diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/49bb7dac-7e71-44d6-ba04-740ccab65fa4.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/af5a41fa-a178-4e5c-b99e-7c060c47d323.vsidx similarity index 61% rename from AgroBase/.vs/AgroBase/FileContentIndex/49bb7dac-7e71-44d6-ba04-740ccab65fa4.vsidx rename to AgroBase/.vs/AgroBase/FileContentIndex/af5a41fa-a178-4e5c-b99e-7c060c47d323.vsidx index d8bcc8c3c..d945cc34f 100644 Binary files a/AgroBase/.vs/AgroBase/FileContentIndex/49bb7dac-7e71-44d6-ba04-740ccab65fa4.vsidx and b/AgroBase/.vs/AgroBase/FileContentIndex/af5a41fa-a178-4e5c-b99e-7c060c47d323.vsidx differ diff --git a/AgroBase/.vs/AgroBase/v17/.suo b/AgroBase/.vs/AgroBase/v17/.suo index 4c558bb1d..171215baf 100644 Binary files a/AgroBase/.vs/AgroBase/v17/.suo and b/AgroBase/.vs/AgroBase/v17/.suo differ diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs index da8ece932..2e8eaadef 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs @@ -100,20 +100,20 @@ this.tabDirecional = new System.Windows.Forms.TabPage(); this.txtDIR_Status_DT = new System.Windows.Forms.TextBox(); this.label126 = new System.Windows.Forms.Label(); - this.txtDIR_AgPot_DT = new System.Windows.Forms.TextBox(); - this.lblDIR_AgPot_DT = new System.Windows.Forms.Label(); + this.txtDIR_Folga_DT = new System.Windows.Forms.TextBox(); + this.lblDIR_Folga_DT = new System.Windows.Forms.Label(); this.txtDIR_Status_ET = new System.Windows.Forms.TextBox(); this.label124 = new System.Windows.Forms.Label(); - this.txtDIR_AgPot_ET = new System.Windows.Forms.TextBox(); - this.lblDIR_AgPot_ET = new System.Windows.Forms.Label(); + this.txtDIR_Folga_ET = new System.Windows.Forms.TextBox(); + this.lblDIR_Folga_ET = new System.Windows.Forms.Label(); this.txtDIR_Status_DF = new System.Windows.Forms.TextBox(); this.label122 = new System.Windows.Forms.Label(); - this.txtDIR_AgPot_DF = new System.Windows.Forms.TextBox(); - this.lblDIR_AgPot_DF = new System.Windows.Forms.Label(); + this.txtDIR_Folga_DF = new System.Windows.Forms.TextBox(); + this.lblDIR_Folga_DF = new System.Windows.Forms.Label(); this.txtDIR_Status_EF = new System.Windows.Forms.TextBox(); this.label78 = new System.Windows.Forms.Label(); - this.txtDIR_AgPot_EF = new System.Windows.Forms.TextBox(); - this.lblDIR_AgPot_EF = new System.Windows.Forms.Label(); + this.txtDIR_Folga_EF = new System.Windows.Forms.TextBox(); + this.lblDIR_Folga_EF = new System.Windows.Forms.Label(); this.txtDIR_Controlar_ET = new System.Windows.Forms.TextBox(); this.label39 = new System.Windows.Forms.Label(); this.txtDIR_Velocidade_ET = new System.Windows.Forms.TextBox(); @@ -383,6 +383,18 @@ this.txtSonarDistanciaObstaculo = new System.Windows.Forms.TextBox(); this.label97 = new System.Windows.Forms.Label(); this.tabSegmentacao = new System.Windows.Forms.TabPage(); + this.txtTempoManobrando = new System.Windows.Forms.TextBox(); + this.label142 = new System.Windows.Forms.Label(); + this.txtTempoDirecionando = new System.Windows.Forms.TextBox(); + this.label143 = new System.Windows.Forms.Label(); + this.txtTempoParado = new System.Windows.Forms.TextBox(); + this.label144 = new System.Windows.Forms.Label(); + this.txtTempoSaindoRua = new System.Windows.Forms.TextBox(); + this.label139 = new System.Windows.Forms.Label(); + this.txtTempoCaminhandoRua = new System.Windows.Forms.TextBox(); + this.label140 = new System.Windows.Forms.Label(); + this.txtTempoEntrandoRua = new System.Windows.Forms.TextBox(); + this.label141 = new System.Windows.Forms.Label(); this.chbDesenharCorredor = new System.Windows.Forms.CheckBox(); this.txtCamCaminhoStatusCarro = new System.Windows.Forms.TextBox(); this.label103 = new System.Windows.Forms.Label(); @@ -446,6 +458,8 @@ this.dtComandosDir = new System.Windows.Forms.DataGridView(); this.label100 = new System.Windows.Forms.Label(); this.dtComandosMov = new System.Windows.Forms.DataGridView(); + this.tabMPC = new System.Windows.Forms.TabPage(); + this.tvwMPC = new System.Windows.Forms.TreeView(); this.panel6 = new System.Windows.Forms.Panel(); this.pnlInformacoesOperacao = new System.Windows.Forms.Panel(); this.label134 = new System.Windows.Forms.Label(); @@ -507,8 +521,6 @@ this.label36 = new System.Windows.Forms.Label(); this.txtMomento = new System.Windows.Forms.TextBox(); this.btnPlay = new System.Windows.Forms.Button(); - this.tabMPC = new System.Windows.Forms.TabPage(); - this.tvwMPC = new System.Windows.Forms.TreeView(); ((System.ComponentModel.ISupportInitialize)(this.trbMomento)).BeginInit(); this.panel1.SuspendLayout(); this.tabControl4.SuspendLayout(); @@ -580,10 +592,10 @@ ((System.ComponentModel.ISupportInitialize)(this.dtComandosAtu)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.dtComandosDir)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.dtComandosMov)).BeginInit(); + this.tabMPC.SuspendLayout(); this.panel6.SuspendLayout(); this.pnlInformacoesOperacao.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).BeginInit(); - this.tabMPC.SuspendLayout(); this.SuspendLayout(); // // trbMomento @@ -1076,20 +1088,20 @@ // this.tabDirecional.Controls.Add(this.txtDIR_Status_DT); this.tabDirecional.Controls.Add(this.label126); - this.tabDirecional.Controls.Add(this.txtDIR_AgPot_DT); - this.tabDirecional.Controls.Add(this.lblDIR_AgPot_DT); + this.tabDirecional.Controls.Add(this.txtDIR_Folga_DT); + this.tabDirecional.Controls.Add(this.lblDIR_Folga_DT); this.tabDirecional.Controls.Add(this.txtDIR_Status_ET); this.tabDirecional.Controls.Add(this.label124); - this.tabDirecional.Controls.Add(this.txtDIR_AgPot_ET); - this.tabDirecional.Controls.Add(this.lblDIR_AgPot_ET); + this.tabDirecional.Controls.Add(this.txtDIR_Folga_ET); + this.tabDirecional.Controls.Add(this.lblDIR_Folga_ET); this.tabDirecional.Controls.Add(this.txtDIR_Status_DF); this.tabDirecional.Controls.Add(this.label122); - this.tabDirecional.Controls.Add(this.txtDIR_AgPot_DF); - this.tabDirecional.Controls.Add(this.lblDIR_AgPot_DF); + this.tabDirecional.Controls.Add(this.txtDIR_Folga_DF); + this.tabDirecional.Controls.Add(this.lblDIR_Folga_DF); this.tabDirecional.Controls.Add(this.txtDIR_Status_EF); this.tabDirecional.Controls.Add(this.label78); - this.tabDirecional.Controls.Add(this.txtDIR_AgPot_EF); - this.tabDirecional.Controls.Add(this.lblDIR_AgPot_EF); + this.tabDirecional.Controls.Add(this.txtDIR_Folga_EF); + this.tabDirecional.Controls.Add(this.lblDIR_Folga_EF); this.tabDirecional.Controls.Add(this.txtDIR_Controlar_ET); this.tabDirecional.Controls.Add(this.label39); this.tabDirecional.Controls.Add(this.txtDIR_Velocidade_ET); @@ -1175,25 +1187,25 @@ this.label126.TabIndex = 209; this.label126.Text = "Status"; // - // txtDIR_AgPot_DT + // txtDIR_Folga_DT // - this.txtDIR_AgPot_DT.Location = new System.Drawing.Point(438, 466); - this.txtDIR_AgPot_DT.Margin = new System.Windows.Forms.Padding(2); - this.txtDIR_AgPot_DT.Name = "txtDIR_AgPot_DT"; - this.txtDIR_AgPot_DT.ReadOnly = true; - this.txtDIR_AgPot_DT.Size = new System.Drawing.Size(54, 20); - this.txtDIR_AgPot_DT.TabIndex = 208; - this.txtDIR_AgPot_DT.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtDIR_Folga_DT.Location = new System.Drawing.Point(438, 466); + this.txtDIR_Folga_DT.Margin = new System.Windows.Forms.Padding(2); + this.txtDIR_Folga_DT.Name = "txtDIR_Folga_DT"; + this.txtDIR_Folga_DT.ReadOnly = true; + this.txtDIR_Folga_DT.Size = new System.Drawing.Size(54, 20); + this.txtDIR_Folga_DT.TabIndex = 208; + this.txtDIR_Folga_DT.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // - // lblDIR_AgPot_DT + // lblDIR_Folga_DT // - this.lblDIR_AgPot_DT.AutoSize = true; - this.lblDIR_AgPot_DT.Location = new System.Drawing.Point(436, 450); - this.lblDIR_AgPot_DT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); - this.lblDIR_AgPot_DT.Name = "lblDIR_AgPot_DT"; - this.lblDIR_AgPot_DT.Size = new System.Drawing.Size(39, 13); - this.lblDIR_AgPot_DT.TabIndex = 207; - this.lblDIR_AgPot_DT.Text = "Ag Pot"; + this.lblDIR_Folga_DT.AutoSize = true; + this.lblDIR_Folga_DT.Location = new System.Drawing.Point(436, 450); + this.lblDIR_Folga_DT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDIR_Folga_DT.Name = "lblDIR_Folga_DT"; + this.lblDIR_Folga_DT.Size = new System.Drawing.Size(33, 13); + this.lblDIR_Folga_DT.TabIndex = 207; + this.lblDIR_Folga_DT.Text = "Folga"; // // txtDIR_Status_ET // @@ -1215,25 +1227,25 @@ this.label124.TabIndex = 205; this.label124.Text = "Status"; // - // txtDIR_AgPot_ET + // txtDIR_Folga_ET // - this.txtDIR_AgPot_ET.Location = new System.Drawing.Point(180, 466); - this.txtDIR_AgPot_ET.Margin = new System.Windows.Forms.Padding(2); - this.txtDIR_AgPot_ET.Name = "txtDIR_AgPot_ET"; - this.txtDIR_AgPot_ET.ReadOnly = true; - this.txtDIR_AgPot_ET.Size = new System.Drawing.Size(54, 20); - this.txtDIR_AgPot_ET.TabIndex = 204; - this.txtDIR_AgPot_ET.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtDIR_Folga_ET.Location = new System.Drawing.Point(180, 466); + this.txtDIR_Folga_ET.Margin = new System.Windows.Forms.Padding(2); + this.txtDIR_Folga_ET.Name = "txtDIR_Folga_ET"; + this.txtDIR_Folga_ET.ReadOnly = true; + this.txtDIR_Folga_ET.Size = new System.Drawing.Size(54, 20); + this.txtDIR_Folga_ET.TabIndex = 204; + this.txtDIR_Folga_ET.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // - // lblDIR_AgPot_ET + // lblDIR_Folga_ET // - this.lblDIR_AgPot_ET.AutoSize = true; - this.lblDIR_AgPot_ET.Location = new System.Drawing.Point(178, 450); - this.lblDIR_AgPot_ET.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); - this.lblDIR_AgPot_ET.Name = "lblDIR_AgPot_ET"; - this.lblDIR_AgPot_ET.Size = new System.Drawing.Size(39, 13); - this.lblDIR_AgPot_ET.TabIndex = 203; - this.lblDIR_AgPot_ET.Text = "Ag Pot"; + this.lblDIR_Folga_ET.AutoSize = true; + this.lblDIR_Folga_ET.Location = new System.Drawing.Point(178, 450); + this.lblDIR_Folga_ET.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDIR_Folga_ET.Name = "lblDIR_Folga_ET"; + this.lblDIR_Folga_ET.Size = new System.Drawing.Size(33, 13); + this.lblDIR_Folga_ET.TabIndex = 203; + this.lblDIR_Folga_ET.Text = "Folga"; // // txtDIR_Status_DF // @@ -1255,25 +1267,25 @@ this.label122.TabIndex = 201; this.label122.Text = "Status"; // - // txtDIR_AgPot_DF + // txtDIR_Folga_DF // - this.txtDIR_AgPot_DF.Location = new System.Drawing.Point(438, 206); - this.txtDIR_AgPot_DF.Margin = new System.Windows.Forms.Padding(2); - this.txtDIR_AgPot_DF.Name = "txtDIR_AgPot_DF"; - this.txtDIR_AgPot_DF.ReadOnly = true; - this.txtDIR_AgPot_DF.Size = new System.Drawing.Size(54, 20); - this.txtDIR_AgPot_DF.TabIndex = 200; - this.txtDIR_AgPot_DF.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtDIR_Folga_DF.Location = new System.Drawing.Point(438, 206); + this.txtDIR_Folga_DF.Margin = new System.Windows.Forms.Padding(2); + this.txtDIR_Folga_DF.Name = "txtDIR_Folga_DF"; + this.txtDIR_Folga_DF.ReadOnly = true; + this.txtDIR_Folga_DF.Size = new System.Drawing.Size(54, 20); + this.txtDIR_Folga_DF.TabIndex = 200; + this.txtDIR_Folga_DF.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // - // lblDIR_AgPot_DF + // lblDIR_Folga_DF // - this.lblDIR_AgPot_DF.AutoSize = true; - this.lblDIR_AgPot_DF.Location = new System.Drawing.Point(436, 190); - this.lblDIR_AgPot_DF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); - this.lblDIR_AgPot_DF.Name = "lblDIR_AgPot_DF"; - this.lblDIR_AgPot_DF.Size = new System.Drawing.Size(39, 13); - this.lblDIR_AgPot_DF.TabIndex = 199; - this.lblDIR_AgPot_DF.Text = "Ag Pot"; + this.lblDIR_Folga_DF.AutoSize = true; + this.lblDIR_Folga_DF.Location = new System.Drawing.Point(436, 190); + this.lblDIR_Folga_DF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDIR_Folga_DF.Name = "lblDIR_Folga_DF"; + this.lblDIR_Folga_DF.Size = new System.Drawing.Size(33, 13); + this.lblDIR_Folga_DF.TabIndex = 199; + this.lblDIR_Folga_DF.Text = "Folga"; // // txtDIR_Status_EF // @@ -1295,25 +1307,25 @@ this.label78.TabIndex = 197; this.label78.Text = "Status"; // - // txtDIR_AgPot_EF + // txtDIR_Folga_EF // - this.txtDIR_AgPot_EF.Location = new System.Drawing.Point(180, 206); - this.txtDIR_AgPot_EF.Margin = new System.Windows.Forms.Padding(2); - this.txtDIR_AgPot_EF.Name = "txtDIR_AgPot_EF"; - this.txtDIR_AgPot_EF.ReadOnly = true; - this.txtDIR_AgPot_EF.Size = new System.Drawing.Size(54, 20); - this.txtDIR_AgPot_EF.TabIndex = 196; - this.txtDIR_AgPot_EF.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtDIR_Folga_EF.Location = new System.Drawing.Point(180, 206); + this.txtDIR_Folga_EF.Margin = new System.Windows.Forms.Padding(2); + this.txtDIR_Folga_EF.Name = "txtDIR_Folga_EF"; + this.txtDIR_Folga_EF.ReadOnly = true; + this.txtDIR_Folga_EF.Size = new System.Drawing.Size(54, 20); + this.txtDIR_Folga_EF.TabIndex = 196; + this.txtDIR_Folga_EF.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // - // lblDIR_AgPot_EF + // lblDIR_Folga_EF // - this.lblDIR_AgPot_EF.AutoSize = true; - this.lblDIR_AgPot_EF.Location = new System.Drawing.Point(178, 190); - this.lblDIR_AgPot_EF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); - this.lblDIR_AgPot_EF.Name = "lblDIR_AgPot_EF"; - this.lblDIR_AgPot_EF.Size = new System.Drawing.Size(39, 13); - this.lblDIR_AgPot_EF.TabIndex = 195; - this.lblDIR_AgPot_EF.Text = "Ag Pot"; + this.lblDIR_Folga_EF.AutoSize = true; + this.lblDIR_Folga_EF.Location = new System.Drawing.Point(178, 190); + this.lblDIR_Folga_EF.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.lblDIR_Folga_EF.Name = "lblDIR_Folga_EF"; + this.lblDIR_Folga_EF.Size = new System.Drawing.Size(33, 13); + this.lblDIR_Folga_EF.TabIndex = 195; + this.lblDIR_Folga_EF.Text = "Folga"; // // txtDIR_Controlar_ET // @@ -4262,6 +4274,18 @@ // // tabSegmentacao // + this.tabSegmentacao.Controls.Add(this.txtTempoManobrando); + this.tabSegmentacao.Controls.Add(this.label142); + this.tabSegmentacao.Controls.Add(this.txtTempoDirecionando); + this.tabSegmentacao.Controls.Add(this.label143); + this.tabSegmentacao.Controls.Add(this.txtTempoParado); + this.tabSegmentacao.Controls.Add(this.label144); + this.tabSegmentacao.Controls.Add(this.txtTempoSaindoRua); + this.tabSegmentacao.Controls.Add(this.label139); + this.tabSegmentacao.Controls.Add(this.txtTempoCaminhandoRua); + this.tabSegmentacao.Controls.Add(this.label140); + this.tabSegmentacao.Controls.Add(this.txtTempoEntrandoRua); + this.tabSegmentacao.Controls.Add(this.label141); this.tabSegmentacao.Controls.Add(this.chbDesenharCorredor); this.tabSegmentacao.Controls.Add(this.txtCamCaminhoStatusCarro); this.tabSegmentacao.Controls.Add(this.label103); @@ -4278,6 +4302,126 @@ this.tabSegmentacao.Text = "Segmentação"; this.tabSegmentacao.UseVisualStyleBackColor = true; // + // txtTempoManobrando + // + this.txtTempoManobrando.Location = new System.Drawing.Point(253, 498); + this.txtTempoManobrando.Margin = new System.Windows.Forms.Padding(2); + this.txtTempoManobrando.Name = "txtTempoManobrando"; + this.txtTempoManobrando.ReadOnly = true; + this.txtTempoManobrando.Size = new System.Drawing.Size(101, 20); + this.txtTempoManobrando.TabIndex = 59; + this.txtTempoManobrando.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // label142 + // + this.label142.AutoSize = true; + this.label142.Location = new System.Drawing.Point(250, 482); + this.label142.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.label142.Name = "label142"; + this.label142.Size = new System.Drawing.Size(103, 13); + this.label142.TabIndex = 58; + this.label142.Text = "Tempo Manobrando"; + // + // txtTempoDirecionando + // + this.txtTempoDirecionando.Location = new System.Drawing.Point(253, 460); + this.txtTempoDirecionando.Margin = new System.Windows.Forms.Padding(2); + this.txtTempoDirecionando.Name = "txtTempoDirecionando"; + this.txtTempoDirecionando.ReadOnly = true; + this.txtTempoDirecionando.Size = new System.Drawing.Size(101, 20); + this.txtTempoDirecionando.TabIndex = 57; + this.txtTempoDirecionando.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // label143 + // + this.label143.AutoSize = true; + this.label143.Location = new System.Drawing.Point(250, 444); + this.label143.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.label143.Name = "label143"; + this.label143.Size = new System.Drawing.Size(106, 13); + this.label143.TabIndex = 56; + this.label143.Text = "Tempo Direcionando"; + // + // txtTempoParado + // + this.txtTempoParado.Location = new System.Drawing.Point(253, 422); + this.txtTempoParado.Margin = new System.Windows.Forms.Padding(2); + this.txtTempoParado.Name = "txtTempoParado"; + this.txtTempoParado.ReadOnly = true; + this.txtTempoParado.Size = new System.Drawing.Size(101, 20); + this.txtTempoParado.TabIndex = 55; + this.txtTempoParado.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // label144 + // + this.label144.AutoSize = true; + this.label144.Location = new System.Drawing.Point(250, 406); + this.label144.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.label144.Name = "label144"; + this.label144.Size = new System.Drawing.Size(77, 13); + this.label144.TabIndex = 54; + this.label144.Text = "Tempo Parado"; + // + // txtTempoSaindoRua + // + this.txtTempoSaindoRua.Location = new System.Drawing.Point(126, 497); + this.txtTempoSaindoRua.Margin = new System.Windows.Forms.Padding(2); + this.txtTempoSaindoRua.Name = "txtTempoSaindoRua"; + this.txtTempoSaindoRua.ReadOnly = true; + this.txtTempoSaindoRua.Size = new System.Drawing.Size(101, 20); + this.txtTempoSaindoRua.TabIndex = 53; + this.txtTempoSaindoRua.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // label139 + // + this.label139.AutoSize = true; + this.label139.Location = new System.Drawing.Point(123, 481); + this.label139.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.label139.Name = "label139"; + this.label139.Size = new System.Drawing.Size(93, 13); + this.label139.TabIndex = 52; + this.label139.Text = "TempoSaindoRua"; + // + // txtTempoCaminhandoRua + // + this.txtTempoCaminhandoRua.Location = new System.Drawing.Point(126, 459); + this.txtTempoCaminhandoRua.Margin = new System.Windows.Forms.Padding(2); + this.txtTempoCaminhandoRua.Name = "txtTempoCaminhandoRua"; + this.txtTempoCaminhandoRua.ReadOnly = true; + this.txtTempoCaminhandoRua.Size = new System.Drawing.Size(101, 20); + this.txtTempoCaminhandoRua.TabIndex = 51; + this.txtTempoCaminhandoRua.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // label140 + // + this.label140.AutoSize = true; + this.label140.Location = new System.Drawing.Point(123, 443); + this.label140.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.label140.Name = "label140"; + this.label140.Size = new System.Drawing.Size(122, 13); + this.label140.TabIndex = 50; + this.label140.Text = "Tempo CaminhandoRua"; + // + // txtTempoEntrandoRua + // + this.txtTempoEntrandoRua.Location = new System.Drawing.Point(126, 421); + this.txtTempoEntrandoRua.Margin = new System.Windows.Forms.Padding(2); + this.txtTempoEntrandoRua.Name = "txtTempoEntrandoRua"; + this.txtTempoEntrandoRua.ReadOnly = true; + this.txtTempoEntrandoRua.Size = new System.Drawing.Size(101, 20); + this.txtTempoEntrandoRua.TabIndex = 49; + this.txtTempoEntrandoRua.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // label141 + // + this.label141.AutoSize = true; + this.label141.Location = new System.Drawing.Point(123, 405); + this.label141.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.label141.Name = "label141"; + this.label141.Size = new System.Drawing.Size(106, 13); + this.label141.TabIndex = 48; + this.label141.Text = "Tempo EntrandoRua"; + // // chbDesenharCorredor // this.chbDesenharCorredor.AutoSize = true; @@ -4970,6 +5114,25 @@ this.dtComandosMov.Size = new System.Drawing.Size(465, 150); this.dtComandosMov.TabIndex = 0; // + // tabMPC + // + this.tabMPC.Controls.Add(this.tvwMPC); + this.tabMPC.Location = new System.Drawing.Point(4, 22); + this.tabMPC.Name = "tabMPC"; + this.tabMPC.Padding = new System.Windows.Forms.Padding(3); + this.tabMPC.Size = new System.Drawing.Size(496, 522); + this.tabMPC.TabIndex = 13; + this.tabMPC.Text = "MPC"; + this.tabMPC.UseVisualStyleBackColor = true; + // + // tvwMPC + // + this.tvwMPC.Dock = System.Windows.Forms.DockStyle.Fill; + this.tvwMPC.Location = new System.Drawing.Point(3, 3); + this.tvwMPC.Name = "tvwMPC"; + this.tvwMPC.Size = new System.Drawing.Size(490, 516); + this.tvwMPC.TabIndex = 0; + // // panel6 // this.panel6.Controls.Add(this.pnlInformacoesOperacao); @@ -5623,25 +5786,6 @@ this.btnPlay.UseVisualStyleBackColor = true; this.btnPlay.Click += new System.EventHandler(this.btnPlay_Click); // - // tabMPC - // - this.tabMPC.Controls.Add(this.tvwMPC); - this.tabMPC.Location = new System.Drawing.Point(4, 22); - this.tabMPC.Name = "tabMPC"; - this.tabMPC.Padding = new System.Windows.Forms.Padding(3); - this.tabMPC.Size = new System.Drawing.Size(496, 522); - this.tabMPC.TabIndex = 13; - this.tabMPC.Text = "MPC"; - this.tabMPC.UseVisualStyleBackColor = true; - // - // tvwMPC - // - this.tvwMPC.Dock = System.Windows.Forms.DockStyle.Fill; - this.tvwMPC.Location = new System.Drawing.Point(3, 3); - this.tvwMPC.Name = "tvwMPC"; - this.tvwMPC.Size = new System.Drawing.Size(490, 516); - this.tvwMPC.TabIndex = 0; - // // frmResultadosOperacao // this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); @@ -5763,11 +5907,11 @@ ((System.ComponentModel.ISupportInitialize)(this.dtComandosAtu)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.dtComandosDir)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.dtComandosMov)).EndInit(); + this.tabMPC.ResumeLayout(false); this.panel6.ResumeLayout(false); this.pnlInformacoesOperacao.ResumeLayout(false); this.pnlInformacoesOperacao.PerformLayout(); ((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).EndInit(); - this.tabMPC.ResumeLayout(false); this.ResumeLayout(false); this.PerformLayout(); @@ -6159,20 +6303,20 @@ private System.Windows.Forms.Label label72; private System.Windows.Forms.TextBox txtDIR_Status_DF; private System.Windows.Forms.Label label122; - private System.Windows.Forms.TextBox txtDIR_AgPot_DF; - private System.Windows.Forms.Label lblDIR_AgPot_DF; + private System.Windows.Forms.TextBox txtDIR_Folga_DF; + private System.Windows.Forms.Label lblDIR_Folga_DF; private System.Windows.Forms.TextBox txtDIR_Status_EF; private System.Windows.Forms.Label label78; - private System.Windows.Forms.TextBox txtDIR_AgPot_EF; - private System.Windows.Forms.Label lblDIR_AgPot_EF; + private System.Windows.Forms.TextBox txtDIR_Folga_EF; + private System.Windows.Forms.Label lblDIR_Folga_EF; private System.Windows.Forms.TextBox txtDIR_Status_DT; private System.Windows.Forms.Label label126; - private System.Windows.Forms.TextBox txtDIR_AgPot_DT; - private System.Windows.Forms.Label lblDIR_AgPot_DT; + private System.Windows.Forms.TextBox txtDIR_Folga_DT; + private System.Windows.Forms.Label lblDIR_Folga_DT; private System.Windows.Forms.TextBox txtDIR_Status_ET; private System.Windows.Forms.Label label124; - private System.Windows.Forms.TextBox txtDIR_AgPot_ET; - private System.Windows.Forms.Label lblDIR_AgPot_ET; + private System.Windows.Forms.TextBox txtDIR_Folga_ET; + private System.Windows.Forms.Label lblDIR_Folga_ET; private System.Windows.Forms.FlowLayoutPanel flwCameras; private System.Windows.Forms.TabPage tabCameras; private System.Windows.Forms.GroupBox gpbCameras_Analise; @@ -6231,5 +6375,17 @@ private System.Windows.Forms.DataGridView dtComandosAtu; private System.Windows.Forms.TabPage tabMPC; private System.Windows.Forms.TreeView tvwMPC; + private System.Windows.Forms.TextBox txtTempoManobrando; + private System.Windows.Forms.Label label142; + private System.Windows.Forms.TextBox txtTempoDirecionando; + private System.Windows.Forms.Label label143; + private System.Windows.Forms.TextBox txtTempoParado; + private System.Windows.Forms.Label label144; + private System.Windows.Forms.TextBox txtTempoSaindoRua; + private System.Windows.Forms.Label label139; + private System.Windows.Forms.TextBox txtTempoCaminhandoRua; + private System.Windows.Forms.Label label140; + private System.Windows.Forms.TextBox txtTempoEntrandoRua; + private System.Windows.Forms.Label label141; } } \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs index 28df093b8..21fd6789e 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs @@ -1287,6 +1287,8 @@ namespace AgroBase.Forms.Operacoes txtSentido.Text = (Log?.Sentido ?? Enums.Sentido.Parado).ToString(); TextBox txtVelocidade = FuncoesGlobais.FindControlRecursive(tabDirecional, "txtDIR_Velocidade_" + ID); txtVelocidade.Text = (Log?.Velocidade ?? 0).ToString(); + TextBox txtFolga = FuncoesGlobais.FindControlRecursive(tabDirecional, "txtDIR_Folga_" + ID); + txtFolga.Text = (Log?.FolgaMecanica ?? 0).ToString(); TextBox txtControlar = FuncoesGlobais.FindControlRecursive(tabDirecional, "txtDIR_Controlar_" + ID); txtControlar.Text = (Log?.Controlar ?? false) ? "Sim" : "Não"; TextBox txtStatus = FuncoesGlobais.FindControlRecursive(tabDirecional, "txtDIR_Status_" + ID); @@ -1528,6 +1530,13 @@ namespace AgroBase.Forms.Operacoes txtCamCaminhoErroLateral.Text = (Log.OperadorVisual?.Analises?.segmentacao?.erro_lateral_pct ?? 0).ToString("0.00"); txtCamCaminhoStatusCarro.Text = (Log.OperadorVisual?.Analises?.segmentacao?.status_corredor ?? Enums.StatusCarroMapa.Parado).ToString(); + txtTempoEntrandoRua.Text = Log.Trajetoria.CorredorAtual.TempoPorStatus.FirstOrDefault(x => x.Key == Enums.StatusCarroMapa.EntrandoRua).Value.ToString("0.00") + " s"; + txtTempoCaminhandoRua.Text = Log.Trajetoria.CorredorAtual.TempoPorStatus.FirstOrDefault(x => x.Key == Enums.StatusCarroMapa.CaminhandoRua).Value.ToString("0.00") + " s"; + txtTempoSaindoRua.Text = Log.Trajetoria.CorredorAtual.TempoPorStatus.FirstOrDefault(x => x.Key == Enums.StatusCarroMapa.SaindoRua).Value.ToString("0.00") + " s"; + txtTempoParado.Text = Log.Trajetoria.CorredorAtual.TempoPorStatus.FirstOrDefault(x => x.Key == Enums.StatusCarroMapa.Parado).Value.ToString("0.00") + " s"; + txtTempoDirecionando.Text = Log.Trajetoria.CorredorAtual.TempoPorStatus.FirstOrDefault(x => x.Key == Enums.StatusCarroMapa.Direcionando).Value.ToString("0.00") + " s"; + txtTempoManobrando.Text = Log.Trajetoria.CorredorAtual.TempoPorStatus.FirstOrDefault(x => x.Key == Enums.StatusCarroMapa.Manobrando).Value.ToString("0.00") + " s"; + pnlCaminho.BackgroundImage = CarregarImagemCamera(pathImagensCaminho, "_segmentacao"); pnlCaminho.BackgroundImageLayout = ImageLayout.Zoom; pnlCaminho.Invalidate(); @@ -1635,7 +1644,7 @@ namespace AgroBase.Forms.Operacoes var errs = angNode.Nodes.Add("Erros"); errs.Nodes.Add($"Posição={m.erro_posicao:0.00000} Normalizado={m.erro_posicao_n:0.00000}"); errs.Nodes.Add($"Orientação={m.erro_orientacao:0.00000} Normalizado={m.erro_orientacao_n:0.00000}"); - errs.Nodes.Add($"Suavização={m.erro_orientacao:0.00000}"); + errs.Nodes.Add($"Suavização={m.erro_suavizacao:0.00000}"); errs.Nodes.Add($"Ré={m.erro_re:0.00000}"); errs.Nodes.Add($"Lateral={m.erro_lateral:0.00000} Normalizado={m.erro_lateral_n:0.00000}"); diff --git a/AgroBase/AgroBase/Models/GeneralJoystick.cs b/AgroBase/AgroBase/Models/GeneralJoystick.cs index 75578091b..30a5f2ec0 100644 --- a/AgroBase/AgroBase/Models/GeneralJoystick.cs +++ b/AgroBase/AgroBase/Models/GeneralJoystick.cs @@ -183,6 +183,8 @@ namespace AgroBase } catch { + EnviaComandoMotor(Keys.Escape, T_Code.Mov, true); + EnviaComandoMotor(Keys.Escape, T_Code.Dir, true); AtualizaDispositivo(); return; } diff --git a/AgroBase/AgroBase/Models/MapaDinamicoModel.cs b/AgroBase/AgroBase/Models/MapaDinamicoModel.cs index 5e6ed9a71..d77feba4b 100644 --- a/AgroBase/AgroBase/Models/MapaDinamicoModel.cs +++ b/AgroBase/AgroBase/Models/MapaDinamicoModel.cs @@ -179,13 +179,11 @@ namespace AgroBase.Models // 1) centro em pixels (seu “centro de giro” no painel) PointF pCtr = LatLonToPanel(_posicaoAtual.Latitude, _posicaoAtual.Longitude, centerX, centerY); - // 2) antenas (corrigida e bruta) double latCorr = _posicaoAtual.Latitude; // já com lever arm aplicado double lonCorr = _posicaoAtual.Longitude; double latBrut = _posicaoAtual.LatitudeAnt; // GNGGA bruto double lonBrut = _posicaoAtual.LongitudeAnt; - AntenaDiagPx diag = DrawRobotAndAntennaDiagnostics( g, pCtr.X, pCtr.Y, @@ -195,7 +193,6 @@ namespace AgroBase.Models latBrut, lonBrut, Color.ForestGreen ); - // Se quiser logar os offsets em px: var offPrev_vs_Corr = new PointF(diag.Corrigida.X - diag.Prevista.X, diag.Corrigida.Y - diag.Prevista.Y); var offPrev_vs_Brut = new PointF(diag.Bruta.X - diag.Prevista.X, diag.Bruta.Y - diag.Prevista.Y); @@ -240,8 +237,11 @@ namespace AgroBase.Models { var trajPoint = trajectory[i]; // Calcule a posição no panel - float x = centerX + (float)((trajPoint.Posicao.Longitude - _posicaoAtual.Longitude) * _zoom); - float y = centerY - (float)((trajPoint.Posicao.Latitude - _posicaoAtual.Latitude) * _zoom); + //float x = centerX + (float)((trajPoint.Posicao.Longitude - _posicaoAtual.Longitude) * _zoom); + //float y = centerY - (float)((trajPoint.Posicao.Latitude - _posicaoAtual.Latitude) * _zoom); + PointF p = LatLonToPanel(trajPoint.Posicao.Latitude, trajPoint.Posicao.Longitude, centerX, centerY); + float x = p.X; + float y = p.Y; if (drawMargin && trajPoint.Tipo != Enums.TipoPontoRua.Indefinido) { @@ -272,8 +272,11 @@ namespace AgroBase.Models if (i > 0) { var prevPoint = trajectory[i - 1]; - float prevX = centerX + (float)((prevPoint.Posicao.Longitude - _posicaoAtual.Longitude) * _zoom); - float prevY = centerY - (float)((prevPoint.Posicao.Latitude - _posicaoAtual.Latitude) * _zoom); + //float prevX = centerX + (float)((prevPoint.Posicao.Longitude - _posicaoAtual.Longitude) * _zoom); + //float prevY = centerY - (float)((prevPoint.Posicao.Latitude - _posicaoAtual.Latitude) * _zoom); + PointF pv = LatLonToPanel(prevPoint.Posicao.Latitude, prevPoint.Posicao.Longitude, centerX, centerY); + float prevX = pv.X; + float prevY = pv.Y; g.DrawLine(linePen, prevX, prevY, x, y); } @@ -616,6 +619,9 @@ namespace AgroBase.Models private PointF LatLonToPanel(double lat, double lon, float centerX, float centerY) { + float x = centerX + (float)((lon - _posicaoAtual.Lon0) * _zoom); + float y = centerY - (float)((lat - _posicaoAtual.Lat0) * _zoom); + // Usa a mesma origem ENU do GeoLeverArm var (xE, yN) = GeoLeverArm.GeodeticToENU(lat, lon, _posicaoAtual.Lat0, _posicaoAtual.Lon0); float scale = (float)_zoom / 1e7f; @@ -623,7 +629,7 @@ namespace AgroBase.Models float px = centerX + (float)(xE * scale); // Leste para +X float py = centerY - (float)(yN * scale); // Norte para -Y (tela cresce para baixo) - return new PointF(px, py); + return new PointF(x, y); } } diff --git a/AgroBase/AgroBase/Models/Modules/DirecionalModel.cs b/AgroBase/AgroBase/Models/Modules/DirecionalModel.cs index 533007f87..25cbab63d 100644 --- a/AgroBase/AgroBase/Models/Modules/DirecionalModel.cs +++ b/AgroBase/AgroBase/Models/Modules/DirecionalModel.cs @@ -299,7 +299,7 @@ namespace AgroBase.Models.Modules } else { - Angulo_SP = _Controle.Angulo; + Angulo_SP = _Controle.Angulo + (FolgaMecanica / 2.0); } if (Comandar) @@ -375,7 +375,7 @@ namespace AgroBase.Models.Modules _sentido = _sentido == Sentido.Horario ? Sentido.Antihorario : Sentido.Horario; Console.WriteLine($"[DIR {Mod_ID}] - Invertendo Sentido de Giro para {_sentido.ToString()}"); - _anguloSP = CalcularCentroCompensado(AnguloEntrada, AnguloSaida, FolgaMecanica, _sentido); + _anguloSP = CalcularCentroCompensado(AnguloEntrada, AnguloSaida, _sentido); } verificacoesAngulo++; @@ -405,23 +405,26 @@ namespace AgroBase.Models.Modules return VelocidadeGiro; } - private double CalcularCentroCompensado(double entrada, double saida, double folga, Sentido sentido) + private double CalcularCentroCompensado(double entrada, double saida, Sentido sentido) { double centro = (entrada + saida) / 2.0; + double folga = Math.Abs(entrada - saida); // Determina o sentido do giro baseado na diferença double direcao = sentido == Sentido.Horario ? -1 : 1; - double compensacao = (folga / 2.0) * direcao; + double compensacao = 0; // (folga / 2.0) * direcao; double centroCompensado = centro + compensacao; - Console.WriteLine($"[DIR {Mod_ID}] - Folga: {FolgaMecanica}, Entrada: {entrada}, Saida: {saida}, Centro: {centro}, Compensacao: {compensacao}, Centro Compensado: {centroCompensado}"); + Console.WriteLine($"[DIR {Mod_ID}] - Folga: {folga}, Entrada: {entrada}, Saida: {saida}, Centro: {centro}, Compensacao: {compensacao}, Centro Compensado: {centroCompensado}"); + + FolgaMecanica = folga; return centroCompensado; } - private async Task SetZero() + public async Task SetZero() { MKS057DCanService.SetZero(_EnderecoCAN_Tx, _EnderecoCAN_Rx); @@ -431,7 +434,7 @@ namespace AgroBase.Models.Modules bool NovoDado() => MKS057DCanService.DadosLeitura.Any(x => x.EnderecoRx == _EnderecoCAN_Rx && x.UltimoComandoRecebido > Inicio); await FuncoesGlobais.AguardarCondicaoAsync(NovoDado, 500, 100); - if (FuncoesMatematicas.ValorEstaEntre(Angulo, 0, 1)) + if (FuncoesMatematicas.ValorEstaEntre(Angulo, -1, 1)) { Console.WriteLine($"[DIR {Mod_ID}] - Set Zero"); break; diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs index 7d290c359..5205264da 100644 --- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs @@ -325,21 +325,27 @@ namespace AgroBase.Models new OperacaoControleTipoModel() { Tipo = T_Code.Mov, + DelayEnvioComandoBase = 10, DelayEnvioComando = 10, + DelayEnvioComandoExtra = 0, Comandos = new List(), UltimoComando = DateTime.Now }, new OperacaoControleTipoModel() { Tipo = T_Code.Dir, + DelayEnvioComandoBase = 10, DelayEnvioComando = 10, + DelayEnvioComandoExtra = 0, Comandos = new List(), UltimoComando = DateTime.Now }, new OperacaoControleTipoModel() { Tipo = T_Code.Atu, + DelayEnvioComandoBase = 10, DelayEnvioComando = 10, + DelayEnvioComandoExtra = 0, Comandos = new List(), UltimoComando = DateTime.Now }, @@ -403,21 +409,27 @@ namespace AgroBase.Models new OperacaoControleTipoModel() { Tipo = T_Code.Mov, + DelayEnvioComandoBase = 500, DelayEnvioComando = 500, + DelayEnvioComandoExtra = 0, Comandos = new List(), UltimoComando = DateTime.Now }, new OperacaoControleTipoModel() { Tipo = T_Code.Dir, + DelayEnvioComandoBase = 300, DelayEnvioComando = 300, + DelayEnvioComandoExtra = 0, Comandos = new List(), UltimoComando = DateTime.Now }, new OperacaoControleTipoModel() { Tipo = T_Code.Atu, + DelayEnvioComandoBase = 200, DelayEnvioComando = 200, + DelayEnvioComandoExtra = 0, Comandos = new List(), UltimoComando = DateTime.Now }, @@ -504,21 +516,27 @@ namespace AgroBase.Models new OperacaoControleTipoModel() { Tipo = T_Code.Mov, + DelayEnvioComandoBase = 500, DelayEnvioComando = 500, + DelayEnvioComandoExtra = 0, Comandos = new List(), UltimoComando = DateTime.Now }, new OperacaoControleTipoModel() { Tipo = T_Code.Dir, + DelayEnvioComandoBase = 1000, DelayEnvioComando = 1000, + DelayEnvioComandoExtra = 0, Comandos = new List(), UltimoComando = DateTime.Now }, new OperacaoControleTipoModel() { Tipo = T_Code.Atu, + DelayEnvioComandoBase = 500, DelayEnvioComando = 500, + DelayEnvioComandoExtra = 0, Comandos = new List(), UltimoComando = DateTime.Now }, @@ -607,14 +625,18 @@ namespace AgroBase.Models new OperacaoControleTipoModel() { Tipo = T_Code.Mov, + DelayEnvioComandoBase = 500, DelayEnvioComando = 500, + DelayEnvioComandoExtra = 0, Comandos = new List(), UltimoComando = DateTime.Now }, new OperacaoControleTipoModel() { Tipo = T_Code.Dir, + DelayEnvioComandoBase = 200, DelayEnvioComando = 200, + DelayEnvioComandoExtra = 0, Comandos = new List(), UltimoComando = DateTime.Now } @@ -952,6 +974,8 @@ namespace AgroBase.Models { var Protocolos = EnviarProtocoloComando(Ctrl.Tipo, ForcarEnvio); Ctrl.UltimoComando = Agora; + Ctrl.DelayEnvioComando = Ctrl.DelayEnvioComandoBase + Ctrl.DelayEnvioComandoExtra; + Ctrl.DelayEnvioComandoExtra = 0; Ctrl.Comandos.AddRange(Protocolos); } } @@ -1228,6 +1252,7 @@ namespace AgroBase.Models Sentido = Modulo.DirMotor.Sentido, SentidoReal = Modulo.DirMotor.SentidoReal, Velocidade = (Modulo.DirMotor.Velocidade / Modulo.DirMotor.Velocidade_Max) * 100.0, + FolgaMecanica = Modulo.DirMotor.FolgaMecanica, UltimoComandoRespondido = Modulo.DirMotor.Leitura?.UltimoComandoRecebido ?? DateTime.MinValue, }; SalvarLog(T_Code.Dir.ToString(), logDir, false); @@ -1675,7 +1700,9 @@ namespace AgroBase.Models public class OperacaoControleTipoModel { public T_Code Tipo { get; set; } + public int DelayEnvioComandoBase { get; set; } public int DelayEnvioComando { get; set; } + public int DelayEnvioComandoExtra { get; set; } public DateTime UltimoComando { get; set; } public List Comandos { get; set; } public Direcao UltimaDirecao { get; set; } = Direcao.Parado; @@ -2151,6 +2178,7 @@ namespace AgroBase.Models public Sentido Sentido { get; set; } public Sentido SentidoReal { get; set; } public double Velocidade { get; set; } + public double FolgaMecanica { get; set; } public DateTime UltimoComandoRespondido { get; set; } } diff --git a/AgroBase/AgroBase/Models/Operadores/VisualWorkerModel.cs b/AgroBase/AgroBase/Models/Operadores/VisualWorkerModel.cs index 3939c5896..34a4ca679 100644 --- a/AgroBase/AgroBase/Models/Operadores/VisualWorkerModel.cs +++ b/AgroBase/AgroBase/Models/Operadores/VisualWorkerModel.cs @@ -541,6 +541,7 @@ namespace AgroBase.Models.Operadores public class VisualWorkerMessageSegmentacaoSemanticaModel { + public double timestamp { get; set; } public int height { get; set; } public int width { get; set; } public double erro_angular { get; set; } @@ -553,6 +554,7 @@ namespace AgroBase.Models.Operadores { return new VisualWorkerMessageSegmentacaoSemanticaModel() { + timestamp = timestamp, height = height, width = width, erro_angular = erro_angular, diff --git a/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs b/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs index 42fa6d7d9..6a0411867 100644 --- a/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs +++ b/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs @@ -7,7 +7,6 @@ using System; using System.Collections.Generic; using System.Linq; using static AgroBase.Models.Enums; -using static OpenTK.Graphics.OpenGL.GL; namespace AgroBase.Models { @@ -334,7 +333,8 @@ namespace AgroBase.Models } else { - ProximoPonto = _TrajetoriaFixa[PontoAtual.idxPonto + 1]; + int idx = _TrajetoriaFixa.IndexOf(PontoAtual) + 1; + ProximoPonto = _TrajetoriaFixa[idx]; } /*// Busca eficiente: percorre do começo ao fim para achar o primeiro não visitado @@ -630,7 +630,7 @@ namespace AgroBase.Models { if (CorredorAtual == null) return; - bool abrirCurva = false; + bool abrirCurva = true; double limiarDistanciaMargem = 20.0; double distanciaRestanteCorredor = CorredorAtual.DistanciaRestante; double distanciaUltimoPontoCorredor = GPSUtils.DistanciaEntrePontos(Variaveis.OperacaoEmAndamento.Sensoriamento.Gps, CorredorAtual.Pontos.LastOrDefault().Posicao); @@ -654,42 +654,31 @@ namespace AgroBase.Models } CorredorAtual.UltimoTempoStatus = DateTime.Now; double TempoTotalContagem = CorredorAtual.TempoPorStatus.Sum(x => x.Value); + double TempoMovimento = CorredorAtual.TempoPorStatus.Where(x => x.Key != StatusCarroMapa.Parado).Sum(x => x.Value); CorredorAtual.TempoPorStatus.TryGetValue(StatusCarroMapa.CaminhandoRua, out double TempoCaminhandoRua); + CorredorAtual.TempoPorStatus.TryGetValue(StatusCarroMapa.EntrandoRua, out double TempoEntrandoRua); + CorredorAtual.TempoPorStatus.TryGetValue(StatusCarroMapa.SaindoRua, out double TempoSaindoRua); CorredorAtual.TempoPorStatus.TryGetValue(StatusCarroMapa.Direcionando, out double TempoDirecionando); - double PercentualTempoCaminhandoRua = TempoCaminhandoRua / TempoTotalContagem; - double PercentualTempoDirecionando = TempoDirecionando / TempoTotalContagem; + double TempoDentroRua = TempoEntrandoRua + TempoCaminhandoRua + TempoSaindoRua; + double PercentualTempoComCana = TempoMovimento == 0 ? 0 : TempoDentroRua / TempoMovimento; + double PercentualTempoSemCana = TempoMovimento == 0 ? 0 : TempoDirecionando / TempoMovimento; + double ts_agora = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds() / 1000.0; if ( - PercentualTempoCaminhandoRua > 0.4 && // Esteve a pelo menos 40% do tempo do corredor com cana dos dois lados - PercentualTempoDirecionando < 0.5 && // Esteve ate no maximo 50% do tempo fora do corredor + ((Variaveis.OperacaoEmAndamento.Simulando || + (ts_agora - DadosSegmentacao.timestamp < 2.0 && // Ultima analise de segmentacao nos ultimos 2 segundos + PercentualTempoComCana > 0.4 && // Esteve a pelo menos 40% do tempo em movimento com presenca de cana + PercentualTempoSemCana < 0.5))) && // Esteve ate no maximo 50% do tempo em movimento sem presenca de cana) distanciaRestanteCorredor < limiarDistanciaMargem && // Esta a pelo menos x metros do final do corredor distanciaUltimoPontoCorredor < limiarDistanciaMargem && // Esta a pelo menos x metros do ultimo ponto do corredor statusCarro == StatusCarroMapa.Direcionando && // Carro esta fora do corredor statusCarroAnt != statusCarro - - || (Variaveis.OperacaoEmAndamento.Simulando && distanciaRestanteCorredor < limiarDistanciaMargem && distanciaUltimoPontoCorredor < limiarDistanciaMargem && statusCarro == StatusCarroMapa.Direcionando && statusCarroAnt != statusCarro) ) { - PontoTrajetoriaModel pontoEntrada = null; + double anguloControle = Variaveis.OperacaoEmAndamento.Controle.Angulo; if (abrirCurva && !CorredorAtual.Ultimo) { - double anguloProjetar = GPSUtils.CalcularOrientacao(PontoAtual.Posicao, ProximoPonto.Posicao); - double anguloAcrescentar = CorredorAtual.idxRuaDireita % 2 == 0 && CorredorAtual.Pontos.First().Direcao == DirecaoCarroRua.Ida ? 45 : -45; - anguloProjetar += anguloAcrescentar; - - double percentualAcrescimoPontoAberturaCurva = 1.1; - GPSModel posicao = GPSUtils.ProjetarPontoDeslocado(PontoAtual.Posicao, DistanciaProjecaoRua * percentualAcrescimoPontoAberturaCurva, anguloProjetar); - pontoEntrada = new PontoTrajetoriaModel(TipoPontoRua.LigacaoEntrada) - { - Visitado = false, - idxCorredor = CorredorAtual.Idx + 1, - idxPonto = 0, - idxPontoCorredor = 0, - Direcao = PontoAtual.Direcao, - LarguraCorredor = PontoAtual.LarguraCorredor, - Orientacao = PontoAtual.Orientacao, - Posicao = posicao - }; + anguloControle = CorredorAtual.idxRuaDireita % 2 == 0 && CorredorAtual.Pontos.First().Direcao == DirecaoCarroRua.Ida ? Variaveis.OperacaoEmAndamento.Controle.Angulo_Max : Variaveis.OperacaoEmAndamento.Controle.Angulo_Min; } int pontosMarcar = 0; @@ -713,13 +702,16 @@ namespace AgroBase.Models AtualizarTrajetoriaJanela(); DefinirPontoAtual(); - if (abrirCurva && pontoEntrada != null) + + if (abrirCurva) { - pontoEntrada.idxPonto = PontoAtual.idxPonto + 1; - CorredorAtual.Pontos.Insert(pontosMarcar, pontoEntrada); - _TrajetoriaFixa.Insert(pontoEntrada.idxPonto, pontoEntrada); - DefinirPontoAtual(); - DefinirProximoPonto(); + Console.WriteLine($"Angulo de controle definido de {Variaveis.OperacaoEmAndamento.Controle.Angulo} para {anguloControle}"); + Variaveis.OperacaoEmAndamento.Controle.Angulo = anguloControle; + Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP = Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeMin; + Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = TipoMovimentoDirecional.MovimentoArco; + Variaveis.OperacaoEmAndamento.Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Dir).DelayEnvioComandoExtra = 1500; + Variaveis.OperacaoEmAndamento.Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Mov).DelayEnvioComandoExtra = 2000; + Variaveis.OperacaoEmAndamento.AtualizarDadosControle(true, new List() { T_Code.Mov, T_Code.Dir }); } } } @@ -1499,8 +1491,8 @@ namespace AgroBase.Models } } - DistanciaRestante = DistanciaTotal - DistanciaPercorridaTotal; - Progresso = (DistanciaTotal > 0) ? FuncoesMatematicas.Clamp((DistanciaPercorridaTotal / DistanciaTotal) * 100.0, 0, 100) : 0; + DistanciaRestante = DistanciaTotal - DistanciaPercorridaCorredor; + Progresso = (DistanciaTotal > 0) ? FuncoesMatematicas.Clamp((DistanciaPercorridaCorredor / DistanciaTotal) * 100.0, 0, 100) : 0; Concluido = !Pontos.Any(x => !x.Visitado); } diff --git a/AgroBase/AgroBase/Models/Variaveis.cs b/AgroBase/AgroBase/Models/Variaveis.cs index 231001902..883c2c6db 100644 --- a/AgroBase/AgroBase/Models/Variaveis.cs +++ b/AgroBase/AgroBase/Models/Variaveis.cs @@ -372,10 +372,10 @@ namespace AgroBase.Models if (Math.Abs(tr) < 1e-6) tr = 0; double kappa = 0; // 1/m - if (tipoMovimento == TipoMovimentoDirecional.RodasDianteiras) kappa = tf / L; + if (tipoMovimento == TipoMovimentoDirecional.RodasDianteiras) kappa = tf / L; else if (tipoMovimento == TipoMovimentoDirecional.RodasTraseiras) kappa = tr / L; - else if (tipoMovimento == TipoMovimentoDirecional.MovimentoArco) kappa = (tf - tr) / L; - else /*Diagonal*/ kappa = 0; + else if (tipoMovimento == TipoMovimentoDirecional.MovimentoArco) kappa = (tf - tr) / L; + else /*Diagonal,Lateral*/ kappa = 0; // Correção dinâmica (opcional) double Ku = 2.5; // ajuste fino em campo @@ -388,7 +388,7 @@ namespace AgroBase.Models theta += dtheta; double heading = theta; - if (tipoMovimento == TipoMovimentoDirecional.MovimentoDiagonal) + if (new List() { TipoMovimentoDirecional.MovimentoDiagonal, TipoMovimentoDirecional.MovimentoLateral }.Contains(tipoMovimento)) heading = theta + dfDeg * Math.PI / 180.0; // crab: desloca na direção do steering // >>> mesma convenção do Python: 0=Norte diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs index 5859bc677..86f28a199 100644 --- a/AgroBase/AgroBase/Services/GPSService.cs +++ b/AgroBase/AgroBase/Services/GPSService.cs @@ -1706,10 +1706,10 @@ namespace AgroBase.Services public class GeoLeverArm { const double R = 6378137.0; // WGS84 - public static double xB = 0.0; // +frente (m) - public static double yB = 0.2; // +direita (m) - public static bool invertHeading = true; - public static bool mirrorLateral = true; + public static double xB = 1.0; // +frente (m) + public static double yB = 0.0; // +direita (m) + public static bool invertHeading = false; + public static bool mirrorLateral = false; static double ToRad(double deg) => deg * Math.PI / 180.0; static double ToDeg(double rad) => rad * 180.0 / Math.PI; @@ -1752,8 +1752,6 @@ namespace AgroBase.Services public static (double lat, double lon) FixLeverArmLatLon_Fast(double latAnt_deg, double lonAnt_deg, double headingDeg) { - invertHeading = false; - mirrorLateral = false; if (mirrorLateral) yB = -yB; // espelha lateral (D<->E) double th = headingDeg * Math.PI / 180.0; @@ -1766,7 +1764,6 @@ namespace AgroBase.Services double dE = xB * fE + yB * rE; // body -> ENU double dN = xB * fN + yB * rN; - const double R = 6378137.0; double latRad = latAnt_deg * Math.PI / 180.0; double dLat_deg = (dN / R) * 180.0 / Math.PI; double dLon_deg = (dE / (R * Math.Cos(latRad))) * 180.0 / Math.PI; diff --git a/AgroBase/AgroBase/Services/MKS057DCanService.cs b/AgroBase/AgroBase/Services/MKS057DCanService.cs index 94d3abfd5..5b5b86dc0 100644 --- a/AgroBase/AgroBase/Services/MKS057DCanService.cs +++ b/AgroBase/AgroBase/Services/MKS057DCanService.cs @@ -265,6 +265,14 @@ namespace AgroBase.Services return valor * 360.0 / 16384.0; } + private void VerificarAnguloZero(MKS057DModel item, bool estadoAnterior) + { + if (item.EntradaIN1.valor != estadoAnterior && item.AnguloPulsos > 5) + { + Task.Run(async () => await Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(x => x.DirMotor._EnderecoCAN_Tx == item.EnderecoTx)?.DirMotor?.SetZero()); + } + } + private MKS057DModel ObterOuCriar(byte idTx, byte idRx) { lock (DadosLeitura) @@ -346,8 +354,12 @@ namespace AgroBase.Services item.Saidas[0] = (status & 0b00000100) != 0; item.Saidas[1] = (status & 0b00001000) != 0; + bool estadoAnterior = item.EntradaIN1.valor; + item.EntradaIN1.valor = item.Entradas[0]; + //VerificarAnguloZero(item, estadoAnterior); + //Console.WriteLine($"[DIR {Variaveis.OperacaoEmAndamento.DispMvd?.Dados?.Modulos?.FirstOrDefault(x => (x?.DirMotor?._EnderecoCAN_Tx ?? 0x00) == item.EnderecoTx)?.DirMotor?.Mod_ID ?? item.EnderecoTx.ToString()}] IO atual"); } break; diff --git a/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs b/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs index bc2c370bb..f2dc33745 100644 --- a/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs +++ b/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs @@ -141,6 +141,7 @@ namespace AgroBase.Services.Operadores dist_esq = _t.DistanciaEsquerda, dist_dir = _t.DistanciaDireita, angulo = _t.AnguloMedioCorredor, + pontos_restantes = _t.CorredorAtual.QtdPontos - pontoComparar.idxPontoCorredor, }, } : null ), diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe index 9d71b77dc..9150c2ece 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat index 7aef5c528..7c461fb7b 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState index dc22d2bba..4a94a8d91 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState +++ b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState @@ -1,12 +1,5 @@ { "epochs": [ { - "calculation_time": "13401214743883964", - "config_version": 0, - "model_version": "0", - "padded_top_topics_start_index": 0, - "taxonomy_version": 0, - "top_topics_and_observing_domains": [ ] - }, { "calculation_time": "13401820180888621", "config_version": 0, "model_version": "0", @@ -27,7 +20,14 @@ "padded_top_topics_start_index": 0, "taxonomy_version": 0, "top_topics_and_observing_domains": [ ] + }, { + "calculation_time": "13403638998815188", + "config_version": 0, + "model_version": "0", + "padded_top_topics_start_index": 0, + "taxonomy_version": 0, + "top_topics_and_observing_domains": [ ] } ], "hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642", - "next_scheduled_calculation_time": "13403636820471023" + "next_scheduled_calculation_time": "13404243798816092" } diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_0 b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_0 index 327cfc3f9..3988a13a8 100644 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b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG index 5158ea521..0f48a83fe 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG +++ b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG @@ -1,3 +1,3 @@ -2025/09/29-10:01:16.906 2c18 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 -2025/09/29-10:01:16.915 2c18 Recovering log #3 -2025/09/29-10:01:16.918 2c18 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log +2025/10/02-10:29:09.769 2320 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 +2025/10/02-10:29:09.777 2320 Recovering log #3 +2025/10/02-10:29:09.780 2320 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old index ccb4aa1ff..cac276004 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old +++ b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old @@ -1,3 +1,3 @@ -2025/09/29-09:56:13.780 6138 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 -2025/09/29-09:56:13.789 6138 Recovering log #3 -2025/09/29-09:56:13.792 6138 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log +2025/10/02-09:55:01.847 4cb4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 +2025/10/02-09:55:01.856 4cb4 Recovering log #3 +2025/10/02-09:55:01.860 4cb4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State index f48506ea7..108e20f71 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State +++ 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