ajustes performance manager worker

AgroBase/.vs/AgroBase/v17/DocumentLayout.json

@@ -2,33 +2,29 @@
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@@ -38,96 +34,84 @@
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AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs

@@ -433,7 +433,7 @@ namespace AgroBase.Forms
             try
             {
                 double angulo = Variaveis.OperacaoEmAndamento.SimulacaoAnguloControle;
-                double dif = Variaveis.OperacaoEmAndamento.Sensoriamento.Trajetoria.ErroOrientacaoAngularProximoPonto;
+                double dif = Variaveis.OperacaoEmAndamento.Sensoriamento.Trajetoria?.ErroOrientacaoAngularProximoPonto ?? 0;
                 FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, 90, (float)dif);
             }
             catch { }

AgroBase/AgroBase/Forms/frmInstancial.cs

@@ -40,7 +40,7 @@ namespace AgroBase.Forms
 
             Task.Run(async () =>
             {
-                await VariaveisOperacao.Operadores.IniciarProcessamento(true);
+                await VariaveisOperacao.Operadores.IniciarProcessamento(false);
             });
         }
 

AgroBase/AgroBase/Models/LoRaModel.cs

@@ -184,6 +184,7 @@ namespace AgroBase.Models
         public LoRaProtocoloTransmissaoCoordenadasModel Coordenadas { get; set; }
         public LoRaProtocoloTransmissaoSensoresModel Sensores { get; set; }
         public LoRaProtocoloTransmissaoOperacaoModel Operacao { get; set; }
+        public LoRaProtocoloTransmissaoControleModel Controle { get; set; }
     }
 
     public class LoRaProtocoloTransmissaoCoordenadasModel
@@ -191,6 +192,12 @@ namespace AgroBase.Models
         public double Latitude { get; set; }
         public double Longitude { get; set; }
         public double Orientacao { get; set; }
+        public double Altitude { get; set; }
+        public double Velocidade { get; set; }
+        public bool Inicializado { get; set; }
+        public TiposCorrecaoGPS Correcao { get; set; }
+        public int NSatelites { get; set; }
+        public double Precisao { get; set; }
     }
 
     public class LoRaProtocoloTransmissaoSensoresModel
@@ -219,6 +226,15 @@ namespace AgroBase.Models
         public string TempoEstimado { get; set; }
     }
 
+    public class LoRaProtocoloTransmissaoControleModel
+    {
+        public Direcao direcao { get; set; }
+        public int percentual_velocidade_sp { get; set; }
+        public TipoMovimentoDirecional tipo_movimento { get; set; }
+        public int angulo_sp { get; set; }
+        public int velocidade_mp { get; set; }
+    }
+
     public enum LoRaTipoProtocolo
     {
         Parametrizacao = 0x00, 

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -668,6 +668,8 @@ namespace AgroBase.Models
             Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP = Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeMin;
 
             RedisService.AtualizarCampos(CtxKey.DadosOperacao, ("configurado", false));
+
+            Variaveis.OperacaoEmAndamento.Sensoriamento.AtualizarDados();
         }
 
 
@@ -688,6 +690,8 @@ namespace AgroBase.Models
             ID = DataInicio.ToString("dd_MM_yyyy_HH_mm_ss");
             Directory.CreateDirectory(Variaveis.CaminhoOperacoes + ID + "/");
 
+            Sensoriamento.AtualizarDados();
+
             DispMvd?.Dados?.ReiniciarLeituras(DispMvd?.Dados);
             DispAtu?.Dados?.ReiniciarLeituras(DispAtu?.Dados);
             DispSen?.Dados?.ReiniciarLeituras(DispSen?.Dados);
@@ -798,6 +802,8 @@ namespace AgroBase.Models
 
             ID = "";
 
+            Sensoriamento.AtualizarDados();
+
             DispMvd?.Dados?.ReiniciarLeituras(DispMvd.Dados);
             DispAtu?.Dados?.ReiniciarLeituras(DispAtu.Dados);
             DispSen?.Dados?.ReiniciarLeituras(DispSen.Dados);
@@ -1418,6 +1424,9 @@ namespace AgroBase.Models
 
         private double _angulo_sp = 0.0;
         public double Angulo { get; set; }
+        public int heartbeat { get; set; } = 1;
+        //public int ticks_sem_resposta { get; set; } = 0;
+        public DateTime ticks_sem_resposta { get; set; } = DateTime.MinValue;
         public int RPM_SP
         {
             get
@@ -1776,7 +1785,10 @@ namespace AgroBase.Models
                 ErroOrientacaoAngular = _Trajetoria?.ErroOrientacaoAngular ?? 0,
                 ErroOrientacaoAngularCombinado = _Trajetoria?.ErroOrientacaoAngularCombinado ?? 0,
                 ErroOrientacaoAngularCaminho = _Trajetoria?.ErroOrientacaoAngularCaminho ?? 0,
-                ErroOrientacaoAngularProximoPonto = _Trajetoria?.ErroOrientacaoAngularProximoPonto ?? 0
+                ErroOrientacaoAngularProximoPonto = _Trajetoria?.ErroOrientacaoAngularProximoPonto ?? 0,
+                PercentualOperacao = _Trajetoria?.PercentualTrajetoria ?? 0, 
+                PercentualRuaAtual = _Trajetoria?.CorredorAtual?.Progresso ?? 0, 
+                IdxRuaAtual = _Trajetoria?.CorredorAtual?.Idx ?? 0,
             };
 
             var dadosGps = GPSService.UltimaLeitura.Clone();
@@ -2021,6 +2033,10 @@ namespace AgroBase.Models
         public double ErroOrientacaoAngularProximoPonto { get; set; }
         public double ErroLateralAngular { get; set; }
 
+        public int IdxRuaAtual { get; set; }
+        public double PercentualOperacao { get; set; }
+        public double PercentualRuaAtual { get; set; }
+
         public OperacaoSensoriamentoLogTrajetoriaModel Clone()
         {
             return new OperacaoSensoriamentoLogTrajetoriaModel()
@@ -2048,6 +2064,9 @@ namespace AgroBase.Models
                 ProximoPonto = ProximoPonto.Clone(), 
                 PontoAtual = PontoAtual.Clone(), 
                 PontoMaisProximo = PontoMaisProximo.Clone(),
+                IdxRuaAtual = IdxRuaAtual, 
+                PercentualOperacao = PercentualOperacao, 
+                PercentualRuaAtual = PercentualRuaAtual,
             };
         }
     }

AgroBase/AgroBase/Models/Operadores/ManagerWorkerModel.cs

@@ -51,6 +51,7 @@ namespace AgroBase.Models.Operadores
         public double angulo { get; set; }
         public TipoMovimentoDirecional tipo_movimento { get; set; }
         public List<double[]> simulacao { get; set; }
+        public int heartbeat { get; set; }
     }
 
     public class ManagerWorkerMessageResponseModulosPendentesModel

AgroBase/AgroBase/Models/Operadores/WeedWorkerModel.cs

@@ -52,8 +52,8 @@ namespace AgroBase.Models.Operadores
             return new WeedWorkerAnaliseModel()
             {
                 timestamp = timestamp, 
-                deteccoes = new List<WeedWorkerAnaliseDeteccaoModel>(deteccoes), 
+                deteccoes = new List<WeedWorkerAnaliseDeteccaoModel>(deteccoes ?? new List<WeedWorkerAnaliseDeteccaoModel>()), 
-                controle = new Dictionary<int, bool>(controle),
+                controle = new Dictionary<int, bool>(controle ?? new Dictionary<int, bool>()),
                 ervas_identificadas = ervas_identificadas?.Select(dict => new Dictionary<string, int>(dict)).ToList(),
                 height = height,
                 width = width,

AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs

@@ -1,6 +1,7 @@
 using AgroBase.Models.Operadores;
 using AgroBase.Services;
 using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -673,7 +674,84 @@ namespace AgroBase.Models
 
             //Variaveis.OperacaoEmAndamento.AtualizaInformacoesControleOperacao();
 
-            RedisService.Publish(CmdKey.ManagerWorkerRx, JsonConvert.SerializeObject(new { cmd = ManagerWorkerCommandType.AtualizarDadosControle }));
+            //RedisService.Publish(CmdKey.ManagerWorkerRx, JsonConvert.SerializeObject(new { cmd = ManagerWorkerCommandType.AtualizarDadosControle }));
+
+            AtualizarDadosControleRedis();
+        }
+
+        private void AtualizarDadosControleRedis()
+        {
+            int min_ticks_sem_resposta = 500;
+            int max_ticks_sem_resposta = 2000;
+            ManagerWorkerMessageResponseComandoModel novoComando = null;
+            try
+            {
+                string controleStr = RedisService.Get(CtxKey.DadosControle);
+                var dictParams = JObject.Parse(controleStr);
+                dictParams.TryGetValue("angulo_sp", out var _angulo);
+                dictParams.TryGetValue("velocidade_sp", out var _velocidade);
+                dictParams.TryGetValue("tipo_movimento_direcional", out var _movimento);
+                dictParams.TryGetValue("simulacao", out var _simulacao);
+                dictParams.TryGetValue("heartbeat", out var _heartbeat);
+                novoComando = new ManagerWorkerMessageResponseComandoModel()
+                {
+                    angulo = Convert.ToDouble(_angulo),
+                    percentual_velocidade = Convert.ToDouble(_velocidade),
+                    tipo_movimento = (TipoMovimentoDirecional)Convert.ToInt32(_movimento),
+                    simulacao = JsonConvert.DeserializeObject<List<double[]>>((_simulacao ?? "").ToString()),
+                    heartbeat = Convert.ToInt32(_heartbeat)
+                };
+            }
+            catch (Exception ex)
+            {
+                //MostrarLog($"Erro ao receber novo comando: {ex.Message}");
+            }
+
+            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);
+            bool mangerDestravou = (_Controle.ticks_sem_resposta.AddMilliseconds(min_ticks_sem_resposta) < agora && novoComando.heartbeat != _Controle.heartbeat);
+            if (novoComando != null && (comandoMudou || mangerDestravou))
+            {
+                _Controle.Angulo = novoComando.angulo;
+                _Controle.TipoMovimento = novoComando.tipo_movimento;
+                _Controle.PercentualVelocidadeSP = novoComando.percentual_velocidade;
+                _Controle.SimulacaoMPC = novoComando.simulacao?.Select(x => new MPCSimulacaoModel() { latitude = x[0], longitude = x[1], orientacao = x[2] }).ToList() ?? new List<MPCSimulacaoModel>();
+                Variaveis.OperacaoEmAndamento.AtualizaInformacoesControleOperacao();
+            }
+            
+            if (novoComando.heartbeat == _Controle.heartbeat)
+            {
+                if (_Controle.ticks_sem_resposta == DateTime.MinValue)
+                {
+                    _Controle.ticks_sem_resposta = agora;
+                }
+            }
+            else
+            {
+                _Controle.ticks_sem_resposta = DateTime.MinValue;
+            }
+            _Controle.heartbeat = novoComando.heartbeat;
+            if (_Controle.ticks_sem_resposta != DateTime.MinValue)
+            {
+                if (_Controle.ticks_sem_resposta.AddMilliseconds(max_ticks_sem_resposta) < agora)
+                {
+                    Console.WriteLine("Muito tempo sem receber novo comando do Manager Worker! Parando Movimento!");
+                    RedisService.AtualizarCampos(
+                        CtxKey.DadosControle,
+                        ("velocidade_sp", 0)
+                    );
+                }
+                else if (_Controle.ticks_sem_resposta.AddMilliseconds(min_ticks_sem_resposta) < agora)
+                {
+                    Console.WriteLine("Muito tempo sem receber novo comando do Manager Worker! Reduzindo Velocidade!");
+                    RedisService.AtualizarCampos(
+                        CtxKey.DadosControle,
+                        ("velocidade_sp", _Controle.PercentualVelocidadeMin)
+                    );
+                }
+            }
         }
 
 

AgroBase/AgroBase/Services/LoRaBaseService.cs

@@ -379,7 +379,12 @@ namespace AgroBase.Services
                     equipamento = new LoRaProtocoloTransmissaoModel()
                     {
                         EnderecoCarro = remetente,
-                        Coordenadas = new LoRaProtocoloTransmissaoCoordenadasModel()
+                        Coordenadas = new LoRaProtocoloTransmissaoCoordenadasModel(),
+                        CodigoFalha = 0, 
+                        Momento = DateTime.Now,
+                        Operacao = new LoRaProtocoloTransmissaoOperacaoModel(),
+                        Sensores = new LoRaProtocoloTransmissaoSensoresModel(),
+                        RecebidoEm = DateTime.Now,
                     };
                     LeituraDadosOperacao.Add(equipamento);
                 }
@@ -404,6 +409,50 @@ namespace AgroBase.Services
                             double _velocidade = LoRaSerializer.DescompactarDecimal(dados, 4);
                             double _orientacao = LoRaSerializer.DescompactarDecimal(dados, 6);
                             equipamento.Coordenadas.Orientacao = _orientacao;
+                            equipamento.Coordenadas.Altitude = _altitude;
+                            equipamento.Coordenadas.Velocidade = _velocidade;
+                            break;
+                        }
+                    case DadosLoRaParse.GpsQualidade:
+                        {
+                            bool _inicializado = dados[2] == 1;
+                            TiposCorrecaoGPS _fix = (TiposCorrecaoGPS)((int)dados[3]);
+                            int _n_satelites = (int)dados[4];
+                            double _precisao = LoRaSerializer.DescompactarDecimal(dados, 5);
+                            equipamento.Coordenadas.Inicializado = _inicializado;
+                            equipamento.Coordenadas.Correcao = _fix;
+                            equipamento.Coordenadas.NSatelites = _n_satelites;
+                            equipamento.Coordenadas.Precisao = _precisao;
+                            break;
+                        }
+                    case DadosLoRaParse.ComandoControle:
+                        {
+                            Direcao _direcao = (Direcao)((int)dados[2]);
+                            int _velocidade_sp =(int)dados[3];
+                            TipoMovimentoDirecional _tipo = (TipoMovimentoDirecional)((int)dados[4]);
+                            int _angulo_sp = (int)dados[5];
+                            int _velocidade_mp = (int)dados[6];
+
+                            equipamento.Controle.direcao = _direcao;
+                            equipamento.Controle.percentual_velocidade_sp = _velocidade_sp;
+                            equipamento.Controle.tipo_movimento = _tipo;
+                            equipamento.Controle.angulo_sp = _angulo_sp;
+                            equipamento.Controle.velocidade_mp = _velocidade_mp;
+                            break;
+                        }
+                    case DadosLoRaParse.DadosOperacao:
+                        {
+                            StatusOperacao _status_operacao = (StatusOperacao)((int)dados[2]);
+                            StatusCarroMapa _status_carro = (StatusCarroMapa)((int)dados[3]);
+                            int _percentual_operacao = (int)dados[4];
+                            int _percentual_rua = (int)dados[5];
+                            int _idx_rua = (int)dados[6];
+
+                            equipamento.Operacao.statusOperacao = _status_operacao;
+                            equipamento.Operacao.statusCarro = _status_carro;
+                            equipamento.Operacao.PercentualOperacao = _percentual_operacao;
+                            equipamento.Operacao.PercentualRua = _percentual_rua;
+                            equipamento.Operacao.idxRuaAtual = _idx_rua;
                             break;
                         }
                     case DadosLoRaParse.DadosControle:

AgroBase/AgroBase/Services/LoRaEspService.cs

@@ -102,6 +102,12 @@ namespace AgroBase.Services
             {
                 var _Sensoriamento = Variaveis.OperacaoEmAndamento.Sensoriamento;
 
+                List<byte[]> dadosOperacao = LoRaSerializer.SerializeOperacao(_Sensoriamento);
+                foreach (var dado in dadosOperacao)
+                {
+                    Variaveis.LoraService?.EnviarDadosLoRaViaCAN(dado);
+                }
+
                 List<byte[]> dadosGps = LoRaSerializer.SerializeGPS(_Sensoriamento.Gps);
                 foreach (var dado in dadosGps)
                 {
@@ -122,6 +128,7 @@ namespace AgroBase.Services
             GpsGerais = (int)CanMessagePosicaoDados.Command6, 
             ComandoControle = (int)CanMessagePosicaoDados.Command7, 
             DadosControle = (int)CanMessagePosicaoDados.Command8, 
+            DadosOperacao = (int)CanMessagePosicaoDados.Command9,
         }
 
         public enum LoRaCaracteresEspeciais

AgroBase/AgroBase/Services/LoRaSerializer.cs

@@ -2,7 +2,6 @@
 using System;
 using System.Collections.Generic;
 using System.Linq;
-using System.Numerics;
 using System.Text;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
@@ -301,6 +300,23 @@ namespace AgroBase.Services
             return dados.ToArray();
         }
 
+        public static List<byte[]> SerializeOperacao(OperacaoSensoriamentoLogModel sensoriamento)
+        {
+            List<byte> operacao = new List<byte>();
+            operacao.AddRange(CanPrefix(DadosLoRaParse.DadosOperacao));
+            operacao.Add((byte)(sensoriamento.StatusOperacao)); // 1 byte
+            operacao.Add((byte)sensoriamento.Trajetoria.StatusCarro); // 1 byte
+            operacao.Add((byte)sensoriamento.Trajetoria.PercentualOperacao); // 1 byte
+            operacao.Add((byte)sensoriamento.Trajetoria.PercentualRuaAtual); // 1 byte
+            operacao.Add((byte)sensoriamento.Trajetoria.IdxRuaAtual); // 1 byte
+
+            return new List<byte[]>()
+            {
+                operacao.ToArray(),
+            };
+        }
+
+
         private static byte[] CompactarDecimal(double precisaoCm)
         {
             ushort valor = (ushort)Math.Round(precisaoCm); // Arredonda para inteiro

AgroBase/AgroBase/Services/Operadores/ManagerWorkerService.cs

@@ -57,12 +57,14 @@ namespace AgroBase.Services.Operadores
                 dictParams.TryGetValue("velocidade_sp", out object _velocidade);
                 dictParams.TryGetValue("tipo_movimento_direcional", out object _movimento);
                 dictParams.TryGetValue("simulacao", out object _simulacao);
+                dictParams.TryGetValue("heartbeat", out object _heartbeat);
                 novoComando = new ManagerWorkerMessageResponseComandoModel()
                 {
                     angulo = Convert.ToDouble(_angulo),
                     percentual_velocidade = Convert.ToDouble(_velocidade),
                     tipo_movimento = (Enums.TipoMovimentoDirecional)Convert.ToInt32(_movimento),
-                    simulacao = JsonConvert.DeserializeObject<List<double[]>>((_simulacao ?? "").ToString())
+                    simulacao = JsonConvert.DeserializeObject<List<double[]>>((_simulacao ?? "").ToString()),
+                    heartbeat = Convert.ToInt32(_heartbeat)
                 };
             }
             catch (Exception ex)

AgroBase/AgroBase/Services/Operadores/OperadoresService.cs

@@ -69,11 +69,11 @@ namespace AgroBase.Services.Operadores
 
         private async Task tmrHearthbeat_Tick()
         {
-            Conectado = true;
+            Conectado = false;
             foreach (var worker in Workers)
             {
                 worker.AtualizarSaude();
-                Conectado &= worker.Saude.conectado;
+                Conectado |= worker.Saude.conectado;
             }
 
             if (!Conectado)

AgroBase/AgroBase/Services/PythonService.cs

@@ -209,7 +209,7 @@ namespace AgroBase.Services
 
         public static void EncerrarProcessos(int processId = -1)
         {
-            //return;
+            return;
             foreach (var processo in Process.GetProcessesByName("python"))
             {
                 try

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState

@@ -22,5 +22,5 @@
       "top_topics_and_observing_domains": [  ]
    } ],
    "hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
-   "next_scheduled_calculation_time": "13398455528649568"
+   "next_scheduled_calculation_time": "13398455528649993"
 }

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG

@@ -1,3 +1,3 @@
-2025/07/30-13:45:05.219 7cc4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/07/30-21:33:49.609 56e4 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/07/30-13:45:05.225 7cc4 Recovering log #3
+2025/07/30-21:33:49.618 56e4 Recovering log #3
-2025/07/30-13:45:05.228 7cc4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/07/30-21:33:49.621 56e4 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old

@@ -1,3 +1,3 @@
-2025/07/30-13:29:47.201 865c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/07/30-21:19:10.001 514 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/07/30-13:29:47.207 865c Recovering log #3
+2025/07/30-21:19:10.034 514 Recovering log #3
-2025/07/30-13:29:47.212 865c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/07/30-21:19:10.037 514 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 

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":"13398454400339748","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":16690},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:609:f200:c506:7fc8:b135:b811","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}
+{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13398482057963342","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":11735},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"192.168.1.10","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/TransportSecurity

@@ -1 +1 @@
-{"sts":[{"expiry":1785430400.33992,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1753894400.339923}],"version":2}
+{"sts":[{"expiry":1785458055.97563,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1753922055.975635}],"version":2}

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Session Storage/LOG

@@ -1,3 +1,3 @@
-2025/07/30-13:55:20.640 7cc4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/07/30-21:42:34.039 5418 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/07/30-13:55:20.641 7cc4 Recovering log #3
+2025/07/30-21:42:34.041 5418 Recovering log #3
-2025/07/30-13:55:20.644 7cc4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/07/30-21:42:34.045 5418 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Session Storage/LOG.old

@@ -1,3 +1,3 @@
-2025/07/30-13:30:08.915 865c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/07/30-21:28:06.850 514 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/07/30-13:30:08.916 865c Recovering log #3
+2025/07/30-21:28:06.855 514 Recovering log #3
-2025/07/30-13:30:08.919 865c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/07/30-21:28:06.864 514 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Site Characteristics Database/LOG

@@ -1,3 +1,3 @@
-2025/07/30-13:45:05.146 2cb0 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/07/30-21:33:49.527 1e74 Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/07/30-13:45:05.147 2cb0 Recovering log #7
+2025/07/30-21:33:49.529 1e74 Recovering log #12
-2025/07/30-13:45:05.148 2cb0 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/07/30-21:33:49.529 1e74 Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000012.log 

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Site Characteristics Database/LOG.old

@@ -1,3 +1,3 @@
-2025/07/30-13:29:47.127 741c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/07/30-21:19:09.902 3b4c Reusing MANIFEST C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/07/30-13:29:47.129 741c Recovering log #7
+2025/07/30-21:19:09.904 3b4c Recovering log #12
-2025/07/30-13:29:47.130 741c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/07/30-21:19:09.904 3b4c Reusing old log C:\ZendionINC\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000012.log 

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/gerenciador.py

@@ -23,7 +23,7 @@ class ManagerWorker:
             self.definir_processador()
             if self.processador:
                 comando = self.processador.processar()
-                if comando is not None:
+                if comando is not None and False:
                     ContextoGlobalRedis.publicar_comando(CmdKey.ManagerWorkerTx, { "cmd": ManagerWorkerCommandType.EnviarDadosControle.value, "params": comando })
             else:
                 mostrar_log("Processador nao definido")

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/main.py

@@ -21,7 +21,7 @@ def main():
             manager.executar()
 
     manager = ManagerWorker()
-    fila = WorkerFilaMensagens("controle", fila_callback, 1, True, 120)
+    fila = WorkerFilaMensagens("controle", fila_callback, 1, True, 100)
 
     frequencia_loop = 5 # hz
 
@@ -33,8 +33,8 @@ def main():
             t0 = agora
             latencia = 0.0
             try:
-                pass
+                #pass
-                #latencia = manager.executar()
+                latencia = manager.executar()
             except KeyboardInterrupt:
                 mostrar_log("🛑 Encerrando Manager Worker...")
                 break
@@ -49,8 +49,8 @@ def main():
                 latencia=latencia
             )
 
-            #delay_corrigido = max(0, (1.0 / frequencia_loop) - latencia)
+            delay_corrigido = max(0, (1.0 / frequencia_loop) - latencia) # 0.1
-            time.sleep(0.1)
+            time.sleep(delay_corrigido)
 
     def redis_callback(dados):
         acao = ManagerWorkerCommandType(dados.get("cmd", 0))
@@ -65,6 +65,7 @@ def main():
             #mostrar_log("Adicionado na fila")
             fila.adicionar(acao)
             #manager.executar()
+            pass
         else:
             mostrar_log(f"⚠️ Comando desconhecido: {acao.name}")
 

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/processadores/padroes.py

@@ -4,18 +4,21 @@ from manager_worker.config import mostrar_log
 from shared.contexto_global_redis import ContextoGlobalRedis, CtxKey
 
 def comando_controle(percentual_velocidade: float, angulo: float, tipo_movimento: int, simulacao = []):
+    heartbeat = 1 if ContextoGlobalRedis.get_controle().get("heartbeat", 0) == 0 else 0
     ContextoGlobalRedis.atualizar_ctx_dict(
         CtxKey.DadosControle, 
         angulo_sp=angulo, 
         tipo_movimento_direcional=tipo_movimento,
         velocidade_sp=percentual_velocidade,
-        simulacao=simulacao
+        simulacao=simulacao,
+        heartbeat=heartbeat
     )
     return {
         "velocidade_sp": percentual_velocidade,
         "angulo_sp": angulo,
         "tipo_movimento_direcional": tipo_movimento,
-        "simulacao": simulacao
+        "simulacao": simulacao,
+        "heartbeat": heartbeat
     }
 
 def comando_parado():