Ajustes na barra pulverizadora

AgroBase/OperationControl/Controls/MapViewControl.xaml.cs

@@ -51,6 +51,9 @@ namespace OperationControl.Controls
         public static readonly DependencyProperty LongitudeProperty = DependencyProperty.Register(nameof(Longitude), typeof(double), typeof(MapViewControl), new PropertyMetadata(0.0, OnViewPropertyChanged));
         public static readonly DependencyProperty ScaleProperty = DependencyProperty.Register(nameof(Scale), typeof(double), typeof(MapViewControl), new PropertyMetadata(5000.0, OnViewPropertyChanged));
         public static readonly DependencyProperty MbTilesPathProperty = DependencyProperty.Register(nameof(MbTilesPath), typeof(string), typeof(MapViewControl), new PropertyMetadata(string.Empty, OnMbTilesPathChanged));
+
+        public string PathMapaSelecionado;
+
         public double Latitude
         {
             get => (double)GetValue(LatitudeProperty);
@@ -122,7 +125,10 @@ namespace OperationControl.Controls
         public List<StreetMapDictionaryModel> RuasMapaCarregado;
 
         public event EventHandler<StreetMapClickedEventArgs>? StreetMapClicked;
-        private bool ParametrizandoOperacao => !(VariaveisControleOperacao.RoverEmFoco?.DadosLeitura?.Operacao?.Iniciada ?? false) && (VariaveisControleOperacao.RoverEmFoco?.DadosLeitura?.Operacao?.Status ?? StatusOperacao.NaoIniciado) == StatusOperacao.Parametrizando;
+        private bool ParametrizandoOperacao => 
+            !(VariaveisControleOperacao.RoverEmFoco?.DadosLeitura?.Operacao?.Iniciada ?? false) && 
+            (VariaveisControleOperacao.RoverEmFoco?.DadosLeitura?.Operacao?.Status ?? StatusOperacao.NaoIniciado) == StatusOperacao.Parametrizando &&
+             ((App)System.Windows.Application.Current).Shell.Dock?._vm?._viewOperacaoRight?._vm?.SecaoAtual == ViewModels.Views.Operacao.SecaoRightBar.Parametrizacao;
         protected virtual void OnStreetMapClicked(string streetId)
         {
             StreetMapClicked?.Invoke(this, new StreetMapClickedEventArgs(streetId, RuasMapaCarregado.Where(x => x.Selected).Select(x => x.Id).ToList()));
@@ -653,15 +659,15 @@ namespace OperationControl.Controls
 
             if (dlg.ShowDialog() == true)
             {
-                var path = dlg.FileName;
+                PathMapaSelecionado = dlg.FileName;
-                if (path.EndsWith(".shp", StringComparison.OrdinalIgnoreCase))
+                if (PathMapaSelecionado.EndsWith(".shp", StringComparison.OrdinalIgnoreCase))
                 {
-                    var geojson = ConvertShpToGeoJson(path);
+                    var geojson = ConvertShpToGeoJson(PathMapaSelecionado);
                     AddGeoJsonLayer(geojson);
                 }
                 else
                 {
-                    var geojson = File.ReadAllText(path);
+                    var geojson = File.ReadAllText(PathMapaSelecionado);
                     AddGeoJsonLayer(geojson);
                 }
             }
@@ -800,19 +806,21 @@ namespace OperationControl.Controls
         }
 
 
-        public void LoadMapFile(string path)
+        public void LoadMapFile(string? path)
         {
-            if (string.IsNullOrWhiteSpace(path) || !File.Exists(path))
+            if (string.IsNullOrWhiteSpace(path) || !File.Exists(path) || path == PathMapaSelecionado)
                 return;
 
-            if (path.EndsWith(".shp", StringComparison.OrdinalIgnoreCase))
+            PathMapaSelecionado = path;
+
+            if (PathMapaSelecionado.EndsWith(".shp", StringComparison.OrdinalIgnoreCase))
             {
-                var geojson = ConvertShpToGeoJson(path);
+                var geojson = ConvertShpToGeoJson(PathMapaSelecionado);
                 AddGeoJsonLayer(geojson);
             }
             else
             {
-                var geojson = File.ReadAllText(path);
+                var geojson = File.ReadAllText(PathMapaSelecionado);
                 AddGeoJsonLayer(geojson);
             }
         }

AgroBase/OperationControl/Controls/Pulverizador/BicoLequeIndicator.xaml

@@ -3,13 +3,13 @@
              xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
              xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
-             xmlns:local="clr-namespace:OperationControl.Controls.Pulverizador"
              mc:Ignorable="d"
-             d:DesignHeight="120" d:DesignWidth="120">
+             MinWidth="56"
+             MinHeight="80"
+             d:DesignWidth="80"
+             d:DesignHeight="88">
 
     <UserControl.Resources>
-        <!-- pode reaproveitar as mesmas cores do outro control -->
-        <SolidColorBrush x:Key="LineBrush" Color="#FFB0BAC8"/>
         <SolidColorBrush x:Key="SprayBrush" Color="#FF00A8E8"/>
         <SolidColorBrush x:Key="CommandOnBrush" Color="#FFE74C3C"/>
         <SolidColorBrush x:Key="CommandOffBrush" Color="#FFB0BAC8"/>
@@ -17,33 +17,36 @@
         <SolidColorBrush x:Key="TextPrimary" Color="#FFF5F7FA"/>
     </UserControl.Resources>
 
-    <Grid Margin="0">
+    <Grid>
         <Grid.RowDefinitions>
-            <RowDefinition Height="Auto"/>
+            <RowDefinition Height="30"/>
-            <!-- dados -->
             <RowDefinition Height="*"/>
-            <!-- desenho -->
         </Grid.RowDefinitions>
 
-        <!-- Dados do bico (mock, depois a gente binda) -->
+        <!-- infos -->
-        <UniformGrid Grid.Row="0" Rows="2" Columns="2" Height="30" Width="90" HorizontalAlignment="Center">
+        <!-- infos -->
+        <StackPanel Grid.Row="0"
+            Orientation="Vertical"
+            VerticalAlignment="Top"
+            HorizontalAlignment="Center">
+
             <TextBlock Text="{Binding Vazao, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:F1} mL/s}" Foreground="{StaticResource TextSecondary}" FontSize="10" HorizontalAlignment="Center"/>
+
+            <StackPanel Orientation="Horizontal" HorizontalAlignment="Center">
+                <TextBlock Text="{Binding Atuacoes, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0}x}" Foreground="{StaticResource TextSecondary}" FontSize="10" Margin="0 0 5 0"/>
                 <TextBlock Text="{Binding TempoAtuado, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:F1} s}" Foreground="{StaticResource TextSecondary}" FontSize="10" HorizontalAlignment="Center"/>
-            <TextBlock Text="{Binding AnguloControle, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:F0}°}" Foreground="{StaticResource TextSecondary}" FontSize="10" HorizontalAlignment="Center"/>
+            </StackPanel>
-            <TextBlock Text="{Binding Atuacoes, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0} x}" Foreground="{StaticResource TextSecondary}" FontSize="10" HorizontalAlignment="Center"/>
+        </StackPanel>
-        </UniformGrid>
 
-        <!-- Desenho do bico + leque -->
+        <!-- desenho -->
-        <Canvas x:Name="DrawCanvas" Grid.Row="1" Margin="0,2,0,0" Width="Auto" Height="80">
+        <Grid Grid.Row="1">
+            <Canvas x:Name="DrawCanvas" HorizontalAlignment="Stretch" VerticalAlignment="Stretch">
+                <Polygon x:Name="SprayPolygon" Stroke="{StaticResource SprayBrush}" StrokeThickness="2" Fill="#2200A8E8" Visibility="Collapsed"/>
 
-            <!-- Solenoide -->
-            <Rectangle x:Name="SolenoidRect" Width="14" Height="14" Fill="{StaticResource TextPrimary}" Stroke="{StaticResource CommandOffBrush}" StrokeThickness="3" Canvas.Left="53" Canvas.Top="0"/>
-
-            <!-- Linha central do jato -->
                 <Line x:Name="CenterLine" Stroke="{StaticResource SprayBrush}" StrokeThickness="2" StrokeStartLineCap="Round" StrokeEndLineCap="Round" Visibility="Collapsed"/>
 
-            <!-- Leque (triângulo) -->
+                <Rectangle x:Name="SolenoidRect" Width="14" Height="14" RadiusX="2" RadiusY="2" Fill="{StaticResource TextPrimary}" Stroke="{StaticResource CommandOffBrush}" StrokeThickness="3"/>
-            <Polygon x:Name="SprayPolygon" Stroke="{StaticResource SprayBrush}" StrokeThickness="2" Fill="#2200A8E8" Visibility="Collapsed"/>
             </Canvas>
         </Grid>
+    </Grid>
 </UserControl>

AgroBase/OperationControl/Controls/Pulverizador/BicoLequeIndicator.xaml.cs

@@ -1,179 +1,166 @@
-using System.Windows;
+using System.ComponentModel;
-using System.Windows.Controls;
+using System.Runtime.CompilerServices;
+using System.Windows;
 using System.Windows.Media;
+using System.Windows.Controls;
 
 using UserControl = System.Windows.Controls.UserControl;
 using Brush = System.Windows.Media.Brush;
 using Point = System.Windows.Point;
-using System.ComponentModel;
-using System.Runtime.CompilerServices;
 
 namespace OperationControl.Controls.Pulverizador
 {
-    /// <summary>
-    /// Interaction logic for BicoControl.xaml
-    /// </summary>
     public partial class BicoLequeIndicator : UserControl
     {
         public BicoLequeIndicator()
         {
             InitializeComponent();
-            Loaded += (s, e) => UpdateGeometry();
+
+            Loaded += (_, __) => UpdateGeometry();
+            SizeChanged += (_, __) => UpdateGeometry();
         }
 
-        #region DependencyProperties básicas
-
-        // Comando enviado para a solenoide
         public bool IsCommandOn
         {
             get => (bool)GetValue(IsCommandOnProperty);
             set => SetValue(IsCommandOnProperty, value);
         }
-        public static readonly DependencyProperty IsCommandOnProperty = DependencyProperty.Register(nameof(IsCommandOn), typeof(bool), typeof(BicoLequeIndicator), new PropertyMetadata(false, OnVisualPropertyChanged));
+        public static readonly DependencyProperty IsCommandOnProperty =
+            DependencyProperty.Register(nameof(IsCommandOn), typeof(bool), typeof(BicoLequeIndicator),
+                new PropertyMetadata(false, OnVisualPropertyChanged));
 
-        // Leitura de ligado (se está realmente pulverizando)
         public bool IsSpraying
         {
             get => (bool)GetValue(IsSprayingProperty);
             set => SetValue(IsSprayingProperty, value);
         }
-        public static readonly DependencyProperty IsSprayingProperty = DependencyProperty.Register(nameof(IsSpraying), typeof(bool), typeof(BicoLequeIndicator), new PropertyMetadata(false, OnVisualPropertyChanged));
+        public static readonly DependencyProperty IsSprayingProperty =
+            DependencyProperty.Register(nameof(IsSpraying), typeof(bool), typeof(BicoLequeIndicator),
+                new PropertyMetadata(false, OnVisualPropertyChanged));
 
-        // Ângulo central do jato (0 = vertical; positivo gira p/ esquerda, negativo p/ direita)
         public double AnguloControle
         {
             get => (double)GetValue(AnguloControleProperty);
             set => SetValue(AnguloControleProperty, value);
         }
-        public static readonly DependencyProperty AnguloControleProperty = DependencyProperty.Register(nameof(AnguloControle), typeof(double), typeof(BicoLequeIndicator), new PropertyMetadata(0.0, OnGeometryPropertyChanged));
+        public static readonly DependencyProperty AnguloControleProperty =
+            DependencyProperty.Register(nameof(AnguloControle), typeof(double), typeof(BicoLequeIndicator),
+                new PropertyMetadata(0.0, OnGeometryPropertyChanged));
 
-        // Abertura total do leque (em graus) – ex: 110°
         public double OpeningAngle
         {
             get => (double)GetValue(OpeningAngleProperty);
             set => SetValue(OpeningAngleProperty, value);
         }
-        public static readonly DependencyProperty OpeningAngleProperty = DependencyProperty.Register(nameof(OpeningAngle), typeof(double), typeof(BicoLequeIndicator), new PropertyMetadata(110.0, OnGeometryPropertyChanged));
+        public static readonly DependencyProperty OpeningAngleProperty =
+            DependencyProperty.Register(nameof(OpeningAngle), typeof(double), typeof(BicoLequeIndicator),
+                new PropertyMetadata(110.0, OnGeometryPropertyChanged));
 
-        // Vazao instantanea (mL/s)
         public double Vazao
         {
             get => (double)GetValue(VazaoProperty);
             set => SetValue(VazaoProperty, value);
         }
-        public static readonly DependencyProperty VazaoProperty = DependencyProperty.Register(nameof(Vazao), typeof(double), typeof(BicoLequeIndicator), new PropertyMetadata(0.0, OnGeometryPropertyChanged));
+        public static readonly DependencyProperty VazaoProperty =
+            DependencyProperty.Register(nameof(Vazao), typeof(double), typeof(BicoLequeIndicator),
+                new PropertyMetadata(0.0));
 
-        // Tempo atuado (s)
         public double TempoAtuado
         {
             get => (double)GetValue(TempoAtuadoProperty);
             set => SetValue(TempoAtuadoProperty, value);
         }
-        public static readonly DependencyProperty TempoAtuadoProperty = DependencyProperty.Register(nameof(TempoAtuado), typeof(double), typeof(BicoLequeIndicator), new PropertyMetadata(0.0, OnGeometryPropertyChanged));
+        public static readonly DependencyProperty TempoAtuadoProperty =
+            DependencyProperty.Register(nameof(TempoAtuado), typeof(double), typeof(BicoLequeIndicator),
+                new PropertyMetadata(0.0));
 
-        // Atuacoes
         public int Atuacoes
         {
             get => (int)GetValue(AtuacoesProperty);
             set => SetValue(AtuacoesProperty, value);
         }
-        public static readonly DependencyProperty AtuacoesProperty = DependencyProperty.Register(nameof(Atuacoes), typeof(int), typeof(BicoLequeIndicator), new PropertyMetadata(0, OnGeometryPropertyChanged));
+        public static readonly DependencyProperty AtuacoesProperty =
-
+            DependencyProperty.Register(nameof(Atuacoes), typeof(int), typeof(BicoLequeIndicator),
-        #endregion
+                new PropertyMetadata(0));
 
         private static void OnGeometryPropertyChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
         {
-            var ctrl = (BicoLequeIndicator)d;
+            if (d is BicoLequeIndicator ctrl)
                 ctrl.UpdateGeometry();
         }
 
         private static void OnVisualPropertyChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
         {
-            var ctrl = (BicoLequeIndicator)d;
+            if (d is BicoLequeIndicator ctrl)
                 ctrl.UpdateVisualState();
         }
 
-        /// <summary>
-        /// Atualiza cor da solenoide e visibilidade do leque.
-        /// </summary>
         private void UpdateVisualState()
         {
-            if (SolenoidRect == null || SprayPolygon == null)
+            if (SolenoidRect == null || SprayPolygon == null || CenterLine == null)
                 return;
 
             var onBrush = (Brush)FindResource("CommandOnBrush");
             var offBrush = (Brush)FindResource("CommandOffBrush");
 
             SolenoidRect.Stroke = IsCommandOn ? onBrush : offBrush;
-
             SprayPolygon.Visibility = IsSpraying && OpeningAngle > 0 ? Visibility.Visible : Visibility.Collapsed;
             CenterLine.Visibility = IsSpraying ? Visibility.Visible : Visibility.Collapsed;
         }
 
-        /// <summary>
-        /// Recalcula geometria do leque e da linha central a partir do ângulo central e abertura.
-        /// </summary>
         private void UpdateGeometry()
         {
-            if (DrawCanvas == null || SprayPolygon == null || CenterLine == null)
+            if (DrawCanvas == null || SprayPolygon == null || CenterLine == null || SolenoidRect == null)
                 return;
 
             double width = DrawCanvas.ActualWidth;
             double height = DrawCanvas.ActualHeight;
-            if (width <= 0) width = 120;
-            if (height <= 0) height = 80;
 
-            // Origem do bico (ponto da solenoide)
+            if (width <= 0) width = 60;
+            if (height <= 0) height = 40;
+
             double originX = width / 2.0;
-            double originY = 10.0;       // um pouco abaixo do topo
+            double originY = 8.0;
 
-            double length = height - 10.0; // comprimento do jato até próximo do solo
+            double length = Math.Max(16.0, height - 10.0);
 
-            // Metade da abertura em radianos
             double halfAngleRad = OpeningAngle * 0.5 * Math.PI / 180.0;
-
-            // Deslocamento horizontal na base do leque
             double dx = Math.Tan(halfAngleRad) * length;
 
-            // Pontos em sistema local (0,0 = bico; y para baixo)
             Point apex = new Point(0, 0);
             Point leftLocal = new Point(-dx, length);
             Point rightLocal = new Point(dx, length);
             Point centerLocal = new Point(0, length);
 
-            // Rotação pelo ângulo central (em radianos).
             double theta = AnguloControle * Math.PI / 180.0;
             double cos = Math.Cos(theta);
             double sin = Math.Sin(theta);
 
-            Point Rot(Point p) => new Point(
+            Point Rotate(Point p) => new Point(
                 p.X * cos - p.Y * sin,
                 p.X * sin + p.Y * cos);
 
-            Point apexR = Rot(apex);
+            Point apexR = Rotate(apex);
-            Point leftR = Rot(leftLocal);
+            Point leftR = Rotate(leftLocal);
-            Point rightR = Rot(rightLocal);
+            Point rightR = Rotate(rightLocal);
-            Point centerR = Rot(centerLocal);
+            Point centerR = Rotate(centerLocal);
 
-            // Translada para as coordenadas do Canvas
             apexR.Offset(originX, originY);
             leftR.Offset(originX, originY);
             rightR.Offset(originX, originY);
             centerR.Offset(originX, originY);
 
-            // Atualiza Polygon do leque
+            SprayPolygon.Points = new PointCollection { leftR, apexR, rightR };
-            var pts = new PointCollection { leftR, apexR, rightR };
-            SprayPolygon.Points = pts;
 
-            // Atualiza linha central do jato
             CenterLine.X1 = apexR.X;
             CenterLine.Y1 = apexR.Y;
             CenterLine.X2 = centerR.X;
             CenterLine.Y2 = centerR.Y;
 
-            // Reposiciona a solenoide exatamente na origem
             Canvas.SetLeft(SolenoidRect, originX - SolenoidRect.Width / 2.0);
             Canvas.SetTop(SolenoidRect, originY - SolenoidRect.Height / 2.0);
+
+            UpdateVisualState();
         }
     }
 
@@ -239,5 +226,4 @@ namespace OperationControl.Controls.Pulverizador
         protected void OnPropertyChanged([CallerMemberName] string propName = null)
             => PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(propName));
     }
-
 }

AgroBase/OperationControl/Controls/Pulverizador/Converters.cs

@@ -1,101 +1,39 @@
 using System;
-using System.Collections.Generic;
 using System.Globalization;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows;
 using System.Windows.Data;
 
 namespace OperationControl.Controls.Pulverizador
 {
-    class Converters
+    public class BarraTopConverter : IMultiValueConverter
     {
-    }
+        public double MinAlturaCm { get; set; } = 50.0;
+        public double MaxAlturaCm { get; set; } = 80.0;
+        public double TopMinPx { get; set; } = 18.0;
+        public double TopMaxPx { get; set; } = 62.0;
 
-    public class AlturaBarraToMarginFisicaConverter : IValueConverter
-    {
-        public double GroundTop { get; set; } = 80.0; // Y do solo
-        public double Top80Px { get; set; } = 20.0; // Y da barra quando está a 80 cm
-        public double AlturaMaxCm { get; set; } = 80.0;
-        public double BarraOffset { get; set; } = 13.0;
-
-        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
-        {
-            if (value is double alturaCm)
-            {
-                alturaCm = Math.Clamp(alturaCm, 0, AlturaMaxCm);
-
-                double distanciaPx = GroundTop - Top80Px;       // px que representam 80 cm
-                double pxPorCm = distanciaPx / AlturaMaxCm; // regra de 3
-                double alturaPx = alturaCm * pxPorCm;
-
-                double yBarra = GroundTop - alturaPx;           // Y da barra na GRID
-
-                double marginTop = yBarra - BarraOffset;        // compensa o offset interno
-
-                return new Thickness(33, marginTop, 33, 0);
-            }
-
-            return new Thickness(33, 0, 33, 0);
-        }
-
-        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
-            => System.Windows.Data.Binding.DoNothing;
-    }
-
-    public class BicoPositionFisicaConverter : IMultiValueConverter
-    {
         public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
         {
-            if (values.Length < 5)
+            if (values.Length < 2)
-                return 0.0;
+                return new Thickness(0);
 
-            if (values[0] is not double barraWidth ||
+            if (values[0] is not double alturaCm || values[1] is not double areaHeight)
-                values[1] is not int index ||
+                return new Thickness(0);
-                values[2] is not int qtd ||
-                values[3] is not double distEntreBicosCm ||
-                values[4] is not double comprimentoBarraCm)
-            {
-                return 0.0;
-            }
 
-            if (qtd <= 0 || barraWidth <= 0 || comprimentoBarraCm <= 0)
+            if (MaxAlturaCm <= MinAlturaCm)
-                return 0.0;
+                return new Thickness(0);
 
-            // garante valores válidos
+            double extraOffset = 0.0;
-            distEntreBicosCm = Math.Max(0.0, distEntreBicosCm);
+            if (parameter != null)
+                double.TryParse(parameter.ToString(), NumberStyles.Any, CultureInfo.InvariantCulture, out extraOffset);
 
-            if (qtd == 1)
+            double h = Math.Max(MinAlturaCm, Math.Min(MaxAlturaCm, alturaCm));
-            {
+            double t = (h - MinAlturaCm) / (MaxAlturaCm - MinAlturaCm);
-                // 1 bico: centro da barra
-                return barraWidth / 2.0;
-            }
 
-            // span "ideal" em cm (do primeiro ao último bico)
+            double maxTop = Math.Min(TopMaxPx, Math.Max(TopMinPx, areaHeight - 20));
-            double spanIdealCm = (qtd - 1) * distEntreBicosCm;
+            double top = maxTop - (t * (maxTop - TopMinPx));
 
-            // Se o span ideal for maior que a barra física, comprimimos
+            return new Thickness(0, top + extraOffset, 0, 0);
-            double escala = 1.0;
-            if (spanIdealCm > comprimentoBarraCm && qtd > 1)
-            {
-                escala = comprimentoBarraCm / spanIdealCm;
-            }
-
-            double distEfetivaCm = distEntreBicosCm * escala;
-            double spanEfetivoCm = (qtd - 1) * distEfetivaCm;
-
-            // centraliza o conjunto de bicos na barra
-            double offsetCm = (comprimentoBarraCm - spanEfetivoCm) / 2.0;
-
-            // posição em cm do bico atual
-            double xCm = offsetCm + index * distEfetivaCm;
-
-            // regra de 3: cm → px
-            double pxPorCm = barraWidth / comprimentoBarraCm;
-            double xPx = xCm * pxPorCm;
-
-            return xPx;
         }
 
         public object[] ConvertBack(object value, Type[] targetTypes, object parameter, CultureInfo culture)
@@ -116,12 +54,11 @@ namespace OperationControl.Controls.Pulverizador
                 return 0.0;
             }
 
-            // px por cm na faixa do solo (usando comprimento da barra como referência física)
             double pxPorCm = totalWidth / comprimentoBarraCm;
             double widthPx = larguraRuaCm * pxPorCm;
 
-            // não deixa a rua ficar maior que a área disponível
+            if (widthPx > totalWidth)
-            if (widthPx > totalWidth) widthPx = totalWidth;
+                widthPx = totalWidth;
 
             return widthPx;
         }
@@ -134,7 +71,8 @@ namespace OperationControl.Controls.Pulverizador
     {
         public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
         {
-            if (values.Length < 4) return new Thickness(0);
+            if (values.Length < 4)
+                return new Thickness(0);
 
             if (values[0] is not double totalWidth ||
                 values[1] is not double erroLateralCm ||
@@ -150,19 +88,14 @@ namespace OperationControl.Controls.Pulverizador
 
             double center = totalWidth / 2.0;
 
-            // erro > 0 = robô desviado pra direita → rua aparece indo pra esquerda
+            // erro > 0 = robô está para a direita, então a rua aparece deslocando para a esquerda
             double roadCenter = center - erroLateralCm * pxPorCm;
-
             double left = roadCenter - widthPx / 2.0;
 
-            // SEM travas aqui: pode ser negativo ou maior que totalWidth
-            // o Grid com ClipToBounds cuida de cortar o desenho
-
             return new Thickness(left, 0, 0, 0);
         }
 
         public object[] ConvertBack(object value, Type[] targetTypes, object parameter, CultureInfo culture)
             => throw new NotImplementedException();
     }
-
 }

AgroBase/OperationControl/Controls/Pulverizador/PulverizadorIndicator.xaml

@@ -4,189 +4,250 @@
              xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
              xmlns:local="clr-namespace:OperationControl.Controls.Pulverizador"
-             mc:Ignorable="d" Width="458" Height="123">
+             xmlns:ctrl="clr-namespace:OperationControl.Controls"
-    <!-- ========= RECURSOS ========= -->
+             mc:Ignorable="d"
-    <UserControl.Resources>
+             MinWidth="420"
-        <local:BicoPositionFisicaConverter x:Key="BicoPositionFisicaConverter" />
+             MinHeight="150"
-        <local:AlturaBarraToMarginFisicaConverter x:Key="AlturaBarraToMarginFisicaConverter" GroundTop="80" Top80Px="7" AlturaMaxCm="80" />
+             d:DesignWidth="900"
-        <local:RuaWidthFisicaConverter x:Key="RuaWidthFisicaConverter" />
+             d:DesignHeight="180">
-        <local:RuaOffsetFisicaConverter x:Key="RuaOffsetFisicaConverter" />
 
-        <SolidColorBrush x:Key="BgBrush" Color="#FF101820"/>
+    <UserControl.Resources>
-        <SolidColorBrush x:Key="CardBrush" Color="#FF1C2530"/>
+        <local:BarraTopConverter x:Key="BarraTopConverter" MinAlturaCm="50" MaxAlturaCm="80" TopMinPx="18" TopMaxPx="62"/>
-        <SolidColorBrush x:Key="LineBrush" Color="#FFB0BAC8"/>
+
-        <SolidColorBrush x:Key="AccentBrush" Color="#FF00A8E8"/>
+        <local:RuaWidthFisicaConverter x:Key="RuaWidthFisicaConverter"/>
-        <SolidColorBrush x:Key="CommandBrush" Color="#FFE74C3C"/>
+        <local:RuaOffsetFisicaConverter x:Key="RuaOffsetFisicaConverter"/>
-        <SolidColorBrush x:Key="SprayBrush" Color="#FF00A8E8"/>
+
+        <SolidColorBrush x:Key="CardBrush" Color="#FF162437"/>
+        <SolidColorBrush x:Key="LineBrush" Color="#FFD4DBE5"/>
         <SolidColorBrush x:Key="TextPrimary" Color="#FFF5F7FA"/>
         <SolidColorBrush x:Key="TextSecondary" Color="#FFB0BAC8"/>
-
+        <SolidColorBrush x:Key="GroundBrush" Color="#AA8B0000"/>
-        <Style x:Key="Card" TargetType="Border">
+        <SolidColorBrush x:Key="CropBrush" Color="#5F6A36"/>
-            <Setter Property="CornerRadius" Value="8"/>
-            <Setter Property="Background" Value="{StaticResource CardBrush}"/>
-            <Setter Property="Padding" Value="8"/>
-            <Setter Property="Margin" Value="0"/>
-        </Style>
 
         <Style x:Key="SectionTitle" TargetType="TextBlock">
             <Setter Property="Foreground" Value="{StaticResource TextSecondary}"/>
-            <Setter Property="FontSize" Value="12"/>
+            <Setter Property="FontSize" Value="13"/>
+            <Setter Property="FontWeight" Value="SemiBold"/>
+        </Style>
+
+        <Style x:Key="InfoLabelStyle" TargetType="TextBlock">
+            <Setter Property="Foreground" Value="{StaticResource TextSecondary}"/>
+            <Setter Property="FontSize" Value="11"/>
+        </Style>
+
+        <Style x:Key="InfoValueStyle" TargetType="TextBlock">
+            <Setter Property="Foreground" Value="{StaticResource TextPrimary}"/>
+            <Setter Property="FontSize" Value="15"/>
             <Setter Property="FontWeight" Value="SemiBold"/>
-            <Setter Property="Margin" Value="0,0,0,6"/>
         </Style>
     </UserControl.Resources>
 
-    <!-- ========= LAYOUT ========= -->
+    <Border Background="{StaticResource CardBrush}" CornerRadius="12" Padding="12">
-    <Grid Background="Transparent" Margin="0" ClipToBounds="True">
-        <Grid.RowDefinitions>
-            <RowDefinition Height="*"/>
-            <!-- Vista de trás -->
-        </Grid.RowDefinitions>
-
-        <!-- ===================== VISTA TRASEIRA / LEQUES ===================== -->
-        <Border Grid.Row="1" Style="{StaticResource Card}">
         <Grid>
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="72"/>
+                <ColumnDefinition Width="*"/>
+                <ColumnDefinition Width="100"/>
+            </Grid.ColumnDefinitions>
+
+            <!-- ===================== ESQUERDA ===================== -->
+            <Grid Grid.Column="0" Margin="0,0,10,0">
                 <Grid.RowDefinitions>
-                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="24"/>
                     <RowDefinition Height="*"/>
+                    <RowDefinition Height="18"/>
                 </Grid.RowDefinitions>
 
-                <TextBlock Grid.Row="0" Text="" Style="{StaticResource SectionTitle}"/>
+                <TextBlock Grid.Row="0" Text="{Binding AlturaBarra, RelativeSource={RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}, StringFormat={}{0:F0} cm}" Foreground="{StaticResource TextPrimary}" FontSize="16" FontWeight="SemiBold" HorizontalAlignment="Center" VerticalAlignment="Center"/>
 
-                <Grid Grid.Row="1" Margin="10,0,10,-8">
+                <Grid Grid.Row="1" x:Name="AreaRegua" Margin="0,8,0,30">
-                    <!-- Cota de altura à esquerda -->
+                    <!-- Slider -->
-                    <Canvas Width="50" HorizontalAlignment="Left">
+                    <Slider Minimum="50"
-                        <TextBlock Foreground="{StaticResource TextSecondary}" FontSize="10" Canvas.Top="-15" Canvas.Left="1" HorizontalAlignment="Left" VerticalAlignment="Center" Text="{Binding AlturaBarra, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:F0} cm}" />
+                        Maximum="80"
-                        <Slider Minimum="50" Maximum="80" Value="{Binding AlturaBarra, RelativeSource={RelativeSource AncestorType=UserControl}, Mode=TwoWay}" Orientation="Vertical" Height="58" VerticalAlignment="Top" IsDirectionReversed="False" HorizontalAlignment="Center" Canvas.Left="5" />
+                        Value="{Binding AlturaBarra, RelativeSource={RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
-                    </Canvas>
+                        Orientation="Vertical"
+                        Width="30"
+                        HorizontalAlignment="Center"
+                        VerticalAlignment="Stretch"
+                        IsDirectionReversed="False"
+                        Margin="0,0,0,0"/>
 
-                    <!-- Bicos e leques (traseira) -->
-                    <Canvas x:Name="canvasPai">
-                        <Canvas.Margin>
-                            <Binding Path="AlturaBarra" RelativeSource="{RelativeSource AncestorType=UserControl}" Converter="{StaticResource AlturaBarraToMarginFisicaConverter}" />
-                        </Canvas.Margin>
                    
-                        <!-- Barra -->
+                </Grid>
-                        <Line x:Name="linhaBarra" X1="4" Y1="10" X2="250" Y2="10" Stroke="{StaticResource LineBrush}" StrokeThickness="4" StrokeStartLineCap="Round" StrokeEndLineCap="Round" HorizontalAlignment="Left" VerticalAlignment="Center" Height="20" Canvas.Left="50" Canvas.Top="5" Width="256" />
 
-                        <!-- Bicos dinâmicos -->
+                <Rectangle Grid.Row="2" Fill="Transparent"/>
-                        <ItemsControl ItemsSource="{Binding Bicos, RelativeSource={RelativeSource AncestorType=UserControl}}" AlternationCount="1000">
+            </Grid>
+
+            <!-- ===================== CENTRO ===================== -->
+            <Grid Grid.Column="1" Margin="0,0,10,0">
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="85"/>
+                    <RowDefinition Height="33"/>
+                </Grid.RowDefinitions>
+
+                <!-- área dos bicos -->
+                <Grid Grid.Row="0" x:Name="AreaTecnica">
+
+                    <Grid VerticalAlignment="Top">
+                        <Grid.Margin>
+                            <MultiBinding Converter="{StaticResource BarraTopConverter}" ConverterParameter="5">
+                                <Binding RelativeSource="{RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}" Path="AlturaBarra"/>
+                                <Binding ElementName="AreaTecnica" Path="ActualHeight"/>
+                            </MultiBinding>
+                        </Grid.Margin>
+
+                        <!-- barra -->
+                        <Border Height="5" Background="{StaticResource LineBrush}" CornerRadius="3" VerticalAlignment="Top"/>
+
+                        <!-- bicos -->
+                        <ItemsControl ItemsSource="{Binding Bicos, RelativeSource={RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}}" Margin="0,-35,0,0">
                             <ItemsControl.ItemsPanel>
                                 <ItemsPanelTemplate>
-                                    <Canvas />
+                                    <UniformGrid Rows="1" Columns="{Binding QtdBicos, RelativeSource={RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}}" />
                                 </ItemsPanelTemplate>
                             </ItemsControl.ItemsPanel>
 
-                            <!-- Define onde cada item fica no Canvas -->
                             <ItemsControl.ItemContainerStyle>
                                 <Style TargetType="ContentPresenter">
-                                    <Setter Property="Canvas.Top" Value="-27" />
+                                    <Setter Property="HorizontalAlignment" Value="Stretch"/>
-                                    <Setter Property="Canvas.Left">
+                                    <Setter Property="VerticalAlignment" Value="Top"/>
-                                        <Setter.Value>
-                                            <MultiBinding Converter="{StaticResource BicoPositionFisicaConverter}">
-                                                <!-- largura visível da barra em px -->
-                                                <Binding ElementName="linhaBarra" Path="ActualWidth" />
-                                                <!-- índice do bico (do modelo) -->
-                                                <Binding Path="Index" />
-                                                <!-- quantidade total de bicos -->
-                                                <Binding Path="QtdBicos" RelativeSource="{RelativeSource AncestorType=UserControl}" />
-                                                <!-- distância entre bicos em cm -->
-                                                <Binding Path="DistanciaEntreBicosCm" RelativeSource="{RelativeSource AncestorType=UserControl}" />
-                                                <!-- comprimento da barra em cm -->
-                                                <Binding Path="ComprimentoBarraCm" RelativeSource="{RelativeSource AncestorType=UserControl}" />
-                                            </MultiBinding>
-                                        </Setter.Value>
-                                    </Setter>
                                 </Style>
                             </ItemsControl.ItemContainerStyle>
 
-                            <!-- Como desenhar cada bico -->
                             <ItemsControl.ItemTemplate>
                                 <DataTemplate DataType="{x:Type local:BicoModel}">
-                                    <local:BicoLequeIndicator AnguloControle="{Binding AnguloControle}" OpeningAngle="{Binding OpeningAngle}" IsCommandOn="{Binding IsCommandOn}" IsSpraying="{Binding IsSpraying}" Vazao="{Binding Vazao}" TempoAtuado="{Binding TempoAtuado}" Atuacoes="{Binding Atuacoes}" />
+                                    <local:BicoLequeIndicator HorizontalAlignment="Stretch"
+                                              VerticalAlignment="Top"
+                                              Margin="2,0,2,0"
+                                              AnguloControle="{Binding AnguloControle}"
+                                              OpeningAngle="{Binding OpeningAngle}"
+                                              IsCommandOn="{Binding IsCommandOn}"
+                                              IsSpraying="{Binding IsSpraying}"
+                                              Vazao="{Binding Vazao}"
+                                              TempoAtuado="{Binding TempoAtuado}"
+                                              Atuacoes="{Binding Atuacoes}" />
                                 </DataTemplate>
                             </ItemsControl.ItemTemplate>
                         </ItemsControl>
-                    </Canvas>
+                    </Grid>
+                </Grid>
 
-                    <!-- Bomba Pressurizadora -->
+                <!-- solo -->
-                    <Canvas Width="50" HorizontalAlignment="Right" Margin="0,0,0,0">
+                <Grid Grid.Row="1" ClipToBounds="True" Margin="8,0,8,0">
-                        <!-- Título -->
+                    <Border Background="{StaticResource CropBrush}" CornerRadius="0,0,8,8"/>
-                        <TextBlock Text="Bomba" FontSize="10" Canvas.Top="-30" Canvas.Left="10" TextAlignment="Right" Width="50">
+
+                    <Border HorizontalAlignment="Left" Background="{StaticResource GroundBrush}" CornerRadius="0,0,8,8">
+                        <Border.Width>
+                            <MultiBinding Converter="{StaticResource RuaWidthFisicaConverter}">
+                                <Binding RelativeSource="{RelativeSource AncestorType=Grid}" Path="ActualWidth"/>
+                                <Binding RelativeSource="{RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}" Path="LarguraRuaCm"/>
+                                <Binding RelativeSource="{RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}" Path="ComprimentoBarraCm"/>
+                            </MultiBinding>
+                        </Border.Width>
+
+                        <Border.Margin>
+                            <MultiBinding Converter="{StaticResource RuaOffsetFisicaConverter}">
+                                <Binding RelativeSource="{RelativeSource AncestorType=Grid}" Path="ActualWidth"/>
+                                <Binding RelativeSource="{RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}" Path="ErroLateralCm"/>
+                                <Binding RelativeSource="{RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}" Path="LarguraRuaCm"/>
+                                <Binding RelativeSource="{RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}" Path="ComprimentoBarraCm"/>
+                            </MultiBinding>
+                        </Border.Margin>
+                    </Border>
+                </Grid>
+            </Grid>
+
+            <!-- ===================== DIREITA ===================== -->
+            <Grid Grid.Column="2">
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="10"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="28"/>
+                </Grid.RowDefinitions>
+
+                <TextBlock Grid.Row="0"
+                           Text="Bomba"
+                           HorizontalAlignment="Center"
+                           VerticalAlignment="Center">
                     <TextBlock.Style>
                         <Style TargetType="TextBlock" BasedOn="{StaticResource SectionTitle}">
-                                    <Setter Property="Foreground" Value="LightGray"/>
+                            <Setter Property="Foreground" Value="{StaticResource TextSecondary}"/>
-
                             <Style.Triggers>
-                                        <!-- Quando a bomba estiver ligada -->
+                                <DataTrigger Binding="{Binding IsBombaOn, RelativeSource={RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}}" Value="True">
-                                        <DataTrigger Binding="{Binding IsBombaOn, RelativeSource={RelativeSource AncestorType=UserControl}}" Value="True">
                                     <Setter Property="Foreground" Value="#4CD964"/>
                                 </DataTrigger>
-
-                                        <!-- Quando desligada -->
-                                        <DataTrigger Binding="{Binding IsBombaOn, RelativeSource={RelativeSource AncestorType=UserControl}}" Value="False">
-                                            <Setter Property="Foreground" Value="#FFB0BAC8"/>
-                                        </DataTrigger>
                             </Style.Triggers>
                         </Style>
                     </TextBlock.Style>
                 </TextBlock>
 
-                        <!-- Dados da bomba (pressão e tempo) -->
+                <Grid Grid.Row="1"
-                        <StackPanel Orientation="Vertical" Canvas.Left="10" Canvas.Top="-18" TextBlock.TextAlignment="Right">
+      VerticalAlignment="Center"
-                            <!-- Linha 1: pressão -->
+      Margin="0,2,0,2">
-                            <TextBlock Text="Pressão" Foreground="{StaticResource TextSecondary}" FontSize="10"/>
+                    <Grid.RowDefinitions>
-                            <TextBlock Text="{Binding PressaoLinha, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:F2} psi}" Foreground="{StaticResource TextPrimary}" FontSize="12" FontWeight="SemiBold" Margin="0,0,0,4"/>
+                        <RowDefinition Height="Auto"/>
+                        <RowDefinition Height="Auto"/>
+                        <RowDefinition Height="Auto"/>
+                    </Grid.RowDefinitions>
 
-                            <!-- Linha 2: tempo ligado -->
+                    <!-- Pressão -->
-                            <TextBlock Text="Tempo" Foreground="{StaticResource TextSecondary}" FontSize="10"/>
+                    <Grid Grid.Row="0" Margin="0,0,0,6">
-                            <TextBlock Text="{Binding TempoAtuado, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:F2} s}" Foreground="{StaticResource TextPrimary}" FontSize="12" FontWeight="SemiBold"  Margin="0,0,0,4"/>
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition Width="*"/>
+                            <ColumnDefinition Width="Auto"/>
+                        </Grid.ColumnDefinitions>
 
-                            <!-- Linha 3: vazao -->
+                        <TextBlock Text="Pressão"
-                            <TextBlock Text="Vazão" Foreground="{StaticResource TextSecondary}" FontSize="10"/>
+                   Style="{StaticResource InfoLabelStyle}"
-                            <TextBlock Text="{Binding VazaoInstantanea, RelativeSource={RelativeSource AncestorType=UserControl}, StringFormat={}{0:F2} mL/s}" Foreground="{StaticResource TextPrimary}" FontSize="12" FontWeight="SemiBold"/>
+                   VerticalAlignment="Center"/>
-                        </StackPanel>
-                    </Canvas>
 
-                    <!-- Solo + Rua -->
+                        <TextBlock Grid.Column="1"
-                    <Grid Height="13" VerticalAlignment="Top" Margin="-18,80,-18,0" ClipToBounds="True">
+                   Text="{Binding PressaoLinha, RelativeSource={RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}, StringFormat={}{0:F1} psi}"
-
+                   Foreground="{StaticResource TextPrimary}"
-                        <!-- Cana (fundo) -->
+                   FontSize="13"
-                        <Border Background="#5F6A36" CornerRadius="0,0,8,8"/>
+                   FontWeight="SemiBold"
-
+                   VerticalAlignment="Center"/>
-                        <!-- Rua (faixa vermelha que desliza) -->
-                        <Border Height="13" HorizontalAlignment="Left" Background="#AA8B0000" CornerRadius="0,0,8,8">
-
-                            <!-- Largura da rua em px -->
-                            <Border.Width>
-                                <MultiBinding Converter="{StaticResource RuaWidthFisicaConverter}">
-                                    <!-- largura em px da faixa do solo -->
-                                    <Binding RelativeSource="{RelativeSource AncestorType=Grid}" Path="ActualWidth"/>
-                                    <!-- largura da rua em cm -->
-                                    <Binding Path="LarguraRuaCm"/>
-                                    <!-- comprimento físico representado (cm) -->
-                                    <Binding Path="ComprimentoBarraCm"/>
-                                </MultiBinding>
-                            </Border.Width>
-
-                            <!-- Deslocamento lateral da rua -->
-                            <Border.Margin>
-                                <MultiBinding Converter="{StaticResource RuaOffsetFisicaConverter}">
-                                    <!-- largura em px -->
-                                    <Binding RelativeSource="{RelativeSource AncestorType=Grid}" Path="ActualWidth"/>
-                                    <!-- erro lateral em cm (0 centro, - esquerda, + direita) -->
-                                    <Binding Path="ErroLateralCm"/>
-                                    <!-- largura rua cm -->
-                                    <Binding Path="LarguraRuaCm"/>
-                                    <!-- comprimento barra cm (escala px/cm) -->
-                                    <Binding Path="ComprimentoBarraCm"/>
-                                </MultiBinding>
-                            </Border.Margin>
-                        </Border>
                     </Grid>
 
+                    <!-- Tempo -->
+                    <Grid Grid.Row="1" Margin="0,0,0,6">
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition Width="*"/>
+                            <ColumnDefinition Width="Auto"/>
+                        </Grid.ColumnDefinitions>
+
+                        <TextBlock Text="Tempo"
+                   Style="{StaticResource InfoLabelStyle}"
+                   VerticalAlignment="Center"/>
+
+                        <TextBlock Grid.Column="1"
+                   Text="{Binding TempoAtuado, RelativeSource={RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}, StringFormat={}{0:F1} s}"
+                   Foreground="{StaticResource TextPrimary}"
+                   FontSize="13"
+                   FontWeight="SemiBold"
+                   VerticalAlignment="Center"/>
+                    </Grid>
+
+                    <!-- Vazão -->
+                    <Grid Grid.Row="2">
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition Width="*"/>
+                            <ColumnDefinition Width="Auto"/>
+                        </Grid.ColumnDefinitions>
+
+                        <TextBlock Text="Vazão"
+                   Style="{StaticResource InfoLabelStyle}"
+                   VerticalAlignment="Center"/>
+
+                        <TextBlock Grid.Column="1"
+                   Text="{Binding VazaoInstantanea, RelativeSource={RelativeSource AncestorType={x:Type ctrl:PulverizadorIndicator}}, StringFormat={}{0:F1} mL/s}"
+                   Foreground="{StaticResource TextPrimary}"
+                   FontSize="13"
+                   FontWeight="SemiBold"
+                   VerticalAlignment="Center"/>
+                    </Grid>
+                </Grid>
             </Grid>
         </Grid>
     </Border>
-    </Grid>
 </UserControl>

AgroBase/OperationControl/Controls/Pulverizador/PulverizadorIndicator.xaml.cs

@@ -7,28 +7,22 @@ using UserControl = System.Windows.Controls.UserControl;
 
 namespace OperationControl.Controls
 {
-    /// <summary>
-    /// Interaction logic for PulverizadorIndicator.xaml
-    /// </summary>
     public partial class PulverizadorIndicator : UserControl
     {
         public PulverizadorIndicator()
         {
             InitializeComponent();
-
             RebuildBicos();
-            DataContext = this;
         }
 
-
         public double DistanciaEntreBicosCm
         {
             get => (double)GetValue(DistanciaEntreBicosCmProperty);
             set => SetValue(DistanciaEntreBicosCmProperty, value);
         }
 
-        public static readonly DependencyProperty DistanciaEntreBicosCmProperty = DependencyProperty.Register(nameof(DistanciaEntreBicosCm), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(50.0));
+        public static readonly DependencyProperty DistanciaEntreBicosCmProperty =
-
+            DependencyProperty.Register(nameof(DistanciaEntreBicosCm), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(50.0));
 
         public double ComprimentoBarraCm
         {
@@ -36,7 +30,8 @@ namespace OperationControl.Controls
             set => SetValue(ComprimentoBarraCmProperty, value);
         }
 
-        public static readonly DependencyProperty ComprimentoBarraCmProperty = DependencyProperty.Register(nameof(ComprimentoBarraCm), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(103.7));
+        public static readonly DependencyProperty ComprimentoBarraCmProperty =
+            DependencyProperty.Register(nameof(ComprimentoBarraCm), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(103.7));
 
         public double AlturaBarra
         {
@@ -44,7 +39,8 @@ namespace OperationControl.Controls
             set => SetValue(AlturaBarraProperty, value);
         }
 
-        public static readonly DependencyProperty AlturaBarraProperty = DependencyProperty.Register(nameof(AlturaBarra), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(50.0));
+        public static readonly DependencyProperty AlturaBarraProperty =
+            DependencyProperty.Register(nameof(AlturaBarra), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(50.0));
 
         public bool IsBombaOn
         {
@@ -52,7 +48,8 @@ namespace OperationControl.Controls
             set => SetValue(IsBombaOnProperty, value);
         }
 
-        public static readonly DependencyProperty IsBombaOnProperty = DependencyProperty.Register(nameof(IsBombaOn), typeof(bool), typeof(PulverizadorIndicator), new PropertyMetadata(false));
+        public static readonly DependencyProperty IsBombaOnProperty =
+            DependencyProperty.Register(nameof(IsBombaOn), typeof(bool), typeof(PulverizadorIndicator), new PropertyMetadata(false));
 
         public double PressaoLinha
         {
@@ -60,8 +57,8 @@ namespace OperationControl.Controls
             set => SetValue(PressaoLinhaProperty, value);
         }
 
-        public static readonly DependencyProperty PressaoLinhaProperty = DependencyProperty.Register(nameof(PressaoLinha), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(0.0));
+        public static readonly DependencyProperty PressaoLinhaProperty =
-
+            DependencyProperty.Register(nameof(PressaoLinha), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(0.0));
 
         public double TempoAtuado
         {
@@ -69,7 +66,8 @@ namespace OperationControl.Controls
             set => SetValue(TempoAtuadoProperty, value);
         }
 
-        public static readonly DependencyProperty TempoAtuadoProperty = DependencyProperty.Register(nameof(TempoAtuado), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(0.0));
+        public static readonly DependencyProperty TempoAtuadoProperty =
+            DependencyProperty.Register(nameof(TempoAtuado), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(0.0));
 
         public double VazaoInstantanea
         {
@@ -77,7 +75,8 @@ namespace OperationControl.Controls
             set => SetValue(VazaoInstantaneaProperty, value);
         }
 
-        public static readonly DependencyProperty VazaoInstantaneaProperty = DependencyProperty.Register(nameof(VazaoInstantanea), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(0.0));
+        public static readonly DependencyProperty VazaoInstantaneaProperty =
+            DependencyProperty.Register(nameof(VazaoInstantanea), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(0.0));
 
         public int QtdBicos
         {
@@ -85,7 +84,9 @@ namespace OperationControl.Controls
             set => SetValue(QtdBicosProperty, value);
         }
 
-        public static readonly DependencyProperty QtdBicosProperty = DependencyProperty.Register(nameof(QtdBicos), typeof(int), typeof(PulverizadorIndicator), new PropertyMetadata(VariaveisEquipamento.QuantidadeBicosPulverizadores, OnQtdBicosChanged));
+        public static readonly DependencyProperty QtdBicosProperty =
+            DependencyProperty.Register(nameof(QtdBicos), typeof(int), typeof(PulverizadorIndicator),
+                new PropertyMetadata(VariaveisEquipamento.QuantidadeBicosPulverizadores, OnQtdBicosChanged));
 
         public double LarguraRuaCm
         {
@@ -93,8 +94,8 @@ namespace OperationControl.Controls
             set => SetValue(LarguraRuaCmProperty, value);
         }
 
-        public static readonly DependencyProperty LarguraRuaCmProperty = DependencyProperty.Register(nameof(LarguraRuaCm), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(150.0));
+        public static readonly DependencyProperty LarguraRuaCmProperty =
-
+            DependencyProperty.Register(nameof(LarguraRuaCm), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(150.0));
 
         public double ErroLateralCm
         {
@@ -102,14 +103,14 @@ namespace OperationControl.Controls
             set => SetValue(ErroLateralCmProperty, value);
         }
 
-        public static readonly DependencyProperty ErroLateralCmProperty = DependencyProperty.Register(nameof(ErroLateralCm), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(0.0));
+        public static readonly DependencyProperty ErroLateralCmProperty =
-
+            DependencyProperty.Register(nameof(ErroLateralCm), typeof(double), typeof(PulverizadorIndicator), new PropertyMetadata(0.0));
 
         public ObservableCollection<BicoModel> Bicos { get; } = new();
 
         private static void OnQtdBicosChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
         {
-            var ctl = (PulverizadorIndicator)d;
+            if (d is PulverizadorIndicator ctl)
                 ctl.RebuildBicos();
         }
 
@@ -117,7 +118,9 @@ namespace OperationControl.Controls
         {
             Bicos.Clear();
 
-            for (int i = 0; i < QtdBicos; i++)
+            int quantidade = QtdBicos < 0 ? 0 : QtdBicos;
+
+            for (int i = 0; i < quantidade; i++)
             {
                 Bicos.Add(new BicoModel
                 {
@@ -132,10 +135,5 @@ namespace OperationControl.Controls
                 });
             }
         }
-
-
-
     }
-
-    
 }

AgroBase/OperationControl/Models/AppShell.cs

@@ -8,6 +8,8 @@ namespace OperationControl.Models
 {
     public class AppShell
     {
+        public static readonly bool Mock = true;
+
         private readonly System.Timers.Timer tmrComunicacao = new(1000) { AutoReset = true };
         private int tmrComunicacaoTicks = 0;
         private bool tmrComunicacaoTicking = false;
@@ -33,6 +35,93 @@ namespace OperationControl.Models
             Main = new MainWindow();
             Dock = new DockWindow();
             Dock.Show();
+
+            if (Mock)
+            {
+                Task.Run(async () =>
+                {
+                    await Task.Delay(1000);
+                    VariaveisControleOperacao.AdicionarNovoRoverNaRede("01", "192.168.1.100");
+                    VariaveisControleOperacao.RoversNaRede.FirstOrDefault().DadosLeitura = new AgroBase.Models.Operacoes.OperacaoParametrosDadosModel()
+                    {
+                        StatusRover = StatusModulo.Operante,
+                        Operacao = new AgroBase.Models.Operacoes.OperacaoParametrosDadosOperacaoModel()
+                        {
+                            Status = StatusOperacao.Parametrizando
+                        },
+                        Atuador = new AgroBase.Models.Operacoes.OperacaoParametrosDadosAtuadorModel()
+                        {
+                            Bombas = new List<AgroBase.Models.Operacoes.OperacaoParametrosDadosBombaModel>()
+                            {
+                                new AgroBase.Models.Operacoes.OperacaoParametrosDadosBombaModel()
+                                {
+                                    ComandoEstado = true,
+                                    LeituraEstado = true,
+                                    ID = "BOMBA",
+                                    ID_Num = 10,
+                                    Inicializado = true,
+                                    Potencia = 50,
+                                    TempoAtuado = 3000
+                                }
+                            },
+                            Bicos = new List<AgroBase.Models.Operacoes.OperacaoParametrosDadosBicoModel>()
+                            {
+                                new AgroBase.Models.Operacoes.OperacaoParametrosDadosBicoModel()
+                                {
+                                    AnguloAbertura = 30,
+                                    ComandoAngulo = 0,
+                                    ComandoEstado = true,
+                                    ID = "B01",
+                                    ID_Num = 1,
+                                    Inicializado = true,
+                                    LeituraAngulo = 0,
+                                    LeituraEstado = true,
+                                    Posicao = 1,
+                                    QtdAtuacoes = 5,
+                                    TempoAtuado = 300,
+                                    VazaoInstantaneaMLs = 15,
+                                    VazaoMediaMLs = 30, 
+                                    VolumeVazadoML = 325
+                                },
+                                new AgroBase.Models.Operacoes.OperacaoParametrosDadosBicoModel()
+                                {
+                                    AnguloAbertura = 30,
+                                    ComandoAngulo = 0,
+                                    ComandoEstado = true,
+                                    ID = "B02",
+                                    ID_Num = 2,
+                                    Inicializado = true,
+                                    LeituraAngulo = 0,
+                                    LeituraEstado = false,
+                                    Posicao = 1,
+                                    QtdAtuacoes = 5,
+                                    TempoAtuado = 300,
+                                    VazaoInstantaneaMLs = 15,
+                                    VazaoMediaMLs = 30,
+                                    VolumeVazadoML = 325
+                                },
+                                new AgroBase.Models.Operacoes.OperacaoParametrosDadosBicoModel()
+                                {
+                                    AnguloAbertura = 30,
+                                    ComandoAngulo = 0,
+                                    ComandoEstado = false,
+                                    ID = "B03",
+                                    ID_Num = 3,
+                                    Inicializado = true,
+                                    LeituraAngulo = 0,
+                                    LeituraEstado = true,
+                                    Posicao = 2,
+                                    QtdAtuacoes = 5,
+                                    TempoAtuado = 300,
+                                    VazaoInstantaneaMLs = 15,
+                                    VazaoMediaMLs = 30,
+                                    VolumeVazadoML = 325
+                                },
+                            }
+                        }
+                    };
+                });
+            }
         }
 
         private void tmrComunicacao_Elapsed()

AgroBase/OperationControl/Models/Variaveis.cs

@@ -168,7 +168,7 @@ namespace OperationControl.Models
 
                                 Application.Current.Dispatcher.BeginInvoke(new Action(() =>
                                 {
-                                    (((App)Application.Current).Shell.Dock?.DataContext as DockWindowViewModel)?.AtualizarDadosTela(rover);
+                                    ((App)Application.Current).Shell.Dock?._vm?.AtualizarDadosTela(rover);
                                 }));
                             }
                             catch (Exception ex)
@@ -237,7 +237,7 @@ namespace OperationControl.Models
                 }
                 foreach (var rover in rovers_atual)
                 {
-                    rover.Alive = (DateTime.Now - rover.UltimoContato).TotalSeconds < TempoRoverVivo;
+                    rover.Alive = AppShell.Mock || (DateTime.Now - rover.UltimoContato).TotalSeconds < TempoRoverVivo;
                     if (!rover.Alive)
                     {
                         //((App)Application.Current).Shell.Main?.MAP?.markers?.UpdateMarkerInfo(rover.RoverId, status: AgroBase.Models.Enums.StatusOperacao.Erro);

AgroBase/OperationControl/ViewModels/Views/ConfigConexao/ConfigConexaoViewModel.cs

@@ -221,8 +221,7 @@ namespace OperationControl.ViewModels
                 // string fix = GnssService.FixMode(); // "No Fix", "3D", "RTK Float", "RTK Fixed"
                 // double? hdop = GnssService.Hdop();
 
-                bool conectado = Variaveis.GpsService?.IsConnected ?? false; // <-- seu método real aqui
+                bool conectado = AppShell.Mock || (Variaveis.GpsService?.IsConnected ?? false);
-                conectado = true;
 
                 if (!conectado)
                 {

AgroBase/OperationControl/ViewModels/Views/Operacao/OperacaoBottomViewModel.cs

@@ -126,12 +126,6 @@ namespace OperationControl.ViewModels.Views.Operacao
             SelecionarAlerta(alerta);
         }
 
-        public void AtualizarListaAlertasRoverSelecionado(string rover_id)
-        {
-            var rover = VariaveisControleOperacao.RoversNaRede.FirstOrDefault(x => x.RoverId == rover_id);
-            if (rover == null) return;
-            var dados_leitura = rover?.DadosLeitura;
-            if (dados_leitura?.ModulosSaude == null) return;
 
         SeveridadeAlerta DeParaStatus(StatusModulo status, bool mandatorio)
         {
@@ -152,6 +146,13 @@ namespace OperationControl.ViewModels.Views.Operacao
             }
         }
 
+        public void AtualizarListaAlertasRoverSelecionado(string rover_id)
+        {
+            var rover = VariaveisControleOperacao.RoversNaRede.FirstOrDefault(x => x.RoverId == rover_id);
+            if (rover == null) return;
+            var dados_leitura = rover?.DadosLeitura;
+            if (dados_leitura?.ModulosSaude == null) return;
+
             foreach (var mod in dados_leitura.ModulosSaude)
             {
                 if (mod.saude_individual.Any())
@@ -182,5 +183,112 @@ namespace OperationControl.ViewModels.Views.Operacao
             }
         }
 
+        public void AtualizarListaAlertasTodosRovers()
+        {
+            App.Current.Dispatcher.BeginInvoke(new Action(() =>
+            {
+                var alertasEsperados = new List<AlertaModel>();
+
+                foreach (var rover in VariaveisControleOperacao.RoversNaRede)
+                {
+                    var dadosLeitura = rover?.DadosLeitura;
+                    if (dadosLeitura?.ModulosSaude == null)
+                        continue;
+
+                    foreach (var mod in dadosLeitura.ModulosSaude)
+                    {
+                        if (mod.saude_individual != null && mod.saude_individual.Any())
+                        {
+                            foreach (var ind in mod.saude_individual)
+                            {
+                                if (ind.status == StatusModulo.Operante)
+                                    continue;
+
+                                alertasEsperados.Add(new AlertaModel
+                                {
+                                    Rover_ID = rover.RoverId,
+                                    Modulo = mod.modulo,
+                                    Mod_ID = ind.label,
+                                    Severidade = DeParaStatus(ind.status, ind.em_uso),
+                                    Mensagem = string.Join(", ", ind.motivos ?? new List<string>()),
+                                    Timestamp = DateTime.Now
+                                });
+                            }
+                        }
+                        else
+                        {
+                            if (mod.status == StatusModulo.Operante)
+                                continue;
+
+                            bool mandatorio = rover.ModulosMandatorios?.Any(x =>
+                                x.Dispositivo == mod.modulo && x.Mandatorio) ?? false;
+
+                            alertasEsperados.Add(new AlertaModel
+                            {
+                                Rover_ID = rover.RoverId,
+                                Modulo = mod.modulo,
+                                Mod_ID = null,
+                                Severidade = DeParaStatus(mod.status, mandatorio),
+                                Mensagem = string.Join(", ", mod.motivos ?? new List<string>()),
+                                Timestamp = DateTime.Now
+                            });
+                        }
+                    }
+                }
+
+                string GerarChave(string roverId, T_Code modulo, string? modId)
+                    => $"{roverId}|{modulo}|{modId ?? ""}";
+
+                var mapaEsperado = alertasEsperados.ToDictionary(
+                    x => GerarChave(x.Rover_ID, x.Modulo, x.Mod_ID),
+                    x => x);
+
+                var alertasAtuais = AlertasAtivos.ToList();
+
+                // Remove os alertas que não deveriam mais existir
+                foreach (var atual in alertasAtuais)
+                {
+                    var chave = GerarChave(atual.Rover_ID, atual.Modulo, atual.Mod_ID);
+                    if (!mapaEsperado.ContainsKey(chave))
+                    {
+                        AlertasAtivos.Remove(atual);
+
+                        if (ToastAlerta == atual)
+                            LimparToast();
+                    }
+                }
+
+                // Adiciona ou atualiza os alertas esperados
+                foreach (var esperado in alertasEsperados)
+                {
+                    var existente = AlertasAtivos.FirstOrDefault(x =>
+                        x.Rover_ID == esperado.Rover_ID &&
+                        x.Modulo == esperado.Modulo &&
+                        x.Mod_ID == esperado.Mod_ID);
+
+                    if (existente == null)
+                    {
+                        AlertasAtivos.Add(esperado);
+                        MostrarToast(esperado);
+                    }
+                    else
+                    {
+                        bool mudou =
+                            existente.Mensagem != esperado.Mensagem ||
+                            existente.Severidade != esperado.Severidade;
+
+                        existente.Mensagem = esperado.Mensagem;
+                        existente.Severidade = esperado.Severidade;
+
+                        if (mudou)
+                        {
+                            existente.Timestamp = DateTime.Now;
+                            MostrarToast(existente);
+                        }
+                    }
+                }
+            }));
+        }
+
     }
 }

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

@@ -93,6 +93,8 @@ namespace OperationControl.ViewModels
         }
 
         public void AtualizarDados(GPSModel dados)
+        {
+            System.Windows.Application.Current.Dispatcher.Invoke(() =>
             {
                 LatitudeTexto = dados.Latitude.ToString("F6");
                 LongitudeTexto = dados.Longitude.ToString("F6");
@@ -104,6 +106,7 @@ namespace OperationControl.ViewModels
                 IdadeCorrecaoTexto = $"{dados.IdadeCorrecao:F1} s";
 
                 AtualizarCorFix(dados.QualidadeFix);
+            });
         }
 
         private void AtualizarCorFix(TiposCorrecaoGPS fix)

AgroBase/OperationControl/ViewModels/Windows/DockWindowViewModel.cs

@@ -9,6 +9,7 @@ using AgroBase.Models.Operacoes;
 using Newtonsoft.Json.Linq;
 using OperationControl.ViewModels.Views.Operacao;
 using OperationControl.Controls;
+using static OpenTK.Graphics.OpenGL.GL;
 
 namespace OperationControl.ViewModels
 {
@@ -136,7 +137,7 @@ namespace OperationControl.ViewModels
             }
         }
 
-        private bool _baseFixada;
+        private bool _baseFixada = AppShell.Mock;
         public bool BaseFixada
         {
             get => _baseFixada;
@@ -343,10 +344,8 @@ namespace OperationControl.ViewModels
                     CenterContent = _viewOperacaoCenter;
                     RightContent = _viewOperacaoRight;
                     BottomContent = _viewOperacaoBottom;
-                    CriarMarcadorBase(_viewOperacaoCenter?.MapaOperacao);
+                    CriarMarcadorBase(_viewOperacaoCenter?.Mapa);
-
+                    AtualizarDadosMapa(null);
-                    if (!string.IsNullOrWhiteSpace(_ultimoMapaCarregado))
-                        _viewOperacaoCenter?.MapaOperacao?.LoadMapFile(_ultimoMapaCarregado);
                     break;
             }
 
@@ -371,25 +370,18 @@ namespace OperationControl.ViewModels
                 AtualizarProgressoFixacaoBase(bf.Progresso, bf.ProgressoStr);
                 if (bf.Progresso >= 100) FinalizarFixacaoBase(true, bf.ProgressoStr);
             }
-            switch (CurrentStep)
+            MapViewControl? Mapa = CurrentStep == DockStep.PreparacaoMapa ? _viewPreparacaoMapa?.MapaPreparacao : CurrentStep == DockStep.ParametrizacaoRover ? _viewOperacaoCenter?.Mapa : null;
-            {
+            if (CurrentStep == DockStep.PreparacaoMapa)
-                case DockStep.PreparacaoMapa:
-                    System.Windows.Application.Current.Dispatcher.Invoke(() =>
             {
                 _viewPreparacaoMapaTop?._vm?.AtualizarDados(dados);
-                        _viewPreparacaoMapa?.MapaPreparacao?.markers?.UpdateMarkerPosition(VariaveisControleOperacao.BaseMarkerID, lat: dados?.Latitude, lon: dados?.Longitude, heading: dados?.OrientacaoReal);
-                    });
-                    break;
-
-                case DockStep.ParametrizacaoRover:
-                    _viewOperacaoCenter?.MapaOperacao?.markers?.UpdateMarkerPosition(VariaveisControleOperacao.BaseMarkerID, lat: dados?.Latitude, lon: dados?.Longitude, heading: dados?.OrientacaoReal);
-                    break;
             }
+            Mapa?.markers?.UpdateMarkerPosition(VariaveisControleOperacao.BaseMarkerID, lat: dados?.Latitude, lon: dados?.Longitude, heading: dados?.OrientacaoReal);
         }
 
-        public void AtualizarDadosMapa(OperacaoParametrosModel dados)
+        public void AtualizarDadosMapa(OperacaoParametrosModel? dados)
         {
-            _viewOperacaoCenter?.MapaOperacao?.CarregarDadosMapa(dados?.Mapa, dados?.RuasPercorrer);
+            _viewOperacaoCenter?.Mapa?.LoadMapFile(_ultimoMapaCarregado);
+            _viewOperacaoCenter?.Mapa?.CarregarDadosMapa(dados?.Mapa, dados?.RuasPercorrer);
         }
 
         #region TELA 2
@@ -500,6 +492,131 @@ namespace OperationControl.ViewModels
         #endregion
 
         #region TELA 3
+        public void AtualizarListaRovers(List<OperacaoParametrosModel> rovers_atual)
+        {
+            var cards = rovers_atual.Select(x => new RoverCardModel()
+            {
+                EquipamentoId = x.IP,
+                NumeroSerie = x.RoverId,
+                Status = x.DadosLeitura?.StatusRover ?? AgroBase.Models.Enums.StatusModulo.Desconectado
+            }).ToArray();
+
+            _viewOperacaoRight?._vm?.AtualizarListaRovers(cards);
+
+            foreach (var rover in cards)
+            {
+                if (!_viewOperacaoCenter?.Mapa?.markers?.Added(rover.NumeroSerie) ?? false)
+                {
+                    var roverDados = VariaveisControleOperacao.RoversNaRede.FirstOrDefault(x => x.RoverId == rover.NumeroSerie);
+                    if (roverDados != null)
+                    {
+                        _viewOperacaoCenter?.Mapa?.markers?.AddMarker(
+                            rover.NumeroSerie,
+                            false,
+                            lat: roverDados.DadosLeitura?.Gnss?.Latitude ?? 0,
+                            lon: roverDados.DadosLeitura?.Gnss?.Longitude ?? 0,
+                            heading: roverDados.DadosLeitura?.Gnss?.OrientacaoReal ?? 0
+                        );
+                    }
+                }
+            }
+        }
+
+        public void AtualizarDadosTela(OperacaoParametrosModel rover)
+        {
+            if (rover == null) return;
+            var obj = rover.DadosLeitura;
+            if (obj == null) return;
+
+            var simulacao = obj.Controle?.SimulacaoMPC?.Select(x => new double[] { x.longitude, x.latitude })?.ToList();
+            _viewOperacaoCenter?.Mapa?.markers.UpdateMarkerPosition(rover.RoverId, lat: obj.Gnss?.Latitude, lon: obj.Gnss?.Longitude, heading: obj.Gnss?.OrientacaoReal, predict: simulacao);
+            _viewOperacaoCenter?.Mapa?.markers.UpdateMarkerInfo(rover.RoverId, status: obj.Operacao?.Status ?? AgroBase.Models.Enums.StatusOperacao.NaoIniciado);
+
+            //_viewOperacaoBottom?._vm?.AtualizarListaAlertasRoverSelecionado(rover.RoverId);
+            _viewOperacaoBottom?._vm?.AtualizarListaAlertasTodosRovers();
+
+            if (rover.RoverId != VariaveisControleOperacao.SelectedRoverId) return;
+
+            var conexao = obj.ModulosSaude?.FirstOrDefault(x => x.modulo == AgroBase.Models.Enums.T_Code.Ipb);
+            double c = conexao?.saude ?? 0;
+            double conexao_latencia = conexao?.detalhes?["avg_rtt"]?.Value<double>() ?? 0.0;
+            double conexao_perda = conexao?.detalhes?["loss_pct"]?.Value<double>() ?? 0.0;
+            double bwTot = conexao?.detalhes?["bw_total_mbps"]?.Value<double>() ?? 0;
+            string comunicacao = $"{conexao_latencia:0.00} ms {bwTot:0.00} Mbps";
+            string comunicacao_extended = $"{conexao_latencia:0.00} ms {conexao_perda:F2}% {bwTot:0.00} Mbps";
+
+            _viewOperacaoLeft?._vm?.AtualizarRover(
+                rover?.Descricao ?? "",
+                obj.Controle?.PercentualVelocidadeSPKmh ?? 0,
+                obj.Controle?.Angulo ?? 0,
+                obj.Controle?.TipoMovimento ?? AgroBase.Models.Enums.TipoMovimentoDirecional.Diagnostico,
+                obj.Refrigeracao?.Temperatura ?? 0,
+                obj.Bateria?.PercentualBateria ?? 0,
+                obj.Atuador?.PercentualReservatorio ?? 0,
+                $"{c}%",
+                $"{obj.Gnss?.QualidadeFix ?? AgroBase.Models.Enums.TiposCorrecaoGPS.SemCorrecao} {obj.Gnss?.PrecisaoCm:F2} cm"
+            );
+
+            _viewOperacaoRight?._vm?.AtualizarResumo(r =>
+            {
+                r.Operacao = (obj.Operacao?.Liberada ?? false) ? "🔓 Liberada" : "🔒 Bloqueada";
+                r.Modo = obj.Operacao == null ? "-" : obj.Operacao.Modo.ToString();
+                r.Status = obj.Operacao == null ? "-" : $"{obj.Operacao.Status}" + (obj.Operacao.Status == AgroBase.Models.Enums.StatusOperacao.Aguardando ? $" ({obj.Operacao.TempoAguardandoSegs:0}s)" : "");
+                r.Carro = obj.Trajetoria == null ? "-" : obj.Trajetoria.StatusCarro.ToString();
+                r.Temperatura = $"{(obj.PerformanceNcp?.CPU_temp ?? 0):0.00} °C";
+                r.RuaAtual = obj.Trajetoria == null ? "-" : $"{obj.Trajetoria.CorredorAtualDistanciaPercorrida:0.00} m / " + $"{obj.Trajetoria.CorredorAtualDistanciaTotal:0.00} m " + $"({obj.Trajetoria.CorredorAtualIdx + 1})";
+                r.AreaTotal = obj.Trajetoria == null ? "-" : $"{obj.Trajetoria.DistanciaPercorrida:0.00} m / " + $"{obj.Trajetoria.DistanciaTotal:0.00} m";
+                r.Bateria = obj.Bateria == null ? "-" : $"{obj.Bateria.TensaoInstantanea:0.00} V " + $"({TimeSpan.FromMinutes(obj.Bateria.TempoEstimadoRestanteMinutos):dd\\.hh\\:mm\\:ss} " + $"{obj.Bateria.DistanciaEstimadaRestanteMetros:0.00} m)";
+                r.Herbicida = obj.Atuador == null ? "-" : $"{obj.Atuador.VolumeReservatorioL:0.00} L " + $"({TimeSpan.FromMinutes(obj.Atuador.TempoEstimadoRestanteMinutos):hh\\:mm\\:ss} " + $"{obj.Atuador.DistanciaEstimadaRestanteMetros:0.00} m)";
+                r.Infestacao = obj.Atuador == null ? "-" : $"{obj.Atuador.HerbicidaPorAtuacaoMl:0.00} mL/atuação";
+                r.Conexao = comunicacao == null ? "-" : $"{comunicacao}";
+                r.Duracao = obj.Operacao == null ? "00:00:00 / 00:00:00" : $"{TimeSpan.FromSeconds(obj.Operacao.TempoDecorridoSegs):hh\\:mm\\:ss} / " + $"{(string.IsNullOrWhiteSpace(obj.Trajetoria?.TempoEstimadoOperacao) ? "00:00:00" : obj.Trajetoria.TempoEstimadoOperacao)}";
+
+                // Opcionais para progress bars, caso queira evoluir o resumo
+                r.RuaAtualPercentual = obj.Trajetoria?.PercentualRuaAtual ?? 0;
+                r.AreaTotalPercentual = obj.Trajetoria?.PercentualOperacao ?? 0;
+                r.BateriaPercentual = obj.Bateria?.PercentualBateria ?? 0;
+                r.HerbicidaPercentual = obj.Atuador?.PercentualReservatorio ?? 0;
+                r.InfestacaoPercentual = obj.Atuador?.PercentualErvasTerreno ?? 0;
+            });
+
+            _viewOperacaoCenter?.Diagnostico?._vm?.AtualizarDados(rover);
+            _viewOperacaoCenter?.Diagnostico?.AtualizarGraficos();
+
+            var bomba = obj.Atuador?.Bombas?.FirstOrDefault();
+            var ATU = _viewOperacaoCenter.Monitoramento.Pulverizador;
+            ATU.ComprimentoBarraCm = AgroBase.Models.VariaveisEquipamento.ComprimentoBarraPulverizadoraCm;
+            ATU.DistanciaEntreBicosCm = AgroBase.Models.VariaveisEquipamento.DistanciaEntreBicosCm;
+            ATU.AlturaBarra = obj?.Controle?.AlturaBarra ?? AgroBase.Models.VariaveisEquipamento.AlturaBarraPulverizadoraCm;
+            ATU.IsBombaOn = bomba?.LeituraEstado ?? false;
+            ATU.PressaoLinha = obj?.Atuador?.PressaoLinhaPsi ?? 0;
+            ATU.VazaoInstantanea = obj?.Atuador?.VazaoInstantaneaMLs ?? 0;
+            ATU.TempoAtuado = (bomba?.TempoAtuado ?? 0) / 1000.0;
+
+            double erroLateral = ((obj?.Trajetoria?.DistanciaEsquerda ?? 0) - (obj?.Trajetoria?.DistanciaDireita ?? 0)) / 2.0 * 100.0;
+            ATU.LarguraRuaCm = 100.0;
+            ATU.ErroLateralCm = erroLateral;
+
+            if (ATU.QtdBicos != obj?.Atuador?.Bicos?.Count)
+            {
+                ATU.QtdBicos = obj?.Atuador?.Bicos?.Count ?? AgroBase.Models.VariaveisEquipamento.QuantidadeBicosPulverizadores;
+            }
+
+            foreach (var bico in ATU.Bicos)
+            {
+                var _bc = obj?.Atuador?.Bicos?.FirstOrDefault(x => (x.Posicao - 1) == bico.Index);
+                if (_bc == null) continue;
+
+                bico.OpeningAngle = _bc.AnguloAbertura;
+                bico.AnguloControle = _bc.ComandoAngulo;
+                bico.IsCommandOn = _bc.ComandoEstado;
+                bico.IsSpraying = _bc.LeituraEstado;
+                bico.Vazao = _bc.VazaoInstantaneaMLs;
+                bico.Atuacoes = _bc.QtdAtuacoes;
+                bico.TempoAtuado = _bc.TempoAtuado / 1000.0;
+            }
+        }
+
 
         public void AtualizarTopOperacaoBase()
         {
@@ -558,117 +675,12 @@ namespace OperationControl.ViewModels
         }
 
 
-        public void AtualizarListaRovers(List<OperacaoParametrosModel> rovers_atual)
-        {
-            var cards = rovers_atual.Select(x => new RoverCardModel()
-            {
-                EquipamentoId = x.IP,
-                NumeroSerie = x.RoverId,
-                Status = x.DadosLeitura?.StatusRover ?? AgroBase.Models.Enums.StatusModulo.Desconectado
-            }).ToArray();
         
-            _viewOperacaoRight?._vm?.AtualizarListaRovers(cards);
-
-            foreach (var rover in cards)
-            {
-                if (!_viewOperacaoCenter?.MapaOperacao?.markers?.Added(rover.NumeroSerie) ?? false)
-                {
-                    if (rover.NumeroSerie == VariaveisControleOperacao.BaseMarkerID)
-                    {
-                        _viewOperacaoCenter?.MapaOperacao?.markers?.AddMarker(
-                            rover.NumeroSerie,
-                            true,
-                            lat: Variaveis.GpsService?.UltimaLeitura?.Latitude ?? 0,
-                            lon: Variaveis.GpsService?.UltimaLeitura?.Longitude ?? 0,
-                            heading: Variaveis.GpsService?.UltimaLeitura?.OrientacaoReal ?? 0,
-                            label: "Base"
-                        );
-                    }
-                    else
-                    {
-                        var roverDados = VariaveisControleOperacao.RoversNaRede.FirstOrDefault(x => x.RoverId == rover.NumeroSerie);
-                        if (roverDados != null)
-                        {
-                            _viewOperacaoCenter?.MapaOperacao?.markers?.AddMarker(
-                                rover.NumeroSerie,
-                                false,
-                                lat: roverDados.DadosLeitura?.Gnss?.Latitude ?? 0,
-                                lon: roverDados.DadosLeitura?.Gnss?.Longitude ?? 0,
-                                heading: roverDados.DadosLeitura?.Gnss?.OrientacaoReal ?? 0
-                            );
-                        }
-                    }
-                }
-            }
-        }
-
-        public void AtualizarDadosTela(OperacaoParametrosModel rover)
-        {
-            if (rover == null) return;
-            var obj = rover.DadosLeitura;
-            if (obj == null) return;
-
-            var simulacao = obj.Controle?.SimulacaoMPC?.Select(x => new double[] { x.longitude, x.latitude })?.ToList();
-            _viewOperacaoCenter?.MapaOperacao?.markers.UpdateMarkerPosition(rover.RoverId, lat: obj.Gnss?.Latitude, lon: obj.Gnss?.Longitude, heading: obj.Gnss?.OrientacaoReal, predict: simulacao);
-            _viewOperacaoCenter?.MapaOperacao?.markers.UpdateMarkerInfo(rover.RoverId, status: obj.Operacao?.Status ?? AgroBase.Models.Enums.StatusOperacao.NaoIniciado);
-
-            _viewOperacaoBottom?._vm?.AtualizarListaAlertasRoverSelecionado(rover.RoverId);
-
-            if (rover.RoverId == VariaveisControleOperacao.SelectedRoverId)
-            {
-                var conexao = obj.ModulosSaude?.FirstOrDefault(x => x.modulo == AgroBase.Models.Enums.T_Code.Ipb);
-                double c = conexao?.saude ?? 0;
-                double conexao_latencia = conexao?.detalhes?["avg_rtt"]?.Value<double>() ?? 0.0;
-                double conexao_perda = conexao?.detalhes?["loss_pct"]?.Value<double>() ?? 0.0;
-                double bwTot = conexao?.detalhes?["bw_total_mbps"]?.Value<double>() ?? 0;
-                string comunicacao = $"{conexao_latencia:0.00} ms {bwTot:0.00} Mbps";
-                string comunicacao_extended = $"{conexao_latencia:0.00} ms {conexao_perda:F2}% {bwTot:0.00} Mbps";
-
-                _viewOperacaoLeft?._vm?.AtualizarRover(
-                    rover?.Descricao ?? "",
-                    obj.Controle?.PercentualVelocidadeSPKmh ?? 0,
-                    obj.Controle?.Angulo ?? 0,
-                    obj.Controle?.TipoMovimento ?? AgroBase.Models.Enums.TipoMovimentoDirecional.Diagnostico,
-                    obj.Refrigeracao?.Temperatura ?? 0,
-                    obj.Bateria?.PercentualBateria ?? 0,
-                    obj.Atuador?.PercentualReservatorio ?? 0,
-                    $"{c}%",
-                    $"{obj.Gnss?.QualidadeFix ?? AgroBase.Models.Enums.TiposCorrecaoGPS.SemCorrecao} {obj.Gnss?.PrecisaoCm:F2} cm"
-                );
-
-                _viewOperacaoRight?._vm?.AtualizarResumo(r =>
-                {
-                    r.Operacao = (obj.Operacao?.Liberada ?? false) ? "🔓 Liberada" : "🔒 Bloqueada";
-                    r.Modo = obj.Operacao == null ? "-" : obj.Operacao.Modo.ToString();
-                    r.Status = obj.Operacao == null ? "-" : $"{obj.Operacao.Status}" + (obj.Operacao.Status == AgroBase.Models.Enums.StatusOperacao.Aguardando ? $" ({obj.Operacao.TempoAguardandoSegs:0}s)" : "");
-                    r.Carro = obj.Trajetoria == null ? "-" : obj.Trajetoria.StatusCarro.ToString();
-                    r.Temperatura = $"{(obj.PerformanceNcp?.CPU_temp ?? 0):0.00} °C";
-                    r.RuaAtual = obj.Trajetoria == null ? "-" : $"{obj.Trajetoria.CorredorAtualDistanciaPercorrida:0.00} m / " + $"{obj.Trajetoria.CorredorAtualDistanciaTotal:0.00} m " + $"({obj.Trajetoria.CorredorAtualIdx + 1})";
-                    r.AreaTotal = obj.Trajetoria == null ? "-" : $"{obj.Trajetoria.DistanciaPercorrida:0.00} m / " + $"{obj.Trajetoria.DistanciaTotal:0.00} m";
-                    r.Bateria = obj.Bateria == null ? "-" : $"{obj.Bateria.TensaoInstantanea:0.00} V " + $"({TimeSpan.FromMinutes(obj.Bateria.TempoEstimadoRestanteMinutos):dd\\.hh\\:mm\\:ss} " + $"{obj.Bateria.DistanciaEstimadaRestanteMetros:0.00} m)";
-                    r.Herbicida = obj.Atuador == null ? "-" : $"{obj.Atuador.VolumeReservatorioL:0.00} L " + $"({TimeSpan.FromMinutes(obj.Atuador.TempoEstimadoRestanteMinutos):hh\\:mm\\:ss} " + $"{obj.Atuador.DistanciaEstimadaRestanteMetros:0.00} m)";
-                    r.Infestacao = obj.Atuador == null ? "-" : $"{obj.Atuador.HerbicidaPorAtuacaoMl:0.00} mL/atuação";
-                    r.Conexao = comunicacao == null ? "-" : $"{comunicacao}";
-                    r.Duracao = obj.Operacao == null ? "00:00:00 / 00:00:00" : $"{TimeSpan.FromSeconds(obj.Operacao.TempoDecorridoSegs):hh\\:mm\\:ss} / " + $"{(string.IsNullOrWhiteSpace(obj.Trajetoria?.TempoEstimadoOperacao) ? "00:00:00" : obj.Trajetoria.TempoEstimadoOperacao)}";
-
-                    // Opcionais para progress bars, caso queira evoluir o resumo
-                    r.RuaAtualPercentual = obj.Trajetoria?.PercentualRuaAtual ?? 0;
-                    r.AreaTotalPercentual = obj.Trajetoria?.PercentualOperacao ?? 0;
-                    r.BateriaPercentual = obj.Bateria?.PercentualBateria ?? 0;
-                    r.HerbicidaPercentual = obj.Atuador?.PercentualReservatorio ?? 0;
-                    r.InfestacaoPercentual = obj.Atuador?.PercentualErvasTerreno ?? 0;
-                });
-
-                _viewOperacaoCenter?.Diagnostico?._vm?.AtualizarDados(rover);
-                _viewOperacaoCenter?.Diagnostico?.AtualizarGraficos();
-            }
-        }
         
         private void OnRoverSelecionadoChanged(string roverId)
         {
             _viewOperacaoRight?._vm?.DestacarRoverNoMapa(roverId);
         }
-
         private void OnRoverSelecionadoChanged(RoverCardModel rover)
         {
             bool dados_base = rover == null;
@@ -683,7 +695,7 @@ namespace OperationControl.ViewModels
                 VariaveisControleOperacao.RoverEmFoco?.RuasPercorrer?.Clear();
                 AtualizarDadosMapa(VariaveisControleOperacao.RoverEmFoco);
                 VariaveisControleOperacao.SelectedRoverId = VariaveisControleOperacao.BaseMarkerID;
-                _viewOperacaoCenter?.MapaOperacao?.markers?.SetMarkerFocused(VariaveisControleOperacao.SelectedRoverId, true);
+                _viewOperacaoCenter?.Mapa?.markers?.SetMarkerFocused(VariaveisControleOperacao.SelectedRoverId, true);
 
                 _viewOperacaoCenter?._vm?.SelecionarRoverLista(rover);
 
@@ -693,7 +705,7 @@ namespace OperationControl.ViewModels
             else
             {
                 VariaveisControleOperacao.SelectedRoverId = rover.NumeroSerie.ToString();
-                _viewOperacaoCenter?.MapaOperacao?.markers?.SetMarkerFocused(VariaveisControleOperacao.SelectedRoverId, true);
+                _viewOperacaoCenter?.Mapa?.markers?.SetMarkerFocused(VariaveisControleOperacao.SelectedRoverId, true);
                 AtualizarDadosTela(VariaveisControleOperacao.RoverEmFoco);
 
                 VariaveisControleOperacao.RequisitarParametrosOperacao();
@@ -703,12 +715,15 @@ namespace OperationControl.ViewModels
 
                 _viewOperacaoCenter?._vm?.SelecionarRoverLista(rover);
 
+                AtualizarDadosMapa(VariaveisControleOperacao.RoverEmFoco);
+
                 AtualizarTopOperacaoRover(VariaveisControleOperacao.SelectedRoverId, ModoOperacaoAtual == ModoOperacao.Manual);
             }
         }
         private void OnSecaoSelecionadaChanged(SecaoRightBar secao)
         {
             _viewOperacaoCenter?._vm?.DefinirSecao(secao);
+            AtualizarDadosMapa(VariaveisControleOperacao.RoverEmFoco);
         }
 
         private void OnLerParametrosSolicitado()
@@ -727,7 +742,7 @@ namespace OperationControl.ViewModels
 
             var rover = VariaveisControleOperacao.RoverEmFoco;
 
-            VariaveisControleOperacao.EnviarParametrosOperacao(new OperacaoParametrosModel()
+            var novosParametros = new OperacaoParametrosModel()
             {
                 Modo = parametros.Modo ?? AgroBase.Models.Enums.ModoOperacao.NaoDefinido,
                 Descricao = parametros.Descricao,
@@ -740,9 +755,20 @@ namespace OperationControl.ViewModels
                 ModulosMandatorios = rover?.ModulosMandatorios,
                 ParametrosMandatorios = rover?.ParametrosMandatorios,
 
-                RuasPercorrer = _viewOperacaoCenter?.MapaOperacao?.RuasMapaCarregado?.Where(x => x.Selected)?.Select(x => x.Id)?.ToList(),
+                RuasPercorrer = _viewOperacaoCenter?.Mapa?.RuasMapaCarregado?.Where(x => x.Selected)?.Select(x => x.Id)?.ToList(),
-                Mapa = _viewOperacaoCenter?.MapaOperacao?.CriarDadosMapa()
+                Mapa = _viewOperacaoCenter?.Mapa?.CriarDadosMapa()
-            });
+            };
+
+            VariaveisControleOperacao.EnviarParametrosOperacao(novosParametros);
+
+            VariaveisControleOperacao.RoverEmFoco.Modo = novosParametros.Modo;
+            VariaveisControleOperacao.RoverEmFoco.Descricao = novosParametros.Descricao;
+            VariaveisControleOperacao.RoverEmFoco.QtdCamerasSolo = novosParametros.QtdCamerasSolo;
+            VariaveisControleOperacao.RoverEmFoco.QtdBicos = novosParametros.QtdBicos;
+            VariaveisControleOperacao.RoverEmFoco.CapacidadeReservatorio = novosParametros.CapacidadeReservatorio;
+            VariaveisControleOperacao.RoverEmFoco.Controle = novosParametros.Controle;
+            VariaveisControleOperacao.RoverEmFoco.RuasPercorrer = novosParametros.RuasPercorrer;
+            VariaveisControleOperacao.RoverEmFoco.Mapa = novosParametros.Mapa;
         }
 
 

AgroBase/OperationControl/Views/Operacao/MonitoramentoView.xaml

@@ -87,49 +87,23 @@
                 </Grid.RowDefinitions>
 
                 <DockPanel Grid.Row="0" Margin="0,0,0,8">
-                    <TextBlock Text="Câmera de ervas"
+                    <TextBlock Text="Câmera de ervas" DockPanel.Dock="Left" FontSize="12" FontWeight="SemiBold" Foreground="#E6E6E6" VerticalAlignment="Center"/>
-                               DockPanel.Dock="Left"
-                               FontSize="12"
-                               FontWeight="SemiBold"
-                               Foreground="#E6E6E6"
-                               VerticalAlignment="Center"/>
 
-                    <ComboBox x:Name="cmbCameraTraseiraFrameTipo"
+                    <ComboBox x:Name="cmbCameraTraseiraFrameTipo" Width="130" Height="26" HorizontalAlignment="Right" SelectionChanged="cmbCameraTraseiraFrameTipo_SelectionChanged"/>
-                              Width="130"
-                              Height="26"
-                              HorizontalAlignment="Right"
-                              SelectionChanged="cmbCameraTraseiraFrameTipo_SelectionChanged"/>
 
-                    <TextBlock Text="10 fps • 193 kbps • 5,41% erva • 0,00% cana"
+                    <TextBlock Text="10 fps • 193 kbps • 5,41% erva • 0,00% cana" Margin="12,0,8,0" Foreground="#AFAFAF" FontSize="11" VerticalAlignment="Center" HorizontalAlignment="Right"/>
-                               Margin="12,0,8,0"
-                               Foreground="#AFAFAF"
-                               FontSize="11"
-                               VerticalAlignment="Center"
-                               HorizontalAlignment="Right"/>
                 </DockPanel>
 
                 <Grid Grid.Row="1" Background="Black">
-                    <TextBlock Text="SEM SINAL"
+                    <TextBlock Text="SEM SINAL" Foreground="Gray" FontSize="18" HorizontalAlignment="Center" VerticalAlignment="Center"/>
-                               Foreground="Gray"
-                               FontSize="18"
-                               HorizontalAlignment="Center"
-                               VerticalAlignment="Center"/>
 
-                    <Image x:Name="imgVideoWeed"
+                    <Image x:Name="imgVideoWeed" Stretch="Uniform" RenderOptions.BitmapScalingMode="LowQuality"/>
-                           Stretch="Uniform"
-                           RenderOptions.BitmapScalingMode="LowQuality"/>
                 </Grid>
             </Grid>
         </Border>
 
         <!-- MAPA -->
-        <Border Grid.Row="1" Grid.Column="0"
+        <Border Grid.Row="1" Grid.Column="0" Margin="0,6,6,0" Padding="10" CornerRadius="10" Background="#202020" BorderBrush="#353535" BorderThickness="1">
-                Margin="0,6,6,0"
-                Padding="10"
-                CornerRadius="10"
-                Background="#202020"
-                BorderBrush="#353535"
-                BorderThickness="1">
 
             <Grid>
                 <Grid.RowDefinitions>
@@ -137,12 +111,7 @@
                     <RowDefinition Height="*"/>
                 </Grid.RowDefinitions>
 
-                <TextBlock Grid.Row="0"
+                <TextBlock Grid.Row="0" Text="Mapa e posição do rover" Margin="0,0,0,8" FontSize="12" FontWeight="SemiBold" Foreground="#E6E6E6"/>
-                           Text="Mapa e posição do rover"
-                           Margin="0,0,0,8"
-                           FontSize="12"
-                           FontWeight="SemiBold"
-                           Foreground="#E6E6E6"/>
 
                 <controls:MapViewControl x:Name="MapaMonitoramento" MarkerClicked="MAP_MarkerClicked" StreetMapClicked="MAP_StreetMapClicked" Grid.Row="1" Latitude="-22.1726572492617" Longitude="-47.3952163870556" Scale="5000" />
             </Grid>
@@ -177,21 +146,15 @@
                    FontWeight="SemiBold"
                    Foreground="#E6E6E6"/>
 
-                    <Grid Grid.Row="1">
+                    <controls:PulverizadorIndicator Grid.Row="1"
-                        <controls:PulverizadorIndicator x:Name="ATU"
+                                x:Name="areaPulverizador"
                                 HorizontalAlignment="Stretch"
-                                                       VerticalAlignment="Center"/>
+                                VerticalAlignment="Stretch"/>
-                    </Grid>
                 </Grid>
             </Border>
 
             <!-- AÇÕES RÁPIDAS -->
-            <Border Grid.Row="1"
+            <Border Grid.Row="1" Padding="10" CornerRadius="10" Background="#202020" BorderBrush="#353535" BorderThickness="1">
-                    Padding="10"
-                    CornerRadius="10"
-                    Background="#202020"
-                    BorderBrush="#353535"
-                    BorderThickness="1">
 
                 <Grid>
                     <Grid.RowDefinitions>
@@ -199,12 +162,7 @@
                         <RowDefinition Height="*"/>
                     </Grid.RowDefinitions>
 
-                    <TextBlock Grid.Row="0"
+                    <TextBlock Grid.Row="0" Text="Ações rápidas" Margin="0,0,0,8" FontSize="12" FontWeight="SemiBold" Foreground="#E6E6E6"/>
-                               Text="Ações rápidas"
-                               Margin="0,0,0,8"
-                               FontSize="12"
-                               FontWeight="SemiBold"
-                               Foreground="#E6E6E6"/>
 
                     <UniformGrid Grid.Row="1" Rows="2" Columns="2" Margin="0,4,0,0">
                         <Button Content="Retorno à base" Margin="4"/>

AgroBase/OperationControl/Views/Operacao/MonitoramentoView.xaml.cs

@@ -14,6 +14,7 @@ namespace OperationControl.Views.Operacao
 
         private TcpVideoReceiver videoFront;
         private TcpVideoReceiver videoWeed;
+        public PulverizadorIndicator Pulverizador => areaPulverizador;
 
         public MonitoramentoView()
         {

AgroBase/OperationControl/Views/Operacao/OperacaoCenterView.xaml

@@ -20,7 +20,7 @@
         <!-- MAPA -->
         <Grid Visibility="{Binding ExibirMapa, Converter={StaticResource BoolToVisibilityConverter}}">
             <Border Margin="12" Padding="0" CornerRadius="10" Background="#202020" BorderBrush="#353535" BorderThickness="1" ClipToBounds="True">
-                <controls:MapViewControl x:Name="MapaOperacao" MarkerClicked="MAP_MarkerClicked" StreetMapClicked="MAP_StreetMapClicked" Latitude="-22.1726572492617" Longitude="-47.3952163870556" Scale="5000" />
+                <controls:MapViewControl x:Name="areaMapa" MarkerClicked="MAP_MarkerClicked" StreetMapClicked="MAP_StreetMapClicked" Latitude="-22.1726572492617" Longitude="-47.3952163870556" Scale="5000" />
             </Border>
         </Grid>
 

AgroBase/OperationControl/Views/Operacao/OperacaoCenterView.xaml.cs

@@ -1,9 +1,5 @@
 using OperationControl.Controls;
-using OperationControl.Models;
 using OperationControl.ViewModels.Views.Operacao;
-using OperationControl.ViewModels.Views.Operacao.Diagnostico;
-using OperationControl.ViewModels.Views.Operacao.Monitoramento;
-using System.Windows.Controls;
 
 namespace OperationControl.Views.Operacao
 {
@@ -13,6 +9,7 @@ namespace OperationControl.Views.Operacao
     public partial class OperacaoCenterView : System.Windows.Controls.UserControl
     {
         public OperacaoCenterViewModel _vm;
+        public MapViewControl Mapa => _vm?.ConteudoAtual == OperacaoCenterConteudo.Mapa ? areaMapa : _vm?.ConteudoAtual == OperacaoCenterConteudo.Monitoramento ? Monitoramento?.MapaMonitoramento : null;
         public MonitoramentoView Monitoramento => areaMonitor;
         public DiagnosticoView Diagnostico => areaDiagnostico;