agrobot_base/AgroBase/OperationControl/Controls/HeadingIndicator.xaml

<UserControl x:Class="OperationControl.Controls.HeadingIndicator"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
             xmlns:conv="clr-namespace:OperationControl.Converters"
             mc:Ignorable="d"
             d:DesignWidth="140" d:DesignHeight="140">

    <UserControl.Resources>
        <BooleanToVisibilityConverter x:Key="BooleanToVisibilityConverter"/>
        <conv:NegateAngleConverter x:Key="NegateAngleConverter"/>
        <conv:DifHeadingToColorConverter x:Key="DifHeadingToColorConverter"/>
    </UserControl.Resources>

    <!-- Moldura (igual ao IMU) -->
    <Border x:Name="Chrome" CornerRadius="12" Padding="10" BorderThickness="2" Background="#111" BorderBrush="#2ECC71">
        <Grid>
            <!-- Container para manter tudo centralizado -->
            <Viewbox Stretch="Uniform">
                <Grid Width="300" Height="300">

                    <!-- CAMADA ROTATIVA: o “anel” -->
                    <Canvas x:Name="DialCanvas" Width="300" Height="300" RenderTransformOrigin="0.5,0.5">
                        <Canvas.RenderTransform>
                            <RotateTransform x:Name="DialRotation" Angle="0"/>
                        </Canvas.RenderTransform>

                        <!-- Círculo Base -->
                        <Ellipse Width="250" Height="250" Stroke="White" StrokeThickness="3" Canvas.Left="25" Canvas.Top="25"/>

                        <!-- Ticks menores (10°) -->
                        <ItemsControl ItemsSource="{Binding MinorAngles, RelativeSource={RelativeSource AncestorType=UserControl}}">
                            <ItemsControl.ItemsPanel>
                                <ItemsPanelTemplate>
                                    <Canvas/>
                                </ItemsPanelTemplate>
                            </ItemsControl.ItemsPanel>
                            <ItemsControl.ItemTemplate>
                                <DataTemplate>
                                    <Line X1="150" Y1="47" X2="150" Y2="57" Stroke="White" StrokeThickness="1.3" Opacity="0.75">
                                        <Line.RenderTransform>
                                            <RotateTransform Angle="{Binding}" CenterX="150" CenterY="150"/>
                                        </Line.RenderTransform>
                                    </Line>
                                </DataTemplate>
                            </ItemsControl.ItemTemplate>
                        </ItemsControl>

                        <!-- Ticks maiores (30°) -->
                        <ItemsControl ItemsSource="{Binding MajorAngles, RelativeSource={RelativeSource AncestorType=UserControl}}">
                            <ItemsControl.ItemsPanel>
                                <ItemsPanelTemplate>
                                    <Canvas/>
                                </ItemsPanelTemplate>
                            </ItemsControl.ItemsPanel>
                            <ItemsControl.ItemTemplate>
                                <DataTemplate>
                                    <Line X1="150" Y1="42" X2="150" Y2="60" Stroke="White" StrokeThickness="2">
                                        <Line.RenderTransform>
                                            <RotateTransform Angle="{Binding}" CenterX="150" CenterY="150"/>
                                        </Line.RenderTransform>
                                    </Line>
                                </DataTemplate>
                            </ItemsControl.ItemTemplate>
                        </ItemsControl>

                        <!-- Letras cardeais (rodarão junto) -->
                        <TextBlock Text="N" Foreground="White" FontWeight="Bold" FontSize="22" Canvas.Left="140" Canvas.Top="-10"/>
                        <TextBlock Text="S" Foreground="White" FontWeight="Bold" FontSize="22" Canvas.Left="140" Canvas.Bottom="-10"/>
                        <TextBlock Text="O" Foreground="White" FontWeight="Bold" FontSize="22" Canvas.Left="0" Canvas.Top="140"/>
                        <TextBlock Text="L" Foreground="White" FontWeight="Bold" FontSize="22" Canvas.Right="0" Canvas.Top="140"/>
                    </Canvas>

                    <!-- CAMADA FIXA: robô/seta central -->
                    <Grid IsHitTestVisible="False">
                        <!-- “robô”: retângulo + seta sempre apontando para o topo -->
                        <Canvas Width="300" Height="300">
                            <!-- corpo (exemplo simples) -->
                            <Rectangle Width="60" Height="2" Fill="#33FFFFFF" Canvas.Left="120" Canvas.Top="150"/>
                            <!-- seta do “nariz” do robô -->
                            <Polygon Points="150,35 143,55 157,55" Fill="Yellow"/>
                            <!-- linha vertical (lubber line) opcional -->
                            <Line X1="150" Y1="30" X2="150" Y2="270" Stroke="#66FFFFFF" StrokeThickness="1"/>

                            <Polygon x:Name="CourseArrow" Points="150,35 143,55 157,55" Fill="Green" Visibility="Collapsed">
                                <Polygon.RenderTransform>
                                    <RotateTransform x:Name="CourseRotation" CenterX="150" CenterY="150"/>
                                </Polygon.RenderTransform>
                            </Polygon>

                        </Canvas>
                    </Grid>

                    <Grid HorizontalAlignment="Center" VerticalAlignment="Center">
                        <TextBlock x:Name="txtHeadingDif" Text="{Binding DifHeading, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:0.0}°}" Foreground="White" FontWeight="Bold" FontSize="40" Opacity="0.95"/>
                    </Grid>

                    <Grid HorizontalAlignment="Left" VerticalAlignment="Top">
                        <TextBlock x:Name="txtHeadingCourse" Visibility="Collapsed" Text="{Binding CourseHeading, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:0.0}°}" Foreground="Green" FontWeight="Bold" FontSize="35" Opacity="0.95" Margin="-20 -30 0 0"/>
                    </Grid>

                    <Grid HorizontalAlignment="Right" VerticalAlignment="Top">
                        <TextBlock x:Name="txtHeading" Visibility="Collapsed" Text="{Binding Heading, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:0.0}°}" Foreground="Yellow" FontWeight="Bold" FontSize="35" Opacity="0.95" Margin="0 -30 -20 0"/>
                    </Grid>

                </Grid>
            </Viewbox>

        </Grid>
    </Border>
</UserControl>