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ajustado detalhes na definicao de rotas

This commit is contained in:
Diego Freitas 2024-04-29 17:02:19 -03:00
parent 3252ad2a99
commit 7fdcef514d
664 changed files with 26720 additions and 8722 deletions
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AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs
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@ -118,11 +118,19 @@ namespace AgroBase.Forms.Operacoes
{ {
//Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First()); //Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First());
} }
}
else else
{ {
Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas(); if (Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica.Any())
{
Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica.Clear();
GPSService.AtualizarTrajetoriaDinamica();
} }
}
}
/*else
{
Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas();
}*/
AtualizarGrafico(); AtualizarGrafico();
AtualizarInformacoesGerais(); AtualizarInformacoesGerais();
pnlOrientacao.Invalidate(); pnlOrientacao.Invalidate();
@ -359,15 +367,15 @@ namespace AgroBase.Forms.Operacoes
lblPressao.Text = "P: " + Variaveis.OperacaoEmAndamento.DispAtu.Dados.PressaoLinha.ToString("0.00") + " psi"; lblPressao.Text = "P: " + Variaveis.OperacaoEmAndamento.DispAtu.Dados.PressaoLinha.ToString("0.00") + " psi";
pgbReservatorio.Value = Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio <= 100 ? 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") + "%"; 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") + "%"; 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") + "%"; 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") + "%"; 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"; 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 try
{ {
double angulo = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.AnguloCarro; double angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro;
DesenharInclinacao((Panel)sender, e, (float)angulo, -90); DesenharInclinacao((Panel)sender, e, (float)angulo, -90);
} }
catch { } catch { }

413
AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs generated
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@ -40,7 +40,11 @@ namespace AgroBase.Forms.Operacoes
this.lblPressao = new System.Windows.Forms.Label(); this.lblPressao = new System.Windows.Forms.Label();
this.pnlCaminho = new System.Windows.Forms.Panel(); this.pnlCaminho = new System.Windows.Forms.Panel();
this.pnlGraficos = 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.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.pnlNiveis = new System.Windows.Forms.Panel();
this.lblPorcentagemProgressoRua = new System.Windows.Forms.Label(); this.lblPorcentagemProgressoRua = new System.Windows.Forms.Label();
this.btnSimular = new System.Windows.Forms.Button(); this.btnSimular = new System.Windows.Forms.Button();
@ -86,23 +90,19 @@ namespace AgroBase.Forms.Operacoes
this.pnlInclinacao = new System.Windows.Forms.Panel(); this.pnlInclinacao = new System.Windows.Forms.Panel();
this.pnlAnguloCamera = new System.Windows.Forms.Panel(); this.pnlAnguloCamera = new System.Windows.Forms.Panel();
this.lblPerformance = new System.Windows.Forms.Label(); 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.pnlCameraSolo.SuspendLayout();
this.pnlAtuadores.SuspendLayout(); this.pnlAtuadores.SuspendLayout();
this.pnlGraficos.SuspendLayout(); this.pnlGraficos.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabGrafico.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).BeginInit();
this.tabSonar.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picSonar)).BeginInit();
this.pnlNiveis.SuspendLayout(); this.pnlNiveis.SuspendLayout();
this.gpbOpcoes.SuspendLayout(); this.gpbOpcoes.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.nudPressaoSP)).BeginInit();
this.gpbInformacoesGerais.SuspendLayout(); this.gpbInformacoesGerais.SuspendLayout();
this.pnlInferior.SuspendLayout(); this.pnlInferior.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabGrafico.SuspendLayout();
this.tabSonar.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picSonar)).BeginInit();
this.SuspendLayout(); this.SuspendLayout();
// //
// pnlCameraSolo // pnlCameraSolo
@ -110,37 +110,35 @@ namespace AgroBase.Forms.Operacoes
this.pnlCameraSolo.BackColor = System.Drawing.SystemColors.ControlDark; this.pnlCameraSolo.BackColor = System.Drawing.SystemColors.ControlDark;
this.pnlCameraSolo.Controls.Add(this.pnlCameraSoloD); this.pnlCameraSolo.Controls.Add(this.pnlCameraSoloD);
this.pnlCameraSolo.Controls.Add(this.pnlCameraSoloE); this.pnlCameraSolo.Controls.Add(this.pnlCameraSoloE);
this.pnlCameraSolo.Location = new System.Drawing.Point(12, 267); this.pnlCameraSolo.Location = new System.Drawing.Point(9, 217);
this.pnlCameraSolo.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlCameraSolo.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlCameraSolo.Name = "pnlCameraSolo"; 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; this.pnlCameraSolo.TabIndex = 0;
// //
// pnlCameraSoloD // pnlCameraSoloD
// //
this.pnlCameraSoloD.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left))); 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.Location = new System.Drawing.Point(299, 2);
this.pnlCameraSoloD.Margin = new System.Windows.Forms.Padding(4);
this.pnlCameraSoloD.Name = "pnlCameraSoloD"; 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; this.pnlCameraSoloD.TabIndex = 1;
// //
// pnlCameraSoloE // pnlCameraSoloE
// //
this.pnlCameraSoloE.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left))); 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.Location = new System.Drawing.Point(4, 2);
this.pnlCameraSoloE.Margin = new System.Windows.Forms.Padding(4);
this.pnlCameraSoloE.Name = "pnlCameraSoloE"; 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; this.pnlCameraSoloE.TabIndex = 0;
// //
// pnlCameraCaminho // pnlCameraCaminho
// //
this.pnlCameraCaminho.BackColor = System.Drawing.SystemColors.ControlDarkDark; this.pnlCameraCaminho.BackColor = System.Drawing.SystemColors.ControlDarkDark;
this.pnlCameraCaminho.Location = new System.Drawing.Point(481, 12); this.pnlCameraCaminho.Location = new System.Drawing.Point(361, 10);
this.pnlCameraCaminho.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlCameraCaminho.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlCameraCaminho.Name = "pnlCameraCaminho"; 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; this.pnlCameraCaminho.TabIndex = 1;
// //
// pnlAtuadores // pnlAtuadores
@ -148,42 +146,65 @@ namespace AgroBase.Forms.Operacoes
this.pnlAtuadores.BackColor = System.Drawing.SystemColors.Control; this.pnlAtuadores.BackColor = System.Drawing.SystemColors.Control;
this.pnlAtuadores.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D; this.pnlAtuadores.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
this.pnlAtuadores.Controls.Add(this.lblPressao); this.pnlAtuadores.Controls.Add(this.lblPressao);
this.pnlAtuadores.Location = new System.Drawing.Point(12, 604); this.pnlAtuadores.Location = new System.Drawing.Point(9, 491);
this.pnlAtuadores.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlAtuadores.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlAtuadores.Name = "pnlAtuadores"; 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.TabIndex = 2;
this.pnlAtuadores.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAtuadores_Paint); this.pnlAtuadores.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAtuadores_Paint);
// //
// lblPressao // lblPressao
// //
this.lblPressao.AutoSize = true; this.lblPressao.AutoSize = true;
this.lblPressao.Location = new System.Drawing.Point(-3, 0); this.lblPressao.Location = new System.Drawing.Point(-2, 0);
this.lblPressao.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lblPressao.Name = "lblPressao"; 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.TabIndex = 0;
this.lblPressao.Text = "P: 0.00 psi"; this.lblPressao.Text = "P: 0.00 psi";
// //
// pnlCaminho // pnlCaminho
// //
this.pnlCaminho.BackColor = System.Drawing.Color.White; this.pnlCaminho.BackColor = System.Drawing.Color.White;
this.pnlCaminho.Location = new System.Drawing.Point(836, 26); this.pnlCaminho.Location = new System.Drawing.Point(627, 21);
this.pnlCaminho.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlCaminho.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlCaminho.Name = "pnlCaminho"; 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.TabIndex = 3;
this.pnlCaminho.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlCaminho_Paint); this.pnlCaminho.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlCaminho_Paint);
// //
// pnlGraficos // pnlGraficos
// //
this.pnlGraficos.Controls.Add(this.tabControl1); this.pnlGraficos.Controls.Add(this.tabControl1);
this.pnlGraficos.Location = new System.Drawing.Point(808, 378); this.pnlGraficos.Location = new System.Drawing.Point(606, 307);
this.pnlGraficos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlGraficos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlGraficos.Name = "pnlGraficos"; 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; 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 // chartGraficos
// //
chartArea1.Name = "ChartArea1"; chartArea1.Name = "ChartArea1";
@ -191,17 +212,39 @@ namespace AgroBase.Forms.Operacoes
this.chartGraficos.Dock = System.Windows.Forms.DockStyle.Fill; this.chartGraficos.Dock = System.Windows.Forms.DockStyle.Fill;
legend1.Name = "Legend1"; legend1.Name = "Legend1";
this.chartGraficos.Legends.Add(legend1); this.chartGraficos.Legends.Add(legend1);
this.chartGraficos.Location = new System.Drawing.Point(3, 3); this.chartGraficos.Location = new System.Drawing.Point(2, 2);
this.chartGraficos.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.chartGraficos.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.chartGraficos.Name = "chartGraficos"; this.chartGraficos.Name = "chartGraficos";
series1.ChartArea = "ChartArea1"; series1.ChartArea = "ChartArea1";
series1.Legend = "Legend1"; series1.Legend = "Legend1";
series1.Name = "Series1"; series1.Name = "Series1";
this.chartGraficos.Series.Add(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.TabIndex = 0;
this.chartGraficos.Text = "chart1"; 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 // pnlNiveis
// //
this.pnlNiveis.BackColor = System.Drawing.SystemColors.Control; 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.lblPorcentagemReservatorio);
this.pnlNiveis.Controls.Add(this.pgbReservatorio); this.pnlNiveis.Controls.Add(this.pgbReservatorio);
this.pnlNiveis.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); 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.Location = new System.Drawing.Point(9, 570);
this.pnlNiveis.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlNiveis.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlNiveis.Name = "pnlNiveis"; 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; this.pnlNiveis.TabIndex = 6;
// //
// lblPorcentagemProgressoRua // lblPorcentagemProgressoRua
// //
this.lblPorcentagemProgressoRua.AutoSize = true; 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.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.TabIndex = 16;
this.lblPorcentagemProgressoRua.Text = "00,00%"; this.lblPorcentagemProgressoRua.Text = "00,00%";
// //
// btnSimular // btnSimular
// //
this.btnSimular.Location = new System.Drawing.Point(639, 52); this.btnSimular.Location = new System.Drawing.Point(479, 42);
this.btnSimular.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnSimular.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnSimular.Name = "btnSimular"; 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.TabIndex = 12;
this.btnSimular.Text = "Simular"; this.btnSimular.Text = "Simular";
this.btnSimular.UseVisualStyleBackColor = true; this.btnSimular.UseVisualStyleBackColor = true;
@ -250,27 +294,28 @@ namespace AgroBase.Forms.Operacoes
// //
// pgbProgressoRua // pgbProgressoRua
// //
this.pgbProgressoRua.Location = new System.Drawing.Point(500, 28); this.pgbProgressoRua.Location = new System.Drawing.Point(375, 23);
this.pgbProgressoRua.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pgbProgressoRua.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pgbProgressoRua.Name = "pgbProgressoRua"; 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; this.pgbProgressoRua.TabIndex = 15;
// //
// lblProgressoRua // lblProgressoRua
// //
this.lblProgressoRua.AutoSize = true; 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.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.TabIndex = 14;
this.lblProgressoRua.Text = "% Rua"; this.lblProgressoRua.Text = "% Rua";
// //
// btnManobraConcluida // btnManobraConcluida
// //
this.btnManobraConcluida.Location = new System.Drawing.Point(725, 53); this.btnManobraConcluida.Location = new System.Drawing.Point(544, 43);
this.btnManobraConcluida.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnManobraConcluida.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnManobraConcluida.Name = "btnManobraConcluida"; 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.TabIndex = 13;
this.btnManobraConcluida.Text = "MC"; this.btnManobraConcluida.Text = "MC";
this.btnManobraConcluida.UseVisualStyleBackColor = true; this.btnManobraConcluida.UseVisualStyleBackColor = true;
@ -280,9 +325,10 @@ namespace AgroBase.Forms.Operacoes
// //
this.lblDirecao.AutoSize = true; 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.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.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.TabIndex = 11;
this.lblDirecao.Text = "Direção: Parado"; this.lblDirecao.Text = "Direção: Parado";
// //
@ -290,89 +336,96 @@ namespace AgroBase.Forms.Operacoes
// //
this.lblStatus.AutoSize = true; 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.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.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.TabIndex = 10;
this.lblStatus.Text = "Status: Aguardando"; this.lblStatus.Text = "Status: Aguardando";
// //
// lblProgressoT // lblProgressoT
// //
this.lblProgressoT.AutoSize = true; 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.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.TabIndex = 8;
this.lblProgressoT.Text = "% Trajeto"; this.lblProgressoT.Text = "% Trajeto";
// //
// lblPorcentagemBateria // lblPorcentagemBateria
// //
this.lblPorcentagemBateria.AutoSize = true; 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.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.TabIndex = 3;
this.lblPorcentagemBateria.Text = "00,00%"; this.lblPorcentagemBateria.Text = "00,00%";
// //
// lblBateriaT // lblBateriaT
// //
this.lblBateriaT.AutoSize = true; 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.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.TabIndex = 7;
this.lblBateriaT.Text = "Bateria"; this.lblBateriaT.Text = "Bateria";
// //
// lblReservatorioT // lblReservatorioT
// //
this.lblReservatorioT.AutoSize = true; 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.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.TabIndex = 6;
this.lblReservatorioT.Text = "Reservatório"; this.lblReservatorioT.Text = "Reservatório";
// //
// lblPorcentagemProgresso // lblPorcentagemProgresso
// //
this.lblPorcentagemProgresso.AutoSize = true; 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.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.TabIndex = 5;
this.lblPorcentagemProgresso.Text = "00,00%"; this.lblPorcentagemProgresso.Text = "00,00%";
// //
// pgbBateria // pgbBateria
// //
this.pgbBateria.Location = new System.Drawing.Point(131, 44); this.pgbBateria.Location = new System.Drawing.Point(98, 36);
this.pgbBateria.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pgbBateria.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pgbBateria.Name = "pgbBateria"; 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; this.pgbBateria.TabIndex = 2;
// //
// pgbProgresso // pgbProgresso
// //
this.pgbProgresso.Location = new System.Drawing.Point(500, 7); this.pgbProgresso.Location = new System.Drawing.Point(375, 6);
this.pgbProgresso.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pgbProgresso.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pgbProgresso.Name = "pgbProgresso"; 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; this.pgbProgresso.TabIndex = 4;
// //
// lblPorcentagemReservatorio // lblPorcentagemReservatorio
// //
this.lblPorcentagemReservatorio.AutoSize = true; this.lblPorcentagemReservatorio.AutoSize = true;
this.lblPorcentagemReservatorio.BackColor = System.Drawing.Color.Transparent; 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.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.TabIndex = 1;
this.lblPorcentagemReservatorio.Text = "00,00%"; this.lblPorcentagemReservatorio.Text = "00,00%";
// //
// pgbReservatorio // pgbReservatorio
// //
this.pgbReservatorio.Location = new System.Drawing.Point(131, 6); this.pgbReservatorio.Location = new System.Drawing.Point(98, 5);
this.pgbReservatorio.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pgbReservatorio.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pgbReservatorio.Name = "pgbReservatorio"; 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; this.pgbReservatorio.TabIndex = 0;
// //
// gpbOpcoes // gpbOpcoes
@ -383,11 +436,11 @@ namespace AgroBase.Forms.Operacoes
this.gpbOpcoes.Controls.Add(this.btnCarregarMapa); this.gpbOpcoes.Controls.Add(this.btnCarregarMapa);
this.gpbOpcoes.Controls.Add(this.btnIniciarOperacao); this.gpbOpcoes.Controls.Add(this.btnIniciarOperacao);
this.gpbOpcoes.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); 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.Location = new System.Drawing.Point(813, 566);
this.gpbOpcoes.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbOpcoes.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbOpcoes.Name = "gpbOpcoes"; this.gpbOpcoes.Name = "gpbOpcoes";
this.gpbOpcoes.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbOpcoes.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbOpcoes.Size = new System.Drawing.Size(264, 146); this.gpbOpcoes.Size = new System.Drawing.Size(198, 119);
this.gpbOpcoes.TabIndex = 7; this.gpbOpcoes.TabIndex = 7;
this.gpbOpcoes.TabStop = false; this.gpbOpcoes.TabStop = false;
this.gpbOpcoes.Text = "Opções"; this.gpbOpcoes.Text = "Opções";
@ -395,40 +448,43 @@ namespace AgroBase.Forms.Operacoes
// lblPSI // lblPSI
// //
this.lblPSI.AutoSize = true; 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.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.TabIndex = 10;
this.lblPSI.Text = "psi"; this.lblPSI.Text = "psi";
// //
// lblPressaoSP // lblPressaoSP
// //
this.lblPressaoSP.AutoSize = true; 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.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.TabIndex = 9;
this.lblPressaoSP.Text = "Pressão da linha"; this.lblPressaoSP.Text = "Pressão da linha";
// //
// nudPressaoSP // 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[] { this.nudPressaoSP.Maximum = new decimal(new int[] {
200, 200,
0, 0,
0, 0,
0}); 0});
this.nudPressaoSP.Name = "nudPressaoSP"; 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.TabIndex = 8;
this.nudPressaoSP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.nudPressaoSP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
// //
// btnCarregarMapa // btnCarregarMapa
// //
this.btnCarregarMapa.Location = new System.Drawing.Point(29, 71); this.btnCarregarMapa.Location = new System.Drawing.Point(22, 58);
this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnCarregarMapa.Name = "btnCarregarMapa"; 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.TabIndex = 5;
this.btnCarregarMapa.Text = "Selecionar Mapa"; this.btnCarregarMapa.Text = "Selecionar Mapa";
this.btnCarregarMapa.UseVisualStyleBackColor = true; this.btnCarregarMapa.UseVisualStyleBackColor = true;
@ -436,10 +492,10 @@ namespace AgroBase.Forms.Operacoes
// //
// btnIniciarOperacao // btnIniciarOperacao
// //
this.btnIniciarOperacao.Location = new System.Drawing.Point(29, 107); this.btnIniciarOperacao.Location = new System.Drawing.Point(22, 87);
this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnIniciarOperacao.Name = "btnIniciarOperacao"; 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.TabIndex = 6;
this.btnIniciarOperacao.Text = "Iniciar Operação"; this.btnIniciarOperacao.Text = "Iniciar Operação";
this.btnIniciarOperacao.UseVisualStyleBackColor = true; this.btnIniciarOperacao.UseVisualStyleBackColor = true;
@ -455,11 +511,11 @@ namespace AgroBase.Forms.Operacoes
this.gpbInformacoesGerais.Controls.Add(this.lblTempoOperacao); this.gpbInformacoesGerais.Controls.Add(this.lblTempoOperacao);
this.gpbInformacoesGerais.Controls.Add(this.lblDistanciaPercorrida); this.gpbInformacoesGerais.Controls.Add(this.lblDistanciaPercorrida);
this.gpbInformacoesGerais.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); 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.Location = new System.Drawing.Point(606, 566);
this.gpbInformacoesGerais.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbInformacoesGerais.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbInformacoesGerais.Name = "gpbInformacoesGerais"; this.gpbInformacoesGerais.Name = "gpbInformacoesGerais";
this.gpbInformacoesGerais.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2); this.gpbInformacoesGerais.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.gpbInformacoesGerais.Size = new System.Drawing.Size(269, 146); this.gpbInformacoesGerais.Size = new System.Drawing.Size(202, 119);
this.gpbInformacoesGerais.TabIndex = 9; this.gpbInformacoesGerais.TabIndex = 9;
this.gpbInformacoesGerais.TabStop = false; this.gpbInformacoesGerais.TabStop = false;
this.gpbInformacoesGerais.Text = "Informações Gerais"; this.gpbInformacoesGerais.Text = "Informações Gerais";
@ -467,63 +523,70 @@ namespace AgroBase.Forms.Operacoes
// lblBateriaConsumida // lblBateriaConsumida
// //
this.lblBateriaConsumida.AutoSize = true; 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.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.TabIndex = 6;
this.lblBateriaConsumida.Text = "Bateria Consumida: 0,00%"; this.lblBateriaConsumida.Text = "Bateria Consumida: 0,00%";
// //
// lblHerbicidaPorErva // lblHerbicidaPorErva
// //
this.lblHerbicidaPorErva.AutoSize = true; 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.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.TabIndex = 5;
this.lblHerbicidaPorErva.Text = "Herbicida por Erva: 0,000 mL"; this.lblHerbicidaPorErva.Text = "Herbicida por Erva: 0,000 mL";
// //
// lblHerbicidaAplicado // lblHerbicidaAplicado
// //
this.lblHerbicidaAplicado.AutoSize = true; 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.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.TabIndex = 4;
this.lblHerbicidaAplicado.Text = "Herbicida Aplicado: 0,00 L"; this.lblHerbicidaAplicado.Text = "Herbicida Aplicado: 0,00 L";
// //
// lblErvasIdentificadas // lblErvasIdentificadas
// //
this.lblErvasIdentificadas.AutoSize = true; 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.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.TabIndex = 3;
this.lblErvasIdentificadas.Text = "Ervas Identificadas: 000"; this.lblErvasIdentificadas.Text = "Ervas Identificadas: 000";
// //
// lblVelocidadeMedia // lblVelocidadeMedia
// //
this.lblVelocidadeMedia.AutoSize = true; 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.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.TabIndex = 2;
this.lblVelocidadeMedia.Text = "Velocidade Média: 0,00 km/h"; this.lblVelocidadeMedia.Text = "Velocidade Média: 0,00 km/h";
// //
// lblTempoOperacao // lblTempoOperacao
// //
this.lblTempoOperacao.AutoSize = true; 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.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.TabIndex = 1;
this.lblTempoOperacao.Text = "Tempo de Operação: 00:00:00"; this.lblTempoOperacao.Text = "Tempo de Operação: 00:00:00";
// //
// lblDistanciaPercorrida // lblDistanciaPercorrida
// //
this.lblDistanciaPercorrida.AutoSize = true; 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.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.TabIndex = 0;
this.lblDistanciaPercorrida.Text = "Distancia Percorrida: 0,00 m"; 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.lblUltimaLeituraRua);
this.pnlInferior.Controls.Add(this.lblUltimaLeituraSolo); this.pnlInferior.Controls.Add(this.lblUltimaLeituraSolo);
this.pnlInferior.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); 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.Location = new System.Drawing.Point(9, 644);
this.pnlInferior.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlInferior.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlInferior.Name = "pnlInferior"; 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; this.pnlInferior.TabIndex = 13;
// //
// lblDistancia // lblDistancia
// //
this.lblDistancia.AutoSize = true; this.lblDistancia.AutoSize = true;
this.lblDistancia.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); 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.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.TabIndex = 10;
this.lblDistancia.Text = "Distância Operação: 00,00 m"; this.lblDistancia.Text = "Distância Operação: 00,00 m";
// //
@ -558,19 +622,19 @@ namespace AgroBase.Forms.Operacoes
// //
this.lblMapaCarregado.AutoSize = true; this.lblMapaCarregado.AutoSize = true;
this.lblMapaCarregado.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold); 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.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.TabIndex = 8;
this.lblMapaCarregado.Text = "Mapa carregado: N/A"; this.lblMapaCarregado.Text = "Mapa carregado: N/A";
// //
// chbGPSativo // chbGPSativo
// //
this.chbGPSativo.AutoSize = true; this.chbGPSativo.AutoSize = true;
this.chbGPSativo.Location = new System.Drawing.Point(708, 25); this.chbGPSativo.Location = new System.Drawing.Point(531, 20);
this.chbGPSativo.Margin = new System.Windows.Forms.Padding(4);
this.chbGPSativo.Name = "chbGPSativo"; 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.TabIndex = 9;
this.chbGPSativo.Text = "GPS"; this.chbGPSativo.Text = "GPS";
this.chbGPSativo.UseVisualStyleBackColor = true; this.chbGPSativo.UseVisualStyleBackColor = true;
@ -578,10 +642,9 @@ namespace AgroBase.Forms.Operacoes
// chbATUativo // chbATUativo
// //
this.chbATUativo.AutoSize = true; this.chbATUativo.AutoSize = true;
this.chbATUativo.Location = new System.Drawing.Point(708, 4); this.chbATUativo.Location = new System.Drawing.Point(531, 3);
this.chbATUativo.Margin = new System.Windows.Forms.Padding(4);
this.chbATUativo.Name = "chbATUativo"; 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.TabIndex = 8;
this.chbATUativo.Text = "ATU"; this.chbATUativo.Text = "ATU";
this.chbATUativo.UseVisualStyleBackColor = true; this.chbATUativo.UseVisualStyleBackColor = true;
@ -589,10 +652,9 @@ namespace AgroBase.Forms.Operacoes
// chbDIRativo // chbDIRativo
// //
this.chbDIRativo.AutoSize = true; this.chbDIRativo.AutoSize = true;
this.chbDIRativo.Location = new System.Drawing.Point(623, 28); this.chbDIRativo.Location = new System.Drawing.Point(467, 23);
this.chbDIRativo.Margin = new System.Windows.Forms.Padding(4);
this.chbDIRativo.Name = "chbDIRativo"; 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.TabIndex = 7;
this.chbDIRativo.Text = "DIR"; this.chbDIRativo.Text = "DIR";
this.chbDIRativo.UseVisualStyleBackColor = true; this.chbDIRativo.UseVisualStyleBackColor = true;
@ -600,10 +662,9 @@ namespace AgroBase.Forms.Operacoes
// chbMOVativo // chbMOVativo
// //
this.chbMOVativo.AutoSize = true; this.chbMOVativo.AutoSize = true;
this.chbMOVativo.Location = new System.Drawing.Point(623, 4); this.chbMOVativo.Location = new System.Drawing.Point(467, 3);
this.chbMOVativo.Margin = new System.Windows.Forms.Padding(4);
this.chbMOVativo.Name = "chbMOVativo"; 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.TabIndex = 6;
this.chbMOVativo.Text = "MOV"; this.chbMOVativo.Text = "MOV";
this.chbMOVativo.UseVisualStyleBackColor = true; this.chbMOVativo.UseVisualStyleBackColor = true;
@ -611,27 +672,28 @@ namespace AgroBase.Forms.Operacoes
// lblUltimaLeituraRua // lblUltimaLeituraRua
// //
this.lblUltimaLeituraRua.AutoSize = true; 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.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.TabIndex = 5;
this.lblUltimaLeituraRua.Text = "Ultima Leitura Rua: 00:00:00.000"; this.lblUltimaLeituraRua.Text = "Ultima Leitura Rua: 00:00:00.000";
// //
// lblUltimaLeituraSolo // lblUltimaLeituraSolo
// //
this.lblUltimaLeituraSolo.AutoSize = true; 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.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.TabIndex = 4;
this.lblUltimaLeituraSolo.Text = "Ultima Leitura Solo: 00:00:00.000"; this.lblUltimaLeituraSolo.Text = "Ultima Leitura Solo: 00:00:00.000";
// //
// pnlMapa // pnlMapa
// //
this.pnlMapa.Location = new System.Drawing.Point(12, 7); this.pnlMapa.Location = new System.Drawing.Point(9, 6);
this.pnlMapa.Margin = new System.Windows.Forms.Padding(4);
this.pnlMapa.Name = "pnlMapa"; 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; this.pnlMapa.TabIndex = 14;
// //
// pnlOrientacao // pnlOrientacao
@ -639,10 +701,10 @@ namespace AgroBase.Forms.Operacoes
this.pnlOrientacao.BackColor = System.Drawing.Color.White; this.pnlOrientacao.BackColor = System.Drawing.Color.White;
this.pnlOrientacao.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos; this.pnlOrientacao.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
this.pnlOrientacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; this.pnlOrientacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
this.pnlOrientacao.Location = new System.Drawing.Point(377, 7); this.pnlOrientacao.Location = new System.Drawing.Point(283, 6);
this.pnlOrientacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlOrientacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlOrientacao.Name = "pnlOrientacao"; 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.TabIndex = 11;
this.pnlOrientacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacao_Paint); 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.BackColor = System.Drawing.Color.White;
this.pnlInclinacao.BackgroundImage = global::AgroBase.Properties.Resources.transferidor; this.pnlInclinacao.BackgroundImage = global::AgroBase.Properties.Resources.transferidor;
this.pnlInclinacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; this.pnlInclinacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
this.pnlInclinacao.Location = new System.Drawing.Point(1249, 7); this.pnlInclinacao.Location = new System.Drawing.Point(937, 6);
this.pnlInclinacao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlInclinacao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlInclinacao.Name = "pnlInclinacao"; 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.TabIndex = 10;
this.pnlInclinacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlInclinacao_Paint); 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.BackColor = System.Drawing.Color.White;
this.pnlAnguloCamera.BackgroundImage = global::AgroBase.Properties.Resources.transferidor; this.pnlAnguloCamera.BackgroundImage = global::AgroBase.Properties.Resources.transferidor;
this.pnlAnguloCamera.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; this.pnlAnguloCamera.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
this.pnlAnguloCamera.Location = new System.Drawing.Point(831, 7); this.pnlAnguloCamera.Location = new System.Drawing.Point(623, 6);
this.pnlAnguloCamera.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlAnguloCamera.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlAnguloCamera.Name = "pnlAnguloCamera"; 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.TabIndex = 15;
this.pnlAnguloCamera.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAnguloCamera_Paint); 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.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.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.Location = new System.Drawing.Point(812, 684);
this.lblPerformance.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lblPerformance.Name = "lblPerformance"; 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.TabIndex = 16;
this.lblPerformance.Text = "CPU: 0,0% GPU: 0,0% RAM: 0,0%"; 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 // 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.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.BackColor = System.Drawing.Color.White; 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.lblPerformance);
this.Controls.Add(this.pnlAnguloCamera); this.Controls.Add(this.pnlAnguloCamera);
this.Controls.Add(this.pnlOrientacao); this.Controls.Add(this.pnlOrientacao);
@ -743,7 +762,7 @@ namespace AgroBase.Forms.Operacoes
this.Controls.Add(this.pnlAtuadores); this.Controls.Add(this.pnlAtuadores);
this.Controls.Add(this.pnlCameraCaminho); this.Controls.Add(this.pnlCameraCaminho);
this.Controls.Add(this.pnlCameraSolo); 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.Name = "frmOperacaoMapaGPS";
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen; this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
this.Text = "Operação Mapa GPS"; this.Text = "Operação Mapa GPS";
@ -753,7 +772,11 @@ namespace AgroBase.Forms.Operacoes
this.pnlAtuadores.ResumeLayout(false); this.pnlAtuadores.ResumeLayout(false);
this.pnlAtuadores.PerformLayout(); this.pnlAtuadores.PerformLayout();
this.pnlGraficos.ResumeLayout(false); this.pnlGraficos.ResumeLayout(false);
this.tabControl1.ResumeLayout(false);
this.tabGrafico.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.chartGraficos)).EndInit();
this.tabSonar.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.picSonar)).EndInit();
this.pnlNiveis.ResumeLayout(false); this.pnlNiveis.ResumeLayout(false);
this.pnlNiveis.PerformLayout(); this.pnlNiveis.PerformLayout();
this.gpbOpcoes.ResumeLayout(false); this.gpbOpcoes.ResumeLayout(false);
@ -763,10 +786,6 @@ namespace AgroBase.Forms.Operacoes
this.gpbInformacoesGerais.PerformLayout(); this.gpbInformacoesGerais.PerformLayout();
this.pnlInferior.ResumeLayout(false); this.pnlInferior.ResumeLayout(false);
this.pnlInferior.PerformLayout(); 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.ResumeLayout(false);
this.PerformLayout(); this.PerformLayout();

197
AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs generated
View File

@ -60,6 +60,8 @@
this.pnlOrientacaoTrajeto = new System.Windows.Forms.Panel(); this.pnlOrientacaoTrajeto = new System.Windows.Forms.Panel();
this.pnlSonar = new System.Windows.Forms.Panel(); this.pnlSonar = new System.Windows.Forms.Panel();
this.picSonar = new System.Windows.Forms.PictureBox(); 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.pnlOpcoes.SuspendLayout();
this.gpbSonar.SuspendLayout(); this.gpbSonar.SuspendLayout();
this.gpbGPS.SuspendLayout(); this.gpbGPS.SuspendLayout();
@ -70,6 +72,7 @@
// //
// pnlOpcoes // pnlOpcoes
// //
this.pnlOpcoes.Controls.Add(this.btnAtualizarLeitura);
this.pnlOpcoes.Controls.Add(this.lblDistanciaFinal); this.pnlOpcoes.Controls.Add(this.lblDistanciaFinal);
this.pnlOpcoes.Controls.Add(this.btnCarregarMapa); this.pnlOpcoes.Controls.Add(this.btnCarregarMapa);
this.pnlOpcoes.Controls.Add(this.lblDistanciaOperacao); this.pnlOpcoes.Controls.Add(this.lblDistanciaOperacao);
@ -79,26 +82,29 @@
this.pnlOpcoes.Controls.Add(this.lblStatus); this.pnlOpcoes.Controls.Add(this.lblStatus);
this.pnlOpcoes.Controls.Add(this.gpbGPS); this.pnlOpcoes.Controls.Add(this.gpbGPS);
this.pnlOpcoes.Dock = System.Windows.Forms.DockStyle.Bottom; 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.Name = "pnlOpcoes";
this.pnlOpcoes.Size = new System.Drawing.Size(1371, 123); this.pnlOpcoes.Size = new System.Drawing.Size(1028, 100);
this.pnlOpcoes.TabIndex = 0; this.pnlOpcoes.TabIndex = 0;
// //
// lblDistanciaFinal // lblDistanciaFinal
// //
this.lblDistanciaFinal.AutoSize = true; this.lblDistanciaFinal.AutoSize = true;
this.lblDistanciaFinal.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F); 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.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.TabIndex = 21;
this.lblDistanciaFinal.Text = "Distância Final: 00,00 m"; this.lblDistanciaFinal.Text = "Distância Final: 00,00 m";
// //
// btnCarregarMapa // 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.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.TabIndex = 20;
this.btnCarregarMapa.Text = "Carregar Mapa"; this.btnCarregarMapa.Text = "Carregar Mapa";
this.btnCarregarMapa.UseVisualStyleBackColor = true; this.btnCarregarMapa.UseVisualStyleBackColor = true;
@ -108,17 +114,19 @@
// //
this.lblDistanciaOperacao.AutoSize = true; this.lblDistanciaOperacao.AutoSize = true;
this.lblDistanciaOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F); 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.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.TabIndex = 19;
this.lblDistanciaOperacao.Text = "Distância Operação: 00,00 m"; this.lblDistanciaOperacao.Text = "Distância Operação: 00,00 m";
// //
// btnIniciarSimulacao // 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.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.TabIndex = 18;
this.btnIniciarSimulacao.Text = "Iniciar Simulação"; this.btnIniciarSimulacao.Text = "Iniciar Simulação";
this.btnIniciarSimulacao.UseVisualStyleBackColor = true; this.btnIniciarSimulacao.UseVisualStyleBackColor = true;
@ -135,9 +143,11 @@
this.gpbSonar.Controls.Add(this.txtDistanciaSonar); this.gpbSonar.Controls.Add(this.txtDistanciaSonar);
this.gpbSonar.Controls.Add(this.lblAnguloI); this.gpbSonar.Controls.Add(this.lblAnguloI);
this.gpbSonar.Controls.Add(this.txtAnguloInicial); 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.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.TabIndex = 17;
this.gpbSonar.TabStop = false; this.gpbSonar.TabStop = false;
this.gpbSonar.Text = "Sonar"; this.gpbSonar.Text = "Sonar";
@ -145,9 +155,10 @@
// chbMoverObstaculo // chbMoverObstaculo
// //
this.chbMoverObstaculo.AutoSize = true; 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.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.TabIndex = 29;
this.chbMoverObstaculo.Text = "Mover obstáculo"; this.chbMoverObstaculo.Text = "Mover obstáculo";
this.chbMoverObstaculo.UseVisualStyleBackColor = true; this.chbMoverObstaculo.UseVisualStyleBackColor = true;
@ -155,19 +166,20 @@
// chbSonarVirando // chbSonarVirando
// //
this.chbSonarVirando.AutoSize = true; 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.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.TabIndex = 28;
this.chbSonarVirando.Text = "Sonar atuando"; this.chbSonarVirando.Text = "Sonar atuando";
this.chbSonarVirando.UseVisualStyleBackColor = true; this.chbSonarVirando.UseVisualStyleBackColor = true;
// //
// btnAdicionarDeteccao // btnAdicionarDeteccao
// //
this.btnAdicionarDeteccao.Location = new System.Drawing.Point(93, 79); this.btnAdicionarDeteccao.Location = new System.Drawing.Point(70, 64);
this.btnAdicionarDeteccao.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnAdicionarDeteccao.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnAdicionarDeteccao.Name = "btnAdicionarDeteccao"; 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.TabIndex = 25;
this.btnAdicionarDeteccao.Text = "Add"; this.btnAdicionarDeteccao.Text = "Add";
this.btnAdicionarDeteccao.UseVisualStyleBackColor = true; this.btnAdicionarDeteccao.UseVisualStyleBackColor = true;
@ -176,17 +188,19 @@
// lblAnguloFinal // lblAnguloFinal
// //
this.lblAnguloFinal.AutoSize = true; 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.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.TabIndex = 27;
this.lblAnguloFinal.Text = "Angulo Fn"; this.lblAnguloFinal.Text = "Angulo Fn";
// //
// txtAnguloFinal // 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.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.TabIndex = 23;
this.txtAnguloFinal.Text = "0"; this.txtAnguloFinal.Text = "0";
this.txtAnguloFinal.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.txtAnguloFinal.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
@ -194,17 +208,19 @@
// lblDistanciaSonar // lblDistanciaSonar
// //
this.lblDistanciaSonar.AutoSize = true; 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.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.TabIndex = 25;
this.lblDistanciaSonar.Text = "Distancia"; this.lblDistanciaSonar.Text = "Distancia";
// //
// txtDistanciaSonar // 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.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.TabIndex = 24;
this.txtDistanciaSonar.Text = "0"; this.txtDistanciaSonar.Text = "0";
this.txtDistanciaSonar.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.txtDistanciaSonar.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
@ -212,17 +228,19 @@
// lblAnguloI // lblAnguloI
// //
this.lblAnguloI.AutoSize = true; 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.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.TabIndex = 23;
this.lblAnguloI.Text = "Angulo In"; this.lblAnguloI.Text = "Angulo In";
// //
// txtAnguloInicial // 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.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.TabIndex = 22;
this.txtAnguloInicial.Text = "0"; this.txtAnguloInicial.Text = "0";
this.txtAnguloInicial.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.txtAnguloInicial.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
@ -231,9 +249,10 @@
// //
this.lblDirecao.AutoSize = true; this.lblDirecao.AutoSize = true;
this.lblDirecao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F); 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.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.TabIndex = 16;
this.lblDirecao.Text = "Direção: Parado"; this.lblDirecao.Text = "Direção: Parado";
// //
@ -241,14 +260,16 @@
// //
this.lblStatus.AutoSize = true; this.lblStatus.AutoSize = true;
this.lblStatus.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F); 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.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.TabIndex = 15;
this.lblStatus.Text = "Status: Aguardando"; this.lblStatus.Text = "Status: Aguardando";
// //
// gpbGPS // gpbGPS
// //
this.gpbGPS.Controls.Add(this.btnCalcularAngulo);
this.gpbGPS.Controls.Add(this.btnAcrescentarGPS); this.gpbGPS.Controls.Add(this.btnAcrescentarGPS);
this.gpbGPS.Controls.Add(this.lblDistancia); this.gpbGPS.Controls.Add(this.lblDistancia);
this.gpbGPS.Controls.Add(this.txtDistanciaGPS); this.gpbGPS.Controls.Add(this.txtDistanciaGPS);
@ -259,9 +280,11 @@
this.gpbGPS.Controls.Add(this.txtLongitude); this.gpbGPS.Controls.Add(this.txtLongitude);
this.gpbGPS.Controls.Add(this.txtLatitude); this.gpbGPS.Controls.Add(this.txtLatitude);
this.gpbGPS.Controls.Add(this.btnIniciarGPS); 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.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.TabIndex = 14;
this.gpbGPS.TabStop = false; this.gpbGPS.TabStop = false;
this.gpbGPS.Text = "GPS"; this.gpbGPS.Text = "GPS";
@ -269,10 +292,10 @@
// btnAcrescentarGPS // btnAcrescentarGPS
// //
this.btnAcrescentarGPS.Enabled = false; this.btnAcrescentarGPS.Enabled = false;
this.btnAcrescentarGPS.Location = new System.Drawing.Point(307, 82); this.btnAcrescentarGPS.Location = new System.Drawing.Point(230, 67);
this.btnAcrescentarGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnAcrescentarGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnAcrescentarGPS.Name = "btnAcrescentarGPS"; 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.TabIndex = 22;
this.btnAcrescentarGPS.Text = "Acrescentar"; this.btnAcrescentarGPS.Text = "Acrescentar";
this.btnAcrescentarGPS.UseVisualStyleBackColor = true; this.btnAcrescentarGPS.UseVisualStyleBackColor = true;
@ -281,18 +304,20 @@
// lblDistancia // lblDistancia
// //
this.lblDistancia.AutoSize = true; 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.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.TabIndex = 21;
this.lblDistancia.Text = "Distancia"; this.lblDistancia.Text = "Distancia";
// //
// txtDistanciaGPS // txtDistanciaGPS
// //
this.txtDistanciaGPS.Enabled = false; 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.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.TabIndex = 20;
this.txtDistanciaGPS.Text = "0"; this.txtDistanciaGPS.Text = "0";
this.txtDistanciaGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.txtDistanciaGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
@ -300,18 +325,20 @@
// lblAnguloGPS // lblAnguloGPS
// //
this.lblAnguloGPS.AutoSize = true; 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.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.TabIndex = 19;
this.lblAnguloGPS.Text = "Angulo"; this.lblAnguloGPS.Text = "Angulo";
// //
// txtAnguloGPS // txtAnguloGPS
// //
this.txtAnguloGPS.Enabled = false; 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.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.TabIndex = 18;
this.txtAnguloGPS.Text = "0"; this.txtAnguloGPS.Text = "0";
this.txtAnguloGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.txtAnguloGPS.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
@ -319,45 +346,49 @@
// lblLongitude // lblLongitude
// //
this.lblLongitude.AutoSize = true; 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.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.TabIndex = 17;
this.lblLongitude.Text = "Longitude"; this.lblLongitude.Text = "Longitude";
// //
// lblLatitude // lblLatitude
// //
this.lblLatitude.AutoSize = true; 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.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.TabIndex = 16;
this.lblLatitude.Text = "Latitude"; this.lblLatitude.Text = "Latitude";
// //
// txtLongitude // 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.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.TabIndex = 15;
this.txtLongitude.Text = "-47.26406713810977"; this.txtLongitude.Text = "-47.26406713810977";
this.txtLongitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.txtLongitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
// //
// txtLatitude // 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.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.TabIndex = 14;
this.txtLatitude.Text = "-22.339442335994334"; this.txtLatitude.Text = "-22.339442335994334";
this.txtLatitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.txtLatitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
// //
// btnIniciarGPS // btnIniciarGPS
// //
this.btnIniciarGPS.Location = new System.Drawing.Point(307, 38); this.btnIniciarGPS.Location = new System.Drawing.Point(230, 31);
this.btnIniciarGPS.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnIniciarGPS.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.btnIniciarGPS.Name = "btnIniciarGPS"; 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.TabIndex = 13;
this.btnIniciarGPS.Text = "Iniciar"; this.btnIniciarGPS.Text = "Iniciar";
this.btnIniciarGPS.UseVisualStyleBackColor = true; this.btnIniciarGPS.UseVisualStyleBackColor = true;
@ -369,9 +400,10 @@
| System.Windows.Forms.AnchorStyles.Left) | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right))); | System.Windows.Forms.AnchorStyles.Right)));
this.pnlMapa.Controls.Add(this.pnlOrientacaoTrajeto); 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.Name = "pnlMapa";
this.pnlMapa.Size = new System.Drawing.Size(674, 572); this.pnlMapa.Size = new System.Drawing.Size(506, 465);
this.pnlMapa.TabIndex = 1; this.pnlMapa.TabIndex = 1;
// //
// pnlOrientacaoTrajeto // pnlOrientacaoTrajeto
@ -380,10 +412,10 @@
this.pnlOrientacaoTrajeto.BackColor = System.Drawing.Color.White; this.pnlOrientacaoTrajeto.BackColor = System.Drawing.Color.White;
this.pnlOrientacaoTrajeto.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos; this.pnlOrientacaoTrajeto.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
this.pnlOrientacaoTrajeto.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; this.pnlOrientacaoTrajeto.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
this.pnlOrientacaoTrajeto.Location = new System.Drawing.Point(567, 2); this.pnlOrientacaoTrajeto.Location = new System.Drawing.Point(425, 2);
this.pnlOrientacaoTrajeto.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.pnlOrientacaoTrajeto.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.pnlOrientacaoTrajeto.Name = "pnlOrientacaoTrajeto"; 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.TabIndex = 12;
this.pnlOrientacaoTrajeto.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoTrajeto_Paint); 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) this.pnlSonar.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Right))); | System.Windows.Forms.AnchorStyles.Right)));
this.pnlSonar.Controls.Add(this.picSonar); 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.Name = "pnlSonar";
this.pnlSonar.Size = new System.Drawing.Size(667, 572); this.pnlSonar.Size = new System.Drawing.Size(500, 465);
this.pnlSonar.TabIndex = 2; this.pnlSonar.TabIndex = 2;
// //
// picSonar // picSonar
// //
this.picSonar.Dock = System.Windows.Forms.DockStyle.Fill; this.picSonar.Dock = System.Windows.Forms.DockStyle.Fill;
this.picSonar.Location = new System.Drawing.Point(0, 0); 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.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.TabIndex = 0;
this.picSonar.TabStop = false; 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 // 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.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.pnlSonar);
this.Controls.Add(this.pnlMapa); this.Controls.Add(this.pnlMapa);
this.Controls.Add(this.pnlOpcoes); this.Controls.Add(this.pnlOpcoes);
this.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
this.Name = "frmSimulacaoMapaGPS"; this.Name = "frmSimulacaoMapaGPS";
this.Text = "frmSimulacaoMapaGPS"; this.Text = "frmSimulacaoMapaGPS";
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmSimulacaoMapaGPS_FormClosing); this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmSimulacaoMapaGPS_FormClosing);
@ -465,5 +522,7 @@
private System.Windows.Forms.PictureBox picSonar; private System.Windows.Forms.PictureBox picSonar;
private System.Windows.Forms.CheckBox chbMoverObstaculo; private System.Windows.Forms.CheckBox chbMoverObstaculo;
private System.Windows.Forms.CheckBox chbSonarVirando; private System.Windows.Forms.CheckBox chbSonarVirando;
private System.Windows.Forms.Button btnAtualizarLeitura;
private System.Windows.Forms.Button btnCalcularAngulo;
} }
} }

35
AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs
View File

@ -18,6 +18,7 @@ namespace AgroBase.Forms
public partial class frmSimulacaoMapaGPS : Form public partial class frmSimulacaoMapaGPS : Form
{ {
Timer tmrSonar; Timer tmrSonar;
StatusCarroMapa StatusCarro = StatusCarroMapa.Parado;
public frmSimulacaoMapaGPS() public frmSimulacaoMapaGPS()
{ {
@ -25,7 +26,7 @@ namespace AgroBase.Forms
Timer tmr = new Timer() { Interval = 500 }; Timer tmr = new Timer() { Interval = 500 };
tmr.Tick += Tmr_Tick; tmr.Tick += Tmr_Tick;
tmr.Start(); //tmr.Start();
tmrSonar = new Timer() { Interval = 100 }; tmrSonar = new Timer() { Interval = 100 };
tmrSonar.Tick += tmrSonar_Tick; tmrSonar.Tick += tmrSonar_Tick;
@ -36,22 +37,34 @@ namespace AgroBase.Forms
private void Tmr_Tick(object sender, EventArgs e) 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); 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"; 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"; lblDistanciaFinal.Text = "Distância Final: " + (GPSService.DistanciaDoTrecho(Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica)).ToString("00.00") + " m";
if (Variaveis.OperacaoEmAndamento.Iniciado) if (Variaveis.OperacaoEmAndamento.Iniciado)
{ {
var StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual;
if (StatusCarro == StatusCarroMapa.Direcionando) 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) else if (StatusCarro == StatusCarroMapa.Manobrando)
{ {
//Variaveis.OperacaoEmAndamento.Mapa.GerarCaminhoEntreDoisPontos(Variaveis.OperacaoEmAndamento.Mapa.Trajetoria[Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual].First()); //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(); pnlOrientacaoTrajeto.Invalidate();
} }
@ -151,6 +164,8 @@ namespace AgroBase.Forms
distSonar -= (distancia * 100); distSonar -= (distancia * 100);
txtDistanciaSonar.Text = distSonar.ToString(); txtDistanciaSonar.Text = distSonar.ToString();
} }
btnCalcularAngulo_Click(sender, e);
} }
private void btnIniciarSimulacao_Click(object sender, EventArgs e) private void btnIniciarSimulacao_Click(object sender, EventArgs e)
@ -291,6 +306,18 @@ namespace AgroBase.Forms
btnAdicionarDeteccao.Text = ObjetoDetectado ? "Del" : "Add"; 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");
}
} }
} }

195
AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs
View File

@ -182,7 +182,7 @@ namespace AgroBase.Models.Operacoes
ProgressoRua = Sensoriamento.ProgressoRua, ProgressoRua = Sensoriamento.ProgressoRua,
Status = ReferencialRuaGPS.StatusAtual, Status = ReferencialRuaGPS.StatusAtual,
Direcao = ReferencialRuaGPS.Direcao, Direcao = ReferencialRuaGPS.Direcao,
AnguloCarro = ReferencialRuaGPS.AnguloCarro, AnguloCarro = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro,
AnguloRua = ReferencialRuaGPS.AnguloCaminho, AnguloRua = ReferencialRuaGPS.AnguloCaminho,
DentroDaRua = ReferencialRuaGPS.DentroDaRua, DentroDaRua = ReferencialRuaGPS.DentroDaRua,
IdxPontoAproximadoRua = ReferencialRuaGPS.IdxPontoAproximadoRua, IdxPontoAproximadoRua = ReferencialRuaGPS.IdxPontoAproximadoRua,
@ -215,17 +215,18 @@ namespace AgroBase.Models.Operacoes
public void CalcularAnguloInclinacao(StatusCarroMapa statusCarroRua) public void CalcularAnguloInclinacao(StatusCarroMapa statusCarroRua)
{ {
double erroOrientacao = 0.0; double erroOrientacao = 0.0;
double anguloCarro = ReferencialRuaGPS.AnguloCarro; double anguloCarro = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro;
double anguloOposto = (anguloCarro + 180) % 360; double anguloOposto = (anguloCarro + 180) % 360;
double anguloRua = ReferencialRuaGPS.AnguloCaminho; double anguloRua = ReferencialRuaGPS.AnguloCaminho;
double anguloCamera = Sensoriamento.AnguloRuaCamera; double anguloCamera = Sensoriamento.AnguloRuaCamera;
double margem = ReferencialRuaGPS.MargemErroAngulo;
// Calcula o erro de orientação // Calcula o erro de orientação
if ((anguloCarro + ReferencialRuaGPS.MargemErroAngulo) >= anguloRua && (anguloCarro - ReferencialRuaGPS.MargemErroAngulo) <= anguloRua) if ((anguloCarro + margem) >= anguloRua && (anguloCarro - margem) <= anguloRua)
{ {
erroOrientacao = anguloCarro - 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; erroOrientacao = anguloOposto - anguloRua;
} }
@ -240,9 +241,9 @@ namespace AgroBase.Models.Operacoes
double pesoPosicaoLateral = statusCarroRua == StatusCarroMapa.Direcionando ? 0.05 : 0.7; double pesoPosicaoLateral = statusCarroRua == StatusCarroMapa.Direcionando ? 0.05 : 0.7;
double erroCombinado = (erroOrientacao * pesoOrientacao) + (erroPosicaoLateral * pesoPosicaoLateral); double erroCombinado = (erroOrientacao * pesoOrientacao) + (erroPosicaoLateral * pesoPosicaoLateral);
var statusAtual = ReferencialRuaGPS.StatusAtual; //var statusAtual = ReferencialRuaGPS.StatusAtual;
// Atualiza o PID com o erro combinado // 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); Controle.PIDdirecional.Atualizar(erroCombinado);
} }
@ -344,6 +345,7 @@ namespace AgroBase.Models.Operacoes
{ {
get get
{ {
bool dentroDaRua = DentroDaRua;
StatusCarroMapa etapaAtual = _EtapaAtual; StatusCarroMapa etapaAtual = _EtapaAtual;
// Se o status da operação não estiver Em Andamento // Se o status da operação não estiver Em Andamento
@ -357,31 +359,46 @@ namespace AgroBase.Models.Operacoes
if (_EtapaAtual == StatusCarroMapa.Manobrando) 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 // 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++; Variaveis.OperacaoEmAndamento.Mapa.IdxRuaAtual++;
ManobraConcluida = false; ManobraConcluida = false;
etapaAtual = StatusCarroMapa.EntrandoRua; etapaAtual = StatusCarroMapa.EntrandoRua;
GPSService.AtualizaLeituraSimulacao(); GPSService.AtualizaLeituraSimulacao();
System.Threading.Thread.Sleep(500); 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 // 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 // Está próximo o bastante e alinhado para entrar na rua
if (NaMargemEntradaRua) 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 // 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; 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 // 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; 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 // Robô não está entrando na rua do começo para o fim, nem do fim para o começo
else 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 // Ainda tem ruas a serem percorridas, logo, o robô precisa realizar a manobra para seguir para a próxima rua
if (!Variaveis.OperacaoEmAndamento.OpMapaGPS.Concluido) 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 // Se o robô estiver dentro da entrelinha da cana
else if (DentroDaRua) else if (dentroDaRua)
{ {
etapaAtual = StatusCarroMapa.CaminhandoRua; etapaAtual = StatusCarroMapa.CaminhandoRua;
} }
@ -422,121 +441,9 @@ namespace AgroBase.Models.Operacoes
return _EtapaAtual; 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 int PontosConsiderarAngulo { get; set; } = 2;
public double Distancia { get; set; } = 0; public double Distancia { get; set; } = 0;
public double AnguloCarro /*public double AnguloCarro
{ {
get get
{ {
@ -546,11 +453,11 @@ namespace AgroBase.Models.Operacoes
} }
else else
{ {
return AnguloCarroGPS; return Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroGPS;
} }
} }
} }*/
public double AnguloCarroGPS /*public double AnguloCarroGPS
{ {
get get
{ {
@ -575,7 +482,7 @@ namespace AgroBase.Models.Operacoes
return 0; return 0;
} }
} }
} }*/
public double AnguloCaminho public double AnguloCaminho
{ {
get get
@ -584,9 +491,6 @@ namespace AgroBase.Models.Operacoes
{ {
if (_EtapaAtual == StatusCarroMapa.Direcionando) if (_EtapaAtual == StatusCarroMapa.Direcionando)
{ {
/*GPSModel PontoRua = ExtremoMaisProximo == 0 ? PrimeiroPontoRua : UltimoPontoRua;
double anguloCaminho = GPSService.CalcularOrientacao(GPSService.UltimaLeitura, PontoRua);
return anguloCaminho;*/
double somaAnguloRua = 0; double somaAnguloRua = 0;
var Rua = Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica; var Rua = Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica;
@ -622,9 +526,17 @@ namespace AgroBase.Models.Operacoes
{ {
somaAnguloRua += GPSService.CalcularOrientacao(PontosRua[i + 1], PontosRua[i]); 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 catch
@ -643,7 +555,7 @@ namespace AgroBase.Models.Operacoes
{ {
return DirecaoCarroRua.Parado; return DirecaoCarroRua.Parado;
} }
double mediaAngulo = AnguloCarro; double mediaAngulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro;
double anguloOposto = (mediaAngulo + 180) % 360; double anguloOposto = (mediaAngulo + 180) % 360;
double mediaAnguloRua = AnguloCaminho; double mediaAnguloRua = AnguloCaminho;
@ -806,8 +718,19 @@ namespace AgroBase.Models.Operacoes
bool NaMargem = false; bool NaMargem = false;
GPSModel PontoRua = ExtremoMaisProximo == 0 ? PrimeiroPontoRua : UltimoPontoRua; GPSModel PontoRua = ExtremoMaisProximo == 0 ? PrimeiroPontoRua : UltimoPontoRua;
double Distancia = GPSService.DistanciaEntrePontos(GPSService.UltimaLeitura, PontoRua); 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; NaMargem = true;
} }

83
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
View File

@ -238,6 +238,14 @@ namespace AgroBase.Models
public List<OperacaoSensoriamentoModel> Logs { get; set; } = new List<OperacaoSensoriamentoModel>(); public List<OperacaoSensoriamentoModel> Logs { get; set; } = new List<OperacaoSensoriamentoModel>();
public List<GPSModel> GPSTrajetoria { get; set; } = new List<GPSModel>(); public List<GPSModel> GPSTrajetoria { get; set; } = new List<GPSModel>();
public List<List<GPSModel>> GPSTrajetoriaRua { get; set; } = new List<List<GPSModel>>(); public List<List<GPSModel>> GPSTrajetoriaRua { get; set; } = new List<List<GPSModel>>();
public DirecaoCarroRua DirecaoCaminho
{
get
{
DirecaoCarroRua direcaoCaminho = Mapa.IdxRuaAtual % 2 == 0 ? DirecaoCarroRua.Ida : DirecaoCarroRua.Volta;
return direcaoCaminho;
}
}
public int QuantidadeCamerasSolo { get; set; } = 2; public int QuantidadeCamerasSolo { get; set; } = 2;
public List<CameraSoloModel> CamerasSolo { get; set; } = new List<CameraSoloModel>(); public List<CameraSoloModel> CamerasSolo { get; set; } = new List<CameraSoloModel>();
public CameraCaminhoModel CameraCaminho { get; set; } public CameraCaminhoModel CameraCaminho { get; set; }
@ -607,6 +615,8 @@ namespace AgroBase.Models
} }
public void SalvarLog(bool Fim) public void SalvarLog(bool Fim)
{
if (!string.IsNullOrEmpty(ID))
{ {
Logs.Add(new OperacaoSensoriamentoModel() Logs.Add(new OperacaoSensoriamentoModel()
{ {
@ -616,7 +626,6 @@ namespace AgroBase.Models
DistanciaEsquerda = Sensoriamento.DistanciaEsquerda, DistanciaEsquerda = Sensoriamento.DistanciaEsquerda,
DistanciaPercorrida = new List<double>(Sensoriamento.DistanciaPercorrida), DistanciaPercorrida = new List<double>(Sensoriamento.DistanciaPercorrida),
PorcentagemBateria = Sensoriamento.PorcentagemBateria, PorcentagemBateria = Sensoriamento.PorcentagemBateria,
//AnguloCarro = ReferencialRuaGPS.AnguloCarro,
AnguloCarroBussola = Sensoriamento.AnguloCarroBussola AnguloCarroBussola = Sensoriamento.AnguloCarroBussola
}); });
if (!Directory.Exists(Variaveis.CaminhoOperacoes + ID)) if (!Directory.Exists(Variaveis.CaminhoOperacoes + ID))
@ -635,30 +644,10 @@ namespace AgroBase.Models
} }
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<GPSModel>());
}
GPSTrajetoriaRua[Mapa.IdxRuaAtual].Add(GPSTrajetoria[GPSTrajetoria.Count - 1]);
if (GPSTrajetoria.Count > 1)
{
if (Sensoriamento.DistanciaPercorrida.Count - 1 < Mapa.IdxRuaAtual)
{
Sensoriamento.DistanciaPercorrida.Add(0);
}
Sensoriamento.DistanciaPercorrida[Mapa.IdxRuaAtual] += GPSService.DistanciaEntrePontos(GPSTrajetoria[GPSTrajetoria.Count - 1], GPSTrajetoria[GPSTrajetoria.Count - 2]);
}
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) private void TmrLogs_Tick(object sender, EventArgs e)
{ {
@ -743,8 +732,54 @@ namespace AgroBase.Models
public List<double> DistanciaPercorrida { get; set; } = new List<double>(); public List<double> DistanciaPercorrida { get; set; } = new List<double>();
public double DistanciaEsquerda { get; set; } = 0; public double DistanciaEsquerda { get; set; } = 0;
public double DistanciaDireita { 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<GPSModel>() :
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 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; } public SonarModel SonarFrontal { get; set; }
} }

10
AgroBase/AgroBase/Models/Variaveis.cs
View File

@ -145,6 +145,16 @@ namespace AgroBase.Models
double radians = (Math.PI / 180) * degrees; double radians = (Math.PI / 180) * degrees;
return (radians); 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 public static class VariaveisPortas

25
AgroBase/AgroBase/Services/GPSService.cs
View File

@ -252,6 +252,31 @@ namespace AgroBase.Services
Variaveis.MqttService.Topicos.First(x => x.Topico == MapasVariaveisModel.TopicoCoordenadasGPS), Variaveis.MqttService.Topicos.First(x => x.Topico == MapasVariaveisModel.TopicoCoordenadasGPS),
JsonConvert.SerializeObject(Coordenadas) JsonConvert.SerializeObject(Coordenadas)
).ConfigureAwait(false); ).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<GPSModel>());
}
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() public static void AtualizarTrajetoriaDinamica()

6
AgroBase/AgroBase/Services/MqttService.cs
View File

@ -1,4 +1,5 @@
using AgroBase.Forms; using AgroBase.Forms;
using AgroBase.Models;
using AgroBase.Services; using AgroBase.Services;
using MQTTnet; using MQTTnet;
using MQTTnet.Client; using MQTTnet.Client;
@ -78,6 +79,11 @@ public class MqttService
Cliente = e.ClientId, Cliente = e.ClientId,
Mensagem = message Mensagem = message
}); });
if (topico.Topico == MapasVariaveisModel.TopicoSelecaoRuasMapa)
{
Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas();
}
} }
}); });

13
AgroBase/AgroBase/Services/PZEMService.cs
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@ -22,6 +22,8 @@ namespace AgroBase.Services
public static SerialPort PortaPZEM = null; public static SerialPort PortaPZEM = null;
public static PZEMModel UltimaLeitura = new PZEMModel(); public static PZEMModel UltimaLeitura = new PZEMModel();
public static PZEMModel PenultimaLeitura = 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 byte slaveAddress = 0x01;
private static Dictionary<string, byte> CodigosFuncoes = new Dictionary<string, byte>() private static Dictionary<string, byte> CodigosFuncoes = new Dictionary<string, byte>()
@ -53,7 +55,8 @@ namespace AgroBase.Services
{ {
Porta.Open(); Porta.Open();
} }
var Comando = ComandoCalibragem(); //var Comando = ComandoCalibragem();
var Comando = ComandoGetParametro(Parametros.First().Value);
string comandoHex = BitConverter.ToString(Comando).Replace("-", ""); string comandoHex = BitConverter.ToString(Comando).Replace("-", "");
EnviarComando(Porta, Comando); EnviarComando(Porta, Comando);
} }
@ -277,11 +280,11 @@ namespace AgroBase.Services
{ {
PZEMModel modelo = new PZEMModel(); PZEMModel modelo = new PZEMModel();
var tensao_raw = "0x" + resposta[3].ToString("X") + resposta[4].ToString("X"); 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"); 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"); 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"); 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; modelo.Energia = Convert.ToInt32(energia_raw, 16) * 1.0;
var almMax_raw = "0x" + resposta[15].ToString("X") + resposta[16].ToString("X"); 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"); var almMin_raw = "0x" + resposta[17].ToString("X") + resposta[18].ToString("X");
modelo.AlarmeTensaoMin = almMin_raw == "0xFFFF"; 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);
Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = percent; Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = percent;
frmInstancial.frmAcompanhamento.AtualizarSensores("Bateria: " + modelo.Tensao.ToString("0.00") + " V - " + modelo.Corrente.ToString("0.00") + " A - " + modelo.Potencia.ToString("0.00") + " W"); frmInstancial.frmAcompanhamento.AtualizarSensores("Bateria: " + modelo.Tensao.ToString("0.00") + " V - " + modelo.Corrente.ToString("0.00") + " A - " + modelo.Potencia.ToString("0.00") + " W");

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AgroBase/AgroBase/bin/Debug/Operacoes/02_04_2024_11_09_11/trajetoria.json
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