diff --git a/.gitignore b/.gitignore index 3280d3a93..43417dbef 100644 --- a/.gitignore +++ b/.gitignore @@ -50,6 +50,10 @@ Thumbs.db # Ignorar arquivos de build AgroBase/AgroBase/obj/ AgroBase/AgroBase/bin/ +AgroBase/AgroMnitor/obj/ +AgroBase/AgroMnitor/bin/ +AgroBase/OperationControl/obj/ +AgroBase/OperationControl/bin/ Python/OAK/datasets/venv/ Python/OAK/datasets/oak-1/dataset/ diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/15c91232-6f25-4779-85e1-85b76adfba15.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/2adfa2a8-a38c-4763-b6bd-ff570a590b0b.vsidx similarity index 99% rename from AgroBase/.vs/AgroBase/FileContentIndex/15c91232-6f25-4779-85e1-85b76adfba15.vsidx rename to AgroBase/.vs/AgroBase/FileContentIndex/2adfa2a8-a38c-4763-b6bd-ff570a590b0b.vsidx index bf580dc3b..613cf02e2 100644 Binary files a/AgroBase/.vs/AgroBase/FileContentIndex/15c91232-6f25-4779-85e1-85b76adfba15.vsidx and b/AgroBase/.vs/AgroBase/FileContentIndex/2adfa2a8-a38c-4763-b6bd-ff570a590b0b.vsidx differ diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/8b27408a-acf1-47c5-8589-a39fb886c873.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/4695b9a3-5d09-4fa4-99e3-c4c4cb909b87.vsidx similarity index 54% rename from AgroBase/.vs/AgroBase/FileContentIndex/8b27408a-acf1-47c5-8589-a39fb886c873.vsidx rename to AgroBase/.vs/AgroBase/FileContentIndex/4695b9a3-5d09-4fa4-99e3-c4c4cb909b87.vsidx index 13a0361c8..2f16ad05c 100644 Binary files a/AgroBase/.vs/AgroBase/FileContentIndex/8b27408a-acf1-47c5-8589-a39fb886c873.vsidx and b/AgroBase/.vs/AgroBase/FileContentIndex/4695b9a3-5d09-4fa4-99e3-c4c4cb909b87.vsidx differ diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/7f4d1cca-6adc-467b-bbec-663028e7bda5.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/7f4d1cca-6adc-467b-bbec-663028e7bda5.vsidx new file mode 100644 index 000000000..02d1b66a9 Binary files /dev/null and b/AgroBase/.vs/AgroBase/FileContentIndex/7f4d1cca-6adc-467b-bbec-663028e7bda5.vsidx differ diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/b9f026e0-363c-4f11-a095-397dda9e9aa7.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/b9f026e0-363c-4f11-a095-397dda9e9aa7.vsidx deleted file mode 100644 index 1ea0e59ef..000000000 Binary files a/AgroBase/.vs/AgroBase/FileContentIndex/b9f026e0-363c-4f11-a095-397dda9e9aa7.vsidx and /dev/null differ diff --git a/AgroBase/.vs/AgroBase/v17/.futdcache.v2 b/AgroBase/.vs/AgroBase/v17/.futdcache.v2 index eb8fea398..2a449e1c8 100644 Binary files a/AgroBase/.vs/AgroBase/v17/.futdcache.v2 and b/AgroBase/.vs/AgroBase/v17/.futdcache.v2 differ diff --git a/AgroBase/.vs/AgroBase/v17/.suo b/AgroBase/.vs/AgroBase/v17/.suo index 5781de3ee..a0ac6589b 100644 Binary files a/AgroBase/.vs/AgroBase/v17/.suo and b/AgroBase/.vs/AgroBase/v17/.suo differ diff --git a/AgroBase/.vs/AgroBase/v17/Browse.VC.db b/AgroBase/.vs/AgroBase/v17/Browse.VC.db index 61ccebaba..a34edcd67 100644 Binary files a/AgroBase/.vs/AgroBase/v17/Browse.VC.db and b/AgroBase/.vs/AgroBase/v17/Browse.VC.db differ diff --git a/AgroBase/.vs/ProjectEvaluation/agrobase.metadata.v7.bin b/AgroBase/.vs/ProjectEvaluation/agrobase.metadata.v7.bin index e4aeb2af6..94b05b1a0 100644 Binary files a/AgroBase/.vs/ProjectEvaluation/agrobase.metadata.v7.bin and b/AgroBase/.vs/ProjectEvaluation/agrobase.metadata.v7.bin differ diff --git a/AgroBase/.vs/ProjectEvaluation/agrobase.projects.v7.bin b/AgroBase/.vs/ProjectEvaluation/agrobase.projects.v7.bin index 4a020519c..98c68a7e8 100644 Binary files a/AgroBase/.vs/ProjectEvaluation/agrobase.projects.v7.bin and b/AgroBase/.vs/ProjectEvaluation/agrobase.projects.v7.bin differ diff --git a/AgroBase/AgroBase/Models/Enums.cs b/AgroBase/AgroBase/Models/Enums.cs index a32754bec..d0c648cad 100644 --- a/AgroBase/AgroBase/Models/Enums.cs +++ b/AgroBase/AgroBase/Models/Enums.cs @@ -75,7 +75,8 @@ Bat = 119, Npc = 120, Ipb = 121, - Can = 122 + Can = 122, + Trj = 123 } public enum F_Code diff --git a/AgroBase/AgroBase/Models/GeneralJoystick.cs b/AgroBase/AgroBase/Models/GeneralJoystick.cs index 512304e18..5f698f4cd 100644 --- a/AgroBase/AgroBase/Models/GeneralJoystick.cs +++ b/AgroBase/AgroBase/Models/GeneralJoystick.cs @@ -767,8 +767,12 @@ namespace AgroBase if (Bico != null) { //Console.WriteLine($"Bico {Bico.Posicao} atualizado de {Bico.ComandoAtuar} para {Status}"); - if (Status != null) Bico.ComandoAtuar = (bool)Status; if (Valor != null) Bico.AnguloControle = (int)Valor; + if (Status != null) + { + Bico.ComandoAtuar = (bool)Status; + if (Bico.ComandoAtuar) Bico.Atuacoes++; + } (id_num, posicao, data) = Bico.ProtocoloComando(); } break; diff --git a/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs b/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs index e476a58be..ea1b3cc4f 100644 --- a/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs +++ b/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs @@ -30,7 +30,9 @@ namespace AgroBase.Models.Modules { get { - return DadosLeitura.Conectado; + DateTime Agora = DateTime.Now; + bool modConectado = DadosLeitura.UltimoComandoRespondido.AddMilliseconds(TempoLimiteConexao) > Agora; + return modConectado; } } public bool ConexaoAtiva @@ -330,9 +332,9 @@ namespace AgroBase.Models.Modules { Descricao = "Offset", Enviar = true, - Escalar = false, + Escalar = true, QtdBytes = 2, - Valor = "1895800" + Valor = "32.5" } }, ValoresLeituras = new List() diff --git a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs index 1b39a4d80..19bdd49a9 100644 --- a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs +++ b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs @@ -33,7 +33,9 @@ namespace AgroBase.Models.Modules { get { - return DadosLeitura.Conectado; + DateTime Agora = DateTime.Now; + bool modConectado = DadosLeitura.UltimoComandoRespondido.AddMilliseconds(TempoLimiteConexao) > Agora; + return modConectado; } } public bool ConexaoAtiva diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs index bfbd0e7dc..912fe6243 100644 --- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs @@ -1525,7 +1525,7 @@ namespace AgroBase.Models { case BotoesJoystick.Share: // Requisitar parametros da operacao var topico = Variaveis.MqttServiceBase.Topicos.FirstOrDefault(x => x.Topico == VariaveisEquipamento.TopicoMqttParametros.Replace("", VariaveisEquipamento.Parametros.serial_number)); - var msg = JsonConvert.SerializeObject(Variaveis.OperacaoEmAndamento.Parametros); + string msg = JsonConvert.SerializeObject(Variaveis.OperacaoEmAndamento.Parametros); Task.Run(async () => await Variaveis.MqttServiceBase.PublishAsync(topico, msg)); break; case BotoesJoystick.Options: // Operacao nao iniciada, carrega todos os parametros compeltos @@ -1560,6 +1560,13 @@ namespace AgroBase.Models if (Variaveis.OperacaoEmAndamento.Iniciado) Task.Run(async () => await Variaveis.OperacaoEmAndamento.FinalizarOperacao()); break; + case BotoesJoystick.R1: // Libera a operacao interrompida mediante supervisao humana + if (!(Variaveis.OperacaoEmAndamento.Trajetoria?.AutonomiaCorredor?.Liberado ?? false)) + { + (bool b_liberada, bool h_liberado) = ((bool, bool))controleBase._comp_value; + Variaveis.OperacaoEmAndamento.Trajetoria?.AtualizarDadosAutonomiaCorredor(bat_liberada: b_liberada, herb_liberado: h_liberado); + } + break; } return; } @@ -1688,7 +1695,8 @@ namespace AgroBase.Models else { topico = Variaveis.MqttServiceBase.Topicos.FirstOrDefault(x => x.Topico == VariaveisEquipamento.TopicoMqttTelemetria.Replace("", VariaveisEquipamento.Parametros.serial_number)); - msg = JsonConvert.SerializeObject(Variaveis.OperacaoEmAndamento.Parametros.DadosLeitura); + var data = Variaveis.OperacaoEmAndamento.Parametros.DadosLeitura.Clone(); + msg = JsonConvert.SerializeObject(data); } if (topico != null && !string.IsNullOrEmpty(msg)) { @@ -2154,7 +2162,7 @@ namespace AgroBase.Models return new OperacaoControleModel() { Angulo = Angulo, - BicosAtuados = BicosAtuados.Select(x => x.Clone()).ToList(), + BicosAtuados = new List(BicosAtuados ?? new List()), Direcao = Direcao, PercentualVelocidadeSP = PercentualVelocidadeSP, _tipoMovimento = _tipoMovimento, @@ -2362,6 +2370,20 @@ namespace AgroBase.Models LPorMinuto = _Reservatorio.LPorMinuto, TempoEstimadoRestanteMinutos = _Reservatorio.TempoEstimadoMinutosPulverizando, DistanciaEstimadaRestanteMetros = _Reservatorio.DistanciaEstimadaRestantePulverizando_m, + Bicos = Variaveis.OperacaoEmAndamento.DispAtu.Dados.BicosPulverizadores.Select(Bico => new AtuBicoSensoriamentoLogModel() + { + ID = Bico.ID, + Inicializado = Bico.Inicializado, + Comandar = Bico.Comandar, + Atuado = Bico.ComandoAtuar, + MediaNivelFluxo = Bico.MediaNivelFluxo, + Posicao = Bico.Posicao, + StatusBico = Bico.ValoresLeituras?.FirstOrDefault(x => x.funcao == FuncoesPinout.EstadoLeitura)?.atual?.valor == Estado.Ligado, + Atuacoes = Bico.Atuacoes, + TempoAtuado = Bico.TempoAtuado, + AnguloAbertura = Bico.AnguloAbertura, + AnguloControle = Bico.AnguloControle, + }).ToList(), } : new OperacaoSensoriamentoLogAtuModel(); var dadosMovimentacao = _DispMvd != null ? new OperacaoSensoriamentoLogMovModel() @@ -2472,6 +2494,7 @@ namespace AgroBase.Models DistanciaErroMapaCana = _Trajetoria?.DistanciaErroMapaPlantacao ?? 0, PrimeiroPontoDentroMapa = _Trajetoria?.PrimeiroPontoDentroMapa?.Clone() ?? new GPSModel(), PrimeiroPontoDentroCana = _Trajetoria?.PrimeiroPontoDentroCana?.Clone() ?? new GPSModel(), + AutonomiaCooredor = _Trajetoria?.AutonomiaCorredor?.Clone(), }; var dadosGps = GPSService.UltimaLeitura.Clone(); @@ -2640,6 +2663,7 @@ namespace AgroBase.Models public double TempoEstimadoRestanteMinutos { get; set; } public double DistanciaEstimadaRestanteMetros { get; set; } public Dictionary Iniciados { get; set; } + public List Bicos { get; set; } public DateTime UltimoComandoRespondido { get; set; } public OperacaoSensoriamentoLogAtuModel Clone() @@ -2671,7 +2695,8 @@ namespace AgroBase.Models LPorMetro = LPorMetro, LPorMinuto = LPorMinuto, TempoEstimadoRestanteMinutos = TempoEstimadoRestanteMinutos, - DistanciaEstimadaRestanteMetros = DistanciaEstimadaRestanteMetros + DistanciaEstimadaRestanteMetros = DistanciaEstimadaRestanteMetros, + Bicos = new List(Bicos ?? new List()) }; } } @@ -2828,6 +2853,8 @@ namespace AgroBase.Models public GPSModel PrimeiroPontoDentroCana { get; set; } public double DistanciaErroMapaCana { get; set; } + public AutonomiaCorredorModel AutonomiaCooredor { get; set; } + public OperacaoSensoriamentoLogTrajetoriaModel Clone() { return new OperacaoSensoriamentoLogTrajetoriaModel() @@ -2861,7 +2888,8 @@ namespace AgroBase.Models QtdPontos = QtdPontos, PrimeiroPontoDentroCana = PrimeiroPontoDentroCana.Clone(), PrimeiroPontoDentroMapa = PrimeiroPontoDentroMapa.Clone(), - DistanciaErroMapaCana = DistanciaErroMapaCana + DistanciaErroMapaCana = DistanciaErroMapaCana, + AutonomiaCooredor = AutonomiaCooredor.Clone() }; } } @@ -2944,6 +2972,8 @@ namespace AgroBase.Models public double MediaNivelFluxo { get; set; } public int Atuacoes { get; set; } public double TempoAtuado { get; set; } + public double AnguloAbertura { get; set; } + public double AnguloControle { get; set; } } public class CamSoloSensoriamentoLogModel diff --git a/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs b/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs index f65e154d8..301657ce1 100644 --- a/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs +++ b/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs @@ -32,6 +32,8 @@ namespace AgroBase.Models #endregion public DateTime UltimaAtualizacaoDados { get; set; } = DateTime.MinValue; + public AutonomiaCorredorModel AutonomiaCorredor = new AutonomiaCorredorModel(); + [JsonProperty] public double TempoEntreLeituras { get; private set; } private void AtualizarTempoEntreLeituras() @@ -191,11 +193,15 @@ namespace AgroBase.Models if ((CorredorAtual?.Idx ?? 0) != idxNovoCorredor) { CorredorAtual?.AtualizarDados(); + + AtualizarDadosAutonomiaCorredor(idxCorredor: idxNovoCorredor); } - CorredorAtual = _Corredores[idxNovoCorredor]; - - CorredorAtual.AtualizarDados(); + if (AutonomiaCorredor.Liberado) + { + CorredorAtual = _Corredores[idxNovoCorredor]; + CorredorAtual.AtualizarDados(); + } } public DirecaoCarroRua DirecaoCaminho { @@ -634,6 +640,8 @@ namespace AgroBase.Models { if (!_TrajetoriaFixaDefinida) return; + AtualizarDadosAutonomiaCorredor(); + AtualizarTempoEntreLeituras(); AtualizarDistanciaMaximaEntreLeituras(); @@ -645,6 +653,8 @@ namespace AgroBase.Models DefinirPontoAtual(); AtualizarCorredorAtual(); + + //if (AutonomiaCorredor.Liberado) DefinirProximoPonto(); if (PontoAtual == null) goto Inicio; @@ -835,7 +845,15 @@ namespace AgroBase.Models } } - + + public void AtualizarDadosAutonomiaCorredor(int? idxCorredor = null, bool? bat_liberada = null, bool? herb_liberado = null) + { + if (idxCorredor == null) idxCorredor = CorredorAtual?.Idx ?? 0; + if (bat_liberada == null) bat_liberada = Variaveis.OperacaoEmAndamento.Simulando; + if (herb_liberado == null) herb_liberado = Variaveis.OperacaoEmAndamento.Simulando; + AutonomiaCorredor.AtualizarDados((int)idxCorredor, (bool)bat_liberada, (bool)herb_liberado); + } + public void LoopAtualizaDados() { @@ -1753,7 +1771,8 @@ namespace AgroBase.Models if (qtdPontos == 1) { //DistanciaTrajeto = pontoAtual.Aproximando ? pontoAtual.DistanciaAtual : -pontoAtual.DistanciaAtual; - DistanciaTrajeto = GPSUtils.DistanciaEntrePontos(Variaveis.OperacaoEmAndamento.Trajetoria._TrajetoriaDinamica.First().Posicao, Posicao); + //DistanciaTrajeto = GPSUtils.DistanciaEntrePontos(Variaveis.OperacaoEmAndamento.Trajetoria._TrajetoriaDinamica.First().Posicao, Posicao); + DistanciaTrajeto = GPSUtils.DistanciaEntrePontos(Variaveis.OperacaoEmAndamento.Trajetoria._TrajetoriaFixa.Where(x => !x.Visitado).First().Posicao, Posicao); return; } @@ -1833,4 +1852,130 @@ namespace AgroBase.Models } } + + public enum AutonomiaCorredorStatus + { + Desconhecido = 0, + OkCompleto, // Bateria + herbicida suficientes pra entrar e pulverizar + OkSomenteTransito, // Bateria ok, herbicida insuficiente pra pulverizar tudo + OkSupervisionado, // Liberado manualmente + Critico // Nem a bateria garante atravessar com segurança + } + + public class AutonomiaCorredorModel + { + public AutonomiaCorredorStatus Status { get; private set; } + private bool _liberado => + Status == AutonomiaCorredorStatus.OkCompleto || + Status == AutonomiaCorredorStatus.OkSomenteTransito || + Status == AutonomiaCorredorStatus.OkSupervisionado; + public bool Liberado { get; private set; } + public double DistanciaCorredor_m { get; private set; } + public double DistanciaSeguraBateria_m { get; private set; } + public double DistanciaSeguraHerbicida_m { get; private set; } + private Dictionary CorredoresLiberados { get; set; } = new Dictionary(); + + // Flags de conveniência + public bool BateriaSuficiente => DistanciaSeguraBateria_m >= DistanciaCorredor_m; + public bool HerbicidaSuficiente => DistanciaSeguraHerbicida_m >= DistanciaCorredor_m; + + // Texto pra UI/log + public string Motivo { get; private set; } = ""; + + public void AtualizarDados(int idxCorredor, bool bateria_liberada, bool reservatorio_liberado) + { + if (Variaveis.OperacaoEmAndamento.Trajetoria?._Corredores?.Count <= idxCorredor) + return; + + double distanciaCorredor = Variaveis.OperacaoEmAndamento.Trajetoria._Corredores[idxCorredor]?.DistanciaTotal ?? 0; + + var _Bateria = Variaveis.OperacaoEmAndamento.DispSen?.Dados?.ContadorCarga; + var _Reservatorio = Variaveis.OperacaoEmAndamento.DispAtu?.Dados?.ContadorCarga; + + DistanciaCorredor_m = distanciaCorredor; + DistanciaSeguraBateria_m = _Bateria?.DistanciaEstimadaRestante_m ?? 0; + DistanciaSeguraHerbicida_m = _Reservatorio?.DistanciaEstimadaRestantePulverizando_m ?? 0; + + bool bateriaOk = BateriaSuficiente && (_Bateria?.Iniciado ?? false); + bool herbOk = HerbicidaSuficiente && (_Reservatorio?.Iniciado ?? false); + bool exigirPulverizacaoTotal = Variaveis.OperacaoEmAndamento.Parametros?.ModulosMandatorios?.Any(x => x.Dispositivo == T_Code.Atu && x.Mandatorio && x.Utilizar) ?? false; + + List status_mods = new List(); + string _motivo = ""; + string _motivo_bat = "Bateria " + (bateriaOk ? "suficiente" : "insuficiente") + $". Distância segura: {DistanciaSeguraBateria_m:F1} m, corredor: {distanciaCorredor:F1} m"; + string _motivo_herb = "Herbicida " + (herbOk ? "suficiente" : "insuficiente") + $" para pulverizar o corredor. Distância segura pulverizando: {DistanciaSeguraHerbicida_m:F1} m, corredor: {distanciaCorredor:F1} m"; + + if (!bateriaOk) + { + status_mods.Add(!bateria_liberada ? AutonomiaCorredorStatus.Critico : AutonomiaCorredorStatus.OkSupervisionado); + if (bateria_liberada) _motivo_bat = $"Liberação humana: {_motivo_bat}"; + _motivo += _motivo_bat; + } + + if (!herbOk) + { + if (exigirPulverizacaoTotal) + status_mods.Add(!reservatorio_liberado ? AutonomiaCorredorStatus.Critico : AutonomiaCorredorStatus.OkSupervisionado); + else + status_mods.Add(AutonomiaCorredorStatus.OkSomenteTransito); + if (reservatorio_liberado) _motivo_herb = $"Liberação humana: {_motivo_herb}"; + _motivo += (string.IsNullOrEmpty(_motivo) ? "" : "; ") + _motivo_herb; + } + + Status = + status_mods.Contains(AutonomiaCorredorStatus.Critico) ? AutonomiaCorredorStatus.Critico : + status_mods.Contains(AutonomiaCorredorStatus.OkSupervisionado) ? AutonomiaCorredorStatus.OkSupervisionado : + status_mods.Contains(AutonomiaCorredorStatus.OkSomenteTransito) ? AutonomiaCorredorStatus.OkSomenteTransito : + AutonomiaCorredorStatus.OkCompleto; + + var res = new AutonomiaCorredorModel() + { + Liberado = _liberado, + Motivo = $"Corredor {idxCorredor + 1}: " + (string.IsNullOrEmpty(_motivo) ? "Liberado" : $"{_motivo}"), + Status = Status, + DistanciaCorredor_m = DistanciaCorredor_m, + DistanciaSeguraBateria_m = DistanciaSeguraBateria_m, + DistanciaSeguraHerbicida_m = DistanciaSeguraHerbicida_m, + }; + + bool addLog = false; + + if (CorredoresLiberados.ContainsKey(idxCorredor)) + { + if (CorredoresLiberados[idxCorredor].Liberado == false && _liberado) + { + CorredoresLiberados[idxCorredor] = res; + addLog = true; + } + } + else + { + CorredoresLiberados.Add(idxCorredor, res); + addLog = true; + } + + if (addLog) + { + Variaveis.OperacaoEmAndamento.Parametros.DadosLeitura.InserirLog(T_Code.Trj, _liberado ? StatusModulo.Operante : StatusModulo.Alerta, _liberado ? 100 : 0, res.Motivo); + } + + Liberado = CorredoresLiberados[idxCorredor].Liberado; + Motivo = CorredoresLiberados[idxCorredor].Motivo; + } + + + public AutonomiaCorredorModel Clone() + { + return new AutonomiaCorredorModel() + { + Liberado = Liberado, + Motivo = Motivo, + Status = Status, + DistanciaCorredor_m = DistanciaCorredor_m, + DistanciaSeguraBateria_m = DistanciaSeguraBateria_m, + DistanciaSeguraHerbicida_m = DistanciaSeguraHerbicida_m, + }; + } + } + } diff --git a/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs b/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs index 968980308..5e8a045b6 100644 --- a/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs +++ b/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs @@ -144,6 +144,10 @@ namespace AgroBase.Services.Operadores dist_dir = _t.DistanciaDireita, angulo = _t.AnguloMedioCorredor, pontos_restantes = _t.CorredorAtual.QtdPontos - pontoComparar.idxPontoCorredor, + liberado = _t.AutonomiaCooredor.Liberado, + motivo = _t.AutonomiaCooredor.Motivo, + bateria_ok = _t.AutonomiaCooredor.BateriaSuficiente, + herbicida_ok = _t.AutonomiaCooredor.HerbicidaSuficiente }, } : null ), @@ -594,6 +598,16 @@ namespace AgroBase.Services.Operadores ("last_ec", DadosCan.UltimoErroCritico) ); + var DadosTrj = _Sensoriamento?.Trajetoria; + RedisService.AtualizarCampos(RedisService.ModKey(Enums.T_Code.Trj), + ("timestamp", agora), + ("carregado", DadosTrj?.QtdPontos > 0), + ("liberado", DadosTrj?.AutonomiaCooredor?.Liberado ?? false), + ("bateria_ok", DadosTrj?.AutonomiaCooredor?.BateriaSuficiente ?? false), + ("herbicida_ok", DadosTrj?.AutonomiaCooredor?.HerbicidaSuficiente ?? false), + ("motivo", DadosTrj?.AutonomiaCooredor?.Motivo) + ); + } diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Output/GeoJson.json b/AgroBase/AgroBase/bin/x64/Debug/Python/Output/GeoJson.json index f9170d43d..9bd690083 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/Python/Output/GeoJson.json +++ b/AgroBase/AgroBase/bin/x64/Debug/Python/Output/GeoJson.json @@ -1 +1 @@ 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