iniciado weed worker

AgroBase/AgroBase/AgroBase.csproj

@@ -536,6 +536,7 @@
     <Compile Include="Models\Operadores\ManagerWorkerModel.cs" />
     <Compile Include="Models\Operadores\OperadoresModels.cs" />
     <Compile Include="Models\Operadores\VisualWorkerModel.cs" />
+    <Compile Include="Models\Operadores\WeedWorkerModel.cs" />
     <Compile Include="Models\PerformanceModel.cs" />
     <Compile Include="Models\PIDModel.cs" />
     <Compile Include="Models\PZEMModel.cs" />
@@ -586,6 +587,7 @@
     <Compile Include="Services\Operadores\ManagerWorkerService.cs" />
     <Compile Include="Services\Operadores\OperadoresService.cs" />
     <Compile Include="Services\Operadores\VisualWorkerService.cs" />
+    <Compile Include="Services\Operadores\WeedWorkerService.cs" />
     <Compile Include="Services\PythonService.cs" />
     <Compile Include="Services\PZEMService.cs" />
     <Compile Include="Services\RedisService.cs" />

AgroBase/AgroBase/Forms/IHM/frmAjustes.cs

@@ -266,10 +266,14 @@ namespace AgroBase.Forms.IHM
 
             cmbCameraCaminho.Items.Clear();
             cmbCameraCaminho.Items.AddRange(ListaCameras.Select(x => x.Description).ToArray());
-            string cameraSelecionada = ListaCameras.FirstOrDefault(x => x.Id == CameraCaminho.Id)?.Description ?? "";
+            var cameraSelecionada = ListaCameras.FirstOrDefault(x => x.Id == CameraCaminho.Id);
             if (cameraSelecionada != null)
             {
-                cmbCameraCaminho.SelectedIndex = cmbCameraCaminho.Items.IndexOf(cameraSelecionada);
+                cmbCameraCaminho.SelectedIndex = cmbCameraCaminho.Items.IndexOf(cameraSelecionada.Description);
+            }
+            else
+            {
+                cmbCameraCaminho.Text = CameraCaminho.Id;
             }
         }
 
@@ -325,15 +329,15 @@ namespace AgroBase.Forms.IHM
                 CamerasSolo.Add(new OAKCameraModel());
             }
 
-            string cameraSelecionada = ListaCameras.FirstOrDefault(x => x.Id == CamerasSolo[idx].Id)?.Description ?? "";
+            var cameraSelecionada = ListaCameras.FirstOrDefault(x => x.Id == CamerasSolo[idx].Id);
 
-            if (ListaCameras.Any(x => x.Id == cameraSelecionada))
+            if (cameraSelecionada != null)
             {
-                cmbCamera.SelectedIndex = cmbCamera.Items.IndexOf(cameraSelecionada);
+                cmbCamera.SelectedIndex = cmbCamera.Items.IndexOf(cameraSelecionada.Description);
             }
             else
             {
-                cmbCamera.Text = cameraSelecionada;
+                cmbCamera.Text = CamerasSolo[idx].Id;
             }
         }
 

AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs

@@ -230,7 +230,7 @@ namespace AgroBase.Forms.IHM
                 Task.Run(async () =>
                 {
                     ReqFrameSnr = true;
-                    OAKCameraFrameModel frame = await VisualWorkerService.GetCameraFrame(VisualWorkerFrameType.Rgb);
+                    OAKCameraFrameModel frame = await VisualWorkerService.GetCameraFrame(CameraFrameType.Rgb);
                     pnlCameraCaminho.BackgroundImage?.Dispose();
                     try { pnlCameraCaminho.BackgroundImage = frame?.image(); } catch { }
                     lblUltimaLeituraCaminho.Text = $"Última Leitura Caminho: " + frame?.timestamp.ToString("HH:mm:ss");

AgroBase/AgroBase/Forms/IHM/frmIHM.Designer.cs

@@ -36,7 +36,7 @@
             this.lblMqtt = new System.Windows.Forms.Label();
             this.lblD_Sen_sCOR_36V = new System.Windows.Forms.Label();
             this.lblD_Sen_sLRA = new System.Windows.Forms.Label();
-            this.lblD_Sen_sIMU = new System.Windows.Forms.Label();
+            this.lblD_Imu = new System.Windows.Forms.Label();
             this.lblD_Mov_DT = new System.Windows.Forms.Label();
             this.lblD_Dir_DF = new System.Windows.Forms.Label();
             this.lblD_Dir_EF = new System.Windows.Forms.Label();
@@ -45,7 +45,6 @@
             this.lblD_Dir_ET = new System.Windows.Forms.Label();
             this.lblD_Mov_ET = new System.Windows.Forms.Label();
             this.lblD_Cam_0 = new System.Windows.Forms.Label();
-            this.lblD_Cam_1 = new System.Windows.Forms.Label();
             this.lblD_Snr = new System.Windows.Forms.Label();
             this.lblDiagnosticos = new System.Windows.Forms.Label();
             this.lblOperacao = new System.Windows.Forms.Label();
@@ -104,7 +103,7 @@
             // 
             this.lblD_Atu.AutoSize = true;
             this.lblD_Atu.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.lblD_Atu.Location = new System.Drawing.Point(210, 547);
+            this.lblD_Atu.Location = new System.Drawing.Point(211, 483);
             this.lblD_Atu.Name = "lblD_Atu";
             this.lblD_Atu.Size = new System.Drawing.Size(48, 24);
             this.lblD_Atu.TabIndex = 4;
@@ -163,24 +162,24 @@
             this.lblD_Sen_sLRA.AutoSize = true;
             this.lblD_Sen_sLRA.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.lblD_Sen_sLRA.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.lblD_Sen_sLRA.Location = new System.Drawing.Point(213, 417);
+            this.lblD_Sen_sLRA.Location = new System.Drawing.Point(213, 418);
             this.lblD_Sen_sLRA.Name = "lblD_Sen_sLRA";
             this.lblD_Sen_sLRA.Size = new System.Drawing.Size(46, 24);
             this.lblD_Sen_sLRA.TabIndex = 15;
             this.lblD_Sen_sLRA.Text = "LRA";
             this.lblD_Sen_sLRA.Click += new System.EventHandler(this.lblModulo_Click);
             // 
-            // lblD_Sen_sIMU
+            // lblD_Imu
             // 
-            this.lblD_Sen_sIMU.AutoSize = true;
+            this.lblD_Imu.AutoSize = true;
-            this.lblD_Sen_sIMU.BackColor = System.Drawing.Color.Lavender;
+            this.lblD_Imu.BackColor = System.Drawing.Color.Lavender;
-            this.lblD_Sen_sIMU.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.lblD_Imu.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.lblD_Sen_sIMU.Location = new System.Drawing.Point(14, 547);
+            this.lblD_Imu.Location = new System.Drawing.Point(14, 547);
-            this.lblD_Sen_sIMU.Name = "lblD_Sen_sIMU";
+            this.lblD_Imu.Name = "lblD_Imu";
-            this.lblD_Sen_sIMU.Size = new System.Drawing.Size(43, 24);
+            this.lblD_Imu.Size = new System.Drawing.Size(43, 24);
-            this.lblD_Sen_sIMU.TabIndex = 16;
+            this.lblD_Imu.TabIndex = 16;
-            this.lblD_Sen_sIMU.Text = "IMU";
+            this.lblD_Imu.Text = "IMU";
-            this.lblD_Sen_sIMU.Click += new System.EventHandler(this.lblModulo_Click);
+            this.lblD_Imu.Click += new System.EventHandler(this.lblModulo_Click);
             // 
             // lblD_Mov_DT
             // 
@@ -269,26 +268,15 @@
             // lblD_Cam_0
             // 
             this.lblD_Cam_0.AutoSize = true;
-            this.lblD_Cam_0.BackColor = System.Drawing.Color.Lavender;
+            this.lblD_Cam_0.BackColor = System.Drawing.Color.White;
             this.lblD_Cam_0.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.lblD_Cam_0.Location = new System.Drawing.Point(85, 470);
+            this.lblD_Cam_0.Location = new System.Drawing.Point(210, 547);
             this.lblD_Cam_0.Name = "lblD_Cam_0";
             this.lblD_Cam_0.Size = new System.Drawing.Size(52, 24);
             this.lblD_Cam_0.TabIndex = 29;
             this.lblD_Cam_0.Text = "CAM";
             this.lblD_Cam_0.Click += new System.EventHandler(this.lblModulo_Click);
             // 
-            // lblD_Cam_1
-            // 
-            this.lblD_Cam_1.AutoSize = true;
-            this.lblD_Cam_1.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.lblD_Cam_1.Location = new System.Drawing.Point(334, 470);
-            this.lblD_Cam_1.Name = "lblD_Cam_1";
-            this.lblD_Cam_1.Size = new System.Drawing.Size(52, 24);
-            this.lblD_Cam_1.TabIndex = 30;
-            this.lblD_Cam_1.Text = "CAM";
-            this.lblD_Cam_1.Click += new System.EventHandler(this.lblModulo_Click);
-            // 
             // lblD_Snr
             // 
             this.lblD_Snr.AutoSize = true;
@@ -698,7 +686,6 @@
             this.Controls.Add(this.picOperacao);
             this.Controls.Add(this.lblD_Snr);
             this.Controls.Add(this.picAjustes);
-            this.Controls.Add(this.lblD_Cam_1);
             this.Controls.Add(this.lblD_Cam_0);
             this.Controls.Add(this.picDesligar);
             this.Controls.Add(this.lblD_Dir_ET);
@@ -708,7 +695,7 @@
             this.Controls.Add(this.lblD_Mov_EF);
             this.Controls.Add(this.lblD_Dir_DF);
             this.Controls.Add(this.lblD_Mov_DT);
-            this.Controls.Add(this.lblD_Sen_sIMU);
+            this.Controls.Add(this.lblD_Imu);
             this.Controls.Add(this.lblD_Sen_sLRA);
             this.Controls.Add(this.lblD_Sen_sCOR_36V);
             this.Controls.Add(this.lblMqtt);
@@ -747,7 +734,7 @@
         private System.Windows.Forms.Label lblMqtt;
         private System.Windows.Forms.Label lblD_Sen_sCOR_36V;
         private System.Windows.Forms.Label lblD_Sen_sLRA;
-        private System.Windows.Forms.Label lblD_Sen_sIMU;
+        private System.Windows.Forms.Label lblD_Imu;
         private System.Windows.Forms.Label lblD_Mov_DT;
         private System.Windows.Forms.Label lblD_Dir_DF;
         private System.Windows.Forms.Label lblD_Dir_EF;
@@ -759,7 +746,6 @@
         private System.Windows.Forms.PictureBox picOperacao;
         private System.Windows.Forms.PictureBox picDesligar;
         private System.Windows.Forms.Label lblD_Cam_0;
-        private System.Windows.Forms.Label lblD_Cam_1;
         private System.Windows.Forms.Label lblD_Snr;
         private System.Windows.Forms.PictureBox picAjustes;
         private System.Windows.Forms.Label lblDiagnosticos;

AgroBase/AgroBase/Forms/IHM/frmIHM.cs

@@ -188,6 +188,20 @@ namespace AgroBase.Forms.IHM
                             ? Color.DarkRed
                             : Color.DarkGreen;
                 }
+                else if (Dispositivo == T_Code.Imu)
+                {
+                    var Modulo = SerialService.DispositivosMapeados.FirstOrDefault(x => x.Dispositivo == T_Code.Snr);
+                    bool modDesconectado = Modulo == null || Modulo.Status == StatusModulo.Desconectado;
+                    var saudeImu = HealthWorkerService.ModulosSaude.FirstOrDefault(x => x.modulo == Dispositivo);
+                    var CameraCaminho = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraCaminho;
+                    lbl.ForeColor = 
+                        modDesconectado || saudeImu == null ? Color.Black
+                        : saudeImu.status == StatusModulo.Conectado ? Color.Blue
+                        : saudeImu.status == StatusModulo.Falha ? Color.DarkRed
+                        : saudeImu.status == StatusModulo.Alerta ? Color.Gold
+                        : saudeImu.status == StatusModulo.Operante ? Color.DarkGreen
+                        : Color.Black;
+                }
                 else if (Dispositivo == T_Code.Sen)
                 {
                     var Modulo = SerialService.DispositivosMapeados.FirstOrDefault(x => x.Dispositivo == Dispositivo);
@@ -195,15 +209,12 @@ namespace AgroBase.Forms.IHM
                     if (Mod_ID.ToLower() == Dispositivo.ToString().ToLower())
                     {
                         lbl.ForeColor =
-                            modDesconectado
+                            modDesconectado ? Color.Black : 
-                            ? Color.Black
+                            Modulo.Status == StatusModulo.Conectado ? Color.Blue : 
-                            : Modulo.Status == StatusModulo.Conectado
+                            Modulo.Status == StatusModulo.Falha ? Color.DarkRed :
-                                ? Color.Blue
+                            Modulo.Status == StatusModulo.Alerta ? Color.Gold :
-                                : Modulo.Status == StatusModulo.Alerta ? 
+                            Modulo.Status == StatusModulo.Operante ? Color.DarkGreen
-                                Color.Gold :
+                            : Color.Black;
-                                Modulo.Status == StatusModulo.Operante
-                                    ? Color.DarkGreen
-                                    : Color.DarkRed;
                     }
                     else
                     {

AgroBase/AgroBase/Forms/frmInstancial.cs

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

AgroBase/AgroBase/Forms/frmOperarioSonar.cs

@@ -79,46 +79,46 @@ namespace AgroBase.Forms
 
         private async void btnLeituraRGB_Click(object sender, EventArgs e)
         {
-            EnviarComandoReqFrame(VisualWorkerFrameType.Rgb);
+            EnviarComandoReqFrame(CameraFrameType.Rgb);
         }
 
         private void btnLeituraHeatmap_Click(object sender, EventArgs e)
         {
-            EnviarComandoReqFrame(VisualWorkerFrameType.Heatmap);
+            EnviarComandoReqFrame(CameraFrameType.Heatmap);
         }
 
         private void btnLeituraRadar2D_Click(object sender, EventArgs e)
         {
-            EnviarComandoReqFrame(VisualWorkerFrameType.RadarTopDown);
+            EnviarComandoReqFrame(CameraFrameType.RadarTopDown);
         }
 
         private void btnLeituraSegmentacaoSemantica_Click(object sender, EventArgs e)
         {
-            EnviarComandoReqFrame(VisualWorkerFrameType.Segmentacao);
+            EnviarComandoReqFrame(CameraFrameType.Segmentacao);
         }
 
-        private async void EnviarComandoReqFrame(VisualWorkerFrameType tipo)
+        private async void EnviarComandoReqFrame(CameraFrameType tipo)
         {
             OAKCameraFrameModel frame = await VisualWorkerService.GetCameraFrame(tipo);
 
             PictureBox pic =
-                tipo == VisualWorkerFrameType.Rgb ? picRGB :
+                tipo == CameraFrameType.Rgb ? picRGB :
-                tipo == VisualWorkerFrameType.Heatmap ? picHeatmap :
+                tipo == CameraFrameType.Heatmap ? picHeatmap :
-                tipo == VisualWorkerFrameType.RadarTopDown ? picRadar2D :
+                tipo == CameraFrameType.RadarTopDown ? picRadar2D :
-                tipo == VisualWorkerFrameType.Segmentacao ? picSegmentacaoSemantica :
+                tipo == CameraFrameType.Segmentacao ? picSegmentacaoSemantica :
                 new PictureBox();
             Label lbl =
-                tipo == VisualWorkerFrameType.Rgb ? lblLeituraRGB :
+                tipo == CameraFrameType.Rgb ? lblLeituraRGB :
-                tipo == VisualWorkerFrameType.Heatmap ? lblLeituraHeatmap :
+                tipo == CameraFrameType.Heatmap ? lblLeituraHeatmap :
-                tipo == VisualWorkerFrameType.RadarTopDown ? lblLeituraRadar2D :
+                tipo == CameraFrameType.RadarTopDown ? lblLeituraRadar2D :
-                tipo == VisualWorkerFrameType.Segmentacao ? lblLeituraSegmentacaoSemantica :
+                tipo == CameraFrameType.Segmentacao ? lblLeituraSegmentacaoSemantica :
                 new Label();
 
             pic.Image?.Dispose();
             try { pic.Image = frame?.image(); } catch { }
             lbl.Text = $"Leitura em: " + frame?.timestamp.ToString("dd/MM/yyyy HH:mm:ss");
 
-            if (tipo == VisualWorkerFrameType.RadarTopDown && VisualWorkerService.DadosLeitura.Analises != null)
+            if (tipo == CameraFrameType.RadarTopDown && VisualWorkerService.DadosLeitura.Analises != null)
             {
                 //pic.Image = VariaveisOperacao.Operadores.VisualWorker.DadosLeitura.Leitura.obj.radar_2d.PlotarAnalsie(frame.image);
 
@@ -152,7 +152,7 @@ namespace AgroBase.Forms
             var analise = VisualWorkerService.DadosLeitura.Analises;
 
             lblLeituraDebug.Text = $"Leitura em: " + (analise?.timestamp ?? DateTime.MinValue).ToString("dd/MM/yyyy HH:mm:ss");
-            OAKCameraFrameModel frame = VisualWorkerService.DadosLeitura.CameraFrames[VisualWorkerFrameType.Heatmap];
+            OAKCameraFrameModel frame = VisualWorkerService.DadosLeitura.CameraFrames[CameraFrameType.Heatmap];
             picDebug.Image?.Dispose();
             picDebug.Image = analise.PlotarAnalise(frame);
 

AgroBase/AgroBase/Models/GeneralJoystick.cs

@@ -687,6 +687,7 @@ namespace AgroBase
                     var Bico = DispAtu.Dados.BicosPulverizadores.FirstOrDefault(x => x.ID == ID);
                     if (Bico != null)
                     {
+                        Console.WriteLine($"Bico {Bico.Posicao} atualizado de {Bico.ComandoAtuar} para {Status}");
                         Bico.ComandoAtuar = Status;
                         (id_num, posicao, data) = Bico.ProtocoloComando();
                     }

AgroBase/AgroBase/Models/OAKCameraModel.cs

@@ -18,7 +18,7 @@ namespace AgroBase.Models
         {
             get
             {
-                return $"({Index}) {Name}";
+                return $"({Index}) {Name ?? Id}";
             }
         }
         public string State { get; set; }
@@ -36,7 +36,7 @@ namespace AgroBase.Models
         public double DistanciaMinimaVisao { get; set; } = 500;
         public double PercentualAlturaSolo { get; set; } = 30;
 
-        public Dictionary<VisualWorkerFrameType, OAKCameraFrameModel> frames
+        public Dictionary<CameraFrameType, OAKCameraFrameModel> frames
         {
             get
             {
@@ -44,14 +44,16 @@ namespace AgroBase.Models
                 {
                     case T_Code.Snr:
                         return VisualWorkerService.DadosLeitura.CameraFrames;
+                    case T_Code.Cam:
+                        return WeedWorkerService.DadosLeitura.CameraFrames;
                     default:
-                        return new Dictionary<VisualWorkerFrameType, OAKCameraFrameModel>();
+                        return new Dictionary<CameraFrameType, OAKCameraFrameModel>();
                 }
             }
         }
 
         
-        public async Task<Bitmap> GetNewFrame(VisualWorkerFrameType tipo = VisualWorkerFrameType.Rgb)
+        public async Task<Bitmap> GetNewFrame(CameraFrameType tipo = CameraFrameType.Rgb)
         {
             OAKCameraFrameModel frame = null;
             switch (Dispositivo)
@@ -59,18 +61,24 @@ namespace AgroBase.Models
                 case T_Code.Snr:
                     frame = await VisualWorkerService.GetCameraFrame(tipo);
                     break;
+                case T_Code.Cam:
+                    frame = await WeedWorkerService.GetCameraFrame(tipo);
+                    break;
             }
             Bitmap bmp = frame?.image();
             return bmp;
         }
 
-        public void SaveFrames(List<VisualWorkerFrameType> frames, string nome, string caminho)
+        public void SaveFrames(List<CameraFrameType> frames, string nome, string caminho)
         {
             switch (Dispositivo)
             {
                 case T_Code.Snr:
                     VisualWorkerService.SaveCameraFrames(frames, nome, caminho);
                     break;
+                case T_Code.Cam:
+                    WeedWorkerService.SaveCameraFrames(frames, nome, caminho);
+                    break;
             }
         }
         

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -648,6 +648,8 @@ namespace AgroBase.Models
 
             GPSTrajetoria = new List<GPSModel>();
 
+            Controle.BicosAtuados = DispAtu.Dados.BicosPulverizadores.Select(x => x.Clone()).ToList();
+
             await RealizarCalibragemInicialAsync();
 
             if (Modo == ModoOperacao.Manual)
@@ -832,30 +834,45 @@ namespace AgroBase.Models
         {
             if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.MapaGPS)
             {
-                Variaveis.OperacaoEmAndamento.AtualizarDadosControle(false);
+                Variaveis.OperacaoEmAndamento.AtualizarDadosControleMovimento(false);
+            }
+            if (Variaveis.OperacaoEmAndamento.Controle.PulverizadorAutomatico)
+            {
+                Variaveis.OperacaoEmAndamento.AtualizarDadosControleAtuador(false);
             }
         }
 
-        public void AtualizarDadosControle(bool ForcarEnvio)
+        public void AtualizarDadosControleAtuador(bool ForcarEnvio)
         {
             DateTime Agora = DateTime.Now;
 
             var _Controle = Variaveis.OperacaoEmAndamento.Controle;
 
-            foreach (var Ctrl in _Controle.TiposControle)
+            if (!_Controle.PulverizadorAutomatico)
+                return;
+
+            foreach (var Ctrl in _Controle.TiposControle.Where(x => x.Tipo == T_Code.Atu))
             {
                 if (ForcarEnvio || ((Agora - Ctrl.UltimoComando).TotalMilliseconds > Ctrl.DelayEnvioComando))
                 {
-                    if (Ctrl.Tipo == T_Code.Atu && !_Controle.PulverizadorAutomatico)
+                    var Protocolos = EnviarProtocoloComando(Variaveis.OperacaoEmAndamento.DispAtu, Ctrl.Tipo, ForcarEnvio);
-                    {
+                    Ctrl.UltimoComando = Agora;
-                        return;
+                    Ctrl.Comandos.AddRange(Protocolos);
+                }
+            }
         }
 
-                    IDispositivosService disp = Ctrl.Tipo == T_Code.Atu ?
+        public void AtualizarDadosControleMovimento(bool ForcarEnvio)
-                        (IDispositivosService)Variaveis.OperacaoEmAndamento.DispAtu :
+        {
-                        (IDispositivosService)Variaveis.OperacaoEmAndamento.DispMvd;
+            DateTime Agora = DateTime.Now;
 
-                    var Protocolos = EnviarProtocoloComando(disp, Ctrl.Tipo, ForcarEnvio);
+            var _Controle = Variaveis.OperacaoEmAndamento.Controle;
+
+            foreach (var Ctrl in _Controle.TiposControle.Where(x => x.Tipo != T_Code.Atu))
+            {
+                if (ForcarEnvio || ((Agora - Ctrl.UltimoComando).TotalMilliseconds > Ctrl.DelayEnvioComando))
+                {
+                    var Protocolos = EnviarProtocoloComando(Variaveis.OperacaoEmAndamento.DispMvd, Ctrl.Tipo, ForcarEnvio);
                     Ctrl.UltimoComando = Agora;
                     Ctrl.Comandos.AddRange(Protocolos);
                 }
@@ -942,7 +959,17 @@ namespace AgroBase.Models
             }
             else if (Dispositivo.Dados is AtuadorModel)
             {
-                if (ForcarEnvio || _ControleAnterior.BicosAtuados.Count() >= _Controle.BicosAtuados.Count())
+                bool AlteracaoDeEstado = false;
+                for (int i = 0; i < _Controle.BicosAtuados.Count; i++)
+                {
+                    if (_Controle.BicosAtuados[i].ComandoAtuar != _ControleAnterior.BicosAtuados[i].ComandoAtuar)
+                    {
+                        AlteracaoDeEstado = true;
+                        break;
+                    }
+                }
+
+                if (ForcarEnvio || AlteracaoDeEstado)
                 {
                     for (int i = 0; i < _Controle.BicosAtuados.Count; i++)
                     {
@@ -1202,7 +1229,7 @@ namespace AgroBase.Models
 
             string nome = Variaveis.OperacaoEmAndamento.idxLog.ToString();
 
-            Camera.SaveFrames(new List<VisualWorkerFrameType>() { VisualWorkerFrameType.Rgb, VisualWorkerFrameType.Heatmap, VisualWorkerFrameType.RadarTopDown, VisualWorkerFrameType.Segmentacao }, nome, Caminho);
+            Camera.SaveFrames(new List<CameraFrameType>() { CameraFrameType.Rgb, CameraFrameType.Heatmap, CameraFrameType.RadarTopDown, CameraFrameType.Segmentacao }, nome, Caminho);
         }
 
 
@@ -1418,7 +1445,7 @@ namespace AgroBase.Models
                 Angulo = Angulo,
                 Angulo_Max = Angulo_Max, 
                 Angulo_Min = Angulo_Min, 
-                BicosAtuados = new List<AtuadorBicoModel>(BicosAtuados), 
+                BicosAtuados = BicosAtuados.Select(x => x.Clone()).ToList(), 
                 Direcao = Direcao, 
                 PercentualInicioPulverizacao = PercentualInicioPulverizacao, 
                 PercentualVelocidadeSP = PercentualVelocidadeSP, 

AgroBase/AgroBase/Models/Operadores/CameraWorkerModel.cs

@@ -55,5 +55,14 @@ namespace AgroBase.Models.Operadores
     {
         ScriptCarregado = 1,
     }
+
+    public enum CameraFrameType
+    {
+        Rgb = 1,
+        Heatmap = 2,
+        RadarTopDown = 3,
+        Segmentacao = 4,
+        Debug = 5
+    }
 }
 

AgroBase/AgroBase/Models/Operadores/VisualWorkerModel.cs

@@ -12,7 +12,7 @@ namespace AgroBase.Models.Operadores
         public bool Pronto { get; set; }
         public DateTime ProntoEm { get; set; }
         public DateTime UltimaMensagem { get; set; }
-        public Dictionary<VisualWorkerFrameType, OAKCameraFrameModel> CameraFrames { get; set; }
+        public Dictionary<CameraFrameType, OAKCameraFrameModel> CameraFrames { get; set; } = new Dictionary<CameraFrameType, OAKCameraFrameModel>();
         //public WorkerMessageModel<VisualWorkerMessageResponseModel> Leitura { get; set; } = new WorkerMessageModel<VisualWorkerMessageResponseModel>();
         public VisualWorkerMessageAnaliseModel Analises { get; set; } = new VisualWorkerMessageAnaliseModel();
         public VisualWorkerMessageIMUModel Imu { get; set; } = new VisualWorkerMessageIMUModel();
@@ -26,7 +26,7 @@ namespace AgroBase.Models.Operadores
                 IniciadoEm = IniciadoEm,
                 Pronto = Pronto,
                 ProntoEm = ProntoEm,
-                CameraFrames = new Dictionary<VisualWorkerFrameType, OAKCameraFrameModel>(CameraFrames ?? new Dictionary<VisualWorkerFrameType, OAKCameraFrameModel>()),
+                CameraFrames = new Dictionary<CameraFrameType, OAKCameraFrameModel>(CameraFrames ?? new Dictionary<CameraFrameType, OAKCameraFrameModel>()),
                 Analises = Analises.Clone(),
                 Imu = Imu.Clone(), 
                 //Leitura = Leitura.Clone(),
@@ -40,7 +40,7 @@ namespace AgroBase.Models.Operadores
             IniciadoEm = DateTime.MinValue;
             Pronto = false;
             ProntoEm = DateTime.MinValue;
-            CameraFrames = new Dictionary<VisualWorkerFrameType, OAKCameraFrameModel>();
+            CameraFrames = new Dictionary<CameraFrameType, OAKCameraFrameModel>();
             Analises = new VisualWorkerMessageAnaliseModel();
             Imu = new VisualWorkerMessageIMUModel();
             //Leitura = new WorkerMessageModel<VisualWorkerMessageResponseModel>();
@@ -522,13 +522,6 @@ namespace AgroBase.Models.Operadores
         SaveCameraFrames = 6, 
     }
 
-    public enum VisualWorkerFrameType
+    
-    {
-        Rgb = 1, 
-        Heatmap = 2, 
-        RadarTopDown = 3, 
-        Segmentacao = 4, 
-        Debug = 5
-    }
 
 }

AgroBase/AgroBase/Models/Operadores/WeedWorkerModel.cs

@@ -0,0 +1,47 @@
+using System;
+using System.Collections.Generic;
+
+namespace AgroBase.Models.Operadores
+{
+    public class WeedWorkerModel
+    {
+        public bool Iniciado { get; set; }
+        public DateTime IniciadoEm { get; set; }
+        public bool Pronto { get; set; }
+        public DateTime ProntoEm { get; set; }
+        public DateTime UltimaMensagem { get; set; }
+        public Dictionary<CameraFrameType, OAKCameraFrameModel> CameraFrames { get; set; } = new Dictionary<CameraFrameType, OAKCameraFrameModel>();
+
+
+        public WeedWorkerModel Clone()
+        {
+            return new WeedWorkerModel()
+            {
+                Iniciado = Iniciado,
+                IniciadoEm = IniciadoEm,
+                Pronto = Pronto,
+                ProntoEm = ProntoEm,
+                CameraFrames = new Dictionary<CameraFrameType, OAKCameraFrameModel>(CameraFrames ?? new Dictionary<CameraFrameType, OAKCameraFrameModel>()),
+            };
+        }
+
+        public void ReiniciarEstado()
+        {
+            Iniciado = false;
+            IniciadoEm = DateTime.MinValue;
+            Pronto = false;
+            ProntoEm = DateTime.MinValue;
+            CameraFrames = new Dictionary<CameraFrameType, OAKCameraFrameModel>();
+        }
+    }
+
+    public enum WeedWorkerCommandType
+    {
+        ScriptCarregado = 1,
+        IniciarCameraManager = 2,
+        AtualizarSaudeCamera = 3,
+        GetCameraFrame = 4,
+        SaveCameraFrames = 5,
+        EnviarDadosControle = 6,
+    }
+}

AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs

@@ -153,7 +153,9 @@ namespace AgroBase.Services.Operadores
                 ("largura", VariaveisEquipamento.LarguraEquipamentoMm / 1000.0),
                 ("distancia_entre_eixos", VariaveisEquipamento.DistanciaEntreEixos / 100.0),
                 ("percentual_reservatorio_min", VariaveisEquipamento.PercentualReservatorioMin),
-                ("percentual_tensao_bateria_min", VariaveisEquipamento.PercentualTensaoBateriaMin)
+                ("percentual_tensao_bateria_min", VariaveisEquipamento.PercentualTensaoBateriaMin),
+                ("camera_caminho_id", Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraCaminho.Id),
+                ("camera_solo_id", Variaveis.OperacaoEmAndamento.DispSen.Dados.CamerasSolo.FirstOrDefault()?.Id ?? "")
             );
         }
 
@@ -218,7 +220,6 @@ namespace AgroBase.Services.Operadores
                 ),
                 ("Snr", new
                     {
-                        mx_id = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraCaminho.Id,
                         percentual_altura_solo = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraCaminho.PercentualAlturaSolo,
                         distancia_maxima = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraCaminho.DistanciaMaximaVisao, 
                         distancia_minima = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraCaminho.DistanciaMinimaVisao

AgroBase/AgroBase/Services/Operadores/ManagerWorkerService.cs

@@ -59,6 +59,7 @@ namespace AgroBase.Services.Operadores
                         DadosLeitura.ProntoEm = DateTime.Now;
                         MostrarLog($"Comando recebido: cmd = {cmd.ToString()}");
                         break;
+                    
                     case ManagerWorkerCommandType.EnviarDadosControle:
                         if (Variaveis.OperacaoEmAndamento.Modo == Enums.ModoOperacao.MapaGPS)
                         {
@@ -83,6 +84,7 @@ namespace AgroBase.Services.Operadores
                             }
                         }
                         break;
+                    
                     case ManagerWorkerCommandType.FinalizarOperacao:
                         Task.Run(async () =>
                         {

AgroBase/AgroBase/Services/Operadores/OperadoresService.cs

@@ -18,6 +18,7 @@ namespace AgroBase.Services.Operadores
             new VisualWorkerService(), 
             new HealthWorkerService(),
             new CameraWorkerService(),
+            new WeedWorkerService(),
         };
 
         private bool iniciarScript = false;
@@ -96,7 +97,7 @@ namespace AgroBase.Services.Operadores
                         ("velocidade_sp", _Controle.PercentualVelocidadeSP)
                     );
 
-                    Variaveis.OperacaoEmAndamento.AtualizarDadosControle(false);
+                    Variaveis.OperacaoEmAndamento.AtualizaInformacoesControleOperacao();
                 }
 
                 RedisService.DefinirEquipamentoDesconectado();

AgroBase/AgroBase/Services/Operadores/VisualWorkerService.cs

@@ -63,7 +63,7 @@ namespace AgroBase.Services.Operadores
                         break;
 
                     case VisualWorkerCommandType.GetCameraFrame:
-                        VisualWorkerFrameType tipo = (VisualWorkerFrameType)Convert.ToInt32(comando.@params["tipo"].ToString());
+                        CameraFrameType tipo = (CameraFrameType)Convert.ToInt32(comando.@params["tipo"].ToString());
                         DadosLeitura.CameraFrames[tipo] = new OAKCameraFrameModel()
                         {
                             frame = comando.@params["frame"].ToString(),
@@ -101,7 +101,7 @@ namespace AgroBase.Services.Operadores
             RedisService.Publish(CmdKey.VisualWorkerRx, JsonConvert.SerializeObject(comando));
         }
 
-        public static async Task<OAKCameraFrameModel> GetCameraFrame(VisualWorkerFrameType tipo = VisualWorkerFrameType.Rgb)
+        public static async Task<OAKCameraFrameModel> GetCameraFrame(CameraFrameType tipo = CameraFrameType.Rgb)
         {
             DateTime Inicio = DateTime.Now;
 
@@ -121,7 +121,7 @@ namespace AgroBase.Services.Operadores
             return _frame;
         }
 
-        public static void SaveCameraFrames(List<VisualWorkerFrameType> frames, string nome, string caminho)
+        public static void SaveCameraFrames(List<CameraFrameType> frames, string nome, string caminho)
         {
             var comando = new
             {

AgroBase/AgroBase/Services/Operadores/WeedWorkerService.cs

@@ -0,0 +1,158 @@
+using AgroBase.Models.Operadores;
+using AgroBase.Models;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Threading.Tasks;
+using static AgroBase.Models.Operadores.OperadoresModels;
+
+namespace AgroBase.Services.Operadores
+{
+    public class WeedWorkerService : IWorkerModel
+    {
+        public static WeedWorkerModel DadosLeitura = new WeedWorkerModel();
+        public SaudeWorkerModel Saude { get; set; } = new SaudeWorkerModel();
+
+        private bool DebugMode = true;
+
+        public void MostrarLog(string message, int limite = 500)
+        {
+            if (DebugMode)
+            {
+                Console.WriteLine($"[WeedWorker] {message.Substring(0, Math.Min(limite, message.Length))}{(message.Length > limite ? "..." : "")}");
+            }
+        }
+
+        public async Task<bool> IniciarProcessamento()
+        {
+            RedisService.Subscribe(CmdKey.WeedWorkerTx, RedisCallback);
+
+            DadosLeitura.IniciadoEm = DateTime.Now;
+            DadosLeitura.Iniciado = true;
+
+            bool pronto() => DadosLeitura.Pronto;
+            await FuncoesGlobais.AguardarCondicaoAsync(pronto, 5000);
+            if (pronto())
+            {
+                MostrarLog("Processamento iniciado com sucesso");
+                return true;
+            }
+
+            MostrarLog("Timeout ao iniciar script");
+            DadosLeitura.ReiniciarEstado();
+            return false;
+        }
+
+        public void RedisCallback(string mensagem)
+        {
+            try
+            {
+                var comando = JsonConvert.DeserializeObject<ComandoRedis>(mensagem);
+
+                var cmd = (WeedWorkerCommandType)comando.cmd;
+
+                //MostrarLog($"Comando recebido: cmd = {cmd.ToString()}");
+
+                switch (cmd)
+                {
+                    case WeedWorkerCommandType.ScriptCarregado:
+                        DadosLeitura.Pronto = true;
+                        DadosLeitura.ProntoEm = DateTime.Now;
+                        MostrarLog($"Comando recebido: cmd = {cmd.ToString()}");
+                        break;
+
+                    case WeedWorkerCommandType.GetCameraFrame:
+                        CameraFrameType tipo = (CameraFrameType)Convert.ToInt32(comando.@params["tipo"].ToString());
+                        DadosLeitura.CameraFrames[tipo] = new OAKCameraFrameModel()
+                        {
+                            frame = comando.@params["frame"].ToString(),
+                            timestamp = FuncoesGlobais.UnixToDateTime(comando.@params["timestamp"].ToString()),
+                        };
+                        break;
+
+                    case WeedWorkerCommandType.EnviarDadosControle:
+                        if (Variaveis.OperacaoEmAndamento.Controle.PulverizadorAutomatico)
+                        {
+                            if (comando.@params == null)
+                                break;
+
+                            var _Controle = Variaveis.OperacaoEmAndamento.Controle;
+                            if (comando.@params is Dictionary<string, object> dictParams)
+                            {
+                                var novoComando = dictParams
+                                    .Select(kv => new
+                                    {
+                                        Key = int.TryParse(kv.Key, out var i) ? (i + 1) : -1,
+                                        Value = Convert.ToBoolean(kv.Value)
+                                    })
+                                    .Where(x => x.Key >= 0)
+                                    .ToDictionary(x => x.Key, x => x.Value);
+                                foreach (var bico in _Controle.BicosAtuados)
+                                {
+                                    novoComando.TryGetValue(bico.Posicao, out bool atuado);
+                                    bico.ComandoAtuar = atuado;
+                                }
+                                Variaveis.OperacaoEmAndamento.AtualizaInformacoesControleOperacao();
+                            }
+                        }
+                        break;
+
+                    default:
+                        MostrarLog($"Comando não reconhecido: {comando.cmd}");
+                        break;
+                }
+            }
+            catch (Exception ex)
+            {
+                MostrarLog($"Erro ao deserializar resposta: {ex.Message}");
+            }
+            finally
+            {
+                DadosLeitura.UltimaMensagem = DateTime.Now;
+            }
+        }
+
+        public void AtualizarSaude()
+        {
+            Saude = OperadoresModels.AtualizarSaude(CtxKey.DadosWeedWorker);
+        }
+
+        public static async Task<OAKCameraFrameModel> GetCameraFrame(CameraFrameType tipo = CameraFrameType.Rgb)
+        {
+            DateTime Inicio = DateTime.Now;
+
+            var comando = new
+            {
+                cmd = WeedWorkerCommandType.GetCameraFrame,
+                @params = tipo,
+            };
+            RedisService.Publish(CmdKey.WeedWorkerRx, JsonConvert.SerializeObject(comando));
+
+            bool Frame() => DadosLeitura.CameraFrames.TryGetValue(tipo, out var frame) && (frame?.timestamp ?? DateTime.MinValue) > Inicio;
+
+            await FuncoesGlobais.AguardarCondicaoAsync(Frame, 1000, 100);
+
+            DadosLeitura.CameraFrames.TryGetValue(tipo, out OAKCameraFrameModel _frame);
+
+            return _frame;
+        }
+
+        public static void SaveCameraFrames(List<CameraFrameType> frames, string nome, string caminho)
+        {
+            var comando = new
+            {
+                cmd = WeedWorkerCommandType.SaveCameraFrames,
+                @params = new
+                {
+                    nome = nome,
+                    caminho = caminho,
+                    tipos = frames.Select(x => (int)x).ToArray(),
+                },
+            };
+            RedisService.Publish(CmdKey.WeedWorkerRx, JsonConvert.SerializeObject(comando));
+        }
+
+        
+    }
+}

AgroBase/AgroBase/Services/RedisService.cs

@@ -187,6 +187,7 @@ namespace AgroBase.Services
         public const string DadosControle = "ctx:dados_controle";
         public const string DadosEquipamento = "ctx:dados_equipamento";
         public const string DadosVisualWorker = "ctx:dados_visual_worker";
+        public const string DadosWeedWorker = "ctx:dados_weed_worker";
         public const string DadosManagerWorker = "ctx:dados_manager_worker";
         public const string DadosHealthWorker = "ctx:dados_health_worker";
         public const string DadosCameraWorker = "ctx:dados_camera_worker";
@@ -202,5 +203,7 @@ namespace AgroBase.Services
         public const string CameraWorkerTx = "cmd_tx:camera_worker";
         public const string ManagerWorkerRx = "cmd_rx:manager_worker";
         public const string ManagerWorkerTx = "cmd_tx:manager_worker";
+        public const string WeedWorkerRx = "cmd_rx:weed_worker";
+        public const string WeedWorkerTx = "cmd_tx:weed_worker";
     }
 }

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

@@ -1,12 +1,5 @@
 {
    "epochs": [ {
-      "calculation_time": "13395172669289149",
-      "config_version": 0,
-      "model_version": "0",
-      "padded_top_topics_start_index": 0,
-      "taxonomy_version": 0,
-      "top_topics_and_observing_domains": [  ]
-   }, {
       "calculation_time": "13395881044629269",
       "config_version": 0,
       "model_version": "0",
@@ -29,5 +22,5 @@
       "top_topics_and_observing_domains": [  ]
    } ],
    "hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
-   "next_scheduled_calculation_time": "13397830127957632"
+   "next_scheduled_calculation_time": "13397830127957680"
 }

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

@@ -1,3 +1,3 @@
-2025/07/18-16:42:45.122 990 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/07/21-15:21:17.549 8344 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/07/18-16:42:45.129 990 Recovering log #3
+2025/07/21-15:21:17.555 8344 Recovering log #3
-2025/07/18-16:42:45.133 990 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/07/21-15:21:17.558 8344 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 @@
-2025/07/18-16:10:16.297 1248 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/07/21-15:10:12.398 7cc4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/07/18-16:10:16.303 1248 Recovering log #3
+2025/07/21-15:10:12.406 7cc4 Recovering log #3
-2025/07/18-16:10:16.306 1248 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/07/21-15:10:12.409 7cc4 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":"13397427789769984","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":13901},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:69b:cf00:d5cb:d183:c651:2afa","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":"13397682078167259","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":58184},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:69b:cf00:e1c9:9847:8945:20fe","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/Session Storage/LOG

@@ -1,3 +1,3 @@
-2025/07/18-16:56:03.153 990 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/07/21-15:34:33.516 8344 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/07/18-16:56:03.154 990 Recovering log #3
+2025/07/21-15:34:33.517 8344 Recovering log #3
-2025/07/18-16:56:03.157 990 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/07/21-15:34:33.520 8344 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 @@
-2025/07/18-16:17:14.846 1248 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/07/21-15:18:09.336 7cc4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/07/18-16:17:14.847 1248 Recovering log #3
+2025/07/21-15:18:09.338 7cc4 Recovering log #3
-2025/07/18-16:17:14.850 1248 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/07/21-15:18:09.342 7cc4 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 @@
-2025/07/18-16:42:45.037 6640 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/07/21-15:21:17.473 813c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/07/18-16:42:45.039 6640 Recovering log #7
+2025/07/21-15:21:17.474 813c Recovering log #7
-2025/07/18-16:42:45.040 6640 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/07/21-15:21:17.475 813c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 

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

@@ -1,3 +1,3 @@
-2025/07/18-16:10:16.228 5b90 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/07/21-15:10:12.318 189c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/07/18-16:10:16.229 5b90 Recovering log #7
+2025/07/21-15:10:12.320 189c Recovering log #7
-2025/07/18-16:10:16.230 5b90 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/07/21-15:10:12.320 189c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 

AgroBase/AgroBase/bin/x64/Debug/Python/Output/mapa_gps.html

@@ -17,7 +17,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_da5e1542c7ab541155af4f4c041e9c23 {
+                #map_9167a3f59236bbe3ca57b08de1d97258 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -54,14 +54,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_da5e1542c7ab541155af4f4c041e9c23" ></div>
+            <div class="folium-map" id="map_9167a3f59236bbe3ca57b08de1d97258" ></div>
         
 </body>
 <script>
     
     
-            var map_da5e1542c7ab541155af4f4c041e9c23 = L.map(
+            var map_9167a3f59236bbe3ca57b08de1d97258 = L.map(
-                "map_da5e1542c7ab541155af4f4c041e9c23",
+                "map_9167a3f59236bbe3ca57b08de1d97258",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -78,7 +78,7 @@
 
         
     
-            var tile_layer_3635f6a14539c3f382434fa86536d4f3 = L.tileLayer(
+            var tile_layer_d32108711f97218804be105ee489826b = L.tileLayer(
                 "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
                 {
   "minZoom": 0,
@@ -95,7 +95,7 @@
             );
         
     
-            tile_layer_3635f6a14539c3f382434fa86536d4f3.addTo(map_da5e1542c7ab541155af4f4c041e9c23);
+            tile_layer_d32108711f97218804be105ee489826b.addTo(map_9167a3f59236bbe3ca57b08de1d97258);
         
 </script>
 
@@ -116,7 +116,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_da5e1542c7ab541155af4f4c041e9c23);
+        trajeto_json.addTo(map_9167a3f59236bbe3ca57b08de1d97258);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -179,9 +179,9 @@
         
         var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_da5e1542c7ab541155af4f4c041e9c23);
+        }).addTo(map_9167a3f59236bbe3ca57b08de1d97258);
         
-        var marcadorBase = L.marker([0, 0], {}).addTo(map_da5e1542c7ab541155af4f4c041e9c23);
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_9167a3f59236bbe3ca57b08de1d97258);
         var icon = L.AwesomeMarkers.icon(
             {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
         );
@@ -246,7 +246,7 @@
                 }
                 
                 if (foco) {
-                    map_da5e1542c7ab541155af4f4c041e9c23.setView(novaPosicao, map_da5e1542c7ab541155af4f4c041e9c23.getZoom());
+                    map_9167a3f59236bbe3ca57b08de1d97258.setView(novaPosicao, map_9167a3f59236bbe3ca57b08de1d97258.getZoom());
                 }
                 
             }
@@ -268,7 +268,7 @@
             marcadorDinamico.setRotationAngle(angulo);
             
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_da5e1542c7ab541155af4f4c041e9c23.setView(novaPosicao, map_da5e1542c7ab541155af4f4c041e9c23.getZoom());*/
+            map_9167a3f59236bbe3ca57b08de1d97258.setView(novaPosicao, map_9167a3f59236bbe3ca57b08de1d97258.getZoom());*/
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/camera_worker/camera_oak.py

@@ -74,6 +74,12 @@ class CameraOak:
 
             if self.tem_depth:
                 self.q_depth = self.device.getOutputQueue(name="depth", maxSize=1, blocking=False)
+
+            if self.tem_imu:
+                self.q_imu = self.device.getOutputQueue(name="imu", maxSize=50, blocking=False)
+                self.imu = IMUCamera(self.q_imu)
+
+            if self.dispositivo == T_Code.Snr:
                 self.parametros = {
                     "rgb_width": 1920,
                     "rgb_height": 1080,
@@ -90,10 +96,12 @@ class CameraOak:
                 }
                 self._set_calib()
                 _camera["parametros"] = self.parametros
-
+            elif self.dispositivo == T_Code.Cam:
-            if self.tem_imu:
+                self.parametros = {
-                self.q_imu = self.device.getOutputQueue(name="imu", maxSize=50, blocking=False)
+                    "rgb_width": 1920,
-                self.imu = IMUCamera(self.q_imu)
+                    "rgb_height": 1080,
+                }
+                _camera["parametros"] = self.parametros
 
             self.iniciado = True
             _camera["iniciado"] = True
@@ -243,6 +251,7 @@ class CameraOak:
             "executando": False, 
             "velocidade": ""
         }
+        if conectado:
             try:
                 dev = self.device
                 temp = dev.getChipTemperature().average
@@ -286,13 +295,13 @@ class CameraOak:
                 if speed.lower() not in ["super", "superplus"]:  # USB 3.x
                     motivos.append(f"USB lenta: {speed}")
                     saude -= 15
+
+                frame, resultado = self.requisitar_frame_rgb()
             except Exception as e:
                 self.mostrar_log(f"Erro ao requisitar dados da camera para atualizar saude")
                 if "Communication exception" in str(e) or "X_LINK_ERROR" in str(e):
                     conectado = False
 
-        frame, resultado = self.requisitar_frame_rgb()
-
         if not conectado:
             motivos.append("desconectado")
             saude = 0

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/camera_worker/manager.py

@@ -1,6 +1,6 @@
 import time
 import depthai as dai
-from shared.enums import StatusModulo, T_Code, VisualWorkerCommandType
+from shared.enums import StatusModulo, T_Code, VisualWorkerCommandType, WeedWorkerCommandType
 from shared.contexto_global_redis import ContextoGlobalRedis, CtxKey, CmdKey
 
 class CameraManager:
@@ -45,10 +45,15 @@ class CameraManager:
         for cam in cameras_mapeadas.values():
             if cam.get("dispositivo", T_Code.Vzo.value) == T_Code.Snr.value:
                 ContextoGlobalRedis.publicar_comando(CmdKey.VisualWorkerRx, { "cmd": VisualWorkerCommandType.AtualizarSaudeCamera.value } )
+            elif cam.get("dispositivo", T_Code.Vzo.value) == T_Code.Cam.value:
+                ContextoGlobalRedis.publicar_comando(CmdKey.WeedWorkerRx, { "cmd": WeedWorkerCommandType.AtualizarSaudeCamera.value } )
         
-        visual_worker_camera_id = ContextoGlobalRedis.get_operacao().get("Snr", {}).get("mx_id")
+        visual_worker_camera_id = ContextoGlobalRedis.get_equipamento().get("camera_caminho_id")
         if visual_worker_camera_id is not None and visual_worker_camera_id in dispositivos_serializados:
             ContextoGlobalRedis.publicar_comando(CmdKey.VisualWorkerRx, { "cmd": VisualWorkerCommandType.IniciarCameraManager.value, "params": visual_worker_camera_id } )
+        weed_worker_camera_id = ContextoGlobalRedis.get_equipamento().get("camera_solo_id")
+        if weed_worker_camera_id is not None and weed_worker_camera_id in dispositivos_serializados:
+            ContextoGlobalRedis.publicar_comando(CmdKey.WeedWorkerRx, { "cmd": WeedWorkerCommandType.IniciarCameraManager.value, "params": weed_worker_camera_id } )
 
     
 def definir_saude_camera(mx_id: str, status: StatusModulo, saude: int, motivos: list, rodando: bool, performance: dict):

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/main_async.py

@@ -6,6 +6,7 @@ from manager_worker.main import main as iniciar_manager_worker
 from health_worker.main import main as iniciar_health_worker
 from visual_worker.main import main as iniciar_visual_worker
 from camera_worker.main import main as iniciar_camera_worker
+from weed_worker.main import main as iniciar_weed_worker
 from shared.contexto_global_redis import ContextoGlobalRedis
 
 #sys.stdout = io.TextIOWrapper(sys.stdout.buffer, encoding='utf-8')
@@ -18,6 +19,7 @@ def main():
         Process(target=iniciar_health_worker, name="HealthWorker"),
         Process(target=iniciar_visual_worker, name="VisualWorker"),
         Process(target=iniciar_camera_worker, name="CameraWorker"),
+        Process(target=iniciar_weed_worker, name="WeedWorker"),
     ]
 
     for p in processos:

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/contexto_global_redis.py

@@ -15,6 +15,7 @@ class CtxKey(str, Enum):
     DadosControle = "ctx:dados_controle"
     DadosEquipamento = "ctx:dados_equipamento"
     DadosVisualWorker = "ctx:dados_visual_worker"
+    DadosWeedWorker = "ctx:dados_weed_worker"
     DadosManagerWorker = "ctx:dados_manager_worker"
     DadosHealthWorker = "ctx:dados_health_worker"
     DadosCameraWorker = "ctx:dados_camera_worker"
@@ -29,6 +30,8 @@ class CmdKey(str, Enum):
     CameraWorkerRx = "cmd_rx:camera_worker"
     ManagerWorkerTx = "cmd_tx:manager_worker"
     ManagerWorkerRx = "cmd_rx:manager_worker"
+    WeedWorkerTx = "cmd_tx:weed_worker"
+    WeedWorkerRx = "cmd_rx:weed_worker"
     
 
 def mostrar_log(mensagem):

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/enums.py

@@ -23,6 +23,14 @@ class ManagerWorkerCommandType(IntEnum):
     EnviarDadosControle = 4
     FinalizarOperacao = 5
 
+class WeedWorkerCommandType(IntEnum):
+    ScriptCarregado = 1
+    IniciarCameraManager = 2
+    AtualizarSaudeCamera = 3
+    GetCameraFrame = 4
+    SaveCameraFrames = 5
+    EnviarDadosControle = 6
+
 class ModoOperacao(IntEnum):
     NaoDefinido = 0
     Manual = 1
@@ -146,26 +154,9 @@ class TipoPontoRua(IntEnum):
     CruvaEntreCorredores = 6
     Desvio = 7
 
-# Visual Worker
+class CameraFrameType(IntEnum):
-class VisualWorkerFrameType(IntEnum):
     Rgb = 1
     Heatmap = 2
     RadarTopDown = 3
     Segmentacao = 4
     Debug = 5
-
-class VisualWorkerTipoDeteccao(IntEnum):
-    SEGURO = 1
-    OBSTACULO = 2
-    DEPRESSAO = 3
-    
-class VisualWorkerTipoRegiaoRadar(IntEnum):
-    SOLO = 1
-    AEREO = 2
-
-class VisualWorkerTipoAnalise(IntEnum):
-    ANOMALIA = 1
-    SOLO = 2
-    RADAR_2D = 3
-    SEGMENTACAO_SEMANTICA = 4
-    MATRIZ_CONFIANCA = 5

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/camera_manager.py

@@ -12,7 +12,7 @@ from visual_worker.processamento.analise_solo import AnaliseSoloManager
 from visual_worker.processamento.analise_anomalias import AnaliseAnomaliasManager
 from visual_worker.processamento.radar_top_down import Radar2DManager
 from visual_worker.processamento.segmentacao_semantica import ClassesSegmentacao, SegmentacaoManager
-from shared.enums import StatusModulo, T_Code, VisualWorkerFrameType
+from shared.enums import StatusModulo, T_Code, CameraFrameType
 from shared.utils import analisar_linhas_por_profundidade, decode_image_base64, encode_image_base64
 from shared.gps_handler import GPSHandler
 from camera_worker.camera_oak import CameraOak
@@ -130,35 +130,35 @@ class CameraManager:
             return gerar_heatmap(frame, self.camera.parametros["distancia_maxima"]), timestamp, res
         return None, None, None
 
-    def get_select_frame(self, tipo: VisualWorkerFrameType):
+    def get_select_frame(self, tipo: CameraFrameType):
         f = None
         t = None
-        if tipo == VisualWorkerFrameType.Rgb:
+        if tipo == CameraFrameType.Rgb:
             f, t, _ = self.get_rgb_frame()
             f = encode_image_base64(f)
-        elif tipo == VisualWorkerFrameType.Heatmap:
+        elif tipo == CameraFrameType.Heatmap:
             f, t, _ = self.get_heatmap_frame()
             f = encode_image_base64(f)
-        elif tipo == VisualWorkerFrameType.RadarTopDown:
+        elif tipo == CameraFrameType.RadarTopDown:
             f = self._ultima_analise_radar.get("frame", {}).get("frame")
             t = self._ultima_analise_radar.get("timestamp")
-        elif tipo == VisualWorkerFrameType.Segmentacao:
+        elif tipo == CameraFrameType.Segmentacao:
             f = self._ultima_analise_segmentacao.get("frame", {}).get("frame")
             t = self._ultima_analise_segmentacao.get("timestamp")
         return f, t
 
     def _iniciar_loop_analise_continua(self, freq):
         def loop():
-            ultima_atualizacao = 0
+            ultima_atualizacao_saude = 0
             while True:
                 if self.camera is None:
                     time.sleep(5)
                     continue
 
                 t0 = time.time()
-                if (t0 - ultima_atualizacao) >= 1:
+                if (t0 - ultima_atualizacao_saude) >= 1:
                     self.camera.atualizar_saude()
-                    ultima_atualizacao = time.time()
+                    ultima_atualizacao_saude = time.time()
                 try:
                     status = StatusModulo((self.camera.ultima_saude or {}).get("status", StatusModulo.DESCONECTADO.value))
                     if status == StatusModulo.DESCONECTADO:
@@ -506,7 +506,7 @@ class CameraManager:
             if nome is not None and nome != "":
                 frame_name = nome
 
-            if VisualWorkerFrameType.Rgb.value in tipos:
+            if CameraFrameType.Rgb.value in tipos:
                 rgb_frame, rgb_ts, rgb_res = self.get_rgb_frame()
                 if rgb_frame is not None and rgb_res["frame_valido"]:
                     nome_rgb = f"{frame_name}_rgb.jpeg"
@@ -514,7 +514,7 @@ class CameraManager:
                     cv2.imwrite(caminho_rgb, rgb_frame)
                     frames_salvos.append(caminho_rgb)
 
-            if VisualWorkerFrameType.Heatmap.value in tipos:
+            if CameraFrameType.Heatmap.value in tipos:
                 heatmap_frame, heatmap_ts, heatmap_res = self.get_heatmap_frame()
                 if heatmap_frame is not None and heatmap_res["frame_valido"]:
                     nome_heatmap = f"{frame_name}_heatmap.jpeg"
@@ -522,12 +522,12 @@ class CameraManager:
                     cv2.imwrite(caminho_heatmap, heatmap_frame)
                     frames_salvos.append(caminho_heatmap)
 
-            if VisualWorkerFrameType.RadarTopDown.value in tipos:
+            if CameraFrameType.RadarTopDown.value in tipos:
                 frame = self._salvar_frame_analise(frame_name, self._ultima_analise_radar, "radar", pasta)
                 if frame is not None:
                     frames_salvos.append(frame)
 
-            if VisualWorkerFrameType.Segmentacao.value in tipos:
+            if CameraFrameType.Segmentacao.value in tipos:
                 frame = self._salvar_frame_analise(frame_name, self._ultima_analise_segmentacao, "segmentacao", pasta)
                 if frame is not None:
                     frames_salvos.append(frame)

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

@@ -7,7 +7,7 @@ def main():
     sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..")))
     print("🔎 Caminho sys.path:", os.path.abspath(os.path.join(os.path.dirname(__file__), "..")), "VisualWorker")
 
-    from shared.enums import VisualWorkerCommandType, VisualWorkerFrameType
+    from shared.enums import VisualWorkerCommandType, CameraFrameType
     from visual_worker.config import mostrar_log, get_camera_manager, iniciar_camera_manager
     from shared.contexto_global_redis import ContextoGlobalRedis, CmdKey, CtxKey
 
@@ -49,7 +49,7 @@ def main():
             elif acao == VisualWorkerCommandType.AtualizarSaudeCamera:
                 get_camera_manager().atualizar_saude_camera()
             elif acao == VisualWorkerCommandType.GetCameraFrame:
-                tipo = VisualWorkerFrameType(dados.get("params", VisualWorkerFrameType.Rgb.value))
+                tipo = CameraFrameType(dados.get("params", CameraFrameType.Rgb.value))
                 base64_img, ts = get_camera_manager().get_select_frame(tipo)
                 if base64_img is not None:
                     resposta = {