permitida troca da cabeca de pulverizacao em tempo real atraves de parametro, confirmado com timeout o envio dos novos dados do mapa para o redis
This commit is contained in:
Diego Freitas
parent
7b4c51610a
commit
63cc8d7e5e
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@ -381,5 +381,13 @@
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PID = 1
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}
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public enum CabecasModelo
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{
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Target = 0,
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Vegetation = 1,
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Cana = 2,
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Segmentation = 3,
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}
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}
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}
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@ -527,7 +527,9 @@ namespace AgroBase.Models
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AtuPercentualInicioPulverizacao = 85,
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AtuPressaoLinha = 18,
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AtuAgitadorModo = ModoAgitadorCalda.SemAgitacao,
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AtuModoControle = ModoControleBomba.PID
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AtuModoControle = ModoControleBomba.PID,
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AtuModeloCabeca = CabecasModelo.Target,
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AtuClasseAlvo = "erva"
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};
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op.Parametros.ModulosMandatorios.AddRange(new List<OperacaoModulosMandatoriosModel>()
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{
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@ -640,6 +642,8 @@ namespace AgroBase.Models
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AtuPressaoLinha = 18,
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AtuAgitadorModo = ModoAgitadorCalda.Continuo,
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AtuModoControle = ModoControleBomba.PID,
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AtuModeloCabeca = CabecasModelo.Target,
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AtuClasseAlvo = "erva"
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};
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op.Parametros.ModulosMandatorios.AddRange(new List<OperacaoModulosMandatoriosModel>()
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{
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@ -782,6 +786,8 @@ namespace AgroBase.Models
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AtuPressaoLinha = 18,
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AtuAgitadorModo = ModoAgitadorCalda.SemAgitacao,
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AtuModoControle = ModoControleBomba.PID,
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AtuModeloCabeca = CabecasModelo.Target,
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AtuClasseAlvo = "erva"
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};
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op.Parametros.ModulosMandatorios.AddRange(new List<OperacaoModulosMandatoriosModel>()
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{
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@ -922,6 +928,8 @@ namespace AgroBase.Models
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AtuPressaoLinha = 18,
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AtuAgitadorModo = ModoAgitadorCalda.SemAgitacao,
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AtuModoControle = ModoControleBomba.PID,
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AtuModeloCabeca = CabecasModelo.Target,
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AtuClasseAlvo = "erva"
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};
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op.Parametros.ModulosMandatorios.AddRange(new List<OperacaoModulosMandatoriosModel>()
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{
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@ -1022,6 +1030,8 @@ namespace AgroBase.Models
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AtuPressaoLinha = 18,
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AtuAgitadorModo = ModoAgitadorCalda.SemAgitacao,
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AtuModoControle = ModoControleBomba.PID,
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AtuModeloCabeca = CabecasModelo.Target,
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AtuClasseAlvo = "erva"
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};
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op.Parametros.ModulosMandatorios.AddRange(new List<OperacaoModulosMandatoriosModel>()
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{
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@ -549,6 +549,34 @@ namespace AgroBase.Models.Operacoes
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}
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}
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private CabecasModelo _atuModeloCabeca;
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public CabecasModelo AtuModeloCabeca
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{
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get => _atuModeloCabeca;
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set
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{
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if (_atuModeloCabeca != value)
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{
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_atuModeloCabeca = value;
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OnPropertyChanged(nameof(AtuModeloCabeca));
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}
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}
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}
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private string _atuClasseAlvo;
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public string AtuClasseAlvo
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{
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get => _atuClasseAlvo;
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set
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{
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if (_atuClasseAlvo != value)
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{
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_atuClasseAlvo = value;
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OnPropertyChanged(nameof(AtuClasseAlvo));
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}
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}
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}
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private bool _movAuxilioSonar;
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public bool MovAuxilioSonar
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{
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@ -1014,8 +1014,6 @@ namespace AgroBase.Models
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double distanciaUltimoPonto = GPSUtils.DistanciaEntrePontos(_posicaoAtual, ultimoPonto.Posicao);
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//int idxCorredorDentro = VerificaEquipamentoDentroCorredor(_posicaoAtual);
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if (!double.IsNaN(distanciaUltimoPonto) && !double.IsInfinity(distanciaUltimoPonto) && distanciaUltimoPonto < 5.0)
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{
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msg = $"Início no meio da rua ignorado: robô está a {distanciaUltimoPonto:0.00}m do fim. Nova operação começará do zero.";
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@ -1028,6 +1026,7 @@ namespace AgroBase.Models
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(bool noCoredor, var idxPontoMaisProximo) = VerificaEquipamentoDentroCorredorMontado(_posicaoAtual);
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if (noCoredor && idxPontoMaisProximo >= 0 && idxPontoMaisProximo < _TrajetoriaFixa.Count)
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{
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int idxCorredorDentro = VerificaEquipamentoDentroCorredor(_posicaoAtual);
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for (int i = 0; i <= idxPontoMaisProximo; i++)
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{
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_TrajetoriaFixa[i].Visitado = true;
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@ -2289,6 +2288,22 @@ namespace AgroBase.Models
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if (!PontoInicialAdicionado)
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{
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_trajetoriaFixa.Add(PontoInicial);
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if (false)
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{
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GPSModel SegundoPonto = GPSUtils.ProjetarPontoDeslocado(CorredorAtual.FirstOrDefault(), (VariaveisEquipamento.DistanciaEntreBicosCm / 100.0 / 2.0), anguloProjetar1);
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PontoTrajetoriaModel PontoSecundario = new PontoTrajetoriaModel(TipoPontoRua.LigacaoEntrada)
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{
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idxCorredor = idx,
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idxPonto = _trajetoriaFixa.Count(),
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idxPontoCorredor = _trajetoriaFixa.Count(x => x.idxCorredor == idx),
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Posicao = SegundoPonto,
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Direcao = direcaoAtual,
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Orientacao = GPSUtils.CalcularOrientacao(ultimoPontoTrajetoria.Posicao, SegundoPonto),
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Visitado = false,
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LarguraCorredor = larguraCorredorMenor
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};
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_trajetoriaFixa.Add(PontoSecundario);
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}
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}
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foreach (GPSModel pontoAtual in CorredorAtual)
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@ -2399,6 +2414,8 @@ namespace AgroBase.Models
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AutonomiaCorredor.Iniciar();
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VerificacaoInicialMeioRuaConcluida = false;
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AtualizarDadosTrajetoria();
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LoopAtualizaDados();
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@ -4,6 +4,7 @@ using Newtonsoft.Json;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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using static AgroBase.Models.Enums;
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using static AgroBase.Models.Operadores.OperadoresModels;
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@ -303,6 +304,7 @@ namespace AgroBase.Services.Operadores
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RedisService.AtualizarCampos(
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CtxKey.DadosOperacao,
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("id", op.ID ?? ""),
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("configurado", true),
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("modo", op.Parametros?.Modo ?? ModoOperacao.NaoDefinido),
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("tempo_aguardar_inicio_operacao", op.TempoIniciarOperacao),
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@ -355,7 +357,9 @@ namespace AgroBase.Services.Operadores
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percent_vertical_deteccao = pControle.AtuPercentualInicioPulverizacao / 100.0,
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height_area_deteccao = pControle.AtuAlturaAreaPulverizacao / 100.0,
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pct_erva_bico_on = pControle.AtuPercentualErvasBicoOn / 100.0,
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pct_erva_bico_off = pControle.AtuPercentualErvasBicoOff / 100.0
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pct_erva_bico_off = pControle.AtuPercentualErvasBicoOff / 100.0,
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modelo_cabeca = pControle.AtuModeloCabeca.ToString().ToLower(),
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modelo_classe_alvo = pControle.AtuClasseAlvo,
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}
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),
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("Snr", new
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@ -367,14 +371,13 @@ namespace AgroBase.Services.Operadores
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)
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);
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if ((op.Parametros?.ControleAutomatico ?? false) && (op.Trajetoria?._TrajetoriaFixa?.Any() ?? false))
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{
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var comando = new
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_ = SolicitarAtualizacaoMapaAsync(op).ContinueWith(
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task =>
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{
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cmd = HealthWorkerCommandType.AtualizarPontosMapa
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};
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RedisService.Publish(CmdKey.HealthWorkerRx, JsonConvert.SerializeObject(comando));
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}
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Variaveis.MostrarLog($"[HealthWorkerService] Erro atualizando mapa: {task.Exception?.GetBaseException().Message}");
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},
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TaskContinuationOptions.OnlyOnFaulted
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);
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//Console.WriteLine("Dados de operacao atualizados com sucesso!");
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@ -386,6 +389,99 @@ namespace AgroBase.Services.Operadores
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}
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}
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private static readonly SemaphoreSlim _mapaSync = new SemaphoreSlim(1, 1);
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private static async Task<bool> SolicitarAtualizacaoMapaAsync(OperacaoModel op)
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{
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Variaveis.MostrarLog($"[HealthWorkerService] SolicitarAtualizacaoMapaAsync solicitado");
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if (!await _mapaSync.WaitAsync(0))
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return false;
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try
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{
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for (int tentativa = 1; tentativa <= 3; tentativa++)
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{
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if (!ReferenceEquals(op, Variaveis.OperacaoEmAndamento))
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return false;
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bool atualizado = await AtualizarPontosMapa(op);
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if (atualizado)
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return true;
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if (tentativa < 3)
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await Task.Delay(200);
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Variaveis.MostrarLog($"[HealthWorkerService] SolicitarAtualizacaoMapaAsync. Tentativa={tentativa}");
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}
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return false;
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}
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finally
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{
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_mapaSync.Release();
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}
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}
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private static async Task<bool> AtualizarPontosMapa(OperacaoModel op)
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{
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if (!(op?.Parametros?.ControleAutomatico ?? false) || !(op?.Trajetoria?._TrajetoriaFixa?.Any() ?? false))
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return false;
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var commandId = Guid.NewGuid().ToString("N");
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var operationId = op?.ID ?? "";
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var mapRevision = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
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RedisService.AtualizarCampos(
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CtxKey.DadosOperacao,
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("mapa_revisao_solicitada", mapRevision),
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("mapa_operacao_id", operationId),
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("mapa_command_id", commandId),
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("mapa_status", "pendente")
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);
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var comando = new
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{
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cmd = HealthWorkerCommandType.AtualizarPontosMapa,
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command_id = commandId,
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operation_id = operationId,
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map_revision = mapRevision
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};
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long assinantes = RedisService.Publish(
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CmdKey.HealthWorkerRx,
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JsonConvert.SerializeObject(comando)
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);
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bool sucesso = await AguardarMapaAplicadoAsync(commandId, mapRevision, TimeSpan.FromSeconds(3));
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return assinantes > 0 && sucesso;
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}
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private static async Task<bool> AguardarMapaAplicadoAsync(string commandId, long revision, TimeSpan timeout)
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{
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var limite = DateTime.UtcNow + timeout;
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while (DateTime.UtcNow < limite)
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{
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string ultimoCommandId = RedisService.GetField(CtxKey.DadosHealthWorker, "ultimo_comando_mapa", "");
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long revisaoAplicada = RedisService.GetField(CtxKey.DadosHealthWorker, "mapa_revisao_aplicada", 0L);
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string status = RedisService.GetField(CtxKey.DadosHealthWorker, "mapa_status", "");
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if (ultimoCommandId == commandId && revisaoAplicada == revision && status == "aplicado")
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{
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return true;
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}
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if (ultimoCommandId == commandId && status == "erro")
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{
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return false;
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}
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await Task.Delay(100);
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}
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return false;
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}
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public static void AtualizarDadosControleOperacao()
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{
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try
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@ -145,10 +145,23 @@ namespace AgroBase.Services
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}
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}
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public static void Publish(string canal, string mensagem)
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public static long Publish(string canal, string mensagem)
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{
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var pub = _redis.GetSubscriber();
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pub.Publish(canal, mensagem);
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try
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{
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if (_redis == null || !_redis.IsConnected)
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return 0;
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var pub = _redis.GetSubscriber();
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return pub.Publish(canal, mensagem);
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}
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catch (Exception ex)
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{
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Console.WriteLine(
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$"❌ Erro ao publicar em '{canal}': {ex.Message}"
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);
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return 0;
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}
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}
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public static void Subscribe(string canal, Action<string> callback)
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@ -4,6 +4,8 @@
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from __future__ import annotations
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import time
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import threading
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import unicodedata
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from pathlib import Path
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from typing import Dict, List, Tuple
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@ -18,9 +20,9 @@ except Exception:
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DEFAULT_CHANNEL_ORDER = ["R", "G", "B", "RE", "NIR"]
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TARGET_COLORS_RGB = {
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HEAD_COLORS_RGB = {
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0: (30, 30, 30), # background
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1: (255, 70, 30), # target / alvo pulverizável
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1: (255, 70, 30), # classe positiva da cabeça binária selecionada
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255: (0, 0, 0), # ignore/fallback
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}
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@ -50,7 +52,7 @@ def get_input_channel_indices(config: dict) -> List[int]:
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class MultiSpecSegformerService:
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"""
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Runtime oficial Weed Worker v1.
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Runtime oficial Weed Worker multi-head.
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Contrato:
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input:
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@ -66,20 +68,67 @@ class MultiSpecSegformerService:
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- SegFormer multi-head
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- resize fullres
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- argmax
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e expõe saída:
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e expõe as saídas multi-head. Este serviço executa somente uma das
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cabeças operacionais por inferência:
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- target_mask
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- vegetation_mask
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- cana_mask
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- semantic_mask (convertida para binário pela classe escolhida)
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output:
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np.ndarray uint8 HxW
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0 = fundo / não pulverizar
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1 = alvo pulverizável
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máscara binária uint8 HxW da cabeça selecionada
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0 = classe negativa
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1 = classe positiva
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semantic_mask nunca é entregue diretamente ao WeedDetector. Quando
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selecionada, ela é convertida para 0/1 usando semantic_target_class.
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"""
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TARGET_MODES = ("target_direct", "direct_target", "target_head", "target", "spray", "operational")
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MODE_ALIASES = {
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"target": "target",
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"target_direct": "target",
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"direct_target": "target",
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"target_head": "target",
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"spray": "target",
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"operational": "target",
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"vegetation": "vegetation",
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"vegetation_direct": "vegetation",
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"direct_vegetation": "vegetation",
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"vegetation_head": "vegetation",
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"vegetacao": "vegetation",
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"cana": "cana",
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"cana_direct": "cana",
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"direct_cana": "cana",
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"cana_head": "cana",
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"semantic": "semantic",
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"semantic_direct": "semantic",
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"direct_semantic": "semantic",
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"semantic_head": "semantic",
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"segmentacao": "semantic",
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}
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OUTPUT_BY_HEAD = {
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"target": "target_mask",
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"vegetation": "vegetation_mask",
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"cana": "cana_mask",
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"semantic": "semantic_mask",
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}
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SEMANTIC_CLASS_IDS = {
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"chao": 0,
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"cana": 1,
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"erva": 2,
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}
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def __init__(self, model_config: dict, mostrar_log=print):
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self.config = model_config or {}
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self.mostrar_log = mostrar_log
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self._runtime_lock = threading.RLock()
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self._runtime_generation = 0
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self.input_channel_names = get_input_channel_names(self.config)
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self.input_channel_indices = get_input_channel_indices(self.config)
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@ -87,8 +136,22 @@ class MultiSpecSegformerService:
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self.runtime_backend = str(self.config.get("runtime_backend", "onnx")).lower()
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self.onnx_provider = str(self.config.get("onnx_provider", "tensorrt")).lower()
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self.runtime_mode = str(self.config.get("runtime_mode", "target_direct")).lower()
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self.onnx_output_mode = str(self.config.get("onnx_output_mode", self.runtime_mode)).lower()
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# runtime_mode é a fonte única da verdade. onnx_output_mode permanece
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# apenas como fallback para configs antigas que não possuem runtime_mode.
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configured_mode = self.config.get(
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"runtime_mode",
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self.config.get("onnx_output_mode", "target"),
|
||||
)
|
||||
self.runtime_mode = str(configured_mode).strip().lower()
|
||||
self.selected_head = self._normalizar_head(self.runtime_mode)
|
||||
self.selected_output_name = self.OUTPUT_BY_HEAD[self.selected_head]
|
||||
self.semantic_target_class = self._normalizar_semantic_target_class(
|
||||
self.config.get("semantic_target_class", "erva")
|
||||
)
|
||||
self.semantic_target_id = self.SEMANTIC_CLASS_IDS[self.semantic_target_class]
|
||||
|
||||
# Mantido para compatibilidade com logs/código externo antigo.
|
||||
self.onnx_output_mode = self.runtime_mode
|
||||
self.onnx_output_kind = str(self.config.get("onnx_output_kind", "mask")).lower()
|
||||
|
||||
# No contrato v1, a normalização está dentro do ONNX.
|
||||
|
|
@ -121,6 +184,8 @@ class MultiSpecSegformerService:
|
|||
f"[WEED_ONNX] backend=onnx "
|
||||
f"provider={self.onnx_provider} "
|
||||
f"runtime_mode={self.runtime_mode} "
|
||||
f"selected_head={self.selected_head} "
|
||||
f"selected_output={self.selected_output_name} "
|
||||
f"output_kind={self.onnx_output_kind} "
|
||||
f"preprocess_norm={self.onnx_preprocess_norm}"
|
||||
)
|
||||
|
|
@ -129,6 +194,40 @@ class MultiSpecSegformerService:
|
|||
# Inicialização / contrato
|
||||
# ============================================================
|
||||
|
||||
@classmethod
|
||||
def _normalizar_head(cls, mode: str) -> str:
|
||||
normalized = str(mode).strip().lower()
|
||||
head = cls.MODE_ALIASES.get(normalized)
|
||||
|
||||
if head is None:
|
||||
raise RuntimeError(
|
||||
f"runtime_mode inválido para Weed Worker: {mode!r}. "
|
||||
"Use 'target', 'vegetation', 'cana' ou 'semantic'."
|
||||
)
|
||||
|
||||
return head
|
||||
|
||||
@staticmethod
|
||||
def _normalizar_texto(value) -> str:
|
||||
text = unicodedata.normalize("NFKD", str(value).strip().lower())
|
||||
return "".join(ch for ch in text if not unicodedata.combining(ch))
|
||||
|
||||
@classmethod
|
||||
def _normalizar_semantic_target_class(cls, value) -> str:
|
||||
normalized = cls._normalizar_texto(value)
|
||||
aliases = {
|
||||
"0": "chao", "chao": "chao", "solo": "chao", "background": "chao", "bg": "chao",
|
||||
"1": "cana", "cana": "cana", "sugarcane": "cana",
|
||||
"2": "erva", "erva": "erva", "weed": "erva",
|
||||
}
|
||||
result = aliases.get(normalized)
|
||||
if result is None:
|
||||
raise RuntimeError(
|
||||
f"semantic_target_class inválida: {value!r}. "
|
||||
"Use 'chao', 'cana' ou 'erva'."
|
||||
)
|
||||
return result
|
||||
|
||||
def _validar_contrato_runtime(self):
|
||||
if self.runtime_backend not in ("onnx", "tensorrt", "trt"):
|
||||
raise RuntimeError(
|
||||
|
|
@ -136,17 +235,9 @@ class MultiSpecSegformerService:
|
|||
"Use runtime_backend='onnx'."
|
||||
)
|
||||
|
||||
if self.runtime_mode not in self.TARGET_MODES:
|
||||
raise RuntimeError(
|
||||
f"runtime_mode inválido para Weed Worker v1: {self.runtime_mode}. "
|
||||
"Use runtime_mode='target_direct'."
|
||||
)
|
||||
|
||||
if self.onnx_output_mode not in self.TARGET_MODES:
|
||||
raise RuntimeError(
|
||||
f"onnx_output_mode inválido para Weed Worker v1: {self.onnx_output_mode}. "
|
||||
"Use onnx_output_mode='target_direct'."
|
||||
)
|
||||
# A normalização no __init__ já valida o modo e define a cabeça.
|
||||
if self.selected_head not in self.OUTPUT_BY_HEAD:
|
||||
raise RuntimeError(f"Cabeça operacional inválida: {self.selected_head}")
|
||||
|
||||
if self.onnx_output_kind != "mask":
|
||||
raise RuntimeError(
|
||||
|
|
@ -249,23 +340,91 @@ class MultiSpecSegformerService:
|
|||
self.mostrar_log(f"[WEED_ONNX] providers ativos={self.onnx_session.get_providers()}")
|
||||
|
||||
def _selecionar_outputs_runtime(self, output_names: List[str]) -> List[str]:
|
||||
target_outputs = [
|
||||
n for n in output_names
|
||||
if "target" in str(n).lower()
|
||||
]
|
||||
output_lookup = {str(name).lower(): str(name) for name in output_names}
|
||||
expected = self.selected_output_name.lower()
|
||||
|
||||
if target_outputs:
|
||||
return target_outputs
|
||||
|
||||
# Fallback seguro: se o ONNX tiver só uma saída, usa ela.
|
||||
if len(output_names) == 1:
|
||||
return list(output_names)
|
||||
if expected in output_lookup:
|
||||
return [output_lookup[expected]]
|
||||
|
||||
raise RuntimeError(
|
||||
"Não encontrei saída target no ONNX. "
|
||||
f"Outputs disponíveis: {output_names}"
|
||||
f"A saída necessária {self.selected_output_name!r} não existe no ONNX. "
|
||||
f"Cabeça selecionada={self.selected_head!r}; "
|
||||
f"outputs disponíveis={output_names}."
|
||||
)
|
||||
|
||||
def atualizar_runtime_mode(self, runtime_mode, semantic_target_class=None) -> bool:
|
||||
"""Troca a cabeça operacional sem recriar a sessão ONNX.
|
||||
|
||||
Retorna True quando a configuração efetivamente mudou. Uma inferência
|
||||
que já estava em andamento é descartada e o novo modo vale no frame
|
||||
seguinte.
|
||||
"""
|
||||
new_mode = str(runtime_mode).strip().lower()
|
||||
new_head = self._normalizar_head(new_mode)
|
||||
new_output = self.OUTPUT_BY_HEAD[new_head]
|
||||
|
||||
if semantic_target_class is None:
|
||||
semantic_target_class = self.semantic_target_class
|
||||
new_semantic_class = self._normalizar_semantic_target_class(semantic_target_class)
|
||||
new_semantic_id = self.SEMANTIC_CLASS_IDS[new_semantic_class]
|
||||
|
||||
output_lookup = {str(n).lower(): str(n) for n in self.onnx_output_names}
|
||||
actual_output = output_lookup.get(new_output.lower())
|
||||
if actual_output is None:
|
||||
raise RuntimeError(
|
||||
f"A saída necessária {new_output!r} não existe no ONNX. "
|
||||
f"Outputs disponíveis={self.onnx_output_names}."
|
||||
)
|
||||
|
||||
with self._runtime_lock:
|
||||
changed = (
|
||||
new_head != self.selected_head
|
||||
or (new_head == "semantic" and new_semantic_id != self.semantic_target_id)
|
||||
)
|
||||
if not changed:
|
||||
return False
|
||||
|
||||
old_desc = self._runtime_description_unlocked()
|
||||
self.runtime_mode = new_head
|
||||
self.onnx_output_mode = new_head
|
||||
self.selected_head = new_head
|
||||
self.selected_output_name = actual_output
|
||||
self.onnx_run_output_names = [actual_output]
|
||||
self.semantic_target_class = new_semantic_class
|
||||
self.semantic_target_id = new_semantic_id
|
||||
self._runtime_generation += 1
|
||||
self._limpar_cache_unlocked()
|
||||
new_desc = self._runtime_description_unlocked()
|
||||
|
||||
self.mostrar_log(f"[WEED_ONNX][MODE] {old_desc} -> {new_desc}")
|
||||
return True
|
||||
|
||||
def atualizar_config(self, config: dict) -> bool:
|
||||
config = config or {}
|
||||
mode = config.get("runtime_mode", config.get("onnx_output_mode", self.runtime_mode))
|
||||
semantic_class = config.get("semantic_target_class", self.semantic_target_class)
|
||||
changed = self.atualizar_runtime_mode(mode, semantic_class)
|
||||
self.config.update(config)
|
||||
return changed
|
||||
|
||||
def _runtime_description_unlocked(self) -> str:
|
||||
if self.selected_head == "semantic":
|
||||
return f"semantic[{self.semantic_target_class}={self.semantic_target_id}]"
|
||||
return self.selected_head
|
||||
|
||||
def _limpar_cache_unlocked(self):
|
||||
self._ultimo_predictions = None
|
||||
self._ultimo_probs = None
|
||||
self._ultimo_predictions_full = {}
|
||||
|
||||
def limpar_cache_runtime(self):
|
||||
with self._runtime_lock:
|
||||
self._limpar_cache_unlocked()
|
||||
|
||||
def get_runtime_generation(self) -> int:
|
||||
with self._runtime_lock:
|
||||
return int(self._runtime_generation)
|
||||
|
||||
# ============================================================
|
||||
# Inferência
|
||||
# ============================================================
|
||||
|
|
@ -295,8 +454,16 @@ class MultiSpecSegformerService:
|
|||
|
||||
t_forward0 = time.perf_counter()
|
||||
|
||||
with self._runtime_lock:
|
||||
run_output_names = list(self.onnx_run_output_names)
|
||||
selected_head = self.selected_head
|
||||
selected_output_name = self.selected_output_name
|
||||
semantic_target_class = self.semantic_target_class
|
||||
semantic_target_id = self.semantic_target_id
|
||||
runtime_generation = self._runtime_generation
|
||||
|
||||
outputs = self.onnx_session.run(
|
||||
self.onnx_run_output_names,
|
||||
run_output_names,
|
||||
{self.onnx_input_name: x},
|
||||
)
|
||||
|
||||
|
|
@ -307,22 +474,39 @@ class MultiSpecSegformerService:
|
|||
if len(outputs) < 1:
|
||||
raise RuntimeError("ONNX não retornou nenhuma saída.")
|
||||
|
||||
target_mask = self._onnx_output_to_mask(outputs[0], out_hw)
|
||||
raw_mask = self._onnx_output_to_mask(outputs[0], out_hw)
|
||||
|
||||
if selected_head == "semantic":
|
||||
selected_mask = (raw_mask == semantic_target_id).astype(np.uint8)
|
||||
else:
|
||||
selected_mask = raw_mask
|
||||
|
||||
# Defesa do contrato do WeedDetector: a saída final deste serviço é
|
||||
# sempre binária. As cabeças binárias já devem conter 0/1; semantic
|
||||
# foi explicitamente convertida acima.
|
||||
invalid_values = np.logical_and(selected_mask != 0, selected_mask != 1)
|
||||
if np.any(invalid_values):
|
||||
values = np.unique(selected_mask[invalid_values])[:10].tolist()
|
||||
raise RuntimeError(
|
||||
f"A saída {selected_output_name!r} não é binária. "
|
||||
f"Valores inválidos encontrados: {values}"
|
||||
)
|
||||
|
||||
post_ms = (time.perf_counter() - t_post0) * 1000.0
|
||||
total_ms = (time.perf_counter() - t_total0) * 1000.0
|
||||
|
||||
self._ultimo_tensor = chw
|
||||
self._ultimo_predictions = target_mask
|
||||
self._ultimo_probs = None
|
||||
|
||||
self._ultimo_predictions_full = {
|
||||
"target": target_mask,
|
||||
"target_head": target_mask,
|
||||
"target_op": target_mask,
|
||||
"semantic": None,
|
||||
"vegetation": None,
|
||||
"cana": None,
|
||||
predictions_full = {
|
||||
"selected": selected_mask,
|
||||
"selected_head": selected_head,
|
||||
"selected_output": selected_output_name,
|
||||
"semantic_target_class": semantic_target_class if selected_head == "semantic" else None,
|
||||
"semantic_target_id": semantic_target_id if selected_head == "semantic" else None,
|
||||
"target": selected_mask if selected_head == "target" else None,
|
||||
"target_head": selected_mask if selected_head == "target" else None,
|
||||
"target_op": selected_mask if selected_head == "target" else None,
|
||||
"semantic": raw_mask if selected_head == "semantic" else None,
|
||||
"vegetation": selected_mask if selected_head == "vegetation" else None,
|
||||
"cana": selected_mask if selected_head == "cana" else None,
|
||||
"probs": None,
|
||||
|
||||
"infer_ms": total_ms,
|
||||
|
|
@ -330,17 +514,29 @@ class MultiSpecSegformerService:
|
|||
"forward_ms": forward_ms,
|
||||
"post_ms": post_ms,
|
||||
|
||||
"runtime_mode": self.runtime_mode,
|
||||
"runtime_mode": selected_head,
|
||||
"runtime_generation": runtime_generation,
|
||||
"backend": "onnx",
|
||||
"providers": self.onnx_session.get_providers(),
|
||||
"outputs": self.onnx_output_names,
|
||||
"outputs_executados": self.onnx_run_output_names,
|
||||
"outputs_executados": run_output_names,
|
||||
}
|
||||
|
||||
if return_full:
|
||||
return dict(self._ultimo_predictions_full)
|
||||
# A configuração pode mudar enquanto o provider executa. A verificação
|
||||
# e a publicação do cache ficam no mesmo lock para impedir que um frame
|
||||
# antigo reapareça depois de atualizar_runtime_mode() limpar o estado.
|
||||
with self._runtime_lock:
|
||||
if runtime_generation != self._runtime_generation:
|
||||
return None
|
||||
self._ultimo_tensor = chw
|
||||
self._ultimo_predictions = selected_mask
|
||||
self._ultimo_probs = None
|
||||
self._ultimo_predictions_full = predictions_full
|
||||
|
||||
return target_mask
|
||||
if return_full:
|
||||
return dict(predictions_full)
|
||||
|
||||
return selected_mask
|
||||
|
||||
def _prepare_input_numpy_onnx(self, tensor5_chw: np.ndarray):
|
||||
if tensor5_chw is None:
|
||||
|
|
@ -435,7 +631,7 @@ class MultiSpecSegformerService:
|
|||
Não roda inferência aqui.
|
||||
Usa:
|
||||
- tensor multiespectral cacheado
|
||||
- target_mask cacheada
|
||||
- máscara binária cacheada da cabeça selecionada
|
||||
"""
|
||||
tensor = tensor5_chw if tensor5_chw is not None else self._ultimo_tensor
|
||||
pred = predictions if predictions is not None else self._ultimo_predictions
|
||||
|
|
@ -449,7 +645,7 @@ class MultiSpecSegformerService:
|
|||
if pred is None:
|
||||
return rgb_bgr, None, rgb_bgr, None, None
|
||||
|
||||
seg_rgb = self.ids_to_rgb(pred, TARGET_COLORS_RGB)
|
||||
seg_rgb = self.ids_to_rgb(pred, HEAD_COLORS_RGB)
|
||||
overlay_rgb = cv2.addWeighted(rgb, 1.0 - alpha, seg_rgb, alpha, 0.0)
|
||||
|
||||
seg_bgr = cv2.cvtColor(seg_rgb, cv2.COLOR_RGB2BGR)
|
||||
|
|
|
|||
|
|
@ -80,14 +80,59 @@ def main():
|
|||
time.sleep(0.1)
|
||||
|
||||
def redis_callback(dados):
|
||||
acao = HealthWorkerCommandType(dados.get("cmd", 0))
|
||||
try:
|
||||
acao = HealthWorkerCommandType(int(dados.get("cmd", 0)))
|
||||
except Exception as e:
|
||||
mostrar_log(f"Comando inválido: {dados} | {e}")
|
||||
return
|
||||
|
||||
if acao == HealthWorkerCommandType.AtualizarPontosMapa:
|
||||
try:
|
||||
ContextoGlobalRedis._atualizar_pontos_mapa()
|
||||
except Exception as e:
|
||||
mostrar_log(f"Erro ao atualizar pontos do mapa: {e}")
|
||||
mostrar_log("Dados de mapa da Operacao atualizados com sucesso!")
|
||||
if acao != HealthWorkerCommandType.AtualizarPontosMapa:
|
||||
return
|
||||
|
||||
command_id = str(dados.get("command_id", ""))
|
||||
operation_id = str(dados.get("operation_id", ""))
|
||||
map_revision = dados.get("map_revision")
|
||||
|
||||
try:
|
||||
resultado = ContextoGlobalRedis._atualizar_pontos_mapa(
|
||||
operation_id=operation_id,
|
||||
map_revision=map_revision,
|
||||
)
|
||||
|
||||
if not resultado.get("sucesso", False):
|
||||
raise RuntimeError(resultado.get("erro", "Falha desconhecida"))
|
||||
|
||||
ContextoGlobalRedis.atualizar_ctx_dict(
|
||||
CtxKey.DadosHealthWorker,
|
||||
ultimo_comando_mapa=command_id,
|
||||
mapa_operacao_id=operation_id,
|
||||
mapa_revisao_aplicada=map_revision,
|
||||
mapa_pontos_aplicados=resultado["quantidade"],
|
||||
mapa_status="aplicado",
|
||||
mapa_erro="",
|
||||
mapa_aplicado_em=time.time(),
|
||||
)
|
||||
|
||||
mostrar_log(
|
||||
f"Mapa aplicado | command_id={command_id} | "
|
||||
f"operacao={operation_id} | "
|
||||
f"revisao={map_revision} | "
|
||||
f"pontos={resultado['quantidade']}"
|
||||
)
|
||||
|
||||
except Exception as e:
|
||||
ContextoGlobalRedis.atualizar_ctx_dict(
|
||||
CtxKey.DadosHealthWorker,
|
||||
ultimo_comando_mapa=command_id,
|
||||
mapa_operacao_id=operation_id,
|
||||
mapa_revisao_aplicada=map_revision,
|
||||
mapa_status="erro",
|
||||
mapa_erro=str(e),
|
||||
)
|
||||
|
||||
mostrar_log(
|
||||
f"Erro ao aplicar mapa | command_id={command_id} | {e}"
|
||||
)
|
||||
|
||||
def inicializar():
|
||||
mostrar_log("🚀 Iniciando Health Worker...")
|
||||
|
|
|
|||
|
|
@ -1330,11 +1330,60 @@ class ContextoGlobalRedis:
|
|||
return False
|
||||
|
||||
@classmethod
|
||||
def _atualizar_pontos_mapa(cls):
|
||||
def _atualizar_pontos_mapa(cls, operation_id=None, map_revision=None):
|
||||
try:
|
||||
operacao = cls.get_operacao()
|
||||
|
||||
operacao_atual = str(operacao.get("mapa_operacao_id", ""))
|
||||
|
||||
if operation_id and operacao_atual != operation_id:
|
||||
return {
|
||||
"sucesso": False,
|
||||
"erro": (
|
||||
f"Operação divergente: esperado={operation_id}, "
|
||||
f"atual={operacao_atual}"
|
||||
),
|
||||
}
|
||||
|
||||
# Conversão atual dos pontos...
|
||||
pontos_info = cls._converter_pontos_mapa(operacao)
|
||||
|
||||
if not pontos_info:
|
||||
return {
|
||||
"sucesso": False,
|
||||
"erro": "Nenhum ponto válido foi produzido",
|
||||
}
|
||||
|
||||
atualizado = cls.atualizar_ctx_dict(
|
||||
CtxKey.DadosOperacao,
|
||||
pontos_mapa=pontos_info,
|
||||
mapa_revisao_processada=map_revision,
|
||||
)
|
||||
|
||||
cls._atualizar_mpc(do_manager=False, iniciar_operacao=False)
|
||||
|
||||
if not atualizado:
|
||||
return {
|
||||
"sucesso": False,
|
||||
"erro": "Falha ao gravar pontos_mapa no Redis",
|
||||
}
|
||||
|
||||
return {
|
||||
"sucesso": True,
|
||||
"quantidade": len(pontos_info),
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
return {
|
||||
"sucesso": False,
|
||||
"erro": str(e),
|
||||
}
|
||||
|
||||
@classmethod
|
||||
def _converter_pontos_mapa(cls, operacao):
|
||||
pontos_info = []
|
||||
|
||||
try:
|
||||
operacao = cls.get_operacao()
|
||||
dados_dir = cls._dict(operacao.get("Dir", {}))
|
||||
tipo_controle = cls._int(
|
||||
dados_dir.get("tipo_controle", TiposControladorDirecional.Manual.value),
|
||||
|
|
@ -1343,7 +1392,7 @@ class ContextoGlobalRedis:
|
|||
|
||||
if tipo_controle != TiposControladorDirecional.MPC.value:
|
||||
cls.atualizar_ctx_dict(CtxKey.DadosOperacao, pontos_mapa=[])
|
||||
return
|
||||
return pontos_info
|
||||
|
||||
dados_mpc = cls._dict(dados_dir.get("mpc", {}))
|
||||
pontos = dados_mpc.get("pontos", []) or []
|
||||
|
|
@ -1351,12 +1400,12 @@ class ContextoGlobalRedis:
|
|||
|
||||
if not pontos:
|
||||
cls.atualizar_ctx_dict(CtxKey.DadosOperacao, pontos_mapa=[])
|
||||
return
|
||||
return pontos_info
|
||||
|
||||
if not isinstance(p_ref, (list, tuple)) or len(p_ref) < 2:
|
||||
mostrar_log("Ponto de referência do mapa ausente/inválido. Não foi possível converter pontos MPC.")
|
||||
cls.atualizar_ctx_dict(CtxKey.DadosOperacao, pontos_mapa=[])
|
||||
return
|
||||
return pontos_info
|
||||
|
||||
from shared.gps_handler import GPSHandler
|
||||
|
||||
|
|
@ -1378,18 +1427,12 @@ class ContextoGlobalRedis:
|
|||
except Exception as e:
|
||||
mostrar_log(f"Erro ao converter ponto MPC: {p} | {e}")
|
||||
|
||||
cls.atualizar_ctx_dict(
|
||||
CtxKey.DadosOperacao,
|
||||
pontos_mapa=pontos_info,
|
||||
)
|
||||
|
||||
if pontos_info:
|
||||
cls._atualizar_mpc(do_manager=False, iniciar_operacao=False)
|
||||
|
||||
except Exception as e:
|
||||
mostrar_log(f"Erro ao atualizar pontos do mapa: {e}")
|
||||
cls.atualizar_ctx_dict(CtxKey.DadosOperacao, pontos_mapa=pontos_info)
|
||||
|
||||
return pontos_info
|
||||
|
||||
# ============================================================
|
||||
# Mapeamento de parâmetros
|
||||
# ============================================================
|
||||
|
|
|
|||
|
|
@ -861,37 +861,35 @@ class CameraManager:
|
|||
self._ultima_saude_ts = time.time()
|
||||
|
||||
try:
|
||||
# O lock protege somente a identidade da sessão da câmera.
|
||||
# Mantém a referência estável durante leitura/publicação da saúde.
|
||||
# fechar_camera_manager aguarda esta seção curta terminar.
|
||||
with self._vida_lock:
|
||||
camera_atual = self.camera
|
||||
generation = self._camera_generation
|
||||
|
||||
if camera_atual is not None:
|
||||
if pipeline_ia is None:
|
||||
pipeline_ia = self._avaliar_saude_pipeline_ia()
|
||||
if camera_atual is not None:
|
||||
if pipeline_ia is None:
|
||||
pipeline_ia = self._avaliar_saude_pipeline_ia()
|
||||
camera_atual.atualizar_saude(pipeline_ia=pipeline_ia)
|
||||
|
||||
camera_atual.atualizar_saude(pipeline_ia=pipeline_ia)
|
||||
|
||||
elif self.mx_id is not None:
|
||||
from camera_worker.manager import definir_saude_camera
|
||||
|
||||
definir_saude_camera(
|
||||
self.mx_id,
|
||||
StatusModulo.DESCONECTADO,
|
||||
0,
|
||||
["desconectado"],
|
||||
False,
|
||||
{},
|
||||
disp=T_Code.Cam,
|
||||
conectado=False,
|
||||
)
|
||||
elif self.mx_id is not None:
|
||||
from camera_worker.manager import definir_saude_camera
|
||||
definir_saude_camera(
|
||||
self.mx_id,
|
||||
StatusModulo.DESCONECTADO,
|
||||
0,
|
||||
["desconectado"],
|
||||
False,
|
||||
{},
|
||||
disp=T_Code.Cam,
|
||||
conectado=False,
|
||||
)
|
||||
|
||||
except Exception as e:
|
||||
self.mostrar_log(f"[saude] erro: {e}")
|
||||
|
||||
def _atualizar_config_dinamica_detector(self, intervalo_s=0.20):
|
||||
"""
|
||||
Atualiza config do detector em baixa frequência.
|
||||
Atualiza config do detector e a cabeça ONNX em baixa frequência.
|
||||
|
||||
Isso permite refletir:
|
||||
- velocidade atual;
|
||||
|
|
@ -917,6 +915,32 @@ class CameraManager:
|
|||
if self.weed_detector is not None:
|
||||
self.weed_detector.atualizar_config(cfg)
|
||||
|
||||
mode_changed = False
|
||||
if self.model_svc is not None:
|
||||
mode_changed = self.model_svc.atualizar_config(cfg)
|
||||
|
||||
if mode_changed:
|
||||
# Remove qualquer máscara/detecção gerada no modo anterior.
|
||||
with self._pred_lock:
|
||||
self._pred_cache = {}
|
||||
self._pred_consumido_ts = 0.0
|
||||
self._ultimo_predictions = None
|
||||
self._ultimo_predictions_full = None
|
||||
|
||||
# O detector não deve manter na memória espacial regiões
|
||||
# derivadas da máscara velha.
|
||||
if self.weed_detector is not None:
|
||||
method = getattr(self.weed_detector, "limpar_memoria_alvo", None)
|
||||
if not callable(method):
|
||||
method = getattr(self.weed_detector, "_inicializar_estado", None)
|
||||
if callable(method):
|
||||
method()
|
||||
|
||||
self.mostrar_log(
|
||||
"[weed][MODEL] modo atualizado dinamicamente; "
|
||||
"caches anteriores descartados"
|
||||
)
|
||||
|
||||
self._ultimo_config_update_ts = agora
|
||||
|
||||
except Exception as e:
|
||||
|
|
@ -1537,6 +1561,16 @@ class CameraManager:
|
|||
pred_ts = time.time()
|
||||
|
||||
with self._pred_lock:
|
||||
infer_mode_generation = int(
|
||||
infer_full.get("runtime_generation", -1)
|
||||
)
|
||||
current_mode_generation = int(
|
||||
self.model_svc.get_runtime_generation()
|
||||
)
|
||||
if infer_mode_generation != current_mode_generation:
|
||||
self.perf.inc("infer_descartada_troca_modo")
|
||||
continue
|
||||
|
||||
if (
|
||||
self._pred_cache.get("predictions") is not None
|
||||
and float(self._pred_cache.get("ts", 0.0) or 0.0)
|
||||
|
|
|
|||
|
|
@ -90,9 +90,13 @@ WEED_DEFAULT_CONFIG = {
|
|||
"runtime_backend": "onnx",
|
||||
"onnx_provider": "tensorrt",
|
||||
|
||||
# Modo operacional: usar diretamente a cabeça target.
|
||||
"runtime_mode": "target_direct",
|
||||
"onnx_output_mode": "target_direct",
|
||||
# Cabeça utilizada:
|
||||
# target | vegetation | cana | semantic
|
||||
"runtime_mode": "target",
|
||||
|
||||
# Usado somente quando runtime_mode = semantic:
|
||||
# chao | cana | erva
|
||||
"semantic_target_class": "erva",
|
||||
|
||||
# Contrato do ONNX novo:
|
||||
# entrada 0..1 crua -> normalização interna -> resize -> argmax -> target_mask.
|
||||
|
|
@ -249,6 +253,9 @@ def aplicar_overrides_redis(cfg: dict) -> dict:
|
|||
contexto = ContextoGlobalRedis.get_contexto()
|
||||
equipamento = ContextoGlobalRedis.get_equipamento()
|
||||
|
||||
cfg["runtime_mode"] = str(dados_atu.get("modelo_cabeca") or "target").strip().lower()
|
||||
cfg["semantic_target_class"] = str(dados_atu.get("modelo_classe_alvo") or "erva").strip().lower()
|
||||
|
||||
cfg["qtd_bicos"] = int(equipamento.get("qtd_bicos") or cfg.get("qtd_bicos", 7) or 7)
|
||||
|
||||
# Modelo ONNX full-runtime validado para o Weed Worker.
|
||||
|
|
|
|||
|
|
@ -124,6 +124,10 @@ class WeedDetector:
|
|||
self._last_update_ts: Optional[float] = None
|
||||
self._distancia_deslocada_total_cm = 0.0
|
||||
|
||||
def limpar_memoria_alvo(self):
|
||||
"""Descarta evidências e estados de bico do modo de máscara anterior."""
|
||||
self._inicializar_estado()
|
||||
|
||||
def _atualizar_geometria_memoria(self):
|
||||
cfg = self.config
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,374 @@
|
|||
<Project>
|
||||
<PropertyGroup>
|
||||
<AssemblyName>OperationControl</AssemblyName>
|
||||
<IntermediateOutputPath>obj\Debug\</IntermediateOutputPath>
|
||||
<BaseIntermediateOutputPath>obj\</BaseIntermediateOutputPath>
|
||||
<MSBuildProjectExtensionsPath>C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\</MSBuildProjectExtensionsPath>
|
||||
<_TargetAssemblyProjectName>OperationControl</_TargetAssemblyProjectName>
|
||||
</PropertyGroup>
|
||||
<Import Project="Sdk.props" Sdk="Microsoft.NET.Sdk" />
|
||||
<PropertyGroup>
|
||||
<OutputType>WinExe</OutputType>
|
||||
<TargetFramework>net8.0-windows7.0</TargetFramework>
|
||||
<Nullable>enable</Nullable>
|
||||
<ImplicitUsings>enable</ImplicitUsings>
|
||||
<UseWPF>true</UseWPF>
|
||||
<UseWindowsForms>True</UseWindowsForms>
|
||||
</PropertyGroup>
|
||||
<ItemGroup>
|
||||
<None Remove="3d.jpg" />
|
||||
<None Remove="barra.jpg" />
|
||||
<None Remove="caminho.jpeg" />
|
||||
<None Remove="logo.png" />
|
||||
<None Remove="mapa.jpg" />
|
||||
<None Remove="robo_superior.jpg" />
|
||||
<None Remove="solo.jpeg" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<PackageReference Include="BruTile" Version="6.0.0" />
|
||||
<PackageReference Include="BruTile.MbTiles" Version="6.0.0" />
|
||||
<PackageReference Include="Extended.Wpf.Toolkit" Version="5.0.0" />
|
||||
<PackageReference Include="FFME.Windows" Version="7.0.361-beta.1" />
|
||||
<PackageReference Include="GirCore.Gst-1.0" Version="0.7.0-preview.3" />
|
||||
<PackageReference Include="GirCore.GstVideo-1.0" Version="0.7.0-preview.3" />
|
||||
<PackageReference Include="LibVLCSharp" Version="3.9.4" />
|
||||
<PackageReference Include="LibVLCSharp.WPF" Version="3.9.4" />
|
||||
<PackageReference Include="Mapsui" Version="5.0.0" />
|
||||
<PackageReference Include="Mapsui.Extensions" Version="5.0.0" />
|
||||
<PackageReference Include="Mapsui.Wpf" Version="5.0.0" />
|
||||
<PackageReference Include="Mapsui3.Geometries" Version="3.0.0-alpha.3" />
|
||||
<PackageReference Include="NetTopologySuite" Version="2.6.0" />
|
||||
<PackageReference Include="NetTopologySuite.IO.GeoJSON" Version="4.0.0" />
|
||||
<PackageReference Include="NetTopologySuite.IO.ShapeFile" Version="2.1.0" />
|
||||
<PackageReference Include="OpenTK" Version="4.9.4" />
|
||||
<PackageReference Include="ScottPlot.WPF" Version="5.1.57" />
|
||||
<PackageReference Include="System.IO.Ports" Version="10.0.0" />
|
||||
<PackageReference Include="VideoLAN.LibVLC.Windows" Version="3.0.21" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\AgroBase\AgroBase.csproj" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\Accessibility.dll" />
|
||||
<ReferencePath Include="C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\bitmiracle.libtiff.net\2.4.660\lib\netstandard2.0\BitMiracle.LibTiff.NET.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\brutile\6.0.0\lib\net8.0\BruTile.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\brutile.mbtiles\6.0.0\lib\net8.0\BruTile.MbTiles.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\brutile\6.0.0\lib\net8.0\BruTile.XmlSerializers.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\dotspatial.projections\4.0.656\lib\net6.0\DotSpatial.Projections.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\excss\4.3.1\lib\net8.0\ExCSS.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\ffme.windows\7.0.361-beta.1\lib\net8.0-windows7.0\ffme.win.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\ffmpeg.autogen\7.0.0\lib\netstandard2.1\FFmpeg.AutoGen.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\gircore.glib-2.0\0.7.0-preview.3\lib\net8.0\GLib-2.0.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\opentk.glwpfcontrol\4.3.3\lib\netcoreapp3.1\GLWpfControl.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\gircore.gobject-2.0\0.7.0-preview.3\lib\net8.0\GObject-2.0.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\gircore.gst-1.0\0.7.0-preview.3\lib\net8.0\Gst-1.0.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\gircore.gstbase-1.0\0.7.0-preview.3\lib\net8.0\GstBase-1.0.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\gircore.gstvideo-1.0\0.7.0-preview.3\lib\net8.0\GstVideo-1.0.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\harfbuzzsharp\8.3.1.2\lib\net8.0\HarfBuzzSharp.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\libvlcsharp\3.9.4\lib\net8.0\LibVLCSharp.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\libvlcsharp.wpf\3.9.4\lib\net6.0-windows7.0\LibVLCSharp.WPF.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\mapsui\5.0.0\lib\net8.0\Mapsui.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\mapsui.extensions\5.0.0\lib\net8.0\Mapsui.Extensions.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\mapsui3.geometries\3.0.0-alpha.3\lib\netstandard2.0\Mapsui.Geometries.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\mapsui.nts\5.0.0\lib\net8.0\Mapsui.Nts.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\mapsui.rendering.skia\5.0.0\lib\net8.0\Mapsui.Rendering.Skia.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\mapsui.tiling\5.0.0\lib\net8.0\Mapsui.Tiling.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\mapsui.wpf\5.0.0\lib\net8.0-windows7.0\Mapsui.UI.Wpf.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\Microsoft.CSharp.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\Microsoft.VisualBasic.Core.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\Microsoft.VisualBasic.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\Microsoft.VisualBasic.Forms.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\Microsoft.Win32.Primitives.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\Microsoft.Win32.Registry.AccessControl.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\Microsoft.Win32.Registry.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\Microsoft.Win32.SystemEvents.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\mscorlib.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\netstandard.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\nettopologysuite\2.6.0\lib\netstandard2.1\NetTopologySuite.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\nettopologysuite.features\2.1.0\lib\netstandard2.0\NetTopologySuite.Features.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\nettopologysuite.io.geojson\4.0.0\lib\netstandard2.0\NetTopologySuite.IO.GeoJSON.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\nettopologysuite.io.geojson4stj\4.0.0\lib\netstandard2.0\NetTopologySuite.IO.GeoJSON4STJ.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\nettopologysuite.io.shapefile\2.1.0\lib\netstandard2.0\NetTopologySuite.IO.ShapeFile.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\newtonsoft.json\13.0.1\lib\netstandard2.0\Newtonsoft.Json.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\opentk.audio.openal\4.9.4\lib\netcoreapp3.1\OpenTK.Audio.OpenAL.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\opentk.compute\4.9.4\lib\netcoreapp3.1\OpenTK.Compute.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\opentk.core\4.9.4\lib\netstandard2.1\OpenTK.Core.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\opentk.graphics\4.9.4\lib\netcoreapp3.1\OpenTK.Graphics.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\opentk.input\4.9.4\lib\netstandard2.0\OpenTK.Input.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\opentk.mathematics\4.9.4\lib\netcoreapp3.1\OpenTK.Mathematics.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\opentk.windowing.common\4.9.4\lib\netcoreapp3.1\OpenTK.Windowing.Common.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\opentk.windowing.desktop\4.9.4\lib\netcoreapp3.1\OpenTK.Windowing.Desktop.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\opentk.windowing.graphicslibraryframework\4.9.4\lib\netcoreapp3.1\OpenTK.Windowing.GraphicsLibraryFramework.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\PresentationCore.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\PresentationFramework.Aero.dll" />
|
||||
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<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.AccessControl.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.Claims.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.Cryptography.Algorithms.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.Cryptography.Cng.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.Cryptography.Csp.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.Cryptography.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.Cryptography.Encoding.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.Cryptography.OpenSsl.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Security.Cryptography.Pkcs.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.Cryptography.Primitives.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Security.Cryptography.ProtectedData.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.Cryptography.X509Certificates.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Security.Cryptography.Xml.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Security.Permissions.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.Principal.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.Principal.Windows.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Security.SecureString.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.ServiceModel.Web.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.ServiceProcess.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Text.Encoding.CodePages.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Text.Encoding.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Text.Encoding.Extensions.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\system.text.encodings.web\9.0.0\lib\net8.0\System.Text.Encodings.Web.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\system.text.json\9.0.0\lib\net8.0\System.Text.Json.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Text.RegularExpressions.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Threading.AccessControl.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Threading.Channels.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Threading.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Threading.Overlapped.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Threading.Tasks.Dataflow.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Threading.Tasks.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Threading.Tasks.Extensions.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Threading.Tasks.Parallel.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Threading.Thread.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Threading.ThreadPool.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Threading.Timer.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Transactions.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Transactions.Local.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.ValueTuple.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Web.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Web.HttpUtility.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Windows.Controls.Ribbon.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Windows.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Windows.Extensions.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Windows.Forms.Design.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Windows.Forms.Design.Editors.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Windows.Forms.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Windows.Forms.Primitives.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Windows.Input.Manipulations.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Windows.Presentation.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\System.Xaml.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Xml.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Xml.Linq.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Xml.ReaderWriter.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Xml.Serialization.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Xml.XDocument.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Xml.XmlDocument.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Xml.XmlSerializer.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Xml.XPath.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\ref\net8.0\System.Xml.XPath.XDocument.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\topten.richtextkit\0.4.167\lib\net5.0\Topten.RichTextKit.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\UIAutomationClient.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\UIAutomationClientSideProviders.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\UIAutomationProvider.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\UIAutomationTypes.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\WindowsBase.dll" />
|
||||
<ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\WindowsFormsIntegration.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\extended.wpf.toolkit\5.0.0\lib\net5.0\Xceed.Wpf.AvalonDock.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\extended.wpf.toolkit\5.0.0\lib\net5.0\Xceed.Wpf.AvalonDock.Themes.Aero.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\extended.wpf.toolkit\5.0.0\lib\net5.0\Xceed.Wpf.AvalonDock.Themes.Metro.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\extended.wpf.toolkit\5.0.0\lib\net5.0\Xceed.Wpf.AvalonDock.Themes.VS2010.dll" />
|
||||
<ReferencePath Include="C:\Users\USER\.nuget\packages\extended.wpf.toolkit\5.0.0\lib\net5.0\Xceed.Wpf.Toolkit.dll" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Controls\AttitudeIndicator.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Controls\Bbox3DViewer.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Controls\GstVideoView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Controls\HeadingIndicator.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Controls\LabeledBar.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Controls\ManualControlPad.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Controls\MapViewControl.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Controls\ProgressBarText.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Controls\Pulverizador\BicoLequeIndicator.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Controls\Pulverizador\PulverizadorIndicator.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Controls\RiskMeter.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Controls\TemperatureIndicator.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\ConfigConexao\ConfigConexaoView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\Operacao\Monitoramento\ControleManualView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\Operacao\Monitoramento\DiagnosticoView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\Operacao\Monitoramento\HistoricoView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\Operacao\Monitoramento\MonitoramentoView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\Operacao\Monitoramento\ParametrizacaoView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\Operacao\Monitoramento\PulverizadorView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\Operacao\Monitoramento\ResumoView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\Operacao\OperacaoBottomView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\Operacao\OperacaoCenterView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\Operacao\OperacaoLeftView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\Operacao\OperacaoRightView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\Operacao\OperacaoTopView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\PreparacaoMapa\PreparacaoMapaBottomView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\PreparacaoMapa\PreparacaoMapaTopView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Views\PreparacaoMapa\PreparacaoMapaView.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Windows\DockWindow.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Windows\MainWindow.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Windows\NetworkConfigWindow.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\Windows\SelecaoTipoMapa.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\App.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\OperationControl_Content.g.cs" />
|
||||
<Compile Include="C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\Debug\net8.0-windows7.0\GeneratedInternalTypeHelper.g.cs" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Analyzer Include="C:\Program Files\dotnet\sdk\8.0.100\Sdks\Microsoft.NET.Sdk\targets\..\analyzers\Microsoft.CodeAnalysis.CSharp.NetAnalyzers.dll" />
|
||||
<Analyzer Include="C:\Program Files\dotnet\sdk\8.0.100\Sdks\Microsoft.NET.Sdk\targets\..\analyzers\Microsoft.CodeAnalysis.NetAnalyzers.dll" />
|
||||
<Analyzer Include="C:\Users\USER\.nuget\packages\system.text.json\9.0.0\analyzers\dotnet\roslyn4.4\cs\System.Text.Json.SourceGeneration.dll" />
|
||||
<Analyzer Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\analyzers/dotnet/cs/Microsoft.Interop.ComInterfaceGenerator.dll" />
|
||||
<Analyzer Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\analyzers/dotnet/cs/Microsoft.Interop.JavaScript.JSImportGenerator.dll" />
|
||||
<Analyzer Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\analyzers/dotnet/cs/Microsoft.Interop.LibraryImportGenerator.dll" />
|
||||
<Analyzer Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\analyzers/dotnet/cs/Microsoft.Interop.SourceGeneration.dll" />
|
||||
<Analyzer Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\analyzers/dotnet/cs/System.Text.RegularExpressions.Generator.dll" />
|
||||
<Analyzer Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\analyzers/dotnet/System.Windows.Forms.Analyzers.dll" />
|
||||
<Analyzer Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\analyzers/dotnet/cs/System.Windows.Forms.Analyzers.CSharp.dll" />
|
||||
</ItemGroup>
|
||||
<Import Project="Sdk.targets" Sdk="Microsoft.NET.Sdk" />
|
||||
</Project>
|
||||
|
|
@ -19,6 +19,11 @@
|
|||
<x:Type TypeName="enums:Enums+ModoAgitadorCalda"/>
|
||||
</ObjectDataProvider.MethodParameters>
|
||||
</ObjectDataProvider>
|
||||
<ObjectDataProvider x:Key="CabecasModeloValues" MethodName="GetValues" ObjectType="{x:Type sys:Enum}">
|
||||
<ObjectDataProvider.MethodParameters>
|
||||
<x:Type TypeName="enums:Enums+CabecasModelo"/>
|
||||
</ObjectDataProvider.MethodParameters>
|
||||
</ObjectDataProvider>
|
||||
</UserControl.Resources>
|
||||
<Grid>
|
||||
<Grid.Resources>
|
||||
|
|
@ -177,6 +182,12 @@
|
|||
|
||||
<TextBlock Text="Ervas Bico Off (%)" Style="{StaticResource ParamLabelStyle}"/>
|
||||
<TextBox ToolTip="Percentual mínimo de erva para manter o bico ligado. Abaixo desse valor, o bico é desligado." Text="{Binding Parametros.Controle.AtuPercentualErvasBicoOff, UpdateSourceTrigger=PropertyChanged}" Style="{StaticResource ParamTextBoxStyle}" Margin="0,0,0,0"/>
|
||||
|
||||
<TextBlock Text="Modo Pulverização" Style="{StaticResource ParamLabelStyle}"/>
|
||||
<ComboBox ToolTip="Define o modo de trabalho da inteligência artificial para detecção do alvo para pulverização." ItemsSource="{Binding Source={StaticResource CabecasModeloValues}}" SelectedItem="{Binding Parametros.Controle.AtuModeloCabeca, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
|
||||
|
||||
<TextBlock Text="Classe Alvo" Style="{StaticResource ParamLabelStyle}"/>
|
||||
<TextBox ToolTip="Nome da classe usada como alvo do pulverizador. Não precisa ser informado quando não for Semantic." Text="{Binding Parametros.Controle.AtuClasseAlvo, UpdateSourceTrigger=PropertyChanged}" Style="{StaticResource ParamTextBoxStyle}" Margin="0,0,0,0"/>
|
||||
</StackPanel>
|
||||
</Border>
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue