ajustes camera worker

AgroBase/AgroBase/Services/CANServiceSerial.cs

@@ -89,6 +89,17 @@ namespace AgroBase.Services
                             RtsEnable = true
                         };
                         _PortaCAN.Open();
+                        _PortaCAN.ErrorReceived += (s, e) => { IsConnected = false; ReabrirPortaSegura(); };
+                        _PortaCAN.PinChanged += (s, e) => {
+                            // Se perder DSR/CD ou receber BREAK, considere desconexão
+                            if (e.EventType == SerialPinChange.Break ||
+                                e.EventType == SerialPinChange.CDChanged ||
+                                e.EventType == SerialPinChange.DsrChanged)
+                            {
+                                IsConnected = false;
+                                ReabrirPortaSegura();
+                            }
+                        };
 
                         EnviarComando("C\r");   // fecha CAN (estado conhecido)
                         Thread.Sleep(50);
@@ -476,6 +487,19 @@ namespace AgroBase.Services
         private void VerificaSaudeConexao()
         {
             DateTime Agora = DateTime.Now;
+
+            // Porta sumiu do SO?
+            var portas = SerialPort.GetPortNames();
+            var portaExiste = !string.IsNullOrEmpty(_portName) && portas.Contains(_portName, StringComparer.OrdinalIgnoreCase);
+
+            if (!portaExiste || _PortaCAN == null || !_PortaCAN.IsOpen)
+            {
+                IsConnected = false;
+                // peça uma varredura geral (vai tentar outros nomes de COM):
+                Task.Run(() => SerialService.RealizarVarreduraPortasUSB());
+                return;
+            }
+
             if (IsConnected && ((Agora - UltimoTx).TotalSeconds > 10 || (Agora - UltimoRx).TotalSeconds > 10))
             {
                 UltimoRx = Agora;
@@ -498,7 +522,7 @@ namespace AgroBase.Services
 
             SerialCANBuffer.Clear();
             FramesRecebidos = new ConcurrentQueue<string>();
-            _roteadores.Clear();
+            //_roteadores.Clear();
             _ultimoIdEnviado = null;
 
             if (_PortaCAN?.IsOpen == true)
@@ -606,7 +630,11 @@ namespace AgroBase.Services
                     EnviarComando(ComandoBitRate(_bitRate)); Thread.Sleep(50);
                     EnviarComando("O\r"); Thread.Sleep(50);
                 }
-                catch { /* log */ }
+                catch
+                {
+                    IsConnected = false;
+                    return;
+                }
             }
 
             tmrEnviarCAN?.Start();

AgroBase/AgroBase/Services/SerialService.cs

@@ -221,7 +221,9 @@ namespace AgroBase.Services
                         }
                     }
 
-                    if (!Variaveis.IsAgroMonitor && CanManager.UseCanSerial && !CanManager.CanService.Iniciado)
+                    if (Variaveis.IsAgroMonitor) continue;
+
+                    if (CanManager.UseCanSerial && !CanManager.CanService.Iniciado)
                     {
                         AtualizarConsole($"{PortaCom} - Procurando dispositivos no barramento CAN");
                         bool dispositivoCan = await ProcurarDispositivosCAN(_Porta);
@@ -445,7 +447,6 @@ namespace AgroBase.Services
                 }
             }
 
-            //if (!CanManager.CanService.Iniciado && CanManager.UseCanSerial)
             if (CanManager.UseCanSerial && !CanManager.CanService.Iniciado)
             {
                 CanManager.CanService.Fechar();

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

@@ -29,5 +29,5 @@
       "top_topics_and_observing_domains": [  ]
    } ],
    "hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
-   "next_scheduled_calculation_time": "13403030306182806"
+   "next_scheduled_calculation_time": "13403030306182881"
 }

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

@@ -1,3 +1,3 @@
-2025/09/17-15:12:39.370 5024 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/09/17-16:42:43.823 5848 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/09/17-15:12:39.379 5024 Recovering log #3
+2025/09/17-16:42:43.832 5848 Recovering log #3
-2025/09/17-15:12:39.382 5024 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/09/17-16:42:43.835 5848 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 

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

@@ -1,3 +1,3 @@
-2025/09/17-14:18:37.212 4ffc Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/09/17-16:20:23.484 57e4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/09/17-14:18:37.221 4ffc Recovering log #3
+2025/09/17-16:20:23.493 57e4 Recovering log #3
-2025/09/17-14:18:37.224 4ffc Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/09/17-16:20:23.496 57e4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State

@@ -1 +1 @@
-{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13402692759854060","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":37977},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:67d:1400:5011:1759:4b8a:6d1a","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}
+{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13402698942753276","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":65448},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:67d:1400:2446:e381:e2d0:7901","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/TransportSecurity

@@ -1 +1 @@
-{"sts":[{"expiry":1789574554.859671,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1758038554.859674}],"version":2}
+{"sts":[{"expiry":1789674166.889444,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1758138166.889448}],"version":2}

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

@@ -1,3 +1,3 @@
-2025/09/17-15:14:15.816 5024 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/09/17-17:13:27.654 5848 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/09/17-15:14:15.817 5024 Recovering log #3
+2025/09/17-17:13:27.656 5848 Recovering log #3
-2025/09/17-15:14:15.820 5024 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/09/17-17:13:27.659 5848 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 

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

@@ -1,3 +1,3 @@
-2025/09/17-14:21:30.033 4ffc Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/09/17-16:23:13.740 57e4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/09/17-14:21:30.034 4ffc Recovering log #3
+2025/09/17-16:23:13.742 57e4 Recovering log #3
-2025/09/17-14:21:30.037 4ffc Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/09/17-16:23:13.745 57e4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Site Characteristics Database/LOG

@@ -1,3 +1,3 @@
-2025/09/17-15:12:39.298 5a8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/09/17-16:42:43.748 5280 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/09/17-15:12:39.300 5a8 Recovering log #7
+2025/09/17-16:42:43.750 5280 Recovering log #7
-2025/09/17-15:12:39.300 5a8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/09/17-16:42:43.750 5280 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 

AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Site Characteristics Database/LOG.old

@@ -1,3 +1,3 @@
-2025/09/17-14:18:37.135 16a8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/09/17-16:20:23.401 23a8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/09/17-14:18:37.138 16a8 Recovering log #7
+2025/09/17-16:20:23.404 23a8 Recovering log #7
-2025/09/17-14:18:37.139 16a8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/09/17-16:20:23.404 23a8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 

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

@@ -1 +1 @@
-{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1","Name":"CidadeJardimTerreno2","Length":14.558011415731592,"Dist1":14.558011415731592,"Dist2":0.0},"geometry":{"id":"0","type":"LineString","coordinates":[[-47.395205344,-22.172559531333334],[-47.395212610166666,-22.172614638833334],[-47.395219157,-22.172656417833334],[-47.395223544833335,-22.1726892105],[-47.395224140984432,-22.172693691611649],[-47.395225326538004,-22.172702654611555]]}},{"type":"Feature","properties":{"Id":"2","Name":"CidadeJardimTerreno2","Length":14.771318274761821,"Dist1":14.558011415731592,"Dist2":0.0},"geometry":{"id":"1","type":"LineString","coordinates":[[-47.395210902333332,-22.172708800833334],[-47.395206943666665,-22.172679811],[-47.395202420666664,-22.1726491015],[-47.395198865666664,-22.172615782833333],[-47.395193255833334,-22.172577132833332],[-47.395192610024395,-22.172572657695412],[-47.395191325698136,-22.172563706509337]]}},{"type":"Feature","properties":{"Id":"3","Name":"CidadeJardimTerreno2","Length":14.827915524386164,"Dist1":14.558011415731592,"Dist2":0.0},"geometry":{"id":"2","type":"LineString","coordinates":[[-47.3951762925,-22.172561603],[-47.395180824166665,-22.172591686166665],[-47.395185745333336,-22.172623080166666],[-47.395190433,-22.172656367166667],[-47.395195199,-22.172693641833334],[-47.395195769044363,-22.172698125891035],[-47.395196902671593,-22.172707094716973]]}},{"type":"Feature","properties":{"Id":"4","Name":"CidadeJardimTerreno2","Length":14.785159385903514,"Dist1":14.558011415731592,"Dist2":0.0},"geometry":{"id":"3","type":"LineString","coordinates":[[-47.395182932166669,-22.1727127985],[-47.39517819266667,-22.172680514833335],[-47.3951732595,-22.172646752833334],[-47.395168805166669,-22.1726149155],[-47.395163812333337,-22.172581167166665],[-47.395163154299318,-22.172576693573966],[-47.395161845655842,-22.172567745443878]]}},{"type":"Feature","properties":{"Id":"5","Name":"CidadeJardimTerreno2","Length":14.801176921912329,"Dist1":14.558011415731592,"Dist2":0.0},"geometry":{"id":"4","type":"LineString","coordinates":[[-47.395147317833334,-22.172566031],[-47.395151503166666,-22.172595452333333],[-47.3951561855,-22.172628011166665],[-47.395161598666668,-22.172663757333332],[-47.395166727166668,-22.172697770833334],[-47.395167397572706,-22.172702242832194],[-47.39516873082615,-22.172711187810091]]}}]}
+{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1","Name":"17_09_2025_16_23_46_Manual","Length":0.10535308505573193,"Dist1":0.0,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[-47.395164402166664,-22.172536673833335],[-47.395164384166669,-22.172536670166668],[-47.395164400166664,-22.172536647833333],[-47.395164414666667,-22.172536662],[-47.395164414,-22.172536667333333],[-47.395164362333333,-22.172536672333333],[-47.395164362,-22.172536658],[-47.395164382333334,-22.172536655833333],[-47.395164369833331,-22.172536653],[-47.395164349666665,-22.172536647833333],[-47.395164320666666,-22.172536655333332],[-47.3951643375,-22.172536647833333],[-47.395164314,-22.172536663666666],[-47.395164304833337,-22.172536667166668],[-47.39516431483333,-22.172536683333334],[-47.395164358166667,-22.172536652166666],[-47.395164285666667,-22.1725366695],[-47.395164334166665,-22.172536637166665],[-47.395164342333331,-22.172536639833332],[-47.395164348833333,-22.172536645666668],[-47.3951643655,-22.172536641666667],[-47.395164359666666,-22.172536643],[-47.39516436,-22.1725366385],[-47.395164356333332,-22.17253662],[-47.395164362666669,-22.172536630666666],[-47.3951643595,-22.172536636833332],[-47.395164391,-22.172536642666667],[-47.395164402333336,-22.172536634833332],[-47.3951644125,-22.172536635333334],[-47.395164407166668,-22.172536637333334],[-47.395164393499996,-22.172536626333333],[-47.3951643785,-22.1725366185],[-47.395164386,-22.172536641666667],[-47.395164404333336,-22.17253662],[-47.395164397333332,-22.172536616333332],[-47.395164391,-22.172536615],[-47.395164387333331,-22.172536646],[-47.395164375666667,-22.172536636833332],[-47.39516437733333,-22.172536646333334],[-47.395164387,-22.172536646666668],[-47.395164409833335,-22.172536651833333],[-47.395164380833336,-22.172536644833333],[-47.395164402,-22.172536644333334],[-47.395164397,-22.172536619666666],[-47.39516441833333,-22.172536627333333],[-47.3951643775,-22.172536612166667],[-47.395164381833332,-22.172536645666668]]}}]}

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

@@ -17,7 +17,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_82cc7fa00003bb6a2c7d6d614b5d85cb {
+                #map_e541659635fbe5ef795ffc63af53174e {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -54,14 +54,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_82cc7fa00003bb6a2c7d6d614b5d85cb" ></div>
+            <div class="folium-map" id="map_e541659635fbe5ef795ffc63af53174e" ></div>
         
 </body>
 <script>
     
     
-            var map_82cc7fa00003bb6a2c7d6d614b5d85cb = L.map(
+            var map_e541659635fbe5ef795ffc63af53174e = L.map(
-                "map_82cc7fa00003bb6a2c7d6d614b5d85cb",
+                "map_e541659635fbe5ef795ffc63af53174e",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -77,26 +77,6 @@
             
 
         
-    
-            var tile_layer_6f5ee2ed5cadfb801d737455328ac759 = L.tileLayer(
-                "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
-                {
-  "minZoom": 0,
-  "maxZoom": 19,
-  "maxNativeZoom": 19,
-  "noWrap": false,
-  "attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors",
-  "subdomains": "abc",
-  "detectRetina": false,
-  "tms": false,
-  "opacity": 1,
-}
-
-            );
-        
-    
-            tile_layer_6f5ee2ed5cadfb801d737455328ac759.addTo(map_82cc7fa00003bb6a2c7d6d614b5d85cb);
-        
 </script>
 
     <script>
@@ -116,7 +96,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_82cc7fa00003bb6a2c7d6d614b5d85cb);
+        trajeto_json.addTo(map_e541659635fbe5ef795ffc63af53174e);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -179,9 +159,9 @@
         
         var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_82cc7fa00003bb6a2c7d6d614b5d85cb);
+        }).addTo(map_e541659635fbe5ef795ffc63af53174e);
         
-        var marcadorBase = L.marker([0, 0], {}).addTo(map_82cc7fa00003bb6a2c7d6d614b5d85cb);
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_e541659635fbe5ef795ffc63af53174e);
         var icon = L.AwesomeMarkers.icon(
             {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
         );
@@ -246,7 +226,7 @@
                 }
                 
                 if (foco) {
-                    map_82cc7fa00003bb6a2c7d6d614b5d85cb.setView(novaPosicao, map_82cc7fa00003bb6a2c7d6d614b5d85cb.getZoom());
+                    map_e541659635fbe5ef795ffc63af53174e.setView(novaPosicao, map_e541659635fbe5ef795ffc63af53174e.getZoom());
                 }
                 
             }
@@ -268,7 +248,7 @@
             marcadorDinamico.setRotationAngle(angulo);
             
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_82cc7fa00003bb6a2c7d6d614b5d85cb.setView(novaPosicao, map_82cc7fa00003bb6a2c7d6d614b5d85cb.getZoom());*/
+            map_e541659635fbe5ef795ffc63af53174e.setView(novaPosicao, map_e541659635fbe5ef795ffc63af53174e.getZoom());*/
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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

@@ -17,7 +17,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_f4390ff4565f022e3991bd356c5be575 {
+                #map_ac718f9ed8b658fb35c6c18595d84304 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -54,16 +54,16 @@
 <body>
     
     
-            <div class="folium-map" id="map_f4390ff4565f022e3991bd356c5be575" ></div>
+            <div class="folium-map" id="map_ac718f9ed8b658fb35c6c18595d84304" ></div>
         
 </body>
 <script>
     
     
-            var map_f4390ff4565f022e3991bd356c5be575 = L.map(
+            var map_ac718f9ed8b658fb35c6c18595d84304 = L.map(
-                "map_f4390ff4565f022e3991bd356c5be575",
+                "map_ac718f9ed8b658fb35c6c18595d84304",
                 {
-                    center: [-22.172636164916668, -47.395186322185666],
+                    center: [-22.17253664775, -47.395164351999995],
                     crs: L.CRS.EPSG3857,
                     ...{
   "zoom": 12,
@@ -78,6 +78,26 @@
 
         
     
+            var tile_layer_6b4a1c97c2619f740994190147f13674 = L.tileLayer(
+                "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
+                {
+  "minZoom": 0,
+  "maxZoom": 19,
+  "maxNativeZoom": 19,
+  "noWrap": false,
+  "attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors",
+  "subdomains": "abc",
+  "detectRetina": false,
+  "tms": false,
+  "opacity": 1,
+}
+
+            );
+        
+    
+            tile_layer_6b4a1c97c2619f740994190147f13674.addTo(map_ac718f9ed8b658fb35c6c18595d84304);
+        
+    
 
         
     var trajetosSelecionados = {};
@@ -91,7 +111,7 @@
                 }*/
             });
     }
-    function geo_json_106f3360bcacda806961fb4dfadbc9ab_onEachFeature(feature, layer) {
+    function geo_json_af39f58f8a18998e45aeee8a26e33ab4_onEachFeature(feature, layer) {
 
             layer.on({
             
@@ -128,23 +148,23 @@
         }*/
     });
         };
-        var geo_json_106f3360bcacda806961fb4dfadbc9ab = L.geoJson(null, {
+        var geo_json_af39f58f8a18998e45aeee8a26e33ab4 = L.geoJson(null, {
-                onEachFeature: geo_json_106f3360bcacda806961fb4dfadbc9ab_onEachFeature,
+                onEachFeature: geo_json_af39f58f8a18998e45aeee8a26e33ab4_onEachFeature,
             
             ...{
 }
         });
 
-        function geo_json_106f3360bcacda806961fb4dfadbc9ab_add (data) {
+        function geo_json_af39f58f8a18998e45aeee8a26e33ab4_add (data) {
-            geo_json_106f3360bcacda806961fb4dfadbc9ab
+            geo_json_af39f58f8a18998e45aeee8a26e33ab4
                 .addData(data);
         }
-            geo_json_106f3360bcacda806961fb4dfadbc9ab_add({"features": [{"geometry": {"coordinates": [[-47.395205344, -22.172559531333334], [-47.395212610166666, -22.172614638833334], [-47.395219157, -22.172656417833334], [-47.395223544833335, -22.1726892105], [-47.39522414098443, -22.17269369161165], [-47.395225326538004, -22.172702654611555]], "id": "0", "type": "LineString"}, "id": 0, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "1", "Length": 14.558011415731592, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.39521090233333, -22.172708800833334], [-47.395206943666665, -22.172679811], [-47.395202420666664, -22.1726491015], [-47.395198865666664, -22.172615782833333], [-47.395193255833334, -22.172577132833332], [-47.395192610024395, -22.17257265769541], [-47.395191325698136, -22.172563706509337]], "id": "1", "type": "LineString"}, "id": 1, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "2", "Length": 14.771318274761821, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.3951762925, -22.172561603], [-47.395180824166665, -22.172591686166665], [-47.395185745333336, -22.172623080166666], [-47.395190433, -22.172656367166667], [-47.395195199, -22.172693641833334], [-47.39519576904436, -22.172698125891035], [-47.39519690267159, -22.172707094716973]], "id": "2", "type": "LineString"}, "id": 2, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "3", "Length": 14.827915524386164, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.39518293216667, -22.1727127985], [-47.39517819266667, -22.172680514833335], [-47.3951732595, -22.172646752833334], [-47.39516880516667, -22.1726149155], [-47.39516381233334, -22.172581167166665], [-47.39516315429932, -22.172576693573966], [-47.39516184565584, -22.172567745443878]], "id": "3", "type": "LineString"}, "id": 3, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "4", "Length": 14.785159385903514, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.395147317833334, -22.172566031], [-47.395151503166666, -22.172595452333333], [-47.3951561855, -22.172628011166665], [-47.39516159866667, -22.172663757333332], [-47.39516672716667, -22.172697770833334], [-47.395167397572706, -22.172702242832194], [-47.39516873082615, -22.17271118781009]], "id": "4", "type": "LineString"}, "id": 4, "properties": {"Dist1": 14.558011415731592, "Dist2": 0.0, "Id": "5", "Length": 14.80117692191233, "Name": "CidadeJardimTerreno2"}, "type": "Feature"}], "type": "FeatureCollection"});
+            geo_json_af39f58f8a18998e45aeee8a26e33ab4_add({"features": [{"geometry": {"coordinates": [[-47.395164402166664, -22.172536673833335], [-47.39516438416667, -22.172536670166668], [-47.395164400166664, -22.172536647833333], [-47.39516441466667, -22.172536662], [-47.395164414, -22.172536667333333], [-47.39516436233333, -22.172536672333333], [-47.395164362, -22.172536658], [-47.395164382333334, -22.172536655833333], [-47.39516436983333, -22.172536653], [-47.395164349666665, -22.172536647833333], [-47.395164320666666, -22.17253665533333], [-47.3951643375, -22.172536647833333], [-47.395164314, -22.172536663666666], [-47.39516430483334, -22.172536667166668], [-47.39516431483333, -22.172536683333334], [-47.39516435816667, -22.172536652166666], [-47.39516428566667, -22.1725366695], [-47.395164334166665, -22.172536637166665], [-47.39516434233333, -22.172536639833332], [-47.39516434883333, -22.172536645666668], [-47.3951643655, -22.172536641666667], [-47.395164359666666, -22.172536643], [-47.39516436, -22.1725366385], [-47.39516435633333, -22.17253662], [-47.39516436266667, -22.172536630666666], [-47.3951643595, -22.172536636833332], [-47.395164391, -22.172536642666667], [-47.395164402333336, -22.17253663483333], [-47.3951644125, -22.172536635333334], [-47.39516440716667, -22.172536637333334], [-47.395164393499996, -22.172536626333333], [-47.3951643785, -22.1725366185], [-47.395164386, -22.172536641666667], [-47.395164404333336, -22.17253662], [-47.39516439733333, -22.172536616333332], [-47.395164391, -22.172536615], [-47.39516438733333, -22.172536646], [-47.39516437566667, -22.172536636833332], [-47.39516437733333, -22.172536646333334], [-47.395164387, -22.172536646666668], [-47.395164409833335, -22.172536651833333], [-47.395164380833336, -22.172536644833333], [-47.395164402, -22.172536644333334], [-47.395164397, -22.172536619666666], [-47.39516441833333, -22.172536627333333], [-47.3951643775, -22.172536612166667], [-47.39516438183333, -22.172536645666668]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1", "Length": 0.10535308505573193, "Name": "17_09_2025_16_23_46_Manual"}, "type": "Feature"}], "type": "FeatureCollection"});
-        geo_json_106f3360bcacda806961fb4dfadbc9ab.setStyle(function(feature) {return feature.properties.style;});
+        geo_json_af39f58f8a18998e45aeee8a26e33ab4.setStyle(function(feature) {return feature.properties.style;});
 
         
     
-            geo_json_106f3360bcacda806961fb4dfadbc9ab.addTo(map_f4390ff4565f022e3991bd356c5be575);
+            geo_json_af39f58f8a18998e45aeee8a26e33ab4.addTo(map_ac718f9ed8b658fb35c6c18595d84304);
         
 </script>
 
@@ -165,7 +185,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_f4390ff4565f022e3991bd356c5be575);
+        trajeto_json.addTo(map_ac718f9ed8b658fb35c6c18595d84304);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -223,7 +243,7 @@
         }
         trajeto_dinamico_json_add({"features": []});
 
-        trajeto_dinamico_json.addTo(map_f4390ff4565f022e3991bd356c5be575);
+        trajeto_dinamico_json.addTo(map_ac718f9ed8b658fb35c6c18595d84304);
 
         function adicionarGeometriaDinamica(novaGeometria) {
             trajeto_dinamico_json.addData(novaGeometria);
@@ -276,9 +296,9 @@
         
         var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_f4390ff4565f022e3991bd356c5be575);
+        }).addTo(map_ac718f9ed8b658fb35c6c18595d84304);
         
-        var marcadorBase = L.marker([0, 0], {}).addTo(map_f4390ff4565f022e3991bd356c5be575);
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_ac718f9ed8b658fb35c6c18595d84304);
         var icon = L.AwesomeMarkers.icon(
             {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
         );
@@ -360,7 +380,7 @@
                 }
                 
                 if (foco) {
-                    map_f4390ff4565f022e3991bd356c5be575.setView(novaPosicao, map_f4390ff4565f022e3991bd356c5be575.getZoom());
+                    map_ac718f9ed8b658fb35c6c18595d84304.setView(novaPosicao, map_ac718f9ed8b658fb35c6c18595d84304.getZoom());
                 }
                 
             }
@@ -377,7 +397,7 @@
         function atualizarSelecaoRuas(selecionadas) {
             selecionadas = JSON.parse(selecionadas);
             RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
-            geo_json_106f3360bcacda806961fb4dfadbc9ab.eachLayer(function (layer) {
+            geo_json_af39f58f8a18998e45aeee8a26e33ab4.eachLayer(function (layer) {
                 if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
                     layer.setStyle({ color: 'blue' });
                 } else {

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/camera_worker/camera_oak.py

@@ -327,13 +327,28 @@ class CameraOak:
 
         #self.mostrar_log(f"[CALIB] {self.parametros}")
 
+    def _latest_pkt(self, q):
+        # pega tudo que chegou e fica só com o último
+        pkts = q.getAll()
+        if pkts:
+            return pkts[-1]
+        # fallback: tentativa não-bloqueante
+        pkt = q.tryGet()
+        if pkt is not None:
+            return pkt
+        # último recurso: uma única espera curta
+        return q.get()  # só se não tiver nada mesmo
+
     def requisitar_frame_rgb(self):
         #print("Requisitando frame")
         try:
             start = time.time()
-            frame = self.q_video.get().getCvFrame()
+            pkt = self._latest_pkt(self.q_video)
+            frame = pkt.getCvFrame()
+            self.timestamp_ultimo_frame_rgb = pkt.getTimestamp().total_seconds()  # ou device ts
+            #frame = self.q_video.get().getCvFrame()
+            #self.timestamp_ultimo_frame_rgb = time.time()
             dur = time.time() - start
-            self.timestamp_ultimo_frame_rgb = time.time()
 
             resultado = {
                 "erro": None,
@@ -360,9 +375,12 @@ class CameraOak:
             }
         try:
             start = time.time()
-            frame = self.q_depth.get().getFrame()
+            pkt = self._latest_pkt(self.q_depth)
+            frame = pkt.getFrame()
+            self.timestamp_ultimo_frame_depth = pkt.getTimestamp().total_seconds()
+            #frame = self.q_depth.get().getFrame()
+            #self.timestamp_ultimo_frame_depth = time.time()
             dur = time.time() - start
-            self.timestamp_ultimo_frame_depth = time.time()
 
             return frame, {
                 "erro": None,

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/camera_manager.py

@@ -83,7 +83,7 @@ class CameraManager:
             self.solo_manager = AnaliseSoloManager()
             self.segmentacao_manager = SegmentacaoManager(self.camera.modelo_ia_seg.get("colormap_rgb"), self.camera.modelo_ia_seg.get("classes"))
             self.radar_manager = Radar2DManager()
-            self.data_fuser = CostmapFuser(grid_shape=self.grid_ref_shape, K=3, M=2, fuse_method="q0.7", block_thr=0.7, central_cols=None, y_range_m=(0.5,5.0), near_is_bottom=True, fov_h_rad=np.radians(self.camera.parametros["fov_h"]), robot_width=self.largura_robo_m)
+            self.data_fuser = CostmapFuser(grid_shape=self.grid_ref_shape, K=3, M=2, fuse_method="max", block_thr=0.7, central_cols=None, y_range_m=(0.5,5.0), near_is_bottom=True, fov_h_rad=np.radians(self.camera.parametros["fov_h"]), robot_width=self.largura_robo_m)
             self.operante = True
             self._timestamp_analise = None
 
@@ -1555,8 +1555,9 @@ class CameraManager:
             parada_necessaria = decision.get("parar", False)
             dec_txt  = "PARAR" if parada_necessaria else "LIVRE"
             dec_col  = (0, 0, 255) if parada_necessaria else (0, 200, 0)
+            d_necessaria = decision.get('dist_necessaria', 0.0) or 0.0
             dec_info = (f"v={velocidade_media:.3f} m/s  d_obs={('-' if d_obs_min is None else f'{d_obs_min:.2f} m')}  "
-                        f"d_necess={decision.get('dist_necessaria', 0.0):.2f} m")
+                        f"d_necess={d_necessaria:.2f} m")
 
             # painel por trás para legibilidade
             panel_w2 = max(280, bar_w + 100)

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

@@ -110,7 +110,7 @@ class CostmapFuser:
         row_dist_m, row_scale_x_m, central_cols,
         robot_width_m=0.84, margin_m=0.12,
         thr_anom_block=0.50, thr_cost_block=0.65, thr_conf_low=0.35,
-        rho_block_central=0.70, rho_block_global=0.60,
+        rho_block_central=0.70, rho_block_global=0.40,
         near_is_bottom=True,
         # ------ NOVOS (opcionais) ------
         use_persistence=False,
@@ -349,7 +349,7 @@ class CostmapFuser:
                     f"cobertura_central_max={central_cov_max:.2f}{extra_det_txt}."
                 )
 
-            elif (global_cov >= rho_block_global) and (conf_mean < 0.45):
+            elif (global_cov <= rho_block_global) or (conf_mean < 0.45):
                 blocked_raw = True
                 reason = "blackout"
                 extra = ""
@@ -375,7 +375,7 @@ class CostmapFuser:
                     else:
                         extra = " (deteccoes presentes)"
                 reason_detail = (
-                    f"Percepcao degradada: cobertura_global={global_cov:.2f}≥{rho_block_global:.2f} "
+                    f"Percepcao degradada: cobertura_global={global_cov:.2f}<={rho_block_global:.2f} "
                     f"e confianca_media={conf_mean:.2f}<0.45{extra}."
                 )
 
@@ -593,7 +593,7 @@ class CostmapFuser:
                 use_persistence=True,
                 velocidade_mps=velocidade_ms,
                 a_max_freio=0.4, margem_parada=0.60,
-                N_on=2, N_off=5, blackout_imediato=True,
+                N_on=2, N_off=3, blackout_imediato=True,
 
                 det_score_f = det_score,
                 det_label_id = det_lbl,