ajustes no baud rate can

AgroBase/AgroBase/AgroBase.csproj

@@ -561,6 +561,7 @@
     <Compile Include="Services\BLD300RService.cs" />
     <Compile Include="Services\CameraService.cs" />
     <Compile Include="Services\CANService.cs" />
+    <Compile Include="Services\CANServiceWaveshare.cs" />
     <Compile Include="Services\CoulombCounterService.cs" />
     <Compile Include="Services\DispositivosService.cs" />
     <Compile Include="Forms\frmPrincipal.cs">
@@ -598,7 +599,7 @@
     <Compile Include="Services\PZEMService.cs" />
     <Compile Include="Services\RedisService.cs" />
     <Compile Include="Services\RTCMSniffer.cs" />
-    <Compile Include="Services\SerialCanService.cs" />
+    <Compile Include="Services\CANServiceSerial.cs" />
     <Compile Include="Services\SerialService.cs" />
     <Compile Include="Services\SonarService.cs" />
     <Compile Include="Services\SyncDataService.cs" />

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs

@@ -163,7 +163,7 @@ namespace AgroBase.Forms.Operacoes
                 lblTensao.Text = _Sensoriamento.Bateria.TensaoInstantanea.ToString("0.00") + " v";
                 lblCorrente.Text = _Sensoriamento.Bateria.CorrenteInstantanea.ToString("0.00") + " A";
                 lblRPM.Text = _Sensoriamento.Movimentacao.RPMMedio.ToString("0") + " rpm";
-                lblVelocidade.Text = _Sensoriamento.Movimentacao.VelocidadeMedia.ToString("0.00");
+                lblVelocidade.Text = (_Sensoriamento.Movimentacao.VelocidadeMedia * 3.6).ToString("0.00");
 
                 bool atuadorAtivado = Variaveis.OperacaoEmAndamento.DispAtu.Dados.ConexaoAtiva || true;
                 chbPulverizador.Enabled = atuadorAtivado;
@@ -507,7 +507,7 @@ namespace AgroBase.Forms.Operacoes
 
             gridDados.Rows[0].Cells[1].Value = _Sensoriamento.TempoDecorrido.ToString("HH:mm:ss");
             gridDados.Rows[1].Cells[1].Value = _Sensoriamento.Movimentacao.TempoMovimento.ToString("HH:mm:ss");
-            gridDados.Rows[2].Cells[1].Value = _Sensoriamento.Movimentacao.VelocidadeMedia.ToString("0.00");
+            gridDados.Rows[2].Cells[1].Value = (_Sensoriamento.Movimentacao.VelocidadeMedia * 3.6).ToString("0.00");
             gridDados.Rows[3].Cells[1].Value = _Sensoriamento.Trajetoria.DistanciaPercorrida.ToString("0.00");
             gridDados.Rows[4].Cells[1].Value = (_Sensoriamento.Bateria.PorcentagemBateria.ToString("00.00"));
             gridDados.Rows[5].Cells[1].Value = (_Sensoriamento.Bateria.TensaoInstantanea.ToString("0.00"));

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs

@@ -1089,7 +1089,7 @@ namespace AgroBase.Forms.Operacoes
             txtErvasNoRadar.Text = Log.Atuador.ErvasNoRadar.ToString();
             txtErvasTerreno.Text = Log.Atuador.PercentualErvasTerreno.ToString("0.00");
             txtTipoMovimento.Text = Log.Controle.TipoMovimento.ToString();
-            txtVelocidade.Text = Log.Movimentacao.VelocidadeMedia.ToString("0.00") + " km/h (" + (Log.Movimentacao.VelocidadeMedia / 3.6).ToString("0.00") + " m/s)";
+            txtVelocidade.Text = (Log.Movimentacao.VelocidadeMedia * 3.6).ToString("0.00") + " km/h (" + Log.Movimentacao.VelocidadeMedia.ToString("0.00") + " m/s)";
             txtDirecaoControle.Text = (Log.Controle?.Direcao ?? Enums.Direcao.Parado).ToString();
             txtVelocidadeControle.Text = ((Log.Controle?.PercentualVelocidadeSP ?? 0) / VariaveisEquipamento.RPM_Max_Roda * 100).ToString() + " rpm";
             txtErvasIdentificadas.Text = $"{totalAtuacoes}";
@@ -1349,8 +1349,8 @@ namespace AgroBase.Forms.Operacoes
 
         private void AtualizarInformacoesAtuador()
         {
-            graficoAtu.AtualizarDados(idxMomentoAtual);
+            graficoAtu?.AtualizarDados(idxMomentoAtual);
-            graficoErvas.AtualizarDados(idxMomentoAtual);
+            graficoErvas?.AtualizarDados(idxMomentoAtual);
 
             pnlAtuadores.Invalidate();
 

AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs

@@ -2886,7 +2886,7 @@ namespace AgroBase.Models.Modules
                                 {
                                     bool Conectado = data[2] == 1;
                                     bool Configurado = data[3] == 1;
-                                    Console.WriteLine($"[LRA] Resposta {ID_Num} recebida. Conectado={Conectado}, Configurado={Configurado}");
+                                    //Console.WriteLine($"[LRA] Resposta {ID_Num} recebida. Conectado={Conectado}, Configurado={Configurado}");
                                     loraService.Conectado = Conectado;
                                     loraService.Configurado = Configurado;
                                     break;

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -84,7 +84,7 @@ namespace AgroBase.Models
             Variaveis.OperacaoEmAndamento.TempoAguardando = DateTimeOffset.FromUnixTimeSeconds(tempoAguardando).UtcDateTime.AddSeconds(tempoAguardando % 1).ToLocalTime();
             HealthWorkerService.ModulosSaude = RedisService.GetField<ManagerWorkerMessageResponseModulosPendentesModel[]>(CtxKey.DadosOperacao, "status_modulos").ToList();
             Variaveis.OperacaoEmAndamento.ErroOperacaoLiberada = RedisService.GetField<string>(CtxKey.DadosOperacao, "motivo_nao_liberado");
-            GPSService.CorrecaoRTK_Ntrip = RedisService.GetField<bool>(RedisService.ModKey(T_Code.Gps), "correcao_ntrip", false);
+            //GPSService.CorrecaoRTK_Ntrip = RedisService.GetField<bool>(RedisService.ModKey(T_Code.Gps), "correcao_ntrip", false);
         }
 
         

AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs

@@ -602,7 +602,7 @@ namespace AgroBase.Models
             AtualizarIndicesJanela();
             AtualizarTrajetoriaJanela();
 
-            VerificaFimCorredorSegmentacao();
+            //VerificaFimCorredorSegmentacao();
 
             DefinirPontoAtual();
             AtualizarCorredorAtual();

AgroBase/AgroBase/Services/CANService.cs

@@ -1,19 +1,12 @@
-using AgroBase.Models;
+using System;
-using System;
-using System.Collections.Concurrent;
-using System.Collections.Generic;
 using System.IO.Ports;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using static AgroBase.Models.Enums;
-using static WaveshareCANFDService;
 
 namespace AgroBase.Services
 {
     public class CanManager
     {
-        public static bool UseCanSerial = true;
+        public static bool UseCanSerial = false;
 
         private static CanServiceWaveshare CanWaveshare = new CanServiceWaveshare();
         private static CanServiceSerial CanSerial = new CanServiceSerial();
@@ -32,7 +25,6 @@ namespace AgroBase.Services
                 }
             }
         }
-
     }
 
     public class CanMessage
@@ -159,377 +151,4 @@ namespace AgroBase.Services
         bool IsConnected { get; }
     }
     
-    public class CanServiceWaveshare : ICanService
-    {
-        public WaveshareCANFDService Connector = new WaveshareCANFDService(0);
-        public string _portName { get; set; } = "CAN-FD";
-        public bool IsConnected { get; private set; }
-        public bool Iniciado
-        {
-            get
-            {
-                return SerialService.DispositivosMapeados.Any(x => /*x.Status != StatusModulo.Desconectado &&*/ SerialService.DispositivosCan.Contains(x.Dispositivo));
-            }
-        }
-        private AsyncTaskTimerModel tmrEnviarCAN;
-        private AsyncTaskTimerModel tmrOuvirCAN;
-        private AsyncTaskTimerModel tmrProcessarCAN;
-        private StringBuilder SerialCANBuffer = new StringBuilder();
-        private ConcurrentQueue<(byte, byte[])> FramesRecebidos = new ConcurrentQueue<(byte, byte[])>();
-        private readonly ConcurrentDictionary<byte, ICanMessageHandler> _roteadores = new ConcurrentDictionary<byte, ICanMessageHandler>();
-        private byte? _ultimoIdEnviado = null;
-        private List<CanMessage> MensagensPendentes = new List<CanMessage>();
-        private readonly object _LockMensagens = new object();
-        private bool DebugMode = false;
-
-        private void MostrarLog(string message, byte id)
-        {
-            if (DebugMode && new List<byte>() { 0x01 }.Contains(id))
-            {
-                Console.WriteLine($"[CAN] {message}");
-            }
-        }
-
-        public void RegistrarHandler(byte endereco_rx, ICanMessageHandler handler)
-        {
-            _roteadores[endereco_rx] = handler;
-            MostrarLog($"Roteador registrado: {endereco_rx.ToString("X")}", endereco_rx);
-        }
-
-        public bool Inicializar(SerialPort Porta = null)
-        {
-            bool canIniciado = Connector.IsOpen;
-
-            if (!canIniciado)
-            {
-                canIniciado = Connector.Open((VCI_CAN_OBJ frame) =>
-                {
-                    byte[] dataRx = new byte[frame.DataLen];
-                    Array.Copy(frame.Data, dataRx, frame.DataLen);
-                    FramesRecebidos.Enqueue(((byte)frame.ID, dataRx));
-                });
-            }
-            else
-            {
-                return true;
-            }
-
-            if (!canIniciado)
-            {
-                MostrarLog($"Erro ao iniciar o conversor CAN FD no canal {Connector.Canal}.", 0);
-            }
-            else
-            {
-                MostrarLog($"Conversor CAN FD iniciado com sucesso no canal {Connector.Canal}.", 0);
-            }
-
-            if (canIniciado || !IsConnected)
-            {
-                tmrEnviarCAN?.Dispose();
-                tmrEnviarCAN = new AsyncTaskTimerModel("tmrEnviarCAN", EnviarCAN, 5);
-                tmrEnviarCAN.Start();
-
-                tmrProcessarCAN?.Dispose();
-                tmrProcessarCAN = new AsyncTaskTimerModel("tmrProcessarCAN", ProcessarCAN, 10);
-                tmrProcessarCAN.Start();
-
-                IsConnected = true;
-            }
-
-            return canIniciado;
-        }
-
-        private async Task ProcessarCAN()
-        {
-            int mensagensParaProcessar = Math.Min(FramesRecebidos.Count, 10);
-
-            for (int i = 0; i < mensagensParaProcessar; i++)
-            {
-                if (FramesRecebidos.TryDequeue(out (byte, byte[]) frame))
-                {
-                    ProcessarFrameCAN(frame);
-                }
-                else
-                {
-                    // A fila ficou vazia antes de atingir o limite
-                    break;
-                }
-            }
-            LimparMensagensAntigas();
-        }
-
-        private void ProcessarFrameCAN((byte, byte[]) frame)
-        {
-            byte id = frame.Item1;
-            byte[] data = frame.Item2;
-
-            try
-            {
-                MostrarLog($"Processando frame: {BitConverter.ToString(data)}", id);
-
-                if (_roteadores.TryGetValue(id, out ICanMessageHandler handler))
-                {
-
-                }
-
-                T_Code dispositivo = handler?.Dispositivo ?? T_Code.Vzo;
-                byte fCodeRx = data[0];
-                byte parametroRx = data[1];
-                string chave = GerarChaveMensagem(dispositivo, id, data);
-
-                CanMessage mensagem = null;
-                lock (_LockMensagens)
-                {
-                    mensagem = MensagensPendentes.FirstOrDefault(x => x.Enviado && !x.Respondido && x.Dispositivo == x.Dispositivo && x.IdRx == id && x.DataTx[1] == data[1]);
-                }
-                if (mensagem == null)
-                {
-                    mensagem = new CanMessage { Dispositivo = dispositivo, IdTx = id, IdRx = id, funcCodeRx = fCodeRx, DataRx = data, ChaveInterna = chave };
-                }
-                mensagem.DataRx = data;
-                mensagem.Respondido = true;
-                mensagem.RespondidoEm = DateTime.Now;
-
-                if ((handler?.Dispositivo ?? T_Code.Vzo) != T_Code.Vzo)
-                {
-                    handler.ProcessarMensagem(mensagem);
-                }
-                else
-                {
-                    MostrarLog($"Roteador não registrado! ID_Num não tratado: 0x{id:X2}, fCodeRx: 0x{fCodeRx:X2}, frame: {frame}", id);
-                }
-            }
-            catch (Exception ex)
-            {
-                MostrarLog($"Erro ao processar frame! Frame: {frame}, Erro: {ex.Message}", id);
-            }
-        }
-
-        public void AdicionarMensagemNaFila(T_Code Dispositivo, byte idTx, byte idRx, byte funcCodeTx, byte funcCodeRx, byte[] payload = null, bool get = true)
-        {
-            if (!Connector.IsOpen) return;
-
-            var dados = new List<byte>() { funcCodeTx };
-
-            if (payload != null)
-                dados.AddRange(payload);
-
-            if (Dispositivo == T_Code.Mks)
-            {
-                byte crc = CalcularChecksum(idTx, dados.ToArray());
-                dados.Add(crc);
-            }
-
-            var novaMensagem = new CanMessage
-            {
-                Momento = DateTime.Now,
-                Dispositivo = Dispositivo,
-                IdTx = idTx,
-                IdRx = idRx,
-                funcCodeTx = funcCodeTx,
-                funcCodeRx = funcCodeRx,
-                DataTx = dados.ToArray(),
-                ComResposta = get,
-                ChaveInterna = GerarChaveMensagem(Dispositivo, idRx, dados.ToArray())
-            };
-
-            bool mensagemNaFila = false;
-
-            lock (_LockMensagens)
-            {
-                mensagemNaFila = MensagensPendentes.Any(x => (!x.Enviado || (x.ComResposta && x.Enviado && !x.Respondido)) && x.IdTx == idTx && x.IdRx == idRx && x.DataTx.SequenceEqual(dados.ToArray()));
-                if (!mensagemNaFila)
-                {
-                    MensagensPendentes.Add(novaMensagem);
-                    MostrarLog($"Mensagem adicionada na fila. ID: {novaMensagem.IdTx}, Data: {FuncoesGlobais.ConverterComandoBytesParaTexto(novaMensagem.DataTx)}", idTx);
-                }
-                else
-                {
-                    MostrarLog($"Mensagem já pendente e idêntica. ID: {novaMensagem.IdTx}, Data: {FuncoesGlobais.ConverterComandoBytesParaTexto(novaMensagem.DataTx)}", idTx);
-                }
-            }
-        }
-
-        private CanMessage ObterProximaMensagem()
-        {
-            List<CanMessage> mensagensPendentes;
-
-            lock (_LockMensagens)
-            {
-                mensagensPendentes = MensagensPendentes
-                    .Where(x => !x.Enviado)
-                    .ToList();
-            }
-
-            if (!mensagensPendentes.Any())
-                return null;
-
-            // Primeiro tenta pegar mensagens com Get == false
-            var mensagensPrioritarias = mensagensPendentes
-                .Where(x => !x.ComResposta)
-                .ToList();
-
-            // Se não houver mensagens prioritárias, considera todas
-            var mensagensParaProcessar = mensagensPrioritarias.Any()
-                ? mensagensPrioritarias
-                : mensagensPendentes;
-
-            // Agrupa por IdTx e ordena os grupos
-            var idsDisponiveis = mensagensParaProcessar
-                .Select(x => x.IdTx)
-                .Distinct()
-                .OrderBy(x => x)
-                .ToList();
-
-            byte proximoId;
-
-            if (!_ultimoIdEnviado.HasValue || !idsDisponiveis.Contains(_ultimoIdEnviado.Value))
-            {
-                proximoId = idsDisponiveis.First();
-            }
-            else
-            {
-                var index = idsDisponiveis.IndexOf(_ultimoIdEnviado.Value);
-                proximoId = (index + 1 < idsDisponiveis.Count) ? idsDisponiveis[index + 1] : idsDisponiveis.First();
-            }
-
-            // Seleciona a mensagem mais antiga com esse IdTx
-            var proximaMsg = mensagensParaProcessar
-                .Where(x => x.IdTx == proximoId)
-                .OrderBy(x => x.Momento)
-                .FirstOrDefault();
-
-            return proximaMsg;
-        }
-
-        private async Task EnviarCAN()
-        {
-            if (!Connector.IsOpen) return;
-
-            CanMessage msg = ObterProximaMensagem();
-            
-            if (msg != null)
-            {
-                string frame = CriarFrame(msg);
-
-                if (_ultimoIdEnviado.HasValue && msg.IdTx == _ultimoIdEnviado.Value)
-                {
-                    await Task.Delay(5);
-                }
-
-                if (msg.Dispositivo == T_Code.Mks)
-                {
-                    await Task.Delay(10);
-                }
-
-                if (!EnviarComando(frame, msg))
-                {
-                    MostrarLog("Erro ao enviar frame", msg.IdTx);
-                }
-
-                msg.Enviado = true;
-                msg.EnviadoEm = DateTime.Now;
-                _ultimoIdEnviado = msg.IdTx;
-            }
-        }
-
-        private string CriarFrame(CanMessage msg)
-        {
-            string frame = $"t{msg.IdTx:X3}{msg.DataTx.Length}";
-            foreach (byte b in msg.DataTx)
-                frame += b.ToString("X2");
-
-            frame += "\r";
-
-            return frame;
-        }
-
-        private bool EnviarComando(string comando, CanMessage msg = null)
-        {
-            if (Connector.IsOpen)
-            {
-                bool sucesso = Connector.Send(msg.IdTx, msg.DataTx);
-
-                if (sucesso)
-                {
-                    MostrarLog($"Frame enviado: {comando}", msg.IdTx);
-                }
-                else
-                {
-                    MostrarLog($"Erro ao enviar frame: {comando}", msg.IdTx);
-                }
-                return sucesso;
-            }
-
-            return false;
-        }
-
-        private void LimparMensagensAntigas()
-        {
-            var agora = DateTime.Now;
-
-            lock (_LockMensagens)
-            {
-                List<CanMessage> mensagens = MensagensPendentes
-                    .Where(x => 
-                        (!x.ComResposta && x.Enviado) || 
-                        (x.ComResposta && x.Respondido) || 
-                        (x.ComResposta && x.Enviado && !x.Respondido && x.EnviadoEm < agora.AddSeconds(-1)) ||
-                        (x.Momento < agora.AddSeconds(-30))
-                    )
-                    .ToList();
-                foreach (var item in mensagens)
-                {
-                    MensagensPendentes.Remove(item);
-                }
-            }
-        }
-
-        public void Fechar()
-        {
-            tmrOuvirCAN?.Dispose();
-            tmrEnviarCAN?.Dispose();
-
-            lock (_LockMensagens)
-            {
-                MensagensPendentes.Clear();
-            }
-
-            SerialCANBuffer.Clear();
-            FramesRecebidos = new ConcurrentQueue<(byte, byte[])>();
-            _roteadores.Clear();
-            _ultimoIdEnviado = null;
-
-            Connector.Close();
-
-            IsConnected = false;
-        }
-
-        public void Dispose()
-        {
-            Fechar();
-        }
-
-        private byte CalcularChecksum(byte id, byte[] data)
-        {
-            int soma = id;
-            foreach (var b in data)
-                soma += b;
-            return (byte)(soma & 0xFF);
-        }
-
-        private string GerarChaveMensagem(T_Code Dispositivo, byte Id, byte[] data)
-        {
-            byte parametro = 0x00;
-
-            // Para dispositivos que não sejam MKS, usar DataTx[1] se existir
-            if (Dispositivo != T_Code.Mks && (data?.Length ?? 0) > 1)
-            {
-                parametro = data[1];
-            }
-
-            return $"{Id}_{data[0]}_{parametro}";
-        }
-
-    }
 }

AgroBase/AgroBase/Services/CANServiceSerial.cs

@@ -36,6 +36,9 @@ namespace AgroBase.Services
         private List<CanMessage> Mensagens = new List<CanMessage>();
         private readonly object _LockMensagens = new object();
 
+        private DateTime UltimoTx = DateTime.MinValue;
+        private DateTime UltimoRx = DateTime.MinValue;
+
         private bool DebugMode = false;
         private void MostrarLog(string message, byte id)
         {
@@ -69,13 +72,27 @@ namespace AgroBase.Services
                         _portName = Porta.PortName;
                         _baudRate = 115200;
 
-                        _PortaCAN = new SerialPort(_portName, _baudRate, Parity.None, 8, StopBits.One);
+                        _PortaCAN = new SerialPort(_portName, _baudRate, Parity.None, 8, StopBits.One)
+                        {
+                            NewLine = "\r",
+                            ReadTimeout = 500,
+                            WriteTimeout = 500,
+                            DtrEnable = true,   // alguns adaptadores pedem
+                            RtsEnable = true
+                        };
                         _PortaCAN.Open();
 
-                        EnviarComando("S6\r"); // 500Kbps
+                        EnviarComando("C\r");   // fecha CAN (estado conhecido)
-                        Thread.Sleep(100);
+                        Thread.Sleep(50);
-                        EnviarComando("O\r"); // Open CAN
+                        EnviarComando("Z0\r");  // desabilita timestamp
-                        Thread.Sleep(100);
+                        Thread.Sleep(50);
+                        EnviarComando("S6\r");  // 500 kbps
+                        Thread.Sleep(50);
+                        EnviarComando("O\r");   // open
+                        Thread.Sleep(50);
+
+                        _PortaCAN.DiscardInBuffer();
+                        _PortaCAN.DiscardOutBuffer();
 
                         tmrOuvirCAN?.Dispose();
                         tmrOuvirCAN = new AsyncTaskTimerModel("tmrOuvirCAN", OuvirCAN, 5);
@@ -124,6 +141,7 @@ namespace AgroBase.Services
                 }
             }
             LimparMensagensAntigas();
+            VerificaSaudeConexao();
         }
 
         private async Task OuvirCAN()
@@ -151,6 +169,11 @@ namespace AgroBase.Services
                         SerialCANBuffer.Append(c);
                     }
                 }
+
+                if (tempBuffer.Length > 0)
+                {
+                    UltimoRx = DateTime.Now;
+                }
             }
         }
 
@@ -167,6 +190,9 @@ namespace AgroBase.Services
                 int len = int.Parse(frame.Substring(4, 1));
 
                 byte[] data = new byte[len];
+
+                if (data == null || data.Length == 0) return;
+
                 for (int i = 0; i < len; i++)
                 {
                     data[i] = Convert.ToByte(frame.Substring(5 + i * 2, 2), 16);
@@ -174,20 +200,17 @@ namespace AgroBase.Services
 
                 MostrarLog($"Processando frame: {frame}", (byte)id);
 
-                if (_roteadores.TryGetValue((byte)id, out ICanMessageHandler handler))
+                _roteadores.TryGetValue((byte)id, out ICanMessageHandler handler);
-                {
-
-                }
 
                 T_Code dispositivo = handler?.Dispositivo ?? T_Code.Vzo;
-                byte fCodeRx = data[0];
+                byte fCodeRx = data.Length > 0 ? data[0] : (byte)0x00;
-                byte parametroRx = data[1];
+                byte parametroRx = data.Length > 1 ? data[1] : (byte)0x00;
                 string chave = GerarChaveMensagem(dispositivo, (byte)id, data);
 
                 CanMessage mensagem = null;
                 lock (_LockMensagens)
                 {
-                    mensagem = Mensagens.FirstOrDefault(x => x.Enviado && !x.Respondido && x.Dispositivo == x.Dispositivo && x.IdRx == id && x.DataTx[1] == data[1]);
+                    mensagem = Mensagens.FirstOrDefault(x => x.Enviado && !x.Respondido && x.Dispositivo == dispositivo && x.IdRx == id && x.DataTx[1] == data[1]);
                 }
                 if (mensagem == null)
                 {
@@ -392,6 +415,7 @@ namespace AgroBase.Services
             {
                 _PortaCAN.Write(comando);
                 //Console.WriteLine($"[CAN] Frame enviado: {comando}");
+                UltimoTx = DateTime.Now;
                 return true;
             }
             return false;
@@ -418,6 +442,26 @@ namespace AgroBase.Services
             }
         }
 
+        private void VerificaSaudeConexao()
+        {
+            if (IsConnected && (UltimoTx - UltimoRx).TotalSeconds > 2)
+            {
+                MostrarLog("Muito tempo sem receber novos dados, reiniciando conexao CAN...", 0);
+                try { _PortaCAN?.Close(); } catch { }
+                try
+                {
+                    _PortaCAN?.Open();
+                    EnviarComando("C\r"); Thread.Sleep(50);
+                    EnviarComando("Z0\r"); Thread.Sleep(50);
+                    EnviarComando("S6\r"); Thread.Sleep(50);
+                    EnviarComando("O\r"); Thread.Sleep(50);
+                    UltimoRx = DateTime.MinValue;
+                    UltimoTx = DateTime.MinValue;
+                }
+                catch { }
+            }
+        }
+
         public void Fechar()
         {
             tmrOuvirCAN?.Dispose();

AgroBase/AgroBase/Services/CANServiceWaveshare.cs

@@ -0,0 +1,409 @@
+using AgroBase.Models;
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.IO.Ports;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using static AgroBase.Models.Enums;
+using static WaveshareCANFDService;
+
+namespace AgroBase.Services
+{
+    internal class CanServiceWaveshare : ICanService
+    {
+        public WaveshareCANFDService Connector = new WaveshareCANFDService(0);
+        public string _portName { get; set; } = "CAN-FD";
+        public bool IsConnected { get; private set; }
+        public bool Iniciado
+        {
+            get
+            {
+                return SerialService.DispositivosMapeados.Any(x => /*x.Status != StatusModulo.Desconectado &&*/ SerialService.DispositivosCan.Contains(x.Dispositivo));
+            }
+        }
+        private AsyncTaskTimerModel tmrEnviarCAN;
+        private AsyncTaskTimerModel tmrOuvirCAN;
+        private AsyncTaskTimerModel tmrProcessarCAN;
+        private StringBuilder SerialCANBuffer = new StringBuilder();
+        private ConcurrentQueue<(uint, byte[])> FramesRecebidos = new ConcurrentQueue<(uint, byte[])>();
+        private readonly ConcurrentDictionary<byte, ICanMessageHandler> _roteadores = new ConcurrentDictionary<byte, ICanMessageHandler>();
+        private byte? _ultimoIdEnviado = null;
+        private List<CanMessage> MensagensPendentes = new List<CanMessage>();
+        private readonly object _LockMensagens = new object();
+        private bool DebugMode = false;
+        private DateTime UltimoTx = DateTime.MinValue;
+        private DateTime UltimoRx = DateTime.MinValue;
+
+        private void MostrarLog(string message, byte id)
+        {
+            if (DebugMode/* && new List<byte>() { 0x01 }.Contains(id)*/)
+            {
+                Console.WriteLine($"[CAN] {message}");
+            }
+        }
+
+        public void RegistrarHandler(byte endereco_rx, ICanMessageHandler handler)
+        {
+            _roteadores[endereco_rx] = handler;
+            MostrarLog($"Roteador registrado: {endereco_rx.ToString("X")}", endereco_rx);
+        }
+
+        public bool Inicializar(SerialPort Porta = null)
+        {
+            bool canIniciado = Connector.IsOpen;
+
+            if (!canIniciado)
+            {
+                canIniciado = Connector.Open((VCI_CAN_OBJ frame) =>
+                {
+                    byte[] dataRx = new byte[frame.DataLen];
+                    Array.Copy(frame.Data, dataRx, frame.DataLen);
+                    FramesRecebidos.Enqueue((frame.ID, dataRx));
+                    UltimoRx = DateTime.Now;
+                }, samplePoint: 0.8, bitrateKbps: 250);
+            }
+            else
+            {
+                return true;
+            }
+
+            if (!canIniciado)
+            {
+                MostrarLog($"Erro ao iniciar o conversor CAN FD no canal {Connector.Canal}.", 0);
+            }
+            else
+            {
+                MostrarLog($"Conversor CAN FD iniciado com sucesso no canal {Connector.Canal}.", 0);
+            }
+
+            if (canIniciado || !IsConnected)
+            {
+                tmrEnviarCAN?.Dispose();
+                tmrEnviarCAN = new AsyncTaskTimerModel("tmrEnviarCAN", EnviarCAN, 5);
+                tmrEnviarCAN.Start();
+
+                tmrProcessarCAN?.Dispose();
+                tmrProcessarCAN = new AsyncTaskTimerModel("tmrProcessarCAN", ProcessarCAN, 10);
+                tmrProcessarCAN.Start();
+
+                IsConnected = true;
+            }
+
+            return canIniciado;
+        }
+
+        private async Task ProcessarCAN()
+        {
+            int mensagensParaProcessar = Math.Min(FramesRecebidos.Count, 10);
+
+            for (int i = 0; i < mensagensParaProcessar; i++)
+            {
+                if (FramesRecebidos.TryDequeue(out (uint, byte[]) frame))
+                {
+                    ProcessarFrameCAN(frame);
+                }
+                else
+                {
+                    // A fila ficou vazia antes de atingir o limite
+                    break;
+                }
+            }
+            LimparMensagensAntigas();
+            VerificaSaudeConexao();
+        }
+
+        private void ProcessarFrameCAN((uint, byte[]) frame)
+        {
+            uint id = frame.Item1;
+            byte[] data = frame.Item2;
+
+            if (data == null || data.Length == 0) return;
+
+            try
+            {
+                MostrarLog($"Processando frame: {BitConverter.ToString(data)}", (byte)id);
+
+                if (_roteadores.TryGetValue((byte)id, out ICanMessageHandler handler))
+                {
+
+                }
+
+                T_Code dispositivo = handler?.Dispositivo ?? T_Code.Vzo;
+                byte fCodeRx = data[0];
+                byte parametroRx = data.Length > 1 ? data[1] : (byte)0x00;
+                string chave = GerarChaveMensagem(dispositivo, (byte)id, data);
+
+                CanMessage mensagem = null;
+                lock (_LockMensagens)
+                {
+                    mensagem = MensagensPendentes.FirstOrDefault(x => x.Enviado && !x.Respondido && x.Dispositivo == dispositivo && x.IdRx == id && x.DataTx[1] == data[1]);
+                }
+                if (mensagem == null)
+                {
+                    mensagem = new CanMessage { Dispositivo = dispositivo, IdTx = (byte)id, IdRx = (byte)id, funcCodeRx = fCodeRx, DataRx = data, ChaveInterna = chave };
+                }
+                mensagem.DataRx = data;
+                mensagem.Respondido = true;
+                mensagem.RespondidoEm = DateTime.Now;
+
+                if ((handler?.Dispositivo ?? T_Code.Vzo) != T_Code.Vzo)
+                {
+                    handler.ProcessarMensagem(mensagem);
+                }
+                else
+                {
+                    MostrarLog($"Roteador não registrado! ID_Num não tratado: 0x{id:X2}, fCodeRx: 0x{fCodeRx:X2}, frame: {frame}", (byte)id);
+                }
+            }
+            catch (Exception ex)
+            {
+                MostrarLog($"Erro ao processar frame! Frame: {frame}, Erro: {ex.Message}", (byte)id);
+            }
+        }
+
+        public void AdicionarMensagemNaFila(T_Code Dispositivo, byte idTx, byte idRx, byte funcCodeTx, byte funcCodeRx, byte[] payload = null, bool get = true)
+        {
+            if (!Connector.IsOpen) return;
+
+            var dados = new List<byte>() { funcCodeTx };
+
+            if (payload != null)
+                dados.AddRange(payload);
+
+            if (Dispositivo == T_Code.Mks)
+            {
+                byte crc = CalcularChecksum(idTx, dados.ToArray());
+                dados.Add(crc);
+            }
+
+            var novaMensagem = new CanMessage
+            {
+                Momento = DateTime.Now,
+                Dispositivo = Dispositivo,
+                IdTx = idTx,
+                IdRx = idRx,
+                funcCodeTx = funcCodeTx,
+                funcCodeRx = funcCodeRx,
+                DataTx = dados.ToArray(),
+                ComResposta = get,
+                ChaveInterna = GerarChaveMensagem(Dispositivo, idRx, dados.ToArray())
+            };
+
+            bool mensagemNaFila = false;
+
+            lock (_LockMensagens)
+            {
+                mensagemNaFila = MensagensPendentes.Any(x => (!x.Enviado || (x.ComResposta && x.Enviado && !x.Respondido)) && x.IdTx == idTx && x.IdRx == idRx && x.DataTx.SequenceEqual(dados.ToArray()));
+                if (!mensagemNaFila)
+                {
+                    MensagensPendentes.Add(novaMensagem);
+                    MostrarLog($"Mensagem adicionada na fila. ID: {novaMensagem.IdTx}, Data: {FuncoesGlobais.ConverterComandoBytesParaTexto(novaMensagem.DataTx)}", idTx);
+                }
+                else
+                {
+                    MostrarLog($"Mensagem já pendente e idêntica. ID: {novaMensagem.IdTx}, Data: {FuncoesGlobais.ConverterComandoBytesParaTexto(novaMensagem.DataTx)}", idTx);
+                }
+            }
+        }
+
+        private CanMessage ObterProximaMensagem()
+        {
+            List<CanMessage> mensagensPendentes;
+
+            lock (_LockMensagens)
+            {
+                mensagensPendentes = MensagensPendentes
+                    .Where(x => !x.Enviado)
+                    .ToList();
+            }
+
+            if (!mensagensPendentes.Any())
+                return null;
+
+            // Primeiro tenta pegar mensagens com Get == false
+            var mensagensPrioritarias = mensagensPendentes
+                .Where(x => !x.ComResposta)
+                .ToList();
+
+            // Se não houver mensagens prioritárias, considera todas
+            var mensagensParaProcessar = mensagensPrioritarias.Any()
+                ? mensagensPrioritarias
+                : mensagensPendentes;
+
+            // Agrupa por IdTx e ordena os grupos
+            var idsDisponiveis = mensagensParaProcessar
+                .Select(x => x.IdTx)
+                .Distinct()
+                .OrderBy(x => x)
+                .ToList();
+
+            byte proximoId;
+
+            if (!_ultimoIdEnviado.HasValue || !idsDisponiveis.Contains(_ultimoIdEnviado.Value))
+            {
+                proximoId = idsDisponiveis.First();
+            }
+            else
+            {
+                var index = idsDisponiveis.IndexOf(_ultimoIdEnviado.Value);
+                proximoId = (index + 1 < idsDisponiveis.Count) ? idsDisponiveis[index + 1] : idsDisponiveis.First();
+            }
+
+            // Seleciona a mensagem mais antiga com esse IdTx
+            var proximaMsg = mensagensParaProcessar
+                .Where(x => x.IdTx == proximoId)
+                .OrderBy(x => x.Momento)
+                .FirstOrDefault();
+
+            return proximaMsg;
+        }
+
+        private async Task EnviarCAN()
+        {
+            if (!Connector.IsOpen) return;
+
+            CanMessage msg = ObterProximaMensagem();
+
+            if (msg != null)
+            {
+                string frame = CriarFrame(msg);
+
+                if (_ultimoIdEnviado.HasValue && msg.IdTx == _ultimoIdEnviado.Value)
+                {
+                    await Task.Delay(5);
+                }
+
+                if (msg.Dispositivo == T_Code.Mks)
+                {
+                    await Task.Delay(10);
+                }
+
+                if (!EnviarComando(frame, msg))
+                {
+                    MostrarLog("Erro ao enviar frame", msg.IdTx);
+                }
+
+                msg.Enviado = true;
+                msg.EnviadoEm = DateTime.Now;
+                _ultimoIdEnviado = msg.IdTx;
+            }
+        }
+
+        private string CriarFrame(CanMessage msg)
+        {
+            string frame = $"t{msg.IdTx:X3}{msg.DataTx.Length}";
+            foreach (byte b in msg.DataTx)
+                frame += b.ToString("X2");
+
+            frame += "\r";
+
+            return frame;
+        }
+
+        private bool EnviarComando(string comando, CanMessage msg = null)
+        {
+            if (Connector.IsOpen)
+            {
+                bool sucesso = Connector.Send(msg.IdTx, msg.DataTx);
+
+                if (sucesso)
+                {
+                    MostrarLog($"Frame enviado: {comando}", msg.IdTx);
+                    UltimoTx = DateTime.Now;
+                }
+                else
+                {
+                    MostrarLog($"Erro ao enviar frame: {comando}", msg.IdTx);
+                }
+                return sucesso;
+            }
+
+            return false;
+        }
+
+        private void LimparMensagensAntigas()
+        {
+            var agora = DateTime.Now;
+
+            lock (_LockMensagens)
+            {
+                List<CanMessage> mensagens = MensagensPendentes
+                    .Where(x =>
+                        (!x.ComResposta && x.Enviado) ||
+                        (x.ComResposta && x.Respondido) ||
+                        (x.ComResposta && x.Enviado && !x.Respondido && x.EnviadoEm < agora.AddSeconds(-1)) ||
+                        (x.Momento < agora.AddSeconds(-30))
+                    )
+                    .ToList();
+                foreach (var item in mensagens)
+                {
+                    MensagensPendentes.Remove(item);
+                }
+            }
+        }
+
+        private void VerificaSaudeConexao()
+        {
+            if (IsConnected && (UltimoTx - UltimoRx).TotalSeconds > 10)
+            {
+                MostrarLog("Muito tempo sem receber novos dados, reiniciando conexao CAN...", 0);
+                try { Connector.Close(); } catch { }
+                try
+                {
+                    Inicializar();
+                    UltimoRx = DateTime.MinValue;
+                    UltimoTx = DateTime.MinValue;
+                }
+                catch { }
+            }
+        }
+
+        public void Fechar()
+        {
+            tmrOuvirCAN?.Dispose();
+            tmrEnviarCAN?.Dispose();
+
+            lock (_LockMensagens)
+            {
+                MensagensPendentes.Clear();
+            }
+
+            SerialCANBuffer.Clear();
+            FramesRecebidos = new ConcurrentQueue<(uint, byte[])>();
+            _roteadores.Clear();
+            _ultimoIdEnviado = null;
+
+            Connector.Close();
+
+            IsConnected = false;
+        }
+
+        public void Dispose()
+        {
+            Fechar();
+        }
+
+        private byte CalcularChecksum(byte id, byte[] data)
+        {
+            int soma = id;
+            foreach (var b in data)
+                soma += b;
+            return (byte)(soma & 0xFF);
+        }
+
+        private string GerarChaveMensagem(T_Code Dispositivo, byte Id, byte[] data)
+        {
+            if (data == null || data.Length == 0) return $"{Id}_empty";
+
+            // MKS: chaveia por funcCode apenas
+            if (Dispositivo == T_Code.Mks)
+                return $"{Id}_{data[0]}";
+
+            // Outros: mantém param se houver
+            byte parametro = (data.Length > 1) ? data[1] : (byte)0x00;
+            return $"{Id}_{data[0]}_{parametro}";
+        }
+    }
+}

AgroBase/AgroBase/Services/GPSService.cs

@@ -44,7 +44,7 @@ namespace AgroBase.Services
         private static int rtk_timeout = 60;
         private static int TempoMin_Ntrip = 10;
         private static bool LoopRTK_Ntrip = false;
-        public static bool CorrecaoRTK_Ntrip = false;
+        public static bool CorrecaoRTK_Ntrip = true;
         public static DateTime UltimoEnvioCorrecaoRTK = DateTime.MinValue;
 
         public static void AtualizarPortaCOM(SerialPort Porta)
@@ -793,7 +793,7 @@ namespace AgroBase.Services
 
         private static async Task AplicarCorrecaoRTK_Ntrip()
         {
-            if (LoopRTK_Ntrip || !APIService.HasInternet || true)
+            if (!Iniciado || LoopRTK_Ntrip || !APIService.HasInternet)
                 return;
 
             LoopRTK_Ntrip = true;

AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs

@@ -139,8 +139,8 @@ namespace AgroBase.Services.Operadores
                 ),
                 ("Gerais", new
                     {
-                        velocidade_ms = _Sensoriamento.Movimentacao != null ? _Sensoriamento.Movimentacao.VelocidadeMedia : 0,
+                        velocidade_ms = _Sensoriamento.Movimentacao?.VelocidadeMedia ?? 0,
-                        ervas_no_radar = _Sensoriamento.Atuador != null ? _Sensoriamento.Atuador.ErvasNoRadar : false,
+                        ervas_no_radar = _Sensoriamento.Atuador?.ErvasNoRadar ?? false,
                     }
                 )
             );

AgroBase/AgroBase/Services/WaveshareCanFDService.cs

@@ -13,7 +13,7 @@ public class WaveshareCANFDService
     private AsyncTaskTimerModel tmrLeitura;
     private readonly int delayTickTimer = 1;
     private bool isOpen = false;
-    VCI_CAN_OBJ[] buffer = new VCI_CAN_OBJ[100];
+    private bool _rxBusy = false;
 
     public bool IsOpen => isOpen;
     public int Canal => ((int)channelIndex + 1);
@@ -69,78 +69,118 @@ public class WaveshareCANFDService
     [DllImport("ControlCANFD.dll", CallingConvention = CallingConvention.StdCall)]
     public static extern uint VCI_Receive(uint DeviceType, uint DeviceInd, uint CANInd, [In, Out] VCI_CAN_OBJ[] pReceive, uint Len, int WaitTime);
 
-    public bool Open(Action<VCI_CAN_OBJ> onReceive)
+    [DllImport("ControlCANFD.dll", CallingConvention = CallingConvention.StdCall)]
+    public static extern uint VCI_SetReference(uint DeviceType, uint DeviceInd, uint CANInd, uint RefType, ref uint pData);
+
+    public bool Open(Action<VCI_CAN_OBJ> onReceive, int bitrateKbps = 500, double samplePoint = 0.875)
     {
         callback = onReceive;
 
-        if (VCI_OpenDevice(DEVICE_TYPE, DEVICE_INDEX, 0) != 1)
+        if (VCI_OpenDevice(DEVICE_TYPE, DEVICE_INDEX, 0) != 1) return false;
+
+        if (VCI_OpenDevice(DEVICE_TYPE, DEVICE_INDEX, 0) != 1) return false;
+
+        // >>> SET BAUD PARA CAN-FD (ignora Timing0/1)
+        uint baudCode = MapToFdBaudCode(bitrateKbps);
+        if (VCI_SetReference(DEVICE_TYPE, DEVICE_INDEX, channelIndex, 0 /*RefType: baud*/, ref baudCode) != 1)
             return false;
 
+        // o resto pode ficar igual; Timing0/1 serão ignorados pela DLL FD, então ponha 0 para clareza
         var config = new VCI_INIT_CONFIG
         {
-            AccCode = 0,
+            AccCode = 0x00000000,
-            AccMask = 0xFFFFFFFF,
+            AccMask = 0xFFFFFFFF,  // FD: máscara é ignorada segundo manual; sem problemas
             Reserved = 0,
-            Filter = 0,
+            Filter = 0,           // filtro padrão
-            Timing0 = 0x00,
+            Timing0 = 0,           // ignorado em FD
-            Timing1 = 0x1C,
+            Timing1 = 0,           // ignorado em FD
             Mode = 0
         };
 
-        if (VCI_InitCAN(DEVICE_TYPE, DEVICE_INDEX, channelIndex, ref config) != 1)
+        if (VCI_InitCAN(DEVICE_TYPE, DEVICE_INDEX, channelIndex, ref config) != 1) return false;
-            return false;
+        if (VCI_StartCAN(DEVICE_TYPE, DEVICE_INDEX, channelIndex) != 1) return false;
-
-        if (VCI_StartCAN(DEVICE_TYPE, DEVICE_INDEX, channelIndex) != 1)
-            return false;
 
         tmrLeitura?.Dispose();
         tmrLeitura = new AsyncTaskTimerModel($"tmrLeitura_CAN_{Canal}", tmrLeitura_Tick, delayTickTimer);
         tmrLeitura.Start();
 
         isOpen = true;
-        Console.WriteLine($"[CAN-FD] Canal {Canal} aberto");
+        Console.WriteLine($"[CAN-FD] Canal {Canal} aberto @ {bitrateKbps} kbps, SP≈{samplePoint * 100:0.#}%");
         return true;
     }
 
-    public bool Send(uint id, byte[] data)
+    // Exemplos de mapeamento (SJA1000-like):
+    private static uint MapToFdBaudCode(int kbps)
     {
-        if (!isOpen || data.Length > 8) return false;
+        switch (kbps)
+        {
+            case 1000: return 0x060003;
+            case 800: return 0x060004;
+            case 500: return 0x060007;
+            case 250: return 0x1C0008;
+            case 125: return 0x1C0011;
+            case 100: return 0x160023;
+            case 50: return 0x1C002C;
+            case 20: return 0x1600B3;
+            case 10: return 0x1C00E0;
+            case 5: return 0x1C01C1;
+            default: return 0x060007;
+        };
+    }
+
+    public bool Send(uint id, byte[] data, bool isExtended = false, bool isRemote = false)
+    {
+        if (!isOpen || data == null || data.Length > 8) return false;
+
+        id &= 0x7FF; // <- garante Standard ID
 
         var obj = new VCI_CAN_OBJ
         {
             ID = id,
             SendType = 0,
-            RemoteFlag = 0,
+            RemoteFlag = (byte)(isRemote ? 1 : 0),
-            ExternFlag = 0,
+            ExternFlag = (byte)(isExtended ? 1 : 0),
             DataLen = (byte)data.Length,
             Data = new byte[8],
             Reserved = new byte[3]
         };
         Array.Copy(data, obj.Data, data.Length);
-
+        return VCI_Transmit(DEVICE_TYPE, DEVICE_INDEX, channelIndex, ref obj, 1) > 0;
-        var result = VCI_Transmit(DEVICE_TYPE, DEVICE_INDEX, channelIndex, ref obj, 1);
-        //Console.WriteLine($"[CAN TX] ID: 0x{id:X3} Data: {BitConverter.ToString(data)} Result: {result}");
-        return result > 0;
     }
 
     private async Task tmrLeitura_Tick()
     {
-        buffer = new VCI_CAN_OBJ[100];
+        if (_rxBusy) return;
-        for (int i = 0; i < buffer.Length; i++)
+        _rxBusy = true;
-            buffer[i].Data = new byte[8]; // limpa possíveis lixos
+        try
+        {
+            // (re)aloca buffer local por tick para evitar lixo compartilhado
+            var local = new VCI_CAN_OBJ[100];
+            for (int i = 0; i < local.Length; i++)
+                local[i].Data = new byte[8];
 
-        var count = VCI_Receive(DEVICE_TYPE, DEVICE_INDEX, channelIndex, buffer, 100, 100);
+            var count = VCI_Receive(DEVICE_TYPE, DEVICE_INDEX, channelIndex, local, 100, 100);
             if (count > 0)
             {
                 for (int i = 0; i < count; i++)
                 {
-                var frame = buffer[i];
+                    var frame = local[i];
                     var data = new byte[frame.DataLen];
                     Array.Copy(frame.Data, data, frame.DataLen);
+
+                    // 🔧 substitui o Data pelo array "desanexado" do buffer
+                    frame.Data = data;
+
+                    // entrega frame "isolado" ao callback
                     callback?.Invoke(frame);
                 }
             }
         }
+        finally
+        {
+            _rxBusy = false;
+        }
+    }
 
     public void Close()
     {

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

@@ -20,7 +20,14 @@
       "padded_top_topics_start_index": 0,
       "taxonomy_version": 0,
       "top_topics_and_observing_domains": [  ]
+   }, {
+      "calculation_time": "13400595140854297",
+      "config_version": 0,
+      "model_version": "0",
+      "padded_top_topics_start_index": 0,
+      "taxonomy_version": 0,
+      "top_topics_and_observing_domains": [  ]
    } ],
    "hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
-   "next_scheduled_calculation_time": "13400432611772238"
+   "next_scheduled_calculation_time": "13401199940855097"
 }

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

@@ -1,3 +1,3 @@
-2025/08/22-10:57:48.747 3fc4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/08/25-17:06:11.375 d6c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/08/22-10:57:48.753 3fc4 Recovering log #3
+2025/08/25-17:06:11.381 d6c Recovering log #3
-2025/08/22-10:57:48.756 3fc4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/08/25-17:06:11.384 d6c 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 @@
-2025/08/22-10:47:37.338 2a88 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/08/25-17:05:24.176 da4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/08/22-10:47:37.345 2a88 Recovering log #3
+2025/08/25-17:05:24.181 da4 Recovering log #3
-2025/08/22-10:47:37.349 2a88 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/08/25-17:05:24.184 da4 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":"13400431527833615","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":18302},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:60c:f100:c78:e04e:44f:8fe","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":"13400712371911326","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":42895},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:60c:f100:fd1a:acec:81f9:ab34","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":1787405309.402605,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1755869309.402614}],"version":2}
+{"sts":[{"expiry":1787685962.878582,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1756149962.878585}],"version":2}

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

@@ -1,3 +1,3 @@
-2025/08/22-13:45:28.240 3fc4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/08/25-17:07:32.655 d6c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/08/22-13:45:28.242 3fc4 Recovering log #3
+2025/08/25-17:07:32.656 d6c Recovering log #3
-2025/08/22-13:45:28.246 3fc4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/08/25-17:07:32.661 d6c 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 @@
-2025/08/22-10:49:31.955 2a88 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/08/25-17:05:59.944 da4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/08/22-10:49:31.957 2a88 Recovering log #3
+2025/08/25-17:05:59.945 da4 Recovering log #3
-2025/08/22-10:49:31.960 2a88 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/08/25-17:05:59.949 da4 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 @@
-2025/08/22-10:57:48.675 c54 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/08/25-17:06:11.307 51e4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/08/22-10:57:48.676 c54 Recovering log #7
+2025/08/25-17:06:11.309 51e4 Recovering log #7
-2025/08/22-10:57:48.677 c54 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/08/25-17:06:11.309 51e4 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 @@
-2025/08/22-10:47:37.263 3d50 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/08/25-17:05:24.104 698c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/08/22-10:47:37.265 3d50 Recovering log #7
+2025/08/25-17:05:24.106 698c Recovering log #7
-2025/08/22-10:47:37.265 3d50 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/08/25-17:05:24.106 698c 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/Last Version

@@ -1 +1 @@
-139.0.3405.102
+139.0.3405.111

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/TrustTokenKeyCommitments/2025.5.15.1/LICENSE

@@ -1,27 +0,0 @@
-// Copyright 2015 The Chromium Authors. All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are
-// met:
-//
-//    * Redistributions of source code must retain the above copyright
-// notice, this list of conditions and the following disclaimer.
-//    * Redistributions in binary form must reproduce the above
-// copyright notice, this list of conditions and the following disclaimer
-// in the documentation and/or other materials provided with the
-// distribution.
-//    * Neither the name of Google Inc. nor the names of its
-// contributors may be used to endorse or promote products derived from
-// this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/TrustTokenKeyCommitments/2025.5.15.1/_metadata/verified_contents.json

@@ -1 +0,0 @@
-[{"description":"treehash per file","signed_content":{"payload":"eyJjb250ZW50X2hhc2hlcyI6W3siYmxvY2tfc2l6ZSI6NDA5NiwiZGlnZXN0Ijoic2hhMjU2IiwiZmlsZXMiOlt7InBhdGgiOiJMSUNFTlNFIiwicm9vdF9oYXNoIjoiUGIwc2tBVUxaUzFqWldTQnctV0hIRkltRlhVcExiZDlUcVkwR2ZHSHBWcyJ9LHsicGF0aCI6ImtleXMuanNvbiIsInJvb3RfaGFzaCI6IjV3THVRS29HUW81aXd3eHk1ZmZGT1UxN1hjajdkVFJWbGR4OWNuY1hHUUkifSx7InBhdGgiOiJtYW5pZmVzdC5qc29uIiwicm9vdF9oYXNoIjoiWnlLb1lNaFZ6NVNsVDlIXzNUZ0J4TWxKOWJaOWhnR3RNQUpra3hCWDhycyJ9XSwiZm9ybWF0IjoidHJlZWhhc2giLCJoYXNoX2Jsb2NrX3NpemUiOjQwOTZ9XSwiaXRlbV9pZCI6ImtpYWJoYWJqZGJramRwamJwaWdmb2RiZGptYmdsY29vIiwiaXRlbV92ZXJzaW9uIjoiMjAyNS41LjE1LjEiLCJwcm90b2NvbF92ZXJzaW9uIjoxfQ","signatures":[{"header":{"kid":"publisher"},"protected":"eyJhbGciOiJSUzI1NiJ9","signature":"m6wMQqXNEKw_3hSXaOa4IcPAsygDHnGDX7W71n87JsRUTJo8bjHaDJMgKVtlBHRHsY0M1ji95bvTgrG_o3Pi_GsJxZWTX_0GNzJhmnX7xqBZoEYJ78QZbB2RfpIN2siM88yz_QVR6n-kogfEGqQwg4qcD1Rev_lMFvGznQZ0MTN91m6xWkGueL9b3wGF8ish27aTUXUAZoFdhyveAJwwZx7TZ2SN_6m2Dh4Q7N5ObRXCj9KCOBpJafWEHMbaMxDoTbtZvVNWJh1TFdxJ_YnnXuSo08O0Ej5QKGeHXdMprOrELHq2eRHKhj-fgjCs9m94HwDgzzXMozH-WM81eZ_r5-dImeBwM-UISUc_OkkEvLT7MbbEQ8Pd5J0UU2uOplXp1nV9-0m6aed42CFHg4ImyrQY5QM7YewaQV-9IIzKwuFDDmTDxalq59CI4EVwNbS0vZZuShq_Nlrxa4AghW2zrK8-urLG2whCDibvQkNEGr0W5rKG0I2Eyevrdglk-6dZbWjsqPTA6MXM31nVG0P3Yg-jKtG8GFrIZt04Rzjacx4Kj6WZqeN1wU1HTNNx-iimLaZ7iqj8X3G_1-MifGB7CNYWrpF2CegDG8L-KCL-3dIs-Eztyp23dnTi_DBK4-8iIAwl9vIMmHT_bZlw3KaRyoawpjRufOthBWh2LbRyDVA"},{"header":{"kid":"webstore"},"protected":"eyJhbGciOiJSUzI1NiJ9","signature":"HqKxKOCUP0euVwbDphrmanZqx5aBhNifi3-JaQGkQtx7SBOHyWNY3JeUK0ubDTcHzG3eOOXIaJziMhylX8V6Cw95UvuFgsZmWEXXQvJp8QkHf6XnJzGp0PYTLvXEyQX8YP8Msu5gXp-FlgcRzlRmngCDNzYPsSYHRDMfBnYCfhGb8xPeVCGzpEbFYG3NIiLS9BCyZn_BpWwU1QhN7l3zqwVsrQxHdWmBJWR2w77cLd2sbFyAFfKA79naGoA2tRY22jiXGRRqYFGOgxWtl2AAPuj-PuhoJXFinDRkpmaueR9mn9RQ-HghJKoAcRNTcSvhaxEh3zgWEQdKNLQgmF70PA"}]}}]

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/TrustTokenKeyCommitments/2025.5.15.1/manifest.fingerprint

@@ -1 +0,0 @@
-1.6B1561D18D6D7D238C1FA4FB8AEF54E1F1E6B574D958BC0A41CA955F90AFD7DC

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/TrustTokenKeyCommitments/2025.5.15.1/manifest.json

@@ -1,5 +0,0 @@
-{
-  "manifest_version": 2,
-  "name": "trustToken",
-  "version": "2025.5.15.1"
-}

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/component_crx_cache/metadata.json

@@ -1 +1 @@
-{"hashes":{"00AF3F07B5ABB71F6D30337E1EEF62FA280F06EF19485C0CF6B72171F92CCC0A":{"appid":"kpfehajjjbbcifeehjgfgnabifknmdad","fp":"1.00AF3F07B5ABB71F6D30337E1EEF62FA280F06EF19485C0CF6B72171F92CCC0A"},"1AB07E887ACCA305058EEAB9053C96DC531C2C5C067AB4F30AFA2B31F1EDD966":{"appid":"oankkpibpaokgecfckkdkgaoafllipag","fp":"1.1AB07E887ACCA305058EEAB9053C96DC531C2C5C067AB4F30AFA2B31F1EDD966"},"4B81B4DF3AD971287E1AE02C449344FCFA5D20431DE17B2BA8854CC9CDCE4089":{"appid":"ahmaebgpfccdhgidjaidaoojjcijckba","fp":"1.4B81B4DF3AD971287E1AE02C449344FCFA5D20431DE17B2BA8854CC9CDCE4089"},"6B1561D18D6D7D238C1FA4FB8AEF54E1F1E6B574D958BC0A41CA955F90AFD7DC":{"appid":"fgbafbciocncjfbbonhocjaohoknlaco","fp":"1.6B1561D18D6D7D238C1FA4FB8AEF54E1F1E6B574D958BC0A41CA955F90AFD7DC"},"89f43cb3df807293de2772d5f01ac2fc1482b38ccc8fdaee859b80642b7a0487":{"appid":"pghocgajpebopihickglahgebcmkcekh","fp":""},"95FD9D48E4FC245A3F3A99A3A16ECD1355050BA3F4AFC555F19A97C7F9B49677":{"appid":"ohckeflnhegojcjlcpbfpciadgikcohk","fp":"1.95FD9D48E4FC245A3F3A99A3A16ECD1355050BA3F4AFC555F19A97C7F9B49677"},"A81D1959892AE4180554347DF1B97834ABBA2E1A5E6B9AEBA000ECEA26EABECC":{"appid":"fppmbhmldokgmleojlplaaodlkibgikh","fp":"1.A81D1959892AE4180554347DF1B97834ABBA2E1A5E6B9AEBA000ECEA26EABECC"},"A99D66CFCE8CA170740CE0403956F4DFAF4683829A89F4B7AD9C95303871E284":{"appid":"eeobbhfgfagbclfofmgbdfoicabjdbkn","fp":"1.A99D66CFCE8CA170740CE0403956F4DFAF4683829A89F4B7AD9C95303871E284"},"b987bdc4f2ad2a409b964921d4a5db1cdbe07f9c98f868293b4cc32acdc42cec":{"appid":"alpjnmnfbgfkmmpcfpejmmoebdndedno","fp":""},"bcb93cba8636743d1fbd32be3bd8ce8ff602323895bf4d136c26b9bc64b0a6a4":{"appid":"ndikpojcjlepofdkaaldkinkjbeeebkl","fp":""}}}
+{"hashes":{"00AF3F07B5ABB71F6D30337E1EEF62FA280F06EF19485C0CF6B72171F92CCC0A":{"appid":"kpfehajjjbbcifeehjgfgnabifknmdad","fp":"1.00AF3F07B5ABB71F6D30337E1EEF62FA280F06EF19485C0CF6B72171F92CCC0A"},"1AB07E887ACCA305058EEAB9053C96DC531C2C5C067AB4F30AFA2B31F1EDD966":{"appid":"oankkpibpaokgecfckkdkgaoafllipag","fp":"1.1AB07E887ACCA305058EEAB9053C96DC531C2C5C067AB4F30AFA2B31F1EDD966"},"452064dcff76e03e0e81b4bb3c48ab1c432e040094f7546c7261a90d4a1c1bbf":{"appid":"fgbafbciocncjfbbonhocjaohoknlaco","fp":""},"4B81B4DF3AD971287E1AE02C449344FCFA5D20431DE17B2BA8854CC9CDCE4089":{"appid":"ahmaebgpfccdhgidjaidaoojjcijckba","fp":"1.4B81B4DF3AD971287E1AE02C449344FCFA5D20431DE17B2BA8854CC9CDCE4089"},"89f43cb3df807293de2772d5f01ac2fc1482b38ccc8fdaee859b80642b7a0487":{"appid":"pghocgajpebopihickglahgebcmkcekh","fp":""},"95FD9D48E4FC245A3F3A99A3A16ECD1355050BA3F4AFC555F19A97C7F9B49677":{"appid":"ohckeflnhegojcjlcpbfpciadgikcohk","fp":"1.95FD9D48E4FC245A3F3A99A3A16ECD1355050BA3F4AFC555F19A97C7F9B49677"},"A81D1959892AE4180554347DF1B97834ABBA2E1A5E6B9AEBA000ECEA26EABECC":{"appid":"fppmbhmldokgmleojlplaaodlkibgikh","fp":"1.A81D1959892AE4180554347DF1B97834ABBA2E1A5E6B9AEBA000ECEA26EABECC"},"A99D66CFCE8CA170740CE0403956F4DFAF4683829A89F4B7AD9C95303871E284":{"appid":"eeobbhfgfagbclfofmgbdfoicabjdbkn","fp":"1.A99D66CFCE8CA170740CE0403956F4DFAF4683829A89F4B7AD9C95303871E284"},"b987bdc4f2ad2a409b964921d4a5db1cdbe07f9c98f868293b4cc32acdc42cec":{"appid":"alpjnmnfbgfkmmpcfpejmmoebdndedno","fp":""},"bcb93cba8636743d1fbd32be3bd8ce8ff602323895bf4d136c26b9bc64b0a6a4":{"appid":"ndikpojcjlepofdkaaldkinkjbeeebkl","fp":""}}}

AgroBase/AgroBase/bin/x64/Debug/Python/Output/GeoJson.json

@@ -1 +1 @@
-{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1","Name":"22_08_2025_10_41_55_Manual","Length":29.677008111445875,"Dist1":0.0,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.395256450666665,-22.172346369833335],[-47.3952565435,-22.172346308833333],[-47.395256576833333,-22.1723463895],[-47.395256607833332,-22.172346390833333],[-47.395256612,-22.172346383666667],[-47.3952566095,-22.172346395833333],[-47.395256603,-22.17234638],[-47.395256633333332,-22.172346400166667],[-47.39525668666667,-22.172346436166666],[-47.395256690333333,-22.172346315],[-47.395256662833333,-22.172346244833335],[-47.3952566795,-22.172346234166668],[-47.395256709166667,-22.172346255666668],[-47.395256872166669,-22.172346330833335],[-47.395256888,-22.172346301],[-47.3952568545,-22.172346285],[-47.395256829,-22.172346216166666],[-47.395256821666663,-22.172346155333333],[-47.395256853333336,-22.172346067333333],[-47.395256828333331,-22.172346081333334],[-47.395256798333335,-22.172346064166668],[-47.39525658783333,-22.1723460885],[-47.395256589166664,-22.172345992],[-47.395256726833331,-22.17234593],[-47.3952567375,-22.1723458955],[-47.395256776833335,-22.172345912166666],[-47.3952566485,-22.172345831166666],[-47.395256515833331,-22.172345763833334],[-47.395256549666669,-22.172345739333334],[-47.395256393,-22.172345694166665],[-47.395256296166664,-22.172345727166668],[-47.395256282166663,-22.172345670166667],[-47.395256309333334,-22.1723456805],[-47.39525658116667,-22.172347672333334],[-47.395256880833337,-22.172348807333332],[-47.395258087333332,-22.172352117833334],[-47.395258773666669,-22.1723537055],[-47.395258515,-22.172356928333333],[-47.395258686666665,-22.172358251333332],[-47.395259433666666,-22.1723619705],[-47.395259733333333,-22.172363576],[-47.395260085,-22.172365142166665],[-47.395261047666665,-22.172367679166666],[-47.395261088833337,-22.172368784333333],[-47.395261036333331,-22.172368743833335],[-47.395260981166665,-22.172368728166667],[-47.395260906333334,-22.172370990833333],[-47.395261183166667,-22.172372657666667],[-47.395261496166668,-22.172374629166665],[-47.395261777166667,-22.1723753845],[-47.395261561333335,-22.1723772325],[-47.3952616635,-22.172379212666666],[-47.395259892666665,-22.1723810495],[-47.395259789333331,-22.172383026333332],[-47.395258998833334,-22.172386347833335],[-47.3952587635,-22.172388393333332],[-47.3952582685,-22.1723898615],[-47.395258494833335,-22.172393639666666],[-47.395250912166667,-22.172404825833333],[-47.395250136666668,-22.172405724833332],[-47.395250509,-22.172405612],[-47.3952558565,-22.172405050666665],[-47.39525849333333,-22.172409069],[-47.395260315166666,-22.172416536166665],[-47.3952563085,-22.172417938],[-47.395253391,-22.172420802166666],[-47.395256822166665,-22.172420572833332],[-47.395256906833332,-22.172424407666668],[-47.3952563335,-22.172425210166665],[-47.395257268833333,-22.172427588],[-47.395257951666665,-22.172428887166667],[-47.395257650833337,-22.172429874833334],[-47.395260252833332,-22.172433116666667],[-47.395263901833331,-22.172437103],[-47.3952669375,-22.172439262833333],[-47.395269575833332,-22.172440730833333],[-47.395276767333335,-22.172442326666665],[-47.395280671833333,-22.1724421815],[-47.395281228166667,-22.172442044666667],[-47.3952777085,-22.172442249166668],[-47.395270072833334,-22.172444610833335],[-47.395266372,-22.172447167833333],[-47.395261905,-22.172453009333335],[-47.395260418,-22.172456977166668],[-47.395258931166666,-22.172460745166667],[-47.395256378333336,-22.172467218166666],[-47.395255179333333,-22.1724699915],[-47.395252460666669,-22.1724764045],[-47.395250798333336,-22.172480014833333],[-47.3952483145,-22.1724866155],[-47.395247748666669,-22.172488646166666],[-47.395247018166664,-22.172494215333334],[-47.395246894333333,-22.172498196],[-47.39524629466667,-22.172500856166668],[-47.395242381833334,-22.172506576833332],[-47.39523919483333,-22.172508991666668],[-47.395232237333332,-22.172512476666668],[-47.3952284705,-22.172514312666667],[-47.395221581833333,-22.172517214333332],[-47.395217751333334,-22.172518779333334],[-47.395214971,-22.172520573666667],[-47.395210067333331,-22.1725241545],[-47.3952079915,-22.172527879833332],[-47.395204200333332,-22.1725354175],[-47.395202777666668,-22.1725386405],[-47.395202796833331,-22.17254124],[-47.39520273116667,-22.172542654166666],[-47.3952026795,-22.172543427166666],[-47.3952027095,-22.17254343],[-47.395202701833334,-22.172543459333333],[-47.395202711,-22.172543445166667],[-47.395202679833332,-22.172543447166667],[-47.395202698333335,-22.172543444],[-47.395202698333335,-22.172543444]]}}]}
+{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1","Name":"25_08_2025_16_29_49_MapaGPS","Length":45.0669749673391,"Dist1":0.0,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.395187119333336,-22.172544759833333],[-47.3951871205,-22.172544750333333],[-47.395187123666666,-22.17254474],[-47.395187119333336,-22.172544773],[-47.39518710983333,-22.172544767666668],[-47.3951870925,-22.172544773333332],[-47.3951871135,-22.1725447695],[-47.395187109,-22.172544759],[-47.395187124333333,-22.172544775333332],[-47.395187104,-22.172544765333335],[-47.395187114,-22.17254478],[-47.395187119,-22.1725447645],[-47.395187111166663,-22.172544784],[-47.39518645,-22.172549661833333],[-47.39518665166667,-22.172551579833332],[-47.395191283666669,-22.172556917166666],[-47.395194691166665,-22.172557394166667],[-47.395197058166666,-22.1725579445],[-47.39520246033333,-22.172560708833334],[-47.395205430833336,-22.172563393833332],[-47.3952061165,-22.172569330666665],[-47.395204892333332,-22.172570874],[-47.395202153,-22.172576186166665],[-47.3952015505,-22.172579329333335],[-47.395201410666665,-22.172581696333335],[-47.395201276666668,-22.172586928833333],[-47.395200646,-22.172589796],[-47.395201421833335,-22.172594937166668],[-47.395201952333331,-22.172597846666665],[-47.3952035565,-22.172603020166665],[-47.395204372,-22.172605900833332],[-47.3952052305,-22.172607986333333],[-47.3952063055,-22.1726129495],[-47.395207043666666,-22.172615775833332],[-47.3952076955,-22.172621029],[-47.395208046166665,-22.17262326],[-47.395208260333334,-22.172629409],[-47.3952083685,-22.172631642666666],[-47.3952084535,-22.1726344725],[-47.3952091315,-22.172639615666668],[-47.39520933033333,-22.172642971166667],[-47.395209947833337,-22.172648214166667],[-47.395210410333334,-22.172650344333334],[-47.395210539166669,-22.1726554185],[-47.395211094833336,-22.1726582835],[-47.3952113955,-22.172663612],[-47.395211805333332,-22.172665979],[-47.395212764166665,-22.172671918666666],[-47.395213434666665,-22.172674605333334],[-47.3952138935,-22.172676825166668],[-47.395214831666664,-22.172681917166667],[-47.395215301166665,-22.172684613166666],[-47.395216344666665,-22.172689754166665],[-47.395216705333333,-22.172692151666666],[-47.3952172425,-22.172695494833334],[-47.395217986666665,-22.172701318666668],[-47.395218297333336,-22.1727032815],[-47.395218085,-22.1727083455],[-47.395217370666664,-22.172711332],[-47.395221153,-22.172715260166665],[-47.395222875166667,-22.172716722166665],[-47.3952262205,-22.172721511833334],[-47.395226792166667,-22.1727251945],[-47.3952264485,-22.172728077666665],[-47.395221607833335,-22.1727346585],[-47.395217703833332,-22.172736784333335],[-47.395209911666669,-22.172737078833332],[-47.395206829833334,-22.172735761166667],[-47.395201955833336,-22.172729872333335],[-47.395201161833334,-22.172725887666665],[-47.395202950666665,-22.172722859166665],[-47.395206459,-22.1727181785],[-47.395209633,-22.172715328833334],[-47.395214860166668,-22.172716129],[-47.395217123166667,-22.172716103333332],[-47.395223301166666,-22.172714955333333],[-47.395226070333337,-22.172712866333335],[-47.395227983666665,-22.172710646166667],[-47.395229317,-22.172702757833335],[-47.395227237833332,-22.172699078333334],[-47.3952201425,-22.172694863666667],[-47.395216778,-22.17269502],[-47.395211916166666,-22.172697834666668],[-47.3952096905,-22.172699738166667],[-47.395207431,-22.172700759833333],[-47.395201152333335,-22.1727031105],[-47.395196381333335,-22.172702974833335],[-47.39519378,-22.172702100166667],[-47.395188575333336,-22.172697375166667],[-47.395187179,-22.172693494333334],[-47.3951886055,-22.172686481833335],[-47.395190795666664,-22.1726839655],[-47.395197941333336,-22.1726811135],[-47.395201979333336,-22.172681057],[-47.395203451833332,-22.172682550166666],[-47.395207649166665,-22.172685885666667],[-47.3952109425,-22.17268669],[-47.3952134685,-22.1726865585],[-47.395219690666664,-22.172683575],[-47.395223081166669,-22.1726776265],[-47.3952225125,-22.172672815666665],[-47.395220510166666,-22.172669935333332],[-47.395214666666668,-22.172667577333332],[-47.395210875833335,-22.172667172],[-47.395205466,-22.172665870166668],[-47.3952020855,-22.172664815333334],[-47.395198556666664,-22.172663721],[-47.395193420333335,-22.1726622985],[-47.395193420333335,-22.1726622985]]}}]}

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_7d7f70bc75999486401c90b97c0360ad {
+                #map_b2cfb7c0b8cd21733288866dbc6da89b {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -54,14 +54,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_7d7f70bc75999486401c90b97c0360ad" ></div>
+            <div class="folium-map" id="map_b2cfb7c0b8cd21733288866dbc6da89b" ></div>
         
 </body>
 <script>
     
     
-            var map_7d7f70bc75999486401c90b97c0360ad = L.map(
+            var map_b2cfb7c0b8cd21733288866dbc6da89b = L.map(
-                "map_7d7f70bc75999486401c90b97c0360ad",
+                "map_b2cfb7c0b8cd21733288866dbc6da89b",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -77,6 +77,26 @@
             
 
         
+    
+            var tile_layer_bab172d3f76c66b031f76d6ae9baaaaf = L.tileLayer(
+                "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
+                {
+  "minZoom": 0,
+  "maxZoom": 19,
+  "maxNativeZoom": 19,
+  "noWrap": false,
+  "attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors",
+  "subdomains": "abc",
+  "detectRetina": false,
+  "tms": false,
+  "opacity": 1,
+}
+
+            );
+        
+    
+            tile_layer_bab172d3f76c66b031f76d6ae9baaaaf.addTo(map_b2cfb7c0b8cd21733288866dbc6da89b);
+        
 </script>
 
     <script>
@@ -96,7 +116,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_7d7f70bc75999486401c90b97c0360ad);
+        trajeto_json.addTo(map_b2cfb7c0b8cd21733288866dbc6da89b);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -159,9 +179,9 @@
         
         var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_7d7f70bc75999486401c90b97c0360ad);
+        }).addTo(map_b2cfb7c0b8cd21733288866dbc6da89b);
         
-        var marcadorBase = L.marker([0, 0], {}).addTo(map_7d7f70bc75999486401c90b97c0360ad);
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_b2cfb7c0b8cd21733288866dbc6da89b);
         var icon = L.AwesomeMarkers.icon(
             {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
         );
@@ -226,7 +246,7 @@
                 }
                 
                 if (foco) {
-                    map_7d7f70bc75999486401c90b97c0360ad.setView(novaPosicao, map_7d7f70bc75999486401c90b97c0360ad.getZoom());
+                    map_b2cfb7c0b8cd21733288866dbc6da89b.setView(novaPosicao, map_b2cfb7c0b8cd21733288866dbc6da89b.getZoom());
                 }
                 
             }
@@ -248,7 +268,7 @@
             marcadorDinamico.setRotationAngle(angulo);
             
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_7d7f70bc75999486401c90b97c0360ad.setView(novaPosicao, map_7d7f70bc75999486401c90b97c0360ad.getZoom());*/
+            map_b2cfb7c0b8cd21733288866dbc6da89b.setView(novaPosicao, map_b2cfb7c0b8cd21733288866dbc6da89b.getZoom());*/
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

AgroBase/AgroBase/bin/x64/Debug/Python/Output/mapa_interativo.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_353f6ba1c95182a48ae91b9a891f095d {
+                #map_b21baaed2057e8bbe47af17d68ecedd6 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -54,16 +54,16 @@
 <body>
     
     
-            <div class="folium-map" id="map_353f6ba1c95182a48ae91b9a891f095d" ></div>
+            <div class="folium-map" id="map_b21baaed2057e8bbe47af17d68ecedd6" ></div>
         
 </body>
 <script>
     
     
-            var map_353f6ba1c95182a48ae91b9a891f095d = L.map(
+            var map_b21baaed2057e8bbe47af17d68ecedd6 = L.map(
-                "map_353f6ba1c95182a48ae91b9a891f095d",
+                "map_b21baaed2057e8bbe47af17d68ecedd6",
                 {
-                    center: [-22.172444564750002, -47.395241953833334],
+                    center: [-22.172640909416664, -47.3952078835],
                     crs: L.CRS.EPSG3857,
                     ...{
   "zoom": 12,
@@ -78,7 +78,7 @@
 
         
     
-            var tile_layer_8564e33b7369e4710f4819bd3c55e0bf = L.tileLayer(
+            var tile_layer_faa254f73950244990d85d26fa7337d6 = L.tileLayer(
                 "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
                 {
   "minZoom": 0,
@@ -95,7 +95,7 @@
             );
         
     
-            tile_layer_8564e33b7369e4710f4819bd3c55e0bf.addTo(map_353f6ba1c95182a48ae91b9a891f095d);
+            tile_layer_faa254f73950244990d85d26fa7337d6.addTo(map_b21baaed2057e8bbe47af17d68ecedd6);
         
     
 
@@ -111,7 +111,7 @@
                 }*/
             });
     }
-    function geo_json_b417ccdd5de3860de9f9bb6e9ce890b6_onEachFeature(feature, layer) {
+    function geo_json_99cfc632ca5e92adc9931d372fcc1b88_onEachFeature(feature, layer) {
 
             layer.on({
             
@@ -148,23 +148,23 @@
         }*/
     });
         };
-        var geo_json_b417ccdd5de3860de9f9bb6e9ce890b6 = L.geoJson(null, {
+        var geo_json_99cfc632ca5e92adc9931d372fcc1b88 = L.geoJson(null, {
-                onEachFeature: geo_json_b417ccdd5de3860de9f9bb6e9ce890b6_onEachFeature,
+                onEachFeature: geo_json_99cfc632ca5e92adc9931d372fcc1b88_onEachFeature,
             
             ...{
 }
         });
 
-        function geo_json_b417ccdd5de3860de9f9bb6e9ce890b6_add (data) {
+        function geo_json_99cfc632ca5e92adc9931d372fcc1b88_add (data) {
-            geo_json_b417ccdd5de3860de9f9bb6e9ce890b6
+            geo_json_99cfc632ca5e92adc9931d372fcc1b88
                 .addData(data);
         }
-            geo_json_b417ccdd5de3860de9f9bb6e9ce890b6_add({"features": [{"geometry": {"coordinates": [[-47.395256450666665, -22.172346369833335], [-47.3952565435, -22.172346308833333], [-47.39525657683333, -22.1723463895], [-47.39525660783333, -22.172346390833333], [-47.395256612, -22.172346383666667], [-47.3952566095, -22.172346395833333], [-47.395256603, -22.17234638], [-47.39525663333333, -22.172346400166667], [-47.39525668666667, -22.172346436166666], [-47.39525669033333, -22.172346315], [-47.39525666283333, -22.172346244833335], [-47.3952566795, -22.172346234166668], [-47.39525670916667, -22.172346255666668], [-47.39525687216667, -22.172346330833335], [-47.395256888, -22.172346301], [-47.3952568545, -22.172346285], [-47.395256829, -22.172346216166666], [-47.39525682166666, -22.172346155333333], [-47.395256853333336, -22.172346067333333], [-47.39525682833333, -22.172346081333334], [-47.395256798333335, -22.172346064166668], [-47.39525658783333, -22.1723460885], [-47.395256589166664, -22.172345992], [-47.39525672683333, -22.17234593], [-47.3952567375, -22.1723458955], [-47.395256776833335, -22.172345912166666], [-47.3952566485, -22.172345831166666], [-47.39525651583333, -22.172345763833334], [-47.39525654966667, -22.172345739333334], [-47.395256393, -22.172345694166665], [-47.395256296166664, -22.172345727166668], [-47.39525628216666, -22.172345670166667], [-47.395256309333334, -22.1723456805], [-47.39525658116667, -22.172347672333334], [-47.39525688083334, -22.172348807333332], [-47.39525808733333, -22.172352117833334], [-47.39525877366667, -22.1723537055], [-47.395258515, -22.172356928333333], [-47.395258686666665, -22.172358251333332], [-47.395259433666666, -22.1723619705], [-47.39525973333333, -22.172363576], [-47.395260085, -22.172365142166665], [-47.395261047666665, -22.172367679166666], [-47.39526108883334, -22.172368784333333], [-47.39526103633333, -22.172368743833335], [-47.395260981166665, -22.172368728166667], [-47.395260906333334, -22.172370990833333], [-47.39526118316667, -22.172372657666667], [-47.39526149616667, -22.172374629166665], [-47.39526177716667, -22.1723753845], [-47.395261561333335, -22.1723772325], [-47.3952616635, -22.172379212666666], [-47.395259892666665, -22.1723810495], [-47.39525978933333, -22.172383026333332], [-47.395258998833334, -22.172386347833335], [-47.3952587635, -22.172388393333332], [-47.3952582685, -22.1723898615], [-47.395258494833335, -22.172393639666666], [-47.39525091216667, -22.172404825833333], [-47.39525013666667, -22.172405724833332], [-47.395250509, -22.172405612], [-47.3952558565, -22.172405050666665], [-47.39525849333333, -22.172409069], [-47.39526031516667, -22.172416536166665], [-47.3952563085, -22.172417938], [-47.395253391, -22.172420802166666], [-47.395256822166665, -22.17242057283333], [-47.39525690683333, -22.172424407666668], [-47.3952563335, -22.172425210166665], [-47.39525726883333, -22.172427588], [-47.395257951666665, -22.172428887166667], [-47.39525765083334, -22.172429874833334], [-47.39526025283333, -22.172433116666667], [-47.39526390183333, -22.172437103], [-47.3952669375, -22.172439262833333], [-47.39526957583333, -22.172440730833333], [-47.395276767333335, -22.172442326666665], [-47.39528067183333, -22.1724421815], [-47.39528122816667, -22.172442044666667], [-47.3952777085, -22.172442249166668], [-47.395270072833334, -22.172444610833335], [-47.395266372, -22.172447167833333], [-47.395261905, -22.172453009333335], [-47.395260418, -22.172456977166668], [-47.395258931166666, -22.172460745166667], [-47.395256378333336, -22.172467218166666], [-47.39525517933333, -22.1724699915], [-47.39525246066667, -22.1724764045], [-47.395250798333336, -22.172480014833333], [-47.3952483145, -22.1724866155], [-47.39524774866667, -22.172488646166666], [-47.395247018166664, -22.172494215333334], [-47.39524689433333, -22.172498196], [-47.39524629466667, -22.172500856166668], [-47.395242381833334, -22.17250657683333], [-47.39523919483333, -22.172508991666668], [-47.39523223733333, -22.172512476666668], [-47.3952284705, -22.172514312666667], [-47.39522158183333, -22.172517214333332], [-47.395217751333334, -22.172518779333334], [-47.395214971, -22.172520573666667], [-47.39521006733333, -22.1725241545], [-47.3952079915, -22.172527879833332], [-47.39520420033333, -22.1725354175], [-47.39520277766667, -22.1725386405], [-47.39520279683333, -22.17254124], [-47.39520273116667, -22.172542654166666], [-47.3952026795, -22.172543427166666], [-47.3952027095, -22.17254343], [-47.395202701833334, -22.172543459333333], [-47.395202711, -22.172543445166667], [-47.39520267983333, -22.172543447166667], [-47.395202698333335, -22.172543444], [-47.395202698333335, -22.172543444]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1", "Length": 29.677008111445875, "Name": "22_08_2025_10_41_55_Manual"}, "type": "Feature"}], "type": "FeatureCollection"});
+            geo_json_99cfc632ca5e92adc9931d372fcc1b88_add({"features": [{"geometry": {"coordinates": [[-47.395187119333336, -22.172544759833333], [-47.3951871205, -22.172544750333333], [-47.395187123666666, -22.17254474], [-47.395187119333336, -22.172544773], [-47.39518710983333, -22.17254476766667], [-47.3951870925, -22.172544773333332], [-47.3951871135, -22.1725447695], [-47.395187109, -22.172544759], [-47.39518712433333, -22.172544775333332], [-47.395187104, -22.172544765333335], [-47.395187114, -22.17254478], [-47.395187119, -22.1725447645], [-47.39518711116666, -22.172544784], [-47.39518645, -22.172549661833333], [-47.39518665166667, -22.172551579833332], [-47.39519128366667, -22.172556917166666], [-47.395194691166665, -22.172557394166667], [-47.395197058166666, -22.1725579445], [-47.39520246033333, -22.172560708833334], [-47.395205430833336, -22.172563393833332], [-47.3952061165, -22.172569330666665], [-47.39520489233333, -22.172570874], [-47.395202153, -22.172576186166665], [-47.3952015505, -22.172579329333335], [-47.395201410666665, -22.172581696333335], [-47.39520127666667, -22.172586928833333], [-47.395200646, -22.172589796], [-47.395201421833335, -22.172594937166668], [-47.39520195233333, -22.172597846666665], [-47.3952035565, -22.172603020166665], [-47.395204372, -22.172605900833332], [-47.3952052305, -22.172607986333333], [-47.3952063055, -22.1726129495], [-47.395207043666666, -22.172615775833332], [-47.3952076955, -22.172621029], [-47.395208046166665, -22.17262326], [-47.395208260333334, -22.172629409], [-47.3952083685, -22.172631642666666], [-47.3952084535, -22.1726344725], [-47.3952091315, -22.172639615666668], [-47.39520933033333, -22.172642971166667], [-47.39520994783334, -22.172648214166667], [-47.395210410333334, -22.172650344333334], [-47.39521053916667, -22.1726554185], [-47.395211094833336, -22.1726582835], [-47.3952113955, -22.172663612], [-47.39521180533333, -22.172665979], [-47.395212764166665, -22.172671918666666], [-47.395213434666665, -22.172674605333334], [-47.3952138935, -22.17267682516667], [-47.395214831666664, -22.172681917166667], [-47.395215301166665, -22.172684613166666], [-47.395216344666665, -22.172689754166665], [-47.39521670533333, -22.172692151666666], [-47.3952172425, -22.172695494833334], [-47.395217986666665, -22.172701318666668], [-47.39521829733334, -22.1727032815], [-47.395218085, -22.1727083455], [-47.395217370666664, -22.172711332], [-47.395221153, -22.172715260166665], [-47.39522287516667, -22.172716722166665], [-47.3952262205, -22.172721511833334], [-47.39522679216667, -22.1727251945], [-47.3952264485, -22.172728077666665], [-47.395221607833335, -22.1727346585], [-47.39521770383333, -22.172736784333335], [-47.39520991166667, -22.172737078833332], [-47.395206829833334, -22.172735761166667], [-47.395201955833336, -22.172729872333335], [-47.395201161833334, -22.172725887666665], [-47.395202950666665, -22.172722859166665], [-47.395206459, -22.1727181785], [-47.395209633, -22.172715328833334], [-47.39521486016667, -22.172716129], [-47.39521712316667, -22.172716103333332], [-47.395223301166666, -22.172714955333333], [-47.39522607033334, -22.172712866333335], [-47.395227983666665, -22.172710646166667], [-47.395229317, -22.172702757833335], [-47.39522723783333, -22.172699078333334], [-47.3952201425, -22.172694863666667], [-47.395216778, -22.17269502], [-47.395211916166666, -22.172697834666668], [-47.3952096905, -22.172699738166667], [-47.395207431, -22.172700759833333], [-47.395201152333335, -22.1727031105], [-47.395196381333335, -22.172702974833335], [-47.39519378, -22.172702100166667], [-47.395188575333336, -22.172697375166667], [-47.395187179, -22.172693494333334], [-47.3951886055, -22.172686481833335], [-47.395190795666664, -22.1726839655], [-47.395197941333336, -22.1726811135], [-47.395201979333336, -22.172681057], [-47.39520345183333, -22.172682550166666], [-47.395207649166665, -22.172685885666667], [-47.3952109425, -22.17268669], [-47.3952134685, -22.1726865585], [-47.395219690666664, -22.172683575], [-47.39522308116667, -22.1726776265], [-47.3952225125, -22.172672815666665], [-47.395220510166666, -22.17266993533333], [-47.39521466666667, -22.172667577333332], [-47.395210875833335, -22.172667172], [-47.395205466, -22.172665870166668], [-47.3952020855, -22.172664815333334], [-47.395198556666664, -22.172663721], [-47.395193420333335, -22.1726622985], [-47.395193420333335, -22.1726622985]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1", "Length": 45.0669749673391, "Name": "25_08_2025_16_29_49_MapaGPS"}, "type": "Feature"}], "type": "FeatureCollection"});
-        geo_json_b417ccdd5de3860de9f9bb6e9ce890b6.setStyle(function(feature) {return feature.properties.style;});
+        geo_json_99cfc632ca5e92adc9931d372fcc1b88.setStyle(function(feature) {return feature.properties.style;});
 
         
     
-            geo_json_b417ccdd5de3860de9f9bb6e9ce890b6.addTo(map_353f6ba1c95182a48ae91b9a891f095d);
+            geo_json_99cfc632ca5e92adc9931d372fcc1b88.addTo(map_b21baaed2057e8bbe47af17d68ecedd6);
         
 </script>
 
@@ -185,7 +185,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_353f6ba1c95182a48ae91b9a891f095d);
+        trajeto_json.addTo(map_b21baaed2057e8bbe47af17d68ecedd6);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -243,7 +243,7 @@
         }
         trajeto_dinamico_json_add({"features": []});
 
-        trajeto_dinamico_json.addTo(map_353f6ba1c95182a48ae91b9a891f095d);
+        trajeto_dinamico_json.addTo(map_b21baaed2057e8bbe47af17d68ecedd6);
 
         function adicionarGeometriaDinamica(novaGeometria) {
             trajeto_dinamico_json.addData(novaGeometria);
@@ -296,9 +296,9 @@
         
         var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_353f6ba1c95182a48ae91b9a891f095d);
+        }).addTo(map_b21baaed2057e8bbe47af17d68ecedd6);
         
-        var marcadorBase = L.marker([0, 0], {}).addTo(map_353f6ba1c95182a48ae91b9a891f095d);
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_b21baaed2057e8bbe47af17d68ecedd6);
         var icon = L.AwesomeMarkers.icon(
             {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
         );
@@ -380,7 +380,7 @@
                 }
                 
                 if (foco) {
-                    map_353f6ba1c95182a48ae91b9a891f095d.setView(novaPosicao, map_353f6ba1c95182a48ae91b9a891f095d.getZoom());
+                    map_b21baaed2057e8bbe47af17d68ecedd6.setView(novaPosicao, map_b21baaed2057e8bbe47af17d68ecedd6.getZoom());
                 }
                 
             }
@@ -397,7 +397,7 @@
         function atualizarSelecaoRuas(selecionadas) {
             selecionadas = JSON.parse(selecionadas);
             RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
-            geo_json_b417ccdd5de3860de9f9bb6e9ce890b6.eachLayer(function (layer) {
+            geo_json_99cfc632ca5e92adc9931d372fcc1b88.eachLayer(function (layer) {
                 if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
                     layer.setStyle({ color: 'blue' });
                 } else {

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

@@ -29,6 +29,8 @@ class CameraOak:
         self.ultima_saude = {}
         self.timestamp_ultimo_frame_rgb = None
         self.timestamp_ultimo_frame_depth = None
+        self.timestamp_ultima_deteccao = None
+        self.timestamp_ultima_segmentacao = None
         self.tem_depth = False
         self.tem_imu = False
         self.imu = None
@@ -383,6 +385,9 @@ class CameraOak:
         try:
             w, h = self.modelo_ia_seg["ia_resolution"]
             in_seg = self.q_seg.get()
+            if in_seg is None:
+                dur = time.time() - start
+                return None, {"erro": None, "duracao": dur, "frame_valido": False}
             out_raw = in_seg.getFirstLayerFp16()
             arr16 = np.frombuffer(np.asarray(out_raw, dtype=np.float16), dtype=np.float16)
             arr16 = arr16.reshape(len(self.modelo_ia_seg["classes"]), h, w)
@@ -437,7 +442,10 @@ class CameraOak:
 
         start = time.time()
         try:
-            pkt = self.q_det.get()  # ImgDetections
+            pkt = self.q_det.tryGet()
+            if pkt is None:
+                dur = time.time() - start
+                return [], {"erro": None, "duracao": dur, "frame_valido": False}
             raw_dets = getattr(pkt, "detections", [])
             dets = []
 

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/direcional.py

@@ -59,7 +59,7 @@ def definir_comando(pid: PIDAdaptativo):
                 "PassosAtraso": _gps_passos_travados
             },
             "Carro": {
-                "Velocidade": max(0.2, _contexto.get("Gerais", {}).get("velocidade_ms", 0.0)), 
+                "Velocidade": max(0.01, _contexto.get("Gerais", {}).get("velocidade_ms", 0.0)), 
                 "Status": _trajetoria.get("status", StatusCarroMapa.Parado.value),
                 "ManobrandoEntreRuas": _trajetoria.get("manobrando", False), 
                 "DentroCorredor": _trajetoria.get("CorredorAtual", {}).get("dentro", False),

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/mpc.py

@@ -35,11 +35,11 @@ class ControladorMPC:
             self.ultima_atualizacao = None
             self.dt = 0
 
+            print(parametros_mpc)
             self.angulo_max_graus = parametros_mpc.get("angulo_max_graus", 30.0)
             self.velocidade_min = parametros_mpc.get("velocidade_min", 0.4)
             self.velocidade_max = parametros_mpc.get("velocidade_max", 1.9)
             self.horizonte = parametros_mpc.get("horizonte", 2.5)
-            self.horizonte_passos = 10
 
             # otimizacoes
             self._np_bool = np.bool_

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

@@ -149,7 +149,7 @@ class CameraManager:
             elif "X_LINK_ERROR" in res["erro"]:
                 self.reiniciar_status()
         except Exception as e:
-            self.mostrar_log("Erro ao requisitar rgb frame:", e)
+            self.mostrar_log(f"Erro ao requisitar rgb frame: {e}")
             if "X_LINK_ERROR" in str(e):
                 self.reiniciar_status()
 
@@ -167,7 +167,7 @@ class CameraManager:
             elif "X_LINK_ERROR" in res["erro"]:
                 self.reiniciar_status()
         except Exception as e:
-            self.mostrar_log("Erro ao requisitar depth frame:", e)
+            self.mostrar_log(f"Erro ao requisitar depth frame: {e}")
             if "X_LINK_ERROR" in str(e):
                 self.reiniciar_status()
 
@@ -190,7 +190,7 @@ class CameraManager:
             elif "X_LINK_ERROR" in res["erro"]:
                 self.reiniciar_status()
         except Exception as e:
-            self.mostrar_log("Erro ao requisitar predictions:", e)
+            self.mostrar_log(f"Erro ao requisitar predictions: {e}")
             if "X_LINK_ERROR" in str(e):
                 self.reiniciar_status()
 
@@ -207,7 +207,7 @@ class CameraManager:
             elif "X_LINK_ERROR" in res["erro"]:
                 self.reiniciar_status()
         except Exception as e:
-            self.mostrar_log("Erro ao requisitar detections:", e)
+            self.mostrar_log(f"Erro ao requisitar detections: {e}")
             if "X_LINK_ERROR" in str(e):
                 self.reiniciar_status()
 

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

@@ -92,7 +92,7 @@ class CameraManager:
             elif "X_LINK_ERROR" in res["erro"]:
                 self.reiniciar_status()
         except Exception as e:
-            self.mostrar_log("Erro ao requisitar rgb frame:", e)
+            self.mostrar_log(f"Erro ao requisitar rgb frame: {e}")
             if "X_LINK_ERROR" in str(e):
                 self.reiniciar_status()
 
@@ -110,7 +110,7 @@ class CameraManager:
             elif "X_LINK_ERROR" in res["erro"]:
                 self.reiniciar_status()
         except Exception as e:
-            self.mostrar_log("Erro ao requisitar predictions:", e)
+            self.mostrar_log(f"Erro ao requisitar predictions: {e}")
             if "X_LINK_ERROR" in str(e):
                 self.reiniciar_status()
 
@@ -162,7 +162,9 @@ class CameraManager:
         threading.Thread(target=loop, daemon=True).start()
 
     def _realizar_analises(self):
-        status_operacao = StatusOperacao(ContextoGlobalRedis.get_operacao().get("status", StatusOperacao.NaoIniciado.value))
+        _operacao = ContextoGlobalRedis.get_operacao()
+        status_operacao = StatusOperacao(_operacao.get("status", StatusOperacao.NaoIniciado.value))
+        finalizando = _operacao.get("finalizando", False)
         pulverizador_automatico = ContextoGlobalRedis.get_controle().get("pulverizador_automatico", False)
         
         predictions, ts, res = self.get_segmentation_predictions()
@@ -184,7 +186,7 @@ class CameraManager:
                 analise=converter_valores_numpy(analise)
             )
 
-            if status_operacao == StatusOperacao.EmAndamento:
+            if status_operacao == StatusOperacao.EmAndamento and not finalizando:
                 atuacao_bicos = analise.get("controle")
             else:
                 atuacao_bicos = {i: False for i in analise.get("controle", {}).keys()}

Firmware/Modulos/CanService.h

@@ -22,7 +22,7 @@ public:
   uint8_t ID_Num_sTOD = 250;
   uint8_t ID_Num_sLRA = 251;
 
-  CanService(uint8_t nodeId, uint32_t baudRate = 500000)
+  CanService(uint8_t nodeId, uint32_t baudRate = 250000)
   : _nodeId(nodeId), _baudRate(baudRate) {}
 
   void begin() {
@@ -35,8 +35,12 @@ public:
     g_config.rx_queue_len = 32;
     // (alerts_enabled será reconfigurado depois de start)
 
+    twai_timing_config_t t_config;
     // 500 kbit/s (ajuste se precisar)
-    twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS();
+    if (_baudRate == 250000)
+      t_config = TWAI_TIMING_CONFIG_250KBITS();
+    else if (_baudRate == 500000)
+      t_config = TWAI_TIMING_CONFIG_500KBITS();
 
     // Começa aceitando tudo para depurar; depois afinamos a máscara
     twai_filter_config_t f_config = {
@@ -533,7 +537,7 @@ public:
 
 
 private:
-  uint32_t _baudRate = 500000;
+  uint32_t _baudRate = 250000;
   uint8_t  _nodeId   = 0;
   OnReceiveCallback _callback = nullptr;
   bool DebugMode = true;