ajustes definicao de rotas
This commit is contained in:
Diego Freitas
parent
1bcfee7c23
commit
4c0eb3de81
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<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
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@ -432,7 +432,7 @@ namespace AgroBase.Forms.Operacoes
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{
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try
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{
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double angulo = GPSService.UltimaLeitura.Orientacao;
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double angulo = GPSService.CalcularOrientacao(GPSService.PenultimaLeitura, GPSService.UltimaLeitura);
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DesenharInclinacao((Panel)sender, e, (float)angulo, -90);
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}
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catch { }
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@ -29,6 +29,7 @@
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private void InitializeComponent()
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{
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this.pnlOpcoes = new System.Windows.Forms.Panel();
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this.lblDistanciaLateral = new System.Windows.Forms.Label();
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this.btnAtualizarLeitura = new System.Windows.Forms.Button();
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this.lblDistanciaFinal = new System.Windows.Forms.Label();
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this.btnCarregarMapa = new System.Windows.Forms.Button();
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@ -47,7 +48,6 @@
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this.lblDirecao = new System.Windows.Forms.Label();
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this.lblStatus = new System.Windows.Forms.Label();
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this.gpbGPS = new System.Windows.Forms.GroupBox();
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this.btnCalcularAngulo = new System.Windows.Forms.Button();
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this.btnAcrescentarGPS = new System.Windows.Forms.Button();
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this.lblDistancia = new System.Windows.Forms.Label();
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this.txtDistanciaGPS = new System.Windows.Forms.TextBox();
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@ -62,7 +62,10 @@
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this.pnlOrientacaoTrajeto = new System.Windows.Forms.Panel();
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this.pnlSonar = new System.Windows.Forms.Panel();
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this.picSonar = new System.Windows.Forms.PictureBox();
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this.lblDistanciaLateral = new System.Windows.Forms.Label();
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this.txtVelocidade = new System.Windows.Forms.TextBox();
|
||||
this.lblVelocidade = new System.Windows.Forms.Label();
|
||||
this.label1 = new System.Windows.Forms.Label();
|
||||
this.txtAnguloControle = new System.Windows.Forms.TextBox();
|
||||
this.pnlOpcoes.SuspendLayout();
|
||||
this.gpbSonar.SuspendLayout();
|
||||
this.gpbGPS.SuspendLayout();
|
||||
|
|
@ -84,18 +87,28 @@
|
|||
this.pnlOpcoes.Controls.Add(this.lblStatus);
|
||||
this.pnlOpcoes.Controls.Add(this.gpbGPS);
|
||||
this.pnlOpcoes.Dock = System.Windows.Forms.DockStyle.Bottom;
|
||||
this.pnlOpcoes.Location = new System.Drawing.Point(0, 479);
|
||||
this.pnlOpcoes.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.pnlOpcoes.Location = new System.Drawing.Point(0, 590);
|
||||
this.pnlOpcoes.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.pnlOpcoes.Name = "pnlOpcoes";
|
||||
this.pnlOpcoes.Size = new System.Drawing.Size(1028, 100);
|
||||
this.pnlOpcoes.Size = new System.Drawing.Size(1371, 123);
|
||||
this.pnlOpcoes.TabIndex = 0;
|
||||
//
|
||||
// lblDistanciaLateral
|
||||
//
|
||||
this.lblDistanciaLateral.AutoSize = true;
|
||||
this.lblDistanciaLateral.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
|
||||
this.lblDistanciaLateral.Location = new System.Drawing.Point(205, 103);
|
||||
this.lblDistanciaLateral.Name = "lblDistanciaLateral";
|
||||
this.lblDistanciaLateral.Size = new System.Drawing.Size(139, 16);
|
||||
this.lblDistanciaLateral.TabIndex = 23;
|
||||
this.lblDistanciaLateral.Text = "Esq: 0.00 m Dir: 0.00 m";
|
||||
//
|
||||
// btnAtualizarLeitura
|
||||
//
|
||||
this.btnAtualizarLeitura.Location = new System.Drawing.Point(134, 30);
|
||||
this.btnAtualizarLeitura.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnAtualizarLeitura.Location = new System.Drawing.Point(179, 37);
|
||||
this.btnAtualizarLeitura.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnAtualizarLeitura.Name = "btnAtualizarLeitura";
|
||||
this.btnAtualizarLeitura.Size = new System.Drawing.Size(121, 20);
|
||||
this.btnAtualizarLeitura.Size = new System.Drawing.Size(161, 25);
|
||||
this.btnAtualizarLeitura.TabIndex = 22;
|
||||
this.btnAtualizarLeitura.Text = "Atualizar leitura";
|
||||
this.btnAtualizarLeitura.UseVisualStyleBackColor = true;
|
||||
|
|
@ -105,19 +118,18 @@
|
|||
//
|
||||
this.lblDistanciaFinal.AutoSize = true;
|
||||
this.lblDistanciaFinal.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
|
||||
this.lblDistanciaFinal.Location = new System.Drawing.Point(7, 69);
|
||||
this.lblDistanciaFinal.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblDistanciaFinal.Location = new System.Drawing.Point(9, 85);
|
||||
this.lblDistanciaFinal.Name = "lblDistanciaFinal";
|
||||
this.lblDistanciaFinal.Size = new System.Drawing.Size(120, 13);
|
||||
this.lblDistanciaFinal.Size = new System.Drawing.Size(146, 16);
|
||||
this.lblDistanciaFinal.TabIndex = 21;
|
||||
this.lblDistanciaFinal.Text = "Distância Final: 00,00 m";
|
||||
//
|
||||
// btnCarregarMapa
|
||||
//
|
||||
this.btnCarregarMapa.Location = new System.Drawing.Point(9, 6);
|
||||
this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnCarregarMapa.Location = new System.Drawing.Point(12, 7);
|
||||
this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnCarregarMapa.Name = "btnCarregarMapa";
|
||||
this.btnCarregarMapa.Size = new System.Drawing.Size(121, 19);
|
||||
this.btnCarregarMapa.Size = new System.Drawing.Size(161, 23);
|
||||
this.btnCarregarMapa.TabIndex = 20;
|
||||
this.btnCarregarMapa.Text = "Carregar Mapa";
|
||||
this.btnCarregarMapa.UseVisualStyleBackColor = true;
|
||||
|
|
@ -127,19 +139,18 @@
|
|||
//
|
||||
this.lblDistanciaOperacao.AutoSize = true;
|
||||
this.lblDistanciaOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
|
||||
this.lblDistanciaOperacao.Location = new System.Drawing.Point(7, 54);
|
||||
this.lblDistanciaOperacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblDistanciaOperacao.Location = new System.Drawing.Point(9, 66);
|
||||
this.lblDistanciaOperacao.Name = "lblDistanciaOperacao";
|
||||
this.lblDistanciaOperacao.Size = new System.Drawing.Size(145, 13);
|
||||
this.lblDistanciaOperacao.Size = new System.Drawing.Size(178, 16);
|
||||
this.lblDistanciaOperacao.TabIndex = 19;
|
||||
this.lblDistanciaOperacao.Text = "Distância Operação: 00,00 m";
|
||||
//
|
||||
// btnIniciarSimulacao
|
||||
//
|
||||
this.btnIniciarSimulacao.Location = new System.Drawing.Point(9, 30);
|
||||
this.btnIniciarSimulacao.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnIniciarSimulacao.Location = new System.Drawing.Point(12, 37);
|
||||
this.btnIniciarSimulacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnIniciarSimulacao.Name = "btnIniciarSimulacao";
|
||||
this.btnIniciarSimulacao.Size = new System.Drawing.Size(121, 20);
|
||||
this.btnIniciarSimulacao.Size = new System.Drawing.Size(161, 25);
|
||||
this.btnIniciarSimulacao.TabIndex = 18;
|
||||
this.btnIniciarSimulacao.Text = "Iniciar Simulação";
|
||||
this.btnIniciarSimulacao.UseVisualStyleBackColor = true;
|
||||
|
|
@ -156,11 +167,11 @@
|
|||
this.gpbSonar.Controls.Add(this.txtDistanciaSonar);
|
||||
this.gpbSonar.Controls.Add(this.lblAnguloI);
|
||||
this.gpbSonar.Controls.Add(this.txtAnguloInicial);
|
||||
this.gpbSonar.Location = new System.Drawing.Point(785, 2);
|
||||
this.gpbSonar.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.gpbSonar.Location = new System.Drawing.Point(1047, 2);
|
||||
this.gpbSonar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbSonar.Name = "gpbSonar";
|
||||
this.gpbSonar.Padding = new System.Windows.Forms.Padding(2);
|
||||
this.gpbSonar.Size = new System.Drawing.Size(232, 95);
|
||||
this.gpbSonar.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbSonar.Size = new System.Drawing.Size(309, 117);
|
||||
this.gpbSonar.TabIndex = 17;
|
||||
this.gpbSonar.TabStop = false;
|
||||
this.gpbSonar.Text = "Sonar";
|
||||
|
|
@ -168,10 +179,10 @@
|
|||
// chbMoverObstaculo
|
||||
//
|
||||
this.chbMoverObstaculo.AutoSize = true;
|
||||
this.chbMoverObstaculo.Location = new System.Drawing.Point(124, 35);
|
||||
this.chbMoverObstaculo.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.chbMoverObstaculo.Location = new System.Drawing.Point(165, 43);
|
||||
this.chbMoverObstaculo.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.chbMoverObstaculo.Name = "chbMoverObstaculo";
|
||||
this.chbMoverObstaculo.Size = new System.Drawing.Size(105, 17);
|
||||
this.chbMoverObstaculo.Size = new System.Drawing.Size(129, 20);
|
||||
this.chbMoverObstaculo.TabIndex = 29;
|
||||
this.chbMoverObstaculo.Text = "Mover obstáculo";
|
||||
this.chbMoverObstaculo.UseVisualStyleBackColor = true;
|
||||
|
|
@ -179,20 +190,20 @@
|
|||
// chbSonarVirando
|
||||
//
|
||||
this.chbSonarVirando.AutoSize = true;
|
||||
this.chbSonarVirando.Location = new System.Drawing.Point(124, 68);
|
||||
this.chbSonarVirando.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.chbSonarVirando.Location = new System.Drawing.Point(165, 84);
|
||||
this.chbSonarVirando.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.chbSonarVirando.Name = "chbSonarVirando";
|
||||
this.chbSonarVirando.Size = new System.Drawing.Size(96, 17);
|
||||
this.chbSonarVirando.Size = new System.Drawing.Size(117, 20);
|
||||
this.chbSonarVirando.TabIndex = 28;
|
||||
this.chbSonarVirando.Text = "Sonar atuando";
|
||||
this.chbSonarVirando.UseVisualStyleBackColor = true;
|
||||
//
|
||||
// btnAdicionarDeteccao
|
||||
//
|
||||
this.btnAdicionarDeteccao.Location = new System.Drawing.Point(70, 64);
|
||||
this.btnAdicionarDeteccao.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnAdicionarDeteccao.Location = new System.Drawing.Point(93, 79);
|
||||
this.btnAdicionarDeteccao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnAdicionarDeteccao.Name = "btnAdicionarDeteccao";
|
||||
this.btnAdicionarDeteccao.Size = new System.Drawing.Size(45, 23);
|
||||
this.btnAdicionarDeteccao.Size = new System.Drawing.Size(60, 28);
|
||||
this.btnAdicionarDeteccao.TabIndex = 25;
|
||||
this.btnAdicionarDeteccao.Text = "Add";
|
||||
this.btnAdicionarDeteccao.UseVisualStyleBackColor = true;
|
||||
|
|
@ -201,19 +212,18 @@
|
|||
// lblAnguloFinal
|
||||
//
|
||||
this.lblAnguloFinal.AutoSize = true;
|
||||
this.lblAnguloFinal.Location = new System.Drawing.Point(68, 18);
|
||||
this.lblAnguloFinal.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblAnguloFinal.Location = new System.Drawing.Point(91, 22);
|
||||
this.lblAnguloFinal.Name = "lblAnguloFinal";
|
||||
this.lblAnguloFinal.Size = new System.Drawing.Size(55, 13);
|
||||
this.lblAnguloFinal.Size = new System.Drawing.Size(67, 16);
|
||||
this.lblAnguloFinal.TabIndex = 27;
|
||||
this.lblAnguloFinal.Text = "Angulo Fn";
|
||||
//
|
||||
// txtAnguloFinal
|
||||
//
|
||||
this.txtAnguloFinal.Location = new System.Drawing.Point(70, 33);
|
||||
this.txtAnguloFinal.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.txtAnguloFinal.Location = new System.Drawing.Point(93, 41);
|
||||
this.txtAnguloFinal.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.txtAnguloFinal.Name = "txtAnguloFinal";
|
||||
this.txtAnguloFinal.Size = new System.Drawing.Size(46, 20);
|
||||
this.txtAnguloFinal.Size = new System.Drawing.Size(60, 22);
|
||||
this.txtAnguloFinal.TabIndex = 23;
|
||||
this.txtAnguloFinal.Text = "0";
|
||||
this.txtAnguloFinal.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
|
||||
|
|
@ -221,19 +231,18 @@
|
|||
// lblDistanciaSonar
|
||||
//
|
||||
this.lblDistanciaSonar.AutoSize = true;
|
||||
this.lblDistanciaSonar.Location = new System.Drawing.Point(9, 54);
|
||||
this.lblDistanciaSonar.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblDistanciaSonar.Location = new System.Drawing.Point(12, 66);
|
||||
this.lblDistanciaSonar.Name = "lblDistanciaSonar";
|
||||
this.lblDistanciaSonar.Size = new System.Drawing.Size(51, 13);
|
||||
this.lblDistanciaSonar.Size = new System.Drawing.Size(63, 16);
|
||||
this.lblDistanciaSonar.TabIndex = 25;
|
||||
this.lblDistanciaSonar.Text = "Distancia";
|
||||
//
|
||||
// txtDistanciaSonar
|
||||
//
|
||||
this.txtDistanciaSonar.Location = new System.Drawing.Point(11, 69);
|
||||
this.txtDistanciaSonar.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.txtDistanciaSonar.Location = new System.Drawing.Point(15, 85);
|
||||
this.txtDistanciaSonar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.txtDistanciaSonar.Name = "txtDistanciaSonar";
|
||||
this.txtDistanciaSonar.Size = new System.Drawing.Size(46, 20);
|
||||
this.txtDistanciaSonar.Size = new System.Drawing.Size(60, 22);
|
||||
this.txtDistanciaSonar.TabIndex = 24;
|
||||
this.txtDistanciaSonar.Text = "0";
|
||||
this.txtDistanciaSonar.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
|
||||
|
|
@ -241,19 +250,18 @@
|
|||
// lblAnguloI
|
||||
//
|
||||
this.lblAnguloI.AutoSize = true;
|
||||
this.lblAnguloI.Location = new System.Drawing.Point(9, 18);
|
||||
this.lblAnguloI.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblAnguloI.Location = new System.Drawing.Point(12, 22);
|
||||
this.lblAnguloI.Name = "lblAnguloI";
|
||||
this.lblAnguloI.Size = new System.Drawing.Size(52, 13);
|
||||
this.lblAnguloI.Size = new System.Drawing.Size(62, 16);
|
||||
this.lblAnguloI.TabIndex = 23;
|
||||
this.lblAnguloI.Text = "Angulo In";
|
||||
//
|
||||
// txtAnguloInicial
|
||||
//
|
||||
this.txtAnguloInicial.Location = new System.Drawing.Point(11, 33);
|
||||
this.txtAnguloInicial.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.txtAnguloInicial.Location = new System.Drawing.Point(15, 41);
|
||||
this.txtAnguloInicial.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.txtAnguloInicial.Name = "txtAnguloInicial";
|
||||
this.txtAnguloInicial.Size = new System.Drawing.Size(46, 20);
|
||||
this.txtAnguloInicial.Size = new System.Drawing.Size(60, 22);
|
||||
this.txtAnguloInicial.TabIndex = 22;
|
||||
this.txtAnguloInicial.Text = "0";
|
||||
this.txtAnguloInicial.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
|
||||
|
|
@ -262,10 +270,9 @@
|
|||
//
|
||||
this.lblDirecao.AutoSize = true;
|
||||
this.lblDirecao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
|
||||
this.lblDirecao.Location = new System.Drawing.Point(7, 84);
|
||||
this.lblDirecao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblDirecao.Location = new System.Drawing.Point(9, 103);
|
||||
this.lblDirecao.Name = "lblDirecao";
|
||||
this.lblDirecao.Size = new System.Drawing.Size(84, 13);
|
||||
this.lblDirecao.Size = new System.Drawing.Size(106, 16);
|
||||
this.lblDirecao.TabIndex = 16;
|
||||
this.lblDirecao.Text = "Direção: Parado";
|
||||
//
|
||||
|
|
@ -273,16 +280,18 @@
|
|||
//
|
||||
this.lblStatus.AutoSize = true;
|
||||
this.lblStatus.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
|
||||
this.lblStatus.Location = new System.Drawing.Point(154, 69);
|
||||
this.lblStatus.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblStatus.Location = new System.Drawing.Point(205, 85);
|
||||
this.lblStatus.Name = "lblStatus";
|
||||
this.lblStatus.Size = new System.Drawing.Size(101, 13);
|
||||
this.lblStatus.Size = new System.Drawing.Size(125, 16);
|
||||
this.lblStatus.TabIndex = 15;
|
||||
this.lblStatus.Text = "Status: Aguardando";
|
||||
//
|
||||
// gpbGPS
|
||||
//
|
||||
this.gpbGPS.Controls.Add(this.btnCalcularAngulo);
|
||||
this.gpbGPS.Controls.Add(this.label1);
|
||||
this.gpbGPS.Controls.Add(this.txtAnguloControle);
|
||||
this.gpbGPS.Controls.Add(this.lblVelocidade);
|
||||
this.gpbGPS.Controls.Add(this.txtVelocidade);
|
||||
this.gpbGPS.Controls.Add(this.btnAcrescentarGPS);
|
||||
this.gpbGPS.Controls.Add(this.lblDistancia);
|
||||
this.gpbGPS.Controls.Add(this.txtDistanciaGPS);
|
||||
|
|
@ -293,33 +302,22 @@
|
|||
this.gpbGPS.Controls.Add(this.txtLongitude);
|
||||
this.gpbGPS.Controls.Add(this.txtLatitude);
|
||||
this.gpbGPS.Controls.Add(this.btnIniciarGPS);
|
||||
this.gpbGPS.Location = new System.Drawing.Point(289, 2);
|
||||
this.gpbGPS.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.gpbGPS.Location = new System.Drawing.Point(385, 2);
|
||||
this.gpbGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbGPS.Name = "gpbGPS";
|
||||
this.gpbGPS.Padding = new System.Windows.Forms.Padding(2);
|
||||
this.gpbGPS.Size = new System.Drawing.Size(400, 95);
|
||||
this.gpbGPS.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.gpbGPS.Size = new System.Drawing.Size(533, 117);
|
||||
this.gpbGPS.TabIndex = 14;
|
||||
this.gpbGPS.TabStop = false;
|
||||
this.gpbGPS.Text = "GPS";
|
||||
//
|
||||
// btnCalcularAngulo
|
||||
//
|
||||
this.btnCalcularAngulo.Location = new System.Drawing.Point(308, 67);
|
||||
this.btnCalcularAngulo.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnCalcularAngulo.Name = "btnCalcularAngulo";
|
||||
this.btnCalcularAngulo.Size = new System.Drawing.Size(74, 23);
|
||||
this.btnCalcularAngulo.TabIndex = 23;
|
||||
this.btnCalcularAngulo.Text = "Calcular";
|
||||
this.btnCalcularAngulo.UseVisualStyleBackColor = true;
|
||||
this.btnCalcularAngulo.Click += new System.EventHandler(this.btnCalcularAngulo_Click);
|
||||
//
|
||||
// btnAcrescentarGPS
|
||||
//
|
||||
this.btnAcrescentarGPS.Enabled = false;
|
||||
this.btnAcrescentarGPS.Location = new System.Drawing.Point(230, 67);
|
||||
this.btnAcrescentarGPS.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnAcrescentarGPS.Location = new System.Drawing.Point(412, 82);
|
||||
this.btnAcrescentarGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnAcrescentarGPS.Name = "btnAcrescentarGPS";
|
||||
this.btnAcrescentarGPS.Size = new System.Drawing.Size(74, 23);
|
||||
this.btnAcrescentarGPS.Size = new System.Drawing.Size(99, 28);
|
||||
this.btnAcrescentarGPS.TabIndex = 22;
|
||||
this.btnAcrescentarGPS.Text = "Acrescentar";
|
||||
this.btnAcrescentarGPS.UseVisualStyleBackColor = true;
|
||||
|
|
@ -328,20 +326,19 @@
|
|||
// lblDistancia
|
||||
//
|
||||
this.lblDistancia.AutoSize = true;
|
||||
this.lblDistancia.Location = new System.Drawing.Point(159, 54);
|
||||
this.lblDistancia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblDistancia.Location = new System.Drawing.Point(212, 66);
|
||||
this.lblDistancia.Name = "lblDistancia";
|
||||
this.lblDistancia.Size = new System.Drawing.Size(51, 13);
|
||||
this.lblDistancia.Size = new System.Drawing.Size(63, 16);
|
||||
this.lblDistancia.TabIndex = 21;
|
||||
this.lblDistancia.Text = "Distancia";
|
||||
//
|
||||
// txtDistanciaGPS
|
||||
//
|
||||
this.txtDistanciaGPS.Enabled = false;
|
||||
this.txtDistanciaGPS.Location = new System.Drawing.Point(161, 69);
|
||||
this.txtDistanciaGPS.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.txtDistanciaGPS.Location = new System.Drawing.Point(215, 85);
|
||||
this.txtDistanciaGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.txtDistanciaGPS.Name = "txtDistanciaGPS";
|
||||
this.txtDistanciaGPS.Size = new System.Drawing.Size(54, 20);
|
||||
this.txtDistanciaGPS.Size = new System.Drawing.Size(71, 22);
|
||||
this.txtDistanciaGPS.TabIndex = 20;
|
||||
this.txtDistanciaGPS.Text = "0";
|
||||
this.txtDistanciaGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
|
||||
|
|
@ -349,20 +346,19 @@
|
|||
// lblAnguloGPS
|
||||
//
|
||||
this.lblAnguloGPS.AutoSize = true;
|
||||
this.lblAnguloGPS.Location = new System.Drawing.Point(159, 18);
|
||||
this.lblAnguloGPS.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblAnguloGPS.Location = new System.Drawing.Point(212, 22);
|
||||
this.lblAnguloGPS.Name = "lblAnguloGPS";
|
||||
this.lblAnguloGPS.Size = new System.Drawing.Size(40, 13);
|
||||
this.lblAnguloGPS.Size = new System.Drawing.Size(85, 16);
|
||||
this.lblAnguloGPS.TabIndex = 19;
|
||||
this.lblAnguloGPS.Text = "Angulo";
|
||||
this.lblAnguloGPS.Text = "Angulo Carro";
|
||||
//
|
||||
// txtAnguloGPS
|
||||
//
|
||||
this.txtAnguloGPS.Enabled = false;
|
||||
this.txtAnguloGPS.Location = new System.Drawing.Point(161, 33);
|
||||
this.txtAnguloGPS.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.txtAnguloGPS.Location = new System.Drawing.Point(215, 41);
|
||||
this.txtAnguloGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.txtAnguloGPS.Name = "txtAnguloGPS";
|
||||
this.txtAnguloGPS.Size = new System.Drawing.Size(54, 20);
|
||||
this.txtAnguloGPS.Size = new System.Drawing.Size(71, 22);
|
||||
this.txtAnguloGPS.TabIndex = 18;
|
||||
this.txtAnguloGPS.Text = "0";
|
||||
this.txtAnguloGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
|
||||
|
|
@ -370,49 +366,47 @@
|
|||
// lblLongitude
|
||||
//
|
||||
this.lblLongitude.AutoSize = true;
|
||||
this.lblLongitude.Location = new System.Drawing.Point(7, 54);
|
||||
this.lblLongitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblLongitude.Location = new System.Drawing.Point(9, 66);
|
||||
this.lblLongitude.Name = "lblLongitude";
|
||||
this.lblLongitude.Size = new System.Drawing.Size(54, 13);
|
||||
this.lblLongitude.Size = new System.Drawing.Size(66, 16);
|
||||
this.lblLongitude.TabIndex = 17;
|
||||
this.lblLongitude.Text = "Longitude";
|
||||
//
|
||||
// lblLatitude
|
||||
//
|
||||
this.lblLatitude.AutoSize = true;
|
||||
this.lblLatitude.Location = new System.Drawing.Point(7, 18);
|
||||
this.lblLatitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblLatitude.Location = new System.Drawing.Point(9, 22);
|
||||
this.lblLatitude.Name = "lblLatitude";
|
||||
this.lblLatitude.Size = new System.Drawing.Size(45, 13);
|
||||
this.lblLatitude.Size = new System.Drawing.Size(54, 16);
|
||||
this.lblLatitude.TabIndex = 16;
|
||||
this.lblLatitude.Text = "Latitude";
|
||||
//
|
||||
// txtLongitude
|
||||
//
|
||||
this.txtLongitude.Location = new System.Drawing.Point(9, 69);
|
||||
this.txtLongitude.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.txtLongitude.Location = new System.Drawing.Point(12, 85);
|
||||
this.txtLongitude.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.txtLongitude.Name = "txtLongitude";
|
||||
this.txtLongitude.Size = new System.Drawing.Size(135, 20);
|
||||
this.txtLongitude.Size = new System.Drawing.Size(179, 22);
|
||||
this.txtLongitude.TabIndex = 15;
|
||||
this.txtLongitude.Text = "-47.2639156835239";
|
||||
this.txtLongitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
|
||||
//
|
||||
// txtLatitude
|
||||
//
|
||||
this.txtLatitude.Location = new System.Drawing.Point(9, 33);
|
||||
this.txtLatitude.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.txtLatitude.Location = new System.Drawing.Point(12, 41);
|
||||
this.txtLatitude.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.txtLatitude.Name = "txtLatitude";
|
||||
this.txtLatitude.Size = new System.Drawing.Size(135, 20);
|
||||
this.txtLatitude.Size = new System.Drawing.Size(179, 22);
|
||||
this.txtLatitude.TabIndex = 14;
|
||||
this.txtLatitude.Text = "-22.3397915668518";
|
||||
this.txtLatitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
|
||||
//
|
||||
// btnIniciarGPS
|
||||
//
|
||||
this.btnIniciarGPS.Location = new System.Drawing.Point(230, 31);
|
||||
this.btnIniciarGPS.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.btnIniciarGPS.Location = new System.Drawing.Point(412, 35);
|
||||
this.btnIniciarGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.btnIniciarGPS.Name = "btnIniciarGPS";
|
||||
this.btnIniciarGPS.Size = new System.Drawing.Size(74, 23);
|
||||
this.btnIniciarGPS.Size = new System.Drawing.Size(99, 28);
|
||||
this.btnIniciarGPS.TabIndex = 13;
|
||||
this.btnIniciarGPS.Text = "Iniciar";
|
||||
this.btnIniciarGPS.UseVisualStyleBackColor = true;
|
||||
|
|
@ -424,10 +418,10 @@
|
|||
| System.Windows.Forms.AnchorStyles.Left)
|
||||
| System.Windows.Forms.AnchorStyles.Right)));
|
||||
this.pnlMapa.Controls.Add(this.pnlOrientacaoTrajeto);
|
||||
this.pnlMapa.Location = new System.Drawing.Point(9, 10);
|
||||
this.pnlMapa.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.pnlMapa.Location = new System.Drawing.Point(12, 12);
|
||||
this.pnlMapa.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.pnlMapa.Name = "pnlMapa";
|
||||
this.pnlMapa.Size = new System.Drawing.Size(506, 465);
|
||||
this.pnlMapa.Size = new System.Drawing.Size(675, 572);
|
||||
this.pnlMapa.TabIndex = 1;
|
||||
//
|
||||
// pnlOrientacaoTrajeto
|
||||
|
|
@ -436,10 +430,10 @@
|
|||
this.pnlOrientacaoTrajeto.BackColor = System.Drawing.Color.White;
|
||||
this.pnlOrientacaoTrajeto.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
|
||||
this.pnlOrientacaoTrajeto.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
|
||||
this.pnlOrientacaoTrajeto.Location = new System.Drawing.Point(425, 2);
|
||||
this.pnlOrientacaoTrajeto.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.pnlOrientacaoTrajeto.Location = new System.Drawing.Point(567, 2);
|
||||
this.pnlOrientacaoTrajeto.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.pnlOrientacaoTrajeto.Name = "pnlOrientacaoTrajeto";
|
||||
this.pnlOrientacaoTrajeto.Size = new System.Drawing.Size(78, 84);
|
||||
this.pnlOrientacaoTrajeto.Size = new System.Drawing.Size(104, 103);
|
||||
this.pnlOrientacaoTrajeto.TabIndex = 12;
|
||||
this.pnlOrientacaoTrajeto.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoTrajeto_Paint);
|
||||
//
|
||||
|
|
@ -448,42 +442,71 @@
|
|||
this.pnlSonar.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
|
||||
| System.Windows.Forms.AnchorStyles.Right)));
|
||||
this.pnlSonar.Controls.Add(this.picSonar);
|
||||
this.pnlSonar.Location = new System.Drawing.Point(519, 10);
|
||||
this.pnlSonar.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.pnlSonar.Location = new System.Drawing.Point(692, 12);
|
||||
this.pnlSonar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.pnlSonar.Name = "pnlSonar";
|
||||
this.pnlSonar.Size = new System.Drawing.Size(500, 465);
|
||||
this.pnlSonar.Size = new System.Drawing.Size(667, 572);
|
||||
this.pnlSonar.TabIndex = 2;
|
||||
//
|
||||
// picSonar
|
||||
//
|
||||
this.picSonar.Dock = System.Windows.Forms.DockStyle.Fill;
|
||||
this.picSonar.Location = new System.Drawing.Point(0, 0);
|
||||
this.picSonar.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.picSonar.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.picSonar.Name = "picSonar";
|
||||
this.picSonar.Size = new System.Drawing.Size(500, 465);
|
||||
this.picSonar.Size = new System.Drawing.Size(667, 572);
|
||||
this.picSonar.TabIndex = 0;
|
||||
this.picSonar.TabStop = false;
|
||||
//
|
||||
// lblDistanciaLateral
|
||||
// txtVelocidade
|
||||
//
|
||||
this.lblDistanciaLateral.AutoSize = true;
|
||||
this.lblDistanciaLateral.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
|
||||
this.lblDistanciaLateral.Location = new System.Drawing.Point(154, 84);
|
||||
this.lblDistanciaLateral.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
|
||||
this.lblDistanciaLateral.Name = "lblDistanciaLateral";
|
||||
this.lblDistanciaLateral.Size = new System.Drawing.Size(117, 13);
|
||||
this.lblDistanciaLateral.TabIndex = 23;
|
||||
this.lblDistanciaLateral.Text = "Esq: 0.00 m Dir: 0.00 m";
|
||||
this.txtVelocidade.Enabled = false;
|
||||
this.txtVelocidade.Location = new System.Drawing.Point(307, 85);
|
||||
this.txtVelocidade.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.txtVelocidade.Name = "txtVelocidade";
|
||||
this.txtVelocidade.Size = new System.Drawing.Size(71, 22);
|
||||
this.txtVelocidade.TabIndex = 24;
|
||||
this.txtVelocidade.Text = "0";
|
||||
this.txtVelocidade.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
|
||||
//
|
||||
// lblVelocidade
|
||||
//
|
||||
this.lblVelocidade.AutoSize = true;
|
||||
this.lblVelocidade.Location = new System.Drawing.Point(304, 64);
|
||||
this.lblVelocidade.Name = "lblVelocidade";
|
||||
this.lblVelocidade.Size = new System.Drawing.Size(77, 16);
|
||||
this.lblVelocidade.TabIndex = 25;
|
||||
this.lblVelocidade.Text = "Velocidade";
|
||||
//
|
||||
// label1
|
||||
//
|
||||
this.label1.AutoSize = true;
|
||||
this.label1.Location = new System.Drawing.Point(304, 22);
|
||||
this.label1.Name = "label1";
|
||||
this.label1.Size = new System.Drawing.Size(102, 16);
|
||||
this.label1.TabIndex = 27;
|
||||
this.label1.Text = "Angulo Controle";
|
||||
//
|
||||
// txtAnguloControle
|
||||
//
|
||||
this.txtAnguloControle.Enabled = false;
|
||||
this.txtAnguloControle.Location = new System.Drawing.Point(307, 41);
|
||||
this.txtAnguloControle.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.txtAnguloControle.Name = "txtAnguloControle";
|
||||
this.txtAnguloControle.Size = new System.Drawing.Size(71, 22);
|
||||
this.txtAnguloControle.TabIndex = 26;
|
||||
this.txtAnguloControle.Text = "0";
|
||||
this.txtAnguloControle.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
|
||||
//
|
||||
// frmSimulacaoMapaGPS
|
||||
//
|
||||
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
|
||||
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
|
||||
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
|
||||
this.ClientSize = new System.Drawing.Size(1028, 579);
|
||||
this.ClientSize = new System.Drawing.Size(1371, 713);
|
||||
this.Controls.Add(this.pnlSonar);
|
||||
this.Controls.Add(this.pnlMapa);
|
||||
this.Controls.Add(this.pnlOpcoes);
|
||||
this.Margin = new System.Windows.Forms.Padding(2);
|
||||
this.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
|
||||
this.Name = "frmSimulacaoMapaGPS";
|
||||
this.Text = "frmSimulacaoMapaGPS";
|
||||
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmSimulacaoMapaGPS_FormClosing);
|
||||
|
|
@ -536,7 +559,10 @@
|
|||
private System.Windows.Forms.CheckBox chbMoverObstaculo;
|
||||
private System.Windows.Forms.CheckBox chbSonarVirando;
|
||||
private System.Windows.Forms.Button btnAtualizarLeitura;
|
||||
private System.Windows.Forms.Button btnCalcularAngulo;
|
||||
private System.Windows.Forms.Label lblDistanciaLateral;
|
||||
private System.Windows.Forms.Label lblVelocidade;
|
||||
private System.Windows.Forms.TextBox txtVelocidade;
|
||||
private System.Windows.Forms.Label label1;
|
||||
private System.Windows.Forms.TextBox txtAnguloControle;
|
||||
}
|
||||
}
|
||||
|
|
@ -117,6 +117,10 @@ namespace AgroBase.Forms
|
|||
{
|
||||
angulo = double.Parse(txtAnguloGPS.Text);
|
||||
}
|
||||
if (StatusCarro == StatusCarroMapa.Manobrando && false)
|
||||
{
|
||||
angulo += double.Parse(txtAnguloControle.Text);
|
||||
}
|
||||
double distancia = double.Parse(txtDistanciaGPS.Text); // Distância em metros
|
||||
//angulo -= 180; // Ângulo em graus
|
||||
|
||||
|
|
@ -311,10 +315,17 @@ namespace AgroBase.Forms
|
|||
|
||||
double anguloAtual = double.Parse(txtAnguloGPS.Text);
|
||||
double novoAngulo = (anguloAtual + Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.Angulo) % 360;
|
||||
|
||||
txtAnguloGPS.Text = novoAngulo.ToString("0.00");
|
||||
|
||||
double distancia = Math.Round((double)Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.RPM / 45.0, 2);
|
||||
double anguloControle = Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.Angulo;
|
||||
txtAnguloControle.Text = anguloControle.ToString("0.00");
|
||||
|
||||
double velocidade = MovimentacaoModel.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.RPM);
|
||||
double velocidadeMs = MovimentacaoModel.ConverteKmhParaMs(velocidade);
|
||||
txtVelocidade.Text = velocidade.ToString("0.00");
|
||||
|
||||
//double distancia = Math.Round((double)Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.RPM / 45.0, 2);
|
||||
double distancia = velocidadeMs;
|
||||
txtDistanciaGPS.Text = distancia.ToString("0.00");
|
||||
|
||||
pnlOrientacaoTrajeto.Invalidate();
|
||||
|
|
|
|||
|
|
@ -17,14 +17,8 @@ namespace AgroBase.Models
|
|||
public double Velocidade { get; set; }
|
||||
public int NumeroSatelites { get; set; }
|
||||
public double PrecisaoHorizontal { get; set; }
|
||||
public double Orientacao
|
||||
{
|
||||
get
|
||||
{
|
||||
return GPSService.CalcularOrientacao(GPSService.PenultimaLeitura, GPSService.UltimaLeitura);
|
||||
}
|
||||
}
|
||||
public int idxRua { get; set; } = -1;
|
||||
public DirecaoCarroRua DirecaoTrecho { get; set; } = DirecaoCarroRua.Parado;
|
||||
public bool Passado { get; set; } = false;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -536,6 +536,7 @@ namespace AgroBase.Models
|
|||
List<GPSModel> CurvaConexao = GerarCurvaConexao(Caminho.Last(), PrimeiroPonto, P0, 6);
|
||||
|
||||
_caminho.AddRange(CurvaConexao);
|
||||
_caminho.ForEach(x => x.DirecaoTrecho = DirecaoCarroRua.Manobra);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -544,7 +545,7 @@ namespace AgroBase.Models
|
|||
//_caminho.AddRange(GPSService.InterpolarPontos(inicio, PrimeiroPonto, 1.0));
|
||||
_caminho.AddRange(RuaProjetada);
|
||||
_caminho.Add(UltimoPonto);
|
||||
_caminho.ForEach(x => x.DirecaoTrecho = DirecaoCarroRua.Manobra);
|
||||
_caminho.ForEach(x => x.DirecaoTrecho = x.DirecaoTrecho != DirecaoCarroRua.Manobra ? direcaoRua : x.DirecaoTrecho);
|
||||
Caminho.AddRange(_caminho);
|
||||
|
||||
direcaoRua = direcaoRua == DirecaoCarroRua.Ida ? DirecaoCarroRua.Volta : DirecaoCarroRua.Ida;
|
||||
|
|
|
|||
|
|
@ -238,12 +238,12 @@ namespace AgroBase.Models.Operacoes
|
|||
// Calcule o erro lateral baseado nas distâncias
|
||||
double erroLateral = Variaveis.OperacaoEmAndamento.Mapa.DistanciaEsquerda - Variaveis.OperacaoEmAndamento.Mapa.DistanciaDireita;
|
||||
|
||||
double erroPosicaoLateral = erroLateral;
|
||||
double erroPosicaoLateral = erroLateral * (StatusDentroRua.Contains(statusCarroRua) ? 10 : 1);
|
||||
|
||||
|
||||
// Combina os erros. Ajuste os pesos conforme necessário para o seu caso específico.
|
||||
double pesoOrientacao = StatusDentroRua.Contains(statusCarroRua) ? PesoOrientacaoDentroRua : 1 - PesoOrientacaoDentroRua;
|
||||
double pesoPosicaoLateral = StatusDentroRua.Contains(statusCarroRua) ? PesoLateralDentroRua : 1 - PesoLateralDentroRua;
|
||||
double pesoOrientacao = erroPosicaoLateral == 0 ? 1 : StatusDentroRua.Contains(statusCarroRua) ? PesoOrientacaoDentroRua : 1 - PesoOrientacaoDentroRua;
|
||||
double pesoPosicaoLateral = erroPosicaoLateral == 0 ? 0 : StatusDentroRua.Contains(statusCarroRua) ? PesoLateralDentroRua : 1 - PesoLateralDentroRua;
|
||||
double erroCombinado = (erroOrientacao * pesoOrientacao) + (erroPosicaoLateral * pesoPosicaoLateral);
|
||||
|
||||
// Atualiza o PID com o erro combinado
|
||||
|
|
@ -264,6 +264,17 @@ namespace AgroBase.Models.Operacoes
|
|||
}
|
||||
|
||||
Controle.Angulo = correcaoAngulo;
|
||||
|
||||
if (statusCarroRua == StatusCarroMapa.Manobrando)
|
||||
{
|
||||
Variaveis.OperacaoEmAndamento.DispDir.Dados.Motores.ForEach(x => x.Controlar = true);
|
||||
}
|
||||
else
|
||||
{
|
||||
Variaveis.OperacaoEmAndamento.DispDir.Dados.Motores.ForEach(x => x.Controlar = false);
|
||||
Variaveis.OperacaoEmAndamento.DispDir.Dados.Motores.Where(x => x.ID == "EF" || x.ID == "DF").ToList().ForEach(x => x.Controlar = true);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void CalculaDadosMovimentacaoAutonoma()
|
||||
|
|
@ -318,7 +329,7 @@ namespace AgroBase.Models.Operacoes
|
|||
}
|
||||
else if (statusAtual == StatusCarroMapa.Manobrando)
|
||||
{
|
||||
Controle.RPM = Controle.RPM_Min;
|
||||
Controle.RPM = Controle.RPM_Max / 2;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -772,7 +783,7 @@ namespace AgroBase.Models.Operacoes
|
|||
double DistanciaAnterior = GPSService.DistanciaEntrePontos(GPSService.PenultimaLeitura, PontoRua);
|
||||
|
||||
double DistanciaFinal = 0;
|
||||
if (Distancia > DistanciaAnterior && (Distancia <= MargemLimiteEntradaRua * 2))
|
||||
if (Distancia > DistanciaAnterior && (Distancia <= (MargemLimiteEntradaRua * 2)))
|
||||
{
|
||||
DistanciaFinal = Distancia * -1;
|
||||
}
|
||||
|
|
@ -785,6 +796,10 @@ namespace AgroBase.Models.Operacoes
|
|||
{
|
||||
NaMargem = true;
|
||||
}
|
||||
else if (DistanciaFinal <= (MargemLimiteEntradaRua * 2) && _EtapaAtual == StatusCarroMapa.CaminhandoRua)
|
||||
{
|
||||
NaMargem = true;
|
||||
}
|
||||
|
||||
return NaMargem;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -225,75 +225,6 @@ namespace AgroBase.Services
|
|||
|
||||
public static GPSModel PontoMaisProximoRuaProjetada(List<GPSModel> RuaProjetada)
|
||||
{
|
||||
/*if (!RuaProjetada.Any())
|
||||
{
|
||||
return new GPSModel();
|
||||
}
|
||||
int idx = -1;
|
||||
double menorDistancia = 9999;
|
||||
double distanciaAnterior = 9999;
|
||||
bool Afastando = false;
|
||||
bool Aproximando = false;
|
||||
bool Inverteu = false;
|
||||
|
||||
var Rua = RuaProjetada;
|
||||
|
||||
foreach (var Ponto in Rua)
|
||||
{
|
||||
int idxPonto = Rua.IndexOf(Ponto);
|
||||
|
||||
|
||||
double Distancia = DistanciaEntrePontos(UltimaLeitura, Ponto);
|
||||
double DistanciaAnterior = DistanciaEntrePontos(PenultimaLeitura, Ponto);
|
||||
|
||||
double DistanciaFinal = Distancia;
|
||||
if (Distancia > DistanciaAnterior)
|
||||
{
|
||||
if (!Aproximando)
|
||||
{
|
||||
Afastando = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
Inverteu = true;
|
||||
}
|
||||
DistanciaFinal = Distancia * -1;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (!Afastando)
|
||||
{
|
||||
Aproximando = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
Inverteu = true;
|
||||
}
|
||||
DistanciaFinal = Distancia;
|
||||
}
|
||||
|
||||
|
||||
|
||||
double distPonto = DistanciaEntrePontos(UltimaLeitura, Rua.First());
|
||||
double distTrecho = DistanciaDoTrecho(Rua.Where(x => Rua.IndexOf(x) <= idxPonto).ToList());
|
||||
double dist = distPonto + distTrecho;
|
||||
if ((Aproximando && DistanciaFinal < menorDistancia) || (Afastando && DistanciaFinal > menorDistancia))
|
||||
{
|
||||
menorDistancia = DistanciaFinal;
|
||||
idx = Rua.IndexOf(Ponto);
|
||||
}
|
||||
else if (dist > distanciaAnterior)
|
||||
{
|
||||
break;
|
||||
}
|
||||
if (Inverteu)
|
||||
{
|
||||
break;
|
||||
}
|
||||
distanciaAnterior = DistanciaFinal;
|
||||
}
|
||||
return Rua[idx];*/
|
||||
|
||||
// Verifica se a lista está vazia
|
||||
if (RuaProjetada == null || RuaProjetada.Count == 0)
|
||||
{
|
||||
|
|
@ -301,31 +232,82 @@ namespace AgroBase.Services
|
|||
}
|
||||
|
||||
// Inicializa variáveis
|
||||
GPSModel pontoMaisProximo = null;
|
||||
GPSModel pontoMaisProximo = RuaProjetada[0];
|
||||
double menorDistancia = double.MaxValue;
|
||||
bool estaAproximando = false;
|
||||
|
||||
// Calcula a direção (aproximando ou afastando) com base nas primeiras distâncias
|
||||
double distanciaAtual = DistanciaEntrePontos(UltimaLeitura, RuaProjetada[0]);
|
||||
double distanciaAnterior = DistanciaEntrePontos(PenultimaLeitura, RuaProjetada[0]);
|
||||
estaAproximando = distanciaAtual < distanciaAnterior;
|
||||
GPSModel posicaoAtual = UltimaLeitura;
|
||||
|
||||
// Itera sobre os pontos da rua projetada
|
||||
foreach (var ponto in RuaProjetada)
|
||||
{
|
||||
// Calcula a distância entre a última leitura e o ponto atual
|
||||
distanciaAtual = DistanciaEntrePontos(UltimaLeitura, ponto);
|
||||
distanciaAnterior = DistanciaEntrePontos(PenultimaLeitura, ponto);
|
||||
|
||||
// Atualiza o ponto mais próximo e a menor distância se apropriado
|
||||
double distanciaAtual = DistanciaEntrePontos(posicaoAtual, ponto);
|
||||
if (distanciaAtual <= menorDistancia)
|
||||
{
|
||||
ponto.Passado = true;
|
||||
menorDistancia = distanciaAtual;
|
||||
pontoMaisProximo = ponto;
|
||||
}
|
||||
else
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return pontoMaisProximo;
|
||||
|
||||
}
|
||||
|
||||
public static GPSModel PontoMaisProximoRuaProjetada2(List<GPSModel> RuaProjetada)
|
||||
{
|
||||
// Verifica se a lista está vazia
|
||||
if (RuaProjetada == null || RuaProjetada.Count == 0)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
// Inicializa variáveis
|
||||
GPSModel pontoMaisProximo = RuaProjetada[0];
|
||||
double menorDistancia = double.MaxValue;
|
||||
bool estaAproximando = false;
|
||||
bool inverteu = false;
|
||||
|
||||
//double distanciaPercorrida = DistanciaDoTrecho(Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual]);
|
||||
|
||||
// Calcula a direção (aproximando ou afastando) com base nas primeiras distâncias
|
||||
double distanciaAtual = 0;
|
||||
double distanciaAnterior = 0;
|
||||
|
||||
GPSModel posicaoAtual = UltimaLeitura;
|
||||
GPSModel posicaoAnterior = PenultimaLeitura;
|
||||
|
||||
// Itera sobre os pontos da rua projetada
|
||||
foreach (var ponto in RuaProjetada)
|
||||
{
|
||||
int idx = RuaProjetada.IndexOf(ponto);
|
||||
|
||||
// Calcula a distância entre a última leitura e o ponto atual
|
||||
distanciaAtual = DistanciaEntrePontos(posicaoAtual, ponto);
|
||||
distanciaAnterior = DistanciaEntrePontos(posicaoAnterior, ponto);
|
||||
|
||||
//double distanciaTrecho = DistanciaDoTrecho(RuaProjetada.Take(idx + 1).ToList());
|
||||
|
||||
double distanciaComparar = distanciaAtual; // + distanciaTrecho;
|
||||
|
||||
// Atualiza o ponto mais próximo e a menor distância se apropriado
|
||||
if (distanciaComparar <= menorDistancia)
|
||||
{
|
||||
menorDistancia = distanciaComparar;
|
||||
pontoMaisProximo = ponto;
|
||||
}
|
||||
else
|
||||
{
|
||||
inverteu = true;
|
||||
}
|
||||
|
||||
estaAproximando = distanciaAtual < distanciaAnterior;
|
||||
|
||||
Console.WriteLine("Ponto: " + idx + " - Distancia Atual: " + distanciaAtual.ToString(".00") + " - Distancia Anterior: " + distanciaAnterior.ToString("0.00") + " - Aproximando: " + (estaAproximando ? "Sim" : "Nao"));
|
||||
|
||||
|
||||
|
||||
// Verifica se houve inversão na direção
|
||||
|
|
@ -334,6 +316,10 @@ namespace AgroBase.Services
|
|||
// O robô começou a se afastar
|
||||
break;
|
||||
}
|
||||
else if (inverteu)
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return pontoMaisProximo;
|
||||
|
|
|
|||
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|
|
@ -186,274 +186,269 @@ C:\Zendion Inc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\line-angl
|
|||
C:\Zendion Inc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\line-angle2.py
|
||||
C:\Zendion Inc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.Forms.Operacoes.frmOperacaoSeguidorLinha.resources
|
||||
C:\Zendion Inc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.Forms.Atuador.frmAtuConfig.resources
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.AssemblyReference.cache
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\CefSharp.Core.Runtime.dll
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\CefSharp.Core.Runtime.pdb
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\CefSharp.Core.Runtime.xml
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\coco.names
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\yolov3.cfg
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\yolov3.weights
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\chrome_100_percent.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\chrome_200_percent.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\chrome_elf.dll
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\d3dcompiler_47.dll
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\icudtl.dat
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\libcef.dll
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\libEGL.dll
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\libGLESv2.dll
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\LICENSE.txt
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\af.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\am.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\ar.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\bg.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\bn.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\ca.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\cs.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\da.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\de.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\el.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\en-GB.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\en-US.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\es-419.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\es.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\et.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\fa.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\fi.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\fil.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\fr.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\gu.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\he.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\hi.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\hr.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\hu.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\id.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\it.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\ja.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\kn.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\ko.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\lt.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\lv.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\ml.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\mr.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\ms.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\nb.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\nl.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\pl.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\pt-BR.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\pt-PT.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\ro.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\ru.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\sk.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\sl.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\sr.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\sv.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\sw.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\ta.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\te.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\th.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\tr.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\uk.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\ur.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\vi.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\zh-CN.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\locales\zh-TW.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\README.txt
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\resources.pak
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\snapshot_blob.bin
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\v8_context_snapshot.bin
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\vk_swiftshader.dll
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\vk_swiftshader_icd.json
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\vulkan-1.dll
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\CefSharp.BrowserSubprocess.Core.dll
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\CefSharp.BrowserSubprocess.Core.pdb
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\CefSharp.BrowserSubprocess.pdb
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\hrnetv2.py
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\mobilenetv2.py
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\resnet.py
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\xception.py
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\__init__.py
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\modeling.py
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\utils.py
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\_deeplab.py
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\__init__.py
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\api.py
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\street-detector.py
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\weed-detector.py
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\coco-tiny.names
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\yolov3-tiny.cfg
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\yolov3-tiny.weights
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\yolov3-weed.weights
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\crop_weed_detection.weights
|
||||
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\gps-viewer.py
|
||||
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