ajustes no fluxo de deteccao de corredor

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs

@@ -73,7 +73,7 @@
             this.label8 = new System.Windows.Forms.Label();
             this.txtGPS_Satelites = new System.Windows.Forms.TextBox();
             this.label9 = new System.Windows.Forms.Label();
-            this.txtGPS_Velocidade = new System.Windows.Forms.TextBox();
+            this.txtGPS_DistanciaBase = new System.Windows.Forms.TextBox();
             this.label6 = new System.Windows.Forms.Label();
             this.txtGPS_Altitude = new System.Windows.Forms.TextBox();
             this.label7 = new System.Windows.Forms.Label();
@@ -598,7 +598,7 @@
             this.panel1.Controls.Add(this.label8);
             this.panel1.Controls.Add(this.txtGPS_Satelites);
             this.panel1.Controls.Add(this.label9);
-            this.panel1.Controls.Add(this.txtGPS_Velocidade);
+            this.panel1.Controls.Add(this.txtGPS_DistanciaBase);
             this.panel1.Controls.Add(this.label6);
             this.panel1.Controls.Add(this.txtGPS_Altitude);
             this.panel1.Controls.Add(this.label7);
@@ -803,15 +803,15 @@
             this.label9.TabIndex = 33;
             this.label9.Text = "Satélites";
             // 
-            // txtGPS_Velocidade
+            // txtGPS_DistanciaBase
             // 
-            this.txtGPS_Velocidade.Location = new System.Drawing.Point(106, 524);
+            this.txtGPS_DistanciaBase.Location = new System.Drawing.Point(106, 524);
-            this.txtGPS_Velocidade.Margin = new System.Windows.Forms.Padding(2);
+            this.txtGPS_DistanciaBase.Margin = new System.Windows.Forms.Padding(2);
-            this.txtGPS_Velocidade.Name = "txtGPS_Velocidade";
+            this.txtGPS_DistanciaBase.Name = "txtGPS_DistanciaBase";
-            this.txtGPS_Velocidade.ReadOnly = true;
+            this.txtGPS_DistanciaBase.ReadOnly = true;
-            this.txtGPS_Velocidade.Size = new System.Drawing.Size(99, 20);
+            this.txtGPS_DistanciaBase.Size = new System.Drawing.Size(99, 20);
-            this.txtGPS_Velocidade.TabIndex = 32;
+            this.txtGPS_DistanciaBase.TabIndex = 32;
-            this.txtGPS_Velocidade.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.txtGPS_DistanciaBase.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
             // label6
             // 
@@ -819,9 +819,9 @@
             this.label6.Location = new System.Drawing.Point(104, 509);
             this.label6.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label6.Name = "label6";
-            this.label6.Size = new System.Drawing.Size(60, 13);
+            this.label6.Size = new System.Drawing.Size(92, 13);
             this.label6.TabIndex = 31;
-            this.label6.Text = "Velocidade";
+            this.label6.Text = "Distancia da base";
             // 
             // txtGPS_Altitude
             // 
@@ -5680,7 +5680,7 @@
         private System.Windows.Forms.Label lblGPS;
         private System.Windows.Forms.Panel pnlOrientacaoMagnetometro;
         private System.Windows.Forms.Panel pnlOrientacaoGPS;
-        private System.Windows.Forms.TextBox txtGPS_Velocidade;
+        private System.Windows.Forms.TextBox txtGPS_DistanciaBase;
         private System.Windows.Forms.Label label6;
         private System.Windows.Forms.TextBox txtGPS_Altitude;
         private System.Windows.Forms.Label label7;

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs

@@ -29,6 +29,7 @@ namespace AgroBase.Forms.Operacoes
         List<PictureBox> picsCamSoloSeg = new List<PictureBox>();
         List<PictureBox> picsCamSoloOverlay = new List<PictureBox>();
         List<CameraWorkerItemModel> LogsCam_Caminho = new List<CameraWorkerItemModel>();
+        OperacaoModel operacaoSelecionada = new OperacaoModel(Enums.ModoOperacao.NaoDefinido);
         string pathImagensCaminho = "";
         
         DateTime MomentoAtual = DateTime.Now;
@@ -124,6 +125,17 @@ namespace AgroBase.Forms.Operacoes
                 OperacaoDadosModel data = JsonConvert.DeserializeObject<OperacaoDadosModel>(File.ReadAllText(ofd.FileName));
 
                 LogsOperacao = JsonConvert.DeserializeObject<OperacaoSensoriamentoLogModel[]>(OperacaoModel.DeserializarDadosOperacao(ofd.FileName, data.operacao)).ToList();
+
+                Task.Run(async () =>
+                {
+                    GPSModel pos = GPSService.UltimaLeitura.Clone(); 
+                    GPSService.UltimaLeitura = LogsOperacao.FirstOrDefault().Gps;
+                    (bool sucesso, List<string> ruas) = Variaveis.OperacaoEmAndamento.CarregarParametrizacaoOperacao(null, null, ofd.FileName.Replace("data.lgop", "operacao.opr"));
+                    bool condicaoOperacaoCarregada() => Variaveis.OperacaoEmAndamento.Trajetoria?.CorredorAtual != null;
+                    bool resultado = await FuncoesGlobais.AguardarCondicaoAsync(condicaoOperacaoCarregada, 15000, 200);
+                    GPSService.UltimaLeitura = pos;
+                });
+
                 LogsDirecional = JsonConvert.DeserializeObject<DirSensoriamentoLogModel[]>(OperacaoModel.DeserializarDadosOperacao(ofd.FileName, data.dir ?? Enums.T_Code.Dir.ToString())).ToList();
                 LogsMovimentacao = JsonConvert.DeserializeObject<MovSensoriamentoLogModel[]>(OperacaoModel.DeserializarDadosOperacao(ofd.FileName, data.mov ?? Enums.T_Code.Mov.ToString())).ToList();
                 LogsAtuador = JsonConvert.DeserializeObject<AtuSensoriamentoLogModel[]>(OperacaoModel.DeserializarDadosOperacao(ofd.FileName, data.atu ?? Enums.T_Code.Atu.ToString())).ToList();
@@ -1171,10 +1183,12 @@ namespace AgroBase.Forms.Operacoes
             txtGPS_Correcao.Text = ((Log?.Ntrip_ativado ?? false) ? "N " : "B ") + (Log?.IdadeCorrecao ?? -1) + ": " + (Log?.QualidadeFix ?? Enums.TiposCorrecaoGPS.SemCorrecao).ToString();
             txtGPS_Precisao.Text = (Log?.PrecisaoCm ?? 0).ToString("0.00") + " cm";
             txtGPS_Satelites.Text = (Log?.NumeroSatelites ?? 0).ToString();
-            txtGPS_Velocidade.Text = (Log?.Velocidade ?? 0).ToString("0.00") + " (" + ((Log?.Velocidade ?? 0) * GPSUtils.ConversaoNosKmh).ToString("0.00") + " km/h)";
+            //txtGPS_DistanciaBase.Text = (Log?.Velocidade ?? 0).ToString("0.00") + " (" + ((Log?.Velocidade ?? 0) * GPSUtils.ConversaoNosKmh).ToString("0.00") + " km/h)";
 
             var LogLra = LogsOperacao.FirstOrDefault(x => x.Momento == MomentoAtual).DadosLoRa;
 
+            txtGPS_DistanciaBase.Text = ((LogLra?.PosicaoBase?.Latitude != 0 && LogLra?.PosicaoBase?.Longitude != 0) ? GPSUtils.DistanciaEntrePontos(LogLra?.PosicaoBase ?? new GPSModel(), Log ?? new GPSModel()) : 0).ToString("0.00") + " m";
+
             GPSService.EnviarCoordenadasParaMapa(Log?.Latitude ?? 0, Log?.Longitude ?? 0, Log?.AnguloCarroDefinido ?? 0, true, LogLra?.EnderecoCarro ?? 0x00);
             GPSService.EnviarCoordenadasParaMapa(LogLra?.PosicaoBase?.Latitude ?? 0, LogLra?.PosicaoBase?.Longitude ?? 0, LogLra?.PosicaoBase?.AnguloCarroDefinido ?? 0, false, LogLra?.EnderecoBase ?? 0x01);
 
@@ -1200,9 +1214,9 @@ namespace AgroBase.Forms.Operacoes
                 (float)LogOpe.Gps.AnguloCarroDefinido,
                 Log,
                 _trajaetoria,
-                null, //Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaProjetada.FirstOrDefault(),
+                Variaveis.OperacaoEmAndamento.Trajetoria?._TrajetoriaFixa,
                 new List<GPSModel>(LogsGPS.Take(LogsGPS.IndexOf(Log) + 1)),
-                new List<List<GPSModel>>(),
+                Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaMapa,
                 LogOpe.Controle.SimulacaoMPC
             );
         }

AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs

@@ -426,7 +426,7 @@ namespace AgroBase.Forms
             {
                 //double angulo = Variaveis.OperacaoEmAndamento.Trajetoria.AnguloCaminho;
                 //double anguloCorredor = Variaveis.OperacaoEmAndamento.Trajetoria.AnguloMedioCorredor;
-                double angulo = Variaveis.OperacaoEmAndamento.Trajetoria.ProximoPonto.Orientacao;
+                double angulo = Variaveis.OperacaoEmAndamento.Trajetoria.ProximoPonto?.Orientacao ?? 0;
                 double anguloCorredor = Variaveis.OperacaoEmAndamento.Trajetoria.AnguloCaminho;
                 FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, 90, (float)anguloCorredor);
             }

AgroBase/AgroBase/Forms/frmMapa.cs

@@ -174,7 +174,10 @@ namespace AgroBase.Forms
             GPSModel ultimoPonto = new GPSModel();
             if (add)
             {
-                ultimoPonto = Pontos[Pontos.Count - 1][Pontos[Pontos.Count - 1].Count - 1];
+                if (Pontos[Pontos.Count - 1].Count > 0)
+                    ultimoPonto = Pontos[Pontos.Count - 1][Pontos[Pontos.Count - 1].Count - 1];
+                else
+                    ultimoPonto = Pontos[Pontos.Count - 2][Pontos[Pontos.Count - 2].Count - 1];
             }
 
             var Gps = Variaveis.OperacaoEmAndamento.Sensoriamento.Gps;

AgroBase/AgroBase/Models/MapasModel.cs

@@ -124,7 +124,7 @@ namespace AgroBase.Models
                 }
 
                 // Processo finalizado ou não associado
-                pnlMapa.Controls.Remove(picLoading);
+                pnlMapa?.Controls?.Remove(picLoading);
                 picLoading.Visible = false;
                 mapaService.Carregado = true;
 
@@ -226,7 +226,7 @@ namespace AgroBase.Models
 
             browser = new WebView2();
             browser.Source = new Uri(mapaService.MapaUrl);
-            pnlMapa.Controls.Add(browser);
+            pnlMapa?.Controls?.Add(browser);
             browser.Dock = DockStyle.Fill;
         }
 

AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs

@@ -2924,7 +2924,7 @@ namespace AgroBase.Models.Modules
                             default:
                                 {
                                     DadosLoRaParse tipoDado = (DadosLoRaParse)posicao;
-                                    Console.WriteLine($"[LRA] Dados recebidos ({tipoDado.ToString()}). " + string.Join(" ", data));
+                                    //Console.WriteLine($"[LRA] Dados recebidos ({tipoDado.ToString()}). " + string.Join(" ", data));
                                     switch (tipoDado)
                                     {
                                         case DadosLoRaParse.ComandoControle:

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -41,6 +41,7 @@ namespace AgroBase.Models
 
         public ModoOperacao Modo { get; set; }
         public string Descricao { get; set; }
+        public string OprPath { get; set; }
         public OperacaoControleModel Controle { get; set; } = new OperacaoControleModel();
         public OperacaoControleModel ControleAnterior { get; set; } = new OperacaoControleModel();
         public DispositivosService<MovimentacaoUnificadaModel> DispMvd { get; set; }
@@ -84,7 +85,7 @@ 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);
         }
 
         
@@ -207,9 +208,9 @@ namespace AgroBase.Models
             openFileDialog.InitialDirectory = Variaveis.CaminhoSistema + Variaveis.CaminhoOperacoes;
             if (!string.IsNullOrEmpty(opPath) || openFileDialog.ShowDialog() == DialogResult.OK)
             {
-                string filePath = !string.IsNullOrEmpty(opPath) ? opPath : openFileDialog.FileName;
+                string opr_path = !string.IsNullOrEmpty(opPath) ? opPath : openFileDialog.FileName;
 
-                string ParametrosJson = File.ReadAllText(filePath, Encoding.UTF8);
+                string ParametrosJson = File.ReadAllText(opr_path, Encoding.UTF8);
 
                 var Parametros = JsonConvert.DeserializeObject<OperacaoParametrosModel>(ParametrosJson);
 
@@ -242,6 +243,7 @@ namespace AgroBase.Models
                 };
 
                 Variaveis.OperacaoEmAndamento.Descricao = Parametros.Descricao;
+                Variaveis.OperacaoEmAndamento.OprPath = opr_path;
                 Variaveis.OperacaoEmAndamento.QuantidadeCamerasSolo = Parametros.QtdCamerasSolo;
                 Variaveis.OperacaoEmAndamento.ModulosMandatorios = new List<OperacaoModulosMandatoriosModel>(Parametros.ModulosMandatorios ?? new List<OperacaoModulosMandatoriosModel>());
                 Variaveis.OperacaoEmAndamento.ParametrosMandatorios = new List<OperacaoParametrosMandatoriosModel>(Parametros.ParametrosMandatorios ?? new List<OperacaoParametrosMandatoriosModel>());
@@ -693,6 +695,8 @@ namespace AgroBase.Models
             ID = DataInicio.ToString("dd_MM_yyyy_HH_mm_ss") + "_" + Modo.ToString();
             Directory.CreateDirectory(Variaveis.CaminhoOperacoes + ID + "/");
 
+            SalvarOperacao();
+
             Sensoriamento.AtualizarDados();
 
             DispMvd?.Dados?.ReiniciarLeituras(DispMvd?.Dados);
@@ -897,6 +901,20 @@ namespace AgroBase.Models
             return opStr;
         }
 
+        private void SalvarOperacao()
+        {
+            if (string.IsNullOrEmpty(Variaveis.OperacaoEmAndamento.OprPath)) return;
+
+            var Caminho = Variaveis.CaminhoOperacoes + Variaveis.OperacaoEmAndamento.ID;
+            if (!Directory.Exists(Caminho))
+            {
+                Directory.CreateDirectory(Caminho);
+            }
+
+            Caminho += "/operacao.opr";
+            File.Copy(Variaveis.OperacaoEmAndamento.OprPath, Caminho);
+        }
+
 
         #endregion
 
@@ -1088,7 +1106,7 @@ namespace AgroBase.Models
             }
 
             Variaveis.OperacaoEmAndamento.Sensoriamento.AtualizarDados();
-            Variaveis.LoraService.EnviarDadosParaBase();
+            Variaveis.LoraService?.EnviarDadosParaBase();
 
             if (!Variaveis.OperacaoEmAndamento.Iniciado)
             {
@@ -1114,10 +1132,9 @@ namespace AgroBase.Models
         {
             Emergencia = controleBase.Emergencia;
 
-            if (Emergencia)
+            if (Emergencia) return;
-            {
+
-                return;
+            if (Variaveis.OperacaoEmAndamento.Controle.MovimentoAutomatico) return;
-            }
 
             var _Controle = Variaveis.OperacaoEmAndamento.Controle;
 

AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs

@@ -18,7 +18,7 @@ namespace AgroBase.Models
 
         #region PARAMETROS
 
-        public double DistanciaProjecaoRua { get; set; } = 0.8; // Distancia para projetar o primeiro ponto para fora do corredor
+        public double DistanciaProjecaoRua { get; set; } = 1.5; // Distancia para projetar o primeiro ponto para fora do corredor
         public static double DistanciaEntrePontos { get; set; } = 0.8; // Distancia entre os pontos dentro do corredor
         public static double DistanciaEntrePontosCurva { get; set; } = 0.25; // Distancia entre os pontos durante a curva entre corredores
         private double DistanciaManobraEntreRuas { get; set; } = 3.0; // Distancia máxima para gerar a curva de conexão entre os corredores
@@ -110,7 +110,7 @@ namespace AgroBase.Models
             }
         }
         public List<CorredorTrajetoriaModel> _Corredores { get; set; }
-        public List<GPSModel> TrajetoriaFixa => _TrajetoriaFixa.ConvertAll(x => x.Posicao);
+        public List<GPSModel> TrajetoriaFixa => _TrajetoriaFixa?.ConvertAll(x => x.Posicao);
         public List<PontoTrajetoriaModel> _TrajetoriaDinamica { get; private set; }
         public List<GPSModel> TrajetoriaDinamica => _TrajetoriaDinamica.ConvertAll(x => x.Posicao);
         public void AtualizarTrajetoriaDinamica()
@@ -332,8 +332,7 @@ namespace AgroBase.Models
             }
             else
             {
-                int idx = (_TrajetoriaJanela.IndexOf(PontoAtual) + 1);
+                ProximoPonto = _TrajetoriaFixa[PontoAtual.idxPonto + 1];
-                ProximoPonto = _TrajetoriaJanela[idx];
             }
 
             /*// Busca eficiente: percorre do começo ao fim para achar o primeiro não visitado
@@ -602,7 +601,7 @@ namespace AgroBase.Models
             AtualizarIndicesJanela();
             AtualizarTrajetoriaJanela();
 
-            //VerificaFimCorredorSegmentacao();
+            VerificaFimCorredorSegmentacao();
 
             DefinirPontoAtual();
             AtualizarCorredorAtual();
@@ -627,38 +626,61 @@ namespace AgroBase.Models
 
         private void VerificaFimCorredorSegmentacao()
         {
-            double limiarDistanciaMargem = 4.0;
+            if (CorredorAtual == null) return;
-            if (CorredorAtual != null)
+
+            double limiarDistanciaMargem = 20.0;
+            double distanciaRestanteCorredor = CorredorAtual.DistanciaRestante;
+            double distanciaUltimoPontoCorredor = GPSUtils.DistanciaEntrePontos(Variaveis.OperacaoEmAndamento.Sensoriamento.Gps, CorredorAtual.Pontos.LastOrDefault().Posicao);
+            var OpVisual = Variaveis.OperacaoEmAndamento.Sensoriamento?.OperadorVisual ?? new VisualWorkerModel();
+            StatusModulo OpVisualStatus = Variaveis.OperacaoEmAndamento.Sensoriamento.ModulosSaude.FirstOrDefault(x => x.modulo == T_Code.Snr)?.status ?? StatusModulo.Desconectado;
+            var DadosSegmentacao = OpVisual.Analises?.segmentacao ?? new VisualWorkerMessageSegmentacaoSemanticaModel();
+
+            if (OpVisualStatus == StatusModulo.Operante) //OpVisual.Iniciado && 
             {
-                double distanciaRestanteCorredor = CorredorAtual.DistanciaRestante;
+                // Contagem de tempo por status em segundos
-                double distanciaUltimoPontoCorredor = GPSUtils.DistanciaEntrePontos(Variaveis.OperacaoEmAndamento.Sensoriamento.Gps, CorredorAtual.Pontos.LastOrDefault().Posicao);
+                StatusCarroMapa statusCarro = DadosSegmentacao.status_corredor;
-                if (distanciaRestanteCorredor < limiarDistanciaMargem && distanciaUltimoPontoCorredor < limiarDistanciaMargem)
+                if (!CorredorAtual.TempoPorStatus.TryGetValue(statusCarro, out var status))
                 {
-                    var OpVisual = Variaveis.OperacaoEmAndamento.Sensoriamento?.OperadorVisual ?? new VisualWorkerModel();
+                    CorredorAtual.TempoPorStatus.Add(statusCarro, 0);
-                    StatusModulo OpVisualStatus = Variaveis.OperacaoEmAndamento.Sensoriamento.ModulosSaude.FirstOrDefault(x => x.modulo == T_Code.Snr)?.status ?? StatusModulo.Desconectado;
+                }
-                    var DadosSegmentacao = OpVisual.Analises?.segmentacao ?? new VisualWorkerMessageSegmentacaoSemanticaModel();
+                if (CorredorAtual.UltimoTempoStatus > DateTime.MinValue)
-                    if (OpVisual.Iniciado && OpVisualStatus == StatusModulo.Operante && DadosSegmentacao.status_corredor == StatusCarroMapa.Direcionando)
+                {
+                    CorredorAtual.TempoPorStatus[statusCarro] += (DateTime.Now - CorredorAtual.UltimoTempoStatus).TotalSeconds;
+                }
+                CorredorAtual.UltimoTempoStatus = DateTime.Now;
+                double TempoTotalContagem = CorredorAtual.TempoPorStatus.Sum(x => x.Value);
+                CorredorAtual.TempoPorStatus.TryGetValue(StatusCarroMapa.CaminhandoRua, out double TempoCaminhandoRua);
+                CorredorAtual.TempoPorStatus.TryGetValue(StatusCarroMapa.CaminhandoRua, out double TempoDirecionando);
+                double PercentualTempoCaminhandoRua = TempoCaminhandoRua / TempoTotalContagem;
+                double PercentualTempoDirecionando = TempoDirecionando / TempoTotalContagem;
+
+                if (
+                    distanciaRestanteCorredor < limiarDistanciaMargem && // Esta a pelo menos x metros do final do corredor
+                    distanciaUltimoPontoCorredor < limiarDistanciaMargem && // Esta a pelo menos x metros do ultimo ponto do corredor
+                    PercentualTempoCaminhandoRua > 0.4 && // Esteve a pelo menos 60% do tempo do corredor com cana dos dois lados
+                    PercentualTempoDirecionando < 0.5 && // Esteve ate no maximo 50% do tempo fora do corredor
+                    statusCarro == StatusCarroMapa.Direcionando // Carro esta fora do corredor
+                )
+                {
+                    int pontosMarcar = 0;
+                    foreach (var Ponto in CorredorAtual.Pontos.Where(x => !x.Visitado))
                     {
-                        int pontosMarcar = 0;
+                        Ponto.Visitado = true;
-                        foreach (var Ponto in CorredorAtual.Pontos.Where(x => !x.Visitado))
+                        pontosMarcar++;
+                    }
+                    if (!CorredorAtual.Ultimo)
+                    {
+                        _TrajetoriaFixa[CorredorAtual.Pontos[CorredorAtual.QtdPontos - 1].idxPonto + 1].Visitado = true;
+                        AtualizarIndicesJanela();
+                        AtualizarTrajetoriaJanela();
+                        DefinirPontoAtual();
+                        AtualizarCorredorAtual();
+                        for (int i = 0; i < pontosMarcar; i++)
                         {
-                            Ponto.Visitado = true;
+                            CorredorAtual.Pontos[i].Visitado = true;
-                            pontosMarcar++;
-                        }
-                        if (!CorredorAtual.Ultimo)
-                        {
-                            _TrajetoriaFixa[CorredorAtual.Pontos[CorredorAtual.QtdPontos - 1].idxPonto + 1].Visitado = true;
-                            AtualizarIndicesJanela();
-                            AtualizarTrajetoriaJanela();
-                            DefinirPontoAtual();
-                            AtualizarCorredorAtual();
-                            for (int i = 0; i < pontosMarcar; i++)
-                            {
-                                CorredorAtual.Pontos[i].Visitado = true;
-                            }
-                            AtualizarIndicesJanela();
-                            AtualizarTrajetoriaJanela();
                         }
+                        AtualizarIndicesJanela();
+                        AtualizarTrajetoriaJanela();
                     }
                 }
             }
@@ -992,7 +1014,7 @@ namespace AgroBase.Models
             return totalPontos > 0 ? somaDistancias / totalPontos : 0;
         }
 
-        public void ProjetarTrajetoriaFixa()
+        public void ProjetarTrajetoriaFixa(GPSModel posicaoRobo = null)
         {
             List<PontoTrajetoriaModel> _trajetoriaFixa = new List<PontoTrajetoriaModel>();
             (List<List<GPSModel>> corredores, List<double> CorredoresLarguras) = ProjetarCorredores();
@@ -1008,7 +1030,7 @@ namespace AgroBase.Models
                 idxCorredor = 0,
                 idxPonto = 0,
                 idxPontoCorredor = 0,
-                Posicao = Variaveis.OperacaoEmAndamento.Sensoriamento.Gps,
+                Posicao = posicaoRobo ?? Variaveis.OperacaoEmAndamento.Sensoriamento.Gps,
                 Direcao = direcaoAtual,
                 Orientacao = 0,
                 Visitado = true,
@@ -1155,7 +1177,7 @@ namespace AgroBase.Models
                     anguloProjetar2 += anguloAcrescentar;
                     anguloAcrescentar *= -1;
                 }
-                double percentualAcrescimoPontoAberturaCurva = 1.5;
+                double percentualAcrescimoPontoAberturaCurva = 1.1;
                 GPSModel UltimoPonto = GPSUtils.ProjetarPontoDeslocado(CorredorAtual.Last(), !ultimoCorredor ? (DistanciaProjecaoRua * percentualAcrescimoPontoAberturaCurva) : (DistanciaProjecaoRua * 2.0), anguloProjetar2);
 
                 PontoTrajetoriaModel PontoFinal = new PontoTrajetoriaModel(TipoPontoRua.LigacaoSaida)
@@ -1397,6 +1419,8 @@ namespace AgroBase.Models
         public int idxRuaEsquerda { get; set; }
         public int idxRuaDireita { get; set; }
         public double FatorLarguraCorredor { get; set; }
+        public DateTime UltimoTempoStatus { get; set; } = DateTime.MinValue;
+        public Dictionary<StatusCarroMapa, double> TempoPorStatus { get; set; }
 
         public void AtualizarDados()
         {
@@ -1445,6 +1469,8 @@ namespace AgroBase.Models
                 Pontos = new List<PontoTrajetoriaModel>(),
                 Ultimo = Ultimo,
                 FatorLarguraCorredor = FatorLarguraCorredor,
+                UltimoTempoStatus = UltimoTempoStatus,
+                TempoPorStatus = new Dictionary<StatusCarroMapa, double>(TempoPorStatus)
             };
             if (clonarPontos)
             {

AgroBase/AgroBase/Models/Variaveis.cs

@@ -186,8 +186,8 @@ namespace AgroBase.Models
             { TipoMovimentoDirecional.MovimentoLateral, 90 },
             { TipoMovimentoDirecional.Diagnostico, 25 },
         };
-        public static double AnguloInclinacaoRollMax { get; set; } = 15.0;
+        public static double AnguloInclinacaoRollMax { get; set; } = 30.0;
-        public static double AnguloInclinacaoPitchMax { get; set; } = 30.0;
+        public static double AnguloInclinacaoPitchMax { get; set; } = 45.0;
 
         public static SensorSinaleiroComportamentoModel ComportamentoPorStatus(StatusOperacao? _status = null)
         {

AgroBase/AgroBase/Services/GPSService.cs

@@ -44,11 +44,14 @@ namespace AgroBase.Services
 
         public static int TaxaAmostragemHz { get; set; } = 5;
 
+        private static bool InverterHeading = true;
         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 DateTime UltimoEnvioCorrecaoRTK = DateTime.MinValue;
+        private static double HeadingOffsetCorrecao = 5.0;
+        private static double HeadingOffsetSimulador => Variaveis.OperacaoEmAndamento.Simulando ? -HeadingOffsetCorrecao : 0.0;
 
         public static void AtualizarPortaCOM(SerialPort Porta)
         {
@@ -622,7 +625,7 @@ namespace AgroBase.Services
 
                 UltimaLeitura.TimestampOri.valor = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
                 UltimaLeitura.Momento = DateTime.Now;
-                UltimaLeitura.OrientacaoReal = headingTrue;
+                UltimaLeitura.OrientacaoReal = InverterHeading ? GPSUtils.NormalizarAngulo(headingTrue + 180.0) : headingTrue;
                 UltimaLeitura.TipoOrientacao = status;
 
                 // ✅ Atualiza o ângulo unificado no GPSService
@@ -991,7 +994,7 @@ namespace AgroBase.Services
             int EnderecoEquipamento = Convert.ToInt32(Variaveis.LoraService?.ParametrosGet?.address ?? Variaveis.LoraService?.ParametrosSet?.address ?? 0x00);
             EnviarCoordenadasParaMapa(UltimaLeitura.Latitude, UltimaLeitura.Longitude, UltimaLeitura.AnguloCarroDefinido, Variaveis.OperacaoEmAndamento.Iniciado, EnderecoEquipamento);
 
-            if (Variaveis.LoraService.Iniciado && Variaveis.LoraService._ultimoRxDados > DateTime.UtcNow.AddSeconds(-60))
+            if (Variaveis.LoraService?.Iniciado ?? false && (Variaveis.LoraService?._ultimoRxDados ?? DateTime.MinValue) > DateTime.UtcNow.AddSeconds(-60))
             {
                 byte EnderecoBase = Variaveis.LoraBaseParametros.address;
                 EnviarCoordenadasParaMapa(VariaveisOperacao.PosicaoBase.Latitude, VariaveisOperacao.PosicaoBase.Longitude, VariaveisOperacao.PosicaoBase.OrientacaoReal, false, EnderecoBase);
@@ -1169,7 +1172,7 @@ namespace AgroBase.Services
             }
 
             // Atualiza o ângulo final
-            UltimaLeitura.AnguloCarroDefinido = anguloFinal;
+            UltimaLeitura.AnguloCarroDefinido = GPSUtils.NormalizarAngulo(anguloFinal + HeadingOffsetSimulador + HeadingOffsetCorrecao);
         }
 
         public static double CalcularAnguloUnificado(double orientacaoReal, TiposCorrecaoGPS precisaoGPS, double anguloMovimento, double distanciaMovimento, double? anguloWT901C = null)

AgroBase/AgroBase/Services/MapasService.cs

@@ -102,6 +102,7 @@ namespace AgroBase.Services
                 feature.geometry.id = i.ToString();
                 i++;
             });
+
         }
 
         public static void CriarArquivoMapa(List<List<GPSModel>> Trajetoria, int id = 1517, string name = "Projeto", double dist1 = 0.0, double dist2 = 0.0)

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

@@ -1,12 +1,5 @@
 {
    "epochs": [ {
-      "calculation_time": "13400595140854297",
-      "config_version": 0,
-      "model_version": "0",
-      "padded_top_topics_start_index": 0,
-      "taxonomy_version": 0,
-      "top_topics_and_observing_domains": [  ]
-   }, {
       "calculation_time": "13401214743883964",
       "config_version": 0,
       "model_version": "0",
@@ -27,7 +20,14 @@
       "padded_top_topics_start_index": 0,
       "taxonomy_version": 0,
       "top_topics_and_observing_domains": [  ]
+   }, {
+      "calculation_time": "13403032020468903",
+      "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": "13403030306182881"
+   "next_scheduled_calculation_time": "13403636820469100"
 }

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

@@ -1,3 +1,3 @@
-2025/09/17-16:42:43.823 5848 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/09/22-15:30:19.498 1b7c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/09/17-16:42:43.832 5848 Recovering log #3
+2025/09/22-15:30:19.509 1b7c Recovering log #3
-2025/09/17-16:42:43.835 5848 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/09/22-15:30:19.512 1b7c 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 @@
-2025/09/17-16:20:23.484 57e4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/09/22-14:17:21.935 12a0 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/09/17-16:20:23.493 57e4 Recovering log #3
+2025/09/22-14:17:21.943 12a0 Recovering log #3
-2025/09/17-16:20:23.496 57e4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/09/22-14:17:21.946 12a0 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":"13402698942753276","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":65448},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:67d:1400:2446:e381:e2d0:7901","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":"13403124628748627","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":14427},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:67d:1400:cd2a:9909:b778:feef","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":1789674166.889444,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1758138166.889448}],"version":2}
+{"sts":[{"expiry":1790097601.177978,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1758561601.177983}],"version":2}

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

@@ -1,3 +1,3 @@
-2025/09/17-17:13:27.654 5848 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/09/22-15:32:03.868 1b7c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/09/17-17:13:27.656 5848 Recovering log #3
+2025/09/22-15:32:03.869 1b7c Recovering log #3
-2025/09/17-17:13:27.659 5848 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/09/22-15:32:03.872 1b7c 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 @@
-2025/09/17-16:23:13.740 57e4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/09/22-15:11:23.486 12a0 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/09/17-16:23:13.742 57e4 Recovering log #3
+2025/09/22-15:11:23.487 12a0 Recovering log #3
-2025/09/17-16:23:13.745 57e4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/09/22-15:11:23.490 12a0 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 @@
-2025/09/17-16:42:43.748 5280 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/09/22-15:30:19.422 14dc Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/09/17-16:42:43.750 5280 Recovering log #7
+2025/09/22-15:30:19.425 14dc Recovering log #7
-2025/09/17-16:42:43.750 5280 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/09/22-15:30:19.425 14dc 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 @@
-2025/09/17-16:20:23.401 23a8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/09/22-14:17:21.861 5d88 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/09/17-16:20:23.404 23a8 Recovering log #7
+2025/09/22-14:17:21.863 5d88 Recovering log #7
-2025/09/17-16:20:23.404 23a8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/09/22-14:17:21.864 5d88 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 @@
-140.0.3485.66
+140.0.3485.81

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_e541659635fbe5ef795ffc63af53174e {
+                #map_a930f18588199d9d6021d4c49b85c784 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -54,14 +54,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_e541659635fbe5ef795ffc63af53174e" ></div>
+            <div class="folium-map" id="map_a930f18588199d9d6021d4c49b85c784" ></div>
         
 </body>
 <script>
     
     
-            var map_e541659635fbe5ef795ffc63af53174e = L.map(
+            var map_a930f18588199d9d6021d4c49b85c784 = L.map(
-                "map_e541659635fbe5ef795ffc63af53174e",
+                "map_a930f18588199d9d6021d4c49b85c784",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -96,7 +96,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_e541659635fbe5ef795ffc63af53174e);
+        trajeto_json.addTo(map_a930f18588199d9d6021d4c49b85c784);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -159,9 +159,9 @@
         
         var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_e541659635fbe5ef795ffc63af53174e);
+        }).addTo(map_a930f18588199d9d6021d4c49b85c784);
         
-        var marcadorBase = L.marker([0, 0], {}).addTo(map_e541659635fbe5ef795ffc63af53174e);
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_a930f18588199d9d6021d4c49b85c784);
         var icon = L.AwesomeMarkers.icon(
             {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
         );
@@ -226,7 +226,7 @@
                 }
                 
                 if (foco) {
-                    map_e541659635fbe5ef795ffc63af53174e.setView(novaPosicao, map_e541659635fbe5ef795ffc63af53174e.getZoom());
+                    map_a930f18588199d9d6021d4c49b85c784.setView(novaPosicao, map_a930f18588199d9d6021d4c49b85c784.getZoom());
                 }
                 
             }
@@ -248,7 +248,7 @@
             marcadorDinamico.setRotationAngle(angulo);
             
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_e541659635fbe5ef795ffc63af53174e.setView(novaPosicao, map_e541659635fbe5ef795ffc63af53174e.getZoom());*/
+            map_a930f18588199d9d6021d4c49b85c784.setView(novaPosicao, map_a930f18588199d9d6021d4c49b85c784.getZoom());*/
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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

@@ -24,17 +24,17 @@ def definir_comando(parada_necessaria: bool, frear: bool, erro: bool, filtro_vel
             mostrar_log(f"🟥 Movimento parado: operação não está em andamento ou finalizando: {status_operacao.name}")
             return _montar_comando_retorno(0.0, False)
         
-        _dados_vw = ContextoGlobalRedis.get(CtxKey.DadosWeedWorker, {}).get("analise", {})
+        _dados_vw = ContextoGlobalRedis.get(CtxKey.DadosVisualWorker, {})
         _snr = ContextoGlobalRedis.get_modulo(T_Code.Snr)
         sonar_ativado = _operacao.get("Snr", {}).get("sonar_ativado", False)
         visual_worker_operante = (_snr.get("saude", {}).get("status", StatusModulo.DESCONECTADO.value)) == StatusModulo.OPERANTE.value
         analise_deteccao_atualizada = (time.perf_counter() - _dados_vw.get("matriz_confianca", {}).get("ts", 10.0) <= 1.0)
         obstaculo_detectado = _dados_vw.get("matriz_confianca", {}).get("block", {}).get("decision", {}).get("parar", False) if analise_deteccao_atualizada else False
-
+        
         if (sonar_ativado and visual_worker_operante and obstaculo_detectado):
             mostrar_log(f"🟥 Movimento parado: obstaculo proximo detectado no sonar")
             return _montar_comando_retorno(0.0, True)
-            
+        
         op_modo = ModoOperacao(_operacao.get("modo", ModoOperacao.NaoDefinido.value))
         _contexto = ContextoGlobalRedis.get_contexto()
         _controle = ContextoGlobalRedis.get_controle()
@@ -42,15 +42,15 @@ def definir_comando(parada_necessaria: bool, frear: bool, erro: bool, filtro_vel
         #ervas_no_radar = _contexto.get("Gerais", {}).get("ervas_no_radar", False)
         #percentual_ervas_no_radar = (_contexto.get("Gerais", {}).get("percentual_ervas_no_radar", 0)) * 100.0
         
-        ervas_no_radar = _dados_vw.get("ervas_no_radar", False)
+        _dados_ww = ContextoGlobalRedis.get(CtxKey.DadosWeedWorker, {}).get("analise", {})
-        percentual_ervas_no_radar = _dados_vw.get("estatisticas", {}).get("erva", {}).get("ema_global", 0.0)
+        ervas_no_radar = _dados_ww.get("ervas_no_radar", False)
-        
+        percentual_ervas_no_radar = (_dados_ww.get("estatisticas", {}).get("erva", {}) or {}).get("ema_global", 0.0)
+
         vel_min = 15
         ervas_min_percenet = 0.005
         vel_com_ervas = _operacao.get("Mov", {}).get("percent_vel_min", 0)
         vel_sem_ervas = _operacao.get("Mov", {}).get("percent_vel_max", 100)
         ang_max = _operacao.get("Dir", {}).get("angulo_max", 30)
-
         
         status_carro = StatusCarroMapa.Parado
         erro = 0
@@ -63,9 +63,8 @@ def definir_comando(parada_necessaria: bool, frear: bool, erro: bool, filtro_vel
             erro = _trajetoria.get("erro_angular", 0)
             manobrando = _trajetoria.get("manobrando", False)
         elif op_modo == ModoOperacao.MapeamentoVisual:
-            _dados_vw = ContextoGlobalRedis.get(CtxKey.DadosVisualWorker, {}).get("segmentacao", {})
+            status_carro = StatusCarroMapa(_dados_vw.get("segmentacao", {}).get("status_corredor", StatusCarroMapa.Parado.value))
-            status_carro = StatusCarroMapa(_dados_vw.get("status_corredor", StatusCarroMapa.Parado.value))
+            erro = _dados_vw.get("segmentacao", {}).get("erro_angular", 0)
-            erro = _dados_vw.get("erro_angular", 0)
 
         velocidade_sp = vel_com_ervas
 
@@ -84,7 +83,7 @@ def definir_comando(parada_necessaria: bool, frear: bool, erro: bool, filtro_vel
                 velocidade_sp = vel_com_ervas
             else:
                 velocidade_sp = calcular_velocidade_relativa(vel_com_ervas, vel_sem_ervas, ang_max, erro)
-
+        
         # Aplica limites
         velocidade_sp = max(vel_com_ervas, min(vel_sem_ervas, velocidade_sp))
 

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

@@ -532,7 +532,7 @@ class ControladorMPC:
 
         # 1) Bearing até o alvo
         orient = self.gps_handler.calcular_orientacao(ponto_alvo_xy, estado_atual)
-        theta_ponto = (orient - estado_atual[2] + np.pi) % (2*np.pi) - np.pi
+        theta_ponto = (orient - theta + np.pi) % (2*np.pi) - np.pi
 
         # 2) Defina erro lateral a partir das distâncias
         #    Convenção: e_lat > 0 quando você está mais perto da ESQUERDA (dir > esq)
@@ -560,9 +560,9 @@ class ControladorMPC:
             nudge = np.arctan2(k_e * e_lat, v + v0)  # pequeno e estável
 
         # 7) Delta final + clamp
-        delta = self._wrap_pi(theta_ref - theta) + nudge
+        delta = self._wrap_pi(theta - theta_ref) + nudge
-        ang_max = np.radians(angulo_max_graus)
+        #ang_max = np.radians(angulo_max_graus)
-        delta = float(np.clip(delta, -ang_max, ang_max))
+        #delta = float(np.clip(delta, -ang_max, ang_max))
 
         debug = {
             "e_lat": e_lat, "half": half, "sigma": sigma, "w_rua": w_rua,
@@ -1007,6 +1007,8 @@ class ControladorMPC:
                     "inicial": True
                 }]
 
+                #mostrar_log(f"idx_proximo_ponto_C#: {idx_proximo_ponto_real}, idx_ponto_alvo_C#: {idx_ponto_alvo}, idx_proximo_ponto_Python: {idx_alvo_correcao}")
+
                 # Loop de K comandos (receding); cada comando simula dt_pred com v_sim
                 for passo in range(self.qtd_comandos_sucessivos):
                     if ms_left() <= 0:
@@ -1026,6 +1028,8 @@ class ControladorMPC:
                         }
 
                         idx_alvo = self._corrigir_pontos_visitados(x_atual, y_atual, visitados, velocidade=v_sim, dt=dt_pred)
+                        #if passo == 0:
+                        #    print(f"idx_alvo: {idx_alvo}")
                         #if idx_alvo < len(self.pontos_info) - 1: idx_alvo += 1
                         ponto_alvo = self.pontos_info[idx_alvo]
 
@@ -1251,7 +1255,7 @@ class ControladorMPC:
             manobrando = CARRO.get("ManobrandoEntreRuas", False)
             if manobrando or status in [StatusCarroMapa.EntrandoRua, StatusCarroMapa.SaindoRua, StatusCarroMapa.Manobrando]:
                 tipos_validos = [TipoMovimentoDirecional.MovimentoArco]
-            elif abs(np.degrees(delta_theta)) > 10.0:
+            elif abs(np.degrees(delta_theta)) > 15.0:
                 tipos_validos = [TipoMovimentoDirecional.RodasDianteiras, TipoMovimentoDirecional.MovimentoArco]
             else:
                 tipos_validos = [TipoMovimentoDirecional.RodasDianteiras]

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

@@ -205,6 +205,7 @@ class ContextoGlobalRedis:
         # 🔹 Conjuntos de módulos
         modulos_mandatorios = set(_operacao.get("modulos_mandatorios", []))
         modulos_opcionais   = set(_operacao.get("modulos_opcionais", []))
+        emergencia = _operacao.get("emergencia", False)
 
         modulos_presentes = set()
         status_modulos = []
@@ -352,7 +353,12 @@ class ContextoGlobalRedis:
                     # Nem mandatório nem opcional configurado: por segurança, não libera
                     motivos_dos_modulos_mandatorios.append("Nenhum módulo mandatório configurado e nenhum opcional definido — operação não pode iniciar.")
 
-        liberou = (base_ok and parametros_ok) or debug_mode
+        emergencia_ok = True
+        if emergencia:
+            emergencia_ok = False
+            motivos_dos_modulos_mandatorios.append(f"Parada de emergencia solicitada pela base!")
+
+        liberou = (base_ok and parametros_ok and emergencia_ok) or debug_mode
 
         cls.atualizar_ctx_dict(
             CtxKey.DadosOperacao,
@@ -385,6 +391,7 @@ class ContextoGlobalRedis:
         modo = ModoOperacao(_operacao.get("modo", ModoOperacao.NaoDefinido.value))
         status_atual = StatusOperacao(_operacao.get("status", StatusOperacao.NaoIniciado.value))
         iniciado = _operacao.get("iniciado", False)
+        emergencia = _operacao.get("emergencia", False)
         configurado = _operacao.get("configurado", False)
         status_iniciado_anterior = _operacao.get("status_iniciado_anterior", False)
         finalizando = _operacao.get("finalizando", False)
@@ -407,6 +414,13 @@ class ContextoGlobalRedis:
                     cls.atualizar_ctx_dict(CtxKey.DadosOperacao, status=StatusOperacao.Parametrizando.value)
                 return
 
+            # Comando de parada de emergencia da base
+            if emergencia:
+                novo_status = StatusOperacao.Parado
+                if status_atual != novo_status:
+                    cls.atualizar_ctx_dict(CtxKey.DadosOperacao, status=novo_status.value)
+                return
+
             # 🔸 Modo MANUAL
             if modo == ModoOperacao.Manual:
                 novo_status = StatusOperacao.EmAndamento if op_liberada else StatusOperacao.Parado

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/processamento/costmap_fuser.py

@@ -349,7 +349,7 @@ class CostmapFuser:
                     f"cobertura_central_max={central_cov_max:.2f}{extra_det_txt}."
                 )
 
-            elif (global_cov <= rho_block_global) or (conf_mean < 0.45):
+            elif (global_cov <= rho_block_global) and (conf_mean < 0.45):
                 blocked_raw = True
                 reason = "blackout"
                 extra = ""

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/processamento/segmentacao_semantica.py

@@ -280,7 +280,7 @@ class SegmentacaoManager:
         fracs = [0.98, 0.85, 0.70, 0.55, 0.40, 0.25, 0.10]
         return [min(H-1, max(0, int(H*f))) for f in fracs]
 
-    def _analisar_corredor_visual(self, predictions, grid_rows_y_px=None, near_is_bottom=True):
+    def _analisar_corredor_visual_old(self, predictions, grid_rows_y_px=None, near_is_bottom=True):
         self.predictions = predictions
         H, W = self.predictions.shape
         cx_img = W // 2
@@ -398,49 +398,297 @@ class SegmentacaoManager:
             "has_bottom": bool(has_bot),
         }
 
+    def _analisar_corredor_visual(self, predictions, grid_rows_y_px=None, near_is_bottom=True):
+        # --- inputs/base ---
+        self.predictions = predictions
+        H, W = self.predictions.shape
+        cx_img = W // 2
+
+        # máscara do "corredor principal" (telemetria/ângulo); pode vir vazia
+        mask_main = self._extrair_corredor_principal(self.predictions).astype(bool)
+        # opcional (se ainda usar em outros pontos)
+        # mask_cana = (self.predictions == ClassesSegmentacao.CANA.value)
+
+        # --- score de corredor por grid (robusto) ---
+        score, centers_col, left_col, right_col, valid_row = self._corridor_score_grid(self.predictions)
+
+        # tercis: perto/meio/longe (respeita near_is_bottom)
+        rows = int(len(valid_row))
+        k = max(1, rows // 3)
+        if near_is_bottom:
+            near_ok = float(valid_row[:k].mean())          # base
+            mid_ok  = float(valid_row[k:2*k].mean())
+            far_ok  = float(valid_row[2*k:].mean())        # topo
+        else:
+            # câmera invertida: "perto" está em cima
+            near_ok = float(valid_row[2*k:].mean())
+            mid_ok  = float(valid_row[k:2*k].mean())
+            far_ok  = float(valid_row[:k].mean())
+
+        # --- histerese espacial (liga/desliga) ---
+        TH_ON, TH_OFF = 0.60, 0.50
+
+        def _hyst(prev: bool, x: float, on: float, off: float) -> bool:
+            # liga em 'on', desliga em 'off' (off < on)
+            return (x >= off) if prev else (x >= on)
+
+        has_near_prev = getattr(self, "_h_near", False)
+        has_far_prev  = getattr(self, "_h_far", False)
+        has_near = _hyst(has_near_prev, near_ok, TH_ON, TH_OFF)
+        has_far  = _hyst(has_far_prev,  far_ok,  TH_ON, TH_OFF)
+        self._h_near, self._h_far = has_near, has_far
+
+        # --- status bruto (regra clara) ---
+        if not has_near and not has_far:
+            status_now = StatusCarroMapa.Direcionando
+        elif has_far and not has_near:
+            status_now = StatusCarroMapa.EntrandoRua         # corredor aparece “longe” primeiro
+        elif has_near and not has_far:
+            status_now = StatusCarroMapa.SaindoRua           # corredor some “longe” e só fica perto
+        else:
+            status_now = StatusCarroMapa.CaminhandoRua
+
+        # --- scanlines para centro/ângulo (telemetria) ---
+        ys = self._get_scanlines_y(H, grid_rows_y_px, near_is_bottom)
+        centros, larguras = [], []
+
+        if mask_main.any():
+            for y in ys:
+                row = mask_main[y]
+                idx = np.flatnonzero(row)
+                if idx.size == 0:
+                    centros.append((None, y))
+                    larguras.append(0)
+                else:
+                    x0, x1 = int(idx[0]), int(idx[-1])
+                    cx = (x0 + x1) // 2
+                    w  = (x1 - x0 + 1)
+                    centros.append((cx, y))
+                    larguras.append(int(w))
+        else:
+            # Fallback: usa o centro estimado do GRID (coluna centers_col)
+            # mapeia coluna -> pixel no centro da célula
+            cols = max(1, np.max(centers_col)+1)
+            col_w = max(1, W // max(cols, 1))
+            for i, y in enumerate(ys):
+                j = centers_col[min(i, len(centers_col)-1)]
+                cx = int((j + 0.5) * col_w)
+                centros.append((cx, y))
+                # tenta derivar largura a partir de left/right_col
+                lj = left_col[min(i, len(left_col)-1)]
+                rj = right_col[min(i, len(right_col)-1)]
+                if lj >= 0 and rj >= 0 and rj > lj:
+                    larguras.append(int((rj - lj + 1) * col_w))
+                else:
+                    larguras.append(int(0.4 * W))  # fallback razoável
+
+        # --- Ângulo do corredor (x = a*y + b) ponderado (perto pesa mais) ---
+        pts = [(x, y) for (x, y) in centros if x is not None]
+        ang_out = None
+        if len(pts) >= 2:
+            ys_fit = np.array([p[1] for p in pts], dtype=np.float32)
+            xs_fit = np.array([p[0] for p in pts], dtype=np.float32)
+            n = len(ys_fit)
+
+            # pesos: linhas "mais perto" pesam mais
+            if near_is_bottom:
+                wts = np.linspace(1.0, 2.0, n, dtype=np.float32)  # crescente da base ao topo do vetor pts
+            else:
+                wts = np.linspace(2.0, 1.0, n, dtype=np.float32)
+
+            Wm = np.diag(wts)
+            Y = ys_fit.reshape(-1, 1)
+            X = np.hstack([Y, np.ones_like(Y)])
+            XtW = X.T @ Wm
+            beta = np.linalg.pinv(XtW @ X) @ (XtW @ xs_fit)
+            a = float(beta[0])
+
+            ang_rad = np.arctan(a)
+            # unwrap simples
+            ang_rad = (ang_rad + np.pi) % (2*np.pi) - np.pi
+            # EMA em graus
+            deg = float(np.degrees(ang_rad))
+            if getattr(self, "_ema_ang", None) is None:
+                self._ema_ang = deg
+            else:
+                alpha = self._ema_alpha_ang
+                delta = ((deg - self._ema_ang + 180.0) % 360.0) - 180.0
+                self._ema_ang = self._ema_ang + alpha * delta
+            ang_out = round(self._ema_ang, 3)
+
+        # --- Erro lateral (% da largura na base) + EMA ---
+        # pega a primeira scanline (mais perto, conforme near_is_bottom)
+        base_ix = 0
+        if not near_is_bottom:
+            base_ix = len(centros) - 1 if len(centros) else 0
+
+        erro_lateral_pct = 0.0
+        if centros and centros[base_ix][0] is not None:
+            x_base, _ = centros[base_ix]
+            w_base = max(1, larguras[base_ix])
+            err_px = cx_img - x_base
+            erro_lateral_pct = (err_px / w_base) * 100.0
+
+        if getattr(self, "_ema_lat", None) is None:
+            self._ema_lat = float(erro_lateral_pct)
+        else:
+            self._ema_lat = (1 - self._ema_alpha_lat) * self._ema_lat + self._ema_alpha_lat * float(erro_lateral_pct)
+        lat_out = round(float(self._ema_lat), 3)
+
+        # --- Persistência temporal (maioria em N frames) ---
+        # self._status_hist é um deque(maxlen=N) inicializado no __init__
+        self._status_hist.append(status_now)
+        # maioria absoluta simples
+        status_final = max(set(self._status_hist), key=self._status_hist.count)
+        self._last_status = status_final
+
+        return {
+            "height": H,
+            "width": W,
+            "erro_angular": ang_out,
+            "erro_lateral_pct": lat_out,
+            "status_corredor": status_final.value,   # mantém teu contrato atual (enum -> int)
+            "centros_corredor": centros,
+            "larguras_px": larguras,
+            "confianca": round(float(score), 3),     # agora a confiança é o score de corredor
+            # (se quiser debugar) "near_ok": near_ok, "far_ok": far_ok,
+        }
+
+
     def display_segmentation_debug(self, frame, largura_robo_px):
-        original = cv2.resize(frame, self.resolucao)
+        try:
+            original = cv2.resize(frame, self.resolucao)
 
-        seg_color = np.zeros_like(original)
+            seg_color = np.zeros_like(original)
-        for class_id, color in enumerate(self.color_map):
+            for class_id, color in enumerate(self.color_map):
-            seg_color[self.predictions == class_id] = color
+                seg_color[self.predictions == class_id] = color
 
-        overlay = cv2.addWeighted(original, 0.5, seg_color, 0.5, 0)
+            overlay = cv2.addWeighted(original, 0.5, seg_color, 0.5, 0)
 
-        centros_corredor = self.dados_visuais.get("centros_corredor")
+            centros_corredor = self.dados_visuais.get("centros_corredor")
 
-        # 1. Linha do centro do corredor + largura do robô
+            # 1. Linha do centro do corredor + largura do robô
-        if centros_corredor and len(centros_corredor) >= 2:
+            if centros_corredor and len(centros_corredor) >= 2:
-            for ponto in centros_corredor:
+                for ponto in centros_corredor:
-                cv2.circle(overlay, ponto, 4, (0, 255, 255), -1)
+                    x, y = ponto
-            for i in range(len(centros_corredor) - 1):
+                    if x is None or y is None: continue
-                cv2.line(overlay, centros_corredor[i], centros_corredor[i + 1], (0, 255, 255), 2)
+                    cv2.circle(overlay, ponto, 4, (0, 255, 255), -1)
-            for ponto in centros_corredor:
+                for i in range(len(centros_corredor) - 1):
-                x, y = ponto
+                    cv2.line(overlay, centros_corredor[i], centros_corredor[i + 1], (0, 255, 255), 2)
-                cv2.line(overlay, (x - largura_robo_px // 2, y), (x + largura_robo_px // 2, y), (255, 0, 255), 1)
+                for ponto in centros_corredor:
+                    x, y = ponto
+                    if x is None or y is None: continue
+                    cv2.line(overlay, (x - largura_robo_px // 2, y), (x + largura_robo_px // 2, y), (255, 0, 255), 1)
 
-        # 4. Texto de métricas
+            # 4. Texto de métricas
-        if self.dados_visuais:
+            if self.dados_visuais:
-            erro_lateral_pct = self.dados_visuais["erro_lateral_pct"]
+                erro_lateral_pct = self.dados_visuais["erro_lateral_pct"]
-            erro_angular = np.degrees(self.dados_visuais["erro_angular"]) if self.dados_visuais["erro_angular"] else 0
+                erro_angular = np.degrees(self.dados_visuais["erro_angular"]) if self.dados_visuais["erro_angular"] else 0
-            texto = [
+                texto = [
-                f"Erro angular: {erro_angular:.2f} graus",
+                    f"Erro angular: {erro_angular:.2f} graus",
-                f"Erro lateral: {erro_lateral_pct:.2f} %",
+                    f"Erro lateral: {erro_lateral_pct:.2f} %",
-                f"Status: {StatusCarroMapa(self.dados_visuais['status_corredor']).name}"
+                    f"Status: {StatusCarroMapa(self.dados_visuais['status_corredor']).name}"
-            ]
+                ]
-            for i, t in enumerate(texto):
+                for i, t in enumerate(texto):
-                cv2.putText(overlay, t, (10, 25 + i * 25), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 255), 2)
+                    cv2.putText(overlay, t, (10, 25 + i * 25), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 255), 2)
 
-        # 5. Legenda das classes
+            # 5. Legenda das classes
-        legenda_inicio_y = 140
+            legenda_inicio_y = 140
-        for i, cor in enumerate(self.color_map):
+            for i, cor in enumerate(self.color_map):
-            nome = self.classes[i]
+                nome = self.classes[i]
-            pos_y = legenda_inicio_y + i * 30
+                pos_y = legenda_inicio_y + i * 30
-            cv2.rectangle(overlay, (10, pos_y - 15), (30, pos_y + 5), cor, -1)
+                cv2.rectangle(overlay, (10, pos_y - 15), (30, pos_y + 5), cor, -1)
-            cv2.putText(overlay, nome, (40, pos_y + 2), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255,255,255), 1, cv2.LINE_AA)
+                cv2.putText(overlay, nome, (40, pos_y + 2), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255,255,255), 1, cv2.LINE_AA)
 
-        # Mostrar
+            # Mostrar
-        cv2.imshow("Segmentacao - Overlay", overlay)
+            cv2.imshow("Segmentacao - Overlay", overlay)
-        cv2.waitKey(1)
+            cv2.waitKey(1)
-        #cv2.destroyAllWindows()
+            #cv2.destroyAllWindows()
+        except Exception as e:
+            print(f"Erro ao gerar display_segmentation_debug: {e}")
+
+    def _corridor_score_grid(self, mask_classes, rows=6, cols=21):
+        CANA = ClassesSegmentacao.CANA.value
+        RUA  = ClassesSegmentacao.RUA.value
+
+        H, W = mask_classes.shape
+        row_h = H // rows
+        col_w = W // cols
+
+        # fração de CANA por célula
+        frac = np.zeros((rows, cols), np.float32)
+        for i in range(rows):
+            y0, y1 = i*row_h, H if i==rows-1 else (i+1)*row_h
+            for j in range(cols):
+                x0, x1 = j*col_w, W if j==cols-1 else (j+1)*col_w
+                cell = mask_classes[y0:y1, x0:x1]
+                if cell.size:
+                    frac[i, j] = np.mean(cell == CANA)
+
+        # limiares por faixa (modelo em “A”: mais chão embaixo, mais cana no topo)
+        near_lado_min, near_canal_max = 0.05, 0.70
+        far_lado_min,  far_canal_max  = 0.45, 0.15
+        idx = np.linspace(0, 1, rows)  # 0=embaixo (perto), 1=topo (longe)
+        lado_min  = near_lado_min  + (far_lado_min  - near_lado_min)  * idx
+        canal_max = near_canal_max + (far_canal_max - near_canal_max) * idx
+
+        # centro do canal por DP (argmin com suavidade vertical)
+        def smooth1d(x):
+            if len(x) < 3: return x.copy()
+            y = x.copy()
+            y[1:-1] = (x[:-2] + x[1:-1] + x[2:]) / 3.0
+            return y
+
+        costs = np.full((rows, cols), np.inf, np.float32)
+        back  = np.full((rows, cols), -1, np.int32)
+        cols_idx = np.arange(cols)
+        jump_penalty = 0.6
+
+        p = smooth1d(frac[0]); costs[0] = p
+        for i in range(1, rows):
+            p = smooth1d(frac[i])
+            for j in range(cols):
+                cand = costs[i-1] + jump_penalty * np.abs(cols_idx - j)
+                kprev = np.argmin(cand)
+                costs[i, j] = p[j] + cand[kprev]
+                back[i, j] = kprev
+
+        centers = np.zeros(rows, np.int32)
+        centers[-1] = int(np.argmin(costs[-1]))
+        for i in range(rows-2, -1, -1):
+            centers[i] = int(back[i+1, centers[i+1]])
+
+        # encontra primeiras paredes ao redor do canal
+        wall_win = 2
+        valid_row = np.zeros(rows, bool)
+        left_col  = np.full(rows, -1, np.int32)
+        right_col = np.full(rows, -1, np.int32)
+
+        for i in range(rows):
+            c = centers[i]; p = frac[i]
+
+            # esquerda: primeira janela com cana suficiente
+            lf = None
+            for j in range(c-1, -1, -1):
+                l0 = max(0, j-wall_win); l1 = j
+                if p[l0:l1+1].mean() >= lado_min[i]:
+                    lf = j; break
+
+            # direita: idem
+            rf = None
+            for j in range(c+1, cols):
+                r0 = j; r1 = min(cols-1, j+wall_win)
+                if p[r0:r1+1].mean() >= lado_min[i]:
+                    rf = j; break
+
+            canal_ok = (p[c] <= canal_max[i])
+            ok = (lf is not None and rf is not None and canal_ok and rf > lf+2)
+            valid_row[i] = ok
+            if ok:
+                left_col[i], right_col[i] = lf, rf
+
+        score = valid_row.mean()  # 0..1
+        return float(score), centers, left_col, right_col, valid_row
+
+    
 

AgroBase/AgroMonitor/Forms/frmAjustesOperacao.cs

@@ -120,6 +120,8 @@ namespace AgroMonitor.Forms
             }
             chbSonarAtivado.Checked = _Controle.SonarAtivado;
             chbFrenagemAutomatica.Checked = _Controle.FrenagemAutomatica;
+            chbMovimentacaoAutomatica.Checked = _Controle.MovimentoAutomatico;
+            chbPulverizadorAutomatico.Checked = _Controle.PulverizadorAutomatico;
 
             carregandoOperacao = false;
         }
@@ -173,12 +175,13 @@ namespace AgroMonitor.Forms
             if (chbMapaDinamico.Checked)
             {
                 var _Trajetoria = Variaveis.OperacaoEmAndamento.Trajetoria;
+                if (_Trajetoria == null) return;
                 GPSModel posicao = _Trajetoria.RuasPlantacao.Any() ? _Trajetoria.RuasPlantacao[0][_Trajetoria.ExtremoMaisProximoMapa == 0 ? 0 : _Trajetoria.RuasPlantacao[0].Count - 1] : GPSService.UltimaLeitura;
 
                 MapaDinamico.AtualizarDados(
                     null,
-                    (float)0,
+                    0f,
-                    (float)0,
+                    0f,
                     posicao,
                     _Trajetoria._TrajetoriaDinamica,
                     _Trajetoria.CorredorAtual.Pontos,

AgroBase/AgroMonitor/Forms/frmMonitoramento.cs

@@ -183,6 +183,11 @@ namespace AgroMonitor.Forms
                     txtLongitude.Text = Equipamento.Coordenadas.Longitude.ToString();
                     txtFix.Text = Equipamento.Coordenadas.Correcao.ToString();
 
+                    txtDistanciaEntreLeituras.Text = GPSUtils.DistanciaEntrePontos(new GPSModel() { Latitude = Equipamento.Coordenadas.Latitude, Longitude = Equipamento.Coordenadas.Longitude, OrientacaoReal = Equipamento.Coordenadas.Orientacao }, GPSService.UltimaLeitura).ToString("0.00") + " m";
+                    txtNSatelites.Text = "";
+                    txtPrecisao.Text = "";
+                    txtStatusFix.Text = "";
+
                     txtCodigoFalha.Text = Equipamento.CodigoFalha.ToString();
 
                     txtStatusOperacao.Text = (Equipamento.Operacao?.statusOperacao ?? StatusOperacao.NaoIniciado).ToString();

AgroBase/AgroMonitor/bin/Debug/AgroMonitor.exe.WebView2/EBWebView/Breadcrumbs

@@ -56,3 +56,108 @@
 0:00:00 Tab1 FinishNav2
 0:00:00 Tab1 PageLoad
 0:00:33 Microsoft.Shutdown.TabStripModel.SendDetachWebContentsNotifications
+0:00:00 Startup
+0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
+0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
+0:00:00 Microsoft.NewBrowser_Popup
+0:00:00 Microsoft.BrowserList.AddBrowser
+0:00:00 Browser1 Insert active Tab1 at 0
+0:00:00 Tab1 StartNav1 #auto_toplevel
+0:00:00 Tab1 StartNav2 #typed
+0:00:00 Tab1 FinishNav1
+0:00:00 Tab1 PageLoad
+0:00:00 Tab1 FinishNav2
+0:00:00 Tab1 PageLoad
+0:00:09 Memory Pressure: Critical
+0:00:18 Widget Closed: StatusBubble
+0:00:20 Microsoft.NewBrowser_Popup
+0:00:20 Microsoft.BrowserList.AddBrowser
+0:00:20 Browser2 Insert active Tab2 at 0
+0:00:20 Tab2 StartNav3 #auto_toplevel
+0:00:20 Tab2 StartNav4 #typed
+0:00:21 Tab2 FinishNav3
+0:00:21 Tab2 PageLoad
+0:00:21 Tab2 FinishNav4
+0:00:21 Tab2 PageLoad
+0:04:27 Widget Closed: StatusBubble
+0:09:15 Widget Closed: StatusBubble
+0:12:43 Memory Pressure: Critical
+0:13:50 Microsoft.NewBrowser_Popup
+0:13:50 Microsoft.BrowserList.AddBrowser
+0:13:50 Browser3 Insert active Tab3 at 0
+0:13:50 Tab3 StartNav5 #auto_toplevel
+0:13:50 Tab3 StartNav6 #typed
+0:13:50 Tab3 FinishNav5
+0:13:50 Tab3 PageLoad
+0:13:50 Tab3 FinishNav6
+0:13:50 Tab3 PageLoad
+0:14:02 Widget Closed: StatusBubble
+0:17:18 Memory Pressure: Critical
+0:17:23 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp
+0:00:00 Startup
+0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
+0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
+0:00:00 Microsoft.NewBrowser_Popup
+0:00:00 Microsoft.BrowserList.AddBrowser
+0:00:00 Browser1 Insert active Tab1 at 0
+0:00:00 Tab1 StartNav1 #auto_toplevel
+0:00:00 Tab1 StartNav2 #typed
+0:00:00 Tab1 FinishNav1
+0:00:00 Tab1 PageLoad
+0:00:00 Tab1 FinishNav2
+0:00:00 Tab1 PageLoad
+0:33:32 Memory Pressure: Critical
+0:33:48 Microsoft.NewBrowser_Popup
+0:33:48 Microsoft.BrowserList.AddBrowser
+0:33:48 Browser2 Insert active Tab2 at 0
+0:33:48 Tab2 StartNav3 #auto_toplevel
+0:33:48 Tab2 StartNav4 #typed
+0:33:48 Tab2 FinishNav3
+0:33:48 Tab2 PageLoad
+0:33:48 Tab2 FinishNav4
+0:33:48 Tab2 PageLoad
+0:37:27 Memory Pressure: Critical
+0:38:23 Microsoft.Shutdown.TabStripModel.SendDetachWebContentsNotifications
+0:00:00 Startup
+0:00:00 Microsoft.DeleteProfileHelper.CleanUpEphemeralProfiles
+0:00:00 Microsoft.DeleteProfileHelper.CleanUpDeletedProfiles
+0:00:00 Microsoft.NewBrowser_Popup
+0:00:00 Microsoft.BrowserList.AddBrowser
+0:00:00 Browser1 Insert active Tab1 at 0
+0:00:00 Tab1 StartNav1 #auto_toplevel
+0:00:00 Tab1 StartNav2 #typed
+0:00:00 Tab1 FinishNav1
+0:00:00 Tab1 PageLoad
+0:00:00 Tab1 FinishNav2
+0:00:00 Tab1 PageLoad
+0:00:34 Memory Pressure: Critical
+0:01:19 Microsoft.NewBrowser_Popup
+0:01:19 Microsoft.BrowserList.AddBrowser
+0:01:19 Browser2 Insert active Tab2 at 0
+0:01:19 Tab2 StartNav3 #auto_toplevel
+0:01:19 Tab2 StartNav4 #typed
+0:01:19 Tab2 FinishNav3
+0:01:19 Tab2 PageLoad
+0:01:19 Tab2 FinishNav4
+0:01:19 Tab2 PageLoad
+0:01:49 Memory Pressure: Critical
+0:01:59 Microsoft.NewBrowser_Popup
+0:01:59 Microsoft.BrowserList.AddBrowser
+0:01:59 Browser3 Insert active Tab3 at 0
+0:01:59 Tab3 StartNav5 #auto_toplevel
+0:01:59 Tab3 StartNav6 #typed
+0:01:59 Tab3 FinishNav5
+0:01:59 Tab3 PageLoad
+0:01:59 Tab3 FinishNav6
+0:01:59 Tab3 PageLoad
+0:02:06 Memory Pressure: Critical
+0:02:19 Microsoft.NewBrowser_Popup
+0:02:19 Microsoft.BrowserList.AddBrowser
+0:02:19 Browser4 Insert active Tab4 at 0
+0:02:19 Tab4 StartNav7 #auto_toplevel
+0:02:19 Tab4 StartNav8 #typed
+0:02:19 Tab4 FinishNav7
+0:02:19 Tab4 PageLoad
+0:02:19 Tab4 FinishNav8
+0:02:19 Tab4 PageLoad
+0:02:23 Microsoft.UnloadController.IsUnclosableApp_IsNotWebApp

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

@@ -15,5 +15,5 @@
       "top_topics_and_observing_domains": [  ]
    } ],
    "hex_encoded_hmac_key": "171DAE543B88106F5155169E0A8C7502CB2A0757E4948C32E2A04D196E23BE70",
-   "next_scheduled_calculation_time": "13403098310652905"
+   "next_scheduled_calculation_time": "13403098310652972"
 }

AgroBase/AgroMonitor/bin/Debug/AgroMonitor.exe.WebView2/EBWebView/Default/Extension State/LOG

@@ -1,3 +1,3 @@
-2025/09/17-15:37:59.891 2ac8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/MANIFEST-000001
+2025/09/19-15:45:24.268 2ad8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/MANIFEST-000001
-2025/09/17-15:37:59.892 2ac8 Recovering log #3
+2025/09/19-15:45:24.269 2ad8 Recovering log #3
-2025/09/17-15:37:59.892 2ac8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/000003.log 
+2025/09/19-15:45:24.269 2ad8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/000003.log 

AgroBase/AgroMonitor/bin/Debug/AgroMonitor.exe.WebView2/EBWebView/Default/Extension State/LOG.old

@@ -1,3 +1,3 @@
-2025/09/16-08:02:37.400 684 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/MANIFEST-000001
+2025/09/19-14:18:58.961 5008 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/MANIFEST-000001
-2025/09/16-08:02:37.400 684 Recovering log #3
+2025/09/19-14:18:58.961 5008 Recovering log #3
-2025/09/16-08:02:37.401 684 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/000003.log 
+2025/09/19-14:18:58.962 5008 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Extension State/000003.log 

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

@@ -1,3 +1,3 @@
-2025/09/17-15:37:59.848 3584 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/09/19-15:45:24.222 1e58 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/09/17-15:37:59.857 3584 Recovering log #3
+2025/09/19-15:45:24.232 1e58 Recovering log #3
-2025/09/17-15:37:59.859 3584 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/09/19-15:45:24.235 1e58 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 

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

@@ -1,3 +1,3 @@
-2025/09/16-08:02:37.356 5b70 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/09/19-14:18:58.913 2cb0 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/09/16-08:02:37.365 5b70 Recovering log #3
+2025/09/19-14:18:58.923 2cb0 Recovering log #3
-2025/09/16-08:02:37.368 5b70 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/09/19-14:18:58.926 2cb0 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 

AgroBase/AgroMonitor/bin/Debug/AgroMonitor.exe.WebView2/EBWebView/Default/Network/Network Persistent State

@@ -1 +1 @@
-{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13402694309848645","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":95983},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:67d:1400:5011:1759:4b8a:6d1a","used_quic":true},"version":5},"network_qualities":{"CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}
+{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13402864371514197","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":13272},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:67d:1400:9817:c8e3:b24c:4aeb","used_quic":true},"version":5},"network_qualities":{"CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}

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

@@ -1 +1 @@
-{"sts":[{"expiry":1789670309.852613,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1758134309.852614}],"version":2}
+{"sts":[{"expiry":1789840370.590231,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1758304370.590235}],"version":2}

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

@@ -1,3 +1,3 @@
-2025/09/17-15:38:33.585 3584 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/09/19-15:47:47.262 1e58 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/09/17-15:38:33.587 3584 Recovering log #3
+2025/09/19-15:47:47.264 1e58 Recovering log #3
-2025/09/17-15:38:33.592 3584 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/09/19-15:47:47.267 1e58 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/000003.log 

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

@@ -1,3 +1,3 @@
-2025/09/16-08:07:53.499 5b70 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/09/19-14:57:22.064 2cb0 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/09/16-08:07:53.500 5b70 Recovering log #3
+2025/09/19-14:57:22.065 2cb0 Recovering log #3
-2025/09/16-08:07:53.503 5b70 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/09/19-14:57:22.068 2cb0 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Session Storage/000003.log 

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

@@ -1,3 +1,3 @@
-2025/09/17-15:37:59.783 2ad4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/09/19-15:45:24.153 1de4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/09/17-15:37:59.786 2ad4 Recovering log #3
+2025/09/19-15:45:24.156 1de4 Recovering log #3
-2025/09/17-15:37:59.786 2ad4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/000003.log 
+2025/09/19-15:45:24.156 1de4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/000003.log 

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

@@ -1,3 +1,3 @@
-2025/09/16-08:02:37.280 1d9c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/09/19-14:18:58.844 36bc Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/09/16-08:02:37.282 1d9c Recovering log #3
+2025/09/19-14:18:58.847 36bc Recovering log #3
-2025/09/16-08:02:37.282 1d9c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/000003.log 
+2025/09/19-14:18:58.848 36bc Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Site Characteristics Database/000003.log 

AgroBase/AgroMonitor/bin/Debug/AgroMonitor.exe.WebView2/EBWebView/Default/Sync Data/LevelDB/LOG

@@ -1,3 +1,3 @@
-2025/09/17-15:37:59.779 200c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/MANIFEST-000001
+2025/09/19-15:45:24.153 2ad8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/MANIFEST-000001
-2025/09/17-15:37:59.784 200c Recovering log #3
+2025/09/19-15:45:24.156 2ad8 Recovering log #3
-2025/09/17-15:37:59.785 200c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/000003.log 
+2025/09/19-15:45:24.157 2ad8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/000003.log 

AgroBase/AgroMonitor/bin/Debug/AgroMonitor.exe.WebView2/EBWebView/Default/Sync Data/LevelDB/LOG.old

@@ -1,3 +1,3 @@
-2025/09/16-08:02:37.279 3580 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/MANIFEST-000001
+2025/09/19-14:18:58.844 5008 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/MANIFEST-000001
-2025/09/16-08:02:37.282 3580 Recovering log #3
+2025/09/19-14:18:58.847 5008 Recovering log #3
-2025/09/16-08:02:37.282 3580 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/000003.log 
+2025/09/19-14:18:58.848 5008 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\Sync Data\LevelDB/000003.log 

AgroBase/AgroMonitor/bin/Debug/AgroMonitor.exe.WebView2/EBWebView/Default/shared_proto_db/LOG

@@ -1,3 +1,3 @@
-2025/09/17-15:37:59.822 200c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db/MANIFEST-000001
+2025/09/19-15:45:24.186 5308 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db/MANIFEST-000001
-2025/09/17-15:37:59.822 200c Recovering log #3
+2025/09/19-15:45:24.187 5308 Recovering log #3
-2025/09/17-15:37:59.827 200c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db/000003.log 
+2025/09/19-15:45:24.188 5308 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroMonitor\bin\Debug\AgroMonitor.exe.WebView2\EBWebView\Default\shared_proto_db/000003.log