ajustes lora

AgroBase/AgroBase/Models/LoRaModel.cs

@@ -203,16 +203,18 @@ namespace AgroBase.Models
     public class LoRaProtocoloTransmissaoSensoresModel
     {
         public double PercentualBateria { get; set; }
-        public double PercentualReservatorio { get; set; }
-        public double PressaoLinha { get; set; }
+        public double TemperaturaMotores { get; set; }
+        public double TemperaturaCampo { get; set; }
         public double DistanciaPercorrida { get; set; }
         public double OrientacaoCaminho { get; set; }
         public double Velocidade { get; set; }
+
+        public double PercentualReservatorio { get; set; }
+        public double PressaoLinha { get; set; }
         public double ErvasIdentificadas { get; set; }
-        public double TemperaturaMotores { get; set; }
-        public double TemperaturaCampo { get; set; }
         public double HerbicidaConsumido { get; set; }
         public double HerbicidaPorErva { get; set; }
+        public double PercentualErvasTerreno { get; set; }
     }
 
     public class LoRaProtocoloTransmissaoOperacaoModel

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -1739,6 +1739,7 @@ namespace AgroBase.Models
             {
                 VelocidadeMedia = _DispMvd.Dados.VelocidadeMedia,
                 RPMMedio = _DispMvd.Dados.Modulos.Where(x => x.MovMotor.Inicializado).DefaultIfEmpty()?.Average(x => x?.MovMotor?.RPM_Roda ?? 0) ?? 0,
+                TemperaturaMedia = _DispMvd.Dados.Modulos.Where(x => x.MovMotor.Inicializado).DefaultIfEmpty()?.Average(x => x?.MovMotor?.Temperatura ?? 0) ?? 0,
                 TempoMovimentoSegs = _DispMvd.Dados.TempoEmAtividade,
                 DistanciaPercorridaTotal = _DispMvd.Dados.DistanciaPercorridaTotal, 
                 DistanciaPercorridaParcial = _DispMvd.Dados.DistanciaPercorridaParcial, 
@@ -1951,6 +1952,7 @@ namespace AgroBase.Models
         public double TempoMovimentoSegs { get; set; }
         public double DistanciaPercorridaTotal { get; set; }
         public double DistanciaPercorridaParcial { get; set; }
+        public double TemperaturaMedia { get; set; }
         public DateTime TempoMovimento
         {
             get
@@ -1969,6 +1971,7 @@ namespace AgroBase.Models
                 VelocidadeMedia = VelocidadeMedia, 
                 RPMMedio = RPMMedio, 
                 TempoMovimentoSegs = TempoMovimentoSegs, 
+                TemperaturaMedia = TemperaturaMedia, 
                 Dir_Status = Dir_Status, 
                 MovEsq_Status = MovEsq_Status, 
                 MovDir_Status = MovDir_Status,

AgroBase/AgroBase/Services/CANService.cs

@@ -139,6 +139,7 @@ namespace AgroBase.Services
         Command8 = 108,
         Command9 = 109,
         Command10 = 110,
+        Command11 = 111,
     }
 
     public interface ICanMessageHandler

AgroBase/AgroBase/Services/LoRaBaseService.cs

@@ -408,6 +408,7 @@ namespace AgroBase.Services
                             double _altitude = LoRaSerializer.DescompactarDecimal(dados, 2);
                             double _velocidade = LoRaSerializer.DescompactarDecimal(dados, 4);
                             double _orientacao = LoRaSerializer.DescompactarDecimal(dados, 6);
+
                             equipamento.Coordenadas.Orientacao = _orientacao;
                             equipamento.Coordenadas.Altitude = _altitude;
                             equipamento.Coordenadas.Velocidade = _velocidade;
@@ -419,6 +420,7 @@ namespace AgroBase.Services
                             TiposCorrecaoGPS _fix = (TiposCorrecaoGPS)((int)dados[3]);
                             int _n_satelites = (int)dados[4];
                             double _precisao = LoRaSerializer.DescompactarDecimal(dados, 5);
+
                             equipamento.Coordenadas.Inicializado = _inicializado;
                             equipamento.Coordenadas.Correcao = _fix;
                             equipamento.Coordenadas.NSatelites = _n_satelites;
@@ -455,6 +457,38 @@ namespace AgroBase.Services
                             equipamento.Operacao.idxRuaAtual = _idx_rua;
                             break;
                         }
+                    case DadosLoRaParse.DadosSensores:
+                        {
+                            int _percentual_bateria = (int)dados[2];
+                            int _temperatura_motores = (int)dados[3];
+                            int _temperatura_campo = (int)dados[4];
+                            int _distancia_percorrida = (int)dados[5];
+                            int _velocidade = (int)dados[6];
+
+                            equipamento.Sensores.PercentualBateria = _percentual_bateria;
+                            equipamento.Sensores.TemperaturaMotores = _temperatura_motores;
+                            equipamento.Sensores.TemperaturaCampo = _temperatura_campo;
+                            equipamento.Sensores.DistanciaPercorrida = _distancia_percorrida;
+                            equipamento.Sensores.Velocidade = _velocidade;
+                            break;
+                        }
+                    case DadosLoRaParse.DadosPulverizador:
+                        {
+                            int _percentual_reservatorio = (int)dados[2];
+                            int _pressao_linha = (int)dados[3];
+                            int _ervas_identificadas = (int)dados[4];
+                            int _herbicida_consumido = (int)dados[5];
+                            int _herbicida_por_erva = (int)dados[6];
+                            int _percentual_ervas_terreno = (int)dados[7];
+
+                            equipamento.Sensores.PercentualReservatorio = _percentual_reservatorio;
+                            equipamento.Sensores.PressaoLinha = _pressao_linha;
+                            equipamento.Sensores.ErvasIdentificadas = _ervas_identificadas;
+                            equipamento.Sensores.HerbicidaConsumido = _herbicida_consumido;
+                            equipamento.Sensores.HerbicidaPorErva = _herbicida_por_erva;
+                            equipamento.Sensores.PercentualErvasTerreno = _percentual_ervas_terreno;
+                            break;
+                        }
                     case DadosLoRaParse.DadosControle:
                         {
                             

AgroBase/AgroBase/Services/LoRaEspService.cs

@@ -108,6 +108,12 @@ namespace AgroBase.Services
                     Variaveis.LoraService?.EnviarDadosLoRaViaCAN(dado);
                 }
 
+                List<byte[]> dadosSensores = LoRaSerializer.SerializeOperacao(_Sensoriamento);
+                foreach (var dado in dadosSensores)
+                {
+                    Variaveis.LoraService?.EnviarDadosLoRaViaCAN(dado);
+                }
+
                 List<byte[]> dadosGps = LoRaSerializer.SerializeGPS(_Sensoriamento.Gps);
                 foreach (var dado in dadosGps)
                 {
@@ -129,6 +135,8 @@ namespace AgroBase.Services
             ComandoControle = (int)CanMessagePosicaoDados.Command7, 
             DadosControle = (int)CanMessagePosicaoDados.Command8, 
             DadosOperacao = (int)CanMessagePosicaoDados.Command9,
+            DadosSensores = (int)CanMessagePosicaoDados.Command10,
+            DadosPulverizador = (int)CanMessagePosicaoDados.Command11,
         }
 
         public enum LoRaCaracteresEspeciais

AgroBase/AgroBase/Services/LoRaSerializer.cs

@@ -302,17 +302,43 @@ namespace AgroBase.Services
 
         public static List<byte[]> SerializeOperacao(OperacaoSensoriamentoLogModel sensoriamento)
         {
-            List<byte> operacao = new List<byte>();
-            operacao.AddRange(CanPrefix(DadosLoRaParse.DadosOperacao));
-            operacao.Add((byte)(sensoriamento.StatusOperacao)); // 1 byte
-            operacao.Add((byte)sensoriamento.Trajetoria.StatusCarro); // 1 byte
-            operacao.Add((byte)sensoriamento.Trajetoria.PercentualOperacao); // 1 byte
-            operacao.Add((byte)sensoriamento.Trajetoria.PercentualRuaAtual); // 1 byte
-            operacao.Add((byte)sensoriamento.Trajetoria.IdxRuaAtual); // 1 byte
+            List<byte> _operacao = new List<byte>();
+            _operacao.AddRange(CanPrefix(DadosLoRaParse.DadosOperacao));
+            _operacao.Add((byte)(sensoriamento.StatusOperacao)); // 1 byte
+            _operacao.Add((byte)sensoriamento.Trajetoria.StatusCarro); // 1 byte
+            _operacao.Add((byte)Convert.ToInt32(sensoriamento.Trajetoria.PercentualOperacao)); // 1 byte
+            _operacao.Add((byte)Convert.ToInt32(sensoriamento.Trajetoria.PercentualRuaAtual)); // 1 byte
+            _operacao.Add((byte)sensoriamento.Trajetoria.IdxRuaAtual); // 1 byte
 
             return new List<byte[]>()
             {
-                operacao.ToArray(),
+                _operacao.ToArray(),
+            };
+        }
+
+        public static List<byte[]> SerializeSensores(OperacaoSensoriamentoLogModel sensoriamento)
+        {
+            List<byte> _sensores = new List<byte>();
+            _sensores.AddRange(CanPrefix(DadosLoRaParse.DadosSensores));
+            _sensores.Add((byte)Convert.ToInt32(sensoriamento.Bateria.PorcentagemBateria)); // 1 byte
+            _sensores.Add((byte)Convert.ToInt32(sensoriamento.Movimentacao.TemperaturaMedia)); // 1 byte
+            _sensores.Add((byte)Convert.ToInt32(sensoriamento.Movimentacao.TemperaturaMedia)); // 1 byte
+            _sensores.Add((byte)Convert.ToInt32(sensoriamento.Trajetoria.AnguloCaminho)); // 1 byte
+            _sensores.Add((byte)Convert.ToInt32(sensoriamento.Movimentacao.VelocidadeMedia)); // 1 byte
+
+            List<byte> _pulverizador = new List<byte>();
+            _pulverizador.AddRange(CanPrefix(DadosLoRaParse.DadosPulverizador));
+            _pulverizador.Add((byte)Convert.ToInt32(sensoriamento.Atuador.PercentualReservatorio)); // 1 byte
+            _pulverizador.Add((byte)Convert.ToInt32(sensoriamento.Atuador.PressaoLinha)); // 1 byte
+            _pulverizador.Add((byte)Convert.ToInt32(sensoriamento.Atuador.ErvasIdentificadas.Sum(x => x.Values.Sum()))); // 1 byte
+            _pulverizador.Add((byte)Convert.ToInt32(sensoriamento.Atuador.HerbicidaConsumido)); // 1 byte
+            _pulverizador.Add((byte)Convert.ToInt32(sensoriamento.Atuador.HerbicidaPorErva)); // 1 byte
+            _pulverizador.Add((byte)Convert.ToInt32(sensoriamento.Atuador.PercentualErvasTerreno)); // 1 byte
+
+            return new List<byte[]>()
+            {
+                _sensores.ToArray(),
+                _pulverizador.ToArray(),
             };
         }
 

AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs

@@ -183,8 +183,8 @@ namespace AgroBase.Services.Operadores
                 ("configurado", true), 
                 ("modo", Variaveis.OperacaoEmAndamento.Modo),
                 ("tempo_aguardar_inicio_operacao", Variaveis.OperacaoEmAndamento.TempoIniciarOperacao), 
-                ("modulos_mandatorios", Variaveis.OperacaoEmAndamento.ModulosMandatorios.Select(x => (int)x.Dispositivo).ToArray()), 
-                ("parametros_mandatorios", Variaveis.OperacaoEmAndamento.ParametrosMandatorios.Select(x => (int)x.Parametro).ToArray()), 
+                ("modulos_mandatorios", Variaveis.OperacaoEmAndamento.ModulosMandatorios.Where(x => x.Mandatorio && x.Utilizar).Select(x => (int)x.Dispositivo).ToArray()), 
+                ("parametros_mandatorios", Variaveis.OperacaoEmAndamento.ParametrosMandatorios.Where(x => x.Mandatorio && x.Utilizar).Select(x => (int)x.Parametro).ToArray()), 
                 ("Mov", new
                     {
                         percent_vel_max = _Controle.PercentualVelocidadeMax,

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState

@@ -22,5 +22,5 @@
       "top_topics_and_observing_domains": [  ]
    } ],
    "hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
-   "next_scheduled_calculation_time": "13398455528649993"
+   "next_scheduled_calculation_time": "13398455528650013"
 }

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG

@@ -1,3 +1,3 @@
-2025/07/30-21:33:49.609 56e4 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/07/30-21:33:49.618 56e4 Recovering log #3
-2025/07/30-21:33:49.621 56e4 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/07/31-07:22:39.179 52d8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/07/31-07:22:39.186 52d8 Recovering log #3
+2025/07/31-07:22:39.189 52d8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old

@@ -1,3 +1,3 @@
-2025/07/30-21:19:10.001 514 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/07/30-21:19:10.034 514 Recovering log #3
-2025/07/30-21:19:10.037 514 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/07/30-21:33:49.609 56e4 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/07/30-21:33:49.618 56e4 Recovering log #3
+2025/07/30-21:33:49.621 56e4 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State

@@ -1 +1 @@
-{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13398482057963342","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":11735},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"192.168.1.10","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":"13398517414548096","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":92405},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:609:f200:301a:6f15:c737:9f2","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/TransportSecurity

@@ -1 +1 @@
-{"sts":[{"expiry":1785458055.97563,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1753922055.975635}],"version":2}
+{"sts":[{"expiry":1785493412.917201,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1753957412.917203}],"version":2}

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Session Storage/LOG

@@ -1,3 +1,3 @@
-2025/07/30-21:42:34.039 5418 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/07/30-21:42:34.041 5418 Recovering log #3
-2025/07/30-21:42:34.045 5418 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/07/31-07:29:00.605 52d8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/07/31-07:29:00.606 52d8 Recovering log #3
+2025/07/31-07:29:00.610 52d8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Session Storage/LOG.old

@@ -1,3 +1,3 @@
-2025/07/30-21:28:06.850 514 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/07/30-21:28:06.855 514 Recovering log #3
-2025/07/30-21:28:06.864 514 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/07/30-21:42:34.039 5418 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/07/30-21:42:34.041 5418 Recovering log #3
+2025/07/30-21:42:34.045 5418 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Site Characteristics Database/LOG

@@ -1,3 +1,4 @@
-2025/07/30-21:33:49.527 1e74 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/07/30-21:33:49.529 1e74 Recovering log #12
-2025/07/30-21:33:49.529 1e74 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000012.log 
+2025/07/31-07:22:39.101 67a4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/07/31-07:22:39.103 67a4 Recovering log #7
+2025/07/31-07:22:39.103 67a4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/07/31-07:22:39.104 67a4 Delete type=2 #5

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Site Characteristics Database/LOG.old

@@ -1,3 +1,3 @@
-2025/07/30-21:19:09.902 3b4c Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/07/30-21:19:09.904 3b4c Recovering log #12
-2025/07/30-21:19:09.904 3b4c Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000012.log 
+2025/07/30-21:33:49.527 1e74 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/07/30-21:33:49.529 1e74 Recovering log #12
+2025/07/30-21:33:49.529 1e74 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000012.log 

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/direcional.py

@@ -44,7 +44,7 @@ def definir_comando():
                 "MatrizCusto": _dados_vw.get("matrizes", {}).get("custo", [[]]),
             },
             "RegrasAtivas": {
-                "matriz_custo": True,
+                "matriz_custo": False,
                 "deteccao_obstaculos": True,
             },
             "Equipamento": {