Zendion/agrobot_base
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This commit is contained in:
Diego Freitas 2024-12-17 13:16:55 -03:00
parent 0de0e13d65
commit 41ce45ede7
9 changed files with 83 additions and 42 deletions
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AgroBase/.vs/AgroBase/FileContentIndex/2d250d67-77ba-493a-92bd-b6a76265b02e.vsidx → AgroBase/.vs/AgroBase/FileContentIndex/beb495a2-f48d-480f-a930-c51845c0f35f.vsidx
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AgroBase/.vs/AgroBase/v17/.suo
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46
AgroBase/.vs/AgroBase/v17/DocumentLayout.json
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@ -1,12 +1,54 @@
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11
AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs
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@ -58,7 +58,16 @@ namespace AgroBase.Models.Operacoes
// Atualiza o PID com o erro combinado
if (statusCarroRua != StatusCarroMapa.Parado)
{
Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Atualizar(erroCombinado, 0);
var PID = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional;
if (Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.ManobrandoEntreRuas)
{
PID.LimiteSaida = Variaveis.OperacaoEmAndamento.Controle.Angulo_Max * 0.75;
}
else
{
PID.LimiteSaida = Variaveis.OperacaoEmAndamento.Controle.Angulo_Max;
}
PID.Atualizar(erroCombinado, 0);
}
double correcaoAngulo = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Saida;

64
AgroBase/AgroBase/Services/MqttService.cs
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@ -16,7 +16,6 @@ public class MqttService
private AsyncTaskTimerModel tmrCheck;
public List<MqttTopicosModel> Topicos;
public readonly object _topicosLock = new object();
public MqttService(string brokerAddress, int brokerPort)
{
@ -31,17 +30,14 @@ public class MqttService
_client.UseConnectedHandler(async e =>
{
Console.WriteLine("Connected to MQTT Broker.");
lock (_topicosLock)
if (Topicos.Any(x => x.Inscrever))
{
if (Topicos.Any(x => x.Inscrever))
foreach (var topic in Topicos)
{
foreach (var topic in Topicos)
{
Task.Run(async () => await SubscribeAsync(topic));
}
await SubscribeAsync(topic);
}
}
});
_client.UseDisconnectedHandler(e =>
@ -55,11 +51,8 @@ public class MqttService
//Console.WriteLine($"Message received on topic {e.ApplicationMessage.Topic}");
// Aqui você pode adicionar o código para lidar com a mensagem recebida
MqttTopicosModel topico = null;
lock (_topicosLock)
{
Topicos.FirstOrDefault(x => x.Topico == e.ApplicationMessage.Topic);
}
MqttTopicosModel topico = Topicos.FirstOrDefault(x => x.Topico == e.ApplicationMessage.Topic);
if (topico != null)
{
var Mensagem = new MqttTopicosMensagensModel()
@ -83,10 +76,8 @@ public class MqttService
}
});
lock (_topicosLock)
{
Topicos = new List<MqttTopicosModel>();
}
Topicos = new List<MqttTopicosModel>();
Task.Run(async () =>
{
await AdicionarNovoTopico(MapasVariaveisModel.TopicoCoordenadasGPS);
@ -208,32 +199,29 @@ public class MqttService
{
MqttTopicosModel _mqttTopico = null;
lock (_topicosLock)
Topicos.Remove(null);
_mqttTopico = Topicos.FirstOrDefault(x => x.Topico == topico);
if (_mqttTopico == null)
{
Topicos.Remove(null);
_mqttTopico = Topicos.FirstOrDefault(x => x.Topico == topico);
if (_mqttTopico == null)
_mqttTopico = new MqttTopicosModel()
{
_mqttTopico = new MqttTopicosModel()
{
Topico = topico,
Mensagens = new List<MqttTopicosMensagensModel>(),
Inscrever = inscrever,
MensagensManter = mensagensManter,
Callback = callback
};
Topico = topico,
Mensagens = new List<MqttTopicosMensagensModel>(),
Inscrever = inscrever,
MensagensManter = mensagensManter,
Callback = callback
};
Topicos.Add(_mqttTopico);
Topicos.Add(_mqttTopico);
if (_mqttTopico.Inscrever)
{
Task.Run(async () => await SubscribeAsync(_mqttTopico));
}
Task.Run(async () => await LimparMensagensRetidas(_mqttTopico.Topico));
if (_mqttTopico.Inscrever)
{
await SubscribeAsync(_mqttTopico);
}
await LimparMensagensRetidas(_mqttTopico.Topico);
}
return _mqttTopico;

2
AgroBase/AgroBase/Services/PZEMService.cs
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@ -74,6 +74,8 @@ namespace AgroBase.Services
if (Iniciado)
{
DefinirDispositivo();
UltimaLeitura.DataHora = DateTime.Now;
PenultimaLeitura.DataHora = UltimaLeitura.DataHora;
return Iniciado;
}

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AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd-2_0.par
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