ajustes can e regras de atuacao de bicos
This commit is contained in:
Diego Freitas
parent
b8ea15d2f3
commit
75bb0558c5
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@ -62,7 +62,10 @@ namespace AgroBase.Models
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get
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{
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var motivos = HealthWorkerService.ModulosSaude.FirstOrDefault(x => x.modulo == Dispositivo)?.motivos ?? new System.Collections.Generic.List<string>();
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return string.Join(", ", motivos);
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var cond_op = HealthWorkerService.ModulosSaude.FirstOrDefault(x => x.modulo == Dispositivo)?.condicoes_operacionais?.Select(x => x.descricao) ?? new System.Collections.Generic.List<string>();
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string motivos_str = string.Join(", ", motivos);
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string cond_op_str = string.Join(", ", cond_op);
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return motivos_str + (motivos.Any() && cond_op.Any() ? ", " : "") + cond_op_str;
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}
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}
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}
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@ -1715,6 +1715,7 @@ namespace AgroBase.Models
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Variaveis.OperacaoEmAndamento.AtualizarDadosContexto();
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VisualWorkerService.AtualizarAnalise();
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WeedWorkerService.AtualizarAnalise();
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GPSService.AtualizaDadosRedis();
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var _Trajetoria = Variaveis.OperacaoEmAndamento.Trajetoria;
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var _DispMvd = Variaveis.OperacaoEmAndamento.DispMvd;
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@ -129,8 +129,8 @@ namespace AgroBase.Models.Operadores
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return new WeedWorkerAnaliseEstatisticasBicosModel()
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{
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larguras = new List<double>(larguras),
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contagem_cana_frac_por_bico = new List<double>(contagem_cana_frac_por_bico),
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contagem_cana_px_por_bico = new List<double>(contagem_cana_px_por_bico),
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contagem_cana_frac_por_bico = new List<double>(contagem_cana_frac_por_bico ?? new List<double>()),
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contagem_cana_px_por_bico = new List<double>(contagem_cana_px_por_bico ?? new List<double>()),
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faixa = faixa?.Clone()
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};
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}
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@ -47,7 +47,6 @@ namespace AgroBase.Services
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private static bool LoopRTK_Ntrip = false;
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public static bool CorrecaoRTK_Ntrip = false;
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public static DateTime UltimoEnvioCorrecaoRTK = DateTime.MinValue;
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private static AsyncTaskTimerModel tmrHeartbeat;
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public static void AtualizarPortaCOM(SerialPort Porta)
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{
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@ -77,9 +76,6 @@ namespace AgroBase.Services
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{
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Task.Run(async () => await AplicarCorrecaoRTK_Ntrip());
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}
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tmrHeartbeat?.Dispose();
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tmrHeartbeat = new AsyncTaskTimerModel("tmrHeartbeatGps", tmrHeartbeat_Tick, 500);
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tmrHeartbeat.Start();
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}
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}
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@ -1211,12 +1207,7 @@ namespace AgroBase.Services
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}
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private static async Task tmrHeartbeat_Tick()
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{
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AtualizaDadosRedis();
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}
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private static void AtualizaDadosRedis()
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public static void AtualizaDadosRedis()
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{
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GPSModel posicaoAtual = Variaveis.OperacaoEmAndamento.Simulando ? historicoPosicao.Peek() : UltimaLeitura;
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@ -34,7 +34,7 @@ namespace AgroBase.Services
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{
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get
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{
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return Referenciando ? 250 : 1000;
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return Referenciando ? 250 : 2000;
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}
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}
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@ -445,7 +445,8 @@ namespace AgroBase.Services
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}
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}
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if (!CanManager.CanService.Iniciado)
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//if (!CanManager.CanService.Iniciado && CanManager.UseCanSerial)
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if (CanManager.UseCanSerial && !CanManager.CanService.Iniciado)
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{
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CanManager.CanService.Fechar();
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}
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@ -2,6 +2,7 @@
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using System;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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using System.Threading;
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using System.Threading.Tasks;
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public class WaveshareCANFDService
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@ -36,6 +37,7 @@ public class WaveshareCANFDService
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// versão do callback por lote com contagem
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public delegate void FramesBatchHandler(VCI_CAN_OBJ[] frames);
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private readonly object _canLock = new object();
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public bool IsOpen => isOpen;
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public int Canal => ((int)channelIndex + 1);
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@ -88,6 +90,8 @@ public class WaveshareCANFDService
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[DllImport("ControlCANFD.dll", CallingConvention = CallingConvention.StdCall)]
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public static extern uint VCI_StartCAN(uint DeviceType, uint DeviceInd, uint CANInd);
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[DllImport("ControlCANFD.dll", CallingConvention = CallingConvention.StdCall)]
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public static extern uint VCI_ResetCAN(uint DeviceType, uint DeviceInd, uint CANInd);
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[DllImport("ControlCANFD.dll", CallingConvention = CallingConvention.StdCall)]
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public static extern uint VCI_ClearBuffer(uint DeviceType, uint DeviceInd, uint CANInd);
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[DllImport("ControlCANFD.dll", CallingConvention = CallingConvention.StdCall)]
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@ -298,25 +302,55 @@ public class WaveshareCANFDService
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private bool InitAndStartCAN()
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{
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// reconfigura baud FD
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uint baud = MapToFdBaudCode(_lastKbps);
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if (VCI_SetReference(DEVICE_TYPE, DEVICE_INDEX, channelIndex, 0, ref baud) != 1)
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return false;
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var cfg = new VCI_INIT_CONFIG
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lock (_canLock)
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{
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AccCode = 0,
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AccMask = 0xFFFFFFFF,
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Reserved = 0,
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Filter = 0,
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Timing0 = 0,
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Timing1 = 0,
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Mode = 0
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};
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if (VCI_InitCAN(DEVICE_TYPE, DEVICE_INDEX, channelIndex, ref cfg) != 1)
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return false;
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// 1) Garante canal parado antes de mexer no baud
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VCI_ResetCAN(DEVICE_TYPE, DEVICE_INDEX, channelIndex); // ignora retorno
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VCI_CloseDevice(DEVICE_TYPE, DEVICE_INDEX); // fecha handle antigo (se existir)
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Thread.Sleep(100);
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return VCI_StartCAN(DEVICE_TYPE, DEVICE_INDEX, channelIndex) == 1;
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if (VCI_OpenDevice(DEVICE_TYPE, DEVICE_INDEX, 0) != 1)
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return false;
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// 2) Tenta configurar baud com retry curto
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uint baud = MapToFdBaudCode(_lastKbps);
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for (int i = 0; i < 3; i++)
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{
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if (VCI_SetReference(DEVICE_TYPE, DEVICE_INDEX, channelIndex, 0, ref baud) == 1)
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break;
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Thread.Sleep(50);
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if (i == 2) { VCI_CloseDevice(DEVICE_TYPE, DEVICE_INDEX); return false; }
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}
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// 3) Init + Start
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var cfg = new VCI_INIT_CONFIG
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{
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AccCode = 0,
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AccMask = 0xFFFFFFFF,
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Reserved = 0,
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Filter = 0, // filtro aberto
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Timing0 = 0,
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Timing1 = 0,
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Mode = 0 // normal (não listen-only)
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};
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if (VCI_InitCAN(DEVICE_TYPE, DEVICE_INDEX, channelIndex, ref cfg) != 1)
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{
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VCI_CloseDevice(DEVICE_TYPE, DEVICE_INDEX);
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return false;
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}
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// Opcional: VCI_ClearBuffer antes de Start
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// VCI_ClearBuffer(DEVICE_TYPE, DEVICE_INDEX, channelIndex);
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if (VCI_StartCAN(DEVICE_TYPE, DEVICE_INDEX, channelIndex) != 1)
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{
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VCI_CloseDevice(DEVICE_TYPE, DEVICE_INDEX);
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return false;
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}
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return true;
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}
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}
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private bool HardReopen()
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@ -29,5 +29,5 @@
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"top_topics_and_observing_domains": [ ]
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} ],
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"hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
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"next_scheduled_calculation_time": "13401819543884442"
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"next_scheduled_calculation_time": "13401819543884678"
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}
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@ -1,3 +1,3 @@
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2025/09/02-08:53:17.510 23f4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
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2025/09/02-08:53:17.517 23f4 Recovering log #3
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2025/09/02-08:53:17.520 23f4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
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2025/09/02-15:26:01.850 514c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
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2025/09/02-15:26:01.856 514c Recovering log #3
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2025/09/02-15:26:01.859 514c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
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@ -1,3 +1,3 @@
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2025/09/02-08:47:11.765 3b04 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
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2025/09/02-08:47:11.773 3b04 Recovering log #3
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2025/09/02-08:47:11.777 3b04 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
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2025/09/02-14:58:51.846 5a08 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
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2025/09/02-14:58:51.853 5a08 Recovering log #3
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2025/09/02-14:58:51.856 5a08 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
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@ -1 +1 @@
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{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13401373997903613","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":7779},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:6a8:5d00:c40:d68b:d066:c8cf","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}
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{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13401397562240555","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":8099},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:6a8:5d00:5cea:6dfe:6183:a825","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}
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@ -1 +1 @@
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{"sts":[{"expiry":1788349633.320866,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1756813633.320875}],"version":2}
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{"sts":[{"expiry":1788372244.780766,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1756836244.78077}],"version":2}
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@ -1,3 +1,3 @@
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2025/09/02-09:10:40.010 23f4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
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2025/09/02-09:10:40.012 23f4 Recovering log #3
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2025/09/02-09:10:40.015 23f4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log
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2025/09/02-15:26:58.622 514c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
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2025/09/02-15:26:58.623 514c Recovering log #3
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2025/09/02-15:26:58.626 514c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log
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@ -1,3 +1,3 @@
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2025/09/02-08:53:00.810 3b04 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
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2025/09/02-08:53:00.812 3b04 Recovering log #3
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2025/09/02-08:53:00.817 3b04 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log
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2025/09/02-15:12:04.177 5a08 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
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2025/09/02-15:12:04.178 5a08 Recovering log #3
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2025/09/02-15:12:04.181 5a08 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log
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@ -1,3 +1,3 @@
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2025/09/02-08:53:17.431 67f8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
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2025/09/02-08:53:17.433 67f8 Recovering log #7
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2025/09/02-08:53:17.433 67f8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log
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2025/09/02-15:26:01.777 678c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
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2025/09/02-15:26:01.778 678c Recovering log #7
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2025/09/02-15:26:01.778 678c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log
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@ -1,3 +1,3 @@
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2025/09/02-08:47:11.681 4a8c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
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2025/09/02-08:47:11.683 4a8c Recovering log #7
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2025/09/02-08:47:11.683 4a8c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log
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2025/09/02-14:58:51.760 62e4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
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2025/09/02-14:58:51.762 62e4 Recovering log #7
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2025/09/02-14:58:51.762 62e4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log
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"Name": "CidadeJardimTerreno2",
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"Length": 14.771318274761821,
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@ -17,7 +17,7 @@
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<meta name="viewport" content="width=device-width,
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initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
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#map_b38d811fa61af8b65eff35dfc9035850 {
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position: relative;
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width: 100.0%;
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height: 100.0%;
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@ -54,14 +54,14 @@
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<body>
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<div class="folium-map" id="map_b38d811fa61af8b65eff35dfc9035850" ></div>
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<div class="folium-map" id="map_47cab050b27762312e18e400b40e3fda" ></div>
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</body>
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<script>
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var map_b38d811fa61af8b65eff35dfc9035850 = L.map(
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"map_b38d811fa61af8b65eff35dfc9035850",
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var map_47cab050b27762312e18e400b40e3fda = L.map(
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"map_47cab050b27762312e18e400b40e3fda",
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{
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center: [0.0, 0.0],
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crs: L.CRS.EPSG3857,
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@ -78,7 +78,7 @@
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var tile_layer_ad727f4f6e04926dedef75d899276bfb = L.tileLayer(
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var tile_layer_c21a0073a929b35b83b4ce5d32979cdb = L.tileLayer(
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"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
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{
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"minZoom": 0,
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@ -95,7 +95,7 @@
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);
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tile_layer_ad727f4f6e04926dedef75d899276bfb.addTo(map_b38d811fa61af8b65eff35dfc9035850);
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tile_layer_c21a0073a929b35b83b4ce5d32979cdb.addTo(map_47cab050b27762312e18e400b40e3fda);
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</script>
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|
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@ -116,7 +116,7 @@
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}
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trajeto_json_add({"features": []});
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|
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trajeto_json.addTo(map_b38d811fa61af8b65eff35dfc9035850);
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trajeto_json.addTo(map_47cab050b27762312e18e400b40e3fda);
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|
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function adicionarGeometria(novaGeometria) {
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trajeto_json.addData(novaGeometria);
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|
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@ -179,9 +179,9 @@
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var marcadorEquipamento = L.marker([0, 0], {
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icon: customIcon
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}).addTo(map_b38d811fa61af8b65eff35dfc9035850);
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}).addTo(map_47cab050b27762312e18e400b40e3fda);
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|
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var marcadorBase = L.marker([0, 0], {}).addTo(map_b38d811fa61af8b65eff35dfc9035850);
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var marcadorBase = L.marker([0, 0], {}).addTo(map_47cab050b27762312e18e400b40e3fda);
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var icon = L.AwesomeMarkers.icon(
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{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
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);
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|
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@ -246,7 +246,7 @@
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}
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if (foco) {
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map_b38d811fa61af8b65eff35dfc9035850.setView(novaPosicao, map_b38d811fa61af8b65eff35dfc9035850.getZoom());
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map_47cab050b27762312e18e400b40e3fda.setView(novaPosicao, map_47cab050b27762312e18e400b40e3fda.getZoom());
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}
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}
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@ -268,7 +268,7 @@
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marcadorDinamico.setRotationAngle(angulo);
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adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
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map_b38d811fa61af8b65eff35dfc9035850.setView(novaPosicao, map_b38d811fa61af8b65eff35dfc9035850.getZoom());*/
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map_47cab050b27762312e18e400b40e3fda.setView(novaPosicao, map_47cab050b27762312e18e400b40e3fda.getZoom());*/
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});
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function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {
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|
|
|
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|
|
@ -17,7 +17,7 @@
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<meta name="viewport" content="width=device-width,
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initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
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<style>
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#map_21ca758b860567b95d146fc0853c971f {
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#map_dc4d0222f44d72615f99a25deb4f0c22 {
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position: relative;
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width: 100.0%;
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height: 100.0%;
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|
|
@ -54,14 +54,14 @@
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<body>
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<div class="folium-map" id="map_21ca758b860567b95d146fc0853c971f" ></div>
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<div class="folium-map" id="map_dc4d0222f44d72615f99a25deb4f0c22" ></div>
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</body>
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<script>
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|
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var map_21ca758b860567b95d146fc0853c971f = L.map(
|
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"map_21ca758b860567b95d146fc0853c971f",
|
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var map_dc4d0222f44d72615f99a25deb4f0c22 = L.map(
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"map_dc4d0222f44d72615f99a25deb4f0c22",
|
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{
|
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center: [-22.172636164916668, -47.395186322185666],
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crs: L.CRS.EPSG3857,
|
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|
|
@ -78,7 +78,7 @@
|
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|
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|
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|
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var tile_layer_aa19b16e8f9ad64dd51817e34341c533 = L.tileLayer(
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var tile_layer_2f64a3c6107754f4fb674d21d1931d30 = L.tileLayer(
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"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
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{
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"minZoom": 0,
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|
|
@ -95,7 +95,7 @@
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);
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|
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tile_layer_aa19b16e8f9ad64dd51817e34341c533.addTo(map_21ca758b860567b95d146fc0853c971f);
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tile_layer_2f64a3c6107754f4fb674d21d1931d30.addTo(map_dc4d0222f44d72615f99a25deb4f0c22);
|
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|
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|
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|
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|
|
@ -111,7 +111,7 @@
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}*/
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});
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}
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function geo_json_40d1c4f07ee5691fa37b3e9a1cd24536_onEachFeature(feature, layer) {
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function geo_json_eaefb25f8a45d088b6e3c45831e86479_onEachFeature(feature, layer) {
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layer.on({
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|
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@ -148,23 +148,23 @@
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}*/
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});
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};
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var geo_json_40d1c4f07ee5691fa37b3e9a1cd24536 = L.geoJson(null, {
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onEachFeature: geo_json_40d1c4f07ee5691fa37b3e9a1cd24536_onEachFeature,
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var geo_json_eaefb25f8a45d088b6e3c45831e86479 = L.geoJson(null, {
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onEachFeature: geo_json_eaefb25f8a45d088b6e3c45831e86479_onEachFeature,
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...{
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}
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});
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function geo_json_40d1c4f07ee5691fa37b3e9a1cd24536_add (data) {
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geo_json_40d1c4f07ee5691fa37b3e9a1cd24536
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function geo_json_eaefb25f8a45d088b6e3c45831e86479_add (data) {
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geo_json_eaefb25f8a45d088b6e3c45831e86479
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.addData(data);
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}
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geo_json_40d1c4f07ee5691fa37b3e9a1cd24536_add({"features": [{"geometry": {"coordinates": [[-47.395205344, -22.172559531333334], [-47.395212610166666, -22.172614638833334], [-47.395219157, -22.172656417833334], [-47.395223544833335, -22.1726892105], [-47.39522414098443, -22.17269369161165], [-47.395225326538004, -22.172702654611555]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "1", "Length": 14.558011415731592, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.39521090233333, -22.172708800833334], [-47.395206943666665, -22.172679811], [-47.395202420666664, -22.1726491015], [-47.395198865666664, -22.172615782833333], [-47.395193255833334, -22.172577132833332], [-47.395192610024395, -22.17257265769541], [-47.395191325698136, -22.172563706509337]], "id": null, "type": "LineString"}, "id": 1, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "2", "Length": 14.771318274761821, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.3951762925, -22.172561603], [-47.395180824166665, -22.172591686166665], [-47.395185745333336, -22.172623080166666], [-47.395190433, -22.172656367166667], [-47.395195199, -22.172693641833334], [-47.39519576904436, -22.172698125891035], [-47.39519690267159, -22.172707094716973]], "id": null, "type": "LineString"}, "id": 2, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "3", "Length": 14.827915524386164, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.39518293216667, -22.1727127985], [-47.39517819266667, -22.172680514833335], [-47.3951732595, -22.172646752833334], [-47.39516880516667, -22.1726149155], [-47.39516381233334, -22.172581167166665], [-47.39516315429932, -22.172576693573966], [-47.39516184565584, -22.172567745443878]], "id": null, "type": "LineString"}, "id": 3, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "4", "Length": 14.785159385903514, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395147317833334, -22.172566031], [-47.395151503166666, -22.172595452333333], [-47.3951561855, -22.172628011166665], [-47.39516159866667, -22.172663757333332], [-47.39516672716667, -22.172697770833334], [-47.395167397572706, -22.172702242832194], [-47.39516873082615, -22.17271118781009]], "id": null, "type": "LineString"}, "id": 4, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "5", "Length": 14.80117692191233, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}], "type": "FeatureCollection"});
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geo_json_40d1c4f07ee5691fa37b3e9a1cd24536.setStyle(function(feature) {return feature.properties.style;});
|
||||
geo_json_eaefb25f8a45d088b6e3c45831e86479_add({"features": [{"geometry": {"coordinates": [[-47.395205344, -22.172559531333334], [-47.395212610166666, -22.172614638833334], [-47.395219157, -22.172656417833334], [-47.395223544833335, -22.1726892105], [-47.39522414098443, -22.17269369161165], [-47.395225326538004, -22.172702654611555]], "id": "0", "type": "LineString"}, "id": 0, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "1", "Length": 14.558011415731592, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.39521090233333, -22.172708800833334], [-47.395206943666665, -22.172679811], [-47.395202420666664, -22.1726491015], [-47.395198865666664, -22.172615782833333], [-47.395193255833334, -22.172577132833332], [-47.395192610024395, -22.17257265769541], [-47.395191325698136, -22.172563706509337]], "id": "1", "type": "LineString"}, "id": 1, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "2", "Length": 14.771318274761821, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.3951762925, -22.172561603], [-47.395180824166665, -22.172591686166665], [-47.395185745333336, -22.172623080166666], [-47.395190433, -22.172656367166667], [-47.395195199, -22.172693641833334], [-47.39519576904436, -22.172698125891035], [-47.39519690267159, -22.172707094716973]], "id": "2", "type": "LineString"}, "id": 2, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "3", "Length": 14.827915524386164, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.39518293216667, -22.1727127985], [-47.39517819266667, -22.172680514833335], [-47.3951732595, -22.172646752833334], [-47.39516880516667, -22.1726149155], [-47.39516381233334, -22.172581167166665], [-47.39516315429932, -22.172576693573966], [-47.39516184565584, -22.172567745443878]], "id": "3", "type": "LineString"}, "id": 3, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "4", "Length": 14.785159385903514, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395147317833334, -22.172566031], [-47.395151503166666, -22.172595452333333], [-47.3951561855, -22.172628011166665], [-47.39516159866667, -22.172663757333332], [-47.39516672716667, -22.172697770833334], [-47.395167397572706, -22.172702242832194], [-47.39516873082615, -22.17271118781009]], "id": "4", "type": "LineString"}, "id": 4, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "5", "Length": 14.80117692191233, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}], "type": "FeatureCollection"});
|
||||
geo_json_eaefb25f8a45d088b6e3c45831e86479.setStyle(function(feature) {return feature.properties.style;});
|
||||
|
||||
|
||||
|
||||
geo_json_40d1c4f07ee5691fa37b3e9a1cd24536.addTo(map_21ca758b860567b95d146fc0853c971f);
|
||||
geo_json_eaefb25f8a45d088b6e3c45831e86479.addTo(map_dc4d0222f44d72615f99a25deb4f0c22);
|
||||
|
||||
</script>
|
||||
|
||||
|
|
@ -185,7 +185,7 @@
|
|||
}
|
||||
trajeto_json_add({"features": []});
|
||||
|
||||
trajeto_json.addTo(map_21ca758b860567b95d146fc0853c971f);
|
||||
trajeto_json.addTo(map_dc4d0222f44d72615f99a25deb4f0c22);
|
||||
|
||||
function adicionarGeometria(novaGeometria) {
|
||||
trajeto_json.addData(novaGeometria);
|
||||
|
|
@ -243,7 +243,7 @@
|
|||
}
|
||||
trajeto_dinamico_json_add({"features": []});
|
||||
|
||||
trajeto_dinamico_json.addTo(map_21ca758b860567b95d146fc0853c971f);
|
||||
trajeto_dinamico_json.addTo(map_dc4d0222f44d72615f99a25deb4f0c22);
|
||||
|
||||
function adicionarGeometriaDinamica(novaGeometria) {
|
||||
trajeto_dinamico_json.addData(novaGeometria);
|
||||
|
|
@ -296,9 +296,9 @@
|
|||
|
||||
var marcadorEquipamento = L.marker([0, 0], {
|
||||
icon: customIcon
|
||||
}).addTo(map_21ca758b860567b95d146fc0853c971f);
|
||||
}).addTo(map_dc4d0222f44d72615f99a25deb4f0c22);
|
||||
|
||||
var marcadorBase = L.marker([0, 0], {}).addTo(map_21ca758b860567b95d146fc0853c971f);
|
||||
var marcadorBase = L.marker([0, 0], {}).addTo(map_dc4d0222f44d72615f99a25deb4f0c22);
|
||||
var icon = L.AwesomeMarkers.icon(
|
||||
{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
|
||||
);
|
||||
|
|
@ -380,7 +380,7 @@
|
|||
}
|
||||
|
||||
if (foco) {
|
||||
map_21ca758b860567b95d146fc0853c971f.setView(novaPosicao, map_21ca758b860567b95d146fc0853c971f.getZoom());
|
||||
map_dc4d0222f44d72615f99a25deb4f0c22.setView(novaPosicao, map_dc4d0222f44d72615f99a25deb4f0c22.getZoom());
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -397,7 +397,7 @@
|
|||
function atualizarSelecaoRuas(selecionadas) {
|
||||
selecionadas = JSON.parse(selecionadas);
|
||||
RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
|
||||
geo_json_40d1c4f07ee5691fa37b3e9a1cd24536.eachLayer(function (layer) {
|
||||
geo_json_eaefb25f8a45d088b6e3c45831e86479.eachLayer(function (layer) {
|
||||
if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
|
||||
layer.setStyle({ color: 'blue' });
|
||||
} else {
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
|
|
@ -207,7 +207,7 @@ class ModuloAtuador(ModuloDiagnosticoBase):
|
|||
penalidade_percentual_herbicida = 0
|
||||
if sensor_massa_ativado:
|
||||
percent_min = ContextoGlobalRedis.get_equipamento().get("percentual_reservatorio_min", 5.0)
|
||||
percent_atual = ContextoGlobalRedis.get_contexto().get("Gerais", {}).get("percentual_reservatorio", 0.0)
|
||||
percent_atual = round(ContextoGlobalRedis.get_contexto().get("Gerais", {}).get("percentual_reservatorio", 0.0), 2)
|
||||
if percent_atual < percent_min:
|
||||
penalidade_percentual_herbicida = 50
|
||||
cond_op_mod.append({
|
||||
|
|
|
|||
|
|
@ -12,6 +12,7 @@ class ModuloGPS(ModuloDiagnosticoBase):
|
|||
|
||||
def atualizar_saude(self):
|
||||
try:
|
||||
now = time.perf_counter()
|
||||
modulo = ContextoGlobalRedis.get_modulo(self.t_code)
|
||||
FREQ_BASE = modulo.get("freq_base", 1)
|
||||
FREQ_MIN = FREQ_BASE * 0.2
|
||||
|
|
@ -20,6 +21,10 @@ class ModuloGPS(ModuloDiagnosticoBase):
|
|||
conectado = modulo.get("conectado", False)
|
||||
freq_pos = modulo.get("freq", {}).get("posicao", 0.0)
|
||||
freq_ori = modulo.get("freq", {}).get("orientacao", 0.0)
|
||||
ts_pos = modulo.get("timestamp", {}).get("posicao", 0.0)
|
||||
ts_ori = modulo.get("timestamp", {}).get("orientacao", 0.0)
|
||||
fail_pos = (now - ts_pos) > 2.0
|
||||
fail_ori = (now - ts_ori) > 2.0
|
||||
fix = modulo.get("fix", 0)
|
||||
rtk = modulo.get("rtk", False)
|
||||
hAcc = modulo.get("hAcc", 0)
|
||||
|
|
@ -29,13 +34,13 @@ class ModuloGPS(ModuloDiagnosticoBase):
|
|||
saude = 100
|
||||
motivos = []
|
||||
|
||||
if not conectado:
|
||||
motivos.append("GPS desconectado")
|
||||
if not conectado or fail_pos or fail_ori:
|
||||
motivos.append("desconectado")
|
||||
saude = 0
|
||||
elif freq_pos <= FREQ_MIN:
|
||||
elif freq_pos <= FREQ_MIN or fail_pos:
|
||||
motivos.append("Sem resposta de coordenadas")
|
||||
saude = 0
|
||||
elif freq_ori <= FREQ_MIN:
|
||||
elif freq_ori <= FREQ_MIN or fail_ori:
|
||||
motivos.append("Sem resposta de orientacao")
|
||||
saude = 0
|
||||
else:
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
|
|
@ -102,7 +102,7 @@ def definir_comando(pid: PIDAdaptativo, envio_necessario: bool):
|
|||
},
|
||||
"RegrasAtivas": {
|
||||
"matriz_custo": False,
|
||||
"deteccao_obstaculos": False,
|
||||
"deteccao_obstaculos": True,
|
||||
},
|
||||
"Equipamento": {
|
||||
"largura": _equipamento.get("largura", 0.85),
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -220,9 +220,9 @@ class ContextoGlobalRedis:
|
|||
conectado = _saude.get("conectado", False)
|
||||
status = _saude.get("status", (StatusModulo.FALHA.value if conectado else StatusModulo.DESCONECTADO.value))
|
||||
saude = _saude.get("saude", 0.0)
|
||||
motivos = _saude.get("motivos", []) or ["Modulo desconectado"]
|
||||
saude_individual = _saude.get("saude_individual") or []
|
||||
condicoes_operacionais = _saude.get("condicoes_operacionais") or []
|
||||
motivos = _saude.get("motivos", [])
|
||||
saude_individual = _saude.get("saude_individual", [])
|
||||
condicoes_operacionais = _saude.get("condicoes_operacionais", [])
|
||||
|
||||
tem_condicao_critica = any(cond.get("severidade") == 100 for cond in condicoes_operacionais)
|
||||
mod_mandatorio = t_code.value in modulos_mandatorios
|
||||
|
|
@ -251,7 +251,7 @@ class ContextoGlobalRedis:
|
|||
})
|
||||
|
||||
# 🔹 Apenas registrar motivo se for módulo obrigatório e estiver ruim
|
||||
if mod_mandatorio and status != StatusModulo.OPERANTE.value:
|
||||
if mod_mandatorio and status not in [StatusModulo.OPERANTE.value, StatusModulo.ALERTA.value]:
|
||||
motivo_txt = "Desconectado" if status == StatusModulo.DESCONECTADO.value else "; ".join(motivos)
|
||||
motivos_dos_modulos_mandatorios.append(f"{t_code.name}: {motivo_txt}")
|
||||
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -74,7 +74,7 @@ def load_seg_config(force_reload=False):
|
|||
# "kernel_morf": 3
|
||||
# }
|
||||
_CONFIG_CACHE = {
|
||||
"debug_visual": True,
|
||||
"debug_visual": False,
|
||||
"frames_consecutivos": 3,
|
||||
"frames_histerese": 2,
|
||||
"min_area_px": 400,
|
||||
|
|
@ -95,6 +95,18 @@ def load_seg_config(force_reload=False):
|
|||
"kernel_morf": 3,
|
||||
"seg_every_n": 1,
|
||||
"det_every_n": 0,
|
||||
|
||||
"usar_radar_global_gate": True,
|
||||
"min_frac_erva_por_bico_on": 0.03,
|
||||
"min_frac_erva_por_bico_off": 0.015,
|
||||
"max_frac_cana_por_bico": 0.005,
|
||||
"ema_frac_bico": 0.35,
|
||||
"on_frames_required": 5,
|
||||
"off_frames_required": 3,
|
||||
"cana_halo_px": 8,
|
||||
"min_area_erva_px": 120,
|
||||
"erva_thresh_vel_gain_local": 0.6,
|
||||
"k_roi_shift_px_per_vnorm": 24.0
|
||||
}
|
||||
dadosAtu = ContextoGlobalRedis.get_operacao().get("Atu", {})
|
||||
contexto = ContextoGlobalRedis.get_contexto()
|
||||
|
|
|
|||
|
|
@ -31,7 +31,7 @@ class WeedDetector:
|
|||
self.predictions = None
|
||||
self.dados_visuais = {}
|
||||
self._dbg_img_shape = (640, 360)
|
||||
self._mostrar_debug = False
|
||||
self._mostrar_debug = True
|
||||
|
||||
self._dbg_last_ts = None
|
||||
self._dbg_fps_ema = None # fps do "ciclo de debug" (pós-segmentação)
|
||||
|
|
|
|||
Loading…
Reference in New Issue