diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/acc5d218-4265-4d0e-a4f0-46e24ae4f94d.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/34e177bb-e3bd-45c9-ae47-860753d2ed45.vsidx similarity index 52% rename from AgroBase/.vs/AgroBase/FileContentIndex/acc5d218-4265-4d0e-a4f0-46e24ae4f94d.vsidx rename to AgroBase/.vs/AgroBase/FileContentIndex/34e177bb-e3bd-45c9-ae47-860753d2ed45.vsidx index 9eb81380a..7bc9e5a7a 100644 Binary files a/AgroBase/.vs/AgroBase/FileContentIndex/acc5d218-4265-4d0e-a4f0-46e24ae4f94d.vsidx and b/AgroBase/.vs/AgroBase/FileContentIndex/34e177bb-e3bd-45c9-ae47-860753d2ed45.vsidx differ diff --git a/AgroBase/.vs/AgroBase/v17/.suo b/AgroBase/.vs/AgroBase/v17/.suo index 2566dbd89..ef4f832fc 100644 Binary files a/AgroBase/.vs/AgroBase/v17/.suo and b/AgroBase/.vs/AgroBase/v17/.suo differ diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs index 8fffa61a7..28df093b8 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs @@ -12,10 +12,8 @@ using System.Drawing.Drawing2D; using System.Globalization; using System.IO; using System.Linq; -using System.Security.Cryptography; using System.Threading.Tasks; using System.Windows.Forms; -using static AgroBase.Models.Enums; namespace AgroBase.Forms.Operacoes { @@ -118,7 +116,7 @@ namespace AgroBase.Forms.Operacoes btnPlay.Text = tmrPlay.IsRunning ? "Pause" : "Pay"; } - private void btnCarregarOperacao_Click(object sender, EventArgs e) + private async void btnCarregarOperacao_Click(object sender, EventArgs e) { OpenFileDialog ofd = new OpenFileDialog(); ofd.Filter = "Arquivos de Operação|*.lgop"; @@ -129,15 +127,12 @@ namespace AgroBase.Forms.Operacoes LogsOperacao = JsonConvert.DeserializeObject(OperacaoModel.DeserializarDadosOperacao(ofd.FileName, data.operacao)).ToList(); - Task.Run(async () => - { - GPSModel pos = GPSService.UltimaLeitura.Clone(); - GPSService.UltimaLeitura = LogsOperacao.FirstOrDefault().Gps; - (bool sucesso, List ruas) = Variaveis.OperacaoEmAndamento.CarregarParametrizacaoOperacao(null, null, ofd.FileName.Replace("data.lgop", "operacao.opr")); - bool condicaoOperacaoCarregada() => Variaveis.OperacaoEmAndamento.Trajetoria?.CorredorAtual != null; - bool resultado = await FuncoesGlobais.AguardarCondicaoAsync(condicaoOperacaoCarregada, 15000, 200); - GPSService.UltimaLeitura = pos; - }); + GPSModel pos = GPSService.UltimaLeitura.Clone(); + GPSService.UltimaLeitura = LogsOperacao.FirstOrDefault().Gps; + (bool sucesso, List ruas) = Variaveis.OperacaoEmAndamento.CarregarParametrizacaoOperacao(null, null, ofd.FileName.Replace("data.lgop", "operacao.opr")); + bool condicaoOperacaoCarregada() => Variaveis.OperacaoEmAndamento.Trajetoria?.CorredorAtual != null; + bool resultado = await FuncoesGlobais.AguardarCondicaoAsync(condicaoOperacaoCarregada, 15000, 200); + GPSService.UltimaLeitura = pos; LogsDirecional = JsonConvert.DeserializeObject(OperacaoModel.DeserializarDadosOperacao(ofd.FileName, data.dir ?? Enums.T_Code.Dir.ToString())).ToList(); LogsMovimentacao = JsonConvert.DeserializeObject(OperacaoModel.DeserializarDadosOperacao(ofd.FileName, data.mov ?? Enums.T_Code.Mov.ToString())).ToList(); @@ -1612,8 +1607,7 @@ namespace AgroBase.Forms.Operacoes double yVal = ordenarPorCustoTotal ? m.custo_total : m.custo_map; // nó do ângulo (resumo compacto) - var angNode = tipoNode.Nodes.Add( - $"ang {angleTxt}° #{r.rank} Δ={r.margin:0.000} {yLabel}={yVal:0.0000}"); + var angNode = tipoNode.Nodes.Add($"ang {angleTxt}° #{r.rank} Δ={r.margin:0.000} {yLabel}={yVal:0.0000}"); angNode.Tag = kv.Key; @@ -1627,34 +1621,49 @@ namespace AgroBase.Forms.Operacoes { angNode.ForeColor = Color.DarkOrange; } + if (m.melhor) + { + angNode.NodeFont = new Font(tv.Font, FontStyle.Bold); + angNode.ForeColor = Color.DarkBlue; + } // ---- Subgrupos var pose = angNode.Nodes.Add("Pose/Alvo"); - pose.Nodes.Add($"x={m.x_sim:0.3} y={m.y_sim:0.3} θ={m.theta_sim:0.00}"); - pose.Nodes.Add($"alvo: x={m.x_alvo:0.3} y={m.y_alvo:0.3}"); + pose.Nodes.Add($"Rover: X={m.x_sim:0.00000} Y={m.y_sim:0.00000} θ={m.theta_sim:0.00}"); + pose.Nodes.Add($"Alvo: X={m.x_alvo:0.00000} Y={m.y_alvo:0.00000}"); var errs = angNode.Nodes.Add("Erros"); - errs.Nodes.Add($"epos={m.erro_posicao:0.3} eposn={m.erro_posicao_n:0.3}"); - errs.Nodes.Add($"eori={m.erro_orientacao:0.3} eorin={m.erro_orientacao_n:0.4}"); - errs.Nodes.Add($"elat={m.erro_lateral:0.3} elatn={m.erro_lateral_n:0.4}"); - errs.Nodes.Add($"ere={m.erro_re:0.3}"); + errs.Nodes.Add($"Posição={m.erro_posicao:0.00000} Normalizado={m.erro_posicao_n:0.00000}"); + errs.Nodes.Add($"Orientação={m.erro_orientacao:0.00000} Normalizado={m.erro_orientacao_n:0.00000}"); + errs.Nodes.Add($"Suavização={m.erro_orientacao:0.00000}"); + errs.Nodes.Add($"Ré={m.erro_re:0.00000}"); + errs.Nodes.Add($"Lateral={m.erro_lateral:0.00000} Normalizado={m.erro_lateral_n:0.00000}"); + var costs = angNode.Nodes.Add("Custos"); - costs.Nodes.Add($"cpos={m.custo_posicao:0.4} cori={m.custo_orientacao:0.4}"); - costs.Nodes.Add($"csua={m.custo_suavizacao:0.4} cre={m.custo_re:0.4}"); - costs.Nodes.Add($"clat={m.custo_lateral:0.4} clatd={m.custo_lateral_d:0.4}"); - costs.Nodes.Add($"cvw={m.custo_visual_worker:0.4}"); - costs.Nodes.Add($"cmap={m.custo_map:0.4} ctot={m.custo_total:0.4}"); + costs.Nodes.Add($"Posição={m.custo_posicao:0.00000}"); + costs.Nodes.Add($"Orientação={m.custo_orientacao:0.00000}"); + costs.Nodes.Add($"Suavização={m.custo_suavizacao:0.00000}"); + costs.Nodes.Add($"Ré={m.custo_re:0.00000}"); + costs.Nodes.Add($"Ideal={m.custo_visual_worker:0.00000}"); + costs.Nodes.Add($"Lateral={m.custo_lateral:0.00000}"); + costs.Nodes.Add($"Lateral Derivado={m.custo_lateral_d:0.00000}"); + costs.Nodes.Add($"Lateral Flip={m.custo_flip:0.00000}"); + costs.Nodes.Add($"Somatória={m.custo_map:0.00000}"); + costs.Nodes.Add($"Total={m.custo_total:0.00000}"); var pesos = angNode.Nodes.Add("Pesos"); - pesos.Nodes.Add($"pos={m.peso_posicao:0.2} ori={m.peso_orientacao:0.2}"); - pesos.Nodes.Add($"suav={m.peso_suavizacao:0.2} re={m.peso_re:0.2} ideal={m.peso_ideal:0.2}"); - pesos.Nodes.Add($"lat={m.peso_lateral:0.2}"); + pesos.Nodes.Add($"Posição={m.peso_posicao:0.00}"); + pesos.Nodes.Add($"Orientação={m.peso_orientacao:0.00}"); + pesos.Nodes.Add($"Suavização={m.peso_suavizacao:0.00}"); + pesos.Nodes.Add($"Ré={m.peso_re:0.00}"); + pesos.Nodes.Add($"Ideal={m.peso_ideal:0.00}"); + pesos.Nodes.Add($"Lateral={m.peso_lateral:0.00}"); if (m.peso_tipo_movimento != null) { - var ptip = pesos.Nodes.Add("tipo_mov"); + var ptip = pesos.Nodes.Add("Tipo de Movimento"); foreach (var kvp in m.peso_tipo_movimento) - ptip.Nodes.Add($"{kvp.Key}: {kvp.Value:0.2}"); + ptip.Nodes.Add($"{kvp.Key}: {kvp.Value:0.00}"); } } } diff --git a/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs b/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs index c792f045d..09a2246c7 100644 --- a/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs +++ b/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs @@ -202,7 +202,11 @@ namespace AgroBase.Forms posicaoAtual = new GPSModel() { DataHora = DateTime.Now, + Lon0 = double.Parse(txtLongitude.Text.Replace(".", ",")), + LongitudeAnt = double.Parse(txtLongitude.Text.Replace(".", ",")), Longitude = double.Parse(txtLongitude.Text.Replace(".", ",")), + LatitudeAnt = double.Parse(txtLatitude.Text.Replace(".", ",")), + Lat0 = double.Parse(txtLatitude.Text.Replace(".", ",")), Latitude = double.Parse(txtLatitude.Text.Replace(".", ",")), Heartbeat = GPSService.UltimaLeitura.Heartbeat, OrientacaoReal = double.Parse(txtAnguloGPS.Text.Replace(".", ",")), @@ -222,7 +226,9 @@ namespace AgroBase.Forms { DataHora = GPSService.UltimaLeitura.DataHora, Longitude = GPSService.UltimaLeitura.Longitude, + LongitudeAnt = GPSService.UltimaLeitura.LongitudeAnt, Latitude = GPSService.UltimaLeitura.Latitude, + LatitudeAnt = GPSService.UltimaLeitura.LatitudeAnt, Heartbeat = GPSService.UltimaLeitura.Heartbeat, OrientacaoReal = GPSService.UltimaLeitura.OrientacaoReal }; diff --git a/AgroBase/AgroBase/Models/GPSModel.cs b/AgroBase/AgroBase/Models/GPSModel.cs index 068b9e226..81c9a7214 100644 --- a/AgroBase/AgroBase/Models/GPSModel.cs +++ b/AgroBase/AgroBase/Models/GPSModel.cs @@ -14,8 +14,15 @@ namespace AgroBase.Models public CanCommandFreqModel TimestampOri { get; set; } = new CanCommandFreqModel(); public bool Inicializado { get; set; } public bool Ntrip_ativado { get; set; } + public bool EnuOriginSet { get; set; } + public double Lat0 { get; set; } + public double LatitudeAnt { get; set; } public double Latitude { get; set; } + public double X { get; set; } + public double LongitudeAnt { get; set; } + public double Lon0 { get; set; } public double Longitude { get; set; } + public double Y { get; set; } public DateTime DataHora { get; set; } public double Altitude { get; set; } public double AltitudeElipsoidal { get; set; } @@ -71,7 +78,12 @@ namespace AgroBase.Models Altitude = Altitude, AltitudeElipsoidal = AltitudeElipsoidal, DataHora = DataHora, + EnuOriginSet = EnuOriginSet, + Lat0 = Lat0, + LatitudeAnt = LatitudeAnt, Latitude = Latitude, + Lon0 = Lon0, + LongitudeAnt = LongitudeAnt, Longitude = Longitude, PrecisaoHorizontal = PrecisaoHorizontal, Velocidade = Velocidade, diff --git a/AgroBase/AgroBase/Models/MapaDinamicoModel.cs b/AgroBase/AgroBase/Models/MapaDinamicoModel.cs index 0e4fab5fc..f05dad4b0 100644 --- a/AgroBase/AgroBase/Models/MapaDinamicoModel.cs +++ b/AgroBase/AgroBase/Models/MapaDinamicoModel.cs @@ -156,7 +156,25 @@ namespace AgroBase.Models DrawTrajectory(g, _trajetoriaRobo, centerX, centerY, Color.Orange, Pens.OrangeRed); // Desenha a posição atual do robô (ponto vermelho) - float PxToCm = DrawRobot(g, centerX, centerY, Color.Red, Color.Red, (float)VariaveisEquipamento.LarguraEsquerda, (float)VariaveisEquipamento.LarguraDireita, (float)VariaveisEquipamento.ComprimentoFrente, (float)VariaveisEquipamento.ComprimentoTras, AnguloCarro); + //float PxToCm = DrawRobot(g, centerX, centerY, Color.Red, Color.Red, (float)VariaveisEquipamento.LarguraEsquerda, (float)VariaveisEquipamento.LarguraDireita, (float)VariaveisEquipamento.ComprimentoFrente, (float)VariaveisEquipamento.ComprimentoTras, AnguloCarro); + // === NOVO: pega pixels do CENTRO (corrigido) e da ANTENA (bruto) === + // Use sua própria função de conversão se já tiver. + PointF pCtr = LatLonToPanel(_posicaoAtual.Latitude, _posicaoAtual.Longitude, centerX, centerY); + PointF pAnt = LatLonToPanel(_posicaoAtual.LatitudeAnt, _posicaoAtual.LongitudeAnt, centerX, centerY); + + // desenha o robô centrado no ponto corrigido e marca a antena bruta + float PxToCm = DrawRobotNew( + g, + pCtr.X, pCtr.Y, + Color.ForestGreen, // cor do contorno do corpo + (float)VariaveisEquipamento.LarguraEsquerda, + (float)VariaveisEquipamento.LarguraDireita, + (float)VariaveisEquipamento.ComprimentoFrente, + (float)VariaveisEquipamento.ComprimentoTras, + AnguloCarro, // em rad + pAnt.X, pAnt.Y, // antena "bruta" (opcional) + desenharAntenaEsperada: true // mostra também a antena “prevista” + ); if (obstaculoDetectado != null) { @@ -315,6 +333,79 @@ namespace AgroBase.Models return PxToCm; } + private float DrawRobotNew( + Graphics g, + float xCtr, float yCtr, // centro (corrigido) em pixels + Color bodyBorder, + float larguraEsquerdaCm, float larguraDireitaCm, + float compFrenteCm, float compTrasCm, + float angleRad, // mesmo sistema do seu theta (0=Norte) + float? xAnt = null, float? yAnt = null, // antena bruta (pixels) - opcional + bool desenharAntenaEsperada = false // desenhar antena “prevista” a partir do centro + ) + { + float zoom = (float)_zoom; + + // dimensões em cm + float larguraTotalCm = larguraEsquerdaCm + larguraDireitaCm; + float comprimentoTotalCm = compFrenteCm + compTrasCm; + + // escala -> pixels (mantenha sua convenção) + float cmToPx = zoom / 1e7f; // mesma que você já usa + float larguraPx = larguraTotalCm * cmToPx; + float comprimentoPx = comprimentoTotalCm * cmToPx; + + // retângulo do robô centrado no (xCtr,yCtr) + PointF[] corners = new PointF[4]; + corners[0] = CalcularPontoRotacionado(xCtr, yCtr, -larguraPx / 2f, -comprimentoPx / 2f, angleRad); + corners[1] = CalcularPontoRotacionado(xCtr, yCtr, +larguraPx / 2f, -comprimentoPx / 2f, angleRad); + corners[2] = CalcularPontoRotacionado(xCtr, yCtr, +larguraPx / 2f, +comprimentoPx / 2f, angleRad); + corners[3] = CalcularPontoRotacionado(xCtr, yCtr, -larguraPx / 2f, +comprimentoPx / 2f, angleRad); + + using (var pen = new Pen(bodyBorder, 2f)) + g.DrawPolygon(pen, corners); + + // setinha de “frente” partindo do centro (opcional) + float frenteLenPx = compFrenteCm * cmToPx; + PointF pontaFrente = CalcularPontoRotacionado(xCtr, yCtr, 0f, -frenteLenPx, angleRad); + using (var penFront = new Pen(bodyBorder, 2f)) + g.DrawLine(penFront, xCtr, yCtr, pontaFrente.X, pontaFrente.Y); + + // === Antena bruta (se veio lat/lon da antena) === + if (xAnt.HasValue && yAnt.HasValue) + { + // ligue centro ↔ antena (visual da alavanca) + using (var penLink = new Pen(Color.DarkGray, 1.5f) { DashStyle = System.Drawing.Drawing2D.DashStyle.Dash }) + g.DrawLine(penLink, xCtr, yCtr, xAnt.Value, yAnt.Value); + + // ponto da antena (bruto) + DrawPoint(g, xAnt.Value, yAnt.Value, Color.OrangeRed); // cor diferente + } + + // === Antena “esperada” calculada a partir do centro (sanity check) === + if (desenharAntenaEsperada) + { + // offsets em cm do CENTRO para a antena (mesma lógica que você já tinha) + float dxCm = (larguraTotalCm / 2f) - larguraDireitaCm; // +esquerda + float dyCm = (comprimentoTotalCm / 2f) - compFrenteCm; // +trás + + // para o sistema de tela, seu Y “frente” foi -dy (igual ao que você fazia) + float dxPx = dxCm * cmToPx; + float dyPx = dyCm * cmToPx; + + PointF antenaPrevista = CalcularPontoRotacionado(xCtr, yCtr, dxPx, -dyPx, angleRad); + DrawPoint(g, antenaPrevista.X, antenaPrevista.Y, Color.DeepSkyBlue); + + // e ligue também, para comparar “previsto” x “bruto” + using (var penLink2 = new Pen(Color.DeepSkyBlue, 1f)) + g.DrawLine(penLink2, xCtr, yCtr, antenaPrevista.X, antenaPrevista.Y); + } + + // relação px->cm (se você usa depois) + float pxToCm = larguraTotalCm / Math.Max(larguraPx, 1e-6f); + return pxToCm; + } + private PointF CalcularPontoRotacionado(float centroX, float centroY, float offsetX, float offsetY, float angle) { // Converter o ângulo para radianos @@ -391,5 +482,19 @@ namespace AgroBase.Models } + + + private PointF LatLonToPanel(double lat, double lon, float centerX, float centerY) + { + // Usa a mesma origem ENU do GeoLeverArm + var (xE, yN) = GeoLeverArm.GeodeticToENU(lat, lon, _posicaoAtual.Lat0, _posicaoAtual.Lon0); + float scale = (float)_zoom / 1e7f; + + float px = centerX + (float)(xE * scale); // Leste para +X + float py = centerY - (float)(yN * scale); // Norte para -Y (tela cresce para baixo) + + return new PointF(px, py); + } + } } diff --git a/AgroBase/AgroBase/Models/Operadores/ManagerWorkerModel.cs b/AgroBase/AgroBase/Models/Operadores/ManagerWorkerModel.cs index afc0e168e..61c86bc56 100644 --- a/AgroBase/AgroBase/Models/Operadores/ManagerWorkerModel.cs +++ b/AgroBase/AgroBase/Models/Operadores/ManagerWorkerModel.cs @@ -95,6 +95,7 @@ namespace AgroBase.Models.Operadores public double custo_visual_worker { get; set; } public double custo_map { get; set; } public double custo_total { get; set; } + public bool melhor { get; set; } } public class CandMpcKey diff --git a/AgroBase/AgroBase/Models/Variaveis.cs b/AgroBase/AgroBase/Models/Variaveis.cs index a187eb95f..8756fbd19 100644 --- a/AgroBase/AgroBase/Models/Variaveis.cs +++ b/AgroBase/AgroBase/Models/Variaveis.cs @@ -404,8 +404,12 @@ namespace AgroBase.Models GPSModel novaPosicao = new GPSModel { Momento = DateTime.Now, + Lat0 = GPSService.UltimaLeitura.Lat0, + Lon0 = GPSService.UltimaLeitura.Lon0, Latitude = pos.Latitude + dLat, + LatitudeAnt = pos.Latitude + dLat, Longitude = pos.Longitude + dLon, + LongitudeAnt = pos.Longitude + dLon, OrientacaoReal = GPSUtils.NormalizarAngulo(theta * 180.0 / Math.PI), Distancia = velocidadeMs * tempoDelta, Velocidade = velocidadeMs, diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs index e85f1286e..f03909d8c 100644 --- a/AgroBase/AgroBase/Services/GPSService.cs +++ b/AgroBase/AgroBase/Services/GPSService.cs @@ -434,7 +434,9 @@ namespace AgroBase.Services PenultimaLeitura.TimestampPos = UltimaLeitura.TimestampPos.Clone(); PenultimaLeitura.Momento = UltimaLeitura.Momento; + PenultimaLeitura.LatitudeAnt = UltimaLeitura.LatitudeAnt; PenultimaLeitura.Latitude = UltimaLeitura.Latitude; + PenultimaLeitura.LongitudeAnt = UltimaLeitura.LongitudeAnt; PenultimaLeitura.Longitude = UltimaLeitura.Longitude; PenultimaLeitura.Altitude = UltimaLeitura.Altitude; PenultimaLeitura.AltitudeElipsoidal = UltimaLeitura.AltitudeElipsoidal; @@ -448,7 +450,9 @@ namespace AgroBase.Services // Armazenar os valores na última leitura UltimaLeitura.TimestampPos.valor = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency; UltimaLeitura.Momento = DateTime.Now; + UltimaLeitura.LatitudeAnt = latitude; UltimaLeitura.Latitude = latitude; + UltimaLeitura.LongitudeAnt = longitude; UltimaLeitura.Longitude = longitude; UltimaLeitura.Altitude = altMSL; UltimaLeitura.AltitudeElipsoidal = altElipsoidal; @@ -470,6 +474,48 @@ namespace AgroBase.Services var currentDateUtc = DateTime.UtcNow.Date; UltimaLeitura.DataHora = currentDateUtc.Add(ts).ToLocalTime(); } + + // 1) define origem ENU na primeira leitura válida + if (!UltimaLeitura.EnuOriginSet && UltimaLeitura.QualidadeFix == TiposCorrecaoGPS.RTKFixo) // tem fix + { + UltimaLeitura.Lat0 = latitude; + UltimaLeitura.Lon0 = longitude; + UltimaLeitura.EnuOriginSet = true; + } + + // 2) se já temos origem e um heading válido, aplica lever arm + if (UltimaLeitura.EnuOriginSet) + { + // a) antena -> ENU + var (xAnt, yAnt) = GeoLeverArm.GeodeticToENU(latitude, longitude, UltimaLeitura.Lat0, UltimaLeitura.Lon0); + + // b) heading atual (rad). Substitua pelo seu campo real! + double theta = UltimaLeitura.OrientacaoReal; // 0=N, +horário→L + + // c) offsets (m) + double lFwd = (VariaveisEquipamento.ComprimentoTras - VariaveisEquipamento.ComprimentoFrente) / 200.0; + double lLeft = (VariaveisEquipamento.LarguraDireita - VariaveisEquipamento.LarguraEsquerda) / 200.0; + + // d) compensação: posição do CENTRO + var (xCtr, yCtr) = GeoLeverArm.ApplyLeverArmENU(xAnt, yAnt, theta, lFwd, lLeft); + + // e) opcional: volta para lat/lon + var (latCtr, lonCtr) = GeoLeverArm.ENUToGeodetic(xCtr, yCtr, UltimaLeitura.Lat0, UltimaLeitura.Lon0); + + // f) salve os valores corrigidos (sem perder os brutos, se quiser) + PenultimaLeitura.X = UltimaLeitura.X; + PenultimaLeitura.Y = UltimaLeitura.Y; + + UltimaLeitura.Latitude = latCtr; + UltimaLeitura.Longitude = lonCtr; + UltimaLeitura.X = xCtr; + UltimaLeitura.Y = yCtr; + + // Se o resto do sistema espera lat/lon já compensados, você pode + // sobrescrever os campos: + // UltimaLeitura.Latitude = latCtr; + // UltimaLeitura.Longitude = lonCtr; + } } private static void ProcessarGNRMC(string sentenca) @@ -1649,4 +1695,49 @@ namespace AgroBase.Services } + public class GeoLeverArm + { + const double R = 6378137.0; // WGS84 + + static double ToRad(double deg) => deg * Math.PI / 180.0; + static double ToDeg(double rad) => rad * 180.0 / Math.PI; + + // lat/lon -> ENU (aproximação local, boa para ~km) + public static (double x, double y) GeodeticToENU(double lat, double lon, double lat0, double lon0) + { + double latR = ToRad(lat), lonR = ToRad(lon); + double lat0R = ToRad(lat0), lon0R = ToRad(lon0); + double dLat = latR - lat0R, dLon = lonR - lon0R; + double xEast = dLon * Math.Cos(lat0R) * R; + double yNorth = dLat * R; + return (xEast, yNorth); + } + + public static (double lat, double lon) ENUToGeodetic(double x, double y, double lat0, double lon0) + { + double lat0R = ToRad(lat0); + double dLat = y / R; + double dLon = x / (R * Math.Cos(lat0R)); + double lat = lat0 + ToDeg(dLat); + double lon = lon0 + ToDeg(dLon); + return (lat, lon); + } + + // Aplica lever arm: retorna o CENTRO dado ANTENA + heading. + // Convenção: θ=0 norte; +horário→leste (igual ao seu modelo: x+=sinθ, y+=cosθ). + public static (double xCtr, double yCtr) ApplyLeverArmENU( + double xAnt, double yAnt, double thetaRad, double lFwd, double lLeft) + { + double s = Math.Sin(thetaRad), c = Math.Cos(thetaRad); + // vetores no mundo + double fx = s, fy = c; // frente + double lx = -c, ly = s; // esquerda + // vetor centro->antena no mundo + double rx = lFwd * fx + lLeft * lx; + double ry = lFwd * fy + lLeft * ly; + // centro = antena - (centro->antena) + return (xAnt - rx, yAnt - ry); + } + } + } diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe index ec44fabd0..17a172e5a 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe differ diff --git 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+2025/09/26-14:06:14.077 3ac0 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old index 7c8cd3591..0ca00478c 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old +++ b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old @@ -1,3 +1,3 @@ -2025/09/25-15:43:45.802 6e20 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 -2025/09/25-15:43:45.810 6e20 Recovering log #3 -2025/09/25-15:43:45.813 6e20 Reusing old log 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