agrobot_base/AgroBase/OperationControl/Windows/MainWindow.xaml.cs

using System.Windows;

using ScottPlot;                 // Plot
using ScottPlot.Plottables;      // ISignal / IScatter
using System.Timers;
using Colors = ScottPlot.Colors;             // Timer

using System.Windows.Threading;
using OperationControl.Controls;

namespace OperationControl.Windows
{
    /// <summary>
    /// Interaction logic for MainWindow.xaml
    /// </summary>
    public partial class MainWindow : Window
    {
        // buffers (X = tempo em segundos)
        private readonly List<double> xs = new();
        private readonly List<double> ysCorr = new(); // Corrente (A)
        private readonly List<double> ysVolt = new(); // Tensão (V)
        private readonly List<double> ysTemp = new(); // Temperatura (°C)
        private readonly List<double> ysRpm = new(); // RPM

        private readonly System.Timers.Timer tmr = new(1000) { AutoReset = true }; // 10 Hz
        private double t = 0;
        private readonly Random rng = new();

        DispatcherTimer _clock = new DispatcherTimer();
        Random _rand = new Random();


        public MainWindow()
        {
            InitializeComponent();

            // Título / eixos
            Plot.Plot.Title("MOV ET – Corrente / Tensão / Temp / RPM (últimos 60s)");
            Plot.Plot.Axes.Bottom.Label.Text = "Tempo (s)";
            Plot.Plot.Axes.Left.Label.Text = "Unidades (A, V, °C, RPM)";

            // inicializa com um ponto para cada série
            PushSample(initial: true);

            // legenda
            Plot.Plot.ShowLegend(Alignment.UpperRight);

            // loop
            tmr.Elapsed += (_, __) => Dispatcher.Invoke(() => PushSample());
            tmr.Start();


            DataContext = this;

            HDG.CourseHeading = 0;

            _clock.Interval = TimeSpan.FromMilliseconds(150);
            _clock.Tick += (s, e) =>
            {
                IMU.RollDeg += (_rand.NextDouble() - 0.5) * 2;  // suavemente variando
                IMU.PitchDeg += (_rand.NextDouble() - 0.5) * 2;
                HDG.Heading += (_rand.NextDouble() - 0.5) * 2;
                HDG.CourseHeading += (_rand.NextDouble() - 0.5) * 5;

                // disparar notificação se estiver usando INotifyPropertyChanged
            };
            _clock.Start();

            // atualizar as caixas
            BBoxes3D.SetBboxes(new[]
            {
                new LivoxBboxModel{ cx=1.2, cy=0.5, cz=0.4, d=0.6, w=0.4, h=0.8 },
                new LivoxBboxModel{ cx=3.0, cy=-0.7, cz=0.6, d=0.8, w=0.5, h=1.2 },
            });
            
        }

        private void PushSample(bool initial = false)
        {
            // avança tempo
            if (!initial) t += 1; // 10 Hz
            xs.Add(t);

            // ------- MOCK de dados plausíveis -------
            // Corrente (A): 3–12 A com ruído
            double corr = 8 + 2 * Math.Sin(t * 0.7) + (rng.NextDouble() - 0.5);
            corr = Math.Clamp(corr, 0, 30);

            // Tensão (V): 36–42 V, ripple leve e queda lenta
            double volt = 40.5 + 0.6 * Math.Sin(t * 0.15) - 0.002 * t;
            volt = Math.Clamp(volt, 30, 42);

            // Temperatura (°C): sobe devagar
            double temp = 38 + 4 * Math.Sin(t * 0.05) + 0.01 * t;
            temp = Math.Clamp(temp, 20, 85);

            // RPM: 0–1500 com variação
            double rpm = 1100 + 200 * Math.Sin(t * 0.9) + 80 * (rng.NextDouble() - 0.5);
            rpm = Math.Clamp(rpm, 0, 2000);

            ysCorr.Add(corr);
            ysVolt.Add(volt);
            ysTemp.Add(temp);
            ysRpm.Add(rpm);

            // mantém só últimos 60 s
            while (xs.Count > 0 && xs[^1] - xs[0] > 60.0)
            {
                xs.RemoveAt(0);
                ysCorr.RemoveAt(0);
                ysVolt.RemoveAt(0);
                ysTemp.RemoveAt(0);
                ysRpm.RemoveAt(0);
            }

            // redesenha (v5: passe arrays diretamente)
            Plot.Plot.Clear();

            // Corrente (A)
            var scCorr = Plot.Plot.Add.Scatter(xs.ToArray(), ysCorr.ToArray());
            scCorr.Label = "Corrente (A)";
            scCorr.Color = ScottPlot.Colors.Cyan;
            scCorr.LineWidth = 2;

            // Tensão (V)
            var scVolt = Plot.Plot.Add.Scatter(xs.ToArray(), ysVolt.ToArray());
            scVolt.Label = "Tensão (V)";
            scVolt.Color = ScottPlot.Colors.Lime;
            scVolt.LineWidth = 2;

            // Temperatura (°C)
            var scTemp = Plot.Plot.Add.Scatter(xs.ToArray(), ysTemp.ToArray());
            scTemp.Label = "Temp (°C)";
            scTemp.Color = ScottPlot.Colors.Magenta;
            scTemp.LineWidth = 2;

            // RPM
            var scRpm = Plot.Plot.Add.Scatter(xs.ToArray(), ysRpm.ToArray());
            scRpm.Label = "RPM";
            scRpm.Color = ScottPlot.Colors.Orange;
            scRpm.LineWidth = 2;

            // janela de 60 s rolando
            double xEnd = xs[^1];
            double xStart = Math.Max(0, xEnd - 60.0);
            Plot.Plot.Axes.SetLimitsX(xStart, xEnd);

            Plot.Plot.Axes.AutoScaleY(); // ajusta Y automaticamente para caber tudo
            Plot.Refresh();
        }


        
    }


}