ajuste contador de carga

AgroBase/.vs/AgroBase/v17/DocumentLayout.json

@@ -1,12 +1,54 @@
 {
   "Version": 1,
   "WorkspaceRootPath": "C:\\ZendionINC\\agrobot_base\\AgroBase\\",
-  "Documents": [],
+  "Documents": [
+    {
+      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|c:\\zendioninc\\agrobot_base\\agrobase\\agrobase\\services\\dispositivosservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\services\\dispositivosservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    },
+    {
+      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|c:\\zendioninc\\agrobot_base\\agrobase\\agrobase\\models\\operacoes\\operacaomapagpsmodel.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\models\\operacoes\\operacaomapagpsmodel.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    }
+  ],
   "DocumentGroupContainers": [
     {
       "Orientation": 0,
       "VerticalTabListWidth": 256,
-      "DocumentGroups": []
+      "DocumentGroups": [
+        {
+          "DockedWidth": 200,
+          "SelectedChildIndex": 0,
+          "Children": [
+            {
+              "$type": "Document",
+              "DocumentIndex": 0,
+              "Title": "DispositivosService.cs",
+              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Services\\DispositivosService.cs",
+              "RelativeDocumentMoniker": "AgroBase\\Services\\DispositivosService.cs",
+              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Services\\DispositivosService.cs",
+              "RelativeToolTip": "AgroBase\\Services\\DispositivosService.cs",
+              "ViewState": "AQIAAAAAAAAAAAAAAAAAAJsAAAAAAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-12-17T16:08:08.254Z",
+              "EditorCaption": ""
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 1,
+              "Title": "OperacaoMapaGPSModel.cs",
+              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\Operacoes\\OperacaoMapaGPSModel.cs",
+              "RelativeDocumentMoniker": "AgroBase\\Models\\Operacoes\\OperacaoMapaGPSModel.cs",
+              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\Operacoes\\OperacaoMapaGPSModel.cs",
+              "RelativeToolTip": "AgroBase\\Models\\Operacoes\\OperacaoMapaGPSModel.cs",
+              "ViewState": "AQIAABcAAAAAAAAAAAAwwCoAAAAMAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-12-17T16:03:54.404Z",
+              "EditorCaption": ""
+            }
+          ]
+        }
+      ]
     }
   ]
 }

AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs

@@ -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;
 

AgroBase/AgroBase/Services/MqttService.cs

@@ -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)
     {
@@ -31,14 +30,11 @@ 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)
+                    await SubscribeAsync(topic);
-                    {
-                        Task.Run(async () => await SubscribeAsync(topic));
-                    }
                 }
             }
 
@@ -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;
+            MqttTopicosModel topico = Topicos.FirstOrDefault(x => x.Topico == e.ApplicationMessage.Topic);
-            lock (_topicosLock)
+            
-            {
-                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 = new MqttTopicosModel()
-
-            _mqttTopico = Topicos.FirstOrDefault(x => x.Topico == topico);
-
-            if (_mqttTopico == null)
             {
-                _mqttTopico = new MqttTopicosModel()
+                Topico = topico,
-                {
+                Mensagens = new List<MqttTopicosMensagensModel>(),
-                    Topico = topico,
+                Inscrever = inscrever,
-                    Mensagens = new List<MqttTopicosMensagensModel>(),
+                MensagensManter = mensagensManter,
-                    Inscrever = inscrever,
+                Callback = callback
-                    MensagensManter = mensagensManter,
+            };
-                    Callback = callback
-                };
 
-                Topicos.Add(_mqttTopico);
+            Topicos.Add(_mqttTopico);
 
-                if (_mqttTopico.Inscrever)
+            if (_mqttTopico.Inscrever)
-                {
+            {
-                    Task.Run(async () => await SubscribeAsync(_mqttTopico));
+                await SubscribeAsync(_mqttTopico);
-                }
-
-                Task.Run(async () => await LimparMensagensRetidas(_mqttTopico.Topico));
             }
+
+            await LimparMensagensRetidas(_mqttTopico.Topico);
         }
 
         return _mqttTopico;

AgroBase/AgroBase/Services/PZEMService.cs

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