Zendion/agrobot_base
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agrobot_base
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acrescentado movimento diagonal

This commit is contained in:
Diego Freitas 2025-10-02 12:49:43 -03:00
parent 5ad682f7fe
commit 46cb1497dc
57 changed files with 628 additions and 339 deletions
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BIN
AgroBase/.vs/AgroBase/FileContentIndex/49bb7dac-7e71-44d6-ba04-740ccab65fa4.vsidx → AgroBase/.vs/AgroBase/FileContentIndex/af5a41fa-a178-4e5c-b99e-7c060c47d323.vsidx
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AgroBase/.vs/AgroBase/v17/.suo
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378
AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs generated
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@ -100,20 +100,20 @@
this.tabDirecional = new System.Windows.Forms.TabPage();
this.txtDIR_Status_DT = new System.Windows.Forms.TextBox();
this.label126 = new System.Windows.Forms.Label();
this.txtDIR_AgPot_DT = new System.Windows.Forms.TextBox();
this.lblDIR_AgPot_DT = new System.Windows.Forms.Label();
this.txtDIR_Folga_DT = new System.Windows.Forms.TextBox();
this.lblDIR_Folga_DT = new System.Windows.Forms.Label();
this.txtDIR_Status_ET = new System.Windows.Forms.TextBox();
this.label124 = new System.Windows.Forms.Label();
this.txtDIR_AgPot_ET = new System.Windows.Forms.TextBox();
this.lblDIR_AgPot_ET = new System.Windows.Forms.Label();
this.txtDIR_Folga_ET = new System.Windows.Forms.TextBox();
this.lblDIR_Folga_ET = new System.Windows.Forms.Label();
this.txtDIR_Status_DF = new System.Windows.Forms.TextBox();
this.label122 = new System.Windows.Forms.Label();
this.txtDIR_AgPot_DF = new System.Windows.Forms.TextBox();
this.lblDIR_AgPot_DF = new System.Windows.Forms.Label();
this.txtDIR_Folga_DF = new System.Windows.Forms.TextBox();
this.lblDIR_Folga_DF = new System.Windows.Forms.Label();
this.txtDIR_Status_EF = new System.Windows.Forms.TextBox();
this.label78 = new System.Windows.Forms.Label();
this.txtDIR_AgPot_EF = new System.Windows.Forms.TextBox();
this.lblDIR_AgPot_EF = new System.Windows.Forms.Label();
this.txtDIR_Folga_EF = new System.Windows.Forms.TextBox();
this.lblDIR_Folga_EF = new System.Windows.Forms.Label();
this.txtDIR_Controlar_ET = new System.Windows.Forms.TextBox();
this.label39 = new System.Windows.Forms.Label();
this.txtDIR_Velocidade_ET = new System.Windows.Forms.TextBox();
@ -383,6 +383,18 @@
this.txtSonarDistanciaObstaculo = new System.Windows.Forms.TextBox();
this.label97 = new System.Windows.Forms.Label();
this.tabSegmentacao = new System.Windows.Forms.TabPage();
this.txtTempoManobrando = new System.Windows.Forms.TextBox();
this.label142 = new System.Windows.Forms.Label();
this.txtTempoDirecionando = new System.Windows.Forms.TextBox();
this.label143 = new System.Windows.Forms.Label();
this.txtTempoParado = new System.Windows.Forms.TextBox();
this.label144 = new System.Windows.Forms.Label();
this.txtTempoSaindoRua = new System.Windows.Forms.TextBox();
this.label139 = new System.Windows.Forms.Label();
this.txtTempoCaminhandoRua = new System.Windows.Forms.TextBox();
this.label140 = new System.Windows.Forms.Label();
this.txtTempoEntrandoRua = new System.Windows.Forms.TextBox();
this.label141 = new System.Windows.Forms.Label();
this.chbDesenharCorredor = new System.Windows.Forms.CheckBox();
this.txtCamCaminhoStatusCarro = new System.Windows.Forms.TextBox();
this.label103 = new System.Windows.Forms.Label();
@ -446,6 +458,8 @@
this.dtComandosDir = new System.Windows.Forms.DataGridView();
this.label100 = new System.Windows.Forms.Label();
this.dtComandosMov = new System.Windows.Forms.DataGridView();
this.tabMPC = new System.Windows.Forms.TabPage();
this.tvwMPC = new System.Windows.Forms.TreeView();
this.panel6 = new System.Windows.Forms.Panel();
this.pnlInformacoesOperacao = new System.Windows.Forms.Panel();
this.label134 = new System.Windows.Forms.Label();
@ -507,8 +521,6 @@
this.label36 = new System.Windows.Forms.Label();
this.txtMomento = new System.Windows.Forms.TextBox();
this.btnPlay = new System.Windows.Forms.Button();
this.tabMPC = new System.Windows.Forms.TabPage();
this.tvwMPC = new System.Windows.Forms.TreeView();
((System.ComponentModel.ISupportInitialize)(this.trbMomento)).BeginInit();
this.panel1.SuspendLayout();
this.tabControl4.SuspendLayout();
@ -580,10 +592,10 @@
((System.ComponentModel.ISupportInitialize)(this.dtComandosAtu)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.dtComandosDir)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.dtComandosMov)).BeginInit();
this.tabMPC.SuspendLayout();
this.panel6.SuspendLayout();
this.pnlInformacoesOperacao.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).BeginInit();
this.tabMPC.SuspendLayout();
this.SuspendLayout();
//
// trbMomento
@ -1076,20 +1088,20 @@
//
this.tabDirecional.Controls.Add(this.txtDIR_Status_DT);
this.tabDirecional.Controls.Add(this.label126);
this.tabDirecional.Controls.Add(this.txtDIR_AgPot_DT);
this.tabDirecional.Controls.Add(this.lblDIR_AgPot_DT);
this.tabDirecional.Controls.Add(this.txtDIR_Folga_DT);
this.tabDirecional.Controls.Add(this.lblDIR_Folga_DT);
this.tabDirecional.Controls.Add(this.txtDIR_Status_ET);
this.tabDirecional.Controls.Add(this.label124);
this.tabDirecional.Controls.Add(this.txtDIR_AgPot_ET);
this.tabDirecional.Controls.Add(this.lblDIR_AgPot_ET);
this.tabDirecional.Controls.Add(this.txtDIR_Folga_ET);
this.tabDirecional.Controls.Add(this.lblDIR_Folga_ET);
this.tabDirecional.Controls.Add(this.txtDIR_Status_DF);
this.tabDirecional.Controls.Add(this.label122);
this.tabDirecional.Controls.Add(this.txtDIR_AgPot_DF);
this.tabDirecional.Controls.Add(this.lblDIR_AgPot_DF);
this.tabDirecional.Controls.Add(this.txtDIR_Folga_DF);
this.tabDirecional.Controls.Add(this.lblDIR_Folga_DF);
this.tabDirecional.Controls.Add(this.txtDIR_Status_EF);
this.tabDirecional.Controls.Add(this.label78);
this.tabDirecional.Controls.Add(this.txtDIR_AgPot_EF);
this.tabDirecional.Controls.Add(this.lblDIR_AgPot_EF);
this.tabDirecional.Controls.Add(this.txtDIR_Folga_EF);
this.tabDirecional.Controls.Add(this.lblDIR_Folga_EF);
this.tabDirecional.Controls.Add(this.txtDIR_Controlar_ET);
this.tabDirecional.Controls.Add(this.label39);
this.tabDirecional.Controls.Add(this.txtDIR_Velocidade_ET);
@ -1175,25 +1187,25 @@
this.label126.TabIndex = 209;
this.label126.Text = "Status";
//
// txtDIR_AgPot_DT
// txtDIR_Folga_DT
//
this.txtDIR_AgPot_DT.Location = new System.Drawing.Point(438, 466);
this.txtDIR_AgPot_DT.Margin = new System.Windows.Forms.Padding(2);
this.txtDIR_AgPot_DT.Name = "txtDIR_AgPot_DT";
this.txtDIR_AgPot_DT.ReadOnly = true;
this.txtDIR_AgPot_DT.Size = new System.Drawing.Size(54, 20);
this.txtDIR_AgPot_DT.TabIndex = 208;
this.txtDIR_AgPot_DT.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.txtDIR_Folga_DT.Location = new System.Drawing.Point(438, 466);
this.txtDIR_Folga_DT.Margin = new System.Windows.Forms.Padding(2);
this.txtDIR_Folga_DT.Name = "txtDIR_Folga_DT";
this.txtDIR_Folga_DT.ReadOnly = true;
this.txtDIR_Folga_DT.Size = new System.Drawing.Size(54, 20);
this.txtDIR_Folga_DT.TabIndex = 208;
this.txtDIR_Folga_DT.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// lblDIR_AgPot_DT
// lblDIR_Folga_DT
//
this.lblDIR_AgPot_DT.AutoSize = true;
this.lblDIR_AgPot_DT.Location = new System.Drawing.Point(436, 450);
this.lblDIR_AgPot_DT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDIR_AgPot_DT.Name = "lblDIR_AgPot_DT";
this.lblDIR_AgPot_DT.Size = new System.Drawing.Size(39, 13);
this.lblDIR_AgPot_DT.TabIndex = 207;
this.lblDIR_AgPot_DT.Text = "Ag Pot";
this.lblDIR_Folga_DT.AutoSize = true;
this.lblDIR_Folga_DT.Location = new System.Drawing.Point(436, 450);
this.lblDIR_Folga_DT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDIR_Folga_DT.Name = "lblDIR_Folga_DT";
this.lblDIR_Folga_DT.Size = new System.Drawing.Size(33, 13);
this.lblDIR_Folga_DT.TabIndex = 207;
this.lblDIR_Folga_DT.Text = "Folga";
//
// txtDIR_Status_ET
//
@ -1215,25 +1227,25 @@
this.label124.TabIndex = 205;
this.label124.Text = "Status";
//
// txtDIR_AgPot_ET
// txtDIR_Folga_ET
//
this.txtDIR_AgPot_ET.Location = new System.Drawing.Point(180, 466);
this.txtDIR_AgPot_ET.Margin = new System.Windows.Forms.Padding(2);
this.txtDIR_AgPot_ET.Name = "txtDIR_AgPot_ET";
this.txtDIR_AgPot_ET.ReadOnly = true;
this.txtDIR_AgPot_ET.Size = new System.Drawing.Size(54, 20);
this.txtDIR_AgPot_ET.TabIndex = 204;
this.txtDIR_AgPot_ET.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.txtDIR_Folga_ET.Location = new System.Drawing.Point(180, 466);
this.txtDIR_Folga_ET.Margin = new System.Windows.Forms.Padding(2);
this.txtDIR_Folga_ET.Name = "txtDIR_Folga_ET";
this.txtDIR_Folga_ET.ReadOnly = true;
this.txtDIR_Folga_ET.Size = new System.Drawing.Size(54, 20);
this.txtDIR_Folga_ET.TabIndex = 204;
this.txtDIR_Folga_ET.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// lblDIR_AgPot_ET
// lblDIR_Folga_ET
//
this.lblDIR_AgPot_ET.AutoSize = true;
this.lblDIR_AgPot_ET.Location = new System.Drawing.Point(178, 450);
this.lblDIR_AgPot_ET.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDIR_AgPot_ET.Name = "lblDIR_AgPot_ET";
this.lblDIR_AgPot_ET.Size = new System.Drawing.Size(39, 13);
this.lblDIR_AgPot_ET.TabIndex = 203;
this.lblDIR_AgPot_ET.Text = "Ag Pot";
this.lblDIR_Folga_ET.AutoSize = true;
this.lblDIR_Folga_ET.Location = new System.Drawing.Point(178, 450);
this.lblDIR_Folga_ET.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDIR_Folga_ET.Name = "lblDIR_Folga_ET";
this.lblDIR_Folga_ET.Size = new System.Drawing.Size(33, 13);
this.lblDIR_Folga_ET.TabIndex = 203;
this.lblDIR_Folga_ET.Text = "Folga";
//
// txtDIR_Status_DF
//
@ -1255,25 +1267,25 @@
this.label122.TabIndex = 201;
this.label122.Text = "Status";
//
// txtDIR_AgPot_DF
// txtDIR_Folga_DF
//
this.txtDIR_AgPot_DF.Location = new System.Drawing.Point(438, 206);
this.txtDIR_AgPot_DF.Margin = new System.Windows.Forms.Padding(2);
this.txtDIR_AgPot_DF.Name = "txtDIR_AgPot_DF";
this.txtDIR_AgPot_DF.ReadOnly = true;
this.txtDIR_AgPot_DF.Size = new System.Drawing.Size(54, 20);
this.txtDIR_AgPot_DF.TabIndex = 200;
this.txtDIR_AgPot_DF.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.txtDIR_Folga_DF.Location = new System.Drawing.Point(438, 206);
this.txtDIR_Folga_DF.Margin = new System.Windows.Forms.Padding(2);
this.txtDIR_Folga_DF.Name = "txtDIR_Folga_DF";
this.txtDIR_Folga_DF.ReadOnly = true;
this.txtDIR_Folga_DF.Size = new System.Drawing.Size(54, 20);
this.txtDIR_Folga_DF.TabIndex = 200;
this.txtDIR_Folga_DF.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// lblDIR_AgPot_DF
// lblDIR_Folga_DF
//
this.lblDIR_AgPot_DF.AutoSize = true;
this.lblDIR_AgPot_DF.Location = new System.Drawing.Point(436, 190);
this.lblDIR_AgPot_DF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDIR_AgPot_DF.Name = "lblDIR_AgPot_DF";
this.lblDIR_AgPot_DF.Size = new System.Drawing.Size(39, 13);
this.lblDIR_AgPot_DF.TabIndex = 199;
this.lblDIR_AgPot_DF.Text = "Ag Pot";
this.lblDIR_Folga_DF.AutoSize = true;
this.lblDIR_Folga_DF.Location = new System.Drawing.Point(436, 190);
this.lblDIR_Folga_DF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDIR_Folga_DF.Name = "lblDIR_Folga_DF";
this.lblDIR_Folga_DF.Size = new System.Drawing.Size(33, 13);
this.lblDIR_Folga_DF.TabIndex = 199;
this.lblDIR_Folga_DF.Text = "Folga";
//
// txtDIR_Status_EF
//
@ -1295,25 +1307,25 @@
this.label78.TabIndex = 197;
this.label78.Text = "Status";
//
// txtDIR_AgPot_EF
// txtDIR_Folga_EF
//
this.txtDIR_AgPot_EF.Location = new System.Drawing.Point(180, 206);
this.txtDIR_AgPot_EF.Margin = new System.Windows.Forms.Padding(2);
this.txtDIR_AgPot_EF.Name = "txtDIR_AgPot_EF";
this.txtDIR_AgPot_EF.ReadOnly = true;
this.txtDIR_AgPot_EF.Size = new System.Drawing.Size(54, 20);
this.txtDIR_AgPot_EF.TabIndex = 196;
this.txtDIR_AgPot_EF.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.txtDIR_Folga_EF.Location = new System.Drawing.Point(180, 206);
this.txtDIR_Folga_EF.Margin = new System.Windows.Forms.Padding(2);
this.txtDIR_Folga_EF.Name = "txtDIR_Folga_EF";
this.txtDIR_Folga_EF.ReadOnly = true;
this.txtDIR_Folga_EF.Size = new System.Drawing.Size(54, 20);
this.txtDIR_Folga_EF.TabIndex = 196;
this.txtDIR_Folga_EF.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// lblDIR_AgPot_EF
// lblDIR_Folga_EF
//
this.lblDIR_AgPot_EF.AutoSize = true;
this.lblDIR_AgPot_EF.Location = new System.Drawing.Point(178, 190);
this.lblDIR_AgPot_EF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDIR_AgPot_EF.Name = "lblDIR_AgPot_EF";
this.lblDIR_AgPot_EF.Size = new System.Drawing.Size(39, 13);
this.lblDIR_AgPot_EF.TabIndex = 195;
this.lblDIR_AgPot_EF.Text = "Ag Pot";
this.lblDIR_Folga_EF.AutoSize = true;
this.lblDIR_Folga_EF.Location = new System.Drawing.Point(178, 190);
this.lblDIR_Folga_EF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDIR_Folga_EF.Name = "lblDIR_Folga_EF";
this.lblDIR_Folga_EF.Size = new System.Drawing.Size(33, 13);
this.lblDIR_Folga_EF.TabIndex = 195;
this.lblDIR_Folga_EF.Text = "Folga";
//
// txtDIR_Controlar_ET
//
@ -4262,6 +4274,18 @@
//
// tabSegmentacao
//
this.tabSegmentacao.Controls.Add(this.txtTempoManobrando);
this.tabSegmentacao.Controls.Add(this.label142);
this.tabSegmentacao.Controls.Add(this.txtTempoDirecionando);
this.tabSegmentacao.Controls.Add(this.label143);
this.tabSegmentacao.Controls.Add(this.txtTempoParado);
this.tabSegmentacao.Controls.Add(this.label144);
this.tabSegmentacao.Controls.Add(this.txtTempoSaindoRua);
this.tabSegmentacao.Controls.Add(this.label139);
this.tabSegmentacao.Controls.Add(this.txtTempoCaminhandoRua);
this.tabSegmentacao.Controls.Add(this.label140);
this.tabSegmentacao.Controls.Add(this.txtTempoEntrandoRua);
this.tabSegmentacao.Controls.Add(this.label141);
this.tabSegmentacao.Controls.Add(this.chbDesenharCorredor);
this.tabSegmentacao.Controls.Add(this.txtCamCaminhoStatusCarro);
this.tabSegmentacao.Controls.Add(this.label103);
@ -4278,6 +4302,126 @@
this.tabSegmentacao.Text = "Segmentação";
this.tabSegmentacao.UseVisualStyleBackColor = true;
//
// txtTempoManobrando
//
this.txtTempoManobrando.Location = new System.Drawing.Point(253, 498);
this.txtTempoManobrando.Margin = new System.Windows.Forms.Padding(2);
this.txtTempoManobrando.Name = "txtTempoManobrando";
this.txtTempoManobrando.ReadOnly = true;
this.txtTempoManobrando.Size = new System.Drawing.Size(101, 20);
this.txtTempoManobrando.TabIndex = 59;
this.txtTempoManobrando.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label142
//
this.label142.AutoSize = true;
this.label142.Location = new System.Drawing.Point(250, 482);
this.label142.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label142.Name = "label142";
this.label142.Size = new System.Drawing.Size(103, 13);
this.label142.TabIndex = 58;
this.label142.Text = "Tempo Manobrando";
//
// txtTempoDirecionando
//
this.txtTempoDirecionando.Location = new System.Drawing.Point(253, 460);
this.txtTempoDirecionando.Margin = new System.Windows.Forms.Padding(2);
this.txtTempoDirecionando.Name = "txtTempoDirecionando";
this.txtTempoDirecionando.ReadOnly = true;
this.txtTempoDirecionando.Size = new System.Drawing.Size(101, 20);
this.txtTempoDirecionando.TabIndex = 57;
this.txtTempoDirecionando.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label143
//
this.label143.AutoSize = true;
this.label143.Location = new System.Drawing.Point(250, 444);
this.label143.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label143.Name = "label143";
this.label143.Size = new System.Drawing.Size(106, 13);
this.label143.TabIndex = 56;
this.label143.Text = "Tempo Direcionando";
//
// txtTempoParado
//
this.txtTempoParado.Location = new System.Drawing.Point(253, 422);
this.txtTempoParado.Margin = new System.Windows.Forms.Padding(2);
this.txtTempoParado.Name = "txtTempoParado";
this.txtTempoParado.ReadOnly = true;
this.txtTempoParado.Size = new System.Drawing.Size(101, 20);
this.txtTempoParado.TabIndex = 55;
this.txtTempoParado.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label144
//
this.label144.AutoSize = true;
this.label144.Location = new System.Drawing.Point(250, 406);
this.label144.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label144.Name = "label144";
this.label144.Size = new System.Drawing.Size(77, 13);
this.label144.TabIndex = 54;
this.label144.Text = "Tempo Parado";
//
// txtTempoSaindoRua
//
this.txtTempoSaindoRua.Location = new System.Drawing.Point(126, 497);
this.txtTempoSaindoRua.Margin = new System.Windows.Forms.Padding(2);
this.txtTempoSaindoRua.Name = "txtTempoSaindoRua";
this.txtTempoSaindoRua.ReadOnly = true;
this.txtTempoSaindoRua.Size = new System.Drawing.Size(101, 20);
this.txtTempoSaindoRua.TabIndex = 53;
this.txtTempoSaindoRua.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label139
//
this.label139.AutoSize = true;
this.label139.Location = new System.Drawing.Point(123, 481);
this.label139.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label139.Name = "label139";
this.label139.Size = new System.Drawing.Size(93, 13);
this.label139.TabIndex = 52;
this.label139.Text = "TempoSaindoRua";
//
// txtTempoCaminhandoRua
//
this.txtTempoCaminhandoRua.Location = new System.Drawing.Point(126, 459);
this.txtTempoCaminhandoRua.Margin = new System.Windows.Forms.Padding(2);
this.txtTempoCaminhandoRua.Name = "txtTempoCaminhandoRua";
this.txtTempoCaminhandoRua.ReadOnly = true;
this.txtTempoCaminhandoRua.Size = new System.Drawing.Size(101, 20);
this.txtTempoCaminhandoRua.TabIndex = 51;
this.txtTempoCaminhandoRua.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label140
//
this.label140.AutoSize = true;
this.label140.Location = new System.Drawing.Point(123, 443);
this.label140.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label140.Name = "label140";
this.label140.Size = new System.Drawing.Size(122, 13);
this.label140.TabIndex = 50;
this.label140.Text = "Tempo CaminhandoRua";
//
// txtTempoEntrandoRua
//
this.txtTempoEntrandoRua.Location = new System.Drawing.Point(126, 421);
this.txtTempoEntrandoRua.Margin = new System.Windows.Forms.Padding(2);
this.txtTempoEntrandoRua.Name = "txtTempoEntrandoRua";
this.txtTempoEntrandoRua.ReadOnly = true;
this.txtTempoEntrandoRua.Size = new System.Drawing.Size(101, 20);
this.txtTempoEntrandoRua.TabIndex = 49;
this.txtTempoEntrandoRua.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label141
//
this.label141.AutoSize = true;
this.label141.Location = new System.Drawing.Point(123, 405);
this.label141.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label141.Name = "label141";
this.label141.Size = new System.Drawing.Size(106, 13);
this.label141.TabIndex = 48;
this.label141.Text = "Tempo EntrandoRua";
//
// chbDesenharCorredor
//
this.chbDesenharCorredor.AutoSize = true;
@ -4970,6 +5114,25 @@
this.dtComandosMov.Size = new System.Drawing.Size(465, 150);
this.dtComandosMov.TabIndex = 0;
//
// tabMPC
//
this.tabMPC.Controls.Add(this.tvwMPC);
this.tabMPC.Location = new System.Drawing.Point(4, 22);
this.tabMPC.Name = "tabMPC";
this.tabMPC.Padding = new System.Windows.Forms.Padding(3);
this.tabMPC.Size = new System.Drawing.Size(496, 522);
this.tabMPC.TabIndex = 13;
this.tabMPC.Text = "MPC";
this.tabMPC.UseVisualStyleBackColor = true;
//
// tvwMPC
//
this.tvwMPC.Dock = System.Windows.Forms.DockStyle.Fill;
this.tvwMPC.Location = new System.Drawing.Point(3, 3);
this.tvwMPC.Name = "tvwMPC";
this.tvwMPC.Size = new System.Drawing.Size(490, 516);
this.tvwMPC.TabIndex = 0;
//
// panel6
//
this.panel6.Controls.Add(this.pnlInformacoesOperacao);
@ -5623,25 +5786,6 @@
this.btnPlay.UseVisualStyleBackColor = true;
this.btnPlay.Click += new System.EventHandler(this.btnPlay_Click);
//
// tabMPC
//
this.tabMPC.Controls.Add(this.tvwMPC);
this.tabMPC.Location = new System.Drawing.Point(4, 22);
this.tabMPC.Name = "tabMPC";
this.tabMPC.Padding = new System.Windows.Forms.Padding(3);
this.tabMPC.Size = new System.Drawing.Size(496, 522);
this.tabMPC.TabIndex = 13;
this.tabMPC.Text = "MPC";
this.tabMPC.UseVisualStyleBackColor = true;
//
// tvwMPC
//
this.tvwMPC.Dock = System.Windows.Forms.DockStyle.Fill;
this.tvwMPC.Location = new System.Drawing.Point(3, 3);
this.tvwMPC.Name = "tvwMPC";
this.tvwMPC.Size = new System.Drawing.Size(490, 516);
this.tvwMPC.TabIndex = 0;
//
// frmResultadosOperacao
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@ -5763,11 +5907,11 @@
((System.ComponentModel.ISupportInitialize)(this.dtComandosAtu)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.dtComandosDir)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.dtComandosMov)).EndInit();
this.tabMPC.ResumeLayout(false);
this.panel6.ResumeLayout(false);
this.pnlInformacoesOperacao.ResumeLayout(false);
this.pnlInformacoesOperacao.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).EndInit();
this.tabMPC.ResumeLayout(false);
this.ResumeLayout(false);
this.PerformLayout();
@ -6159,20 +6303,20 @@
private System.Windows.Forms.Label label72;
private System.Windows.Forms.TextBox txtDIR_Status_DF;
private System.Windows.Forms.Label label122;
private System.Windows.Forms.TextBox txtDIR_AgPot_DF;
private System.Windows.Forms.Label lblDIR_AgPot_DF;
private System.Windows.Forms.TextBox txtDIR_Folga_DF;
private System.Windows.Forms.Label lblDIR_Folga_DF;
private System.Windows.Forms.TextBox txtDIR_Status_EF;
private System.Windows.Forms.Label label78;
private System.Windows.Forms.TextBox txtDIR_AgPot_EF;
private System.Windows.Forms.Label lblDIR_AgPot_EF;
private System.Windows.Forms.TextBox txtDIR_Folga_EF;
private System.Windows.Forms.Label lblDIR_Folga_EF;
private System.Windows.Forms.TextBox txtDIR_Status_DT;
private System.Windows.Forms.Label label126;
private System.Windows.Forms.TextBox txtDIR_AgPot_DT;
private System.Windows.Forms.Label lblDIR_AgPot_DT;
private System.Windows.Forms.TextBox txtDIR_Folga_DT;
private System.Windows.Forms.Label lblDIR_Folga_DT;
private System.Windows.Forms.TextBox txtDIR_Status_ET;
private System.Windows.Forms.Label label124;
private System.Windows.Forms.TextBox txtDIR_AgPot_ET;
private System.Windows.Forms.Label lblDIR_AgPot_ET;
private System.Windows.Forms.TextBox txtDIR_Folga_ET;
private System.Windows.Forms.Label lblDIR_Folga_ET;
private System.Windows.Forms.FlowLayoutPanel flwCameras;
private System.Windows.Forms.TabPage tabCameras;
private System.Windows.Forms.GroupBox gpbCameras_Analise;
@ -6231,5 +6375,17 @@
private System.Windows.Forms.DataGridView dtComandosAtu;
private System.Windows.Forms.TabPage tabMPC;
private System.Windows.Forms.TreeView tvwMPC;
private System.Windows.Forms.TextBox txtTempoManobrando;
private System.Windows.Forms.Label label142;
private System.Windows.Forms.TextBox txtTempoDirecionando;
private System.Windows.Forms.Label label143;
private System.Windows.Forms.TextBox txtTempoParado;
private System.Windows.Forms.Label label144;
private System.Windows.Forms.TextBox txtTempoSaindoRua;
private System.Windows.Forms.Label label139;
private System.Windows.Forms.TextBox txtTempoCaminhandoRua;
private System.Windows.Forms.Label label140;
private System.Windows.Forms.TextBox txtTempoEntrandoRua;
private System.Windows.Forms.Label label141;
}
}

11
AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
View File

@ -1287,6 +1287,8 @@ namespace AgroBase.Forms.Operacoes
txtSentido.Text = (Log?.Sentido ?? Enums.Sentido.Parado).ToString();
TextBox txtVelocidade = FuncoesGlobais.FindControlRecursive<TextBox>(tabDirecional, "txtDIR_Velocidade_" + ID);
txtVelocidade.Text = (Log?.Velocidade ?? 0).ToString();
TextBox txtFolga = FuncoesGlobais.FindControlRecursive<TextBox>(tabDirecional, "txtDIR_Folga_" + ID);
txtFolga.Text = (Log?.FolgaMecanica ?? 0).ToString();
TextBox txtControlar = FuncoesGlobais.FindControlRecursive<TextBox>(tabDirecional, "txtDIR_Controlar_" + ID);
txtControlar.Text = (Log?.Controlar ?? false) ? "Sim" : "Não";
TextBox txtStatus = FuncoesGlobais.FindControlRecursive<TextBox>(tabDirecional, "txtDIR_Status_" + ID);
@ -1528,6 +1530,13 @@ namespace AgroBase.Forms.Operacoes
txtCamCaminhoErroLateral.Text = (Log.OperadorVisual?.Analises?.segmentacao?.erro_lateral_pct ?? 0).ToString("0.00");
txtCamCaminhoStatusCarro.Text = (Log.OperadorVisual?.Analises?.segmentacao?.status_corredor ?? Enums.StatusCarroMapa.Parado).ToString();
txtTempoEntrandoRua.Text = Log.Trajetoria.CorredorAtual.TempoPorStatus.FirstOrDefault(x => x.Key == Enums.StatusCarroMapa.EntrandoRua).Value.ToString("0.00") + " s";
txtTempoCaminhandoRua.Text = Log.Trajetoria.CorredorAtual.TempoPorStatus.FirstOrDefault(x => x.Key == Enums.StatusCarroMapa.CaminhandoRua).Value.ToString("0.00") + " s";
txtTempoSaindoRua.Text = Log.Trajetoria.CorredorAtual.TempoPorStatus.FirstOrDefault(x => x.Key == Enums.StatusCarroMapa.SaindoRua).Value.ToString("0.00") + " s";
txtTempoParado.Text = Log.Trajetoria.CorredorAtual.TempoPorStatus.FirstOrDefault(x => x.Key == Enums.StatusCarroMapa.Parado).Value.ToString("0.00") + " s";
txtTempoDirecionando.Text = Log.Trajetoria.CorredorAtual.TempoPorStatus.FirstOrDefault(x => x.Key == Enums.StatusCarroMapa.Direcionando).Value.ToString("0.00") + " s";
txtTempoManobrando.Text = Log.Trajetoria.CorredorAtual.TempoPorStatus.FirstOrDefault(x => x.Key == Enums.StatusCarroMapa.Manobrando).Value.ToString("0.00") + " s";
pnlCaminho.BackgroundImage = CarregarImagemCamera(pathImagensCaminho, "_segmentacao");
pnlCaminho.BackgroundImageLayout = ImageLayout.Zoom;
pnlCaminho.Invalidate();
@ -1635,7 +1644,7 @@ namespace AgroBase.Forms.Operacoes
var errs = angNode.Nodes.Add("Erros");
errs.Nodes.Add($"Posição={m.erro_posicao:0.00000} Normalizado={m.erro_posicao_n:0.00000}");
errs.Nodes.Add($"Orientação={m.erro_orientacao:0.00000} Normalizado={m.erro_orientacao_n:0.00000}");
errs.Nodes.Add($"Suavização={m.erro_orientacao:0.00000}");
errs.Nodes.Add($"Suavização={m.erro_suavizacao:0.00000}");
errs.Nodes.Add($"Ré={m.erro_re:0.00000}");
errs.Nodes.Add($"Lateral={m.erro_lateral:0.00000} Normalizado={m.erro_lateral_n:0.00000}");

2
AgroBase/AgroBase/Models/GeneralJoystick.cs
View File

@ -183,6 +183,8 @@ namespace AgroBase
}
catch
{
EnviaComandoMotor(Keys.Escape, T_Code.Mov, true);
EnviaComandoMotor(Keys.Escape, T_Code.Dir, true);
AtualizaDispositivo();
return;
}

22
AgroBase/AgroBase/Models/MapaDinamicoModel.cs
View File

@ -179,13 +179,11 @@ namespace AgroBase.Models
// 1) centro em pixels (seu “centro de giro” no painel)
PointF pCtr = LatLonToPanel(_posicaoAtual.Latitude, _posicaoAtual.Longitude, centerX, centerY);
// 2) antenas (corrigida e bruta)
double latCorr = _posicaoAtual.Latitude; // já com lever arm aplicado
double lonCorr = _posicaoAtual.Longitude;
double latBrut = _posicaoAtual.LatitudeAnt; // GNGGA bruto
double lonBrut = _posicaoAtual.LongitudeAnt;
AntenaDiagPx diag = DrawRobotAndAntennaDiagnostics(
g,
pCtr.X, pCtr.Y,
@ -195,7 +193,6 @@ namespace AgroBase.Models
latBrut, lonBrut,
Color.ForestGreen
);
// Se quiser logar os offsets em px:
var offPrev_vs_Corr = new PointF(diag.Corrigida.X - diag.Prevista.X, diag.Corrigida.Y - diag.Prevista.Y);
var offPrev_vs_Brut = new PointF(diag.Bruta.X - diag.Prevista.X, diag.Bruta.Y - diag.Prevista.Y);
@ -240,8 +237,11 @@ namespace AgroBase.Models
{
var trajPoint = trajectory[i];
// Calcule a posição no panel
float x = centerX + (float)((trajPoint.Posicao.Longitude - _posicaoAtual.Longitude) * _zoom);
float y = centerY - (float)((trajPoint.Posicao.Latitude - _posicaoAtual.Latitude) * _zoom);
//float x = centerX + (float)((trajPoint.Posicao.Longitude - _posicaoAtual.Longitude) * _zoom);
//float y = centerY - (float)((trajPoint.Posicao.Latitude - _posicaoAtual.Latitude) * _zoom);
PointF p = LatLonToPanel(trajPoint.Posicao.Latitude, trajPoint.Posicao.Longitude, centerX, centerY);
float x = p.X;
float y = p.Y;
if (drawMargin && trajPoint.Tipo != Enums.TipoPontoRua.Indefinido)
{
@ -272,8 +272,11 @@ namespace AgroBase.Models
if (i > 0)
{
var prevPoint = trajectory[i - 1];
float prevX = centerX + (float)((prevPoint.Posicao.Longitude - _posicaoAtual.Longitude) * _zoom);
float prevY = centerY - (float)((prevPoint.Posicao.Latitude - _posicaoAtual.Latitude) * _zoom);
//float prevX = centerX + (float)((prevPoint.Posicao.Longitude - _posicaoAtual.Longitude) * _zoom);
//float prevY = centerY - (float)((prevPoint.Posicao.Latitude - _posicaoAtual.Latitude) * _zoom);
PointF pv = LatLonToPanel(prevPoint.Posicao.Latitude, prevPoint.Posicao.Longitude, centerX, centerY);
float prevX = pv.X;
float prevY = pv.Y;
g.DrawLine(linePen, prevX, prevY, x, y);
}
@ -616,6 +619,9 @@ namespace AgroBase.Models
private PointF LatLonToPanel(double lat, double lon, float centerX, float centerY)
{
float x = centerX + (float)((lon - _posicaoAtual.Lon0) * _zoom);
float y = centerY - (float)((lat - _posicaoAtual.Lat0) * _zoom);
// Usa a mesma origem ENU do GeoLeverArm
var (xE, yN) = GeoLeverArm.GeodeticToENU(lat, lon, _posicaoAtual.Lat0, _posicaoAtual.Lon0);
float scale = (float)_zoom / 1e7f;
@ -623,7 +629,7 @@ namespace AgroBase.Models
float px = centerX + (float)(xE * scale); // Leste para +X
float py = centerY - (float)(yN * scale); // Norte para -Y (tela cresce para baixo)
return new PointF(px, py);
return new PointF(x, y);
}
}

17
AgroBase/AgroBase/Models/Modules/DirecionalModel.cs
View File

@ -299,7 +299,7 @@ namespace AgroBase.Models.Modules
}
else
{
Angulo_SP = _Controle.Angulo;
Angulo_SP = _Controle.Angulo + (FolgaMecanica / 2.0);
}
if (Comandar)
@ -375,7 +375,7 @@ namespace AgroBase.Models.Modules
_sentido = _sentido == Sentido.Horario ? Sentido.Antihorario : Sentido.Horario;
Console.WriteLine($"[DIR {Mod_ID}] - Invertendo Sentido de Giro para {_sentido.ToString()}");
_anguloSP = CalcularCentroCompensado(AnguloEntrada, AnguloSaida, FolgaMecanica, _sentido);
_anguloSP = CalcularCentroCompensado(AnguloEntrada, AnguloSaida, _sentido);
}
verificacoesAngulo++;
@ -405,23 +405,26 @@ namespace AgroBase.Models.Modules
return VelocidadeGiro;
}
private double CalcularCentroCompensado(double entrada, double saida, double folga, Sentido sentido)
private double CalcularCentroCompensado(double entrada, double saida, Sentido sentido)
{
double centro = (entrada + saida) / 2.0;
double folga = Math.Abs(entrada - saida);
// Determina o sentido do giro baseado na diferença
double direcao = sentido == Sentido.Horario ? -1 : 1;
double compensacao = (folga / 2.0) * direcao;
double compensacao = 0; // (folga / 2.0) * direcao;
double centroCompensado = centro + compensacao;
Console.WriteLine($"[DIR {Mod_ID}] - Folga: {FolgaMecanica}, Entrada: {entrada}, Saida: {saida}, Centro: {centro}, Compensacao: {compensacao}, Centro Compensado: {centroCompensado}");
Console.WriteLine($"[DIR {Mod_ID}] - Folga: {folga}, Entrada: {entrada}, Saida: {saida}, Centro: {centro}, Compensacao: {compensacao}, Centro Compensado: {centroCompensado}");
FolgaMecanica = folga;
return centroCompensado;
}
private async Task SetZero()
public async Task SetZero()
{
MKS057DCanService.SetZero(_EnderecoCAN_Tx, _EnderecoCAN_Rx);
@ -431,7 +434,7 @@ namespace AgroBase.Models.Modules
bool NovoDado() => MKS057DCanService.DadosLeitura.Any(x => x.EnderecoRx == _EnderecoCAN_Rx && x.UltimoComandoRecebido > Inicio);
await FuncoesGlobais.AguardarCondicaoAsync(NovoDado, 500, 100);
if (FuncoesMatematicas.ValorEstaEntre(Angulo, 0, 1))
if (FuncoesMatematicas.ValorEstaEntre(Angulo, -1, 1))
{
Console.WriteLine($"[DIR {Mod_ID}] - Set Zero");
break;

28
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
View File

@ -325,21 +325,27 @@ namespace AgroBase.Models
new OperacaoControleTipoModel()
{
Tipo = T_Code.Mov,
DelayEnvioComandoBase = 10,
DelayEnvioComando = 10,
DelayEnvioComandoExtra = 0,
Comandos = new List<string>(),
UltimoComando = DateTime.Now
},
new OperacaoControleTipoModel()
{
Tipo = T_Code.Dir,
DelayEnvioComandoBase = 10,
DelayEnvioComando = 10,
DelayEnvioComandoExtra = 0,
Comandos = new List<string>(),
UltimoComando = DateTime.Now
},
new OperacaoControleTipoModel()
{
Tipo = T_Code.Atu,
DelayEnvioComandoBase = 10,
DelayEnvioComando = 10,
DelayEnvioComandoExtra = 0,
Comandos = new List<string>(),
UltimoComando = DateTime.Now
},
@ -403,21 +409,27 @@ namespace AgroBase.Models
new OperacaoControleTipoModel()
{
Tipo = T_Code.Mov,
DelayEnvioComandoBase = 500,
DelayEnvioComando = 500,
DelayEnvioComandoExtra = 0,
Comandos = new List<string>(),
UltimoComando = DateTime.Now
},
new OperacaoControleTipoModel()
{
Tipo = T_Code.Dir,
DelayEnvioComandoBase = 300,
DelayEnvioComando = 300,
DelayEnvioComandoExtra = 0,
Comandos = new List<string>(),
UltimoComando = DateTime.Now
},
new OperacaoControleTipoModel()
{
Tipo = T_Code.Atu,
DelayEnvioComandoBase = 200,
DelayEnvioComando = 200,
DelayEnvioComandoExtra = 0,
Comandos = new List<string>(),
UltimoComando = DateTime.Now
},
@ -504,21 +516,27 @@ namespace AgroBase.Models
new OperacaoControleTipoModel()
{
Tipo = T_Code.Mov,
DelayEnvioComandoBase = 500,
DelayEnvioComando = 500,
DelayEnvioComandoExtra = 0,
Comandos = new List<string>(),
UltimoComando = DateTime.Now
},
new OperacaoControleTipoModel()
{
Tipo = T_Code.Dir,
DelayEnvioComandoBase = 1000,
DelayEnvioComando = 1000,
DelayEnvioComandoExtra = 0,
Comandos = new List<string>(),
UltimoComando = DateTime.Now
},
new OperacaoControleTipoModel()
{
Tipo = T_Code.Atu,
DelayEnvioComandoBase = 500,
DelayEnvioComando = 500,
DelayEnvioComandoExtra = 0,
Comandos = new List<string>(),
UltimoComando = DateTime.Now
},
@ -607,14 +625,18 @@ namespace AgroBase.Models
new OperacaoControleTipoModel()
{
Tipo = T_Code.Mov,
DelayEnvioComandoBase = 500,
DelayEnvioComando = 500,
DelayEnvioComandoExtra = 0,
Comandos = new List<string>(),
UltimoComando = DateTime.Now
},
new OperacaoControleTipoModel()
{
Tipo = T_Code.Dir,
DelayEnvioComandoBase = 200,
DelayEnvioComando = 200,
DelayEnvioComandoExtra = 0,
Comandos = new List<string>(),
UltimoComando = DateTime.Now
}
@ -952,6 +974,8 @@ namespace AgroBase.Models
{
var Protocolos = EnviarProtocoloComando(Ctrl.Tipo, ForcarEnvio);
Ctrl.UltimoComando = Agora;
Ctrl.DelayEnvioComando = Ctrl.DelayEnvioComandoBase + Ctrl.DelayEnvioComandoExtra;
Ctrl.DelayEnvioComandoExtra = 0;
Ctrl.Comandos.AddRange(Protocolos);
}
}
@ -1228,6 +1252,7 @@ namespace AgroBase.Models
Sentido = Modulo.DirMotor.Sentido,
SentidoReal = Modulo.DirMotor.SentidoReal,
Velocidade = (Modulo.DirMotor.Velocidade / Modulo.DirMotor.Velocidade_Max) * 100.0,
FolgaMecanica = Modulo.DirMotor.FolgaMecanica,
UltimoComandoRespondido = Modulo.DirMotor.Leitura?.UltimoComandoRecebido ?? DateTime.MinValue,
};
SalvarLog(T_Code.Dir.ToString(), logDir, false);
@ -1675,7 +1700,9 @@ namespace AgroBase.Models
public class OperacaoControleTipoModel
{
public T_Code Tipo { get; set; }
public int DelayEnvioComandoBase { get; set; }
public int DelayEnvioComando { get; set; }
public int DelayEnvioComandoExtra { get; set; }
public DateTime UltimoComando { get; set; }
public List<string> Comandos { get; set; }
public Direcao UltimaDirecao { get; set; } = Direcao.Parado;
@ -2151,6 +2178,7 @@ namespace AgroBase.Models
public Sentido Sentido { get; set; }
public Sentido SentidoReal { get; set; }
public double Velocidade { get; set; }
public double FolgaMecanica { get; set; }
public DateTime UltimoComandoRespondido { get; set; }
}

2
AgroBase/AgroBase/Models/Operadores/VisualWorkerModel.cs
View File

@ -541,6 +541,7 @@ namespace AgroBase.Models.Operadores
public class VisualWorkerMessageSegmentacaoSemanticaModel
{
public double timestamp { get; set; }
public int height { get; set; }
public int width { get; set; }
public double erro_angular { get; set; }
@ -553,6 +554,7 @@ namespace AgroBase.Models.Operadores
{
return new VisualWorkerMessageSegmentacaoSemanticaModel()
{
timestamp = timestamp,
height = height,
width = width,
erro_angular = erro_angular,

62
AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs
View File

@ -7,7 +7,6 @@ using System;
using System.Collections.Generic;
using System.Linq;
using static AgroBase.Models.Enums;
using static OpenTK.Graphics.OpenGL.GL;
namespace AgroBase.Models
{
@ -334,7 +333,8 @@ namespace AgroBase.Models
}
else
{
ProximoPonto = _TrajetoriaFixa[PontoAtual.idxPonto + 1];
int idx = _TrajetoriaFixa.IndexOf(PontoAtual) + 1;
ProximoPonto = _TrajetoriaFixa[idx];
}
/*// Busca eficiente: percorre do começo ao fim para achar o primeiro não visitado
@ -630,7 +630,7 @@ namespace AgroBase.Models
{
if (CorredorAtual == null) return;
bool abrirCurva = false;
bool abrirCurva = true;
double limiarDistanciaMargem = 20.0;
double distanciaRestanteCorredor = CorredorAtual.DistanciaRestante;
double distanciaUltimoPontoCorredor = GPSUtils.DistanciaEntrePontos(Variaveis.OperacaoEmAndamento.Sensoriamento.Gps, CorredorAtual.Pontos.LastOrDefault().Posicao);
@ -654,42 +654,31 @@ namespace AgroBase.Models
}
CorredorAtual.UltimoTempoStatus = DateTime.Now;
double TempoTotalContagem = CorredorAtual.TempoPorStatus.Sum(x => x.Value);
double TempoMovimento = CorredorAtual.TempoPorStatus.Where(x => x.Key != StatusCarroMapa.Parado).Sum(x => x.Value);
CorredorAtual.TempoPorStatus.TryGetValue(StatusCarroMapa.CaminhandoRua, out double TempoCaminhandoRua);
CorredorAtual.TempoPorStatus.TryGetValue(StatusCarroMapa.EntrandoRua, out double TempoEntrandoRua);
CorredorAtual.TempoPorStatus.TryGetValue(StatusCarroMapa.SaindoRua, out double TempoSaindoRua);
CorredorAtual.TempoPorStatus.TryGetValue(StatusCarroMapa.Direcionando, out double TempoDirecionando);
double PercentualTempoCaminhandoRua = TempoCaminhandoRua / TempoTotalContagem;
double PercentualTempoDirecionando = TempoDirecionando / TempoTotalContagem;
double TempoDentroRua = TempoEntrandoRua + TempoCaminhandoRua + TempoSaindoRua;
double PercentualTempoComCana = TempoMovimento == 0 ? 0 : TempoDentroRua / TempoMovimento;
double PercentualTempoSemCana = TempoMovimento == 0 ? 0 : TempoDirecionando / TempoMovimento;
double ts_agora = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds() / 1000.0;
if (
PercentualTempoCaminhandoRua > 0.4 && // Esteve a pelo menos 40% do tempo do corredor com cana dos dois lados
PercentualTempoDirecionando < 0.5 && // Esteve ate no maximo 50% do tempo fora do corredor
((Variaveis.OperacaoEmAndamento.Simulando ||
(ts_agora - DadosSegmentacao.timestamp < 2.0 && // Ultima analise de segmentacao nos ultimos 2 segundos
PercentualTempoComCana > 0.4 && // Esteve a pelo menos 40% do tempo em movimento com presenca de cana
PercentualTempoSemCana < 0.5))) && // Esteve ate no maximo 50% do tempo em movimento sem presenca de cana)
distanciaRestanteCorredor < limiarDistanciaMargem && // Esta a pelo menos x metros do final do corredor
distanciaUltimoPontoCorredor < limiarDistanciaMargem && // Esta a pelo menos x metros do ultimo ponto do corredor
statusCarro == StatusCarroMapa.Direcionando && // Carro esta fora do corredor
statusCarroAnt != statusCarro
|| (Variaveis.OperacaoEmAndamento.Simulando && distanciaRestanteCorredor < limiarDistanciaMargem && distanciaUltimoPontoCorredor < limiarDistanciaMargem && statusCarro == StatusCarroMapa.Direcionando && statusCarroAnt != statusCarro)
)
{
PontoTrajetoriaModel pontoEntrada = null;
double anguloControle = Variaveis.OperacaoEmAndamento.Controle.Angulo;
if (abrirCurva && !CorredorAtual.Ultimo)
{
double anguloProjetar = GPSUtils.CalcularOrientacao(PontoAtual.Posicao, ProximoPonto.Posicao);
double anguloAcrescentar = CorredorAtual.idxRuaDireita % 2 == 0 && CorredorAtual.Pontos.First().Direcao == DirecaoCarroRua.Ida ? 45 : -45;
anguloProjetar += anguloAcrescentar;
double percentualAcrescimoPontoAberturaCurva = 1.1;
GPSModel posicao = GPSUtils.ProjetarPontoDeslocado(PontoAtual.Posicao, DistanciaProjecaoRua * percentualAcrescimoPontoAberturaCurva, anguloProjetar);
pontoEntrada = new PontoTrajetoriaModel(TipoPontoRua.LigacaoEntrada)
{
Visitado = false,
idxCorredor = CorredorAtual.Idx + 1,
idxPonto = 0,
idxPontoCorredor = 0,
Direcao = PontoAtual.Direcao,
LarguraCorredor = PontoAtual.LarguraCorredor,
Orientacao = PontoAtual.Orientacao,
Posicao = posicao
};
anguloControle = CorredorAtual.idxRuaDireita % 2 == 0 && CorredorAtual.Pontos.First().Direcao == DirecaoCarroRua.Ida ? Variaveis.OperacaoEmAndamento.Controle.Angulo_Max : Variaveis.OperacaoEmAndamento.Controle.Angulo_Min;
}
int pontosMarcar = 0;
@ -713,13 +702,16 @@ namespace AgroBase.Models
AtualizarTrajetoriaJanela();
DefinirPontoAtual();
if (abrirCurva && pontoEntrada != null)
if (abrirCurva)
{
pontoEntrada.idxPonto = PontoAtual.idxPonto + 1;
CorredorAtual.Pontos.Insert(pontosMarcar, pontoEntrada);
_TrajetoriaFixa.Insert(pontoEntrada.idxPonto, pontoEntrada);
DefinirPontoAtual();
DefinirProximoPonto();
Console.WriteLine($"Angulo de controle definido de {Variaveis.OperacaoEmAndamento.Controle.Angulo} para {anguloControle}");
Variaveis.OperacaoEmAndamento.Controle.Angulo = anguloControle;
Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP = Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeMin;
Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = TipoMovimentoDirecional.MovimentoArco;
Variaveis.OperacaoEmAndamento.Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Dir).DelayEnvioComandoExtra = 1500;
Variaveis.OperacaoEmAndamento.Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Mov).DelayEnvioComandoExtra = 2000;
Variaveis.OperacaoEmAndamento.AtualizarDadosControle(true, new List<T_Code>() { T_Code.Mov, T_Code.Dir });
}
}
}
@ -1499,8 +1491,8 @@ namespace AgroBase.Models
}
}
DistanciaRestante = DistanciaTotal - DistanciaPercorridaTotal;
Progresso = (DistanciaTotal > 0) ? FuncoesMatematicas.Clamp((DistanciaPercorridaTotal / DistanciaTotal) * 100.0, 0, 100) : 0;
DistanciaRestante = DistanciaTotal - DistanciaPercorridaCorredor;
Progresso = (DistanciaTotal > 0) ? FuncoesMatematicas.Clamp((DistanciaPercorridaCorredor / DistanciaTotal) * 100.0, 0, 100) : 0;
Concluido = !Pontos.Any(x => !x.Visitado);
}

8
AgroBase/AgroBase/Models/Variaveis.cs
View File

@ -372,10 +372,10 @@ namespace AgroBase.Models
if (Math.Abs(tr) < 1e-6) tr = 0;
double kappa = 0; // 1/m
if (tipoMovimento == TipoMovimentoDirecional.RodasDianteiras) kappa = tf / L;
if (tipoMovimento == TipoMovimentoDirecional.RodasDianteiras) kappa = tf / L;
else if (tipoMovimento == TipoMovimentoDirecional.RodasTraseiras) kappa = tr / L;
else if (tipoMovimento == TipoMovimentoDirecional.MovimentoArco) kappa = (tf - tr) / L;
else /*Diagonal*/ kappa = 0;
else if (tipoMovimento == TipoMovimentoDirecional.MovimentoArco) kappa = (tf - tr) / L;
else /*Diagonal,Lateral*/ kappa = 0;
// Correção dinâmica (opcional)
double Ku = 2.5; // ajuste fino em campo
@ -388,7 +388,7 @@ namespace AgroBase.Models
theta += dtheta;
double heading = theta;
if (tipoMovimento == TipoMovimentoDirecional.MovimentoDiagonal)
if (new List<TipoMovimentoDirecional>() { TipoMovimentoDirecional.MovimentoDiagonal, TipoMovimentoDirecional.MovimentoLateral }.Contains(tipoMovimento))
heading = theta + dfDeg * Math.PI / 180.0; // crab: desloca na direção do steering
// >>> mesma convenção do Python: 0=Norte

11
AgroBase/AgroBase/Services/GPSService.cs
View File

@ -1706,10 +1706,10 @@ namespace AgroBase.Services
public class GeoLeverArm
{
const double R = 6378137.0; // WGS84
public static double xB = 0.0; // +frente (m)
public static double yB = 0.2; // +direita (m)
public static bool invertHeading = true;
public static bool mirrorLateral = true;
public static double xB = 1.0; // +frente (m)
public static double yB = 0.0; // +direita (m)
public static bool invertHeading = false;
public static bool mirrorLateral = false;
static double ToRad(double deg) => deg * Math.PI / 180.0;
static double ToDeg(double rad) => rad * 180.0 / Math.PI;
@ -1752,8 +1752,6 @@ namespace AgroBase.Services
public static (double lat, double lon) FixLeverArmLatLon_Fast(double latAnt_deg, double lonAnt_deg, double headingDeg)
{
invertHeading = false;
mirrorLateral = false;
if (mirrorLateral) yB = -yB; // espelha lateral (D<->E)
double th = headingDeg * Math.PI / 180.0;
@ -1766,7 +1764,6 @@ namespace AgroBase.Services
double dE = xB * fE + yB * rE; // body -> ENU
double dN = xB * fN + yB * rN;
const double R = 6378137.0;
double latRad = latAnt_deg * Math.PI / 180.0;
double dLat_deg = (dN / R) * 180.0 / Math.PI;
double dLon_deg = (dE / (R * Math.Cos(latRad))) * 180.0 / Math.PI;

12
AgroBase/AgroBase/Services/MKS057DCanService.cs
View File

@ -265,6 +265,14 @@ namespace AgroBase.Services
return valor * 360.0 / 16384.0;
}
private void VerificarAnguloZero(MKS057DModel item, bool estadoAnterior)
{
if (item.EntradaIN1.valor != estadoAnterior && item.AnguloPulsos > 5)
{
Task.Run(async () => await Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(x => x.DirMotor._EnderecoCAN_Tx == item.EnderecoTx)?.DirMotor?.SetZero());
}
}
private MKS057DModel ObterOuCriar(byte idTx, byte idRx)
{
lock (DadosLeitura)
@ -346,8 +354,12 @@ namespace AgroBase.Services
item.Saidas[0] = (status & 0b00000100) != 0;
item.Saidas[1] = (status & 0b00001000) != 0;
bool estadoAnterior = item.EntradaIN1.valor;
item.EntradaIN1.valor = item.Entradas[0];
//VerificarAnguloZero(item, estadoAnterior);
//Console.WriteLine($"[DIR {Variaveis.OperacaoEmAndamento.DispMvd?.Dados?.Modulos?.FirstOrDefault(x => (x?.DirMotor?._EnderecoCAN_Tx ?? 0x00) == item.EnderecoTx)?.DirMotor?.Mod_ID ?? item.EnderecoTx.ToString()}] IO atual");
}
break;

1
AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs
View File

@ -141,6 +141,7 @@ namespace AgroBase.Services.Operadores
dist_esq = _t.DistanciaEsquerda,
dist_dir = _t.DistanciaDireita,
angulo = _t.AnguloMedioCorredor,
pontos_restantes = _t.CorredorAtual.QtdPontos - pontoComparar.idxPontoCorredor,
},
} : null
),

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@ -1,12 +1,5 @@
{
"epochs": [ {
"calculation_time": "13401214743883964",
"config_version": 0,
"model_version": "0",
"padded_top_topics_start_index": 0,
"taxonomy_version": 0,
"top_topics_and_observing_domains": [ ]
}, {
"calculation_time": "13401820180888621",
"config_version": 0,
"model_version": "0",
@ -27,7 +20,14 @@
"padded_top_topics_start_index": 0,
"taxonomy_version": 0,
"top_topics_and_observing_domains": [ ]
}, {
"calculation_time": "13403638998815188",
"config_version": 0,
"model_version": "0",
"padded_top_topics_start_index": 0,
"taxonomy_version": 0,
"top_topics_and_observing_domains": [ ]
} ],
"hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
"next_scheduled_calculation_time": "13403636820471023"
"next_scheduled_calculation_time": "13404243798816092"
}

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@ -1,3 +1,3 @@
2025/09/29-10:01:16.906 2c18 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/09/29-10:01:16.915 2c18 Recovering log #3
2025/09/29-10:01:16.918 2c18 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
2025/10/02-10:29:09.769 2320 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/10/02-10:29:09.777 2320 Recovering log #3
2025/10/02-10:29:09.780 2320 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log

6
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old
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@ -1,3 +1,3 @@
2025/09/29-09:56:13.780 6138 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/09/29-09:56:13.789 6138 Recovering log #3
2025/09/29-09:56:13.792 6138 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
2025/10/02-09:55:01.847 4cb4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/10/02-09:55:01.856 4cb4 Recovering log #3
2025/10/02-09:55:01.860 4cb4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log

2
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State
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@ -1 +1 @@
{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13403710893015464","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":159598},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:678:7800:a470:6a2a:c4f8:2741","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":"13403971755511605","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":11255},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:678:7800:f48c:982:27a5:3fb2","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}

2
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/TransportSecurity
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@ -1 +1 @@
{"sts":[{"expiry":1790686574.188502,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1759150574.18851}],"version":2}
{"sts":[{"expiry":1790947754.085631,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1759411754.085639}],"version":2}

2
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Preferences
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AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Session Storage/LOG
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@ -1,3 +1,3 @@
2025/09/29-10:23:05.989 2c18 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/09/29-10:23:05.991 2c18 Recovering log #3
2025/09/29-10:23:05.995 2c18 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log
2025/10/02-10:49:08.501 2320 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/10/02-10:49:08.502 2320 Recovering log #3
2025/10/02-10:49:08.505 2320 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log

6
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Session Storage/LOG.old
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@ -1,3 +1,3 @@
2025/09/29-10:00:49.743 6138 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/09/29-10:00:49.744 6138 Recovering log #3
2025/09/29-10:00:49.747 6138 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log
2025/10/02-09:59:33.196 4cb4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/10/02-09:59:33.197 4cb4 Recovering log #3
2025/10/02-09:59:33.200 4cb4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log

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AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Site Characteristics Database/LOG
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@ -1,3 +1,3 @@
2025/09/29-10:01:16.830 1b54 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/09/29-10:01:16.833 1b54 Recovering log #7
2025/09/29-10:01:16.833 1b54 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log
2025/10/02-10:29:09.700 5528 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/10/02-10:29:09.702 5528 Recovering log #7
2025/10/02-10:29:09.702 5528 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log

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@ -1,3 +1,3 @@
2025/09/29-09:56:13.706 272c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/09/29-09:56:13.708 272c Recovering log #7
2025/09/29-09:56:13.708 272c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log
2025/10/02-09:55:01.768 1f58 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/10/02-09:55:01.770 1f58 Recovering log #7
2025/10/02-09:55:01.770 1f58 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log

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@ -1 +1 @@
{"hashes":{"000ac7dc9366969db9d1e41810a3a27c747a7623535d856eecc2de86cfed80c7":{"appid":"eeobbhfgfagbclfofmgbdfoicabjdbkn","fp":""},"00AF3F07B5ABB71F6D30337E1EEF62FA280F06EF19485C0CF6B72171F92CCC0A":{"appid":"kpfehajjjbbcifeehjgfgnabifknmdad","fp":"1.00AF3F07B5ABB71F6D30337E1EEF62FA280F06EF19485C0CF6B72171F92CCC0A"},"452064dcff76e03e0e81b4bb3c48ab1c432e040094f7546c7261a90d4a1c1bbf":{"appid":"fgbafbciocncjfbbonhocjaohoknlaco","fp":""},"4B81B4DF3AD971287E1AE02C449344FCFA5D20431DE17B2BA8854CC9CDCE4089":{"appid":"ahmaebgpfccdhgidjaidaoojjcijckba","fp":"1.4B81B4DF3AD971287E1AE02C449344FCFA5D20431DE17B2BA8854CC9CDCE4089"},"89f43cb3df807293de2772d5f01ac2fc1482b38ccc8fdaee859b80642b7a0487":{"appid":"pghocgajpebopihickglahgebcmkcekh","fp":""},"95FD9D48E4FC245A3F3A99A3A16ECD1355050BA3F4AFC555F19A97C7F9B49677":{"appid":"ohckeflnhegojcjlcpbfpciadgikcohk","fp":"1.95FD9D48E4FC245A3F3A99A3A16ECD1355050BA3F4AFC555F19A97C7F9B49677"},"A81D1959892AE4180554347DF1B97834ABBA2E1A5E6B9AEBA000ECEA26EABECC":{"appid":"fppmbhmldokgmleojlplaaodlkibgikh","fp":"1.A81D1959892AE4180554347DF1B97834ABBA2E1A5E6B9AEBA000ECEA26EABECC"},"b987bdc4f2ad2a409b964921d4a5db1cdbe07f9c98f868293b4cc32acdc42cec":{"appid":"alpjnmnfbgfkmmpcfpejmmoebdndedno","fp":""},"bcb93cba8636743d1fbd32be3bd8ce8ff602323895bf4d136c26b9bc64b0a6a4":{"appid":"ndikpojcjlepofdkaaldkinkjbeeebkl","fp":""},"fa29a6d5775ff340900a65b39b02fc8b4b77d403c048d8debf22f2f5d09c61a0":{"appid":"oankkpibpaokgecfckkdkgaoafllipag","fp":""},"ff87fddb54d7bdc8ab8c2697bc92337c914803fb22cd32e445389e8042159ce9":{"appid":"jbfaflocpnkhbgcijpkiafdpbjkedane","fp":""}}}
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AgroBase/AgroBase/bin/x64/Debug/Python/Output/mapa_gps.html
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@ -17,7 +17,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_094a1d2cc67a698de1583e83f72ba778 {
#map_9e36f5ca41cb68cc441656f7b2cdf5f4 {
position: relative;
width: 100.0%;
height: 100.0%;
@ -54,14 +54,14 @@
<body>
<div class="folium-map" id="map_094a1d2cc67a698de1583e83f72ba778" ></div>
<div class="folium-map" id="map_9e36f5ca41cb68cc441656f7b2cdf5f4" ></div>
</body>
<script>
var map_094a1d2cc67a698de1583e83f72ba778 = L.map(
"map_094a1d2cc67a698de1583e83f72ba778",
var map_9e36f5ca41cb68cc441656f7b2cdf5f4 = L.map(
"map_9e36f5ca41cb68cc441656f7b2cdf5f4",
{
center: [0.0, 0.0],
crs: L.CRS.EPSG3857,
@ -77,26 +77,6 @@
var tile_layer_897decfc0132c82ed0e60422f9aea75c = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{
"minZoom": 0,
"maxZoom": 19,
"maxNativeZoom": 19,
"noWrap": false,
"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors",
"subdomains": "abc",
"detectRetina": false,
"tms": false,
"opacity": 1,
}
);
tile_layer_897decfc0132c82ed0e60422f9aea75c.addTo(map_094a1d2cc67a698de1583e83f72ba778);
</script>
<script>
@ -116,7 +96,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_094a1d2cc67a698de1583e83f72ba778);
trajeto_json.addTo(map_9e36f5ca41cb68cc441656f7b2cdf5f4);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -179,9 +159,9 @@
var marcadorEquipamento = L.marker([0, 0], {
icon: customIcon
}).addTo(map_094a1d2cc67a698de1583e83f72ba778);
}).addTo(map_9e36f5ca41cb68cc441656f7b2cdf5f4);
var marcadorBase = L.marker([0, 0], {}).addTo(map_094a1d2cc67a698de1583e83f72ba778);
var marcadorBase = L.marker([0, 0], {}).addTo(map_9e36f5ca41cb68cc441656f7b2cdf5f4);
var icon = L.AwesomeMarkers.icon(
{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
);
@ -246,7 +226,7 @@
}
if (foco) {
map_094a1d2cc67a698de1583e83f72ba778.setView(novaPosicao, map_094a1d2cc67a698de1583e83f72ba778.getZoom());
map_9e36f5ca41cb68cc441656f7b2cdf5f4.setView(novaPosicao, map_9e36f5ca41cb68cc441656f7b2cdf5f4.getZoom());
}
}
@ -268,7 +248,7 @@
marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_094a1d2cc67a698de1583e83f72ba778.setView(novaPosicao, map_094a1d2cc67a698de1583e83f72ba778.getZoom());*/
map_9e36f5ca41cb68cc441656f7b2cdf5f4.setView(novaPosicao, map_9e36f5ca41cb68cc441656f7b2cdf5f4.getZoom());*/
});
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/movimentacao.py
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@ -46,8 +46,9 @@ def definir_comando(parada_necessaria: bool, frear: bool, erro: bool, filtro_vel
ervas_no_radar = _dados_ww.get("ervas_no_radar", False)
percentual_ervas_no_radar = (_dados_ww.get("estatisticas", {}).get("erva", {}) or {}).get("ema_global", 0.0)
pontos_min = 3
vel_min = 15
ervas_min_percenet = 0.005
ervas_min_percenet = 0.005 # 5%
vel_com_ervas = _operacao.get("Mov", {}).get("percent_vel_min", 0)
vel_sem_ervas = _operacao.get("Mov", {}).get("percent_vel_max", 100)
ang_max = _operacao.get("Dir", {}).get("angulo_max", 30)
@ -56,12 +57,14 @@ def definir_comando(parada_necessaria: bool, frear: bool, erro: bool, filtro_vel
erro = 0
manobrando = False
reduzir_para_pulverizar = False
pontos_fim_corredor = -1
if op_modo == ModoOperacao.MapaGPS:
_trajetoria = _contexto.get("Trajetoria", {})
status_carro = StatusCarroMapa(_trajetoria.get("status", StatusCarroMapa.Parado.value))
erro = _trajetoria.get("erro_angular", 0)
manobrando = _trajetoria.get("manobrando", False)
pontos_fim_corredor = _trajetoria.get("CorredorAtual", {}).get("pontos_restantes", -1)
elif op_modo == ModoOperacao.MapeamentoVisual:
status_carro = StatusCarroMapa(_dados_vw.get("segmentacao", {}).get("status_corredor", StatusCarroMapa.Parado.value))
erro = _dados_vw.get("segmentacao", {}).get("erro_angular", 0)
@ -79,7 +82,8 @@ def definir_comando(parada_necessaria: bool, frear: bool, erro: bool, filtro_vel
velocidade_sp = min(vel_min, vel_com_ervas)
elif status_carro == StatusCarroMapa.CaminhandoRua:
reduzir_para_pulverizar = pulverizador_automatico and ervas_no_radar and percentual_ervas_no_radar > ervas_min_percenet
if reduzir_para_pulverizar:
reduzir_para_manobrar = -1 < pontos_fim_corredor <= pontos_min
if reduzir_para_pulverizar or reduzir_para_manobrar:
velocidade_sp = vel_com_ervas
else:
velocidade_sp = calcular_velocidade_relativa(vel_com_ervas, vel_sem_ervas, ang_max, erro)

250
AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/mpc.py
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@ -107,38 +107,41 @@ class ControladorMPC:
self._mg_nodes = mg_nodes
def cross_track_error_point(self, x, y):
"""
Retorna:
e_lat -> erro lateral assinado (m; + à esquerda da tangente do segmento)
s_proj -> coordenada curvilínea ao longo da linha (m)
i_seg -> índice do segmento mais próximo usado na projeção
proj -> ponto projetado (2,)
theta_path -> orientação do caminho (rad) naquele segmento
margem_interp -> margem interpolada (m) naquele s
"""
if self._seg_p0 is None or self._seg_p0.shape[0] == 0:
return 0.0, 0.0, 0, np.array([x, y], float), 0.0, 0.7
try:
"""
Retorna:
e_lat -> erro lateral assinado (m; + à esquerda da tangente do segmento)
s_proj -> coordenada curvilínea ao longo da linha (m)
i_seg -> índice do segmento mais próximo usado na projeção
proj -> ponto projetado (2,)
theta_path -> orientação do caminho (rad) naquele segmento
margem_interp -> margem interpolada (m) naquele s
"""
if self._seg_p0 is None or self._seg_p0.shape[0] == 0:
return 0.0, 0.0, 0, np.array([x, y], float), 0.0, 0.7
P = np.array([x, y], float)
w = P - self._seg_p0 # (M,2)
L2 = (self._seg_L ** 2) # (M,)
t = np.clip(np.sum(w * self._seg_v, axis=1) / L2, 0.0, 1.0) # (M,)
proj = self._seg_p0 + t[:, None] * self._seg_v # (M,2)
d2 = np.sum((proj - P)**2, axis=1) # (M,)
i = int(np.argmin(d2))
P = np.array([x, y], float)
w = P - self._seg_p0 # (M,2)
L2 = (self._seg_L ** 2) # (M,)
t = np.clip(np.sum(w * self._seg_v, axis=1) / L2, 0.0, 1.0) # (M,)
proj = self._seg_p0 + t[:, None] * self._seg_v # (M,2)
d2 = np.sum((proj - P)**2, axis=1) # (M,)
i = int(np.argmin(d2))
# projeção escolhida
proj_i = proj[i]
e_lat = float(np.dot(P - proj_i, self._seg_n_hat[i])) # sinal pela normal esquerda
s_proj = float(self._s_nodes[i] + t[i] * self._seg_L[i])
theta_path = float(np.arctan2(self._seg_t_hat[i,0], self._seg_t_hat[i,1])) # 0=Norte se (x=E,y=N)
# projeção escolhida
proj_i = proj[i]
e_lat = float(np.dot(P - proj_i, self._seg_n_hat[i])) # sinal pela normal esquerda
s_proj = float(self._s_nodes[i] + t[i] * self._seg_L[i])
theta_path = float(np.arctan2(self._seg_t_hat[i,0], self._seg_t_hat[i,1])) # 0=Norte se (x=E,y=N)
# margem interpolada entre nós i e i+1
mg0 = self._mg_nodes[i]
mg1 = self._mg_nodes[i+1] if (i+1) < self._mg_nodes.size else mg0
margem = float((1.0 - t[i]) * mg0 + t[i] * mg1)
# margem interpolada entre nós i e i+1
mg0 = self._mg_nodes[i]
mg1 = self._mg_nodes[i+1] if (i+1) < self._mg_nodes.size else mg0
margem = float((1.0 - t[i]) * mg0 + t[i] * mg1)
return e_lat, s_proj, i, proj_i, theta_path, margem
return e_lat, s_proj, i, proj_i, theta_path, margem
except Exception as e:
mostrar_log(f"Erro ao calcular erro lateral: {e}")
def _ensure_luts(self, dados_matriz_custo, largura_equip, L):
if not dados_matriz_custo or dados_matriz_custo.get("Custo") is None:
@ -169,11 +172,7 @@ class ControladorMPC:
self._lut_tipo = {}
self._lut_tipo_sig = {}
def _ensure_lut_geom_por_tipo(
self, dados, largura_equip, tipo,
*, L, ang_min, ang_max, passo,
k_r=0.5, crab_in_phase=False, beta_crab_deg=4.0
):
def _ensure_lut_geom_por_tipo(self, dados, largura_equip, tipo, *, L, ang_min, ang_max, passo, k_r=0.5, crab_in_phase=False, beta_crab_deg=4.0):
if not hasattr(self, "_lut_tipo"):
self._lut_tipo, self._lut_tipo_sig = {}, {}
@ -246,9 +245,7 @@ class ControladorMPC:
# NADA de construir LUT por tipo aqui — isso é função do _ensure_lut_geom_por_tipo
self._lut_pronto = True
def _build_lut_geom_por_tipo(self, dados, tipo,
ang_min=-30.0, ang_max=30.0, passo=1.0,
L=1.0, k_r=0.5, crab_in_phase=False, beta_crab_deg=4.0):
def _build_lut_geom_por_tipo(self, dados, tipo, ang_min=-30.0, ang_max=30.0, passo=1.0, L=1.0, k_r=0.5, crab_in_phase=False, beta_crab_deg=4.0):
C = dados["Custo"]; W = int(C.shape[1])
escx = np.asarray(dados["EscalasX"][::-1], dtype=np.float32) # [H]
dist = np.asarray(dados["DistanciasRef"][::-1], dtype=np.float32) # [H]
@ -258,17 +255,26 @@ class ControladorMPC:
ang_grid_deg = np.arange(ang_min, ang_max + 1e-6, passo, dtype=np.float32) # [K]
ang_grid_rad = np.deg2rad(ang_grid_deg)
if crab_in_phase:
modo_diagonal = (tipo in [TipoMovimentoDirecional.MovimentoDiagonal])
if crab_in_phase or modo_diagonal:
# κ = 0; deslocamento lateral linear com a inclinação
# DIAGONAL: beta por-ângulo (usa a grade)
# crab “fixo”: mantém compatibilidade usando beta constante
if modo_diagonal:
beta_vec = ang_grid_rad # [K] — varia com a grade
else:
beta_vec = np.full_like(ang_grid_rad, np.deg2rad(beta_crab_deg))
kappa = np.zeros_like(ang_grid_rad)
beta = float(np.deg2rad(beta_crab_deg))
else:
kappa = np.array([self._kappa_from_angle(tipo, a, L=L, k_r=k_r) for a in ang_grid_rad], dtype=np.float32)
y = dist[:, None] # [H,1]
k = kappa[None, :] # [1,K]
if crab_in_phase:
x = y * math.tan(beta)
if crab_in_phase or modo_diagonal:
# X(H,K) = Y(H,1) * tan(beta(K))
x = y * np.tan(beta_vec[None, :])
else:
ky = k * y
x = np.where(
@ -310,11 +316,37 @@ class ControladorMPC:
return 0.0 # tratamos crab fora (x ≈ y * tan(beta_crab))
if tipo == TipoMovimentoDirecional.RodasDianteiras:
return math.tan(a_rad) / L
if tipo == TipoMovimentoDirecional.RodasTraseiras:
return math.tan(a_rad) / L
elif tipo == TipoMovimentoDirecional.MovimentoArco:
return math.tan((1.0 - k_r) * a_rad) / L
elif tipo == TipoMovimentoDirecional.MovimentoDiagonal:
return 0.0
elif tipo == TipoMovimentoDirecional.MovimentoLateral:
return 0.0
else:
return math.tan(a_rad) / L # default
def _calcula_erro_posicao(self, x, y, ponto_alvo, d_sat=3.0):
try:
erro_pos = float(np.hypot(x - ponto_alvo[0], y - ponto_alvo[1]))
d_norm = (erro_pos / d_sat)
return (d_norm, erro_pos)
except Exception as e:
mostrar_log(f"Erro ao calcular erro de posicao: {e}")
def _calcula_erro_orientacao(self, x, y, theta, ponto_alvo, angulo_caminho, peso_proximo_ponto=0.5):
try:
orient_sim = self.gps_handler.calcular_orientacao((x, y), ponto_alvo)
orient_sim = (orient_sim + np.pi) % (2 * np.pi)
erro_ori_sim = self.gps_handler.erro_angular(orient_sim, theta, angulo_caminho, peso_proximo_ponto)
#erro_ori_sim = abs(self._wrap_pi(orient_sim - theta_sim))
#erro_ori_sim = abs(self._wrap_pi(theta_path - theta_sim))
o_norm = (erro_ori_sim / np.pi)
erro_ori_sim = np.degrees(erro_ori_sim)
return (o_norm, erro_ori_sim)
except Exception as e:
mostrar_log(f"Erro ao calcular erro de orientacao: {e}")
# UTILS
@ -408,38 +440,74 @@ class ControladorMPC:
break
return self._proximo_nao_visitado(pontos_visitados)
def _calcular_pesos_movimento(self, contexto, erro_ori_rad):
def _calcular_pesos_movimento(self, contexto, erro_ori_graus, erro_lat_m):
# helpers simples
def _clamp(x, lo, hi):
return lo if x < lo else hi if x > hi else x
def _smoothstep01(t):
# suaviza transição (0..1) sem precisar de EMA
t = _clamp(t, 0.0, 1.0)
return t * t * (3 - 2 * t)
def _w_from_err(erro, w_min, w_max, deadband, tol, power=1.0, smooth=True):
"""
Mapeia erro absoluto -> peso em [w_min, w_max].
- deadband: abaixo disso, ignora (peso ~ w_min)
- tol: acima disso, satura (peso ~ w_max)
- power>1 deixa o crescimento mais "nervoso" quando erro aumenta
- smooth usa smoothstep pra transição mais macia
"""
e = abs(erro)
if e <= deadband:
t = 0.0
else:
t = (e - deadband) / max(1e-6, (tol - deadband))
t = _clamp(t, 0.0, 1.0)
if smooth:
t = _smoothstep01(t)
if power != 1.0:
t = t ** power
return w_min + (w_max - w_min) * t
def _w_from_err_inv(erro, w_min, w_max, deadband, tol, power=1.0, smooth=True):
# inverso: quanto maior o erro, menor o peso
w = _w_from_err(erro, w_min=w_min, w_max=w_max,
deadband=deadband, tol=tol,
power=power, smooth=smooth)
# espelha em torno do meio do intervalo
return w_min + w_max - w
try:
CARRO = contexto.get("Carro", {})
status = StatusCarroMapa(CARRO.get("Status", StatusCarroMapa.Parado.value))
dentro = CARRO.get("DentroCorredor", False)
manobrando = CARRO.get("ManobrandoEntreRuas", False)
velocidade = CARRO.get("Velocidade", self.velocidade_min)
peso_erro_pos = 1.2 # 0
peso_erro_ori = 4.5 # 1
peso_suavidade = 0.2 # 2
peso_fator_re = 0.05 # 3
peso_ideal = 0.4 # 4
peso_lateral = 3.8 if dentro else 0.0 # 5
peso_erro_pos = 1.2 # 0 1.2
peso_erro_ori = 2.2 # 1 2.2
peso_suavidade = _w_from_err_inv(erro_lat_m, w_min=0.5, w_max=3.6, deadband=0.05, tol=0.25, power=1.3, smooth=True)
peso_fator_re = 0.05 # 3 0.05
peso_ideal = 1.4 # 4 1.4
peso_lateral = _w_from_err(erro_lat_m, w_min=1.8, w_max=8.5, deadband=0.05, tol=0.7, power=1.3, smooth=True) if dentro else 0.0
# Penalidade proporcional à velocidade
penalidade_por_velocidade = (velocidade / self.velocidade_max) / 10.0
erro_ori_deg = np.degrees(erro_ori_rad)
erro_ori_clipped = max(min(erro_ori_deg, self.angulo_max_graus), -self.angulo_max_graus)
erro_ori_norm = abs(erro_ori_clipped / self.angulo_max_graus)
custo_movimento = {
TipoMovimentoDirecional.RodasDianteiras: 0.0,
TipoMovimentoDirecional.MovimentoArco: 0.0
TipoMovimentoDirecional.MovimentoArco: 0.0,
TipoMovimentoDirecional.MovimentoDiagonal: 0.0
}
if manobrando or status in [ StatusCarroMapa.EntrandoRua, StatusCarroMapa.SaindoRua, StatusCarroMapa.Manobrando ]:
if status in [ StatusCarroMapa.EntrandoRua, StatusCarroMapa.SaindoRua, StatusCarroMapa.Manobrando ]:
custo_movimento[TipoMovimentoDirecional.MovimentoArco] += 0.0
custo_movimento[TipoMovimentoDirecional.RodasDianteiras] += 1.0
custo_movimento[TipoMovimentoDirecional.MovimentoDiagonal] += 2.0
else:
custo_movimento[TipoMovimentoDirecional.MovimentoArco] += 0.0 if erro_ori_norm >= 0.4 else 1.0
custo_movimento[TipoMovimentoDirecional.RodasDianteiras] += 1.2 if erro_ori_norm >= 0.4 else 0.0
custo_movimento[TipoMovimentoDirecional.MovimentoArco] += 0.0 if erro_ori_graus >= 10.0 else 1.0
custo_movimento[TipoMovimentoDirecional.RodasDianteiras] += 1.2 if erro_ori_graus >= 10.0 else 0.0
custo_movimento[TipoMovimentoDirecional.MovimentoDiagonal] += 0.0 if erro_ori_graus <= 2.0 and erro_lat_m <= 0.4 else 2.0
return (peso_erro_pos, peso_erro_ori, peso_suavidade, peso_fator_re, peso_ideal, peso_lateral, custo_movimento)
except Exception as e:
@ -1019,7 +1087,7 @@ class ControladorMPC:
cmd_seq = None
x, y, theta, self.visitados_execucao = self.corrigir_pose_por_latencia(
x, y, theta, self.visitados_execucao,
0.0, #latency_s=min(pos_latencia + self.tempo_execucao_local, LAT_MAX),
latency_s=min(pos_latencia + self.tempo_execucao_local, LAT_MAX),
dt=self.dt,
nova_posicao_fn=self._nova_posicao,
u_hold=u_hold,
@ -1336,14 +1404,18 @@ class ControladorMPC:
angulo_ideal_deg = float(np.degrees(angulo_ideal_rad))
#print(f"Orient: {np.degrees(orient)}, delta theta: {np.degrees(delta_theta)}, angulo ideal: {angulo_ideal_deg}")
e_lat, _, _, _, theta_path, _ = self.cross_track_error_point(ponto_atual[0], ponto_atual[1])
(_, e_ori) = self._calcula_erro_orientacao(ponto_atual[0], ponto_atual[1], ponto_atual[2], ponto_alvo["xy"], theta_path, 0.5)
# 2) Tipos válidos conforme contexto
CARRO = contexto.get("Carro", {})
status = CARRO.get("Status", 0)
manobrando = CARRO.get("ManobrandoEntreRuas", False)
if manobrando or status in [StatusCarroMapa.EntrandoRua, StatusCarroMapa.SaindoRua, StatusCarroMapa.Manobrando]:
if status in [StatusCarroMapa.EntrandoRua, StatusCarroMapa.SaindoRua, StatusCarroMapa.Manobrando]:
tipos_validos = [TipoMovimentoDirecional.MovimentoArco]
elif abs(np.degrees(delta_theta)) > 15.0:
elif abs(e_ori) > 15.0:
tipos_validos = [TipoMovimentoDirecional.RodasDianteiras, TipoMovimentoDirecional.MovimentoArco]
elif abs(e_ori <= 3.0 and e_lat <= 0.2):
tipos_validos = [TipoMovimentoDirecional.MovimentoDiagonal]
else:
tipos_validos = [TipoMovimentoDirecional.RodasDianteiras]
@ -1378,6 +1450,11 @@ class ControladorMPC:
ang_min=ang_min, ang_max=ang_max, passo=passo,
k_r=0.5, crab_in_phase=False
)
elif t == TipoMovimentoDirecional.MovimentoDiagonal:
self._ensure_lut_geom_por_tipo(
dados_matriz_custo, largura, t, L=L,
ang_min=ang_min, ang_max=ang_max, passo=passo,
crab_in_phase=True) # beta será por-ângulo
else:
self._ensure_lut_geom_por_tipo(
dados_matriz_custo, largura, t, L=L,
@ -1474,6 +1551,8 @@ class ControladorMPC:
deadline=deadline,
margem_ms=float(margem_ms),
permitidos=permitidos, # <- NOVO (pode ser None)
e_lat=e_lat,
e_ori=e_ori
)
# 6) Uniformização ao redor do ideal (rad) com N limite
@ -1546,6 +1625,8 @@ class ControladorMPC:
deadline: float | None = None,
margem_ms: float = 20.0,
permitidos=None,
e_lat=0.0,
e_ori=0.0
):
"""
Seleciona e avalia candidatos (tipo, ângulo) contra a matriz de custo.
@ -1572,7 +1653,7 @@ class ControladorMPC:
try:
# ---- pesos heurísticos (erro ao ideal)
peso_angulo_ideal = float(self._calcular_pesos_movimento(contexto, abs(angulo_ideal_rad))[4])
peso_angulo_ideal = float(self._calcular_pesos_movimento(contexto, e_ori, e_lat)[4])
# ---- dados da matriz / ensure LUTs (idempotente)
dados_matriz_custo = contexto.get("VisualWorker", {}).get("MatrizCusto", {})
@ -2180,11 +2261,6 @@ class ControladorMPC:
prev_tipo = comando_anterior.get("tipo", TipoMovimentoDirecional.RodasDianteiras.value)
pontos_visitados = visitados.copy()
# Contexto usado no custo (mantido)
angulo_caminho = np.radians(contexto.get("Carro", {}).get("AnguloCaminho", 0.0))
status_carro = StatusCarroMapa(contexto.get("Carro", {}).get("Status", StatusCarroMapa.Parado.value))
dentro_corredor = bool(contexto.get("Carro", {}).get("DentroCorredor", False))
# omega e sub-stepping
omega_const = self.gps_handler.calcular_omega(v_planejado, angulo_testado, tipo)
@ -2222,24 +2298,17 @@ class ControladorMPC:
# ERROS / CUSTOS
# --------------------------
# posição (mantido)
D_sat = 10.0 # metros (ajuste)
erro_pos = float(np.hypot(x_sim - ponto_alvo_sim[0], y_sim - ponto_alvo_sim[1]))
d_norm = np.clip(erro_pos / D_sat, 0.0, 1.0)
(d_norm, erro_pos) = self._calcula_erro_posicao(x_sim, y_sim, ponto_alvo_sim)
# --- PATCH A: usa theta do CAMINHO (segmento projetado) como referência
# e usa também margem local pra normalização do custo lateral
e_lat, _, _, _, theta_path, margem = self.cross_track_error_point(x_sim, y_sim)
# erro de orientação
orient_sim = self.gps_handler.calcular_orientacao((x_sim, y_sim), ponto_alvo_sim)
orient_sim = (orient_sim + np.pi) % (2 * np.pi)
erro_ori_sim = self.gps_handler.erro_angular(orient_sim, theta_sim, theta_path, 0.5)
#erro_ori_sim = abs(self._wrap_pi(orient_sim - theta_sim))
#erro_ori_sim = abs(self._wrap_pi(theta_path - theta_sim))
o_norm = np.clip(erro_ori_sim / np.pi, 0.0, 1.0)
(o_norm, erro_ori_sim) = self._calcula_erro_orientacao(x_sim, y_sim, theta_sim, ponto_alvo_sim, theta_path, 0.5)
# pesos dinâmicos (mantido)
pesos = self._calcular_pesos_movimento(contexto, erro_ori_sim)
pesos = self._calcular_pesos_movimento(contexto, erro_ori_sim, e_lat)
(peso_erro_pos, peso_erro_ori, peso_suavidade, peso_fator_re, peso_ideal, peso_lateral, peso_movimento) = pesos
# ângulo relativo ao alvo e suavidade (parcialmente mantido)
@ -2389,17 +2458,42 @@ class ControladorMPC:
mostrar_log(f"Erro ao simular passo para {tipo.name} | angulo: {np.degrees(angulo_testado):.2f}: {e}")
return float('inf'), [(0.0, 0.0, 0.0)], False, visitados
def _nova_posicao(self, x, y, theta, omega, velocidade, tipo, angulo_rad, dt=None):
def _nova_posicao_old(self, x, y, theta, omega, velocidade, tipo, angulo_rad, dt=None):
"""
Atualiza a pose integrando por 'dt' (se None, cai em self.dt).
Mantém a ordem dos parâmetros antigos para não quebrar chamadas existentes.
"""
dt_use = self.dt if (dt is None) else float(dt)
distancia_m = velocidade * dt_use
theta_sim = theta + (omega * dt_use)
x_sim = x + (np.sin(theta_sim) * distancia_m)
y_sim = y + (np.cos(theta_sim) * distancia_m)
return x_sim, y_sim, theta_sim
def _nova_posicao(self, x, y, theta, omega, velocidade, tipo, angulo_rad, dt=None):
dt_use = self.dt if (dt is None) else float(dt)
theta_next = theta + omega * dt_use # orientação do corpo (no diagonal, ω≈0 → mantém)
# Escolhe a direção do deslocamento:
if tipo in [TipoMovimentoDirecional.MovimentoDiagonal, TipoMovimentoDirecional.MovimentoLateral]:
# 4WS em fase: transladar na direção θ+α, mantendo θ
direcao = theta_next + angulo_rad
else:
# modos "normais": desloca ao longo do eixo do corpo
direcao = theta_next
# ► Escolha como interpretar "velocidade" (deixe a A como padrão):
# A) velocidade = módulo do deslocamento (padrão anterior)
distancia_m = velocidade * dt_use
# B) (opcional) velocidade = componente longitudinal do corpo:
# mantém avanço "pra frente" igual à velocidade e adiciona drift lateral.
# use no lugar da linha acima se preferir esse comportamento:
#distancia_m = (velocidade * dt_use) / max(np.cos(angulo_rad), 1e-6)
x_sim = x + np.sin(direcao) * distancia_m
y_sim = y + np.cos(direcao) * distancia_m
theta_sim = theta_next # não soma α aqui!
return x_sim, y_sim, theta_sim

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@ -11,7 +11,8 @@ class GPSHandler:
def converter_latlon_para_xz(self, lat, lon):
dlat = np.radians(lat - self.lat0)
dlon = np.radians(lon - self.lon0)
x = self.raio_terra * dlon * np.cos(np.radians((lat + self.lat0) / 2))
#x = self.raio_terra * dlon * np.cos(np.radians((lat + self.lat0) / 2))
x = self.raio_terra * dlon * np.cos(np.radians(self.lat0))
z = self.raio_terra * dlat
return x, z
@ -67,7 +68,8 @@ class GPSHandler:
df = angulo_rad
dr = -angulo_rad
elif tipo == TipoMovimentoDirecional.MovimentoDiagonal:
# crab: sem guinada
return 0.0
elif tipo == TipoMovimentoDirecional.MovimentoLateral:
return 0.0
tf = np.tan(df)

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@ -543,6 +543,7 @@ class SegmentacaoManager:
self._last_status = status_final
return {
"timestamp": time.time(),
"height": H,
"width": W,
"erro_angular": ang_out,