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liberacao de operacao, pulverizador modo manual, calibragem e alerta sonoro

This commit is contained in:
Diego Freitas 2025-10-21 16:23:36 -03:00
parent e439a4e995
commit 52a627d343
71 changed files with 690 additions and 142 deletions
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AgroBase/AgroBase/AgroBase.csproj
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@ -229,6 +229,7 @@
<Private>True</Private>
<Private>True</Private>
</Reference>
<Reference Include="System.Speech" />
<Reference Include="System.Text.Encodings.Web, Version=8.0.0.0, Culture=neutral, PublicKeyToken=cc7b13ffcd2ddd51, processorArchitecture=MSIL">
<HintPath>..\packages\System.Text.Encodings.Web.8.0.0\lib\net462\System.Text.Encodings.Web.dll</HintPath>
</Reference>
@ -558,6 +559,7 @@
<Compile Include="Models\Visualizador3DModel.cs" />
<Compile Include="Models\WT901CModel.cs" />
<Compile Include="Services\APIService.cs" />
<Compile Include="Services\AudioAlertaService.cs" />
<Compile Include="Services\BLD300RService.cs" />
<Compile Include="Services\CameraService.cs" />
<Compile Include="Services\CANService.cs" />

2
AgroBase/AgroBase/Forms/IHM/frmDiagnosticos.cs
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@ -1682,7 +1682,7 @@ namespace AgroBase.Forms.IHM
private async Task EnviarComandoSinaleiro(DispositivosService<SensoriamentoModel> Dispositivo, SensorSinaleiroModel Sinaleiro, bool Ligar, int Delay)
{
var Comportamento = VariaveisEquipamento.ComportamentoPorStatus(StatusOperacao.NaoIniciado);
var Comportamento = VariaveisEquipamento.ComportamentoLedPorStatus(StatusOperacao.NaoIniciado);
Comportamento.statusLED = Ligar ? StatusLED.Aceso : StatusLED.Apagado;
GeneralJoystick.EnviarComandoSensoriamento(S_Code.sLED, Sinaleiro.ID, Comportamento);
await Task.Delay(Delay);

98
AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.Designer.cs generated
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@ -106,7 +106,13 @@
this.lblVelocidade = new System.Windows.Forms.Label();
this.tkbVelocidade = new System.Windows.Forms.TrackBar();
this.tabMapa = new System.Windows.Forms.TabPage();
this.tabModulos = new System.Windows.Forms.TabPage();
this.txtModuloMotivo = new System.Windows.Forms.RichTextBox();
this.txtModulos = new System.Windows.Forms.RichTextBox();
this.clbModulos = new System.Windows.Forms.CheckedListBox();
this.picFechar = new System.Windows.Forms.PictureBox();
this.chbPulverizadorAutomatico = new System.Windows.Forms.CheckBox();
this.chbSonarAtivado = new System.Windows.Forms.CheckBox();
this.pnlMapa.SuspendLayout();
this.pnlMapaDinamico.SuspendLayout();
this.pnlSensores.SuspendLayout();
@ -118,6 +124,7 @@
((System.ComponentModel.ISupportInitialize)(this.tkbAnguloDirecional)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.tkbVelocidade)).BeginInit();
this.tabMapa.SuspendLayout();
this.tabModulos.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picFechar)).BeginInit();
this.SuspendLayout();
//
@ -801,6 +808,7 @@
this.tabControl1.Controls.Add(this.tabSensores);
this.tabControl1.Controls.Add(this.tabControle);
this.tabControl1.Controls.Add(this.tabMapa);
this.tabControl1.Controls.Add(this.tabModulos);
this.tabControl1.Font = new System.Drawing.Font("Microsoft Sans Serif", 15.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.tabControl1.Location = new System.Drawing.Point(703, 34);
this.tabControl1.Name = "tabControl1";
@ -833,6 +841,8 @@
// pnlControle
//
this.pnlControle.AutoScroll = true;
this.pnlControle.Controls.Add(this.chbSonarAtivado);
this.pnlControle.Controls.Add(this.chbPulverizadorAutomatico);
this.pnlControle.Controls.Add(this.pnlFreio);
this.pnlControle.Controls.Add(this.lblAnguloDirecional);
this.pnlControle.Controls.Add(this.tkbAnguloDirecional);
@ -849,7 +859,7 @@
//
// pnlFreio
//
this.pnlFreio.Location = new System.Drawing.Point(134, 272);
this.pnlFreio.Location = new System.Drawing.Point(134, 305);
this.pnlFreio.Name = "pnlFreio";
this.pnlFreio.Size = new System.Drawing.Size(150, 150);
this.pnlFreio.TabIndex = 36;
@ -858,7 +868,7 @@
// lblAnguloDirecional
//
this.lblAnguloDirecional.AutoSize = true;
this.lblAnguloDirecional.Location = new System.Drawing.Point(3, 166);
this.lblAnguloDirecional.Location = new System.Drawing.Point(3, 205);
this.lblAnguloDirecional.Name = "lblAnguloDirecional";
this.lblAnguloDirecional.Size = new System.Drawing.Size(164, 20);
this.lblAnguloDirecional.TabIndex = 35;
@ -867,7 +877,7 @@
// tkbAnguloDirecional
//
this.tkbAnguloDirecional.Enabled = false;
this.tkbAnguloDirecional.Location = new System.Drawing.Point(7, 189);
this.tkbAnguloDirecional.Location = new System.Drawing.Point(7, 228);
this.tkbAnguloDirecional.Maximum = 90;
this.tkbAnguloDirecional.Name = "tkbAnguloDirecional";
this.tkbAnguloDirecional.Size = new System.Drawing.Size(277, 45);
@ -879,7 +889,7 @@
// lblVelocidade
//
this.lblVelocidade.AutoSize = true;
this.lblVelocidade.Location = new System.Drawing.Point(3, 75);
this.lblVelocidade.Location = new System.Drawing.Point(3, 114);
this.lblVelocidade.Name = "lblVelocidade";
this.lblVelocidade.Size = new System.Drawing.Size(179, 20);
this.lblVelocidade.TabIndex = 33;
@ -888,7 +898,7 @@
// tkbVelocidade
//
this.tkbVelocidade.Enabled = false;
this.tkbVelocidade.Location = new System.Drawing.Point(7, 98);
this.tkbVelocidade.Location = new System.Drawing.Point(7, 137);
this.tkbVelocidade.Maximum = 100;
this.tkbVelocidade.Name = "tkbVelocidade";
this.tkbVelocidade.Size = new System.Drawing.Size(277, 45);
@ -908,6 +918,55 @@
this.tabMapa.Text = "Mapa";
this.tabMapa.UseVisualStyleBackColor = true;
//
// tabModulos
//
this.tabModulos.BackColor = System.Drawing.SystemColors.Control;
this.tabModulos.Controls.Add(this.txtModuloMotivo);
this.tabModulos.Controls.Add(this.txtModulos);
this.tabModulos.Controls.Add(this.clbModulos);
this.tabModulos.Location = new System.Drawing.Point(4, 34);
this.tabModulos.Name = "tabModulos";
this.tabModulos.Padding = new System.Windows.Forms.Padding(3);
this.tabModulos.Size = new System.Drawing.Size(313, 503);
this.tabModulos.TabIndex = 3;
this.tabModulos.Text = "Módulos";
//
// txtModuloMotivo
//
this.txtModuloMotivo.BackColor = System.Drawing.SystemColors.Control;
this.txtModuloMotivo.BorderStyle = System.Windows.Forms.BorderStyle.None;
this.txtModuloMotivo.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.txtModuloMotivo.Location = new System.Drawing.Point(6, 405);
this.txtModuloMotivo.Name = "txtModuloMotivo";
this.txtModuloMotivo.ReadOnly = true;
this.txtModuloMotivo.Size = new System.Drawing.Size(299, 92);
this.txtModuloMotivo.TabIndex = 2;
this.txtModuloMotivo.Text = "";
//
// txtModulos
//
this.txtModulos.BackColor = System.Drawing.SystemColors.Control;
this.txtModulos.BorderStyle = System.Windows.Forms.BorderStyle.None;
this.txtModulos.Font = new System.Drawing.Font("Microsoft Sans Serif", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.txtModulos.Location = new System.Drawing.Point(6, 7);
this.txtModulos.Name = "txtModulos";
this.txtModulos.ReadOnly = true;
this.txtModulos.Size = new System.Drawing.Size(299, 122);
this.txtModulos.TabIndex = 1;
this.txtModulos.Text = "Status por módulo, é possível liberar a opreação caso algum módulo mandatório não" +
" esteja saudável, para fins de contingência.";
//
// clbModulos
//
this.clbModulos.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.clbModulos.FormattingEnabled = true;
this.clbModulos.Location = new System.Drawing.Point(6, 135);
this.clbModulos.Name = "clbModulos";
this.clbModulos.Size = new System.Drawing.Size(304, 264);
this.clbModulos.TabIndex = 0;
//
// picFechar
//
this.picFechar.Image = global::AgroBase.Properties.Resources.fechar;
@ -918,6 +977,28 @@
this.picFechar.TabIndex = 1;
this.picFechar.TabStop = false;
//
// chbPulverizadorAutomatico
//
this.chbPulverizadorAutomatico.AutoSize = true;
this.chbPulverizadorAutomatico.Location = new System.Drawing.Point(7, 43);
this.chbPulverizadorAutomatico.Name = "chbPulverizadorAutomatico";
this.chbPulverizadorAutomatico.Size = new System.Drawing.Size(199, 24);
this.chbPulverizadorAutomatico.TabIndex = 37;
this.chbPulverizadorAutomatico.Text = "Pulverizador Automático";
this.chbPulverizadorAutomatico.UseVisualStyleBackColor = true;
this.chbPulverizadorAutomatico.CheckedChanged += new System.EventHandler(this.chbPulverizadorAutomatico_CheckedChanged);
//
// chbSonarAtivado
//
this.chbSonarAtivado.AutoSize = true;
this.chbSonarAtivado.Location = new System.Drawing.Point(7, 73);
this.chbSonarAtivado.Name = "chbSonarAtivado";
this.chbSonarAtivado.Size = new System.Drawing.Size(156, 24);
this.chbSonarAtivado.TabIndex = 38;
this.chbSonarAtivado.Text = "Sonar Automático";
this.chbSonarAtivado.UseVisualStyleBackColor = true;
this.chbSonarAtivado.CheckedChanged += new System.EventHandler(this.chbSonarAtivado_CheckedChanged);
//
// frmDialogoMapa
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@ -954,6 +1035,7 @@
((System.ComponentModel.ISupportInitialize)(this.tkbAnguloDirecional)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.tkbVelocidade)).EndInit();
this.tabMapa.ResumeLayout(false);
this.tabModulos.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.picFechar)).EndInit();
this.ResumeLayout(false);
this.PerformLayout();
@ -1040,5 +1122,11 @@
private System.Windows.Forms.TextBox txtInclinacao;
private System.Windows.Forms.Label lblInclinacao;
private System.Windows.Forms.CheckBox chbAcompanharCarro;
private System.Windows.Forms.TabPage tabModulos;
private System.Windows.Forms.RichTextBox txtModulos;
private System.Windows.Forms.CheckedListBox clbModulos;
private System.Windows.Forms.RichTextBox txtModuloMotivo;
private System.Windows.Forms.CheckBox chbPulverizadorAutomatico;
private System.Windows.Forms.CheckBox chbSonarAtivado;
}
}

219
AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs
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@ -9,6 +9,7 @@ using System.Drawing;
using System.Linq;
using System.Threading.Tasks;
using System.Windows.Forms;
using static AgroBase.Models.Enums;
namespace AgroBase.Forms.IHM
{
@ -19,6 +20,8 @@ namespace AgroBase.Forms.IHM
private ulong CodigoFalha = 0;
private bool ReqFrameCam = false;
private bool ReqFrameSnr = false;
private bool _inRefresh;
private List<ModuloUIItem> _modulosUI = new List<ModuloUIItem>();
public frmDialogoMapa()
{
@ -44,6 +47,13 @@ namespace AgroBase.Forms.IHM
pnlCameraCaminho.BackgroundImageLayout = ImageLayout.Zoom;
pnlCameraCaminhoSeg.BackgroundImageLayout = ImageLayout.Zoom;
clbModulos.DrawMode = DrawMode.OwnerDrawFixed; // habilita owner-draw
clbModulos.ItemHeight = Math.Max(clbModulos.ItemHeight, 20);
clbModulos.DrawItem += clbModulos_DrawItem;
clbModulos.ItemCheck += clbModulos_ItemCheck;
clbModulos.SelectedIndexChanged += clbModulos_SelectedIndexChanged;
AtualizarElementosModoManual();
MapaDinamico = new MapaDinamicoModel(this, pnlMapaDinamico);
@ -180,7 +190,7 @@ namespace AgroBase.Forms.IHM
FuncoesGlobais.PreencheValorProgressBar(pgbOperacao, _Sensoriamento.Trajetoria.ProgressoTrajeto);
lblOperacao.Text = "Operação: " + _Sensoriamento.Trajetoria.ProgressoTrajeto.ToString("0.00") + "%";
FuncoesGlobais.PreencheValorProgressBar(pgbRuaAtual, _Sensoriamento.Trajetoria.CorredorAtual.Progresso);
lblRuaAtual.Text = "Rua Atual: " + _Sensoriamento.Trajetoria.CorredorAtual.Progresso.ToString("0.00") + "%";
@ -232,6 +242,8 @@ namespace AgroBase.Forms.IHM
if (!ReqFrameSnr)
_ = AtualizarCameraCaminho();
AtualizarListaModulos();
}
private async Task AtualizarCameraSolo()
@ -318,6 +330,9 @@ namespace AgroBase.Forms.IHM
tkbAnguloDirecional.Enabled = false;
tkbVelocidade.Enabled = false;
pnlJoystick.Visible = false;
tabControl1.TabPages.Remove(tabControle);
chbPulverizadorAutomatico.Checked = Variaveis.OperacaoEmAndamento.Controle.PulverizadorAutomatico;
chbSonarAtivado.Checked = Variaveis.OperacaoEmAndamento.Controle.SonarAtivado;
cmbModoControle.SelectedIndex = (int)Variaveis.OperacaoEmAndamento.Controle.TipoMovimento;
@ -336,6 +351,8 @@ namespace AgroBase.Forms.IHM
cmbModoControle.Enabled = true;
tkbVelocidade.Enabled = true;
tkbAnguloDirecional.Enabled = true;
tabControl1.TabPages.Insert(1, tabControle);
tabControl1.TabPages.Remove(tabMapa);
pnlJoystick.Visible = true;
pnlFreio.Visible = true;
@ -575,6 +592,16 @@ namespace AgroBase.Forms.IHM
Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = (Enums.TipoMovimentoDirecional)cmbModoControle.SelectedIndex;
}
private void chbPulverizadorAutomatico_CheckedChanged(object sender, EventArgs e)
{
Variaveis.OperacaoEmAndamento.Controle.PulverizadorAutomatico = ((CheckBox)sender).Checked;
}
private void chbSonarAtivado_CheckedChanged(object sender, EventArgs e)
{
Variaveis.OperacaoEmAndamento.Controle.SonarAtivado = ((CheckBox)sender).Checked;
}
private void tkbVelocidade_Scroll(object sender, EventArgs e)
{
Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP = tkbVelocidade.Value;
@ -611,5 +638,195 @@ namespace AgroBase.Forms.IHM
{
MapaDinamico.AlterarTravaRover(chbAcompanharCarro.Checked);
}
public class ModuloUIItem
{
public T_Code Disp { get; set; }
public bool Mandatorio { get; set; }
public bool Utilizar { get; set; }
public bool Conectado { get; set; }
public StatusModulo Status { get; set; }
public double Saude { get; set; }
public string Motivo { get; set; }
public override string ToString()
=> $"{Disp}: {Status} ({Saude})";
}
private void AtualizarListaModulos(bool forceRebuild = false)
{
if (_inRefresh) return;
_inRefresh = true;
try
{
// 1) Pega o estado atual do seu sistema
var src = Variaveis.OperacaoEmAndamento.ModulosMandatorios;
var saude = HealthWorkerService.ModulosSaude;
// 2) Constrói snapshot
var novos = new List<ModuloUIItem>(src.Count);
foreach (var mod in src)
{
var saudeMod = saude.FirstOrDefault(x => x.modulo.Equals(mod.Dispositivo));
var item = new ModuloUIItem
{
Disp = mod.Dispositivo,
Mandatorio = mod.Mandatorio,
Utilizar = mod.Utilizar,
Conectado = mod.Conectado,
Status = saudeMod?.status ?? StatusModulo.Desconectado,
Saude = saudeMod?.saude ?? 0,
Motivo = saudeMod != null ? string.Join(", ", saudeMod.motivos) : "Sem dados"
};
novos.Add(item);
}
// 3) Decide se precisa rebuild (qtd mudou ou forceRebuild)
bool precisaRebuild = forceRebuild || novos.Count != _modulosUI.Count ||
!novos.Select(n => n.Disp).SequenceEqual(_modulosUI.Select(o => o.Disp));
if (precisaRebuild)
{
_modulosUI.Clear();
_modulosUI.AddRange(novos);
clbModulos.BeginUpdate();
clbModulos.Items.Clear();
foreach (var it in _modulosUI)
{
clbModulos.Items.Add(it, it.Utilizar); // check = Mandatório
}
clbModulos.EndUpdate();
}
else
{
// 4) Só atualiza conteúdo/mandatório e força redraw
for (int i = 0; i < _modulosUI.Count; i++)
{
var novo = novos[i];
var cur = _modulosUI[i];
bool textoMudou =
cur.Status != novo.Status ||
Math.Abs(cur.Saude - novo.Saude) > 0.0001 ||
cur.Motivo != novo.Motivo;
cur.Mandatorio = novo.Mandatorio; // mantemos em sincronia
cur.Utilizar = novo.Utilizar; // mantemos em sincronia
cur.Conectado = novo.Conectado;
cur.Status = novo.Status;
cur.Saude = novo.Saude;
cur.Motivo = novo.Motivo;
// sincroniza o check se mudou externamente
bool checkAtual = clbModulos.GetItemChecked(i);
if (checkAtual != cur.Utilizar)
clbModulos.SetItemChecked(i, cur.Utilizar);
if (textoMudou)
clbModulos.Invalidate(clbModulos.GetItemRectangle(i));
}
}
}
finally
{
_inRefresh = false;
}
}
private (Color back, Color fore) Cores(StatusModulo st, bool conectado)
{
if (!conectado) return (Color.Black, Color.White); // Desconectado = preto
switch (st)
{
case StatusModulo.Falha: return (Color.Red, Color.White); // Falha = vermelho
case StatusModulo.Alerta: return (Color.Yellow, Color.Black); // Alerta = amarelo
case StatusModulo.Operante: return (Color.Green, Color.White); // Operante = verde
default: return (Color.Black, Color.White);
};
}
private void clbModulos_DrawItem(object sender, DrawItemEventArgs e)
{
if (e.Index < 0 || e.Index >= _modulosUI.Count)
return;
var it = _modulosUI[e.Index];
var (back, fore) = Cores(it.Status, it.Conectado);
// base
e.DrawBackground();
using (var b = new SolidBrush(back))
e.Graphics.FillRectangle(b, e.Bounds);
// checkbox (usa estilo do sistema, mas garantindo contraste de texto)
bool isChecked = clbModulos.GetItemChecked(e.Index);
CheckBoxRenderer.DrawCheckBox(
e.Graphics,
new Point(e.Bounds.Left + 4, e.Bounds.Top + (e.Bounds.Height - 14) / 2),
isChecked ? System.Windows.Forms.VisualStyles.CheckBoxState.CheckedNormal
: System.Windows.Forms.VisualStyles.CheckBoxState.UncheckedNormal
);
// texto
var texto = it.ToString();
var textRect = new Rectangle(e.Bounds.Left + 24, e.Bounds.Top, e.Bounds.Width - 24, e.Bounds.Height);
TextRenderer.DrawText(e.Graphics, texto, e.Font, textRect, fore, TextFormatFlags.VerticalCenter | TextFormatFlags.EndEllipsis);
// foco
e.DrawFocusRectangle();
}
private void clbModulos_ItemCheck(object sender, ItemCheckEventArgs e)
{
if (_inRefresh) return; // evita loop quando sincronizamos via código
var idx = e.Index;
if (idx < 0 || idx >= _modulosUI.Count) return;
// novo valor escolhido pelo usuário
bool novoUtilizar = e.NewValue == CheckState.Checked;
// atualiza UI cache
_modulosUI[idx].Utilizar = novoUtilizar;
// escreve de volta na fonte oficial
var disp = _modulosUI[idx].Disp;
var alvo = Variaveis.OperacaoEmAndamento.ModulosMandatorios.FirstOrDefault(m => m.Dispositivo.Equals(disp));
if (alvo != null)
{
if (alvo.Utilizar && alvo.Mandatorio && !novoUtilizar)
{
CustomDialog.ShowDialog(
"Confirmação",
"O módulo selecionado é um item mandatório para a operação atual, tem certeza que deseja desabilitar seu uso?",
MessageBoxIcon.Information,
new Dictionary<(string, dynamic), Action>()
{
{ ("Sim", null), () => { alvo.Utilizar = novoUtilizar; } },
{ ("Não", null), () => { _modulosUI[idx].Utilizar = alvo.Utilizar; } }
}
);
}
else
{
alvo.Utilizar = novoUtilizar;
}
}
// reavaliar liberação da operação
// (deixa para depois do evento terminar para não travar UI)
//this.BeginInvoke(new Action(ReavaliarLiberacaoOperacao));
}
private void clbModulos_SelectedIndexChanged(object sender, EventArgs e)
{
if (clbModulos.SelectedIndex < 0 || clbModulos.SelectedIndex >= _modulosUI.Count) return;
txtModuloMotivo.Text = _modulosUI[clbModulos.SelectedIndex].Motivo;
}
}
}

2
AgroBase/AgroBase/Forms/frmInstancial.cs
View File

@ -42,6 +42,8 @@ namespace AgroBase.Forms
{
await VariaveisOperacao.Operadores.IniciarProcessamento(false);
});
AudioAlertaService.SelecionarVoz(VariaveisEquipamento.VozAlerta);
}
private void frmInstancial_Shown(object sender, EventArgs e)

71
AgroBase/AgroBase/Models/Modules/AtuadorModel.cs
View File

@ -547,6 +547,8 @@ namespace AgroBase.Models.Modules
Versao = DadosLeitura.Versao.ToString(),
Mod_ID = Modulo_ID
});
Variaveis.OperacaoEmAndamento.ModsCalibragem[Dispositivo] = new Dictionary<string, bool>();
}
}
@ -803,24 +805,63 @@ namespace AgroBase.Models.Modules
public async Task<bool> RealizarTestesIniciais()
{
// Ligar bomba
bool BombaOk = false;
var calAtu = Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Atu];
var Bomba = BombasPressurizadoras.FirstOrDefault();
if (Bomba.Inicializado)
// Ligar bomba
foreach (var Bomba in BombasPressurizadoras.Where(x => x.Comandar))
{
calAtu.TryGetValue(Bomba.ID, out var cal);
if (cal && calAtu[Bomba.ID]) continue;
calAtu[Bomba.ID] = false;
// Sem herbicida no reservatorio, bomba nao precisa ligar
if (!Bomba.Inicializado || PercentualReservatorio < 5.0)
{
break;
}
GeneralJoystick.EnviarComandoAtuador(Bomba.Componente, true, Bomba.ID);
bool AtingiuPressao() => PressaoLinha >= Variaveis.OperacaoEmAndamento.Controle.PressaoLinha;
await FuncoesGlobais.AguardarCondicaoAsync(Bomba.AtingiuPressao, 3000, 200);
await FuncoesGlobais.AguardarCondicaoAsync(AtingiuPressao, 6000, 200);
bool BombaOk = Bomba.AtingiuPressao();
if (BombaOk)
{
calAtu[Bomba.ID] = true;
}
else
{
foreach (var Bico in BicosPulverizadores.Where(x => x.Comandar && x.Inicializado))
{
GeneralJoystick.EnviarComandoAtuador(Bico.Componente, true, Bico.ID);
}
BombaOk = AtingiuPressao();
await Task.Delay(3000);
foreach (var Bico in BicosPulverizadores.Where(x => x.Comandar && x.Inicializado))
{
GeneralJoystick.EnviarComandoAtuador(Bico.Componente, false, Bico.ID);
}
await FuncoesGlobais.AguardarCondicaoAsync(Bomba.AtingiuPressao, 4000, 200);
BombaOk = Bomba.AtingiuPressao();
if (BombaOk)
{
calAtu[Bomba.ID] = true;
}
}
}
// Testar os bicos
foreach (var Bico in BicosPulverizadores)
foreach (var Bico in BicosPulverizadores.Where(x => x.Comandar))
{
calAtu.TryGetValue(Bico.ID, out var cal);
if (cal && calAtu[Bico.ID]) continue;
calAtu[Bico.ID] = false;
if (Bico.Inicializado)
{
GeneralJoystick.EnviarComandoAtuador(Bico.Componente, true, Bico.ID);
@ -828,12 +869,16 @@ namespace AgroBase.Models.Modules
await Task.Delay(200);
GeneralJoystick.EnviarComandoAtuador(Bico.Componente, false, Bico.ID);
calAtu[Bico.ID] = true;
}
}
await Task.Delay(1000);
return BombaOk;
bool sucesso = calAtu.All(x => x.Value);
return sucesso;
}
public List<Task> RealizarCalibragemAsync()
@ -845,7 +890,11 @@ namespace AgroBase.Models.Modules
if (t.IsFaulted)
Console.WriteLine($"Erro no referenciamento do módulo {Modulo_ID}: {t.Exception?.InnerException?.Message}");
if (t.IsCompleted)
Console.WriteLine($"Referenciamento do módulo {Modulo_ID} concluído com sucesso!");
{
var calAtu = Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Atu];
var v = calAtu.Select(x => $"{x.Key} " + (x.Value ? "Sim" : "Não"));
Console.WriteLine($"Task de referenciamento do módulo {Modulo_ID} finalizada: " + string.Join(", ", v));
}
}));
return tasks;
@ -1047,6 +1096,8 @@ namespace AgroBase.Models.Modules
);
}
public bool AtingiuPressao() => Variaveis.OperacaoEmAndamento.DispAtu.Dados.PressaoLinha >= Variaveis.OperacaoEmAndamento.Controle.PressaoLinha;
}
public class CalibragemVazao

2
AgroBase/AgroBase/Models/Modules/DirecionalModel.cs
View File

@ -343,7 +343,7 @@ namespace AgroBase.Models.Modules
DateTime TimeoutGeral = DateTime.Now.AddMinutes(2); // Timeout geral para o processo.
Sentido _sentido = SentidoReal == Sentido.Horario ? Sentido.Antihorario : Sentido.Horario;
double _anguloSP = 360 * (_sentido == Sentido.Antihorario ? -1 : 1);
double _anguloSP = 180 * (_sentido == Sentido.Antihorario ? -1 : 1);
double _anguloSpAnterior = 0;
while (!Sucesso && TimeoutGeral > DateTime.Now && Inicializado)

33
AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
View File

@ -391,25 +391,56 @@ namespace AgroBase.Models.Modules
return Modulos.All(x => x.DirMotor.Referenciado);
}
public List<Task> RealizarCalibragemAsync()
public List<Task> RealizarCalibragemMovAsync()
{
List<Task> tasks = new List<Task>();
var DispMvd = Variaveis.OperacaoEmAndamento.DispMvd;
if (DispMvd != null)
{
var calMov = Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Mov];
foreach (var mod in DispMvd.Dados.Modulos)
{
calMov.TryGetValue(mod.Modulo_ID, out var cal);
if (cal && calMov[mod.Modulo_ID]) continue;
calMov[mod.Modulo_ID] = mod.MovMotor.Inicializado;
}
DispMvd.Dados.MovPronto = DispMvd.Dados.Modulos.All(x => x.MovMotor.Inicializado);
}
return tasks;
}
public List<Task> RealizarCalibragemDirAsync()
{
List<Task> tasks = new List<Task>();
var DispMvd = Variaveis.OperacaoEmAndamento.DispMvd;
if (DispMvd != null)
{
var calDir = Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Dir];
foreach (var mod in DispMvd.Dados.Modulos)
{
calDir.TryGetValue(mod.Modulo_ID, out var cal);
if (cal && calDir[mod.Modulo_ID]) continue;
calDir[mod.Modulo_ID] = false;
}
DispMvd.Dados.DirPronto = DispMvd.Dados.Modulos.All(x => x.DirMotor.Inicializado);
if (DispMvd.Dados.Modulos.Any(x => x.DirMotor.Inicializado))
{
Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = TipoMovimentoDirecional.Diagnostico;
var ModsRef = Modulos.Where(x => x.DirMotor.Comandar).ToList(); // && x.DirMotor.Inicializado
foreach (var Modulo in ModsRef)
{
if (calDir[Modulo.Modulo_ID]) continue;
tasks.Add(Modulo.DirMotor.ReferenciaMotor().ContinueWith(t => {
if (t.IsFaulted)
Console.WriteLine($"Erro no referenciamento do módulo {Modulo.Modulo_ID}: {t.Exception?.InnerException?.Message}");
if (t.IsCompleted)
{
Console.WriteLine($"Referenciamento do módulo {Modulo.Modulo_ID} concluído com sucesso!");
calDir[Modulo.Modulo_ID] = true;
}
}));
}
}

10
AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
View File

@ -105,7 +105,7 @@ namespace AgroBase.Models.Modules
{
FuncoesPinout.Sinaleiro,
},
Comportamento = VariaveisEquipamento.ComportamentoPorStatus(StatusOperacao.NaoIniciado),
Comportamento = VariaveisEquipamento.ComportamentoLedPorStatus(StatusOperacao.NaoIniciado),
ValoresLeituras = new List<SensorValoresLeituraModel>()
{
new SensorValoresLeituraModel()
@ -138,7 +138,7 @@ namespace AgroBase.Models.Modules
{
FuncoesPinout.Sinaleiro,
},
Comportamento = VariaveisEquipamento.ComportamentoPorStatus(StatusOperacao.NaoIniciado),
Comportamento = VariaveisEquipamento.ComportamentoLedPorStatus(StatusOperacao.NaoIniciado),
ValoresLeituras = new List<SensorValoresLeituraModel>()
{
new SensorValoresLeituraModel()
@ -171,7 +171,7 @@ namespace AgroBase.Models.Modules
{
FuncoesPinout.Sinaleiro,
},
Comportamento = VariaveisEquipamento.ComportamentoPorStatus(StatusOperacao.NaoIniciado),
Comportamento = VariaveisEquipamento.ComportamentoLedPorStatus(StatusOperacao.NaoIniciado),
ValoresLeituras = new List<SensorValoresLeituraModel>()
{
new SensorValoresLeituraModel()
@ -1785,6 +1785,8 @@ namespace AgroBase.Models.Modules
Versao = DadosLeitura.Versao.ToString(),
Mod_ID = Modulo_ID,
});
Variaveis.OperacaoEmAndamento.ModsCalibragem[Dispositivo] = new Dictionary<string, bool>();
}
}
@ -2016,7 +2018,7 @@ namespace AgroBase.Models.Modules
var ledAT = Sinaleiros.FirstOrDefault(x => x.ID == "LEDAT" && x.Inicializado);
var ledMN = Sinaleiros.FirstOrDefault(x => x.ID == "LEDMN" && x.Inicializado);
var comportamento = VariaveisEquipamento.ComportamentoPorStatus();
var comportamento = VariaveisEquipamento.ComportamentoLedPorStatus();
var valOp = (int?)(ledOP?.ValoresLeituras?.FirstOrDefault(x => x.funcao == FuncoesPinout.StatusLEDComando)?.atual?.valor) ?? 0;
if (ledOP != null && (!ledOP.Comportamento.Equals(comportamento) || valOp != (int)comportamento.statusLED))
{

57
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
View File

@ -56,11 +56,13 @@ namespace AgroBase.Models
#region STATUS DE CONTEXTO
public StatusOperacao StatusAtual { get; private set; } = StatusOperacao.NaoIniciado;
public StatusOperacao StatusAnterior { get; private set; } = StatusOperacao.NaoIniciado;
public bool Emergencia { get; set; } = false;
public bool OperacaoLiberada { get; private set; } = false;
public bool OperacaoConfigurada { get; private set; } = false;
public string ErroOperacaoLiberada { get; set; }
public DateTime TempoAguardando { get; private set; } = DateTime.Now;
public double TempoAguardandoSegs => (TempoAguardando.AddSeconds(TempoIniciarOperacao) - DateTime.Now).TotalSeconds;
public bool Iniciado { get; set; }
public bool Finalizando { get; set; } = false;
public bool Calibrando { get; set; } = false;
@ -86,6 +88,13 @@ namespace AgroBase.Models
HealthWorkerService.ModulosSaude = RedisService.GetField<ManagerWorkerMessageResponseModulosPendentesModel[]>(CtxKey.DadosOperacao, "status_modulos").ToList();
Variaveis.OperacaoEmAndamento.ErroOperacaoLiberada = RedisService.GetField<string>(CtxKey.DadosOperacao, "motivo_nao_liberado");
GPSService.CorrecaoRTK_Ntrip = RedisService.GetField<bool>(RedisService.ModKey(T_Code.Gps), "correcao_ntrip", false);
if (Variaveis.OperacaoEmAndamento.StatusAtual != Variaveis.OperacaoEmAndamento.StatusAnterior)
{
AudioAlertaService.AlertaSonoroPorStatus(Variaveis.OperacaoEmAndamento.StatusAtual);
}
Variaveis.OperacaoEmAndamento.StatusAnterior = Variaveis.OperacaoEmAndamento.StatusAtual;
}
@ -97,13 +106,15 @@ namespace AgroBase.Models
public bool Simulando { get; set; } = false;
public double SimulacaoAnguloControle { get; set; } = 0;
public double SimulacaoRpmControle { get; set; } = 0;
public Dictionary<T_Code, Dictionary<string, bool>> ModsCalibragem { get; set; } = new Dictionary<T_Code, Dictionary<string, bool>>();
public List<OperacaoModulosMandatoriosModel> ModulosMandatorios { get; set; } = new List<OperacaoModulosMandatoriosModel>();
public List<OperacaoParametrosMandatoriosModel> ParametrosMandatorios { get; set; } = new List<OperacaoParametrosMandatoriosModel>();
public double CapacidadeReservatorio { get; set; } = 30;
public int QuantidadeCamerasSolo { get; set; } = 1;
public int TempoIniciarOperacao { get; set; } = 5;
public int TempoIniciarOperacao { get; set; } = 30;
public string ID { get; set; }
public double tmrLogsInterval
{
@ -681,10 +692,10 @@ namespace AgroBase.Models
if (Variaveis.OperacaoEmAndamento.DispSen.Dados.Conectado)
{
Variaveis.OperacaoEmAndamento.DispSen.Dados.Sinaleiros.ForEach(x => x.Comportamento = VariaveisEquipamento.ComportamentoPorStatus(StatusOperacao.NaoIniciado));
Variaveis.OperacaoEmAndamento.DispSen.Dados.Sinaleiros.ForEach(x => x.Comportamento = VariaveisEquipamento.ComportamentoLedPorStatus(StatusOperacao.NaoIniciado));
Variaveis.OperacaoEmAndamento.DispSen.Dados.Sinaleiros.First(x => x.ID == (Modo == ModoOperacao.Manual ? "LEDMN" : "LEDAT")).Comportamento.statusLED = StatusLED.Aceso;
Variaveis.OperacaoEmAndamento.DispSen.Dados.Sinaleiros.First(x => x.ID == "LEDOP").Comportamento = VariaveisEquipamento.ComportamentoPorStatus();
Variaveis.OperacaoEmAndamento.DispSen.Dados.Sinaleiros.First(x => x.ID == "LEDOP").Comportamento = VariaveisEquipamento.ComportamentoLedPorStatus();
//OperacaoCarregar.DispSen.Dados.Sinaleiros.ForEach(x => OperacaoCarregar.DispSen.AdicionarMensagemFila(OperacaoCarregar.DispSen.Dados.Modulo_ID, x.ProtocoloComando(), true, false));
foreach (var Sinaleiro in Variaveis.OperacaoEmAndamento.DispSen.Dados.Sinaleiros)
@ -725,6 +736,13 @@ namespace AgroBase.Models
DispAtu?.Dados?.ReiniciarLeituras(DispAtu?.Dados);
DispSen?.Dados?.ReiniciarLeituras(DispSen?.Dados);
ModsCalibragem = new Dictionary<T_Code, Dictionary<string, bool>>()
{
{ T_Code.Mov, new Dictionary<string, bool>() { } },
{ T_Code.Dir, new Dictionary<string, bool>() { } },
{ T_Code.Atu, new Dictionary<string, bool>() { } },
};
RedisService.AtualizarCampos(CtxKey.DadosOperacao, ("configurado", false));
WeedWorkerService.ReiniciarLeituraAnalise();
VisualWorkerService.ReiniciarLeituraAnalise();
@ -779,6 +797,9 @@ namespace AgroBase.Models
public async Task RealizarCalibragemInicialAsync()
{
bool modsCalibrados = Variaveis.OperacaoEmAndamento.ModsCalibragem.All(x => x.Value.Values.Count > 0 && x.Value.Values.All(y => y == true));
if (modsCalibrados) return;
Console.WriteLine("Calibragem inicial inciada...");
Variaveis.OperacaoEmAndamento.Calibrando = true;
RedisService.AtualizarCampos(CtxKey.DadosOperacao, ("calibrando", Variaveis.OperacaoEmAndamento.Calibrando));
@ -789,8 +810,10 @@ namespace AgroBase.Models
var DispMvd = Variaveis.OperacaoEmAndamento.DispMvd;
var tasks = new List<Task>();
if (DispAtu?.Dados != null) tasks.AddRange(DispAtu.Dados.RealizarCalibragemAsync());
if (DispMvd?.Dados != null) tasks.AddRange(DispMvd.Dados.RealizarCalibragemAsync());
if (DispAtu?.Dados != null && (Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Atu].Any(x => !x.Value) || !Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Atu].Any())) tasks.AddRange(DispAtu.Dados.RealizarCalibragemAsync());
if (DispMvd?.Dados != null && (Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Dir].Any(x => !x.Value) || !Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Dir].Any())) tasks.AddRange(DispMvd.Dados.RealizarCalibragemDirAsync());
if (DispMvd?.Dados != null && (Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Mov].Any(x => !x.Value) || !Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Mov].Any())) tasks.AddRange(DispMvd.Dados.RealizarCalibragemMovAsync());
if (tasks.Count == 0)
{
@ -808,6 +831,7 @@ namespace AgroBase.Models
if (completed == allTasks)
{
Console.WriteLine("Calibragem finalizada com sucesso!");
}
else
{
@ -1103,11 +1127,13 @@ namespace AgroBase.Models
if (enviarComando)
{
var Bomba = Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombasPressurizadoras.FirstOrDefault();
bool Ligado = Bomba.ValoresLeituras?.FirstOrDefault(x => x.funcao == FuncoesPinout.Potencia)?.atual?.valor > 0;
if (Bomba != null && Bomba.ComandoAtuar && !Ligado)
foreach (var Bomba in Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombasPressurizadoras)
{
GeneralJoystick.EnviarComandoAtuador(S_Code.sBMB, true, Bomba.ID);
bool Ligado = Bomba.ValoresLeituras?.FirstOrDefault(x => x.funcao == FuncoesPinout.Potencia)?.atual?.valor > 0;
if (!Ligado)
{
GeneralJoystick.EnviarComandoAtuador(S_Code.sBMB, true, Bomba.ID);
}
}
}
@ -1195,6 +1221,16 @@ namespace AgroBase.Models
if (Variaveis.OperacaoEmAndamento.Iniciado)
{
SalvarLogs(false);
if (idxLog % 10 == 0)
{
AudioAlertaService.AlertaSonoroPorStatus(Variaveis.OperacaoEmAndamento.StatusAtual);
}
if (idxLog % 5 == 0 && !Variaveis.OperacaoEmAndamento.Calibrando)
{
Task.Run(async () => await RealizarCalibragemInicialAsync());
}
}
}
@ -1777,6 +1813,7 @@ namespace AgroBase.Models
public VisualWorkerModel OperadorVisual { get; set; }
public WeedWorkerModel OperadorErvas { get; set; }
public List<ManagerWorkerMessageResponseModulosPendentesModel> ModulosSaude { get; set; }
public Dictionary<T_Code, Dictionary<string, bool>> ModsCalibragem { get; set; }
public bool CanSerialAtivado { get; set; }
@ -1934,6 +1971,7 @@ namespace AgroBase.Models
DadosPerformance = dadosPerformance,
DadosLoRa = dadosLora,
ModulosSaude = HealthWorkerService.ModulosSaude.ToList(),
ModsCalibragem = new Dictionary<T_Code, Dictionary<string, bool>>(Variaveis.OperacaoEmAndamento.ModsCalibragem),
};
Variaveis.OperacaoEmAndamento.Sensoriamento = dadosAtualizados;
@ -1969,6 +2007,7 @@ namespace AgroBase.Models
IMU = IMU?.Clone(),
DadosLoRa = DadosLoRa?.Clone(),
ModulosSaude = new List<ManagerWorkerMessageResponseModulosPendentesModel>(ModulosSaude),
ModsCalibragem = new Dictionary<T_Code, Dictionary<string, bool>>(ModsCalibragem),
};
}

37
AgroBase/AgroBase/Models/Variaveis.cs
View File

@ -18,7 +18,6 @@ using Microsoft.Web.WebView2.WinForms;
using Microsoft.Web.WebView2.Core;
using System.Text.Json;
using AgroBase.Services.Operadores;
using MathNet.Numerics.Distributions;
using System.Diagnostics;
namespace AgroBase.Models
@ -190,8 +189,9 @@ namespace AgroBase.Models
};
public static double AnguloInclinacaoRollMax { get; set; } = 30.0;
public static double AnguloInclinacaoPitchMax { get; set; } = 45.0;
public static string VozAlerta { get; set; } = "Microsoft Maria Desktop";
public static SensorSinaleiroComportamentoModel ComportamentoPorStatus(StatusOperacao? _status = null)
public static SensorSinaleiroComportamentoModel ComportamentoLedPorStatus(StatusOperacao? _status = null)
{
if (_status == null)
{
@ -214,7 +214,7 @@ namespace AgroBase.Models
{
statusLED = StatusLED.Piscando,
QtdPiscadas = 2,
TempoMs = 500,
TempoMs = 800,
PausaMs = 2000,
};
break;
@ -227,7 +227,7 @@ namespace AgroBase.Models
statusLED = StatusLED.Piscando,
QtdPiscadas = 1,
TempoMs = 1000,
PausaMs = 1000,
PausaMs = 2000,
};
break;
}
@ -236,9 +236,9 @@ namespace AgroBase.Models
comportamento = new SensorSinaleiroComportamentoModel()
{
statusLED = StatusLED.Piscando,
QtdPiscadas = 2,
TempoMs = 1000,
PausaMs = 2000,
QtdPiscadas = 3,
TempoMs = 500,
PausaMs = 800,
};
break;
}
@ -247,9 +247,9 @@ namespace AgroBase.Models
comportamento = new SensorSinaleiroComportamentoModel()
{
statusLED = StatusLED.Piscando,
QtdPiscadas = 4,
TempoMs = 200,
PausaMs = 1000,
QtdPiscadas = 5,
TempoMs = 500,
PausaMs = 2000,
};
break;
}
@ -258,9 +258,20 @@ namespace AgroBase.Models
comportamento = new SensorSinaleiroComportamentoModel()
{
statusLED = StatusLED.Piscando,
QtdPiscadas = 3,
TempoMs = 200,
PausaMs = 2000,
QtdPiscadas = 1,
TempoMs = 500,
PausaMs = 1000,
};
break;
}
case StatusOperacao.Calibrando:
{
comportamento = new SensorSinaleiroComportamentoModel()
{
statusLED = StatusLED.Piscando,
QtdPiscadas = 2,
TempoMs = 500,
PausaMs = 800,
};
break;
}

110
AgroBase/AgroBase/Services/AudioAlertaService.cs Normal file
View File

@ -0,0 +1,110 @@
using AgroBase.Models;
using System;
using System.Speech.Synthesis;
using static AgroBase.Models.Enums;
namespace AgroBase.Services
{
public static class AudioAlertaService
{
private static SpeechSynthesizer synth = new SpeechSynthesizer();
private static bool _falando = false;
static AudioAlertaService()
{
// Configurações padrão
synth.SelectVoice("Microsoft Maria Desktop");
synth.Volume = 100;
synth.Rate = 0;
// Eventos de início e fim da fala
synth.SpeakStarted += (_, __) => _falando = true;
synth.SpeakCompleted += (_, __) => _falando = false;
}
public static bool EstaFalando => _falando;
public static void ListarVozes()
{
Console.WriteLine("Vozes instaladas no sistema:");
foreach (var voice in synth.GetInstalledVoices())
{
var info = voice.VoiceInfo;
Console.WriteLine($"- {info.Name} ({info.Culture})");
}
}
public static void SelecionarVoz(string Voz)
{
synth.SelectVoice(Voz); // pt-BR
Console.WriteLine($"Voz selecionada: {Voz}");
}
public static void Falar(string texto, bool forcar = false, int volume = 100, int velocidade = 0)
{
if (_falando && !forcar)
return;
synth.Volume = volume; // 0–100
synth.Rate = velocidade; // -10 a +10
synth.SpeakAsyncCancelAll(); // cancela fala anterior, se houver
synth.SpeakAsync(texto); // fala em segundo plano
}
public static void Parar()
{
synth.SpeakAsyncCancelAll();
_falando = false;
}
public static void AlertaSonoroPorStatus(StatusOperacao Status)
{
string Texto = "";
switch (Status)
{
case StatusOperacao.NaoIniciado:
Texto = "Sistema pronto. Operação não iniciada.";
break;
case StatusOperacao.Parametrizando:
Texto = "Carregando parâmetros da operação.";
break;
case StatusOperacao.Calibrando:
Texto = "Calibrando módulos. Mantenha distância.";
break;
case StatusOperacao.Aguardando:
Texto = $"Atenção: início em {SegundosFmt(Variaveis.OperacaoEmAndamento.TempoAguardandoSegs)}.";
break;
case StatusOperacao.EmAndamento:
Texto = "Operação em andamento.";
break;
case StatusOperacao.Parado:
Texto = TextoParado();
break;
case StatusOperacao.Concluido:
Texto = $"Operação concluída. Aguardando instruções.";
break;
}
if (!string.IsNullOrEmpty(Texto))
{
Falar(Texto, forcar: true);
}
// ------- helpers locais -------
string SegundosFmt(double s)
{
int v = (int)Math.Round(s);
return v == 1 ? "1 segundo" : $"{v} segundos";
}
string TextoParado()
{
string motivo = Variaveis.OperacaoEmAndamento?.ErroOperacaoLiberada;
motivo = string.IsNullOrWhiteSpace(motivo) ? "motivo não informado" : motivo;
return $"Operação interrompida: {motivo}. Intervenção necessária.";
}
}
}
}

4
AgroBase/AgroBase/Services/MKS057DCanService.cs
View File

@ -34,7 +34,7 @@ namespace AgroBase.Services
{
get
{
return Referenciando ? 250 : 2000;
return Referenciando ? 250 : 1000;
}
}
@ -88,6 +88,8 @@ namespace AgroBase.Services
Versao = (Leitura.FV ?? "").ToString(),
Mod_ID = Mod_ID,
});
Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Dir][Mod_ID] = false;
}
}
}

2
AgroBase/AgroBase/Services/OIDCanService.cs
View File

@ -93,6 +93,8 @@ namespace AgroBase.Services
Versao = "1.0",
Mod_ID = Mod_ID,
});
Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Mov][Mod_ID] = false;
}
}
}

8
AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs
View File

@ -105,6 +105,7 @@ namespace AgroBase.Services.Operadores
AtualizarDadosContextoLocal();
AtualizarDadosModulos();
AtualizarDadosControleOperacao();
var _Sensoriamento = Variaveis.OperacaoEmAndamento.Sensoriamento;
@ -186,7 +187,6 @@ namespace AgroBase.Services.Operadores
AtualizandoRedis = true;
AtualizarDadosEquipamento();
AtualizarDadosControleOperacao();
if (Variaveis.OperacaoEmAndamento.DispMvd == null)
{
@ -248,8 +248,7 @@ namespace AgroBase.Services.Operadores
{
percentual_altura_solo = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraCaminho.PercentualAlturaSolo,
distancia_maxima = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraCaminho.DistanciaMaximaVisao,
distancia_minima = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraCaminho.DistanciaMinimaVisao,
sonar_ativado = _Controle.SonarAtivado,
distancia_minima = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraCaminho.DistanciaMinimaVisao
}
)
);
@ -272,7 +271,8 @@ namespace AgroBase.Services.Operadores
CtxKey.DadosControle,
("pulverizador_automatico", Variaveis.OperacaoEmAndamento.Controle.PulverizadorAutomatico),
("movimento_automatico", Variaveis.OperacaoEmAndamento.Controle.MovimentoAutomatico),
("frenagem_automatica", Variaveis.OperacaoEmAndamento.Controle.FrenagemAutomatica)
("frenagem_automatica", Variaveis.OperacaoEmAndamento.Controle.FrenagemAutomatica),
("sonar_ativado", Variaveis.OperacaoEmAndamento.Controle.SonarAtivado)
);
}

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@ -1,33 +1,26 @@
{
"epochs": [ {
"calculation_time": "13401820180888621",
"config_version": 0,
"model_version": "0",
"padded_top_topics_start_index": 0,
"taxonomy_version": 0,
"top_topics_and_observing_domains": [ ]
}, {
"calculation_time": "13402425506182172",
"config_version": 0,
"model_version": "0",
"padded_top_topics_start_index": 0,
"taxonomy_version": 0,
"top_topics_and_observing_domains": [ ]
}, {
"calculation_time": "13403032020468903",
"config_version": 0,
"model_version": "0",
"padded_top_topics_start_index": 0,
"taxonomy_version": 0,
"top_topics_and_observing_domains": [ ]
}, {
"calculation_time": "13403638998815188",
"config_version": 0,
"model_version": "0",
"padded_top_topics_start_index": 0,
"taxonomy_version": 0,
"top_topics_and_observing_domains": [ ]
}, {
"calculation_time": "13404318085229101",
"config_version": 0,
"model_version": "0",
"padded_top_topics_start_index": 0,
"taxonomy_version": 0,
"top_topics_and_observing_domains": [ ]
}, {
"calculation_time": "13405435224195095",
"config_version": 0,
"model_version": "0",
"padded_top_topics_start_index": 0,
"taxonomy_version": 0,
"top_topics_and_observing_domains": [ ]
} ],
"hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
"next_scheduled_calculation_time": "13404243798816911"
"next_scheduled_calculation_time": "13406040024195500"
}

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@ -1,3 +1,3 @@
2025/10/03-16:24:55.139 454c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/10/03-16:24:55.151 454c Recovering log #3
2025/10/03-16:24:55.154 454c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
2025/10/21-15:55:46.193 7ba4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/10/21-15:55:46.202 7ba4 Recovering log #3
2025/10/21-15:55:46.206 7ba4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log

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@ -1,3 +1,3 @@
2025/10/03-15:22:52.728 6c8c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/10/03-15:22:52.737 6c8c Recovering log #3
2025/10/03-15:22:52.740 6c8c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
2025/10/21-15:32:17.079 e18 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/10/21-15:32:17.090 e18 Recovering log #3
2025/10/21-15:32:17.093 e18 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log

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@ -1 +1 @@
{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13404079551047360","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":20632},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:678:7800:849d:3e58:2f80:31ae","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}
{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13405632946561751","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":10850},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:6d1:df00:d5f9:343b:6650:d75a","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}

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@ -1 +1 @@
{"sts":[{"expiry":1791055495.553238,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1759519495.553241}],"version":2}
{"sts":[{"expiry":1792587142.154096,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1761051142.154101}],"version":2}

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2025/10/03-17:36:56.743 454c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/10/03-17:36:56.744 454c Recovering log #3
2025/10/03-17:36:56.748 454c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log
2025/10/21-16:01:56.995 7ba4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/10/21-16:01:56.997 7ba4 Recovering log #3
2025/10/21-16:01:57.002 7ba4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log

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@ -1,3 +1,3 @@
2025/10/03-15:27:23.007 6c8c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/10/03-15:27:23.008 6c8c Recovering log #3
2025/10/03-15:27:23.011 6c8c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log
2025/10/21-15:33:00.189 e18 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/10/21-15:33:00.191 e18 Recovering log #3
2025/10/21-15:33:00.195 e18 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log

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@ -1,3 +1,3 @@
2025/10/03-16:24:55.062 55a8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/10/03-16:24:55.064 55a8 Recovering log #7
2025/10/03-16:24:55.064 55a8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log
2025/10/21-15:55:46.109 7a68 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/10/21-15:55:46.111 7a68 Recovering log #7
2025/10/21-15:55:46.112 7a68 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log

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2025/10/03-15:22:52.657 692c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/10/03-15:22:52.660 692c Recovering log #7
2025/10/03-15:22:52.660 692c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log
2025/10/21-15:32:17.002 2080 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/10/21-15:32:17.004 2080 Recovering log #7
2025/10/21-15:32:17.005 2080 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log

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@ -1 +1 @@
140.0.3485.94
141.0.3537.92

2
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{
"description" : "Microsoft PKI Metadata",
"name" : "PKIMetadata",
"version" : "24.0.0.1"
}

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{"hashes":{"000ac7dc9366969db9d1e41810a3a27c747a7623535d856eecc2de86cfed80c7":{"appid":"eeobbhfgfagbclfofmgbdfoicabjdbkn","fp":""},"00AF3F07B5ABB71F6D30337E1EEF62FA280F06EF19485C0CF6B72171F92CCC0A":{"appid":"kpfehajjjbbcifeehjgfgnabifknmdad","fp":"1.00AF3F07B5ABB71F6D30337E1EEF62FA280F06EF19485C0CF6B72171F92CCC0A"},"4B81B4DF3AD971287E1AE02C449344FCFA5D20431DE17B2BA8854CC9CDCE4089":{"appid":"ahmaebgpfccdhgidjaidaoojjcijckba","fp":"1.4B81B4DF3AD971287E1AE02C449344FCFA5D20431DE17B2BA8854CC9CDCE4089"},"89f43cb3df807293de2772d5f01ac2fc1482b38ccc8fdaee859b80642b7a0487":{"appid":"pghocgajpebopihickglahgebcmkcekh","fp":""},"95FD9D48E4FC245A3F3A99A3A16ECD1355050BA3F4AFC555F19A97C7F9B49677":{"appid":"ohckeflnhegojcjlcpbfpciadgikcohk","fp":"1.95FD9D48E4FC245A3F3A99A3A16ECD1355050BA3F4AFC555F19A97C7F9B49677"},"A81D1959892AE4180554347DF1B97834ABBA2E1A5E6B9AEBA000ECEA26EABECC":{"appid":"fppmbhmldokgmleojlplaaodlkibgikh","fp":"1.A81D1959892AE4180554347DF1B97834ABBA2E1A5E6B9AEBA000ECEA26EABECC"},"b987bdc4f2ad2a409b964921d4a5db1cdbe07f9c98f868293b4cc32acdc42cec":{"appid":"alpjnmnfbgfkmmpcfpejmmoebdndedno","fp":""},"bcb93cba8636743d1fbd32be3bd8ce8ff602323895bf4d136c26b9bc64b0a6a4":{"appid":"ndikpojcjlepofdkaaldkinkjbeeebkl","fp":""},"fa29a6d5775ff340900a65b39b02fc8b4b77d403c048d8debf22f2f5d09c61a0":{"appid":"oankkpibpaokgecfckkdkgaoafllipag","fp":""},"fbb2c0f4fad3b34b3ac7116d98f83638cf6f55a47992026a7abf944a759aa0ea":{"appid":"fgbafbciocncjfbbonhocjaohoknlaco","fp":""},"ff87fddb54d7bdc8ab8c2697bc92337c914803fb22cd32e445389e8042159ce9":{"appid":"jbfaflocpnkhbgcijpkiafdpbjkedane","fp":""}}}
{"hashes":{"000ac7dc9366969db9d1e41810a3a27c747a7623535d856eecc2de86cfed80c7":{"appid":"eeobbhfgfagbclfofmgbdfoicabjdbkn","fp":""},"00AF3F07B5ABB71F6D30337E1EEF62FA280F06EF19485C0CF6B72171F92CCC0A":{"appid":"kpfehajjjbbcifeehjgfgnabifknmdad","fp":"1.00AF3F07B5ABB71F6D30337E1EEF62FA280F06EF19485C0CF6B72171F92CCC0A"},"4B81B4DF3AD971287E1AE02C449344FCFA5D20431DE17B2BA8854CC9CDCE4089":{"appid":"ahmaebgpfccdhgidjaidaoojjcijckba","fp":"1.4B81B4DF3AD971287E1AE02C449344FCFA5D20431DE17B2BA8854CC9CDCE4089"},"89f43cb3df807293de2772d5f01ac2fc1482b38ccc8fdaee859b80642b7a0487":{"appid":"pghocgajpebopihickglahgebcmkcekh","fp":""},"95FD9D48E4FC245A3F3A99A3A16ECD1355050BA3F4AFC555F19A97C7F9B49677":{"appid":"ohckeflnhegojcjlcpbfpciadgikcohk","fp":"1.95FD9D48E4FC245A3F3A99A3A16ECD1355050BA3F4AFC555F19A97C7F9B49677"},"A81D1959892AE4180554347DF1B97834ABBA2E1A5E6B9AEBA000ECEA26EABECC":{"appid":"fppmbhmldokgmleojlplaaodlkibgikh","fp":"1.A81D1959892AE4180554347DF1B97834ABBA2E1A5E6B9AEBA000ECEA26EABECC"},"bcb93cba8636743d1fbd32be3bd8ce8ff602323895bf4d136c26b9bc64b0a6a4":{"appid":"ndikpojcjlepofdkaaldkinkjbeeebkl","fp":""},"e899d913c256495c8952316ef2b48210ee2867659f6336478e2085d90462d294":{"appid":"alpjnmnfbgfkmmpcfpejmmoebdndedno","fp":""},"fa29a6d5775ff340900a65b39b02fc8b4b77d403c048d8debf22f2f5d09c61a0":{"appid":"oankkpibpaokgecfckkdkgaoafllipag","fp":""},"fbb2c0f4fad3b34b3ac7116d98f83638cf6f55a47992026a7abf944a759aa0ea":{"appid":"fgbafbciocncjfbbonhocjaohoknlaco","fp":""},"ff87fddb54d7bdc8ab8c2697bc92337c914803fb22cd32e445389e8042159ce9":{"appid":"jbfaflocpnkhbgcijpkiafdpbjkedane","fp":""}}}

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@ -17,7 +17,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_8784e4a92e0d8028478529607eb9e44b {
#map_4186306e9b7fcd80c184ec506da89a65 {
position: relative;
width: 100.0%;
height: 100.0%;
@ -54,14 +54,14 @@
<body>
<div class="folium-map" id="map_8784e4a92e0d8028478529607eb9e44b" ></div>
<div class="folium-map" id="map_4186306e9b7fcd80c184ec506da89a65" ></div>
</body>
<script>
var map_8784e4a92e0d8028478529607eb9e44b = L.map(
"map_8784e4a92e0d8028478529607eb9e44b",
var map_4186306e9b7fcd80c184ec506da89a65 = L.map(
"map_4186306e9b7fcd80c184ec506da89a65",
{
center: [0.0, 0.0],
crs: L.CRS.EPSG3857,
@ -78,7 +78,7 @@
var tile_layer_374e8a38ef77ea5641b5d0b57b400825 = L.tileLayer(
var tile_layer_ce532da5c58425eee9e9d530494caa7a = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{
"minZoom": 0,
@ -95,7 +95,7 @@
);
tile_layer_374e8a38ef77ea5641b5d0b57b400825.addTo(map_8784e4a92e0d8028478529607eb9e44b);
tile_layer_ce532da5c58425eee9e9d530494caa7a.addTo(map_4186306e9b7fcd80c184ec506da89a65);
</script>
@ -116,7 +116,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_8784e4a92e0d8028478529607eb9e44b);
trajeto_json.addTo(map_4186306e9b7fcd80c184ec506da89a65);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -179,9 +179,9 @@
var marcadorEquipamento = L.marker([0, 0], {
icon: customIcon
}).addTo(map_8784e4a92e0d8028478529607eb9e44b);
}).addTo(map_4186306e9b7fcd80c184ec506da89a65);
var marcadorBase = L.marker([0, 0], {}).addTo(map_8784e4a92e0d8028478529607eb9e44b);
var marcadorBase = L.marker([0, 0], {}).addTo(map_4186306e9b7fcd80c184ec506da89a65);
var icon = L.AwesomeMarkers.icon(
{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
);
@ -246,7 +246,7 @@
}
if (foco) {
map_8784e4a92e0d8028478529607eb9e44b.setView(novaPosicao, map_8784e4a92e0d8028478529607eb9e44b.getZoom());
map_4186306e9b7fcd80c184ec506da89a65.setView(novaPosicao, map_4186306e9b7fcd80c184ec506da89a65.getZoom());
}
}
@ -268,7 +268,7 @@
marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_8784e4a92e0d8028478529607eb9e44b.setView(novaPosicao, map_8784e4a92e0d8028478529607eb9e44b.getZoom());*/
map_4186306e9b7fcd80c184ec506da89a65.setView(novaPosicao, map_4186306e9b7fcd80c184ec506da89a65.getZoom());*/
});
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

42
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AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/health_worker/modulos/direcional.py
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@ -42,6 +42,7 @@ class ModuloDirecional(ModuloDiagnosticoBase):
maior_freq = max(freqs.values() if freqs != {} else [0])
if not conectado:
saude = 0
motivos.append("Desconectado")
elif maior_freq == 0:
saude = 0
motivos.append("Sem resposta de todos os parametros (freq = 0 Hz)")

1
AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/health_worker/modulos/movimentacao.py
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@ -53,6 +53,7 @@ class ModuloMovimentacao(ModuloDiagnosticoBase):
maior_freq = max(freqs.values() if freqs != {} else [0])
if not conectado:
saude = 0
motivos.append("Desconectado")
elif maior_freq == 0:
saude = 0
motivos.append("Sem resposta de todos os parametros (freq = 0 Hz)")

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@ -11,13 +11,14 @@ def definir_comando(pid: PIDAdaptativo, envio_necessario: bool):
try:
_operacao = ContextoGlobalRedis.get_operacao()
_tipo_controle = TiposControladorDirecional(_operacao.get("Dir", {}).get("tipo_controle", TiposControladorDirecional.MPC.value))
_controle = ContextoGlobalRedis.get_controle()
_contexto = ContextoGlobalRedis.get_contexto()
_equipamento = ContextoGlobalRedis.get_equipamento()
_trajetoria = _contexto.get("Trajetoria", {})
_snr = ContextoGlobalRedis.get_modulo(T_Code.Snr)
visual_worker_ativado = _operacao.get("Snr", {}).get("sonar_ativado", False)
visual_worker_ativado = _controle.get("sonar_ativado", False)
visual_worker_operante = (_snr.get("saude", {}).get("status", StatusModulo.DESCONECTADO.value)) == StatusModulo.OPERANTE.value
_dados_vw = ContextoGlobalRedis.get(CtxKey.DadosVisualWorker, {})
_snapshot_vw = _dados_vw.get("matriz_confianca")
@ -130,7 +131,6 @@ def definir_comando(pid: PIDAdaptativo, envio_necessario: bool):
return _montar_comando_retorno(comando, latencia=latencia)
elif _tipo_controle == TiposControladorDirecional.PID:
_controle = ContextoGlobalRedis.get_controle()
angulo_max = _controle.get("angulo_max", 30)
velocidade_percentual = _controle.get("velocidade_sp", 0)

5
AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/movimentacao.py
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@ -7,6 +7,7 @@ from manager_worker.filtros import FiltroVelocidade
def definir_comando(parada_necessaria: bool, erro: bool, filtro_vel: FiltroVelocidade, erro_orientacao: float = None):
try:
_operacao = ContextoGlobalRedis.get_operacao()
_controle = ContextoGlobalRedis.get_controle()
status_operacao = StatusOperacao(_operacao.get("status", StatusOperacao.NaoIniciado.value))
finalizando = _operacao.get("finalizando", False)
@ -27,7 +28,7 @@ def definir_comando(parada_necessaria: bool, erro: bool, filtro_vel: FiltroVeloc
_dados_vw = ContextoGlobalRedis.get(CtxKey.DadosVisualWorker, {})
_snr = ContextoGlobalRedis.get_modulo(T_Code.Snr)
sonar_ativado = _operacao.get("Snr", {}).get("sonar_ativado", False)
sonar_ativado = _controle.get("sonar_ativado", False)
visual_worker_operante = (_snr.get("saude", {}).get("status", StatusModulo.DESCONECTADO.value)) == StatusModulo.OPERANTE.value
analise_deteccao_atualizada = (time.perf_counter() - _dados_vw.get("matriz_confianca", {}).get("ts", 10.0) <= 1.0)
obstaculo_detectado = _dados_vw.get("matriz_confianca", {}).get("block", {}).get("decision", {}).get("parar", False) if analise_deteccao_atualizada else False
@ -38,7 +39,7 @@ def definir_comando(parada_necessaria: bool, erro: bool, filtro_vel: FiltroVeloc
op_modo = ModoOperacao(_operacao.get("modo", ModoOperacao.NaoDefinido.value))
_contexto = ContextoGlobalRedis.get_contexto()
_controle = ContextoGlobalRedis.get_controle()
pulverizador_automatico = _controle.get("pulverizador_automatico", False)
#ervas_no_radar = _contexto.get("Gerais", {}).get("ervas_no_radar", False)
#percentual_ervas_no_radar = (_contexto.get("Gerais", {}).get("percentual_ervas_no_radar", 0)) * 100.0

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