diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/3d8d4de6-63de-440b-a4d2-936bfb12a508.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/3d8d4de6-63de-440b-a4d2-936bfb12a508.vsidx deleted file mode 100644 index 8bbd54509..000000000 Binary files a/AgroBase/.vs/AgroBase/FileContentIndex/3d8d4de6-63de-440b-a4d2-936bfb12a508.vsidx and /dev/null differ diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/544b4169-137d-41e8-a775-a4dc35ccaf50.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/544b4169-137d-41e8-a775-a4dc35ccaf50.vsidx new file mode 100644 index 000000000..8dc636f52 Binary files /dev/null and b/AgroBase/.vs/AgroBase/FileContentIndex/544b4169-137d-41e8-a775-a4dc35ccaf50.vsidx differ diff --git a/AgroBase/.vs/AgroBase/v17/.suo b/AgroBase/.vs/AgroBase/v17/.suo index cf91a2e1d..e20ad5635 100644 Binary files a/AgroBase/.vs/AgroBase/v17/.suo and b/AgroBase/.vs/AgroBase/v17/.suo differ diff --git a/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs b/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs index f47666f37..3b0dc03e4 100644 --- a/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs +++ b/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs @@ -203,7 +203,7 @@ namespace AgroBase.Forms.IHM tkbAnguloDirecional.Value = Math.Abs(Convert.ToInt32(_Sensoriamento.Controle.Angulo)); } - txtDistanciasEsqDir.Text = _Sensoriamento.Trajetoria.DistanciaEsquerda.ToString("0.00") + " / " + _Sensoriamento.Trajetoria.DistanciaDireita.ToString("0.00"); + txtDistanciasEsqDir.Text = _Sensoriamento.Trajetoria.DistanciaEsquerda.ToString("0.00") + " / " + _Sensoriamento.Trajetoria.DistanciaDireita.ToString("0.00") + " (" + _Sensoriamento.Controle.ErroLateral.ToString("0.00" + ")"); txtDentroCorredor.Text = _Sensoriamento.Trajetoria.CorredorAtual.Dentro ? "Sim" : "Não"; txtMargemCorredor.Text = _Sensoriamento.Trajetoria.NaMargemDoCorredor ? "Sim" : "Não"; txtStatusCarro.Text = _Sensoriamento.Trajetoria.StatusCarro.ToString(); diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs index a6f327452..0e79ae965 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs @@ -425,7 +425,8 @@ namespace AgroBase.Forms.Operacoes try { double angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.Gps.OrientacaoReal; - FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, -90); + double angulo2 = Variaveis.OperacaoEmAndamento.Sensoriamento.Gps.AnguloCarroDefinido; + FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, -90, (float)angulo2); } catch { } } diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs index 0670284ef..f29380422 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs @@ -444,9 +444,9 @@ this.label134 = new System.Windows.Forms.Label(); this.txtNaMargem = new System.Windows.Forms.TextBox(); this.label133 = new System.Windows.Forms.Label(); - this.txtDistanciaDireita = new System.Windows.Forms.TextBox(); + this.txtErroLateral = new System.Windows.Forms.TextBox(); this.label132 = new System.Windows.Forms.Label(); - this.txtDistanciaEsquerda = new System.Windows.Forms.TextBox(); + this.txtDistanciasLaterais = new System.Windows.Forms.TextBox(); this.label70 = new System.Windows.Forms.Label(); this.txtErvasIdentificadas = new System.Windows.Forms.TextBox(); this.lblPercentualRua = new System.Windows.Forms.Label(); @@ -4902,9 +4902,9 @@ this.pnlInformacoesOperacao.Controls.Add(this.label134); this.pnlInformacoesOperacao.Controls.Add(this.txtNaMargem); this.pnlInformacoesOperacao.Controls.Add(this.label133); - this.pnlInformacoesOperacao.Controls.Add(this.txtDistanciaDireita); + this.pnlInformacoesOperacao.Controls.Add(this.txtErroLateral); this.pnlInformacoesOperacao.Controls.Add(this.label132); - this.pnlInformacoesOperacao.Controls.Add(this.txtDistanciaEsquerda); + this.pnlInformacoesOperacao.Controls.Add(this.txtDistanciasLaterais); this.pnlInformacoesOperacao.Controls.Add(this.label70); this.pnlInformacoesOperacao.Controls.Add(this.txtErvasIdentificadas); this.pnlInformacoesOperacao.Controls.Add(this.lblPercentualRua); @@ -4984,19 +4984,19 @@ this.label133.Location = new System.Drawing.Point(124, 120); this.label133.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.label133.Name = "label133"; - this.label133.Size = new System.Drawing.Size(99, 13); + this.label133.Size = new System.Drawing.Size(57, 13); this.label133.TabIndex = 79; - this.label133.Text = "Distancia da Direita"; + this.label133.Text = "Erro lateral"; // - // txtDistanciaDireita + // txtErroLateral // - this.txtDistanciaDireita.Location = new System.Drawing.Point(126, 136); - this.txtDistanciaDireita.Margin = new System.Windows.Forms.Padding(2); - this.txtDistanciaDireita.Name = "txtDistanciaDireita"; - this.txtDistanciaDireita.ReadOnly = true; - this.txtDistanciaDireita.Size = new System.Drawing.Size(117, 20); - this.txtDistanciaDireita.TabIndex = 80; - this.txtDistanciaDireita.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtErroLateral.Location = new System.Drawing.Point(126, 136); + this.txtErroLateral.Margin = new System.Windows.Forms.Padding(2); + this.txtErroLateral.Name = "txtErroLateral"; + this.txtErroLateral.ReadOnly = true; + this.txtErroLateral.Size = new System.Drawing.Size(117, 20); + this.txtErroLateral.TabIndex = 80; + this.txtErroLateral.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // // label132 // @@ -5004,19 +5004,19 @@ this.label132.Location = new System.Drawing.Point(2, 120); this.label132.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.label132.Name = "label132"; - this.label132.Size = new System.Drawing.Size(114, 13); + this.label132.Size = new System.Drawing.Size(97, 13); this.label132.TabIndex = 77; - this.label132.Text = "Distancia da Esquerda"; + this.label132.Text = "Dist. Laterais (E/D)"; // - // txtDistanciaEsquerda + // txtDistanciasLaterais // - this.txtDistanciaEsquerda.Location = new System.Drawing.Point(4, 136); - this.txtDistanciaEsquerda.Margin = new System.Windows.Forms.Padding(2); - this.txtDistanciaEsquerda.Name = "txtDistanciaEsquerda"; - this.txtDistanciaEsquerda.ReadOnly = true; - this.txtDistanciaEsquerda.Size = new System.Drawing.Size(117, 20); - this.txtDistanciaEsquerda.TabIndex = 78; - this.txtDistanciaEsquerda.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtDistanciasLaterais.Location = new System.Drawing.Point(4, 136); + this.txtDistanciasLaterais.Margin = new System.Windows.Forms.Padding(2); + this.txtDistanciasLaterais.Name = "txtDistanciasLaterais"; + this.txtDistanciasLaterais.ReadOnly = true; + this.txtDistanciasLaterais.Size = new System.Drawing.Size(117, 20); + this.txtDistanciasLaterais.TabIndex = 78; + this.txtDistanciasLaterais.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // // label70 // @@ -6092,9 +6092,9 @@ private System.Windows.Forms.Label label134; private System.Windows.Forms.TextBox txtNaMargem; private System.Windows.Forms.Label label133; - private System.Windows.Forms.TextBox txtDistanciaDireita; + private System.Windows.Forms.TextBox txtErroLateral; private System.Windows.Forms.Label label132; - private System.Windows.Forms.TextBox txtDistanciaEsquerda; + private System.Windows.Forms.TextBox txtDistanciasLaterais; private System.Windows.Forms.CheckBox chbMOV_Alimentacao_Mediana; private System.Windows.Forms.CheckBox chbMOV_Alimentacao_Moda; private System.Windows.Forms.CheckBox chbMOV_Alimentacao_Media; diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs index c37d4b082..2e2d8c2ce 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs @@ -1106,8 +1106,8 @@ namespace AgroBase.Forms.Operacoes txtVelocidadeControle.Text = ((Log.Controle?.PercentualVelocidadeSP ?? 0) / VariaveisEquipamento.RPM_Max_Roda * 100).ToString() + " rpm"; txtErvasIdentificadas.Text = $"{totalAtuacoes}"; - txtDistanciaEsquerda.Text = Log.Trajetoria.DistanciaEsquerda.ToString("0.00"); - txtDistanciaDireita.Text = Log.Trajetoria.DistanciaDireita.ToString("0.00"); + txtDistanciasLaterais.Text = Log.Trajetoria.DistanciaEsquerda.ToString("0.00") + " m / " + Log.Trajetoria.DistanciaDireita.ToString("0.00") + " m"; + txtErroLateral.Text = Log.Controle.ErroLateral.ToString("0.00") + " m"; txtNaMargem.Text = Log.Trajetoria.NaMargemDoCorredor ? "Sim" : "Não"; lblPercentualOperacao.Text = $"Operação {Log.Trajetoria.ProgressoTrajeto.ToString("0.00")}%"; diff --git a/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.Designer.cs b/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.Designer.cs index 60ccf23c0..61c88619f 100644 --- a/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.Designer.cs +++ b/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.Designer.cs @@ -711,9 +711,9 @@ this.lblDistanciaLateral.Location = new System.Drawing.Point(11, 477); this.lblDistanciaLateral.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblDistanciaLateral.Name = "lblDistanciaLateral"; - this.lblDistanciaLateral.Size = new System.Drawing.Size(117, 13); + this.lblDistanciaLateral.Size = new System.Drawing.Size(171, 13); this.lblDistanciaLateral.TabIndex = 23; - this.lblDistanciaLateral.Text = "Esq: 0,00 m Dir: 0,00 m"; + this.lblDistanciaLateral.Text = "Esq: 0,00 m Dir: 0,00 m Err: 0,00 m"; // // lblDistanciaFinal // diff --git a/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs b/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs index c083c3d91..c792f045d 100644 --- a/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs +++ b/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs @@ -132,7 +132,7 @@ namespace AgroBase.Forms lblDirecao.Text = "Direção: " + Enum.GetName(typeof(DirecaoCarroRua), _Sensoriamento.Trajetoria.DirecaoCaminho); lblDistanciaOperacao.Text = "Distância Operação: " + _Sensoriamento.Trajetoria.DistanciaPercorrida.ToString("0.00") + " m de " + _Sensoriamento.Trajetoria.DistanciaTotal.ToString("0.00") + " m"; lblDistanciaFinal.Text = "Distância Restante: " + _Sensoriamento.Trajetoria.DistanciaRestante.ToString("0.00") + " m"; - lblDistanciaLateral.Text = "Esq: " + _Sensoriamento.Trajetoria.DistanciaEsquerda.ToString("0.00") + " m - Dir: " + _Sensoriamento.Trajetoria.DistanciaDireita.ToString("0.00") + " m"; + lblDistanciaLateral.Text = "Esq: " + _Sensoriamento.Trajetoria.DistanciaEsquerda.ToString("0.00") + " m - Dir: " + _Sensoriamento.Trajetoria.DistanciaDireita.ToString("0.00") + " m " + Variaveis.OperacaoEmAndamento.Controle.ErroLateral.ToString("0.00") + " m"; lblRua.Text = "Corredor: " + (_Sensoriamento.Trajetoria.CorredorAtual.Dentro ? "Dentro" : "Fora"); lblMargem.Text = "Margem: " + (_Sensoriamento.Trajetoria.NaMargemDoCorredor ? "Sim" : "Não"); lblProximoPonto.Text = "Próximo Ponto: " + (_Sensoriamento.Trajetoria.ProximoPonto.idxPonto); diff --git a/AgroBase/AgroBase/Models/Components/AsyncTaskTimerModel.cs b/AgroBase/AgroBase/Models/Components/AsyncTaskTimerModel.cs index 783ede665..348d9634a 100644 --- a/AgroBase/AgroBase/Models/Components/AsyncTaskTimerModel.cs +++ b/AgroBase/AgroBase/Models/Components/AsyncTaskTimerModel.cs @@ -101,13 +101,15 @@ namespace AgroBase.Models private async void _timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e) { - ((System.Timers.Timer)sender).Stop(); + System.Timers.Timer tmr = sender as System.Timers.Timer; + if (VerificaDisposed()) return; + tmr.Stop(); if (_Ticking) { if (_state == TimerState.Running) { - ((System.Timers.Timer)sender).Start(); + tmr.Start(); } return; } @@ -155,9 +157,9 @@ namespace AgroBase.Models finally { _Ticking = false; - if (_state == TimerState.Running) + if (!VerificaDisposed() && _state == TimerState.Running) { - ((System.Timers.Timer)sender).Start(); + tmr.Start(); } } } diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs index 2472d460b..dfefdf416 100644 --- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs @@ -1634,6 +1634,7 @@ namespace AgroBase.Models public List SimulacaoMPC { get; set; } = new List(); public double Latencia { get; set; } + public double ErroLateral { get; set; } = 0.0; public OperacaoControleModel Clone() { @@ -1664,6 +1665,7 @@ namespace AgroBase.Models ticks_sem_resposta = ticks_sem_resposta, Latencia = Latencia, EmFreio = EmFreio, + ErroLateral = ErroLateral }; } } diff --git a/AgroBase/AgroBase/Models/Operadores/ManagerWorkerModel.cs b/AgroBase/AgroBase/Models/Operadores/ManagerWorkerModel.cs index 1dbd77637..be0b50fdd 100644 --- a/AgroBase/AgroBase/Models/Operadores/ManagerWorkerModel.cs +++ b/AgroBase/AgroBase/Models/Operadores/ManagerWorkerModel.cs @@ -54,6 +54,7 @@ namespace AgroBase.Models.Operadores public List simulacao { get; set; } public int heartbeat { get; set; } public double latencia { get; set; } + public double erro_lateral { get; set; } } public class ManagerWorkerMessageResponseModulosPendentesModel diff --git a/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs b/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs index 5df878afc..c85977ccb 100644 --- a/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs +++ b/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs @@ -770,6 +770,7 @@ namespace AgroBase.Models dictParams.TryGetValue("simulacao", out var _simulacao); dictParams.TryGetValue("heartbeat", out var _heartbeat); dictParams.TryGetValue("latencia", out var _latencia); + dictParams.TryGetValue("erro_lateral", out var _erro_lateral); novoComando = new ManagerWorkerMessageResponseComandoModel() { angulo = Convert.ToDouble(_angulo), @@ -779,6 +780,7 @@ namespace AgroBase.Models simulacao = JsonConvert.DeserializeObject>((_simulacao ?? "").ToString()), heartbeat = Convert.ToInt32(_heartbeat), latencia = Convert.ToDouble(_latencia.ToString().Replace(".", ",")), + erro_lateral = Convert.ToDouble(_erro_lateral.ToString().Replace(".", ",")), }; } catch (Exception ex) @@ -789,7 +791,7 @@ namespace AgroBase.Models DateTime agora = DateTime.Now; var _Controle = Variaveis.OperacaoEmAndamento.Controle; - bool comandoMudou = (_Controle.Angulo != novoComando.angulo || _Controle.PercentualVelocidadeSP != novoComando.percentual_velocidade || _Controle.TipoMovimento != novoComando.tipo_movimento || _Controle.EmFreio != novoComando.em_freio); + bool comandoMudou = novoComando != null && (_Controle.Angulo != novoComando.angulo || _Controle.PercentualVelocidadeSP != novoComando.percentual_velocidade || _Controle.TipoMovimento != novoComando.tipo_movimento || _Controle.EmFreio != novoComando.em_freio); bool mangerDestravou = (_Controle.ticks_sem_resposta.AddMilliseconds(min_ticks_sem_resposta) < agora && novoComando.heartbeat != _Controle.heartbeat); if (novoComando != null && (comandoMudou || mangerDestravou)) { @@ -799,6 +801,7 @@ namespace AgroBase.Models _Controle.EmFreio = novoComando.em_freio; _Controle.SimulacaoMPC = novoComando.simulacao?.Select(x => new MPCSimulacaoModel() { latitude = x[0], longitude = x[1], orientacao = x[2] }).ToList() ?? new List(); _Controle.Latencia = novoComando.latencia; + _Controle.ErroLateral = novoComando.erro_lateral; Variaveis.OperacaoEmAndamento.AtualizaInformacoesControleOperacao(); } @@ -1224,7 +1227,7 @@ namespace AgroBase.Models anguloProjetar2 += anguloAcrescentar; anguloAcrescentar *= -1; } - double percentualAcrescimoPontoAberturaCurva = 1.1; + double percentualAcrescimoPontoAberturaCurva = 0.8; GPSModel UltimoPonto = GPSUtils.ProjetarPontoDeslocado(CorredorAtual.Last(), !ultimoCorredor ? (DistanciaProjecaoRua * percentualAcrescimoPontoAberturaCurva) : (DistanciaProjecaoRua * 2.0), anguloProjetar2); PontoTrajetoriaModel PontoFinal = new PontoTrajetoriaModel(TipoPontoRua.LigacaoSaida) diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs index e3bc07727..e85f1286e 100644 --- a/AgroBase/AgroBase/Services/GPSService.cs +++ b/AgroBase/AgroBase/Services/GPSService.cs @@ -150,7 +150,7 @@ namespace AgroBase.Services // heading 2 antenas $"config heading fixlength\r\n", - $"config heading tractor\r\n", + //$"config heading tractor\r\n", $"config heading length {comprimento_antena} {tolerancia_antena}\r\n", // (se precisar, existe 'config heading offset ') @@ -626,7 +626,7 @@ namespace AgroBase.Services UltimaLeitura.TimestampOri.valor = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency; UltimaLeitura.Momento = DateTime.Now; - UltimaLeitura.OrientacaoReal = InverterHeading ? GPSUtils.NormalizarAngulo(headingTrue + 180.0) : headingTrue; + UltimaLeitura.OrientacaoReal = InverterHeading ? GPSUtils.NormalizarAngulo(headingTrue - 180.0) : headingTrue; UltimaLeitura.TipoOrientacao = status; // ✅ Atualiza o ângulo unificado no GPSService @@ -950,7 +950,7 @@ namespace AgroBase.Services return; } - UltimasLeituras.Add(UltimaLeitura); + UltimasLeituras.Add(UltimaLeitura.Clone()); if (UltimasLeituras.Count > TaxaAmostragemHz) UltimasLeituras.Remove(UltimasLeituras.First()); DefinirOrientacaoMovimento(); @@ -1163,9 +1163,9 @@ namespace AgroBase.Services bool rtkFix = UltimaLeitura.QualidadeFix == TiposCorrecaoGPS.RTKFixo; double angAnterior = UltimaLeitura.AnguloCarroDefinido; - //anguloFinal = GPSUtils.MisturarAngulosPorDistancia(anguloGPS, anguloGPSMovimento, distAnguloGPS, TrajetoriaMapaOperacaoModel.DistanciaMaximaEntreLeituras, 0.03, 0.3); + //anguloFinal = FundirHeadingComMovimento(heading, angMov, distJan, velPercent, rtkFix, angFundidoAnterior: angAnterior, alfaLowPass: 0.25); - anguloFinal = FundirHeadingComMovimento(heading, angMov, distJan, velPercent, rtkFix, angFundidoAnterior: angAnterior, alfaLowPass: 0.25); + anguloFinal = heading; } else if (imuIniciado) { @@ -1178,7 +1178,7 @@ namespace AgroBase.Services } // Atualiza o ângulo final - UltimaLeitura.AnguloCarroDefinido = GPSUtils.NormalizarAngulo(anguloFinal + HeadingOffsetSimulador + HeadingOffsetCorrecao); + UltimaLeitura.AnguloCarroDefinido = anguloFinal; // GPSUtils.NormalizarAngulo(anguloFinal + HeadingOffsetSimulador + HeadingOffsetCorrecao); } public static double FundirHeadingComMovimento( @@ -1214,9 +1214,11 @@ namespace AgroBase.Services double angMisto = MisturarAngulosCircular(headingDeg, angMovDeg, pesoHeading); if (!double.IsNaN(angFundidoAnterior) && alfaLowPass > 0) - angMisto = LowPassAngle(angFundidoAnterior, angMisto, alfaLowPass); + angMisto = LowPassAngle0to360(angFundidoAnterior, angMisto, alfaLowPass); + else + angMisto = Normalize0To360(angMisto); - return GPSUtils.NormalizarAngulo(angMisto); + return angMisto; // ---------- helpers locais ---------- double Norm(double v, double lo, double hi) @@ -1245,6 +1247,23 @@ namespace AgroBase.Services double diff = GPSUtils.NormalizarAngulo(novoDeg - atualDeg); return GPSUtils.NormalizarAngulo(atualDeg + alfa * diff); } + double LowPassAngle0to360(double atualDeg, double novoDeg, double alfa) + { + double diff = NormalizeSigned180(novoDeg - atualDeg); // delta curto + return Normalize0To360(atualDeg + alfa * diff); + } + double NormalizeSigned180(double angDeg) + { + angDeg = (angDeg + 180.0) % 360.0; + if (angDeg < 0) angDeg += 360.0; + return angDeg - 180.0; // [-180, +180) + } + double Normalize0To360(double angDeg) + { + angDeg %= 360.0; + if (angDeg < 0) angDeg += 360.0; + return angDeg; // [0, 360) + } } public static void AtualizaDadosRedis() diff --git a/AgroBase/AgroBase/Services/LoRaBaseService.cs b/AgroBase/AgroBase/Services/LoRaBaseService.cs index fb08ec9e2..44ef981fa 100644 --- a/AgroBase/AgroBase/Services/LoRaBaseService.cs +++ b/AgroBase/AgroBase/Services/LoRaBaseService.cs @@ -477,12 +477,12 @@ namespace AgroBase.Services } case DadosLoRaParse.DadosPulverizador: { - int _percentual_reservatorio = (int)dados[2]; - int _pressao_linha = (int)dados[3]; - int _ervas_identificadas = (int)dados[4]; - int _herbicida_consumido = (int)dados[5]; - int _herbicida_por_erva = (int)dados[6]; - int _percentual_ervas_terreno = (int)dados[7]; + int _percentual_reservatorio = dados.Length < 3 ? 0 : (int)dados[2]; + int _pressao_linha = dados.Length < 4 ? 0 : (int)dados[3]; + int _ervas_identificadas = dados.Length < 5 ? 0 : (int)dados[4]; + int _herbicida_consumido = dados.Length < 6 ? 0 : (int)dados[5]; + int _herbicida_por_erva = dados.Length < 7 ? 0 : (int)dados[6]; + int _percentual_ervas_terreno = dados.Length < 8 ? 0 : (int)dados[7]; equipamento.Sensores.PercentualReservatorio = _percentual_reservatorio; equipamento.Sensores.PressaoLinha = _pressao_linha; diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe index 7ef61b632..95f939c8d 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat index 55ef7a514..c906e1d10 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState index 9c56604d8..519446b0a 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState +++ b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState @@ -29,5 +29,5 @@ "top_topics_and_observing_domains": [ ] } ], "hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642", - "next_scheduled_calculation_time": "13403636820469509" + "next_scheduled_calculation_time": "13403636820469815" } diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_0 b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_0 index ff23432ca..e834d8ed5 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_0 and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_0 differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_1 b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_1 index 8eea880ba..53e3d9d8c 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_1 and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_1 differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_3 b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_3 index 4cd0b23de..a4ce29456 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_3 and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_3 differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DIPS b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DIPS index 41c5717c5..1b09d3541 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DIPS and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DIPS differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DawnGraphiteCache/data_1 b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DawnGraphiteCache/data_1 index 9a83939f6..6d133dae1 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DawnGraphiteCache/data_1 and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DawnGraphiteCache/data_1 differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DawnWebGPUCache/data_1 b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DawnWebGPUCache/data_1 index e6c720e7f..a187a88b4 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DawnWebGPUCache/data_1 and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DawnWebGPUCache/data_1 differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/GPUCache/data_1 b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/GPUCache/data_1 index e4d9ebb5d..16f04dc9e 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/GPUCache/data_1 and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/GPUCache/data_1 differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/History b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/History index c583f4a90..96128813d 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/History and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/History differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG index 4f931d69b..4825de3b7 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG +++ b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG @@ -1,3 +1,3 @@ -2025/09/23-09:38:49.956 4b78 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 -2025/09/23-09:38:49.966 4b78 Recovering log #3 -2025/09/23-09:38:49.969 4b78 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log +2025/09/24-10:46:59.725 4b24 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 +2025/09/24-10:46:59.737 4b24 Recovering log #3 +2025/09/24-10:46:59.741 4b24 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 8fd287458..d18deb948 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 @@ -2025/09/23-09:33:56.629 19b0 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 -2025/09/23-09:33:56.643 19b0 Recovering log #3 -2025/09/23-09:33:56.647 19b0 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log +2025/09/24-10:35:30.569 5054 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 +2025/09/24-10:35:30.580 5054 Recovering log #3 +2025/09/24-10:35:30.583 5054 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State index 3f9f03e8c..b8cf52593 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State +++ b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State @@ -1 +1 @@ -{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13403189309995191","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":10486},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:67d:1400:98be:836a:a20c:3874","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}} \ No newline at end of file +{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13403281624997146","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":16178},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:67d:1400:d0b1:309d:2180:66eb","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}} \ No newline at end of file diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/TransportSecurity b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/TransportSecurity index 4d8860c60..85974d53c 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/TransportSecurity +++ 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