diff --git a/API/app.py b/API/app.py
new file mode 100644
index 000000000..aa1484426
--- /dev/null
+++ b/API/app.py
@@ -0,0 +1,28 @@
+from flask import Flask, request, jsonify
+from flask_cors import CORS
+
+app = Flask(__name__)
+CORS(app)  # Isso habilita o CORS para todas as rotas e origens
+
+coordenadas = {}
+
+@app.route('/receber-coordenadas', methods=['POST'])
+def receber_coordenadas():
+    dados = request.json
+    id = dados.get('id')
+    lat = dados.get('latitude')
+    lon = dados.get('longitude')
+    
+    coordenadas[id] = {'latitude': lat, 'longitude': lon}
+    
+    return jsonify({'status': 'Coordenadas recebidas com sucesso!'})
+
+@app.route('/servir-coordenadas/<id>', methods=['GET'])
+def servir_coordenadas(id):
+    if id in coordenadas:
+        return jsonify(coordenadas[id])
+    else:
+        return jsonify({'error': 'Coordenadas não encontradas!'}), 404
+
+if __name__ == '__main__':
+    app.run(host='0.0.0.0', port=5001, debug=True)
\ No newline at end of file
diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/24b64689-bc62-4b0e-b37c-4adc343540cf.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/24b64689-bc62-4b0e-b37c-4adc343540cf.vsidx
deleted file mode 100644
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similarity index 53%
rename from AgroBase/.vs/AgroBase/FileContentIndex/4d0ec268-221f-483d-90f2-76481b27f1ac.vsidx
rename to AgroBase/.vs/AgroBase/FileContentIndex/65d2fec8-5d52-43ed-8bcc-7cc233a305a8.vsidx
index c77296991..b9496c197 100644
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diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/8060ea16-a917-44fe-9b25-1fc2a998626e.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/8060ea16-a917-44fe-9b25-1fc2a998626e.vsidx
deleted file mode 100644
index 9b6d7e153..000000000
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diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/c5c345b0-df0b-4c4a-85f3-5a3a75bbec37.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/c5c345b0-df0b-4c4a-85f3-5a3a75bbec37.vsidx
new file mode 100644
index 000000000..0b2ace82f
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diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/faad9eff-0b41-46b2-a28c-f1fdcdd9a315.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/faad9eff-0b41-46b2-a28c-f1fdcdd9a315.vsidx
new file mode 100644
index 000000000..7e890a6ac
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diff --git a/AgroBase/.vs/AgroBase/v17/.suo b/AgroBase/.vs/AgroBase/v17/.suo
index 413ae7895..0a328545c 100644
Binary files a/AgroBase/.vs/AgroBase/v17/.suo and b/AgroBase/.vs/AgroBase/v17/.suo differ
diff --git a/AgroBase/AgroBase/AgroBase.csproj b/AgroBase/AgroBase/AgroBase.csproj
index 3fc80dfe7..42a82ece9 100644
--- a/AgroBase/AgroBase/AgroBase.csproj
+++ b/AgroBase/AgroBase/AgroBase.csproj
@@ -296,6 +296,7 @@
     <Compile Include="Models\MotorComum.cs" />
     <Compile Include="Models\Operacoes\OperacaoModel.cs" />
     <Compile Include="Models\Variaveis.cs" />
+    <Compile Include="Services\APIService.cs" />
     <Compile Include="Services\CameraService.cs" />
     <Compile Include="Services\DispositivosService.cs" />
     <Compile Include="Forms\frmPrincipal.cs">
@@ -313,6 +314,7 @@
     <Compile Include="Services\PythonService.cs" />
     <Compile Include="Services\SerialService.cs" />
     <Compile Include="Services\SocketService.cs" />
+    <Content Include="Imagens\loading.gif" />
     <Content Include="Python\Models\deeplabv3plus\backbone\hrnetv2.py">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </Content>
@@ -340,6 +342,9 @@
     <Content Include="Python\Models\deeplabv3plus\__init__.py">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </Content>
+    <Content Include="Python\Scripts\api.py">
+      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+    </Content>
     <Content Include="Python\Scripts\street-detector.py">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </Content>
@@ -590,6 +595,7 @@
   </ItemGroup>
   <ItemGroup>
     <Folder Include="Python\Output\" />
+    <Folder Include="Resources\" />
   </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs
index c2203291d..9139edd50 100644
--- a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs
+++ b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs
@@ -29,14 +29,15 @@ namespace AgroBase.Forms.Operacoes
         /// </summary>
         private void InitializeComponent()
         {
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea1 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend1 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series1 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea2 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend2 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series2 = new System.Windows.Forms.DataVisualization.Charting.Series();
             this.pnlCameraSolo = new System.Windows.Forms.Panel();
             this.pnlCameraSoloD = new System.Windows.Forms.Panel();
             this.pnlCameraSoloE = new System.Windows.Forms.Panel();
             this.pnlCameraCaminho = new System.Windows.Forms.Panel();
             this.pnlAtuadores = new System.Windows.Forms.Panel();
+            this.lblPressao = new System.Windows.Forms.Label();
             this.pnlCaminho = new System.Windows.Forms.Panel();
             this.pnlGraficos = new System.Windows.Forms.Panel();
             this.chartGraficos = new System.Windows.Forms.DataVisualization.Charting.Chart();
@@ -48,6 +49,7 @@ namespace AgroBase.Forms.Operacoes
             this.lblPorcentagemReservatorio = new System.Windows.Forms.Label();
             this.pgbReservatorio = new System.Windows.Forms.ProgressBar();
             this.gpbOpcoes = new System.Windows.Forms.GroupBox();
+            this.btnCarregarMapa = new System.Windows.Forms.Button();
             this.cmbCameraSoloD = new System.Windows.Forms.ComboBox();
             this.lblCameraSoloD = new System.Windows.Forms.Label();
             this.btnIniciarOperacao = new System.Windows.Forms.Button();
@@ -55,8 +57,6 @@ namespace AgroBase.Forms.Operacoes
             this.lblCameraCaminho = new System.Windows.Forms.Label();
             this.cmbCameraSoloE = new System.Windows.Forms.ComboBox();
             this.lblCameraSoloE = new System.Windows.Forms.Label();
-            this.btnCarregarMapa = new System.Windows.Forms.Button();
-            this.lblMapaCarregado = new System.Windows.Forms.Label();
             this.gpbInformacoesGerais = new System.Windows.Forms.GroupBox();
             this.lblBateriaConsumida = new System.Windows.Forms.Label();
             this.lblHerbicidaPorErva = new System.Windows.Forms.Label();
@@ -69,6 +69,7 @@ namespace AgroBase.Forms.Operacoes
             this.lblDistanciaEsquerda = new System.Windows.Forms.Label();
             this.lblDistanciaDireita = new System.Windows.Forms.Label();
             this.pnlInferior = new System.Windows.Forms.Panel();
+            this.lblMapaCarregado = new System.Windows.Forms.Label();
             this.chbGPSativo = new System.Windows.Forms.CheckBox();
             this.chbATUativo = new System.Windows.Forms.CheckBox();
             this.chbDIRativo = new System.Windows.Forms.CheckBox();
@@ -76,7 +77,7 @@ namespace AgroBase.Forms.Operacoes
             this.lblUltimaLeituraRua = new System.Windows.Forms.Label();
             this.lblUltimaLeituraSolo = new System.Windows.Forms.Label();
             this.pnlMapa = new System.Windows.Forms.Panel();
-            this.lblPressao = new System.Windows.Forms.Label();
+            this.pnlOrientacao = new System.Windows.Forms.Panel();
             this.pnlCameraSolo.SuspendLayout();
             this.pnlAtuadores.SuspendLayout();
             this.pnlGraficos.SuspendLayout();
@@ -135,6 +136,15 @@ namespace AgroBase.Forms.Operacoes
             this.pnlAtuadores.TabIndex = 2;
             this.pnlAtuadores.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlAtuadores_Paint);
             // 
+            // lblPressao
+            // 
+            this.lblPressao.AutoSize = true;
+            this.lblPressao.Location = new System.Drawing.Point(-2, 0);
+            this.lblPressao.Name = "lblPressao";
+            this.lblPressao.Size = new System.Drawing.Size(57, 13);
+            this.lblPressao.TabIndex = 0;
+            this.lblPressao.Text = "P: 0.00 psi";
+            // 
             // pnlCaminho
             // 
             this.pnlCaminho.BackColor = System.Drawing.Color.White;
@@ -156,18 +166,18 @@ namespace AgroBase.Forms.Operacoes
             // 
             // chartGraficos
             // 
-            chartArea1.Name = "ChartArea1";
-            this.chartGraficos.ChartAreas.Add(chartArea1);
+            chartArea2.Name = "ChartArea1";
+            this.chartGraficos.ChartAreas.Add(chartArea2);
             this.chartGraficos.Dock = System.Windows.Forms.DockStyle.Fill;
-            legend1.Name = "Legend1";
-            this.chartGraficos.Legends.Add(legend1);
+            legend2.Name = "Legend1";
+            this.chartGraficos.Legends.Add(legend2);
             this.chartGraficos.Location = new System.Drawing.Point(0, 0);
             this.chartGraficos.Margin = new System.Windows.Forms.Padding(2);
             this.chartGraficos.Name = "chartGraficos";
-            series1.ChartArea = "ChartArea1";
-            series1.Legend = "Legend1";
-            series1.Name = "Series1";
-            this.chartGraficos.Series.Add(series1);
+            series2.ChartArea = "ChartArea1";
+            series2.Legend = "Legend1";
+            series2.Name = "Series1";
+            this.chartGraficos.Series.Add(series2);
             this.chartGraficos.Size = new System.Drawing.Size(405, 254);
             this.chartGraficos.TabIndex = 0;
             this.chartGraficos.Text = "chart1";
@@ -244,6 +254,7 @@ namespace AgroBase.Forms.Operacoes
             // 
             // gpbOpcoes
             // 
+            this.gpbOpcoes.Controls.Add(this.btnCarregarMapa);
             this.gpbOpcoes.Controls.Add(this.cmbCameraSoloD);
             this.gpbOpcoes.Controls.Add(this.lblCameraSoloD);
             this.gpbOpcoes.Controls.Add(this.btnIniciarOperacao);
@@ -261,6 +272,17 @@ namespace AgroBase.Forms.Operacoes
             this.gpbOpcoes.TabStop = false;
             this.gpbOpcoes.Text = "Opções";
             // 
+            // btnCarregarMapa
+            // 
+            this.btnCarregarMapa.Location = new System.Drawing.Point(4, 93);
+            this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(2);
+            this.btnCarregarMapa.Name = "btnCarregarMapa";
+            this.btnCarregarMapa.Size = new System.Drawing.Size(74, 21);
+            this.btnCarregarMapa.TabIndex = 5;
+            this.btnCarregarMapa.Text = "Mapa";
+            this.btnCarregarMapa.UseVisualStyleBackColor = true;
+            this.btnCarregarMapa.Click += new System.EventHandler(this.btnCarregarMapa_Click);
+            // 
             // cmbCameraSoloD
             // 
             this.cmbCameraSoloD.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
@@ -284,10 +306,10 @@ namespace AgroBase.Forms.Operacoes
             // 
             // btnIniciarOperacao
             // 
-            this.btnIniciarOperacao.Location = new System.Drawing.Point(7, 93);
+            this.btnIniciarOperacao.Location = new System.Drawing.Point(83, 93);
             this.btnIniciarOperacao.Margin = new System.Windows.Forms.Padding(2);
             this.btnIniciarOperacao.Name = "btnIniciarOperacao";
-            this.btnIniciarOperacao.Size = new System.Drawing.Size(187, 21);
+            this.btnIniciarOperacao.Size = new System.Drawing.Size(111, 21);
             this.btnIniciarOperacao.TabIndex = 6;
             this.btnIniciarOperacao.Text = "Iniciar Operação";
             this.btnIniciarOperacao.UseVisualStyleBackColor = true;
@@ -335,28 +357,6 @@ namespace AgroBase.Forms.Operacoes
             this.lblCameraSoloE.TabIndex = 0;
             this.lblCameraSoloE.Text = "Cam Solo E";
             // 
-            // btnCarregarMapa
-            // 
-            this.btnCarregarMapa.Location = new System.Drawing.Point(280, 5);
-            this.btnCarregarMapa.Margin = new System.Windows.Forms.Padding(2);
-            this.btnCarregarMapa.Name = "btnCarregarMapa";
-            this.btnCarregarMapa.Size = new System.Drawing.Size(76, 22);
-            this.btnCarregarMapa.TabIndex = 5;
-            this.btnCarregarMapa.Text = "Carregar...";
-            this.btnCarregarMapa.UseVisualStyleBackColor = true;
-            this.btnCarregarMapa.Click += new System.EventHandler(this.btnCarregarMapa_Click);
-            // 
-            // lblMapaCarregado
-            // 
-            this.lblMapaCarregado.AutoSize = true;
-            this.lblMapaCarregado.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold);
-            this.lblMapaCarregado.Location = new System.Drawing.Point(11, 11);
-            this.lblMapaCarregado.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblMapaCarregado.Name = "lblMapaCarregado";
-            this.lblMapaCarregado.Size = new System.Drawing.Size(129, 13);
-            this.lblMapaCarregado.TabIndex = 8;
-            this.lblMapaCarregado.Text = "Mapa carregado: N/A";
-            // 
             // gpbInformacoesGerais
             // 
             this.gpbInformacoesGerais.Controls.Add(this.lblBateriaConsumida);
@@ -480,6 +480,7 @@ namespace AgroBase.Forms.Operacoes
             // 
             // pnlInferior
             // 
+            this.pnlInferior.Controls.Add(this.lblMapaCarregado);
             this.pnlInferior.Controls.Add(this.chbGPSativo);
             this.pnlInferior.Controls.Add(this.chbATUativo);
             this.pnlInferior.Controls.Add(this.chbDIRativo);
@@ -493,6 +494,17 @@ namespace AgroBase.Forms.Operacoes
             this.pnlInferior.Size = new System.Drawing.Size(592, 41);
             this.pnlInferior.TabIndex = 13;
             // 
+            // lblMapaCarregado
+            // 
+            this.lblMapaCarregado.AutoSize = true;
+            this.lblMapaCarregado.Font = new System.Drawing.Font("Mongolian Baiti", 9F, System.Drawing.FontStyle.Bold);
+            this.lblMapaCarregado.Location = new System.Drawing.Point(227, 24);
+            this.lblMapaCarregado.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblMapaCarregado.Name = "lblMapaCarregado";
+            this.lblMapaCarregado.Size = new System.Drawing.Size(129, 13);
+            this.lblMapaCarregado.TabIndex = 8;
+            this.lblMapaCarregado.Text = "Mapa carregado: N/A";
+            // 
             // chbGPSativo
             // 
             this.chbGPSativo.AutoSize = true;
@@ -555,19 +567,20 @@ namespace AgroBase.Forms.Operacoes
             // 
             // pnlMapa
             // 
-            this.pnlMapa.Location = new System.Drawing.Point(9, 32);
+            this.pnlMapa.Location = new System.Drawing.Point(9, 6);
             this.pnlMapa.Name = "pnlMapa";
-            this.pnlMapa.Size = new System.Drawing.Size(347, 181);
+            this.pnlMapa.Size = new System.Drawing.Size(347, 207);
             this.pnlMapa.TabIndex = 14;
             // 
-            // lblPressao
+            // pnlOrientacao
             // 
-            this.lblPressao.AutoSize = true;
-            this.lblPressao.Location = new System.Drawing.Point(-2, 0);
-            this.lblPressao.Name = "lblPressao";
-            this.lblPressao.Size = new System.Drawing.Size(57, 13);
-            this.lblPressao.TabIndex = 0;
-            this.lblPressao.Text = "P: 0.00 psi";
+            this.pnlOrientacao.BackColor = System.Drawing.Color.White;
+            this.pnlOrientacao.Location = new System.Drawing.Point(936, 6);
+            this.pnlOrientacao.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlOrientacao.Name = "pnlOrientacao";
+            this.pnlOrientacao.Size = new System.Drawing.Size(78, 84);
+            this.pnlOrientacao.TabIndex = 11;
+            this.pnlOrientacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacao_Paint);
             // 
             // frmOperacaoSeguidorLinha
             // 
@@ -575,14 +588,13 @@ namespace AgroBase.Forms.Operacoes
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.BackColor = System.Drawing.Color.White;
             this.ClientSize = new System.Drawing.Size(1020, 697);
+            this.Controls.Add(this.pnlOrientacao);
             this.Controls.Add(this.lblDistanciaEsquerda);
             this.Controls.Add(this.pnlMapa);
             this.Controls.Add(this.pnlInferior);
-            this.Controls.Add(this.btnCarregarMapa);
             this.Controls.Add(this.lblDistanciaDireita);
             this.Controls.Add(this.pnlInclinacao);
             this.Controls.Add(this.gpbInformacoesGerais);
-            this.Controls.Add(this.lblMapaCarregado);
             this.Controls.Add(this.gpbOpcoes);
             this.Controls.Add(this.pnlNiveis);
             this.Controls.Add(this.pnlGraficos);
@@ -636,7 +648,6 @@ namespace AgroBase.Forms.Operacoes
         private System.Windows.Forms.Label lblCameraCaminho;
         private System.Windows.Forms.ComboBox cmbCameraSoloE;
         private System.Windows.Forms.Label lblCameraSoloE;
-        private System.Windows.Forms.Label lblMapaCarregado;
         private System.Windows.Forms.GroupBox gpbInformacoesGerais;
         private System.Windows.Forms.Label lblBateriaConsumida;
         private System.Windows.Forms.Label lblHerbicidaPorErva;
@@ -661,5 +672,7 @@ namespace AgroBase.Forms.Operacoes
         private System.Windows.Forms.CheckBox chbDIRativo;
         private System.Windows.Forms.CheckBox chbMOVativo;
         private System.Windows.Forms.Label lblPressao;
+        private System.Windows.Forms.Label lblMapaCarregado;
+        private System.Windows.Forms.Panel pnlOrientacao;
     }
 }
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.cs b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.cs
index 70b1f2ab2..8fa5802d1 100644
--- a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.cs
+++ b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.cs
@@ -26,8 +26,6 @@ namespace AgroBase.Forms.Operacoes
 
         private CameraCaminhoModel cameraCaminho;
 
-        private ChromiumWebBrowser webMapa = null;
-
         private Timer tmrLeituras = new Timer() { Interval = 200 };
 
         DispositivosService<MovimentacaoModel> Movimentacao;
@@ -48,6 +46,7 @@ namespace AgroBase.Forms.Operacoes
             pnlAtuadores.GetType().GetMethod("SetStyle", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic).Invoke(pnlAtuadores, new object[] { ControlStyles.UserPaint | ControlStyles.AllPaintingInWmPaint | ControlStyles.OptimizedDoubleBuffer, true });
             pnlCaminho.GetType().GetMethod("SetStyle", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic).Invoke(pnlCaminho, new object[] { ControlStyles.UserPaint | ControlStyles.AllPaintingInWmPaint | ControlStyles.OptimizedDoubleBuffer, true });
             pnlInclinacao.GetType().GetMethod("SetStyle", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic).Invoke(pnlInclinacao, new object[] { ControlStyles.UserPaint | ControlStyles.AllPaintingInWmPaint | ControlStyles.OptimizedDoubleBuffer, true });
+            pnlOrientacao.GetType().GetMethod("SetStyle", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic).Invoke(pnlOrientacao, new object[] { ControlStyles.UserPaint | ControlStyles.AllPaintingInWmPaint | ControlStyles.OptimizedDoubleBuffer, true });
 
         }
 
@@ -89,7 +88,7 @@ namespace AgroBase.Forms.Operacoes
         {
             var listaCameras = new CameraService<object>().AtualizaListaCameras().ToArray();
 
-            var cameras = gpbOpcoes.Controls.OfType<ComboBox>().Where(x => x.Name.Contains("cmbCameraSolo")).ToList();
+            var cameras = gpbOpcoes.Controls.OfType<ComboBox>().Where(x => x.Name.Contains("cmbCameraSolo")).OrderBy(x => x.TabIndex).ToList();
             foreach (ComboBox cmb in cameras)
             {
                 string CamNome = cmb.Name.Replace("cmbCameraSolo", "");
@@ -322,27 +321,12 @@ namespace AgroBase.Forms.Operacoes
         
         private void btnCarregarMapa_Click(object sender, EventArgs e)
         {
-            OpenFileDialog ofd = new OpenFileDialog();
-            ofd.Filter = "Arquivos de Imagem|*.jpg;*.jpeg;*.png;*.gif;*.bmp";
-            if (ofd.ShowDialog() == DialogResult.OK)
+            Variaveis.OperacaoEmAndamento.Mapa = new MapasModel()
             {
-                string imagemPath = ofd.FileName;
-
-                // Cria um arquivo HTML temporário
-                string tempHtmlPath = Path.Combine(Path.GetTempPath(), "tempImage.html");
-                string htmlContent = $"<html><body style='margin:0;'><img src='file:///{imagemPath}' style='width:100%; height:100%;'></body></html>";
-                File.WriteAllText(tempHtmlPath, htmlContent);
-                if (webMapa == null)
-                {
-                    webMapa = new ChromiumWebBrowser();
-                    webMapa.Dock = DockStyle.Fill;
-                    pnlMapa.Controls.Add(webMapa);
-                }
-                // Carrega o arquivo HTML no ChromiumWebBrowser
-                webMapa.Load(tempHtmlPath);
-                lblMapaCarregado.Text = "Mapa carregado: " + ofd.FileName.Split('\\')[ofd.FileName.Split('\\').Length - 1];
-                
-            }
+                pnlMapa = pnlMapa,
+                lblMapa = lblMapaCarregado,
+            };
+            Variaveis.OperacaoEmAndamento.Mapa.btnCarregar_Click(sender, e);
         }
 
         private void btnIniciarOperacao_Click(object sender, EventArgs e)
@@ -376,66 +360,6 @@ namespace AgroBase.Forms.Operacoes
 
         private void TmrLeituras_Tick(object sender, EventArgs e)
         {
-            /*
-            if (camSoloE.socket != null && camSoloE.socket.DadosRecebidos.Any())
-            {
-                var leitura = camSoloE.socket.DadosRecebidos.Last();
-                var Verdes = leitura.objetos.ToList();
-                int intervaloPorBico = Convert.ToInt32(camSoloE.socket.DadosRecebidos.First().x_max) / Atuador.Dados.QuantidadeBicos;
-                int inicioBarraPulverizadora = Convert.ToInt32(camSoloE.socket.DadosRecebidos.First().y_max * (1 - Atuador.Dados.PercentualInicioPulverizacao));
-
-                List<bool> BicosAnteriores = new List<bool>();
-                // Inicialize todos os bicos como inativos antes de verificar os objetos verdes
-                for (int i = 0; i < Atuador.Dados.QuantidadeBicos; i++)
-                {
-                    BicosAnteriores.Add(Atuador.Dados.BicosPulverizadores[i].Atuado);
-                    Atuador.Dados.BicosPulverizadores[i].Atuado = false;
-                }
-
-                foreach (var verde in Verdes)
-                {
-                    // Calcule a posição final (y + altura) do objeto verde
-                    int posicaoFinalVerdeY = verde.y + verde.altura;
-                    if (posicaoFinalVerdeY > inicioBarraPulverizadora)
-                    {
-                        // Calcule a posição final (x + largura) do objeto verde
-                        int posicaoFinalVerdeX = verde.x + verde.largura;
-
-                        // Para cada objeto verde, verifique se ele está dentro do intervalo de algum bico e atue-o
-                        for (int i = 0; i < Atuador.Dados.QuantidadeBicos; i++)
-                        {
-                            // Determina o intervalo no eixo x para o bico atual
-                            int limiteInferior = intervaloPorBico * i;
-                            int limiteSuperior = limiteInferior + intervaloPorBico;
-
-                            // Verifica se o objeto 'verde' está dentro do intervalo deste bico
-                            // A condição foi ajustada para verificar se qualquer parte do objeto verde cruza com o intervalo do bico
-                            if (verde.x < limiteSuperior && posicaoFinalVerdeX > limiteInferior)
-                            {
-                                Atuador.Dados.BicosPulverizadores[i].Atuado = true;
-                            }
-                        }
-                    }
-                }
-
-                for (int i = 0; i < Atuador.Dados.QuantidadeBicos; i++)
-                {
-                    if (Atuador.Dados.BicosPulverizadores[i].Atuado && BicosAnteriores[i] != Atuador.Dados.BicosPulverizadores[i].Atuado)
-                    {
-                        Variaveis.OperacaoEmAndamento.AtuacoesPorBico[i]++;
-                    }
-                }
-
-                lblUltimaLeituraSolo.Text = "Ultima Leitura Solo: " + FuncoesGlobais.TimestampToDate(leitura.timestamp);
-                pnlAtuadores.Invalidate();
-
-                Variaveis.OperacaoEmAndamento.Controle.BicosAtuados = Atuador.Dados.BicosPulverizadores;
-                Variaveis.OperacaoEmAndamento.Controle.RPM = !Verdes.Any() ? 
-                    Variaveis.OperacaoEmAndamento.Controle.RPM_Max : 
-                    Variaveis.OperacaoEmAndamento.Controle.RPM_Min;
-            }
-            */
-
             CamerasSolo.ForEach(CameraSolo =>
             {
                 AtualizaLeituraCameraSolo(CameraSolo);
@@ -463,7 +387,7 @@ namespace AgroBase.Forms.Operacoes
                 for (int i = 0; i < BicosPorCamera; i++)
                 {
                     int iBico = i + (CameraSolo.Posicao * BicosPorCamera);
-                    BicosAnteriores.Add(Atuador.Dados.BicosPulverizadores[iBico].Atuado);
+                    BicosAnteriores.Add(Atuador.Dados.BicosPulverizadores[iBico].Atuado ? true : false);
                     Atuador.Dados.BicosPulverizadores[iBico].Atuado = false;
                 }
 
@@ -558,9 +482,11 @@ namespace AgroBase.Forms.Operacoes
             bool operacaoEmAndamento = tempo.Seconds > Variaveis.OperacaoEmAndamento.TempoIniciarOperacao;
 
 
-            var BicosNaoAtuados = Atuador.Dados.BicosPulverizadores.ToList();
-            BicosNaoAtuados.ForEach(x => x.Atuado = false);
-
+            var BicosNaoAtuados = new List<AtuadorBicoModel>();
+            Atuador.Dados.BicosPulverizadores.ForEach(x =>
+            {
+                BicosNaoAtuados.Add(x);
+            });
 
             Variaveis.OperacaoEmAndamento.Sensoriamento.ErvasNoRadar = CamerasSolo.Sum(x => x.ErvasNoRadar);
             Variaveis.OperacaoEmAndamento.Sensoriamento.ErvasIdentificadas = Variaveis.OperacaoEmAndamento.Sensoriamento.AtuacoesPorBico.Sum();
@@ -588,6 +514,8 @@ namespace AgroBase.Forms.Operacoes
                     cameraCaminho.Angulo;
             }
 
+            pnlOrientacao.Invalidate();
+
             Variaveis.OperacaoEmAndamento.AtualizarDadosControle();
         }
 
@@ -747,19 +675,13 @@ namespace AgroBase.Forms.Operacoes
         {
             try
             {
-                DesenharInclinacao((Panel)sender, e);
+                DesenharInclinacao((Panel)sender, e, (float)cameraCaminho.Angulo);
             }
             catch { }
         }
 
-        private void DesenharInclinacao(Panel pnlBussola, PaintEventArgs e)
+        private void DesenharInclinacao(Panel pnlBussola, PaintEventArgs e, float anguloInclinacao)
         {
-            // Ângulo de inclinação em graus.
-            // Suponha que você tenha uma variável que armazene essa informação.
-            // Por exemplo, o ângulo de 0 graus pode ser diretamente para cima,
-            // e os ângulos aumentam no sentido horário.
-            float anguloInclinacao = (float)cameraCaminho.Angulo;
-
             Graphics g = e.Graphics;
             // Desenha o círculo da bússola
             int diameter = Math.Min(pnlBussola.Width - 1, pnlBussola.Height - 1);
@@ -889,8 +811,14 @@ namespace AgroBase.Forms.Operacoes
             }
         }
 
-        
-
+        private void pnlOrientacao_Paint(object sender, PaintEventArgs e)
+        {
+            try
+            {
+                DesenharInclinacao((Panel)sender, e, (float)GPSService.UltimaLeitura.Orientacao);
+            }
+            catch { }
+        }
 
     }
 }
diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.Designer.cs b/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.Designer.cs
index 177527fff..726a8a251 100644
--- a/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.Designer.cs
+++ b/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.Designer.cs
@@ -39,6 +39,7 @@
             this.nudQtdBicos = new System.Windows.Forms.NumericUpDown();
             this.lblQtdBicos = new System.Windows.Forms.Label();
             this.gpbP_Dir = new System.Windows.Forms.GroupBox();
+            this.nudAnguloMinimo = new System.Windows.Forms.NumericUpDown();
             this.nudVelocidadeMP = new System.Windows.Forms.NumericUpDown();
             this.lblVelocidadePercentual = new System.Windows.Forms.Label();
             this.lblVelocidadeMP = new System.Windows.Forms.Label();
@@ -63,19 +64,23 @@
             this.chbD_Dir = new System.Windows.Forms.CheckBox();
             this.btnCarregar = new System.Windows.Forms.Button();
             this.btnSalvar = new System.Windows.Forms.Button();
-            this.nudAnguloMinimo = new System.Windows.Forms.NumericUpDown();
             this.chbSalvar = new System.Windows.Forms.CheckBox();
+            this.nudTemposalvarlog = new System.Windows.Forms.NumericUpDown();
+            this.lblTemposalvarlog = new System.Windows.Forms.Label();
+            this.lblTemposalvarlogU = new System.Windows.Forms.Label();
             this.gpbModulos.SuspendLayout();
+            this.gpbP_Sen.SuspendLayout();
             this.gpbP_Atu.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudQtdCameras)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudQtdBicos)).BeginInit();
             this.gpbP_Dir.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudAnguloMinimo)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeMP)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudAnguloMaximo)).BeginInit();
             this.gpbP_Mov.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeComErvas)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeSemErvas)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.nudAnguloMinimo)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nudTemposalvarlog)).BeginInit();
             this.SuspendLayout();
             // 
             // cmbOperacao
@@ -139,6 +144,9 @@
             // 
             // gpbP_Sen
             // 
+            this.gpbP_Sen.Controls.Add(this.lblTemposalvarlogU);
+            this.gpbP_Sen.Controls.Add(this.nudTemposalvarlog);
+            this.gpbP_Sen.Controls.Add(this.lblTemposalvarlog);
             this.gpbP_Sen.Location = new System.Drawing.Point(596, 105);
             this.gpbP_Sen.Name = "gpbP_Sen";
             this.gpbP_Sen.Size = new System.Drawing.Size(190, 168);
@@ -210,6 +218,24 @@
             this.gpbP_Dir.TabStop = false;
             this.gpbP_Dir.Text = "Ajustes";
             // 
+            // nudAnguloMinimo
+            // 
+            this.nudAnguloMinimo.Location = new System.Drawing.Point(102, 67);
+            this.nudAnguloMinimo.Maximum = new decimal(new int[] {
+            90,
+            0,
+            0,
+            0});
+            this.nudAnguloMinimo.Minimum = new decimal(new int[] {
+            90,
+            0,
+            0,
+            -2147483648});
+            this.nudAnguloMinimo.Name = "nudAnguloMinimo";
+            this.nudAnguloMinimo.Size = new System.Drawing.Size(72, 29);
+            this.nudAnguloMinimo.TabIndex = 12;
+            this.nudAnguloMinimo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
             // nudVelocidadeMP
             // 
             this.nudVelocidadeMP.Location = new System.Drawing.Point(10, 126);
@@ -483,24 +509,6 @@
             this.btnSalvar.UseVisualStyleBackColor = true;
             this.btnSalvar.Click += new System.EventHandler(this.btnSalvar_Click);
             // 
-            // nudAnguloMinimo
-            // 
-            this.nudAnguloMinimo.Location = new System.Drawing.Point(102, 67);
-            this.nudAnguloMinimo.Maximum = new decimal(new int[] {
-            90,
-            0,
-            0,
-            0});
-            this.nudAnguloMinimo.Minimum = new decimal(new int[] {
-            90,
-            0,
-            0,
-            -2147483648});
-            this.nudAnguloMinimo.Name = "nudAnguloMinimo";
-            this.nudAnguloMinimo.Size = new System.Drawing.Size(72, 29);
-            this.nudAnguloMinimo.TabIndex = 12;
-            this.nudAnguloMinimo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
-            // 
             // chbSalvar
             // 
             this.chbSalvar.AutoSize = true;
@@ -512,6 +520,43 @@
             this.chbSalvar.Text = "Personalizado";
             this.chbSalvar.UseVisualStyleBackColor = true;
             // 
+            // nudTemposalvarlog
+            // 
+            this.nudTemposalvarlog.Location = new System.Drawing.Point(10, 67);
+            this.nudTemposalvarlog.Minimum = new decimal(new int[] {
+            1,
+            0,
+            0,
+            0});
+            this.nudTemposalvarlog.Name = "nudTemposalvarlog";
+            this.nudTemposalvarlog.Size = new System.Drawing.Size(120, 29);
+            this.nudTemposalvarlog.TabIndex = 10;
+            this.nudTemposalvarlog.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.nudTemposalvarlog.Value = new decimal(new int[] {
+            1,
+            0,
+            0,
+            0});
+            // 
+            // lblTemposalvarlog
+            // 
+            this.lblTemposalvarlog.AutoSize = true;
+            this.lblTemposalvarlog.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblTemposalvarlog.Location = new System.Drawing.Point(6, 40);
+            this.lblTemposalvarlog.Name = "lblTemposalvarlog";
+            this.lblTemposalvarlog.Size = new System.Drawing.Size(145, 20);
+            this.lblTemposalvarlog.TabIndex = 9;
+            this.lblTemposalvarlog.Text = "Tempo Salvar Log";
+            // 
+            // lblTemposalvarlogU
+            // 
+            this.lblTemposalvarlogU.AutoSize = true;
+            this.lblTemposalvarlogU.Location = new System.Drawing.Point(136, 69);
+            this.lblTemposalvarlogU.Name = "lblTemposalvarlogU";
+            this.lblTemposalvarlogU.Size = new System.Drawing.Size(41, 24);
+            this.lblTemposalvarlogU.TabIndex = 13;
+            this.lblTemposalvarlogU.Text = "seg";
+            // 
             // frmParametrizacaoOperacao
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(11F, 24F);
@@ -531,19 +576,22 @@
             this.Load += new System.EventHandler(this.frmParametrizacaoOperacao_Load);
             this.gpbModulos.ResumeLayout(false);
             this.gpbModulos.PerformLayout();
+            this.gpbP_Sen.ResumeLayout(false);
+            this.gpbP_Sen.PerformLayout();
             this.gpbP_Atu.ResumeLayout(false);
             this.gpbP_Atu.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudQtdCameras)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudQtdBicos)).EndInit();
             this.gpbP_Dir.ResumeLayout(false);
             this.gpbP_Dir.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudAnguloMinimo)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeMP)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudAnguloMaximo)).EndInit();
             this.gpbP_Mov.ResumeLayout(false);
             this.gpbP_Mov.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeComErvas)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeSemErvas)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.nudAnguloMinimo)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.nudTemposalvarlog)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -588,5 +636,8 @@
         private System.Windows.Forms.Label lblAngulo;
         private System.Windows.Forms.NumericUpDown nudAnguloMinimo;
         private System.Windows.Forms.CheckBox chbSalvar;
+        private System.Windows.Forms.Label lblTemposalvarlogU;
+        private System.Windows.Forms.NumericUpDown nudTemposalvarlog;
+        private System.Windows.Forms.Label lblTemposalvarlog;
     }
 }
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs b/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs
index 16c31acf0..138a1f024 100644
--- a/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs
+++ b/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs
@@ -57,6 +57,7 @@ namespace AgroBase.Forms.Operacoes
             nudAnguloMaximo.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.Angulo_Max);
             nudAnguloMinimo.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.Angulo_Min);
             nudVelocidadeMP.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.VelocidadeMP);
+            nudTemposalvarlog.Value = Variaveis.OperacaoEmAndamento.tmrLogs.Interval / 1000;
         }
 
         private void chbD_CheckedChanged(object sender, EventArgs e)
@@ -117,6 +118,7 @@ namespace AgroBase.Forms.Operacoes
             Variaveis.OperacaoEmAndamento.Controle.Angulo_Max = Convert.ToInt32(nudAnguloMaximo.Value);
             Variaveis.OperacaoEmAndamento.Controle.Angulo_Min = Convert.ToInt32(nudAnguloMinimo.Value);
             Variaveis.OperacaoEmAndamento.Controle.VelocidadeMP = Convert.ToInt32(nudVelocidadeMP.Value);
+            Variaveis.OperacaoEmAndamento.tmrLogs.Interval = Convert.ToInt32(nudTemposalvarlog.Value * 1000);
 
             if (chbSalvar.Checked)
             {
diff --git a/AgroBase/AgroBase/Forms/frmGPS.cs b/AgroBase/AgroBase/Forms/frmGPS.cs
index 2ead7bddf..77513d308 100644
--- a/AgroBase/AgroBase/Forms/frmGPS.cs
+++ b/AgroBase/AgroBase/Forms/frmGPS.cs
@@ -65,8 +65,8 @@ namespace AgroBase.Forms
             }
             else if (!picLoading.Visible && GPSService.UltimaLeitura != null)
             {
-                //mapaService.AtualizarPosicaoMapaGPS(GPSService.UltimaLeitura.Latitude, GPSService.UltimaLeitura.Longitude);
-                //chromiumWebBrowser.Reload();
+                mapaService.AtualizarPosicaoMapaGPS(GPSService.UltimaLeitura.Latitude, GPSService.UltimaLeitura.Longitude);
+                chromiumWebBrowser.Reload();
 
                 lblDatahora.Text = "Ultima Leitura: " + GPSService.UltimaLeitura.DataHora.ToString("dd/MM/yyyy HH:mm:ss");
                 lblLatitude.Text = "Latitude: " + GPSService.UltimaLeitura.Latitude;
diff --git a/AgroBase/AgroBase/Forms/frmMapa.Designer.cs b/AgroBase/AgroBase/Forms/frmMapa.Designer.cs
index 849d07123..c40c4568a 100644
--- a/AgroBase/AgroBase/Forms/frmMapa.Designer.cs
+++ b/AgroBase/AgroBase/Forms/frmMapa.Designer.cs
@@ -29,14 +29,10 @@ namespace AgroBase.Forms
         /// </summary>
         private void InitializeComponent()
         {
-            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(frmMapa));
             this.pnlMapa = new System.Windows.Forms.Panel();
-            this.picLoading = new System.Windows.Forms.PictureBox();
             this.pnlBotoes = new System.Windows.Forms.Panel();
             this.lblMapa = new System.Windows.Forms.Label();
             this.btnCarregar = new System.Windows.Forms.Button();
-            this.pnlMapa.SuspendLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.picLoading)).BeginInit();
             this.pnlBotoes.SuspendLayout();
             this.SuspendLayout();
             // 
@@ -45,36 +41,19 @@ namespace AgroBase.Forms
             this.pnlMapa.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
             | System.Windows.Forms.AnchorStyles.Left) 
             | System.Windows.Forms.AnchorStyles.Right)));
-            this.pnlMapa.Controls.Add(this.picLoading);
             this.pnlMapa.Location = new System.Drawing.Point(9, 10);
-            this.pnlMapa.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.pnlMapa.Margin = new System.Windows.Forms.Padding(2);
             this.pnlMapa.Name = "pnlMapa";
             this.pnlMapa.Size = new System.Drawing.Size(772, 464);
             this.pnlMapa.TabIndex = 1;
             // 
-            // picLoading
-            // 
-            this.picLoading.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
-            | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
-            this.picLoading.BackColor = System.Drawing.Color.Transparent;
-            this.picLoading.Image = ((System.Drawing.Image)(resources.GetObject("picLoading.Image")));
-            this.picLoading.Location = new System.Drawing.Point(194, 24);
-            this.picLoading.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.picLoading.Name = "picLoading";
-            this.picLoading.Size = new System.Drawing.Size(384, 416);
-            this.picLoading.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
-            this.picLoading.TabIndex = 2;
-            this.picLoading.TabStop = false;
-            this.picLoading.Visible = false;
-            // 
             // pnlBotoes
             // 
             this.pnlBotoes.Controls.Add(this.lblMapa);
             this.pnlBotoes.Controls.Add(this.btnCarregar);
             this.pnlBotoes.Dock = System.Windows.Forms.DockStyle.Bottom;
             this.pnlBotoes.Location = new System.Drawing.Point(0, 479);
-            this.pnlBotoes.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.pnlBotoes.Margin = new System.Windows.Forms.Padding(2);
             this.pnlBotoes.Name = "pnlBotoes";
             this.pnlBotoes.Size = new System.Drawing.Size(790, 46);
             this.pnlBotoes.TabIndex = 2;
@@ -93,7 +72,7 @@ namespace AgroBase.Forms
             // 
             this.btnCarregar.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.btnCarregar.Location = new System.Drawing.Point(684, 11);
-            this.btnCarregar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.btnCarregar.Margin = new System.Windows.Forms.Padding(2);
             this.btnCarregar.Name = "btnCarregar";
             this.btnCarregar.Size = new System.Drawing.Size(98, 26);
             this.btnCarregar.TabIndex = 0;
@@ -108,12 +87,11 @@ namespace AgroBase.Forms
             this.ClientSize = new System.Drawing.Size(790, 525);
             this.Controls.Add(this.pnlBotoes);
             this.Controls.Add(this.pnlMapa);
-            this.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.Margin = new System.Windows.Forms.Padding(2);
             this.Name = "frmMapa";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "Mapas";
-            this.pnlMapa.ResumeLayout(false);
-            ((System.ComponentModel.ISupportInitialize)(this.picLoading)).EndInit();
+            this.Load += new System.EventHandler(this.frmMapa_Load);
             this.pnlBotoes.ResumeLayout(false);
             this.pnlBotoes.PerformLayout();
             this.ResumeLayout(false);
@@ -126,6 +104,5 @@ namespace AgroBase.Forms
         private System.Windows.Forms.Panel pnlBotoes;
         private System.Windows.Forms.Label lblMapa;
         private System.Windows.Forms.Button btnCarregar;
-        private System.Windows.Forms.PictureBox picLoading;
     }
 }
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Forms/frmMapa.cs b/AgroBase/AgroBase/Forms/frmMapa.cs
index 45e6d7d8c..0ffe99956 100644
--- a/AgroBase/AgroBase/Forms/frmMapa.cs
+++ b/AgroBase/AgroBase/Forms/frmMapa.cs
@@ -18,38 +18,27 @@ namespace AgroBase.Forms
 {
     public partial class frmMapa : Form
     {
-        private ChromiumWebBrowser chromiumWebBrowser;
-        private MapasService mapaService = new MapasService();
+        private MapasModel Mapa;
 
         public frmMapa()
         {
             InitializeComponent();
         }
 
+        private void frmMapa_Load(object sender, EventArgs e)
+        {
+            Mapa = new MapasModel()
+            {
+                pnlMapa = pnlMapa,
+                lblMapa = lblMapa,
+            };
+        }
 
         private void btnCarregar_Click(object sender, EventArgs e)
         {
-            mapaService.CarregarMapa(MapasVariaveisModel.NomeArquivoMapaInterativo, MapasVariaveisModel.NomeArquivoMapaInterativoSaida);
-            picLoading.Visible = true;
-            Timer tmr = new Timer() { Interval = 500 };
-            tmr.Tick += Tmr_Tick;
-            tmr.Start();
+            Mapa.btnCarregar_Click(sender, e);
         }
 
-        private void Tmr_Tick(object sender, EventArgs e)
-        {
-            if (mapaService.pythonProcess.HasExited)
-            {
-                ((Timer)sender).Stop();
-                picLoading.Visible = false;
-
-                mapaService.CarregarDadosMapa();
-
-                lblMapa.Text = "Mapa carregado: " + mapaService.NomeArquivos;
-                chromiumWebBrowser = new ChromiumWebBrowser(mapaService.MapaUrl);
-                this.pnlMapa.Controls.Add(chromiumWebBrowser);
-                chromiumWebBrowser.Dock = DockStyle.Fill;
-            }
-        }
+        
     }
 }
diff --git a/AgroBase/AgroBase/Forms/frmMapa.resx b/AgroBase/AgroBase/Forms/frmMapa.resx
index 404d11601..1af7de150 100644
--- a/AgroBase/AgroBase/Forms/frmMapa.resx
+++ b/AgroBase/AgroBase/Forms/frmMapa.resx
@@ -117,2723 +117,4 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
-  <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
-  <data name="picLoading.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
-    <value>
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-</value>
-  </data>
 </root>
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Models/GPSModel.cs b/AgroBase/AgroBase/Models/GPSModel.cs
index ce7a0c754..296a83ea7 100644
--- a/AgroBase/AgroBase/Models/GPSModel.cs
+++ b/AgroBase/AgroBase/Models/GPSModel.cs
@@ -15,5 +15,6 @@ namespace AgroBase.Models
         public double Velocidade { get; set; }
         public int NumeroSatelites { get; set; }
         public double PrecisaoHorizontal { get; set; }
+        public double Orientacao { get;set; }
     }
 }
diff --git a/AgroBase/AgroBase/Models/MapasModel.cs b/AgroBase/AgroBase/Models/MapasModel.cs
index d3559a080..ea42aae8c 100644
--- a/AgroBase/AgroBase/Models/MapasModel.cs
+++ b/AgroBase/AgroBase/Models/MapasModel.cs
@@ -1,14 +1,55 @@
-using System;
+using AgroBase.Properties;
+using AgroBase.Services;
+using CefSharp.WinForms;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Windows.Forms;
 
 namespace AgroBase.Models
 {
     public class MapasModel
     {
+        public ChromiumWebBrowser chromiumWebBrowser { get; set; }
+        public Panel pnlMapa { get; set; }
+        private PictureBox picLoading { get; set; } = new PictureBox();
+        public Label lblMapa { get; set; } = new Label();
+        public MapasService mapaService { get; set; } = new MapasService();
 
+        public void btnCarregar_Click(object sender, EventArgs e)
+        {
+            mapaService.CarregarMapa(MapasVariaveisModel.NomeArquivoMapaInterativo, MapasVariaveisModel.NomeArquivoMapaInterativoSaida);
+            
+            picLoading.Dock = DockStyle.Fill;
+            picLoading.BackColor = System.Drawing.Color.Transparent;
+            picLoading.Image = Resources.loading;
+            picLoading.Name = "picLoading";
+            picLoading.SizeMode = PictureBoxSizeMode.Zoom;
+            picLoading.Visible = true;
+            pnlMapa.Controls.Add(picLoading);
+            
+            Timer tmr = new Timer() { Interval = 500 };
+            tmr.Tick += Tmr_Tick;
+            tmr.Start();
+        }
+
+        private void Tmr_Tick(object sender, EventArgs e)
+        {
+            if (mapaService.pythonProcess.HasExited)
+            {
+                ((Timer)sender).Stop();
+                picLoading.Visible = false;
+
+                mapaService.CarregarDadosMapa();
+
+                lblMapa.Text = "Mapa carregado: " + mapaService.NomeArquivos;
+                chromiumWebBrowser = new ChromiumWebBrowser(mapaService.MapaUrl);
+                pnlMapa.Controls.Add(chromiumWebBrowser);
+                chromiumWebBrowser.Dock = DockStyle.Fill;
+            }
+        }
     }
 
     public class MapaFeatureCollectionModel
diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
index 3fe7791a9..b30bf3492 100644
--- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
+++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
@@ -66,6 +66,7 @@ namespace AgroBase.Models
         public DispositivosService<MovimentacaoModel> DispMov { get; set; }
         public DispositivosService<DirecionalModel> DispDir { get; set; }
         public DispositivosService<AtuadorModel> DispAtu { get; set; }
+        public MapasModel Mapa { get;set; }
         public Form frmOperacao { get; set; }
         public string frmOperacaoNome { get; set; }
         public bool Iniciado { get; set; }
@@ -75,7 +76,12 @@ namespace AgroBase.Models
         public OperacaoControleModel ControleAnterior { get; set; }
         public List<OperacaoModulosMandatoriosModel> ModulosMandatorios { get; set; }
         public OperacaoSensoriamentoModel Sensoriamento { get; set; } = new OperacaoSensoriamentoModel();
+        public List<OperacaoSensoriamentoModel> Logs { get; set; } = new List<OperacaoSensoriamentoModel>();
+        public List<GPSModel> GPSTrajetoria { get; set; } = new List<GPSModel>();
         public int TempoIniciarOperacao { get; set; } = 10;
+        public string PastaSaida { get; set; } = "Operacoes/";
+        public string ID { get; set; }
+        public Timer tmrLogs = new Timer() { Interval = 5000 };
         
 
         public static OperacaoModel CarregarParametrosOperacaoPadrao(ModoOperacao Modo)
@@ -107,8 +113,16 @@ namespace AgroBase.Models
                     VelocidadeMedia = 0,
                     DistanciaDireita = 0,
                     DistanciaEsquerda = 0,
-                }
+                },
+                Logs = new List<OperacaoSensoriamentoModel>(),
             };
+            if (OperacaoCarregar.DispAtu != null)
+            {
+                for (int i = 0; i < OperacaoCarregar.DispAtu.Dados.QuantidadeBicos; i++)
+                {
+                    OperacaoCarregar.Sensoriamento.AtuacoesPorBico.Add(0);
+                }
+            }
 
             switch (Modo)
             {
@@ -254,8 +268,27 @@ namespace AgroBase.Models
             Iniciado = true;
             TimestampInicio = DateTime.Now.Ticks;
             TimestampFim = 0;
-            DispMov.Dados.DistanciaPercorridaOperacao = 0;
-            
+            if (DispMov != null)
+            {
+                DispMov.Dados.DistanciaPercorridaOperacao = 0;
+            }
+            Sensoriamento = new OperacaoSensoriamentoModel();
+            if (DispAtu != null)
+            {
+                for (int i = 0; i < DispAtu.Dados.QuantidadeBicos; i++)
+                {
+                    Sensoriamento.AtuacoesPorBico.Add(0);
+                }
+            }
+            Logs = new List<OperacaoSensoriamentoModel>();
+            GPSTrajetoria = new List<GPSModel>();
+            ID = (new DateTime(TimestampInicio)).ToString("dd_MM_yyyy_HH_mm_ss");
+
+            Directory.CreateDirectory(PastaSaida + ID + "/");
+
+            APIService.Inicializar();
+            GPSService.IniciarRecepcaoDados();
+
             if (controle != null)
             {
                 Controle = controle;
@@ -264,6 +297,15 @@ namespace AgroBase.Models
             {
                 frmOperacao.Show();
             }
+
+            tmrLogs.Tick -= TmrLogs_Tick;
+            tmrLogs.Tick += TmrLogs_Tick;
+            tmrLogs.Start();
+        }
+
+        private void TmrLogs_Tick(object sender, EventArgs e)
+        {
+            SalvarLog();
         }
 
         public void FinalizarOperacao()
@@ -274,6 +316,11 @@ namespace AgroBase.Models
 
             Iniciado = false;
             TimestampFim = DateTime.Now.Ticks;
+
+            tmrLogs.Stop();
+
+            GPSService.PararRecepcaoDados();
+            APIService.Parar();
         }
 
         public void AtualizarDadosControle()
@@ -379,6 +426,38 @@ namespace AgroBase.Models
             return Protocolos.ToList();
         }
 
+        public void SalvarLog()
+        {
+            Logs.Add(new OperacaoSensoriamentoModel()
+            {
+                Momento = DateTime.Now,
+                AtuacoesPorBico = Sensoriamento.AtuacoesPorBico,
+                BateriaConsumida = Sensoriamento.BateriaConsumida, 
+                DistanciaDireita = Sensoriamento.DistanciaDireita, 
+                DistanciaEsquerda = Sensoriamento.DistanciaEsquerda,
+                DistanciaPercorrida = Sensoriamento.DistanciaPercorrida,
+                ErvasIdentificadas = Sensoriamento.ErvasIdentificadas,
+                ErvasNoRadar = Sensoriamento.ErvasNoRadar,
+                HerbicidaConsumido = Sensoriamento.HerbicidaConsumido,
+                HerbicidaPorErva = Sensoriamento.HerbicidaPorErva,
+                ProgressoPercurso = Sensoriamento.ProgressoPercurso,
+                VelocidadeMedia = Sensoriamento.VelocidadeMedia
+            });
+            File.WriteAllText(PastaSaida + ID + "/logs.json", JsonConvert.SerializeObject(Logs, Formatting.None));
+
+
+            GPSTrajetoria.Add(new GPSModel()
+            {
+                NumeroSatelites = GPSService.UltimaLeitura.NumeroSatelites,
+                Altitude = GPSService.UltimaLeitura.Altitude,
+                DataHora = GPSService.UltimaLeitura.DataHora,
+                Latitude = GPSService.UltimaLeitura.Latitude,
+                Longitude = GPSService.UltimaLeitura.Longitude,
+                PrecisaoHorizontal = GPSService.UltimaLeitura.PrecisaoHorizontal
+            });
+            File.WriteAllText(PastaSaida + ID + "/trajetoria.json", JsonConvert.SerializeObject(GPSTrajetoria, Formatting.None));
+        }
+
     }
 
     public class OperacaoControleModel
@@ -421,6 +500,7 @@ namespace AgroBase.Models
 
     public class OperacaoSensoriamentoModel
     {
+        public DateTime Momento { get; set; }
         public int ErvasNoRadar { get; set; } = 0;
         public double VelocidadeMedia { get; set; } = 0;
         public double HerbicidaConsumido { get; set; } = 0;
@@ -434,4 +514,5 @@ namespace AgroBase.Models
         public double DistanciaDireita { get; set; } = 0;
     }
 
+
 }
diff --git a/AgroBase/AgroBase/Properties/Resources.Designer.cs b/AgroBase/AgroBase/Properties/Resources.Designer.cs
index 40619a6e0..9daac6c37 100644
--- a/AgroBase/AgroBase/Properties/Resources.Designer.cs
+++ b/AgroBase/AgroBase/Properties/Resources.Designer.cs
@@ -79,5 +79,15 @@ namespace AgroBase.Properties {
                 return ((System.Drawing.Bitmap)(obj));
             }
         }
+        
+        /// <summary>
+        ///   Looks up a localized resource of type System.Drawing.Bitmap.
+        /// </summary>
+        internal static System.Drawing.Bitmap loading {
+            get {
+                object obj = ResourceManager.GetObject("loading", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
     }
 }
diff --git a/AgroBase/AgroBase/Properties/Resources.resx b/AgroBase/AgroBase/Properties/Resources.resx
index 27368842c..bd3fc844b 100644
--- a/AgroBase/AgroBase/Properties/Resources.resx
+++ b/AgroBase/AgroBase/Properties/Resources.resx
@@ -124,4 +124,7 @@
   <data name="esp32-wrover" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Imagens\esp32-wrover.jpg;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="loading" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Imagens\loading.gif;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
 </root>
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Python/Scripts/api.py b/AgroBase/AgroBase/Python/Scripts/api.py
new file mode 100644
index 000000000..08e38ebee
--- /dev/null
+++ b/AgroBase/AgroBase/Python/Scripts/api.py
@@ -0,0 +1,33 @@
+from flask import Flask, request, jsonify
+from flask_cors import CORS
+import sys
+
+apiPort = sys.argv[1]
+getCordenadasEndpoint = sys.argv[2]
+setCordenadasEndpoint = sys.argv[3]
+
+app = Flask(__name__)
+CORS(app)  # Isso habilita o CORS para todas as rotas e origens
+
+coordenadas = {}
+
+@app.route(setCordenadasEndpoint, methods=['POST'])
+def receber_coordenadas():
+    dados = request.json
+    id = dados.get('id')
+    lat = dados.get('latitude')
+    lon = dados.get('longitude')
+    
+    coordenadas[id] = {'latitude': lat, 'longitude': lon}
+    
+    return jsonify({'status': 'Coordenadas recebidas com sucesso!'})
+
+@app.route(getCordenadasEndpoint, methods=['GET'])
+def servir_coordenadas(id):
+    if id in coordenadas:
+        return jsonify(coordenadas[id])
+    else:
+        return jsonify({'error': 'Coordenadas não encontradas!'}), 404
+
+if __name__ == '__main__':
+    app.run(host='0.0.0.0', port=apiPort, debug=True)
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Python/Scripts/map-load.py b/AgroBase/AgroBase/Python/Scripts/map-load.py
index 436f740e8..6f234b079 100644
--- a/AgroBase/AgroBase/Python/Scripts/map-load.py
+++ b/AgroBase/AgroBase/Python/Scripts/map-load.py
@@ -2,67 +2,40 @@ import geopandas as gpd
 import json
 import sys
 import folium
+import requests
+import re
 
+def internet_disponivel():
+    """Verifica se há conexão com a internet."""
+    url = 'http://www.google.com/'
+    timeout = 5
+    try:
+        _ = requests.get(url, timeout=timeout)
+        return True
+    except requests.ConnectionError:
+        return False
+
+# Argumentos e configurações iniciais
 pathFiles = sys.argv[1]
 fileName = sys.argv[2]
 outputName = sys.argv[3]
 outputMapName = sys.argv[4]
-
+apiEndpoit = sys.argv[5]
 pastaSaida = 'Python/Output/'
 
 # Carregar o arquivo shapefile contendo a geometria
 input_shapefile = pathFiles + fileName + '.shp'
 data_geometry = gpd.read_file(input_shapefile)
 
-# Carregar o arquivo DBF com informações adicionais
-input_dbf = pathFiles + fileName + '.dbf'
-data_dbf = gpd.read_file(input_dbf)
-
-# Mesclar as informações do arquivo DBF com o dataframe de geometria
-data_merged = data_geometry.merge(data_dbf, left_index=True, right_index=True)
-
-# Escolher uma coluna de geometria
-geometry_column = 'geometry_y'
-
-# Criar um novo GeoDataFrame com uma única coluna de geometria
-data_geodataframe = gpd.GeoDataFrame(data_merged[[geometry_column]], geometry=geometry_column)
-
-# Criar o campo 'properties' e preencher com as colunas do DataFrame original
-data_geodataframe['properties'] = data_merged.apply(lambda row: {
-    'Id': row['Id_x'],
-    'Name': row['Name_x'],
-    'Length': row['Length_x'],
-    'Dist1': row['Dist1_x'],
-    'Dist2': row['Dist2_x']
-}, axis=1)
-
-# Caminho para salvar o arquivo GEOJson com as informações adicionais
-output_geojson = pastaSaida + outputName
-
-# Salvar os dados no formato GEOJson
-data_geodataframe.to_file(output_geojson, driver='GeoJSON')
-
-# Abrir o arquivo GeoJSON
-with open(output_geojson, 'r') as file:
-    data = json.load(file)
-
-# Iterar sobre as features no arquivo GeoJSON
-for feature in data['features']:
-    # Obter o dicionário 'properties' dentro de 'properties'
-    properties = feature['properties']['properties']
-    # Remover a camada extra de 'properties'
-    feature['properties'] = properties
-
-# Salvar o arquivo GeoJSON atualizado
-with open(output_geojson, 'w') as file:
-    json.dump(data, file)
-
 # Calcular os limites (bounds) da geometria
 minx, miny, maxx, maxy = data_geometry.total_bounds
 center = [(miny + maxy) / 2, (minx + maxx) / 2]
 
-# Criar um mapa centrado no centro das coordenadas das geometrias
-m = folium.Map(location=center, zoom_start=12)
+# Verificar se há conexão com a internet
+if internet_disponivel():
+    m = folium.Map(location=center, zoom_start=12)
+else:
+    m = folium.Map(location=center, zoom_start=12, tiles=None)
 
 # Converter o GeoDataFrame para GeoJSON e adicionar ao mapa
 geojson_data = data_geometry.to_json()
@@ -70,3 +43,120 @@ folium.GeoJson(geojson_data).add_to(m)
 
 # Salvar o mapa interativo em um arquivo HTML
 m.save(pastaSaida + outputMapName)
+
+
+# Caminho completo para o arquivo HTML gerado
+caminho_completo_html = pastaSaida + outputMapName
+
+# Abrir o arquivo HTML para leitura e escrita
+with open(caminho_completo_html, 'r+') as arquivo_html:
+    # Ler o conteúdo do arquivo
+    conteudo_html = arquivo_html.read()
+    
+    # Usar expressão regular para encontrar o ID do mapa
+    padrao_id_mapa = re.compile(r'id="map_(.*?)"')
+    resultado_busca = padrao_id_mapa.search(conteudo_html)
+
+    # Verificar se encontrou um ID de mapa
+    if resultado_busca:
+        id_mapa = 'map_' + resultado_busca.group(1)
+    else:
+        raise ValueError("Não foi possível encontrar o ID do mapa no arquivo HTML.")
+
+    # Script JavaScript para adicionar ao HTML, com o ID do mapa substituído
+    script_atualizacao_marcador = f"""
+    <script>
+        function trajeto_json_onEachFeature(feature, layer) {{
+            layer.on({{
+            }});
+        }};
+        var trajeto_json = L.geoJson(null, {{
+                onEachFeature: trajeto_json_onEachFeature,
+                style: function(feature) {{
+                    return {{color: 'red'}};
+                }}
+            }}
+        );
+        function trajeto_json_add (data) {{
+            trajeto_json.addData(data);
+        }}
+        trajeto_json_add({{"features": []}});
+
+        trajeto_json.addTo({id_mapa});
+
+        function adicionarGeometria(novaGeometria) {{
+            trajeto_json.addData(novaGeometria);
+        }}
+
+        function saoCoordenadasIguais(coord1, coord2, tolerancia) {{
+            return Math.abs(coord1[0] - coord2[0]) < tolerancia && Math.abs(coord1[1] - coord2[1]) < tolerancia;
+        }}
+
+        function adicionarCoordenada(idGeometria, novaCoordenada) {{
+            var feature = trajeto_json.toGeoJSON().features.find(f => f.id === idGeometria);
+            if (feature) {{
+                var ultima = [0.0,0.0];
+                if (feature.geometry.coordinates.length > 0) {{
+                    ultima = feature.geometry.coordinates[feature.geometry.coordinates.length - 1];
+                }}
+                if (!saoCoordenadasIguais(ultima, novaCoordenada, 0.000001)) {{
+                    feature.geometry.coordinates.push(novaCoordenada);
+                    var ft = feature;
+                    trajeto_json.clearLayers();
+                    trajeto_json.addData(ft);
+                }}
+            
+            }} else {{
+                console.log("Feature com ID " + idGeometria + " não encontrada.");
+            }}
+        }}
+
+        adicionarGeometria({{
+            "type": "Feature",
+            "geometry": {{
+                "type": "LineString",
+                "coordinates": []
+            }},
+            "properties": {{"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 21.724783283, "Name": "Projeto"}},
+            "id": "Tj"
+        }});
+
+    </script>
+    
+    <script>
+        var marcadorDinamico = L.marker([0, 0], {{
+            icon: L.AwesomeMarkers.icon({{
+                icon: 'info-sign',
+                markerColor: 'red',
+                prefix: 'glyphicon'
+            }})
+        }}).addTo({id_mapa});
+    
+        function atualizarMarcador() {{
+            fetch('{apiEndpoit}')
+                .then(function(response) {{
+                    return response.json();
+                }})
+                .then(function(dados) {{
+                    var novaLatitude = dados.latitude;
+                    var novaLongitude = dados.longitude;
+                    var novaPosicao = [novaLatitude, novaLongitude];
+                    marcadorDinamico.setLatLng(novaPosicao);
+                    adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
+                }})
+                .catch(function(error) {{
+                    console.error('Erro ao atualizar o marcador:', error);
+                }});
+        }}
+    
+        // Atualiza o marcador a cada 2 segundos
+        setInterval(atualizarMarcador, 2000);
+    </script>
+    """
+
+# Inserir o script no conteúdo HTML
+conteudo_atualizado = conteudo_html.replace('</html>', script_atualizacao_marcador + '</html>')
+
+# Agora, reabrir o arquivo para escrita e sobrescrever o conteúdo com a versão atualizada
+with open(caminho_completo_html, 'w') as arquivo_html:
+    arquivo_html.write(conteudo_atualizado)
\ No newline at end of file
diff --git a/AgroBase/AgroBase/Services/APIService.cs b/AgroBase/AgroBase/Services/APIService.cs
new file mode 100644
index 000000000..ccd0b211b
--- /dev/null
+++ b/AgroBase/AgroBase/Services/APIService.cs
@@ -0,0 +1,62 @@
+using AgroBase.Models;
+using Newtonsoft.Json;
+using System;
+using System.Diagnostics;
+using System.Net.Http;
+using System.Text;
+
+namespace AgroBase.Services
+{
+    public static class APIService
+    {
+        public static Process pythonProcess = null;
+        public static string API_Base { get; set; } = "http://localhost";
+        public static string API_Porta { get; set; } = "5001";
+        public static string GPS_setCoordenadasEndpoint { get; set; } = "/receber-coordenadas";
+        public static string GPS_getCoordenadasEndpoint { get; set; } = "/servir-coordenadas/<id>";
+        public static int GPS_IDcoordenadasRobo { get; set; } = 1;
+
+        public static string ApiBase()
+        {
+            return API_Base + ":" + API_Porta.ToString();
+        }
+
+        public static void Inicializar()
+        {
+            if (pythonProcess == null)
+            {
+                pythonProcess = PythonService.RunScript(PythonService.ScriptAPI, new string[] { API_Porta.ToString(), GPS_getCoordenadasEndpoint, GPS_setCoordenadasEndpoint });
+            }
+        }
+
+        public static void Parar()
+        {
+            if (pythonProcess != null)
+            {
+                pythonProcess.Kill();
+                pythonProcess = null;
+            }
+        }
+
+        public static async void AtualizarCoordenadasGPS(GPSModel Leitura, int ID)
+        {
+            var url = ApiBase() + GPS_setCoordenadasEndpoint;
+            var localizacao = new
+            {
+                id = ID.ToString(),
+                latitude = Leitura.Latitude,
+                longitude = Leitura.Longitude
+            };
+
+            var json = JsonConvert.SerializeObject(localizacao);
+            var data = new StringContent(json, Encoding.UTF8, "application/json");
+
+            using (var client = new HttpClient())
+            {
+                var response = await client.PostAsync(url, data);
+
+                string result = await response.Content.ReadAsStringAsync();
+            }
+        }
+    }
+}
diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs
index 16a09064d..435af9e4f 100644
--- a/AgroBase/AgroBase/Services/GPSService.cs
+++ b/AgroBase/AgroBase/Services/GPSService.cs
@@ -3,6 +3,7 @@ using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
 using System.Globalization;
+using System.IO;
 using System.IO.Ports;
 using System.Linq;
 using System.Net.Http;
@@ -19,6 +20,7 @@ namespace AgroBase.Services
         public static bool Iniciado = false;
         public static SerialPort PortaGPS = null;
         public static GPSModel UltimaLeitura = new GPSModel();
+        public static GPSModel PenultimaLeitura = new GPSModel();
 
         public static void AtualizarPortaGPS(SerialPort _porta)
         {
@@ -35,7 +37,7 @@ namespace AgroBase.Services
         {
             try
             {
-                if (PortaGPS != null)
+                if (PortaGPS != null && !PortaGPS.IsOpen)
                 {
                     PortaGPS.Open();
 
@@ -89,6 +91,15 @@ namespace AgroBase.Services
             {
                 // Global Positioning System Fix Data
                 case "$GPGGA":
+                    PenultimaLeitura.Latitude = UltimaLeitura.Latitude;
+                    PenultimaLeitura.Longitude = UltimaLeitura.Longitude;
+                    PenultimaLeitura.Altitude = UltimaLeitura.Altitude;
+                    PenultimaLeitura.PrecisaoHorizontal = UltimaLeitura.PrecisaoHorizontal;
+                    PenultimaLeitura.DataHora = UltimaLeitura.DataHora;
+                    PenultimaLeitura.NumeroSatelites = UltimaLeitura.NumeroSatelites;
+                    PenultimaLeitura.Velocidade = UltimaLeitura.Velocidade;
+                    PenultimaLeitura.Orientacao = UltimaLeitura.Orientacao;
+
                     if (parts[2] != "" && parts[3] != "")
                     {
                         UltimaLeitura.Latitude = ConvertToDecimalDegrees(parts[2], parts[3], 2); // ConvertToDouble(parts[2]);
@@ -100,8 +111,9 @@ namespace AgroBase.Services
                     UltimaLeitura.NumeroSatelites = int.TryParse(parts[7], out int numSat) ? numSat : 0;
                     UltimaLeitura.PrecisaoHorizontal = double.TryParse(parts[8], NumberStyles.Float, CultureInfo.InvariantCulture, out double hdop) ? hdop : 0;
                     UltimaLeitura.Altitude = ConvertToDouble(parts[9]);
+                    UltimaLeitura.Orientacao = AtualizaOrientacao();
 
-                    Console.WriteLine(UltimaLeitura.Latitude + "," + UltimaLeitura.Longitude);
+                    APIService.AtualizarCoordenadasGPS(UltimaLeitura, APIService.GPS_IDcoordenadasRobo);
                     break;
 
                 // Recommended minimum specific GPS/Transit data
@@ -112,6 +124,7 @@ namespace AgroBase.Services
 
                     // Você pode adicionar mais cases aqui para outros tipos de sentenças NMEA que você deseja processar
             }
+
         }
 
         private static double ConvertToDecimalDegrees(string nmeaCoordinate, string direction, int digits)
@@ -164,6 +177,30 @@ namespace AgroBase.Services
             return knots * 1.852;
         }
 
+        private static double AtualizaOrientacao()
+        {
+            // Converter latitudes e longitudes de graus para radianos
+            double latA = UltimaLeitura.Latitude * (Math.PI / 180.0);
+            double lonA = UltimaLeitura.Longitude * (Math.PI / 180.0);
+            double latB = PenultimaLeitura.Latitude * (Math.PI / 180.0);
+            double lonB = PenultimaLeitura.Longitude * (Math.PI / 180.0);
+
+            // Calcular a diferença de longitude
+            double deltaLon = lonB - lonA;
+
+            // Calcular a direção
+            double y = Math.Sin(deltaLon) * Math.Cos(latB);
+            double x = Math.Cos(latA) * Math.Sin(latB) - Math.Sin(latA) * Math.Cos(latB) * Math.Cos(deltaLon);
+            double direcaoRadianos = Math.Atan2(y, x);
+
+            // Converter a direção de radianos para graus
+            double direcaoGraus = direcaoRadianos * (180.0 / Math.PI);
+
+            // Normalizar a direção para que esteja no intervalo de 0 a 360 graus
+            direcaoGraus = (direcaoGraus + 360) % 360;
+
+            return direcaoGraus;
+        }
 
 
 
diff --git a/AgroBase/AgroBase/Services/MapasService.cs b/AgroBase/AgroBase/Services/MapasService.cs
index 9c9abd97e..cd4a097f5 100644
--- a/AgroBase/AgroBase/Services/MapasService.cs
+++ b/AgroBase/AgroBase/Services/MapasService.cs
@@ -48,7 +48,7 @@ namespace AgroBase.Services
                 NomeArquivos = opfMapa.FileName.Split('\\')[opfMapa.FileName.Split('\\').Length - 1].Split('.')[0];
                 CaminhoMapa = opfMapa.FileName.Substring(0, opfMapa.FileName.Length - NomeArquivos.Length - 4).Replace("\\", "/");
 
-                pythonProcess = PythonService.RunScript(PythonService.ScriptMapConverter, new string[] { CaminhoMapa, NomeArquivos, ArquivoSaida, NomeArquivoMapa });
+                pythonProcess = PythonService.RunScript(PythonService.ScriptMapConverter, new string[] { CaminhoMapa, NomeArquivos, ArquivoSaida, NomeArquivoMapa, APIService.ApiBase() + APIService.GPS_getCoordenadasEndpoint.Replace("<id>", APIService.GPS_IDcoordenadasRobo.ToString()) });
 
                 MapaUrl = new Uri(CaminhoSaida + NomeArquivoMapa).AbsoluteUri;
                 CaminhoDadosMapa = CaminhoSaida + ArquivoSaida;
@@ -65,11 +65,11 @@ namespace AgroBase.Services
         {
             NomeArquivoMapa = nomeArquivoMapa;
 
-            //pythonProcess = PythonService.RunScript(PythonService.ScriptMapGPS, new string[] { VariaveisPortas.GPS.ToString(), PathUpdateMarker });
+            pythonProcess = PythonService.RunScript(PythonService.ScriptMapGPS, new string[] { VariaveisPortas.GPS.ToString(), PathUpdateMarker });
 
-            //MapaUrl = new Uri("http://localhost:" + VariaveisPortas.GPS + "/").AbsoluteUri;
+            MapaUrl = new Uri("http://localhost:" + VariaveisPortas.GPS + "/").AbsoluteUri;
 
-            MapaUrl = new Uri(Variaveis.CaminhoSistema + "Utils\\offline_maps\\index.html").AbsoluteUri;
+            //MapaUrl = new Uri(Variaveis.CaminhoSistema + "Utils\\offline_maps\\index.html").AbsoluteUri;
         }
 
         public async void AtualizarPosicaoMapaGPS(double lat, double lon)
diff --git a/AgroBase/AgroBase/Services/PythonService.cs b/AgroBase/AgroBase/Services/PythonService.cs
index a1683e79e..32f526905 100644
--- a/AgroBase/AgroBase/Services/PythonService.cs
+++ b/AgroBase/AgroBase/Services/PythonService.cs
@@ -13,6 +13,7 @@ namespace AgroBase.Services
         public static string CaminhoScripts = "Scripts\\";
         public static string CaminhoLeitura = "Output\\";
 
+        public static string ScriptAPI = "api.py";
         public static string ScriptWeedDetector = "weed-detector.py";
         public static string ScriptStreetDetector = "street-detector.py";
         public static string ScriptMapConverter = "map-load.py";
@@ -28,7 +29,7 @@ namespace AgroBase.Services
                 Args += ' '.ToString() + '"'.ToString() + arg + '"'.ToString();
             }
             Process pythonProcess = new Process();
-            pythonProcess.StartInfo.FileName = "python";
+            pythonProcess.StartInfo.FileName = "C:\\Users\\USER\\AppData\\Local\\Programs\\Python\\Python311\\python";
             pythonProcess.StartInfo.Arguments = ScriptPath + Args;
             pythonProcess.StartInfo.UseShellExecute = false;
             pythonProcess.StartInfo.RedirectStandardOutput = true;
diff --git a/AgroBase/AgroBase/Services/SocketService.cs b/AgroBase/AgroBase/Services/SocketService.cs
index 27eff40ce..cf3b4e825 100644
--- a/AgroBase/AgroBase/Services/SocketService.cs
+++ b/AgroBase/AgroBase/Services/SocketService.cs
@@ -75,7 +75,7 @@ namespace AgroBase.Services
             }
             catch (Exception ex)
             {
-                Console.WriteLine(dado + " - " + ex.Message);
+                //Console.WriteLine(dado + " - " + ex.Message);
                 try
                 {
                     stream.BeginRead(buffer, 0, buffer.Length, OnRead, null);
diff --git a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb
index 741b925d2..e6748bd7a 100644
Binary files a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb and b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb differ
diff --git a/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 b/AgroBase/AgroBase/bin/Debug/DawnCache/data_1
index 936456002..1565bd9f4 100644
Binary files a/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 and b/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 differ
diff --git a/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 b/AgroBase/AgroBase/bin/Debug/GPUCache/data_1
index 7fb4f5764..61e8415e5 100644
Binary files a/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 and b/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 differ
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/22_02_2024_14_52_41/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/22_02_2024_14_52_41/logs.json
new file mode 100644
index 000000000..ae180cca3
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/22_02_2024_14_52_41/logs.json
@@ -0,0 +1 @@
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/22_02_2024_14_52_41/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/22_02_2024_14_52_41/trajetoria.json
new file mode 100644
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+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/22_02_2024_14_52_41/trajetoria.json
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_08_48_33/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_08_48_33/trajetoria.json
new file mode 100644
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_26_00/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_26_00/logs.json
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_26_00/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_26_00/trajetoria.json
new file mode 100644
index 000000000..2b40a2c9f
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_26_00/trajetoria.json
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_34_35/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_34_35/logs.json
new file mode 100644
index 000000000..1319f61e3
--- /dev/null
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_34_35/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_34_35/trajetoria.json
new file mode 100644
index 000000000..884c67a43
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_34_35/trajetoria.json
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_45_48/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_45_48/logs.json
new file mode 100644
index 000000000..85c796231
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_45_48/logs.json
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_45_48/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_45_48/trajetoria.json
new file mode 100644
index 000000000..76fc7fe5f
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_45_48/trajetoria.json
@@ -0,0 +1 @@
+[{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_51_10/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_51_10/logs.json
new file mode 100644
index 000000000..f9235c7f3
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_51_10/logs.json
@@ -0,0 +1 @@
+[{"Momento":"2024-02-23T09:51:15.5202079-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":26,"AtuacoesPorBico":[16,16,11,1],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T09:51:20.5124691-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":44,"AtuacoesPorBico":[16,16,11,1],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_51_10/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_51_10/trajetoria.json
new file mode 100644
index 000000000..4fa81964b
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_51_10/trajetoria.json
@@ -0,0 +1 @@
+[{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_52_33/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_52_33/logs.json
new file mode 100644
index 000000000..86dec4d3c
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_52_33/logs.json
@@ -0,0 +1 @@
+[{"Momento":"2024-02-23T09:52:38.6983052-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":15,"AtuacoesPorBico":[0,0,10,28],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T09:52:44.1262795-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":15,"AtuacoesPorBico":[0,0,10,28],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T09:52:48.9190819-03:00","ErvasNoRadar":3,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":26,"AtuacoesPorBico":[0,0,10,28],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T09:52:54.0118225-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":38,"AtuacoesPorBico":[0,0,10,28],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_52_33/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_52_33/trajetoria.json
new file mode 100644
index 000000000..643247408
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_52_33/trajetoria.json
@@ -0,0 +1 @@
+[{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:41:39","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_55_47/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_55_47/logs.json
new file mode 100644
index 000000000..84739c39c
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_55_47/logs.json
@@ -0,0 +1 @@
+[{"Momento":"2024-02-23T09:55:52.6545239-03:00","ErvasNoRadar":2,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":2,"AtuacoesPorBico":[6,6,14,16],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T09:55:57.6521686-03:00","ErvasNoRadar":2,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":30,"AtuacoesPorBico":[6,6,14,16],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T09:56:02.6550606-03:00","ErvasNoRadar":2,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":42,"AtuacoesPorBico":[6,6,14,16],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T09:56:07.6524607-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":42,"AtuacoesPorBico":[6,6,14,16],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_55_47/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_55_47/trajetoria.json
new file mode 100644
index 000000000..936649b1f
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_09_55_47/trajetoria.json
@@ -0,0 +1 @@
+[{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:56:35","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:56:40","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:56:45","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T09:56:50","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_01_51/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_01_51/logs.json
new file mode 100644
index 000000000..6c445b28f
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_01_51/logs.json
@@ -0,0 +1 @@
+[{"Momento":"2024-02-23T10:01:56.3270449-03:00","ErvasNoRadar":3,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":14,"AtuacoesPorBico":[9,11,3,3],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T10:02:01.3266499-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":26,"AtuacoesPorBico":[9,11,3,3],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_01_51/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_01_51/trajetoria.json
new file mode 100644
index 000000000..164ff80b6
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_01_51/trajetoria.json
@@ -0,0 +1 @@
+[{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:02:38","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:02:43","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_03_57/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_03_57/logs.json
new file mode 100644
index 000000000..7df6e5fad
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_03_57/logs.json
@@ -0,0 +1 @@
+[{"Momento":"2024-02-23T10:04:02.7200581-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":4,"AtuacoesPorBico":[11,12,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T10:04:07.7175609-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":23,"AtuacoesPorBico":[11,12,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_03_57/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_03_57/trajetoria.json
new file mode 100644
index 000000000..0abfd876a
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_03_57/trajetoria.json
@@ -0,0 +1 @@
+[{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:04:45","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:04:50","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_08_42/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_08_42/logs.json
new file mode 100644
index 000000000..9bd482c48
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_08_42/logs.json
@@ -0,0 +1 @@
+[{"Momento":"2024-02-23T10:08:47.9366872-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":4,"AtuacoesPorBico":[56,74,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T10:08:52.9344416-03:00","ErvasNoRadar":2,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":48,"AtuacoesPorBico":[56,74,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T10:09:56.6115142-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":60,"AtuacoesPorBico":[56,74,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T10:09:57.9322241-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":60,"AtuacoesPorBico":[56,74,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T10:10:02.9344679-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":64,"AtuacoesPorBico":[56,74,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T10:10:07.9322464-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":98,"AtuacoesPorBico":[56,74,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T10:10:12.953966-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":104,"AtuacoesPorBico":[56,74,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T10:10:17.9351455-03:00","ErvasNoRadar":0,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":110,"AtuacoesPorBico":[56,74,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0},{"Momento":"2024-02-23T10:10:22.9338668-03:00","ErvasNoRadar":2,"VelocidadeMedia":0.0,"HerbicidaConsumido":0.0,"HerbicidaPorErva":0.0,"BateriaConsumida":0.0,"ErvasIdentificadas":130,"AtuacoesPorBico":[56,74,0,0],"DistanciaPercorrida":0.0,"ProgressoPercurso":0.0,"DistanciaEsquerda":0.0,"DistanciaDireita":0.0}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_08_42/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_08_42/trajetoria.json
new file mode 100644
index 000000000..10a180e6a
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_08_42/trajetoria.json
@@ -0,0 +1 @@
+[{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:09:30","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:09:35","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:09:38","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:09:40","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:09:45","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:09:50","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:09:55","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:09:57","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99},{"Latitude":0.0,"Longitude":0.0,"DataHora":"2024-02-23T10:10:01","Altitude":0.0,"Velocidade":0.0,"NumeroSatelites":0,"PrecisaoHorizontal":99.99}]
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_13_13/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_13_13/logs.json
new file mode 100644
index 000000000..be008e873
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_13_13/logs.json
@@ -0,0 +1 @@
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_13_13/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_13_13/trajetoria.json
new file mode 100644
index 000000000..1e4c07655
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_10_13_13/trajetoria.json
@@ -0,0 +1 @@
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_14_47_07/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_14_47_07/logs.json
new file mode 100644
index 000000000..c461c21ba
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_14_47_07/logs.json
@@ -0,0 +1 @@
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_14_47_07/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_14_47_07/trajetoria.json
new file mode 100644
index 000000000..a365e997d
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_14_47_07/trajetoria.json
@@ -0,0 +1 @@
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_14_48_59/logs.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_14_48_59/logs.json
new file mode 100644
index 000000000..c16d790fe
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_14_48_59/logs.json
@@ -0,0 +1 @@
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diff --git a/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_14_48_59/trajetoria.json b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_14_48_59/trajetoria.json
new file mode 100644
index 000000000..d358e33c1
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Operacoes/23_02_2024_14_48_59/trajetoria.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/GPS.json b/AgroBase/AgroBase/bin/Debug/Python/Output/GPS.json
new file mode 100644
index 000000000..4076bd986
--- /dev/null
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diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/leitura_ruas.json b/AgroBase/AgroBase/bin/Debug/Python/Output/leitura_ruas.json
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+++ b/AgroBase/AgroBase/bin/Debug/Python/Output/leitura_ruas.json
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new file mode 100644
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+
+<script>
+    var trajeto_json_940573d5dcca3e5fe22061f09acef5e3 = L.geoJson(null, {
+            onEachFeature: geo_json_940573d5dcca3e5fe22061f09acef5e3_onEachFeature,
+            style: function(feature) {
+                return {color: 'red'};
+            }
+        }
+    );
+    function trajeto_json_940573d5dcca3e5fe22061f09acef5e3_add (data) {
+        trajeto_json_940573d5dcca3e5fe22061f09acef5e3.addData(data);
+    }
+    trajeto_json_940573d5dcca3e5fe22061f09acef5e3_add({"features": []});
+
+    trajeto_json_940573d5dcca3e5fe22061f09acef5e3.addTo(map_6cd088daec204ef6f5b11de0f7d88ab2);
+
+    function adicionarGeometria(novaGeometria) {
+        trajeto_json_940573d5dcca3e5fe22061f09acef5e3.addData(novaGeometria);
+    }
+
+    function adicionarCoordenada(idGeometria, novaCoordenada) {
+        // Encontra a feature com o ID correspondente
+        var feature = trajeto_json_940573d5dcca3e5fe22061f09acef5e3.toGeoJSON().features.find(f => f.id === idGeometria);
+        if (feature) {
+            // Adiciona a nova coordenada
+            feature.geometry.coordinates.push(novaCoordenada);
+            var ft = feature;
+            trajeto_json_940573d5dcca3e5fe22061f09acef5e3.clearLayers();
+            trajeto_json_940573d5dcca3e5fe22061f09acef5e3.addData(ft);
+        } else {
+            console.log("Feature com ID " + idGeometria + " não encontrada.");
+        }
+    }
+
+    var lat = -47.264100;
+    var lon = -22.339500;
+    function loop() {
+        lat -= 0.0001;
+        lon -= 0.0001;
+        setTimeout(() => {
+            console.log(lat, lon);
+            adicionarCoordenada("2", [lat, lon]);
+            loop();
+        }, 1000);
+    }
+    
+    adicionarGeometria({
+        "type": "Feature",
+        "geometry": {
+            "type": "LineString",
+            "coordinates": []
+        },
+        "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 21.724783283, "Name": "Projeto"},
+        "id": "2"
+    });
+
+    //loop();
+    
+
+</script>
+</html>
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
index bcbe3bb2e..4ef334c12 100644
--- a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
+++ b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
@@ -25,7 +25,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_63fc9d9bcba7458256c5d6de89227f95 {
+                #map_d88a6539df6e3600f06d25fac5813c66 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,14 +39,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_63fc9d9bcba7458256c5d6de89227f95" ></div>
+            <div class="folium-map" id="map_d88a6539df6e3600f06d25fac5813c66" ></div>
         
 </body>
 <script>
     
     
-            var map_63fc9d9bcba7458256c5d6de89227f95 = L.map(
-                "map_63fc9d9bcba7458256c5d6de89227f95",
+            var map_d88a6539df6e3600f06d25fac5813c66 = L.map(
+                "map_d88a6539df6e3600f06d25fac5813c66",
                 {
                     center: [-22.340241451000697, -47.26020211631194],
                     crs: L.CRS.EPSG3857,
@@ -60,34 +60,122 @@
 
         
     
-            var tile_layer_d1978acf554b80f8f039070af4bee35f = L.tileLayer(
+            var tile_layer_89a5eef875c22861d4ac8ca6c1c205ad = L.tileLayer(
                 "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
                 {"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
             );
         
     
-            tile_layer_d1978acf554b80f8f039070af4bee35f.addTo(map_63fc9d9bcba7458256c5d6de89227f95);
+            tile_layer_89a5eef875c22861d4ac8ca6c1c205ad.addTo(map_d88a6539df6e3600f06d25fac5813c66);
         
     
 
-        function geo_json_4805659e09b3ca93ec7d5ac8d6911225_onEachFeature(feature, layer) {
+        function geo_json_068b4990ac1e224950e8cda7f505035c_onEachFeature(feature, layer) {
             layer.on({
             });
         };
-        var geo_json_4805659e09b3ca93ec7d5ac8d6911225 = L.geoJson(null, {
-                onEachFeature: geo_json_4805659e09b3ca93ec7d5ac8d6911225_onEachFeature,
+        var geo_json_068b4990ac1e224950e8cda7f505035c = L.geoJson(null, {
+                onEachFeature: geo_json_068b4990ac1e224950e8cda7f505035c_onEachFeature,
             
         });
 
-        function geo_json_4805659e09b3ca93ec7d5ac8d6911225_add (data) {
-            geo_json_4805659e09b3ca93ec7d5ac8d6911225
+        function geo_json_068b4990ac1e224950e8cda7f505035c_add (data) {
+            geo_json_068b4990ac1e224950e8cda7f505035c
                 .addData(data);
         }
-            geo_json_4805659e09b3ca93ec7d5ac8d6911225_add({"features": [{"geometry": {"coordinates": [[-47.264037338109766, -22.339524535994332], [-47.26401766184665, -22.339560540751183], [-47.26400872414079, -22.339576970425245], [-47.26399979993972, -22.339593449992105], [-47.263990889109174, -22.339609979349202], [-47.26398199151551, -22.33962655838882], [-47.26397310702327, -22.33964318700223], [-47.26396423549601, -22.33965986507852], [-47.26394301077209, -22.339699942622605]], "type": "LineString"}, "id": "0", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 21.724783283, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.26401505555521, -22.339505666408137], [-47.26400067261975, -22.339531864331477], [-47.26399169682811, -22.339548288742588], [-47.26398273497559, -22.339564762798126], [-47.26397378692751, -22.339581286395244], [-47.263964852547424, -22.339597859430143], [-47.263955931699435, -22.339614481793877], [-47.2639470242459, 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"Id": 1517, "Length": 101.398928917, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.261398615663744, -22.335178908569077], [-47.26137368989847, -22.335204927875036], [-47.2613533915737, -22.335226230318096], [-47.26133301795018, -22.335247730532743], [-47.26131257216273, -22.335269430903647], [-47.261292057407125, -22.33529133383172], [-47.26127147694274, -22.33531344173121], [-47.261250834098725, -22.335335757022083], [-47.26123014774038, -22.335358265300545], [-47.26120948900522, -22.335380893671235], [-47.261188922464555, -22.335403571646165], [-47.261168459039666, -22.335426286152362], [-47.2611480983016, -22.335449036552294], [-47.26112783982091, -22.33547182221215], [-47.261107683164234, -22.33549464250557], [-47.26108762789913, -22.33551749680849], [-47.2610676735917, -22.33554038450162], [-47.26104781980407, -22.33556330497374], [-47.2610280660995, -22.33558625761554], [-47.261008412041036, -22.33560924182158], [-47.26098885718833, -22.33563225699374], [-47.26096940110059, -22.335655302537987], [-47.26095004333787, -22.33567837786292], [-47.26093078345882, -22.335701482382408], [-47.26091162101985, -22.33572461551669], [-47.26089255557857, -22.33574777668832], [-47.26086419087574, -22.33578245129618]], "type": "LineString"}, "id": "172", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 86.637965556, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.26136746667117, -22.335170629016325], [-47.26133157918397, -22.335208291785904], [-47.26131115174542, -22.3352298487874], [-47.26129065052482, -22.335251607988862], [-47.26127007873688, -22.335273571804304], [-47.26124943966086, -22.335295742661245], [-47.2612287366466, -22.33531812299299], [-47.261207988781834, -22.33534069819062], [-47.261187268110255, -22.335363394398424], [-47.261166640040464, -22.33538614021483], [-47.261146115637835, -22.335408922402127], [-47.26112569447012, -22.335431740319596], [-47.2611053761045, -22.33545459333021], [-47.26108516010429, -22.335477480804588], [-47.26106504603367, -22.33550040211566], [-47.26104503345533, -22.335523356641104], [-47.26102512192794, -22.335546343766865], [-47.26100531101144, -22.335569362880783], [-47.26098560026537, -22.335592413374627], [-47.26096598924593, -22.335615494647556], [-47.260946477508874, -22.335638606102933], [-47.260916722065076, -22.335674075920533]], "type": "LineString"}, "id": "173", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 72.588533131, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.261336399115564, -22.335162403494703], [-47.26130976679977, -22.335190353250262], [-47.26128928554618, -22.3352119670386], [-47.26126872889239, -22.335233785070585], [-47.26124810007216, -22.335255809773408], [-47.26122740238449, -22.335278043587795], [-47.26120663919996, -22.33530048896041], [-47.26118582982878, -22.335323131077146], [-47.26116504722075, -22.3353458951221], [-47.26114435762183, -22.335368708779914], [-47.26112377224147, -22.335391558648304], [-47.26110329064408, -22.335414444083273], [-47.26108291239354, -22.335437364444658], [-47.261062637049776, -22.335460319099983], [-47.26104246417359, -22.335483307419157], [-47.26102239332435, -22.33550632877691], [-47.26100242405723, -22.3355293825563], [-47.260968851146636, -22.33556839228025]], "type": "LineString"}, "id": "174", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 58.801257849, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.26130528015686, -22.33515413092535], [-47.26126741935246, -22.335194085286336], [-47.2612468072655, -22.335215962148848], [-47.26122612141294, -22.335238047739015], [-47.261205365113625, -22.33526034451082], [-47.2611845417588, -22.335282854924273], [-47.26116367088119, -22.33530556396015], [-47.26114282633672, -22.335328395842176], [-47.26112207520866, -22.335351277341456], [-47.26110142885054, -22.335374194890907], [-47.26108088682347, -22.33539714784336], [-47.26106044868801, -22.335420135555495], [-47.26104011400067, -22.335443157391794], [-47.26101941664792, -22.33546674338156]], "type": "LineString"}, "id": "175", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 45.464469477, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.26126252390022, -22.33515819145221], [-47.2612248856441, -22.33519813922365], [-47.26120414275923, -22.335220285701133], [-47.26118332784825, -22.33524264543037], [-47.26116244432314, -22.33526522088465], [-47.26114151193907, -22.33528799683962], [-47.26112060545815, -22.33531089655875], [-47.26109979280096, -22.335333845899445], [-47.26107160405469, -22.33536513552475]], "type": "LineString"}, "id": "176", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 30.207992425, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.261202807188546, -22.33518048374739], [-47.261182164111034, -22.335202523659795], [-47.26116129058837, -22.33522494634641], [-47.261131216715896, -22.335257456717056]], "type": "LineString"}, "id": "177", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 11.274437264, "Name": "Projeto"}, "type": "Feature"}], "type": "FeatureCollection"});
 
         
     
-            geo_json_4805659e09b3ca93ec7d5ac8d6911225.addTo(map_63fc9d9bcba7458256c5d6de89227f95);
+            geo_json_068b4990ac1e224950e8cda7f505035c.addTo(map_d88a6539df6e3600f06d25fac5813c66);
         
 </script>
-</html>
\ No newline at end of file
+
+    <script>
+        function trajeto_json_onEachFeature(feature, layer) {
+            layer.on({
+            });
+        };
+        var trajeto_json = L.geoJson(null, {
+                onEachFeature: trajeto_json_onEachFeature,
+                style: function(feature) {
+                    return {color: 'red'};
+                }
+            }
+        );
+        function trajeto_json_add (data) {
+            trajeto_json.addData(data);
+        }
+        trajeto_json_add({"features": []});
+
+        trajeto_json.addTo(map_d88a6539df6e3600f06d25fac5813c66);
+
+        function adicionarGeometria(novaGeometria) {
+            trajeto_json.addData(novaGeometria);
+        }
+
+        function saoCoordenadasIguais(coord1, coord2, tolerancia) {
+            return Math.abs(coord1[0] - coord2[0]) < tolerancia && Math.abs(coord1[1] - coord2[1]) < tolerancia;
+        }
+
+        function adicionarCoordenada(idGeometria, novaCoordenada) {
+            var feature = trajeto_json.toGeoJSON().features.find(f => f.id === idGeometria);
+            if (feature) {
+                var ultima = [0.0,0.0];
+                if (feature.geometry.coordinates.length > 0) {
+                    ultima = feature.geometry.coordinates[feature.geometry.coordinates.length - 1];
+                }
+                if (!saoCoordenadasIguais(ultima, novaCoordenada, 0.000001)) {
+                    feature.geometry.coordinates.push(novaCoordenada);
+                    var ft = feature;
+                    trajeto_json.clearLayers();
+                    trajeto_json.addData(ft);
+                }
+            
+            } else {
+                console.log("Feature com ID " + idGeometria + " não encontrada.");
+            }
+        }
+
+        adicionarGeometria({
+            "type": "Feature",
+            "geometry": {
+                "type": "LineString",
+                "coordinates": []
+            },
+            "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 21.724783283, "Name": "Projeto"},
+            "id": "Tj"
+        });
+
+    </script>
+    
+    <script>
+        var marcadorDinamico = L.marker([0, 0], {
+            icon: L.AwesomeMarkers.icon({
+                icon: 'info-sign',
+                markerColor: 'red',
+                prefix: 'glyphicon'
+            })
+        }).addTo(map_d88a6539df6e3600f06d25fac5813c66);
+    
+        function atualizarMarcador() {
+            fetch('http://localhost:5001/servir-coordenadas/1')
+                .then(function(response) {
+                    return response.json();
+                })
+                .then(function(dados) {
+                    var novaLatitude = dados.latitude;
+                    var novaLongitude = dados.longitude;
+                    var novaPosicao = [novaLatitude, novaLongitude];
+                    marcadorDinamico.setLatLng(novaPosicao);
+                    adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
+                })
+                .catch(function(error) {
+                    console.error('Erro ao atualizar o marcador:', error);
+                });
+        }
+    
+        // Atualiza o marcador a cada 2 segundos
+        setInterval(atualizarMarcador, 2000);
+    </script>
+    </html>
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/verdes_D.json b/AgroBase/AgroBase/bin/Debug/Python/Output/verdes_D.json
index 1f1d5d7de..c56431ff4 100644
--- a/AgroBase/AgroBase/bin/Debug/Python/Output/verdes_D.json
+++ b/AgroBase/AgroBase/bin/Debug/Python/Output/verdes_D.json
@@ -1,60 +1,60 @@
 [
     {
-        "timestamp": 1706880237.6169794,
+        "timestamp": 1708693386.7077937,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1706880237.6494894,
+        "timestamp": 1708693386.9383512,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1706880237.680491,
+        "timestamp": 1708693387.175393,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1706880237.712496,
+        "timestamp": 1708693387.3979495,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1706880237.744011,
+        "timestamp": 1708693387.6335027,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1706880237.7760315,
+        "timestamp": 1708693387.8615437,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1706880237.8090327,
+        "timestamp": 1708693388.051577,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1706880237.8405545,
+        "timestamp": 1708693388.2460964,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1706880237.8715544,
+        "timestamp": 1708693388.44614,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1706880237.9045656,
+        "timestamp": 1708693388.6351478,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/verdes_E.json b/AgroBase/AgroBase/bin/Debug/Python/Output/verdes_E.json
index 29659f0a8..d462cbff3 100644
--- a/AgroBase/AgroBase/bin/Debug/Python/Output/verdes_E.json
+++ b/AgroBase/AgroBase/bin/Debug/Python/Output/verdes_E.json
@@ -1,60 +1,60 @@
 [
     {
-        "timestamp": 1708432207.1039248,
+        "timestamp": 1708694028.6505086,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1708432207.3070076,
+        "timestamp": 1708694028.850025,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1708432207.497069,
+        "timestamp": 1708694029.0445433,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1708432207.6906283,
+        "timestamp": 1708694029.2320585,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1708432207.8836892,
+        "timestamp": 1708694029.422578,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1708432208.0787556,
+        "timestamp": 1708694029.6116276,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1708432208.2768304,
+        "timestamp": 1708694029.8051448,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1708432208.4708998,
+        "timestamp": 1708694029.9976623,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1708432208.6789746,
+        "timestamp": 1708694030.199181,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
     },
     {
-        "timestamp": 1708432208.8730547,
+        "timestamp": 1708694030.3906984,
         "x_max": 640.0,
         "y_max": 480.0,
         "objetos": []
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Scripts/api.py b/AgroBase/AgroBase/bin/Debug/Python/Scripts/api.py
new file mode 100644
index 000000000..08e38ebee
--- /dev/null
+++ b/AgroBase/AgroBase/bin/Debug/Python/Scripts/api.py
@@ -0,0 +1,33 @@
+from flask import Flask, request, jsonify
+from flask_cors import CORS
+import sys
+
+apiPort = sys.argv[1]
+getCordenadasEndpoint = sys.argv[2]
+setCordenadasEndpoint = sys.argv[3]
+
+app = Flask(__name__)
+CORS(app)  # Isso habilita o CORS para todas as rotas e origens
+
+coordenadas = {}
+
+@app.route(setCordenadasEndpoint, methods=['POST'])
+def receber_coordenadas():
+    dados = request.json
+    id = dados.get('id')
+    lat = dados.get('latitude')
+    lon = dados.get('longitude')
+    
+    coordenadas[id] = {'latitude': lat, 'longitude': lon}
+    
+    return jsonify({'status': 'Coordenadas recebidas com sucesso!'})
+
+@app.route(getCordenadasEndpoint, methods=['GET'])
+def servir_coordenadas(id):
+    if id in coordenadas:
+        return jsonify(coordenadas[id])
+    else:
+        return jsonify({'error': 'Coordenadas não encontradas!'}), 404
+
+if __name__ == '__main__':
+    app.run(host='0.0.0.0', port=apiPort, debug=True)
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py b/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py
index 436f740e8..6f234b079 100644
--- a/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py
+++ b/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py
@@ -2,67 +2,40 @@ import geopandas as gpd
 import json
 import sys
 import folium
+import requests
+import re
 
+def internet_disponivel():
+    """Verifica se há conexão com a internet."""
+    url = 'http://www.google.com/'
+    timeout = 5
+    try:
+        _ = requests.get(url, timeout=timeout)
+        return True
+    except requests.ConnectionError:
+        return False
+
+# Argumentos e configurações iniciais
 pathFiles = sys.argv[1]
 fileName = sys.argv[2]
 outputName = sys.argv[3]
 outputMapName = sys.argv[4]
-
+apiEndpoit = sys.argv[5]
 pastaSaida = 'Python/Output/'
 
 # Carregar o arquivo shapefile contendo a geometria
 input_shapefile = pathFiles + fileName + '.shp'
 data_geometry = gpd.read_file(input_shapefile)
 
-# Carregar o arquivo DBF com informações adicionais
-input_dbf = pathFiles + fileName + '.dbf'
-data_dbf = gpd.read_file(input_dbf)
-
-# Mesclar as informações do arquivo DBF com o dataframe de geometria
-data_merged = data_geometry.merge(data_dbf, left_index=True, right_index=True)
-
-# Escolher uma coluna de geometria
-geometry_column = 'geometry_y'
-
-# Criar um novo GeoDataFrame com uma única coluna de geometria
-data_geodataframe = gpd.GeoDataFrame(data_merged[[geometry_column]], geometry=geometry_column)
-
-# Criar o campo 'properties' e preencher com as colunas do DataFrame original
-data_geodataframe['properties'] = data_merged.apply(lambda row: {
-    'Id': row['Id_x'],
-    'Name': row['Name_x'],
-    'Length': row['Length_x'],
-    'Dist1': row['Dist1_x'],
-    'Dist2': row['Dist2_x']
-}, axis=1)
-
-# Caminho para salvar o arquivo GEOJson com as informações adicionais
-output_geojson = pastaSaida + outputName
-
-# Salvar os dados no formato GEOJson
-data_geodataframe.to_file(output_geojson, driver='GeoJSON')
-
-# Abrir o arquivo GeoJSON
-with open(output_geojson, 'r') as file:
-    data = json.load(file)
-
-# Iterar sobre as features no arquivo GeoJSON
-for feature in data['features']:
-    # Obter o dicionário 'properties' dentro de 'properties'
-    properties = feature['properties']['properties']
-    # Remover a camada extra de 'properties'
-    feature['properties'] = properties
-
-# Salvar o arquivo GeoJSON atualizado
-with open(output_geojson, 'w') as file:
-    json.dump(data, file)
-
 # Calcular os limites (bounds) da geometria
 minx, miny, maxx, maxy = data_geometry.total_bounds
 center = [(miny + maxy) / 2, (minx + maxx) / 2]
 
-# Criar um mapa centrado no centro das coordenadas das geometrias
-m = folium.Map(location=center, zoom_start=12)
+# Verificar se há conexão com a internet
+if internet_disponivel():
+    m = folium.Map(location=center, zoom_start=12)
+else:
+    m = folium.Map(location=center, zoom_start=12, tiles=None)
 
 # Converter o GeoDataFrame para GeoJSON e adicionar ao mapa
 geojson_data = data_geometry.to_json()
@@ -70,3 +43,120 @@ folium.GeoJson(geojson_data).add_to(m)
 
 # Salvar o mapa interativo em um arquivo HTML
 m.save(pastaSaida + outputMapName)
+
+
+# Caminho completo para o arquivo HTML gerado
+caminho_completo_html = pastaSaida + outputMapName
+
+# Abrir o arquivo HTML para leitura e escrita
+with open(caminho_completo_html, 'r+') as arquivo_html:
+    # Ler o conteúdo do arquivo
+    conteudo_html = arquivo_html.read()
+    
+    # Usar expressão regular para encontrar o ID do mapa
+    padrao_id_mapa = re.compile(r'id="map_(.*?)"')
+    resultado_busca = padrao_id_mapa.search(conteudo_html)
+
+    # Verificar se encontrou um ID de mapa
+    if resultado_busca:
+        id_mapa = 'map_' + resultado_busca.group(1)
+    else:
+        raise ValueError("Não foi possível encontrar o ID do mapa no arquivo HTML.")
+
+    # Script JavaScript para adicionar ao HTML, com o ID do mapa substituído
+    script_atualizacao_marcador = f"""
+    <script>
+        function trajeto_json_onEachFeature(feature, layer) {{
+            layer.on({{
+            }});
+        }};
+        var trajeto_json = L.geoJson(null, {{
+                onEachFeature: trajeto_json_onEachFeature,
+                style: function(feature) {{
+                    return {{color: 'red'}};
+                }}
+            }}
+        );
+        function trajeto_json_add (data) {{
+            trajeto_json.addData(data);
+        }}
+        trajeto_json_add({{"features": []}});
+
+        trajeto_json.addTo({id_mapa});
+
+        function adicionarGeometria(novaGeometria) {{
+            trajeto_json.addData(novaGeometria);
+        }}
+
+        function saoCoordenadasIguais(coord1, coord2, tolerancia) {{
+            return Math.abs(coord1[0] - coord2[0]) < tolerancia && Math.abs(coord1[1] - coord2[1]) < tolerancia;
+        }}
+
+        function adicionarCoordenada(idGeometria, novaCoordenada) {{
+            var feature = trajeto_json.toGeoJSON().features.find(f => f.id === idGeometria);
+            if (feature) {{
+                var ultima = [0.0,0.0];
+                if (feature.geometry.coordinates.length > 0) {{
+                    ultima = feature.geometry.coordinates[feature.geometry.coordinates.length - 1];
+                }}
+                if (!saoCoordenadasIguais(ultima, novaCoordenada, 0.000001)) {{
+                    feature.geometry.coordinates.push(novaCoordenada);
+                    var ft = feature;
+                    trajeto_json.clearLayers();
+                    trajeto_json.addData(ft);
+                }}
+            
+            }} else {{
+                console.log("Feature com ID " + idGeometria + " não encontrada.");
+            }}
+        }}
+
+        adicionarGeometria({{
+            "type": "Feature",
+            "geometry": {{
+                "type": "LineString",
+                "coordinates": []
+            }},
+            "properties": {{"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 21.724783283, "Name": "Projeto"}},
+            "id": "Tj"
+        }});
+
+    </script>
+    
+    <script>
+        var marcadorDinamico = L.marker([0, 0], {{
+            icon: L.AwesomeMarkers.icon({{
+                icon: 'info-sign',
+                markerColor: 'red',
+                prefix: 'glyphicon'
+            }})
+        }}).addTo({id_mapa});
+    
+        function atualizarMarcador() {{
+            fetch('{apiEndpoit}')
+                .then(function(response) {{
+                    return response.json();
+                }})
+                .then(function(dados) {{
+                    var novaLatitude = dados.latitude;
+                    var novaLongitude = dados.longitude;
+                    var novaPosicao = [novaLatitude, novaLongitude];
+                    marcadorDinamico.setLatLng(novaPosicao);
+                    adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
+                }})
+                .catch(function(error) {{
+                    console.error('Erro ao atualizar o marcador:', error);
+                }});
+        }}
+    
+        // Atualiza o marcador a cada 2 segundos
+        setInterval(atualizarMarcador, 2000);
+    </script>
+    """
+
+# Inserir o script no conteúdo HTML
+conteudo_atualizado = conteudo_html.replace('</html>', script_atualizacao_marcador + '</html>')
+
+# Agora, reabrir o arquivo para escrita e sobrescrever o conteúdo com a versão atualizada
+with open(caminho_completo_html, 'w') as arquivo_html:
+    arquivo_html.write(conteudo_atualizado)
\ No newline at end of file
diff --git a/AgroBase/AgroBase/bin/Debug/parametersAtu.par b/AgroBase/AgroBase/bin/Debug/parametersAtu.par
index 55bd2daf7..451badc1a 100644
--- a/AgroBase/AgroBase/bin/Debug/parametersAtu.par
+++ b/AgroBase/AgroBase/bin/Debug/parametersAtu.par
@@ -1 +1 @@
-{"Conectado":false,"QuantidadeBicos":4,"AtuacaoNivelAlto":false,"BicosPulverizadores":[{"ID":"B01","Posicao":1,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B02","Posicao":2,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B03","Posicao":3,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B04","Posicao":4,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B05","Posicao":5,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B06","Posicao":6,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B07","Posicao":7,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B08","Posicao":8,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B09","Posicao":9,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B10","Posicao":10,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0}],"Sensores":[{"LogGrafico":[],"ID":"FLXLN","Prioridade":10,"Descricao":"Fluxo na linha principal","Componente":198,"Aferir":false,"DelayAmostragem":200,"Inicializado":false,"Testando":false,"Funcoes":[25],"Parametros":[["Calibragem","00450"]],"UnidadeMedida":"L/m","Leituras":[0.0,0.0],"ValorMinimo":0.0,"ValorMaximo":26.67,"LimiteMaximo":0.0,"LimiteMinimo":0.0},{"LogGrafico":[],"ID":"MASRS","Prioridade":3,"Descricao":"Massa do reservatório de herbicida","Componente":532,"Aferir":false,"DelayAmostragem":1000,"Inicializado":false,"Testando":false,"Funcoes":[22,23],"Parametros":[],"UnidadeMedida":"Kg","Leituras":null,"ValorMinimo":0.0,"ValorMaximo":0.0,"LimiteMaximo":25.0,"LimiteMinimo":3.0},{"LogGrafico":[],"ID":"PRSLN","Prioridade":3,"Descricao":"Pressão na linha principal","Componente":333,"Aferir":true,"DelayAmostragem":1000,"Inicializado":false,"Testando":false,"Funcoes":[24],"Parametros":[],"UnidadeMedida":"psi","Leituras":[0.4,337.0],"ValorMinimo":0.0,"ValorMaximo":0.77,"LimiteMaximo":0.0,"LimiteMinimo":0.0}],"PercentualInicioPulverizacao":0.3,"MassaReservatorio":0.0,"PercentualReservatorio":0.0,"MediaNivelFluxo":0.0,"PressaoLinha":0.4}
\ No newline at end of file
+{"Conectado":false,"QuantidadeBicos":4,"DensidadeHerbicida":0.0,"CapacidadeReservatorio":30.0,"AtuacaoNivelAlto":false,"BicosPulverizadores":[{"ID":"B01","Posicao":1,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B02","Posicao":2,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B03","Posicao":3,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B04","Posicao":4,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B05","Posicao":5,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B06","Posicao":6,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B07","Posicao":7,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B08","Posicao":8,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B09","Posicao":9,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B10","Posicao":10,"Atuado":false,"Comandar":false,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0}],"Sensores":[{"LogGrafico":[],"ID":"FLXLN","Prioridade":10,"Descricao":"Fluxo na linha principal","Componente":198,"Aferir":false,"DelayAmostragem":200,"Inicializado":false,"Testando":false,"Funcoes":[25],"Parametros":[["Calibragem","00450"]],"UnidadeMedida":"L/m","Leituras":[0.0,0.0],"ValorMinimo":0.0,"ValorMaximo":26.67,"LimiteMaximo":0.0,"LimiteMinimo":0.0},{"LogGrafico":[],"ID":"MASRS","Prioridade":3,"Descricao":"Massa do reservatório de herbicida","Componente":532,"Aferir":false,"DelayAmostragem":1000,"Inicializado":false,"Testando":false,"Funcoes":[22,23],"Parametros":[],"UnidadeMedida":"Kg","Leituras":null,"ValorMinimo":0.0,"ValorMaximo":0.0,"LimiteMaximo":25.0,"LimiteMinimo":3.0},{"LogGrafico":[],"ID":"PRSLN","Prioridade":3,"Descricao":"Pressão na linha principal","Componente":333,"Aferir":true,"DelayAmostragem":1000,"Inicializado":false,"Testando":false,"Funcoes":[24],"Parametros":[],"UnidadeMedida":"psi","Leituras":[0.4,337.0],"ValorMinimo":0.0,"ValorMaximo":0.77,"LimiteMaximo":0.0,"LimiteMinimo":0.0}],"PercentualInicioPulverizacao":0.3,"MassaReservatorio":0.0,"VolumeReservatorio":0.0,"PercentualReservatorio":0.0,"MediaNivelFluxo":0.0,"PressaoLinha":0.4}
\ No newline at end of file
diff --git a/AgroBase/AgroBase/obj/Debug/AgroBase.Forms.frmMapa.resources b/AgroBase/AgroBase/obj/Debug/AgroBase.Forms.frmMapa.resources
index 44a209d5a..6c05a9776 100644
Binary files a/AgroBase/AgroBase/obj/Debug/AgroBase.Forms.frmMapa.resources and b/AgroBase/AgroBase/obj/Debug/AgroBase.Forms.frmMapa.resources differ
diff --git a/AgroBase/AgroBase/obj/Debug/AgroBase.Properties.Resources.resources b/AgroBase/AgroBase/obj/Debug/AgroBase.Properties.Resources.resources
index 31f143b47..a7d6bbf48 100644
Binary files a/AgroBase/AgroBase/obj/Debug/AgroBase.Properties.Resources.resources and b/AgroBase/AgroBase/obj/Debug/AgroBase.Properties.Resources.resources differ
diff --git a/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.CoreCompileInputs.cache b/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.CoreCompileInputs.cache
index ef5e35a4d..fe6495804 100644
--- a/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.CoreCompileInputs.cache
+++ b/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.CoreCompileInputs.cache
@@ -1 +1 @@
-9afcf39e89a0c933d00d28453c0540cd2a653d67fc4cba20e1c1f33dc48d9754
+34d3ac2f5f9f7d9ebbd9347a15a7e200bdba0f7644c8b3c44ce75579b5cf120b
diff --git a/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt b/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt
index 473dfb33d..4ced70a70 100644
--- a/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt
+++ b/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt
@@ -417,3 +417,4 @@ C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Utils\offline_maps\script
 C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Utils\offline_maps\style.css
 C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Utils\offline_maps\webStorage.js
 C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Utils\offline_maps\appcache.manifest
+C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\api.py
diff --git a/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache b/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache
index ea165671c..d306c12de 100644
Binary files a/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache and b/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache differ
diff --git a/AgroBase/AgroBase/obj/Debug/AgroBase.pdb b/AgroBase/AgroBase/obj/Debug/AgroBase.pdb
index 741b925d2..e6748bd7a 100644
Binary files a/AgroBase/AgroBase/obj/Debug/AgroBase.pdb and b/AgroBase/AgroBase/obj/Debug/AgroBase.pdb differ
diff --git a/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferencesInput.cache b/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferencesInput.cache
index 94cdab175..e245c02dd 100644
Binary files a/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferencesInput.cache and b/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferencesInput.cache differ
diff --git a/AgroBase/AgroBase/obj/Debug/TempPE/Properties.Resources.Designer.cs.dll b/AgroBase/AgroBase/obj/Debug/TempPE/Properties.Resources.Designer.cs.dll
index 8ea27aeca..ea4df0a93 100644
Binary files a/AgroBase/AgroBase/obj/Debug/TempPE/Properties.Resources.Designer.cs.dll and b/AgroBase/AgroBase/obj/Debug/TempPE/Properties.Resources.Designer.cs.dll differ
diff --git a/Python/cordenadas_offset.py b/Python/cordenadas_offset.py
new file mode 100644
index 000000000..75956683a
--- /dev/null
+++ b/Python/cordenadas_offset.py
@@ -0,0 +1,19 @@
+import json
+
+# Substitua isso pelo seu JSON original
+trajeto_json = {"features": [{"geometry": {"coordinates": [[-47.264037338109766, -22.339524535994332], [-47.26401766184665, -22.339560540751183], [-47.26400872414079, -22.339576970425245], [-47.26399979993972, -22.339593449992105], [-47.263990889109174, -22.339609979349202], [-47.26398199151551, -22.33962655838882], [-47.26397310702327, -22.33964318700223], [-47.26396423549601, -22.33965986507852], [-47.26394301077209, -22.339699942622605]], "type": "LineString"}, "id": "0", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 21.724783283, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.26401505555521, -22.339505666408137], [-47.26400067261975, -22.339531864331477], [-47.26399169682811, -22.339548288742588], [-47.26398273497559, -22.339564762798126], [-47.26397378692751, -22.339581286395244], [-47.263964852547424, -22.339597859430143], [-47.263955931699435, -22.339614481793877], [-47.2639470242459, -22.339631153376615], [-47.263938130048174, -22.339647874066152], [-47.26392924896685, -22.339664643747486], [-47.26392038086145, -22.33968146230347], [-47.263911525590025, -22.339698329615363], [-47.263902683009505, -22.339715245562264], [-47.26389385297623, -22.339732210019946], [-47.26388503534517, -22.33974922286274], [-47.26387622996941, -22.339766283963925], [-47.263867436701474, -22.33978339319349], [-47.26385865539275, -22.339800550419387], [-47.26384988589236, -22.339817755509237], [-47.26384112804865, -22.339835008327928], [-47.26383238170916, -22.339852308737367], [-47.26382364672, -22.339869656597674], [-47.263814922781556, -22.33988705205511], [-47.263806203316406, -22.33990450781026], [-47.26379747315636, -22.339922053442546], [-47.2637887225622, -22.339939707172757], [-47.26377244144222, -22.339972674804095]], "type": "LineString"}, "id": "1", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 57.457315127, "Name": "Projeto"}, "type": "Feature"}]}
+
+offset_latitude = 0.0000102  # Aproximadamente 75cm em latitude
+offset_longitude = 0.0000102  # Aproximadamente 75cm em longitude, simplificação
+
+# Aplicar offset a cada coordenada
+for feature in trajeto_json['features']:
+    for i, coord in enumerate(feature['geometry']['coordinates']):
+        # Aplicando o offset
+        coord[0] += offset_longitude  # Longitude
+        coord[1] += offset_latitude  # Latitude
+
+# Convertendo o objeto modificado de volta para JSON
+trajeto_json_modificado = json.dumps(trajeto_json)
+
+print(trajeto_json_modificado)
\ No newline at end of file