agrobot_base/AgroBase/OperationControl/Controls/Pulverizador/Converters.cs

using System;
using System.Globalization;
using System.Windows;
using System.Windows.Data;

namespace OperationControl.Controls.Pulverizador
{
    public class BarraTopConverter : IMultiValueConverter
    {
        public double MinAlturaCm { get; set; } = 50.0;
        public double MaxAlturaCm { get; set; } = 80.0;
        public double TopMinPx { get; set; } = 18.0;
        public double TopMaxPx { get; set; } = 62.0;

        public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
        {
            if (values.Length < 2)
                return new Thickness(0);

            if (values[0] is not double alturaCm || values[1] is not double areaHeight)
                return new Thickness(0);

            if (MaxAlturaCm <= MinAlturaCm)
                return new Thickness(0);

            double extraOffset = 0.0;
            if (parameter != null)
                double.TryParse(parameter.ToString(), NumberStyles.Any, CultureInfo.InvariantCulture, out extraOffset);

            double h = Math.Max(MinAlturaCm, Math.Min(MaxAlturaCm, alturaCm));
            double t = (h - MinAlturaCm) / (MaxAlturaCm - MinAlturaCm);

            double maxTop = Math.Min(TopMaxPx, Math.Max(TopMinPx, areaHeight - 20));
            double top = maxTop - (t * (maxTop - TopMinPx));

            return new Thickness(0, top + extraOffset, 0, 0);
        }

        public object[] ConvertBack(object value, Type[] targetTypes, object parameter, CultureInfo culture)
            => throw new NotImplementedException();
    }

    public class RuaWidthFisicaConverter : IMultiValueConverter
    {
        public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
        {
            if (values.Length < 3) return 0.0;

            if (values[0] is not double totalWidth ||
                values[1] is not double larguraRuaCm ||
                values[2] is not double comprimentoBarraCm ||
                totalWidth <= 0 || comprimentoBarraCm <= 0 || larguraRuaCm <= 0)
            {
                return 0.0;
            }

            double pxPorCm = totalWidth / comprimentoBarraCm;
            double widthPx = larguraRuaCm * pxPorCm;

            if (widthPx > totalWidth)
                widthPx = totalWidth;

            return widthPx;
        }

        public object[] ConvertBack(object value, Type[] targetTypes, object parameter, CultureInfo culture)
            => throw new NotImplementedException();
    }

    public class RuaOffsetFisicaConverter : IMultiValueConverter
    {
        public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
        {
            if (values.Length < 4)
                return new Thickness(0);

            if (values[0] is not double totalWidth ||
                values[1] is not double erroLateralCm ||
                values[2] is not double larguraRuaCm ||
                values[3] is not double comprimentoBarraCm ||
                totalWidth <= 0 || comprimentoBarraCm <= 0)
            {
                return new Thickness(0);
            }

            double pxPorCm = totalWidth / comprimentoBarraCm;
            double widthPx = Math.Min(totalWidth, Math.Max(0, larguraRuaCm * pxPorCm));

            double center = totalWidth / 2.0;

            // erro > 0 = robô está para a direita, então a rua aparece deslocando para a esquerda
            double roadCenter = center - erroLateralCm * pxPorCm;
            double left = roadCenter - widthPx / 2.0;

            return new Thickness(left, 0, 0, 0);
        }

        public object[] ConvertBack(object value, Type[] targetTypes, object parameter, CultureInfo culture)
            => throw new NotImplementedException();
    }
}