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ajuste na operacao

This commit is contained in:
Diego Freitas 2024-05-07 10:00:13 -03:00
parent a912f319dd
commit cec7922f7e
49 changed files with 20737 additions and 18814 deletions
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AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs
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@ -466,8 +466,12 @@ namespace AgroBase.Models.Operacoes
{
if (Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica.Count() <= 3)
{
etapaAtual = StatusCarroMapa.Parado;
Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++;
Variaveis.OperacaoEmAndamento.Mapa.GerarTrajetoriaDinamica();
if (Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica.Count() <= 3)
{
etapaAtual = StatusCarroMapa.Parado;
Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++;
}
}
else
{// Está próximo o bastante e alinhado para entrar na rua

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AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
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@ -177,11 +177,11 @@ namespace AgroBase.Models
{
if (Modulo.Dispositivo == T_Code.Gps)
{
Modulo.Conectado = GPSService.PortaGPS != null && GPSService.PortaGPS.IsOpen;
Modulo.Conectado = GPSService.PortaGPS != null;
}
else
{
Modulo.Conectado = Variaveis.DispositivosConectados.Any(x => x.Dispositivo == Modulo.Dispositivo && x._Porta.IsOpen);
Modulo.Conectado = !Modulo.Mandatorio || Variaveis.DispositivosConectados.Any(x => x.Dispositivo == Modulo.Dispositivo && x._Porta.IsOpen);
}
});
@ -528,6 +528,8 @@ namespace AgroBase.Models
//tmrParametrizacao.Stop();
RealizarCalibracaoInicialAsync().ConfigureAwait(false);
Mapa.GerarTrajetoriaDinamica();
}
public void FinalizarOperacao()

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@ -0,0 +1 @@
[{"Momento":"2024-05-07T09:52:51.2146126-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":87.833333333333329,"BateriaConsumida":0.0,"DistanciaPercorrida":[1.6853113469813925],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":0.0,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:53:00.969167-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":87.833333333333329,"BateriaConsumida":0.0,"DistanciaPercorrida":[1.6853113469813925],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":229.96541901035945,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null}]

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@ -0,0 +1 @@
[{"Latitude":-22.213093666666666,"Longitude":-47.3815025,"DataHora":"2024-05-07T09:39:38","Altitude":627.0,"Velocidade":1.911264,"NumeroSatelites":8,"PrecisaoHorizontal":1.06,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0},{"Latitude":-22.2130975,"Longitude":-47.381505666666669,"DataHora":"2024-05-07T09:39:39","Altitude":627.0,"Velocidade":2.16684,"NumeroSatelites":7,"PrecisaoHorizontal":2.27,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0},{"Latitude":-22.213100833333332,"Longitude":-47.381509,"DataHora":"2024-05-07T09:39:40","Altitude":626.8,"Velocidade":1.542716,"NumeroSatelites":7,"PrecisaoHorizontal":2.27,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0},{"Latitude":-22.213102833333334,"Longitude":-47.381509833333332,"DataHora":"2024-05-07T09:39:41","Altitude":626.9,"Velocidade":0.883404,"NumeroSatelites":7,"PrecisaoHorizontal":2.27,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0},{"Latitude":-22.213105166666665,"Longitude":-47.381512833333332,"DataHora":"2024-05-07T09:39:42","Altitude":627.0,"Velocidade":1.409372,"NumeroSatelites":7,"PrecisaoHorizontal":2.27,"Orientacao":0.0,"idxRua":-1,"DirecaoTrecho":0}]

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@ -0,0 +1 @@
[{"Momento":"2024-05-07T09:53:27.6690689-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":88.000000000000014,"BateriaConsumida":0.0,"DistanciaPercorrida":[],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":229.96541901035945,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null}

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@ -0,0 +1 @@
[]

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@ -0,0 +1 @@
[{"Momento":"2024-05-07T09:57:45.0236065-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":85.666666666666671,"BateriaConsumida":0.0,"DistanciaPercorrida":[0.62526653144541955],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":81.467945501200347,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:57:49.0756622-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":85.333333333333357,"BateriaConsumida":0.0,"DistanciaPercorrida":[1.5628748431793145],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":277.68961334238628,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:57:54.0471488-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":85.333333333333357,"BateriaConsumida":0.0,"DistanciaPercorrida":[2.3266873663668832],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":72.513053899569,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:57:59.067028-03:00","VelocidadeMedia":0.0025,"PorcentagemBateria":85.499999999999986,"BateriaConsumida":0.0,"DistanciaPercorrida":[3.4918437518891166],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":93.862198705988874,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:58:53.125304-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":84.833333333333329,"BateriaConsumida":0.0,"DistanciaPercorrida":[4.2398822531054021],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":76.96759051894071,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:58:54.117946-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":84.833333333333329,"BateriaConsumida":0.0,"DistanciaPercorrida":[4.2398822531054021],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":76.96759051894071,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:58:59.0462561-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":85.000000000000014,"BateriaConsumida":0.0,"DistanciaPercorrida":[5.06465528160699],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":65.768965591740084,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:59:04.0576249-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":85.166666666666657,"BateriaConsumida":0.0,"DistanciaPercorrida":[6.6995914228318965],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":298.37272098328873,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:59:09.0574526-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":84.833333333333329,"BateriaConsumida":0.0,"DistanciaPercorrida":[7.83589682505383],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":72.045100003551966,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:59:14.0478768-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":85.166666666666657,"BateriaConsumida":0.0,"DistanciaPercorrida":[10.070815275648767],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":75.3866345233825,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:59:19.0658316-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":84.6666666666667,"BateriaConsumida":0.0,"DistanciaPercorrida":[12.24472030306932],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":73.838385174649375,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:59:24.0569853-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":85.000000000000014,"BateriaConsumida":0.0,"DistanciaPercorrida":[13.226341437661704],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":42.793023212049434,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null},{"Momento":"2024-05-07T09:59:28.4125265-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":85.166666666666657,"BateriaConsumida":0.0,"DistanciaPercorrida":[13.440851127670419],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":42.793024755324836,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null}],{"Momento":"2024-05-07T09:59:38.7013939-03:00","VelocidadeMedia":0.0,"PorcentagemBateria":85.000000000000014,"BateriaConsumida":0.0,"DistanciaPercorrida":[13.440851127670419],"DistanciaEsquerda":0.0,"DistanciaDireita":0.0,"AnguloCarroGPS":42.793024755324836,"AnguloCarroBussola":360.0,"AnguloCarro":360.0,"SonarFrontal":null}]

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@ -25,7 +25,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_4c3508b94c9767bf327ad97283d0bde0 {
#map_e6152d4e5a348cc7609e78397e575bf4 {
position: relative;
width: 100.0%;
height: 100.0%;
@ -39,14 +39,14 @@
<body>
<div class="folium-map" id="map_4c3508b94c9767bf327ad97283d0bde0" ></div>
<div class="folium-map" id="map_e6152d4e5a348cc7609e78397e575bf4" ></div>
</body>
<script>
var map_4c3508b94c9767bf327ad97283d0bde0 = L.map(
"map_4c3508b94c9767bf327ad97283d0bde0",
var map_e6152d4e5a348cc7609e78397e575bf4 = L.map(
"map_e6152d4e5a348cc7609e78397e575bf4",
{
center: [0.0, 0.0],
crs: L.CRS.EPSG3857,
@ -59,6 +59,15 @@
var tile_layer_1b59ebe3c5cac38a26d7eae6340112d6 = 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);
</script>
<script>
@ -78,7 +87,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_4c3508b94c9767bf327ad97283d0bde0);
trajeto_json.addTo(map_e6152d4e5a348cc7609e78397e575bf4);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -136,7 +145,7 @@
var marcadorDinamico = L.marker([0, 0], {
icon: customIcon
}).addTo(map_4c3508b94c9767bf327ad97283d0bde0);
}).addTo(map_e6152d4e5a348cc7609e78397e575bf4);
// Conectar ao broker MQTT
const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@ -175,7 +184,7 @@
marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_4c3508b94c9767bf327ad97283d0bde0.setView(novaPosicao, map_4c3508b94c9767bf327ad97283d0bde0.getZoom());
map_e6152d4e5a348cc7609e78397e575bf4.setView(novaPosicao, map_e6152d4e5a348cc7609e78397e575bf4.getZoom());
});
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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@ -441,4 +441,4 @@ C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3pl
C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\Debug\AgroBase.exe.config
C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\Debug\AgroBase.exe
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C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.Up2Date
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.CopyComplete

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