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ajuste de controle direcional

This commit is contained in:
Diego Freitas 2024-12-18 10:47:03 -03:00
parent 0787973169
commit 8d97ffc51f
17 changed files with 124 additions and 95 deletions
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AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs
View File

@ -182,7 +182,7 @@ namespace AgroBase.Forms
} }
double velocidade = FuncoesMatematicas.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.Controle.RPM_SP); double velocidade = FuncoesMatematicas.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.SimulacaoRpmControle);
double velocidadeMs = FuncoesMatematicas.ConverteKmhParaMs(velocidade); double velocidadeMs = FuncoesMatematicas.ConverteKmhParaMs(velocidade);
txtVelocidade.Text = velocidade.ToString("0.00"); txtVelocidade.Text = velocidade.ToString("0.00");
@ -302,7 +302,7 @@ namespace AgroBase.Forms
{ {
try try
{ {
double angulo = Variaveis.OperacaoEmAndamento.Controle.Angulo; double angulo = Variaveis.OperacaoEmAndamento.SimulacaoAnguloControle;
DesenharInclinacao((Panel)sender, e, (float)angulo, 90); DesenharInclinacao((Panel)sender, e, (float)angulo, 90);
} }
catch { } catch { }
@ -380,10 +380,12 @@ namespace AgroBase.Forms
int errosConsiderar = int.Parse(txtQtdErro.Text); int errosConsiderar = int.Parse(txtQtdErro.Text);
double anguloControle = Variaveis.OperacaoEmAndamento.SimulacaoAnguloControle;
if (calc) if (calc)
{ {
double anguloAtual = double.Parse(txtAnguloGPS.Text); double anguloAtual = double.Parse(txtAnguloGPS.Text);
double novoAngulo = (anguloAtual + Variaveis.OperacaoEmAndamento.Controle.Angulo) % 360; double novoAngulo = (anguloAtual + anguloControle) % 360;
if (historicoAngulosCarro.Count >= (errosConsiderar + 1)) if (historicoAngulosCarro.Count >= (errosConsiderar + 1))
historicoAngulosCarro.Dequeue(); // Remove o valor mais antigo historicoAngulosCarro.Dequeue(); // Remove o valor mais antigo
@ -399,7 +401,6 @@ namespace AgroBase.Forms
txtAnguloGPS.Text = anguloCarro.ToString("0.00"); txtAnguloGPS.Text = anguloCarro.ToString("0.00");
} }
double anguloControle = Variaveis.OperacaoEmAndamento.Controle.Angulo;
if (historicoAngulosControle.Count >= errosConsiderar && errosConsiderar > 0) if (historicoAngulosControle.Count >= errosConsiderar && errosConsiderar > 0)
historicoAngulosControle.Dequeue(); // Remove o valor mais antigo historicoAngulosControle.Dequeue(); // Remove o valor mais antigo

14
AgroBase/AgroBase/Models/MapaDinamicoModel.cs
View File

@ -132,7 +132,7 @@ namespace AgroBase.Models
DrawTrajectory(g, TrajetoriaRobo, centerX, centerY, Color.Orange, Pens.OrangeRed); DrawTrajectory(g, TrajetoriaRobo, centerX, centerY, Color.Orange, Pens.OrangeRed);
// Desenha a posição atual do robô (ponto vermelho) // Desenha a posição atual do robô (ponto vermelho)
float PxToCm = DrawRobot(g, centerX, centerY, Color.Red, Color.Red, (float)VariaveisEquipamento.LarguraEsquerda, (float)VariaveisEquipamento.LarguraDireita, (float)VariaveisEquipamento.LarguraEsquerda, (float)VariaveisEquipamento.LarguraDireita, AnguloCarro); float PxToCm = DrawRobot(g, centerX, centerY, Color.Red, Color.Red, (float)VariaveisEquipamento.LarguraEsquerda, (float)VariaveisEquipamento.LarguraDireita, (float)VariaveisEquipamento.ComprimentoFrente, (float)VariaveisEquipamento.ComprimentoTras, AnguloCarro);
if (obstaculoDetectado != null) if (obstaculoDetectado != null)
{ {
@ -194,21 +194,22 @@ namespace AgroBase.Models
GPSModel posicaoRobo = GPSService.UltimaLeitura; GPSModel posicaoRobo = GPSService.UltimaLeitura;
// Ajustar o ângulo base para cálculo dos pontos
int agPlus = Convert.ToInt32(135 + angle); int agPlus = Convert.ToInt32(135 + angle);
// Calcular os pontos laterais considerando zoom em latitude e longitude
(float xET, float yET) = CalcularPontosLateraisRobo(posicaoRobo, larguraEsquerda, comprimentoTras, x, y, agPlus + 90); (float xET, float yET) = CalcularPontosLateraisRobo(posicaoRobo, larguraEsquerda, comprimentoTras, x, y, agPlus + 90);
(float xDT, float yDT) = CalcularPontosLateraisRobo(posicaoRobo, larguraDireita, comprimentoTras, x, y, agPlus + 0); (float xDT, float yDT) = CalcularPontosLateraisRobo(posicaoRobo, larguraDireita, comprimentoTras, x, y, agPlus + 0);
(float xEF, float yEF) = CalcularPontosLateraisRobo(posicaoRobo, larguraEsquerda, comprimentoFrente, x, y, agPlus + 180); (float xEF, float yEF) = CalcularPontosLateraisRobo(posicaoRobo, larguraEsquerda, comprimentoFrente, x, y, agPlus + 180);
(float xDF, float yDF) = CalcularPontosLateraisRobo(posicaoRobo, larguraDireita, comprimentoFrente, x, y, agPlus + 270); (float xDF, float yDF) = CalcularPontosLateraisRobo(posicaoRobo, larguraDireita, comprimentoFrente, x, y, agPlus + 270);
// Calcular os cantos do retângulo considerando o ângulo // Calcular os cantos do retângulo usando os pontos calculados
PointF[] corners = new PointF[4]; PointF[] corners = new PointF[4];
// Cantos do retângulo com as novas medidas
corners[0] = new PointF(xET, yET); // Superior esquerdo corners[0] = new PointF(xET, yET); // Superior esquerdo
corners[1] = new PointF(xDT, yDT); // Superior direito corners[1] = new PointF(xDT, yDT); // Superior direito
corners[2] = new PointF(xDF, yDF); // Inferior direito corners[2] = new PointF(xDF, yDF); // Inferior direito
corners[3] = new PointF(xEF, yEF); // Inferior esquerdo corners[3] = new PointF(xEF, yEF); // Inferior esquerdo
// Desenhar o contorno do robô // Desenhar o contorno do robô
using (Pen pen = new Pen(borderColor, 2)) using (Pen pen = new Pen(borderColor, 2))
@ -217,8 +218,9 @@ namespace AgroBase.Models
} }
// Desenhar a linha indicando a frente do robô (do ponto central para a frente) // Desenhar a linha indicando a frente do robô (do ponto central para a frente)
DrawFrontLine(g, x, y, xDF, yDF, xEF, yEF, borderColor); DrawFrontLine(g, x, y, corners[2].X, corners[2].Y, corners[3].X, corners[3].Y, borderColor);
// Calcular a relação pixel para cm baseado na largura total
float PxToCm = Math.Abs(xET - xDT) / (larguraDireita + larguraEsquerda); float PxToCm = Math.Abs(xET - xDT) / (larguraDireita + larguraEsquerda);
return PxToCm; return PxToCm;

25
AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
View File

@ -836,10 +836,12 @@ namespace AgroBase.Models.Modules
public void EnviarComandoControle(Direcao DirecaoAtual) public void EnviarComandoControle(Direcao DirecaoAtual)
{ {
var simulando = Variaveis.OperacaoEmAndamento.Simulando;
bool Freado = DirecaoAtual == Direcao.EmFreio; bool Freado = DirecaoAtual == Direcao.EmFreio;
(bool AtuarServo, int AnguloFreio) = ConfigFreio.AtualizarDadosFreio(Freado, 0, -1, 5); (bool AtuarServo, int AnguloFreio) = ConfigFreio.AtualizarDadosFreio(Freado, 0, -1, 5);
if (Comandar && BLD_Inicializado) if ((Comandar && BLD_Inicializado) || simulando)
{ {
if (AlarmeSensores || AlarmeMotor) if (AlarmeSensores || AlarmeMotor)
{ {
@ -873,6 +875,12 @@ namespace AgroBase.Models.Modules
ComandoLigado = RPM_SP > 0; ComandoLigado = RPM_SP > 0;
Variaveis.OperacaoEmAndamento.SimulacaoRpmControle = (RPM_SP / VariaveisEquipamento.RelacaoRPM);
if (simulando)
{
return;
}
switch (DirecaoAtual) switch (DirecaoAtual)
{ {
case Direcao.Frente: case Direcao.Frente:
@ -1186,7 +1194,9 @@ namespace AgroBase.Models.Modules
public void EnviarComandoControle(Direcao Direcao, bool Forcar = false) public void EnviarComandoControle(Direcao Direcao, bool Forcar = false)
{ {
if (MKS_Inicializado && (Comandar || Forcar)) var simulando = Variaveis.OperacaoEmAndamento.Simulando;
if ((MKS_Inicializado && (Comandar || Forcar)) || simulando)
{ {
// Se o motor estiver nao utilizado mas nao estiver no angulo zero // Se o motor estiver nao utilizado mas nao estiver no angulo zero
if (!Comandar) if (!Comandar)
@ -1219,12 +1229,19 @@ namespace AgroBase.Models.Modules
AnguloTipoMovimento != -1 ? AnguloTipoMovimento : AnguloTipoMovimento != -1 ? AnguloTipoMovimento :
Variaveis.OperacaoEmAndamento.Controle.Angulo; Variaveis.OperacaoEmAndamento.Controle.Angulo;
Variaveis.OperacaoEmAndamento.SimulacaoAnguloControle = Angulo_SP;
int mx = Sentido_SP == Sentido.Antihorario ? -1 : 1; int mx = Sentido_SP == Sentido.Antihorario ? -1 : 1;
Angulo_SP = Math.Abs(Angulo_SP) * mx; Angulo_SP = Math.Abs(Angulo_SP) * mx;
} }
if (true || !AtingiuAnguloSP) if (simulando)
{
return;
}
if (!AtingiuAnguloSP)
{ {
MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoMovimento(EnderecoByte, Angulo_SP, Velocidade, Sentido_SP)); MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoMovimento(EnderecoByte, Angulo_SP, Velocidade, Sentido_SP));
UltimoComandoEnviado = DateTime.Now; UltimoComandoEnviado = DateTime.Now;

12
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
View File

@ -268,6 +268,8 @@ namespace AgroBase.Models
} }
public bool Iniciado { get; set; } public bool Iniciado { get; set; }
public bool Simulando { get; set; } = false; public bool Simulando { get; set; } = false;
public double SimulacaoAnguloControle { get; set; } = 0;
public double SimulacaoRpmControle { get; set; } = 0;
public bool Finalizando { get; set; } = false; public bool Finalizando { get; set; } = false;
public long TimestampInicio { get; set; } public long TimestampInicio { get; set; }
public long TimestampFim { get; set; } public long TimestampFim { get; set; }
@ -1210,7 +1212,7 @@ namespace AgroBase.Models
_ControleAnterior.PercentualVelocidadeSP = _Controle.PercentualVelocidadeSP; _ControleAnterior.PercentualVelocidadeSP = _Controle.PercentualVelocidadeSP;
} }
if (ControleDir != null && Convert.ToInt32(_Controle.Angulo) != Convert.ToInt32(_ControleAnterior.Angulo) && (Agora - ControleDir.UltimoComando).TotalMilliseconds > ControleDir.DelayEnvioComando) if (ControleDir != null && (Agora - ControleDir.UltimoComando).TotalMilliseconds > ControleDir.DelayEnvioComando) // && Convert.ToInt32(_Controle.Angulo) != Convert.ToInt32(_ControleAnterior.Angulo)
{ {
// Enviar comando DIR // Enviar comando DIR
var Protocolos = EnviarProtocoloComando(Variaveis.OperacaoEmAndamento.DispMvd, T_Code.Dir, ForcarEnvio); var Protocolos = EnviarProtocoloComando(Variaveis.OperacaoEmAndamento.DispMvd, T_Code.Dir, ForcarEnvio);
@ -1276,6 +1278,8 @@ namespace AgroBase.Models
_Controle.Direcao = Direcao.Frente; _Controle.Direcao = Direcao.Frente;
} }
} }
Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.ForEach(Mod => Mod.MovMotor.EnviarComandoControle(_Controle.Direcao));
} }
else if (Tipo == T_Code.Dir) else if (Tipo == T_Code.Dir)
{ {
@ -1301,14 +1305,16 @@ namespace AgroBase.Models
_Controle.Direcao = Direcao.Direita; _Controle.Direcao = Direcao.Direita;
} }
} }
Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.ForEach(Mod => Mod.DirMotor.EnviarComandoControle(_Controle.Direcao));
} }
GeneralJoystick.EnviaComandoMotor( /*GeneralJoystick.EnviaComandoMotor(
_Controle.Direcao == Direcao.Frente ? Keys.Up : _Controle.Direcao == Direcao.Frente ? Keys.Up :
_Controle.Direcao == Direcao.Tras ? Keys.Down : _Controle.Direcao == Direcao.Tras ? Keys.Down :
_Controle.Direcao == Direcao.Esquerda ? Keys.Left : _Controle.Direcao == Direcao.Esquerda ? Keys.Left :
_Controle.Direcao == Direcao.Direita ? Keys.Right : _Controle.Direcao == Direcao.Direita ? Keys.Right :
Keys.Escape, Tipo, ForcarEnvio); Keys.Escape, Tipo, ForcarEnvio);*/
Protocolos = new List<string>() Protocolos = new List<string>()
{ {

2
AgroBase/AgroBase/Models/Variaveis.cs
View File

@ -74,6 +74,8 @@ namespace AgroBase.Models
{ {
public static double LarguraEsquerda { get; } = 60; public static double LarguraEsquerda { get; } = 60;
public static double LarguraDireita { get; } = 25; public static double LarguraDireita { get; } = 25;
public static double ComprimentoFrente { get; } = 35;
public static double ComprimentoTras { get; } = 90;
public static double LarguraEquipamentoMm public static double LarguraEquipamentoMm
{ {
get get

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AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd-2_0.par
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38
AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
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@ -25,7 +25,7 @@
<meta name="viewport" content="width=device-width, <meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" /> initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style> <style>
#map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1 { #map_a779083cfab5ca134b2c00aa027920d3 {
position: relative; position: relative;
width: 100.0%; width: 100.0%;
height: 100.0%; height: 100.0%;
@ -39,14 +39,14 @@
<body> <body>
<div class="folium-map" id="map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1" ></div> <div class="folium-map" id="map_a779083cfab5ca134b2c00aa027920d3" ></div>
</body> </body>
<script> <script>
var map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1 = L.map( var map_a779083cfab5ca134b2c00aa027920d3 = L.map(
"map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1", "map_a779083cfab5ca134b2c00aa027920d3",
{ {
center: [-22.213100083333334, -47.38141841666666], center: [-22.213100083333334, -47.38141841666666],
crs: L.CRS.EPSG3857, crs: L.CRS.EPSG3857,
@ -60,13 +60,13 @@
var tile_layer_b1319f46ace58751b7062db8f25f20b3 = L.tileLayer( var tile_layer_e0351f36649211e16b896b17b0d8af80 = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png", "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} {"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_b1319f46ace58751b7062db8f25f20b3.addTo(map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1); tile_layer_e0351f36649211e16b896b17b0d8af80.addTo(map_a779083cfab5ca134b2c00aa027920d3);
@ -82,7 +82,7 @@
}*/ }*/
}); });
} }
function geo_json_cfc16ab3eb25dd8ad7693622d16294d9_onEachFeature(feature, layer) { function geo_json_90589de6d7080724b8f3a12abd506554_onEachFeature(feature, layer) {
layer.on({ layer.on({
click: function(e) { click: function(e) {
@ -118,20 +118,20 @@
}*/ }*/
}); });
}; };
var geo_json_cfc16ab3eb25dd8ad7693622d16294d9 = L.geoJson(null, { var geo_json_90589de6d7080724b8f3a12abd506554 = L.geoJson(null, {
onEachFeature: geo_json_cfc16ab3eb25dd8ad7693622d16294d9_onEachFeature, onEachFeature: geo_json_90589de6d7080724b8f3a12abd506554_onEachFeature,
}); });
function geo_json_cfc16ab3eb25dd8ad7693622d16294d9_add (data) { function geo_json_90589de6d7080724b8f3a12abd506554_add (data) {
geo_json_cfc16ab3eb25dd8ad7693622d16294d9 geo_json_90589de6d7080724b8f3a12abd506554
.addData(data); .addData(data);
} }
geo_json_cfc16ab3eb25dd8ad7693622d16294d9_add({"features": [{"geometry": {"coordinates": [[-47.38149533333333, -22.213068166666666], [-47.38146916666667, -22.213091333333335], [-47.38141825, -22.213137833333334], [-47.3813925, -22.213161666666668], [-47.381369666666664, -22.2131845]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1", "Length": 21.332976190943135, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.38134016666667, -22.213175666666668], [-47.38137533333333, -22.213137166666666], [-47.38140933333333, -22.213102666666668], [-47.381453666666665, -22.213058166666666], [-47.38149666666666, -22.213015666666667]], "id": null, "type": "LineString"}, "id": 1, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "2", "Length": 24.045328359726675, "Name": "Projeto"}, "type": "Feature"}], "type": "FeatureCollection"}); geo_json_90589de6d7080724b8f3a12abd506554_add({"features": [{"geometry": {"coordinates": [[-47.38149533333333, -22.213068166666666], [-47.38146916666667, -22.213091333333335], [-47.38141825, -22.213137833333334], [-47.3813925, -22.213161666666668], [-47.381369666666664, -22.2131845]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1", "Length": 21.332976190943135, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.38134016666667, -22.213175666666668], [-47.38137533333333, -22.213137166666666], [-47.38140933333333, -22.213102666666668], [-47.381453666666665, -22.213058166666666], [-47.38149666666666, -22.213015666666667]], "id": null, "type": "LineString"}, "id": 1, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "2", "Length": 24.045328359726675, "Name": "Projeto"}, "type": "Feature"}], "type": "FeatureCollection"});
geo_json_cfc16ab3eb25dd8ad7693622d16294d9.addTo(map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1); geo_json_90589de6d7080724b8f3a12abd506554.addTo(map_a779083cfab5ca134b2c00aa027920d3);
</script> </script>
@ -152,7 +152,7 @@
} }
trajeto_json_add({"features": []}); trajeto_json_add({"features": []});
trajeto_json.addTo(map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1); trajeto_json.addTo(map_a779083cfab5ca134b2c00aa027920d3);
function adicionarGeometria(novaGeometria) { function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria); trajeto_json.addData(novaGeometria);
@ -210,7 +210,7 @@
} }
trajeto_dinamico_json_add({"features": []}); trajeto_dinamico_json_add({"features": []});
trajeto_dinamico_json.addTo(map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1); trajeto_dinamico_json.addTo(map_a779083cfab5ca134b2c00aa027920d3);
function adicionarGeometriaDinamica(novaGeometria) { function adicionarGeometriaDinamica(novaGeometria) {
trajeto_dinamico_json.addData(novaGeometria); trajeto_dinamico_json.addData(novaGeometria);
@ -263,9 +263,9 @@
var marcadorEquipamento = L.marker([0, 0], { var marcadorEquipamento = L.marker([0, 0], {
icon: customIcon icon: customIcon
}).addTo(map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1); }).addTo(map_a779083cfab5ca134b2c00aa027920d3);
var marcadorBase = L.marker([0, 0], {}).addTo(map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1); var marcadorBase = L.marker([0, 0], {}).addTo(map_a779083cfab5ca134b2c00aa027920d3);
var icon = L.AwesomeMarkers.icon( var icon = L.AwesomeMarkers.icon(
{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"} {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
); );
@ -347,7 +347,7 @@
} }
if (foco) { if (foco) {
map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1.setView(novaPosicao, map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1.getZoom()); map_a779083cfab5ca134b2c00aa027920d3.setView(novaPosicao, map_a779083cfab5ca134b2c00aa027920d3.getZoom());
} }
} }
@ -364,7 +364,7 @@
function atualizarSelecaoRuas(selecionadas) { function atualizarSelecaoRuas(selecionadas) {
selecionadas = JSON.parse(selecionadas); selecionadas = JSON.parse(selecionadas);
RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : []; RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
geo_json_cfc16ab3eb25dd8ad7693622d16294d9.eachLayer(function (layer) { geo_json_90589de6d7080724b8f3a12abd506554.eachLayer(function (layer) {
if (RuasSelecionadas.includes(parseInt(layer.feature.id))) { if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
layer.setStyle({ color: 'blue' }); layer.setStyle({ color: 'blue' });
} else { } else {

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