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b/AgroBase/AgroBase/Forms/frmMKS.Designer.cs new file mode 100644 index 000000000..d30f14923 --- /dev/null +++ b/AgroBase/AgroBase/Forms/frmMKS.Designer.cs @@ -0,0 +1,1236 @@ +namespace AgroBase.Forms +{ + partial class frmMKS + { + /// + /// Required designer variable. + /// + private System.ComponentModel.IContainer components = null; + + /// + /// Clean up any resources being used. + /// + /// true if managed resources should be disposed; otherwise, false. + protected override void Dispose(bool disposing) + { + if (disposing && (components != null)) + { + components.Dispose(); + } + base.Dispose(disposing); + } + + #region Windows Form Designer generated code + + /// + /// Required method for Designer support - do not modify + /// the contents of this method with the code editor. + /// + private void InitializeComponent() + { + this.cmbPorta = new System.Windows.Forms.ComboBox(); + this.label1 = new System.Windows.Forms.Label(); + this.label2 = new System.Windows.Forms.Label(); + this.cmbBaud = new System.Windows.Forms.ComboBox(); + this.btnAtualizar = new System.Windows.Forms.Button(); + this.btnConectar = new System.Windows.Forms.Button(); + this.lblEndereco = new System.Windows.Forms.Label(); + this.cmbEndereco = new System.Windows.Forms.ComboBox(); + this.groupBox1 = new System.Windows.Forms.GroupBox(); + this.txtValor = new System.Windows.Forms.TextBox(); + this.label12 = new System.Windows.Forms.Label(); + this.cmbModo = new System.Windows.Forms.ComboBox(); + this.btnPararPosicao = new System.Windows.Forms.Button(); + this.btnIniciarPosicao = new System.Windows.Forms.Button(); + this.label8 = new System.Windows.Forms.Label(); + this.label7 = new System.Windows.Forms.Label(); + this.label6 = new System.Windows.Forms.Label(); + this.lblAngulo = new System.Windows.Forms.Label(); + this.label4 = new System.Windows.Forms.Label(); + this.label3 = new System.Windows.Forms.Label(); + this.cmbVelocidadePosicao = new System.Windows.Forms.ComboBox(); + this.rdbAntihorarioPosicao = new System.Windows.Forms.RadioButton(); + this.rdbHorarioPosicao = new System.Windows.Forms.RadioButton(); + this.groupBox2 = new System.Windows.Forms.GroupBox(); + this.btnRampaParada = new System.Windows.Forms.Button(); + this.btnRampaInicio = new System.Windows.Forms.Button(); + this.btnEndereco = new System.Windows.Forms.Button(); + this.btnBaudRate = new System.Windows.Forms.Button(); + this.btnProtecao = new System.Windows.Forms.Button(); + this.btnMStep = new System.Windows.Forms.Button(); + this.btnCorrenteMaxima = new System.Windows.Forms.Button(); + this.btnModoControle = new System.Windows.Forms.Button(); + this.btnRestaurar = new System.Windows.Forms.Button(); + this.cmbRampaParada = new System.Windows.Forms.ComboBox(); + this.label16 = new System.Windows.Forms.Label(); + this.cmbRampaInicio = new System.Windows.Forms.ComboBox(); + this.label15 = new System.Windows.Forms.Label(); + this.cmbUartAddr = new System.Windows.Forms.ComboBox(); + this.label14 = new System.Windows.Forms.Label(); + this.cmbUartBaud = new System.Windows.Forms.ComboBox(); + this.label13 = new System.Windows.Forms.Label(); + this.cmbProtecao = new System.Windows.Forms.ComboBox(); + this.label11 = new System.Windows.Forms.Label(); + this.cmbMStep = new System.Windows.Forms.ComboBox(); + this.label10 = new System.Windows.Forms.Label(); + this.cmbCorrenteMaxima = new System.Windows.Forms.ComboBox(); + this.label9 = new System.Windows.Forms.Label(); + this.cmbModoControle = new System.Windows.Forms.ComboBox(); + this.label5 = new System.Windows.Forms.Label(); + this.btnCalibrar = new System.Windows.Forms.Button(); + this.groupBox3 = new System.Windows.Forms.GroupBox(); + this.groupBox4 = new System.Windows.Forms.GroupBox(); + this.btnGravarRetorno = new System.Windows.Forms.Button(); + this.btnIrParaZero = new System.Windows.Forms.Button(); + this.btnZero = new System.Windows.Forms.Button(); + this.cmbLimiteRetorno = new System.Windows.Forms.ComboBox(); + this.label21 = new System.Windows.Forms.Label(); + this.btnGravarLimite = new System.Windows.Forms.Button(); + this.cmbDirecaoLimite = new System.Windows.Forms.ComboBox(); + this.label20 = new System.Windows.Forms.Label(); + this.cmbVelocidadeLimite = new System.Windows.Forms.ComboBox(); + this.label19 = new System.Windows.Forms.Label(); + this.cmbZeroLimite = new System.Windows.Forms.ComboBox(); + this.label18 = new System.Windows.Forms.Label(); + this.cmbModoLimite = new System.Windows.Forms.ComboBox(); + this.label17 = new System.Windows.Forms.Label(); + this.groupBox5 = new System.Windows.Forms.GroupBox(); + this.btnSobre = new System.Windows.Forms.Button(); + this.btnDesbloquear = new System.Windows.Forms.Button(); + this.btnBloqueado = new System.Windows.Forms.Button(); + this.txtBloqueado = new System.Windows.Forms.TextBox(); + this.btnResetZero = new System.Windows.Forms.Button(); + this.txtResetZero = new System.Windows.Forms.TextBox(); + this.btnDriverHabilitado = new System.Windows.Forms.Button(); + this.txtDriverHabilitado = new System.Windows.Forms.TextBox(); + this.btnErroAngulo = new System.Windows.Forms.Button(); + this.txtErroAngulo = new System.Windows.Forms.TextBox(); + this.btnNumeroPulsos = new System.Windows.Forms.Button(); + this.txtNumeroPulsos = new System.Windows.Forms.TextBox(); + this.btnRPM = new System.Windows.Forms.Button(); + this.txtRPM = new System.Windows.Forms.TextBox(); + this.btnErroAcumulado = new System.Windows.Forms.Button(); + this.btnErroCarregado = new System.Windows.Forms.Button(); + this.txtErroCarregado = new System.Windows.Forms.TextBox(); + this.rdbDecimal = new System.Windows.Forms.RadioButton(); + this.rdbHex = new System.Windows.Forms.RadioButton(); + this.groupBox6 = new System.Windows.Forms.GroupBox(); + this.txtStatus = new System.Windows.Forms.TextBox(); + this.label25 = new System.Windows.Forms.Label(); + this.txtAceleracao = new System.Windows.Forms.TextBox(); + this.label24 = new System.Windows.Forms.Label(); + this.txtVelocidade = new System.Windows.Forms.TextBox(); + this.label23 = new System.Windows.Forms.Label(); + this.txtDirecao = new System.Windows.Forms.TextBox(); + this.label22 = new System.Windows.Forms.Label(); + this.btnIniciarTodos = new System.Windows.Forms.Button(); + this.btnPararTodos = new System.Windows.Forms.Button(); + this.groupBox1.SuspendLayout(); + this.groupBox2.SuspendLayout(); + this.groupBox3.SuspendLayout(); + this.groupBox4.SuspendLayout(); + this.groupBox5.SuspendLayout(); + this.groupBox6.SuspendLayout(); + this.SuspendLayout(); + // + // cmbPorta + // + this.cmbPorta.FormattingEnabled = true; + this.cmbPorta.Location = new System.Drawing.Point(100, 14); + this.cmbPorta.Name = "cmbPorta"; + this.cmbPorta.Size = new System.Drawing.Size(84, 21); + this.cmbPorta.TabIndex = 0; + // + // label1 + // + this.label1.AutoSize = true; + this.label1.Location = new System.Drawing.Point(7, 22); + this.label1.Name = "label1"; + this.label1.Size = new System.Drawing.Size(59, 13); + this.label1.TabIndex = 1; + this.label1.Text = "Porta COM"; + // + // label2 + // + this.label2.AutoSize = true; + this.label2.Location = new System.Drawing.Point(7, 49); + this.label2.Name = "label2"; + this.label2.Size = new System.Drawing.Size(58, 13); + this.label2.TabIndex = 3; + this.label2.Text = "Baud Rate"; + // + // cmbBaud + // + this.cmbBaud.FormattingEnabled = true; + this.cmbBaud.Location = new System.Drawing.Point(100, 41); + this.cmbBaud.Name = "cmbBaud"; + this.cmbBaud.Size = new System.Drawing.Size(84, 21); + this.cmbBaud.TabIndex = 2; + // + // btnAtualizar + // + this.btnAtualizar.Location = new System.Drawing.Point(10, 100); + this.btnAtualizar.Name = "btnAtualizar"; + this.btnAtualizar.Size = new System.Drawing.Size(84, 23); + this.btnAtualizar.TabIndex = 4; + this.btnAtualizar.Text = "Atualizar"; + this.btnAtualizar.UseVisualStyleBackColor = true; + this.btnAtualizar.Click += new System.EventHandler(this.btnAtualizar_Click); + // + // btnConectar + // + this.btnConectar.Location = new System.Drawing.Point(100, 100); + this.btnConectar.Name = "btnConectar"; + this.btnConectar.Size = new System.Drawing.Size(84, 23); + this.btnConectar.TabIndex = 5; + this.btnConectar.Text = "Conectar"; + this.btnConectar.UseVisualStyleBackColor = true; + this.btnConectar.Click += new System.EventHandler(this.btnConectar_Click); + // + // lblEndereco + // + this.lblEndereco.AutoSize = true; + this.lblEndereco.Location = new System.Drawing.Point(7, 76); + this.lblEndereco.Name = "lblEndereco"; + this.lblEndereco.Size = new System.Drawing.Size(53, 13); + this.lblEndereco.TabIndex = 7; + this.lblEndereco.Text = "Endereço"; + // + // cmbEndereco + // + this.cmbEndereco.FormattingEnabled = true; + this.cmbEndereco.Location = new System.Drawing.Point(100, 68); + this.cmbEndereco.Name = "cmbEndereco"; + this.cmbEndereco.Size = new System.Drawing.Size(84, 21); + this.cmbEndereco.TabIndex = 6; + this.cmbEndereco.SelectedIndexChanged += new System.EventHandler(this.cmbEndereco_SelectedIndexChanged); + // + // groupBox1 + // + this.groupBox1.Controls.Add(this.btnPararTodos); + this.groupBox1.Controls.Add(this.btnIniciarTodos); + this.groupBox1.Controls.Add(this.txtValor); + this.groupBox1.Controls.Add(this.label12); + this.groupBox1.Controls.Add(this.cmbModo); + this.groupBox1.Controls.Add(this.btnPararPosicao); + this.groupBox1.Controls.Add(this.btnIniciarPosicao); + this.groupBox1.Controls.Add(this.label8); + this.groupBox1.Controls.Add(this.label7); + this.groupBox1.Controls.Add(this.label6); + this.groupBox1.Controls.Add(this.lblAngulo); + this.groupBox1.Controls.Add(this.label4); + this.groupBox1.Controls.Add(this.label3); + this.groupBox1.Controls.Add(this.cmbVelocidadePosicao); + this.groupBox1.Controls.Add(this.rdbAntihorarioPosicao); + this.groupBox1.Controls.Add(this.rdbHorarioPosicao); + this.groupBox1.Location = new System.Drawing.Point(259, 150); + this.groupBox1.Name = "groupBox1"; + this.groupBox1.Size = new System.Drawing.Size(241, 268); + this.groupBox1.TabIndex = 8; + this.groupBox1.TabStop = false; + this.groupBox1.Text = "Controlar posição do motor"; + // + // txtValor + // + this.txtValor.Location = new System.Drawing.Point(89, 111); + this.txtValor.Name = "txtValor"; + this.txtValor.Size = new System.Drawing.Size(85, 20); + this.txtValor.TabIndex = 20; + this.txtValor.TextChanged += new System.EventHandler(this.txtValor_TextChanged); + // + // label12 + // + this.label12.AutoSize = true; + this.label12.Location = new System.Drawing.Point(23, 87); + this.label12.Name = "label12"; + this.label12.Size = new System.Drawing.Size(34, 13); + this.label12.TabIndex = 18; + this.label12.Text = "Modo"; + // + // cmbModo + // + this.cmbModo.FormattingEnabled = true; + this.cmbModo.Location = new System.Drawing.Point(89, 84); + this.cmbModo.Name = "cmbModo"; + this.cmbModo.Size = new System.Drawing.Size(85, 21); + this.cmbModo.TabIndex = 19; + // + // btnPararPosicao + // + this.btnPararPosicao.Location = new System.Drawing.Point(132, 205); + this.btnPararPosicao.Name = "btnPararPosicao"; + this.btnPararPosicao.Size = new System.Drawing.Size(84, 23); + this.btnPararPosicao.TabIndex = 17; + this.btnPararPosicao.Text = "Parar"; + this.btnPararPosicao.UseVisualStyleBackColor = true; + this.btnPararPosicao.Click += new System.EventHandler(this.btnPararPosicao_Click); + // + // btnIniciarPosicao + // + this.btnIniciarPosicao.Location = new System.Drawing.Point(21, 205); + this.btnIniciarPosicao.Name = "btnIniciarPosicao"; + this.btnIniciarPosicao.Size = new System.Drawing.Size(84, 23); + this.btnIniciarPosicao.TabIndex = 16; + this.btnIniciarPosicao.Text = "Iniciar"; + this.btnIniciarPosicao.UseVisualStyleBackColor = true; + this.btnIniciarPosicao.Click += new System.EventHandler(this.btnIniciarPosicao_Click); + // + // label8 + // + this.label8.AutoSize = true; + this.label8.Location = new System.Drawing.Point(10, 170); + this.label8.Name = "label8"; + this.label8.Size = new System.Drawing.Size(210, 13); + this.label8.TabIndex = 15; + this.label8.Text = "Logo, 64000 / 360 = 177,8 pulsos por grau"; + // + // label7 + // + this.label7.AutoSize = true; + this.label7.Location = new System.Drawing.Point(10, 157); + this.label7.Name = "label7"; + this.label7.Size = new System.Drawing.Size(213, 13); + this.label7.TabIndex = 14; + this.label7.Text = "Redutor de 1:20, logo, 64000 pulsos = 360º"; + // + // label6 + // + this.label6.AutoSize = true; + this.label6.Location = new System.Drawing.Point(10, 144); + this.label6.Name = "label6"; + this.label6.Size = new System.Drawing.Size(224, 13); + this.label6.TabIndex = 13; + this.label6.Text = "1. MStep = 16, 16 x 200 = 3200 pulsos = 360º"; + // + // lblAngulo + // + this.lblAngulo.AutoSize = true; + this.lblAngulo.Location = new System.Drawing.Point(180, 114); + this.lblAngulo.Name = "lblAngulo"; + this.lblAngulo.Size = new System.Drawing.Size(32, 13); + this.lblAngulo.TabIndex = 12; + this.lblAngulo.Text = "0,00º"; + // + // label4 + // + this.label4.AutoSize = true; + this.label4.Location = new System.Drawing.Point(23, 114); + this.label4.Name = "label4"; + this.label4.Size = new System.Drawing.Size(31, 13); + this.label4.TabIndex = 10; + this.label4.Text = "Valor"; + // + // label3 + // + this.label3.AutoSize = true; + this.label3.Location = new System.Drawing.Point(23, 60); + this.label3.Name = "label3"; + this.label3.Size = new System.Drawing.Size(60, 13); + this.label3.TabIndex = 9; + this.label3.Text = "Velocidade"; + // + // cmbVelocidadePosicao + // + this.cmbVelocidadePosicao.FormattingEnabled = true; + this.cmbVelocidadePosicao.Location = new System.Drawing.Point(89, 57); + this.cmbVelocidadePosicao.Name = "cmbVelocidadePosicao"; + this.cmbVelocidadePosicao.Size = new System.Drawing.Size(85, 21); + this.cmbVelocidadePosicao.TabIndex = 9; + // + // rdbAntihorarioPosicao + // + this.rdbAntihorarioPosicao.AutoSize = true; + this.rdbAntihorarioPosicao.Location = new System.Drawing.Point(131, 27); + this.rdbAntihorarioPosicao.Name = "rdbAntihorarioPosicao"; + this.rdbAntihorarioPosicao.Size = new System.Drawing.Size(75, 17); + this.rdbAntihorarioPosicao.TabIndex = 1; + this.rdbAntihorarioPosicao.Text = "Antihorário"; + this.rdbAntihorarioPosicao.UseVisualStyleBackColor = true; + // + // rdbHorarioPosicao + // + this.rdbHorarioPosicao.AutoSize = true; + this.rdbHorarioPosicao.Checked = true; + this.rdbHorarioPosicao.Location = new System.Drawing.Point(26, 27); + this.rdbHorarioPosicao.Name = "rdbHorarioPosicao"; + this.rdbHorarioPosicao.Size = new System.Drawing.Size(59, 17); + this.rdbHorarioPosicao.TabIndex = 0; + this.rdbHorarioPosicao.TabStop = true; + this.rdbHorarioPosicao.Text = "Horário"; + this.rdbHorarioPosicao.UseVisualStyleBackColor = true; + // + // groupBox2 + // + this.groupBox2.Controls.Add(this.btnRampaParada); + this.groupBox2.Controls.Add(this.btnRampaInicio); + this.groupBox2.Controls.Add(this.btnEndereco); + this.groupBox2.Controls.Add(this.btnBaudRate); + this.groupBox2.Controls.Add(this.btnProtecao); + this.groupBox2.Controls.Add(this.btnMStep); + this.groupBox2.Controls.Add(this.btnCorrenteMaxima); + this.groupBox2.Controls.Add(this.btnModoControle); + this.groupBox2.Controls.Add(this.btnRestaurar); + this.groupBox2.Controls.Add(this.cmbRampaParada); + this.groupBox2.Controls.Add(this.label16); + this.groupBox2.Controls.Add(this.cmbRampaInicio); + this.groupBox2.Controls.Add(this.label15); + this.groupBox2.Controls.Add(this.cmbUartAddr); + this.groupBox2.Controls.Add(this.label14); + this.groupBox2.Controls.Add(this.cmbUartBaud); + this.groupBox2.Controls.Add(this.label13); + this.groupBox2.Controls.Add(this.cmbProtecao); + this.groupBox2.Controls.Add(this.label11); + this.groupBox2.Controls.Add(this.cmbMStep); + this.groupBox2.Controls.Add(this.label10); + this.groupBox2.Controls.Add(this.cmbCorrenteMaxima); + this.groupBox2.Controls.Add(this.label9); + this.groupBox2.Controls.Add(this.cmbModoControle); + this.groupBox2.Controls.Add(this.label5); + this.groupBox2.Controls.Add(this.btnCalibrar); + this.groupBox2.Location = new System.Drawing.Point(12, 150); + this.groupBox2.Name = "groupBox2"; + this.groupBox2.Size = new System.Drawing.Size(241, 268); + this.groupBox2.TabIndex = 9; + this.groupBox2.TabStop = false; + this.groupBox2.Text = "Parametros"; + // + // btnRampaParada + // + this.btnRampaParada.Location = new System.Drawing.Point(190, 235); + this.btnRampaParada.Name = "btnRampaParada"; + this.btnRampaParada.Size = new System.Drawing.Size(45, 23); + this.btnRampaParada.TabIndex = 31; + this.btnRampaParada.Text = "Def"; + this.btnRampaParada.UseVisualStyleBackColor = true; + this.btnRampaParada.Click += new System.EventHandler(this.btnRampaParada_Click); + // + // btnRampaInicio + // + this.btnRampaInicio.Location = new System.Drawing.Point(190, 208); + this.btnRampaInicio.Name = "btnRampaInicio"; + this.btnRampaInicio.Size = new System.Drawing.Size(45, 23); + this.btnRampaInicio.TabIndex = 30; + this.btnRampaInicio.Text = "Def"; + this.btnRampaInicio.UseVisualStyleBackColor = true; + this.btnRampaInicio.Click += new System.EventHandler(this.btnRampaInicio_Click); + // + // btnEndereco + // + this.btnEndereco.Location = new System.Drawing.Point(190, 181); + this.btnEndereco.Name = "btnEndereco"; + this.btnEndereco.Size = new System.Drawing.Size(45, 23); + this.btnEndereco.TabIndex = 29; + this.btnEndereco.Text = "Def"; + this.btnEndereco.UseVisualStyleBackColor = true; + this.btnEndereco.Click += new System.EventHandler(this.btnEndereco_Click); + // + // btnBaudRate + // + this.btnBaudRate.Location = new System.Drawing.Point(190, 154); + this.btnBaudRate.Name = "btnBaudRate"; + this.btnBaudRate.Size = new System.Drawing.Size(45, 23); + this.btnBaudRate.TabIndex = 28; + this.btnBaudRate.Text = "Def"; + this.btnBaudRate.UseVisualStyleBackColor = true; + this.btnBaudRate.Click += new System.EventHandler(this.btnBaudRate_Click); + // + // btnProtecao + // + this.btnProtecao.Location = new System.Drawing.Point(190, 127); + this.btnProtecao.Name = "btnProtecao"; + this.btnProtecao.Size = new System.Drawing.Size(45, 23); + this.btnProtecao.TabIndex = 27; + this.btnProtecao.Text = "Def"; + this.btnProtecao.UseVisualStyleBackColor = true; + this.btnProtecao.Click += new System.EventHandler(this.btnProtecao_Click); + // + // btnMStep + // + this.btnMStep.Location = new System.Drawing.Point(190, 100); + this.btnMStep.Name = "btnMStep"; + this.btnMStep.Size = new System.Drawing.Size(45, 23); + this.btnMStep.TabIndex = 26; + this.btnMStep.Text = "Def"; + this.btnMStep.UseVisualStyleBackColor = true; + this.btnMStep.Click += new System.EventHandler(this.btnMStep_Click); + // + // btnCorrenteMaxima + // + this.btnCorrenteMaxima.Location = new System.Drawing.Point(190, 73); + this.btnCorrenteMaxima.Name = "btnCorrenteMaxima"; + this.btnCorrenteMaxima.Size = new System.Drawing.Size(45, 23); + this.btnCorrenteMaxima.TabIndex = 25; + this.btnCorrenteMaxima.Text = "Def"; + this.btnCorrenteMaxima.UseVisualStyleBackColor = true; + this.btnCorrenteMaxima.Click += new System.EventHandler(this.btnCorrenteMaxima_Click); + // + // btnModoControle + // + this.btnModoControle.Location = new System.Drawing.Point(190, 46); + this.btnModoControle.Name = "btnModoControle"; + this.btnModoControle.Size = new System.Drawing.Size(45, 23); + this.btnModoControle.TabIndex = 24; + this.btnModoControle.Text = "Def"; + this.btnModoControle.UseVisualStyleBackColor = true; + this.btnModoControle.Click += new System.EventHandler(this.btnModoControle_Click); + // + // btnRestaurar + // + this.btnRestaurar.Location = new System.Drawing.Point(10, 19); + this.btnRestaurar.Name = "btnRestaurar"; + this.btnRestaurar.Size = new System.Drawing.Size(84, 23); + this.btnRestaurar.TabIndex = 23; + this.btnRestaurar.Text = "De fábrica"; + this.btnRestaurar.UseVisualStyleBackColor = true; + this.btnRestaurar.Click += new System.EventHandler(this.btnRestaurar_Click); + // + // cmbRampaParada + // + this.cmbRampaParada.FormattingEnabled = true; + this.cmbRampaParada.Location = new System.Drawing.Point(100, 237); + this.cmbRampaParada.Name = "cmbRampaParada"; + this.cmbRampaParada.Size = new System.Drawing.Size(84, 21); + this.cmbRampaParada.TabIndex = 21; + // + // label16 + // + this.label16.AutoSize = true; + this.label16.Location = new System.Drawing.Point(7, 240); + this.label16.Name = "label16"; + this.label16.Size = new System.Drawing.Size(77, 13); + this.label16.TabIndex = 22; + this.label16.Text = "Rampa parada"; + // + // cmbRampaInicio + // + this.cmbRampaInicio.FormattingEnabled = true; + this.cmbRampaInicio.Location = new System.Drawing.Point(100, 210); + this.cmbRampaInicio.Name = "cmbRampaInicio"; + this.cmbRampaInicio.Size = new System.Drawing.Size(84, 21); + this.cmbRampaInicio.TabIndex = 19; + // + // label15 + // + this.label15.AutoSize = true; + this.label15.Location = new System.Drawing.Point(7, 213); + this.label15.Name = "label15"; + this.label15.Size = new System.Drawing.Size(70, 13); + this.label15.TabIndex = 20; + this.label15.Text = "Rampa início"; + // + // cmbUartAddr + // + this.cmbUartAddr.FormattingEnabled = true; + this.cmbUartAddr.Location = new System.Drawing.Point(100, 183); + this.cmbUartAddr.Name = "cmbUartAddr"; + this.cmbUartAddr.Size = new System.Drawing.Size(84, 21); + this.cmbUartAddr.TabIndex = 17; + // + // label14 + // + this.label14.AutoSize = true; + this.label14.Location = new System.Drawing.Point(7, 186); + this.label14.Name = "label14"; + this.label14.Size = new System.Drawing.Size(53, 13); + this.label14.TabIndex = 18; + this.label14.Text = "Endereço"; + // + // cmbUartBaud + // + this.cmbUartBaud.FormattingEnabled = true; + this.cmbUartBaud.Location = new System.Drawing.Point(100, 156); + this.cmbUartBaud.Name = "cmbUartBaud"; + this.cmbUartBaud.Size = new System.Drawing.Size(84, 21); + this.cmbUartBaud.TabIndex = 15; + // + // label13 + // + this.label13.AutoSize = true; + this.label13.Location = new System.Drawing.Point(7, 159); + this.label13.Name = "label13"; + this.label13.Size = new System.Drawing.Size(58, 13); + this.label13.TabIndex = 16; + this.label13.Text = "Baud Rate"; + // + // cmbProtecao + // + this.cmbProtecao.FormattingEnabled = true; + this.cmbProtecao.Location = new System.Drawing.Point(100, 129); + this.cmbProtecao.Name = "cmbProtecao"; + this.cmbProtecao.Size = new System.Drawing.Size(84, 21); + this.cmbProtecao.TabIndex = 13; + // + // label11 + // + this.label11.AutoSize = true; + this.label11.Location = new System.Drawing.Point(7, 137); + this.label11.Name = "label11"; + this.label11.Size = new System.Drawing.Size(50, 13); + this.label11.TabIndex = 14; + this.label11.Text = "Proteção"; + // + // cmbMStep + // + this.cmbMStep.FormattingEnabled = true; + this.cmbMStep.Location = new System.Drawing.Point(100, 102); + this.cmbMStep.Name = "cmbMStep"; + this.cmbMStep.Size = new System.Drawing.Size(84, 21); + this.cmbMStep.TabIndex = 11; + // + // label10 + // + this.label10.AutoSize = true; + this.label10.Location = new System.Drawing.Point(7, 110); + this.label10.Name = "label10"; + this.label10.Size = new System.Drawing.Size(38, 13); + this.label10.TabIndex = 12; + this.label10.Text = "MStep"; + // + // cmbCorrenteMaxima + // + this.cmbCorrenteMaxima.FormattingEnabled = true; + this.cmbCorrenteMaxima.Location = new System.Drawing.Point(100, 75); + this.cmbCorrenteMaxima.Name = "cmbCorrenteMaxima"; + this.cmbCorrenteMaxima.Size = new System.Drawing.Size(84, 21); + this.cmbCorrenteMaxima.TabIndex = 9; + // + // label9 + // + this.label9.AutoSize = true; + this.label9.Location = new System.Drawing.Point(7, 83); + this.label9.Name = "label9"; + this.label9.Size = new System.Drawing.Size(86, 13); + this.label9.TabIndex = 10; + this.label9.Text = "Corrente Máxima"; + // + // cmbModoControle + // + this.cmbModoControle.FormattingEnabled = true; + this.cmbModoControle.Location = new System.Drawing.Point(100, 48); + this.cmbModoControle.Name = "cmbModoControle"; + this.cmbModoControle.Size = new System.Drawing.Size(84, 21); + this.cmbModoControle.TabIndex = 7; + // + // label5 + // + this.label5.AutoSize = true; + this.label5.Location = new System.Drawing.Point(7, 56); + this.label5.Name = "label5"; + this.label5.Size = new System.Drawing.Size(76, 13); + this.label5.TabIndex = 8; + this.label5.Text = "Modo Controle"; + // + // btnCalibrar + // + this.btnCalibrar.Location = new System.Drawing.Point(100, 19); + this.btnCalibrar.Name = "btnCalibrar"; + this.btnCalibrar.Size = new System.Drawing.Size(84, 23); + this.btnCalibrar.TabIndex = 6; + this.btnCalibrar.Text = "Calibrar"; + this.btnCalibrar.UseVisualStyleBackColor = true; + this.btnCalibrar.Click += new System.EventHandler(this.btnCalibrar_Click); + // + // groupBox3 + // + this.groupBox3.Controls.Add(this.cmbPorta); + this.groupBox3.Controls.Add(this.label1); + this.groupBox3.Controls.Add(this.cmbBaud); + this.groupBox3.Controls.Add(this.lblEndereco); + this.groupBox3.Controls.Add(this.label2); + this.groupBox3.Controls.Add(this.cmbEndereco); + this.groupBox3.Controls.Add(this.btnAtualizar); + this.groupBox3.Controls.Add(this.btnConectar); + this.groupBox3.Location = new System.Drawing.Point(12, 12); + this.groupBox3.Name = "groupBox3"; + this.groupBox3.Size = new System.Drawing.Size(195, 132); + this.groupBox3.TabIndex = 10; + this.groupBox3.TabStop = false; + this.groupBox3.Text = "Conexão"; + // + // groupBox4 + // + this.groupBox4.Controls.Add(this.btnGravarRetorno); + this.groupBox4.Controls.Add(this.btnIrParaZero); + this.groupBox4.Controls.Add(this.btnZero); + this.groupBox4.Controls.Add(this.cmbLimiteRetorno); + this.groupBox4.Controls.Add(this.label21); + this.groupBox4.Controls.Add(this.btnGravarLimite); + this.groupBox4.Controls.Add(this.cmbDirecaoLimite); + this.groupBox4.Controls.Add(this.label20); + this.groupBox4.Controls.Add(this.cmbVelocidadeLimite); + this.groupBox4.Controls.Add(this.label19); + this.groupBox4.Controls.Add(this.cmbZeroLimite); + this.groupBox4.Controls.Add(this.label18); + this.groupBox4.Controls.Add(this.cmbModoLimite); + this.groupBox4.Controls.Add(this.label17); + this.groupBox4.Location = new System.Drawing.Point(213, 12); + this.groupBox4.Name = "groupBox4"; + this.groupBox4.Size = new System.Drawing.Size(375, 132); + this.groupBox4.TabIndex = 11; + this.groupBox4.TabStop = false; + this.groupBox4.Text = "Limite"; + // + // btnGravarRetorno + // + this.btnGravarRetorno.Location = new System.Drawing.Point(279, 79); + this.btnGravarRetorno.Name = "btnGravarRetorno"; + this.btnGravarRetorno.Size = new System.Drawing.Size(38, 23); + this.btnGravarRetorno.TabIndex = 28; + this.btnGravarRetorno.Text = "G R"; + this.btnGravarRetorno.UseVisualStyleBackColor = true; + this.btnGravarRetorno.Click += new System.EventHandler(this.btnGravarRetorno_Click); + // + // btnIrParaZero + // + this.btnIrParaZero.Location = new System.Drawing.Point(99, 79); + this.btnIrParaZero.Name = "btnIrParaZero"; + this.btnIrParaZero.Size = new System.Drawing.Size(84, 23); + this.btnIrParaZero.TabIndex = 27; + this.btnIrParaZero.Text = "Ir para Zero"; + this.btnIrParaZero.UseVisualStyleBackColor = true; + this.btnIrParaZero.Click += new System.EventHandler(this.btnIrParaZero_Click); + // + // btnZero + // + this.btnZero.Location = new System.Drawing.Point(189, 79); + this.btnZero.Name = "btnZero"; + this.btnZero.Size = new System.Drawing.Size(84, 23); + this.btnZero.TabIndex = 26; + this.btnZero.Text = "Set Zero"; + this.btnZero.UseVisualStyleBackColor = true; + this.btnZero.Click += new System.EventHandler(this.btnZero_Click); + // + // cmbLimiteRetorno + // + this.cmbLimiteRetorno.FormattingEnabled = true; + this.cmbLimiteRetorno.Location = new System.Drawing.Point(9, 81); + this.cmbLimiteRetorno.Name = "cmbLimiteRetorno"; + this.cmbLimiteRetorno.Size = new System.Drawing.Size(84, 21); + this.cmbLimiteRetorno.TabIndex = 24; + // + // label21 + // + this.label21.AutoSize = true; + this.label21.Location = new System.Drawing.Point(6, 65); + this.label21.Name = "label21"; + this.label21.Size = new System.Drawing.Size(45, 13); + this.label21.TabIndex = 25; + this.label21.Text = "Retorno"; + // + // btnGravarLimite + // + this.btnGravarLimite.Location = new System.Drawing.Point(325, 79); + this.btnGravarLimite.Name = "btnGravarLimite"; + this.btnGravarLimite.Size = new System.Drawing.Size(38, 23); + this.btnGravarLimite.TabIndex = 23; + this.btnGravarLimite.Text = "G L"; + this.btnGravarLimite.UseVisualStyleBackColor = true; + this.btnGravarLimite.Click += new System.EventHandler(this.btnGravarLimite_Click); + // + // cmbDirecaoLimite + // + this.cmbDirecaoLimite.FormattingEnabled = true; + this.cmbDirecaoLimite.Location = new System.Drawing.Point(279, 41); + this.cmbDirecaoLimite.Name = "cmbDirecaoLimite"; + this.cmbDirecaoLimite.Size = new System.Drawing.Size(84, 21); + this.cmbDirecaoLimite.TabIndex = 15; + // + // label20 + // + this.label20.AutoSize = true; + this.label20.Location = new System.Drawing.Point(276, 25); + this.label20.Name = "label20"; + this.label20.Size = new System.Drawing.Size(44, 13); + this.label20.TabIndex = 16; + this.label20.Text = "Direcao"; + // + // cmbVelocidadeLimite + // + this.cmbVelocidadeLimite.FormattingEnabled = true; + this.cmbVelocidadeLimite.Location = new System.Drawing.Point(189, 41); + this.cmbVelocidadeLimite.Name = "cmbVelocidadeLimite"; + this.cmbVelocidadeLimite.Size = new System.Drawing.Size(84, 21); + this.cmbVelocidadeLimite.TabIndex = 13; + // + // label19 + // + this.label19.AutoSize = true; + this.label19.Location = new System.Drawing.Point(186, 25); + this.label19.Name = "label19"; + this.label19.Size = new System.Drawing.Size(60, 13); + this.label19.TabIndex = 14; + this.label19.Text = "Velocidade"; + // + // cmbZeroLimite + // + this.cmbZeroLimite.FormattingEnabled = true; + this.cmbZeroLimite.Location = new System.Drawing.Point(99, 41); + this.cmbZeroLimite.Name = "cmbZeroLimite"; + this.cmbZeroLimite.Size = new System.Drawing.Size(84, 21); + this.cmbZeroLimite.TabIndex = 11; + // + // label18 + // + this.label18.AutoSize = true; + this.label18.Location = new System.Drawing.Point(96, 25); + this.label18.Name = "label18"; + this.label18.Size = new System.Drawing.Size(29, 13); + this.label18.TabIndex = 12; + this.label18.Text = "Zero"; + // + // cmbModoLimite + // + this.cmbModoLimite.FormattingEnabled = true; + this.cmbModoLimite.Location = new System.Drawing.Point(9, 41); + this.cmbModoLimite.Name = "cmbModoLimite"; + this.cmbModoLimite.Size = new System.Drawing.Size(84, 21); + this.cmbModoLimite.TabIndex = 9; + // + // label17 + // + this.label17.AutoSize = true; + this.label17.Location = new System.Drawing.Point(6, 25); + this.label17.Name = "label17"; + this.label17.Size = new System.Drawing.Size(34, 13); + this.label17.TabIndex = 10; + this.label17.Text = "Modo"; + // + // groupBox5 + // + this.groupBox5.Controls.Add(this.btnSobre); + this.groupBox5.Controls.Add(this.btnDesbloquear); + this.groupBox5.Controls.Add(this.btnBloqueado); + this.groupBox5.Controls.Add(this.txtBloqueado); + this.groupBox5.Controls.Add(this.btnResetZero); + this.groupBox5.Controls.Add(this.txtResetZero); + this.groupBox5.Controls.Add(this.btnDriverHabilitado); + this.groupBox5.Controls.Add(this.txtDriverHabilitado); + this.groupBox5.Controls.Add(this.btnErroAngulo); + this.groupBox5.Controls.Add(this.txtErroAngulo); + this.groupBox5.Controls.Add(this.btnNumeroPulsos); + this.groupBox5.Controls.Add(this.txtNumeroPulsos); + this.groupBox5.Controls.Add(this.btnRPM); + this.groupBox5.Controls.Add(this.txtRPM); + this.groupBox5.Controls.Add(this.btnErroAcumulado); + this.groupBox5.Controls.Add(this.btnErroCarregado); + this.groupBox5.Controls.Add(this.txtErroCarregado); + this.groupBox5.Controls.Add(this.rdbDecimal); + this.groupBox5.Controls.Add(this.rdbHex); + this.groupBox5.Location = new System.Drawing.Point(506, 150); + this.groupBox5.Name = "groupBox5"; + this.groupBox5.Size = new System.Drawing.Size(334, 268); + this.groupBox5.TabIndex = 12; + this.groupBox5.TabStop = false; + this.groupBox5.Text = "Leitura Dados"; + // + // btnSobre + // + this.btnSobre.Location = new System.Drawing.Point(220, 238); + this.btnSobre.Name = "btnSobre"; + this.btnSobre.Size = new System.Drawing.Size(102, 23); + this.btnSobre.TabIndex = 19; + this.btnSobre.Text = "Sobre"; + this.btnSobre.UseVisualStyleBackColor = true; + this.btnSobre.Click += new System.EventHandler(this.btnSobre_Click); + // + // btnDesbloquear + // + this.btnDesbloquear.Location = new System.Drawing.Point(220, 209); + this.btnDesbloquear.Name = "btnDesbloquear"; + this.btnDesbloquear.Size = new System.Drawing.Size(102, 23); + this.btnDesbloquear.TabIndex = 18; + this.btnDesbloquear.Text = "Desbloquear"; + this.btnDesbloquear.UseVisualStyleBackColor = true; + this.btnDesbloquear.Click += new System.EventHandler(this.btnDesbloquear_Click); + // + // btnBloqueado + // + this.btnBloqueado.Location = new System.Drawing.Point(112, 210); + this.btnBloqueado.Name = "btnBloqueado"; + this.btnBloqueado.Size = new System.Drawing.Size(102, 23); + this.btnBloqueado.TabIndex = 17; + this.btnBloqueado.Text = "Status Bloqueado"; + this.btnBloqueado.UseVisualStyleBackColor = true; + this.btnBloqueado.Click += new System.EventHandler(this.btnBloqueado_Click); + // + // txtBloqueado + // + this.txtBloqueado.Location = new System.Drawing.Point(6, 212); + this.txtBloqueado.Name = "txtBloqueado"; + this.txtBloqueado.Size = new System.Drawing.Size(100, 20); + this.txtBloqueado.TabIndex = 16; + // + // btnResetZero + // + this.btnResetZero.Location = new System.Drawing.Point(112, 184); + this.btnResetZero.Name = "btnResetZero"; + this.btnResetZero.Size = new System.Drawing.Size(102, 23); + this.btnResetZero.TabIndex = 15; + this.btnResetZero.Text = "Reset Zero"; + this.btnResetZero.UseVisualStyleBackColor = true; + this.btnResetZero.Click += new System.EventHandler(this.btnResetZero_Click); + // + // txtResetZero + // + this.txtResetZero.Location = new System.Drawing.Point(6, 186); + this.txtResetZero.Name = "txtResetZero"; + this.txtResetZero.Size = new System.Drawing.Size(100, 20); + this.txtResetZero.TabIndex = 14; + // + // btnDriverHabilitado + // + this.btnDriverHabilitado.Location = new System.Drawing.Point(112, 158); + this.btnDriverHabilitado.Name = "btnDriverHabilitado"; + this.btnDriverHabilitado.Size = new System.Drawing.Size(102, 23); + this.btnDriverHabilitado.TabIndex = 13; + this.btnDriverHabilitado.Text = "Driver Habilitado"; + this.btnDriverHabilitado.UseVisualStyleBackColor = true; + this.btnDriverHabilitado.Click += new System.EventHandler(this.btnDriverHabilitado_Click); + // + // txtDriverHabilitado + // + this.txtDriverHabilitado.Location = new System.Drawing.Point(6, 160); + this.txtDriverHabilitado.Name = "txtDriverHabilitado"; + this.txtDriverHabilitado.Size = new System.Drawing.Size(100, 20); + this.txtDriverHabilitado.TabIndex = 12; + // + // btnErroAngulo + // + this.btnErroAngulo.Location = new System.Drawing.Point(112, 132); + this.btnErroAngulo.Name = "btnErroAngulo"; + this.btnErroAngulo.Size = new System.Drawing.Size(102, 23); + this.btnErroAngulo.TabIndex = 11; + this.btnErroAngulo.Text = "Erro Angulo"; + this.btnErroAngulo.UseVisualStyleBackColor = true; + this.btnErroAngulo.Click += new System.EventHandler(this.btnErroAngulo_Click); + // + // txtErroAngulo + // + this.txtErroAngulo.Location = new System.Drawing.Point(6, 134); + this.txtErroAngulo.Name = "txtErroAngulo"; + this.txtErroAngulo.Size = new System.Drawing.Size(100, 20); + this.txtErroAngulo.TabIndex = 10; + // + // btnNumeroPulsos + // + this.btnNumeroPulsos.Location = new System.Drawing.Point(112, 106); + this.btnNumeroPulsos.Name = "btnNumeroPulsos"; + this.btnNumeroPulsos.Size = new System.Drawing.Size(102, 23); + this.btnNumeroPulsos.TabIndex = 9; + this.btnNumeroPulsos.Text = "Número Pulsos"; + this.btnNumeroPulsos.UseVisualStyleBackColor = true; + this.btnNumeroPulsos.Click += new System.EventHandler(this.btnNumeroPulsos_Click); + // + // txtNumeroPulsos + // + this.txtNumeroPulsos.Location = new System.Drawing.Point(6, 108); + this.txtNumeroPulsos.Name = "txtNumeroPulsos"; + this.txtNumeroPulsos.Size = new System.Drawing.Size(100, 20); + this.txtNumeroPulsos.TabIndex = 8; + // + // btnRPM + // + this.btnRPM.Location = new System.Drawing.Point(112, 80); + this.btnRPM.Name = "btnRPM"; + this.btnRPM.Size = new System.Drawing.Size(102, 23); + this.btnRPM.TabIndex = 7; + this.btnRPM.Text = "RPM"; + this.btnRPM.UseVisualStyleBackColor = true; + this.btnRPM.Click += new System.EventHandler(this.btnRPM_Click); + // + // txtRPM + // + this.txtRPM.Location = new System.Drawing.Point(6, 82); + this.txtRPM.Name = "txtRPM"; + this.txtRPM.Size = new System.Drawing.Size(100, 20); + this.txtRPM.TabIndex = 6; + // + // btnErroAcumulado + // + this.btnErroAcumulado.Location = new System.Drawing.Point(220, 54); + this.btnErroAcumulado.Name = "btnErroAcumulado"; + this.btnErroAcumulado.Size = new System.Drawing.Size(102, 23); + this.btnErroAcumulado.TabIndex = 5; + this.btnErroAcumulado.Text = "Erro Acumulado"; + this.btnErroAcumulado.UseVisualStyleBackColor = true; + this.btnErroAcumulado.Click += new System.EventHandler(this.btnErroAcumulado_Click); + // + // btnErroCarregado + // + this.btnErroCarregado.Location = new System.Drawing.Point(112, 54); + this.btnErroCarregado.Name = "btnErroCarregado"; + this.btnErroCarregado.Size = new System.Drawing.Size(102, 23); + this.btnErroCarregado.TabIndex = 3; + this.btnErroCarregado.Text = "Erro Carregado"; + this.btnErroCarregado.UseVisualStyleBackColor = true; + this.btnErroCarregado.Click += new System.EventHandler(this.btnErroCarregado_Click); + // + // txtErroCarregado + // + this.txtErroCarregado.Location = new System.Drawing.Point(6, 56); + this.txtErroCarregado.Name = "txtErroCarregado"; + this.txtErroCarregado.Size = new System.Drawing.Size(100, 20); + this.txtErroCarregado.TabIndex = 2; + // + // rdbDecimal + // + this.rdbDecimal.AutoSize = true; + this.rdbDecimal.Checked = true; + this.rdbDecimal.Location = new System.Drawing.Point(107, 27); + this.rdbDecimal.Name = "rdbDecimal"; + this.rdbDecimal.Size = new System.Drawing.Size(63, 17); + this.rdbDecimal.TabIndex = 1; + this.rdbDecimal.TabStop = true; + this.rdbDecimal.Text = "Decimal"; + this.rdbDecimal.UseVisualStyleBackColor = true; + // + // rdbHex + // + this.rdbHex.AutoSize = true; + this.rdbHex.Location = new System.Drawing.Point(32, 27); + this.rdbHex.Name = "rdbHex"; + this.rdbHex.Size = new System.Drawing.Size(44, 17); + this.rdbHex.TabIndex = 0; + this.rdbHex.Text = "Hex"; + this.rdbHex.UseVisualStyleBackColor = true; + // + // groupBox6 + // + this.groupBox6.Controls.Add(this.txtStatus); + this.groupBox6.Controls.Add(this.label25); + this.groupBox6.Controls.Add(this.txtAceleracao); + this.groupBox6.Controls.Add(this.label24); + this.groupBox6.Controls.Add(this.txtVelocidade); + this.groupBox6.Controls.Add(this.label23); + this.groupBox6.Controls.Add(this.txtDirecao); + this.groupBox6.Controls.Add(this.label22); + this.groupBox6.Location = new System.Drawing.Point(594, 12); + this.groupBox6.Name = "groupBox6"; + this.groupBox6.Size = new System.Drawing.Size(246, 132); + this.groupBox6.TabIndex = 13; + this.groupBox6.TabStop = false; + this.groupBox6.Text = "Monitoramento"; + // + // txtStatus + // + this.txtStatus.Location = new System.Drawing.Point(119, 97); + this.txtStatus.Name = "txtStatus"; + this.txtStatus.ReadOnly = true; + this.txtStatus.Size = new System.Drawing.Size(115, 20); + this.txtStatus.TabIndex = 17; + this.txtStatus.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // label25 + // + this.label25.AutoSize = true; + this.label25.Location = new System.Drawing.Point(16, 100); + this.label25.Name = "label25"; + this.label25.Size = new System.Drawing.Size(37, 13); + this.label25.TabIndex = 16; + this.label25.Text = "Status"; + // + // txtAceleracao + // + this.txtAceleracao.Location = new System.Drawing.Point(119, 71); + this.txtAceleracao.Name = "txtAceleracao"; + this.txtAceleracao.ReadOnly = true; + this.txtAceleracao.Size = new System.Drawing.Size(115, 20); + this.txtAceleracao.TabIndex = 15; + this.txtAceleracao.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // label24 + // + this.label24.AutoSize = true; + this.label24.Location = new System.Drawing.Point(16, 74); + this.label24.Name = "label24"; + this.label24.Size = new System.Drawing.Size(61, 13); + this.label24.TabIndex = 14; + this.label24.Text = "Aceleração"; + // + // txtVelocidade + // + this.txtVelocidade.Location = new System.Drawing.Point(119, 45); + this.txtVelocidade.Name = "txtVelocidade"; + this.txtVelocidade.ReadOnly = true; + this.txtVelocidade.Size = new System.Drawing.Size(115, 20); + this.txtVelocidade.TabIndex = 13; + this.txtVelocidade.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // label23 + // + this.label23.AutoSize = true; + this.label23.Location = new System.Drawing.Point(16, 48); + this.label23.Name = "label23"; + this.label23.Size = new System.Drawing.Size(60, 13); + this.label23.TabIndex = 12; + this.label23.Text = "Velocidade"; + // + // txtDirecao + // + this.txtDirecao.Location = new System.Drawing.Point(119, 19); + this.txtDirecao.Name = "txtDirecao"; + this.txtDirecao.ReadOnly = true; + this.txtDirecao.Size = new System.Drawing.Size(115, 20); + this.txtDirecao.TabIndex = 11; + this.txtDirecao.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // label22 + // + this.label22.AutoSize = true; + this.label22.Location = new System.Drawing.Point(16, 22); + this.label22.Name = "label22"; + this.label22.Size = new System.Drawing.Size(44, 13); + this.label22.TabIndex = 10; + this.label22.Text = "Direção"; + // + // btnIniciarTodos + // + this.btnIniciarTodos.Location = new System.Drawing.Point(21, 234); + this.btnIniciarTodos.Name = "btnIniciarTodos"; + this.btnIniciarTodos.Size = new System.Drawing.Size(84, 23); + this.btnIniciarTodos.TabIndex = 23; + this.btnIniciarTodos.Text = "Iniciar Todos"; + this.btnIniciarTodos.UseVisualStyleBackColor = true; + this.btnIniciarTodos.Click += new System.EventHandler(this.btnIniciarTodos_Click); + // + // btnPararTodos + // + this.btnPararTodos.Location = new System.Drawing.Point(132, 234); + this.btnPararTodos.Name = "btnPararTodos"; + this.btnPararTodos.Size = new System.Drawing.Size(84, 23); + this.btnPararTodos.TabIndex = 24; + this.btnPararTodos.Text = "Parar Todos"; + this.btnPararTodos.UseVisualStyleBackColor = true; + this.btnPararTodos.Click += new System.EventHandler(this.btnPararTodos_Click); + // + // frmMKS + // + this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); + this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; + this.ClientSize = new System.Drawing.Size(855, 432); + this.Controls.Add(this.groupBox6); + this.Controls.Add(this.groupBox5); + this.Controls.Add(this.groupBox4); + this.Controls.Add(this.groupBox3); + this.Controls.Add(this.groupBox2); + this.Controls.Add(this.groupBox1); + this.Name = "frmMKS"; + this.Text = "frmMKS"; + this.Load += new System.EventHandler(this.frmMKS_Load); + this.groupBox1.ResumeLayout(false); + this.groupBox1.PerformLayout(); + this.groupBox2.ResumeLayout(false); + this.groupBox2.PerformLayout(); + this.groupBox3.ResumeLayout(false); + this.groupBox3.PerformLayout(); + this.groupBox4.ResumeLayout(false); + this.groupBox4.PerformLayout(); + this.groupBox5.ResumeLayout(false); + this.groupBox5.PerformLayout(); + this.groupBox6.ResumeLayout(false); + this.groupBox6.PerformLayout(); + this.ResumeLayout(false); + + } + + #endregion + + private System.Windows.Forms.ComboBox cmbPorta; + private System.Windows.Forms.Label label1; + private System.Windows.Forms.Label label2; + private System.Windows.Forms.ComboBox cmbBaud; + private System.Windows.Forms.Button btnAtualizar; + private System.Windows.Forms.Button btnConectar; + private System.Windows.Forms.Label lblEndereco; + private System.Windows.Forms.ComboBox cmbEndereco; + private System.Windows.Forms.GroupBox groupBox1; + private System.Windows.Forms.Label label4; + private System.Windows.Forms.Label label3; + private System.Windows.Forms.ComboBox cmbVelocidadePosicao; + private System.Windows.Forms.RadioButton rdbAntihorarioPosicao; + private System.Windows.Forms.RadioButton rdbHorarioPosicao; + private System.Windows.Forms.Label label8; + private System.Windows.Forms.Label label7; + private System.Windows.Forms.Label label6; + private System.Windows.Forms.Label lblAngulo; + private System.Windows.Forms.Button btnPararPosicao; + private System.Windows.Forms.Button btnIniciarPosicao; + private System.Windows.Forms.GroupBox groupBox2; + private System.Windows.Forms.GroupBox groupBox3; + private System.Windows.Forms.Button btnCalibrar; + private System.Windows.Forms.ComboBox cmbProtecao; + private System.Windows.Forms.Label label11; + private System.Windows.Forms.ComboBox cmbMStep; + private System.Windows.Forms.Label label10; + private System.Windows.Forms.ComboBox cmbCorrenteMaxima; + private System.Windows.Forms.Label label9; + private System.Windows.Forms.ComboBox cmbModoControle; + private System.Windows.Forms.Label label5; + private System.Windows.Forms.Label label12; + private System.Windows.Forms.ComboBox cmbModo; + private System.Windows.Forms.TextBox txtValor; + private System.Windows.Forms.ComboBox cmbUartAddr; + private System.Windows.Forms.Label label14; + private System.Windows.Forms.ComboBox cmbUartBaud; + private System.Windows.Forms.Label label13; + private System.Windows.Forms.ComboBox cmbRampaParada; + private System.Windows.Forms.Label label16; + private System.Windows.Forms.ComboBox cmbRampaInicio; + private System.Windows.Forms.Label label15; + private System.Windows.Forms.GroupBox groupBox4; + private System.Windows.Forms.ComboBox cmbModoLimite; + private System.Windows.Forms.Label label17; + private System.Windows.Forms.Button btnGravarLimite; + private System.Windows.Forms.ComboBox cmbDirecaoLimite; + private System.Windows.Forms.Label label20; + private System.Windows.Forms.ComboBox cmbVelocidadeLimite; + private System.Windows.Forms.Label label19; + private System.Windows.Forms.ComboBox cmbZeroLimite; + private System.Windows.Forms.Label label18; + private System.Windows.Forms.ComboBox cmbLimiteRetorno; + private System.Windows.Forms.Label label21; + private System.Windows.Forms.Button btnRestaurar; + private System.Windows.Forms.Button btnZero; + private System.Windows.Forms.Button btnRampaParada; + private System.Windows.Forms.Button btnRampaInicio; + private System.Windows.Forms.Button btnEndereco; + private System.Windows.Forms.Button btnBaudRate; + private System.Windows.Forms.Button btnProtecao; + private System.Windows.Forms.Button btnMStep; + private System.Windows.Forms.Button btnCorrenteMaxima; + private System.Windows.Forms.Button btnModoControle; + private System.Windows.Forms.GroupBox groupBox5; + private System.Windows.Forms.Button btnBloqueado; + private System.Windows.Forms.TextBox txtBloqueado; + private System.Windows.Forms.Button btnResetZero; + private System.Windows.Forms.TextBox txtResetZero; + private System.Windows.Forms.Button btnDriverHabilitado; + private System.Windows.Forms.TextBox txtDriverHabilitado; + private System.Windows.Forms.Button btnErroAngulo; + private System.Windows.Forms.TextBox txtErroAngulo; + private System.Windows.Forms.Button btnNumeroPulsos; + private System.Windows.Forms.TextBox txtNumeroPulsos; + private System.Windows.Forms.Button btnRPM; + private System.Windows.Forms.TextBox txtRPM; + private System.Windows.Forms.Button btnErroAcumulado; + private System.Windows.Forms.Button btnErroCarregado; + private System.Windows.Forms.TextBox txtErroCarregado; + private System.Windows.Forms.RadioButton rdbDecimal; + private System.Windows.Forms.RadioButton rdbHex; + private System.Windows.Forms.Button btnSobre; + private System.Windows.Forms.Button btnDesbloquear; + private System.Windows.Forms.GroupBox groupBox6; + private System.Windows.Forms.TextBox txtStatus; + private System.Windows.Forms.Label label25; + private System.Windows.Forms.TextBox txtAceleracao; + private System.Windows.Forms.Label label24; + private System.Windows.Forms.TextBox txtVelocidade; + private System.Windows.Forms.Label label23; + private System.Windows.Forms.TextBox txtDirecao; + private System.Windows.Forms.Label label22; + private System.Windows.Forms.Button btnIrParaZero; + private System.Windows.Forms.Button btnGravarRetorno; + private System.Windows.Forms.Button btnPararTodos; + private System.Windows.Forms.Button btnIniciarTodos; + } +} \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/frmMKS.cs b/AgroBase/AgroBase/Forms/frmMKS.cs new file mode 100644 index 000000000..b5ded97ed --- /dev/null +++ b/AgroBase/AgroBase/Forms/frmMKS.cs @@ -0,0 +1,2240 @@ +using AgroBase.Services; +using System; +using System.Collections; +using System.Collections.Generic; +using System.ComponentModel; +using System.Data; +using System.Drawing; +using System.IO.Ports; +using System.Linq; +using System.Text; +using System.Threading; +using System.Threading.Tasks; +using System.Windows.Forms; + +namespace AgroBase.Forms +{ + public partial class frmMKS : Form + { + SerialPort serialPort1 = new SerialPort(); + + byte Addr; + byte DataSended; + string word16; + int data16; + string word32; + long data32; + string word64; + long data64; + string Text_BUF; + + int tCHK; + int rCHK; + byte Readata; + byte[] Buffer; + byte[] SerialBuffer_RX; + int Data_Number; + string str; + string HV, FV; + byte[] FV1 = new byte[] { 0, 0, 0 }; + int Temp1 = 0; + + #region Bytes + + // Instruções + int[] QueryCommand = new int[] { + 0x30, 0x33, 0x39, 0x3A, 0x3B, 0x3E, // (0 Valor do codificador de carry 1 Número de pulsos acumulados de entrada 2 Erro de ângulo de posição 3 Estado de habilitação da placa de acionamento em malha fechada 4 Estado de retorno automático ao zero de um círculo ao ligar 5 Indicador de travamento) + 0xF3, 0xF3, // (6 Habilitar a placa de acionamento 7 Desabilitar a placa de acionamento) + 0xF6, // (8 Modo de controle de velocidade do motor - iniciar) + 0xF6, // (9 Modo de controle de velocidade do motor - parar) + 0xFF, // (10 Iniciar operação automática ao ligar) + 0xFF, // (11 Parar operação automática ao ligar) + 0x84, // (12 Configuração de subdivisão - confirmar) + 0xFD, // (13 Modo de controle de posição do motor - iniciar) + 0x80, // (14 Calibrar o codificador) + 0x81, // (15 Confirmar tipo de motor) + 0x82, // (16 Confirmar modo de operação) + 0x83, // (17 Confirmar valor da corrente (mA)) + 0x85, // (18 Confirmar configuração de habilitação) + 0x86, // (19 Confirmar direção do motor) + 0x87, // (20 Confirmar apagamento automático da tela) + 0x88, // (21 Confirmar proteção contra travamento) + 0x89, // (22 Confirmar interpolação de subdivisão) + 0x8A, // (23 Confirmar taxa de transmissão serial) + 0x8B, // (24 Confirmar endereço de comunicação do motor) + 0xA1, // (25 Confirmar posição Kp) + 0xA2, // (26 Confirmar posição Ki) + 0xA3, // (27 Confirmar posição Kd) + 0xA4, // (28 Confirmar aceleração de início) + 0xA5, // (29 Confirmar aceleração de parada) + 0x90, // (30 Ativar modo de retorno ao zero) + 0x90, // (31 Parâmetros de limite) + 0x91, // (32 Retorno ao zero de limite) + 0x92, // (33 Retorno direto ao zero) + 0x93, // (34 Confirmar direção de retorno ao zero) + 0x94, // (35 Retornar ao ponto zero) + 0x3F, // (36 Restaurar configuração de fábrica) + 0x3D, // (37 Ler parâmetros - cancelar estado de travamento) + 0xFD, // (38 Modo de controle de posição do motor - parar) + 0x31, // (39 Ler parâmetros - valor do codificador incremental) + 0x32, // (40 Ler parâmetros - velocidade real do motor) + 0x8C, // (41 Confirmar resposta do escravo) + 0x8D, // (42 Confirmar agrupamento do escravo) + 0x40, // (43 Informações da versão) + 0xF4, // (44 Modo de controle de posição do motor - coordenadas relativas) + 0xF5, // (45 Modo de controle de posição do motor - coordenadas absolutas) + 0x34, // (46 Ler estado da porta IO) + 0x8E, // (47 Confirmar MODBUS) + 0x8F, // (48 Confirmar bloqueio de tecla) + 0x9A // (49 Retorno ao zero de um círculo) + }; + + + // Bytes comuns + byte[] byte_data = new byte[] { 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x0c, 0x0d, 0x0e, 0x0f, 0x10 }; + + // Bytes de função + byte FWD = 0x80; + byte RWD = 0x00; + byte STOP = 0xF7; + byte EN_ON = 0x01; + byte EN_OFF = 0x00; + byte Save_Speed = 0xC8; + byte Clear_Speed = 0xCA; + + // Dados + byte Speed; + byte Speed2; + ushort Subdivision; + byte[] Pulse; + byte[] RelAxis; + byte[] AbsAxis; + byte[] Kp; + byte[] Ki; + byte[] Kd; + byte[] ACC; + byte[] MaxT; + byte[] Start_ACC = { 0x10 }, Stop_ACC = { 0x10 }; + byte[] Speed_1, Speed_2; + byte[] Current; + ushort Max_Current; + + // Recepção de estado + byte EN_STATE_ON = 0x01; + byte EN_STATE_OFF = 0x00; + byte Stall_YES = 0x01; + byte Stall_ON = 0x02; + + #endregion + + // String de estado + readonly string Mot_18 = "1.8°"; + readonly string Mot_09 = "0.9°"; + readonly string CR_OPEN = "CR_OPEN"; + readonly string CR_CLOSE = "CR_CLOSE"; + readonly string CR_vFOC = "CR_vFOC"; + readonly string SR_OPEN = "SR_OPEN"; + readonly string SR_CLOSE = "SR_CLOSE"; + readonly string SR_vFOC = "SR_vFOC"; + + string Text1_window = "Erro"; + string Text2_window = "Aviso"; + string Text1_Zero = "Retornando"; + string Text1_DataError = "Aviso: Por favor, selecione o tipo de dados."; + string Text2_Zero = "Sucesso ao retornar para zero"; + string Text3_Zero = "Erro ao retornar para zero"; + string Text1_EN = "Habilitado"; + string Text2_EN = "Desaabilitado"; + string Text1_Stall = "Travado"; + string Text2_Stall = "Destravado"; + string Text1_Block = "Sucesso"; + string Text2_Block = "Falha"; + string Text1_Move = "Movimento completo"; + string Text2_Move = "Movimento sucesso"; + string Text3_Move = "Movimento falhou"; + string Text4_Move = "Em movimento"; + string Text1_COM = "Erro de dados"; + string Text1_Dir = "Para frente"; + string Text2_Dir = "Para trás"; + string Text3_Dir = "Parado"; + string Text1_Stop = "Parado completo"; + string Text2_Stop = "Parado sucesso"; + string Text3_Stop = "Parado falhou"; + string Text4_Stop = "Parando"; + string Text1_Cal = "Calibrando..."; + string Text2_Cal = "Calibragem completa"; + string Text3_Cal = "Falha ao calibrar"; + string Text1_RX = "Sucesso ao configurar"; + string Text2_RX = "Erro ao configurar"; + string Text_HardVer = "Versão do hardware"; + string Text_FirmVer = "Versão da firmware"; + string Text_CurrentError = "Erro: A corrente deve estar entre 0 e 5200"; + + + readonly string[] I_Ma = { "0", "400", "800", "1200", "1600", "2000", "2400", "2800", "3200", "3600", "4000", "4400", "4800", "5200" }; + readonly string[] MStepValues = { "1", "2", "4", "8", "16", "32", "64", "128", "256" }; + readonly string EN_H = "H"; + readonly string EN_L = "L"; + readonly string EN_Hold = "Hold"; + readonly string Dir_CW = "CW"; + readonly string Dir_CCW = "CCW"; + readonly string Disable = "Disable"; + readonly string Enable = "Enable"; + readonly string[] UartBaud = { "9600", "19200", "25000", "38400", "57600", "115200", "256000" }; + readonly string[] UartAddr = { "0x01", "0x02", "0x03", "0x04", "0x05", "0x06", "0x07", "0x08", "0x09", "0x0a", "0x0b", "0x0c", "0x0d", "0x0e", "0x0f", "0x10" }; + readonly string[] HardVersion = { "未知电机", "MKS SERVO42D_485", "MKS SERVO42D_CAN", "MKS SERVO57D_485", "MKS SERVO57D_CAN", "MKS SERVO28D_485", "MKS SERVO28D_CAN", "MKS SERVO35D_485", "MKS SERVO35D_CAN" }; + readonly string[] CurrentText_42D = { "100", "1000", "2000", "3000" }; + readonly string[] CurrentText_57D = { "100", "1000", "2000", "3000", "4000", "5000", "5200" }; + + string[] ModosControle = { "CR_OPEN", "CR_CLOSE", "CR_vFOC", "SR_OPEN", "SR_CLOSE", "SR_vFOC" }; + string[] VelocidadesPosicao = { "1", "600", "1200", "1800", "2400", "3000" }; + string[] ModosControlePosicao = { "Pulses", "RelAxis", "AbsAxis" }; + string[] Rampas = { "0", "8", "16", "32", "64", "128", "255" }; + string[] LimiteModos = { "Disable", "DirMode", "NearMode" }; + string[] LimiteZeros = { "Limpar", "Definir" }; + string[] LimiteVelocidades = { "0", "1", "2", "3", "4" }; + string[] LimiteDirecoes = { "Antihorário", "Horário" }; + string[] LimiteRetornos = { "Desabilitado", "Habilitado" }; + + string[] EnderecosControlar = { "0x01", "0x02" }; + string _EnderecoControlar = ""; + + + public frmMKS() + { + InitializeComponent(); + serialPort1.DataReceived += port_DataReceived; + } + + private void frmMKS_Load(object sender, EventArgs e) + { + cmbBaud.Items.AddRange(UartBaud); + cmbEndereco.Items.AddRange(UartAddr); + cmbProtecao.Items.AddRange(LimiteRetornos); + cmbModoControle.Items.AddRange(ModosControle); + cmbCorrenteMaxima.Items.AddRange(I_Ma); + cmbMStep.Items.AddRange(MStepValues); + cmbModo.Items.AddRange(ModosControlePosicao); + cmbUartBaud.Items.AddRange(UartBaud); + cmbUartAddr.Items.AddRange(UartAddr); + cmbRampaInicio.Items.AddRange(Rampas); + cmbRampaParada.Items.AddRange(Rampas); + cmbModoLimite.Items.AddRange(LimiteModos); + cmbZeroLimite.Items.AddRange(LimiteZeros); + cmbVelocidadeLimite.Items.AddRange(LimiteVelocidades); + cmbDirecaoLimite.Items.AddRange(LimiteDirecoes); + cmbVelocidadePosicao.Items.AddRange(VelocidadesPosicao); + cmbLimiteRetorno.Items.AddRange(LimiteRetornos); + } + + private void btnAtualizar_Click(object sender, EventArgs e) + { + ComboBox cmb = cmbPorta; + cmb.Items.Clear(); + string[] sAllPort = null; + try + { + sAllPort = SerialPort.GetPortNames(); + } + catch + { + + } + for (int i = 0; i < sAllPort.Length; i++) + { + cmb.Items.Add(sAllPort[i]); + } + } + + private void btnConectar_Click(object sender, EventArgs e) + { + if (serialPort1.IsOpen) + { + try + { + serialPort1.Close(); + cmbPorta.Enabled = true; + cmbBaud.Enabled = true; + } + catch + { + + } + btnConectar.Text = "Conectar"; + } + else + { + try + { + serialPort1.PortName = cmbPorta.Text; + serialPort1.BaudRate = Convert.ToInt32(cmbBaud.Text, 10); + serialPort1.Open(); + cmbPorta.Enabled = false; + cmbBaud.Enabled = false; + btnConectar.Text = "Desconectar"; + } + catch + { + + } + } + } + + #region Acoes Botoes + + private void btnCalibrar_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "13"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnRestaurar_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "36"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnGravarLimite_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "49"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnGravarRetorno_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "31"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnZero_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "33"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnIrParaZero_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "35"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnIniciarPosicao_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "13"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + + private void btnIniciarTodos_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "13"; + DataSended = Convert.ToByte(MyButton.Tag); + + RealizarMultiplosEnvios(DataSended).ConfigureAwait(false); + } + + private void btnPararTodos_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "38"; + DataSended = Convert.ToByte(MyButton.Tag); + + RealizarMultiplosEnvios(DataSended).ConfigureAwait(false); + } + + + private void btnPararPosicao_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "38"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnModoControle_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "16"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnCorrenteMaxima_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "17"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnMStep_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "12"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnProtecao_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "21"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnBaudRate_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "23"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnEndereco_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "24"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnRampaInicio_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "28"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnRampaParada_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "29"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnErroCarregado_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "0"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnErroAcumulado_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "39"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnRPM_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "40"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnNumeroPulsos_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "1"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnErroAngulo_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "2"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnDriverHabilitado_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "3"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnResetZero_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "4"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnBloqueado_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "5"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnDesbloquear_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "37"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + private void btnSobre_Click(object sender, EventArgs e) + { + Button MyButton = (Button)sender; + MyButton.Tag = "43"; + DataSended = Convert.ToByte(MyButton.Tag); + SendRelevantData(QueryCommand[DataSended]); + } + + #endregion + + private async Task RealizarMultiplosEnvios(byte data) + { + foreach (string addr in EnderecosControlar) + { + /*DataSended = data; + _EnderecoControlar = addr; + await SendRelevantData(QueryCommand[DataSended]); + await Task.Delay(100);*/ + + await MKS057DService.EnviarComandoControle(new Models.MKS057ComandoModel() + { + Comando = data, + Endereco = addr, + Angulo = int.Parse(txtValor.Text), + Velocidade = int.Parse(cmbVelocidadePosicao.Text), + }); + } + } + + private void WriteByteToSerialPort(byte[] data, byte start, byte length) + { + if (serialPort1.IsOpen) + { + try + { + serialPort1.Write(data, start, length); + txDisplay(); + } + catch + { + Console.WriteLine("Erro ao enviar dados para a porta serial"); + } + } + else + MessageBox.Show("Porta serial não está aberta"); + } + + private void port_DataReceived(object sender, SerialDataReceivedEventArgs e) // Evento de recebimento de dados da porta serial + { + SerialBuffer_RX = new byte[11] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; // SerialBuffer_RX[0] Cabeçalho do quadro [1] Endereço do escravo [2] Número da instrução + Data_Number = serialPort1.BytesToRead; // Número de bytes recebidos + if (serialPort1.BytesToRead > 0) + { + for (int a = 0; a <= Data_Number - 1; a++) + { + SerialBuffer_RX[a] = (byte)serialPort1.ReadByte(); // Lê um byte do buffer de entrada SerialPort + } + Text_display(); + } + } + + private async Task SendRelevantData(int data) // Verifica o tipo de dados e envia + { + ushort SpeedText; + ushort SpeedText2; + byte SpeedText3; + ushort SubdivisionText; + uint PulseText; + long RelAxisText; + long AbsAxisText; + byte UartAddrText; + ushort KpText; + ushort KiText; + ushort KdText; + ushort ACCText; + ushort MaxTText; + ushort Start_ACCText, Stop_ACCText; + ushort CurrentText; + byte HomeTrig = 0x00, HomeDir = 0x00, EndLimit = 0x00; + byte Mode_0 = 0x00, Set_0 = 0x00, Speed_0 = 0x00, Dir_0 = 0x00; + + try + { + Addr = Convert.ToByte(_EnderecoControlar, 16); + } + catch + { + Console.WriteLine("Erro ao definir endereco"); + } + if (Addr <= 0xff && Addr >= 0x00) + { + if (DataSended < 6 || DataSended == 37 || DataSended == 39 || DataSended == 40 || DataSended == 43 || DataSended == 46) + //(0 valor do codificador de posição 1 número acumulado de pulsos de entrada 2 erro de ângulo de posição 3 estado de habilitação da placa de acionamento em malha fechada 4 estado de retorno automático único ao ligar 5 bit de bloqueio 37 estado de desbloqueio 39 valor do codificador de contagem acumulada 40 velocidade atual do motor 43 informação de versão 46 estado do status do porto IO) + { + if (DataSended == 46) + { + //-------------------Determinação do tipo de motor-------------------- + tCHK = 0xFA + Addr + 0x40; + Buffer = new byte[] { 0xFA, Addr, 0x40, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + await Task.Delay(50); + //--------------------------------------------------- + } + tCHK = 0xFA + Addr + data; + Buffer = new byte[] { 0xFA, Addr, (byte)data, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + } + + if (DataSended > 5 && DataSended < 8) //(6 habilitar placa de acionamento 7 desabilitar placa de acionamento) + { + if (DataSended == 6) + { + tCHK = 0xFA + Addr + data + EN_ON; + Buffer = new byte[] { 0xFA, Addr, (byte)data, EN_ON, (byte)tCHK }; + //GB4_button_使能驱动板.Enabled = false; + //GB4_button_关闭驱动板.Enabled = true; + } + else + { + tCHK = 0xFA + Addr + data + EN_OFF; + Buffer = new byte[] { 0xFA, Addr, (byte)data, EN_OFF, (byte)tCHK }; + //GB4_button_关闭驱动板.Enabled = false; + //GB4_button_使能驱动板.Enabled = true; + } + WriteByteToSerialPort(Buffer, 0, 5); + } + + /*if (DataSended == 8) //(8 modo de controle de velocidade do motor - iniciar) + { + try + { + SpeedText = Convert.ToUInt16(GB4_3_comboBox_速度档位.Text, 10); + Speed_1 = BitConverter.GetBytes(SpeedText); + if (SpeedText <= 3000 && SpeedText >= 1) + { + if (GB4_3_radioButton_反转.Checked) + { + //Speed = Convert.ToByte(SpeedText | RWD); + Speed_1[1] |= RWD; + //Console.WriteLine(Speed); + } + else if (GB4_3_radioButton_正转.Checked) + { + //Speed = Convert.ToByte(SpeedText | FWD); + Speed_1[1] |= FWD; + //Console.WriteLine(Speed); + } + tCHK = 0xFA + Addr + data + Speed_1[1] + Speed_1[0] + Start_ACC[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Speed_1[1], Speed_1[0], Start_ACC[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 7); + } + else + MessageBox.Show(Text1_Speedgear, Text1_window); + } + catch + { + MessageBox.Show(Text1_General, Text2_window); + } + }*/ + + if (DataSended == 9) //(9 modo de controle de velocidade do motor - parar) + { + tCHK = 0xFA + Addr + data + 0x00 + 0x00 + Stop_ACC[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, 0x00, 0x00, Stop_ACC[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 7); + } + + if (DataSended == 10) //(10 iniciar execução automática ao ligar) + { + tCHK = 0xFA + Addr + data + Save_Speed; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Save_Speed, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + Console.WriteLine(value: Save_Speed); + } + + if (DataSended == 11) //(11 parar execução automática ao ligar) + { + tCHK = 0xFA + Addr + data + Clear_Speed; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Clear_Speed, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + if (DataSended == 12) //(12 configuração de subdivisão - confirmar) + { + try + { + SubdivisionText = Convert.ToUInt16(cmbMStep.Text, 10); + //Console.WriteLine(SubdivisionText); //saída no console + if (SubdivisionText < 256 && SubdivisionText >= 1) + { + Subdivision = Convert.ToByte(SubdivisionText); + tCHK = 0xFA + Addr + data + Subdivision; + Buffer = new byte[] { 0xFA, Addr, (byte)data, (byte)Subdivision, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (SubdivisionText == 256) + { + tCHK = 0xFA + Addr + data + 0x00; + Buffer = new byte[] { 0xFA, Addr, (byte)data, 0x00, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + MessageBox.Show("O valor de MStep deve estar entre 1 e 256"); + } + catch + { + Console.WriteLine("Erro ao configurar MStep"); + } + } + + if (DataSended == 13) //(13 modo de controle de posição do motor - iniciar) + { + try + { + SpeedText2 = Convert.ToUInt16(cmbVelocidadePosicao.Text, 10); + Speed_2 = BitConverter.GetBytes(SpeedText2); + if (cmbModo.Text == ModosControlePosicao[0]) // Se o controle for através de pulsos + { + try + { + PulseText = Convert.ToUInt32(lblAngulo.Text, 10); + Pulse = BitConverter.GetBytes(PulseText); + if (SpeedText2 <= 3000 && SpeedText2 >= 1) + { + if (PulseText <= 4294967295 && PulseText >= 1) + { + if (rdbAntihorarioPosicao.Checked) + { + //Speed2 = Convert.ToByte(SpeedText2 | RWD); + Speed_2[1] |= RWD; + //Pulse = Convert.ToByte(PulseText); + } + else if (rdbHorarioPosicao.Checked) + { + //Speed2 = Convert.ToByte(SpeedText2 | FWD); + Speed_2[1] |= FWD; + //Pulse = Convert.ToByte(PulseText); + } + else + { + MessageBox.Show("Sentido de giro não selecionado"); + } + tCHK = 0xFA + Addr + data + Speed_2[1] + Speed_2[0] + Start_ACC[0] + Pulse[3] + Pulse[2] + Pulse[1] + Pulse[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Speed_2[1], Speed_2[0], Start_ACC[0], Pulse[3], Pulse[2], Pulse[1], Pulse[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 11); + } + else + MessageBox.Show("O número de pulsos deve estar entre 1 e 4294967295"); + } + else + MessageBox.Show("A velocidade deve estar entre 1 e 3000"); + } + catch + { + Console.WriteLine("Erro ao definir controle Pulses"); + } + } + else if (cmbModo.Text == ModosControlePosicao[1]) + { + DataSended = 44; + data = 0xF4; + try + { + Text_BUF = lblAngulo.Text; + if (Text_BUF.Length > 1) + { + if (Text_BUF[0] == '0' && (Text_BUF[1] == 'x' || Text_BUF[1] == 'X')) + { + RelAxisText = Convert.ToInt32(lblAngulo.Text, 16); + RelAxis = BitConverter.GetBytes(RelAxisText); + } + else + { + RelAxisText = Convert.ToInt32(lblAngulo.Text, 10); + RelAxis = BitConverter.GetBytes(RelAxisText * 16384 / 360); + } + } + else + { + RelAxisText = Convert.ToInt32(lblAngulo.Text, 10); + RelAxis = BitConverter.GetBytes(RelAxisText * 16384 / 360); + } + if (SpeedText2 <= 3000 && SpeedText2 >= 1) + { + if (RelAxisText <= 2147483647 && RelAxisText >= -2147483647) + { + tCHK = 0xFA + Addr + data + Speed_2[1] + Speed_2[0] + Start_ACC[0] + RelAxis[3] + RelAxis[2] + RelAxis[1] + RelAxis[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Speed_2[1], Speed_2[0], Start_ACC[0], RelAxis[3], RelAxis[2], RelAxis[1], RelAxis[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 11); + } + } + else + MessageBox.Show("Valor para controle inválido"); + } + catch + { + Console.WriteLine("Erro ao definir controle RelAxis"); + } + } + else if (cmbModo.Text == ModosControlePosicao[2]) + { + DataSended = 45; + data = 0xF5; + try + { + Text_BUF = lblAngulo.Text; + if (Text_BUF.Length > 1) + { + if (Text_BUF[0] == '0' && (Text_BUF[1] == 'x' || Text_BUF[1] == 'X')) + { + AbsAxisText = Convert.ToInt32(lblAngulo.Text, 16); + AbsAxis = BitConverter.GetBytes(AbsAxisText); + } + else + { + AbsAxisText = Convert.ToInt32(lblAngulo.Text, 10); + AbsAxis = BitConverter.GetBytes(AbsAxisText * 16384 / 360); + } + } + else + { + AbsAxisText = Convert.ToInt32(lblAngulo.Text, 10); + AbsAxis = BitConverter.GetBytes(AbsAxisText * 16384 / 360); + } + if (SpeedText2 <= 3000 && SpeedText2 >= 1) + { + if (AbsAxisText <= 2147483647 && AbsAxisText >= -2147483647) + { + tCHK = 0xFA + Addr + data + Speed_2[1] + Speed_2[0] + Start_ACC[0] + AbsAxis[3] + AbsAxis[2] + AbsAxis[1] + AbsAxis[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Speed_2[1], Speed_2[0], Start_ACC[0], AbsAxis[3], AbsAxis[2], AbsAxis[1], AbsAxis[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 11); + } + } + else + MessageBox.Show("Valor para controle inválido"); + } + catch + { + Console.WriteLine("Erro ao definir controle AbsAxis"); + } + } + } + catch + { + Console.WriteLine("Erro ao controlar motor de passo"); + } + } + + if (DataSended == 14) //(14 calibrar codificador) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + /* + if (DataSended == 15) //(15 tipo de motor - confirmar xx) + { + Text_BUF = comboBox6.Text; + if (Text_BUF == Mot_18) + { + tCHK = Addr + data + byte_data[1]; + Buffer = new byte[] { Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + } + else if (Text_BUF == Mot_09) + { + tCHK = Addr + data + byte_data[0]; + Buffer = new byte[] { Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + } + } + */ + + if (DataSended == 16) //(16 modo de operação - confirmar) + { + Text_BUF = cmbModoControle.Text; + if (Text_BUF == ModosControle[0]) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == ModosControle[1]) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == ModosControle[2]) + { + tCHK = 0xFA + Addr + data + byte_data[2]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[2], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == ModosControle[3]) + { + tCHK = 0xFA + Addr + data + byte_data[3]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[3], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == ModosControle[4]) + { + tCHK = 0xFA + Addr + data + byte_data[4]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[4], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == ModosControle[5]) + { + tCHK = 0xFA + Addr + data + byte_data[5]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[5], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 17) //(17 valor de corrente (mA) - confirmar) + { + //-------------------Determinação do tipo de motor-------------------- + tCHK = 0xFA + Addr + 0x40; + Buffer = new byte[] { 0xFA, Addr, 0x40, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + await Task.Delay(50); + //--------------------------------------------------- + try + { + CurrentText = Convert.ToUInt16(cmbCorrenteMaxima.Text, 10); + Current = BitConverter.GetBytes(CurrentText); + if (CurrentText <= Max_Current && CurrentText >= 0) + { + tCHK = 0xFA + Addr + data + Current[1] + Current[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Current[1], Current[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 6); + } + else + MessageBox.Show("Corrente máxima deve estar entre 0 e " + Max_Current); + } + catch + { + Console.WriteLine("Erro ao salvar valor da corrente máxima"); + } + } + + /*if (DataSended == 18) //(18 configuração de habilitação - confirmar) + { + Text_BUF = GB3_comboBox_使能设置.Text; + if (Text_BUF == EN_H) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == EN_L) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == EN_Hold) + { + tCHK = 0xFA + Addr + data + byte_data[2]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[2], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 19) //(19 direção do motor - confirmar) + { + Text_BUF = GB3_comboBox_电机方向.Text; + if (Text_BUF == Dir_CW) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == Dir_CCW) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 20) //(20 desligamento automático da tela - confirmar) + { + Text_BUF = GB3_comboBox_自动熄屏.Text; + if (Text_BUF == Disable) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == Enable) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + }*/ + + if (DataSended == 21) //(21 proteção contra travamento - confirmar) + { + Text_BUF = cmbProtecao.Text; + if (Text_BUF == LimiteRetornos[0]) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == LimiteRetornos[1]) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 22) //(22 interpolação de subdivisão - confirmar) + { + Text_BUF = Disable; + if (Text_BUF == Disable) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == Enable) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 23) //(23 taxa de baud da porta serial - confirmar) + { + Text_BUF = cmbUartBaud.Text; + if (Text_BUF == UartBaud[0]) //9600 + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == UartBaud[1]) //19200 + { + tCHK = 0xFA + Addr + data + byte_data[2]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[2], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == UartBaud[2]) //25000 + { + tCHK = 0xFA + Addr + data + byte_data[3]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[3], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == UartBaud[3]) //38400 + { + tCHK = 0xFA + Addr + data + byte_data[4]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[4], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == UartBaud[4]) //57600 + { + tCHK = 0xFA + Addr + data + byte_data[5]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[5], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == UartBaud[5]) //115200 + { + tCHK = 0xFA + Addr + data + byte_data[6]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[6], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == UartBaud[6]) //256000 + { + tCHK = 0xFA + Addr + data + byte_data[7]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[7], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 24) //(24 endereço de comunicação do motor - confirmar) + { + try + { + UartAddrText = Convert.ToByte(cmbUartAddr.Text, 16); + if (UartAddrText <= 0xff && UartAddrText >= 0x01) + { + tCHK = 0xFA + Addr + data + UartAddrText; + Buffer = new byte[] { 0xFA, Addr, (byte)data, UartAddrText, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + MessageBox.Show("Endereço deve estar entre 0x01 e 0xff"); + } + catch + { + Console.WriteLine("Erro ao definir endereço"); + } + } + + + /* + if (DataSended == 25) //(25 Confirmar posição Kp) + { + KpText = Convert.ToUInt16(comboBox16.Text, 10); + Kp = BitConverter.GetBytes(KpText); + if (KpText < 65535 && KpText >= 0) + { + tCHK = Addr + data + Kp[1] + Kp[0]; + Buffer = new byte[] { Addr, (byte)data, Kp[1], Kp[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + { + MessageBox.Show(Text2_Geral, Text2_janela); + } + } + + if (DataSended == 26) //(26 Confirmar posição Ki) + { + KiText = Convert.ToUInt16(comboBox17.Text, 10); + Ki = BitConverter.GetBytes(KiText); + if (KiText < 65535 && KiText >= 0) + { + tCHK = Addr + data + Ki[1] + Ki[0]; + Buffer = new byte[] { Addr, (byte)data, Ki[1], Ki[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + { + MessageBox.Show(Text2_Geral, Text2_janela); + } + } + + if (DataSended == 27) //(27 Confirmar posição Kd) + { + KdText = Convert.ToUInt16(comboBox18.Text, 10); + Kd = BitConverter.GetBytes(KdText); + if (KdText < 65535 && KdText >= 0) + { + tCHK = Addr + data + Kd[1] + Kd[0]; + Buffer = new byte[] { Addr, (byte)data, Kd[1], Kd[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + { + MessageBox.Show(Text2_Geral, Text2_janela); + } + }*/ + + if (DataSended == 28) //(28 Confirmar aceleração inicial) + { + try + { + Start_ACCText = Convert.ToUInt16(cmbRampaInicio.Text, 10); + if (Start_ACCText <= 255 && Start_ACCText >= 0) + { + Start_ACC = BitConverter.GetBytes(Start_ACCText); + try + { + Temp1++; + } + catch + { + Temp1 = 0; + } + } + else + { + MessageBox.Show("O valor da rampa deve estar entre 0 e 255"); + } + } + catch + { + MessageBox.Show("Erro ao definir rampa de início"); + } + } + + if (DataSended == 29) //(29 Confirmar aceleração de parada) + { + try + { + Stop_ACCText = Convert.ToUInt16(cmbRampaParada.Text, 10); + if (Stop_ACCText <= 255 && Stop_ACCText >= 0) + { + Stop_ACC = BitConverter.GetBytes(Stop_ACCText); + try + { + Temp1++; + } + catch + { + Temp1 = 0; + } + } + else + { + MessageBox.Show("O valor da rampa deve estar entre 0 e 255"); + } + } + catch + { + MessageBox.Show("Erro ao definir rampa de parada"); + } + } + + /* + if (DataSended == 30) //(30 Ativar modo de retorno à origem) + { + if (radioButton7.Checked) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (radioButton8.Checked) + { + tCHK = 0xFA + Addr + data + byte_data[2]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[2], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + { + MessageBox.Show(Text2_Geral, Text2_janela); + } + } + */ + + if (DataSended == 31) //(31 Parâmetros de limite) + { + //-------------------Verificar tipo de motor-------------------- + tCHK = 0xFA + Addr + 0x40; + Buffer = new byte[] { 0xFA, Addr, 0x40, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + await Task.Delay(50); + //--------------------------------------------------- + try + { + //Nível de gatilho + Text_BUF = "Baixo"; + if (Text_BUF == "Baixo") + { + HomeTrig = 0x00; + } + else if (Text_BUF == "Alto") + { + HomeTrig = 0x01; + } + + //Direção de retorno à origem + Text_BUF = cmbDirecaoLimite.Text; + if (Text_BUF == LimiteDirecoes[0]) + { + HomeDir = 0x00; + } + else if (Text_BUF == LimiteDirecoes[1]) + { + HomeDir = 0x01; + } + + //Habilitar retorno à origem + Text_BUF = cmbLimiteRetorno.Text; + if (Text_BUF == LimiteRetornos[0]) + { + EndLimit = 0x00; + } + else if (Text_BUF == LimiteRetornos[1]) + { + EndLimit = 0x01; + } + + //Velocidade de retorno à origem + SpeedText = Convert.ToUInt16(cmbVelocidadeLimite.Text, 10); + Speed_1 = BitConverter.GetBytes(SpeedText); + + if (FV1[2] == 0x03) + { + if (SpeedText <= 3000 && SpeedText >= 1) + { + tCHK = 0xFA + Addr + data + HomeTrig + HomeDir + Speed_1[1] + Speed_1[0] + EndLimit; + Buffer = new byte[] { 0xFA, Addr, (byte)data, HomeTrig, HomeDir, Speed_1[1], Speed_1[0], EndLimit, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 9); + } + else + MessageBox.Show("Limite de velocidade de retorno deve estar entre 1 e 3000"); + } + else + { + if (SpeedText <= 3000 && SpeedText >= 1) + { + tCHK = 0xFA + Addr + data + HomeTrig + HomeDir + Speed_1[1] + Speed_1[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, HomeTrig, HomeDir, Speed_1[1], Speed_1[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 8); + } + else + MessageBox.Show("Limite de velocidade de retorno deve estar entre 1 e 3000"); + } + //---- + } + catch + { + MessageBox.Show("Erro ao definir limite"); + } + } + + if (DataSended == 32) //(32 Limite de retorno à origem) + { + tCHK = 0xFA + Addr + data; + Buffer = new byte[] { 0xFA, Addr, (byte)data, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + } + + if (DataSended == 33) //(33 Retorno à origem direto) + { + tCHK = 0xFA + Addr + data; + Buffer = new byte[] { 0xFA, Addr, (byte)data, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + } + + /* + if (DataSended == 34) //(34 Confirmar direção de retorno à origem) + { + if (radioButton10.Checked) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (radioButton9.Checked) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + { + MessageBox.Show(Text2_Geral, Text2_janela); + } + } + */ + + if (DataSended == 35) //(35 Voltar ao ponto zero) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + if (DataSended == 36) //(36 Restaurar configurações de fábrica) + { + tCHK = 0xFA + Addr + data; + Buffer = new byte[] { 0xFA, Addr, (byte)data, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + } + + if (DataSended == 38) //(38 Parar modo de controle de posição do motor) + { + if (cmbModo.Text == ModosControlePosicao[0]) + { + + } + else if (cmbModo.Text == ModosControlePosicao[1]) + { + data = 0xF4; + } + else if (cmbModo.Text == ModosControlePosicao[2]) + { + data = 0xF5; + } + tCHK = 0xFA + Addr + data + 0x00 + 0x00 + Stop_ACC[0] + 0x00 + 0x00 + 0x00 + 0x00; + Buffer = new byte[] { 0xFA, Addr, (byte)data, 0x00, 0x00, Stop_ACC[0], 0x00, 0x00, 0x00, 0x00, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 11); + } + + /*if (DataSended == 41) //(41 Resposta do escravo) + { + Text_BUF = GB3_comboBox_从机应答.Text; + if (Text_BUF == Desativar) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == Ativar) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 42) //(42 Grupo de escravos) + { + try + { + UartAddrText = Convert.ToByte(GB3_comboBox_从机分组.Text, 16); + if (UartAddrText <= 0xff && UartAddrText >= 0x01) + { + tCHK = 0xFA + Addr + data + UartAddrText; + Buffer = new byte[] { 0xFA, Addr, (byte)data, UartAddrText, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + MessageBox.Show(Text1_UartAddrError, Text1_janela); + } + catch + { + MessageBox.Show(Text1_Geral, Text2_janela); + } + } + + if (DataSended == 47) //(47 MODBUS) + { + Text_BUF = GB3_comboBox_MODBUS.Text; + if (Text_BUF == Desativar) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == Ativar) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 48) //(48 Bloqueio de teclas) + { + Text_BUF = GB3_comboBox_按键锁定.Text; + if (Text_BUF == "Desbloquear") + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == "Bloquear") + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + }*/ + + if (DataSended == 49) //(49 Retorno único) + { + try + { + //Modo de retorno à origem + Text_BUF = cmbModoLimite.Text; + if (Text_BUF == LimiteModos[0]) + { + Mode_0 = 0x00; + } + else if (Text_BUF == LimiteModos[1]) + { + Mode_0 = 0x01; + } + else if (Text_BUF == LimiteModos[2]) + { + Mode_0 = 0x02; + } + + //Configurar zero + Text_BUF = cmbZeroLimite.Text; + if (Text_BUF == LimiteZeros[0]) + { + Set_0 = 0x00; + } + else if (Text_BUF == LimiteZeros[1]) + { + Set_0 = 0x01; + } + + //Direção de retorno à origem + Text_BUF = cmbDirecaoLimite.Text; + if (Text_BUF == LimiteDirecoes[0]) + { + Dir_0 = 0x00; + } + else if (Text_BUF == LimiteDirecoes[1]) + { + Dir_0 = 0x01; + } + + //Velocidade de retorno à origem + Speed_0 = Convert.ToByte(cmbVelocidadeLimite.Text, 10); + + tCHK = 0xFA + Addr + data + Mode_0 + Set_0 + Speed_0 + Dir_0; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Mode_0, Set_0, Speed_0, Dir_0, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 8); + //---- + } + catch + { + MessageBox.Show("Erro ao gravar parametros de limite"); + } + } + + } + else + MessageBox.Show("Endereço selecionado é inválido"); + + Console.WriteLine("Terminou o envio"); + } + + private void txtValor_TextChanged(object sender, EventArgs e) + { + double reducao = 20.0; + int.TryParse(txtValor.Text, out int valor); + double angulo = 0; + int val = 0; + if (cmbModo.Text == ModosControlePosicao[0]) + { + int.TryParse(cmbMStep.Text, out int mstep); + if (cmbMStep.Text == "") mstep = 16; + double pulsos = mstep * 200; + double relacao = (pulsos * reducao) / 360.0; + angulo = valor / relacao; + val = Convert.ToInt32(valor * relacao); + } + else + { + angulo = valor / reducao; + val = Convert.ToInt32(valor * reducao); + } + lblAngulo.Text = val.ToString(); + } + + private void cmbEndereco_SelectedIndexChanged(object sender, EventArgs e) + { + _EnderecoControlar = cmbEndereco.Text; + } + + private void Text_display() + { + if (txtErroCarregado.InvokeRequired) + { + txtErroCarregado.Invoke(new Action(Text_display)); + return; + } + + + rxDisplay(); //计算rCHK + + if ((byte)rCHK == SerialBuffer_RX[Data_Number - 1]) + { + switch (SerialBuffer_RX[2]) + { + case 0x30: // 0 Encoder de valor em modo posicional FB + 01 + 30 + int32_t valor posicional + uint16_t valor do encoder + CRC + if (rdbHex.Checked) // Hexadecimal + { + txtErroCarregado.Clear(); + + txtErroCarregado.AppendText("0x"); + for (int a = 3; a < 9; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + txtErroCarregado.AppendText(str.Length == 1 ? "0" + str : str); + } + } + else if (rdbDecimal.Checked) // Decimal + { + txtErroCarregado.Clear(); + + word32 = "0"; + for (int a = 3; a < 7; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word32 += str.Length == 1 ? "0" + str : str; + } + data32 = Convert.ToInt32(word32, 16); + + word16 = "0"; + for (int a = 7; a < 9; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word16 += str.Length == 1 ? "0" + str : str; + } + data16 = Convert.ToInt16(word16, 16); + + str = Convert.ToString(data32 * 360 + data16 * 360 / 16384, 10); + txtErroCarregado.AppendText(str); + } + else + { + MessageBox.Show("Erro ao ler dados de erro"); // Erro de dados + } + break; + + case 0x33: // 1 Contagem acumulada de pulsos FB + 01 + 33 + int32_t contagem acumulada de pulsos + CRC + if (rdbHex.Checked) // Hexadecimal + { + txtNumeroPulsos.Clear(); + + txtNumeroPulsos.AppendText("0x"); + for (int a = 3; a < 7; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + txtNumeroPulsos.AppendText(str.Length == 1 ? "0" + str : str); + } + } + else if (rdbDecimal.Checked) // Decimal + { + txtNumeroPulsos.Clear(); + + word32 = "0"; + for (int a = 3; a < 7; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word32 += str.Length == 1 ? "0" + str : str; + } + data32 = Convert.ToInt32(word32, 16); + + str = Convert.ToString(data32, 10); + txtNumeroPulsos.AppendText(str); + } + else + { + MessageBox.Show("Erro ao ler dados de pulsos"); // Erro de dados + } + break; + + case 0x39: // 2 Erro de ângulo de posição FB + 01 + 39 + int32_t erro de ângulo de posição + CRC + if (rdbHex.Checked) // Hexadecimal + { + txtErroAngulo.Clear(); + txtErroAngulo.AppendText("0x"); + for (int a = 3; a < 7; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + txtErroAngulo.AppendText(str.Length == 1 ? "0" + str : str); + } + } + else if (rdbDecimal.Checked) // Decimal + { + txtErroAngulo.Clear(); + word32 = "0"; + for (int a = 3; a < 7; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word32 += str.Length == 1 ? "0" + str : str; + } + data32 = Convert.ToInt32(word32, 16); + + str = Convert.ToString(data32, 10); + txtErroAngulo.AppendText(str); + } + else + { + MessageBox.Show("Erro ao ler dados de erro de angulo"); // Erro de dados + } + break; + + case 0x3A: // 3 Estado de habilitação da placa de acionamento FB + 01 + 3A + uint8_t estado de habilitação do loop fechado da placa de acionamento + CRC + // Habilitado: 01 + // Desabilitado: 00 + if (SerialBuffer_RX[3] == EN_STATE_ON) + { + txtDriverHabilitado.Clear(); + txtDriverHabilitado.AppendText(Text1_EN); // Texto1 de habilitação + } + else if (SerialBuffer_RX[3] == EN_STATE_OFF) + { + txtDriverHabilitado.Clear(); + txtDriverHabilitado.AppendText(Text2_EN); // Texto2 de desabilitação + } + else + { + MessageBox.Show("Erro ao ler dados de driver habilitado"); // Erro de dados + } + break; + + case 0x3B: // 4 Estado de retorno automático para a posição inicial após ligar FB + 01 + 3B + uint8_t valor de estado de retorno para a posição inicial + CRC + // Executando retorno para a posição inicial: 00 + // Retorno para a posição inicial concluído: 01 + // Falha ao retornar para a posição inicial: 02 + if (SerialBuffer_RX[3] == 0x00) + { + txtResetZero.Clear(); + txtResetZero.AppendText(Text1_Zero); // Texto1 de retorno para zero + } + else if (SerialBuffer_RX[3] == 0x01) + { + txtResetZero.Clear(); + txtResetZero.AppendText(Text2_Zero); // Texto2 de retorno para zero + } + else if (SerialBuffer_RX[3] == 0x02) + { + txtResetZero.Clear(); + txtResetZero.AppendText(Text3_Zero); // Texto3 de retorno para zero + } + break; + + case 0x3E: // 5 Sinal de bloqueio do motor FB + 01 + 3E + uint8_t sinal de bloqueio + CRC + // Bloqueado: 01 + // Não bloqueado: 00 + if (SerialBuffer_RX[3] == 0x01) + { + txtBloqueado.Clear(); + txtBloqueado.AppendText(Text1_Stall); // Texto1 de bloqueio + } + else if (SerialBuffer_RX[3] == 0x00) + { + txtBloqueado.Clear(); + txtBloqueado.AppendText(Text2_Stall); // Texto2 de bloqueio + } + break; + + case 0x3D: // 37 Status de desbloqueio + // Desbloqueio bem-sucedido: retorna FB 01 3D 01 3A + // Falha no desbloqueio: retorna FB 01 3D 00 39 + if (SerialBuffer_RX[3] == 0x01) + { + MessageBox.Show(Text1_Block, Text1_Block); // Texto1 de bloqueio + } + else if (SerialBuffer_RX[3] == 0x00) + { + MessageBox.Show(Text2_Block, Text2_Block); // Texto2 de bloqueio + } + break; + + case 0xF6: // 8 Início do controle de velocidade & 9 Parada do controle de velocidade + if (DataSended == 8) + { + txtStatus.Clear(); + if (SerialBuffer_RX[3] == 0x01) // Sucesso + { + txtStatus.AppendText(Text1_Move); // Texto1 de movimento + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + txtStatus.AppendText(Text3_Move); // Texto3 de movimento + break; + } + else + { + txtStatus.AppendText(Text1_COM); // Texto1 de erro de comunicação + break; + } + txtDirecao.Clear(); + txtVelocidade.Clear(); + txtAceleracao.Clear(); + if (rdbHorarioPosicao.Checked) // Direção positiva + { + txtDirecao.AppendText(Text1_Dir); // Texto1 de direção + } + else if (rdbAntihorarioPosicao.Checked) // Direção negativa + { + txtDirecao.AppendText(Text2_Dir); // Texto2 de direção + } + txtVelocidade.AppendText(cmbVelocidadePosicao.Text); // Velocidade alvo + txtAceleracao.AppendText(Start_ACC[0].ToString()); // Aceleração alvo + } + else if (DataSended == 9) + { + txtStatus.Clear(); + if (SerialBuffer_RX[3] == 0x02) // Concluído + { + txtStatus.AppendText(Text2_Stop); // Texto2 de parada + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciado + { + txtStatus.AppendText(Text4_Stop); // Texto4 de parada + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + txtStatus.AppendText(Text3_Stop); // Texto3 de parada + break; + } + else + { + txtStatus.AppendText(Text1_COM); // Texto1 de erro de comunicação + break; + } + txtDirecao.Clear(); + txtVelocidade.Clear(); + txtAceleracao.Clear(); + txtDirecao.AppendText(Text3_Dir); // Texto3 de direção + txtVelocidade.AppendText("0"); // Velocidade alvo zero + txtAceleracao.AppendText(Stop_ACC[0].ToString()); // Aceleração alvo de parada + } + break; + + case 0xFD: // 13 Início do controle de posição & 38 Parada do controle de posição + txtStatus.Clear(); + txtDirecao.Clear(); + txtVelocidade.Clear(); + txtAceleracao.Clear(); + if (DataSended != 38) + { + if (SerialBuffer_RX[3] == 0x02) // Concluído + { + txtStatus.AppendText(Text2_Move); // Texto2 de movimento + break; + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciado + { + txtStatus.AppendText(Text4_Move); // Texto4 de movimento + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + txtStatus.AppendText(Text3_Move); // Texto3 de movimento + break; + } + else + { + txtStatus.AppendText(Text1_COM); // Texto1 de erro de comunicação + break; + } + if (rdbHorarioPosicao.Checked) // Direção positiva + { + txtDirecao.AppendText(Text1_Dir); // Texto1 de direção + } + else if (rdbAntihorarioPosicao.Checked) // Direção negativa + { + txtDirecao.AppendText(Text2_Dir); // Texto2 de direção + } + txtVelocidade.AppendText(cmbVelocidadePosicao.Text); // Velocidade alvo + txtAceleracao.AppendText(Start_ACC[0].ToString()); // Aceleração alvo + } + else if (DataSended == 38) + { + if (SerialBuffer_RX[3] == 0x02) // Concluído + { + txtStatus.AppendText(Text2_Stop); // Texto2 de parada + break; + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciado + { + txtStatus.AppendText(Text4_Stop); // Texto4 de parada + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + txtStatus.AppendText(Text3_Stop); // Texto3 de parada + break; + } + else + { + txtStatus.AppendText(Text1_COM); // Texto1 de erro de comunicação + break; + } + txtDirecao.AppendText(Text3_Dir); // Texto3 de direção + txtVelocidade.AppendText("0"); // Velocidade alvo zero + txtAceleracao.AppendText(Stop_ACC[0].ToString()); // Aceleração alvo de parada + } + break; + + case 0xF4: // 44 Coordenadas Relativas & 38 Controle de Parada de Posição + txtStatus.Clear(); + txtDirecao.Clear(); + txtVelocidade.Clear(); + txtAceleracao.Clear(); + if (DataSended != 38) + { + if (SerialBuffer_RX[3] == 0x02) // Completo + { + txtStatus.AppendText(Text2_Move); + break; + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciar + { + txtStatus.AppendText(Text4_Move); + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + txtStatus.AppendText(Text3_Move); + break; + } + else + { + txtStatus.AppendText(Text1_COM); + break; + } + txtVelocidade.AppendText(cmbVelocidadePosicao.Text); + txtAceleracao.AppendText(Start_ACC[0].ToString()); + } + else if (DataSended == 38) + { + if (SerialBuffer_RX[3] == 0x02) // Completo + { + txtStatus.AppendText(Text2_Stop); + break; + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciar + { + txtStatus.AppendText(Text4_Stop); + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + txtStatus.AppendText(Text3_Stop); + break; + } + else + { + txtStatus.AppendText(Text1_COM); + break; + } + txtDirecao.AppendText(Text3_Dir); + txtVelocidade.AppendText("0"); + txtAceleracao.AppendText(Stop_ACC[0].ToString()); + } + break; + + case 0xF5: // 45 Coordenadas Absolutas & 38 Controle de Parada de Posição + txtStatus.Clear(); + txtDirecao.Clear(); + txtVelocidade.Clear(); + txtAceleracao.Clear(); + if (DataSended != 38) + { + if (SerialBuffer_RX[3] == 0x02) // Completo + { + txtStatus.AppendText(Text2_Move); + break; + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciar + { + txtStatus.AppendText(Text4_Move); + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + txtStatus.AppendText(Text3_Move); + break; + } + else + { + txtStatus.AppendText(Text1_COM); + break; + } + txtVelocidade.AppendText(cmbVelocidadePosicao.Text); + txtAceleracao.AppendText(Start_ACC[0].ToString()); + } + else if (DataSended == 38) + { + if (SerialBuffer_RX[3] == 0x02) // Completo + { + txtStatus.AppendText(Text2_Stop); + break; + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciar + { + txtStatus.AppendText(Text4_Stop); + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + txtStatus.AppendText(Text3_Stop); + break; + } + else + { + txtStatus.AppendText(Text1_COM); + break; + } + txtDirecao.AppendText(Text3_Dir); + txtVelocidade.AppendText("0"); + txtAceleracao.AppendText(Stop_ACC[0].ToString()); + } + break; + + case 0x31:// 39 Valor do Codificador Incremental FB + 01 + 31 + Valor do Codificador uint48_t + CRC + if (rdbHex.Checked) // Hexadecimal + { + txtErroCarregado.Clear(); + + txtErroCarregado.AppendText("0x"); + for (int a = 3; a < 9; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + txtErroCarregado.AppendText(str.Length == 1 ? "0" + str : str); + } + } + else if (rdbDecimal.Checked) // Decimal + { + txtErroCarregado.Clear(); + + word64 = "0"; + for (int a = 3; a < 9; a++) + { + if (a == 3 && SerialBuffer_RX[3] >= 0x80) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word64 = "FFFF" + str; + } + else + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word64 += str.Length == 1 ? "0" + str : str; + } + } + data64 = Convert.ToInt64(word64, 16); + + str = Convert.ToString(data64 * 360 / 16384, 10); + txtErroCarregado.AppendText(str); + } + else + { + MessageBox.Show(Text1_DataError, Text2_window); + } + break; + + case 0x32:// 40 Velocidade Atual do Motor + if (rdbHex.Checked) // Hexadecimal + { + txtRPM.Clear(); + txtRPM.AppendText("0x"); + for (int a = 3; a < 5; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + txtRPM.AppendText(str.Length == 1 ? "0" + str : str); + } + } + else if (rdbDecimal.Checked) // Decimal + { + txtRPM.Clear(); + word16 = "0"; + for (int a = 3; a < 5; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word16 += str.Length == 1 ? "0" + str : str; + } + data16 = Convert.ToInt16(word16, 16); + str = Convert.ToString(data16, 10); + txtRPM.AppendText(str); + } + else + { + MessageBox.Show(Text1_DataError, Text2_window); + } + break; + + case 0x80:// 14 Calibrar Codificador + txtDirecao.Clear(); + txtVelocidade.Clear(); + txtAceleracao.Clear(); + txtStatus.Clear(); + if (SerialBuffer_RX[3] == 0x00) + { + txtStatus.AppendText(Text1_Cal); + } + else if (SerialBuffer_RX[3] == 0x01) + { + txtStatus.AppendText(Text2_Cal); + } + else if (SerialBuffer_RX[3] == 0x02) + { + txtStatus.AppendText(Text3_Cal); + } + break; + + case 0x3F:// 36 Restaurar Configurações de Fábrica + case 0x82:// 16 Modo de Trabalho + case 0x83:// 17 Valor de Corrente + case 0x84:// 12 Configuração de Subdivisão + case 0x85:// 18 Configuração de Habilitação + case 0x86:// 19 Direção do Motor + case 0x87:// 20 Desligamento Automático da Tela + case 0x88:// 21 Proteção de Bloqueio + case 0x89:// 22 Interpolação de Subdivisão + case 0x8A:// 23 Taxa de Baud da Porta Serial + case 0x8B:// 24 Endereço de Comunicação do Motor + case 0x8C:// 41 Resposta do Dispositivo Escravo + case 0x8D:// 42 Grupo do Dispositivo Escravo + case 0x90:// 31 Parâmetros de Limite + case 0xF3:// 6 Habilitar Placa de Acionamento & 7 Desligar Placa de Acionamento + case 0xFF:// 10 Iniciar Execução Automática na Inicialização & 11 Parar Execução Automática na Inicialização + case 0x8E:// 47 Confirmação MODBUS + case 0x8F:// 48 Bloqueio de Teclas - Confirmação + case 0x9A:// 49 Retorno de uma Volta + txtDirecao.Clear(); + txtVelocidade.Clear(); + txtAceleracao.Clear(); + txtStatus.Clear(); + try + { + Temp1++; + if (SerialBuffer_RX[3] == 0x00) + { + txtStatus.AppendText(Text2_RX + "(" + Temp1 + ")"); + } + else if (SerialBuffer_RX[3] == 0x01) + { + txtStatus.AppendText(Text1_RX + "(" + Temp1 + ")"); + } + } + catch + { + Temp1 = 0; + } + break; + + case 0x91:// 32 Reiniciar Limites + txtDirecao.Clear(); + txtVelocidade.Clear(); + txtAceleracao.Clear(); + txtStatus.Clear(); + if (SerialBuffer_RX[3] == 0x00) + { + txtStatus.AppendText(Text3_Zero); + } + else if (SerialBuffer_RX[3] == 0x01) + { + txtStatus.AppendText(Text1_Zero); + } + else if (SerialBuffer_RX[3] == 0x02) + { + txtStatus.AppendText(Text2_Zero); + } + break; + + case 0x92:// 33 Reinicialização Direta + txtDirecao.Clear(); + txtVelocidade.Clear(); + txtAceleracao.Clear(); + txtStatus.Clear(); + if (SerialBuffer_RX[3] == 0x00) + { + txtStatus.AppendText(Text3_Zero); + } + else if (SerialBuffer_RX[3] == 0x01) + { + txtStatus.AppendText(Text2_Zero); + } + break; + + case 0x40:// 43 Informação de Versão + try + { + HV = HardVersion[SerialBuffer_RX[3]]; + FV = "V" + SerialBuffer_RX[4] + "." + SerialBuffer_RX[5] + "." + SerialBuffer_RX[6]; + for (int a = 0; a < 3; a++) + { + FV1[a] = SerialBuffer_RX[a + 4]; + } + if (DataSended == 43) + { + MessageBox.Show(Text_HardVer + ": " + HV + "\n" + Text_FirmVer + ": " + FV, "Versão"); + DataSended = 0; + } + if (SerialBuffer_RX[3] == 1 || SerialBuffer_RX[3] == 2) + { + Max_Current = 3000; + //Text_CurrentError = Text_CurrentError42D; + cmbCorrenteMaxima.Items.Clear(); + cmbCorrenteMaxima.Items.AddRange(CurrentText_42D); + } + else if (SerialBuffer_RX[3] == 3 || SerialBuffer_RX[3] == 4) + { + Max_Current = 5200; + //Text_CurrentError = Text_CurrentError57D; + cmbCorrenteMaxima.Items.Clear(); + cmbCorrenteMaxima.Items.AddRange(CurrentText_57D); + } + else + { + Max_Current = 3000; + //Text_CurrentError = Text_CurrentError42D; + cmbCorrenteMaxima.Items.Clear(); + cmbCorrenteMaxima.Items.AddRange(CurrentText_42D); + } + } + catch + { + MessageBox.Show(Text1_window, Text2_window); + } + break; + + /*case 0x34:// 46 Estado do Portão IO + GB5_textBox_IN1.Clear(); + GB5_textBox_IN2.Clear(); + GB5_textBox_OUT1.Clear(); + GB5_textBox_OUT2.Clear(); + + byte[] IO = new byte[1]; + IO[0] = SerialBuffer_RX[3]; + BitArray LimitIO = new BitArray(IO); + + if (HV == HardVersion[3] || HV == HardVersion[4]) + { + GB5_textBox_IN1.AppendText(LimitIO.Get(0) ? "H" : "L"); + GB5_textBox_IN2.AppendText(LimitIO.Get(1) ? "H" : "L"); + GB5_textBox_OUT1.AppendText(LimitIO.Get(2) ? "H" : "L"); + GB5_textBox_OUT2.AppendText(LimitIO.Get(3) ? "H" : "L"); + } + else if (HV == HardVersion[1] || HV == HardVersion[2]) + { + GB5_textBox_IN1.AppendText(LimitIO.Get(0) ? "H" : "L"); + GB5_textBox_IN2.AppendText("NC"); + GB5_textBox_OUT1.AppendText("NC"); + GB5_textBox_OUT2.AppendText("NC"); + } + break;*/ + + default: + MessageBox.Show(Text1_window, Text2_window); + break; + } + } + } + + private void rxDisplay() + { + rCHK = 0x00; + Console.Write("RX: "); + for (int a = 0; a < Data_Number - 1; a++) + { + rCHK += SerialBuffer_RX[a]; + Console.Write("{0:X2} ", SerialBuffer_RX[a]); + } + Console.WriteLine("{0:X2} rCHK: {1:X2} Length: {2}", SerialBuffer_RX[Data_Number - 1], (byte)rCHK, Data_Number); + } + + private void txDisplay() + { + Console.Write("TX: "); + for (int a = 0; a < Buffer.Length; a++) + { + Console.Write("{0:X2} ", Buffer[a]); + } + Console.WriteLine("Length: {0}", Buffer.Length); + } + + + + + } +} diff --git a/AgroBase/AgroBase/Forms/frmMKS.resx b/AgroBase/AgroBase/Forms/frmMKS.resx new file mode 100644 index 000000000..1af7de150 --- /dev/null +++ b/AgroBase/AgroBase/Forms/frmMKS.resx @@ -0,0 +1,120 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + text/microsoft-resx + + + 2.0 + + + System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + + System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs b/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs index 25fd58162..ce1772dc7 100644 --- a/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs +++ b/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs @@ -93,6 +93,7 @@ namespace AgroBase this.btnIniciarOperacao = new System.Windows.Forms.Button(); this.lblModoOperacao = new System.Windows.Forms.Label(); this.cmbModoOperacao = new System.Windows.Forms.ComboBox(); + this.btnMKS = new System.Windows.Forms.Button(); this.gpbAcoes.SuspendLayout(); this.erroStrip.SuspendLayout(); this.pnlLateral.SuspendLayout(); @@ -117,9 +118,9 @@ namespace AgroBase this.gpbAcoes.Controls.Add(this.pnlLateral); this.gpbAcoes.Dock = System.Windows.Forms.DockStyle.Right; this.gpbAcoes.Location = new System.Drawing.Point(470, 0); - this.gpbAcoes.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbAcoes.Margin = new System.Windows.Forms.Padding(2); this.gpbAcoes.Name = "gpbAcoes"; - this.gpbAcoes.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbAcoes.Padding = new System.Windows.Forms.Padding(2); this.gpbAcoes.Size = new System.Drawing.Size(558, 609); this.gpbAcoes.TabIndex = 0; this.gpbAcoes.TabStop = false; @@ -155,7 +156,7 @@ namespace AgroBase this.pnlLateral.Controls.Add(this.btnNovoDispositivo); this.pnlLateral.Dock = System.Windows.Forms.DockStyle.Fill; this.pnlLateral.Location = new System.Drawing.Point(2, 15); - this.pnlLateral.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.pnlLateral.Margin = new System.Windows.Forms.Padding(2); this.pnlLateral.Name = "pnlLateral"; this.pnlLateral.Size = new System.Drawing.Size(554, 592); this.pnlLateral.TabIndex = 0; @@ -174,9 +175,9 @@ namespace AgroBase // this.gpbDispositivos.Controls.Add(this.lstDisponiveis); this.gpbDispositivos.Location = new System.Drawing.Point(161, 78); - this.gpbDispositivos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbDispositivos.Margin = new System.Windows.Forms.Padding(2); this.gpbDispositivos.Name = "gpbDispositivos"; - this.gpbDispositivos.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbDispositivos.Padding = new System.Windows.Forms.Padding(2); this.gpbDispositivos.Size = new System.Drawing.Size(386, 133); this.gpbDispositivos.TabIndex = 3; this.gpbDispositivos.TabStop = false; @@ -186,7 +187,7 @@ namespace AgroBase // this.lstDisponiveis.HideSelection = false; this.lstDisponiveis.Location = new System.Drawing.Point(11, 20); - this.lstDisponiveis.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.lstDisponiveis.Margin = new System.Windows.Forms.Padding(2); this.lstDisponiveis.Name = "lstDisponiveis"; this.lstDisponiveis.Size = new System.Drawing.Size(252, 102); this.lstDisponiveis.TabIndex = 0; @@ -196,7 +197,7 @@ namespace AgroBase // btnRemover // this.btnRemover.Location = new System.Drawing.Point(87, 50); - this.btnRemover.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnRemover.Margin = new System.Windows.Forms.Padding(2); this.btnRemover.Name = "btnRemover"; this.btnRemover.Size = new System.Drawing.Size(62, 23); this.btnRemover.TabIndex = 12; @@ -219,7 +220,7 @@ namespace AgroBase this.cmbDispositivos.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; this.cmbDispositivos.FormattingEnabled = true; this.cmbDispositivos.Location = new System.Drawing.Point(22, 26); - this.cmbDispositivos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.cmbDispositivos.Margin = new System.Windows.Forms.Padding(2); this.cmbDispositivos.Name = "cmbDispositivos"; this.cmbDispositivos.Size = new System.Drawing.Size(128, 21); this.cmbDispositivos.TabIndex = 10; @@ -234,9 +235,9 @@ namespace AgroBase this.gpbNovoDispositivo.Controls.Add(this.lblTipo); this.gpbNovoDispositivo.Enabled = false; this.gpbNovoDispositivo.Location = new System.Drawing.Point(16, 78); - this.gpbNovoDispositivo.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbNovoDispositivo.Margin = new System.Windows.Forms.Padding(2); this.gpbNovoDispositivo.Name = "gpbNovoDispositivo"; - this.gpbNovoDispositivo.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbNovoDispositivo.Padding = new System.Windows.Forms.Padding(2); this.gpbNovoDispositivo.Size = new System.Drawing.Size(141, 133); this.gpbNovoDispositivo.TabIndex = 9; this.gpbNovoDispositivo.TabStop = false; @@ -247,7 +248,7 @@ namespace AgroBase this.cmbTipos.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; this.cmbTipos.FormattingEnabled = true; this.cmbTipos.Location = new System.Drawing.Point(7, 37); - this.cmbTipos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.cmbTipos.Margin = new System.Windows.Forms.Padding(2); this.cmbTipos.Name = "cmbTipos"; this.cmbTipos.Size = new System.Drawing.Size(128, 21); this.cmbTipos.TabIndex = 2; @@ -255,7 +256,7 @@ namespace AgroBase // btnSalvar // this.btnSalvar.Location = new System.Drawing.Point(7, 101); - this.btnSalvar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnSalvar.Margin = new System.Windows.Forms.Padding(2); this.btnSalvar.Name = "btnSalvar"; this.btnSalvar.Size = new System.Drawing.Size(127, 20); this.btnSalvar.TabIndex = 9; @@ -266,7 +267,7 @@ namespace AgroBase // txtDescricao // this.txtDescricao.Location = new System.Drawing.Point(7, 76); - this.txtDescricao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.txtDescricao.Margin = new System.Windows.Forms.Padding(2); this.txtDescricao.Name = "txtDescricao"; this.txtDescricao.Size = new System.Drawing.Size(128, 20); this.txtDescricao.TabIndex = 3; @@ -294,7 +295,7 @@ namespace AgroBase // btnNovoDispositivo // this.btnNovoDispositivo.Location = new System.Drawing.Point(22, 50); - this.btnNovoDispositivo.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnNovoDispositivo.Margin = new System.Windows.Forms.Padding(2); this.btnNovoDispositivo.Name = "btnNovoDispositivo"; this.btnNovoDispositivo.Size = new System.Drawing.Size(60, 23); this.btnNovoDispositivo.TabIndex = 8; @@ -355,9 +356,9 @@ namespace AgroBase this.gpbMovimentacao.Controls.Add(this.trkRPM); this.gpbMovimentacao.Controls.Add(this.lblRPM); this.gpbMovimentacao.Location = new System.Drawing.Point(9, 63); - this.gpbMovimentacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbMovimentacao.Margin = new System.Windows.Forms.Padding(2); this.gpbMovimentacao.Name = "gpbMovimentacao"; - this.gpbMovimentacao.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbMovimentacao.Padding = new System.Windows.Forms.Padding(2); this.gpbMovimentacao.Size = new System.Drawing.Size(330, 85); this.gpbMovimentacao.TabIndex = 2; this.gpbMovimentacao.TabStop = false; @@ -376,7 +377,7 @@ namespace AgroBase // trkKmh // this.trkKmh.Location = new System.Drawing.Point(168, 37); - this.trkKmh.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.trkKmh.Margin = new System.Windows.Forms.Padding(2); this.trkKmh.Maximum = 34; this.trkKmh.Name = "trkKmh"; this.trkKmh.Size = new System.Drawing.Size(158, 45); @@ -388,7 +389,7 @@ namespace AgroBase // trkRPM // this.trkRPM.Location = new System.Drawing.Point(4, 37); - this.trkRPM.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.trkRPM.Margin = new System.Windows.Forms.Padding(2); this.trkRPM.Maximum = 500; this.trkRPM.Minimum = 5; this.trkRPM.Name = "trkRPM"; @@ -411,7 +412,7 @@ namespace AgroBase // tkbAngulo // this.tkbAngulo.Location = new System.Drawing.Point(4, 95); - this.tkbAngulo.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.tkbAngulo.Margin = new System.Windows.Forms.Padding(2); this.tkbAngulo.Maximum = 180; this.tkbAngulo.Name = "tkbAngulo"; this.tkbAngulo.Size = new System.Drawing.Size(314, 45); @@ -442,7 +443,7 @@ namespace AgroBase // tkbVelocidade // this.tkbVelocidade.Location = new System.Drawing.Point(4, 35); - this.tkbVelocidade.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.tkbVelocidade.Margin = new System.Windows.Forms.Padding(2); this.tkbVelocidade.Maximum = 100; this.tkbVelocidade.Minimum = 1; this.tkbVelocidade.Name = "tkbVelocidade"; @@ -455,7 +456,7 @@ namespace AgroBase // btnVer // this.btnVer.Location = new System.Drawing.Point(256, 20); - this.btnVer.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnVer.Margin = new System.Windows.Forms.Padding(2); this.btnVer.Name = "btnVer"; this.btnVer.Size = new System.Drawing.Size(63, 20); this.btnVer.TabIndex = 13; @@ -466,7 +467,7 @@ namespace AgroBase // btnJoyAtt // this.btnJoyAtt.Location = new System.Drawing.Point(121, 20); - this.btnJoyAtt.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnJoyAtt.Margin = new System.Windows.Forms.Padding(2); this.btnJoyAtt.Name = "btnJoyAtt"; this.btnJoyAtt.Size = new System.Drawing.Size(63, 20); this.btnJoyAtt.TabIndex = 12; @@ -477,7 +478,7 @@ namespace AgroBase // btnJoyEdt // this.btnJoyEdt.Location = new System.Drawing.Point(188, 20); - this.btnJoyEdt.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnJoyEdt.Margin = new System.Windows.Forms.Padding(2); this.btnJoyEdt.Name = "btnJoyEdt"; this.btnJoyEdt.Size = new System.Drawing.Size(63, 20); this.btnJoyEdt.TabIndex = 11; @@ -490,7 +491,7 @@ namespace AgroBase this.cmbJoysticks.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; this.cmbJoysticks.FormattingEnabled = true; this.cmbJoysticks.Location = new System.Drawing.Point(4, 21); - this.cmbJoysticks.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.cmbJoysticks.Margin = new System.Windows.Forms.Padding(2); this.cmbJoysticks.Name = "cmbJoysticks"; this.cmbJoysticks.Size = new System.Drawing.Size(112, 21); this.cmbJoysticks.TabIndex = 3; @@ -503,7 +504,7 @@ namespace AgroBase // btnDiagnosticos // this.btnDiagnosticos.Location = new System.Drawing.Point(5, 6); - this.btnDiagnosticos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnDiagnosticos.Margin = new System.Windows.Forms.Padding(2); this.btnDiagnosticos.Name = "btnDiagnosticos"; this.btnDiagnosticos.Size = new System.Drawing.Size(84, 20); this.btnDiagnosticos.TabIndex = 14; @@ -514,7 +515,7 @@ namespace AgroBase // btnAcompanhamento // this.btnAcompanhamento.Location = new System.Drawing.Point(5, 32); - this.btnAcompanhamento.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnAcompanhamento.Margin = new System.Windows.Forms.Padding(2); this.btnAcompanhamento.Name = "btnAcompanhamento"; this.btnAcompanhamento.Size = new System.Drawing.Size(84, 20); this.btnAcompanhamento.TabIndex = 15; @@ -525,7 +526,7 @@ namespace AgroBase // btnAtuCamera // this.btnAtuCamera.Location = new System.Drawing.Point(5, 56); - this.btnAtuCamera.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnAtuCamera.Margin = new System.Windows.Forms.Padding(2); this.btnAtuCamera.Name = "btnAtuCamera"; this.btnAtuCamera.Size = new System.Drawing.Size(84, 20); this.btnAtuCamera.TabIndex = 16; @@ -536,7 +537,7 @@ namespace AgroBase // btnMapas // this.btnMapas.Location = new System.Drawing.Point(5, 107); - this.btnMapas.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnMapas.Margin = new System.Windows.Forms.Padding(2); this.btnMapas.Name = "btnMapas"; this.btnMapas.Size = new System.Drawing.Size(84, 20); this.btnMapas.TabIndex = 17; @@ -547,7 +548,7 @@ namespace AgroBase // btnSenCamera // this.btnSenCamera.Location = new System.Drawing.Point(5, 82); - this.btnSenCamera.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnSenCamera.Margin = new System.Windows.Forms.Padding(2); this.btnSenCamera.Name = "btnSenCamera"; this.btnSenCamera.Size = new System.Drawing.Size(84, 20); this.btnSenCamera.TabIndex = 18; @@ -562,9 +563,9 @@ namespace AgroBase this.gpbJoystick.Controls.Add(this.btnJoyAtt); this.gpbJoystick.Controls.Add(this.btnVer); this.gpbJoystick.Location = new System.Drawing.Point(9, 10); - this.gpbJoystick.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbJoystick.Margin = new System.Windows.Forms.Padding(2); this.gpbJoystick.Name = "gpbJoystick"; - this.gpbJoystick.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbJoystick.Padding = new System.Windows.Forms.Padding(2); this.gpbJoystick.Size = new System.Drawing.Size(330, 49); this.gpbJoystick.TabIndex = 18; this.gpbJoystick.TabStop = false; @@ -577,9 +578,9 @@ namespace AgroBase this.gpbControleDirecional.Controls.Add(this.lblAngulo); this.gpbControleDirecional.Controls.Add(this.lblVelocidade); this.gpbControleDirecional.Location = new System.Drawing.Point(9, 154); - this.gpbControleDirecional.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbControleDirecional.Margin = new System.Windows.Forms.Padding(2); this.gpbControleDirecional.Name = "gpbControleDirecional"; - this.gpbControleDirecional.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbControleDirecional.Padding = new System.Windows.Forms.Padding(2); this.gpbControleDirecional.Size = new System.Drawing.Size(330, 159); this.gpbControleDirecional.TabIndex = 19; this.gpbControleDirecional.TabStop = false; @@ -589,9 +590,9 @@ namespace AgroBase // this.gpbAtalhos.Controls.Add(this.pnlAtalhos); this.gpbAtalhos.Location = new System.Drawing.Point(344, 10); - this.gpbAtalhos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbAtalhos.Margin = new System.Windows.Forms.Padding(2); this.gpbAtalhos.Name = "gpbAtalhos"; - this.gpbAtalhos.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbAtalhos.Padding = new System.Windows.Forms.Padding(2); this.gpbAtalhos.Size = new System.Drawing.Size(122, 304); this.gpbAtalhos.TabIndex = 20; this.gpbAtalhos.TabStop = false; @@ -600,6 +601,7 @@ namespace AgroBase // pnlAtalhos // this.pnlAtalhos.AutoScroll = true; + this.pnlAtalhos.Controls.Add(this.btnMKS); this.pnlAtalhos.Controls.Add(this.btnBLD300R); this.pnlAtalhos.Controls.Add(this.btnWT901C); this.pnlAtalhos.Controls.Add(this.btnLoRaConfig); @@ -616,7 +618,7 @@ namespace AgroBase this.pnlAtalhos.Controls.Add(this.btnContornos); this.pnlAtalhos.Controls.Add(this.btnAtuCalibragem); this.pnlAtalhos.Location = new System.Drawing.Point(4, 14); - this.pnlAtalhos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.pnlAtalhos.Margin = new System.Windows.Forms.Padding(2); this.pnlAtalhos.Name = "pnlAtalhos"; this.pnlAtalhos.Size = new System.Drawing.Size(112, 286); this.pnlAtalhos.TabIndex = 0; @@ -624,7 +626,7 @@ namespace AgroBase // btnBLD300R // this.btnBLD300R.Location = new System.Drawing.Point(5, 343); - this.btnBLD300R.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnBLD300R.Margin = new System.Windows.Forms.Padding(2); this.btnBLD300R.Name = "btnBLD300R"; this.btnBLD300R.Size = new System.Drawing.Size(84, 20); this.btnBLD300R.TabIndex = 28; @@ -635,7 +637,7 @@ namespace AgroBase // btnWT901C // this.btnWT901C.Location = new System.Drawing.Point(5, 319); - this.btnWT901C.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnWT901C.Margin = new System.Windows.Forms.Padding(2); this.btnWT901C.Name = "btnWT901C"; this.btnWT901C.Size = new System.Drawing.Size(84, 20); this.btnWT901C.TabIndex = 27; @@ -646,7 +648,7 @@ namespace AgroBase // btnLoRaConfig // this.btnLoRaConfig.Location = new System.Drawing.Point(5, 296); - this.btnLoRaConfig.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnLoRaConfig.Margin = new System.Windows.Forms.Padding(2); this.btnLoRaConfig.Name = "btnLoRaConfig"; this.btnLoRaConfig.Size = new System.Drawing.Size(84, 20); this.btnLoRaConfig.TabIndex = 26; @@ -657,7 +659,7 @@ namespace AgroBase // btnResultados // this.btnResultados.Location = new System.Drawing.Point(5, 272); - this.btnResultados.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnResultados.Margin = new System.Windows.Forms.Padding(2); this.btnResultados.Name = "btnResultados"; this.btnResultados.Size = new System.Drawing.Size(84, 20); this.btnResultados.TabIndex = 25; @@ -668,7 +670,7 @@ namespace AgroBase // btnKinect // this.btnKinect.Location = new System.Drawing.Point(5, 249); - this.btnKinect.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnKinect.Margin = new System.Windows.Forms.Padding(2); this.btnKinect.Name = "btnKinect"; this.btnKinect.Size = new System.Drawing.Size(84, 20); this.btnKinect.TabIndex = 24; @@ -679,7 +681,7 @@ namespace AgroBase // btnSimulador // this.btnSimulador.Location = new System.Drawing.Point(5, 225); - this.btnSimulador.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnSimulador.Margin = new System.Windows.Forms.Padding(2); this.btnSimulador.Name = "btnSimulador"; this.btnSimulador.Size = new System.Drawing.Size(84, 20); this.btnSimulador.TabIndex = 23; @@ -690,7 +692,7 @@ namespace AgroBase // btnGPS // this.btnGPS.Location = new System.Drawing.Point(5, 132); - this.btnGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnGPS.Margin = new System.Windows.Forms.Padding(2); this.btnGPS.Name = "btnGPS"; this.btnGPS.Size = new System.Drawing.Size(84, 20); this.btnGPS.TabIndex = 19; @@ -701,7 +703,7 @@ namespace AgroBase // btnSonar // this.btnSonar.Location = new System.Drawing.Point(5, 202); - this.btnSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnSonar.Margin = new System.Windows.Forms.Padding(2); this.btnSonar.Name = "btnSonar"; this.btnSonar.Size = new System.Drawing.Size(84, 20); this.btnSonar.TabIndex = 22; @@ -712,7 +714,7 @@ namespace AgroBase // btnContornos // this.btnContornos.Location = new System.Drawing.Point(5, 155); - this.btnContornos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnContornos.Margin = new System.Windows.Forms.Padding(2); this.btnContornos.Name = "btnContornos"; this.btnContornos.Size = new System.Drawing.Size(84, 20); this.btnContornos.TabIndex = 20; @@ -723,7 +725,7 @@ namespace AgroBase // btnAtuCalibragem // this.btnAtuCalibragem.Location = new System.Drawing.Point(5, 179); - this.btnAtuCalibragem.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnAtuCalibragem.Margin = new System.Windows.Forms.Padding(2); this.btnAtuCalibragem.Name = "btnAtuCalibragem"; this.btnAtuCalibragem.Size = new System.Drawing.Size(84, 20); this.btnAtuCalibragem.TabIndex = 21; @@ -740,9 +742,9 @@ namespace AgroBase this.gpbOperacao.Controls.Add(this.lblModoOperacao); this.gpbOperacao.Controls.Add(this.cmbModoOperacao); this.gpbOperacao.Location = new System.Drawing.Point(9, 315); - this.gpbOperacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbOperacao.Margin = new System.Windows.Forms.Padding(2); this.gpbOperacao.Name = "gpbOperacao"; - this.gpbOperacao.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbOperacao.Padding = new System.Windows.Forms.Padding(2); this.gpbOperacao.Size = new System.Drawing.Size(457, 97); this.gpbOperacao.TabIndex = 21; this.gpbOperacao.TabStop = false; @@ -751,7 +753,7 @@ namespace AgroBase // btnIHM // this.btnIHM.Location = new System.Drawing.Point(296, 58); - this.btnIHM.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnIHM.Margin = new System.Windows.Forms.Padding(2); this.btnIHM.Name = "btnIHM"; this.btnIHM.Size = new System.Drawing.Size(122, 33); this.btnIHM.TabIndex = 16; @@ -762,7 +764,7 @@ namespace AgroBase // btnConfigurarOperacao // this.btnConfigurarOperacao.Location = new System.Drawing.Point(121, 58); - this.btnConfigurarOperacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnConfigurarOperacao.Margin = new System.Windows.Forms.Padding(2); this.btnConfigurarOperacao.Name = "btnConfigurarOperacao"; this.btnConfigurarOperacao.Size = new System.Drawing.Size(122, 33); this.btnConfigurarOperacao.TabIndex = 15; @@ -774,7 +776,7 @@ namespace AgroBase // this.chbDebugMode.AutoSize = true; this.chbDebugMode.Location = new System.Drawing.Point(134, 35); - this.chbDebugMode.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.chbDebugMode.Margin = new System.Windows.Forms.Padding(2); this.chbDebugMode.Name = "chbDebugMode"; this.chbDebugMode.Size = new System.Drawing.Size(109, 17); this.chbDebugMode.TabIndex = 14; @@ -784,7 +786,7 @@ namespace AgroBase // btnIniciarOperacao // this.btnIniciarOperacao.Location = new System.Drawing.Point(7, 58); - this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(2); this.btnIniciarOperacao.Name = "btnIniciarOperacao"; this.btnIniciarOperacao.Size = new System.Drawing.Size(109, 33); this.btnIniciarOperacao.TabIndex = 13; @@ -807,12 +809,23 @@ namespace AgroBase this.cmbModoOperacao.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; this.cmbModoOperacao.FormattingEnabled = true; this.cmbModoOperacao.Location = new System.Drawing.Point(7, 33); - this.cmbModoOperacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.cmbModoOperacao.Margin = new System.Windows.Forms.Padding(2); this.cmbModoOperacao.Name = "cmbModoOperacao"; this.cmbModoOperacao.Size = new System.Drawing.Size(110, 21); this.cmbModoOperacao.TabIndex = 13; this.cmbModoOperacao.SelectedIndexChanged += new System.EventHandler(this.cmbModoOperacao_SelectedIndexChanged); // + // btnMKS + // + this.btnMKS.Location = new System.Drawing.Point(5, 367); + this.btnMKS.Margin = new System.Windows.Forms.Padding(2); + this.btnMKS.Name = "btnMKS"; + this.btnMKS.Size = new System.Drawing.Size(84, 20); + this.btnMKS.TabIndex = 29; + this.btnMKS.Text = "MKS 057D"; + this.btnMKS.UseVisualStyleBackColor = true; + this.btnMKS.Click += new System.EventHandler(this.btnMKS_Click); + // // frmPrincipal // this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); @@ -825,7 +838,7 @@ namespace AgroBase this.Controls.Add(this.gpbMovimentacao); this.Controls.Add(this.generalStrip); this.Controls.Add(this.gpbAcoes); - this.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.Margin = new System.Windows.Forms.Padding(2); this.Name = "frmPrincipal"; this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen; this.Text = "Agro Base"; @@ -926,6 +939,7 @@ namespace AgroBase private System.Windows.Forms.Button btnLoRaConfig; private System.Windows.Forms.Button btnWT901C; private System.Windows.Forms.Button btnBLD300R; + private System.Windows.Forms.Button btnMKS; } } diff --git a/AgroBase/AgroBase/Forms/frmPrincipal.cs b/AgroBase/AgroBase/Forms/frmPrincipal.cs index 3619e403b..431172377 100644 --- a/AgroBase/AgroBase/Forms/frmPrincipal.cs +++ b/AgroBase/AgroBase/Forms/frmPrincipal.cs @@ -189,7 +189,7 @@ namespace AgroBase { Variaveis.DispositivosConectados.Where(x => x.Dados.GetStatusConexao()).ToList().ForEach(x => x.AcaoDesconectar()); } - SerialService.RealizarVarreduraPortasUSB().ConfigureAwait(false); + //SerialService.RealizarVarreduraPortasUSB().ConfigureAwait(false); if ( Variaveis.OperacaoEmAndamento.DispAtu == null && Variaveis.DispositivosConectados.Any(x => x.Dispositivo == T_Code.Atu) || @@ -437,5 +437,11 @@ namespace AgroBase MessageBox.Show("Driver BLD-300R não está conectado!"); }*/ } + + private void btnMKS_Click(object sender, EventArgs e) + { + frmMKS frm = new frmMKS(); + frm.Show(); + } } } diff --git a/AgroBase/AgroBase/Forms/frmPrincipal.resx b/AgroBase/AgroBase/Forms/frmPrincipal.resx index 1d52f03ae..9deac0f7e 100644 --- a/AgroBase/AgroBase/Forms/frmPrincipal.resx +++ b/AgroBase/AgroBase/Forms/frmPrincipal.resx @@ -120,9 +120,6 @@ 11, 10 - - 11, 10 - 133, 16 diff --git a/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs index e6fe60f05..bd26dd353 100644 --- a/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs +++ b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs @@ -53,6 +53,7 @@ namespace AgroBase.Forms } pnlOrientacaoTrajeto.Invalidate(); + pnlAnguloControle.Invalidate(); } else { diff --git a/AgroBase/AgroBase/Models/Enuns.cs b/AgroBase/AgroBase/Models/Enuns.cs index 3006066ab..fa5a73a21 100644 --- a/AgroBase/AgroBase/Models/Enuns.cs +++ b/AgroBase/AgroBase/Models/Enuns.cs @@ -59,6 +59,7 @@ namespace AgroBase.Models Bld = 108, Mvd = 109, Mbs = 110, + Mks = 111, } public enum F_Code @@ -94,6 +95,7 @@ namespace AgroBase.Models sBLD = 544, sCMD = 878, sMVD = 477, + sATU = 478, } public enum BotoesJoystick diff --git a/AgroBase/AgroBase/Models/GeneralJoystick.cs b/AgroBase/AgroBase/Models/GeneralJoystick.cs index 7f01d65c5..e437f8b0e 100644 --- a/AgroBase/AgroBase/Models/GeneralJoystick.cs +++ b/AgroBase/AgroBase/Models/GeneralJoystick.cs @@ -458,7 +458,7 @@ namespace AgroBase public static void EnviaComandoMotor(Keys Tecla, T_Code? Disp = null) { - if ((DispCon.Count == 0 || Variaveis.OperacaoEmAndamento.Modo != ModoOperacao.Manual || !Variaveis.OperacaoEmAndamento.Iniciado)) + if ((Variaveis.OperacaoEmAndamento.Modo != ModoOperacao.Manual || !Variaveis.OperacaoEmAndamento.Iniciado)) { return; } diff --git a/AgroBase/AgroBase/Models/MKS057DModel.cs b/AgroBase/AgroBase/Models/MKS057DModel.cs new file mode 100644 index 000000000..b07980343 --- /dev/null +++ b/AgroBase/AgroBase/Models/MKS057DModel.cs @@ -0,0 +1,82 @@ +using AgroBase.Services; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using static AgroBase.Models.Enuns; + +namespace AgroBase.Models +{ + public class MKS057DModel + { + public bool Iniciado { get; set; } + public double ErroCarregado { get; set; } + public string ErroCarregado_Hex { get; set; } + public double ErroAcumulado { get; set; } + public string ErroAcumulado_Hex { get; set; } + public double RPM { get; set; } + public string RPM_Hex { get; set; } + public int NumeroPulsos { get; set; } + public string NumeroPulsos_Hex { get; set; } + public double ErroAngulo { get; set; } + public string ErroAngulo_Hex { get; set; } + public Estado StatusDriver { get; set; } + public StatusComando StatusModoLimiteZero { get; set; } + public Estado StatusTravaMotor { get; set; } + public StatusComando StatusBloqueioMotor { get; set; } + public StatusComando StatusMovimentoMotor { get; set; } + public Sentido Direcao { get; set; } + public double Velocidade { get; set; } + public double Aceleracao { get; set; } + public string Mensagem { get; set; } + } + + public class MKS057ComandoModel + { + public byte Comando { get; set; } + public string Endereco { get; set; } + public double Angulo { get; set; } + public double Velocidade { get; set; } + public ModosControle ModoControle { get; set; } = ModosControle.AnguloAbsoluto; + public Sentido _Sentido { get; set; } = Sentido.Parado; + public bool AguardaResposta { get; set; } = false; + public int TimeoutResposta { get; set; } = 1000; + } + + public enum ModosOperacao + { + CR_OPEN = 1, + CR_CLOSE = 2, + CR_vFOC = 3, + SR_OPEN = 4, + SR_CLOSE = 5, + SR_vFOC = 6, + } + + public enum ModosControle + { + Pulsos = 1, + AnguloRelativo = 2, + AnguloAbsoluto = 3, + } + + public enum ModosRetornoOrigem + { + Desativado = 0, + ModoDirecao = 1, + ModoAproximacao = 2, + } + + public enum StatusComando + { + Falha = 0, + Sucesso = 1, + Erro = 2, + Retornando = 3, + Completo = 4, + Movendo = 5, + Parando = 6, + Calibrando = 7, + } +} diff --git a/AgroBase/AgroBase/Models/MapasModel.cs b/AgroBase/AgroBase/Models/MapasModel.cs index 7314f9494..c44b2e87e 100644 --- a/AgroBase/AgroBase/Models/MapasModel.cs +++ b/AgroBase/AgroBase/Models/MapasModel.cs @@ -36,7 +36,7 @@ namespace AgroBase.Models DirecaoCarroRua direcaoCaminho = DirecaoCarroRua.Parado; if (TrajetoriaDinamica.Any()) { - GPSModel PontoMaisProximo = GPSService.PontoMaisProximoRuaProjetada(TrajetoriaDinamica, TrajetoriaTipo.Dinamica); + (GPSModel PontoMaisProximo, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(TrajetoriaDinamica, TrajetoriaTipo.Dinamica); int idxPontoMaisProximo = TrajetoriaDinamica.IndexOf(PontoMaisProximo); direcaoCaminho = TrajetoriaDinamica[idxPontoMaisProximo].DirecaoTrecho; } @@ -74,7 +74,7 @@ namespace AgroBase.Models { PontosRua.Reverse(); } - GPSModel PontoMaisProximo = GPSService.PontoMaisProximoRuaProjetada(PontosRua, TrajetoriaTipo.Rua); + (GPSModel PontoMaisProximo, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(PontosRua, TrajetoriaTipo.Rua); int idx = PontosRua.IndexOf(PontoMaisProximo); foreach (var Ponto in PontosRua) { @@ -95,7 +95,7 @@ namespace AgroBase.Models } } double distTrecho = GPSService.DistanciaDoTrecho(Trecho); - dentro = distTrecho > 0 && distTrecho < Rua.properties.Length; + dentro = (distTrecho > 0 && distTrecho < Rua.properties.Length) || (idx == 0 && !aproximando); return dentro; } @@ -119,7 +119,7 @@ namespace AgroBase.Models { get { - if (Trajetoria.Any(x => x.Any())) + if (Trajetoria.Any(x => x.Any()) && Trajetoria.Count() > IdxRuaAtual) { var primeiroPontoRua = Trajetoria.Skip(IdxRuaAtual).First().First(); return primeiroPontoRua; @@ -135,7 +135,7 @@ namespace AgroBase.Models { get { - if (Trajetoria.Any(x => x.Any())) + if (Trajetoria.Any(x => x.Any()) && Trajetoria.Count() > IdxRuaAtual) { var ultimoPontoRua = Trajetoria.Skip(IdxRuaAtual).First().Last(); return ultimoPontoRua; @@ -166,7 +166,7 @@ namespace AgroBase.Models { if (TrajetoriaDinamica.Any()) { - GPSModel PontoMaisProximo = GPSService.PontoMaisProximoRuaProjetada(TrajetoriaDinamica, TrajetoriaTipo.Dinamica); + (GPSModel PontoMaisProximo, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(TrajetoriaDinamica, TrajetoriaTipo.Dinamica); int idx = TrajetoriaDinamica.IndexOf(PontoMaisProximo); if ((idx + 1) >= TrajetoriaDinamica.Count()) @@ -215,7 +215,7 @@ namespace AgroBase.Models { if (IdxRuaAtual > 0) { - GPSModel pontoMaisProximo = GPSService.PontoMaisProximoRuaProjetada(Trajetoria[IdxRuaAtual - 1], TrajetoriaTipo.Geral); + (GPSModel pontoMaisProximo, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(Trajetoria[IdxRuaAtual - 1], TrajetoriaTipo.Geral); double distanciaP0 = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, pontoMaisProximo); if (distanciaP0 < Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.MargemLimiteEntradaRua) { @@ -261,7 +261,7 @@ namespace AgroBase.Models { if (IdxRuaAtual > 0) { - GPSModel pontoMaisProximo = GPSService.PontoMaisProximoRuaProjetada(Trajetoria[IdxRuaAtual - 1], TrajetoriaTipo.Geral); + (GPSModel pontoMaisProximo, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(Trajetoria[IdxRuaAtual - 1], TrajetoriaTipo.Geral); double distanciaP0 = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, pontoMaisProximo); if (distanciaP0 < Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.MargemLimiteEntradaRua) { @@ -467,7 +467,7 @@ namespace AgroBase.Models { GPSModel pontoAtual = GPSService.UltimaLeitura; - GPSModel P0 = GPSService.PontoMaisProximoRuaProjetada(Rua, TrajetoriaTipo.Geral); + (GPSModel P0, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(Rua, TrajetoriaTipo.Geral); int idxP0 = Rua.IndexOf(P0); bool PontoProximo = idxP0 < Rua.Count() - 1; bool PontoAnterior = idxP0 > 0; @@ -496,8 +496,6 @@ namespace AgroBase.Models { List RuaAtual = Trajetoria.Skip(i).First(); - bool dentroRua = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.DentroDaRua; - double anguloProjetar = GPSService.CalcularOrientacao(RuaAtual.First(), RuaAtual.Skip(1).First()) + 90; List RuaProjetada = ProjetarRua(RuaAtual, distanciaEntreRuas, anguloProjetar); @@ -525,13 +523,13 @@ namespace AgroBase.Models if (!Caminho.Any()) { - GPSModel PontoMaisProximo = GPSService.PontoMaisProximoRuaProjetada(RuaProjetada, TrajetoriaTipo.Rua); + (GPSModel PontoMaisProximo, bool aproximando) = GPSService.PontoMaisProximoRuaProjetada(RuaProjetada, TrajetoriaTipo.Rua); int idxPontoMaisProximo = RuaProjetada.IndexOf(PontoMaisProximo); GPSModel inicio = GPSService.UltimaLeitura; List _caminho = new List(); - if (idxPontoMaisProximo == 0) + if (idxPontoMaisProximo == 0 && aproximando) { //_caminho.Add(PrimeiroPonto); List _pontos = GPSService.InterpolarPontos(inicio, PrimeiroPonto, 1.0); @@ -540,9 +538,12 @@ namespace AgroBase.Models _caminho.AddRange(_pontos); } } - + + //bool dentroRua = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.DentroDaRua; + bool dentroRua = Variaveis.OperacaoEmAndamento.Mapa.DentroDaRua; + // Se estiver manobrando e a manobra ainda não tiver sido concluída, OU, o ponto mais próximo é o ultimo ponto da rua, e já esta fora da rua - if (!Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.ManobraConcluida || (idxPontoMaisProximo == (RuaProjetada.Count() - 1) && !dentroRua)) + if (!Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.ManobraConcluida || ((idxPontoMaisProximo == (RuaProjetada.Count() - 1)) && !dentroRua)) { _caminho.Add(inicio); } diff --git a/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs b/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs index 843747035..e07d06b09 100644 --- a/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs +++ b/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs @@ -1,4 +1,5 @@ using AgroBase.Services; +using Emgu.CV.Ocl; using Newtonsoft.Json; using System; using System.Collections.Generic; @@ -13,7 +14,7 @@ namespace AgroBase.Models.Modules public class AtuadorModel : DispositivoBaseModel { public string Modulo_ID { get; set; } = T_Code.Atu.ToString(); - + public bool RequisitarDados { get; set; } = false; private bool _MensagemConexaoRecebida { get; set; } = false; public bool MensagemConexaoRecebida(bool Reset = false) { @@ -244,19 +245,22 @@ namespace AgroBase.Models.Modules public Dictionary> ProtocoloConfiguracao(bool Conectar) { // Inicializar o dicionário - var configDictionary = new Dictionary>(); + var configDictionary = new Dictionary>() { { Modulo_ID, new List() } }; // Adicionar configurações dos Bicos Pulverizadores - var bicosConfig = BicosPulverizadores.Select(x => x.ProtocoloConfiguracaoBico(Conectar)).ToList(); - configDictionary.Add(Modulo_ID, bicosConfig); + var bicosConfig = BicosPulverizadores.Where(x => x.Comandar).Select(x => x.ProtocoloConfiguracaoBico(Conectar)).ToList(); + configDictionary[Modulo_ID].AddRange(bicosConfig); // Adicionar configuração da Bomba Pressurizadora - var bombaConfig = new List { BombaPressurizadora.ProtocoloConfiguracaoBomba(Conectar) }; - configDictionary.Add(Modulo_ID, bombaConfig); + if (BombaPressurizadora.Comandar) + { + string bombaConfig = BombaPressurizadora.ProtocoloConfiguracaoBomba(Conectar); + configDictionary[Modulo_ID].Add(bombaConfig); + } // Adicionar configurações dos Sensores - var sensoresConfig = Sensores.Select(x => x.ProtocoloConfiguracaoSensor(Pinout, Conectar)).ToList(); - configDictionary.Add(Modulo_ID, sensoresConfig); + var sensoresConfig = Sensores.Where(x => x.Aferir).Select(x => x.ProtocoloConfiguracaoSensor(Pinout, Conectar)).ToList(); + configDictionary[Modulo_ID].AddRange(sensoresConfig); // Adicionar configuração do ProtocoloMOD string protocoloMOD = @@ -264,22 +268,50 @@ namespace AgroBase.Models.Modules "MD" + SerialService.SplitParams + (Conectar ? "1" : "0") + SerialService.SplitParams + _TaxaAmostragem.ToString() + SerialService.SplitParams + - (AtuacaoNivelAlto ? "1" : "0"); - var protocoloMODConfig = new List { protocoloMOD }; - configDictionary.Add(Modulo_ID, protocoloMODConfig); + (AtuacaoNivelAlto ? "1" : "0") + SerialService.SplitParams + + (RequisitarDados ? "1" : "0"); + + configDictionary[Modulo_ID].Add(protocoloMOD); + + configDictionary[Modulo_ID].Add(ProtocoloVerificacao(false)); return configDictionary; } + + public string ProtocoloVerificacao(bool Completo) + { + if (Completo) + { + string ProtocoloCheck = + SerialService.BeginLine + + 0 + SerialService.SplitMessage + + Modulo_ID + SerialService.SplitMessage + + ((int)F_Code.Chk).ToString() + SerialService.SplitMessage + + "check" + + SerialService.EndLine; + + return ProtocoloCheck; + } + else + { + string ProtocoloCheck = + ((int)F_Code.Chk).ToString() + SerialService.SplitMessage + + "check"; + + return ProtocoloCheck; + } + } public void RecebeProtocoloSerial(string Protocolo) { - // #ET;00000;00000;00000;000 - if (!string.IsNullOrEmpty(Protocolo) && Protocolo[0].ToString() == SerialService.BeginSensor) + string Mod_ID = Protocolo.Split(SerialService.SplitMessage[0])[0]; + string mensagem = Protocolo.Substring(Mod_ID.Length + 1, Protocolo.Length - Mod_ID.Length - 1); + if (!string.IsNullOrEmpty(Protocolo) && mensagem[0].ToString() == SerialService.BeginSensor) { - string[] Dados = Protocolo.Replace(SerialService.BeginSensor, "").Split(SerialService.EndLine[0])[0].Split(';'); + string[] Dados = mensagem.Replace(SerialService.BeginSensor, "").Split(SerialService.EndLine[0])[0].Split(';'); string _id = Dados[1].Trim(); S_Code TipoSensor = (S_Code)(int.Parse(Dados[0])); - AtuadorBicoModel Bico = BicosPulverizadores.FirstOrDefault(x => x.ID.Trim() == _id); + /*AtuadorBicoModel Bico = BicosPulverizadores.FirstOrDefault(x => x.ID.Trim() == _id); SensorModel Sensor = Sensores.FirstOrDefault(x => x.ID.Trim() == _id); AtuadorBombaModel Bomba = _id == BombaPressurizadora.ID.Trim() ? BombaPressurizadora : null; if (Bico == null && Sensor == null && Bomba == null) @@ -290,12 +322,12 @@ namespace AgroBase.Models.Modules _MensagemConexaoRecebida = true; } return; - } + }*/ try { switch (TipoSensor) { - case S_Code.sCFG: + /*case S_Code.sCFG: { bool Inicializado = Dados[2] == "1"; if (Bico != null) @@ -400,19 +432,120 @@ namespace AgroBase.Models.Modules Bomba.Potencia = potencia; break; } + */ + case S_Code.sATU: + { + #region BICOS + + BicosPulverizadores.FirstOrDefault(x => x.ID.Contains("1")).Inicializado = Dados[2] == "1"; + BicosPulverizadores.FirstOrDefault(x => x.ID.Contains("1")).StatusBico = Dados[3] == "1"; + + BicosPulverizadores.FirstOrDefault(x => x.ID.Contains("2")).Inicializado = Dados[4] == "1"; + BicosPulverizadores.FirstOrDefault(x => x.ID.Contains("2")).StatusBico = Dados[5] == "1"; + + BicosPulverizadores.FirstOrDefault(x => x.ID.Contains("3")).Inicializado = Dados[6] == "1"; + BicosPulverizadores.FirstOrDefault(x => x.ID.Contains("3")).StatusBico = Dados[7] == "1"; + + BicosPulverizadores.FirstOrDefault(x => x.ID.Contains("4")).Inicializado = Dados[8] == "1"; + BicosPulverizadores.FirstOrDefault(x => x.ID.Contains("4")).StatusBico = Dados[9] == "1"; + + #endregion + + #region BOMBA + + BombaPressurizadora.Inicializado = Dados[10] == "1"; + BombaPressurizadora.Ligado = Dados[11] == "1"; + double.TryParse(Dados[12], out double p); + BombaPressurizadora.Potencia = p; + + #endregion + + #region FLUXO + + var SenFlx = Sensores.FirstOrDefault(x => x.Componente == S_Code.sFLX); + if (SenFlx != null) + { + SenFlx.Inicializado = Dados[13] == "1"; + int.TryParse(Dados[14].Replace(".", ","), out int pulsos); + int.TryParse(Dados[15].Replace(".", ","), out int tempo); + _LeituraPulsos = pulsos; + _LeituraPeriodo = tempo; + + if (VazaoFluxoMLpS > 0) + { + foreach (var bico in BicosPulverizadores.Where(x => x.Atuado)) + { + bico.MediaNivelFluxo = VazaoFluxoMLpS / BicosPulverizadores.Count(y => y.Atuado); + }; + + double periodoAtual = SenFlx.Leituras.Any() ? (double)_LeituraPeriodo - SenFlx.Leituras[1] : (double)_LeituraPeriodo; + VolumeVazaoML += (VazaoFluxoMLpS) * (periodoAtual / 1000); + + Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.HerbicidaConsumido = (VolumeVazaoML / 1000); + } + SenFlx.Leituras = new List() + { + pulsos, + tempo + }; + + DefineLimitesSensor(SenFlx); + } + + #endregion + + #region MASSA + + var SenMas = Sensores.FirstOrDefault(x => x.Componente == S_Code.sMAS); + if (SenMas != null) + { + SenMas.Inicializado = Dados[16] == "1"; + double.TryParse(Dados[17].Replace(".", ","), out double massa); + _MassaLeitura = massa; + + SenMas.Leituras = new List() + { + massa + }; + } + + DefineLimitesSensor(SenMas); + + #endregion + + #region PRSSAO + + var SenPrs = Sensores.FirstOrDefault(x => x.Componente == S_Code.sPRS); + if (SenPrs != null) + { + SenPrs.Inicializado = Dados[18] == "1"; + double.TryParse(Dados[19].Replace(".", ","), out double pressao); + double.TryParse(Dados[20].Replace(".", ","), out double leitura); + + PressaoLinha = pressao; + _LeituraPressao = leitura; + + BombaPressurizadora.Pressao = PressaoLinha; + + SenPrs.Leituras = new List() + { + pressao, + }; + + DefineLimitesSensor(SenPrs); + } + + #endregion + + break; + } + } - if (Sensor != null) + /*if (Sensor != null) { - if (Sensor.Leituras[0] > Sensor.ValorMaximo) - { - Sensor.ValorMaximo = Sensor.Leituras[0]; - } - else if (Sensor.Leituras[0] < Sensor.ValorMinimo) - { - Sensor.ValorMinimo = Sensor.Leituras[0]; - } - } + DefineLimitesSensor(Sensor); + }*/ } catch (Exception ex) { @@ -421,6 +554,18 @@ namespace AgroBase.Models.Modules } } + private void DefineLimitesSensor(SensorModel Sensor) + { + if (Sensor.Leituras[0] > Sensor.ValorMaximo) + { + Sensor.ValorMaximo = Sensor.Leituras[0]; + } + else if (Sensor.Leituras[0] < Sensor.ValorMinimo) + { + Sensor.ValorMinimo = Sensor.Leituras[0]; + } + } + public void DefineStatusConexao(string Mod_ID, bool conecatdo) { if (Mod_ID == Modulo_ID) diff --git a/AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs b/AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs index 95955863c..4a72d5201 100644 --- a/AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs +++ b/AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs @@ -47,25 +47,25 @@ namespace AgroBase.Models.Modules { Modulo_ID = "ET", MovMotor = MvdMotorBLDC.CarregarParametrosIniciais("ET", "0x01"), - DirMotor = MvdMotorPasso.CarregarParametrosIniciais("ET"), + DirMotor = MvdMotorPasso.CarregarParametrosIniciais("ET", "0x01"), }, new ModuloMvdModel() { Modulo_ID = "EF", MovMotor = MvdMotorBLDC.CarregarParametrosIniciais("EF", "0x02"), - DirMotor = MvdMotorPasso.CarregarParametrosIniciais("EF") + DirMotor = MvdMotorPasso.CarregarParametrosIniciais("EF", "0x02") }, new ModuloMvdModel() { Modulo_ID = "DT", MovMotor = MvdMotorBLDC.CarregarParametrosIniciais("DT", "0x03"), - DirMotor = MvdMotorPasso.CarregarParametrosIniciais("DT") + DirMotor = MvdMotorPasso.CarregarParametrosIniciais("DT", "0x03") }, new ModuloMvdModel() { Modulo_ID = "DF", MovMotor = MvdMotorBLDC.CarregarParametrosIniciais("DF", "0x04"), - DirMotor = MvdMotorPasso.CarregarParametrosIniciais("DF") + DirMotor = MvdMotorPasso.CarregarParametrosIniciais("DF", "0x04") }, }, }; @@ -645,6 +645,7 @@ namespace AgroBase.Models.Modules public string ID { get; set; } = T_Code.Dir.ToString(); // SETs + public string Endereco { get; set; } = "0x01"; public Sentido Sentido_SP { get; set; } = Sentido.Parado; public double Angulo_SP { get; set; } = 0; public int Velocidade { get; set; } = 50; @@ -665,12 +666,15 @@ namespace AgroBase.Models.Modules public ConfiguracaoSentidoMotor ConfigSentidos { get; set; } public List Funcoes { get; set; } + public MKS057DModel DadosDriver { get; set; } = new MKS057DModel(); - public static MvdMotorPasso CarregarParametrosIniciais(string Mod_ID) + + public static MvdMotorPasso CarregarParametrosIniciais(string Mod_ID, string _Endereco) { return new MvdMotorPasso() { ID = T_Code.Dir.ToString(), + Endereco = _Endereco, ConfigSentidos = new ConfiguracaoSentidoMotor() { Direita = Mod_ID.Contains("F") ? Sentido.Horario : Sentido.Antihorario, @@ -684,7 +688,7 @@ namespace AgroBase.Models.Modules FuncoesPinout.DIR, FuncoesPinout.ENA, FuncoesPinout.EncoderAbsoluto - } + }, }; } @@ -712,7 +716,7 @@ namespace AgroBase.Models.Modules public string ProtocoloComando(Direcao Direcao) { - if (Inicializado && Comandar && (Controlar)) + if ((Inicializado || (MKS057DService.Iniciado && DadosDriver.Iniciado)) && Comandar && (Controlar)) { Sentido_SP = Direcao == Direcao.Cima ? ConfigSentidos.Direita : @@ -730,6 +734,25 @@ namespace AgroBase.Models.Modules ((int)Sentido_SP).ToString() + SerialService.SplitParams + Angulo_SP.ToString() + SerialService.SplitParams + Velocidade.ToString(); + + if (MKS057DService.Iniciado && DadosDriver.Iniciado) + { + int mx = Sentido_SP == Sentido.Antihorario ? -1 : 1; + + MKS057DService.EnviarComandoControle(new MKS057ComandoModel() + { + Comando = Convert.ToByte("13"), + Endereco = Endereco, + Angulo = Angulo_SP * mx, + Velocidade = Velocidade, + _Sentido = Sentido_SP, + ModoControle = ModosControle.AnguloAbsoluto, + AguardaResposta = false, + }).ConfigureAwait(false); + + ProtocoloMotor = ""; + } + return ProtocoloMotor; } return ""; diff --git a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs index d0d5949f6..dfe990a05 100644 --- a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs +++ b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs @@ -18,7 +18,7 @@ namespace AgroBase.Models.Modules public class SensoriamentoModel : DispositivoBaseModel { public string Modulo_ID { get; set; } = T_Code.Sen.ToString(); - + public bool RequisitarDados { get; set; } = false; private bool _MensagemConexaoRecebida { get; set; } = false; public bool MensagemConexaoRecebida(bool Reset = false) { @@ -364,20 +364,20 @@ namespace AgroBase.Models.Modules public Dictionary> ProtocoloConfiguracao(bool Conectar) { // Inicializar o dicionário - var configDictionary = new Dictionary>(); + var configDictionary = new Dictionary>() { { Modulo_ID, new List() } }; // Adicionar configurações dos Sensores que devem ser aferidos var sensoresConfig = Sensores .Where(x => x.Aferir) .Select(x => x.ProtocoloConfiguracaoSensor(Pinout, Conectar)) .ToList(); - configDictionary.Add(Modulo_ID, sensoresConfig); + configDictionary[Modulo_ID].AddRange(sensoresConfig); // Adicionar configurações dos Sinaleiros var sinaleirosConfig = Sinaleiros .Select(x => x.ProtocoloConfiguracaoSinaleiro(Pinout, Conectar)) .ToList(); - configDictionary.Add(Modulo_ID, sinaleirosConfig); + configDictionary[Modulo_ID].AddRange(sinaleirosConfig); // Adicionar configuração do ProtocoloMOD string protocoloMOD = @@ -385,19 +385,45 @@ namespace AgroBase.Models.Modules "MD" + SerialService.SplitParams + (Conectar ? "1" : "0") + SerialService.SplitParams + _TaxaAmostragem.ToString() + SerialService.SplitParams + + (RequisitarDados ? "1" : "0") + SerialService.SplitParams + PinoutModel.PinoProtocolo(Pinout, Funcoes); - var protocoloMODConfig = new List { protocoloMOD }; - configDictionary.Add(Modulo_ID, protocoloMODConfig); + configDictionary[Modulo_ID].Add(protocoloMOD); return configDictionary; } + public string ProtocoloVerificacao(bool Completo) + { + if (Completo) + { + string ProtocoloCheck = + SerialService.BeginLine + + 0 + SerialService.SplitMessage + + Modulo_ID + SerialService.SplitMessage + + ((int)F_Code.Chk).ToString() + SerialService.SplitMessage + + "check" + + SerialService.EndLine; + + return ProtocoloCheck; + } + else + { + string ProtocoloCheck = + ((int)F_Code.Chk).ToString() + SerialService.SplitMessage + + "check"; + + return ProtocoloCheck; + } + } + public void RecebeProtocoloSerial(string Protocolo) { - // #ET;00000;00000;00000;000 - if (!string.IsNullOrEmpty(Protocolo) && Protocolo[0].ToString() == SerialService.BeginSensor) + string Mod_ID = Protocolo.Split(SerialService.SplitMessage[0])[0]; + string mensagem = Protocolo.Substring(Mod_ID.Length + 1, Protocolo.Length - Mod_ID.Length - 1); + if (!string.IsNullOrEmpty(Protocolo) && mensagem[0].ToString() == SerialService.BeginSensor) { - string[] Dados = Protocolo.Replace(SerialService.BeginSensor, "").Split(SerialService.EndLine[0])[0].Split(';'); + string[] Dados = mensagem.Replace(SerialService.BeginSensor, "").Split(SerialService.EndLine[0])[0].Split(';'); + int cod = 0; int.TryParse(Dados[0], out cod); if (cod == 0) diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs index 0d679093f..1b9bf15a8 100644 --- a/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs @@ -467,12 +467,12 @@ namespace AgroBase.Models.Operacoes // Se a etapa anterior não for CaminhandoRua, então significa que ele já iniciou a etapa de sair da rua else { - /*// Ainda tem ruas a serem percorridas, logo, o robô precisa realizar a manobra para seguir para a próxima rua + // Ainda tem ruas a serem percorridas, logo, o robô precisa realizar a manobra para seguir para a próxima rua if (!Variaveis.OperacaoEmAndamento.OpMapaGPS.Concluido) { etapaAtual = StatusCarroMapa.Manobrando; ManobraConcluida = false; - }*/ + } } } } @@ -710,7 +710,7 @@ namespace AgroBase.Models.Operacoes if (Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual % 2 != 0) { PontosRua.Reverse(); - idx = idx != (PontosRua.Count - 1) ? (PontosRua.Count - 1) - idx : idx; + idx = (PontosRua.Count - 1) - idx; } for (int i = 0; i <= idx; i++) { diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs index 185c9f04b..0276eed5b 100644 --- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs @@ -623,7 +623,7 @@ namespace AgroBase.Models ProgressoRua = Sensoriamento.ProgressoRua, Direcao = OpMapaGPS.ReferencialRuaGPS.Direcao, AnguloRua = Mapa.AnguloCaminho, - DentroDaRua = OpMapaGPS.ReferencialRuaGPS.DentroDaRua, + DentroDaRua = Mapa.DentroDaRua, IdxPontoAproximadoRua = OpMapaGPS.ReferencialRuaGPS.IdxPontoAproximadoRua, IdxRuaAtual = Mapa.IdxRuaAtual, AnguloDif = Sensoriamento.AnguloDif, diff --git a/AgroBase/AgroBase/Services/BLD300RService.cs b/AgroBase/AgroBase/Services/BLD300RService.cs index da08c78fd..00c840614 100644 --- a/AgroBase/AgroBase/Services/BLD300RService.cs +++ b/AgroBase/AgroBase/Services/BLD300RService.cs @@ -347,7 +347,7 @@ namespace AgroBase.Services PortaCOM = ModbusService._PortaModbus.PortName, Dispositivo = T_Code.Bld, Erro = !Iniciado, - Versao = 1, + Versao = UltimaLeitura.Versao.ToString(), Mod_ID = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(x => Convert.ToByte(x.MovMotor.Endereco.Replace("0x", ""), 16) == slaveAddress).Modulo_ID, }); } diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs index 4354c3c3b..eeb083d38 100644 --- a/AgroBase/AgroBase/Services/GPSService.cs +++ b/AgroBase/AgroBase/Services/GPSService.cs @@ -76,7 +76,7 @@ namespace AgroBase.Services PortaCOM = PortaGPS.PortName, Dispositivo = T_Code.Gps, Erro = !Iniciado, - Versao = 1 + Versao = "1", }); } } @@ -281,7 +281,7 @@ namespace AgroBase.Services return diferenca; } - public static GPSModel PontoMaisProximoRuaProjetada(List RuaProjetada, TrajetoriaTipo trajetoriaTipo) + public static (GPSModel, bool) PontoMaisProximoRuaProjetada(List RuaProjetada, TrajetoriaTipo trajetoriaTipo) { int idxUltimoPonto = trajetoriaTipo == TrajetoriaTipo.Rua ? Variaveis.OperacaoEmAndamento.Mapa.IdxUltimoPontoTrajetoria : @@ -291,7 +291,7 @@ namespace AgroBase.Services // Verifica se a lista está vazia if (RuaProjetada == null || RuaProjetada.Count == 0) { - return null; + return (null, false); } // Inicializa variáveis @@ -334,6 +334,7 @@ namespace AgroBase.Services if (seAproximando && !seAproximandoAnterior) { + seAproximandoAnterior = seAproximando; break; } } @@ -366,7 +367,7 @@ namespace AgroBase.Services break; } - return pontoMaisProximo; + return (pontoMaisProximo, seAproximandoAnterior); } diff --git a/AgroBase/AgroBase/Services/LoRaService.cs b/AgroBase/AgroBase/Services/LoRaService.cs index 06aa9b407..e28da6909 100644 --- a/AgroBase/AgroBase/Services/LoRaService.cs +++ b/AgroBase/AgroBase/Services/LoRaService.cs @@ -208,7 +208,7 @@ namespace AgroBase.Services PortaCOM = PortaLoRa.PortName, Dispositivo = T_Code.Lra, Erro = !Iniciado, - Versao = 220 + Versao = "220" }); } } diff --git a/AgroBase/AgroBase/Services/MKS057DService.cs b/AgroBase/AgroBase/Services/MKS057DService.cs new file mode 100644 index 000000000..78991c917 --- /dev/null +++ b/AgroBase/AgroBase/Services/MKS057DService.cs @@ -0,0 +1,1932 @@ +using AgroBase.Models; +using System; +using System.Collections.Generic; +using System.IO.Ports; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Windows.Forms; +using static AgroBase.Models.Enuns; + +namespace AgroBase.Services +{ + public class MKS057DService + { + public static bool Iniciado { get; set; } = false; + + public static SerialPort _PortaMKS = new SerialPort(); + + public static async Task VerificaPortaMKS(SerialPort porta) + { + porta.Close(); + porta.BaudRate = 38400; + + AtualizarPortaCOM(porta); + + string oldHV = ""; + string oldFV = ""; + + foreach (var Modulo in Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos) + { + DataSended = Convert.ToByte("43"); + + await SendRelevantData(QueryCommand[DataSended], Modulo.DirMotor.Endereco); + await Task.Delay(500); + //ProcessarDadosRecebidos(); + + Modulo.DirMotor.DadosDriver.Iniciado = !string.IsNullOrEmpty(HV) && !string.IsNullOrEmpty(FV); + + if (string.IsNullOrEmpty(oldHV) && !string.IsNullOrEmpty(HV)) + { + oldHV = HV; + HV = ""; + } + if (string.IsNullOrEmpty(oldFV) && !string.IsNullOrEmpty(FV)) + { + oldFV = FV; + FV = ""; + } + } + + HV = oldHV; + FV = oldFV; + + Iniciado = !string.IsNullOrEmpty(HV) && !string.IsNullOrEmpty(FV); + + if (Iniciado) + { + DefinirDispositivo(); + } + else + { + _PortaMKS.Close(); + _PortaMKS = null; + } + + return Iniciado; + } + + public static void AtualizarPortaCOM(SerialPort Porta) + { + _PortaMKS = new SerialPort(); + _PortaMKS.PortName = Porta.PortName; + _PortaMKS.BaudRate = Porta.BaudRate; + + _PortaMKS.DataReceived -= port_DataReceived; + _PortaMKS.DataReceived += port_DataReceived; + + _PortaMKS.Open(); + } + + private static void DefinirDispositivo() + { + //_PortaMKS.DataReceived -= port_DataReceived; + //_PortaMKS.DataReceived += port_DataReceived; + + SerialService.DispositivosMapeados.Add(new SerialService.DispositivoDetalhesModel() + { + PortaCOM = _PortaMKS.PortName, + Dispositivo = T_Code.Mks, + Erro = !Iniciado, + Versao = "HV: " + HV + ", FV: " + FV, + }); + } + + public static void EnviarComando(SerialPort _Porta, byte[] Comando) + { + if (_Porta != null) + { + if (!_Porta.IsOpen) + { + _Porta.Open(); + } + if (_Porta.IsOpen) + { + _Porta.Write(Comando, 0, Comando.Length); + txDisplay(); + } + } + } + + + + static byte Addr; + static byte DataSended; + static string word16; + static int data16; + static string word32; + static long data32; + static string word64; + static long data64; + static string Text_BUF; + + static int tCHK; + static int rCHK; + static byte Readata; + static byte[] Buffer; + static byte[] SerialBuffer_RX; + static int Data_Number; + static string str; + static string HV, FV; + static byte[] FV1 = new byte[] { 0, 0, 0 }; + static int Temp1 = 0; + static readonly string[] UartBaud = { "9600", "19200", "25000", "38400", "57600", "115200", "256000" }; + static readonly string[] HardVersion = { "未知电机", "MKS SERVO42D_485", "MKS SERVO42D_CAN", "MKS SERVO57D_485", "MKS SERVO57D_CAN", "MKS SERVO28D_485", "MKS SERVO28D_CAN", "MKS SERVO35D_485", "MKS SERVO35D_CAN" }; + + #region Bytes + + // Instruções + static int[] QueryCommand = new int[] { + 0x30, 0x33, 0x39, 0x3A, 0x3B, 0x3E, // (0 Valor do codificador de carry 1 Número de pulsos acumulados de entrada 2 Erro de ângulo de posição 3 Estado de habilitação da placa de acionamento em malha fechada 4 Estado de retorno automático ao zero de um círculo ao ligar 5 Indicador de travamento) + 0xF3, 0xF3, // (6 Habilitar a placa de acionamento 7 Desabilitar a placa de acionamento) + 0xF6, // (8 Modo de controle de velocidade do motor - iniciar) + 0xF6, // (9 Modo de controle de velocidade do motor - parar) + 0xFF, // (10 Iniciar operação automática ao ligar) + 0xFF, // (11 Parar operação automática ao ligar) + 0x84, // (12 Configuração de subdivisão - confirmar) + 0xFD, // (13 Modo de controle de posição do motor - iniciar) + 0x80, // (14 Calibrar o codificador) + 0x81, // (15 Confirmar tipo de motor) + 0x82, // (16 Confirmar modo de operação) + 0x83, // (17 Confirmar valor da corrente (mA)) + 0x85, // (18 Confirmar configuração de habilitação) + 0x86, // (19 Confirmar direção do motor) + 0x87, // (20 Confirmar apagamento automático da tela) + 0x88, // (21 Confirmar proteção contra travamento) + 0x89, // (22 Confirmar interpolação de subdivisão) + 0x8A, // (23 Confirmar taxa de transmissão serial) + 0x8B, // (24 Confirmar endereço de comunicação do motor) + 0xA1, // (25 Confirmar posição Kp) + 0xA2, // (26 Confirmar posição Ki) + 0xA3, // (27 Confirmar posição Kd) + 0xA4, // (28 Confirmar aceleração de início) + 0xA5, // (29 Confirmar aceleração de parada) + 0x90, // (30 Ativar modo de retorno ao zero) + 0x90, // (31 Parâmetros de limite) + 0x91, // (32 Retorno ao zero de limite) + 0x92, // (33 Retorno direto ao zero) + 0x93, // (34 Confirmar direção de retorno ao zero) + 0x94, // (35 Retornar ao ponto zero) + 0x3F, // (36 Restaurar configuração de fábrica) + 0x3D, // (37 Ler parâmetros - cancelar estado de travamento) + 0xFD, // (38 Modo de controle de posição do motor - parar) + 0x31, // (39 Ler parâmetros - valor do codificador incremental) + 0x32, // (40 Ler parâmetros - velocidade real do motor) + 0x8C, // (41 Confirmar resposta do escravo) + 0x8D, // (42 Confirmar agrupamento do escravo) + 0x40, // (43 Informações da versão) + 0xF4, // (44 Modo de controle de posição do motor - coordenadas relativas) + 0xF5, // (45 Modo de controle de posição do motor - coordenadas absolutas) + 0x34, // (46 Ler estado da porta IO) + 0x8E, // (47 Confirmar MODBUS) + 0x8F, // (48 Confirmar bloqueio de tecla) + 0x9A // (49 Retorno ao zero de um círculo) + }; + + + // Bytes comuns + static byte[] byte_data = new byte[] { 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x0c, 0x0d, 0x0e, 0x0f, 0x10 }; + + // Bytes de função + static byte FWD = 0x80; + static byte RWD = 0x00; + static byte STOP = 0xF7; + static byte EN_ON = 0x01; + static byte EN_OFF = 0x00; + static byte Save_Speed = 0xC8; + static byte Clear_Speed = 0xCA; + + // Dados + static byte Speed; + static byte Speed2; + static ushort Subdivision; + static byte[] Pulse; + static byte[] RelAxis; + static byte[] AbsAxis; + static byte[] Kp; + static byte[] Ki; + static byte[] Kd; + static byte[] ACC; + static byte[] MaxT; + static byte[] Start_ACC = { 0x10 }, Stop_ACC = { 0x10 }; + static byte[] Speed_1, Speed_2; + static byte[] Current; + static ushort Max_Current; + + // Recepção de estado + static byte EN_STATE_ON = 0x01; + static byte EN_STATE_OFF = 0x00; + static byte Stall_YES = 0x01; + static byte Stall_ON = 0x02; + + #endregion + + #region Parametros + + private static string ModoLeitura = "Decimal"; + + public static ModosOperacao _ModoOperacao { get; set; } = ModosOperacao.SR_vFOC; + public static string _MStep { get; set; } = "16"; + public static string _CorrenteMaxima { get; set; } = "5200"; + public static Estado _Protecao { get; set; } = Estado.Desligado; + public static Estado _InterpolacaoSubdivisao { get; set; } = Estado.Desligado; + public static string _baudSlave { get; set; } = "38400"; + public static string _addressSlave { get; set; } = "0x01"; + public static string _RampaPartida { get; set; } = "16"; + public static string _RampaParada { get; set; } = "16"; + public static Estado _RetornoOrigem { get; set; } = Estado.Desligado; + public static ModosRetornoOrigem _ModoRetornoOrigem { get; set; } = ModosRetornoOrigem.Desativado; + public static Sentido _SentidoRetornoOrigem { get; set; } = Sentido.Parado; + public static string _VelocidadeRetornoOrigem { get; set; } = "2"; + public static string _TipoLimiteZero { get; set; } = "Definir"; + + public static string _Velocidade { get; set; } = "600"; + public static ModosControle _ModoControle { get; set; } = ModosControle.AnguloAbsoluto; + public static Sentido _Sentido { get; set; } = Sentido.Parado; + public static string _Angulo { get; set; } = "0"; + + #endregion + + public static MKS057DModel DadosLeitura = new MKS057DModel(); + public static bool EnvioLiberado = true; + public static bool FilaEmEspera = false; + public static bool Respondido = false; + + + + public static async Task EnviarComandoControle(MKS057ComandoModel Comando) + { + while (!EnvioLiberado) + { + await Task.Delay(FilaEmEspera ? 200 : 100); + FilaEmEspera = true; + } + + EnvioLiberado = false; + FilaEmEspera = false; + Respondido = false; + + _Angulo = ConverterAnguloParaValor(Comando.Angulo).ToString(); + _Velocidade = Comando.Velocidade.ToString(); + _ModoControle = Comando.ModoControle; + _Sentido = Comando._Sentido; + DataSended = Comando.Comando; + + await SendRelevantData(QueryCommand[DataSended], Comando.Endereco); + + DateTime Inicio = DateTime.Now; + + await Task.Delay(100); + + while (Comando.AguardaResposta && !Respondido && Inicio.AddMilliseconds(Comando.TimeoutResposta) > DateTime.Now) + { + await Task.Delay(100); + } + + EnvioLiberado = true; + } + + public static int ConverterAnguloParaValor(double _angulo) + { + int val = 0; + double reducao = 20.0; + + if (_ModoControle == ModosControle.Pulsos) + { + int.TryParse(_MStep, out int mstep); + double pulsos = mstep * 200; + double relacao = (pulsos * reducao) / 360.0; + val = Convert.ToInt32(_angulo * relacao); + } + else + { + val = Convert.ToInt32(_angulo * reducao); + } + + return val; + } + + #region METODOS PRINCIPAIS + + private static void WriteByteToSerialPort(byte[] data, byte start, byte length) + { + if (_PortaMKS.IsOpen) + { + try + { + _PortaMKS.Write(data, start, length); + txDisplay(); + } + catch + { + Console.WriteLine("Erro ao enviar dados para a porta serial"); + } + } + else + MessageBox.Show("Porta serial não está aberta"); + } + + private static void port_DataReceived(object sender, SerialDataReceivedEventArgs e) // Evento de recebimento de dados da porta serial + { + ProcessarDadosRecebidos(); + } + + private static void ProcessarDadosRecebidos() + { + SerialBuffer_RX = new byte[11] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; // SerialBuffer_RX[0] Cabeçalho do quadro [1] Endereço do escravo [2] Número da instrução + Data_Number = _PortaMKS.BytesToRead; // Número de bytes recebidos + if (_PortaMKS.BytesToRead > 0) + { + for (int a = 0; a <= Data_Number - 1; a++) + { + SerialBuffer_RX[a] = (byte)_PortaMKS.ReadByte(); // Lê um byte do buffer de entrada SerialPort + } + Text_display(); + } + } + + private static async Task SendRelevantData(int data, string slaveAddress) // Verifica o tipo de dados e envia + { + ushort SpeedText; + ushort SpeedText2; + byte SpeedText3; + ushort SubdivisionText; + uint PulseText; + long RelAxisText; + long AbsAxisText; + byte UartAddrText; + ushort KpText; + ushort KiText; + ushort KdText; + ushort ACCText; + ushort MaxTText; + ushort Start_ACCText, Stop_ACCText; + ushort CurrentText; + byte HomeTrig = 0x00, HomeDir = 0x00, EndLimit = 0x00; + byte Mode_0 = 0x00, Set_0 = 0x00, Speed_0 = 0x00, Dir_0 = 0x00; + + try + { + Addr = Convert.ToByte(slaveAddress, 16); + } + catch + { + Console.WriteLine("Erro ao definir endereco"); + } + if (Addr <= 0xff && Addr >= 0x00) + { + if (DataSended < 6 || DataSended == 37 || DataSended == 39 || DataSended == 40 || DataSended == 43 || DataSended == 46) + //(0 valor do codificador de posição 1 número acumulado de pulsos de entrada 2 erro de ângulo de posição 3 estado de habilitação da placa de acionamento em malha fechada 4 estado de retorno automático único ao ligar 5 bit de bloqueio 37 estado de desbloqueio 39 valor do codificador de contagem acumulada 40 velocidade atual do motor 43 informação de versão 46 estado do status do porto IO) + { + if (DataSended == 46) + { + //-------------------Determinação do tipo de motor-------------------- + tCHK = 0xFA + Addr + 0x40; + Buffer = new byte[] { 0xFA, Addr, 0x40, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + await Task.Delay(50); + //--------------------------------------------------- + } + tCHK = 0xFA + Addr + data; + Buffer = new byte[] { 0xFA, Addr, (byte)data, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + } + + if (DataSended > 5 && DataSended < 8) //(6 habilitar placa de acionamento 7 desabilitar placa de acionamento) + { + if (DataSended == 6) + { + tCHK = 0xFA + Addr + data + EN_ON; + Buffer = new byte[] { 0xFA, Addr, (byte)data, EN_ON, (byte)tCHK }; + //GB4_button_使能驱动板.Enabled = false; + //GB4_button_关闭驱动板.Enabled = true; + } + else + { + tCHK = 0xFA + Addr + data + EN_OFF; + Buffer = new byte[] { 0xFA, Addr, (byte)data, EN_OFF, (byte)tCHK }; + //GB4_button_关闭驱动板.Enabled = false; + //GB4_button_使能驱动板.Enabled = true; + } + WriteByteToSerialPort(Buffer, 0, 5); + } + + /*if (DataSended == 8) //(8 modo de controle de velocidade do motor - iniciar) + { + try + { + SpeedText = Convert.ToUInt16(GB4_3_comboBox_速度档位.Text, 10); + Speed_1 = BitConverter.GetBytes(SpeedText); + if (SpeedText <= 3000 && SpeedText >= 1) + { + if (GB4_3_radioButton_反转.Checked) + { + //Speed = Convert.ToByte(SpeedText | RWD); + Speed_1[1] |= RWD; + //Console.WriteLine(Speed); + } + else if (GB4_3_radioButton_正转.Checked) + { + //Speed = Convert.ToByte(SpeedText | FWD); + Speed_1[1] |= FWD; + //Console.WriteLine(Speed); + } + tCHK = 0xFA + Addr + data + Speed_1[1] + Speed_1[0] + Start_ACC[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Speed_1[1], Speed_1[0], Start_ACC[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 7); + } + else + MessageBox.Show(Text1_Speedgear, Text1_window); + } + catch + { + MessageBox.Show(Text1_General, Text2_window); + } + }*/ + + if (DataSended == 9) //(9 modo de controle de velocidade do motor - parar) + { + tCHK = 0xFA + Addr + data + 0x00 + 0x00 + Stop_ACC[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, 0x00, 0x00, Stop_ACC[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 7); + } + + if (DataSended == 10) //(10 iniciar execução automática ao ligar) + { + tCHK = 0xFA + Addr + data + Save_Speed; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Save_Speed, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + Console.WriteLine(value: Save_Speed); + } + + if (DataSended == 11) //(11 parar execução automática ao ligar) + { + tCHK = 0xFA + Addr + data + Clear_Speed; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Clear_Speed, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + if (DataSended == 12) //(12 configuração de subdivisão - confirmar) + { + try + { + SubdivisionText = Convert.ToUInt16(_MStep, 10); + //Console.WriteLine(SubdivisionText); //saída no console + if (SubdivisionText < 256 && SubdivisionText >= 1) + { + Subdivision = Convert.ToByte(SubdivisionText); + tCHK = 0xFA + Addr + data + Subdivision; + Buffer = new byte[] { 0xFA, Addr, (byte)data, (byte)Subdivision, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (SubdivisionText == 256) + { + tCHK = 0xFA + Addr + data + 0x00; + Buffer = new byte[] { 0xFA, Addr, (byte)data, 0x00, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + MessageBox.Show("O valor de MStep deve estar entre 1 e 256"); + } + catch + { + Console.WriteLine("Erro ao configurar MStep"); + } + } + + if (DataSended == 13) //(13 modo de controle de posição do motor - iniciar) + { + try + { + SpeedText2 = Convert.ToUInt16(_Velocidade, 10); + Speed_2 = BitConverter.GetBytes(SpeedText2); + if (_ModoControle == ModosControle.Pulsos) // Se o controle for através de pulsos + { + try + { + PulseText = Convert.ToUInt32(_Angulo, 10); + Pulse = BitConverter.GetBytes(PulseText); + if (SpeedText2 <= 3000 && SpeedText2 >= 1) + { + if (PulseText <= 4294967295 && PulseText >= 1) + { + if (_Sentido == Sentido.Antihorario) + { + //Speed2 = Convert.ToByte(SpeedText2 | RWD); + Speed_2[1] |= RWD; + //Pulse = Convert.ToByte(PulseText); + } + else if (_Sentido == Sentido.Horario) + { + //Speed2 = Convert.ToByte(SpeedText2 | FWD); + Speed_2[1] |= FWD; + //Pulse = Convert.ToByte(PulseText); + } + else + { + MessageBox.Show("Sentido de giro não selecionado"); + } + tCHK = 0xFA + Addr + data + Speed_2[1] + Speed_2[0] + Start_ACC[0] + Pulse[3] + Pulse[2] + Pulse[1] + Pulse[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Speed_2[1], Speed_2[0], Start_ACC[0], Pulse[3], Pulse[2], Pulse[1], Pulse[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 11); + } + else + MessageBox.Show("O número de pulsos deve estar entre 1 e 4294967295"); + } + else + MessageBox.Show("A velocidade deve estar entre 1 e 3000"); + } + catch + { + Console.WriteLine("Erro ao definir controle Pulses"); + } + } + else if (_ModoControle == ModosControle.AnguloRelativo) + { + DataSended = 44; + data = 0xF4; + try + { + Text_BUF = _Angulo; + if (Text_BUF.Length > 1) + { + if (Text_BUF[0] == '0' && (Text_BUF[1] == 'x' || Text_BUF[1] == 'X')) + { + RelAxisText = Convert.ToInt32(_Angulo, 16); + RelAxis = BitConverter.GetBytes(RelAxisText); + } + else + { + RelAxisText = Convert.ToInt32(_Angulo, 10); + RelAxis = BitConverter.GetBytes(RelAxisText * 16384 / 360); + } + } + else + { + RelAxisText = Convert.ToInt32(_Angulo, 10); + RelAxis = BitConverter.GetBytes(RelAxisText * 16384 / 360); + } + if (SpeedText2 <= 3000 && SpeedText2 >= 1) + { + if (RelAxisText <= 2147483647 && RelAxisText >= -2147483647) + { + tCHK = 0xFA + Addr + data + Speed_2[1] + Speed_2[0] + Start_ACC[0] + RelAxis[3] + RelAxis[2] + RelAxis[1] + RelAxis[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Speed_2[1], Speed_2[0], Start_ACC[0], RelAxis[3], RelAxis[2], RelAxis[1], RelAxis[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 11); + } + } + else + MessageBox.Show("Valor para controle inválido"); + } + catch + { + Console.WriteLine("Erro ao definir controle RelAxis"); + } + } + else if (_ModoControle == ModosControle.AnguloAbsoluto) + { + DataSended = 45; + data = 0xF5; + try + { + Text_BUF = _Angulo; + if (Text_BUF.Length > 1) + { + if (Text_BUF[0] == '0' && (Text_BUF[1] == 'x' || Text_BUF[1] == 'X')) + { + AbsAxisText = Convert.ToInt32(_Angulo, 16); + AbsAxis = BitConverter.GetBytes(AbsAxisText); + } + else + { + AbsAxisText = Convert.ToInt32(_Angulo, 10); + AbsAxis = BitConverter.GetBytes(AbsAxisText * 16384 / 360); + } + } + else + { + AbsAxisText = Convert.ToInt32(_Angulo, 10); + AbsAxis = BitConverter.GetBytes(AbsAxisText * 16384 / 360); + } + if (SpeedText2 <= 3000 && SpeedText2 >= 1) + { + if (AbsAxisText <= 2147483647 && AbsAxisText >= -2147483647) + { + tCHK = 0xFA + Addr + data + Speed_2[1] + Speed_2[0] + Start_ACC[0] + AbsAxis[3] + AbsAxis[2] + AbsAxis[1] + AbsAxis[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Speed_2[1], Speed_2[0], Start_ACC[0], AbsAxis[3], AbsAxis[2], AbsAxis[1], AbsAxis[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 11); + } + } + else + MessageBox.Show("Valor para controle inválido"); + } + catch + { + Console.WriteLine("Erro ao definir controle AbsAxis"); + } + } + } + catch + { + Console.WriteLine("Erro ao controlar motor de passo"); + } + } + + if (DataSended == 14) //(14 calibrar codificador) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + /* + if (DataSended == 15) //(15 tipo de motor - confirmar xx) + { + Text_BUF = comboBox6.Text; + if (Text_BUF == Mot_18) + { + tCHK = Addr + data + byte_data[1]; + Buffer = new byte[] { Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + } + else if (Text_BUF == Mot_09) + { + tCHK = Addr + data + byte_data[0]; + Buffer = new byte[] { Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + } + } + */ + + if (DataSended == 16) //(16 modo de operação - confirmar) + { + if (_ModoOperacao == ModosOperacao.CR_OPEN) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (_ModoOperacao == ModosOperacao.CR_CLOSE) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (_ModoOperacao == ModosOperacao.CR_vFOC) + { + tCHK = 0xFA + Addr + data + byte_data[2]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[2], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (_ModoOperacao == ModosOperacao.SR_OPEN) + { + tCHK = 0xFA + Addr + data + byte_data[3]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[3], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (_ModoOperacao == ModosOperacao.SR_CLOSE) + { + tCHK = 0xFA + Addr + data + byte_data[4]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[4], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (_ModoOperacao == ModosOperacao.SR_vFOC) + { + tCHK = 0xFA + Addr + data + byte_data[5]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[5], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 17) //(17 valor de corrente (mA) - confirmar) + { + //-------------------Determinação do tipo de motor-------------------- + tCHK = 0xFA + Addr + 0x40; + Buffer = new byte[] { 0xFA, Addr, 0x40, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + await Task.Delay(50); + //--------------------------------------------------- + try + { + CurrentText = Convert.ToUInt16(_CorrenteMaxima, 10); + Current = BitConverter.GetBytes(CurrentText); + if (CurrentText <= Max_Current && CurrentText >= 0) + { + tCHK = 0xFA + Addr + data + Current[1] + Current[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Current[1], Current[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 6); + } + else + MessageBox.Show("Corrente máxima deve estar entre 0 e " + Max_Current); + } + catch + { + Console.WriteLine("Erro ao salvar valor da corrente máxima"); + } + } + + /*if (DataSended == 18) //(18 configuração de habilitação - confirmar) + { + Text_BUF = GB3_comboBox_使能设置.Text; + if (Text_BUF == EN_H) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == EN_L) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == EN_Hold) + { + tCHK = 0xFA + Addr + data + byte_data[2]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[2], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 19) //(19 direção do motor - confirmar) + { + Text_BUF = GB3_comboBox_电机方向.Text; + if (Text_BUF == Dir_CW) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == Dir_CCW) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 20) //(20 desligamento automático da tela - confirmar) + { + Text_BUF = GB3_comboBox_自动熄屏.Text; + if (Text_BUF == Disable) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == Enable) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + }*/ + + if (DataSended == 21) //(21 proteção contra travamento - confirmar) + { + if (_Protecao == Estado.Desligado) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (_Protecao == Estado.Ligado) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 22) //(22 interpolação de subdivisão - confirmar) + { + if (_InterpolacaoSubdivisao == Estado.Desligado) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (_InterpolacaoSubdivisao == Estado.Ligado) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 23) //(23 taxa de baud da porta serial - confirmar) + { + Text_BUF = _baudSlave; + if (Text_BUF == UartBaud[0]) //9600 + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == UartBaud[1]) //19200 + { + tCHK = 0xFA + Addr + data + byte_data[2]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[2], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == UartBaud[2]) //25000 + { + tCHK = 0xFA + Addr + data + byte_data[3]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[3], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == UartBaud[3]) //38400 + { + tCHK = 0xFA + Addr + data + byte_data[4]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[4], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == UartBaud[4]) //57600 + { + tCHK = 0xFA + Addr + data + byte_data[5]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[5], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == UartBaud[5]) //115200 + { + tCHK = 0xFA + Addr + data + byte_data[6]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[6], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == UartBaud[6]) //256000 + { + tCHK = 0xFA + Addr + data + byte_data[7]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[7], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 24) //(24 endereço de comunicação do motor - confirmar) + { + try + { + UartAddrText = Convert.ToByte(_addressSlave, 16); + if (UartAddrText <= 0xff && UartAddrText >= 0x01) + { + tCHK = 0xFA + Addr + data + UartAddrText; + Buffer = new byte[] { 0xFA, Addr, (byte)data, UartAddrText, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + MessageBox.Show("Endereço deve estar entre 0x01 e 0xff"); + } + catch + { + Console.WriteLine("Erro ao definir endereço"); + } + } + + + /* + if (DataSended == 25) //(25 Confirmar posição Kp) + { + KpText = Convert.ToUInt16(comboBox16.Text, 10); + Kp = BitConverter.GetBytes(KpText); + if (KpText < 65535 && KpText >= 0) + { + tCHK = Addr + data + Kp[1] + Kp[0]; + Buffer = new byte[] { Addr, (byte)data, Kp[1], Kp[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + { + MessageBox.Show(Text2_Geral, Text2_janela); + } + } + + if (DataSended == 26) //(26 Confirmar posição Ki) + { + KiText = Convert.ToUInt16(comboBox17.Text, 10); + Ki = BitConverter.GetBytes(KiText); + if (KiText < 65535 && KiText >= 0) + { + tCHK = Addr + data + Ki[1] + Ki[0]; + Buffer = new byte[] { Addr, (byte)data, Ki[1], Ki[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + { + MessageBox.Show(Text2_Geral, Text2_janela); + } + } + + if (DataSended == 27) //(27 Confirmar posição Kd) + { + KdText = Convert.ToUInt16(comboBox18.Text, 10); + Kd = BitConverter.GetBytes(KdText); + if (KdText < 65535 && KdText >= 0) + { + tCHK = Addr + data + Kd[1] + Kd[0]; + Buffer = new byte[] { Addr, (byte)data, Kd[1], Kd[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + { + MessageBox.Show(Text2_Geral, Text2_janela); + } + }*/ + + if (DataSended == 28) //(28 Confirmar aceleração inicial) + { + try + { + Start_ACCText = Convert.ToUInt16(_RampaParada, 10); + if (Start_ACCText <= 255 && Start_ACCText >= 0) + { + Start_ACC = BitConverter.GetBytes(Start_ACCText); + try + { + Temp1++; + } + catch + { + Temp1 = 0; + } + } + else + { + MessageBox.Show("O valor da rampa deve estar entre 0 e 255"); + } + } + catch + { + MessageBox.Show("Erro ao definir rampa de início"); + } + } + + if (DataSended == 29) //(29 Confirmar aceleração de parada) + { + try + { + Stop_ACCText = Convert.ToUInt16(_RampaParada, 10); + if (Stop_ACCText <= 255 && Stop_ACCText >= 0) + { + Stop_ACC = BitConverter.GetBytes(Stop_ACCText); + try + { + Temp1++; + } + catch + { + Temp1 = 0; + } + } + else + { + MessageBox.Show("O valor da rampa deve estar entre 0 e 255"); + } + } + catch + { + MessageBox.Show("Erro ao definir rampa de parada"); + } + } + + /* + if (DataSended == 30) //(30 Ativar modo de retorno à origem) + { + if (radioButton7.Checked) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (radioButton8.Checked) + { + tCHK = 0xFA + Addr + data + byte_data[2]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[2], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + { + MessageBox.Show(Text2_Geral, Text2_janela); + } + } + */ + + if (DataSended == 31) //(31 Parâmetros de limite) + { + //-------------------Verificar tipo de motor-------------------- + tCHK = 0xFA + Addr + 0x40; + Buffer = new byte[] { 0xFA, Addr, 0x40, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + await Task.Delay(50); + //--------------------------------------------------- + try + { + //Nível de gatilho + Text_BUF = "Baixo"; + if (Text_BUF == "Baixo") + { + HomeTrig = 0x00; + } + else if (Text_BUF == "Alto") + { + HomeTrig = 0x01; + } + + //Direção de retorno à origem + if (_SentidoRetornoOrigem == Sentido.Antihorario) + { + HomeDir = 0x00; + } + else if (_SentidoRetornoOrigem == Sentido.Horario) + { + HomeDir = 0x01; + } + + //Habilitar retorno à origem + if (_RetornoOrigem == Estado.Desligado) + { + EndLimit = 0x00; + } + else if (_RetornoOrigem == Estado.Ligado) + { + EndLimit = 0x01; + } + + //Velocidade de retorno à origem + SpeedText = Convert.ToUInt16(_VelocidadeRetornoOrigem, 10); + Speed_1 = BitConverter.GetBytes(SpeedText); + + if (FV1[2] == 0x03) + { + if (SpeedText <= 3000 && SpeedText >= 1) + { + tCHK = 0xFA + Addr + data + HomeTrig + HomeDir + Speed_1[1] + Speed_1[0] + EndLimit; + Buffer = new byte[] { 0xFA, Addr, (byte)data, HomeTrig, HomeDir, Speed_1[1], Speed_1[0], EndLimit, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 9); + } + else + MessageBox.Show("Limite de velocidade de retorno deve estar entre 1 e 3000"); + } + else + { + if (SpeedText <= 3000 && SpeedText >= 1) + { + tCHK = 0xFA + Addr + data + HomeTrig + HomeDir + Speed_1[1] + Speed_1[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, HomeTrig, HomeDir, Speed_1[1], Speed_1[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 8); + } + else + MessageBox.Show("Limite de velocidade de retorno deve estar entre 1 e 3000"); + } + //---- + } + catch + { + MessageBox.Show("Erro ao definir limite"); + } + } + + if (DataSended == 32) //(32 Limite de retorno à origem) + { + tCHK = 0xFA + Addr + data; + Buffer = new byte[] { 0xFA, Addr, (byte)data, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + } + + if (DataSended == 33) //(33 Retorno à origem direto) + { + tCHK = 0xFA + Addr + data; + Buffer = new byte[] { 0xFA, Addr, (byte)data, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + } + + /* + if (DataSended == 34) //(34 Confirmar direção de retorno à origem) + { + if (radioButton10.Checked) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (radioButton9.Checked) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + { + MessageBox.Show(Text2_Geral, Text2_janela); + } + } + */ + + if (DataSended == 35) //(35 Voltar ao ponto zero) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + if (DataSended == 36) //(36 Restaurar configurações de fábrica) + { + tCHK = 0xFA + Addr + data; + Buffer = new byte[] { 0xFA, Addr, (byte)data, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 4); + } + + if (DataSended == 38) //(38 Parar modo de controle de posição do motor) + { + if (_ModoControle == ModosControle.Pulsos) + { + + } + else if (_ModoControle == ModosControle.AnguloRelativo) + { + data = 0xF4; + } + else if (_ModoControle == ModosControle.AnguloAbsoluto) + { + data = 0xF5; + } + tCHK = 0xFA + Addr + data + 0x00 + 0x00 + Stop_ACC[0] + 0x00 + 0x00 + 0x00 + 0x00; + Buffer = new byte[] { 0xFA, Addr, (byte)data, 0x00, 0x00, Stop_ACC[0], 0x00, 0x00, 0x00, 0x00, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 11); + } + + /*if (DataSended == 41) //(41 Resposta do escravo) + { + Text_BUF = GB3_comboBox_从机应答.Text; + if (Text_BUF == Desativar) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + + else if (Text_BUF == Ativar) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 42) //(42 Grupo de escravos) + { + try + { + UartAddrText = Convert.ToByte(GB3_comboBox_从机分组.Text, 16); + if (UartAddrText <= 0xff && UartAddrText >= 0x01) + { + tCHK = 0xFA + Addr + data + UartAddrText; + Buffer = new byte[] { 0xFA, Addr, (byte)data, UartAddrText, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else + MessageBox.Show(Text1_UartAddrError, Text1_janela); + } + catch + { + MessageBox.Show(Text1_Geral, Text2_janela); + } + } + + if (DataSended == 47) //(47 MODBUS) + { + Text_BUF = GB3_comboBox_MODBUS.Text; + if (Text_BUF == Desativar) + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == Ativar) + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + } + + if (DataSended == 48) //(48 Bloqueio de teclas) + { + Text_BUF = GB3_comboBox_按键锁定.Text; + if (Text_BUF == "Desbloquear") + { + tCHK = 0xFA + Addr + data + byte_data[0]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[0], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + else if (Text_BUF == "Bloquear") + { + tCHK = 0xFA + Addr + data + byte_data[1]; + Buffer = new byte[] { 0xFA, Addr, (byte)data, byte_data[1], (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 5); + } + }*/ + + if (DataSended == 49) //(49 Retorno único) + { + try + { + //Modo de retorno à origem + if (_ModoRetornoOrigem == ModosRetornoOrigem.Desativado) + { + Mode_0 = 0x00; + } + else if (_ModoRetornoOrigem == ModosRetornoOrigem.ModoDirecao) + { + Mode_0 = 0x01; + } + else if (_ModoRetornoOrigem == ModosRetornoOrigem.ModoAproximacao) + { + Mode_0 = 0x02; + } + + //Configurar zero + Text_BUF = _TipoLimiteZero; + if (Text_BUF == "Limpar") + { + Set_0 = 0x00; + } + else if (Text_BUF == "Definir") + { + Set_0 = 0x01; + } + + //Direção de retorno à origem + if (_SentidoRetornoOrigem == Sentido.Antihorario) + { + Dir_0 = 0x00; + } + else if (_SentidoRetornoOrigem == Sentido.Horario) + { + Dir_0 = 0x01; + } + + //Velocidade de retorno à origem + Speed_0 = Convert.ToByte(_VelocidadeRetornoOrigem, 10); + + tCHK = 0xFA + Addr + data + Mode_0 + Set_0 + Speed_0 + Dir_0; + Buffer = new byte[] { 0xFA, Addr, (byte)data, Mode_0, Set_0, Speed_0, Dir_0, (byte)tCHK }; + WriteByteToSerialPort(Buffer, 0, 8); + //---- + } + catch + { + MessageBox.Show("Erro ao gravar parametros de limite"); + } + } + + } + else + MessageBox.Show("Endereço selecionado é inválido"); + } + + private static void Text_display() + { + rxDisplay(); //计算rCHK + + if ((byte)rCHK == SerialBuffer_RX[Data_Number - 1]) + { + switch (SerialBuffer_RX[2]) + { + case 0x30: // 0 Encoder de valor em modo posicional FB + 01 + 30 + int32_t valor posicional + uint16_t valor do encoder + CRC + if (ModoLeitura == "Hex") // Hexadecimal + { + DadosLeitura.ErroCarregado_Hex = ""; + + DadosLeitura.ErroCarregado_Hex += "0x"; + for (int a = 3; a < 9; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + DadosLeitura.ErroCarregado_Hex += str.Length == 1 ? "0" + str : str; + } + } + else if (ModoLeitura == "Decimal") // Decimal + { + DadosLeitura.ErroCarregado = 0; + + word32 = "0"; + for (int a = 3; a < 7; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word32 += str.Length == 1 ? "0" + str : str; + } + data32 = Convert.ToInt32(word32, 16); + + word16 = "0"; + for (int a = 7; a < 9; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word16 += str.Length == 1 ? "0" + str : str; + } + data16 = Convert.ToInt16(word16, 16); + + str = Convert.ToString(data32 * 360 + data16 * 360 / 16384, 10); + double.TryParse(str, out double val); + DadosLeitura.ErroCarregado = val; + } + else + { + MessageBox.Show("Erro ao ler dados de erro"); // Erro de dados + } + break; + + case 0x33: // 1 Contagem acumulada de pulsos FB + 01 + 33 + int32_t contagem acumulada de pulsos + CRC + if (ModoLeitura == "Hex") // Hexadecimal + { + DadosLeitura.NumeroPulsos_Hex = ""; + + DadosLeitura.NumeroPulsos_Hex += "0x"; + for (int a = 3; a < 7; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + DadosLeitura.NumeroPulsos_Hex += str.Length == 1 ? "0" + str : str; + } + } + else if (ModoLeitura == "Decimal") // Decimal + { + DadosLeitura.NumeroPulsos = 0; + + word32 = "0"; + for (int a = 3; a < 7; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word32 += str.Length == 1 ? "0" + str : str; + } + data32 = Convert.ToInt32(word32, 16); + + str = Convert.ToString(data32, 10); + int.TryParse(str, out int val); + DadosLeitura.NumeroPulsos = val; + } + else + { + MessageBox.Show("Erro ao ler dados de pulsos"); // Erro de dados + } + break; + + case 0x39: // 2 Erro de ângulo de posição FB + 01 + 39 + int32_t erro de ângulo de posição + CRC + if (ModoLeitura == "Hex") // Hexadecimal + { + DadosLeitura.ErroAngulo_Hex = ""; + DadosLeitura.ErroAngulo_Hex += "0x"; + for (int a = 3; a < 7; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + DadosLeitura.ErroAngulo_Hex += str.Length == 1 ? "0" + str : str; + } + } + else if (ModoLeitura == "Decimal") // Decimal + { + DadosLeitura.ErroAngulo = 0; + word32 = "0"; + for (int a = 3; a < 7; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word32 += str.Length == 1 ? "0" + str : str; + } + data32 = Convert.ToInt32(word32, 16); + + str = Convert.ToString(data32, 10); + double.TryParse(str, out double val); + DadosLeitura.ErroAngulo = val; + } + else + { + MessageBox.Show("Erro ao ler dados de erro de angulo"); // Erro de dados + } + break; + + case 0x3A: // 3 Estado de habilitação da placa de acionamento FB + 01 + 3A + uint8_t estado de habilitação do loop fechado da placa de acionamento + CRC + // Habilitado: 01 + // Desabilitado: 00 + DadosLeitura.StatusDriver = SerialBuffer_RX[3] == EN_STATE_ON ? Estado.Ligado : SerialBuffer_RX[3] == EN_STATE_OFF ? Estado.Desligado : Estado.Reset; + if (DadosLeitura.StatusDriver == Estado.Reset) + { + MessageBox.Show("Erro ao ler dados de driver habilitado"); // Erro de dados + } + break; + + case 0x3B: // 4 Estado de retorno automático para a posição inicial após ligar FB + 01 + 3B + uint8_t valor de estado de retorno para a posição inicial + CRC + // Executando retorno para a posição inicial: 00 + // Retorno para a posição inicial concluído: 01 + // Falha ao retornar para a posição inicial: 02 + if (SerialBuffer_RX[3] == 0x00) + { + DadosLeitura.StatusModoLimiteZero = StatusComando.Retornando; // Texto1 de retorno para zero + } + else if (SerialBuffer_RX[3] == 0x01) + { + DadosLeitura.StatusModoLimiteZero = StatusComando.Sucesso; // Texto2 de retorno para zero + } + else if (SerialBuffer_RX[3] == 0x02) + { + DadosLeitura.StatusModoLimiteZero = StatusComando.Falha; // Texto3 de retorno para zero + } + break; + + case 0x3E: // 5 Sinal de bloqueio do motor FB + 01 + 3E + uint8_t sinal de bloqueio + CRC + // Bloqueado: 01 + // Não bloqueado: 00 + if (SerialBuffer_RX[3] == 0x01) + { + DadosLeitura.StatusTravaMotor = Estado.Ligado; // Texto1 de bloqueio + } + else if (SerialBuffer_RX[3] == 0x00) + { + DadosLeitura.StatusTravaMotor = Estado.Desligado; // Texto2 de bloqueio + } + else + { + DadosLeitura.StatusTravaMotor = Estado.Reset; + } + break; + + case 0x3D: // 37 Status de desbloqueio + // Desbloqueio bem-sucedido: retorna FB 01 3D 01 3A + // Falha no desbloqueio: retorna FB 01 3D 00 39 + if (SerialBuffer_RX[3] == 0x01) + { + DadosLeitura.StatusBloqueioMotor = StatusComando.Sucesso; // Texto1 de bloqueio + } + else if (SerialBuffer_RX[3] == 0x00) + { + DadosLeitura.StatusBloqueioMotor = StatusComando.Falha; // Texto2 de bloqueio + } + break; + + case 0xF6: // 8 Início do controle de velocidade & 9 Parada do controle de velocidade + if (DataSended == 8) + { + if (SerialBuffer_RX[3] == 0x01) // Sucesso + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Completo; // Texto1 de movimento + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Falha; // Texto3 de movimento + break; + } + else + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Erro; // Texto1 de erro de comunicação + break; + } + double.TryParse(_Velocidade, out double vel); + double.TryParse(Start_ACC[0].ToString(), out double acl); + DadosLeitura.Direcao = _Sentido; + DadosLeitura.Velocidade = vel; + DadosLeitura.Aceleracao = acl; + } + else if (DataSended == 9) + { + if (SerialBuffer_RX[3] == 0x02) // Concluído + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Sucesso; // Texto2 de parada + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciado + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Parando; // Texto4 de parada + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Falha; // Texto3 de parada + break; + } + else + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Erro; // Texto1 de erro de comunicação + break; + } + double.TryParse(Stop_ACC[0].ToString(), out double acl); + DadosLeitura.Direcao = Sentido.Parado; // Texto3 de direção + DadosLeitura.Velocidade = 0; // Velocidade alvo zero + DadosLeitura.Aceleracao = acl; // Aceleração alvo de parada + } + break; + + case 0xFD: // 13 Início do controle de posição & 38 Parada do controle de posição + if (DataSended != 38) + { + if (SerialBuffer_RX[3] == 0x02) // Concluído + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Sucesso; // Texto2 de movimento + break; + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciado + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Movendo; // Texto4 de movimento + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Falha; // Texto3 de movimento + break; + } + else + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Erro; // Texto1 de erro de comunicação + break; + } + DadosLeitura.Direcao = _Sentido; + double.TryParse(_Velocidade, out double vel); + double.TryParse(Start_ACC[0].ToString(), out double acl); + DadosLeitura.Velocidade = vel; // Velocidade alvo + DadosLeitura.Aceleracao = acl; // Aceleração alvo + } + else if (DataSended == 38) + { + if (SerialBuffer_RX[3] == 0x02) // Concluído + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Sucesso; // Texto2 de parada + break; + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciado + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Parando; // Texto4 de parada + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Falha; // Texto3 de parada + break; + } + else + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Erro; // Texto1 de erro de comunicação + break; + } + DadosLeitura.Direcao = Sentido.Parado; // Texto3 de direção + DadosLeitura.Velocidade = 0; // Velocidade alvo zero + double.TryParse(Stop_ACC[0].ToString(), out double acl); + DadosLeitura.Aceleracao = acl; // Aceleração alvo de parada + } + break; + + case 0xF4: // 44 Coordenadas Relativas & 38 Controle de Parada de Posição + if (DataSended != 38) + { + if (SerialBuffer_RX[3] == 0x02) // Completo + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Sucesso; + break; + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciar + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Movendo; + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Falha; + break; + } + else + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Erro; + break; + } + double.TryParse(_Velocidade, out double vel); + double.TryParse(Start_ACC[0].ToString(), out double acl); + DadosLeitura.Velocidade = vel; // Velocidade alvo + DadosLeitura.Aceleracao = acl; // Aceleração alvo + } + else if (DataSended == 38) + { + if (SerialBuffer_RX[3] == 0x02) // Completo + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Sucesso; + break; + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciar + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Parando; + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Falha; + break; + } + else + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Erro; + break; + } + double.TryParse(Start_ACC[0].ToString(), out double acl); + DadosLeitura.Direcao = Sentido.Parado; + DadosLeitura.Velocidade = 0; + DadosLeitura.Aceleracao = acl; + } + break; + + case 0xF5: // 45 Coordenadas Absolutas & 38 Controle de Parada de Posição + if (DataSended != 38) + { + if (SerialBuffer_RX[3] == 0x02) // Completo + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Sucesso; + break; + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciar + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Movendo; + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Falha; + break; + } + else + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Erro; + break; + } + double.TryParse(_Velocidade, out double vel); + double.TryParse(Start_ACC[0].ToString(), out double acl); + DadosLeitura.Velocidade = vel; // Velocidade alvo + DadosLeitura.Aceleracao = acl; // Aceleração alvo + } + else if (DataSended == 38) + { + if (SerialBuffer_RX[3] == 0x02) // Completo + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Sucesso; + break; + } + else if (SerialBuffer_RX[3] == 0x01) // Iniciar + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Parando; + } + else if (SerialBuffer_RX[3] == 0x00) // Falha + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Falha; + break; + } + else + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Erro; + break; + } + DadosLeitura.Direcao = Sentido.Parado; + double.TryParse(_Velocidade, out double vel); + double.TryParse(Start_ACC[0].ToString(), out double acl); + DadosLeitura.Velocidade = vel; // Velocidade alvo + DadosLeitura.Aceleracao = acl; // Aceleração alvo + } + break; + + case 0x31:// 39 Valor do Codificador Incremental FB + 01 + 31 + Valor do Codificador uint48_t + CRC + if (ModoLeitura == "Hex") // Hexadecimal + { + DadosLeitura.ErroCarregado_Hex = ""; + + DadosLeitura.ErroCarregado_Hex += "0x"; + for (int a = 3; a < 9; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + DadosLeitura.ErroCarregado_Hex += str.Length == 1 ? "0" + str : str; + } + } + else if (ModoLeitura == "Decimal") // Decimal + { + DadosLeitura.ErroCarregado = 0; + + word64 = "0"; + for (int a = 3; a < 9; a++) + { + if (a == 3 && SerialBuffer_RX[3] >= 0x80) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word64 = "FFFF" + str; + } + else + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word64 += str.Length == 1 ? "0" + str : str; + } + } + data64 = Convert.ToInt64(word64, 16); + + str = Convert.ToString(data64 * 360 / 16384, 10); + double.TryParse(str, out double val); + DadosLeitura.ErroCarregado = val; + } + else + { + MessageBox.Show("Erro ao ler dados de erro carregado"); + } + break; + + case 0x32:// 40 Velocidade Atual do Motor + if (ModoLeitura == "Hex") // Hexadecimal + { + DadosLeitura.RPM_Hex = ""; + DadosLeitura.RPM_Hex += "0x"; + for (int a = 3; a < 5; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + DadosLeitura.RPM_Hex += str.Length == 1 ? "0" + str : str; + } + } + else if (ModoLeitura == "Decimal") // Decimal + { + DadosLeitura.RPM = 0; + word16 = "0"; + for (int a = 3; a < 5; a++) + { + str = Convert.ToString(SerialBuffer_RX[a], 16).ToUpper(); + word16 += str.Length == 1 ? "0" + str : str; + } + data16 = Convert.ToInt16(word16, 16); + str = Convert.ToString(data16, 10); + double.TryParse(str, out double val); + DadosLeitura.RPM = val; + } + else + { + MessageBox.Show("Erro ao ler dados de RPM"); + } + break; + + case 0x80:// 14 Calibrar Codificador + if (SerialBuffer_RX[3] == 0x00) + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Calibrando; + } + else if (SerialBuffer_RX[3] == 0x01) + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Sucesso; + } + else if (SerialBuffer_RX[3] == 0x02) + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Falha; + } + break; + + case 0x3F:// 36 Restaurar Configurações de Fábrica + case 0x82:// 16 Modo de Trabalho + case 0x83:// 17 Valor de Corrente + case 0x84:// 12 Configuração de Subdivisão + case 0x85:// 18 Configuração de Habilitação + case 0x86:// 19 Direção do Motor + case 0x87:// 20 Desligamento Automático da Tela + case 0x88:// 21 Proteção de Bloqueio + case 0x89:// 22 Interpolação de Subdivisão + case 0x8A:// 23 Taxa de Baud da Porta Serial + case 0x8B:// 24 Endereço de Comunicação do Motor + case 0x8C:// 41 Resposta do Dispositivo Escravo + case 0x8D:// 42 Grupo do Dispositivo Escravo + case 0x90:// 31 Parâmetros de Limite + case 0xF3:// 6 Habilitar Placa de Acionamento & 7 Desligar Placa de Acionamento + case 0xFF:// 10 Iniciar Execução Automática na Inicialização & 11 Parar Execução Automática na Inicialização + case 0x8E:// 47 Confirmação MODBUS + case 0x8F:// 48 Bloqueio de Teclas - Confirmação + case 0x9A:// 49 Retorno de uma Volta + try + { + Temp1++; + if (SerialBuffer_RX[3] == 0x00) + { + DadosLeitura.Mensagem = "Erro ao configurar: (" + Temp1 + ")"; + } + else if (SerialBuffer_RX[3] == 0x01) + { + DadosLeitura.Mensagem = "Sucesso ao configurar: (" + Temp1 + ")"; + } + } + catch + { + Temp1 = 0; + } + break; + + case 0x91:// 32 Reiniciar Limites + if (SerialBuffer_RX[3] == 0x00) + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Falha; + } + else if (SerialBuffer_RX[3] == 0x01) + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Retornando; + } + else if (SerialBuffer_RX[3] == 0x02) + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Sucesso; + } + break; + + case 0x92:// 33 Reinicialização Direta + if (SerialBuffer_RX[3] == 0x00) + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Falha; + } + else if (SerialBuffer_RX[3] == 0x01) + { + DadosLeitura.StatusMovimentoMotor = StatusComando.Sucesso; + } + break; + + case 0x40:// 43 Informação de Versão + try + { + HV = HardVersion[SerialBuffer_RX[3]]; + FV = "V" + SerialBuffer_RX[4] + "." + SerialBuffer_RX[5] + "." + SerialBuffer_RX[6]; + for (int a = 0; a < 3; a++) + { + FV1[a] = SerialBuffer_RX[a + 4]; + } + if (DataSended == 43) + { + if (Iniciado) + { + MessageBox.Show("Versão do hardware: " + HV + "\nVersão da firmware: " + FV, "Versão"); + } + DataSended = 0; + } + if (SerialBuffer_RX[3] == 1 || SerialBuffer_RX[3] == 2) + { + Max_Current = 3000; + } + else if (SerialBuffer_RX[3] == 3 || SerialBuffer_RX[3] == 4) + { + Max_Current = 5200; + } + else + { + Max_Current = 3000; + } + } + catch + { + Console.WriteLine("Erro ao requisitar versão"); + } + break; + + /*case 0x34:// 46 Estado do Portão IO + GB5_textBox_IN1.Clear(); + GB5_textBox_IN2.Clear(); + GB5_textBox_OUT1.Clear(); + GB5_textBox_OUT2.Clear(); + + byte[] IO = new byte[1]; + IO[0] = SerialBuffer_RX[3]; + BitArray LimitIO = new BitArray(IO); + + if (HV == HardVersion[3] || HV == HardVersion[4]) + { + GB5_textBox_IN1.AppendText(LimitIO.Get(0) ? "H" : "L"); + GB5_textBox_IN2.AppendText(LimitIO.Get(1) ? "H" : "L"); + GB5_textBox_OUT1.AppendText(LimitIO.Get(2) ? "H" : "L"); + GB5_textBox_OUT2.AppendText(LimitIO.Get(3) ? "H" : "L"); + } + else if (HV == HardVersion[1] || HV == HardVersion[2]) + { + GB5_textBox_IN1.AppendText(LimitIO.Get(0) ? "H" : "L"); + GB5_textBox_IN2.AppendText("NC"); + GB5_textBox_OUT1.AppendText("NC"); + GB5_textBox_OUT2.AppendText("NC"); + } + break;*/ + + default: + MessageBox.Show("Erro ao decodificar resposta"); + break; + } + } + + Respondido = true; + } + + private static void rxDisplay() + { + rCHK = 0x00; + Console.Write("RX: "); + for (int a = 0; a < Data_Number - 1; a++) + { + rCHK += SerialBuffer_RX[a]; + Console.Write("{0:X2} ", SerialBuffer_RX[a]); + } + Console.WriteLine("{0:X2} rCHK: {1:X2} Length: {2}", SerialBuffer_RX[Data_Number - 1], (byte)rCHK, Data_Number); + } + + private static void txDisplay() + { + Console.Write("TX: "); + for (int a = 0; a < Buffer.Length; a++) + { + Console.Write("{0:X2} ", Buffer[a]); + } + Console.WriteLine("Length: {0}", Buffer.Length); + } + + #endregion + } + + +} \ No newline at end of file diff --git a/AgroBase/AgroBase/Services/ModbusService.cs b/AgroBase/AgroBase/Services/ModbusService.cs index 4c75f2104..43d4f04a4 100644 --- a/AgroBase/AgroBase/Services/ModbusService.cs +++ b/AgroBase/AgroBase/Services/ModbusService.cs @@ -44,6 +44,13 @@ namespace AgroBase.Services } FilaEmEspera = false; + + if (frmPrincipal.Fechando) + { + EnvioLiberado = true; + return; + } + EnvioLiberado = false; if (Iniciado) diff --git a/AgroBase/AgroBase/Services/PZEMService.cs b/AgroBase/AgroBase/Services/PZEMService.cs index 68d4f5579..e2ca7748e 100644 --- a/AgroBase/AgroBase/Services/PZEMService.cs +++ b/AgroBase/AgroBase/Services/PZEMService.cs @@ -113,7 +113,7 @@ namespace AgroBase.Services PortaCOM = ModbusService._PortaModbus.PortName, Dispositivo = T_Code.Pzm, Erro = !Iniciado, - Versao = 17 + Versao = "17" }); } } @@ -136,6 +136,12 @@ namespace AgroBase.Services private static async Task ReceberDados() { + if (!ModbusService.Iniciado) + { + Iniciado = false; + return false; + } + PenultimaLeitura = new PZEMModel() { AlarmeTensaoMax = UltimaLeitura.AlarmeTensaoMax, @@ -163,7 +169,7 @@ namespace AgroBase.Services await Task.Delay(TaxaAmostragem); - + return await ReceberDados(); } diff --git a/AgroBase/AgroBase/Services/SerialService.cs b/AgroBase/AgroBase/Services/SerialService.cs index e6c3675e6..e08499117 100644 --- a/AgroBase/AgroBase/Services/SerialService.cs +++ b/AgroBase/AgroBase/Services/SerialService.cs @@ -30,7 +30,7 @@ namespace AgroBase.Services public string PortaCOM { get; set; } public T_Code Dispositivo { get; set; } public bool Erro { get; set; } - public int Versao { get; set; } + public string Versao { get; set; } public string Mod_ID { get; set; } } @@ -41,7 +41,7 @@ namespace AgroBase.Services public static async Task RealizarVarreduraPortasUSB() { - if (VarreduraEmAndamento) + if (VarreduraEmAndamento || frmPrincipal.Fechando) { return; } @@ -62,7 +62,7 @@ namespace AgroBase.Services if (Variaveis.OperacaoEmAndamento.DispMvd == null) { - await TentarIdentificarDispositivo(_Porta); + //await TentarIdentificarDispositivo(_Porta); continue; } @@ -70,6 +70,7 @@ namespace AgroBase.Services { _Porta.Open(); + bool DispositivoMvd = false; foreach (var Modulo in Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos) { string ProtocoloCheck = Modulo.ProtocoloVerificacao(true); @@ -79,11 +80,43 @@ namespace AgroBase.Services await AguardaRespostaPorta(_Porta, 1000); bool respondeu = ProcessarRespostaDispositivo(_Porta); - if (!PortaDispositivoProprio) + if (!DispositivoMvd) { - PortaDispositivoProprio = respondeu; + DispositivoMvd = respondeu; } }; + bool DispositivoAtu = false; + if (!DispositivoMvd) + { + string ProtocoloCheck = Variaveis.OperacaoEmAndamento.DispAtu.Dados.ProtocoloVerificacao(true); + + _Porta.Write(ProtocoloCheck); + + await AguardaRespostaPorta(_Porta, 1000); + + bool respondeu = ProcessarRespostaDispositivo(_Porta); + if (!DispositivoAtu) + { + DispositivoAtu = respondeu; + } + } + bool DispositivoSen = false; + if (!DispositivoMvd && !DispositivoAtu) + { + string ProtocoloCheck = Variaveis.OperacaoEmAndamento.DispSen.Dados.ProtocoloVerificacao(true); + + _Porta.Write(ProtocoloCheck); + + await AguardaRespostaPorta(_Porta, 1000); + + bool respondeu = ProcessarRespostaDispositivo(_Porta); + if (!DispositivoSen) + { + DispositivoSen = respondeu; + } + } + + PortaDispositivoProprio = DispositivoMvd || DispositivoAtu || DispositivoSen; } catch (Exception ex) { @@ -140,7 +173,7 @@ namespace AgroBase.Services T_Code Dispositivo = T_Code.Vzo; F_Code Verificacao = F_Code.Nda; - int Versao = 0; + string Versao = "0"; var Dados = Recebido.Split(SplitMessage[0]); @@ -156,8 +189,7 @@ namespace AgroBase.Services Dispositivo = (T_Code)(int.Parse(Dados[2])); - int.TryParse(Dados[3], out int versao); - Versao = versao; + Versao = Dados[3]; if (Dispositivo != T_Code.Vzo && !DispositivosMapeados.Any(x => x.Dispositivo == Dispositivo && x.Mod_ID == Mod_ID)) { @@ -219,6 +251,14 @@ namespace AgroBase.Services return true; } + if (!MKS057DService.Iniciado) + { + bool Encontrado = await MKS057DService.VerificaPortaMKS(porta); + if (Encontrado) + { + return Encontrado; + } + } if (!LoRaService.Iniciado) { bool Encontrado = await LoRaService.VerificaPortaLoRa(porta); diff --git a/AgroBase/AgroBase/Services/WT901CService.cs b/AgroBase/AgroBase/Services/WT901CService.cs index b0f4a5860..2ca96d1bd 100644 --- a/AgroBase/AgroBase/Services/WT901CService.cs +++ b/AgroBase/AgroBase/Services/WT901CService.cs @@ -6,6 +6,7 @@ using System.IO.Ports; using System.Linq; using System.Text; using System.Threading.Tasks; +using System.Windows.Forms; using static AgroBase.Models.Enuns; namespace AgroBase.Services @@ -85,6 +86,12 @@ namespace AgroBase.Services private static async Task ReceberDados() { + if (!ModbusService.Iniciado) + { + Iniciado = false; + return false; + } + await ModbusService.EnviarComando(ComandoAquisicao); byte[] resposta = SerialService.LerDadosDaPortaSerial(ModbusService._PortaModbus, 101); @@ -117,7 +124,7 @@ namespace AgroBase.Services PortaCOM = ModbusService._PortaModbus.PortName, Dispositivo = T_Code.Wit, Erro = !Iniciado, - Versao = 1 + Versao = DadosLeitura.Versao, }); } } diff --git a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb index ceddff93e..2fdd6bb0d 100644 Binary files a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb and b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb differ diff --git a/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 b/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 index 60e54ac75..478ca67e4 100644 Binary files a/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 and b/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 differ diff --git a/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 b/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 index 1ec9c507e..cad055716 100644 Binary files a/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 and b/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 differ diff --git a/AgroBase/AgroBase/bin/Debug/Logs/Atu/24_06_2024_03_16.json b/AgroBase/AgroBase/bin/Debug/Logs/Atu/24_06_2024_03_16.json new file mode 100644 index 000000000..cafe32722 --- /dev/null +++ b/AgroBase/AgroBase/bin/Debug/Logs/Atu/24_06_2024_03_16.json @@ -0,0 +1 @@ +[{"Momento":"2024-06-24T15:05:14.6831673-03:00","Protocolo":"@1;Atu;258;B01,1,1,1,0,19$","Enviado":true},{"Momento":"2024-06-24T15:05:14.6901692-03:00","Protocolo":"Atu;#211;B01;1$\r","Enviado":false},{"Momento":"2024-06-24T15:05:15.2019129-03:00","Protocolo":"Atu;655;1;$\r","Enviado":false},{"Momento":"2024-06-24T15:05:15.2129154-03:00","Protocolo":"@2;Atu;258;B02,1,1,2,0,20$","Enviado":true},{"Momento":"2024-06-24T15:05:15.2199184-03:00","Protocolo":"Atu;#211;B02;1$\r","Enviado":false},{"Momento":"2024-06-24T15:05:15.7302546-03:00","Protocolo":"Atu;655;2;$\r","Enviado":false},{"Momento":"2024-06-24T15:05:15.7412559-03:00","Protocolo":"@3;Atu;258;B03,1,1,3,0,21$","Enviado":true},{"Momento":"2024-06-24T15:05:15.7462551-03:00","Protocolo":"Atu;#211;B03;1$\r","Enviado":false},{"Momento":"2024-06-24T15:05:16.2575212-03:00","Protocolo":"Atu;655;3;$\r","Enviado":false},{"Momento":"2024-06-24T15:05:16.2725209-03:00","Protocolo":"@4;Atu;258;B04,1,1,4,0,47$","Enviado":true},{"Momento":"2024-06-24T15:05:16.2785223-03:00","Protocolo":"Atu;#211;B04;1$\r","Enviado":false},{"Momento":"2024-06-24T15:05:16.7894288-03:00","Protocolo":"Atu;655;4;$\r","Enviado":false},{"Momento":"2024-06-24T15:05:16.7974315-03:00","Protocolo":"@5;Atu;258;B05,1,0,5,0,-1$","Enviado":true},{"Momento":"2024-06-24T15:05:16.8034325-03:00","Protocolo":"Atu;655;5;$\r","Enviado":false},{"Momento":"2024-06-24T15:05:16.8134336-03:00","Protocolo":"@6;Atu;258;B06,1,0,6,0,-1$","Enviado":true},{"Momento":"2024-06-24T15:05:16.8194324-03:00","Protocolo":"Atu;655;6;$\r","Enviado":false},{"Momento":"2024-06-24T15:05:16.8274341-03:00","Protocolo":"@7;Atu;258;B07,1,0,7,0,-1$","Enviado":true},{"Momento":"2024-06-24T15:05:16.8334325-03:00","Protocolo":"Atu;655;7;$\r","Enviado":false},{"Momento":"2024-06-24T15:05:16.8434297-03:00","Protocolo":"@8;Atu;258;B08,1,0,8,0,-1$","Enviado":true},{"Momento":"2024-06-24T15:05:16.8484333-03:00","Protocolo":"Atu;655;8;$\r","Enviado":false},{"Momento":"2024-06-24T15:05:16.859433-03:00","Protocolo":"@9;Atu;258;B09,1,0,9,0,-1$","Enviado":true},{"Momento":"2024-06-24T15:05:16.8644346-03:00","Protocolo":"Atu;655;9;$\r","Enviado":false},{"Momento":"2024-06-24T15:05:16.875431-03:00","Protocolo":"@10;Atu;258;B10,1,0,10,0,-1$","Enviado":true},{"Momento":"2024-06-24T15:05:16.8814334-03:00","Protocolo":"Atu;655;10;$\r","Enviado":false},{"Momento":"2024-06-24T15:05:16.891431-03:00","Protocolo":"@11;Atu;258;BOMBA,1,1,085,0,40,0,36,0,38,0,37,0,39$","Enviado":true},{"Momento":"2024-06-24T15:05:16.9004326-03:00","Protocolo":"Atu;#211;BOMBA;1$\r","Enviado":false} \ No newline at end of file diff --git a/AgroBase/AgroBase/bin/Debug/Logs/Atu/24_06_2024_13_53.json b/AgroBase/AgroBase/bin/Debug/Logs/Atu/24_06_2024_13_53.json new file mode 100644 index 000000000..a91d4b4af --- /dev/null +++ b/AgroBase/AgroBase/bin/Debug/Logs/Atu/24_06_2024_13_53.json @@ -0,0 +1 @@ +[{"Momento":"2024-06-24T15:14:43.6222906-03:00","Protocolo":"@1;Atu;258;BOMBA,1,1,085,0,40,0,36,0,38,0,37,0,39$","Enviado":true},{"Momento":"2024-06-24T15:14:43.6292876-03:00","Protocolo":"Atu;#211;BOMBA;1$\r","Enviado":false},{"Momento":"2024-06-24T15:14:44.1402257-03:00","Protocolo":"Atu;655;1;$\r","Enviado":false},{"Momento":"2024-06-24T15:14:44.144226-03:00","Protocolo":"@2;Atu;258;MD,1,500,1$","Enviado":true},{"Momento":"2024-06-24T15:14:44.1522249-03:00","Protocolo":"Atu;#211;MD;1$\r","Enviado":false},{"Momento":"2024-06-24T15:14:44.2642252-03:00","Protocolo":"Atu;655;2;$\r","Enviado":false},{"Momento":"2024-06-24T15:14:44.3002245-03:00","Protocolo":"Atu;#422;B04;0$\r","Enviado":false},{"Momento":"2024-06-24T15:14:44.712216-03:00","Protocolo":"Atu;#422;B01;0$\r","Enviado":false},{"Momento":"2024-06-24T15:14:44.7692136-03:00","Protocolo":"Atu;#422;B03;0$\r","Enviado":false},{"Momento":"2024-06-24T15:14:44.8012164-03:00","Protocolo":"Atu;#422;B04;0$\r","Enviado":false} \ No newline at end of file diff --git a/AgroBase/AgroBase/bin/Debug/Logs/Atu/24_06_2024_27_52.json b/AgroBase/AgroBase/bin/Debug/Logs/Atu/24_06_2024_27_52.json new file mode 100644 index 000000000..b17fde87c --- /dev/null +++ b/AgroBase/AgroBase/bin/Debug/Logs/Atu/24_06_2024_27_52.json @@ -0,0 +1 @@ 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