ajustes parametros pulverizador

This commit is contained in:
Diego Freitas 2025-09-05 17:03:16 -03:00
parent 75bb0558c5
commit c510f8a9b6
111 changed files with 909 additions and 240 deletions

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@ -678,6 +678,7 @@
this.lblD_Sen_sLRA.Size = new System.Drawing.Size(46, 24);
this.lblD_Sen_sLRA.TabIndex = 63;
this.lblD_Sen_sLRA.Text = "LRA";
this.lblD_Sen_sLRA.Click += new System.EventHandler(this.lblModulo_Click);
//
// lblD_Atu_sMAS
//

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@ -1086,7 +1086,7 @@ namespace AgroBase.Forms.Operacoes
txtHerbicidaPorErva.Text = herbicidaPorErva.ToString("0.00") + " ml";
txtDentroRua.Text = Log.Trajetoria.CorredorAtual.Dentro ? "Sim" : "Não";
txtDirecaoCarro.Text = Log.Trajetoria.DirecaoCaminho.ToString() + " (" + Log.Trajetoria.ProximoPonto.idxPonto + ")";
txtErvasNoRadar.Text = Log.Atuador.ErvasNoRadar.ToString();
txtErvasNoRadar.Text = Log.Atuador.ErvasNoRadar.ToString() + " (" + (Log.Atuador.PercentualErvasNoRadar * 100).ToString("0.00") + "%)";
txtErvasTerreno.Text = Log.Atuador.PercentualErvasTerreno.ToString("0.00");
txtTipoMovimento.Text = Log.Controle.TipoMovimento.ToString();
txtVelocidade.Text = (Log.Movimentacao.VelocidadeMedia * 3.6).ToString("0.00") + " km/h (" + Log.Movimentacao.VelocidadeMedia.ToString("0.00") + " m/s)";

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@ -50,7 +50,7 @@ namespace AgroBase.Forms
lblPrecisaoHorizontal.Text = "Precisão Horizontal: " + Gps.PrecisaoHorizontal.ToString("0.00");
lblPrecisaoCm.Text = "Precisão Leitura: " + Gps.PrecisaoCm.ToString("0.00") + " cm";
lblSatelites.Text = "Satélites Visíveis: " + Gps.NumeroSatelites.ToString();
lblVelocidade.Text = "Velocidade: " + Gps.Velocidade.ToString("0.00") + " km/h";
lblVelocidade.Text = "Distancia: " + (Gps.Distancia * 100.0).ToString("0.0000") + " cm";
lblOrientacao.Text = "Orientação: " + Gps.OrientacaoReal.ToString("0.00") + "º (" + Gps.OrientacaoMovimento.ToString("0.00") + "º)";
lblCursoVerdadeiro.Text = "Curso Verdadeiro: " + Gps.CursoVerdadeiro.ToString("0.00") + "º";
lblVariacaoMagnetica.Text = "Variação Magnética: " + Gps.VariacaoMagnetica.ToString("0.00") + "º";

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@ -1819,7 +1819,7 @@ namespace AgroBase.Models.Modules
config.AddRange(sensoresConfig);
// Adicionar configurações do LoRa
if (!loRaService.Conectado || !loRaService.Configurado || configurarTodos)
if (false && (!loRaService.Conectado || !loRaService.Configurado || configurarTodos))
{
var loraConfig = loRaService.ProtocoloConfiguracao(Pinout, Conectar);
config.AddRange(loraConfig);

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@ -96,15 +96,15 @@ namespace AgroBase.Services
{
if (Variaveis.IsAgroMonitor)
{
await ConfigurarModuloBase();
await ConfigurarModuloBase(tempo_fixacao: 600);
}
else
{
await ConfigurarModuloRover();
await ConfigurarModuloRover(comprimento_antena: 130);
}
}
private static async Task ConfigurarModuloRover(string porta_usb = "com3", string porta_entrada = "com2", int comprimento_antena = 130, int tolerancia_antena = 5)
private static async Task ConfigurarModuloRover(string porta_usb = "com3", string porta_entrada = "com2", int comprimento_antena = 100, int tolerancia_antena = 5)
{
string freq = (1.0 / TaxaAmostragemHz).ToString("0.0").Replace(",", ".");
string[] comandos = {
@ -150,6 +150,8 @@ namespace AgroBase.Services
private static async Task ConfigurarModuloBase(string porta_usb = "com3", string porta_saida = "com2", int tempo_fixacao = 60)
{
string base_id = "957";
string distancia_min = "0";
string[] comandos = {
// Bauds
$"config {porta_usb} 115200\r\n",
@ -161,7 +163,7 @@ namespace AgroBase.Services
$"unlog com3\r\n",
// Base com Survey-In (tempo + acurácia)
$"mode base time {tempo_fixacao}\r\n",
$"mode base {base_id} time {tempo_fixacao} {distancia_min}\r\n",
// RTCM perfil (comece leve; ative mais constelações se o LoRa aguentar)
$"RTCM1006 {porta_saida} 10\r\n",
@ -356,6 +358,7 @@ namespace AgroBase.Services
string hdop = campos[8].Replace(".", ",");
string altitudeRaw = campos[9].Replace(".", ",");
string idadeCorrecaoRaw = campos[13];
string base_id = campos[14];
// Conversão de Latitude
double latitude = 0;

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@ -49,7 +49,7 @@ namespace AgroBase.Services
ParametrosSet.tranModeAndWorCycle
};
Console.WriteLine($"Parametros de configuracao LoRa: {FuncoesGlobais.ConverterComandoBytesParaTexto(config2.ToArray())}");
//Console.WriteLine($"Parametros de configuracao LoRa: {FuncoesGlobais.ConverterComandoBytesParaTexto(config2.ToArray())}");
return new List<(int, CanMessagePosicaoDados, byte[])>()
{
@ -108,7 +108,7 @@ namespace AgroBase.Services
Variaveis.LoraService?.EnviarDadosLoRaViaCAN(dado);
}
List<byte[]> dadosSensores = LoRaSerializer.SerializeOperacao(_Sensoriamento);
List<byte[]> dadosSensores = LoRaSerializer.SerializeSensores(_Sensoriamento);
foreach (var dado in dadosSensores)
{
Variaveis.LoraService?.EnviarDadosLoRaViaCAN(dado);

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@ -244,12 +244,12 @@ namespace AgroBase.Services
public static List<byte[]> SerializeGPS(GPSModel Gps)
{
List<byte> fix = new List<byte>();
fix.AddRange(CanPrefix(DadosLoRaParse.GpsQualidade));
fix.Add((byte)(Gps.Inicializado ? 1 : 0)); // 1 byte
fix.Add((byte)Gps.QualidadeFix); // 1 byte
fix.Add((byte)Gps.NumeroSatelites); // 1 byte
fix.AddRange(CompactarDecimal(Gps.PrecisaoHorizontal)); // 2 bytes
List<byte> _fix = new List<byte>();
_fix.AddRange(CanPrefix(DadosLoRaParse.GpsQualidade));
_fix.Add((byte)(Gps.Inicializado ? 1 : 0)); // 1 byte
_fix.Add((byte)Gps.QualidadeFix); // 1 byte
_fix.Add((byte)Gps.NumeroSatelites); // 1 byte
_fix.AddRange(CompactarDecimal(Gps.PrecisaoHorizontal)); // 2 bytes
List<byte> _lat = new List<byte>();
_lat.AddRange(CanPrefix(DadosLoRaParse.GpsLatitude));
@ -267,7 +267,7 @@ namespace AgroBase.Services
return new List<byte[]>()
{
fix.ToArray(),
_fix.ToArray(),
_lat.ToArray(),
_long.ToArray(),
_gerais.ToArray(),

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@ -415,7 +415,7 @@ namespace AgroBase.Services
}
}
if (true && Variaveis.OperacaoEmAndamento.DispAtu != null && !Variaveis.OperacaoEmAndamento.DispAtu.Dados.ConexaoAtiva)
if (true && Variaveis.OperacaoEmAndamento.DispAtu != null && !Variaveis.OperacaoEmAndamento.DispAtu.Dados.Conectado)
{
AtualizarConsole($"{CanManager.CanService._portName} - Procurando dispositivo ATU");
bool DispAtu = await Variaveis.OperacaoEmAndamento.DispAtu.Dados.VerificaDispositivoConectado();

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@ -1,12 +1,5 @@
{
"epochs": [ {
"calculation_time": "13399153521058315",
"config_version": 0,
"model_version": "0",
"padded_top_topics_start_index": 0,
"taxonomy_version": 0,
"top_topics_and_observing_domains": [ ]
}, {
"calculation_time": "13399827811771001",
"config_version": 0,
"model_version": "0",
@ -29,5 +22,5 @@
"top_topics_and_observing_domains": [ ]
} ],
"hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
"next_scheduled_calculation_time": "13401819543884678"
"next_scheduled_calculation_time": "13401819543885718"
}

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@ -1,3 +1,3 @@
2025/09/02-15:26:01.850 514c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/09/02-15:26:01.856 514c Recovering log #3
2025/09/02-15:26:01.859 514c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
2025/09/05-16:00:23.061 940 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/09/05-16:00:23.067 940 Recovering log #3
2025/09/05-16:00:23.070 940 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log

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@ -1,3 +1,3 @@
2025/09/02-14:58:51.846 5a08 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/09/02-14:58:51.853 5a08 Recovering log #3
2025/09/02-14:58:51.856 5a08 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
2025/09/05-15:33:19.570 47c8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/09/05-15:33:19.578 47c8 Recovering log #3
2025/09/05-15:33:19.582 47c8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log

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@ -1 +1 @@
{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13401397562240555","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":8099},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:6a8:5d00:5cea:6dfe:6183:a825","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}
{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13401661076733928","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":139822},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:6a8:5d00:ecfc:7de1:4083:8c14","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}

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@ -1 +1 @@
{"sts":[{"expiry":1788372244.780766,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1756836244.78077}],"version":2}
{"sts":[{"expiry":1788608154.333512,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1757072154.333517}],"version":2}

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@ -1,3 +1,3 @@
2025/09/02-15:26:58.622 514c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/09/02-15:26:58.623 514c Recovering log #3
2025/09/02-15:26:58.626 514c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log
2025/09/05-16:50:13.785 940 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/09/05-16:50:13.786 940 Recovering log #3
2025/09/05-16:50:13.789 940 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log

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@ -1,3 +1,3 @@
2025/09/02-15:12:04.177 5a08 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/09/02-15:12:04.178 5a08 Recovering log #3
2025/09/02-15:12:04.181 5a08 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log
2025/09/05-15:39:06.299 47c8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/09/05-15:39:06.300 47c8 Recovering log #3
2025/09/05-15:39:06.304 47c8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log

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@ -1,3 +1,3 @@
2025/09/02-15:26:01.777 678c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/09/02-15:26:01.778 678c Recovering log #7
2025/09/02-15:26:01.778 678c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log
2025/09/05-16:00:22.989 1b60 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/09/05-16:00:22.991 1b60 Recovering log #7
2025/09/05-16:00:22.991 1b60 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log

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@ -1,3 +1,3 @@
2025/09/02-14:58:51.760 62e4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/09/02-14:58:51.762 62e4 Recovering log #7
2025/09/02-14:58:51.762 62e4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log
2025/09/05-15:33:19.486 5698 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/09/05-15:33:19.488 5698 Recovering log #7
2025/09/05-15:33:19.488 5698 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log

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@ -17,7 +17,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_47cab050b27762312e18e400b40e3fda {
#map_b4846582c871aaafb422e9fb94bff081 {
position: relative;
width: 100.0%;
height: 100.0%;
@ -54,14 +54,14 @@
<body>
<div class="folium-map" id="map_47cab050b27762312e18e400b40e3fda" ></div>
<div class="folium-map" id="map_b4846582c871aaafb422e9fb94bff081" ></div>
</body>
<script>
var map_47cab050b27762312e18e400b40e3fda = L.map(
"map_47cab050b27762312e18e400b40e3fda",
var map_b4846582c871aaafb422e9fb94bff081 = L.map(
"map_b4846582c871aaafb422e9fb94bff081",
{
center: [0.0, 0.0],
crs: L.CRS.EPSG3857,
@ -77,26 +77,6 @@
var tile_layer_c21a0073a929b35b83b4ce5d32979cdb = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{
"minZoom": 0,
"maxZoom": 19,
"maxNativeZoom": 19,
"noWrap": false,
"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors",
"subdomains": "abc",
"detectRetina": false,
"tms": false,
"opacity": 1,
}
);
tile_layer_c21a0073a929b35b83b4ce5d32979cdb.addTo(map_47cab050b27762312e18e400b40e3fda);
</script>
<script>
@ -116,7 +96,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_47cab050b27762312e18e400b40e3fda);
trajeto_json.addTo(map_b4846582c871aaafb422e9fb94bff081);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -179,9 +159,9 @@
var marcadorEquipamento = L.marker([0, 0], {
icon: customIcon
}).addTo(map_47cab050b27762312e18e400b40e3fda);
}).addTo(map_b4846582c871aaafb422e9fb94bff081);
var marcadorBase = L.marker([0, 0], {}).addTo(map_47cab050b27762312e18e400b40e3fda);
var marcadorBase = L.marker([0, 0], {}).addTo(map_b4846582c871aaafb422e9fb94bff081);
var icon = L.AwesomeMarkers.icon(
{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
);
@ -246,7 +226,7 @@
}
if (foco) {
map_47cab050b27762312e18e400b40e3fda.setView(novaPosicao, map_47cab050b27762312e18e400b40e3fda.getZoom());
map_b4846582c871aaafb422e9fb94bff081.setView(novaPosicao, map_b4846582c871aaafb422e9fb94bff081.getZoom());
}
}
@ -268,7 +248,7 @@
marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_47cab050b27762312e18e400b40e3fda.setView(novaPosicao, map_47cab050b27762312e18e400b40e3fda.getZoom());*/
map_b4846582c871aaafb422e9fb94bff081.setView(novaPosicao, map_b4846582c871aaafb422e9fb94bff081.getZoom());*/
});
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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@ -138,6 +138,8 @@ class IMUCamera(ModuloDiagnosticoBase):
self.imu_em_falha = True
self.tempo_erro = time.time()
self.mostrar_log("Entrando em modo de reconexão lenta")
else:
self.ativo = False
finally:
if self.imu_em_falha:
# Espera mais tempo pra evitar flood de erro

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@ -25,12 +25,17 @@ def definir_comando(parada_necessaria: bool, erro: bool, filtro_vel: FiltroVeloc
_contexto = ContextoGlobalRedis.get_contexto()
_controle = ContextoGlobalRedis.get_controle()
pulverizador_automatico = _controle.get("pulverizador_automatico", False)
ervas_no_radar = _contexto.get("Gerais", {}).get("ervas_no_radar", False)
percentual_ervas_no_radar = _contexto.get("Gerais", {}).get("percentual_ervas_no_radar", 0)
vel_min = _operacao.get("Mov", {}).get("percent_vel_min", 0)
vel_max = _operacao.get("Mov", {}).get("percent_vel_max", 100)
#ervas_no_radar = _contexto.get("Gerais", {}).get("ervas_no_radar", False)
#percentual_ervas_no_radar = (_contexto.get("Gerais", {}).get("percentual_ervas_no_radar", 0)) * 100.0
_dados_ww = ContextoGlobalRedis.get(CtxKey.DadosWeedWorker, {}).get("analise", {})
ervas_no_radar = _dados_ww.get("ervas_no_radar", False)
percentual_ervas_no_radar = _dados_ww.get("estatisticas", {}).get("frac_global", 0.0)
vel_min = 15
ervas_min_percenet = 0.5
vel_com_ervas = _operacao.get("Mov", {}).get("percent_vel_min", 0)
vel_sem_ervas = _operacao.get("Mov", {}).get("percent_vel_max", 100)
ang_max = _operacao.get("Dir", {}).get("angulo_max", 30)
ervas_min_percenet = 15.0
status_carro = StatusCarroMapa.Parado
@ -47,25 +52,25 @@ def definir_comando(parada_necessaria: bool, erro: bool, filtro_vel: FiltroVeloc
status_carro = StatusCarroMapa(_dados_vw.get("status_corredor", StatusCarroMapa.Parado.value))
erro = _dados_vw.get("erro_angular", 0)
velocidade_sp = vel_min
velocidade_sp = vel_com_ervas
if status_carro == StatusCarroMapa.Parado:
velocidade_sp = 0
elif status_carro == StatusCarroMapa.Direcionando:
if manobrando:
velocidade_sp = vel_min
velocidade_sp = vel_com_ervas
else:
velocidade_sp = calcular_velocidade_relativa(vel_min, vel_max, ang_max, erro)
velocidade_sp = calcular_velocidade_relativa(vel_com_ervas, vel_sem_ervas, ang_max, erro)
elif status_carro in [StatusCarroMapa.EntrandoRua, StatusCarroMapa.SaindoRua, StatusCarroMapa.Manobrando]:
velocidade_sp = min(15, vel_min)
velocidade_sp = min(vel_min, vel_com_ervas)
elif status_carro == StatusCarroMapa.CaminhandoRua:
if pulverizador_automatico and ervas_no_radar and percentual_ervas_no_radar > ervas_min_percenet:
velocidade_sp = vel_min
velocidade_sp = vel_com_ervas
else:
velocidade_sp = calcular_velocidade_relativa(vel_min, vel_max, ang_max, erro)
velocidade_sp = calcular_velocidade_relativa(vel_com_ervas, vel_sem_ervas, ang_max, erro)
# Aplica limites
velocidade_sp = max(vel_min, min(vel_max, velocidade_sp))
velocidade_sp = max(vel_com_ervas, min(vel_sem_ervas, velocidade_sp))
if velocidade_sp < 1.0:
filtro_vel.reset(velocidade_sp)

View File

@ -97,14 +97,14 @@ def load_seg_config(force_reload=False):
"det_every_n": 0,
"usar_radar_global_gate": True,
"min_frac_erva_por_bico_on": 0.03,
"min_frac_erva_por_bico_off": 0.015,
"max_frac_cana_por_bico": 0.005,
"min_frac_erva_por_bico_on": 0.02,
"min_frac_erva_por_bico_off": 0.01,
"max_frac_cana_por_bico": 0.009,
"ema_frac_bico": 0.35,
"on_frames_required": 5,
"off_frames_required": 3,
"cana_halo_px": 8,
"min_area_erva_px": 120,
"on_frames_required": 3,
"off_frames_required": 2,
"cana_halo_px": 5,
"min_area_erva_px": 80,
"erva_thresh_vel_gain_local": 0.6,
"k_roi_shift_px_per_vnorm": 24.0
}

View File

@ -59,3 +59,26 @@
0:05:10 Tab4 FinishNav8
0:05:10 Tab4 PageLoad
0:05:47 Memory Pressure: Critical
0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:00:25 Memory Pressure: Critical
0:02:59 Microsoft.NewBrowser_Popup
0:02:59 Microsoft.BrowserList.AddBrowser
0:02:59 Browser2 Insert active Tab2 at 0
0:02:59 Tab2 StartNav3 #auto_toplevel
0:02:59 Tab2 StartNav4 #typed
0:02:59 Tab2 FinishNav3
0:02:59 Tab2 PageLoad
0:02:59 Tab2 FinishNav4
0:02:59 Tab2 PageLoad
0:05:10 Memory Pressure: Critical

View File

@ -15,5 +15,5 @@
"top_topics_and_observing_domains": [ ]
} ],
"hex_encoded_hmac_key": "171DAE543B88106F5155169E0A8C7502CB2A0757E4948C32E2A04D196E23BE70",
"next_scheduled_calculation_time": "13401463963414092"
"next_scheduled_calculation_time": "13401463963414108"
}

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@ -1,3 +1,3 @@
2025/08/28-09:52:40.302 5e34 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/MANIFEST-000001
2025/08/28-09:52:40.302 5e34 Recovering log #3
2025/08/28-09:52:40.303 5e34 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/000003.log
2025/09/04-08:21:16.596 6e8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/MANIFEST-000001
2025/09/04-08:21:16.597 6e8 Recovering log #3
2025/09/04-08:21:16.597 6e8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/000003.log

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@ -1,3 +1,3 @@
2025/08/18-10:03:41.715 3014 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/MANIFEST-000001
2025/08/18-10:03:41.716 3014 Recovering log #3
2025/08/18-10:03:41.716 3014 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/000003.log
2025/08/28-09:52:40.302 5e34 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/MANIFEST-000001
2025/08/28-09:52:40.302 5e34 Recovering log #3
2025/08/28-09:52:40.303 5e34 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/000003.log

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@ -1,3 +1,3 @@
2025/08/28-09:52:40.261 5374 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/08/28-09:52:40.266 5374 Recovering log #3
2025/08/28-09:52:40.269 5374 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
2025/09/04-08:21:16.549 2ba4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/09/04-08:21:16.554 2ba4 Recovering log #3
2025/09/04-08:21:16.557 2ba4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log

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@ -1,3 +1,3 @@
2025/08/18-10:03:41.676 461c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/08/18-10:03:41.681 461c Recovering log #3
2025/08/18-10:03:41.684 461c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
2025/08/28-09:52:40.261 5374 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/08/28-09:52:40.266 5374 Recovering log #3
2025/08/28-09:52:40.269 5374 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log

View File

@ -1 +1 @@
{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13400945873219063","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":31711},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:66f:9200:1e8:aaa6:1d11:3d48","used_quic":true},"version":5},"network_qualities":{"CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}
{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13401545058399508","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":36571},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:6a8:5d00:f0b6:d291:bf6b:be15","used_quic":true},"version":5},"network_qualities":{"CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}

View File

@ -1 +1 @@
{"sts":[{"expiry":1787921872.32036,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1756385872.320364}],"version":2}
{"sts":[{"expiry":1788520880.551817,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1756984880.551827}],"version":2}

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@ -1,3 +1,3 @@
2025/08/28-09:58:28.250 5374 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/08/28-09:58:28.252 5374 Recovering log #3
2025/08/28-09:58:28.255 5374 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/000003.log
2025/09/04-08:26:27.486 2ba4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/09/04-08:26:27.488 2ba4 Recovering log #3
2025/09/04-08:26:27.490 2ba4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/000003.log

View File

@ -1,3 +1,3 @@
2025/08/18-10:05:56.841 461c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/08/18-10:05:56.842 461c Recovering log #3
2025/08/18-10:05:56.846 461c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/000003.log
2025/08/28-09:58:28.250 5374 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/08/28-09:58:28.252 5374 Recovering log #3
2025/08/28-09:58:28.255 5374 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/000003.log

View File

@ -1,3 +1,3 @@
2025/08/28-09:52:40.192 1508 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/08/28-09:52:40.194 1508 Recovering log #3
2025/08/28-09:52:40.194 1508 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/000003.log
2025/09/04-08:21:16.479 6348 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/09/04-08:21:16.481 6348 Recovering log #3
2025/09/04-08:21:16.481 6348 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/000003.log

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@ -1,3 +1,3 @@
2025/08/18-10:03:41.604 219c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/08/18-10:03:41.605 219c Recovering log #3
2025/08/18-10:03:41.605 219c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/000003.log
2025/08/28-09:52:40.192 1508 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/08/28-09:52:40.194 1508 Recovering log #3
2025/08/28-09:52:40.194 1508 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/000003.log

View File

@ -1,3 +1,3 @@
2025/08/28-09:52:40.192 6be4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/MANIFEST-000001
2025/08/28-09:52:40.194 6be4 Recovering log #3
2025/08/28-09:52:40.194 6be4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/000003.log
2025/09/04-08:21:16.479 6e8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/MANIFEST-000001
2025/09/04-08:21:16.481 6e8 Recovering log #3
2025/09/04-08:21:16.481 6e8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/000003.log

View File

@ -1,3 +1,3 @@
2025/08/18-10:03:41.604 3014 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/MANIFEST-000001
2025/08/18-10:03:41.605 3014 Recovering log #3
2025/08/18-10:03:41.605 3014 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/000003.log
2025/08/28-09:52:40.192 6be4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/MANIFEST-000001
2025/08/28-09:52:40.194 6be4 Recovering log #3
2025/08/28-09:52:40.194 6be4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/000003.log

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@ -1,3 +1,3 @@
2025/08/28-09:52:40.227 3728 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db/MANIFEST-000001
2025/08/28-09:52:40.227 3728 Recovering log #3
2025/08/28-09:52:40.228 3728 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db/000003.log
2025/09/04-08:21:16.515 5bbc Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db/MANIFEST-000001
2025/09/04-08:21:16.515 5bbc Recovering log #3
2025/09/04-08:21:16.516 5bbc Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db/000003.log

View File

@ -1,3 +1,3 @@
2025/08/18-10:03:41.638 3014 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db/MANIFEST-000001
2025/08/18-10:03:41.639 3014 Recovering log #3
2025/08/18-10:03:41.640 3014 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db/000003.log
2025/08/28-09:52:40.227 3728 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db/MANIFEST-000001
2025/08/28-09:52:40.227 3728 Recovering log #3
2025/08/28-09:52:40.228 3728 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db/000003.log

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@ -1,3 +1,3 @@
2025/08/28-09:52:40.218 3728 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db\metadata/MANIFEST-000001
2025/08/28-09:52:40.219 3728 Recovering log #3
2025/08/28-09:52:40.220 3728 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db\metadata/000003.log
2025/09/04-08:21:16.507 5bbc Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db\metadata/MANIFEST-000001
2025/09/04-08:21:16.508 5bbc Recovering log #3
2025/09/04-08:21:16.508 5bbc Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db\metadata/000003.log

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@ -1,3 +1,3 @@
2025/08/18-10:03:41.630 3014 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db\metadata/MANIFEST-000001
2025/08/18-10:03:41.631 3014 Recovering log #3
2025/08/18-10:03:41.632 3014 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db\metadata/000003.log
2025/08/28-09:52:40.218 3728 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db\metadata/MANIFEST-000001
2025/08/28-09:52:40.219 3728 Recovering log #3
2025/08/28-09:52:40.220 3728 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db\metadata/000003.log

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@ -1 +1 @@
139.0.3405.119
139.0.3405.125

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