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ajustes testes campo

This commit is contained in:
Diego Freitas 2024-05-07 14:41:20 -03:00
parent cec7922f7e
commit 813890bea3
77 changed files with 14849 additions and 19890 deletions
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AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs
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@ -87,7 +87,7 @@ namespace AgroBase.Forms.Operacoes
{
if (Variaveis.OperacaoEmAndamento.Iniciado)
{
Variaveis.OperacaoEmAndamento.CamerasSolo.Where(x => x.Iniciada).ToList().ForEach(CameraSolo =>
/*Variaveis.OperacaoEmAndamento.CamerasSolo.Where(x => x.Iniciada).ToList().ForEach(CameraSolo =>
{
try
{
@ -107,30 +107,14 @@ namespace AgroBase.Forms.Operacoes
catch
{
}
}*/
var StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual;
if (StatusCarro == StatusCarroMapa.Direcionando)
{
Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First());
}
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();
}
}
}
/*else
{
Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas();
}*/
AtualizaInformacoesControleOperacao();
AtualizarGrafico();
AtualizarInformacoesGerais();
pnlOrientacao.Invalidate();

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AgroBase/AgroBase/Models/GeneralJoystick.cs
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@ -480,7 +480,11 @@ namespace AgroBase
DirecaoAtual = Direcao.Parado;
Pressionado = true;
DispCon.FirstOrDefault(x => x.Dispositivo == Comando.Dispositivo).LimparBufferSerial(true);
var _disp = DispCon.FirstOrDefault(x => x.Dispositivo == Comando.Dispositivo);
if (_disp != null)
{
_disp.LimparBufferSerial(true);
}
}
// Controle de Velocidade (MOV RPM SP)
else if (Comando.Comando == Keys.Add)

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AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
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@ -527,7 +527,7 @@ namespace AgroBase.Models
//tmrParametrizacao.Stop();
RealizarCalibracaoInicialAsync().ConfigureAwait(false);
//RealizarCalibracaoInicialAsync().ConfigureAwait(false);
Mapa.GerarTrajetoriaDinamica();
}
@ -638,8 +638,16 @@ namespace AgroBase.Models
}
try
{
File.WriteAllText(Variaveis.CaminhoOperacoes + ID + "/trajetoria.json", JsonConvert.SerializeObject(GPSTrajetoria, Formatting.None));
}
catch
{
}
File.WriteAllText(Variaveis.CaminhoOperacoes + ID + "/trajetoria.json", JsonConvert.SerializeObject(GPSTrajetoria, Formatting.None));
}
}

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AgroBase/AgroBase/Services/GPSService.cs
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@ -116,6 +116,9 @@ namespace AgroBase.Services
//APIService.AtualizarCoordenadasGPS(UltimaLeitura, APIService.GPS_IDcoordenadasRobo);
AtualizarCoordenadasGPS();
PortaGPS.DiscardInBuffer();
PortaGPS.DiscardOutBuffer();
break;
// Recommended minimum specific GPS/Transit data

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@ -0,0 +1 @@
[{"Momento":"2024-05-07T13:20:07.4129019-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":77.833333333333357,"BateriaConsumida":0.0,"DistanciaPercorrida":[0.037106496837406293],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":0.0,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T13:20:12.4358655-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":76.166666666666671,"BateriaConsumida":0.0,"DistanciaPercorrida":[0.44768460862775217],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":328.31755309326104,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T13:20:17.4117264-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":76.833333333333329,"BateriaConsumida":0.0,"DistanciaPercorrida":[0.993199423649285],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":244.70587617972086,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null}

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@ -0,0 +1 @@
[{"Latitude":-22.213100333333333,"Longitude":-47.381521,"DataHora":"2024-05-07T13:19:57","Altitude":623.9,"Velocidade":0.198164,"NumeroSatelites":10,"PrecisaoHorizontal":0.94,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0},{"Latitude":-22.2131,"Longitude":-47.381521,"DataHora":"2024-05-07T13:19:58","Altitude":624.1,"Velocidade":0.061116000000000004,"NumeroSatelites":8,"PrecisaoHorizontal":1.44,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0},{"Latitude":-22.213100666666666,"Longitude":-47.38152216666667,"DataHora":"2024-05-07T13:19:59","Altitude":623.9,"Velocidade":0.16853200000000002,"NumeroSatelites":8,"PrecisaoHorizontal":1.32,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0},{"Latitude":-22.213101,"Longitude":-47.381523166666668,"DataHora":"2024-05-07T13:20:00","Altitude":623.8,"Velocidade":0.14075200000000002,"NumeroSatelites":8,"PrecisaoHorizontal":0.94,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0},{"Latitude":-22.213100166666667,"Longitude":-47.381523333333334,"DataHora":"2024-05-07T13:20:01","Altitude":624.0,"Velocidade":0.092600000000000016,"NumeroSatelites":8,"PrecisaoHorizontal":0.94,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0},{"Latitude":-22.213099666666668,"Longitude":-47.381523666666666,"DataHora":"2024-05-07T13:20:03","Altitude":624.2,"Velocidade":0.24076000000000003,"NumeroSatelites":9,"PrecisaoHorizontal":0.94,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0},{"Latitude":-22.2131,"Longitude":-47.381523666666666,"DataHora":"2024-05-07T13:20:04","Altitude":624.1,"Velocidade":0.17594,"NumeroSatelites":8,"PrecisaoHorizontal":0.94,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0},{"Latitude":-22.213101666666667,"Longitude":-47.3815245,"DataHora":"2024-05-07T13:20:06","Altitude":623.7,"Velocidade":0.12593600000000002,"NumeroSatelites":8,"PrecisaoHorizontal":0.94,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0},{"Latitude":-22.213102833333334,"Longitude":-47.381527166666665,"DataHora":"2024-05-07T13:20:08","Altitude":623.1,"Velocidade":0.070376000000000008,"NumeroSatelites":9,"PrecisaoHorizontal":0.91,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0}]

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[{"Momento":"2024-05-07T13:39:21.3609736-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"DistanciaPercorrida":[0.16523405790633539],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":230.98823394669722,"AnguloCarroBussola":0.0,"AnguloCarro":0.0,"SonarFrontal":null},{"Momento":"2024-05-07T13:39:26.360952-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"DistanciaPercorrida":[0.47523659927015072],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":137.20697501380511,"AnguloCarroBussola":0.0,"AnguloCarro":0.0,"SonarFrontal":null},{"Momento":"2024-05-07T13:39:31.3619046-03:00","VelocidadeMedia":0.0375,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"DistanciaPercorrida":[0.93816591592308374],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":317.20697450988655,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T13:39:36.3668038-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"DistanciaPercorrida":[1.1231264516820827],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":270.0,"AnguloCarroBussola":0.0,"AnguloCarro":0.0,"SonarFrontal":null},{"Momento":"2024-05-07T13:39:41.3617011-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"DistanciaPercorrida":[1.4829798238587673],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":214.7737182561736,"AnguloCarroBussola":0.0,"AnguloCarro":0.0,"SonarFrontal":null},{"Momento":"2024-05-07T13:39:46.3756061-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"DistanciaPercorrida":[1.9618219453804517],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":327.34307535996027,"AnguloCarroBussola":0.0,"AnguloCarro":0.0,"SonarFrontal":null},{"Momento":"2024-05-07T13:39:51.3766008-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"DistanciaPercorrida":[2.2964114841661418],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":129.01176689735297,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T13:39:56.3755229-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"DistanciaPercorrida":[2.8902625771547421],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":13.03142772512615,"AnguloCarroBussola":0.0,"AnguloCarro":0.0,"SonarFrontal":null},{"Momento":"2024-05-07T13:40:01.3584829-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"DistanciaPercorrida":[3.6765139885636278],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":118.37271722506841,"AnguloCarroBussola":0.0,"AnguloCarro":0.0,"SonarFrontal":null},{"Momento":"2024-05-07T13:40:02.2661376-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"DistanciaPercorrida":[3.7526887469163608],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":13.03142700551507,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null}]

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@ -60,13 +60,13 @@
var tile_layer_1b59ebe3c5cac38a26d7eae6340112d6 = L.tileLayer(
var tile_layer_8562fa9f4e23ecf0bdee06bb23fe1d3f = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
);
tile_layer_1b59ebe3c5cac38a26d7eae6340112d6.addTo(map_e6152d4e5a348cc7609e78397e575bf4);
tile_layer_8562fa9f4e23ecf0bdee06bb23fe1d3f.addTo(map_6227825fcfe3138a1083ba65f3196abb);
</script>
@ -87,7 +87,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_e6152d4e5a348cc7609e78397e575bf4);
trajeto_json.addTo(map_6227825fcfe3138a1083ba65f3196abb);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -145,7 +145,7 @@
var marcadorDinamico = L.marker([0, 0], {
icon: customIcon
}).addTo(map_e6152d4e5a348cc7609e78397e575bf4);
}).addTo(map_6227825fcfe3138a1083ba65f3196abb);
// Conectar ao broker MQTT
const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@ -184,7 +184,7 @@
marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_e6152d4e5a348cc7609e78397e575bf4.setView(novaPosicao, map_e6152d4e5a348cc7609e78397e575bf4.getZoom());
map_6227825fcfe3138a1083ba65f3196abb.setView(novaPosicao, map_6227825fcfe3138a1083ba65f3196abb.getZoom());
});
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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