metodo para fixação da base e aplicação de offset global

AgroBase/OperationControl/Services/GpsService.cs

@@ -9,8 +9,7 @@ using AgroBase.Models;
 using static AgroBase.Models.Enums;
 using OperationControl.Models;
 using Application = System.Windows.Application;
-using Mapsui.Animations;
+using static OperationControl.Services.BaseFixService;
-using OperationControl.ViewModels;
 
 namespace OperationControl.Services
 {
@@ -233,7 +232,7 @@ namespace OperationControl.Services
         private int rtk_timeout = 60;
         public GPSModel UltimaLeitura = new GPSModel();
         public BaseFixService BaseFix;
-        private GeoLeverArm LeverArm;
+        public GeoLeverArm LeverArm = new GeoLeverArm();
 
         private readonly StringBuilder _nmeaBuffer = new();
         private bool _nmeaInSentence = false;
@@ -242,13 +241,14 @@ namespace OperationControl.Services
         private List<byte> _rtcmMsg = new();
         private int _rtcmTotalBytes = -1;
 
-        public async Task ConfigurarModulo(bool fixar, MetodoFixacaoBase metodo = MetodoFixacaoBase.Ntrip, double? lat = null, double? lon = null, double? alt = null)
+        public async Task ConfigurarModulo(bool fixar, MetodoFixacaoBase metodo = MetodoFixacaoBase.Ntrip, double? lat = null, double? lon = null, double? alt = null, bool? offset = false)
         {
             Models.Variaveis.MostrarLog("Iniciando configuração do módulo GPS...");
 
-            LeverArm = new GeoLeverArm(VariaveisControleOperacao.LeverArmFrontal, VariaveisControleOperacao.LeverArmLateral);
+            if (!(offset ?? false))
-
+            {
-            BaseFix = new BaseFixService(PortaGps, this);
+                BaseFix = new BaseFixService(PortaGps, this);
+            }
             BaseFix.FixLiberado = fixar;
 
             string portaUsb = "com3";
@@ -268,101 +268,73 @@ namespace OperationControl.Services
             bool sucesso = false;
             string mensagem = "";
 
+
+            BaseFix.fimProcesso = null;
+            BaseFix.inicioProcesso = DateTime.UtcNow;
+            BaseFix.inicioFix = DateTime.UtcNow;
+
+            Models.Variaveis.MostrarLog($"Aplicando posição fixa da base com o método {metodo}...");
+
             switch (metodo)
             {
                 case MetodoFixacaoBase.Ntrip:
-                    {
+                    sucesso = await BaseFix.FixarBaseViaNtripAsync(
-                        Models.Variaveis.MostrarLog("Tentando fixação da base via NTRIP...");
+                        portaUsb: portaUsb,
-
+                        portaSaida: portaSaida,
-                        sucesso = await BaseFix.FixarBaseViaNtripAsync(
+                        portaEntrada: portaEntrada,
-                            portaUsb: portaUsb,
+                        startNtrip: () =>
-                            portaSaida: portaSaida,
-                            portaEntrada: portaEntrada,
-                            startNtrip: () =>
-                            {
-                                Models.Variaveis.MostrarLog("Iniciando correção NTRIP...");
-                                CorrecaoRTK_Ntrip = true;
-                                _ = Task.Run(async () => await AplicarCorrecaoRTK_Ntrip());
-                                return Task.CompletedTask;
-                            },
-                            stopNtrip: () =>
-                            {
-                                Models.Variaveis.MostrarLog("Parando correção NTRIP...");
-                                CorrecaoRTK_Ntrip = false;
-                                return Task.CompletedTask;
-                            },
-                            segsFixEstavel: TempoSurveryIn
-                        );
-
-                        if (sucesso)
                         {
-                            mensagem = "Posição fixada utilizando NTRIP com sucesso!";
+                            Models.Variaveis.MostrarLog("Iniciando correção NTRIP...");
-                        }
+                            CorrecaoRTK_Ntrip = true;
-                        else
+                            _ = Task.Run(async () => await AplicarCorrecaoRTK_Ntrip());
+                            return Task.CompletedTask;
+                        },
+                        stopNtrip: () =>
                         {
-                            Models.Variaveis.MostrarLog("Falha na fixação via NTRIP. Iniciando Survey-In...");
+                            Models.Variaveis.MostrarLog("Parando correção NTRIP...");
-
+                            CorrecaoRTK_Ntrip = false;
-                            BaseFix.fimProcesso = null;
+                            return Task.CompletedTask;
-                            BaseFix.inicioProcesso = DateTime.UtcNow;
+                        },
-                            BaseFix.inicioFix = DateTime.UtcNow;
+                        segsFixEstavel: TempoSurveryIn
-
+                    );
-                            await ConfigurarModuloBase(
+                    break;
-                                tempo_fixacao: TempoSurveryIn,
-                                porta_usb: portaUsb,
-                                porta_saida: portaSaida);
-
-                            BaseFix.fimProcesso = DateTime.UtcNow;
-
-                            sucesso = true;
-                            mensagem = "Posição survery in da base aplicada com sucesso.";
-                        }
-
-                        break;
-                    }
 
                 case MetodoFixacaoBase.SurveyIn:
-                    {
+                    await ConfigurarModuloBase(tempo_fixacao: TempoSurveryIn, porta_usb: portaUsb, porta_saida: portaSaida);
-                        Models.Variaveis.MostrarLog("Configurando módulo como base em Survey-In...");
+                    break;
-
-                        BaseFix.fimProcesso = null;
-                        BaseFix.inicioProcesso = DateTime.UtcNow;
-                        BaseFix.inicioFix = DateTime.UtcNow;
-
-                        await ConfigurarModuloBase(
-                            tempo_fixacao: TempoSurveryIn,
-                            porta_usb: portaUsb,
-                            porta_saida: portaSaida);
-
-                        BaseFix.fimProcesso = DateTime.UtcNow;
-
-                        sucesso = true;
-                        mensagem = "Posição survery in da base aplicada com sucesso.";
-                        break;
-                    }
 
                 case MetodoFixacaoBase.Manual:
-                    {
+                    if (lat.HasValue && lon.HasValue && alt.HasValue)
-                        if (!lat.HasValue || !lon.HasValue || !alt.HasValue)
+                        await BaseFix.AplicarBaseFixAsync(portaUsb, portaSaida, baseId, lat.Value, lon.Value, alt.Value);
-                            throw new ArgumentException("Latitude, longitude e altitude elipsoidal são obrigatórias no modo manual.");
+                    break;
+            }
 
-                        Models.Variaveis.MostrarLog("Aplicando posição manual fixa da base...");
+            // Aguarda 10 segundos para ver se o UM982 pegou o BaseFix
+            while (sucesso && UltimaLeitura.QualidadeFix != TiposCorrecaoGPS.BaseFix && BaseFix.inicioFix != null && (DateTime.UtcNow - BaseFix.inicioFix).Value.TotalSeconds < 10)
+            {
+                await Task.Delay(1000);
+            }
 
-                        UltimaLeitura.Latitude = lat.Value;
+            BaseFix.fimProcesso = DateTime.UtcNow;
-                        UltimaLeitura.Longitude = lon.Value;
+            BaseFix.FixLiberado = false;
-                        AtualizarCoordenadasGPS();
 
-                        await BaseFix.AplicarBaseFixAsync(
+            sucesso = UltimaLeitura.QualidadeFix == TiposCorrecaoGPS.BaseFix;
-                            portaUsb,
+            mensagem = sucesso ? $"Posição da base aplicada com sucesso com o método {metodo}." : $"Falha ao aplicar posição da base com o método {metodo}.";
-                            portaSaida,
-                            baseId,
-                            lat.Value,
-                            lon.Value,
-                            alt.Value);
 
-                        sucesso = true;
+            if (sucesso && !(offset ?? false))
-                        mensagem = "Posição manual da base aplicada com sucesso.";
+            {
-                        break;
+                BaseFix.LatitudeFix = UltimaLeitura.Latitude;
-                    }
+                BaseFix.LongitudeFix = UltimaLeitura.Longitude;
+                BaseFix.AltitudeElpsoidalFix = UltimaLeitura.AltitudeElipsoidal;
+                BaseFix.OrientacaoFix = UltimaLeitura.OrientacaoReal;
+
+                if (AppShell.Mock)
+                {
+                    UltimaLeitura.Latitude = lat.Value;
+                    UltimaLeitura.Longitude = lon.Value;
+                    UltimaLeitura.AltitudeElipsoidal = alt.Value;
+                    AtualizarCoordenadasGPS();
+                }
             }
 
             Models.Variaveis.MostrarLog(mensagem);
@@ -1304,6 +1276,10 @@ namespace OperationControl.Services
         public bool CorrecaoAbsoluta = false;
         public bool CorrecaoEmAndamento = false;
         public bool FixLiberado = false;
+        public double LatitudeFix { get; set; }
+        public double LongitudeFix { get; set; }
+        public double AltitudeElpsoidalFix { get; set; }
+        public double OrientacaoFix { get; set; }
 
         public void ReiniciarFix()
         {
@@ -1321,7 +1297,6 @@ namespace OperationControl.Services
                 return false;
 
             CorrecaoEmAndamento = true;
-            fimProcesso = null;
 
             segundosFixEstavel = segsFixEstavel;
             maxJanelaSegundos = maxJanelaSegs;
@@ -1349,26 +1324,22 @@ namespace OperationControl.Services
                 {
                     Models.Variaveis.MostrarLog("Poucas amostras de RTK FIX coletadas. Tente aumentar o tempo ou verificar sinais.");
                     CorrecaoAbsoluta = false;
-                    FixLiberado = false;
                     return CorrecaoAbsoluta;
                 }
 
                 // 3) Filtro robusto (MAD) + média final
-                var (lat, lon, h, nAmostras) = FiltrarEAgrupar(amostras, madK);
+                var (lat, lon, h, heading, nAmostras) = FiltrarEAgrupar(amostras, madK);
 
                 // 4) Alternar para base FIX + perfil RTCM
                 await AplicarBaseFixAsync(portaUsb, portaSaida, baseId, lat, lon, h);
 
-                Models.Variaveis.MostrarLog($"[BASE/FIX] Coordenadas aplicadas (n={nAmostras}):");
+                Models.Variaveis.MostrarLog($"[BASE/FIX] Coordenadas aplicadas (n={nAmostras}): lat = {lat:0.000000000}, lon = {lon:0.000000000}, h = {h:0.000}");
-                Models.Variaveis.MostrarLog($" lat = {lat:0.000000000}, lon = {lon:0.000000000}, h = {h:0.000}");
                 CorrecaoAbsoluta = true;
-                FixLiberado = false;
                 return CorrecaoAbsoluta;
             }
             finally
             {
                 if (stopNtrip != null) await stopNtrip();
-                fimProcesso = DateTime.UtcNow;
                 CorrecaoEmAndamento = false;
             }
         }
@@ -1499,6 +1470,7 @@ namespace OperationControl.Services
                 double lat = ultimaLeitura.Latitude;
                 double lon = ultimaLeitura.Longitude;
                 double altElips = ultimaLeitura.AltitudeElipsoidal; // garanta que já é elipsoidal no parser
+                double heading = ultimaLeitura.OrientacaoReal;
                 var fixQual = ultimaLeitura.QualidadeFix;           // enum? ok.
 
                 int hbAfter = ultimaLeitura.Heartbeat;
@@ -1515,6 +1487,7 @@ namespace OperationControl.Services
                         latDeg: lat,
                         lonDeg: lon,
                         altElipsoidalM: altElips,
+                        headingDeg: heading,
                         fixQuality: fixQual
                     );
                 }
@@ -1525,40 +1498,46 @@ namespace OperationControl.Services
         }
 
         // ===== 3) Filtro robusto (MAD) + média =====
-        private (double lat, double lon, double h, int n) FiltrarEAgrupar(List<GgaFix> amostras, double madK = 3.5)
+        private (double lat, double lon, double h, double hdg, int n) FiltrarEAgrupar(List<GgaFix> amostras, double madK = 3.5)
         {
             Models.Variaveis.MostrarLog("Filtrando dados aferidos...");
             // Medianas
             var lats = amostras.Select(a => a.LatDeg).OrderBy(x => x).ToArray();
             var lons = amostras.Select(a => a.LonDeg).OrderBy(x => x).ToArray();
             var hs = amostras.Select(a => a.AltElipsoidalM).OrderBy(x => x).ToArray();
+            var hdgs = amostras.Select(a => a.HeadingDeg).OrderBy(x => x).ToArray();
 
             double medLat = Mediana(lats);
             double medLon = Mediana(lons);
             double medH = Mediana(hs);
+            double medHdg = Mediana(hdgs);
 
             // Desvios absolutos da mediana (MAD)
             var dLat = amostras.Select(a => Math.Abs(a.LatDeg - medLat)).OrderBy(x => x).ToArray();
             var dLon = amostras.Select(a => Math.Abs(a.LonDeg - medLon)).OrderBy(x => x).ToArray();
             var dH = amostras.Select(a => Math.Abs(a.AltElipsoidalM - medH)).OrderBy(x => x).ToArray();
+            var dHdg = amostras.Select(a => Math.Abs(a.HeadingDeg - medH)).OrderBy(x => x).ToArray();
 
             double madLat = Mediana(dLat) + 1e-12;
             double madLon = Mediana(dLon) + 1e-12;
             double madHgt = Mediana(dH) + 1e-12;
+            double madHdg = Mediana(dHdg) + 1e-12;
 
             // Filtra outliers (|x - med| / MAD <= madK)
             var filtradas = amostras.Where(a =>
                 (Math.Abs(a.LatDeg - medLat) / madLat) <= madK &&
                 (Math.Abs(a.LonDeg - medLon) / madLon) <= madK &&
-                (Math.Abs(a.AltElipsoidalM - medH) / madHgt) <= madK
+                (Math.Abs(a.AltElipsoidalM - medH) / madHgt) <= madK &&
+                (Math.Abs(a.HeadingDeg - medHdg) / madHdg) <= madK
             ).ToList();
 
             // Média final
             double lat = filtradas.Average(a => a.LatDeg);
             double lon = filtradas.Average(a => a.LonDeg);
             double h = filtradas.Average(a => a.AltElipsoidalM);
+            double hdg = filtradas.Average(a => a.HeadingDeg);
 
-            return (lat, lon, h, filtradas.Count);
+            return (lat, lon, h, hdg, filtradas.Count);
 
             double Mediana(double[] arr)
             {
@@ -1618,10 +1597,9 @@ namespace OperationControl.Services
 
         public enum MetodoFixacaoBase
         {
-            Automatico = 0,
+            Ntrip = 0,
-            Ntrip = 1,
+            SurveyIn = 1,
-            SurveyIn = 2,
+            Manual = 2
-            Manual = 3
         }
     }
 

AgroBase/OperationControl/ViewModels/Views/PreparacaoMapa/PreparacaoMapaBottomViewModel.cs

@@ -1,20 +1,12 @@
-using Microsoft.Win32;
+using OperationControl.Helpers;
-using OperationControl.Helpers;
-using System;
-using System.Collections.Generic;
 using System.ComponentModel;
 using System.Globalization;
 using System.Windows;
 using System.Windows.Input;
+using static OperationControl.Services.BaseFixService;
 
 namespace OperationControl.ViewModels
 {
-    public enum MetodoFixacaoBase
-    {
-        Ntrip = 0,
-        SurveyIn = 1,
-        Manual = 2
-    }
 
     public class MetodoFixacaoItem
     {
@@ -29,7 +21,9 @@ namespace OperationControl.ViewModels
         public event Action<string>? CarregarMapaSolicitado;
 
         // Método, latitude, longitude, altitude, offset frontal cm, offset lateral cm
-        public event Action<MetodoFixacaoBase, double?, double?, double?, double?, double?>? FixarBaseSolicitado;
+        public event Action<MetodoFixacaoBase, double?, double?, double?>? FixarBaseSolicitado;
+        // Offset frontal cm, offset lateral cm
+        public event Action<double?, double?>? AplicarOffsetSolicitado;
 
         public List<MetodoFixacaoItem> MetodosFixacaoDisponiveis { get; } = new()
         {
@@ -40,11 +34,13 @@ namespace OperationControl.ViewModels
 
         public ICommand CarregarMapaCommand { get; }
         public ICommand FixarBaseCommand { get; }
+        public ICommand AplicarOffsetCommand { get; }
 
         public PreparacaoMapaBottomViewModel()
         {
             CarregarMapaCommand = new RelayCommand(_ => ExecutarCarregarMapa(), _ => PodeCarregarMapa);
             FixarBaseCommand = new RelayCommand(_ => ExecutarFixarBase(), _ => PodeFixarBase);
+            AplicarOffsetCommand = new RelayCommand(_ => ExecutarAplicarOffset(), _ => PodeEditarOffsetBase);
 
             MetodoFixacaoSelecionado = MetodoFixacaoBase.Ntrip;
             OffsetFrontalBaseTexto = "0";
@@ -121,6 +117,17 @@ namespace OperationControl.ViewModels
 
         public bool ExibirProgresso => MetodoFixacaoSelecionado != MetodoFixacaoBase.Manual;
 
+        private bool _exibirOffsets;
+        public bool ExibirOffsets
+        {
+            get { return _exibirOffsets; }
+            set
+            {
+                _exibirOffsets = value;
+                OnPropertyChanged(nameof(ExibirOffsets));
+            }
+        }
+
         public bool PodeFixarBase
         {
             get
@@ -356,13 +363,7 @@ namespace OperationControl.ViewModels
         {
             if (FixacaoEmAndamento)
             {
-                FixarBaseSolicitado?.Invoke(
+                FixarBaseSolicitado?.Invoke(MetodoFixacaoSelecionado, LatitudeManual, LongitudeManual, AltitudeManual);
-                    MetodoFixacaoSelecionado,
-                    LatitudeManual,
-                    LongitudeManual,
-                    AltitudeManual,
-                    OffsetFrontalBaseCm,
-                    OffsetLateralBaseCm);
                 return;
             }
 
@@ -381,13 +382,12 @@ namespace OperationControl.ViewModels
                 StatusTexto = "Pronto para aplicar a posição manual da base.";
             }
 
-            FixarBaseSolicitado?.Invoke(
+            FixarBaseSolicitado?.Invoke(MetodoFixacaoSelecionado, LatitudeManual, LongitudeManual, AltitudeManual);
-                MetodoFixacaoSelecionado,
+        }
-                LatitudeManual,
+
-                LongitudeManual,
+        private void ExecutarAplicarOffset()
-                AltitudeManual,
+        {
-                OffsetFrontalBaseCm,
+            AplicarOffsetSolicitado?.Invoke(OffsetFrontalBaseCm, OffsetLateralBaseCm);
-                OffsetLateralBaseCm);
         }
 
         public void IniciarFixacao()
@@ -412,10 +412,9 @@ namespace OperationControl.ViewModels
 
         public void FinalizarFixacao(bool sucesso, string? mensagem = null)
         {
+            ExibirOffsets = sucesso;
             FixacaoEmAndamento = false;
-
+            if (sucesso) ProgressoFixacao = 100;
-            if (MetodoFixacaoSelecionado != MetodoFixacaoBase.Manual && sucesso)
-                ProgressoFixacao = 100;
 
             StatusTexto = !string.IsNullOrWhiteSpace(mensagem)
                 ? mensagem

AgroBase/OperationControl/ViewModels/Windows/DockWindowViewModel.cs

@@ -1,15 +1,19 @@
-using System.ComponentModel;
+using AgroBase.Models.Operacoes;
-using System.Windows.Input;
+using AgroBase.Services;
-using OperationControl.Views;
+using Microsoft.VisualBasic.Logging;
-using OperationControl.Helpers;
-using System.Windows;
-using OperationControl.Models;
-using OperationControl.Views.Operacao;
-using AgroBase.Models.Operacoes;
 using Newtonsoft.Json.Linq;
-using OperationControl.ViewModels.Views.Operacao;
+using OpenTK.Windowing.Common.Input;
 using OperationControl.Controls;
+using OperationControl.Helpers;
+using OperationControl.Models;
+using OperationControl.ViewModels.Views.Operacao;
+using OperationControl.Views;
+using OperationControl.Views.Operacao;
+using System.ComponentModel;
+using System.Windows;
+using System.Windows.Input;
 using static AgroBase.Models.Enums;
+using static OperationControl.Services.BaseFixService;
 
 namespace OperationControl.ViewModels
 {
@@ -44,6 +48,7 @@ namespace OperationControl.ViewModels
             _viewPreparacaoMapaBottom = new PreparacaoMapaBottomView();
             _viewPreparacaoMapaBottom._vm.CarregarMapaSolicitado += OnCarregarMapaSolicitado;
             _viewPreparacaoMapaBottom._vm.FixarBaseSolicitado += OnFixarBaseSolicitado;
+            _viewPreparacaoMapaBottom._vm.AplicarOffsetSolicitado += OnAplicarOffsetSolicitado;
 
             _viewOperacaoTop = new OperacaoTopView();
 
@@ -683,8 +688,6 @@ namespace OperationControl.ViewModels
             if (string.IsNullOrWhiteSpace(linha2))
                 linha2 = "Sem detalhes adicionais.";
 
-            Models.Variaveis.MostrarLog($"LINHA 1: {linha1}");
-
             // ============================
             // 8) Atualiza UI
             // ============================
@@ -776,7 +779,7 @@ namespace OperationControl.ViewModels
             }
         }
 
-        private async void OnFixarBaseSolicitado(MetodoFixacaoBase metodoFix, double? lat, double? lon, double? alt, double? offsetFrontalCm, double? offsetLateralCm)
+        private async void OnFixarBaseSolicitado(MetodoFixacaoBase metodoFix, double? lat, double? lon, double? alt)
         {
             try
             {
@@ -803,14 +806,13 @@ namespace OperationControl.ViewModels
                     if (fixar)
                     {
                         _viewPreparacaoMapaBottom?._vm.IniciarFixacao();
-                        await Task.Run(async () => await Variaveis.GpsService.ConfigurarModulo(true, metodoFix, lat, lon, alt));
+                        await Variaveis.GpsService.ConfigurarModulo(true, metodoFix, lat, lon, alt);
                     }
                 }
                 else
                 {
                     Variaveis.GpsService.BaseFix.ReiniciarFix();
                     BaseFixada = false;
-                    _viewPreparacaoMapaBottom?._vm.CancelarFixacao("Fixação da base interrompida pelo operador.");
                 }
             }
             catch (Exception ex)
@@ -845,6 +847,17 @@ namespace OperationControl.ViewModels
             }));
         }
 
+        private async void OnAplicarOffsetSolicitado(double? offsetFrontalCm, double? offsetLateralCm)
+        {
+            if (offsetFrontalCm == null || offsetLateralCm == null) return;
+
+            _viewPreparacaoMapaBottom?._vm.IniciarFixacao();
+            var gps = Variaveis.GpsService;
+            gps.LeverArm = new GeoLeverArm(offsetCampoFrontalCm: offsetFrontalCm.Value, offsetCampoLateralCm: offsetLateralCm.Value);
+            (double lat, double lon) = gps.LeverArm.FixLeverArmLatLon_Fast(gps.BaseFix.LatitudeFix, gps.BaseFix.LongitudeFix, gps.BaseFix.OrientacaoFix);
+            await Variaveis.GpsService.ConfigurarModulo(true, MetodoFixacaoBase.Manual, lat, lon, gps.BaseFix.AltitudeElpsoidalFix, offset: true);
+        }
+
         #endregion
 
         #region TELA 3

AgroBase/OperationControl/Views/PreparacaoMapa/PreparacaoMapaBottomView.xaml

@@ -36,90 +36,39 @@
                 <ColumnDefinition Width="Auto"/>
                 <ColumnDefinition Width="240"/>
                 <ColumnDefinition Width="Auto"/>
-                <ColumnDefinition Width="12"/>
                 <ColumnDefinition Width="*"/>
             </Grid.ColumnDefinitions>
 
             <!-- Botão carregar mapa -->
-            <Button Grid.Column="0"
+            <Button Grid.Column="0" Content="Carregar mapa" Margin="12,12,8,6" Padding="18,10" MinWidth="150" Command="{Binding CarregarMapaCommand}" IsEnabled="{Binding PodeCarregarMapa}"/>
-            Content="Carregar mapa"
-            Margin="12,12,8,6"
-            Padding="18,10"
-            MinWidth="150"
-            Command="{Binding CarregarMapaCommand}"
-            IsEnabled="{Binding PodeCarregarMapa}"/>
 
             <!-- Combo método -->
-            <ComboBox Grid.Column="1"
+            <ComboBox Grid.Column="1" Margin="8,12,8,6" VerticalContentAlignment="Center" ItemsSource="{Binding MetodosFixacaoDisponiveis}" DisplayMemberPath="Nome" SelectedValuePath="Valor" SelectedValue="{Binding MetodoFixacaoSelecionado, Mode=TwoWay}" IsEnabled="{Binding PodeEditarMetodoFixacao}"/>
-              Margin="8,12,8,6"
-              VerticalContentAlignment="Center"
-              ItemsSource="{Binding MetodosFixacaoDisponiveis}"
-              DisplayMemberPath="Nome"
-              SelectedValuePath="Valor"
-              SelectedValue="{Binding MetodoFixacaoSelecionado, Mode=TwoWay}"
-              IsEnabled="{Binding PodeEditarMetodoFixacao}"/>
 
             <!-- Botão fixar -->
-            <Button Grid.Column="2"
+            <Button Grid.Column="2" Content="{Binding TextoBotaoFixarBase}" Margin="8,12,12,6" Padding="18,10" MinWidth="180" Command="{Binding FixarBaseCommand}" IsEnabled="{Binding PodeFixarBase}"/>
-            Content="{Binding TextoBotaoFixarBase}"
-            Margin="8,12,12,6"
-            Padding="18,10"
-            MinWidth="180"
-            Command="{Binding FixarBaseCommand}"
-            IsEnabled="{Binding PodeFixarBase}"/>
 
             <!-- ÁREA DINÂMICA -->
-            <Grid Grid.Column="4" Margin="0,12,12,6">
+            <Grid Grid.Column="3" Margin="0,12,12,6">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="Auto"/>
+                    <ColumnDefinition Width="Auto"/>
+                </Grid.ColumnDefinitions>
 
-                <!-- Progresso normal + offsets -->
+                <!-- Progresso normal -->
-                <Grid Visibility="{Binding ExibirProgresso, Converter={StaticResource BoolToVisibilityConverter}}">
+                <Grid Grid.Column="0" Visibility="{Binding ExibirProgresso, Converter={StaticResource BoolToVisibilityConverter}}">
                     <Grid.ColumnDefinitions>
                         <ColumnDefinition Width="320"/>
-                        <ColumnDefinition Width="70"/>
+                        <ColumnDefinition Width="50"/>
-                        <ColumnDefinition Width="Auto"/>
-                        <ColumnDefinition Width="90"/>
-                        <ColumnDefinition Width="Auto"/>
-                        <ColumnDefinition Width="90"/>
-                        <ColumnDefinition Width="*"/>
                     </Grid.ColumnDefinitions>
 
-                    <ProgressBar Grid.Column="0"
+                    <ProgressBar Grid.Column="0" Margin="0,8,8,0" Height="22" Minimum="0" Maximum="100" Value="{Binding ProgressoFixacao}"/>
-                         Margin="0,8,8,0"
-                         Height="22"
-                         Minimum="0"
-                         Maximum="100"
-                         Value="{Binding ProgressoFixacao}"/>
 
-                    <TextBlock Grid.Column="1"
+                    <TextBlock Grid.Column="1" Text="{Binding ProgressoFixacaoTexto}" VerticalAlignment="Center" HorizontalAlignment="Center" Foreground="White" FontWeight="SemiBold" FontSize="14" Margin="0,0,8,0"/>
-                       Text="{Binding ProgressoFixacaoTexto}"
-                       VerticalAlignment="Center"
-                       HorizontalAlignment="Center"
-                       Foreground="White"
-                       FontWeight="SemiBold"
-                       FontSize="14"
-                       Margin="0,0,8,0"/>
-
-                    <TextBlock Grid.Column="2"
-                       Text="Offset frontal (cm):"
-                       Style="{StaticResource BottomLabelStyle}"/>
-
-                    <TextBox Grid.Column="3"
-                     Text="{Binding OffsetFrontalBaseTexto, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
-                     Style="{StaticResource BottomTextBoxStyle}"
-                     IsEnabled="{Binding PodeEditarOffsetBase}"/>
-
-                    <TextBlock Grid.Column="4"
-                       Text="Offset lateral (cm):"
-                       Style="{StaticResource BottomLabelStyle}"/>
-
-                    <TextBox Grid.Column="5"
-                     Text="{Binding OffsetLateralBaseTexto, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
-                     Style="{StaticResource BottomTextBoxStyle}"
-                     IsEnabled="{Binding PodeEditarOffsetBase}"/>
                 </Grid>
 
-                <!-- Campos manuais + offsets -->
+                <!-- Campos manuais -->
-                <Grid Visibility="{Binding ExibirCamposManuais, Converter={StaticResource BoolToVisibilityConverter}}">
+                <Grid Grid.Column="0" Visibility="{Binding ExibirCamposManuais, Converter={StaticResource BoolToVisibilityConverter}}">
                     <Grid.ColumnDefinitions>
                         <ColumnDefinition Width="Auto"/>
                         <ColumnDefinition Width="125"/>
@@ -127,108 +76,57 @@
                         <ColumnDefinition Width="125"/>
                         <ColumnDefinition Width="Auto"/>
                         <ColumnDefinition Width="110"/>
-                        <ColumnDefinition Width="Auto"/>
-                        <ColumnDefinition Width="90"/>
-                        <ColumnDefinition Width="Auto"/>
-                        <ColumnDefinition Width="90"/>
-                        <ColumnDefinition Width="*"/>
                     </Grid.ColumnDefinitions>
 
-                    <TextBlock Grid.Column="0"
+                    <TextBlock Grid.Column="0" Text="Latitude (º):" Style="{StaticResource BottomLabelStyle}"/>
-                       Text="Latitude (º):"
-                       Style="{StaticResource BottomLabelStyle}"/>
 
-                    <TextBox Grid.Column="1"
+                    <TextBox Grid.Column="1" Text="{Binding LatitudeManualTexto, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" Style="{StaticResource BottomTextBoxStyle}" IsEnabled="{Binding PodeEditarCoordenadasManuais}"/>
-                     Text="{Binding LatitudeManualTexto, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
-                     Style="{StaticResource BottomTextBoxStyle}"
-                     IsEnabled="{Binding PodeEditarCoordenadasManuais}"/>
 
-                    <TextBlock Grid.Column="2"
+                    <TextBlock Grid.Column="2" Text="Longitude (º):" Style="{StaticResource BottomLabelStyle}"/>
-                       Text="Longitude (º):"
-                       Style="{StaticResource BottomLabelStyle}"/>
 
-                    <TextBox Grid.Column="3"
+                    <TextBox Grid.Column="3" Text="{Binding LongitudeManualTexto, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" Style="{StaticResource BottomTextBoxStyle}" IsEnabled="{Binding PodeEditarCoordenadasManuais}"/>
-                     Text="{Binding LongitudeManualTexto, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
-                     Style="{StaticResource BottomTextBoxStyle}"
-                     IsEnabled="{Binding PodeEditarCoordenadasManuais}"/>
 
-                    <TextBlock Grid.Column="4"
+                    <TextBlock Grid.Column="4" Text="Altitude elipsoidal (m):" Style="{StaticResource BottomLabelStyle}"/>
-                       Text="Altitude elipsoidal (m):"
-                       Style="{StaticResource BottomLabelStyle}"/>
 
-                    <TextBox Grid.Column="5"
+                    <TextBox Grid.Column="5" Text="{Binding AltitudeManualTexto, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" Style="{StaticResource BottomTextBoxStyle}" IsEnabled="{Binding PodeEditarCoordenadasManuais}"/>
-                     Text="{Binding AltitudeManualTexto, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
-                     Style="{StaticResource BottomTextBoxStyle}"
-                     IsEnabled="{Binding PodeEditarCoordenadasManuais}"/>
-
-                    <TextBlock Grid.Column="6"
-                       Text="Offset frontal (cm):"
-                       Style="{StaticResource BottomLabelStyle}"/>
-
-                    <TextBox Grid.Column="7"
-                     Text="{Binding OffsetFrontalBaseTexto, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
-                     Style="{StaticResource BottomTextBoxStyle}"
-                     IsEnabled="{Binding PodeEditarOffsetBase}"/>
-
-                    <TextBlock Grid.Column="8"
-                       Text="Offset lateral (cm):"
-                       Style="{StaticResource BottomLabelStyle}"/>
-
-                    <TextBox Grid.Column="9"
-                     Text="{Binding OffsetLateralBaseTexto, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
-                     Style="{StaticResource BottomTextBoxStyle}"
-                     IsEnabled="{Binding PodeEditarOffsetBase}"/>
                 </Grid>
+
+                <!-- offsets -->
+                <Grid Grid.Column="1" Visibility="{Binding ExibirOffsets, Converter={StaticResource BoolToVisibilityConverter}}">
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition Width="Auto"/>
+                        <ColumnDefinition Width="90"/>
+                        <ColumnDefinition Width="Auto"/>
+                        <ColumnDefinition Width="90"/>
+                        <ColumnDefinition Width="150"/>
+                    </Grid.ColumnDefinitions>
+
+                    <TextBlock Grid.Column="0" Text="Offset frontal (cm):" Style="{StaticResource BottomLabelStyle}"/>
+
+                    <TextBox Grid.Column="1" Text="{Binding OffsetFrontalBaseTexto, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" Style="{StaticResource BottomTextBoxStyle}" IsEnabled="{Binding PodeEditarOffsetBase}"/>
+
+                    <TextBlock Grid.Column="2" Text="Offset lateral (cm):" Style="{StaticResource BottomLabelStyle}"/>
+
+                    <TextBox Grid.Column="3" Text="{Binding OffsetLateralBaseTexto, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" Style="{StaticResource BottomTextBoxStyle}" IsEnabled="{Binding PodeEditarOffsetBase}"/>
+
+                    <Button Grid.Column="4" Content="Aplicar Offset" Margin="12,0,12,0" Padding="5,5" MinWidth="120" Command="{Binding AplicarOffsetCommand}" />
+
+                </Grid>
+                
             </Grid>
         </Grid>
 
         <!-- LINHA 2 -->
         <Grid Grid.Row="1" Margin="12,4,12,10">
-            <Grid.RowDefinitions>
-                <RowDefinition Height="Auto"/>
-                <RowDefinition Height="Auto"/>
-            </Grid.RowDefinitions>
 
-            <Border Grid.Row="0"
+            <Border Grid.Row="0" Padding="2" Background="#222" CornerRadius="6">
-                    Padding="8"
-                    Background="#222"
-                    CornerRadius="6">
 
-                <Grid>
+                <StackPanel Grid.Column="0" Visibility="{Binding ExibirStatusNormal, Converter={StaticResource BoolToVisibilityConverter}}">
-                    <!-- Status normal -->
+                    <TextBlock Text="{Binding StatusTexto}" Foreground="White" FontSize="14" TextWrapping="Wrap"/>
-                    <StackPanel Visibility="{Binding ExibirStatusNormal, Converter={StaticResource BoolToVisibilityConverter}}">
+                </StackPanel>
-                        <TextBlock Text="Status da operação"
+                
-                                   Foreground="#AAAAAA"
-                                   FontSize="11"/>
-                        <TextBlock Text="{Binding StatusTexto}"
-                                   Foreground="White"
-                                   FontSize="14"
-                                   TextWrapping="Wrap"/>
-                    </StackPanel>
-
-                    <!-- Texto orientativo manual -->
-                    <StackPanel Visibility="{Binding ExibirCamposManuais, Converter={StaticResource BoolToVisibilityConverter}}">
-                        <TextBlock Text="Preenchimento manual da base"
-                                   Foreground="#AAAAAA"
-                                   FontSize="11"/>
-                        <TextBlock Text="Informe latitude, longitude e altitude elipsoidal conhecidas da base para aplicar a posição fixa manualmente."
-                                   Foreground="White"
-                                   FontSize="13"
-                                   TextWrapping="Wrap"/>
-                    </StackPanel>
-                </Grid>
-            </Border>
-
-            <!-- Status complementar no manual -->
-            <Border Grid.Row="1"
-                    Padding="8,6,8,0"
-                    Background="Transparent"
-                    Visibility="{Binding ExibirCamposManuais, Converter={StaticResource BoolToVisibilityConverter}}">
-                <TextBlock Text="{Binding StatusTexto}"
-                           Foreground="#D8D8D8"
-                           FontSize="12"
-                           TextWrapping="Wrap"/>
             </Border>
+            
         </Grid>
     </Grid>
 </UserControl>

AgroBase/OperationControl/Windows/MainWindow.xaml.cs

@@ -16,6 +16,7 @@ using AgroBase.Models.Operadores;
 using System.Collections.ObjectModel;
 using System.ComponentModel;
 using System.Windows.Threading;
+using static OperationControl.Services.BaseFixService;
 
 namespace OperationControl.Windows
 {
@@ -1725,7 +1726,7 @@ namespace OperationControl.Windows
                 if (fixar)
                 {
                     btnGNSS_FixarBase.Content = "Parar";
-                    Task.Run(async () => await Variaveis.GpsService.ConfigurarModulo(true, ViewModels.MetodoFixacaoBase.Ntrip));
+                    Task.Run(async () => await Variaveis.GpsService.ConfigurarModulo(true, MetodoFixacaoBase.Ntrip));
                 }
             }
             else