Zendion/agrobot_base
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agrobot_base
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ajustado controle direcional

This commit is contained in:
Diego Freitas 2025-03-05 16:25:57 -03:00
parent d95257ff2a
commit 63058b5abf
33 changed files with 2881 additions and 138 deletions
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AgroBase/.vs/AgroBase/v17/DocumentLayout.json
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AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.Designer.cs generated
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@ -53,9 +53,9 @@
this.tabInformacoes = new System.Windows.Forms.TabPage();
this.gridDados = new System.Windows.Forms.DataGridView();
this.tabDeteccoes = new System.Windows.Forms.TabPage();
this.pnlDeteccoesRua = new System.Windows.Forms.Panel();
this.chbSonarAtivado = new System.Windows.Forms.CheckBox();
this.chbMostrarGrade = new System.Windows.Forms.CheckBox();
this.pnlDeteccoesRua = new System.Windows.Forms.Panel();
this.chbSonarDesvioAutomatico = new System.Windows.Forms.CheckBox();
this.tabPulverizador = new System.Windows.Forms.TabPage();
this.lblPressaoSP = new System.Windows.Forms.Label();
@ -82,6 +82,7 @@
this.lblTipoMovimento = new System.Windows.Forms.Label();
this.chbPulverizador = new System.Windows.Forms.CheckBox();
this.flwCamerasSolo = new System.Windows.Forms.FlowLayoutPanel();
this.lblGPSFix = new System.Windows.Forms.Label();
((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).BeginInit();
this.tabControl1.SuspendLayout();
this.tabMapa.SuspendLayout();
@ -198,6 +199,7 @@
// tabMapa
//
this.tabMapa.BackColor = System.Drawing.Color.White;
this.tabMapa.Controls.Add(this.lblGPSFix);
this.tabMapa.Controls.Add(this.lblGPSprecisao);
this.tabMapa.Controls.Add(this.lblGPSaltitude);
this.tabMapa.Controls.Add(this.lblGPSvelocidade);
@ -228,7 +230,7 @@
// lblGPSaltitude
//
this.lblGPSaltitude.AutoSize = true;
this.lblGPSaltitude.Location = new System.Drawing.Point(4, 142);
this.lblGPSaltitude.Location = new System.Drawing.Point(4, 155);
this.lblGPSaltitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblGPSaltitude.Name = "lblGPSaltitude";
this.lblGPSaltitude.Size = new System.Drawing.Size(74, 13);
@ -238,7 +240,7 @@
// lblGPSvelocidade
//
this.lblGPSvelocidade.AutoSize = true;
this.lblGPSvelocidade.Location = new System.Drawing.Point(4, 129);
this.lblGPSvelocidade.Location = new System.Drawing.Point(4, 142);
this.lblGPSvelocidade.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblGPSvelocidade.Name = "lblGPSvelocidade";
this.lblGPSvelocidade.Size = new System.Drawing.Size(80, 13);
@ -346,14 +348,6 @@
this.tabDeteccoes.Text = "Detecção rua";
this.tabDeteccoes.UseVisualStyleBackColor = true;
//
// pnlDeteccoesRua
//
this.pnlDeteccoesRua.Location = new System.Drawing.Point(13, 13);
this.pnlDeteccoesRua.Margin = new System.Windows.Forms.Padding(2);
this.pnlDeteccoesRua.Name = "pnlDeteccoesRua";
this.pnlDeteccoesRua.Size = new System.Drawing.Size(434, 242);
this.pnlDeteccoesRua.TabIndex = 0;
//
// chbSonarAtivado
//
this.chbSonarAtivado.AutoSize = true;
@ -378,6 +372,14 @@
this.chbMostrarGrade.UseVisualStyleBackColor = true;
this.chbMostrarGrade.CheckedChanged += new System.EventHandler(this.chbMostrarGrade_CheckedChanged);
//
// pnlDeteccoesRua
//
this.pnlDeteccoesRua.Location = new System.Drawing.Point(13, 13);
this.pnlDeteccoesRua.Margin = new System.Windows.Forms.Padding(2);
this.pnlDeteccoesRua.Name = "pnlDeteccoesRua";
this.pnlDeteccoesRua.Size = new System.Drawing.Size(434, 242);
this.pnlDeteccoesRua.TabIndex = 0;
//
// chbSonarDesvioAutomatico
//
this.chbSonarDesvioAutomatico.AutoSize = true;
@ -665,6 +667,16 @@
this.flwCamerasSolo.Size = new System.Drawing.Size(597, 172);
this.flwCamerasSolo.TabIndex = 36;
//
// lblGpsFix
//
this.lblGPSFix.AutoSize = true;
this.lblGPSFix.Location = new System.Drawing.Point(4, 129);
this.lblGPSFix.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblGPSFix.Name = "lblGpsFix";
this.lblGPSFix.Size = new System.Drawing.Size(71, 13);
this.lblGPSFix.TabIndex = 32;
this.lblGPSFix.Text = "SemCorrecao";
//
// frmOperacaoManual
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@ -773,5 +785,6 @@
private System.Windows.Forms.CheckBox chbSonarAtivado;
private System.Windows.Forms.CheckBox chbMostrarGrade;
private System.Windows.Forms.FlowLayoutPanel flwCamerasSolo;
private System.Windows.Forms.Label lblGPSFix;
}
}

3
AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs
View File

@ -165,7 +165,8 @@ namespace AgroBase.Forms.Operacoes
lblDistanciaEsquerda.Text = "Distancia Esq: " + _Sensoriamento.Trajetoria.DistanciaEsquerda.ToString("0.00") + " cm";
lblDistanciaDireita.Text = "Distancia Dir: " + _Sensoriamento.Trajetoria.DistanciaDireita.ToString("0.00") + " cm";
lblGPSsatelites.Text = _Sensoriamento.Gps.NumeroSatelites.ToString() + " satélites";
lblGPSprecisao.Text = "Precisão: " + _Sensoriamento.Gps.PrecisaoHorizontal.ToString("0.00") + " m";
lblGPSFix.Text = _Sensoriamento.Gps.QualidadeFix.ToString();
lblGPSprecisao.Text = "Precisão: " + _Sensoriamento.Gps.PrecisaoCm.ToString("0.00") + " cm";
lblGPSvelocidade.Text = "Vel.: " + _Sensoriamento.Gps.Velocidade.ToString("0.00") + " km/h";
lblGPSaltitude.Text = "Altitude: " + _Sensoriamento.Gps.Altitude.ToString("0.0") + " m";

16
AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
View File

@ -668,25 +668,25 @@ namespace AgroBase.Forms.Operacoes
new GraficoInterativoSerieModel()
{
Titulo = $"{camNome} RAM %",
Valores = camSolo.Select(x => (double)(x?.Leitura.device_data.Memory_Usage.Percent ?? 0)).ToList(),
Valores = camSolo.Select(x => (double)(x?.Leitura?.device_data?.Memory_Usage?.Percent ?? 0)).ToList(),
Visivel = true,
},
new GraficoInterativoSerieModel()
{
Titulo = $"{camNome} CPU Temp",
Valores = camSolo.Select(x => (double)(x?.Leitura.device_data.Temperature.css ?? 0)).ToList(),
Valores = camSolo.Select(x => (double)(x?.Leitura?.device_data?.Temperature?.css ?? 0)).ToList(),
Visivel = true,
},
new GraficoInterativoSerieModel()
{
Titulo = $"{camNome} RAM Temp",
Valores = camSolo.Select(x => (double)(x?.Leitura.device_data.Temperature.mss ?? 0)).ToList(),
Valores = camSolo.Select(x => (double)(x?.Leitura?.device_data?.Temperature?.mss ?? 0)).ToList(),
Visivel = true,
},
new GraficoInterativoSerieModel()
{
Titulo = $"{camNome} VCC Temp",
Valores = camSolo.Select(x => (double)(x?.Leitura.device_data.Temperature.upa ?? 0)).ToList(),
Valores = camSolo.Select(x => (double)(x?.Leitura?.device_data?.Temperature?.upa ?? 0)).ToList(),
Visivel = true,
}
});
@ -701,25 +701,25 @@ namespace AgroBase.Forms.Operacoes
new GraficoInterativoSerieModel()
{
Titulo = $"{camNome} RAM %",
Valores = camCaminho.Select(x => (double)(x?.Leitura.device_data.Memory_Usage.Percent ?? 0)).ToList(),
Valores = camCaminho.Select(x => (double)(x?.Leitura?.device_data?.Memory_Usage?.Percent ?? 0)).ToList(),
Visivel = true,
},
new GraficoInterativoSerieModel()
{
Titulo = $"{camNome} CPU Temp",
Valores = camCaminho.Select(x => (double)(x?.Leitura.device_data.Temperature.css ?? 0)).ToList(),
Valores = camCaminho.Select(x => (double)(x?.Leitura?.device_data?.Temperature?.css ?? 0)).ToList(),
Visivel = true,
},
new GraficoInterativoSerieModel()
{
Titulo = $"{camNome} RAM Temp",
Valores = camCaminho.Select(x => (double)(x?.Leitura.device_data.Temperature.mss ?? 0)).ToList(),
Valores = camCaminho.Select(x => (double)(x?.Leitura?.device_data?.Temperature?.mss ?? 0)).ToList(),
Visivel = true,
},
new GraficoInterativoSerieModel()
{
Titulo = $"{camNome} VCC Temp",
Valores = camCaminho.Select(x => (double)(x?.Leitura.device_data.Temperature.upa ?? 0)).ToList(),
Valores = camCaminho.Select(x => (double)(x?.Leitura?.device_data?.Temperature?.upa ?? 0)).ToList(),
Visivel = true,
}
});

14
AgroBase/AgroBase/Models/GeneralJoystick.cs
View File

@ -623,14 +623,16 @@ 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)
{
foreach (var mod in Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos)
mod.DirMotor.EnviarComandoControle(DirecaoAtual);
if (mod.MovMotor.CompensacaoNecessaria)
{
mod.DirMotor.EnviarComandoControle(DirecaoAtual);
};
});*/
Direcao ultimaDirecaoMov = Variaveis.OperacaoEmAndamento.Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Mov)?.UltimaDirecao ?? Direcao.Parado;
mod.MovMotor.EnviarComandoControle(ultimaDirecaoMov);
}
};
}
break;
}

107
AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
View File

@ -341,12 +341,17 @@ namespace AgroBase.Models.Modules
GeneralJoystick.EnviarComandoSensoriamento(S_Code.sRLE, Modulo.DirMotor.SensorAnguloAuxiliar.ReleControle.ID, Estado.Desligado);
await Task.Delay(2000);
}
Direcao direcaoContraria = Modulo.DirMotor.SensorAnguloAuxiliar.Sentido == Sentido.Horario ? Direcao.Esquerda : Direcao.Direita;
var _sentido = Modulo.DirMotor.SensorAnguloAuxiliar?.Sentido ?? Sentido.Parado;
Direcao direcaoContraria =
_sentido == Sentido.Horario ? Direcao.Esquerda :
_sentido == Sentido.Antihorario ? Direcao.Direita :
Direcao.Parado;
Modulo.DirMotor.EnviarComandoControle(direcaoContraria);
}
// 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 && (Modulo.DirMotor.UltimoComandoEnviado.AddMilliseconds(1000) < DateTime.Now) && !Modulo.DirMotor.AtingiuAnguloSP)
if (!MKS057DService.Referenciando && (Modulo.DirMotor.UltimoComandoEnviado.AddMilliseconds(500) < DateTime.Now) && !Modulo.DirMotor.AtingiuAnguloSP)
{
var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle?.FirstOrDefault(x => x.Tipo == T_Code.Dir);
if (Controle != null)
@ -603,6 +608,13 @@ namespace AgroBase.Models.Modules
return Convert.ToByte(Endereco.Replace("0x", ""), 16);
}
}
public string Mod_ID
{
get
{
return Variaveis.OperacaoEmAndamento.DispMvd?.Dados?.Modulos?.FirstOrDefault(x => x.MovMotor.EnderecoByte == EnderecoByte)?.Modulo_ID ?? "";
}
}
public bool LeituraLigado
{
get
@ -743,6 +755,37 @@ namespace AgroBase.Models.Modules
}
}
public bool CompensacaoNecessaria
{
get
{
if (ComandoLigado)
{
var _Controle = Variaveis.OperacaoEmAndamento.Controle;
var _ControleDir = _Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Dir);
bool movimentoCompensado =
_Controle.TipoMovimento == TipoMovimentoDirecional.MovimentoArco ||
_Controle.TipoMovimento == TipoMovimentoDirecional.RodasDianteiras ||
_Controle.TipoMovimento == TipoMovimentoDirecional.RodasTraseiras;
bool emCurva = _ControleDir.UltimaDirecao != Direcao.Parado;
if (movimentoCompensado && emCurva)
{
if (
(_ControleDir.UltimaDirecao == Direcao.Esquerda && Mod_ID.Contains("E")) ||
(_ControleDir.UltimaDirecao == Direcao.Direita && Mod_ID.Contains("D"))
)
{
return true;
}
}
}
return false;
}
}
public Dictionary<TipoMovimentoDirecional,ConfiguracaoSentidoMotor> ConfigSentidos { get; set; }
public List<FuncoesPinout> Funcoes { get; set; }
@ -914,6 +957,8 @@ namespace AgroBase.Models.Modules
ComandoLigado = RPM_SP > 0;
RPM_SP = Convert.ToInt32(RPM_SP * FatorCompensacaoCurvas());
Variaveis.OperacaoEmAndamento.SimulacaoRpmControle = (RPM_SP / VariaveisEquipamento.RelacaoRPM);
switch (DirecaoAtual)
@ -948,7 +993,7 @@ namespace AgroBase.Models.Modules
ComandoLigado ? OIDModoControle.Velocidade :
OIDModoControle.Corrente;
if (Leitura.ModoControle != modoControle)
if ((Leitura?.ModoControle ?? OIDModoControle.Velocidade) != modoControle)
{
OIDService.AdicionarComandoNaFila(new OIDComandoModel()
{
@ -994,6 +1039,19 @@ namespace AgroBase.Models.Modules
}
}
private float FatorCompensacaoCurvas()
{
if (CompensacaoNecessaria)
{
double compensacao = 1 - FuncoesMatematicas.Map(Variaveis.OperacaoEmAndamento.Controle.Angulo, 0.0, 45.0, 0.0, 0.7);
return (float)compensacao;
}
else
{
return 1;
}
}
}
@ -1035,7 +1093,10 @@ namespace AgroBase.Models.Modules
{
get
{
return Leitura?.Direcao ?? Sentido.Parado;
return
Angulo > 0 ? Sentido.Horario :
Angulo < 0 ? Sentido.Antihorario :
Sentido.Parado;
}
}
public double Angulo
@ -1108,7 +1169,9 @@ namespace AgroBase.Models.Modules
{
get
{
return (UltimaDirecao != Direcao.Esquerda && UltimaDirecao != Direcao.Direita);
bool foraZero = !FuncoesMatematicas.ValorEstaEntre(Angulo, 0, 1);
bool parar = UltimaDirecao == Direcao.Parado;
return foraZero && parar;
}
}
public bool EmMovimento
@ -1258,25 +1321,28 @@ namespace AgroBase.Models.Modules
bool limiteLateralExcedido = SensorAnguloAuxiliar?.LimiteExcedido ?? false;
if (UltimaDirecao != Direcao)
if (!Comandar || limiteLateralExcedido)
{
Sentido_SP =
Direcao == Direcao.Direita ? ConfigSentidos[_Controle.TipoMovimento].Direita :
Direcao == Direcao.Esquerda ? ConfigSentidos[_Controle.TipoMovimento].Esquerda :
Sentido_SP == Sentido.Horario ? Sentido.Antihorario :
Sentido_SP == Sentido.Antihorario ? Sentido.Horario :
Sentido.Parado;
if (!limiteLateralExcedido)
{
UltimaDirecao = Direcao;
}
Sentido_SP = Sentido.Parado;
}
else if (Direcao == Direcao.Direita)
{
Sentido_SP = ConfigSentidos[_Controle.TipoMovimento].Direita;
}
else if (Direcao == Direcao.Esquerda)
{
Sentido_SP = ConfigSentidos[_Controle.TipoMovimento].Esquerda;
}
else
{
Sentido_SP = Sentido.Parado;
}
if (RetornandoAzero || !Comandar || limiteLateralExcedido)
UltimaDirecao = Direcao;
if (Sentido_SP == Sentido.Parado)
{
Angulo_SP = 0;
Sentido_SP = Sentido.Parado;
UltimaDirecao = Direcao.Parado;
}
else if (AnguloTipoMovimento != -1)
@ -1305,6 +1371,7 @@ namespace AgroBase.Models.Modules
MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoMovimento(EnderecoByte, Angulo_SP, Velocidade, Sentido_SP));
UltimoComandoEnviado = DateTime.Now;
}
}
public async Task ReferenciaMotor()
@ -1402,7 +1469,7 @@ namespace AgroBase.Models.Modules
if (_anguloEntrada == 9999)
{
inverterGiro = (_angulo > 0 && Angulo >= (_angulo - 0.5)) || (_angulo < 0 && Angulo <= (_angulo + 0.5));
if (!inverterGiro && SensorAnguloAuxiliar != null)
if (!inverterGiro && SensorAnguloAuxiliar != null && false)
{
if (SensorAnguloAuxiliar.Angulo < (SensorAnguloAuxiliar.LimiteMinimo / 2.0) || SensorAnguloAuxiliar.Angulo > (SensorAnguloAuxiliar.LimiteMaximo / 2.0))
{

18
AgroBase/AgroBase/Services/MKS057DService.cs
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@ -357,6 +357,7 @@ namespace AgroBase.Services
Endereco = Endereco,
AguardaResposta = true,
TamanhoResposta = 8,
TimeoutResposta = 200,
};
}
@ -371,6 +372,7 @@ namespace AgroBase.Services
Endereco = Endereco,
AguardaResposta = true,
TamanhoResposta = 5,
TimeoutResposta = 200,
};
}
@ -445,6 +447,7 @@ namespace AgroBase.Services
ModoControle = Controle,
AguardaResposta = true,
TamanhoResposta = 5,
TimeoutResposta = 200,
};
}
@ -586,7 +589,7 @@ namespace AgroBase.Services
ushort velocidade = (ushort)Comando.Velocidade;
byte[] VelocidadeBytes = BitConverter.GetBytes(velocidade); // Little Endian
byte _Sentido = Comando._Sentido == Sentido.Horario ? (byte)0x01 : (byte)0x00;
byte _Sentido = Comando._Sentido == Sentido.Horario ? FWD : RWD;
string _AnguloStr = ConverterAnguloParaValor(Comando.Angulo).ToString();
@ -595,14 +598,7 @@ namespace AgroBase.Services
uint PulseText = Convert.ToUInt32(_AnguloStr, 10);
byte[] PulsosBytes = BitConverter.GetBytes(PulseText);
if (Comando._Sentido == Sentido.Antihorario)
{
VelocidadeBytes[1] |= RWD;
}
else if (Comando._Sentido == Sentido.Horario)
{
VelocidadeBytes[1] |= FWD;
}
VelocidadeBytes[1] |= _Sentido;
// Construção do Buffer de Pulsos (idêntico ao original)
Buffer = new byte[]
@ -640,7 +636,7 @@ namespace AgroBase.Services
private static bool DecifrarRespostaDriver(byte[] resposta)
{
if (resposta == null || resposta.Length == 0 || resposta.Length > 11)
if (resposta == null || resposta.Length == 0)
{
return false;
}
@ -796,7 +792,7 @@ namespace AgroBase.Services
break;
default:
MessageBox.Show("Erro ao decodificar resposta");
Console.WriteLine("Erro ao decodificar resposta");
return false;
}

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@ -312,3 +312,4 @@
29/01/2025 14:28:23:051 - Porta COM20 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
19/02/2025 16:02:07:001 - Porta COM - 0: Erro ao processar fila de comandos. Erro=The port is closed.
19/02/2025 16:05:23:105 - Porta COM77 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
05/03/2025 15:45:57:518 - Porta COM28 - 0: Erro ao processar fila de comandos. Erro=A porta está fechada.

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@ -25,7 +25,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_40b1108e333517ffcf33c7dc2f290963 {
#map_621b62163f2ccafd05c33f58249e3800 {
position: relative;
width: 100.0%;
height: 100.0%;
@ -39,14 +39,14 @@
<body>
<div class="folium-map" id="map_40b1108e333517ffcf33c7dc2f290963" ></div>
<div class="folium-map" id="map_621b62163f2ccafd05c33f58249e3800" ></div>
</body>
<script>
var map_40b1108e333517ffcf33c7dc2f290963 = L.map(
"map_40b1108e333517ffcf33c7dc2f290963",
var map_621b62163f2ccafd05c33f58249e3800 = L.map(
"map_621b62163f2ccafd05c33f58249e3800",
{
center: [0.0, 0.0],
crs: L.CRS.EPSG3857,
@ -60,13 +60,13 @@
var tile_layer_12f8b928aba0bec9587603488d6125aa = L.tileLayer(
var tile_layer_54182e004e62958132ef1f2ec111c5b8 = 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_12f8b928aba0bec9587603488d6125aa.addTo(map_40b1108e333517ffcf33c7dc2f290963);
tile_layer_54182e004e62958132ef1f2ec111c5b8.addTo(map_621b62163f2ccafd05c33f58249e3800);
</script>
@ -87,7 +87,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_40b1108e333517ffcf33c7dc2f290963);
trajeto_json.addTo(map_621b62163f2ccafd05c33f58249e3800);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -145,7 +145,7 @@
var marcadorDinamico = L.marker([0, 0], {
icon: customIcon
}).addTo(map_40b1108e333517ffcf33c7dc2f290963);
}).addTo(map_621b62163f2ccafd05c33f58249e3800);
// Conectar ao broker MQTT
const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@ -183,7 +183,7 @@
marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_40b1108e333517ffcf33c7dc2f290963.setView(novaPosicao, map_40b1108e333517ffcf33c7dc2f290963.getZoom());
map_621b62163f2ccafd05c33f58249e3800.setView(novaPosicao, map_621b62163f2ccafd05c33f58249e3800.getZoom());
});
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.Up2Date

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