From baec91d4533fc2ac5fff50e6c76bb8304febdd21 Mon Sep 17 00:00:00 2001 From: Diego Freitas Date: Fri, 10 May 2024 09:28:14 -0300 Subject: [PATCH] ajustado pinout do sensoriamento e encodedr magnetico --- ...16432ce2-25e5-49e3-a81e-18717e226b02.vsidx | Bin 185569 -> 0 bytes ...5d84296f-8b27-43ba-b5b7-5bfd347b3b33.vsidx | Bin 103035 -> 0 bytes ...61bf3278-ad3f-43f5-bd07-b340e06cc84f.vsidx | Bin 0 -> 2289813 bytes ...72d89f63-5d37-4209-ab5f-654b3fa52811.vsidx | Bin 101680 -> 0 bytes ...c33267fb-f565-49f5-9d59-fe5eb868ffd0.vsidx | Bin 2084857 -> 0 bytes ...fdac3546-cc82-4d0d-a574-a916a1282781.vsidx | Bin 108742 -> 0 bytes AgroBase/.vs/AgroBase/v17/.suo | Bin 586240 -> 577536 bytes AgroBase/.vs/AgroBase/v17/DocumentLayout.json | 85 +--- AgroBase/AgroBase/Forms/frmMapa.Designer.cs | 57 ++- AgroBase/AgroBase/Forms/frmMapa.cs | 22 ++ AgroBase/AgroBase/Forms/frmPinout.cs | 3 +- .../Models/Modules/DirecionalModel.cs | 41 +- .../AgroBase/Models/Modules/PinoutModel.cs | 1 + AgroBase/AgroBase/Models/Variaveis.cs | 1 + .../AgroBase/Services/DispositivosService.cs | 12 +- AgroBase/AgroBase/bin/Debug/AgroBase.pdb | Bin 1336832 -> 1338880 bytes AgroBase/AgroBase/bin/Debug/DawnCache/data_1 | Bin 270336 -> 270336 bytes AgroBase/AgroBase/bin/Debug/GPUCache/data_1 | Bin 270336 -> 270336 bytes .../Debug/Logs/GPS/07_05_2024_12_31_32.json | 1 + .../07_05_2024_10_02_45/logsGerais.json | 1 + .../07_05_2024_10_02_45/trajetoria.json | 1 + .../07_05_2024_10_05_24/logsGerais.json | 1 + .../07_05_2024_10_05_24/trajetoria.json | 1 + .../07_05_2024_10_17_23/logsGerais.json | 1 + .../07_05_2024_10_17_23/trajetoria.json | 1 + .../Debug/{ => Parametros}/parametersAtu.par | 0 .../bin/Debug/Parametros/parametersDir.par | 1 + .../parametersDir_BKP.par} | 0 .../Debug/{ => Parametros}/parametersMov.par | 0 .../Debug/{ => Parametros}/parametersSen.par | 0 .../Debug/{ => Parametros}/parametersSen_.par | 0 .../bin/Debug/{ => Parametros}/pinoutAtu.pin | 0 .../bin/Debug/Parametros/pinoutDir.pin | 1 + .../bin/Debug/{ => Parametros}/pinoutMov.pin | 0 .../bin/Debug/Parametros/pinoutSen.pin | 1 + .../bin/Debug/Python/Output/GeoJson.json | 344 +++++++++-------- .../bin/Debug/Python/Output/mapa_gps.html | 23 +- .../Debug/Python/Output/mapa_interativo.html | 41 +- AgroBase/AgroBase/bin/Debug/pinoutDir.pin | 1 - AgroBase/AgroBase/bin/Debug/pinoutSen.pin | 1 - .../AgroBase.csproj.AssemblyReference.cache | Bin 30289 -> 30289 bytes .../AgroBase.csproj.FileListAbsolute.txt | 2 +- .../AgroBase.csproj.GenerateResource.cache | Bin 2457 -> 2457 bytes AgroBase/AgroBase/obj/Debug/AgroBase.pdb | Bin 1336832 -> 1338880 bytes .../DesignTimeResolveAssemblyReferences.cache | Bin 164 -> 139 bytes ...gnTimeResolveAssemblyReferencesInput.cache | Bin 31701 -> 31701 bytes .../Direcional_v6/Direcional_v6.ino | 6 +- .../Direcional_v8/.theia/launch.json | 8 + .../Direcional_v8/Direcional_v8.ino | 362 ++++++++++++++++++ Firmware/Direcional/Direcional_v8/launch.json | 8 + Firmware/Modulos/SerialService.h | 9 + .../Sensoriamento_v8/Sensoriamento_v8.ino | 4 +- 52 files changed, 716 insertions(+), 325 deletions(-) delete mode 100644 AgroBase/.vs/AgroBase/FileContentIndex/16432ce2-25e5-49e3-a81e-18717e226b02.vsidx delete mode 100644 AgroBase/.vs/AgroBase/FileContentIndex/5d84296f-8b27-43ba-b5b7-5bfd347b3b33.vsidx create mode 100644 AgroBase/.vs/AgroBase/FileContentIndex/61bf3278-ad3f-43f5-bd07-b340e06cc84f.vsidx delete mode 100644 AgroBase/.vs/AgroBase/FileContentIndex/72d89f63-5d37-4209-ab5f-654b3fa52811.vsidx delete mode 100644 AgroBase/.vs/AgroBase/FileContentIndex/c33267fb-f565-49f5-9d59-fe5eb868ffd0.vsidx delete mode 100644 AgroBase/.vs/AgroBase/FileContentIndex/fdac3546-cc82-4d0d-a574-a916a1282781.vsidx create mode 100644 AgroBase/AgroBase/bin/Debug/Logs/GPS/07_05_2024_12_31_32.json create mode 100644 AgroBase/AgroBase/bin/Debug/Operacoes/07_05_2024_10_02_45/logsGerais.json create mode 100644 AgroBase/AgroBase/bin/Debug/Operacoes/07_05_2024_10_02_45/trajetoria.json create mode 100644 AgroBase/AgroBase/bin/Debug/Operacoes/07_05_2024_10_05_24/logsGerais.json create mode 100644 AgroBase/AgroBase/bin/Debug/Operacoes/07_05_2024_10_05_24/trajetoria.json create mode 100644 AgroBase/AgroBase/bin/Debug/Operacoes/07_05_2024_10_17_23/logsGerais.json create mode 100644 AgroBase/AgroBase/bin/Debug/Operacoes/07_05_2024_10_17_23/trajetoria.json rename AgroBase/AgroBase/bin/Debug/{ => Parametros}/parametersAtu.par (100%) create mode 100644 AgroBase/AgroBase/bin/Debug/Parametros/parametersDir.par rename AgroBase/AgroBase/bin/Debug/{parametersDir.par => Parametros/parametersDir_BKP.par} (100%) rename AgroBase/AgroBase/bin/Debug/{ => Parametros}/parametersMov.par (100%) rename AgroBase/AgroBase/bin/Debug/{ => Parametros}/parametersSen.par (100%) rename AgroBase/AgroBase/bin/Debug/{ => Parametros}/parametersSen_.par (100%) rename AgroBase/AgroBase/bin/Debug/{ => Parametros}/pinoutAtu.pin 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zw|1qQMoWHbo|l{#jlz5S%H_5KAx4erFP}&6^po-VSijke)lYlNr+qFd!C{d1NiX%UIO=O}hD9z_m`DahO)u!LbGN*QXf?QjFs!;4*6c+JFrTckz0^6eP+SPf+^0;&YJ!5U3BYCImT8fIcVlic_5j0p_kiz z>1_aiw9=PWR!;xeB~PM%>_D#a9rBI%7%`4|Q$!VBbWMa^3HrEyTaMn?kMGLu*&#=f zqf!1XPOns~#fPh~y!7TK=NGE@h8O?QF)IsDjxWLSqS=x)M5h}Jk+CvOr+XA%EZcTB zK5~i~%<)W}?n#Nf%dw5em&%QP=)Zmb@HO!aHBmO4c1ylSAEat0y z@oHs^984*Jtc(sgjmeP zUa}n$ZbM6IVsNofBVOHpIgEav!BQ_WGaITk8LKseDR!rf(^xy?Le7j?oJFQ`QYVle zOHj^lRaN@3{yqEm?;jiQ`nnLl570KO!ZEHg`3~Q;ZCYRKSs%7pNq%3u&N4 Pontos = new List(); + public frmMapa() { InitializeComponent(); @@ -40,5 +42,25 @@ namespace AgroBase.Forms Mapa.btnCarregar_Click(sender, e); } + private void btnCalcularPontos_Click(object sender, EventArgs e) + { + GPSModel P1 = new GPSModel() + { + Latitude = GPSService.UltimaLeitura.Latitude, + Longitude = GPSService.UltimaLeitura.Longitude, + DataHora = DateTime.Now, + }; + Pontos.Add(P1); + MessageBox.Show("Ponto " + Pontos.Count() + " Registrado!"); + } + + private void btnCalcular_Click(object sender, EventArgs e) + { + double distancia = GPSService.DistanciaDoTrecho(Pontos); + double orientacao = GPSService.CalcularOrientacao(Pontos[0], Pontos[Pontos.Count() - 1]); + MessageBox.Show("Distancia: " + distancia.ToString("0.00") + ", Orientacao: " + orientacao.ToString("0.00")); + + Pontos = new List(); + } } } diff --git a/AgroBase/AgroBase/Forms/frmPinout.cs b/AgroBase/AgroBase/Forms/frmPinout.cs index 59c38aa6d..d172ce082 100644 --- a/AgroBase/AgroBase/Forms/frmPinout.cs +++ b/AgroBase/AgroBase/Forms/frmPinout.cs @@ -227,7 +227,7 @@ namespace AgroBase.Forms Pinout.ExpansorGPIO = chbMCP1.Checked; Pinout.EnderecoExpansor = txtMCP1.Text; - PinoutModel.SalvarPinout(Pinout, "pinout" + Enum.GetName(typeof(T_Code), TipoDisp) + ".pin"); + PinoutModel.SalvarPinout(Pinout, Variaveis.CaminhoParametros + "pinout" + Enum.GetName(typeof(T_Code), TipoDisp) + ".pin"); switch (TipoDisp) { @@ -289,6 +289,7 @@ namespace AgroBase.Forms foreach (var cmb in cmbs) { cmb.Visible = Pinout.Pinos.Any(x => x.Descricao == cmb.Name.Replace("cmb", "")); + cmb.Enabled = cmb.Visible ? Pinout.Pinos.First(x => x.Descricao == cmb.Name.Replace("cmb", "")).Habilitado : false; } cbTipo.SelectedIndex = (int)TipoControlador; diff --git a/AgroBase/AgroBase/Models/Modules/DirecionalModel.cs b/AgroBase/AgroBase/Models/Modules/DirecionalModel.cs index 514e81668..528848f9a 100644 --- a/AgroBase/AgroBase/Models/Modules/DirecionalModel.cs +++ b/AgroBase/AgroBase/Models/Modules/DirecionalModel.cs @@ -59,11 +59,12 @@ namespace AgroBase.Models.Modules FuncoesPinout.PUL, FuncoesPinout.DIR, FuncoesPinout.ENA, - FuncoesPinout.EncoderA, + /*FuncoesPinout.EncoderA, FuncoesPinout.EncoderB, FuncoesPinout.REF000, FuncoesPinout.REF090, - FuncoesPinout.REF270, + FuncoesPinout.REF270,*/ + FuncoesPinout.EncoderAbsoluto } }, new DirSensoriamentoMotor() { @@ -80,11 +81,12 @@ namespace AgroBase.Models.Modules FuncoesPinout.PUL, FuncoesPinout.DIR, FuncoesPinout.ENA, - FuncoesPinout.EncoderA, + /*FuncoesPinout.EncoderA, FuncoesPinout.EncoderB, FuncoesPinout.REF000, FuncoesPinout.REF090, - FuncoesPinout.REF270, + FuncoesPinout.REF270,*/ + FuncoesPinout.EncoderAbsoluto } }, new DirSensoriamentoMotor() { @@ -101,11 +103,12 @@ namespace AgroBase.Models.Modules FuncoesPinout.PUL, FuncoesPinout.DIR, FuncoesPinout.ENA, - FuncoesPinout.EncoderA, + /*FuncoesPinout.EncoderA, FuncoesPinout.EncoderB, FuncoesPinout.REF000, FuncoesPinout.REF090, - FuncoesPinout.REF270, + FuncoesPinout.REF270,*/ + FuncoesPinout.EncoderAbsoluto } }, new DirSensoriamentoMotor() { @@ -122,11 +125,12 @@ namespace AgroBase.Models.Modules FuncoesPinout.PUL, FuncoesPinout.DIR, FuncoesPinout.ENA, - FuncoesPinout.EncoderA, + /*FuncoesPinout.EncoderA, FuncoesPinout.EncoderB, FuncoesPinout.REF000, FuncoesPinout.REF090, - FuncoesPinout.REF270, + FuncoesPinout.REF270,*/ + FuncoesPinout.EncoderAbsoluto } } } @@ -137,15 +141,15 @@ namespace AgroBase.Models.Modules public List ProtocoloConfiguracao(bool Conectar) { List Config = Motores.Select(x => x.ProtocoloConfiguracaoMotor(Conectar)).ToList(); - string ProtocoloMOD = + string ProtocoloMOD = ((int)F_Code.Cfg).ToString() + SerialService.SplitMessage + - "MD" + SerialService.SplitParams + + "MD" + SerialService.SplitParams + (Conectar ? "1" : "0") + SerialService.SplitParams + - _TaxaAmostragem.ToString("00000") + SerialService.SplitParams + - (AA_Ref000 ? "1" : "0") + SerialService.SplitParams + - (AA_Ref090 ? "1" : "0") + SerialService.SplitParams + - (AA_Ref270 ? "1" : "0") + SerialService.SplitParams + - PinoutModel.PinoProtocolo(Pinout, Funcoes); + _TaxaAmostragem.ToString("00000"); // + SerialService.SplitParams + + //(AA_Ref000 ? "1" : "0") + SerialService.SplitParams + + //(AA_Ref090 ? "1" : "0") + SerialService.SplitParams + + //(AA_Ref270 ? "1" : "0") + SerialService.SplitParams + + //PinoutModel.PinoProtocolo(Pinout, Funcoes); Config.Add(ProtocoloMOD); return Config; } @@ -181,12 +185,15 @@ namespace AgroBase.Models.Modules int _angulo = 0; int.TryParse(Dados[3].ToString(), out _angulo); Motor.Angulo = _angulo; - Motor.Ref000 = Dados[4] == "1"; + /*Motor.Ref000 = Dados[4] == "1"; Motor.Ref090 = Dados[5] == "1"; Motor.Ref270 = Dados[6] == "1"; bool r1 = Dados[7] == "1"; - bool r2 = Dados[8] == "1"; + bool r2 = Dados[8] == "1";*/ + + bool r1 = Dados[4] == "1"; + bool r2 = Dados[5] == "1"; Motor.Referenciando = r1; Motor.Referenciado = r2; diff --git a/AgroBase/AgroBase/Models/Modules/PinoutModel.cs b/AgroBase/AgroBase/Models/Modules/PinoutModel.cs index cc651ac8e..28efbe2b8 100644 --- a/AgroBase/AgroBase/Models/Modules/PinoutModel.cs +++ b/AgroBase/AgroBase/Models/Modules/PinoutModel.cs @@ -357,6 +357,7 @@ namespace AgroBase.Models.Modules Sinaleiro, ServoX, ServoY, + EncoderAbsoluto } public static class PinoutUtils diff --git a/AgroBase/AgroBase/Models/Variaveis.cs b/AgroBase/AgroBase/Models/Variaveis.cs index 0756c6e78..9d9499dfe 100644 --- a/AgroBase/AgroBase/Models/Variaveis.cs +++ b/AgroBase/AgroBase/Models/Variaveis.cs @@ -17,6 +17,7 @@ namespace AgroBase.Models public static string CaminhoLogsDispositivos { get; } = "Logs/"; public static string CaminhoOperacoes { get; } = "Operacoes/"; public static string CaminhoMapasConvertidos { get; } = "Mapas/"; + public static string CaminhoParametros { get; } = "Parametros/"; public static List DispositivosConectados { get; set; } = new List(); public static OperacaoModel OperacaoEmAndamento { get; set; } = new OperacaoModel(ModoOperacao.Manual); public static MqttService MqttService { get; set; } = new MqttService("localhost", 1883); diff --git a/AgroBase/AgroBase/Services/DispositivosService.cs b/AgroBase/AgroBase/Services/DispositivosService.cs index 9a8221d4a..501caef74 100644 --- a/AgroBase/AgroBase/Services/DispositivosService.cs +++ b/AgroBase/AgroBase/Services/DispositivosService.cs @@ -226,27 +226,27 @@ namespace AgroBase.Comum frmConfig = new frmMovConfig(); Dados.IniciarRegistrador(); - MovimentacaoModel.Pinout = PinoutModel.CarregarPinout("pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); + MovimentacaoModel.Pinout = PinoutModel.CarregarPinout(Variaveis.CaminhoParametros + "pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); break; case T_Code.Dir: Dados = CarregarParametros(DirecionalModel.CarregarParametrosIniciais()); frmPlot = new frmDirPlot(); frmConfig = new frmDirConfig(); - DirecionalModel.Pinout = PinoutModel.CarregarPinout("pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); + DirecionalModel.Pinout = PinoutModel.CarregarPinout(Variaveis.CaminhoParametros + "pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); break; case T_Code.Sen: Dados = CarregarParametros(SensoriamentoModel.CarregarParametrosIniciais()); frmConfig = new frmSenConfig(); ((frmSenConfig)frmConfig).Dispositivo = T_Code.Sen; - SensoriamentoModel.Pinout = PinoutModel.CarregarPinout("pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); + SensoriamentoModel.Pinout = PinoutModel.CarregarPinout(Variaveis.CaminhoParametros + "pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); break; case T_Code.Atu: Dados = CarregarParametros(AtuadorModel.CarregarParametrosIniciais()); frmConfig = new frmAtuConfig(); - AtuadorModel.Pinout = PinoutModel.CarregarPinout("pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); + AtuadorModel.Pinout = PinoutModel.CarregarPinout(Variaveis.CaminhoParametros + "pinout" + Enum.GetName(typeof(T_Code), Dispositivo) + ".pin"); break; default: Dados = default(T); @@ -878,7 +878,7 @@ namespace AgroBase.Comum public T CarregarParametros(object empty) { - string nomeArquivo = "parameters" + Enum.GetName(typeof(T_Code), Dispositivo) + ".par"; + string nomeArquivo = Variaveis.CaminhoParametros + "parameters" + Enum.GetName(typeof(T_Code), Dispositivo) + ".par"; if (!File.Exists(nomeArquivo)) { var newConfig = empty; @@ -891,7 +891,7 @@ namespace AgroBase.Comum public void SalvarParametros(DispositivoBaseModel newConfig) { - File.WriteAllText("parameters" + Enum.GetName(typeof(T_Code), Dispositivo) + ".par", JsonConvert.SerializeObject(newConfig)); + File.WriteAllText(Variaveis.CaminhoParametros + "parameters" + Enum.GetName(typeof(T_Code), Dispositivo) + ".par", JsonConvert.SerializeObject(newConfig)); } } diff --git a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb index 0a0dbf94443173463d282e181293dfdf89631a38..efc0dad9dc59f88e546255fcfd4cdbb9422a8cfc 100644 GIT binary patch delta 241713 zcmce9d0bT0`~RGC?+gqMFax6^>mZ28A|R-^gBqd|;+h)@il&B$J1GhpnhPp4%A@9j zWrj)xxs2roE@|dkmYN&*v9i)qKUP{UzxTO!M*Vy~-@kwKdiy-*d7kr}{oHfTJ$EWR z*|+dY-;z+bwk{e?Npp?z*V@HqTE|bYPq~q?x*aBICo|MNd;T}6G|>`J^E{|9kNz|G z%xaR`uo|mL`s`DkY#2OL)6wJ(-%e@*_*d2xNnV;y0=flRA}w((+qI02jBVK}E;>G@ 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