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criado modulo PC no health worker, comecar operacao do meio da rua

This commit is contained in:
Diego Freitas 2025-10-24 08:45:47 -03:00
parent 62d4cf9aae
commit fda7bb5096
63 changed files with 1040 additions and 263 deletions
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AgroBase/.vs/AgroBase/FileContentIndex/0b1b73bf-5369-4629-a046-4acbf4427264.vsidx → AgroBase/.vs/AgroBase/FileContentIndex/26bfcd4f-d139-4e6b-ab40-d6770ef1bb14.vsidx
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AgroBase/.vs/AgroBase/v17/.suo
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AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.Designer.cs generated
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@ -100,19 +100,54 @@
this.tabSensores = new System.Windows.Forms.TabPage();
this.tabControle = new System.Windows.Forms.TabPage();
this.pnlControle = new System.Windows.Forms.Panel();
this.chbSonarAtivado = new System.Windows.Forms.CheckBox();
this.chbPulverizadorAutomatico = new System.Windows.Forms.CheckBox();
this.pnlFreio = new System.Windows.Forms.Panel();
this.lblAnguloDirecional = new System.Windows.Forms.Label();
this.tkbAnguloDirecional = new System.Windows.Forms.TrackBar();
this.lblVelocidade = new System.Windows.Forms.Label();
this.tkbVelocidade = new System.Windows.Forms.TrackBar();
this.tabMapa = new System.Windows.Forms.TabPage();
this.tabModulos = new System.Windows.Forms.TabPage();
this.tabOperacao = new System.Windows.Forms.TabPage();
this.btnReferenciar = new System.Windows.Forms.Button();
this.btnPausarOperacao = new System.Windows.Forms.Button();
this.txtModuloMotivo = new System.Windows.Forms.RichTextBox();
this.txtModulos = new System.Windows.Forms.RichTextBox();
this.clbModulos = new System.Windows.Forms.CheckedListBox();
this.picFechar = new System.Windows.Forms.PictureBox();
this.chbPulverizadorAutomatico = new System.Windows.Forms.CheckBox();
this.chbSonarAtivado = new System.Windows.Forms.CheckBox();
this.gpbMov = new System.Windows.Forms.GroupBox();
this.gpbAtuador = new System.Windows.Forms.GroupBox();
this.label1 = new System.Windows.Forms.Label();
this.nudVelSemErvas = new System.Windows.Forms.NumericUpDown();
this.label2 = new System.Windows.Forms.Label();
this.label3 = new System.Windows.Forms.Label();
this.nudVelComErvas = new System.Windows.Forms.NumericUpDown();
this.label4 = new System.Windows.Forms.Label();
this.chbFrenagemAutomatica = new System.Windows.Forms.CheckBox();
this.label5 = new System.Windows.Forms.Label();
this.nudPercentualAtuacaoBico = new System.Windows.Forms.NumericUpDown();
this.label6 = new System.Windows.Forms.Label();
this.label7 = new System.Windows.Forms.Label();
this.nudPressaoLinha = new System.Windows.Forms.NumericUpDown();
this.label8 = new System.Windows.Forms.Label();
this.btnSalvarParametros = new System.Windows.Forms.Button();
this.gpbMPC = new System.Windows.Forms.GroupBox();
this.label9 = new System.Windows.Forms.Label();
this.txtPesoPosicao = new System.Windows.Forms.TextBox();
this.txtPesoOrientacao = new System.Windows.Forms.TextBox();
this.label10 = new System.Windows.Forms.Label();
this.txtPesoSuavidadeMin = new System.Windows.Forms.TextBox();
this.label11 = new System.Windows.Forms.Label();
this.txtPesoSuavidadeMax = new System.Windows.Forms.TextBox();
this.label12 = new System.Windows.Forms.Label();
this.txtPesoFatorRe = new System.Windows.Forms.TextBox();
this.label13 = new System.Windows.Forms.Label();
this.txtPesoIdeal = new System.Windows.Forms.TextBox();
this.label14 = new System.Windows.Forms.Label();
this.txtPesoLateralMin = new System.Windows.Forms.TextBox();
this.label15 = new System.Windows.Forms.Label();
this.txtPesoLateralMax = new System.Windows.Forms.TextBox();
this.label16 = new System.Windows.Forms.Label();
this.pnlMapa.SuspendLayout();
this.pnlMapaDinamico.SuspendLayout();
this.pnlSensores.SuspendLayout();
@ -124,8 +159,15 @@
((System.ComponentModel.ISupportInitialize)(this.tkbAnguloDirecional)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.tkbVelocidade)).BeginInit();
this.tabMapa.SuspendLayout();
this.tabModulos.SuspendLayout();
this.tabOperacao.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picFechar)).BeginInit();
this.gpbMov.SuspendLayout();
this.gpbAtuador.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.nudVelSemErvas)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.nudVelComErvas)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.nudPercentualAtuacaoBico)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.nudPressaoLinha)).BeginInit();
this.gpbMPC.SuspendLayout();
this.SuspendLayout();
//
// pnlMapa
@ -808,7 +850,7 @@
this.tabControl1.Controls.Add(this.tabSensores);
this.tabControl1.Controls.Add(this.tabControle);
this.tabControl1.Controls.Add(this.tabMapa);
this.tabControl1.Controls.Add(this.tabModulos);
this.tabControl1.Controls.Add(this.tabOperacao);
this.tabControl1.Font = new System.Drawing.Font("Microsoft Sans Serif", 15.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.tabControl1.Location = new System.Drawing.Point(703, 34);
this.tabControl1.Name = "tabControl1";
@ -841,8 +883,6 @@
// pnlControle
//
this.pnlControle.AutoScroll = true;
this.pnlControle.Controls.Add(this.chbSonarAtivado);
this.pnlControle.Controls.Add(this.chbPulverizadorAutomatico);
this.pnlControle.Controls.Add(this.pnlFreio);
this.pnlControle.Controls.Add(this.lblAnguloDirecional);
this.pnlControle.Controls.Add(this.tkbAnguloDirecional);
@ -857,6 +897,26 @@
this.pnlControle.Size = new System.Drawing.Size(307, 497);
this.pnlControle.TabIndex = 0;
//
// chbSonarAtivado
//
this.chbSonarAtivado.AutoSize = true;
this.chbSonarAtivado.Location = new System.Drawing.Point(6, 30);
this.chbSonarAtivado.Name = "chbSonarAtivado";
this.chbSonarAtivado.Size = new System.Drawing.Size(164, 29);
this.chbSonarAtivado.TabIndex = 38;
this.chbSonarAtivado.Text = "Sonar ativado";
this.chbSonarAtivado.UseVisualStyleBackColor = true;
//
// chbPulverizadorAutomatico
//
this.chbPulverizadorAutomatico.AutoSize = true;
this.chbPulverizadorAutomatico.Location = new System.Drawing.Point(6, 30);
this.chbPulverizadorAutomatico.Name = "chbPulverizadorAutomatico";
this.chbPulverizadorAutomatico.Size = new System.Drawing.Size(262, 29);
this.chbPulverizadorAutomatico.TabIndex = 37;
this.chbPulverizadorAutomatico.Text = "Pulverizador automático";
this.chbPulverizadorAutomatico.UseVisualStyleBackColor = true;
//
// pnlFreio
//
this.pnlFreio.Location = new System.Drawing.Point(134, 305);
@ -868,7 +928,7 @@
// lblAnguloDirecional
//
this.lblAnguloDirecional.AutoSize = true;
this.lblAnguloDirecional.Location = new System.Drawing.Point(3, 205);
this.lblAnguloDirecional.Location = new System.Drawing.Point(3, 168);
this.lblAnguloDirecional.Name = "lblAnguloDirecional";
this.lblAnguloDirecional.Size = new System.Drawing.Size(164, 20);
this.lblAnguloDirecional.TabIndex = 35;
@ -877,7 +937,7 @@
// tkbAnguloDirecional
//
this.tkbAnguloDirecional.Enabled = false;
this.tkbAnguloDirecional.Location = new System.Drawing.Point(7, 228);
this.tkbAnguloDirecional.Location = new System.Drawing.Point(7, 191);
this.tkbAnguloDirecional.Maximum = 90;
this.tkbAnguloDirecional.Name = "tkbAnguloDirecional";
this.tkbAnguloDirecional.Size = new System.Drawing.Size(277, 45);
@ -889,7 +949,7 @@
// lblVelocidade
//
this.lblVelocidade.AutoSize = true;
this.lblVelocidade.Location = new System.Drawing.Point(3, 114);
this.lblVelocidade.Location = new System.Drawing.Point(3, 77);
this.lblVelocidade.Name = "lblVelocidade";
this.lblVelocidade.Size = new System.Drawing.Size(179, 20);
this.lblVelocidade.TabIndex = 33;
@ -898,7 +958,7 @@
// tkbVelocidade
//
this.tkbVelocidade.Enabled = false;
this.tkbVelocidade.Location = new System.Drawing.Point(7, 137);
this.tkbVelocidade.Location = new System.Drawing.Point(7, 100);
this.tkbVelocidade.Maximum = 100;
this.tkbVelocidade.Name = "tkbVelocidade";
this.tkbVelocidade.Size = new System.Drawing.Size(277, 45);
@ -918,28 +978,55 @@
this.tabMapa.Text = "Mapa";
this.tabMapa.UseVisualStyleBackColor = true;
//
// tabModulos
// tabOperacao
//
this.tabModulos.BackColor = System.Drawing.SystemColors.Control;
this.tabModulos.Controls.Add(this.txtModuloMotivo);
this.tabModulos.Controls.Add(this.txtModulos);
this.tabModulos.Controls.Add(this.clbModulos);
this.tabModulos.Location = new System.Drawing.Point(4, 34);
this.tabModulos.Name = "tabModulos";
this.tabModulos.Padding = new System.Windows.Forms.Padding(3);
this.tabModulos.Size = new System.Drawing.Size(313, 503);
this.tabModulos.TabIndex = 3;
this.tabModulos.Text = "Módulos";
this.tabOperacao.AutoScroll = true;
this.tabOperacao.BackColor = System.Drawing.SystemColors.Control;
this.tabOperacao.Controls.Add(this.gpbMPC);
this.tabOperacao.Controls.Add(this.btnSalvarParametros);
this.tabOperacao.Controls.Add(this.gpbAtuador);
this.tabOperacao.Controls.Add(this.gpbMov);
this.tabOperacao.Controls.Add(this.btnReferenciar);
this.tabOperacao.Controls.Add(this.btnPausarOperacao);
this.tabOperacao.Controls.Add(this.txtModuloMotivo);
this.tabOperacao.Controls.Add(this.txtModulos);
this.tabOperacao.Controls.Add(this.clbModulos);
this.tabOperacao.Location = new System.Drawing.Point(4, 34);
this.tabOperacao.Name = "tabOperacao";
this.tabOperacao.Padding = new System.Windows.Forms.Padding(3);
this.tabOperacao.Size = new System.Drawing.Size(313, 503);
this.tabOperacao.TabIndex = 3;
this.tabOperacao.Text = "Operação";
//
// btnReferenciar
//
this.btnReferenciar.Location = new System.Drawing.Point(148, 6);
this.btnReferenciar.Name = "btnReferenciar";
this.btnReferenciar.Size = new System.Drawing.Size(143, 34);
this.btnReferenciar.TabIndex = 4;
this.btnReferenciar.Text = "Referenciar";
this.btnReferenciar.UseVisualStyleBackColor = true;
this.btnReferenciar.Click += new System.EventHandler(this.btnReferenciar_Click);
//
// btnPausarOperacao
//
this.btnPausarOperacao.Location = new System.Drawing.Point(6, 6);
this.btnPausarOperacao.Name = "btnPausarOperacao";
this.btnPausarOperacao.Size = new System.Drawing.Size(136, 34);
this.btnPausarOperacao.TabIndex = 3;
this.btnPausarOperacao.Text = "Pausar";
this.btnPausarOperacao.UseVisualStyleBackColor = true;
this.btnPausarOperacao.Click += new System.EventHandler(this.btnPausarOperacao_Click);
//
// txtModuloMotivo
//
this.txtModuloMotivo.BackColor = System.Drawing.SystemColors.Control;
this.txtModuloMotivo.BorderStyle = System.Windows.Forms.BorderStyle.None;
this.txtModuloMotivo.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.txtModuloMotivo.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.txtModuloMotivo.Location = new System.Drawing.Point(6, 405);
this.txtModuloMotivo.Name = "txtModuloMotivo";
this.txtModuloMotivo.ReadOnly = true;
this.txtModuloMotivo.Size = new System.Drawing.Size(299, 92);
this.txtModuloMotivo.Size = new System.Drawing.Size(285, 92);
this.txtModuloMotivo.TabIndex = 2;
this.txtModuloMotivo.Text = "";
//
@ -947,24 +1034,21 @@
//
this.txtModulos.BackColor = System.Drawing.SystemColors.Control;
this.txtModulos.BorderStyle = System.Windows.Forms.BorderStyle.None;
this.txtModulos.Font = new System.Drawing.Font("Microsoft Sans Serif", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.txtModulos.Location = new System.Drawing.Point(6, 7);
this.txtModulos.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.txtModulos.Location = new System.Drawing.Point(6, 46);
this.txtModulos.Name = "txtModulos";
this.txtModulos.ReadOnly = true;
this.txtModulos.Size = new System.Drawing.Size(299, 122);
this.txtModulos.Size = new System.Drawing.Size(285, 83);
this.txtModulos.TabIndex = 1;
this.txtModulos.Text = "Status por módulo, é possível liberar a opreação caso algum módulo mandatório não" +
" esteja saudável, para fins de contingência.";
//
// clbModulos
//
this.clbModulos.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.clbModulos.FormattingEnabled = true;
this.clbModulos.Location = new System.Drawing.Point(6, 135);
this.clbModulos.Name = "clbModulos";
this.clbModulos.Size = new System.Drawing.Size(304, 264);
this.clbModulos.Size = new System.Drawing.Size(284, 264);
this.clbModulos.TabIndex = 0;
//
// picFechar
@ -977,27 +1061,323 @@
this.picFechar.TabIndex = 1;
this.picFechar.TabStop = false;
//
// chbPulverizadorAutomatico
// gpbMov
//
this.chbPulverizadorAutomatico.AutoSize = true;
this.chbPulverizadorAutomatico.Location = new System.Drawing.Point(7, 43);
this.chbPulverizadorAutomatico.Name = "chbPulverizadorAutomatico";
this.chbPulverizadorAutomatico.Size = new System.Drawing.Size(199, 24);
this.chbPulverizadorAutomatico.TabIndex = 37;
this.chbPulverizadorAutomatico.Text = "Pulverizador Automático";
this.chbPulverizadorAutomatico.UseVisualStyleBackColor = true;
this.chbPulverizadorAutomatico.CheckedChanged += new System.EventHandler(this.chbPulverizadorAutomatico_CheckedChanged);
this.gpbMov.Controls.Add(this.chbFrenagemAutomatica);
this.gpbMov.Controls.Add(this.label3);
this.gpbMov.Controls.Add(this.nudVelComErvas);
this.gpbMov.Controls.Add(this.label4);
this.gpbMov.Controls.Add(this.label2);
this.gpbMov.Controls.Add(this.nudVelSemErvas);
this.gpbMov.Controls.Add(this.label1);
this.gpbMov.Controls.Add(this.chbSonarAtivado);
this.gpbMov.Location = new System.Drawing.Point(6, 503);
this.gpbMov.Name = "gpbMov";
this.gpbMov.Size = new System.Drawing.Size(284, 171);
this.gpbMov.TabIndex = 39;
this.gpbMov.TabStop = false;
this.gpbMov.Text = "Movimentação";
//
// chbSonarAtivado
// gpbAtuador
//
this.chbSonarAtivado.AutoSize = true;
this.chbSonarAtivado.Location = new System.Drawing.Point(7, 73);
this.chbSonarAtivado.Name = "chbSonarAtivado";
this.chbSonarAtivado.Size = new System.Drawing.Size(156, 24);
this.chbSonarAtivado.TabIndex = 38;
this.chbSonarAtivado.Text = "Sonar Automático";
this.chbSonarAtivado.UseVisualStyleBackColor = true;
this.chbSonarAtivado.CheckedChanged += new System.EventHandler(this.chbSonarAtivado_CheckedChanged);
this.gpbAtuador.Controls.Add(this.label7);
this.gpbAtuador.Controls.Add(this.nudPressaoLinha);
this.gpbAtuador.Controls.Add(this.label8);
this.gpbAtuador.Controls.Add(this.label5);
this.gpbAtuador.Controls.Add(this.nudPercentualAtuacaoBico);
this.gpbAtuador.Controls.Add(this.label6);
this.gpbAtuador.Controls.Add(this.chbPulverizadorAutomatico);
this.gpbAtuador.Location = new System.Drawing.Point(6, 680);
this.gpbAtuador.Name = "gpbAtuador";
this.gpbAtuador.Size = new System.Drawing.Size(284, 140);
this.gpbAtuador.TabIndex = 40;
this.gpbAtuador.TabStop = false;
this.gpbAtuador.Text = "Atuador";
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(6, 97);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(154, 25);
this.label1.TabIndex = 39;
this.label1.Text = "Vel. sem ervas";
//
// nudVelSemErvas
//
this.nudVelSemErvas.Location = new System.Drawing.Point(163, 95);
this.nudVelSemErvas.Name = "nudVelSemErvas";
this.nudVelSemErvas.Size = new System.Drawing.Size(74, 31);
this.nudVelSemErvas.TabIndex = 40;
this.nudVelSemErvas.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(243, 97);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(31, 25);
this.label2.TabIndex = 41;
this.label2.Text = "%";
//
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(243, 134);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(31, 25);
this.label3.TabIndex = 44;
this.label3.Text = "%";
//
// nudVelComErvas
//
this.nudVelComErvas.Location = new System.Drawing.Point(163, 132);
this.nudVelComErvas.Name = "nudVelComErvas";
this.nudVelComErvas.Size = new System.Drawing.Size(74, 31);
this.nudVelComErvas.TabIndex = 43;
this.nudVelComErvas.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(6, 134);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(154, 25);
this.label4.TabIndex = 42;
this.label4.Text = "Vel. com ervas";
//
// chbFrenagemAutomatica
//
this.chbFrenagemAutomatica.AutoSize = true;
this.chbFrenagemAutomatica.Location = new System.Drawing.Point(6, 65);
this.chbFrenagemAutomatica.Name = "chbFrenagemAutomatica";
this.chbFrenagemAutomatica.Size = new System.Drawing.Size(273, 29);
this.chbFrenagemAutomatica.TabIndex = 45;
this.chbFrenagemAutomatica.Text = "Frenagem em obstáculos";
this.chbFrenagemAutomatica.UseVisualStyleBackColor = true;
//
// label5
//
this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(243, 62);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(31, 25);
this.label5.TabIndex = 44;
this.label5.Text = "%";
//
// nudPercentualAtuacaoBico
//
this.nudPercentualAtuacaoBico.Location = new System.Drawing.Point(163, 60);
this.nudPercentualAtuacaoBico.Name = "nudPercentualAtuacaoBico";
this.nudPercentualAtuacaoBico.Size = new System.Drawing.Size(74, 31);
this.nudPercentualAtuacaoBico.TabIndex = 43;
this.nudPercentualAtuacaoBico.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label6
//
this.label6.AutoSize = true;
this.label6.Location = new System.Drawing.Point(6, 62);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(144, 25);
this.label6.TabIndex = 42;
this.label6.Text = "Atuar bico em";
//
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(243, 99);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(40, 25);
this.label7.TabIndex = 47;
this.label7.Text = "psi";
//
// nudPressaoLinha
//
this.nudPressaoLinha.Location = new System.Drawing.Point(163, 97);
this.nudPressaoLinha.Name = "nudPressaoLinha";
this.nudPressaoLinha.Size = new System.Drawing.Size(74, 31);
this.nudPressaoLinha.TabIndex = 46;
this.nudPressaoLinha.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label8
//
this.label8.AutoSize = true;
this.label8.Location = new System.Drawing.Point(6, 99);
this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(143, 25);
this.label8.TabIndex = 45;
this.label8.Text = "Pressão linha";
//
// btnSalvarParametros
//
this.btnSalvarParametros.Location = new System.Drawing.Point(6, 1160);
this.btnSalvarParametros.Name = "btnSalvarParametros";
this.btnSalvarParametros.Size = new System.Drawing.Size(283, 40);
this.btnSalvarParametros.TabIndex = 48;
this.btnSalvarParametros.Text = "Salvar Parâmetros";
this.btnSalvarParametros.UseVisualStyleBackColor = true;
this.btnSalvarParametros.Click += new System.EventHandler(this.btnSalvarParametros_Click);
//
// gpbMPC
//
this.gpbMPC.Controls.Add(this.txtPesoLateralMax);
this.gpbMPC.Controls.Add(this.label16);
this.gpbMPC.Controls.Add(this.txtPesoLateralMin);
this.gpbMPC.Controls.Add(this.label15);
this.gpbMPC.Controls.Add(this.txtPesoIdeal);
this.gpbMPC.Controls.Add(this.label14);
this.gpbMPC.Controls.Add(this.txtPesoFatorRe);
this.gpbMPC.Controls.Add(this.label13);
this.gpbMPC.Controls.Add(this.txtPesoSuavidadeMax);
this.gpbMPC.Controls.Add(this.label12);
this.gpbMPC.Controls.Add(this.txtPesoSuavidadeMin);
this.gpbMPC.Controls.Add(this.label11);
this.gpbMPC.Controls.Add(this.txtPesoOrientacao);
this.gpbMPC.Controls.Add(this.label10);
this.gpbMPC.Controls.Add(this.txtPesoPosicao);
this.gpbMPC.Controls.Add(this.label9);
this.gpbMPC.Location = new System.Drawing.Point(6, 826);
this.gpbMPC.Name = "gpbMPC";
this.gpbMPC.Size = new System.Drawing.Size(285, 327);
this.gpbMPC.TabIndex = 49;
this.gpbMPC.TabStop = false;
this.gpbMPC.Text = "Pesos MPC";
//
// label9
//
this.label9.AutoSize = true;
this.label9.Location = new System.Drawing.Point(6, 31);
this.label9.Name = "label9";
this.label9.Size = new System.Drawing.Size(89, 25);
this.label9.TabIndex = 0;
this.label9.Text = "Posição";
//
// txtPesoPosicao
//
this.txtPesoPosicao.Location = new System.Drawing.Point(181, 28);
this.txtPesoPosicao.Name = "txtPesoPosicao";
this.txtPesoPosicao.Size = new System.Drawing.Size(74, 31);
this.txtPesoPosicao.TabIndex = 1;
this.txtPesoPosicao.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// txtPesoOrientacao
//
this.txtPesoOrientacao.Location = new System.Drawing.Point(181, 65);
this.txtPesoOrientacao.Name = "txtPesoOrientacao";
this.txtPesoOrientacao.Size = new System.Drawing.Size(74, 31);
this.txtPesoOrientacao.TabIndex = 3;
this.txtPesoOrientacao.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label10
//
this.label10.AutoSize = true;
this.label10.Location = new System.Drawing.Point(6, 68);
this.label10.Name = "label10";
this.label10.Size = new System.Drawing.Size(117, 25);
this.label10.TabIndex = 2;
this.label10.Text = "Orientação";
//
// txtPesoSuavidadeMin
//
this.txtPesoSuavidadeMin.Location = new System.Drawing.Point(181, 102);
this.txtPesoSuavidadeMin.Name = "txtPesoSuavidadeMin";
this.txtPesoSuavidadeMin.Size = new System.Drawing.Size(74, 31);
this.txtPesoSuavidadeMin.TabIndex = 5;
this.txtPesoSuavidadeMin.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label11
//
this.label11.AutoSize = true;
this.label11.Location = new System.Drawing.Point(6, 105);
this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(154, 25);
this.label11.TabIndex = 4;
this.label11.Text = "Suavidade min";
//
// txtPesoSuavidadeMax
//
this.txtPesoSuavidadeMax.Location = new System.Drawing.Point(181, 139);
this.txtPesoSuavidadeMax.Name = "txtPesoSuavidadeMax";
this.txtPesoSuavidadeMax.Size = new System.Drawing.Size(74, 31);
this.txtPesoSuavidadeMax.TabIndex = 7;
this.txtPesoSuavidadeMax.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label12
//
this.label12.AutoSize = true;
this.label12.Location = new System.Drawing.Point(6, 142);
this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(160, 25);
this.label12.TabIndex = 6;
this.label12.Text = "Suavidade max";
//
// txtPesoFatorRe
//
this.txtPesoFatorRe.Location = new System.Drawing.Point(181, 176);
this.txtPesoFatorRe.Name = "txtPesoFatorRe";
this.txtPesoFatorRe.Size = new System.Drawing.Size(74, 31);
this.txtPesoFatorRe.TabIndex = 9;
this.txtPesoFatorRe.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label13
//
this.label13.AutoSize = true;
this.label13.Location = new System.Drawing.Point(6, 179);
this.label13.Name = "label13";
this.label13.Size = new System.Drawing.Size(117, 25);
this.label13.TabIndex = 8;
this.label13.Text = "Fator de ré";
//
// txtPesoIdeal
//
this.txtPesoIdeal.Location = new System.Drawing.Point(181, 213);
this.txtPesoIdeal.Name = "txtPesoIdeal";
this.txtPesoIdeal.Size = new System.Drawing.Size(74, 31);
this.txtPesoIdeal.TabIndex = 11;
this.txtPesoIdeal.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label14
//
this.label14.AutoSize = true;
this.label14.Location = new System.Drawing.Point(6, 216);
this.label14.Name = "label14";
this.label14.Size = new System.Drawing.Size(58, 25);
this.label14.TabIndex = 10;
this.label14.Text = "Ideal";
//
// txtPesoLateralMin
//
this.txtPesoLateralMin.Location = new System.Drawing.Point(181, 250);
this.txtPesoLateralMin.Name = "txtPesoLateralMin";
this.txtPesoLateralMin.Size = new System.Drawing.Size(74, 31);
this.txtPesoLateralMin.TabIndex = 13;
this.txtPesoLateralMin.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label15
//
this.label15.AutoSize = true;
this.label15.Location = new System.Drawing.Point(6, 253);
this.label15.Name = "label15";
this.label15.Size = new System.Drawing.Size(118, 25);
this.label15.TabIndex = 12;
this.label15.Text = "Lateral min";
//
// txtPesoLateralMax
//
this.txtPesoLateralMax.Location = new System.Drawing.Point(181, 287);
this.txtPesoLateralMax.Name = "txtPesoLateralMax";
this.txtPesoLateralMax.Size = new System.Drawing.Size(74, 31);
this.txtPesoLateralMax.TabIndex = 15;
this.txtPesoLateralMax.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label16
//
this.label16.AutoSize = true;
this.label16.Location = new System.Drawing.Point(6, 290);
this.label16.Name = "label16";
this.label16.Size = new System.Drawing.Size(124, 25);
this.label16.TabIndex = 14;
this.label16.Text = "Lateral max";
//
// frmDialogoMapa
//
@ -1035,8 +1415,18 @@
((System.ComponentModel.ISupportInitialize)(this.tkbAnguloDirecional)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.tkbVelocidade)).EndInit();
this.tabMapa.ResumeLayout(false);
this.tabModulos.ResumeLayout(false);
this.tabOperacao.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.picFechar)).EndInit();
this.gpbMov.ResumeLayout(false);
this.gpbMov.PerformLayout();
this.gpbAtuador.ResumeLayout(false);
this.gpbAtuador.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.nudVelSemErvas)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.nudVelComErvas)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.nudPercentualAtuacaoBico)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.nudPressaoLinha)).EndInit();
this.gpbMPC.ResumeLayout(false);
this.gpbMPC.PerformLayout();
this.ResumeLayout(false);
this.PerformLayout();
@ -1122,11 +1512,46 @@
private System.Windows.Forms.TextBox txtInclinacao;
private System.Windows.Forms.Label lblInclinacao;
private System.Windows.Forms.CheckBox chbAcompanharCarro;
private System.Windows.Forms.TabPage tabModulos;
private System.Windows.Forms.TabPage tabOperacao;
private System.Windows.Forms.RichTextBox txtModulos;
private System.Windows.Forms.CheckedListBox clbModulos;
private System.Windows.Forms.RichTextBox txtModuloMotivo;
private System.Windows.Forms.CheckBox chbPulverizadorAutomatico;
private System.Windows.Forms.CheckBox chbSonarAtivado;
private System.Windows.Forms.Button btnReferenciar;
private System.Windows.Forms.Button btnPausarOperacao;
private System.Windows.Forms.GroupBox gpbAtuador;
private System.Windows.Forms.GroupBox gpbMov;
private System.Windows.Forms.Label label3;
private System.Windows.Forms.NumericUpDown nudVelComErvas;
private System.Windows.Forms.Label label4;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.NumericUpDown nudVelSemErvas;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.CheckBox chbFrenagemAutomatica;
private System.Windows.Forms.Label label5;
private System.Windows.Forms.NumericUpDown nudPercentualAtuacaoBico;
private System.Windows.Forms.Label label6;
private System.Windows.Forms.Label label7;
private System.Windows.Forms.NumericUpDown nudPressaoLinha;
private System.Windows.Forms.Label label8;
private System.Windows.Forms.Button btnSalvarParametros;
private System.Windows.Forms.GroupBox gpbMPC;
private System.Windows.Forms.TextBox txtPesoLateralMax;
private System.Windows.Forms.Label label16;
private System.Windows.Forms.TextBox txtPesoLateralMin;
private System.Windows.Forms.Label label15;
private System.Windows.Forms.TextBox txtPesoIdeal;
private System.Windows.Forms.Label label14;
private System.Windows.Forms.TextBox txtPesoFatorRe;
private System.Windows.Forms.Label label13;
private System.Windows.Forms.TextBox txtPesoSuavidadeMax;
private System.Windows.Forms.Label label12;
private System.Windows.Forms.TextBox txtPesoSuavidadeMin;
private System.Windows.Forms.Label label11;
private System.Windows.Forms.TextBox txtPesoOrientacao;
private System.Windows.Forms.Label label10;
private System.Windows.Forms.TextBox txtPesoPosicao;
private System.Windows.Forms.Label label9;
}
}

127
AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs
View File

@ -3,6 +3,7 @@ using AgroBase.Models.Components;
using AgroBase.Models.Operadores;
using AgroBase.Services;
using AgroBase.Services.Operadores;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Drawing;
@ -183,10 +184,10 @@ namespace AgroBase.Forms.IHM
txtBateriaConsumida.Text = _Sensoriamento.Bateria.BateriaConsumida.ToString("0.00") + " %";
FuncoesGlobais.PreencheValorProgressBar(pgbReservatorio, _Sensoriamento.Atuador.PercentualReservatorio);
lblReservatorio.Text = "Reservatório: " + _Sensoriamento.Atuador.PercentualReservatorio.ToString("0.00") + "%";
lblReservatorio.Text = "Reservatório: " + _Sensoriamento.Atuador.VolumeReservatorio.ToString("0.00") + " l " + _Sensoriamento.Atuador.PercentualReservatorio.ToString("0.00") + "%";
FuncoesGlobais.PreencheValorProgressBar(pgbBateria, _Sensoriamento.Bateria.PorcentagemBateria);
lblBateria.Text = "Bateria: " + _Sensoriamento.Bateria.TensaoInstantanea.ToString("0.00") + "v " + _Sensoriamento.Bateria.CorrenteInstantanea.ToString("0.00") + "A " + _Sensoriamento.Bateria.PorcentagemBateria.ToString("0.00") + "%";
lblBateria.Text = "Bateria: " + _Sensoriamento.Bateria.TensaoInstantanea.ToString("0.00") + "v " + _Sensoriamento.Bateria.PorcentagemBateria.ToString("0.00") + "%";
FuncoesGlobais.PreencheValorProgressBar(pgbOperacao, _Sensoriamento.Trajetoria.ProgressoTrajeto);
lblOperacao.Text = "Operação: " + _Sensoriamento.Trajetoria.ProgressoTrajeto.ToString("0.00") + "%";
@ -197,7 +198,7 @@ namespace AgroBase.Forms.IHM
lblCorrecaoGPS.Text = (_Sensoriamento.Gps.Ntrip_ativado ? "N " : "B ") + _Sensoriamento.Gps.IdadeCorrecao + ": " + _Sensoriamento.Gps.QualidadeFix.ToString();
lblPrecisaoGPS.Text = $"Precisão: {_Sensoriamento.Gps.PrecisaoCm.ToString("0.00")} cm";
bool automatico = Variaveis.OperacaoEmAndamento.Modo != Enums.ModoOperacao.Manual;
bool automatico = Variaveis.OperacaoEmAndamento.Modo != ModoOperacao.Manual;
cmbModoControle.Enabled = !automatico;
tkbVelocidade.Enabled = !automatico;
tkbAnguloDirecional.Enabled = !automatico;
@ -331,14 +332,29 @@ namespace AgroBase.Forms.IHM
tkbVelocidade.Enabled = false;
pnlJoystick.Visible = false;
tabControl1.TabPages.Remove(tabControle);
chbPulverizadorAutomatico.Checked = Variaveis.OperacaoEmAndamento.Controle.PulverizadorAutomatico;
chbSonarAtivado.Checked = Variaveis.OperacaoEmAndamento.Controle.SonarAtivado;
cmbModoControle.SelectedIndex = (int)Variaveis.OperacaoEmAndamento.Controle.TipoMovimento;
var _Controle = Variaveis.OperacaoEmAndamento.Controle;
cmbModoControle.SelectedIndex = (int)_Controle.TipoMovimento;
chbSonarAtivado.Checked = _Controle.SonarAtivado;
chbFrenagemAutomatica.Checked = _Controle.FrenagemAutomatica;
nudVelSemErvas.Value = (int)_Controle.PercentualVelocidadeMax;
nudVelComErvas.Value = (int)_Controle.PercentualVelocidadeMin;
chbPulverizadorAutomatico.Checked = _Controle.PulverizadorAutomatico;
nudPercentualAtuacaoBico.Value = (int)(_Controle.PercentualInicioPulverizacao * 100.0);
nudPressaoLinha.Value = (int)_Controle.PressaoLinha;
FuncoesGlobais.PreencheValorTrackBar(tkbAnguloDirecional, _Controle.Angulo);
FuncoesGlobais.PreencheValorTrackBar(tkbVelocidade, _Controle.PercentualVelocidadeSP);
FuncoesGlobais.PreencheValorTrackBar(tkbAnguloDirecional, Variaveis.OperacaoEmAndamento.Controle.Angulo);
FuncoesGlobais.PreencheValorTrackBar(tkbVelocidade, Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP);
string pesosMpcStr = RedisService.Get(CtxKey.DadosPesosMPC);
var pesos = JsonConvert.DeserializeObject<MPCPesosModel>(pesosMpcStr);
txtPesoPosicao.Text = pesos.posicao.ToString();
txtPesoOrientacao.Text = pesos.orientacao.ToString();
txtPesoSuavidadeMin.Text = pesos.suavidade_min.ToString();
txtPesoSuavidadeMax.Text = pesos.suavidade_max.ToString();
txtPesoFatorRe.Text = pesos.fator_re.ToString();
txtPesoIdeal.Text = pesos.ideal.ToString();
txtPesoLateralMin.Text = pesos.lateral_min.ToString();
txtPesoLateralMax.Text = pesos.lateral_max.ToString();
tkbVelocidade_Scroll(null, null);
tkbAnguloDirecional_Scroll(null, null);
@ -592,16 +608,6 @@ namespace AgroBase.Forms.IHM
Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = (Enums.TipoMovimentoDirecional)cmbModoControle.SelectedIndex;
}
private void chbPulverizadorAutomatico_CheckedChanged(object sender, EventArgs e)
{
Variaveis.OperacaoEmAndamento.Controle.PulverizadorAutomatico = ((CheckBox)sender).Checked;
}
private void chbSonarAtivado_CheckedChanged(object sender, EventArgs e)
{
Variaveis.OperacaoEmAndamento.Controle.SonarAtivado = ((CheckBox)sender).Checked;
}
private void tkbVelocidade_Scroll(object sender, EventArgs e)
{
Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP = tkbVelocidade.Value;
@ -641,6 +647,8 @@ namespace AgroBase.Forms.IHM
#region OPERACAO
public class ModuloUIItem
{
public T_Code Disp { get; set; }
@ -827,6 +835,87 @@ namespace AgroBase.Forms.IHM
txtModuloMotivo.Text = _modulosUI[clbModulos.SelectedIndex].Motivo;
}
private void btnPausarOperacao_Click(object sender, EventArgs e)
{
if (!Variaveis.OperacaoEmAndamento.Pausa)
{
Variaveis.OperacaoEmAndamento.Pausa = true;
btnPausarOperacao.Text = "Retomar";
}
else
{
Variaveis.OperacaoEmAndamento.Pausa = false;
btnPausarOperacao.Text = "Pausar";
}
}
private async void btnReferenciar_Click(object sender, EventArgs e)
{
await Variaveis.OperacaoEmAndamento.RealizarCalibragemInicialAsync(true);
}
private void btnSalvarParametros_Click(object sender, EventArgs e)
{
var res = CustomDialog.ShowDialog(
"Salvar parâmetros da operação",
"Deseja aplicar os novos parâmetros para operação atual?",
MessageBoxIcon.Question,
new Dictionary<(string, DialogResult?), Action>()
{
{ ("Sim", DialogResult.Yes), () => { } },
{ ("Não", DialogResult.No), () => { } },
}
);
var _Controle = Variaveis.OperacaoEmAndamento.Controle;
if (res == DialogResult.Yes)
{
_Controle.SonarAtivado = chbSonarAtivado.Checked;
_Controle.FrenagemAutomatica = chbFrenagemAutomatica.Checked;
_Controle.RPM_Max = (int)FuncoesMatematicas.CalculaRPMVelocidade(FuncoesMatematicas.CalculaVelocidadeMsPercentual((int)nudVelSemErvas.Value));
_Controle.RPM_Min = (int)FuncoesMatematicas.CalculaRPMVelocidade(FuncoesMatematicas.CalculaVelocidadeMsPercentual((int)nudVelComErvas.Value));
_Controle.PulverizadorAutomatico = chbPulverizadorAutomatico.Checked;
_Controle.PercentualInicioPulverizacao = ((double)nudPercentualAtuacaoBico.Value / 100.0);
_Controle.PressaoLinha = (double)nudPressaoLinha.Value;
RedisService.AtualizarCampos(
CtxKey.DadosPesosMPC,
("posicao", Convert.ToDouble(txtPesoPosicao.Text)),
("orientacao", Convert.ToDouble(txtPesoOrientacao.Text)),
("suavidade_min", Convert.ToDouble(txtPesoSuavidadeMin.Text)),
("suavidade_max", Convert.ToDouble(txtPesoSuavidadeMax.Text)),
("fator_re", Convert.ToDouble(txtPesoFatorRe.Text)),
("ideal", Convert.ToDouble(txtPesoIdeal.Text)),
("lateral_min", Convert.ToDouble(txtPesoLateralMin.Text)),
("lateral_max", Convert.ToDouble(txtPesoLateralMax.Text))
);
RedisService.AtualizarCampos(CtxKey.DadosOperacao, ("configurado", false));
}
else
{
chbSonarAtivado.Checked = _Controle.SonarAtivado;
chbFrenagemAutomatica.Checked = _Controle.FrenagemAutomatica;
nudVelSemErvas.Value = (int)_Controle.PercentualVelocidadeMax;
nudVelComErvas.Value = (int)_Controle.PercentualVelocidadeMin;
chbPulverizadorAutomatico.Checked = _Controle.PulverizadorAutomatico;
nudPercentualAtuacaoBico.Value = (int)(_Controle.PercentualInicioPulverizacao * 100.0);
nudPressaoLinha.Value = (int)_Controle.PressaoLinha;
string pesosMpcStr = RedisService.Get(CtxKey.DadosPesosMPC);
var pesos = JsonConvert.DeserializeObject<MPCPesosModel>(pesosMpcStr);
txtPesoPosicao.Text = pesos.posicao.ToString();
txtPesoOrientacao.Text = pesos.orientacao.ToString();
txtPesoSuavidadeMin.Text = pesos.suavidade_min.ToString();
txtPesoSuavidadeMax.Text = pesos.suavidade_max.ToString();
txtPesoFatorRe.Text = pesos.fator_re.ToString();
txtPesoIdeal.Text = pesos.ideal.ToString();
txtPesoLateralMin.Text = pesos.lateral_min.ToString();
txtPesoLateralMax.Text = pesos.lateral_max.ToString();
}
}
#endregion
}
}

25
AgroBase/AgroBase/Models/GPSModel.cs
View File

@ -494,6 +494,31 @@ namespace AgroBase.Models
public static int ParseInt(string s) =>
int.TryParse(s, NumberStyles.Integer, CultureInfo.InvariantCulture, out var v) ? v : 0;
public static (GPSModel, double) CalcularPontoMaisProximoTrajetoria(GPSModel posicaoAtual, List<GPSModel> Trajetoria)
{
if (Trajetoria.Count == 0) return (null, -1);
double menorDistancia = double.MaxValue;
GPSModel melhorPonto = null;
for (int i = 0; i < Trajetoria.Count; i++)
{
double distanciaAtual = Math.Abs(DistanciaEntrePontos(posicaoAtual, Trajetoria[i]));
if (distanciaAtual < menorDistancia)
{
melhorPonto = Trajetoria[i];
menorDistancia = distanciaAtual;
}
}
if (melhorPonto != null)
{
return (melhorPonto, menorDistancia);
}
return (null, -1);
}
}

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

@ -543,7 +543,7 @@ namespace AgroBase
!Forms.IHM.frmDiagnosticos.Diagnosticando && !ForcarComando &&
(
Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.Manual && (
MKS057DCanService.Referenciando ||
Variaveis.OperacaoEmAndamento.Calibrando ||
!Variaveis.OperacaoEmAndamento.OperacaoLiberada ||
!Variaveis.OperacaoEmAndamento.Iniciado ||
!VerificaComandoValidoSonar(Tecla)

12
AgroBase/AgroBase/Models/MPCController.cs
View File

@ -193,3 +193,15 @@ public class MPCSimulacaoModel
public double longitude { get; set; }
public double orientacao { get; set; }
}
public class MPCPesosModel
{
public double posicao { get; set; }
public double orientacao { get; set; }
public double suavidade_min { get; set; }
public double suavidade_max { get; set; }
public double fator_re { get; set; }
public double ideal { get; set; }
public double lateral_min { get; set; }
public double lateral_max { get; set; }
}

26
AgroBase/AgroBase/Models/Modules/AtuadorModel.cs
View File

@ -772,6 +772,18 @@ namespace AgroBase.Models.Modules
if (bomba != null)
{
bool leituraEstado = (bomba.ValoresLeituras?.FirstOrDefault(x => x.funcao == FuncoesPinout.Potencia)?.atual?.valor ?? 0) > 0;
// Desliga a bomba caso esteja ligada e o nivel de herbicida caiu
if (PercentualReservatorio < VariaveisEquipamento.PercentualReservatorioMin && leituraEstado == true)
{
bomba.ComandoAtuar = false;
}
// Religa a bomba caso esteja desligada, o nivel de herbicida esta estavel e o pulverizador automatico esta ligado
else if (PercentualReservatorio >= VariaveisEquipamento.PercentualReservatorioMin && leituraEstado == false && Variaveis.OperacaoEmAndamento.Controle.PulverizadorAutomatico)
{
bomba.ComandoAtuar = true;
}
if (bomba.ComandoAtuar != leituraEstado)
{
GeneralJoystick.EnviarComandoAtuador(bomba.Componente, bomba.ComandoAtuar, bomba.ID);
@ -803,7 +815,7 @@ namespace AgroBase.Models.Modules
}
public async Task<bool> RealizarTestesIniciais()
public async Task<bool> RealizarTestesIniciais(bool forcar)
{
var calAtu = Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Atu];
@ -811,12 +823,12 @@ namespace AgroBase.Models.Modules
foreach (var Bomba in BombasPressurizadoras.Where(x => x.Comandar))
{
calAtu.TryGetValue(Bomba.ID, out var cal);
if (cal && calAtu[Bomba.ID]) continue;
if (!forcar && cal && calAtu[Bomba.ID]) continue;
calAtu[Bomba.ID] = false;
// Sem herbicida no reservatorio, bomba nao precisa ligar
if (!Bomba.Inicializado || PercentualReservatorio < 5.0)
if (!Bomba.Inicializado || PercentualReservatorio < VariaveisEquipamento.PercentualReservatorioMin)
{
break;
}
@ -858,7 +870,7 @@ namespace AgroBase.Models.Modules
foreach (var Bico in BicosPulverizadores.Where(x => x.Comandar))
{
calAtu.TryGetValue(Bico.ID, out var cal);
if (cal && calAtu[Bico.ID]) continue;
if (!forcar && cal && calAtu[Bico.ID]) continue;
calAtu[Bico.ID] = false;
@ -881,12 +893,13 @@ namespace AgroBase.Models.Modules
return sucesso;
}
public List<Task> RealizarCalibragemAsync()
public List<Task> RealizarCalibragemAsync(bool forcar)
{
List<Task> tasks = new List<Task>();
var DispAtu = Variaveis.OperacaoEmAndamento.DispAtu;
if (DispAtu != null)
tasks.Add(DispAtu.Dados.RealizarTestesIniciais().ContinueWith(t => {
{
tasks.Add(DispAtu.Dados.RealizarTestesIniciais(forcar).ContinueWith(t => {
if (t.IsFaulted)
Console.WriteLine($"Erro no referenciamento do módulo {Modulo_ID}: {t.Exception?.InnerException?.Message}");
if (t.IsCompleted)
@ -897,6 +910,7 @@ namespace AgroBase.Models.Modules
}
}));
}
return tasks;
}

8
AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
View File

@ -391,7 +391,7 @@ namespace AgroBase.Models.Modules
return Modulos.All(x => x.DirMotor.Referenciado);
}
public List<Task> RealizarCalibragemMovAsync()
public List<Task> RealizarCalibragemMovAsync(bool forcar)
{
List<Task> tasks = new List<Task>();
var DispMvd = Variaveis.OperacaoEmAndamento.DispMvd;
@ -401,7 +401,7 @@ namespace AgroBase.Models.Modules
foreach (var mod in DispMvd.Dados.Modulos)
{
calMov.TryGetValue(mod.Modulo_ID, out var cal);
if (cal && calMov[mod.Modulo_ID]) continue;
if (!forcar && cal && calMov[mod.Modulo_ID]) continue;
calMov[mod.Modulo_ID] = mod.MovMotor.Inicializado;
}
@ -410,7 +410,7 @@ namespace AgroBase.Models.Modules
return tasks;
}
public List<Task> RealizarCalibragemDirAsync()
public List<Task> RealizarCalibragemDirAsync(bool forcar)
{
List<Task> tasks = new List<Task>();
var DispMvd = Variaveis.OperacaoEmAndamento.DispMvd;
@ -420,7 +420,7 @@ namespace AgroBase.Models.Modules
foreach (var mod in DispMvd.Dados.Modulos)
{
calDir.TryGetValue(mod.Modulo_ID, out var cal);
if (cal && calDir[mod.Modulo_ID]) continue;
if (!forcar && cal && calDir[mod.Modulo_ID]) continue;
calDir[mod.Modulo_ID] = false;
}

57
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
View File

@ -58,6 +58,7 @@ namespace AgroBase.Models
public StatusOperacao StatusAtual { get; private set; } = StatusOperacao.NaoIniciado;
public StatusOperacao StatusAnterior { get; private set; } = StatusOperacao.NaoIniciado;
public bool Emergencia { get; set; } = false;
public bool Pausa { get; set; } = false;
public bool OperacaoLiberada { get; private set; } = false;
public bool OperacaoConfigurada { get; private set; } = false;
public string ErroOperacaoLiberada { get; set; }
@ -128,6 +129,17 @@ namespace AgroBase.Models
}
}
private static AsyncTaskTimerModel tmrLogs;
public double tmrLeiturasInterval
{
get
{
return tmrLeituras.Interval;
}
set
{
tmrLeituras.SetInterval((int)value);
}
}
private static AsyncTaskTimerModel tmrLeituras;
@ -721,6 +733,8 @@ namespace AgroBase.Models
Iniciado = true;
Simulando = false;
Treinando = false;
Emergencia = false;
Pausa = false;
DataInicio = DateTime.Now;
DataFim = DateTime.MinValue;
idxLog = 0;
@ -766,7 +780,7 @@ namespace AgroBase.Models
GPSTrajetoria = new List<GPSModel>();
await RealizarCalibragemInicialAsync();
await RealizarCalibragemInicialAsync(true);
}
public async Task FinalizarOperacao()
@ -785,6 +799,8 @@ namespace AgroBase.Models
await Task.Delay(2000);
Variaveis.OperacaoEmAndamento.Iniciado = false;
Variaveis.OperacaoEmAndamento.Emergencia = false;
Variaveis.OperacaoEmAndamento.Pausa = false;
Variaveis.OperacaoEmAndamento.DataFim = DateTime.Now;
@ -795,25 +811,37 @@ namespace AgroBase.Models
Variaveis.OperacaoEmAndamento.Finalizando = false;
}
public async Task RealizarCalibragemInicialAsync()
public async Task RealizarCalibragemInicialAsync(bool forcar)
{
bool modsCalibrados = Variaveis.OperacaoEmAndamento.ModsCalibragem.All(x => x.Value.Values.Count > 0 && x.Value.Values.All(y => y == true));
if (modsCalibrados) return;
if (!forcar && modsCalibrados) return;
Console.WriteLine("Calibragem inicial inciada...");
var DispAtu = Variaveis.OperacaoEmAndamento.DispAtu;
var DispMvd = Variaveis.OperacaoEmAndamento.DispMvd;
List<StatusModulo> sv = new List<StatusModulo>() { StatusModulo.Operante, StatusModulo.Alerta };
var s = HealthWorkerService.ModulosSaude;
bool calibragemAtuNecessaria = Variaveis.OperacaoEmAndamento.Controle.PulverizadorAutomatico && (DispAtu?.Dados != null && sv.Contains(s.FirstOrDefault(x => x.modulo == T_Code.Atu)?.status ?? StatusModulo.Desconectado) && (forcar || Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Atu].Any(x => !x.Value) || !Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Atu].Any()));
bool calibragemDirNecessaria = (DispMvd?.Dados != null && sv.Contains(s.FirstOrDefault(x => x.modulo == T_Code.Dir)?.status ?? StatusModulo.Desconectado) && (forcar || Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Dir].Any(x => !x.Value) || !Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Dir].Any()));
bool calibragemMovNecessaria = (DispMvd?.Dados != null && sv.Contains(s.FirstOrDefault(x => x.modulo == T_Code.Mov)?.status ?? StatusModulo.Desconectado) && (forcar || Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Mov].Any(x => !x.Value) || !Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Mov].Any()));
if (!calibragemAtuNecessaria && !calibragemDirNecessaria && !calibragemMovNecessaria) return;
Console.WriteLine("Pausa para calibragem inicial");
Variaveis.OperacaoEmAndamento.Pausa = true;
await Task.Delay(5000);
Console.WriteLine("Calibragem dos modulos inciada...");
Variaveis.OperacaoEmAndamento.Calibrando = true;
RedisService.AtualizarCampos(CtxKey.DadosOperacao, ("calibrando", Variaveis.OperacaoEmAndamento.Calibrando));
TipoMovimentoDirecional tipoControle = Variaveis.OperacaoEmAndamento.Controle.TipoMovimento;
var DispAtu = Variaveis.OperacaoEmAndamento.DispAtu;
var DispMvd = Variaveis.OperacaoEmAndamento.DispMvd;
var tasks = new List<Task>();
if (DispAtu?.Dados != null && (Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Atu].Any(x => !x.Value) || !Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Atu].Any())) tasks.AddRange(DispAtu.Dados.RealizarCalibragemAsync());
if (DispMvd?.Dados != null && (Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Dir].Any(x => !x.Value) || !Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Dir].Any())) tasks.AddRange(DispMvd.Dados.RealizarCalibragemDirAsync());
if (DispMvd?.Dados != null && (Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Mov].Any(x => !x.Value) || !Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Mov].Any())) tasks.AddRange(DispMvd.Dados.RealizarCalibragemMovAsync());
if (calibragemAtuNecessaria) tasks.AddRange(DispAtu.Dados.RealizarCalibragemAsync(forcar));
if (calibragemDirNecessaria) tasks.AddRange(DispMvd.Dados.RealizarCalibragemDirAsync(forcar));
if (calibragemMovNecessaria) tasks.AddRange(DispMvd.Dados.RealizarCalibragemMovAsync(forcar));
if (tasks.Count == 0)
{
@ -831,7 +859,6 @@ namespace AgroBase.Models
if (completed == allTasks)
{
Console.WriteLine("Calibragem finalizada com sucesso!");
}
else
{
@ -844,6 +871,7 @@ namespace AgroBase.Models
}
Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = tipoControle;
Variaveis.OperacaoEmAndamento.Calibrando = false;
Variaveis.OperacaoEmAndamento.Pausa = false;
RedisService.AtualizarCampos(CtxKey.DadosOperacao, ("calibrando", Variaveis.OperacaoEmAndamento.Calibrando));
}
@ -1180,9 +1208,9 @@ namespace AgroBase.Models
public void ExecutaComandoDaBase(OperacaoControleBaseModel controleBase)
{
Emergencia = controleBase.Emergencia;
Variaveis.OperacaoEmAndamento.Emergencia = controleBase.Emergencia;
if (Emergencia) return;
if (Variaveis.OperacaoEmAndamento.Emergencia) return;
if (Variaveis.OperacaoEmAndamento.Controle.MovimentoAutomatico) return;
@ -1229,7 +1257,7 @@ namespace AgroBase.Models
if (idxLog % 5 == 0 && !Variaveis.OperacaoEmAndamento.Calibrando)
{
Task.Run(async () => await RealizarCalibragemInicialAsync());
Task.Run(async () => await RealizarCalibragemInicialAsync(false));
}
}
}
@ -1599,7 +1627,6 @@ namespace AgroBase.Models
return Convert.ToInt32(RPM_SP * VariaveisEquipamento.RelacaoRPM);
}
}
private double _velocidade_sp = 0.0;
public double PercentualVelocidadeSP { get; set; }
public double PercentualVelocidadeMin
{

111
AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs
View File

@ -27,6 +27,7 @@ namespace AgroBase.Models
private double DistanciaPrimeirosPontosProjecao { get; set; } = 3.0; // Distancia máxima para projetar os primeiros pontos com distancia menor
public static double LarguraCorredorPadrao { get; set; } = 1.5; // Largura de um corredor padrão
private int JanelaAtualizacaoDePontos { get; set; } = 20; // Define o tamanho da janela de pontos a atualizar
private bool VerificacaoInicialMeioRuaConcluida { get; set; } = false; // Realiza a verificacao inicial para saber se o robo deve comecar a operacao do meio da rua
#endregion
@ -522,6 +523,7 @@ namespace AgroBase.Models
public void AtualizarDistanciaErroMapaPlantacao()
{
if (DistanciaErroMapaPlantacao > -1) return;
if (CorredorAtual == null) return;
if (CorredorAtual.Idx > 0) return;
if (!CorredorAtual.Dentro) return;
@ -633,14 +635,18 @@ namespace AgroBase.Models
AtualizarTempoEntreLeituras();
AtualizarDistanciaMaximaEntreLeituras();
AtualizarIndicesJanela();
AtualizarTrajetoriaJanela();
Inicio:
AtualizarIndicesJanela();
AtualizarTrajetoriaJanela();
VerificaFimCorredorSegmentacao();
VerificaFimCorredorSegmentacao();
DefinirPontoAtual();
AtualizarCorredorAtual();
DefinirProximoPonto();
if (VerificaInicioOperacaoMeioRua()) goto Inicio;
DefinirPontoAtual();
AtualizarCorredorAtual();
DefinirProximoPonto();
MarcarPontosIntermediariosNaoVisitados();
DefinirPontoMaisProximo();
AtualizarAnguloMedioCorredor();
@ -661,6 +667,67 @@ namespace AgroBase.Models
AtualizarDistanciaErroMapaPlantacao();
}
private int VerificaEquipamentoDentroCorredor(GPSModel posicaoAtual)
{
Dictionary<int, (bool, double)> melhoresPontosCorredores = new Dictionary<int, (bool, double)>();
foreach (var corredor in Corredores)
{
(GPSModel pontoMaisProximo, double distanciaAtual) = GPSUtils.CalcularPontoMaisProximoTrajetoria(posicaoAtual, corredor);
if (pontoMaisProximo == null)
{
return -1;
}
double distanciaMargem = LarguraCorredorPadrao * 0.8;
bool naMargem = distanciaAtual < distanciaMargem;
melhoresPontosCorredores.Add(melhoresPontosCorredores.Count, (naMargem, distanciaAtual));
}
return melhoresPontosCorredores.Any(x => x.Value.Item1) ? melhoresPontosCorredores.Where(x => x.Value.Item1).OrderBy(x => x.Value.Item2).FirstOrDefault().Key : -1;
}
private (bool, int) VerificaEquipamentoDentroCorredor()
{
_TrajetoriaJanela = _TrajetoriaFixa;
AtualizarPropriedadesPontosTrajetoria();
AtualizarTrajetoriaJanela();
List<PontoTrajetoriaModel> melhoresPontosCorredores = new List<PontoTrajetoriaModel>();
foreach (var corredor in Corredores)
{
(GPSModel pontoMaisProximo, double distanciaAtual) = GPSUtils.CalcularPontoMaisProximoTrajetoria(_TrajetoriaFixa[0].Posicao, corredor);
if (pontoMaisProximo == null)
{
return (false, -1);
}
var melhorPonto = _TrajetoriaFixa.FirstOrDefault(x => x.Posicao.Latitude == pontoMaisProximo.Latitude && x.Posicao.Longitude == pontoMaisProximo.Longitude);
melhoresPontosCorredores.Add(melhorPonto);
}
return (melhoresPontosCorredores.Any(x => x.NaMargem), melhoresPontosCorredores.Where(x => x.NaMargem).OrderBy(x => x.DistanciaAtual).FirstOrDefault().idxPonto);
}
private bool VerificaInicioOperacaoMeioRua()
{
if (!VerificacaoInicialMeioRuaConcluida && new List<StatusOperacao>() { StatusOperacao.Aguardando, StatusOperacao.EmAndamento }.Contains(Variaveis.OperacaoEmAndamento.StatusAtual))
{
VerificacaoInicialMeioRuaConcluida = true;
(bool noCoredor, var idxPontoMaisProximo) = VerificaEquipamentoDentroCorredor();
if (noCoredor)
{
for (int i = 0; i < idxPontoMaisProximo; i++)
{
_TrajetoriaFixa[i].Visitado = true;
}
return true;
}
}
return false;
}
private void VerificaFimCorredorSegmentacao()
{
if (CorredorAtual == null) return;
@ -1104,10 +1171,8 @@ namespace AgroBase.Models
(List<List<GPSModel>> corredores, List<double> CorredoresLarguras) = ProjetarCorredores();
Corredores = corredores;
Enums.DirecaoCarroRua direcaoAtual = ExtremoMaisProximoMapa == 0 ? Enums.DirecaoCarroRua.Ida : Enums.DirecaoCarroRua.Volta;
//Enums.DirecaoCarroRua direcaoAtual = Enums.DirecaoCarroRua.Ida;
double larguraCorredorMenor = LarguraCorredorPadrao * 0.9;
DirecaoCarroRua direcaoAtual = ExtremoMaisProximoMapa == 0 ? DirecaoCarroRua.Ida : DirecaoCarroRua.Volta;
PontoTrajetoriaModel PontoRobo = new PontoTrajetoriaModel(TipoPontoRua.PosicaoRobo)
{
@ -1115,11 +1180,30 @@ namespace AgroBase.Models
idxPonto = 0,
idxPontoCorredor = 0,
Posicao = posicaoRobo ?? Variaveis.OperacaoEmAndamento.Sensoriamento.Gps,
Direcao = direcaoAtual,
Orientacao = 0,
Direcao = direcaoAtual,
Visitado = true,
LarguraCorredor = 1.0
};
int idxCorredorDentro = VerificaEquipamentoDentroCorredor(PontoRobo.Posicao);
if (idxCorredorDentro > -1)
{
var corredor = Corredores[idxCorredorDentro];
double orientacaoCorredor = GPSUtils.CalcularOrientacao(corredor[0], corredor[1]);
double difOri = Math.Abs(orientacaoCorredor - PontoRobo.Posicao.OrientacaoReal);
bool alinhado = difOri < 180;
if (idxCorredorDentro % 2 == 0)
{
direcaoAtual = alinhado ? DirecaoCarroRua.Ida : DirecaoCarroRua.Volta;
}
else
{
direcaoAtual = alinhado ? DirecaoCarroRua.Volta : DirecaoCarroRua.Ida;
}
PontoRobo.Direcao = direcaoAtual;
}
_trajetoriaFixa.Add(PontoRobo);
int idxEsq = 0;
@ -1155,9 +1239,10 @@ namespace AgroBase.Models
bool ultimoCorredor = idx == Corredores.Count() - 1;
List<GPSModel> CorredorAtual = Corredores[idx];
double dP0 = GPSUtils.DistanciaEntrePontos(_trajetoriaFixa.Last().Posicao, CorredorAtual[0]);
double dP1 = GPSUtils.DistanciaEntrePontos(_trajetoriaFixa.Last().Posicao, CorredorAtual[CorredorAtual.Count() - 1]);
if (dP1 < dP0)
//double dP0 = GPSUtils.DistanciaEntrePontos(_trajetoriaFixa.Last().Posicao, CorredorAtual[0]);
//double dP1 = GPSUtils.DistanciaEntrePontos(_trajetoriaFixa.Last().Posicao, CorredorAtual[CorredorAtual.Count() - 1]);
//if (dP1 < dP0)
if (direcaoAtual == DirecaoCarroRua.Volta)
{
CorredorAtual.Reverse();
}

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

@ -119,7 +119,7 @@ namespace AgroMonitor
public static bool EnviarDadosEmBroadcast { get; set; } = true;
public static double LeverArmFrontal { get; } = 0.0;
public static double LeverArmLateral { get; } = 0.58;
public static double LeverArmLateral { get; } = 0.0;
}
}

7
AgroBase/AgroBase/Services/GPSService.cs
View File

@ -52,8 +52,6 @@ namespace AgroBase.Services
private static bool LoopRTK_Ntrip = false;
public static bool CorrecaoRTK_Ntrip = false;
public static DateTime UltimoEnvioCorrecaoRTK = DateTime.MinValue;
private static double HeadingOffsetCorrecao = 5.0;
private static double HeadingOffsetSimulador => Variaveis.OperacaoEmAndamento.Simulando ? -HeadingOffsetCorrecao : 0.0;
public static void AtualizarPortaCOM(SerialPort Porta)
{
@ -99,7 +97,7 @@ namespace AgroBase.Services
}
}
private static async Task ConfigurarModulo()
public static async Task ConfigurarModulo()
{
Console.WriteLine("Iniciando configuração do módulo GPS...");
if (Variaveis.IsAgroMonitor)
@ -1397,6 +1395,7 @@ namespace AgroBase.Services
}
public static bool CorrecaoAbsoluta = false;
public static bool CorrecaoEmAndamento = false;
public static bool FixLiberado = false;
// ===== 1) Função principal =====
public static async Task<bool> FixarBaseViaNtripAsync(string portaUsb = "com3", string portaEntrada = "com2", string portaSaida = "com2", string baseId = "957", int segsFixEstavel = 120, int maxJanelaSegs = 600, double madK = 3.5, Func<Task> startNtrip = null, Func<Task> stopNtrip = null)
@ -1500,7 +1499,7 @@ namespace AgroBase.Services
if (gga is null) continue;
// Considera "RTK FIX" como qualidade válida
if (!new List<TiposCorrecaoGPS>() { TiposCorrecaoGPS.RTKFixo }.Contains(gga.FixQuality))
if (!FixLiberado || !new List<TiposCorrecaoGPS>() { TiposCorrecaoGPS.RTKFixo }.Contains(gga.FixQuality))
{
inicioFix = null; // reset
continue;

2
AgroBase/AgroBase/Services/LoRaEspService.cs
View File

@ -61,7 +61,7 @@ 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[])>()
{

3
AgroBase/AgroBase/Services/MKS057DCanService.cs
View File

@ -89,6 +89,9 @@ namespace AgroBase.Services
Mod_ID = Mod_ID,
});
Variaveis.OperacaoEmAndamento.ModsCalibragem.TryGetValue(T_Code.Dir, out var m);
if (m == null)
Variaveis.OperacaoEmAndamento.ModsCalibragem.Add(T_Code.Dir, new Dictionary<string, bool>());
Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Dir][Mod_ID] = false;
}
}

3
AgroBase/AgroBase/Services/OIDCanService.cs
View File

@ -94,6 +94,9 @@ namespace AgroBase.Services
Mod_ID = Mod_ID,
});
Variaveis.OperacaoEmAndamento.ModsCalibragem.TryGetValue(T_Code.Mov, out var m);
if (m == null)
Variaveis.OperacaoEmAndamento.ModsCalibragem.Add(T_Code.Mov, new Dictionary<string, bool>());
Variaveis.OperacaoEmAndamento.ModsCalibragem[T_Code.Mov][Mod_ID] = false;
}
}

15
AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs
View File

@ -93,7 +93,8 @@ namespace AgroBase.Services.Operadores
("iniciado", Variaveis.OperacaoEmAndamento.Iniciado),
("finalizando", Variaveis.OperacaoEmAndamento.Finalizando),
("calibrando", Variaveis.OperacaoEmAndamento.Calibrando),
("emergencia", Variaveis.OperacaoEmAndamento.Emergencia)
("emergencia", Variaveis.OperacaoEmAndamento.Emergencia),
("pausa", Variaveis.OperacaoEmAndamento.Pausa)
);
}
@ -556,6 +557,18 @@ namespace AgroBase.Services.Operadores
("last_rx", DadosLra.UltimoRxDados)
);
var DadosMod = _Sensoriamento.DadosPerformance;
RedisService.AtualizarCampos(RedisService.ModKey(Enums.T_Code.Mod),
("timestamp", agora),
("freq_base", 1.0 / Variaveis.OperacaoEmAndamento.tmrLeiturasInterval),
("cpu_load", DadosMod.CPU_load ?? 0),
("gpu_load", DadosMod.GPU_load ?? 0),
("hdd_load", DadosMod.HDD_load ?? 0),
("ram_usage", DadosMod.RAM_usage ?? 0),
("cpu_temp", DadosMod.CPU_temp ?? 0),
("gpu_temp", DadosMod.GPU_temp ?? 0)
);
}

1
AgroBase/AgroBase/Services/Operadores/OperadoresService.cs
View File

@ -109,6 +109,7 @@ namespace AgroBase.Services.Operadores
if (TempoDesconectado > 0 && TempoDesconectado % 10 == 0)
{
IniciarOperadores();
AudioAlertaService.Falar("Núcleo central de processamento desconectado, tentando reconectar.");
}
}
else

1
AgroBase/AgroBase/Services/RedisService.cs
View File

@ -197,6 +197,7 @@ namespace AgroBase.Services
public const string DadosManagerWorker = "ctx:dados_manager_worker";
public const string DadosHealthWorker = "ctx:dados_health_worker";
public const string DadosCameraWorker = "ctx:dados_camera_worker";
public const string DadosPesosMPC = "ctx:dados_pesos_mpc";
}
public static class CmdKey

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AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState
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@ -22,5 +22,5 @@
"top_topics_and_observing_domains": [ ]
} ],
"hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
"next_scheduled_calculation_time": "13406040024195500"
"next_scheduled_calculation_time": "13406040024195951"
}

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AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG
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@ -1,3 +1,3 @@
2025/10/21-15:55:46.193 7ba4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/10/21-15:55:46.202 7ba4 Recovering log #3
2025/10/21-15:55:46.206 7ba4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
2025/10/23-15:56:01.035 1ce8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/10/23-15:56:01.043 1ce8 Recovering log #3
2025/10/23-15:56:01.046 1ce8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log

6
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old
View File

@ -1,3 +1,3 @@
2025/10/21-15:32:17.079 e18 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/10/21-15:32:17.090 e18 Recovering log #3
2025/10/21-15:32:17.093 e18 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log
2025/10/23-15:36:24.310 41b8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/10/23-15:36:24.321 41b8 Recovering log #3
2025/10/23-15:36:24.325 41b8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log

2
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State
View File

@ -1 +1 @@
{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13405632946561751","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":10850},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:6d1:df00:d5f9:343b:6650:d75a","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":"13405805867157912","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":6943},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:6d1:df00:f9d8:1bdb:44b7:ff04","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}

2
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/TransportSecurity
View File

@ -1 +1 @@
{"sts":[{"expiry":1792587142.154096,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1761051142.154101}],"version":2}
{"sts":[{"expiry":1792781769.148211,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1761245769.148224}],"version":2}

2
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Preferences
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6
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Session Storage/LOG
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@ -1,3 +1,3 @@
2025/10/21-16:01:56.995 7ba4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/10/21-16:01:56.997 7ba4 Recovering log #3
2025/10/21-16:01:57.002 7ba4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log
2025/10/23-16:04:52.329 1ce8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/10/23-16:04:52.330 1ce8 Recovering log #3
2025/10/23-16:04:52.334 1ce8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log

6
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Session Storage/LOG.old
View File

@ -1,3 +1,3 @@
2025/10/21-15:33:00.189 e18 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/10/21-15:33:00.191 e18 Recovering log #3
2025/10/21-15:33:00.195 e18 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log
2025/10/23-15:55:52.724 41b8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/10/23-15:55:52.726 41b8 Recovering log #3
2025/10/23-15:55:52.729 41b8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log

6
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Site Characteristics Database/LOG
View File

@ -1,3 +1,3 @@
2025/10/21-15:55:46.109 7a68 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/10/21-15:55:46.111 7a68 Recovering log #7
2025/10/21-15:55:46.112 7a68 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log
2025/10/23-15:56:00.959 4ea8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/10/23-15:56:00.962 4ea8 Recovering log #7
2025/10/23-15:56:00.962 4ea8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log

6
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Site Characteristics Database/LOG.old
View File

@ -1,3 +1,3 @@
2025/10/21-15:32:17.002 2080 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/10/21-15:32:17.004 2080 Recovering log #7
2025/10/21-15:32:17.005 2080 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log
2025/10/23-15:36:24.227 4d68 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/10/23-15:36:24.229 4d68 Recovering log #7
2025/10/23-15:36:24.229 4d68 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log

BIN
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2
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2
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2
AgroBase/AgroBase/bin/x64/Debug/Python/Output/GeoJson.json
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@ -1 +1 @@
{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1","Name":"CidadeJardimTerreno2","Length":14.558011415731592,"Dist1":14.558011415731592,"Dist2":0.0},"geometry":{"id":"0","type":"LineString","coordinates":[[-47.395205344,-22.172559531333334],[-47.395212610166666,-22.172614638833334],[-47.395219157,-22.172656417833334],[-47.395223544833335,-22.1726892105],[-47.395224140984432,-22.172693691611649],[-47.395225326538004,-22.172702654611555]]}},{"type":"Feature","properties":{"Id":"2","Name":"CidadeJardimTerreno2","Length":14.771318274761821,"Dist1":14.558011415731592,"Dist2":0.0},"geometry":{"id":"1","type":"LineString","coordinates":[[-47.395210902333332,-22.172708800833334],[-47.395206943666665,-22.172679811],[-47.395202420666664,-22.1726491015],[-47.395198865666664,-22.172615782833333],[-47.395193255833334,-22.172577132833332],[-47.395192610024395,-22.172572657695412],[-47.395191325698136,-22.172563706509337]]}},{"type":"Feature","properties":{"Id":"3","Name":"CidadeJardimTerreno2","Length":14.827915524386164,"Dist1":14.558011415731592,"Dist2":0.0},"geometry":{"id":"2","type":"LineString","coordinates":[[-47.3951762925,-22.172561603],[-47.395180824166665,-22.172591686166665],[-47.395185745333336,-22.172623080166666],[-47.395190433,-22.172656367166667],[-47.395195199,-22.172693641833334],[-47.395195769044363,-22.172698125891035],[-47.395196902671593,-22.172707094716973]]}},{"type":"Feature","properties":{"Id":"4","Name":"CidadeJardimTerreno2","Length":14.785159385903514,"Dist1":14.558011415731592,"Dist2":0.0},"geometry":{"id":"3","type":"LineString","coordinates":[[-47.395182932166669,-22.1727127985],[-47.39517819266667,-22.172680514833335],[-47.3951732595,-22.172646752833334],[-47.395168805166669,-22.1726149155],[-47.395163812333337,-22.172581167166665],[-47.395163154299318,-22.172576693573966],[-47.395161845655842,-22.172567745443878]]}},{"type":"Feature","properties":{"Id":"5","Name":"CidadeJardimTerreno2","Length":14.801176921912329,"Dist1":14.558011415731592,"Dist2":0.0},"geometry":{"id":"4","type":"LineString","coordinates":[[-47.395147317833334,-22.172566031],[-47.395151503166666,-22.172595452333333],[-47.3951561855,-22.172628011166665],[-47.395161598666668,-22.172663757333332],[-47.395166727166668,-22.172697770833334],[-47.395167397572706,-22.172702242832194],[-47.39516873082615,-22.172711187810091]]}}]}
{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1","Name":"CidadeJardimCerto","Length":18.438211678884382,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.3952092235,-22.172566764333332],[-47.395214685166664,-22.172591648666668],[-47.395217691333336,-22.1726149115],[-47.39522120783333,-22.172638106166666],[-47.395224592333335,-22.172662264666666],[-47.395227536833332,-22.172683503833333],[-47.395231278833336,-22.172709659],[-47.3952341445,-22.1727307235]]}},{"type":"Feature","properties":{"Id":"2","Name":"CidadeJardimCerto","Length":18.304756653641313,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.395219567666665,-22.172731676],[-47.3952166705,-22.172709694166667],[-47.395212956833333,-22.1726860135],[-47.395209649833333,-22.172662382166667],[-47.3952061285,-22.172638539666668],[-47.395203071333334,-22.172615091],[-47.395199642,-22.172589946333332],[-47.39519637716667,-22.172568656333333]]}},{"type":"Feature","properties":{"Id":"3","Name":"CidadeJardimCerto","Length":18.204085527823089,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.395182856666665,-22.172571987333335],[-47.395186353666666,-22.172596904666666],[-47.3951894365,-22.1726195275],[-47.395192361833331,-22.172642871333334],[-47.3951957415,-22.1726662635],[-47.3951991415,-22.1726895815],[-47.395202583833331,-22.172713842],[-47.395205228833333,-22.172734196333334]]}},{"type":"Feature","properties":{"Id":"4","Name":"CidadeJardimCerto","Length":18.206275148810604,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.3951911205,-22.172735722833334],[-47.395187572,-22.172712241833334],[-47.3951841675,-22.1726893895],[-47.395179907166664,-22.1726651245],[-47.3951765075,-22.172642284833334],[-47.395173248666666,-22.1726180985],[-47.395169798666664,-22.172594096166666],[-47.395167092166666,-22.172573705666668]]}},{"type":"Feature","properties":{"Id":"5","Name":"CidadeJardimCerto","Length":18.067139082589541,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.395153470333334,-22.172576570833332],[-47.395156353166669,-22.172600550333332],[-47.395159992333333,-22.172624829333333],[-47.395162920833336,-22.172647923333333],[-47.39516644,-22.172671954333332],[-47.395169917833336,-22.1726952245],[-47.3951736845,-22.172721525666667],[-47.395175992333336,-22.172737516833333]]}}]}

22
AgroBase/AgroBase/bin/x64/Debug/Python/Output/mapa_gps.html
View File

@ -17,7 +17,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_4186306e9b7fcd80c184ec506da89a65 {
#map_a1ef8c3e70e8908a7f1bb5399f597657 {
position: relative;
width: 100.0%;
height: 100.0%;
@ -54,14 +54,14 @@
<body>
<div class="folium-map" id="map_4186306e9b7fcd80c184ec506da89a65" ></div>
<div class="folium-map" id="map_a1ef8c3e70e8908a7f1bb5399f597657" ></div>
</body>
<script>
var map_4186306e9b7fcd80c184ec506da89a65 = L.map(
"map_4186306e9b7fcd80c184ec506da89a65",
var map_a1ef8c3e70e8908a7f1bb5399f597657 = L.map(
"map_a1ef8c3e70e8908a7f1bb5399f597657",
{
center: [0.0, 0.0],
crs: L.CRS.EPSG3857,
@ -78,7 +78,7 @@
var tile_layer_ce532da5c58425eee9e9d530494caa7a = L.tileLayer(
var tile_layer_803e009a4dc9aff53ea6e9c896136d2f = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{
"minZoom": 0,
@ -95,7 +95,7 @@
);
tile_layer_ce532da5c58425eee9e9d530494caa7a.addTo(map_4186306e9b7fcd80c184ec506da89a65);
tile_layer_803e009a4dc9aff53ea6e9c896136d2f.addTo(map_a1ef8c3e70e8908a7f1bb5399f597657);
</script>
@ -116,7 +116,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_4186306e9b7fcd80c184ec506da89a65);
trajeto_json.addTo(map_a1ef8c3e70e8908a7f1bb5399f597657);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -179,9 +179,9 @@
var marcadorEquipamento = L.marker([0, 0], {
icon: customIcon
}).addTo(map_4186306e9b7fcd80c184ec506da89a65);
}).addTo(map_a1ef8c3e70e8908a7f1bb5399f597657);
var marcadorBase = L.marker([0, 0], {}).addTo(map_4186306e9b7fcd80c184ec506da89a65);
var marcadorBase = L.marker([0, 0], {}).addTo(map_a1ef8c3e70e8908a7f1bb5399f597657);
var icon = L.AwesomeMarkers.icon(
{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
);
@ -246,7 +246,7 @@
}
if (foco) {
map_4186306e9b7fcd80c184ec506da89a65.setView(novaPosicao, map_4186306e9b7fcd80c184ec506da89a65.getZoom());
map_a1ef8c3e70e8908a7f1bb5399f597657.setView(novaPosicao, map_a1ef8c3e70e8908a7f1bb5399f597657.getZoom());
}
}
@ -268,7 +268,7 @@
marcadorDinamico.setRotationAngle(angulo);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
map_4186306e9b7fcd80c184ec506da89a65.setView(novaPosicao, map_4186306e9b7fcd80c184ec506da89a65.getZoom());*/
map_a1ef8c3e70e8908a7f1bb5399f597657.setView(novaPosicao, map_a1ef8c3e70e8908a7f1bb5399f597657.getZoom());*/
});
function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

42
AgroBase/AgroBase/bin/x64/Debug/Python/Output/mapa_interativo.html
View File

@ -17,7 +17,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_7ba0141a20a2db00be73b9931039e31d {
#map_5379e892dbbc3f3d9b1bc572efef0593 {
position: relative;
width: 100.0%;
height: 100.0%;
@ -54,16 +54,16 @@
<body>
<div class="folium-map" id="map_7ba0141a20a2db00be73b9931039e31d" ></div>
<div class="folium-map" id="map_5379e892dbbc3f3d9b1bc572efef0593" ></div>
</body>
<script>
var map_7ba0141a20a2db00be73b9931039e31d = L.map(
"map_7ba0141a20a2db00be73b9931039e31d",
var map_5379e892dbbc3f3d9b1bc572efef0593 = L.map(
"map_5379e892dbbc3f3d9b1bc572efef0593",
{
center: [-22.172636164916668, -47.395186322185666],
center: [-22.17265214058333, -47.39519380741667],
crs: L.CRS.EPSG3857,
...{
"zoom": 12,
@ -78,7 +78,7 @@
var tile_layer_d3497833d2518b0b016756360b8a56e0 = L.tileLayer(
var tile_layer_c5f08447c85df9b0abd1c82f67a28ab0 = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{
"minZoom": 0,
@ -95,7 +95,7 @@
);
tile_layer_d3497833d2518b0b016756360b8a56e0.addTo(map_7ba0141a20a2db00be73b9931039e31d);
tile_layer_c5f08447c85df9b0abd1c82f67a28ab0.addTo(map_5379e892dbbc3f3d9b1bc572efef0593);
@ -111,7 +111,7 @@
}*/
});
}
function geo_json_c539b434bced5d69b705574c7f380895_onEachFeature(feature, layer) {
function geo_json_63e68f682888a97c1251d59ed4c9393c_onEachFeature(feature, layer) {
layer.on({
@ -148,23 +148,23 @@
}*/
});
};
var geo_json_c539b434bced5d69b705574c7f380895 = L.geoJson(null, {
onEachFeature: geo_json_c539b434bced5d69b705574c7f380895_onEachFeature,
var geo_json_63e68f682888a97c1251d59ed4c9393c = L.geoJson(null, {
onEachFeature: geo_json_63e68f682888a97c1251d59ed4c9393c_onEachFeature,
...{
}
});
function geo_json_c539b434bced5d69b705574c7f380895_add (data) {
geo_json_c539b434bced5d69b705574c7f380895
function geo_json_63e68f682888a97c1251d59ed4c9393c_add (data) {
geo_json_63e68f682888a97c1251d59ed4c9393c
.addData(data);
}
geo_json_c539b434bced5d69b705574c7f380895_add({"features": [{"geometry": {"coordinates": [[-47.395205344, -22.172559531333334], [-47.395212610166666, -22.172614638833334], [-47.395219157, -22.172656417833334], [-47.395223544833335, -22.1726892105], [-47.39522414098443, -22.17269369161165], [-47.395225326538004, -22.172702654611555]], "id": "0", "type": "LineString"}, "id": 0, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "1", "Length": 14.558011415731592, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.39521090233333, -22.172708800833334], [-47.395206943666665, -22.172679811], [-47.395202420666664, -22.1726491015], [-47.395198865666664, -22.172615782833333], [-47.395193255833334, -22.172577132833332], [-47.395192610024395, -22.17257265769541], [-47.395191325698136, -22.172563706509337]], "id": "1", "type": "LineString"}, "id": 1, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "2", "Length": 14.771318274761821, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.3951762925, -22.172561603], [-47.395180824166665, -22.172591686166665], [-47.395185745333336, -22.172623080166666], [-47.395190433, -22.172656367166667], [-47.395195199, -22.172693641833334], [-47.39519576904436, -22.172698125891035], [-47.39519690267159, -22.172707094716973]], "id": "2", "type": "LineString"}, "id": 2, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "3", "Length": 14.827915524386164, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.39518293216667, -22.1727127985], [-47.39517819266667, -22.172680514833335], [-47.3951732595, -22.172646752833334], [-47.39516880516667, -22.1726149155], [-47.39516381233334, -22.172581167166665], [-47.39516315429932, -22.172576693573966], [-47.39516184565584, -22.172567745443878]], "id": "3", "type": "LineString"}, "id": 3, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "4", "Length": 14.785159385903514, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395147317833334, -22.172566031], [-47.395151503166666, -22.172595452333333], [-47.3951561855, -22.172628011166665], [-47.39516159866667, -22.172663757333332], [-47.39516672716667, -22.172697770833334], [-47.395167397572706, -22.172702242832194], [-47.39516873082615, -22.17271118781009]], "id": "4", "type": "LineString"}, "id": 4, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "5", "Length": 14.80117692191233, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}], "type": "FeatureCollection"});
geo_json_c539b434bced5d69b705574c7f380895.setStyle(function(feature) {return feature.properties.style;});
geo_json_63e68f682888a97c1251d59ed4c9393c_add({"features": [{"geometry": {"coordinates": [[-47.3952092235, -22.172566764333332], [-47.395214685166664, -22.172591648666668], [-47.395217691333336, -22.1726149115], [-47.39522120783333, -22.172638106166666], [-47.395224592333335, -22.172662264666666], [-47.39522753683333, -22.172683503833333], [-47.395231278833336, -22.172709659], [-47.3952341445, -22.1727307235]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "1", "Length": 18.438211678884382, "Name": "CidadeJardimCerto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395219567666665, -22.172731676], [-47.3952166705, -22.172709694166667], [-47.39521295683333, -22.1726860135], [-47.39520964983333, -22.172662382166667], [-47.3952061285, -22.172638539666668], [-47.395203071333334, -22.172615091], [-47.395199642, -22.172589946333332], [-47.39519637716667, -22.172568656333333]], "id": null, "type": "LineString"}, "id": 1, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "2", "Length": 18.304756653641313, "Name": "CidadeJardimCerto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395182856666665, -22.172571987333335], [-47.395186353666666, -22.172596904666666], [-47.3951894365, -22.1726195275], [-47.39519236183333, -22.172642871333334], [-47.3951957415, -22.1726662635], [-47.3951991415, -22.1726895815], [-47.39520258383333, -22.172713842], [-47.39520522883333, -22.172734196333334]], "id": null, "type": "LineString"}, "id": 2, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "3", "Length": 18.20408552782309, "Name": "CidadeJardimCerto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.3951911205, -22.172735722833334], [-47.395187572, -22.172712241833334], [-47.3951841675, -22.1726893895], [-47.395179907166664, -22.1726651245], [-47.3951765075, -22.172642284833334], [-47.395173248666666, -22.1726180985], [-47.395169798666664, -22.172594096166666], [-47.395167092166666, -22.172573705666668]], "id": null, "type": "LineString"}, "id": 3, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "4", "Length": 18.206275148810604, "Name": "CidadeJardimCerto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395153470333334, -22.172576570833332], [-47.39515635316667, -22.172600550333332], [-47.39515999233333, -22.172624829333333], [-47.395162920833336, -22.172647923333333], [-47.39516644, -22.17267195433333], [-47.395169917833336, -22.1726952245], [-47.3951736845, -22.172721525666667], [-47.395175992333336, -22.172737516833333]], "id": null, "type": "LineString"}, "id": 4, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "5", "Length": 18.06713908258954, "Name": "CidadeJardimCerto"}, "type": "Feature"}], "type": "FeatureCollection"});
geo_json_63e68f682888a97c1251d59ed4c9393c.setStyle(function(feature) {return feature.properties.style;});
geo_json_c539b434bced5d69b705574c7f380895.addTo(map_7ba0141a20a2db00be73b9931039e31d);
geo_json_63e68f682888a97c1251d59ed4c9393c.addTo(map_5379e892dbbc3f3d9b1bc572efef0593);
</script>
@ -185,7 +185,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_7ba0141a20a2db00be73b9931039e31d);
trajeto_json.addTo(map_5379e892dbbc3f3d9b1bc572efef0593);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -243,7 +243,7 @@
}
trajeto_dinamico_json_add({"features": []});
trajeto_dinamico_json.addTo(map_7ba0141a20a2db00be73b9931039e31d);
trajeto_dinamico_json.addTo(map_5379e892dbbc3f3d9b1bc572efef0593);
function adicionarGeometriaDinamica(novaGeometria) {
trajeto_dinamico_json.addData(novaGeometria);
@ -296,9 +296,9 @@
var marcadorEquipamento = L.marker([0, 0], {
icon: customIcon
}).addTo(map_7ba0141a20a2db00be73b9931039e31d);
}).addTo(map_5379e892dbbc3f3d9b1bc572efef0593);
var marcadorBase = L.marker([0, 0], {}).addTo(map_7ba0141a20a2db00be73b9931039e31d);
var marcadorBase = L.marker([0, 0], {}).addTo(map_5379e892dbbc3f3d9b1bc572efef0593);
var icon = L.AwesomeMarkers.icon(
{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
);
@ -380,7 +380,7 @@
}
if (foco) {
map_7ba0141a20a2db00be73b9931039e31d.setView(novaPosicao, map_7ba0141a20a2db00be73b9931039e31d.getZoom());
map_5379e892dbbc3f3d9b1bc572efef0593.setView(novaPosicao, map_5379e892dbbc3f3d9b1bc572efef0593.getZoom());
}
}
@ -397,7 +397,7 @@
function atualizarSelecaoRuas(selecionadas) {
selecionadas = JSON.parse(selecionadas);
RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
geo_json_c539b434bced5d69b705574c7f380895.eachLayer(function (layer) {
geo_json_63e68f682888a97c1251d59ed4c9393c.eachLayer(function (layer) {
if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
layer.setStyle({ color: 'blue' });
} else {

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AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/health_worker/__pycache__/main.cpython-311.pyc
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2
AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/health_worker/main.py
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@ -14,6 +14,7 @@ def main():
from health_worker.modulos.atuador import ModuloAtuador
from health_worker.modulos.lora import ModuloLoRa
from health_worker.modulos.imu import IMUCamera
from health_worker.modulos.pc import ModuloPC
from health_worker.config import mostrar_log
from shared.contexto_global_redis import ContextoGlobalRedis, CmdKey, CtxKey
@ -25,6 +26,7 @@ def main():
T_Code.Atu: ModuloAtuador(),
T_Code.Lra: ModuloLoRa(),
T_Code.Imu: IMUCamera(),
T_Code.Mod: ModuloPC(),
}
def loop_ativo():

BIN
AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/__pycache__/mpc.cpython-311.pyc
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18
AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/mpc.py
View File

@ -6,6 +6,7 @@ import numpy as np
from shared.enums import StatusCarroMapa, TipoMovimentoDirecional
from manager_worker.config import mostrar_log
from shared.gps_handler import GPSHandler
from shared.contexto_global_redis import ContextoGlobalRedis
_mpc = None
_iniciado = False
@ -484,19 +485,20 @@ class ControladorMPC:
dentro = CARRO.get("DentroCorredor", False)
velocidade = CARRO.get("Velocidade", self.velocidade_min)
peso_erro_pos = 1.2 # 0 1.2
peso_erro_ori = 2.2 # 1 2.2
peso_suavidade = _w_from_err_inv(erro_lat_m, w_min=0.5, w_max=3.6, deadband=0.05, tol=0.25, power=1.3, smooth=True)
peso_fator_re = 0.05 # 3 0.05
peso_ideal = 1.4 # 4 1.4
peso_lateral = _w_from_err(erro_lat_m, w_min=1.8, w_max=8.5, deadband=0.05, tol=0.7, power=1.3, smooth=True) if dentro else 0.0
pesos = ContextoGlobalRedis.get_pesos_mpc()
peso_erro_pos = pesos.get("posicao", 1.2)
peso_erro_ori = pesos.get("orientacao", 2.2)
peso_suavidade = _w_from_err_inv(erro_lat_m, w_min=pesos.get("suavidade_min", 0.5), w_max=pesos.get("suavidade_max", 3.6), deadband=0.05, tol=0.25, power=1.3, smooth=True)
peso_fator_re = pesos.get("fator_re", 0.05)
peso_ideal = pesos.get("ideal", 1.4)
peso_lateral = _w_from_err(erro_lat_m, w_min=pesos.get("lateral_min", 1.8), w_max=pesos.get("lateral_max", 8.5), deadband=0.05, tol=0.7, power=1.3, smooth=True) if dentro else 0.0
# Penalidade proporcional à velocidade
penalidade_por_velocidade = (velocidade / self.velocidade_max) / 10.0
custo_movimento = {
TipoMovimentoDirecional.RodasDianteiras: 0.0,
TipoMovimentoDirecional.MovimentoArco: 0.0,
TipoMovimentoDirecional.RodasDianteiras: 0.0,
TipoMovimentoDirecional.MovimentoDiagonal: 0.0
}
@ -1656,7 +1658,7 @@ class ControladorMPC:
try:
# ---- pesos heurísticos (erro ao ideal)
peso_angulo_ideal = float(self._calcular_pesos_movimento(contexto, e_ori, e_lat)[4])
peso_angulo_ideal = float(ContextoGlobalRedis.get_pesos_mpc().get("ideal", 1.4))
# ---- dados da matriz / ensure LUTs (idempotente)
dados_matriz_custo = contexto.get("VisualWorker", {}).get("MatrizCusto", {})

BIN
AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/__pycache__/contexto_global_redis.cpython-311.pyc
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36
AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/contexto_global_redis.py
View File

@ -19,6 +19,7 @@ class CtxKey(str, Enum):
DadosManagerWorker = "ctx:dados_manager_worker"
DadosHealthWorker = "ctx:dados_health_worker"
DadosCameraWorker = "ctx:dados_camera_worker"
DadosPesosMPC = "ctx:dados_pesos_mpc"
class CmdKey(str, Enum):
@ -191,6 +192,9 @@ class ContextoGlobalRedis:
modulos_opcionais_configurados=[]
)
@classmethod
def get_pesos_mpc(cls):
return cls.get(CtxKey.DadosPesosMPC, {})
@classmethod
@ -206,6 +210,7 @@ class ContextoGlobalRedis:
modulos_mandatorios = set(_operacao.get("modulos_mandatorios", []))
modulos_opcionais = set(_operacao.get("modulos_opcionais", []))
emergencia = _operacao.get("emergencia", False)
pausa = _operacao.get("pausa", False)
modulos_presentes = set()
status_modulos = []
@ -358,7 +363,12 @@ class ContextoGlobalRedis:
emergencia_ok = False
motivos_dos_modulos_mandatorios.append(f"Parada de emergencia solicitada pela base!")
liberou = (base_ok and parametros_ok and emergencia_ok) or debug_mode
pausa_ok = True
if pausa:
pausa_ok = False
motivos_dos_modulos_mandatorios.append(f"Operação pausada.")
liberou = (base_ok and parametros_ok and emergencia_ok and pausa_ok) or debug_mode
cls.atualizar_ctx_dict(
CtxKey.DadosOperacao,
@ -391,7 +401,6 @@ class ContextoGlobalRedis:
modo = ModoOperacao(_operacao.get("modo", ModoOperacao.NaoDefinido.value))
status_atual = StatusOperacao(_operacao.get("status", StatusOperacao.NaoIniciado.value))
iniciado = _operacao.get("iniciado", False)
emergencia = _operacao.get("emergencia", False)
configurado = _operacao.get("configurado", False)
status_iniciado_anterior = _operacao.get("status_iniciado_anterior", False)
finalizando = _operacao.get("finalizando", False)
@ -414,7 +423,23 @@ class ContextoGlobalRedis:
cls.atualizar_ctx_dict(CtxKey.DadosOperacao, status=StatusOperacao.Parametrizando.value)
return
# Verifica se esta em processo de calibragem inicial
calibrando = _operacao.get("calibrando", False)
if calibrando:
if status_atual != StatusOperacao.Calibrando:
cls.atualizar_ctx_dict(CtxKey.DadosOperacao, status=StatusOperacao.Calibrando.value)
return
# Comando de parada de emergencia da base
pausa = _operacao.get("pausa", False)
if pausa:
novo_status = StatusOperacao.Parado
if status_atual != novo_status:
cls.atualizar_ctx_dict(CtxKey.DadosOperacao, status=novo_status.value)
return
# Comando de parada de emergencia da base
emergencia = _operacao.get("emergencia", False)
if emergencia:
novo_status = StatusOperacao.Parado
if status_atual != novo_status:
@ -434,13 +459,6 @@ class ContextoGlobalRedis:
if (iniciado and not status_iniciado_anterior):
cls._iniciar_operacao()
# Verifica se esta em processo de calibragem inicial
calibrando = _operacao.get("calibrando", False)
if calibrando:
if status_atual != StatusOperacao.Calibrando:
cls.atualizar_ctx_dict(CtxKey.DadosOperacao, status=StatusOperacao.Calibrando.value)
return
# Verifica se ainda está aguardando tempo inicial
tempo_aguardando = cls.get_operacao().get("tempo_aguardando", 0)
em_espera = (tempo_aguardando + _operacao.get("tempo_aguardar_inicio_operacao", 25)) > agora

155
AgroBase/AgroMonitor/Forms/frmMonitoramento.Designer.cs generated
View File

@ -34,6 +34,13 @@
this.txtLatitude = new System.Windows.Forms.TextBox();
this.txtLongitude = new System.Windows.Forms.TextBox();
this.pnlDados = new System.Windows.Forms.Panel();
this.txtStatusFix = new System.Windows.Forms.TextBox();
this.txtPrecisao = new System.Windows.Forms.TextBox();
this.label2 = new System.Windows.Forms.Label();
this.txtNSatelites = new System.Windows.Forms.TextBox();
this.label3 = new System.Windows.Forms.Label();
this.label4 = new System.Windows.Forms.Label();
this.txtDistanciaEntreLeituras = new System.Windows.Forms.TextBox();
this.txtFix = new System.Windows.Forms.TextBox();
this.label1 = new System.Windows.Forms.Label();
this.txtCarroConectado = new System.Windows.Forms.TextBox();
@ -94,13 +101,7 @@
this.tvwFalhas = new System.Windows.Forms.TreeView();
this.lblMapa = new System.Windows.Forms.Label();
this.btnCarregar = new System.Windows.Forms.Button();
this.txtPrecisao = new System.Windows.Forms.TextBox();
this.label2 = new System.Windows.Forms.Label();
this.txtNSatelites = new System.Windows.Forms.TextBox();
this.label3 = new System.Windows.Forms.Label();
this.label4 = new System.Windows.Forms.Label();
this.txtDistanciaEntreLeituras = new System.Windows.Forms.TextBox();
this.txtStatusFix = new System.Windows.Forms.TextBox();
this.btnFixar = new System.Windows.Forms.Button();
this.pnlDados.SuspendLayout();
this.pnlControle.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.tkbAnguloMP)).BeginInit();
@ -159,6 +160,7 @@
// pnlDados
//
this.pnlDados.AutoScroll = true;
this.pnlDados.Controls.Add(this.btnFixar);
this.pnlDados.Controls.Add(this.txtStatusFix);
this.pnlDados.Controls.Add(this.txtPrecisao);
this.pnlDados.Controls.Add(this.label2);
@ -225,6 +227,72 @@
this.pnlDados.Size = new System.Drawing.Size(274, 594);
this.pnlDados.TabIndex = 6;
//
// txtStatusFix
//
this.txtStatusFix.Location = new System.Drawing.Point(11, 248);
this.txtStatusFix.Name = "txtStatusFix";
this.txtStatusFix.ReadOnly = true;
this.txtStatusFix.Size = new System.Drawing.Size(208, 20);
this.txtStatusFix.TabIndex = 63;
this.txtStatusFix.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// txtPrecisao
//
this.txtPrecisao.Location = new System.Drawing.Point(159, 179);
this.txtPrecisao.Name = "txtPrecisao";
this.txtPrecisao.ReadOnly = true;
this.txtPrecisao.Size = new System.Drawing.Size(60, 20);
this.txtPrecisao.TabIndex = 62;
this.txtPrecisao.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label2
//
this.label2.AutoSize = true;
this.label2.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
this.label2.Location = new System.Drawing.Point(157, 159);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(63, 17);
this.label2.TabIndex = 61;
this.label2.Text = "Precisão";
//
// txtNSatelites
//
this.txtNSatelites.Location = new System.Drawing.Point(78, 179);
this.txtNSatelites.Name = "txtNSatelites";
this.txtNSatelites.ReadOnly = true;
this.txtNSatelites.Size = new System.Drawing.Size(75, 20);
this.txtNSatelites.TabIndex = 60;
this.txtNSatelites.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label3
//
this.label3.AutoSize = true;
this.label3.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
this.label3.Location = new System.Drawing.Point(76, 159);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(62, 17);
this.label3.TabIndex = 59;
this.label3.Text = "Satelites";
//
// label4
//
this.label4.AutoSize = true;
this.label4.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
this.label4.Location = new System.Drawing.Point(12, 159);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(66, 17);
this.label4.TabIndex = 58;
this.label4.Text = "Distancia";
//
// txtDistanciaEntreLeituras
//
this.txtDistanciaEntreLeituras.Location = new System.Drawing.Point(11, 179);
this.txtDistanciaEntreLeituras.Name = "txtDistanciaEntreLeituras";
this.txtDistanciaEntreLeituras.ReadOnly = true;
this.txtDistanciaEntreLeituras.Size = new System.Drawing.Size(60, 20);
this.txtDistanciaEntreLeituras.TabIndex = 57;
this.txtDistanciaEntreLeituras.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// txtFix
//
this.txtFix.Location = new System.Drawing.Point(159, 136);
@ -801,71 +869,15 @@
this.btnCarregar.UseVisualStyleBackColor = true;
this.btnCarregar.Click += new System.EventHandler(this.btnCarregar_Click);
//
// txtPrecisao
// btnFixar
//
this.txtPrecisao.Location = new System.Drawing.Point(159, 179);
this.txtPrecisao.Name = "txtPrecisao";
this.txtPrecisao.ReadOnly = true;
this.txtPrecisao.Size = new System.Drawing.Size(60, 20);
this.txtPrecisao.TabIndex = 62;
this.txtPrecisao.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label2
//
this.label2.AutoSize = true;
this.label2.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
this.label2.Location = new System.Drawing.Point(157, 159);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(63, 17);
this.label2.TabIndex = 61;
this.label2.Text = "Precisão";
//
// txtNSatelites
//
this.txtNSatelites.Location = new System.Drawing.Point(78, 179);
this.txtNSatelites.Name = "txtNSatelites";
this.txtNSatelites.ReadOnly = true;
this.txtNSatelites.Size = new System.Drawing.Size(75, 20);
this.txtNSatelites.TabIndex = 60;
this.txtNSatelites.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// label3
//
this.label3.AutoSize = true;
this.label3.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
this.label3.Location = new System.Drawing.Point(76, 159);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(62, 17);
this.label3.TabIndex = 59;
this.label3.Text = "Satelites";
//
// label4
//
this.label4.AutoSize = true;
this.label4.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
this.label4.Location = new System.Drawing.Point(12, 159);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(66, 17);
this.label4.TabIndex = 58;
this.label4.Text = "Distancia";
//
// txtDistanciaEntreLeituras
//
this.txtDistanciaEntreLeituras.Location = new System.Drawing.Point(11, 179);
this.txtDistanciaEntreLeituras.Name = "txtDistanciaEntreLeituras";
this.txtDistanciaEntreLeituras.ReadOnly = true;
this.txtDistanciaEntreLeituras.Size = new System.Drawing.Size(60, 20);
this.txtDistanciaEntreLeituras.TabIndex = 57;
this.txtDistanciaEntreLeituras.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// txtStatusFix
//
this.txtStatusFix.Location = new System.Drawing.Point(11, 248);
this.txtStatusFix.Name = "txtStatusFix";
this.txtStatusFix.ReadOnly = true;
this.txtStatusFix.Size = new System.Drawing.Size(208, 20);
this.txtStatusFix.TabIndex = 63;
this.txtStatusFix.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.btnFixar.Location = new System.Drawing.Point(219, 246);
this.btnFixar.Name = "btnFixar";
this.btnFixar.Size = new System.Drawing.Size(35, 23);
this.btnFixar.TabIndex = 64;
this.btnFixar.Text = "F";
this.btnFixar.UseVisualStyleBackColor = true;
this.btnFixar.Click += new System.EventHandler(this.btnFixar_Click);
//
// frmMonitoramento
//
@ -966,5 +978,6 @@
private System.Windows.Forms.Label label4;
private System.Windows.Forms.TextBox txtDistanciaEntreLeituras;
private System.Windows.Forms.TextBox txtStatusFix;
private System.Windows.Forms.Button btnFixar;
}
}

45
AgroBase/AgroMonitor/Forms/frmMonitoramento.cs
View File

@ -1,4 +1,5 @@
using AgroBase.Models;
using AgroBase.Models.Components;
using AgroBase.Services;
using System;
using System.Collections.Generic;
@ -77,6 +78,12 @@ namespace AgroMonitor.Forms
bool foco = enderecoEquipamentoEmFoco == enderecoEquipamentoLog && chbFoco.Checked;
GPSService.EnviarCoordenadasParaMapa(eq.Value.Coordenadas.Latitude, eq.Value.Coordenadas.Longitude, eq.Value.Coordenadas.Orientacao, foco, eq.Key);
}
if (BaseFixService.CorrecaoAbsoluta && BaseFixService.FixLiberado && btnFixar.Text == "P")
{
BaseFixService.FixLiberado = false;
btnFixar.Text = "F";
}
}
private void VerificarAtualizacoesEquipamentos()
@ -345,5 +352,43 @@ namespace AgroMonitor.Forms
{
lblAngulo.Text = $"Angulo: {tkbAnguloMP.Value}°";
}
private void btnFixar_Click(object sender, EventArgs e)
{
if (!BaseFixService.FixLiberado)
{
if (BaseFixService.CorrecaoAbsoluta)
{
var res = CustomDialog.ShowDialog(
"Mudar posição da base?",
"Tem certeza que deseja fixar a posição da base novamente?",
MessageBoxIcon.Question,
new Dictionary<(string, dynamic), Action>()
{
{ ("Sim", null), () => { } },
{ ("Não", null), () => { } }
}
);
if (res == DialogResult.Yes)
{
btnFixar.Text = "P";
BaseFixService.FixLiberado = true;
Task.Run(async () => await GPSService.ConfigurarModulo());
}
}
else
{
btnFixar.Text = "P";
BaseFixService.FixLiberado = true;
}
}
else
{
btnFixar.Text = "F";
BaseFixService.FixLiberado = false;
}
}
}
}

BIN
AgroBase/AgroMonitor/obj/Debug/DesignTimeResolveAssemblyReferences.cache
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