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- 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 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(); @@ -42,10 +42,13 @@ namespace AgroBase.Forms.Operacoes this.pnlGraficos = new System.Windows.Forms.Panel(); this.chartGraficos = new System.Windows.Forms.DataVisualization.Charting.Chart(); this.pnlNiveis = new System.Windows.Forms.Panel(); - this.lblPorcentagemProgresso = new System.Windows.Forms.Label(); - this.pgbProgresso = new System.Windows.Forms.ProgressBar(); + this.lblProgressoT = new System.Windows.Forms.Label(); this.lblPorcentagemBateria = new System.Windows.Forms.Label(); + this.lblBateriaT = new System.Windows.Forms.Label(); + this.lblReservatorioT = new System.Windows.Forms.Label(); + this.lblPorcentagemProgresso = new System.Windows.Forms.Label(); this.pgbBateria = new System.Windows.Forms.ProgressBar(); + this.pgbProgresso = new System.Windows.Forms.ProgressBar(); this.lblPorcentagemReservatorio = new System.Windows.Forms.Label(); this.pgbReservatorio = new System.Windows.Forms.ProgressBar(); this.gpbOpcoes = new System.Windows.Forms.GroupBox(); @@ -78,6 +81,11 @@ namespace AgroBase.Forms.Operacoes this.lblUltimaLeituraSolo = new System.Windows.Forms.Label(); this.pnlMapa = new System.Windows.Forms.Panel(); this.pnlOrientacao = new System.Windows.Forms.Panel(); + this.lblStatus = new System.Windows.Forms.Label(); + this.lblDirecao = new System.Windows.Forms.Label(); + this.lblDistancia = new System.Windows.Forms.Label(); + this.btnSimular = new System.Windows.Forms.Button(); + this.btnManobraConcluida = new System.Windows.Forms.Button(); this.pnlCameraSolo.SuspendLayout(); this.pnlAtuadores.SuspendLayout(); this.pnlGraficos.SuspendLayout(); @@ -166,18 +174,18 @@ namespace AgroBase.Forms.Operacoes // // chartGraficos // - chartArea2.Name = "ChartArea1"; - this.chartGraficos.ChartAreas.Add(chartArea2); + chartArea1.Name = "ChartArea1"; + this.chartGraficos.ChartAreas.Add(chartArea1); this.chartGraficos.Dock = System.Windows.Forms.DockStyle.Fill; - legend2.Name = "Legend1"; - this.chartGraficos.Legends.Add(legend2); + legend1.Name = "Legend1"; + this.chartGraficos.Legends.Add(legend1); this.chartGraficos.Location = new System.Drawing.Point(0, 0); this.chartGraficos.Margin = new System.Windows.Forms.Padding(2); this.chartGraficos.Name = "chartGraficos"; - series2.ChartArea = "ChartArea1"; - series2.Legend = "Legend1"; - series2.Name = "Series1"; - this.chartGraficos.Series.Add(series2); + series1.ChartArea = "ChartArea1"; + series1.Legend = "Legend1"; + series1.Name = "Series1"; + this.chartGraficos.Series.Add(series1); this.chartGraficos.Size = new System.Drawing.Size(405, 254); this.chartGraficos.TabIndex = 0; this.chartGraficos.Text = "chart1"; @@ -185,10 +193,17 @@ namespace AgroBase.Forms.Operacoes // pnlNiveis // this.pnlNiveis.BackColor = System.Drawing.SystemColors.Control; - this.pnlNiveis.Controls.Add(this.lblPorcentagemProgresso); - this.pnlNiveis.Controls.Add(this.pgbProgresso); + this.pnlNiveis.Controls.Add(this.btnManobraConcluida); + this.pnlNiveis.Controls.Add(this.btnSimular); + this.pnlNiveis.Controls.Add(this.lblDirecao); + this.pnlNiveis.Controls.Add(this.lblStatus); + this.pnlNiveis.Controls.Add(this.lblProgressoT); this.pnlNiveis.Controls.Add(this.lblPorcentagemBateria); + this.pnlNiveis.Controls.Add(this.lblBateriaT); + this.pnlNiveis.Controls.Add(this.lblReservatorioT); + this.pnlNiveis.Controls.Add(this.lblPorcentagemProgresso); this.pnlNiveis.Controls.Add(this.pgbBateria); + this.pnlNiveis.Controls.Add(this.pgbProgresso); this.pnlNiveis.Controls.Add(this.lblPorcentagemReservatorio); this.pnlNiveis.Controls.Add(this.pgbReservatorio); this.pnlNiveis.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); @@ -198,58 +213,89 @@ namespace AgroBase.Forms.Operacoes this.pnlNiveis.Size = new System.Drawing.Size(592, 69); this.pnlNiveis.TabIndex = 6; // - // lblPorcentagemProgresso + // lblProgressoT // - this.lblPorcentagemProgresso.AutoSize = true; - this.lblPorcentagemProgresso.Location = new System.Drawing.Point(392, 11); - this.lblPorcentagemProgresso.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); - this.lblPorcentagemProgresso.Name = "lblPorcentagemProgresso"; - this.lblPorcentagemProgresso.Size = new System.Drawing.Size(108, 13); - this.lblPorcentagemProgresso.TabIndex = 5; - this.lblPorcentagemProgresso.Text = "Progresso: 0,00%"; - // - // pgbProgresso - // - this.pgbProgresso.Location = new System.Drawing.Point(394, 27); - this.pgbProgresso.Margin = new System.Windows.Forms.Padding(2); - this.pgbProgresso.Name = "pgbProgresso"; - this.pgbProgresso.Size = new System.Drawing.Size(191, 40); - this.pgbProgresso.TabIndex = 4; + this.lblProgressoT.AutoSize = true; + this.lblProgressoT.Location = new System.Drawing.Point(322, 13); + this.lblProgressoT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblProgressoT.Name = "lblProgressoT"; + this.lblProgressoT.Size = new System.Drawing.Size(64, 13); + this.lblProgressoT.TabIndex = 8; + this.lblProgressoT.Text = "Progresso"; // // lblPorcentagemBateria // this.lblPorcentagemBateria.AutoSize = true; - this.lblPorcentagemBateria.Location = new System.Drawing.Point(198, 11); + this.lblPorcentagemBateria.Location = new System.Drawing.Point(167, 43); this.lblPorcentagemBateria.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblPorcentagemBateria.Name = "lblPorcentagemBateria"; - this.lblPorcentagemBateria.Size = new System.Drawing.Size(91, 13); + this.lblPorcentagemBateria.Size = new System.Drawing.Size(50, 13); this.lblPorcentagemBateria.TabIndex = 3; - this.lblPorcentagemBateria.Text = "Bateria: 0,00%"; + this.lblPorcentagemBateria.Text = "00,00%"; + // + // lblBateriaT + // + this.lblBateriaT.AutoSize = true; + this.lblBateriaT.Location = new System.Drawing.Point(2, 44); + this.lblBateriaT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblBateriaT.Name = "lblBateriaT"; + this.lblBateriaT.Size = new System.Drawing.Size(47, 13); + this.lblBateriaT.TabIndex = 7; + this.lblBateriaT.Text = "Bateria"; + // + // lblReservatorioT + // + this.lblReservatorioT.AutoSize = true; + this.lblReservatorioT.Location = new System.Drawing.Point(2, 13); + this.lblReservatorioT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblReservatorioT.Name = "lblReservatorioT"; + this.lblReservatorioT.Size = new System.Drawing.Size(79, 13); + this.lblReservatorioT.TabIndex = 6; + this.lblReservatorioT.Text = "Reservatório"; + // + // lblPorcentagemProgresso + // + this.lblPorcentagemProgresso.AutoSize = true; + this.lblPorcentagemProgresso.Location = new System.Drawing.Point(477, 12); + this.lblPorcentagemProgresso.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblPorcentagemProgresso.Name = "lblPorcentagemProgresso"; + this.lblPorcentagemProgresso.Size = new System.Drawing.Size(50, 13); + this.lblPorcentagemProgresso.TabIndex = 5; + this.lblPorcentagemProgresso.Text = "00,00%"; // // pgbBateria // - this.pgbBateria.Location = new System.Drawing.Point(198, 27); + this.pgbBateria.Location = new System.Drawing.Point(98, 36); this.pgbBateria.Margin = new System.Windows.Forms.Padding(2); this.pgbBateria.Name = "pgbBateria"; - this.pgbBateria.Size = new System.Drawing.Size(191, 40); + this.pgbBateria.Size = new System.Drawing.Size(175, 27); this.pgbBateria.TabIndex = 2; // + // pgbProgresso + // + this.pgbProgresso.Location = new System.Drawing.Point(408, 5); + this.pgbProgresso.Margin = new System.Windows.Forms.Padding(2); + this.pgbProgresso.Name = "pgbProgresso"; + this.pgbProgresso.Size = new System.Drawing.Size(175, 27); + this.pgbProgresso.TabIndex = 4; + // // lblPorcentagemReservatorio // this.lblPorcentagemReservatorio.AutoSize = true; - this.lblPorcentagemReservatorio.Location = new System.Drawing.Point(2, 11); + this.lblPorcentagemReservatorio.BackColor = System.Drawing.Color.Transparent; + this.lblPorcentagemReservatorio.Location = new System.Drawing.Point(167, 12); this.lblPorcentagemReservatorio.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblPorcentagemReservatorio.Name = "lblPorcentagemReservatorio"; - this.lblPorcentagemReservatorio.Size = new System.Drawing.Size(123, 13); + this.lblPorcentagemReservatorio.Size = new System.Drawing.Size(50, 13); this.lblPorcentagemReservatorio.TabIndex = 1; - this.lblPorcentagemReservatorio.Text = "Reservatório: 0,00%"; + this.lblPorcentagemReservatorio.Text = "00,00%"; // // pgbReservatorio // - this.pgbReservatorio.Location = new System.Drawing.Point(2, 27); + this.pgbReservatorio.Location = new System.Drawing.Point(98, 5); this.pgbReservatorio.Margin = new System.Windows.Forms.Padding(2); this.pgbReservatorio.Name = "pgbReservatorio"; - this.pgbReservatorio.Size = new System.Drawing.Size(191, 40); + this.pgbReservatorio.Size = new System.Drawing.Size(175, 27); this.pgbReservatorio.TabIndex = 0; // // gpbOpcoes @@ -449,6 +495,8 @@ namespace AgroBase.Forms.Operacoes // pnlInclinacao // this.pnlInclinacao.BackColor = System.Drawing.Color.White; + this.pnlInclinacao.BackgroundImage = global::AgroBase.Properties.Resources.transferidor; + this.pnlInclinacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; this.pnlInclinacao.Location = new System.Drawing.Point(625, 6); this.pnlInclinacao.Margin = new System.Windows.Forms.Padding(2); this.pnlInclinacao.Name = "pnlInclinacao"; @@ -480,6 +528,7 @@ namespace AgroBase.Forms.Operacoes // // pnlInferior // + this.pnlInferior.Controls.Add(this.lblDistancia); this.pnlInferior.Controls.Add(this.lblMapaCarregado); this.pnlInferior.Controls.Add(this.chbGPSativo); this.pnlInferior.Controls.Add(this.chbATUativo); @@ -498,7 +547,7 @@ namespace AgroBase.Forms.Operacoes // this.lblMapaCarregado.AutoSize = true; this.lblMapaCarregado.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); - this.lblMapaCarregado.Location = new System.Drawing.Point(227, 24); + this.lblMapaCarregado.Location = new System.Drawing.Point(227, 4); this.lblMapaCarregado.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblMapaCarregado.Name = "lblMapaCarregado"; this.lblMapaCarregado.Size = new System.Drawing.Size(129, 13); @@ -575,6 +624,8 @@ namespace AgroBase.Forms.Operacoes // pnlOrientacao // this.pnlOrientacao.BackColor = System.Drawing.Color.White; + this.pnlOrientacao.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos; + this.pnlOrientacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; this.pnlOrientacao.Location = new System.Drawing.Point(936, 6); this.pnlOrientacao.Margin = new System.Windows.Forms.Padding(2); this.pnlOrientacao.Name = "pnlOrientacao"; @@ -582,6 +633,61 @@ namespace AgroBase.Forms.Operacoes this.pnlOrientacao.TabIndex = 11; this.pnlOrientacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacao_Paint); // + // lblStatus + // + this.lblStatus.AutoSize = true; + this.lblStatus.Font = new System.Drawing.Font("Mongolian Baiti", 8.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.lblStatus.Location = new System.Drawing.Point(406, 37); + this.lblStatus.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblStatus.Name = "lblStatus"; + this.lblStatus.Size = new System.Drawing.Size(114, 11); + this.lblStatus.TabIndex = 10; + this.lblStatus.Text = "Status: Aguardando"; + // + // lblDirecao + // + this.lblDirecao.AutoSize = true; + this.lblDirecao.Font = new System.Drawing.Font("Mongolian Baiti", 8.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); + this.lblDirecao.Location = new System.Drawing.Point(406, 51); + this.lblDirecao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDirecao.Name = "lblDirecao"; + this.lblDirecao.Size = new System.Drawing.Size(94, 11); + this.lblDirecao.TabIndex = 11; + this.lblDirecao.Text = "Direção: Parado"; + // + // lblDistancia + // + this.lblDistancia.AutoSize = true; + this.lblDistancia.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); + this.lblDistancia.Location = new System.Drawing.Point(227, 24); + this.lblDistancia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDistancia.Name = "lblDistancia"; + this.lblDistancia.Size = new System.Drawing.Size(171, 13); + this.lblDistancia.TabIndex = 10; + this.lblDistancia.Text = "Distância Operação: 00,00 m"; + // + // btnSimular + // + this.btnSimular.Location = new System.Drawing.Point(325, 38); + this.btnSimular.Margin = new System.Windows.Forms.Padding(2); + this.btnSimular.Name = "btnSimular"; + this.btnSimular.Size = new System.Drawing.Size(61, 21); + this.btnSimular.TabIndex = 12; + this.btnSimular.Text = "Simular"; + this.btnSimular.UseVisualStyleBackColor = true; + this.btnSimular.Click += new System.EventHandler(this.btnSimular_Click); + // + // btnManobraConcluida + // + this.btnManobraConcluida.Location = new System.Drawing.Point(544, 43); + this.btnManobraConcluida.Margin = new System.Windows.Forms.Padding(2); + this.btnManobraConcluida.Name = "btnManobraConcluida"; + this.btnManobraConcluida.Size = new System.Drawing.Size(39, 21); + this.btnManobraConcluida.TabIndex = 13; + this.btnManobraConcluida.Text = "MC"; + this.btnManobraConcluida.UseVisualStyleBackColor = true; + this.btnManobraConcluida.Click += new System.EventHandler(this.btnManobraConcluida_Click); + // // frmOperacaoSeguidorLinha // this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); @@ -674,5 +780,13 @@ namespace AgroBase.Forms.Operacoes private System.Windows.Forms.Label lblPressao; private System.Windows.Forms.Label lblMapaCarregado; private System.Windows.Forms.Panel pnlOrientacao; + private System.Windows.Forms.Label lblBateriaT; + private System.Windows.Forms.Label lblReservatorioT; + private System.Windows.Forms.Label lblProgressoT; + private System.Windows.Forms.Label lblDirecao; + private System.Windows.Forms.Label lblStatus; + private System.Windows.Forms.Label lblDistancia; + private System.Windows.Forms.Button btnSimular; + private System.Windows.Forms.Button btnManobraConcluida; } } \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.cs b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.cs index 8fa5802d1..e25495318 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.cs @@ -17,6 +17,7 @@ using System.Text; using System.Threading.Tasks; using System.Windows.Forms; using System.Windows.Forms.DataVisualization.Charting; +using static AgroBase.Models.Enuns; namespace AgroBase.Forms.Operacoes { @@ -31,6 +32,7 @@ namespace AgroBase.Forms.Operacoes DispositivosService Movimentacao; DispositivosService Direcional; DispositivosService Atuador; + DispositivosService Sensoriamento; public frmOperacaoSeguidorLinha() @@ -52,6 +54,9 @@ namespace AgroBase.Forms.Operacoes private void frmOperacaoSeguidorLinha_Load(object sender, EventArgs e) { + tmrLeituras.Tick += TmrLeituras_Tick; + tmrLeituras.Start(); + AtualizarDispositivos(); AtualizaListaCameras(); @@ -75,6 +80,7 @@ namespace AgroBase.Forms.Operacoes Movimentacao = (DispositivosService)Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == Enuns.T_Code.Mov); Direcional = (DispositivosService)Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == Enuns.T_Code.Dir); Atuador = (DispositivosService)Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == Enuns.T_Code.Atu); + Sensoriamento = (DispositivosService)Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == Enuns.T_Code.Sen); chbMOVativo.Checked = Movimentacao != null && Movimentacao._Porta.IsOpen; chbDIRativo.Checked = Direcional != null && Direcional._Porta.IsOpen; @@ -331,7 +337,7 @@ namespace AgroBase.Forms.Operacoes private void btnIniciarOperacao_Click(object sender, EventArgs e) { - if (tmrLeituras.Enabled == true) + if (Variaveis.OperacaoEmAndamento.Iniciado) { btnIniciarOperacao.Text = "Iniciar Operação"; cmbCameraSoloE.Enabled = true; @@ -339,9 +345,6 @@ namespace AgroBase.Forms.Operacoes cmbCameraCaminho.Enabled = true; Variaveis.OperacaoEmAndamento.FinalizarOperacao(); - - tmrLeituras.Tick -= TmrLeituras_Tick; - tmrLeituras.Stop(); } else { @@ -351,23 +354,25 @@ namespace AgroBase.Forms.Operacoes cmbCameraCaminho.Enabled = false; Variaveis.OperacaoEmAndamento.IniciarOperacao(null, false); - - tmrLeituras.Tick += TmrLeituras_Tick; - tmrLeituras.Start(); } } private void TmrLeituras_Tick(object sender, EventArgs e) { - CamerasSolo.ForEach(CameraSolo => - { - AtualizaLeituraCameraSolo(CameraSolo); - }); - - AtualizaLeituraCameraCaminho(); + Variaveis.OperacaoEmAndamento.Tempo = TimeSpan.FromTicks(Variaveis.OperacaoEmAndamento.Iniciado ? ((Variaveis.OperacaoEmAndamento.TimestampFim > 0 ? Variaveis.OperacaoEmAndamento.TimestampFim : DateTime.Now.Ticks) - Variaveis.OperacaoEmAndamento.TimestampInicio) : 0); - AtualizarGrafico(); + if (Variaveis.OperacaoEmAndamento.Iniciado) + { + CamerasSolo.ForEach(CameraSolo => + { + AtualizaLeituraCameraSolo(CameraSolo); + }); + + AtualizaLeituraCameraCaminho(); + + AtualizarGrafico(); + } AtualizarInformacoesGerais(); } @@ -468,6 +473,8 @@ namespace AgroBase.Forms.Operacoes pnlInclinacao.Invalidate(); + lblUltimaLeituraRua.Text = "Ultima Leitura Rua: " + FuncoesGlobais.TimestampToDate(cameraCaminho.Leituras.FirstOrDefault().timestamp); + AtualizaInformacoesControleOperacao(); } catch @@ -498,6 +505,8 @@ namespace AgroBase.Forms.Operacoes } else { + Variaveis.OperacaoEmAndamento.CalculaDadosMovimentacaoAutonoma(); + Variaveis.OperacaoEmAndamento.Controle.BicosAtuados = !chbATUativo.Checked ? BicosNaoAtuados : Atuador.Dados.BicosPulverizadores; @@ -649,13 +658,24 @@ namespace AgroBase.Forms.Operacoes private void AtualizarInformacoesGerais() { + if (Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.StatusAtual == Enuns.StatusOperacao.Aguardando) + { + this.Text = "Operação Seguidor de Linha - Iniciando em " + (Variaveis.OperacaoEmAndamento.TempoIniciarOperacao - Variaveis.OperacaoEmAndamento.Tempo.Seconds) + " segundos..."; + } + else if (Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.StatusAtual == Enuns.StatusOperacao.Parametrizando) + { + this.Text = "Operação Seguidor de Linha - Parametrização"; + } + else if (Variaveis.OperacaoEmAndamento.Iniciado) + { + this.Text = "Operação Seguidor de Linha - Iniciado"; + } + 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"; - lblUltimaLeituraRua.Text = "Ultima Leitura Rua: " + FuncoesGlobais.TimestampToDate(cameraCaminho.Leituras.FirstOrDefault().timestamp); lblDistanciaPercorrida.Text = "Distancia Percorrida: " + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.ToString("0.00") + " m"; - TimeSpan tempo = TimeSpan.FromTicks((Variaveis.OperacaoEmAndamento.TimestampFim > 0 ? Variaveis.OperacaoEmAndamento.TimestampFim : DateTime.Now.Ticks) - Variaveis.OperacaoEmAndamento.TimestampInicio); - lblTempoOperacao.Text = "Tempo de Operação: " + tempo.Hours.ToString("00") + ":" + tempo.Minutes.ToString("00") + ":" + tempo.Seconds.ToString("00"); + 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"; @@ -665,37 +685,42 @@ namespace AgroBase.Forms.Operacoes lblPressao.Text = "P: " + Atuador.Dados.PressaoLinha.ToString("0.00") + " psi"; pgbReservatorio.Value = Convert.ToInt32(Atuador.Dados.PercentualReservatorio); - lblPorcentagemReservatorio.Text = "Reservatório: " + Atuador.Dados.PercentualReservatorio.ToString("0.00") + "%"; + lblPorcentagemReservatorio.Text = Atuador.Dados.PercentualReservatorio.ToString("00.00") + "%"; + + pgbBateria.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria); + lblPorcentagemReservatorio.Text = Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria.ToString("00.00") + "%"; pgbProgresso.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoPercurso); - lblPorcentagemProgresso.Text = "Progresso: " + Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoPercurso.ToString("0.00") + "%"; + lblPorcentagemProgresso.Text = Variaveis.OperacaoEmAndamento.Sensoriamento.ProgressoPercurso.ToString("00.00") + "%"; + lblDistancia.Text = "Distância Operação: " + (Variaveis.OperacaoEmAndamento.Mapa == null ? 0 : Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal).ToString("00.00") + " m"; } private void pnlInclinacao_Paint(object sender, PaintEventArgs e) { try { - DesenharInclinacao((Panel)sender, e, (float)cameraCaminho.Angulo); + //DesenharInclinacao((Panel)sender, e, (float)cameraCaminho.Angulo); + DesenharInclinacao((Panel)sender, e, (float)(Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.AnguloCarro - Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.AnguloRua), 90); } catch { } } - private void DesenharInclinacao(Panel pnlBussola, PaintEventArgs e, float anguloInclinacao) + private void DesenharInclinacao(Panel pnlBussola, PaintEventArgs e, float anguloInclinacao, float anguloSub) { 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); + //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("0.00")}°"; - Font fonteAngulo = new Font("Arial", 10); // Ajuste o tamanho da fonte conforme necessário + 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 = centro.X - (textSize.Width / 2); - float textY = centro.Y - (textSize.Height / 2) + (centro.Y / 2); + float textX = 0; + float textY = 0; // Define a cor do texto Brush textBrush = Brushes.Black; @@ -706,10 +731,11 @@ namespace AgroBase.Forms.Operacoes // 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 / 2; + 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 - 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( @@ -815,10 +841,36 @@ namespace AgroBase.Forms.Operacoes { try { - DesenharInclinacao((Panel)sender, e, (float)GPSService.UltimaLeitura.Orientacao); + //DesenharInclinacao((Panel)sender, e, (float)GPSService.UltimaLeitura.Orientacao); + DesenharInclinacao((Panel)sender, e, (float)Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.AnguloCarro, -90); } catch { } } + private void btnSimular_Click(object sender, EventArgs e) + { + GPSService.SimularGPS(); + Timer tmr = new Timer() { Interval = 500 }; + tmr.Tick += Tmr_Tick; + tmr.Start(); + } + + private void Tmr_Tick(object sender, EventArgs e) + { + if (!GPSService.Iniciado) + { + ((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); + } + + private void btnManobraConcluida_Click(object sender, EventArgs e) + { + if (Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.StatusAtual == StatusOperacao.Manobrando) + { + Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.ManobraConcluida = true; + } + } } } diff --git a/AgroBase/AgroBase/Forms/frmMapa.cs b/AgroBase/AgroBase/Forms/frmMapa.cs index 0ffe99956..e2947b40d 100644 --- a/AgroBase/AgroBase/Forms/frmMapa.cs +++ b/AgroBase/AgroBase/Forms/frmMapa.cs @@ -13,6 +13,7 @@ using System.Linq; using System.Text; using System.Threading.Tasks; using System.Windows.Forms; +using static AgroBase.Models.Enuns; namespace AgroBase.Forms { @@ -39,6 +40,5 @@ namespace AgroBase.Forms Mapa.btnCarregar_Click(sender, e); } - } } diff --git a/AgroBase/AgroBase/Forms/frmPrincipal.cs b/AgroBase/AgroBase/Forms/frmPrincipal.cs index 8aa48cd4a..f20f3b958 100644 --- a/AgroBase/AgroBase/Forms/frmPrincipal.cs +++ b/AgroBase/AgroBase/Forms/frmPrincipal.cs @@ -38,6 +38,7 @@ namespace AgroBase private void frmPrincipal_FormClosing(object sender, FormClosingEventArgs e) { + APIService.Parar(); foreach (var Disp in Variaveis.DispositivosConectados) { Disp.SalvarParametros(Disp.Dados); diff --git a/AgroBase/AgroBase/Imagens/rosa_dos_ventos.png b/AgroBase/AgroBase/Imagens/rosa_dos_ventos.png new file mode 100644 index 0000000000000000000000000000000000000000..66114fb9f5f111b2d2a854fffbe63635cc8a83a5 GIT binary patch literal 70767 zcmc%xcRbbq|38i&ghESZNya%wimZ@AMx8^bV89B^2UV*~vk6$(B*dC?g|f 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zTkstFR#E`1G618;iZPhdmoD2D+t2voRtK(r4IKfuyOt0MvSE>f7tVF|!tr&;gboAh zz)r8P5Uaw#Y8iv+npR;M_Uhyd5gKK2F2ru5v(}O!9PfBMdn*;844ARu!WtG;TTBG2 zELnq1?UXavY&*|fU?$Zqst6~5A-Ek%Ia;WET9+!T8~kx!klTJc4vNZ#XjGe?VMFWe zJMqGt{JpXVCd-@6!gDDO-6{Q2r9G$DNISOJcKLYKXj&Oxt3p)P z%I0=Sk|qn+Eq<|CK?EO-$?7lkPq0wbw*BJ&?dCzBq}CJ|#+L&g`Zybrn$HxOFMkTnnN3oID2H9C~Pln`VKY1A!NwN7L5nbz))NI01 zCp`K2IEuwg+D?u=@<}5ME^>4-kcAE-z>tEb(p$r&Al@)r*eI(m_@ZOfi-LTZFM4K1{)Lp0bsNA<#%c4Pg0OqmBKCH@dSM1 z;bHOHD7|0&^F^pjGI_+Q=(aq;0kyf#WPl~$F}yr#tXh6N%Jtc*qx*&HvL5Q&94t_c zdErTrigo%Ds_FlUk0m19Gqm`vuj-0EJnGtgc9zM|K~AW&q@5EISeDnVjOk#kiUDaY}OYUjF)L(u$%xZDgG?2 zCr!C^gh)G&U+u^_DYZp%St_u5v z6-CF^BHv<&GbnVJp>yiW_j=`GVn@##!IdlujptW(-pMU0PNOAXHIxsl_Xq=)Gmg`^ z@9v3LBXPLl*JN!$vuUZL=SsnR@d3i;5BbFYKr)gkOD=aA$<7*5aQ+QbUKY0E0$v>% z=(Qgim`s_r`quDq|IaLq8b!T{V+_g`ePbK}ZYQvE1H@rql$ZxIQ^4cbh#BPnHe%)j zc> Trajetoria { get; set; } = new List>(); + public List RuasPercorrer { get; set; } = new List(); + public int IdxRuaAtual { get; set; } = 0; + public double DistanciaTotal { get; set; } = 0; public void btnCarregar_Click(object sender, EventArgs e) { @@ -54,12 +58,41 @@ namespace AgroBase.Models { mapaService.CarregarDadosMapa(); lblMapa.Text = "Mapa carregado: " + mapaService.NomeArquivos; + + PopularTrajetoria(); } IniciarProcessamento(); } } + public void PopularTrajetoria() + { + if (mapaService.DadosMapa != null) + { + DistanciaTotal = 0; + var IDs = RuasPercorrer.Any() ? RuasPercorrer : mapaService.DadosMapa.features.Select(x => x.geometry.id).ToList(); + Trajetoria = new List>(); + foreach (var rua in mapaService.DadosMapa.features.Where(x => IDs.Contains(x.geometry.id))) + { + Trajetoria.Add(new List()); + foreach (var ponto in rua.geometry.coordinates) + { + GPSModel item = new GPSModel() + { + Longitude = ponto[0], + Latitude = ponto[1], + }; + Trajetoria[Trajetoria.Count - 1].Add(item); + if (Trajetoria[Trajetoria.Count - 1].Count > 1) + { + DistanciaTotal += GPSService.DistanciaEntrePontos(Trajetoria[Trajetoria.Count - 1][Trajetoria[Trajetoria.Count - 1].Count - 2], item); + } + } + } + } + } + private void IniciarProcessamento() { APIService.Inicializar(); @@ -101,6 +134,7 @@ namespace AgroBase.Models public class MapaFeatureGeometryModel { + public string id { get; set; } public string type { get; set; } public List> coordinates { get; set; } } diff --git a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs index 2671fd6a7..5da3b9f5d 100644 --- a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs +++ b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs @@ -390,7 +390,7 @@ namespace AgroBase.Models.Modules vShunt, }; - if (Sensor.Descricao.Contains("Bateria")) + 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"); } @@ -412,9 +412,10 @@ namespace AgroBase.Models.Modules vPinV, }; - if (Sensor.Descricao.Contains("Bateria")) + 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; } AtualizaGrafico = true; @@ -425,7 +426,7 @@ namespace AgroBase.Models.Modules double.TryParse(Dados[2].Replace(".", ","), out temp); Sensor.Leituras = new List() { temp }; - if (Sensor.Descricao.Contains("Bateria")) + 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"); } @@ -549,11 +550,11 @@ namespace AgroBase.Models.Modules switch (Sensor.Componente) { case S_Code.sTMP: - frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[9].Value = Motor.Temperatura.ToString(); + frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[9].Value = Motor.Temperatura.ToString("0.00"); break; case S_Code.sCOR: - frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[10].Value = Motor.Temperatura.ToString(); - frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[11].Value = Motor.Temperatura.ToString(); + frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[10].Value = Motor.Corrente.ToString("0.00"); + frmInstancial.frmPrincipal.gridSenMotores.Rows[Motor.Canal].Cells[11].Value = Motor.Tensao.ToString("0.00"); break; } diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs index b30bf3492..f6209b1b0 100644 --- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs @@ -18,6 +18,11 @@ 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() { @@ -60,28 +65,39 @@ namespace AgroBase.Models this.Sensoriamento.AtuacoesPorBico.Add(0); } } + this.tmrLogs.Tick -= TmrLogs_Tick; + this.tmrLogs.Tick += TmrLogs_Tick; + this.tmrParametrizacao.Tick -= TmrParametrizacao_Tick; + this.tmrParametrizacao.Tick += TmrParametrizacao_Tick; + + this.tmrParametrizacao.Start(); } + + public ModoOperacao Modo { get; set; } public DispositivosService DispMov { get; set; } public DispositivosService DispDir { get; set; } public DispositivosService DispAtu { get; set; } - public MapasModel Mapa { get;set; } + public MapasModel Mapa { get; set; } = new MapasModel(); public Form frmOperacao { get; set; } public string frmOperacaoNome { get; set; } public bool Iniciado { get; set; } public long TimestampInicio { get; set; } public long TimestampFim { get; set; } + public TimeSpan Tempo { get; set; } public OperacaoControleModel Controle { get; set; } public OperacaoControleModel ControleAnterior { get; set; } public List ModulosMandatorios { get; set; } public OperacaoSensoriamentoModel Sensoriamento { get; set; } = new OperacaoSensoriamentoModel(); public List Logs { get; set; } = new List(); public List GPSTrajetoria { get; set; } = new List(); + public OperacaoRefRuaGPS ReferencialRuaGPS { get; set; } = new OperacaoRefRuaGPS(); public int TempoIniciarOperacao { get; set; } = 10; public string PastaSaida { get; set; } = "Operacoes/"; public string ID { get; set; } public Timer tmrLogs = new Timer() { Interval = 5000 }; + public Timer tmrParametrizacao = new Timer() { Interval = 1000 }; public static OperacaoModel CarregarParametrosOperacaoPadrao(ModoOperacao Modo) @@ -286,9 +302,10 @@ namespace AgroBase.Models Directory.CreateDirectory(PastaSaida + ID + "/"); - APIService.Inicializar(); GPSService.IniciarRecepcaoDados(); + Controle = new OperacaoControleModel(); + ControleAnterior = new OperacaoControleModel(); if (controle != null) { Controle = controle; @@ -298,16 +315,10 @@ namespace AgroBase.Models frmOperacao.Show(); } - tmrLogs.Tick -= TmrLogs_Tick; - tmrLogs.Tick += TmrLogs_Tick; tmrLogs.Start(); + tmrParametrizacao.Stop(); } - - private void TmrLogs_Tick(object sender, EventArgs e) - { - SalvarLog(); - } - + public void FinalizarOperacao() { Controle.Angulo = 0; @@ -318,17 +329,17 @@ namespace AgroBase.Models TimestampFim = DateTime.Now.Ticks; tmrLogs.Stop(); + tmrParametrizacao.Start(); GPSService.PararRecepcaoDados(); - APIService.Parar(); } public void AtualizarDadosControle() { DateTime Agora = DateTime.Now; - OperacaoControleTipoModel ControleMov = Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Mov); - OperacaoControleTipoModel ControleDir = Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Dir); - OperacaoControleTipoModel ControleAtu = Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Atu); + 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).Milliseconds > ControleMov.DelayEnvioComando) { @@ -366,7 +377,8 @@ namespace AgroBase.Models return; } Sensoriamento.VelocidadeMedia = DispMov.Dados.Motores.Average(x => x.VelocidadeInstantanea); - Sensoriamento.DistanciaPercorrida = DispMov.Dados.DistanciaPercorridaOperacao; + //Sensoriamento.DistanciaPercorrida = DispMov.Dados.DistanciaPercorridaOperacao; + Sensoriamento.ProgressoPercurso = Mapa == null ? 0 : Sensoriamento.DistanciaPercorrida / Mapa.DistanciaTotal * 100; } public List EnviarProtocoloComando(IDispositivosService Dispositivo) @@ -455,9 +467,41 @@ namespace AgroBase.Models Longitude = GPSService.UltimaLeitura.Longitude, PrecisaoHorizontal = GPSService.UltimaLeitura.PrecisaoHorizontal }); + if (GPSTrajetoria.Count > 1) + { + Sensoriamento.DistanciaPercorrida += GPSService.DistanciaEntrePontos(GPSTrajetoria[GPSTrajetoria.Count - 1], GPSTrajetoria[GPSTrajetoria.Count - 2]); + } File.WriteAllText(PastaSaida + ID + "/trajetoria.json", JsonConvert.SerializeObject(GPSTrajetoria, Formatting.None)); } + + public void AtualizarEtapa() + { + + } + + + + public void CalculaDadosMovimentacaoAutonoma() + { + + } + + + + private void TmrLogs_Tick(object sender, EventArgs e) + { + SalvarLog(); + } + + private void TmrParametrizacao_Tick(object sender, EventArgs e) + { + if (Mapa != null) + { + APIService.AtualizarRuasSelecionadas(); + } + } + } public class OperacaoControleModel @@ -484,12 +528,6 @@ namespace AgroBase.Models public List Comandos { get; set; } } - public class OperacaoGraficoModel - { - public double Velocidade { get; set; } - public double Temperatura { get; set; } - } - public class OperacaoModulosMandatoriosModel { public T_Code Dispositivo { get; set; } @@ -505,6 +543,7 @@ namespace AgroBase.Models 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(); @@ -514,5 +553,244 @@ namespace AgroBase.Models public double DistanciaDireita { get; set; } = 0; } + public class OperacaoRefRuaGPS + { + public bool ManobraConcluida { get; set; } = false; + private StatusOperacao _EtapaAtual; + public StatusOperacao StatusAtual + { + get + { + StatusOperacao etapaAtual = StatusOperacao.Aguardando; + if (!Variaveis.OperacaoEmAndamento.Iniciado) + { + etapaAtual = StatusOperacao.Parametrizando; + } + else if (Variaveis.OperacaoEmAndamento.Tempo.Minutes == 0 && Variaveis.OperacaoEmAndamento.Tempo.Seconds < Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) + { + etapaAtual = StatusOperacao.Aguardando; + } + else if (_EtapaAtual == StatusOperacao.Manobrando) + { + if (Direcao == DirecaoCarroRua.Parado) + { + if (Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Count - 1 > Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual) + { + Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++; + } + else + { + Variaveis.OperacaoEmAndamento.FinalizarOperacao(); + } + ManobraConcluida = false; + } + else + { + return _EtapaAtual; + } + } + else if (!DentroDaRua) + { + if (PontoMaisProximo == 0 && (Direcao == DirecaoCarroRua.Ida || Direcao == DirecaoCarroRua.Parado)) + { + etapaAtual = StatusOperacao.EntrandoRua; + } + else if (PontoMaisProximo == 1 && (Direcao == DirecaoCarroRua.Volta || Direcao == DirecaoCarroRua.Parado)) + { + etapaAtual = StatusOperacao.EntrandoRua; + } + else + { + if (_EtapaAtual == StatusOperacao.CaminhandoRua) + { + etapaAtual = StatusOperacao.SaindoRua; + } + else + { + etapaAtual = StatusOperacao.Manobrando; + } + } + } + else if (DentroDaRua) + { + etapaAtual = StatusOperacao.CaminhandoRua; + } + + _EtapaAtual = etapaAtual; + + return etapaAtual; + } + set + { + _EtapaAtual = value; + } + } + public int PontosConsiderarAngulo { get; set; } = 2; + public double Distancia { get; set; } = 0; + public double AnguloCarro + { + get + { + try + { + double somaAngulo = 0; + var Pontos = Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count > PontosConsiderarAngulo ? + Variaveis.OperacaoEmAndamento.GPSTrajetoria.OrderByDescending(x => x.DataHora).Take(PontosConsiderarAngulo).ToList() : + Variaveis.OperacaoEmAndamento.GPSTrajetoria.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; + } + 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 = Rua.Count > PontosConsiderarAngulo ? + Rua.OrderByDescending(x => x.DataHora).Take(PontosConsiderarAngulo).ToList() : + Rua.OrderByDescending(x => x.DataHora).ToList(); + PontosRua = PontosRua.OrderBy(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; + } + catch + { + return 0; + } + } + } + public DirecaoCarroRua Direcao + { + get + { + double MargemErroAngulo = 5; + + 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 + { + var primeiroPontoRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First().First(); + return primeiroPontoRua; + } + } + public GPSModel UltimoPontoRua + { + get + { + var ultimoPontoRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First().Last(); + return ultimoPontoRua; + } + } + public bool DentroDaRua + { + get + { + double MargemErroAngulo = 15; + double ToleranciaDistanciaRua = 1; + + // Calcula a distância até o ponto de início e fim + double angRua = AnguloRua; + + double distPP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PrimeiroPontoRua); + double angPP = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, PrimeiroPontoRua); + double angPPO = (angPP + 180) % 360; + /*if ((angPP + MargemErroAngulo) >= angRua && (angPP - MargemErroAngulo) <= angRua) + { + distPP = distPP * -1; + } + else */if ((angPPO + MargemErroAngulo) >= angRua && (angPPO - MargemErroAngulo) <= angRua) + { + distPP = distPP * -1; + } + + double distUP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, UltimoPontoRua); + double angUP = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, UltimoPontoRua); + double angUPO = (angUP + 180) % 360; + if ((angUP + MargemErroAngulo) >= angRua && (angUP - MargemErroAngulo) <= angRua) + { + distUP = distUP * -1; + } + + + var Rua = Variaveis.OperacaoEmAndamento.Mapa.mapaService.DadosMapa.features.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First(); + // Calcula a diferença entre a soma das distâncias e a distância real entre os pontos + double diferencaDistancia = (distPP + distUP) - Rua.properties.Length; + + + bool dentro = false; + if (distPP > Rua.properties.Length || distUP > Rua.properties.Length) + { + dentro = false; + } + else + { + dentro = true; + } + + // Verifica se a diferença é menor ou igual à tolerância + /*dentro = diferencaDistancia <= ToleranciaDistanciaRua; + if (dentro) + { + if (distPP > Rua.properties.Length || distUP > Rua.properties.Length) + { + dentro = false; + } + else + { + + } + }*/ + return dentro; + } + } + public int PontoMaisProximo { + 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; + } + } + } } diff --git a/AgroBase/AgroBase/Properties/Resources.Designer.cs b/AgroBase/AgroBase/Properties/Resources.Designer.cs index 9daac6c37..cfd2bd360 100644 --- a/AgroBase/AgroBase/Properties/Resources.Designer.cs +++ b/AgroBase/AgroBase/Properties/Resources.Designer.cs @@ -89,5 +89,25 @@ namespace AgroBase.Properties { return ((System.Drawing.Bitmap)(obj)); } } + + ///

+ /// Looks up a localized resource of type System.Drawing.Bitmap. + /// + internal static System.Drawing.Bitmap rosa_dos_ventos { + get { + object obj = ResourceManager.GetObject("rosa_dos_ventos", resourceCulture); + return ((System.Drawing.Bitmap)(obj)); + } + } + + /// + /// Looks up a localized resource of type System.Drawing.Bitmap. + /// + internal static System.Drawing.Bitmap transferidor { + get { + object obj = ResourceManager.GetObject("transferidor", resourceCulture); + return ((System.Drawing.Bitmap)(obj)); + } + } } } diff --git a/AgroBase/AgroBase/Properties/Resources.resx b/AgroBase/AgroBase/Properties/Resources.resx index bd3fc844b..cd04ec8b8 100644 --- a/AgroBase/AgroBase/Properties/Resources.resx +++ b/AgroBase/AgroBase/Properties/Resources.resx @@ -127,4 +127,10 @@ ..\Imagens\loading.gif;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 + + + ..\Imagens\transferidor.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a + \ No newline at end of file diff --git a/AgroBase/AgroBase/Python/Scripts/api.py b/AgroBase/AgroBase/Python/Scripts/api.py index 08e38ebee..1bf91b056 100644 --- a/AgroBase/AgroBase/Python/Scripts/api.py +++ b/AgroBase/AgroBase/Python/Scripts/api.py @@ -5,11 +5,14 @@ import sys apiPort = sys.argv[1] getCordenadasEndpoint = sys.argv[2] setCordenadasEndpoint = sys.argv[3] +getRuasSelecionadasEndpoint = sys.argv[4] +setRuasSelecionadasEndpoint = sys.argv[5] app = Flask(__name__) CORS(app) # Isso habilita o CORS para todas as rotas e origens coordenadas = {} +ruas_selecionadas = [] @app.route(setCordenadasEndpoint, methods=['POST']) def receber_coordenadas(): @@ -28,6 +31,19 @@ def servir_coordenadas(id): return jsonify(coordenadas[id]) else: return jsonify({'error': 'Coordenadas não encontradas!'}), 404 + +@app.route(setRuasSelecionadasEndpoint, methods=['POST']) +def receber_ruas_selecionadas(): + dados = request.json + ids = dados.get('ids') + global ruas_selecionadas + ruas_selecionadas = ids + + return jsonify({'status': 'Ruas selecionadas recebidas com sucesso!'}) + +@app.route(getRuasSelecionadasEndpoint, methods=['GET']) +def servir_ruas_selecionadas(): + return jsonify(ruas_selecionadas) if __name__ == '__main__': app.run(host='0.0.0.0', port=apiPort, debug=True) \ No newline at end of file diff --git a/AgroBase/AgroBase/Python/Scripts/map-load.py b/AgroBase/AgroBase/Python/Scripts/map-load.py index 6f234b079..d254fe65b 100644 --- a/AgroBase/AgroBase/Python/Scripts/map-load.py +++ b/AgroBase/AgroBase/Python/Scripts/map-load.py @@ -20,7 +20,8 @@ pathFiles = sys.argv[1] fileName = sys.argv[2] outputName = sys.argv[3] outputMapName = sys.argv[4] -apiEndpoit = sys.argv[5] +marcadorEndpoit = sys.argv[5] +ruasEndpoit = sys.argv[6] pastaSaida = 'Python/Output/' # Carregar o arquivo shapefile contendo a geometria @@ -41,6 +42,9 @@ else: geojson_data = data_geometry.to_json() folium.GeoJson(geojson_data).add_to(m) +# Salvar GEOJson +data_geometry.to_file(pastaSaida + outputName, driver='GeoJSON') + # Salvar o mapa interativo em um arquivo HTML m.save(pastaSaida + outputMapName) @@ -63,8 +67,8 @@ with open(caminho_completo_html, 'r+') as arquivo_html: else: 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 para desenhar o trajo percorrido no mapa + script_desenha_trajeotria = f""" - + """ + + # Script JavaScript para adicionar ao HTML, com o ID do mapa substituído + script_atualizacao_marcador = f""" """ + + # Primeiro, vamos definir o novo trecho de JavaScript que você quer adicionar + funcao_define_ruas_selecionadas = f""" + var trajetosSelecionados = {{}}; + var RuasSelecionadas = []; + function enviarSelecaoParaServidor() {{ + fetch('{ruasEndpoit}', {{ + method: 'POST', + headers: {{ + 'Content-Type': 'application/json', + }}, + body: JSON.stringify({{ids: RuasSelecionadas}}), + }}) + .then(response => response.json()) + .then(data => console.log('Sucesso:', data)) + .catch((error) => console.error('Erro:', error)); + }} + """ + + # Código para inserir dentro do layer.on({}) + codigo_layer_on = """ + click: function(e) { + // Verificar se o trajeto já está selecionado + if (trajetosSelecionados[feature.id]) { + // Se já está selecionado, reverta para a cor original e remova da seleção + e.target.setStyle({ + color: '#3388ff' // Cor original + }); + delete trajetosSelecionados[feature.id]; + RuasSelecionadas.splice(RuasSelecionadas.indexOf(feature.id), 1); + } else { + // Se não está selecionado, mude a cor para indicar seleção e adicione ao objeto de seleção + e.target.setStyle({ + color: 'blue' // Cor de seleção + }); + trajetosSelecionados[feature.id] = true; + RuasSelecionadas.push(feature.id); + } + enviarSelecaoParaServidor(); + } + """ # 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 + '') +# 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 +conteudo_atualizado = conteudo_atualizado[:indice_inicio_funcao] + funcao_define_ruas_selecionadas + conteudo_atualizado[indice_inicio_funcao:] +# Agora, para adicionar o código dentro do layer.on({}) +# Você precisa encontrar o local exato. Isso pode ser um pouco mais complicado, pois pode haver várias ocorrências. +# Uma abordagem seria encontrar a primeira ocorrência após o seu trecho inserido anteriormente. +indice_layer_on = conteudo_atualizado.find("layer.on({", indice_inicio_funcao) +# Verificar se encontrou o layer.on({}) +if indice_layer_on != -1: + # Encontrar a posição do fechamento do layer.on({}) + indice_fechamento = conteudo_atualizado.find("});", indice_layer_on) # +1 para incluir a abertura da chave + # Inserir o código dentro do layer.on({}) + conteudo_atualizado = conteudo_atualizado[:indice_fechamento] + codigo_layer_on + conteudo_atualizado[indice_fechamento:] + + + # 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/Services/APIService.cs b/AgroBase/AgroBase/Services/APIService.cs index ccd0b211b..a8f6688d6 100644 --- a/AgroBase/AgroBase/Services/APIService.cs +++ b/AgroBase/AgroBase/Services/APIService.cs @@ -1,7 +1,9 @@ using AgroBase.Models; using Newtonsoft.Json; using System; +using System.Collections.Generic; using System.Diagnostics; +using System.Linq; using System.Net.Http; using System.Text; @@ -14,6 +16,8 @@ namespace AgroBase.Services public static string API_Porta { get; set; } = "5001"; public static string GPS_setCoordenadasEndpoint { get; set; } = "/receber-coordenadas"; public static string GPS_getCoordenadasEndpoint { get; set; } = "/servir-coordenadas/"; + public static string Mapa_setRuasSelecionadasEndpoint { get; set; } = "/receber-ruas-selecionadas"; + public static string Mapa_getRuasSelecionadasEndpoint { get; set; } = "/servir-ruas-selecionadas"; public static int GPS_IDcoordenadasRobo { get; set; } = 1; public static string ApiBase() @@ -25,7 +29,13 @@ namespace AgroBase.Services { if (pythonProcess == null) { - pythonProcess = PythonService.RunScript(PythonService.ScriptAPI, new string[] { API_Porta.ToString(), GPS_getCoordenadasEndpoint, GPS_setCoordenadasEndpoint }); + pythonProcess = PythonService.RunScript(PythonService.ScriptAPI, new string[] { + API_Porta.ToString(), + GPS_getCoordenadasEndpoint, + GPS_setCoordenadasEndpoint, + Mapa_getRuasSelecionadasEndpoint, + Mapa_setRuasSelecionadasEndpoint + }); } } @@ -58,5 +68,36 @@ namespace AgroBase.Services string result = await response.Content.ReadAsStringAsync(); } } + + public static async void AtualizarRuasSelecionadas() + { + try + { + var url = ApiBase() + Mapa_getRuasSelecionadasEndpoint; + + using (var client = new HttpClient()) + { + var response = await client.GetAsync(url); + List ids = new List(); + string result = await response.Content.ReadAsStringAsync(); + if (!result.Contains("[]")) + { + result = result.Replace("\n", ""); + result = result.Replace("\"", ""); + ids = JsonConvert.DeserializeObject(result).Select(x => x.ToString()).ToList(); + } + if (ids.Count != Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Count) + { + Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer = ids; + Variaveis.OperacaoEmAndamento.Mapa.PopularTrajetoria(); + } + } + } + catch + { + + } + } + } } diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs index 435af9e4f..05e280668 100644 --- a/AgroBase/AgroBase/Services/GPSService.cs +++ b/AgroBase/AgroBase/Services/GPSService.cs @@ -1,4 +1,5 @@ using AgroBase.Models; +using Emgu.CV.Features2D; using Newtonsoft.Json; using System; using System.Collections.Generic; @@ -10,8 +11,6 @@ using System.Net.Http; using System.Text; using System.Threading.Tasks; using System.Windows.Forms; -using static AgroBase.Models.Enuns; -using static AgroBase.Services.SerialService; namespace AgroBase.Services { @@ -98,7 +97,6 @@ namespace AgroBase.Services PenultimaLeitura.DataHora = UltimaLeitura.DataHora; PenultimaLeitura.NumeroSatelites = UltimaLeitura.NumeroSatelites; PenultimaLeitura.Velocidade = UltimaLeitura.Velocidade; - PenultimaLeitura.Orientacao = UltimaLeitura.Orientacao; if (parts[2] != "" && parts[3] != "") { @@ -111,7 +109,6 @@ namespace AgroBase.Services UltimaLeitura.NumeroSatelites = int.TryParse(parts[7], out int numSat) ? numSat : 0; UltimaLeitura.PrecisaoHorizontal = double.TryParse(parts[8], NumberStyles.Float, CultureInfo.InvariantCulture, out double hdop) ? hdop : 0; UltimaLeitura.Altitude = ConvertToDouble(parts[9]); - UltimaLeitura.Orientacao = AtualizaOrientacao(); APIService.AtualizarCoordenadasGPS(UltimaLeitura, APIService.GPS_IDcoordenadasRobo); break; @@ -177,13 +174,13 @@ namespace AgroBase.Services return knots * 1.852; } - private static double AtualizaOrientacao() + public static double CalcularOrientacao(GPSModel P1, GPSModel P2) { // Converter latitudes e longitudes de graus para radianos - double latA = UltimaLeitura.Latitude * (Math.PI / 180.0); - double lonA = UltimaLeitura.Longitude * (Math.PI / 180.0); - double latB = PenultimaLeitura.Latitude * (Math.PI / 180.0); - double lonB = PenultimaLeitura.Longitude * (Math.PI / 180.0); + double latA = P1.Latitude * (Math.PI / 180.0); + double lonA = P1.Longitude * (Math.PI / 180.0); + double latB = P2.Latitude * (Math.PI / 180.0); + double lonB = P2.Longitude * (Math.PI / 180.0); // Calcular a diferença de longitude double deltaLon = lonB - lonA; @@ -202,6 +199,100 @@ namespace AgroBase.Services return direcaoGraus; } + public static double DistanciaEntrePontos(GPSModel P1, GPSModel P2) + { + double lat1 = P1.Latitude; + double lat2 = P2.Latitude; + double lon1 = P1.Longitude; + double lon2 = P2.Longitude; + + double R = 6371.0; // Raio da Terra em Km + double dLat = ToRadians(lat2 - lat1); + double dLon = ToRadians(lon2 - lon1); + lat1 = ToRadians(lat1); + lat2 = ToRadians(lat2); + + double a = Math.Sin(dLat / 2) * Math.Sin(dLat / 2) + + Math.Sin(dLon / 2) * Math.Sin(dLon / 2) * Math.Cos(lat1) * Math.Cos(lat2); + double c = 2 * Math.Atan2(Math.Sqrt(a), Math.Sqrt(1 - a)); + double distance = R * c; + + // Converter para centímetros + distance = distance * 1000; + + //distance = distance * 1.23; + + return distance; + } + + private static double ToRadians(double angle) + { + return Math.PI / 180 * angle; + } + + + + + private static MapaFeatureCollectionModel TrajetoFake = new MapaFeatureCollectionModel(); + private static int idxPonto = 0; + private static int idxRuaA = 0; + public static void SimularGPS() + { + var dados = File.ReadAllText("trajetoFakeGps.json"); + TrajetoFake = JsonConvert.DeserializeObject(dados); + int i = 0; + TrajetoFake.features.ForEach(feature => + { + feature.geometry.id = i.ToString(); + i++; + }); + Timer tmr = new Timer() { Interval = 1000 }; + tmr.Tick += Tmr_Tick; + tmr.Start(); + Iniciado = true; + } + + private static void Tmr_Tick(object sender, EventArgs e) + { + if (Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual >= TrajetoFake.features.Count) // Verifica se chegou ao fim do trajeto total + { + ((Timer)sender).Stop(); + Iniciado = false; + return; // Encerra a execução para evitar processamento adicional + } + + if (idxRuaA != Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual) + { + idxPonto = 0; + idxRuaA = Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual; + + //double distPP = DistanciaEntrePontos(UltimaLeitura, new GPSModel() { Longitude = TrajetoFake.features[idxRuaA].geometry.coordinates[0][0], Latitude = TrajetoFake.features[idxRuaA].geometry.coordinates[0][1] }); + //double distUP = DistanciaEntrePontos(UltimaLeitura, new GPSModel() { Longitude = TrajetoFake.features[idxRuaA].geometry.coordinates[TrajetoFake.features[idxRuaA].geometry.coordinates.Count - 1][0], Latitude = TrajetoFake.features[idxRuaA].geometry.coordinates[TrajetoFake.features[idxRuaA].geometry.coordinates.Count - 1][1] }); + + if (idxRuaA % 2 != 0) + { + TrajetoFake.features[idxRuaA].geometry.coordinates.Reverse(); + } + } + + UltimaLeitura = new GPSModel() + { + DataHora = DateTime.Now, + Longitude = TrajetoFake.features[idxRuaA].geometry.coordinates[idxPonto][0], + Latitude = TrajetoFake.features[idxRuaA].geometry.coordinates[idxPonto][1], + }; + APIService.AtualizarCoordenadasGPS(UltimaLeitura, APIService.GPS_IDcoordenadasRobo); + + if (Variaveis.OperacaoEmAndamento.Tempo.Minutes == 0 && Variaveis.OperacaoEmAndamento.Tempo.Seconds < Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) + { + return; + } + + if (idxPonto < TrajetoFake.features[idxRuaA].geometry.coordinates.Count - 1) + { + idxPonto++; + } + } } diff --git a/AgroBase/AgroBase/Services/MapasService.cs b/AgroBase/AgroBase/Services/MapasService.cs index a7fac3c6d..ee7bd1f6d 100644 --- a/AgroBase/AgroBase/Services/MapasService.cs +++ b/AgroBase/AgroBase/Services/MapasService.cs @@ -28,7 +28,6 @@ namespace AgroBase.Services public string MapaUrl = ""; public string CaminhoDadosMapa = ""; public MapaFeatureCollectionModel DadosMapa; - private string PathUpdateMarker = "update_marker"; public void CarregarMapa(string nomeArquivoMapa, string nomeArquivoSaida) @@ -48,7 +47,14 @@ namespace AgroBase.Services NomeArquivos = opfMapa.FileName.Split('\\')[opfMapa.FileName.Split('\\').Length - 1].Split('.')[0]; CaminhoMapa = opfMapa.FileName.Substring(0, opfMapa.FileName.Length - NomeArquivos.Length - 4).Replace("\\", "/"); - pythonProcess = PythonService.RunScript(PythonService.ScriptMapConverter, new string[] { CaminhoMapa, NomeArquivos, ArquivoSaida, NomeArquivoMapa, APIService.ApiBase() + APIService.GPS_getCoordenadasEndpoint.Replace("", APIService.GPS_IDcoordenadasRobo.ToString()) }); + pythonProcess = PythonService.RunScript(PythonService.ScriptMapConverter, new string[] { + CaminhoMapa, + NomeArquivos, + ArquivoSaida, + NomeArquivoMapa, + APIService.ApiBase() + APIService.GPS_getCoordenadasEndpoint.Replace("", APIService.GPS_IDcoordenadasRobo.ToString()), + APIService.ApiBase() + APIService.Mapa_setRuasSelecionadasEndpoint + }); MapaUrl = new Uri(CaminhoSaida + NomeArquivoMapa).AbsoluteUri; CaminhoDadosMapa = CaminhoSaida + ArquivoSaida; @@ -69,6 +75,12 @@ namespace 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- - - - - - - \ No newline at end of file diff --git a/AgroBase/AgroBase/Utils/offline_maps/map.js b/AgroBase/AgroBase/Utils/offline_maps/map.js deleted file mode 100644 index 31cf61037..000000000 --- a/AgroBase/AgroBase/Utils/offline_maps/map.js +++ /dev/null @@ -1,125 +0,0 @@ -var element = document.getElementById("map"); - -var mapTypeIds = []; -for(var type in google.maps.MapTypeId) { - mapTypeIds.push(google.maps.MapTypeId[type]); -} - -mapTypeIds.push("OSM"); -mapTypeIds.push("MyGmap"); -mapTypeIds.push("LocalGmap"); -mapTypeIds.push("WebStorageGmap"); -mapTypeIds.push("LocalMyGmap"); -mapTypeIds.push("WebStorageMyGmap"); - -var map = new google.maps.Map(element, { - center: new google.maps.LatLng(-22.18416881313122, -47.382545097935264), - zoom: 17, - mapTypeId: "MyGmap", - mapTypeControlOptions: { - mapTypeIds: mapTypeIds, - style: google.maps.MapTypeControlStyle.DROPDOWN_MENU - } -}); - -map.mapTypes.set("OSM", new google.maps.ImageMapType({ - getTileUrl: getOsmTileImgSrc, - tileSize: new google.maps.Size(256, 256), - name: "OSM", - maxZoom: 20 -})); - -map.mapTypes.set("MyGmap", new google.maps.ImageMapType({ - getTileUrl: getGmapTileImgSrc, - tileSize: new google.maps.Size(256, 256), - name: "MyGmap", - maxZoom: 20 -})); - -map.mapTypes.set("LocalGmap", new google.maps.ImageMapType({ - getTileUrl: getLocalTileImgSrc, - tileSize: new google.maps.Size(256, 256), - name: "LocalGmap", - maxZoom: 20 -})); - -map.mapTypes.set("WebStorageGmap", new google.maps.ImageMapType({ - getTileUrl: getWebStorageTileImgSrc, - tileSize: new google.maps.Size(256, 256), - name: "WebStorageGmap", - maxZoom: 20 -})); - -map.mapTypes.set("LocalMyGmap", new google.maps.ImageMapType({ - getTileUrl: function(coord, zoom) { - return checkTileInSprites(coord, zoom) ? - getLocalTileImgSrc(coord, zoom) : - getGmapTileImgSrc(coord, zoom); - }, - tileSize: new google.maps.Size(256, 256), - name: "LocalMyGmap", - maxZoom: 20 -})); - -map.mapTypes.set("WebStorageMyGmap", new google.maps.ImageMapType({ - getTileUrl: function(coord, zoom) { - var image = getWebStorageTileImgSrc(coord, zoom); - return image ? image : getGmapTileImgSrc(coord, zoom); - }, - tileSize: new google.maps.Size(256, 256), - name: "WebStorageMyGmap", - maxZoom: 20 -})); - -google.maps.event.addListener(map, 'click', function(point) { - var marker = new google.maps.Marker({ - position: point.latLng, - map: map - }); - - google.maps.event.addListener(marker, 'dblclick', function() { - marker.setMap(null); - }); - - google.maps.event.addListener(marker, 'click', function() { - new google.maps.InfoWindow({ - content: 'lat: ' + point.latLng.lat() + '
lng:' + point.latLng.lng() - }).open(map, marker); - }); -}); - -function CustomControl(controlDiv, map, title, handler) { - controlDiv.style.padding = '5px'; - - var controlUI = document.createElement('DIV'); - controlUI.style.backgroundColor = 'white'; - controlUI.style.borderStyle = 'solid'; - controlUI.style.borderWidth = '2px'; - controlUI.style.cursor = 'pointer'; - controlUI.style.textAlign = 'center'; - controlUI.title = title; - controlDiv.appendChild(controlUI); - - var controlText = document.createElement('DIV'); - controlText.style.fontFamily = 'Arial,sans-serif'; - controlText.style.fontSize = '12px'; - controlText.style.paddingLeft = '4px'; - controlText.style.paddingRight = '4px'; - controlText.innerHTML = title; - controlUI.appendChild(controlText); - - google.maps.event.addDomListener(controlUI, 'click', handler); -} - -var clearWebStorageDiv = document.createElement('DIV'); -var clearWebStorageButton = new CustomControl(clearWebStorageDiv, map, - 'Clear Web Storage', clearWebStorage); - -var prepareWebStorageDiv = document.createElement('DIV'); -var prepareWebStorageButton = new CustomControl(prepareWebStorageDiv, map, - 'Prepare Web Storage', prepareWebStorage); - -clearWebStorageDiv.index = 1; -prepareWebStorageDiv.index = 1; -map.controls[google.maps.ControlPosition.TOP_RIGHT].push(clearWebStorageDiv); -map.controls[google.maps.ControlPosition.TOP_RIGHT].push(prepareWebStorageDiv); diff --git a/AgroBase/AgroBase/Utils/offline_maps/script.js b/AgroBase/AgroBase/Utils/offline_maps/script.js deleted file mode 100644 index ff3a851d5..000000000 --- a/AgroBase/AgroBase/Utils/offline_maps/script.js +++ /dev/null @@ -1,136 +0,0 @@ -var spriteRanges = { - // tl = top_left - // br = bottom_right - // {zoom: {tl: {}, br: {}} - 0: { - tl: {x: 0, y: 0}, - br: {x: 0, y: 0} - }, - 1: { - tl: {x: 1, y: 0}, - br: {x: 1, y: 0} - }, - 2: { - tl: {x: 2, y: 1}, - br: {x: 2, y: 1} - }, - 3: { - tl: {x: 4, y: 2}, - br: {x: 4, y: 2} - }, - 4: { - tl: {x: 9, y: 5}, - br: {x: 9, y: 5} - }, - 5: { - tl: {x: 18, y: 10}, - br: {x: 18, y: 10} - }, - 6: { - tl: {x: 36, y: 20}, - br: {x: 36, y: 20} - }, - 7: { - tl: {x: 73, y: 41}, - br: {x: 73, y: 41} - }, - 8: { - tl: {x: 147, y: 82}, - br: {x: 147, y: 82} - }, - 9: { - tl: {x: 294, y: 164}, - br: {x: 295, y: 164} - }, - 10: { - tl: {x: 589, y: 328}, - br: {x: 591, y: 329} - }, - 11: { - tl: {x: 1179, y: 657}, - br: {x: 1182, y: 659} - }, - 12: { - tl: {x: 2358, y: 1315}, - br: {x: 2364, y: 1319} - }, - 13: { - tl: {x: 4717, y: 2630}, - br: {x: 4728, y: 2639} - }, - 14: { - tl: {x: 9439, y: 5262}, - br: {x: 9452, y: 5277} - }, - 15: { - tl: {x: 18878, y: 10525}, - br: {x: 18905, y: 10554} - }, - 16: { - tl: {x: 37757, y: 21051}, - br: {x: 37810, y: 21108} - } -}; - -var max_zoom = 13; - -var webStorage = new WebStorageFactory().getWebStorage(); - -function imageToBase64(image) { - var canvas = document.createElement("canvas"); - canvas.width = image.width; - canvas.height = image.height; - - var context = canvas.getContext("2d"); - context.drawImage(image, 0, 0); - - return canvas.toDataURL("image/png"); -} - -function loadImageToWebStorage(zoom, x, y){ - var url = "cache/" + zoom + "/" + x + "_" + y + ".png"; - var image = new Image(); - image.onload = function() { - webStorage.setItem([zoom, x, y].join('_'), imageToBase64(image)); - }; - image.src = url; -} - -function clearWebStorage() { - webStorage.clear(); -} - -function prepareWebStorage() { - for (var zoom in spriteRanges) { - if (zoom > max_zoom) { - break; - } - var sprites = spriteRanges[zoom]; - for (var x=sprites.tl.x; x<=sprites.br.x; x++) { - for (var y=sprites.tl.y; y<=sprites.br.y; y++) { - loadImageToWebStorage(zoom, x, y); - } - } - } -} - -function checkTileInSprites(coord, zoom) { - var sprites = spriteRanges[zoom]; - return sprites.tl.x <= coord.x && coord.x <= sprites.br.x && sprites.tl.y <= coord.y && coord.y <= sprites.br.y; -} - -function getOsmTileImgSrc(coord, zoom) { - return "http://tile.openstreetmap.org/" + zoom + "/" + coord.x + "/" + coord.y + ".png"; -} - -function getGmapTileImgSrc(coord, zoom) { - return "http://mt0.googleapis.com/vt?src=apiv3&x=" + coord.x + "&y=" + coord.y + "&z=" + zoom; -} - -function getLocalTileImgSrc(coord, zoom) { - return "cache/" + zoom + "/" + coord.x + "_" + coord.y + ".png"; -} - -function getWebStorageTileImgSrc(coord, zoom) { - return webStorage.getItem([zoom, coord.x, coord.y].join('_')); -} \ No newline at end of file diff --git a/AgroBase/AgroBase/Utils/offline_maps/style.css b/AgroBase/AgroBase/Utils/offline_maps/style.css deleted file mode 100644 index d586558af..000000000 --- a/AgroBase/AgroBase/Utils/offline_maps/style.css +++ /dev/null @@ -1,8 +0,0 @@ -html, body, #map { - height: 100%; - width: 100%; -} - -.gmnoprint { - width: auto !important; -} \ No newline at end of file diff --git a/AgroBase/AgroBase/Utils/offline_maps/webStorage.js b/AgroBase/AgroBase/Utils/offline_maps/webStorage.js deleted file mode 100644 index 938b06452..000000000 --- a/AgroBase/AgroBase/Utils/offline_maps/webStorage.js +++ /dev/null @@ -1,29 +0,0 @@ -function LocalStorageWebStorageImpl() { - this.webStorageType = 'localStorage'; - - this.getItem = function(name) { - return localStorage.getItem(name); - }; - - this.setItem = function(name, value) { - localStorage.setItem(name, value); - }; - - this.clear = function() { - localStorage.clear(); - }; -} - -function WebStorageFactory() { - var webStorage = null; - - if (window.localStorage) { - webStorage = new LocalStorageWebStorageImpl(); - } else { - alert("Your browser don't support localStorage"); - } - - this.getWebStorage = function() { - return webStorage; - } -} \ No newline at end of file diff --git a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb index 9f4af30f19cb192c3cff9c819c5817d31ef5cd98..c8b7e8cc12a1b23946fd9a0824e8c675f5c7fb66 100644 GIT binary patch delta 247557 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a/AgroBase/AgroBase/obj/Debug/TempPE/Properties.Resources.Designer.cs.dll b/AgroBase/AgroBase/obj/Debug/TempPE/Properties.Resources.Designer.cs.dll index ea4df0a934c6e8343d1ac221bbb71bbbc8e789d7..5f6359df4ce0749ed4093953cf8779852b8e42e0 100644 GIT binary patch delta 789 zcmXX^O-NKx6#mY=GtW0O&NyQw4ye5u+f)uYAW9}dpyW@Wp$4uV1CBNXGxg?SNl_Dl zSPj+Vf*?q^kQRbaOe9g8a8Zkbwk^UyqD@qbS%j<3eR<)0=ljk%_q*r8t5}s|PnOfp z!`(a%&Nrm32z3K7E{Oldr(NFWrQn4wU|eOXO{K^VZ!~hx;)tmSbduug6^$ka4H1jY(>Rq(2HX%Al#bkmO)gN(+R@H<&OHuV$p6;(opz}8Hm-A=MCtasdoG)v$ z4-LRe&YjbfxMc!y&CgGd405iTN(6dm^sdCATRH+9dUu{ih(q_-mCrBI95Ap*hoym4 zAA5*o6NY%iz$fVX77YjkYsw28iW2MRQtM68qh16u^j_@-+OyYWlAYO);>fX&R{GUA z&d4d5Va|r!yUc2ccWP9bV5+^&K7<)dZ?V)`7uuoVt9z|=btP!uQRcF&^6j;ho>AtW z(CVYFR?KbbvD)*MzHhMl=_{{wU#zgw-@8pAXzv80fh1!X$9;Z|F^&<&7F_fzcNyD| z_4y3y9elyVI8HF`$SiW)=w;lJ!?=&S8Z)kwsdkK1v?@3Fu^&R?8};4DLb(ao#*^_|zx+H32Px76$&{E<9> iN19t+szp?~)Kc_j&5Fe-WP!H@)(2{d*l+T>8~y>6$C&g0 delta 629 zcmXX^OK1~O6g~I7%uMq!omi*|v@+AUX+xlawo(;}sF=E`QmO`oT0x`>MN|w$(Mm*W zt1{!2sGBTATof%zL|t?#DEL{s6tWV;#&unI-=q)jx##}QyUe`BU5j3@G_bz><1Dt$ zPYifT8U|95P@UvjAzVFfohkrRT%tbqX*TgTDK$?l#miKnG{2)GxjR>iJ6kIn3&nu7L$pnCaQA&km)m(1=8Ba(+EeXt-3KHEjGTveQ)uUSo?DHMbLw_(^h@SI`Vn>$Ls$)^9hfHw^be ZzgGnXzM8%k_c~AM_1 -1) { - pinMode(_pinoSolenoide, OUTPUT); - _BicoAtuado = !AtuacaoNivelAlto; + // Definições + String _ID; + int _posicao; + int _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; + } + + if (_pinoSolenoide > -1) { + pinMode(_pinoSolenoide, OUTPUT); + _BicoAtuado = !AtuacaoNivelAlto; + digitalWrite(_pinoSolenoide, _BicoAtuado); + StatusBico = digitalRead(_pinoSolenoide) == (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 + pinMode(_pinoSolenoide, INPUT); + + EnviarDadosSerial(_ID + " Desligado"); + + Iniciado = false; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + void AlterarStatusBico() { digitalWrite(_pinoSolenoide, _BicoAtuado); StatusBico = digitalRead(_pinoSolenoide) == (AtuacaoNivelAlto ? 1 : 0); } - if (_pinoSensor > -1) { - pinMode(_pinoSensor, INPUT); - NivelFluxo = 0; + + + private: + + TaskHandle_t SensorTaskHandle = NULL; + static void SensorTaskWrapper(void *pvParameters) { + BicoPulverizador *bico = static_cast(pvParameters); + bico->SensorTask(); } - 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 - pinMode(_pinoSolenoide, INPUT); - pinMode(_pinoSensor, INPUT); - - EnviarDadosSerial(_ID + " Desligado"); - - Iniciado = false; - - EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); - } - - void AlterarStatusBico() { - digitalWrite(_pinoSolenoide, _BicoAtuado); - StatusBico = digitalRead(_pinoSolenoide) == (AtuacaoNivelAlto ? 1 : 0); - } + 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; + } -private: + unsigned long currentMillis = millis(); + if ((currentMillis - previousMillisLeitura) >= _TaxaAmostragem) { + previousMillisLeitura = currentMillis; - TaskHandle_t SensorTaskHandle = NULL; - static void SensorTaskWrapper(void *pvParameters) { - BicoPulverizador *bico = static_cast(pvParameters); - bico->SensorTask(); - } + EnviarDadosSerial(MontarProtocoloSensor(sFLX, _ID, MontarDadosProtocoloBicoPulverizador(StatusBico))); + } - 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; + + vTaskDelay(1); } - - - unsigned long currentMillis = millis(); - if ((currentMillis - previousMillisLeitura) >= _TaxaAmostragem) { - previousMillisLeitura = currentMillis; - - EnviarDadosSerial(MontarProtocoloSensor(sFLX, _ID, MontarDadosProtocoloBicoPulverizador(StatusBico, NivelFluxo))); - } - - - vTaskDelay(1); } - } }; -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"); +class SensorFluxo { + public: + SensorFluxo(String desc) { + _ID = desc; + } + + // Definições + String _ID; + S_Code _componente = sFLX; + int _pino; + int _delayAmostragem; + int _prioridade; + float _calibragem; + + bool Iniciado = false; + + // Consumo + volatile int ultimaLeitura = 0; + volatile unsigned int tempoAnterior = 0; + volatile float periodo = 0; + volatile float fluxo = 0; + + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + if (_pino > -1) { + pinMode(_pino, INPUT); + ultimaLeitura = digitalRead(_pino); + tempoAnterior = 0; + periodo = 0; + } + + xTaskCreatePinnedToCore(&SensorFluxo::SFTaskWrapper, "SFTask", 5000, 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 + pinMode(_pino, INPUT); + + 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(); + 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; + } + + bool Leitura = digitalRead(_pino) == 1; + if (Leitura != ultimaLeitura) { + ultimaLeitura = Leitura; + 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) + + 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 == 0) { + periodo = 0; + fluxo = 0; + } + pulsos = 0; + + EnviarDadosSerial(MontarProtocoloSensor(sFLX, _ID, MontarDadosProtocoloFluxo(fluxo, periodo))); + + firstMilis = millis(); + } + + // Aguarda metade do menor período possível entre leituras + vTaskDelay(1); + } + } + + void CalcularFluxo(float periodo) { + // Supondo que calibracao seja o número de pulsos por litro (450 pulsos/litro neste exemplo) + fluxo = (1.0 / _calibragem) * (60 * 1000 / periodo); // Calcula o fluxo em L/min + } + +}; + +class SensorMassa { + public: + SensorMassa(String desc) { + _ID = desc; + } + + // Definições + String _ID; + S_Code _componente = sMAS; + int _pinoDT; + int _pinoSCK; + int _delayAmostragem; + int _prioridade; + + HX711* balanca = nullptr; + + bool Iniciado = false; + + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + if (_pinoDT > -1 && _pinoSCK > -1) { + balanca = new HX711(); + balanca->begin(_pinoDT, _pinoSCK); + 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; + + // Parar a execução das tarefas + vTaskDelete(SMTaskHandle); + + // Redefinir as configurações para os valores iniciais + pinMode(_pinoDT, INPUT); + pinMode(_pinoSCK, INPUT); + + 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 Massa = balanca->get_units(5); + EnviarDadosSerial(MontarProtocoloSensor(sMAS, _ID, MontarDadosProtocoloMassa(Massa))); + } + +}; + +class SensorPressao { + public: + SensorPressao(String desc) { + _ID = desc; + } + + // Definições + String _ID; + S_Code _componente = sPRS; + int _pino; + int _delayAmostragem; + int _prioridade; + + bool Iniciado = false; + + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + if (_pino > -1) { + pinMode(_pino, INPUT); + } + + 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; + } + + // Parar a execução das tarefas + vTaskDelete(SPTaskHandle); + + // 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 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; + } + + long intMillis = (millis() - firstMilis); + + // A cada _TaxaAmostragem, enviar os dados para o software + if (intMillis >= (_TaxaAmostragem + _delayAmostragem)) { + AferirPressao(); + + firstMilis = millis(); + } + + // Aguarda metade do menor período possível entre leituras + vTaskDelay(1); + } + } + + void AferirPressao() { + int valorSensor = analogRead(_pino); + // Converte o valor lido (0 a 1023) para tensão (0.5 a 4.5V) + float tensao = map(valorSensor, 0, 1023, 500, 4500) / 1000.0; + // Converte a tensão para pressão em MPa + // A tensão de 0,5V corresponde a 0 MPa e 4,5V corresponde a 1,2 MPa + float pressao = (tensao - 0.5) * (1.2 / (4.5 - 0.5)); + EnviarDadosSerial(MontarProtocoloSensor(sPRS, _ID, MontarDadosProtocoloPressao(pressao, valorSensor))); + } + +}; + +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 "); +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 : - &B_10; + 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; } +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}; @@ -196,12 +541,11 @@ void loop() { EnviarDadosSerial(MontarProtocoloVerificacao(D_Code)); } else if (_funcao == Cfg) { - String ID = ((String)Protocolo[0] + (String)Protocolo[1] + (String)Protocolo[2]); - bool Conectar = (String)Protocolo[4] == "1"; - if (ID == "MD ") { - _TaxaAmostragem = ((String)Protocolo[6] + (String)Protocolo[7] + (String)Protocolo[8] + (String)Protocolo[9] + (String)Protocolo[10]).toInt(); - int pinoReleGeral = ((String)Protocolo[12] + (String)Protocolo[13]).toInt(); - bool _atuacaoNivelAlto = Protocolo[15] == "1"; + 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(); + int pinoReleGeral = ((String)Protocolo[14] + (String)Protocolo[15]).toInt(); if (pinoReleGeral > -1) { pinMode(_pinoReleGeral, INPUT); @@ -210,33 +554,95 @@ void loop() { digitalWrite(_pinoReleGeral, Conectar); } - AtuacaoNivelAlto = _atuacaoNivelAlto; - vTaskDelay(pdMS_TO_TICKS(100)); Conectado = Conectar; EnviarDadosSerial(MontarProtocoloSensor(sCFG, "MD ", Conectado ? "1" : "0")); } else { - bool bico_ativado = (String)Protocolo[6] == "1"; - int posicao = ((String)Protocolo[8] + (String)Protocolo[9]).toInt(); - int solenoide = ((String)Protocolo[11] + (String)Protocolo[12]).toInt(); - int sensor = ((String)Protocolo[14] + (String)Protocolo[15]).toInt(); - BicoPulverizador* _bico = BicoPorID(ID); - - if (bico_ativado) { - if (Conectar) { - _bico->_posicao = posicao; - _bico->_pinoSolenoide = solenoide; - _bico->_pinoSensor = sensor; - - _bico->Inicializar(); + + if (_bico != nullptr) { + bool bico_ativado = (String)Protocolo[8] == "1"; + int posicao = ((String)Protocolo[10] + (String)Protocolo[11]).toInt(); + int solenoide = ((String)Protocolo[13] + (String)Protocolo[14]).toInt(); + + if (bico_ativado) { + if (Conectar) { + _bico->_posicao = posicao; + _bico->_pinoSolenoide = solenoide; + + _bico->Inicializar(); + } + else { + _bico->Desligar(); + } + vTaskDelay(pdMS_TO_TICKS(500)); } - else { - _bico->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(); + int pino = ((String)Protocolo[23] + (String)Protocolo[24]).toInt(); + int pino2 = ((String)Protocolo[26] + (String)Protocolo[27]).toInt(); + + switch (componente) { + case sFLX: { + SensorFluxo* _sensor = SFPorID(ID); + if (sensor_ativado) { + double calibragem = ((String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34]).toDouble(); + _sensor->_calibragem = (float)calibragem; + if (Conectar) { + _sensor->_pino = pino; + _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 = pino; + _sensor->_pinoSCK = pino2; + _sensor->_prioridade = prioridade; + _sensor->_delayAmostragem = delayAmostragem; + + _sensor->Inicializar(); + } + else { + _sensor->Desligar(); + } + } + break; + } + case sPRS: { + SensorPressao* _sensor = SPPorID(ID); + if (sensor_ativado) { + if (Conectar) { + _sensor->_pino = pino; + _sensor->_prioridade = prioridade; + _sensor->_delayAmostragem = delayAmostragem; + + _sensor->Inicializar(); + } + else { + _sensor->Desligar(); + } + } + break; + } + + } + } + } } else if (_funcao == Cmd) { @@ -246,7 +652,7 @@ void loop() { BicoPulverizador* _bico = BicoPorID(ID); - _bico->_BicoAtuado = (String)Protocolo[4] == (BicoLigado ? "1" : "0"); + _bico->_BicoAtuado = (String)Protocolo[4] == (AtuacaoNivelAlto ? "1" : "0"); _bico->AlterarStatusBico(); } else if (_funcao == Tst) { diff --git a/Firmware/Modulos/Sensoriamento/Sensoriamento.ino b/Firmware/Modulos/Sensoriamento/Sensoriamento.ino index d6c537f60..c3183be12 100644 --- a/Firmware/Modulos/Sensoriamento/Sensoriamento.ino +++ b/Firmware/Modulos/Sensoriamento/Sensoriamento.ino @@ -1,10 +1,12 @@ // Dispositivo: Sensoriamento -// Versão Firmware: 3 -// Ultima atualização: 30/01/2024 +// Versão Firmware: 5 +// Ultima atualização: 21/02/2024 #include "C:\ZendionInc\agrobot_base\Firmware\Modulos\SerialService.h" +#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\Utils.h" #include +#include "INA226.h" #define D_Code Sen @@ -254,19 +256,15 @@ class SensorCorrente { } // Variáveis - const float Vcc = 3.3; // Tensão de alimentação - float Voffset = 0.413; - float sensibilidade = 0.35; + INA226* INA = nullptr; // Definições String _ID; S_Code _componente = sCOR; - int _pino; + byte _Endereco; int _delayAmostragem; int _prioridade; - SimpleKalmanFilter* kalmanCOR; - bool Iniciado = false; void Inicializar() { @@ -276,18 +274,15 @@ class SensorCorrente { return; } - if (_pino > -1) { - pinMode(_pino, INPUT); + INA = new INA226(_Endereco); + Wire.begin(); + Iniciado = INA->begin(); + if (Iniciado) { + INA->setMaxCurrentShunt(1, 0.002); + xTaskCreatePinnedToCore(&SensorCorrente::SATaskWrapper, "SATask", 5000, this, _prioridade, &SATaskHandle, tskNO_AFFINITY); + EnviarDadosSerial(_ID + " Iniciado"); } - kalmanCOR = new SimpleKalmanFilter(2, 2, 0.01); - - xTaskCreatePinnedToCore(&SensorCorrente::SATaskWrapper, "SATask", 5000, this, _prioridade, &SATaskHandle, tskNO_AFFINITY); - - EnviarDadosSerial(_ID + " Iniciado"); - - Iniciado = true; - EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); } @@ -301,10 +296,7 @@ class SensorCorrente { // Parar a execução das tarefas vTaskDelete(SATaskHandle); - // Redefinir as configurações para os valores iniciais - pinMode(_pino, INPUT); - - delete kalmanCOR; + delete INA; EnviarDadosSerial(_ID + " Desligado"); @@ -345,13 +337,121 @@ class SensorCorrente { } void AferirCorrente() { - int adcV = analogRead(_pino); - float adcValue = adcV; //float adcValue = kalmanCOR->updateEstimate(adcV); + float busVoltage = INA->getBusVoltage(); + float shuntVoltage = INA->getShuntVoltage_mV(); + float current = INA->getCurrent(); + float power = INA->getPower(); - float voltage = adcValue * (Vcc / 4095.0); // Convertendo o valor ADC para tensão - float current = (voltage - Voffset) / sensibilidade; // Calculando a corrente em A + EnviarDadosSerial(MontarProtocoloSensor(sCOR, _ID, MontarDadosProtocoloINA226(busVoltage, shuntVoltage, current, power))); + } - EnviarDadosSerial(MontarProtocoloSensor(sCOR, _ID, MontarDadosProtocoloCorrente(adcValue, voltage, current))); +}; + +class SensorUltrassom { + public: + SensorUltrassom(String desc) { + _ID = desc; + } + + // Variáveis + #define SOUND_SPEED 0.034 + + // Definições + String _ID; + S_Code _componente = sULT; + int _pinoE; + int _pinoT; + int _pino; + int _delayAmostragem; + int _prioridade; + + bool Iniciado = false; + + void Inicializar() { + if (Iniciado) { + EnviarDadosSerial(_ID + " ja inicializado"); + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + return; + } + + if (_pinoE > -1) { + pinMode(_pinoE, INPUT); + } + if (_pinoT > -1) { + pinMode(_pinoT, OUTPUT); + } + + xTaskCreatePinnedToCore(&SensorUltrassom::SUTaskWrapper, "SUTask", 5000, this, _prioridade, &SUTaskHandle, 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(SUTaskHandle); + + // Redefinir as configurações para os valores iniciais + pinMode(_pinoE, INPUT); + pinMode(_pinoT, INPUT); + + EnviarDadosSerial(_ID + " Desligado"); + + Iniciado = false; + + EnviarDadosSerial(MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0")); + } + + private: + TaskHandle_t SUTaskHandle = NULL; + static void SUTaskWrapper(void *pvParameters) { + SensorUltrassom *sensor = static_cast(pvParameters); + sensor->SUTask(); + } + + void SUTask() { + 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)) { + AferirDistancia(); + + firstMilis = millis(); + } + + // Aguarda metade do menor período possível entre leituras + vTaskDelay(1); + } + } + + void AferirDistancia() { + digitalWrite(_pinoT, LOW); + delayMicroseconds(2); + digitalWrite(_pinoT, HIGH); + delayMicroseconds(10); + digitalWrite(_pinoT, LOW); + long duration = pulseIn(_pinoE, HIGH); + float distanceCm = duration * SOUND_SPEED / 2; + + EnviarDadosSerial(MontarProtocoloSensor(sULT, _ID, MontarDadosProtocoloUltrassom(distanceCm, duration))); } }; @@ -362,7 +462,15 @@ SensorTemperatura TM3("TMVDT"); SensorTemperatura TM4("TMVDF"); SensorTemperatura TBAT("TBAT "); SensorTensao VBAT("VBAT "); -SensorCorrente ABAT("ABAT "); +SensorCorrente AM1("AMVET"); +SensorCorrente AM2("AMVEF"); +SensorCorrente AM3("AMVDT"); +SensorCorrente AM4("AMVDF"); +SensorCorrente AMP("AMP "); +SensorCorrente AAT("AAT "); +SensorCorrente APC("APC "); +SensorUltrassom SUESQ("SUESQ"); +SensorUltrassom SUDIR("SUDIR"); SensorTemperatura* STPorID(String ID) { @@ -385,7 +493,21 @@ SensorTensao* SVPorID(String ID) { SensorCorrente* SAPorID(String ID) { SensorCorrente* _sensor = - ID == "ABAT " ? &ABAT : + ID == "AMVET" ? &AM1 : + ID == "AMVEF" ? &AM2 : + ID == "AMVDT" ? &AM3 : + ID == "AMVDF" ? &AM4 : + ID == "AMP " ? & : + ID == "AAT " ? &AAT : + ID == "APC " ? &APC : + nullptr; + return _sensor; +} + +SensorUltrassom* SUPorID(String ID) { + SensorUltrassom* _sensor = + ID == "SUESQ" ? &SUESQ : + ID == "SUDIR" ? &SUDIR : nullptr; return _sensor; } @@ -432,12 +554,13 @@ void loop() { 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[26] + (String)Protocolo[27] + (String)Protocolo[28] + (String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31]).toDouble(); + 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; @@ -455,9 +578,9 @@ void loop() { case sTEN: { SensorTensao* _sensor = SVPorID(ID); if (sensor_ativado) { - double _voffset = ((String)Protocolo[26] + (String)Protocolo[27] + (String)Protocolo[28] + (String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31]).toDouble(); - double _r1 = ((String)Protocolo[33] + (String)Protocolo[34] + (String)Protocolo[35] + (String)Protocolo[36] + (String)Protocolo[37] + (String)Protocolo[38]).toDouble(); - double _r2 = ((String)Protocolo[40] + (String)Protocolo[41] + (String)Protocolo[42] + (String)Protocolo[43] + (String)Protocolo[44] + (String)Protocolo[45]).toDouble(); + 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; @@ -477,12 +600,26 @@ void loop() { case sCOR: { SensorCorrente* _sensor = SAPorID(ID); if (sensor_ativado) { - double _voffset = ((String)Protocolo[26] + (String)Protocolo[27] + (String)Protocolo[28] + (String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31]).toDouble(); - double _sensibilidade = ((String)Protocolo[33] + (String)Protocolo[34] + (String)Protocolo[35] + (String)Protocolo[36] + (String)Protocolo[37] + (String)Protocolo[38]).toDouble(); - _sensor->Voffset = (float)_voffset; - _sensor->sensibilidade = (float)_sensibilidade; + String _endereco = ((String)Protocolo[29] + (String)Protocolo[30] + (String)Protocolo[31] + (String)Protocolo[32] + (String)Protocolo[33] + (String)Protocolo[34]); if (Conectar) { - _sensor->_pino = pino; + _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; diff --git a/Python/cordenadas_offset.py b/Python/cordenadas_offset.py index 75956683a..0839a7df7 100644 --- a/Python/cordenadas_offset.py +++ b/Python/cordenadas_offset.py @@ -1,7 +1,12 @@ import json # Substitua isso pelo seu JSON original -trajeto_json = {"features": [{"geometry": {"coordinates": [[-47.264037338109766, -22.339524535994332], [-47.26401766184665, -22.339560540751183], [-47.26400872414079, -22.339576970425245], [-47.26399979993972, -22.339593449992105], 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