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ajsutes no fluxo de movimentacao autonoma

This commit is contained in:
Diego Freitas 2024-12-16 17:02:03 -03:00
parent 6633c14790
commit 6647af2d6f
49 changed files with 448 additions and 556 deletions
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AgroBase/.vs/AgroBase/FileContentIndex/7d085a01-89eb-4b22-b76e-cb1819f4f598.vsidx
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AgroBase/.vs/AgroBase/FileContentIndex/e912a493-d1b8-4061-be0a-a41e5bb79446.vsidx Normal file
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AgroBase/.vs/AgroBase/v17/.suo
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AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs generated
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@ -28,30 +28,30 @@
/// </summary>
private void InitializeComponent()
{
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea9 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend9 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series9 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea10 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend10 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series10 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea11 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend11 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series11 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea12 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend12 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series12 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea13 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend13 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series13 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea14 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend14 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series14 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea15 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend15 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series15 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea16 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend16 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series16 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea1 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend1 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series1 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea2 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend2 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series2 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea3 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend3 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series3 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea4 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend4 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series4 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea5 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend5 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series5 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea6 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend6 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series6 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea7 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend7 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series7 = new System.Windows.Forms.DataVisualization.Charting.Series();
System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea8 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
System.Windows.Forms.DataVisualization.Charting.Legend legend8 = new System.Windows.Forms.DataVisualization.Charting.Legend();
System.Windows.Forms.DataVisualization.Charting.Series series8 = new System.Windows.Forms.DataVisualization.Charting.Series();
this.trbMomento = new System.Windows.Forms.TrackBar();
this.panel1 = new System.Windows.Forms.Panel();
this.tabControl4 = new System.Windows.Forms.TabControl();
@ -379,6 +379,8 @@
this.label114 = new System.Windows.Forms.Label();
this.chartCpu = new System.Windows.Forms.DataVisualization.Charting.Chart();
this.panel6 = new System.Windows.Forms.Panel();
this.txtVelocidade = new System.Windows.Forms.TextBox();
this.label118 = new System.Windows.Forms.Label();
this.txtErvasTerreno = new System.Windows.Forms.TextBox();
this.label116 = new System.Windows.Forms.Label();
this.txtDuracaoOperacao = new System.Windows.Forms.TextBox();
@ -420,6 +422,10 @@
this.label36 = new System.Windows.Forms.Label();
this.txtMomento = new System.Windows.Forms.TextBox();
this.btnPlay = new System.Windows.Forms.Button();
this.txtDirecaoControle = new System.Windows.Forms.TextBox();
this.label119 = new System.Windows.Forms.Label();
this.txtVelocidadeControle = new System.Windows.Forms.TextBox();
this.label120 = new System.Windows.Forms.Label();
((System.ComponentModel.ISupportInitialize)(this.trbMomento)).BeginInit();
this.panel1.SuspendLayout();
this.tabControl4.SuspendLayout();
@ -1641,17 +1647,17 @@
//
// chartMovVelocidade
//
chartArea9.Name = "ChartArea1";
this.chartMovVelocidade.ChartAreas.Add(chartArea9);
legend9.Name = "Legend1";
this.chartMovVelocidade.Legends.Add(legend9);
chartArea1.Name = "ChartArea1";
this.chartMovVelocidade.ChartAreas.Add(chartArea1);
legend1.Name = "Legend1";
this.chartMovVelocidade.Legends.Add(legend1);
this.chartMovVelocidade.Location = new System.Drawing.Point(4, 4);
this.chartMovVelocidade.Margin = new System.Windows.Forms.Padding(2);
this.chartMovVelocidade.Name = "chartMovVelocidade";
series9.ChartArea = "ChartArea1";
series9.Legend = "Legend1";
series9.Name = "Series1";
this.chartMovVelocidade.Series.Add(series9);
series1.ChartArea = "ChartArea1";
series1.Legend = "Legend1";
series1.Name = "Series1";
this.chartMovVelocidade.Series.Add(series1);
this.chartMovVelocidade.Size = new System.Drawing.Size(474, 356);
this.chartMovVelocidade.TabIndex = 96;
this.chartMovVelocidade.Text = "chart1";
@ -2060,17 +2066,17 @@
//
// chartMovTemperatura
//
chartArea10.Name = "ChartArea1";
this.chartMovTemperatura.ChartAreas.Add(chartArea10);
legend10.Name = "Legend1";
this.chartMovTemperatura.Legends.Add(legend10);
chartArea2.Name = "ChartArea1";
this.chartMovTemperatura.ChartAreas.Add(chartArea2);
legend2.Name = "Legend1";
this.chartMovTemperatura.Legends.Add(legend2);
this.chartMovTemperatura.Location = new System.Drawing.Point(4, 4);
this.chartMovTemperatura.Margin = new System.Windows.Forms.Padding(2);
this.chartMovTemperatura.Name = "chartMovTemperatura";
series10.ChartArea = "ChartArea1";
series10.Legend = "Legend1";
series10.Name = "Series1";
this.chartMovTemperatura.Series.Add(series10);
series2.ChartArea = "ChartArea1";
series2.Legend = "Legend1";
series2.Name = "Series1";
this.chartMovTemperatura.Series.Add(series2);
this.chartMovTemperatura.Size = new System.Drawing.Size(474, 336);
this.chartMovTemperatura.TabIndex = 95;
this.chartMovTemperatura.Text = "chart1";
@ -2478,17 +2484,17 @@
//
// chartMovTensao
//
chartArea11.Name = "ChartArea1";
this.chartMovTensao.ChartAreas.Add(chartArea11);
legend11.Name = "Legend1";
this.chartMovTensao.Legends.Add(legend11);
chartArea3.Name = "ChartArea1";
this.chartMovTensao.ChartAreas.Add(chartArea3);
legend3.Name = "Legend1";
this.chartMovTensao.Legends.Add(legend3);
this.chartMovTensao.Location = new System.Drawing.Point(4, 4);
this.chartMovTensao.Margin = new System.Windows.Forms.Padding(2);
this.chartMovTensao.Name = "chartMovTensao";
series11.ChartArea = "ChartArea1";
series11.Legend = "Legend1";
series11.Name = "Series1";
this.chartMovTensao.Series.Add(series11);
series3.ChartArea = "ChartArea1";
series3.Legend = "Legend1";
series3.Name = "Series1";
this.chartMovTensao.Series.Add(series3);
this.chartMovTensao.Size = new System.Drawing.Size(474, 336);
this.chartMovTensao.TabIndex = 131;
this.chartMovTensao.Text = "chart1";
@ -2987,17 +2993,17 @@
//
// chartMovGeral
//
chartArea12.Name = "ChartArea1";
this.chartMovGeral.ChartAreas.Add(chartArea12);
legend12.Name = "Legend1";
this.chartMovGeral.Legends.Add(legend12);
chartArea4.Name = "ChartArea1";
this.chartMovGeral.ChartAreas.Add(chartArea4);
legend4.Name = "Legend1";
this.chartMovGeral.Legends.Add(legend4);
this.chartMovGeral.Location = new System.Drawing.Point(4, 4);
this.chartMovGeral.Margin = new System.Windows.Forms.Padding(2);
this.chartMovGeral.Name = "chartMovGeral";
series12.ChartArea = "ChartArea1";
series12.Legend = "Legend1";
series12.Name = "Series1";
this.chartMovGeral.Series.Add(series12);
series4.ChartArea = "ChartArea1";
series4.Legend = "Legend1";
series4.Name = "Series1";
this.chartMovGeral.Series.Add(series4);
this.chartMovGeral.Size = new System.Drawing.Size(474, 311);
this.chartMovGeral.TabIndex = 94;
this.chartMovGeral.Text = "chart1";
@ -3052,17 +3058,17 @@
//
// chartAtuador
//
chartArea13.Name = "ChartArea1";
this.chartAtuador.ChartAreas.Add(chartArea13);
legend13.Name = "Legend1";
this.chartAtuador.Legends.Add(legend13);
chartArea5.Name = "ChartArea1";
this.chartAtuador.ChartAreas.Add(chartArea5);
legend5.Name = "Legend1";
this.chartAtuador.Legends.Add(legend5);
this.chartAtuador.Location = new System.Drawing.Point(4, 276);
this.chartAtuador.Margin = new System.Windows.Forms.Padding(2);
this.chartAtuador.Name = "chartAtuador";
series13.ChartArea = "ChartArea1";
series13.Legend = "Legend1";
series13.Name = "Series1";
this.chartAtuador.Series.Add(series13);
series5.ChartArea = "ChartArea1";
series5.Legend = "Legend1";
series5.Name = "Series1";
this.chartAtuador.Series.Add(series5);
this.chartAtuador.Size = new System.Drawing.Size(489, 241);
this.chartAtuador.TabIndex = 95;
this.chartAtuador.Text = "chart1";
@ -3109,16 +3115,16 @@
//
// chartErvas
//
chartArea14.Name = "ChartArea1";
this.chartErvas.ChartAreas.Add(chartArea14);
legend14.Name = "Legend1";
this.chartErvas.Legends.Add(legend14);
chartArea6.Name = "ChartArea1";
this.chartErvas.ChartAreas.Add(chartArea6);
legend6.Name = "Legend1";
this.chartErvas.Legends.Add(legend6);
this.chartErvas.Location = new System.Drawing.Point(6, 6);
this.chartErvas.Name = "chartErvas";
series14.ChartArea = "ChartArea1";
series14.Legend = "Legend1";
series14.Name = "Series1";
this.chartErvas.Series.Add(series14);
series6.ChartArea = "ChartArea1";
series6.Legend = "Legend1";
series6.Name = "Series1";
this.chartErvas.Series.Add(series6);
this.chartErvas.Size = new System.Drawing.Size(484, 510);
this.chartErvas.TabIndex = 0;
this.chartErvas.Text = "chart1";
@ -3401,17 +3407,17 @@
//
// chartSensoriamento
//
chartArea15.Name = "ChartArea1";
this.chartSensoriamento.ChartAreas.Add(chartArea15);
legend15.Name = "Legend1";
this.chartSensoriamento.Legends.Add(legend15);
chartArea7.Name = "ChartArea1";
this.chartSensoriamento.ChartAreas.Add(chartArea7);
legend7.Name = "Legend1";
this.chartSensoriamento.Legends.Add(legend7);
this.chartSensoriamento.Location = new System.Drawing.Point(2, 4);
this.chartSensoriamento.Margin = new System.Windows.Forms.Padding(2);
this.chartSensoriamento.Name = "chartSensoriamento";
series15.ChartArea = "ChartArea1";
series15.Legend = "Legend1";
series15.Name = "Series1";
this.chartSensoriamento.Series.Add(series15);
series7.ChartArea = "ChartArea1";
series7.Legend = "Legend1";
series7.Name = "Series1";
this.chartSensoriamento.Series.Add(series7);
this.chartSensoriamento.Size = new System.Drawing.Size(491, 389);
this.chartSensoriamento.TabIndex = 95;
this.chartSensoriamento.Text = "chart1";
@ -4127,23 +4133,29 @@
//
// chartCpu
//
chartArea16.Name = "ChartArea1";
this.chartCpu.ChartAreas.Add(chartArea16);
legend16.Name = "Legend1";
this.chartCpu.Legends.Add(legend16);
chartArea8.Name = "ChartArea1";
this.chartCpu.ChartAreas.Add(chartArea8);
legend8.Name = "Legend1";
this.chartCpu.Legends.Add(legend8);
this.chartCpu.Location = new System.Drawing.Point(2, 3);
this.chartCpu.Margin = new System.Windows.Forms.Padding(2);
this.chartCpu.Name = "chartCpu";
series16.ChartArea = "ChartArea1";
series16.Legend = "Legend1";
series16.Name = "Series1";
this.chartCpu.Series.Add(series16);
series8.ChartArea = "ChartArea1";
series8.Legend = "Legend1";
series8.Name = "Series1";
this.chartCpu.Series.Add(series8);
this.chartCpu.Size = new System.Drawing.Size(491, 389);
this.chartCpu.TabIndex = 134;
this.chartCpu.Text = "chart1";
//
// panel6
//
this.panel6.Controls.Add(this.txtVelocidadeControle);
this.panel6.Controls.Add(this.label120);
this.panel6.Controls.Add(this.txtDirecaoControle);
this.panel6.Controls.Add(this.label119);
this.panel6.Controls.Add(this.txtVelocidade);
this.panel6.Controls.Add(this.label118);
this.panel6.Controls.Add(this.txtErvasTerreno);
this.panel6.Controls.Add(this.label116);
this.panel6.Controls.Add(this.txtDuracaoOperacao);
@ -4187,9 +4199,29 @@
this.panel6.Size = new System.Drawing.Size(368, 554);
this.panel6.TabIndex = 3;
//
// txtVelocidade
//
this.txtVelocidade.Location = new System.Drawing.Point(4, 529);
this.txtVelocidade.Margin = new System.Windows.Forms.Padding(2);
this.txtVelocidade.Name = "txtVelocidade";
this.txtVelocidade.ReadOnly = true;
this.txtVelocidade.Size = new System.Drawing.Size(117, 20);
this.txtVelocidade.TabIndex = 64;
this.txtVelocidade.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label118
//
this.label118.AutoSize = true;
this.label118.Location = new System.Drawing.Point(1, 514);
this.label118.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label118.Name = "label118";
this.label118.Size = new System.Drawing.Size(87, 13);
this.label118.TabIndex = 63;
this.label118.Text = "Velocidade Atual";
//
// txtErvasTerreno
//
this.txtErvasTerreno.Location = new System.Drawing.Point(247, 459);
this.txtErvasTerreno.Location = new System.Drawing.Point(247, 454);
this.txtErvasTerreno.Margin = new System.Windows.Forms.Padding(2);
this.txtErvasTerreno.Name = "txtErvasTerreno";
this.txtErvasTerreno.ReadOnly = true;
@ -4200,7 +4232,7 @@
// label116
//
this.label116.AutoSize = true;
this.label116.Location = new System.Drawing.Point(245, 443);
this.label116.Location = new System.Drawing.Point(245, 438);
this.label116.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label116.Name = "label116";
this.label116.Size = new System.Drawing.Size(106, 13);
@ -4209,7 +4241,7 @@
//
// txtDuracaoOperacao
//
this.txtDuracaoOperacao.Location = new System.Drawing.Point(126, 459);
this.txtDuracaoOperacao.Location = new System.Drawing.Point(126, 454);
this.txtDuracaoOperacao.Margin = new System.Windows.Forms.Padding(2);
this.txtDuracaoOperacao.Name = "txtDuracaoOperacao";
this.txtDuracaoOperacao.ReadOnly = true;
@ -4220,7 +4252,7 @@
// label115
//
this.label115.AutoSize = true;
this.label115.Location = new System.Drawing.Point(124, 444);
this.label115.Location = new System.Drawing.Point(124, 439);
this.label115.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label115.Name = "label115";
this.label115.Size = new System.Drawing.Size(113, 13);
@ -4229,7 +4261,7 @@
//
// txtPressao
//
this.txtPressao.Location = new System.Drawing.Point(246, 497);
this.txtPressao.Location = new System.Drawing.Point(246, 492);
this.txtPressao.Margin = new System.Windows.Forms.Padding(2);
this.txtPressao.Name = "txtPressao";
this.txtPressao.ReadOnly = true;
@ -4240,7 +4272,7 @@
// label106
//
this.label106.AutoSize = true;
this.label106.Location = new System.Drawing.Point(244, 481);
this.label106.Location = new System.Drawing.Point(244, 476);
this.label106.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label106.Name = "label106";
this.label106.Size = new System.Drawing.Size(45, 13);
@ -4249,7 +4281,7 @@
//
// txtAltitude
//
this.txtAltitude.Location = new System.Drawing.Point(126, 497);
this.txtAltitude.Location = new System.Drawing.Point(126, 492);
this.txtAltitude.Margin = new System.Windows.Forms.Padding(2);
this.txtAltitude.Name = "txtAltitude";
this.txtAltitude.ReadOnly = true;
@ -4260,7 +4292,7 @@
// label105
//
this.label105.AutoSize = true;
this.label105.Location = new System.Drawing.Point(124, 481);
this.label105.Location = new System.Drawing.Point(124, 476);
this.label105.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label105.Name = "label105";
this.label105.Size = new System.Drawing.Size(42, 13);
@ -4269,7 +4301,7 @@
//
// txtTemperatura
//
this.txtTemperatura.Location = new System.Drawing.Point(4, 497);
this.txtTemperatura.Location = new System.Drawing.Point(4, 492);
this.txtTemperatura.Margin = new System.Windows.Forms.Padding(2);
this.txtTemperatura.Name = "txtTemperatura";
this.txtTemperatura.ReadOnly = true;
@ -4280,7 +4312,7 @@
// label104
//
this.label104.AutoSize = true;
this.label104.Location = new System.Drawing.Point(2, 481);
this.label104.Location = new System.Drawing.Point(2, 476);
this.label104.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label104.Name = "label104";
this.label104.Size = new System.Drawing.Size(67, 13);
@ -4289,7 +4321,7 @@
//
// txtTipoMovimento
//
this.txtTipoMovimento.Location = new System.Drawing.Point(4, 459);
this.txtTipoMovimento.Location = new System.Drawing.Point(4, 454);
this.txtTipoMovimento.Margin = new System.Windows.Forms.Padding(2);
this.txtTipoMovimento.Name = "txtTipoMovimento";
this.txtTipoMovimento.ReadOnly = true;
@ -4300,7 +4332,7 @@
// lblTipoMovimento
//
this.lblTipoMovimento.AutoSize = true;
this.lblTipoMovimento.Location = new System.Drawing.Point(2, 443);
this.lblTipoMovimento.Location = new System.Drawing.Point(2, 438);
this.lblTipoMovimento.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblTipoMovimento.Name = "lblTipoMovimento";
this.lblTipoMovimento.Size = new System.Drawing.Size(98, 13);
@ -4309,7 +4341,7 @@
//
// txtErvasNoRadar
//
this.txtErvasNoRadar.Location = new System.Drawing.Point(246, 421);
this.txtErvasNoRadar.Location = new System.Drawing.Point(246, 416);
this.txtErvasNoRadar.Margin = new System.Windows.Forms.Padding(2);
this.txtErvasNoRadar.Name = "txtErvasNoRadar";
this.txtErvasNoRadar.ReadOnly = true;
@ -4320,7 +4352,7 @@
// label79
//
this.label79.AutoSize = true;
this.label79.Location = new System.Drawing.Point(244, 405);
this.label79.Location = new System.Drawing.Point(244, 400);
this.label79.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label79.Name = "label79";
this.label79.Size = new System.Drawing.Size(81, 13);
@ -4329,7 +4361,7 @@
//
// txtDirecaoCarro
//
this.txtDirecaoCarro.Location = new System.Drawing.Point(125, 421);
this.txtDirecaoCarro.Location = new System.Drawing.Point(125, 416);
this.txtDirecaoCarro.Margin = new System.Windows.Forms.Padding(2);
this.txtDirecaoCarro.Name = "txtDirecaoCarro";
this.txtDirecaoCarro.ReadOnly = true;
@ -4340,7 +4372,7 @@
// label80
//
this.label80.AutoSize = true;
this.label80.Location = new System.Drawing.Point(123, 405);
this.label80.Location = new System.Drawing.Point(123, 400);
this.label80.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label80.Name = "label80";
this.label80.Size = new System.Drawing.Size(72, 13);
@ -4349,7 +4381,7 @@
//
// txtDentroRua
//
this.txtDentroRua.Location = new System.Drawing.Point(4, 421);
this.txtDentroRua.Location = new System.Drawing.Point(4, 416);
this.txtDentroRua.Margin = new System.Windows.Forms.Padding(2);
this.txtDentroRua.Name = "txtDentroRua";
this.txtDentroRua.ReadOnly = true;
@ -4360,7 +4392,7 @@
// label81
//
this.label81.AutoSize = true;
this.label81.Location = new System.Drawing.Point(2, 405);
this.label81.Location = new System.Drawing.Point(2, 400);
this.label81.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label81.Name = "label81";
this.label81.Size = new System.Drawing.Size(77, 13);
@ -4369,7 +4401,7 @@
//
// txtHerbicidaPorErva
//
this.txtHerbicidaPorErva.Location = new System.Drawing.Point(246, 385);
this.txtHerbicidaPorErva.Location = new System.Drawing.Point(246, 380);
this.txtHerbicidaPorErva.Margin = new System.Windows.Forms.Padding(2);
this.txtHerbicidaPorErva.Name = "txtHerbicidaPorErva";
this.txtHerbicidaPorErva.ReadOnly = true;
@ -4380,7 +4412,7 @@
// label77
//
this.label77.AutoSize = true;
this.label77.Location = new System.Drawing.Point(244, 370);
this.label77.Location = new System.Drawing.Point(244, 365);
this.label77.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label77.Name = "label77";
this.label77.Size = new System.Drawing.Size(96, 13);
@ -4389,7 +4421,7 @@
//
// txtHerbicidaConsumido
//
this.txtHerbicidaConsumido.Location = new System.Drawing.Point(246, 349);
this.txtHerbicidaConsumido.Location = new System.Drawing.Point(246, 344);
this.txtHerbicidaConsumido.Margin = new System.Windows.Forms.Padding(2);
this.txtHerbicidaConsumido.Name = "txtHerbicidaConsumido";
this.txtHerbicidaConsumido.ReadOnly = true;
@ -4400,7 +4432,7 @@
// label78
//
this.label78.AutoSize = true;
this.label78.Location = new System.Drawing.Point(244, 334);
this.label78.Location = new System.Drawing.Point(244, 329);
this.label78.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label78.Name = "label78";
this.label78.Size = new System.Drawing.Size(107, 13);
@ -4409,7 +4441,7 @@
//
// txtStatusCarro
//
this.txtStatusCarro.Location = new System.Drawing.Point(125, 385);
this.txtStatusCarro.Location = new System.Drawing.Point(125, 380);
this.txtStatusCarro.Margin = new System.Windows.Forms.Padding(2);
this.txtStatusCarro.Name = "txtStatusCarro";
this.txtStatusCarro.ReadOnly = true;
@ -4420,7 +4452,7 @@
// label75
//
this.label75.AutoSize = true;
this.label75.Location = new System.Drawing.Point(123, 370);
this.label75.Location = new System.Drawing.Point(123, 365);
this.label75.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label75.Name = "label75";
this.label75.Size = new System.Drawing.Size(65, 13);
@ -4429,7 +4461,7 @@
//
// txtStatusOperacao
//
this.txtStatusOperacao.Location = new System.Drawing.Point(4, 385);
this.txtStatusOperacao.Location = new System.Drawing.Point(4, 380);
this.txtStatusOperacao.Margin = new System.Windows.Forms.Padding(2);
this.txtStatusOperacao.Name = "txtStatusOperacao";
this.txtStatusOperacao.ReadOnly = true;
@ -4440,7 +4472,7 @@
// label76
//
this.label76.AutoSize = true;
this.label76.Location = new System.Drawing.Point(2, 370);
this.label76.Location = new System.Drawing.Point(2, 365);
this.label76.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label76.Name = "label76";
this.label76.Size = new System.Drawing.Size(87, 13);
@ -4449,7 +4481,7 @@
//
// txtDistanciaPercorrida
//
this.txtDistanciaPercorrida.Location = new System.Drawing.Point(125, 349);
this.txtDistanciaPercorrida.Location = new System.Drawing.Point(125, 344);
this.txtDistanciaPercorrida.Margin = new System.Windows.Forms.Padding(2);
this.txtDistanciaPercorrida.Name = "txtDistanciaPercorrida";
this.txtDistanciaPercorrida.ReadOnly = true;
@ -4460,7 +4492,7 @@
// label74
//
this.label74.AutoSize = true;
this.label74.Location = new System.Drawing.Point(123, 334);
this.label74.Location = new System.Drawing.Point(123, 329);
this.label74.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label74.Name = "label74";
this.label74.Size = new System.Drawing.Size(102, 13);
@ -4469,7 +4501,7 @@
//
// txtTempoMovimento
//
this.txtTempoMovimento.Location = new System.Drawing.Point(4, 349);
this.txtTempoMovimento.Location = new System.Drawing.Point(4, 344);
this.txtTempoMovimento.Margin = new System.Windows.Forms.Padding(2);
this.txtTempoMovimento.Name = "txtTempoMovimento";
this.txtTempoMovimento.ReadOnly = true;
@ -4480,7 +4512,7 @@
// label73
//
this.label73.AutoSize = true;
this.label73.Location = new System.Drawing.Point(2, 334);
this.label73.Location = new System.Drawing.Point(2, 329);
this.label73.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label73.Name = "label73";
this.label73.Size = new System.Drawing.Size(112, 13);
@ -4489,7 +4521,7 @@
//
// pgbPercentualReservatorio
//
this.pgbPercentualReservatorio.Location = new System.Drawing.Point(246, 313);
this.pgbPercentualReservatorio.Location = new System.Drawing.Point(246, 308);
this.pgbPercentualReservatorio.Margin = new System.Windows.Forms.Padding(2);
this.pgbPercentualReservatorio.Name = "pgbPercentualReservatorio";
this.pgbPercentualReservatorio.Size = new System.Drawing.Size(116, 19);
@ -4498,7 +4530,7 @@
// label72
//
this.label72.AutoSize = true;
this.label72.Location = new System.Drawing.Point(244, 297);
this.label72.Location = new System.Drawing.Point(244, 292);
this.label72.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label72.Name = "label72";
this.label72.Size = new System.Drawing.Size(121, 13);
@ -4507,7 +4539,7 @@
//
// pgbBateriaConsumida
//
this.pgbBateriaConsumida.Location = new System.Drawing.Point(125, 313);
this.pgbBateriaConsumida.Location = new System.Drawing.Point(125, 308);
this.pgbBateriaConsumida.Margin = new System.Windows.Forms.Padding(2);
this.pgbBateriaConsumida.Name = "pgbBateriaConsumida";
this.pgbBateriaConsumida.Size = new System.Drawing.Size(116, 19);
@ -4516,7 +4548,7 @@
// label71
//
this.label71.AutoSize = true;
this.label71.Location = new System.Drawing.Point(123, 297);
this.label71.Location = new System.Drawing.Point(123, 292);
this.label71.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label71.Name = "label71";
this.label71.Size = new System.Drawing.Size(95, 13);
@ -4525,7 +4557,7 @@
//
// pgbPercentualBateria
//
this.pgbPercentualBateria.Location = new System.Drawing.Point(4, 313);
this.pgbPercentualBateria.Location = new System.Drawing.Point(4, 308);
this.pgbPercentualBateria.Margin = new System.Windows.Forms.Padding(2);
this.pgbPercentualBateria.Name = "pgbPercentualBateria";
this.pgbPercentualBateria.Size = new System.Drawing.Size(116, 19);
@ -4534,7 +4566,7 @@
// label70
//
this.label70.AutoSize = true;
this.label70.Location = new System.Drawing.Point(2, 297);
this.label70.Location = new System.Drawing.Point(2, 292);
this.label70.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label70.Name = "label70";
this.label70.Size = new System.Drawing.Size(94, 13);
@ -4594,6 +4626,46 @@
this.btnPlay.UseVisualStyleBackColor = true;
this.btnPlay.Click += new System.EventHandler(this.btnPlay_Click);
//
// txtDirecaoControle
//
this.txtDirecaoControle.Location = new System.Drawing.Point(125, 529);
this.txtDirecaoControle.Margin = new System.Windows.Forms.Padding(2);
this.txtDirecaoControle.Name = "txtDirecaoControle";
this.txtDirecaoControle.ReadOnly = true;
this.txtDirecaoControle.Size = new System.Drawing.Size(117, 20);
this.txtDirecaoControle.TabIndex = 66;
this.txtDirecaoControle.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label119
//
this.label119.AutoSize = true;
this.label119.Location = new System.Drawing.Point(122, 514);
this.label119.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label119.Name = "label119";
this.label119.Size = new System.Drawing.Size(86, 13);
this.label119.TabIndex = 65;
this.label119.Text = "Direção Controle";
//
// txtVelocidadeControle
//
this.txtVelocidadeControle.Location = new System.Drawing.Point(247, 529);
this.txtVelocidadeControle.Margin = new System.Windows.Forms.Padding(2);
this.txtVelocidadeControle.Name = "txtVelocidadeControle";
this.txtVelocidadeControle.ReadOnly = true;
this.txtVelocidadeControle.Size = new System.Drawing.Size(117, 20);
this.txtVelocidadeControle.TabIndex = 68;
this.txtVelocidadeControle.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label120
//
this.label120.AutoSize = true;
this.label120.Location = new System.Drawing.Point(244, 514);
this.label120.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label120.Name = "label120";
this.label120.Size = new System.Drawing.Size(102, 13);
this.label120.TabIndex = 67;
this.label120.Text = "Velocidade Controle";
//
// frmResultadosOperacao
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@ -5080,5 +5152,11 @@
private System.Windows.Forms.Label lblATU_QualidadeWifi;
private System.Windows.Forms.Label lblSEN_LatenciaLoop;
private System.Windows.Forms.Label lblSEN_QualidadeWifi;
private System.Windows.Forms.TextBox txtVelocidade;
private System.Windows.Forms.Label label118;
private System.Windows.Forms.TextBox txtDirecaoControle;
private System.Windows.Forms.Label label119;
private System.Windows.Forms.TextBox txtVelocidadeControle;
private System.Windows.Forms.Label label120;
}
}

25
AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
View File

@ -750,6 +750,8 @@ namespace AgroBase.Forms.Operacoes
private void AtualizarInformacoesOperacao()
{
var Log = LogsOperacao[idxMomentoAtual];
double velocidadeBld = LogsMovimentacao.Where(x => x.Momento == MomentoAtual).Average(x => x.Velocidade);
double velocidadeBldCalc = LogsMovimentacao.Any(x => x.Momento == MomentoAtual && x.Ativado) ? FuncoesMatematicas.CalculaVelocidadeRPM(LogsMovimentacao.Where(x => x.Momento == MomentoAtual && x.Ativado).Average(x => x.RPM_Motor)) : 0;
FuncoesGlobais.PreencheValorProgressBar(pgbPercentualBateria, Log.PorcentagemBateria);
FuncoesGlobais.PreencheValorProgressBar(pgbBateriaConsumida, Log.BateriaConsumida);
txtTempoMovimento.Text = FuncoesGlobais.ConverterSegundosParaHHmmss((int)Log.TempoMovimento);
@ -763,6 +765,9 @@ namespace AgroBase.Forms.Operacoes
txtErvasNoRadar.Text = Log.ErvasNoRadar.ToString();
txtErvasTerreno.Text = Log.PercentualErvasTerreno.ToString("0.00");
txtTipoMovimento.Text = Log.TipoMovimento.ToString();
txtVelocidade.Text = velocidadeBld.ToString("0.00") + " km/h (" + (velocidadeBld / 3.6).ToString("0.00") + " m/s)";
txtDirecaoControle.Text = Log.Controle.Direcao.ToString();
txtVelocidadeControle.Text = (Log.Controle.PercentualVelocidadeSP / VariaveisEquipamento.RPM_Max_Roda * 100).ToString() + " rpm";
TimeSpan duracaoOperacao = LogsOperacao.First().Momento - Log.Momento;
txtDuracaoOperacao.Text = duracaoOperacao.ToString(@"hh\:mm\:ss");
@ -819,7 +824,7 @@ namespace AgroBase.Forms.Operacoes
txtGPS_Orientacao.Text = (Log?.Orientacao ?? 0).ToString();
txtGPS_Precisao.Text = (Log?.PrecisaoHorizontal ?? 0).ToString();
txtGPS_Satelites.Text = (Log?.NumeroSatelites ?? 0).ToString();
txtGPS_Velocidade.Text = (Log?.Velocidade ?? 0).ToString();
txtGPS_Velocidade.Text = (Log?.Velocidade ?? 0).ToString("0.00") + " (" + ((Log?.Velocidade ?? 0) * GPSService.ConversaoNosKmh).ToString("0.00") + " km/h)";
int ID = Convert.ToInt32(Variaveis.IsAgroMonitor ? Variaveis.OperacaoEmAndamento.DispSen.Dados.LoRaParametrosBase.address : Variaveis.ConexaoLoRa.parametros.address);
GPSService.EnviarCoordenadasParaMapa(Log?.Latitude ?? 0, Log?.Longitude ?? 0, Log?.Orientacao ?? 0, true, ID);
@ -1133,15 +1138,25 @@ namespace AgroBase.Forms.Operacoes
private void pnlOrientacaoGPS_Paint(object sender, PaintEventArgs e)
{
var Log = LogsGPS.FirstOrDefault(x => x.Momento == MomentoAtual);
int idx = LogsGPS.IndexOf(Log);
double Angulo = Log?.Orientacao ?? 0;
FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)Angulo, 90);
double AnguloCalculado = idx <= 0 ? Angulo : GPSService.CalcularOrientacao(LogsGPS[idx - 1], Log);
FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)Angulo, 90, (float)AnguloCalculado);
}
private void pnlOrientacaoMagnetometro_Paint(object sender, PaintEventArgs e)
{
var Log = LogsOperacao.FirstOrDefault(x => x.Momento == MomentoAtual);
double Angulo = (Log?.AnguloCarroBussola ?? 0);
FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)Angulo, 90);
var LogWit = LogsOperacao.FirstOrDefault(x => x.Momento == MomentoAtual);
double AnguloWit = (LogWit?.AnguloCarroBussola ?? 0);
var LogGps = LogsGPS.FirstOrDefault(x => x.Momento == MomentoAtual);
int idxGps = LogsGPS.IndexOf(LogGps);
double AnguloGps = LogGps?.Orientacao ?? 0;
double distGps = idxGps <= 0 ? 0 : GPSService.DistanciaEntrePontos(LogGps, LogsGPS[idxGps - 1]);
double anguloUnificado = GPSService.UnificarAngulos(AnguloWit, AnguloGps, distGps);
FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)AnguloWit, 90, (float)anguloUnificado);
}
private void pnlOrientacaoCaminho_Paint(object sender, PaintEventArgs e)

1
AgroBase/AgroBase/Forms/frmInstancial.cs
View File

@ -155,6 +155,7 @@ namespace AgroBase.Forms
private static async Task tmrMonitoramentoRecursos_Tick()
{
return;
// Threads ativas no processo
int activeThreads = Process.GetCurrentProcess().Threads.Count;

27
AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs generated
View File

@ -29,7 +29,9 @@
private void InitializeComponent()
{
this.pnlOpcoes = new System.Windows.Forms.Panel();
this.lblQtdErro = new System.Windows.Forms.Label();
this.chbAutomatico = new System.Windows.Forms.CheckBox();
this.txtQtdErro = new System.Windows.Forms.TextBox();
this.lblTempoEstimado = new System.Windows.Forms.Label();
this.lblStatusOperacao = new System.Windows.Forms.Label();
this.lblDistanciaLateral = new System.Windows.Forms.Label();
@ -90,7 +92,9 @@
//
// pnlOpcoes
//
this.pnlOpcoes.Controls.Add(this.lblQtdErro);
this.pnlOpcoes.Controls.Add(this.chbAutomatico);
this.pnlOpcoes.Controls.Add(this.txtQtdErro);
this.pnlOpcoes.Controls.Add(this.lblTempoEstimado);
this.pnlOpcoes.Controls.Add(this.lblStatusOperacao);
this.pnlOpcoes.Controls.Add(this.lblDistanciaLateral);
@ -110,6 +114,16 @@
this.pnlOpcoes.Size = new System.Drawing.Size(1379, 100);
this.pnlOpcoes.TabIndex = 0;
//
// lblQtdErro
//
this.lblQtdErro.AutoSize = true;
this.lblQtdErro.Location = new System.Drawing.Point(1030, 20);
this.lblQtdErro.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblQtdErro.Name = "lblQtdErro";
this.lblQtdErro.Size = new System.Drawing.Size(45, 13);
this.lblQtdErro.TabIndex = 29;
this.lblQtdErro.Text = "Qtd erro";
//
// chbAutomatico
//
this.chbAutomatico.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right)));
@ -121,6 +135,17 @@
this.chbAutomatico.TabIndex = 30;
this.chbAutomatico.Text = "Atualização Automática";
this.chbAutomatico.UseVisualStyleBackColor = true;
this.chbAutomatico.CheckedChanged += new System.EventHandler(this.chbAutomatico_CheckedChanged);
//
// txtQtdErro
//
this.txtQtdErro.Location = new System.Drawing.Point(1032, 35);
this.txtQtdErro.Margin = new System.Windows.Forms.Padding(2);
this.txtQtdErro.Name = "txtQtdErro";
this.txtQtdErro.Size = new System.Drawing.Size(54, 20);
this.txtQtdErro.TabIndex = 28;
this.txtQtdErro.Text = "1";
this.txtQtdErro.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// lblTempoEstimado
//
@ -793,5 +818,7 @@
private System.Windows.Forms.Label lblStatusOperacao;
private System.Windows.Forms.Label lblTempoEstimado;
private System.Windows.Forms.CheckBox chbAutomatico;
private System.Windows.Forms.Label lblQtdErro;
private System.Windows.Forms.TextBox txtQtdErro;
}
}

32
AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs
View File

@ -1,6 +1,7 @@
using AgroBase.Models;
using AgroBase.Services;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Drawing2D;
using System.Linq;
@ -19,6 +20,9 @@ namespace AgroBase.Forms
bool parar = false;
DateTime UltimaAtualizacao = DateTime.MinValue;
Queue<double> historicoAngulosControle = new Queue<double>();
Queue<double> historicoAngulosCarro = new Queue<double>();
public frmSimulacaoMapaGPS()
{
InitializeComponent();
@ -34,7 +38,7 @@ namespace AgroBase.Forms
private void frmSimulacaoMapaGPS_Load(object sender, EventArgs e)
{
tmrLeitura = new AsyncTaskTimerModel("tmrLeitura", tmrLeitura_Tick, 500, this);
tmrLeitura = new AsyncTaskTimerModel("tmrLeitura", tmrLeitura_Tick, 1000, this);
tmrLeitura.Start();
Variaveis.OperacaoEmAndamento.Mapa = new MapasModel()
@ -320,15 +324,30 @@ namespace AgroBase.Forms
{
Variaveis.OperacaoEmAndamento.OpMapaGPS.CalculaDadosMovimentacaoAutonoma();
int errosConsiderar = int.Parse(txtQtdErro.Text);
if (calc)
{
double anguloAtual = double.Parse(txtAnguloGPS.Text);
double novoAngulo = (anguloAtual + Variaveis.OperacaoEmAndamento.Controle.Angulo) % 360;
txtAnguloGPS.Text = novoAngulo.ToString("0.00");
if (historicoAngulosCarro.Count >= (errosConsiderar + 1))
historicoAngulosCarro.Dequeue(); // Remove o valor mais antigo
historicoAngulosCarro.Enqueue(novoAngulo);
double anguloCarro = historicoAngulosCarro.Peek(); // Valor de 5 ciclos atrás
txtAnguloGPS.Text = anguloCarro.ToString("0.00");
}
double anguloControle = Variaveis.OperacaoEmAndamento.Controle.Angulo;
txtAnguloControle.Text = anguloControle.ToString("0.00");
if (historicoAngulosControle.Count >= errosConsiderar && errosConsiderar > 0)
historicoAngulosControle.Dequeue(); // Remove o valor mais antigo
historicoAngulosControle.Enqueue(anguloControle);
double anguloAtrasado = historicoAngulosControle.Peek(); // Valor de 5 ciclos atrás
txtAnguloControle.Text = anguloAtrasado.ToString("0.00");
double velocidade = FuncoesMatematicas.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.Controle.RPM_SP);
double velocidadeMs = FuncoesMatematicas.ConverteKmhParaMs(velocidade);
@ -349,5 +368,12 @@ namespace AgroBase.Forms
Variaveis.OperacaoEmAndamento.Controle.SonarAtivado = ((CheckBox)sender).Checked;
}
private void chbAutomatico_CheckedChanged(object sender, EventArgs e)
{
if (chbAutomatico.Checked)
{
UltimaAtualizacao = DateTime.Now.AddSeconds(-1);
}
}
}
}

12
AgroBase/AgroBase/Models/GeneralJoystick.cs
View File

@ -476,14 +476,16 @@ namespace AgroBase
public static void EnviaComandoMotor(Keys Tecla, T_Code Disp = T_Code.Vzo, bool ForcarComando = false)
{
// Verifica se deve interromper o fluxo
// interrompe se nao estiver diagnosticando, nao forca o envio, e se o modo for manual vai verificar o status da operacao e do sonar, pois automatico faz esse controle em outro lugar
bool deveInterromper =
!frmDiagnosticos.Diagnosticando && !ForcarComando &&
(
MKS057DService.Referenciando ||
!Variaveis.OperacaoEmAndamento.OperacaoLiberada ||
!Variaveis.OperacaoEmAndamento.Iniciado ||
//Variaveis.OperacaoEmAndamento.Modo != ModoOperacao.Manual ||
!VerificaComandoValidoSonar(Tecla)
Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.Manual && (
MKS057DService.Referenciando ||
!Variaveis.OperacaoEmAndamento.OperacaoLiberada ||
!Variaveis.OperacaoEmAndamento.Iniciado ||
!VerificaComandoValidoSonar(Tecla)
)
);
if (deveInterromper)

9
AgroBase/AgroBase/Models/MapasModel.cs
View File

@ -134,7 +134,7 @@ namespace AgroBase.Models
var a = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, pontoA);
var b = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, pontoB);
double margem = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS._EtapaAtual == StatusCarroMapa.CaminhandoRua ? 0.000005 : 0.000001;
double margem = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS._EtapaAtual == StatusCarroMapa.CaminhandoRua ? 0.00001 : 0.000001;
// Verifica se a posição atual está entre os pontos A e B da trajetória
if (GPSService.EstaEntrePontos(GPSService.UltimaLeitura, pontoA, pontoB, margem))
@ -1009,15 +1009,16 @@ namespace AgroBase.Models
});
Variaveis.OperacaoEmAndamento.Mapa.IdxUltimoPontoTrajetoriaDinamica = 0;
if (KinectService.Iniciado && KinectService.Leitura.StatusDetecao)
var sonar = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect;
if (Variaveis.OperacaoEmAndamento.Controle.SonarAtivado && (sonar?.Iniciado ?? false) && (sonar?.DesvioNecessario ?? false))
{
if (Variaveis.OperacaoEmAndamento.OpMapaGPS.StatusDentroRua.Contains(statusCarro))
if (sonar.DirecaoDesvio == Direcao.Parado || Variaveis.OperacaoEmAndamento.OpMapaGPS.StatusDentroRua.Contains(statusCarro))
{
TrajetoriaDinamica.Clear();
}
else
{
AjustarTrajetoriaParaDesvio(KinectService.Leitura.ObstaculoCritico);
AjustarTrajetoriaParaDesvio(sonar.ObstaculoCritico);
}
}
}

12
AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
View File

@ -248,10 +248,12 @@ namespace AgroBase.Models.Modules
if (UltimaDirecao != Direcao.Parado)
{
TempoEmAtividade++;
double VelocidadeMedia = Modulos.Where(x => x.Conectado).Average(x => x.MovMotor.VelocidadeInstantanea * _TaxaAmostragem / 3600.0);
DistanciaPercorridaTotal += 1 * VelocidadeMedia;
DistanciaPercorridaParcial += (UltimaDirecao == Direcao.Frente ? 1 : UltimaDirecao == Direcao.Tras ? -1 : 0) * VelocidadeMedia;
DistanciaPercorridaOperacao += 1 * VelocidadeMedia;
double VelocidadeMedia = Modulos.Where(x => x.Conectado && x.MovMotor.ComandoLigado).DefaultIfEmpty().Average(x => x?.MovMotor?.VelocidadeInstantanea ?? 0);
VelocidadeMedia /= 3.6; // converter de km/h para m/s
double tempo = _TaxaAmostragem / 1000;
DistanciaPercorridaTotal += tempo * VelocidadeMedia;
DistanciaPercorridaParcial += (UltimaDirecao == Direcao.Frente ? tempo : UltimaDirecao == Direcao.Tras ? -tempo : 0) * VelocidadeMedia;
DistanciaPercorridaOperacao += tempo * VelocidadeMedia;
Variaveis.OperacaoEmAndamento.Sensoriamento.VelocidadeMedia = VelocidadeMedia;
}
}
@ -674,7 +676,7 @@ namespace AgroBase.Models.Modules
{
get
{
return FuncoesMatematicas.CalculaVelocidadeRPM(RPM_Roda);
return FuncoesMatematicas.CalculaVelocidadeRPM(RPM_Motor);
}
}

21
AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs
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@ -58,7 +58,7 @@ namespace AgroBase.Models.Operacoes
// Atualiza o PID com o erro combinado
if (statusCarroRua != StatusCarroMapa.Parado)
{
Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Atualizar(erroCombinado);
Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Atualizar(erroCombinado, 0);
}
double correcaoAngulo = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Saida;
@ -212,6 +212,7 @@ namespace AgroBase.Models.Operacoes
CalcularAnguloInclinacao(statusAtual);
var Controle = Variaveis.OperacaoEmAndamento.Controle;
double limiteAnguloVelocidadeMin = Controle.Angulo_Max * 0.2;
if (statusAtual == StatusCarroMapa.Parado)
{
@ -234,7 +235,7 @@ namespace AgroBase.Models.Operacoes
{
Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
}
else if (Math.Abs(Controle.Angulo) > (Controle.Angulo_Max * 0.4))
else if (Math.Abs(Controle.Angulo) > limiteAnguloVelocidadeMin)
{
Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
}
@ -265,7 +266,11 @@ namespace AgroBase.Models.Operacoes
}
else if (statusAtual == StatusCarroMapa.CaminhandoRua)
{
if (Sensoriamento.ErvasNoRadar == 0)
if (Math.Abs(Controle.Angulo) > limiteAnguloVelocidadeMin)
{
Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
}
else if (Sensoriamento.ErvasNoRadar == 0)
{
Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMax;
}
@ -273,12 +278,6 @@ namespace AgroBase.Models.Operacoes
{
Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMax * 0.85;
}
double margemAngulo = 5;
if (Controle.Angulo > margemAngulo || Controle.Angulo < (margemAngulo * -1))
{
Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
}
}
else if (statusAtual == StatusCarroMapa.Manobrando)
{
@ -357,7 +356,9 @@ namespace AgroBase.Models.Operacoes
if (dentroDaRua)
{
if (KinectService.Iniciado && Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect.StatusDetecao)
var sonar = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect;
// se o carro estiver dentro da rua, o sonar estiver ativado, o kinect estiver iniciado, o desvio for necessario, a direcao do desvio seja Parado
if (Variaveis.OperacaoEmAndamento.Controle.SonarAtivado && (sonar?.Iniciado ?? false) && (sonar?.DesvioNecessario ?? false))
{
_EtapaAtual = StatusCarroMapa.Parado;
}

13
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
View File

@ -973,9 +973,9 @@ namespace AgroBase.Models
{
LimiteSaida = Controle.Angulo_Max,
SetPoint = 0,
Kp = 1.0,
Ki = 0.1,
Kd = 0.01,
Kp = 0.7,
Ki = 0.05,
Kd = 0.1
};
}
@ -2024,9 +2024,9 @@ namespace AgroBase.Models
Angulo = Modulo.DirMotor.Angulo,
Angulo_SP = Modulo.DirMotor.Angulo_SP,
Controlar = Modulo.DirMotor.Comandar,
Sentido_SP = Modulo.MovMotor.Sentido_SP,
Sentido = Modulo.MovMotor.Sentido,
Velocidade = Modulo.MovMotor.VelocidadeInstantanea,
Sentido_SP = Modulo.DirMotor.Sentido_SP,
Sentido = Modulo.DirMotor.Sentido,
Velocidade = Modulo.DirMotor.Velocidade,
UltimoComandoRespondido = Modulo.DirMotor.Leitura?.UltimoComandoRecebido ?? DateTime.MinValue,
};
SalvarLog(T_Code.Dir.ToString(), logDir, false);
@ -3041,6 +3041,7 @@ namespace AgroBase.Models
public double DistanciaEsquerda { get; set; } = 0;
public double DistanciaDireita { get; set; } = 0;
public double AnguloCarroGPS { get; set; } = 0.0;
public double DistAnguloCarroGPS { get; set; } = 0.0;
public double AnguloCarroBussola { get; set; } = 0;
public double AnguloCarro { get; set; } = 0.0;
public KinectModel SonarFrontal_Kinect { get; set; } = null;

52
AgroBase/AgroBase/Models/PIDModel.cs
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@ -12,28 +12,49 @@ namespace AgroBase.Models
public double Kd { get; set; } = 0.01;
private double erroAnterior = 0.0;
private double somaErro = 0.0;
public double LimiteSaida { get; set; } = 100.0; // Define o limite máximo para a saída do PID
public double LimiteSomaErro { get; set; } = 50.0; // Define o limite para a soma do erro (wind-up)
public double LimiteSaida { get; set; } = 100.0; // Limite máximo para a saída do PID
public double LimiteSomaErro { get; set; } = 50.0; // Limite para a soma do erro (anti-wind-up)
private DateTime ultimaAtualizacao; // Armazena o timestamp da última atualização
public void Atualizar(double valorAtual, double setPoint = 0)
public void Atualizar(double valorAtual, double setPoint, double deltaTime)
{
SetPoint = setPoint;
ValorAtual = valorAtual;
double erro = SetPoint - ValorAtual;
if (erro != erroAnterior)
// Atualiza a soma do erro considerando o intervalo de tempo
somaErro += erro * deltaTime;
somaErro = Math.Max(Math.Min(somaErro, LimiteSomaErro), -LimiteSomaErro); // Anti-wind-up
// Calcula a taxa de variação do erro (termo derivativo)
double deltaErro = (erro - erroAnterior) / deltaTime;
// Calcula a saída do PID
double saidaTemp = (Kp * erro) + (Ki * somaErro) + (Kd * deltaErro);
// Limita a saída do PID
Saida = Math.Max(Math.Min(saidaTemp, LimiteSaida), -LimiteSaida);
// Atualiza o erro anterior
erroAnterior = erro;
}
public void Atualizar(double valorAtual, double setPoint)
{
if (ultimaAtualizacao == DateTime.MinValue)
{
// Atualiza a soma do erro com limitação para prevenir wind-up
somaErro = Math.Max(Math.Min(somaErro + erro, LimiteSomaErro), -LimiteSomaErro);
double deltaErro = erro - erroAnterior;
double saidaTemp = (Kp * erro) + (Ki * somaErro) + (Kd * deltaErro);
// Limita a saída do PID
Saida = Math.Max(Math.Min(saidaTemp, LimiteSaida), -LimiteSaida);
erroAnterior = erro;
// Inicializa o timestamp se for a primeira chamada
ultimaAtualizacao = DateTime.Now;
}
// Calcula o tempo decorrido desde a última atualização
double deltaTime = (DateTime.Now - ultimaAtualizacao).TotalSeconds;
// Atualiza o PID usando o tempo calculado
Atualizar(valorAtual, setPoint, deltaTime);
// Atualiza o timestamp
ultimaAtualizacao = DateTime.Now;
}
public void Resetar()
@ -41,6 +62,7 @@ namespace AgroBase.Models
erroAnterior = 0.0;
somaErro = 0.0;
Saida = 0.0;
ultimaAtualizacao = DateTime.MinValue; // Reinicia o timestamp
}
}
}
}

79
AgroBase/AgroBase/Services/GPSService.cs
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@ -36,6 +36,8 @@ namespace AgroBase.Services
public static GPSModel PenultimaLeitura = new GPSModel();
public static double RaioDaTerra = 6378137; // Raio da Terra em Km
public static double ConversaoNosKmh = 1.852;
public static double ConversaoNosMs = 0.514;
public static void AtualizarPortaCOM(SerialPort Porta)
{
@ -730,6 +732,7 @@ namespace AgroBase.Services
{
int PontosConsiderarAngulo = 2;
double Angulo = 0.0;
double DistAngulo = 0.0;
int Indice = Variaveis.OperacaoEmAndamento.Mapa.mapaService.MapaUrl != "" ? Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual : 0;
@ -752,6 +755,7 @@ namespace AgroBase.Services
for (int i = 0; i < Pontos.Count() - 1; i++)
{
somaAngulo += CalcularOrientacao(Pontos[i], Pontos[i + 1]);
DistAngulo += DistanciaEntrePontos(Pontos[i], Pontos[i + 1]);
}
double mediaAngulo = somaAngulo / (Pontos.Count() - 1);
@ -760,29 +764,94 @@ namespace AgroBase.Services
catch
{
Angulo = 0.0;
DistAngulo = 0.0;
}
Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS = Angulo;
Variaveis.OperacaoEmAndamento.Sensoriamento.DistAnguloCarroGPS = DistAngulo;
DefinirAnguloCarro();
}
public static void DefinirAnguloCarro()
{
double Angulo = 0.0;
double anguloFinal = 0.0;
if (WT901CService.Iniciado || (Variaveis.OperacaoEmAndamento.DispSen?.Dados?.Sensores?.Any(x => x.Componente == S_Code.sMAG && x.Inicializado) ?? false))
bool witIniciado = WT901CService.Iniciado;
bool gpsIniciado = Iniciado;
if (witIniciado && gpsIniciado)
{
Angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola;
// Obtém os ângulos de ambos os sensores
double anguloWT901C = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola;
double anguloGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS;
double distAnguloGPS = Variaveis.OperacaoEmAndamento.Sensoriamento.DistAnguloCarroGPS;
anguloFinal = UnificarAngulos(anguloWT901C, anguloGPS, distAnguloGPS);
}
else if (witIniciado)
{
// Apenas o WT901C está disponível
anguloFinal = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola;
}
else
{
Angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS;
// Apenas o GPS está disponível
anguloFinal = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS;
}
Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro = Angulo;
// Atualiza o ângulo final
Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro = anguloFinal;
}
public static double UnificarAngulos(double anguloWT901C, double anguloGPS, double distGPS)
{
double anguloFinal = 0.0;
double difMax = 50.0; // Diferença angular máxima permitida
double pesoMaxGps = 0.7; // Peso máximo do GPS
double distanciaMaxima = 2.0; // Distância em metros para atingir pesoMaxGps
bool pesoGpsCrescente = true;
// Calcula a diferença absoluta entre os ângulos nos dois sentidos
double diferencaHorario = (anguloWT901C - anguloGPS + 360) % 360;
double diferencaAntihorario = (anguloGPS - anguloWT901C + 360) % 360;
double diferencaAngulo = Math.Min(diferencaHorario, diferencaAntihorario);
// Apenas combina os ângulos se a diferença for menor que o limite
if (diferencaAngulo <= difMax)
{
// Calcula o peso do GPS baseado na diferença angular e na distância
double pesoAngular = Math.Pow((pesoGpsCrescente ? 0 : -1) + (diferencaAngulo / difMax), 2); // Curva quadrática para a diferença angular
double pesoDistancia = Math.Min(distGPS / distanciaMaxima, 1.0); // Peso crescente baseado na distância
// Combina os dois pesos para determinar o peso final do GPS
double pesoGPS = Math.Min(pesoAngular + pesoDistancia, pesoMaxGps);
double pesoWT901C = 1 - pesoGPS; // Complementar do peso do GPS
// Converte os ângulos para coordenadas no círculo unitário
double xWT901C = Math.Cos(Math.PI * anguloWT901C / 180.0);
double yWT901C = Math.Sin(Math.PI * anguloWT901C / 180.0);
double xGPS = Math.Cos(Math.PI * anguloGPS / 180.0);
double yGPS = Math.Sin(Math.PI * anguloGPS / 180.0);
// Combina as coordenadas utilizando os pesos
double xFinal = (pesoWT901C * xWT901C) + (pesoGPS * xGPS);
double yFinal = (pesoWT901C * yWT901C) + (pesoGPS * yGPS);
// Converte o vetor resultante de volta para um ângulo em graus
anguloFinal = (Math.Atan2(yFinal, xFinal) * 180.0 / Math.PI + 360) % 360;
}
else
{
// Prioriza o WT901C se a diferença for muito grande
anguloFinal = anguloWT901C;
}
return anguloFinal;
}
}
}

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AgroBase/AgroBase/bin/Debug/Mapas/09_08_2024_11_02_58.json
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AgroBase/AgroBase/bin/Debug/Mapas/09_08_2024_12_33_15.json
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AgroBase/AgroBase/bin/Debug/Mapas/09_08_2024_13_03_12.json
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AgroBase/AgroBase/bin/Debug/Mapas/09_08_2024_13_05_08.json
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AgroBase/AgroBase/bin/Debug/Mapas/09_08_2024_13_09_20.json
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