From 7fdcef514d3c16b0b9d3f7b46611a6b93cf9dce0 Mon Sep 17 00:00:00 2001 From: Diego Freitas Date: Mon, 29 Apr 2024 17:02:19 -0300 Subject: [PATCH] ajustado detalhes na definicao de rotas --- ...35338bfa-1c68-463a-8e26-3ce56d34c1d3.vsidx | Bin 0 -> 2079710 bytes ...6558e937-f2c9-4fe7-a8fe-540e18061ad0.vsidx | Bin 2079312 -> 0 bytes ...6ddd0161-0335-454b-a597-ac3223a5ba84.vsidx | Bin 99819 -> 0 bytes ...91ead007-94ea-4bfe-8c01-63da7bd12c73.vsidx | Bin 0 -> 100472 bytes ...aea47805-1e35-470a-83c7-678c5404eae5.vsidx | Bin 0 -> 102975 bytes ...cbb18015-81b5-4b99-bba3-a9b207dda3a0.vsidx | Bin 103218 -> 0 bytes AgroBase/.vs/AgroBase/v17/.suo | Bin 502272 -> 513024 bytes .../Forms/Operacoes/frmOperacaoMapaGPS.cs | 22 +- .../frmOperacaoSeguidorLinha.Designer.cs | 413 +- .../Forms/frmSimulacaoMapaGPS.Designer.cs | 197 +- .../AgroBase/Forms/frmSimulacaoMapaGPS.cs | 37 +- .../Models/Operacoes/OperacaoMapaGPSModel.cs | 195 +- .../Models/Operacoes/OperacaoModel.cs | 129 +- 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Convert.ToInt32(Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio) : 100; + FuncoesGlobais.PreencheValorProgressBar(pgbReservatorio, Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio); lblPorcentagemReservatorio.Text = Variaveis.OperacaoEmAndamento.DispAtu.Dados.VolumeReservatorio.ToString("0.000") + " L " + Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio.ToString("00.00") + "%"; - pgbBateria.Value = Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria) : 100; + FuncoesGlobais.PreencheValorProgressBar(pgbBateria, Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria); lblPorcentagemBateria.Text = (PZEMService.Iniciado && PZEMService.UltimaLeitura != null ? PZEMService.UltimaLeitura.Tensao.ToString("0.00") + "v " + PZEMService.UltimaLeitura.Corrente.ToString("0.00") + "A " : "") + Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria.ToString("00.00") + "%"; - pgbProgresso.Value = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto) : 100; + FuncoesGlobais.PreencheValorProgressBar(pgbProgresso, Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto); lblPorcentagemProgresso.Text = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto.ToString("00.00") + "%"; - pgbProgressoRua.Value = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua <= 100 ? Convert.ToInt32(Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua) : 100; + FuncoesGlobais.PreencheValorProgressBar(pgbProgressoRua, Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua); lblPorcentagemProgressoRua.Text = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua.ToString("00.00") + "%"; lblDistancia.Text = "Distância Operação: " + (Variaveis.OperacaoEmAndamento.Mapa == null ? 0 : Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal).ToString("00.00") + " m"; @@ -817,7 +825,7 @@ namespace AgroBase.Forms.Operacoes { try { - double angulo = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.AnguloCarro; + double angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro; DesenharInclinacao((Panel)sender, e, (float)angulo, -90); } catch { } diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs index d28a3c637..395e16cb6 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs @@ -40,7 +40,11 @@ namespace AgroBase.Forms.Operacoes this.lblPressao = new System.Windows.Forms.Label(); this.pnlCaminho = new System.Windows.Forms.Panel(); this.pnlGraficos = new System.Windows.Forms.Panel(); + this.tabControl1 = new System.Windows.Forms.TabControl(); + this.tabGrafico = new System.Windows.Forms.TabPage(); this.chartGraficos = new System.Windows.Forms.DataVisualization.Charting.Chart(); + this.tabSonar = new System.Windows.Forms.TabPage(); + this.picSonar = new System.Windows.Forms.PictureBox(); this.pnlNiveis = new System.Windows.Forms.Panel(); this.lblPorcentagemProgressoRua = new System.Windows.Forms.Label(); this.btnSimular = new System.Windows.Forms.Button(); @@ -86,23 +90,19 @@ namespace AgroBase.Forms.Operacoes this.pnlInclinacao = new System.Windows.Forms.Panel(); this.pnlAnguloCamera = new System.Windows.Forms.Panel(); this.lblPerformance = new System.Windows.Forms.Label(); - this.tabControl1 = new System.Windows.Forms.TabControl(); - this.tabGrafico = new System.Windows.Forms.TabPage(); - this.tabSonar = new System.Windows.Forms.TabPage(); - this.picSonar = new System.Windows.Forms.PictureBox(); this.pnlCameraSolo.SuspendLayout(); this.pnlAtuadores.SuspendLayout(); this.pnlGraficos.SuspendLayout(); + this.tabControl1.SuspendLayout(); + this.tabGrafico.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).BeginInit(); + this.tabSonar.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)(this.picSonar)).BeginInit(); this.pnlNiveis.SuspendLayout(); this.gpbOpcoes.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).BeginInit(); this.gpbInformacoesGerais.SuspendLayout(); this.pnlInferior.SuspendLayout(); - this.tabControl1.SuspendLayout(); - this.tabGrafico.SuspendLayout(); - this.tabSonar.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)(this.picSonar)).BeginInit(); this.SuspendLayout(); // // pnlCameraSolo @@ -110,37 +110,35 @@ namespace AgroBase.Forms.Operacoes this.pnlCameraSolo.BackColor = System.Drawing.SystemColors.ControlDark; this.pnlCameraSolo.Controls.Add(this.pnlCameraSoloD); this.pnlCameraSolo.Controls.Add(this.pnlCameraSoloE); - this.pnlCameraSolo.Location = new System.Drawing.Point(12, 267); - this.pnlCameraSolo.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlCameraSolo.Location = new System.Drawing.Point(9, 217); + this.pnlCameraSolo.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlCameraSolo.Name = "pnlCameraSolo"; - this.pnlCameraSolo.Size = new System.Drawing.Size(789, 330); + this.pnlCameraSolo.Size = new System.Drawing.Size(592, 268); this.pnlCameraSolo.TabIndex = 0; // // pnlCameraSoloD // this.pnlCameraSoloD.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left))); - this.pnlCameraSoloD.Location = new System.Drawing.Point(399, 2); - this.pnlCameraSoloD.Margin = new System.Windows.Forms.Padding(4); + this.pnlCameraSoloD.Location = new System.Drawing.Point(299, 2); this.pnlCameraSoloD.Name = "pnlCameraSoloD"; - this.pnlCameraSoloD.Size = new System.Drawing.Size(385, 325); + this.pnlCameraSoloD.Size = new System.Drawing.Size(289, 264); this.pnlCameraSoloD.TabIndex = 1; // // pnlCameraSoloE // this.pnlCameraSoloE.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left))); - this.pnlCameraSoloE.Location = new System.Drawing.Point(5, 2); - this.pnlCameraSoloE.Margin = new System.Windows.Forms.Padding(4); + this.pnlCameraSoloE.Location = new System.Drawing.Point(4, 2); this.pnlCameraSoloE.Name = "pnlCameraSoloE"; - this.pnlCameraSoloE.Size = new System.Drawing.Size(385, 325); + this.pnlCameraSoloE.Size = new System.Drawing.Size(289, 264); this.pnlCameraSoloE.TabIndex = 0; // // pnlCameraCaminho // this.pnlCameraCaminho.BackColor = System.Drawing.SystemColors.ControlDarkDark; - this.pnlCameraCaminho.Location = new System.Drawing.Point(481, 12); - this.pnlCameraCaminho.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlCameraCaminho.Location = new System.Drawing.Point(361, 10); + this.pnlCameraCaminho.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlCameraCaminho.Name = "pnlCameraCaminho"; - this.pnlCameraCaminho.Size = new System.Drawing.Size(349, 250); + this.pnlCameraCaminho.Size = new System.Drawing.Size(262, 203); this.pnlCameraCaminho.TabIndex = 1; // // pnlAtuadores @@ -148,42 +146,65 @@ namespace AgroBase.Forms.Operacoes this.pnlAtuadores.BackColor = System.Drawing.SystemColors.Control; this.pnlAtuadores.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D; this.pnlAtuadores.Controls.Add(this.lblPressao); - this.pnlAtuadores.Location = new System.Drawing.Point(12, 604); - this.pnlAtuadores.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlAtuadores.Location = new System.Drawing.Point(9, 491); + this.pnlAtuadores.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlAtuadores.Name = "pnlAtuadores"; - this.pnlAtuadores.Size = new System.Drawing.Size(791, 86); + this.pnlAtuadores.Size = new System.Drawing.Size(594, 71); this.pnlAtuadores.TabIndex = 2; this.pnlAtuadores.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAtuadores_Paint); // // lblPressao // this.lblPressao.AutoSize = true; - this.lblPressao.Location = new System.Drawing.Point(-3, 0); - this.lblPressao.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lblPressao.Location = new System.Drawing.Point(-2, 0); this.lblPressao.Name = "lblPressao"; - this.lblPressao.Size = new System.Drawing.Size(67, 16); + this.lblPressao.Size = new System.Drawing.Size(57, 13); this.lblPressao.TabIndex = 0; this.lblPressao.Text = "P: 0.00 psi"; // // pnlCaminho // this.pnlCaminho.BackColor = System.Drawing.Color.White; - this.pnlCaminho.Location = new System.Drawing.Point(836, 26); - this.pnlCaminho.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlCaminho.Location = new System.Drawing.Point(627, 21); + this.pnlCaminho.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlCaminho.Name = "pnlCaminho"; - this.pnlCaminho.Size = new System.Drawing.Size(512, 343); + this.pnlCaminho.Size = new System.Drawing.Size(384, 279); this.pnlCaminho.TabIndex = 3; this.pnlCaminho.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlCaminho_Paint); // // pnlGraficos // this.pnlGraficos.Controls.Add(this.tabControl1); - this.pnlGraficos.Location = new System.Drawing.Point(808, 378); - this.pnlGraficos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlGraficos.Location = new System.Drawing.Point(606, 307); + this.pnlGraficos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlGraficos.Name = "pnlGraficos"; - this.pnlGraficos.Size = new System.Drawing.Size(540, 313); + this.pnlGraficos.Size = new System.Drawing.Size(405, 254); this.pnlGraficos.TabIndex = 4; // + // tabControl1 + // + this.tabControl1.Controls.Add(this.tabGrafico); + this.tabControl1.Controls.Add(this.tabSonar); + this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill; + this.tabControl1.Location = new System.Drawing.Point(0, 0); + this.tabControl1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.tabControl1.Name = "tabControl1"; + this.tabControl1.SelectedIndex = 0; + this.tabControl1.Size = new System.Drawing.Size(405, 254); + this.tabControl1.TabIndex = 0; + // + // tabGrafico + // + this.tabGrafico.Controls.Add(this.chartGraficos); + this.tabGrafico.Location = new System.Drawing.Point(4, 22); + this.tabGrafico.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.tabGrafico.Name = "tabGrafico"; + this.tabGrafico.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.tabGrafico.Size = new System.Drawing.Size(397, 228); + this.tabGrafico.TabIndex = 0; + this.tabGrafico.Text = "Desempenho"; + this.tabGrafico.UseVisualStyleBackColor = true; + // // chartGraficos // chartArea1.Name = "ChartArea1"; @@ -191,17 +212,39 @@ namespace AgroBase.Forms.Operacoes this.chartGraficos.Dock = System.Windows.Forms.DockStyle.Fill; legend1.Name = "Legend1"; this.chartGraficos.Legends.Add(legend1); - this.chartGraficos.Location = new System.Drawing.Point(3, 3); - this.chartGraficos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.chartGraficos.Location = new System.Drawing.Point(2, 2); + this.chartGraficos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.chartGraficos.Name = "chartGraficos"; series1.ChartArea = "ChartArea1"; series1.Legend = "Legend1"; series1.Name = "Series1"; this.chartGraficos.Series.Add(series1); - this.chartGraficos.Size = new System.Drawing.Size(526, 278); + this.chartGraficos.Size = new System.Drawing.Size(393, 224); this.chartGraficos.TabIndex = 0; this.chartGraficos.Text = "chart1"; // + // tabSonar + // + this.tabSonar.Controls.Add(this.picSonar); + this.tabSonar.Location = new System.Drawing.Point(4, 22); + this.tabSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.tabSonar.Name = "tabSonar"; + this.tabSonar.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.tabSonar.Size = new System.Drawing.Size(397, 228); + this.tabSonar.TabIndex = 1; + this.tabSonar.Text = "Sonar"; + this.tabSonar.UseVisualStyleBackColor = true; + // + // picSonar + // + this.picSonar.Dock = System.Windows.Forms.DockStyle.Fill; + this.picSonar.Location = new System.Drawing.Point(2, 2); + this.picSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.picSonar.Name = "picSonar"; + this.picSonar.Size = new System.Drawing.Size(393, 224); + this.picSonar.TabIndex = 1; + this.picSonar.TabStop = false; + // // pnlNiveis // this.pnlNiveis.BackColor = System.Drawing.SystemColors.Control; @@ -222,27 +265,28 @@ namespace AgroBase.Forms.Operacoes this.pnlNiveis.Controls.Add(this.lblPorcentagemReservatorio); this.pnlNiveis.Controls.Add(this.pgbReservatorio); this.pnlNiveis.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); - this.pnlNiveis.Location = new System.Drawing.Point(12, 702); - this.pnlNiveis.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlNiveis.Location = new System.Drawing.Point(9, 570); + this.pnlNiveis.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlNiveis.Name = "pnlNiveis"; - this.pnlNiveis.Size = new System.Drawing.Size(789, 85); + this.pnlNiveis.Size = new System.Drawing.Size(592, 69); this.pnlNiveis.TabIndex = 6; // // lblPorcentagemProgressoRua // this.lblPorcentagemProgressoRua.AutoSize = true; - this.lblPorcentagemProgressoRua.Location = new System.Drawing.Point(711, 28); + this.lblPorcentagemProgressoRua.Location = new System.Drawing.Point(533, 23); + this.lblPorcentagemProgressoRua.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblPorcentagemProgressoRua.Name = "lblPorcentagemProgressoRua"; - this.lblPorcentagemProgressoRua.Size = new System.Drawing.Size(62, 16); + this.lblPorcentagemProgressoRua.Size = new System.Drawing.Size(50, 13); this.lblPorcentagemProgressoRua.TabIndex = 16; this.lblPorcentagemProgressoRua.Text = "00,00%"; // // btnSimular // - this.btnSimular.Location = new System.Drawing.Point(639, 52); - this.btnSimular.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnSimular.Location = new System.Drawing.Point(479, 42); + this.btnSimular.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.btnSimular.Name = "btnSimular"; - this.btnSimular.Size = new System.Drawing.Size(81, 26); + this.btnSimular.Size = new System.Drawing.Size(61, 21); this.btnSimular.TabIndex = 12; this.btnSimular.Text = "Simular"; this.btnSimular.UseVisualStyleBackColor = true; @@ -250,27 +294,28 @@ namespace AgroBase.Forms.Operacoes // // pgbProgressoRua // - this.pgbProgressoRua.Location = new System.Drawing.Point(500, 28); - this.pgbProgressoRua.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pgbProgressoRua.Location = new System.Drawing.Point(375, 23); + this.pgbProgressoRua.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pgbProgressoRua.Name = "pgbProgressoRua"; - this.pgbProgressoRua.Size = new System.Drawing.Size(200, 16); + this.pgbProgressoRua.Size = new System.Drawing.Size(150, 13); this.pgbProgressoRua.TabIndex = 15; // // lblProgressoRua // this.lblProgressoRua.AutoSize = true; - this.lblProgressoRua.Location = new System.Drawing.Point(409, 28); + this.lblProgressoRua.Location = new System.Drawing.Point(307, 23); + this.lblProgressoRua.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblProgressoRua.Name = "lblProgressoRua"; - this.lblProgressoRua.Size = new System.Drawing.Size(54, 16); + this.lblProgressoRua.Size = new System.Drawing.Size(44, 13); this.lblProgressoRua.TabIndex = 14; this.lblProgressoRua.Text = "% Rua"; // // btnManobraConcluida // - this.btnManobraConcluida.Location = new System.Drawing.Point(725, 53); - this.btnManobraConcluida.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnManobraConcluida.Location = new System.Drawing.Point(544, 43); + this.btnManobraConcluida.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.btnManobraConcluida.Name = "btnManobraConcluida"; - this.btnManobraConcluida.Size = new System.Drawing.Size(52, 26); + this.btnManobraConcluida.Size = new System.Drawing.Size(39, 21); this.btnManobraConcluida.TabIndex = 13; this.btnManobraConcluida.Text = "MC"; this.btnManobraConcluida.UseVisualStyleBackColor = true; @@ -280,9 +325,10 @@ namespace AgroBase.Forms.Operacoes // this.lblDirecao.AutoSize = true; this.lblDirecao.Font = new System.Drawing.Font("Mongolian Baiti", 8.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.lblDirecao.Location = new System.Drawing.Point(411, 66); + this.lblDirecao.Location = new System.Drawing.Point(308, 54); + this.lblDirecao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblDirecao.Name = "lblDirecao"; - this.lblDirecao.Size = new System.Drawing.Size(113, 15); + this.lblDirecao.Size = new System.Drawing.Size(94, 11); this.lblDirecao.TabIndex = 11; this.lblDirecao.Text = "Direção: Parado"; // @@ -290,89 +336,96 @@ namespace AgroBase.Forms.Operacoes // this.lblStatus.AutoSize = true; this.lblStatus.Font = new System.Drawing.Font("Mongolian Baiti", 8.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.lblStatus.Location = new System.Drawing.Point(411, 50); + this.lblStatus.Location = new System.Drawing.Point(308, 41); + this.lblStatus.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblStatus.Name = "lblStatus"; - this.lblStatus.Size = new System.Drawing.Size(136, 15); + this.lblStatus.Size = new System.Drawing.Size(114, 11); this.lblStatus.TabIndex = 10; this.lblStatus.Text = "Status: Aguardando"; // // lblProgressoT // this.lblProgressoT.AutoSize = true; - this.lblProgressoT.Location = new System.Drawing.Point(409, 7); + this.lblProgressoT.Location = new System.Drawing.Point(307, 6); + this.lblProgressoT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblProgressoT.Name = "lblProgressoT"; - this.lblProgressoT.Size = new System.Drawing.Size(77, 16); + this.lblProgressoT.Size = new System.Drawing.Size(62, 13); this.lblProgressoT.TabIndex = 8; this.lblProgressoT.Text = "% Trajeto"; // // lblPorcentagemBateria // this.lblPorcentagemBateria.AutoSize = true; - this.lblPorcentagemBateria.Location = new System.Drawing.Point(138, 53); + this.lblPorcentagemBateria.Location = new System.Drawing.Point(104, 43); + this.lblPorcentagemBateria.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblPorcentagemBateria.Name = "lblPorcentagemBateria"; - this.lblPorcentagemBateria.Size = new System.Drawing.Size(62, 16); + this.lblPorcentagemBateria.Size = new System.Drawing.Size(50, 13); this.lblPorcentagemBateria.TabIndex = 3; this.lblPorcentagemBateria.Text = "00,00%"; // // lblBateriaT // this.lblBateriaT.AutoSize = true; - this.lblBateriaT.Location = new System.Drawing.Point(3, 54); + this.lblBateriaT.Location = new System.Drawing.Point(2, 44); + this.lblBateriaT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblBateriaT.Name = "lblBateriaT"; - this.lblBateriaT.Size = new System.Drawing.Size(58, 16); + this.lblBateriaT.Size = new System.Drawing.Size(47, 13); this.lblBateriaT.TabIndex = 7; this.lblBateriaT.Text = "Bateria"; // // lblReservatorioT // this.lblReservatorioT.AutoSize = true; - this.lblReservatorioT.Location = new System.Drawing.Point(3, 16); + this.lblReservatorioT.Location = new System.Drawing.Point(2, 13); + this.lblReservatorioT.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblReservatorioT.Name = "lblReservatorioT"; - this.lblReservatorioT.Size = new System.Drawing.Size(98, 16); + this.lblReservatorioT.Size = new System.Drawing.Size(79, 13); this.lblReservatorioT.TabIndex = 6; this.lblReservatorioT.Text = "Reservatório"; // // lblPorcentagemProgresso // this.lblPorcentagemProgresso.AutoSize = true; - this.lblPorcentagemProgresso.Location = new System.Drawing.Point(711, 7); + this.lblPorcentagemProgresso.Location = new System.Drawing.Point(533, 6); + this.lblPorcentagemProgresso.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblPorcentagemProgresso.Name = "lblPorcentagemProgresso"; - this.lblPorcentagemProgresso.Size = new System.Drawing.Size(62, 16); + this.lblPorcentagemProgresso.Size = new System.Drawing.Size(50, 13); this.lblPorcentagemProgresso.TabIndex = 5; this.lblPorcentagemProgresso.Text = "00,00%"; // // pgbBateria // - this.pgbBateria.Location = new System.Drawing.Point(131, 44); - this.pgbBateria.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pgbBateria.Location = new System.Drawing.Point(98, 36); + this.pgbBateria.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pgbBateria.Name = "pgbBateria"; - this.pgbBateria.Size = new System.Drawing.Size(233, 33); + this.pgbBateria.Size = new System.Drawing.Size(175, 27); this.pgbBateria.TabIndex = 2; // // pgbProgresso // - this.pgbProgresso.Location = new System.Drawing.Point(500, 7); - this.pgbProgresso.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pgbProgresso.Location = new System.Drawing.Point(375, 6); + this.pgbProgresso.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pgbProgresso.Name = "pgbProgresso"; - this.pgbProgresso.Size = new System.Drawing.Size(200, 16); + this.pgbProgresso.Size = new System.Drawing.Size(150, 13); this.pgbProgresso.TabIndex = 4; // // lblPorcentagemReservatorio // this.lblPorcentagemReservatorio.AutoSize = true; this.lblPorcentagemReservatorio.BackColor = System.Drawing.Color.Transparent; - this.lblPorcentagemReservatorio.Location = new System.Drawing.Point(138, 15); + this.lblPorcentagemReservatorio.Location = new System.Drawing.Point(104, 12); + this.lblPorcentagemReservatorio.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblPorcentagemReservatorio.Name = "lblPorcentagemReservatorio"; - this.lblPorcentagemReservatorio.Size = new System.Drawing.Size(62, 16); + this.lblPorcentagemReservatorio.Size = new System.Drawing.Size(50, 13); this.lblPorcentagemReservatorio.TabIndex = 1; this.lblPorcentagemReservatorio.Text = "00,00%"; // // pgbReservatorio // - this.pgbReservatorio.Location = new System.Drawing.Point(131, 6); - this.pgbReservatorio.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pgbReservatorio.Location = new System.Drawing.Point(98, 5); + this.pgbReservatorio.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pgbReservatorio.Name = "pgbReservatorio"; - this.pgbReservatorio.Size = new System.Drawing.Size(233, 33); + this.pgbReservatorio.Size = new System.Drawing.Size(175, 27); this.pgbReservatorio.TabIndex = 0; // // gpbOpcoes @@ -383,11 +436,11 @@ namespace AgroBase.Forms.Operacoes this.gpbOpcoes.Controls.Add(this.btnCarregarMapa); this.gpbOpcoes.Controls.Add(this.btnIniciarOperacao); this.gpbOpcoes.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); - this.gpbOpcoes.Location = new System.Drawing.Point(1084, 697); - this.gpbOpcoes.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.gpbOpcoes.Location = new System.Drawing.Point(813, 566); + this.gpbOpcoes.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.gpbOpcoes.Name = "gpbOpcoes"; - this.gpbOpcoes.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2); - this.gpbOpcoes.Size = new System.Drawing.Size(264, 146); + this.gpbOpcoes.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbOpcoes.Size = new System.Drawing.Size(198, 119); this.gpbOpcoes.TabIndex = 7; this.gpbOpcoes.TabStop = false; this.gpbOpcoes.Text = "Opções"; @@ -395,40 +448,43 @@ namespace AgroBase.Forms.Operacoes // lblPSI // this.lblPSI.AutoSize = true; - this.lblPSI.Location = new System.Drawing.Point(218, 28); + this.lblPSI.Location = new System.Drawing.Point(164, 23); + this.lblPSI.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblPSI.Name = "lblPSI"; - this.lblPSI.Size = new System.Drawing.Size(28, 16); + this.lblPSI.Size = new System.Drawing.Size(24, 13); this.lblPSI.TabIndex = 10; this.lblPSI.Text = "psi"; // // lblPressaoSP // this.lblPressaoSP.AutoSize = true; - this.lblPressaoSP.Location = new System.Drawing.Point(6, 28); + this.lblPressaoSP.Location = new System.Drawing.Point(4, 23); + this.lblPressaoSP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblPressaoSP.Name = "lblPressaoSP"; - this.lblPressaoSP.Size = new System.Drawing.Size(124, 16); + this.lblPressaoSP.Size = new System.Drawing.Size(100, 13); this.lblPressaoSP.TabIndex = 9; this.lblPressaoSP.Text = "Pressão da linha"; // // nudPressaoSP // - this.nudPressaoSP.Location = new System.Drawing.Point(138, 23); + this.nudPressaoSP.Location = new System.Drawing.Point(104, 19); + this.nudPressaoSP.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.nudPressaoSP.Maximum = new decimal(new int[] { 200, 0, 0, 0}); this.nudPressaoSP.Name = "nudPressaoSP"; - this.nudPressaoSP.Size = new System.Drawing.Size(74, 25); + this.nudPressaoSP.Size = new System.Drawing.Size(56, 21); this.nudPressaoSP.TabIndex = 8; this.nudPressaoSP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // // btnCarregarMapa // - this.btnCarregarMapa.Location = new System.Drawing.Point(29, 71); - this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnCarregarMapa.Location = new System.Drawing.Point(22, 58); + this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.btnCarregarMapa.Name = "btnCarregarMapa"; - this.btnCarregarMapa.Size = new System.Drawing.Size(206, 26); + this.btnCarregarMapa.Size = new System.Drawing.Size(154, 21); this.btnCarregarMapa.TabIndex = 5; this.btnCarregarMapa.Text = "Selecionar Mapa"; this.btnCarregarMapa.UseVisualStyleBackColor = true; @@ -436,10 +492,10 @@ namespace AgroBase.Forms.Operacoes // // btnIniciarOperacao // - this.btnIniciarOperacao.Location = new System.Drawing.Point(29, 107); - this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnIniciarOperacao.Location = new System.Drawing.Point(22, 87); + this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.btnIniciarOperacao.Name = "btnIniciarOperacao"; - this.btnIniciarOperacao.Size = new System.Drawing.Size(206, 26); + this.btnIniciarOperacao.Size = new System.Drawing.Size(154, 21); this.btnIniciarOperacao.TabIndex = 6; this.btnIniciarOperacao.Text = "Iniciar Operação"; this.btnIniciarOperacao.UseVisualStyleBackColor = true; @@ -455,11 +511,11 @@ namespace AgroBase.Forms.Operacoes this.gpbInformacoesGerais.Controls.Add(this.lblTempoOperacao); this.gpbInformacoesGerais.Controls.Add(this.lblDistanciaPercorrida); this.gpbInformacoesGerais.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); - this.gpbInformacoesGerais.Location = new System.Drawing.Point(808, 697); - this.gpbInformacoesGerais.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.gpbInformacoesGerais.Location = new System.Drawing.Point(606, 566); + this.gpbInformacoesGerais.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.gpbInformacoesGerais.Name = "gpbInformacoesGerais"; - this.gpbInformacoesGerais.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2); - this.gpbInformacoesGerais.Size = new System.Drawing.Size(269, 146); + this.gpbInformacoesGerais.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbInformacoesGerais.Size = new System.Drawing.Size(202, 119); this.gpbInformacoesGerais.TabIndex = 9; this.gpbInformacoesGerais.TabStop = false; this.gpbInformacoesGerais.Text = "Informações Gerais"; @@ -467,63 +523,70 @@ namespace AgroBase.Forms.Operacoes // lblBateriaConsumida // this.lblBateriaConsumida.AutoSize = true; - this.lblBateriaConsumida.Location = new System.Drawing.Point(11, 123); + this.lblBateriaConsumida.Location = new System.Drawing.Point(8, 100); + this.lblBateriaConsumida.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblBateriaConsumida.Name = "lblBateriaConsumida"; - this.lblBateriaConsumida.Size = new System.Drawing.Size(199, 16); + this.lblBateriaConsumida.Size = new System.Drawing.Size(158, 13); this.lblBateriaConsumida.TabIndex = 6; this.lblBateriaConsumida.Text = "Bateria Consumida: 0,00%"; // // lblHerbicidaPorErva // this.lblHerbicidaPorErva.AutoSize = true; - this.lblHerbicidaPorErva.Location = new System.Drawing.Point(11, 107); + this.lblHerbicidaPorErva.Location = new System.Drawing.Point(8, 87); + this.lblHerbicidaPorErva.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblHerbicidaPorErva.Name = "lblHerbicidaPorErva"; - this.lblHerbicidaPorErva.Size = new System.Drawing.Size(223, 16); + this.lblHerbicidaPorErva.Size = new System.Drawing.Size(177, 13); this.lblHerbicidaPorErva.TabIndex = 5; this.lblHerbicidaPorErva.Text = "Herbicida por Erva: 0,000 mL"; // // lblHerbicidaAplicado // this.lblHerbicidaAplicado.AutoSize = true; - this.lblHerbicidaAplicado.Location = new System.Drawing.Point(11, 91); + this.lblHerbicidaAplicado.Location = new System.Drawing.Point(8, 74); + this.lblHerbicidaAplicado.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblHerbicidaAplicado.Name = "lblHerbicidaAplicado"; - this.lblHerbicidaAplicado.Size = new System.Drawing.Size(204, 16); + this.lblHerbicidaAplicado.Size = new System.Drawing.Size(162, 13); this.lblHerbicidaAplicado.TabIndex = 4; this.lblHerbicidaAplicado.Text = "Herbicida Aplicado: 0,00 L"; // // lblErvasIdentificadas // this.lblErvasIdentificadas.AutoSize = true; - this.lblErvasIdentificadas.Location = new System.Drawing.Point(11, 75); + this.lblErvasIdentificadas.Location = new System.Drawing.Point(8, 61); + this.lblErvasIdentificadas.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblErvasIdentificadas.Name = "lblErvasIdentificadas"; - this.lblErvasIdentificadas.Size = new System.Drawing.Size(182, 16); + this.lblErvasIdentificadas.Size = new System.Drawing.Size(145, 13); this.lblErvasIdentificadas.TabIndex = 3; this.lblErvasIdentificadas.Text = "Ervas Identificadas: 000"; // // lblVelocidadeMedia // this.lblVelocidadeMedia.AutoSize = true; - this.lblVelocidadeMedia.Location = new System.Drawing.Point(11, 59); + this.lblVelocidadeMedia.Location = new System.Drawing.Point(8, 48); + this.lblVelocidadeMedia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblVelocidadeMedia.Name = "lblVelocidadeMedia"; - this.lblVelocidadeMedia.Size = new System.Drawing.Size(220, 16); + this.lblVelocidadeMedia.Size = new System.Drawing.Size(174, 13); this.lblVelocidadeMedia.TabIndex = 2; this.lblVelocidadeMedia.Text = "Velocidade Média: 0,00 km/h"; // // lblTempoOperacao // this.lblTempoOperacao.AutoSize = true; - this.lblTempoOperacao.Location = new System.Drawing.Point(11, 43); + this.lblTempoOperacao.Location = new System.Drawing.Point(8, 35); + this.lblTempoOperacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblTempoOperacao.Name = "lblTempoOperacao"; - this.lblTempoOperacao.Size = new System.Drawing.Size(225, 16); + this.lblTempoOperacao.Size = new System.Drawing.Size(177, 13); this.lblTempoOperacao.TabIndex = 1; this.lblTempoOperacao.Text = "Tempo de Operação: 00:00:00"; // // lblDistanciaPercorrida // this.lblDistanciaPercorrida.AutoSize = true; - this.lblDistanciaPercorrida.Location = new System.Drawing.Point(11, 27); + this.lblDistanciaPercorrida.Location = new System.Drawing.Point(8, 22); + this.lblDistanciaPercorrida.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblDistanciaPercorrida.Name = "lblDistanciaPercorrida"; - this.lblDistanciaPercorrida.Size = new System.Drawing.Size(213, 16); + this.lblDistanciaPercorrida.Size = new System.Drawing.Size(170, 13); this.lblDistanciaPercorrida.TabIndex = 0; this.lblDistanciaPercorrida.Text = "Distancia Percorrida: 0,00 m"; // @@ -538,19 +601,20 @@ namespace AgroBase.Forms.Operacoes this.pnlInferior.Controls.Add(this.lblUltimaLeituraRua); this.pnlInferior.Controls.Add(this.lblUltimaLeituraSolo); this.pnlInferior.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); - this.pnlInferior.Location = new System.Drawing.Point(12, 793); - this.pnlInferior.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlInferior.Location = new System.Drawing.Point(9, 644); + this.pnlInferior.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlInferior.Name = "pnlInferior"; - this.pnlInferior.Size = new System.Drawing.Size(789, 50); + this.pnlInferior.Size = new System.Drawing.Size(592, 41); this.pnlInferior.TabIndex = 13; // // lblDistancia // this.lblDistancia.AutoSize = true; this.lblDistancia.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); - this.lblDistancia.Location = new System.Drawing.Point(303, 30); + this.lblDistancia.Location = new System.Drawing.Point(227, 24); + this.lblDistancia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblDistancia.Name = "lblDistancia"; - this.lblDistancia.Size = new System.Drawing.Size(216, 16); + this.lblDistancia.Size = new System.Drawing.Size(171, 13); this.lblDistancia.TabIndex = 10; this.lblDistancia.Text = "Distância Operação: 00,00 m"; // @@ -558,19 +622,19 @@ namespace AgroBase.Forms.Operacoes // this.lblMapaCarregado.AutoSize = true; this.lblMapaCarregado.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); - this.lblMapaCarregado.Location = new System.Drawing.Point(303, 5); + this.lblMapaCarregado.Location = new System.Drawing.Point(227, 4); + this.lblMapaCarregado.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblMapaCarregado.Name = "lblMapaCarregado"; - this.lblMapaCarregado.Size = new System.Drawing.Size(161, 16); + this.lblMapaCarregado.Size = new System.Drawing.Size(129, 13); this.lblMapaCarregado.TabIndex = 8; this.lblMapaCarregado.Text = "Mapa carregado: N/A"; // // chbGPSativo // this.chbGPSativo.AutoSize = true; - this.chbGPSativo.Location = new System.Drawing.Point(708, 25); - this.chbGPSativo.Margin = new System.Windows.Forms.Padding(4); + this.chbGPSativo.Location = new System.Drawing.Point(531, 20); this.chbGPSativo.Name = "chbGPSativo"; - this.chbGPSativo.Size = new System.Drawing.Size(59, 20); + this.chbGPSativo.Size = new System.Drawing.Size(52, 17); this.chbGPSativo.TabIndex = 9; this.chbGPSativo.Text = "GPS"; this.chbGPSativo.UseVisualStyleBackColor = true; @@ -578,10 +642,9 @@ namespace AgroBase.Forms.Operacoes // chbATUativo // this.chbATUativo.AutoSize = true; - this.chbATUativo.Location = new System.Drawing.Point(708, 4); - this.chbATUativo.Margin = new System.Windows.Forms.Padding(4); + this.chbATUativo.Location = new System.Drawing.Point(531, 3); this.chbATUativo.Name = "chbATUativo"; - this.chbATUativo.Size = new System.Drawing.Size(63, 20); + this.chbATUativo.Size = new System.Drawing.Size(54, 17); this.chbATUativo.TabIndex = 8; this.chbATUativo.Text = "ATU"; this.chbATUativo.UseVisualStyleBackColor = true; @@ -589,10 +652,9 @@ namespace AgroBase.Forms.Operacoes // chbDIRativo // this.chbDIRativo.AutoSize = true; - this.chbDIRativo.Location = new System.Drawing.Point(623, 28); - this.chbDIRativo.Margin = new System.Windows.Forms.Padding(4); + this.chbDIRativo.Location = new System.Drawing.Point(467, 23); this.chbDIRativo.Name = "chbDIRativo"; - this.chbDIRativo.Size = new System.Drawing.Size(58, 20); + this.chbDIRativo.Size = new System.Drawing.Size(50, 17); this.chbDIRativo.TabIndex = 7; this.chbDIRativo.Text = "DIR"; this.chbDIRativo.UseVisualStyleBackColor = true; @@ -600,10 +662,9 @@ namespace AgroBase.Forms.Operacoes // chbMOVativo // this.chbMOVativo.AutoSize = true; - this.chbMOVativo.Location = new System.Drawing.Point(623, 4); - this.chbMOVativo.Margin = new System.Windows.Forms.Padding(4); + this.chbMOVativo.Location = new System.Drawing.Point(467, 3); this.chbMOVativo.Name = "chbMOVativo"; - this.chbMOVativo.Size = new System.Drawing.Size(67, 20); + this.chbMOVativo.Size = new System.Drawing.Size(58, 17); this.chbMOVativo.TabIndex = 6; this.chbMOVativo.Text = "MOV"; this.chbMOVativo.UseVisualStyleBackColor = true; @@ -611,27 +672,28 @@ namespace AgroBase.Forms.Operacoes // lblUltimaLeituraRua // this.lblUltimaLeituraRua.AutoSize = true; - this.lblUltimaLeituraRua.Location = new System.Drawing.Point(3, 5); + this.lblUltimaLeituraRua.Location = new System.Drawing.Point(2, 4); + this.lblUltimaLeituraRua.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblUltimaLeituraRua.Name = "lblUltimaLeituraRua"; - this.lblUltimaLeituraRua.Size = new System.Drawing.Size(250, 16); + this.lblUltimaLeituraRua.Size = new System.Drawing.Size(198, 13); this.lblUltimaLeituraRua.TabIndex = 5; this.lblUltimaLeituraRua.Text = "Ultima Leitura Rua: 00:00:00.000"; // // lblUltimaLeituraSolo // this.lblUltimaLeituraSolo.AutoSize = true; - this.lblUltimaLeituraSolo.Location = new System.Drawing.Point(3, 30); + this.lblUltimaLeituraSolo.Location = new System.Drawing.Point(2, 24); + this.lblUltimaLeituraSolo.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblUltimaLeituraSolo.Name = "lblUltimaLeituraSolo"; - this.lblUltimaLeituraSolo.Size = new System.Drawing.Size(254, 16); + this.lblUltimaLeituraSolo.Size = new System.Drawing.Size(202, 13); this.lblUltimaLeituraSolo.TabIndex = 4; this.lblUltimaLeituraSolo.Text = "Ultima Leitura Solo: 00:00:00.000"; // // pnlMapa // - this.pnlMapa.Location = new System.Drawing.Point(12, 7); - this.pnlMapa.Margin = new System.Windows.Forms.Padding(4); + this.pnlMapa.Location = new System.Drawing.Point(9, 6); this.pnlMapa.Name = "pnlMapa"; - this.pnlMapa.Size = new System.Drawing.Size(463, 255); + this.pnlMapa.Size = new System.Drawing.Size(347, 207); this.pnlMapa.TabIndex = 14; // // pnlOrientacao @@ -639,10 +701,10 @@ namespace AgroBase.Forms.Operacoes this.pnlOrientacao.BackColor = System.Drawing.Color.White; this.pnlOrientacao.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos; this.pnlOrientacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; - this.pnlOrientacao.Location = new System.Drawing.Point(377, 7); - this.pnlOrientacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlOrientacao.Location = new System.Drawing.Point(283, 6); + this.pnlOrientacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlOrientacao.Name = "pnlOrientacao"; - this.pnlOrientacao.Size = new System.Drawing.Size(104, 103); + this.pnlOrientacao.Size = new System.Drawing.Size(78, 84); this.pnlOrientacao.TabIndex = 11; this.pnlOrientacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacao_Paint); // @@ -651,10 +713,10 @@ namespace AgroBase.Forms.Operacoes this.pnlInclinacao.BackColor = System.Drawing.Color.White; this.pnlInclinacao.BackgroundImage = global::AgroBase.Properties.Resources.transferidor; this.pnlInclinacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; - this.pnlInclinacao.Location = new System.Drawing.Point(1249, 7); - this.pnlInclinacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlInclinacao.Location = new System.Drawing.Point(937, 6); + this.pnlInclinacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlInclinacao.Name = "pnlInclinacao"; - this.pnlInclinacao.Size = new System.Drawing.Size(104, 103); + this.pnlInclinacao.Size = new System.Drawing.Size(78, 84); this.pnlInclinacao.TabIndex = 10; this.pnlInclinacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlInclinacao_Paint); // @@ -663,10 +725,10 @@ namespace AgroBase.Forms.Operacoes this.pnlAnguloCamera.BackColor = System.Drawing.Color.White; this.pnlAnguloCamera.BackgroundImage = global::AgroBase.Properties.Resources.transferidor; this.pnlAnguloCamera.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; - this.pnlAnguloCamera.Location = new System.Drawing.Point(831, 7); - this.pnlAnguloCamera.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlAnguloCamera.Location = new System.Drawing.Point(623, 6); + this.pnlAnguloCamera.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlAnguloCamera.Name = "pnlAnguloCamera"; - this.pnlAnguloCamera.Size = new System.Drawing.Size(104, 103); + this.pnlAnguloCamera.Size = new System.Drawing.Size(78, 84); this.pnlAnguloCamera.TabIndex = 15; this.pnlAnguloCamera.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAnguloCamera_Paint); // @@ -674,61 +736,18 @@ namespace AgroBase.Forms.Operacoes // this.lblPerformance.AutoSize = true; this.lblPerformance.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.lblPerformance.Location = new System.Drawing.Point(1083, 842); - this.lblPerformance.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lblPerformance.Location = new System.Drawing.Point(812, 684); this.lblPerformance.Name = "lblPerformance"; - this.lblPerformance.Size = new System.Drawing.Size(205, 15); + this.lblPerformance.Size = new System.Drawing.Size(158, 12); this.lblPerformance.TabIndex = 16; this.lblPerformance.Text = "CPU: 0,0% GPU: 0,0% RAM: 0,0%"; // - // tabControl1 - // - this.tabControl1.Controls.Add(this.tabGrafico); - this.tabControl1.Controls.Add(this.tabSonar); - this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill; - this.tabControl1.Location = new System.Drawing.Point(0, 0); - this.tabControl1.Name = "tabControl1"; - this.tabControl1.SelectedIndex = 0; - this.tabControl1.Size = new System.Drawing.Size(540, 313); - this.tabControl1.TabIndex = 0; - // - // tabGrafico - // - this.tabGrafico.Controls.Add(this.chartGraficos); - this.tabGrafico.Location = new System.Drawing.Point(4, 25); - this.tabGrafico.Name = "tabGrafico"; - this.tabGrafico.Padding = new System.Windows.Forms.Padding(3); - this.tabGrafico.Size = new System.Drawing.Size(532, 284); - this.tabGrafico.TabIndex = 0; - this.tabGrafico.Text = "Desempenho"; - this.tabGrafico.UseVisualStyleBackColor = true; - // - // tabSonar - // - this.tabSonar.Controls.Add(this.picSonar); - this.tabSonar.Location = new System.Drawing.Point(4, 25); - this.tabSonar.Name = "tabSonar"; - this.tabSonar.Padding = new System.Windows.Forms.Padding(3); - this.tabSonar.Size = new System.Drawing.Size(532, 284); - this.tabSonar.TabIndex = 1; - this.tabSonar.Text = "Sonar"; - this.tabSonar.UseVisualStyleBackColor = true; - // - // picSonar - // - this.picSonar.Dock = System.Windows.Forms.DockStyle.Fill; - this.picSonar.Location = new System.Drawing.Point(3, 3); - this.picSonar.Name = "picSonar"; - this.picSonar.Size = new System.Drawing.Size(526, 278); - this.picSonar.TabIndex = 1; - this.picSonar.TabStop = false; - // // frmOperacaoMapaGPS // - this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F); + this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.BackColor = System.Drawing.Color.White; - this.ClientSize = new System.Drawing.Size(1360, 858); + this.ClientSize = new System.Drawing.Size(1020, 704); this.Controls.Add(this.lblPerformance); this.Controls.Add(this.pnlAnguloCamera); this.Controls.Add(this.pnlOrientacao); @@ -743,7 +762,7 @@ namespace AgroBase.Forms.Operacoes this.Controls.Add(this.pnlAtuadores); this.Controls.Add(this.pnlCameraCaminho); this.Controls.Add(this.pnlCameraSolo); - this.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.Name = "frmOperacaoMapaGPS"; this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen; this.Text = "Operação Mapa GPS"; @@ -753,7 +772,11 @@ namespace AgroBase.Forms.Operacoes this.pnlAtuadores.ResumeLayout(false); this.pnlAtuadores.PerformLayout(); this.pnlGraficos.ResumeLayout(false); + this.tabControl1.ResumeLayout(false); + this.tabGrafico.ResumeLayout(false); ((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).EndInit(); + this.tabSonar.ResumeLayout(false); + ((System.ComponentModel.ISupportInitialize)(this.picSonar)).EndInit(); this.pnlNiveis.ResumeLayout(false); this.pnlNiveis.PerformLayout(); this.gpbOpcoes.ResumeLayout(false); @@ -763,10 +786,6 @@ namespace AgroBase.Forms.Operacoes this.gpbInformacoesGerais.PerformLayout(); this.pnlInferior.ResumeLayout(false); this.pnlInferior.PerformLayout(); - this.tabControl1.ResumeLayout(false); - this.tabGrafico.ResumeLayout(false); - this.tabSonar.ResumeLayout(false); - ((System.ComponentModel.ISupportInitialize)(this.picSonar)).EndInit(); this.ResumeLayout(false); this.PerformLayout(); diff --git a/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs index 43fbb2a21..3c058db6e 100644 --- a/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs +++ b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs @@ -60,6 +60,8 @@ this.pnlOrientacaoTrajeto = new System.Windows.Forms.Panel(); this.pnlSonar = new System.Windows.Forms.Panel(); this.picSonar = new System.Windows.Forms.PictureBox(); + this.btnAtualizarLeitura = new System.Windows.Forms.Button(); + this.btnCalcularAngulo = new System.Windows.Forms.Button(); this.pnlOpcoes.SuspendLayout(); this.gpbSonar.SuspendLayout(); this.gpbGPS.SuspendLayout(); @@ -70,6 +72,7 @@ // // pnlOpcoes // + this.pnlOpcoes.Controls.Add(this.btnAtualizarLeitura); this.pnlOpcoes.Controls.Add(this.lblDistanciaFinal); this.pnlOpcoes.Controls.Add(this.btnCarregarMapa); this.pnlOpcoes.Controls.Add(this.lblDistanciaOperacao); @@ -79,26 +82,29 @@ this.pnlOpcoes.Controls.Add(this.lblStatus); this.pnlOpcoes.Controls.Add(this.gpbGPS); this.pnlOpcoes.Dock = System.Windows.Forms.DockStyle.Bottom; - this.pnlOpcoes.Location = new System.Drawing.Point(0, 590); + this.pnlOpcoes.Location = new System.Drawing.Point(0, 479); + this.pnlOpcoes.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlOpcoes.Name = "pnlOpcoes"; - this.pnlOpcoes.Size = new System.Drawing.Size(1371, 123); + this.pnlOpcoes.Size = new System.Drawing.Size(1028, 100); this.pnlOpcoes.TabIndex = 0; // // lblDistanciaFinal // this.lblDistanciaFinal.AutoSize = true; this.lblDistanciaFinal.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F); - this.lblDistanciaFinal.Location = new System.Drawing.Point(9, 85); + this.lblDistanciaFinal.Location = new System.Drawing.Point(7, 69); + this.lblDistanciaFinal.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblDistanciaFinal.Name = "lblDistanciaFinal"; - this.lblDistanciaFinal.Size = new System.Drawing.Size(146, 16); + this.lblDistanciaFinal.Size = new System.Drawing.Size(120, 13); this.lblDistanciaFinal.TabIndex = 21; this.lblDistanciaFinal.Text = "Distância Final: 00,00 m"; // // btnCarregarMapa // - this.btnCarregarMapa.Location = new System.Drawing.Point(12, 8); + this.btnCarregarMapa.Location = new System.Drawing.Point(9, 6); + this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.btnCarregarMapa.Name = "btnCarregarMapa"; - this.btnCarregarMapa.Size = new System.Drawing.Size(161, 23); + this.btnCarregarMapa.Size = new System.Drawing.Size(121, 19); this.btnCarregarMapa.TabIndex = 20; this.btnCarregarMapa.Text = "Carregar Mapa"; this.btnCarregarMapa.UseVisualStyleBackColor = true; @@ -108,17 +114,19 @@ // this.lblDistanciaOperacao.AutoSize = true; this.lblDistanciaOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F); - this.lblDistanciaOperacao.Location = new System.Drawing.Point(9, 66); + this.lblDistanciaOperacao.Location = new System.Drawing.Point(7, 54); + this.lblDistanciaOperacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblDistanciaOperacao.Name = "lblDistanciaOperacao"; - this.lblDistanciaOperacao.Size = new System.Drawing.Size(178, 16); + this.lblDistanciaOperacao.Size = new System.Drawing.Size(145, 13); this.lblDistanciaOperacao.TabIndex = 19; this.lblDistanciaOperacao.Text = "Distância Operação: 00,00 m"; // // btnIniciarSimulacao // - this.btnIniciarSimulacao.Location = new System.Drawing.Point(12, 37); + this.btnIniciarSimulacao.Location = new System.Drawing.Point(9, 30); + this.btnIniciarSimulacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.btnIniciarSimulacao.Name = "btnIniciarSimulacao"; - this.btnIniciarSimulacao.Size = new System.Drawing.Size(161, 25); + this.btnIniciarSimulacao.Size = new System.Drawing.Size(121, 20); this.btnIniciarSimulacao.TabIndex = 18; this.btnIniciarSimulacao.Text = "Iniciar Simulação"; this.btnIniciarSimulacao.UseVisualStyleBackColor = true; @@ -135,9 +143,11 @@ this.gpbSonar.Controls.Add(this.txtDistanciaSonar); this.gpbSonar.Controls.Add(this.lblAnguloI); this.gpbSonar.Controls.Add(this.txtAnguloInicial); - this.gpbSonar.Location = new System.Drawing.Point(811, 3); + this.gpbSonar.Location = new System.Drawing.Point(785, 2); + this.gpbSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.gpbSonar.Name = "gpbSonar"; - this.gpbSonar.Size = new System.Drawing.Size(309, 117); + this.gpbSonar.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbSonar.Size = new System.Drawing.Size(232, 95); this.gpbSonar.TabIndex = 17; this.gpbSonar.TabStop = false; this.gpbSonar.Text = "Sonar"; @@ -145,9 +155,10 @@ // chbMoverObstaculo // this.chbMoverObstaculo.AutoSize = true; - this.chbMoverObstaculo.Location = new System.Drawing.Point(165, 43); + this.chbMoverObstaculo.Location = new System.Drawing.Point(124, 35); + this.chbMoverObstaculo.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.chbMoverObstaculo.Name = "chbMoverObstaculo"; - this.chbMoverObstaculo.Size = new System.Drawing.Size(129, 20); + this.chbMoverObstaculo.Size = new System.Drawing.Size(105, 17); this.chbMoverObstaculo.TabIndex = 29; this.chbMoverObstaculo.Text = "Mover obstáculo"; this.chbMoverObstaculo.UseVisualStyleBackColor = true; @@ -155,19 +166,20 @@ // chbSonarVirando // this.chbSonarVirando.AutoSize = true; - this.chbSonarVirando.Location = new System.Drawing.Point(165, 84); + this.chbSonarVirando.Location = new System.Drawing.Point(124, 68); + this.chbSonarVirando.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.chbSonarVirando.Name = "chbSonarVirando"; - this.chbSonarVirando.Size = new System.Drawing.Size(117, 20); + this.chbSonarVirando.Size = new System.Drawing.Size(96, 17); this.chbSonarVirando.TabIndex = 28; this.chbSonarVirando.Text = "Sonar atuando"; this.chbSonarVirando.UseVisualStyleBackColor = true; // // btnAdicionarDeteccao // - this.btnAdicionarDeteccao.Location = new System.Drawing.Point(93, 79); - this.btnAdicionarDeteccao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnAdicionarDeteccao.Location = new System.Drawing.Point(70, 64); + this.btnAdicionarDeteccao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.btnAdicionarDeteccao.Name = "btnAdicionarDeteccao"; - this.btnAdicionarDeteccao.Size = new System.Drawing.Size(60, 28); + this.btnAdicionarDeteccao.Size = new System.Drawing.Size(45, 23); this.btnAdicionarDeteccao.TabIndex = 25; this.btnAdicionarDeteccao.Text = "Add"; this.btnAdicionarDeteccao.UseVisualStyleBackColor = true; @@ -176,17 +188,19 @@ // lblAnguloFinal // this.lblAnguloFinal.AutoSize = true; - this.lblAnguloFinal.Location = new System.Drawing.Point(90, 22); + this.lblAnguloFinal.Location = new System.Drawing.Point(68, 18); + this.lblAnguloFinal.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblAnguloFinal.Name = "lblAnguloFinal"; - this.lblAnguloFinal.Size = new System.Drawing.Size(67, 16); + this.lblAnguloFinal.Size = new System.Drawing.Size(55, 13); this.lblAnguloFinal.TabIndex = 27; this.lblAnguloFinal.Text = "Angulo Fn"; // // txtAnguloFinal // - this.txtAnguloFinal.Location = new System.Drawing.Point(93, 41); + this.txtAnguloFinal.Location = new System.Drawing.Point(70, 33); + this.txtAnguloFinal.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.txtAnguloFinal.Name = "txtAnguloFinal"; - this.txtAnguloFinal.Size = new System.Drawing.Size(60, 22); + this.txtAnguloFinal.Size = new System.Drawing.Size(46, 20); this.txtAnguloFinal.TabIndex = 23; this.txtAnguloFinal.Text = "0"; this.txtAnguloFinal.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; @@ -194,17 +208,19 @@ // lblDistanciaSonar // this.lblDistanciaSonar.AutoSize = true; - this.lblDistanciaSonar.Location = new System.Drawing.Point(12, 66); + this.lblDistanciaSonar.Location = new System.Drawing.Point(9, 54); + this.lblDistanciaSonar.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblDistanciaSonar.Name = "lblDistanciaSonar"; - this.lblDistanciaSonar.Size = new System.Drawing.Size(63, 16); + this.lblDistanciaSonar.Size = new System.Drawing.Size(51, 13); this.lblDistanciaSonar.TabIndex = 25; this.lblDistanciaSonar.Text = "Distancia"; // // txtDistanciaSonar // - this.txtDistanciaSonar.Location = new System.Drawing.Point(15, 85); + this.txtDistanciaSonar.Location = new System.Drawing.Point(11, 69); + this.txtDistanciaSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.txtDistanciaSonar.Name = "txtDistanciaSonar"; - this.txtDistanciaSonar.Size = new System.Drawing.Size(60, 22); + this.txtDistanciaSonar.Size = new System.Drawing.Size(46, 20); this.txtDistanciaSonar.TabIndex = 24; this.txtDistanciaSonar.Text = "0"; this.txtDistanciaSonar.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; @@ -212,17 +228,19 @@ // lblAnguloI // this.lblAnguloI.AutoSize = true; - this.lblAnguloI.Location = new System.Drawing.Point(12, 22); + this.lblAnguloI.Location = new System.Drawing.Point(9, 18); + this.lblAnguloI.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblAnguloI.Name = "lblAnguloI"; - this.lblAnguloI.Size = new System.Drawing.Size(62, 16); + this.lblAnguloI.Size = new System.Drawing.Size(52, 13); this.lblAnguloI.TabIndex = 23; this.lblAnguloI.Text = "Angulo In"; // // txtAnguloInicial // - this.txtAnguloInicial.Location = new System.Drawing.Point(15, 41); + this.txtAnguloInicial.Location = new System.Drawing.Point(11, 33); + this.txtAnguloInicial.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.txtAnguloInicial.Name = "txtAnguloInicial"; - this.txtAnguloInicial.Size = new System.Drawing.Size(60, 22); + this.txtAnguloInicial.Size = new System.Drawing.Size(46, 20); this.txtAnguloInicial.TabIndex = 22; this.txtAnguloInicial.Text = "0"; this.txtAnguloInicial.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; @@ -231,9 +249,10 @@ // this.lblDirecao.AutoSize = true; this.lblDirecao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F); - this.lblDirecao.Location = new System.Drawing.Point(9, 104); + this.lblDirecao.Location = new System.Drawing.Point(7, 84); + this.lblDirecao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblDirecao.Name = "lblDirecao"; - this.lblDirecao.Size = new System.Drawing.Size(106, 16); + this.lblDirecao.Size = new System.Drawing.Size(84, 13); this.lblDirecao.TabIndex = 16; this.lblDirecao.Text = "Direção: Parado"; // @@ -241,14 +260,16 @@ // this.lblStatus.AutoSize = true; this.lblStatus.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F); - this.lblStatus.Location = new System.Drawing.Point(205, 85); + this.lblStatus.Location = new System.Drawing.Point(154, 69); + this.lblStatus.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblStatus.Name = "lblStatus"; - this.lblStatus.Size = new System.Drawing.Size(125, 16); + this.lblStatus.Size = new System.Drawing.Size(101, 13); this.lblStatus.TabIndex = 15; this.lblStatus.Text = "Status: Aguardando"; // // gpbGPS // + this.gpbGPS.Controls.Add(this.btnCalcularAngulo); this.gpbGPS.Controls.Add(this.btnAcrescentarGPS); this.gpbGPS.Controls.Add(this.lblDistancia); this.gpbGPS.Controls.Add(this.txtDistanciaGPS); @@ -259,9 +280,11 @@ this.gpbGPS.Controls.Add(this.txtLongitude); this.gpbGPS.Controls.Add(this.txtLatitude); this.gpbGPS.Controls.Add(this.btnIniciarGPS); - this.gpbGPS.Location = new System.Drawing.Point(385, 3); + this.gpbGPS.Location = new System.Drawing.Point(289, 2); + this.gpbGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.gpbGPS.Name = "gpbGPS"; - this.gpbGPS.Size = new System.Drawing.Size(420, 117); + this.gpbGPS.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.gpbGPS.Size = new System.Drawing.Size(400, 95); this.gpbGPS.TabIndex = 14; this.gpbGPS.TabStop = false; this.gpbGPS.Text = "GPS"; @@ -269,10 +292,10 @@ // btnAcrescentarGPS // this.btnAcrescentarGPS.Enabled = false; - this.btnAcrescentarGPS.Location = new System.Drawing.Point(307, 82); - this.btnAcrescentarGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnAcrescentarGPS.Location = new System.Drawing.Point(230, 67); + this.btnAcrescentarGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.btnAcrescentarGPS.Name = "btnAcrescentarGPS"; - this.btnAcrescentarGPS.Size = new System.Drawing.Size(99, 28); + this.btnAcrescentarGPS.Size = new System.Drawing.Size(74, 23); this.btnAcrescentarGPS.TabIndex = 22; this.btnAcrescentarGPS.Text = "Acrescentar"; this.btnAcrescentarGPS.UseVisualStyleBackColor = true; @@ -281,18 +304,20 @@ // lblDistancia // this.lblDistancia.AutoSize = true; - this.lblDistancia.Location = new System.Drawing.Point(212, 66); + this.lblDistancia.Location = new System.Drawing.Point(159, 54); + this.lblDistancia.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblDistancia.Name = "lblDistancia"; - this.lblDistancia.Size = new System.Drawing.Size(63, 16); + this.lblDistancia.Size = new System.Drawing.Size(51, 13); this.lblDistancia.TabIndex = 21; this.lblDistancia.Text = "Distancia"; // // txtDistanciaGPS // this.txtDistanciaGPS.Enabled = false; - this.txtDistanciaGPS.Location = new System.Drawing.Point(215, 85); + this.txtDistanciaGPS.Location = new System.Drawing.Point(161, 69); + this.txtDistanciaGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.txtDistanciaGPS.Name = "txtDistanciaGPS"; - this.txtDistanciaGPS.Size = new System.Drawing.Size(71, 22); + this.txtDistanciaGPS.Size = new System.Drawing.Size(54, 20); this.txtDistanciaGPS.TabIndex = 20; this.txtDistanciaGPS.Text = "0"; this.txtDistanciaGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; @@ -300,18 +325,20 @@ // lblAnguloGPS // this.lblAnguloGPS.AutoSize = true; - this.lblAnguloGPS.Location = new System.Drawing.Point(212, 22); + this.lblAnguloGPS.Location = new System.Drawing.Point(159, 18); + this.lblAnguloGPS.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblAnguloGPS.Name = "lblAnguloGPS"; - this.lblAnguloGPS.Size = new System.Drawing.Size(49, 16); + this.lblAnguloGPS.Size = new System.Drawing.Size(40, 13); this.lblAnguloGPS.TabIndex = 19; this.lblAnguloGPS.Text = "Angulo"; // // txtAnguloGPS // this.txtAnguloGPS.Enabled = false; - this.txtAnguloGPS.Location = new System.Drawing.Point(215, 41); + this.txtAnguloGPS.Location = new System.Drawing.Point(161, 33); + this.txtAnguloGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.txtAnguloGPS.Name = "txtAnguloGPS"; - this.txtAnguloGPS.Size = new System.Drawing.Size(71, 22); + this.txtAnguloGPS.Size = new System.Drawing.Size(54, 20); this.txtAnguloGPS.TabIndex = 18; this.txtAnguloGPS.Text = "0"; this.txtAnguloGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; @@ -319,45 +346,49 @@ // lblLongitude // this.lblLongitude.AutoSize = true; - this.lblLongitude.Location = new System.Drawing.Point(9, 66); + this.lblLongitude.Location = new System.Drawing.Point(7, 54); + this.lblLongitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblLongitude.Name = "lblLongitude"; - this.lblLongitude.Size = new System.Drawing.Size(66, 16); + this.lblLongitude.Size = new System.Drawing.Size(54, 13); this.lblLongitude.TabIndex = 17; this.lblLongitude.Text = "Longitude"; // // lblLatitude // this.lblLatitude.AutoSize = true; - this.lblLatitude.Location = new System.Drawing.Point(9, 22); + this.lblLatitude.Location = new System.Drawing.Point(7, 18); + this.lblLatitude.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblLatitude.Name = "lblLatitude"; - this.lblLatitude.Size = new System.Drawing.Size(54, 16); + this.lblLatitude.Size = new System.Drawing.Size(45, 13); this.lblLatitude.TabIndex = 16; this.lblLatitude.Text = "Latitude"; // // txtLongitude // - this.txtLongitude.Location = new System.Drawing.Point(12, 85); + this.txtLongitude.Location = new System.Drawing.Point(9, 69); + this.txtLongitude.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.txtLongitude.Name = "txtLongitude"; - this.txtLongitude.Size = new System.Drawing.Size(179, 22); + this.txtLongitude.Size = new System.Drawing.Size(135, 20); this.txtLongitude.TabIndex = 15; this.txtLongitude.Text = "-47.26406713810977"; this.txtLongitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // // txtLatitude // - this.txtLatitude.Location = new System.Drawing.Point(12, 41); + this.txtLatitude.Location = new System.Drawing.Point(9, 33); + this.txtLatitude.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.txtLatitude.Name = "txtLatitude"; - this.txtLatitude.Size = new System.Drawing.Size(179, 22); + this.txtLatitude.Size = new System.Drawing.Size(135, 20); this.txtLatitude.TabIndex = 14; this.txtLatitude.Text = "-22.339442335994334"; this.txtLatitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // // btnIniciarGPS // - this.btnIniciarGPS.Location = new System.Drawing.Point(307, 38); - this.btnIniciarGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.btnIniciarGPS.Location = new System.Drawing.Point(230, 31); + this.btnIniciarGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.btnIniciarGPS.Name = "btnIniciarGPS"; - this.btnIniciarGPS.Size = new System.Drawing.Size(99, 28); + this.btnIniciarGPS.Size = new System.Drawing.Size(74, 23); this.btnIniciarGPS.TabIndex = 13; this.btnIniciarGPS.Text = "Iniciar"; this.btnIniciarGPS.UseVisualStyleBackColor = true; @@ -369,9 +400,10 @@ | System.Windows.Forms.AnchorStyles.Left) | System.Windows.Forms.AnchorStyles.Right))); this.pnlMapa.Controls.Add(this.pnlOrientacaoTrajeto); - this.pnlMapa.Location = new System.Drawing.Point(12, 12); + this.pnlMapa.Location = new System.Drawing.Point(9, 10); + this.pnlMapa.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlMapa.Name = "pnlMapa"; - this.pnlMapa.Size = new System.Drawing.Size(674, 572); + this.pnlMapa.Size = new System.Drawing.Size(506, 465); this.pnlMapa.TabIndex = 1; // // pnlOrientacaoTrajeto @@ -380,10 +412,10 @@ this.pnlOrientacaoTrajeto.BackColor = System.Drawing.Color.White; this.pnlOrientacaoTrajeto.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos; this.pnlOrientacaoTrajeto.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; - this.pnlOrientacaoTrajeto.Location = new System.Drawing.Point(567, 2); - this.pnlOrientacaoTrajeto.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); + this.pnlOrientacaoTrajeto.Location = new System.Drawing.Point(425, 2); + this.pnlOrientacaoTrajeto.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlOrientacaoTrajeto.Name = "pnlOrientacaoTrajeto"; - this.pnlOrientacaoTrajeto.Size = new System.Drawing.Size(104, 103); + this.pnlOrientacaoTrajeto.Size = new System.Drawing.Size(78, 84); this.pnlOrientacaoTrajeto.TabIndex = 12; this.pnlOrientacaoTrajeto.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoTrajeto_Paint); // @@ -392,28 +424,53 @@ this.pnlSonar.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) | System.Windows.Forms.AnchorStyles.Right))); this.pnlSonar.Controls.Add(this.picSonar); - this.pnlSonar.Location = new System.Drawing.Point(692, 12); + this.pnlSonar.Location = new System.Drawing.Point(519, 10); + this.pnlSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.pnlSonar.Name = "pnlSonar"; - this.pnlSonar.Size = new System.Drawing.Size(667, 572); + this.pnlSonar.Size = new System.Drawing.Size(500, 465); this.pnlSonar.TabIndex = 2; // // picSonar // this.picSonar.Dock = System.Windows.Forms.DockStyle.Fill; this.picSonar.Location = new System.Drawing.Point(0, 0); + this.picSonar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.picSonar.Name = "picSonar"; - this.picSonar.Size = new System.Drawing.Size(667, 572); + this.picSonar.Size = new System.Drawing.Size(500, 465); this.picSonar.TabIndex = 0; this.picSonar.TabStop = false; // + // btnAtualizarLeitura + // + this.btnAtualizarLeitura.Location = new System.Drawing.Point(134, 30); + this.btnAtualizarLeitura.Margin = new System.Windows.Forms.Padding(2); + this.btnAtualizarLeitura.Name = "btnAtualizarLeitura"; + this.btnAtualizarLeitura.Size = new System.Drawing.Size(121, 20); + this.btnAtualizarLeitura.TabIndex = 22; + this.btnAtualizarLeitura.Text = "Atualizar leitura"; + this.btnAtualizarLeitura.UseVisualStyleBackColor = true; + this.btnAtualizarLeitura.Click += new System.EventHandler(this.btnAtualizarLeitura_Click); + // + // btnCalcularAngulo + // + this.btnCalcularAngulo.Location = new System.Drawing.Point(308, 67); + this.btnCalcularAngulo.Margin = new System.Windows.Forms.Padding(2); + this.btnCalcularAngulo.Name = "btnCalcularAngulo"; + this.btnCalcularAngulo.Size = new System.Drawing.Size(74, 23); + this.btnCalcularAngulo.TabIndex = 23; + this.btnCalcularAngulo.Text = "Calcular"; + this.btnCalcularAngulo.UseVisualStyleBackColor = true; + this.btnCalcularAngulo.Click += new System.EventHandler(this.btnCalcularAngulo_Click); + // // frmSimulacaoMapaGPS // - this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F); + this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; - this.ClientSize = new System.Drawing.Size(1371, 713); + this.ClientSize = new System.Drawing.Size(1028, 579); this.Controls.Add(this.pnlSonar); this.Controls.Add(this.pnlMapa); this.Controls.Add(this.pnlOpcoes); + this.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); this.Name = "frmSimulacaoMapaGPS"; this.Text = "frmSimulacaoMapaGPS"; this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmSimulacaoMapaGPS_FormClosing); @@ -465,5 +522,7 @@ private System.Windows.Forms.PictureBox picSonar; private System.Windows.Forms.CheckBox chbMoverObstaculo; private System.Windows.Forms.CheckBox chbSonarVirando; + private System.Windows.Forms.Button btnAtualizarLeitura; + private System.Windows.Forms.Button btnCalcularAngulo; } } \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs index 2f42c8897..773c548ae 100644 --- a/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs +++ b/AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs @@ -18,6 +18,7 @@ namespace AgroBase.Forms public partial class frmSimulacaoMapaGPS : Form { Timer tmrSonar; + StatusCarroMapa StatusCarro = StatusCarroMapa.Parado; public frmSimulacaoMapaGPS() { @@ -25,7 +26,7 @@ namespace AgroBase.Forms Timer tmr = new Timer() { Interval = 500 }; tmr.Tick += Tmr_Tick; - tmr.Start(); + //tmr.Start(); tmrSonar = new Timer() { Interval = 100 }; tmrSonar.Tick += tmrSonar_Tick; @@ -36,22 +37,34 @@ namespace AgroBase.Forms private void Tmr_Tick(object sender, EventArgs e) { - lblStatus.Text = "Status: " + Enum.GetName(typeof(StatusCarroMapa), Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual); + StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual; + + lblStatus.Text = "Status: " + Enum.GetName(typeof(StatusCarroMapa), StatusCarro); lblDirecao.Text = "Direção: " + Enum.GetName(typeof(DirecaoCarroRua), Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.Direcao); lblDistanciaOperacao.Text = "Distância Operação: " + (Variaveis.OperacaoEmAndamento.Mapa == null ? 0 : Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal).ToString("00.00") + " m"; lblDistanciaFinal.Text = "Distância Final: " + (GPSService.DistanciaDoTrecho(Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica)).ToString("00.00") + " m"; if (Variaveis.OperacaoEmAndamento.Iniciado) { - var StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual; if (StatusCarro == StatusCarroMapa.Direcionando) { - Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First()); + var Rua = Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual]; + var PontoInicial = Rua.First(); + var PontoFinal = Rua.Last(); + Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.DirecaoCaminho == DirecaoCarroRua.Volta ? PontoFinal : PontoInicial); } else if (StatusCarro == StatusCarroMapa.Manobrando) { //Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First()); } + else + { + if (Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica.Any()) + { + Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica.Clear(); + GPSService.AtualizarTrajetoriaDinamica(); + } + } pnlOrientacaoTrajeto.Invalidate(); } @@ -151,6 +164,8 @@ namespace AgroBase.Forms distSonar -= (distancia * 100); txtDistanciaSonar.Text = distSonar.ToString(); } + + btnCalcularAngulo_Click(sender, e); } private void btnIniciarSimulacao_Click(object sender, EventArgs e) @@ -291,6 +306,18 @@ namespace AgroBase.Forms btnAdicionarDeteccao.Text = ObjetoDetectado ? "Del" : "Add"; } - + private void btnAtualizarLeitura_Click(object sender, EventArgs e) + { + Tmr_Tick(new Timer(), e); + } + + private void btnCalcularAngulo_Click(object sender, EventArgs e) + { + Variaveis.OperacaoEmAndamento.OpMapaGPS.CalcularAnguloInclinacao(StatusCarro); + + double anguloAnterior = double.Parse(txtAnguloGPS.Text); + + txtAnguloGPS.Text = (Variaveis.OperacaoEmAndamento.OpMapaGPS.Controle.Angulo + anguloAnterior).ToString("0.00"); + } } } diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs index c45aa1146..546ff3836 100644 --- a/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs @@ -182,7 +182,7 @@ namespace AgroBase.Models.Operacoes ProgressoRua = Sensoriamento.ProgressoRua, Status = ReferencialRuaGPS.StatusAtual, Direcao = ReferencialRuaGPS.Direcao, - AnguloCarro = ReferencialRuaGPS.AnguloCarro, + AnguloCarro = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro, AnguloRua = ReferencialRuaGPS.AnguloCaminho, DentroDaRua = ReferencialRuaGPS.DentroDaRua, IdxPontoAproximadoRua = ReferencialRuaGPS.IdxPontoAproximadoRua, @@ -215,17 +215,18 @@ namespace AgroBase.Models.Operacoes public void CalcularAnguloInclinacao(StatusCarroMapa statusCarroRua) { double erroOrientacao = 0.0; - double anguloCarro = ReferencialRuaGPS.AnguloCarro; + double anguloCarro = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro; double anguloOposto = (anguloCarro + 180) % 360; double anguloRua = ReferencialRuaGPS.AnguloCaminho; double anguloCamera = Sensoriamento.AnguloRuaCamera; + double margem = ReferencialRuaGPS.MargemErroAngulo; // Calcula o erro de orientação - if ((anguloCarro + ReferencialRuaGPS.MargemErroAngulo) >= anguloRua && (anguloCarro - ReferencialRuaGPS.MargemErroAngulo) <= anguloRua) + if ((anguloCarro + margem) >= anguloRua && (anguloCarro - margem) <= anguloRua) { erroOrientacao = anguloCarro - anguloRua; } - else if ((anguloOposto + ReferencialRuaGPS.MargemErroAngulo) >= anguloRua && (anguloOposto - ReferencialRuaGPS.MargemErroAngulo) <= anguloRua) + else if ((anguloOposto + margem) >= anguloRua && (anguloOposto - margem) <= anguloRua) { erroOrientacao = anguloOposto - anguloRua; } @@ -240,9 +241,9 @@ namespace AgroBase.Models.Operacoes double pesoPosicaoLateral = statusCarroRua == StatusCarroMapa.Direcionando ? 0.05 : 0.7; double erroCombinado = (erroOrientacao * pesoOrientacao) + (erroPosicaoLateral * pesoPosicaoLateral); - var statusAtual = ReferencialRuaGPS.StatusAtual; + //var statusAtual = ReferencialRuaGPS.StatusAtual; // Atualiza o PID com o erro combinado - if (statusAtual != StatusCarroMapa.Parado && statusAtual != StatusCarroMapa.Manobrando) + if (statusCarroRua != StatusCarroMapa.Parado && statusCarroRua != StatusCarroMapa.Manobrando) { Controle.PIDdirecional.Atualizar(erroCombinado); } @@ -344,6 +345,7 @@ namespace AgroBase.Models.Operacoes { get { + bool dentroDaRua = DentroDaRua; StatusCarroMapa etapaAtual = _EtapaAtual; // Se o status da operação não estiver Em Andamento @@ -357,31 +359,46 @@ namespace AgroBase.Models.Operacoes if (_EtapaAtual == StatusCarroMapa.Manobrando) { // Aguarda a mudança de rua até que o robô tenha terminado a manobra e tenha ficado parado em frente à rua - if (ManobraConcluida && Direcao == DirecaoCarroRua.Parado) + /*if (ManobraConcluida && Direcao == DirecaoCarroRua.Parado) { Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++; ManobraConcluida = false; etapaAtual = StatusCarroMapa.EntrandoRua; GPSService.AtualizaLeituraSimulacao(); System.Threading.Thread.Sleep(500); + }*/ + if (Variaveis.OperacaoEmAndamento.DirecaoCaminho == Direcao) + { + ManobraConcluida = false; + etapaAtual = StatusCarroMapa.EntrandoRua; } } // Se o robô não estiver dentro da entrelinha de cana - else if (!DentroDaRua) + else if (!dentroDaRua) { // Está próximo o bastante e alinhado para entrar na rua if (NaMargemEntradaRua) { + DirecaoCarroRua direcao = Direcao; // Está mais próximo do ponto inicial da rota, e a direção do carro é IDA ou então PARADO, logo está entrando na rua, do começo para o final - if (ExtremoMaisProximo == 0 && (Direcao == DirecaoCarroRua.Ida || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusCarroMapa.SaindoRua) + if (ExtremoMaisProximo == 0 && (direcao == DirecaoCarroRua.Ida || direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusCarroMapa.SaindoRua) { etapaAtual = StatusCarroMapa.EntrandoRua; } // Está mais próximo do ponto final da rota, e a direção do carro é VOLTA ou então PARADO, logo está entrando na rua, do final para o começo - else if (ExtremoMaisProximo == 1 && (Direcao == DirecaoCarroRua.Volta || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusCarroMapa.SaindoRua) + else if (ExtremoMaisProximo == 1 && (direcao == DirecaoCarroRua.Volta || direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusCarroMapa.SaindoRua) { etapaAtual = StatusCarroMapa.EntrandoRua; } + // Está mais próximo ao ponto final da rua, e a direção do carro é IDA, mas a rua será iniciada no sentido VOLTA, então para o carro para que ele vire e entre na rua + else if (ExtremoMaisProximo == 1 && (direcao == DirecaoCarroRua.Ida && Variaveis.OperacaoEmAndamento.DirecaoCaminho == DirecaoCarroRua.Volta)) + { + etapaAtual = StatusCarroMapa.Manobrando; + } + else if (ExtremoMaisProximo == 0 && (direcao == DirecaoCarroRua.Volta && Variaveis.OperacaoEmAndamento.DirecaoCaminho == DirecaoCarroRua.Ida)) + { + etapaAtual = StatusCarroMapa.Manobrando; + } // Robô não está entrando na rua do começo para o fim, nem do fim para o começo else { @@ -396,7 +413,9 @@ namespace AgroBase.Models.Operacoes // Ainda tem ruas a serem percorridas, logo, o robô precisa realizar a manobra para seguir para a próxima rua if (!Variaveis.OperacaoEmAndamento.OpMapaGPS.Concluido) { - etapaAtual = StatusCarroMapa.Manobrando; + //etapaAtual = StatusCarroMapa.Manobrando; + Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++; + etapaAtual = StatusCarroMapa.Direcionando; } } } @@ -408,7 +427,7 @@ namespace AgroBase.Models.Operacoes } } // Se o robô estiver dentro da entrelinha da cana - else if (DentroDaRua) + else if (dentroDaRua) { etapaAtual = StatusCarroMapa.CaminhandoRua; } @@ -422,121 +441,9 @@ namespace AgroBase.Models.Operacoes return _EtapaAtual; } } - /*public StatusOperacaoMapaGPS StatusAtual - { - get - { - StatusOperacaoMapaGPS etapaAtual = _EtapaAtual; - - // Se a operação não estiver iniciada - if (!Variaveis.OperacaoEmAndamento.Iniciado) - { - // Etapa atual não é Finalizado, então a etapa é Parametrizando - if (_EtapaAtual != StatusOperacaoMapaGPS.Concluida) - { - etapaAtual = StatusOperacaoMapaGPS.Parametrizando; - } - } - // Operação em andamento - else - { - // Se a operação tiver algum item mandatório interrompido - if (!Variaveis.OperacaoEmAndamento.OperacaoLiberada) - { - // Da primeira vez, salva a etapa atual anterior à parada para possível retomada - if (etapaAtual != StatusOperacaoMapaGPS.Parado) - { - _EtapaAnteriorParada = etapaAtual; - } - etapaAtual = StatusOperacaoMapaGPS.Parado; - } - // Se a etapa atual for parado, mas a operação foi liberada, retoma de onde parou - else if (etapaAtual == StatusOperacaoMapaGPS.Parado && Variaveis.OperacaoEmAndamento.OperacaoLiberada) - { - Variaveis.OperacaoEmAndamento.TempoAguardando = DateTime.Now; - etapaAtual = StatusOperacaoMapaGPS.Aguardando; - } - // Etapa atual é finalizada, então finaliza a operação - else if (_EtapaAtual == StatusOperacaoMapaGPS.Concluida) - { - Variaveis.OperacaoEmAndamento.FinalizarOperacao(); - } - // Contagem regressiva para iniciar a operação - else if (Variaveis.OperacaoEmAndamento.TempoAguardando.AddSeconds(Variaveis.OperacaoEmAndamento.TempoIniciarOperacao) > DateTime.Now) - { - etapaAtual = StatusOperacaoMapaGPS.Aguardando; - } - else if (_EtapaAnteriorParada != StatusOperacaoMapaGPS.Parado) - { - etapaAtual = _EtapaAnteriorParada; - _EtapaAnteriorParada = StatusOperacaoMapaGPS.Parado; - } - // Robô está manobrando para seguir a próxima rota do mapa - else if (_EtapaAtual == StatusOperacaoMapaGPS.Manobrando) - { - // Aguarda a mudança de rua até que o robô tenha terminado a manobra e tenha ficado parado em frente à rua - if (ManobraConcluida && Direcao == DirecaoCarroRua.Parado) - { - Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++; - ManobraConcluida = false; - etapaAtual = StatusOperacaoMapaGPS.EntrandoRua; - GPSService.AtualizaLeituraSimulacao(); - Task.Delay(500); - } - } - // Se o robô não estiver dentro da entrelinha de cana - else if (!DentroDaRua) - { - // Está mais próximo do ponto inicial da rota, e a direção do carro é IDA ou então PARADO, logo está entrando na rua, do começo para o final - if (ExtremoMaisProximo == 0 && (Direcao == DirecaoCarroRua.Ida || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusOperacaoMapaGPS.SaindoRua) - { - etapaAtual = StatusOperacaoMapaGPS.EntrandoRua; - } - // Está mais próximo do ponto final da rota, e a direção do carro é VOLTA ou então PARADO, logo está entrando na rua, do final para o começo - else if (ExtremoMaisProximo == 1 && (Direcao == DirecaoCarroRua.Volta || Direcao == DirecaoCarroRua.Parado) && etapaAtual != StatusOperacaoMapaGPS.SaindoRua) - { - etapaAtual = StatusOperacaoMapaGPS.EntrandoRua; - } - // Robô não está entrando na rua do começo para o fim, nem do fim para o começo - else - { - // Se a etapa anterior era CaminhandoRua, ou seja, robô estava na rua e agora não está mais, então esta saindo da rua - if (_EtapaAtual == StatusOperacaoMapaGPS.CaminhandoRua) - { - etapaAtual = StatusOperacaoMapaGPS.SaindoRua; - } - // Se a etapa anterior não for CaminhandoRua, então significa que ele já iniciou a etapa de sair da rua - else - { - // O índice de rua para realizar o trabalho já ultrapassou a quantidade de ruas definidas pelo operador, então a operação foi concluída - if (Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual >= Variaveis.OperacaoEmAndamento.Mapa.Trajetoria.Count - 1) - { - etapaAtual = StatusOperacaoMapaGPS.Concluida; - } - // Ainda tem ruas a serem percorridas, logo, o robô precisa realizar a manobra para seguir para a próxima rua - else - { - etapaAtual = StatusOperacaoMapaGPS.Manobrando; - } - } - } - } - // Se o robô estiver dentro da entrelinha da cana - else if (DentroDaRua) - { - etapaAtual = StatusOperacaoMapaGPS.CaminhandoRua; - } - } - - - _EtapaAtual = etapaAtual; - - return etapaAtual; - } - }*/ public int PontosConsiderarAngulo { get; set; } = 2; public double Distancia { get; set; } = 0; - public double AnguloCarro + /*public double AnguloCarro { get { @@ -546,11 +453,11 @@ namespace AgroBase.Models.Operacoes } else { - return AnguloCarroGPS; + return Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS; } } - } - public double AnguloCarroGPS + }*/ + /*public double AnguloCarroGPS { get { @@ -575,7 +482,7 @@ namespace AgroBase.Models.Operacoes return 0; } } - } + }*/ public double AnguloCaminho { get @@ -584,9 +491,6 @@ namespace AgroBase.Models.Operacoes { if (_EtapaAtual == StatusCarroMapa.Direcionando) { - /*GPSModel PontoRua = ExtremoMaisProximo == 0 ? PrimeiroPontoRua : UltimoPontoRua; - double anguloCaminho = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, PontoRua); - return anguloCaminho;*/ double somaAnguloRua = 0; var Rua = Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica; @@ -622,9 +526,17 @@ namespace AgroBase.Models.Operacoes { somaAnguloRua += GPSService.CalcularOrientacao(PontosRua[i + 1], PontosRua[i]); } - double mediaAnguloRua = somaAnguloRua / (PontosRua.Count - 1); - return (!(mediaAnguloRua >= 0 || mediaAnguloRua <= 0)) ? 0 : mediaAnguloRua; + double mediaAnguloRua = somaAnguloRua / (PontosRua.Count - 1); + double angulo = (!(mediaAnguloRua >= 0 || mediaAnguloRua <= 0)) ? 0 : mediaAnguloRua; + /*double anguloOposto = (angulo + 180) % 360; + + if (Variaveis.OperacaoEmAndamento.DirecaoCaminho == DirecaoCarroRua.Volta) + { + angulo = anguloOposto; + }*/ + + return angulo; } } catch @@ -643,7 +555,7 @@ namespace AgroBase.Models.Operacoes { return DirecaoCarroRua.Parado; } - double mediaAngulo = AnguloCarro; + double mediaAngulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro; double anguloOposto = (mediaAngulo + 180) % 360; double mediaAnguloRua = AnguloCaminho; @@ -806,8 +718,19 @@ namespace AgroBase.Models.Operacoes bool NaMargem = false; GPSModel PontoRua = ExtremoMaisProximo == 0 ? PrimeiroPontoRua : UltimoPontoRua; double Distancia = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PontoRua); + double DistanciaAnterior = GPSService.DistanciaEntrePontos(GPSService.PenultimaLeitura, PontoRua); - if (Distancia <= MargemLimiteEntradaRua) + double DistanciaFinal = 0; + if (Distancia > DistanciaAnterior) + { + DistanciaFinal = Distancia * -1; + } + else + { + DistanciaFinal = Distancia; + } + + if (DistanciaFinal <= MargemLimiteEntradaRua) { NaMargem = true; } diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs index ce09af217..31b91fda1 100644 --- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs @@ -238,6 +238,14 @@ namespace AgroBase.Models public List Logs { get; set; } = new List(); public List GPSTrajetoria { get; set; } = new List(); public List> GPSTrajetoriaRua { get; set; } = new List>(); + public DirecaoCarroRua DirecaoCaminho + { + get + { + DirecaoCarroRua direcaoCaminho = Mapa.IdxRuaAtual % 2 == 0 ? DirecaoCarroRua.Ida : DirecaoCarroRua.Volta; + return direcaoCaminho; + } + } public int QuantidadeCamerasSolo { get; set; } = 2; public List CamerasSolo { get; set; } = new List(); public CameraCaminhoModel CameraCaminho { get; set; } @@ -608,56 +616,37 @@ namespace AgroBase.Models public void SalvarLog(bool Fim) { - Logs.Add(new OperacaoSensoriamentoModel() + if (!string.IsNullOrEmpty(ID)) { - Momento = DateTime.Now, - BateriaConsumida = Sensoriamento.BateriaConsumida, - DistanciaDireita = Sensoriamento.DistanciaDireita, - DistanciaEsquerda = Sensoriamento.DistanciaEsquerda, - DistanciaPercorrida = new List(Sensoriamento.DistanciaPercorrida), - PorcentagemBateria = Sensoriamento.PorcentagemBateria, - //AnguloCarro = ReferencialRuaGPS.AnguloCarro, - AnguloCarroBussola = Sensoriamento.AnguloCarroBussola - }); - if (!Directory.Exists(Variaveis.CaminhoOperacoes + ID)) - { - Directory.CreateDirectory(Variaveis.CaminhoOperacoes + ID); - } - if (!File.Exists(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json")) - { - string jsonLog = JsonConvert.SerializeObject(Logs, Formatting.None); - File.WriteAllText(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json", jsonLog.Substring(0, jsonLog.Length - 1)); - } - else - { - string jsonLog = JsonConvert.SerializeObject(Logs[Logs.Count - 1], Formatting.None); - File.AppendAllText(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json", "," + jsonLog + (Fim ? "]" : "")); - } - - - GPSTrajetoria.Add(new GPSModel() - { - NumeroSatelites = GPSService.UltimaLeitura.NumeroSatelites, - Altitude = GPSService.UltimaLeitura.Altitude, - DataHora = GPSService.UltimaLeitura.DataHora, - Latitude = GPSService.UltimaLeitura.Latitude, - Longitude = GPSService.UltimaLeitura.Longitude, - PrecisaoHorizontal = GPSService.UltimaLeitura.PrecisaoHorizontal - }); - if (GPSTrajetoriaRua.Count() - 1 < Mapa.IdxRuaAtual) - { - GPSTrajetoriaRua.Add(new List()); - } - GPSTrajetoriaRua[Mapa.IdxRuaAtual].Add(GPSTrajetoria[GPSTrajetoria.Count - 1]); - if (GPSTrajetoria.Count > 1) - { - if (Sensoriamento.DistanciaPercorrida.Count - 1 < Mapa.IdxRuaAtual) + Logs.Add(new OperacaoSensoriamentoModel() { - Sensoriamento.DistanciaPercorrida.Add(0); + Momento = DateTime.Now, + BateriaConsumida = Sensoriamento.BateriaConsumida, + DistanciaDireita = Sensoriamento.DistanciaDireita, + DistanciaEsquerda = Sensoriamento.DistanciaEsquerda, + DistanciaPercorrida = new List(Sensoriamento.DistanciaPercorrida), + PorcentagemBateria = Sensoriamento.PorcentagemBateria, + AnguloCarroBussola = Sensoriamento.AnguloCarroBussola + }); + if (!Directory.Exists(Variaveis.CaminhoOperacoes + ID)) + { + Directory.CreateDirectory(Variaveis.CaminhoOperacoes + ID); } - Sensoriamento.DistanciaPercorrida[Mapa.IdxRuaAtual] += GPSService.DistanciaEntrePontos(GPSTrajetoria[GPSTrajetoria.Count - 1], GPSTrajetoria[GPSTrajetoria.Count - 2]); + if (!File.Exists(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json")) + { + string jsonLog = JsonConvert.SerializeObject(Logs, Formatting.None); + File.WriteAllText(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json", jsonLog.Substring(0, jsonLog.Length - 1)); + } + else + { + string jsonLog = JsonConvert.SerializeObject(Logs[Logs.Count - 1], Formatting.None); + File.AppendAllText(Variaveis.CaminhoOperacoes + ID + "/logsGerais.json", "," + jsonLog + (Fim ? "]" : "")); + } + + + + File.WriteAllText(Variaveis.CaminhoOperacoes + ID + "/trajetoria.json", JsonConvert.SerializeObject(GPSTrajetoria, Formatting.None)); } - File.WriteAllText(Variaveis.CaminhoOperacoes + ID + "/trajetoria.json", JsonConvert.SerializeObject(GPSTrajetoria, Formatting.None)); } private void TmrLogs_Tick(object sender, EventArgs e) @@ -743,8 +732,54 @@ namespace AgroBase.Models public List DistanciaPercorrida { get; set; } = new List(); public double DistanciaEsquerda { get; set; } = 0; public double DistanciaDireita { get; set; } = 0; - public double AnguloCarro { get; set; } = 0; + public double AnguloCarroGPS + { + get + { + int PontosConsiderarAngulo = 2; + double Angulo = 0; + + int Indice = Variaveis.OperacaoEmAndamento.Mapa.mapaService.MapaUrl != "" ? Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual : 0; + + try + { + double somaAngulo = 0; + var Pontos = !Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Any() || Indice >= Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Count() ? new List() : + Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Indice].Count > PontosConsiderarAngulo ? + Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Indice].OrderByDescending(x => x.DataHora).Take(PontosConsiderarAngulo).ToList() : + Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Indice].OrderByDescending(x => x.DataHora).ToList(); + Pontos = Pontos.OrderBy(x => x.DataHora).ToList(); + for (int i = 0; i < Pontos.Count() - 1; i++) + { + somaAngulo += GPSService.CalcularOrientacao(Pontos[i + 1], Pontos[i]); + } + double mediaAngulo = somaAngulo / (Pontos.Count() - 1); + + Angulo = (!(mediaAngulo >= 0 || mediaAngulo <= 0)) ? 0 : mediaAngulo; + } + catch + { + Angulo = 0; + } + + return Angulo; + } + } public double AnguloCarroBussola { get; set; } = 0; + public double AnguloCarro + { + get + { + if (Variaveis.OperacaoEmAndamento.DispSen._Porta.IsOpen && Variaveis.OperacaoEmAndamento.DispSen.Dados.Sensores.Any(x => x.Componente == S_Code.sMAG && x.Inicializado)) + { + return AnguloCarroBussola; + } + else + { + return AnguloCarroGPS; + } + } + } public SonarModel SonarFrontal { get; set; } } diff --git a/AgroBase/AgroBase/Models/Variaveis.cs b/AgroBase/AgroBase/Models/Variaveis.cs index a7611ba7a..516cbe026 100644 --- a/AgroBase/AgroBase/Models/Variaveis.cs +++ b/AgroBase/AgroBase/Models/Variaveis.cs @@ -145,6 +145,16 @@ namespace AgroBase.Models double radians = (Math.PI / 180) * degrees; return (radians); } + + public static void PreencheValorProgressBar(ProgressBar pgb, double Valor) + { + pgb.Value = + Valor >= pgb.Minimum && Valor <= pgb.Maximum ? pgb.Value = Convert.ToInt32(Valor) : + Valor < pgb.Minimum ? pgb.Value = pgb.Minimum : + Valor > pgb.Maximum ? pgb.Value = pgb.Maximum : + pgb.Minimum; + } + } public static class VariaveisPortas diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs index 9993e93eb..af5c56429 100644 --- a/AgroBase/AgroBase/Services/GPSService.cs +++ b/AgroBase/AgroBase/Services/GPSService.cs @@ -252,6 +252,31 @@ namespace AgroBase.Services Variaveis.MqttService.Topicos.First(x => x.Topico == MapasVariaveisModel.TopicoCoordenadasGPS), JsonConvert.SerializeObject(Coordenadas) ).ConfigureAwait(false); + + + Variaveis.OperacaoEmAndamento.GPSTrajetoria.Add(new GPSModel() + { + NumeroSatelites = UltimaLeitura.NumeroSatelites, + Altitude = UltimaLeitura.Altitude, + DataHora = UltimaLeitura.DataHora, + Latitude = UltimaLeitura.Latitude, + Longitude = UltimaLeitura.Longitude, + PrecisaoHorizontal = UltimaLeitura.PrecisaoHorizontal, + Velocidade = UltimaLeitura.Velocidade + }); + if (Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Count() - 1 < Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual) + { + Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua.Add(new List()); + } + Variaveis.OperacaoEmAndamento.GPSTrajetoriaRua[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].Add(Variaveis.OperacaoEmAndamento.GPSTrajetoria[Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count - 1]); + if (Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count > 1) + { + if (Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Count - 1 < Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual) + { + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Add(0); + } + Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual] += GPSService.DistanciaEntrePontos(Variaveis.OperacaoEmAndamento.GPSTrajetoria[Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count - 1], Variaveis.OperacaoEmAndamento.GPSTrajetoria[Variaveis.OperacaoEmAndamento.GPSTrajetoria.Count - 2]); + } } public static void AtualizarTrajetoriaDinamica() diff --git a/AgroBase/AgroBase/Services/MqttService.cs b/AgroBase/AgroBase/Services/MqttService.cs index 98ed3f534..4997a3234 100644 --- a/AgroBase/AgroBase/Services/MqttService.cs +++ b/AgroBase/AgroBase/Services/MqttService.cs @@ -1,4 +1,5 @@ using AgroBase.Forms; +using AgroBase.Models; using AgroBase.Services; using MQTTnet; using MQTTnet.Client; @@ -78,6 +79,11 @@ public class MqttService Cliente = e.ClientId, Mensagem = message }); + + if (topico.Topico == MapasVariaveisModel.TopicoSelecaoRuasMapa) + { + Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas(); + } } }); diff --git a/AgroBase/AgroBase/Services/PZEMService.cs b/AgroBase/AgroBase/Services/PZEMService.cs index f4c4ce426..9724874a2 100644 --- a/AgroBase/AgroBase/Services/PZEMService.cs +++ b/AgroBase/AgroBase/Services/PZEMService.cs @@ -22,6 +22,8 @@ namespace AgroBase.Services public static SerialPort PortaPZEM = null; public static PZEMModel UltimaLeitura = new PZEMModel(); public static PZEMModel PenultimaLeitura = new PZEMModel(); + public static double TensaoMinima { get; set; } = 30; + public static double TensaoMaxima { get; set; } = 42; private static byte slaveAddress = 0x01; private static Dictionary CodigosFuncoes = new Dictionary() @@ -53,7 +55,8 @@ namespace AgroBase.Services { Porta.Open(); } - var Comando = ComandoCalibragem(); + //var Comando = ComandoCalibragem(); + var Comando = ComandoGetParametro(Parametros.First().Value); string comandoHex = BitConverter.ToString(Comando).Replace("-", ""); EnviarComando(Porta, Comando); } @@ -277,11 +280,11 @@ namespace AgroBase.Services { PZEMModel modelo = new PZEMModel(); var tensao_raw = "0x" + resposta[3].ToString("X") + resposta[4].ToString("X"); - modelo.Tensao = Convert.ToInt32(tensao_raw, 16) * 0.02; + modelo.Tensao = Convert.ToInt32(tensao_raw, 16) * 0.02; // 0.01; var corrente_raw = "0x" + resposta[5].ToString("X") + resposta[6].ToString("X"); - modelo.Corrente = Convert.ToInt32(corrente_raw, 16) * 0.0015; + modelo.Corrente = Convert.ToInt32(corrente_raw, 16) * 0.002; // 0.0015; var potencia_raw = "0x" + resposta[7].ToString("X") + resposta[8].ToString("X") + resposta[9].ToString("X") + resposta[10].ToString("X"); - modelo.Potencia = Convert.ToInt32(potencia_raw, 16) * 0.1; + modelo.Potencia = Convert.ToInt32(potencia_raw, 16) * 0.0001; // 0.1; var energia_raw = "0x" + resposta[11].ToString("X") + resposta[12].ToString("X") + resposta[13].ToString("X") + resposta[14].ToString("X"); modelo.Energia = Convert.ToInt32(energia_raw, 16) * 1.0; var almMax_raw = "0x" + resposta[15].ToString("X") + resposta[16].ToString("X"); @@ -289,7 +292,7 @@ namespace AgroBase.Services var almMin_raw = "0x" + resposta[17].ToString("X") + resposta[18].ToString("X"); modelo.AlarmeTensaoMin = almMin_raw == "0xFFFF"; - double percent = FuncoesGlobais.Map(modelo.Tensao, 36, 42, 0, 100); + double percent = FuncoesGlobais.Map(modelo.Tensao, TensaoMinima, TensaoMaxima, 0, 100); 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(3814245) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:32.2685211-03:00","Protocolo":"655;2934;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:32.2788037-03:00","Protocolo":"#111;ET;2;21;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:32.2965949-03:00","Protocolo":"#111;EF;1;0;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:32.3100714-03:00","Protocolo":"@2935;293;DF,1,5,61442776831775,50,0,-7$","Enviado":true},{"Momento":"2024-04-29T09:49:32.3282524-03:00","Protocolo":"E (3814361) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:32.370392-03:00","Protocolo":"655;2935;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:32.3733935-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:32.3803986-03:00","Protocolo":"#111;DF;1;0;1;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:32.7617735-03:00","Protocolo":"#111;ET;2;21;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:32.7967458-03:00","Protocolo":"#111;EF;2;7;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:32.8420684-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:32.8815038-03:00","Protocolo":"#111;DF;2;5;1;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:33.1395071-03:00","Protocolo":"@2936;293;EF,1,8,16437540305492,50,0,-10$","Enviado":true},{"Momento":"2024-04-29T09:49:33.1648223-03:00","Protocolo":"E (3815190) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:33.1688216-03:00","Protocolo":"655;2936;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:33.1933853-03:00","Protocolo":"@2937;293;DF,1,8,16437540305492,50,0,-7$","Enviado":true},{"Momento":"2024-04-29T09:49:33.2171448-03:00","Protocolo":"E (3815243) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:33.2193171-03:00","Protocolo":"655;2937;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:33.2583228-03:00","Protocolo":"#111;ET;2;21;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:33.3094491-03:00","Protocolo":"#111;EF;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:33.3398057-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:33.3814783-03:00","Protocolo":"#111;DF;1;6;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:33.7645455-03:00","Protocolo":"#111;ET;2;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:33.7963502-03:00","Protocolo":"#111;EF;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:33.8386864-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:33.8802369-03:00","Protocolo":"#111;DF;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:34.1517436-03:00","Protocolo":"@2941;293;EF,1,12,7450806080285,50,0,-10$","Enviado":true},{"Momento":"2024-04-29T09:49:34.169742-03:00","Protocolo":"E (3816202) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:34.1768882-03:00","Protocolo":"655;2941;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:34.1920011-03:00","Protocolo":"@2942;293;DF,1,12,7450806080285,50,0,-7$","Enviado":true},{"Momento":"2024-04-29T09:49:34.2137566-03:00","Protocolo":"E (3816243) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:34.2257559-03:00","Protocolo":"655;2942;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:34.2590372-03:00","Protocolo":"#111;ET;2;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:34.2965505-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:34.3422683-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:34.3806622-03:00","Protocolo":"#111;DF;1;12;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:34.7600698-03:00","Protocolo":"#111;ET;2;21;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:34.8041229-03:00","Protocolo":"#111;EF;1;12;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:34.8677484-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:34.8837493-03:00","Protocolo":"#111;DF;1;12;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:35.1638897-03:00","Protocolo":"@2943;293;EF,2,0,50,0,-10$","Enviado":true},{"Momento":"2024-04-29T09:49:35.1688899-03:00","Protocolo":"655;2943;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:35.2025952-03:00","Protocolo":"@2944;293;DF,2,0,50,0,-7$","Enviado":true},{"Momento":"2024-04-29T09:49:35.2075933-03:00","Protocolo":"655;2944;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:35.258838-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:35.3075117-03:00","Protocolo":"#111;EF;2;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:35.3421263-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:35.3821274-03:00","Protocolo":"#111;DF;1;12;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:35.7630163-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:35.7974576-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:35.8391544-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:35.8930689-03:00","Protocolo":"#111;DF;1;12;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:36.2591484-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:36.2967213-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:36.3927479-03:00","Protocolo":"@2945;293;EF,2,1,89071800554533,50,0,-10$","Enviado":true},{"Momento":"2024-04-29T09:49:36.4002592-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:36.417393-03:00","Protocolo":"#111;DF;1;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:36.4559217-03:00","Protocolo":"E (3818443) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:36.4874871-03:00","Protocolo":"655;2945;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:36.5029969-03:00","Protocolo":"@2946;293;DF,2,1,89071800554533,50,0,-7$","Enviado":true},{"Momento":"2024-04-29T09:49:36.5201488-03:00","Protocolo":"E (3818553) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:36.5492914-03:00","Protocolo":"655;2946;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:36.7629975-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:36.796555-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:36.83852-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:36.8803344-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:37.2582177-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:37.2967541-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:37.3956232-03:00","Protocolo":"@2947;293;EF,1,0,0715400969275,50,0,-10$","Enviado":true},{"Momento":"2024-04-29T09:49:37.4021332-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:37.4081308-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:37.4203809-03:00","Protocolo":"E (3819446) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:37.4498428-03:00","Protocolo":"655;2947;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:37.481954-03:00","Protocolo":"@2948;293;DF,1,0,0715400969275,50,0,-7$","Enviado":true},{"Momento":"2024-04-29T09:49:37.4992194-03:00","Protocolo":"E (3819532) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:37.5265499-03:00","Protocolo":"655;2948;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:37.7582575-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:37.8027083-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:37.8386961-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:37.8814477-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:38.2604243-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:38.2976906-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:38.3387604-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:38.3809937-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:38.6194596-03:00","Protocolo":"@2949;293;EF,2,1,17414415786623,50,0,-10$","Enviado":true},{"Momento":"2024-04-29T09:49:38.6375845-03:00","Protocolo":"E (3820670) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:38.6397025-03:00","Protocolo":"655;2949;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:38.65682-03:00","Protocolo":"@2950;293;DF,2,1,17414415786623,50,0,-7$","Enviado":true},{"Momento":"2024-04-29T09:49:38.6741409-03:00","Protocolo":"E (3820707) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:38.6771425-03:00","Protocolo":"655;2950;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:38.7589471-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:38.8005841-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:38.8382425-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:38.8864955-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:39.2616131-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:39.2970736-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:39.339046-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:39.3854656-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:39.6441936-03:00","Protocolo":"@2954;293;EF,2,1,8416247028641,50,0,-10$","Enviado":true},{"Momento":"2024-04-29T09:49:39.6653459-03:00","Protocolo":"E (3821694) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:39.6754765-03:00","Protocolo":"655;2954;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:39.7088454-03:00","Protocolo":"@2955;293;DF,2,1,8416247028641,50,0,-7$","Enviado":true},{"Momento":"2024-04-29T09:49:39.7270353-03:00","Protocolo":"E (3821759) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:39.7671707-03:00","Protocolo":"655;2955;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:39.7701707-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:39.8011538-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:39.8387213-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:39.8811254-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:40.2612983-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:40.2972749-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:40.3399535-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:40.3809536-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:40.7589353-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:40.8457405-03:00","Protocolo":"@2956;293;EF,2,3,11502939027431,50,0,-10$","Enviado":true},{"Momento":"2024-04-29T09:49:40.8588754-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:40.8944046-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:40.8994034-03:00","Protocolo":"E (3822896) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:40.9006992-03:00","Protocolo":"655;2956;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:40.903225-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:40.918227-03:00","Protocolo":"@2957;293;DF,2,3,11502939027431,50,0,-7$","Enviado":true},{"Momento":"2024-04-29T09:49:40.9362227-03:00","Protocolo":"E (3822969) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:40.953223-03:00","Protocolo":"655;2957;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:41.2590289-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:41.2984455-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:41.3385398-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:41.3812486-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:41.7587582-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:41.8751124-03:00","Protocolo":"@2958;293;EF,2,4,00884742669033,50,0,-10$","Enviado":true},{"Momento":"2024-04-29T09:49:41.8841124-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:41.892287-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:41.9212623-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:41.9444818-03:00","Protocolo":"E (3823927) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:41.9454818-03:00","Protocolo":"655;2958;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:41.9707914-03:00","Protocolo":"@2959;293;DF,2,4,00884742669033,50,0,-7$","Enviado":true},{"Momento":"2024-04-29T09:49:41.9877935-03:00","Protocolo":"E (3824020) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:41.9942713-03:00","Protocolo":"655;2959;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:42.2589041-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:42.2965647-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:42.3436961-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:42.3809984-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:42.7589185-03:00","Protocolo":"#111;ET;1;20;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:42.7964019-03:00","Protocolo":"#111;EF;1;11;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:42.8986448-03:00","Protocolo":"@2960;293;EF,2,4,84028990545923,50,0,-10$","Enviado":true},{"Momento":"2024-04-29T09:49:42.9026432-03:00","Protocolo":"#111;DT;1;8;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:42.9852065-03:00","Protocolo":"#111;DF;2;13;0;0;0;0;1$\r","Enviado":false},{"Momento":"2024-04-29T09:49:43.0162014-03:00","Protocolo":"E (3824949) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=2\r","Enviado":false},{"Momento":"2024-04-29T09:49:43.0484106-03:00","Protocolo":"655;2960;$\r","Enviado":false},{"Momento":"2024-04-29T09:49:43.0776734-03:00","Protocolo":"@2961;293;DF,2,4,84028990545923,50,0,-7$","Enviado":true},{"Momento":"2024-04-29T09:49:43.0959413-03:00","Protocolo":"E (3825128) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. 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