Zendion/agrobot_base
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This commit is contained in:
Diego Freitas 2025-07-16 13:47:56 -03:00
parent c16f2057ea
commit 57dc85eb49
50 changed files with 196 additions and 185 deletions
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AgroBase/.vs/AgroBase/FileContentIndex/98ef1501-2e5b-4793-a430-105951d42aab.vsidx → AgroBase/.vs/AgroBase/FileContentIndex/9541910c-5ee2-46ad-85ee-473837e2aa9a.vsidx
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AgroBase/.vs/AgroBase/v17/.suo
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AgroBase/AgroBase/Models/GPSModel.cs
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@ -316,7 +316,7 @@ namespace AgroBase.Models
// Ajustar o ponto médio com o deslocamento lateral // Ajustar o ponto médio com o deslocamento lateral
var anguloEntrePontos = CalcularOrientacao(P1, P2); // Angulo entre os dois pontos var anguloEntrePontos = CalcularOrientacao(P1, P2); // Angulo entre os dois pontos
var anguloPerpendicular = anguloEntrePontos + 90; // Perpendicular à direção da rua var anguloPerpendicular = anguloEntrePontos - 90; // Perpendicular à direção da rua
// Aplicar deslocamento lateral // Aplicar deslocamento lateral
return MoverPonto(pontoMedio, deslocamentoLateralGPS, anguloPerpendicular); return MoverPonto(pontoMedio, deslocamentoLateralGPS, anguloPerpendicular);

71
AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
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@ -9,6 +9,7 @@ using System.Data;
using static AgroBase.Services.LoRaEspService; using static AgroBase.Services.LoRaEspService;
using System.Windows.Forms; using System.Windows.Forms;
using AgroBase.Services.Operadores; using AgroBase.Services.Operadores;
using AgroBase.Models.Operadores;
namespace AgroBase.Models.Modules namespace AgroBase.Models.Modules
{ {
@ -1996,6 +1997,9 @@ namespace AgroBase.Models.Modules
private void AtualizaComponentesIniciados() private void AtualizaComponentesIniciados()
{ {
AtualizarStatusComponentes();
return;
DateTime Agora = DateTime.Now; DateTime Agora = DateTime.Now;
bool modConectado = DadosLeitura.UltimoComandoRespondido.AddMilliseconds(TempoLimiteConexao) > Agora; bool modConectado = DadosLeitura.UltimoComandoRespondido.AddMilliseconds(TempoLimiteConexao) > Agora;
if (!modConectado && DadosLeitura.Conectado) if (!modConectado && DadosLeitura.Conectado)
@ -2020,6 +2024,73 @@ namespace AgroBase.Models.Modules
} }
} }
public void AtualizarStatusComponentes()
{
var StatusSaudaveis = new List<StatusModulo>() { StatusModulo.Desconectado, StatusModulo.Falha };
var saudeSen = RedisService.GetField<ManagerWorkerMessageResponseModulosPendentesSaudeModel>(RedisService.ModKey(T_Code.Sen), "saude");
DadosLeitura.Conectado = !StatusSaudaveis.Contains(saudeSen?.status ?? StatusModulo.Desconectado);
if (DadosLeitura.Conectado)
{
var objetos =
Sensores
.Select(x => new
{
Chave = "sensores",
Componente = x.Componente,
ID_Num = x.ID_Num
})
.Union(Servos
.Select(x => new
{
Chave = "servos",
Componente = x.Componente,
ID_Num = x.ID_Num
}))
.ToList();
foreach (var sensor in objetos)
{
string chave = sensor.Chave;
int tipo = (int)sensor.Componente;
int id = sensor.ID_Num;
string basePath = $"{chave}.{tipo}.{id}";
var saude = RedisService.GetField<ManagerWorkerMessageResponseModulosPendentesSaudeModel>(RedisService.ModKey(T_Code.Sen), $"{basePath}.saude");
bool inicializado = !StatusSaudaveis.Contains(saude?.status ?? StatusModulo.Desconectado);
switch (chave)
{
case "sensores":
Sensores.FirstOrDefault(x => x.ID_Num == sensor.ID_Num).Inicializado = inicializado;
break;
case "servos":
Servos.FirstOrDefault(x => x.ID_Num == sensor.ID_Num).Inicializado = inicializado;
break;
}
}
}
else
{
foreach (var led in Sinaleiros.Where(x => x.Inicializado))
{
led.Inicializado = false;
}
foreach (var rele in Reles.Where(x => x.Inicializado))
{
rele.Inicializado = false;
}
foreach (var servo in Servos.Where(x => x.Inicializado))
{
servo.Inicializado = false;
}
foreach (var sensor in Sensores.Where(x => x.Inicializado))
{
sensor.Inicializado = false;
}
}
}
} }
public class SensorModel public class SensorModel

7
AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs
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@ -645,7 +645,8 @@ namespace AgroBase.Models
// Calcula o deslocamento lateral do GPS // Calcula o deslocamento lateral do GPS
double larguraTotal = VariaveisEquipamento.LarguraEsquerda + VariaveisEquipamento.LarguraDireita; // Largura total do robô double larguraTotal = VariaveisEquipamento.LarguraEsquerda + VariaveisEquipamento.LarguraDireita; // Largura total do robô
double deslocamentoLateralGPS = ((VariaveisEquipamento.LarguraEsquerda - VariaveisEquipamento.LarguraDireita) / larguraTotal) / 2.0; double deslocamentoLateralGPSpercentual = ((Math.Abs(VariaveisEquipamento.LarguraEsquerda - VariaveisEquipamento.LarguraDireita) / larguraTotal) / 2.0);
double deslocamentoLateralGPSmetros = (LarguraCorredorPadrao * deslocamentoLateralGPSpercentual);
if (Variaveis.OperacaoEmAndamento.Mapa.TipoMapa == TipoMapaOperacao.Corredores) if (Variaveis.OperacaoEmAndamento.Mapa.TipoMapa == TipoMapaOperacao.Corredores)
{ {
@ -688,8 +689,8 @@ namespace AgroBase.Models
//var pontoMedioInicial = GPSUtils.PontoMedio(ponto1Rua1, ponto1Rua2); //var pontoMedioInicial = GPSUtils.PontoMedio(ponto1Rua1, ponto1Rua2);
//var pontoMedioFinal = GPSUtils.PontoMedio(ponto2Rua1, ponto2Rua2); //var pontoMedioFinal = GPSUtils.PontoMedio(ponto2Rua1, ponto2Rua2);
var pontoMedioInicial = GPSUtils.PontoMedioComOffset(ponto1Rua1, ponto1Rua2, deslocamentoLateralGPS); var pontoMedioInicial = GPSUtils.PontoMedioComOffset(ponto1Rua1, ponto1Rua2, deslocamentoLateralGPSmetros);
var pontoMedioFinal = GPSUtils.PontoMedioComOffset(ponto2Rua1, ponto2Rua2, deslocamentoLateralGPS); var pontoMedioFinal = GPSUtils.PontoMedioComOffset(ponto2Rua1, ponto2Rua2, deslocamentoLateralGPSmetros);
var distancia = GPSUtils.DistanciaEntrePontos(pontoMedioInicial, pontoMedioFinal); var distancia = GPSUtils.DistanciaEntrePontos(pontoMedioInicial, pontoMedioFinal);
if (EspacamentoPrimeirosPontosProjecao && j == 0) if (EspacamentoPrimeirosPontosProjecao && j == 0)

8
AgroBase/AgroBase/Models/Variaveis.cs
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@ -91,10 +91,10 @@ namespace AgroBase.Models
public static class VariaveisEquipamento public static class VariaveisEquipamento
{ {
public static double LarguraEsquerda { get; } = 62.0; public static double LarguraEsquerda { get; } = 44.0; // 62
public static double LarguraDireita { get; } = 22.0; public static double LarguraDireita { get; } = 44.0; // 22
public static double ComprimentoFrente { get; } = 7.0; public static double ComprimentoFrente { get; } = 7.0; // 7
public static double ComprimentoTras { get; } = 107.0; public static double ComprimentoTras { get; } = 107.0; // 107
public static double DistanciaEntreEixos { get; } = 92.0; public static double DistanciaEntreEixos { get; } = 92.0;
public static double LarguraEquipamentoMm public static double LarguraEquipamentoMm
{ {

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AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe
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AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Breadcrumbs
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@ -1,3 +1,8 @@
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:00:37 Widget Closed: StatusBubble
0:03:45 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup 0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles 0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles 0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
@ -10,8 +15,60 @@
0:00:00 Tab1 PageLoad 0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2 0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad 0:00:00 Tab1 PageLoad
0:00:17 Widget Closed: StatusBubble 0:03:54 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:37:43 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp 0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:06:58 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:00:23 Widget Closed: StatusBubble
0:05:00 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:07:03 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:03:26 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup 0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles 0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles 0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
@ -25,119 +82,4 @@
0:00:00 Tab1 FinishNav2 0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad 0:00:00 Tab1 PageLoad
0:00:26 Widget Closed: StatusBubble 0:00:26 Widget Closed: StatusBubble
1:06:55 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp 0:04:32 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:00:21 Widget Closed: StatusBubble
0:05:18 Widget Closed: StatusBubble
0:08:17 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
3:37:51 Widget Closed: StatusBubble
6:54:19 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:30:02 Widget Closed: StatusBubble
1:24:04 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:00:41 Widget Closed: StatusBubble
0:02:00 Widget Closed: StatusBubble
0:06:37 Widget Closed: StatusBubble
4:46:27 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:05:25 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:00:22 Widget Closed: StatusBubble
0:03:52 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:00:10 Widget Closed: StatusBubble
0:03:06 Widget Closed: StatusBubble
0:16:21 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
0:00:00 Startup
0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
0:00:00 Microsoft.NewBrowser_Popup
0:00:00 Microsoft.BrowserList.AddBrowser
0:00:00 Browser1 Insert active Tab1 at 0
0:00:00 Tab1 StartNav1 #auto_toplevel
0:00:00 Tab1 StartNav2 #typed
0:00:00 Tab1 FinishNav1
0:00:00 Tab1 PageLoad
0:00:00 Tab1 FinishNav2
0:00:00 Tab1 PageLoad
0:00:36 Widget Closed: StatusBubble
0:04:19 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp

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AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/BrowserMetrics/BrowserMetrics-68713843-5850.pma → AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/BrowserMetrics/BrowserMetrics-68765EC7-5A80.pma
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AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat
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AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState
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@ -1,12 +1,5 @@
{ {
"epochs": [ { "epochs": [ {
"calculation_time": "13394567869286013",
"config_version": 0,
"model_version": "0",
"padded_top_topics_start_index": 0,
"taxonomy_version": 0,
"top_topics_and_observing_domains": [ ]
}, {
"calculation_time": "13395172669289149", "calculation_time": "13395172669289149",
"config_version": 0, "config_version": 0,
"model_version": "0", "model_version": "0",
@ -29,5 +22,5 @@
"top_topics_and_observing_domains": [ ] "top_topics_and_observing_domains": [ ]
} ], } ],
"hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642", "hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
"next_scheduled_calculation_time": "13397222167014715" "next_scheduled_calculation_time": "13397222167015122"
} }

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@ -1,3 +1,3 @@
2025/07/11-13:13:55.663 6de4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 2025/07/15-10:59:35.513 20f8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/07/11-13:13:55.671 6de4 Recovering log #3 2025/07/15-10:59:35.519 20f8 Recovering log #3
2025/07/11-13:13:55.675 6de4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 2025/07/15-10:59:35.522 20f8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log

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AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old
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@ -1,3 +1,3 @@
2025/07/11-12:34:04.813 7d74 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 2025/07/15-10:55:59.616 7650 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
2025/07/11-12:34:04.820 7d74 Recovering log #3 2025/07/15-10:55:59.621 7650 Recovering log #3
2025/07/11-12:34:04.824 7d74 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 2025/07/15-10:55:59.624 7650 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log

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

@ -1 +1 @@
{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13396810500919879","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":6500},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:60b:6f00:1cb:7dd5:9647:ea0","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}} {"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13397147980670604","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":16322},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:69a:2400:148f:27bb:6ddf:e76e","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}

2
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/TransportSecurity
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@ -1 +1 @@
{"sts":[{"expiry":1783786447.236962,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1752250447.236964}],"version":2} {"sts":[{"expiry":1784123980.089538,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1752587980.089546}],"version":2}

2
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Preferences
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6
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Session Storage/LOG
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@ -1,3 +1,3 @@
2025/07/11-13:18:15.006 6de4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001 2025/07/15-11:04:07.980 20f8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/07/11-13:18:15.007 6de4 Recovering log #3 2025/07/15-11:04:07.981 20f8 Recovering log #3
2025/07/11-13:18:15.010 6de4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 2025/07/15-11:04:07.984 20f8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log

6
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Session Storage/LOG.old
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@ -1,3 +1,3 @@
2025/07/11-12:50:26.119 7d74 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001 2025/07/15-10:59:26.291 7650 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
2025/07/11-12:50:26.121 7d74 Recovering log #3 2025/07/15-10:59:26.292 7650 Recovering log #3
2025/07/11-12:50:26.124 7d74 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 2025/07/15-10:59:26.296 7650 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log

6
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Site Characteristics Database/LOG
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@ -1,3 +1,3 @@
2025/07/11-13:13:55.583 58ac Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001 2025/07/15-10:59:35.436 c94 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/07/11-13:13:55.584 58ac Recovering log #3 2025/07/15-10:59:35.438 c94 Recovering log #3
2025/07/11-13:13:55.585 58ac Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000003.log 2025/07/15-10:59:35.438 c94 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000003.log

6
AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Site Characteristics Database/LOG.old
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@ -1,3 +1,3 @@
2025/07/11-12:34:04.743 6ec0 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001 2025/07/15-10:55:59.540 289c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
2025/07/11-12:34:04.744 6ec0 Recovering log #3 2025/07/15-10:55:59.542 289c Recovering log #3
2025/07/11-12:34:04.745 6ec0 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000003.log 2025/07/15-10:55:59.542 289c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000003.log

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2
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2
AgroBase/AgroBase/bin/x64/Debug/Parametros/parametersMvd-2_0.par
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2
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40
AgroBase/AgroBase/bin/x64/Debug/Python/Output/mapa_interativo.html
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@ -17,7 +17,7 @@
<meta name="viewport" content="width=device-width, <meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" /> initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style> <style>
#map_39d27959b1fc1cb5cb3c6de500d93c6d { #map_b39f02e9c9b5efc4d911abcf4156d114 {
position: relative; position: relative;
width: 100.0%; width: 100.0%;
height: 100.0%; height: 100.0%;
@ -54,14 +54,14 @@
<body> <body>
<div class="folium-map" id="map_39d27959b1fc1cb5cb3c6de500d93c6d" ></div> <div class="folium-map" id="map_b39f02e9c9b5efc4d911abcf4156d114" ></div>
</body> </body>
<script> <script>
var map_39d27959b1fc1cb5cb3c6de500d93c6d = L.map( var map_b39f02e9c9b5efc4d911abcf4156d114 = L.map(
"map_39d27959b1fc1cb5cb3c6de500d93c6d", "map_b39f02e9c9b5efc4d911abcf4156d114",
{ {
center: [-22.172636164916668, -47.395186322185666], center: [-22.172636164916668, -47.395186322185666],
crs: L.CRS.EPSG3857, crs: L.CRS.EPSG3857,
@ -78,7 +78,7 @@
var tile_layer_50ab02404f84c21185caef2ccb107aa7 = L.tileLayer( var tile_layer_1a1c03b051431c7d8998396727e78894 = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png", "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{ {
"minZoom": 0, "minZoom": 0,
@ -95,7 +95,7 @@
); );
tile_layer_50ab02404f84c21185caef2ccb107aa7.addTo(map_39d27959b1fc1cb5cb3c6de500d93c6d); tile_layer_1a1c03b051431c7d8998396727e78894.addTo(map_b39f02e9c9b5efc4d911abcf4156d114);
@ -111,7 +111,7 @@
}*/ }*/
}); });
} }
function geo_json_c03a7237de315e7e5f491adbe62a9542_onEachFeature(feature, layer) { function geo_json_e5fd83afc4f062d8fa93135e69bddab5_onEachFeature(feature, layer) {
layer.on({ layer.on({
@ -148,23 +148,23 @@
}*/ }*/
}); });
}; };
var geo_json_c03a7237de315e7e5f491adbe62a9542 = L.geoJson(null, { var geo_json_e5fd83afc4f062d8fa93135e69bddab5 = L.geoJson(null, {
onEachFeature: geo_json_c03a7237de315e7e5f491adbe62a9542_onEachFeature, onEachFeature: geo_json_e5fd83afc4f062d8fa93135e69bddab5_onEachFeature,
...{ ...{
} }
}); });
function geo_json_c03a7237de315e7e5f491adbe62a9542_add (data) { function geo_json_e5fd83afc4f062d8fa93135e69bddab5_add (data) {
geo_json_c03a7237de315e7e5f491adbe62a9542 geo_json_e5fd83afc4f062d8fa93135e69bddab5
.addData(data); .addData(data);
} }
geo_json_c03a7237de315e7e5f491adbe62a9542_add({"features": [{"geometry": {"coordinates": [[-47.395205344, -22.172559531333334], [-47.395212610166666, -22.172614638833334], [-47.395219157, -22.172656417833334], [-47.395223544833335, -22.1726892105], [-47.39522414098443, -22.17269369161165], [-47.395225326538004, -22.172702654611555]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "1", "Length": 14.558011415731592, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.39521090233333, -22.172708800833334], [-47.395206943666665, -22.172679811], [-47.395202420666664, -22.1726491015], [-47.395198865666664, -22.172615782833333], [-47.395193255833334, -22.172577132833332], [-47.395192610024395, -22.17257265769541], [-47.395191325698136, -22.172563706509337]], "id": null, "type": "LineString"}, "id": 1, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "2", "Length": 14.771318274761821, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.3951762925, -22.172561603], [-47.395180824166665, -22.172591686166665], [-47.395185745333336, -22.172623080166666], [-47.395190433, -22.172656367166667], [-47.395195199, -22.172693641833334], [-47.39519576904436, -22.172698125891035], [-47.39519690267159, -22.172707094716973]], "id": null, "type": "LineString"}, "id": 2, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "3", "Length": 14.827915524386164, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.39518293216667, -22.1727127985], [-47.39517819266667, -22.172680514833335], [-47.3951732595, -22.172646752833334], [-47.39516880516667, -22.1726149155], [-47.39516381233334, -22.172581167166665], [-47.39516315429932, -22.172576693573966], [-47.39516184565584, -22.172567745443878]], "id": null, "type": "LineString"}, "id": 3, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "4", "Length": 14.785159385903514, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395147317833334, -22.172566031], [-47.395151503166666, -22.172595452333333], [-47.3951561855, -22.172628011166665], [-47.39516159866667, -22.172663757333332], [-47.39516672716667, -22.172697770833334], [-47.395167397572706, -22.172702242832194], [-47.39516873082615, -22.17271118781009]], "id": null, "type": "LineString"}, "id": 4, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "5", "Length": 14.80117692191233, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}], "type": "FeatureCollection"}); geo_json_e5fd83afc4f062d8fa93135e69bddab5_add({"features": [{"geometry": {"coordinates": [[-47.395205344, -22.172559531333334], [-47.395212610166666, -22.172614638833334], [-47.395219157, -22.172656417833334], [-47.395223544833335, -22.1726892105], [-47.39522414098443, -22.17269369161165], [-47.395225326538004, -22.172702654611555]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "1", "Length": 14.558011415731592, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.39521090233333, -22.172708800833334], [-47.395206943666665, -22.172679811], [-47.395202420666664, -22.1726491015], [-47.395198865666664, -22.172615782833333], [-47.395193255833334, -22.172577132833332], [-47.395192610024395, -22.17257265769541], [-47.395191325698136, -22.172563706509337]], "id": null, "type": "LineString"}, "id": 1, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "2", "Length": 14.771318274761821, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.3951762925, -22.172561603], [-47.395180824166665, -22.172591686166665], [-47.395185745333336, -22.172623080166666], [-47.395190433, -22.172656367166667], [-47.395195199, -22.172693641833334], [-47.39519576904436, -22.172698125891035], [-47.39519690267159, -22.172707094716973]], "id": null, "type": "LineString"}, "id": 2, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "3", "Length": 14.827915524386164, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.39518293216667, -22.1727127985], [-47.39517819266667, -22.172680514833335], [-47.3951732595, -22.172646752833334], [-47.39516880516667, -22.1726149155], [-47.39516381233334, -22.172581167166665], [-47.39516315429932, -22.172576693573966], [-47.39516184565584, -22.172567745443878]], "id": null, "type": "LineString"}, "id": 3, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "4", "Length": 14.785159385903514, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395147317833334, -22.172566031], [-47.395151503166666, -22.172595452333333], [-47.3951561855, -22.172628011166665], [-47.39516159866667, -22.172663757333332], [-47.39516672716667, -22.172697770833334], [-47.395167397572706, -22.172702242832194], [-47.39516873082615, -22.17271118781009]], "id": null, "type": "LineString"}, "id": 4, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "5", "Length": 14.80117692191233, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}], "type": "FeatureCollection"});
geo_json_c03a7237de315e7e5f491adbe62a9542.setStyle(function(feature) {return feature.properties.style;}); geo_json_e5fd83afc4f062d8fa93135e69bddab5.setStyle(function(feature) {return feature.properties.style;});
geo_json_c03a7237de315e7e5f491adbe62a9542.addTo(map_39d27959b1fc1cb5cb3c6de500d93c6d); geo_json_e5fd83afc4f062d8fa93135e69bddab5.addTo(map_b39f02e9c9b5efc4d911abcf4156d114);
</script> </script>
@ -185,7 +185,7 @@
} }
trajeto_json_add({"features": []}); trajeto_json_add({"features": []});
trajeto_json.addTo(map_39d27959b1fc1cb5cb3c6de500d93c6d); trajeto_json.addTo(map_b39f02e9c9b5efc4d911abcf4156d114);
function adicionarGeometria(novaGeometria) { function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria); trajeto_json.addData(novaGeometria);
@ -243,7 +243,7 @@
} }
trajeto_dinamico_json_add({"features": []}); trajeto_dinamico_json_add({"features": []});
trajeto_dinamico_json.addTo(map_39d27959b1fc1cb5cb3c6de500d93c6d); trajeto_dinamico_json.addTo(map_b39f02e9c9b5efc4d911abcf4156d114);
function adicionarGeometriaDinamica(novaGeometria) { function adicionarGeometriaDinamica(novaGeometria) {
trajeto_dinamico_json.addData(novaGeometria); trajeto_dinamico_json.addData(novaGeometria);
@ -296,9 +296,9 @@
var marcadorEquipamento = L.marker([0, 0], { var marcadorEquipamento = L.marker([0, 0], {
icon: customIcon icon: customIcon
}).addTo(map_39d27959b1fc1cb5cb3c6de500d93c6d); }).addTo(map_b39f02e9c9b5efc4d911abcf4156d114);
var marcadorBase = L.marker([0, 0], {}).addTo(map_39d27959b1fc1cb5cb3c6de500d93c6d); var marcadorBase = L.marker([0, 0], {}).addTo(map_b39f02e9c9b5efc4d911abcf4156d114);
var icon = L.AwesomeMarkers.icon( var icon = L.AwesomeMarkers.icon(
{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"} {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
); );
@ -380,7 +380,7 @@
} }
if (foco) { if (foco) {
map_39d27959b1fc1cb5cb3c6de500d93c6d.setView(novaPosicao, map_39d27959b1fc1cb5cb3c6de500d93c6d.getZoom()); map_b39f02e9c9b5efc4d911abcf4156d114.setView(novaPosicao, map_b39f02e9c9b5efc4d911abcf4156d114.getZoom());
} }
} }
@ -397,7 +397,7 @@
function atualizarSelecaoRuas(selecionadas) { function atualizarSelecaoRuas(selecionadas) {
selecionadas = JSON.parse(selecionadas); selecionadas = JSON.parse(selecionadas);
RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : []; RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
geo_json_c03a7237de315e7e5f491adbe62a9542.eachLayer(function (layer) { geo_json_e5fd83afc4f062d8fa93135e69bddab5.eachLayer(function (layer) {
if (RuasSelecionadas.includes(parseInt(layer.feature.id))) { if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
layer.setStyle({ color: 'blue' }); layer.setStyle({ color: 'blue' });
} else { } else {

16
AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/mpc.py
View File

@ -1031,13 +1031,15 @@ class ControladorMPC:
try: try:
agora = time.time() agora = time.time()
self.dt = 0.25 if self.ultima_atualizacao is None else agora - self.ultima_atualizacao self.dt = 0.25 if self.ultima_atualizacao is None else agora - self.ultima_atualizacao
self.dt = max(min(self.dt, 0.4), 0.1) #self.dt = max(min(self.dt, 0.4), 0.1)
_dt = self.dt
freq_tick = 1.0 / _dt
self.dt = 0.5 self.dt = 0.5
self.ultima_atualizacao = agora self.ultima_atualizacao = agora
comando = self._processar_mpc_receding(contexto, comando_anterior) comando = self._processar_mpc_receding(contexto, comando_anterior)
t_exec = max((time.time() - self.ultima_atualizacao), 1e-3) t_exec = max((time.time() - self.ultima_atualizacao), 1e-3)
mostrar_log(f"🧭 Direcional MPC | Parada: {comando['parada_necessaria']} | Movimento: {TipoMovimentoDirecional(comando['tipo']).name} | Ângulo: {comando['angulo']}° | Horizonte: {len(comando['simulacao'])} | dt: {self.dt:.2f} s | freq = {(1.0 / self.dt):.2f} Hz | t_exec: {t_exec:.2} s | f_exec: {(1.0 / t_exec):.2f} Hz") mostrar_log(f"🧭 Direcional MPC | Parada: {comando['parada_necessaria']} | Movimento: {TipoMovimentoDirecional(comando['tipo']).name} | Ângulo: {comando['angulo']}° | Horizonte: {len(comando['simulacao'])} | dt: {_dt:.2f} s | freq = {(freq_tick):.2f} Hz | t_exec: {t_exec:.2} s | f_exec: {(1.0 / t_exec):.2f} Hz")
return comando return comando
except Exception as e: except Exception as e:
@ -1101,7 +1103,7 @@ class ControladorMPC:
def simular_e_gerar(candidato, tipo, angulo): def simular_e_gerar(candidato, tipo, angulo):
try: try:
custo, sim, valido = self._simular_passo(x_atual, y_atual, theta_atual, tipo, angulo, custos_candidatos, cmd_anterior, contexto, deepcopy(visitados)) custo, sim, valido = self._simular_passo(x_atual, y_atual, theta_atual, tipo, angulo, custos_candidatos, cmd_anterior, contexto, deepcopy(visitados))
print(f"{tipo.name} | angulo: {np.degrees(angulo):.2f} : Custo: {custo}") #print(f"{tipo.name} | angulo: {np.degrees(angulo):.2f} : Custo: {custo}")
x_f, y_f, theta_f = sim[-1] x_f, y_f, theta_f = sim[-1]
if valido: if valido:
return { return {
@ -1129,12 +1131,12 @@ class ControladorMPC:
# Filtro opcional: limitar para os N melhores candidatos # Filtro opcional: limitar para os N melhores candidatos
candidatos_ativos = self._selecionar_melhores(novos_candidatos, N=5) candidatos_ativos = self._selecionar_melhores(novos_candidatos, N=5)
candidatos_ativos = self._filtrar_por_margem_angular(candidatos_ativos, margem_graus=2.0) candidatos_ativos = self._filtrar_por_margem_angular(candidatos_ativos, margem_graus=2.0)
print("Melhores candidatos filtrados:") #print("Melhores candidatos filtrados:")
for i, c in enumerate(candidatos_ativos): for i, c in enumerate(candidatos_ativos):
comando = c["comandos"][-1] if c["comandos"] else ("-", 0) comando = c["comandos"][-1] if c["comandos"] else ("-", 0)
tipo = comando[0] tipo = comando[0]
angulo = np.degrees(comando[1]) angulo = np.degrees(comando[1])
print(f"{i+1}. Tipo: {tipo.name if hasattr(tipo, 'name') else tipo}, Angulo: {round(angulo, 2)}, Custo: {round(c['custo'], 4)}") #print(f"{i+1}. Tipo: {tipo.name if hasattr(tipo, 'name') else tipo}, Angulo: {round(angulo, 2)}, Custo: {round(c['custo'], 4)}")
t5 = time.time() t5 = time.time()
#print(f"Passo {passo} simulado em {t5 - t1} segundos") #print(f"Passo {passo} simulado em {t5 - t1} segundos")
@ -1187,8 +1189,10 @@ class ControladorMPC:
if manobrando or status in [ StatusCarroMapa.EntrandoRua, StatusCarroMapa.SaindoRua, StatusCarroMapa.Manobrando ]: if manobrando or status in [ StatusCarroMapa.EntrandoRua, StatusCarroMapa.SaindoRua, StatusCarroMapa.Manobrando ]:
tipos_validos = [ TipoMovimentoDirecional.MovimentoArco ] tipos_validos = [ TipoMovimentoDirecional.MovimentoArco ]
else: elif np.degrees(delta_theta) > 10.0:
tipos_validos = [ TipoMovimentoDirecional.RodasDianteiras, TipoMovimentoDirecional.MovimentoArco ] tipos_validos = [ TipoMovimentoDirecional.RodasDianteiras, TipoMovimentoDirecional.MovimentoArco ]
else:
tipos_validos = [ TipoMovimentoDirecional.RodasDianteiras ]
com_matriz_custo = contexto.get("VisualWorker", {}).get("Operante", False) com_matriz_custo = contexto.get("VisualWorker", {}).get("Operante", False)
angulos_raw = self._gerar_candidatos_brutos(angulo_ideal_deg, com_matriz_custo) angulos_raw = self._gerar_candidatos_brutos(angulo_ideal_deg, com_matriz_custo)

2
AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/processamento/segmentacao_semantica.py
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@ -23,7 +23,7 @@ class SegmentacaoManager:
self.classes = None self.classes = None
self.color_map = None self.color_map = None
self.carregado = False self.carregado = False
self.use_mock = True self.use_mock = False
self.img_mock = "C:\\ZendionInc\\agrobot_base\\Treinamento\\models\\ruas\\dataset\\images\\55.jpeg" self.img_mock = "C:\\ZendionInc\\agrobot_base\\Treinamento\\models\\ruas\\dataset\\images\\55.jpeg"
self._carregar_modelo() self._carregar_modelo()

BIN
Documentos/Cabeamento.xlsx
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