diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/2cbc8e63-afab-4034-84ee-34a55b21f0cf.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/2cbc8e63-afab-4034-84ee-34a55b21f0cf.vsidx deleted file mode 100644 index 0f728e5bc..000000000 Binary files a/AgroBase/.vs/AgroBase/FileContentIndex/2cbc8e63-afab-4034-84ee-34a55b21f0cf.vsidx and /dev/null differ diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/b5c8c11b-bc62-46b5-a10c-deb540f89441.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/b5c8c11b-bc62-46b5-a10c-deb540f89441.vsidx new file mode 100644 index 000000000..51d40a15a Binary files /dev/null and b/AgroBase/.vs/AgroBase/FileContentIndex/b5c8c11b-bc62-46b5-a10c-deb540f89441.vsidx differ diff --git a/AgroBase/.vs/AgroBase/v17/.suo b/AgroBase/.vs/AgroBase/v17/.suo index 2f61a9937..3d7b9a0f9 100644 Binary files a/AgroBase/.vs/AgroBase/v17/.suo and b/AgroBase/.vs/AgroBase/v17/.suo differ diff --git a/AgroBase/AgroBase/Forms/IHM/frmAjustes.cs b/AgroBase/AgroBase/Forms/IHM/frmAjustes.cs index 77c29f6d1..a3fdf63f4 100644 --- a/AgroBase/AgroBase/Forms/IHM/frmAjustes.cs +++ b/AgroBase/AgroBase/Forms/IHM/frmAjustes.cs @@ -138,7 +138,7 @@ namespace AgroBase.Forms.IHM private void frmAjustes_FormClosing(object sender, FormClosingEventArgs e) { - Variaveis.OperacaoEmAndamento.AtualizaListaCameras(new List() { pnlCaminho }, Variaveis.OperacaoEmAndamento.CamerasSolo.Select(x => x.panel).ToList(), false); + Variaveis.OperacaoEmAndamento.DesligarCameras(); } #region COMUNICACAO @@ -276,6 +276,7 @@ namespace AgroBase.Forms.IHM private void AtualizarCameras() { flwCamerasSolo.Controls.Clear(); + OAKCameraService.AtualizarListaCameras(true); Cameras = OAKCameraService.GetListaCameras(); for (int i = 0; i < Variaveis.OperacaoEmAndamento.QuantidadeCamerasSolo; i++) { @@ -326,7 +327,11 @@ namespace AgroBase.Forms.IHM } CameraCaminho.camera.cameraIndex = CameraCaminho.combo.SelectedIndex; - IniciarCameras(); + + if (CameraCaminho.camera.cameraIndex > 0) + { + IniciarCameras(); + } } private void GerarCameraSolo(int idx) @@ -416,7 +421,11 @@ namespace AgroBase.Forms.IHM } CameraSolo.camera.cameraIndex = CameraSolo.combo.SelectedIndex; - IniciarCameras(); + + if (CameraSolo.camera.cameraIndex > 0) + { + IniciarCameras(); + } } diff --git a/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.Designer.cs b/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.Designer.cs index b5532f20c..2e824cb87 100644 --- a/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.Designer.cs +++ b/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.Designer.cs @@ -33,7 +33,7 @@ this.pnlJoystick = new System.Windows.Forms.Panel(); this.pnlMapaDinamico = new System.Windows.Forms.Panel(); this.pnlCameraCaminho = new System.Windows.Forms.Panel(); - this.pnlCameraSoloD = new System.Windows.Forms.Panel(); + this.pnlCameraCaminhoHeat = new System.Windows.Forms.Panel(); this.pnlCameraSoloE = new System.Windows.Forms.Panel(); this.lblMapaCarregado = new System.Windows.Forms.Label(); this.txtStatusAtual = new System.Windows.Forms.TextBox(); @@ -63,6 +63,14 @@ this.lblModoOperacao = new System.Windows.Forms.Label(); this.txtModoOperacao = new System.Windows.Forms.TextBox(); this.pnlSensores = new System.Windows.Forms.Panel(); + this.txtDT = new System.Windows.Forms.TextBox(); + this.lblDT = new System.Windows.Forms.Label(); + this.txtET = new System.Windows.Forms.TextBox(); + this.lblET = new System.Windows.Forms.Label(); + this.txtDF = new System.Windows.Forms.TextBox(); + this.lblDF = new System.Windows.Forms.Label(); + this.txtEF = new System.Windows.Forms.TextBox(); + this.lblEF = new System.Windows.Forms.Label(); this.txtStatusCarro = new System.Windows.Forms.TextBox(); this.lblStatusCarro = new System.Windows.Forms.Label(); this.txtMargemCorredor = new System.Windows.Forms.TextBox(); @@ -96,14 +104,6 @@ this.tkbVelocidade = new System.Windows.Forms.TrackBar(); this.tabMapa = new System.Windows.Forms.TabPage(); this.picFechar = new System.Windows.Forms.PictureBox(); - this.txtEF = new System.Windows.Forms.TextBox(); - this.lblEF = new System.Windows.Forms.Label(); - this.txtDF = new System.Windows.Forms.TextBox(); - this.lblDF = new System.Windows.Forms.Label(); - this.txtDT = new System.Windows.Forms.TextBox(); - this.lblDT = new System.Windows.Forms.Label(); - this.txtET = new System.Windows.Forms.TextBox(); - this.lblET = new System.Windows.Forms.Label(); this.pnlMapa.SuspendLayout(); this.pnlSensores.SuspendLayout(); this.statusStrip1.SuspendLayout(); @@ -148,12 +148,12 @@ this.pnlCameraCaminho.Size = new System.Drawing.Size(210, 150); this.pnlCameraCaminho.TabIndex = 18; // - // pnlCameraSoloD + // pnlCameraCaminhoHeat // - this.pnlCameraSoloD.Location = new System.Drawing.Point(484, 2); - this.pnlCameraSoloD.Name = "pnlCameraSoloD"; - this.pnlCameraSoloD.Size = new System.Drawing.Size(210, 150); - this.pnlCameraSoloD.TabIndex = 18; + this.pnlCameraCaminhoHeat.Location = new System.Drawing.Point(484, 2); + this.pnlCameraCaminhoHeat.Name = "pnlCameraCaminhoHeat"; + this.pnlCameraCaminhoHeat.Size = new System.Drawing.Size(210, 150); + this.pnlCameraCaminhoHeat.TabIndex = 18; // // pnlCameraSoloE // @@ -466,6 +466,86 @@ this.pnlSensores.Size = new System.Drawing.Size(307, 497); this.pnlSensores.TabIndex = 32; // + // txtDT + // + this.txtDT.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F); + this.txtDT.Location = new System.Drawing.Point(195, 819); + this.txtDT.Name = "txtDT"; + this.txtDT.ReadOnly = true; + this.txtDT.Size = new System.Drawing.Size(89, 26); + this.txtDT.TabIndex = 51; + this.txtDT.Text = "0,00"; + this.txtDT.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // lblDT + // + this.lblDT.AutoSize = true; + this.lblDT.Location = new System.Drawing.Point(160, 822); + this.lblDT.Name = "lblDT"; + this.lblDT.Size = new System.Drawing.Size(30, 20); + this.lblDT.TabIndex = 50; + this.lblDT.Text = "DT"; + // + // txtET + // + this.txtET.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F); + this.txtET.Location = new System.Drawing.Point(41, 822); + this.txtET.Name = "txtET"; + this.txtET.ReadOnly = true; + this.txtET.Size = new System.Drawing.Size(89, 26); + this.txtET.TabIndex = 49; + this.txtET.Text = "0,00"; + this.txtET.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // lblET + // + this.lblET.AutoSize = true; + this.lblET.Location = new System.Drawing.Point(6, 825); + this.lblET.Name = "lblET"; + this.lblET.Size = new System.Drawing.Size(29, 20); + this.lblET.TabIndex = 48; + this.lblET.Text = "ET"; + // + // txtDF + // + this.txtDF.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F); + this.txtDF.Location = new System.Drawing.Point(195, 787); + this.txtDF.Name = "txtDF"; + this.txtDF.ReadOnly = true; + this.txtDF.Size = new System.Drawing.Size(89, 26); + this.txtDF.TabIndex = 47; + this.txtDF.Text = "0,00"; + this.txtDF.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // lblDF + // + this.lblDF.AutoSize = true; + this.lblDF.Location = new System.Drawing.Point(160, 790); + this.lblDF.Name = "lblDF"; + this.lblDF.Size = new System.Drawing.Size(31, 20); + this.lblDF.TabIndex = 46; + this.lblDF.Text = "DF"; + // + // txtEF + // + this.txtEF.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F); + this.txtEF.Location = new System.Drawing.Point(41, 790); + this.txtEF.Name = "txtEF"; + this.txtEF.ReadOnly = true; + this.txtEF.Size = new System.Drawing.Size(89, 26); + this.txtEF.TabIndex = 45; + this.txtEF.Text = "0,00"; + this.txtEF.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // lblEF + // + this.lblEF.AutoSize = true; + this.lblEF.Location = new System.Drawing.Point(6, 793); + this.lblEF.Name = "lblEF"; + this.lblEF.Size = new System.Drawing.Size(30, 20); + this.lblEF.TabIndex = 44; + this.lblEF.Text = "EF"; + // // txtStatusCarro // this.txtStatusCarro.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F); @@ -796,86 +876,6 @@ this.picFechar.TabIndex = 1; this.picFechar.TabStop = false; // - // txtEF - // - this.txtEF.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F); - this.txtEF.Location = new System.Drawing.Point(41, 790); - this.txtEF.Name = "txtEF"; - this.txtEF.ReadOnly = true; - this.txtEF.Size = new System.Drawing.Size(89, 26); - this.txtEF.TabIndex = 45; - this.txtEF.Text = "0,00"; - this.txtEF.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; - // - // lblEF - // - this.lblEF.AutoSize = true; - this.lblEF.Location = new System.Drawing.Point(6, 793); - this.lblEF.Name = "lblEF"; - this.lblEF.Size = new System.Drawing.Size(30, 20); - this.lblEF.TabIndex = 44; - this.lblEF.Text = "EF"; - // - // txtDF - // - this.txtDF.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F); - this.txtDF.Location = new System.Drawing.Point(195, 787); - this.txtDF.Name = "txtDF"; - this.txtDF.ReadOnly = true; - this.txtDF.Size = new System.Drawing.Size(89, 26); - this.txtDF.TabIndex = 47; - this.txtDF.Text = "0,00"; - this.txtDF.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; - // - // lblDF - // - this.lblDF.AutoSize = true; - this.lblDF.Location = new System.Drawing.Point(160, 790); - this.lblDF.Name = "lblDF"; - this.lblDF.Size = new System.Drawing.Size(31, 20); - this.lblDF.TabIndex = 46; - this.lblDF.Text = "DF"; - // - // txtDT - // - this.txtDT.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F); - this.txtDT.Location = new System.Drawing.Point(195, 819); - this.txtDT.Name = "txtDT"; - this.txtDT.ReadOnly = true; - this.txtDT.Size = new System.Drawing.Size(89, 26); - this.txtDT.TabIndex = 51; - this.txtDT.Text = "0,00"; - this.txtDT.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; - // - // lblDT - // - this.lblDT.AutoSize = true; - this.lblDT.Location = new System.Drawing.Point(160, 822); - this.lblDT.Name = "lblDT"; - this.lblDT.Size = new System.Drawing.Size(30, 20); - this.lblDT.TabIndex = 50; - this.lblDT.Text = "DT"; - // - // txtET - // - this.txtET.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F); - this.txtET.Location = new System.Drawing.Point(41, 822); - this.txtET.Name = "txtET"; - this.txtET.ReadOnly = true; - this.txtET.Size = new System.Drawing.Size(89, 26); - this.txtET.TabIndex = 49; - this.txtET.Text = "0,00"; - this.txtET.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; - // - // lblET - // - this.lblET.AutoSize = true; - this.lblET.Location = new System.Drawing.Point(6, 825); - this.lblET.Name = "lblET"; - this.lblET.Size = new System.Drawing.Size(29, 20); - this.lblET.TabIndex = 48; - this.lblET.Text = "ET"; - // // frmDialogoMapa // this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); @@ -886,7 +886,7 @@ this.Controls.Add(this.tabControl1); this.Controls.Add(this.statusStrip1); this.Controls.Add(this.pnlCameraCaminho); - this.Controls.Add(this.pnlCameraSoloD); + this.Controls.Add(this.pnlCameraCaminhoHeat); this.Controls.Add(this.lblMapaCarregado); this.Controls.Add(this.pnlCameraSoloE); this.Controls.Add(this.pnlMapa); @@ -948,7 +948,7 @@ private System.Windows.Forms.Panel pnlOrientacao; private System.Windows.Forms.Panel pnlInclinacao; private System.Windows.Forms.Panel pnlCameraCaminho; - private System.Windows.Forms.Panel pnlCameraSoloD; + private System.Windows.Forms.Panel pnlCameraCaminhoHeat; private System.Windows.Forms.Panel pnlCameraSoloE; private System.Windows.Forms.Label lblModoOperacao; private System.Windows.Forms.TextBox txtModoOperacao; diff --git a/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs b/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs index d234c9b8c..e7c5679ba 100644 --- a/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs +++ b/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs @@ -40,7 +40,7 @@ namespace AgroBase.Forms.IHM FuncoesGlobais.DefinirEventosPicBtn(picFechar, "", async () => { - if (Variaveis.OperacaoEmAndamento.Iniciado) + if (Variaveis.OperacaoEmAndamento.Iniciado && !Variaveis.OperacaoEmAndamento.Finalizando) { var res = CustomDialog.ShowDialog( "Interromper Operação", @@ -54,7 +54,7 @@ namespace AgroBase.Forms.IHM ); if (res == DialogResult.Yes) { - await Variaveis.OperacaoEmAndamento.FinalizarOperacao(); + Task.Run(async () => await Variaveis.OperacaoEmAndamento.FinalizarOperacao()); if (Variaveis.OperacaoEmAndamento.Modo == Enums.ModoOperacao.Manual) { this.Close(); @@ -63,7 +63,15 @@ namespace AgroBase.Forms.IHM } else { - this.Hide(); + if (Variaveis.OperacaoEmAndamento.StatusAtual == Enums.StatusOperacao.Parametrizando) + { + Variaveis.OperacaoEmAndamento.DesligarCameras(); + this.Hide(); + } + else + { + this.Close(); + } } }); } @@ -91,15 +99,16 @@ namespace AgroBase.Forms.IHM private void frmDialogoMapa_FormClosing(object sender, FormClosingEventArgs e) { - tmrLeitura.Dispose(); + tmrLeitura?.Dispose(); Variaveis.OperacaoEmAndamento.DesligarCameras(); } public async Task AtualizarRuasSelecionadas(List ruasSelecionadas) { - Variaveis.OperacaoEmAndamento.AtualizaListaCameras(new List() { pnlCameraCaminho }, new List(){ pnlCameraSoloE, pnlCameraSoloD }, true); + Variaveis.OperacaoEmAndamento.AtualizaListaCameras(new List() { pnlCameraCaminho, pnlCameraCaminhoHeat }, new List() { pnlCameraSoloE }, true); await Task.Delay(1000); + GPSService.AtualizarRuasSelecionadas(ruasSelecionadas); } @@ -117,16 +126,19 @@ namespace AgroBase.Forms.IHM var _Sensoriamento = Variaveis.OperacaoEmAndamento.Sensoriamento; var _Trajetoria = Variaveis.OperacaoEmAndamento.Trajetoria; - MapaDinamico.AtualizarDados( - KinectService.Iniciado && KinectService.Leitura.StatusDetecao ? KinectService.Leitura.ObstaculoCritico : null, - (float)_Sensoriamento.Trajetoria.AnguloCaminho, - (float)_Sensoriamento.Gps.AnguloCarroDefinido, - _Sensoriamento.Gps, - _Trajetoria._TrajetoriaDinamica, - _Trajetoria.CorredorAtual.Pontos, - Variaveis.OperacaoEmAndamento.GPSTrajetoria, - _Trajetoria.RuasPlantacao - ); + if (_Trajetoria != null && _Trajetoria.CorredorAtual != null) + { + MapaDinamico.AtualizarDados( + KinectService.Iniciado && KinectService.Leitura.StatusDetecao ? KinectService.Leitura.ObstaculoCritico : null, + (float)_Trajetoria.AnguloCaminho, + (float)_Sensoriamento.Gps.AnguloCarroDefinido, + _Sensoriamento.Gps, + _Trajetoria._TrajetoriaDinamica, + _Trajetoria.CorredorAtual.Pontos, + Variaveis.OperacaoEmAndamento.GPSTrajetoria, + _Trajetoria.RuasPlantacao + ); + } } private async Task tmrLeitura_Tick() @@ -303,27 +315,35 @@ namespace AgroBase.Forms.IHM joystickPosition = joystickCenter; // Evento de pintura do painel + pnlJoystick.Paint -= PanelJoystickBack_Paint; pnlJoystick.Paint += PanelJoystickBack_Paint; // Eventos de toque/mouse + pnlJoystick.MouseDown -= PanelJoystickBack_MouseDown; pnlJoystick.MouseDown += PanelJoystickBack_MouseDown; + pnlJoystick.MouseMove -= PanelJoystickBack_MouseMove; pnlJoystick.MouseMove += PanelJoystickBack_MouseMove; + pnlJoystick.MouseUp -= PanelJoystickBack_MouseUp; pnlJoystick.MouseUp += PanelJoystickBack_MouseUp; pnlFreio.BackColor = Color.LightGray; pnlFreio.BorderStyle = BorderStyle.FixedSingle; // Eventos de toque/pressão + pnlFreio.Paint -= BrakePanel_Paint; pnlFreio.Paint += BrakePanel_Paint; + pnlFreio.MouseDown -= BrakePanel_MouseDown; pnlFreio.MouseDown += BrakePanel_MouseDown; + pnlFreio.MouseMove -= BrakePanel_MouseMove; pnlFreio.MouseMove += BrakePanel_MouseMove; + pnlFreio.MouseUp -= BrakePanel_MouseUp; pnlFreio.MouseUp += BrakePanel_MouseUp; // Configuração inicial do freio freioStartPosition = new Point(pnlFreio.Width / 2 - 20, 10); freioPosition = freioStartPosition; - Variaveis.OperacaoEmAndamento.AtualizaListaCameras(new List() { pnlCameraCaminho }, new List() { pnlCameraSoloE, pnlCameraSoloD }, true); + Variaveis.OperacaoEmAndamento.AtualizaListaCameras(new List() { pnlCameraCaminho, pnlCameraCaminhoHeat }, new List() { pnlCameraSoloE }, true); IniciarOperacao(); } diff --git a/AgroBase/AgroBase/Forms/IHM/frmIHM.cs b/AgroBase/AgroBase/Forms/IHM/frmIHM.cs index 8ddb44218..684b357da 100644 --- a/AgroBase/AgroBase/Forms/IHM/frmIHM.cs +++ b/AgroBase/AgroBase/Forms/IHM/frmIHM.cs @@ -52,7 +52,7 @@ namespace AgroBase.Forms.IHM { CustomDialog.ShowDialog( "Iniciar Operação Manual", - $"{Variaveis.OperacaoEmAndamento.ErroOperacaoLiberada}", + $"{Variaveis.OperacaoEmAndamento.ErroOperacaoLiberada ?? ""}", MessageBoxIcon.Error, new Dictionary<(string, dynamic), Action>() { @@ -63,27 +63,27 @@ namespace AgroBase.Forms.IHM }); FuncoesGlobais.DefinirEventosPicBtn(picDesligar, "Erro ao desligar equipamento!", async () => { - var res = CustomDialog.ShowDialog( - "Desligar", - "Deseja Desligar o Equipamento?", - MessageBoxIcon.Question, - new Dictionary<(string, DialogResult?), Action>() - { - { ("Sim", DialogResult.Yes), () => { } }, - { ("Não", DialogResult.No), () => { } }, - } - ); - if (res == DialogResult.Yes) + if (Variaveis.Producao) { - if (!Variaveis.Producao) - { - this.Close(); - } - else + var res = CustomDialog.ShowDialog( + "Desligar", + "Deseja Desligar o Equipamento?", + MessageBoxIcon.Question, + new Dictionary<(string, DialogResult?), Action>() + { + { ("Sim", DialogResult.Yes), () => { } }, + { ("Não", DialogResult.No), () => { } }, + } + ); + if (res == DialogResult.Yes) { Process.Start("shutdown", "/s /t 0"); } } + else + { + this.Close(); + } }); FuncoesGlobais.DefinirEventosPicBtn(picWifi, "Erro ao procurar por atualizações!", async () => { @@ -126,9 +126,11 @@ namespace AgroBase.Forms.IHM { lblVersao.Text = "v " + Variaveis.Versao; + tmrDispositivos?.Dispose(); tmrDispositivos = new AsyncTaskTimerModel("tmrDispositivos", tmrDispositivos_Tick, 1000, this); tmrDispositivos.Start(); + lblCodigoFalha.Click -= LblCodigoFalha_Click; lblCodigoFalha.Click += LblCodigoFalha_Click; } diff --git a/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.Designer.cs b/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.Designer.cs index dcb09a877..08cdf51df 100644 --- a/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.Designer.cs +++ b/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.Designer.cs @@ -499,6 +499,7 @@ this.Name = "frmInicioOperacao"; this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen; this.Text = "Preparando operação..."; + this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmInicioOperacao_FormClosing); this.Load += new System.EventHandler(this.frmInicioOperacao_Load); this.fpnlInformacoes.ResumeLayout(false); this.fpnlInformacoes.PerformLayout(); diff --git a/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs b/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs index b8d92d4b9..e710a2ac0 100644 --- a/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs +++ b/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs @@ -207,11 +207,16 @@ namespace AgroBase.Forms.Operacoes { try { - (bool sucesso, List ruas) = await Variaveis.OperacaoEmAndamento.CarregarParametrizacaoOperacao(frmDialogo.pnlMapa, frmDialogo.lblMapaCarregado, path); + (bool sucesso, List ruas) = Variaveis.OperacaoEmAndamento.CarregarParametrizacaoOperacao(frmDialogo.pnlMapa, frmDialogo.lblMapaCarregado, path); bool condicaoOperacaoCarregada() => Variaveis.OperacaoEmAndamento.Trajetoria?.CorredorAtual != null; bool resultado = await FuncoesGlobais.AguardarCondicaoAsync(condicaoOperacaoCarregada, 5000, 200); + if (!resultado) + { + throw new Exception("Erro ao carregar a trajetória do mapa!"); + } + ruasSelecionadas = ruas; foreach (var chb in fpnlInformacoes.Controls.OfType()) @@ -235,7 +240,7 @@ namespace AgroBase.Forms.Operacoes { CustomDialog.ShowDialog( "Erro", - "Erro ao carregar operação!", + $"Erro ao carregar operação!{Environment.NewLine}{ex.Message}", MessageBoxIcon.Error, new Dictionary<(string, dynamic), Action>() { @@ -336,6 +341,12 @@ namespace AgroBase.Forms.Operacoes return icon.ToBitmap(); } - + private void frmInicioOperacao_FormClosing(object sender, FormClosingEventArgs e) + { + if (!frmDialogo.IsDisposed) + { + frmDialogo.Close(); + } + } } } diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs index 690773df0..e65db60db 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs @@ -139,7 +139,7 @@ namespace AgroBase.Forms.Operacoes //LogsKinect = JsonConvert.DeserializeObject(DeserializarDadosOperacao(ofd.FileName, data.knt ?? Enums.T_Code.Knt.ToString())).ToList(); LogsCam_Caminho = JsonConvert.DeserializeObject(OperacaoModel.DeserializarDadosOperacao(ofd.FileName, data.cam_caminho)).ToList(); pathImagensSonarRGB = ofd.FileName.Replace("data.lgop", data.knt + "/rgb_"); - pathImagensMapaCalor = ofd.FileName.Replace("data.lgop", data.knt + "/heat_"); + pathImagensMapaCalor = ofd.FileName.Replace("data.lgop", data.cam_caminho + "/"); pathImagensCaminho = ofd.FileName.Replace("data.lgop", data.cam_caminho + "/"); LogsCam_Solo = new List>(); @@ -974,9 +974,13 @@ namespace AgroBase.Forms.Operacoes } } - private Bitmap CarregarImagemCamera(string Caminho) + private Bitmap CarregarImagemCamera(string Caminho, string complemento = "") { string caminhoCompleto = Caminho + trbMomento.Value + ".jpg"; + if (!string.IsNullOrEmpty(complemento)) + { + caminhoCompleto = caminhoCompleto.Replace(".jpg", $"{complemento}.jpg"); + } Bitmap frame = new Bitmap(1, 1); using (Graphics g = Graphics.FromImage(frame)) { @@ -1132,6 +1136,7 @@ namespace AgroBase.Forms.Operacoes private void AtualizarInformacoesCameras() { picCameraCaminho.Image = CarregarImagemCamera(pathImagensCaminho); + picMapaCalor.Image = CarregarImagemCamera(pathImagensMapaCalor, "_heat"); AtualizarInformacoesCameraCaminho(); for (int i = 0; i < LogsCam_Solo.Count(); i++) @@ -1180,7 +1185,7 @@ namespace AgroBase.Forms.Operacoes txtGPS_Velocidade.Text = (Log?.Velocidade ?? 0).ToString("0.00") + " (" + ((Log?.Velocidade ?? 0) * GPSUtils.ConversaoNosKmh).ToString("0.00") + " km/h)"; int ID = Convert.ToInt32(Variaveis.IsAgroMonitor ? Variaveis.OperacaoEmAndamento.DispSen.Dados.LoRaParametrosBase.address : Variaveis.ConexaoLoRa.parametros.address); - GPSService.EnviarCoordenadasParaMapa(Log?.Latitude ?? 0, Log?.Longitude ?? 0, Log?.CursoVerdadeiro ?? 0, true, ID); + GPSService.EnviarCoordenadasParaMapa(Log?.Latitude ?? 0, Log?.Longitude ?? 0, Log?.AnguloCarroDefinido ?? 0, true, ID); lblGPS.ForeColor = !Log.Inicializado ? Color.Red : Color.Black; @@ -1200,7 +1205,7 @@ namespace AgroBase.Forms.Operacoes null, //LogKnt.Iniciado && LogKnt.StatusDetecao ? LogKnt.ObstaculoCritico : null, (float)LogOpe.Trajetoria.AnguloCaminho, (float)LogOpe.Gps.AnguloCarroDefinido, - new GPSModel() { Latitude = Log.Latitude, Longitude = Log.Longitude }, + Log, _trajaetoria, null, //Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaProjetada.FirstOrDefault(), new List(LogsGPS.Take(LogsGPS.IndexOf(Log) + 1)), @@ -1385,7 +1390,7 @@ namespace AgroBase.Forms.Operacoes lblMagnetometro.ForeColor = !LogWit.Inicializado ? Color.Red : Color.Black; pnlOrientacaoMagnetometro.Invalidate(); pnlInclinacao.Invalidate(); - visualizador3D.AtualizarAngulos(LogWit.AngleX, LogWit.AngleY, LogWit.AngleZ); + visualizador3D.AtualizarAngulos(-LogWit.AngleX, -LogWit.AngleY, LogWit.AngleZ); txtTemperatura.Text = LogWit.Temperatura.ToString("0.00"); txtAltitude.Text = LogWit.Altitude.ToString("0.00"); txtPressao.Text = LogWit.Pressao + " Pa (" + (LogWit.Pressao / 101300.0).ToString("0.00") + " atm)"; diff --git a/AgroBase/AgroBase/Forms/frmInstancial.cs b/AgroBase/AgroBase/Forms/frmInstancial.cs index 15c2592f6..1d3a17c42 100644 --- a/AgroBase/AgroBase/Forms/frmInstancial.cs +++ b/AgroBase/AgroBase/Forms/frmInstancial.cs @@ -2,7 +2,6 @@ using AgroBase.Models; using AgroBase.Services; using System; -using System.Diagnostics; using System.Threading; using System.Threading.Tasks; using System.Windows.Forms; @@ -37,7 +36,7 @@ namespace AgroBase.Forms GeneralJoystick.IniciarRotinas(); VersionamentoService.IniciarRotinas(); - EncerrarProcessosPython(); + PythonService.EncerrarProcessos(); } private void frmInstancial_Shown(object sender, EventArgs e) @@ -107,30 +106,12 @@ namespace AgroBase.Forms await Task.Delay(500); } - EncerrarProcessosPython(); + PythonService.EncerrarProcessos(); Environment.Exit(0); } - private static void EncerrarProcessosPython() - { - foreach (var processo in Process.GetProcessesByName("python")) - { - try - { - // Verifica os argumentos do processo - string argumentos = processo.StartInfo.Arguments; - if (argumentos.Contains("--source=" + Variaveis.NomeAplicacao) || true) - { - processo.Kill(); // Encerra apenas os processos marcados pelo sistema - } - } - catch (Exception ex) - { - Console.WriteLine($"Erro ao encerrar processo: {ex.Message}"); - } - } - } + diff --git a/AgroBase/AgroBase/Models/CameraCaminhoModel.cs b/AgroBase/AgroBase/Models/CameraCaminhoModel.cs index d7e2c261d..0baf32841 100644 --- a/AgroBase/AgroBase/Models/CameraCaminhoModel.cs +++ b/AgroBase/AgroBase/Models/CameraCaminhoModel.cs @@ -62,9 +62,14 @@ namespace AgroBase.Models } browserRgb = null; Task.Run(async () => await Variaveis.MqttService.UnsubscribeAsync(camera._mqttTopico)); - if (camera.pythonProcess != null) + + lock (camera.processLock) { - camera.pythonProcess.Kill(); + if (camera.pythonProcess != null) + { + camera.pythonProcess.Kill(); + camera.pythonProcess = null; + } } } catch (Exception ex) @@ -150,7 +155,10 @@ namespace AgroBase.Models var depth_data = Leitura.depth_data; if (depth_data == null || depth_data.Count == 0) - throw new InvalidOperationException("Dados de profundidade inválidos."); + { + return null; + //throw new InvalidOperationException("Dados de profundidade inválidos."); + } int height = depth_data.Count; int width = depth_data[0].Count; diff --git a/AgroBase/AgroBase/Models/CameraModel.cs b/AgroBase/AgroBase/Models/CameraModel.cs index db06276d6..94e21f996 100644 --- a/AgroBase/AgroBase/Models/CameraModel.cs +++ b/AgroBase/AgroBase/Models/CameraModel.cs @@ -59,6 +59,7 @@ namespace AgroBase.Models public OAKCameraModel device_data { get; set; } public double x_max { get; set; } public double y_max { get; set; } + public OAKDLiteSubdivisoesModel subdivisoes { get; set; } public List> depth_data { get; set; } = new List>(); public List Classes { get; set; } = new List(); @@ -71,11 +72,64 @@ namespace AgroBase.Models x_max = x_max, y_max = y_max, depth_data = new List>(depth_data), - Classes = new List(Classes) + Classes = new List(Classes), + subdivisoes = subdivisoes?.Clone() }; } } + public class OAKDLiteSubdivisoesModel + { + public int x_max { get; set; } + public int y_max { get; set; } + + public SubdivisaoModel subdivisoes_cima { get; set; } + public SubdivisaoModel subdivisoes_chao { get; set; } + + public OAKDLiteSubdivisoesModel Clone() + { + return new OAKDLiteSubdivisoesModel() + { + x_max = x_max, + y_max = y_max, + subdivisoes_chao = subdivisoes_chao?.Clone(), + subdivisoes_cima = subdivisoes_cima?.Clone() + }; + } + } + + public class SubdivisaoModel + { + public int num_linhas { get; set; } + public int num_colunas { get; set; } + public List celulas { get; set; } + + public SubdivisaoModel Clone() + { + return new SubdivisaoModel() + { + num_linhas = num_linhas, + num_colunas = num_colunas, + celulas = new List(celulas) + }; + } + } + + public class CelulaModel + { + public int linha { get; set; } + public int coluna { get; set; } + + public int x { get; set; } + public int y { get; set; } + + public int largura { get; set; } + public int altura { get; set; } + + public double profundidade_media { get; set; } + public double profundidade_calibragem { get; set; } + } + public class CameraDeepLabV3PlusClasseModel { public string Classe { get; set; } diff --git a/AgroBase/AgroBase/Models/CameraSoloModel.cs b/AgroBase/AgroBase/Models/CameraSoloModel.cs index 0df54a9d1..ca811c70e 100644 --- a/AgroBase/AgroBase/Models/CameraSoloModel.cs +++ b/AgroBase/AgroBase/Models/CameraSoloModel.cs @@ -24,10 +24,14 @@ namespace AgroBase.Models panel.Controls.Remove(browser); } browser = null; - Task.Run(async () => Variaveis.MqttService.UnsubscribeAsync(camera._mqttTopico)); - if (camera.pythonProcess != null && !camera.pythonProcess.HasExited) + Task.Run(async () => await Variaveis.MqttService.UnsubscribeAsync(camera._mqttTopico)); + lock (camera.processLock) { - camera.pythonProcess.Kill(); + if (camera.pythonProcess != null) + { + camera.pythonProcess.Kill(); + camera.pythonProcess = null; + } } } catch (Exception ex) diff --git a/AgroBase/AgroBase/Models/MapasModel.cs b/AgroBase/AgroBase/Models/MapasModel.cs index 757eb0e1d..2ddcf3bf8 100644 --- a/AgroBase/AgroBase/Models/MapasModel.cs +++ b/AgroBase/AgroBase/Models/MapasModel.cs @@ -107,7 +107,7 @@ namespace AgroBase.Models { try { - lock (mapaService.pythonProcess) + lock (mapaService.processLock) { if (mapaService.pythonProcess == null) { @@ -137,7 +137,7 @@ namespace AgroBase.Models IniciarProcessamento(); - lock (mapaService.pythonProcess) + lock (mapaService.processLock) { mapaService.pythonProcess.Dispose(); mapaService.pythonProcess = null; diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs index 09fbbe108..9773bde01 100644 --- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs @@ -353,7 +353,7 @@ namespace AgroBase.Models return true; } - public async Task<(bool, List)> CarregarParametrizacaoOperacao(Panel pnlMapa, Label lblMapa, string opPath = "") + public (bool, List) CarregarParametrizacaoOperacao(Panel pnlMapa, Label lblMapa, string opPath = "") { string path = Variaveis.CaminhoSistema + Variaveis.CaminhoOperacoes + MapasVariaveisModel.NomeArquivoMapaInterativoSaida; @@ -418,8 +418,8 @@ namespace AgroBase.Models Variaveis.OperacaoEmAndamento.Mapa.btnCarregar_Click(new object(), new EventArgs(), path); - bool condicaoMapaCarregado() => Variaveis.OperacaoEmAndamento.Mapa.mapaService.Carregado; - bool resultado = await FuncoesGlobais.AguardarCondicaoAsync(condicaoMapaCarregado, 5000, 200); + //bool condicaoMapaCarregado() => Variaveis.OperacaoEmAndamento.Mapa.mapaService.Carregado; + //bool resultado = await FuncoesGlobais.AguardarCondicaoAsync(condicaoMapaCarregado, 5000, 200); } return (true, ruasSelecionadas); @@ -761,6 +761,8 @@ namespace AgroBase.Models Variaveis.OperacaoEmAndamento.Controle.Angulo = Variaveis.OperacaoEmAndamento.Controle.Angulo_Max; Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP = Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeMin; + + Variaveis.OperacaoEmAndamento.Sensoriamento.AtualizarDados(); } @@ -830,13 +832,14 @@ namespace AgroBase.Models Variaveis.OperacaoEmAndamento.Finalizando = true; - PararCarroOperacaoInterrompida(true); + Variaveis.OperacaoEmAndamento.Trajetoria?.LoopAtualizaDados(); - Variaveis.OperacaoEmAndamento.Trajetoria.LoopAtualizaDados(); + Variaveis.OperacaoEmAndamento.PararCarroOperacaoInterrompida(true); await Task.Delay(2000); Variaveis.OperacaoEmAndamento.Iniciado = false; + Variaveis.OperacaoEmAndamento.DataFim = DateTime.Now; tmrLogs?.Stop(); @@ -1022,11 +1025,11 @@ namespace AgroBase.Models return; } + Variaveis.OperacaoEmAndamento.DesligarCameras(); + //var listaCameras = CameraService.ObterListaCameras().Values.ToArray(); var listaCameras = OAKCameraService.GetListaCameras(); - CamerasSolo.ForEach(cam => cam.DesligarCamera()); - CamerasSolo.Clear(); for (int i = 0; i < QuantidadeCamerasSolo; i++) { @@ -1093,11 +1096,11 @@ namespace AgroBase.Models CameraCaminho.camera.cameraIndex = listaCameras.FirstOrDefault(x => x.Id == CameraCaminho.DeviceID)?.Index ?? -1; if (CameraCaminho.camera.cameraIndex > -1 && Iniciar) // && Variaveis.OperacaoEmAndamento.Controle.SegmentacaoSemantica { - if (pnlCameraCaminho.Count() > 0) + if (pnlCameraCaminho.Count > 0) { CameraCaminho.panelRgb = pnlCameraCaminho[0]; } - if (pnlCameraCaminho.Count() > 1) + if (pnlCameraCaminho.Count > 1) { CameraCaminho.panelHeatmap = pnlCameraCaminho[1]; } @@ -1136,18 +1139,16 @@ namespace AgroBase.Models { CameraSolo.camera.ProntoEm = Mensagem.Momento; - if (CameraSolo.browser == null) + if (CameraSolo.browser == null && CameraSolo.panel != null) { CameraSolo.Iniciada = true; CameraSolo.browser = new ChromiumWebBrowser(CameraSolo.camera.URLcamera[0]); CameraSolo.browser.Dock = DockStyle.Fill; - CameraSolo.panel.Invoke(new Action(async () => + CameraSolo.panel.Invoke(new Action(() => { CameraSolo.panel.Controls.Add(CameraSolo.browser); CameraSolo.panel.Refresh(); - await Task.Delay(500); - CameraSolo.panel.Refresh(); })); } } @@ -1189,7 +1190,7 @@ namespace AgroBase.Models async (Mensagem) => { cameraCaminho.UltimaMensagemRecebida = DateTime.Now; - if (Mensagem.Momento > cameraCaminho.camera.IniciadoEm && Mensagem.Mensagem == "OK") + if (Mensagem.Momento > cameraCaminho.camera.IniciadoEm && Mensagem.Mensagem == "OK_1") { cameraCaminho.camera.ProntoEm = Mensagem.Momento; @@ -1197,32 +1198,37 @@ namespace AgroBase.Models { cameraCaminho.Iniciada = true; - if (cameraCaminho.camera.URLcamera.Count() > 0) + if (cameraCaminho.camera.URLcamera.Count > 0) { cameraCaminho.browserRgb = new ChromiumWebBrowser(cameraCaminho.camera.URLcamera[0]); cameraCaminho.browserRgb.Dock = DockStyle.Fill; - - cameraCaminho.panelRgb.Invoke(new Action(async () => + cameraCaminho.panelRgb.Invoke(new Action(() => { cameraCaminho.panelRgb.Controls.Add(cameraCaminho.browserRgb); - cameraCaminho.panelRgb.Refresh(); - await Task.Delay(500); - cameraCaminho.panelRgb.Refresh(); + cameraCaminho.browserRgb.Refresh(); })); + FuncoesGlobais.ValidarImagemCameraBrowser(cameraCaminho.browserRgb, cameraCaminho.panelRgb); } - await Task.Delay(1000); - if (cameraCaminho.camera.URLcamera.Count() > 1) + } + } + else if (Mensagem.Momento > cameraCaminho.camera.IniciadoEm && Mensagem.Mensagem == "OK_2") + { + cameraCaminho.camera.ProntoEm = Mensagem.Momento; + + if (cameraCaminho.browserHeatmap == null && cameraCaminho.panelHeatmap != null) + { + cameraCaminho.Iniciada = true; + + if (cameraCaminho.camera.URLcamera.Count > 1) { cameraCaminho.browserHeatmap = new ChromiumWebBrowser(cameraCaminho.camera.URLcamera[1]); cameraCaminho.browserHeatmap.Dock = DockStyle.Fill; - - cameraCaminho.panelHeatmap.Invoke(new Action(async () => + cameraCaminho.panelHeatmap.Invoke(new Action(() => { cameraCaminho.panelHeatmap.Controls.Add(cameraCaminho.browserHeatmap); - cameraCaminho.panelHeatmap.Refresh(); - await Task.Delay(500); - cameraCaminho.panelHeatmap.Refresh(); + cameraCaminho.browserHeatmap.Refresh(); })); + FuncoesGlobais.ValidarImagemCameraBrowser(cameraCaminho.browserHeatmap, cameraCaminho.panelHeatmap); } } } @@ -1242,7 +1248,7 @@ namespace AgroBase.Models { Camera.DesligarCamera(); }); - Variaveis.OperacaoEmAndamento.CameraCaminho.DesligarCamera(); + Variaveis.OperacaoEmAndamento.CameraCaminho?.DesligarCamera(); } #endregion @@ -1251,13 +1257,8 @@ namespace AgroBase.Models public void AtualizaInformacoesControleOperacao() { - if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.Manual) + if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.MapaGPS) { - VerificarDesvioPorObstaculos(); - } - else - { - //Variaveis.OperacaoEmAndamento.OpMapaGPS.CalculaDadosMovimentacaoAutonoma(); Variaveis.OperacaoEmAndamento.AtualizarDadosControle(false); } } @@ -1268,7 +1269,7 @@ namespace AgroBase.Models var _Controle = Variaveis.OperacaoEmAndamento.Controle; - bool MovimentoLiberado = Variaveis.OperacaoEmAndamento.StatusAtual != StatusOperacao.Aguardando && Variaveis.OperacaoEmAndamento.StatusAtual != StatusOperacao.Parado && !MKS057DService.Referenciando; + bool MovimentoLiberado = Variaveis.OperacaoEmAndamento.StatusAtual == StatusOperacao.EmAndamento && !MKS057DService.Referenciando; if (MovimentoLiberado || ForcarEnvio) { @@ -1401,41 +1402,44 @@ namespace AgroBase.Models private void VerificarDesvioPorObstaculos() { - var Sonar = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect; - if (Variaveis.OperacaoEmAndamento.Controle.SonarAtivado && (Sonar?.Iniciado ?? false) && (Sonar?.DesvioNecessario ?? false)) + if (Variaveis.OperacaoEmAndamento.Controle.SonarAtivado) { - Keys TeclaComando = - Sonar.DirecaoDesvio == Direcao.Esquerda ? Keys.Left : - Sonar.DirecaoDesvio == Direcao.Direita ? Keys.Right : - Keys.Escape; + var Sonar = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect; + if ((Sonar?.Iniciado ?? false) && (Sonar?.DesvioNecessario ?? false)) + { + Keys TeclaComando = + Sonar.DirecaoDesvio == Direcao.Esquerda ? Keys.Left : + Sonar.DirecaoDesvio == Direcao.Direita ? Keys.Right : + Keys.Escape; - if (Variaveis.OperacaoEmAndamento.Controle.SonarDesvioAutomatico) - { - Variaveis.OperacaoEmAndamento.Controle.Angulo = Sonar.AnguloDesvio; - GeneralJoystick.EnviaComandoMotor(TeclaComando, T_Code.Dir); + if (Variaveis.OperacaoEmAndamento.Controle.SonarDesvioAutomatico) + { + Variaveis.OperacaoEmAndamento.Controle.Angulo = Sonar.AnguloDesvio; + GeneralJoystick.EnviaComandoMotor(TeclaComando, T_Code.Dir); + } + if (Sonar.DirecaoDesvio == Direcao.Parado) + { + GeneralJoystick.EnviaComandoMotor(Keys.Escape, T_Code.Mov); + } } - if (Sonar.DirecaoDesvio == Direcao.Parado) - { - GeneralJoystick.EnviaComandoMotor(Keys.Escape, T_Code.Mov); - } - } - var Ultrassom = UltrasonicA05Service.DadosLeitura.Configuracao; - if (UltrasonicA05Service.Iniciado) - { - Keys TeclaComando = - Ultrassom.DirecaoDesvio == Direcao.Esquerda ? Keys.Left : - Ultrassom.DirecaoDesvio == Direcao.Direita ? Keys.Right : - Keys.Escape; + var Ultrassom = UltrasonicA05Service.DadosLeitura.Configuracao; + if (UltrasonicA05Service.Iniciado && Ultrassom.DesvioNecessario) + { + Keys TeclaComando = + Ultrassom.DirecaoDesvio == Direcao.Esquerda ? Keys.Left : + Ultrassom.DirecaoDesvio == Direcao.Direita ? Keys.Right : + Keys.Escape; - if (Ultrassom.ParadaNecessaria) - { - GeneralJoystick.EnviaComandoMotor(Keys.Escape, T_Code.Mov); - } - else if (Variaveis.OperacaoEmAndamento.Controle.SonarDesvioAutomatico && Ultrassom.DesvioNecessario) - { - Variaveis.OperacaoEmAndamento.Controle.Angulo = Variaveis.OperacaoEmAndamento.Controle.Angulo_Max; - GeneralJoystick.EnviaComandoMotor(TeclaComando, T_Code.Dir); + if (Ultrassom.ParadaNecessaria) + { + GeneralJoystick.EnviaComandoMotor(Keys.Escape, T_Code.Mov); + } + else if (Ultrassom.DesvioNecessario) + { + Variaveis.OperacaoEmAndamento.Controle.Angulo = Variaveis.OperacaoEmAndamento.Controle.Angulo_Max; + GeneralJoystick.EnviaComandoMotor(TeclaComando, T_Code.Dir); + } } } } @@ -1595,13 +1599,14 @@ namespace AgroBase.Models } var MqttTopico = cameraCaminho.camera._mqttTopico; - if (MqttTopico != null && MqttTopico.Mensagens.Any(x => x.Momento > cameraCaminho.camera.IniciadoEm)) + if (MqttTopico != null && MqttTopico.Mensagens.Any(x => x.Momento > cameraCaminho.camera.IniciadoEm && !x.Mensagem.StartsWith("OK"))) { try { var Mensagem = MqttTopico.Mensagens.LastOrDefault(x => x.Momento > cameraCaminho.camera.IniciadoEm); if (Mensagem != null) { + Console.WriteLine(Mensagem.Mensagem); cameraCaminho.Leitura = JsonConvert.DeserializeObject(Mensagem.Mensagem); } } @@ -1797,7 +1802,21 @@ namespace AgroBase.Models private void PararCarroOperacaoInterrompida(bool finalizar) { - AtualizarDadosControle(true); + var Controle = Variaveis.OperacaoEmAndamento.Controle; + + if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.MapaGPS) + { + Variaveis.OperacaoEmAndamento.AtualizarDadosControle(true); + } + else + { + GeneralJoystick.EnviaComandoMotor(Keys.Escape, T_Code.Mov, true); + GeneralJoystick.EnviaComandoMotor(Keys.Escape, T_Code.Dir, true); + foreach (var bico in Variaveis.OperacaoEmAndamento.DispAtu.Dados.BicosPulverizadores) + { + GeneralJoystick.EnviarComandoAtuador(S_Code.sBIC, false, bico.ID, true); + } + } if (finalizar) { @@ -1808,7 +1827,7 @@ namespace AgroBase.Models } } - Variaveis.OperacaoEmAndamento.Controle.TiposControle.ForEach(x => x.UltimaDirecao = Direcao.Parado); + Controle.TiposControle.ForEach(x => x.UltimaDirecao = Direcao.Parado); } @@ -2060,13 +2079,14 @@ namespace AgroBase.Models { tipo = typeof(CamSoloSensoriamentoLogModel), nome = x.Nome, - browser = x.browser + browsers = new List() { x.browser } }) .Union(new[] { new { tipo = typeof(CamCaminhoSensoriamentoLogModel), nome = cameraCaminho.Nome, - browser = cameraCaminho.browserRgb + browsers = new List() { cameraCaminho.browserRgb, cameraCaminho.browserHeatmap }, + } }) .ToList(); @@ -2093,8 +2113,11 @@ namespace AgroBase.Models }; SalvarLog(Camera.nome, logCam, false); - frame = await FuncoesGlobais.GetBrowserImage(Camera.browser); - FuncoesGlobais.SalvarImagemComprimida(frame, Caminho, 100L, 716, 403); + foreach (var browser in Camera.browsers) + { + frame = await FuncoesGlobais.GetBrowserImage(browser); + FuncoesGlobais.SalvarImagemComprimida(frame, Caminho, 100L, 716, 403); + } } else if (Camera.tipo == typeof(CamCaminhoSensoriamentoLogModel)) { @@ -2112,11 +2135,18 @@ namespace AgroBase.Models }; SalvarLog(Camera.nome, logCam, false); - frame = await FuncoesGlobais.GetBrowserImage(Camera.browser); - FuncoesGlobais.SalvarImagemComprimida(frame, Caminho, 100L, 716, 403); + foreach (var browser in Camera.browsers) + { + int idx = Camera.browsers.IndexOf(browser); + frame = await FuncoesGlobais.GetBrowserImage(browser); + if (idx == 1) + { + Caminho = Caminho.Replace(".jpg", "_heat.jpg"); + } + FuncoesGlobais.SalvarImagemComprimida(frame, Caminho, 30L, 716, 403); + } - Bitmap heatBitmap = cameraCaminho.GenerateHeatmapBitmap(); - FuncoesGlobais.SalvarImagemComprimida(heatBitmap, Caminho.Replace(".jpg", "_heat.jpg"), 30L); + //Bitmap heatBitmap = cameraCaminho.GenerateHeatmapBitmap(); } } } diff --git a/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs b/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs index 9d40cb5d2..f20a374ed 100644 --- a/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs +++ b/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs @@ -87,7 +87,7 @@ namespace AgroBase.Models } public List _TrajetoriaFixa { get; set; } - private bool _TrajetoriaFixaDefinida + public bool _TrajetoriaFixaDefinida { get { @@ -895,11 +895,22 @@ namespace AgroBase.Models if (_trajetoriaFixa.Count() > 1 && idxEsq == 0 && idxDir == 0) { - var p0 = _trajetoriaFixa.Where(x => x.Tipo == TipoPontoRua.Rua).Skip(2).FirstOrDefault(); - var p1 = _trajetoriaFixa.Where(x => x.Tipo == TipoPontoRua.Rua).Skip(3).FirstOrDefault(); - (List ruaEsq, List ruaDir) = DeterminarRuasLaterais(p0.Posicao, p1.Posicao, RuasPlantacao[0], RuasPlantacao[1]); - idxEsq = RuasPlantacao.IndexOf(ruaEsq); - idxDir = RuasPlantacao.IndexOf(ruaDir); + var pontos = _trajetoriaFixa.Where(x => x.Tipo == TipoPontoRua.Rua).ToList(); + if (pontos.Count >= 2) + { + var p0 = pontos[0]; + var p1 = pontos[1]; + + (List ruaEsq, List ruaDir) = DeterminarRuasLaterais(p0.Posicao, p1.Posicao, RuasPlantacao[0], RuasPlantacao[1]); + + idxEsq = RuasPlantacao.IndexOf(ruaEsq); + idxDir = RuasPlantacao.IndexOf(ruaDir); + } + else + { + // ⚠️ Caso de erro: não há dois pontos de rua, mesmo com mais de 1 ponto na trajetória. + Console.WriteLine("Não há ao menos dois pontos do tipo Rua."); + } } bool ultimoCorredor = idx == Corredores.Count() - 1; @@ -1391,6 +1402,11 @@ namespace AgroBase.Models private void AtualizarDistanciaTrajeto() { + if (!Variaveis.OperacaoEmAndamento.Trajetoria._TrajetoriaFixaDefinida) + { + return; + } + var pontoAtual = Variaveis.OperacaoEmAndamento.Trajetoria.PontoAtual; int idxPontoAtual = pontoAtual.idxPonto + 1; int qtdPontos = Math.Abs(idxPonto - idxPontoAtual) + 1; // Sempre positivo diff --git a/AgroBase/AgroBase/Models/Variaveis.cs b/AgroBase/AgroBase/Models/Variaveis.cs index 07fa7fcba..4542e35c8 100644 --- a/AgroBase/AgroBase/Models/Variaveis.cs +++ b/AgroBase/AgroBase/Models/Variaveis.cs @@ -15,6 +15,7 @@ using CefSharp.WinForms; using System.IO; using System.Threading; using AgroBase.Models.Components; +using CefSharp; namespace AgroBase.Models { @@ -1064,7 +1065,55 @@ namespace AgroBase.Models } } + public static void ValidarImagemCameraBrowser(ChromiumWebBrowser nav, Control parent) + { + nav.LoadingStateChanged += async (sender, args) => + { + // Aguarde até terminar de carregar + if (!args.IsLoading) + { + var browser = (ChromiumWebBrowser)sender; + try + { + // Espera um pequeno tempo para o conteúdo estar disponível + await Task.Delay(500); + + // Executa JavaScript para verificar o conteúdo da página + var response = await browser.EvaluateScriptAsync( + "document.body ? document.body.innerText : ''"); + + if (response.Success && response.Result != null) + { + string conteudo = response.Result.ToString(); + + // Verifica mensagens de erro comuns + if (conteudo.Contains("Internal Server Error") || conteudo.Contains("Not Found") || conteudo.Length < 20) + { + Console.WriteLine("Falha no carregamento do stream, recarregando..."); + await Task.Delay(1000); + + if (parent.IsHandleCreated) + { + parent.Invoke(new Action(() => + { + browser.Refresh(); + })); + } + } + else + { + Console.WriteLine("Câmera carregada com sucesso."); + } + } + } + catch (Exception ex) + { + Console.WriteLine($"Erro ao verificar página: {ex.Message}"); + } + } + }; + } } diff --git a/AgroBase/AgroBase/Services/CameraService.cs b/AgroBase/AgroBase/Services/CameraService.cs index ab4598e4a..bc00ce066 100644 --- a/AgroBase/AgroBase/Services/CameraService.cs +++ b/AgroBase/AgroBase/Services/CameraService.cs @@ -14,6 +14,7 @@ namespace AgroBase.Services public static Dictionary CamerasConectadas = new Dictionary(); public Process pythonProcess; + public readonly object processLock = new object(); public DateTime? IniciadoEm = null; public DateTime? ProntoEm = null; public DateTime? FinalizadoEm = null; @@ -34,8 +35,11 @@ namespace AgroBase.Services { _mqttTopico = await Variaveis.MqttService.AdicionarNovoTopico(MqttTopico, true, 2, mqttCallback); - pythonProcess = new Process(); - pythonProcess = PythonService.RunScript(Script, Argumentos); + lock (processLock) + { + pythonProcess = new Process(); + pythonProcess = PythonService.RunScript(Script, Argumentos); + } IniciadoEm = DateTime.Now; foreach (string url in FlaskUrl) diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs index 41b78e997..b4ec78283 100644 --- a/AgroBase/AgroBase/Services/GPSService.cs +++ b/AgroBase/AgroBase/Services/GPSService.cs @@ -455,7 +455,7 @@ namespace AgroBase.Services PenultimaLeitura.TipoOrientacao = UltimaLeitura.TipoOrientacao; UltimaLeitura.Momento = DateTime.Now; - UltimaLeitura.OrientacaoReal = (headingTrue + 180) % 360; // Inverter o angulo lido para normalizar com o angulo calculado entre leituras + UltimaLeitura.OrientacaoReal = headingTrue; UltimaLeitura.TipoOrientacao = status; // ✅ Atualiza o ângulo unificado no GPSService @@ -662,8 +662,8 @@ namespace AgroBase.Services // ✅ Se a trajetória estiver vazia, não há o que calcular if (GPSTrajetoria == null || GPSTrajetoria.Count == 0) { - Angulo = GPSUtils.CalcularOrientacao(UltimaLeitura, PenultimaLeitura); - DistAngulo = GPSUtils.DistanciaEntrePontos(UltimaLeitura, PenultimaLeitura); + Angulo = GPSUtils.CalcularOrientacao(PenultimaLeitura, UltimaLeitura); + DistAngulo = GPSUtils.DistanciaEntrePontos(PenultimaLeitura, UltimaLeitura); } else { @@ -729,9 +729,9 @@ namespace AgroBase.Services double distAnguloGPS = UltimaLeitura.Distancia; //anguloFinal = CalcularAnguloUnificado(anguloGPS, UltimaLeitura.QualidadeFix, anguloGPSMovimento, distAnguloGPS); - anguloFinal = GPSUtils.MisturarAngulosPorDistancia(anguloGPS, anguloGPSMovimento, distAnguloGPS, TrajetoriaMapaOperacaoModel.DistanciaMaximaEntreLeituras, 0.03, 0.3); + //anguloFinal = GPSUtils.MisturarAngulosPorDistancia(anguloGPS, anguloGPSMovimento, distAnguloGPS, TrajetoriaMapaOperacaoModel.DistanciaMaximaEntreLeituras, 0.03, 0.3); - //anguloFinal = anguloGPS; + anguloFinal = anguloGPS; } else if (witIniciado) { diff --git a/AgroBase/AgroBase/Services/MapasService.cs b/AgroBase/AgroBase/Services/MapasService.cs index 8aa476cce..37104a8ab 100644 --- a/AgroBase/AgroBase/Services/MapasService.cs +++ b/AgroBase/AgroBase/Services/MapasService.cs @@ -1,5 +1,4 @@ using AgroBase.Models; -using CefSharp.WinForms; using Newtonsoft.Json; using System; using System.Collections.Generic; @@ -7,7 +6,6 @@ using System.Diagnostics; using System.IO; using System.Text; using System.Windows.Forms; -using System.Xml.Linq; namespace AgroBase.Services { @@ -25,6 +23,7 @@ namespace AgroBase.Services { public OpenFileDialog opfMapa; public Process pythonProcess; + public readonly object processLock = new object(); private string CaminhoSaida = Variaveis.CaminhoSistema + PythonService.CaminhoGeral + PythonService.CaminhoLeitura; public string NomeArquivoMapa = ""; public string NomeArquivos = ""; @@ -56,17 +55,20 @@ namespace AgroBase.Services NomeArquivos = CaminhoArquivo.Split('\\')[CaminhoArquivo.Split('\\').Length - 1].Replace(extensao, ""); CaminhoMapa = CaminhoArquivo.Replace(NomeArquivos, "").Replace(extensao, "").Replace("\\", "/"); - pythonProcess = PythonService.RunScript(script, new string[] + lock (processLock) { - CaminhoMapa, - NomeArquivos, - ArquivoSaida, - NomeArquivoMapa, - MapasVariaveisModel.TopicoCoordenadasGPS, - MapasVariaveisModel.TopicoSelecaoRuasMapa, - MapasVariaveisModel.TopicoTrajetoriaDinamica, - extensao == ".json" ? "1" : "0" - }); + pythonProcess = PythonService.RunScript(script, new string[] + { + CaminhoMapa, + NomeArquivos, + ArquivoSaida, + NomeArquivoMapa, + MapasVariaveisModel.TopicoCoordenadasGPS, + MapasVariaveisModel.TopicoSelecaoRuasMapa, + MapasVariaveisModel.TopicoTrajetoriaDinamica, + extensao == ".json" ? "1" : "0" + }); + } MapaUrl = new Uri(CaminhoSaida + NomeArquivoMapa).AbsoluteUri; CaminhoDadosMapa = CaminhoSaida + ArquivoSaida; diff --git a/AgroBase/AgroBase/Services/MqttService.cs b/AgroBase/AgroBase/Services/MqttService.cs index 824a817d9..7b24f8a65 100644 --- a/AgroBase/AgroBase/Services/MqttService.cs +++ b/AgroBase/AgroBase/Services/MqttService.cs @@ -71,7 +71,17 @@ public class MqttService if (topico.Callback != null) { - Task.Run(async () => await FuncoesGlobais.SafeExecuteAsync(async () => await topico.Callback(Mensagem))); + _ = Task.Run(async () => + { + try + { + await topico.Callback(Mensagem); // await real e funcional + } + catch (Exception ex) + { + Console.WriteLine($"Erro no callback do tópico '{topico.Topico}': {ex}"); + } + }); } } }); diff --git a/AgroBase/AgroBase/Services/PythonService.cs b/AgroBase/AgroBase/Services/PythonService.cs index 959a1a661..cb54ce58c 100644 --- a/AgroBase/AgroBase/Services/PythonService.cs +++ b/AgroBase/AgroBase/Services/PythonService.cs @@ -79,7 +79,7 @@ namespace AgroBase.Services StartInfo = new ProcessStartInfo { FileName = "python", - Arguments = $"{ScriptPath} {Args}", + Arguments = $"{ScriptPath} {Args} --source={Variaveis.NomeAplicacao}", UseShellExecute = false, RedirectStandardOutput = false, RedirectStandardError = false, @@ -88,7 +88,7 @@ namespace AgroBase.Services } }; - Console.WriteLine($"{ScriptPath} {Args}"); + Console.WriteLine($"{pythonProcess.StartInfo.Arguments}"); //pythonProcess.Exited += PythonProcess_Exited; //pythonProcess.OutputDataReceived += PythonProcess_OutputDataReceived; @@ -196,13 +196,26 @@ namespace AgroBase.Services } } - public static void EncerrarProcessos() + public static void EncerrarProcessos(int processId = -1) { - foreach (var processo in processosIniciados) + foreach (var processo in Process.GetProcessesByName("python")) { - if (!processo.HasExited) + try { - processo.Kill(); + // Verifica os argumentos do processo + string argumentos = processo.StartInfo.Arguments; + if ((processId > -1 && processo.Id == processId)) + { + processo.Kill(); + } + else if (processId == -1) + { + processo.Kill(); + } + } + catch (Exception ex) + { + Console.WriteLine($"Erro ao encerrar processo: {ex.Message}"); } } } diff --git a/AgroBase/AgroBase/Services/SerialService.cs b/AgroBase/AgroBase/Services/SerialService.cs index f1ce39823..0fa4280f2 100644 --- a/AgroBase/AgroBase/Services/SerialService.cs +++ b/AgroBase/AgroBase/Services/SerialService.cs @@ -5,7 +5,6 @@ using System.Collections.Generic; using System.IO; using System.IO.Ports; using System.Linq; -using System.Management; using System.Text; using System.Threading; using System.Threading.Tasks; @@ -936,11 +935,23 @@ namespace AgroBase.Services Console.WriteLine(msg); if (!Variaveis.IsAgroMonitor) { - frmInstancial.frmPrincipal.Invoke((MethodInvoker)(() => + if (frmInstancial.frmPrincipal.IsHandleCreated) { - frmInstancial.frmPrincipal.lblStatusConexao.Text = msg; - frmInstancial.frmIHM.lblStatus.Text = msg; - })); + frmInstancial.frmPrincipal.Invoke((MethodInvoker)(() => + { + frmInstancial.frmPrincipal.lblStatusConexao.Text = msg; + + if (frmInstancial.frmIHM != null && frmInstancial.frmIHM.IsHandleCreated) + { + frmInstancial.frmIHM.lblStatus.Text = msg; + } + })); + } + else + { + // Opcional: armazenar a mensagem e aplicar depois + Console.WriteLine("frmPrincipal ainda não está pronto para receber Invoke."); + } } } diff --git a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb index 00f16e4d3..727e68853 100644 Binary files a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb and b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb differ diff --git a/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 b/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 index a4772cb74..2df84e94f 100644 Binary files a/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 and b/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 differ diff --git a/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 b/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 index fc77359bd..a0c4ad119 100644 Binary files a/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 and b/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 differ diff --git a/AgroBase/AgroBase/bin/Debug/OperacoesSalvas/Campo 1.opr b/AgroBase/AgroBase/bin/Debug/OperacoesSalvas/Campo 1.opr deleted file mode 100644 index 73fd7426a..000000000 --- a/AgroBase/AgroBase/bin/Debug/OperacoesSalvas/Campo 1.opr +++ /dev/null @@ -1 +0,0 @@ -{"Modo":2,"Descricao":"Campo 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