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implementado sensor magnetico rotativo

This commit is contained in:
Diego Freitas 2025-12-04 10:51:11 -03:00
parent 9fe42b1f3e
commit 88d3794ff1
343 changed files with 5926 additions and 737 deletions
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AgroBase/AgroBase/Forms/Direcional/frmDirConfig.Designer.cs generated
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@ -71,6 +71,14 @@ namespace AgroBase.Forms.Direcional
this.cmbETEsquerda = new System.Windows.Forms.ComboBox();
this.lblETEsquerda = new System.Windows.Forms.Label();
this.lblETDireita = new System.Windows.Forms.Label();
this.label5 = new System.Windows.Forms.Label();
this.txtDFOffsetAngulo = new System.Windows.Forms.TextBox();
this.label6 = new System.Windows.Forms.Label();
this.txtEFOffsetAngulo = new System.Windows.Forms.TextBox();
this.label7 = new System.Windows.Forms.Label();
this.txtETOffsetAngulo = new System.Windows.Forms.TextBox();
this.label8 = new System.Windows.Forms.Label();
this.txtDTOffsetAngulo = new System.Windows.Forms.TextBox();
this.gpbSentido.SuspendLayout();
this.gpbDF.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.nudDFOffset)).BeginInit();
@ -97,7 +105,7 @@ namespace AgroBase.Forms.Direcional
this.gpbSentido.Margin = new System.Windows.Forms.Padding(2);
this.gpbSentido.Name = "gpbSentido";
this.gpbSentido.Padding = new System.Windows.Forms.Padding(2);
this.gpbSentido.Size = new System.Drawing.Size(376, 373);
this.gpbSentido.Size = new System.Drawing.Size(376, 427);
this.gpbSentido.TabIndex = 80;
this.gpbSentido.TabStop = false;
this.gpbSentido.Text = "Sentido de giro";
@ -105,7 +113,7 @@ namespace AgroBase.Forms.Direcional
// lblIP
//
this.lblIP.AutoSize = true;
this.lblIP.Location = new System.Drawing.Point(10, 326);
this.lblIP.Location = new System.Drawing.Point(9, 378);
this.lblIP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblIP.Name = "lblIP";
this.lblIP.Size = new System.Drawing.Size(17, 13);
@ -114,7 +122,7 @@ namespace AgroBase.Forms.Direcional
//
// txtIP
//
this.txtIP.Location = new System.Drawing.Point(13, 343);
this.txtIP.Location = new System.Drawing.Point(12, 395);
this.txtIP.Margin = new System.Windows.Forms.Padding(2);
this.txtIP.Name = "txtIP";
this.txtIP.Size = new System.Drawing.Size(85, 20);
@ -142,7 +150,7 @@ namespace AgroBase.Forms.Direcional
//
// btnSalvarSentido
//
this.btnSalvarSentido.Location = new System.Drawing.Point(276, 339);
this.btnSalvarSentido.Location = new System.Drawing.Point(275, 391);
this.btnSalvarSentido.Margin = new System.Windows.Forms.Padding(2);
this.btnSalvarSentido.Name = "btnSalvarSentido";
this.btnSalvarSentido.Size = new System.Drawing.Size(88, 24);
@ -153,6 +161,8 @@ namespace AgroBase.Forms.Direcional
//
// gpbDF
//
this.gpbDF.Controls.Add(this.label5);
this.gpbDF.Controls.Add(this.txtDFOffsetAngulo);
this.gpbDF.Controls.Add(this.label2);
this.gpbDF.Controls.Add(this.txtDFEndereco);
this.gpbDF.Controls.Add(this.nudDFOffset);
@ -165,7 +175,7 @@ namespace AgroBase.Forms.Direcional
this.gpbDF.Margin = new System.Windows.Forms.Padding(2);
this.gpbDF.Name = "gpbDF";
this.gpbDF.Padding = new System.Windows.Forms.Padding(2);
this.gpbDF.Size = new System.Drawing.Size(168, 129);
this.gpbDF.Size = new System.Drawing.Size(168, 152);
this.gpbDF.TabIndex = 9;
this.gpbDF.TabStop = false;
this.gpbDF.Text = "M4 - Direito Frente (DF)";
@ -260,6 +270,8 @@ namespace AgroBase.Forms.Direcional
//
// gpbEF
//
this.gpbEF.Controls.Add(this.label6);
this.gpbEF.Controls.Add(this.txtEFOffsetAngulo);
this.gpbEF.Controls.Add(this.label4);
this.gpbEF.Controls.Add(this.txtEFEndereco);
this.gpbEF.Controls.Add(this.nudEFOffset);
@ -272,7 +284,7 @@ namespace AgroBase.Forms.Direcional
this.gpbEF.Margin = new System.Windows.Forms.Padding(2);
this.gpbEF.Name = "gpbEF";
this.gpbEF.Padding = new System.Windows.Forms.Padding(2);
this.gpbEF.Size = new System.Drawing.Size(168, 129);
this.gpbEF.Size = new System.Drawing.Size(168, 152);
this.gpbEF.TabIndex = 9;
this.gpbEF.TabStop = false;
this.gpbEF.Text = "M2 - Esquerdo Frente (EF)";
@ -367,6 +379,8 @@ namespace AgroBase.Forms.Direcional
//
// gpbDT
//
this.gpbDT.Controls.Add(this.label8);
this.gpbDT.Controls.Add(this.txtDTOffsetAngulo);
this.gpbDT.Controls.Add(this.label3);
this.gpbDT.Controls.Add(this.txtDTEndereco);
this.gpbDT.Controls.Add(this.nudDTOffset);
@ -375,11 +389,11 @@ namespace AgroBase.Forms.Direcional
this.gpbDT.Controls.Add(this.cmbDTEsquerda);
this.gpbDT.Controls.Add(this.lblDTEsquerda);
this.gpbDT.Controls.Add(this.lblDTDireita);
this.gpbDT.Location = new System.Drawing.Point(195, 193);
this.gpbDT.Location = new System.Drawing.Point(195, 216);
this.gpbDT.Margin = new System.Windows.Forms.Padding(2);
this.gpbDT.Name = "gpbDT";
this.gpbDT.Padding = new System.Windows.Forms.Padding(2);
this.gpbDT.Size = new System.Drawing.Size(168, 129);
this.gpbDT.Size = new System.Drawing.Size(168, 152);
this.gpbDT.TabIndex = 9;
this.gpbDT.TabStop = false;
this.gpbDT.Text = "M3 - Direito Trás (DT)";
@ -474,6 +488,8 @@ namespace AgroBase.Forms.Direcional
//
// gpbET
//
this.gpbET.Controls.Add(this.label7);
this.gpbET.Controls.Add(this.txtETOffsetAngulo);
this.gpbET.Controls.Add(this.label1);
this.gpbET.Controls.Add(this.txtETEndereco);
this.gpbET.Controls.Add(this.nudETOffset);
@ -482,11 +498,11 @@ namespace AgroBase.Forms.Direcional
this.gpbET.Controls.Add(this.cmbETEsquerda);
this.gpbET.Controls.Add(this.lblETEsquerda);
this.gpbET.Controls.Add(this.lblETDireita);
this.gpbET.Location = new System.Drawing.Point(13, 193);
this.gpbET.Location = new System.Drawing.Point(13, 216);
this.gpbET.Margin = new System.Windows.Forms.Padding(2);
this.gpbET.Name = "gpbET";
this.gpbET.Padding = new System.Windows.Forms.Padding(2);
this.gpbET.Size = new System.Drawing.Size(168, 129);
this.gpbET.Size = new System.Drawing.Size(168, 152);
this.gpbET.TabIndex = 0;
this.gpbET.TabStop = false;
this.gpbET.Text = "M1 - Esquerdo Trás (ET)";
@ -579,12 +595,88 @@ namespace AgroBase.Forms.Direcional
this.lblETDireita.TabIndex = 2;
this.lblETDireita.Text = "Direita";
//
// label5
//
this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(10, 125);
this.label5.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(51, 13);
this.label5.TabIndex = 18;
this.label5.Text = "Offset Ag";
//
// txtDFOffsetAngulo
//
this.txtDFOffsetAngulo.Location = new System.Drawing.Point(66, 122);
this.txtDFOffsetAngulo.Margin = new System.Windows.Forms.Padding(2);
this.txtDFOffsetAngulo.Name = "txtDFOffsetAngulo";
this.txtDFOffsetAngulo.Size = new System.Drawing.Size(92, 20);
this.txtDFOffsetAngulo.TabIndex = 17;
this.txtDFOffsetAngulo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label6
//
this.label6.AutoSize = true;
this.label6.Location = new System.Drawing.Point(10, 125);
this.label6.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(51, 13);
this.label6.TabIndex = 20;
this.label6.Text = "Offset Ag";
//
// txtEFOffsetAngulo
//
this.txtEFOffsetAngulo.Location = new System.Drawing.Point(66, 122);
this.txtEFOffsetAngulo.Margin = new System.Windows.Forms.Padding(2);
this.txtEFOffsetAngulo.Name = "txtEFOffsetAngulo";
this.txtEFOffsetAngulo.Size = new System.Drawing.Size(92, 20);
this.txtEFOffsetAngulo.TabIndex = 19;
this.txtEFOffsetAngulo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(9, 125);
this.label7.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(51, 13);
this.label7.TabIndex = 22;
this.label7.Text = "Offset Ag";
//
// txtETOffsetAngulo
//
this.txtETOffsetAngulo.Location = new System.Drawing.Point(65, 122);
this.txtETOffsetAngulo.Margin = new System.Windows.Forms.Padding(2);
this.txtETOffsetAngulo.Name = "txtETOffsetAngulo";
this.txtETOffsetAngulo.Size = new System.Drawing.Size(92, 20);
this.txtETOffsetAngulo.TabIndex = 21;
this.txtETOffsetAngulo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label8
//
this.label8.AutoSize = true;
this.label8.Location = new System.Drawing.Point(9, 125);
this.label8.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(51, 13);
this.label8.TabIndex = 22;
this.label8.Text = "Offset Ag";
//
// txtDTOffsetAngulo
//
this.txtDTOffsetAngulo.Location = new System.Drawing.Point(65, 122);
this.txtDTOffsetAngulo.Margin = new System.Windows.Forms.Padding(2);
this.txtDTOffsetAngulo.Name = "txtDTOffsetAngulo";
this.txtDTOffsetAngulo.Size = new System.Drawing.Size(92, 20);
this.txtDTOffsetAngulo.TabIndex = 21;
this.txtDTOffsetAngulo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// frmDirConfig
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.BackColor = System.Drawing.Color.White;
this.ClientSize = new System.Drawing.Size(398, 393);
this.ClientSize = new System.Drawing.Size(398, 447);
this.Controls.Add(this.gpbSentido);
this.Margin = new System.Windows.Forms.Padding(2);
this.Name = "frmDirConfig";
@ -653,5 +745,13 @@ namespace AgroBase.Forms.Direcional
private System.Windows.Forms.Label lblTipoMovimento;
private System.Windows.Forms.Label lblIP;
private System.Windows.Forms.TextBox txtIP;
private System.Windows.Forms.Label label5;
private System.Windows.Forms.TextBox txtDFOffsetAngulo;
private System.Windows.Forms.Label label6;
private System.Windows.Forms.TextBox txtEFOffsetAngulo;
private System.Windows.Forms.Label label8;
private System.Windows.Forms.TextBox txtDTOffsetAngulo;
private System.Windows.Forms.Label label7;
private System.Windows.Forms.TextBox txtETOffsetAngulo;
}
}

13
AgroBase/AgroBase/Forms/Direcional/frmDirConfig.cs
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@ -1,15 +1,8 @@
using AgroBase.Comum;
using AgroBase.Models;
using AgroBase.Models.Modules;
using OpenTK.Graphics.ES11;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using static AgroBase.Models.Enums;
@ -75,6 +68,9 @@ namespace AgroBase.Forms.Direcional
NumericUpDown nudOffset = FuncoesGlobais.FindControlRecursive<NumericUpDown>(gpbSentido, "nud" + Modulo.Modulo_ID + "Offset");
nudOffset.Value = Convert.ToInt32(Modulo.DirMotor.FolgaMecanica);
TextBox txtOffsetAngulo = FuncoesGlobais.FindControlRecursive<TextBox>(gpbSentido, "txt" + Modulo.Modulo_ID + "OffsetAngulo");
txtOffsetAngulo.Text = Modulo.DirMotor.OffsetAnguloReal.ToString();
}
}
@ -118,6 +114,9 @@ namespace AgroBase.Forms.Direcional
NumericUpDown nudOffset = FuncoesGlobais.FindControlRecursive<NumericUpDown>(gpbSentido, "nud" + Modulo.Modulo_ID + "Offset");
Modulo.DirMotor.FolgaMecanica = Convert.ToDouble(nudOffset.Value);
TextBox txtOffsetAngulo = FuncoesGlobais.FindControlRecursive<TextBox>(gpbSentido, "txt" + Modulo.Modulo_ID + "OffsetAngulo");
Modulo.DirMotor.OffsetAnguloReal = Convert.ToDouble(txtOffsetAngulo.Text);
}
}

8
AgroBase/AgroBase/Forms/IHM/frmDiagnosticos.cs
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@ -1021,14 +1021,14 @@ namespace AgroBase.Forms.IHM
Enums.Sentido.Parado);*/
bool anguloCorreto =
Teste.ComplementoValorPadrao == "<" ? Modulo.DirMotor.Angulo < Teste.ValorPadrao :
Teste.ComplementoValorPadrao == ">" ? Modulo.DirMotor.Angulo > Teste.ValorPadrao :
Modulo.DirMotor.Angulo == Teste.ValorPadrao;
Teste.ComplementoValorPadrao == "<" ? Modulo.DirMotor.AnguloLeitura < Teste.ValorPadrao :
Teste.ComplementoValorPadrao == ">" ? Modulo.DirMotor.AnguloLeitura > Teste.ValorPadrao :
Modulo.DirMotor.AnguloLeitura == Teste.ValorPadrao;
Sucesso = anguloCorreto;
}
Teste.ValorAferido = Modulo.DirMotor.Angulo;
Teste.ValorAferido = Modulo.DirMotor.AnguloLeitura;
}

25
AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs
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@ -264,10 +264,11 @@ namespace AgroBase.Forms.Operacoes
string ID = pnl.Name.Replace("pnlDir_", "");
var Modulo = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(m => m.Modulo_ID == ID);
double Angulo = Modulo.DirMotor.Angulo;
double Angulo = Modulo.DirMotor.AnguloDriver;
double AnguloReal = Modulo.DirMotor.AnguloReal;
Label lblAngulo = pnl.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lblDir_" + ID);
lblAngulo.Text = ID + " " + Angulo.ToString("000") + "º (" + Modulo.DirMotor.SentidoReal.ToString() + ")";
lblAngulo.Text = $"{ID} {Angulo:0.0}º ({AnguloReal:0.0}º) {Modulo.DirMotor.SentidoReal}";
lblAngulo.ForeColor = Modulo.DirMotor.Inicializado ? Color.Green : Color.Red;
Label lblMov = pnl.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lblMov_" + ID);
@ -485,6 +486,9 @@ namespace AgroBase.Forms.Operacoes
gridDados.Rows.Add("Vazão Instantanea", "", "mL/s");
gridDados.Rows.Add("Vazão Media", "", "mL/s");
gridDados.Rows.Add("Volume Vazado", "", "mL");
gridDados.Rows.Add("Angulo Barra Esquerda", "", "°");
gridDados.Rows.Add("Angulo Barra Direita", "", "°");
gridDados.Rows.Add("Angulo Barra Altura", "", "°");
gridDados.Rows.Add("", "", "");
gridDados.Rows.Add("Roll", "", "");
gridDados.Rows.Add("Pitch", "", "");
@ -541,13 +545,16 @@ namespace AgroBase.Forms.Operacoes
gridDados.Rows[24].Cells[1].Value = _Sensoriamento.Atuador.VazaoInstantanea.ToString("0.00");
gridDados.Rows[25].Cells[1].Value = _Sensoriamento.Atuador.VazaoMedia.ToString("0.00");
gridDados.Rows[26].Cells[1].Value = _Sensoriamento.Atuador.VolumeVazaoMl.ToString("0.00");
gridDados.Rows[27].Cells[1].Value = "";
gridDados.Rows[28].Cells[1].Value = (_Sensoriamento.IMU.InclinacaoLateral).ToString("0.00");
gridDados.Rows[29].Cells[1].Value = (_Sensoriamento.IMU.InclinacaoFrontal).ToString("0.00");
gridDados.Rows[30].Cells[1].Value = (_Sensoriamento.IMU.Rotacao).ToString("0.00");
gridDados.Rows[31].Cells[1].Value = (_Sensoriamento.IMU.Temperatura).ToString("0.00");
gridDados.Rows[32].Cells[1].Value = (_Sensoriamento.IMU.Pressao).ToString("0.00");
gridDados.Rows[33].Cells[1].Value = (_Sensoriamento.IMU.Altitude).ToString("0.00");
gridDados.Rows[27].Cells[1].Value = _Sensoriamento.Atuador.AnguloBarraEsquerda.ToString("0.00");
gridDados.Rows[28].Cells[1].Value = _Sensoriamento.Atuador.AnguloBarraDireita.ToString("0.00");
gridDados.Rows[29].Cells[1].Value = _Sensoriamento.Atuador.AnguloBarraAltura.ToString("0.00");
gridDados.Rows[30].Cells[1].Value = "";
gridDados.Rows[31].Cells[1].Value = (_Sensoriamento.IMU.InclinacaoLateral).ToString("0.00");
gridDados.Rows[32].Cells[1].Value = (_Sensoriamento.IMU.InclinacaoFrontal).ToString("0.00");
gridDados.Rows[33].Cells[1].Value = (_Sensoriamento.IMU.Rotacao).ToString("0.00");
gridDados.Rows[34].Cells[1].Value = (_Sensoriamento.IMU.Temperatura).ToString("0.00");
gridDados.Rows[35].Cells[1].Value = (_Sensoriamento.IMU.Pressao).ToString("0.00");
gridDados.Rows[36].Cells[1].Value = (_Sensoriamento.IMU.Altitude).ToString("0.00");
}
#endregion

10
AgroBase/AgroBase/Forms/frmAcompanhamento.cs
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@ -247,13 +247,13 @@ namespace AgroBase.Forms
var Modulo = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(m => m.Modulo_ID == ID);
Label lblA_SP = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + ID + "A_SP");
lblA_SP.Text = "Angulo SP: " + (Modulo.DirMotor.Angulo_SP).ToString("000") + "º";
lblA_SP.Text = $"Angulo SP: {Modulo.DirMotor.Angulo_SP:0.0}º ({-Modulo.DirMotor.AnguloFolgaCompensar:0.0}º)";
Label lblA = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + ID + "A");
lblA.Text = "Angulo: " + Modulo.DirMotor.Angulo.ToString("000") + "º";
lblA.Text = $"Angulo: {Modulo.DirMotor.AnguloDriver:0.0}º ({Modulo.DirMotor.AnguloReal}º)";
Label lblA_SentidoSP = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + ID + "A_SentidoSP");
lblA_SentidoSP.Text = "Sentido SP: " + Enum.GetName(typeof(Sentido), Modulo.DirMotor.Sentido_SP);
lblA_SentidoSP.Text = $"Sentido SP: {Modulo.DirMotor.Sentido_SP}";
Label lblA_Sentido = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + ID + "A_Sentido");
lblA_Sentido.Text = "Sentido: " + Enum.GetName(typeof(Sentido), Modulo.DirMotor.Sentido) + " (" + Modulo.DirMotor.SentidoReal.ToString() + ")";
lblA_Sentido.Text = $"Sentido: {Modulo.DirMotor.Sentido} ({Modulo.DirMotor.SentidoReal})";
// Use o objeto Graphics para desenhar a representação do motor
Graphics g = e.Graphics;
@ -306,7 +306,7 @@ namespace AgroBase.Forms
// Desenhe uma linha para representar a posição do eixo do motor
double angleInRadians = (Modulo.DirMotor.Angulo * Math.PI) / 180;
double angleInRadians = (Modulo.DirMotor.AnguloDriver * Math.PI) / 180;
int x = centerX + (int)(radius * Math.Sin(angleInRadians));
int y = centerY - (int)(radius * Math.Cos(angleInRadians));
g.DrawLine(Pens.Red, centerX, centerY, x, y);

202
AgroBase/AgroBase/Models/Modules/AtuadorModel.cs
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@ -419,6 +419,175 @@ namespace AgroBase.Models.Modules
}
}
},
new SensorModel()
{
ID = "MAGESQ",
Descricao = "Angulo Barra Esquerda",
ID_Num = 64,
Componente = S_Code.sMAG,
Aferir = true,
Mandatorio = true,
Funcoes = new List<FuncoesPinout>()
{
FuncoesPinout.I2C,
},
Parametros = new List<SensorParametroModel>()
{
new SensorParametroModel()
{
Descricao = "Endereço I2C",
Valor = "0x36",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
new SensorParametroModel()
{
Descricao = "Canal MUX",
Valor = "0",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
},
ValoresLeituras = new List<SensorValoresLeituraModel>()
{
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.Iniciado,
posicao = CanMessagePosicaoDados.Status,
indice = 0,
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraBruta,
posicao = CanMessagePosicaoDados.Dados1,
indice = 0,
unidade_medida = ""
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraAngulo,
posicao = CanMessagePosicaoDados.Dados1,
indice = 1,
unidade_medida = "°"
},
}
},
new SensorModel()
{
ID = "MAGDIR",
Descricao = "Angulo Barra Direita",
ID_Num = 65,
Componente = S_Code.sMAG,
Aferir = true,
Mandatorio = true,
Funcoes = new List<FuncoesPinout>()
{
FuncoesPinout.I2C,
},
Parametros = new List<SensorParametroModel>()
{
new SensorParametroModel()
{
Descricao = "Endereço I2C",
Valor = "0x36",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
new SensorParametroModel()
{
Descricao = "Canal MUX",
Valor = "1",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
},
ValoresLeituras = new List<SensorValoresLeituraModel>()
{
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.Iniciado,
posicao = CanMessagePosicaoDados.Status,
indice = 0,
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraBruta,
posicao = CanMessagePosicaoDados.Dados1,
indice = 0,
unidade_medida = ""
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraAngulo,
posicao = CanMessagePosicaoDados.Dados1,
indice = 1,
unidade_medida = "°"
},
}
},
new SensorModel()
{
ID = "MAGALT",
Descricao = "Angulo Barra Altura",
ID_Num = 66,
Componente = S_Code.sMAG,
Aferir = true,
Mandatorio = true,
Funcoes = new List<FuncoesPinout>()
{
FuncoesPinout.I2C,
},
Parametros = new List<SensorParametroModel>()
{
new SensorParametroModel()
{
Descricao = "Endereço I2C",
Valor = "0x36",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
new SensorParametroModel()
{
Descricao = "Canal MUX",
Valor = "2",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
},
ValoresLeituras = new List<SensorValoresLeituraModel>()
{
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.Iniciado,
posicao = CanMessagePosicaoDados.Status,
indice = 0,
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraBruta,
posicao = CanMessagePosicaoDados.Dados1,
indice = 0,
unidade_medida = ""
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraAngulo,
posicao = CanMessagePosicaoDados.Dados1,
indice = 1,
unidade_medida = "°"
},
}
},
},
};
for (int i = 0; i < Variaveis.OperacaoEmAndamento.Parametros.QtdBicos; i++)
@ -1348,6 +1517,17 @@ namespace AgroBase.Models.Modules
return _value;
}
private ushort Converter2BytesU16(byte[] data, int idx)
{
return (ushort)((data[idx] << 8) | data[idx + 1]);
}
private double ConverterAngle100(byte[] data, int idx)
{
ushort v = (ushort)((data[idx] << 8) | data[idx + 1]);
return v / 100.0;
}
private S_Code DetectarComponenteDoID_Num(int ID_Num)
{
if (ID_Num == Variaveis.ID_Num_sMOD) return S_Code.sMOD;
@ -1557,6 +1737,28 @@ namespace AgroBase.Models.Modules
}
break;
}
case S_Code.sMAG:
{
switch (posicao)
{
case CanMessagePosicaoDados.Status:
{
bool Iniciado = data[2] == 1;
AtualizarDados(ID_Num, posicao, componente, new List<dynamic>() { Iniciado });
break;
}
case CanMessagePosicaoDados.Dados1:
{
ushort raw = Converter2BytesU16(data, 2);
double angle = ConverterAngle100(data, 4);
AtualizarDados(ID_Num, posicao, componente, new List<dynamic>() { raw, angle });
//Console.WriteLine($"[sMAG] {ID_Num}, Raw: {raw}, Angulo: {angle}");
break;
}
}
break;
}
}
Dados.DadosLeitura.UltimoComandoRespondido = DateTime.Now;

61
AgroBase/AgroBase/Models/Modules/DirecionalModel.cs
View File

@ -39,8 +39,8 @@ namespace AgroBase.Models.Modules
get
{
return
Angulo > 0 ? Sentido.Horario :
Angulo < 0 ? Sentido.Antihorario :
AnguloLeitura > 0 ? Sentido.Horario :
AnguloLeitura < 0 ? Sentido.Antihorario :
Sentido.Parado;
}
}
@ -58,13 +58,41 @@ namespace AgroBase.Models.Modules
}
}
}
public double Angulo
public double AnguloDriver
{
get
{
return Leitura?.AnguloPulsos ?? 0;
}
}
public double AnguloReal { get; set; } = double.NaN;
public double AnguloLeitura
{
get
{
if (double.IsNaN(AnguloReal)) return AnguloDriver;
var sMAG = Variaveis.OperacaoEmAndamento.DispSen?.Dados?.Sensores?.FirstOrDefault(x => x.Componente == S_Code.sMAG && x.ID.Contains(Mod_ID));
if ((sMAG?.Inicializado ?? false) && (sMAG?.Aferir ?? false)) return AnguloReal;
return AnguloDriver;
}
}
public double AnguloFolgaCompensar
{
get
{
double ErroAngular(double alvo, double medido)
{
// erro = alvo - medido, normalizado em [-180, 180]
double e = alvo - medido;
e = (e + 540.0) % 360.0; // traz pra [0, 360]
if (e > 180.0) e -= 360.0; // traz pra [-180, 180]
return e;
}
return ErroAngular(AnguloDriver, AnguloLeitura);
}
}
public double OffsetAnguloReal { get; set; }
public double RPM
{
get
@ -118,7 +146,7 @@ namespace AgroBase.Models.Modules
{
get
{
bool foraZero = !FuncoesMatematicas.ValorEstaEntre(Angulo, 0, 1);
bool foraZero = !FuncoesMatematicas.ValorEstaEntre(AnguloLeitura, 0, 1);
bool parar = UltimaDirecao == Direcao.Parado;
return foraZero && parar;
}
@ -135,7 +163,7 @@ namespace AgroBase.Models.Modules
get
{
double anguloSp = Comandar ? Angulo_SP : 0;
return FuncoesMatematicas.ValorEstaEntre(Angulo, anguloSp, 1);
return FuncoesMatematicas.ValorEstaEntre(AnguloLeitura, anguloSp, 1);
}
}
@ -147,21 +175,21 @@ namespace AgroBase.Models.Modules
case TipoMovimentoDirecional.RotacionarNoEixo:
case TipoMovimentoDirecional.MovimentoLateral:
int agSP = DirecaoAtual != Direcao.Parado ? VariaveisEquipamento.AnguloMovimento[TipoMovimento] : 0;
bool anguloCorreto = agSP == Angulo;
bool anguloCorreto = agSP == Convert.ToInt32(AnguloLeitura);
if (!anguloCorreto && agSP != 0)
{
if (agSP > 0)
{
anguloCorreto = Angulo >= agSP;
anguloCorreto = AnguloLeitura >= agSP;
}
else
{
anguloCorreto = Angulo <= agSP;
anguloCorreto = AnguloLeitura <= agSP;
}
}
return !Comandar || anguloCorreto;
default:
return !Comandar || Angulo_SP == Angulo;
return !Comandar || Convert.ToInt32(Angulo_SP) == Convert.ToInt32(AnguloLeitura);
}
}
@ -300,7 +328,7 @@ namespace AgroBase.Models.Modules
}
else
{
Angulo_SP = _Controle.Angulo; // + (FolgaMecanica / 2.0);
Angulo_SP = _Controle.Angulo;
}
if (Comandar)
@ -309,6 +337,7 @@ namespace AgroBase.Models.Modules
//Console.WriteLine($"[{Mod_ID}] Angulo Atualizado para {Variaveis.OperacaoEmAndamento.SimulacaoAnguloControle}");
}
Angulo_SP += AnguloFolgaCompensar;
Angulo_SP = Math.Abs(Angulo_SP) * mx;
if (_Simulando)
@ -350,7 +379,7 @@ namespace AgroBase.Models.Modules
{
int VelocidadeGiro = DefineVelocidadeReferenciamento();
if (_anguloSP != _anguloSpAnterior || (verificacoesAngulo > 5 && Angulo == anguloAnterior))
if (_anguloSP != _anguloSpAnterior || (verificacoesAngulo > 5 && AnguloLeitura == anguloAnterior))
{
MKS057DCanService.Movimento(_EnderecoCAN_Tx, _EnderecoCAN_Rx, _anguloSP, VelocidadeGiro, _sentido);
_anguloSpAnterior = _anguloSP;
@ -360,7 +389,7 @@ namespace AgroBase.Models.Modules
if (IN1_Atuado != EstadoInicial && AnguloEntrada == 9999)
{
AnguloEntrada = Leitura.AnguloEstimado();
Console.WriteLine($"[DIR {Mod_ID}] - Angulo de Entrada Definido: {AnguloEntrada} (Leitura: {Angulo})");
Console.WriteLine($"[DIR {Mod_ID}] - Angulo de Entrada Definido: {AnguloEntrada} (Leitura: {AnguloLeitura})");
_sentido = _sentido == Sentido.Horario ? Sentido.Antihorario : Sentido.Horario;
_anguloSP *= -1;
@ -369,7 +398,7 @@ namespace AgroBase.Models.Modules
if (IN1_Atuado == EstadoInicial && AnguloEntrada != 9999 && AnguloSaida == 9999)
{
AnguloSaida = Leitura.AnguloEstimado();
Console.WriteLine($"[DIR {Mod_ID}] - Angulo de Saída Definido: {AnguloSaida} (Leitura: {Angulo})");
Console.WriteLine($"[DIR {Mod_ID}] - Angulo de Saída Definido: {AnguloSaida} (Leitura: {AnguloLeitura})");
_sentido = _sentido == Sentido.Horario ? Sentido.Antihorario : Sentido.Horario;
Console.WriteLine($"[DIR {Mod_ID}] - Invertendo Sentido de Giro para {_sentido.ToString()}");
@ -378,7 +407,7 @@ namespace AgroBase.Models.Modules
}
verificacoesAngulo++;
anguloAnterior = Angulo;
anguloAnterior = AnguloLeitura;
Sucesso = AnguloEntrada != 9999 && AnguloSaida != 9999 && (FuncoesMatematicas.ValorEstaEntre(Leitura.AnguloEstimado(), _anguloSP, 0.5));
if (Sucesso)
@ -433,7 +462,7 @@ namespace AgroBase.Models.Modules
bool NovoDado() => MKS057DCanService.DadosLeitura.Any(x => x.EnderecoRx == _EnderecoCAN_Rx && x.UltimoComandoRecebido > Inicio);
await FuncoesGlobais.AguardarCondicaoAsync(NovoDado, 500, 100);
if (FuncoesMatematicas.ValorEstaEntre(Angulo, -1, 1))
if (FuncoesMatematicas.ValorEstaEntre(AnguloLeitura, -1, 1))
{
Console.WriteLine($"[DIR {Mod_ID}] - Set Zero");
break;
@ -445,7 +474,7 @@ namespace AgroBase.Models.Modules
}
MKS057DCanService.Movimento(_EnderecoCAN_Tx, _EnderecoCAN_Rx, 0, 10, Sentido.Parado);
Console.WriteLine($"[DIR {Mod_ID}] - Comando Angulo Zero: {Angulo}");
Console.WriteLine($"[DIR {Mod_ID}] - Comando Angulo Zero: {AnguloLeitura}");
}
}

90
AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
View File

@ -248,30 +248,33 @@ namespace AgroBase.Models.Modules
}
foreach (var Modulo in Modulos.Where(x => x.MovMotor.Inicializado).OrderBy(x => x.MovMotor._EnderecoCAN_Tx))
foreach (var Modulo in Modulos)
{
byte addrTx = Modulo.MovMotor._EnderecoCAN_Tx;
byte addrRx = Modulo.MovMotor._EnderecoCAN_Rx;
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.VelocidadeAtual);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.Potencia);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.Temperatura);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.CicloTrabalho);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.CodErro);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.CorrenteBarramento);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.CorrenteMotor);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.Tensao);
var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle?.FirstOrDefault(x => x.Tipo == T_Code.Mov);
if (Controle != null)
if (Modulo.MovMotor.Inicializado)
{
Modulo.MovMotor.EnviarComandoControle(Controle.UltimaDirecao);
byte addrTx = Modulo.MovMotor._EnderecoCAN_Tx;
byte addrRx = Modulo.MovMotor._EnderecoCAN_Rx;
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.VelocidadeAtual);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.Potencia);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.Temperatura);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.CicloTrabalho);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.CodErro);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.CorrenteBarramento);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.CorrenteMotor);
OIDCanService.RequisitarDado(addrTx, addrRx, OIDCanService.OidHandler.OidParametros.Tensao);
var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle?.FirstOrDefault(x => x.Tipo == T_Code.Mov);
if (Controle != null)
{
Modulo.MovMotor.EnviarComandoControle(Controle.UltimaDirecao);
}
Modulo.MovMotor.ConfigFreio.Leitura = Modulo.MovMotor.Leitura?.Freado ?? false;
Variaveis.OperacaoEmAndamento.DispMvd.Dados.RegistrarLogMov(Modulo);
}
Modulo.MovMotor.ConfigFreio.Leitura = Modulo.MovMotor.Leitura?.Freado ?? false;
Variaveis.OperacaoEmAndamento.DispMvd.Dados.RegistrarLogMov(Modulo);
var sTMP = Variaveis.OperacaoEmAndamento.DispSen?.Dados?.Sensores?.FirstOrDefault(x => x.ID.Contains(Modulo.Modulo_ID));
var sTMP = Variaveis.OperacaoEmAndamento.DispSen?.Dados?.Sensores?.FirstOrDefault(x => x.Componente == S_Code.sNTC && x.ID.Contains(Modulo.Modulo_ID));
if (sTMP != null)
{
Modulo.MovMotor.Temperatura = sTMP.ValoresLeituras.FirstOrDefault(x => x.funcao == FuncoesPinout.Temperatura)?.atual?.valor ?? -1;
@ -299,20 +302,43 @@ namespace AgroBase.Models.Modules
return;
}
foreach (var Modulo in Modulos.Where(x => x.DirMotor.Inicializado))
foreach (var Modulo in Modulos)
{
byte addrTx = Modulo.DirMotor._EnderecoCAN_Tx;
byte addrRx = Modulo.DirMotor._EnderecoCAN_Rx;
MKS057DCanService.RequisitarDado(addrTx, addrRx, MKS057DCanService.MksHandler.MksFuncCode.PulsosRecebidos);
MKS057DCanService.RequisitarDado(addrTx, addrRx, MKS057DCanService.MksHandler.MksFuncCode.IO);
// Verifica se o angulo de set point do motor em questao e diferente do angulo atual, e se for, reenvia o comando para garantir que o motor esteja coerente com o set point
if (!MKS057DCanService.Referenciando && (Modulo.DirMotor.UltimoComandoEnviado.AddMilliseconds(MKS057DCanService.TaxaAmostragem) < DateTime.Now) && !Modulo.DirMotor.AtingiuAnguloSP)
if (Modulo.DirMotor.Inicializado)
{
var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle?.FirstOrDefault(x => x.Tipo == T_Code.Dir);
if (Controle != null)
byte addrTx = Modulo.DirMotor._EnderecoCAN_Tx;
byte addrRx = Modulo.DirMotor._EnderecoCAN_Rx;
MKS057DCanService.RequisitarDado(addrTx, addrRx, MKS057DCanService.MksHandler.MksFuncCode.PulsosRecebidos);
MKS057DCanService.RequisitarDado(addrTx, addrRx, MKS057DCanService.MksHandler.MksFuncCode.IO);
// Verifica se o angulo de set point do motor em questao e diferente do angulo atual, e se for, reenvia o comando para garantir que o motor esteja coerente com o set point
if (!MKS057DCanService.Referenciando && (Modulo.DirMotor.UltimoComandoEnviado.AddMilliseconds(MKS057DCanService.TaxaAmostragem) < DateTime.Now) && !Modulo.DirMotor.AtingiuAnguloSP)
{
Modulo.DirMotor.EnviarComandoControle(Controle.UltimaDirecao);
var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle?.FirstOrDefault(x => x.Tipo == T_Code.Dir);
if (Controle != null)
{
Modulo.DirMotor.EnviarComandoControle(Controle.UltimaDirecao);
}
}
}
var sMAG = Variaveis.OperacaoEmAndamento.DispSen?.Dados?.Sensores?.FirstOrDefault(x => x.Componente == S_Code.sMAG && x.ID.Contains(Modulo.Modulo_ID));
if (sMAG != null)
{
double angulo = sMAG.ValoresLeituras.FirstOrDefault(x => x.funcao == FuncoesPinout.LeituraAngulo)?.atual?.valor ?? -1;
if (angulo >= 0)
{
double bruto = -angulo + Modulo.DirMotor.OffsetAnguloReal;
// normaliza pra faixa [-180, 180]
double norm = bruto % 360.0;
if (norm > 180.0) norm -= 360.0;
if (norm < -180.0) norm += 360.0;
Modulo.DirMotor.AnguloReal = Math.Round(norm, 2);
}
else
{
Modulo.DirMotor.AnguloReal = double.NaN;
}
}
}

4
AgroBase/AgroBase/Models/Modules/PinoutModel.cs
View File

@ -429,7 +429,9 @@ namespace AgroBase.Models.Modules
EstadoLeitura,
EstadoComando,
PressaoSP,
CodAlarme
CodAlarme,
LeituraBruta,
LeituraAngulo
}
public static class PinoutUtils

257
AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
View File

@ -1523,6 +1523,227 @@ namespace AgroBase.Models.Modules
}
},
new SensorModel()
{
ID = "MAGET",
Descricao = "Angulo Direcional ET",
ID_Num = 91,
Componente = S_Code.sMAG,
Aferir = true,
Mandatorio = true,
Funcoes = new List<FuncoesPinout>()
{
FuncoesPinout.I2C,
},
Parametros = new List<SensorParametroModel>()
{
new SensorParametroModel()
{
Descricao = "Endereço I2C",
Valor = "0x36",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
new SensorParametroModel()
{
Descricao = "Canal MUX",
Valor = "1",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
},
ValoresLeituras = new List<SensorValoresLeituraModel>()
{
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.Iniciado,
posicao = CanMessagePosicaoDados.Status,
indice = 0,
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraBruta,
posicao = CanMessagePosicaoDados.Dados1,
indice = 0,
unidade_medida = ""
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraAngulo,
posicao = CanMessagePosicaoDados.Dados1,
indice = 1,
unidade_medida = "°"
},
}
},
new SensorModel()
{
ID = "MAGDT",
Descricao = "Angulo Direcional DT",
ID_Num = 92,
Componente = S_Code.sMAG,
Aferir = true,
Mandatorio = true,
Funcoes = new List<FuncoesPinout>()
{
FuncoesPinout.I2C,
},
Parametros = new List<SensorParametroModel>()
{
new SensorParametroModel()
{
Descricao = "Endereço I2C",
Valor = "0x36",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
new SensorParametroModel()
{
Descricao = "Canal MUX",
Valor = "2",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
},
ValoresLeituras = new List<SensorValoresLeituraModel>()
{
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.Iniciado,
posicao = CanMessagePosicaoDados.Status,
indice = 0,
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraBruta,
posicao = CanMessagePosicaoDados.Dados1,
indice = 0,
unidade_medida = ""
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraAngulo,
posicao = CanMessagePosicaoDados.Dados1,
indice = 1,
unidade_medida = "°"
},
}
},
new SensorModel()
{
ID = "MAGEF",
Descricao = "Angulo Direcional EF",
ID_Num = 93,
Componente = S_Code.sMAG,
Aferir = true,
Mandatorio = true,
Funcoes = new List<FuncoesPinout>()
{
FuncoesPinout.I2C,
},
Parametros = new List<SensorParametroModel>()
{
new SensorParametroModel()
{
Descricao = "Endereço I2C",
Valor = "0x36",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
new SensorParametroModel()
{
Descricao = "Canal MUX",
Valor = "3",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
},
ValoresLeituras = new List<SensorValoresLeituraModel>()
{
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.Iniciado,
posicao = CanMessagePosicaoDados.Status,
indice = 0,
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraBruta,
posicao = CanMessagePosicaoDados.Dados1,
indice = 0,
unidade_medida = ""
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraAngulo,
posicao = CanMessagePosicaoDados.Dados1,
indice = 1,
unidade_medida = "°"
},
}
},
new SensorModel()
{
ID = "MAGDF",
Descricao = "Angulo Direcional DF",
ID_Num = 94,
Componente = S_Code.sMAG,
Aferir = true,
Mandatorio = true,
Funcoes = new List<FuncoesPinout>()
{
FuncoesPinout.I2C,
},
Parametros = new List<SensorParametroModel>()
{
new SensorParametroModel()
{
Descricao = "Endereço I2C",
Valor = "0x36",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
new SensorParametroModel()
{
Descricao = "Canal MUX",
Valor = "4",
QtdBytes = 1,
Escalar = false,
Enviar = true
},
},
ValoresLeituras = new List<SensorValoresLeituraModel>()
{
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.Iniciado,
posicao = CanMessagePosicaoDados.Status,
indice = 0,
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraBruta,
posicao = CanMessagePosicaoDados.Dados1,
indice = 0,
unidade_medida = ""
},
new SensorValoresLeituraModel()
{
funcao = FuncoesPinout.LeituraAngulo,
posicao = CanMessagePosicaoDados.Dados1,
indice = 1,
unidade_medida = "°"
},
}
},
},
Servos = new List<SensorServoModel>()
{
@ -1681,7 +1902,7 @@ namespace AgroBase.Models.Modules
channelRssi = 0,
lbt = 0,
packetRssi = 0,
channel = 23,
channel = 65,
key = 0
},
ParametrosGet = new LoRaParametrosModel()
@ -1825,7 +2046,7 @@ namespace AgroBase.Models.Modules
config.AddRange(sensoresConfig);
// Adicionar configurações do LoRa
if (!loRaService.Conectado || !loRaService.Configurado || configurarTodos)
if (Variaveis.OperacaoEmAndamento.Parametros.ModulosMandatorios.Any(x => x.Dispositivo == T_Code.Lra && x.Mandatorio && x.Utilizar) && (!loRaService.Conectado || !loRaService.Configurado || configurarTodos))
{
var loraConfig = loRaService.ProtocoloConfiguracao(Pinout, Conectar);
config.AddRange(loraConfig);
@ -2780,6 +3001,17 @@ namespace AgroBase.Models.Modules
return raw * escala;
}
private ushort Converter2BytesU16(byte[] data, int idx)
{
return (ushort)((data[idx] << 8) | data[idx + 1]);
}
private double ConverterAngle100(byte[] data, int idx)
{
ushort v = (ushort)((data[idx] << 8) | data[idx + 1]);
return v / 100.0;
}
private S_Code DetectarComponenteDoID_Num(int ID_Num)
{
if (ID_Num == Variaveis.ID_Num_sMOD) return S_Code.sMOD;
@ -3314,6 +3546,27 @@ namespace AgroBase.Models.Modules
}
break;
}
case S_Code.sMAG:
{
switch (posicao)
{
case CanMessagePosicaoDados.Status:
{
bool Iniciado = data[2] == 1;
AtualizarDados(ID_Num, posicao, componente, new List<dynamic>() { Iniciado });
break;
}
case CanMessagePosicaoDados.Dados1:
{
ushort raw = Converter2BytesU16(data, 2);
double angle = ConverterAngle100(data, 4);
AtualizarDados(ID_Num, posicao, componente, new List<dynamic>() { raw, angle });
//Console.WriteLine($"[sMAG] {ID_Num}, Raw: {raw}, Angulo: {angle}");
break;
}
}
break;
}
}

63
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
View File

@ -399,6 +399,8 @@ namespace AgroBase.Models
Direcao = Direcao.Parado,
EmFreio = false,
PercentualVelocidadeSP = 20,
AlturaBarra = 50,
BombaAtuada = false,
TiposControle = new List<OperacaoControleTipoModel>()
{
new OperacaoControleTipoModel()
@ -550,6 +552,8 @@ namespace AgroBase.Models
Direcao = Direcao.Parado,
EmFreio = false,
PercentualVelocidadeSP = 0,
AlturaBarra = 50,
BombaAtuada = true,
TiposControle = new List<OperacaoControleTipoModel>()
{
new OperacaoControleTipoModel()
@ -804,6 +808,7 @@ namespace AgroBase.Models
break;
}
Variaveis.OperacaoEmAndamento.Parametros.RoverId = VariaveisEquipamento.Parametros.serial_number;
Variaveis.OperacaoEmAndamento.Parametros.ModulosMandatorios.Add(new OperacaoModulosMandatoriosModel() { Dispositivo = T_Code.Npc, Mandatorio = true, Utilizar = true });
Variaveis.OperacaoEmAndamento.Parametros.ModulosMandatorios.Add(new OperacaoModulosMandatoriosModel() { Dispositivo = T_Code.Bat, Mandatorio = true, Utilizar = true });
Variaveis.OperacaoEmAndamento.Parametros.ModulosMandatorios.Add(new OperacaoModulosMandatoriosModel() { Dispositivo = T_Code.Ipb, Mandatorio = true, Utilizar = true });
@ -955,6 +960,7 @@ namespace AgroBase.Models
CarregarParametrosOperacaoPadrao((ModoOperacao)Parametros.Modo);
Variaveis.OperacaoEmAndamento.Parametros = Parametros;
Variaveis.OperacaoEmAndamento.Parametros.RoverId = VariaveisEquipamento.Parametros.serial_number;
Variaveis.OperacaoEmAndamento.Parametros.DadosLeitura = new OperacaoSensoriamentoLogModel();
Variaveis.OperacaoEmAndamento.Parametros.DadosLeitura.AtualizarDados();
Variaveis.OperacaoEmAndamento.DefinirComponentesEmUso();
@ -1730,7 +1736,7 @@ namespace AgroBase.Models
Momento = Agora,
Modulo_ID = Modulo.Modulo_ID,
Inicializado = Modulo.DirMotor.Inicializado,
Angulo = Modulo.DirMotor.Angulo,
AnguloDriver = Modulo.DirMotor.AnguloDriver,
Angulo_SP = Modulo.DirMotor.Angulo_SP,
Controlar = Modulo.DirMotor.Comandar,
Sentido_SP = Modulo.DirMotor.Sentido_SP,
@ -1739,6 +1745,9 @@ namespace AgroBase.Models
Velocidade = (Modulo.DirMotor.Velocidade / Modulo.DirMotor.Velocidade_Max) * 100.0,
FolgaMecanica = Modulo.DirMotor.FolgaMecanica,
UltimoComandoRespondido = Modulo.DirMotor.Leitura?.UltimoComandoRecebido ?? DateTime.MinValue,
AnguloLeitura = Modulo.DirMotor.AnguloLeitura,
AnguloFolgaCompensar = Modulo.DirMotor.AnguloFolgaCompensar,
AnguloReal = Modulo.DirMotor.AnguloReal
};
SalvarLog(T_Code.Dir.ToString(), logDir, false);
});
@ -2299,7 +2308,10 @@ namespace AgroBase.Models
LeituraComandoBomba = (_DispAtu.Dados.BombasPressurizadoras.FirstOrDefault().ValoresLeituras.FirstOrDefault(x => x.funcao == FuncoesPinout.EstadoLeitura)?.atual?.valor ?? Estado.Desligado) == Estado.Ligado,
LeituraPotenciaBomba = FuncoesMatematicas.Clamp(_DispAtu.Dados.BombasPressurizadoras.FirstOrDefault().ValoresLeituras.FirstOrDefault(x => x.funcao == FuncoesPinout.Potencia)?.atual?.valor ?? 0, 0, 100),
VolumeVazaoMl = _DispAtu.Dados.VolumeVazaoML,
Iniciados = _DispAtu.Dados.Sensores.Select(s => new { s.ID, s.Inicializado }).Union(_DispAtu.Dados.BicosPulverizadores.Select(b => new { b.ID, b.Inicializado })).Union(_DispAtu.Dados.BombasPressurizadoras.Select(b => new { b.ID, b.Inicializado })).ToDictionary(x => x.ID, x => x.Inicializado)
Iniciados = _DispAtu.Dados.Sensores.Select(s => new { s.ID, s.Inicializado }).Union(_DispAtu.Dados.BicosPulverizadores.Select(b => new { b.ID, b.Inicializado })).Union(_DispAtu.Dados.BombasPressurizadoras.Select(b => new { b.ID, b.Inicializado })).ToDictionary(x => x.ID, x => x.Inicializado),
AnguloBarraEsquerda = _DispAtu.Dados.Sensores.FirstOrDefault(x => x.Componente == S_Code.sMAG && x.ID.Contains("ESQ"))?.ValoresLeituras?.FirstOrDefault(x => x.funcao == FuncoesPinout.LeituraAngulo)?.atual?.valor ?? -1,
AnguloBarraDireita = _DispAtu.Dados.Sensores.FirstOrDefault(x => x.Componente == S_Code.sMAG && x.ID.Contains("DIR"))?.ValoresLeituras?.FirstOrDefault(x => x.funcao == FuncoesPinout.LeituraAngulo)?.atual?.valor ?? -1,
AnguloBarraAltura = _DispAtu.Dados.Sensores.FirstOrDefault(x => x.Componente == S_Code.sMAG && x.ID.Contains("ALT"))?.ValoresLeituras?.FirstOrDefault(x => x.funcao == FuncoesPinout.LeituraAngulo)?.atual?.valor ?? -1,
} : new OperacaoSensoriamentoLogAtuModel();
var dadosMovimentacao = _DispMvd != null ? new OperacaoSensoriamentoLogMovModel()
@ -2330,18 +2342,24 @@ namespace AgroBase.Models
var dadosDirecional = _DispMvd != null ? new OperacaoSensoriamentoLogDirModel()
{
AnguloMedio = _DispMvd.Dados.Modulos.Where(x => x.DirMotor.Inicializado && x.DirMotor.Comandar).DefaultIfEmpty().Average(x => Math.Abs(x?.DirMotor?.Angulo ?? 0)),
AnguloMedio = _DispMvd.Dados.Modulos.Where(x => x.DirMotor.Inicializado && x.DirMotor.Comandar).DefaultIfEmpty().Average(x => Math.Abs(x?.DirMotor?.AnguloLeitura ?? 0)),
Status = _DispMvd.Dados.StatusModulosDIR(_Controle.TipoMovimento),
Dados = _DispMvd.Dados.Modulos.Select(x => new OperacaoSensoriamentoLogDirDadosModel()
Dados = _DispMvd.Dados.Modulos.Select(x => new DirSensoriamentoLogModel()
{
ID = x.DirMotor.Mod_ID,
Iniciado = x.DirMotor.Inicializado,
Angulo = x.DirMotor.Angulo,
Modulo_ID = x.DirMotor.Mod_ID,
Inicializado = x.DirMotor.Inicializado,
AnguloDriver = x.DirMotor.AnguloDriver,
AnguloReal = x.DirMotor.AnguloReal,
Angulo_SP = x.DirMotor.Angulo_SP,
Sentido = x.DirMotor.Sentido,
SentidoSP = x.DirMotor.Sentido_SP,
Sentido_SP = x.DirMotor.Sentido_SP,
SentidoReal = x.DirMotor.SentidoReal,
FolgaMecanica = x.DirMotor.FolgaMecanica
FolgaMecanica = x.DirMotor.FolgaMecanica,
AnguloFolgaCompensar = x.DirMotor.AnguloFolgaCompensar,
AnguloLeitura = x.DirMotor.AnguloLeitura,
Controlar = x.DirMotor.Comandar,
UltimoComandoRespondido = x.DirMotor.UltimoComandoEnviado,
Velocidade = x.DirMotor.Velocidade,
}).ToList()
} : new OperacaoSensoriamentoLogDirModel();
@ -2559,6 +2577,9 @@ namespace AgroBase.Models
public bool LeituraComandoBomba { get; set; }
public double LeituraPotenciaBomba { get; set; }
public double VolumeVazaoMl { get; set; }
public double AnguloBarraEsquerda { get; set; }
public double AnguloBarraDireita { get; set; }
public double AnguloBarraAltura { get; set; }
public Dictionary<string, bool> Iniciados { get; set; }
public OperacaoSensoriamentoLogAtuModel Clone()
@ -2582,6 +2603,9 @@ namespace AgroBase.Models
LeituraComandoBomba = LeituraComandoBomba,
LeituraPotenciaBomba = LeituraPotenciaBomba,
VolumeVazaoMl = VolumeVazaoMl,
AnguloBarraEsquerda = AnguloBarraEsquerda,
AnguloBarraDireita = AnguloBarraDireita,
AnguloBarraAltura = AnguloBarraAltura,
Iniciados = new Dictionary<string, bool>(Iniciados ?? new Dictionary<string, bool>())
};
}
@ -2642,7 +2666,7 @@ namespace AgroBase.Models
{
public double AnguloMedio { get; set; }
public (bool, List<string>) Status { get; set; }
public List<OperacaoSensoriamentoLogDirDadosModel> Dados { get; set; }
public List<DirSensoriamentoLogModel> Dados { get; set; }
public OperacaoSensoriamentoLogDirModel Clone()
{
@ -2650,23 +2674,11 @@ namespace AgroBase.Models
{
AnguloMedio = AnguloMedio,
Status = Status,
Dados = new List<OperacaoSensoriamentoLogDirDadosModel>(Dados ?? new List<OperacaoSensoriamentoLogDirDadosModel>())
Dados = new List<DirSensoriamentoLogModel>(Dados ?? new List<DirSensoriamentoLogModel>())
};
}
}
public class OperacaoSensoriamentoLogDirDadosModel
{
public string ID { get; set; }
public bool Iniciado { get; set; }
public double Angulo { get; set; }
public double Angulo_SP { get; set; }
public Sentido Sentido { get; set; }
public Sentido SentidoReal { get; set; }
public Sentido SentidoSP { get; set; }
public double FolgaMecanica { get; set; }
}
public class OperacaoSensoriamentoLogBateriaModel
{
public bool Iniciado { get; set; }
@ -2790,7 +2802,10 @@ namespace AgroBase.Models
public bool Inicializado { get; set; }
public bool Controlar { get; set; }
public double Angulo_SP { get; set; }
public double Angulo { get; set; }
public double AnguloDriver { get; set; }
public double AnguloReal { get; set; }
public double AnguloLeitura { get; set; }
public double AnguloFolgaCompensar { get; set; }
public Sentido Sentido_SP { get; set; }
public Sentido Sentido { get; set; }
public Sentido SentidoReal { get; set; }

4
AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs
View File

@ -1,4 +1,5 @@
using System.Collections.Generic;
using System;
using System.Collections.Generic;
using static AgroBase.Models.Enums;
namespace AgroBase.Models.Operacoes
@ -7,6 +8,7 @@ namespace AgroBase.Models.Operacoes
{
public string RoverId { get; set; }
public bool Alive { get; set; }
public DateTime UltimoContato { get; set; }
public bool Configurado { get; set; }
public ModoOperacao? Modo { get; set; }
public string Descricao { get; set; }

2
AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs
View File

@ -314,7 +314,7 @@ namespace AgroBase.Services.Operadores
($"{endereco_dir}.freq_base", Variaveis.OperacaoEmAndamento.DispMvd.Dados.tmrRegistradorDIR.IntervalHz),
($"{endereco_dir}.endereco", mod.DirMotor._EnderecoCAN_Tx),
($"{endereco_dir}.mod_id", mod.Modulo_ID),
($"{endereco_dir}.angulo", mod.DirMotor.Angulo),
($"{endereco_dir}.angulo", mod.DirMotor.AnguloLeitura),
($"{endereco_dir}.angulo_sp", mod.DirMotor.Angulo_SP),
($"{endereco_dir}.comandar", mod.DirMotor.Comandar),
($"{endereco_dir}.referenciado", mod.DirMotor.Referenciado),

2
AgroBase/AgroBase/bin/x64/Debug/Parametros/parametersAtu-1_1.par
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2
AgroBase/AgroBase/bin/x64/Debug/Parametros/parametersMvd-2_0.par
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2
AgroBase/AgroBase/bin/x64/Debug/Parametros/parametersSen-1_3.par
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2
AgroBase/AgroBase/bin/x64/Debug/Parametros/pinoutAtu-1_0.pin
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@ -1 +1 @@
{"ExpansorGPIO":false,"EnderecoGPIO":"","ExpansorADS":false,"EnderecoADS":"","Pinos":[{"Controlador":0,"Barramento":0,"Pino":99,"Descricao":"1","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":98,"Descricao":"2","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":97,"Descricao":"3","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":4,"Descricao":"4","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":5,"Descricao":"5","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":6,"Descricao":"6","Funcao":24,"Habilitado":true,"ComponenteID":"PRSLN"},{"Controlador":0,"Barramento":0,"Pino":7,"Descricao":"7","Funcao":25,"Habilitado":true,"ComponenteID":"FLXLN"},{"Controlador":0,"Barramento":0,"Pino":15,"Descricao":"8","Funcao":22,"Habilitado":true,"ComponenteID":"MASRS"},{"Controlador":0,"Barramento":0,"Pino":16,"Descricao":"9","Funcao":23,"Habilitado":true,"ComponenteID":"MASRS"},{"Controlador":0,"Barramento":0,"Pino":17,"Descricao":"10","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":18,"Descricao":"11","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":8,"Descricao":"12","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":3,"Descricao":"13","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":46,"Descricao":"14","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":9,"Descricao":"15","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":10,"Descricao":"16","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":11,"Descricao":"17","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":12,"Descricao":"18","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":13,"Descricao":"19","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":14,"Descricao":"20","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":96,"Descricao":"21","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":95,"Descricao":"22","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":94,"Descricao":"23","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":93,"Descricao":"24","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":19,"Descricao":"25","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":20,"Descricao":"26","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":21,"Descricao":"27","Funcao":21,"Habilitado":true,"ComponenteID":"B01"},{"Controlador":0,"Barramento":0,"Pino":47,"Descricao":"28","Funcao":21,"Habilitado":true,"ComponenteID":"B02"},{"Controlador":0,"Barramento":0,"Pino":48,"Descricao":"29","Funcao":21,"Habilitado":true,"ComponenteID":"B03"},{"Controlador":0,"Barramento":0,"Pino":45,"Descricao":"30","Funcao":21,"Habilitado":true,"ComponenteID":"B04"},{"Controlador":0,"Barramento":0,"Pino":0,"Descricao":"31","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":35,"Descricao":"32","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":36,"Descricao":"33","Funcao":37,"Habilitado":true,"ComponenteID":"BOMBA"},{"Controlador":0,"Barramento":0,"Pino":37,"Descricao":"34","Funcao":36,"Habilitado":true,"ComponenteID":"BOMBA"},{"Controlador":0,"Barramento":0,"Pino":38,"Descricao":"35","Funcao":35,"Habilitado":true,"ComponenteID":"BOMBA"},{"Controlador":0,"Barramento":0,"Pino":39,"Descricao":"36","Funcao":5,"Habilitado":true,"ComponenteID":"BOMBA"},{"Controlador":0,"Barramento":0,"Pino":40,"Descricao":"37","Funcao":14,"Habilitado":true,"ComponenteID":"BOMBA"},{"Controlador":0,"Barramento":0,"Pino":41,"Descricao":"38","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":42,"Descricao":"39","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":2,"Descricao":"40","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":1,"Descricao":"41","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":44,"Descricao":"42","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":43,"Descricao":"43","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":92,"Descricao":"44","Funcao":0,"Habilitado":false,"ComponenteID":""}]}
{"ExpansorGPIO":false,"EnderecoGPIO":"","ExpansorADS":false,"EnderecoADS":"","Pinos":[{"Controlador":0,"Barramento":0,"Pino":99,"Descricao":"1","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":98,"Descricao":"2","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":97,"Descricao":"3","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":4,"Descricao":"4","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":5,"Descricao":"5","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":6,"Descricao":"6","Funcao":24,"Habilitado":true,"ComponenteID":"PRSLN"},{"Controlador":0,"Barramento":0,"Pino":7,"Descricao":"7","Funcao":25,"Habilitado":true,"ComponenteID":"FLXLN"},{"Controlador":0,"Barramento":0,"Pino":15,"Descricao":"8","Funcao":22,"Habilitado":true,"ComponenteID":"MASRS"},{"Controlador":0,"Barramento":0,"Pino":16,"Descricao":"9","Funcao":23,"Habilitado":true,"ComponenteID":"MASRS"},{"Controlador":0,"Barramento":0,"Pino":17,"Descricao":"10","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":18,"Descricao":"11","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":8,"Descricao":"12","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":3,"Descricao":"13","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":46,"Descricao":"14","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":9,"Descricao":"15","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":10,"Descricao":"16","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":11,"Descricao":"17","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":12,"Descricao":"18","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":13,"Descricao":"19","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":14,"Descricao":"20","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":96,"Descricao":"21","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":95,"Descricao":"22","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":94,"Descricao":"23","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":93,"Descricao":"24","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":19,"Descricao":"25","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":20,"Descricao":"26","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":21,"Descricao":"27","Funcao":21,"Habilitado":true,"ComponenteID":"B01"},{"Controlador":0,"Barramento":0,"Pino":47,"Descricao":"28","Funcao":21,"Habilitado":true,"ComponenteID":"B02"},{"Controlador":0,"Barramento":0,"Pino":48,"Descricao":"29","Funcao":21,"Habilitado":true,"ComponenteID":"B03"},{"Controlador":0,"Barramento":0,"Pino":45,"Descricao":"30","Funcao":21,"Habilitado":true,"ComponenteID":"B04"},{"Controlador":0,"Barramento":0,"Pino":0,"Descricao":"31","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":35,"Descricao":"32","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":36,"Descricao":"33","Funcao":37,"Habilitado":true,"ComponenteID":"BOMBA"},{"Controlador":0,"Barramento":0,"Pino":37,"Descricao":"34","Funcao":36,"Habilitado":true,"ComponenteID":"BOMBA"},{"Controlador":0,"Barramento":0,"Pino":38,"Descricao":"35","Funcao":35,"Habilitado":true,"ComponenteID":"BOMBA"},{"Controlador":0,"Barramento":0,"Pino":39,"Descricao":"36","Funcao":5,"Habilitado":true,"ComponenteID":"BOMBA"},{"Controlador":0,"Barramento":0,"Pino":40,"Descricao":"37","Funcao":14,"Habilitado":true,"ComponenteID":"BOMBA"},{"Controlador":0,"Barramento":0,"Pino":41,"Descricao":"38","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":42,"Descricao":"39","Funcao":0,"Habilitado":true,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":2,"Descricao":"40","Funcao":34,"Habilitado":true,"ComponenteID":"Atu"},{"Controlador":0,"Barramento":0,"Pino":1,"Descricao":"41","Funcao":33,"Habilitado":true,"ComponenteID":"Atu"},{"Controlador":0,"Barramento":0,"Pino":44,"Descricao":"42","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":43,"Descricao":"43","Funcao":0,"Habilitado":false,"ComponenteID":""},{"Controlador":0,"Barramento":0,"Pino":92,"Descricao":"44","Funcao":0,"Habilitado":false,"ComponenteID":""}]}

22
AgroBase/AgroBase/bin/x64/Debug/Python/Output/mapa_gps.html
View File

@ -17,7 +17,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_6f60bf078ab13a11b4301162d42964ca {
#map_e96ec2bc0d29f93b5eb9a092cd8db254 {
position: relative;
width: 100.0%;
height: 100.0%;
@ -54,14 +54,14 @@
<body>
<div class="folium-map" id="map_6f60bf078ab13a11b4301162d42964ca" ></div>
<div class="folium-map" id="map_e96ec2bc0d29f93b5eb9a092cd8db254" ></div>
</body>
<script>
var map_6f60bf078ab13a11b4301162d42964ca = L.map(
"map_6f60bf078ab13a11b4301162d42964ca",
var map_e96ec2bc0d29f93b5eb9a092cd8db254 = L.map(
"map_e96ec2bc0d29f93b5eb9a092cd8db254",
{
center: [0.0, 0.0],
crs: L.CRS.EPSG3857,
@ -78,7 +78,7 @@
var tile_layer_fd5ef27e56749c547e5f3e66fbda0894 = L.tileLayer(
var tile_layer_2073fabf3e3fe0f56ca3d565a07db8af = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{
"minZoom": 0,
@ -95,7 +95,7 @@
);
tile_layer_fd5ef27e56749c547e5f3e66fbda0894.addTo(map_6f60bf078ab13a11b4301162d42964ca);
tile_layer_2073fabf3e3fe0f56ca3d565a07db8af.addTo(map_e96ec2bc0d29f93b5eb9a092cd8db254);
</script>
@ -116,7 +116,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_6f60bf078ab13a11b4301162d42964ca);
trajeto_json.addTo(map_e96ec2bc0d29f93b5eb9a092cd8db254);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -179,9 +179,9 @@
var marcadorEquipamento = L.marker([0, 0], {
icon: customIcon
}).addTo(map_6f60bf078ab13a11b4301162d42964ca);
}).addTo(map_e96ec2bc0d29f93b5eb9a092cd8db254);
var marcadorBase = L.marker([0, 0], {}).addTo(map_6f60bf078ab13a11b4301162d42964ca);
var marcadorBase = L.marker([0, 0], {}).addTo(map_e96ec2bc0d29f93b5eb9a092cd8db254);
var icon = L.AwesomeMarkers.icon(
{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
);
@ -246,7 +246,7 @@
}
if (foco) {
map_6f60bf078ab13a11b4301162d42964ca.setView(novaPosicao, map_6f60bf078ab13a11b4301162d42964ca.getZoom());
map_e96ec2bc0d29f93b5eb9a092cd8db254.setView(novaPosicao, map_e96ec2bc0d29f93b5eb9a092cd8db254.getZoom());
}
}
@ -268,7 +268,7 @@
marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_6f60bf078ab13a11b4301162d42964ca.setView(novaPosicao, map_6f60bf078ab13a11b4301162d42964ca.getZoom());*/
map_e96ec2bc0d29f93b5eb9a092cd8db254.setView(novaPosicao, map_e96ec2bc0d29f93b5eb9a092cd8db254.getZoom());*/
});
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

2
AgroBase/OperationControl/Controls/ManualControlPad.xaml
View File

@ -4,7 +4,7 @@
xmlns:local="clr-namespace:OperationControl.Controls"
x:Name="Root" Focusable="True" MinWidth="382">
<Border CornerRadius="8" Background="#111" BorderBrush="Black" BorderThickness="1" Width="382" MinHeight="66">
<Border CornerRadius="8" Background="#FF1C2530" BorderThickness="1" Width="382" MinHeight="66">
<Canvas x:Name="cnvFundo">
<Label Content="Controle" Foreground="White" Canvas.Left="0" HorizontalAlignment="Center" VerticalAlignment="Top" Canvas.Top="-5"/>

35
AgroBase/OperationControl/Controls/MapViewControl.xaml.cs
View File

@ -93,9 +93,10 @@ namespace OperationControl.Controls
StreetMapClicked?.Invoke(this, new StreetMapClickedEventArgs(streetId, RuasMapaCarregado.Where(x => x.Selected).Select(x => x.Id).ToList()));
}
private void HighlightRoad(MIFeature feature)
private void HighlightRoad(MIFeature? feature = null, string? id = null)
{
var id = GetAttr(feature, "Id");
if (string.IsNullOrEmpty(id))
id = GetAttr(feature, "Id");
var rua = RuasMapaCarregado.FirstOrDefault(x => x.Id == id);
if (rua == null) return;
@ -110,6 +111,18 @@ namespace OperationControl.Controls
OnStreetMapClicked(id);
}
private void AtualizarStylesRuas()
{
foreach (var rua in RuasMapaCarregado)
{
rua.Status = (rua.Selected) ? StreetMapStyle.Selected : StreetMapStyle.Normal;
rua.Feature.Styles.Clear();
rua.Feature.Styles.Add(CreateStreetStyle(rua.Status));
}
Mapa.Refresh();
}
public enum StreetMapStyle
{
Normal,
@ -474,7 +487,8 @@ namespace OperationControl.Controls
}
else if (info?.Layer == MapaPlantacao_Layer && feat is MIFeature roadFeature)
{
HighlightRoad(roadFeature);
if (!(VariaveisControleOperacao.RoverEmFoco?.DadosLeitura?.OperacaoIniciada ?? false))
HighlightRoad(roadFeature);
}
else
{
@ -826,6 +840,21 @@ namespace OperationControl.Controls
return _mapa;
}
public void CarregarDadosMapa(AgroBase.Models.MapaFeatureCollectionModel Mapa, List<string> RuasSelecionadas)
{
if (RuasMapaCarregado.Any())
{
foreach (var rua in RuasMapaCarregado)
{
var dado = Mapa.features.FirstOrDefault(x => x.properties.Id == rua.Id);
if (dado == null) continue;
rua.Selected = RuasSelecionadas.Contains(dado.properties.Id);
}
AtualizarStylesRuas();
}
}
}
public class MapMarkerManager

64
AgroBase/OperationControl/Controls/Pulverizador/Converters.cs
View File

@ -101,4 +101,68 @@ namespace OperationControl.Controls.Pulverizador
public object[] ConvertBack(object value, Type[] targetTypes, object parameter, CultureInfo culture)
=> throw new NotImplementedException();
}
public class RuaWidthFisicaConverter : IMultiValueConverter
{
public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
{
if (values.Length < 3) return 0.0;
if (values[0] is not double totalWidth ||
values[1] is not double larguraRuaCm ||
values[2] is not double comprimentoBarraCm ||
totalWidth <= 0 || comprimentoBarraCm <= 0 || larguraRuaCm <= 0)
{
return 0.0;
}
// px por cm na faixa do solo (usando comprimento da barra como referência física)
double pxPorCm = totalWidth / comprimentoBarraCm;
double widthPx = larguraRuaCm * pxPorCm;
// não deixa a rua ficar maior que a área disponível
if (widthPx > totalWidth) widthPx = totalWidth;
return widthPx;
}
public object[] ConvertBack(object value, Type[] targetTypes, object parameter, CultureInfo culture)
=> throw new NotImplementedException();
}
public class RuaOffsetFisicaConverter : IMultiValueConverter
{
public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
{
if (values.Length < 4) return new Thickness(0);
if (values[0] is not double totalWidth ||
values[1] is not double erroLateralCm ||
values[2] is not double larguraRuaCm ||
values[3] is not double comprimentoBarraCm ||
totalWidth <= 0 || comprimentoBarraCm <= 0)
{
return new Thickness(0);
}
double pxPorCm = totalWidth / comprimentoBarraCm;
double widthPx = Math.Min(totalWidth, Math.Max(0, larguraRuaCm * pxPorCm));
double center = totalWidth / 2.0;
// erro > 0 = robô desviado pra direita → rua aparece indo pra esquerda
double roadCenter = center - erroLateralCm * pxPorCm;
double left = roadCenter - widthPx / 2.0;
// SEM travas aqui: pode ser negativo ou maior que totalWidth
// o Grid com ClipToBounds cuida de cortar o desenho
return new Thickness(left, 0, 0, 0);
}
public object[] ConvertBack(object value, Type[] targetTypes, object parameter, CultureInfo culture)
=> throw new NotImplementedException();
}
}

48
AgroBase/OperationControl/Controls/Pulverizador/PulverizadorIndicator.xaml
View File

@ -9,6 +9,8 @@
<UserControl.Resources>
<local:BicoPositionFisicaConverter x:Key="BicoPositionFisicaConverter" />
<local:AlturaBarraToMarginFisicaConverter x:Key="AlturaBarraToMarginFisicaConverter" GroundTop="80" Top80Px="7" AlturaMaxCm="80" />
<local:RuaWidthFisicaConverter x:Key="RuaWidthFisicaConverter" />
<local:RuaOffsetFisicaConverter x:Key="RuaOffsetFisicaConverter" />
<SolidColorBrush x:Key="BgBrush" Color="#FF101820"/>
<SolidColorBrush x:Key="CardBrush" Color="#FF1C2530"/>
@ -53,9 +55,9 @@
<Grid Grid.Row="1" Margin="10,0,10,-8">
<!-- Cota de altura à esquerda -->
<Canvas Width="50" HorizontalAlignment="Left" Margin="-15,0,0,0">
<TextBlock Foreground="{StaticResource TextSecondary}" FontSize="10" Canvas.Top="-23" Canvas.Left="1" HorizontalAlignment="Left" VerticalAlignment="Center" Text="{Binding AlturaBarra, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:F0} cm}" />
<Slider Minimum="50" Maximum="80" Value="{Binding AlturaBarra, RelativeSource={RelativeSource AncestorType=UserControl}, Mode=TwoWay}" Orientation="Vertical" Height="58" VerticalAlignment="Top" IsDirectionReversed="False" HorizontalAlignment="Center" Canvas.Top="-8" />
<Canvas Width="50" HorizontalAlignment="Left">
<TextBlock Foreground="{StaticResource TextSecondary}" FontSize="10" Canvas.Top="-15" Canvas.Left="1" HorizontalAlignment="Left" VerticalAlignment="Center" Text="{Binding AlturaBarra, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:F0} cm}" />
<Slider Minimum="50" Maximum="80" Value="{Binding AlturaBarra, RelativeSource={RelativeSource AncestorType=UserControl}, Mode=TwoWay}" Orientation="Vertical" Height="58" VerticalAlignment="Top" IsDirectionReversed="False" HorizontalAlignment="Center" Canvas.Left="5" />
</Canvas>
<!-- Bicos e leques (traseira) -->
@ -131,7 +133,7 @@
</TextBlock>
<!-- Dados da bomba (pressão e tempo) -->
<StackPanel Orientation="Vertical" Canvas.Left="10" Canvas.Top="-15" TextBlock.TextAlignment="Right">
<StackPanel Orientation="Vertical" Canvas.Left="10" Canvas.Top="-18" TextBlock.TextAlignment="Right">
<!-- Linha 1: pressão -->
<TextBlock Text="Pressão" Foreground="{StaticResource TextSecondary}" FontSize="10"/>
<TextBlock Text="{Binding PressaoLinha, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:F2} psi}" Foreground="{StaticResource TextPrimary}" FontSize="12" FontWeight="SemiBold" Margin="0,0,0,4"/>
@ -146,8 +148,42 @@
</StackPanel>
</Canvas>
<!-- Solo -->
<Border Height="13" VerticalAlignment="Top" Margin="-18,80,-18,0" Background="#5F6A36" CornerRadius="0,0,8,8" />
<!-- Solo + Rua -->
<Grid Height="13" VerticalAlignment="Top" Margin="-18,80,-18,0" ClipToBounds="True">
<!-- Cana (fundo) -->
<Border Background="#5F6A36" CornerRadius="0,0,8,8"/>
<!-- Rua (faixa vermelha que desliza) -->
<Border Height="13" HorizontalAlignment="Left" Background="#AA8B0000" CornerRadius="0,0,8,8">
<!-- Largura da rua em px -->
<Border.Width>
<MultiBinding Converter="{StaticResource RuaWidthFisicaConverter}">
<!-- largura em px da faixa do solo -->
<Binding RelativeSource="{RelativeSource AncestorType=Grid}" Path="ActualWidth"/>
<!-- largura da rua em cm -->
<Binding Path="LarguraRuaCm"/>
<!-- comprimento físico representado (cm) -->
<Binding Path="ComprimentoBarraCm"/>
</MultiBinding>
</Border.Width>
<!-- Deslocamento lateral da rua -->
<Border.Margin>
<MultiBinding Converter="{StaticResource RuaOffsetFisicaConverter}">
<!-- largura em px -->
<Binding RelativeSource="{RelativeSource AncestorType=Grid}" Path="ActualWidth"/>
<!-- erro lateral em cm (0 centro, - esquerda, + direita) -->
<Binding Path="ErroLateralCm"/>
<!-- largura rua cm -->
<Binding Path="LarguraRuaCm"/>
<!-- comprimento barra cm (escala px/cm) -->
<Binding Path="ComprimentoBarraCm"/>
</MultiBinding>
</Border.Margin>
</Border>
</Grid>
</Grid>
</Grid>

32
AgroBase/OperationControl/Controls/Pulverizador/PulverizadorIndicator.xaml.cs
View File

@ -1,21 +1,7 @@
using AgroBase.Models;
using OperationControl.Controls.Pulverizador;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Globalization;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using UserControl = System.Windows.Controls.UserControl;
@ -101,6 +87,24 @@ namespace OperationControl.Controls
public static readonly DependencyProperty QtdBicosProperty = DependencyProperty.Register(nameof(QtdBicos), typeof(int), typeof(PulverizadorIndicator), new PropertyMetadata(VariaveisEquipamento.QuantidadeBicosPulverizadores, OnQtdBicosChanged));
public double LarguraRuaCm
{
get => (double)GetValue(LarguraRuaCmProperty);
set => SetValue(LarguraRuaCmProperty, value);
}
public static readonly DependencyProperty LarguraRuaCmProperty = DependencyProperty.Register(nameof(LarguraRuaCm), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(150.0));
public double ErroLateralCm
{
get => (double)GetValue(ErroLateralCmProperty);
set => SetValue(ErroLateralCmProperty, value);
}
public static readonly DependencyProperty ErroLateralCmProperty = DependencyProperty.Register(nameof(ErroLateralCm), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(0.0));
public ObservableCollection<BicoModel> Bicos { get; } = new();
private static void OnQtdBicosChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)

14
AgroBase/OperationControl/Converters/MainWindow.cs Normal file
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@ -0,0 +1,14 @@
using System.Globalization;
using System.Windows.Data;
namespace OperationControl.Converters
{
public class NullToVisibilityConverter : IValueConverter
{
public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
=> value == null ? System.Windows.Visibility.Collapsed : System.Windows.Visibility.Visible;
public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
=> throw new NotImplementedException();
}
}

53
AgroBase/OperationControl/Models/AlertaModel.cs Normal file
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@ -0,0 +1,53 @@
using static AgroBase.Models.Enums;
namespace OperationControl.Models
{
public enum SeveridadeAlerta
{
Info,
Warning,
Error,
Critical
}
public class AlertaModel
{
public string Rover_ID { get; set; }
public SeveridadeAlerta Severidade { get; set; }
public T_Code Modulo { get; set; } // ex: "DIR", "SEN", "MOV"
public string? Mod_ID { get; set; } // ID
public string Mensagem { get; set; } // texto principal
public DateTime Timestamp { get; set; } // opcional: hora do evento
// Campo calculado para título (ex: "DIR — Falha no encoder")
public string Titulo
{
get
{
string mod = Mod_ID != null && Mod_ID != S_Code.sMOD.ToString()
? $"{Modulo} ({Mod_ID})"
: Modulo.ToString();
return $"[{Rover_ID}] {mod} — {ResumoSeveridade}";
}
}
// Ícone simples só pra dar cara
public string Icone => Severidade switch
{
SeveridadeAlerta.Warning => "⚠️",
SeveridadeAlerta.Error => "🛑",
SeveridadeAlerta.Critical => "🚨",
_ => "ℹ️"
};
public string ResumoSeveridade => Severidade switch
{
SeveridadeAlerta.Warning => "Alerta",
SeveridadeAlerta.Error => "Falha",
SeveridadeAlerta.Critical => "Crítico",
_ => "Info"
};
}
}

118
AgroBase/OperationControl/Models/GraficoModel.cs Normal file
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@ -0,0 +1,118 @@
using ScottPlot;
using ScottPlot.WPF;
namespace OperationControl.Models
{
public class GraficoModel
{
public GraficoModel(WpfPlot grafico)
{
Grafico = grafico;
}
private WpfPlot Grafico { get; set; }
private bool EmUso { get; set; }
private DateTime Tempo_Atual { get; set; }
private DateTime? Tempo_Inicial { get; set; }
private List<double> Eixo_X { get; set; }
private List<List<double>> Eixo_Y { get; set; }
private double Limite { get; set; }
private List<GraficoParametrosModel> Parametros { get; set; }
private void InicializarGrafico(List<GraficoParametrosModel> parametros)
{
Parametros = parametros;
Grafico.Plot.ShowLegend(Alignment.UpperLeft);
Eixo_X = new List<double>();
Eixo_Y = new List<List<double>>();
Parametros.ForEach(p =>
{
Eixo_Y.Add(new List<double>());
p.Cor = GetNextColor();
});
Tempo_Inicial = Tempo_Atual;
_colorIndex = 0;
EmUso = true;
}
public void Atualizar(bool inicial, DateTime? t_atual, List<GraficoParametrosModel> parametros, double limite = 60)
{
Tempo_Atual = t_atual ?? DateTime.Now;
Limite = limite;
if (inicial)
InicializarGrafico(parametros);
Parametros.ForEach(p => p.Atualizar(parametros[Parametros.IndexOf(p)]));
AtualizaDadosGrafico();
}
private void AtualizaDadosGrafico()
{
double tSegundos = (Tempo_Atual - Tempo_Inicial!.Value).TotalSeconds;
Grafico.Plot.Clear();
Eixo_X.Add(tSegundos);
for (int i = 0; i < Parametros.Count; i++)
{
Eixo_Y[i].Add(Parametros[i].Valor ?? 0);
var sc = Grafico.Plot.Add.Scatter(Eixo_X.ToArray(), Eixo_Y[i].ToArray());
sc.Label = $"{Parametros[i].Label} {(Parametros[i].Valor ?? 0):0.00} {Parametros[i].Unidade}";
sc.Color = Parametros[i].Cor;
sc.LineWidth = 2;
}
while (Eixo_X.Count > Limite)
{
Eixo_X.RemoveAt(0);
Eixo_Y.ForEach(x => x.RemoveAt(0));
}
double xEnd = Eixo_X[^1];
double xStart = Math.Max(0, xEnd - Limite);
Grafico.Plot.Axes.SetLimitsX(xStart, xEnd);
Grafico.Plot.Axes.AutoScaleY();
Grafico.Refresh();
}
public void Limpar(DateTime? t_atual)
{
if ((t_atual ?? DateTime.Now) > Tempo_Atual && EmUso)
{
Grafico.Plot.Clear();
Grafico.Refresh();
EmUso = false;
}
}
private int _colorIndex = 0;
private ScottPlot.Color GetNextColor()
{
var palette = ScottPlot.Palette.GetPalettes()[3];
var colors = palette.Colors;
var color = colors[_colorIndex % colors.Length];
_colorIndex++;
return color;
}
public class GraficoParametrosModel
{
public string Label { get; set; }
public string Unidade { get; set; }
public double? Valor { get; set; }
public ScottPlot.Color Cor { get; set; }
public void Atualizar(GraficoParametrosModel p)
{
Label = p.Label;
Unidade = p.Unidade;
Valor = p.Valor;
}
}
}
}

10
AgroBase/OperationControl/Models/Variaveis.cs
View File

@ -132,6 +132,7 @@ namespace OperationControl.Models
{
obj.Momento = DateTime.Now;
rover.DadosLeitura = obj;
rover.UltimoContato = DateTime.Now;
}
}
((App)Application.Current).Shell.Main?.AtualizarDadosTela_Telemetria(device_id);
@ -155,11 +156,13 @@ namespace OperationControl.Models
var rover = RoversNaRede.FirstOrDefault(x => x.RoverId == device_id);
if (rover != null)
{
obj.UltimoContato = DateTime.Now;
RoversNaRede.Remove(rover);
RoversNaRede.Add(obj);
}
}
((App)Application.Current).Shell.Main?.AtualizarDadosTela_ParametrosOperacao(obj.Controle);
((App)Application.Current).Shell.Main?.MAP?.CarregarDadosMapa(obj.Mapa, obj.RuasPercorrer);
}
catch (Exception ex)
{
@ -198,7 +201,7 @@ namespace OperationControl.Models
}
foreach (var rover in rovers_atual)
{
rover.Alive = (DateTime.Now - rover.DadosLeitura.Momento).TotalSeconds < TempoRoverVivo;
rover.Alive = (DateTime.Now - rover.UltimoContato).TotalSeconds < TempoRoverVivo;
if (!rover.Alive)
{
//((App)Application.Current).Shell.Main?.MAP?.markers?.UpdateMarkerInfo(rover.RoverId, status: AgroBase.Models.Enums.StatusOperacao.Erro);
@ -206,6 +209,11 @@ namespace OperationControl.Models
rover.DadosLeitura.Momento = DateTime.Now;
rover.DadosLeitura.StatusOperacao = AgroBase.Models.Enums.StatusOperacao.Erro;
((App)Application.Current).Shell.Main?.AtualizarDadosTela_Telemetria(rover.RoverId);
((App)Application.Current).Shell.Main?.AdicionarAlerta(rover.RoverId, AgroBase.Models.Enums.T_Code.Ipb, SeveridadeAlerta.Critical, "Perda de comunicação com o equipamento!");
}
else
{
((App)Application.Current).Shell.Main?.RemoverAlerta(rover.RoverId, AgroBase.Models.Enums.T_Code.Ipb);
}
}
}

195
AgroBase/OperationControl/Windows/MainWindow.xaml
View File

@ -6,10 +6,14 @@
xmlns:scott="clr-namespace:ScottPlot.WPF;assembly=ScottPlot.WPF"
xmlns:vlc="clr-namespace:LibVLCSharp.WPF;assembly=LibVLCSharp.WPF"
xmlns:controls="clr-namespace:OperationControl.Controls"
xmlns:models="clr-namespace:OperationControl.Models"
xmlns:conv="clr-namespace:OperationControl.Converters"
mc:Ignorable="d"
Title="Controle da Opearação Agrobot" Height="1025" Width="1920" WindowStartupLocation="CenterScreen" WindowState="Maximized">
<Window.Resources>
<conv:NullToVisibilityConverter x:Key="NullToVisibilityConverter" />
<Style x:Key="RoundedLabel" TargetType="Label">
<Setter Property="Foreground" Value="White"/>
<Setter Property="Background" Value="Gray"/>
@ -32,6 +36,34 @@
<EventSetter Event="MouseLeftButtonDown" Handler="DiagnosticoModulo_Click" />
</Style>
<!-- SCROLLBAR FININHA GENÉRICA -->
<Style x:Key="ThinScrollBar" TargetType="ScrollBar">
<Setter Property="Height" Value="6"/>
<Setter Property="Background" Value="Transparent"/>
<Setter Property="Template">
<Setter.Value>
<ControlTemplate TargetType="ScrollBar">
<Grid Background="Transparent">
<Track x:Name="PART_Track"
Height="6">
<Track.DecreaseRepeatButton>
<RepeatButton Command="ScrollBar.LineLeftCommand" Visibility="Collapsed" />
</Track.DecreaseRepeatButton>
<Track.IncreaseRepeatButton>
<RepeatButton Command="ScrollBar.LineRightCommand" Visibility="Collapsed" />
</Track.IncreaseRepeatButton>
<Track.Thumb>
<Thumb Height="6" Background="#4B5563" Margin="0" BorderThickness="0"/>
<!--CornerRadius="3"-->
</Track.Thumb>
</Track>
</Grid>
</ControlTemplate>
</Setter.Value>
</Setter>
</Style>
</Window.Resources>
<Grid>
@ -132,7 +164,7 @@
</Canvas>
</Border>
<Border x:Name="brdStatusModulo" BorderBrush="Black" BorderThickness="1" CornerRadius="8" Margin="10,641,1460,32">
<Border x:Name="brdStatusModulo" BorderBrush="Black" BorderThickness="1" CornerRadius="8" Margin="10,641,1460,85">
<Canvas>
<Label Content="Saúde" HorizontalAlignment="Left" VerticalAlignment="Center" FontSize="10" Canvas.Top="-5" FontWeight="Bold"/>
<Label x:Name="lblSaude_Descricao" Content="Módulo" HorizontalAlignment="Left" VerticalAlignment="Center" FontSize="9" Canvas.Left="35" Canvas.Top="4"/>
@ -142,16 +174,16 @@
<Label x:Name="lblSaude_Latencia" Content="Latência 0 ms" HorizontalAlignment="Left" VerticalAlignment="Center" Canvas.Left="372" FontSize="9" Canvas.Top="4"/>
<TextBlock x:Name="lblSaude_Impedimento" Text="Impedimento: Nenhum" HorizontalAlignment="Center" VerticalAlignment="Top" FontSize="9" Canvas.Top="24" TextWrapping="Wrap" Width="428" Canvas.Left="10"/>
<CheckBox x:Name="chbSaude_Mandatorio" Content="Mandatório" Canvas.Left="5" Canvas.Top="75" FontSize="10" HorizontalAlignment="Center" VerticalAlignment="Top" ToolTip="Define se o módulo é obrigatório para que a operação em andamento seja liberada"/>
<CheckBox x:Name="chbSaude_EmUso" Content="Em Uso" Canvas.Left="82" Canvas.Top="75" HorizontalAlignment="Center" VerticalAlignment="Top" FontSize="10" ToolTip="Define se o módulo deve ser usado durante a operação em andamento"/>
<Button x:Name="btnSaude_Salvar" Content="Salvar" Canvas.Left="155" Canvas.Top="74" FontSize="10" HorizontalAlignment="Center" VerticalAlignment="Top" Width="38" ToolTip="Salva os ajustes realizados nos parametros do módulo" Click="btnSaude_Salvar_Click"/>
<CheckBox x:Name="chbSaude_Mandatorio" Content="Mandatório" Canvas.Left="5" Canvas.Top="55" FontSize="10" HorizontalAlignment="Center" VerticalAlignment="Top" ToolTip="Define se o módulo é obrigatório para que a operação em andamento seja liberada"/>
<CheckBox x:Name="chbSaude_EmUso" Content="Em Uso" Canvas.Left="82" Canvas.Top="55" HorizontalAlignment="Center" VerticalAlignment="Top" FontSize="10" ToolTip="Define se o módulo deve ser usado durante a operação em andamento"/>
<Button x:Name="btnSaude_Salvar" Content="Salvar" Canvas.Left="155" Canvas.Top="54" FontSize="10" HorizontalAlignment="Center" VerticalAlignment="Top" Width="38" ToolTip="Salva os ajustes realizados nos parametros do módulo" Click="btnSaude_Salvar_Click"/>
<Border HorizontalAlignment="Center" BorderBrush="Black" BorderThickness="1" Height="230" Width="438" VerticalAlignment="Top" Canvas.Left="5" Canvas.Top="94">
<Border HorizontalAlignment="Center" BorderBrush="Black" BorderThickness="1" Height="204" Width="438" VerticalAlignment="Top" Canvas.Left="5" Canvas.Top="75">
<TabControl x:Name="tab_Saude">
<TabItem x:Name="tabSaude_CondicoesOperacionais" Header="Condições Operacionais">
<Canvas>
<ListBox x:Name="lstSaude_CondicoesOperacionais" Height="200" Width="430" HorizontalAlignment="Center" VerticalAlignment="Top" FontSize="9"/>
<ListBox x:Name="lstSaude_CondicoesOperacionais" Height="174" Width="430" HorizontalAlignment="Center" VerticalAlignment="Top" FontSize="9"/>
</Canvas>
</TabItem>
@ -179,7 +211,7 @@
<Label Content="Altura" Height="30"/>
<Slider x:Name="sldBarra_Altura" Margin="5,0,5,0" Minimum="0" Maximum="90" Orientation="Vertical" ValueChanged="sldBarra_Altura_ValueChanged" Height="83"/>
<Slider x:Name="sldBarra_Altura" Margin="5,0,5,0" Minimum="50" Maximum="80" Orientation="Vertical" ValueChanged="sldBarra_Altura_ValueChanged" Height="83"/>
<Label x:Name="lblBarra_Altura" Content="0,00 cm" Height="30"/>
@ -195,7 +227,7 @@
<!-- Título / identificação -->
<StackPanel Orientation="Horizontal">
<Label Content="Controle"/>
<Button x:Name="btnBico_Ligar" Content="Ligar" Width="80" Margin="0,0,5,0" Click="btnBico_Ligar_Click"/>
<Button x:Name="btnBico_Desligar" Content="Desligar" Width="80" Margin="0,0,5,0" Click="btnBico_Desligar_Click"/>
@ -538,11 +570,11 @@
</Canvas>
</Border>
<Border x:Name="brdMapa" BorderBrush="Black" BorderThickness="1" Margin="465,71,475,63">
<Border x:Name="brdMapa" BorderBrush="Black" BorderThickness="1" Margin="465,71,475,116">
<Canvas>
<controls:MapViewControl x:Name="MAP" MarkerClicked="MAP_MarkerClicked" StreetMapClicked="MAP_StreetMapClicked" MbTilesPath="Data/basemap.mbtiles" Latitude="-22.1726572492617" Longitude="-47.3952163870556" Scale="5000" Height="873" Width="978" />
<controls:MapViewControl x:Name="MAP" MarkerClicked="MAP_MarkerClicked" StreetMapClicked="MAP_StreetMapClicked" MbTilesPath="Data/basemap.mbtiles" Latitude="-22.1726572492617" Longitude="-47.3952163870556" Scale="5000" Height="842" Width="978" HorizontalAlignment="Center" VerticalAlignment="Top" />
<controls:HeadingIndicator x:Name="HDG" Width="130" Height="130" Canvas.Left="10" Canvas.Top="10" HorizontalAlignment="Left" VerticalAlignment="Center"/>
<controls:AttitudeIndicator x:Name="IMU" Width="160" Height="180" Canvas.Left="10" Canvas.Top="683" CriticalLimit="20" WarningLimit="10" HorizontalAlignment="Left" VerticalAlignment="Center"/>
<controls:AttitudeIndicator x:Name="IMU" Width="160" Height="180" Canvas.Left="10" Canvas.Bottom="10" CriticalLimit="20" WarningLimit="10" HorizontalAlignment="Left" VerticalAlignment="Center"/>
</Canvas>
</Border>
@ -552,7 +584,7 @@
</Canvas>
</Border>
<Border Name="brdMapaInfo" BorderBrush="Black" BorderThickness="1" Height="26" Width="980" Canvas.Top="878" HorizontalAlignment="Left" VerticalAlignment="Top" Margin="465,951,0,0">
<Border Name="brdMapaInfo" BorderBrush="Black" BorderThickness="1" Height="26" Width="980" Canvas.Top="878" HorizontalAlignment="Left" VerticalAlignment="Top" Margin="465,898,0,0">
<Canvas>
<Label x:Name="lblMapaInfo_Debug" Content="Próximo Ponto: 0 | Parado | Distância próximo ponto: 0,00 m | Distância ponto anterior: 0,00 m | Corredor: Fora | Margem: Não | Disância Esquerda: 0 cm | Distância Direita: 0 cm | Status: Parado" FontSize="9" HorizontalAlignment="Center" VerticalAlignment="Top" Canvas.Top="1"/>
</Canvas>
@ -578,17 +610,146 @@
</Canvas>
</Border>
<Border x:Name="brdLidar" BorderBrush="Black" BorderThickness="1" CornerRadius="8" Margin="1453,665,7,32" Background="Black">
<Border x:Name="brdLidar" BorderBrush="Black" BorderThickness="1" CornerRadius="8" Margin="1453,654,7,85" Background="Black">
<Canvas>
<controls:Bbox3DViewer x:Name="BBoxes3D" Height="305" Width="453" HorizontalAlignment="Left" VerticalAlignment="Center" Canvas.Top="2" Canvas.Left="2"/>
<controls:Bbox3DViewer x:Name="BBoxes3D" Height="263" Width="453" HorizontalAlignment="Center" VerticalAlignment="Top" Canvas.Top="2" Canvas.Left="2"/>
</Canvas>
</Border>
<Border x:Name="brdBottom" BorderBrush="Black" BorderThickness="1" Margin="0,982,0,0">
<Canvas>
</Canvas>
<Border x:Name="brdBottom" Height="80" VerticalAlignment="Top" BorderBrush="#222" BorderThickness="1" Background="#11161C" Margin="0,929,0,0">
<!-- ajusta conforme teu layout -->
<Grid>
<!-- Lista de alertas ativos -->
<ScrollViewer x:Name="svAlertas" HorizontalScrollBarVisibility="Auto" VerticalScrollBarVisibility="Disabled" CanContentScroll="False" Margin="6,0,6,0">
<!-- PreviewMouseLeftButtonDown="svAlertas_PreviewMouseLeftButtonDown" PreviewMouseMove="svAlertas_PreviewMouseMove" PreviewMouseLeftButtonUp="svAlertas_PreviewMouseLeftButtonUp" -->
<ScrollViewer.Resources>
<Style TargetType="ScrollBar" BasedOn="{StaticResource ThinScrollBar}" />
</ScrollViewer.Resources>
<ItemsControl ItemsSource="{Binding AlertasAtivos}">
<!-- painél horizontal -->
<ItemsControl.ItemsPanel>
<ItemsPanelTemplate>
<StackPanel Orientation="Horizontal"/>
</ItemsPanelTemplate>
</ItemsControl.ItemsPanel>
<!-- template de cada cartão de alerta -->
<ItemsControl.ItemTemplate>
<DataTemplate DataType="{x:Type models:AlertaModel}">
<Border Margin="6,4,0,4" Padding="8,4" CornerRadius="6" Cursor="Hand" MouseLeftButtonUp="Alerta_MouseLeftButtonUp">
<Border.Style>
<Style TargetType="Border">
<Setter Property="Background" Value="#1C1F23"/>
<Setter Property="BorderBrush" Value="#3A424F"/>
<Setter Property="BorderThickness" Value="1"/>
<!-- Muda a cor conforme severidade -->
<Style.Triggers>
<DataTrigger Binding="{Binding Severidade}" Value="Warning">
<Setter Property="BorderBrush" Value="#EFBF2F"/>
</DataTrigger>
<DataTrigger Binding="{Binding Severidade}" Value="Error">
<Setter Property="BorderBrush" Value="#FF5656"/>
</DataTrigger>
<DataTrigger Binding="{Binding Severidade}" Value="Critical">
<Setter Property="BorderBrush" Value="#FF5656"/>
<Setter Property="Background" Value="#3A171C"/>
</DataTrigger>
</Style.Triggers>
</Style>
</Border.Style>
<StackPanel Orientation="Horizontal">
<!-- Ícone / emoji simples -->
<TextBlock Text="{Binding Icone}" FontSize="14" Margin="0,0,6,0"/>
<StackPanel>
<TextBlock Text="{Binding Titulo}" FontWeight="Bold" Foreground="#F5F7FA" FontSize="11"/>
<TextBlock Text="{Binding Mensagem}" Foreground="#B7C0CC" FontSize="10" TextTrimming="CharacterEllipsis" MaxWidth="260"/>
</StackPanel>
</StackPanel>
</Border>
</DataTemplate>
</ItemsControl.ItemTemplate>
</ItemsControl>
</ScrollViewer>
<!-- Mensagem quando não tiver alerta nenhum -->
<TextBlock Text="Nenhum alerta ativo" HorizontalAlignment="Center" VerticalAlignment="Center" Foreground="#636C7A" FontSize="11">
<TextBlock.Style>
<Style TargetType="TextBlock">
<Setter Property="Visibility" Value="Collapsed"/>
<Style.Triggers>
<DataTrigger Binding="{Binding AlertasAtivos.Count}" Value="0">
<Setter Property="Visibility" Value="Visible"/>
</DataTrigger>
</Style.Triggers>
</Style>
</TextBlock.Style>
</TextBlock>
</Grid>
</Border>
<!-- TOAST DE ALERTA -->
<Border x:Name="brdToastAlerta" HorizontalAlignment="Right" VerticalAlignment="Top" Margin="0,70,20,0" Padding="10,8" CornerRadius="8" Background="#1C1F23" BorderBrush="#3A424F" BorderThickness="1" Cursor="Hand" Visibility="{Binding ToastAlerta, Converter={StaticResource NullToVisibilityConverter}}" MouseLeftButtonUp="ToastAlerta_MouseLeftButtonUp">
<Border.Style>
<Style TargetType="Border">
<Setter Property="Opacity" Value="0.95"/>
<!-- muda cor pela severidade -->
<Style.Triggers>
<DataTrigger Binding="{Binding ToastAlerta.Severidade}" Value="Warning">
<Setter Property="BorderBrush" Value="#EFBF2F"/>
</DataTrigger>
<DataTrigger Binding="{Binding ToastAlerta.Severidade}" Value="Error">
<Setter Property="BorderBrush" Value="#FF5656"/>
</DataTrigger>
<DataTrigger Binding="{Binding ToastAlerta.Severidade}" Value="Critical">
<Setter Property="BorderBrush" Value="#FF5656"/>
<Setter Property="Background" Value="#3A171C"/>
</DataTrigger>
</Style.Triggers>
</Style>
</Border.Style>
<!-- Conteúdo do toast -->
<StackPanel Orientation="Horizontal">
<TextBlock Text="{Binding ToastAlerta.Icone}"
FontSize="16"
Margin="0,0,6,0"/>
<StackPanel>
<!-- linha com Rover e título -->
<StackPanel Orientation="Horizontal">
<Border Background="#2F3B4A"
CornerRadius="4"
Padding="4,1"
Margin="0,0,6,0">
<TextBlock Text="{Binding ToastAlerta.Rover_ID}"
Foreground="White"
FontSize="10"
FontWeight="Bold"/>
</Border>
<TextBlock Text="{Binding ToastAlerta.Titulo}"
FontWeight="Bold"
Foreground="#F5F7FA"
FontSize="11"/>
</StackPanel>
<!-- mensagem -->
<TextBlock Text="{Binding ToastAlerta.Mensagem}"
Foreground="#B7C0CC"
FontSize="10"
TextWrapping="Wrap"
MaxWidth="320"/>
</StackPanel>
</StackPanel>
</Border>
</Grid>

383
AgroBase/OperationControl/Windows/MainWindow.xaml.cs
View File

@ -1,6 +1,5 @@
using System.Windows;
using ScottPlot;
using OperationControl.Controls;
using OperationControl.Models;
using System.Windows.Controls;
@ -15,28 +14,25 @@ using MessageBox = System.Windows.MessageBox;
using Brush = System.Windows.Media.Brush;
using Brushes = System.Windows.Media.Brushes;
using Label = System.Windows.Controls.Label;
using ScottPlot.WPF;
using Newtonsoft.Json.Linq;
using AgroBase.Models.Operadores;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Windows.Threading;
namespace OperationControl.Windows
{
/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public partial class MainWindow : Window
public partial class MainWindow : Window, INotifyPropertyChanged
{
// buffers (X = tempo em segundos)
private GraficoModel graficoAcompanhamento;
private LibVLC _libVLC;
private MediaPlayer _playerFront;
private MediaPlayer _playerWeed;
private Media _mediaFront;
private Media _mediaWeed;
private Label _labelModuloSelecionado;
public MainWindow()
{
InitializeComponent();
@ -57,6 +53,8 @@ namespace OperationControl.Windows
graficoAcompanhamento = new GraficoModel(pltSaude_Acompanhamento);
DataContext = this;
//DataContext = this;
@ -85,6 +83,16 @@ namespace OperationControl.Windows
Loaded += MainWindow_Loaded;
Closed += MainWindow_Closed;
_toastTimer = new DispatcherTimer
{
Interval = TimeSpan.FromSeconds(6) // tempo do toast na tela
};
_toastTimer.Tick += (s, e) =>
{
_toastTimer.Stop();
ToastAlerta = null;
};
}
private void MainWindow_Loaded(object sender, RoutedEventArgs e)
@ -217,6 +225,57 @@ namespace OperationControl.Windows
MAP.markers.UpdateMarkerInfo(rover_id, status: dados_leitura.StatusOperacao);
}
if (rover != null && dados_leitura?.ModulosSaude != null)
{
SeveridadeAlerta DeParaStatus(AgroBase.Models.Enums.StatusModulo status, bool mandatorio)
{
switch (status)
{
case AgroBase.Models.Enums.StatusModulo.Operante:
return SeveridadeAlerta.Info;
case AgroBase.Models.Enums.StatusModulo.Alerta:
return SeveridadeAlerta.Warning;
case AgroBase.Models.Enums.StatusModulo.Falha:
return (mandatorio) ? SeveridadeAlerta.Critical : SeveridadeAlerta.Error;
case AgroBase.Models.Enums.StatusModulo.Conectado:
return (mandatorio) ? SeveridadeAlerta.Warning : SeveridadeAlerta.Info;
case AgroBase.Models.Enums.StatusModulo.Desconectado:
return (mandatorio) ? SeveridadeAlerta.Critical : SeveridadeAlerta.Error;
default:
return SeveridadeAlerta.Info;
}
}
foreach (var mod in dados_leitura.ModulosSaude)
{
if (mod.saude_individual.Any())
{
foreach (var ind in mod.saude_individual)
{
if (ind.status != AgroBase.Models.Enums.StatusModulo.Operante)
{
AdicionarAlerta(rover.RoverId, mod.modulo, DeParaStatus(ind.status, ind.em_uso), string.Join(", ", ind.motivos), Mod_ID: ind.label);
}
else
{
RemoverAlerta(rover.RoverId, mod.modulo, Mod_ID: ind.label);
}
}
}
else
{
if (mod.status != AgroBase.Models.Enums.StatusModulo.Operante)
{
AdicionarAlerta(rover.RoverId, mod.modulo, DeParaStatus(mod.status, rover.ModulosMandatorios?.Any(x => x.Dispositivo == mod.modulo && x.Mandatorio) ?? false), string.Join(", ", mod.motivos));
}
else
{
RemoverAlerta(rover.RoverId, mod.modulo);
}
}
}
}
if (rover_id != VariaveisControleOperacao.SelectedRoverId) return;
Application.Current.Dispatcher.BeginInvoke(new Action(() =>
@ -330,6 +389,9 @@ namespace OperationControl.Windows
#region DIAGNOSTICOS
private Label _labelModuloSelecionado;
private GraficoModel graficoAcompanhamento;
private void AtualizarDadosTela_Diagnosticos(AgroBase.Models.Operacoes.OperacaoParametrosModel dados)
{
lblDiagnosticos_Impedimento.Text = "Impedimento: " + (string.IsNullOrEmpty(dados.DadosLeitura.ErroOperacaoLiberada) ? "Nenhum" : dados.DadosLeitura.ErroOperacaoLiberada.Replace("\n\n", "; "));
@ -950,7 +1012,7 @@ namespace OperationControl.Windows
AgroBase.Models.Enums.Sentido sentido_sp = mod?.SentidoSP ?? AgroBase.Models.Enums.Sentido.Parado;
AgroBase.Models.Enums.Sentido sentido = mod?.SentidoReal ?? AgroBase.Models.Enums.Sentido.Parado;
double angulo_sp = mod?.Angulo_SP ?? 0;
double angulo = mod?.Angulo ?? 0;
double angulo = mod?.AnguloDriver ?? 0;
txtDir_Titulo.Text = $"Direcional {label} - Testes";
txtDir_SentidoSP.Text = sentido_sp.ToString();
txtDir_Sentido.Text = sentido.ToString();
@ -992,7 +1054,8 @@ namespace OperationControl.Windows
private void sldBarra_Altura_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
{
lblBarra_Altura.Content = $"{Convert.ToInt32(sldBarra_Altura.Value):00} cm";
if (lblBarra_Altura != null)
lblBarra_Altura.Content = $"{Convert.ToInt32(sldBarra_Altura.Value):00} cm";
}
private void btnBarra_Mover_Click(object sender, RoutedEventArgs e)
@ -1001,7 +1064,7 @@ namespace OperationControl.Windows
if (modulo != AgroBase.Models.Enums.T_Code.Atu && s_code != AgroBase.Models.Enums.S_Code.sMOD)
return;
VariaveisControleOperacao.EnviarComandoAtuador(label, angulo_controle: Convert.ToInt32(sldBarra_Altura.Value));
VariaveisControleOperacao.EnviarComandoAtuador(label, altura: Convert.ToInt32(sldBarra_Altura.Value));
}
#endregion
@ -1538,19 +1601,23 @@ namespace OperationControl.Windows
ATU.ComprimentoBarraCm = AgroBase.Models.VariaveisEquipamento.ComprimentoBarraPulverizadoraCm;
ATU.DistanciaEntreBicosCm = AgroBase.Models.VariaveisEquipamento.DistanciaEntreBicosCm;
ATU.AlturaBarra = dados?.Controle?.AlturaBarra ?? AgroBase.Models.VariaveisEquipamento.AlturaBarraPulverizadoraCm;
ATU.IsBombaOn = dados.Atuador?.LeituraComandoBomba ?? false;
ATU.PressaoLinha = dados.Atuador?.PressaoLinha ?? 0;
ATU.VazaoInstantanea = dados.Atuador?.VazaoInstantanea ?? 0;
ATU.TempoAtuado = (dados.Atuador?.TempoBombaAtuada ?? 0) / 1000.0;
ATU.IsBombaOn = dados?.Atuador?.LeituraComandoBomba ?? false;
ATU.PressaoLinha = dados?.Atuador?.PressaoLinha ?? 0;
ATU.VazaoInstantanea = dados?.Atuador?.VazaoInstantanea ?? 0;
ATU.TempoAtuado = (dados?.Atuador?.TempoBombaAtuada ?? 0) / 1000.0;
if (ATU.QtdBicos != dados.Controle?.BicosAtuados?.Count)
double erroLateral = ((dados?.Trajetoria?.DistanciaEsquerda ?? 0) - (dados?.Trajetoria?.DistanciaDireita ?? 0)) / 2.0 * 100.0;
ATU.LarguraRuaCm = 100.0;
ATU.ErroLateralCm = erroLateral;
if (ATU.QtdBicos != dados?.Controle?.BicosAtuados?.Count)
{
ATU.QtdBicos = dados.Controle?.BicosAtuados?.Count ?? AgroBase.Models.VariaveisEquipamento.QuantidadeBicosPulverizadores;
ATU.QtdBicos = dados?.Controle?.BicosAtuados?.Count ?? AgroBase.Models.VariaveisEquipamento.QuantidadeBicosPulverizadores;
}
foreach (var bico in ATU.Bicos)
{
var _bc = dados.Controle?.BicosAtuados?.FirstOrDefault(x => (x.Posicao - 1) == bico.Index);
var _bc = dados?.Controle?.BicosAtuados?.FirstOrDefault(x => (x.Posicao - 1) == bico.Index);
if (_bc == null) continue;
bico.OpeningAngle = _bc.AnguloAbertura;
@ -1588,125 +1655,177 @@ namespace OperationControl.Windows
#endregion
#region ALERTAS
public ObservableCollection<AlertaModel> AlertasAtivos { get; } = new();
private AlertaModel _toastAlerta;
public AlertaModel ToastAlerta
{
get => _toastAlerta;
set
{
if (_toastAlerta == value) return;
_toastAlerta = value;
OnPropertyChanged(nameof(ToastAlerta));
}
}
private readonly DispatcherTimer _toastTimer;
public event PropertyChangedEventHandler PropertyChanged;
protected void OnPropertyChanged(string name) => PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(name));
private System.Windows.Point _scrollDragStartPoint;
private double _scrollDragStartOffset;
private bool _isDraggingScroll;
private void svAlertas_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
{
if (sender is ScrollViewer sv)
{
_isDraggingScroll = true;
_scrollDragStartPoint = e.GetPosition(sv);
_scrollDragStartOffset = sv.HorizontalOffset;
sv.CaptureMouse();
}
}
private void svAlertas_PreviewMouseMove(object sender, System.Windows.Input.MouseEventArgs e)
{
if (_isDraggingScroll && sender is ScrollViewer sv && e.LeftButton == MouseButtonState.Pressed)
{
var currentPoint = e.GetPosition(sv);
var deltaX = currentPoint.X - _scrollDragStartPoint.X;
// Inverte o sinal pra "puxar" pro lado que arrasta
sv.ScrollToHorizontalOffset(_scrollDragStartOffset - deltaX);
}
}
private void svAlertas_PreviewMouseLeftButtonUp(object sender, MouseButtonEventArgs e)
{
if (sender is ScrollViewer sv)
{
_isDraggingScroll = false;
sv.ReleaseMouseCapture();
}
}
public void AdicionarAlerta(string Rover_ID, AgroBase.Models.Enums.T_Code Modulo, SeveridadeAlerta Severidade, string Mensagem, string? Mod_ID = null)
{
Application.Current.Dispatcher.BeginInvoke(new Action(() =>
{
try
{
var existente = AlertasAtivos.FirstOrDefault(x => x.Rover_ID == Rover_ID && x.Modulo == Modulo && x.Mod_ID == Mod_ID);
if (existente == null)
{
var alerta = new AlertaModel
{
Rover_ID = Rover_ID,
Severidade = Severidade,
Modulo = Modulo,
Mod_ID = Mod_ID,
Mensagem = Mensagem,
Timestamp = DateTime.Now,
};
AlertasAtivos.Add(alerta);
// 🔔 dispara o toast para NOVO alerta
MostrarToast(alerta);
}
else
{
existente.Mensagem = Mensagem;
existente.Severidade = Severidade;
}
}
catch (Exception exUi)
{
Variaveis.MostrarLog($"Erro ao adicionar alerta: {exUi.Message}");
}
}));
}
public void RemoverAlerta(string Rover_ID, AgroBase.Models.Enums.T_Code Modulo, SeveridadeAlerta? Severidade = null, string? Mod_ID = null)
{
Application.Current.Dispatcher.BeginInvoke(new Action(() =>
{
try
{
var alerta = AlertasAtivos.FirstOrDefault(x => x.Rover_ID == Rover_ID && x.Modulo == Modulo && x.Mod_ID == Mod_ID && (Severidade != null ? x.Severidade == Severidade : true));
if (alerta != null)
{
AlertasAtivos.Remove(alerta);
}
}
catch (Exception exUi)
{
Variaveis.MostrarLog($"Erro ao remover alerta: {exUi.Message}");
}
}));
}
private void Alerta_MouseLeftButtonUp(object sender, MouseButtonEventArgs e)
{
if (sender is Border border && border.DataContext is AlertaModel alerta)
{
var nome = $"lblDiagnosticos_{alerta.Modulo.ToString().ToUpper()}" + ((!string.IsNullOrEmpty(alerta.Mod_ID) && alerta.Mod_ID != AgroBase.Models.Enums.S_Code.sMOD.ToString()) ? $"_{alerta.Mod_ID}" : "");
var nome_mod = $"lblDiagnosticos_{alerta.Modulo.ToString().ToUpper()}";
var label = this.FindName(nome) as Label;
if (label == null) label = this.FindName(nome_mod) as Label;
if (label != null)
{
if (alerta.Rover_ID != VariaveisControleOperacao.SelectedRoverId)
{
int idx = cmbDispositivo.Items.IndexOf(alerta.Rover_ID);
cmbDispositivo.SelectedIndex = idx;
}
DiagnosticoModulo_Click(label, e);
}
}
}
private void MostrarToast(AlertaModel alerta)
{
ToastAlerta = alerta;
_toastTimer.Stop();
_toastTimer.Start();
}
private void ToastAlerta_MouseLeftButtonUp(object sender, MouseButtonEventArgs e)
{
var alerta = ToastAlerta;
if (alerta == null)
return;
_toastTimer.Stop();
ToastAlerta = null;
var nome = $"lblDiagnosticos_{alerta.Modulo.ToString().ToUpper()}" + ((!string.IsNullOrEmpty(alerta.Mod_ID) && alerta.Mod_ID != AgroBase.Models.Enums.S_Code.sMOD.ToString()) ? $"_{alerta.Mod_ID}" : "");
var nome_mod = $"lblDiagnosticos_{alerta.Modulo.ToString().ToUpper()}";
var label = this.FindName(nome) as Label;
if (label == null) label = this.FindName(nome_mod) as Label;
if (label != null)
{
if (alerta.Rover_ID != VariaveisControleOperacao.SelectedRoverId)
{
int idx = cmbDispositivo.Items.IndexOf(alerta.Rover_ID);
cmbDispositivo.SelectedIndex = idx;
}
DiagnosticoModulo_Click(label, e);
}
}
#endregion
}
public class GraficoModel
{
public GraficoModel(WpfPlot grafico)
{
Grafico = grafico;
}
private WpfPlot Grafico { get; set; }
private bool EmUso { get; set; }
private DateTime Tempo_Atual { get; set; }
private DateTime? Tempo_Inicial { get; set; }
private List<double> Eixo_X { get; set; }
private List<List<double>> Eixo_Y { get; set; }
private double Limite { get; set; }
private List<GraficoParametrosModel> Parametros { get; set; }
private void InicializarGrafico(List<GraficoParametrosModel> parametros)
{
Parametros = parametros;
Grafico.Plot.ShowLegend(Alignment.UpperLeft);
Eixo_X = new List<double>();
Eixo_Y = new List<List<double>>();
Parametros.ForEach(p =>
{
Eixo_Y.Add(new List<double>());
p.Cor = GetNextColor();
});
Tempo_Inicial = Tempo_Atual;
_colorIndex = 0;
EmUso = true;
}
public void Atualizar(bool inicial, DateTime? t_atual, List<GraficoParametrosModel> parametros, double limite = 60)
{
Tempo_Atual = t_atual ?? DateTime.Now;
Limite = limite;
if (inicial)
InicializarGrafico(parametros);
Parametros.ForEach(p => p.Atualizar(parametros[Parametros.IndexOf(p)]));
AtualizaDadosGrafico();
}
private void AtualizaDadosGrafico()
{
double tSegundos = (Tempo_Atual - Tempo_Inicial!.Value).TotalSeconds;
Grafico.Plot.Clear();
Eixo_X.Add(tSegundos);
for (int i = 0; i < Parametros.Count; i++)
{
Eixo_Y[i].Add(Parametros[i].Valor ?? 0);
var sc = Grafico.Plot.Add.Scatter(Eixo_X.ToArray(), Eixo_Y[i].ToArray());
sc.Label = $"{Parametros[i].Label} {(Parametros[i].Valor ?? 0):0.00} {Parametros[i].Unidade}";
sc.Color = Parametros[i].Cor;
sc.LineWidth = 2;
}
while (Eixo_X.Count > Limite)
{
Eixo_X.RemoveAt(0);
Eixo_Y.ForEach(x => x.RemoveAt(0));
}
double xEnd = Eixo_X[^1];
double xStart = Math.Max(0, xEnd - Limite);
Grafico.Plot.Axes.SetLimitsX(xStart, xEnd);
Grafico.Plot.Axes.AutoScaleY();
Grafico.Refresh();
}
public void Limpar(DateTime? t_atual)
{
if ((t_atual ?? DateTime.Now) > Tempo_Atual && EmUso)
{
Grafico.Plot.Clear();
Grafico.Refresh();
EmUso = false;
}
}
private int _colorIndex = 0;
private ScottPlot.Color GetNextColor()
{
var palette = ScottPlot.Palette.GetPalettes()[3];
var colors = palette.Colors;
var color = colors[_colorIndex % colors.Length];
_colorIndex++;
return color;
}
public class GraficoParametrosModel
{
public string Label { get; set; }
public string Unidade { get; set; }
public double? Valor { get; set; }
public ScottPlot.Color Cor { get; set; }
public void Atualizar(GraficoParametrosModel p)
{
Label = p.Label;
Unidade = p.Unidade;
Valor = p.Valor;
}
}
}
}

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AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/AttitudeIndicator.g.i.cs
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@ -94,7 +94,7 @@ namespace OperationControl.Controls {
return;
}
_contentLoaded = true;
System.Uri resourceLocater = new System.Uri("/OperationControl;component/controls/attitudeindicator.xaml", System.UriKind.Relative);
System.Uri resourceLocater = new System.Uri("/OperationControl;V1.0.0.0;component/controls/attitudeindicator.xaml", System.UriKind.Relative);
#line 1 "..\..\..\..\Controls\AttitudeIndicator.xaml"
System.Windows.Application.LoadComponent(this, resourceLocater);

2
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/Bbox3DViewer.g.i.cs
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@ -62,7 +62,7 @@ namespace OperationControl.Controls {
return;
}
_contentLoaded = true;
System.Uri resourceLocater = new System.Uri("/OperationControl;component/controls/bbox3dviewer.xaml", System.UriKind.Relative);
System.Uri resourceLocater = new System.Uri("/OperationControl;V1.0.0.0;component/controls/bbox3dviewer.xaml", System.UriKind.Relative);
#line 1 "..\..\..\..\Controls\Bbox3DViewer.xaml"
System.Windows.Application.LoadComponent(this, resourceLocater);

2
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/GstVideoView.g.i.cs
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@ -64,7 +64,7 @@ namespace OperationControl.Controls {
return;
}
_contentLoaded = true;
System.Uri resourceLocater = new System.Uri("/OperationControl;component/controls/gstvideoview.xaml", System.UriKind.Relative);
System.Uri resourceLocater = new System.Uri("/OperationControl;V1.0.0.0;component/controls/gstvideoview.xaml", System.UriKind.Relative);
#line 1 "..\..\..\..\Controls\GstVideoView.xaml"
System.Windows.Application.LoadComponent(this, resourceLocater);

2
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/HeadingIndicator.g.i.cs
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@ -118,7 +118,7 @@ namespace OperationControl.Controls {
return;
}
_contentLoaded = true;
System.Uri resourceLocater = new System.Uri("/OperationControl;component/controls/headingindicator.xaml", System.UriKind.Relative);
System.Uri resourceLocater = new System.Uri("/OperationControl;V1.0.0.0;component/controls/headingindicator.xaml", System.UriKind.Relative);
#line 1 "..\..\..\..\Controls\HeadingIndicator.xaml"
System.Windows.Application.LoadComponent(this, resourceLocater);

2
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/LabeledBar.g.i.cs
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@ -54,7 +54,7 @@ namespace OperationControl.Controls {
return;
}
_contentLoaded = true;
System.Uri resourceLocater = new System.Uri("/OperationControl;component/controls/labeledbar.xaml", System.UriKind.Relative);
System.Uri resourceLocater = new System.Uri("/OperationControl;V1.0.0.0;component/controls/labeledbar.xaml", System.UriKind.Relative);
#line 1 "..\..\..\..\Controls\LabeledBar.xaml"
System.Windows.Application.LoadComponent(this, resourceLocater);

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AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/ManualControlPad.g.cs
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@ -1,4 +1,4 @@
#pragma checksum "..\..\..\..\Controls\ManualControlPad.xaml" "{ff1816ec-aa5e-4d10-87f7-6f4963833460}" "45D166CF9D8548740F135E2643613360D10EFB00"
#pragma checksum "..\..\..\..\Controls\ManualControlPad.xaml" "{ff1816ec-aa5e-4d10-87f7-6f4963833460}" "DBBBFC9B3BD438E845FAFDF6B05A8925CB23F643"
//------------------------------------------------------------------------------
// <auto-generated>
// This code was generated by a tool.

4
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/ManualControlPad.g.i.cs
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@ -1,4 +1,4 @@
#pragma checksum "..\..\..\..\Controls\ManualControlPad.xaml" "{ff1816ec-aa5e-4d10-87f7-6f4963833460}" "45D166CF9D8548740F135E2643613360D10EFB00"
#pragma checksum "..\..\..\..\Controls\ManualControlPad.xaml" "{ff1816ec-aa5e-4d10-87f7-6f4963833460}" "DBBBFC9B3BD438E845FAFDF6B05A8925CB23F643"
//------------------------------------------------------------------------------
// <auto-generated>
// This code was generated by a tool.
@ -142,7 +142,7 @@ namespace OperationControl.Controls {
return;
}
_contentLoaded = true;
System.Uri resourceLocater = new System.Uri("/OperationControl;component/controls/manualcontrolpad.xaml", System.UriKind.Relative);
System.Uri resourceLocater = new System.Uri("/OperationControl;V1.0.0.0;component/controls/manualcontrolpad.xaml", System.UriKind.Relative);
#line 1 "..\..\..\..\Controls\ManualControlPad.xaml"
System.Windows.Application.LoadComponent(this, resourceLocater);

2
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/MapViewControl.g.i.cs
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@ -94,7 +94,7 @@ namespace OperationControl.Controls {
return;
}
_contentLoaded = true;
System.Uri resourceLocater = new System.Uri("/OperationControl;component/controls/mapviewcontrol.xaml", System.UriKind.Relative);
System.Uri resourceLocater = new System.Uri("/OperationControl;V1.0.0.0;component/controls/mapviewcontrol.xaml", System.UriKind.Relative);
#line 1 "..\..\..\..\Controls\MapViewControl.xaml"
System.Windows.Application.LoadComponent(this, resourceLocater);

2
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/ProgressBarText.g.i.cs
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@ -61,7 +61,7 @@ namespace OperationControl.Controls {
return;
}
_contentLoaded = true;
System.Uri resourceLocater = new System.Uri("/OperationControl;component/controls/progressbartext.xaml", System.UriKind.Relative);
System.Uri resourceLocater = new System.Uri("/OperationControl;V1.0.0.0;component/controls/progressbartext.xaml", System.UriKind.Relative);
#line 1 "..\..\..\..\Controls\ProgressBarText.xaml"
System.Windows.Application.LoadComponent(this, resourceLocater);

3
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/Pulverizador/BicoLequeIndicator.g.i.cs
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@ -86,7 +86,8 @@ namespace OperationControl.Controls.Pulverizador {
return;
}
_contentLoaded = true;
System.Uri resourceLocater = new System.Uri("/OperationControl;component/controls/pulverizador/bicolequeindicator.xaml", System.UriKind.Relative);
System.Uri resourceLocater = new System.Uri("/OperationControl;V1.0.0.0;component/controls/pulverizador/bicolequeindicator.xam" +
"l", System.UriKind.Relative);
#line 1 "..\..\..\..\..\Controls\Pulverizador\BicoLequeIndicator.xaml"
System.Windows.Application.LoadComponent(this, resourceLocater);

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AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/Pulverizador/PulverizadorIndicator.g.cs
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@ -1,4 +1,4 @@
#pragma checksum "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml" "{ff1816ec-aa5e-4d10-87f7-6f4963833460}" "C4A48F534F5D7A53A41F2E3B5092091C33C861F6"
#pragma checksum "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml" "{ff1816ec-aa5e-4d10-87f7-6f4963833460}" "604D2EAAA60BFA58448E360FBF7AF9D6D036362A"
//------------------------------------------------------------------------------
// <auto-generated>
// This code was generated by a tool.
@ -43,7 +43,7 @@ namespace OperationControl.Controls {
public partial class PulverizadorIndicator : System.Windows.Controls.UserControl, System.Windows.Markup.IComponentConnector {
#line 62 "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml"
#line 64 "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Canvas canvasPai;
@ -51,7 +51,7 @@ namespace OperationControl.Controls {
#line hidden
#line 68 "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml"
#line 70 "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Shapes.Line linhaBarra;

9
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/Pulverizador/PulverizadorIndicator.g.i.cs
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@ -1,4 +1,4 @@
#pragma checksum "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml" "{ff1816ec-aa5e-4d10-87f7-6f4963833460}" "C4A48F534F5D7A53A41F2E3B5092091C33C861F6"
#pragma checksum "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml" "{ff1816ec-aa5e-4d10-87f7-6f4963833460}" "604D2EAAA60BFA58448E360FBF7AF9D6D036362A"
//------------------------------------------------------------------------------
// <auto-generated>
// This code was generated by a tool.
@ -43,7 +43,7 @@ namespace OperationControl.Controls {
public partial class PulverizadorIndicator : System.Windows.Controls.UserControl, System.Windows.Markup.IComponentConnector {
#line 62 "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml"
#line 64 "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Controls.Canvas canvasPai;
@ -51,7 +51,7 @@ namespace OperationControl.Controls {
#line hidden
#line 68 "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml"
#line 70 "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml"
[System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1823:AvoidUnusedPrivateFields")]
internal System.Windows.Shapes.Line linhaBarra;
@ -70,7 +70,8 @@ namespace OperationControl.Controls {
return;
}
_contentLoaded = true;
System.Uri resourceLocater = new System.Uri("/OperationControl;component/controls/pulverizador/pulverizadorindicator.xaml", System.UriKind.Relative);
System.Uri resourceLocater = new System.Uri("/OperationControl;V1.0.0.0;component/controls/pulverizador/pulverizadorindicator." +
"xaml", System.UriKind.Relative);
#line 1 "..\..\..\..\..\Controls\Pulverizador\PulverizadorIndicator.xaml"
System.Windows.Application.LoadComponent(this, resourceLocater);

2
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/RiskMeter.g.i.cs
View File

@ -53,7 +53,7 @@ namespace OperationControl.Controls {
return;
}
_contentLoaded = true;
System.Uri resourceLocater = new System.Uri("/OperationControl;component/controls/riskmeter.xaml", System.UriKind.Relative);
System.Uri resourceLocater = new System.Uri("/OperationControl;V1.0.0.0;component/controls/riskmeter.xaml", System.UriKind.Relative);
#line 1 "..\..\..\..\Controls\RiskMeter.xaml"
System.Windows.Application.LoadComponent(this, resourceLocater);

2
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/Controls/TemperatureIndicator.g.i.cs
View File

@ -86,7 +86,7 @@ namespace OperationControl.Controls {
return;
}
_contentLoaded = true;
System.Uri resourceLocater = new System.Uri("/OperationControl;component/controls/temperatureindicator.xaml", System.UriKind.Relative);
System.Uri resourceLocater = new System.Uri("/OperationControl;V1.0.0.0;component/controls/temperatureindicator.xaml", System.UriKind.Relative);
#line 1 "..\..\..\..\Controls\TemperatureIndicator.xaml"
System.Windows.Application.LoadComponent(this, resourceLocater);

2
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl.AssemblyInfo.cs
View File

@ -14,7 +14,7 @@ using System.Reflection;
[assembly: System.Reflection.AssemblyCompanyAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0+170f3c515683341e5062615888e8b08e6dd70bbf")]
[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0")]
[assembly: System.Reflection.AssemblyProductAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyTitleAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]

2
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl.AssemblyInfoInputs.cache
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@ -1 +1 @@
ee269d5abc0f80bb639ff70f345f4aaa91038fc433827d6a87d3f4de82d3e68a
7f7e3e3330835a9e331ff8ae9e65bce6b076d907a4ff29ab3f8d822addcfdc36

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AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl.csproj.AssemblyReference.cache
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2
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl.csproj.CoreCompileInputs.cache
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@ -1 +1 @@
818ef7ce0ed74503ace8ecc78cee6c9069d7c1114e1c47addeef80ec09218213
8dc3bc2a7e46ebc3a4ccda87f7e658d27188b6ee79c229774cc95514600ddf60

BIN
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl.dll (Stored with Git LFS)
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BIN
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl.g.resources
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AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl.pdb
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25
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_05gxr5jh_wpftmp.AssemblyInfo.cs Normal file
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@ -0,0 +1,25 @@
//------------------------------------------------------------------------------
// <auto-generated>
// This code was generated by a tool.
// Runtime Version:4.0.30319.42000
//
// Changes to this file may cause incorrect behavior and will be lost if
// the code is regenerated.
// </auto-generated>
//------------------------------------------------------------------------------
using System;
using System.Reflection;
[assembly: System.Reflection.AssemblyCompanyAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0+9fe42b1f3e0be8a0b5d1b13daa0cc7d43113865f")]
[assembly: System.Reflection.AssemblyProductAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyTitleAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]
[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")]
[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")]
// Generated by the MSBuild WriteCodeFragment class.

1
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_05gxr5jh_wpftmp.AssemblyInfoInputs.cache Normal file
View File

@ -0,0 +1 @@
2007709494792a57c79b1e36c36bcd20f1fc4dedeed0161aabf58c51a9c3f231

19
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_05gxr5jh_wpftmp.GeneratedMSBuildEditorConfig.editorconfig Normal file
View File

@ -0,0 +1,19 @@
is_global = true
build_property.ApplicationManifest =
build_property.StartupObject =
build_property.ApplicationDefaultFont =
build_property.ApplicationHighDpiMode =
build_property.ApplicationUseCompatibleTextRendering =
build_property.ApplicationVisualStyles =
build_property.TargetFramework = net8.0-windows7.0
build_property.TargetPlatformMinVersion = 7.0
build_property.UsingMicrosoftNETSdkWeb =
build_property.ProjectTypeGuids =
build_property.InvariantGlobalization =
build_property.PlatformNeutralAssembly =
build_property.EnforceExtendedAnalyzerRules =
build_property._SupportedPlatformList = Linux,macOS,Windows
build_property.RootNamespace = OperationControl_05gxr5jh_wpftmp
build_property.ProjectDir = C:\ZendionInc\agrobot_base\AgroBase\OperationControl\
build_property.EnableComHosting =
build_property.EnableGeneratedComInterfaceComImportInterop =

8
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_05gxr5jh_wpftmp.GlobalUsings.g.cs Normal file
View File

@ -0,0 +1,8 @@
// <auto-generated/>
global using global::System;
global using global::System.Collections.Generic;
global using global::System.Drawing;
global using global::System.Linq;
global using global::System.Threading;
global using global::System.Threading.Tasks;
global using global::System.Windows.Forms;

BIN
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25
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_1tt413s1_wpftmp.AssemblyInfo.cs Normal file
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@ -0,0 +1,25 @@
//------------------------------------------------------------------------------
// <auto-generated>
// This code was generated by a tool.
// Runtime Version:4.0.30319.42000
//
// Changes to this file may cause incorrect behavior and will be lost if
// the code is regenerated.
// </auto-generated>
//------------------------------------------------------------------------------
using System;
using System.Reflection;
[assembly: System.Reflection.AssemblyCompanyAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0+9fe42b1f3e0be8a0b5d1b13daa0cc7d43113865f")]
[assembly: System.Reflection.AssemblyProductAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyTitleAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]
[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")]
[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")]
// Generated by the MSBuild WriteCodeFragment class.

1
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_1tt413s1_wpftmp.AssemblyInfoInputs.cache Normal file
View File

@ -0,0 +1 @@
2007709494792a57c79b1e36c36bcd20f1fc4dedeed0161aabf58c51a9c3f231

19
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_1tt413s1_wpftmp.GeneratedMSBuildEditorConfig.editorconfig Normal file
View File

@ -0,0 +1,19 @@
is_global = true
build_property.ApplicationManifest =
build_property.StartupObject =
build_property.ApplicationDefaultFont =
build_property.ApplicationHighDpiMode =
build_property.ApplicationUseCompatibleTextRendering =
build_property.ApplicationVisualStyles =
build_property.TargetFramework = net8.0-windows7.0
build_property.TargetPlatformMinVersion = 7.0
build_property.UsingMicrosoftNETSdkWeb =
build_property.ProjectTypeGuids =
build_property.InvariantGlobalization =
build_property.PlatformNeutralAssembly =
build_property.EnforceExtendedAnalyzerRules =
build_property._SupportedPlatformList = Linux,macOS,Windows
build_property.RootNamespace = OperationControl_1tt413s1_wpftmp
build_property.ProjectDir = C:\ZendionInc\agrobot_base\AgroBase\OperationControl\
build_property.EnableComHosting =
build_property.EnableGeneratedComInterfaceComImportInterop =

8
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_1tt413s1_wpftmp.GlobalUsings.g.cs Normal file
View File

@ -0,0 +1,8 @@
// <auto-generated/>
global using global::System;
global using global::System.Collections.Generic;
global using global::System.Drawing;
global using global::System.Linq;
global using global::System.Threading;
global using global::System.Threading.Tasks;
global using global::System.Windows.Forms;

BIN
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0
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_1tt413s1_wpftmp.csproj.BuildWithSkipAnalyzers Normal file
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25
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_2m1r4krm_wpftmp.AssemblyInfo.cs Normal file
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@ -0,0 +1,25 @@
//------------------------------------------------------------------------------
// <auto-generated>
// This code was generated by a tool.
// Runtime Version:4.0.30319.42000
//
// Changes to this file may cause incorrect behavior and will be lost if
// the code is regenerated.
// </auto-generated>
//------------------------------------------------------------------------------
using System;
using System.Reflection;
[assembly: System.Reflection.AssemblyCompanyAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0+9fe42b1f3e0be8a0b5d1b13daa0cc7d43113865f")]
[assembly: System.Reflection.AssemblyProductAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyTitleAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]
[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")]
[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")]
// Generated by the MSBuild WriteCodeFragment class.

1
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_2m1r4krm_wpftmp.AssemblyInfoInputs.cache Normal file
View File

@ -0,0 +1 @@
2007709494792a57c79b1e36c36bcd20f1fc4dedeed0161aabf58c51a9c3f231

19
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_2m1r4krm_wpftmp.GeneratedMSBuildEditorConfig.editorconfig Normal file
View File

@ -0,0 +1,19 @@
is_global = true
build_property.ApplicationManifest =
build_property.StartupObject =
build_property.ApplicationDefaultFont =
build_property.ApplicationHighDpiMode =
build_property.ApplicationUseCompatibleTextRendering =
build_property.ApplicationVisualStyles =
build_property.TargetFramework = net8.0-windows7.0
build_property.TargetPlatformMinVersion = 7.0
build_property.UsingMicrosoftNETSdkWeb =
build_property.ProjectTypeGuids =
build_property.InvariantGlobalization =
build_property.PlatformNeutralAssembly =
build_property.EnforceExtendedAnalyzerRules =
build_property._SupportedPlatformList = Linux,macOS,Windows
build_property.RootNamespace = OperationControl_2m1r4krm_wpftmp
build_property.ProjectDir = C:\ZendionInc\agrobot_base\AgroBase\OperationControl\
build_property.EnableComHosting =
build_property.EnableGeneratedComInterfaceComImportInterop =

8
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_2m1r4krm_wpftmp.GlobalUsings.g.cs Normal file
View File

@ -0,0 +1,8 @@
// <auto-generated/>
global using global::System;
global using global::System.Collections.Generic;
global using global::System.Drawing;
global using global::System.Linq;
global using global::System.Threading;
global using global::System.Threading.Tasks;
global using global::System.Windows.Forms;

BIN
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_2m1r4krm_wpftmp.assets.cache Normal file
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0
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_2m1r4krm_wpftmp.csproj.BuildWithSkipAnalyzers Normal file
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25
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_34xk15jk_wpftmp.AssemblyInfo.cs Normal file
View File

@ -0,0 +1,25 @@
//------------------------------------------------------------------------------
// <auto-generated>
// This code was generated by a tool.
// Runtime Version:4.0.30319.42000
//
// Changes to this file may cause incorrect behavior and will be lost if
// the code is regenerated.
// </auto-generated>
//------------------------------------------------------------------------------
using System;
using System.Reflection;
[assembly: System.Reflection.AssemblyCompanyAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0+9fe42b1f3e0be8a0b5d1b13daa0cc7d43113865f")]
[assembly: System.Reflection.AssemblyProductAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyTitleAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]
[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")]
[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")]
// Generated by the MSBuild WriteCodeFragment class.

1
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_34xk15jk_wpftmp.AssemblyInfoInputs.cache Normal file
View File

@ -0,0 +1 @@
2007709494792a57c79b1e36c36bcd20f1fc4dedeed0161aabf58c51a9c3f231

19
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_34xk15jk_wpftmp.GeneratedMSBuildEditorConfig.editorconfig Normal file
View File

@ -0,0 +1,19 @@
is_global = true
build_property.ApplicationManifest =
build_property.StartupObject =
build_property.ApplicationDefaultFont =
build_property.ApplicationHighDpiMode =
build_property.ApplicationUseCompatibleTextRendering =
build_property.ApplicationVisualStyles =
build_property.TargetFramework = net8.0-windows7.0
build_property.TargetPlatformMinVersion = 7.0
build_property.UsingMicrosoftNETSdkWeb =
build_property.ProjectTypeGuids =
build_property.InvariantGlobalization =
build_property.PlatformNeutralAssembly =
build_property.EnforceExtendedAnalyzerRules =
build_property._SupportedPlatformList = Linux,macOS,Windows
build_property.RootNamespace = OperationControl_34xk15jk_wpftmp
build_property.ProjectDir = C:\ZendionInc\agrobot_base\AgroBase\OperationControl\
build_property.EnableComHosting =
build_property.EnableGeneratedComInterfaceComImportInterop =

8
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_34xk15jk_wpftmp.GlobalUsings.g.cs Normal file
View File

@ -0,0 +1,8 @@
// <auto-generated/>
global using global::System;
global using global::System.Collections.Generic;
global using global::System.Drawing;
global using global::System.Linq;
global using global::System.Threading;
global using global::System.Threading.Tasks;
global using global::System.Windows.Forms;

BIN
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_34xk15jk_wpftmp.assets.cache Normal file
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0
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_34xk15jk_wpftmp.csproj.BuildWithSkipAnalyzers Normal file
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25
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_3fnjhohy_wpftmp.AssemblyInfo.cs Normal file
View File

@ -0,0 +1,25 @@
//------------------------------------------------------------------------------
// <auto-generated>
// This code was generated by a tool.
// Runtime Version:4.0.30319.42000
//
// Changes to this file may cause incorrect behavior and will be lost if
// the code is regenerated.
// </auto-generated>
//------------------------------------------------------------------------------
using System;
using System.Reflection;
[assembly: System.Reflection.AssemblyCompanyAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0+9fe42b1f3e0be8a0b5d1b13daa0cc7d43113865f")]
[assembly: System.Reflection.AssemblyProductAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyTitleAttribute("OperationControl")]
[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]
[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")]
[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")]
// Generated by the MSBuild WriteCodeFragment class.

1
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_3fnjhohy_wpftmp.AssemblyInfoInputs.cache Normal file
View File

@ -0,0 +1 @@
2007709494792a57c79b1e36c36bcd20f1fc4dedeed0161aabf58c51a9c3f231

19
AgroBase/OperationControl/obj/Debug/net8.0-windows7.0/OperationControl_3fnjhohy_wpftmp.GeneratedMSBuildEditorConfig.editorconfig Normal file
View File

@ -0,0 +1,19 @@
is_global = true
build_property.ApplicationManifest =
build_property.StartupObject =
build_property.ApplicationDefaultFont =
build_property.ApplicationHighDpiMode =
build_property.ApplicationUseCompatibleTextRendering =
build_property.ApplicationVisualStyles =
build_property.TargetFramework = net8.0-windows7.0
build_property.TargetPlatformMinVersion = 7.0
build_property.UsingMicrosoftNETSdkWeb =
build_property.ProjectTypeGuids =
build_property.InvariantGlobalization =
build_property.PlatformNeutralAssembly =
build_property.EnforceExtendedAnalyzerRules =
build_property._SupportedPlatformList = Linux,macOS,Windows
build_property.RootNamespace = OperationControl_3fnjhohy_wpftmp
build_property.ProjectDir = C:\ZendionInc\agrobot_base\AgroBase\OperationControl\
build_property.EnableComHosting =
build_property.EnableGeneratedComInterfaceComImportInterop =

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