otimizado controle direcional MKS

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.Designer.cs

@@ -64,9 +64,13 @@
             this.btnLigarBomba = new System.Windows.Forms.Button();
             this.pnlCameraRua = new System.Windows.Forms.Panel();
             this.pnlDir_EF = new System.Windows.Forms.Panel();
+            this.lblMov_EF = new System.Windows.Forms.Label();
             this.pnlDir_ET = new System.Windows.Forms.Panel();
+            this.lblMov_ET = new System.Windows.Forms.Label();
             this.pnlDir_DT = new System.Windows.Forms.Panel();
+            this.lblMov_DT = new System.Windows.Forms.Label();
             this.pnlDir_DF = new System.Windows.Forms.Panel();
+            this.lblMov_DF = new System.Windows.Forms.Label();
             this.lblDistanciaEsquerda = new System.Windows.Forms.Label();
             this.lblDistanciaDireita = new System.Windows.Forms.Label();
             this.chbSonar = new System.Windows.Forms.CheckBox();
@@ -78,10 +82,8 @@
             this.cmbTipoMovimento = new System.Windows.Forms.ComboBox();
             this.lblTipoMovimento = new System.Windows.Forms.Label();
             this.chbPulverizador = new System.Windows.Forms.CheckBox();
-            this.lblMov_EF = new System.Windows.Forms.Label();
-            this.lblMov_ET = new System.Windows.Forms.Label();
-            this.lblMov_DF = new System.Windows.Forms.Label();
-            this.lblMov_DT = new System.Windows.Forms.Label();
+            this.chbMostrarGrade = new System.Windows.Forms.CheckBox();
+            this.chbSonarAtivado = new System.Windows.Forms.CheckBox();
             this.pnlCamerasSolo.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).BeginInit();
             this.tabControl1.SuspendLayout();
@@ -375,7 +377,10 @@
             // 
             // pnlDeteccoesRua
             // 
+            this.pnlDeteccoesRua.Controls.Add(this.chbSonarAtivado);
+            this.pnlDeteccoesRua.Controls.Add(this.chbMostrarGrade);
             this.pnlDeteccoesRua.Controls.Add(this.picSonar);
+            this.pnlDeteccoesRua.Controls.Add(this.chbSonar);
             this.pnlDeteccoesRua.Dock = System.Windows.Forms.DockStyle.Fill;
             this.pnlDeteccoesRua.Location = new System.Drawing.Point(2, 2);
             this.pnlDeteccoesRua.Margin = new System.Windows.Forms.Padding(2);
@@ -385,10 +390,11 @@
             // 
             // picSonar
             // 
-            this.picSonar.Location = new System.Drawing.Point(13, 13);
+            this.picSonar.Location = new System.Drawing.Point(13, 3);
             this.picSonar.Margin = new System.Windows.Forms.Padding(2);
             this.picSonar.Name = "picSonar";
             this.picSonar.Size = new System.Drawing.Size(434, 260);
+            this.picSonar.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
             this.picSonar.TabIndex = 0;
             this.picSonar.TabStop = false;
             // 
@@ -476,6 +482,16 @@
             this.pnlDir_EF.Size = new System.Drawing.Size(150, 162);
             this.pnlDir_EF.TabIndex = 23;
             // 
+            // lblMov_EF
+            // 
+            this.lblMov_EF.AutoSize = true;
+            this.lblMov_EF.Location = new System.Drawing.Point(2, 147);
+            this.lblMov_EF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblMov_EF.Name = "lblMov_EF";
+            this.lblMov_EF.Size = new System.Drawing.Size(66, 13);
+            this.lblMov_EF.TabIndex = 10;
+            this.lblMov_EF.Text = "EF Parado 0";
+            // 
             // pnlDir_ET
             // 
             this.pnlDir_ET.Controls.Add(this.lblMov_ET);
@@ -486,6 +502,16 @@
             this.pnlDir_ET.Size = new System.Drawing.Size(150, 162);
             this.pnlDir_ET.TabIndex = 24;
             // 
+            // lblMov_ET
+            // 
+            this.lblMov_ET.AutoSize = true;
+            this.lblMov_ET.Location = new System.Drawing.Point(2, 148);
+            this.lblMov_ET.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblMov_ET.Name = "lblMov_ET";
+            this.lblMov_ET.Size = new System.Drawing.Size(67, 13);
+            this.lblMov_ET.TabIndex = 13;
+            this.lblMov_ET.Text = "ET Parado 0";
+            // 
             // pnlDir_DT
             // 
             this.pnlDir_DT.Controls.Add(this.lblMov_DT);
@@ -496,6 +522,16 @@
             this.pnlDir_DT.Size = new System.Drawing.Size(150, 162);
             this.pnlDir_DT.TabIndex = 24;
             // 
+            // lblMov_DT
+            // 
+            this.lblMov_DT.AutoSize = true;
+            this.lblMov_DT.Location = new System.Drawing.Point(2, 148);
+            this.lblMov_DT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblMov_DT.Name = "lblMov_DT";
+            this.lblMov_DT.Size = new System.Drawing.Size(68, 13);
+            this.lblMov_DT.TabIndex = 12;
+            this.lblMov_DT.Text = "DT Parado 0";
+            // 
             // pnlDir_DF
             // 
             this.pnlDir_DF.Controls.Add(this.lblMov_DF);
@@ -506,6 +542,16 @@
             this.pnlDir_DF.Size = new System.Drawing.Size(150, 162);
             this.pnlDir_DF.TabIndex = 24;
             // 
+            // lblMov_DF
+            // 
+            this.lblMov_DF.AutoSize = true;
+            this.lblMov_DF.Location = new System.Drawing.Point(1, 147);
+            this.lblMov_DF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblMov_DF.Name = "lblMov_DF";
+            this.lblMov_DF.Size = new System.Drawing.Size(67, 13);
+            this.lblMov_DF.TabIndex = 11;
+            this.lblMov_DF.Text = "DF Parado 0";
+            // 
             // lblDistanciaEsquerda
             // 
             this.lblDistanciaEsquerda.AutoSize = true;
@@ -531,7 +577,7 @@
             // chbSonar
             // 
             this.chbSonar.AutoSize = true;
-            this.chbSonar.Location = new System.Drawing.Point(157, 310);
+            this.chbSonar.Location = new System.Drawing.Point(264, 265);
             this.chbSonar.Margin = new System.Windows.Forms.Padding(2);
             this.chbSonar.Name = "chbSonar";
             this.chbSonar.Size = new System.Drawing.Size(183, 17);
@@ -630,45 +676,29 @@
             this.chbPulverizador.Text = "Pulverizador automático";
             this.chbPulverizador.UseVisualStyleBackColor = true;
             // 
-            // lblMov_EF
+            // chbMostrarGrade
             // 
-            this.lblMov_EF.AutoSize = true;
-            this.lblMov_EF.Location = new System.Drawing.Point(2, 147);
-            this.lblMov_EF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblMov_EF.Name = "lblMov_EF";
-            this.lblMov_EF.Size = new System.Drawing.Size(66, 13);
-            this.lblMov_EF.TabIndex = 10;
-            this.lblMov_EF.Text = "EF Parado 0";
+            this.chbMostrarGrade.AutoSize = true;
+            this.chbMostrarGrade.Location = new System.Drawing.Point(141, 265);
+            this.chbMostrarGrade.Margin = new System.Windows.Forms.Padding(2);
+            this.chbMostrarGrade.Name = "chbMostrarGrade";
+            this.chbMostrarGrade.Size = new System.Drawing.Size(93, 17);
+            this.chbMostrarGrade.TabIndex = 36;
+            this.chbMostrarGrade.Text = "Mostrar Grade";
+            this.chbMostrarGrade.UseVisualStyleBackColor = true;
+            this.chbMostrarGrade.CheckedChanged += new System.EventHandler(this.chbMostrarGrade_CheckedChanged);
             // 
-            // lblMov_ET
+            // chbSonarAtivado
             // 
-            this.lblMov_ET.AutoSize = true;
-            this.lblMov_ET.Location = new System.Drawing.Point(2, 148);
-            this.lblMov_ET.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblMov_ET.Name = "lblMov_ET";
-            this.lblMov_ET.Size = new System.Drawing.Size(67, 13);
-            this.lblMov_ET.TabIndex = 13;
-            this.lblMov_ET.Text = "ET Parado 0";
-            // 
-            // lblMov_DF
-            // 
-            this.lblMov_DF.AutoSize = true;
-            this.lblMov_DF.Location = new System.Drawing.Point(1, 147);
-            this.lblMov_DF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblMov_DF.Name = "lblMov_DF";
-            this.lblMov_DF.Size = new System.Drawing.Size(67, 13);
-            this.lblMov_DF.TabIndex = 11;
-            this.lblMov_DF.Text = "DF Parado 0";
-            // 
-            // lblMov_DT
-            // 
-            this.lblMov_DT.AutoSize = true;
-            this.lblMov_DT.Location = new System.Drawing.Point(2, 148);
-            this.lblMov_DT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblMov_DT.Name = "lblMov_DT";
-            this.lblMov_DT.Size = new System.Drawing.Size(68, 13);
-            this.lblMov_DT.TabIndex = 12;
-            this.lblMov_DT.Text = "DT Parado 0";
+            this.chbSonarAtivado.AutoSize = true;
+            this.chbSonarAtivado.Location = new System.Drawing.Point(13, 265);
+            this.chbSonarAtivado.Margin = new System.Windows.Forms.Padding(2);
+            this.chbSonarAtivado.Name = "chbSonarAtivado";
+            this.chbSonarAtivado.Size = new System.Drawing.Size(93, 17);
+            this.chbSonarAtivado.TabIndex = 37;
+            this.chbSonarAtivado.Text = "Sonar Ativado";
+            this.chbSonarAtivado.UseVisualStyleBackColor = true;
+            this.chbSonarAtivado.CheckedChanged += new System.EventHandler(this.chbSonarAtivado_CheckedChanged);
             // 
             // frmOperacaoManual
             // 
@@ -685,7 +715,6 @@
             this.Controls.Add(this.lblCorrente);
             this.Controls.Add(this.lblTensao);
             this.Controls.Add(this.btnIniciarOperacao);
-            this.Controls.Add(this.chbSonar);
             this.Controls.Add(this.lblDistanciaEsquerda);
             this.Controls.Add(this.tabControl1);
             this.Controls.Add(this.lblDistanciaDireita);
@@ -712,6 +741,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.gridDados)).EndInit();
             this.tabDeteccoes.ResumeLayout(false);
             this.pnlDeteccoesRua.ResumeLayout(false);
+            this.pnlDeteccoesRua.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picSonar)).EndInit();
             this.tabPulverizador.ResumeLayout(false);
             this.tabPulverizador.PerformLayout();
@@ -782,5 +812,7 @@
         private System.Windows.Forms.Label lblMov_ET;
         private System.Windows.Forms.Label lblMov_DT;
         private System.Windows.Forms.Label lblMov_DF;
+        private System.Windows.Forms.CheckBox chbSonarAtivado;
+        private System.Windows.Forms.CheckBox chbMostrarGrade;
     }
 }

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs

@@ -44,12 +44,15 @@ namespace AgroBase.Forms.Operacoes
             Variaveis.OperacaoEmAndamento.AtualizaListaCameras(pnlCameraRua, new List<Panel>() { pnlCameraSoloE, pnlCameraSoloD }, true);
 
             chbPulverizador.Checked = Variaveis.OperacaoEmAndamento.Controle.PulverizadorAutomatico;
+            chbMostrarGrade.Checked = KinectService.MostrarGrade;
+            chbSonarAtivado.Checked = KinectService.Parametros.SonarAtivado;
 
             InicializarComandosDirecional();
             PopularInformacoesGerais();
             InicializarMapa();
             PopularBicos();
             Variaveis.OperacaoEmAndamento.chartGraficos = chartGraficos;
+            KinectService.picRGB = picSonar;
 
             tmrLeitura = new AsyncTaskTimerModel("tmrLeitura", tmrLeitura_Tick, 500, this);
             tmrLeitura.Start();
@@ -60,6 +63,7 @@ namespace AgroBase.Forms.Operacoes
             tmrLeitura.Dispose();
             Variaveis.OperacaoEmAndamento.FinalizarOperacao();
             Variaveis.OperacaoEmAndamento.DesligarCameras();
+            KinectService.picRGB = null;
         }
 
         private async void btnIniciarOperacao_Click(object sender, EventArgs e)
@@ -251,7 +255,7 @@ namespace AgroBase.Forms.Operacoes
 
             if (Modulo.Modulo_ID.Contains("D"))
             {
-                Angulo *= -1;
+                //Angulo *= -1;
             }
 
             // Desenhe uma linha para representar a posição do eixo do motor
@@ -362,7 +366,7 @@ namespace AgroBase.Forms.Operacoes
             try
             {
                 double angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola;
-                FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, -90);
+                FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, -270);
             }
             catch { }
         }
@@ -555,6 +559,15 @@ namespace AgroBase.Forms.Operacoes
             Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = (TipoMovimentoDirecional)cmbTipoMovimento.SelectedIndex;
         }
 
+        private void chbMostrarGrade_CheckedChanged(object sender, EventArgs e)
+        {
+            KinectService.MostrarGrade = ((CheckBox)sender).Checked;
+        }
 
+        private void chbSonarAtivado_CheckedChanged(object sender, EventArgs e)
+        {
+            KinectService.Parametros.SonarAtivado = ((CheckBox)sender).Checked;
+        }
+    
     }
 }

AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.Designer.cs

@@ -33,6 +33,7 @@
             this.gpbModulos = new System.Windows.Forms.GroupBox();
             this.gpbP_Gps = new System.Windows.Forms.GroupBox();
             this.gpbP_Sen = new System.Windows.Forms.GroupBox();
+            this.btnA05 = new System.Windows.Forms.Button();
             this.lblTemposalvarlogU = new System.Windows.Forms.Label();
             this.nudTemposalvarlog = new System.Windows.Forms.NumericUpDown();
             this.lblTemposalvarlog = new System.Windows.Forms.Label();
@@ -78,7 +79,7 @@
             this.nudCapacidadereservatorio = new System.Windows.Forms.NumericUpDown();
             this.lblUnCapcaidadereservatorio = new System.Windows.Forms.Label();
             this.lblCapacidadereservatorio = new System.Windows.Forms.Label();
-            this.btnA05 = new System.Windows.Forms.Button();
+            this.chbSegmentacao = new System.Windows.Forms.CheckBox();
             this.gpbModulos.SuspendLayout();
             this.gpbP_Sen.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudTemposalvarlog)).BeginInit();
@@ -171,6 +172,17 @@
             this.gpbP_Sen.TabStop = false;
             this.gpbP_Sen.Text = "Ajustes";
             // 
+            // btnA05
+            // 
+            this.btnA05.Location = new System.Drawing.Point(10, 94);
+            this.btnA05.Margin = new System.Windows.Forms.Padding(6);
+            this.btnA05.Name = "btnA05";
+            this.btnA05.Size = new System.Drawing.Size(171, 28);
+            this.btnA05.TabIndex = 9;
+            this.btnA05.Text = "Ultrassom A05";
+            this.btnA05.UseVisualStyleBackColor = true;
+            this.btnA05.Click += new System.EventHandler(this.btnA05_Click);
+            // 
             // lblTemposalvarlogU
             // 
             this.lblTemposalvarlogU.AutoSize = true;
@@ -613,6 +625,7 @@
             // 
             // gpbConfiguracoesgerais
             // 
+            this.gpbConfiguracoesgerais.Controls.Add(this.chbSegmentacao);
             this.gpbConfiguracoesgerais.Controls.Add(this.txtDensidadeherbicida);
             this.gpbConfiguracoesgerais.Controls.Add(this.lblUnDensidadeherbicida);
             this.gpbConfiguracoesgerais.Controls.Add(this.label2);
@@ -683,16 +696,16 @@
             this.lblCapacidadereservatorio.TabIndex = 9;
             this.lblCapacidadereservatorio.Text = "Capacidade reservatório";
             // 
-            // btnA05
+            // chbSegmentacao
             // 
-            this.btnA05.Location = new System.Drawing.Point(10, 94);
-            this.btnA05.Margin = new System.Windows.Forms.Padding(6);
-            this.btnA05.Name = "btnA05";
-            this.btnA05.Size = new System.Drawing.Size(171, 28);
-            this.btnA05.TabIndex = 9;
-            this.btnA05.Text = "Ultrassom A05";
-            this.btnA05.UseVisualStyleBackColor = true;
-            this.btnA05.Click += new System.EventHandler(this.btnA05_Click);
+            this.chbSegmentacao.AutoSize = true;
+            this.chbSegmentacao.Location = new System.Drawing.Point(18, 167);
+            this.chbSegmentacao.Margin = new System.Windows.Forms.Padding(6);
+            this.chbSegmentacao.Name = "chbSegmentacao";
+            this.chbSegmentacao.Size = new System.Drawing.Size(146, 28);
+            this.chbSegmentacao.TabIndex = 13;
+            this.chbSegmentacao.Text = "Segmentação";
+            this.chbSegmentacao.UseVisualStyleBackColor = true;
             // 
             // frmParametrizacaoOperacao
             // 
@@ -792,5 +805,6 @@
         private System.Windows.Forms.ComboBox cmbScriptErvas;
         private System.Windows.Forms.Label lblAngulomax;
         private System.Windows.Forms.Button btnA05;
+        private System.Windows.Forms.CheckBox chbSegmentacao;
     }
 }

AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs

@@ -71,6 +71,8 @@ namespace AgroBase.Forms.Operacoes
             txtDensidadeherbicida.Text = Variaveis.OperacaoEmAndamento.DispAtu.Dados.DensidadeHerbicida.ToString("0.00");
             nudAtuarem.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.PercentualInicioPulverizacao * 100);
             cmbScriptErvas.SelectedIndex = cmbScriptErvas.Items.IndexOf(Variaveis.OperacaoEmAndamento.DispAtu.Dados.ScriptDeteccaoErvas.Replace(".py", ""));
+
+            chbSegmentacao.Checked = Variaveis.OperacaoEmAndamento.Controle.SegmentacaoSemantica;
         }
 
         private void chbD_CheckedChanged(object sender, EventArgs e)
@@ -138,6 +140,7 @@ namespace AgroBase.Forms.Operacoes
             Variaveis.OperacaoEmAndamento.DispAtu.Dados.DensidadeHerbicida = Convert.ToDouble(txtDensidadeherbicida.Text.Replace(".", ","));
             Variaveis.OperacaoEmAndamento.Controle.PercentualInicioPulverizacao = (double)(nudAtuarem.Value / 100);
             Variaveis.OperacaoEmAndamento.DispAtu.Dados.ScriptDeteccaoErvas = cmbScriptErvas.Text + ".py";
+            Variaveis.OperacaoEmAndamento.Controle.SegmentacaoSemantica = chbSegmentacao.Checked;
 
             if (chbSalvar.Checked)
             {

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs

@@ -28,30 +28,30 @@
         /// </summary>
         private void InitializeComponent()
         {
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea1 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend1 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series1 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea2 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend2 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series2 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea3 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend3 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series3 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea4 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend4 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series4 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea5 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend5 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series5 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea6 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend6 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series6 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea7 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend7 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series7 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea8 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend8 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series8 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea9 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend9 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series9 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea10 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend10 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series10 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea11 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend11 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series11 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea12 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend12 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series12 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea13 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend13 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series13 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea14 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend14 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series14 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea15 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend15 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series15 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea16 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend16 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series16 = new System.Windows.Forms.DataVisualization.Charting.Series();
             this.trbMomento = new System.Windows.Forms.TrackBar();
             this.panel1 = new System.Windows.Forms.Panel();
             this.tabControl4 = new System.Windows.Forms.TabControl();
@@ -275,6 +275,8 @@
             this.label30 = new System.Windows.Forms.Label();
             this.chartMovGeral = new System.Windows.Forms.DataVisualization.Charting.Chart();
             this.tabAtuador = new System.Windows.Forms.TabPage();
+            this.lblATU_LatenciaLoop = new System.Windows.Forms.Label();
+            this.lblATU_QualidadeWifi = new System.Windows.Forms.Label();
             this.chbDesenharErvas = new System.Windows.Forms.CheckBox();
             this.chartAtuador = new System.Windows.Forms.DataVisualization.Charting.Chart();
             this.pnlAtuadores = new System.Windows.Forms.Panel();
@@ -283,6 +285,8 @@
             this.tabErvas = new System.Windows.Forms.TabPage();
             this.chartErvas = new System.Windows.Forms.DataVisualization.Charting.Chart();
             this.tabSensoriamento = new System.Windows.Forms.TabPage();
+            this.lblSEN_LatenciaLoop = new System.Windows.Forms.Label();
+            this.lblSEN_QualidadeWifi = new System.Windows.Forms.Label();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.txtSen_Maximo = new System.Windows.Forms.TextBox();
             this.label68 = new System.Windows.Forms.Label();
@@ -416,10 +420,6 @@
             this.label36 = new System.Windows.Forms.Label();
             this.txtMomento = new System.Windows.Forms.TextBox();
             this.btnPlay = new System.Windows.Forms.Button();
-            this.lblATU_QualidadeWifi = new System.Windows.Forms.Label();
-            this.lblATU_LatenciaLoop = new System.Windows.Forms.Label();
-            this.lblSEN_LatenciaLoop = new System.Windows.Forms.Label();
-            this.lblSEN_QualidadeWifi = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.trbMomento)).BeginInit();
             this.panel1.SuspendLayout();
             this.tabControl4.SuspendLayout();
@@ -1641,17 +1641,17 @@
             // 
             // chartMovVelocidade
             // 
-            chartArea1.Name = "ChartArea1";
-            this.chartMovVelocidade.ChartAreas.Add(chartArea1);
-            legend1.Name = "Legend1";
-            this.chartMovVelocidade.Legends.Add(legend1);
+            chartArea9.Name = "ChartArea1";
+            this.chartMovVelocidade.ChartAreas.Add(chartArea9);
+            legend9.Name = "Legend1";
+            this.chartMovVelocidade.Legends.Add(legend9);
             this.chartMovVelocidade.Location = new System.Drawing.Point(4, 4);
             this.chartMovVelocidade.Margin = new System.Windows.Forms.Padding(2);
             this.chartMovVelocidade.Name = "chartMovVelocidade";
-            series1.ChartArea = "ChartArea1";
-            series1.Legend = "Legend1";
-            series1.Name = "Series1";
-            this.chartMovVelocidade.Series.Add(series1);
+            series9.ChartArea = "ChartArea1";
+            series9.Legend = "Legend1";
+            series9.Name = "Series1";
+            this.chartMovVelocidade.Series.Add(series9);
             this.chartMovVelocidade.Size = new System.Drawing.Size(474, 356);
             this.chartMovVelocidade.TabIndex = 96;
             this.chartMovVelocidade.Text = "chart1";
@@ -2060,17 +2060,17 @@
             // 
             // chartMovTemperatura
             // 
-            chartArea2.Name = "ChartArea1";
-            this.chartMovTemperatura.ChartAreas.Add(chartArea2);
-            legend2.Name = "Legend1";
-            this.chartMovTemperatura.Legends.Add(legend2);
+            chartArea10.Name = "ChartArea1";
+            this.chartMovTemperatura.ChartAreas.Add(chartArea10);
+            legend10.Name = "Legend1";
+            this.chartMovTemperatura.Legends.Add(legend10);
             this.chartMovTemperatura.Location = new System.Drawing.Point(4, 4);
             this.chartMovTemperatura.Margin = new System.Windows.Forms.Padding(2);
             this.chartMovTemperatura.Name = "chartMovTemperatura";
-            series2.ChartArea = "ChartArea1";
-            series2.Legend = "Legend1";
-            series2.Name = "Series1";
-            this.chartMovTemperatura.Series.Add(series2);
+            series10.ChartArea = "ChartArea1";
+            series10.Legend = "Legend1";
+            series10.Name = "Series1";
+            this.chartMovTemperatura.Series.Add(series10);
             this.chartMovTemperatura.Size = new System.Drawing.Size(474, 336);
             this.chartMovTemperatura.TabIndex = 95;
             this.chartMovTemperatura.Text = "chart1";
@@ -2478,17 +2478,17 @@
             // 
             // chartMovTensao
             // 
-            chartArea3.Name = "ChartArea1";
-            this.chartMovTensao.ChartAreas.Add(chartArea3);
-            legend3.Name = "Legend1";
-            this.chartMovTensao.Legends.Add(legend3);
+            chartArea11.Name = "ChartArea1";
+            this.chartMovTensao.ChartAreas.Add(chartArea11);
+            legend11.Name = "Legend1";
+            this.chartMovTensao.Legends.Add(legend11);
             this.chartMovTensao.Location = new System.Drawing.Point(4, 4);
             this.chartMovTensao.Margin = new System.Windows.Forms.Padding(2);
             this.chartMovTensao.Name = "chartMovTensao";
-            series3.ChartArea = "ChartArea1";
-            series3.Legend = "Legend1";
-            series3.Name = "Series1";
-            this.chartMovTensao.Series.Add(series3);
+            series11.ChartArea = "ChartArea1";
+            series11.Legend = "Legend1";
+            series11.Name = "Series1";
+            this.chartMovTensao.Series.Add(series11);
             this.chartMovTensao.Size = new System.Drawing.Size(474, 336);
             this.chartMovTensao.TabIndex = 131;
             this.chartMovTensao.Text = "chart1";
@@ -2987,17 +2987,17 @@
             // 
             // chartMovGeral
             // 
-            chartArea4.Name = "ChartArea1";
-            this.chartMovGeral.ChartAreas.Add(chartArea4);
-            legend4.Name = "Legend1";
-            this.chartMovGeral.Legends.Add(legend4);
+            chartArea12.Name = "ChartArea1";
+            this.chartMovGeral.ChartAreas.Add(chartArea12);
+            legend12.Name = "Legend1";
+            this.chartMovGeral.Legends.Add(legend12);
             this.chartMovGeral.Location = new System.Drawing.Point(4, 4);
             this.chartMovGeral.Margin = new System.Windows.Forms.Padding(2);
             this.chartMovGeral.Name = "chartMovGeral";
-            series4.ChartArea = "ChartArea1";
-            series4.Legend = "Legend1";
-            series4.Name = "Series1";
-            this.chartMovGeral.Series.Add(series4);
+            series12.ChartArea = "ChartArea1";
+            series12.Legend = "Legend1";
+            series12.Name = "Series1";
+            this.chartMovGeral.Series.Add(series12);
             this.chartMovGeral.Size = new System.Drawing.Size(474, 311);
             this.chartMovGeral.TabIndex = 94;
             this.chartMovGeral.Text = "chart1";
@@ -3020,6 +3020,24 @@
             this.tabAtuador.Text = "Atuador";
             this.tabAtuador.UseVisualStyleBackColor = true;
             // 
+            // lblATU_LatenciaLoop
+            // 
+            this.lblATU_LatenciaLoop.AutoSize = true;
+            this.lblATU_LatenciaLoop.Location = new System.Drawing.Point(177, 2);
+            this.lblATU_LatenciaLoop.Name = "lblATU_LatenciaLoop";
+            this.lblATU_LatenciaLoop.Size = new System.Drawing.Size(118, 13);
+            this.lblATU_LatenciaLoop.TabIndex = 96;
+            this.lblATU_LatenciaLoop.Text = "Latência de Loop: 0 ms";
+            // 
+            // lblATU_QualidadeWifi
+            // 
+            this.lblATU_QualidadeWifi.AutoSize = true;
+            this.lblATU_QualidadeWifi.Location = new System.Drawing.Point(5, 2);
+            this.lblATU_QualidadeWifi.Name = "lblATU_QualidadeWifi";
+            this.lblATU_QualidadeWifi.Size = new System.Drawing.Size(112, 13);
+            this.lblATU_QualidadeWifi.TabIndex = 0;
+            this.lblATU_QualidadeWifi.Text = "Qualidade Wifi: 0 dBm";
+            // 
             // chbDesenharErvas
             // 
             this.chbDesenharErvas.AutoSize = true;
@@ -3034,17 +3052,17 @@
             // 
             // chartAtuador
             // 
-            chartArea5.Name = "ChartArea1";
-            this.chartAtuador.ChartAreas.Add(chartArea5);
-            legend5.Name = "Legend1";
-            this.chartAtuador.Legends.Add(legend5);
+            chartArea13.Name = "ChartArea1";
+            this.chartAtuador.ChartAreas.Add(chartArea13);
+            legend13.Name = "Legend1";
+            this.chartAtuador.Legends.Add(legend13);
             this.chartAtuador.Location = new System.Drawing.Point(4, 276);
             this.chartAtuador.Margin = new System.Windows.Forms.Padding(2);
             this.chartAtuador.Name = "chartAtuador";
-            series5.ChartArea = "ChartArea1";
-            series5.Legend = "Legend1";
-            series5.Name = "Series1";
-            this.chartAtuador.Series.Add(series5);
+            series13.ChartArea = "ChartArea1";
+            series13.Legend = "Legend1";
+            series13.Name = "Series1";
+            this.chartAtuador.Series.Add(series13);
             this.chartAtuador.Size = new System.Drawing.Size(489, 241);
             this.chartAtuador.TabIndex = 95;
             this.chartAtuador.Text = "chart1";
@@ -3091,16 +3109,16 @@
             // 
             // chartErvas
             // 
-            chartArea6.Name = "ChartArea1";
-            this.chartErvas.ChartAreas.Add(chartArea6);
-            legend6.Name = "Legend1";
-            this.chartErvas.Legends.Add(legend6);
+            chartArea14.Name = "ChartArea1";
+            this.chartErvas.ChartAreas.Add(chartArea14);
+            legend14.Name = "Legend1";
+            this.chartErvas.Legends.Add(legend14);
             this.chartErvas.Location = new System.Drawing.Point(6, 6);
             this.chartErvas.Name = "chartErvas";
-            series6.ChartArea = "ChartArea1";
-            series6.Legend = "Legend1";
-            series6.Name = "Series1";
-            this.chartErvas.Series.Add(series6);
+            series14.ChartArea = "ChartArea1";
+            series14.Legend = "Legend1";
+            series14.Name = "Series1";
+            this.chartErvas.Series.Add(series14);
             this.chartErvas.Size = new System.Drawing.Size(484, 510);
             this.chartErvas.TabIndex = 0;
             this.chartErvas.Text = "chart1";
@@ -3121,6 +3139,24 @@
             this.tabSensoriamento.Text = "Sensoriamento";
             this.tabSensoriamento.UseVisualStyleBackColor = true;
             // 
+            // lblSEN_LatenciaLoop
+            // 
+            this.lblSEN_LatenciaLoop.AutoSize = true;
+            this.lblSEN_LatenciaLoop.Location = new System.Drawing.Point(227, 420);
+            this.lblSEN_LatenciaLoop.Name = "lblSEN_LatenciaLoop";
+            this.lblSEN_LatenciaLoop.Size = new System.Drawing.Size(118, 13);
+            this.lblSEN_LatenciaLoop.TabIndex = 135;
+            this.lblSEN_LatenciaLoop.Text = "Latência de Loop: 0 ms";
+            // 
+            // lblSEN_QualidadeWifi
+            // 
+            this.lblSEN_QualidadeWifi.AutoSize = true;
+            this.lblSEN_QualidadeWifi.Location = new System.Drawing.Point(227, 404);
+            this.lblSEN_QualidadeWifi.Name = "lblSEN_QualidadeWifi";
+            this.lblSEN_QualidadeWifi.Size = new System.Drawing.Size(112, 13);
+            this.lblSEN_QualidadeWifi.TabIndex = 134;
+            this.lblSEN_QualidadeWifi.Text = "Qualidade Wifi: 0 dBm";
+            // 
             // groupBox1
             // 
             this.groupBox1.Controls.Add(this.txtSen_Maximo);
@@ -3365,17 +3401,17 @@
             // 
             // chartSensoriamento
             // 
-            chartArea7.Name = "ChartArea1";
-            this.chartSensoriamento.ChartAreas.Add(chartArea7);
-            legend7.Name = "Legend1";
-            this.chartSensoriamento.Legends.Add(legend7);
+            chartArea15.Name = "ChartArea1";
+            this.chartSensoriamento.ChartAreas.Add(chartArea15);
+            legend15.Name = "Legend1";
+            this.chartSensoriamento.Legends.Add(legend15);
             this.chartSensoriamento.Location = new System.Drawing.Point(2, 4);
             this.chartSensoriamento.Margin = new System.Windows.Forms.Padding(2);
             this.chartSensoriamento.Name = "chartSensoriamento";
-            series7.ChartArea = "ChartArea1";
-            series7.Legend = "Legend1";
-            series7.Name = "Series1";
-            this.chartSensoriamento.Series.Add(series7);
+            series15.ChartArea = "ChartArea1";
+            series15.Legend = "Legend1";
+            series15.Name = "Series1";
+            this.chartSensoriamento.Series.Add(series15);
             this.chartSensoriamento.Size = new System.Drawing.Size(491, 389);
             this.chartSensoriamento.TabIndex = 95;
             this.chartSensoriamento.Text = "chart1";
@@ -4091,17 +4127,17 @@
             // 
             // chartCpu
             // 
-            chartArea8.Name = "ChartArea1";
-            this.chartCpu.ChartAreas.Add(chartArea8);
-            legend8.Name = "Legend1";
-            this.chartCpu.Legends.Add(legend8);
+            chartArea16.Name = "ChartArea1";
+            this.chartCpu.ChartAreas.Add(chartArea16);
+            legend16.Name = "Legend1";
+            this.chartCpu.Legends.Add(legend16);
             this.chartCpu.Location = new System.Drawing.Point(2, 3);
             this.chartCpu.Margin = new System.Windows.Forms.Padding(2);
             this.chartCpu.Name = "chartCpu";
-            series8.ChartArea = "ChartArea1";
-            series8.Legend = "Legend1";
-            series8.Name = "Series1";
-            this.chartCpu.Series.Add(series8);
+            series16.ChartArea = "ChartArea1";
+            series16.Legend = "Legend1";
+            series16.Name = "Series1";
+            this.chartCpu.Series.Add(series16);
             this.chartCpu.Size = new System.Drawing.Size(491, 389);
             this.chartCpu.TabIndex = 134;
             this.chartCpu.Text = "chart1";
@@ -4558,42 +4594,6 @@
             this.btnPlay.UseVisualStyleBackColor = true;
             this.btnPlay.Click += new System.EventHandler(this.btnPlay_Click);
             // 
-            // lblATU_QualidadeWifi
-            // 
-            this.lblATU_QualidadeWifi.AutoSize = true;
-            this.lblATU_QualidadeWifi.Location = new System.Drawing.Point(5, 2);
-            this.lblATU_QualidadeWifi.Name = "lblATU_QualidadeWifi";
-            this.lblATU_QualidadeWifi.Size = new System.Drawing.Size(112, 13);
-            this.lblATU_QualidadeWifi.TabIndex = 0;
-            this.lblATU_QualidadeWifi.Text = "Qualidade Wifi: 0 dBm";
-            // 
-            // lblATU_LatenciaLoop
-            // 
-            this.lblATU_LatenciaLoop.AutoSize = true;
-            this.lblATU_LatenciaLoop.Location = new System.Drawing.Point(177, 2);
-            this.lblATU_LatenciaLoop.Name = "lblATU_LatenciaLoop";
-            this.lblATU_LatenciaLoop.Size = new System.Drawing.Size(118, 13);
-            this.lblATU_LatenciaLoop.TabIndex = 96;
-            this.lblATU_LatenciaLoop.Text = "Latência de Loop: 0 ms";
-            // 
-            // lblSEN_LatenciaLoop
-            // 
-            this.lblSEN_LatenciaLoop.AutoSize = true;
-            this.lblSEN_LatenciaLoop.Location = new System.Drawing.Point(227, 420);
-            this.lblSEN_LatenciaLoop.Name = "lblSEN_LatenciaLoop";
-            this.lblSEN_LatenciaLoop.Size = new System.Drawing.Size(118, 13);
-            this.lblSEN_LatenciaLoop.TabIndex = 135;
-            this.lblSEN_LatenciaLoop.Text = "Latência de Loop: 0 ms";
-            // 
-            // lblSEN_QualidadeWifi
-            // 
-            this.lblSEN_QualidadeWifi.AutoSize = true;
-            this.lblSEN_QualidadeWifi.Location = new System.Drawing.Point(227, 404);
-            this.lblSEN_QualidadeWifi.Name = "lblSEN_QualidadeWifi";
-            this.lblSEN_QualidadeWifi.Size = new System.Drawing.Size(112, 13);
-            this.lblSEN_QualidadeWifi.TabIndex = 134;
-            this.lblSEN_QualidadeWifi.Text = "Qualidade Wifi: 0 dBm";
-            // 
             // frmResultadosOperacao
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs

@@ -832,7 +832,7 @@ namespace AgroBase.Forms.Operacoes
             var LogKnt = LogsKinect.FirstOrDefault(x => x.Momento == MomentoAtual);
             var LogOpe = LogsOperacao.FirstOrDefault(x => x.Momento == MomentoAtual);
 
-            double AnguloCarro = (LogsWt901C.FirstOrDefault(x => x.Momento == MomentoAtual).Inicializado ? LogOpe.AnguloCarroBussola : LogOpe.AnguloCarroGPS);
+            double AnguloCarro = (LogsWt901C.FirstOrDefault(x => x.Momento == MomentoAtual)?.Inicializado ?? false ? LogOpe.AnguloCarroBussola : LogOpe.AnguloCarroGPS);
 
             MapaDinamico.AtualizarDados(
                 LogKnt.Iniciado && LogKnt.StatusDetecao ? LogKnt.ObstaculoCritico : null,

AgroBase/AgroBase/Models/AsyncTaskTimerModel.cs

@@ -52,6 +52,8 @@ namespace AgroBase.Models
         public string Id { get { return _id; } }
         public Control _uiControl;
         private int _timeout = 60000;
+        private long _ticks = 0;
+        public long Ticks { get { return _ticks; } }
 
         private DateTime beginTask = DateTime.MinValue;
         private DateTime endTask = DateTime.MinValue;
@@ -237,6 +239,7 @@ namespace AgroBase.Models
                     // Garante que o intervalo é respeitado entre execuções
                     await Task.Delay(_interval, cancellationToken);
                     _Ticking = false;
+                    _ticks++;
                 }
             }
 

AgroBase/AgroBase/Models/CameraCaminhoModel.cs

@@ -96,6 +96,7 @@ namespace AgroBase.Models
                 // Se ja passou 5 segundos sem ter enviado uma mensagem
                 if (UltimoEnvio.AddMilliseconds(5000) < Agora)
                 {
+                    //await Variaveis.MqttService.AdicionarNovoTopico(CamerasVaraiveisModel.TopicoRecebimentoBitmap, true);
                     await EnviarBitmapParaProcessamento();
                 }
             }
@@ -151,22 +152,22 @@ namespace AgroBase.Models
             }
         }
 
-        public void AtualizarBitmapTela(Bitmap bitmap)
+        public async Task AtualizarBitmapTela(Bitmap bitmap)
         {
             //Console.WriteLine("Recebido bitmap segmentado");
 
-            bitmapSegmentado = bitmap;
-            if (panel != null)
+            await FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThreadAsync(panel, async () =>
             {
-                panel.BackgroundImage = bitmapSegmentado;
-                panel.Refresh();
-            }
-
-            Task.Run(async () =>
-            {
-                await Task.Delay(DelayEnvio);
-                await EnviarBitmapParaProcessamento();
+                bitmapSegmentado = bitmap;
+                if (panel != null)
+                {
+                    panel.BackgroundImage = bitmapSegmentado;
+                    panel.Refresh();
+                }
             });
+
+            await Task.Delay(DelayEnvio);
+            await EnviarBitmapParaProcessamento();
         }
 
         

AgroBase/AgroBase/Models/GeneralJoystick.cs

@@ -622,6 +622,13 @@ namespace AgroBase
                                 else
                                 {
                                     Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.ForEach(x => x.DirMotor.EnviarComandoControle(DirecaoAtual));
+                                    /*Task.Run(async () =>
+                                    {
+                                        foreach (var mod in Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos)
+                                        {
+                                            mod.DirMotor.EnviarComandoControle(DirecaoAtual);
+                                        };
+                                    });*/
                                 }
                                 break;
                             }

AgroBase/AgroBase/Models/MKS057DModel.cs

@@ -55,6 +55,7 @@ namespace AgroBase.Models
         public Sentido _Sentido { get; set; } = Sentido.Parado;
         public bool AguardaResposta { get; set; } = false;
         public int TimeoutResposta { get; set; } = 1000;
+        public int TamanhoResposta { get; set; } = 4;
         public bool Enviado { get; set; } = false;
         public bool ErroEnvio { get; set; } = false;
         public bool Respondido { get; set; } = false;

AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs

@@ -325,11 +325,15 @@ namespace AgroBase.Models.Modules
                 byte modAddr = Modulo.DirMotor.EnderecoByte;
                 if (!MKS057DService.Referenciando || (MKS057DService.Referenciando && MKS057DService.AddrRef == modAddr))
                 {
-                    MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoRequisicaoPulsos(modAddr));
-                    MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoRequisicaoIO(modAddr));
-
+                    bool reqParametros = true; // (!MKS057DService.Referenciando && (tmrRegistradorMKS.Ticks % 5 == 0)) || MKS057DService.Referenciando;
+                    if (reqParametros)
+                    {
+                        MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoRequisicaoPulsos(modAddr));
+                        MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoRequisicaoIO(modAddr));
+                    }
+                    
                     // Verifica se o angulo de set point do motor em questao e diferente do angulo atual, e se for, reenvia o comando para garantir que o motor esteja coerente com o set point
-                    if (!MKS057DService.Referenciando)
+                    if (!MKS057DService.Referenciando && (Modulo.DirMotor.UltimoComandoEnviado.AddMilliseconds(2000) < DateTime.Now) && !Modulo.DirMotor.AtingiuAnguloSP)
                     {
                         Modulo.DirMotor.EnviarComandoControle(Controle.UltimaDirecao);
                     }
@@ -1033,6 +1037,30 @@ namespace AgroBase.Models.Modules
             }
         }
 
+        public Direcao UltimaDirecao { get; set; } = Direcao.Parado;
+        public DateTime UltimoComandoEnviado { get; set; } = DateTime.MinValue;
+        public bool RetornandoAzero
+        {
+            get
+            {
+                return (UltimaDirecao != Direcao.Esquerda && UltimaDirecao != Direcao.Direita);
+            }
+        }
+        public bool EmMovimento
+        {
+            get
+            {
+                return RPM != 0;
+            }
+        }
+        public bool AtingiuAnguloSP
+        {
+            get
+            {
+                return FuncoesMatematicas.ValorEstaEntre(Angulo, Angulo_SP, 1);
+            }
+        }
+
         public bool PosicaoTipoMovimentoConcluido(Direcao DirecaoAtual)
         {
             var TipoMovimento = Variaveis.OperacaoEmAndamento.Controle.TipoMovimento;
@@ -1158,16 +1186,25 @@ namespace AgroBase.Models.Modules
             if (Comandar && MKS_Inicializado)
             {
                 int AnguloTipoMovimento = VariaveisEquipamento.AnguloMovimento[Variaveis.OperacaoEmAndamento.Controle.TipoMovimento];
+                
+                if (UltimaDirecao != Direcao)
+                {
+                    Sentido_SP =
+                        Direcao == Direcao.Direita ? ConfigSentidos[Variaveis.OperacaoEmAndamento.Controle.TipoMovimento].Direita :
+                        Direcao == Direcao.Esquerda ? ConfigSentidos[Variaveis.OperacaoEmAndamento.Controle.TipoMovimento].Esquerda :
+                        Sentido_SP == Sentido.Horario ? Sentido.Antihorario :
+                        Sentido_SP == Sentido.Antihorario ? Sentido.Horario :
+                        Sentido.Parado;
 
-                Sentido_SP =
-                    Direcao == Direcao.Direita ? ConfigSentidos[Variaveis.OperacaoEmAndamento.Controle.TipoMovimento].Direita :
-                    Direcao == Direcao.Esquerda ? ConfigSentidos[Variaveis.OperacaoEmAndamento.Controle.TipoMovimento].Esquerda :
-                    Sentido_SP == Sentido.Horario ? Sentido.Antihorario :
-                    Sentido_SP == Sentido.Antihorario ? Sentido.Horario :
-                    Sentido.Parado;
+                    UltimaDirecao = Direcao;
+                }
+                else if (AtingiuAnguloSP && RetornandoAzero && Angulo == 0)
+                {
+                    Sentido_SP = Sentido.Parado;
+                }
 
                 Angulo_SP =
-                    (Direcao != Direcao.Esquerda && Direcao != Direcao.Direita) ? 0 :
+                    RetornandoAzero ? 0 :
                     AnguloTipoMovimento != -1 ? AnguloTipoMovimento :
                     Variaveis.OperacaoEmAndamento.Controle.Angulo;
 
@@ -1175,13 +1212,54 @@ namespace AgroBase.Models.Modules
 
                 Angulo_SP =  Math.Abs(Angulo_SP) * mx;
 
-                if (!FuncoesMatematicas.ValorEstaEntre(Angulo, Angulo_SP, 3) && RPM == 0)
+                if (!AtingiuAnguloSP || true)
                 {
                     MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoMovimento(EnderecoByte, Angulo_SP, Velocidade, Sentido_SP));
+                    UltimoComandoEnviado = DateTime.Now;
                 }
             }
         }
 
+        /*public async Task EnviarComandoControleAsync(Direcao Direcao)
+        {
+            if (Comandar && MKS_Inicializado)
+            {
+                int AnguloTipoMovimento = VariaveisEquipamento.AnguloMovimento[Variaveis.OperacaoEmAndamento.Controle.TipoMovimento];
+
+                if (UltimaDirecao != Direcao)
+                {
+                    Sentido_SP =
+                        Direcao == Direcao.Direita ? ConfigSentidos[Variaveis.OperacaoEmAndamento.Controle.TipoMovimento].Direita :
+                        Direcao == Direcao.Esquerda ? ConfigSentidos[Variaveis.OperacaoEmAndamento.Controle.TipoMovimento].Esquerda :
+                        Sentido_SP == Sentido.Horario ? Sentido.Antihorario :
+                        Sentido_SP == Sentido.Antihorario ? Sentido.Horario :
+                        Sentido.Parado;
+
+                    UltimaDirecao = Direcao;
+                }
+                else if (AtingiuAnguloSP && RetornandoAzero && Angulo == 0)
+                {
+                    Sentido_SP = Sentido.Parado;
+                }
+
+                Angulo_SP =
+                    RetornandoAzero ? 0 :
+                    AnguloTipoMovimento != -1 ? AnguloTipoMovimento :
+                    Variaveis.OperacaoEmAndamento.Controle.Angulo;
+
+                int mx = Sentido_SP == Sentido.Antihorario ? -1 : 1;
+
+                Angulo_SP = Math.Abs(Angulo_SP) * mx;
+
+                if (!AtingiuAnguloSP || true)
+                {
+                    //await MKS057DService.EnviarComandoControle(MKS057DService.MontarComandoMovimento(EnderecoByte, Angulo_SP, Velocidade, Sentido_SP));
+                    MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoMovimento(EnderecoByte, Angulo_SP, Velocidade, Sentido_SP));
+                    UltimoComandoEnviado = DateTime.Now;
+                }
+            }
+        }*/
+
         public async Task ReferenciaMotor()
         {
             byte Addr = EnderecoByte;

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -1021,7 +1021,7 @@ namespace AgroBase.Models
             };
             CameraCaminhoKinect = cameraCaminho;
             CameraCaminhoKinect.camera.selectedCamera = KinectService.Iniciado ? 1 : 0;
-            if (CameraCaminhoKinect.camera.selectedCamera > 0 && Iniciar)
+            if (CameraCaminhoKinect.camera.selectedCamera > 0 && Iniciar && Variaveis.OperacaoEmAndamento.Controle.SegmentacaoSemantica)
             {
                 CameraCaminhoKinect.panel = pnlCameraCaminho;
                 IniciarCameraCaminho(CameraCaminhoKinect);
@@ -1128,7 +1128,7 @@ namespace AgroBase.Models
                             try
                             {
                                 Bitmap bitmap = Variaveis.OperacaoEmAndamento.CameraCaminhoKinect.ExtraiImagemDaMensagem(Mensagem.Mensagem);
-                                Variaveis.OperacaoEmAndamento.CameraCaminhoKinect.AtualizarBitmapTela(bitmap);
+                                await Variaveis.OperacaoEmAndamento.CameraCaminhoKinect.AtualizarBitmapTela(bitmap);
                             }
                             catch (Exception ex)
                             {
@@ -1419,7 +1419,7 @@ namespace AgroBase.Models
         private void AtualizaLeituraCameraSolo(CameraSoloModel CameraSolo)
         {
 
-            if (CameraSolo.camera._mqttTopico != null && CameraSolo.camera._mqttTopico.Mensagens.Any(x => x.Momento > CameraSolo.camera.IniciadoEm))
+            if (CameraSolo.camera._mqttTopico?.Mensagens?.Any(x => x.Momento > CameraSolo.camera.IniciadoEm && x.Mensagem != "OK") ?? false)
             {
                 try
                 {
@@ -1717,7 +1717,7 @@ namespace AgroBase.Models
         private void PararCarroOperacaoInterrompida()
         {
             Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP = 0; // Velocidade Zero (parado)
-            Variaveis.OperacaoEmAndamento.Controle.Angulo = 0; // Angulo Zero (direcional reto)
+            //Variaveis.OperacaoEmAndamento.Controle.Angulo = 0; // Angulo Zero (direcional reto)
             Variaveis.OperacaoEmAndamento.Controle.BicosAtuados.ForEach(x => x.ComandoAtuar = false); // Bicos desatuados
             AtualizarDadosControle(true);
             AtualizarDadosControlePulverizador(true);
@@ -1930,7 +1930,7 @@ namespace AgroBase.Models
                         CodAlarme = Modulo.MovMotor.CodigoAlarme,
                         EmFreio = Modulo.MovMotor.ConfigFreio.Leitura,
                         Ativado = Modulo.MovMotor.LeituraLigado,
-                        UltimoComandoRespondido = Modulo.MovMotor.Leitura.UltimoComandoRecebido,
+                        UltimoComandoRespondido = Modulo.MovMotor.Leitura?.UltimoComandoRecebido ?? DateTime.MinValue,
                     };
                     SalvarLog(T_Code.Mov.ToString(), logMov, false);
 
@@ -1945,7 +1945,7 @@ namespace AgroBase.Models
                         Sentido_SP = Modulo.MovMotor.Sentido_SP,
                         Sentido = Modulo.MovMotor.Sentido,
                         Velocidade = Modulo.MovMotor.VelocidadeInstantanea,
-                        UltimoComandoRespondido = Modulo.DirMotor.Leitura.UltimoComandoRecebido,
+                        UltimoComandoRespondido = Modulo.DirMotor.Leitura?.UltimoComandoRecebido ?? DateTime.MinValue,
                     };
                     SalvarLog(T_Code.Dir.ToString(), logDir, false);
                 });
@@ -2887,6 +2887,7 @@ namespace AgroBase.Models
         public List<OperacaoControleTipoModel> TiposControle { get; set; }
         public PIDModel PIDdirecional { get; set; } = new PIDModel();
         public bool PulverizadorAutomatico { get; set; } = true;
+        public bool SegmentacaoSemantica { get; set; } = false;
     }
 
     public class OperacaoControleTipoModel

AgroBase/AgroBase/Python/Scripts/street_detector.py

@@ -35,6 +35,10 @@ NUM_CLASSES = 4  # Pascal VOC possui 3 classes + 1 para o fundo
 OUTPUT_STRIDE = 16  # Valor comum para DeepLab
 MODEL_PATH = model_folder + "model-" + script_version + '.pth'  # Caminho para o modelo pré-treinado
 
+# Variáveis globais para armazenar os dados do labelmap
+label_colors = None
+class_names = None
+
 # Função para carregar o modelo
 def load_model(model_path):
     model = deeplabv3_model(num_classes=NUM_CLASSES, output_stride=OUTPUT_STRIDE)
@@ -65,19 +69,22 @@ def segment_frame(frame):
 
 # Função para ler o mapa de rótulos
 def read_labelmap(path):
-    label_colors = []
-    class_names = []
-    with open(path, 'r') as file:
-        for line in file.readlines():
-            if line.startswith('#'):
-                continue
-            parts = line.strip().split(':')
-            if len(parts) >= 2:
-                label = parts[0].strip()
-                color = tuple(map(int, parts[1].split(',')))
-                class_names.append(label)
-                label_colors.append(color)
-    return np.array(label_colors), class_names
+    global label_colors, class_names
+    if label_colors is None or class_names is None:  # Verifica se já estão carregados
+        label_colors = []
+        class_names = []
+        with open(path, 'r') as file:
+            for line in file.readlines():
+                if line.startswith('#'):
+                    continue
+                parts = line.strip().split(':')
+                if len(parts) >= 2:
+                    label = parts[0].strip()
+                    color = tuple(map(int, parts[1].split(',')))
+                    class_names.append(label)
+                    label_colors.append(color)
+        label_colors = np.array(label_colors)
+    return label_colors, class_names
 
 # Função para gerar o JSON de saída
 def generate_json(image):

AgroBase/AgroBase/Services/EthernetService.cs

@@ -164,6 +164,11 @@ public class EthernetService
             Console.WriteLine($"Erro ao receber dados: {ex.Message}");
             return null;
         }
+        finally
+        {
+            await _networkStream.FlushAsync();
+            await FlushBufferAsync();
+        }
     }
 
     public async Task<byte[]> ReceiveDataAsync2(int bufferSize = 1024, int timeoutMilliseconds = 1000)

AgroBase/AgroBase/Services/MKS057DService.cs

@@ -27,7 +27,6 @@ namespace AgroBase.Services
         private static bool EnvioLiberado { get; set; } = true;
         public static List<MKS057DModel> DadosLeitura = new List<MKS057DModel>();
         public static bool FilaEmEspera = false;
-        public static bool Respondido = false;
         public static byte AddrRef = 0x00;
         public static bool Referenciando
         {
@@ -456,6 +455,7 @@ namespace AgroBase.Services
                 Comando = Convert.ToByte("1"),
                 Endereco = Endereco,
                 AguardaResposta = true,
+                TamanhoResposta = 8,
             };
         }
 
@@ -467,6 +467,19 @@ namespace AgroBase.Services
                 Comando = Convert.ToByte("46"),
                 Endereco = Endereco,
                 AguardaResposta = true,
+                TamanhoResposta = 5,
+            };
+        }
+
+        public static MKS057ComandoModel MontarComandoRequisicaoRPM(byte Endereco)
+        {
+            return new MKS057ComandoModel()
+            {
+                Get = true,
+                Comando = Convert.ToByte("40"),
+                Endereco = Endereco,
+                AguardaResposta = true,
+                TamanhoResposta = 5,
             };
         }
 
@@ -512,11 +525,19 @@ namespace AgroBase.Services
                 _Sentido = Sentido_SP,
                 ModoControle = Controle,
                 AguardaResposta = false,
+                TamanhoResposta = 5,
             };
         }
 
-        public static async Task EnviarComandoControle(MKS057ComandoModel Comando)
+        public static async Task EnviarComandoControle(MKS057ComandoModel Comando, bool resend = false)
         {
+            while (FilaEmEspera && !resend)
+            {
+                await Task.Delay(Comando.Get ? 50 : 10);
+            }
+
+            FilaEmEspera = true;
+
             try
             {
                 byte Addr = Comando.Endereco;
@@ -551,11 +572,12 @@ namespace AgroBase.Services
                 Comando.Enviado = true;
 
                 // Recebe a resposta via Ethernet, independentemente de precisar processá-la ou não
-                byte[] resposta = await _ethernetService.ReceiveDataAsync(8, Comando.TimeoutResposta); // Timeout ajustável, aqui 1 segundo
+                byte[] resposta = await _ethernetService.ReceiveDataAsync(Comando.TamanhoResposta, Comando.TimeoutResposta); // Timeout ajustável, aqui 1 segundo
+                RegisrarComandosComunicacao(Addr, $"RX: - {BitConverter.ToString(resposta ?? new byte[] { }).Replace("-", " ")}");
 
                 //SerialService.MostrarComandoResposta(T_Code.Mks, comando, resposta);
 
-                if (Comando.AguardaResposta)
+                if (Comando.AguardaResposta || true)
                 {
                     // Processa a resposta, pois é esperada
                     bool Respondido = DecifrarResposta(resposta, Addr);
@@ -564,6 +586,11 @@ namespace AgroBase.Services
                     {
                         RegisrarErrosComunicacao(Addr, $"Timeout ao receber resposta. GET={Comando.Get}, Parametro={Comando.Comando}");
                         //Comando.Momento = DateTime.Now.AddMilliseconds(500);
+
+                        if (!resend)
+                        {
+                            await EnviarComandoControle(Comando, true);
+                        }
                     }
                 }
                 else
@@ -579,6 +606,10 @@ namespace AgroBase.Services
                 Comando.Enviado = false;
                 Comando.Momento = DateTime.Now.AddMilliseconds(500);
             }
+            finally
+            {
+                FilaEmEspera = false;
+            }
         }
         
         private static void DefinirDadosModulo(MKS057DModel leitura)
@@ -655,22 +686,19 @@ namespace AgroBase.Services
 
         private static bool DecifrarResposta(byte[] resposta, byte addr)
         {
-            RegisrarComandosComunicacao(addr, $"RX: - {BitConverter.ToString(resposta ?? new byte[] { }).Replace("-", " ")}");
-
             SerialBuffer_RX = new byte[11];
 
             if (resposta != null && resposta.Length > 0 && resposta.Length <= SerialBuffer_RX.Length)
             {
                 SerialBuffer_RX = resposta; // Armazena a resposta recebida
                 Data_Number = resposta.Length;
-                Text_display();
-                return true;
+                return Text_display();
             }
 
             return false;
         }
 
-        private static void Text_display()
+        private static bool Text_display()
         {
             rxDisplay();
 
@@ -678,7 +706,7 @@ namespace AgroBase.Services
             if (!EnderecoValido(addr))
             {
                 RegisrarErrosComunicacao(addr, "Dados recebidos de um endereço inválido: [" + string.Join(" ", SerialBuffer_RX) + "]");
-                return;
+                return false;
             }
 
             MKS057DModel leitura = DadosLeitura.FirstOrDefault(x => x.Endereco == addr);
@@ -1307,10 +1335,16 @@ namespace AgroBase.Services
                         break;
                 }
 
+                if (_Sentido.Keys.Contains(addr))
+                {
+                    leitura.Direcao = _Sentido[addr];
+                }
                 leitura.UltimoComandoRecebido = DateTime.Now;
+
+                return true;
             }
 
-            Respondido = true;
+            return false;
         }
 
         private static void txDisplay(byte[] data)

AgroBase/AgroBase/Services/ModbusService.cs

@@ -1,6 +1,5 @@
 using AgroBase.Forms;
 using AgroBase.Models;
-using Microsoft.SqlServer.Server;
 using System;
 using System.Collections.Generic;
 using System.IO;

AgroBase/AgroBase/Services/PZEMService.cs

@@ -12,7 +12,7 @@ namespace AgroBase.Services
     public class PZEMService
     {
         public static bool Iniciado { get; set; }
-        public static int TaxaAmostragem { get; set; } = 500;
+
         public static byte slaveAddress = 0x01;
 
         public static PZEMModel UltimaLeitura = new PZEMModel();

AgroBase/AgroBase/Services/UltrasonicA05Service.cs

@@ -11,7 +11,7 @@ namespace AgroBase.Services
     public class UltrasonicA05Service
     {
         public static bool Iniciado { get; set; }
-        public static int TaxaAmostragem { get; set; } = 500;
+
         public static byte slaveAddress = 0x01;
 
         public static UltrasonicA05Model DadosLeitura = new UltrasonicA05Model();

AgroBase/AgroBase/Services/WT901CService.cs

@@ -12,9 +12,7 @@ namespace AgroBase.Services
 {
     public class WT901CService
     {
-        //public static SerialPort PortaWT901C = null;
         public static bool Iniciado { get; set; }
-        public static int TaxaAmostragem { get; set; } = 500;
 
         public static byte slaveAddress = 0x50;
         private static Dictionary<string, object> DadosSensor { get; } = new Dictionary<string, object>();
@@ -166,6 +164,40 @@ namespace AgroBase.Services
             }
         }
 
+        private static async Task CalibrarMagnetometro(bool Notificacao)
+        {
+            var ComandoLiberacaoParametro = new byte[] { slaveAddress, 0x06, 0x00, 0x69, 0xB5, 0x88, 0x22, 0xA1 };
+            var Comando_1 = new byte[] { slaveAddress, 0x06, 0x00, 0x0B, 0xFC, 0x65, 0x74, 0xA2 };
+            var Comando_2 = new byte[] { slaveAddress, 0x06, 0x00, 0x0C, 0x0F, 0x54, 0x40, 0x47 };
+            var Comando_3 = new byte[] { slaveAddress, 0x06, 0x00, 0x0D, 0x10, 0x07, 0x59, 0x8A };
+            var Comando_4 = new byte[] { slaveAddress, 0x06, 0x00, 0x1C, 0x27, 0x10, 0x5F, 0xB1 };
+            var Comando_5 = new byte[] { slaveAddress, 0x06, 0x00, 0x1D, 0x26, 0x67, 0x4F, 0xC7 };
+            var Comando_6 = new byte[] { slaveAddress, 0x06, 0x00, 0x1E, 0x27, 0xC3, 0xBF, 0xEC };
+            var ComandoSalvaCalibragem = new byte[] { slaveAddress, 0x06, 0x00, 0x00, 0x00, 0x00, 0x84, 0x4B };
+
+            var Comando0 = new ModbusComandoModel() { Comando = ComandoLiberacaoParametro, Dispositivo = T_Code.Wit, Endereco = slaveAddress, Verificacao = false, TamanhoEsperado = 8, TimeoutResposta = 500 };
+            ModbusService.AdicionarComandoNaFila(Comando0);
+            var Comando1 = new ModbusComandoModel() { Comando = Comando_1, Dispositivo = T_Code.Wit, Endereco = slaveAddress, Verificacao = false, TamanhoEsperado = 8, TimeoutResposta = 500 };
+            ModbusService.AdicionarComandoNaFila(Comando1);
+            var Comando2 = new ModbusComandoModel() { Comando = Comando_2, Dispositivo = T_Code.Wit, Endereco = slaveAddress, Verificacao = false, TamanhoEsperado = 8, TimeoutResposta = 500 };
+            ModbusService.AdicionarComandoNaFila(Comando2);
+            var Comando3 = new ModbusComandoModel() { Comando = Comando_3, Dispositivo = T_Code.Wit, Endereco = slaveAddress, Verificacao = false, TamanhoEsperado = 8, TimeoutResposta = 500 };
+            ModbusService.AdicionarComandoNaFila(Comando3);
+            var Comando4 = new ModbusComandoModel() { Comando = Comando_4, Dispositivo = T_Code.Wit, Endereco = slaveAddress, Verificacao = false, TamanhoEsperado = 8, TimeoutResposta = 500 };
+            ModbusService.AdicionarComandoNaFila(Comando4);
+            var Comando5 = new ModbusComandoModel() { Comando = Comando_5, Dispositivo = T_Code.Wit, Endereco = slaveAddress, Verificacao = false, TamanhoEsperado = 8, TimeoutResposta = 500 };
+            ModbusService.AdicionarComandoNaFila(Comando5);
+            var Comando6 = new ModbusComandoModel() { Comando = Comando_6, Dispositivo = T_Code.Wit, Endereco = slaveAddress, Verificacao = false, TamanhoEsperado = 8, TimeoutResposta = 500 };
+            ModbusService.AdicionarComandoNaFila(Comando6);
+            var Comando7 = new ModbusComandoModel() { Comando = ComandoSalvaCalibragem, Dispositivo = T_Code.Wit, Endereco = slaveAddress, Verificacao = false, TamanhoEsperado = 8, TimeoutResposta = 500 };
+            ModbusService.AdicionarComandoNaFila(Comando7);
+
+            if (Notificacao)
+            {
+                MessageBox.Show("Magnetometro calibrado com sucesso!");
+            }
+        }
+
         public static byte[] ComandoAquisicaoDados()
         {
             byte[] Comando = ModbusService.ComandoGetParametro(slaveAddress, new ModbusParametrosModel() { N_Registros = 0x30, Registro = 0x30 });

AgroBase/AgroBase/bin/Debug/Logs/Mbs_err.txt

@@ -24,3 +24,5 @@
 06/12/2024 10:29:37:096 - Porta COM70 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
 06/12/2024 15:16:43:015 - Porta COM69 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
 06/12/2024 16:21:30:834 - Porta COM69 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+09/12/2024 06:56:18:006 - Porta COM20 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+09/12/2024 17:24:36:567 - Porta COM69 - 0: Erro ao processar fila de comandos. Erro=The port is closed.

AgroBase/AgroBase/bin/Debug/Parametros/parametersAtu-1_0.par

@@ -1 +1 @@
-{"tmrRegistrador":{"_uiControl":null,"State":2,"IsRunning":false,"IsStopped":true,"IsCreated":false,"Interval":1000,"StackTrace":"AtuadorModel.IniciarRegistrador","Id":"tmrRegistrador_Atu","TimeTick":"00:00:00"},"Modulo_ID":"Atu","IP":"192.168.100.13","RequisitarDados":true,"Conectado":false,"QuantidadeBicos":4,"DensidadeHerbicida":1.05,"BicosPulverizadores":[{"ID":"B01","Posicao":1,"Componente":422,"AtuacaoNivelAlto":true,"ComandoAtuar":false,"Comandar":true,"Testando":false,"Funcoes":[21],"LeituraStatusBico":false,"MediaNivelFluxo":0.0,"Leitura":null,"Inicializado":false,"Atuacoes":0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0},{"ID":"B02","Posicao":2,"Componente":422,"AtuacaoNivelAlto":true,"ComandoAtuar":false,"Comandar":true,"Testando":false,"Funcoes":[21],"LeituraStatusBico":false,"MediaNivelFluxo":0.0,"Leitura":null,"Inicializado":false,"Atuacoes":0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0},{"ID":"B03","Posicao":3,"Componente":422,"AtuacaoNivelAlto":true,"ComandoAtuar":false,"Comandar":true,"Testando":false,"Funcoes":[21],"LeituraStatusBico":false,"MediaNivelFluxo":0.0,"Leitura":null,"Inicializado":false,"Atuacoes":0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0},{"ID":"B04","Posicao":4,"Componente":422,"AtuacaoNivelAlto":true,"ComandoAtuar":false,"Comandar":true,"Testando":false,"Funcoes":[21],"LeituraStatusBico":false,"MediaNivelFluxo":0.0,"Leitura":null,"Inicializado":false,"Atuacoes":0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0}],"BombasPressurizadoras":[{"ID":"BOMBA","ComandoAtuar":false,"Componente":325,"LeituraEstado":false,"Comandar":true,"Testando":false,"Funcoes":[14,35,36,37,5],"LeituraPotencia":0.0,"LeituraPressaoSP":0.0,"LeituraPressao":0.0,"Leitura":null,"Inicializado":false}],"Sensores":[{"LogGrafico":[],"ID":"FLXLN","Prioridade":23,"Descricao":"Fluxo na linha principal","Componente":198,"Aferir":true,"DelayAmostragem":300,"Leitura":null,"Inicializado":false,"Testando":false,"Funcoes":[25],"Parametros":[],"UnidadeMedida":"mL/s","LimiteMaximo":0.0,"LimiteMinimo":0.0},{"LogGrafico":[],"ID":"MASRS","Prioridade":3,"Descricao":"Massa do reservatório de herbicida","Componente":532,"Aferir":true,"DelayAmostragem":1000,"Leitura":null,"Inicializado":false,"Testando":false,"Funcoes":[22,23],"Parametros":[],"UnidadeMedida":"Kg","LimiteMaximo":50.0,"LimiteMinimo":5.0},{"LogGrafico":[],"ID":"PRSLN","Prioridade":3,"Descricao":"Pressão na linha principal","Componente":333,"Aferir":true,"DelayAmostragem":1000,"Leitura":null,"Inicializado":false,"Testando":false,"Funcoes":[24],"Parametros":[["Vmin","000.00"],["Vmax","004.50"],["Pmax","174.04"]],"UnidadeMedida":"psi","LimiteMaximo":120.0,"LimiteMinimo":60.0}],"BombaPressurizadora":{"ID":"BOMBA","ComandoAtuar":false,"Componente":325,"LeituraEstado":false,"Comandar":true,"Testando":false,"Funcoes":[14,35,36,37,5],"LeituraPotencia":0.0,"LeituraPressaoSP":0.0,"LeituraPressao":0.0,"Leitura":null,"Inicializado":false},"ScriptDeteccaoErvas":"weed_detector-1_0.py","DadosLeitura":{"Momento":"0001-01-01T00:00:00","Conectado":false,"Mod_ID":null,"QualidadeWifi":0,"LatenciaLoop":0,"BicosPulverizadores":[],"BombasPressurizadoras":[],"SensoresFluxo":[],"SensoresMassa":[],"SensoresPressao":[]},"_MassaRef":0.8,"_MassaLeituraRef":40876.37,"_MassaLeituraExtra":1895800.0,"MassaReservatorio":0.0,"VolumeReservatorio":0.0,"PercentualReservatorio":0.0,"VolumeVazaoAferido":0.0,"_FluxoMlRef":102.0,"_FluxoPulsoRef":80.0,"VazaoFluxoMLpSInstantanea":0.0,"VazaoFluxoMLpSMedia":0.0,"VolumeVazaoML":0.0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0,"_PressaoVmin":0.0,"_PressaoVmax":4.5,"_PressaoMax":174.045,"PressaoLinha":0.0,"PressaoLinhaCalc":0.0}
+{"tmrRegistrador":{"_uiControl":null,"State":2,"IsRunning":false,"IsStopped":true,"IsCreated":false,"Interval":1000,"StackTrace":"AtuadorModel.IniciarRegistrador","Id":"tmrRegistrador_Atu","Ticks":615,"TimeTick":"00:00:00"},"Modulo_ID":"Atu","IP":"192.168.100.13","RequisitarDados":true,"Conectado":false,"QuantidadeBicos":4,"DensidadeHerbicida":1.05,"BicosPulverizadores":[{"ID":"B01","Posicao":1,"Componente":422,"AtuacaoNivelAlto":true,"ComandoAtuar":false,"Comandar":true,"Testando":false,"Funcoes":[21],"LeituraStatusBico":false,"MediaNivelFluxo":0.0,"Leitura":null,"Inicializado":false,"Atuacoes":0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0},{"ID":"B02","Posicao":2,"Componente":422,"AtuacaoNivelAlto":true,"ComandoAtuar":false,"Comandar":true,"Testando":false,"Funcoes":[21],"LeituraStatusBico":false,"MediaNivelFluxo":0.0,"Leitura":null,"Inicializado":false,"Atuacoes":0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0},{"ID":"B03","Posicao":3,"Componente":422,"AtuacaoNivelAlto":true,"ComandoAtuar":false,"Comandar":true,"Testando":false,"Funcoes":[21],"LeituraStatusBico":false,"MediaNivelFluxo":0.0,"Leitura":null,"Inicializado":false,"Atuacoes":0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0},{"ID":"B04","Posicao":4,"Componente":422,"AtuacaoNivelAlto":true,"ComandoAtuar":false,"Comandar":true,"Testando":false,"Funcoes":[21],"LeituraStatusBico":false,"MediaNivelFluxo":0.0,"Leitura":null,"Inicializado":false,"Atuacoes":0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0}],"BombasPressurizadoras":[{"ID":"BOMBA","ComandoAtuar":false,"Componente":325,"LeituraEstado":false,"Comandar":true,"Testando":false,"Funcoes":[14,35,36,37,5],"LeituraPotencia":0.0,"LeituraPressaoSP":0.0,"LeituraPressao":0.0,"Leitura":null,"Inicializado":false}],"Sensores":[{"LogGrafico":[],"ID":"FLXLN","Prioridade":23,"Descricao":"Fluxo na linha principal","Componente":198,"Aferir":true,"DelayAmostragem":300,"Leitura":null,"Inicializado":false,"Testando":false,"Funcoes":[25],"Parametros":[],"UnidadeMedida":"mL/s","LimiteMaximo":0.0,"LimiteMinimo":0.0},{"LogGrafico":[],"ID":"MASRS","Prioridade":3,"Descricao":"Massa do reservatório de herbicida","Componente":532,"Aferir":true,"DelayAmostragem":1000,"Leitura":null,"Inicializado":false,"Testando":false,"Funcoes":[22,23],"Parametros":[],"UnidadeMedida":"Kg","LimiteMaximo":50.0,"LimiteMinimo":5.0},{"LogGrafico":[],"ID":"PRSLN","Prioridade":3,"Descricao":"Pressão na linha principal","Componente":333,"Aferir":true,"DelayAmostragem":1000,"Leitura":null,"Inicializado":false,"Testando":false,"Funcoes":[24],"Parametros":[["Vmin","000.00"],["Vmax","004.50"],["Pmax","174.04"]],"UnidadeMedida":"psi","LimiteMaximo":120.0,"LimiteMinimo":60.0}],"BombaPressurizadora":{"ID":"BOMBA","ComandoAtuar":false,"Componente":325,"LeituraEstado":false,"Comandar":true,"Testando":false,"Funcoes":[14,35,36,37,5],"LeituraPotencia":0.0,"LeituraPressaoSP":0.0,"LeituraPressao":0.0,"Leitura":null,"Inicializado":false},"ScriptDeteccaoErvas":"weed_detector-1_0.py","DadosLeitura":{"Momento":"0001-01-01T00:00:00","Conectado":false,"Mod_ID":null,"QualidadeWifi":0,"LatenciaLoop":0,"BicosPulverizadores":[],"BombasPressurizadoras":[],"SensoresFluxo":[],"SensoresMassa":[],"SensoresPressao":[]},"_MassaRef":0.8,"_MassaLeituraRef":40876.37,"_MassaLeituraExtra":1895800.0,"MassaReservatorio":0.0,"VolumeReservatorio":0.0,"PercentualReservatorio":0.0,"VolumeVazaoAferido":0.0,"_FluxoMlRef":102.0,"_FluxoPulsoRef":80.0,"VazaoFluxoMLpSInstantanea":0.0,"VazaoFluxoMLpSMedia":0.0,"VolumeVazaoML":0.0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0,"_PressaoVmin":0.0,"_PressaoVmax":4.5,"_PressaoMax":174.045,"PressaoLinha":0.0,"PressaoLinhaCalc":0.0}

AgroBase/AgroBase/bin/Debug/Python/Output/GeoJson.json

@@ -1 +1 @@
-{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1517","Name":"06_12_2024_14_34_26","Length":0.0,"Dist1":0.0,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0]]}}]}
+{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1517","Name":"09_12_2024_08_30_20","Length":0.0,"Dist1":0.0,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0]]}}]}

AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html

@@ -25,7 +25,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_ec5cd5ad6f9766b976272318d48d1918 {
+                #map_5bb1a7c3c46d96a0510c9eb614a01615 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,14 +39,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_ec5cd5ad6f9766b976272318d48d1918" ></div>
+            <div class="folium-map" id="map_5bb1a7c3c46d96a0510c9eb614a01615" ></div>
         
 </body>
 <script>
     
     
-            var map_ec5cd5ad6f9766b976272318d48d1918 = L.map(
-                "map_ec5cd5ad6f9766b976272318d48d1918",
+            var map_5bb1a7c3c46d96a0510c9eb614a01615 = L.map(
+                "map_5bb1a7c3c46d96a0510c9eb614a01615",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -59,6 +59,15 @@
             
 
         
+    
+            var tile_layer_e6ce570b6ecf60c404f180071f180c4c = L.tileLayer(
+                "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
+                {"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
+            );
+        
+    
+            tile_layer_e6ce570b6ecf60c404f180071f180c4c.addTo(map_5bb1a7c3c46d96a0510c9eb614a01615);
+        
 </script>
 
     <script>
@@ -78,7 +87,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_ec5cd5ad6f9766b976272318d48d1918);
+        trajeto_json.addTo(map_5bb1a7c3c46d96a0510c9eb614a01615);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -136,7 +145,7 @@
         
         var marcadorDinamico = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_ec5cd5ad6f9766b976272318d48d1918);
+        }).addTo(map_5bb1a7c3c46d96a0510c9eb614a01615);
     
         // Conectar ao broker MQTT
         const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@@ -174,7 +183,7 @@
             marcadorDinamico.setRotationAngle(angulo);
             
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_ec5cd5ad6f9766b976272318d48d1918.setView(novaPosicao, map_ec5cd5ad6f9766b976272318d48d1918.getZoom());
+            map_5bb1a7c3c46d96a0510c9eb614a01615.setView(novaPosicao, map_5bb1a7c3c46d96a0510c9eb614a01615.getZoom());
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html

@@ -25,7 +25,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_a6661c337c9b0fe61379037a1ad1c607 {
+                #map_df26f07c51cd23875502b0ebd50c0d42 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,14 +39,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_a6661c337c9b0fe61379037a1ad1c607" ></div>
+            <div class="folium-map" id="map_df26f07c51cd23875502b0ebd50c0d42" ></div>
         
 </body>
 <script>
     
     
-            var map_a6661c337c9b0fe61379037a1ad1c607 = L.map(
-                "map_a6661c337c9b0fe61379037a1ad1c607",
+            var map_df26f07c51cd23875502b0ebd50c0d42 = L.map(
+                "map_df26f07c51cd23875502b0ebd50c0d42",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -60,13 +60,13 @@
 
         
     
-            var tile_layer_29e9725d6e5bbf4e16d0920b3e4ea15b = L.tileLayer(
+            var tile_layer_3934deb3c2cbb41543a0e145d035503a = L.tileLayer(
                 "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
                 {"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
             );
         
     
-            tile_layer_29e9725d6e5bbf4e16d0920b3e4ea15b.addTo(map_a6661c337c9b0fe61379037a1ad1c607);
+            tile_layer_3934deb3c2cbb41543a0e145d035503a.addTo(map_df26f07c51cd23875502b0ebd50c0d42);
         
     
 
@@ -82,7 +82,7 @@
                 }*/
             });
     }
-    function geo_json_5ea8641a611a651024e5970f7c37aa2a_onEachFeature(feature, layer) {
+    function geo_json_eedd8a7bf5a1d46825d41622c178e166_onEachFeature(feature, layer) {
             layer.on({
             
     click: function(e) {
@@ -118,20 +118,20 @@
         }*/
     });
         };
-        var geo_json_5ea8641a611a651024e5970f7c37aa2a = L.geoJson(null, {
-                onEachFeature: geo_json_5ea8641a611a651024e5970f7c37aa2a_onEachFeature,
+        var geo_json_eedd8a7bf5a1d46825d41622c178e166 = L.geoJson(null, {
+                onEachFeature: geo_json_eedd8a7bf5a1d46825d41622c178e166_onEachFeature,
             
         });
 
-        function geo_json_5ea8641a611a651024e5970f7c37aa2a_add (data) {
-            geo_json_5ea8641a611a651024e5970f7c37aa2a
+        function geo_json_eedd8a7bf5a1d46825d41622c178e166_add (data) {
+            geo_json_eedd8a7bf5a1d46825d41622c178e166
                 .addData(data);
         }
-            geo_json_5ea8641a611a651024e5970f7c37aa2a_add({"features": [{"geometry": {"coordinates": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1517", "Length": 0.0, "Name": "06_12_2024_14_34_26"}, "type": "Feature"}], "type": "FeatureCollection"});
+            geo_json_eedd8a7bf5a1d46825d41622c178e166_add({"features": [{"geometry": {"coordinates": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1517", "Length": 0.0, "Name": "09_12_2024_08_30_20"}, "type": "Feature"}], "type": "FeatureCollection"});
 
         
     
-            geo_json_5ea8641a611a651024e5970f7c37aa2a.addTo(map_a6661c337c9b0fe61379037a1ad1c607);
+            geo_json_eedd8a7bf5a1d46825d41622c178e166.addTo(map_df26f07c51cd23875502b0ebd50c0d42);
         
 </script>
 
@@ -152,7 +152,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_a6661c337c9b0fe61379037a1ad1c607);
+        trajeto_json.addTo(map_df26f07c51cd23875502b0ebd50c0d42);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -210,7 +210,7 @@
         }
         trajeto_dinamico_json_add({"features": []});
 
-        trajeto_dinamico_json.addTo(map_a6661c337c9b0fe61379037a1ad1c607);
+        trajeto_dinamico_json.addTo(map_df26f07c51cd23875502b0ebd50c0d42);
 
         function adicionarGeometriaDinamica(novaGeometria) {
             trajeto_dinamico_json.addData(novaGeometria);
@@ -263,9 +263,9 @@
         
         var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_a6661c337c9b0fe61379037a1ad1c607);
+        }).addTo(map_df26f07c51cd23875502b0ebd50c0d42);
         
-        var marcadorBase = L.marker([0, 0], {}).addTo(map_a6661c337c9b0fe61379037a1ad1c607);
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_df26f07c51cd23875502b0ebd50c0d42);
         var icon = L.AwesomeMarkers.icon(
             {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
         );
@@ -347,7 +347,7 @@
                 }
                 
                 if (foco) {
-                    map_a6661c337c9b0fe61379037a1ad1c607.setView(novaPosicao, map_a6661c337c9b0fe61379037a1ad1c607.getZoom());
+                    map_df26f07c51cd23875502b0ebd50c0d42.setView(novaPosicao, map_df26f07c51cd23875502b0ebd50c0d42.getZoom());
                 }
                 
             }
@@ -364,7 +364,7 @@
         function atualizarSelecaoRuas(selecionadas) {
             selecionadas = JSON.parse(selecionadas);
             RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
-            geo_json_5ea8641a611a651024e5970f7c37aa2a.eachLayer(function (layer) {
+            geo_json_eedd8a7bf5a1d46825d41622c178e166.eachLayer(function (layer) {
                 if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
                     layer.setStyle({ color: 'blue' });
                 } else {

AgroBase/AgroBase/bin/Debug/Python/Scripts/street_detector-1_0.py

@@ -35,6 +35,10 @@ NUM_CLASSES = 4  # Pascal VOC possui 3 classes + 1 para o fundo
 OUTPUT_STRIDE = 16  # Valor comum para DeepLab
 MODEL_PATH = model_folder + "model-" + script_version + '.pth'  # Caminho para o modelo pré-treinado
 
+# Variáveis globais para armazenar os dados do labelmap
+label_colors = None
+class_names = None
+
 # Função para carregar o modelo
 def load_model(model_path):
     model = deeplabv3_model(num_classes=NUM_CLASSES, output_stride=OUTPUT_STRIDE)
@@ -65,19 +69,22 @@ def segment_frame(frame):
 
 # Função para ler o mapa de rótulos
 def read_labelmap(path):
-    label_colors = []
-    class_names = []
-    with open(path, 'r') as file:
-        for line in file.readlines():
-            if line.startswith('#'):
-                continue
-            parts = line.strip().split(':')
-            if len(parts) >= 2:
-                label = parts[0].strip()
-                color = tuple(map(int, parts[1].split(',')))
-                class_names.append(label)
-                label_colors.append(color)
-    return np.array(label_colors), class_names
+    global label_colors, class_names
+    if label_colors is None or class_names is None:  # Verifica se já estão carregados
+        label_colors = []
+        class_names = []
+        with open(path, 'r') as file:
+            for line in file.readlines():
+                if line.startswith('#'):
+                    continue
+                parts = line.strip().split(':')
+                if len(parts) >= 2:
+                    label = parts[0].strip()
+                    color = tuple(map(int, parts[1].split(',')))
+                    class_names.append(label)
+                    label_colors.append(color)
+        label_colors = np.array(label_colors)
+    return label_colors, class_names
 
 # Função para gerar o JSON de saída
 def generate_json(image):