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This commit is contained in:
Diego Freitas 2024-12-17 10:26:47 -03:00
parent 6647af2d6f
commit 408911a68f
30 changed files with 361 additions and 264 deletions
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AgroBase/.vs/AgroBase/FileContentIndex/54445528-dd56-4088-8bbd-6d7d2df387ad.vsidx Normal file
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AgroBase/.vs/AgroBase/v17/DocumentLayout.json
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AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs
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@ -62,6 +62,17 @@ namespace AgroBase.Forms.IHM
tkbAnguloDirecional.Minimum = 0;
tkbAnguloDirecional.Maximum = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.Angulo_Max);
if (!Variaveis.OperacaoEmAndamento.Controle.SegmentacaoSemantica && KinectService.Iniciado)
{
PictureBox picRgb = new PictureBox();
picRgb.SizeMode = PictureBoxSizeMode.StretchImage;
picRgb.Dock = DockStyle.Fill;
KinectService.picRGB = picRgb;
pnlCameraCaminho.Controls.Add(picRgb);
}
}
private void frmDialogoMapa_FormClosing(object sender, FormClosingEventArgs e)

11
AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs
View File

@ -55,6 +55,17 @@ namespace AgroBase.Forms.Operacoes
tmrLeitura = new AsyncTaskTimerModel("tmrLeitura", tmrLeitura_Tick, 500, this);
tmrLeitura.Start();
if (!Variaveis.OperacaoEmAndamento.Controle.SegmentacaoSemantica && KinectService.Iniciado)
{
PictureBox picRgb = new PictureBox();
picRgb.SizeMode = PictureBoxSizeMode.StretchImage;
picRgb.Dock = DockStyle.Fill;
KinectService.picRGB = picRgb;
pnlCameraRua.Controls.Add(picRgb);
}
}
private void frmOperacaoManual_FormClosing(object sender, FormClosingEventArgs e)

144
AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.Designer.cs generated
View File

@ -31,7 +31,12 @@
this.cmbOperacao = new System.Windows.Forms.ComboBox();
this.lblOperacao = new System.Windows.Forms.Label();
this.gpbModulos = new System.Windows.Forms.GroupBox();
this.gpbP_Knt = new System.Windows.Forms.GroupBox();
this.chbKnt_Desvio = new System.Windows.Forms.CheckBox();
this.chbKnt_Ativado = new System.Windows.Forms.CheckBox();
this.chbO_Knt = new System.Windows.Forms.CheckBox();
this.gpbP_Gps = new System.Windows.Forms.GroupBox();
this.chbD_Knt = new System.Windows.Forms.CheckBox();
this.gpbP_Sen = new System.Windows.Forms.GroupBox();
this.btnA05 = new System.Windows.Forms.Button();
this.lblTemposalvarlogU = new System.Windows.Forms.Label();
@ -80,12 +85,8 @@
this.nudCapacidadereservatorio = new System.Windows.Forms.NumericUpDown();
this.lblUnCapcaidadereservatorio = new System.Windows.Forms.Label();
this.lblCapacidadereservatorio = new System.Windows.Forms.Label();
this.gpbP_Knt = new System.Windows.Forms.GroupBox();
this.chbO_Knt = new System.Windows.Forms.CheckBox();
this.chbD_Knt = new System.Windows.Forms.CheckBox();
this.chbKnt_Ativado = new System.Windows.Forms.CheckBox();
this.chbKnt_Desvio = new System.Windows.Forms.CheckBox();
this.gpbModulos.SuspendLayout();
this.gpbP_Knt.SuspendLayout();
this.gpbP_Sen.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.nudTemposalvarlog)).BeginInit();
this.gpbP_Atu.SuspendLayout();
@ -101,7 +102,6 @@
((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeSemErvas)).BeginInit();
this.gpbConfiguracoesgerais.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.nudCapacidadereservatorio)).BeginInit();
this.gpbP_Knt.SuspendLayout();
this.SuspendLayout();
//
// cmbOperacao
@ -157,6 +157,56 @@
this.gpbModulos.TabStop = false;
this.gpbModulos.Text = "Módulos necessários para executar a operação";
//
// gpbP_Knt
//
this.gpbP_Knt.Controls.Add(this.chbSegmentacao);
this.gpbP_Knt.Controls.Add(this.chbKnt_Desvio);
this.gpbP_Knt.Controls.Add(this.chbKnt_Ativado);
this.gpbP_Knt.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.gpbP_Knt.Location = new System.Drawing.Point(988, 105);
this.gpbP_Knt.Name = "gpbP_Knt";
this.gpbP_Knt.Size = new System.Drawing.Size(190, 168);
this.gpbP_Knt.TabIndex = 15;
this.gpbP_Knt.TabStop = false;
this.gpbP_Knt.Text = "Ajustes";
//
// chbKnt_Desvio
//
this.chbKnt_Desvio.AutoSize = true;
this.chbKnt_Desvio.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.chbKnt_Desvio.Location = new System.Drawing.Point(10, 66);
this.chbKnt_Desvio.Margin = new System.Windows.Forms.Padding(6);
this.chbKnt_Desvio.Name = "chbKnt_Desvio";
this.chbKnt_Desvio.Size = new System.Drawing.Size(152, 22);
this.chbKnt_Desvio.TabIndex = 9;
this.chbKnt_Desvio.Text = "Desvio Automático";
this.chbKnt_Desvio.UseVisualStyleBackColor = true;
//
// chbKnt_Ativado
//
this.chbKnt_Ativado.AutoSize = true;
this.chbKnt_Ativado.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.chbKnt_Ativado.Location = new System.Drawing.Point(10, 32);
this.chbKnt_Ativado.Margin = new System.Windows.Forms.Padding(6);
this.chbKnt_Ativado.Name = "chbKnt_Ativado";
this.chbKnt_Ativado.Size = new System.Drawing.Size(119, 22);
this.chbKnt_Ativado.TabIndex = 8;
this.chbKnt_Ativado.Text = "Sonar Ativado";
this.chbKnt_Ativado.UseVisualStyleBackColor = true;
//
// chbO_Knt
//
this.chbO_Knt.AutoSize = true;
this.chbO_Knt.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.chbO_Knt.Location = new System.Drawing.Point(998, 74);
this.chbO_Knt.Margin = new System.Windows.Forms.Padding(6);
this.chbO_Knt.Name = "chbO_Knt";
this.chbO_Knt.Size = new System.Drawing.Size(86, 22);
this.chbO_Knt.TabIndex = 14;
this.chbO_Knt.Text = "Opcional";
this.chbO_Knt.UseVisualStyleBackColor = true;
this.chbO_Knt.CheckedChanged += new System.EventHandler(this.chbO_CheckedChanged);
//
// gpbP_Gps
//
this.gpbP_Gps.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
@ -167,6 +217,18 @@
this.gpbP_Gps.TabStop = false;
this.gpbP_Gps.Text = "Ajustes";
//
// chbD_Knt
//
this.chbD_Knt.AutoSize = true;
this.chbD_Knt.Location = new System.Drawing.Point(998, 34);
this.chbD_Knt.Margin = new System.Windows.Forms.Padding(6);
this.chbD_Knt.Name = "chbD_Knt";
this.chbD_Knt.Size = new System.Drawing.Size(81, 28);
this.chbD_Knt.TabIndex = 13;
this.chbD_Knt.Text = "Kinect";
this.chbD_Knt.UseVisualStyleBackColor = true;
this.chbD_Knt.CheckedChanged += new System.EventHandler(this.chbD_CheckedChanged);
//
// gpbP_Sen
//
this.gpbP_Sen.Controls.Add(this.btnA05);
@ -634,7 +696,6 @@
//
// gpbConfiguracoesgerais
//
this.gpbConfiguracoesgerais.Controls.Add(this.chbSegmentacao);
this.gpbConfiguracoesgerais.Controls.Add(this.txtDensidadeherbicida);
this.gpbConfiguracoesgerais.Controls.Add(this.lblUnDensidadeherbicida);
this.gpbConfiguracoesgerais.Controls.Add(this.label2);
@ -651,10 +712,10 @@
// chbSegmentacao
//
this.chbSegmentacao.AutoSize = true;
this.chbSegmentacao.Location = new System.Drawing.Point(18, 167);
this.chbSegmentacao.Location = new System.Drawing.Point(10, 94);
this.chbSegmentacao.Margin = new System.Windows.Forms.Padding(6);
this.chbSegmentacao.Name = "chbSegmentacao";
this.chbSegmentacao.Size = new System.Drawing.Size(146, 28);
this.chbSegmentacao.Size = new System.Drawing.Size(128, 24);
this.chbSegmentacao.TabIndex = 13;
this.chbSegmentacao.Text = "Segmentação";
this.chbSegmentacao.UseVisualStyleBackColor = true;
@ -716,67 +777,6 @@
this.lblCapacidadereservatorio.TabIndex = 9;
this.lblCapacidadereservatorio.Text = "Capacidade reservatório";
//
// gpbP_Knt
//
this.gpbP_Knt.Controls.Add(this.chbKnt_Desvio);
this.gpbP_Knt.Controls.Add(this.chbKnt_Ativado);
this.gpbP_Knt.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.gpbP_Knt.Location = new System.Drawing.Point(988, 105);
this.gpbP_Knt.Name = "gpbP_Knt";
this.gpbP_Knt.Size = new System.Drawing.Size(190, 168);
this.gpbP_Knt.TabIndex = 15;
this.gpbP_Knt.TabStop = false;
this.gpbP_Knt.Text = "Ajustes";
//
// chbO_Knt
//
this.chbO_Knt.AutoSize = true;
this.chbO_Knt.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.chbO_Knt.Location = new System.Drawing.Point(998, 74);
this.chbO_Knt.Margin = new System.Windows.Forms.Padding(6);
this.chbO_Knt.Name = "chbO_Knt";
this.chbO_Knt.Size = new System.Drawing.Size(86, 22);
this.chbO_Knt.TabIndex = 14;
this.chbO_Knt.Text = "Opcional";
this.chbO_Knt.UseVisualStyleBackColor = true;
this.chbO_Knt.CheckedChanged += new System.EventHandler(this.chbO_CheckedChanged);
//
// chbD_Knt
//
this.chbD_Knt.AutoSize = true;
this.chbD_Knt.Location = new System.Drawing.Point(998, 34);
this.chbD_Knt.Margin = new System.Windows.Forms.Padding(6);
this.chbD_Knt.Name = "chbD_Knt";
this.chbD_Knt.Size = new System.Drawing.Size(81, 28);
this.chbD_Knt.TabIndex = 13;
this.chbD_Knt.Text = "Kinect";
this.chbD_Knt.UseVisualStyleBackColor = true;
this.chbD_Knt.CheckedChanged += new System.EventHandler(this.chbD_CheckedChanged);
//
// chbKnt_Ativado
//
this.chbKnt_Ativado.AutoSize = true;
this.chbKnt_Ativado.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.chbKnt_Ativado.Location = new System.Drawing.Point(10, 32);
this.chbKnt_Ativado.Margin = new System.Windows.Forms.Padding(6);
this.chbKnt_Ativado.Name = "chbKnt_Ativado";
this.chbKnt_Ativado.Size = new System.Drawing.Size(119, 22);
this.chbKnt_Ativado.TabIndex = 8;
this.chbKnt_Ativado.Text = "Sonar Ativado";
this.chbKnt_Ativado.UseVisualStyleBackColor = true;
//
// chbKnt_Desvio
//
this.chbKnt_Desvio.AutoSize = true;
this.chbKnt_Desvio.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.chbKnt_Desvio.Location = new System.Drawing.Point(10, 66);
this.chbKnt_Desvio.Margin = new System.Windows.Forms.Padding(6);
this.chbKnt_Desvio.Name = "chbKnt_Desvio";
this.chbKnt_Desvio.Size = new System.Drawing.Size(152, 22);
this.chbKnt_Desvio.TabIndex = 9;
this.chbKnt_Desvio.Text = "Desvio Automático";
this.chbKnt_Desvio.UseVisualStyleBackColor = true;
//
// frmParametrizacaoOperacao
//
this.AutoScaleDimensions = new System.Drawing.SizeF(11F, 24F);
@ -797,6 +797,8 @@
this.Load += new System.EventHandler(this.frmParametrizacaoOperacao_Load);
this.gpbModulos.ResumeLayout(false);
this.gpbModulos.PerformLayout();
this.gpbP_Knt.ResumeLayout(false);
this.gpbP_Knt.PerformLayout();
this.gpbP_Sen.ResumeLayout(false);
this.gpbP_Sen.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.nudTemposalvarlog)).EndInit();
@ -817,8 +819,6 @@
this.gpbConfiguracoesgerais.ResumeLayout(false);
this.gpbConfiguracoesgerais.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.nudCapacidadereservatorio)).EndInit();
this.gpbP_Knt.ResumeLayout(false);
this.gpbP_Knt.PerformLayout();
this.ResumeLayout(false);
this.PerformLayout();

7
AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
View File

@ -504,7 +504,10 @@ namespace AgroBase.Forms.Operacoes
Dictionary<DateTime, Dictionary<string, int>> agrupamento = new Dictionary<DateTime, Dictionary<string, int>>();
foreach (var log in LogsOperacao)
{
agrupamento.Add(log.Momento, new Dictionary<string, int>());
if (!agrupamento.Any(x => x.Key == log.Momento))
{
agrupamento.Add(log.Momento, new Dictionary<string, int>());
}
foreach (var bico in log.ErvasIdentificadas)
{
if (bico.Any())
@ -765,7 +768,7 @@ namespace AgroBase.Forms.Operacoes
txtErvasNoRadar.Text = Log.ErvasNoRadar.ToString();
txtErvasTerreno.Text = Log.PercentualErvasTerreno.ToString("0.00");
txtTipoMovimento.Text = Log.TipoMovimento.ToString();
txtVelocidade.Text = velocidadeBld.ToString("0.00") + " km/h (" + (velocidadeBld / 3.6).ToString("0.00") + " m/s)";
txtVelocidade.Text = Log.VelocidadeMedia.ToString("0.00") + " km/h (" + (Log.VelocidadeMedia / 3.6).ToString("0.00") + " m/s)";
txtDirecaoControle.Text = Log.Controle.Direcao.ToString();
txtVelocidadeControle.Text = (Log.Controle.PercentualVelocidadeSP / VariaveisEquipamento.RPM_Max_Roda * 100).ToString() + " rpm";

22
AgroBase/AgroBase/Forms/frmInstancial.cs
View File

@ -15,7 +15,6 @@ namespace AgroBase.Forms
public static bool Fechando = false;
public static AsyncTaskTimerModel tmrVarreduraDispositivos;
public static AsyncTaskTimerModel tmrMonitoramentoRecursos;
public static frmPrincipal frmPrincipal = new frmPrincipal();
public static frmJoystick frmJoystick = new frmJoystick();
@ -78,9 +77,6 @@ namespace AgroBase.Forms
tmrVarreduraDispositivos = new AsyncTaskTimerModel("tmrVarreduraDispositivos", tmrVarreduraDispositivos_Tick, SerialService.InteraloVerificacao, null, 15000);
tmrVarreduraDispositivos.Start();
tmrMonitoramentoRecursos = new AsyncTaskTimerModel("tmrMonitoramentoRecursos", tmrMonitoramentoRecursos_Tick, 500, null);
tmrMonitoramentoRecursos.Start();
}
private static async Task tmrVarreduraDispositivos_Tick()
@ -151,23 +147,5 @@ namespace AgroBase.Forms
frmIHM.Hide();
}
private static async Task tmrMonitoramentoRecursos_Tick()
{
return;
// Threads ativas no processo
int activeThreads = Process.GetCurrentProcess().Threads.Count;
// Status do Thread Pool
ThreadPool.GetAvailableThreads(out int workerThreads, out int completionPortThreads);
ThreadPool.GetMaxThreads(out int maxWorkerThreads, out int maxCompletionPortThreads);
// Exibe os dados
Console.WriteLine($"Active Threads: {activeThreads}");
Console.WriteLine($"ThreadPool (Worker): {maxWorkerThreads - workerThreads} / {maxWorkerThreads}");
Console.WriteLine($"ThreadPool (IO): {maxCompletionPortThreads - completionPortThreads} / {maxCompletionPortThreads}");
Console.WriteLine(new string('-', 40));
}
}
}

29
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
View File

@ -17,6 +17,8 @@ using System.Text;
using System.Windows.Forms.DataVisualization.Charting;
using OpenHardwareMonitor.Hardware;
using CefSharp.WinForms;
using System.Diagnostics;
using System.Threading;
namespace AgroBase.Models
{
@ -841,9 +843,9 @@ namespace AgroBase.Models
{
LimiteSaida = Controle.Angulo_Max,
SetPoint = 0,
Kp = 1.0,
Ki = 0.1,
Kd = 0.01,
Kp = 0.7,
Ki = 0.05,
Kd = 0.1
};
if (controle != null)
{
@ -1887,6 +1889,11 @@ namespace AgroBase.Models
}
}
int activeThreads = Process.GetCurrentProcess().Threads.Count;
// Status do Thread Pool
ThreadPool.GetAvailableThreads(out int workerThreads, out int completionPortThreads);
ThreadPool.GetMaxThreads(out int maxWorkerThreads, out int maxCompletionPortThreads);
if (Variaveis.OperacaoEmAndamento.Sensoriamento != null)
{
Variaveis.OperacaoEmAndamento.Sensoriamento.CPU_load = cpuLoad;
@ -1895,6 +1902,11 @@ namespace AgroBase.Models
Variaveis.OperacaoEmAndamento.Sensoriamento.RAM_usage = ramUsage;
Variaveis.OperacaoEmAndamento.Sensoriamento.CPU_temp = cpuTemp;
Variaveis.OperacaoEmAndamento.Sensoriamento.GPU_temp = gpuTemp;
Variaveis.OperacaoEmAndamento.Sensoriamento.ActiveThreads = activeThreads;
Variaveis.OperacaoEmAndamento.Sensoriamento.WorkerThreads = workerThreads;
Variaveis.OperacaoEmAndamento.Sensoriamento.MaxWorkerThreads = maxWorkerThreads;
Variaveis.OperacaoEmAndamento.Sensoriamento.CompletionPortThreads = completionPortThreads;
Variaveis.OperacaoEmAndamento.Sensoriamento.MaxCompletionPortThreads = maxCompletionPortThreads;
}
}
}
@ -1933,6 +1945,7 @@ namespace AgroBase.Models
DistanciaEsquerda = Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaEsquerda,
DistanciaPercorrida = new List<double>(Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida),
AnguloCarroGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS,
DistAnguloCarroGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.DistAnguloCarroGPS,
AnguloCarroBussola = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola,
AnguloCarro = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro,
SonarFrontal_Kinect = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect,
@ -1965,6 +1978,11 @@ namespace AgroBase.Models
RAM_usage = Variaveis.OperacaoEmAndamento.Sensoriamento.RAM_usage,
CPU_temp = Variaveis.OperacaoEmAndamento.Sensoriamento.CPU_temp,
GPU_temp = Variaveis.OperacaoEmAndamento.Sensoriamento.GPU_temp,
ActiveThreads = Variaveis.OperacaoEmAndamento.Sensoriamento.ActiveThreads,
WorkerThreads = Variaveis.OperacaoEmAndamento.Sensoriamento.WorkerThreads,
MaxWorkerThreads = Variaveis.OperacaoEmAndamento.Sensoriamento.MaxWorkerThreads,
CompletionPortThreads = Variaveis.OperacaoEmAndamento.Sensoriamento.CompletionPortThreads,
MaxCompletionPortThreads = Variaveis.OperacaoEmAndamento.Sensoriamento.MaxCompletionPortThreads,
OperacaoLiberada = Variaveis.OperacaoEmAndamento.OperacaoLiberada,
Dir_Status = Variaveis.OperacaoEmAndamento.DispMvd.Dados.StatusModulosMKS(Variaveis.OperacaoEmAndamento.Controle.TipoMovimento),
MovEsq_Status = Variaveis.OperacaoEmAndamento.DispMvd.Dados.StatusModulosBLD(Direcao.Esquerda),
@ -3075,6 +3093,11 @@ namespace AgroBase.Models
public float? RAM_usage { get; set; }
public float? CPU_temp { get; set; }
public float? GPU_temp { get; set; }
public int ActiveThreads { get; set; }
public int WorkerThreads { get; set; }
public int CompletionPortThreads { get; set; }
public int MaxWorkerThreads { get; set; }
public int MaxCompletionPortThreads { get; set; }
public bool OperacaoLiberada { get; set; }
public (bool, List<string>) MovEsq_Status { get; set; }
public (bool, List<string>) MovDir_Status { get; set; }

8
AgroBase/AgroBase/Models/UltrasonicA05Model.cs
View File

@ -76,10 +76,10 @@ namespace AgroBase.Models
break;
case ConfiguracaoSensorUltrassonico.DeteccaoObstaculosFrenteETras:
ConfigPadrao.Sensores.Add(DefineDadosSensor(1, PosicaoSensorUltrassonico.TraseiroEsquerdo, true, true, 10.0, 30.0, 2.0, 2.0, true, true));
ConfigPadrao.Sensores.Add(DefineDadosSensor(2, PosicaoSensorUltrassonico.TraseiroDireito, true, true, 10.0, 30.0, 2.0, 2.0, true, true));
ConfigPadrao.Sensores.Add(DefineDadosSensor(3, PosicaoSensorUltrassonico.FrontalEsquerdo, true, true, 10.0, 30.0, 2.0, 2.0, true, true));
ConfigPadrao.Sensores.Add(DefineDadosSensor(4, PosicaoSensorUltrassonico.FrontalDireito, true, true, 10.0, 30.0, 2.0, 2.0, true, true));
ConfigPadrao.Sensores.Add(DefineDadosSensor(1, PosicaoSensorUltrassonico.TraseiroEsquerdo, true, false, 50.0, 0.0, 2.0, 0.0, true, false));
ConfigPadrao.Sensores.Add(DefineDadosSensor(2, PosicaoSensorUltrassonico.TraseiroDireito, true, false, 50.0, 0.0, 2.0, 0.0, true, false));
ConfigPadrao.Sensores.Add(DefineDadosSensor(3, PosicaoSensorUltrassonico.FrontalEsquerdo, true, false, 50.0, 0.0, 2.0, 0.0, true, false));
ConfigPadrao.Sensores.Add(DefineDadosSensor(4, PosicaoSensorUltrassonico.FrontalDireito, true, false, 50.0, 0.0, 2.0, 0.0, true, false));
break;
case ConfiguracaoSensorUltrassonico.DeteccaoSulcosEBuracos:

60
AgroBase/AgroBase/Services/MqttService.cs
View File

@ -16,6 +16,7 @@ public class MqttService
private AsyncTaskTimerModel tmrCheck;
public List<MqttTopicosModel> Topicos;
public readonly object _topicosLock = new object();
public MqttService(string brokerAddress, int brokerPort)
{
@ -30,13 +31,17 @@ public class MqttService
_client.UseConnectedHandler(async e =>
{
Console.WriteLine("Connected to MQTT Broker.");
if (Topicos.Any(x => x.Inscrever))
lock (_topicosLock)
{
foreach (var topic in Topicos)
if (Topicos.Any(x => x.Inscrever))
{
await SubscribeAsync(topic);
foreach (var topic in Topicos)
{
Task.Run(async () => await SubscribeAsync(topic));
}
}
}
});
_client.UseDisconnectedHandler(e =>
@ -50,7 +55,11 @@ public class MqttService
//Console.WriteLine($"Message received on topic {e.ApplicationMessage.Topic}");
// Aqui você pode adicionar o código para lidar com a mensagem recebida
var topico = Topicos.FirstOrDefault(x => x.Topico == e.ApplicationMessage.Topic);
MqttTopicosModel topico = null;
lock (_topicosLock)
{
Topicos.FirstOrDefault(x => x.Topico == e.ApplicationMessage.Topic);
}
if (topico != null)
{
var Mensagem = new MqttTopicosMensagensModel()
@ -74,7 +83,10 @@ public class MqttService
}
});
Topicos = new List<MqttTopicosModel>();
lock (_topicosLock)
{
Topicos = new List<MqttTopicosModel>();
}
Task.Run(async () =>
{
await AdicionarNovoTopico(MapasVariaveisModel.TopicoCoordenadasGPS);
@ -194,28 +206,34 @@ public class MqttService
public async Task<MqttTopicosModel> AdicionarNovoTopico(string topico, bool inscrever = false, int mensagensManter = 2, Func<MqttTopicosMensagensModel, Task> callback = null)
{
Topicos.Remove(null);
var _mqttTopico = Topicos.FirstOrDefault(x => x.Topico == topico);
MqttTopicosModel _mqttTopico = null;
if (_mqttTopico == null)
lock (_topicosLock)
{
_mqttTopico = new MqttTopicosModel()
{
Topico = topico,
Mensagens = new List<MqttTopicosMensagensModel>(),
Inscrever = inscrever,
MensagensManter = mensagensManter,
Callback = callback
};
Topicos.Remove(null);
Topicos.Add(_mqttTopico);
_mqttTopico = Topicos.FirstOrDefault(x => x.Topico == topico);
if (_mqttTopico.Inscrever)
if (_mqttTopico == null)
{
await SubscribeAsync(_mqttTopico);
_mqttTopico = new MqttTopicosModel()
{
Topico = topico,
Mensagens = new List<MqttTopicosMensagensModel>(),
Inscrever = inscrever,
MensagensManter = mensagensManter,
Callback = callback
};
Topicos.Add(_mqttTopico);
if (_mqttTopico.Inscrever)
{
Task.Run(async () => await SubscribeAsync(_mqttTopico));
}
Task.Run(async () => await LimparMensagensRetidas(_mqttTopico.Topico));
}
await LimparMensagensRetidas(_mqttTopico.Topico);
}
return _mqttTopico;

BIN
AgroBase/AgroBase/bin/Debug/AgroBase.pdb
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AgroBase/AgroBase/bin/Debug/DawnCache/data_1
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AgroBase/AgroBase/bin/Debug/GPUCache/data_1
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72
AgroBase/AgroBase/bin/Debug/Logs/Bld_err.txt
View File

@ -130966,3 +130966,75 @@ Parameter name: values
13/12/2024 14:56:31:056 - Endereço 2 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Breaked, Valor=0
13/12/2024 14:56:31:088 - Endereço 2 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Direction, Valor=0
13/12/2024 14:56:31:356 - Endereço 2 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Tensao, Valor=0
17/12/2024 09:17:50:249 - Endereço 3 (192.168.105.10): Módulo com código de alarme 1, reiniciando o módulo...
17/12/2024 09:19:30:714 - Endereço 3 (192.168.105.10): Módulo com código de alarme 1, reiniciando o módulo...
17/12/2024 09:20:50:214 - Endereço 1 (192.168.105.10): Módulo com código de alarme 1, reiniciando o módulo...
17/12/2024 09:22:17:159 - Endereço 3 (192.168.105.10): Módulo com código de alarme 1, reiniciando o módulo...
17/12/2024 09:23:57:723 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:23:59:787 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:25:18:020 - Endereço 3 (192.168.105.10): Módulo com código de alarme 1, reiniciando o módulo...
17/12/2024 09:25:57:373 - Endereço 3 (192.168.105.10): Módulo com código de alarme 1, reiniciando o módulo...
17/12/2024 09:28:33:748 - Endereço 1 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=RPM, Valor=0
17/12/2024 09:28:34:313 - Endereço 1 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Breaked, Valor=0
17/12/2024 09:28:34:825 - Endereço 1 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Direction, Valor=0
17/12/2024 09:28:35:030 - Endereço 3 (192.168.105.10): Timeout ou erro ao receber resposta. GET=False, Parametro=ControleRS485, Valor=1
17/12/2024 09:28:35:058 - Endereço 3 (192.168.105.10): Resposta inválida. F2
17/12/2024 09:28:35:058 - Endereço 3 (192.168.105.10): Timeout ou erro ao receber resposta. GET=False, Parametro=AlarmeCode, Valor=0
17/12/2024 09:32:38:258 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:32:38:268 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:33:46:723 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:33:48:848 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:33:50:961 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:33:53:068 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:33:54:138 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:33:55:173 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:33:56:238 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:33:57:278 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:33:58:348 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:33:59:403 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:34:01:510 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:34:03:613 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:34:05:728 - Endereço 3 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:34:32:054 - Endereço 4 (192.168.105.10): Módulo com código de alarme 8, reiniciando o módulo...
17/12/2024 09:35:01:348 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:03:443 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:05:558 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:07:641 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:09:759 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:11:868 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:13:983 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:16:052 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:18:128 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:20:218 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:22:358 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:24:478 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:26:578 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:28:687 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:30:778 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:32:878 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:35:008 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:37:111 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:39:213 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:41:313 - Endereço 4 (192.168.105.10): Módulo com código de alarme 5, reiniciando o módulo...
17/12/2024 09:35:41:600 - Endereço 1 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=AlarmeCode, Valor=0
17/12/2024 09:35:41:680 - Endereço 1 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=RPM, Valor=0
17/12/2024 09:35:41:707 - Endereço 1 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Enabled, Valor=0
17/12/2024 09:35:41:773 - Endereço 1 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Breaked, Valor=0
17/12/2024 09:35:41:830 - Endereço 1 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Direction, Valor=0
17/12/2024 09:35:41:862 - Endereço 1 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Tensao, Valor=0
17/12/2024 09:35:41:878 - Endereço 1 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Temperatura, Valor=0
17/12/2024 09:35:41:893 - Endereço 2 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=AlarmeCode, Valor=0
17/12/2024 09:35:41:909 - Endereço 2 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=RPM, Valor=0
17/12/2024 09:35:41:989 - Endereço 2 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Enabled, Valor=0
17/12/2024 09:35:42:048 - Endereço 2 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Breaked, Valor=0
17/12/2024 09:35:42:068 - Endereço 2 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Direction, Valor=0
17/12/2024 09:35:42:088 - Endereço 2 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Tensao, Valor=0
17/12/2024 09:35:42:116 - Endereço 2 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Temperatura, Valor=0
17/12/2024 09:35:42:137 - Endereço 3 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=AlarmeCode, Valor=0
17/12/2024 09:35:42:177 - Endereço 3 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=RPM, Valor=0
17/12/2024 09:35:42:207 - Endereço 3 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Enabled, Valor=0
17/12/2024 09:35:42:233 - Endereço 3 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Breaked, Valor=0
17/12/2024 09:35:42:248 - Endereço 3 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Direction, Valor=0
17/12/2024 09:35:42:287 - Endereço 3 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Tensao, Valor=0
17/12/2024 09:35:42:339 - Endereço 3 (192.168.105.10): Timeout ou erro ao receber resposta. GET=True, Parametro=Temperatura, Valor=0
17/12/2024 09:47:45:617 - Endereço 3 (192.168.105.10): Módulo com código de alarme 1, reiniciando o módulo...

24
AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt
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@ -16504,3 +16504,27 @@ Parameter name: source
13/12/2024 14:56:35:429 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=46
13/12/2024 14:56:35:430 - Endereço 3 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
13/12/2024 14:56:35:496 - Endereço 3 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:41:617 - Endereço 1 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
17/12/2024 09:35:41:617 - Endereço 1 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:41:653 - Endereço 1 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
17/12/2024 09:35:41:658 - Endereço 1 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:41:743 - Endereço 1 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:41:808 - Endereço 1 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=46
17/12/2024 09:35:41:824 - Endereço 1 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:41:894 - Endereço 1 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:41:909 - Endereço 1 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=46
17/12/2024 09:35:41:928 - Endereço 3 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:41:989 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
17/12/2024 09:35:41:989 - Endereço 3 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:42:021 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
17/12/2024 09:35:42:021 - Endereço 3 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:42:137 - Endereço 3 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:42:168 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=46
17/12/2024 09:35:42:168 - Endereço 3 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:42:248 - Endereço 3 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:42:287 - Endereço 3 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=46
17/12/2024 09:35:42:287 - Endereço 2 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:42:298 - Endereço 2 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
17/12/2024 09:35:42:298 - Endereço 2 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada
17/12/2024 09:35:42:323 - Endereço 2 (192.168.105.11): Timeout ao receber resposta. GET=True, Parametro=1
17/12/2024 09:35:42:327 - Endereço 2 (192.168.105.11): Conexão Ethernet não está definida ou não está conectada

BIN
AgroBase/AgroBase/bin/Debug/OpenHardwareMonitorLib.sys
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2
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2
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2
AgroBase/AgroBase/bin/Debug/Python/Output/GeoJson.json
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23
AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html
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@ -25,7 +25,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_1cd28a4f445a5c50ff07602831124794 {
#map_724b6a2486264f048843d4ecda315a8c {
position: relative;
width: 100.0%;
height: 100.0%;
@ -39,14 +39,14 @@
<body>
<div class="folium-map" id="map_1cd28a4f445a5c50ff07602831124794" ></div>
<div class="folium-map" id="map_724b6a2486264f048843d4ecda315a8c" ></div>
</body>
<script>
var map_1cd28a4f445a5c50ff07602831124794 = L.map(
"map_1cd28a4f445a5c50ff07602831124794",
var map_724b6a2486264f048843d4ecda315a8c = L.map(
"map_724b6a2486264f048843d4ecda315a8c",
{
center: [0.0, 0.0],
crs: L.CRS.EPSG3857,
@ -59,6 +59,15 @@
var tile_layer_172c176d11563d64be962efe34395719 = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
);
tile_layer_172c176d11563d64be962efe34395719.addTo(map_724b6a2486264f048843d4ecda315a8c);
</script>
<script>
@ -78,7 +87,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_1cd28a4f445a5c50ff07602831124794);
trajeto_json.addTo(map_724b6a2486264f048843d4ecda315a8c);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -136,7 +145,7 @@
var marcadorDinamico = L.marker([0, 0], {
icon: customIcon
}).addTo(map_1cd28a4f445a5c50ff07602831124794);
}).addTo(map_724b6a2486264f048843d4ecda315a8c);
// Conectar ao broker MQTT
const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@ -174,7 +183,7 @@
marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_1cd28a4f445a5c50ff07602831124794.setView(novaPosicao, map_1cd28a4f445a5c50ff07602831124794.getZoom());
map_724b6a2486264f048843d4ecda315a8c.setView(novaPosicao, map_724b6a2486264f048843d4ecda315a8c.getZoom());
});
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

40
AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
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AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt
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@ -480,4 +480,4 @@ C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\MathNet.Numerics.xml
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\OpenHardwareMonitorLib.dll
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.Forms.frmA05Config.resources
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.Forms.frmEthernet.resources
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.CopyComplete
C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.Up2Date

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