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ajustado referenciamento

This commit is contained in:
Diego Freitas 2025-04-14 19:36:55 -03:00
parent dd63a55523
commit 91ff480bbb
25 changed files with 183 additions and 127 deletions
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AgroBase/.vs/AgroBase/v17/DocumentLayout.json
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14
AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs
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@ -222,7 +222,7 @@ namespace AgroBase.Forms.Operacoes
double Angulo = Modulo.DirMotor.Angulo;
Label lblAngulo = pnl.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lblDir_" + ID);
lblAngulo.Text = ID + " " + Angulo.ToString("000") + "º";
lblAngulo.Text = ID + " " + Angulo.ToString("000") + "º (" + Modulo.DirMotor.SentidoReal.ToString() + ")";
lblAngulo.ForeColor = Modulo.DirMotor.Inicializado ? Color.Green : Color.Red;
Label lblMov = pnl.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lblMov_" + ID);
@ -474,12 +474,12 @@ namespace AgroBase.Forms.Operacoes
gridDados.Rows[20].Cells[1].Value = _Sensoriamento.Atuador.VazaoMedia.ToString("0.00");
gridDados.Rows[21].Cells[1].Value = _Sensoriamento.Atuador.VolumeVazaoMl.ToString("0.00");
gridDados.Rows[22].Cells[1].Value = "";
gridDados.Rows[23].Cells[1].Value = _SensorIMU.Roll.ToString("0.00");
gridDados.Rows[24].Cells[1].Value = _SensorIMU.Pitch.ToString("0.00");
gridDados.Rows[25].Cells[1].Value = _SensorIMU.Yaw.ToString("0.00");
gridDados.Rows[26].Cells[1].Value = _SensorIMU.Temperatura.ToString("0.00");
gridDados.Rows[27].Cells[1].Value = _SensorIMU.Pressao.ToString("0.00");
gridDados.Rows[28].Cells[1].Value = _SensorIMU.Altitude.ToString("0.00");
gridDados.Rows[23].Cells[1].Value = (_SensorIMU?.Roll ?? 0).ToString("0.00");
gridDados.Rows[24].Cells[1].Value = (_SensorIMU?.Pitch ?? 0).ToString("0.00");
gridDados.Rows[25].Cells[1].Value = (_SensorIMU?.Yaw ?? 0).ToString("0.00");
gridDados.Rows[26].Cells[1].Value = (_SensorIMU?.Temperatura ?? 0).ToString("0.00");
gridDados.Rows[27].Cells[1].Value = (_SensorIMU?.Pressao ?? 0).ToString("0.00");
gridDados.Rows[28].Cells[1].Value = (_SensorIMU?.Altitude ?? 0).ToString("0.00");
}
#endregion

4
AgroBase/AgroBase/Models/MKS057DModel.cs
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@ -12,9 +12,7 @@ namespace AgroBase.Models
{
get
{
// Houve comandos recebidos do driver dentro dos ultimos 10 segundos
int tempo = MKS057DCanService.UltimoReferenciamento.AddSeconds(10) > DateTime.Now || MKS057DCanService.Referenciando ? 120 : 10;
return UltimoComandoRecebido.AddSeconds(tempo) > DateTime.Now;
return UltimoComandoRecebido.AddSeconds(10) > DateTime.Now;
}
}
public DateTime UltimoComandoRecebido { get; set; }

96
AgroBase/AgroBase/Models/Modules/DirecionalModel.cs
View File

@ -54,7 +54,14 @@ namespace AgroBase.Models.Modules
{
get
{
return IN1_Atuado ? Sentido.Horario : Sentido.Antihorario;
if (Mod_ID == "EF" || Mod_ID == "DT")
{
return IN1_Atuado ? Sentido.Antihorario : Sentido.Horario;
}
else
{
return IN1_Atuado ? Sentido.Horario : Sentido.Antihorario;
}
}
}
public double Angulo
@ -75,17 +82,17 @@ namespace AgroBase.Models.Modules
{
get
{
return (Leitura?.Entradas?[0] ?? false);
return !(Leitura?.Entradas?[0] ?? false);
}
}
public bool IN2_Atuado
{
get
{
return (Leitura?.Entradas?[1] ?? false);
return !(Leitura?.Entradas?[1] ?? false);
}
}
public bool Referenciando { get; set; } = false;
public bool Comandar { get; set; } = false;
public bool Inicializado
@ -321,65 +328,72 @@ namespace AgroBase.Models.Modules
public async Task ReferenciaMotor()
{
byte Addr = EnderecoByte;
MKS057DCanService.IniciarReferenciamento(Addr);
Referenciando = true;
await Task.Delay(1000);
//await MKS057DService.EnviarComandoControle(MKS057DService.MontarComandoSetZero(Addr));
await SetZero(Addr);
await SetZero();
bool Sucesso = false;
bool EstadoInicial = IN1_Atuado;
double AnguloEntrada = 9999;
double AnguloSaida = 9999;
DateTime TimeoutGeral = DateTime.Now.AddMinutes(2); // Timeout geral para o processo.
Sentido _sentido = SentidoReal == Sentido.Horario ? Sentido.Antihorario : Sentido.Horario;
double _anguloSP = 180 * (_sentido == Sentido.Antihorario ? -1 : 1);
double _anguloSP = 360 * (_sentido == Sentido.Antihorario ? -1 : 1);
double _anguloSpAnterior = 0;
while (!Sucesso && TimeoutGeral > DateTime.Now)
{
int VelocidadeGiro = DefineVelocidadeReferenciamento();
//await MKS057DService.EnviarComandoControle(MKS057DService.MontarComandoMovimento(Addr, _angulo, VelocidadeGiro, _sentido));
MKS057DCanService.Movimento(Addr, _anguloSP, VelocidadeGiro, _sentido);
if (_anguloSP != _anguloSpAnterior)
{
MKS057DCanService.Movimento(EnderecoByte, _anguloSP, VelocidadeGiro, _sentido);
_anguloSpAnterior = _anguloSP;
}
if (IN1_Atuado != EstadoInicial && AnguloEntrada == 9999)
{
Console.WriteLine($"Angulo de Entrada Definido: {Angulo}");
AnguloEntrada = Angulo;
MKS057DCanService.Movimento(Addr, Angulo, VelocidadeGiro, _sentido);
await SetZero(Addr);
_sentido = SentidoReal == Sentido.Horario ? Sentido.Antihorario : Sentido.Horario;
_anguloSP = 180 * (_sentido == Sentido.Antihorario ? -1 : 1);
//MKS057DCanService.Movimento(Addr, Angulo, VelocidadeGiro, _sentido);
//await Task.Delay(100);
//await SetZero(Addr);
//await Task.Delay(500);
_sentido = _sentido == Sentido.Horario ? Sentido.Antihorario : Sentido.Horario;
_anguloSP *= -1;
Console.WriteLine($"Invertendo Sentido de Giro para {_sentido.ToString()}");
}
else if (IN1_Atuado == EstadoInicial && AnguloEntrada != 9999 && AnguloSaida == 9999)
if (IN1_Atuado == EstadoInicial && AnguloEntrada != 9999 && AnguloSaida == 9999)
{
Console.WriteLine($"Angulo de Saída Definido: {Angulo}");
AnguloSaida = Angulo;
MKS057DCanService.Movimento(Addr, Angulo, VelocidadeGiro, _sentido);
_sentido = _sentido == Sentido.Horario ? Sentido.Antihorario : Sentido.Horario;
Console.WriteLine($"Invertendo Sentido de Giro para {_sentido.ToString()}");
_sentido = SentidoReal == Sentido.Horario ? Sentido.Antihorario : Sentido.Horario;
_anguloSP = AnguloSaida / 2.0;
_anguloSP = CalcularCentroCompensado(AnguloEntrada, AnguloSaida, FolgaMecanica, _sentido);
//await MKS057DService.EnviarComandoControle(MKS057DService.MontarComandoMovimento(Addr, _centro, 36, Sentido.Horario));
MKS057DCanService.Movimento(Addr, _anguloSP, VelocidadeGiro, _sentido);
await Task.Delay(2000);
await SetZero(Addr);
//MKS057DCanService.Movimento(EnderecoByte, _centro, VelocidadeGiro, _sentido);
//await Task.Delay(2000);
//await SetZero();
}
Sucesso = AnguloEntrada != 9999 && AnguloSaida != 9999 && FuncoesMatematicas.ValorEstaEntre(AnguloSaida, 0, 0.5);
Sucesso = AnguloEntrada != 9999 && AnguloSaida != 9999 && FuncoesMatematicas.ValorEstaEntre(Angulo, _anguloSP, 0.5);
if (Sucesso)
{
await SetZero();
Console.WriteLine($"Referenciamento Concluído!");
}
}
if (!Sucesso)
{
//await MKS057DService.EnviarComandoControle(MKS057DService.MontarComandoParada(Addr));
MKS057DCanService.Parar(Addr);
}
MKS057DCanService.FinalizarReferenciamento();
Referenciando = false;
}
private int DefineVelocidadeReferenciamento()
@ -393,7 +407,7 @@ namespace AgroBase.Models.Modules
double centro = (entrada + saida) / 2.0;
// Determina o sentido do giro baseado na diferença
double direcao = sentido == Sentido.Horario ? 1 : -1;
double direcao = sentido == Sentido.Horario ? -1 : 1;
double compensacao = (folga / 2.0) * direcao;
@ -404,19 +418,27 @@ namespace AgroBase.Models.Modules
return centroCompensado;
}
private async Task SetZero(byte Addr)
private async Task SetZero()
{
MKS057DCanService.SetZero(EnderecoByte);
for (int i = 0; i < 5; i++)
{
MKS057DCanService.SetZero(Addr);
await Task.Delay(500);
if (FuncoesMatematicas.ValorEstaEntre(Angulo, 0, 1))
{
Console.WriteLine($"Set Zero");
break;
}
await Task.Delay(1000);
else
{
MKS057DCanService.SetZero(EnderecoByte);
}
}
MKS057DCanService.Movimento(EnderecoByte, 0, 10, Sentido.Parado);
Console.WriteLine($"Comando Angulo Zero: {Angulo}");
}
}

28
AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
View File

@ -318,21 +318,18 @@ namespace AgroBase.Models.Modules
foreach (var Modulo in Modulos.Where(x => x.DirMotor.Inicializado))
{
byte modAddr = Modulo.DirMotor.EnderecoByte;
if (!MKS057DCanService.Referenciando || (MKS057DCanService.Referenciando && MKS057DCanService.AddrRef == modAddr))
{
//MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoRequisicaoPulsos(modAddr));
MKS057DCanService.RequisitarDado(modAddr, MKS057DCanService.MksHandler.MksFuncCode.PulsosRecebidos);
//MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoRequisicaoIO(modAddr));
MKS057DCanService.RequisitarDado(modAddr, MKS057DCanService.MksHandler.MksFuncCode.IO);
//MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoRequisicaoPulsos(modAddr));
MKS057DCanService.RequisitarDado(modAddr, MKS057DCanService.MksHandler.MksFuncCode.PulsosRecebidos);
//MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoRequisicaoIO(modAddr));
MKS057DCanService.RequisitarDado(modAddr, MKS057DCanService.MksHandler.MksFuncCode.IO);
// Verifica se o angulo de set point do motor em questao e diferente do angulo atual, e se for, reenvia o comando para garantir que o motor esteja coerente com o set point
if (!MKS057DCanService.Referenciando && (Modulo.DirMotor.UltimoComandoEnviado.AddMilliseconds(MKS057DCanService.TaxaAmostragem) < DateTime.Now) && !Modulo.DirMotor.AtingiuAnguloSP)
// Verifica se o angulo de set point do motor em questao e diferente do angulo atual, e se for, reenvia o comando para garantir que o motor esteja coerente com o set point
if (!MKS057DCanService.Referenciando && (Modulo.DirMotor.UltimoComandoEnviado.AddMilliseconds(MKS057DCanService.TaxaAmostragem) < DateTime.Now) && !Modulo.DirMotor.AtingiuAnguloSP)
{
var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle?.FirstOrDefault(x => x.Tipo == T_Code.Dir);
if (Controle != null)
{
var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle?.FirstOrDefault(x => x.Tipo == T_Code.Dir);
if (Controle != null)
{
Modulo.DirMotor.EnviarComandoControle(Controle.UltimaDirecao);
}
Modulo.DirMotor.EnviarComandoControle(Controle.UltimaDirecao);
}
}
}
@ -397,10 +394,11 @@ namespace AgroBase.Models.Modules
TipoMovimentoDirecional tipoControle = Variaveis.OperacaoEmAndamento.Controle.TipoMovimento;
Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = TipoMovimentoDirecional.Diagnostico;
var ModsRef = Modulos.Where(x => x.DirMotor.Comandar && x.DirMotor.Inicializado && !x.DirMotor.IN1_Atuado).ToList();
var ModsRef = Modulos.Where(x => x.DirMotor.Comandar && x.DirMotor.Inicializado).ToList();
foreach (var Modulo in ModsRef)
{
await Modulo.DirMotor.ReferenciaMotor();
Task.Run(async () => await Modulo.DirMotor.ReferenciaMotor());
//await Modulo.DirMotor.ReferenciaMotor();
}
Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = tipoControle;
}

14
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
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@ -1823,7 +1823,7 @@ namespace AgroBase.Models
{
Variaveis.OperacaoEmAndamento.AtualizarDadosControle(true);
}
else
else if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.Manual && !MKS057DCanService.Referenciando)
{
GeneralJoystick.EnviaComandoMotor(Keys.Escape, T_Code.Mov, true);
GeneralJoystick.EnviaComandoMotor(Keys.Escape, T_Code.Dir, true);
@ -2373,7 +2373,7 @@ namespace AgroBase.Models
Cod |= 0x1000; // Bit 12: Movimentação Direita inoperante
// Verificação de falhas específicas em `modsComFalha`
foreach (var modFalha in modsComFalha)
foreach (var modFalha in modsComFalha ?? new List<T_Code>())
{
switch (modFalha)
{
@ -2426,7 +2426,7 @@ namespace AgroBase.Models
}
// Verificação de `atuModsFalha`
foreach (var falha in atuModsFalha)
foreach (var falha in atuModsFalha ?? new List<string>())
{
switch (falha)
{
@ -2458,7 +2458,7 @@ namespace AgroBase.Models
}
// Verificação de `senModsFalha`
foreach (var falha in senModsFalha)
foreach (var falha in senModsFalha ?? new List<string>())
{
switch (falha)
{
@ -2511,7 +2511,7 @@ namespace AgroBase.Models
}
// Verificação de `dirModsFalha`
foreach (var falha in dirModsFalha)
foreach (var falha in dirModsFalha ?? new List<string>())
{
switch (falha)
{
@ -2531,7 +2531,7 @@ namespace AgroBase.Models
}
// Verificação de `movEsqModsFalha`
foreach (var falha in movEsqModsFalha)
foreach (var falha in movEsqModsFalha ?? new List<string>())
{
switch (falha)
{
@ -2545,7 +2545,7 @@ namespace AgroBase.Models
}
// Verificação de `movDirModsFalha`
foreach (var falha in movDirModsFalha)
foreach (var falha in movDirModsFalha ?? new List<string>())
{
switch (falha)
{

2
AgroBase/AgroBase/Services/CANService.cs
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@ -333,7 +333,7 @@ namespace AgroBase.Services
{
_PortaCAN.Write(comando);
Console.WriteLine($"[CAN] Frame enviado: {comando}");
//Console.WriteLine($"[CAN] Frame enviado: {comando}");
}
}

17
AgroBase/AgroBase/Services/MKS057DCanService.cs
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@ -23,12 +23,11 @@ namespace AgroBase.Services
return CanService.IsConnected && SerialService.DispositivosMapeados.Any(x => x.Dispositivo == T_Code.Dir) && DadosLeitura.Any(x => x.Iniciado);
}
}
public static byte AddrRef = 0x00;
public static bool Referenciando
{
get
{
return AddrRef > 0x00;
return Variaveis.OperacaoEmAndamento.DispMvd?.Dados?.Modulos?.Any(x => x?.DirMotor?.Referenciando ?? false) ?? false;
}
}
public static DateTime UltimoReferenciamento = DateTime.MinValue;
@ -36,7 +35,7 @@ namespace AgroBase.Services
{
get
{
return Referenciando ? 100 : 300;
return Referenciando ? 50 : 300;
}
}
@ -133,18 +132,6 @@ namespace AgroBase.Services
return val;
}
public static void IniciarReferenciamento(byte Addr)
{
AddrRef = Addr;
UltimoReferenciamento = DateTime.Now;
}
public static void FinalizarReferenciamento()
{
AddrRef = 0x00;
UltimoReferenciamento = DateTime.Now;
}
#endregion
#region COMANDOS

2
AgroBase/AgroBase/Services/SerialService.cs
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@ -29,7 +29,7 @@ namespace AgroBase.Services
public static List<T_Code> DispositivosConexaoInicial = new List<T_Code>() { T_Code.Mvd, T_Code.Atu, T_Code.Sen };
public static List<T_Code> DispositivosProprios = new List<T_Code>() { T_Code.Atu, T_Code.Sen };
public static List<T_Code> DispositivosModbus = new List<T_Code>() { T_Code.Pzm, T_Code.Wit, T_Code.A05 };
public static List<T_Code> DispositivosCan = new List<T_Code>() { T_Code.Mks, T_Code.Sen, T_Code.Atu };
public static List<T_Code> DispositivosCan = new List<T_Code>() { T_Code.Dir, T_Code.Mks, T_Code.Sen, T_Code.Atu };
public static List<T_Code> DispositivosMultiplos = new List<T_Code>() { T_Code.Bld, T_Code.Mks, T_Code.Mvd, T_Code.Oid, T_Code.Mov, T_Code.Dir };
public static List<DispositivoDetalhesModel> DispositivosMapeados = new List<DispositivoDetalhesModel>();

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18
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_9732a3a481e157ff8ba61a30462a8ce8 {
#map_f39a2eeeafc2e53a380e049fb0eabbad {
position: relative;
width: 100.0%;
height: 100.0%;
@ -39,14 +39,14 @@
<body>
<div class="folium-map" id="map_9732a3a481e157ff8ba61a30462a8ce8" ></div>
<div class="folium-map" id="map_f39a2eeeafc2e53a380e049fb0eabbad" ></div>
</body>
<script>
var map_9732a3a481e157ff8ba61a30462a8ce8 = L.map(
"map_9732a3a481e157ff8ba61a30462a8ce8",
var map_f39a2eeeafc2e53a380e049fb0eabbad = L.map(
"map_f39a2eeeafc2e53a380e049fb0eabbad",
{
center: [0.0, 0.0],
crs: L.CRS.EPSG3857,
@ -60,13 +60,13 @@
var tile_layer_b28cc1434b76a05db69db0ade9dd15a6 = L.tileLayer(
var tile_layer_3f2633897e8c84372d3f03a0dd6f2143 = 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_b28cc1434b76a05db69db0ade9dd15a6.addTo(map_9732a3a481e157ff8ba61a30462a8ce8);
tile_layer_3f2633897e8c84372d3f03a0dd6f2143.addTo(map_f39a2eeeafc2e53a380e049fb0eabbad);
</script>
@ -87,7 +87,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_9732a3a481e157ff8ba61a30462a8ce8);
trajeto_json.addTo(map_f39a2eeeafc2e53a380e049fb0eabbad);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -145,7 +145,7 @@
var marcadorDinamico = L.marker([0, 0], {
icon: customIcon
}).addTo(map_9732a3a481e157ff8ba61a30462a8ce8);
}).addTo(map_f39a2eeeafc2e53a380e049fb0eabbad);
// Conectar ao broker MQTT
const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@ -183,7 +183,7 @@
marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_9732a3a481e157ff8ba61a30462a8ce8.setView(novaPosicao, map_9732a3a481e157ff8ba61a30462a8ce8.getZoom());
map_f39a2eeeafc2e53a380e049fb0eabbad.setView(novaPosicao, map_f39a2eeeafc2e53a380e049fb0eabbad.getZoom());
});
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.Up2Date

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