 +262,7 @@ namespace AgroBase.Models.Modules
{ {
Descricao = "Corrente Máx", Descricao = "Corrente Máx",
Valor = (3.2).ToString(), Valor = (3.2).ToString(),
QtdBytes = 1, QtdBytes = 2,
Escalar = true, Escalar = true,
Enviar = true Enviar = true
}, },
@ -294,8 +294,8 @@ namespace AgroBase.Models.Modules
{ {
Descricao = "Corrente Máx", Descricao = "Corrente Máx",
Valor = (3.2).ToString(), Valor = (3.2).ToString(),
QtdBytes = 1, QtdBytes = 2,
Escalar = false, Escalar = true,
Enviar = true Enviar = true
}, },
} }
@ -326,8 +326,8 @@ namespace AgroBase.Models.Modules
{ {
Descricao = "Corrente Máx", Descricao = "Corrente Máx",
Valor = (50).ToString(), Valor = (50).ToString(),
QtdBytes = 1, QtdBytes = 2,
Escalar = false, Escalar = true,
Enviar = true Enviar = true
}, },
} }
@ -358,8 +358,8 @@ namespace AgroBase.Models.Modules
{ {
Descricao = "Corrente Máx", Descricao = "Corrente Máx",
Valor = (100).ToString(), Valor = (100).ToString(),
QtdBytes = 1, QtdBytes = 2,
Escalar = false, Escalar = true,
Enviar = true Enviar = true
}, },
} }
@ -534,7 +534,7 @@ namespace AgroBase.Models.Modules
{ {
FuncoesPinout.ServoFreio, FuncoesPinout.ServoFreio,
}, },
_AnguloControle = 0, _AnguloControle = 180,
}, },
new SensorServoModel() new SensorServoModel()
{ {
@ -547,7 +547,7 @@ namespace AgroBase.Models.Modules
{ {
FuncoesPinout.ServoFreio, FuncoesPinout.ServoFreio,
}, },
_AnguloControle = 0, _AnguloControle = 180,
}, },
} }
}; };

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2
AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd-2_0.par
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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, <meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" /> initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style> <style>
#map_f39a2eeeafc2e53a380e049fb0eabbad { #map_a4006f9d75d902d102b79944f8248919 {
position: relative; position: relative;
width: 100.0%; width: 100.0%;
height: 100.0%; height: 100.0%;
@ -39,14 +39,14 @@
<body> <body>
<div class="folium-map" id="map_f39a2eeeafc2e53a380e049fb0eabbad" ></div> <div class="folium-map" id="map_a4006f9d75d902d102b79944f8248919" ></div>
</body> </body>
<script> <script>
var map_f39a2eeeafc2e53a380e049fb0eabbad = L.map( var map_a4006f9d75d902d102b79944f8248919 = L.map(
"map_f39a2eeeafc2e53a380e049fb0eabbad", "map_a4006f9d75d902d102b79944f8248919",
{ {
center: [0.0, 0.0], center: [0.0, 0.0],
crs: L.CRS.EPSG3857, crs: L.CRS.EPSG3857,
@ -60,13 +60,13 @@
var tile_layer_3f2633897e8c84372d3f03a0dd6f2143 = L.tileLayer( var tile_layer_39ecd34b01d19cdf7444ae1ecfb66d85 = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png", "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} {"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_3f2633897e8c84372d3f03a0dd6f2143.addTo(map_f39a2eeeafc2e53a380e049fb0eabbad); tile_layer_39ecd34b01d19cdf7444ae1ecfb66d85.addTo(map_a4006f9d75d902d102b79944f8248919);
</script> </script>
@ -87,7 +87,7 @@
} }
trajeto_json_add({"features": []}); trajeto_json_add({"features": []});
trajeto_json.addTo(map_f39a2eeeafc2e53a380e049fb0eabbad); trajeto_json.addTo(map_a4006f9d75d902d102b79944f8248919);
function adicionarGeometria(novaGeometria) { function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria); trajeto_json.addData(novaGeometria);
@ -145,7 +145,7 @@
var marcadorDinamico = L.marker([0, 0], { var marcadorDinamico = L.marker([0, 0], {
icon: customIcon icon: customIcon
}).addTo(map_f39a2eeeafc2e53a380e049fb0eabbad); }).addTo(map_a4006f9d75d902d102b79944f8248919);
// Conectar ao broker MQTT // Conectar ao broker MQTT
const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@ -183,7 +183,7 @@
marcadorDinamico.setRotationAngle(angulo); marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]); adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_f39a2eeeafc2e53a380e049fb0eabbad.setView(novaPosicao, map_f39a2eeeafc2e53a380e049fb0eabbad.getZoom()); map_a4006f9d75d902d102b79944f8248919.setView(novaPosicao, map_a4006f9d75d902d102b79944f8248919.getZoom());
}); });
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) { function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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8
Firmware/Modulos/BombaPressurizadoraModel.h
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@ -165,8 +165,8 @@ class BombaPressurizadora {
break; break;
} }
case CanMessagePosicaoDados::Dados1: { case CanMessagePosicaoDados::Dados1: {
data.push_back(EstadoLeitura); data.push_back(static_cast<uint8_t>(EstadoLeitura));
data.push_back(PercentualPotenciaLeitura); data.push_back((int)PercentualPotenciaLeitura);
data.push_back((int)_PressaoSP); data.push_back((int)_PressaoSP);
data.push_back((int)sensorPressao->Pressao); data.push_back((int)sensorPressao->Pressao);
break; break;
@ -256,11 +256,11 @@ std::vector<uint8_t> BombaPressurizadora::ConfigurarBomba(std::vector<BombaPress
} }
void BombaPressurizadora::ComandarBomba(std::vector<BombaPressurizadora*>& lista, std::vector<uint8_t>& data, uint8_t& id) { void BombaPressurizadora::ComandarBomba(std::vector<BombaPressurizadora*>& lista, std::vector<uint8_t>& data, uint8_t& id) {
if (data.size() < 6) return; if (data.size() < 5) return;
Estado novoEstado = (Estado)data[3]; Estado novoEstado = (Estado)data[3];
int pressao = (int)data[4]; int pressao = (int)data[4];
for (auto* _bomba : lista) { for (auto* _bomba : lista) {
if (_bomba && _bomba->ID_Num == id) { if (_bomba->ID_Num == id) {
_bomba->_EstadoControle = novoEstado; _bomba->_EstadoControle = novoEstado;
_bomba->_PressaoSP = (double)pressao; _bomba->_PressaoSP = (double)pressao;
_bomba->AlterarStatusBomba(); _bomba->AlterarStatusBomba();

2
Firmware/Modulos/ReleModel.h
View File

@ -96,7 +96,7 @@ class Rele {
break; break;
} }
case CanMessagePosicaoDados::Dados1: { case CanMessagePosicaoDados::Dados1: {
data.push_back(_Status); data.push_back(static_cast<uint8_t>(_Status));
break; break;
} }
} }

6
Firmware/Modulos/ServoFreioModel.h
View File

@ -38,7 +38,7 @@ class ServoFreio {
if (_pino.Definido()) { if (_pino.Definido()) {
_Servo.attach(_pino.num); _Servo.attach(_pino.num);
_Servo.write(Incremental ? 0 : 180);\ AtualizarAngulo(Incremental ? 0 : 180);
Iniciado = true; Iniciado = true;
@ -67,6 +67,8 @@ class ServoFreio {
void AtualizarAngulo(int novoAngulo) { void AtualizarAngulo(int novoAngulo) {
if (Iniciado) { if (Iniciado) {
PrintTela("Angulo de freio atualizado de " + String(_Angulo) + " para " + String(novoAngulo));
_Angulo = novoAngulo; _Angulo = novoAngulo;
_Servo.write(_Angulo); _Servo.write(_Angulo);
@ -141,7 +143,7 @@ void ServoFreio::ComandarServo(std::vector<ServoFreio*>& lista, std::vector<uint
if (data.size() < 4) return; if (data.size() < 4) return;
for (auto* _freio : lista) { for (auto* _freio : lista) {
if (_freio->ID_Num == id) { if (_freio->ID_Num == id) {
_freio->AtualizarAngulo(data[3]); _freio->AtualizarAngulo((int)data[3]);
return; return;
} }
} }

4
Firmware/Modulos/SinaleiroModel.h
View File

@ -85,8 +85,8 @@ class Sinaleiro {
break; break;
} }
case CanMessagePosicaoDados::Dados1: { case CanMessagePosicaoDados::Dados1: {
data.push_back(_StatusLeitura); data.push_back(static_cast<uint8_t>(_StatusLeitura));
data.push_back(_Status); data.push_back(static_cast<uint8_t>(_Status));
break; break;
} }
} }