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ajustado monitoramento do gps

This commit is contained in:
Diego Freitas 2024-03-01 16:49:20 -03:00
parent a0bd418ff2
commit fdd8d22ebf
85 changed files with 2452 additions and 777 deletions
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AgroBase/AgroBase/AgroBase.csproj
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@ -255,11 +255,11 @@
<Compile Include="Forms\Movimentacao\frmMovPlot.Designer.cs">
<DependentUpon>frmMovPlot.cs</DependentUpon>
</Compile>
<Compile Include="Forms\Operacoes\frmOperacaoSeguidorLinha.cs">
<Compile Include="Forms\Operacoes\frmOperacaoMapaGPS.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Forms\Operacoes\frmOperacaoSeguidorLinha.Designer.cs">
<DependentUpon>frmOperacaoSeguidorLinha.cs</DependentUpon>
<DependentUpon>frmOperacaoMapaGPS.cs</DependentUpon>
</Compile>
<Compile Include="Forms\Operacoes\frmParametrizacaoOperacao.cs">
<SubType>Form</SubType>
@ -401,8 +401,8 @@
<EmbeddedResource Include="Forms\frmJoystick.resx">
<DependentUpon>frmJoystick.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Forms\Operacoes\frmOperacaoSeguidorLinha.resx">
<DependentUpon>frmOperacaoSeguidorLinha.cs</DependentUpon>
<EmbeddedResource Include="Forms\Operacoes\frmOperacaoMapaGPS.resx">
<DependentUpon>frmOperacaoMapaGPS.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Forms\Operacoes\frmParametrizacaoOperacao.resx">
<DependentUpon>frmParametrizacaoOperacao.cs</DependentUpon>

10
AgroBase/AgroBase/Forms/Atuador/frmAtuCamera.cs
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@ -87,9 +87,17 @@ namespace AgroBase.Forms
cameraService.ArquivoLeitura = ArquivoLeitura;
cameraService.IniciarCamera(
PythonService.ScriptWeedDetector,
new string[] { MaxLeituras.ToString(), VideoPorta, VideoUrl, ArquivoLeitura, "1", SocketPorta },
new string[] {
MaxLeituras.ToString(),
VideoPorta,
VideoUrl,
ArquivoLeitura,
"1",
SocketPorta
},
VideoPorta,
VideoUrl,
true,
SocketPorta
);

10
AgroBase/AgroBase/Forms/Movimentacao/frmMovCamera.cs
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@ -284,9 +284,17 @@ namespace AgroBase.Forms.Movimentacao
cameraService.ArquivoLeitura = ArquivoLeitura;
cameraService.IniciarCamera(
PythonService.ScriptStreetDetector,
new string[] { MaxLeituras.ToString(), VideoPorta, VideoUrl, ArquivoLeitura, MostrarDebug ? "1" : "0", SocketPorta },
new string[] {
MaxLeituras.ToString(),
VideoPorta,
VideoUrl,
ArquivoLeitura,
MostrarDebug ? "1" : "0",
SocketPorta
},
VideoPorta,
VideoUrl,
false,
SocketPorta
);

955
AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.cs → AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs
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0
AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.resx → AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.resx
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193
AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs generated
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@ -1,7 +1,7 @@

namespace AgroBase.Forms.Operacoes
{
partial class frmOperacaoSeguidorLinha
partial class frmOperacaoMapaGPS
{
/// <summary>
/// Required designer variable.
@ -42,6 +42,10 @@ namespace AgroBase.Forms.Operacoes
this.pnlGraficos = new System.Windows.Forms.Panel();
this.chartGraficos = new System.Windows.Forms.DataVisualization.Charting.Chart();
this.pnlNiveis = new System.Windows.Forms.Panel();
this.btnManobraConcluida = new System.Windows.Forms.Button();
this.btnSimular = new System.Windows.Forms.Button();
this.lblDirecao = new System.Windows.Forms.Label();
this.lblStatus = new System.Windows.Forms.Label();
this.lblProgressoT = new System.Windows.Forms.Label();
this.lblPorcentagemBateria = new System.Windows.Forms.Label();
this.lblBateriaT = new System.Windows.Forms.Label();
@ -68,10 +72,10 @@ namespace AgroBase.Forms.Operacoes
this.lblVelocidadeMedia = new System.Windows.Forms.Label();
this.lblTempoOperacao = new System.Windows.Forms.Label();
this.lblDistanciaPercorrida = new System.Windows.Forms.Label();
this.pnlInclinacao = new System.Windows.Forms.Panel();
this.lblDistanciaEsquerda = new System.Windows.Forms.Label();
this.lblDistanciaDireita = new System.Windows.Forms.Label();
this.pnlInferior = new System.Windows.Forms.Panel();
this.lblDistancia = new System.Windows.Forms.Label();
this.lblMapaCarregado = new System.Windows.Forms.Label();
this.chbGPSativo = new System.Windows.Forms.CheckBox();
this.chbATUativo = new System.Windows.Forms.CheckBox();
@ -81,11 +85,10 @@ namespace AgroBase.Forms.Operacoes
this.lblUltimaLeituraSolo = new System.Windows.Forms.Label();
this.pnlMapa = new System.Windows.Forms.Panel();
this.pnlOrientacao = new System.Windows.Forms.Panel();
this.lblStatus = new System.Windows.Forms.Label();
this.lblDirecao = new System.Windows.Forms.Label();
this.lblDistancia = new System.Windows.Forms.Label();
this.btnSimular = new System.Windows.Forms.Button();
this.btnManobraConcluida = new System.Windows.Forms.Button();
this.pnlInclinacao = new System.Windows.Forms.Panel();
this.lblProgressoRua = new System.Windows.Forms.Label();
this.pgbProgressoRua = new System.Windows.Forms.ProgressBar();
this.lblPorcentagemProgressoRua = new System.Windows.Forms.Label();
this.pnlCameraSolo.SuspendLayout();
this.pnlAtuadores.SuspendLayout();
this.pnlGraficos.SuspendLayout();
@ -193,8 +196,11 @@ namespace AgroBase.Forms.Operacoes
// pnlNiveis
//
this.pnlNiveis.BackColor = System.Drawing.SystemColors.Control;
this.pnlNiveis.Controls.Add(this.btnManobraConcluida);
this.pnlNiveis.Controls.Add(this.lblPorcentagemProgressoRua);
this.pnlNiveis.Controls.Add(this.btnSimular);
this.pnlNiveis.Controls.Add(this.pgbProgressoRua);
this.pnlNiveis.Controls.Add(this.lblProgressoRua);
this.pnlNiveis.Controls.Add(this.btnManobraConcluida);
this.pnlNiveis.Controls.Add(this.lblDirecao);
this.pnlNiveis.Controls.Add(this.lblStatus);
this.pnlNiveis.Controls.Add(this.lblProgressoT);
@ -213,15 +219,59 @@ namespace AgroBase.Forms.Operacoes
this.pnlNiveis.Size = new System.Drawing.Size(592, 69);
this.pnlNiveis.TabIndex = 6;
//
// btnManobraConcluida
//
this.btnManobraConcluida.Location = new System.Drawing.Point(544, 43);
this.btnManobraConcluida.Margin = new System.Windows.Forms.Padding(2);
this.btnManobraConcluida.Name = "btnManobraConcluida";
this.btnManobraConcluida.Size = new System.Drawing.Size(39, 21);
this.btnManobraConcluida.TabIndex = 13;
this.btnManobraConcluida.Text = "MC";
this.btnManobraConcluida.UseVisualStyleBackColor = true;
this.btnManobraConcluida.Click += new System.EventHandler(this.btnManobraConcluida_Click);
//
// btnSimular
//
this.btnSimular.Location = new System.Drawing.Point(479, 42);
this.btnSimular.Margin = new System.Windows.Forms.Padding(2);
this.btnSimular.Name = "btnSimular";
this.btnSimular.Size = new System.Drawing.Size(61, 21);
this.btnSimular.TabIndex = 12;
this.btnSimular.Text = "Simular";
this.btnSimular.UseVisualStyleBackColor = true;
this.btnSimular.Click += new System.EventHandler(this.btnSimular_Click);
//
// lblDirecao
//
this.lblDirecao.AutoSize = true;
this.lblDirecao.Font = new System.Drawing.Font("Mongolian Baiti", 8.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblDirecao.Location = new System.Drawing.Point(308, 54);
this.lblDirecao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDirecao.Name = "lblDirecao";
this.lblDirecao.Size = new System.Drawing.Size(94, 11);
this.lblDirecao.TabIndex = 11;
this.lblDirecao.Text = "Direção: Parado";
//
// lblStatus
//
this.lblStatus.AutoSize = true;
this.lblStatus.Font = new System.Drawing.Font("Mongolian Baiti", 8.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblStatus.Location = new System.Drawing.Point(308, 41);
this.lblStatus.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblStatus.Name = "lblStatus";
this.lblStatus.Size = new System.Drawing.Size(114, 11);
this.lblStatus.TabIndex = 10;
this.lblStatus.Text = "Status: Aguardando";
//
// lblProgressoT
//
this.lblProgressoT.AutoSize = true;
this.lblProgressoT.Location = new System.Drawing.Point(322, 13);
this.lblProgressoT.Location = new System.Drawing.Point(307, 6);
this.lblProgressoT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblProgressoT.Name = "lblProgressoT";
this.lblProgressoT.Size = new System.Drawing.Size(64, 13);
this.lblProgressoT.Size = new System.Drawing.Size(62, 13);
this.lblProgressoT.TabIndex = 8;
this.lblProgressoT.Text = "Progresso";
this.lblProgressoT.Text = "% Trajeto";
//
// lblPorcentagemBateria
//
@ -256,7 +306,7 @@ namespace AgroBase.Forms.Operacoes
// lblPorcentagemProgresso
//
this.lblPorcentagemProgresso.AutoSize = true;
this.lblPorcentagemProgresso.Location = new System.Drawing.Point(477, 12);
this.lblPorcentagemProgresso.Location = new System.Drawing.Point(533, 6);
this.lblPorcentagemProgresso.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblPorcentagemProgresso.Name = "lblPorcentagemProgresso";
this.lblPorcentagemProgresso.Size = new System.Drawing.Size(50, 13);
@ -273,10 +323,10 @@ namespace AgroBase.Forms.Operacoes
//
// pgbProgresso
//
this.pgbProgresso.Location = new System.Drawing.Point(408, 5);
this.pgbProgresso.Location = new System.Drawing.Point(375, 6);
this.pgbProgresso.Margin = new System.Windows.Forms.Padding(2);
this.pgbProgresso.Name = "pgbProgresso";
this.pgbProgresso.Size = new System.Drawing.Size(175, 27);
this.pgbProgresso.Size = new System.Drawing.Size(150, 13);
this.pgbProgresso.TabIndex = 4;
//
// lblPorcentagemReservatorio
@ -492,18 +542,6 @@ namespace AgroBase.Forms.Operacoes
this.lblDistanciaPercorrida.TabIndex = 0;
this.lblDistanciaPercorrida.Text = "Distancia Percorrida: 0,00 m";
//
// pnlInclinacao
//
this.pnlInclinacao.BackColor = System.Drawing.Color.White;
this.pnlInclinacao.BackgroundImage = global::AgroBase.Properties.Resources.transferidor;
this.pnlInclinacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
this.pnlInclinacao.Location = new System.Drawing.Point(625, 6);
this.pnlInclinacao.Margin = new System.Windows.Forms.Padding(2);
this.pnlInclinacao.Name = "pnlInclinacao";
this.pnlInclinacao.Size = new System.Drawing.Size(78, 84);
this.pnlInclinacao.TabIndex = 10;
this.pnlInclinacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlInclinacao_Paint);
//
// lblDistanciaEsquerda
//
this.lblDistanciaEsquerda.AutoSize = true;
@ -543,6 +581,17 @@ namespace AgroBase.Forms.Operacoes
this.pnlInferior.Size = new System.Drawing.Size(592, 41);
this.pnlInferior.TabIndex = 13;
//
// lblDistancia
//
this.lblDistancia.AutoSize = true;
this.lblDistancia.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold);
this.lblDistancia.Location = new System.Drawing.Point(227, 24);
this.lblDistancia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDistancia.Name = "lblDistancia";
this.lblDistancia.Size = new System.Drawing.Size(171, 13);
this.lblDistancia.TabIndex = 10;
this.lblDistancia.Text = "Distância Operação: 00,00 m";
//
// lblMapaCarregado
//
this.lblMapaCarregado.AutoSize = true;
@ -633,62 +682,47 @@ namespace AgroBase.Forms.Operacoes
this.pnlOrientacao.TabIndex = 11;
this.pnlOrientacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacao_Paint);
//
// lblStatus
// pnlInclinacao
//
this.lblStatus.AutoSize = true;
this.lblStatus.Font = new System.Drawing.Font("Mongolian Baiti", 8.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblStatus.Location = new System.Drawing.Point(406, 37);
this.lblStatus.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblStatus.Name = "lblStatus";
this.lblStatus.Size = new System.Drawing.Size(114, 11);
this.lblStatus.TabIndex = 10;
this.lblStatus.Text = "Status: Aguardando";
this.pnlInclinacao.BackColor = System.Drawing.Color.White;
this.pnlInclinacao.BackgroundImage = global::AgroBase.Properties.Resources.transferidor;
this.pnlInclinacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
this.pnlInclinacao.Location = new System.Drawing.Point(625, 6);
this.pnlInclinacao.Margin = new System.Windows.Forms.Padding(2);
this.pnlInclinacao.Name = "pnlInclinacao";
this.pnlInclinacao.Size = new System.Drawing.Size(78, 84);
this.pnlInclinacao.TabIndex = 10;
this.pnlInclinacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlInclinacao_Paint);
//
// lblDirecao
// lblProgressoRua
//
this.lblDirecao.AutoSize = true;
this.lblDirecao.Font = new System.Drawing.Font("Mongolian Baiti", 8.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.lblDirecao.Location = new System.Drawing.Point(406, 51);
this.lblDirecao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDirecao.Name = "lblDirecao";
this.lblDirecao.Size = new System.Drawing.Size(94, 11);
this.lblDirecao.TabIndex = 11;
this.lblDirecao.Text = "Direção: Parado";
this.lblProgressoRua.AutoSize = true;
this.lblProgressoRua.Location = new System.Drawing.Point(307, 23);
this.lblProgressoRua.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblProgressoRua.Name = "lblProgressoRua";
this.lblProgressoRua.Size = new System.Drawing.Size(44, 13);
this.lblProgressoRua.TabIndex = 14;
this.lblProgressoRua.Text = "% Rua";
//
// lblDistancia
// pgbProgressoRua
//
this.lblDistancia.AutoSize = true;
this.lblDistancia.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold);
this.lblDistancia.Location = new System.Drawing.Point(227, 24);
this.lblDistancia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblDistancia.Name = "lblDistancia";
this.lblDistancia.Size = new System.Drawing.Size(171, 13);
this.lblDistancia.TabIndex = 10;
this.lblDistancia.Text = "Distância Operação: 00,00 m";
this.pgbProgressoRua.Location = new System.Drawing.Point(375, 23);
this.pgbProgressoRua.Margin = new System.Windows.Forms.Padding(2);
this.pgbProgressoRua.Name = "pgbProgressoRua";
this.pgbProgressoRua.Size = new System.Drawing.Size(150, 13);
this.pgbProgressoRua.TabIndex = 15;
//
// btnSimular
// lblPorcentagemProgressoRua
//
this.btnSimular.Location = new System.Drawing.Point(325, 38);
this.btnSimular.Margin = new System.Windows.Forms.Padding(2);
this.btnSimular.Name = "btnSimular";
this.btnSimular.Size = new System.Drawing.Size(61, 21);
this.btnSimular.TabIndex = 12;
this.btnSimular.Text = "Simular";
this.btnSimular.UseVisualStyleBackColor = true;
this.btnSimular.Click += new System.EventHandler(this.btnSimular_Click);
this.lblPorcentagemProgressoRua.AutoSize = true;
this.lblPorcentagemProgressoRua.Location = new System.Drawing.Point(533, 23);
this.lblPorcentagemProgressoRua.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblPorcentagemProgressoRua.Name = "lblPorcentagemProgressoRua";
this.lblPorcentagemProgressoRua.Size = new System.Drawing.Size(50, 13);
this.lblPorcentagemProgressoRua.TabIndex = 16;
this.lblPorcentagemProgressoRua.Text = "00,00%";
//
// btnManobraConcluida
//
this.btnManobraConcluida.Location = new System.Drawing.Point(544, 43);
this.btnManobraConcluida.Margin = new System.Windows.Forms.Padding(2);
this.btnManobraConcluida.Name = "btnManobraConcluida";
this.btnManobraConcluida.Size = new System.Drawing.Size(39, 21);
this.btnManobraConcluida.TabIndex = 13;
this.btnManobraConcluida.Text = "MC";
this.btnManobraConcluida.UseVisualStyleBackColor = true;
this.btnManobraConcluida.Click += new System.EventHandler(this.btnManobraConcluida_Click);
//
// frmOperacaoSeguidorLinha
// frmOperacaoMapaGPS
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
@ -709,11 +743,11 @@ namespace AgroBase.Forms.Operacoes
this.Controls.Add(this.pnlCameraCaminho);
this.Controls.Add(this.pnlCameraSolo);
this.Margin = new System.Windows.Forms.Padding(2);
this.Name = "frmOperacaoSeguidorLinha";
this.Name = "frmOperacaoMapaGPS";
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
this.Text = "Operação Seguidor de Linha";
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmOperacaoSeguidorLinha_FormClosing);
this.Load += new System.EventHandler(this.frmOperacaoSeguidorLinha_Load);
this.Text = "Operação Mapa GPS";
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmOperacaoMapaGPS_FormClosing);
this.Load += new System.EventHandler(this.frmOperacaoMapaGPS_Load);
this.pnlCameraSolo.ResumeLayout(false);
this.pnlAtuadores.ResumeLayout(false);
this.pnlAtuadores.PerformLayout();
@ -788,5 +822,8 @@ namespace AgroBase.Forms.Operacoes
private System.Windows.Forms.Label lblDistancia;
private System.Windows.Forms.Button btnSimular;
private System.Windows.Forms.Button btnManobraConcluida;
private System.Windows.Forms.Label lblPorcentagemProgressoRua;
private System.Windows.Forms.ProgressBar pgbProgressoRua;
private System.Windows.Forms.Label lblProgressoRua;
}
}

13
AgroBase/AgroBase/Forms/Sensoriamento/frmSenCamera.cs
View File

@ -80,9 +80,18 @@ namespace AgroBase.Forms.Sensoriamento
cameraService.ArquivoLeitura = ArquivoLeitura;
cameraService.IniciarCamera(
PythonService.ScriptLineAngle,
new string[] { MaxLeituras.ToString(), VideoPorta, VideoUrl, ArquivoLeitura, MostrarDebug ? "1" : "0", SocketPorta },
new string[] {
MaxLeituras.ToString(),
VideoPorta,
VideoUrl,
ArquivoLeitura,
MostrarDebug ? "1" : "0",
SocketPorta
},
VideoPorta,
VideoUrl
VideoUrl,
true,
VariaveisPortas.SocketCaminho.ToString()
);
tmrLeitura = new Timer() { Interval = 200 };

5
AgroBase/AgroBase/Forms/frmInstancial.Designer.cs generated
View File

@ -33,9 +33,10 @@ namespace AgroBase.Forms
//
// frmInstancial
//
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(371, 187);
this.ClientSize = new System.Drawing.Size(278, 152);
this.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.Name = "frmInstancial";
this.Text = "frmInstancial";
this.Shown += new System.EventHandler(this.frmInstancial_Shown);

1
AgroBase/AgroBase/Forms/frmInstancial.cs
View File

@ -27,5 +27,6 @@ namespace AgroBase.Forms
frmPrincipal.Show();
this.Hide();
}
}
}

17
AgroBase/AgroBase/Forms/frmPrincipal.cs
View File

@ -143,6 +143,7 @@ namespace AgroBase
{
try
{
PythonService.EncerrarProcessos();
Environment.Exit(0);
}
catch
@ -252,7 +253,7 @@ namespace AgroBase
bool MovConectado = Variaveis.DispositivosConectados.Any(x => x.Dispositivo == T_Code.Mov && (x._Porta.IsOpen || DebugMode));
bool DirConectado = Variaveis.DispositivosConectados.Any(x => x.Dispositivo == T_Code.Dir && (x._Porta.IsOpen || DebugMode));
bool AtuConectado = Variaveis.DispositivosConectados.Any(x => x.Dispositivo == T_Code.Atu && (x._Porta.IsOpen || DebugMode));
bool GpsConectado = GPSService.PortaGPS != null;
bool GpsConectado = GPSService.PortaGPS != null || DebugMode;
if (Variaveis.OperacaoEmAndamento.Iniciado)
{
@ -280,12 +281,12 @@ namespace AgroBase
"Atuador: ( " + (AtuConectado ? "OK" : " ") + " )";
}
}
else if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.SeguidorDeLinha)
else if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.MapaGPS)
{
if (MovConectado && DirConectado && AtuConectado)
if (MovConectado && DirConectado && AtuConectado && GpsConectado)
{
frmOperacaoSeguidorLinha frmSeguidorLinha = new frmOperacaoSeguidorLinha();
frmSeguidorLinha.Show();
frmOperacaoMapaGPS frmMapaGPS = new frmOperacaoMapaGPS();
frmMapaGPS.Show();
}
else
{
@ -297,12 +298,12 @@ namespace AgroBase
}
}
else if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.MapaGPS)
else if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.SeguidorDeLinha)
{
if (GpsConectado)
{
frmGPS frmGPS = new frmGPS();
frmGPS.Show();
frmMovCamera frmCamera = new frmMovCamera();
frmCamera.Show();
}
else
{

62
AgroBase/AgroBase/Models/MapasModel.cs
View File

@ -14,8 +14,8 @@ namespace AgroBase.Models
{
public ChromiumWebBrowser chromiumWebBrowser { get; set; }
public Panel pnlMapa { get; set; }
private PictureBox picLoading { get; set; } = new PictureBox();
public Label lblMapa { get; set; } = new Label();
private PictureBox picLoading { get; set; }
public Label lblMapa { get; set; }
public MapasService mapaService { get; set; } = new MapasService();
public List<List<GPSModel>> Trajetoria { get; set; } = new List<List<GPSModel>>();
public List<string> RuasPercorrer { get; set; } = new List<string>();
@ -26,6 +26,10 @@ namespace AgroBase.Models
{
mapaService.CarregarMapa(MapasVariaveisModel.NomeArquivoMapaInterativo, MapasVariaveisModel.NomeArquivoMapaInterativoSaida);
if (picLoading == null)
{
picLoading = new PictureBox();
}
picLoading.Dock = DockStyle.Fill;
picLoading.BackColor = System.Drawing.Color.Transparent;
picLoading.Image = Resources.loading;
@ -57,7 +61,10 @@ namespace AgroBase.Models
if (mapaService.NomeArquivoMapa == MapasVariaveisModel.NomeArquivoMapaInterativo)
{
mapaService.CarregarDadosMapa();
lblMapa.Text = "Mapa carregado: " + mapaService.NomeArquivos;
if (lblMapa != null)
{
lblMapa.Text = "Mapa carregado: " + mapaService.NomeArquivos;
}
PopularTrajetoria();
}
@ -70,23 +77,48 @@ namespace AgroBase.Models
{
if (mapaService.DadosMapa != null)
{
double OrientacaoRuas = -999;
DistanciaTotal = 0;
var IDs = RuasPercorrer.Any() ? RuasPercorrer : mapaService.DadosMapa.features.Select(x => x.geometry.id).ToList();
Trajetoria = new List<List<GPSModel>>();
foreach (var rua in mapaService.DadosMapa.features.Where(x => IDs.Contains(x.geometry.id)))
if (!RuasPercorrer.Any())
{
Trajetoria.Add(new List<GPSModel>());
foreach (var ponto in rua.geometry.coordinates)
RuasPercorrer = mapaService.DadosMapa.features.Select(x => x.geometry.id).ToList();
}
Trajetoria = new List<List<GPSModel>>();
foreach (var ID in RuasPercorrer)
{
var rua = mapaService.DadosMapa.features.FirstOrDefault(x => ID == x.geometry.id);
if (rua != null)
{
GPSModel item = new GPSModel()
Trajetoria.Add(new List<GPSModel>());
foreach (var ponto in rua.geometry.coordinates)
{
Longitude = ponto[0],
Latitude = ponto[1],
};
Trajetoria[Trajetoria.Count - 1].Add(item);
if (Trajetoria[Trajetoria.Count - 1].Count > 1)
GPSModel item = new GPSModel()
{
Longitude = ponto[0],
Latitude = ponto[1],
};
Trajetoria[Trajetoria.Count - 1].Add(item);
if (Trajetoria[Trajetoria.Count - 1].Count > 1)
{
DistanciaTotal += GPSService.DistanciaEntrePontos(Trajetoria[Trajetoria.Count - 1][Trajetoria[Trajetoria.Count - 1].Count - 2], item);
}
}
var Rua = Trajetoria[Trajetoria.Count - 1];
if (OrientacaoRuas == -999)
{
DistanciaTotal += GPSService.DistanciaEntrePontos(Trajetoria[Trajetoria.Count - 1][Trajetoria[Trajetoria.Count - 1].Count - 2], item);
OrientacaoRuas = GPSService.CalcularOrientacao(Rua[Rua.Count - 1], Rua[Rua.Count - 2]);
}
else
{
double MargemErroAngulo = 45;
double orientacaoRua = GPSService.CalcularOrientacao(Rua[Rua.Count - 1], Rua[Rua.Count - 2]);
double anguloOposto = (orientacaoRua + 180) % 360;
if ((anguloOposto + MargemErroAngulo) >= OrientacaoRuas && (anguloOposto - MargemErroAngulo) <= OrientacaoRuas)
{
Rua.Reverse();
}
}
}
}

253
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
View File

@ -88,7 +88,7 @@ namespace AgroBase.Models
public TimeSpan Tempo { get; set; }
public OperacaoControleModel Controle { get; set; }
public OperacaoControleModel ControleAnterior { get; set; }
public List<OperacaoModulosMandatoriosModel> ModulosMandatorios { get; set; }
public List<OperacaoModulosMandatoriosModel> ModulosMandatorios { get; set; } = new List<OperacaoModulosMandatoriosModel>();
public OperacaoSensoriamentoModel Sensoriamento { get; set; } = new OperacaoSensoriamentoModel();
public List<OperacaoSensoriamentoModel> Logs { get; set; } = new List<OperacaoSensoriamentoModel>();
public List<GPSModel> GPSTrajetoria { get; set; } = new List<GPSModel>();
@ -120,12 +120,12 @@ namespace AgroBase.Models
{
AtuacoesPorBico = new List<int>(),
BateriaConsumida = 0,
DistanciaPercorrida = 0,
DistanciaPercorrida = new List<double>(),
ErvasIdentificadas = 0,
ErvasNoRadar = 0,
HerbicidaConsumido = 0,
HerbicidaPorErva = 0,
ProgressoPercurso = 0,
ProgressoTrajeto = 0,
VelocidadeMedia = 0,
DistanciaDireita = 0,
DistanciaEsquerda = 0,
@ -178,8 +178,8 @@ namespace AgroBase.Models
},
};
break;
case ModoOperacao.SeguidorDeLinha:
OperacaoCarregar.frmOperacao = new frmOperacaoSeguidorLinha();
case ModoOperacao.MapaGPS:
OperacaoCarregar.frmOperacao = new frmOperacaoMapaGPS();
OperacaoCarregar.Controle = new OperacaoControleModel()
{
RPM_Max = 45,
@ -229,6 +229,16 @@ namespace AgroBase.Models
Dispositivo = T_Code.Atu,
Mandatorio = true,
},
new OperacaoModulosMandatoriosModel()
{
Dispositivo = T_Code.Gps,
Mandatorio = true,
},
new OperacaoModulosMandatoriosModel()
{
Dispositivo = T_Code.Sen,
Mandatorio = false,
}
};
break;
}
@ -246,9 +256,9 @@ namespace AgroBase.Models
public static void SalvarOperacaoPersonalizada(OperacaoModel Operacao)
{
Operacao.frmOperacaoNome = Operacao.frmOperacao.Name;
Form frm = Operacao.frmOperacao;
Operacao.frmOperacao = null;
Operacao.frmOperacaoNome = frm.Name;
File.WriteAllText("operacao" + Enum.GetName(typeof(ModoOperacao), Operacao.Modo) + ".opr", JsonConvert.SerializeObject(Operacao));
@ -378,7 +388,12 @@ namespace AgroBase.Models
}
Sensoriamento.VelocidadeMedia = DispMov.Dados.Motores.Average(x => x.VelocidadeInstantanea);
//Sensoriamento.DistanciaPercorrida = DispMov.Dados.DistanciaPercorridaOperacao;
Sensoriamento.ProgressoPercurso = Mapa == null ? 0 : Sensoriamento.DistanciaPercorrida / Mapa.DistanciaTotal * 100;
Sensoriamento.ProgressoTrajeto = Mapa == null ? 0 : Sensoriamento.DistanciaPercorrida.Sum() / Mapa.DistanciaTotal * 100;
Sensoriamento.ProgressoRua =
Mapa == null ? 0 :
(ReferencialRuaGPS.Direcao == DirecaoCarroRua.Ida ? ((double)ReferencialRuaGPS.IdxPontoAproximadoRua / (double)(Mapa.Trajetoria[Mapa.IdxRuaAtual].Count - 1)) :
ReferencialRuaGPS.Direcao == DirecaoCarroRua.Volta ? ((double)(Mapa.Trajetoria[Mapa.IdxRuaAtual].Count - 1 - ReferencialRuaGPS.IdxPontoAproximadoRua) / (double)(Mapa.Trajetoria[Mapa.IdxRuaAtual].Count - 1)) :
0) * 100;
}
public List<string> EnviarProtocoloComando(IDispositivosService Dispositivo)
@ -452,7 +467,7 @@ namespace AgroBase.Models
ErvasNoRadar = Sensoriamento.ErvasNoRadar,
HerbicidaConsumido = Sensoriamento.HerbicidaConsumido,
HerbicidaPorErva = Sensoriamento.HerbicidaPorErva,
ProgressoPercurso = Sensoriamento.ProgressoPercurso,
ProgressoTrajeto = Sensoriamento.ProgressoTrajeto,
VelocidadeMedia = Sensoriamento.VelocidadeMedia
});
File.WriteAllText(PastaSaida + ID + "/logs.json", JsonConvert.SerializeObject(Logs, Formatting.None));
@ -469,21 +484,20 @@ namespace AgroBase.Models
});
if (GPSTrajetoria.Count > 1)
{
if (ReferencialRuaGPS.DentroDaRua)
if (ReferencialRuaGPS.DentroDaRua || true)
{
Sensoriamento.DistanciaPercorrida += GPSService.DistanciaEntrePontos(GPSTrajetoria[GPSTrajetoria.Count - 1], GPSTrajetoria[GPSTrajetoria.Count - 2]);
if (Mapa.IdxRuaAtual > Sensoriamento.DistanciaPercorrida.Count - 1)
{
Sensoriamento.DistanciaPercorrida.Add(0);
}
Sensoriamento.DistanciaPercorrida[Mapa.IdxRuaAtual] += GPSService.DistanciaEntrePontos(GPSTrajetoria[GPSTrajetoria.Count - 1], GPSTrajetoria[GPSTrajetoria.Count - 2]);
//Sensoriamento.DistanciaPercorrida[Mapa.IdxRuaAtual] = GPSService.DistanciaEntrePontos(Mapa.Trajetoria[Mapa.IdxRuaAtual][0], Mapa.Trajetoria[Mapa.IdxRuaAtual][ReferencialRuaGPS.IdxPontoAproximadoRua]);
}
}
File.WriteAllText(PastaSaida + ID + "/trajetoria.json", JsonConvert.SerializeObject(GPSTrajetoria, Formatting.None));
}
public void AtualizarEtapa()
{
}
public void CalculaDadosMovimentacaoAutonoma()
{
@ -550,8 +564,9 @@ namespace AgroBase.Models
public double BateriaConsumida { get; set; } = 0;
public int ErvasIdentificadas { get; set; } = 0;
public List<int> AtuacoesPorBico { get; set; } = new List<int>();
public double DistanciaPercorrida { get; set; } = 0;
public double ProgressoPercurso { get; set; } = 0;
public List<double> DistanciaPercorrida { get; set; } = new List<double>();
public double ProgressoTrajeto { get; set; } = 0;
public double ProgressoRua { get; set; } = 0;
public double DistanciaEsquerda { get; set; } = 0;
public double DistanciaDireita { get; set; } = 0;
}
@ -595,18 +610,20 @@ namespace AgroBase.Models
{
Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++;
ManobraConcluida = false;
etapaAtual = StatusOperacao.EntrandoRua;
Task.Delay(500);
}
}
// Se o robô não estiver dentro da entrelinha de cana
else if (!DentroDaRua)
{
// Está mais próximo do ponto inicial da rota, e a direção do carro é IDA ou então PARADO, logo está entrando na rua, do começo para o final
if (PontoMaisProximo == 0 && (Direcao == DirecaoCarroRua.Ida || Direcao == DirecaoCarroRua.Parado))
if (ExtremoMaisProximo == 0 && (Direcao == DirecaoCarroRua.Ida || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusOperacao.SaindoRua)
{
etapaAtual = StatusOperacao.EntrandoRua;
}
// Está mais próximo do ponto final da rota, e a direção do carro é VOLTA ou então PARADO, logo está entrando na rua, do final para o começo
else if (PontoMaisProximo == 1 && (Direcao == DirecaoCarroRua.Volta || Direcao == DirecaoCarroRua.Parado))
else if (ExtremoMaisProximo == 1 && (Direcao == DirecaoCarroRua.Volta || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusOperacao.SaindoRua)
{
etapaAtual = StatusOperacao.EntrandoRua;
}
@ -666,7 +683,7 @@ namespace AgroBase.Models
}
double mediaAngulo = somaAngulo / (Pontos.Count - 1);
return (mediaAngulo == double.NaN) ? 0 : mediaAngulo;
return (!(mediaAngulo >= 0 || mediaAngulo <= 0)) ? 0 : mediaAngulo;
}
catch
{
@ -682,17 +699,24 @@ namespace AgroBase.Models
{
double somaAnguloRua = 0;
var Rua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First();
var PontosRua = Rua.Count > PontosConsiderarAngulo ?
var PontosRua = IdxPontoAproximadoRua + PontosConsiderarAngulo < Rua.Count ?
Rua.Skip(IdxPontoAproximadoRua).Take(PontosConsiderarAngulo).ToList() :
Rua.Skip(PontosConsiderarAngulo).Take(IdxPontoAproximadoRua).ToList();
/*var Pontos = Rua.Count > PontosConsiderarAngulo ?
Rua.OrderByDescending(x => x.DataHora).Take(PontosConsiderarAngulo).ToList() :
Rua.OrderByDescending(x => x.DataHora).ToList();
PontosRua = PontosRua.OrderBy(x => x.DataHora).ToList();
Rua.OrderByDescending(x => x.DataHora).ToList();*/
for (int i = 0; i < PontosRua.Count - 1; i++)
{
somaAnguloRua += GPSService.CalcularOrientacao(PontosRua[i + 1], PontosRua[i]);
}
double mediaAnguloRua = somaAnguloRua / (PontosRua.Count - 1);
return (mediaAnguloRua == double.NaN) ? 0 : mediaAnguloRua;
return (!(mediaAnguloRua >= 0 || mediaAnguloRua <= 0)) ? 0 : mediaAnguloRua;
}
catch
{
@ -704,7 +728,7 @@ namespace AgroBase.Models
{
get
{
double MargemErroAngulo = 5;
double MargemErroAngulo = 45;
double mediaAngulo = AnguloCarro;
double anguloOposto = (mediaAngulo + 180) % 360;
@ -728,81 +752,105 @@ namespace AgroBase.Models
{
get
{
var primeiroPontoRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First().First();
return primeiroPontoRua;
try
{
var primeiroPontoRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First().First();
return primeiroPontoRua;
}
catch
{
return new GPSModel();
}
}
}
public GPSModel UltimoPontoRua
{
get
{
var ultimoPontoRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First().Last();
return ultimoPontoRua;
try
{
var ultimoPontoRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First().Last();
return ultimoPontoRua;
}
catch
{
return new GPSModel();
}
}
}
public bool DentroDaRua
{
get
{
double MargemErroAngulo = 15;
double ToleranciaDistanciaRua = 1;
// Calcula a distância até o ponto de início e fim
double angRua = AnguloRua;
double distPP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PrimeiroPontoRua);
double angPP = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, PrimeiroPontoRua);
double angPPO = (angPP + 180) % 360;
/*if ((angPP + MargemErroAngulo) >= angRua && (angPP - MargemErroAngulo) <= angRua)
try
{
distPP = distPP * -1;
}
else */if ((angPPO + MargemErroAngulo) >= angRua && (angPPO - MargemErroAngulo) <= angRua)
{
distPP = distPP * -1;
}
double MargemErroAngulo = 15;
double ToleranciaDistanciaRua = 1;
double distUP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, UltimoPontoRua);
double angUP = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, UltimoPontoRua);
double angUPO = (angUP + 180) % 360;
if ((angUP + MargemErroAngulo) >= angRua && (angUP - MargemErroAngulo) <= angRua)
{
distUP = distUP * -1;
}
// Calcula a distância até o ponto de início e fim
double angRua = AnguloRua;
var Rua = Variaveis.OperacaoEmAndamento.Mapa.mapaService.DadosMapa.features.Skip(Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual).First();
// Calcula a diferença entre a soma das distâncias e a distância real entre os pontos
double diferencaDistancia = (distPP + distUP) - Rua.properties.Length;
bool dentro = false;
if (distPP > Rua.properties.Length || distUP > Rua.properties.Length)
{
dentro = false;
}
else
{
dentro = true;
}
// Verifica se a diferença é menor ou igual à tolerância
/*dentro = diferencaDistancia <= ToleranciaDistanciaRua;
if (dentro)
{
if (distPP > Rua.properties.Length || distUP > Rua.properties.Length)
double distPP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PrimeiroPontoRua);
double angPP = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, PrimeiroPontoRua);
double angPPO = (angPP + 180) % 360;
/*if ((angPP + MargemErroAngulo) >= angRua && (angPP - MargemErroAngulo) <= angRua)
{
dentro = false;
distPP = distPP * -1;
}
else */
if ((angPPO + MargemErroAngulo) >= angRua && (angPPO - MargemErroAngulo) <= angRua)
{
distPP = distPP * -1;
}
double distUP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, UltimoPontoRua);
double angUP = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, UltimoPontoRua);
double angUPO = (angUP + 180) % 360;
if ((angUP + MargemErroAngulo) >= angRua && (angUP - MargemErroAngulo) <= angRua)
{
distUP = distUP * -1;
}
string IDruaAtual = Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual];
var Rua = Variaveis.OperacaoEmAndamento.Mapa.mapaService.DadosMapa.features.Where(x => x.geometry.id == IDruaAtual).First();
// Calcula a diferença entre a soma das distâncias e a distância real entre os pontos
double diferencaDistancia = (distPP + distUP) - Rua.properties.Length;
bool dentro = false;
//double DistanciaPercorridaRua = Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Count - 1 >= Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual ? Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual] : 0;
if (distPP > Rua.properties.Length || distUP > Rua.properties.Length/* || DistanciaPercorridaRua > Rua.properties.Length*/)
{
List<GPSModel> Trecho = new List<GPSModel>();
var PontosRua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].ToList();
int idx = Variaveis.OperacaoEmAndamento.ReferencialRuaGPS.IdxPontoAproximadoRua;
if (Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual % 2 != 0)
{
PontosRua.Reverse();
idx = (PontosRua.Count - 1) - idx;
}
for (int i = 0; i <= idx; i++)
{
Trecho.Add(PontosRua[i]);
}
double d = GPSService.DistanciaDoTrecho(Trecho);
dentro = d < Rua.properties.Length;
}
else
{
dentro = true;
}
}*/
return dentro;
return dentro;
}
catch
{
return false;
}
}
}
public int PontoMaisProximo {
public int ExtremoMaisProximo {
get
{
double distPP = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PrimeiroPontoRua);
@ -813,6 +861,53 @@ namespace AgroBase.Models
return (distPP < distUP) ? 0 : 1;
}
}
private DateTime UltimaLeituraDistancia;
private int idxPontoAproximadoRua = 0;
public int IdxPontoAproximadoRua
{
get
{
try
{
if (UltimaLeituraDistancia == null)
{
UltimaLeituraDistancia = DateTime.Now.Add(new TimeSpan(0, 0, -10));
}
else if (UltimaLeituraDistancia.Add(new TimeSpan(0, 0, 5)) < DateTime.Now)
{
int idx = -1;
double menorDistancia = 9999;
double distanciaAnterior = 9999;
var Rua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual];
foreach (var Ponto in Rua)
{
double dist = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, Ponto);
if (dist < menorDistancia)
{
menorDistancia = dist;
idx = Rua.IndexOf(Ponto);
}
else if (dist > distanciaAnterior)
{
break;
}
distanciaAnterior = dist;
}
idxPontoAproximadoRua = idx;
UltimaLeituraDistancia = DateTime.Now;
}
}
catch
{
}
return idxPontoAproximadoRua;
}
}
}
}

15
AgroBase/AgroBase/Python/Scripts/map-load.py
View File

@ -150,6 +150,7 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
var novaPosicao = [novaLatitude, novaLongitude];
marcadorDinamico.setLatLng(novaPosicao);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
{id_mapa}.setView(novaPosicao, {id_mapa}.getZoom());
}})
.catch(function(error) {{
console.error('Erro ao atualizar o marcador:', error);
@ -199,7 +200,19 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
RuasSelecionadas.push(feature.id);
}
enviarSelecaoParaServidor();
}
}/*, mouseover: function(e) {
// Mostrar tooltip com o ID da geometria quando o mouse passar sobre a linha
var tooltip = L.tooltip({
direction: 'auto', // Leaflet determina a melhor posição
sticky: true // Faz com que o tooltip siga o cursor do mouse
})
.setContent('Rua ' + feature.id); // Define o conteúdo do tooltip
// Abre o tooltip na posição atual do mouse
var latLng = e.latlng;
tooltip.setLatLng(latLng);
layer.bindTooltip(tooltip).openTooltip(latLng);
}*/
"""
# Inserir o script no conteúdo HTML

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

@ -41,7 +41,7 @@ namespace AgroBase.Services
public static void Parar()
{
if (pythonProcess != null)
if (pythonProcess != null && !pythonProcess.HasExited)
{
pythonProcess.Kill();
pythonProcess = null;

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

@ -26,7 +26,7 @@ namespace AgroBase.Services
public string URLcamera = "";
public void IniciarCamera(string Script, string[] Argumentos, string FlaskPorta = "8080", string FlaskUrl = "video_feed", string SocketPorta = "6535")
public void IniciarCamera(string Script, string[] Argumentos, string FlaskPorta, string FlaskUrl, bool AtivaSocket, string SocketPorta)
{
pythonProcess = PythonService.RunScript(Script, Argumentos);
@ -36,7 +36,10 @@ namespace AgroBase.Services
"&camera_index=" + (selectedCamera - 1);
socket = new SocketService<T>();
socket.Connect(Endereco, Convert.ToInt32(SocketPorta));
if (AtivaSocket)
{
socket.Connect(Endereco, Convert.ToInt32(SocketPorta));
}
}
public T AferirDadosJson()

12
AgroBase/AgroBase/Services/GPSService.cs
View File

@ -220,11 +220,21 @@ namespace AgroBase.Services
// Converter para centímetros
distance = distance * 1000;
//distance = distance * 1.23;
//distance = distance * 0.5;
return distance;
}
public static double DistanciaDoTrecho(List<GPSModel> Trecho)
{
double d = 0;
for (int i = 0; i < Trecho.Count - 1; i++)
{
d += DistanciaEntrePontos(Trecho[i], Trecho[i + 1]);
}
return d;
}
private static double ToRadians(double angle)
{
return Math.PI / 180 * angle;

15
AgroBase/AgroBase/Services/PythonService.cs
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@ -20,6 +20,8 @@ namespace AgroBase.Services
public static string ScriptLineAngle = "line-angle2.py";
public static string ScriptMapGPS = "gps-viewer.py";
private static List<Process> processosIniciados = new List<Process>();
public static Process RunScript(string Script, string[] Argumentos)
{
string ScriptPath = CaminhoGeral + CaminhoScripts + Script;
@ -37,7 +39,20 @@ namespace AgroBase.Services
pythonProcess.Start();
processosIniciados.Add(pythonProcess);
return pythonProcess;
}
public static void EncerrarProcessos()
{
foreach (var processo in processosIniciados)
{
if (!processo.HasExited)
{
processo.Kill();
}
}
}
}
}

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@ -0,0 +1 @@
[{"Momento":"2024-03-01T09:09:57.8137003-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":0,"AtuacoesPorBico":[0,0,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-03-01T09:10:02.8084175-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":0,"AtuacoesPorBico":[0,0,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-03-01T09:10:07.8100685-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":0,"AtuacoesPorBico":[0,0,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-03-01T09:10:28.8672806-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":0,"AtuacoesPorBico":[0,0,0,0],"DistanciaPercorrida":15.532164373823042,"ProgressoPercurso":71.3003367622132,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0}]

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@ -0,0 +1 @@
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{"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
);
tile_layer_a382cd40896d6e88811a40b8cc1d42a4.addTo(map_3b0c6522e8b2b766a4b6db765a779052);
var trajetosSelecionados = {};
var RuasSelecionadas = [];
function enviarSelecaoParaServidor() {
fetch('http://localhost:5001/receber-ruas-selecionadas', {
method: 'POST',
headers: {
'Content-Type': 'application/json',
},
body: JSON.stringify({ids: RuasSelecionadas}),
})
.then(response => response.json())
.then(data => console.log('Sucesso:', data))
.catch((error) => console.error('Erro:', error));
}
function geo_json_322d80ba4e959c0d940afbc25fc810a6_onEachFeature(feature, layer) {
layer.on({
click: function(e) {
// Verificar se o trajeto j<> est<73> selecionado
if (trajetosSelecionados[feature.id]) {
// Se j<> est<73> selecionado, reverta para a cor original e remova da sele<6C><65>o
e.target.setStyle({
color: '#3388ff' // Cor original
});
delete trajetosSelecionados[feature.id];
RuasSelecionadas.splice(RuasSelecionadas.indexOf(feature.id), 1);
} else {
// Se n<>o est<73> selecionado, mude a cor para indicar sele<6C><65>o e adicione ao objeto de sele<6C><65>o
e.target.setStyle({
color: 'blue' // Cor de sele<6C><65>o
});
trajetosSelecionados[feature.id] = true;
RuasSelecionadas.push(feature.id);
}
enviarSelecaoParaServidor();
},
/*mouseover: function(e) {
// Mostrar tooltip com o ID da geometria quando o mouse passar sobre a linha
var tooltip = L.tooltip({
direction: 'auto', // Leaflet determina a melhor posição
sticky: true // Faz com que o tooltip siga o cursor do mouse
})
.setContent('ID: ' + feature.id); // Define o conteúdo do tooltip
// Abre o tooltip na posição atual do mouse
var latLng = e.latlng;
tooltip.setLatLng(latLng);
layer.bindTooltip(tooltip).openTooltip(latLng);
}*/
});
// Verifique se a linha tem pontos
if (feature.geometry.coordinates.length > 0) {
// Obtenha o primeiro ponto da linha
var primeiroPonto = feature.geometry.coordinates[0];
var latLng = L.latLng(primeiroPonto[1], primeiroPonto[0]); // Converte coordenadas para formato Leaflet
// Crie um ícone personalizado que vai conter o ID da geometria
var iconePersonalizado = L.divIcon({
className: 'texto-id-geometria', // Uma classe CSS para estilização
html: 'R ' + feature.id, // O texto a ser exibido
iconSize: [100, 20] // Ajuste conforme necessário
});
// Crie um marcador com este ícone no primeiro ponto da linha
L.marker(latLng, {icon: iconePersonalizado}).addTo(map_3b0c6522e8b2b766a4b6db765a779052);
}
};
var geo_json_322d80ba4e959c0d940afbc25fc810a6 = L.geoJson(null, {
onEachFeature: geo_json_322d80ba4e959c0d940afbc25fc810a6_onEachFeature,
});
function geo_json_322d80ba4e959c0d940afbc25fc810a6_add (data) {
geo_json_322d80ba4e959c0d940afbc25fc810a6
.addData(data);
}
geo_json_322d80ba4e959c0d940afbc25fc810a6_add({"features": [{"geometry": {"coordinates": [[-47.264037338109766, -22.339524535994332], [-47.26401766184665, -22.339560540751183], [-47.26400872414079, -22.339576970425245], [-47.26399979993972, -22.339593449992105], [-47.263990889109174, -22.339609979349202], [-47.26398199151551, -22.33962655838882], [-47.26397310702327, -22.33964318700223], [-47.26396423549601, -22.33965986507852], [-47.26394301077209, -22.339699942622605]], "type": "LineString"}, "id": "0", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 21.724783283, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.26401505555521, -22.339505666408137], [-47.26400067261975, -22.339531864331477], [-47.26399169682811, -22.339548288742588], [-47.26398273497559, -22.339564762798126], [-47.26397378692751, -22.339581286395244], [-47.263964852547424, -22.339597859430143], [-47.263955931699435, -22.339614481793877], [-47.2639470242459, -22.339631153376615], [-47.263938130048174, -22.339647874066152], [-47.26392924896685, -22.339664643747486], [-47.26392038086145, -22.33968146230347], [-47.263911525590025, -22.339698329615363], [-47.263902683009505, -22.339715245562264], [-47.26389385297623, -22.339732210019946], [-47.26388503534517, -22.33974922286274], [-47.26387622996941, -22.339766283963925], [-47.263867436701474, -22.33978339319349], [-47.26385865539275, -22.339800550419387], [-47.26384988589236, -22.339817755509237], [-47.26384112804865, -22.339835008327928], [-47.26383238170916, -22.339852308737367], [-47.26382364672, -22.339869656597674], [-47.263814922781556, -22.33988705205511], [-47.263806203316406, -22.33990450781026], [-47.26379747315636, -22.339922053442546], [-47.2637887225622, -22.339939707172757], [-47.26377244144222, -22.339972674804095]], "type": "LineString"}, "id": "1", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 57.457315127, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.26399273250813, -22.339486780512566], [-47.26397473205404, -22.3395195675868], [-47.263965731813826, -22.339536036729378], [-47.26395674581463, -22.339552555166417], [-47.26394777391955, -22.33956912279381], [-47.263938815989896, -22.339585739506486], [-47.263929871887576, -22.339602405194356], [-47.26392094147274, -22.33961911974636], [-47.26391202460452, -22.339635883049215], [-47.26390312114139, -22.33965269498672], [-47.26389423094067, -22.339669555440707], [-47.263885353858264, -22.339686464291287], [-47.26387648974896, -22.339703421416548], [-47.26386763846704, -22.339720426691283], [-47.263858799865226, -22.339737479988795], [-47.26384997379459, -22.33975458118134], [-47.263841160105585, -22.339771730138086], [-47.26383235864748, -22.33978892672588], [-47.26382356926737, -22.339806170811546], [-47.26381479181156, -22.339823462259098], [-47.26380602612555, -22.339840800929505], [-47.263797272053445, -22.339858186682097], [-47.263788529295276, -22.33987561965904], [-47.263779791344525, -22.33989311241416], [-47.26377104319843, -22.339910694187278], [-47.263762275217445, -22.339928382987218], [-47.26375348622338, -22.339946179811562], [-47.26374467563728, -22.33996408441948], [-47.26373584286757, -22.339982096561368], [-47.26372698731078, -22.340000215977238], [-47.26371810834943, -22.340018442401146], [-47.26370920535378, -22.34003677555744], [-47.263700277681515, -22.340055215161392], [-47.26369132467555, -22.340073760923875], [-47.26368183569953, -22.34009347187321], [-47.26367284885811, -22.340112192618236], [-47.26366384001703, -22.340131007045898], [-47.263654802943414, -22.3401499263258], [-47.263645736917645, -22.340168950139933], [-47.263636641211335, -22.340188078153293], [-47.26362751507855, -22.340207310032113], [-47.26361835776083, -22.34022664543335], [-47.26360916848614, -22.340246084006974], [-47.26359994646731, -22.340265625399184], [-47.26359069090416, -22.340285269247953], [-47.263581400981245, -22.340305015187877], [-47.26357207586976, -22.340324862845815], [-47.2635627147274, -22.340344811841895], [-47.26355331669495, -22.340364861795894], [-47.263543880900556, -22.34038501231867], [-47.263534406459335, -22.340405263013295], [-47.26352489246875, -22.34042561348399], [-47.26351288292504, -22.340451318065195]], "type": "LineString"}, "id": "2", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 117.746736119, "Name": "Projeto"}, "type": "Feature"}], "type": "FeatureCollection"});
geo_json_322d80ba4e959c0d940afbc25fc810a6.addTo(map_3b0c6522e8b2b766a4b6db765a779052);
</script>
<script>
function trajeto_json_onEachFeature(feature, layer) {
layer.on({
});
};
var trajeto_json = L.geoJson(null, {
onEachFeature: trajeto_json_onEachFeature,
style: function(feature) {
return {color: 'red'};
}
}
);
function trajeto_json_add (data) {
trajeto_json.addData(data);
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_3b0c6522e8b2b766a4b6db765a779052);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
}
function saoCoordenadasIguais(coord1, coord2, tolerancia) {
return Math.abs(coord1[0] - coord2[0]) < tolerancia && Math.abs(coord1[1] - coord2[1]) < tolerancia;
}
function adicionarCoordenada(idGeometria, novaCoordenada) {
var feature = trajeto_json.toGeoJSON().features.find(f => f.id === idGeometria);
if (feature) {
var ultima = [0.0,0.0];
if (feature.geometry.coordinates.length > 0) {
ultima = feature.geometry.coordinates[feature.geometry.coordinates.length - 1];
}
if (!saoCoordenadasIguais(ultima, novaCoordenada, 0.000001)) {
feature.geometry.coordinates.push(novaCoordenada);
var ft = feature;
trajeto_json.clearLayers();
trajeto_json.addData(ft);
}
} else {
console.log("Feature com ID " + idGeometria + " n<>o encontrada.");
}
}
adicionarGeometria({
"type": "Feature",
"geometry": {
"type": "LineString",
"coordinates": []
},
"properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 21.724783283, "Name": "Projeto"},
"id": "Tj"
});
</script>
<script>
var marcadorDinamico = L.marker([0, 0], {
icon: L.AwesomeMarkers.icon({
icon: 'info-sign',
markerColor: 'red',
prefix: 'glyphicon'
})
}).addTo(map_3b0c6522e8b2b766a4b6db765a779052);
function atualizarMarcador() {
fetch('http://localhost:5001/servir-coordenadas/1')
.then(function(response) {
return response.json();
})
.then(function(dados) {
var novaLatitude = dados.latitude;
var novaLongitude = dados.longitude;
var novaPosicao = [novaLatitude, novaLongitude];
marcadorDinamico.setLatLng(novaPosicao);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
})
.catch(function(error) {
console.error('Erro ao atualizar o marcador:', error);
});
}
// Atualiza o marcador a cada 2 segundos
setInterval(atualizarMarcador, 2000);
</script>
</html>

45
AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
View File

File diff suppressed because one or more lines are too long

15
AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py
View File

@ -150,6 +150,7 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
var novaPosicao = [novaLatitude, novaLongitude];
marcadorDinamico.setLatLng(novaPosicao);
adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
{id_mapa}.setView(novaPosicao, {id_mapa}.getZoom());
}})
.catch(function(error) {{
console.error('Erro ao atualizar o marcador:', error);
@ -199,7 +200,19 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
RuasSelecionadas.push(feature.id);
}
enviarSelecaoParaServidor();
}
}/*, mouseover: function(e) {
// Mostrar tooltip com o ID da geometria quando o mouse passar sobre a linha
var tooltip = L.tooltip({
direction: 'auto', // Leaflet determina a melhor posição
sticky: true // Faz com que o tooltip siga o cursor do mouse
})
.setContent('Rua ' + feature.id); // Define o conteúdo do tooltip
// Abre o tooltip na posição atual do mouse
var latLng = e.latlng;
tooltip.setLatLng(latLng);
layer.bindTooltip(tooltip).openTooltip(latLng);
}*/
"""
# Inserir o script no conteúdo HTML

1
AgroBase/AgroBase/bin/Debug/operacaoMapaGPS.opr Normal file
View File

@ -0,0 +1 @@
{"tmrLogs":{"Tag":null,"Enabled":false,"Interval":5000,"Site":null,"Container":null},"tmrParametrizacao":{"Tag":null,"Enabled":true,"Interval":1000,"Site":null,"Container":null},"Modo":2,"DispMov":null,"DispDir":null,"DispAtu":null,"Mapa":{"chromiumWebBrowser":null,"pnlMapa":null,"lblMapa":null,"mapaService":{"pythonProcess":null,"NomeArquivoMapa":"","NomeArquivos":"","CaminhoMapa":"","ArquivoSaida":"","MapaUrl":"","CaminhoDadosMapa":"","DadosMapa":null},"Trajetoria":[],"RuasPercorrer":[],"IdxRuaAtual":0,"DistanciaTotal":0.0},"frmOperacao":null,"frmOperacaoNome":"frmOperacaoMapaGPS","Iniciado":false,"TimestampInicio":0,"TimestampFim":0,"Tempo":"00:00:00","Controle":{"RPM_Max":45,"RPM_Min":15,"Angulo_Max":30.0,"Angulo_Min":-30.0,"Angulo":0.0,"RPM":0,"Direcao":0,"VelocidadeMP":50.0,"BicosAtuados":[],"TiposControle":[{"Tipo":100,"DelayEnvioComando":500,"UltimoComando":"2024-03-01T09:02:55.9872502-03:00","Comandos":[]},{"Tipo":101,"DelayEnvioComando":1000,"UltimoComando":"2024-03-01T09:02:55.9872502-03:00","Comandos":[]},{"Tipo":103,"DelayEnvioComando":100,"UltimoComando":"2024-03-01T09:02:55.9872502-03:00","Comandos":[]}]},"ControleAnterior":{"RPM_Max":45,"RPM_Min":15,"Angulo_Max":30.0,"Angulo_Min":-30.0,"Angulo":0.0,"RPM":0,"Direcao":0,"VelocidadeMP":50.0,"BicosAtuados":[],"TiposControle":null},"ModulosMandatorios":[{"Dispositivo":100,"Mandatorio":true,"Utilizar":true,"Conectado":false},{"Dispositivo":101,"Mandatorio":true,"Utilizar":true,"Conectado":false},{"Dispositivo":103,"Mandatorio":true,"Utilizar":true,"Conectado":false},{"Dispositivo":104,"Mandatorio":true,"Utilizar":true,"Conectado":false},{"Dispositivo":102,"Mandatorio":false,"Utilizar":true,"Conectado":false}],"Sensoriamento":{"Momento":"0001-01-01T00:00:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"PorcentagemBateria":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":0,"AtuacoesPorBico":[],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},"Logs":[],"GPSTrajetoria":[],"ReferencialRuaGPS":{"ManobraConcluida":false,"StatusAtual":1,"PontosConsiderarAngulo":2,"Distancia":0.0,"AnguloCarro":0.0,"AnguloRua":0.0,"Direcao":1,"PrimeiroPontoRua":{"Latitude":0.0,"Longitude":0.0,"DataHora":"0001-01-01T00:00:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":0.0},"UltimoPontoRua":{"Latitude":0.0,"Longitude":0.0,"DataHora":"0001-01-01T00:00:00","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":0.0,"Orientacao":0.0},"DentroDaRua":false,"PontoMaisProximo":1},"TempoIniciarOperacao":10,"PastaSaida":"Operacoes/","ID":null}

1207
AgroBase/AgroBase/bin/Debug/trajetoFakeGps.json
View File

File diff suppressed because it is too large Load Diff

0
AgroBase/AgroBase/obj/Debug/AgroBase.Forms.Operacoes.frmOperacaoSeguidorLinha.resources → AgroBase/AgroBase/obj/Debug/AgroBase.Forms.Operacoes.frmOperacaoMapaGPS.resources
View File

2
AgroBase/AgroBase/obj/Debug/AgroBase.csproj.CoreCompileInputs.cache
View File

@ -1 +1 @@
34d3ac2f5f9f7d9ebbd9347a15a7e200bdba0f7644c8b3c44ce75579b5cf120b
f3c91e679ef901159231aa656fdbb05ccf5996f42b0b0deead2e4b9aca1e2268

80
AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt
View File

@ -186,12 +186,13 @@ C:\Zendion Inc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\line-angl
C:\Zendion Inc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\line-angle2.py
C:\Zendion Inc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.Forms.Operacoes.frmOperacaoSeguidorLinha.resources
C:\Zendion Inc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.Forms.Atuador.frmAtuConfig.resources
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\coco.names
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\yolov3.cfg
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\yolov3.weights
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.AssemblyReference.cache
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\CefSharp.Core.Runtime.dll
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\CefSharp.Core.Runtime.pdb
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\CefSharp.Core.Runtime.xml
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\coco.names
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\yolov3.cfg
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\yolov3.weights
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\chrome_100_percent.pak
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\chrome_200_percent.pak
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\chrome_elf.dll
@ -266,18 +267,43 @@ C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\vulkan-1.dll
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\CefSharp.BrowserSubprocess.Core.dll
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\CefSharp.BrowserSubprocess.Core.pdb
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\CefSharp.BrowserSubprocess.pdb
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\hrnetv2.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\mobilenetv2.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\resnet.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\xception.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\__init__.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\modeling.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\utils.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\_deeplab.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\__init__.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\api.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\street-detector.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\weed-detector.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\coco-tiny.names
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\yolov3-tiny.cfg
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\yolov3-tiny.weights
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\yolov3-weed.weights
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\yolo\crop_weed_detection.weights
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\gps-viewer.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\green-detector.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\line-angle.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\line-angle2.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\map-load.py
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\__pycache__\hrnetv2.cpython-311.pyc
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\__pycache__\mobilenetv2.cpython-311.pyc
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Models\deeplabv3plus\backbone\__pycache__\resnet.cpython-311.pyc
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@ -300,6 +326,9 @@ C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\System.Text.Json.dll
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