ajuste de erro lateral no mpc

AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs

@@ -203,7 +203,7 @@ namespace AgroBase.Forms.IHM
                 tkbAnguloDirecional.Value = Math.Abs(Convert.ToInt32(_Sensoriamento.Controle.Angulo));
             }
 
-            txtDistanciasEsqDir.Text = _Sensoriamento.Trajetoria.DistanciaEsquerda.ToString("0.00") + " / " + _Sensoriamento.Trajetoria.DistanciaDireita.ToString("0.00");
+            txtDistanciasEsqDir.Text = _Sensoriamento.Trajetoria.DistanciaEsquerda.ToString("0.00") + " / " + _Sensoriamento.Trajetoria.DistanciaDireita.ToString("0.00") + " (" + _Sensoriamento.Controle.ErroLateral.ToString("0.00" + ")");
             txtDentroCorredor.Text = _Sensoriamento.Trajetoria.CorredorAtual.Dentro ? "Sim" : "Não";
             txtMargemCorredor.Text = _Sensoriamento.Trajetoria.NaMargemDoCorredor ? "Sim" : "Não";
             txtStatusCarro.Text = _Sensoriamento.Trajetoria.StatusCarro.ToString();

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs

@@ -425,7 +425,8 @@ namespace AgroBase.Forms.Operacoes
             try
             {
                 double angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.Gps.OrientacaoReal;
-                FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, -90);
+                double angulo2 = Variaveis.OperacaoEmAndamento.Sensoriamento.Gps.AnguloCarroDefinido;
+                FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)angulo, -90, (float)angulo2);
             }
             catch { }
         }

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

@@ -444,9 +444,9 @@
             this.label134 = new System.Windows.Forms.Label();
             this.txtNaMargem = new System.Windows.Forms.TextBox();
             this.label133 = new System.Windows.Forms.Label();
-            this.txtDistanciaDireita = new System.Windows.Forms.TextBox();
+            this.txtErroLateral = new System.Windows.Forms.TextBox();
             this.label132 = new System.Windows.Forms.Label();
-            this.txtDistanciaEsquerda = new System.Windows.Forms.TextBox();
+            this.txtDistanciasLaterais = new System.Windows.Forms.TextBox();
             this.label70 = new System.Windows.Forms.Label();
             this.txtErvasIdentificadas = new System.Windows.Forms.TextBox();
             this.lblPercentualRua = new System.Windows.Forms.Label();
@@ -4902,9 +4902,9 @@
             this.pnlInformacoesOperacao.Controls.Add(this.label134);
             this.pnlInformacoesOperacao.Controls.Add(this.txtNaMargem);
             this.pnlInformacoesOperacao.Controls.Add(this.label133);
-            this.pnlInformacoesOperacao.Controls.Add(this.txtDistanciaDireita);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtErroLateral);
             this.pnlInformacoesOperacao.Controls.Add(this.label132);
-            this.pnlInformacoesOperacao.Controls.Add(this.txtDistanciaEsquerda);
+            this.pnlInformacoesOperacao.Controls.Add(this.txtDistanciasLaterais);
             this.pnlInformacoesOperacao.Controls.Add(this.label70);
             this.pnlInformacoesOperacao.Controls.Add(this.txtErvasIdentificadas);
             this.pnlInformacoesOperacao.Controls.Add(this.lblPercentualRua);
@@ -4984,19 +4984,19 @@
             this.label133.Location = new System.Drawing.Point(124, 120);
             this.label133.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label133.Name = "label133";
-            this.label133.Size = new System.Drawing.Size(99, 13);
+            this.label133.Size = new System.Drawing.Size(57, 13);
             this.label133.TabIndex = 79;
-            this.label133.Text = "Distancia da Direita";
+            this.label133.Text = "Erro lateral";
             // 
-            // txtDistanciaDireita
+            // txtErroLateral
             // 
-            this.txtDistanciaDireita.Location = new System.Drawing.Point(126, 136);
+            this.txtErroLateral.Location = new System.Drawing.Point(126, 136);
-            this.txtDistanciaDireita.Margin = new System.Windows.Forms.Padding(2);
+            this.txtErroLateral.Margin = new System.Windows.Forms.Padding(2);
-            this.txtDistanciaDireita.Name = "txtDistanciaDireita";
+            this.txtErroLateral.Name = "txtErroLateral";
-            this.txtDistanciaDireita.ReadOnly = true;
+            this.txtErroLateral.ReadOnly = true;
-            this.txtDistanciaDireita.Size = new System.Drawing.Size(117, 20);
+            this.txtErroLateral.Size = new System.Drawing.Size(117, 20);
-            this.txtDistanciaDireita.TabIndex = 80;
+            this.txtErroLateral.TabIndex = 80;
-            this.txtDistanciaDireita.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.txtErroLateral.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
             // label132
             // 
@@ -5004,19 +5004,19 @@
             this.label132.Location = new System.Drawing.Point(2, 120);
             this.label132.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label132.Name = "label132";
-            this.label132.Size = new System.Drawing.Size(114, 13);
+            this.label132.Size = new System.Drawing.Size(97, 13);
             this.label132.TabIndex = 77;
-            this.label132.Text = "Distancia da Esquerda";
+            this.label132.Text = "Dist. Laterais (E/D)";
             // 
-            // txtDistanciaEsquerda
+            // txtDistanciasLaterais
             // 
-            this.txtDistanciaEsquerda.Location = new System.Drawing.Point(4, 136);
+            this.txtDistanciasLaterais.Location = new System.Drawing.Point(4, 136);
-            this.txtDistanciaEsquerda.Margin = new System.Windows.Forms.Padding(2);
+            this.txtDistanciasLaterais.Margin = new System.Windows.Forms.Padding(2);
-            this.txtDistanciaEsquerda.Name = "txtDistanciaEsquerda";
+            this.txtDistanciasLaterais.Name = "txtDistanciasLaterais";
-            this.txtDistanciaEsquerda.ReadOnly = true;
+            this.txtDistanciasLaterais.ReadOnly = true;
-            this.txtDistanciaEsquerda.Size = new System.Drawing.Size(117, 20);
+            this.txtDistanciasLaterais.Size = new System.Drawing.Size(117, 20);
-            this.txtDistanciaEsquerda.TabIndex = 78;
+            this.txtDistanciasLaterais.TabIndex = 78;
-            this.txtDistanciaEsquerda.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.txtDistanciasLaterais.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
             // label70
             // 
@@ -6092,9 +6092,9 @@
         private System.Windows.Forms.Label label134;
         private System.Windows.Forms.TextBox txtNaMargem;
         private System.Windows.Forms.Label label133;
-        private System.Windows.Forms.TextBox txtDistanciaDireita;
+        private System.Windows.Forms.TextBox txtErroLateral;
         private System.Windows.Forms.Label label132;
-        private System.Windows.Forms.TextBox txtDistanciaEsquerda;
+        private System.Windows.Forms.TextBox txtDistanciasLaterais;
         private System.Windows.Forms.CheckBox chbMOV_Alimentacao_Mediana;
         private System.Windows.Forms.CheckBox chbMOV_Alimentacao_Moda;
         private System.Windows.Forms.CheckBox chbMOV_Alimentacao_Media;

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs

@@ -1106,8 +1106,8 @@ namespace AgroBase.Forms.Operacoes
             txtVelocidadeControle.Text = ((Log.Controle?.PercentualVelocidadeSP ?? 0) / VariaveisEquipamento.RPM_Max_Roda * 100).ToString() + " rpm";
             txtErvasIdentificadas.Text = $"{totalAtuacoes}";
 
-            txtDistanciaEsquerda.Text = Log.Trajetoria.DistanciaEsquerda.ToString("0.00");
+            txtDistanciasLaterais.Text = Log.Trajetoria.DistanciaEsquerda.ToString("0.00") + " m / " + Log.Trajetoria.DistanciaDireita.ToString("0.00") + " m";
-            txtDistanciaDireita.Text = Log.Trajetoria.DistanciaDireita.ToString("0.00");
+            txtErroLateral.Text = Log.Controle.ErroLateral.ToString("0.00") + " m";
             txtNaMargem.Text = Log.Trajetoria.NaMargemDoCorredor ? "Sim" : "Não";
 
             lblPercentualOperacao.Text = $"Operação {Log.Trajetoria.ProgressoTrajeto.ToString("0.00")}%";

AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.Designer.cs

@@ -711,9 +711,9 @@
             this.lblDistanciaLateral.Location = new System.Drawing.Point(11, 477);
             this.lblDistanciaLateral.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDistanciaLateral.Name = "lblDistanciaLateral";
-            this.lblDistanciaLateral.Size = new System.Drawing.Size(117, 13);
+            this.lblDistanciaLateral.Size = new System.Drawing.Size(171, 13);
             this.lblDistanciaLateral.TabIndex = 23;
-            this.lblDistanciaLateral.Text = "Esq: 0,00 m Dir: 0,00 m";
+            this.lblDistanciaLateral.Text = "Esq: 0,00 m Dir: 0,00 m Err: 0,00 m";
             // 
             // lblDistanciaFinal
             // 

AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs

@@ -132,7 +132,7 @@ namespace AgroBase.Forms
             lblDirecao.Text = "Direção: " + Enum.GetName(typeof(DirecaoCarroRua), _Sensoriamento.Trajetoria.DirecaoCaminho);
             lblDistanciaOperacao.Text = "Distância Operação: " + _Sensoriamento.Trajetoria.DistanciaPercorrida.ToString("0.00") + " m de " + _Sensoriamento.Trajetoria.DistanciaTotal.ToString("0.00") + " m";
             lblDistanciaFinal.Text = "Distância Restante: " + _Sensoriamento.Trajetoria.DistanciaRestante.ToString("0.00") + " m";
-            lblDistanciaLateral.Text = "Esq: " + _Sensoriamento.Trajetoria.DistanciaEsquerda.ToString("0.00") + " m - Dir: " + _Sensoriamento.Trajetoria.DistanciaDireita.ToString("0.00") + " m";
+            lblDistanciaLateral.Text = "Esq: " + _Sensoriamento.Trajetoria.DistanciaEsquerda.ToString("0.00") + " m - Dir: " + _Sensoriamento.Trajetoria.DistanciaDireita.ToString("0.00") + " m " + Variaveis.OperacaoEmAndamento.Controle.ErroLateral.ToString("0.00") + " m";
             lblRua.Text = "Corredor: " + (_Sensoriamento.Trajetoria.CorredorAtual.Dentro ? "Dentro" : "Fora");
             lblMargem.Text = "Margem: " + (_Sensoriamento.Trajetoria.NaMargemDoCorredor ? "Sim" : "Não");
             lblProximoPonto.Text = "Próximo Ponto: " + (_Sensoriamento.Trajetoria.ProximoPonto.idxPonto);

AgroBase/AgroBase/Models/Components/AsyncTaskTimerModel.cs

@@ -101,13 +101,15 @@ namespace AgroBase.Models
 
         private async void _timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
-            ((System.Timers.Timer)sender).Stop();
+            System.Timers.Timer tmr = sender as System.Timers.Timer;
+            if (VerificaDisposed()) return;
+            tmr.Stop();
 
             if (_Ticking)
             {
                 if (_state == TimerState.Running)
                 {
-                    ((System.Timers.Timer)sender).Start();
+                    tmr.Start();
                 }
                 return;
             }
@@ -155,9 +157,9 @@ namespace AgroBase.Models
             finally
             {
                 _Ticking = false;
-                if (_state == TimerState.Running)
+                if (!VerificaDisposed() && _state == TimerState.Running)
                 {
-                    ((System.Timers.Timer)sender).Start();
+                    tmr.Start();
                 }
             }
         }

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -1634,6 +1634,7 @@ namespace AgroBase.Models
 
         public List<MPCSimulacaoModel> SimulacaoMPC { get; set; } = new List<MPCSimulacaoModel>();
         public double Latencia { get; set; }
+        public double ErroLateral { get; set; } = 0.0;
 
         public OperacaoControleModel Clone()
         {
@@ -1664,6 +1665,7 @@ namespace AgroBase.Models
                 ticks_sem_resposta = ticks_sem_resposta,
                 Latencia = Latencia,
                 EmFreio = EmFreio,
+                ErroLateral = ErroLateral
             };
         }
     }

AgroBase/AgroBase/Models/Operadores/ManagerWorkerModel.cs

@@ -54,6 +54,7 @@ namespace AgroBase.Models.Operadores
         public List<double[]> simulacao { get; set; }
         public int heartbeat { get; set; }
         public double latencia { get; set; }
+        public double erro_lateral { get; set; }
     }
 
     public class ManagerWorkerMessageResponseModulosPendentesModel

AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs

@@ -770,6 +770,7 @@ namespace AgroBase.Models
                 dictParams.TryGetValue("simulacao", out var _simulacao);
                 dictParams.TryGetValue("heartbeat", out var _heartbeat);
                 dictParams.TryGetValue("latencia", out var _latencia);
+                dictParams.TryGetValue("erro_lateral", out var _erro_lateral);
                 novoComando = new ManagerWorkerMessageResponseComandoModel()
                 {
                     angulo = Convert.ToDouble(_angulo),
@@ -779,6 +780,7 @@ namespace AgroBase.Models
                     simulacao = JsonConvert.DeserializeObject<List<double[]>>((_simulacao ?? "").ToString()),
                     heartbeat = Convert.ToInt32(_heartbeat),
                     latencia = Convert.ToDouble(_latencia.ToString().Replace(".", ",")),
+                    erro_lateral = Convert.ToDouble(_erro_lateral.ToString().Replace(".", ",")),
                 };
             }
             catch (Exception ex)
@@ -789,7 +791,7 @@ namespace AgroBase.Models
             DateTime agora = DateTime.Now;
 
             var _Controle = Variaveis.OperacaoEmAndamento.Controle;
-            bool comandoMudou = (_Controle.Angulo != novoComando.angulo || _Controle.PercentualVelocidadeSP != novoComando.percentual_velocidade || _Controle.TipoMovimento != novoComando.tipo_movimento || _Controle.EmFreio != novoComando.em_freio);
+            bool comandoMudou = novoComando != null && (_Controle.Angulo != novoComando.angulo || _Controle.PercentualVelocidadeSP != novoComando.percentual_velocidade || _Controle.TipoMovimento != novoComando.tipo_movimento || _Controle.EmFreio != novoComando.em_freio);
             bool mangerDestravou = (_Controle.ticks_sem_resposta.AddMilliseconds(min_ticks_sem_resposta) < agora && novoComando.heartbeat != _Controle.heartbeat);
             if (novoComando != null && (comandoMudou || mangerDestravou))
             {
@@ -799,6 +801,7 @@ namespace AgroBase.Models
                 _Controle.EmFreio = novoComando.em_freio;
                 _Controle.SimulacaoMPC = novoComando.simulacao?.Select(x => new MPCSimulacaoModel() { latitude = x[0], longitude = x[1], orientacao = x[2] }).ToList() ?? new List<MPCSimulacaoModel>();
                 _Controle.Latencia = novoComando.latencia;
+                _Controle.ErroLateral = novoComando.erro_lateral;
                 Variaveis.OperacaoEmAndamento.AtualizaInformacoesControleOperacao();
             }
             
@@ -1224,7 +1227,7 @@ namespace AgroBase.Models
                     anguloProjetar2 += anguloAcrescentar;
                     anguloAcrescentar *= -1;
                 }
-                double percentualAcrescimoPontoAberturaCurva = 1.1;
+                double percentualAcrescimoPontoAberturaCurva = 0.8;
                 GPSModel UltimoPonto = GPSUtils.ProjetarPontoDeslocado(CorredorAtual.Last(), !ultimoCorredor ? (DistanciaProjecaoRua * percentualAcrescimoPontoAberturaCurva) : (DistanciaProjecaoRua * 2.0), anguloProjetar2);
 
                 PontoTrajetoriaModel PontoFinal = new PontoTrajetoriaModel(TipoPontoRua.LigacaoSaida)

AgroBase/AgroBase/Services/GPSService.cs

@@ -150,7 +150,7 @@ namespace AgroBase.Services
 
                 // heading 2 antenas
                 $"config heading fixlength\r\n",
-                $"config heading tractor\r\n",
+                //$"config heading tractor\r\n",
                 $"config heading length {comprimento_antena} {tolerancia_antena}\r\n",
                 // (se precisar, existe 'config heading offset <azim_off> <pitch_off>')
 
@@ -626,7 +626,7 @@ namespace AgroBase.Services
 
                 UltimaLeitura.TimestampOri.valor = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
                 UltimaLeitura.Momento = DateTime.Now;
-                UltimaLeitura.OrientacaoReal = InverterHeading ? GPSUtils.NormalizarAngulo(headingTrue + 180.0) : headingTrue;
+                UltimaLeitura.OrientacaoReal = InverterHeading ? GPSUtils.NormalizarAngulo(headingTrue - 180.0) : headingTrue;
                 UltimaLeitura.TipoOrientacao = status;
 
                 // ✅ Atualiza o ângulo unificado no GPSService
@@ -950,7 +950,7 @@ namespace AgroBase.Services
                 return;
             }
 
-            UltimasLeituras.Add(UltimaLeitura);
+            UltimasLeituras.Add(UltimaLeitura.Clone());
             if (UltimasLeituras.Count > TaxaAmostragemHz) UltimasLeituras.Remove(UltimasLeituras.First());
 
             DefinirOrientacaoMovimento();
@@ -1163,9 +1163,9 @@ namespace AgroBase.Services
                 bool rtkFix = UltimaLeitura.QualidadeFix == TiposCorrecaoGPS.RTKFixo;
                 double angAnterior = UltimaLeitura.AnguloCarroDefinido;
 
-                //anguloFinal = GPSUtils.MisturarAngulosPorDistancia(anguloGPS, anguloGPSMovimento, distAnguloGPS, TrajetoriaMapaOperacaoModel.DistanciaMaximaEntreLeituras, 0.03, 0.3);
+                //anguloFinal = FundirHeadingComMovimento(heading, angMov, distJan, velPercent, rtkFix, angFundidoAnterior: angAnterior, alfaLowPass: 0.25);
 
-                anguloFinal = FundirHeadingComMovimento(heading, angMov, distJan, velPercent, rtkFix, angFundidoAnterior: angAnterior, alfaLowPass: 0.25);
+                anguloFinal = heading;
             }
             else if (imuIniciado)
             {
@@ -1178,7 +1178,7 @@ namespace AgroBase.Services
             }
 
             // Atualiza o ângulo final
-            UltimaLeitura.AnguloCarroDefinido = GPSUtils.NormalizarAngulo(anguloFinal + HeadingOffsetSimulador + HeadingOffsetCorrecao);
+            UltimaLeitura.AnguloCarroDefinido = anguloFinal; // GPSUtils.NormalizarAngulo(anguloFinal + HeadingOffsetSimulador + HeadingOffsetCorrecao);
         }
 
         public static double FundirHeadingComMovimento(
@@ -1214,9 +1214,11 @@ namespace AgroBase.Services
             double angMisto = MisturarAngulosCircular(headingDeg, angMovDeg, pesoHeading);
 
             if (!double.IsNaN(angFundidoAnterior) && alfaLowPass > 0)
-                angMisto = LowPassAngle(angFundidoAnterior, angMisto, alfaLowPass);
+                angMisto = LowPassAngle0to360(angFundidoAnterior, angMisto, alfaLowPass);
+            else
+                angMisto = Normalize0To360(angMisto);
 
-            return GPSUtils.NormalizarAngulo(angMisto);
+            return angMisto;
 
             // ---------- helpers locais ----------
             double Norm(double v, double lo, double hi)
@@ -1245,6 +1247,23 @@ namespace AgroBase.Services
                 double diff = GPSUtils.NormalizarAngulo(novoDeg - atualDeg);
                 return GPSUtils.NormalizarAngulo(atualDeg + alfa * diff);
             }
+            double LowPassAngle0to360(double atualDeg, double novoDeg, double alfa)
+            {
+                double diff = NormalizeSigned180(novoDeg - atualDeg); // delta curto
+                return Normalize0To360(atualDeg + alfa * diff);
+            }
+            double NormalizeSigned180(double angDeg)
+            {
+                angDeg = (angDeg + 180.0) % 360.0;
+                if (angDeg < 0) angDeg += 360.0;
+                return angDeg - 180.0; // [-180, +180)
+            }
+            double Normalize0To360(double angDeg)
+            {
+                angDeg %= 360.0;
+                if (angDeg < 0) angDeg += 360.0;
+                return angDeg; // [0, 360)
+            }
         }
 
         public static void AtualizaDadosRedis()

AgroBase/AgroBase/Services/LoRaBaseService.cs

@@ -477,12 +477,12 @@ namespace AgroBase.Services
                         }
                     case DadosLoRaParse.DadosPulverizador:
                         {
-                            int _percentual_reservatorio = (int)dados[2];
+                            int _percentual_reservatorio = dados.Length < 3 ? 0 : (int)dados[2];
-                            int _pressao_linha = (int)dados[3];
+                            int _pressao_linha = dados.Length < 4 ? 0 : (int)dados[3];
-                            int _ervas_identificadas = (int)dados[4];
+                            int _ervas_identificadas = dados.Length < 5 ? 0 : (int)dados[4];
-                            int _herbicida_consumido = (int)dados[5];
+                            int _herbicida_consumido = dados.Length < 6 ? 0 : (int)dados[5];
-                            int _herbicida_por_erva = (int)dados[6];
+                            int _herbicida_por_erva = dados.Length < 7 ? 0 : (int)dados[6];
-                            int _percentual_ervas_terreno = (int)dados[7];
+                            int _percentual_ervas_terreno = dados.Length < 8 ? 0 : (int)dados[7];
 
                             equipamento.Sensores.PercentualReservatorio = _percentual_reservatorio;
                             equipamento.Sensores.PressaoLinha = _pressao_linha;

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

@@ -29,5 +29,5 @@
       "top_topics_and_observing_domains": [  ]
    } ],
    "hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
-   "next_scheduled_calculation_time": "13403636820469509"
+   "next_scheduled_calculation_time": "13403636820469815"
 }

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

@@ -1,3 +1,3 @@
-2025/09/23-09:38:49.956 4b78 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/09/24-10:46:59.725 4b24 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/09/23-09:38:49.966 4b78 Recovering log #3
+2025/09/24-10:46:59.737 4b24 Recovering log #3
-2025/09/23-09:38:49.969 4b78 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/09/24-10:46:59.741 4b24 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 @@
-2025/09/23-09:33:56.629 19b0 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/09/24-10:35:30.569 5054 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/09/23-09:33:56.643 19b0 Recovering log #3
+2025/09/24-10:35:30.580 5054 Recovering log #3
-2025/09/23-09:33:56.647 19b0 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/09/24-10:35:30.583 5054 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":"13403189309995191","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":10486},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:67d:1400:98be:836a:a20c:3874","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":"13403281624997146","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":16178},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:67d:1400:d0b1:309d:2180:66eb","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":1790164822.419645,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1758628822.419655}],"version":2}
+{"sts":[{"expiry":1790250106.627238,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1758714106.62724}],"version":2}

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

@@ -1,3 +1,3 @@
-2025/09/23-09:42:46.689 4b78 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/09/24-10:48:23.768 4b24 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/09/23-09:42:46.691 4b78 Recovering log #3
+2025/09/24-10:48:23.769 4b24 Recovering log #3
-2025/09/23-09:42:46.694 4b78 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/09/24-10:48:23.773 4b24 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 @@
-2025/09/23-09:38:42.409 19b0 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/09/24-10:43:41.339 5054 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/09/23-09:38:42.410 19b0 Recovering log #3
+2025/09/24-10:43:41.340 5054 Recovering log #3
-2025/09/23-09:38:42.413 19b0 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/09/24-10:43:41.343 5054 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 @@
-2025/09/23-09:38:49.884 2874 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/09/24-10:46:59.643 5da4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/09/23-09:38:49.887 2874 Recovering log #7
+2025/09/24-10:46:59.646 5da4 Recovering log #7
-2025/09/23-09:38:49.887 2874 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/09/24-10:46:59.647 5da4 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 @@
-2025/09/23-09:33:56.549 1c98 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/09/24-10:35:30.498 35a4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/09/23-09:33:56.551 1c98 Recovering log #7
+2025/09/24-10:35:30.500 35a4 Recovering log #7
-2025/09/23-09:33:56.551 1c98 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/09/24-10:35:30.500 35a4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 

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

@@ -1 +1 @@
-{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1","Name":"CidadeJardimCerto","Length":18.438211678884382,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":"0","type":"LineString","coordinates":[[-47.3952092235,-22.172566764333332],[-47.395214685166664,-22.172591648666668],[-47.395217691333336,-22.1726149115],[-47.39522120783333,-22.172638106166666],[-47.395224592333335,-22.172662264666666],[-47.395227536833332,-22.172683503833333],[-47.395231278833336,-22.172709659],[-47.3952341445,-22.1727307235]]}},{"type":"Feature","properties":{"Id":"2","Name":"CidadeJardimCerto","Length":18.304756653641313,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":"1","type":"LineString","coordinates":[[-47.395219567666665,-22.172731676],[-47.3952166705,-22.172709694166667],[-47.395212956833333,-22.1726860135],[-47.395209649833333,-22.172662382166667],[-47.3952061285,-22.172638539666668],[-47.395203071333334,-22.172615091],[-47.395199642,-22.172589946333332],[-47.39519637716667,-22.172568656333333]]}},{"type":"Feature","properties":{"Id":"3","Name":"CidadeJardimCerto","Length":18.204085527823089,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":"2","type":"LineString","coordinates":[[-47.395182856666665,-22.172571987333335],[-47.395186353666666,-22.172596904666666],[-47.3951894365,-22.1726195275],[-47.395192361833331,-22.172642871333334],[-47.3951957415,-22.1726662635],[-47.3951991415,-22.1726895815],[-47.395202583833331,-22.172713842],[-47.395205228833333,-22.172734196333334]]}},{"type":"Feature","properties":{"Id":"4","Name":"CidadeJardimCerto","Length":18.206275148810604,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":"3","type":"LineString","coordinates":[[-47.3951911205,-22.172735722833334],[-47.395187572,-22.172712241833334],[-47.3951841675,-22.1726893895],[-47.395179907166664,-22.1726651245],[-47.3951765075,-22.172642284833334],[-47.395173248666666,-22.1726180985],[-47.395169798666664,-22.172594096166666],[-47.395167092166666,-22.172573705666668]]}},{"type":"Feature","properties":{"Id":"5","Name":"CidadeJardimCerto","Length":18.067139082589541,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":"4","type":"LineString","coordinates":[[-47.395153470333334,-22.172576570833332],[-47.395156353166669,-22.172600550333332],[-47.395159992333333,-22.172624829333333],[-47.395162920833336,-22.172647923333333],[-47.39516644,-22.172671954333332],[-47.395169917833336,-22.1726952245],[-47.3951736845,-22.172721525666667],[-47.395175992333336,-22.172737516833333]]}}]}
+{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1","Name":"CidadeJardimCerto","Length":18.438211678884382,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.3952092235,-22.172566764333332],[-47.395214685166664,-22.172591648666668],[-47.395217691333336,-22.1726149115],[-47.39522120783333,-22.172638106166666],[-47.395224592333335,-22.172662264666666],[-47.395227536833332,-22.172683503833333],[-47.395231278833336,-22.172709659],[-47.3952341445,-22.1727307235]]}},{"type":"Feature","properties":{"Id":"2","Name":"CidadeJardimCerto","Length":18.304756653641313,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.395219567666665,-22.172731676],[-47.3952166705,-22.172709694166667],[-47.395212956833333,-22.1726860135],[-47.395209649833333,-22.172662382166667],[-47.3952061285,-22.172638539666668],[-47.395203071333334,-22.172615091],[-47.395199642,-22.172589946333332],[-47.39519637716667,-22.172568656333333]]}},{"type":"Feature","properties":{"Id":"3","Name":"CidadeJardimCerto","Length":18.204085527823089,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.395182856666665,-22.172571987333335],[-47.395186353666666,-22.172596904666666],[-47.3951894365,-22.1726195275],[-47.395192361833331,-22.172642871333334],[-47.3951957415,-22.1726662635],[-47.3951991415,-22.1726895815],[-47.395202583833331,-22.172713842],[-47.395205228833333,-22.172734196333334]]}},{"type":"Feature","properties":{"Id":"4","Name":"CidadeJardimCerto","Length":18.206275148810604,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.3951911205,-22.172735722833334],[-47.395187572,-22.172712241833334],[-47.3951841675,-22.1726893895],[-47.395179907166664,-22.1726651245],[-47.3951765075,-22.172642284833334],[-47.395173248666666,-22.1726180985],[-47.395169798666664,-22.172594096166666],[-47.395167092166666,-22.172573705666668]]}},{"type":"Feature","properties":{"Id":"5","Name":"CidadeJardimCerto","Length":18.067139082589541,"Dist1":18.438211678884382,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.395153470333334,-22.172576570833332],[-47.395156353166669,-22.172600550333332],[-47.395159992333333,-22.172624829333333],[-47.395162920833336,-22.172647923333333],[-47.39516644,-22.172671954333332],[-47.395169917833336,-22.1726952245],[-47.3951736845,-22.172721525666667],[-47.395175992333336,-22.172737516833333]]}}]}

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_b5c20ec1e6bf396924dc4485751b4881 {
+                #map_8ba568814c3b3735ef0f7d202c8c9f5e {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -54,14 +54,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_b5c20ec1e6bf396924dc4485751b4881" ></div>
+            <div class="folium-map" id="map_8ba568814c3b3735ef0f7d202c8c9f5e" ></div>
         
 </body>
 <script>
     
     
-            var map_b5c20ec1e6bf396924dc4485751b4881 = L.map(
+            var map_8ba568814c3b3735ef0f7d202c8c9f5e = L.map(
-                "map_b5c20ec1e6bf396924dc4485751b4881",
+                "map_8ba568814c3b3735ef0f7d202c8c9f5e",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -77,6 +77,26 @@
             
 
         
+    
+            var tile_layer_ae18c2d43f153eef1ccf5ccb4165855e = L.tileLayer(
+                "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
+                {
+  "minZoom": 0,
+  "maxZoom": 19,
+  "maxNativeZoom": 19,
+  "noWrap": false,
+  "attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors",
+  "subdomains": "abc",
+  "detectRetina": false,
+  "tms": false,
+  "opacity": 1,
+}
+
+            );
+        
+    
+            tile_layer_ae18c2d43f153eef1ccf5ccb4165855e.addTo(map_8ba568814c3b3735ef0f7d202c8c9f5e);
+        
 </script>
 
     <script>
@@ -96,7 +116,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_b5c20ec1e6bf396924dc4485751b4881);
+        trajeto_json.addTo(map_8ba568814c3b3735ef0f7d202c8c9f5e);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -159,9 +179,9 @@
         
         var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_b5c20ec1e6bf396924dc4485751b4881);
+        }).addTo(map_8ba568814c3b3735ef0f7d202c8c9f5e);
         
-        var marcadorBase = L.marker([0, 0], {}).addTo(map_b5c20ec1e6bf396924dc4485751b4881);
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_8ba568814c3b3735ef0f7d202c8c9f5e);
         var icon = L.AwesomeMarkers.icon(
             {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
         );
@@ -226,7 +246,7 @@
                 }
                 
                 if (foco) {
-                    map_b5c20ec1e6bf396924dc4485751b4881.setView(novaPosicao, map_b5c20ec1e6bf396924dc4485751b4881.getZoom());
+                    map_8ba568814c3b3735ef0f7d202c8c9f5e.setView(novaPosicao, map_8ba568814c3b3735ef0f7d202c8c9f5e.getZoom());
                 }
                 
             }
@@ -248,7 +268,7 @@
             marcadorDinamico.setRotationAngle(angulo);
             
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_b5c20ec1e6bf396924dc4485751b4881.setView(novaPosicao, map_b5c20ec1e6bf396924dc4485751b4881.getZoom());*/
+            map_8ba568814c3b3735ef0f7d202c8c9f5e.setView(novaPosicao, map_8ba568814c3b3735ef0f7d202c8c9f5e.getZoom());*/
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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

@@ -17,7 +17,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_4d8eed9407dc7769ca15b0f680376c9e {
+                #map_e9b1b3ee64db174d6f4543ce38e0b5e1 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -54,14 +54,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_4d8eed9407dc7769ca15b0f680376c9e" ></div>
+            <div class="folium-map" id="map_e9b1b3ee64db174d6f4543ce38e0b5e1" ></div>
         
 </body>
 <script>
     
     
-            var map_4d8eed9407dc7769ca15b0f680376c9e = L.map(
+            var map_e9b1b3ee64db174d6f4543ce38e0b5e1 = L.map(
-                "map_4d8eed9407dc7769ca15b0f680376c9e",
+                "map_e9b1b3ee64db174d6f4543ce38e0b5e1",
                 {
                     center: [-22.17265214058333, -47.39519380741667],
                     crs: L.CRS.EPSG3857,
@@ -78,6 +78,26 @@
 
         
     
+            var tile_layer_507a582c5bc0aa807282907c2bc3275c = L.tileLayer(
+                "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
+                {
+  "minZoom": 0,
+  "maxZoom": 19,
+  "maxNativeZoom": 19,
+  "noWrap": false,
+  "attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors",
+  "subdomains": "abc",
+  "detectRetina": false,
+  "tms": false,
+  "opacity": 1,
+}
+
+            );
+        
+    
+            tile_layer_507a582c5bc0aa807282907c2bc3275c.addTo(map_e9b1b3ee64db174d6f4543ce38e0b5e1);
+        
+    
 
         
     var trajetosSelecionados = {};
@@ -91,7 +111,7 @@
                 }*/
             });
     }
-    function geo_json_cdfc1fc555c70965b47aeaab833de403_onEachFeature(feature, layer) {
+    function geo_json_b7203db4da92fe2236826b29ddbfaf68_onEachFeature(feature, layer) {
 
             layer.on({
             
@@ -128,23 +148,23 @@
         }*/
     });
         };
-        var geo_json_cdfc1fc555c70965b47aeaab833de403 = L.geoJson(null, {
+        var geo_json_b7203db4da92fe2236826b29ddbfaf68 = L.geoJson(null, {
-                onEachFeature: geo_json_cdfc1fc555c70965b47aeaab833de403_onEachFeature,
+                onEachFeature: geo_json_b7203db4da92fe2236826b29ddbfaf68_onEachFeature,
             
             ...{
 }
         });
 
-        function geo_json_cdfc1fc555c70965b47aeaab833de403_add (data) {
+        function geo_json_b7203db4da92fe2236826b29ddbfaf68_add (data) {
-            geo_json_cdfc1fc555c70965b47aeaab833de403
+            geo_json_b7203db4da92fe2236826b29ddbfaf68
                 .addData(data);
         }
-            geo_json_cdfc1fc555c70965b47aeaab833de403_add({"features": [{"geometry": {"coordinates": [[-47.3952092235, -22.172566764333332], [-47.395214685166664, -22.172591648666668], [-47.395217691333336, -22.1726149115], [-47.39522120783333, -22.172638106166666], [-47.395224592333335, -22.172662264666666], [-47.39522753683333, -22.172683503833333], [-47.395231278833336, -22.172709659], [-47.3952341445, -22.1727307235]], "id": "0", "type": "LineString"}, "id": 0, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "1", "Length": 18.438211678884382, "Name": "CidadeJardimCerto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395219567666665, -22.172731676], [-47.3952166705, -22.172709694166667], [-47.39521295683333, -22.1726860135], [-47.39520964983333, -22.172662382166667], [-47.3952061285, -22.172638539666668], [-47.395203071333334, -22.172615091], [-47.395199642, -22.172589946333332], [-47.39519637716667, -22.172568656333333]], "id": "1", "type": "LineString"}, "id": 1, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "2", "Length": 18.304756653641313, "Name": "CidadeJardimCerto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395182856666665, -22.172571987333335], [-47.395186353666666, -22.172596904666666], [-47.3951894365, -22.1726195275], [-47.39519236183333, -22.172642871333334], [-47.3951957415, -22.1726662635], [-47.3951991415, -22.1726895815], [-47.39520258383333, -22.172713842], [-47.39520522883333, -22.172734196333334]], "id": "2", "type": "LineString"}, "id": 2, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "3", "Length": 18.20408552782309, "Name": "CidadeJardimCerto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.3951911205, -22.172735722833334], [-47.395187572, -22.172712241833334], [-47.3951841675, -22.1726893895], [-47.395179907166664, -22.1726651245], [-47.3951765075, -22.172642284833334], [-47.395173248666666, -22.1726180985], [-47.395169798666664, -22.172594096166666], [-47.395167092166666, -22.172573705666668]], "id": "3", "type": "LineString"}, "id": 3, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "4", "Length": 18.206275148810604, "Name": "CidadeJardimCerto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395153470333334, -22.172576570833332], [-47.39515635316667, -22.172600550333332], [-47.39515999233333, -22.172624829333333], [-47.395162920833336, -22.172647923333333], [-47.39516644, -22.17267195433333], [-47.395169917833336, -22.1726952245], [-47.3951736845, -22.172721525666667], [-47.395175992333336, -22.172737516833333]], "id": "4", "type": "LineString"}, "id": 4, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "5", "Length": 18.06713908258954, "Name": "CidadeJardimCerto"}, "type": "Feature"}], "type": "FeatureCollection"});
+            geo_json_b7203db4da92fe2236826b29ddbfaf68_add({"features": [{"geometry": {"coordinates": [[-47.3952092235, -22.172566764333332], [-47.395214685166664, -22.172591648666668], [-47.395217691333336, -22.1726149115], [-47.39522120783333, -22.172638106166666], [-47.395224592333335, -22.172662264666666], [-47.39522753683333, -22.172683503833333], [-47.395231278833336, -22.172709659], [-47.3952341445, -22.1727307235]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "1", "Length": 18.438211678884382, "Name": "CidadeJardimCerto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395219567666665, -22.172731676], [-47.3952166705, -22.172709694166667], [-47.39521295683333, -22.1726860135], [-47.39520964983333, -22.172662382166667], [-47.3952061285, -22.172638539666668], [-47.395203071333334, -22.172615091], [-47.395199642, -22.172589946333332], [-47.39519637716667, -22.172568656333333]], "id": null, "type": "LineString"}, "id": 1, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "2", "Length": 18.304756653641313, "Name": "CidadeJardimCerto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395182856666665, -22.172571987333335], [-47.395186353666666, -22.172596904666666], [-47.3951894365, -22.1726195275], [-47.39519236183333, -22.172642871333334], [-47.3951957415, -22.1726662635], [-47.3951991415, -22.1726895815], [-47.39520258383333, -22.172713842], [-47.39520522883333, -22.172734196333334]], "id": null, "type": "LineString"}, "id": 2, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "3", "Length": 18.20408552782309, "Name": "CidadeJardimCerto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.3951911205, -22.172735722833334], [-47.395187572, -22.172712241833334], [-47.3951841675, -22.1726893895], [-47.395179907166664, -22.1726651245], [-47.3951765075, -22.172642284833334], [-47.395173248666666, -22.1726180985], [-47.395169798666664, -22.172594096166666], [-47.395167092166666, -22.172573705666668]], "id": null, "type": "LineString"}, "id": 3, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "4", "Length": 18.206275148810604, "Name": "CidadeJardimCerto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395153470333334, -22.172576570833332], [-47.39515635316667, -22.172600550333332], [-47.39515999233333, -22.172624829333333], [-47.395162920833336, -22.172647923333333], [-47.39516644, -22.17267195433333], [-47.395169917833336, -22.1726952245], [-47.3951736845, -22.172721525666667], [-47.395175992333336, -22.172737516833333]], "id": null, "type": "LineString"}, "id": 4, "properties": {"Dist1": 18.438211678884382, "Dist2": 0.0, "Id": "5", "Length": 18.06713908258954, "Name": "CidadeJardimCerto"}, "type": "Feature"}], "type": "FeatureCollection"});
-        geo_json_cdfc1fc555c70965b47aeaab833de403.setStyle(function(feature) {return feature.properties.style;});
+        geo_json_b7203db4da92fe2236826b29ddbfaf68.setStyle(function(feature) {return feature.properties.style;});
 
         
     
-            geo_json_cdfc1fc555c70965b47aeaab833de403.addTo(map_4d8eed9407dc7769ca15b0f680376c9e);
+            geo_json_b7203db4da92fe2236826b29ddbfaf68.addTo(map_e9b1b3ee64db174d6f4543ce38e0b5e1);
         
 </script>
 
@@ -165,7 +185,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_4d8eed9407dc7769ca15b0f680376c9e);
+        trajeto_json.addTo(map_e9b1b3ee64db174d6f4543ce38e0b5e1);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -223,7 +243,7 @@
         }
         trajeto_dinamico_json_add({"features": []});
 
-        trajeto_dinamico_json.addTo(map_4d8eed9407dc7769ca15b0f680376c9e);
+        trajeto_dinamico_json.addTo(map_e9b1b3ee64db174d6f4543ce38e0b5e1);
 
         function adicionarGeometriaDinamica(novaGeometria) {
             trajeto_dinamico_json.addData(novaGeometria);
@@ -276,9 +296,9 @@
         
         var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_4d8eed9407dc7769ca15b0f680376c9e);
+        }).addTo(map_e9b1b3ee64db174d6f4543ce38e0b5e1);
         
-        var marcadorBase = L.marker([0, 0], {}).addTo(map_4d8eed9407dc7769ca15b0f680376c9e);
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_e9b1b3ee64db174d6f4543ce38e0b5e1);
         var icon = L.AwesomeMarkers.icon(
             {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
         );
@@ -360,7 +380,7 @@
                 }
                 
                 if (foco) {
-                    map_4d8eed9407dc7769ca15b0f680376c9e.setView(novaPosicao, map_4d8eed9407dc7769ca15b0f680376c9e.getZoom());
+                    map_e9b1b3ee64db174d6f4543ce38e0b5e1.setView(novaPosicao, map_e9b1b3ee64db174d6f4543ce38e0b5e1.getZoom());
                 }
                 
             }
@@ -377,7 +397,7 @@
         function atualizarSelecaoRuas(selecionadas) {
             selecionadas = JSON.parse(selecionadas);
             RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
-            geo_json_cdfc1fc555c70965b47aeaab833de403.eachLayer(function (layer) {
+            geo_json_b7203db4da92fe2236826b29ddbfaf68.eachLayer(function (layer) {
                 if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
                     layer.setStyle({ color: 'blue' });
                 } else {

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

@@ -61,9 +61,85 @@ class ControladorMPC:
             self._mpc_headroom_ms = 25.0 # respiro p/ IO/log/atuadores
             self.debug_cost_vis = False
 
+            self._cl_xy = None     # Nx2
+            self._seg_p0 = None    # (N-1)x2
+            self._seg_v = None     # (N-1)x2
+            self._seg_L = None     # (N-1,)
+            self._seg_t_hat = None # (N-1)x2  unit tangent
+            self._seg_n_hat = None # (N-1)x2  unit normal (esquerda)
+            self._s_nodes = None   # (N,)
+            self._mg_nodes = None  # (N,)
+            self._precompute_centerline()
+
         except Exception as e:
             mostrar_log(f"Erro ao inicializar MPC: {e}")
 
+    def _precompute_centerline(self):
+        cl = np.array([p["xy"] for p in self.pontos_info], dtype=float)  # N x 2
+        if cl.shape[0] < 2:
+            # linha degenerada
+            self._cl_xy = cl
+            self._seg_p0 = self._seg_v = self._seg_L = self._seg_t_hat = self._seg_n_hat = None
+            self._s_nodes = np.zeros((cl.shape[0],), float)
+            self._mg_nodes = np.array([p.get("distanciaMargem", 0.7) for p in self.pontos_info], float)
+            return
+
+        p0 = cl[:-1]
+        p1 = cl[1:]
+        v = p1 - p0
+        L = np.linalg.norm(v, axis=1) + 1e-12
+        t_hat = v / L[:, None]
+        n_hat = np.stack([-t_hat[:,1], t_hat[:,0]], axis=1)  # normal à esquerda
+
+        # curvilinear abscissa s (acumulada por nó)
+        s_nodes = np.zeros((cl.shape[0],), float)
+        s_nodes[1:] = np.cumsum(L)
+
+        mg_nodes = np.array([p.get("distanciaMargem", 0.7) for p in self.pontos_info], float)
+
+        self._cl_xy = cl
+        self._seg_p0 = p0
+        self._seg_v = v
+        self._seg_L = L
+        self._seg_t_hat = t_hat
+        self._seg_n_hat = n_hat
+        self._s_nodes = s_nodes
+        self._mg_nodes = mg_nodes
+
+    def cross_track_error_point(self, x, y):
+        """
+        Retorna:
+          e_lat  -> erro lateral assinado (m; + à esquerda da tangente do segmento)
+          s_proj -> coordenada curvilínea ao longo da linha (m)
+          i_seg  -> índice do segmento mais próximo usado na projeção
+          proj   -> ponto projetado (2,)
+          theta_path -> orientação do caminho (rad) naquele segmento
+          margem_interp -> margem interpolada (m) naquele s
+        """
+        if self._seg_p0 is None or self._seg_p0.shape[0] == 0:
+            return 0.0, 0.0, 0, np.array([x, y], float), 0.0, 0.7
+
+        P = np.array([x, y], float)
+        w = P - self._seg_p0            # (M,2)
+        L2 = (self._seg_L ** 2)         # (M,)
+        t = np.clip(np.sum(w * self._seg_v, axis=1) / L2, 0.0, 1.0)  # (M,)
+        proj = self._seg_p0 + t[:, None] * self._seg_v               # (M,2)
+        d2 = np.sum((proj - P)**2, axis=1)                           # (M,)
+        i = int(np.argmin(d2))
+
+        # projeção escolhida
+        proj_i = proj[i]
+        e_lat = float(np.dot(P - proj_i, self._seg_n_hat[i]))        # sinal pela normal esquerda
+        s_proj = float(self._s_nodes[i] + t[i] * self._seg_L[i])
+        theta_path = float(np.arctan2(self._seg_t_hat[i,0], self._seg_t_hat[i,1])) # 0=Norte se (x=E,y=N)
+
+        # margem interpolada entre nós i e i+1
+        mg0 = self._mg_nodes[i]
+        mg1 = self._mg_nodes[i+1] if (i+1) < self._mg_nodes.size else mg0
+        margem = float((1.0 - t[i]) * mg0 + t[i] * mg1)
+
+        return e_lat, s_proj, i, proj_i, theta_path, margem
+
     def _ensure_luts(self, dados_matriz_custo, largura_equip, L):
         if not dados_matriz_custo or dados_matriz_custo.get("Custo") is None:
             return
@@ -242,18 +318,7 @@ class ControladorMPC:
     
     # UTILS
 
-    def _proximo_nao_visitado(self, visitados):
+    def _corrigir_pontos_visitados_new(self, x, y, pontos_visitados: np.ndarray, idx_atual: int = -1, limite_max_avanco: float = 5.0, limite_max_pontos: int = 10, velocidade: float = -1, dt: float = -1, look_ahead: bool = True):
-        try:
-            for i, v in enumerate(visitados):
-                if not v:
-                    return i
-            return len(visitados) - 1
-        except Exception as e:
-            mostrar_log(f"Erro ao consultar proximo ponto nao visitado: {e}")
-
-    def _corrigir_pontos_visitados(self, x, y, pontos_visitados: np.ndarray, idx_atual: int = -1,
-                                   limite_max_avanco: float = 5.0,  # em METROS
-                                   limite_max_pontos: int = 10, velocidade: float = -1, dt: float = -1, look_ahead: bool = True):
         try:
             p_xy, p_mg, p_s = self._p_xy, self._p_margem, self._p_s
             N = p_xy.shape[0]
@@ -285,7 +350,7 @@ class ControladorMPC:
             margem2 = p_mg[sl] * p_mg[sl]
 
             # --- (2) Opcional para fidelidade ao antigo: usar '<' em vez de '<=' ---
-            hits = dist2 <= margem2  # era <=
+            hits = dist2 < margem2  # era <=
 
             if np.any(hits):
                 off = int(np.argmax(hits))
@@ -311,7 +376,16 @@ class ControladorMPC:
             except Exception:
                 return -1
 
-    def _corrigir_pontos_visitados_old(self, x, y, pontos_visitados, idx_atual=-1, limite_max_avanço=5.0):
+    def _proximo_nao_visitado(self, visitados):
+        try:
+            for i, v in enumerate(visitados):
+                if not v:
+                    return i
+            return len(visitados) - 1
+        except Exception as e:
+            mostrar_log(f"Erro ao consultar proximo ponto nao visitado: {e}")
+    
+    def _corrigir_pontos_visitados(self, x, y, pontos_visitados, idx_atual=-1, limite_max_avanco=5.0, limite_max_pontos: int = 10, velocidade: float = -1, dt: float = -1, look_ahead: bool = True):
         if (idx_atual > -1):
             for idx, ponto in enumerate(self.pontos_info):
                 if (idx < idx_atual):
@@ -330,24 +404,25 @@ class ControladorMPC:
                 for i in range(idx + 1):
                     pontos_visitados[i] = True
                 return idx
-            if idx > 0 and not pontos_visitados[idx - 1] and idx >= limite_max_avanço:
+            if idx > 0 and not pontos_visitados[idx - 1] and idx >= limite_max_avanco:
                 break
         return self._proximo_nao_visitado(pontos_visitados)
 
     def _calcular_pesos_movimento(self, contexto, erro_ori_rad):
         try:
-            peso_erro_pos   = 1.2 # 0
-            peso_erro_ori   = 1.0 # 1
-            peso_suavidade  = 1.5 # 2
-            peso_fator_re   = 0.2 # 3
-            peso_ideal      = 0.4 # 4
-
             CARRO = contexto.get("Carro", {})
             status = StatusCarroMapa(CARRO.get("Status", StatusCarroMapa.Parado.value))
             dentro = CARRO.get("DentroCorredor", False)
             manobrando = CARRO.get("ManobrandoEntreRuas", False)
             velocidade = CARRO.get("Velocidade", self.velocidade_min)
 
+            peso_erro_pos   = 1.2 # 0
+            peso_erro_ori   = 1.0 # 1
+            peso_suavidade  = 1.5 # 2
+            peso_fator_re   = 0.2 # 3
+            peso_ideal      = 0.4 # 4
+            peso_lateral    = 1.8 if dentro else 0.0 # 5
+
             # Penalidade proporcional à velocidade
             penalidade_por_velocidade = (velocidade / self.velocidade_max) / 10.0
             erro_ori_deg = np.degrees(erro_ori_rad)
@@ -366,7 +441,7 @@ class ControladorMPC:
                 custo_movimento[TipoMovimentoDirecional.MovimentoArco] += 0.0 if erro_ori_norm >= 0.4 else 1.0
                 custo_movimento[TipoMovimentoDirecional.RodasDianteiras] += 1.2 if erro_ori_norm >= 0.4 else 0.0
 
-            return (peso_erro_pos, peso_erro_ori, peso_suavidade, peso_fator_re, peso_ideal, custo_movimento)
+            return (peso_erro_pos, peso_erro_ori, peso_suavidade, peso_fator_re, peso_ideal, peso_lateral, custo_movimento)
         except Exception as e:
             mostrar_log(f"Erro ao calcular pesos de movimento: {e}")
 
@@ -1154,6 +1229,8 @@ class ControladorMPC:
                     tipo_final = TipoMovimentoDirecional.RodasDianteiras
                     simulacao_latlon = []
 
+            erro_lateral = self.cross_track_error_point(x, y)[0]
+            
             _cmd = {
                 "enviar_comando": True,
                 "parada_necessaria": parada_necessaria,
@@ -1161,7 +1238,8 @@ class ControladorMPC:
                 "latencia": pos_latencia,
                 "angulo": float(round(np.degrees(angulo_final), 2)),
                 "tipo": tipo_final.value,
-                "simulacao": simulacao_latlon
+                "simulacao": simulacao_latlon,
+                "erro_lateral": erro_lateral
             }
 
             # -------------------- Debug opcional da matriz de custo --------------------
@@ -1210,7 +1288,8 @@ class ControladorMPC:
             "latencia": latencia, 
             "angulo": comando_anterior.get("angulo", 0), 
             "tipo": comando_anterior.get("tipo", TipoMovimentoDirecional.RodasDianteiras.value), 
-            "simulacao": []
+            "simulacao": [],
+            "erro_latreral": 0
         }
         return _cmd
 
@@ -2040,10 +2119,11 @@ class ControladorMPC:
                 erro_pos = float(np.linalg.norm([x_sim - ponto_alvo_sim[0], y_sim - ponto_alvo_sim[1]]))
                 peso_erro_orientacao_caminho = 0.3 if (status_carro == StatusCarroMapa.CaminhandoRua and dentro_corredor) else 0.7
                 erro_ori_sim = self.gps_handler.erro_angular(orient_sim, theta_sim, angulo_caminho, peso_erro_orientacao_caminho)
+                erro_lateral = self.cross_track_error_point(x_sim, y_sim)[0]
 
                 # pesos dinâmicos
                 pesos = self._calcular_pesos_movimento(contexto, erro_ori_sim)
-                peso_erro_pos, peso_erro_ori, peso_suavidade, peso_fator_re, peso_movimento = pesos[0], pesos[1], pesos[2], pesos[3], pesos[5]
+                peso_erro_pos, peso_erro_ori, peso_suavidade, peso_fator_re, peso_ideal, peso_lateral, peso_movimento = pesos
 
                 # ângulo relativo ao alvo e suavidade
                 vetor_alvo = np.array(ponto_alvo_sim) - np.array([x_sim, y_sim])
@@ -2059,11 +2139,14 @@ class ControladorMPC:
                 custo_tipo_movimento = float(peso_movimento[tipo])
                 erro_re = (1.0 - cos_angulo) if cos_angulo > 0 else cos_angulo
                 custo_re = -erro_re * erro_pos * peso_fator_re
+                custo_lateral = abs(erro_lateral) * peso_lateral
 
                 # soma local (heurística do visual + demais), e NORMALIZA por metro
-                custo_mapa = (custo_pos + custo_ori + custo_suavidade + custo_tipo_movimento + custo_re + custo_visual_worker)
+                custo_mapa = (custo_pos + custo_ori + custo_suavidade + custo_tipo_movimento + custo_re + custo_lateral + custo_visual_worker)
                 custo_total += custo_mapa * dist_sub  # <<< custo POR METRO
 
+                #print(f"Angulo: {np.degrees(angulo_testado):.2f}, Tipo: {tipo.name}, Theta: {np.degrees(theta):.2f}, ep: {erro_pos:.4f}, eo: {erro_ori_sim:.4f}, er: {erro_re:.4f}, el: {erro_lateral:.4f}")
+
                 prev_ang = angulo_testado
                 prev_tipo = tipo
 

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/processadores/_4_em_andamento.py

@@ -39,7 +39,8 @@ class ProcessadorEmAndamento(ProcessadorBase):
                     tipo_movimento=comando_dir.get("tipo"), 
                     simulacao=comando_dir.get("simulacao"), 
                     erro=comando_dir.get("erro", False),
-                    latencia=comando_dir.get("latencia", 0.0)
+                    latencia=comando_dir.get("latencia", 0.0),
+                    erro_lateral=comando_dir.get("erro_lateral", 0.0)
                 )
         except Exception as e:
             print(f"Erro no processador EmAndamento: {e}")

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

@@ -3,7 +3,7 @@ from shared.enums import ModoOperacao, StatusOperacao
 from manager_worker.config import mostrar_log
 from shared.contexto_global_redis import ContextoGlobalRedis, CtxKey
 
-def comando_controle(percentual_velocidade: float, frear: bool, angulo: float, tipo_movimento: int, simulacao = [], erro: bool = False, latencia: float = 0.0):
+def comando_controle(percentual_velocidade: float, frear: bool, angulo: float, tipo_movimento: int, simulacao = [], erro: bool = False, latencia: float = 0.0, erro_lateral: float = 0.0):
     hb_atual = ContextoGlobalRedis.get_controle().get("heartbeat", 0)
     if erro == False:
         try:
@@ -20,7 +20,8 @@ def comando_controle(percentual_velocidade: float, frear: bool, angulo: float, t
         em_freio=frear,
         simulacao=simulacao,
         heartbeat=hb_atual,
-        latencia=latencia
+        latencia=latencia,
+        erro_lateral=erro_lateral
     )
     return {
         "velocidade_sp": percentual_velocidade,
@@ -29,7 +30,8 @@ def comando_controle(percentual_velocidade: float, frear: bool, angulo: float, t
         "tipo_movimento_direcional": tipo_movimento,
         "simulacao": simulacao,
         "heartbeat": hb_atual,
-        "latencia": latencia
+        "latencia": latencia,
+        "erro_lateral": erro_lateral
     }
 
 def comando_parado():