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\ No newline at end of file diff --git a/AgroBase/AgroBase/AgroBase.csproj b/AgroBase/AgroBase/AgroBase.csproj index ab5b64641..91ee2a7f7 100644 --- a/AgroBase/AgroBase/AgroBase.csproj +++ b/AgroBase/AgroBase/AgroBase.csproj @@ -222,6 +222,12 @@ frmPinout.cs + + Form + + + frmSimulacaoMapaGPS.cs + Form @@ -300,6 +306,12 @@ frmSenConfig.cs + + Form + + + frmSonar.cs + @@ -315,9 +327,12 @@ + + + @@ -340,6 +355,8 @@ + + @@ -444,6 +461,9 @@ frmPinout.cs + + frmSimulacaoMapaGPS.cs + frmIHM.cs @@ -486,6 +506,9 @@ frmSenConfig.cs + + frmSonar.cs + ResXFileCodeGenerator Resources.Designer.cs diff --git a/AgroBase/AgroBase/Forms/IHM/frmIHM.Designer.cs b/AgroBase/AgroBase/Forms/IHM/frmIHM.Designer.cs index 5075a8120..799f986c6 100644 --- a/AgroBase/AgroBase/Forms/IHM/frmIHM.Designer.cs +++ b/AgroBase/AgroBase/Forms/IHM/frmIHM.Designer.cs @@ -28,8 +28,6 @@ /// private void InitializeComponent() { - System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(frmIHM)); - this.picRobo = new System.Windows.Forms.PictureBox(); this.lblD_Mov = new System.Windows.Forms.Label(); this.lblD_Dir = new System.Windows.Forms.Label(); this.lblD_Atu = new System.Windows.Forms.Label(); @@ -42,23 +40,15 @@ this.lblOperacaoStatus = new System.Windows.Forms.Label(); this.lblMqtt = new System.Windows.Forms.Label(); this.lblD_PZM = new System.Windows.Forms.Label(); + this.picRobo = new System.Windows.Forms.PictureBox(); ((System.ComponentModel.ISupportInitialize)(this.picRobo)).BeginInit(); this.SuspendLayout(); // - // picRobo - // - this.picRobo.Image = ((System.Drawing.Image)(resources.GetObject("picRobo.Image"))); - this.picRobo.Location = new System.Drawing.Point(111, 12); - this.picRobo.Name = "picRobo"; - this.picRobo.Size = new System.Drawing.Size(370, 673); - this.picRobo.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; - this.picRobo.TabIndex = 1; - this.picRobo.TabStop = false; - // // lblD_Mov // this.lblD_Mov.AutoSize = true; - this.lblD_Mov.Location = new System.Drawing.Point(457, 40); + this.lblD_Mov.BackColor = System.Drawing.Color.Transparent; + this.lblD_Mov.Location = new System.Drawing.Point(414, 33); this.lblD_Mov.Name = "lblD_Mov"; this.lblD_Mov.Size = new System.Drawing.Size(169, 29); this.lblD_Mov.TabIndex = 2; @@ -67,7 +57,7 @@ // lblD_Dir // this.lblD_Dir.AutoSize = true; - this.lblD_Dir.Location = new System.Drawing.Point(61, 422); + this.lblD_Dir.Location = new System.Drawing.Point(72, 121); this.lblD_Dir.Name = "lblD_Dir"; this.lblD_Dir.Size = new System.Drawing.Size(122, 29); this.lblD_Dir.TabIndex = 3; @@ -76,7 +66,7 @@ // lblD_Atu // this.lblD_Atu.AutoSize = true; - this.lblD_Atu.Location = new System.Drawing.Point(435, 645); + this.lblD_Atu.Location = new System.Drawing.Point(442, 633); this.lblD_Atu.Name = "lblD_Atu"; this.lblD_Atu.Size = new System.Drawing.Size(96, 29); this.lblD_Atu.TabIndex = 4; @@ -85,7 +75,8 @@ // lblD_Sen // this.lblD_Sen.AutoSize = true; - this.lblD_Sen.Location = new System.Drawing.Point(311, 519); + this.lblD_Sen.BackColor = System.Drawing.Color.Lavender; + this.lblD_Sen.Location = new System.Drawing.Point(430, 324); this.lblD_Sen.Name = "lblD_Sen"; this.lblD_Sen.Size = new System.Drawing.Size(176, 29); this.lblD_Sen.TabIndex = 5; @@ -94,7 +85,7 @@ // lblD_Gps // this.lblD_Gps.AutoSize = true; - this.lblD_Gps.Location = new System.Drawing.Point(129, 193); + this.lblD_Gps.Location = new System.Drawing.Point(430, 208); this.lblD_Gps.Name = "lblD_Gps"; this.lblD_Gps.Size = new System.Drawing.Size(63, 29); this.lblD_Gps.TabIndex = 6; @@ -162,16 +153,28 @@ // lblD_PZM // this.lblD_PZM.AutoSize = true; - this.lblD_PZM.Location = new System.Drawing.Point(356, 306); + this.lblD_PZM.BackColor = System.Drawing.Color.Lavender; + this.lblD_PZM.Location = new System.Drawing.Point(137, 309); this.lblD_PZM.Name = "lblD_PZM"; this.lblD_PZM.Size = new System.Drawing.Size(79, 29); this.lblD_PZM.TabIndex = 14; this.lblD_PZM.Text = "PZEM"; // + // picRobo + // + this.picRobo.Image = global::AgroBase.Properties.Resources.robo_superior; + this.picRobo.Location = new System.Drawing.Point(66, 12); + this.picRobo.Name = "picRobo"; + this.picRobo.Size = new System.Drawing.Size(534, 673); + this.picRobo.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; + this.picRobo.TabIndex = 1; + this.picRobo.TabStop = false; + // // frmIHM // this.AutoScaleDimensions = new System.Drawing.SizeF(14F, 29F); this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; + this.BackColor = System.Drawing.Color.White; this.ClientSize = new System.Drawing.Size(1020, 697); this.Controls.Add(this.lblD_PZM); this.Controls.Add(this.lblMqtt); diff --git a/AgroBase/AgroBase/Forms/IHM/frmIHM.cs b/AgroBase/AgroBase/Forms/IHM/frmIHM.cs index 5a3d0bfe2..09238fc32 100644 --- a/AgroBase/AgroBase/Forms/IHM/frmIHM.cs +++ b/AgroBase/AgroBase/Forms/IHM/frmIHM.cs @@ -91,7 +91,7 @@ namespace AgroBase.Forms.IHM } } - lblDisp.ForeColor = DispositivoConectado ? Color.Green : Color.Red; + lblDisp.ForeColor = Modulo.Erro ? Color.Yellow : DispositivoConectado ? Color.Green : Color.Red; } }); @@ -129,23 +129,7 @@ namespace AgroBase.Forms.IHM private void btnIniciar_Click(object sender, EventArgs e) { - if (Variaveis.OperacaoEmAndamento.ModulosConectados) - { - /*if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.Manual) - { - Variaveis.OperacaoEmAndamento.frmOperacao = new frmAcompanhamento(); - } - else if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.MapaGPS) - { - Variaveis.OperacaoEmAndamento.frmOperacao = new frmOperacaoMapaGPS(); - }*/ - Variaveis.OperacaoEmAndamento.frmOperacao = (Form)Activator.CreateInstance(Variaveis.OperacaoEmAndamento.frmOperacao.GetType()); - Variaveis.OperacaoEmAndamento.frmOperacao.ShowDialog(); - } - else - { - MessageBox.Show(Variaveis.OperacaoEmAndamento.ErroOperacaoLiberada, "Conexão de módulos pendentes", MessageBoxButtons.OK, MessageBoxIcon.Warning); - } + Variaveis.OperacaoEmAndamento.AbrirForm(); AtualizarLabelOperacao(); } diff --git a/AgroBase/AgroBase/Forms/IHM/frmIHM.resx 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System.Windows.Forms.DataVisualization.Charting.Legend legend6 = new System.Windows.Forms.DataVisualization.Charting.Legend(); - System.Windows.Forms.DataVisualization.Charting.Series series6 = new System.Windows.Forms.DataVisualization.Charting.Series(); + System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea2 = new System.Windows.Forms.DataVisualization.Charting.ChartArea(); + System.Windows.Forms.DataVisualization.Charting.Legend legend2 = new System.Windows.Forms.DataVisualization.Charting.Legend(); + System.Windows.Forms.DataVisualization.Charting.Series series2 = new System.Windows.Forms.DataVisualization.Charting.Series(); this.pnlCamerasSolo = new System.Windows.Forms.Panel(); this.pnlCameraSoloE = new System.Windows.Forms.Panel(); this.picCameraSoloE = new System.Windows.Forms.PictureBox(); @@ -44,29 +44,46 @@ this.lblDir_ET = new System.Windows.Forms.Label(); this.tabControl1 = new System.Windows.Forms.TabControl(); this.tabMapa = new System.Windows.Forms.TabPage(); + this.lblGPSprecisao = new System.Windows.Forms.Label(); + this.lblGPSaltitude = new System.Windows.Forms.Label(); + this.lblGPSvelocidade = new System.Windows.Forms.Label(); + this.lblGPSsatelites = new System.Windows.Forms.Label(); this.pnlMapa = new System.Windows.Forms.Panel(); + this.lblGPS = new System.Windows.Forms.Label(); + this.pnlAnguloGPS = new System.Windows.Forms.Panel(); + this.pnlAnguloMagnetometro = new System.Windows.Forms.Panel(); + this.lblMagnetometro = new System.Windows.Forms.Label(); this.tabInformacoes = new System.Windows.Forms.TabPage(); this.gridDados = new System.Windows.Forms.DataGridView(); this.tabDeteccoes = new System.Windows.Forms.TabPage(); this.pnlDeteccoesRua = new System.Windows.Forms.Panel(); - this.pnlAnguloGPS = new System.Windows.Forms.Panel(); - this.lblGPS = new System.Windows.Forms.Label(); - this.lblMagnetometro = new System.Windows.Forms.Label(); - this.pnlAnguloMagnetometro = new System.Windows.Forms.Panel(); + this.tabPulverizador = new System.Windows.Forms.TabPage(); + this.lblPressaoSP = new System.Windows.Forms.Label(); + this.nudPressaoSP = new System.Windows.Forms.NumericUpDown(); + this.btnDesligarBomba = new System.Windows.Forms.Button(); + this.btnLigarBomba = new System.Windows.Forms.Button(); this.pnlCameraRua = new System.Windows.Forms.Panel(); this.picCameraRua = new System.Windows.Forms.PictureBox(); this.pnlDir_EF = new System.Windows.Forms.Panel(); + this.chbLivre_EF = new System.Windows.Forms.CheckBox(); + this.chbCmd_EF = new System.Windows.Forms.CheckBox(); + this.btnRef_EF = new System.Windows.Forms.Button(); this.pnlDir_ET = new System.Windows.Forms.Panel(); + this.chbLivre_ET = new System.Windows.Forms.CheckBox(); + this.chbCmd_ET = new System.Windows.Forms.CheckBox(); + this.btnRef_ET = new System.Windows.Forms.Button(); this.pnlDir_DT = new System.Windows.Forms.Panel(); + this.chbLivre_DT = new System.Windows.Forms.CheckBox(); + this.chbCmd_DT = new System.Windows.Forms.CheckBox(); + this.btnRef_DT = new System.Windows.Forms.Button(); this.pnlDir_DF = new System.Windows.Forms.Panel(); + this.chbLivre_DF = new System.Windows.Forms.CheckBox(); + this.chbCmd_DF = new System.Windows.Forms.CheckBox(); + this.btnRef_DF = new System.Windows.Forms.Button(); this.btnIniciarOperacao = new System.Windows.Forms.Button(); - this.tabPulverizador = new System.Windows.Forms.TabPage(); - this.btnLigarBomba = new System.Windows.Forms.Button(); - this.btnDesligarBomba = new System.Windows.Forms.Button(); - this.nudPressaoSP = new System.Windows.Forms.NumericUpDown(); - this.lblPressaoSP = new System.Windows.Forms.Label(); this.lblDistanciaEsquerda = new System.Windows.Forms.Label(); this.lblDistanciaDireita = new System.Windows.Forms.Label(); + this.picSonar = new System.Windows.Forms.PictureBox(); this.pnlCamerasSolo.SuspendLayout(); this.pnlCameraSoloE.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)(this.picCameraSoloE)).BeginInit(); @@ -78,22 +95,24 @@ this.tabInformacoes.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)(this.gridDados)).BeginInit(); this.tabDeteccoes.SuspendLayout(); + this.pnlDeteccoesRua.SuspendLayout(); + this.tabPulverizador.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).BeginInit(); this.pnlCameraRua.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)(this.picCameraRua)).BeginInit(); this.pnlDir_EF.SuspendLayout(); this.pnlDir_ET.SuspendLayout(); this.pnlDir_DT.SuspendLayout(); this.pnlDir_DF.SuspendLayout(); - this.tabPulverizador.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).BeginInit(); + ((System.ComponentModel.ISupportInitialize)(this.picSonar)).BeginInit(); this.SuspendLayout(); // // pnlCamerasSolo // - this.pnlCamerasSolo.BackColor = System.Drawing.SystemColors.ButtonFace; + this.pnlCamerasSolo.BackColor = System.Drawing.Color.White; this.pnlCamerasSolo.Controls.Add(this.pnlCameraSoloE); this.pnlCamerasSolo.Controls.Add(this.pnlCameraSoloD); - this.pnlCamerasSolo.Location = new System.Drawing.Point(12, 404); + this.pnlCamerasSolo.Location = new System.Drawing.Point(31, 404); this.pnlCamerasSolo.Name = "pnlCamerasSolo"; this.pnlCamerasSolo.Size = new System.Drawing.Size(784, 227); this.pnlCamerasSolo.TabIndex = 0; @@ -108,6 +127,7 @@ // // picCameraSoloE // + this.picCameraSoloE.BackColor = System.Drawing.SystemColors.ButtonFace; this.picCameraSoloE.Dock = System.Windows.Forms.DockStyle.Fill; this.picCameraSoloE.Location = new System.Drawing.Point(0, 0); this.picCameraSoloE.Name = "picCameraSoloE"; @@ -126,6 +146,7 @@ // // picCameraSoloD // + this.picCameraSoloD.BackColor = System.Drawing.SystemColors.ButtonFace; this.picCameraSoloD.Dock = System.Windows.Forms.DockStyle.Fill; this.picCameraSoloD.Location = new System.Drawing.Point(0, 0); this.picCameraSoloD.Name = "picCameraSoloD"; @@ -138,7 +159,7 @@ // this.pnlAtuadores.BackColor = System.Drawing.Color.White; this.pnlAtuadores.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D; - this.pnlAtuadores.Location = new System.Drawing.Point(12, 637); + this.pnlAtuadores.Location = new System.Drawing.Point(31, 637); this.pnlAtuadores.Name = "pnlAtuadores"; this.pnlAtuadores.Size = new System.Drawing.Size(784, 155); this.pnlAtuadores.TabIndex = 1; @@ -146,17 +167,17 @@ // // chartGraficos // - chartArea6.Name = "ChartArea1"; - this.chartGraficos.ChartAreas.Add(chartArea6); - legend6.Name = "Legend1"; - this.chartGraficos.Legends.Add(legend6); - this.chartGraficos.Location = new System.Drawing.Point(802, 404); + chartArea2.Name = "ChartArea1"; + this.chartGraficos.ChartAreas.Add(chartArea2); + legend2.Name = "Legend1"; + this.chartGraficos.Legends.Add(legend2); + this.chartGraficos.Location = new System.Drawing.Point(854, 9); this.chartGraficos.Name = "chartGraficos"; - series6.ChartArea = "ChartArea1"; - series6.Legend = "Legend1"; - series6.Name = "Series1"; - this.chartGraficos.Series.Add(series6); - this.chartGraficos.Size = new System.Drawing.Size(837, 388); + series2.ChartArea = "ChartArea1"; + series2.Legend = "Legend1"; + series2.Name = "Series1"; + this.chartGraficos.Series.Add(series2); + this.chartGraficos.Size = new System.Drawing.Size(785, 392); this.chartGraficos.TabIndex = 2; this.chartGraficos.Text = "chart1"; // @@ -172,7 +193,7 @@ // lblDir_DF // this.lblDir_DF.AutoSize = true; - this.lblDir_DF.Location = new System.Drawing.Point(3, 1); + this.lblDir_DF.Location = new System.Drawing.Point(1, 1); this.lblDir_DF.Name = "lblDir_DF"; this.lblDir_DF.Size = new System.Drawing.Size(54, 16); this.lblDir_DF.TabIndex = 10; @@ -181,7 +202,7 @@ // lblDir_DT // this.lblDir_DT.AutoSize = true; - this.lblDir_DT.Location = new System.Drawing.Point(3, 183); + this.lblDir_DT.Location = new System.Drawing.Point(1, 3); this.lblDir_DT.Name = "lblDir_DT"; this.lblDir_DT.Size = new System.Drawing.Size(55, 16); this.lblDir_DT.TabIndex = 11; @@ -190,7 +211,7 @@ // lblDir_ET // this.lblDir_ET.AutoSize = true; - this.lblDir_ET.Location = new System.Drawing.Point(1, 183); + this.lblDir_ET.Location = new System.Drawing.Point(1, 3); this.lblDir_ET.Name = "lblDir_ET"; this.lblDir_ET.Size = new System.Drawing.Size(54, 16); this.lblDir_ET.TabIndex = 12; @@ -202,38 +223,123 @@ this.tabControl1.Controls.Add(this.tabInformacoes); this.tabControl1.Controls.Add(this.tabDeteccoes); this.tabControl1.Controls.Add(this.tabPulverizador); - this.tabControl1.Location = new System.Drawing.Point(1011, 12); + this.tabControl1.Location = new System.Drawing.Point(854, 407); this.tabControl1.Name = "tabControl1"; this.tabControl1.SelectedIndex = 0; - this.tabControl1.Size = new System.Drawing.Size(628, 387); + this.tabControl1.Size = new System.Drawing.Size(628, 386); this.tabControl1.TabIndex = 17; // // tabMapa // + this.tabMapa.Controls.Add(this.lblGPSprecisao); + this.tabMapa.Controls.Add(this.lblGPSaltitude); + this.tabMapa.Controls.Add(this.lblGPSvelocidade); + this.tabMapa.Controls.Add(this.lblGPSsatelites); this.tabMapa.Controls.Add(this.pnlMapa); + this.tabMapa.Controls.Add(this.lblGPS); + this.tabMapa.Controls.Add(this.pnlAnguloGPS); + this.tabMapa.Controls.Add(this.pnlAnguloMagnetometro); + this.tabMapa.Controls.Add(this.lblMagnetometro); this.tabMapa.Location = new System.Drawing.Point(4, 25); this.tabMapa.Name = "tabMapa"; this.tabMapa.Padding = new System.Windows.Forms.Padding(3); - this.tabMapa.Size = new System.Drawing.Size(620, 358); + this.tabMapa.Size = new System.Drawing.Size(620, 357); this.tabMapa.TabIndex = 0; this.tabMapa.Text = "Mapa"; this.tabMapa.UseVisualStyleBackColor = true; // + // lblGPSprecisao + // + this.lblGPSprecisao.AutoSize = true; + this.lblGPSprecisao.Location = new System.Drawing.Point(6, 143); + this.lblGPSprecisao.Name = "lblGPSprecisao"; + this.lblGPSprecisao.Size = new System.Drawing.Size(105, 16); + this.lblGPSprecisao.TabIndex = 31; + this.lblGPSprecisao.Text = "Precisão: 0,00 m"; + // + // lblGPSaltitude + // + this.lblGPSaltitude.AutoSize = true; + this.lblGPSaltitude.Location = new System.Drawing.Point(6, 175); + this.lblGPSaltitude.Name = "lblGPSaltitude"; + this.lblGPSaltitude.Size = new System.Drawing.Size(88, 16); + this.lblGPSaltitude.TabIndex = 30; + this.lblGPSaltitude.Text = "Altitude: 0,0 m"; + // + // lblGPSvelocidade + // + this.lblGPSvelocidade.AutoSize = true; + this.lblGPSvelocidade.Location = new System.Drawing.Point(6, 159); + this.lblGPSvelocidade.Name = "lblGPSvelocidade"; + this.lblGPSvelocidade.Size = new System.Drawing.Size(92, 16); + this.lblGPSvelocidade.TabIndex = 29; + this.lblGPSvelocidade.Text = "Vel.: 0,00 km/h"; + // + // lblGPSsatelites + // + this.lblGPSsatelites.AutoSize = true; + this.lblGPSsatelites.Location = new System.Drawing.Point(6, 127); + this.lblGPSsatelites.Name = "lblGPSsatelites"; + this.lblGPSsatelites.Size = new System.Drawing.Size(67, 16); + this.lblGPSsatelites.TabIndex = 28; + this.lblGPSsatelites.Text = "0 satélites"; + // // pnlMapa // - this.pnlMapa.Dock = System.Windows.Forms.DockStyle.Fill; - this.pnlMapa.Location = new System.Drawing.Point(3, 3); + this.pnlMapa.Location = new System.Drawing.Point(119, 3); this.pnlMapa.Name = "pnlMapa"; - this.pnlMapa.Size = new System.Drawing.Size(614, 352); + this.pnlMapa.Size = new System.Drawing.Size(498, 352); this.pnlMapa.TabIndex = 0; // + // lblGPS + // + this.lblGPS.AutoSize = true; + this.lblGPS.Location = new System.Drawing.Point(6, 3); + this.lblGPS.Name = "lblGPS"; + this.lblGPS.Size = new System.Drawing.Size(35, 16); + this.lblGPS.TabIndex = 19; + this.lblGPS.Text = "GPS"; + // + // pnlAnguloGPS + // + this.pnlAnguloGPS.BackColor = System.Drawing.Color.White; + this.pnlAnguloGPS.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos; + this.pnlAnguloGPS.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; + this.pnlAnguloGPS.Location = new System.Drawing.Point(9, 22); + this.pnlAnguloGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlAnguloGPS.Name = "pnlAnguloGPS"; + this.pnlAnguloGPS.Size = new System.Drawing.Size(104, 103); + this.pnlAnguloGPS.TabIndex = 18; + this.pnlAnguloGPS.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAnguloGPS_Paint); + // + // pnlAnguloMagnetometro + // + this.pnlAnguloMagnetometro.BackColor = System.Drawing.Color.White; + this.pnlAnguloMagnetometro.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos; + this.pnlAnguloMagnetometro.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; + this.pnlAnguloMagnetometro.Location = new System.Drawing.Point(9, 250); + this.pnlAnguloMagnetometro.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlAnguloMagnetometro.Name = "pnlAnguloMagnetometro"; + this.pnlAnguloMagnetometro.Size = new System.Drawing.Size(104, 103); + this.pnlAnguloMagnetometro.TabIndex = 20; + this.pnlAnguloMagnetometro.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAnguloMagnetometro_Paint); + // + // lblMagnetometro + // + this.lblMagnetometro.AutoSize = true; + this.lblMagnetometro.Location = new System.Drawing.Point(6, 231); + this.lblMagnetometro.Name = "lblMagnetometro"; + this.lblMagnetometro.Size = new System.Drawing.Size(94, 16); + this.lblMagnetometro.TabIndex = 21; + this.lblMagnetometro.Text = "Magnetômetro"; + // // tabInformacoes // this.tabInformacoes.Controls.Add(this.gridDados); this.tabInformacoes.Location = new System.Drawing.Point(4, 25); this.tabInformacoes.Name = "tabInformacoes"; this.tabInformacoes.Padding = new System.Windows.Forms.Padding(3); - this.tabInformacoes.Size = new System.Drawing.Size(620, 358); + this.tabInformacoes.Size = new System.Drawing.Size(620, 357); this.tabInformacoes.TabIndex = 1; this.tabInformacoes.Text = "Informações"; this.tabInformacoes.UseVisualStyleBackColor = true; @@ -246,7 +352,7 @@ this.gridDados.Name = "gridDados"; this.gridDados.RowHeadersWidth = 51; this.gridDados.RowTemplate.Height = 24; - this.gridDados.Size = new System.Drawing.Size(614, 352); + this.gridDados.Size = new System.Drawing.Size(614, 351); this.gridDados.TabIndex = 0; // // tabDeteccoes @@ -255,122 +361,20 @@ this.tabDeteccoes.Location = new System.Drawing.Point(4, 25); this.tabDeteccoes.Name = "tabDeteccoes"; this.tabDeteccoes.Padding = new System.Windows.Forms.Padding(3); - this.tabDeteccoes.Size = new System.Drawing.Size(620, 358); + this.tabDeteccoes.Size = new System.Drawing.Size(620, 357); this.tabDeteccoes.TabIndex = 2; this.tabDeteccoes.Text = "Detecção rua"; this.tabDeteccoes.UseVisualStyleBackColor = true; // // pnlDeteccoesRua // + this.pnlDeteccoesRua.Controls.Add(this.picSonar); this.pnlDeteccoesRua.Dock = System.Windows.Forms.DockStyle.Fill; this.pnlDeteccoesRua.Location = new System.Drawing.Point(3, 3); this.pnlDeteccoesRua.Name = "pnlDeteccoesRua"; - this.pnlDeteccoesRua.Size = new System.Drawing.Size(614, 352); + this.pnlDeteccoesRua.Size = new System.Drawing.Size(614, 351); this.pnlDeteccoesRua.TabIndex = 0; // - // pnlAnguloGPS - // - this.pnlAnguloGPS.BackColor = System.Drawing.Color.White; - this.pnlAnguloGPS.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos; - this.pnlAnguloGPS.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; - this.pnlAnguloGPS.Location = new System.Drawing.Point(879, 37); - this.pnlAnguloGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); - this.pnlAnguloGPS.Name = "pnlAnguloGPS"; - this.pnlAnguloGPS.Size = new System.Drawing.Size(104, 103); - this.pnlAnguloGPS.TabIndex = 18; - this.pnlAnguloGPS.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAnguloGPS_Paint); - // - // lblGPS - // - this.lblGPS.AutoSize = true; - this.lblGPS.Location = new System.Drawing.Point(876, 18); - this.lblGPS.Name = "lblGPS"; - this.lblGPS.Size = new System.Drawing.Size(35, 16); - this.lblGPS.TabIndex = 19; - this.lblGPS.Text = "GPS"; - // - // lblMagnetometro - // - this.lblMagnetometro.AutoSize = true; - this.lblMagnetometro.Location = new System.Drawing.Point(876, 165); - this.lblMagnetometro.Name = "lblMagnetometro"; - this.lblMagnetometro.Size = new System.Drawing.Size(94, 16); - this.lblMagnetometro.TabIndex = 21; - this.lblMagnetometro.Text = "Magnetômetro"; - // - // pnlAnguloMagnetometro - // - this.pnlAnguloMagnetometro.BackColor = System.Drawing.Color.White; - this.pnlAnguloMagnetometro.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos; - this.pnlAnguloMagnetometro.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; - this.pnlAnguloMagnetometro.Location = new System.Drawing.Point(879, 184); - this.pnlAnguloMagnetometro.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); - this.pnlAnguloMagnetometro.Name = "pnlAnguloMagnetometro"; - this.pnlAnguloMagnetometro.Size = new System.Drawing.Size(104, 103); - this.pnlAnguloMagnetometro.TabIndex = 20; - this.pnlAnguloMagnetometro.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAnguloMagnetometro_Paint); - // - // pnlCameraRua - // - this.pnlCameraRua.Controls.Add(this.picCameraRua); - this.pnlCameraRua.Location = new System.Drawing.Point(186, 28); - this.pnlCameraRua.Name = "pnlCameraRua"; - this.pnlCameraRua.Size = new System.Drawing.Size(476, 369); - this.pnlCameraRua.TabIndex = 22; - // - // picCameraRua - // - this.picCameraRua.Dock = System.Windows.Forms.DockStyle.Fill; - this.picCameraRua.Location = new System.Drawing.Point(0, 0); - this.picCameraRua.Name = "picCameraRua"; - this.picCameraRua.Size = new System.Drawing.Size(476, 369); - this.picCameraRua.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; - this.picCameraRua.TabIndex = 0; - this.picCameraRua.TabStop = false; - // - // pnlDir_EF - // - this.pnlDir_EF.Controls.Add(this.lblDir_EF); - this.pnlDir_EF.Location = new System.Drawing.Point(0, 0); - this.pnlDir_EF.Name = "pnlDir_EF"; - this.pnlDir_EF.Size = new System.Drawing.Size(200, 200); - this.pnlDir_EF.TabIndex = 23; - // - // pnlDir_ET - // - this.pnlDir_ET.Controls.Add(this.lblDir_ET); - this.pnlDir_ET.Location = new System.Drawing.Point(0, 200); - this.pnlDir_ET.Name = "pnlDir_ET"; - this.pnlDir_ET.Size = new System.Drawing.Size(200, 200); - this.pnlDir_ET.TabIndex = 24; - // - // pnlDir_DT - // - this.pnlDir_DT.Controls.Add(this.lblDir_DT); - this.pnlDir_DT.Location = new System.Drawing.Point(648, 200); - this.pnlDir_DT.Name = "pnlDir_DT"; - this.pnlDir_DT.Size = new System.Drawing.Size(200, 200); - this.pnlDir_DT.TabIndex = 24; - // - // pnlDir_DF - // - this.pnlDir_DF.Controls.Add(this.lblDir_DF); - this.pnlDir_DF.Location = new System.Drawing.Point(648, 0); - this.pnlDir_DF.Name = "pnlDir_DF"; - this.pnlDir_DF.Size = new System.Drawing.Size(200, 200); - this.pnlDir_DF.TabIndex = 24; - // - // btnIniciarOperacao - // - this.btnIniciarOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.btnIniciarOperacao.Location = new System.Drawing.Point(854, 330); - this.btnIniciarOperacao.Name = "btnIniciarOperacao"; - this.btnIniciarOperacao.Size = new System.Drawing.Size(151, 65); - this.btnIniciarOperacao.TabIndex = 25; - this.btnIniciarOperacao.Text = "Iniciar Operação"; - this.btnIniciarOperacao.UseVisualStyleBackColor = true; - this.btnIniciarOperacao.Click += new System.EventHandler(this.btnIniciarOperacao_Click); - // // tabPulverizador // this.tabPulverizador.Controls.Add(this.lblPressaoSP); @@ -380,32 +384,20 @@ this.tabPulverizador.Location = new System.Drawing.Point(4, 25); this.tabPulverizador.Name = "tabPulverizador"; this.tabPulverizador.Padding = new System.Windows.Forms.Padding(3); - this.tabPulverizador.Size = new System.Drawing.Size(620, 358); + this.tabPulverizador.Size = new System.Drawing.Size(620, 357); this.tabPulverizador.TabIndex = 3; this.tabPulverizador.Text = "Pulverizador"; this.tabPulverizador.UseVisualStyleBackColor = true; // - // btnLigarBomba + // lblPressaoSP // - this.btnLigarBomba.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.btnLigarBomba.Location = new System.Drawing.Point(158, 21); - this.btnLigarBomba.Name = "btnLigarBomba"; - this.btnLigarBomba.Size = new System.Drawing.Size(139, 34); - this.btnLigarBomba.TabIndex = 26; - this.btnLigarBomba.Text = "Ligar Bomba"; - this.btnLigarBomba.UseVisualStyleBackColor = true; - this.btnLigarBomba.Click += new System.EventHandler(this.btnLigarBomba_Click); - // - // btnDesligarBomba - // - this.btnDesligarBomba.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.btnDesligarBomba.Location = new System.Drawing.Point(325, 21); - this.btnDesligarBomba.Name = "btnDesligarBomba"; - this.btnDesligarBomba.Size = new System.Drawing.Size(139, 34); - this.btnDesligarBomba.TabIndex = 27; - this.btnDesligarBomba.Text = "Desligar Bomba"; - this.btnDesligarBomba.UseVisualStyleBackColor = true; - this.btnDesligarBomba.Click += new System.EventHandler(this.btnDesligarBomba_Click); + this.lblPressaoSP.AutoSize = true; + this.lblPressaoSP.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.lblPressaoSP.Location = new System.Drawing.Point(24, 14); + this.lblPressaoSP.Name = "lblPressaoSP"; + this.lblPressaoSP.Size = new System.Drawing.Size(89, 16); + this.lblPressaoSP.TabIndex = 29; + this.lblPressaoSP.Text = "Pressão SP"; // // nudPressaoSP // @@ -422,15 +414,221 @@ this.nudPressaoSP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.nudPressaoSP.ValueChanged += new System.EventHandler(this.nudPressaoSP_ValueChanged); // - // lblPressaoSP + // btnDesligarBomba // - this.lblPressaoSP.AutoSize = true; - this.lblPressaoSP.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.lblPressaoSP.Location = new System.Drawing.Point(24, 14); - this.lblPressaoSP.Name = "lblPressaoSP"; - this.lblPressaoSP.Size = new System.Drawing.Size(89, 16); - this.lblPressaoSP.TabIndex = 29; - this.lblPressaoSP.Text = "Pressão SP"; + this.btnDesligarBomba.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.btnDesligarBomba.Location = new System.Drawing.Point(325, 21); + this.btnDesligarBomba.Name = "btnDesligarBomba"; + this.btnDesligarBomba.Size = new System.Drawing.Size(139, 34); + this.btnDesligarBomba.TabIndex = 27; + this.btnDesligarBomba.Text = "Desligar Bomba"; + this.btnDesligarBomba.UseVisualStyleBackColor = true; + this.btnDesligarBomba.Click += new System.EventHandler(this.btnDesligarBomba_Click); + // + // btnLigarBomba + // + this.btnLigarBomba.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.btnLigarBomba.Location = new System.Drawing.Point(158, 21); + this.btnLigarBomba.Name = "btnLigarBomba"; + this.btnLigarBomba.Size = new System.Drawing.Size(139, 34); + this.btnLigarBomba.TabIndex = 26; + this.btnLigarBomba.Text = "Ligar Bomba"; + this.btnLigarBomba.UseVisualStyleBackColor = true; + this.btnLigarBomba.Click += new System.EventHandler(this.btnLigarBomba_Click); + // + // pnlCameraRua + // + this.pnlCameraRua.Controls.Add(this.picCameraRua); + this.pnlCameraRua.Location = new System.Drawing.Point(186, 28); + this.pnlCameraRua.Name = "pnlCameraRua"; + this.pnlCameraRua.Size = new System.Drawing.Size(476, 352); + this.pnlCameraRua.TabIndex = 22; + // + // picCameraRua + // + this.picCameraRua.BackColor = System.Drawing.SystemColors.ButtonFace; + this.picCameraRua.Dock = System.Windows.Forms.DockStyle.Fill; + this.picCameraRua.Location = new System.Drawing.Point(0, 0); + this.picCameraRua.Name = "picCameraRua"; + this.picCameraRua.Size = new System.Drawing.Size(476, 352); + this.picCameraRua.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; + this.picCameraRua.TabIndex = 0; + this.picCameraRua.TabStop = false; + // + // pnlDir_EF + // + this.pnlDir_EF.Controls.Add(this.chbLivre_EF); + this.pnlDir_EF.Controls.Add(this.chbCmd_EF); + this.pnlDir_EF.Controls.Add(this.btnRef_EF); + this.pnlDir_EF.Controls.Add(this.lblDir_EF); + this.pnlDir_EF.Location = new System.Drawing.Point(0, 0); + this.pnlDir_EF.Name = "pnlDir_EF"; + this.pnlDir_EF.Size = new System.Drawing.Size(200, 200); + this.pnlDir_EF.TabIndex = 23; + // + // chbLivre_EF + // + this.chbLivre_EF.AutoSize = true; + this.chbLivre_EF.CheckAlign = System.Drawing.ContentAlignment.MiddleRight; + this.chbLivre_EF.Location = new System.Drawing.Point(135, 177); + this.chbLivre_EF.Name = "chbLivre_EF"; + this.chbLivre_EF.Size = new System.Drawing.Size(58, 20); + this.chbLivre_EF.TabIndex = 17; + this.chbLivre_EF.Text = "Livre"; + this.chbLivre_EF.UseVisualStyleBackColor = true; + // + // chbCmd_EF + // + this.chbCmd_EF.AutoSize = true; + this.chbCmd_EF.Location = new System.Drawing.Point(4, 177); + this.chbCmd_EF.Name = "chbCmd_EF"; + this.chbCmd_EF.Size = new System.Drawing.Size(83, 20); + this.chbCmd_EF.TabIndex = 15; + this.chbCmd_EF.Text = "Controlar"; + this.chbCmd_EF.UseVisualStyleBackColor = true; + // + // btnRef_EF + // + this.btnRef_EF.Location = new System.Drawing.Point(148, 3); + this.btnRef_EF.Name = "btnRef_EF"; + this.btnRef_EF.Size = new System.Drawing.Size(49, 23); + this.btnRef_EF.TabIndex = 13; + this.btnRef_EF.Text = "REF"; + this.btnRef_EF.UseVisualStyleBackColor = true; + // + // pnlDir_ET + // + this.pnlDir_ET.Controls.Add(this.chbLivre_ET); + this.pnlDir_ET.Controls.Add(this.chbCmd_ET); + this.pnlDir_ET.Controls.Add(this.btnRef_ET); + this.pnlDir_ET.Controls.Add(this.lblDir_ET); + this.pnlDir_ET.Location = new System.Drawing.Point(0, 200); + this.pnlDir_ET.Name = "pnlDir_ET"; + this.pnlDir_ET.Size = new System.Drawing.Size(200, 200); + this.pnlDir_ET.TabIndex = 24; + // + // chbLivre_ET + // + this.chbLivre_ET.AutoSize = true; + this.chbLivre_ET.CheckAlign = System.Drawing.ContentAlignment.MiddleRight; + this.chbLivre_ET.Location = new System.Drawing.Point(135, 177); + this.chbLivre_ET.Name = "chbLivre_ET"; + this.chbLivre_ET.Size = new System.Drawing.Size(58, 20); + this.chbLivre_ET.TabIndex = 16; + this.chbLivre_ET.Text = "Livre"; + this.chbLivre_ET.UseVisualStyleBackColor = true; + // + // chbCmd_ET + // + this.chbCmd_ET.AutoSize = true; + this.chbCmd_ET.Location = new System.Drawing.Point(4, 177); + this.chbCmd_ET.Name = "chbCmd_ET"; + this.chbCmd_ET.Size = new System.Drawing.Size(83, 20); + this.chbCmd_ET.TabIndex = 15; + this.chbCmd_ET.Text = "Controlar"; + this.chbCmd_ET.UseVisualStyleBackColor = true; + // + // btnRef_ET + // + this.btnRef_ET.Location = new System.Drawing.Point(148, 3); + this.btnRef_ET.Name = "btnRef_ET"; + this.btnRef_ET.Size = new System.Drawing.Size(49, 23); + this.btnRef_ET.TabIndex = 13; + this.btnRef_ET.Text = "REF"; + this.btnRef_ET.UseVisualStyleBackColor = true; + // + // pnlDir_DT + // + this.pnlDir_DT.Controls.Add(this.chbLivre_DT); + this.pnlDir_DT.Controls.Add(this.chbCmd_DT); + this.pnlDir_DT.Controls.Add(this.btnRef_DT); + this.pnlDir_DT.Controls.Add(this.lblDir_DT); + this.pnlDir_DT.Location = new System.Drawing.Point(648, 200); + this.pnlDir_DT.Name = "pnlDir_DT"; + this.pnlDir_DT.Size = new System.Drawing.Size(200, 200); + this.pnlDir_DT.TabIndex = 24; + // + // chbLivre_DT + // + this.chbLivre_DT.AutoSize = true; + this.chbLivre_DT.CheckAlign = System.Drawing.ContentAlignment.MiddleRight; + this.chbLivre_DT.Location = new System.Drawing.Point(135, 177); + this.chbLivre_DT.Name = "chbLivre_DT"; + this.chbLivre_DT.Size = new System.Drawing.Size(58, 20); + this.chbLivre_DT.TabIndex = 19; + this.chbLivre_DT.Text = "Livre"; + this.chbLivre_DT.UseVisualStyleBackColor = true; + // + // chbCmd_DT + // + this.chbCmd_DT.AutoSize = true; + this.chbCmd_DT.Location = new System.Drawing.Point(4, 177); + this.chbCmd_DT.Name = "chbCmd_DT"; + this.chbCmd_DT.Size = new System.Drawing.Size(83, 20); + this.chbCmd_DT.TabIndex = 13; + this.chbCmd_DT.Text = "Controlar"; + this.chbCmd_DT.UseVisualStyleBackColor = true; + // + // btnRef_DT + // + this.btnRef_DT.Location = new System.Drawing.Point(148, 3); + this.btnRef_DT.Name = "btnRef_DT"; + this.btnRef_DT.Size = new System.Drawing.Size(49, 23); + this.btnRef_DT.TabIndex = 12; + this.btnRef_DT.Text = "REF"; + this.btnRef_DT.UseVisualStyleBackColor = true; + // + // pnlDir_DF + // + this.pnlDir_DF.Controls.Add(this.chbLivre_DF); + this.pnlDir_DF.Controls.Add(this.chbCmd_DF); + this.pnlDir_DF.Controls.Add(this.btnRef_DF); + this.pnlDir_DF.Controls.Add(this.lblDir_DF); + this.pnlDir_DF.Location = new System.Drawing.Point(648, 0); + this.pnlDir_DF.Name = "pnlDir_DF"; + this.pnlDir_DF.Size = new System.Drawing.Size(200, 200); + this.pnlDir_DF.TabIndex = 24; + // + // chbLivre_DF + // + this.chbLivre_DF.AutoSize = true; + this.chbLivre_DF.CheckAlign = System.Drawing.ContentAlignment.MiddleRight; + this.chbLivre_DF.Location = new System.Drawing.Point(135, 177); + this.chbLivre_DF.Name = "chbLivre_DF"; + this.chbLivre_DF.Size = new System.Drawing.Size(58, 20); + this.chbLivre_DF.TabIndex = 18; + this.chbLivre_DF.Text = "Livre"; + this.chbLivre_DF.UseVisualStyleBackColor = true; + // + // chbCmd_DF + // + this.chbCmd_DF.AutoSize = true; + this.chbCmd_DF.Location = new System.Drawing.Point(4, 177); + this.chbCmd_DF.Name = "chbCmd_DF"; + this.chbCmd_DF.Size = new System.Drawing.Size(83, 20); + this.chbCmd_DF.TabIndex = 14; + this.chbCmd_DF.Text = "Controlar"; + this.chbCmd_DF.UseVisualStyleBackColor = true; + // + // btnRef_DF + // + this.btnRef_DF.Location = new System.Drawing.Point(148, 3); + this.btnRef_DF.Name = "btnRef_DF"; + this.btnRef_DF.Size = new System.Drawing.Size(49, 23); + this.btnRef_DF.TabIndex = 13; + this.btnRef_DF.Text = "REF"; + this.btnRef_DF.UseVisualStyleBackColor = true; + // + // btnIniciarOperacao + // + this.btnIniciarOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.btnIniciarOperacao.Location = new System.Drawing.Point(1488, 724); + this.btnIniciarOperacao.Name = "btnIniciarOperacao"; + this.btnIniciarOperacao.Size = new System.Drawing.Size(151, 65); + this.btnIniciarOperacao.TabIndex = 25; + this.btnIniciarOperacao.Text = "Iniciar Operação"; + this.btnIniciarOperacao.UseVisualStyleBackColor = true; + this.btnIniciarOperacao.Click += new System.EventHandler(this.btnIniciarOperacao_Click); // // lblDistanciaEsquerda // @@ -452,25 +650,29 @@ this.lblDistanciaDireita.TabIndex = 27; this.lblDistanciaDireita.Text = "Distancia Dir: 00.00 cm"; // + // picSonar + // + this.picSonar.Location = new System.Drawing.Point(17, 16); + this.picSonar.Name = "picSonar"; + this.picSonar.Size = new System.Drawing.Size(579, 320); + this.picSonar.TabIndex = 0; + this.picSonar.TabStop = false; + // // frmOperacaoManual // this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F); this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.BackColor = System.Drawing.Color.White; this.ClientSize = new System.Drawing.Size(1651, 804); - this.Controls.Add(this.lblDistanciaEsquerda); - this.Controls.Add(this.lblDistanciaDireita); this.Controls.Add(this.btnIniciarOperacao); + this.Controls.Add(this.lblDistanciaEsquerda); + this.Controls.Add(this.tabControl1); + this.Controls.Add(this.lblDistanciaDireita); this.Controls.Add(this.pnlDir_DF); this.Controls.Add(this.pnlDir_DT); this.Controls.Add(this.pnlDir_ET); this.Controls.Add(this.pnlDir_EF); this.Controls.Add(this.pnlCameraRua); - this.Controls.Add(this.lblMagnetometro); - this.Controls.Add(this.pnlAnguloMagnetometro); - this.Controls.Add(this.lblGPS); - this.Controls.Add(this.pnlAnguloGPS); - this.Controls.Add(this.tabControl1); this.Controls.Add(this.chartGraficos); this.Controls.Add(this.pnlAtuadores); this.Controls.Add(this.pnlCamerasSolo); @@ -487,9 +689,14 @@ ((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).EndInit(); this.tabControl1.ResumeLayout(false); this.tabMapa.ResumeLayout(false); + this.tabMapa.PerformLayout(); this.tabInformacoes.ResumeLayout(false); ((System.ComponentModel.ISupportInitialize)(this.gridDados)).EndInit(); this.tabDeteccoes.ResumeLayout(false); + this.pnlDeteccoesRua.ResumeLayout(false); + this.tabPulverizador.ResumeLayout(false); + this.tabPulverizador.PerformLayout(); + ((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).EndInit(); this.pnlCameraRua.ResumeLayout(false); ((System.ComponentModel.ISupportInitialize)(this.picCameraRua)).EndInit(); this.pnlDir_EF.ResumeLayout(false); @@ -500,9 +707,7 @@ this.pnlDir_DT.PerformLayout(); this.pnlDir_DF.ResumeLayout(false); this.pnlDir_DF.PerformLayout(); - this.tabPulverizador.ResumeLayout(false); - this.tabPulverizador.PerformLayout(); - ((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).EndInit(); + ((System.ComponentModel.ISupportInitialize)(this.picSonar)).EndInit(); this.ResumeLayout(false); this.PerformLayout(); @@ -546,5 +751,22 @@ private System.Windows.Forms.Button btnLigarBomba; private System.Windows.Forms.Label lblDistanciaEsquerda; private System.Windows.Forms.Label lblDistanciaDireita; + private System.Windows.Forms.Label lblGPSsatelites; + private System.Windows.Forms.Label lblGPSaltitude; + private System.Windows.Forms.Label lblGPSvelocidade; + private System.Windows.Forms.Label lblGPSprecisao; + private System.Windows.Forms.Button btnRef_EF; + private System.Windows.Forms.Button btnRef_ET; + private System.Windows.Forms.Button btnRef_DT; + private System.Windows.Forms.Button btnRef_DF; + private System.Windows.Forms.CheckBox chbCmd_EF; + private System.Windows.Forms.CheckBox chbCmd_ET; + private System.Windows.Forms.CheckBox chbCmd_DT; + private System.Windows.Forms.CheckBox chbCmd_DF; + private System.Windows.Forms.CheckBox chbLivre_EF; + private System.Windows.Forms.CheckBox chbLivre_ET; + private System.Windows.Forms.CheckBox chbLivre_DT; + private System.Windows.Forms.CheckBox chbLivre_DF; + private System.Windows.Forms.PictureBox picSonar; } } \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs index 624888938..e8c9fd24a 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs @@ -43,12 +43,7 @@ namespace AgroBase.Forms.Operacoes private void frmOperacaoManual_Load(object sender, EventArgs e) { - pnlDir_DF.Paint += pnlDir_Paint; - pnlDir_DT.Paint += pnlDir_Paint; - pnlDir_EF.Paint += pnlDir_Paint; - pnlDir_ET.Paint += pnlDir_Paint; - - + InicializarComandosDirecional(); IniciarCameras(); PopularInformacoesGerais(); InicializarMapa(); @@ -63,10 +58,39 @@ namespace AgroBase.Forms.Operacoes { tmrLeitura.Stop(); tmrLeitura.Dispose(); - Mapa.PararProcessamento(); - videoSourceRua.Stop(); - videoSourceSoloD.Stop(); - videoSourceSoloE.Stop(); + Variaveis.OperacaoEmAndamento.Mapa.PararProcessamento(); + if (videoSourceRua != null) + { + videoSourceRua.Stop(); + } + if (videoSourceSoloD != null) + { + videoSourceSoloD.Stop(); + } + if (videoSourceSoloE != null) + { + videoSourceSoloE.Stop(); + } + } + + private void btnIniciarOperacao_Click(object sender, EventArgs e) + { + if (btnIniciarOperacao.Text == "Finalizar Operação") + { + Variaveis.OperacaoEmAndamento.FinalizarOperacao(); + } + else + { + if (Variaveis.OperacaoEmAndamento.OperacaoLiberada) + { + Variaveis.OperacaoEmAndamento.IniciarOperacao(null, false); + } + else + { + MessageBox.Show("Finalize a parametrização corretamente para iniciar a operação!", "Aviso", MessageBoxButtons.OK, MessageBoxIcon.Error); + } + } + btnIniciarOperacao.Text = !Variaveis.OperacaoEmAndamento.Iniciado ? "Iniciar Operação" : "Finalizar Operação"; } private void tmrLeitura_Tick(object sender, EventArgs e) @@ -76,7 +100,7 @@ namespace AgroBase.Forms.Operacoes public void AtualizarDados() { - var statusAtual = Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.StatusAtual; + var statusAtual = Variaveis.OperacaoEmAndamento.StatusAtual; if (statusAtual == StatusOperacao.Parametrizando) { @@ -86,11 +110,11 @@ namespace AgroBase.Forms.Operacoes { this.Text = "Operação Manual - Iniciando em " + (Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) - DateTime.Now).TotalSeconds.ToString("0") + " segundo" + ((Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) - DateTime.Now).TotalSeconds < 1 ? "" : "s") + "..."; } - else if (statusAtual == StatusOperacao.Concluida) + else if (statusAtual == StatusOperacao.Concluido) { this.Text = "Operação Manual - Concluída"; } - else if (Variaveis.OperacaoEmAndamento.Iniciado) + else if (statusAtual == StatusOperacao.EmAndamento) { this.Text = "Operação Manual - Em andamento"; } @@ -109,11 +133,51 @@ namespace AgroBase.Forms.Operacoes lblDistanciaEsquerda.Text = "Distancia Esq: " + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaEsquerda.ToString("0.00") + " cm"; lblDistanciaDireita.Text = "Distancia Dir: " + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaDireita.ToString("0.00") + " cm"; + lblGPSsatelites.Text = GPSService.UltimaLeitura.NumeroSatelites.ToString() + " satélites"; + lblGPSprecisao.Text = "Precisão: " + GPSService.UltimaLeitura.PrecisaoHorizontal.ToString("0.00") + " m"; + lblGPSvelocidade.Text = "Vel.: " + GPSService.UltimaLeitura.Velocidade.ToString("0.00") + " km/h"; + lblGPSaltitude.Text = "Altitude: " + GPSService.UltimaLeitura.Altitude.ToString("0.0") + " m"; } + + + + #region Direcionais + private void InicializarComandosDirecional() + { + pnlDir_DF.Paint += pnlDir_Paint; + pnlDir_DT.Paint += pnlDir_Paint; + pnlDir_EF.Paint += pnlDir_Paint; + pnlDir_ET.Paint += pnlDir_Paint; + btnRef_DF.Click += btnRef_Click; + btnRef_DT.Click += btnRef_Click; + btnRef_EF.Click += btnRef_Click; + btnRef_ET.Click += btnRef_Click; + chbCmd_DF.CheckedChanged += chbCmd_CheckedChanged; + chbCmd_DT.CheckedChanged += chbCmd_CheckedChanged; + chbCmd_EF.CheckedChanged += chbCmd_CheckedChanged; + chbCmd_ET.CheckedChanged += chbCmd_CheckedChanged; + chbLivre_DF.CheckedChanged += chbLivre_CheckedChanged; + chbLivre_DT.CheckedChanged += chbLivre_CheckedChanged; + chbLivre_EF.CheckedChanged += chbLivre_CheckedChanged; + chbLivre_ET.CheckedChanged += chbLivre_CheckedChanged; + DefinirStatusInicialChb(chbCmd_DF, chbLivre_DF); + DefinirStatusInicialChb(chbCmd_DT, chbLivre_DT); + DefinirStatusInicialChb(chbCmd_EF, chbLivre_EF); + DefinirStatusInicialChb(chbCmd_ET, chbLivre_ET); + } + + private void DefinirStatusInicialChb(CheckBox chbCmd, CheckBox chbLivre) + { + string ID = chbCmd.Name.Split('_')[1]; + var Motor = Variaveis.OperacaoEmAndamento.DispDir.Dados.Motores.FirstOrDefault(x => x.ID == ID); + chbCmd.Checked = Motor.Controlar; + chbLivre.Checked = Motor.Livre; + } + private void pnlDir_Paint(object sender, PaintEventArgs e) { DesenharGraficos(sender, e); @@ -221,6 +285,7 @@ namespace AgroBase.Forms.Operacoes // Desenhe os pontos nos angulos fixos int radiusCircle = 5; + var fontText = new Font(FontFamily.GenericSerif, 7); for (int i = 0; i < 4; i++) { double angle = ((i * 90) * Math.PI) / 180; @@ -239,7 +304,7 @@ namespace AgroBase.Forms.Operacoes } string angleText = ((i * 90).ToString() + "°"); - SizeF textSize = g.MeasureString(angleText, Font); + SizeF textSize = g.MeasureString(angleText, fontText); float textX = xA; float textY = yA; @@ -267,11 +332,36 @@ namespace AgroBase.Forms.Operacoes textY -= textSize.Height / 2; } - g.DrawString(angleText, Font, Brushes.Black, textX, textY); + g.DrawString(angleText, fontText, Brushes.Black, textX, textY); } } + private void btnRef_Click(object sender, EventArgs e) + { + string ID = ((Button)sender).Name.Replace("btnRef_", ""); + var Dispositivo = Variaveis.OperacaoEmAndamento.DispDir; + var Motor = Dispositivo.Dados.Motores.FirstOrDefault(x => x.ID == ID); + string Comando = Motor.ProtocoloComando(Direcao.Parado, true); + Dispositivo.EnviarDadosSerial(Comando); + } + + private void chbCmd_CheckedChanged(object sender, EventArgs e) + { + string ID = ((CheckBox)sender).Name.Replace("chbCmd_", ""); + var Dispositivo = Variaveis.OperacaoEmAndamento.DispDir; + var Motor = Dispositivo.Dados.Motores.FirstOrDefault(x => x.ID == ID); + Motor.Controlar = ((CheckBox)sender).Checked; + } + + private void chbLivre_CheckedChanged(object sender, EventArgs e) + { + string ID = ((CheckBox)sender).Name.Replace("chbLivre_", ""); + var Dispositivo = Variaveis.OperacaoEmAndamento.DispDir; + var Motor = Dispositivo.Dados.Motores.FirstOrDefault(x => x.ID == ID); + Motor.Livre = ((CheckBox)sender).Checked; + } + #endregion #region Cameras @@ -336,7 +426,7 @@ namespace AgroBase.Forms.Operacoes { try { - double angulo = Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.AnguloCarroGPS; + double angulo = GPSService.UltimaLeitura.Orientacao; DesenharInclinacao((Panel)sender, e, (float)angulo, -90); } catch { } @@ -492,8 +582,6 @@ namespace AgroBase.Forms.Operacoes gridDados.Rows.Add("Corrente da Bateria", "", "A"); gridDados.Rows.Add("Nível do Reservatório", "", "%"); gridDados.Rows.Add("Volume do Reservatório", "", "L"); - gridDados.Rows.Add("Herbicida Aplicado", "", "L"); - gridDados.Rows.Add("Ervas Detectadas", "", ""); gridDados.Rows.Add("Pressão da Linha", "", "psi"); gridDados.Rows.Add("Potência na Bomba", "", "%"); @@ -511,25 +599,21 @@ namespace AgroBase.Forms.Operacoes gridDados.Rows[6].Cells[1].Value = (PZEMService.Iniciado && PZEMService.UltimaLeitura != null ? PZEMService.UltimaLeitura.Corrente.ToString("0.00") : ""); gridDados.Rows[7].Cells[1].Value = Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio.ToString("00.00"); gridDados.Rows[8].Cells[1].Value = Variaveis.OperacaoEmAndamento.DispAtu.Dados.VolumeReservatorio.ToString("0.000"); - gridDados.Rows[9].Cells[1].Value = Variaveis.OperacaoEmAndamento.Sensoriamento.HerbicidaConsumido.ToString("0.000"); - gridDados.Rows[10].Cells[1].Value = Variaveis.OperacaoEmAndamento.Sensoriamento.ErvasIdentificadas.ToString("000"); - gridDados.Rows[11].Cells[1].Value = Variaveis.OperacaoEmAndamento.DispAtu.Dados.PressaoLinha.ToString("0.00"); - gridDados.Rows[12].Cells[1].Value = Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombaPressurizadora.Potencia.ToString("0.00"); + gridDados.Rows[9].Cells[1].Value = Variaveis.OperacaoEmAndamento.DispAtu.Dados.PressaoLinha.ToString("0.00"); + gridDados.Rows[10].Cells[1].Value = Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombaPressurizadora.Potencia.ToString("0.00"); } #endregion #region Mapa GPS - private MapasModel Mapa; - private void InicializarMapa() { - Mapa = new MapasModel() + Variaveis.OperacaoEmAndamento.Mapa = new MapasModel() { pnlMapa = pnlMapa, }; - Mapa.CarregarMapaGPS(); + Variaveis.OperacaoEmAndamento.Mapa.CarregarMapaGPS(); } #endregion @@ -656,7 +740,7 @@ namespace AgroBase.Forms.Operacoes // Define a string que representa a atuacao do bico - string bicoAtuacao = Variaveis.OperacaoEmAndamento.Sensoriamento.AtuacoesPorBico[i].ToString("000"); + string bicoAtuacao = "000"; // Variaveis.OperacaoEmAndamento.Sensoriamento.AtuacoesPorBico[i].ToString("000"); // Define a fonte para o texto Font fontA = new Font("Arial", 8, FontStyle.Bold); // Mede o tamanho do texto @@ -691,26 +775,7 @@ namespace AgroBase.Forms.Operacoes #endregion - private void btnIniciarOperacao_Click(object sender, EventArgs e) - { - if (btnIniciarOperacao.Text == "Finalizar Operação") - { - Variaveis.OperacaoEmAndamento.FinalizarOperacao(); - } - else - { - if (Variaveis.OperacaoEmAndamento.OperacaoLiberada) - { - Variaveis.OperacaoEmAndamento.IniciarOperacao(null, false); - } - else - { - MessageBox.Show("Finalize a parametrização corretamente para iniciar a operação!", "Aviso", MessageBoxButtons.OK, MessageBoxIcon.Error); - } - } - btnIniciarOperacao.Text = !Variaveis.OperacaoEmAndamento.Iniciado ? "Iniciar Operação" : "Finalizar Operação"; - } - + } } diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs index 8bdbe3c21..3cc897464 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs @@ -27,7 +27,6 @@ namespace AgroBase.Forms.Operacoes public partial class frmOperacaoMapaGPS : Form { private Timer tmrLeituras = new Timer() { Interval = 200 }; - CalibragemVazao _CalibragemVazao = new CalibragemVazao(); #region Eventos do formulário @@ -57,8 +56,6 @@ namespace AgroBase.Forms.Operacoes AtualizarDispositivos(); AtualizaListaCameras(); nudPressaoSP.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombaPressurizadora.PressaoSP); - txtVolumeLido.Text = Variaveis.OperacaoEmAndamento.DispAtu.Dados._FluxoMlRef.ToString("0.0"); - lblVazao.Text = "Vazão " + (Variaveis.OperacaoEmAndamento.DispAtu.Dados._FluxoMlRef / _CalibragemVazao.TempoCalibragem * 1000).ToString("0") + " mL/s"; } private void frmOperacaoMapaGPS_FormClosing(object sender, FormClosingEventArgs e) @@ -101,7 +98,7 @@ namespace AgroBase.Forms.Operacoes } }); - Variaveis.OperacaoEmAndamento.Sensoriamento.ErvasNoRadar = Variaveis.OperacaoEmAndamento.CamerasSolo.Sum(x => x.ErvasNoRadar); + Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ErvasNoRadar = Variaveis.OperacaoEmAndamento.CamerasSolo.Sum(x => x.ErvasNoRadar); try { @@ -111,10 +108,20 @@ namespace AgroBase.Forms.Operacoes { } + + var StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual; + if (StatusCarro == StatusCarroMapa.Direcionando) + { + Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First()); + } + else if (StatusCarro == StatusCarroMapa.Manobrando) + { + //Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First()); + } } else { - Variaveis.OperacaoEmAndamento.AtualizarRuasSelecionadas(); + Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas(); } AtualizarGrafico(); AtualizarInformacoesGerais(); @@ -122,7 +129,8 @@ namespace AgroBase.Forms.Operacoes pnlInclinacao.Invalidate(); pnlAtuadores.Invalidate(); - PZEMService.EnviarComando(PZEMService.PortaPZEM, PZEMService.ComandoAquisicaoDados()); + btnCarregarMapa.Enabled = !Variaveis.OperacaoEmAndamento.Iniciado; + nudPressaoSP.Enabled = !Variaveis.OperacaoEmAndamento.Iniciado; if (!Variaveis.OperacaoEmAndamento.Iniciado && btnIniciarOperacao.Text == "Finalizar Operação") { @@ -197,7 +205,7 @@ namespace AgroBase.Forms.Operacoes int iBico = i + (CameraSolo.Posicao * BicosPorCamera); if (Atuador.Dados.BicosPulverizadores[iBico].Atuado && BicosAnteriores[i] != Atuador.Dados.BicosPulverizadores[iBico].Atuado) { - Variaveis.OperacaoEmAndamento.Sensoriamento.AtuacoesPorBico[iBico]++; + Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.AtuacoesPorBico[iBico]++; } } @@ -255,7 +263,7 @@ namespace AgroBase.Forms.Operacoes cameraCaminho.AnguloEsquerdo = 0; } - Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloRuaCamera = cameraCaminho.Angulo; + Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.AnguloRuaCamera = cameraCaminho.Angulo; pnlAnguloCamera.Invalidate(); @@ -271,9 +279,9 @@ namespace AgroBase.Forms.Operacoes private void AtualizaInformacoesControleOperacao() { - Variaveis.OperacaoEmAndamento.AtualizarControleAtuadores(); - Variaveis.OperacaoEmAndamento.CalculaDadosMovimentacaoAutonoma(); - Variaveis.OperacaoEmAndamento.AtualizarDadosControle(); + Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarControleAtuadores(); + Variaveis.OperacaoEmAndamento.OpMapaGPS.CalculaDadosMovimentacaoAutonoma(); + Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarDadosControle(); } private void AtualizarGrafico() @@ -336,7 +344,7 @@ namespace AgroBase.Forms.Operacoes private void AtualizarInformacoesGerais() { - var statusAtual = Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.StatusAtual; + var statusAtual = Variaveis.OperacaoEmAndamento.StatusAtual; if (statusAtual == StatusOperacao.Parametrizando) { @@ -344,40 +352,40 @@ namespace AgroBase.Forms.Operacoes } else if (statusAtual == StatusOperacao.Aguardando) { - this.Text = "Operação Mapa GPS - Iniciando em " + (Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) - DateTime.Now).TotalSeconds.ToString("0") + " segundo" + ((Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) - DateTime.Now).TotalSeconds >= 1 ? "" : "s") + "..."; + this.Text = "Operação Mapa GPS - Iniciando em " + (Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) - DateTime.Now).TotalSeconds.ToString("0") + " segundo" + ((Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) - DateTime.Now).TotalSeconds < 1 ? "" : "s") + "..."; } - else if (statusAtual == StatusOperacao.Concluida) + else if (statusAtual == StatusOperacao.Concluido) { this.Text = "Operação Mapa GPS - Concluída"; } - else if (Variaveis.OperacaoEmAndamento.Iniciado) + else if (statusAtual == StatusOperacao.EmAndamento) { this.Text = "Operação Mapa GPS - Em andamento"; } - lblDistanciaEsquerda.Text = "Distancia da Esquerda: " + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaEsquerda.ToString("0.00") + " cm"; - lblDistanciaDireita.Text = "Distancia da Direita: " + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaDireita.ToString("0.00") + " cm"; + //lblDistanciaEsquerda.Text = "Distancia da Esquerda: " + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaEsquerda.ToString("0.00") + " cm"; + //lblDistanciaDireita.Text = "Distancia da Direita: " + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaDireita.ToString("0.00") + " cm"; lblDistanciaPercorrida.Text = "Distancia Percorrida: " + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Sum().ToString("0.00") + " m"; lblTempoOperacao.Text = "Tempo de Operação: " + Variaveis.OperacaoEmAndamento.Tempo.Hours.ToString("00") + ":" + Variaveis.OperacaoEmAndamento.Tempo.Minutes.ToString("00") + ":" + Variaveis.OperacaoEmAndamento.Tempo.Seconds.ToString("00"); lblVelocidadeMedia.Text = "Velocidade Média: " + Variaveis.OperacaoEmAndamento.Sensoriamento.VelocidadeMedia.ToString("0.00") + " km/h"; - lblErvasIdentificadas.Text = "Ervas Identificadas: " + Variaveis.OperacaoEmAndamento.Sensoriamento.ErvasIdentificadas.ToString("000"); - lblHerbicidaAplicado.Text = "Herbicida Aplicado: " + Variaveis.OperacaoEmAndamento.Sensoriamento.HerbicidaConsumido.ToString("0.000") + " L"; - lblHerbicidaPorErva.Text = "Herbicida por Erva: " + Variaveis.OperacaoEmAndamento.Sensoriamento.HerbicidaPorErva.ToString("0.000") + " mL"; + lblErvasIdentificadas.Text = "Ervas Identificadas: " + Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ErvasIdentificadas.ToString("000"); + lblHerbicidaAplicado.Text = "Herbicida Aplicado: " + Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.HerbicidaConsumido.ToString("0.000") + " L"; + lblHerbicidaPorErva.Text = "Herbicida por Erva: " + Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.HerbicidaPorErva.ToString("0.000") + " mL"; lblBateriaConsumida.Text = "Bateria Consumida: " + Variaveis.OperacaoEmAndamento.Sensoriamento.BateriaConsumida.ToString("0.00") + "%"; lblPressao.Text = "P: " + Variaveis.OperacaoEmAndamento.DispAtu.Dados.PressaoLinha.ToString("0.00") + " psi"; - pgbReservatorio.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio); + pgbReservatorio.Value = Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio) : 100; lblPorcentagemReservatorio.Text = Variaveis.OperacaoEmAndamento.DispAtu.Dados.VolumeReservatorio.ToString("0.000") + " L " + Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio.ToString("00.00") + "%"; pgbBateria.Value = Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria) : 100; lblPorcentagemBateria.Text = (PZEMService.Iniciado && PZEMService.UltimaLeitura != null ? PZEMService.UltimaLeitura.Tensao.ToString("0.00") + "v " + PZEMService.UltimaLeitura.Corrente.ToString("0.00") + "A " : "") + Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria.ToString("00.00") + "%"; - pgbProgresso.Value = Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoTrajeto <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoTrajeto) : 100; - lblPorcentagemProgresso.Text = Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoTrajeto.ToString("00.00") + "%"; - pgbProgressoRua.Value = Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoRua <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoRua) : 100; - lblPorcentagemProgressoRua.Text = Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoRua.ToString("00.00") + "%"; + pgbProgresso.Value = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto) : 100; + lblPorcentagemProgresso.Text = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto.ToString("00.00") + "%"; + pgbProgressoRua.Value = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua) : 100; + lblPorcentagemProgressoRua.Text = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua.ToString("00.00") + "%"; lblDistancia.Text = "Distância Operação: " + (Variaveis.OperacaoEmAndamento.Mapa == null ? 0 : Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal).ToString("00.00") + " m"; @@ -630,7 +638,7 @@ namespace AgroBase.Forms.Operacoes } else { - if (Variaveis.OperacaoEmAndamento.OperacaoLiberada) + if (Variaveis.OperacaoEmAndamento.OperacaoLiberada && Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal > 0 && Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Any()) { Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombaPressurizadora.PressaoSP = Convert.ToDouble(nudPressaoSP.Value); Variaveis.OperacaoEmAndamento.IniciarOperacao(null, false); @@ -694,7 +702,7 @@ namespace AgroBase.Forms.Operacoes // Define a string que representa a atuacao do bico - string bicoAtuacao = Variaveis.OperacaoEmAndamento.Sensoriamento.AtuacoesPorBico[i].ToString("000"); + string bicoAtuacao = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.AtuacoesPorBico[i].ToString("000"); // Define a fonte para o texto Font fontA = new Font("Arial", 8, FontStyle.Bold); // Mede o tamanho do texto @@ -807,7 +815,7 @@ namespace AgroBase.Forms.Operacoes try { //DesenharInclinacao((Panel)sender, e, (float)cameraCaminho.Angulo); - DesenharInclinacao((Panel)sender, e, (float)(Variaveis.OperacaoEmAndamento.Controle.Angulo), 90); + DesenharInclinacao((Panel)sender, e, (float)(Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.Angulo), 90); } catch { } } @@ -817,7 +825,7 @@ namespace AgroBase.Forms.Operacoes try { //DesenharInclinacao((Panel)sender, e, (float)cameraCaminho.Angulo); - DesenharInclinacao((Panel)sender, e, (float)(Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloRuaCamera), 90); + DesenharInclinacao((Panel)sender, e, (float)(Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.AnguloRuaCamera), 90); } catch { } } @@ -826,7 +834,7 @@ namespace AgroBase.Forms.Operacoes { try { - double angulo = Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.AnguloCarro; + double angulo = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.AnguloCarro; DesenharInclinacao((Panel)sender, e, (float)angulo, -90); } catch { } @@ -912,16 +920,16 @@ namespace AgroBase.Forms.Operacoes { ((Timer)sender).Stop(); } - lblStatus.Text = "Status: " + Enum.GetName(typeof(StatusOperacao), Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.StatusAtual); - lblDirecao.Text = "Direção: " + Enum.GetName(typeof(DirecaoCarroRua), Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.Direcao); + lblStatus.Text = "Status: " + Enum.GetName(typeof(StatusCarroMapa), Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual); + lblDirecao.Text = "Direção: " + Enum.GetName(typeof(DirecaoCarroRua), Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.Direcao); //var Ponto = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual][Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.IdxPontoAproximadoRua]; } private void btnManobraConcluida_Click(object sender, EventArgs e) { - if (Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.StatusAtual == StatusOperacao.Manobrando) + if (Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual == StatusCarroMapa.Manobrando) { - Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.ManobraConcluida = true; + Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.ManobraConcluida = true; } } @@ -931,128 +939,6 @@ namespace AgroBase.Forms.Operacoes #endregion - #region Calibragem do pulverizador - - private void AtuarBico(AtuadorBicoModel Bico, bool Estado) - { - if (Bico != null) - { - Bico.Atuado = Variaveis.OperacaoEmAndamento.DispAtu.Dados.AtuacaoNivelAlto ? Estado : !Estado; - string Protocolo = Bico.ProtocoloComando(); - Variaveis.OperacaoEmAndamento.DispAtu.EnviarDadosSerial(Protocolo); - } - } - - private void AtuarBomba(bool Estado) - { - Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombaPressurizadora.BombaAtuada = Estado; - string Protocolo = Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombaPressurizadora.ProtocoloComando(); - Variaveis.OperacaoEmAndamento.DispAtu.EnviarDadosSerial(Protocolo); - } - - private void btnCalibrarVazao_Click(object sender, EventArgs e) - { - if (btnCalibrarVazao.Text == "Calcular") - { - if (txtVolumeLido.Text == "" || double.TryParse(txtVolumeLido.Text, out double Volume) == false) - { - MessageBox.Show("Informe o volume obtido durante a calibragem!"); - return; - } - _CalibragemVazao.VolumeComputado = Volume; - btnCalibrarVazao.Text = "Calibrar vazão"; - - string Resultados = - "Valores iniciais" + Environment.NewLine + - "Massa = " + _CalibragemVazao.MassaInicial.ToString("0.0000") + " Kg" + Environment.NewLine + - "Pressão = " + _CalibragemVazao.PressoesAferidas.First().ToString("0.0000") + " psi" + Environment.NewLine + - Environment.NewLine + - "Medições" + Environment.NewLine + - "V = " + _CalibragemVazao.VolumeComputado.ToString("0.0000") + "mL" + Environment.NewLine + - "P = " + _CalibragemVazao.PressaoMedia.ToString("0.0000") + " psi" + Environment.NewLine + - "NP = " + _CalibragemVazao.QtdPulsos + Environment.NewLine + - "T = " + _CalibragemVazao.Periodo + " s" + Environment.NewLine + - "M = " + _CalibragemVazao.MassaFinal.ToString("0.0000") + " Kg" + Environment.NewLine + - Environment.NewLine + - "Cálculos" + Environment.NewLine + - "Massa Perdida = " + _CalibragemVazao.MassaPerdida.ToString("0.0000") + " g" + Environment.NewLine + - "d = " + _CalibragemVazao.d.ToString("0.0000") + Environment.NewLine + - "Q = " + _CalibragemVazao.Q.ToString("0.0000") + " mL/s" + Environment.NewLine + - "x = " + _CalibragemVazao.x.ToString("0.0000") + Environment.NewLine + - "Q2 = " + _CalibragemVazao.Q2.ToString("0.0000") + " mL" + Environment.NewLine + - "" - ; - - Console.WriteLine(Resultados); - MessageBox.Show(Resultados, "Resultado da calibragem"); - if (MessageBox.Show("Deseja aceitar os parâmetros de calibragem?", "Atualizar dados", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes) - { - Variaveis.OperacaoEmAndamento.DispAtu.Dados._FluxoMlRef = _CalibragemVazao.VolumeComputado; - Variaveis.OperacaoEmAndamento.DispAtu.Dados._FluxoPulsoRef = _CalibragemVazao.QtdPulsos; - Variaveis.OperacaoEmAndamento.DispAtu.Dados.DensidadeHerbicida = _CalibragemVazao.d; - } - } - else - { - btnCalibrarVazao.Enabled = false; - AtuarBomba(true); - var tmrInicioCalibragemVazao = new Timer { Interval = 1000 }; - tmrInicioCalibragemVazao.Tick += tmrInicioCalibragemVazao_Tick; - tmrInicioCalibragemVazao.Start(); - } - txtVolumeLido.Enabled = false; - } - - private void tmrInicioCalibragemVazao_Tick(object sender, EventArgs e) - { - ((Timer)sender).Stop(); - - var tmrCalibragemVazao = new Timer() { Interval = 500 }; - - _CalibragemVazao = new CalibragemVazao() - { - Calibrando = true, - IniciadoEm = DateTime.Now, - MassaInicial = Variaveis.OperacaoEmAndamento.DispAtu.Dados.MassaReservatorio, - PressoesAferidas = new List() - { - Variaveis.OperacaoEmAndamento.DispAtu.Dados.PressaoLinha, - } - }; - tmrCalibragemVazao.Tick += tmrCalibragemVazao_Tick; - tmrCalibragemVazao.Start(); - - AtuarBico(Variaveis.OperacaoEmAndamento.DispAtu.Dados.BicosPulverizadores.FirstOrDefault(x => x.Inicializado), true); - } - - private void tmrCalibragemVazao_Tick(object sender, EventArgs e) - { - _CalibragemVazao.QtdPulsos = Variaveis.OperacaoEmAndamento.DispAtu.Dados._LeituraPulsos; - _CalibragemVazao.Periodo = Variaveis.OperacaoEmAndamento.DispAtu.Dados._LeituraPeriodo; - _CalibragemVazao.PressoesAferidas.Add(Variaveis.OperacaoEmAndamento.DispAtu.Dados.PressaoLinha); - _CalibragemVazao.MassaFinal = Variaveis.OperacaoEmAndamento.DispAtu.Dados.MassaReservatorio; - - if (Variaveis.OperacaoEmAndamento.DispAtu.Dados._LeituraPeriodo >= _CalibragemVazao.TempoCalibragem || DateTime.Now >= _CalibragemVazao.IniciadoEm.AddMilliseconds(_CalibragemVazao.TempoCalibragem)) - { - ((Timer)sender).Stop(); - - AtuarBico(Variaveis.OperacaoEmAndamento.DispAtu.Dados.BicosPulverizadores.FirstOrDefault(x => x.Inicializado), false); - AtuarBomba(false); - - _CalibragemVazao.Periodo = _CalibragemVazao.Periodo / 1000.0; - if (_CalibragemVazao.Periodo == 0) - { - _CalibragemVazao.Periodo = _CalibragemVazao.TempoCalibragem / 1000; - } - - btnCalibrarVazao.Text = "Calcular"; - btnCalibrarVazao.Enabled = true; - txtVolumeLido.Enabled = true; - } - - } - - #endregion } } diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs index a96008f8a..d28a3c637 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs @@ -29,9 +29,9 @@ namespace AgroBase.Forms.Operacoes /// private void InitializeComponent() { - System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea6 = new System.Windows.Forms.DataVisualization.Charting.ChartArea(); - System.Windows.Forms.DataVisualization.Charting.Legend legend6 = new System.Windows.Forms.DataVisualization.Charting.Legend(); - System.Windows.Forms.DataVisualization.Charting.Series series6 = new System.Windows.Forms.DataVisualization.Charting.Series(); + System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea1 = new System.Windows.Forms.DataVisualization.Charting.ChartArea(); + System.Windows.Forms.DataVisualization.Charting.Legend legend1 = new System.Windows.Forms.DataVisualization.Charting.Legend(); + System.Windows.Forms.DataVisualization.Charting.Series series1 = new System.Windows.Forms.DataVisualization.Charting.Series(); this.pnlCameraSolo = new System.Windows.Forms.Panel(); this.pnlCameraSoloD = new System.Windows.Forms.Panel(); this.pnlCameraSoloE = new System.Windows.Forms.Panel(); @@ -59,6 +59,9 @@ namespace AgroBase.Forms.Operacoes this.lblPorcentagemReservatorio = new System.Windows.Forms.Label(); this.pgbReservatorio = new System.Windows.Forms.ProgressBar(); this.gpbOpcoes = new System.Windows.Forms.GroupBox(); + this.lblPSI = new System.Windows.Forms.Label(); + this.lblPressaoSP = new System.Windows.Forms.Label(); + this.nudPressaoSP = new System.Windows.Forms.NumericUpDown(); this.btnCarregarMapa = new System.Windows.Forms.Button(); this.btnIniciarOperacao = new System.Windows.Forms.Button(); this.gpbInformacoesGerais = new System.Windows.Forms.GroupBox(); @@ -69,8 +72,6 @@ namespace AgroBase.Forms.Operacoes this.lblVelocidadeMedia = new System.Windows.Forms.Label(); this.lblTempoOperacao = new System.Windows.Forms.Label(); this.lblDistanciaPercorrida = new System.Windows.Forms.Label(); - this.lblDistanciaEsquerda = new System.Windows.Forms.Label(); - this.lblDistanciaDireita = new System.Windows.Forms.Label(); this.pnlInferior = new System.Windows.Forms.Panel(); this.lblDistancia = new System.Windows.Forms.Label(); this.lblMapaCarregado = new System.Windows.Forms.Label(); @@ -85,23 +86,23 @@ namespace AgroBase.Forms.Operacoes this.pnlInclinacao = new System.Windows.Forms.Panel(); this.pnlAnguloCamera = new System.Windows.Forms.Panel(); this.lblPerformance = new System.Windows.Forms.Label(); - this.btnCalibrarVazao = new System.Windows.Forms.Button(); - this.nudPressaoSP = new System.Windows.Forms.NumericUpDown(); - this.lblPressaoSP = new System.Windows.Forms.Label(); - this.lblPSI = new System.Windows.Forms.Label(); - this.txtVolumeLido = new System.Windows.Forms.TextBox(); - this.lblML = new System.Windows.Forms.Label(); - this.lblVolumeLido = new System.Windows.Forms.Label(); - this.lblVazao = new System.Windows.Forms.Label(); + this.tabControl1 = new System.Windows.Forms.TabControl(); + this.tabGrafico = new System.Windows.Forms.TabPage(); + this.tabSonar = new System.Windows.Forms.TabPage(); + this.picSonar = new System.Windows.Forms.PictureBox(); this.pnlCameraSolo.SuspendLayout(); this.pnlAtuadores.SuspendLayout(); this.pnlGraficos.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).BeginInit(); this.pnlNiveis.SuspendLayout(); this.gpbOpcoes.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).BeginInit(); this.gpbInformacoesGerais.SuspendLayout(); this.pnlInferior.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).BeginInit(); + this.tabControl1.SuspendLayout(); + this.tabGrafico.SuspendLayout(); + this.tabSonar.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)(this.picSonar)).BeginInit(); this.SuspendLayout(); // // pnlCameraSolo @@ -176,7 +177,7 @@ namespace AgroBase.Forms.Operacoes // // pnlGraficos // - this.pnlGraficos.Controls.Add(this.chartGraficos); + this.pnlGraficos.Controls.Add(this.tabControl1); this.pnlGraficos.Location = new System.Drawing.Point(808, 378); this.pnlGraficos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlGraficos.Name = "pnlGraficos"; @@ -185,19 +186,19 @@ namespace AgroBase.Forms.Operacoes // // chartGraficos // - chartArea6.Name = "ChartArea1"; - this.chartGraficos.ChartAreas.Add(chartArea6); + chartArea1.Name = "ChartArea1"; + this.chartGraficos.ChartAreas.Add(chartArea1); this.chartGraficos.Dock = System.Windows.Forms.DockStyle.Fill; - legend6.Name = "Legend1"; - this.chartGraficos.Legends.Add(legend6); - this.chartGraficos.Location = new System.Drawing.Point(0, 0); + legend1.Name = "Legend1"; + this.chartGraficos.Legends.Add(legend1); + this.chartGraficos.Location = new System.Drawing.Point(3, 3); this.chartGraficos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chartGraficos.Name = "chartGraficos"; - series6.ChartArea = "ChartArea1"; - series6.Legend = "Legend1"; - series6.Name = "Series1"; - this.chartGraficos.Series.Add(series6); - this.chartGraficos.Size = new System.Drawing.Size(540, 313); + series1.ChartArea = "ChartArea1"; + series1.Legend = "Legend1"; + series1.Name = "Series1"; + this.chartGraficos.Series.Add(series1); + this.chartGraficos.Size = new System.Drawing.Size(526, 278); this.chartGraficos.TabIndex = 0; this.chartGraficos.Text = "chart1"; // @@ -376,14 +377,9 @@ namespace AgroBase.Forms.Operacoes // // gpbOpcoes // - this.gpbOpcoes.Controls.Add(this.lblVazao); - this.gpbOpcoes.Controls.Add(this.lblVolumeLido); - this.gpbOpcoes.Controls.Add(this.lblML); - this.gpbOpcoes.Controls.Add(this.txtVolumeLido); this.gpbOpcoes.Controls.Add(this.lblPSI); this.gpbOpcoes.Controls.Add(this.lblPressaoSP); this.gpbOpcoes.Controls.Add(this.nudPressaoSP); - this.gpbOpcoes.Controls.Add(this.btnCalibrarVazao); this.gpbOpcoes.Controls.Add(this.btnCarregarMapa); this.gpbOpcoes.Controls.Add(this.btnIniciarOperacao); this.gpbOpcoes.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); @@ -396,23 +392,54 @@ namespace AgroBase.Forms.Operacoes this.gpbOpcoes.TabStop = false; this.gpbOpcoes.Text = "Opções"; // + // lblPSI + // + this.lblPSI.AutoSize = true; + this.lblPSI.Location = new System.Drawing.Point(218, 28); + this.lblPSI.Name = "lblPSI"; + this.lblPSI.Size = new System.Drawing.Size(28, 16); + this.lblPSI.TabIndex = 10; + this.lblPSI.Text = "psi"; + // + // lblPressaoSP + // + this.lblPressaoSP.AutoSize = true; + this.lblPressaoSP.Location = new System.Drawing.Point(6, 28); + this.lblPressaoSP.Name = "lblPressaoSP"; + this.lblPressaoSP.Size = new System.Drawing.Size(124, 16); + this.lblPressaoSP.TabIndex = 9; + this.lblPressaoSP.Text = "Pressão da linha"; + // + // nudPressaoSP + // + this.nudPressaoSP.Location = new System.Drawing.Point(138, 23); + this.nudPressaoSP.Maximum = new decimal(new int[] { + 200, + 0, + 0, + 0}); + this.nudPressaoSP.Name = "nudPressaoSP"; + this.nudPressaoSP.Size = new System.Drawing.Size(74, 25); + this.nudPressaoSP.TabIndex = 8; + this.nudPressaoSP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // // btnCarregarMapa // - this.btnCarregarMapa.Location = new System.Drawing.Point(5, 114); + this.btnCarregarMapa.Location = new System.Drawing.Point(29, 71); this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnCarregarMapa.Name = "btnCarregarMapa"; - this.btnCarregarMapa.Size = new System.Drawing.Size(99, 26); + this.btnCarregarMapa.Size = new System.Drawing.Size(206, 26); this.btnCarregarMapa.TabIndex = 5; - this.btnCarregarMapa.Text = "Mapa"; + this.btnCarregarMapa.Text = "Selecionar Mapa"; this.btnCarregarMapa.UseVisualStyleBackColor = true; this.btnCarregarMapa.Click += new System.EventHandler(this.btnCarregarMapa_Click); // // btnIniciarOperacao // - this.btnIniciarOperacao.Location = new System.Drawing.Point(110, 114); + this.btnIniciarOperacao.Location = new System.Drawing.Point(29, 107); this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnIniciarOperacao.Name = "btnIniciarOperacao"; - this.btnIniciarOperacao.Size = new System.Drawing.Size(149, 26); + this.btnIniciarOperacao.Size = new System.Drawing.Size(206, 26); this.btnIniciarOperacao.TabIndex = 6; this.btnIniciarOperacao.Text = "Iniciar Operação"; this.btnIniciarOperacao.UseVisualStyleBackColor = true; @@ -500,26 +527,6 @@ namespace AgroBase.Forms.Operacoes this.lblDistanciaPercorrida.TabIndex = 0; this.lblDistanciaPercorrida.Text = "Distancia Percorrida: 0,00 m"; // - // lblDistanciaEsquerda - // - this.lblDistanciaEsquerda.AutoSize = true; - this.lblDistanciaEsquerda.Font = new System.Drawing.Font("Mongolian Baiti", 9.25F, System.Drawing.FontStyle.Bold); - this.lblDistanciaEsquerda.Location = new System.Drawing.Point(811, 369); - this.lblDistanciaEsquerda.Name = "lblDistanciaEsquerda"; - this.lblDistanciaEsquerda.Size = new System.Drawing.Size(246, 16); - this.lblDistanciaEsquerda.TabIndex = 11; - this.lblDistanciaEsquerda.Text = "Distancia da Esquerda: 00.00 cm"; - // - // lblDistanciaDireita - // - this.lblDistanciaDireita.AutoSize = true; - this.lblDistanciaDireita.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); - this.lblDistanciaDireita.Location = new System.Drawing.Point(1112, 370); - this.lblDistanciaDireita.Name = "lblDistanciaDireita"; - this.lblDistanciaDireita.Size = new System.Drawing.Size(227, 16); - this.lblDistanciaDireita.TabIndex = 12; - this.lblDistanciaDireita.Text = "Distancia da Direita: 00.00 cm"; - // // pnlInferior // this.pnlInferior.Controls.Add(this.lblDistancia); @@ -674,83 +681,47 @@ namespace AgroBase.Forms.Operacoes this.lblPerformance.TabIndex = 16; this.lblPerformance.Text = "CPU: 0,0% GPU: 0,0% RAM: 0,0%"; // - // btnCalibrarVazao + // tabControl1 // - this.btnCalibrarVazao.Location = new System.Drawing.Point(138, 84); - this.btnCalibrarVazao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); - this.btnCalibrarVazao.Name = "btnCalibrarVazao"; - this.btnCalibrarVazao.Size = new System.Drawing.Size(120, 26); - this.btnCalibrarVazao.TabIndex = 7; - this.btnCalibrarVazao.Text = "Calibrar vazão"; - this.btnCalibrarVazao.UseVisualStyleBackColor = true; - this.btnCalibrarVazao.Click += new System.EventHandler(this.btnCalibrarVazao_Click); + this.tabControl1.Controls.Add(this.tabGrafico); + this.tabControl1.Controls.Add(this.tabSonar); + this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill; + this.tabControl1.Location = new System.Drawing.Point(0, 0); + this.tabControl1.Name = "tabControl1"; + this.tabControl1.SelectedIndex = 0; + this.tabControl1.Size = new System.Drawing.Size(540, 313); + this.tabControl1.TabIndex = 0; // - // nudPressaoSP + // tabGrafico // - this.nudPressaoSP.Location = new System.Drawing.Point(138, 23); - this.nudPressaoSP.Maximum = new decimal(new int[] { - 200, - 0, - 0, - 0}); - this.nudPressaoSP.Name = "nudPressaoSP"; - this.nudPressaoSP.Size = new System.Drawing.Size(74, 25); - this.nudPressaoSP.TabIndex = 8; - this.nudPressaoSP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.tabGrafico.Controls.Add(this.chartGraficos); + this.tabGrafico.Location = new System.Drawing.Point(4, 25); + this.tabGrafico.Name = "tabGrafico"; + this.tabGrafico.Padding = new System.Windows.Forms.Padding(3); + this.tabGrafico.Size = new System.Drawing.Size(532, 284); + this.tabGrafico.TabIndex = 0; + this.tabGrafico.Text = "Desempenho"; + this.tabGrafico.UseVisualStyleBackColor = true; // - // lblPressaoSP + // tabSonar // - this.lblPressaoSP.AutoSize = true; - this.lblPressaoSP.Location = new System.Drawing.Point(6, 28); - this.lblPressaoSP.Name = "lblPressaoSP"; - this.lblPressaoSP.Size = new System.Drawing.Size(124, 16); - this.lblPressaoSP.TabIndex = 9; - this.lblPressaoSP.Text = "Pressão da linha"; + this.tabSonar.Controls.Add(this.picSonar); + this.tabSonar.Location = new System.Drawing.Point(4, 25); + this.tabSonar.Name = "tabSonar"; + this.tabSonar.Padding = new System.Windows.Forms.Padding(3); + this.tabSonar.Size = new System.Drawing.Size(532, 284); + this.tabSonar.TabIndex = 1; + this.tabSonar.Text = "Sonar"; + this.tabSonar.UseVisualStyleBackColor = true; // - // lblPSI + // picSonar // - this.lblPSI.AutoSize = true; - this.lblPSI.Location = new System.Drawing.Point(218, 28); - this.lblPSI.Name = "lblPSI"; - this.lblPSI.Size = new System.Drawing.Size(28, 16); - this.lblPSI.TabIndex = 10; - this.lblPSI.Text = "psi"; - // - // txtVolumeLido - // - this.txtVolumeLido.Enabled = false; - this.txtVolumeLido.Location = new System.Drawing.Point(138, 54); - this.txtVolumeLido.Name = "txtVolumeLido"; - this.txtVolumeLido.Size = new System.Drawing.Size(74, 25); - this.txtVolumeLido.TabIndex = 11; - this.txtVolumeLido.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; - // - // lblML - // - this.lblML.AutoSize = true; - this.lblML.Location = new System.Drawing.Point(218, 59); - this.lblML.Name = "lblML"; - this.lblML.Size = new System.Drawing.Size(30, 16); - this.lblML.TabIndex = 12; - this.lblML.Text = "mL"; - // - // lblVolumeLido - // - this.lblVolumeLido.AutoSize = true; - this.lblVolumeLido.Location = new System.Drawing.Point(6, 59); - this.lblVolumeLido.Name = "lblVolumeLido"; - this.lblVolumeLido.Size = new System.Drawing.Size(96, 16); - this.lblVolumeLido.TabIndex = 13; - this.lblVolumeLido.Text = "Volume lido"; - // - // lblVazao - // - this.lblVazao.AutoSize = true; - this.lblVazao.Location = new System.Drawing.Point(6, 91); - this.lblVazao.Name = "lblVazao"; - this.lblVazao.Size = new System.Drawing.Size(120, 16); - this.lblVazao.TabIndex = 14; - this.lblVazao.Text = "Vazão: 10 mL/s"; + this.picSonar.Dock = System.Windows.Forms.DockStyle.Fill; + this.picSonar.Location = new System.Drawing.Point(3, 3); + this.picSonar.Name = "picSonar"; + this.picSonar.Size = new System.Drawing.Size(526, 278); + this.picSonar.TabIndex = 1; + this.picSonar.TabStop = false; // // frmOperacaoMapaGPS // @@ -761,10 +732,8 @@ namespace AgroBase.Forms.Operacoes this.Controls.Add(this.lblPerformance); this.Controls.Add(this.pnlAnguloCamera); this.Controls.Add(this.pnlOrientacao); - this.Controls.Add(this.lblDistanciaEsquerda); this.Controls.Add(this.pnlMapa); this.Controls.Add(this.pnlInferior); - this.Controls.Add(this.lblDistanciaDireita); this.Controls.Add(this.pnlInclinacao); this.Controls.Add(this.gpbInformacoesGerais); this.Controls.Add(this.gpbOpcoes); @@ -789,11 +758,15 @@ namespace AgroBase.Forms.Operacoes this.pnlNiveis.PerformLayout(); this.gpbOpcoes.ResumeLayout(false); this.gpbOpcoes.PerformLayout(); + ((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).EndInit(); this.gpbInformacoesGerais.ResumeLayout(false); this.gpbInformacoesGerais.PerformLayout(); this.pnlInferior.ResumeLayout(false); this.pnlInferior.PerformLayout(); - ((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).EndInit(); + this.tabControl1.ResumeLayout(false); + this.tabGrafico.ResumeLayout(false); + this.tabSonar.ResumeLayout(false); + ((System.ComponentModel.ISupportInitialize)(this.picSonar)).EndInit(); this.ResumeLayout(false); this.PerformLayout(); @@ -826,8 +799,6 @@ namespace AgroBase.Forms.Operacoes private System.Windows.Forms.Label lblTempoOperacao; private System.Windows.Forms.Label lblDistanciaPercorrida; private System.Windows.Forms.Panel pnlInclinacao; - private System.Windows.Forms.Label lblDistanciaEsquerda; - private System.Windows.Forms.Label lblDistanciaDireita; private System.Windows.Forms.Panel pnlInferior; private System.Windows.Forms.Label lblUltimaLeituraRua; private System.Windows.Forms.Label lblUltimaLeituraSolo; @@ -854,13 +825,12 @@ namespace AgroBase.Forms.Operacoes private System.Windows.Forms.Label lblProgressoRua; private System.Windows.Forms.Panel pnlAnguloCamera; private System.Windows.Forms.Label lblPerformance; - private System.Windows.Forms.Label lblML; - private System.Windows.Forms.TextBox txtVolumeLido; private System.Windows.Forms.Label lblPSI; private System.Windows.Forms.Label lblPressaoSP; private System.Windows.Forms.NumericUpDown nudPressaoSP; - private System.Windows.Forms.Button btnCalibrarVazao; - private System.Windows.Forms.Label lblVolumeLido; - private System.Windows.Forms.Label lblVazao; + private System.Windows.Forms.TabControl tabControl1; + private System.Windows.Forms.TabPage tabGrafico; + private System.Windows.Forms.TabPage tabSonar; + private System.Windows.Forms.PictureBox picSonar; } } \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs b/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs index 4795402d0..658d9056e 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs @@ -53,13 +53,13 @@ namespace AgroBase.Forms.Operacoes } }); - nudVelocidadeComErvas.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.RPM_Min); - nudVelocidadeSemErvas.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.RPM_Max); - lblKmhCErvas.Text = MovimentacaoModel.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.Controle.RPM_Min).ToString("0.00") + " Km/h"; - lblKmhSErvas.Text = MovimentacaoModel.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.Controle.RPM_Max).ToString("0.00") + " Km/h"; - nudAnguloMaximo.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.Angulo_Max); - nudAnguloMinimo.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.Angulo_Min); - nudVelocidadeMP.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.VelocidadeMP); + nudVelocidadeComErvas.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.RPM_Min); + nudVelocidadeSemErvas.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.RPM_Max); + lblKmhCErvas.Text = MovimentacaoModel.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.RPM_Min).ToString("0.00") + " Km/h"; + lblKmhSErvas.Text = MovimentacaoModel.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.RPM_Max).ToString("0.00") + " Km/h"; + nudAnguloMaximo.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.Angulo_Max); + nudAnguloMinimo.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.Angulo_Min); + nudVelocidadeMP.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.VelocidadeMP); nudTemposalvarlog.Value = Variaveis.OperacaoEmAndamento.tmrLogs.Interval / 1000; nudQtdBicos.Value = Variaveis.OperacaoEmAndamento.DispAtu.Dados.QuantidadeBicos; nudQtdCameras.Value = Variaveis.OperacaoEmAndamento.QuantidadeCamerasSolo; @@ -122,11 +122,11 @@ namespace AgroBase.Forms.Operacoes void SalvarOperacao() { Variaveis.OperacaoEmAndamento.ModulosMandatorios = ModulosMandatorios.Where(x => x.Utilizar).ToList(); - Variaveis.OperacaoEmAndamento.Controle.RPM_Max = (int)(nudVelocidadeSemErvas.Value); - Variaveis.OperacaoEmAndamento.Controle.RPM_Min = (int)(nudVelocidadeComErvas.Value); - Variaveis.OperacaoEmAndamento.Controle.Angulo_Max = (int)(nudAnguloMaximo.Value); - Variaveis.OperacaoEmAndamento.Controle.Angulo_Min = (int)(nudAnguloMinimo.Value); - Variaveis.OperacaoEmAndamento.Controle.VelocidadeMP = (int)(nudVelocidadeMP.Value); + Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.RPM_Max = (int)(nudVelocidadeSemErvas.Value); + Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.RPM_Min = (int)(nudVelocidadeComErvas.Value); + Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.Angulo_Max = (int)(nudAnguloMaximo.Value); + Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.Angulo_Min = (int)(nudAnguloMinimo.Value); + Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.VelocidadeMP = (int)(nudVelocidadeMP.Value); Variaveis.OperacaoEmAndamento.tmrLogs.Interval = (int)(nudTemposalvarlog.Value * 1000); Variaveis.OperacaoEmAndamento.DispAtu.Dados.QuantidadeBicos = (int)nudQtdBicos.Value; Variaveis.OperacaoEmAndamento.QuantidadeCamerasSolo = (int)nudQtdCameras.Value; diff --git a/AgroBase/AgroBase/Forms/Sensoriamento/frmSenConfig.Designer.cs b/AgroBase/AgroBase/Forms/Sensoriamento/frmSenConfig.Designer.cs index e53269433..9f89dc9c0 100644 --- a/AgroBase/AgroBase/Forms/Sensoriamento/frmSenConfig.Designer.cs +++ b/AgroBase/AgroBase/Forms/Sensoriamento/frmSenConfig.Designer.cs @@ -50,12 +50,13 @@ this.btnBateriaDefinir = new System.Windows.Forms.Button(); this.gpbBateria = new System.Windows.Forms.GroupBox(); this.gpbCameras = new System.Windows.Forms.GroupBox(); - this.lblCaminho = new System.Windows.Forms.Label(); - this.cmbCaminho = new System.Windows.Forms.ComboBox(); - this.lblSoloesq = new System.Windows.Forms.Label(); - this.cmbSoloEsq = new System.Windows.Forms.ComboBox(); this.lblSolodir = new System.Windows.Forms.Label(); this.cmbSoloDir = new System.Windows.Forms.ComboBox(); + this.lblSoloesq = new System.Windows.Forms.Label(); + this.cmbSoloEsq = new System.Windows.Forms.ComboBox(); + this.lblCaminho = new System.Windows.Forms.Label(); + this.cmbCaminho = new System.Windows.Forms.ComboBox(); + this.btnBateriaCalibrar = new System.Windows.Forms.Button(); ((System.ComponentModel.ISupportInitialize)(this.gridsTEN)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.gridsCOR)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.gridsTMP)).BeginInit(); @@ -269,6 +270,7 @@ // // gpbBateria // + this.gpbBateria.Controls.Add(this.btnBateriaCalibrar); this.gpbBateria.Controls.Add(this.label2); this.gpbBateria.Controls.Add(this.btnBateriaDefinir); this.gpbBateria.Controls.Add(this.cmbBateriaParametro); @@ -296,6 +298,44 @@ this.gpbCameras.TabStop = false; this.gpbCameras.Text = "Câmeras"; // + // lblSolodir + // + this.lblSolodir.AutoSize = true; + this.lblSolodir.Location = new System.Drawing.Point(7, 105); + this.lblSolodir.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lblSolodir.Name = "lblSolodir"; + this.lblSolodir.Size = new System.Drawing.Size(58, 16); + this.lblSolodir.TabIndex = 25; + this.lblSolodir.Text = "Solo Dir."; + // + // cmbSoloDir + // + this.cmbSoloDir.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbSoloDir.FormattingEnabled = true; + this.cmbSoloDir.Location = new System.Drawing.Point(74, 97); + this.cmbSoloDir.Name = "cmbSoloDir"; + this.cmbSoloDir.Size = new System.Drawing.Size(181, 24); + this.cmbSoloDir.TabIndex = 24; + // + // lblSoloesq + // + this.lblSoloesq.AutoSize = true; + this.lblSoloesq.Location = new System.Drawing.Point(7, 75); + this.lblSoloesq.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lblSoloesq.Name = "lblSoloesq"; + this.lblSoloesq.Size = new System.Drawing.Size(65, 16); + this.lblSoloesq.TabIndex = 23; + this.lblSoloesq.Text = "Solo Esq."; + // + // cmbSoloEsq + // + this.cmbSoloEsq.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbSoloEsq.FormattingEnabled = true; + this.cmbSoloEsq.Location = new System.Drawing.Point(74, 67); + this.cmbSoloEsq.Name = "cmbSoloEsq"; + this.cmbSoloEsq.Size = new System.Drawing.Size(181, 24); + this.cmbSoloEsq.TabIndex = 22; + // // lblCaminho // this.lblCaminho.AutoSize = true; @@ -315,43 +355,15 @@ this.cmbCaminho.Size = new System.Drawing.Size(181, 24); this.cmbCaminho.TabIndex = 20; // - // lblSoloesq + // btnBateriaCalibrar // - this.lblSoloesq.AutoSize = true; - this.lblSoloesq.Location = new System.Drawing.Point(7, 75); - this.lblSoloesq.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); - this.lblSoloesq.Name = "lblSoloesq"; - this.lblSoloesq.Size = new System.Drawing.Size(65, 16); - this.lblSoloesq.TabIndex = 23; - this.lblSoloesq.Text = "Solo Esq."; - // - // cmbSolodEsq - // - this.cmbSoloEsq.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; - this.cmbSoloEsq.FormattingEnabled = true; - this.cmbSoloEsq.Location = new System.Drawing.Point(74, 67); - this.cmbSoloEsq.Name = "cmbSolodEsq"; - this.cmbSoloEsq.Size = new System.Drawing.Size(181, 24); - this.cmbSoloEsq.TabIndex = 22; - // - // lblSolodir - // - this.lblSolodir.AutoSize = true; - this.lblSolodir.Location = new System.Drawing.Point(7, 105); - this.lblSolodir.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); - this.lblSolodir.Name = "lblSolodir"; - this.lblSolodir.Size = new System.Drawing.Size(58, 16); - this.lblSolodir.TabIndex = 25; - this.lblSolodir.Text = "Solo Dir."; - // - // cmbSoloDir - // - this.cmbSoloDir.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; - this.cmbSoloDir.FormattingEnabled = true; - this.cmbSoloDir.Location = new System.Drawing.Point(74, 97); - this.cmbSoloDir.Name = "cmbSoloDir"; - this.cmbSoloDir.Size = new System.Drawing.Size(181, 24); - this.cmbSoloDir.TabIndex = 24; + this.btnBateriaCalibrar.Location = new System.Drawing.Point(10, 122); + this.btnBateriaCalibrar.Name = "btnBateriaCalibrar"; + this.btnBateriaCalibrar.Size = new System.Drawing.Size(180, 23); + this.btnBateriaCalibrar.TabIndex = 22; + this.btnBateriaCalibrar.Text = "Calibrar"; + this.btnBateriaCalibrar.UseVisualStyleBackColor = true; + this.btnBateriaCalibrar.Click += new System.EventHandler(this.btnBateriaCalibrar_Click); // // frmSenConfig // @@ -427,5 +439,6 @@ private System.Windows.Forms.ComboBox cmbSoloEsq; private System.Windows.Forms.Label lblCaminho; private System.Windows.Forms.ComboBox cmbCaminho; + private System.Windows.Forms.Button btnBateriaCalibrar; } } \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/Sensoriamento/frmSenConfig.cs b/AgroBase/AgroBase/Forms/Sensoriamento/frmSenConfig.cs index dcc8d29cf..11887deec 100644 --- a/AgroBase/AgroBase/Forms/Sensoriamento/frmSenConfig.cs +++ b/AgroBase/AgroBase/Forms/Sensoriamento/frmSenConfig.cs @@ -43,6 +43,43 @@ namespace AgroBase.Forms.Sensoriamento case T_Code.Sen: { Sensores = ((SensoriamentoModel)Disp.Dados).Sensores.ToList(); + + Cameras = CameraService.AtualizaListaCameras(); + cmbCaminho.Items.Clear(); + cmbCaminho.Items.AddRange(Cameras.Values.ToArray()); + string IDrua = ((SensoriamentoModel)Disp.Dados).CameraID_Caminho; + if (Cameras.Any(x => x.Value == IDrua)) + { + cmbCaminho.SelectedIndex = cmbCaminho.Items.IndexOf(IDrua); + } + else + { + cmbCaminho.Text = IDrua; + } + + cmbSoloEsq.Items.Clear(); + cmbSoloEsq.Items.AddRange(Cameras.Values.ToArray()); + string IDsoloE = ((SensoriamentoModel)Disp.Dados).CameraID_SoloE; + if (Cameras.Any(x => x.Value == IDsoloE)) + { + cmbSoloEsq.SelectedIndex = cmbSoloEsq.Items.IndexOf(IDsoloE); + } + else + { + cmbSoloEsq.Text = IDsoloE; + } + + cmbSoloDir.Items.Clear(); + cmbSoloDir.Items.AddRange(Cameras.Values.ToArray()); + string IDsoloD = ((SensoriamentoModel)Disp.Dados).CameraID_SoloD; + if (Cameras.Any(x => x.Value == IDsoloD)) + { + cmbSoloDir.SelectedIndex = cmbSoloDir.Items.IndexOf(IDsoloD); + } + else + { + cmbSoloDir.Text = IDsoloD; + } break; } case T_Code.Atu: @@ -59,22 +96,6 @@ namespace AgroBase.Forms.Sensoriamento cmbBateriaParametro.Items.Clear(); cmbBateriaParametro.Items.AddRange(PZEMService.Parametros.Keys.ToArray()); cmbBateriaParametro.SelectedIndex = 0; - - if (Disp != null && Disp.Dispositivo == T_Code.Sen) - { - Cameras = CameraService.AtualizaListaCameras(); - cmbCaminho.Items.Clear(); - cmbCaminho.Items.AddRange(Cameras.Values.ToArray()); - cmbCaminho.SelectedIndex = cmbCaminho.Items.IndexOf(((SensoriamentoModel)Disp.Dados).CameraID_Caminho); - - cmbSoloEsq.Items.Clear(); - cmbSoloEsq.Items.AddRange(Cameras.Values.ToArray()); - cmbSoloEsq.SelectedIndex = cmbCaminho.Items.IndexOf(((SensoriamentoModel)Disp.Dados).CameraID_SoloE); - - cmbSoloDir.Items.Clear(); - cmbSoloDir.Items.AddRange(Cameras.Values.ToArray()); - cmbSoloDir.SelectedIndex = cmbCaminho.Items.IndexOf(((SensoriamentoModel)Disp.Dados).CameraID_SoloD); - } } @@ -192,5 +213,12 @@ namespace AgroBase.Forms.Sensoriamento var Comando = PZEMService.ComandoSetParametro(PZEMService.Parametros[cmbBateriaParametro.Text], Convert.ToInt32(nudBateriaValor.Value)); PZEMService.EnviarComando(PZEMService.PortaPZEM, Comando); } + + private void btnBateriaCalibrar_Click(object sender, EventArgs e) + { + var Comando = PZEMService.ComandoCalibragem(); + PZEMService.EnviarComando(PZEMService.PortaPZEM, Comando); + } + } } diff --git a/AgroBase/AgroBase/Forms/Sensoriamento/frmSonar.Designer.cs b/AgroBase/AgroBase/Forms/Sensoriamento/frmSonar.Designer.cs new file mode 100644 index 000000000..2baae3bfc --- /dev/null +++ b/AgroBase/AgroBase/Forms/Sensoriamento/frmSonar.Designer.cs @@ -0,0 +1,64 @@ +namespace AgroBase.Forms.Sensoriamento +{ + partial class frmSonar + { + ///

+ /// Required designer variable. + /// + private System.ComponentModel.IContainer components = null; + + /// + /// Clean up any resources being used. + /// + /// true if managed resources should be disposed; otherwise, false. + protected override void Dispose(bool disposing) + { + if (disposing && (components != null)) + { + components.Dispose(); + } + base.Dispose(disposing); + } + + #region Windows Form Designer generated code + + /// + /// Required method for Designer support - do not modify + /// the contents of this method with the code editor. + /// + private void InitializeComponent() + { + this.pictureBox1 = new System.Windows.Forms.PictureBox(); + ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit(); + this.SuspendLayout(); + // + // pictureBox1 + // + this.pictureBox1.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) + | System.Windows.Forms.AnchorStyles.Left) + | System.Windows.Forms.AnchorStyles.Right))); + this.pictureBox1.Location = new System.Drawing.Point(12, 12); + this.pictureBox1.Name = "pictureBox1"; + this.pictureBox1.Size = new System.Drawing.Size(959, 600); + this.pictureBox1.TabIndex = 0; + this.pictureBox1.TabStop = false; + // + // frmSonar + // + this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F); + this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; + this.ClientSize = new System.Drawing.Size(983, 624); + this.Controls.Add(this.pictureBox1); + this.Name = "frmSonar"; + this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen; + this.Text = "Sonar"; + ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit(); + this.ResumeLayout(false); + + } + + #endregion + + private System.Windows.Forms.PictureBox pictureBox1; + } +} \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/Sensoriamento/frmSonar.cs b/AgroBase/AgroBase/Forms/Sensoriamento/frmSonar.cs new file mode 100644 index 000000000..d626ecb8d --- /dev/null +++ b/AgroBase/AgroBase/Forms/Sensoriamento/frmSonar.cs @@ -0,0 +1,35 @@ +using AgroBase.Models; +using System; +using System.Collections.Generic; +using System.ComponentModel; +using System.Data; +using System.Drawing; +using System.IO.Ports; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Windows.Forms; + +namespace AgroBase.Forms.Sensoriamento +{ + public partial class frmSonar : Form + { + SonarModel sonar; + + public frmSonar() + { + InitializeComponent(); + sonar = new SonarModel(pictureBox1); + + // Habilita o double buffering + this.SetStyle(ControlStyles.DoubleBuffer | + ControlStyles.UserPaint | + ControlStyles.AllPaintingInWmPaint, + true); + this.UpdateStyles(); + } + + + + } +} diff --git a/AgroBase/AgroBase/Forms/Sensoriamento/frmSonar.resx b/AgroBase/AgroBase/Forms/Sensoriamento/frmSonar.resx new file mode 100644 index 000000000..1af7de150 --- /dev/null +++ b/AgroBase/AgroBase/Forms/Sensoriamento/frmSonar.resx @@ -0,0 +1,120 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + text/microsoft-resx + + + 2.0 + + + System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + + System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/frmAcompanhamento.Designer.cs b/AgroBase/AgroBase/Forms/frmAcompanhamento.Designer.cs index 831f669f4..75f957c48 100644 --- a/AgroBase/AgroBase/Forms/frmAcompanhamento.Designer.cs +++ b/AgroBase/AgroBase/Forms/frmAcompanhamento.Designer.cs @@ -29,22 +29,24 @@ namespace AgroBase.Forms /// private void InitializeComponent() { - System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea1 = new System.Windows.Forms.DataVisualization.Charting.ChartArea(); - System.Windows.Forms.DataVisualization.Charting.Legend legend1 = new System.Windows.Forms.DataVisualization.Charting.Legend(); - System.Windows.Forms.DataVisualization.Charting.Series series1 = new System.Windows.Forms.DataVisualization.Charting.Series(); - System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea2 = new System.Windows.Forms.DataVisualization.Charting.ChartArea(); - System.Windows.Forms.DataVisualization.Charting.Legend legend2 = new System.Windows.Forms.DataVisualization.Charting.Legend(); - System.Windows.Forms.DataVisualization.Charting.Series series2 = new System.Windows.Forms.DataVisualization.Charting.Series(); - System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea3 = new System.Windows.Forms.DataVisualization.Charting.ChartArea(); - System.Windows.Forms.DataVisualization.Charting.Legend legend3 = new System.Windows.Forms.DataVisualization.Charting.Legend(); - System.Windows.Forms.DataVisualization.Charting.Series series3 = new System.Windows.Forms.DataVisualization.Charting.Series(); - System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea4 = new System.Windows.Forms.DataVisualization.Charting.ChartArea(); - System.Windows.Forms.DataVisualization.Charting.Legend legend4 = new System.Windows.Forms.DataVisualization.Charting.Legend(); - System.Windows.Forms.DataVisualization.Charting.Series series4 = new System.Windows.Forms.DataVisualization.Charting.Series(); - System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(frmAcompanhamento)); + System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea9 = new System.Windows.Forms.DataVisualization.Charting.ChartArea(); + System.Windows.Forms.DataVisualization.Charting.Legend legend9 = new System.Windows.Forms.DataVisualization.Charting.Legend(); + System.Windows.Forms.DataVisualization.Charting.Series series9 = new System.Windows.Forms.DataVisualization.Charting.Series(); + System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea10 = new System.Windows.Forms.DataVisualization.Charting.ChartArea(); + System.Windows.Forms.DataVisualization.Charting.Legend legend10 = new System.Windows.Forms.DataVisualization.Charting.Legend(); + System.Windows.Forms.DataVisualization.Charting.Series series10 = new System.Windows.Forms.DataVisualization.Charting.Series(); + System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea11 = new System.Windows.Forms.DataVisualization.Charting.ChartArea(); + System.Windows.Forms.DataVisualization.Charting.Legend legend11 = new System.Windows.Forms.DataVisualization.Charting.Legend(); + System.Windows.Forms.DataVisualization.Charting.Series series11 = new System.Windows.Forms.DataVisualization.Charting.Series(); + System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea12 = new System.Windows.Forms.DataVisualization.Charting.ChartArea(); + System.Windows.Forms.DataVisualization.Charting.Legend legend12 = new System.Windows.Forms.DataVisualization.Charting.Legend(); + System.Windows.Forms.DataVisualization.Charting.Series series12 = new System.Windows.Forms.DataVisualization.Charting.Series(); this.pnlFundo = new System.Windows.Forms.Panel(); + this.lblB12V = new System.Windows.Forms.Label(); + this.lblB7V2 = new System.Windows.Forms.Label(); + this.lblB5V = new System.Windows.Forms.Label(); + this.lblB3V = new System.Windows.Forms.Label(); this.lblTemperatura = new System.Windows.Forms.Label(); - this.lblCorrente = new System.Windows.Forms.Label(); this.lblTensao = new System.Windows.Forms.Label(); this.lblDistanciaParcial = new System.Windows.Forms.Label(); this.lblDistanciaTotal = new System.Windows.Forms.Label(); @@ -143,8 +145,11 @@ namespace AgroBase.Forms // this.pnlFundo.AutoScroll = true; this.pnlFundo.BackColor = System.Drawing.Color.White; + this.pnlFundo.Controls.Add(this.lblB12V); + this.pnlFundo.Controls.Add(this.lblB7V2); + this.pnlFundo.Controls.Add(this.lblB5V); + this.pnlFundo.Controls.Add(this.lblB3V); this.pnlFundo.Controls.Add(this.lblTemperatura); - this.pnlFundo.Controls.Add(this.lblCorrente); this.pnlFundo.Controls.Add(this.lblTensao); this.pnlFundo.Controls.Add(this.lblDistanciaParcial); this.pnlFundo.Controls.Add(this.lblDistanciaTotal); @@ -229,91 +234,114 @@ namespace AgroBase.Forms this.pnlFundo.Controls.Add(this.picEF); this.pnlFundo.Dock = System.Windows.Forms.DockStyle.Fill; this.pnlFundo.Location = new System.Drawing.Point(0, 0); - this.pnlFundo.Margin = new System.Windows.Forms.Padding(2); + this.pnlFundo.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlFundo.Name = "pnlFundo"; - this.pnlFundo.Size = new System.Drawing.Size(1484, 749); + this.pnlFundo.Size = new System.Drawing.Size(1979, 922); this.pnlFundo.TabIndex = 0; // + // lblB12V + // + this.lblB12V.AutoSize = true; + this.lblB12V.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.lblB12V.Location = new System.Drawing.Point(853, 807); + this.lblB12V.Name = "lblB12V"; + this.lblB12V.Size = new System.Drawing.Size(167, 15); + this.lblB12V.TabIndex = 177; + this.lblB12V.Text = "Barramento 12V: 0,00V 0,00A"; + // + // lblB7V2 + // + this.lblB7V2.AutoSize = true; + this.lblB7V2.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.lblB7V2.Location = new System.Drawing.Point(853, 791); + this.lblB7V2.Name = "lblB7V2"; + this.lblB7V2.Size = new System.Drawing.Size(167, 15); + this.lblB7V2.TabIndex = 176; + this.lblB7V2.Text = "Barramento 7V2: 0,00V 0,00A"; + // + // lblB5V + // + this.lblB5V.AutoSize = true; + this.lblB5V.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.lblB5V.Location = new System.Drawing.Point(853, 776); + this.lblB5V.Name = "lblB5V"; + this.lblB5V.Size = new System.Drawing.Size(160, 15); + this.lblB5V.TabIndex = 175; + this.lblB5V.Text = "Barramento 5V: 0,00V 0,00A"; + // + // lblB3V + // + this.lblB3V.AutoSize = true; + this.lblB3V.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.lblB3V.Location = new System.Drawing.Point(852, 761); + this.lblB3V.Name = "lblB3V"; + this.lblB3V.Size = new System.Drawing.Size(160, 15); + this.lblB3V.TabIndex = 174; + this.lblB3V.Text = "Barramento 3V: 0,00V 0,00A"; + // // lblTemperatura // this.lblTemperatura.AutoSize = true; this.lblTemperatura.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.lblTemperatura.Location = new System.Drawing.Point(639, 631); - this.lblTemperatura.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblTemperatura.Location = new System.Drawing.Point(1060, 746); this.lblTemperatura.Name = "lblTemperatura"; - this.lblTemperatura.Size = new System.Drawing.Size(198, 12); + this.lblTemperatura.Size = new System.Drawing.Size(43, 15); this.lblTemperatura.TabIndex = 173; - this.lblTemperatura.Text = "Temp atual: 0,00ºC - Mín: 0,00ºC - Máx: 0,00ºC"; - // - // lblCorrente - // - this.lblCorrente.AutoSize = true; - this.lblCorrente.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.lblCorrente.Location = new System.Drawing.Point(639, 619); - this.lblCorrente.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); - this.lblCorrente.Name = "lblCorrente"; - this.lblCorrente.Size = new System.Drawing.Size(202, 12); - this.lblCorrente.TabIndex = 172; - this.lblCorrente.Text = "Corrente atual: 0,00A - Mín: 0,00A - Máx: 0,00A"; + this.lblTemperatura.Text = "0,00ºC"; // // lblTensao // this.lblTensao.AutoSize = true; this.lblTensao.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.lblTensao.Location = new System.Drawing.Point(639, 606); - this.lblTensao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblTensao.Location = new System.Drawing.Point(852, 746); this.lblTensao.Name = "lblTensao"; - this.lblTensao.Size = new System.Drawing.Size(196, 12); + this.lblTensao.Size = new System.Drawing.Size(178, 15); this.lblTensao.TabIndex = 171; - this.lblTensao.Text = "Tensão atual: 0,00V - Mín: 0,00V - Máx: 0,00V"; + this.lblTensao.Text = "Bateria: 0,00 V - 0,00 A - 0,00 W"; // // lblDistanciaParcial // this.lblDistanciaParcial.AutoSize = true; - this.lblDistanciaParcial.Location = new System.Drawing.Point(639, 189); - this.lblDistanciaParcial.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDistanciaParcial.Location = new System.Drawing.Point(852, 233); this.lblDistanciaParcial.Name = "lblDistanciaParcial"; - this.lblDistanciaParcial.Size = new System.Drawing.Size(158, 13); + this.lblDistanciaParcial.Size = new System.Drawing.Size(199, 16); this.lblDistanciaParcial.TabIndex = 170; this.lblDistanciaParcial.Text = "Distância percorrida parcial: 0 m"; // // lblDistanciaTotal // this.lblDistanciaTotal.AutoSize = true; - this.lblDistanciaTotal.Location = new System.Drawing.Point(639, 176); - this.lblDistanciaTotal.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDistanciaTotal.Location = new System.Drawing.Point(852, 217); this.lblDistanciaTotal.Name = "lblDistanciaTotal"; - this.lblDistanciaTotal.Size = new System.Drawing.Size(147, 13); + this.lblDistanciaTotal.Size = new System.Drawing.Size(183, 16); this.lblDistanciaTotal.TabIndex = 169; this.lblDistanciaTotal.Text = "Distância percorrida total: 0 m"; // // lblTempoEmMovimento // this.lblTempoEmMovimento.AutoSize = true; - this.lblTempoEmMovimento.Location = new System.Drawing.Point(639, 162); - this.lblTempoEmMovimento.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblTempoEmMovimento.Location = new System.Drawing.Point(852, 199); this.lblTempoEmMovimento.Name = "lblTempoEmMovimento"; - this.lblTempoEmMovimento.Size = new System.Drawing.Size(176, 13); + this.lblTempoEmMovimento.Size = new System.Drawing.Size(217, 16); this.lblTempoEmMovimento.TabIndex = 168; this.lblTempoEmMovimento.Text = "Tempo em movimento: 00:00:00 hrs"; // // lblTempoConectado // this.lblTempoConectado.AutoSize = true; - this.lblTempoConectado.Location = new System.Drawing.Point(639, 148); - this.lblTempoConectado.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblTempoConectado.Location = new System.Drawing.Point(852, 182); this.lblTempoConectado.Name = "lblTempoConectado"; - this.lblTempoConectado.Size = new System.Drawing.Size(159, 13); + this.lblTempoConectado.Size = new System.Drawing.Size(193, 16); this.lblTempoConectado.TabIndex = 167; this.lblTempoConectado.Text = "Tempo conectado: 00:00:00 hrs"; // // chbDTLivre // this.chbDTLivre.AutoSize = true; - this.chbDTLivre.Location = new System.Drawing.Point(784, 725); - this.chbDTLivre.Margin = new System.Windows.Forms.Padding(2); + this.chbDTLivre.Location = new System.Drawing.Point(1045, 892); + this.chbDTLivre.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chbDTLivre.Name = "chbDTLivre"; - this.chbDTLivre.Size = new System.Drawing.Size(49, 17); + this.chbDTLivre.Size = new System.Drawing.Size(58, 20); this.chbDTLivre.TabIndex = 166; this.chbDTLivre.Text = "Livre"; this.chbDTLivre.UseVisualStyleBackColor = true; @@ -321,10 +349,10 @@ namespace AgroBase.Forms // chbDTControlar // this.chbDTControlar.AutoSize = true; - this.chbDTControlar.Location = new System.Drawing.Point(764, 703); - this.chbDTControlar.Margin = new System.Windows.Forms.Padding(2); + this.chbDTControlar.Location = new System.Drawing.Point(1019, 865); + this.chbDTControlar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chbDTControlar.Name = "chbDTControlar"; - this.chbDTControlar.Size = new System.Drawing.Size(68, 17); + this.chbDTControlar.Size = new System.Drawing.Size(83, 20); this.chbDTControlar.TabIndex = 165; this.chbDTControlar.Text = "Controlar"; this.chbDTControlar.UseVisualStyleBackColor = true; @@ -332,10 +360,10 @@ namespace AgroBase.Forms // chbETLivre // this.chbETLivre.AutoSize = true; - this.chbETLivre.Location = new System.Drawing.Point(639, 725); - this.chbETLivre.Margin = new System.Windows.Forms.Padding(2); + this.chbETLivre.Location = new System.Drawing.Point(852, 892); + this.chbETLivre.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chbETLivre.Name = "chbETLivre"; - this.chbETLivre.Size = new System.Drawing.Size(49, 17); + this.chbETLivre.Size = new System.Drawing.Size(58, 20); this.chbETLivre.TabIndex = 164; this.chbETLivre.Text = "Livre"; this.chbETLivre.UseVisualStyleBackColor = true; @@ -343,10 +371,10 @@ namespace AgroBase.Forms // chbETControlar // this.chbETControlar.AutoSize = true; - this.chbETControlar.Location = new System.Drawing.Point(639, 703); - this.chbETControlar.Margin = new System.Windows.Forms.Padding(2); + this.chbETControlar.Location = new System.Drawing.Point(852, 865); + this.chbETControlar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chbETControlar.Name = "chbETControlar"; - this.chbETControlar.Size = new System.Drawing.Size(68, 17); + this.chbETControlar.Size = new System.Drawing.Size(83, 20); this.chbETControlar.TabIndex = 163; this.chbETControlar.Text = "Controlar"; this.chbETControlar.UseVisualStyleBackColor = true; @@ -354,10 +382,10 @@ namespace AgroBase.Forms // chbDFLivre // this.chbDFLivre.AutoSize = true; - this.chbDFLivre.Location = new System.Drawing.Point(784, 86); - this.chbDFLivre.Margin = new System.Windows.Forms.Padding(2); + this.chbDFLivre.Location = new System.Drawing.Point(1045, 106); + this.chbDFLivre.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chbDFLivre.Name = "chbDFLivre"; - this.chbDFLivre.Size = new System.Drawing.Size(49, 17); + this.chbDFLivre.Size = new System.Drawing.Size(58, 20); this.chbDFLivre.TabIndex = 162; this.chbDFLivre.Text = "Livre"; this.chbDFLivre.UseVisualStyleBackColor = true; @@ -365,10 +393,10 @@ namespace AgroBase.Forms // chbDFControlar // this.chbDFControlar.AutoSize = true; - this.chbDFControlar.Location = new System.Drawing.Point(764, 64); - this.chbDFControlar.Margin = new System.Windows.Forms.Padding(2); + this.chbDFControlar.Location = new System.Drawing.Point(1019, 79); + this.chbDFControlar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chbDFControlar.Name = "chbDFControlar"; - this.chbDFControlar.Size = new System.Drawing.Size(68, 17); + this.chbDFControlar.Size = new System.Drawing.Size(83, 20); this.chbDFControlar.TabIndex = 161; this.chbDFControlar.Text = "Controlar"; this.chbDFControlar.UseVisualStyleBackColor = true; @@ -376,10 +404,10 @@ namespace AgroBase.Forms // chbEFLivre // this.chbEFLivre.AutoSize = true; - this.chbEFLivre.Location = new System.Drawing.Point(639, 86); - this.chbEFLivre.Margin = new System.Windows.Forms.Padding(2); + this.chbEFLivre.Location = new System.Drawing.Point(852, 106); + this.chbEFLivre.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chbEFLivre.Name = "chbEFLivre"; - this.chbEFLivre.Size = new System.Drawing.Size(49, 17); + this.chbEFLivre.Size = new System.Drawing.Size(58, 20); this.chbEFLivre.TabIndex = 160; this.chbEFLivre.Text = "Livre"; this.chbEFLivre.UseVisualStyleBackColor = true; @@ -387,89 +415,89 @@ namespace AgroBase.Forms // chbEFControlar // this.chbEFControlar.AutoSize = true; - this.chbEFControlar.Location = new System.Drawing.Point(639, 64); - this.chbEFControlar.Margin = new System.Windows.Forms.Padding(2); + this.chbEFControlar.Location = new System.Drawing.Point(852, 79); + this.chbEFControlar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chbEFControlar.Name = "chbEFControlar"; - this.chbEFControlar.Size = new System.Drawing.Size(68, 17); + this.chbEFControlar.Size = new System.Drawing.Size(83, 20); this.chbEFControlar.TabIndex = 159; this.chbEFControlar.Text = "Controlar"; this.chbEFControlar.UseVisualStyleBackColor = true; // // chartET // - chartArea1.Name = "ChartArea1"; - this.chartET.ChartAreas.Add(chartArea1); - legend1.Name = "Legend1"; - this.chartET.Legends.Add(legend1); - this.chartET.Location = new System.Drawing.Point(201, 410); - this.chartET.Margin = new System.Windows.Forms.Padding(2); + chartArea9.Name = "ChartArea1"; + this.chartET.ChartAreas.Add(chartArea9); + legend9.Name = "Legend1"; + this.chartET.Legends.Add(legend9); + this.chartET.Location = new System.Drawing.Point(268, 505); + this.chartET.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chartET.Name = "chartET"; - series1.ChartArea = "ChartArea1"; - series1.Legend = "Legend1"; - series1.Name = "Series1"; - this.chartET.Series.Add(series1); - this.chartET.Size = new System.Drawing.Size(434, 390); + series9.ChartArea = "ChartArea1"; + series9.Legend = "Legend1"; + series9.Name = "Series1"; + this.chartET.Series.Add(series9); + this.chartET.Size = new System.Drawing.Size(579, 480); this.chartET.TabIndex = 94; this.chartET.Text = "chart1"; // // chartDT // - chartArea2.Name = "ChartArea1"; - this.chartDT.ChartAreas.Add(chartArea2); - legend2.Name = "Legend1"; - this.chartDT.Legends.Add(legend2); - this.chartDT.Location = new System.Drawing.Point(834, 410); - this.chartDT.Margin = new System.Windows.Forms.Padding(2); + chartArea10.Name = "ChartArea1"; + this.chartDT.ChartAreas.Add(chartArea10); + legend10.Name = "Legend1"; + this.chartDT.Legends.Add(legend10); + this.chartDT.Location = new System.Drawing.Point(1112, 505); + this.chartDT.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chartDT.Name = "chartDT"; - series2.ChartArea = "ChartArea1"; - series2.Legend = "Legend1"; - series2.Name = "Series1"; - this.chartDT.Series.Add(series2); - this.chartDT.Size = new System.Drawing.Size(433, 390); + series10.ChartArea = "ChartArea1"; + series10.Legend = "Legend1"; + series10.Name = "Series1"; + this.chartDT.Series.Add(series10); + this.chartDT.Size = new System.Drawing.Size(577, 480); this.chartDT.TabIndex = 110; this.chartDT.Text = "chart1"; // // chartDF // - chartArea3.Name = "ChartArea1"; - this.chartDF.ChartAreas.Add(chartArea3); - legend3.Name = "Legend1"; - this.chartDF.Legends.Add(legend3); - this.chartDF.Location = new System.Drawing.Point(834, 4); - this.chartDF.Margin = new System.Windows.Forms.Padding(2); + chartArea11.Name = "ChartArea1"; + this.chartDF.ChartAreas.Add(chartArea11); + legend11.Name = "Legend1"; + this.chartDF.Legends.Add(legend11); + this.chartDF.Location = new System.Drawing.Point(1112, 5); + this.chartDF.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chartDF.Name = "chartDF"; - series3.ChartArea = "ChartArea1"; - series3.Legend = "Legend1"; - series3.Name = "Series1"; - this.chartDF.Series.Add(series3); - this.chartDF.Size = new System.Drawing.Size(433, 390); + series11.ChartArea = "ChartArea1"; + series11.Legend = "Legend1"; + series11.Name = "Series1"; + this.chartDF.Series.Add(series11); + this.chartDF.Size = new System.Drawing.Size(577, 480); this.chartDF.TabIndex = 109; this.chartDF.Text = "chart1"; // // chartEF // - chartArea4.Name = "ChartArea1"; - this.chartEF.ChartAreas.Add(chartArea4); - legend4.Name = "Legend1"; - this.chartEF.Legends.Add(legend4); - this.chartEF.Location = new System.Drawing.Point(201, 4); - this.chartEF.Margin = new System.Windows.Forms.Padding(2); + chartArea12.Name = "ChartArea1"; + this.chartEF.ChartAreas.Add(chartArea12); + legend12.Name = "Legend1"; + this.chartEF.Legends.Add(legend12); + this.chartEF.Location = new System.Drawing.Point(268, 5); + this.chartEF.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chartEF.Name = "chartEF"; - series4.ChartArea = "ChartArea1"; - series4.Legend = "Legend1"; - series4.Name = "Series1"; - this.chartEF.Series.Add(series4); - this.chartEF.Size = new System.Drawing.Size(434, 390); + series12.ChartArea = "ChartArea1"; + series12.Legend = "Legend1"; + series12.Name = "Series1"; + this.chartEF.Series.Add(series12); + this.chartEF.Size = new System.Drawing.Size(579, 480); this.chartEF.TabIndex = 93; this.chartEF.Text = "chart1"; // // picRobo // - this.picRobo.Image = ((System.Drawing.Image)(resources.GetObject("picRobo.Image"))); - this.picRobo.Location = new System.Drawing.Point(602, 206); - this.picRobo.Margin = new System.Windows.Forms.Padding(2); + this.picRobo.Image = global::AgroBase.Properties.Resources.robo_superior; + this.picRobo.Location = new System.Drawing.Point(820, 254); + this.picRobo.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.picRobo.Name = "picRobo"; - this.picRobo.Size = new System.Drawing.Size(265, 395); + this.picRobo.Size = new System.Drawing.Size(313, 486); this.picRobo.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; this.picRobo.TabIndex = 158; this.picRobo.TabStop = false; @@ -477,359 +505,327 @@ namespace AgroBase.Forms // lblDTM_Corrente // this.lblDTM_Corrente.AutoSize = true; - this.lblDTM_Corrente.Location = new System.Drawing.Point(1273, 790); - this.lblDTM_Corrente.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDTM_Corrente.Location = new System.Drawing.Point(1697, 972); this.lblDTM_Corrente.Name = "lblDTM_Corrente"; - this.lblDTM_Corrente.Size = new System.Drawing.Size(66, 13); + this.lblDTM_Corrente.Size = new System.Drawing.Size(80, 16); this.lblDTM_Corrente.TabIndex = 157; this.lblDTM_Corrente.Text = "Corrente: 0A"; // // lblDTM_Temperatura // this.lblDTM_Temperatura.AutoSize = true; - this.lblDTM_Temperatura.Location = new System.Drawing.Point(1273, 776); - this.lblDTM_Temperatura.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDTM_Temperatura.Location = new System.Drawing.Point(1697, 955); this.lblDTM_Temperatura.Name = "lblDTM_Temperatura"; - this.lblDTM_Temperatura.Size = new System.Drawing.Size(90, 13); + this.lblDTM_Temperatura.Size = new System.Drawing.Size(112, 16); this.lblDTM_Temperatura.TabIndex = 156; this.lblDTM_Temperatura.Text = "Temperatura: 0ºC"; // // lblDTM_Sentido // this.lblDTM_Sentido.AutoSize = true; - this.lblDTM_Sentido.Location = new System.Drawing.Point(1273, 762); - this.lblDTM_Sentido.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDTM_Sentido.Location = new System.Drawing.Point(1697, 938); this.lblDTM_Sentido.Name = "lblDTM_Sentido"; - this.lblDTM_Sentido.Size = new System.Drawing.Size(83, 13); + this.lblDTM_Sentido.Size = new System.Drawing.Size(104, 16); this.lblDTM_Sentido.TabIndex = 155; this.lblDTM_Sentido.Text = "Sentido: Parado"; // // lblDTM_SentidoSP // this.lblDTM_SentidoSP.AutoSize = true; - this.lblDTM_SentidoSP.Location = new System.Drawing.Point(1273, 748); - this.lblDTM_SentidoSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDTM_SentidoSP.Location = new System.Drawing.Point(1697, 921); this.lblDTM_SentidoSP.Name = "lblDTM_SentidoSP"; - this.lblDTM_SentidoSP.Size = new System.Drawing.Size(100, 13); + this.lblDTM_SentidoSP.Size = new System.Drawing.Size(125, 16); this.lblDTM_SentidoSP.TabIndex = 154; this.lblDTM_SentidoSP.Text = "Sentido SP: Parado"; // // lblDTM_RPMSP // this.lblDTM_RPMSP.AutoSize = true; - this.lblDTM_RPMSP.Location = new System.Drawing.Point(1273, 693); - this.lblDTM_RPMSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDTM_RPMSP.Location = new System.Drawing.Point(1697, 853); this.lblDTM_RPMSP.Name = "lblDTM_RPMSP"; - this.lblDTM_RPMSP.Size = new System.Drawing.Size(60, 13); + this.lblDTM_RPMSP.Size = new System.Drawing.Size(71, 16); this.lblDTM_RPMSP.TabIndex = 153; this.lblDTM_RPMSP.Text = "RPM SP: 0"; // // lblDTM_Potencia // this.lblDTM_Potencia.AutoSize = true; - this.lblDTM_Potencia.Location = new System.Drawing.Point(1273, 734); - this.lblDTM_Potencia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDTM_Potencia.Location = new System.Drawing.Point(1697, 903); this.lblDTM_Potencia.Name = "lblDTM_Potencia"; - this.lblDTM_Potencia.Size = new System.Drawing.Size(69, 13); + this.lblDTM_Potencia.Size = new System.Drawing.Size(85, 16); this.lblDTM_Potencia.TabIndex = 152; this.lblDTM_Potencia.Text = "Potência: 0%"; // // lblDTM_Velocidade // this.lblDTM_Velocidade.AutoSize = true; - this.lblDTM_Velocidade.Location = new System.Drawing.Point(1273, 721); - this.lblDTM_Velocidade.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDTM_Velocidade.Location = new System.Drawing.Point(1697, 887); this.lblDTM_Velocidade.Name = "lblDTM_Velocidade"; - this.lblDTM_Velocidade.Size = new System.Drawing.Size(101, 13); + this.lblDTM_Velocidade.Size = new System.Drawing.Size(123, 16); this.lblDTM_Velocidade.TabIndex = 151; this.lblDTM_Velocidade.Text = "Velocidade: 0 Km/h"; // // lblDTM_RPM // this.lblDTM_RPM.AutoSize = true; - this.lblDTM_RPM.Location = new System.Drawing.Point(1273, 707); - this.lblDTM_RPM.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDTM_RPM.Location = new System.Drawing.Point(1697, 870); this.lblDTM_RPM.Name = "lblDTM_RPM"; - this.lblDTM_RPM.Size = new System.Drawing.Size(43, 13); + this.lblDTM_RPM.Size = new System.Drawing.Size(50, 16); this.lblDTM_RPM.TabIndex = 150; this.lblDTM_RPM.Text = "RPM: 0"; // // lblDFM_Corrente // this.lblDFM_Corrente.AutoSize = true; - this.lblDFM_Corrente.Location = new System.Drawing.Point(1273, 384); - this.lblDFM_Corrente.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDFM_Corrente.Location = new System.Drawing.Point(1697, 473); this.lblDFM_Corrente.Name = "lblDFM_Corrente"; - this.lblDFM_Corrente.Size = new System.Drawing.Size(66, 13); + this.lblDFM_Corrente.Size = new System.Drawing.Size(80, 16); this.lblDFM_Corrente.TabIndex = 149; this.lblDFM_Corrente.Text = "Corrente: 0A"; // // lblDFM_Temperatura // this.lblDFM_Temperatura.AutoSize = true; - this.lblDFM_Temperatura.Location = new System.Drawing.Point(1273, 370); - this.lblDFM_Temperatura.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDFM_Temperatura.Location = new System.Drawing.Point(1697, 455); this.lblDFM_Temperatura.Name = "lblDFM_Temperatura"; - this.lblDFM_Temperatura.Size = new System.Drawing.Size(90, 13); + this.lblDFM_Temperatura.Size = new System.Drawing.Size(112, 16); this.lblDFM_Temperatura.TabIndex = 148; this.lblDFM_Temperatura.Text = "Temperatura: 0ºC"; // // lblDFM_Sentido // this.lblDFM_Sentido.AutoSize = true; - this.lblDFM_Sentido.Location = new System.Drawing.Point(1273, 357); - this.lblDFM_Sentido.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDFM_Sentido.Location = new System.Drawing.Point(1697, 439); this.lblDFM_Sentido.Name = "lblDFM_Sentido"; - this.lblDFM_Sentido.Size = new System.Drawing.Size(83, 13); + this.lblDFM_Sentido.Size = new System.Drawing.Size(104, 16); this.lblDFM_Sentido.TabIndex = 147; this.lblDFM_Sentido.Text = "Sentido: Parado"; // // lblDFM_SentidoSP // this.lblDFM_SentidoSP.AutoSize = true; - this.lblDFM_SentidoSP.Location = new System.Drawing.Point(1273, 343); - this.lblDFM_SentidoSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDFM_SentidoSP.Location = new System.Drawing.Point(1697, 422); this.lblDFM_SentidoSP.Name = "lblDFM_SentidoSP"; - this.lblDFM_SentidoSP.Size = new System.Drawing.Size(100, 13); + this.lblDFM_SentidoSP.Size = new System.Drawing.Size(125, 16); this.lblDFM_SentidoSP.TabIndex = 146; this.lblDFM_SentidoSP.Text = "Sentido SP: Parado"; // // lblDFM_RPMSP // this.lblDFM_RPMSP.AutoSize = true; - this.lblDFM_RPMSP.Location = new System.Drawing.Point(1273, 288); - this.lblDFM_RPMSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDFM_RPMSP.Location = new System.Drawing.Point(1697, 354); this.lblDFM_RPMSP.Name = "lblDFM_RPMSP"; - this.lblDFM_RPMSP.Size = new System.Drawing.Size(60, 13); + this.lblDFM_RPMSP.Size = new System.Drawing.Size(71, 16); this.lblDFM_RPMSP.TabIndex = 145; this.lblDFM_RPMSP.Text = "RPM SP: 0"; // // lblDFM_Potencia // this.lblDFM_Potencia.AutoSize = true; - this.lblDFM_Potencia.Location = new System.Drawing.Point(1273, 329); - this.lblDFM_Potencia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDFM_Potencia.Location = new System.Drawing.Point(1697, 405); this.lblDFM_Potencia.Name = "lblDFM_Potencia"; - this.lblDFM_Potencia.Size = new System.Drawing.Size(69, 13); + this.lblDFM_Potencia.Size = new System.Drawing.Size(85, 16); this.lblDFM_Potencia.TabIndex = 144; this.lblDFM_Potencia.Text = "Potência: 0%"; // // lblDFM_Velocidade // this.lblDFM_Velocidade.AutoSize = true; - this.lblDFM_Velocidade.Location = new System.Drawing.Point(1273, 315); - this.lblDFM_Velocidade.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDFM_Velocidade.Location = new System.Drawing.Point(1697, 388); this.lblDFM_Velocidade.Name = "lblDFM_Velocidade"; - this.lblDFM_Velocidade.Size = new System.Drawing.Size(101, 13); + this.lblDFM_Velocidade.Size = new System.Drawing.Size(123, 16); this.lblDFM_Velocidade.TabIndex = 143; this.lblDFM_Velocidade.Text = "Velocidade: 0 Km/h"; // // lblDFM_RPM // this.lblDFM_RPM.AutoSize = true; - this.lblDFM_RPM.Location = new System.Drawing.Point(1273, 301); - this.lblDFM_RPM.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDFM_RPM.Location = new System.Drawing.Point(1697, 370); this.lblDFM_RPM.Name = "lblDFM_RPM"; - this.lblDFM_RPM.Size = new System.Drawing.Size(43, 13); + this.lblDFM_RPM.Size = new System.Drawing.Size(50, 16); this.lblDFM_RPM.TabIndex = 142; this.lblDFM_RPM.Text = "RPM: 0"; // // lblETM_Corrente // this.lblETM_Corrente.AutoSize = true; - this.lblETM_Corrente.Location = new System.Drawing.Point(10, 790); - this.lblETM_Corrente.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblETM_Corrente.Location = new System.Drawing.Point(13, 972); this.lblETM_Corrente.Name = "lblETM_Corrente"; - this.lblETM_Corrente.Size = new System.Drawing.Size(66, 13); + this.lblETM_Corrente.Size = new System.Drawing.Size(80, 16); this.lblETM_Corrente.TabIndex = 141; this.lblETM_Corrente.Text = "Corrente: 0A"; // // lblETM_Temperatura // this.lblETM_Temperatura.AutoSize = true; - this.lblETM_Temperatura.Location = new System.Drawing.Point(10, 776); - this.lblETM_Temperatura.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblETM_Temperatura.Location = new System.Drawing.Point(13, 955); this.lblETM_Temperatura.Name = "lblETM_Temperatura"; - this.lblETM_Temperatura.Size = new System.Drawing.Size(90, 13); + this.lblETM_Temperatura.Size = new System.Drawing.Size(112, 16); this.lblETM_Temperatura.TabIndex = 140; this.lblETM_Temperatura.Text = "Temperatura: 0ºC"; // // lblETM_Sentido // this.lblETM_Sentido.AutoSize = true; - this.lblETM_Sentido.Location = new System.Drawing.Point(10, 762); - this.lblETM_Sentido.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblETM_Sentido.Location = new System.Drawing.Point(13, 938); this.lblETM_Sentido.Name = "lblETM_Sentido"; - this.lblETM_Sentido.Size = new System.Drawing.Size(83, 13); + this.lblETM_Sentido.Size = new System.Drawing.Size(104, 16); this.lblETM_Sentido.TabIndex = 139; this.lblETM_Sentido.Text = "Sentido: Parado"; // // lblETM_SentidoSP // this.lblETM_SentidoSP.AutoSize = true; - this.lblETM_SentidoSP.Location = new System.Drawing.Point(10, 748); - this.lblETM_SentidoSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblETM_SentidoSP.Location = new System.Drawing.Point(13, 921); this.lblETM_SentidoSP.Name = "lblETM_SentidoSP"; - this.lblETM_SentidoSP.Size = new System.Drawing.Size(100, 13); + this.lblETM_SentidoSP.Size = new System.Drawing.Size(125, 16); this.lblETM_SentidoSP.TabIndex = 138; this.lblETM_SentidoSP.Text = "Sentido SP: Parado"; // // lblETM_RPMSP // this.lblETM_RPMSP.AutoSize = true; - this.lblETM_RPMSP.Location = new System.Drawing.Point(10, 693); - this.lblETM_RPMSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblETM_RPMSP.Location = new System.Drawing.Point(13, 853); this.lblETM_RPMSP.Name = "lblETM_RPMSP"; - this.lblETM_RPMSP.Size = new System.Drawing.Size(60, 13); + this.lblETM_RPMSP.Size = new System.Drawing.Size(71, 16); this.lblETM_RPMSP.TabIndex = 137; this.lblETM_RPMSP.Text = "RPM SP: 0"; // // lblETM_Potencia // this.lblETM_Potencia.AutoSize = true; - this.lblETM_Potencia.Location = new System.Drawing.Point(10, 734); - this.lblETM_Potencia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblETM_Potencia.Location = new System.Drawing.Point(13, 903); this.lblETM_Potencia.Name = "lblETM_Potencia"; - this.lblETM_Potencia.Size = new System.Drawing.Size(69, 13); + this.lblETM_Potencia.Size = new System.Drawing.Size(85, 16); this.lblETM_Potencia.TabIndex = 136; this.lblETM_Potencia.Text = "Potência: 0%"; // // lblETM_Velocidade // this.lblETM_Velocidade.AutoSize = true; - this.lblETM_Velocidade.Location = new System.Drawing.Point(10, 721); - this.lblETM_Velocidade.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblETM_Velocidade.Location = new System.Drawing.Point(13, 887); this.lblETM_Velocidade.Name = "lblETM_Velocidade"; - this.lblETM_Velocidade.Size = new System.Drawing.Size(101, 13); + this.lblETM_Velocidade.Size = new System.Drawing.Size(123, 16); this.lblETM_Velocidade.TabIndex = 135; this.lblETM_Velocidade.Text = "Velocidade: 0 Km/h"; // // lblETM_RPM // this.lblETM_RPM.AutoSize = true; - this.lblETM_RPM.Location = new System.Drawing.Point(10, 707); - this.lblETM_RPM.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblETM_RPM.Location = new System.Drawing.Point(13, 870); this.lblETM_RPM.Name = "lblETM_RPM"; - this.lblETM_RPM.Size = new System.Drawing.Size(43, 13); + this.lblETM_RPM.Size = new System.Drawing.Size(50, 16); this.lblETM_RPM.TabIndex = 134; this.lblETM_RPM.Text = "RPM: 0"; // // lblEFM_Corrente // this.lblEFM_Corrente.AutoSize = true; - this.lblEFM_Corrente.Location = new System.Drawing.Point(10, 384); - this.lblEFM_Corrente.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblEFM_Corrente.Location = new System.Drawing.Point(13, 473); this.lblEFM_Corrente.Name = "lblEFM_Corrente"; - this.lblEFM_Corrente.Size = new System.Drawing.Size(66, 13); + this.lblEFM_Corrente.Size = new System.Drawing.Size(80, 16); this.lblEFM_Corrente.TabIndex = 133; this.lblEFM_Corrente.Text = "Corrente: 0A"; // // lblEFM_Temperatura // this.lblEFM_Temperatura.AutoSize = true; - this.lblEFM_Temperatura.Location = new System.Drawing.Point(10, 370); - this.lblEFM_Temperatura.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblEFM_Temperatura.Location = new System.Drawing.Point(13, 455); this.lblEFM_Temperatura.Name = "lblEFM_Temperatura"; - this.lblEFM_Temperatura.Size = new System.Drawing.Size(90, 13); + this.lblEFM_Temperatura.Size = new System.Drawing.Size(112, 16); this.lblEFM_Temperatura.TabIndex = 132; this.lblEFM_Temperatura.Text = "Temperatura: 0ºC"; // // lblEFM_Sentido // this.lblEFM_Sentido.AutoSize = true; - this.lblEFM_Sentido.Location = new System.Drawing.Point(10, 357); - this.lblEFM_Sentido.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblEFM_Sentido.Location = new System.Drawing.Point(13, 439); this.lblEFM_Sentido.Name = "lblEFM_Sentido"; - this.lblEFM_Sentido.Size = new System.Drawing.Size(83, 13); + this.lblEFM_Sentido.Size = new System.Drawing.Size(104, 16); this.lblEFM_Sentido.TabIndex = 131; this.lblEFM_Sentido.Text = "Sentido: Parado"; // // lblEFM_SentidoSP // this.lblEFM_SentidoSP.AutoSize = true; - this.lblEFM_SentidoSP.Location = new System.Drawing.Point(10, 343); - this.lblEFM_SentidoSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblEFM_SentidoSP.Location = new System.Drawing.Point(13, 422); this.lblEFM_SentidoSP.Name = "lblEFM_SentidoSP"; - this.lblEFM_SentidoSP.Size = new System.Drawing.Size(100, 13); + this.lblEFM_SentidoSP.Size = new System.Drawing.Size(125, 16); this.lblEFM_SentidoSP.TabIndex = 130; this.lblEFM_SentidoSP.Text = "Sentido SP: Parado"; // // lblEFM_RPMSP // this.lblEFM_RPMSP.AutoSize = true; - this.lblEFM_RPMSP.Location = new System.Drawing.Point(10, 288); - this.lblEFM_RPMSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblEFM_RPMSP.Location = new System.Drawing.Point(13, 354); this.lblEFM_RPMSP.Name = "lblEFM_RPMSP"; - this.lblEFM_RPMSP.Size = new System.Drawing.Size(60, 13); + this.lblEFM_RPMSP.Size = new System.Drawing.Size(71, 16); this.lblEFM_RPMSP.TabIndex = 129; this.lblEFM_RPMSP.Text = "RPM SP: 0"; // // lblEFM_Potencia // this.lblEFM_Potencia.AutoSize = true; - this.lblEFM_Potencia.Location = new System.Drawing.Point(10, 329); - this.lblEFM_Potencia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblEFM_Potencia.Location = new System.Drawing.Point(13, 405); this.lblEFM_Potencia.Name = "lblEFM_Potencia"; - this.lblEFM_Potencia.Size = new System.Drawing.Size(69, 13); + this.lblEFM_Potencia.Size = new System.Drawing.Size(85, 16); this.lblEFM_Potencia.TabIndex = 128; this.lblEFM_Potencia.Text = "Potência: 0%"; // // lblEFM_Velocidade // this.lblEFM_Velocidade.AutoSize = true; - this.lblEFM_Velocidade.Location = new System.Drawing.Point(10, 315); - this.lblEFM_Velocidade.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblEFM_Velocidade.Location = new System.Drawing.Point(13, 388); this.lblEFM_Velocidade.Name = "lblEFM_Velocidade"; - this.lblEFM_Velocidade.Size = new System.Drawing.Size(101, 13); + this.lblEFM_Velocidade.Size = new System.Drawing.Size(123, 16); this.lblEFM_Velocidade.TabIndex = 127; this.lblEFM_Velocidade.Text = "Velocidade: 0 Km/h"; // // lblEFM_RPM // this.lblEFM_RPM.AutoSize = true; - this.lblEFM_RPM.Location = new System.Drawing.Point(10, 301); - this.lblEFM_RPM.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblEFM_RPM.Location = new System.Drawing.Point(13, 370); this.lblEFM_RPM.Name = "lblEFM_RPM"; - this.lblEFM_RPM.Size = new System.Drawing.Size(43, 13); + this.lblEFM_RPM.Size = new System.Drawing.Size(50, 16); this.lblEFM_RPM.TabIndex = 126; this.lblEFM_RPM.Text = "RPM: 0"; // // btnDTReverter // - this.btnDTReverter.Location = new System.Drawing.Point(736, 774); - this.btnDTReverter.Margin = new System.Windows.Forms.Padding(2); + this.btnDTReverter.Location = new System.Drawing.Point(981, 953); + this.btnDTReverter.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnDTReverter.Name = "btnDTReverter"; - this.btnDTReverter.Size = new System.Drawing.Size(93, 23); + this.btnDTReverter.Size = new System.Drawing.Size(124, 28); this.btnDTReverter.TabIndex = 125; this.btnDTReverter.Text = "Reverter"; this.btnDTReverter.UseVisualStyleBackColor = true; // // btnETReverter // - this.btnETReverter.Location = new System.Drawing.Point(639, 774); - this.btnETReverter.Margin = new System.Windows.Forms.Padding(2); + this.btnETReverter.Location = new System.Drawing.Point(852, 953); + this.btnETReverter.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnETReverter.Name = "btnETReverter"; - this.btnETReverter.Size = new System.Drawing.Size(93, 23); + this.btnETReverter.Size = new System.Drawing.Size(124, 28); this.btnETReverter.TabIndex = 124; this.btnETReverter.Text = "Reverter"; this.btnETReverter.UseVisualStyleBackColor = true; // // btnDFReverter // - this.btnDFReverter.Location = new System.Drawing.Point(736, 37); - this.btnDFReverter.Margin = new System.Windows.Forms.Padding(2); + this.btnDFReverter.Location = new System.Drawing.Point(981, 46); + this.btnDFReverter.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnDFReverter.Name = "btnDFReverter"; - this.btnDFReverter.Size = new System.Drawing.Size(93, 23); + this.btnDFReverter.Size = new System.Drawing.Size(124, 28); this.btnDFReverter.TabIndex = 123; this.btnDFReverter.Text = "Reverter"; this.btnDFReverter.UseVisualStyleBackColor = true; // // btnEFReverter // - this.btnEFReverter.Location = new System.Drawing.Point(639, 37); - this.btnEFReverter.Margin = new System.Windows.Forms.Padding(2); + this.btnEFReverter.Location = new System.Drawing.Point(852, 46); + this.btnEFReverter.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnEFReverter.Name = "btnEFReverter"; - this.btnEFReverter.Size = new System.Drawing.Size(93, 23); + this.btnEFReverter.Size = new System.Drawing.Size(124, 28); this.btnEFReverter.TabIndex = 122; this.btnEFReverter.Text = "Reverter"; this.btnEFReverter.UseVisualStyleBackColor = true; @@ -837,49 +833,45 @@ namespace AgroBase.Forms // lblDTA_SentidoSP // this.lblDTA_SentidoSP.AutoSize = true; - this.lblDTA_SentidoSP.Location = new System.Drawing.Point(1273, 665); - this.lblDTA_SentidoSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDTA_SentidoSP.Location = new System.Drawing.Point(1697, 818); this.lblDTA_SentidoSP.Name = "lblDTA_SentidoSP"; - this.lblDTA_SentidoSP.Size = new System.Drawing.Size(100, 13); + this.lblDTA_SentidoSP.Size = new System.Drawing.Size(125, 16); this.lblDTA_SentidoSP.TabIndex = 121; this.lblDTA_SentidoSP.Text = "Sentido SP: Parado"; // // lblDTA_Sentido // this.lblDTA_Sentido.AutoSize = true; - this.lblDTA_Sentido.Location = new System.Drawing.Point(1273, 679); - this.lblDTA_Sentido.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDTA_Sentido.Location = new System.Drawing.Point(1697, 836); this.lblDTA_Sentido.Name = "lblDTA_Sentido"; - this.lblDTA_Sentido.Size = new System.Drawing.Size(83, 13); + this.lblDTA_Sentido.Size = new System.Drawing.Size(104, 16); this.lblDTA_Sentido.TabIndex = 120; this.lblDTA_Sentido.Text = "Sentido: Parado"; // // lblDTA // this.lblDTA.AutoSize = true; - this.lblDTA.Location = new System.Drawing.Point(1273, 652); - this.lblDTA.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDTA.Location = new System.Drawing.Point(1697, 802); this.lblDTA.Name = "lblDTA"; - this.lblDTA.Size = new System.Drawing.Size(62, 13); + this.lblDTA.Size = new System.Drawing.Size(74, 16); this.lblDTA.TabIndex = 119; this.lblDTA.Text = "Angulo: 00º"; // // lblDTA_SP // this.lblDTA_SP.AutoSize = true; - this.lblDTA_SP.Location = new System.Drawing.Point(1273, 638); - this.lblDTA_SP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDTA_SP.Location = new System.Drawing.Point(1697, 785); this.lblDTA_SP.Name = "lblDTA_SP"; - this.lblDTA_SP.Size = new System.Drawing.Size(79, 13); + this.lblDTA_SP.Size = new System.Drawing.Size(95, 16); this.lblDTA_SP.TabIndex = 118; this.lblDTA_SP.Text = "Angulo SP: 00º"; // // btnDTReferenciar // - this.btnDTReferenciar.Location = new System.Drawing.Point(736, 747); - this.btnDTReferenciar.Margin = new System.Windows.Forms.Padding(2); + this.btnDTReferenciar.Location = new System.Drawing.Point(981, 919); + this.btnDTReferenciar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnDTReferenciar.Name = "btnDTReferenciar"; - this.btnDTReferenciar.Size = new System.Drawing.Size(93, 23); + this.btnDTReferenciar.Size = new System.Drawing.Size(124, 28); this.btnDTReferenciar.TabIndex = 117; this.btnDTReferenciar.Text = "Referenciar"; this.btnDTReferenciar.UseVisualStyleBackColor = true; @@ -888,68 +880,63 @@ namespace AgroBase.Forms // this.lblM3.AutoSize = true; this.lblM3.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.lblM3.Location = new System.Drawing.Point(1271, 410); - this.lblM3.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblM3.Location = new System.Drawing.Point(1695, 505); this.lblM3.Name = "lblM3"; - this.lblM3.Size = new System.Drawing.Size(66, 20); + this.lblM3.Size = new System.Drawing.Size(86, 25); this.lblM3.TabIndex = 116; this.lblM3.Text = "M3 (DT)"; // // picDT // - this.picDT.Location = new System.Drawing.Point(1271, 432); - this.picDT.Margin = new System.Windows.Forms.Padding(2); + this.picDT.Location = new System.Drawing.Point(1695, 532); + this.picDT.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.picDT.Name = "picDT"; - this.picDT.Size = new System.Drawing.Size(188, 203); + this.picDT.Size = new System.Drawing.Size(251, 250); this.picDT.TabIndex = 115; this.picDT.TabStop = false; // // lblDFA_SentidoSP // this.lblDFA_SentidoSP.AutoSize = true; - this.lblDFA_SentidoSP.Location = new System.Drawing.Point(1273, 260); - this.lblDFA_SentidoSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDFA_SentidoSP.Location = new System.Drawing.Point(1697, 320); this.lblDFA_SentidoSP.Name = "lblDFA_SentidoSP"; - this.lblDFA_SentidoSP.Size = new System.Drawing.Size(100, 13); + this.lblDFA_SentidoSP.Size = new System.Drawing.Size(125, 16); this.lblDFA_SentidoSP.TabIndex = 114; this.lblDFA_SentidoSP.Text = "Sentido SP: Parado"; // // lblDFA_Sentido // this.lblDFA_Sentido.AutoSize = true; - this.lblDFA_Sentido.Location = new System.Drawing.Point(1273, 274); - this.lblDFA_Sentido.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDFA_Sentido.Location = new System.Drawing.Point(1697, 337); this.lblDFA_Sentido.Name = "lblDFA_Sentido"; - this.lblDFA_Sentido.Size = new System.Drawing.Size(83, 13); + this.lblDFA_Sentido.Size = new System.Drawing.Size(104, 16); this.lblDFA_Sentido.TabIndex = 113; this.lblDFA_Sentido.Text = "Sentido: Parado"; // // lblDFA // this.lblDFA.AutoSize = true; - this.lblDFA.Location = new System.Drawing.Point(1273, 246); - this.lblDFA.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDFA.Location = new System.Drawing.Point(1697, 303); this.lblDFA.Name = "lblDFA"; - this.lblDFA.Size = new System.Drawing.Size(62, 13); + this.lblDFA.Size = new System.Drawing.Size(74, 16); this.lblDFA.TabIndex = 112; this.lblDFA.Text = "Angulo: 00º"; // // lblDFA_SP // this.lblDFA_SP.AutoSize = true; - this.lblDFA_SP.Location = new System.Drawing.Point(1273, 232); - this.lblDFA_SP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDFA_SP.Location = new System.Drawing.Point(1697, 286); this.lblDFA_SP.Name = "lblDFA_SP"; - this.lblDFA_SP.Size = new System.Drawing.Size(79, 13); + this.lblDFA_SP.Size = new System.Drawing.Size(95, 16); this.lblDFA_SP.TabIndex = 111; this.lblDFA_SP.Text = "Angulo SP: 00º"; // // btnDFReferenciar // - this.btnDFReferenciar.Location = new System.Drawing.Point(736, 9); - this.btnDFReferenciar.Margin = new System.Windows.Forms.Padding(2); + this.btnDFReferenciar.Location = new System.Drawing.Point(981, 11); + this.btnDFReferenciar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnDFReferenciar.Name = "btnDFReferenciar"; - this.btnDFReferenciar.Size = new System.Drawing.Size(93, 23); + this.btnDFReferenciar.Size = new System.Drawing.Size(124, 28); this.btnDFReferenciar.TabIndex = 108; this.btnDFReferenciar.Text = "Referenciar"; this.btnDFReferenciar.UseVisualStyleBackColor = true; @@ -958,68 +945,63 @@ namespace AgroBase.Forms // this.lblM4.AutoSize = true; this.lblM4.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.lblM4.Location = new System.Drawing.Point(1271, 4); - this.lblM4.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblM4.Location = new System.Drawing.Point(1695, 5); this.lblM4.Name = "lblM4"; - this.lblM4.Size = new System.Drawing.Size(67, 20); + this.lblM4.Size = new System.Drawing.Size(85, 25); this.lblM4.TabIndex = 107; this.lblM4.Text = "M4 (DF)"; // // picDF // - this.picDF.Location = new System.Drawing.Point(1271, 27); - this.picDF.Margin = new System.Windows.Forms.Padding(2); + this.picDF.Location = new System.Drawing.Point(1695, 33); + this.picDF.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.picDF.Name = "picDF"; - this.picDF.Size = new System.Drawing.Size(188, 203); + this.picDF.Size = new System.Drawing.Size(251, 250); this.picDF.TabIndex = 106; this.picDF.TabStop = false; // // lblETA_SentidoSP // this.lblETA_SentidoSP.AutoSize = true; - this.lblETA_SentidoSP.Location = new System.Drawing.Point(10, 665); - this.lblETA_SentidoSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblETA_SentidoSP.Location = new System.Drawing.Point(13, 818); this.lblETA_SentidoSP.Name = "lblETA_SentidoSP"; - this.lblETA_SentidoSP.Size = new System.Drawing.Size(100, 13); + this.lblETA_SentidoSP.Size = new System.Drawing.Size(125, 16); this.lblETA_SentidoSP.TabIndex = 105; this.lblETA_SentidoSP.Text = "Sentido SP: Parado"; // // lblETA_Sentido // this.lblETA_Sentido.AutoSize = true; - this.lblETA_Sentido.Location = new System.Drawing.Point(10, 679); - this.lblETA_Sentido.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblETA_Sentido.Location = new System.Drawing.Point(13, 836); this.lblETA_Sentido.Name = "lblETA_Sentido"; - this.lblETA_Sentido.Size = new System.Drawing.Size(83, 13); + this.lblETA_Sentido.Size = new System.Drawing.Size(104, 16); this.lblETA_Sentido.TabIndex = 104; this.lblETA_Sentido.Text = "Sentido: Parado"; // // lblETA // this.lblETA.AutoSize = true; - this.lblETA.Location = new System.Drawing.Point(10, 652); - this.lblETA.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblETA.Location = new System.Drawing.Point(13, 802); this.lblETA.Name = "lblETA"; - this.lblETA.Size = new System.Drawing.Size(62, 13); + this.lblETA.Size = new System.Drawing.Size(74, 16); this.lblETA.TabIndex = 103; this.lblETA.Text = "Angulo: 00º"; // // lblETA_SP // this.lblETA_SP.AutoSize = true; - this.lblETA_SP.Location = new System.Drawing.Point(10, 638); - this.lblETA_SP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblETA_SP.Location = new System.Drawing.Point(13, 785); this.lblETA_SP.Name = "lblETA_SP"; - this.lblETA_SP.Size = new System.Drawing.Size(79, 13); + this.lblETA_SP.Size = new System.Drawing.Size(95, 16); this.lblETA_SP.TabIndex = 102; this.lblETA_SP.Text = "Angulo SP: 00º"; // // btnETReferenciar // - this.btnETReferenciar.Location = new System.Drawing.Point(639, 747); - this.btnETReferenciar.Margin = new System.Windows.Forms.Padding(2); + this.btnETReferenciar.Location = new System.Drawing.Point(852, 919); + this.btnETReferenciar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnETReferenciar.Name = "btnETReferenciar"; - this.btnETReferenciar.Size = new System.Drawing.Size(93, 23); + this.btnETReferenciar.Size = new System.Drawing.Size(124, 28); this.btnETReferenciar.TabIndex = 101; this.btnETReferenciar.Text = "Referenciar"; this.btnETReferenciar.UseVisualStyleBackColor = true; @@ -1028,68 +1010,63 @@ namespace AgroBase.Forms // this.lblM2.AutoSize = true; this.lblM2.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.lblM2.Location = new System.Drawing.Point(9, 410); - this.lblM2.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblM2.Location = new System.Drawing.Point(12, 505); this.lblM2.Name = "lblM2"; - this.lblM2.Size = new System.Drawing.Size(65, 20); + this.lblM2.Size = new System.Drawing.Size(85, 25); this.lblM2.TabIndex = 100; this.lblM2.Text = "M2 (ET)"; // // picET // - this.picET.Location = new System.Drawing.Point(9, 432); - this.picET.Margin = new System.Windows.Forms.Padding(2); + this.picET.Location = new System.Drawing.Point(12, 532); + this.picET.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.picET.Name = "picET"; - this.picET.Size = new System.Drawing.Size(188, 203); + this.picET.Size = new System.Drawing.Size(251, 250); this.picET.TabIndex = 99; this.picET.TabStop = false; // // lblEFA_SentidoSP // this.lblEFA_SentidoSP.AutoSize = true; - this.lblEFA_SentidoSP.Location = new System.Drawing.Point(10, 260); - this.lblEFA_SentidoSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblEFA_SentidoSP.Location = new System.Drawing.Point(13, 320); this.lblEFA_SentidoSP.Name = "lblEFA_SentidoSP"; - this.lblEFA_SentidoSP.Size = new System.Drawing.Size(100, 13); + this.lblEFA_SentidoSP.Size = new System.Drawing.Size(125, 16); this.lblEFA_SentidoSP.TabIndex = 98; this.lblEFA_SentidoSP.Text = "Sentido SP: Parado"; // // lblEFA_Sentido // this.lblEFA_Sentido.AutoSize = true; - this.lblEFA_Sentido.Location = new System.Drawing.Point(10, 274); - this.lblEFA_Sentido.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblEFA_Sentido.Location = new System.Drawing.Point(13, 337); this.lblEFA_Sentido.Name = "lblEFA_Sentido"; - this.lblEFA_Sentido.Size = new System.Drawing.Size(83, 13); + this.lblEFA_Sentido.Size = new System.Drawing.Size(104, 16); this.lblEFA_Sentido.TabIndex = 97; this.lblEFA_Sentido.Text = "Sentido: Parado"; // // lblEFA // this.lblEFA.AutoSize = true; - this.lblEFA.Location = new System.Drawing.Point(10, 246); - this.lblEFA.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblEFA.Location = new System.Drawing.Point(13, 303); this.lblEFA.Name = "lblEFA"; - this.lblEFA.Size = new System.Drawing.Size(62, 13); + this.lblEFA.Size = new System.Drawing.Size(74, 16); this.lblEFA.TabIndex = 96; this.lblEFA.Text = "Angulo: 00º"; // // lblEFA_SP // this.lblEFA_SP.AutoSize = true; - this.lblEFA_SP.Location = new System.Drawing.Point(10, 232); - this.lblEFA_SP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblEFA_SP.Location = new System.Drawing.Point(13, 286); this.lblEFA_SP.Name = "lblEFA_SP"; - this.lblEFA_SP.Size = new System.Drawing.Size(79, 13); + this.lblEFA_SP.Size = new System.Drawing.Size(95, 16); this.lblEFA_SP.TabIndex = 95; this.lblEFA_SP.Text = "Angulo SP: 00º"; // // btnEFReferenciar // - this.btnEFReferenciar.Location = new System.Drawing.Point(639, 9); - this.btnEFReferenciar.Margin = new System.Windows.Forms.Padding(2); + this.btnEFReferenciar.Location = new System.Drawing.Point(852, 11); + this.btnEFReferenciar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnEFReferenciar.Name = "btnEFReferenciar"; - this.btnEFReferenciar.Size = new System.Drawing.Size(93, 23); + this.btnEFReferenciar.Size = new System.Drawing.Size(124, 28); this.btnEFReferenciar.TabIndex = 92; this.btnEFReferenciar.Text = "Referenciar"; this.btnEFReferenciar.UseVisualStyleBackColor = true; @@ -1098,29 +1075,28 @@ namespace AgroBase.Forms // this.lblM1.AutoSize = true; this.lblM1.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.lblM1.Location = new System.Drawing.Point(9, 4); - this.lblM1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblM1.Location = new System.Drawing.Point(12, 5); this.lblM1.Name = "lblM1"; - this.lblM1.Size = new System.Drawing.Size(66, 20); + this.lblM1.Size = new System.Drawing.Size(84, 25); this.lblM1.TabIndex = 91; this.lblM1.Text = "M1 (EF)"; // // picEF // - this.picEF.Location = new System.Drawing.Point(9, 27); - this.picEF.Margin = new System.Windows.Forms.Padding(2); + this.picEF.Location = new System.Drawing.Point(12, 33); + this.picEF.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.picEF.Name = "picEF"; - this.picEF.Size = new System.Drawing.Size(188, 203); + this.picEF.Size = new System.Drawing.Size(251, 250); this.picEF.TabIndex = 90; this.picEF.TabStop = false; // // frmAcompanhamento // - this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); + this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F); this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; - this.ClientSize = new System.Drawing.Size(1484, 749); + this.ClientSize = new System.Drawing.Size(1979, 922); this.Controls.Add(this.pnlFundo); - this.Margin = new System.Windows.Forms.Padding(2); + this.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.Name = "frmAcompanhamento"; this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen; this.Text = "Acompanhamento"; @@ -1226,8 +1202,11 @@ namespace AgroBase.Forms private System.Windows.Forms.Label lblDistanciaTotal; private System.Windows.Forms.Label lblTempoEmMovimento; private System.Windows.Forms.Label lblTempoConectado; - public System.Windows.Forms.Label lblCorrente; public System.Windows.Forms.Label lblTensao; public System.Windows.Forms.Label lblTemperatura; + public System.Windows.Forms.Label lblB12V; + public System.Windows.Forms.Label lblB7V2; + public System.Windows.Forms.Label lblB5V; + public System.Windows.Forms.Label lblB3V; } } \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/frmAcompanhamento.cs b/AgroBase/AgroBase/Forms/frmAcompanhamento.cs index 39da7107c..ed1512f54 100644 --- a/AgroBase/AgroBase/Forms/frmAcompanhamento.cs +++ b/AgroBase/AgroBase/Forms/frmAcompanhamento.cs @@ -140,55 +140,65 @@ namespace AgroBase.Forms double Minimo = 0; double Maximo = 0; - Chart chart = (Chart)(pnlFundo.Controls.Find("chart" + Motor.ID, false).First()); - chart.Titles.Clear(); - chart.Titles.Add(Motor.Descricao); - var Logs = (Motor.LogGrafico.Count > MovimentacaoModel.LogsManter ? Motor.LogGrafico.Skip(Math.Max(0, Motor.LogGrafico.Count - MovimentacaoModel.LogsManter)).Take(MovimentacaoModel.LogsManter).ToList() : Motor.LogGrafico).Where(log => log.ComponenteID == Motor.ID).ToList(); - chart.Series.Clear(); - List Momentos = Logs.Select(x => x.Momento.ToString("mm:ss:fff")).ToList(); - var serieRPMsp = new Series("RPM SP: " + (Log != null ? Log.RPM_SP : 0)); - serieRPMsp.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_SP).ToList()); - serieRPMsp.ChartType = SeriesChartType.Line; - chart.Series.Add(serieRPMsp); - Minimo = Logs.Min(x => x.RPM_SP) < Minimo ? Logs.Min(x => x.RPM_SP) : Minimo; - Maximo = Logs.Min(x => x.RPM_SP) > Maximo ? Logs.Min(x => x.RPM_SP) : Maximo; - - var serieRPM = new Series("RPM: " + (Log != null ? Log.RPM : 0)); - serieRPM.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM).ToList()); - serieRPM.ChartType = SeriesChartType.Spline; - chart.Series.Add(serieRPM); - Minimo = Logs.Min(x => x.RPM) < Minimo ? Logs.Min(x => x.RPM) : Minimo; - Maximo = Logs.Max(x => x.RPM) > Maximo ? Logs.Max(x => x.RPM) : Maximo; - - var serieRPMOffset = new Series("RPM Offset: " + (Log != null ? Log.RPM_Offset : 0)); - serieRPMOffset.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_Offset).ToList()); - serieRPMOffset.ChartType = SeriesChartType.Spline; - chart.Series.Add(serieRPMOffset); - Minimo = Logs.Min(x => x.RPM_Offset) < Minimo ? Logs.Min(x => x.RPM_Offset) : Minimo; - Maximo = Logs.Max(x => x.RPM_Offset) > Maximo ? Logs.Max(x => x.RPM_Offset) : Maximo; - - var seriePotencia = new Series("Potencia: " + (Log != null ? Log.Potencia : 0)); - seriePotencia.Points.DataBindXY(Momentos, Logs.Select(x => x.Potencia).ToList()); - seriePotencia.ChartType = SeriesChartType.Line; - chart.Series.Add(seriePotencia); - Minimo = Logs.Min(x => x.Potencia) < Minimo ? Logs.Min(x => x.Potencia) : Minimo; - Maximo = Logs.Max(x => x.Potencia) > Maximo ? Logs.Max(x => x.Potencia) : Maximo; - - var serieTemperatura = new Series("Temperatura: " + (Log != null ? Log.Temperatura : 0)); - serieTemperatura.Points.DataBindXY(Momentos, Logs.Select(x => x.Temperatura).ToList()); - serieTemperatura.ChartType = SeriesChartType.Line; - chart.Series.Add(serieTemperatura); - Minimo = Logs.Min(x => x.Temperatura) < Minimo ? Logs.Min(x => x.Temperatura) : Minimo; - Maximo = Logs.Max(x => x.Temperatura) > Maximo ? Logs.Max(x => x.Temperatura) : Maximo; - - foreach (var legend in chart.Legends) + try { - legend.Docking = Docking.Bottom; + Chart chart = (Chart)(pnlFundo.Controls.Find("chart" + Motor.ID, false).First()); + chart.Titles.Clear(); + chart.Titles.Add(Motor.Descricao); + var Logs = (Motor.LogGrafico.Count > MovimentacaoModel.LogsManter ? Motor.LogGrafico.Skip(Math.Max(0, Motor.LogGrafico.Count - MovimentacaoModel.LogsManter)).Take(MovimentacaoModel.LogsManter).ToList() : Motor.LogGrafico).Where(log => log.ComponenteID == Motor.ID).ToList(); + chart.Series.Clear(); + List Momentos = Logs.Select(x => x.Momento.ToString("mm:ss:fff")).ToList(); + + var serieRPMsp = new Series("RPM SP: " + (Log != null ? Log.RPM_SP : 0)); + serieRPMsp.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_SP).ToList()); + serieRPMsp.ChartType = SeriesChartType.Line; + chart.Series.Add(serieRPMsp); + Minimo = Logs.Min(x => x.RPM_SP) < Minimo ? Logs.Min(x => x.RPM_SP) : Minimo; + Maximo = Logs.Min(x => x.RPM_SP) > Maximo ? Logs.Min(x => x.RPM_SP) : Maximo; + + var serieRPM = new Series("RPM: " + (Log != null ? Log.RPM : 0)); + serieRPM.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM).ToList()); + serieRPM.ChartType = SeriesChartType.Spline; + chart.Series.Add(serieRPM); + Minimo = Logs.Min(x => x.RPM) < Minimo ? Logs.Min(x => x.RPM) : Minimo; + Maximo = Logs.Max(x => x.RPM) > Maximo ? Logs.Max(x => x.RPM) : Maximo; + + var serieRPMOffset = new Series("RPM Offset: " + (Log != null ? Log.RPM_Offset : 0)); + serieRPMOffset.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_Offset).ToList()); + serieRPMOffset.ChartType = SeriesChartType.Spline; + chart.Series.Add(serieRPMOffset); + Minimo = Logs.Min(x => x.RPM_Offset) < Minimo ? Logs.Min(x => x.RPM_Offset) : Minimo; + Maximo = Logs.Max(x => x.RPM_Offset) > Maximo ? Logs.Max(x => x.RPM_Offset) : Maximo; + + var seriePotencia = new Series("Potencia: " + (Log != null ? Log.Potencia : 0)); + seriePotencia.Points.DataBindXY(Momentos, Logs.Select(x => x.Potencia).ToList()); + seriePotencia.ChartType = SeriesChartType.Line; + chart.Series.Add(seriePotencia); + Minimo = Logs.Min(x => x.Potencia) < Minimo ? Logs.Min(x => x.Potencia) : Minimo; + Maximo = Logs.Max(x => x.Potencia) > Maximo ? Logs.Max(x => x.Potencia) : Maximo; + + var serieTemperatura = new Series("Temperatura: " + (Log != null ? Log.Temperatura : 0)); + serieTemperatura.Points.DataBindXY(Momentos, Logs.Select(x => x.Temperatura).ToList()); + serieTemperatura.ChartType = SeriesChartType.Line; + chart.Series.Add(serieTemperatura); + Minimo = Logs.Min(x => x.Temperatura) < Minimo ? Logs.Min(x => x.Temperatura) : Minimo; + Maximo = Logs.Max(x => x.Temperatura) > Maximo ? Logs.Max(x => x.Temperatura) : Maximo; + + foreach (var legend in chart.Legends) + { + legend.Docking = Docking.Bottom; + } + + chart.ChartAreas[0].AxisY.Minimum = Minimo - 5; + chart.ChartAreas[0].AxisY.Maximum = Maximo + 5; + } + catch + { + } - chart.ChartAreas[0].AxisY.Minimum = Minimo - 5; - chart.ChartAreas[0].AxisY.Maximum = Maximo + 5; + } } @@ -410,9 +420,12 @@ namespace AgroBase.Forms public void AtualizarSensores(string Texto) { Label lbl = - Texto.Contains("Corrente") ? lblCorrente : - Texto.Contains("Tensão") ? lblTensao: + Texto.Contains("Bateria") ? lblTensao: Texto.Contains("Temp") ? lblTemperatura: + Texto.Contains("3V") ? lblB3V : + Texto.Contains("5V") ? lblB5V : + Texto.Contains("7V2") ? lblB7V2 : + Texto.Contains("12V") ? lblB12V : new Label(); if (lbl.InvokeRequired) { @@ -423,6 +436,5 @@ namespace AgroBase.Forms lbl.Text = Texto; } } - } } diff --git a/AgroBase/AgroBase/Forms/frmAcompanhamento.resx b/AgroBase/AgroBase/Forms/frmAcompanhamento.resx index 05bcefc84..1af7de150 100644 --- a/AgroBase/AgroBase/Forms/frmAcompanhamento.resx +++ b/AgroBase/AgroBase/Forms/frmAcompanhamento.resx @@ -117,1619 +117,4 @@ System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 - - - - /9j/4AAQSkZJRgABAQEAAAAAAAD/4QAiRXhpZgAATU0AKgAAAAgAAQESAAMAAAABAAEAAAAAAAD/2wBD - AAMCAgMCAgMDAwMEAwMEBQgFBQQEBQoHBwYIDAoMDAsKCwsNDhIQDQ4RDgsLEBYQERMUFRUVDA8XGBYU - GBIUFRT/2wBDAQMEBAUEBQkFBQkUDQsNFBQUFBQUFBQUFBQUFBQUFBQUFBQUFBQUFBQUFBQUFBQUFBQU - FBQUFBQUFBQUFBQUFBT/wAARCAQ8AkIDASIAAhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQF - BgcICQoL/8QAtRAAAgEDAwIEAwUFBAQAAAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAk - M2JyggkKFhcYGRolJicoKSo0NTY3ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWG - h4iJipKTlJWWl5iZmqKjpKWmp6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx - 8vP09fb3+Pn6/8QAHwEAAwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQA - 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tmrLeitura.Tick += tmrLeitura_Tick; + tmrLeitura.Start(); + } + + private void tmrLeitura_Tick(object sender, EventArgs e) + { + lblAltitude.Text = "Altitude: " + GPSService.UltimaLeitura.Altitude.ToString("0.0"); + lblDatahora.Text = "Ultima Leitura: " + GPSService.UltimaLeitura.DataHora.ToString("HH:mm:ss"); + lblLatitude.Text = "Latitude: " + GPSService.UltimaLeitura.Latitude.ToString(); + lblLongitude.Text = "Longitude: " + GPSService.UltimaLeitura.Longitude.ToString(); + lblPrecisao.Text = "Precisão: " + GPSService.UltimaLeitura.PrecisaoHorizontal.ToString(); + lblSatelites.Text = "Satélites: " + GPSService.UltimaLeitura.NumeroSatelites.ToString(); + lblVelocidade.Text = "Velocidade: " + GPSService.UltimaLeitura.Velocidade.ToString("0.00") + " km/h"; } private void frmGPS_FormClosing(object sender, FormClosingEventArgs e) diff --git a/AgroBase/AgroBase/Forms/frmPinout.Designer.cs b/AgroBase/AgroBase/Forms/frmPinout.Designer.cs index 94bc31eef..43374bd8f 100644 --- a/AgroBase/AgroBase/Forms/frmPinout.Designer.cs +++ b/AgroBase/AgroBase/Forms/frmPinout.Designer.cs @@ -74,9 +74,34 @@ this.cmb3 = new System.Windows.Forms.ComboBox(); this.cmb2 = new System.Windows.Forms.ComboBox(); this.cmb1 = new System.Windows.Forms.ComboBox(); - this.imgESP32 = new System.Windows.Forms.PictureBox(); this.cbTipo = new System.Windows.Forms.ComboBox(); + this.imgESP32 = new System.Windows.Forms.PictureBox(); + this.picMCP = new System.Windows.Forms.PictureBox(); + this.cmbB7 = new System.Windows.Forms.ComboBox(); + this.cmbB6 = new System.Windows.Forms.ComboBox(); + this.cmbB5 = new System.Windows.Forms.ComboBox(); + this.cmbB4 = new System.Windows.Forms.ComboBox(); + this.cmbB3 = new System.Windows.Forms.ComboBox(); + this.cmbB2 = new System.Windows.Forms.ComboBox(); + this.cmbB1 = new System.Windows.Forms.ComboBox(); + this.cmbB0 = new System.Windows.Forms.ComboBox(); + this.cmbA7 = new System.Windows.Forms.ComboBox(); + this.cmbA6 = new System.Windows.Forms.ComboBox(); + this.cmbA5 = new System.Windows.Forms.ComboBox(); + this.cmbA4 = new System.Windows.Forms.ComboBox(); + this.cmbA3 = new System.Windows.Forms.ComboBox(); + this.cmbA2 = new System.Windows.Forms.ComboBox(); + this.cmbA1 = new System.Windows.Forms.ComboBox(); + this.cmbA0 = new System.Windows.Forms.ComboBox(); + this.lblB1 = new System.Windows.Forms.Label(); + this.lblA1 = new System.Windows.Forms.Label(); + this.txtMCP1 = new System.Windows.Forms.TextBox(); + this.lblMCP1 = new System.Windows.Forms.Label(); + this.gpbMCP1 = new System.Windows.Forms.GroupBox(); + this.chbMCP1 = new System.Windows.Forms.CheckBox(); ((System.ComponentModel.ISupportInitialize)(this.imgESP32)).BeginInit(); + ((System.ComponentModel.ISupportInitialize)(this.picMCP)).BeginInit(); + this.gpbMCP1.SuspendLayout(); this.SuspendLayout(); // // lblPinout @@ -160,7 +185,8 @@ // // btnSalvar // - this.btnSalvar.Location = new System.Drawing.Point(581, 810); + this.btnSalvar.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right))); + this.btnSalvar.Location = new System.Drawing.Point(1240, 810); this.btnSalvar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnSalvar.Name = "btnSalvar"; this.btnSalvar.Size = new System.Drawing.Size(148, 39); @@ -593,17 +619,6 @@ this.cmb1.TabIndex = 182; this.cmb1.Visible = false; // - // imgESP32 - // - this.imgESP32.Image = global::AgroBase.Properties.Resources.esp32_s3; - this.imgESP32.Location = new System.Drawing.Point(169, 2); - this.imgESP32.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); - this.imgESP32.Name = "imgESP32"; - this.imgESP32.Size = new System.Drawing.Size(405, 847); - this.imgESP32.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage; - this.imgESP32.TabIndex = 181; - this.imgESP32.TabStop = false; - // // cbTipo // this.cbTipo.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; @@ -615,12 +630,292 @@ this.cbTipo.TabIndex = 228; this.cbTipo.SelectedIndexChanged += new System.EventHandler(this.cbTipo_SelectedIndexChanged); // + // imgESP32 + // + this.imgESP32.Image = global::AgroBase.Properties.Resources.esp32_s3; + this.imgESP32.Location = new System.Drawing.Point(169, 2); + this.imgESP32.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.imgESP32.Name = "imgESP32"; + this.imgESP32.Size = new System.Drawing.Size(405, 847); + this.imgESP32.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage; + this.imgESP32.TabIndex = 181; + this.imgESP32.TabStop = false; + // + // picMCP + // + this.picMCP.Image = global::AgroBase.Properties.Resources.mcp; + this.picMCP.Location = new System.Drawing.Point(15, 52); + this.picMCP.Name = "picMCP"; + this.picMCP.Size = new System.Drawing.Size(278, 322); + this.picMCP.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; + this.picMCP.TabIndex = 229; + this.picMCP.TabStop = false; + // + // cmbB7 + // + this.cmbB7.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbB7.Enabled = false; + this.cmbB7.FormattingEnabled = true; + this.cmbB7.Location = new System.Drawing.Point(299, 334); + this.cmbB7.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbB7.Name = "cmbB7"; + this.cmbB7.Size = new System.Drawing.Size(148, 24); + this.cmbB7.TabIndex = 237; + // + // cmbB6 + // + this.cmbB6.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbB6.Enabled = false; + this.cmbB6.FormattingEnabled = true; + this.cmbB6.Location = new System.Drawing.Point(299, 304); + this.cmbB6.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbB6.Name = "cmbB6"; + this.cmbB6.Size = new System.Drawing.Size(148, 24); + this.cmbB6.TabIndex = 236; + // + // cmbB5 + // + this.cmbB5.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbB5.Enabled = false; + this.cmbB5.FormattingEnabled = true; + this.cmbB5.Location = new System.Drawing.Point(299, 274); + this.cmbB5.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbB5.Name = "cmbB5"; + this.cmbB5.Size = new System.Drawing.Size(148, 24); + this.cmbB5.TabIndex = 235; + // + // cmbB4 + // + this.cmbB4.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbB4.Enabled = false; + this.cmbB4.FormattingEnabled = true; + this.cmbB4.Location = new System.Drawing.Point(299, 244); + this.cmbB4.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbB4.Name = "cmbB4"; + this.cmbB4.Size = new System.Drawing.Size(148, 24); + this.cmbB4.TabIndex = 234; + // + // cmbB3 + // + this.cmbB3.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbB3.Enabled = false; + this.cmbB3.FormattingEnabled = true; + this.cmbB3.Location = new System.Drawing.Point(299, 213); + this.cmbB3.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbB3.Name = "cmbB3"; + this.cmbB3.Size = new System.Drawing.Size(148, 24); + this.cmbB3.TabIndex = 233; + // + // cmbB2 + // + this.cmbB2.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbB2.Enabled = false; + this.cmbB2.FormattingEnabled = true; + this.cmbB2.Location = new System.Drawing.Point(299, 184); + this.cmbB2.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbB2.Name = "cmbB2"; + this.cmbB2.Size = new System.Drawing.Size(148, 24); + this.cmbB2.TabIndex = 232; + // + // cmbB1 + // + this.cmbB1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbB1.Enabled = false; + this.cmbB1.FormattingEnabled = true; + this.cmbB1.Location = new System.Drawing.Point(299, 154); + this.cmbB1.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbB1.Name = "cmbB1"; + this.cmbB1.Size = new System.Drawing.Size(148, 24); + this.cmbB1.TabIndex = 231; + // + // cmbB0 + // + this.cmbB0.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbB0.Enabled = false; + this.cmbB0.FormattingEnabled = true; + this.cmbB0.Location = new System.Drawing.Point(299, 124); + this.cmbB0.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbB0.Name = "cmbB0"; + this.cmbB0.Size = new System.Drawing.Size(148, 24); + this.cmbB0.TabIndex = 230; + // + // cmbA7 + // + this.cmbA7.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbA7.Enabled = false; + this.cmbA7.FormattingEnabled = true; + this.cmbA7.Location = new System.Drawing.Point(468, 334); + this.cmbA7.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbA7.Name = "cmbA7"; + this.cmbA7.Size = new System.Drawing.Size(148, 24); + this.cmbA7.TabIndex = 245; + // + // cmbA6 + // + this.cmbA6.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbA6.Enabled = false; + this.cmbA6.FormattingEnabled = true; + this.cmbA6.Location = new System.Drawing.Point(468, 304); + this.cmbA6.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbA6.Name = "cmbA6"; + this.cmbA6.Size = new System.Drawing.Size(148, 24); + this.cmbA6.TabIndex = 244; + // + // cmbA5 + // + this.cmbA5.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbA5.Enabled = false; + this.cmbA5.FormattingEnabled = true; + this.cmbA5.Location = new System.Drawing.Point(468, 274); + this.cmbA5.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbA5.Name = "cmbA5"; + this.cmbA5.Size = new System.Drawing.Size(148, 24); + this.cmbA5.TabIndex = 243; + // + // cmbA4 + // + this.cmbA4.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbA4.Enabled = false; + this.cmbA4.FormattingEnabled = true; + this.cmbA4.Location = new System.Drawing.Point(468, 244); + this.cmbA4.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbA4.Name = "cmbA4"; + this.cmbA4.Size = new System.Drawing.Size(148, 24); + this.cmbA4.TabIndex = 242; + // + // cmbA3 + // + this.cmbA3.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbA3.Enabled = false; + this.cmbA3.FormattingEnabled = true; + this.cmbA3.Location = new System.Drawing.Point(468, 213); + this.cmbA3.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbA3.Name = "cmbA3"; + this.cmbA3.Size = new System.Drawing.Size(148, 24); + this.cmbA3.TabIndex = 241; + // + // cmbA2 + // + this.cmbA2.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbA2.Enabled = false; + this.cmbA2.FormattingEnabled = true; + this.cmbA2.Location = new System.Drawing.Point(468, 184); + this.cmbA2.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbA2.Name = "cmbA2"; + this.cmbA2.Size = new System.Drawing.Size(148, 24); + this.cmbA2.TabIndex = 240; + // + // cmbA1 + // + this.cmbA1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbA1.Enabled = false; + this.cmbA1.FormattingEnabled = true; + this.cmbA1.Location = new System.Drawing.Point(468, 154); + this.cmbA1.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbA1.Name = "cmbA1"; + this.cmbA1.Size = new System.Drawing.Size(148, 24); + this.cmbA1.TabIndex = 239; + // + // cmbA0 + // + this.cmbA0.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cmbA0.Enabled = false; + this.cmbA0.FormattingEnabled = true; + this.cmbA0.Location = new System.Drawing.Point(468, 124); + this.cmbA0.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.cmbA0.Name = "cmbA0"; + this.cmbA0.Size = new System.Drawing.Size(148, 24); + this.cmbA0.TabIndex = 238; + // + // lblB1 + // + this.lblB1.AutoSize = true; + this.lblB1.Font = new System.Drawing.Font("Microsoft Sans Serif", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.lblB1.Location = new System.Drawing.Point(352, 90); + this.lblB1.Name = "lblB1"; + this.lblB1.Size = new System.Drawing.Size(34, 32); + this.lblB1.TabIndex = 246; + this.lblB1.Text = "B"; + // + // lblA1 + // + this.lblA1.AutoSize = true; + this.lblA1.Font = new System.Drawing.Font("Microsoft Sans Serif", 16.2F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.lblA1.Location = new System.Drawing.Point(523, 90); + this.lblA1.Name = "lblA1"; + this.lblA1.Size = new System.Drawing.Size(34, 32); + this.lblA1.TabIndex = 247; + this.lblA1.Text = "A"; + // + // txtMCP1 + // + this.txtMCP1.Enabled = false; + this.txtMCP1.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.txtMCP1.Location = new System.Drawing.Point(468, 52); + this.txtMCP1.Name = "txtMCP1"; + this.txtMCP1.Size = new System.Drawing.Size(148, 30); + this.txtMCP1.TabIndex = 248; + this.txtMCP1.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // lblMCP1 + // + this.lblMCP1.AutoSize = true; + this.lblMCP1.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.lblMCP1.Location = new System.Drawing.Point(299, 55); + this.lblMCP1.Name = "lblMCP1"; + this.lblMCP1.Size = new System.Drawing.Size(144, 25); + this.lblMCP1.TabIndex = 249; + this.lblMCP1.Text = "Endereço I2C"; + // + // gpbMCP1 + // + this.gpbMCP1.Controls.Add(this.chbMCP1); + this.gpbMCP1.Controls.Add(this.picMCP); + this.gpbMCP1.Controls.Add(this.lblMCP1); + this.gpbMCP1.Controls.Add(this.cmbB0); + this.gpbMCP1.Controls.Add(this.txtMCP1); + this.gpbMCP1.Controls.Add(this.cmbB1); + this.gpbMCP1.Controls.Add(this.lblA1); + this.gpbMCP1.Controls.Add(this.cmbB2); + this.gpbMCP1.Controls.Add(this.lblB1); + this.gpbMCP1.Controls.Add(this.cmbB3); + this.gpbMCP1.Controls.Add(this.cmbA7); + this.gpbMCP1.Controls.Add(this.cmbB4); + this.gpbMCP1.Controls.Add(this.cmbA6); + this.gpbMCP1.Controls.Add(this.cmbB5); + this.gpbMCP1.Controls.Add(this.cmbA5); + this.gpbMCP1.Controls.Add(this.cmbB6); + this.gpbMCP1.Controls.Add(this.cmbA4); + this.gpbMCP1.Controls.Add(this.cmbB7); + this.gpbMCP1.Controls.Add(this.cmbA3); + this.gpbMCP1.Controls.Add(this.cmbA0); + this.gpbMCP1.Controls.Add(this.cmbA2); + this.gpbMCP1.Controls.Add(this.cmbA1); + this.gpbMCP1.Location = new System.Drawing.Point(759, 12); + this.gpbMCP1.Name = "gpbMCP1"; + this.gpbMCP1.Size = new System.Drawing.Size(632, 385); + this.gpbMCP1.TabIndex = 250; + this.gpbMCP1.TabStop = false; + this.gpbMCP1.Text = "Expansor de GPIO"; + // + // chbMCP1 + // + this.chbMCP1.AutoSize = true; + this.chbMCP1.Location = new System.Drawing.Point(15, 23); + this.chbMCP1.Name = "chbMCP1"; + this.chbMCP1.Size = new System.Drawing.Size(160, 20); + this.chbMCP1.TabIndex = 250; + this.chbMCP1.Text = "MCP23017 conectado"; + this.chbMCP1.UseVisualStyleBackColor = true; + this.chbMCP1.CheckedChanged += new System.EventHandler(this.chbMCP_CheckedChanged); + // // frmPinout // this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F); this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.BackColor = System.Drawing.Color.White; - this.ClientSize = new System.Drawing.Size(748, 862); + this.ClientSize = new System.Drawing.Size(1408, 862); + this.Controls.Add(this.gpbMCP1); this.Controls.Add(this.cbTipo); this.Controls.Add(this.lblPinout); this.Controls.Add(this.cmb22); @@ -676,6 +971,9 @@ this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmPinout_FormClosing); this.Load += new System.EventHandler(this.frmPinout_Load); ((System.ComponentModel.ISupportInitialize)(this.imgESP32)).EndInit(); + ((System.ComponentModel.ISupportInitialize)(this.picMCP)).EndInit(); + this.gpbMCP1.ResumeLayout(false); + this.gpbMCP1.PerformLayout(); this.ResumeLayout(false); this.PerformLayout(); @@ -731,5 +1029,28 @@ private System.Windows.Forms.ComboBox cmb1; private System.Windows.Forms.PictureBox imgESP32; private System.Windows.Forms.ComboBox cbTipo; + private System.Windows.Forms.PictureBox picMCP; + private System.Windows.Forms.ComboBox cmbB7; + private System.Windows.Forms.ComboBox cmbB6; + private System.Windows.Forms.ComboBox cmbB5; + private System.Windows.Forms.ComboBox cmbB4; + private System.Windows.Forms.ComboBox cmbB3; + private System.Windows.Forms.ComboBox cmbB2; + private System.Windows.Forms.ComboBox cmbB1; + private System.Windows.Forms.ComboBox cmbB0; + private System.Windows.Forms.ComboBox cmbA7; + private System.Windows.Forms.ComboBox cmbA6; + private System.Windows.Forms.ComboBox cmbA5; + private System.Windows.Forms.ComboBox cmbA4; + private System.Windows.Forms.ComboBox cmbA3; + private System.Windows.Forms.ComboBox cmbA2; + private System.Windows.Forms.ComboBox cmbA1; + private System.Windows.Forms.ComboBox cmbA0; + private System.Windows.Forms.Label lblB1; + private System.Windows.Forms.Label lblA1; + private System.Windows.Forms.TextBox txtMCP1; + private System.Windows.Forms.Label lblMCP1; + private System.Windows.Forms.GroupBox gpbMCP1; + private System.Windows.Forms.CheckBox chbMCP1; } } \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/frmPinout.cs b/AgroBase/AgroBase/Forms/frmPinout.cs index c2ae7f543..6169aeb7c 100644 --- a/AgroBase/AgroBase/Forms/frmPinout.cs +++ b/AgroBase/AgroBase/Forms/frmPinout.cs @@ -24,7 +24,7 @@ namespace AgroBase.Forms Enum.GetName(typeof(FuncoesPinout), FuncoesPinout.NaoConectado), }; List Funcoes = new List(); - List Pinout = new List(); + PinoutDataModel Pinout = new PinoutDataModel(); List Dispositivos = new List(); public frmPinout(T_Code tipo) @@ -44,7 +44,12 @@ namespace AgroBase.Forms Enum.GetName(typeof(FuncoesPinout), FuncoesPinout.NaoConectado), }; Funcoes = new List(); - Pinout = new List(); + Pinout = new PinoutDataModel() + { + ExpansorGPIO = false, + EnderecoExpansor = "", + Pinos = new List(), + }; Dispositivos = new List(); switch (TipoDisp) @@ -61,7 +66,7 @@ namespace AgroBase.Forms this.Text = "Pinout - Movimentação"; Funcoes = MovimentacaoModel.Funcoes.ToList(); - Pinout = MovimentacaoModel.Pinout.ToList(); + Pinout = MovimentacaoModel.Pinout; Dispositivos = Disp.Dados.Motores.Select(x => new DispositivoDataModel() { ID = x.ID, @@ -81,7 +86,7 @@ namespace AgroBase.Forms this.Text = "Pinout - Direcional"; Funcoes = DirecionalModel.Funcoes.ToList(); - Pinout = DirecionalModel.Pinout.ToList(); + Pinout = DirecionalModel.Pinout; Dispositivos = Disp.Dados.Motores.Select(x => new DispositivoDataModel() { ID = x.ID, @@ -101,7 +106,7 @@ namespace AgroBase.Forms this.Text = "Pinout - Sensoriamento"; Funcoes = SensoriamentoModel.Funcoes.ToList(); - Pinout = SensoriamentoModel.Pinout.ToList(); + Pinout = SensoriamentoModel.Pinout; Dispositivos.Add(new DispositivoDataModel() { ID = "", @@ -131,7 +136,7 @@ namespace AgroBase.Forms this.Text = "Pinout - Atuador"; Funcoes = AtuadorModel.Funcoes.ToList(); - Pinout = AtuadorModel.Pinout.ToList(); + Pinout = AtuadorModel.Pinout; Dispositivos = new List(); Dispositivos.Add(new DispositivoDataModel() { @@ -152,7 +157,10 @@ namespace AgroBase.Forms } } - Funcoes.ForEach(x => Pinos.Add(Enum.GetName(typeof(FuncoesPinout), x))); + chbMCP1.Checked = Pinout.ExpansorGPIO; + txtMCP1.Text = Pinout.EnderecoExpansor; + + //Funcoes.ForEach(x => Pinos.Add(Enum.GetName(typeof(FuncoesPinout), x))); foreach (var Dispositivo in Dispositivos) { @@ -160,18 +168,23 @@ namespace AgroBase.Forms } List cmbs = this.Controls.OfType().Where(x => x.Name.Contains("cmb")).ToList(); + cmbs.AddRange(gpbMCP1.Controls.OfType().ToList()); foreach (var cmb in cmbs) { + if (cmb.Name.Contains("A")) + { + + } cmb.SelectedIndexChanged -= Cmb_SelectedIndexChanged; cmb.SelectedIndexChanged += Cmb_SelectedIndexChanged; cmb.Items.Clear(); Pinos.ForEach(x => cmb.Items.Add(x)); cmb.SelectedIndex = 0; - var Selecionado = Pinout.FirstOrDefault(x => x.Descricao == cmb.Name.Replace("cmb", "")); + var Selecionado = Pinout.Pinos.FirstOrDefault(x => x.Descricao == cmb.Name.Replace("cmb", "")); if (Selecionado != null) { - cmb.Enabled = Selecionado.Habilitado; + cmb.Enabled = (Selecionado.Barramento == TiposBarramentos.CONTROLADOR && Selecionado.Habilitado) || (Selecionado.Barramento == TiposBarramentos.EXPANSORI2C && chbMCP1.Checked); if (Selecionado.Habilitado) { cmb.SelectedItem = (Selecionado.Funcao != FuncoesPinout.Geral ? Selecionado.ComponenteID + " " : "") + Enum.GetName(typeof(FuncoesPinout), Selecionado.Funcao); @@ -179,7 +192,7 @@ namespace AgroBase.Forms } } - AtualizaTipoControlador(Pinout.FirstOrDefault().Tipo, false); + AtualizaTipoControlador(Pinout.Pinos.FirstOrDefault().Controlador, false); } private void frmPinout_FormClosing(object sender, FormClosingEventArgs e) @@ -195,39 +208,44 @@ namespace AgroBase.Forms private void btnSalvar_Click(object sender, EventArgs e) { - Pinout.ForEach(x => + Pinout.Pinos.ForEach(x => { x.ComponenteID = ""; x.Funcao = FuncoesPinout.NaoConectado; }); List cmbs = this.Controls.OfType().Where(x => x.Name.Contains("cmb") && x.Enabled && x.Visible).ToList(); + cmbs.AddRange(gpbMCP1.Controls.OfType().ToList()); foreach (var cmb in cmbs) { string ComponenteID = cmb.SelectedItem.ToString().Split(' ').Length > 1 ? cmb.SelectedItem.ToString().Split(' ')[0] : ""; FuncoesPinout Funcao = (FuncoesPinout)Enum.Parse(typeof(FuncoesPinout), ComponenteID != "" ? (cmb.SelectedItem.ToString().Split(' ')[1]) : cmb.SelectedItem.ToString()); - if (Pinout.Any(x => x.Descricao == cmb.Name.Replace("cmb", ""))) + if (Pinout.Pinos.Any(x => x.Descricao == cmb.Name.Replace("cmb", ""))) { - Pinout.FirstOrDefault(x => x.Descricao == cmb.Name.Replace("cmb", "")).Funcao = Funcao; - Pinout.FirstOrDefault(x => x.Descricao == cmb.Name.Replace("cmb", "")).ComponenteID = ComponenteID; + Pinout.Pinos.FirstOrDefault(x => x.Descricao == cmb.Name.Replace("cmb", "")).Funcao = Funcao; + Pinout.Pinos.FirstOrDefault(x => x.Descricao == cmb.Name.Replace("cmb", "")).ComponenteID = ComponenteID; + Pinout.Pinos.FirstOrDefault(x => x.Descricao == cmb.Name.Replace("cmb", "")).Barramento = cmb.Name.Contains("A") || cmb.Name.Contains("B") ? TiposBarramentos.EXPANSORI2C : TiposBarramentos.CONTROLADOR; } } + Pinout.ExpansorGPIO = chbMCP1.Checked; + Pinout.EnderecoExpansor = txtMCP1.Text; + PinoutModel.SalvarPinout(Pinout, "pinout" + Enum.GetName(typeof(T_Code), TipoDisp) + ".pin"); switch (TipoDisp) { case T_Code.Mov: - MovimentacaoModel.Pinout = Pinout.ToList(); + MovimentacaoModel.Pinout = Pinout; break; case T_Code.Dir: - DirecionalModel.Pinout = Pinout.ToList(); + DirecionalModel.Pinout = Pinout; break; case T_Code.Sen: - SensoriamentoModel.Pinout = Pinout.ToList(); + SensoriamentoModel.Pinout = Pinout; break; case T_Code.Atu: - AtuadorModel.Pinout = Pinout.ToList(); + AtuadorModel.Pinout = Pinout; break; } } @@ -235,7 +253,7 @@ namespace AgroBase.Forms private void cbTipo_SelectedIndexChanged(object sender, EventArgs e) { TiposControladores Tipo = (TiposControladores)(((ComboBox)sender).SelectedIndex); - if (Pinout.FirstOrDefault().Tipo != Tipo) + if (Pinout.Pinos.FirstOrDefault().Controlador != Tipo) { AtualizaTipoControlador(Tipo, true); } @@ -250,26 +268,60 @@ namespace AgroBase.Forms imgESP32.Size = new Size(304, 688); imgESP32.Location = new Point(130, 2); if (Novo) - Pinout = PinoutModel.CarregarPinoutPadrao_S3(); + Pinout = new PinoutDataModel() + { + ExpansorGPIO = false, + EnderecoExpansor = "", + Pinos = PinoutModel.CarregarPinoutPadrao_S3(), + }; break; case TiposControladores.ESP32_WROVER: imgESP32.Image = Properties.Resources.esp32_wrover; imgESP32.Size = new Size(304, 540); imgESP32.Location = new Point(130, 40); if (Novo) - Pinout = PinoutModel.CarregarPinoutPadrao_Wrover(); + Pinout = new PinoutDataModel() + { + ExpansorGPIO = false, + EnderecoExpansor = "", + Pinos = PinoutModel.CarregarPinoutPadrao_Wrover(), + }; break; } List cmbs = this.Controls.OfType().Where(x => x.Name.Contains("cmb")).ToList(); foreach (var cmb in cmbs) { - cmb.Visible = Pinout.Any(x => x.Descricao == cmb.Name.Replace("cmb", "")); + cmb.Visible = Pinout.Pinos.Any(x => x.Descricao == cmb.Name.Replace("cmb", "")); } - cbTipo.SelectedIndex = (int)TipoControlador; + + chbMCP1.Checked = Pinout.ExpansorGPIO; } + + private void chbMCP_CheckedChanged(object sender, EventArgs e) + { + CheckBox chb = (CheckBox)sender; + AtualizarCombosMCP(chb); + } + + private void AtualizarCombosMCP(CheckBox chb) + { + if (chb.Checked && !Pinout.Pinos.Any(x => x.Barramento == TiposBarramentos.EXPANSORI2C)) + { + Pinout.Pinos.AddRange(PinoutModel.CarregarPinoutPadrao_MCP()); + } + string ID = chb.Name.Replace("chbMCP", ""); + GroupBox gpb = this.Controls.OfType().FirstOrDefault(x => x.Name == "gpbMCP" + ID); + foreach (var cmb in gpb.Controls.OfType()) + { + cmb.Enabled = chb.Checked; + } + TextBox txt = gpb.Controls.OfType().FirstOrDefault(x => x.Name == "txtMCP" + ID); + txt.Enabled = chb.Checked; + } + } class DispositivoDataModel diff --git a/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs b/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs index 8ffcf8eef..c4d8af732 100644 --- a/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs +++ b/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs @@ -78,6 +78,8 @@ namespace AgroBase this.gpbJoystick = new System.Windows.Forms.GroupBox(); this.gpbControleDirecional = new System.Windows.Forms.GroupBox(); this.gpbAtalhos = new System.Windows.Forms.GroupBox(); + this.btnSonar = new System.Windows.Forms.Button(); + this.btnAtuCalibragem = new System.Windows.Forms.Button(); this.btnContornos = new System.Windows.Forms.Button(); this.btnGPS = new System.Windows.Forms.Button(); this.gpbOperacao = new System.Windows.Forms.GroupBox(); @@ -87,7 +89,7 @@ namespace AgroBase this.btnIniciarOperacao = new System.Windows.Forms.Button(); this.lblModoOperacao = new System.Windows.Forms.Label(); this.cmbModoOperacao = new System.Windows.Forms.ComboBox(); - this.btnAtuCalibragem = new System.Windows.Forms.Button(); + this.btnSimulador = new System.Windows.Forms.Button(); this.gpbAcoes.SuspendLayout(); this.erroStrip.SuspendLayout(); this.pnlLateral.SuspendLayout(); @@ -160,7 +162,7 @@ namespace AgroBase // this.chbConexaoautomatica.AutoSize = true; this.chbConexaoautomatica.Location = new System.Drawing.Point(229, 34); - this.chbConexaoautomatica.Margin = new System.Windows.Forms.Padding(4, 4, 4, 4); + this.chbConexaoautomatica.Margin = new System.Windows.Forms.Padding(4); this.chbConexaoautomatica.Name = "chbConexaoautomatica"; this.chbConexaoautomatica.Size = new System.Drawing.Size(152, 20); this.chbConexaoautomatica.TabIndex = 21; @@ -616,6 +618,8 @@ namespace AgroBase // // gpbAtalhos // + this.gpbAtalhos.Controls.Add(this.btnSimulador); + this.gpbAtalhos.Controls.Add(this.btnSonar); this.gpbAtalhos.Controls.Add(this.btnAtuCalibragem); this.gpbAtalhos.Controls.Add(this.btnContornos); this.gpbAtalhos.Controls.Add(this.btnGPS); @@ -633,6 +637,28 @@ namespace AgroBase this.gpbAtalhos.TabStop = false; this.gpbAtalhos.Text = "Atalhos"; // + // btnSonar + // + this.btnSonar.Location = new System.Drawing.Point(5, 262); + this.btnSonar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnSonar.Name = "btnSonar"; + this.btnSonar.Size = new System.Drawing.Size(112, 25); + this.btnSonar.TabIndex = 22; + this.btnSonar.Text = "Sonar"; + this.btnSonar.UseVisualStyleBackColor = true; + this.btnSonar.Click += new System.EventHandler(this.btnSonar_Click); + // + // btnAtuCalibragem + // + this.btnAtuCalibragem.Location = new System.Drawing.Point(6, 233); + this.btnAtuCalibragem.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnAtuCalibragem.Name = "btnAtuCalibragem"; + this.btnAtuCalibragem.Size = new System.Drawing.Size(112, 25); + this.btnAtuCalibragem.TabIndex = 21; + this.btnAtuCalibragem.Text = "Atuador"; + this.btnAtuCalibragem.UseVisualStyleBackColor = true; + this.btnAtuCalibragem.Click += new System.EventHandler(this.btnAtuCalibragem_Click); + // // btnContornos // this.btnContornos.Location = new System.Drawing.Point(5, 204); @@ -736,16 +762,16 @@ namespace AgroBase this.cmbModoOperacao.TabIndex = 13; this.cmbModoOperacao.SelectedIndexChanged += new System.EventHandler(this.cmbModoOperacao_SelectedIndexChanged); // - // btnAtuCalibragem + // btnSimulador // - this.btnAtuCalibragem.Location = new System.Drawing.Point(6, 233); - this.btnAtuCalibragem.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); - this.btnAtuCalibragem.Name = "btnAtuCalibragem"; - this.btnAtuCalibragem.Size = new System.Drawing.Size(112, 25); - this.btnAtuCalibragem.TabIndex = 21; - this.btnAtuCalibragem.Text = "Calibrar Atuador"; - this.btnAtuCalibragem.UseVisualStyleBackColor = true; - this.btnAtuCalibragem.Click += new System.EventHandler(this.btnAtuCalibragem_Click); + this.btnSimulador.Location = new System.Drawing.Point(5, 291); + this.btnSimulador.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnSimulador.Name = "btnSimulador"; + this.btnSimulador.Size = new System.Drawing.Size(112, 25); + this.btnSimulador.TabIndex = 23; + this.btnSimulador.Text = "Simulador"; + this.btnSimulador.UseVisualStyleBackColor = true; + this.btnSimulador.Click += new System.EventHandler(this.btnSimulador_Click); // // frmPrincipal // @@ -858,6 +884,8 @@ namespace AgroBase public System.Windows.Forms.CheckBox chbConexaoautomatica; public System.Windows.Forms.CheckBox chbDebugMode; private System.Windows.Forms.Button btnAtuCalibragem; + private System.Windows.Forms.Button btnSonar; + private System.Windows.Forms.Button btnSimulador; } } diff --git a/AgroBase/AgroBase/Forms/frmPrincipal.cs b/AgroBase/AgroBase/Forms/frmPrincipal.cs index 5ce8f4c8c..f10fdcaf7 100644 --- a/AgroBase/AgroBase/Forms/frmPrincipal.cs +++ b/AgroBase/AgroBase/Forms/frmPrincipal.cs @@ -138,7 +138,7 @@ namespace AgroBase SerialService.DispositivosMapeados .Select(x => new ListViewItem() { - Text = x.PortaCOM + " - " + Enum.GetName(typeof(T_Code), x.Dispositivo) + " - " + + Text = x.PortaCOM + " - " + Enum.GetName(typeof(T_Code), x.Dispositivo) + " v" + x.Versao + " - " + (x.Dispositivo == T_Code.Gps ? (GPSService.PortaGPS != null && GPSService.PortaGPS.IsOpen ? "Conectado" : "Desconectado") : x.Dispositivo == T_Code.Pzm ? (PZEMService.PortaPZEM != null && PZEMService.PortaPZEM.IsOpen ? "Conectado" : "Desconectado") : (Variaveis.DispositivosConectados.FirstOrDefault(y => y.PortaCOM() == x.PortaCOM)?.StatusPorta() ?? "Desconectado")) @@ -170,7 +170,6 @@ namespace AgroBase } catch { - } } @@ -278,19 +277,7 @@ namespace AgroBase } else { - if (Variaveis.OperacaoEmAndamento.OperacaoLiberada) - { - Variaveis.OperacaoEmAndamento.frmOperacao = (Form)Activator.CreateInstance(Variaveis.OperacaoEmAndamento.frmOperacao.GetType()); - /*if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.Manual) - { - Variaveis.OperacaoEmAndamento.Iniciado = true; - }*/ - Variaveis.OperacaoEmAndamento.frmOperacao.Show(); - } - else - { - MessageBox.Show(Variaveis.OperacaoEmAndamento.ErroOperacaoLiberada, "Conexão de módulos pendentes", MessageBoxButtons.OK, MessageBoxIcon.Warning); - } + Variaveis.OperacaoEmAndamento.AbrirForm(); } lblStripOperacao.Text = "Operação: " + Enum.GetName(typeof(ModoOperacao), Variaveis.OperacaoEmAndamento.Modo); @@ -320,5 +307,17 @@ namespace AgroBase frmAtuCalibragem frm = new frmAtuCalibragem(); frm.Show(); } + + private void btnSonar_Click(object sender, EventArgs e) + { + frmSonar frm = new frmSonar(); + frm.Show(); + } + + private void btnSimulador_Click(object sender, EventArgs e) + { + frmSimulacaoMapaGPS frm = new frmSimulacaoMapaGPS(); + frm.Show(); + } } } diff --git a/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs new file mode 100644 index 000000000..9487763f9 --- /dev/null +++ b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs @@ -0,0 +1,468 @@ +namespace AgroBase.Forms +{ + partial class frmSimulacaoMapaGPS + { + /// + /// Required designer variable. + /// + private System.ComponentModel.IContainer components = null; + + /// + /// Clean up any resources being used. + /// + /// true if managed resources should be disposed; otherwise, false. + protected override void Dispose(bool disposing) + { + if (disposing && (components != null)) + { + components.Dispose(); + } + base.Dispose(disposing); + } + + #region Windows Form Designer generated code + + /// + /// Required method for Designer support - do not modify + /// the contents of this method with the code editor. + /// + private void InitializeComponent() + { + this.pnlOpcoes = new System.Windows.Forms.Panel(); + this.lblDistanciaFinal = new System.Windows.Forms.Label(); + this.btnCarregarMapa = new System.Windows.Forms.Button(); + this.lblDistanciaOperacao = new System.Windows.Forms.Label(); + this.btnIniciarSimulacao = new System.Windows.Forms.Button(); + this.gpbSonar = new System.Windows.Forms.GroupBox(); + this.btnAdicionarDeteccao = new System.Windows.Forms.Button(); + this.lblAnguloFinal = new System.Windows.Forms.Label(); + this.txtAnguloFinal = new System.Windows.Forms.TextBox(); + this.lblDistanciaSonar = new System.Windows.Forms.Label(); + this.txtDistanciaSonar = new System.Windows.Forms.TextBox(); + this.lblAnguloI = new System.Windows.Forms.Label(); + this.txtAnguloInicial = new System.Windows.Forms.TextBox(); + this.lblDirecao = new System.Windows.Forms.Label(); + this.lblStatus = new System.Windows.Forms.Label(); + this.gpbGPS = new System.Windows.Forms.GroupBox(); + this.btnAcrescentarGPS = new System.Windows.Forms.Button(); + this.lblDistancia = new System.Windows.Forms.Label(); + this.txtDistanciaGPS = new System.Windows.Forms.TextBox(); + this.lblAnguloGPS = new System.Windows.Forms.Label(); + this.txtAnguloGPS = new System.Windows.Forms.TextBox(); + this.lblLongitude = new System.Windows.Forms.Label(); + this.lblLatitude = new System.Windows.Forms.Label(); + this.txtLongitude = new System.Windows.Forms.TextBox(); + this.txtLatitude = new System.Windows.Forms.TextBox(); + this.btnIniciarGPS = new System.Windows.Forms.Button(); + this.pnlMapa = new System.Windows.Forms.Panel(); + this.pnlOrientacaoTrajeto = new System.Windows.Forms.Panel(); + this.pnlSonar = new System.Windows.Forms.Panel(); + this.picSonar = new System.Windows.Forms.PictureBox(); + this.chbSonarVirando = new System.Windows.Forms.CheckBox(); + this.chbMoverObstaculo = new System.Windows.Forms.CheckBox(); + this.pnlOpcoes.SuspendLayout(); + this.gpbSonar.SuspendLayout(); + this.gpbGPS.SuspendLayout(); + this.pnlMapa.SuspendLayout(); + this.pnlSonar.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)(this.picSonar)).BeginInit(); + this.SuspendLayout(); + // + // pnlOpcoes + // + this.pnlOpcoes.Controls.Add(this.lblDistanciaFinal); + this.pnlOpcoes.Controls.Add(this.btnCarregarMapa); + this.pnlOpcoes.Controls.Add(this.lblDistanciaOperacao); + this.pnlOpcoes.Controls.Add(this.btnIniciarSimulacao); + this.pnlOpcoes.Controls.Add(this.gpbSonar); + this.pnlOpcoes.Controls.Add(this.lblDirecao); + this.pnlOpcoes.Controls.Add(this.lblStatus); + this.pnlOpcoes.Controls.Add(this.gpbGPS); + this.pnlOpcoes.Dock = System.Windows.Forms.DockStyle.Bottom; + this.pnlOpcoes.Location = new System.Drawing.Point(0, 590); + this.pnlOpcoes.Name = "pnlOpcoes"; + this.pnlOpcoes.Size = new System.Drawing.Size(1371, 123); + this.pnlOpcoes.TabIndex = 0; + // + // lblDistanciaFinal + // + this.lblDistanciaFinal.AutoSize = true; + this.lblDistanciaFinal.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F); + this.lblDistanciaFinal.Location = new System.Drawing.Point(9, 85); + this.lblDistanciaFinal.Name = "lblDistanciaFinal"; + this.lblDistanciaFinal.Size = new System.Drawing.Size(146, 16); + this.lblDistanciaFinal.TabIndex = 21; + this.lblDistanciaFinal.Text = "Distância Final: 00,00 m"; + // + // btnCarregarMapa + // + this.btnCarregarMapa.Location = new System.Drawing.Point(12, 8); + this.btnCarregarMapa.Name = "btnCarregarMapa"; + this.btnCarregarMapa.Size = new System.Drawing.Size(161, 23); + this.btnCarregarMapa.TabIndex = 20; + this.btnCarregarMapa.Text = "Carregar Mapa"; + this.btnCarregarMapa.UseVisualStyleBackColor = true; + this.btnCarregarMapa.Click += new System.EventHandler(this.btnCarregarMapa_Click); + // + // lblDistanciaOperacao + // + this.lblDistanciaOperacao.AutoSize = true; + this.lblDistanciaOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F); + this.lblDistanciaOperacao.Location = new System.Drawing.Point(9, 66); + this.lblDistanciaOperacao.Name = "lblDistanciaOperacao"; + this.lblDistanciaOperacao.Size = new System.Drawing.Size(178, 16); + this.lblDistanciaOperacao.TabIndex = 19; + this.lblDistanciaOperacao.Text = "Distância Operação: 00,00 m"; + // + // btnIniciarSimulacao + // + this.btnIniciarSimulacao.Location = new System.Drawing.Point(12, 37); + this.btnIniciarSimulacao.Name = "btnIniciarSimulacao"; + this.btnIniciarSimulacao.Size = new System.Drawing.Size(161, 25); + this.btnIniciarSimulacao.TabIndex = 18; + this.btnIniciarSimulacao.Text = "Iniciar Simulação"; + this.btnIniciarSimulacao.UseVisualStyleBackColor = true; + this.btnIniciarSimulacao.Click += new System.EventHandler(this.btnIniciarSimulacao_Click); + // + // gpbSonar + // + this.gpbSonar.Controls.Add(this.chbMoverObstaculo); + this.gpbSonar.Controls.Add(this.chbSonarVirando); + this.gpbSonar.Controls.Add(this.btnAdicionarDeteccao); + this.gpbSonar.Controls.Add(this.lblAnguloFinal); + this.gpbSonar.Controls.Add(this.txtAnguloFinal); + this.gpbSonar.Controls.Add(this.lblDistanciaSonar); + this.gpbSonar.Controls.Add(this.txtDistanciaSonar); + this.gpbSonar.Controls.Add(this.lblAnguloI); + this.gpbSonar.Controls.Add(this.txtAnguloInicial); + this.gpbSonar.Location = new System.Drawing.Point(811, 3); + this.gpbSonar.Name = "gpbSonar"; + this.gpbSonar.Size = new System.Drawing.Size(309, 117); + this.gpbSonar.TabIndex = 17; + this.gpbSonar.TabStop = false; + this.gpbSonar.Text = "Sonar"; + // + // btnAdicionarDeteccao + // + this.btnAdicionarDeteccao.Location = new System.Drawing.Point(93, 79); + this.btnAdicionarDeteccao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnAdicionarDeteccao.Name = "btnAdicionarDeteccao"; + this.btnAdicionarDeteccao.Size = new System.Drawing.Size(60, 28); + this.btnAdicionarDeteccao.TabIndex = 25; + this.btnAdicionarDeteccao.Text = "Add"; + this.btnAdicionarDeteccao.UseVisualStyleBackColor = true; + this.btnAdicionarDeteccao.Click += new System.EventHandler(this.btnAdicionarDeteccao_Click); + // + // lblAnguloFinal + // + this.lblAnguloFinal.AutoSize = true; + this.lblAnguloFinal.Location = new System.Drawing.Point(90, 22); + this.lblAnguloFinal.Name = "lblAnguloFinal"; + this.lblAnguloFinal.Size = new System.Drawing.Size(67, 16); + this.lblAnguloFinal.TabIndex = 27; + this.lblAnguloFinal.Text = "Angulo Fn"; + // + // txtAnguloFinal + // + this.txtAnguloFinal.Location = new System.Drawing.Point(93, 41); + this.txtAnguloFinal.Name = "txtAnguloFinal"; + this.txtAnguloFinal.Size = new System.Drawing.Size(60, 22); + this.txtAnguloFinal.TabIndex = 23; + this.txtAnguloFinal.Text = "0"; + this.txtAnguloFinal.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // lblDistanciaSonar + // + this.lblDistanciaSonar.AutoSize = true; + this.lblDistanciaSonar.Location = new System.Drawing.Point(12, 66); + this.lblDistanciaSonar.Name = "lblDistanciaSonar"; + this.lblDistanciaSonar.Size = new System.Drawing.Size(63, 16); + this.lblDistanciaSonar.TabIndex = 25; + this.lblDistanciaSonar.Text = "Distancia"; + // + // txtDistanciaSonar + // + this.txtDistanciaSonar.Location = new System.Drawing.Point(15, 85); + this.txtDistanciaSonar.Name = "txtDistanciaSonar"; + this.txtDistanciaSonar.Size = new System.Drawing.Size(60, 22); + this.txtDistanciaSonar.TabIndex = 24; + this.txtDistanciaSonar.Text = "0"; + this.txtDistanciaSonar.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // lblAnguloI + // + this.lblAnguloI.AutoSize = true; + this.lblAnguloI.Location = new System.Drawing.Point(12, 22); + this.lblAnguloI.Name = "lblAnguloI"; + this.lblAnguloI.Size = new System.Drawing.Size(62, 16); + this.lblAnguloI.TabIndex = 23; + this.lblAnguloI.Text = "Angulo In"; + // + // txtAnguloInicial + // + this.txtAnguloInicial.Location = new System.Drawing.Point(15, 41); + this.txtAnguloInicial.Name = "txtAnguloInicial"; + this.txtAnguloInicial.Size = new System.Drawing.Size(60, 22); + this.txtAnguloInicial.TabIndex = 22; + this.txtAnguloInicial.Text = "0"; + this.txtAnguloInicial.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // lblDirecao + // + this.lblDirecao.AutoSize = true; + this.lblDirecao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F); + this.lblDirecao.Location = new System.Drawing.Point(9, 104); + this.lblDirecao.Name = "lblDirecao"; + this.lblDirecao.Size = new System.Drawing.Size(106, 16); + this.lblDirecao.TabIndex = 16; + this.lblDirecao.Text = "Direção: Parado"; + // + // lblStatus + // + this.lblStatus.AutoSize = true; + this.lblStatus.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F); + this.lblStatus.Location = new System.Drawing.Point(205, 85); + this.lblStatus.Name = "lblStatus"; + this.lblStatus.Size = new System.Drawing.Size(125, 16); + this.lblStatus.TabIndex = 15; + this.lblStatus.Text = "Status: Aguardando"; + // + // gpbGPS + // + this.gpbGPS.Controls.Add(this.btnAcrescentarGPS); + this.gpbGPS.Controls.Add(this.lblDistancia); + this.gpbGPS.Controls.Add(this.txtDistanciaGPS); + this.gpbGPS.Controls.Add(this.lblAnguloGPS); + this.gpbGPS.Controls.Add(this.txtAnguloGPS); + this.gpbGPS.Controls.Add(this.lblLongitude); + this.gpbGPS.Controls.Add(this.lblLatitude); + this.gpbGPS.Controls.Add(this.txtLongitude); + this.gpbGPS.Controls.Add(this.txtLatitude); + this.gpbGPS.Controls.Add(this.btnIniciarGPS); + this.gpbGPS.Location = new System.Drawing.Point(385, 3); + this.gpbGPS.Name = "gpbGPS"; + this.gpbGPS.Size = new System.Drawing.Size(420, 117); + this.gpbGPS.TabIndex = 14; + this.gpbGPS.TabStop = false; + this.gpbGPS.Text = "GPS"; + // + // btnAcrescentarGPS + // + this.btnAcrescentarGPS.Enabled = false; + this.btnAcrescentarGPS.Location = new System.Drawing.Point(307, 82); + this.btnAcrescentarGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnAcrescentarGPS.Name = "btnAcrescentarGPS"; + this.btnAcrescentarGPS.Size = new System.Drawing.Size(99, 28); + this.btnAcrescentarGPS.TabIndex = 22; + this.btnAcrescentarGPS.Text = "Acrescentar"; + this.btnAcrescentarGPS.UseVisualStyleBackColor = true; + this.btnAcrescentarGPS.Click += new System.EventHandler(this.btnAcrescentarGPS_Click); + // + // lblDistancia + // + this.lblDistancia.AutoSize = true; + this.lblDistancia.Location = new System.Drawing.Point(212, 66); + this.lblDistancia.Name = "lblDistancia"; + this.lblDistancia.Size = new System.Drawing.Size(63, 16); + this.lblDistancia.TabIndex = 21; + this.lblDistancia.Text = "Distancia"; + // + // txtDistanciaGPS + // + this.txtDistanciaGPS.Enabled = false; + this.txtDistanciaGPS.Location = new System.Drawing.Point(215, 85); + this.txtDistanciaGPS.Name = "txtDistanciaGPS"; + this.txtDistanciaGPS.Size = new System.Drawing.Size(71, 22); + this.txtDistanciaGPS.TabIndex = 20; + this.txtDistanciaGPS.Text = "0"; + this.txtDistanciaGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // lblAnguloGPS + // + this.lblAnguloGPS.AutoSize = true; + this.lblAnguloGPS.Location = new System.Drawing.Point(212, 22); + this.lblAnguloGPS.Name = "lblAnguloGPS"; + this.lblAnguloGPS.Size = new System.Drawing.Size(49, 16); + this.lblAnguloGPS.TabIndex = 19; + this.lblAnguloGPS.Text = "Angulo"; + // + // txtAnguloGPS + // + this.txtAnguloGPS.Enabled = false; + this.txtAnguloGPS.Location = new System.Drawing.Point(215, 41); + this.txtAnguloGPS.Name = "txtAnguloGPS"; + this.txtAnguloGPS.Size = new System.Drawing.Size(71, 22); + this.txtAnguloGPS.TabIndex = 18; + this.txtAnguloGPS.Text = "0"; + this.txtAnguloGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // lblLongitude + // + this.lblLongitude.AutoSize = true; + this.lblLongitude.Location = new System.Drawing.Point(9, 66); + this.lblLongitude.Name = "lblLongitude"; + this.lblLongitude.Size = new System.Drawing.Size(66, 16); + this.lblLongitude.TabIndex = 17; + this.lblLongitude.Text = "Longitude"; + // + // lblLatitude + // + this.lblLatitude.AutoSize = true; + this.lblLatitude.Location = new System.Drawing.Point(9, 22); + this.lblLatitude.Name = "lblLatitude"; + this.lblLatitude.Size = new System.Drawing.Size(54, 16); + this.lblLatitude.TabIndex = 16; + this.lblLatitude.Text = "Latitude"; + // + // txtLongitude + // + this.txtLongitude.Location = new System.Drawing.Point(12, 85); + this.txtLongitude.Name = "txtLongitude"; + this.txtLongitude.Size = new System.Drawing.Size(179, 22); + this.txtLongitude.TabIndex = 15; + this.txtLongitude.Text = "-47.26406713810977"; + this.txtLongitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // txtLatitude + // + this.txtLatitude.Location = new System.Drawing.Point(12, 41); + this.txtLatitude.Name = "txtLatitude"; + this.txtLatitude.Size = new System.Drawing.Size(179, 22); + this.txtLatitude.TabIndex = 14; + this.txtLatitude.Text = "-22.339442335994334"; + this.txtLatitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // btnIniciarGPS + // + this.btnIniciarGPS.Location = new System.Drawing.Point(307, 38); + this.btnIniciarGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnIniciarGPS.Name = "btnIniciarGPS"; + this.btnIniciarGPS.Size = new System.Drawing.Size(99, 28); + this.btnIniciarGPS.TabIndex = 13; + this.btnIniciarGPS.Text = "Iniciar"; + this.btnIniciarGPS.UseVisualStyleBackColor = true; + this.btnIniciarGPS.Click += new System.EventHandler(this.btnIniciarGPS_Click); + // + // pnlMapa + // + this.pnlMapa.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) + | System.Windows.Forms.AnchorStyles.Left) + | System.Windows.Forms.AnchorStyles.Right))); + this.pnlMapa.Controls.Add(this.pnlOrientacaoTrajeto); + this.pnlMapa.Location = new System.Drawing.Point(12, 12); + this.pnlMapa.Name = "pnlMapa"; + this.pnlMapa.Size = new System.Drawing.Size(674, 572); + this.pnlMapa.TabIndex = 1; + // + // pnlOrientacaoTrajeto + // + this.pnlOrientacaoTrajeto.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); + this.pnlOrientacaoTrajeto.BackColor = System.Drawing.Color.White; + this.pnlOrientacaoTrajeto.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos; + this.pnlOrientacaoTrajeto.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; + this.pnlOrientacaoTrajeto.Location = new System.Drawing.Point(567, 2); + this.pnlOrientacaoTrajeto.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlOrientacaoTrajeto.Name = "pnlOrientacaoTrajeto"; + this.pnlOrientacaoTrajeto.Size = new System.Drawing.Size(104, 103); + this.pnlOrientacaoTrajeto.TabIndex = 12; + this.pnlOrientacaoTrajeto.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoTrajeto_Paint); + // + // pnlSonar + // + this.pnlSonar.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) + | System.Windows.Forms.AnchorStyles.Right))); + this.pnlSonar.Controls.Add(this.picSonar); + this.pnlSonar.Location = new System.Drawing.Point(692, 12); + this.pnlSonar.Name = "pnlSonar"; + this.pnlSonar.Size = new System.Drawing.Size(667, 572); + this.pnlSonar.TabIndex = 2; + // + // picSonar + // + this.picSonar.Dock = System.Windows.Forms.DockStyle.Fill; + this.picSonar.Location = new System.Drawing.Point(0, 0); + this.picSonar.Name = "picSonar"; + this.picSonar.Size = new System.Drawing.Size(667, 572); + this.picSonar.TabIndex = 0; + this.picSonar.TabStop = false; + // + // chbSonarVirando + // + this.chbSonarVirando.AutoSize = true; + this.chbSonarVirando.Location = new System.Drawing.Point(165, 84); + this.chbSonarVirando.Name = "chbSonarVirando"; + this.chbSonarVirando.Size = new System.Drawing.Size(117, 20); + this.chbSonarVirando.TabIndex = 28; + this.chbSonarVirando.Text = "Sonar atuando"; + this.chbSonarVirando.UseVisualStyleBackColor = true; + // + // chbMoverObstaculo + // + this.chbMoverObstaculo.AutoSize = true; + this.chbMoverObstaculo.Location = new System.Drawing.Point(165, 43); + this.chbMoverObstaculo.Name = "chbMoverObstaculo"; + this.chbMoverObstaculo.Size = new System.Drawing.Size(129, 20); + this.chbMoverObstaculo.TabIndex = 29; + this.chbMoverObstaculo.Text = "Mover obstáculo"; + this.chbMoverObstaculo.UseVisualStyleBackColor = true; + // + // frmSimulacaoMapaGPS + // + this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F); + this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; + this.ClientSize = new System.Drawing.Size(1371, 713); + this.Controls.Add(this.pnlSonar); + this.Controls.Add(this.pnlMapa); + this.Controls.Add(this.pnlOpcoes); + this.Name = "frmSimulacaoMapaGPS"; + this.Text = "frmSimulacaoMapaGPS"; + this.Load += new System.EventHandler(this.frmSimulacaoMapaGPS_Load); + this.pnlOpcoes.ResumeLayout(false); + this.pnlOpcoes.PerformLayout(); + this.gpbSonar.ResumeLayout(false); + this.gpbSonar.PerformLayout(); + this.gpbGPS.ResumeLayout(false); + this.gpbGPS.PerformLayout(); + this.pnlMapa.ResumeLayout(false); + this.pnlSonar.ResumeLayout(false); + ((System.ComponentModel.ISupportInitialize)(this.picSonar)).EndInit(); + this.ResumeLayout(false); + + } + + #endregion + + private System.Windows.Forms.Panel pnlOpcoes; + private System.Windows.Forms.Panel pnlMapa; + private System.Windows.Forms.Panel pnlSonar; + private System.Windows.Forms.GroupBox gpbGPS; + private System.Windows.Forms.TextBox txtLatitude; + private System.Windows.Forms.Button btnIniciarGPS; + private System.Windows.Forms.Label lblLongitude; + private System.Windows.Forms.Label lblLatitude; + private System.Windows.Forms.TextBox txtLongitude; + private System.Windows.Forms.Button btnAcrescentarGPS; + private System.Windows.Forms.Label lblDistancia; + private System.Windows.Forms.TextBox txtDistanciaGPS; + private System.Windows.Forms.Label lblAnguloGPS; + private System.Windows.Forms.TextBox txtAnguloGPS; + private System.Windows.Forms.Label lblDirecao; + private System.Windows.Forms.Label lblStatus; + private System.Windows.Forms.GroupBox gpbSonar; + private System.Windows.Forms.Button btnAdicionarDeteccao; + private System.Windows.Forms.Label lblAnguloFinal; + private System.Windows.Forms.TextBox txtAnguloFinal; + private System.Windows.Forms.Label lblDistanciaSonar; + private System.Windows.Forms.TextBox txtDistanciaSonar; + private System.Windows.Forms.Label lblAnguloI; + private System.Windows.Forms.TextBox txtAnguloInicial; + private System.Windows.Forms.Button btnIniciarSimulacao; + private System.Windows.Forms.Label lblDistanciaOperacao; + private System.Windows.Forms.Button btnCarregarMapa; + private System.Windows.Forms.Panel pnlOrientacaoTrajeto; + private System.Windows.Forms.Label lblDistanciaFinal; + private System.Windows.Forms.PictureBox picSonar; + private System.Windows.Forms.CheckBox chbMoverObstaculo; + private System.Windows.Forms.CheckBox chbSonarVirando; + } +} \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs new file mode 100644 index 000000000..c60017d35 --- /dev/null +++ b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs @@ -0,0 +1,289 @@ +using AgroBase.Models; +using AgroBase.Services; +using CefSharp; +using System; +using System.Collections.Generic; +using System.ComponentModel; +using System.Data; +using System.Drawing; +using System.Drawing.Drawing2D; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Windows.Forms; +using static AgroBase.Models.Enuns; + +namespace AgroBase.Forms +{ + public partial class frmSimulacaoMapaGPS : Form + { + Timer tmrSonar; + + public frmSimulacaoMapaGPS() + { + InitializeComponent(); + + Timer tmr = new Timer() { Interval = 500 }; + tmr.Tick += Tmr_Tick; + tmr.Start(); + + tmrSonar = new Timer() { Interval = 100 }; + tmrSonar.Tick += tmrSonar_Tick; + tmrSonar.Start(); + } + + + + private void Tmr_Tick(object sender, EventArgs e) + { + lblStatus.Text = "Status: " + Enum.GetName(typeof(StatusCarroMapa), Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual); + lblDirecao.Text = "Direção: " + Enum.GetName(typeof(DirecaoCarroRua), Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.Direcao); + lblDistanciaOperacao.Text = "Distância Operação: " + (Variaveis.OperacaoEmAndamento.Mapa == null ? 0 : Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal).ToString("00.00") + " m"; + lblDistanciaFinal.Text = "Distância Final: " + (GPSService.DistanciaDoTrecho(Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica)).ToString("00.00") + " m"; + + if (Variaveis.OperacaoEmAndamento.Iniciado) + { + var StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual; + if (StatusCarro == StatusCarroMapa.Direcionando) + { + Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First()); + } + else if (StatusCarro == StatusCarroMapa.Manobrando) + { + //Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First()); + } + + pnlOrientacaoTrajeto.Invalidate(); + } + else + { + Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas(); + } + } + + + private void frmSimulacaoMapaGPS_Load(object sender, EventArgs e) + { + Variaveis.OperacaoEmAndamento.Mapa = new MapasModel() + { + pnlMapa = pnlMapa, + }; + Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal = new SonarModel(picSonar); + } + + private void btnCarregar_Click(object sender, EventArgs e) + { + Variaveis.OperacaoEmAndamento.Mapa.btnCarregar_Click((Control) sender, e); + } + + private void btnIniciarGPS_Click(object sender, EventArgs e) + { + AtualizarPosicaoGPS(); + btnAcrescentarGPS.Enabled = true; + txtAnguloGPS.Enabled = true; + txtDistanciaGPS.Enabled = true; + btnIniciarGPS.Enabled = false; + txtLatitude.Enabled = false; + txtLongitude.Enabled = false; + } + + private void AtualizarPosicaoGPS() + { + GPSService.PenultimaLeitura = new GPSModel() + { + DataHora = GPSService.UltimaLeitura.DataHora, + Longitude = GPSService.UltimaLeitura.Longitude, + Latitude = GPSService.UltimaLeitura.Latitude, + }; + + GPSService.UltimaLeitura = new GPSModel() + { + DataHora = DateTime.Now, + Longitude = double.Parse(txtLongitude.Text.Replace(".", ",")), + Latitude = double.Parse(txtLatitude.Text.Replace(".", ",")), + }; + + GPSService.AtualizarCoordenadasGPS(); + } + + private void btnAcrescentarGPS_Click(object sender, EventArgs e) + { + double angulo = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.AnguloCaminho; + if (txtAnguloGPS.Text != "") + { + angulo = double.Parse(txtAnguloGPS.Text); + } + double distancia = double.Parse(txtDistanciaGPS.Text); // Distância em metros + angulo -= 180; // Ângulo em graus + + double latitude = GPSService.UltimaLeitura.Latitude; + double longitude = GPSService.UltimaLeitura.Longitude; + + // Conversão de ângulo de graus para radianos + double anguloRad = angulo * (Math.PI / 180); + + // Raio da Terra em metros + double raioTerra = 6371000; + + // Calcular deslocamento de latitude em radianos + double deltaLat = distancia * Math.Cos(anguloRad) / raioTerra; + // Converter de radianos para graus + double latAtt = latitude + deltaLat * (180 / Math.PI); + + // Calcular deslocamento de longitude em radianos + double deltaLong = distancia * Math.Sin(anguloRad) / (raioTerra * Math.Cos(latitude * (Math.PI / 180))); + // Converter de radianos para graus + double longAtt = longitude + deltaLong * (180 / Math.PI); + + // Atualizar os TextBoxes com as novas coordenadas + txtLatitude.Text = latAtt.ToString(); + txtLongitude.Text = longAtt.ToString(); + + AtualizarPosicaoGPS(); + + if (chbMoverObstaculo.Checked && ObjetoDetectado && double.TryParse(txtDistanciaSonar.Text, out double distSonar)) + { + distSonar -= (distancia * 100); + txtDistanciaSonar.Text = distSonar.ToString(); + } + } + + private void btnIniciarSimulacao_Click(object sender, EventArgs e) + { + Variaveis.OperacaoEmAndamento.Iniciado = !Variaveis.OperacaoEmAndamento.Iniciado; + btnIniciarSimulacao.Text = Variaveis.OperacaoEmAndamento.Iniciado ? "Parar Simulação" : "Iniciar Simulação"; + } + + private void btnCarregarMapa_Click(object sender, EventArgs e) + { + Variaveis.OperacaoEmAndamento.Mapa.btnCarregar_Click((Control)sender, e); + } + + private void pnlOrientacaoTrajeto_Paint(object sender, PaintEventArgs e) + { + try + { + double angulo = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.AnguloCaminho; + DesenharInclinacao((Panel)sender, e, (float)angulo, -90); + } + catch { } + } + + private void DesenharInclinacao(Panel pnlBussola, PaintEventArgs e, float anguloInclinacao, float anguloSub) + { + if (!(anguloInclinacao >= 0 || anguloInclinacao <= 0)) + { + anguloInclinacao = 0; + } + + Graphics g = e.Graphics; + // Desenha o círculo da bússola + int diameter = Math.Min(pnlBussola.Width - 1, pnlBussola.Height - 1); + Point centro = new Point((pnlBussola.Width - 1) / 2, (pnlBussola.Height - 1) / 2); + //g.DrawEllipse(Pens.Black, centro.X - diameter / 2, centro.Y - diameter / 2, diameter, diameter); + + // Escreve o ângulo no centro do círculo + string anguloTexto = $"{anguloInclinacao.ToString("0")}°"; + Font fonteAngulo = new Font("Arial", 7); // Ajuste o tamanho da fonte conforme necessário + SizeF textSize = e.Graphics.MeasureString(anguloTexto, fonteAngulo); + + // Calcula a posição para o texto ser centralizado no círculo + float textX = 0; + float textY = 0; + + // Define a cor do texto + Brush textBrush = Brushes.Black; + + // Desenha o texto no Graphics do painel + g.DrawString(anguloTexto, fonteAngulo, textBrush, textX, textY); + + // A linha será desenhada do centro do círculo + PointF pontoCentral = new PointF(centro.X, centro.Y); + // O comprimento da linha será metade do diâmetro do círculo (raio) + float comprimentoLinha = diameter / 3; + + // Ajustar o ângulo para que 0 graus esteja para cima e aumente no sentido horário + //float anguloRadianos = (anguloInclinacao - 90) * (float)(Math.PI / 180.0); + float anguloRadianos = (anguloInclinacao - anguloSub) * (float)(Math.PI / 180.0); + + // Calcular o ponto final da linha baseado no ângulo de inclinação + PointF pontoFinal = new PointF( + pontoCentral.X + comprimentoLinha * (float)Math.Cos(anguloRadianos), + pontoCentral.Y + comprimentoLinha * (float)Math.Sin(anguloRadianos) + ); + + // Desenhar a linha de inclinação + g.DrawLine(Pens.Red, pontoCentral, pontoFinal); + + // Opcional: Desenhar uma ponta de seta na linha para indicar direção + using (AdjustableArrowCap bigArrow = new AdjustableArrowCap(4, 4)) + { + using (Pen pen = new Pen(Color.Red, 2)) + { + pen.CustomEndCap = bigArrow; + g.DrawLine(pen, pontoCentral, pontoFinal); + } + } + } + + + bool ObjetoDetectado = false; + Direcao dirSonar = Direcao.Esquerda; + int angulo = 0; + int posicao = 1; + int distanciaMaxima = 356; + private void tmrSonar_Tick(object sender, EventArgs e) + { + if (Variaveis.OperacaoEmAndamento.DispSen.Dados.Conectado && Variaveis.OperacaoEmAndamento.DispSen.Dados.Sensores.Any(x => x.Componente == S_Code.sSNR && x.Inicializado) || !chbSonarVirando.Checked) + { + return; + } + + int.TryParse(txtAnguloInicial.Text, out int anguloInicial); + int.TryParse(txtAnguloFinal.Text, out int anguloFinal); + int distancia = ObjetoDetectado && angulo >= anguloInicial && angulo <= anguloFinal ? int.Parse(txtDistanciaSonar.Text) : distanciaMaxima; + + var posArr = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.Deteccoes.FirstOrDefault(x => x.Posicao == posicao); + if (posArr == null) + { + posArr = new SonarRegistroModel() + { + Posicao = posicao, + Leituras = new List() + }; + Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.Deteccoes.Add(posArr); + } + var leituras = posArr.Leituras; + if (leituras.Any(x => x.Angulo == angulo)) + { + leituras.First(x => x.Angulo == angulo).Momento = DateTime.Now; + leituras.First(x => x.Angulo == angulo).Distancia = distancia; + } + else + { + leituras.Add(new SonarLeituraModel(angulo, distancia)); + } + Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.PosicaoAtual = posicao; + Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.AtualizarSonar(); + + angulo += dirSonar == Direcao.Esquerda ? SonarModel.anguloAcrescentar : -SonarModel.anguloAcrescentar; + + if (angulo >= 180) + { + dirSonar = Direcao.Direita; + //posArr.Leituras.Clear(); + } + else if (angulo <= 0) + { + dirSonar = Direcao.Esquerda; + //posArr.Leituras.Clear(); + } + } + + private void btnAdicionarDeteccao_Click(object sender, EventArgs e) + { + ObjetoDetectado = !ObjetoDetectado; + btnAdicionarDeteccao.Text = ObjetoDetectado ? 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z1f*F1#BcTxz*cF?9J6d_HMHfLj5dv@_--~k9R}nrW>@bvOo{c172X6HHhEl*ZjZ!B zQVzseyeC?`24ddBZbliZh?~_Oxx)R4hk;7 z80A9Vt-C)Rz3`S@+@bf>mC8IKtjOn0tLiV=nmO^oU+DYKBceC1@2)EsJ@2@ac6KBq z*yaL_SeJwj=V^F9KjW~zf6-c(*6w=2;&pbj-0QRznQwxo9nPJX7#yd!?U#Db`JvK3 zDOIBHJG2lbZ+u>M$|8>5HhKrHK z|K88w-%^yKfBg)IKC!|JO2*zQO_m;FVifY04~!uuiO&rUK6`p_#HS{KK%BVsl6_rF d%!g4#^Eg$0`xk5cUpD>*0JGn@v(_Jz{|^dMLG=It diff --git a/AgroBase/AgroBase/Models/Enuns.cs b/AgroBase/AgroBase/Models/Enuns.cs index 6f873ac96..1f58ccfeb 100644 --- a/AgroBase/AgroBase/Models/Enuns.cs +++ b/AgroBase/AgroBase/Models/Enuns.cs @@ -62,6 +62,7 @@ namespace AgroBase.Models Cfg = 258, Tst = 288, Cmd = 293, + Err = 404, } public enum S_Code @@ -81,6 +82,7 @@ namespace AgroBase.Models sMAG = 855, sBMB = 325, sLED = 445, + sSNR = 532, } public enum BotoesJoystick @@ -122,15 +124,22 @@ namespace AgroBase.Models public enum StatusOperacao { - Parado, + NaoIniciado, Parametrizando, - Aguardando, + Aguardando, + EmAndamento, + Parado, + Concluido + } + + public enum StatusCarroMapa + { + Parado, EntrandoRua, CaminhandoRua, SaindoRua, - Manobrando, - Retornando, - Concluida + Manobrando, + Direcionando } public enum DirecaoCarroRua diff --git a/AgroBase/AgroBase/Models/GeneralJoystick.cs b/AgroBase/AgroBase/Models/GeneralJoystick.cs index d0b75313e..6a51c8b73 100644 --- a/AgroBase/AgroBase/Models/GeneralJoystick.cs +++ b/AgroBase/AgroBase/Models/GeneralJoystick.cs @@ -32,6 +32,10 @@ namespace AgroBase new DeParaComandos() { key = Keys.Down, Dispositivo = T_Code.Mov, botaoJoy = BotoesJoystick.X, PararAoSoltar = true }, new DeParaComandos() { key = Keys.Subtract, Dispositivo = T_Code.Mov, botaoJoy = BotoesJoystick.L1, PararAoSoltar = false }, new DeParaComandos() { key = Keys.Add, Dispositivo = T_Code.Mov, botaoJoy = BotoesJoystick.R1, PararAoSoltar = false }, + new DeParaComandos() { key = Keys.D1, Dispositivo = T_Code.Atu, botaoJoy = BotoesJoystick.L2, PararAoSoltar = true, IDcontrolar = "B01" }, + new DeParaComandos() { key = Keys.D2, Dispositivo = T_Code.Atu, botaoJoy = BotoesJoystick.L2, PararAoSoltar = true, IDcontrolar = "B02" }, + new DeParaComandos() { key = Keys.D3, Dispositivo = T_Code.Atu, botaoJoy = BotoesJoystick.R2, PararAoSoltar = true, IDcontrolar = "B03" }, + new DeParaComandos() { key = Keys.D4, Dispositivo = T_Code.Atu, botaoJoy = BotoesJoystick.R2, PararAoSoltar = true, IDcontrolar = "B04" }, }; public static List BotoesJoyPressionados = new List() { }; @@ -438,11 +442,6 @@ namespace AgroBase BotoesJoyPressionados.Add(botao.botao); if (DeParaComandos.Any(x => x.botaoJoy == botao.botao)) { - if (botao.botao == BotoesJoystick.AEEsquerda || botao.botao == BotoesJoystick.AEDireita) - { - int _Angulo = (int)DeParaAnanlogico(botao.valor, 0, MaximoAnalogico, -Angulo, Angulo); - Console.WriteLine(_Angulo); - } EnviaComandoMotor(DeParaComandos.FirstOrDefault(x => x.botaoJoy == botao.botao).key); } }); @@ -458,7 +457,7 @@ namespace AgroBase public static void EnviaComandoMotor(Keys Tecla, T_Code? Disp = null) { - if (DispCon.Count == 0 || Variaveis.OperacaoEmAndamento.Modo != ModoOperacao.Manual || !Variaveis.OperacaoEmAndamento.Iniciado) + if ((DispCon.Count == 0 || Variaveis.OperacaoEmAndamento.Modo != ModoOperacao.Manual || !Variaveis.OperacaoEmAndamento.Iniciado)) { return; } @@ -466,19 +465,24 @@ namespace AgroBase ComandosDispositivo Comando = new ComandosDispositivo() { Momento = DateTime.Now, - Comando = Tecla + Comando = Tecla, + IDcontrolar = DeParaComandos.FirstOrDefault(x => x.key == Tecla)?.IDcontrolar ?? "", }; Direcao DirecaoAtual = Direcao.Parado; + // Cancelar Comando Anterior if (Comando.Comando == Keys.Escape) { - Comando.Dispositivo = Disp ?? Comandos[Comandos.Count - 1].Dispositivo; + var ComandosDisp = Disp == null ? Comandos : Comandos.Where(x => x.Dispositivo == Disp).ToList(); + Comando.Dispositivo = ComandosDisp[ComandosDisp.Count - 1].Dispositivo; + Comando.IDcontrolar = ComandosDisp[ComandosDisp.Count - 1].IDcontrolar; DirecaoAtual = Direcao.Parado; Pressionado = true; DispCon.FirstOrDefault(x => x.Dispositivo == Comando.Dispositivo).LimparBufferSerial(true); } + // Controle de Velocidade (MOV RPM SP) else if (Comando.Comando == Keys.Add) { Comando.Dispositivo = T_Code.Mov; @@ -493,6 +497,7 @@ namespace AgroBase frmInstancial.frmPrincipal.AtualizaRPM(frmInstancial.frmPrincipal.trkRPM.Value - 1); Pressionado = true; } + // Controle Direcao dos Motores BLDC (MOV) else if (Comando.Comando == Keys.Up && UltimaDirecao != Direcao.Frente) { Comando.Dispositivo = T_Code.Mov; @@ -517,6 +522,7 @@ namespace AgroBase DirecaoAtual = Direcao.Direita; Pressionado = true; } + // Controle de Rotação dos Motores de Passo (DIR) else if (Comando.Comando == Keys.A && UltimaDirecao != Direcao.Cima) { Comando.Dispositivo = T_Code.Dir; @@ -529,6 +535,13 @@ namespace AgroBase DirecaoAtual = Direcao.Baixo; Pressionado = true; } + // Controle dos Bicos Pulverizadores (ATU) + else if ((Comando.Comando == Keys.D1 || Comando.Comando == Keys.D2 || Comando.Comando == Keys.D3 || Comando.Comando == Keys.D4) && !Variaveis.OperacaoEmAndamento.DispAtu.Dados.BicosPulverizadores.FirstOrDefault(x => x.ID == Comando.IDcontrolar).Atuado) + { + Comando.Dispositivo = T_Code.Atu; + Pressionado = true; + } + // Soltar o Botão else { Pressionado = false; @@ -538,7 +551,7 @@ namespace AgroBase { Comandos.Add(Comando); - for (int i = 0; i < 1; i++) + /*for (int i = 0; i < 1; i++) { var Dispositivo = DispCon.FirstOrDefault(x => x.Dispositivo == Comando.Dispositivo); if (Dispositivo != null) @@ -554,6 +567,43 @@ namespace AgroBase } } + Task.Delay(100); + }*/ + + for (int i = 0; i < 1; i++) + { + List Protocolos = new List(); + IDispositivosService Dispositivo = default(IDispositivosService); + switch (Comando.Dispositivo) + { + case T_Code.Mov: + { + Protocolos = Variaveis.OperacaoEmAndamento.DispMov.Dados.Motores.Select(x => x.ProtocoloComando(DirecaoAtual)).ToList(); + Dispositivo = Variaveis.OperacaoEmAndamento.DispMov; + break; + } + case T_Code.Dir: + { + Protocolos = Variaveis.OperacaoEmAndamento.DispDir.Dados.Motores.Select(x => x.ProtocoloComando(DirecaoAtual)).ToList(); + Dispositivo = Variaveis.OperacaoEmAndamento.DispDir; + break; + } + case T_Code.Atu: + { + var Bico = Variaveis.OperacaoEmAndamento.DispAtu.Dados.BicosPulverizadores.FirstOrDefault(x => x.ID == Comando.IDcontrolar); + Bico.Atuado = Comando.Comando == Keys.Escape ? false : true; + Protocolos.Add(Bico.ProtocoloComando()); + Dispositivo = Variaveis.OperacaoEmAndamento.DispAtu; + break; + } + } + foreach (var ProtocoloMotor in Protocolos) + { + Dispositivo.EnviarDadosSerial(ProtocoloMotor); + Task.Delay(10); + Console.WriteLine(ProtocoloMotor); + } + Task.Delay(100); } @@ -576,6 +626,7 @@ namespace AgroBase public DateTime Momento { get; set; } public Keys Comando { get; set; } public T_Code Dispositivo { get; set; } + public string IDcontrolar { get; set; } } public class DeParaComandos @@ -584,6 +635,7 @@ namespace AgroBase public Keys key { get; set; } public T_Code Dispositivo { get; set; } public bool PararAoSoltar { get; set; } + public string IDcontrolar { get; set; } } public enum ComparativoAnalogico diff --git a/AgroBase/AgroBase/Models/MapasModel.cs b/AgroBase/AgroBase/Models/MapasModel.cs index 229b69830..c28256507 100644 --- a/AgroBase/AgroBase/Models/MapasModel.cs +++ b/AgroBase/AgroBase/Models/MapasModel.cs @@ -1,13 +1,16 @@ using AgroBase.Properties; using AgroBase.Services; using CefSharp.WinForms; +using Emgu.CV.Features2D; using Newtonsoft.Json; using System; using System.Collections.Generic; using System.Linq; +using System.Security.Cryptography; using System.Text; using System.Threading.Tasks; using System.Windows.Forms; +using static AgroBase.Models.Enuns; namespace AgroBase.Models { @@ -19,6 +22,7 @@ namespace AgroBase.Models public Label lblMapa { get; set; } public MapasService mapaService { get; set; } = new MapasService(); public List> Trajetoria { get; set; } = new List>(); + public List TrajetoriaDinamica { get; set; } = new List(); public List RuasPercorrer { get; set; } = new List(); public int IdxRuaAtual { get; set; } = 0; public double DistanciaTotal { get; set; } = 0; @@ -94,10 +98,10 @@ namespace AgroBase.Models { double OrientacaoRuas = -999; DistanciaTotal = 0; - if (!RuasPercorrer.Any()) + /*if (!RuasPercorrer.Any()) { RuasPercorrer = mapaService.DadosMapa.features.Select(x => x.geometry.id).ToList(); - } + }*/ Trajetoria = new List>(); foreach (var ID in RuasPercorrer) @@ -155,8 +159,271 @@ namespace AgroBase.Models APIService.Parar(); GPSService.PararRecepcaoDados(); } - - + + + + // Método para gerar o caminho entre dois pontos + public void GerarCaminhoEntreDoisPontos(GPSModel destino) + { + //PopularTrajetoriaComOffset(destino); + //return; + // Inicialização do caminho com o ponto de início + GPSModel inicio = GPSService.UltimaLeitura; + + // Gera waypoints intermediários + var caminho = GPSService.InterpolarPontos(inicio, destino, 1.0); // 1 metro de distância entre os pontos + + // Limpa a trajetória dinâmica existente e adiciona os novos pontos + TrajetoriaDinamica.Clear(); + caminho.ForEach(x => TrajetoriaDinamica.Add(x)); + + if (Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.DesvioNecessario) + { + AjustarTrajetoriaParaDesvio(Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.ObstaculosDetectados.OrderBy(x => x.DistanciaMedia).First(x => x.DeslocamentoNecessarioDesvio > 0)); + } + + GPSService.AtualizarTrajetoriaDinamica(); + } + + public void AjustarTrajetoriaParaDesvio(SonarObstaculoDetectadoModel obstaculo) + { + GPSModel posicaoAtual = GPSService.UltimaLeitura; + + // Identificar o waypoint mais próximo para iniciar o desvio + int indiceInicioDesvio = EncontrarIndiceInicioDesvio(TrajetoriaDinamica, posicaoAtual, ((double)obstaculo.DistanciaMedia / 100)); + + // Calcular os waypoints de desvio + var waypointsDesvio = CalcularWaypointsDesvio(posicaoAtual, obstaculo, indiceInicioDesvio); + + Console.WriteLine(obstaculo); + + // Determinar o intervalo de waypoints a serem removidos + int indiceFinalDesvio = EncontrarIndiceFinalDesvio(TrajetoriaDinamica, waypointsDesvio.Last(), ((double)obstaculo.DistanciaMedia / 100) + ((double)obstaculo.DeslocamentoNecessarioDesvio * 2 / 100)); + int quantidadeWaypointsRemover = indiceFinalDesvio - indiceInicioDesvio; + + // Remover waypoints obsoletos + if (quantidadeWaypointsRemover > 0) + { + TrajetoriaDinamica.RemoveRange(indiceInicioDesvio + 1, quantidadeWaypointsRemover); + } + + // Inserir waypoints de desvio na trajetória + TrajetoriaDinamica.InsertRange(indiceInicioDesvio + 1, waypointsDesvio); + } + + private int EncontrarIndiceFinalDesvio(List trajetoria, GPSModel ultimoWaypointDesvio, double distanciaSeguranca) + { + // Encontrar o índice do waypoint que está imediatamente após o retorno do desvio + // Este é um método simplificado. A lógica exata pode variar dependendo da precisão necessária. + double distanciaAnterior = 0; + for (int i = 0; i < trajetoria.Count; i++) + { + double distancia = GPSService.DistanciaEntrePontos(trajetoria[i], ultimoWaypointDesvio); + bool aumentando = distancia > distanciaAnterior; + distanciaAnterior = distancia; + if (distancia < distanciaSeguranca) + { + if (aumentando) + { + return i; + } + } + } + return 0; // Se não encontrar, assuma o último waypoint + } + + private int EncontrarIndiceInicioDesvio(List trajetoria, GPSModel posicaoAtual, double distanciaObstaculo) + { + // Este é um método simplificado. Você precisará implementar a lógica para encontrar o waypoint mais adequado. + return trajetoria.FindIndex(wp => GPSService.DistanciaEntrePontos(wp, posicaoAtual) < distanciaObstaculo); + } + + private List CalcularWaypointsDesvio(GPSModel posicaoAtual, SonarObstaculoDetectadoModel obstaculo, int indiceInicioDesvio) + { + List waypointsDesvio = new List(); + + // Calcular o ângulo e distância para o desvio + double anguloDesvio = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.AnguloCaminho + ((obstaculo.DirecaoDesvio == Enuns.Direcao.Direita ? 270 : 90) + obstaculo.AnguloParaDesvio); + double deslocamento = (double)obstaculo.DistanciaMedia / 100; // Math.Sqrt(Math.Pow(((double)obstaculo.DeslocamentoNecessarioDesvio / 100), 2) + Math.Pow(((double)obstaculo.DistanciaMedia / 100), 2)); + + // Waypoint de início do desvio + GPSModel waypointInicioDesvio = CalcularNovoWaypoint(posicaoAtual, anguloDesvio, deslocamento); + waypointsDesvio.Add(waypointInicioDesvio); + + // Waypoint de contorno do obstáculo + double anguloContorno = 270 - Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.AnguloCaminho; // Ajustar conforme a orientação do desvio + GPSModel waypointContornoObstaculo = CalcularNovoWaypoint(waypointInicioDesvio, anguloContorno, ((double)obstaculo.Largura / 100)); //((double)obstaculo.Largura / 100) + waypointsDesvio.Add(waypointContornoObstaculo); + + // Waypoint de retorno à trajetória + double anguloRetorno = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.AnguloCaminho + ((obstaculo.DirecaoDesvio == Enuns.Direcao.Direita ? 90 : 270) - obstaculo.AnguloParaDesvio); //anguloDesvio - obstaculo.AnguloParaDesvio - 180;// Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.AnguloCaminho + (obstaculo.AnguloParaDesvio); // Pode precisar ajustar baseado na orientação do desvio + GPSModel waypointRetorno = CalcularNovoWaypoint(waypointContornoObstaculo, anguloRetorno, deslocamento); + waypointsDesvio.Add(waypointRetorno); + + return waypointsDesvio; + } + + private GPSModel CalcularNovoWaypoint(GPSModel posicaoAtual, double angulo, double distancia) + { + double anguloRad = FuncoesGlobais.ConvertDegreesToRadians(angulo); + double deltaLatitude = Math.Cos(anguloRad) * distancia / 111111; // Conversão para graus + double deltaLongitude = Math.Sin(anguloRad) * distancia / (111111 * Math.Cos(FuncoesGlobais.ConvertDegreesToRadians(posicaoAtual.Latitude))); + + return new GPSModel + { + Latitude = posicaoAtual.Latitude + deltaLatitude, + Longitude = posicaoAtual.Longitude + deltaLongitude + }; + } + + + + public void PopularTrajetoriaComOffset(GPSModel destino) + { + if (mapaService.DadosMapa != null) + { + GPSModel inicio = GPSService.UltimaLeitura; + + // Coleta os primeiros pontos de cada rua com base na orientação e posição atual do robô + var pontosExtremosComOffset = new List(); + + foreach (var rua in mapaService.DadosMapa.features) + { + var primeiroPonto = new GPSModel() + { + Latitude = rua.geometry.coordinates.First()[1], + Longitude = rua.geometry.coordinates.First()[0] + }; + var ultimoPonto = new GPSModel() + { + Latitude = rua.geometry.coordinates.Last()[1], + Longitude = rua.geometry.coordinates.Last()[0] + }; + GPSModel pontoInicial = new GPSModel(); + GPSModel pontoSecundario = new GPSModel(); + + if (GPSService.DistanciaEntrePontos(inicio, primeiroPonto) < GPSService.DistanciaEntrePontos(inicio, ultimoPonto)) + { + pontoInicial = primeiroPonto; + pontoSecundario = new GPSModel() + { + Latitude = rua.geometry.coordinates.Skip(1).First()[1], + Longitude = rua.geometry.coordinates.Skip(1).First()[0] + }; + } + else + { + pontoInicial = ultimoPonto; + pontoSecundario = new GPSModel() + { + Latitude = rua.geometry.coordinates.Skip(rua.geometry.coordinates.Count - 2).First()[1], + Longitude = rua.geometry.coordinates.Skip(rua.geometry.coordinates.Count - 2).First()[0] + }; + } + + var orientacaoRua = GPSService.CalcularOrientacao(pontoInicial, pontoSecundario); + + // Calcula o ponto com offset baseado no ângulo oposto à orientação da rua + var anguloOffset = (orientacaoRua + 180) % 360; + var distanciaOffset = 10; // Defina o offset desejado aqui + + // Adiciona o ponto com offset à lista + pontosExtremosComOffset.Add(new GPSModel + { + Latitude = pontoInicial.Latitude,// + (Math.Cos(anguloOffset * (Math.PI / 180)) * distanciaOffset), + Longitude = pontoInicial.Longitude// + (Math.Sin(anguloOffset * (Math.PI / 180)) * distanciaOffset), + }); + } + + var pontosRelevantes = FiltrarPontosRelevantes(inicio, destino, pontosExtremosComOffset); + + // Ordena os pontos com offset pela proximidade com a posição atual + var pontosOrdenados = pontosRelevantes.OrderBy(p => GPSService.DistanciaEntrePontos(inicio, p)).ToList(); + + // Agora, conecta os pontos ordenados para formar a trajetória + TrajetoriaDinamica.Clear(); + GPSModel pontoAnterior = inicio; + foreach (var ponto in pontosOrdenados) + { + //var caminho = GPSService.InterpolarPontos(pontoAnterior, ponto, 1.0); + //caminho.ForEach(x => TrajetoriaDinamica.Add(x)); + //pontoAnterior = ponto; + TrajetoriaDinamica.Add(ponto); + } + + // Atualiza a trajetória dinâmica + GPSService.AtualizarTrajetoriaDinamica(); + } + } + private List FiltrarPontosRelevantes(GPSModel inicio, GPSModel destino, List todasRuas) + { + var ruasRelevantes = new List(); + + // Define os limites do quadrante + double minLatitude = Math.Min(inicio.Latitude, destino.Latitude); + double maxLatitude = Math.Max(inicio.Latitude, destino.Latitude); + double minLongitude = Math.Min(inicio.Longitude, destino.Longitude); + double maxLongitude = Math.Max(inicio.Longitude, destino.Longitude); + + // Filtra previamente os pontos que estão dentro do quadrante definido + var pontosNoQuadrante = todasRuas.Where(ponto => ponto.Latitude >= minLatitude && ponto.Latitude <= maxLatitude + && ponto.Longitude >= minLongitude && ponto.Longitude <= maxLongitude).ToList(); + + // Continua a filtragem dos pontos relevantes como antes, mas agora apenas com os pontos dentro do quadrante + GPSModel pontoMaisProximoInicio = IdentificarPontoMaisProximo(inicio, pontosNoQuadrante); + if (pontoMaisProximoInicio != null && !ruasRelevantes.Contains(pontoMaisProximoInicio)) + { + ruasRelevantes.Add(pontoMaisProximoInicio); + } + + GPSModel ultimoPontoRelevante = pontoMaisProximoInicio; + + foreach (var ponto in pontosNoQuadrante) + { + if (ponto.Equals(inicio) || ponto.Equals(pontoMaisProximoInicio)) continue; + + double margem = 20; + double distanciaPontoAnterior = GPSService.DistanciaEntrePontos(ultimoPontoRelevante, destino); + double distanciaPontoAtual = GPSService.DistanciaEntrePontos(ponto, destino); + double diferenca = (distanciaPontoAnterior - distanciaPontoAtual); + bool relevante = diferenca > 0 && diferenca < margem; + + if (relevante || distanciaPontoAtual == 0 || true) + { + ruasRelevantes.Add(ponto); + ultimoPontoRelevante = ponto; + } + + if (distanciaPontoAtual == 0) + { + break; + } + } + + return ruasRelevantes; + } + + // Método auxiliar para identificar o ponto mais próximo a um dado ponto de referência + private GPSModel IdentificarPontoMaisProximo(GPSModel referencia, List pontos) + { + GPSModel pontoMaisProximo = null; + double distanciaMinima = double.MaxValue; + + foreach (var ponto in pontos) + { + double distancia = GPSService.DistanciaEntrePontos(referencia, ponto); + if (distancia < distanciaMinima) + { + distanciaMinima = distancia; + pontoMaisProximo = ponto; + } + } + + return pontoMaisProximo; + } + + + } public class MapaFeatureCollectionModel diff --git a/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs b/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs index 695d33940..d9d38faed 100644 --- a/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs +++ b/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs @@ -14,10 +14,9 @@ namespace AgroBase.Models.Modules { public static int _TaxaAmostragem { get; set; } = 500; public bool Conectado { get; set; } = false; - public static List Pinout { get; set; } + public static PinoutDataModel Pinout { get; set; } public static List Funcoes { get; set; } = new List() - { - FuncoesPinout.Geral, + { FuncoesPinout.SDA, FuncoesPinout.SCL, }; @@ -239,8 +238,7 @@ namespace AgroBase.Models.Modules "MD".PadRight(5, ' ') + ";" + // 0 ~ 4 (Conectar ? "1" : "0") + ";" + // 6 _TaxaAmostragem.ToString("00000") + ";" + // 8 ~ 12 - (Pinout.Any(x => x.Funcao == FuncoesPinout.Geral) ? Pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.Geral).Pino.ToString("00") : "-1") + ";" + // 14 ~ 15 - (AtuacaoNivelAlto ? "1" : "0"); // 17 + (AtuacaoNivelAlto ? "1" : "0"); // 14 Config.Add(ProtocoloMOD); return Config; } @@ -324,7 +322,7 @@ namespace AgroBase.Models.Modules double periodoAtual = Sensor.Leituras.Any() ? (double)_LeituraPeriodo - Sensor.Leituras[1] : (double)_LeituraPeriodo; VolumeVazaoML += (VazaoFluxoMLpS) * (periodoAtual / 1000); - Variaveis.OperacaoEmAndamento.Sensoriamento.HerbicidaConsumido = (VolumeVazaoML / 1000); + Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.HerbicidaConsumido = (VolumeVazaoML / 1000); } Sensor.Leituras = new List() @@ -419,23 +417,6 @@ namespace AgroBase.Models.Modules } - public List CarregarPinout(string nomeArquivo) - { - if (!File.Exists(nomeArquivo)) - { - var newPinout = PinoutModel.CarregarPinoutPadrao_S3(); - File.WriteAllText(nomeArquivo, JsonConvert.SerializeObject(newPinout)); - } - var pinoutText = File.ReadAllText(nomeArquivo); - Pinout = JsonConvert.DeserializeObject(pinoutText).ToList(); - return Pinout; - } - - public void SalvarPinout(List newPinout, string nomeArquivo) - { - File.WriteAllText(nomeArquivo, JsonConvert.SerializeObject(newPinout)); - } - public void IniciarRegistrador() { @@ -457,13 +438,19 @@ namespace AgroBase.Models.Modules public string ProtocoloConfiguracaoBico(bool Conectar) { - var _pinout = AtuadorModel.Pinout.Where(x => x.ComponenteID == ID).ToList(); + var _pinout = new PinoutDataModel() + { + ExpansorGPIO = AtuadorModel.Pinout.ExpansorGPIO, + EnderecoExpansor = AtuadorModel.Pinout.EnderecoExpansor, + Pinos = AtuadorModel.Pinout.Pinos.ToList(), + }; + _pinout.Pinos = _pinout.Pinos.Where(x => x.ComponenteID == ID).ToList(); return ((int)F_Code.Cfg).ToString() + ID.PadRight(5, ' ') + ";" + // 0 ~ 2 (Conectar ? "1" : "0") + ";" + // 4 (Comandar ? "1" : "0") + ";" + // 6 Posicao.ToString("00") + ";" + // 8 ~ 9 - (_pinout.Any(x => x.Funcao == FuncoesPinout.Solenoide) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.Solenoide).Pino.ToString("00") : "-1"); // 11 ~ 12 + PinoutModel.PinoProtocolo(_pinout, Funcoes); // 11 ~ 13 } public string ProtocoloComando() @@ -527,17 +514,19 @@ namespace AgroBase.Models.Modules public string ProtocoloConfiguracaoBomba(bool Conectar) { - var _pinout = AtuadorModel.Pinout.Where(x => x.ComponenteID == ID).ToList(); + var _pinout = new PinoutDataModel() + { + ExpansorGPIO = AtuadorModel.Pinout.ExpansorGPIO, + EnderecoExpansor = AtuadorModel.Pinout.EnderecoExpansor, + Pinos = AtuadorModel.Pinout.Pinos.ToList(), + }; + _pinout.Pinos = _pinout.Pinos.Where(x => x.ComponenteID == ID).ToList(); return ((int)F_Code.Cfg).ToString() + ID.PadRight(5, ' ') + ";" + // 0 ~ 4 (Conectar ? "1" : "0") + ";" + // 6 (Comandar ? "1" : "0") + ";" + // 8 PressaoSP.ToString("000") + ";" + // 10 ~ 12 - (_pinout.Any(x => x.Funcao == FuncoesPinout.ENA) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.ENA).Pino.ToString("00") : "-1") + ";" + // 14 ~ 15 - (_pinout.Any(x => x.Funcao == FuncoesPinout.CS) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.CS).Pino.ToString("00") : "-1") + ";" + // 17 ~ 18 - (_pinout.Any(x => x.Funcao == FuncoesPinout.INA) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.INA).Pino.ToString("00") : "-1") + ";" + // 20 ~ 21 - (_pinout.Any(x => x.Funcao == FuncoesPinout.INB) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.INB).Pino.ToString("00") : "-1") + ";" + // 23 ~ 24 - (_pinout.Any(x => x.Funcao == FuncoesPinout.PWM) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.PWM).Pino.ToString("00") : "-1"); // 26 ~ 27 + PinoutModel.PinoProtocolo(_pinout, Funcoes); // 14 ~ 32 } public string ProtocoloComando() diff --git a/AgroBase/AgroBase/Models/Modules/DirecionalModel.cs b/AgroBase/AgroBase/Models/Modules/DirecionalModel.cs index 8265560fe..77c040dc0 100644 --- a/AgroBase/AgroBase/Models/Modules/DirecionalModel.cs +++ b/AgroBase/AgroBase/Models/Modules/DirecionalModel.cs @@ -21,8 +21,12 @@ namespace AgroBase.Models.Modules public bool AA_Ref090 { get; set; } = false; public bool AA_Ref270 { get; set; } = false; public static int LogsManter { get; set; } = 60; - public static List Pinout { get; set; } - public static List Funcoes { get; set; } = new List() { FuncoesPinout.Geral }; + public static PinoutDataModel Pinout { get; set; } + public static List Funcoes { get; set; } = new List() + { + FuncoesPinout.SDA, + FuncoesPinout.SCL + }; public List Motores { get; set; } @@ -128,10 +132,9 @@ namespace AgroBase.Models.Modules "MD" + ";" + // 0 ~ 1 (Conectar ? "1" : "0") + ";" + // 3 _TaxaAmostragem.ToString("00000") + ";" + // 5 ~ 9 - (Pinout.Any(x => x.Funcao == FuncoesPinout.Geral) ? Pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.Geral).Pino.ToString("00") : "-1") + ";" + // 11 ~ 12 - (AA_Ref000 ? "1" : "0") + ";" + // 14 - (AA_Ref090 ? "1" : "0") + ";" + // 16 - (AA_Ref270 ? "1" : "0"); // 18 + (AA_Ref000 ? "1" : "0") + ";" + // 11 + (AA_Ref090 ? "1" : "0") + ";" + // 13 + (AA_Ref270 ? "1" : "0"); // 15 Config.Add(ProtocoloMOD); return Config; } @@ -275,19 +278,24 @@ namespace AgroBase.Models.Modules } - public List CarregarPinout(string nomeArquivo) + public PinoutDataModel CarregarPinout(string nomeArquivo) { if (!File.Exists(nomeArquivo)) { - var newPinout = PinoutModel.CarregarPinoutPadrao_S3(); + var newPinout = new PinoutDataModel() + { + ExpansorGPIO = false, + EnderecoExpansor = "", + Pinos = PinoutModel.CarregarPinoutPadrao_S3(), + }; File.WriteAllText(nomeArquivo, JsonConvert.SerializeObject(newPinout)); } var pinoutText = File.ReadAllText(nomeArquivo); - Pinout = JsonConvert.DeserializeObject(pinoutText).ToList(); + Pinout = JsonConvert.DeserializeObject(pinoutText); return Pinout; } - public void SalvarPinout(List newPinout, string nomeArquivo) + public void SalvarPinout(PinoutDataModel newPinout, string nomeArquivo) { File.WriteAllText(nomeArquivo, JsonConvert.SerializeObject(newPinout)); } @@ -330,7 +338,13 @@ namespace AgroBase.Models.Modules public string ProtocoloConfiguracaoMotor(bool Conectar) { - var _pinout = DirecionalModel.Pinout.Where(x => x.ComponenteID == ID).ToList(); + var _pinout = new PinoutDataModel() + { + ExpansorGPIO = DirecionalModel.Pinout.ExpansorGPIO, + EnderecoExpansor = DirecionalModel.Pinout.EnderecoExpansor, + Pinos = DirecionalModel.Pinout.Pinos.ToList(), + }; + _pinout.Pinos = _pinout.Pinos.Where(x => x.ComponenteID == ID).ToList(); return ((int)F_Code.Cfg).ToString() + ID + ";" + // 0 ~ 1 (Conectar ? "1" : "0") + ";" + // 3 @@ -338,20 +352,13 @@ namespace AgroBase.Models.Modules (Comandar ? "1" : "0") + ";" + // 7 (Estabilizar ? "1" : "0") + ";" + // 9 (Referenciar ? "1" : "0") + ";" + // 11 - (_pinout.Any(x => x.Funcao == FuncoesPinout.PUL) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.PUL).Pino.ToString("00") : "-1") + "," + // 13 ~ 14 - (_pinout.Any(x => x.Funcao == FuncoesPinout.DIR) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.DIR).Pino.ToString("00") : "-1") + "," + // 16 ~ 17 - (_pinout.Any(x => x.Funcao == FuncoesPinout.ENA) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.ENA).Pino.ToString("00") : "-1") + "," + // 19 ~ 20 - (_pinout.Any(x => x.Funcao == FuncoesPinout.EncoderA) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.EncoderA).Pino.ToString("00") : "-1") + "," + // 22 ~ 23 - (_pinout.Any(x => x.Funcao == FuncoesPinout.EncoderB) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.EncoderB).Pino.ToString("00") : "-1") + "," + // 25 ~ 26 - (_pinout.Any(x => x.Funcao == FuncoesPinout.REF000) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.REF000).Pino.ToString("00") : "-1") + "," + // 28 ~ 29 - (_pinout.Any(x => x.Funcao == FuncoesPinout.REF090) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.REF090).Pino.ToString("00") : "-1") + "," + // 31 ~ 32 - (_pinout.Any(x => x.Funcao == FuncoesPinout.REF270) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.REF270).Pino.ToString("00") : "-1") + ";" + // 34 ~ 35 - Angulo_Offset.ToString(Angulo_Offset < 0 ? "000" : "0000"); // 37 ~ 40 + Angulo_Offset.ToString(Angulo_Offset < 0 ? "000" : "0000") + ";" + // 13 ~ 16 + PinoutModel.PinoProtocolo(_pinout, Funcoes); // 18 ~ 48 } public string ProtocoloComando(Direcao Direcao, bool _Ref = false) { - if (Comandar && Controlar) + if (Comandar && (Controlar)) { Sentido_SP = Direcao == Direcao.Cima ? ConfigSentidos.Direita : diff --git a/AgroBase/AgroBase/Models/Modules/DispositivoBaseModel.cs b/AgroBase/AgroBase/Models/Modules/DispositivoBaseModel.cs index c8328e98b..f1bd78041 100644 --- a/AgroBase/AgroBase/Models/Modules/DispositivoBaseModel.cs +++ b/AgroBase/AgroBase/Models/Modules/DispositivoBaseModel.cs @@ -17,8 +17,6 @@ namespace AgroBase.Models List ProtocoloConfiguracao(bool Conectar); void PopulaGridSensoriamento(); void AtualizaGridSensoriamento(); - List CarregarPinout(string nomeArquivo); - void SalvarPinout(List newPinout, string nomeArquivo); void IniciarRegistrador(); } diff --git a/AgroBase/AgroBase/Models/Modules/MovimentacaoModel.cs b/AgroBase/AgroBase/Models/Modules/MovimentacaoModel.cs index 41b0d07b6..3b3fd057d 100644 --- a/AgroBase/AgroBase/Models/Modules/MovimentacaoModel.cs +++ b/AgroBase/AgroBase/Models/Modules/MovimentacaoModel.cs @@ -29,8 +29,8 @@ namespace AgroBase.Models public static double DiametroRoda { get; set; } = 0.3556; public bool Conectado { get; set; } = false; public static int LogsManter { get; set; } = 60; - public static List Pinout { get; set; } - public static List Funcoes { get; set; } = new List() { FuncoesPinout.Geral }; + public static PinoutDataModel Pinout { get; set; } + public static List Funcoes { get; set; } = new List(); public List Motores { get; set; } public static Direcao UltimaDirecao { get; set; } = Direcao.Parado; public int TempoEmAtividade { get; set; } = 0; @@ -59,12 +59,12 @@ namespace AgroBase.Models }, Funcoes = new List() { FuncoesPinout.PWM, - FuncoesPinout.HallA, - FuncoesPinout.HallB, - FuncoesPinout.HallC, FuncoesPinout.DIR, FuncoesPinout.BRK, FuncoesPinout.STP, + FuncoesPinout.HallA, + FuncoesPinout.HallB, + FuncoesPinout.HallC, FuncoesPinout.TMP, } }, @@ -80,12 +80,12 @@ namespace AgroBase.Models }, Funcoes = new List() { FuncoesPinout.PWM, - FuncoesPinout.HallA, - FuncoesPinout.HallB, - FuncoesPinout.HallC, FuncoesPinout.DIR, FuncoesPinout.BRK, FuncoesPinout.STP, + FuncoesPinout.HallA, + FuncoesPinout.HallB, + FuncoesPinout.HallC, FuncoesPinout.TMP, } }, @@ -101,12 +101,12 @@ namespace AgroBase.Models }, Funcoes = new List() { FuncoesPinout.PWM, - FuncoesPinout.HallA, - FuncoesPinout.HallB, - FuncoesPinout.HallC, FuncoesPinout.DIR, FuncoesPinout.BRK, FuncoesPinout.STP, + FuncoesPinout.HallA, + FuncoesPinout.HallB, + FuncoesPinout.HallC, FuncoesPinout.TMP, } }, @@ -122,12 +122,12 @@ namespace AgroBase.Models }, Funcoes = new List() { FuncoesPinout.PWM, - FuncoesPinout.HallA, - FuncoesPinout.HallB, - FuncoesPinout.HallC, FuncoesPinout.DIR, FuncoesPinout.BRK, FuncoesPinout.STP, + FuncoesPinout.HallA, + FuncoesPinout.HallB, + FuncoesPinout.HallC, FuncoesPinout.TMP, } } @@ -142,13 +142,12 @@ namespace AgroBase.Models "MD" + ";" + // 0 ~ 1 (Conectar ? "1" : "0") + ";" + // 3 _TaxaAmostragem.ToString("00000") + ";" + // 5 ~ 9 - (Pinout.Any(x => x.Funcao == FuncoesPinout.Geral) ? Pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.Geral).Pino.ToString("00") : "-1") + ";" + // 11 ~ 12 - RampaMin.ToString("0000") + ";" + // 14 ~ 17 - RampaMax.ToString("0000") + ";" + // 19 ~ 22 - PulsosPorRevolucao.ToString("000") + ";" + // 24 ~ 26 - _DelayBalanceamento.ToString("00000") + ";" + // 28 ~ 32 - _MargemRPM.ToString("00") + ";" + // 34 ~ 35 - _MaxOffsetRPM.ToString("00"); // 37 ~ 38 + RampaMin.ToString("0000") + ";" + // 11 ~ 14 + RampaMax.ToString("0000") + ";" + // 16 ~ 19 + PulsosPorRevolucao.ToString("000") + ";" + // 21 ~ 23 + _DelayBalanceamento.ToString("00000") + ";" + // 25 ~ 29 + _MargemRPM.ToString("00") + ";" + // 31 ~ 32 + _MaxOffsetRPM.ToString("00"); // 34 ~ 35 Config.Add(ProtocoloMOD); return Config; } @@ -365,23 +364,6 @@ namespace AgroBase.Models } } - public List CarregarPinout(string nomeArquivo) - { - if (!File.Exists(nomeArquivo)) - { - var newPinout = PinoutModel.CarregarPinoutPadrao_S3(); - File.WriteAllText(nomeArquivo, JsonConvert.SerializeObject(newPinout)); - } - var pinoutText = File.ReadAllText(nomeArquivo); - Pinout = JsonConvert.DeserializeObject(pinoutText).ToList(); - return Pinout; - } - - public void SalvarPinout(List newPinout, string nomeArquivo) - { - File.WriteAllText(nomeArquivo, JsonConvert.SerializeObject(newPinout)); - } - public void IniciarRegistrador() { tmrRegistrador = new Timer() @@ -417,6 +399,10 @@ namespace AgroBase.Models return RPM; } + public static double ConverteKmhParaMs(double Velocidade) + { + return Velocidade / 3.6; + } } @@ -455,7 +441,13 @@ namespace AgroBase.Models public string ProtocoloConfiguracaoMotor(bool Conectar) { - var _pinout = MovimentacaoModel.Pinout.Where(x => x.ComponenteID == ID).ToList(); + var _pinout = new PinoutDataModel() + { + ExpansorGPIO = MovimentacaoModel.Pinout.ExpansorGPIO, + EnderecoExpansor = MovimentacaoModel.Pinout.EnderecoExpansor, + Pinos = MovimentacaoModel.Pinout.Pinos.ToList(), + }; + _pinout.Pinos = _pinout.Pinos.Where(x => x.ComponenteID == ID).ToList(); return ((int)F_Code.Cfg).ToString() + ID + ";" + // 0 ~ 1 (Conectar ? "1" : "0") + ";" + // 3 @@ -465,14 +457,7 @@ namespace AgroBase.Models MovimentacaoModel.Kp.ToString("0.000").Replace(",", ".") + "," + // 11 ~ 15 MovimentacaoModel.Ki.ToString("0.000").Replace(",", ".") + "," + // 17 ~ 21 MovimentacaoModel.Kd.ToString("0.000").Replace(",", ".") + "," + // 23 ~ 27 - (_pinout.Any(x => x.Funcao == FuncoesPinout.PWM) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.PWM).Pino.ToString("00") : "-1") + "," + // 29 ~ 30 - (_pinout.Any(x => x.Funcao == FuncoesPinout.DIR) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.DIR).Pino.ToString("00") : "-1") + "," + // 32 ~ 33 - (_pinout.Any(x => x.Funcao == FuncoesPinout.BRK) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.BRK).Pino.ToString("00") : "-1") + "," + // 35 ~ 36 - (_pinout.Any(x => x.Funcao == FuncoesPinout.STP) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.STP).Pino.ToString("00") : "-1") + "," + // 38 ~ 39 - (_pinout.Any(x => x.Funcao == FuncoesPinout.HallA) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.HallA).Pino.ToString("00") : "-1") + "," + // 41 ~ 42 - (_pinout.Any(x => x.Funcao == FuncoesPinout.HallB) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.HallB).Pino.ToString("00") : "-1") + "," + // 44 ~ 45 - (_pinout.Any(x => x.Funcao == FuncoesPinout.HallC) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.HallC).Pino.ToString("00") : "-1") + "," + // 47 ~ 48 - (_pinout.Any(x => x.Funcao == FuncoesPinout.TMP) ? _pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.TMP).Pino.ToString("00") : "-1"); // 50 ~ 51 + PinoutModel.PinoProtocolo(_pinout, Funcoes); // 29 ~ 51 } diff --git a/AgroBase/AgroBase/Models/Modules/PinoutModel.cs b/AgroBase/AgroBase/Models/Modules/PinoutModel.cs index af8a7b6a4..f9053b5f5 100644 --- a/AgroBase/AgroBase/Models/Modules/PinoutModel.cs +++ b/AgroBase/AgroBase/Models/Modules/PinoutModel.cs @@ -8,9 +8,17 @@ using System.Threading.Tasks; namespace AgroBase.Models.Modules { + public class PinoutDataModel + { + public bool ExpansorGPIO { get; set; } + public string EnderecoExpansor { get; set; } + public List Pinos { get; set; } + } + public class PinoutModel { - public TiposControladores Tipo { get;set; } + public TiposControladores Controlador { get;set; } + public TiposBarramentos Barramento { get;set; } public int Pino { get; set; } public string Descricao { get; set; } public FuncoesPinout Funcao { get; set; } @@ -122,50 +130,50 @@ namespace AgroBase.Models.Modules { List Pinout = new List() { - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 99, ComponenteID = "", Descricao = "1", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 98, ComponenteID = "", Descricao = "2", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 97, ComponenteID = "", Descricao = "3", Funcao = FuncoesPinout.NaoConectado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 4, ComponenteID = "", Descricao = "4", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 5, ComponenteID = "", Descricao = "5", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 6, ComponenteID = "", Descricao = "6", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 7, ComponenteID = "", Descricao = "7", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 15, ComponenteID = "", Descricao = "8", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 16, ComponenteID = "", Descricao = "9", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 17, ComponenteID = "", Descricao = "10", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 18, ComponenteID = "", Descricao = "11", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 8, ComponenteID = "", Descricao = "12", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 3, ComponenteID = "", Descricao = "13", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 46, ComponenteID = "", Descricao = "14", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 9, ComponenteID = "", Descricao = "15", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 10, ComponenteID = "", Descricao = "16", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 11, ComponenteID = "", Descricao = "17", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 12, ComponenteID = "", Descricao = "18", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 13, ComponenteID = "", Descricao = "19", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 14, ComponenteID = "", Descricao = "20", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 96, ComponenteID = "", Descricao = "21", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 95, ComponenteID = "", Descricao = "22", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 94, ComponenteID = "", Descricao = "23", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 93, ComponenteID = "", Descricao = "24", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 19, ComponenteID = "", Descricao = "25", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 20, ComponenteID = "", Descricao = "26", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 21, ComponenteID = "", Descricao = "27", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 47, ComponenteID = "", Descricao = "28", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 48, ComponenteID = "", Descricao = "29", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 45, ComponenteID = "", Descricao = "30", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 0, ComponenteID = "", Descricao = "31", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 35, ComponenteID = "", Descricao = "32", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 36, ComponenteID = "", Descricao = "33", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 37, ComponenteID = "", Descricao = "34", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 38, ComponenteID = "", Descricao = "35", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 39, ComponenteID = "", Descricao = "36", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 40, ComponenteID = "", Descricao = "37", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 41, ComponenteID = "", Descricao = "38", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 42, ComponenteID = "", Descricao = "39", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 2, ComponenteID = "", Descricao = "40", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 1, ComponenteID = "", Descricao = "41", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 44, ComponenteID = "", Descricao = "42", Funcao = FuncoesPinout.RX, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 43, ComponenteID = "", Descricao = "43", Funcao = FuncoesPinout.TX, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_S3, Pino = 92, ComponenteID = "", Descricao = "44", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 99, ComponenteID = "", Descricao = "1", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 98, ComponenteID = "", Descricao = "2", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 97, ComponenteID = "", Descricao = "3", Funcao = FuncoesPinout.NaoConectado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 4, ComponenteID = "", Descricao = "4", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 5, ComponenteID = "", Descricao = "5", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 6, ComponenteID = "", Descricao = "6", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 7, ComponenteID = "", Descricao = "7", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 15, ComponenteID = "", Descricao = "8", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 16, ComponenteID = "", Descricao = "9", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 17, ComponenteID = "", Descricao = "10", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 18, ComponenteID = "", Descricao = "11", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 8, ComponenteID = "", Descricao = "12", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 3, ComponenteID = "", Descricao = "13", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 46, ComponenteID = "", Descricao = "14", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 9, ComponenteID = "", Descricao = "15", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 10, ComponenteID = "", Descricao = "16", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 11, ComponenteID = "", Descricao = "17", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 12, ComponenteID = "", Descricao = "18", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 13, ComponenteID = "", Descricao = "19", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 14, ComponenteID = "", Descricao = "20", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 96, ComponenteID = "", Descricao = "21", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 95, ComponenteID = "", Descricao = "22", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 94, ComponenteID = "", Descricao = "23", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 93, ComponenteID = "", Descricao = "24", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 19, ComponenteID = "", Descricao = "25", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 20, ComponenteID = "", Descricao = "26", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 21, ComponenteID = "", Descricao = "27", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 47, ComponenteID = "", Descricao = "28", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 48, ComponenteID = "", Descricao = "29", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 45, ComponenteID = "", Descricao = "30", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 0, ComponenteID = "", Descricao = "31", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 35, ComponenteID = "", Descricao = "32", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 36, ComponenteID = "", Descricao = "33", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 37, ComponenteID = "", Descricao = "34", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 38, ComponenteID = "", Descricao = "35", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 39, ComponenteID = "", Descricao = "36", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 40, ComponenteID = "", Descricao = "37", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 41, ComponenteID = "", Descricao = "38", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 42, ComponenteID = "", Descricao = "39", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 2, ComponenteID = "", Descricao = "40", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 1, ComponenteID = "", Descricao = "41", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 44, ComponenteID = "", Descricao = "42", Funcao = FuncoesPinout.RX, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 43, ComponenteID = "", Descricao = "43", Funcao = FuncoesPinout.TX, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_S3, Barramento = TiposBarramentos.CONTROLADOR, Pino = 92, ComponenteID = "", Descricao = "44", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, }; return Pinout; @@ -175,72 +183,151 @@ namespace AgroBase.Models.Modules { List Pinout = new List() { - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 99, ComponenteID = "", Descricao = "1", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 98, ComponenteID = "", Descricao = "2", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 36, ComponenteID = "", Descricao = "3", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 39, ComponenteID = "", Descricao = "4", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 34, ComponenteID = "", Descricao = "5", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 35, ComponenteID = "", Descricao = "6", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 32, ComponenteID = "", Descricao = "7", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 33, ComponenteID = "", Descricao = "8", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 25, ComponenteID = "", Descricao = "9", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 26, ComponenteID = "", Descricao = "10", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 27, ComponenteID = "", Descricao = "11", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 14, ComponenteID = "", Descricao = "12", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 12, ComponenteID = "", Descricao = "13", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 97, ComponenteID = "", Descricao = "14", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 13, ComponenteID = "", Descricao = "15", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 9, ComponenteID = "", Descricao = "16", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 10, ComponenteID = "", Descricao = "17", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 11, ComponenteID = "", Descricao = "18", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 96, ComponenteID = "", Descricao = "19", Funcao = FuncoesPinout.Desabilitado, Habilitado = false}, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 6, ComponenteID = "", Descricao = "26", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 7, ComponenteID = "", Descricao = "27", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 8, ComponenteID = "", Descricao = "28", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 15, ComponenteID = "", Descricao = "29", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 2, ComponenteID = "", Descricao = "30", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 0, ComponenteID = "", Descricao = "31", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 4, ComponenteID = "", Descricao = "32", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 16, ComponenteID = "", Descricao = "33", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 17, ComponenteID = "", Descricao = "34", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 5, ComponenteID = "", Descricao = "35", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 18, ComponenteID = "", Descricao = "36", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 19, ComponenteID = "", Descricao = "37", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 95, ComponenteID = "", Descricao = "38", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 21, ComponenteID = "", Descricao = "39", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 3, ComponenteID = "", Descricao = "40", Funcao = FuncoesPinout.RX, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 1, ComponenteID = "", Descricao = "41", Funcao = FuncoesPinout.TX, Habilitado = false }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 22, ComponenteID = "", Descricao = "42", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 23, ComponenteID = "", Descricao = "43", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, - new PinoutModel() { Tipo = TiposControladores.ESP32_WROVER, Pino = 94, ComponenteID = "", Descricao = "44", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 99, ComponenteID = "", Descricao = "1", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 98, ComponenteID = "", Descricao = "2", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 36, ComponenteID = "", Descricao = "3", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 39, ComponenteID = "", Descricao = "4", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 34, ComponenteID = "", Descricao = "5", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 35, ComponenteID = "", Descricao = "6", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 32, ComponenteID = "", Descricao = "7", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 33, ComponenteID = "", Descricao = "8", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 25, ComponenteID = "", Descricao = "9", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 26, ComponenteID = "", Descricao = "10", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 27, ComponenteID = "", Descricao = "11", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 14, ComponenteID = "", Descricao = "12", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 12, ComponenteID = "", Descricao = "13", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 97, ComponenteID = "", Descricao = "14", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 13, ComponenteID = "", Descricao = "15", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 9, ComponenteID = "", Descricao = "16", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 10, ComponenteID = "", Descricao = "17", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 11, ComponenteID = "", Descricao = "18", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 96, ComponenteID = "", Descricao = "19", Funcao = FuncoesPinout.Desabilitado, Habilitado = false}, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 6, ComponenteID = "", Descricao = "26", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 7, ComponenteID = "", Descricao = "27", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 8, ComponenteID = "", Descricao = "28", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 15, ComponenteID = "", Descricao = "29", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 2, ComponenteID = "", Descricao = "30", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 0, ComponenteID = "", Descricao = "31", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 4, ComponenteID = "", Descricao = "32", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 16, ComponenteID = "", Descricao = "33", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 17, ComponenteID = "", Descricao = "34", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 5, ComponenteID = "", Descricao = "35", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 18, ComponenteID = "", Descricao = "36", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 19, ComponenteID = "", Descricao = "37", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 95, ComponenteID = "", Descricao = "38", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 21, ComponenteID = "", Descricao = "39", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 3, ComponenteID = "", Descricao = "40", Funcao = FuncoesPinout.RX, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 1, ComponenteID = "", Descricao = "41", Funcao = FuncoesPinout.TX, Habilitado = false }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 22, ComponenteID = "", Descricao = "42", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 23, ComponenteID = "", Descricao = "43", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.ESP32_WROVER, Barramento = TiposBarramentos.CONTROLADOR, Pino = 94, ComponenteID = "", Descricao = "44", Funcao = FuncoesPinout.Desabilitado, Habilitado = false }, }; return Pinout; } - public static List CarregarPinout(string nomeArquivo) + public static List CarregarPinoutPadrao_MCP() { - if (!File.Exists(nomeArquivo)) - { - var newPinout = PinoutModel.CarregarPinoutPadrao_Wrover(); - File.WriteAllText(nomeArquivo, JsonConvert.SerializeObject(newPinout)); - } - var pinoutText = File.ReadAllText(nomeArquivo); - var Pinout = JsonConvert.DeserializeObject(pinoutText).ToList(); + List Pinout = new List() + { + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 0, ComponenteID = "", Descricao = "A0", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 1, ComponenteID = "", Descricao = "A1", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 2, ComponenteID = "", Descricao = "A2", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 3, ComponenteID = "", Descricao = "A3", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 4, ComponenteID = "", Descricao = "A4", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 5, ComponenteID = "", Descricao = "A5", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 6, ComponenteID = "", Descricao = "A6", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 7, ComponenteID = "", Descricao = "A7", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 8, ComponenteID = "", Descricao = "B0", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 9, ComponenteID = "", Descricao = "B1", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 10, ComponenteID = "", Descricao = "B2", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 11, ComponenteID = "", Descricao = "B3", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 12, ComponenteID = "", Descricao = "B4", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 13, ComponenteID = "", Descricao = "B5", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 14, ComponenteID = "", Descricao = "B6", Funcao = FuncoesPinout.NaoConectado, Habilitado = true }, + new PinoutModel() { Controlador = TiposControladores.TODOS, Barramento = TiposBarramentos.EXPANSORI2C, Pino = 15, ComponenteID = "", Descricao = "B7", Funcao = FuncoesPinout.Desabilitado, Habilitado = true }, + }; + return Pinout; } - public static void SalvarPinout(List newPinout, string nomeArquivo) + + public static PinoutDataModel CarregarPinout(string nomeArquivo) + { + if (!File.Exists(nomeArquivo)) + { + var newPinout = new PinoutDataModel() + { + ExpansorGPIO = false, + EnderecoExpansor = "", + Pinos = CarregarPinoutPadrao_S3(), + }; + File.WriteAllText(nomeArquivo, JsonConvert.SerializeObject(newPinout)); + } + var pinoutText = File.ReadAllText(nomeArquivo); + var Pinout = JsonConvert.DeserializeObject(pinoutText); + return Pinout; + } + + public static void SalvarPinout(PinoutDataModel newPinout, string nomeArquivo) { File.WriteAllText(nomeArquivo, JsonConvert.SerializeObject(newPinout)); } + public static string PinoProtocolo(PinoutDataModel _pinout, List _funcoes) + { + string Pinos = ""; + int i = 0; + foreach (FuncoesPinout funcao in _funcoes) + { + if (i > 0) + { + Pinos += ","; + } + var pino = _pinout.Pinos.FirstOrDefault(x => x.Funcao == funcao); + if (pino != null && (pino.Barramento == TiposBarramentos.CONTROLADOR || (pino.Barramento == TiposBarramentos.EXPANSORI2C && _pinout.ExpansorGPIO))) + { + Pinos += (int)pino.Barramento + pino.Pino.ToString("00"); + } + else + { + Pinos += "0-1"; + } + i++; + } + return Pinos; + } + + public static string PinoSensorProtocolo2(PinoutDataModel _pinout) + { + string pin = "0-1"; + string pin2 = "0-1"; + var comp = _pinout.Pinos.FirstOrDefault(x => x.Funcao != FuncoesPinout.NaoConectado); + var p2 = _pinout.Pinos.FirstOrDefault(x => PinoutUtils.PinosSecundarios.Any(y => y == x.Funcao)); + if (comp != null && (comp.Barramento == TiposBarramentos.CONTROLADOR || (comp.Barramento == TiposBarramentos.EXPANSORI2C && _pinout.ExpansorGPIO))) + { + pin = (int)comp.Barramento + comp.Pino.ToString("00"); + } + if (p2 != null && (p2.Barramento == TiposBarramentos.CONTROLADOR || (p2.Barramento == TiposBarramentos.EXPANSORI2C && _pinout.ExpansorGPIO))) + { + pin2 = (int)p2.Barramento + p2.Pino.ToString("00"); + } + return pin + ";" + pin2; + } + } public enum TiposControladores { ESP32_S3, ESP32_WROVER, + TODOS, + } + + public enum TiposBarramentos + { + CONTROLADOR = 0, + EXPANSORI2C = 1 } public enum FuncoesPinout @@ -284,6 +371,8 @@ namespace AgroBase.Models.Modules INA, INB, Sinaleiro, + ServoX, + ServoY, } public static class PinoutUtils diff --git a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs index 7160777ca..8819a4033 100644 --- a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs +++ b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs @@ -1,5 +1,6 @@ using AgroBase.Forms; using AgroBase.Services; +using Emgu.CV.Structure; using Newtonsoft.Json; using System; using System.Collections.Generic; @@ -16,7 +17,8 @@ namespace AgroBase.Models.Modules public static int _TaxaAmostragem { get; set; } = 500; public bool Conectado { get; set; } = false; public static int LogsManter { get; set; } = 60; - public static List Pinout { get; set; } + public static PinoutDataModel Pinout { get; set; } + public static bool ExpansorGPIO { get; set; } = false; public static List Funcoes { get; set; } = new List() { FuncoesPinout.SDA, @@ -150,111 +152,9 @@ namespace AgroBase.Models.Modules }, new SensorModel() { - ID = "VBAT", - Descricao = "Tensão da bateria", - Prioridade = 20, - Componente = S_Code.sTEN, - Aferir = true, - Inicializado = false, - Testando = false, - Funcoes = new List() - { - FuncoesPinout.Tensao, - }, - DelayAmostragem = 500, - UnidadeMedida = "V", - Parametros = new List() - { - new string[] { "V offset", "000.85" }, - new string[] { "R1", "120000" }, - new string[] { "R2", "010000" }, - }, - }, - new SensorModel() - { - ID = "AMVET", + ID = "AB3V", Prioridade = 10, - Descricao = "Corrente do Motor BLDC ET", - Componente = S_Code.sCOR, - Aferir = true, - Inicializado = false, - Testando = false, - Funcoes = new List() - { - FuncoesPinout.I2C, - }, - DelayAmostragem = 500, - UnidadeMedida = "A", - Parametros = new List() - { - new string[] { "Endereço I2C", "0x40" }, - }, - }, - new SensorModel() - { - ID = "AMVEF", - Prioridade = 10, - Descricao = "Corrente do Motor BLDC EF", - Componente = S_Code.sCOR, - Aferir = true, - Inicializado = false, - Testando = false, - Funcoes = new List() - { - FuncoesPinout.I2C, - }, - DelayAmostragem = 500, - UnidadeMedida = "A", - Parametros = new List() - { - new string[] { "Endereço I2C", "0x41" }, - }, - }, - new SensorModel() - { - ID = "AMVDT", - Prioridade = 10, - Descricao = "Corrente do Motor BLDC DT", - Componente = S_Code.sCOR, - Aferir = true, - Inicializado = false, - Testando = false, - Funcoes = new List() - { - FuncoesPinout.I2C, - }, - DelayAmostragem = 500, - UnidadeMedida = "A", - Parametros = new List() - { - new string[] { "Endereço I2C", "0x42" }, - }, - }, - new SensorModel() - { - ID = "AMVDF", - Prioridade = 10, - Descricao = "Corrente do Motor BLDC DF", - Componente = S_Code.sCOR, - Aferir = true, - Inicializado = false, - Testando = false, - Funcoes = new List() - { - FuncoesPinout.I2C, - }, - DelayAmostragem = 500, - UnidadeMedida = "A", - Parametros = new List() - { - new string[] { "Endereço I2C", "0x43" }, - }, - }, - new SensorModel() - { - ID = "AMP", - Prioridade = 10, - Descricao = "Corrente dos Motores de Passo", + Descricao = "Corrente no Barramento 3V", Componente = S_Code.sCOR, Aferir = true, Inicializado = false, @@ -268,13 +168,14 @@ namespace AgroBase.Models.Modules Parametros = new List() { new string[] { "Endereço I2C", "0x44" }, + new string[] { "CI", "219" } }, }, new SensorModel() { - ID = "AAT", + ID = "AB5V", Prioridade = 10, - Descricao = "Corrente do Módulo Atuador", + Descricao = "Corrente no Barramento 5V", Componente = S_Code.sCOR, Aferir = true, Inicializado = false, @@ -287,14 +188,15 @@ namespace AgroBase.Models.Modules UnidadeMedida = "A", Parametros = new List() { - new string[] { "Endereço I2C", "0x45" }, + new string[] { "Endereço I2C", "0x41" }, + new string[] { "CI", "219" } }, }, new SensorModel() { - ID = "APC", + ID = "AB7V2", Prioridade = 10, - Descricao = "Corrente do Computador", + Descricao = "Corrente no Barramento 7,2V", Componente = S_Code.sCOR, Aferir = true, Inicializado = false, @@ -307,7 +209,29 @@ namespace AgroBase.Models.Modules UnidadeMedida = "A", Parametros = new List() { - new string[] { "Endereço I2C", "0x46" }, + new string[] { "Endereço I2C", "0x40" }, + new string[] { "CI", "219" } + }, + }, + new SensorModel() + { + ID = "AB12V", + Prioridade = 10, + Descricao = "Corrente no Barramento 12V", + Componente = S_Code.sCOR, + Aferir = true, + Inicializado = false, + Testando = false, + Funcoes = new List() + { + FuncoesPinout.I2C, + }, + DelayAmostragem = 500, + UnidadeMedida = "A", + Parametros = new List() + { + new string[] { "Endereço I2C", "0x43" }, + new string[] { "CI", "226" } }, }, new SensorModel() @@ -383,6 +307,31 @@ namespace AgroBase.Models.Modules UnidadeMedida = "º", Parametros = new List(), }, + new SensorModel() + { + ID = "SNR_F", + Descricao = "Sensor Sonar Frontal", + Prioridade = 20, + Componente = S_Code.sSNR, + Aferir = true, + Inicializado = false, + Testando = false, + Funcoes = new List() + { + FuncoesPinout.Echo, + FuncoesPinout.Trigger, + FuncoesPinout.ServoX, + FuncoesPinout.ServoY, + }, + DelayAmostragem = 1000, + UnidadeMedida = "cm/º", + Parametros = new List() + { + new string[] { "Angulo X Acrescentar", "5" }, + new string[] { "Angulo Y Acrescentar", "30" }, + }, + }, + }, }; } @@ -395,8 +344,8 @@ namespace AgroBase.Models.Modules "MD".PadRight(5, ' ') + ";" + // 0 ~ 4 (Conectar ? "1" : "0") + ";" + // 6 _TaxaAmostragem.ToString("00000") + // 8 ~ 12 - (Pinout.Any(x => x.Funcao == FuncoesPinout.SDA) ? Pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.SDA).Pino.ToString("00") : "-1") + ";" + // 14 ~ 15 - (Pinout.Any(x => x.Funcao == FuncoesPinout.SCL) ? Pinout.FirstOrDefault(x => x.Funcao == FuncoesPinout.SCL).Pino.ToString("00") : "-1"); // 17 ~ 18 + (Pinout.Pinos.Any(x => x.Funcao == FuncoesPinout.SDA) ? Pinout.Pinos.FirstOrDefault(x => x.Funcao == FuncoesPinout.SDA).Pino.ToString("00") : "-1") + ";" + // 14 ~ 15 + (Pinout.Pinos.Any(x => x.Funcao == FuncoesPinout.SCL) ? Pinout.Pinos.FirstOrDefault(x => x.Funcao == FuncoesPinout.SCL).Pino.ToString("00") : "-1"); // 17 ~ 18 Config.Add(ProtocoloMOD); return Config; } @@ -434,115 +383,201 @@ namespace AgroBase.Models.Modules Sensor.Inicializado = Dados[2] == "1"; break; case S_Code.sCOR: - double vBarramento = -1; - double.TryParse(Dados[2].Replace(".", ","), out vBarramento); - double vShunt = -1; - double.TryParse(Dados[3].Replace(".", ","), out vShunt); - double corrente = -1; - double.TryParse(Dados[4].Replace(".", ","), out corrente); - double potencia = -1; - double.TryParse(Dados[5].Replace(".", ","), out potencia); + { + double vBarramento = -1; + double.TryParse(Dados[2].Replace(".", ","), out vBarramento); + double vShunt = -1; + double.TryParse(Dados[3].Replace(".", ","), out vShunt); + double corrente = -1; + double.TryParse(Dados[4].Replace(".", ","), out corrente); + double potencia = -1; + double.TryParse(Dados[5].Replace(".", ","), out potencia); - Sensor.Leituras = new List() - { - corrente, - vBarramento, - potencia, - vShunt, - }; - - if (Sensor.Descricao.ToLower().Contains("bateria")) - { - frmInstancial.frmAcompanhamento.AtualizarSensores("Corrente atual: " + corrente.ToString("0.00") + "A - Mín: " + Sensor.ValorMinimo.ToString("0.00") + "A - Máx: " + Sensor.ValorMaximo.ToString("0.00") + "A"); - } - - AtualizaGrafico = true; - break; - case S_Code.sTEN: - double leituraV = -1; - double.TryParse(Dados[2].Replace(".", ","), out leituraV); - double vPinV = -1; - double.TryParse(Dados[3].Replace(".", ","), out vPinV); - double tensao = -1; - double.TryParse(Dados[4].Replace(".", ","), out tensao); - - Sensor.Leituras = new List() - { - tensao, - leituraV, - vPinV, - }; - - if (Sensor.Descricao.ToLower().Contains("bateria")) - { - frmInstancial.frmAcompanhamento.AtualizarSensores("Tensão atual: " + tensao.ToString("0.00") + "V - Mín: " + Sensor.ValorMinimo.ToString("0.00") + "V - Máx: " + Sensor.ValorMaximo.ToString("0.00") + "V"); - Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = (tensao / Sensor.LimiteMaximo) * 100; - if (Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria < 0) + Sensor.Leituras = new List() { - Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = 0; + corrente, + vBarramento, + potencia, + vShunt, + }; + + if (Sensor.ID.Contains("AB")) + { + frmInstancial.frmAcompanhamento.AtualizarSensores(Sensor.ID.Replace("AB", "Barramento ") + ": " + vBarramento.ToString("0.00") + " V " + corrente.ToString("0.00") + " mA"); } + + AtualizaGrafico = true; + break; } + case S_Code.sTEN: + { + double leitura = -1; + double.TryParse(Dados[2].Replace(".", ","), out leitura); - AtualizaGrafico = true; + double Vcc = 3.3; + double Voffset = double.Parse(Sensor.Parametros[0][1]); + double R1 = double.Parse(Sensor.Parametros[1][1].Replace(".", ",")); + double R2 = double.Parse(Sensor.Parametros[2][1].Replace(".", ",")); + double Razao = (R1 + R2) / (double)R2; + double voltageV = (leitura * (Vcc / 4095.0)) + (Voffset / Razao); // Convertendo o valor ADC para tensão + double realVoltage = voltageV * Razao; - break; + Sensor.Leituras = new List() + { + realVoltage, + leitura, + voltageV, + }; + + if (Sensor.Descricao.ToLower().Contains("bateria")) + { + frmInstancial.frmAcompanhamento.AtualizarSensores("Tensão atual: " + realVoltage.ToString("0.00") + "V - Mín: " + Sensor.ValorMinimo.ToString("0.00") + "V - Máx: " + Sensor.ValorMaximo.ToString("0.00") + "V"); + Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = (realVoltage / Sensor.LimiteMaximo) * 100; + if (Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria < 0) + { + Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = 0; + } + } + + AtualizaGrafico = true; + + break; + } case S_Code.sTMP: - double temp = -1; - double.TryParse(Dados[2].Replace(".", ","), out temp); - Sensor.Leituras = new List() { temp }; - - if (Sensor.Descricao.ToLower().Contains("bateria")) { - frmInstancial.frmAcompanhamento.AtualizarSensores("Temp atual: " + temp.ToString("0.00") + "ºC - Mín: " + Sensor.ValorMinimo.ToString("0.00") + "ºC - Máx: " + Sensor.ValorMaximo.ToString("0.00") + "ºC"); - } + double temp = -1; + double.TryParse(Dados[2].Replace(".", ","), out temp); - AtualizaGrafico = true; - break; + double Vs = 3.3; // TENSÃO DE SAIDA DO ESP32 + double R1 = 10000; //RESISTOR UTILIZADO NO DIVISOR DE TENSÃO + double Beta = 3950; // VALOR DE BETA + double To = 298.15; // VALOR EM KELVIN REFERENTE A 25° CELSIUS + double Ro = 10000; + double adcMax = 4095.0; + double Vout, Rt = 0; + double T, Tc, Tf, adc = 0; + //CALCULOS PARA CONVERSÃO DA LEITURA RECEBIDA PELO ESP32 EM TEMPERATURA EM °C + double Voffset = double.Parse(Sensor.Parametros[0][1].Replace(".", ",")); + Vout = (temp * Vs / adcMax) + Voffset; + Rt = R1 * Vout / (Vs - Vout); + T = 1 / (1 / To + Math.Log(Rt / Ro) / Beta); + Tc = T - 273.15; + Tf = Tc * 9 / 5 + 32; + + Tc = Math.Round(Tc, 2); + + Sensor.Leituras = new List() { Tc }; + + if (Sensor.Descricao.ToLower().Contains("bateria")) + { + frmInstancial.frmAcompanhamento.AtualizarSensores(Tc.ToString("0.00") + " ºC"); + } + + AtualizaGrafico = true; + break; + } case S_Code.sULT: - double distancia = -1; - double.TryParse(Dados[2].Replace(".", ","), out distancia); - int duracao = -1; - int.TryParse(Dados[3], out duracao); - - Sensor.Leituras = new List() { - distancia, - duracao, - }; + double distancia = -1; + double.TryParse(Dados[2].Replace(".", ","), out distancia); + int duracao = -1; + int.TryParse(Dados[3], out duracao); - if (Sensor.ID == "SUESQ") - { - Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaEsquerda = distancia; - } - else if (Sensor.ID == "SUDIR") - { - Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaDireita = distancia; - } + Sensor.Leituras = new List() + { + distancia, + duracao, + }; - AtualizaGrafico = true; - break; + if (Sensor.ID == "SUESQ") + { + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaEsquerda = distancia; + } + else if (Sensor.ID == "SUDIR") + { + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaDireita = distancia; + } + + AtualizaGrafico = true; + break; + } case S_Code.sMAG: - int x = -1; - int.TryParse(Dados[2], out x); - int y = -1; - int.TryParse(Dados[3], out y); - int z = -1; - int.TryParse(Dados[4], out z); - double angulo = -1; - double.TryParse(Dados[5].Replace(".", ","), out angulo); - - Sensor.Leituras = new List() { - angulo, - x, - y, - z, - }; + int x = -1; + int.TryParse(Dados[2], out x); + int y = -1; + int.TryParse(Dados[3], out y); + int z = -1; + int.TryParse(Dados[4], out z); + double angulo = -1; + double.TryParse(Dados[5].Replace(".", ","), out angulo); - Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola = angulo; + Sensor.Leituras = new List() + { + angulo, + x, + y, + z, + }; + + Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola = angulo; + + AtualizaGrafico = true; + break; + } + case S_Code.sSNR: + { + int distancia = -1; + int.TryParse(Dados[2], out distancia); + int angulo = -1; + int.TryParse(Dados[3], out angulo); + int posicao = -1; + int.TryParse(Dados[4], out posicao); + + Sensor.Leituras = new List() + { + distancia, + angulo, + posicao, + }; + + if (Sensor.ID == "SNR_F") + { + var posArr = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.Deteccoes.FirstOrDefault(x => x.Posicao == posicao); + if (posArr == null) + { + posArr = new SonarRegistroModel() + { + Posicao = posicao, + Leituras = new List() + }; + Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.Deteccoes.Add(posArr); + } + var leituras = posArr.Leituras; + + if (false && posicao != Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.PosicaoAtual && Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.Deteccoes.Any(x => x.Posicao == posicao)) + { + Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.Deteccoes.First(x => x.Posicao == posicao).Leituras.Clear(); + } + + if (leituras.Any(x => x.Angulo == angulo)) + { + leituras.First(x => x.Angulo == angulo).Momento = DateTime.Now; + leituras.First(x => x.Angulo == angulo).Distancia = distancia; + } + else + { + leituras.Add(new SonarLeituraModel(angulo, distancia)); + } + + Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.PosicaoAtual = posicao; + Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.AtualizarSonar(); + } + + AtualizaGrafico = true; + break; + } - AtualizaGrafico = true; - break; } @@ -571,10 +606,10 @@ namespace AgroBase.Models.Modules Momento = DateTime.Now, ComponenteID = Sensor.ID, Componente = Sensor.Componente, - Leitura1 = Sensor.Leituras[0], - Leitura2 = Sensor.Leituras[1], - Leitura3 = Sensor.Leituras[2], - Leitura4 = Sensor.Leituras[3], + Leitura1 = Sensor.Leituras.Count() > 0 ? Sensor.Leituras[0] : -1, + Leitura2 = Sensor.Leituras.Count() > 1 ? Sensor.Leituras[1] : -1, + Leitura3 = Sensor.Leituras.Count() > 2 ? Sensor.Leituras[2] : -1, + Leitura4 = Sensor.Leituras.Count() > 3 ? Sensor.Leituras[3] : -1, AlarmeMinima = Sensor.Leituras[0] < Sensor.LimiteMinimo, AlarmeMaxima = Sensor.Leituras[0] > Sensor.LimiteMaximo, }); @@ -656,23 +691,6 @@ namespace AgroBase.Models.Modules } } - public List CarregarPinout(string nomeArquivo) - { - if (!File.Exists(nomeArquivo)) - { - var newPinout = PinoutModel.CarregarPinoutPadrao_Wrover(); - File.WriteAllText(nomeArquivo, JsonConvert.SerializeObject(newPinout)); - } - var pinoutText = File.ReadAllText(nomeArquivo); - Pinout = JsonConvert.DeserializeObject(pinoutText).ToList(); - return Pinout; - } - - public void SalvarPinout(List newPinout, string nomeArquivo) - { - File.WriteAllText(nomeArquivo, JsonConvert.SerializeObject(newPinout)); - } - public void IniciarRegistrador() { @@ -701,9 +719,15 @@ namespace AgroBase.Models.Modules public List LogGrafico = new List(); - public string ProtocoloConfiguracaoSensor(List Pinout, bool Conectar) + public string ProtocoloConfiguracaoSensor(PinoutDataModel Pinout, bool Conectar) { - var _pinout = Pinout.Where(x => x.ComponenteID == ID).ToList(); + var _pinout = new PinoutDataModel() + { + ExpansorGPIO = Pinout.ExpansorGPIO, + EnderecoExpansor = Pinout.EnderecoExpansor, + Pinos = Pinout.Pinos.ToList(), + }; + _pinout.Pinos = _pinout.Pinos.Where(x => x.ComponenteID == ID).ToList(); string Protocolo = ((int)F_Code.Cfg).ToString() + ID.PadRight(5, ' ') + ";" + // 0 ~ 4 (Conectar ? "1" : "0") + ";" + // 6 @@ -711,11 +735,10 @@ namespace AgroBase.Models.Modules (Aferir ? "1" : "0") + ";" + // 12 DelayAmostragem.ToString("00000") + ";" + // 14 ~ 18 Prioridade.ToString("00") + ";" + // 20 ~ 21 - (_pinout.Any(x => x.Funcao != FuncoesPinout.NaoConectado) ? _pinout.FirstOrDefault(x => x.Funcao != FuncoesPinout.NaoConectado).Pino.ToString("00") : "-1") + ";" + // 23 ~ 24 - (_pinout.Any(x => PinoutUtils.PinosSecundarios.Any(y => y == x.Funcao)) ? _pinout.FirstOrDefault(x => PinoutUtils.PinosSecundarios.Any(y => y == x.Funcao)).Pino.ToString("00") : "-1"); // 26 ~ 27 + PinoutModel.PinoProtocolo(_pinout, Funcoes); // 23 ~ 25 / 27 ~ 29 foreach (var Parametro in Parametros) { - Protocolo += ";" + Parametro[1]; + Protocolo += ";" + Parametro[1].PadRight(6, ' '); } return Protocolo; } @@ -729,13 +752,19 @@ namespace AgroBase.Models.Modules public List Funcoes { get; set; } public SensorSinaleiroComportamentoModel Comportamento { get; set; } - public string ProtocoloConfiguracaoSinaleiro(List Pinout, bool Conectar) + public string ProtocoloConfiguracaoSinaleiro(PinoutDataModel Pinout, bool Conectar) { - var _pinout = Pinout.Where(x => x.ComponenteID == ID).ToList(); + var _pinout = new PinoutDataModel() + { + ExpansorGPIO = Pinout.ExpansorGPIO, + EnderecoExpansor = Pinout.EnderecoExpansor, + Pinos = Pinout.Pinos.ToList(), + }; + _pinout.Pinos = _pinout.Pinos.Where(x => x.ComponenteID == ID).ToList(); string Protocolo = ((int)F_Code.Cfg).ToString() + ID.PadRight(5, ' ') + ";" + // 0 ~ 4 (Conectar ? "1" : "0") + ";" + // 6 - (_pinout.Any(x => x.Funcao != FuncoesPinout.NaoConectado) ? _pinout.FirstOrDefault(x => x.Funcao != FuncoesPinout.NaoConectado).Pino.ToString("00") : "-1"); // 8 ~ 9 + PinoutModel.PinoProtocolo(_pinout, Funcoes); // 8 ~ 10 return Protocolo; } @@ -775,4 +804,6 @@ namespace AgroBase.Models.Modules public bool AlarmeMaxima { get; set; } public bool AlarmeMinima { get; set; } } + + } diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoManualModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoManualModel.cs new file mode 100644 index 000000000..8f4051c56 --- /dev/null +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoManualModel.cs @@ -0,0 +1,18 @@ +using AgroBase.Forms.Operacoes; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Windows.Forms; + +namespace AgroBase.Models.Operacoes +{ + public class OperacaoManualModel + { + public Form frmOperacao { get; set; } = new frmOperacaoManual(); + public string frmOperacaoNome { get; set; } = "frmOperacaoManual"; + public OperacaoControleModel Controle { get; set; } = new OperacaoControleModel(); + public OperacaoControleModel ControleAnterior { get; set; } = new OperacaoControleModel(); + } +} diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs new file mode 100644 index 000000000..7811018d0 --- /dev/null +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs @@ -0,0 +1,842 @@ +using AgroBase.Forms.Operacoes; +using AgroBase.Models.Modules; +using AgroBase.Services; +using Newtonsoft.Json; +using System; +using System.Collections.Generic; +using System.IO; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Windows.Forms; +using static AgroBase.Models.Enuns; + +namespace AgroBase.Models.Operacoes +{ + public class OperacaoMapaGPSModel + { + public Form frmOperacao { get; set; } = new frmOperacaoMapaGPS(); + public string frmOperacaoNome { get; set; } = "frmOperacaoMapaGPS"; + public bool Concluido + { + get + { + return Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual >= Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Count - 1; + } + } + public OperacaoRefRuaGPS ReferencialRuaGPS { get; set; } = new OperacaoRefRuaGPS(); + public OperacaoMapaGPSSensoriamentoModel Sensoriamento { get; set; } = new OperacaoMapaGPSSensoriamentoModel(); + public OperacaoControleModel Controle { get; set; } = new OperacaoControleModel(); + public OperacaoControleModel ControleAnterior { get; set; } = new OperacaoControleModel(); + public List Logs { get; set; } = new List(); + + + public void AtualizarDadosControle() + { + DateTime Agora = DateTime.Now; + OperacaoControleTipoModel ControleMov = Controle.TiposControle != null ? Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Mov) : null; + OperacaoControleTipoModel ControleDir = Controle.TiposControle != null ? Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Dir) : null; + OperacaoControleTipoModel ControleAtu = Controle.TiposControle != null ? Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Atu) : null; + + if (ControleMov != null && Controle.RPM != ControleAnterior.RPM && (Agora - ControleMov.UltimoComando).TotalMilliseconds > ControleMov.DelayEnvioComando) + { + // Enviar comando MOV + var Protocolos = EnviarProtocoloComando(Variaveis.OperacaoEmAndamento.DispMov); + ControleMov.UltimoComando = Agora; + ControleMov.Comandos.AddRange(Protocolos); + + ControleAnterior.RPM = Controle.RPM; + } + if (ControleDir != null && Convert.ToInt32(Controle.Angulo) != Convert.ToInt32(ControleAnterior.Angulo) && (Agora - ControleDir.UltimoComando).TotalMilliseconds > ControleDir.DelayEnvioComando) + { + // Enviar comando DIR + var Protocolos = EnviarProtocoloComando(Variaveis.OperacaoEmAndamento.DispDir); + ControleDir.UltimoComando = Agora; + ControleDir.Comandos.AddRange(Protocolos); + + ControleAnterior.Angulo = Controle.Angulo; + } + if (ControleAtu != null && !Controle.BicosAtuados.Select(x => x.Atuado).SequenceEqual(ControleAnterior.BicosAtuados.Select(x => x.Atuado)) && (Agora - ControleAtu.UltimoComando).TotalMilliseconds > ControleAtu.DelayEnvioComando) + { + // Enviar comando ATU + var Protocolos = EnviarProtocoloComando(Variaveis.OperacaoEmAndamento.DispAtu); + ControleAtu.UltimoComando = Agora; + ControleAtu.Comandos.AddRange(Protocolos); + + ControleAnterior.BicosAtuados = new List(); + foreach (var bico in Controle.BicosAtuados) + { + ControleAnterior.BicosAtuados.Add(bico.Clone()); + } + } + + AtualizarDadosOperacao(); + } + + public List EnviarProtocoloComando(IDispositivosService Dispositivo) + { + if (Dispositivo == null) + { + return new List(); + } + + if (Dispositivo.Dispositivo == T_Code.Mov) + { + GeneralJoystick.RPM = Controle.RPM; + if (Controle.RPM == 0) + { + Controle.Direcao = Direcao.Parado; + } + else + { + if (Controle.RPM < 0) + { + GeneralJoystick.RPM *= -1; + Controle.Direcao = Direcao.Tras; + } + else + { + Controle.Direcao = Direcao.Frente; + } + } + } + else if (Dispositivo.Dispositivo == T_Code.Dir) + { + GeneralJoystick.Angulo = Controle.Angulo; + if (Controle.Angulo < 0) + { + GeneralJoystick.Angulo *= -1; + if (ControleAnterior.Angulo < Controle.Angulo) + { + Controle.Direcao = Direcao.Parado; + } + else + { + Controle.Direcao = Direcao.Baixo; + } + } + else + { + if (ControleAnterior.Angulo > Controle.Angulo) + { + Controle.Direcao = Direcao.Parado; + } + else + { + Controle.Direcao = Direcao.Cima; + } + } + } + + var Protocolos = + Dispositivo.Dados is MovimentacaoModel ? ((MovimentacaoModel)Dispositivo.Dados).Motores.Select(x => x.ProtocoloComando(Controle.Direcao)) : + Dispositivo.Dados is DirecionalModel ? ((DirecionalModel)Dispositivo.Dados).Motores.Select(x => x.ProtocoloComando(Controle.Direcao)) : + Dispositivo.Dados is AtuadorModel ? ((AtuadorModel)Dispositivo.Dados).BicosPulverizadores.Select(x => x.ProtocoloComando()) : + null; + foreach (var ProtocoloMotor in Protocolos) + { + Dispositivo.EnviarDadosSerial(ProtocoloMotor); + Task.Delay(10); + } + + return Protocolos.ToList(); + } + + private void AtualizarDadosOperacao() + { + if (Variaveis.OperacaoEmAndamento.DispMov == null) + { + return; + } + try + { + //Sensoriamento.DistanciaPercorrida = DispMov.Dados.DistanciaPercorridaOperacao; + Sensoriamento.ProgressoTrajeto = Variaveis.OperacaoEmAndamento.Mapa.mapaService.pythonProcess == null ? 0 : Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Sum() / Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal * 100; + if (Sensoriamento.ProgressoTrajeto < 0 && Sensoriamento.ProgressoTrajeto >= 0) + { + Sensoriamento.ProgressoTrajeto = 0; + } + Sensoriamento.ProgressoRua = + Variaveis.OperacaoEmAndamento.Mapa == null || Variaveis.OperacaoEmAndamento.Mapa.pnlMapa == null ? 0 : + (ReferencialRuaGPS.Direcao == DirecaoCarroRua.Ida ? ((double)ReferencialRuaGPS.IdxPontoAproximadoRua / (double)(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].Count - 1)) : + ReferencialRuaGPS.Direcao == DirecaoCarroRua.Volta ? ((double)(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].Count - 1 - ReferencialRuaGPS.IdxPontoAproximadoRua) / (double)(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].Count - 1)) : + 0) * 100; + } + catch + { + + } + + } + + public void SalvarLog(bool Fim) + { + Logs.Add(new OperacaoMapaGPSSensoriamentoModel() + { + Momento = DateTime.Now, + AtuacoesPorBico = new List(Sensoriamento.AtuacoesPorBico), + ErvasNoRadar = Sensoriamento.ErvasNoRadar, + HerbicidaConsumido = Sensoriamento.HerbicidaConsumido, + HerbicidaPorErva = Sensoriamento.HerbicidaPorErva, + ProgressoTrajeto = Sensoriamento.ProgressoTrajeto, + ProgressoRua = Sensoriamento.ProgressoRua, + Status = ReferencialRuaGPS.StatusAtual, + Direcao = ReferencialRuaGPS.Direcao, + AnguloCarro = ReferencialRuaGPS.AnguloCarro, + AnguloRua = ReferencialRuaGPS.AnguloCaminho, + DentroDaRua = ReferencialRuaGPS.DentroDaRua, + IdxPontoAproximadoRua = ReferencialRuaGPS.IdxPontoAproximadoRua, + IdxRuaAtual = Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual, + AnguloDif = Sensoriamento.AnguloDif, + AnguloRuaCamera = Sensoriamento.AnguloRuaCamera, + }); + if (!Directory.Exists(Variaveis.CaminhoOperacoes + Variaveis.OperacaoEmAndamento.ID)) + { + Directory.CreateDirectory(Variaveis.CaminhoOperacoes + Variaveis.OperacaoEmAndamento.ID); + } + if (!File.Exists(Variaveis.CaminhoOperacoes + Variaveis.OperacaoEmAndamento.ID + "/logs.json")) + { + string jsonLog = JsonConvert.SerializeObject(Logs, Formatting.None); + File.WriteAllText(Variaveis.CaminhoOperacoes + Variaveis.OperacaoEmAndamento.ID + "/logs.json", jsonLog.Substring(0, jsonLog.Length - 1)); + } + else + { + string jsonLog = JsonConvert.SerializeObject(Logs[Logs.Count - 1], Formatting.None); + File.AppendAllText(Variaveis.CaminhoOperacoes + Variaveis.OperacaoEmAndamento.ID + "/logs.json", "," + jsonLog + (Fim ? "]" : "")); + } + + } + + public void AtualizarControleAtuadores() + { + Controle.BicosAtuados = Variaveis.OperacaoEmAndamento.DispAtu.Dados.BicosPulverizadores; + } + + public void CalcularAnguloInclinacao() + { + double erroOrientacao = 0.0; + double anguloCarro = ReferencialRuaGPS.AnguloCarro; + double anguloOposto = (anguloCarro + 180) % 360; + double anguloRua = ReferencialRuaGPS.AnguloCaminho; + double anguloCamera = Sensoriamento.AnguloRuaCamera; + + // Calcula o erro de orientação + if ((anguloCarro + ReferencialRuaGPS.MargemErroAngulo) >= anguloRua && (anguloCarro - ReferencialRuaGPS.MargemErroAngulo) <= anguloRua) + { + erroOrientacao = anguloCarro - anguloRua; + } + else if ((anguloOposto + ReferencialRuaGPS.MargemErroAngulo) >= anguloRua && (anguloOposto - ReferencialRuaGPS.MargemErroAngulo) <= anguloRua) + { + erroOrientacao = anguloOposto - anguloRua; + } + Sensoriamento.AnguloDif = erroOrientacao; + + // Assume-se que o anguloCamera reflete o desvio lateral. + // Isso pode precisar de ajuste dependendo de como o ângulo é medido. + double erroPosicaoLateral = anguloCamera; + + // Combina os erros. Ajuste os pesos conforme necessário para o seu caso específico. + double pesoOrientacao = 0.3; + double pesoPosicaoLateral = 0.7; + double erroCombinado = (erroOrientacao * pesoOrientacao) + (erroPosicaoLateral * pesoPosicaoLateral); + + var statusAtual = ReferencialRuaGPS.StatusAtual; + // Atualiza o PID com o erro combinado + if (statusAtual != StatusCarroMapa.Parado && statusAtual != StatusCarroMapa.Manobrando) + { + Controle.PIDdirecional.Atualizar(erroCombinado); + } + double correcaoAngulo = Controle.PIDdirecional.Saida; + + // Aplica a correção. Isso pode incluir limites para evitar comandos excessivos. + Controle.Angulo = correcaoAngulo; + } + + public void CalculaDadosMovimentacaoAutonoma() + { + CalcularAnguloInclinacao(); + + var statusAtual = ReferencialRuaGPS.StatusAtual; + + if (statusAtual == StatusCarroMapa.Parado) + { + var BicosNaoAtuados = new List(Variaveis.OperacaoEmAndamento.DispAtu.Dados.BicosPulverizadores); + BicosNaoAtuados.ForEach(x => x.Atuado = false); + Controle.BicosAtuados = BicosNaoAtuados.ToList(); + Controle.RPM = 0; + Controle.Angulo = 0; + } + else if (statusAtual == StatusCarroMapa.Direcionando) + { + Controle.RPM = Controle.RPM_Max; + } + else if (statusAtual == StatusCarroMapa.EntrandoRua) + { + Controle.RPM = Controle.RPM_Min; + } + else if (statusAtual == StatusCarroMapa.SaindoRua) + { + Controle.RPM = Controle.RPM_Min; + } + else if (statusAtual == StatusCarroMapa.CaminhandoRua) + { + if (Sensoriamento.ErvasNoRadar == 0) + { + Controle.RPM = Controle.RPM_Max; + } + else + { + Controle.RPM = Convert.ToInt32(Controle.RPM_Max * 0.85); + } + + double margemAngulo = 5; + if (Controle.Angulo > margemAngulo || Controle.Angulo < (margemAngulo * -1)) + { + Controle.RPM = Controle.RPM_Min; + } + } + else if (statusAtual == StatusCarroMapa.Manobrando) + { + Controle.RPM = 0; + CalcularManobra(); + } + + } + + public void CalcularManobra() + { + + } + + public void AtualizarRuasSelecionadas() + { + List ids = new List(); + var Topico = Variaveis.MqttService.Topicos.FirstOrDefault(x => x.Topico == MapasVariaveisModel.TopicoSelecaoRuasMapa); + var Mensagem = Topico.Mensagens.LastOrDefault(); + if (Mensagem != null && !Mensagem.Mensagem.Contains("[]")) + { + Mensagem.Mensagem = Mensagem.Mensagem.Replace("\n", ""); + Mensagem.Mensagem = Mensagem.Mensagem.Replace("\"", ""); + ids = JsonConvert.DeserializeObject(Mensagem.Mensagem).Select(x => x.ToString()).ToList(); + } + if (ids.Count != Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Count) + { + Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer = ids; + Variaveis.OperacaoEmAndamento.Mapa.PopularTrajetoria(); + } + } + + + + } + + public class OperacaoRefRuaGPS + { + public bool ManobraConcluida { get; set; } = false; + private StatusCarroMapa _EtapaAtual; + public StatusCarroMapa StatusAtual + { + get + { + StatusCarroMapa etapaAtual = _EtapaAtual; + + // Se o status da operação não estiver Em Andamento + if (Variaveis.OperacaoEmAndamento.StatusAtual != StatusOperacao.EmAndamento) + { + etapaAtual = StatusCarroMapa.Parado; + } + else + { + // Robô está manobrando para seguir a próxima rota do mapa + if (_EtapaAtual == StatusCarroMapa.Manobrando) + { + // Aguarda a mudança de rua até que o robô tenha terminado a manobra e tenha ficado parado em frente à rua + if (ManobraConcluida && Direcao == DirecaoCarroRua.Parado) + { + Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++; + ManobraConcluida = false; + etapaAtual = StatusCarroMapa.EntrandoRua; + GPSService.AtualizaLeituraSimulacao(); + Task.Delay(500); + } + } + // Se o robô não estiver dentro da entrelinha de cana + else if (!DentroDaRua) + { + // Está próximo o bastante e alinhado para entrar na rua + if (NaMargemEntradaRua) + { + // Está mais próximo do ponto inicial da rota, e a direção do carro é IDA ou então PARADO, logo está entrando na rua, do começo para o final + if (ExtremoMaisProximo == 0 && (Direcao == DirecaoCarroRua.Ida || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusCarroMapa.SaindoRua) + { + etapaAtual = StatusCarroMapa.EntrandoRua; + } + // Está mais próximo do ponto final da rota, e a direção do carro é VOLTA ou então PARADO, logo está entrando na rua, do final para o começo + else if (ExtremoMaisProximo == 1 && (Direcao == DirecaoCarroRua.Volta || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusCarroMapa.SaindoRua) + { + etapaAtual = StatusCarroMapa.EntrandoRua; + } + // Robô não está entrando na rua do começo para o fim, nem do fim para o começo + else + { + // Se a etapa anterior era CaminhandoRua, ou seja, robô estava na rua e agora não está mais, então esta saindo da rua + if (_EtapaAtual == StatusCarroMapa.CaminhandoRua) + { + etapaAtual = StatusCarroMapa.SaindoRua; + } + // Se a etapa anterior não for CaminhandoRua, então significa que ele já iniciou a etapa de sair da rua + else + { + // Ainda tem ruas a serem percorridas, logo, o robô precisa realizar a manobra para seguir para a próxima rua + if (!Variaveis.OperacaoEmAndamento.OpMapaGPS.Concluido) + { + etapaAtual = StatusCarroMapa.Manobrando; + } + } + } + } + // Estará se direcionando para o ponto inicial + else + { + etapaAtual = StatusCarroMapa.Direcionando; + } + } + // Se o robô estiver dentro da entrelinha da cana + else if (DentroDaRua) + { + etapaAtual = StatusCarroMapa.CaminhandoRua; + } + } + + + _EtapaAtual = etapaAtual; + + _EtapaAtual = StatusCarroMapa.Direcionando; + + return _EtapaAtual; + } + } + /*public StatusOperacaoMapaGPS StatusAtual + { + get + { + StatusOperacaoMapaGPS etapaAtual = _EtapaAtual; + + // Se a operação não estiver iniciada + if (!Variaveis.OperacaoEmAndamento.Iniciado) + { + // Etapa atual não é Finalizado, então a etapa é Parametrizando + if (_EtapaAtual != StatusOperacaoMapaGPS.Concluida) + { + etapaAtual = StatusOperacaoMapaGPS.Parametrizando; + } + } + // Operação em andamento + else + { + // Se a operação tiver algum item mandatório interrompido + if (!Variaveis.OperacaoEmAndamento.OperacaoLiberada) + { + // Da primeira vez, salva a etapa atual anterior à parada para possível retomada + if (etapaAtual != StatusOperacaoMapaGPS.Parado) + { + _EtapaAnteriorParada = etapaAtual; + } + etapaAtual = StatusOperacaoMapaGPS.Parado; + } + // Se a etapa atual for parado, mas a operação foi liberada, retoma de onde parou + else if (etapaAtual == StatusOperacaoMapaGPS.Parado && Variaveis.OperacaoEmAndamento.OperacaoLiberada) + { + Variaveis.OperacaoEmAndamento.TempoAguardando = DateTime.Now; + etapaAtual = StatusOperacaoMapaGPS.Aguardando; + } + // Etapa atual é finalizada, então finaliza a operação + else if (_EtapaAtual == StatusOperacaoMapaGPS.Concluida) + { + Variaveis.OperacaoEmAndamento.FinalizarOperacao(); + } + // Contagem regressiva para iniciar a operação + else if (Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) > DateTime.Now) + { + etapaAtual = StatusOperacaoMapaGPS.Aguardando; + } + else if (_EtapaAnteriorParada != StatusOperacaoMapaGPS.Parado) + { + etapaAtual = _EtapaAnteriorParada; + _EtapaAnteriorParada = StatusOperacaoMapaGPS.Parado; + } + // Robô está manobrando para seguir a próxima rota do mapa + else if (_EtapaAtual == StatusOperacaoMapaGPS.Manobrando) + { + // Aguarda a mudança de rua até que o robô tenha terminado a manobra e tenha ficado parado em frente à rua + if (ManobraConcluida && Direcao == DirecaoCarroRua.Parado) + { + Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++; + ManobraConcluida = false; + etapaAtual = StatusOperacaoMapaGPS.EntrandoRua; + GPSService.AtualizaLeituraSimulacao(); + Task.Delay(500); + } + } + // Se o robô não estiver dentro da entrelinha de cana + else if (!DentroDaRua) + { + // Está mais próximo do ponto inicial da rota, e a direção do carro é IDA ou então PARADO, logo está entrando na rua, do começo para o final + if (ExtremoMaisProximo == 0 && (Direcao == DirecaoCarroRua.Ida || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusOperacaoMapaGPS.SaindoRua) + { + etapaAtual = StatusOperacaoMapaGPS.EntrandoRua; + } + // Está mais próximo do ponto final da rota, e a direção do carro é VOLTA ou então PARADO, logo está entrando na rua, do final para o começo + else if (ExtremoMaisProximo == 1 && (Direcao == DirecaoCarroRua.Volta || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusOperacaoMapaGPS.SaindoRua) + { + etapaAtual = StatusOperacaoMapaGPS.EntrandoRua; + } + // Robô não está entrando na rua do começo para o fim, nem do fim para o começo + else + { + // Se a etapa anterior era CaminhandoRua, ou seja, robô estava na rua e agora não está mais, então esta saindo da rua + if (_EtapaAtual == StatusOperacaoMapaGPS.CaminhandoRua) + { + etapaAtual = StatusOperacaoMapaGPS.SaindoRua; + } + // Se a etapa anterior não for CaminhandoRua, então significa que ele já iniciou a etapa de sair da rua + else + { + // O índice de rua para realizar o trabalho já ultrapassou a quantidade de ruas definidas pelo operador, então a operação foi concluída + if (Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual >= Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Count - 1) + { + etapaAtual = StatusOperacaoMapaGPS.Concluida; + } + // Ainda tem ruas a serem percorridas, logo, o robô precisa realizar a manobra para seguir para a próxima rua + else + { + etapaAtual = StatusOperacaoMapaGPS.Manobrando; + } + } + } + } + // Se o robô estiver dentro da entrelinha da cana + else if (DentroDaRua) + { + etapaAtual = StatusOperacaoMapaGPS.CaminhandoRua; + } + } + + + _EtapaAtual = etapaAtual; + + return etapaAtual; + } + }*/ + public int PontosConsiderarAngulo { get; set; } = 2; + public double Distancia { get; set; } = 0; + public double AnguloCarro + { + get + { + if (Variaveis.OperacaoEmAndamento.DispSen._Porta.IsOpen && Variaveis.OperacaoEmAndamento.DispSen.Dados.Sensores.Any(x => x.Componente == S_Code.sMAG && x.Inicializado)) + { + return Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola; + } + else + { + return AnguloCarroGPS; + } + } + } + public double AnguloCarroGPS + { + get + { + try + { + double somaAngulo = 0; + var Pontos = !Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Any() || Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual >= Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Count() ? new List() : + Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].Count > PontosConsiderarAngulo ? + Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].OrderByDescending(x => x.DataHora).Take(PontosConsiderarAngulo).ToList() : + Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].OrderByDescending(x => x.DataHora).ToList(); + Pontos = Pontos.OrderBy(x => x.DataHora).ToList(); + for (int i = 0; i < Pontos.Count - 1; i++) + { + somaAngulo += GPSService.CalcularOrientacao(Pontos[i + 1], Pontos[i]); + } + double mediaAngulo = somaAngulo / (Pontos.Count - 1); + + return (!(mediaAngulo >= 0 || mediaAngulo <= 0)) ? 0 : mediaAngulo; + } + catch + { + return 0; + } + } + } + public double AnguloCaminho + { + get + { + try + { + if (_EtapaAtual == StatusCarroMapa.Direcionando) + { + /*GPSModel PontoRua = ExtremoMaisProximo == 0 ? PrimeiroPontoRua : UltimoPontoRua; + double anguloCaminho = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, PontoRua); + return anguloCaminho;*/ + double somaAnguloRua = 0; + var Rua = Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica; + + + var PontosRua = PontosConsiderarAngulo < Rua.Count ? + Rua.Take(PontosConsiderarAngulo).ToList() : + Rua.Skip(PontosConsiderarAngulo).ToList(); + + for (int i = 0; i < PontosRua.Count - 1; i++) + { + somaAnguloRua += GPSService.CalcularOrientacao(PontosRua[i + 1], PontosRua[i]); + } + double mediaAnguloRua = somaAnguloRua / (PontosRua.Count - 1); + + return (!(mediaAnguloRua >= 0 || mediaAnguloRua <= 0)) ? 0 : mediaAnguloRua; + } + else + { + double somaAnguloRua = 0; + var Rua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First(); + + + var PontosRua = IdxPontoAproximadoRua + PontosConsiderarAngulo < Rua.Count ? + Rua.Skip(IdxPontoAproximadoRua).Take(PontosConsiderarAngulo).ToList() : + Rua.Skip(IdxPontoAproximadoRua - PontosConsiderarAngulo).ToList(); + + /*var Pontos = Rua.Count > PontosConsiderarAngulo ? + Rua.OrderByDescending(x => x.DataHora).Take(PontosConsiderarAngulo).ToList() : + Rua.OrderByDescending(x => x.DataHora).ToList();*/ + + + for (int i = 0; i < PontosRua.Count - 1; i++) + { + somaAnguloRua += GPSService.CalcularOrientacao(PontosRua[i + 1], PontosRua[i]); + } + double mediaAnguloRua = somaAnguloRua / (PontosRua.Count - 1); + + return (!(mediaAnguloRua >= 0 || mediaAnguloRua <= 0)) ? 0 : mediaAnguloRua; + } + } + catch + { + return 0; + } + } + } + public double MargemErroAngulo { get; set; } = 45; + public DirecaoCarroRua Direcao + { + get + { + + if (GPSService.UltimaLeitura.Latitude == GPSService.PenultimaLeitura.Latitude && GPSService.UltimaLeitura.Longitude == GPSService.PenultimaLeitura.Longitude && GPSService.UltimaLeitura.DataHora > GPSService.PenultimaLeitura.DataHora) + { + return DirecaoCarroRua.Parado; + } + double mediaAngulo = AnguloCarro; + double anguloOposto = (mediaAngulo + 180) % 360; + double mediaAnguloRua = AnguloCaminho; + + if ((mediaAngulo + MargemErroAngulo) >= mediaAnguloRua && (mediaAngulo - MargemErroAngulo) <= mediaAnguloRua) + { + return DirecaoCarroRua.Ida; + } + else if ((anguloOposto + MargemErroAngulo) >= mediaAnguloRua && (anguloOposto - MargemErroAngulo) <= mediaAnguloRua) + { + return DirecaoCarroRua.Volta; + } + else + { + return DirecaoCarroRua.Parado; + } + } + } + public GPSModel PrimeiroPontoRua + { + get + { + try + { + var primeiroPontoRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First().First(); + return primeiroPontoRua; + } + catch + { + return new GPSModel(); + } + + } + } + public GPSModel UltimoPontoRua + { + get + { + try + { + var ultimoPontoRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First().Last(); + return ultimoPontoRua; + } + catch + { + return new GPSModel(); + } + } + } + public bool DentroDaRua + { + get + { + if (Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Count() > Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual) + { + try + { + string IDruaAtual = Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual]; + var Rua = Variaveis.OperacaoEmAndamento.Mapa.mapaService.DadosMapa.features.Where(x => x.geometry.id == IDruaAtual).FirstOrDefault(); + if (Rua != null) + { + bool dentro = false; + List Trecho = new List(); + var PontosRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].ToList(); + int idx = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.IdxPontoAproximadoRua; + if (Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual % 2 != 0) + { + PontosRua.Reverse(); + idx = idx != (PontosRua.Count - 1) ? (PontosRua.Count - 1) - idx : idx; + } + for (int i = 0; i <= idx; i++) + { + Trecho.Add(PontosRua[i]); + } + double distTrecho = GPSService.DistanciaDoTrecho(Trecho); + dentro = distTrecho > 0 && distTrecho < Rua.properties.Length; + + return dentro; + } + else + { + return false; + } + } + catch + { + return false; + } + } + else + { + return false; + } + } + } + public int ExtremoMaisProximo + { + get + { + double distPP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PrimeiroPontoRua); + double distUP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, UltimoPontoRua); + + // 0 para mais próximo do primeiro ponto da rua (ENTRANDO) + // 1 para mais próximo do último ponto da rua (SAINDO) + return (distPP < distUP) ? 0 : 1; + } + } + private DateTime UltimaLeituraDistancia; + private int idxPontoAproximadoRua = 0; + public int IdxPontoAproximadoRua + { + get + { + try + { + if (UltimaLeituraDistancia == null) + { + UltimaLeituraDistancia = DateTime.Now.Add(new TimeSpan(0, 0, -10)); + } + else if (UltimaLeituraDistancia.Add(new TimeSpan(0, 0, 5)) < DateTime.Now) + { + int idx = -1; + double menorDistancia = 9999; + double distanciaAnterior = 9999; + + var Rua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual]; + + foreach (var Ponto in Rua) + { + double dist = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, Ponto); + if (dist < menorDistancia) + { + menorDistancia = dist; + idx = Rua.IndexOf(Ponto); + } + else if (dist > distanciaAnterior) + { + break; + } + distanciaAnterior = dist; + } + idxPontoAproximadoRua = idx; + + UltimaLeituraDistancia = DateTime.Now; + } + } + catch + { + + } + + + return idxPontoAproximadoRua; + } + } + public double MargemLimiteEntradaRua { get; } = 2.0; + public bool NaMargemEntradaRua + { + get + { + bool NaMargem = false; + GPSModel PontoRua = ExtremoMaisProximo == 0 ? PrimeiroPontoRua : UltimoPontoRua; + double Distancia = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PontoRua); + + if (Distancia <= MargemLimiteEntradaRua) + { + NaMargem = true; + } + + return NaMargem; + } + } + + } + + public class OperacaoMapaGPSSensoriamentoModel + { + public DateTime Momento { get; set; } + public int ErvasNoRadar { get; set; } = 0; + public double HerbicidaConsumido { get; set; } = 0; + public double HerbicidaPorErva { get; set; } = 0; + public int ErvasIdentificadas + { + get + { + return AtuacoesPorBico.Sum(); + } + } + public List AtuacoesPorBico { get; set; } = new List(); + public double ProgressoTrajeto { get; set; } = 0; + public double ProgressoRua { get; set; } = 0; + public StatusCarroMapa Status { get; set; } = StatusCarroMapa.Parado; + public double AnguloCarro { get; set; } = 0; + public double AnguloRua { get; set; } = 0; + public double AnguloRuaCamera { get; set; } = 0; + public double AnguloDif { get; set; } = 0; + public DirecaoCarroRua Direcao { get; set; } = DirecaoCarroRua.Parado; + public bool DentroDaRua { get; set; } = false; + public int IdxPontoAproximadoRua { get; set; } = 0; + public int IdxRuaAtual { get; set; } = 0; + } + +} diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs index ff6b3687d..0bad935f1 100644 --- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs @@ -2,6 +2,7 @@ using AgroBase.Forms; using AgroBase.Forms.Operacoes; using AgroBase.Models.Modules; +using AgroBase.Models.Operacoes; using AgroBase.Services; using CefSharp.DevTools.Network; using Emgu.CV.CvEnum; @@ -14,6 +15,7 @@ using System.Linq; using System.Threading.Tasks; using System.Windows.Forms; using static AgroBase.Models.Enuns; +using static AgroBase.Models.Operacoes.OperacaoMapaGPSModel; namespace AgroBase.Models { @@ -21,72 +23,148 @@ namespace AgroBase.Models { public OperacaoModel(ModoOperacao Modo, DispositivosService Mov = null, DispositivosService Dir = null, DispositivosService Atu = null) { - /*if (APIService.pythonProcess == null) - { - APIService.Inicializar(); - }*/ - this.Modo = Modo; - this.Controle = new OperacaoControleModel() - { - PIDdirecional = new PIDModel(), - TiposControle = new List() - { - new OperacaoControleTipoModel() - { - Tipo = T_Code.Mov, - DelayEnvioComando = 500, - Comandos = new List(), - UltimoComando = DateTime.Now - }, - new OperacaoControleTipoModel() - { - Tipo = T_Code.Dir, - DelayEnvioComando = 1000, - Comandos = new List(), - UltimoComando = DateTime.Now - }, - new OperacaoControleTipoModel() - { - Tipo = T_Code.Atu, - DelayEnvioComando = 100, - Comandos = new List(), - UltimoComando = DateTime.Now - }, - }, - }; - this.ControleAnterior = new OperacaoControleModel(); - + this.DispMov = Mov; this.DispDir = Dir; this.DispAtu = Atu; - this.Sensoriamento.AtuacoesPorBico = new List(); - if (DispAtu != null) + if (Modo == ModoOperacao.MapaGPS) { - for (int i = 0; i < DispAtu.Dados.QuantidadeBicos; i++) + this.OpMapaGPS.Controle = new OperacaoControleModel() { - this.Sensoriamento.AtuacoesPorBico.Add(0); + PIDdirecional = new PIDModel(), + TiposControle = new List() + { + new OperacaoControleTipoModel() + { + Tipo = T_Code.Mov, + DelayEnvioComando = 500, + Comandos = new List(), + UltimoComando = DateTime.Now + }, + new OperacaoControleTipoModel() + { + Tipo = T_Code.Dir, + DelayEnvioComando = 1000, + Comandos = new List(), + UltimoComando = DateTime.Now + }, + new OperacaoControleTipoModel() + { + Tipo = T_Code.Atu, + DelayEnvioComando = 100, + Comandos = new List(), + UltimoComando = DateTime.Now + }, + }, + }; + this.OpMapaGPS.ControleAnterior = new OperacaoControleModel(); + + this.OpMapaGPS.Sensoriamento.AtuacoesPorBico = new List(); + if (DispAtu != null) + { + for (int i = 0; i < DispAtu.Dados.QuantidadeBicos; i++) + { + this.OpMapaGPS.Sensoriamento.AtuacoesPorBico.Add(0); + } } } - this.tmrLogs.Tick -= TmrLogs_Tick; - this.tmrLogs.Tick += TmrLogs_Tick; - this.tmrLogs.Start(); - /*this.tmrParametrizacao.Tick -= TmrParametrizacao_Tick; - this.tmrParametrizacao.Tick += TmrParametrizacao_Tick; - this.tmrParametrizacao.Start();*/ + + if (!this.tmrLogs.Enabled) + { + this.tmrLogs.Tick -= TmrLogs_Tick; + this.tmrLogs.Tick += TmrLogs_Tick; + this.tmrLogs.Start(); + } } public ModoOperacao Modo { get; set; } + public OperacaoMapaGPSModel OpMapaGPS { get; set; } = new OperacaoMapaGPSModel(); + public OperacaoManualModel OpManual { get; set; } = new OperacaoManualModel(); public DispositivosService DispSen { get; set; } public DispositivosService DispMov { get; set; } public DispositivosService DispDir { get; set; } public DispositivosService DispAtu { get; set; } public MapasModel Mapa { get; set; } = new MapasModel(); + public OperacaoSensoriamentoModel Sensoriamento { get; set; } public Form frmOperacao { get; set; } + private StatusOperacao _EtapaAtual; + private StatusOperacao _EtapaAnteriorParada = StatusOperacao.Parado; + public StatusOperacao StatusAtual + { + get + { + StatusOperacao etapaAtual = _EtapaAtual; + + // Se a operação não estiver iniciada + if (!Variaveis.OperacaoEmAndamento.Iniciado) + { + // Etapa atual não é Finalizado, então a etapa é Parametrizando + if (_EtapaAtual != StatusOperacao.Concluido) + { + etapaAtual = StatusOperacao.Parametrizando; + } + } + // Operação em andamento + else + { + // Se o trajeto foi finalizado + if (Variaveis.OperacaoEmAndamento.OpMapaGPS.Concluido) + { + etapaAtual = StatusOperacao.Concluido; + } + // Se a operação tiver algum item mandatório interrompido + else if (!Variaveis.OperacaoEmAndamento.OperacaoLiberada) + { + // Da primeira vez, salva a etapa atual anterior à parada para possível retomada + if (etapaAtual != StatusOperacao.Parado) + { + _EtapaAnteriorParada = etapaAtual; + } + etapaAtual = StatusOperacao.Parado; + } + // Se a etapa atual for parado, mas a operação foi liberada, retoma de onde parou + else if (etapaAtual == StatusOperacao.Parado && Variaveis.OperacaoEmAndamento.OperacaoLiberada) + { + Variaveis.OperacaoEmAndamento.TempoAguardando = DateTime.Now; + etapaAtual = StatusOperacao.Aguardando; + } + // Etapa atual é finalizada, então finaliza a operação + else if (_EtapaAtual == StatusOperacao.Concluido) + { + if (Variaveis.OperacaoEmAndamento.Iniciado) + { + Variaveis.OperacaoEmAndamento.FinalizarOperacao(); + } + } + // Contagem regressiva para iniciar a operação + else if (Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) > DateTime.Now) + { + etapaAtual = StatusOperacao.Aguardando; + } + else if (_EtapaAnteriorParada != StatusOperacao.Parado) + { + etapaAtual = _EtapaAnteriorParada; + _EtapaAnteriorParada = StatusOperacao.Parado; + } + else + { + etapaAtual = StatusOperacao.EmAndamento; + } + } + + + _EtapaAtual = etapaAtual; + + _EtapaAtual = StatusOperacao.EmAndamento; + + return _EtapaAtual; + } + } public bool ModulosConectados { get @@ -139,7 +217,6 @@ namespace AgroBase.Models return MensagemErro; } } - public string frmOperacaoNome { get; set; } public bool Iniciado { get; set; } public long TimestampInicio { get; set; } public long TimestampFim { get; set; } @@ -151,23 +228,18 @@ namespace AgroBase.Models } } public DateTime TempoAguardando { get; set; } - public OperacaoControleModel Controle { get; set; } = new OperacaoControleModel(); - public OperacaoControleModel ControleAnterior { get; set; } = new OperacaoControleModel(); + public List ModulosMandatorios { get; set; } = new List(); public List ParametrosMandatorios { get; set; } = new List(); - public OperacaoSensoriamentoModel Sensoriamento { get; set; } = new OperacaoSensoriamentoModel(); public List Logs { get; set; } = new List(); public List GPSTrajetoria { get; set; } = new List(); public List> GPSTrajetoriaRua { get; set; } = new List>(); - public OperacaoRefRuaGPS ReferencialRuaGPS { get; set; } = new OperacaoRefRuaGPS(); public int QuantidadeCamerasSolo { get; set; } = 2; public List CamerasSolo { get; set; } = new List(); public CameraCaminhoModel CameraCaminho { get; set; } - public int TempoIniciarOperacao { get; set; } = 10; - public string PastaSaida { get; } = "Operacoes/"; + public int TempoIniciarOperacao { get; set; } = 25; public string ID { get; set; } public Timer tmrLogs = new Timer() { Interval = 5000 }; - public List StatusOperacoesPararCarro { get; set; } = new List() { StatusOperacao.Parametrizando, StatusOperacao.Aguardando, StatusOperacao.Parado, StatusOperacao.Concluida }; public static OperacaoModel CarregarParametrosOperacaoPadrao(ModoOperacao Modo) @@ -179,8 +251,6 @@ namespace AgroBase.Models OperacaoModel OperacaoCarregar = new OperacaoModel(Modo) { - Controle = new OperacaoControleModel(), - ControleAnterior = new OperacaoControleModel(), Iniciado = false, TimestampInicio = 0, TimestampFim = 0, @@ -188,22 +258,16 @@ namespace AgroBase.Models DispDir = DirConectado, DispMov = MovConectado, DispSen = SenConectado, - Sensoriamento = new OperacaoSensoriamentoModel(), Logs = new List(), + Sensoriamento = new OperacaoSensoriamentoModel(), }; - if (OperacaoCarregar.DispAtu != null) - { - for (int i = 0; i < OperacaoCarregar.DispAtu.Dados.QuantidadeBicos; i++) - { - OperacaoCarregar.Sensoriamento.AtuacoesPorBico.Add(0); - } - } + switch (Modo) { case ModoOperacao.Manual: - OperacaoCarregar.frmOperacao = new frmOperacaoManual(); - OperacaoCarregar.Controle = new OperacaoControleModel() + OperacaoCarregar.frmOperacao = (Form)Activator.CreateInstance(Variaveis.OperacaoEmAndamento.OpManual.frmOperacao.GetType()); + OperacaoCarregar.OpManual.Controle = new OperacaoControleModel() { TiposControle = new List() { @@ -244,10 +308,13 @@ namespace AgroBase.Models Mandatorio = false, } }; + OperacaoCarregar.Sensoriamento.SonarFrontal = new SonarModel(FuncoesGlobais.FindControlRecursive(OperacaoCarregar.frmOperacao, "picSonar")); break; case ModoOperacao.MapaGPS: - OperacaoCarregar.frmOperacao = new frmOperacaoMapaGPS(); - OperacaoCarregar.Controle = new OperacaoControleModel() + OperacaoCarregar.frmOperacao = (Form)Activator.CreateInstance(Variaveis.OperacaoEmAndamento.OpMapaGPS.frmOperacao.GetType()); + OperacaoCarregar.Logs = new List(); + OperacaoCarregar.OpMapaGPS.ControleAnterior = new OperacaoControleModel(); + OperacaoCarregar.OpMapaGPS.Controle = new OperacaoControleModel() { RPM_Max = 45, RPM_Min = 15, @@ -325,20 +392,20 @@ namespace AgroBase.Models Mandatorio = true, } }; + OperacaoCarregar.OpMapaGPS.Sensoriamento = new OperacaoMapaGPSSensoriamentoModel(); + if (OperacaoCarregar.DispAtu != null) + { + for (int i = 0; i < OperacaoCarregar.DispAtu.Dados.QuantidadeBicos; i++) + { + OperacaoCarregar.OpMapaGPS.Sensoriamento.AtuacoesPorBico.Add(0); + } + } break; } - if (OperacaoCarregar.DispAtu != null) - { - for (int i = 0; i < OperacaoCarregar.DispAtu.Dados.QuantidadeBicos; i++) - { - OperacaoCarregar.Sensoriamento.AtuacoesPorBico.Add(0); - } - } - if (OperacaoCarregar.DispSen != null && OperacaoCarregar.DispSen.Dados.Conectado) { - OperacaoCarregar.DispSen.Dados.Sinaleiros.ForEach(x => x.Comportamento = Variaveis.ComportamentoPorStatus(StatusOperacao.Concluida)); + OperacaoCarregar.DispSen.Dados.Sinaleiros.ForEach(x => x.Comportamento = Variaveis.ComportamentoPorStatus(StatusOperacao.Concluido)); SensorSinaleiroModel Sinaleiro = OperacaoCarregar.DispSen.Dados.Sinaleiros.First(x => x.ID == (Modo == ModoOperacao.Manual ? "LEDMN" : "LEDAT")); Sinaleiro.Comportamento.statusLED = StatusLED.Aceso; @@ -352,14 +419,18 @@ namespace AgroBase.Models public static void SalvarOperacaoPersonalizada(OperacaoModel Operacao) { - Operacao.frmOperacaoNome = Operacao.frmOperacao.Name; - Form frm = Operacao.frmOperacao; + if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.MapaGPS) + { + Operacao.OpMapaGPS.frmOperacaoNome = Operacao.OpMapaGPS.frmOperacao.Name; + Form frm = Operacao.OpMapaGPS.frmOperacao; - Operacao.frmOperacao = null; + Operacao.OpMapaGPS.frmOperacao = null; - //File.WriteAllText("operacao" + Enum.GetName(typeof(ModoOperacao), Operacao.Modo) + ".opr", JsonConvert.SerializeObject(Operacao)); + //File.WriteAllText("operacao" + Enum.GetName(typeof(ModoOperacao), Operacao.Modo) + ".opr", JsonConvert.SerializeObject(Operacao)); - Operacao.frmOperacao = frm; + Operacao.OpMapaGPS.frmOperacao = frm; + } + } public static OperacaoModel CarregarOperacaoPersonalizada(string nomeArquivo) @@ -378,16 +449,15 @@ namespace AgroBase.Models var operacaoText = File.ReadAllText(nomeArquivo); Operacao = JsonConvert.DeserializeObject(operacaoText); - Type tipoDoForm = Type.GetType(Operacao.frmOperacaoNome); + Type tipoDoForm = Type.GetType(Operacao.OpMapaGPS.frmOperacaoNome); if (tipoDoForm != null) { - Operacao.frmOperacao = (Form)Activator.CreateInstance(tipoDoForm); + Operacao.OpMapaGPS.frmOperacao = (Form)Activator.CreateInstance(tipoDoForm); } return Operacao; } - public void IniciarOperacao(OperacaoControleModel controle = null, bool DaIHM = true) { Iniciado = true; @@ -398,55 +468,69 @@ namespace AgroBase.Models if (DispMov != null) { DispMov.Dados.DistanciaPercorridaOperacao = 0; + DispMov.Dados.TempoEmAtividade = 0; } - Sensoriamento = new OperacaoSensoriamentoModel(); - if (DispAtu != null) + if (DispDir != null) { - for (int i = 0; i < DispAtu.Dados.QuantidadeBicos; i++) + DispDir.Dados.Motores.ForEach(x => { - Sensoriamento.AtuacoesPorBico.Add(0); - } - DispAtu.Dados.VolumeVazaoML = 0; + x.Referenciado = false; + x.Referenciando = false; + }); } Sensoriamento.DistanciaPercorrida = new List(); + if (Modo == ModoOperacao.MapaGPS) + { + OpMapaGPS.Sensoriamento = new OperacaoMapaGPSSensoriamentoModel(); + OpMapaGPS.Logs = new List(); + if (DispAtu != null) + { + DispAtu.Dados.BombaPressurizadora.BombaAtuada = false; + for (int i = 0; i < DispAtu.Dados.QuantidadeBicos; i++) + { + OpMapaGPS.Sensoriamento.AtuacoesPorBico.Add(0); + DispAtu.Dados.BicosPulverizadores[i].Atuado = false; + } + DispAtu.Dados.VolumeVazaoML = 0; + } + OpMapaGPS.Controle.PIDdirecional = new PIDModel() + { + LimiteSaida = OpMapaGPS.Controle.Angulo_Max, + SetPoint = 0, + Kp = 1.0, + Ki = 0.1, + Kd = 0.01, + }; + if (controle != null) + { + OpMapaGPS.Controle = controle; + } + } Logs = new List(); GPSTrajetoria = new List(); ID = (new DateTime(TimestampInicio)).ToString("dd_MM_yyyy_HH_mm_ss"); - Directory.CreateDirectory(PastaSaida + ID + "/"); + Directory.CreateDirectory(Variaveis.CaminhoOperacoes + ID + "/"); GPSService.IniciarRecepcaoDados(); //Controle = new OperacaoControleModel(); //ControleAnterior = new OperacaoControleModel(); - Controle.PIDdirecional = new PIDModel() - { - LimiteSaida = Controle.Angulo_Max, - SetPoint = 0, - Kp = 1.0, - Ki = 0.1, - Kd = 0.01, - }; - if (controle != null) - { - Controle = controle; - } + //tmrParametrizacao.Stop(); - if (DispAtu.Dados.BombaPressurizadora.Inicializado) - { - DispAtu.Dados.BombaPressurizadora.BombaAtuada = true; - string Protocolo = DispAtu.Dados.BombaPressurizadora.ProtocoloComando(); - DispAtu.EnviarDadosSerial(Protocolo); - } + RealizarCalibracaoInicialAsync().ConfigureAwait(false); } public void FinalizarOperacao() { - Controle.Angulo = 0; - Controle.RPM = 0; - AtualizarDadosControle(); + if (Modo == ModoOperacao.MapaGPS) + { + OpMapaGPS.Controle.Angulo = 0; + OpMapaGPS.Controle.RPM = 0; + OpMapaGPS.AtualizarDadosControle(); + } if (DispAtu.Dados.BombaPressurizadora.Inicializado) { DispAtu.Dados.BombaPressurizadora.BombaAtuada = false; @@ -467,144 +551,52 @@ namespace AgroBase.Models AtualizarSinaleiroOperacao(); } - public void AtualizarDadosControle() + public async Task RealizarCalibracaoInicialAsync() { - DateTime Agora = DateTime.Now; - OperacaoControleTipoModel ControleMov = Controle.TiposControle != null ? Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Mov) : null; - OperacaoControleTipoModel ControleDir = Controle.TiposControle != null ? Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Dir) : null; - OperacaoControleTipoModel ControleAtu = Controle.TiposControle != null ? Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Atu) : null; - - if (ControleMov != null && Controle.RPM != ControleAnterior.RPM && (Agora - ControleMov.UltimoComando).TotalMilliseconds > ControleMov.DelayEnvioComando) + if (DispAtu != null) { - // Enviar comando MOV - var Protocolos = EnviarProtocoloComando(DispMov); - ControleMov.UltimoComando = Agora; - ControleMov.Comandos.AddRange(Protocolos); - - ControleAnterior.RPM = Controle.RPM; - } - if (ControleDir != null && Convert.ToInt32(Controle.Angulo) != Convert.ToInt32(ControleAnterior.Angulo) && (Agora - ControleDir.UltimoComando).TotalMilliseconds > ControleDir.DelayEnvioComando) - { - // Enviar comando DIR - var Protocolos = EnviarProtocoloComando(DispDir); - ControleDir.UltimoComando = Agora; - ControleDir.Comandos.AddRange(Protocolos); - - ControleAnterior.Angulo = Controle.Angulo; - } - if (ControleAtu != null && !Controle.BicosAtuados.Select(x => x.Atuado).SequenceEqual(ControleAnterior.BicosAtuados.Select(x => x.Atuado)) && (Agora - ControleAtu.UltimoComando).TotalMilliseconds > ControleAtu.DelayEnvioComando) - { - // Enviar comando ATU - var Protocolos = EnviarProtocoloComando(DispAtu); - ControleAtu.UltimoComando = Agora; - ControleAtu.Comandos.AddRange(Protocolos); - - ControleAnterior.BicosAtuados = new List(); - foreach (var bico in Controle.BicosAtuados) + // Ligar bomba + if (DispAtu.Dados.BombaPressurizadora.Inicializado) { - ControleAnterior.BicosAtuados.Add(bico.Clone()); + DispAtu.Dados.BombaPressurizadora.BombaAtuada = true; + string Protocolo = DispAtu.Dados.BombaPressurizadora.ProtocoloComando(); + DispAtu.EnviarDadosSerial(Protocolo); } - } - AtualizarDadosOperacao(); - } + await Task.Delay(5000); - private void AtualizarDadosOperacao() - { - if (DispMov == null) - { - return; - } - try - { - Sensoriamento.ErvasIdentificadas = Sensoriamento.AtuacoesPorBico.Sum(); - Sensoriamento.VelocidadeMedia = DispMov.Dados.Motores.Average(x => x.VelocidadeInstantanea); - //Sensoriamento.DistanciaPercorrida = DispMov.Dados.DistanciaPercorridaOperacao; - Sensoriamento.ProgressoTrajeto = Mapa.mapaService.pythonProcess == null ? 0 : Sensoriamento.DistanciaPercorrida.Sum() / Mapa.DistanciaTotal * 100; - if (Sensoriamento.ProgressoTrajeto < 0 && Sensoriamento.ProgressoTrajeto >= 0) + // Testar os bicos + for (int i = 0; i < DispAtu.Dados.QuantidadeBicos; i++) { - Sensoriamento.ProgressoTrajeto = 0; - } - Sensoriamento.ProgressoRua = - Mapa == null ? 0 : - (ReferencialRuaGPS.Direcao == DirecaoCarroRua.Ida ? ((double)ReferencialRuaGPS.IdxPontoAproximadoRua / (double)(Mapa.Trajetoria[Mapa.IdxRuaAtual].Count - 1)) : - ReferencialRuaGPS.Direcao == DirecaoCarroRua.Volta ? ((double)(Mapa.Trajetoria[Mapa.IdxRuaAtual].Count - 1 - ReferencialRuaGPS.IdxPontoAproximadoRua) / (double)(Mapa.Trajetoria[Mapa.IdxRuaAtual].Count - 1)) : - 0) * 100; - } - catch - { + var Bico = DispAtu.Dados.BicosPulverizadores[i]; + if (Bico.Inicializado) + { + Bico.Atuado = true; + DispAtu.EnviarDadosSerial(Bico.ProtocoloComando()); - } - - } + await Task.Delay(1000); - public List EnviarProtocoloComando(IDispositivosService Dispositivo) - { - if (Dispositivo == null) - { - return new List(); - } - - if (Dispositivo.Dispositivo == T_Code.Mov) - { - GeneralJoystick.RPM = Controle.RPM; - if (Controle.RPM == 0) - { - Controle.Direcao = Direcao.Parado; - } - else - { - if (Controle.RPM < 0) - { - GeneralJoystick.RPM *= -1; - Controle.Direcao = Direcao.Tras; - } - else - { - Controle.Direcao = Direcao.Frente; - } - } - } - else if (Dispositivo.Dispositivo == T_Code.Dir) - { - GeneralJoystick.Angulo = Controle.Angulo; - if (Controle.Angulo < 0) - { - GeneralJoystick.Angulo *= -1; - if (ControleAnterior.Angulo < Controle.Angulo) - { - Controle.Direcao = Direcao.Parado; - } - else - { - Controle.Direcao = Direcao.Baixo; + Bico.Atuado = false; + DispAtu.EnviarDadosSerial(Bico.ProtocoloComando()); } } - else + + await Task.Delay(1000); + } + + // Referenciar o direcional + if (DispDir != null) + { + foreach (var Motor in DispDir.Dados.Motores) { - if (ControleAnterior.Angulo > Controle.Angulo) + DispDir.EnviarDadosSerial(Motor.ProtocoloComando(Direcao.Parado, true)); + + while (Motor.Referenciando) { - Controle.Direcao = Direcao.Parado; - } - else - { - Controle.Direcao = Direcao.Cima; + await Task.Delay(500); } } } - - var Protocolos = - Dispositivo.Dados is MovimentacaoModel ? ((MovimentacaoModel)Dispositivo.Dados).Motores.Select(x => x.ProtocoloComando(Controle.Direcao)) : - Dispositivo.Dados is DirecionalModel ? ((DirecionalModel)Dispositivo.Dados).Motores.Select(x => x.ProtocoloComando(Controle.Direcao)) : - Dispositivo.Dados is AtuadorModel ? ((AtuadorModel)Dispositivo.Dados).BicosPulverizadores.Select(x => x.ProtocoloComando()) : - null; - foreach (var ProtocoloMotor in Protocolos) - { - Dispositivo.EnviarDadosSerial(ProtocoloMotor); - Task.Delay(10); - } - - return Protocolos.ToList(); } public void SalvarLog(bool Fim) @@ -612,43 +604,27 @@ namespace AgroBase.Models Logs.Add(new OperacaoSensoriamentoModel() { Momento = DateTime.Now, - AtuacoesPorBico = new List(Sensoriamento.AtuacoesPorBico), BateriaConsumida = Sensoriamento.BateriaConsumida, DistanciaDireita = Sensoriamento.DistanciaDireita, DistanciaEsquerda = Sensoriamento.DistanciaEsquerda, DistanciaPercorrida = new List(Sensoriamento.DistanciaPercorrida), - ErvasIdentificadas = Sensoriamento.ErvasIdentificadas, - ErvasNoRadar = Sensoriamento.ErvasNoRadar, - HerbicidaConsumido = Sensoriamento.HerbicidaConsumido, - HerbicidaPorErva = Sensoriamento.HerbicidaPorErva, - ProgressoTrajeto = Sensoriamento.ProgressoTrajeto, - ProgressoRua = Sensoriamento.ProgressoRua, - VelocidadeMedia = Sensoriamento.VelocidadeMedia, PorcentagemBateria = Sensoriamento.PorcentagemBateria, - Status = ReferencialRuaGPS.StatusAtual, - Direcao = ReferencialRuaGPS.Direcao, - AnguloCarro = ReferencialRuaGPS.AnguloCarro, - AnguloRua = ReferencialRuaGPS.AnguloRua, - DentroDaRua = ReferencialRuaGPS.DentroDaRua, - IdxPontoAproximadoRua = ReferencialRuaGPS.IdxPontoAproximadoRua, - IdxRuaAtual = Mapa.IdxRuaAtual, - AnguloDif = Sensoriamento.AnguloDif, - AnguloRuaCamera = Sensoriamento.AnguloRuaCamera, + //AnguloCarro = ReferencialRuaGPS.AnguloCarro, AnguloCarroBussola = Sensoriamento.AnguloCarroBussola }); - if (!Directory.Exists(PastaSaida + ID)) + if (!Directory.Exists(Variaveis.CaminhoOperacoes + ID)) { - Directory.CreateDirectory(PastaSaida + ID); + Directory.CreateDirectory(Variaveis.CaminhoOperacoes + ID); } - if (!File.Exists(PastaSaida + ID + "/logs.json")) + if (!File.Exists(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json")) { string jsonLog = JsonConvert.SerializeObject(Logs, Formatting.None); - File.WriteAllText(PastaSaida + ID + "/logs.json", jsonLog.Substring(0, jsonLog.Length - 1)); + File.WriteAllText(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json", jsonLog.Substring(0, jsonLog.Length - 1)); } else { string jsonLog = JsonConvert.SerializeObject(Logs[Logs.Count - 1], Formatting.None); - File.AppendAllText(PastaSaida + ID + "/logs.json", "," + jsonLog + (Fim ? "]" : "")); + File.AppendAllText(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json", "," + jsonLog + (Fim ? "]" : "")); } @@ -674,109 +650,9 @@ namespace AgroBase.Models } Sensoriamento.DistanciaPercorrida[Mapa.IdxRuaAtual] += GPSService.DistanciaEntrePontos(GPSTrajetoria[GPSTrajetoria.Count - 1], GPSTrajetoria[GPSTrajetoria.Count - 2]); } - File.WriteAllText(PastaSaida + ID + "/trajetoria.json", JsonConvert.SerializeObject(GPSTrajetoria, Formatting.None)); + File.WriteAllText(Variaveis.CaminhoOperacoes + ID + "/trajetoria.json", JsonConvert.SerializeObject(GPSTrajetoria, Formatting.None)); } - - public void AtualizarControleAtuadores() - { - Controle.BicosAtuados = DispAtu.Dados.BicosPulverizadores; - } - - public void CalcularAnguloInclinacao() - { - double erroOrientacao = 0.0; - double anguloCarro = ReferencialRuaGPS.AnguloCarro; - double anguloOposto = (anguloCarro + 180) % 360; - double anguloRua = ReferencialRuaGPS.AnguloRua; - double anguloCamera = Sensoriamento.AnguloRuaCamera; - - // Calcula o erro de orientação - if ((anguloCarro + ReferencialRuaGPS.MargemErroAngulo) >= anguloRua && (anguloCarro - ReferencialRuaGPS.MargemErroAngulo) <= anguloRua) - { - erroOrientacao = anguloCarro - anguloRua; - } - else if ((anguloOposto + ReferencialRuaGPS.MargemErroAngulo) >= anguloRua && (anguloOposto - ReferencialRuaGPS.MargemErroAngulo) <= anguloRua) - { - erroOrientacao = anguloOposto - anguloRua; - } - Sensoriamento.AnguloDif = erroOrientacao; - - // Assume-se que o anguloCamera reflete o desvio lateral. - // Isso pode precisar de ajuste dependendo de como o ângulo é medido. - double erroPosicaoLateral = anguloCamera; - - // Combina os erros. Ajuste os pesos conforme necessário para o seu caso específico. - double pesoOrientacao = 0.3; - double pesoPosicaoLateral = 0.7; - double erroCombinado = (erroOrientacao * pesoOrientacao) + (erroPosicaoLateral * pesoPosicaoLateral); - - var statusAtual = ReferencialRuaGPS.StatusAtual; - // Atualiza o PID com o erro combinado - if (!StatusOperacoesPararCarro.Contains(statusAtual) && statusAtual != StatusOperacao.Manobrando) - { - Controle.PIDdirecional.Atualizar(erroCombinado); - } - double correcaoAngulo = Controle.PIDdirecional.Saida; - - // Aplica a correção. Isso pode incluir limites para evitar comandos excessivos. - Controle.Angulo = correcaoAngulo; - } - - public void CalculaDadosMovimentacaoAutonoma() - { - CalcularAnguloInclinacao(); - - var statusAtual = ReferencialRuaGPS.StatusAtual; - - if (StatusOperacoesPararCarro.Contains(statusAtual)) - { - var BicosNaoAtuados = new List(DispAtu.Dados.BicosPulverizadores); - BicosNaoAtuados.ForEach(x => x.Atuado = false); - Controle.BicosAtuados = BicosNaoAtuados.ToList(); - Controle.RPM = 0; - Controle.Angulo = 0; - } - else if (statusAtual == StatusOperacao.EntrandoRua) - { - Controle.RPM = Controle.RPM_Min; - } - else if (statusAtual == StatusOperacao.SaindoRua) - { - Controle.RPM = Controle.RPM_Min; - } - else if (statusAtual == StatusOperacao.CaminhandoRua) - { - if (Sensoriamento.ErvasNoRadar == 0) - { - Controle.RPM = Controle.RPM_Max; - } - else - { - Controle.RPM = Convert.ToInt32(Controle.RPM_Max * 0.85); - } - - double margemAngulo = 5; - if (Controle.Angulo > margemAngulo || Controle.Angulo < (margemAngulo * -1)) - { - Controle.RPM = Controle.RPM_Min; - } - } - else if (statusAtual == StatusOperacao.Manobrando) - { - Controle.RPM = 0; - CalcularManobra(); - } - - } - - public void CalcularManobra() - { - - } - - - private void TmrLogs_Tick(object sender, EventArgs e) { if (Iniciado) @@ -787,24 +663,6 @@ namespace AgroBase.Models AtualizarSinaleiroOperacao(); } - public void AtualizarRuasSelecionadas() - { - List ids = new List(); - var Topico = Variaveis.MqttService.Topicos.FirstOrDefault(x => x.Topico == MapasVariaveisModel.TopicoSelecaoRuasMapa); - var Mensagem = Topico.Mensagens.LastOrDefault(); - if (Mensagem != null && !Mensagem.Mensagem.Contains("[]")) - { - Mensagem.Mensagem = Mensagem.Mensagem.Replace("\n", ""); - Mensagem.Mensagem = Mensagem.Mensagem.Replace("\"", ""); - ids = JsonConvert.DeserializeObject(Mensagem.Mensagem).Select(x => x.ToString()).ToList(); - } - if (ids.Count != Mapa.RuasPercorrer.Count) - { - Mapa.RuasPercorrer = ids; - Mapa.PopularTrajetoria(); - } - } - public void AtualizarSinaleiroOperacao() { if (DispSen != null && DispSen.Dados.Conectado) @@ -815,6 +673,44 @@ namespace AgroBase.Models } } + public void AbrirForm() + { + if (Variaveis.OperacaoEmAndamento.OperacaoLiberada) + { + frmOperacao = (Form)Activator.CreateInstance(( + Modo == ModoOperacao.Manual ? Variaveis.OperacaoEmAndamento.OpManual.frmOperacao : + Modo == ModoOperacao.MapaGPS ? Variaveis.OperacaoEmAndamento.OpMapaGPS.frmOperacao : + new Form() + ).GetType()); + Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal = new SonarModel(FuncoesGlobais.FindControlRecursive(frmOperacao, "picSonar")); + frmOperacao.Show(); + } + else + { + MessageBox.Show(Variaveis.OperacaoEmAndamento.ErroOperacaoLiberada, "Conexão de módulos pendentes", MessageBoxButtons.OK, MessageBoxIcon.Warning); + } + } + } + + public class OperacaoSensoriamentoModel + { + public DateTime Momento { get; set; } + public double VelocidadeMedia + { + get + { + return Variaveis.OperacaoEmAndamento.DispMov.Dados.Motores.Average(x => x.VelocidadeInstantanea); + } + } + public double PorcentagemBateria { get; set; } = 0; + public double BateriaConsumida { get; set; } = 0; + public List DistanciaPercorrida { get; set; } = new List(); + public double DistanciaEsquerda { get; set; } = 0; + public double DistanciaDireita { get; set; } = 0; + public double AnguloCarro { get; set; } = 0; + public double AnguloCarroBussola { get; set; } = 0; + public SonarModel SonarFrontal { get; set; } + } public class OperacaoControleModel @@ -858,380 +754,8 @@ namespace AgroBase.Models public bool Pronto { get; set; } } - public class OperacaoSensoriamentoModel - { - public DateTime Momento { get; set; } - public int ErvasNoRadar { get; set; } = 0; - public double VelocidadeMedia { get; set; } = 0; - public double HerbicidaConsumido { get; set; } = 0; - public double HerbicidaPorErva { get; set; } = 0; - public double PorcentagemBateria { get; set; } = 0; - public double BateriaConsumida { get; set; } = 0; - public int ErvasIdentificadas { get; set; } = 0; - public List AtuacoesPorBico { get; set; } = new List(); - public List DistanciaPercorrida { get; set; } = new List(); - public double ProgressoTrajeto { get; set; } = 0; - public double ProgressoRua { get; set; } = 0; - public double DistanciaEsquerda { get; set; } = 0; - public double DistanciaDireita { get; set; } = 0; - public StatusOperacao Status { get; set; } = StatusOperacao.Parado; - public double AnguloCarro { get; set; } = 0; - public double AnguloCarroBussola { get; set; } = 0; - public double AnguloRua { get; set; } = 0; - public double AnguloRuaCamera { get; set; } = 0; - public double AnguloDif { get; set; } = 0; - public DirecaoCarroRua Direcao { get; set; } = DirecaoCarroRua.Parado; - public bool DentroDaRua { get; set; } = false; - public int IdxPontoAproximadoRua { get;set; } = 0; - public int IdxRuaAtual { get; set;} = 0; - } + - public class OperacaoRefRuaGPS - { - public bool ManobraConcluida { get; set; } = false; - private StatusOperacao _EtapaAtual; - private StatusOperacao _EtapaAnteriorParada = StatusOperacao.Parado; - public StatusOperacao StatusAtual - { - get - { - StatusOperacao etapaAtual = _EtapaAtual; - - // Se a operação não estiver iniciada - if (!Variaveis.OperacaoEmAndamento.Iniciado) - { - // Etapa atual não é Finalizado, então a etapa é Parametrizando - if (_EtapaAtual != StatusOperacao.Concluida) - { - etapaAtual = StatusOperacao.Parametrizando; - } - } - // Operação em andamento - else - { - // Se a operação tiver algum item mandatório interrompido - if (!Variaveis.OperacaoEmAndamento.OperacaoLiberada) - { - // Da primeira vez, salva a etapa atual anterior à parada para possível retomada - if (etapaAtual != StatusOperacao.Parado) - { - _EtapaAnteriorParada = etapaAtual; - } - etapaAtual = StatusOperacao.Parado; - } - // Se a etapa atual for parado, mas a operação foi liberada, retoma de onde parou - else if (etapaAtual == StatusOperacao.Parado && Variaveis.OperacaoEmAndamento.OperacaoLiberada) - { - Variaveis.OperacaoEmAndamento.TempoAguardando = DateTime.Now; - etapaAtual = StatusOperacao.Aguardando; - } - // Etapa atual é finalizada, então finaliza a operação - else if (_EtapaAtual == StatusOperacao.Concluida) - { - Variaveis.OperacaoEmAndamento.FinalizarOperacao(); - } - // Contagem regressiva para iniciar a operação - else if (Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) > DateTime.Now) - { - etapaAtual = StatusOperacao.Aguardando; - } - else if (_EtapaAnteriorParada != StatusOperacao.Parado) - { - etapaAtual = _EtapaAnteriorParada; - _EtapaAnteriorParada = StatusOperacao.Parado; - } - // Se o modo de operação for Manual, sempre estará no status CaminhandoRua - else if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.Manual) - { - etapaAtual = StatusOperacao.CaminhandoRua; - } - // Robô está manobrando para seguir a próxima rota do mapa - else if (_EtapaAtual == StatusOperacao.Manobrando) - { - // Aguarda a mudança de rua até que o robô tenha terminado a manobra e tenha ficado parado em frente à rua - if (ManobraConcluida && Direcao == DirecaoCarroRua.Parado) - { - Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++; - ManobraConcluida = false; - etapaAtual = StatusOperacao.EntrandoRua; - GPSService.AtualizaLeituraSimulacao(); - Task.Delay(500); - } - } - // Se o robô não estiver dentro da entrelinha de cana - else if (!DentroDaRua) - { - // Está mais próximo do ponto inicial da rota, e a direção do carro é IDA ou então PARADO, logo está entrando na rua, do começo para o final - if (ExtremoMaisProximo == 0 && (Direcao == DirecaoCarroRua.Ida || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusOperacao.SaindoRua) - { - etapaAtual = StatusOperacao.EntrandoRua; - } - // Está mais próximo do ponto final da rota, e a direção do carro é VOLTA ou então PARADO, logo está entrando na rua, do final para o começo - else if (ExtremoMaisProximo == 1 && (Direcao == DirecaoCarroRua.Volta || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusOperacao.SaindoRua) - { - etapaAtual = StatusOperacao.EntrandoRua; - } - // Robô não está entrando na rua do começo para o fim, nem do fim para o começo - else - { - // Se a etapa anterior era CaminhandoRua, ou seja, robô estava na rua e agora não está mais, então esta saindo da rua - if (_EtapaAtual == StatusOperacao.CaminhandoRua) - { - etapaAtual = StatusOperacao.SaindoRua; - } - // Se a etapa anterior não for CaminhandoRua, então significa que ele já iniciou a etapa de sair da rua - else - { - // O índice de rua para realizar o trabalho já ultrapassou a quantidade de ruas definidas pelo operador, então a operação foi concluída - if (Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual >= Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Count - 1) - { - etapaAtual = StatusOperacao.Concluida; - } - // Ainda tem ruas a serem percorridas, logo, o robô precisa realizar a manobra para seguir para a próxima rua - else - { - etapaAtual = StatusOperacao.Manobrando; - } - } - } - } - // Se o robô estiver dentro da entrelinha da cana - else if (DentroDaRua) - { - etapaAtual = StatusOperacao.CaminhandoRua; - } - } - - - _EtapaAtual = etapaAtual; - - return etapaAtual; - } - } - public int PontosConsiderarAngulo { get; set; } = 2; - public double Distancia { get; set; } = 0; - public double AnguloCarro - { - get - { - if (Variaveis.OperacaoEmAndamento.DispSen._Porta.IsOpen && Variaveis.OperacaoEmAndamento.DispSen.Dados.Sensores.Any(x => x.Componente == S_Code.sMAG && x.Inicializado)) - { - return Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola; - } - else - { - return AnguloCarroGPS; - } - } - } - public double AnguloCarroGPS - { - get - { - try - { - double somaAngulo = 0; - var Pontos = !Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Any() ? new List() : - Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].Count > PontosConsiderarAngulo ? - Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].OrderByDescending(x => x.DataHora).Take(PontosConsiderarAngulo).ToList() : - Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].OrderByDescending(x => x.DataHora).ToList(); - Pontos = Pontos.OrderBy(x => x.DataHora).ToList(); - for (int i = 0; i < Pontos.Count - 1; i++) - { - somaAngulo += GPSService.CalcularOrientacao(Pontos[i + 1], Pontos[i]); - } - double mediaAngulo = somaAngulo / (Pontos.Count - 1); - - return (!(mediaAngulo >= 0 || mediaAngulo <= 0)) ? 0 : mediaAngulo; - } - catch - { - return 0; - } - } - } - public double AnguloRua - { - get - { - try - { - double somaAnguloRua = 0; - var Rua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First(); - - - var PontosRua = IdxPontoAproximadoRua + PontosConsiderarAngulo < Rua.Count ? - Rua.Skip(IdxPontoAproximadoRua).Take(PontosConsiderarAngulo).ToList() : - Rua.Skip(IdxPontoAproximadoRua - PontosConsiderarAngulo).ToList(); - - /*var Pontos = Rua.Count > PontosConsiderarAngulo ? - Rua.OrderByDescending(x => x.DataHora).Take(PontosConsiderarAngulo).ToList() : - Rua.OrderByDescending(x => x.DataHora).ToList();*/ - - - for (int i = 0; i < PontosRua.Count - 1; i++) - { - somaAnguloRua += GPSService.CalcularOrientacao(PontosRua[i + 1], PontosRua[i]); - } - double mediaAnguloRua = somaAnguloRua / (PontosRua.Count - 1); - - return (!(mediaAnguloRua >= 0 || mediaAnguloRua <= 0)) ? 0 : mediaAnguloRua; - } - catch - { - return 0; - } - } - } - public double MargemErroAngulo { get; set; } = 45; - public DirecaoCarroRua Direcao - { - get { - - if (GPSService.UltimaLeitura.Latitude == GPSService.PenultimaLeitura.Latitude && GPSService.UltimaLeitura.Longitude == GPSService.PenultimaLeitura.Longitude && GPSService.UltimaLeitura.DataHora > GPSService.PenultimaLeitura.DataHora) - { - return DirecaoCarroRua.Parado; - } - double mediaAngulo = AnguloCarro; - double anguloOposto = (mediaAngulo + 180) % 360; - double mediaAnguloRua = AnguloRua; - - if ((mediaAngulo + MargemErroAngulo) >= mediaAnguloRua && (mediaAngulo - MargemErroAngulo) <= mediaAnguloRua) - { - return DirecaoCarroRua.Ida; - } - else if ((anguloOposto + MargemErroAngulo) >= mediaAnguloRua && (anguloOposto - MargemErroAngulo) <= mediaAnguloRua) - { - return DirecaoCarroRua.Volta; - } - else - { - return DirecaoCarroRua.Parado; - } - } - } - public GPSModel PrimeiroPontoRua - { - get - { - try - { - var primeiroPontoRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First().First(); - return primeiroPontoRua; - } - catch - { - return new GPSModel(); - } - - } - } - public GPSModel UltimoPontoRua - { - get - { - try - { - var ultimoPontoRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First().Last(); - return ultimoPontoRua; - } - catch - { - return new GPSModel(); - } - } - } - public bool DentroDaRua - { - get - { - try - { - string IDruaAtual = Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual]; - var Rua = Variaveis.OperacaoEmAndamento.Mapa.mapaService.DadosMapa.features.Where(x => x.geometry.id == IDruaAtual).First(); - - bool dentro = false; - List Trecho = new List(); - var PontosRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].ToList(); - int idx = Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.IdxPontoAproximadoRua; - if (Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual % 2 != 0) - { - PontosRua.Reverse(); - idx = idx != (PontosRua.Count - 1) ? (PontosRua.Count - 1) - idx : idx; - } - for (int i = 0; i <= idx; i++) - { - Trecho.Add(PontosRua[i]); - } - double distTrecho = GPSService.DistanciaDoTrecho(Trecho); - dentro = distTrecho > 0 && distTrecho < Rua.properties.Length; - - return dentro; - } - catch - { - return false; - } - } - } - public int ExtremoMaisProximo { - get - { - double distPP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PrimeiroPontoRua); - double distUP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, UltimoPontoRua); - - // 0 para mais próximo do primeiro ponto da rua (ENTRANDO) - // 1 para mais próximo do último ponto da rua (SAINDO) - return (distPP < distUP) ? 0 : 1; - } - } - private DateTime UltimaLeituraDistancia; - private int idxPontoAproximadoRua = 0; - public int IdxPontoAproximadoRua - { - get - { - try - { - if (UltimaLeituraDistancia == null) - { - UltimaLeituraDistancia = DateTime.Now.Add(new TimeSpan(0, 0, -10)); - } - else if (UltimaLeituraDistancia.Add(new TimeSpan(0, 0, 5)) < DateTime.Now) - { - int idx = -1; - double menorDistancia = 9999; - double distanciaAnterior = 9999; - - var Rua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual]; - - foreach (var Ponto in Rua) - { - double dist = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, Ponto); - if (dist < menorDistancia) - { - menorDistancia = dist; - idx = Rua.IndexOf(Ponto); - } - else if (dist > distanciaAnterior) - { - break; - } - distanciaAnterior = dist; - } - idxPontoAproximadoRua = idx; - - UltimaLeituraDistancia = DateTime.Now; - } - } - catch - { - - } - - return idxPontoAproximadoRua; - } - } - } + } diff --git a/AgroBase/AgroBase/Models/SonarModel.cs b/AgroBase/AgroBase/Models/SonarModel.cs new file mode 100644 index 000000000..142a7e0cb --- /dev/null +++ b/AgroBase/AgroBase/Models/SonarModel.cs @@ -0,0 +1,643 @@ +using AgroBase.Models.Modules; +using AgroBase.Services; +using System; +using System.Collections.Generic; +using System.Drawing; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Windows.Forms; +using static AgroBase.Models.Enuns; + +namespace AgroBase.Models +{ + public class SonarModel + { + public SonarModel(PictureBox pictureSonar) + { + picSonar = pictureSonar; + } + + + public List Deteccoes { get; set; } = new List(); + public List ObstaculosDetectados { get; set; } = new List(); + public int maxDistanceCm { get; set; } = 200; + public static int anguloAcrescentar { get; set; } = 5; + public int PosicaoAtual { get; set; } = 0; + public static int AnguloDesvioMaximo { get; set; } = 60; + public static double MargemSegurancaDesvio { get; set; } = 5; + private int LarguraMinimaObstaculo { get; set; } = 10; + public bool DesvioNecessario { get; set;} = false; + public double DistanciaEsquerda { get; set; } + public double DistanciaDireita { get; set; } + + + #region Informacoes Visiais + + PictureBox picSonar; + int radarRadiusPixels = 0; // Raio do radar em pixels + double pixelsPerCm = 0; // Calcula pixels por cm + int leiturasManter = 20; + + public void AtualizarSonar() + { + // Atualiza o desenho do radar + DrawRadar(); + ProcessarDados(); + } + private void DrawRadar() + { + radarRadiusPixels = ((picSonar.Height < picSonar.Width ? picSonar.Height : picSonar.Width) / 2) - 50; // Raio do radar em pixels + pixelsPerCm = radarRadiusPixels / (double)maxDistanceCm; // Calcula pixels por cm + + Bitmap bmp = new Bitmap(picSonar.Width, picSonar.Height); + Graphics g = Graphics.FromImage(bmp); + g.Clear(Color.Black); + + int centerX = picSonar.Width / 2; + int centerY = picSonar.Height / 2; + + // Desenha a grade e os ângulos + DrawGrid(g, centerX, centerY); + DrawAngles(g, centerX, centerY); + + var detections = Deteccoes.First(x => x.Posicao == PosicaoAtual).Leituras.OrderByDescending(d => d.Momento); + // Aqui continua o código para desenhar as detecções e o arco do sonar... + // Filtra e mantém apenas as últimas 2 detecções de cada ângulo + var recentDetections = detections.ToList(); + int i = 0; + foreach (var detection in recentDetections) + { + // Ajusta a distância para a escala do display + double scaledDistance = (i == 0 ? maxDistanceCm : detection.Distancia) * pixelsPerCm; + + // Calcula as posições finais ajustadas para a escala + int x = (int)(Math.Cos(detection.Angulo * Math.PI / 180) * scaledDistance); + int y = (int)(Math.Sin(detection.Angulo * Math.PI / 180) * scaledDistance); + + // Desenha uma linha do centro até o ponto detectado, ajustado para a escala + g.DrawLine(i == 0 ? new Pen(Color.Red, 7) : Pens.Red, centerX, centerY, centerX + x, centerY - y); + i++; + } + + // Desenha os obstáculos detectados + DrawObstacles(g, centerX, centerY); + + // Adiciona as novas informações visuais aqui + DrawAdditionalInfo(g, detections.First().Angulo, detections.First().Distancia); + + // Desenha a trajetória de desvio + DrawTrajectory(g, centerX, centerY); + + // Ao final, atribui o bitmap ao PictureBox + picSonar.Image?.Dispose(); // Libera o recurso da imagem anterior + picSonar.Image = bmp; + } + + private void DrawGrid(Graphics g, int centerX, int centerY) + { + int scaleDistanceCm = 50; // Distância em cm que cada círculo da grade representa + + // Calcula o espaçamento entre as linhas da grade em pixels + int stepPixels = (int)(scaleDistanceCm * pixelsPerCm); + + // Desenha linhas circulares baseadas na escala + for (int r = stepPixels; r <= radarRadiusPixels; r += stepPixels) + { + g.DrawEllipse(Pens.Gray, centerX - r, centerY - r, 2 * r, 2 * r); + + // Calcula a posição da legenda + int legendX = centerX + 5; // Um pequeno deslocamento à direita do centro + int legendY = centerY + r - 10; // Posiciona acima da linha da grade + + // Desenha a legenda de distância + string legendText = $"{(r / pixelsPerCm).ToString("0")} cm"; + g.DrawString(legendText, new Font("Arial", 8), Brushes.White, legendX, legendY); + } + + // Desenha linhas radiais (Opcional: ajuste conforme necessário) + for (int angle = 0; angle < 360; angle += 30) + { + double radian = angle * Math.PI / 180; + int x = (int)(Math.Cos(radian) * radarRadiusPixels); + int y = (int)(Math.Sin(radian) * radarRadiusPixels); + g.DrawLine(Pens.Gray, centerX, centerY, centerX + x, centerY - y); + } + + // Desenha o arco do sonar + g.DrawEllipse(Pens.Green, centerX - radarRadiusPixels, centerY - radarRadiusPixels, radarRadiusPixels * 2, radarRadiusPixels * 2); + } + + private void DrawAngles(Graphics g, int centerX, int centerY) + { + int radius = radarRadiusPixels + 10; // Posiciona o texto um pouco fora do radar para não sobrepor as linhas + using (Font font = new Font("Arial", 8)) + { + for (int angle = 0; angle <= 180; angle += 30) // Ajuste o passo conforme necessário + { + // Ajuste aqui para o sentido anti-horário + double radian = (360 - angle) * Math.PI / 180; + int x = (int)(Math.Cos(radian) * radius) + centerX; + int y = (int)(Math.Sin(radian) * radius) + centerY; + + // Ajusta a posição do texto para melhor alinhamento + SizeF textSize = g.MeasureString(angle.ToString(), font); + g.DrawString(angle.ToString(), font, Brushes.White, x - textSize.Width / 2, y - textSize.Height / 2); + } + } + } + + private void DrawObstacles(Graphics g, int centerX, int centerY) + { + // Desenha obstáculos detectados + foreach (var obstaculo in ObstaculosDetectados) + { + // Calcula a posição e o tamanho do obstáculo no radar + double anguloInicialRad = obstaculo.AnguloInicial * Math.PI / 180; + double anguloFinalRad = obstaculo.AnguloFinal * Math.PI / 180; + + // Calcula a largura do obstáculo no radar em pixels + double larguraObstaculoPixels = obstaculo.Largura * pixelsPerCm; + int posicaoAtual = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.PosicaoAtual; + var deteccoes = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal.Deteccoes.First(x => x.Posicao == posicaoAtual).Leituras.OrderBy(x => x.Angulo).ToList(); + var leituraInicial = deteccoes.First(x => x.Angulo == obstaculo.AnguloInicial); + var leituraFinal = deteccoes.First(x => x.Angulo == obstaculo.AnguloFinal); + int idxPontoInicial = deteccoes.IndexOf(leituraInicial); + int idxPontoFinal = deteccoes.IndexOf(leituraFinal); + + List pontos = new List(); + for (int i = idxPontoInicial; i <= idxPontoFinal; i++) + { + double anguloRad = deteccoes[i].Angulo * Math.PI / 180; + var ponto = new Point(centerX + (int)(Math.Cos(anguloRad) * deteccoes[i].Distancia), + centerY - (int)(Math.Sin(anguloRad) * deteccoes[i].Distancia)); + pontos.Add(ponto); + } + + pontos.Add(new Point( + pontos[pontos.Count - 1].X + (int)(Math.Cos(anguloFinalRad) * larguraObstaculoPixels), + pontos[pontos.Count - 1].Y - (int)(Math.Sin(anguloFinalRad) * larguraObstaculoPixels)) + ); + pontos.Add(new Point( + pontos[0].X + (int)(Math.Cos(anguloInicialRad) * larguraObstaculoPixels), + pontos[0].Y - (int)(Math.Sin(anguloInicialRad) * larguraObstaculoPixels)) + ); + + g.FillPolygon(Brushes.Yellow, pontos.ToArray()); + } + } + + private void DrawAdditionalInfo(Graphics g, double angulo, double distancia) + { + // Adiciona a informação de ângulo e distância atuais + string infoText = $"Posição: {PosicaoAtual}, Ângulo: {angulo}°, Distância: {distancia} cm"; + // Escolha a posição onde deseja que o texto apareça. Exemplo: canto superior esquerdo. + int infoPosX = 10; // 10 pixels do canto esquerdo + int infoPosY = 10; // 10 pixels do topo + g.DrawString(infoText, new Font("Arial", 10), Brushes.White, infoPosX, infoPosY); + string distText = $"DE: {DistanciaEsquerda.ToString("0.0")} cm, DD: {DistanciaDireita.ToString("0.0")} cm"; + g.DrawString(distText, new Font("Arial", 7), Brushes.White, picSonar.Width - 180, picSonar.Height - 20); + + // Verifica se há obstáculos detectados para evitar erros + if (ObstaculosDetectados.Any()) + { + SonarObstaculoDetectadoModel obstaculoCritico = ObstaculosDetectados.OrderBy(o => o.DistanciaMedia).First(); + + string anguloDesvioText = $"Ângulo de Desvio: {obstaculoCritico.AnguloParaDesvio.ToString("0.00")}°"; + string distanciaObstaculoText = $"Distância até Obstáculo: {obstaculoCritico.DistanciaMedia.ToString("0.00")} cm"; + string larguraObstaculoText = $"Largura do Obstáculo: {obstaculoCritico.Largura.ToString("0.00")} cm"; + string tempoColisaoText = $"Tempo até Colisão: {obstaculoCritico.TempoAteColisao.ToString("0.00")} s"; + string direcaoDesvioText = $"Direção para Desvio: {obstaculoCritico.DirecaoDesvio.ToString()}"; + + // Define a posição inicial para as informações adicionais + int startX = 10; + int startY = picSonar.Height - 100; // Ajuste conforme necessário para não sobrepor outros elementos + + // Desenha o texto no radar + g.DrawString(anguloDesvioText, new Font("Arial", 10), Brushes.White, startX, startY); + g.DrawString(distanciaObstaculoText, new Font("Arial", 10), Brushes.White, startX, startY + 20); + g.DrawString(larguraObstaculoText, new Font("Arial", 10), Brushes.White, startX, startY + 40); + g.DrawString(tempoColisaoText, new Font("Arial", 10), Brushes.White, startX, startY + 60); + g.DrawString(direcaoDesvioText, new Font("Arial", 10), Brushes.White, startX, startY + 80); + } + } + + private void DrawTrajectory(Graphics g, int centerX, int centerY) + { + if (DesvioNecessario) + { + SonarObstaculoDetectadoModel obstaculoCritico = ObstaculosDetectados.OrderBy(o => o.DistanciaMedia).First(); + + // Calcula o ângulo final considerando o ângulo de desvio + double anguloDesvioRad = (obstaculoCritico.AnguloParaDesvio + 90) * (Math.PI / 180); // +90 para ajustar a referência + + // Calcula a posição final da trajetória + double distanciaObstaculo = maxDistanceCm * pixelsPerCm; + int desvioX = (int)(Math.Cos(anguloDesvioRad) * distanciaObstaculo); + int desvioY = (int)(Math.Sin(anguloDesvioRad) * distanciaObstaculo); + + // Cria um Pen tracejado azul + Pen penTrajectory = new Pen(Color.Blue, 3) { DashPattern = new float[] { 4, 2 } }; // Ajuste o padrão de traço conforme necessário + + // Desenha a linha de trajetória + g.DrawLine(penTrajectory, centerX, centerY, centerX + desvioX, centerY - desvioY); + } + } + + #endregion + + #region Processamento de Dados + + public void ProcessarDados() + { + DesvioNecessario = false; + + // Limpa a lista de obstáculos para o novo processamento + ObstaculosDetectados.Clear(); + + // Agrupa leituras por proximidade + var grupos = AgruparLeiturasPorProximidade(Deteccoes.First(x => x.Posicao == PosicaoAtual).Leituras); + + foreach (var grupo in grupos) + { + var leiturasGrupo = grupo.OrderBy(x => x.Angulo).ToList(); + var primeiraLeitura = leiturasGrupo.First(); + var ultimaLeitura = leiturasGrupo.Last(); + + // Calcula a largura aproximada do obstáculo + //double larguraObstaculo = CalcularLarguraObstaculo(primeiraLeitura, ultimaLeitura); + double distanciaMedia = leiturasGrupo.Average(x => x.Distancia); + var Objeto = new SonarObstaculoDetectadoModel(primeiraLeitura.Angulo, ultimaLeitura.Angulo, distanciaMedia); + + // Verifica se a largura do obstáculo é significativa + if (Objeto.Largura > LarguraMinimaObstaculo) + { + // Adiciona o obstáculo detectado à lista + ObstaculosDetectados.Add(Objeto); + } + } + + + + CalcularDirecaoDesvio(); + } + + private List> AgruparLeiturasPorProximidade(List leituras) + { + int maxAnguloDiferenca = anguloAcrescentar * 3; // Diferença máxima de ângulo (em graus) para considerar leituras no mesmo grupo + const int maxDistanciaDiferenca = 20; // Diferença máxima de distância (em cm) para considerar leituras no mesmo grupo + + List> grupos = new List>(); + List grupoAtual = new List(); + + // Ordena as leituras por ângulo para processamento sequencial + var leiturasOrdenadas = leituras.OrderBy(l => l.Angulo).ToList(); + + foreach (var leitura in leiturasOrdenadas) + { + if (grupoAtual.Count == 0) + { + // Se o grupo atual está vazio, simplesmente adiciona a leitura atual ao grupo + grupoAtual.Add(leitura); + } + else + { + // Compara a leitura atual com a última leitura do grupo atual + var ultimaLeitura = grupoAtual.Last(); + if (Math.Abs(leitura.Angulo - ultimaLeitura.Angulo) <= maxAnguloDiferenca && + Math.Abs(leitura.Distancia - ultimaLeitura.Distancia) <= maxDistanciaDiferenca) + { + // Se a leitura atual está próxima da última leitura, adiciona ao mesmo grupo + grupoAtual.Add(leitura); + } + else + { + // Se a leitura atual está longe da última leitura, considera como um novo grupo + grupos.Add(new List(grupoAtual)); // Adiciona o grupo atual aos grupos + grupoAtual.Clear(); // Limpa o grupo atual + grupoAtual.Add(leitura); // Inicia um novo grupo com a leitura atual + } + } + } + + if (grupoAtual.Count > 0) + { + // Adiciona o último grupo aos grupos, se não estiver vazio + grupos.Add(grupoAtual); + } + + return grupos.Where(x => x.All(y => y.Distancia <= maxDistanceCm)).ToList(); + } + + + // Método para calcular a média de distâncias nas laterais do robô + private void CalcularDistanciasLaterais() + { + // Filtra leituras correspondentes aos ângulos de interesse + //var leiturasDireita = Deteccoes.SelectMany(d => d.Leituras.Where(l => l.Angulo <= 4)).ToList(); + //var leiturasEsquerda = Deteccoes.SelectMany(d => d.Leituras.Where(l => l.Angulo >= 176)).ToList(); + var leiturasDireita = Deteccoes.Where(d => d.Posicao == 1).SelectMany(d => d.Leituras.Where(l => l.Angulo <= anguloAcrescentar)).ToList(); + var leiturasEsquerda = Deteccoes.Where(d => d.Posicao == 1).SelectMany(d => d.Leituras.Where(l => l.Angulo >= 180 - anguloAcrescentar)).ToList(); + + // Calcula as médias + if (leiturasDireita.Any() && leiturasEsquerda.Any()) + { + DistanciaDireita = leiturasDireita.Any() ? leiturasDireita.Average(l => l.Distancia) : 0; + DistanciaEsquerda = leiturasEsquerda.Any() ? leiturasEsquerda.Average(l => l.Distancia) : 0; + } + } + + // Método para decidir a direção do desvio + public void CalcularDirecaoDesvio() + { + // Calcula distâncias médias laterais + CalcularDistanciasLaterais(); + + foreach (var obstaculo in ObstaculosDetectados) + { + // Inicializa variáveis para determinar a melhor direção de desvio + double espacoLivreDireita = DistanciaDireita - obstaculo.DeslocamentoNecessarioDireita; + double espacoLivreEsquerda = DistanciaEsquerda - obstaculo.DeslocamentoNecessarioEsquerda; + + // Decisão de direção baseada no espaço livre ajustado + if (espacoLivreDireita > espacoLivreEsquerda && espacoLivreDireita > 0) + { + obstaculo.DirecaoDesvio = Direcao.Direita; + } + else if (espacoLivreEsquerda > 0) + { + obstaculo.DirecaoDesvio = Direcao.Esquerda; + } + else + { + // Não há espaço suficiente para desviar + obstaculo.DirecaoDesvio = Direcao.Parado; + } + } + + DesvioNecessario = ObstaculosDetectados.Any(obstaculo => obstaculo.DeslocamentoNecessarioDesvio > 0); + } + + + #endregion + + } + + public class SonarRegistroModel + { + public int Posicao { get; set; } + public List Leituras { get; set; } + } + + public class SonarLeituraModel + { + public int Angulo { get; set; } + public int Distancia { get; set; } + public DateTime Momento { get; set; } + + public SonarLeituraModel(int angle, int distance) + { + Angulo = angle; + Distancia = distance; + Momento = DateTime.Now; + } + } + + public class SonarObstaculoDetectadoModel + { + public double AnguloInicial { get; set; } + public double AnguloFinal { get; set; } + public double Largura + { + get + { + double largura = 0; + if ((Aesquerda && !Adireita) || (!Aesquerda && Adireita)) + { + largura = DistanciaInicial - DistanciaFinal; + } + else if (Aesquerda && Adireita) + { + largura = DistanciaInicial + DistanciaFinal; + } + if (largura < 0) + { + largura *= -1; + } + return largura; + } + } + public double DistanciaMedia { get; set; } + public double DistanciaInicial + { + get + { + // Cálculo simplificado, assumindo que podemos determinar a distância direta até o ponto inicial do obstáculo. + // Esta fórmula precisa ser adaptada com base na geometria específica e na localização do obstáculo. + double anguloRelativo = AnguloInicial - 0; // Calculando o ângulo relativo ao centro do robô + // Convertendo o ângulo para radianos para uso em funções trigonométricas + double anguloRad = anguloRelativo * (Math.PI / 180); + + // Usando trigonometria para calcular a componente da distância na direção do obstáculo + // Esta é uma simplificação e pode não refletir a distância exata sem mais contextos + double distanciaInicial = Math.Cos(anguloRad) * DistanciaMedia; + if (distanciaInicial < 0) + { + distanciaInicial *= -1; + } + + return distanciaInicial; + } + } + public double DistanciaFinal + { + get + { + // Cálculo simplificado, assumindo que podemos determinar a distância direta até o ponto inicial do obstáculo. + // Esta fórmula precisa ser adaptada com base na geometria específica e na localização do obstáculo. + double anguloRelativo = AnguloFinal - 0; // Calculando o ângulo relativo ao centro do robô + // Convertendo o ângulo para radianos para uso em funções trigonométricas + double anguloRad = anguloRelativo * (Math.PI / 180); + + // Usando trigonometria para calcular a componente da distância na direção do obstáculo + // Esta é uma simplificação e pode não refletir a distância exata sem mais contextos + double distanciaFinal = Math.Cos(anguloRad) * DistanciaMedia; + if (distanciaFinal < 0) + { + distanciaFinal *= -1; + } + + return distanciaFinal; + } + } + public double TempoAteColisao + { + get + { + return DistanciaMedia / MovimentacaoModel.ConverteKmhParaMs(Variaveis.OperacaoEmAndamento.Sensoriamento.VelocidadeMedia); + } + } + public double DeslocamentoNecessarioDesvio + { + get + { + if (DirecaoDesvio == Direcao.Direita) + { + return DeslocamentoNecessarioDireita; + } + else if (DirecaoDesvio == Direcao.Esquerda) + { + return DeslocamentoNecessarioEsquerda; + } + else + { + return 0; + } + } + } + public double DeslocamentoNecessarioEsquerda + { + get + { + if (Adireita && !Aesquerda) + { + //return DistanciaInicial + SonarModel.MargemSegurancaDesvio; + double deslocamento = (VariaveisEquipamento.Largura / 2) - DistanciaFinal + SonarModel.MargemSegurancaDesvio; + if (deslocamento < 0) + { + deslocamento = 0; + } + return deslocamento; + } + else if (Aesquerda && !Adireita) + { + //return DistanciaFinal + SonarModel.MargemSegurancaDesvio + (VariaveisEquipamento.Largura / 2); + double deslocamento = (VariaveisEquipamento.Largura / 2) + DistanciaFinal + SonarModel.MargemSegurancaDesvio; + if (deslocamento < 0) + { + deslocamento = 0; + } + return deslocamento; + } + else if (Adireita && Aesquerda) + { + double deslocamento = (VariaveisEquipamento.Largura / 2) + DistanciaFinal + SonarModel.MargemSegurancaDesvio; + if (deslocamento < 0) + { + deslocamento = 0; + } + return deslocamento; + } + else + { + return 0; + } + } + } + public double DeslocamentoNecessarioDireita + { + get + { + if (Adireita && !Aesquerda) + { + //return DistanciaInicial + SonarModel.MargemSegurancaDesvio + (VariaveisEquipamento.Largura / 2); + double deslocamento = (VariaveisEquipamento.Largura / 2) + DistanciaInicial + SonarModel.MargemSegurancaDesvio; + if(deslocamento < 0) + { + deslocamento = 0; + } + return deslocamento; + } + else if (Aesquerda && !Adireita) + { + //return DistanciaFinal + SonarModel.MargemSegurancaDesvio; + double deslocamento = (VariaveisEquipamento.Largura / 2) - DistanciaInicial + SonarModel.MargemSegurancaDesvio; + if (deslocamento < 0) + { + deslocamento = 0; + } + return deslocamento; + } + else if (Adireita && Aesquerda) + { + double deslocamento = (VariaveisEquipamento.Largura / 2) + DistanciaInicial + SonarModel.MargemSegurancaDesvio; + if (deslocamento < 0) + { + deslocamento = 0; + } + return deslocamento; + } + else + { + return 0; + } + } + } + public double AnguloParaDesvio + { + get + { + // Usando trigonometria para calcular o ângulo necessário + // Nota: Assegure-se de converter o resultado de arco seno para graus, se necessário + double anguloRad = Math.Atan(DistanciaMedia / DeslocamentoNecessarioDesvio); + double anguloDesvio = (anguloRad * (180 / Math.PI)); // Convertendo radianos para graus + + Direcao direcaoDesvio = DirecaoDesvio; + + if (direcaoDesvio == Direcao.Esquerda) + { + anguloDesvio = 90 - anguloDesvio; + } + else if (direcaoDesvio == Direcao.Direita) + { + anguloDesvio = anguloDesvio - 90; + } + + // Atribuição do ângulo calculado ao ângulo de desvio, com verificação de limites + return Math.Min(anguloDesvio, SonarModel.AnguloDesvioMaximo); + } + } + public Direcao DirecaoDesvio { get; set; } + public bool Adireita + { + get + { + return AnguloInicial < 90 || AnguloFinal > 270; + } + } + public bool Aesquerda + { + get + { + return AnguloFinal > 90 && AnguloInicial < 270; + } + } + public GPSModel Coordenadas + { + get + { + double anguloAbsolutoObstaculo = (Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro + AnguloInicial + AnguloFinal) / 2; + double anguloRad = anguloAbsolutoObstaculo * (Math.PI / 180); + + // Supondo que a distância seja em metros e utilizando uma aproximação simples da Terra como esfera + // para converter distância e ângulo em mudança de latitude/longitude. + double deltaLatitude = (DistanciaMedia * Math.Cos(anguloRad)) / 111111; // Dividindo por 111111 para converter metros em graus + double deltaLongitude = (DistanciaMedia * Math.Sin(anguloRad)) / (111111 * Math.Cos(GPSService.UltimaLeitura.Latitude * (Math.PI / 180))); + + return new GPSModel + { + Latitude = GPSService.UltimaLeitura.Latitude + deltaLatitude, + Longitude = GPSService.UltimaLeitura.Longitude + deltaLongitude + }; + } + } + + public SonarObstaculoDetectadoModel(double anguloInicial, double anguloFinal, double distanciaMedia) + { + AnguloInicial = anguloInicial; + AnguloFinal = anguloFinal; + DistanciaMedia = distanciaMedia; + } + } + +} diff --git a/AgroBase/AgroBase/Models/Variaveis.cs b/AgroBase/AgroBase/Models/Variaveis.cs index a63900b26..a7611ba7a 100644 --- a/AgroBase/AgroBase/Models/Variaveis.cs +++ b/AgroBase/AgroBase/Models/Variaveis.cs @@ -6,6 +6,7 @@ using System.Collections.Generic; using System.Linq; using System.Text; using System.Threading.Tasks; +using System.Windows.Forms; using static AgroBase.Models.Enuns; namespace AgroBase.Models @@ -13,6 +14,8 @@ namespace AgroBase.Models public class Variaveis { public static string CaminhoSistema { get; set; } = AppDomain.CurrentDomain.BaseDirectory; + public static string CaminhoLogsDispositivos { get; } = "Logs/"; + public static string CaminhoOperacoes { get; } = "Operacoes/"; public static List DispositivosConectados { get; set; } = new List(); public static OperacaoModel OperacaoEmAndamento { get; set; } = new OperacaoModel(ModoOperacao.Manual); public static MqttService MqttService { get; set; } = new MqttService("localhost", 1883); @@ -21,7 +24,7 @@ namespace AgroBase.Models { if (_status == null) { - _status = OperacaoEmAndamento.ReferencialRuaGPS.StatusAtual; + _status = OperacaoEmAndamento.StatusAtual; } SensorSinaleiroComportamentoModel comportamento = new SensorSinaleiroComportamentoModel() @@ -45,7 +48,8 @@ namespace AgroBase.Models }; break; } - case StatusOperacao.Concluida: + case StatusOperacao.NaoIniciado: + case StatusOperacao.Concluido: { comportamento = new SensorSinaleiroComportamentoModel() { @@ -57,7 +61,6 @@ namespace AgroBase.Models break; } case StatusOperacao.Aguardando: - case StatusOperacao.Retornando: { comportamento = new SensorSinaleiroComportamentoModel() { @@ -79,26 +82,13 @@ namespace AgroBase.Models }; break; } - case StatusOperacao.CaminhandoRua: + case StatusOperacao.EmAndamento: { comportamento = new SensorSinaleiroComportamentoModel() { statusLED = StatusLED.Piscando, QtdPiscadas = 3, - TempoMs = 400, - PausaMs = 1000, - }; - break; - } - case StatusOperacao.EntrandoRua: - case StatusOperacao.SaindoRua: - case StatusOperacao.Manobrando: - { - comportamento = new SensorSinaleiroComportamentoModel() - { - statusLED = StatusLED.Piscando, - QtdPiscadas = 2, - TempoMs = 500, + TempoMs = 200, PausaMs = 1000, }; break; @@ -132,6 +122,29 @@ namespace AgroBase.Models { return paraMin + (valor - deMin) * (paraMax - paraMin) / (deMax - deMin); } + + public static T FindControlRecursive(Control parent, string controlName) where T : Control + { + foreach (Control child in parent.Controls) + { + if (child is T foundControl && child.Name == controlName) + { + return foundControl; // Retorna o controle se encontrado + } + else + { + T foundInChildren = FindControlRecursive(child, controlName); + if (foundInChildren != null) return foundInChildren; // Retorna o controle se encontrado em controles filhos + } + } + return null; // Retorna null se o controle não for encontrado + } + + public static double ConvertDegreesToRadians(double degrees) + { + double radians = (Math.PI / 180) * degrees; + return (radians); + } } public static class VariaveisPortas @@ -143,5 +156,9 @@ namespace AgroBase.Models public static int SocketCaminho { get; } = 6588; } + public static class VariaveisEquipamento + { + public static double Largura { get; } = 80; + } } diff --git a/AgroBase/AgroBase/Properties/Resources.Designer.cs b/AgroBase/AgroBase/Properties/Resources.Designer.cs index cfd2bd360..f61dd3b46 100644 --- a/AgroBase/AgroBase/Properties/Resources.Designer.cs +++ b/AgroBase/AgroBase/Properties/Resources.Designer.cs @@ -1,10 +1,10 @@ //------------------------------------------------------------------------------ // -// This code was generated by a tool. -// Runtime Version:4.0.30319.42000 +// O código foi gerado por uma ferramenta. +// Versão de Tempo de Execução:4.0.30319.42000 // -// Changes to this file may cause incorrect behavior and will be lost if -// the code is regenerated. +// As alterações ao arquivo poderão causar comportamento incorreto e serão perdidas se +// o código for gerado novamente. // //------------------------------------------------------------------------------ @@ -13,12 +13,12 @@ namespace AgroBase.Properties { /// - /// A strongly-typed resource class, for looking up localized strings, etc. + /// Uma classe de recurso de tipo de alta segurança, para pesquisar cadeias de caracteres localizadas etc. /// - // This class was auto-generated by the StronglyTypedResourceBuilder - // class via a tool like ResGen or Visual Studio. - // To add or remove a member, edit your .ResX file then rerun ResGen - // with the /str option, or rebuild your VS project. + // Essa classe foi gerada automaticamente pela classe StronglyTypedResourceBuilder + // através de uma ferramenta como ResGen ou Visual Studio. + // Para adicionar ou remover um associado, edite o arquivo .ResX e execute ResGen novamente + // com a opção /str, ou recrie o projeto do VS. [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")] [global::System.Diagnostics.DebuggerNonUserCodeAttribute()] [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] @@ -33,7 +33,7 @@ namespace AgroBase.Properties { } /// - /// Returns the cached ResourceManager instance used by this class. + /// Retorna a instância de ResourceManager armazenada em cache usada por essa classe. /// [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] internal static global::System.Resources.ResourceManager ResourceManager { @@ -47,8 +47,8 @@ namespace AgroBase.Properties { } /// - /// Overrides the current thread's CurrentUICulture property for all - /// resource lookups using this strongly typed resource class. + /// Substitui a propriedade CurrentUICulture do thread atual para todas as + /// pesquisas de recursos que usam essa classe de recurso de tipo de alta segurança. /// [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] internal static global::System.Globalization.CultureInfo Culture { @@ -61,7 +61,7 @@ namespace AgroBase.Properties { } /// - /// Looks up a localized resource of type System.Drawing.Bitmap. + /// Consulta um recurso localizado do tipo System.Drawing.Bitmap. /// internal static System.Drawing.Bitmap esp32_s3 { get { @@ -71,7 +71,7 @@ namespace AgroBase.Properties { } /// - /// Looks up a localized resource of type System.Drawing.Bitmap. + /// Consulta um recurso localizado do tipo System.Drawing.Bitmap. /// internal static System.Drawing.Bitmap esp32_wrover { get { @@ -81,7 +81,7 @@ namespace AgroBase.Properties { } /// - /// Looks up a localized resource of type System.Drawing.Bitmap. + /// Consulta um recurso localizado do tipo System.Drawing.Bitmap. /// internal static System.Drawing.Bitmap loading { get { @@ -91,7 +91,27 @@ namespace AgroBase.Properties { } /// - /// Looks up a localized resource of type System.Drawing.Bitmap. + /// Consulta um recurso localizado do tipo System.Drawing.Bitmap. + /// + internal static System.Drawing.Bitmap mcp { + get { + object obj = ResourceManager.GetObject("mcp", resourceCulture); + return ((System.Drawing.Bitmap)(obj)); + } + } + + /// + /// Consulta um recurso localizado do tipo System.Drawing.Bitmap. + /// + internal static System.Drawing.Bitmap robo_superior { + get { + object obj = ResourceManager.GetObject("robo_superior", resourceCulture); + return ((System.Drawing.Bitmap)(obj)); + } + } + + /// + /// Consulta um recurso localizado do tipo System.Drawing.Bitmap. /// internal static System.Drawing.Bitmap rosa_dos_ventos { get { @@ -101,7 +121,7 @@ namespace AgroBase.Properties { } /// - /// Looks up a localized resource of type System.Drawing.Bitmap. + /// Consulta um recurso localizado do tipo System.Drawing.Bitmap. /// internal static System.Drawing.Bitmap transferidor { get { diff --git a/AgroBase/AgroBase/Properties/Resources.resx b/AgroBase/AgroBase/Properties/Resources.resx index cd04ec8b8..6d25c899b 100644 --- a/AgroBase/AgroBase/Properties/Resources.resx +++ b/AgroBase/AgroBase/Properties/Resources.resx @@ -127,6 +127,12 @@ ..\Imagens\loading.gif;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a + + ..\Imagens\mcp.jpg;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a + + + ..\Imagens\robo_superior.jpg;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a + ..\Imagens\rosa_dos_ventos.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a diff --git a/AgroBase/AgroBase/Python/Scripts/gps-viewer.py b/AgroBase/AgroBase/Python/Scripts/gps-viewer.py index 79a5a1432..cc774717e 100644 --- a/AgroBase/AgroBase/Python/Scripts/gps-viewer.py +++ b/AgroBase/AgroBase/Python/Scripts/gps-viewer.py @@ -20,7 +20,7 @@ pathFiles = sys.argv[1] fileName = sys.argv[2] outputName = sys.argv[3] outputMapName = sys.argv[4] -apiEndpoit = sys.argv[5] +topico_gps = sys.argv[5] pastaSaida = 'Python/Output/' center = [0, 0] @@ -54,7 +54,7 @@ with open(caminho_completo_html, 'r+') as arquivo_html: raise ValueError("Não foi possível encontrar o ID do mapa no arquivo HTML.") # Script JavaScript para adicionar ao HTML, com o ID do mapa substituído - script_atualizacao_marcador = f""" + script_desenha_trajeotria = f""" + """ + # Script JavaScript para adicionar ao HTML, com o ID do mapa substituído + script_atualizacao_marcador = f""" + """ # Inserir o script no conteúdo HTML -conteudo_atualizado = conteudo_html.replace('', script_atualizacao_marcador + '') +conteudo_atualizado = conteudo_html.replace('', script_desenha_trajeotria + script_atualizacao_marcador + '') # Agora, reabrir o arquivo para escrita e sobrescrever o conteúdo com a versão atualizada with open(caminho_completo_html, 'w') as arquivo_html: diff --git a/AgroBase/AgroBase/Python/Scripts/map-load.py b/AgroBase/AgroBase/Python/Scripts/map-load.py index 1d6549dad..5460adbbd 100644 --- a/AgroBase/AgroBase/Python/Scripts/map-load.py +++ b/AgroBase/AgroBase/Python/Scripts/map-load.py @@ -22,6 +22,7 @@ outputName = sys.argv[3] outputMapName = sys.argv[4] topico_gps = sys.argv[5] topico_ruas = sys.argv[6] +topico_trajeto_dinamico = sys.argv[7] pastaSaida = 'Python/Output/' # Carregar o arquivo shapefile contendo a geometria @@ -67,6 +68,57 @@ with open(caminho_completo_html, 'r+') as arquivo_html: else: raise ValueError("Não foi possível encontrar o ID do mapa no arquivo HTML.") + # Script para representar a trajetoria que o robô deve fazer até iniciar o trabalho + script_desenha_trajetoria_dinamica = f""" + + """ + # Script para desenhar o trajo percorrido no mapa script_desenha_trajeotria = f""" """ @@ -235,7 +300,7 @@ conteudo_html = conteudo_html.replace('https://cdnjs.cloudflare.com/ajax/libs/Le conteudo_html = conteudo_html.replace('https://cdn.jsdelivr.net/gh/python-visualization/folium/folium/templates/', 'folium/') # Inserir o script no conteúdo HTML -conteudo_atualizado = conteudo_html.replace('', script_desenha_trajeotria + script_atualizacao_marcador + '') +conteudo_atualizado = conteudo_html.replace('', script_desenha_trajeotria + script_desenha_trajetoria_dinamica + script_atualizacao_marcador + '') # Encontrar a posição onde inserir o novo trecho de JavaScript indice_inicio_funcao = conteudo_atualizado.find("function geo_json_") # Inserir o novo trecho de JavaScript antes da função diff --git a/AgroBase/AgroBase/Python/Scripts/pzem.py b/AgroBase/AgroBase/Python/Scripts/pzem.py index ddf1b3035..d16a11344 100644 --- a/AgroBase/AgroBase/Python/Scripts/pzem.py +++ b/AgroBase/AgroBase/Python/Scripts/pzem.py @@ -68,6 +68,11 @@ def decifrar_resposta_aquisicao(resposta): # Certifique-se de que a resposta é do tipo bytes if isinstance(resposta, str): resposta = bytes.fromhex(resposta) + + print(resposta.hex()) + print(len(resposta)) + print(resposta[1]) + print(CodigosFuncoes["AquisicaoDados"]) # Verifica o comprimento da resposta e o código da função if len(resposta) >= 5 and resposta[1] == CodigosFuncoes["AquisicaoDados"]: @@ -90,17 +95,17 @@ def decifrar_resposta_aquisicao(resposta): energia = energia_raw * 1 # Decodificação dos estados de alarme - alarme_alta_tensao = "Ativo" if high_alarm_raw == 0xFFFF else "Não Ativo" - alarme_baixa_tensao = "Ativo" if low_alarm_raw == 0xFFFF else "Não Ativo" + alarme_alta_tensao = "Ativo" if high_alarm_raw == 0xFFFF else "Nao Ativo" + alarme_baixa_tensao = "Ativo" if low_alarm_raw == 0xFFFF else "Nao Ativo" # Retorno formatado com todos os valores resultado = { - "Tensão": f"{tensao} V", + "Tensao": f"{tensao} V", "Corrente": f"{corrente} A", - "Potência": f"{potencia} W", + "Potencia": f"{potencia} W", "Energia": f"{energia} Wh", - "Alarme de Alta Tensão": alarme_alta_tensao, - "Alarme de Baixa Tensão": alarme_baixa_tensao + "Alarme de Alta Tensao": alarme_alta_tensao, + "Alarme de Baixa Tensao": alarme_baixa_tensao } mqtt_client.publish(mqtt_topic, json.dumps(resultado).encode('utf-8')) @@ -191,14 +196,14 @@ def main(): #com_set = comando_set_parametro(Parametros["EscalaCorrenteAtual"], 0) #enviar_comando(com_set) #time.sleep(1) - #vmax = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["AlarmeTensaoMaxima"])).hex()) - #vmin = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["AlarmeTensaoMinima"])).hex()) - #addr = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["EnderecoRTU"])).hex()) - #rang = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["EscalaCorrenteAtual"])).hex()) - #print(f"Alarme tensao maxima: {vmax}") - #print(f"Alarme tensao minima: {vmin}") - #print(f"Endereco RTU: {addr}") - #print(f"Escala de corrente: {rang}") + vmax = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["AlarmeTensaoMaxima"])).hex()) + vmin = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["AlarmeTensaoMinima"])).hex()) + addr = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["EnderecoRTU"])).hex()) + rang = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["EscalaCorrenteAtual"])).hex()) + print(f"Alarme tensao maxima: {vmax}") + print(f"Alarme tensao minima: {vmin}") + print(f"Endereco RTU: {addr}") + print(f"Escala de corrente: {rang}") try: while True: diff --git a/AgroBase/AgroBase/Services/DispositivosService.cs b/AgroBase/AgroBase/Services/DispositivosService.cs index a3685f6fe..3ba6d9727 100644 --- a/AgroBase/AgroBase/Services/DispositivosService.cs +++ b/AgroBase/AgroBase/Services/DispositivosService.cs @@ -23,6 +23,7 @@ namespace AgroBase.Comum public T_Code Dispositivo { get; set; } = T_Code.Vzo; public string _Nome { get; set; } public string _Descricao { get; set; } + public DateTime _CriadoEm { get; set; } public SerialPort _Porta { get; set; } public GroupBox gpbItem { get; set; } public ComboBox cmbPorta { get; set; } @@ -35,8 +36,7 @@ namespace AgroBase.Comum public RichTextBox txaConsole { get; set; } public Timer tmrConexao { get; set; } public int _index { get; set; } - public List DadosEnviados { get; set; } = new List(); - public List DadosRecebidos { get; set; } = new List(); + public List Logs { get; set; } = new List(); public T Dados { get; set; } = new T(); DispositivoBaseModel IDispositivosService.Dados { @@ -176,17 +176,20 @@ namespace AgroBase.Comum public void EnviarDadosSerial(string Dados) { - AtualizarConsole(Dados); if (!_Porta.IsOpen || string.IsNullOrEmpty(Dados)) { return; } - Ticks = 0; + AtualizarConsole("> " + DateTime.Now.ToString("HH:mm:ss:fff") + " - " + Dados); _Porta.Write(Dados + SerialService.EndLine); - DadosEnviados.Add("> " + DateTime.Now.ToString("HH:mm:ss:fff") + " - " + Dados); - AtualizarConsole(DadosEnviados[DadosEnviados.Count - 1]); + Logs.Add(new DispositivoLogModel() + { + Momento = DateTime.Now, + Enviado = true, + Protocolo = Dados, + }); } public Control InstanciarDispositivo(int index) @@ -198,20 +201,28 @@ namespace AgroBase.Comum frmPlot = new frmMovPlot(); frmConfig = new frmMovConfig(); Dados.IniciarRegistrador(); + + MovimentacaoModel.Pinout = PinoutModel.CarregarPinout("pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); break; case T_Code.Dir: Dados = CarregarParametros(DirecionalModel.CarregarParametrosIniciais()); frmPlot = new frmDirPlot(); frmConfig = new frmDirConfig(); + + DirecionalModel.Pinout = PinoutModel.CarregarPinout("pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); break; case T_Code.Sen: Dados = CarregarParametros(SensoriamentoModel.CarregarParametrosIniciais()); frmConfig = new frmSenConfig(); ((frmSenConfig)frmConfig).Dispositivo = T_Code.Sen; + + SensoriamentoModel.Pinout = PinoutModel.CarregarPinout("pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); break; case T_Code.Atu: Dados = CarregarParametros(AtuadorModel.CarregarParametrosIniciais()); frmConfig = new frmAtuConfig(); + + AtuadorModel.Pinout = PinoutModel.CarregarPinout("pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); break; default: Dados = default(T); @@ -223,7 +234,6 @@ namespace AgroBase.Comum if (!EqualityComparer.Default.Equals(Dados, default(T))) { Dados.PopulaGridSensoriamento(); - Dados.CarregarPinout("pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); } _Porta.DataReceived -= _Porta_DataReceived; @@ -523,15 +533,47 @@ namespace AgroBase.Comum private void TmrLimpeza_Tick(object sender, EventArgs e) { - if (Ticks > 5) + if (Ticks % 5 == 0) { LimparBufferSerial(true); + } + if (Ticks >= 30) + { + SalvarLog(); + Ticks = -1; } Ticks++; TempoConectado++; } + private void SalvarLog() + { + if (Logs.Count == 0) + { + return; + } + + string Caminho = Variaveis.CaminhoLogsDispositivos + Dispositivo; + string NomeLog = _CriadoEm.ToString("dd_MM_yyyy_mm_ss") + ".json"; + if (!Directory.Exists(Caminho)) + { + Directory.CreateDirectory(Caminho); + } + if (!File.Exists(Caminho + "/" + NomeLog)) + { + string jsonLog = JsonConvert.SerializeObject(Logs, Formatting.None); + File.WriteAllText(Caminho + "/" + NomeLog, jsonLog.Substring(0, jsonLog.Length - 1)); + } + else + { + string jsonLog = JsonConvert.SerializeObject(Logs, Formatting.None); + jsonLog = jsonLog.Substring(1, jsonLog.Length - 2); + File.AppendAllText(Caminho + "/" + NomeLog, "," + jsonLog); + } + Logs = new List(); + } + private void clbDispositivos_ItemCheck(object sender, ItemCheckEventArgs e) { ((CheckedListBox)sender).ItemCheck -= clbDispositivos_ItemCheck; @@ -610,15 +652,22 @@ namespace AgroBase.Comum public void LimparBufferSerial(bool LimparConsole) { - if (LimparConsole) + try { - txaConsole.Text = ""; + if (LimparConsole) + { + txaConsole.Text = ""; + } + + if (_Porta.IsOpen) + { + _Porta.DiscardInBuffer(); + _Porta.DiscardOutBuffer(); + } } - - if (_Porta.IsOpen) + catch (Exception ex) { - _Porta.DiscardInBuffer(); - _Porta.DiscardOutBuffer(); + Console.WriteLine("Erro ao limpar buffer da porta " + _Porta.PortName); } } @@ -659,8 +708,15 @@ namespace AgroBase.Comum Dispositivo = (T_Code)(int.Parse(Recebido.Substring(0, 3))); lblStatus.Invoke((Action)(() => lblStatus.Text = StatusPorta() + " - " + Enum.GetName(typeof(T_Code), Dispositivo))); } - DadosRecebidos.Add("< " + DateTime.Now.ToString("HH:mm:ss:fff") + " - " + Recebido); - AtualizarConsole(DadosRecebidos[DadosRecebidos.Count - 1]); + + Logs.Add(new DispositivoLogModel() + { + Momento = DateTime.Now, + Enviado = false, + Protocolo = Recebido, + }); + + AtualizarConsole("< " + DateTime.Now.ToString("HH:mm:ss:fff") + " - " + Recebido); if (Recebido[0].ToString() == SerialService.BeginSensor && !EqualityComparer.Default.Equals(Dados, default(T))) { @@ -734,6 +790,8 @@ namespace AgroBase.Comum btnConectar.Text = "Conectar"; tmrLimpeza.Enabled = false; + + SalvarLog(); } public void AcaoConectar() @@ -790,5 +848,12 @@ namespace AgroBase.Comum } + public class DispositivoLogModel + { + public DateTime Momento { get; set; } + public string Protocolo { get; set; } + public bool Enviado { get; set; } + } + } diff --git a/AgroBase/AgroBase/Services/DispositivosServiceFactory.cs b/AgroBase/AgroBase/Services/DispositivosServiceFactory.cs index 09785f6dd..12566a32d 100644 --- a/AgroBase/AgroBase/Services/DispositivosServiceFactory.cs +++ b/AgroBase/AgroBase/Services/DispositivosServiceFactory.cs @@ -24,6 +24,7 @@ namespace AgroBase.Services _Nome = nome, _Descricao = descricao, _Porta = porta, + _CriadoEm = DateTime.Now, }; case T_Code.Dir: return new DispositivosService @@ -32,6 +33,7 @@ namespace AgroBase.Services _Nome = nome, _Descricao = descricao, _Porta = porta, + _CriadoEm = DateTime.Now, }; case T_Code.Sen: return new DispositivosService @@ -40,6 +42,7 @@ namespace AgroBase.Services _Nome = nome, _Descricao = descricao, _Porta = porta, + _CriadoEm = DateTime.Now, }; case T_Code.Atu: return new DispositivosService @@ -48,6 +51,7 @@ namespace AgroBase.Services _Nome = nome, _Descricao = descricao, _Porta = porta, + _CriadoEm = DateTime.Now, }; default: throw new ArgumentException("Tipo de dispositivo não reconhecido."); diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs index 7b1c63c21..9993e93eb 100644 --- a/AgroBase/AgroBase/Services/GPSService.cs +++ b/AgroBase/AgroBase/Services/GPSService.cs @@ -241,7 +241,7 @@ namespace AgroBase.Services return Math.PI / 180 * angle; } - private static void AtualizarCoordenadasGPS() + public static void AtualizarCoordenadasGPS() { var Coordenadas = new { @@ -254,6 +254,34 @@ namespace AgroBase.Services ).ConfigureAwait(false); } + public static void AtualizarTrajetoriaDinamica() + { + var Trajetoria = Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica.Select(x => new + { + latitude = x.Latitude, + longitude = x.Longitude + }).ToArray(); + Variaveis.MqttService.PublishAsync( + Variaveis.MqttService.Topicos.First(x => x.Topico == MapasVariaveisModel.TopicoTrajetoriaDinamica), + JsonConvert.SerializeObject(Trajetoria) + ).ConfigureAwait(false); + } + + public static List InterpolarPontos(GPSModel inicio, GPSModel destino, double distanciaPasso) + { + List pontos = new List(); + var distanciaTotal = DistanciaEntrePontos(inicio, destino); + var passos = distanciaTotal / distanciaPasso; + for (int i = 0; i <= passos; i++) + { + var frac = i / passos; + var lat = inicio.Latitude + (destino.Latitude - inicio.Latitude) * frac; + var lon = inicio.Longitude + (destino.Longitude - inicio.Longitude) * frac; + pontos.Add(new GPSModel { Latitude = lat, Longitude = lon }); + } + return pontos; + } + private static MapaFeatureCollectionModel TrajetoFake = new MapaFeatureCollectionModel(); private static int idxPonto = 0; @@ -318,7 +346,8 @@ namespace AgroBase.Services //APIService.AtualizarCoordenadasGPS(UltimaLeitura, APIService.GPS_IDcoordenadasRobo); AtualizarCoordenadasGPS(); - if (Variaveis.OperacaoEmAndamento.StatusOperacoesPararCarro.Contains(Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.StatusAtual)) + var StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual; + if (StatusCarro == Enuns.StatusCarroMapa.Parado || StatusCarro == Enuns.StatusCarroMapa.Direcionando) { return; } diff --git a/AgroBase/AgroBase/Services/MapasService.cs b/AgroBase/AgroBase/Services/MapasService.cs index 7cbed3dfa..8727a2804 100644 --- a/AgroBase/AgroBase/Services/MapasService.cs +++ b/AgroBase/AgroBase/Services/MapasService.cs @@ -16,6 +16,7 @@ namespace AgroBase.Services public static string NomeArquivoMapaGPS = "mapa_gps.html"; public static string TopicoCoordenadasGPS = "coordenadas_gps"; public static string TopicoSelecaoRuasMapa = "selecao_ruas_mapa"; + public static string TopicoTrajetoriaDinamica = "trajetoria_dinamica"; } public class MapasService @@ -56,7 +57,8 @@ namespace AgroBase.Services ArquivoSaida, NomeArquivoMapa, MapasVariaveisModel.TopicoCoordenadasGPS, - MapasVariaveisModel.TopicoSelecaoRuasMapa + MapasVariaveisModel.TopicoSelecaoRuasMapa, + MapasVariaveisModel.TopicoTrajetoriaDinamica, }); MapaUrl = new Uri(CaminhoSaida + NomeArquivoMapa).AbsoluteUri; @@ -73,8 +75,7 @@ namespace AgroBase.Services NomeArquivos, ArquivoSaida, NomeArquivoMapa, - MapasVariaveisModel.TopicoCoordenadasGPS, - MapasVariaveisModel.TopicoSelecaoRuasMapa + MapasVariaveisModel.TopicoCoordenadasGPS }); MapaUrl = new Uri(CaminhoSaida + NomeArquivoMapa).AbsoluteUri; diff --git a/AgroBase/AgroBase/Services/MqttService.cs b/AgroBase/AgroBase/Services/MqttService.cs index 26710c3a6..98ed3f534 100644 --- a/AgroBase/AgroBase/Services/MqttService.cs +++ b/AgroBase/AgroBase/Services/MqttService.cs @@ -29,7 +29,13 @@ public class MqttService Topico = MapasVariaveisModel.TopicoSelecaoRuasMapa, Mensagens = new List < MqttTopicosMensagensModel>(), Inscrever = true - } + }, + new MqttTopicosModel() + { + Topico = MapasVariaveisModel.TopicoTrajetoriaDinamica, + Mensagens = new List(), + Inscrever = false + }, }; public MqttService(string brokerAddress, int brokerPort) @@ -95,7 +101,14 @@ public class MqttService public async Task ConnectAsync() { - await _client.ConnectAsync(_options); + try + { + await _client.ConnectAsync(_options); + } + catch (Exception ex) + { + Console.WriteLine("Erro ao tentar se conectar ao MQTT Broker: " + ex.Message); + } } public async Task DisconnectAsync() diff --git a/AgroBase/AgroBase/Services/PZEMService.cs b/AgroBase/AgroBase/Services/PZEMService.cs index 14e096305..fc7cf6063 100644 --- a/AgroBase/AgroBase/Services/PZEMService.cs +++ b/AgroBase/AgroBase/Services/PZEMService.cs @@ -11,6 +11,8 @@ using Newtonsoft.Json; using Emgu.CV.CvEnum; using Emgu.CV.Aruco; using static AgroBase.Services.SerialService; +using System.Threading.Tasks; +using AgroBase.Forms; namespace AgroBase.Services { @@ -47,7 +49,10 @@ namespace AgroBase.Services Porta.BaudRate = 9600; Porta.DataReceived -= PortaPZEM_DataReceived; Porta.DataReceived += PortaPZEM_DataReceived; - Porta.Open(); + if (!Porta.IsOpen) + { + Porta.Open(); + } var Comando = ComandoCalibragem(); string comandoHex = BitConverter.ToString(Comando).Replace("-", ""); EnviarComando(Porta, Comando); @@ -87,21 +92,38 @@ namespace AgroBase.Services byte[] buffer = new byte[bytesToRead]; Porta.Read(buffer, 0, bytesToRead); var Res = DecifrarRespostaAquisicao(buffer); - if (Res != null) + if (Res != null && Res.Tensao > 0) { PortaPZEM = Porta; Iniciado = true; - } - SerialService.DispositivosMapeados.Add(new DispositivoDetalhesModel() + SerialService.DispositivosMapeados.Add(new DispositivoDetalhesModel() + { + PortaCOM = Porta.PortName, + Dispositivo = Enuns.T_Code.Pzm, + Erro = !Iniciado, + Versao = 17 + }); + + ReceberDados().ConfigureAwait(false); + } + else { - PortaCOM = Porta.PortName, - Dispositivo = Enuns.T_Code.Pzm - }); + Porta.DataReceived -= PortaPZEM_DataReceived; + Porta.Close(); + } } } + private static async Task ReceberDados() + { + EnviarComando(PortaPZEM, ComandoAquisicaoDados()); + await Task.Delay(5000); + + return await ReceberDados(); + } + #region Comandos public static byte[] ComandoAquisicaoDados() @@ -262,15 +284,19 @@ namespace AgroBase.Services modelo.Potencia = Convert.ToInt32(potencia_raw, 16) * 0.1; var energia_raw = "0x" + resposta[11].ToString("X") + resposta[12].ToString("X") + resposta[13].ToString("X") + resposta[14].ToString("X"); modelo.Energia = Convert.ToInt32(energia_raw, 16) * 1.0; - var almMax_raw = "0x" + resposta[15].ToString("X") + resposta[16].ToString("00").Substring(0, 2); + var almMax_raw = "0x" + resposta[15].ToString("X") + resposta[16].ToString("X"); modelo.AlarmeTensaoMax = almMax_raw == "0xFFFF"; var almMin_raw = "0x" + resposta[17].ToString("X") + resposta[18].ToString("X"); modelo.AlarmeTensaoMin = almMin_raw == "0xFFFF"; - Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = (modelo.Tensao / 42) * 100; + double percent = FuncoesGlobais.Map(modelo.Tensao, 36, 42, 0, 100); + Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = percent; + frmInstancial.frmAcompanhamento.AtualizarSensores("Bateria: " + modelo.Tensao.ToString("0.00") + " V - " + modelo.Corrente.ToString("0.00") + " A - " + modelo.Potencia.ToString("0.00") + " W"); UltimaLeitura = modelo; + Console.WriteLine("PZEM Tensão: " + modelo.Tensao.ToString("0.00")); + return modelo; } else diff --git a/AgroBase/AgroBase/Services/SerialService.cs b/AgroBase/AgroBase/Services/SerialService.cs index 3fcaccee5..7321b4509 100644 --- a/AgroBase/AgroBase/Services/SerialService.cs +++ b/AgroBase/AgroBase/Services/SerialService.cs @@ -22,6 +22,8 @@ namespace AgroBase.Services { public string PortaCOM { get; set; } public T_Code Dispositivo { get; set; } + public bool Erro { get; set; } + public int Versao { get; set; } } public static List DispositivosMapeados = new List(); @@ -36,6 +38,7 @@ namespace AgroBase.Services Porta.Close(); PortasComErro.Add(Porta); }); + List PortasSucesso = new List(); PortasComErro.ForEach(Porta => { Porta.DataReceived -= _Porta_DataReceived; @@ -53,13 +56,15 @@ namespace AgroBase.Services TentativasPortas.Add(Porta.PortName, 1); } - if (TentativasPortas[Porta.PortName] > 2) + if (TentativasPortas[Porta.PortName] > 5) { Porta.Close(); - PortasComErro.Remove(Porta); + PortasSucesso.Add(Porta); TentativasPortas.Remove(Porta.PortName); + Porta.DataReceived += _Porta_DataReceived; } }); + PortasSucesso.ForEach(x => PortasComErro.Remove(x)); var Portas = SerialPort.GetPortNames(); var PortasNaoMapeadas = Portas.Where(x => !DispositivosMapeados.Select(y => y.PortaCOM).Contains(x) && !PortasComErro.Select(y => y.PortName).Contains(x)).ToList(); @@ -79,7 +84,7 @@ namespace AgroBase.Services SerialPort _Porta = new SerialPort() { PortName = PortaCom, BaudRate = 115200 }; _Porta.DataReceived -= _Porta_DataReceived; _Porta.DataReceived += _Porta_DataReceived; - string CodigoTest = ((int)F_Code.Chk).ToString() + "check"; + string CodigoTest = ((int)F_Code.Chk).ToString() + "check" + EndLine; try { _Porta.Open(); @@ -90,6 +95,7 @@ namespace AgroBase.Services { _Porta.Close(); Console.WriteLine(ex.Message.ToString()); + PortasComErro.Add(_Porta); } } var DispositivosRemovidos = DispositivosMapeados.Where(x => !Portas.Contains(x.PortaCOM)).ToList(); @@ -154,40 +160,57 @@ namespace AgroBase.Services { var Porta = ((SerialPort)sender); string Recebido = Porta.ReadLine(); - if (Recebido.Length > 2) + try { - T_Code Dispositivo = T_Code.Vzo; + if (Recebido.Length > 2) + { + T_Code Dispositivo = T_Code.Vzo; + F_Code Verificacao = F_Code.Nda; + int Versao = 0; - if (Recebido.Contains("$GPTXT")) - { - GPSService.AtualizarPortaGPS(Porta); - Dispositivo = T_Code.Gps; - } - else - { - var Dados = Recebido.Split(';'); - int code = 0; - int.TryParse(Dados[0], out code); - if (code == 0) + if (Recebido.Contains("$GPTXT")) { - //Porta.Close(); - return; + GPSService.AtualizarPortaGPS(Porta); + Dispositivo = T_Code.Gps; + } + else + { + var Dados = Recebido.Split(';'); + int code = 0; + int.TryParse(Dados[0], out code); + if (code == 0) + { + //Porta.Close(); + return; + } + + Dispositivo = (T_Code)(int.Parse(Dados[0])); + + int.TryParse(Dados[1], out int check); + Verificacao = (F_Code)check; + + int.TryParse(Dados[2], out int versao); + Versao = versao; } - Dispositivo = (T_Code)(int.Parse(Dados[0])); - } - - if (Dispositivo != T_Code.Vzo) - { - DispositivosMapeados.Add(new DispositivoDetalhesModel() + if (Dispositivo != T_Code.Vzo) { - PortaCOM = Porta.PortName, - Dispositivo = Dispositivo - }); - } + DispositivosMapeados.Add(new DispositivoDetalhesModel() + { + PortaCOM = Porta.PortName, + Dispositivo = Dispositivo, + Erro = Verificacao == F_Code.Err, + Versao = Versao, + }); + } - Porta.Close(); - PortasAguardandoResposta.Remove(Porta); + Porta.Close(); + PortasAguardandoResposta.Remove(Porta); + } + } + catch (Exception ex) + { + Console.WriteLine("Erro ao receber dados da porta " + Porta.PortName); } } } diff --git a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb index 3be3c98fde2ea153f710c15b8352d7a02cb645e9..8a9410814ae8982b7e6828e6c439291e812dd7dd 100644 GIT binary patch literal 1256960 zcmeF42VfP&*2i~4uL1%BB81*MBE5#Dln4Q70%?Runn~!WH}tBgsED8_sMr;;B8m$3 zf(?0A>|J<@f|c+0pWVILgrJY)zW3$5FfjSw-8pmS%$b=pXJ*^b#Mt!IjMOQa;r-h5 zYtbTn=*R)#XSHtIwnEuj5hE=^nE7vAQ^vAdHqr^px|-i7!~cc`_S^p(^~h%}jvOuG z!TLR00jHqE-;3o_lmFpt`(3erIeN6hUl;wCOPmXd-s(c z?u#BWY}3ZR&%S>BfZ^#+_inNB&m-LmD(A`k{~is5s{J=qcxb|XBfsh0efg$67v0x& z(2Nz^W>x*^xq7vid_QDFwVzA;d!#?fwV)c1pFhs(URi6u?8Q)VYhke();)FmH3)AN z-m!I;)@@sLXx+YJ+s^G;w`^q z-##|JWlYg~J3^3&CZhg|NH3`3)VP__TAy&Hc$uhQ=8_LOS4yU}w8QakT|cf-`} 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failed: xQueueGenericSend queue.c:832 (pxQueue->pcHead != ((void *)0) || pxQueue->u.xSemaphore.xMutexHolder == ((void *)0) || pxQueue->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle())\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.2850786-03:00","Protocolo":"\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.2857834-03:00","Protocolo":"\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.3224625-03:00","Protocolo":"293EF;0;-01;050;0;-010","Enviado":true},{"Momento":"2024-04-05T16:59:57.3224625-03:00","Protocolo":"Backtrace: 0x40377bb2:0x3fceda20 0x4037adf9:0x3fceda40 0x403808ad:0x3fceda60 0x4037b613:0x3fcedb90 0x420047ca:0x3fcedbd0 0x42004900:0x3fcedbf0 0x42004d2f:0x3fcedc10 0x42004dfa:0x3fcedc30 0x42004bc1:0x3fcedc50 0x42004c21:0x3fcedc80 0x42004c59:0x3fcedca0 0x42004a8c:0x3fcedcc0 0x42001f38:0x3fcedd20 0x42002168:0x3fcedd40 0x42002af1:0x3fcedd70 0x42002d41:0x3fceddf0\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.3330441-03:00","Protocolo":"\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.3330441-03:00","Protocolo":"\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.3330441-03:00","Protocolo":"\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.3330441-03:00","Protocolo":"\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.3330441-03:00","Protocolo":"ELF file SHA256: 07ffabf15353d50a\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.3330441-03:00","Protocolo":"\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.4827071-03:00","Protocolo":"Rebooting...\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.4967817-03:00","Protocolo":"ESP-ROM:esp32s3-20210327\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.4967817-03:00","Protocolo":"Build:Mar 27 2021\r","Enviado":false},{"Momento":"2024-04-05T16:59:57.4967817-03:00","Protocolo":"rst:0xc (RTC_SW_CPU_RST),boot:0x8 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\ No newline at end of file diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html index 1cf56278c..f4681634f 100644 --- a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html +++ b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html @@ -25,7 +25,7 @@ + + + + + + + + + + + + + + + + + + + +

+ + + + + + + + + + + \ No newline at end of file diff --git a/AgroBase/AgroBase/bin/Debug/Python/Scripts/gps-viewer.py b/AgroBase/AgroBase/bin/Debug/Python/Scripts/gps-viewer.py index 79a5a1432..cc774717e 100644 --- a/AgroBase/AgroBase/bin/Debug/Python/Scripts/gps-viewer.py +++ b/AgroBase/AgroBase/bin/Debug/Python/Scripts/gps-viewer.py @@ -20,7 +20,7 @@ pathFiles = sys.argv[1] fileName = sys.argv[2] outputName = sys.argv[3] outputMapName = sys.argv[4] -apiEndpoit = sys.argv[5] +topico_gps = sys.argv[5] pastaSaida = 'Python/Output/' center = [0, 0] @@ -54,7 +54,7 @@ with open(caminho_completo_html, 'r+') as arquivo_html: raise ValueError("Não foi possível encontrar o ID do mapa no arquivo HTML.") # Script JavaScript para adicionar ao HTML, com o ID do mapa substituído - script_atualizacao_marcador = f""" + script_desenha_trajeotria = f""" + """ + # Script JavaScript para adicionar ao HTML, com o ID do mapa substituído + script_atualizacao_marcador = f""" + """ # Inserir o script no conteúdo HTML -conteudo_atualizado = conteudo_html.replace('', script_atualizacao_marcador + '') +conteudo_atualizado = conteudo_html.replace('', script_desenha_trajeotria + script_atualizacao_marcador + '') # Agora, reabrir o arquivo para escrita e sobrescrever o conteúdo com a versão atualizada with open(caminho_completo_html, 'w') as arquivo_html: diff --git a/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py b/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py index 1d6549dad..5460adbbd 100644 --- a/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py +++ b/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py @@ -22,6 +22,7 @@ outputName = sys.argv[3] outputMapName = sys.argv[4] topico_gps = sys.argv[5] topico_ruas = sys.argv[6] +topico_trajeto_dinamico = sys.argv[7] pastaSaida = 'Python/Output/' # Carregar o arquivo shapefile contendo a geometria @@ -67,6 +68,57 @@ with open(caminho_completo_html, 'r+') as arquivo_html: else: raise ValueError("Não foi possível encontrar o ID do mapa no arquivo HTML.") + # Script para representar a trajetoria que o robô deve fazer até iniciar o trabalho + script_desenha_trajetoria_dinamica = f""" + + """ + # Script para desenhar o trajo percorrido no mapa script_desenha_trajeotria = f""" """ @@ -235,7 +300,7 @@ conteudo_html = conteudo_html.replace('https://cdnjs.cloudflare.com/ajax/libs/Le conteudo_html = conteudo_html.replace('https://cdn.jsdelivr.net/gh/python-visualization/folium/folium/templates/', 'folium/') # Inserir o script no conteúdo HTML -conteudo_atualizado = conteudo_html.replace('', script_desenha_trajeotria + script_atualizacao_marcador + '') +conteudo_atualizado = conteudo_html.replace('', script_desenha_trajeotria + script_desenha_trajetoria_dinamica + script_atualizacao_marcador + '') # Encontrar a posição onde inserir o novo trecho de JavaScript indice_inicio_funcao = conteudo_atualizado.find("function geo_json_") # Inserir o novo trecho de JavaScript antes da função diff --git a/AgroBase/AgroBase/bin/Debug/Python/Scripts/pzem.py b/AgroBase/AgroBase/bin/Debug/Python/Scripts/pzem.py index ddf1b3035..d16a11344 100644 --- a/AgroBase/AgroBase/bin/Debug/Python/Scripts/pzem.py +++ b/AgroBase/AgroBase/bin/Debug/Python/Scripts/pzem.py @@ -68,6 +68,11 @@ def decifrar_resposta_aquisicao(resposta): # Certifique-se de que a resposta é do tipo bytes if isinstance(resposta, str): resposta = bytes.fromhex(resposta) + + print(resposta.hex()) + print(len(resposta)) + print(resposta[1]) + print(CodigosFuncoes["AquisicaoDados"]) # Verifica o comprimento da resposta e o código da função if len(resposta) >= 5 and resposta[1] == CodigosFuncoes["AquisicaoDados"]: @@ -90,17 +95,17 @@ def decifrar_resposta_aquisicao(resposta): energia = energia_raw * 1 # Decodificação dos estados de alarme - alarme_alta_tensao = "Ativo" if high_alarm_raw == 0xFFFF else "Não Ativo" - alarme_baixa_tensao = "Ativo" if low_alarm_raw == 0xFFFF else "Não Ativo" + alarme_alta_tensao = "Ativo" if high_alarm_raw == 0xFFFF else "Nao Ativo" + alarme_baixa_tensao = "Ativo" if low_alarm_raw == 0xFFFF else "Nao Ativo" # Retorno formatado com todos os valores resultado = { - "Tensão": f"{tensao} V", + "Tensao": f"{tensao} V", "Corrente": f"{corrente} A", - "Potência": f"{potencia} W", + "Potencia": f"{potencia} W", "Energia": f"{energia} Wh", - "Alarme de Alta Tensão": alarme_alta_tensao, - "Alarme de Baixa Tensão": alarme_baixa_tensao + "Alarme de Alta Tensao": alarme_alta_tensao, + "Alarme de Baixa Tensao": alarme_baixa_tensao } mqtt_client.publish(mqtt_topic, json.dumps(resultado).encode('utf-8')) @@ -191,14 +196,14 @@ def main(): #com_set = comando_set_parametro(Parametros["EscalaCorrenteAtual"], 0) #enviar_comando(com_set) #time.sleep(1) - #vmax = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["AlarmeTensaoMaxima"])).hex()) - #vmin = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["AlarmeTensaoMinima"])).hex()) - #addr = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["EnderecoRTU"])).hex()) - #rang = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["EscalaCorrenteAtual"])).hex()) - #print(f"Alarme tensao maxima: {vmax}") - #print(f"Alarme tensao minima: {vmin}") - #print(f"Endereco RTU: {addr}") - #print(f"Escala de corrente: {rang}") + vmax = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["AlarmeTensaoMaxima"])).hex()) + vmin = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["AlarmeTensaoMinima"])).hex()) + addr = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["EnderecoRTU"])).hex()) + rang = decifrar_resposta_get_parametro(enviar_comando(comando_get_parametro(Parametros["EscalaCorrenteAtual"])).hex()) + print(f"Alarme tensao maxima: {vmax}") + print(f"Alarme tensao minima: {vmin}") + print(f"Endereco RTU: {addr}") + print(f"Escala de corrente: {rang}") try: while True: diff --git a/AgroBase/AgroBase/bin/Debug/parametersAtu.par b/AgroBase/AgroBase/bin/Debug/parametersAtu.par index d4c4336fe..997121464 100644 --- a/AgroBase/AgroBase/bin/Debug/parametersAtu.par +++ b/AgroBase/AgroBase/bin/Debug/parametersAtu.par @@ -1 +1 @@ -{"Conectado":false,"QuantidadeBicos":4,"DensidadeHerbicida":1.05,"CapacidadeReservatorio":30.0,"AtuacaoNivelAlto":true,"BicosPulverizadores":[{"ID":"B01","Posicao":1,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":13.43999906834482},{"ID":"B02","Posicao":2,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":8.7743276142532789},{"ID":"B03","Posicao":3,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":8.7743276142532789},{"ID":"B04","Posicao":4,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":6.54738843715332},{"ID":"B05","Posicao":5,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B06","Posicao":6,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B07","Posicao":7,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B08","Posicao":8,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B09","Posicao":9,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B10","Posicao":10,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0}],"BombaPressurizadora":{"ID":"BOMBA","BombaAtuada":false,"Ligado":true,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[14,35,36,37,5],"PressaoSP":118.0,"Pressao":101.53,"Potencia":0.0},"Sensores":[{"LogGrafico":[],"ID":"FLXLN","Prioridade":23,"Descricao":"Fluxo 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long previousMillisLeitura = millis(); + const int histerese = -5; // Valor de histerese em unidades de pressão + bool bombaDesligadaPorPressao = false; while (1) { if (!Conectado) { @@ -260,13 +263,30 @@ class BombaPressurizadora { continue; } - if (_BombaAtuada && (_PressaoAtual - 10) < _PressaoSP && ExisteBicoAtuado()) { + // Supondo que PressaoAtual seja atualizado em AtualizarStatusSensor() + if (_PressaoAtual >= (_PressaoSP + histerese)) { + // Desliga a bomba se a pressão estiver acima do set point + histerese + bombaDesligadaPorPressao = true; + } else if (_PressaoAtual <= (_PressaoSP - histerese) && bombaDesligadaPorPressao) { + // Permite que o PID atue novamente se a pressão cair abaixo do set point - histerese + bombaDesligadaPorPressao = false; + } + + if (!_BombaAtuada || bombaDesligadaPorPressao) { + PotenciaAtual = ZeroRampa; + } else { + _PID->Compute(); + // Ajusta PotenciaAtual com base no PID + } + + /*if (_BombaAtuada && (_PressaoAtual - 10) < _PressaoSP && ExisteBicoAtuado()) { _PID->Compute(); //PotenciaAtual = RampaMax * 0.5; } else { PotenciaAtual = ZeroRampa; - } + }*/ + ledcWrite(_canal, PotenciaAtual); unsigned long currentMillis = millis(); diff --git a/Firmware/Atuador/Atuador_v5/.theia/launch.json b/Firmware/Atuador/Atuador_v5/.theia/launch.json new file mode 100644 index 000000000..7e4253b33 --- /dev/null +++ b/Firmware/Atuador/Atuador_v5/.theia/launch.json @@ -0,0 +1,8 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + "version": "0.2.0", + "configurations": [ + + ] +} diff --git a/Firmware/Atuador/Atuador_v5/Atuador_v5.ino b/Firmware/Atuador/Atuador_v5/Atuador_v5.ino new file mode 100644 index 000000000..992127e98 --- /dev/null +++ b/Firmware/Atuador/Atuador_v5/Atuador_v5.ino @@ -0,0 +1,881 @@ +// Dispositivo: Atuador +// Versão Firmware: 5 +// Ultima atualização: 04/04/2024 +// Atualizações: Atualização do modelo de pinout + +#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\SerialService.h" +#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\Utils.h" +#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\Pinout.h" +#include "HX711.h" +#include +#include +#define D_Code Atu +#define VERSION 5 + +#define _pinoLED RGB_BUILTIN + +long _baudRate = 115200; + +bool Conectado = false; + +int _TaxaAmostragem = 500; +int BicosAtivos = 10; +bool AtuacaoNivelAlto = true; + +static double _PressaoAtual = 0.0; + +class BicoPulverizador { + public: + // Construtor + BicoPulverizador(String desc) { + _ID = desc; + } + + // Definições + String _ID; + int _posicao; + PinoModel _pinoSolenoide; + + bool Iniciado = false; + bool Testando = false; + + // Consumo + bool StatusBico; + + // Entrada de dados + bool _BicoAtuado = !AtuacaoNivelAlto; + + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + _BicoAtuado = !AtuacaoNivelAlto; + _pinoSolenoide.Conectar(_BicoAtuado); + StatusBico = _pinoSolenoide.get() == (AtuacaoNivelAlto ? 1 : 0); + + xTaskCreatePinnedToCore(&BicoPulverizador::SensorTaskWrapper, "SensorTask", 5000, this, 25 - _posicao, &SensorTaskHandle, tskNO_AFFINITY); + + EnviarDadosSerial(_ID + " Iniciado"); + + Iniciado = true; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + void Desligar() { + if (!Iniciado) { + EnviarDadosSerial(_ID + " nao esta inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + // Parar a execução das tarefas + vTaskDelete(SensorTaskHandle); + + // Redefinir as configurações para os valores iniciais + _pinoSolenoide.Desconectar(); + + EnviarDadosSerial(_ID + " Desligado"); + + Iniciado = false; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + void AlterarStatusBico() { + _pinoSolenoide.set(_BicoAtuado); + StatusBico = _pinoSolenoide.get() == (AtuacaoNivelAlto ? 1 : 0); + } + + + private: + + TaskHandle_t SensorTaskHandle = NULL; + static void SensorTaskWrapper(void *pvParameters) { + BicoPulverizador *bico = static_cast(pvParameters); + bico->SensorTask(); + } + + void SensorTask() { + unsigned long previousMillisLeitura = millis(); + while (1) + { + if (!Conectado) { + // Caso não esteja conectado, aguarda 1 segundo até a próxima verificação, liberando uso de CPU + vTaskDelay(1000); + continue; + } + + + unsigned long currentMillis = millis(); + if ((currentMillis - previousMillisLeitura) >= _TaxaAmostragem) { + previousMillisLeitura = currentMillis; + + EnviarDadosSerial(MontarProtocoloSensor(sBIC, _ID, MontarDadosProtocoloBicoPulverizador(StatusBico))); + } + + + vTaskDelay(1); + } + } + +}; + +class BombaPressurizadora { + public: + // Construtor + BombaPressurizadora(String desc) { + _ID = desc; + } + + // Definições + String _ID; + PinoModel _pinoEN; + PinoModel _pinoCS; + PinoModel _pinoINA; + PinoModel _pinoINB; + PinoModel _pinoPWM; + + double _Kp = 3.0; + double _Ki = 2.2; + double _Kd = 0.5; + PID* _PID = nullptr; + + int ZeroRampa = 0; + int RampaMax = 1023; + + bool Iniciado = false; + bool Testando = false; + int _canal = 0; + + // Consumo + bool Ligado; + double PotenciaAtual = 0; + + // Entrada de dados + double _PressaoSP = 0; + bool _BombaAtuada = false; + + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + _BombaAtuada = false; + _pinoEN.Conectar(_BombaAtuada); + Ligado = _pinoEN.get() == 1; + _pinoCS.Conectar(); + _pinoINA.Conectar(false); + _pinoINB.Conectar(true); + if (_pinoPWM.Definido()) { + ledcSetup(_canal, 1000, 10); + ledcAttachPin(_pinoPWM.num, _canal); + PotenciaAtual = 0; + _PressaoSP = 0; + ledcWrite(_canal, PotenciaAtual); + } + + _PID = new PID(&_PressaoAtual, &PotenciaAtual, &_PressaoSP, _Kp, _Ki, _Kd, DIRECT); + _PID->SetOutputLimits(ZeroRampa, RampaMax); + _PID->SetMode(AUTOMATIC); + + xTaskCreatePinnedToCore(&BombaPressurizadora::SensorTaskWrapper, "SensorTask", 15000, this, 25, &SensorTaskHandle, tskNO_AFFINITY); + + EnviarDadosSerial(_ID + " Iniciado"); + + Iniciado = true; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + void Desligar() { + if (!Iniciado) { + EnviarDadosSerial(_ID + " nao esta inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + // Parar a execução das tarefas + vTaskDelete(SensorTaskHandle); + + // Redefinir as configurações para os valores iniciais + _pinoPWM.Desconectar(); + _pinoEN.Desconectar(); + _pinoCS.Desconectar(); + _pinoINA.Desconectar(); + _pinoINB.Desconectar(); + _pinoPWM.Desconectar(); + + // Outras redefinições de variáveis de estado, se necessário + delete _PID; + + EnviarDadosSerial(_ID + " Desligado"); + + Iniciado = false; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + void AlterarStatusBomba() { + _pinoEN.set(_BombaAtuada); + Ligado = _pinoEN.get() == 1; + } + + + private: + + TaskHandle_t SensorTaskHandle = NULL; + static void SensorTaskWrapper(void *pvParameters) { + BombaPressurizadora *bomba = static_cast(pvParameters); + bomba->SensorTask(); + } + + void SensorTask() { + unsigned long previousMillisLeitura = millis(); + const int histerese = -5; // Valor de histerese em unidades de pressão + bool bombaDesligadaPorPressao = false; + while (1) + { + if (!Conectado) { + // Caso não esteja conectado, aguarda 1 segundo até a próxima verificação, liberando uso de CPU + vTaskDelay(1000); + continue; + } + + // Supondo que PressaoAtual seja atualizado em AtualizarStatusSensor() + if (_PressaoAtual >= (_PressaoSP + histerese)) { + // Desliga a bomba se a pressão estiver acima do set point + histerese + bombaDesligadaPorPressao = true; + } else if (_PressaoAtual <= (_PressaoSP - histerese) && bombaDesligadaPorPressao) { + // Permite que o PID atue novamente se a pressão cair abaixo do set point - histerese + bombaDesligadaPorPressao = false; + } + + if (!_BombaAtuada || bombaDesligadaPorPressao) { + PotenciaAtual = ZeroRampa; + } else { + _PID->Compute(); + // Ajusta PotenciaAtual com base no PID + } + + ledcWrite(_canal, PotenciaAtual); + + unsigned long currentMillis = millis(); + if ((currentMillis - previousMillisLeitura) >= _TaxaAmostragem) { + previousMillisLeitura = currentMillis; + + AtualizarStatusSensor(); + } + + + vTaskDelay(1); + } + } + + void AtualizarStatusSensor() { + Ligado = _pinoEN.get() == 1; + + float PercentualPotencia = (PotenciaAtual / RampaMax) * 100; + + EnviarDadosSerial(MontarProtocoloSensor(sBMB, _ID, MontarDadosProtocoloBombaPressurizadora(Ligado, PercentualPotencia))); + } + +}; + +class SensorFluxo { + public: + SensorFluxo(String desc) { + _ID = desc; + } + + // Definições + String _ID; + S_Code _componente = sFLX; + PinoModel _pino; + int _delayAmostragem; + int _prioridade; + float _calibragem; + + bool Iniciado = false; + + // Consumo + volatile int ultimaLeitura = 0; + volatile unsigned int tempoAnterior = 0; + + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + _pino.Conectar(); + ultimaLeitura = _pino.get(); + tempoAnterior = 0; + + xTaskCreatePinnedToCore(&SensorFluxo::SFTaskWrapper, "SFTask", 10000, this, _prioridade, &SFTaskHandle, tskNO_AFFINITY); + + EnviarDadosSerial(_ID + " Iniciado"); + + Iniciado = true; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + void Desligar() { + if (!Iniciado) { + EnviarDadosSerial(_ID + " nao esta inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + // Parar a execução das tarefas + vTaskDelete(SFTaskHandle); + + // Redefinir as configurações para os valores iniciais + _pino.Desconectar(); + + EnviarDadosSerial(_ID + " Desligado"); + + Iniciado = false; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + private: + TaskHandle_t SFTaskHandle = NULL; + static void SFTaskWrapper(void *pvParameters) { + SensorFluxo *sensor = static_cast(pvParameters); + sensor->SFTask(); + } + + void SFTask() { + unsigned long firstMilis = millis(); + volatile int pulsos = 0; + volatile int pulsosA = 0; + volatile float periodo = 0; + volatile float periodoTotal = 0; + while (1) + { + if (!Conectado) { + // Caso não esteja conectado, aguarda 1 segundo até a próxima verificação, liberando uso de CPU + vTaskDelay(1000); + continue; + } + + bool Leitura = _pino.get() == 1; + if (Leitura != ultimaLeitura) { + ultimaLeitura = Leitura; + pulsos++; + + // Calcular o período em microssegundos + unsigned long tempoAtual = micros(); + unsigned long periodoUs = pulsos == 1 ? 0 : (tempoAtual - tempoAnterior); + periodo = periodoUs / 1000.0; // Converte de us para ms (2300 us para 2,3 ms) + periodoTotal += periodo; + + //CalcularFluxo(periodo); + + tempoAnterior = tempoAtual; + } + + long intMillis = (millis() - firstMilis); + + int Tempo = _TaxaAmostragem + _delayAmostragem; + // A cada _TaxaAmostragem, enviar os dados para o software + if (intMillis >= Tempo) { + if (pulsos == pulsosA) { + periodoTotal = 0; + pulsos = 0; + } + + EnviarDadosSerial(MontarProtocoloSensor(sFLX, _ID, MontarDadosProtocoloFluxo(pulsos, periodoTotal))); + + pulsosA = pulsos; + firstMilis = millis(); + } + + // Aguarda metade do menor período possível entre leituras + vTaskDelay(1); + } + } + +}; + +class SensorMassa { + public: + SensorMassa(String desc) { + _ID = desc; + } + + // Definições + String _ID; + S_Code _componente = sMAS; + PinoModel _pinoDT; + PinoModel _pinoSCK; + int _delayAmostragem; + int _prioridade; + + HX711* balanca = nullptr; + SimpleKalmanFilter* filtro = nullptr; + + bool Iniciado = false; + + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + if (_pinoDT.Definido() && _pinoSCK.Definido()) { + balanca = new HX711(); + filtro = new SimpleKalmanFilter(2, 2, 0.01); + balanca->begin(_pinoDT.num, _pinoSCK.num); + balanca->set_scale(); + //balanca->tare(); + } + + xTaskCreatePinnedToCore(&SensorMassa::SMTaskWrapper, "SMTask", 5000, this, _prioridade, &SMTaskHandle, tskNO_AFFINITY); + + EnviarDadosSerial(_ID + " Iniciado"); + + Iniciado = true; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + void Desligar() { + if (!Iniciado) { + EnviarDadosSerial(_ID + " nao esta inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + delete balanca; + delete filtro; + + // Parar a execução das tarefas + vTaskDelete(SMTaskHandle); + + // Redefinir as configurações para os valores iniciais + _pinoDT.Desconectar(); + _pinoSCK.Desconectar(); + + EnviarDadosSerial(_ID + " Desligado"); + + Iniciado = false; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + private: + TaskHandle_t SMTaskHandle = NULL; + static void SMTaskWrapper(void *pvParameters) { + SensorMassa *sensor = static_cast(pvParameters); + sensor->SMTask(); + } + + void SMTask() { + unsigned long firstMilis = millis(); + while (1) + { + if (!Conectado) { + // Caso não esteja conectado, aguarda 1 segundo até a próxima verificação, liberando uso de CPU + vTaskDelay(1000); + continue; + } + + long intMillis = (millis() - firstMilis); + + // A cada _TaxaAmostragem, enviar os dados para o software + if (intMillis >= (_TaxaAmostragem + _delayAmostragem)) { + AferirMassa(); + + firstMilis = millis(); + } + + // Aguarda metade do menor período possível entre leituras + vTaskDelay(1); + } + } + + void AferirMassa() { + float leitura = balanca->get_units(5); + double leituraNormalizada = filtro->updateEstimate(leitura); + EnviarDadosSerial(MontarProtocoloSensor(sMAS, _ID, MontarDadosProtocoloMassa(leituraNormalizada))); + } + +}; + +class SensorPressao { + public: + SensorPressao(String desc) { + _ID = desc; + } + + // Definições + String _ID; + S_Code _componente = sPRS; + PinoModel _pino; + int _delayAmostragem; + int _prioridade; + + double _Vmin = 0.0; + double _Vmax = 4.5; + double _Pmax = 174.045; + + SimpleKalmanFilter* filtro = nullptr; + + bool Iniciado = false; + + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + _pino.Conectar(); + filtro = new SimpleKalmanFilter(2, 2, 0.01); + + xTaskCreatePinnedToCore(&SensorPressao::SPTaskWrapper, "SPTask", 5000, this, _prioridade, &SPTaskHandle, tskNO_AFFINITY); + + EnviarDadosSerial(_ID + " Iniciado"); + + Iniciado = true; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + void Desligar() { + if (!Iniciado) { + EnviarDadosSerial(_ID + " nao esta inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + delete filtro; + + // Parar a execução das tarefas + vTaskDelete(SPTaskHandle); + + // Redefinir as configurações para os valores iniciais + _pino.Desconectar(); + + EnviarDadosSerial(_ID + " Desligado"); + + Iniciado = false; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + private: + double leituraNormalizada = 0.0; + + TaskHandle_t SPTaskHandle = NULL; + static void SPTaskWrapper(void *pvParameters) { + SensorPressao *sensor = static_cast(pvParameters); + sensor->SPTask(); + } + + void SPTask() { + unsigned long firstMilis = millis(); + while (1) + { + if (!Conectado) { + // Caso não esteja conectado, aguarda 1 segundo até a próxima verificação, liberando uso de CPU + vTaskDelay(1000); + continue; + } + + AferirPressao(); + + long intMillis = (millis() - firstMilis); + + // A cada _TaxaAmostragem, enviar os dados para o software + if (intMillis >= (_TaxaAmostragem + _delayAmostragem)) { + EnviarDadosSerial(MontarProtocoloSensor(sPRS, _ID, MontarDadosProtocoloPressao(_PressaoAtual, leituraNormalizada))); + + firstMilis = millis(); + } + + // Aguarda metade do menor período possível entre leituras + vTaskDelay(1); + } + } + + void AferirPressao() { + int leitura = _pino.get(); + leituraNormalizada = filtro->updateEstimate(leitura); + + double tensao = fmap(leituraNormalizada, 0.0, 4095.0, 0.0, 3300.0) / 1000.0; + _PressaoAtual = fmap(tensao, _Vmin, _Vmax, 0.0, _Pmax); + } + +}; + +BicoPulverizador B_01("B01 "); +BicoPulverizador B_02("B02 "); +BicoPulverizador B_03("B03 "); +BicoPulverizador B_04("B04 "); +BicoPulverizador B_05("B05 "); +BicoPulverizador B_06("B06 "); +BicoPulverizador B_07("B07 "); +BicoPulverizador B_08("B08 "); +BicoPulverizador B_09("B09 "); +BicoPulverizador B_10("B10 "); +BombaPressurizadora BOMBA("BOMBA"); +SensorFluxo SenFlx("FLXLN"); +SensorMassa SenMas("MASRS"); +SensorPressao SenPrs("PRSLN"); + +BicoPulverizador* BicoPorID(String ID) { + BicoPulverizador* _bico = + ID == "B01 " ? &B_01 : + ID == "B02 " ? &B_02 : + ID == "B03 " ? &B_03 : + ID == "B04 " ? &B_04 : + ID == "B05 " ? &B_05 : + ID == "B06 " ? &B_06 : + ID == "B07 " ? &B_07 : + ID == "B08 " ? &B_08 : + ID == "B09 " ? &B_09 : + ID == "B10 " ? &B_10 : + nullptr; + return _bico; +} + +BombaPressurizadora* BombaPorID(String ID) { + BombaPressurizadora* _bomba = + ID == "BOMBA" ? &BOMBA : + nullptr; + return _bomba; +} + +SensorFluxo* SFPorID(String ID) { + SensorFluxo* _sensor = + ID == "FLXLN" ? &SenFlx : + nullptr; + return _sensor; +} + +SensorMassa* SMPorID(String ID) { + SensorMassa* _sensor = + ID == "MASRS" ? &SenMas : + nullptr; + return _sensor; +} + +SensorPressao* SPPorID(String ID) { + SensorPressao* _sensor = + ID == "PRSLN" ? &SenPrs : + nullptr; + return _sensor; +} + +void ZerarPinos() { + //const int gpios[] = {2, 4, 5, 13, 14, 15, 16, 17, 18, 19, 21, 22, 23, 25, 26, 27, 32, 33}; + const int gpios[] = {4, 5, 6, 7, 15, 16, 17, 18, 8, 3, 46, 9, 10, 11, 12, 13, 14, 19, 20, 21, 47, 48, 45, 0, 35, 36, 37, 38, 39, 40, 41, 42, 2, 1}; + + for (int i = 0; i < sizeof(gpios) / sizeof(gpios[0]); i++) { + pinMode(gpios[i], OUTPUT); + digitalWrite(gpios[i], !AtuacaoNivelAlto); + } +} + +void setup() { + Serial.begin(_baudRate); + + ZerarPinos(); +} + +void loop() { + ProtocoloSerial protocolos[MAX_PROTOCOLS]; + int numProtocolos = LerBufferSerial(protocolos); + + // Processa cada protocolo após a leitura completa + for (int i = 0; i < numProtocolos; i++) { + ProcessarProtocolo(protocolos[i].protocolo, protocolos[i].funcao); + } +} + +void ProcessarProtocolo(String Protocolo, F_Code _funcao) { + EnviarDadosSerial("OK"); + + if (_funcao == Chk) { + EnviarDadosSerial(MontarProtocoloVerificacao(D_Code, VERSION)); + } + else if (_funcao == Cfg) { + String ID = ((String)Protocolo[0] + (String)Protocolo[1] + (String)Protocolo[2] + (String)Protocolo[3] + (String)Protocolo[4]); + bool Conectar = (String)Protocolo[6] == "1"; + if (ID == "MD ") { + _TaxaAmostragem = ((String)Protocolo[8] + (String)Protocolo[9] + (String)Protocolo[10] + (String)Protocolo[11] + (String)Protocolo[12]).toInt(); + bool _AtuaNivelAlto = (String)Protocolo[14] == "1"; + + AtuacaoNivelAlto = _AtuaNivelAlto; + + vTaskDelay(pdMS_TO_TICKS(100)); + Conectado = Conectar; + EnviarDadosSerial(MontarProtocoloSensor(sCFG, "MD ", Conectado ? "1" : "0")); + } + else { + BicoPulverizador* _bico = BicoPorID(ID); + BombaPressurizadora* _bomba = BombaPorID(ID); + + if (_bico != nullptr) { + bool bico_ativado = (String)Protocolo[8] == "1"; + int posicao = ((String)Protocolo[10] + (String)Protocolo[11]).toInt(); + TiposBarramentos solenoideB = (TiposBarramentos)((String)Protocolo[13]).toInt(); + int solenoide = ((String)Protocolo[14] + (String)Protocolo[15]).toInt(); + if (bico_ativado) { + if (Conectar) { + _bico->_posicao = posicao; + _bico->_pinoSolenoide = PinoModel(solenoide, solenoideB, _OUTPUT); + + _bico->Inicializar(); + } + else { + _bico->Desligar(); + } + vTaskDelay(pdMS_TO_TICKS(500)); + } + } + else if (_bomba != nullptr) { + bool bomba_ativada = (String)Protocolo[8] == "1"; + double pressaoSP = ((String)Protocolo[10] + (String)Protocolo[11] + (String)Protocolo[12]).toDouble(); + TiposBarramentos enB = (TiposBarramentos)((String)Protocolo[14]).toInt(); + int pinoEN = ((String)Protocolo[15] + (String)Protocolo[16]).toInt(); + TiposBarramentos csB = (TiposBarramentos)((String)Protocolo[18]).toInt(); + int pinoCS = ((String)Protocolo[19] + (String)Protocolo[20]).toInt(); + TiposBarramentos inaB = (TiposBarramentos)((String)Protocolo[22]).toInt(); + int pinoINA = ((String)Protocolo[23] + (String)Protocolo[24]).toInt(); + TiposBarramentos inbB = (TiposBarramentos)((String)Protocolo[26]).toInt(); + int pinoINB = ((String)Protocolo[27] + (String)Protocolo[28]).toInt(); + TiposBarramentos pwmB = (TiposBarramentos)((String)Protocolo[30]).toInt(); + int pinoPWM = ((String)Protocolo[31] + (String)Protocolo[32]).toInt(); + if (bomba_ativada) { + if (Conectar) { + _bomba->_PressaoSP = pressaoSP; + _bomba->_pinoEN = PinoModel(pinoEN, enB, _OUTPUT); + _bomba->_pinoCS = PinoModel(pinoCS, csB, _INPUT, DIGITAL); + _bomba->_pinoINA = PinoModel(pinoINA, inaB, _OUTPUT); + _bomba->_pinoINB = PinoModel(pinoINB, inbB, _OUTPUT); + _bomba->_pinoPWM = PinoModel(pinoPWM, pwmB, _PWM); + + _bomba->Inicializar(); + } + else { + _bomba->Desligar(); + } + vTaskDelay(pdMS_TO_TICKS(500)); + } + } + else { + S_Code componente = (S_Code)((String)Protocolo[8] + (String)Protocolo[9] + (String)Protocolo[10]).toInt(); + bool sensor_ativado = (String)Protocolo[12] == "1"; + int delayAmostragem = ((String)Protocolo[14] + (String)Protocolo[15] + (String)Protocolo[16] + (String)Protocolo[17] + (String)Protocolo[18]).toInt(); + int prioridade = ((String)Protocolo[20] + (String)Protocolo[21]).toInt(); + TiposBarramentos pinoB = (TiposBarramentos)((String)Protocolo[23]).toInt(); + int pino = ((String)Protocolo[24] + (String)Protocolo[25]).toInt(); + TiposBarramentos pino2B = (TiposBarramentos)((String)Protocolo[27]).toInt(); + int pino2 = ((String)Protocolo[28] + (String)Protocolo[29]).toInt(); + + switch (componente) { + case sFLX: { + SensorFluxo* _sensor = SFPorID(ID); + if (sensor_ativado) { + if (Conectar) { + _sensor->_pino = PinoModel(pino, pinoB, _INPUT, DIGITAL); + _sensor->_prioridade = prioridade; + _sensor->_delayAmostragem = delayAmostragem; + + _sensor->Inicializar(); + } + else { + _sensor->Desligar(); + } + } + break; + } + case sMAS: { + SensorMassa* _sensor = SMPorID(ID); + if (sensor_ativado) { + if (Conectar) { + _sensor->_pinoDT = PinoModel(pino, pinoB, _INPUT, DIGITAL); + _sensor->_pinoSCK = PinoModel(pino2, pino2B, _INPUT, DIGITAL); + _sensor->_prioridade = prioridade; + _sensor->_delayAmostragem = delayAmostragem; + + _sensor->Inicializar(); + } + else { + _sensor->Desligar(); + } + } + break; + } + case sPRS: { + SensorPressao* _sensor = SPPorID(ID); + if (sensor_ativado) { + double Vmin = ((String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34] + (String)Protocolo[35] + (String)Protocolo[36]).toDouble(); + double Vmax = ((String)Protocolo[38] + (String)Protocolo[39] + (String)Protocolo[40] + (String)Protocolo[41] + (String)Protocolo[42] + (String)Protocolo[43]).toDouble(); + double Pmax = ((String)Protocolo[45] + (String)Protocolo[46] + (String)Protocolo[47] + (String)Protocolo[48] + (String)Protocolo[49] + (String)Protocolo[50]).toDouble(); + if (Conectar) { + _sensor->_Vmin = Vmin; + _sensor->_Vmax = Vmax; + _sensor->_Pmax = Pmax; + + _sensor->_pino = PinoModel(pino, pinoB, _INPUT, ANALOGICO); + _sensor->_prioridade = prioridade; + _sensor->_delayAmostragem = delayAmostragem; + + _sensor->Inicializar(); + } + else { + _sensor->Desligar(); + } + } + break; + } + + } + } + + } + } + else if (_funcao == Cmd) { + //canal;potencia;sentido;rampa;precisao;rpm + //0;000;0;000;000;000 + String ID = ((String)Protocolo[0] + (String)Protocolo[1] + (String)Protocolo[2] + (String)Protocolo[3] + (String)Protocolo[4]); + + BicoPulverizador* _bico = BicoPorID(ID); + BombaPressurizadora* _bomba = BombaPorID(ID); + + if (_bico != nullptr) { + _bico->_BicoAtuado = (String)Protocolo[6] == (AtuacaoNivelAlto ? "1" : "0"); + _bico->AlterarStatusBico(); + } + else if (_bomba != nullptr) { + _bomba->_BombaAtuada = (String)Protocolo[6] == "1"; + _bomba->_PressaoSP = ((String)Protocolo[8] + (String)Protocolo[9] + (String)Protocolo[10]).toDouble(); + _bomba->AlterarStatusBomba(); + } + } + else if (_funcao == Tst) { + String ID = ((String)Protocolo[0] + (String)Protocolo[1] + (String)Protocolo[2]); + + BicoPulverizador* _bico = BicoPorID(ID); + + bool EmTeste = _bico->Testando; + if (!EmTeste) { + //_motor->Testar(); + } + + } +} \ No newline at end of file diff --git a/Firmware/Direcional/Direcional_v5/Direcional_v5.ino b/Firmware/Direcional/Direcional_v5/Direcional_v5.ino index 3d8eefc55..f14daaacd 100644 --- a/Firmware/Direcional/Direcional_v5/Direcional_v5.ino +++ b/Firmware/Direcional/Direcional_v5/Direcional_v5.ino @@ -1,13 +1,21 @@ -#include "C:\Zendion Inc\agrobot_base\Firmware\Modulos\SerialService.h" +// Dispositivo: Direcional +// Versão Firmware: 5 +// Ultima atualização: 04/04/2024 +// Atualização: Atualização do modelo de pinout + +#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\SerialService.h" +#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\Pinout.h" #define D_Code Dir +#define VERSION 5 #define _pinoLED RGB_BUILTIN -int _pinoReleGeral = 8; long _baudRate = 115200; bool Conectado = false; -bool ConsiderarAngulosAbsolutos = false; +bool AA_Ref000 = false; +bool AA_Ref090 = false; +bool AA_Ref270 = false; int _TaxaAmostragem; int FrequenciaMaxima = 10000; @@ -17,478 +25,318 @@ int dutyCycle = 512; double _frequencia = 4000; + class Motor { -public: - // Construtor - Motor(String desc) { - _ID = desc; - } + public: + // Construtor + Motor(String desc) { + _ID = desc; + } - // Definições - String _ID; - int _canal; - int _pinoENA; - int _pinoDIR; - int _pinoPUL; - int _pinoEncoderA; - int _pinoEncoderB; - int _pinoRef000; - int _pinoRef090; - int _pinoRef270; - - bool Iniciado = false; - bool Testando = false; - bool Referenciando = false; + // Definições + String _ID; + int _canal; + PinoModel _pinoENA; + PinoModel _pinoDIR; + PinoModel _pinoPUL; + PinoModel _pinoEncoderA; + PinoModel _pinoEncoderB; + PinoModel _pinoRef000; + PinoModel _pinoRef090; + PinoModel _pinoRef270; + + bool Iniciado = false; + bool Testando = false; + bool Referenciando = false; - // Consumo - double _Angulo; - double _AgRef; - Sentido _Sentido; - - // Entrada de dados - double _Angulo_SP; - double _Angulo_Offset = 0; - Sentido _Sentido_SP = Parado; - bool _MotorLigado = false; - bool _Estabilizar = true; - bool _Referenciar = true; + // Consumo + double _Angulo; + double _AgRef; + Sentido _Sentido; + + // Entrada de dados + double _Angulo_SP; + double _Angulo_Offset = 0; + Sentido _Sentido_SP = Parado; + bool _MotorLigado = false; + bool _Estabilizar = true; + bool _Referenciar = true; - bool E0 = false; - bool Ag0 = false; - bool _Ag0 = false; - bool E90 = false; - bool Ag90 = false; - bool _Ag90 = false; - bool E270 = false; - bool Ag270 = false; - bool _Ag270 = false; - bool Referenciado = false; - int RefMax = 90; - int RefMin = -90; - int ulEncoderA = 0; - int ulEncoderB = 0; - double GrausPino = 0; + bool E0 = false; + bool Ag0 = false; + bool _Ag0 = false; + bool E90 = false; + bool Ag90 = false; + bool _Ag90 = false; + bool E270 = false; + bool Ag270 = false; + bool _Ag270 = false; + bool Referenciado = false; + int RefMax = 90; + int RefMin = -90; + int ulEncoderA = 0; + int ulEncoderB = 0; + double GrausPino = 0; + bool EA_M = false; + bool EB_M = false; - void Inicializar() { - if (Iniciado) { - EnviarDadosSerial(_ID + " ja inicializado"); + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + if (_pinoPUL.Definido()) { + AtualizarPWM(); + } + _pinoENA.Conectar(true); + _pinoDIR.Conectar(false); + _pinoEncoderA.Conectar(); + ulEncoderA = _pinoEncoderA.get(); + EA_M = false; + _pinoEncoderB.Conectar(); + ulEncoderB = _pinoEncoderB.get(); + EB_M = false; + _pinoRef000.Conectar(); + Ag0 = _pinoRef000.get() == 1; + _Ag0 = Ag0; + _pinoRef090.Conectar(); + Ag90 = _pinoRef090.get() == 1; + _Ag90 = Ag90; + _pinoRef270.Conectar(); + Ag270 = _pinoRef270.get() == 1; + _Ag270 = Ag270; + + + xTaskCreatePinnedToCore(&Motor::RampaTaskWrapper, "RampaTask", 5000, this, 25 - _canal, &RampaTaskHandle, tskNO_AFFINITY); + + + E0 = false; + E90 = false; + E270 = false; + + ResetRef(_Referenciar); + + EnviarDadosSerial(_ID + " Iniciado"); + + Iniciado = true; + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); - return; } - if (_pinoPUL > -1) { - AtualizarPWM(); + void ResetRef(bool _Ref) { + _Angulo = 0; + GrausPino = 0; + _Sentido_SP = Parado; + _Sentido = Parado; + Referenciado = !_Ref; + Referenciando = _Ref; + _MotorLigado = _Ref; } - if (_pinoENA > -1) { - pinMode(_pinoENA, OUTPUT); - digitalWrite(_pinoENA, HIGH); - } - if (_pinoDIR > -1) { - pinMode(_pinoDIR, OUTPUT); - digitalWrite(_pinoDIR, LOW); - } - if (_pinoEncoderA > -1) { - pinMode(_pinoEncoderA, INPUT); - ulEncoderA = digitalRead(_pinoEncoderA); - if (_ID == "ET") { - attachInterrupt(digitalPinToInterrupt(_pinoEncoderA), M1handleEncoderA, FALLING); - } - else if (_ID == "EF") { - attachInterrupt(digitalPinToInterrupt(_pinoEncoderA), M2handleEncoderA, FALLING); - } - else if (_ID == "DT") { - attachInterrupt(digitalPinToInterrupt(_pinoEncoderA), M3handleEncoderA, FALLING); - } - else if (_ID == "DF") { - attachInterrupt(digitalPinToInterrupt(_pinoEncoderA), M4handleEncoderA, FALLING); + void AtualizarPWM() { + ledcSetup(_canal, _frequencia, 10); + ledcAttachPin(_pinoPUL.num, _canal); + ledcWrite(_canal, dutyCycle); + } + + void Desligar() { + if (!Iniciado) { + EnviarDadosSerial(_ID + " nao esta inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; } - } - if (_pinoEncoderB > -1) { - pinMode(_pinoEncoderB, INPUT); - ulEncoderB = digitalRead(_pinoEncoderB); - } - if (_pinoRef000 > -1) { - pinMode(_pinoRef000, INPUT); - Ag0 = digitalRead(_pinoRef000) == 1; - _Ag0 = digitalRead(_pinoRef000) == 1; + // Parar a execução das tarefas + vTaskDelete(RampaTaskHandle); - xTaskCreatePinnedToCore(&Motor::AnguloTaskWrapper, "AnguloTask", 5000, this, 20 - _canal, &AnguloTaskHandle, tskNO_AFFINITY); - } - if (_pinoRef090 > -1) { - pinMode(_pinoRef090, INPUT); - Ag90 = digitalRead(_pinoRef090) == 1; - _Ag90 = digitalRead(_pinoRef090) == 1; - } - if (_pinoRef270 > -1) { - pinMode(_pinoRef270, INPUT); - Ag270 = digitalRead(_pinoRef270) == 1; - _Ag270 = digitalRead(_pinoRef270) == 1; - } - + // Redefinir as configurações para os valores iniciais + _pinoENA.Desconectar(); + _pinoDIR.Desconectar(); + _pinoPUL.Desconectar(); + _pinoEncoderA.Desconectar(); + _pinoEncoderB.Desconectar(); + _pinoRef000.Desconectar(); + _pinoRef090.Desconectar(); + _pinoRef270.Desconectar(); + + + EnviarDadosSerial(_ID + " Desligado"); - xTaskCreatePinnedToCore(&Motor::RampaTaskWrapper, "RampaTask", 5000, this, 15 - _canal, &RampaTaskHandle, tskNO_AFFINITY); + Iniciado = false; - - E0 = false; - E90 = false; - E270 = false; - - ResetRef(_Referenciar); - - Iniciado = true; - - EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); - } - - void ResetRef(bool _Ref) { - _Angulo = 0; - GrausPino = 0; - _Sentido_SP = Parado; - _Sentido = Parado; - Referenciado = !_Ref; - Referenciando = _Ref; - _MotorLigado = _Ref; - } - - void AtualizarPWM() { - ledcSetup(_canal, _frequencia, 10); - ledcAttachPin(_pinoPUL, _canal); - ledcWrite(_canal, dutyCycle); - } - - void Desligar() { - if (!Iniciado) { - EnviarDadosSerial(_ID + " nao esta inicializado"); EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); - return; } - // Parar a execução das tarefas - vTaskDelete(RampaTaskHandle); + void Testar() { + Testando = true; - // Redefinir as configurações para os valores iniciais - if (_pinoENA > -1) { - pinMode(_pinoENA, INPUT); + Testando = false; } - if (_pinoDIR > -1) { - pinMode(_pinoDIR, INPUT); - } - if (_pinoPUL > -1) { - ledcDetachPin(_pinoPUL); - pinMode(_pinoPUL, INPUT); - } - if (_pinoEncoderA > -1) { - pinMode(_pinoEncoderA, INPUT); - detachInterrupt(_pinoEncoderA); - } - if (_pinoEncoderB > -1) { - pinMode(_pinoEncoderB, INPUT); - } - if (_pinoRef000 > -1) { - pinMode(_pinoRef000, INPUT); - vTaskDelete(AnguloTaskHandle); - } - if (_pinoRef090 > -1) { - pinMode(_pinoRef090, INPUT); - } - if (_pinoRef270 > -1) { - pinMode(_pinoRef270, INPUT); - } - - - EnviarDadosSerial(_ID + " Desligado"); - - Iniciado = false; - - EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); - } - - void Testar() { - Testando = true; - - Testando = false; - } -private: - - static Motor* instanceM1; - static Motor* instanceM2; - static Motor* instanceM3; - static Motor* instanceM4; - static void M1handleEncoderA() { - instanceM1->AferirPosicao(); - } - static void M2handleEncoderA() { - instanceM2->AferirPosicao(); - } - static void M3handleEncoderA() { - instanceM3->AferirPosicao(); - } - static void M4handleEncoderA() { - instanceM4->AferirPosicao(); - } - - TaskHandle_t RampaTaskHandle = NULL; - static void RampaTaskWrapper(void *pvParameters) { - Motor *motor = static_cast(pvParameters); - motor->RampaTask(); - } - - void RampaTask() { - unsigned long previousMillisRampa = millis(); - - while (1) - { - if (!Conectado) { - // Caso não esteja conectado, aguarda 1 segundo até a próxima verificação, liberando uso de CPU - vTaskDelay(1000); - continue; - } - - //AferirPosicao(); - - if (Referenciando) { - ReferenciarMotor(); - } - else { - VerificarAnguloSP(); - } - - Atualizar(); - - unsigned long currentMillis = millis(); - if (currentMillis - previousMillisRampa >= _TaxaAmostragem) { - previousMillisRampa = currentMillis; - - EnviarDadosSerial(MontarProtocoloSensor(sENC, _ID, MontarDadosProtocoloEncoder(_Sentido, _Angulo, Ag0, Ag90, Ag270, Referenciando, Referenciado))); - } - - vTaskDelay(1); + private: + TaskHandle_t RampaTaskHandle = NULL; + static void RampaTaskWrapper(void *pvParameters) { + Motor *motor = static_cast(pvParameters); + motor->RampaTask(); } - } - void Atualizar() { - if (_pinoENA > -1) { - digitalWrite(_pinoENA, !_MotorLigado); - } - if (_pinoDIR > -1) { - digitalWrite(_pinoDIR, _Sentido_SP != Horario); - } - } + void RampaTask() { + unsigned long previousMillisRampa = millis(); + unsigned long previousMillisAngulo = millis(); - void AferirPosicao() { - if (_pinoEncoderA > -1 && _pinoEncoderB > -1) { - int leituraEncoderA = digitalRead(_pinoEncoderA); - int leituraEncoderB = digitalRead(_pinoEncoderB); - - // Verifica o sentido do giro - if (leituraEncoderA != ulEncoderA && leituraEncoderA == 1) { - if (leituraEncoderB != leituraEncoderA) { - // Sentido horário - _Angulo++; - _AgRef++; - _Sentido = Horario; - } else { - // Sentido anti-horário - _Angulo--; - _AgRef--; - _Sentido = Antihorario; + while (1) + { + if (!Conectado) { + // Caso não esteja conectado, aguarda 1 segundo até a próxima verificação, liberando uso de CPU + vTaskDelay(1000); + continue; } - //Serial.println(_Angulo); - - } + AferirPosicao(); + + if (Referenciando) { + ReferenciarMotor(); + } + else { + VerificarAnguloSP(); + } + + Atualizar(); + + AferirAnguloAbsoluto(); + + unsigned long currentMillis = millis(); + /*if (currentMillis - previousMillisAngulo >= 100) { + previousMillisAngulo = currentMillis; + + AferirAnguloAbsoluto(); + }*/ + + if (currentMillis - previousMillisRampa >= _TaxaAmostragem) { + previousMillisRampa = currentMillis; + + EnviarDadosSerial(MontarProtocoloSensor(sENC, _ID, MontarDadosProtocoloEncoder(_Sentido, _Angulo, Ag0, Ag90, Ag270, Referenciando, Referenciado))); + } + + vTaskDelay(1); - if (leituraEncoderA != ulEncoderA) { - ulEncoderA = leituraEncoderA; } - if (leituraEncoderB != ulEncoderB) { + } + + void Atualizar() { + _pinoENA.set(!_MotorLigado); + _pinoDIR.set(_Sentido_SP != Horario); + } + + void AferirPosicao() { + if (_pinoEncoderA.Definido() && _pinoEncoderB.Definido()) { + int leituraEncoderA = _pinoEncoderA.get(); + int leituraEncoderB = _pinoEncoderB.get(); + + if (!EA_M) { + EA_M = leituraEncoderA != ulEncoderA; + if (EA_M) { + _Sentido = leituraEncoderA != leituraEncoderB ? Horario : Antihorario; + } + } + if (!EB_M) { + EB_M = leituraEncoderB != ulEncoderB; + } + + + if (EA_M && EB_M) { + + if (_Sentido == Horario) { + _Angulo = _Angulo + _Margem; + _AgRef = _AgRef + _Margem; + } else if (_Sentido == Antihorario) { + _Angulo = _Angulo - _Margem; + _AgRef = _AgRef - _Margem; + } + + EA_M = false; + EB_M = false; + } + + ulEncoderA = leituraEncoderA; ulEncoderB = leituraEncoderB; } - } - } - - double CalculaAnguloPino(double Inicio, bool Entrando) { - double MeioPino = (GrausPino / 2.0); - double Multiplicador = 1.0; - if (Entrando) { - Multiplicador = (_Sentido == Horario ? -1.0 : 1.0); - } - else { - Multiplicador = (_Sentido == Horario ? 1.0 : -1.0); - } - double Angulo = Inicio + (MeioPino * Multiplicador) + _Angulo_Offset; - return Angulo; - } - - void VerificarAnguloSP() { - if (_MotorLigado) { - if (_Angulo_SP > -1) { - if (_Sentido_SP == Horario && _Angulo >= _Angulo_SP) { - _MotorLigado = false; - } - else if (_Sentido_SP == Antihorario && _Angulo <= (_Angulo_SP * -1)) { - _MotorLigado = false; - } - } - else { - if (Referenciado && (_Sentido_SP == Horario && _Angulo >= RefMax)) { - _MotorLigado = false; - } - else if (Referenciado && (_Sentido_SP == Antihorario && _Angulo <= RefMin)) { - _MotorLigado = false; - } - } - } - else { - if (_Estabilizar && _Sentido_SP == Parado && _Angulo != _Angulo_SP) { - _Sentido_SP = _Angulo > 0 ? Antihorario : Horario; - _MotorLigado = true; - } - } - } - - void ReferenciarMotor() { - int AgP1 = RefMax / 2; - int AgP2 = RefMax; - - if (Referenciado && (_Angulo >= -_Margem && _Angulo <= _Margem)) { - Referenciando = false; - _MotorLigado = false; - } - else { - if (_Sentido_SP == Parado && _Angulo == 0) { - _Angulo_SP = AgP1; - _Sentido_SP = Horario; - } - else if (_Sentido_SP == Horario) { - if (_Angulo > _Margem && Referenciado) { - _Angulo_SP = AgP1; - _Sentido_SP = Antihorario; - } - else if (_Angulo >= AgP1) { - _Angulo_SP = AgP1; - _Sentido_SP = Antihorario; - } - else if (_Angulo >= RefMax) { - _Angulo_SP = AgP2; - _Sentido_SP = Antihorario; - } - } - else if (_Sentido_SP == Antihorario) { - if (_Angulo < -_Margem && Referenciado) { - _Angulo_SP = AgP1; - _Sentido_SP = Horario; - } - else if (_Angulo <= -AgP1) { - _Angulo_SP = AgP2; - _Sentido_SP = Antihorario; - } - else if (_Angulo <= -AgP2) { - _Angulo_SP = AgP2; - _Sentido_SP = Horario; - } - else if (_Angulo <= RefMin) { - _Angulo_SP = AgP2; - _Sentido_SP = Horario; - } - } - } - } - - TaskHandle_t AnguloTaskHandle = NULL; - static void AnguloTaskWrapper(void *pvParameters) { - Motor *motor = static_cast(pvParameters); - motor->AnguloTask(); - } - - void AnguloTask() { - while (1) - { - if (!Conectado) { - // Caso não esteja conectado, aguarda 1 segundo até a próxima verificação, liberando uso de CPU - vTaskDelay(1000); - continue; - } - - - if (_pinoRef000 > -1) { - _Ag0 = digitalRead(_pinoRef000) == 1; - } - if (_pinoRef090 > -1) { - _Ag90 = digitalRead(_pinoRef090) == 1; - } - if (_pinoRef270 > -1) { - _Ag270 = digitalRead(_pinoRef270) == 1; - } + void AferirAnguloAbsoluto() { + _Ag0 = _pinoRef000.get() == 1; + _Ag90 = _pinoRef090.get() == 1; + _Ag270 = _pinoRef270.get() == 1; if (GrausPino == 0) { - if (_pinoRef000 > -1) { - if (_Ag0 == true && Ag0 == false && E0 == false) { // entrou no pino 0 - _AgRef = 0; - Serial.println("Entrou 0"); - E0 = true; + if (_pinoRef000.Definido()) { + if (_Ag0 == true && Ag0 == false && E0 == false) { // entrou no pino 0 + _AgRef = 0; + //Serial.println("Entrou 0"); + E0 = true; + } + else if (_Ag0 == false && Ag0 == true && _AgRef != 0 && E0 == true) { // saiu do pino 0 + GrausPino = (_AgRef < 0 ? -1.0 : 1.0) * _AgRef; + Referenciado = true; + //Serial.println("Saiu 0"); + //Serial.println(GrausPino); + E0 = false; + } } - else if (_Ag0 == false && Ag0 == true && _AgRef != 0 && E0 == true) { // saiu do pino 0 - GrausPino = (_AgRef < 0 ? -1.0 : 1.0) * _AgRef; - Referenciado = true; - Serial.println("Saiu 0"); - Serial.println(GrausPino); - E0 = false; + if (_pinoRef090.Definido()) { + if (_Ag90 == true && Ag90 == false && E90 == false) { // entrou no pino 90 + _AgRef = 0; + //Serial.println("Entrou 90"); + E90 = true; + } + else if (_Ag90 == false && Ag90 == true && E90 == true) { // saiu do pino 90 + GrausPino = (_AgRef < 0 ? -1.0 : 1.0) * _AgRef; + Referenciado = true; + //Serial.println("Saiu 90"); + E90 = false; + } } - } - if (_pinoRef090 > -1) { - if (_Ag90 == true && Ag90 == false && E90 == false) { // entrou no pino 90 - _AgRef = 0; - Serial.println("Entrou 90"); - E90 = true; + if (_pinoRef270.Definido()) { + if (_Ag270 == true && Ag270 == false && E270 == false) { // entrou no pino 270 + _AgRef = 0; + //Serial.println("Entrou 270"); + E270 = true; + } + else if (_Ag270 == false && Ag270 == true) { // saiu do pino 270 + GrausPino = (_AgRef < 0 ? -1.0 : 1.0) * _AgRef; + Referenciado = true; + //Serial.println("Saiu 270"); + E270 = false; + } } - else if (_Ag90 == false && Ag90 == true && E90 == true) { // saiu do pino 90 - GrausPino = (_AgRef < 0 ? -1.0 : 1.0) * _AgRef; - Referenciado = true; - Serial.println("Saiu 90"); - E90 = false; - } - } - if (_pinoRef270 > -1) { - if (_Ag270 == true && Ag270 == false && E270 == false) { // entrou no pino 270 - _AgRef = 0; - Serial.println("Entrou 270"); - E270 = true; - } - else if (_Ag270 == false && Ag270 == true) { // saiu do pino 270 - GrausPino = (_AgRef < 0 ? -1.0 : 1.0) * _AgRef; - Referenciado = true; - Serial.println("Saiu 270"); - E270 = false; - } - } } if (GrausPino > 0) { - if (_Ag0 == true && Ag0 == false) { // entrou no pino 0 - _Angulo = CalculaAnguloPino(0, true); + if (Referenciando || AA_Ref000) { + if (_Ag0 == true && Ag0 == false) { // entrou no pino 0 + _Angulo = CalculaAnguloPino(0, true); + } + else if (_Ag0 == false && Ag0 == true) { // saiu do pino 0 + _Angulo = CalculaAnguloPino(0, false); + } } - else if (_Ag0 == false && Ag0 == true) { // saiu do pino 0 - _Angulo = CalculaAnguloPino(0, false); - } - else if (ConsiderarAngulosAbsolutos || Referenciando) { + else if (Referenciando || AA_Ref090) { if (_Ag90 == true && Ag90 == false) { // entrou no pino 90 _Angulo = CalculaAnguloPino(90, true); } else if (_Ag90 == false && Ag90 == true) { // saiu do pino 90 _Angulo = CalculaAnguloPino(90, false); } - else if (_Ag270 == true && Ag270 == false) { // entrou no pino 270 + } + else if (Referenciando || AA_Ref270) { + if (_Ag270 == true && Ag270 == false) { // entrou no pino 270 _Angulo = CalculaAnguloPino(-90, true); } else if (_Ag270 == false && Ag270 == true) { // saiu do pino 270 @@ -497,24 +345,104 @@ private: } } - if (_pinoRef000 > -1) { - Ag0 = _Ag0; + if (_pinoRef000.Definido()) { + Ag0 = _Ag0; } - if (_pinoRef090 > -1) { - Ag90 = _Ag90; + if (_pinoRef090.Definido()) { + Ag90 = _Ag90; } - if (_pinoRef270 > -1) { - Ag270 = _Ag270; + if (_pinoRef270.Definido()) { + Ag270 = _Ag270; } - - - vTaskDelay(2); } - } + double CalculaAnguloPino(double Inicio, bool Entrando) { + double MeioPino = (GrausPino / 2.0); + double Multiplicador = 1.0; + if (Entrando) { + Multiplicador = (_Sentido == Horario ? -1.0 : 1.0); + } + else { + Multiplicador = (_Sentido == Horario ? 1.0 : -1.0); + } + double Angulo = Inicio + (MeioPino * Multiplicador) + _Angulo_Offset; + return Angulo; + } + void VerificarAnguloSP() { + if (_MotorLigado) { + if (_Angulo_SP > -1) { + if (_Sentido_SP == Horario && _Angulo >= _Angulo_SP) { + _MotorLigado = false; + } + else if (_Sentido_SP == Antihorario && _Angulo <= (_Angulo_SP * -1)) { + _MotorLigado = false; + } + } + else { + if (Referenciado && (_Sentido_SP == Horario && _Angulo >= RefMax)) { + _MotorLigado = false; + } + else if (Referenciado && (_Sentido_SP == Antihorario && _Angulo <= RefMin)) { + _MotorLigado = false; + } + } + } + else { + if (_Estabilizar && _Sentido_SP == Parado && _Angulo != _Angulo_SP) { + _Sentido_SP = _Angulo > 0 ? Antihorario : Horario; + _MotorLigado = true; + } + } + } + void ReferenciarMotor() { + int AgP1 = RefMax / 2; + int AgP2 = RefMax; + if (Referenciado && (_Angulo >= -_Margem && _Angulo <= _Margem)) { + Referenciando = false; + _MotorLigado = false; + } + else { + if (_Sentido_SP == Parado && _Angulo == 0) { + _Angulo_SP = AgP1; + _Sentido_SP = Horario; + } + else if (_Sentido_SP == Horario) { + if (_Angulo > _Margem && Referenciado) { + _Angulo_SP = AgP1; + _Sentido_SP = Antihorario; + } + else if (_Angulo >= AgP1) { + _Angulo_SP = AgP1; + _Sentido_SP = Antihorario; + } + else if (_Angulo >= RefMax) { + _Angulo_SP = AgP2; + _Sentido_SP = Antihorario; + } + } + else if (_Sentido_SP == Antihorario) { + if (_Angulo < -_Margem && Referenciado) { + _Angulo_SP = AgP1; + _Sentido_SP = Horario; + } + else if (_Angulo <= -AgP1) { + _Angulo_SP = AgP2; + _Sentido_SP = Antihorario; + } + else if (_Angulo <= -AgP2) { + _Angulo_SP = AgP2; + _Sentido_SP = Horario; + } + else if (_Angulo <= RefMin) { + _Angulo_SP = AgP2; + _Sentido_SP = Horario; + } + } + } + } }; @@ -522,92 +450,92 @@ Motor M1("ET"); Motor M2("EF"); Motor M3("DT"); Motor M4("DF"); -Motor* Motor::instanceM1 = &M1; -Motor* Motor::instanceM2 = &M2; -Motor* Motor::instanceM3 = &M3; -Motor* Motor::instanceM4 = &M4; + +Motor* MotorPorID(String ID) { + Motor* _motor = + ID == "ET" ? &M1 : + ID == "EF" ? &M2 : + ID == "DT" ? &M3 : + ID == "DF" ? &M4 : + nullptr; + return _motor; +} void setup() { Serial.begin(_baudRate); - - pinMode(_pinoReleGeral, OUTPUT); - digitalWrite(_pinoReleGeral, LOW); + iniciarMCP(D_Code, 8, 18, 0x20, false); } void loop() { - if (Serial.available() > 3) { - String Protocolo = ""; - F_Code _funcao = Nda; - while (Serial.available()) { - char Entrada = (char)Serial.read(); - if (Entrada == EndLine) { - break; - } - Protocolo += Entrada; - if (Protocolo.length() == 3) { - if (_funcao == Nda) { - _funcao = (F_Code)((String)Protocolo[0] + (String)Protocolo[1] + (String)Protocolo[2]).toInt(); - Protocolo = ""; - } - } - } + ProtocoloSerial protocolos[MAX_PROTOCOLS]; + int numProtocolos = LerBufferSerial(protocolos); - EnviarDadosSerial("OK"); + // Processa cada protocolo após a leitura completa + for (int i = 0; i < numProtocolos; i++) { + ProcessarProtocolo(protocolos[i].protocolo, protocolos[i].funcao); + } +} - if (_funcao == Chk) { - EnviarDadosSerial(MontarProtocoloVerificacao(D_Code)); - } - else if (_funcao == Cfg) { +void ProcessarProtocolo(String Protocolo, F_Code _funcao) { + EnviarDadosSerial("OK"); + + if (_funcao == Chk) { + EnviarDadosSerial(MontarProtocoloVerificacao(D_Code, VERSION)); + } + else if (_funcao == Cfg) { String ID = ((String)Protocolo[0] + (String)Protocolo[1]); bool Conectar = (String)Protocolo[3] == "1"; if (ID == "MD") { _TaxaAmostragem = ((String)Protocolo[5] + (String)Protocolo[6] + (String)Protocolo[7] + (String)Protocolo[8] + (String)Protocolo[9]).toInt(); - int pinoReleGeral = ((String)Protocolo[11] + (String)Protocolo[12]).toInt(); - ConsiderarAngulosAbsolutos = (String)Protocolo[14] == "1"; - - if (pinoReleGeral > -1) { - pinMode(_pinoReleGeral, INPUT); - _pinoReleGeral = pinoReleGeral; - pinMode(_pinoReleGeral, OUTPUT); - digitalWrite(_pinoReleGeral, Conectar); - } + AA_Ref000 = (String)Protocolo[11] == "1"; + AA_Ref090 = (String)Protocolo[13] == "1"; + AA_Ref270 = (String)Protocolo[15] == "1"; vTaskDelay(pdMS_TO_TICKS(100)); + Conectado = Conectar; EnviarDadosSerial(MontarProtocoloSensor(sCFG, "MD", Conectado ? "1" : "0")); } else { - Motor* _motor = ID == "ET" ? &M1 : ID == "EF" ? &M2 : ID == "DT" ? &M3 : &M4; + Motor* _motor = MotorPorID(ID); int canal = ((String)Protocolo[5]).toInt(); bool motor_ativado = ((String)Protocolo[7]) == "1"; bool estabilizar = ((String)Protocolo[9]) == "1"; bool referenciar = ((String)Protocolo[11]) == "1"; - int pul = ((String)Protocolo[13] + (String)Protocolo[14]).toInt(); - int dir = ((String)Protocolo[16] + (String)Protocolo[17]).toInt(); - int ena = ((String)Protocolo[19] + (String)Protocolo[20]).toInt(); - int encoderA = ((String)Protocolo[22] + (String)Protocolo[23]).toInt(); - int encoderB = ((String)Protocolo[25] + (String)Protocolo[26]).toInt(); - int ref0 = ((String)Protocolo[28] + (String)Protocolo[29]).toInt(); - int ref90 = ((String)Protocolo[31] + (String)Protocolo[32]).toInt(); - int ref270 = ((String)Protocolo[34] + (String)Protocolo[35]).toInt(); - int _offset = ((String)Protocolo[37] + (String)Protocolo[38] + (String)Protocolo[39] + (String)Protocolo[40]).toInt(); - + int _offset = ((String)Protocolo[13] + (String)Protocolo[14] + (String)Protocolo[15] + (String)Protocolo[16]).toInt(); + TiposBarramentos pulB = (TiposBarramentos)((String)Protocolo[18]).toInt(); + int pul = ((String)Protocolo[19] + (String)Protocolo[20]).toInt(); + TiposBarramentos dirB = (TiposBarramentos)((String)Protocolo[22]).toInt(); + int dir = ((String)Protocolo[23] + (String)Protocolo[24]).toInt(); + TiposBarramentos enaB = (TiposBarramentos)((String)Protocolo[26]).toInt(); + int ena = ((String)Protocolo[27] + (String)Protocolo[28]).toInt(); + TiposBarramentos encAB = (TiposBarramentos)((String)Protocolo[30]).toInt(); + int encoderA = ((String)Protocolo[31] + (String)Protocolo[32]).toInt(); + TiposBarramentos encBB = (TiposBarramentos)((String)Protocolo[34]).toInt(); + int encoderB = ((String)Protocolo[35] + (String)Protocolo[36]).toInt(); + TiposBarramentos ref0B = (TiposBarramentos)((String)Protocolo[38]).toInt(); + int ref0 = ((String)Protocolo[39] + (String)Protocolo[40]).toInt(); + TiposBarramentos ref90B = (TiposBarramentos)((String)Protocolo[42]).toInt(); + int ref90 = ((String)Protocolo[43] + (String)Protocolo[44]).toInt(); + TiposBarramentos ref270B = (TiposBarramentos)((String)Protocolo[46]).toInt(); + int ref270 = ((String)Protocolo[47] + (String)Protocolo[48]).toInt(); + if (motor_ativado) { if (Conectar) { _motor->_canal = canal; _motor->_Estabilizar = estabilizar; _motor->_Referenciar = referenciar; _motor->_Angulo_Offset = _offset; - _motor->_pinoPUL = pul; - _motor->_pinoDIR = dir; - _motor->_pinoENA = ena; - _motor->_pinoEncoderA = encoderA; - _motor->_pinoEncoderB = encoderB; - _motor->_pinoRef000 = ref0; - _motor->_pinoRef090 = ref90; - _motor->_pinoRef270 = ref270; + _motor->_pinoPUL = PinoModel(pul, pulB, _PWM); + _motor->_pinoDIR = PinoModel(dir, dirB, _OUTPUT); + _motor->_pinoENA = PinoModel(ena, enaB, _OUTPUT); + _motor->_pinoEncoderA = PinoModel(encoderA, encAB, _INPUT, DIGITAL); + _motor->_pinoEncoderB = PinoModel(encoderB, encBB, _INPUT, DIGITAL); + _motor->_pinoRef000 = PinoModel(ref0, ref0B, _INPUT, DIGITAL); + _motor->_pinoRef090 = PinoModel(ref90, ref90B, _INPUT, DIGITAL); + _motor->_pinoRef270 = PinoModel(ref270, ref270B, _INPUT, DIGITAL); _motor->Inicializar(); } else { @@ -616,24 +544,26 @@ void loop() { vTaskDelay(pdMS_TO_TICKS(500)); } } - } - else if (_funcao == Cmd) { + } + else if (_funcao == Cmd) { //canal;sentido;angulo //0;0;000.00 String ID = ((String)Protocolo[0] + (String)Protocolo[1]); - Motor* _motor = ID == "ET" ? &M1 : ID == "EF" ? &M2 : ID == "DT" ? &M3 : &M4; + Motor* _motor = MotorPorID(ID); Sentido sentido = (Sentido)((String)Protocolo[3]).toInt(); int angulo = ((String)Protocolo[5] + (String)Protocolo[6] + (String)Protocolo[7]).toInt(); int porcentagem = ((String)Protocolo[9] + (String)Protocolo[10] + (String)Protocolo[11]).toInt(); double frequencia = (porcentagem / 100.0) * FrequenciaMaxima; bool referenciar = ((String)Protocolo[13]) == "1"; + int _offset = ((String)Protocolo[15] + (String)Protocolo[16] + (String)Protocolo[17] + (String)Protocolo[18]).toInt(); _frequencia = frequencia; _motor->_Sentido_SP = sentido; _motor->_Angulo_SP = angulo; + _motor->_Angulo_Offset = _offset; _motor->AtualizarPWM(); @@ -643,18 +573,16 @@ void loop() { else { _motor->_MotorLigado = sentido != Parado; } - } - else if (_funcao == Tst) { + } + else if (_funcao == Tst) { String ID = ((String)Protocolo[0] + (String)Protocolo[1]); - Motor* _motor = ID == "ET" ? &M1 : ID == "EF" ? &M2 : ID == "DT" ? &M3 : &M4; + Motor* _motor = MotorPorID(ID); bool EmTeste = _motor->Testando; if (!EmTeste) { _motor->Testar(); } - } - } } diff --git a/Firmware/Libs/Adafruit_MCP23017_Arduino_Library-2.3.2.zip b/Firmware/Libs/Adafruit_MCP23017_Arduino_Library-2.3.2.zip new file mode 100644 index 0000000000000000000000000000000000000000..5818935d9ff5a0e3004db596cdc0efed783ab36e GIT binary patch literal 15427 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b/Firmware/Modulos/Enuns.h index cd3e77532..ffe019ef8 100644 --- a/Firmware/Modulos/Enuns.h +++ b/Firmware/Modulos/Enuns.h @@ -15,6 +15,7 @@ enum F_Code { Cfg = 258, Tst = 288, Cmd = 293, + Err = 404, }; enum S_Code { @@ -33,6 +34,7 @@ enum S_Code { sMAG = 855, sBMB = 325, sLED = 445, + sSNR = 532, }; enum Sentido { @@ -61,4 +63,20 @@ enum StatusLED Piscando = 2 }; +enum TiposBarramentos { + CONTROLADOR = 0, + EXPANSORI2C = 1 +}; + +enum TiposPinos { + _INPUT = 0, + _OUTPUT = 1, + _PWM = 2 +}; + +enum TiposLeituras { + DIGITAL = 0, + ANALOGICO = 1, +}; + #endif \ No newline at end of file diff --git a/Firmware/Modulos/Pinout.h b/Firmware/Modulos/Pinout.h new file mode 100644 index 000000000..c247b36ac --- /dev/null +++ b/Firmware/Modulos/Pinout.h @@ -0,0 +1,111 @@ +#include "Enuns.h" +#include "SerialService.h" +#include +#include + +#ifndef Pinout +#define Pinout + +Adafruit_MCP23X17 mcp; +bool mcpInicializado = false; + +class PinoModel { + public: + int num; + TiposBarramentos barramento; + TiposPinos tipo; + TiposLeituras leitura; + + PinoModel(int numero = -1, TiposBarramentos barr = CONTROLADOR, TiposPinos tp = _INPUT, TiposLeituras lt = DIGITAL) : num(numero), barramento(barr), tipo(tp), leitura(lt) { + } + + bool Definido() { + return num > -1; + } + + void Conectar(bool statusInicial = false) { + if (Definido()) { + if (barramento == CONTROLADOR) { + if (tipo == _INPUT) { + pinMode(num, INPUT); + } else if (tipo == _OUTPUT) { + pinMode(num, OUTPUT); + set(statusInicial); + } + } + else if (barramento == EXPANSORI2C) { + if (tipo == _INPUT) { + mcp.pinMode(num, INPUT); + } else if (tipo == _OUTPUT) { + mcp.pinMode(num, OUTPUT); + set(statusInicial); + } + } + } + } + + void Desconectar() { + if (Definido()) { + if (barramento == CONTROLADOR) { + if (tipo == _PWM) { + ledcDetachPin(num); + } + pinMode(num, INPUT); + } + else if (barramento == EXPANSORI2C) { + mcp.pinMode(num, INPUT); + } + } + } + + int get() { + if (Definido()) { + if (barramento == CONTROLADOR) { + if (leitura == DIGITAL) { + return digitalRead(num); + } + else if (leitura == ANALOGICO) { + return analogRead(num); + } + } + else if (barramento == EXPANSORI2C) { + return mcp.digitalRead(num); + } + } + return -1; + } + + void set(bool status) { + if (Definido()) { + if (barramento == CONTROLADOR) { + digitalWrite(num, status ? HIGH : LOW); + } + else if (barramento == EXPANSORI2C) { + mcp.digitalWrite(num, status ? HIGH : LOW); + } + } + } +}; + +void iniciarMCP(T_Code Modulo, int sda, int scl, byte endereco, bool Mandatorio = false) { + Serial.println("Iniciando MCP23X17..."); + if (!mcpInicializado) { + Wire.begin(sda, scl); + if (!mcp.begin_I2C(endereco, &Wire)) { + mcpInicializado = false; + Serial.println("Erro ao iniciar MCP23X17!"); + if (Mandatorio) { + Serial.println("Conexão obrigatória, tentando novamente em 5 segundos..."); + EnviarDadosSerial(MontarProtocoloErro(Modulo)); + delay(5000); + iniciarMCP(Modulo, sda, scl, endereco, Mandatorio); + } + } + else { + Serial.println("MCP23X17 iniciado com sucesso!"); + mcpInicializado = true; + } + } +} + +#endif \ No newline at end of file diff --git a/Firmware/Modulos/Sensoriamento/Sensoriamento.ino b/Firmware/Modulos/Sensoriamento/Sensoriamento.ino index e44c05ed8..88ed8ee4d 100644 --- a/Firmware/Modulos/Sensoriamento/Sensoriamento.ino +++ b/Firmware/Modulos/Sensoriamento/Sensoriamento.ino @@ -1,6 +1,6 @@ // Dispositivo: Sensoriamento -// Versão Firmware: 6 -// Ultima atualização: 26/03/2024 +// Versão Firmware: 7 +// Ultima atualização: 03/04/2024 #include "C:\ZendionInc\agrobot_base\Firmware\Modulos\SerialService.h" #include "C:\ZendionInc\agrobot_base\Firmware\Modulos\Utils.h" @@ -556,6 +556,110 @@ class SensorMagnetometro { }; +class Sinaleiro { + public: + Sinaleiro(String desc) { + _ID = desc; + } + + String _ID; + int _pino; + bool Iniciado = false; + + StatusLED _Status = Apagado; + int _Qtd = 0; + int _TempoMs = 0; + int _PausaMs = 0; + + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + if (_pino > -1) { + pinMode(_pino, OUTPUT); + digitalWrite(_pino, LOW); + } + + xTaskCreatePinnedToCore(&Sinaleiro::LEDTaskWrapper, "LEDTask", 5000, this, 6, &LEDTaskHandle, tskNO_AFFINITY); + + EnviarDadosSerial(_ID + " Iniciado"); + + Iniciado = true; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + void Desligar() { + if (!Iniciado) { + EnviarDadosSerial(_ID + " nao esta inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + // Parar a execução das tarefas + vTaskDelete(LEDTaskHandle); + + // Redefinir as configurações para os valores iniciais + pinMode(_pino, INPUT); + + EnviarDadosSerial(_ID + " Desligado"); + + Iniciado = false; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + private: + TaskHandle_t LEDTaskHandle = NULL; + static void LEDTaskWrapper(void *pvParameters) { + Sinaleiro *led = static_cast(pvParameters); + led->LEDTask(); + } + + void LEDTask() { + unsigned long lastMillis = millis(); + bool ledState = false; + int piscadasAtual = 0; + bool emPausa = false; + + while (1) { + unsigned long currentMillis = millis(); + + if (_Status != Piscando) { + digitalWrite(_pino, _Status == Aceso ? HIGH : LOW); + } + else if (_Status == Piscando && piscadasAtual < _Qtd) { + if (!emPausa && (currentMillis - lastMillis >= _TempoMs)) { + ledState = !ledState; + digitalWrite(_pino, ledState ? HIGH : LOW); + lastMillis = currentMillis; + if (!ledState) { // Se o LED acabou de ser desligado, incrementa o contador de piscadas + piscadasAtual++; + } + } else if (emPausa && (currentMillis - lastMillis >= _PausaMs)) { + emPausa = false; + lastMillis = currentMillis; + } + } else if (piscadasAtual >= _Qtd) { + // Se alcançou a quantidade desejada de piscadas, entra em pausa + if (!emPausa) { + ledState = false; + digitalWrite(_pino, LOW); // Garante que o LED está desligado + emPausa = true; + piscadasAtual = 0; // Reseta o contador de piscadas + lastMillis = currentMillis; + } + } + + vTaskDelay(1); // Pequena pausa para liberar o CPU + } + } + +}; + SensorTemperatura TM1("TMVET"); @@ -574,6 +678,9 @@ SensorCorrente APC("APC "); SensorUltrassom SUESQ("SUESQ"); SensorUltrassom SUDIR("SUDIR"); SensorMagnetometro SMAG("SMAG "); +Sinaleiro LED_AT("LEDAT"); +Sinaleiro LED_MN("LEDMN"); +Sinaleiro LED_OP("LEDOP"); SensorTemperatura* STPorID(String ID) { @@ -622,6 +729,15 @@ SensorMagnetometro* SMPorID(String ID) { return _sensor; } +Sinaleiro* SinaleiroPorID(String ID) { + Sinaleiro* _led = + ID == "LEDAT" ? &LED_AT : + ID == "LEDMN" ? &LED_MN : + ID == "LEDOP" ? &LED_OP : + nullptr; + return _led; +} + void setup() { Serial.begin(_baudRate); Wire.begin(_pinoSDA, _pinoSCL); @@ -668,111 +784,136 @@ void loop() { EnviarDadosSerial(MontarProtocoloSensor(sCFG, "MD", Conectado ? "1" : "0")); } else { - S_Code componente = (S_Code)((String)Protocolo[8] + (String)Protocolo[9] + (String)Protocolo[10]).toInt(); - bool sensor_ativado = (String)Protocolo[12] == "1"; - int delayAmostragem = ((String)Protocolo[14] + (String)Protocolo[15] + (String)Protocolo[16] + (String)Protocolo[17] + (String)Protocolo[18]).toInt(); - int prioridade = ((String)Protocolo[20] + (String)Protocolo[21]).toInt(); - int pino = ((String)Protocolo[23] + (String)Protocolo[24]).toInt(); - int pino2 = ((String)Protocolo[26] + (String)Protocolo[27]).toInt(); + Sinaleiro* _led = SinaleiroPorID(ID); - switch (componente) { - case sTMP: { - SensorTemperatura* _sensor = STPorID(ID); - if (sensor_ativado) { - double _voffset = ((String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34]).toDouble(); - _sensor->Voffset = (float)_voffset; - if (Conectar) { - _sensor->_pino = pino; - _sensor->_prioridade = prioridade; - _sensor->_delayAmostragem = delayAmostragem; - - _sensor->Inicializar(); - } - else { - _sensor->Desligar(); - } + if (_led != nullptr) { + int pino = ((String)Protocolo[8] + (String)Protocolo[9]).toInt(); + if (pino > -1) { + if (Conectar) { + _led->_pino = pino; + _led->Inicializar(); } - break; - } - case sTEN: { - SensorTensao* _sensor = SVPorID(ID); - if (sensor_ativado) { - double _voffset = ((String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34]).toDouble(); - double _r1 = ((String)Protocolo[36] + (String)Protocolo[37] + (String)Protocolo[38] + (String)Protocolo[39] + (String)Protocolo[40] + (String)Protocolo[41]).toDouble(); - double _r2 = ((String)Protocolo[43] + (String)Protocolo[44] + (String)Protocolo[45] + (String)Protocolo[46] + (String)Protocolo[47] + (String)Protocolo[48]).toDouble(); - _sensor->Voffset = (float)_voffset; - _sensor->R1 = (int)_r1; - _sensor->R2 = (int)_r2; - if (Conectar) { - _sensor->_pino = pino; - _sensor->_prioridade = prioridade; - _sensor->_delayAmostragem = delayAmostragem; - - _sensor->Inicializar(); - } - else { - _sensor->Desligar(); - } + else { + _led->Desligar(); } - break; - } - case sCOR: { - SensorCorrente* _sensor = SAPorID(ID); - if (sensor_ativado) { - String _endereco = ((String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34]); - if (Conectar) { - _sensor->_Endereco = stringToByte(_endereco); - _sensor->_prioridade = prioridade; - _sensor->_delayAmostragem = delayAmostragem; - - _sensor->Inicializar(); - } - else { - _sensor->Desligar(); - } - } - break; - } - case sULT: { - SensorUltrassom* _sensor = SUPorID(ID); - if (sensor_ativado) { - if (Conectar) { - _sensor->_pinoE = pino; - _sensor->_pinoT = pino2; - _sensor->_prioridade = prioridade; - _sensor->_delayAmostragem = delayAmostragem; - - _sensor->Inicializar(); - } - else { - _sensor->Desligar(); - } - } - break; - } - case sMAG: { - SensorMagnetometro* _sensor = SMPorID(ID); - if (sensor_ativado) { - if (Conectar) { - _sensor->_prioridade = prioridade; - _sensor->_delayAmostragem = delayAmostragem; - - _sensor->Inicializar(); - } - else { - _sensor->Desligar(); - } - } - break; } + + } + else { + S_Code componente = (S_Code)((String)Protocolo[8] + (String)Protocolo[9] + (String)Protocolo[10]).toInt(); + bool sensor_ativado = (String)Protocolo[12] == "1"; + int delayAmostragem = ((String)Protocolo[14] + (String)Protocolo[15] + (String)Protocolo[16] + (String)Protocolo[17] + (String)Protocolo[18]).toInt(); + int prioridade = ((String)Protocolo[20] + (String)Protocolo[21]).toInt(); + int pino = ((String)Protocolo[23] + (String)Protocolo[24]).toInt(); + int pino2 = ((String)Protocolo[26] + (String)Protocolo[27]).toInt(); + switch (componente) { + case sTMP: { + SensorTemperatura* _sensor = STPorID(ID); + if (sensor_ativado) { + double _voffset = ((String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34]).toDouble(); + _sensor->Voffset = (float)_voffset; + if (Conectar) { + _sensor->_pino = pino; + _sensor->_prioridade = prioridade; + _sensor->_delayAmostragem = delayAmostragem; + + _sensor->Inicializar(); + } + else { + _sensor->Desligar(); + } + } + break; + } + case sTEN: { + SensorTensao* _sensor = SVPorID(ID); + if (sensor_ativado) { + double _voffset = ((String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34]).toDouble(); + double _r1 = ((String)Protocolo[36] + (String)Protocolo[37] + (String)Protocolo[38] + (String)Protocolo[39] + (String)Protocolo[40] + (String)Protocolo[41]).toDouble(); + double _r2 = ((String)Protocolo[43] + (String)Protocolo[44] + (String)Protocolo[45] + (String)Protocolo[46] + (String)Protocolo[47] + (String)Protocolo[48]).toDouble(); + _sensor->Voffset = (float)_voffset; + _sensor->R1 = (int)_r1; + _sensor->R2 = (int)_r2; + if (Conectar) { + _sensor->_pino = pino; + _sensor->_prioridade = prioridade; + _sensor->_delayAmostragem = delayAmostragem; + + _sensor->Inicializar(); + } + else { + _sensor->Desligar(); + } + } + break; + } + case sCOR: { + SensorCorrente* _sensor = SAPorID(ID); + if (sensor_ativado) { + String _endereco = ((String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34]); + if (Conectar) { + _sensor->_Endereco = stringToByte(_endereco); + _sensor->_prioridade = prioridade; + _sensor->_delayAmostragem = delayAmostragem; + + _sensor->Inicializar(); + } + else { + _sensor->Desligar(); + } + } + break; + } + case sULT: { + SensorUltrassom* _sensor = SUPorID(ID); + if (sensor_ativado) { + if (Conectar) { + _sensor->_pinoE = pino; + _sensor->_pinoT = pino2; + _sensor->_prioridade = prioridade; + _sensor->_delayAmostragem = delayAmostragem; + + _sensor->Inicializar(); + } + else { + _sensor->Desligar(); + } + } + break; + } + case sMAG: { + SensorMagnetometro* _sensor = SMPorID(ID); + if (sensor_ativado) { + if (Conectar) { + _sensor->_prioridade = prioridade; + _sensor->_delayAmostragem = delayAmostragem; + + _sensor->Inicializar(); + } + else { + _sensor->Desligar(); + } + } + break; + } + + } } - } } else if (_funcao == Cmd) { + String ID = ((String)Protocolo[0] + (String)Protocolo[1] + (String)Protocolo[2] + (String)Protocolo[3] + (String)Protocolo[4]); + Sinaleiro* _led = SinaleiroPorID(ID); + + if (_led != nullptr) { + _led->_Status = (StatusLED)((String)Protocolo[6]).toInt(); + _led->_Qtd = ((String)Protocolo[8]).toInt(); + _led->_TempoMs = ((String)Protocolo[10] + (String)Protocolo[11] + (String)Protocolo[12] + (String)Protocolo[13]).toInt(); + _led->_PausaMs = ((String)Protocolo[15] + (String)Protocolo[16] + (String)Protocolo[17] + (String)Protocolo[18]).toInt(); + } } else if (_funcao == Tst) { } } diff --git a/Firmware/Modulos/SerialService.h b/Firmware/Modulos/SerialService.h index bb965aa83..7770ab6c5 100644 --- a/Firmware/Modulos/SerialService.h +++ b/Firmware/Modulos/SerialService.h @@ -5,6 +5,40 @@ const char EndLine = '$'; const char BeginSensor = '#'; +const int MAX_PROTOCOLS = 20; + +class ProtocoloSerial { + public: + F_Code funcao; + String protocolo; +}; + +int LerBufferSerial(ProtocoloSerial (&protocolos)[MAX_PROTOCOLS]) { + int protocolCount = 0; // Contador de protocolos + if (Serial.available() > 0) { + String protocoloAtual = ""; + F_Code _funcaoAtual = Nda; + + while (Serial.available()) { + char entrada = (char)Serial.read(); + if (entrada == EndLine) { + if (protocoloAtual.length() > 0 && protocolCount < MAX_PROTOCOLS) { + protocolos[protocolCount].funcao = _funcaoAtual; + protocolos[protocolCount++].protocolo = protocoloAtual; + protocoloAtual = ""; // Reseta o protocolo atual + _funcaoAtual = Nda; + } + } else { + protocoloAtual += entrada; + } + if (protocoloAtual.length() == 3 && _funcaoAtual == Nda) { + _funcaoAtual = (F_Code)((String)protocoloAtual[0] + (String)protocoloAtual[1] + (String)protocoloAtual[2]).toInt(); + protocoloAtual = ""; + } + } + } + return protocolCount; // Retorna o número de protocolos lidos +} void EnviarDadosSerial(String Mensagem) { Serial.println(Mensagem); @@ -12,10 +46,19 @@ void EnviarDadosSerial(String Mensagem) { vTaskDelay(pdMS_TO_TICKS(10)); } -String MontarProtocoloVerificacao(T_Code D_Code) { +String MontarProtocoloVerificacao(T_Code D_Code, int versao) { String Protocolo = (String)D_Code + ";" + - (String)Chk + + (String)Chk + ";" + + (String)versao + ";" + + EndLine; + return Protocolo; +} + +String MontarProtocoloErro(T_Code D_Code) { + String Protocolo = + (String)D_Code + ";" + + (String)Err + ";" + EndLine; return Protocolo; } @@ -161,4 +204,18 @@ String MontarDadosProtocoloMagnetometro(int x, int y, int z, float orientacao) { return Protocolo; } +String MontarDadosProtocoloLeituraSensor(float leitura) { + String Protocolo = + (String)leitura; + return Protocolo; +} + +String MontarDadosProtocoloSonar(long distancia, long angulo, int posicao) { + String Protocolo = + (String)distancia + ";" + + (String)angulo + ";" + + (String)posicao; + return Protocolo; +} + #endif \ No newline at end of file diff --git a/Firmware/Movimentação/Movimentacao_v17/Movimentacao_v17.ino b/Firmware/Movimentação/Movimentacao_v17/Movimentacao_v17.ino new file mode 100644 index 000000000..29575ba09 --- /dev/null +++ b/Firmware/Movimentação/Movimentacao_v17/Movimentacao_v17.ino @@ -0,0 +1,603 @@ +// Dispositivo: Movimentação +// Versão Firmware: 17 +// Ultima atualização: 04/04/2024 +// Atualizações: Atualização do modelo pinout + +#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\SerialService.h" +#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\utils.h" +#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\Pinout.h" +#include +#define D_Code Mov +#define VERSION 17 + +#define _pinoLED RGB_BUILTIN + +long _baudRate = 115200; +bool Conectado = false; +int _TaxaAmostragem = 500; + +int PPR = 22; // Pulsos por revolução +int RampaMin = 0; +int ZeroRampa = 0; +int RampaMax = 1023; +const int RpmMax = 650; // RPM Máximo aferir +float RelacaoPPR = 0; +float MenorPeriodo = 0; + +int delayBalanceamento = 5000; +float RPM_Offset_Max = 25.0; +float RPM_Margem = 5.0; +float RPM_SetPoint = 0.0; +float RPM_Medio = 0.0; +bool RPM_Estavel = true; + +class Motor { + public: + // Construtor + Motor(String desc) { + _ID = desc; + } + + // Definições + String _ID; + int _canal; + PinoModel _pinoPWM; + PinoModel _pinoDIR; + PinoModel _pinoBRK; + PinoModel _pinoSTP; + PinoModel _pinoHLA; + PinoModel _pinoHLB; + PinoModel _pinoHLC; + + double _Kp; + double _Ki; + double _Kd; + PID* _PID = nullptr; + + bool Iniciado = false; + bool Testando = false; + bool Revertendo = false; + bool SentidoContrario = false; + StatusMotor Aceleracao = Estavel; + StatusMotor AceleracaoA = Estavel; + + // Consumo + const int leituras = 5; + volatile float RPM_arr[5]; + volatile bool Hall_arr[5][3]; + double RPM; + double PotenciaAtual; + volatile int ultimaLeituraHallA = 0; + volatile int ultimaLeituraHallB = 0; + volatile int ultimaLeituraHallC = 0; + volatile unsigned int tempoAnterior = 0; + volatile float periodo = 0; + + // Entrada de dados + bool _MalhaFechada = true; + int _PotMap; + double _RPM_SP; + Sentido _SentidoSP = Parado; + Sentido _Sentido = Parado; + Sentido _SentidoU = Parado; + int _US_Addr; + bool _Alarme = false; + bool _Freio = false; + int _Margem = 2; + double _RPM_Offset = 0; + + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + if (_pinoPWM.Definido()) { + ledcSetup(_canal, 1000, 10); + ledcAttachPin(_pinoPWM.num, _canal); + PotenciaAtual = ZeroRampa; + _PotMap = PotenciaAtual; + _RPM_SP = 0; + ledcWrite(_canal, _PotMap); + } + _pinoDIR.Conectar(false); + _SentidoU = Parado; + _pinoBRK.Conectar(_Freio); + _pinoSTP.Conectar(true); + if (_pinoHLA.Definido()) { + _pinoHLA.Conectar(); + ultimaLeituraHallA = _pinoHLA.get(); + RPM = 0; + periodo = 0; + tempoAnterior = 0; + + xTaskCreatePinnedToCore(&Motor::RPMTaskWrapper, "RPMTask", 15000, this, 25 - _canal, &RPMTaskHandle, tskNO_AFFINITY); + + ReiniciarAceleracaoArr(); + ReiniciarHallArr(); + + _PID = new PID(&RPM, &PotenciaAtual, &_RPM_SP, _Kp, _Ki, _Kd, DIRECT); + _PID->SetOutputLimits(RampaMin, RampaMax); + _PID->SetMode(AUTOMATIC); + } + _pinoHLB.Conectar(); + ultimaLeituraHallB = _pinoHLB.get(); + _pinoHLC.Conectar(); + ultimaLeituraHallC = _pinoHLC.get(); + + + xTaskCreatePinnedToCore(&Motor::RampaTaskWrapper, "RampaTask", 5000, this, 21 - _canal + 4, &RampaTaskHandle, tskNO_AFFINITY); + + EnviarDadosSerial(_ID + " Iniciado"); + + Iniciado = true; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + void Desligar() { + if (!Iniciado) { + EnviarDadosSerial(_ID + " nao esta inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + // Parar a execução das tarefas + vTaskDelete(RampaTaskHandle); + if (_pinoHLA.Definido()) { + vTaskDelete(RPMTaskHandle); + } + + // Redefinir as configurações para os valores iniciais + _pinoPWM.Desconectar(); + _pinoPWM.Desconectar(); + _pinoDIR.Desconectar(); + _pinoBRK.Desconectar(); + _pinoSTP.Desconectar(); + _pinoHLA.Desconectar(); + _pinoHLB.Desconectar(); + _pinoHLC.Desconectar(); + + // Outras redefinições de variáveis de estado, se necessário + delete _PID; + + EnviarDadosSerial(_ID + " Desligado"); + + Iniciado = false; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + void ReiniciarAceleracaoArr() { + for (int i = 0; i < leituras; i++) { + RPM_arr[i] = -1.0; + } + } + + void ReiniciarHallArr() { + for (int i = 0; i < leituras; i++) { + Hall_arr[i][0] = false; + Hall_arr[i][1] = false; + Hall_arr[i][2] = false; + } + } + + private: + + TaskHandle_t RPMTaskHandle = NULL; + static void RPMTaskWrapper(void *pvParameters) { + Motor *motor = static_cast(pvParameters); + motor->RPMTask(); + } + + void RPMTask() { + unsigned long firstMilis = millis(); + int pulsos = 0; + while (1) + { + if (!Conectado) { + // Caso não esteja conectado, aguarda 1 segundo até a próxima verificação, liberando uso de CPU + vTaskDelay(1000); + continue; + } + + // Medir RPM apenas quando ocorrer um pulso no sensor HALL + int LeituraHa = _pinoHLA.get(); + if (LeituraHa != ultimaLeituraHallA) { + ultimaLeituraHallA = LeituraHa; + pulsos++; + + // Calcular o período em microssegundos + unsigned long tempoAtual = micros(); + unsigned long periodoUs = tempoAtual - tempoAnterior; + periodo = periodoUs / 1000.0; // Converte de us para ms (2300 us para 2,3 ms) + + // Salva o valor do RPM anterior + double RPM_A = RPM; + + // Se o período entre pulsos for menor que o tempo mínimo entre pulsos em ms, significa que o sensor está em uma posição em que existe oscilação de leitura, + // pois o RPM estaria acima do máximo, logo, assumir o valor de RPM aferido anteriormente + if (periodo < MenorPeriodo) { + RPM = RPM_A; + } + // Calcular RPM se houve variação de tempo entre o pulso atual e o pulso anterior + else if (periodo != 0) { + // RPM = 60 / (Pulsos por Revolução * Período em segundos) + // A fórmula foi adaptada para otimizar processamento + RPM = RelacaoPPR / periodo; + } + // Se não houve alteração no período, então o motor não se moveu + else { + RPM = 0; + } + + CalcularSentidoGiro(RPM); + + // Reiniciar variáveis + tempoAnterior = tempoAtual; + } + + CorrigirPotenciaMotor(); + + long intMillis = (millis() - firstMilis); + + // A cada _TaxaAmostragem, enviar os dados para o software + if (intMillis >= _TaxaAmostragem) { + if (pulsos == 0) { + RPM = 0; + periodo = 0; + CalcularSentidoGiro(RPM); + } + pulsos = 0; + + double PotAtual = fmap(PotenciaAtual, RampaMin, RampaMax, 0.0, 100.0); + EnviarDadosSerial(MontarProtocoloSensor(sRPM, _ID, MontarDadosProtocoloRPM(RPM, PotAtual, Aceleracao, _Sentido, Revertendo, _RPM_Offset))); + firstMilis = millis(); + } + + // Aguarda metade do menor período possível entre leituras + vTaskDelay(1); + } + } + + void CalcularSentidoGiro(float _RPM) { + if (!_pinoHLA.Definido() || !_pinoHLB.Definido() || !_pinoHLC.Definido()) { + CalculaAceleracao(_RPM); + return; + } + + bool LeituraHa = ultimaLeituraHallA == 1; + bool LeituraHb = _pinoHLB.get() == 1; + bool LeituraHc = _pinoHLC.get() == 1; + + for (int i = 1; i < leituras; i++) { + Hall_arr[i - 1][0] = Hall_arr[i][0]; + Hall_arr[i - 1][1] = Hall_arr[i][1]; + Hall_arr[i - 1][2] = Hall_arr[i][2]; + } + + Hall_arr[leituras - 1][0] = LeituraHa; + Hall_arr[leituras - 1][1] = LeituraHb; + Hall_arr[leituras - 1][2] = LeituraHc; + + // Leituras dos sensores Hall nas leituras anteriores + bool LeituraAnteriorHa = Hall_arr[leituras - 2][0]; + bool LeituraAnteriorHb = Hall_arr[leituras - 2][1]; + bool LeituraAnteriorHc = Hall_arr[leituras - 2][2]; + + + // Comparação das leituras atuais com as leituras anteriores + if (LeituraHa == LeituraAnteriorHc && LeituraHc == LeituraAnteriorHa) { + _Sentido = Antihorario; + } + else if (LeituraHa == LeituraAnteriorHb && LeituraHb == LeituraAnteriorHa) { + _Sentido = Horario; + } + else { + // Outros casos (não determinados) + } + + CalculaAceleracao(_RPM); + + } + + void CalculaAceleracao(float _RPM) { + float RPM_total = _RPM; + int Desconsiderar = 0; + // Salvar as ultimas leituras + for (int i = 1; i < leituras; i++) { + RPM_arr[i - 1] = RPM_arr[i]; + + RPM_total += RPM_arr[i - 1] < 0 ? 0 : RPM_arr[i - 1]; + Desconsiderar += RPM_arr[i - 1] < 0 ? 1 : 0; + } + RPM_arr[leituras - 1] = _RPM; + + float RPM_medio = RPM_total / (leituras - Desconsiderar); + + AceleracaoA = Aceleracao; + + if (_SentidoSP == Parado && _RPM == 0) { + Aceleracao = Estavel; + } else if (RPM_arr[leituras - 3] < (RPM_arr[leituras - 2] - _Margem) && RPM_arr[leituras - 2] < (_RPM - _Margem)) { + Aceleracao = Acelerando; + } else if (RPM_arr[leituras - 3] > (RPM_arr[leituras - 2] + _Margem) && RPM_arr[leituras - 2] > (_RPM + _Margem)) { + Aceleracao = Desacelerando; + } else { + Aceleracao = Estavel; + } + + } + + void CorrigirPotenciaMotor() { + if (_MalhaFechada && !Revertendo && _SentidoSP != Parado) { + if (_pinoHLA.Definido() && _pinoHLB.Definido() && _pinoHLC.Definido()) { + SentidoContrario = _Sentido != _SentidoSP; + } + + if (SentidoContrario) { + RPM = RPM * -1; + } + /*else if (Aceleracao == Desacelerando && AceleracaoA == Estavel) { + RPM = 0; + }*/ + + float _rpmA = RPM; + if (RPM_Estavel) { + RPM = RPM + _RPM_Offset; + } + + _PID->Compute(); + + RPM = _rpmA; + } + } + + TaskHandle_t RampaTaskHandle = NULL; + static void RampaTaskWrapper(void *pvParameters) { + Motor *motor = static_cast(pvParameters); + motor->RampaTask(); + } + + void RampaTask() { + unsigned long firstMilis = millis(); + while (1) + { + if (!Conectado) { + // Caso não esteja conectado, aguarda 1 segundo até a próxima verificação, liberando uso de CPU + vTaskDelay(1000); + continue; + } + + Atualizar(); + + vTaskDelay(1); + } + } + + void Atualizar() { + + bool Travado = _PotMap > ZeroRampa && RPM_arr[leituras - 1] == 0 && RPM_arr[leituras - 2] > 0 && RPM_arr[leituras - 3] > 0 && _Sentido != Parado; + + if (_pinoPWM.Definido() && Travado) { + _PotMap = ZeroRampa; + ledcWrite(_canal, _PotMap); + vTaskDelay(400); + _PotMap = PotenciaAtual; + } + + if (_pinoDIR.Definido()) { + bool ReleAtuado = _SentidoSP == Horario; + + if (_SentidoSP != _SentidoU && ReleAtuado) { + _pinoDIR.set(ReleAtuado); + vTaskDelay(1000); + } + + _pinoDIR.set(ReleAtuado); + + _SentidoU = _SentidoSP; + } + if (_pinoBRK.Definido()) { + _pinoBRK.set(_Freio); + } + if (_pinoSTP.Definido()) { + _pinoSTP.set(HIGH); + } + if (_pinoPWM.Definido()) { + if (_SentidoSP == Parado) { + _PotMap = ZeroRampa; + } + else { + _PotMap = PotenciaAtual; + } + ledcWrite(_canal, _PotMap); + } + } + +}; + +Motor M1("ET"); +Motor M2("EF"); +Motor M3("DT"); +Motor M4("DF"); + +Motor* MotorPorID(String ID) { + Motor* _motor = + ID == "ET" ? &M1 : + ID == "EF" ? &M2 : + ID == "DT" ? &M3 : + ID == "DF" ? &M4 : + nullptr; + return _motor; +} + +void BalanceamentoTask(void *pvParameters); +TaskHandle_t BalanceamentoTaskHandle = NULL; + +void setup() { + Serial.begin(_baudRate); + + delay(10); + + xTaskCreatePinnedToCore(BalanceamentoTask, "BalanceamentoTask", 8000, NULL, 5, &BalanceamentoTaskHandle, tskNO_AFFINITY); + + RecalcularRelacaoPPR(); +} + +void loop() { + ProtocoloSerial protocolos[MAX_PROTOCOLS]; + int numProtocolos = LerBufferSerial(protocolos); + + // Processa cada protocolo após a leitura completa + for (int i = 0; i < numProtocolos; i++) { + ProcessarProtocolo(protocolos[i].protocolo, protocolos[i].funcao); + } +} + +void ProcessarProtocolo(String Protocolo, F_Code _funcao) { + EnviarDadosSerial("OK"); + + if (_funcao == Chk) { + EnviarDadosSerial(MontarProtocoloVerificacao(D_Code, VERSION)); + } + else if (_funcao == Cfg) { + String ID = ((String)Protocolo[0] + (String)Protocolo[1]); + bool Conectar = (String)Protocolo[3] == "1"; + if (ID == "MD") { + _TaxaAmostragem = ((String)Protocolo[5] + (String)Protocolo[6] + (String)Protocolo[7] + (String)Protocolo[8] + (String)Protocolo[9]).toInt(); + int _RampaMin = ((String)Protocolo[11] + (String)Protocolo[12] + (String)Protocolo[13] + (String)Protocolo[14]).toInt(); + int _RampaMax = ((String)Protocolo[16] + (String)Protocolo[17] + (String)Protocolo[18] + (String)Protocolo[19]).toInt(); + int _PPR = ((String)Protocolo[21] + (String)Protocolo[22] + (String)Protocolo[23]).toInt(); + int _delayBalanceamento = ((String)Protocolo[25] + (String)Protocolo[26] + (String)Protocolo[27] + (String)Protocolo[28] + (String)Protocolo[29]).toInt(); + int _margemRPM = ((String)Protocolo[31] + (String)Protocolo[32]).toInt(); + int _maxOffsetRPM = ((String)Protocolo[34] + (String)Protocolo[35]).toInt(); + + RampaMin = _RampaMin; + RampaMax = _RampaMax; + PPR = _PPR; + delayBalanceamento = _delayBalanceamento; + RPM_Margem = _margemRPM; + RPM_Offset_Max = _maxOffsetRPM; + + RecalcularRelacaoPPR(); + + vTaskDelay(pdMS_TO_TICKS(100)); + Conectado = Conectar; + EnviarDadosSerial(MontarProtocoloSensor(sCFG, "MD", Conectado ? "1" : "0")); + } + else { + int canal = ((String)Protocolo[5]).toInt(); + bool _alarme = (String)Protocolo[7] == "1"; + bool motor_ativado = (String)Protocolo[9] == "1"; + double _Kp = ((String)Protocolo[11] + (String)Protocolo[12] + (String)Protocolo[13] + (String)Protocolo[14] + (String)Protocolo[15]).toDouble(); + double _Ki = ((String)Protocolo[17] + (String)Protocolo[18] + (String)Protocolo[19] + (String)Protocolo[20] + (String)Protocolo[21]).toDouble(); + double _Kd = ((String)Protocolo[23] + (String)Protocolo[24] + (String)Protocolo[25] + (String)Protocolo[26] + (String)Protocolo[27]).toDouble(); + TiposBarramentos pwmB = (TiposBarramentos)((String)Protocolo[29]).toInt(); + int pwm = ((String)Protocolo[30] + (String)Protocolo[31]).toInt(); + TiposBarramentos dirB = (TiposBarramentos)((String)Protocolo[33]).toInt(); + int dir = ((String)Protocolo[34] + (String)Protocolo[35]).toInt(); + TiposBarramentos brkB = (TiposBarramentos)((String)Protocolo[37]).toInt(); + int brk = ((String)Protocolo[38] + (String)Protocolo[39]).toInt(); + TiposBarramentos stpB = (TiposBarramentos)((String)Protocolo[41]).toInt(); + int stp = ((String)Protocolo[42] + (String)Protocolo[43]).toInt(); + TiposBarramentos hlAB = (TiposBarramentos)((String)Protocolo[45]).toInt(); + int hallA = ((String)Protocolo[46] + (String)Protocolo[47]).toInt(); + TiposBarramentos hlBB = (TiposBarramentos)((String)Protocolo[49]).toInt(); + int hallB = ((String)Protocolo[50] + (String)Protocolo[51]).toInt(); + TiposBarramentos hlCB = (TiposBarramentos)((String)Protocolo[53]).toInt(); + int hallC = ((String)Protocolo[54] + (String)Protocolo[55]).toInt(); + + Motor* _motor = MotorPorID(ID); + if (motor_ativado) { + if (Conectar) { + _motor->_canal = canal; + _motor->_pinoPWM = PinoModel(pwm, pwmB, _PWM); + _motor->_pinoDIR = PinoModel(dir, dirB, _OUTPUT); + _motor->_pinoBRK = PinoModel(brk, brkB, _OUTPUT); + _motor->_pinoSTP = PinoModel(stp, stpB, _OUTPUT); + _motor->_pinoHLA = PinoModel(hallA, hlAB, _INPUT, DIGITAL); + _motor->_pinoHLB = PinoModel(hallB, hlBB, _INPUT, DIGITAL); + _motor->_pinoHLC = PinoModel(hallC, hlCB, _INPUT, DIGITAL); + _motor->_Alarme = _alarme; + _motor->_Kp = _Kp; + _motor->_Ki = _Ki; + _motor->_Kd = _Kd; + + _motor->Inicializar(); + } + else { + _motor->Desligar(); + } + vTaskDelay(pdMS_TO_TICKS(500)); + } + } + } + else if (_funcao == Cmd) { + //canal;potencia;sentido;rampa;precisao;rpm + //0;000;0;000;000;000 + String ID = ((String)Protocolo[0] + (String)Protocolo[1]); + + Motor* _motor = MotorPorID(ID); + + _motor->_SentidoSP = (Sentido)((String)Protocolo[3]).toInt(); + _motor->_RPM_SP = ((String)Protocolo[5] + (String)Protocolo[6] + (String)Protocolo[7]).toInt(); + _motor->_Alarme = ((String)Protocolo[9]) == "1"; + _motor->ReiniciarAceleracaoArr(); + } + else if (_funcao == Tst) { + String ID = ((String)Protocolo[0] +(String)Protocolo[1]); + + Motor* _motor = MotorPorID(ID); + + bool EmTeste = _motor->Testando; + if (!EmTeste) { + //_motor->Testar(); + } + + } +} + +void RecalcularRelacaoPPR() { + RelacaoPPR = (60 / PPR) * 1000; // Multiplicador do cálculo de RPM (período em ms) + MenorPeriodo = RelacaoPPR / RpmMax; // Tempo mínimo de leitura +} + +void BalanceamentoTask(void *pvParameters) { + while (1) + { + int _delay = delayBalanceamento > 0 ? delayBalanceamento : 5000; + + if (Conectado && delayBalanceamento > 0) { + BalancearCargasMotores(); + } + + vTaskDelay(_delay); + } +} + +void BalancearCargasMotores() { + RPM_Medio = (M1.RPM + M2.RPM + M3.RPM + M4.RPM) / 4.0; + RPM_SetPoint = (M1._RPM_SP + M2._RPM_SP + M3._RPM_SP + M4._RPM_SP) / 4.0; + RPM_Estavel = (RPM_Medio >= (RPM_SetPoint - RPM_Margem)) && (RPM_Medio <= (RPM_SetPoint + RPM_Margem)); + + double M1_Pot = M1.PotenciaAtual; + double M2_Pot = M2.PotenciaAtual; + double M3_Pot = M3.PotenciaAtual; + double M4_Pot = M4.PotenciaAtual; + + double mediaPotencia = (M1_Pot + M2_Pot + M3_Pot + M4_Pot) / 4.0; + + // Certifique-se de verificar se a potência atual não é zero antes de dividir + double offsetM1_RPM = (M1_Pot != 0 ? (M1.RPM * (mediaPotencia - M1_Pot)) / M1_Pot : 0) * -1; + double offsetM2_RPM = (M2_Pot != 0 ? (M2.RPM * (mediaPotencia - M2_Pot)) / M2_Pot : 0) * -1; + double offsetM3_RPM = (M3_Pot != 0 ? (M3.RPM * (mediaPotencia - M3_Pot)) / M3_Pot : 0) * -1; + double offsetM4_RPM = (M4_Pot != 0 ? (M4.RPM * (mediaPotencia - M4_Pot)) / M4_Pot : 0) * -1; + + // Aplica o offset com limitação + M1._RPM_Offset = fmin(fmax(offsetM1_RPM, -RPM_Offset_Max), RPM_Offset_Max); + M2._RPM_Offset = fmin(fmax(offsetM2_RPM, -RPM_Offset_Max), RPM_Offset_Max); + M3._RPM_Offset = fmin(fmax(offsetM3_RPM, -RPM_Offset_Max), RPM_Offset_Max); + M4._RPM_Offset = fmin(fmax(offsetM4_RPM, -RPM_Offset_Max), RPM_Offset_Max); +} \ No newline at end of file diff --git a/Firmware/Sensoriamento/Sensoriamento_v7/.theia/launch.json b/Firmware/Sensoriamento/Sensoriamento_v7/.theia/launch.json new file mode 100644 index 000000000..7e4253b33 --- /dev/null +++ b/Firmware/Sensoriamento/Sensoriamento_v7/.theia/launch.json @@ -0,0 +1,8 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + "version": "0.2.0", + "configurations": [ + + ] +} diff --git a/Firmware/Sensoriamento/Sensoriamento_v7/Sensoriamento_v7.ino b/Firmware/Sensoriamento/Sensoriamento_v7/Sensoriamento_v7.ino index 69a03ba46..a31966fba 100644 --- a/Firmware/Sensoriamento/Sensoriamento_v7/Sensoriamento_v7.ino +++ b/Firmware/Sensoriamento/Sensoriamento_v7/Sensoriamento_v7.ino @@ -1,16 +1,21 @@ // Dispositivo: Sensoriamento // Versão Firmware: 7 -// Ultima atualização: 01/04/2024 +// Ultima atualização: 04/04/2024 +// Atualização: Atualização do modelo de pinout #include "C:\ZendionInc\agrobot_base\Firmware\Modulos\SerialService.h" #include "C:\ZendionInc\agrobot_base\Firmware\Modulos\Utils.h" +#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\Pinout.h" #include #include +#include #include #include +#include #define D_Code Sen +#define VERSION 7 #define _pinoLED RGB_BUILTIN @@ -21,8 +26,8 @@ bool Conectado = false; int _TaxaAmostragem; int FrequenciaMaxima = 10000; -int _pinoSDA = 32; -int _pinoSCL = 33; +int _pinoSDA = 21; +int _pinoSCL = 22; class SensorTemperatura { @@ -34,10 +39,9 @@ class SensorTemperatura { // Definições String _ID; S_Code _componente = sTMP; - int _pino; + PinoModel _pino; int _delayAmostragem; int _prioridade; - float Voffset = 0.0; bool Iniciado = false; @@ -50,9 +54,7 @@ class SensorTemperatura { return; } - if (_pino > -1) { - pinMode(_pino, INPUT); - } + _pino.Conectar(); xTaskCreatePinnedToCore(&SensorTemperatura::STTaskWrapper, "STTask", 5000, this, _prioridade, &STTaskHandle, tskNO_AFFINITY); @@ -78,7 +80,7 @@ class SensorTemperatura { delete tempKalman; // Redefinir as configurações para os valores iniciais - pinMode(_pino, INPUT); + _pino.Desconectar(); EnviarDadosSerial(_ID + " Desligado"); @@ -88,15 +90,6 @@ class SensorTemperatura { } private: - - // Variáveis - double Vs = 3.3; // TENSÃO DE SAIDA DO ESP32 - double R1 = 10000; //RESISTOR UTILIZADO NO DIVISOR DE TENSÃO - double Beta = 3950; // VALOR DE BETA - double To = 298.15; // VALOR EM KELVIN REFERENTE A 25° CELSIUS - double Ro = 10000; - double adcMax = 4095.0; - TaskHandle_t STTaskHandle = NULL; static void STTaskWrapper(void *pvParameters) { SensorTemperatura *sensor = static_cast(pvParameters); @@ -128,18 +121,9 @@ class SensorTemperatura { } void AferirTemperatura() { - double Vout, Rt = 0; - double T, Tc, Tf, adc = 0; - adc = analogRead(_pino); // VARIÁVEL QUE RECEBE A LEITURA DO NTC10K - float adcValue = tempKalman->updateEstimate(adc); - //CALCULOS PARA CONVERSÃO DA LEITURA RECEBIDA PELO ESP32 EM TEMPERATURA EM °C - Vout = (adcValue * Vs / adcMax) + Voffset; - Rt = R1 * Vout / (Vs - Vout); - T = 1 / (1 / To + log(Rt / Ro) / Beta); - Tc = T - 273.15; - Tf = Tc * 9 / 5 + 32; - - EnviarDadosSerial(MontarProtocoloSensor(sTMP, _ID, MontarDadosProtocoloNTC10K(Tc))); + int leitura = _pino.get(); + float leituraNormalizada = tempKalman->updateEstimate(leitura); + EnviarDadosSerial(MontarProtocoloSensor(sTMP, _ID, MontarDadosProtocoloLeituraSensor(leituraNormalizada))); } }; @@ -149,16 +133,10 @@ class SensorTensao { _ID = desc; } - // Variáveis - const float Vcc = 3.3; // Tensão de alimentação - float Voffset = 0.85; - int R1 = 47000; - int R2 = 10000; - // Definições String _ID; S_Code _componente = sTEN; - int _pino; + PinoModel _pino; int _delayAmostragem; int _prioridade; @@ -173,9 +151,7 @@ class SensorTensao { return; } - if (_pino > -1) { - pinMode(_pino, INPUT); - } + _pino.Conectar(); kalmanTEN = new SimpleKalmanFilter(2, 2, 0.01); @@ -199,7 +175,7 @@ class SensorTensao { vTaskDelete(SVTaskHandle); // Redefinir as configurações para os valores iniciais - pinMode(_pino, INPUT); + _pino.Desconectar(); delete kalmanTEN; @@ -242,14 +218,9 @@ class SensorTensao { } void AferirTensao() { - float Razao = (R1 + R2) / (float)R2; - int adcV = analogRead(_pino); - float adcValueV = adcV; //float adcValueV = kalmanTEN->updateEstimate(adcV); - - float voltageV = (adcValueV * (Vcc / 4095.0)) + (Voffset / Razao); // Convertendo o valor ADC para tensão - float realVoltage = voltageV * Razao; - - EnviarDadosSerial(MontarProtocoloSensor(sTEN, _ID, MontarDadosProtocoloTensao(adcValueV, voltageV, realVoltage))); + int leitura = _pino.get(); + float leituraNormalizada = kalmanTEN->updateEstimate(leitura); + EnviarDadosSerial(MontarProtocoloSensor(sTEN, _ID, MontarDadosProtocoloLeituraSensor(leituraNormalizada))); } }; @@ -261,12 +232,14 @@ class SensorCorrente { } // Variáveis - INA226* INA = nullptr; + Adafruit_INA219* sINA219 = nullptr; + INA226* sINA226 = nullptr; // Definições String _ID; S_Code _componente = sCOR; byte _Endereco; + int _INA; int _delayAmostragem; int _prioridade; @@ -278,13 +251,21 @@ class SensorCorrente { EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); return; } - - INA = new INA226(_Endereco); - Iniciado = INA->begin(); - if (Iniciado) { - INA->setMaxCurrentShunt(1, 0.002); - xTaskCreatePinnedToCore(&SensorCorrente::SATaskWrapper, "SATask", 5000, this, _prioridade, &SATaskHandle, tskNO_AFFINITY); - EnviarDadosSerial(_ID + " Iniciado"); + if (_Endereco > 0x00) { + if (_INA == 219) { + sINA219 = new Adafruit_INA219(_Endereco); + Iniciado = sINA219->begin(); + } + else if (_INA == 226) { + sINA226 = new INA226(_Endereco); + Iniciado = sINA226->begin(); + sINA226->setMaxCurrentShunt(1, 0.002); + } + + if (Iniciado) { + xTaskCreatePinnedToCore(&SensorCorrente::SATaskWrapper, "SATask", 5000, this, _prioridade, &SATaskHandle, tskNO_AFFINITY); + EnviarDadosSerial(_ID + " Iniciado"); + } } EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); @@ -300,7 +281,8 @@ class SensorCorrente { // Parar a execução das tarefas vTaskDelete(SATaskHandle); - delete INA; + delete sINA219; + delete sINA226; EnviarDadosSerial(_ID + " Desligado"); @@ -330,7 +312,12 @@ class SensorCorrente { // A cada _TaxaAmostragem, enviar os dados para o software if (intMillis >= (_TaxaAmostragem + _delayAmostragem)) { - AferirCorrente(); + if (_INA == 219) { + AferirCorrenteINA219(); + } + else if (_INA == 226) { + AferirCorrenteINA226(); + } firstMilis = millis(); } @@ -340,11 +327,20 @@ class SensorCorrente { } } - void AferirCorrente() { - float busVoltage = INA->getBusVoltage(); - float shuntVoltage = INA->getShuntVoltage_mV(); - float current = INA->getCurrent(); - float power = INA->getPower(); + void AferirCorrenteINA219() { + float busVoltage = sINA219->getBusVoltage_V(); + float shuntVoltage = sINA219->getShuntVoltage_mV(); + float current = sINA219->getCurrent_mA(); + float power = sINA219->getPower_mW(); + + EnviarDadosSerial(MontarProtocoloSensor(sCOR, _ID, MontarDadosProtocoloINA226(busVoltage, shuntVoltage, current, power))); + } + + void AferirCorrenteINA226() { + float busVoltage = sINA226->getBusVoltage(); + float shuntVoltage = sINA226->getShuntVoltage_mV(); + float current = sINA226->getCurrent(); + float power = sINA226->getPower(); EnviarDadosSerial(MontarProtocoloSensor(sCOR, _ID, MontarDadosProtocoloINA226(busVoltage, shuntVoltage, current, power))); } @@ -363,9 +359,8 @@ class SensorUltrassom { // Definições String _ID; S_Code _componente = sULT; - int _pinoE; - int _pinoT; - int _pino; + PinoModel _pinoE; + PinoModel _pinoT; int _delayAmostragem; int _prioridade; @@ -378,13 +373,9 @@ class SensorUltrassom { return; } - if (_pinoE > -1) { - pinMode(_pinoE, INPUT); - } - if (_pinoT > -1) { - pinMode(_pinoT, OUTPUT); - } - + _pinoE.Conectar(); + _pinoT.Conectar(); + xTaskCreatePinnedToCore(&SensorUltrassom::SUTaskWrapper, "SUTask", 5000, this, _prioridade, &SUTaskHandle, tskNO_AFFINITY); EnviarDadosSerial(_ID + " Iniciado"); @@ -405,8 +396,8 @@ class SensorUltrassom { vTaskDelete(SUTaskHandle); // Redefinir as configurações para os valores iniciais - pinMode(_pinoE, INPUT); - pinMode(_pinoT, INPUT); + _pinoE.Desconectar(); + _pinoT.Desconectar(); EnviarDadosSerial(_ID + " Desligado"); @@ -447,12 +438,12 @@ class SensorUltrassom { } void AferirDistancia() { - digitalWrite(_pinoT, LOW); + _pinoT.set(false); delayMicroseconds(2); - digitalWrite(_pinoT, HIGH); + _pinoT.set(true); delayMicroseconds(10); - digitalWrite(_pinoT, LOW); - long duration = pulseIn(_pinoE, HIGH); + _pinoT.set(false); + long duration = pulseIn(_pinoE.num, HIGH); float distanceCm = duration * SOUND_SPEED / 2; EnviarDadosSerial(MontarProtocoloSensor(sULT, _ID, MontarDadosProtocoloUltrassom(distanceCm, duration))); @@ -563,7 +554,7 @@ class Sinaleiro { } String _ID; - int _pino; + PinoModel _pino; bool Iniciado = false; StatusLED _Status = Apagado; @@ -578,10 +569,7 @@ class Sinaleiro { return; } - if (_pino > -1) { - pinMode(_pino, OUTPUT); - digitalWrite(_pino, LOW); - } + _pino.Conectar(false); xTaskCreatePinnedToCore(&Sinaleiro::LEDTaskWrapper, "LEDTask", 5000, this, 6, &LEDTaskHandle, tskNO_AFFINITY); @@ -603,7 +591,7 @@ class Sinaleiro { vTaskDelete(LEDTaskHandle); // Redefinir as configurações para os valores iniciais - pinMode(_pino, INPUT); + _pino.Desconectar(); EnviarDadosSerial(_ID + " Desligado"); @@ -620,7 +608,136 @@ class Sinaleiro { } void LEDTask() { - int Piscadas = 0; + unsigned long lastMillis = millis(); + bool ledState = false; + int piscadasAtual = 0; + bool emPausa = false; + + while (1) { + unsigned long currentMillis = millis(); + + if (_Status != Piscando) { + _pino.set(_Status == Aceso); + } + else if (_Status == Piscando && piscadasAtual < _Qtd) { + if (!emPausa && (currentMillis - lastMillis >= _TempoMs)) { + ledState = !ledState; + _pino.set(ledState); + lastMillis = currentMillis; + if (!ledState) { // Se o LED acabou de ser desligado, incrementa o contador de piscadas + piscadasAtual++; + } + } else if (emPausa && (currentMillis - lastMillis >= _PausaMs)) { + emPausa = false; + lastMillis = currentMillis; + } + } else if (piscadasAtual >= _Qtd) { + // Se alcançou a quantidade desejada de piscadas, entra em pausa + if (!emPausa) { + ledState = false; + _pino.set(false); // Garante que o LED está desligado + emPausa = true; + piscadasAtual = 0; // Reseta o contador de piscadas + lastMillis = currentMillis; + } + } + + vTaskDelay(1); // Pequena pausa para liberar o CPU + } + } + +}; + +class SensorSonar { + public: + SensorSonar(String desc) { + _ID = desc; + } + + // Definições + String _ID; + S_Code _componente = sSNR; + PinoModel _pinoE; + PinoModel _pinoT; + PinoModel _pinoServoX; + PinoModel _pinoServoY; + int _delayAmostragem; + int _prioridade; + + Servo _ServoX; + Servo _ServoY; + + int _AgPlus; + int _AgPosition; + + bool Iniciado = false; + + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + _pinoE.Conectar(); + _pinoT.Conectar(); + if (_pinoServoX.Definido()) { + _ServoX.attach(_pinoServoX.num); + _ServoX.write(0); + } + if (_pinoServoY.Definido()) { + _ServoY.attach(_pinoServoY.num); + _ServoY.write(0); + } + + xTaskCreatePinnedToCore(&SensorSonar::SSTaskWrapper, "SSTask", 5000, this, _prioridade, &SSTaskHandle, tskNO_AFFINITY); + + EnviarDadosSerial(_ID + " Iniciado"); + + Iniciado = true; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + void Desligar() { + if (!Iniciado) { + EnviarDadosSerial(_ID + " nao esta inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + // Parar a execução das tarefas + vTaskDelete(SSTaskHandle); + + if (_pinoServoX.Definido()) { + _ServoX.detach(); + } + if (_pinoServoY.Definido()) { + _ServoY.detach(); + } + + // Redefinir as configurações para os valores iniciais + _pinoE.Desconectar(); + _pinoT.Desconectar(); + + EnviarDadosSerial(_ID + " Desligado"); + + Iniciado = false; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + private: + TaskHandle_t SSTaskHandle = NULL; + static void SSTaskWrapper(void *pvParameters) { + SensorSonar *sensor = static_cast(pvParameters); + sensor->SSTask(); + } + + void SSTask() { + bool Horario = true; + bool Subindo = true; + int position = 0; unsigned long firstMilis = millis(); while (1) { @@ -629,40 +746,73 @@ class Sinaleiro { vTaskDelay(1000); continue; } - - long intMillis = (millis() - firstMilis); - if (_Status != Piscando) { - digitalWrite(_pino, _Status == Aceso ? HIGH : LOW); + if (Subindo) { + for (position = 0; position < 2; position++) { + _ServoY.write(position * _AgPosition); // Move o servo para o ângulo desejado + //vTaskDelay(100); // Espera meio segundo para o servo se mover + if (Horario) { + for(int angle = 0; angle <= 180; angle += _AgPlus) { // Move o servo de 0 a 180 graus + LeituraSonar(angle, position); + } + Horario = false; + } + else { + for(int angle = 180; angle > 0; angle -= _AgPlus) { // Move o servo de 0 a 180 graus + LeituraSonar(angle, position); + } + Horario = true; + } + } + Subindo = false; } else { - int TempoComparar = 0; - bool StatusAplicar = false; - bool Fim = false; - - if (Piscadas < _Qtd) { - TempoComparar = _TempoMs; - StatusAplicar = !digitalRead(_pino); - Fim = false; - } - else { - TempoComparar = _PausaMs; - StatusAplicar = false; - Fim = true; - } - if (intMillis >= TempoComparar) { - digitalWrite(_pino, StatusAplicar); - firstMilis = millis(); - Piscadas = Fim ? 0 : Piscadas++; + for (position = 2; position > 0; position--) { + _ServoY.write(position * _AgPosition); // Move o servo para o ângulo desejado + //vTaskDelay(100); // Espera meio segundo para o servo se mover + if (Horario) { + for(int angle = 0; angle <= 180; angle += _AgPlus) { // Move o servo de 0 a 180 graus + LeituraSonar(angle, position); + } + Horario = false; + } + else { + for(int angle = 180; angle > 0; angle -= _AgPlus) { // Move o servo de 0 a 180 graus + LeituraSonar(angle, position); + } + Horario = true; + } } + Subindo = true; } - - vTaskDelay(1); + } } -}; + void LeituraSonar(int angle, int position) { + _ServoX.write(angle); // Move o servo para o ângulo desejado + vTaskDelay(100); // Espera meio segundo para o servo se mover + + long duration, distance; + for (int i = 0; i < 3; i++) { + _pinoT.set(false); + delayMicroseconds(2); + _pinoT.set(true); + delayMicroseconds(10); + _pinoT.set(false); + + duration = pulseIn(_pinoE.num, HIGH); + distance = (duration / 2) / 29.1; // Calcula a distância em centímetros + if (distance > 10) { + break; + } + } + + EnviarDadosSerial(MontarProtocoloSensor(sSNR, _ID, MontarDadosProtocoloSonar(distance, angle, position))); + } + +}; SensorTemperatura TM1("TMVET"); @@ -671,19 +821,17 @@ SensorTemperatura TM3("TMVDT"); SensorTemperatura TM4("TMVDF"); SensorTemperatura TBAT("TBAT "); SensorTensao VBAT("VBAT "); -SensorCorrente AM1("AMVET"); -SensorCorrente AM2("AMVEF"); -SensorCorrente AM3("AMVDT"); -SensorCorrente AM4("AMVDF"); -SensorCorrente AMP("AMP "); -SensorCorrente AAT("AAT "); -SensorCorrente APC("APC "); +SensorCorrente A3V("AB3V "); +SensorCorrente A5V("AB5V "); +SensorCorrente A7V("AB7V2"); +SensorCorrente A12V("AB12V"); SensorUltrassom SUESQ("SUESQ"); SensorUltrassom SUDIR("SUDIR"); SensorMagnetometro SMAG("SMAG "); Sinaleiro LED_AT("LEDAT"); Sinaleiro LED_MN("LEDMN"); Sinaleiro LED_OP("LEDOP"); +SensorSonar SonarFrontal("SNR_F"); SensorTemperatura* STPorID(String ID) { @@ -706,13 +854,10 @@ SensorTensao* SVPorID(String ID) { SensorCorrente* SAPorID(String ID) { SensorCorrente* _sensor = - ID == "AMVET" ? &AM1 : - ID == "AMVEF" ? &AM2 : - ID == "AMVDT" ? &AM3 : - ID == "AMVDF" ? &AM4 : - ID == "AMP " ? & : - ID == "AAT " ? &AAT : - ID == "APC " ? &APC : + ID == "AB3V " ? &A3V : + ID == "AB5V " ? &A5V : + ID == "AB7V2" ? &A7V : + ID == "AB12V" ? &A12V : nullptr; return _sensor; } @@ -741,34 +886,34 @@ Sinaleiro* SinaleiroPorID(String ID) { return _led; } +SensorSonar* SSPorID(String ID) { + SensorSonar* _sensor = + ID == "SNR_F" ? &SonarFrontal : + nullptr; + return _sensor; +} + void setup() { Serial.begin(_baudRate); - Wire.begin(_pinoSDA, _pinoSCL); + iniciarMCP(D_Code, _pinoSDA, _pinoSCL, 0x20, false); } void loop() { - if (Serial.available() > 3) { - String Protocolo = ""; - F_Code _funcao = Nda; - while (Serial.available()) { - char Entrada = (char)Serial.read(); - if (Entrada == EndLine) { - break; - } - Protocolo += Entrada; - if (Protocolo.length() == 3) { - if (_funcao == Nda) { - _funcao = (F_Code)((String)Protocolo[0] + (String)Protocolo[1] + (String)Protocolo[2]).toInt(); - Protocolo = ""; - } - } - } + ProtocoloSerial protocolos[MAX_PROTOCOLS]; + int numProtocolos = LerBufferSerial(protocolos); - EnviarDadosSerial("OK"); + // Processa cada protocolo após a leitura completa + for (int i = 0; i < numProtocolos; i++) { + ProcessarProtocolo(protocolos[i].protocolo, protocolos[i].funcao); + } +} - if (_funcao == Chk) { - EnviarDadosSerial(MontarProtocoloVerificacao(D_Code)); - } else if (_funcao == Cfg) { +void ProcessarProtocolo(String Protocolo, F_Code _funcao) { + EnviarDadosSerial("OK"); + + if (_funcao == Chk) { + EnviarDadosSerial(MontarProtocoloVerificacao(D_Code, VERSION)); + } else if (_funcao == Cfg) { String ID = ((String)Protocolo[0] + (String)Protocolo[1] + (String)Protocolo[2] + (String)Protocolo[3] + (String)Protocolo[4]); bool Conectar = (String)Protocolo[6] == "1"; if (ID == "MD ") { @@ -790,10 +935,11 @@ void loop() { Sinaleiro* _led = SinaleiroPorID(ID); if (_led != nullptr) { - int pino = ((String)Protocolo[8] + (String)Protocolo[9]).toInt(); + TiposBarramentos pinoB = (TiposBarramentos)((String)Protocolo[8]).toInt(); + int pino = ((String)Protocolo[9] + (String)Protocolo[10]).toInt(); if (pino > -1) { if (Conectar) { - _led->_pino = pino; + _led->_pino = PinoModel(pino, pinoB, _OUTPUT); _led->Inicializar(); } else { @@ -807,17 +953,15 @@ void loop() { bool sensor_ativado = (String)Protocolo[12] == "1"; int delayAmostragem = ((String)Protocolo[14] + (String)Protocolo[15] + (String)Protocolo[16] + (String)Protocolo[17] + (String)Protocolo[18]).toInt(); int prioridade = ((String)Protocolo[20] + (String)Protocolo[21]).toInt(); - int pino = ((String)Protocolo[23] + (String)Protocolo[24]).toInt(); - int pino2 = ((String)Protocolo[26] + (String)Protocolo[27]).toInt(); + TiposBarramentos pinoB = (TiposBarramentos)((String)Protocolo[23]).toInt(); + int pino = ((String)Protocolo[24] + (String)Protocolo[25]).toInt(); switch (componente) { case sTMP: { SensorTemperatura* _sensor = STPorID(ID); if (sensor_ativado) { - double _voffset = ((String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34]).toDouble(); - _sensor->Voffset = (float)_voffset; if (Conectar) { - _sensor->_pino = pino; + _sensor->_pino = PinoModel(pino, pinoB, _INPUT, ANALOGICO); _sensor->_prioridade = prioridade; _sensor->_delayAmostragem = delayAmostragem; @@ -832,14 +976,8 @@ void loop() { case sTEN: { SensorTensao* _sensor = SVPorID(ID); if (sensor_ativado) { - double _voffset = ((String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34]).toDouble(); - double _r1 = ((String)Protocolo[36] + (String)Protocolo[37] + (String)Protocolo[38] + (String)Protocolo[39] + (String)Protocolo[40] + (String)Protocolo[41]).toDouble(); - double _r2 = ((String)Protocolo[43] + (String)Protocolo[44] + (String)Protocolo[45] + (String)Protocolo[46] + (String)Protocolo[47] + (String)Protocolo[48]).toDouble(); - _sensor->Voffset = (float)_voffset; - _sensor->R1 = (int)_r1; - _sensor->R2 = (int)_r2; if (Conectar) { - _sensor->_pino = pino; + _sensor->_pino = PinoModel(pino, pinoB, _INPUT, ANALOGICO); _sensor->_prioridade = prioridade; _sensor->_delayAmostragem = delayAmostragem; @@ -854,9 +992,11 @@ void loop() { case sCOR: { SensorCorrente* _sensor = SAPorID(ID); if (sensor_ativado) { - String _endereco = ((String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34]); + String _endereco = ((String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34] + (String)Protocolo[35] + (String)Protocolo[36]); + int _tipo = ((String)Protocolo[38] + (String)Protocolo[39] + (String)Protocolo[40] + (String)Protocolo[41] + (String)Protocolo[42] + (String)Protocolo[43]).toInt(); if (Conectar) { _sensor->_Endereco = stringToByte(_endereco); + _sensor->_INA = _tipo; _sensor->_prioridade = prioridade; _sensor->_delayAmostragem = delayAmostragem; @@ -871,9 +1011,11 @@ void loop() { case sULT: { SensorUltrassom* _sensor = SUPorID(ID); if (sensor_ativado) { + TiposBarramentos pino2B = (TiposBarramentos)((String)Protocolo[27]).toInt(); + int pino2 = ((String)Protocolo[28] + (String)Protocolo[29]).toInt(); if (Conectar) { - _sensor->_pinoE = pino; - _sensor->_pinoT = pino2; + _sensor->_pinoE = PinoModel(pino, pinoB, _INPUT, ANALOGICO); + _sensor->_pinoT = PinoModel(pino2, pino2B, _OUTPUT); _sensor->_prioridade = prioridade; _sensor->_delayAmostragem = delayAmostragem; @@ -900,13 +1042,42 @@ void loop() { } break; } + case sSNR: { + SensorSonar* _sensor = SSPorID(ID); + if (sensor_ativado) { + TiposBarramentos pino2B = (TiposBarramentos)((String)Protocolo[27]).toInt(); + int pino2 = ((String)Protocolo[28] + (String)Protocolo[29]).toInt(); + TiposBarramentos pino3B = (TiposBarramentos)((String)Protocolo[31]).toInt(); + int pino3 = ((String)Protocolo[32] + (String)Protocolo[33]).toInt(); + TiposBarramentos pino4B = (TiposBarramentos)((String)Protocolo[35]).toInt(); + int pino4 = ((String)Protocolo[36] + (String)Protocolo[37]).toInt(); + int agPlus = ((String)Protocolo[39] + (String)Protocolo[40] + (String)Protocolo[41] + (String)Protocolo[42] + (String)Protocolo[43] + (String)Protocolo[44]).toInt(); + int agPos = ((String)Protocolo[46] + (String)Protocolo[47] + (String)Protocolo[48] + (String)Protocolo[49] + (String)Protocolo[50] + (String)Protocolo[51]).toInt(); + if (Conectar) { + _sensor->_pinoE = PinoModel(pino, pinoB, _INPUT, ANALOGICO); + _sensor->_pinoT = PinoModel(pino2, pino2B, _OUTPUT); + _sensor->_pinoServoX = PinoModel(pino3, pino3B, _OUTPUT); + _sensor->_pinoServoY = PinoModel(pino4, pino4B, _OUTPUT); + _sensor->_AgPlus = agPlus; + _sensor->_AgPosition = agPos; + _sensor->_prioridade = prioridade; + _sensor->_delayAmostragem = delayAmostragem; + + _sensor->Inicializar(); + } + else { + _sensor->Desligar(); + } + } + break; + } } } } - } else if (_funcao == Cmd) { + } else if (_funcao == Cmd) { String ID = ((String)Protocolo[0] + (String)Protocolo[1] + (String)Protocolo[2] + (String)Protocolo[3] + (String)Protocolo[4]); Sinaleiro* _led = SinaleiroPorID(ID); @@ -917,7 +1088,6 @@ void loop() { _led->_TempoMs = ((String)Protocolo[10] + (String)Protocolo[11] + (String)Protocolo[12] + (String)Protocolo[13]).toInt(); _led->_PausaMs = ((String)Protocolo[15] + (String)Protocolo[16] + (String)Protocolo[17] + (String)Protocolo[18]).toInt(); } - } else if (_funcao == Tst) { - } + } else if (_funcao == Tst) { } } diff --git a/Firmware/Sensoriamento/sonar/sonar.ino b/Firmware/Sensoriamento/sonar/sonar.ino new file mode 100644 index 000000000..af1451d0c --- /dev/null +++ b/Firmware/Sensoriamento/sonar/sonar.ino @@ -0,0 +1,59 @@ +#include +#include + +#define TRIG_PIN 5 +#define ECHO_PIN 17 +#define SERVO_PIN 4 +bool Horario = true; +int agPlus = 4; + +Servo myServo; + +void setup() { + Serial.begin(115200); // Inicia a comunicação serial com o baud rate de 115200 + myServo.attach(SERVO_PIN); // Anexa o servo motor ao pino definido + + pinMode(TRIG_PIN, OUTPUT); // Define o pino do Trigger como saída + pinMode(ECHO_PIN, INPUT); // Define o pino do Echo como entrada + + myServo.write(0); // Inicia o servo motor na posição 0 graus + delay(2000); // Espera 2 segundos para estabilizar +} + +void loop() { + if (Horario) { + for(int angle = 0; angle <= 180; angle += agPlus) { // Move o servo de 0 a 180 graus + LeituraSonar(angle); + } + Horario = false; + } + else { + for(int angle = 180; angle > 0; angle -= agPlus) { // Move o servo de 0 a 180 graus + LeituraSonar(angle); + } + Horario = true; + } + +} + +void LeituraSonar(int angle) { + myServo.write(angle); // Move o servo para o ângulo desejado + delay(50); // Espera meio segundo para o servo se mover + + long duration, distance; + digitalWrite(TRIG_PIN, LOW); + delayMicroseconds(2); + digitalWrite(TRIG_PIN, HIGH); + delayMicroseconds(10); + digitalWrite(TRIG_PIN, LOW); + + duration = pulseIn(ECHO_PIN, HIGH); + distance = (duration / 2) / 29.1; // Calcula a distância em centímetros + + String protocolo = (String)angle + "," + (String)distance; + + Serial.println(protocolo); // Envia a distância medida + Serial.flush(); + + //delay(200); // Espera um segundo antes da próxima medição +} \ No newline at end of file

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