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agrobot_base
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ajustado detalhes na definicao de rotas

This commit is contained in:
Diego Freitas 2024-04-29 17:02:19 -03:00
parent 17b2a3f515
commit 800a5530c6
664 changed files with 26720 additions and 8722 deletions
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AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs
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@ -118,11 +118,19 @@ namespace AgroBase.Forms.Operacoes
{
//Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First());
}
else
{
if (Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica.Any())
{
Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica.Clear();
GPSService.AtualizarTrajetoriaDinamica();
}
}
}
else
/*else
{
Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas();
}
}*/
AtualizarGrafico();
AtualizarInformacoesGerais();
pnlOrientacao.Invalidate();
@ -359,15 +367,15 @@ namespace AgroBase.Forms.Operacoes
lblPressao.Text = "P: " + Variaveis.OperacaoEmAndamento.DispAtu.Dados.PressaoLinha.ToString("0.00") + " psi";
pgbReservatorio.Value = Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio) : 100;
FuncoesGlobais.PreencheValorProgressBar(pgbReservatorio, Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio);
lblPorcentagemReservatorio.Text = Variaveis.OperacaoEmAndamento.DispAtu.Dados.VolumeReservatorio.ToString("0.000") + " L " + Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio.ToString("00.00") + "%";
pgbBateria.Value = Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria) : 100;
FuncoesGlobais.PreencheValorProgressBar(pgbBateria, Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria);
lblPorcentagemBateria.Text = (PZEMService.Iniciado && PZEMService.UltimaLeitura != null ? PZEMService.UltimaLeitura.Tensao.ToString("0.00") + "v " + PZEMService.UltimaLeitura.Corrente.ToString("0.00") + "A " : "") + Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria.ToString("00.00") + "%";
pgbProgresso.Value = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto) : 100;
FuncoesGlobais.PreencheValorProgressBar(pgbProgresso, Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto);
lblPorcentagemProgresso.Text = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto.ToString("00.00") + "%";
pgbProgressoRua.Value = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua) : 100;
FuncoesGlobais.PreencheValorProgressBar(pgbProgressoRua, Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua);
lblPorcentagemProgressoRua.Text = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua.ToString("00.00") + "%";
lblDistancia.Text = "Distância Operação: " + (Variaveis.OperacaoEmAndamento.Mapa == null ? 0 : Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal).ToString("00.00") + " m";
@ -817,7 +825,7 @@ namespace AgroBase.Forms.Operacoes
{
try
{
double angulo = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.AnguloCarro;
double angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro;
DesenharInclinacao((Panel)sender, e, (float)angulo, -90);
}
catch { }

413
AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs generated
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@ -40,7 +40,11 @@ namespace AgroBase.Forms.Operacoes
this.lblPressao = new System.Windows.Forms.Label();
this.pnlCaminho = new System.Windows.Forms.Panel();
this.pnlGraficos = new System.Windows.Forms.Panel();
this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabGrafico = new System.Windows.Forms.TabPage();
this.chartGraficos = new System.Windows.Forms.DataVisualization.Charting.Chart();
this.tabSonar = new System.Windows.Forms.TabPage();
this.picSonar = new System.Windows.Forms.PictureBox();
this.pnlNiveis = new System.Windows.Forms.Panel();
this.lblPorcentagemProgressoRua = new System.Windows.Forms.Label();
this.btnSimular = new System.Windows.Forms.Button();
@ -86,23 +90,19 @@ namespace AgroBase.Forms.Operacoes
this.pnlInclinacao = new System.Windows.Forms.Panel();
this.pnlAnguloCamera = new System.Windows.Forms.Panel();
this.lblPerformance = new System.Windows.Forms.Label();
this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabGrafico = new System.Windows.Forms.TabPage();
this.tabSonar = new System.Windows.Forms.TabPage();
this.picSonar = new System.Windows.Forms.PictureBox();
this.pnlCameraSolo.SuspendLayout();
this.pnlAtuadores.SuspendLayout();
this.pnlGraficos.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabGrafico.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).BeginInit();
this.tabSonar.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picSonar)).BeginInit();
this.pnlNiveis.SuspendLayout();
this.gpbOpcoes.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).BeginInit();
this.gpbInformacoesGerais.SuspendLayout();
this.pnlInferior.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabGrafico.SuspendLayout();
this.tabSonar.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picSonar)).BeginInit();
this.SuspendLayout();
//
// pnlCameraSolo
@ -110,37 +110,35 @@ namespace AgroBase.Forms.Operacoes
this.pnlCameraSolo.BackColor = System.Drawing.SystemColors.ControlDark;
this.pnlCameraSolo.Controls.Add(this.pnlCameraSoloD);
this.pnlCameraSolo.Controls.Add(this.pnlCameraSoloE);
this.pnlCameraSolo.Location = new System.Drawing.Point(12, 267);
this.pnlCameraSolo.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pnlCameraSolo.Location = new System.Drawing.Point(9, 217);
this.pnlCameraSolo.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlCameraSolo.Name = "pnlCameraSolo";
this.pnlCameraSolo.Size = new System.Drawing.Size(789, 330);
this.pnlCameraSolo.Size = new System.Drawing.Size(592, 268);
this.pnlCameraSolo.TabIndex = 0;
//
// pnlCameraSoloD
//
this.pnlCameraSoloD.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
this.pnlCameraSoloD.Location = new System.Drawing.Point(399, 2);
this.pnlCameraSoloD.Margin = new System.Windows.Forms.Padding(4);
this.pnlCameraSoloD.Location = new System.Drawing.Point(299, 2);
this.pnlCameraSoloD.Name = "pnlCameraSoloD";
this.pnlCameraSoloD.Size = new System.Drawing.Size(385, 325);
this.pnlCameraSoloD.Size = new System.Drawing.Size(289, 264);
this.pnlCameraSoloD.TabIndex = 1;
//
// pnlCameraSoloE
//
this.pnlCameraSoloE.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
this.pnlCameraSoloE.Location = new System.Drawing.Point(5, 2);
this.pnlCameraSoloE.Margin = new System.Windows.Forms.Padding(4);
this.pnlCameraSoloE.Location = new System.Drawing.Point(4, 2);
this.pnlCameraSoloE.Name = "pnlCameraSoloE";
this.pnlCameraSoloE.Size = new System.Drawing.Size(385, 325);
this.pnlCameraSoloE.Size = new System.Drawing.Size(289, 264);
this.pnlCameraSoloE.TabIndex = 0;
//
// pnlCameraCaminho
//
this.pnlCameraCaminho.BackColor = System.Drawing.SystemColors.ControlDarkDark;
this.pnlCameraCaminho.Location = new System.Drawing.Point(481, 12);
this.pnlCameraCaminho.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pnlCameraCaminho.Location = new System.Drawing.Point(361, 10);
this.pnlCameraCaminho.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlCameraCaminho.Name = "pnlCameraCaminho";
this.pnlCameraCaminho.Size = new System.Drawing.Size(349, 250);
this.pnlCameraCaminho.Size = new System.Drawing.Size(262, 203);
this.pnlCameraCaminho.TabIndex = 1;
//
// pnlAtuadores
@ -148,42 +146,65 @@ namespace AgroBase.Forms.Operacoes
this.pnlAtuadores.BackColor = System.Drawing.SystemColors.Control;
this.pnlAtuadores.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
this.pnlAtuadores.Controls.Add(this.lblPressao);
this.pnlAtuadores.Location = new System.Drawing.Point(12, 604);
this.pnlAtuadores.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pnlAtuadores.Location = new System.Drawing.Point(9, 491);
this.pnlAtuadores.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlAtuadores.Name = "pnlAtuadores";
this.pnlAtuadores.Size = new System.Drawing.Size(791, 86);
this.pnlAtuadores.Size = new System.Drawing.Size(594, 71);
this.pnlAtuadores.TabIndex = 2;
this.pnlAtuadores.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAtuadores_Paint);
//
// lblPressao
//
this.lblPressao.AutoSize = true;
this.lblPressao.Location = new System.Drawing.Point(-3, 0);
this.lblPressao.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lblPressao.Location = new System.Drawing.Point(-2, 0);
this.lblPressao.Name = "lblPressao";
this.lblPressao.Size = new System.Drawing.Size(67, 16);
this.lblPressao.Size = new System.Drawing.Size(57, 13);
this.lblPressao.TabIndex = 0;
this.lblPressao.Text = "P: 0.00 psi";
//
// pnlCaminho
//
this.pnlCaminho.BackColor = System.Drawing.Color.White;
this.pnlCaminho.Location = new System.Drawing.Point(836, 26);
this.pnlCaminho.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pnlCaminho.Location = new System.Drawing.Point(627, 21);
this.pnlCaminho.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlCaminho.Name = "pnlCaminho";
this.pnlCaminho.Size = new System.Drawing.Size(512, 343);
this.pnlCaminho.Size = new System.Drawing.Size(384, 279);
this.pnlCaminho.TabIndex = 3;
this.pnlCaminho.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlCaminho_Paint);
//
// pnlGraficos
//
this.pnlGraficos.Controls.Add(this.tabControl1);
this.pnlGraficos.Location = new System.Drawing.Point(808, 378);
this.pnlGraficos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pnlGraficos.Location = new System.Drawing.Point(606, 307);
this.pnlGraficos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlGraficos.Name = "pnlGraficos";
this.pnlGraficos.Size = new System.Drawing.Size(540, 313);
this.pnlGraficos.Size = new System.Drawing.Size(405, 254);
this.pnlGraficos.TabIndex = 4;
//
// tabControl1
//
this.tabControl1.Controls.Add(this.tabGrafico);
this.tabControl1.Controls.Add(this.tabSonar);
this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
this.tabControl1.Location = new System.Drawing.Point(0, 0);
this.tabControl1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.tabControl1.Name = "tabControl1";
this.tabControl1.SelectedIndex = 0;
this.tabControl1.Size = new System.Drawing.Size(405, 254);
this.tabControl1.TabIndex = 0;
//
// tabGrafico
//
this.tabGrafico.Controls.Add(this.chartGraficos);
this.tabGrafico.Location = new System.Drawing.Point(4, 22);
this.tabGrafico.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.tabGrafico.Name = "tabGrafico";
this.tabGrafico.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.tabGrafico.Size = new System.Drawing.Size(397, 228);
this.tabGrafico.TabIndex = 0;
this.tabGrafico.Text = "Desempenho";
this.tabGrafico.UseVisualStyleBackColor = true;
//
// chartGraficos
//
chartArea1.Name = "ChartArea1";
@ -191,17 +212,39 @@ namespace AgroBase.Forms.Operacoes
this.chartGraficos.Dock = System.Windows.Forms.DockStyle.Fill;
legend1.Name = "Legend1";
this.chartGraficos.Legends.Add(legend1);
this.chartGraficos.Location = new System.Drawing.Point(3, 3);
this.chartGraficos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.chartGraficos.Location = new System.Drawing.Point(2, 2);
this.chartGraficos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.chartGraficos.Name = "chartGraficos";
series1.ChartArea = "ChartArea1";
series1.Legend = "Legend1";
series1.Name = "Series1";
this.chartGraficos.Series.Add(series1);
this.chartGraficos.Size = new System.Drawing.Size(526, 278);
this.chartGraficos.Size = new System.Drawing.Size(393, 224);
this.chartGraficos.TabIndex = 0;
this.chartGraficos.Text = "chart1";
//
// tabSonar
//
this.tabSonar.Controls.Add(this.picSonar);
this.tabSonar.Location = new System.Drawing.Point(4, 22);
this.tabSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.tabSonar.Name = "tabSonar";
this.tabSonar.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.tabSonar.Size = new System.Drawing.Size(397, 228);
this.tabSonar.TabIndex = 1;
this.tabSonar.Text = "Sonar";
this.tabSonar.UseVisualStyleBackColor = true;
//
// picSonar
//
this.picSonar.Dock = System.Windows.Forms.DockStyle.Fill;
this.picSonar.Location = new System.Drawing.Point(2, 2);
this.picSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.picSonar.Name = "picSonar";
this.picSonar.Size = new System.Drawing.Size(393, 224);
this.picSonar.TabIndex = 1;
this.picSonar.TabStop = false;
//
// pnlNiveis
//
this.pnlNiveis.BackColor = System.Drawing.SystemColors.Control;
@ -222,27 +265,28 @@ namespace AgroBase.Forms.Operacoes
this.pnlNiveis.Controls.Add(this.lblPorcentagemReservatorio);
this.pnlNiveis.Controls.Add(this.pgbReservatorio);
this.pnlNiveis.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold);
this.pnlNiveis.Location = new System.Drawing.Point(12, 702);
this.pnlNiveis.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pnlNiveis.Location = new System.Drawing.Point(9, 570);
this.pnlNiveis.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlNiveis.Name = "pnlNiveis";
this.pnlNiveis.Size = new System.Drawing.Size(789, 85);
this.pnlNiveis.Size = new System.Drawing.Size(592, 69);
this.pnlNiveis.TabIndex = 6;
//
// lblPorcentagemProgressoRua
//
this.lblPorcentagemProgressoRua.AutoSize = true;
this.lblPorcentagemProgressoRua.Location = new System.Drawing.Point(711, 28);
this.lblPorcentagemProgressoRua.Location = new System.Drawing.Point(533, 23);
this.lblPorcentagemProgressoRua.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblPorcentagemProgressoRua.Name = "lblPorcentagemProgressoRua";
this.lblPorcentagemProgressoRua.Size = new System.Drawing.Size(62, 16);
this.lblPorcentagemProgressoRua.Size = new System.Drawing.Size(50, 13);
this.lblPorcentagemProgressoRua.TabIndex = 16;
this.lblPorcentagemProgressoRua.Text = "00,00%";
//
// btnSimular
//
this.btnSimular.Location = new System.Drawing.Point(639, 52);
this.btnSimular.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.btnSimular.Location = new System.Drawing.Point(479, 42);
this.btnSimular.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnSimular.Name = "btnSimular";
this.btnSimular.Size = new System.Drawing.Size(81, 26);
this.btnSimular.Size = new System.Drawing.Size(61, 21);
this.btnSimular.TabIndex = 12;
this.btnSimular.Text = "Simular";
this.btnSimular.UseVisualStyleBackColor = true;
@ -250,27 +294,28 @@ namespace AgroBase.Forms.Operacoes
//
// pgbProgressoRua
//
this.pgbProgressoRua.Location = new System.Drawing.Point(500, 28);
this.pgbProgressoRua.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pgbProgressoRua.Location = new System.Drawing.Point(375, 23);
this.pgbProgressoRua.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pgbProgressoRua.Name = "pgbProgressoRua";
this.pgbProgressoRua.Size = new System.Drawing.Size(200, 16);
this.pgbProgressoRua.Size = new System.Drawing.Size(150, 13);
this.pgbProgressoRua.TabIndex = 15;
//
// lblProgressoRua
//
this.lblProgressoRua.AutoSize = true;
this.lblProgressoRua.Location = new System.Drawing.Point(409, 28);
this.lblProgressoRua.Location = new System.Drawing.Point(307, 23);
this.lblProgressoRua.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblProgressoRua.Name = "lblProgressoRua";
this.lblProgressoRua.Size = new System.Drawing.Size(54, 16);
this.lblProgressoRua.Size = new System.Drawing.Size(44, 13);
this.lblProgressoRua.TabIndex = 14;
this.lblProgressoRua.Text = "% Rua";
//
// btnManobraConcluida
//
this.btnManobraConcluida.Location = new System.Drawing.Point(725, 53);
this.btnManobraConcluida.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.btnManobraConcluida.Location = new System.Drawing.Point(544, 43);
this.btnManobraConcluida.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnManobraConcluida.Name = "btnManobraConcluida";
this.btnManobraConcluida.Size = new System.Drawing.Size(52, 26);
this.btnManobraConcluida.Size = new System.Drawing.Size(39, 21);
this.btnManobraConcluida.TabIndex = 13;
this.btnManobraConcluida.Text = "MC";
this.btnManobraConcluida.UseVisualStyleBackColor = true;
@ -280,9 +325,10 @@ namespace AgroBase.Forms.Operacoes
//
this.lblDirecao.AutoSize = true;
this.lblDirecao.Font = new System.Drawing.Font("Mongolian Baiti", 8.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblDirecao.Location = new System.Drawing.Point(411, 66);
this.lblDirecao.Location = new System.Drawing.Point(308, 54);
this.lblDirecao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDirecao.Name = "lblDirecao";
this.lblDirecao.Size = new System.Drawing.Size(113, 15);
this.lblDirecao.Size = new System.Drawing.Size(94, 11);
this.lblDirecao.TabIndex = 11;
this.lblDirecao.Text = "Direção: Parado";
//
@ -290,89 +336,96 @@ namespace AgroBase.Forms.Operacoes
//
this.lblStatus.AutoSize = true;
this.lblStatus.Font = new System.Drawing.Font("Mongolian Baiti", 8.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblStatus.Location = new System.Drawing.Point(411, 50);
this.lblStatus.Location = new System.Drawing.Point(308, 41);
this.lblStatus.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblStatus.Name = "lblStatus";
this.lblStatus.Size = new System.Drawing.Size(136, 15);
this.lblStatus.Size = new System.Drawing.Size(114, 11);
this.lblStatus.TabIndex = 10;
this.lblStatus.Text = "Status: Aguardando";
//
// lblProgressoT
//
this.lblProgressoT.AutoSize = true;
this.lblProgressoT.Location = new System.Drawing.Point(409, 7);
this.lblProgressoT.Location = new System.Drawing.Point(307, 6);
this.lblProgressoT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblProgressoT.Name = "lblProgressoT";
this.lblProgressoT.Size = new System.Drawing.Size(77, 16);
this.lblProgressoT.Size = new System.Drawing.Size(62, 13);
this.lblProgressoT.TabIndex = 8;
this.lblProgressoT.Text = "% Trajeto";
//
// lblPorcentagemBateria
//
this.lblPorcentagemBateria.AutoSize = true;
this.lblPorcentagemBateria.Location = new System.Drawing.Point(138, 53);
this.lblPorcentagemBateria.Location = new System.Drawing.Point(104, 43);
this.lblPorcentagemBateria.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblPorcentagemBateria.Name = "lblPorcentagemBateria";
this.lblPorcentagemBateria.Size = new System.Drawing.Size(62, 16);
this.lblPorcentagemBateria.Size = new System.Drawing.Size(50, 13);
this.lblPorcentagemBateria.TabIndex = 3;
this.lblPorcentagemBateria.Text = "00,00%";
//
// lblBateriaT
//
this.lblBateriaT.AutoSize = true;
this.lblBateriaT.Location = new System.Drawing.Point(3, 54);
this.lblBateriaT.Location = new System.Drawing.Point(2, 44);
this.lblBateriaT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblBateriaT.Name = "lblBateriaT";
this.lblBateriaT.Size = new System.Drawing.Size(58, 16);
this.lblBateriaT.Size = new System.Drawing.Size(47, 13);
this.lblBateriaT.TabIndex = 7;
this.lblBateriaT.Text = "Bateria";
//
// lblReservatorioT
//
this.lblReservatorioT.AutoSize = true;
this.lblReservatorioT.Location = new System.Drawing.Point(3, 16);
this.lblReservatorioT.Location = new System.Drawing.Point(2, 13);
this.lblReservatorioT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblReservatorioT.Name = "lblReservatorioT";
this.lblReservatorioT.Size = new System.Drawing.Size(98, 16);
this.lblReservatorioT.Size = new System.Drawing.Size(79, 13);
this.lblReservatorioT.TabIndex = 6;
this.lblReservatorioT.Text = "Reservatório";
//
// lblPorcentagemProgresso
//
this.lblPorcentagemProgresso.AutoSize = true;
this.lblPorcentagemProgresso.Location = new System.Drawing.Point(711, 7);
this.lblPorcentagemProgresso.Location = new System.Drawing.Point(533, 6);
this.lblPorcentagemProgresso.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblPorcentagemProgresso.Name = "lblPorcentagemProgresso";
this.lblPorcentagemProgresso.Size = new System.Drawing.Size(62, 16);
this.lblPorcentagemProgresso.Size = new System.Drawing.Size(50, 13);
this.lblPorcentagemProgresso.TabIndex = 5;
this.lblPorcentagemProgresso.Text = "00,00%";
//
// pgbBateria
//
this.pgbBateria.Location = new System.Drawing.Point(131, 44);
this.pgbBateria.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pgbBateria.Location = new System.Drawing.Point(98, 36);
this.pgbBateria.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pgbBateria.Name = "pgbBateria";
this.pgbBateria.Size = new System.Drawing.Size(233, 33);
this.pgbBateria.Size = new System.Drawing.Size(175, 27);
this.pgbBateria.TabIndex = 2;
//
// pgbProgresso
//
this.pgbProgresso.Location = new System.Drawing.Point(500, 7);
this.pgbProgresso.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pgbProgresso.Location = new System.Drawing.Point(375, 6);
this.pgbProgresso.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pgbProgresso.Name = "pgbProgresso";
this.pgbProgresso.Size = new System.Drawing.Size(200, 16);
this.pgbProgresso.Size = new System.Drawing.Size(150, 13);
this.pgbProgresso.TabIndex = 4;
//
// lblPorcentagemReservatorio
//
this.lblPorcentagemReservatorio.AutoSize = true;
this.lblPorcentagemReservatorio.BackColor = System.Drawing.Color.Transparent;
this.lblPorcentagemReservatorio.Location = new System.Drawing.Point(138, 15);
this.lblPorcentagemReservatorio.Location = new System.Drawing.Point(104, 12);
this.lblPorcentagemReservatorio.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblPorcentagemReservatorio.Name = "lblPorcentagemReservatorio";
this.lblPorcentagemReservatorio.Size = new System.Drawing.Size(62, 16);
this.lblPorcentagemReservatorio.Size = new System.Drawing.Size(50, 13);
this.lblPorcentagemReservatorio.TabIndex = 1;
this.lblPorcentagemReservatorio.Text = "00,00%";
//
// pgbReservatorio
//
this.pgbReservatorio.Location = new System.Drawing.Point(131, 6);
this.pgbReservatorio.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pgbReservatorio.Location = new System.Drawing.Point(98, 5);
this.pgbReservatorio.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pgbReservatorio.Name = "pgbReservatorio";
this.pgbReservatorio.Size = new System.Drawing.Size(233, 33);
this.pgbReservatorio.Size = new System.Drawing.Size(175, 27);
this.pgbReservatorio.TabIndex = 0;
//
// gpbOpcoes
@ -383,11 +436,11 @@ namespace AgroBase.Forms.Operacoes
this.gpbOpcoes.Controls.Add(this.btnCarregarMapa);
this.gpbOpcoes.Controls.Add(this.btnIniciarOperacao);
this.gpbOpcoes.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold);
this.gpbOpcoes.Location = new System.Drawing.Point(1084, 697);
this.gpbOpcoes.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.gpbOpcoes.Location = new System.Drawing.Point(813, 566);
this.gpbOpcoes.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbOpcoes.Name = "gpbOpcoes";
this.gpbOpcoes.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.gpbOpcoes.Size = new System.Drawing.Size(264, 146);
this.gpbOpcoes.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbOpcoes.Size = new System.Drawing.Size(198, 119);
this.gpbOpcoes.TabIndex = 7;
this.gpbOpcoes.TabStop = false;
this.gpbOpcoes.Text = "Opções";
@ -395,40 +448,43 @@ namespace AgroBase.Forms.Operacoes
// lblPSI
//
this.lblPSI.AutoSize = true;
this.lblPSI.Location = new System.Drawing.Point(218, 28);
this.lblPSI.Location = new System.Drawing.Point(164, 23);
this.lblPSI.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblPSI.Name = "lblPSI";
this.lblPSI.Size = new System.Drawing.Size(28, 16);
this.lblPSI.Size = new System.Drawing.Size(24, 13);
this.lblPSI.TabIndex = 10;
this.lblPSI.Text = "psi";
//
// lblPressaoSP
//
this.lblPressaoSP.AutoSize = true;
this.lblPressaoSP.Location = new System.Drawing.Point(6, 28);
this.lblPressaoSP.Location = new System.Drawing.Point(4, 23);
this.lblPressaoSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblPressaoSP.Name = "lblPressaoSP";
this.lblPressaoSP.Size = new System.Drawing.Size(124, 16);
this.lblPressaoSP.Size = new System.Drawing.Size(100, 13);
this.lblPressaoSP.TabIndex = 9;
this.lblPressaoSP.Text = "Pressão da linha";
//
// nudPressaoSP
//
this.nudPressaoSP.Location = new System.Drawing.Point(138, 23);
this.nudPressaoSP.Location = new System.Drawing.Point(104, 19);
this.nudPressaoSP.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.nudPressaoSP.Maximum = new decimal(new int[] {
200,
0,
0,
0});
this.nudPressaoSP.Name = "nudPressaoSP";
this.nudPressaoSP.Size = new System.Drawing.Size(74, 25);
this.nudPressaoSP.Size = new System.Drawing.Size(56, 21);
this.nudPressaoSP.TabIndex = 8;
this.nudPressaoSP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// btnCarregarMapa
//
this.btnCarregarMapa.Location = new System.Drawing.Point(29, 71);
this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.btnCarregarMapa.Location = new System.Drawing.Point(22, 58);
this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnCarregarMapa.Name = "btnCarregarMapa";
this.btnCarregarMapa.Size = new System.Drawing.Size(206, 26);
this.btnCarregarMapa.Size = new System.Drawing.Size(154, 21);
this.btnCarregarMapa.TabIndex = 5;
this.btnCarregarMapa.Text = "Selecionar Mapa";
this.btnCarregarMapa.UseVisualStyleBackColor = true;
@ -436,10 +492,10 @@ namespace AgroBase.Forms.Operacoes
//
// btnIniciarOperacao
//
this.btnIniciarOperacao.Location = new System.Drawing.Point(29, 107);
this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.btnIniciarOperacao.Location = new System.Drawing.Point(22, 87);
this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnIniciarOperacao.Name = "btnIniciarOperacao";
this.btnIniciarOperacao.Size = new System.Drawing.Size(206, 26);
this.btnIniciarOperacao.Size = new System.Drawing.Size(154, 21);
this.btnIniciarOperacao.TabIndex = 6;
this.btnIniciarOperacao.Text = "Iniciar Operação";
this.btnIniciarOperacao.UseVisualStyleBackColor = true;
@ -455,11 +511,11 @@ namespace AgroBase.Forms.Operacoes
this.gpbInformacoesGerais.Controls.Add(this.lblTempoOperacao);
this.gpbInformacoesGerais.Controls.Add(this.lblDistanciaPercorrida);
this.gpbInformacoesGerais.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold);
this.gpbInformacoesGerais.Location = new System.Drawing.Point(808, 697);
this.gpbInformacoesGerais.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.gpbInformacoesGerais.Location = new System.Drawing.Point(606, 566);
this.gpbInformacoesGerais.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbInformacoesGerais.Name = "gpbInformacoesGerais";
this.gpbInformacoesGerais.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.gpbInformacoesGerais.Size = new System.Drawing.Size(269, 146);
this.gpbInformacoesGerais.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbInformacoesGerais.Size = new System.Drawing.Size(202, 119);
this.gpbInformacoesGerais.TabIndex = 9;
this.gpbInformacoesGerais.TabStop = false;
this.gpbInformacoesGerais.Text = "Informações Gerais";
@ -467,63 +523,70 @@ namespace AgroBase.Forms.Operacoes
// lblBateriaConsumida
//
this.lblBateriaConsumida.AutoSize = true;
this.lblBateriaConsumida.Location = new System.Drawing.Point(11, 123);
this.lblBateriaConsumida.Location = new System.Drawing.Point(8, 100);
this.lblBateriaConsumida.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblBateriaConsumida.Name = "lblBateriaConsumida";
this.lblBateriaConsumida.Size = new System.Drawing.Size(199, 16);
this.lblBateriaConsumida.Size = new System.Drawing.Size(158, 13);
this.lblBateriaConsumida.TabIndex = 6;
this.lblBateriaConsumida.Text = "Bateria Consumida: 0,00%";
//
// lblHerbicidaPorErva
//
this.lblHerbicidaPorErva.AutoSize = true;
this.lblHerbicidaPorErva.Location = new System.Drawing.Point(11, 107);
this.lblHerbicidaPorErva.Location = new System.Drawing.Point(8, 87);
this.lblHerbicidaPorErva.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblHerbicidaPorErva.Name = "lblHerbicidaPorErva";
this.lblHerbicidaPorErva.Size = new System.Drawing.Size(223, 16);
this.lblHerbicidaPorErva.Size = new System.Drawing.Size(177, 13);
this.lblHerbicidaPorErva.TabIndex = 5;
this.lblHerbicidaPorErva.Text = "Herbicida por Erva: 0,000 mL";
//
// lblHerbicidaAplicado
//
this.lblHerbicidaAplicado.AutoSize = true;
this.lblHerbicidaAplicado.Location = new System.Drawing.Point(11, 91);
this.lblHerbicidaAplicado.Location = new System.Drawing.Point(8, 74);
this.lblHerbicidaAplicado.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblHerbicidaAplicado.Name = "lblHerbicidaAplicado";
this.lblHerbicidaAplicado.Size = new System.Drawing.Size(204, 16);
this.lblHerbicidaAplicado.Size = new System.Drawing.Size(162, 13);
this.lblHerbicidaAplicado.TabIndex = 4;
this.lblHerbicidaAplicado.Text = "Herbicida Aplicado: 0,00 L";
//
// lblErvasIdentificadas
//
this.lblErvasIdentificadas.AutoSize = true;
this.lblErvasIdentificadas.Location = new System.Drawing.Point(11, 75);
this.lblErvasIdentificadas.Location = new System.Drawing.Point(8, 61);
this.lblErvasIdentificadas.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblErvasIdentificadas.Name = "lblErvasIdentificadas";
this.lblErvasIdentificadas.Size = new System.Drawing.Size(182, 16);
this.lblErvasIdentificadas.Size = new System.Drawing.Size(145, 13);
this.lblErvasIdentificadas.TabIndex = 3;
this.lblErvasIdentificadas.Text = "Ervas Identificadas: 000";
//
// lblVelocidadeMedia
//
this.lblVelocidadeMedia.AutoSize = true;
this.lblVelocidadeMedia.Location = new System.Drawing.Point(11, 59);
this.lblVelocidadeMedia.Location = new System.Drawing.Point(8, 48);
this.lblVelocidadeMedia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblVelocidadeMedia.Name = "lblVelocidadeMedia";
this.lblVelocidadeMedia.Size = new System.Drawing.Size(220, 16);
this.lblVelocidadeMedia.Size = new System.Drawing.Size(174, 13);
this.lblVelocidadeMedia.TabIndex = 2;
this.lblVelocidadeMedia.Text = "Velocidade Média: 0,00 km/h";
//
// lblTempoOperacao
//
this.lblTempoOperacao.AutoSize = true;
this.lblTempoOperacao.Location = new System.Drawing.Point(11, 43);
this.lblTempoOperacao.Location = new System.Drawing.Point(8, 35);
this.lblTempoOperacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblTempoOperacao.Name = "lblTempoOperacao";
this.lblTempoOperacao.Size = new System.Drawing.Size(225, 16);
this.lblTempoOperacao.Size = new System.Drawing.Size(177, 13);
this.lblTempoOperacao.TabIndex = 1;
this.lblTempoOperacao.Text = "Tempo de Operação: 00:00:00";
//
// lblDistanciaPercorrida
//
this.lblDistanciaPercorrida.AutoSize = true;
this.lblDistanciaPercorrida.Location = new System.Drawing.Point(11, 27);
this.lblDistanciaPercorrida.Location = new System.Drawing.Point(8, 22);
this.lblDistanciaPercorrida.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDistanciaPercorrida.Name = "lblDistanciaPercorrida";
this.lblDistanciaPercorrida.Size = new System.Drawing.Size(213, 16);
this.lblDistanciaPercorrida.Size = new System.Drawing.Size(170, 13);
this.lblDistanciaPercorrida.TabIndex = 0;
this.lblDistanciaPercorrida.Text = "Distancia Percorrida: 0,00 m";
//
@ -538,19 +601,20 @@ namespace AgroBase.Forms.Operacoes
this.pnlInferior.Controls.Add(this.lblUltimaLeituraRua);
this.pnlInferior.Controls.Add(this.lblUltimaLeituraSolo);
this.pnlInferior.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold);
this.pnlInferior.Location = new System.Drawing.Point(12, 793);
this.pnlInferior.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pnlInferior.Location = new System.Drawing.Point(9, 644);
this.pnlInferior.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlInferior.Name = "pnlInferior";
this.pnlInferior.Size = new System.Drawing.Size(789, 50);
this.pnlInferior.Size = new System.Drawing.Size(592, 41);
this.pnlInferior.TabIndex = 13;
//
// lblDistancia
//
this.lblDistancia.AutoSize = true;
this.lblDistancia.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold);
this.lblDistancia.Location = new System.Drawing.Point(303, 30);
this.lblDistancia.Location = new System.Drawing.Point(227, 24);
this.lblDistancia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDistancia.Name = "lblDistancia";
this.lblDistancia.Size = new System.Drawing.Size(216, 16);
this.lblDistancia.Size = new System.Drawing.Size(171, 13);
this.lblDistancia.TabIndex = 10;
this.lblDistancia.Text = "Distância Operação: 00,00 m";
//
@ -558,19 +622,19 @@ namespace AgroBase.Forms.Operacoes
//
this.lblMapaCarregado.AutoSize = true;
this.lblMapaCarregado.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold);
this.lblMapaCarregado.Location = new System.Drawing.Point(303, 5);
this.lblMapaCarregado.Location = new System.Drawing.Point(227, 4);
this.lblMapaCarregado.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblMapaCarregado.Name = "lblMapaCarregado";
this.lblMapaCarregado.Size = new System.Drawing.Size(161, 16);
this.lblMapaCarregado.Size = new System.Drawing.Size(129, 13);
this.lblMapaCarregado.TabIndex = 8;
this.lblMapaCarregado.Text = "Mapa carregado: N/A";
//
// chbGPSativo
//
this.chbGPSativo.AutoSize = true;
this.chbGPSativo.Location = new System.Drawing.Point(708, 25);
this.chbGPSativo.Margin = new System.Windows.Forms.Padding(4);
this.chbGPSativo.Location = new System.Drawing.Point(531, 20);
this.chbGPSativo.Name = "chbGPSativo";
this.chbGPSativo.Size = new System.Drawing.Size(59, 20);
this.chbGPSativo.Size = new System.Drawing.Size(52, 17);
this.chbGPSativo.TabIndex = 9;
this.chbGPSativo.Text = "GPS";
this.chbGPSativo.UseVisualStyleBackColor = true;
@ -578,10 +642,9 @@ namespace AgroBase.Forms.Operacoes
// chbATUativo
//
this.chbATUativo.AutoSize = true;
this.chbATUativo.Location = new System.Drawing.Point(708, 4);
this.chbATUativo.Margin = new System.Windows.Forms.Padding(4);
this.chbATUativo.Location = new System.Drawing.Point(531, 3);
this.chbATUativo.Name = "chbATUativo";
this.chbATUativo.Size = new System.Drawing.Size(63, 20);
this.chbATUativo.Size = new System.Drawing.Size(54, 17);
this.chbATUativo.TabIndex = 8;
this.chbATUativo.Text = "ATU";
this.chbATUativo.UseVisualStyleBackColor = true;
@ -589,10 +652,9 @@ namespace AgroBase.Forms.Operacoes
// chbDIRativo
//
this.chbDIRativo.AutoSize = true;
this.chbDIRativo.Location = new System.Drawing.Point(623, 28);
this.chbDIRativo.Margin = new System.Windows.Forms.Padding(4);
this.chbDIRativo.Location = new System.Drawing.Point(467, 23);
this.chbDIRativo.Name = "chbDIRativo";
this.chbDIRativo.Size = new System.Drawing.Size(58, 20);
this.chbDIRativo.Size = new System.Drawing.Size(50, 17);
this.chbDIRativo.TabIndex = 7;
this.chbDIRativo.Text = "DIR";
this.chbDIRativo.UseVisualStyleBackColor = true;
@ -600,10 +662,9 @@ namespace AgroBase.Forms.Operacoes
// chbMOVativo
//
this.chbMOVativo.AutoSize = true;
this.chbMOVativo.Location = new System.Drawing.Point(623, 4);
this.chbMOVativo.Margin = new System.Windows.Forms.Padding(4);
this.chbMOVativo.Location = new System.Drawing.Point(467, 3);
this.chbMOVativo.Name = "chbMOVativo";
this.chbMOVativo.Size = new System.Drawing.Size(67, 20);
this.chbMOVativo.Size = new System.Drawing.Size(58, 17);
this.chbMOVativo.TabIndex = 6;
this.chbMOVativo.Text = "MOV";
this.chbMOVativo.UseVisualStyleBackColor = true;
@ -611,27 +672,28 @@ namespace AgroBase.Forms.Operacoes
// lblUltimaLeituraRua
//
this.lblUltimaLeituraRua.AutoSize = true;
this.lblUltimaLeituraRua.Location = new System.Drawing.Point(3, 5);
this.lblUltimaLeituraRua.Location = new System.Drawing.Point(2, 4);
this.lblUltimaLeituraRua.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblUltimaLeituraRua.Name = "lblUltimaLeituraRua";
this.lblUltimaLeituraRua.Size = new System.Drawing.Size(250, 16);
this.lblUltimaLeituraRua.Size = new System.Drawing.Size(198, 13);
this.lblUltimaLeituraRua.TabIndex = 5;
this.lblUltimaLeituraRua.Text = "Ultima Leitura Rua: 00:00:00.000";
//
// lblUltimaLeituraSolo
//
this.lblUltimaLeituraSolo.AutoSize = true;
this.lblUltimaLeituraSolo.Location = new System.Drawing.Point(3, 30);
this.lblUltimaLeituraSolo.Location = new System.Drawing.Point(2, 24);
this.lblUltimaLeituraSolo.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblUltimaLeituraSolo.Name = "lblUltimaLeituraSolo";
this.lblUltimaLeituraSolo.Size = new System.Drawing.Size(254, 16);
this.lblUltimaLeituraSolo.Size = new System.Drawing.Size(202, 13);
this.lblUltimaLeituraSolo.TabIndex = 4;
this.lblUltimaLeituraSolo.Text = "Ultima Leitura Solo: 00:00:00.000";
//
// pnlMapa
//
this.pnlMapa.Location = new System.Drawing.Point(12, 7);
this.pnlMapa.Margin = new System.Windows.Forms.Padding(4);
this.pnlMapa.Location = new System.Drawing.Point(9, 6);
this.pnlMapa.Name = "pnlMapa";
this.pnlMapa.Size = new System.Drawing.Size(463, 255);
this.pnlMapa.Size = new System.Drawing.Size(347, 207);
this.pnlMapa.TabIndex = 14;
//
// pnlOrientacao
@ -639,10 +701,10 @@ namespace AgroBase.Forms.Operacoes
this.pnlOrientacao.BackColor = System.Drawing.Color.White;
this.pnlOrientacao.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
this.pnlOrientacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
this.pnlOrientacao.Location = new System.Drawing.Point(377, 7);
this.pnlOrientacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pnlOrientacao.Location = new System.Drawing.Point(283, 6);
this.pnlOrientacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlOrientacao.Name = "pnlOrientacao";
this.pnlOrientacao.Size = new System.Drawing.Size(104, 103);
this.pnlOrientacao.Size = new System.Drawing.Size(78, 84);
this.pnlOrientacao.TabIndex = 11;
this.pnlOrientacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacao_Paint);
//
@ -651,10 +713,10 @@ namespace AgroBase.Forms.Operacoes
this.pnlInclinacao.BackColor = System.Drawing.Color.White;
this.pnlInclinacao.BackgroundImage = global::AgroBase.Properties.Resources.transferidor;
this.pnlInclinacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
this.pnlInclinacao.Location = new System.Drawing.Point(1249, 7);
this.pnlInclinacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pnlInclinacao.Location = new System.Drawing.Point(937, 6);
this.pnlInclinacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlInclinacao.Name = "pnlInclinacao";
this.pnlInclinacao.Size = new System.Drawing.Size(104, 103);
this.pnlInclinacao.Size = new System.Drawing.Size(78, 84);
this.pnlInclinacao.TabIndex = 10;
this.pnlInclinacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlInclinacao_Paint);
//
@ -663,10 +725,10 @@ namespace AgroBase.Forms.Operacoes
this.pnlAnguloCamera.BackColor = System.Drawing.Color.White;
this.pnlAnguloCamera.BackgroundImage = global::AgroBase.Properties.Resources.transferidor;
this.pnlAnguloCamera.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
this.pnlAnguloCamera.Location = new System.Drawing.Point(831, 7);
this.pnlAnguloCamera.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pnlAnguloCamera.Location = new System.Drawing.Point(623, 6);
this.pnlAnguloCamera.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlAnguloCamera.Name = "pnlAnguloCamera";
this.pnlAnguloCamera.Size = new System.Drawing.Size(104, 103);
this.pnlAnguloCamera.Size = new System.Drawing.Size(78, 84);
this.pnlAnguloCamera.TabIndex = 15;
this.pnlAnguloCamera.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAnguloCamera_Paint);
//
@ -674,61 +736,18 @@ namespace AgroBase.Forms.Operacoes
//
this.lblPerformance.AutoSize = true;
this.lblPerformance.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblPerformance.Location = new System.Drawing.Point(1083, 842);
this.lblPerformance.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lblPerformance.Location = new System.Drawing.Point(812, 684);
this.lblPerformance.Name = "lblPerformance";
this.lblPerformance.Size = new System.Drawing.Size(205, 15);
this.lblPerformance.Size = new System.Drawing.Size(158, 12);
this.lblPerformance.TabIndex = 16;
this.lblPerformance.Text = "CPU: 0,0% GPU: 0,0% RAM: 0,0%";
//
// tabControl1
//
this.tabControl1.Controls.Add(this.tabGrafico);
this.tabControl1.Controls.Add(this.tabSonar);
this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
this.tabControl1.Location = new System.Drawing.Point(0, 0);
this.tabControl1.Name = "tabControl1";
this.tabControl1.SelectedIndex = 0;
this.tabControl1.Size = new System.Drawing.Size(540, 313);
this.tabControl1.TabIndex = 0;
//
// tabGrafico
//
this.tabGrafico.Controls.Add(this.chartGraficos);
this.tabGrafico.Location = new System.Drawing.Point(4, 25);
this.tabGrafico.Name = "tabGrafico";
this.tabGrafico.Padding = new System.Windows.Forms.Padding(3);
this.tabGrafico.Size = new System.Drawing.Size(532, 284);
this.tabGrafico.TabIndex = 0;
this.tabGrafico.Text = "Desempenho";
this.tabGrafico.UseVisualStyleBackColor = true;
//
// tabSonar
//
this.tabSonar.Controls.Add(this.picSonar);
this.tabSonar.Location = new System.Drawing.Point(4, 25);
this.tabSonar.Name = "tabSonar";
this.tabSonar.Padding = new System.Windows.Forms.Padding(3);
this.tabSonar.Size = new System.Drawing.Size(532, 284);
this.tabSonar.TabIndex = 1;
this.tabSonar.Text = "Sonar";
this.tabSonar.UseVisualStyleBackColor = true;
//
// picSonar
//
this.picSonar.Dock = System.Windows.Forms.DockStyle.Fill;
this.picSonar.Location = new System.Drawing.Point(3, 3);
this.picSonar.Name = "picSonar";
this.picSonar.Size = new System.Drawing.Size(526, 278);
this.picSonar.TabIndex = 1;
this.picSonar.TabStop = false;
//
// frmOperacaoMapaGPS
//
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.BackColor = System.Drawing.Color.White;
this.ClientSize = new System.Drawing.Size(1360, 858);
this.ClientSize = new System.Drawing.Size(1020, 704);
this.Controls.Add(this.lblPerformance);
this.Controls.Add(this.pnlAnguloCamera);
this.Controls.Add(this.pnlOrientacao);
@ -743,7 +762,7 @@ namespace AgroBase.Forms.Operacoes
this.Controls.Add(this.pnlAtuadores);
this.Controls.Add(this.pnlCameraCaminho);
this.Controls.Add(this.pnlCameraSolo);
this.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.Name = "frmOperacaoMapaGPS";
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
this.Text = "Operação Mapa GPS";
@ -753,7 +772,11 @@ namespace AgroBase.Forms.Operacoes
this.pnlAtuadores.ResumeLayout(false);
this.pnlAtuadores.PerformLayout();
this.pnlGraficos.ResumeLayout(false);
this.tabControl1.ResumeLayout(false);
this.tabGrafico.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).EndInit();
this.tabSonar.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.picSonar)).EndInit();
this.pnlNiveis.ResumeLayout(false);
this.pnlNiveis.PerformLayout();
this.gpbOpcoes.ResumeLayout(false);
@ -763,10 +786,6 @@ namespace AgroBase.Forms.Operacoes
this.gpbInformacoesGerais.PerformLayout();
this.pnlInferior.ResumeLayout(false);
this.pnlInferior.PerformLayout();
this.tabControl1.ResumeLayout(false);
this.tabGrafico.ResumeLayout(false);
this.tabSonar.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.picSonar)).EndInit();
this.ResumeLayout(false);
this.PerformLayout();

197
AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs generated
View File

@ -60,6 +60,8 @@
this.pnlOrientacaoTrajeto = new System.Windows.Forms.Panel();
this.pnlSonar = new System.Windows.Forms.Panel();
this.picSonar = new System.Windows.Forms.PictureBox();
this.btnAtualizarLeitura = new System.Windows.Forms.Button();
this.btnCalcularAngulo = new System.Windows.Forms.Button();
this.pnlOpcoes.SuspendLayout();
this.gpbSonar.SuspendLayout();
this.gpbGPS.SuspendLayout();
@ -70,6 +72,7 @@
//
// pnlOpcoes
//
this.pnlOpcoes.Controls.Add(this.btnAtualizarLeitura);
this.pnlOpcoes.Controls.Add(this.lblDistanciaFinal);
this.pnlOpcoes.Controls.Add(this.btnCarregarMapa);
this.pnlOpcoes.Controls.Add(this.lblDistanciaOperacao);
@ -79,26 +82,29 @@
this.pnlOpcoes.Controls.Add(this.lblStatus);
this.pnlOpcoes.Controls.Add(this.gpbGPS);
this.pnlOpcoes.Dock = System.Windows.Forms.DockStyle.Bottom;
this.pnlOpcoes.Location = new System.Drawing.Point(0, 590);
this.pnlOpcoes.Location = new System.Drawing.Point(0, 479);
this.pnlOpcoes.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlOpcoes.Name = "pnlOpcoes";
this.pnlOpcoes.Size = new System.Drawing.Size(1371, 123);
this.pnlOpcoes.Size = new System.Drawing.Size(1028, 100);
this.pnlOpcoes.TabIndex = 0;
//
// lblDistanciaFinal
//
this.lblDistanciaFinal.AutoSize = true;
this.lblDistanciaFinal.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
this.lblDistanciaFinal.Location = new System.Drawing.Point(9, 85);
this.lblDistanciaFinal.Location = new System.Drawing.Point(7, 69);
this.lblDistanciaFinal.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDistanciaFinal.Name = "lblDistanciaFinal";
this.lblDistanciaFinal.Size = new System.Drawing.Size(146, 16);
this.lblDistanciaFinal.Size = new System.Drawing.Size(120, 13);
this.lblDistanciaFinal.TabIndex = 21;
this.lblDistanciaFinal.Text = "Distância Final: 00,00 m";
//
// btnCarregarMapa
//
this.btnCarregarMapa.Location = new System.Drawing.Point(12, 8);
this.btnCarregarMapa.Location = new System.Drawing.Point(9, 6);
this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnCarregarMapa.Name = "btnCarregarMapa";
this.btnCarregarMapa.Size = new System.Drawing.Size(161, 23);
this.btnCarregarMapa.Size = new System.Drawing.Size(121, 19);
this.btnCarregarMapa.TabIndex = 20;
this.btnCarregarMapa.Text = "Carregar Mapa";
this.btnCarregarMapa.UseVisualStyleBackColor = true;
@ -108,17 +114,19 @@
//
this.lblDistanciaOperacao.AutoSize = true;
this.lblDistanciaOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
this.lblDistanciaOperacao.Location = new System.Drawing.Point(9, 66);
this.lblDistanciaOperacao.Location = new System.Drawing.Point(7, 54);
this.lblDistanciaOperacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDistanciaOperacao.Name = "lblDistanciaOperacao";
this.lblDistanciaOperacao.Size = new System.Drawing.Size(178, 16);
this.lblDistanciaOperacao.Size = new System.Drawing.Size(145, 13);
this.lblDistanciaOperacao.TabIndex = 19;
this.lblDistanciaOperacao.Text = "Distância Operação: 00,00 m";
//
// btnIniciarSimulacao
//
this.btnIniciarSimulacao.Location = new System.Drawing.Point(12, 37);
this.btnIniciarSimulacao.Location = new System.Drawing.Point(9, 30);
this.btnIniciarSimulacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnIniciarSimulacao.Name = "btnIniciarSimulacao";
this.btnIniciarSimulacao.Size = new System.Drawing.Size(161, 25);
this.btnIniciarSimulacao.Size = new System.Drawing.Size(121, 20);
this.btnIniciarSimulacao.TabIndex = 18;
this.btnIniciarSimulacao.Text = "Iniciar Simulação";
this.btnIniciarSimulacao.UseVisualStyleBackColor = true;
@ -135,9 +143,11 @@
this.gpbSonar.Controls.Add(this.txtDistanciaSonar);
this.gpbSonar.Controls.Add(this.lblAnguloI);
this.gpbSonar.Controls.Add(this.txtAnguloInicial);
this.gpbSonar.Location = new System.Drawing.Point(811, 3);
this.gpbSonar.Location = new System.Drawing.Point(785, 2);
this.gpbSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbSonar.Name = "gpbSonar";
this.gpbSonar.Size = new System.Drawing.Size(309, 117);
this.gpbSonar.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbSonar.Size = new System.Drawing.Size(232, 95);
this.gpbSonar.TabIndex = 17;
this.gpbSonar.TabStop = false;
this.gpbSonar.Text = "Sonar";
@ -145,9 +155,10 @@
// chbMoverObstaculo
//
this.chbMoverObstaculo.AutoSize = true;
this.chbMoverObstaculo.Location = new System.Drawing.Point(165, 43);
this.chbMoverObstaculo.Location = new System.Drawing.Point(124, 35);
this.chbMoverObstaculo.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.chbMoverObstaculo.Name = "chbMoverObstaculo";
this.chbMoverObstaculo.Size = new System.Drawing.Size(129, 20);
this.chbMoverObstaculo.Size = new System.Drawing.Size(105, 17);
this.chbMoverObstaculo.TabIndex = 29;
this.chbMoverObstaculo.Text = "Mover obstáculo";
this.chbMoverObstaculo.UseVisualStyleBackColor = true;
@ -155,19 +166,20 @@
// chbSonarVirando
//
this.chbSonarVirando.AutoSize = true;
this.chbSonarVirando.Location = new System.Drawing.Point(165, 84);
this.chbSonarVirando.Location = new System.Drawing.Point(124, 68);
this.chbSonarVirando.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.chbSonarVirando.Name = "chbSonarVirando";
this.chbSonarVirando.Size = new System.Drawing.Size(117, 20);
this.chbSonarVirando.Size = new System.Drawing.Size(96, 17);
this.chbSonarVirando.TabIndex = 28;
this.chbSonarVirando.Text = "Sonar atuando";
this.chbSonarVirando.UseVisualStyleBackColor = true;
//
// btnAdicionarDeteccao
//
this.btnAdicionarDeteccao.Location = new System.Drawing.Point(93, 79);
this.btnAdicionarDeteccao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.btnAdicionarDeteccao.Location = new System.Drawing.Point(70, 64);
this.btnAdicionarDeteccao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnAdicionarDeteccao.Name = "btnAdicionarDeteccao";
this.btnAdicionarDeteccao.Size = new System.Drawing.Size(60, 28);
this.btnAdicionarDeteccao.Size = new System.Drawing.Size(45, 23);
this.btnAdicionarDeteccao.TabIndex = 25;
this.btnAdicionarDeteccao.Text = "Add";
this.btnAdicionarDeteccao.UseVisualStyleBackColor = true;
@ -176,17 +188,19 @@
// lblAnguloFinal
//
this.lblAnguloFinal.AutoSize = true;
this.lblAnguloFinal.Location = new System.Drawing.Point(90, 22);
this.lblAnguloFinal.Location = new System.Drawing.Point(68, 18);
this.lblAnguloFinal.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAnguloFinal.Name = "lblAnguloFinal";
this.lblAnguloFinal.Size = new System.Drawing.Size(67, 16);
this.lblAnguloFinal.Size = new System.Drawing.Size(55, 13);
this.lblAnguloFinal.TabIndex = 27;
this.lblAnguloFinal.Text = "Angulo Fn";
//
// txtAnguloFinal
//
this.txtAnguloFinal.Location = new System.Drawing.Point(93, 41);
this.txtAnguloFinal.Location = new System.Drawing.Point(70, 33);
this.txtAnguloFinal.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.txtAnguloFinal.Name = "txtAnguloFinal";
this.txtAnguloFinal.Size = new System.Drawing.Size(60, 22);
this.txtAnguloFinal.Size = new System.Drawing.Size(46, 20);
this.txtAnguloFinal.TabIndex = 23;
this.txtAnguloFinal.Text = "0";
this.txtAnguloFinal.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
@ -194,17 +208,19 @@
// lblDistanciaSonar
//
this.lblDistanciaSonar.AutoSize = true;
this.lblDistanciaSonar.Location = new System.Drawing.Point(12, 66);
this.lblDistanciaSonar.Location = new System.Drawing.Point(9, 54);
this.lblDistanciaSonar.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDistanciaSonar.Name = "lblDistanciaSonar";
this.lblDistanciaSonar.Size = new System.Drawing.Size(63, 16);
this.lblDistanciaSonar.Size = new System.Drawing.Size(51, 13);
this.lblDistanciaSonar.TabIndex = 25;
this.lblDistanciaSonar.Text = "Distancia";
//
// txtDistanciaSonar
//
this.txtDistanciaSonar.Location = new System.Drawing.Point(15, 85);
this.txtDistanciaSonar.Location = new System.Drawing.Point(11, 69);
this.txtDistanciaSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.txtDistanciaSonar.Name = "txtDistanciaSonar";
this.txtDistanciaSonar.Size = new System.Drawing.Size(60, 22);
this.txtDistanciaSonar.Size = new System.Drawing.Size(46, 20);
this.txtDistanciaSonar.TabIndex = 24;
this.txtDistanciaSonar.Text = "0";
this.txtDistanciaSonar.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
@ -212,17 +228,19 @@
// lblAnguloI
//
this.lblAnguloI.AutoSize = true;
this.lblAnguloI.Location = new System.Drawing.Point(12, 22);
this.lblAnguloI.Location = new System.Drawing.Point(9, 18);
this.lblAnguloI.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAnguloI.Name = "lblAnguloI";
this.lblAnguloI.Size = new System.Drawing.Size(62, 16);
this.lblAnguloI.Size = new System.Drawing.Size(52, 13);
this.lblAnguloI.TabIndex = 23;
this.lblAnguloI.Text = "Angulo In";
//
// txtAnguloInicial
//
this.txtAnguloInicial.Location = new System.Drawing.Point(15, 41);
this.txtAnguloInicial.Location = new System.Drawing.Point(11, 33);
this.txtAnguloInicial.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.txtAnguloInicial.Name = "txtAnguloInicial";
this.txtAnguloInicial.Size = new System.Drawing.Size(60, 22);
this.txtAnguloInicial.Size = new System.Drawing.Size(46, 20);
this.txtAnguloInicial.TabIndex = 22;
this.txtAnguloInicial.Text = "0";
this.txtAnguloInicial.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
@ -231,9 +249,10 @@
//
this.lblDirecao.AutoSize = true;
this.lblDirecao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
this.lblDirecao.Location = new System.Drawing.Point(9, 104);
this.lblDirecao.Location = new System.Drawing.Point(7, 84);
this.lblDirecao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDirecao.Name = "lblDirecao";
this.lblDirecao.Size = new System.Drawing.Size(106, 16);
this.lblDirecao.Size = new System.Drawing.Size(84, 13);
this.lblDirecao.TabIndex = 16;
this.lblDirecao.Text = "Direção: Parado";
//
@ -241,14 +260,16 @@
//
this.lblStatus.AutoSize = true;
this.lblStatus.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
this.lblStatus.Location = new System.Drawing.Point(205, 85);
this.lblStatus.Location = new System.Drawing.Point(154, 69);
this.lblStatus.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblStatus.Name = "lblStatus";
this.lblStatus.Size = new System.Drawing.Size(125, 16);
this.lblStatus.Size = new System.Drawing.Size(101, 13);
this.lblStatus.TabIndex = 15;
this.lblStatus.Text = "Status: Aguardando";
//
// gpbGPS
//
this.gpbGPS.Controls.Add(this.btnCalcularAngulo);
this.gpbGPS.Controls.Add(this.btnAcrescentarGPS);
this.gpbGPS.Controls.Add(this.lblDistancia);
this.gpbGPS.Controls.Add(this.txtDistanciaGPS);
@ -259,9 +280,11 @@
this.gpbGPS.Controls.Add(this.txtLongitude);
this.gpbGPS.Controls.Add(this.txtLatitude);
this.gpbGPS.Controls.Add(this.btnIniciarGPS);
this.gpbGPS.Location = new System.Drawing.Point(385, 3);
this.gpbGPS.Location = new System.Drawing.Point(289, 2);
this.gpbGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbGPS.Name = "gpbGPS";
this.gpbGPS.Size = new System.Drawing.Size(420, 117);
this.gpbGPS.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbGPS.Size = new System.Drawing.Size(400, 95);
this.gpbGPS.TabIndex = 14;
this.gpbGPS.TabStop = false;
this.gpbGPS.Text = "GPS";
@ -269,10 +292,10 @@
// btnAcrescentarGPS
//
this.btnAcrescentarGPS.Enabled = false;
this.btnAcrescentarGPS.Location = new System.Drawing.Point(307, 82);
this.btnAcrescentarGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.btnAcrescentarGPS.Location = new System.Drawing.Point(230, 67);
this.btnAcrescentarGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnAcrescentarGPS.Name = "btnAcrescentarGPS";
this.btnAcrescentarGPS.Size = new System.Drawing.Size(99, 28);
this.btnAcrescentarGPS.Size = new System.Drawing.Size(74, 23);
this.btnAcrescentarGPS.TabIndex = 22;
this.btnAcrescentarGPS.Text = "Acrescentar";
this.btnAcrescentarGPS.UseVisualStyleBackColor = true;
@ -281,18 +304,20 @@
// lblDistancia
//
this.lblDistancia.AutoSize = true;
this.lblDistancia.Location = new System.Drawing.Point(212, 66);
this.lblDistancia.Location = new System.Drawing.Point(159, 54);
this.lblDistancia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDistancia.Name = "lblDistancia";
this.lblDistancia.Size = new System.Drawing.Size(63, 16);
this.lblDistancia.Size = new System.Drawing.Size(51, 13);
this.lblDistancia.TabIndex = 21;
this.lblDistancia.Text = "Distancia";
//
// txtDistanciaGPS
//
this.txtDistanciaGPS.Enabled = false;
this.txtDistanciaGPS.Location = new System.Drawing.Point(215, 85);
this.txtDistanciaGPS.Location = new System.Drawing.Point(161, 69);
this.txtDistanciaGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.txtDistanciaGPS.Name = "txtDistanciaGPS";
this.txtDistanciaGPS.Size = new System.Drawing.Size(71, 22);
this.txtDistanciaGPS.Size = new System.Drawing.Size(54, 20);
this.txtDistanciaGPS.TabIndex = 20;
this.txtDistanciaGPS.Text = "0";
this.txtDistanciaGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
@ -300,18 +325,20 @@
// lblAnguloGPS
//
this.lblAnguloGPS.AutoSize = true;
this.lblAnguloGPS.Location = new System.Drawing.Point(212, 22);
this.lblAnguloGPS.Location = new System.Drawing.Point(159, 18);
this.lblAnguloGPS.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAnguloGPS.Name = "lblAnguloGPS";
this.lblAnguloGPS.Size = new System.Drawing.Size(49, 16);
this.lblAnguloGPS.Size = new System.Drawing.Size(40, 13);
this.lblAnguloGPS.TabIndex = 19;
this.lblAnguloGPS.Text = "Angulo";
//
// txtAnguloGPS
//
this.txtAnguloGPS.Enabled = false;
this.txtAnguloGPS.Location = new System.Drawing.Point(215, 41);
this.txtAnguloGPS.Location = new System.Drawing.Point(161, 33);
this.txtAnguloGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.txtAnguloGPS.Name = "txtAnguloGPS";
this.txtAnguloGPS.Size = new System.Drawing.Size(71, 22);
this.txtAnguloGPS.Size = new System.Drawing.Size(54, 20);
this.txtAnguloGPS.TabIndex = 18;
this.txtAnguloGPS.Text = "0";
this.txtAnguloGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
@ -319,45 +346,49 @@
// lblLongitude
//
this.lblLongitude.AutoSize = true;
this.lblLongitude.Location = new System.Drawing.Point(9, 66);
this.lblLongitude.Location = new System.Drawing.Point(7, 54);
this.lblLongitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblLongitude.Name = "lblLongitude";
this.lblLongitude.Size = new System.Drawing.Size(66, 16);
this.lblLongitude.Size = new System.Drawing.Size(54, 13);
this.lblLongitude.TabIndex = 17;
this.lblLongitude.Text = "Longitude";
//
// lblLatitude
//
this.lblLatitude.AutoSize = true;
this.lblLatitude.Location = new System.Drawing.Point(9, 22);
this.lblLatitude.Location = new System.Drawing.Point(7, 18);
this.lblLatitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblLatitude.Name = "lblLatitude";
this.lblLatitude.Size = new System.Drawing.Size(54, 16);
this.lblLatitude.Size = new System.Drawing.Size(45, 13);
this.lblLatitude.TabIndex = 16;
this.lblLatitude.Text = "Latitude";
//
// txtLongitude
//
this.txtLongitude.Location = new System.Drawing.Point(12, 85);
this.txtLongitude.Location = new System.Drawing.Point(9, 69);
this.txtLongitude.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.txtLongitude.Name = "txtLongitude";
this.txtLongitude.Size = new System.Drawing.Size(179, 22);
this.txtLongitude.Size = new System.Drawing.Size(135, 20);
this.txtLongitude.TabIndex = 15;
this.txtLongitude.Text = "-47.26406713810977";
this.txtLongitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// txtLatitude
//
this.txtLatitude.Location = new System.Drawing.Point(12, 41);
this.txtLatitude.Location = new System.Drawing.Point(9, 33);
this.txtLatitude.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.txtLatitude.Name = "txtLatitude";
this.txtLatitude.Size = new System.Drawing.Size(179, 22);
this.txtLatitude.Size = new System.Drawing.Size(135, 20);
this.txtLatitude.TabIndex = 14;
this.txtLatitude.Text = "-22.339442335994334";
this.txtLatitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// btnIniciarGPS
//
this.btnIniciarGPS.Location = new System.Drawing.Point(307, 38);
this.btnIniciarGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.btnIniciarGPS.Location = new System.Drawing.Point(230, 31);
this.btnIniciarGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnIniciarGPS.Name = "btnIniciarGPS";
this.btnIniciarGPS.Size = new System.Drawing.Size(99, 28);
this.btnIniciarGPS.Size = new System.Drawing.Size(74, 23);
this.btnIniciarGPS.TabIndex = 13;
this.btnIniciarGPS.Text = "Iniciar";
this.btnIniciarGPS.UseVisualStyleBackColor = true;
@ -369,9 +400,10 @@
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.pnlMapa.Controls.Add(this.pnlOrientacaoTrajeto);
this.pnlMapa.Location = new System.Drawing.Point(12, 12);
this.pnlMapa.Location = new System.Drawing.Point(9, 10);
this.pnlMapa.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlMapa.Name = "pnlMapa";
this.pnlMapa.Size = new System.Drawing.Size(674, 572);
this.pnlMapa.Size = new System.Drawing.Size(506, 465);
this.pnlMapa.TabIndex = 1;
//
// pnlOrientacaoTrajeto
@ -380,10 +412,10 @@
this.pnlOrientacaoTrajeto.BackColor = System.Drawing.Color.White;
this.pnlOrientacaoTrajeto.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
this.pnlOrientacaoTrajeto.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
this.pnlOrientacaoTrajeto.Location = new System.Drawing.Point(567, 2);
this.pnlOrientacaoTrajeto.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.pnlOrientacaoTrajeto.Location = new System.Drawing.Point(425, 2);
this.pnlOrientacaoTrajeto.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlOrientacaoTrajeto.Name = "pnlOrientacaoTrajeto";
this.pnlOrientacaoTrajeto.Size = new System.Drawing.Size(104, 103);
this.pnlOrientacaoTrajeto.Size = new System.Drawing.Size(78, 84);
this.pnlOrientacaoTrajeto.TabIndex = 12;
this.pnlOrientacaoTrajeto.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoTrajeto_Paint);
//
@ -392,28 +424,53 @@
this.pnlSonar.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Right)));
this.pnlSonar.Controls.Add(this.picSonar);
this.pnlSonar.Location = new System.Drawing.Point(692, 12);
this.pnlSonar.Location = new System.Drawing.Point(519, 10);
this.pnlSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlSonar.Name = "pnlSonar";
this.pnlSonar.Size = new System.Drawing.Size(667, 572);
this.pnlSonar.Size = new System.Drawing.Size(500, 465);
this.pnlSonar.TabIndex = 2;
//
// picSonar
//
this.picSonar.Dock = System.Windows.Forms.DockStyle.Fill;
this.picSonar.Location = new System.Drawing.Point(0, 0);
this.picSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.picSonar.Name = "picSonar";
this.picSonar.Size = new System.Drawing.Size(667, 572);
this.picSonar.Size = new System.Drawing.Size(500, 465);
this.picSonar.TabIndex = 0;
this.picSonar.TabStop = false;
//
// btnAtualizarLeitura
//
this.btnAtualizarLeitura.Location = new System.Drawing.Point(134, 30);
this.btnAtualizarLeitura.Margin = new System.Windows.Forms.Padding(2);
this.btnAtualizarLeitura.Name = "btnAtualizarLeitura";
this.btnAtualizarLeitura.Size = new System.Drawing.Size(121, 20);
this.btnAtualizarLeitura.TabIndex = 22;
this.btnAtualizarLeitura.Text = "Atualizar leitura";
this.btnAtualizarLeitura.UseVisualStyleBackColor = true;
this.btnAtualizarLeitura.Click += new System.EventHandler(this.btnAtualizarLeitura_Click);
//
// btnCalcularAngulo
//
this.btnCalcularAngulo.Location = new System.Drawing.Point(308, 67);
this.btnCalcularAngulo.Margin = new System.Windows.Forms.Padding(2);
this.btnCalcularAngulo.Name = "btnCalcularAngulo";
this.btnCalcularAngulo.Size = new System.Drawing.Size(74, 23);
this.btnCalcularAngulo.TabIndex = 23;
this.btnCalcularAngulo.Text = "Calcular";
this.btnCalcularAngulo.UseVisualStyleBackColor = true;
this.btnCalcularAngulo.Click += new System.EventHandler(this.btnCalcularAngulo_Click);
//
// frmSimulacaoMapaGPS
//
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(1371, 713);
this.ClientSize = new System.Drawing.Size(1028, 579);
this.Controls.Add(this.pnlSonar);
this.Controls.Add(this.pnlMapa);
this.Controls.Add(this.pnlOpcoes);
this.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.Name = "frmSimulacaoMapaGPS";
this.Text = "frmSimulacaoMapaGPS";
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmSimulacaoMapaGPS_FormClosing);
@ -465,5 +522,7 @@
private System.Windows.Forms.PictureBox picSonar;
private System.Windows.Forms.CheckBox chbMoverObstaculo;
private System.Windows.Forms.CheckBox chbSonarVirando;
private System.Windows.Forms.Button btnAtualizarLeitura;
private System.Windows.Forms.Button btnCalcularAngulo;
}
}

37
AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs
View File

@ -18,6 +18,7 @@ namespace AgroBase.Forms
public partial class frmSimulacaoMapaGPS : Form
{
Timer tmrSonar;
StatusCarroMapa StatusCarro = StatusCarroMapa.Parado;
public frmSimulacaoMapaGPS()
{
@ -25,7 +26,7 @@ namespace AgroBase.Forms
Timer tmr = new Timer() { Interval = 500 };
tmr.Tick += Tmr_Tick;
tmr.Start();
//tmr.Start();
tmrSonar = new Timer() { Interval = 100 };
tmrSonar.Tick += tmrSonar_Tick;
@ -36,22 +37,34 @@ namespace AgroBase.Forms
private void Tmr_Tick(object sender, EventArgs e)
{
lblStatus.Text = "Status: " + Enum.GetName(typeof(StatusCarroMapa), Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual);
StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual;
lblStatus.Text = "Status: " + Enum.GetName(typeof(StatusCarroMapa), StatusCarro);
lblDirecao.Text = "Direção: " + Enum.GetName(typeof(DirecaoCarroRua), Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.Direcao);
lblDistanciaOperacao.Text = "Distância Operação: " + (Variaveis.OperacaoEmAndamento.Mapa == null ? 0 : Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal).ToString("00.00") + " m";
lblDistanciaFinal.Text = "Distância Final: " + (GPSService.DistanciaDoTrecho(Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica)).ToString("00.00") + " m";
if (Variaveis.OperacaoEmAndamento.Iniciado)
{
var StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual;
if (StatusCarro == StatusCarroMapa.Direcionando)
{
Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First());
var Rua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual];
var PontoInicial = Rua.First();
var PontoFinal = Rua.Last();
Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.DirecaoCaminho == DirecaoCarroRua.Volta ? PontoFinal : PontoInicial);
}
else if (StatusCarro == StatusCarroMapa.Manobrando)
{
//Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First());
}
else
{
if (Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica.Any())
{
Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica.Clear();
GPSService.AtualizarTrajetoriaDinamica();
}
}
pnlOrientacaoTrajeto.Invalidate();
}
@ -151,6 +164,8 @@ namespace AgroBase.Forms
distSonar -= (distancia * 100);
txtDistanciaSonar.Text = distSonar.ToString();
}
btnCalcularAngulo_Click(sender, e);
}
private void btnIniciarSimulacao_Click(object sender, EventArgs e)
@ -291,6 +306,18 @@ namespace AgroBase.Forms
btnAdicionarDeteccao.Text = ObjetoDetectado ? "Del" : "Add";
}
private void btnAtualizarLeitura_Click(object sender, EventArgs e)
{
Tmr_Tick(new Timer(), e);
}
private void btnCalcularAngulo_Click(object sender, EventArgs e)
{
Variaveis.OperacaoEmAndamento.OpMapaGPS.CalcularAnguloInclinacao(StatusCarro);
double anguloAnterior = double.Parse(txtAnguloGPS.Text);
txtAnguloGPS.Text = (Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.Angulo + anguloAnterior).ToString("0.00");
}
}
}

195
AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs
View File

@ -182,7 +182,7 @@ namespace AgroBase.Models.Operacoes
ProgressoRua = Sensoriamento.ProgressoRua,
Status = ReferencialRuaGPS.StatusAtual,
Direcao = ReferencialRuaGPS.Direcao,
AnguloCarro = ReferencialRuaGPS.AnguloCarro,
AnguloCarro = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro,
AnguloRua = ReferencialRuaGPS.AnguloCaminho,
DentroDaRua = ReferencialRuaGPS.DentroDaRua,
IdxPontoAproximadoRua = ReferencialRuaGPS.IdxPontoAproximadoRua,
@ -215,17 +215,18 @@ namespace AgroBase.Models.Operacoes
public void CalcularAnguloInclinacao(StatusCarroMapa statusCarroRua)
{
double erroOrientacao = 0.0;
double anguloCarro = ReferencialRuaGPS.AnguloCarro;
double anguloCarro = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro;
double anguloOposto = (anguloCarro + 180) % 360;
double anguloRua = ReferencialRuaGPS.AnguloCaminho;
double anguloCamera = Sensoriamento.AnguloRuaCamera;
double margem = ReferencialRuaGPS.MargemErroAngulo;
// Calcula o erro de orientação
if ((anguloCarro + ReferencialRuaGPS.MargemErroAngulo) >= anguloRua && (anguloCarro - ReferencialRuaGPS.MargemErroAngulo) <= anguloRua)
if ((anguloCarro + margem) >= anguloRua && (anguloCarro - margem) <= anguloRua)
{
erroOrientacao = anguloCarro - anguloRua;
}
else if ((anguloOposto + ReferencialRuaGPS.MargemErroAngulo) >= anguloRua && (anguloOposto - ReferencialRuaGPS.MargemErroAngulo) <= anguloRua)
else if ((anguloOposto + margem) >= anguloRua && (anguloOposto - margem) <= anguloRua)
{
erroOrientacao = anguloOposto - anguloRua;
}
@ -240,9 +241,9 @@ namespace AgroBase.Models.Operacoes
double pesoPosicaoLateral = statusCarroRua == StatusCarroMapa.Direcionando ? 0.05 : 0.7;
double erroCombinado = (erroOrientacao * pesoOrientacao) + (erroPosicaoLateral * pesoPosicaoLateral);
var statusAtual = ReferencialRuaGPS.StatusAtual;
//var statusAtual = ReferencialRuaGPS.StatusAtual;
// Atualiza o PID com o erro combinado
if (statusAtual != StatusCarroMapa.Parado && statusAtual != StatusCarroMapa.Manobrando)
if (statusCarroRua != StatusCarroMapa.Parado && statusCarroRua != StatusCarroMapa.Manobrando)
{
Controle.PIDdirecional.Atualizar(erroCombinado);
}
@ -344,6 +345,7 @@ namespace AgroBase.Models.Operacoes
{
get
{
bool dentroDaRua = DentroDaRua;
StatusCarroMapa etapaAtual = _EtapaAtual;
// Se o status da operação não estiver Em Andamento
@ -357,31 +359,46 @@ namespace AgroBase.Models.Operacoes
if (_EtapaAtual == StatusCarroMapa.Manobrando)
{
// Aguarda a mudança de rua até que o robô tenha terminado a manobra e tenha ficado parado em frente à rua
if (ManobraConcluida && Direcao == DirecaoCarroRua.Parado)
/*if (ManobraConcluida && Direcao == DirecaoCarroRua.Parado)
{
Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++;
ManobraConcluida = false;
etapaAtual = StatusCarroMapa.EntrandoRua;
GPSService.AtualizaLeituraSimulacao();
System.Threading.Thread.Sleep(500);
}*/
if (Variaveis.OperacaoEmAndamento.DirecaoCaminho == Direcao)
{
ManobraConcluida = false;
etapaAtual = StatusCarroMapa.EntrandoRua;
}
}
// Se o robô não estiver dentro da entrelinha de cana
else if (!DentroDaRua)
else if (!dentroDaRua)
{
// Está próximo o bastante e alinhado para entrar na rua
if (NaMargemEntradaRua)
{
DirecaoCarroRua direcao = Direcao;
// Está mais próximo do ponto inicial da rota, e a direção do carro é IDA ou então PARADO, logo está entrando na rua, do começo para o final
if (ExtremoMaisProximo == 0 && (Direcao == DirecaoCarroRua.Ida || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusCarroMapa.SaindoRua)
if (ExtremoMaisProximo == 0 && (direcao == DirecaoCarroRua.Ida || direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusCarroMapa.SaindoRua)
{
etapaAtual = StatusCarroMapa.EntrandoRua;
}
// Está mais próximo do ponto final da rota, e a direção do carro é VOLTA ou então PARADO, logo está entrando na rua, do final para o começo
else if (ExtremoMaisProximo == 1 && (Direcao == DirecaoCarroRua.Volta || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusCarroMapa.SaindoRua)
else if (ExtremoMaisProximo == 1 && (direcao == DirecaoCarroRua.Volta || direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusCarroMapa.SaindoRua)
{
etapaAtual = StatusCarroMapa.EntrandoRua;
}
// Está mais próximo ao ponto final da rua, e a direção do carro é IDA, mas a rua será iniciada no sentido VOLTA, então para o carro para que ele vire e entre na rua
else if (ExtremoMaisProximo == 1 && (direcao == DirecaoCarroRua.Ida && Variaveis.OperacaoEmAndamento.DirecaoCaminho == DirecaoCarroRua.Volta))
{
etapaAtual = StatusCarroMapa.Manobrando;
}
else if (ExtremoMaisProximo == 0 && (direcao == DirecaoCarroRua.Volta && Variaveis.OperacaoEmAndamento.DirecaoCaminho == DirecaoCarroRua.Ida))
{
etapaAtual = StatusCarroMapa.Manobrando;
}
// Robô não está entrando na rua do começo para o fim, nem do fim para o começo
else
{
@ -396,7 +413,9 @@ namespace AgroBase.Models.Operacoes
// Ainda tem ruas a serem percorridas, logo, o robô precisa realizar a manobra para seguir para a próxima rua
if (!Variaveis.OperacaoEmAndamento.OpMapaGPS.Concluido)
{
etapaAtual = StatusCarroMapa.Manobrando;
//etapaAtual = StatusCarroMapa.Manobrando;
Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++;
etapaAtual = StatusCarroMapa.Direcionando;
}
}
}
@ -408,7 +427,7 @@ namespace AgroBase.Models.Operacoes
}
}
// Se o robô estiver dentro da entrelinha da cana
else if (DentroDaRua)
else if (dentroDaRua)
{
etapaAtual = StatusCarroMapa.CaminhandoRua;
}
@ -422,121 +441,9 @@ namespace AgroBase.Models.Operacoes
return _EtapaAtual;
}
}
/*public StatusOperacaoMapaGPS StatusAtual
{
get
{
StatusOperacaoMapaGPS etapaAtual = _EtapaAtual;
// Se a operação não estiver iniciada
if (!Variaveis.OperacaoEmAndamento.Iniciado)
{
// Etapa atual não é Finalizado, então a etapa é Parametrizando
if (_EtapaAtual != StatusOperacaoMapaGPS.Concluida)
{
etapaAtual = StatusOperacaoMapaGPS.Parametrizando;
}
}
// Operação em andamento
else
{
// Se a operação tiver algum item mandatório interrompido
if (!Variaveis.OperacaoEmAndamento.OperacaoLiberada)
{
// Da primeira vez, salva a etapa atual anterior à parada para possível retomada
if (etapaAtual != StatusOperacaoMapaGPS.Parado)
{
_EtapaAnteriorParada = etapaAtual;
}
etapaAtual = StatusOperacaoMapaGPS.Parado;
}
// Se a etapa atual for parado, mas a operação foi liberada, retoma de onde parou
else if (etapaAtual == StatusOperacaoMapaGPS.Parado && Variaveis.OperacaoEmAndamento.OperacaoLiberada)
{
Variaveis.OperacaoEmAndamento.TempoAguardando = DateTime.Now;
etapaAtual = StatusOperacaoMapaGPS.Aguardando;
}
// Etapa atual é finalizada, então finaliza a operação
else if (_EtapaAtual == StatusOperacaoMapaGPS.Concluida)
{
Variaveis.OperacaoEmAndamento.FinalizarOperacao();
}
// Contagem regressiva para iniciar a operação
else if (Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) > DateTime.Now)
{
etapaAtual = StatusOperacaoMapaGPS.Aguardando;
}
else if (_EtapaAnteriorParada != StatusOperacaoMapaGPS.Parado)
{
etapaAtual = _EtapaAnteriorParada;
_EtapaAnteriorParada = StatusOperacaoMapaGPS.Parado;
}
// Robô está manobrando para seguir a próxima rota do mapa
else if (_EtapaAtual == StatusOperacaoMapaGPS.Manobrando)
{
// Aguarda a mudança de rua até que o robô tenha terminado a manobra e tenha ficado parado em frente à rua
if (ManobraConcluida && Direcao == DirecaoCarroRua.Parado)
{
Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++;
ManobraConcluida = false;
etapaAtual = StatusOperacaoMapaGPS.EntrandoRua;
GPSService.AtualizaLeituraSimulacao();
Task.Delay(500);
}
}
// Se o robô não estiver dentro da entrelinha de cana
else if (!DentroDaRua)
{
// Está mais próximo do ponto inicial da rota, e a direção do carro é IDA ou então PARADO, logo está entrando na rua, do começo para o final
if (ExtremoMaisProximo == 0 && (Direcao == DirecaoCarroRua.Ida || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusOperacaoMapaGPS.SaindoRua)
{
etapaAtual = StatusOperacaoMapaGPS.EntrandoRua;
}
// Está mais próximo do ponto final da rota, e a direção do carro é VOLTA ou então PARADO, logo está entrando na rua, do final para o começo
else if (ExtremoMaisProximo == 1 && (Direcao == DirecaoCarroRua.Volta || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusOperacaoMapaGPS.SaindoRua)
{
etapaAtual = StatusOperacaoMapaGPS.EntrandoRua;
}
// Robô não está entrando na rua do começo para o fim, nem do fim para o começo
else
{
// Se a etapa anterior era CaminhandoRua, ou seja, robô estava na rua e agora não está mais, então esta saindo da rua
if (_EtapaAtual == StatusOperacaoMapaGPS.CaminhandoRua)
{
etapaAtual = StatusOperacaoMapaGPS.SaindoRua;
}
// Se a etapa anterior não for CaminhandoRua, então significa que ele já iniciou a etapa de sair da rua
else
{
// O índice de rua para realizar o trabalho já ultrapassou a quantidade de ruas definidas pelo operador, então a operação foi concluída
if (Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual >= Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Count - 1)
{
etapaAtual = StatusOperacaoMapaGPS.Concluida;
}
// Ainda tem ruas a serem percorridas, logo, o robô precisa realizar a manobra para seguir para a próxima rua
else
{
etapaAtual = StatusOperacaoMapaGPS.Manobrando;
}
}
}
}
// Se o robô estiver dentro da entrelinha da cana
else if (DentroDaRua)
{
etapaAtual = StatusOperacaoMapaGPS.CaminhandoRua;
}
}
_EtapaAtual = etapaAtual;
return etapaAtual;
}
}*/
public int PontosConsiderarAngulo { get; set; } = 2;
public double Distancia { get; set; } = 0;
public double AnguloCarro
/*public double AnguloCarro
{
get
{
@ -546,11 +453,11 @@ namespace AgroBase.Models.Operacoes
}
else
{
return AnguloCarroGPS;
return Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS;
}
}
}
public double AnguloCarroGPS
}*/
/*public double AnguloCarroGPS
{
get
{
@ -575,7 +482,7 @@ namespace AgroBase.Models.Operacoes
return 0;
}
}
}
}*/
public double AnguloCaminho
{
get
@ -584,9 +491,6 @@ namespace AgroBase.Models.Operacoes
{
if (_EtapaAtual == StatusCarroMapa.Direcionando)
{
/*GPSModel PontoRua = ExtremoMaisProximo == 0 ? PrimeiroPontoRua : UltimoPontoRua;
double anguloCaminho = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, PontoRua);
return anguloCaminho;*/
double somaAnguloRua = 0;
var Rua = Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica;
@ -622,9 +526,17 @@ namespace AgroBase.Models.Operacoes
{
somaAnguloRua += GPSService.CalcularOrientacao(PontosRua[i + 1], PontosRua[i]);
}
double mediaAnguloRua = somaAnguloRua / (PontosRua.Count - 1);
return (!(mediaAnguloRua >= 0 || mediaAnguloRua <= 0)) ? 0 : mediaAnguloRua;
double mediaAnguloRua = somaAnguloRua / (PontosRua.Count - 1);
double angulo = (!(mediaAnguloRua >= 0 || mediaAnguloRua <= 0)) ? 0 : mediaAnguloRua;
/*double anguloOposto = (angulo + 180) % 360;
if (Variaveis.OperacaoEmAndamento.DirecaoCaminho == DirecaoCarroRua.Volta)
{
angulo = anguloOposto;
}*/
return angulo;
}
}
catch
@ -643,7 +555,7 @@ namespace AgroBase.Models.Operacoes
{
return DirecaoCarroRua.Parado;
}
double mediaAngulo = AnguloCarro;
double mediaAngulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro;
double anguloOposto = (mediaAngulo + 180) % 360;
double mediaAnguloRua = AnguloCaminho;
@ -806,8 +718,19 @@ namespace AgroBase.Models.Operacoes
bool NaMargem = false;
GPSModel PontoRua = ExtremoMaisProximo == 0 ? PrimeiroPontoRua : UltimoPontoRua;
double Distancia = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PontoRua);
double DistanciaAnterior = GPSService.DistanciaEntrePontos(GPSService.PenultimaLeitura, PontoRua);
if (Distancia <= MargemLimiteEntradaRua)
double DistanciaFinal = 0;
if (Distancia > DistanciaAnterior)
{
DistanciaFinal = Distancia * -1;
}
else
{
DistanciaFinal = Distancia;
}
if (DistanciaFinal <= MargemLimiteEntradaRua)
{
NaMargem = true;
}

129
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
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@ -238,6 +238,14 @@ namespace AgroBase.Models
public List<OperacaoSensoriamentoModel> Logs { get; set; } = new List<OperacaoSensoriamentoModel>();
public List<GPSModel> GPSTrajetoria { get; set; } = new List<GPSModel>();
public List<List<GPSModel>> GPSTrajetoriaRua { get; set; } = new List<List<GPSModel>>();
public DirecaoCarroRua DirecaoCaminho
{
get
{
DirecaoCarroRua direcaoCaminho = Mapa.IdxRuaAtual % 2 == 0 ? DirecaoCarroRua.Ida : DirecaoCarroRua.Volta;
return direcaoCaminho;
}
}
public int QuantidadeCamerasSolo { get; set; } = 2;
public List<CameraSoloModel> CamerasSolo { get; set; } = new List<CameraSoloModel>();
public CameraCaminhoModel CameraCaminho { get; set; }
@ -608,56 +616,37 @@ namespace AgroBase.Models
public void SalvarLog(bool Fim)
{
Logs.Add(new OperacaoSensoriamentoModel()
if (!string.IsNullOrEmpty(ID))
{
Momento = DateTime.Now,
BateriaConsumida = Sensoriamento.BateriaConsumida,
DistanciaDireita = Sensoriamento.DistanciaDireita,
DistanciaEsquerda = Sensoriamento.DistanciaEsquerda,
DistanciaPercorrida = new List<double>(Sensoriamento.DistanciaPercorrida),
PorcentagemBateria = Sensoriamento.PorcentagemBateria,
//AnguloCarro = ReferencialRuaGPS.AnguloCarro,
AnguloCarroBussola = Sensoriamento.AnguloCarroBussola
});
if (!Directory.Exists(Variaveis.CaminhoOperacoes + ID))
{
Directory.CreateDirectory(Variaveis.CaminhoOperacoes + ID);
}
if (!File.Exists(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json"))
{
string jsonLog = JsonConvert.SerializeObject(Logs, Formatting.None);
File.WriteAllText(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json", jsonLog.Substring(0, jsonLog.Length - 1));
}
else
{
string jsonLog = JsonConvert.SerializeObject(Logs[Logs.Count - 1], Formatting.None);
File.AppendAllText(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json", "," + jsonLog + (Fim ? "]" : ""));
}
GPSTrajetoria.Add(new GPSModel()
{
NumeroSatelites = GPSService.UltimaLeitura.NumeroSatelites,
Altitude = GPSService.UltimaLeitura.Altitude,
DataHora = GPSService.UltimaLeitura.DataHora,
Latitude = GPSService.UltimaLeitura.Latitude,
Longitude = GPSService.UltimaLeitura.Longitude,
PrecisaoHorizontal = GPSService.UltimaLeitura.PrecisaoHorizontal
});
if (GPSTrajetoriaRua.Count() - 1 < Mapa.IdxRuaAtual)
{
GPSTrajetoriaRua.Add(new List<GPSModel>());
}
GPSTrajetoriaRua[Mapa.IdxRuaAtual].Add(GPSTrajetoria[GPSTrajetoria.Count - 1]);
if (GPSTrajetoria.Count > 1)
{
if (Sensoriamento.DistanciaPercorrida.Count - 1 < Mapa.IdxRuaAtual)
Logs.Add(new OperacaoSensoriamentoModel()
{
Sensoriamento.DistanciaPercorrida.Add(0);
Momento = DateTime.Now,
BateriaConsumida = Sensoriamento.BateriaConsumida,
DistanciaDireita = Sensoriamento.DistanciaDireita,
DistanciaEsquerda = Sensoriamento.DistanciaEsquerda,
DistanciaPercorrida = new List<double>(Sensoriamento.DistanciaPercorrida),
PorcentagemBateria = Sensoriamento.PorcentagemBateria,
AnguloCarroBussola = Sensoriamento.AnguloCarroBussola
});
if (!Directory.Exists(Variaveis.CaminhoOperacoes + ID))
{
Directory.CreateDirectory(Variaveis.CaminhoOperacoes + ID);
}
Sensoriamento.DistanciaPercorrida[Mapa.IdxRuaAtual] += GPSService.DistanciaEntrePontos(GPSTrajetoria[GPSTrajetoria.Count - 1], GPSTrajetoria[GPSTrajetoria.Count - 2]);
if (!File.Exists(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json"))
{
string jsonLog = JsonConvert.SerializeObject(Logs, Formatting.None);
File.WriteAllText(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json", jsonLog.Substring(0, jsonLog.Length - 1));
}
else
{
string jsonLog = JsonConvert.SerializeObject(Logs[Logs.Count - 1], Formatting.None);
File.AppendAllText(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json", "," + jsonLog + (Fim ? "]" : ""));
}
File.WriteAllText(Variaveis.CaminhoOperacoes + ID + "/trajetoria.json", JsonConvert.SerializeObject(GPSTrajetoria, Formatting.None));
}
File.WriteAllText(Variaveis.CaminhoOperacoes + ID + "/trajetoria.json", JsonConvert.SerializeObject(GPSTrajetoria, Formatting.None));
}
private void TmrLogs_Tick(object sender, EventArgs e)
@ -743,8 +732,54 @@ namespace AgroBase.Models
public List<double> DistanciaPercorrida { get; set; } = new List<double>();
public double DistanciaEsquerda { get; set; } = 0;
public double DistanciaDireita { get; set; } = 0;
public double AnguloCarro { get; set; } = 0;
public double AnguloCarroGPS
{
get
{
int PontosConsiderarAngulo = 2;
double Angulo = 0;
int Indice = Variaveis.OperacaoEmAndamento.Mapa.mapaService.MapaUrl != "" ? Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual : 0;
try
{
double somaAngulo = 0;
var Pontos = !Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Any() || Indice >= Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Count() ? new List<GPSModel>() :
Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Indice].Count > PontosConsiderarAngulo ?
Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Indice].OrderByDescending(x => x.DataHora).Take(PontosConsiderarAngulo).ToList() :
Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Indice].OrderByDescending(x => x.DataHora).ToList();
Pontos = Pontos.OrderBy(x => x.DataHora).ToList();
for (int i = 0; i < Pontos.Count() - 1; i++)
{
somaAngulo += GPSService.CalcularOrientacao(Pontos[i + 1], Pontos[i]);
}
double mediaAngulo = somaAngulo / (Pontos.Count() - 1);
Angulo = (!(mediaAngulo >= 0 || mediaAngulo <= 0)) ? 0 : mediaAngulo;
}
catch
{
Angulo = 0;
}
return Angulo;
}
}
public double AnguloCarroBussola { get; set; } = 0;
public double AnguloCarro
{
get
{
if (Variaveis.OperacaoEmAndamento.DispSen._Porta.IsOpen && Variaveis.OperacaoEmAndamento.DispSen.Dados.Sensores.Any(x => x.Componente == S_Code.sMAG && x.Inicializado))
{
return AnguloCarroBussola;
}
else
{
return AnguloCarroGPS;
}
}
}
public SonarModel SonarFrontal { get; set; }
}

10
AgroBase/AgroBase/Models/Variaveis.cs
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@ -145,6 +145,16 @@ namespace AgroBase.Models
double radians = (Math.PI / 180) * degrees;
return (radians);
}
public static void PreencheValorProgressBar(ProgressBar pgb, double Valor)
{
pgb.Value =
Valor >= pgb.Minimum && Valor <= pgb.Maximum ? pgb.Value = Convert.ToInt32(Valor) :
Valor < pgb.Minimum ? pgb.Value = pgb.Minimum :
Valor > pgb.Maximum ? pgb.Value = pgb.Maximum :
pgb.Minimum;
}
}
public static class VariaveisPortas

25
AgroBase/AgroBase/Services/GPSService.cs
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@ -252,6 +252,31 @@ namespace AgroBase.Services
Variaveis.MqttService.Topicos.First(x => x.Topico == MapasVariaveisModel.TopicoCoordenadasGPS),
JsonConvert.SerializeObject(Coordenadas)
).ConfigureAwait(false);
Variaveis.OperacaoEmAndamento.GPSTrajetoria.Add(new GPSModel()
{
NumeroSatelites = UltimaLeitura.NumeroSatelites,
Altitude = UltimaLeitura.Altitude,
DataHora = UltimaLeitura.DataHora,
Latitude = UltimaLeitura.Latitude,
Longitude = UltimaLeitura.Longitude,
PrecisaoHorizontal = UltimaLeitura.PrecisaoHorizontal,
Velocidade = UltimaLeitura.Velocidade
});
if (Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Count() - 1 < Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual)
{
Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Add(new List<GPSModel>());
}
Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].Add(Variaveis.OperacaoEmAndamento.GPSTrajetoria[Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count - 1]);
if (Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count > 1)
{
if (Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Count - 1 < Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual)
{
Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Add(0);
}
Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual] += GPSService.DistanciaEntrePontos(Variaveis.OperacaoEmAndamento.GPSTrajetoria[Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count - 1], Variaveis.OperacaoEmAndamento.GPSTrajetoria[Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count - 2]);
}
}
public static void AtualizarTrajetoriaDinamica()

6
AgroBase/AgroBase/Services/MqttService.cs
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@ -1,4 +1,5 @@
using AgroBase.Forms;
using AgroBase.Models;
using AgroBase.Services;
using MQTTnet;
using MQTTnet.Client;
@ -78,6 +79,11 @@ public class MqttService
Cliente = e.ClientId,
Mensagem = message
});
if (topico.Topico == MapasVariaveisModel.TopicoSelecaoRuasMapa)
{
Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas();
}
}
});

13
AgroBase/AgroBase/Services/PZEMService.cs
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@ -22,6 +22,8 @@ namespace AgroBase.Services
public static SerialPort PortaPZEM = null;
public static PZEMModel UltimaLeitura = new PZEMModel();
public static PZEMModel PenultimaLeitura = new PZEMModel();
public static double TensaoMinima { get; set; } = 30;
public static double TensaoMaxima { get; set; } = 42;
private static byte slaveAddress = 0x01;
private static Dictionary<string, byte> CodigosFuncoes = new Dictionary<string, byte>()
@ -53,7 +55,8 @@ namespace AgroBase.Services
{
Porta.Open();
}
var Comando = ComandoCalibragem();
//var Comando = ComandoCalibragem();
var Comando = ComandoGetParametro(Parametros.First().Value);
string comandoHex = BitConverter.ToString(Comando).Replace("-", "");
EnviarComando(Porta, Comando);
}
@ -277,11 +280,11 @@ namespace AgroBase.Services
{
PZEMModel modelo = new PZEMModel();
var tensao_raw = "0x" + resposta[3].ToString("X") + resposta[4].ToString("X");
modelo.Tensao = Convert.ToInt32(tensao_raw, 16) * 0.02;
modelo.Tensao = Convert.ToInt32(tensao_raw, 16) * 0.02; // 0.01;
var corrente_raw = "0x" + resposta[5].ToString("X") + resposta[6].ToString("X");
modelo.Corrente = Convert.ToInt32(corrente_raw, 16) * 0.0015;
modelo.Corrente = Convert.ToInt32(corrente_raw, 16) * 0.002; // 0.0015;
var potencia_raw = "0x" + resposta[7].ToString("X") + resposta[8].ToString("X") + resposta[9].ToString("X") + resposta[10].ToString("X");
modelo.Potencia = Convert.ToInt32(potencia_raw, 16) * 0.1;
modelo.Potencia = Convert.ToInt32(potencia_raw, 16) * 0.0001; // 0.1;
var energia_raw = "0x" + resposta[11].ToString("X") + resposta[12].ToString("X") + resposta[13].ToString("X") + resposta[14].ToString("X");
modelo.Energia = Convert.ToInt32(energia_raw, 16) * 1.0;
var almMax_raw = "0x" + resposta[15].ToString("X") + resposta[16].ToString("X");
@ -289,7 +292,7 @@ namespace AgroBase.Services
var almMin_raw = "0x" + resposta[17].ToString("X") + resposta[18].ToString("X");
modelo.AlarmeTensaoMin = almMin_raw == "0xFFFF";
double percent = FuncoesGlobais.Map(modelo.Tensao, 36, 42, 0, 100);
double percent = FuncoesGlobais.Map(modelo.Tensao, TensaoMinima, TensaoMaxima, 0, 100);
Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = percent;
frmInstancial.frmAcompanhamento.AtualizarSensores("Bateria: " + modelo.Tensao.ToString("0.00") + " V - " + modelo.Corrente.ToString("0.00") + " A - " + modelo.Potencia.ToString("0.00") + " W");

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@ -1 +0,0 @@
[{"Latitude":-22.339442335994335,"Longitude":-47.264067138109773,"DataHora":"2024-03-01T07:23:01.1215157-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339442335994335,"Longitude":-47.264067138109773,"DataHora":"2024-03-01T07:23:06.1221815-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339566770425247,"Longitude":-47.263998524140789,"DataHora":"2024-03-01T07:23:11.120887-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339649665078522,"Longitude":-47.263954035496013,"DataHora":"2024-03-01T07:23:16.1496056-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339689742622607,"Longitude":-47.26393281077209,"DataHora":"2024-03-01T07:24:03.4668139-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:24:06.1213783-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:24:11.1239974-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:24:16.1206957-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:24:21.1484433-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:24:26.1201443-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:24:31.1207847-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:24:36.1235517-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:24:41.1213013-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:24:46.1230108-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:24:51.1236446-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:24:56.1233033-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:25:01.1200705-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:25:06.1208063-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:25:11.1234179-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181},{"Latitude":-22.339797742622608,"Longitude":-47.263905810772087,"DataHora":"2024-03-01T07:25:16.1220673-03:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":70.649306441870181}]

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AgroBase/AgroBase/bin/Debug/Operacoes/02_04_2024_11_09_11/trajetoria.json
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