Separado componentes Monitoramento e Diagnostico

AgroBase/OperationControl/OperationControl.csproj.user

@@ -46,6 +46,12 @@
     <Compile Update="Views\ConfigConexao\ConfigConexaoView.xaml.cs">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Update="Views\Operacao\DiagnosticoView.xaml.cs">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Update="Views\Operacao\MonitoramentoView.xaml.cs">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Update="Views\Operacao\OperacaoBottomView.xaml.cs">
       <SubType>Code</SubType>
     </Compile>
@@ -117,6 +123,12 @@
     <Page Update="Views\ConfigConexao\ConfigConexaoView.xaml">
       <SubType>Designer</SubType>
     </Page>
+    <Page Update="Views\Operacao\DiagnosticoView.xaml">
+      <SubType>Designer</SubType>
+    </Page>
+    <Page Update="Views\Operacao\MonitoramentoView.xaml">
+      <SubType>Designer</SubType>
+    </Page>
     <Page Update="Views\Operacao\OperacaoBottomView.xaml">
       <SubType>Designer</SubType>
     </Page>

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

@@ -5,6 +5,8 @@ using System.Windows.Input;
 using System.Windows.Threading;
 using OperationControl.Helpers;
 using OperationControl.Models;
+using Brush = System.Windows.Media.Brush;
+using Brushes = System.Windows.Media.Brushes;
 
 namespace OperationControl.ViewModels
 {

AgroBase/OperationControl/ViewModels/Views/Operacao/Diagnostico/DiagnosticoOpcoesViewModel.cs

@@ -80,8 +80,8 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
         private string _bicoAnguloTexto = "00°";
         public string BicoAnguloTexto { get => _bicoAnguloTexto; set => SetProperty(ref _bicoAnguloTexto, value); }
 
-        private string _bicoAnguloAbertura = "0";
+        private double _bicoAnguloAbertura = 0;
-        public string BicoAnguloAbertura { get => _bicoAnguloAbertura; set => SetProperty(ref _bicoAnguloAbertura, value); }
+        public double BicoAnguloAbertura { get => _bicoAnguloAbertura; set => SetProperty(ref _bicoAnguloAbertura, value); }
 
         private string _txtBicoComando = "—";
         public string TxtBicoComando { get => _txtBicoComando; set => SetProperty(ref _txtBicoComando, value); }
@@ -138,14 +138,14 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
 
         #region DIRECIONAL
 
-        public ObservableCollection<string> DirMovimentosDisponiveis { get; } = new();
+        public ObservableCollection<TipoMovimentoDirecional> DirMovimentosDisponiveis { get; } = new();
-        public ObservableCollection<string> DirDirecoesDisponiveis { get; } = new();
+        public ObservableCollection<Direcao> DirDirecoesDisponiveis { get; } = new();
 
-        private string _dirMovimentoSelecionado;
+        private TipoMovimentoDirecional _dirMovimentoSelecionado;
-        public string DirMovimentoSelecionado { get => _dirMovimentoSelecionado; set => SetProperty(ref _dirMovimentoSelecionado, value); }
+        public TipoMovimentoDirecional DirMovimentoSelecionado { get => _dirMovimentoSelecionado; set => SetProperty(ref _dirMovimentoSelecionado, value); }
 
-        private string _dirDirecaoSelecionada;
+        private Direcao _dirDirecaoSelecionada;
-        public string DirDirecaoSelecionada { get => _dirDirecaoSelecionada; set => SetProperty(ref _dirDirecaoSelecionada, value); }
+        public Direcao DirDirecaoSelecionada { get => _dirDirecaoSelecionada; set => SetProperty(ref _dirDirecaoSelecionada, value); }
 
         private double _dirAngulo;
         public double DirAngulo
@@ -359,11 +359,11 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
         private bool _npcCoolerSaida;
         public bool NpcCoolerSaida { get => _npcCoolerSaida; set => SetProperty(ref _npcCoolerSaida, value); }
 
-        private string _npcCoolerTempOn = "0";
+        private double _npcCoolerTempOn = 0;
-        public string NpcCoolerTempOn { get => _npcCoolerTempOn; set => SetProperty(ref _npcCoolerTempOn, value); }
+        public double NpcCoolerTempOn { get => _npcCoolerTempOn; set => SetProperty(ref _npcCoolerTempOn, value); }
 
-        private string _npcCoolerTempTurbo = "0";
+        private double _npcCoolerTempTurbo = 0;
-        public string NpcCoolerTempTurbo { get => _npcCoolerTempTurbo; set => SetProperty(ref _npcCoolerTempTurbo, value); }
+        public double NpcCoolerTempTurbo { get => _npcCoolerTempTurbo; set => SetProperty(ref _npcCoolerTempTurbo, value); }
 
         private string _txtNpcCoolerModo = "—";
         public string TxtNpcCoolerModo { get => _txtNpcCoolerModo; set => SetProperty(ref _txtNpcCoolerModo, value); }
@@ -409,11 +409,10 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
 
         public DiagnosticoOpcoesViewModel()
         {
-            foreach (var nome in Enum.GetNames(typeof(TipoMovimentoDirecional)))
+            DirDirecoesDisponiveis = new ObservableCollection<Direcao>() { Direcao.Parado, Direcao.Esquerda, Direcao.Direita };
-                DirMovimentosDisponiveis.Add(nome);
 
-            foreach (var nome in Enum.GetNames(typeof(Direcao)))
+            foreach (var modo in Enum.GetValues<TipoMovimentoDirecional>())
-                DirDirecoesDisponiveis.Add(nome);
+                DirMovimentosDisponiveis.Add(modo);
 
             foreach (var modo in Enum.GetValues<CoolerMode>())
                 NpcCoolerModosDisponiveis.Add(modo);
@@ -443,13 +442,16 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
             NpcCoolerEnviarCommand = new RelayCommand(_ => NpcCoolerEnviar());
         }
 
-        public void Atualizar(DiagnosticoModuloItemViewModel item, OperacaoParametrosModel dados)
+        public void Atualizar(DiagnosticoModuloItemViewModel item, OperacaoParametrosModel dados, bool clicado)
         {
             _itemAtual = item;
             _dadosAtual = dados;
 
-            ResetarVisibilidades();
+            if (clicado)
-            ResetarCampos();
+            {
+                ResetarVisibilidades();
+                ResetarCampos();
+            }
 
             if (_itemAtual == null || _dadosAtual?.DadosLeitura == null)
             {
@@ -466,22 +468,25 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
                     {
                         case S_Code.sMOD:
                             MostrarOpcoesAtuador = true;
-                            BarraAltura = rover.Controle?.AlturaBarra ?? 0;
+                            if (clicado)
+                            {
+                                BarraAltura = rover.Controle?.AlturaBarra ?? 0;
+                            }
                             break;
 
                         case S_Code.sBIC:
                             MostrarOpcoesBico = true;
-                            PreencherBico(rover);
+                            PreencherBico(rover, clicado);
                             break;
 
                         case S_Code.sBMB:
                             MostrarOpcoesBomba = true;
-                            PreencherBomba(rover);
+                            PreencherBomba(rover, clicado);
                             break;
 
                         case S_Code.sSRV:
                             MostrarOpcoesServo = true;
-                            PreencherServoAtuador(rover);
+                            PreencherServoAtuador(rover, clicado);
                             break;
 
                         default:
@@ -499,12 +504,12 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
 
                         case S_Code.sRLE:
                             MostrarOpcoesRele = true;
-                            PreencherRele(rover);
+                            PreencherRele(rover, clicado);
                             break;
 
                         case S_Code.sSRV:
                             MostrarOpcoesServo = true;
-                            PreencherServoSensoriamento(rover);
+                            PreencherServoSensoriamento(rover, clicado);
                             break;
 
                         default:
@@ -515,22 +520,22 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
 
                 case T_Code.Dir:
                     MostrarOpcoesDirecional = true;
-                    PreencherDirecional(rover);
+                    PreencherDirecional(rover, clicado);
                     break;
 
                 case T_Code.Gps:
                     MostrarOpcoesGps = true;
-                    PreencherGps(rover);
+                    PreencherGps(rover, clicado);
                     break;
 
                 case T_Code.Trj:
                     MostrarOpcoesTrajetoria = true;
-                    PreencherTrajetoria(rover);
+                    PreencherTrajetoria(rover, clicado);
                     break;
 
                 case T_Code.Npc:
                     MostrarOpcoesNpc = true;
-                    PreencherNpc(rover);
+                    PreencherNpc(rover, clicado);
                     break;
 
                 default:
@@ -541,7 +546,7 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
 
         #region PREENCHIMENTO
 
-        private void PreencherBico(OperacaoParametrosDadosModel rover)
+        private void PreencherBico(OperacaoParametrosDadosModel rover, bool clicado)
         {
             var bico = rover?.Atuador?.Bicos?.FirstOrDefault(x => x.ID == _itemAtual.LabelModulo);
             BicoTitulo = $"Bico {_itemAtual.LabelModulo} - Testes";
@@ -551,11 +556,14 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
             TxtBicoVazao = $"{bico?.VazaoInstantaneaMLs ?? 0:0.##} mL/s";
             TxtBicoPressao = $"{rover?.Atuador?.PressaoLinhaPsi ?? 0:0.##} psi";
             TxtBicoAtuacoes = $"{bico?.QtdAtuacoes ?? 0}";
-            BicoAngulo = bico?.ComandoAngulo ?? 0;
+            if (clicado)
-            BicoAnguloAbertura = (bico?.AnguloAbertura ?? 0).ToString();
+            {
+                BicoAngulo = bico?.ComandoAngulo ?? 0;
+                BicoAnguloAbertura = bico?.AnguloAbertura ?? 0;
+            }
         }
 
-        private void PreencherBomba(OperacaoParametrosDadosModel rover)
+        private void PreencherBomba(OperacaoParametrosDadosModel rover, bool clicado)
         {
             var bomba = rover?.Atuador?.Bombas?.FirstOrDefault(x => x.ID == _itemAtual.LabelModulo);
             BombaTitulo = $"Bomba {_itemAtual.LabelModulo} - Testes";
@@ -563,10 +571,13 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
             TxtBombaStatusReal = (bomba?.LeituraEstado ?? false) ? "Ligado" : "Desligado";
             TxtBombaPressaoLinha = $"{rover?.Atuador?.PressaoLinhaPsi ?? 0:0.##} psi";
             TxtBombaPotencia = $"{bomba?.Potencia ?? 0:0.#} %";
-            BombaPressaoAlvo = bomba?.Potencia ?? 0;
+            if (clicado)
+            {
+                BombaPressaoAlvo = bomba?.Potencia ?? 0;
+            }
         }
 
-        private void PreencherDirecional(OperacaoParametrosDadosModel rover)
+        private void PreencherDirecional(OperacaoParametrosDadosModel rover, bool clicado)
         {
             var mod = rover?.Direcional?.Modulos?.FirstOrDefault(x => x.Mod_ID == _itemAtual.LabelModulo);
             DirTitulo = $"Direcional {_itemAtual.LabelModulo} - Testes";
@@ -574,23 +585,29 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
             TxtDirSentido = $"{mod?.SentidoReal ?? Sentido.Parado}";
             TxtDirAnguloSP = $"{mod?.Angulo_SP ?? 0:0.00}°";
             TxtDirAngulo = $"{mod?.AnguloDriver ?? 0:0.00}°";
-            DirAngulo = mod?.Angulo_SP ?? 0;
+            if (clicado)
+            {
+                DirAngulo = mod?.Angulo_SP ?? 0;
+            }
         }
 
-        private void PreencherGps(OperacaoParametrosDadosModel rover)
+        private void PreencherGps(OperacaoParametrosDadosModel rover, bool clicado)
         {
             var dados = rover?.Gnss;
-            GpsLeverArmLateral = (dados?.LeverArmLateral ?? 0) / 10.0;
-            GpsLeverArmFrontal = (dados?.LeverArmFrontal ?? 0) / 10.0;
             TxtGpsCorrecao = $"{dados?.QualidadeFix ?? TiposCorrecaoGPS.SemCorrecao}";
             TxtGpsIdade = $"{dados?.IdadeCorrecao ?? -1}";
             TxtGpsPrecisao = $"{dados?.PrecisaoCm ?? -1}";
             TxtGpsNSatelites = $"{dados?.NumeroSatelites ?? 0}";
             TxtGpsDistBase = "0";
             TxtGpsOrientacao = $"{dados?.OrientacaoReal ?? 0}";
+            if (clicado)
+            {
+                GpsLeverArmLateral = (dados?.LeverArmLateral ?? 0) / 10.0;
+                GpsLeverArmFrontal = (dados?.LeverArmFrontal ?? 0) / 10.0;
+            }
         }
 
-        private void PreencherTrajetoria(OperacaoParametrosDadosModel rover)
+        private void PreencherTrajetoria(OperacaoParametrosDadosModel rover, bool clicado)
         {
             var dados = rover?.Trajetoria?.AutonomiaCorredor;
             TxtTrajetoriaDistCorredor = $"{dados?.DistanciaCorredor_m ?? 0:0.00} m";
@@ -600,11 +617,14 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
             TxtTrajetoriaBatOk = (dados?.BateriaSuficiente ?? false) ? "Sim" : "Não";
             TxtTrajetoriaHerbOk = (dados?.HerbicidaSuficiente ?? false) ? "Sim" : "Não";
             TrajetoriaPodeConfirmar = !(dados?.Liberado ?? false);
-            TrajetoriaBatLiberada = true; // dados?.BateriaSuficiente ?? false;
+            if (clicado)
-            TrajetoriaHerbLiberado = true; // dados?.HerbicidaSuficiente ?? false;
+            {
+                TrajetoriaBatLiberada = dados?.BateriaSuficiente ?? false;
+                TrajetoriaHerbLiberado = dados?.HerbicidaSuficiente ?? false;
+            }
         }
 
-        private void PreencherRele(OperacaoParametrosDadosModel rover)
+        private void PreencherRele(OperacaoParametrosDadosModel rover, bool clicado)
         {
             var rele = rover?.Sensoriamento?.Reles?.FirstOrDefault(x => x.ID == _itemAtual.LabelModulo);
             ReleTitulo = $"Relé {_itemAtual.LabelModulo} - Testes";
@@ -612,37 +632,45 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
             TxtReleStatusReal = (rele?.LeituraEstado ?? false) ? "Ligado" : "Desligado";
         }
 
-        private void PreencherServoSensoriamento(OperacaoParametrosDadosModel rover)
+        private void PreencherServoSensoriamento(OperacaoParametrosDadosModel rover, bool clicado)
         {
             var servo = rover?.Sensoriamento?.Servos?.FirstOrDefault(x => x.ID == _itemAtual.LabelModulo);
             TxtServoComando = $"{servo?.ComandoAngulo ?? 0}°";
             TxtServoLeitura = $"{servo?.LeituraAngulo ?? 0}°";
             TxtServoIncremental = (servo?.Incremental ?? false) ? "Incremental" : "Decremental";
-            ServoAngulo = servo?.ComandoAngulo ?? 0;
+            if (clicado)
+            {
+                ServoAngulo = servo?.ComandoAngulo ?? 0;
+            }
         }
 
-        private void PreencherServoAtuador(OperacaoParametrosDadosModel rover)
+        private void PreencherServoAtuador(OperacaoParametrosDadosModel rover, bool clicado)
         {
             var servo = rover?.Atuador?.Servos?.FirstOrDefault(x => x.ID == _itemAtual.LabelModulo);
             TxtServoComando = $"{servo?.ComandoAngulo ?? 0}°";
             TxtServoLeitura = $"{servo?.LeituraAngulo ?? 0}°";
             TxtServoIncremental = (servo?.Incremental ?? false) ? "Incremental" : "Decremental";
-            ServoAngulo = servo?.ComandoAngulo ?? 0;
+            if (clicado)
+            {
+                ServoAngulo = servo?.ComandoAngulo ?? 0;
+            }
         }
 
-        private void PreencherNpc(OperacaoParametrosDadosModel rover)
+        private void PreencherNpc(OperacaoParametrosDadosModel rover, bool clicado)
         {
             var dados = rover?.Refrigeracao;
             TxtNpcCoolerModo = $"{dados?.Modo}";
             TxtNpcCoolerTemperatura = $"{dados?.Temperatura ?? 0:0.00} °C";
             TxtNpcCoolerEntrada = $"{dados?.EstadoEntrada} ({dados?.LeituraEntrada})";
             TxtNpcCoolerSaida = $"{dados?.EstadoSaida} ({dados?.LeituraSaida})";
-
+            if (clicado)
-            NpcCoolerModoSelecionado = dados?.Modo ?? CoolerMode.Off;
+            {
-            NpcCoolerEntrada = (dados?.EstadoEntrada ?? Estado.Desligado) == Estado.Ligado;
+                NpcCoolerModoSelecionado = dados?.Modo ?? CoolerMode.Off;
-            NpcCoolerSaida = (dados?.EstadoSaida ?? Estado.Desligado) == Estado.Ligado;
+                NpcCoolerEntrada = (dados?.EstadoEntrada ?? Estado.Desligado) == Estado.Ligado;
-            NpcCoolerTempOn = $"{dados?.TemperaturaLigar ?? 0}";
+                NpcCoolerSaida = (dados?.EstadoSaida ?? Estado.Desligado) == Estado.Ligado;
-            NpcCoolerTempTurbo = $"{dados?.TemperaturaTurbo ?? 0}";
+                NpcCoolerTempOn = dados?.TemperaturaLigar ?? 0;
+                NpcCoolerTempTurbo = dados?.TemperaturaTurbo ?? 0;
+            }
         }
 
         #endregion
@@ -668,7 +696,7 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
         {
             BarraAltura = 0;
             BicoAngulo = 0;
-            BicoAnguloAbertura = "0";
+            BicoAnguloAbertura = 0;
             BombaPressaoAlvo = 0;
             DirAngulo = 0;
             GpsLeverArmLateral = 0;
@@ -678,8 +706,8 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
             ServoAngulo = 0;
             NpcCoolerEntrada = false;
             NpcCoolerSaida = false;
-            NpcCoolerTempOn = "0";
+            NpcCoolerTempOn = 0;
-            NpcCoolerTempTurbo = "0";
+            NpcCoolerTempTurbo = 0;
         }
 
         #endregion
@@ -689,13 +717,19 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
         private void SensoriamentoReiniciar()
         {
             if (_itemAtual?.Modulo != T_Code.Sen) return;
-            VariaveisControleOperacao.EnviarComandoSensoriamento(_itemAtual.LabelModulo, true);
+            if (MessageBox.Show("Tem certeza que deseja reiniciar o módulo Sensoriamento?", "Reiniciar Módulo", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
+            {
+                VariaveisControleOperacao.EnviarComandoSensoriamento(_itemAtual.LabelModulo, true);
+            }
         }
 
         private void AtuadorReiniciar()
         {
             if (_itemAtual?.Modulo != T_Code.Atu) return;
-            VariaveisControleOperacao.EnviarComandoAtuador(_itemAtual.LabelModulo, true);
+            if (MessageBox.Show("Tem certeza que deseja reiniciar o módulo Atuador?", "Reiniciar Módulo", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
+            {
+                VariaveisControleOperacao.EnviarComandoAtuador(_itemAtual.LabelModulo, true);
+            }
         }
 
         private void BarraMover()
@@ -725,8 +759,7 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
         private void BicoSalvarAnguloAbertura()
         {
             if (_itemAtual?.Modulo != T_Code.Atu || _itemAtual.SCode != S_Code.sBIC) return;
-            if (!int.TryParse(BicoAnguloAbertura, out int ang)) return;
+            VariaveisControleOperacao.EnviarComandoAtuador(_itemAtual.LabelModulo, angulo_abertura: BicoAnguloAbertura);
-            VariaveisControleOperacao.EnviarComandoAtuador(_itemAtual.LabelModulo, angulo_abertura: ang);
         }
 
         private void BombaLigar()
@@ -744,36 +777,35 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
         private void DirReferenciar()
         {
             if (_itemAtual?.Modulo != T_Code.Dir) return;
-            VariaveisControleOperacao.EnviarComandoReferenciamento(mod_id: _itemAtual.LabelModulo);
+            if (MessageBox.Show("Tem certeza que deseja realizar o referenciamento?", "Referenciar", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
+            {
+                VariaveisControleOperacao.EnviarComandoReferenciamento(mod_id: _itemAtual.LabelModulo);
+            }
         }
 
         private void DirMovimentar()
         {
             if (_itemAtual?.Modulo != T_Code.Dir) return;
-            if (string.IsNullOrWhiteSpace(DirMovimentoSelecionado) || string.IsNullOrWhiteSpace(DirDirecaoSelecionada)) return;
+            VariaveisControleOperacao.EnviarComandoDirecional(DirDirecaoSelecionada, DirAngulo, DirMovimentoSelecionado, mod_id: _itemAtual.LabelModulo);
-
-            var tipo = (TipoMovimentoDirecional)Enum.Parse(typeof(TipoMovimentoDirecional), DirMovimentoSelecionado);
-            var direcao = (Direcao)Enum.Parse(typeof(Direcao), DirDirecaoSelecionada);
-            VariaveisControleOperacao.EnviarComandoDirecional(direcao, Convert.ToInt32(DirAngulo), tipo, mod_id: _itemAtual.LabelModulo);
         }
 
         private void GpsSalvar()
         {
-            VariaveisControleOperacao.EnviarComandoLeverArm(
+            if (MessageBox.Show("Tem certeza que deseja redefinir o lever arm do GNSS?", "Lever Arm", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
-                lateral: GpsLeverArmLateral * 10.0,
+            {
-                frontal: GpsLeverArmFrontal * 10.0);
+                VariaveisControleOperacao.EnviarComandoLeverArm(lateral: GpsLeverArmLateral * 10.0, frontal: GpsLeverArmFrontal * 10.0);
+            }
         }
 
         private void TrajetoriaConfirmar()
         {
             if (_itemAtual?.Modulo != T_Code.Trj) return;
-
             var trj = VariaveisControleOperacao.RoverEmFoco?.DadosLeitura?.Trajetoria;
             int idxCorredor = trj?.PontoAtualIdxCorredor ?? 0;
-            VariaveisControleOperacao.EnviarConfirmacaoHumanaTrajetoria(
+            if (MessageBox.Show($"Tem certeza que deseja liberar a operação no corredor {idxCorredor + 1}?", "Liberação", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
-                idxCorredor,
+            {
-                TrajetoriaBatLiberada,
+                VariaveisControleOperacao.EnviarConfirmacaoHumanaTrajetoria(idxCorredor, TrajetoriaBatLiberada, TrajetoriaHerbLiberado);
-                TrajetoriaHerbLiberado);
+            }
         }
 
         private void ReleLigar()
@@ -816,15 +848,7 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
             var entrada = NpcCoolerEntrada ? Estado.Ligado : Estado.Desligado;
             var saida = NpcCoolerSaida ? Estado.Ligado : Estado.Desligado;
 
-            double.TryParse(NpcCoolerTempOn, out double tempOn);
+            VariaveisControleOperacao.EnviarComandoCoolerControl(modo, entrada: entrada, saida: saida, temp_on: NpcCoolerTempOn, temp_turbo: NpcCoolerTempTurbo);
-            double.TryParse(NpcCoolerTempTurbo, out double tempTurbo);
-
-            VariaveisControleOperacao.EnviarComandoCoolerControl(
-                modo,
-                entrada: entrada,
-                saida: saida,
-                temp_on: tempOn,
-                temp_turbo: tempTurbo);
         }
 
         #endregion

AgroBase/OperationControl/ViewModels/Views/Operacao/Diagnostico/DiagnosticoViewModel.cs

@@ -36,7 +36,7 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
                     _moduloSelecionado.Selecionado = true;
 
                 OnPropertyChanged();
-                AtualizarResumoModuloSelecionado();
+                AtualizarResumoModuloSelecionado(true);
             }
         }
 
@@ -173,8 +173,22 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
                 ModuloSelecionado = item;
         }
 
-        #region RESUMO
+        public void AbrirModuloPorAlerta(T_Code modulo, string? modId)
+        {
+            ModuloSelecionado = DiagnosticoModulos.FirstOrDefault(x => x.Modulo == modulo && x.LabelModulo == modId);
+            if (ModuloSelecionado == null)
+                ModuloSelecionado = DiagnosticoModulos.FirstOrDefault(x => x.Modulo == modulo && x.SCode == S_Code.sMOD);
+            if (ModuloSelecionado == null)
+                ModuloSelecionado = DiagnosticoModulos.FirstOrDefault(x => x.Modulo == modulo);
+        }
 
+        #region RESUMO
+        private string _impedimentoOperacaoTexto = "Impedimento: Nenhum";
+        public string ImpedimentoOperacaoTexto
+        {
+            get => _impedimentoOperacaoTexto;
+            set => SetProperty(ref _impedimentoOperacaoTexto, value);
+        }
         private string _tituloModuloSelecionado = "Nenhum módulo selecionado";
         public string TituloModuloSelecionado
         {
@@ -292,11 +306,17 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
             set => SetProperty(ref _infoIdVisual, value);
         }
 
-        private void AtualizarResumoModuloSelecionado()
+        private void AtualizarResumoModuloSelecionado(bool clicado)
         {
             CondicoesOperacionais.Clear();
             LogsModuloSelecionado.Clear();
 
+            var impedimento = _dadosOperacaoAtual?.DadosLeitura?.Operacao?.ImpedimentoErro;
+            if (string.IsNullOrWhiteSpace(impedimento))
+                ImpedimentoOperacaoTexto = "Impedimento: Nenhum";
+            else
+                ImpedimentoOperacaoTexto = $"Impedimento: " + impedimento.Replace("\r\n", "\n").Replace("\n\n", "; ").Replace("\n", "; ").Trim();
+
             if (ModuloSelecionado == null || _dadosOperacaoAtual == null)
             {
                 TituloModuloSelecionado = "Nenhum módulo selecionado";
@@ -360,8 +380,11 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
             InfoLatencia = $"Latência: {dispositivo?.Latencia ?? 0} ms";
             ImpedimentoModuloSelecionado = $"Impedimento: {(string.IsNullOrWhiteSpace(motivos) ? "Nenhum" : motivos)}";
 
-            MandatorioSelecionado = item.Mandatorio;
+            if (clicado)
-            EmUsoSelecionado = item.EmUso;
+            {
+                MandatorioSelecionado = item.Mandatorio;
+                EmUsoSelecionado = item.EmUso;
+            }
 
             if (saudeModulo?.condicoes_operacionais != null)
             {
@@ -381,7 +404,7 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
                     LogsModuloSelecionado.Add($"{log.Momento:HH:mm:ss.fff} - {log.Mensagem}");
             }
 
-            OpcoesVM?.Atualizar(ModuloSelecionado, _dadosOperacaoAtual);
+            OpcoesVM?.Atualizar(ModuloSelecionado, _dadosOperacaoAtual, clicado);
             AtualizarGraficoModuloSelecionado();
         }
 
@@ -400,7 +423,7 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
                 item.Iniciado = ObterIniciado(item, dados);
             }
 
-            AtualizarResumoModuloSelecionado();
+            AtualizarResumoModuloSelecionado(false);
         }
 
         private StatusModulo ObterStatusModulo(DiagnosticoModuloItemViewModel item, OperacaoParametrosModel dados)
@@ -581,7 +604,7 @@ namespace OperationControl.ViewModels.Views.Operacao.Diagnostico
             ModuloSelecionado.Mandatorio = MandatorioSelecionado;
             ModuloSelecionado.EmUso = EmUsoSelecionado;
 
-            AtualizarResumoModuloSelecionado();
+            AtualizarResumoModuloSelecionado(true);
         }
 
 

AgroBase/OperationControl/ViewModels/Views/Operacao/Monitoramento/MonitoramentoViewModel.cs

@@ -0,0 +1,13 @@
+using OperationControl.ViewModels.Base;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace OperationControl.ViewModels.Views.Operacao.Monitoramento
+{
+    public class MonitoramentoViewModel : NotifyBase
+    {
+    }
+}

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

@@ -3,23 +3,38 @@ using System.Collections.ObjectModel;
 using System.ComponentModel;
 using System.Windows.Threading;
 using static AgroBase.Models.Enums;
-using Application = System.Windows.Application;
 
 namespace OperationControl.ViewModels.Views.Operacao
 {
     public class OperacaoBottomViewModel : INotifyPropertyChanged
     {
+        public ObservableCollection<AlertaModel> AlertasAtivos { get; } = new();
+
         private AlertaModel _toastAlerta;
-        private AlertaModel _alertaSelecionado;
+        public AlertaModel ToastAlerta
+        {
+            get => _toastAlerta;
+            set
+            {
+                if (_toastAlerta == value) return;
+                _toastAlerta = value;
+                OnPropertyChanged(nameof(ToastAlerta));
+            }
+        }
+
         private readonly DispatcherTimer _toastTimer;
 
+        public event PropertyChangedEventHandler PropertyChanged;
+        protected void OnPropertyChanged(string name) => PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(name));
+
+        // EVENTO PARA O PAI TRATAR A NAVEGAÇÃO
+        public event Action<AlertaModel> SolicitarAbrirDiagnostico;
+
         public OperacaoBottomViewModel()
         {
-            AlertasAtivos = new ObservableCollection<AlertaModel>();
-
             _toastTimer = new DispatcherTimer
             {
-                Interval = TimeSpan.FromSeconds(5)
+                Interval = TimeSpan.FromSeconds(6)
             };
 
             _toastTimer.Tick += (s, e) =>
@@ -29,115 +44,17 @@ namespace OperationControl.ViewModels.Views.Operacao
             };
         }
 
-        public ObservableCollection<AlertaModel> AlertasAtivos { get; }
-
-        public AlertaModel ToastAlerta
-        {
-            get => _toastAlerta;
-            set
-            {
-                if (_toastAlerta != value)
-                {
-                    _toastAlerta = value;
-                    OnPropertyChanged(nameof(ToastAlerta));
-                }
-            }
-        }
-
-        public AlertaModel AlertaSelecionado
-        {
-            get => _alertaSelecionado;
-            set
-            {
-                if (_alertaSelecionado != value)
-                {
-                    _alertaSelecionado = value;
-                    OnPropertyChanged(nameof(AlertaSelecionado));
-                }
-            }
-        }
-
-        public event PropertyChangedEventHandler PropertyChanged;
-        public event Action<AlertaModel> AlertaSelecionadoChanged;
-
         public void SelecionarAlerta(AlertaModel alerta)
         {
             if (alerta == null) return;
 
-            AlertaSelecionado = alerta;
+            SolicitarAbrirDiagnostico?.Invoke(alerta);
-            AlertaSelecionadoChanged?.Invoke(alerta);
         }
 
-        public void AdicionarAlerta(string roverId, T_Code modulo, SeveridadeAlerta severidade, string mensagem, string modId = null)
+        public void LimparToast()
         {
-            if (!Application.Current.Dispatcher.CheckAccess())
+            _toastTimer.Stop();
-            {
+            ToastAlerta = null;
-                Application.Current.Dispatcher.BeginInvoke(new Action(() =>
-                    AdicionarAlerta(roverId, modulo, severidade, mensagem, modId)));
-                return;
-            }
-
-            var existente = AlertasAtivos.FirstOrDefault(x =>
-                x.Rover_ID == roverId &&
-                x.Modulo == modulo &&
-                x.Mod_ID == modId);
-
-            if (existente == null)
-            {
-                var alerta = new AlertaModel
-                {
-                    Rover_ID = roverId,
-                    Modulo = modulo,
-                    Mod_ID = modId,
-                    Severidade = severidade,
-                    Mensagem = mensagem,
-                    Timestamp = DateTime.Now
-                };
-
-                AlertasAtivos.Insert(0, alerta);
-                MostrarToast(alerta);
-            }
-            else
-            {
-                existente.Mensagem = mensagem;
-                existente.Severidade = severidade;
-                existente.Timestamp = DateTime.Now;
-
-                // caso o model nao implemente INotifyPropertyChanged,
-                // forçamos um refresh simples:
-                RecarregarAlerta(existente);
-            }
-
-            OnPropertyChanged(nameof(AlertasAtivos));
-        }
-
-        public void RemoverAlerta(string roverId, T_Code modulo, SeveridadeAlerta? severidade = null, string modId = null)
-        {
-            if (!Application.Current.Dispatcher.CheckAccess())
-            {
-                Application.Current.Dispatcher.BeginInvoke(new Action(() =>
-                    RemoverAlerta(roverId, modulo, severidade, modId)));
-                return;
-            }
-
-            var alerta = AlertasAtivos.FirstOrDefault(x =>
-                x.Rover_ID == roverId &&
-                x.Modulo == modulo &&
-                x.Mod_ID == modId &&
-                (severidade != null ? x.Severidade == severidade : true));
-
-            if (alerta != null)
-            {
-                AlertasAtivos.Remove(alerta);
-
-                if (ReferenceEquals(ToastAlerta, alerta))
-                    ToastAlerta = null;
-
-                if (ReferenceEquals(AlertaSelecionado, alerta))
-                    AlertaSelecionado = null;
-            }
-
-            OnPropertyChanged(nameof(AlertasAtivos));
         }
 
         public void MostrarToast(AlertaModel alerta)
@@ -147,47 +64,67 @@ namespace OperationControl.ViewModels.Views.Operacao
             _toastTimer.Start();
         }
 
-        public void LimparToast()
+        public void AdicionarAlerta(string roverId, AgroBase.Models.Enums.T_Code modulo, SeveridadeAlerta severidade, string mensagem, string? modId = null)
         {
-            _toastTimer.Stop();
+            App.Current.Dispatcher.BeginInvoke(new Action(() =>
-            ToastAlerta = null;
-        }
-
-        public void DefinirAlertas(params AlertaModel[] alertas)
-        {
-            if (!Application.Current.Dispatcher.CheckAccess())
             {
-                Application.Current.Dispatcher.BeginInvoke(new Action(() => DefinirAlertas(alertas)));
+                var existente = AlertasAtivos.FirstOrDefault(x =>
-                return;
+                    x.Rover_ID == roverId &&
-            }
+                    x.Modulo == modulo &&
+                    x.Mod_ID == modId);
 
-            AlertasAtivos.Clear();
+                if (existente == null)
+                {
+                    var alerta = new AlertaModel
+                    {
+                        Rover_ID = roverId,
+                        Modulo = modulo,
+                        Mod_ID = modId,
+                        Severidade = severidade,
+                        Mensagem = mensagem,
+                        Timestamp = DateTime.Now
+                    };
 
-            if (alertas != null)
-            {
-                foreach (var alerta in alertas)
                     AlertasAtivos.Add(alerta);
-            }
+                    MostrarToast(alerta);
-
+                }
-            OnPropertyChanged(nameof(AlertasAtivos));
+                else
+                {
+                    existente.Mensagem = mensagem;
+                    existente.Severidade = severidade;
+                }
+            }));
         }
 
-        private void RecarregarAlerta(AlertaModel alerta)
+        public void RemoverAlerta(string roverId, AgroBase.Models.Enums.T_Code modulo, SeveridadeAlerta? severidade = null, string? modId = null)
         {
-            var idx = AlertasAtivos.IndexOf(alerta);
+            App.Current.Dispatcher.BeginInvoke(new Action(() =>
-            if (idx >= 0)
             {
-                AlertasAtivos.RemoveAt(idx);
+                var alerta = AlertasAtivos.FirstOrDefault(x =>
-                AlertasAtivos.Insert(idx, alerta);
+                    x.Rover_ID == roverId &&
-            }
+                    x.Modulo == modulo &&
+                    x.Mod_ID == modId &&
+                    (severidade != null ? x.Severidade == severidade : true));
+
+                if (alerta != null)
+                    AlertasAtivos.Remove(alerta);
+            }));
         }
 
-        private void OnPropertyChanged(string nome)
+        public void ClicarNoAlerta(AlertaModel alerta)
         {
-            PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(nome));
+            if (alerta == null) return;
+            SelecionarAlerta(alerta);
         }
 
+        public void ClicarNoToast()
+        {
+            var alerta = ToastAlerta;
+            if (alerta == null) return;
 
+            LimparToast();
+            SelecionarAlerta(alerta);
+        }
 
         public void AtualizarListaAlertasRoverSelecionado(string rover_id)
         {
@@ -244,6 +181,6 @@ namespace OperationControl.ViewModels.Views.Operacao
                 }
             }
         }
-
+    
     }
 }

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

@@ -1,14 +1,11 @@
 using OperationControl.Controls;
 using OperationControl.Models;
-using OperationControl.ViewModels.Views.Operacao.Diagnostico;
 using System.ComponentModel;
 
 namespace OperationControl.ViewModels.Views.Operacao
 {
     public class OperacaoCenterViewModel : INotifyPropertyChanged
     {
-        public DiagnosticoViewModel DiagnosticoVM { get; set; } = new DiagnosticoViewModel();
-
         public OperacaoCenterViewModel()
         {
             

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

@@ -24,7 +24,7 @@ namespace OperationControl.ViewModels.Views.Operacao
             Rovers = new ObservableCollection<RoverCardModel>();
 
             ToggleCollapseCommand = new RelayCommand(_ => ToggleCollapse());
-            SelecionarRoverCommand = new RelayCommand(p => SelecionarRover(p as RoverCardModel));
+            SelecionarRoverCommand = new RelayCommand(p => SelecionarRover((p as RoverCardModel).NumeroSerie));
             SelecionarSecaoCommand = new RelayCommand(p =>
             {
                 if (p is SecaoRightBar secao)
@@ -133,8 +133,9 @@ namespace OperationControl.ViewModels.Views.Operacao
             IsCollapsed = !IsCollapsed;
         }
 
-        public void SelecionarRover(RoverCardModel rover)
+        public void SelecionarRover(string roverId)
         {
+            var rover = Rovers.FirstOrDefault(x => x.NumeroSerie == roverId);
             RoverSelecionado = rover;
 
             if (RoverSelecionado != null)

AgroBase/OperationControl/ViewModels/Windows/DockWindowViewModel.cs

@@ -8,6 +8,7 @@ using OperationControl.Views.Operacao;
 using AgroBase.Models.Operacoes;
 using Newtonsoft.Json.Linq;
 using OperationControl.ViewModels.Views.Operacao;
+using OperationControl.Controls;
 
 namespace OperationControl.ViewModels
 {
@@ -25,6 +26,8 @@ namespace OperationControl.ViewModels
         public readonly OperacaoRightView _viewOperacaoRight;
         public readonly OperacaoBottomView _viewOperacaoBottom;
 
+        public OperacaoBottomViewModel BottomVM => _viewOperacaoBottom?._vm;
+
         private DockStep _currentStep;
 
         public DockWindowViewModel()
@@ -56,7 +59,7 @@ namespace OperationControl.ViewModels
             _viewOperacaoRight._vm.SalvarParametrosSolicitado += OnSalvarParametrosSolicitado;
 
             _viewOperacaoBottom = new OperacaoBottomView();
-            _viewOperacaoBottom._vm.AlertaSelecionadoChanged += OnAlertaSelecionadoChanged;
+            _viewOperacaoBottom._vm.SolicitarAbrirDiagnostico += AbrirDiagnosticoPeloAlerta;
 
             // Commands
             BackCommand = new RelayCommand(_ => GoBack(), _ => CanGoBack);
@@ -331,6 +334,7 @@ namespace OperationControl.ViewModels
                     CenterContent = _viewPreparacaoMapa;
                     BottomContent = _viewPreparacaoMapaBottom;
                     RightContent = CriarBotaoNextSimples();
+                    CriarMarcadorBase(_viewPreparacaoMapa?.MapaPreparacao);
                     break;
 
                 case DockStep.ParametrizacaoRover:
@@ -339,6 +343,7 @@ namespace OperationControl.ViewModels
                     CenterContent = _viewOperacaoCenter;
                     RightContent = _viewOperacaoRight;
                     BottomContent = _viewOperacaoBottom;
+                    CriarMarcadorBase(_viewOperacaoCenter?.MapaOperacao);
 
                     if (!string.IsNullOrWhiteSpace(_ultimoMapaCarregado))
                         _viewOperacaoCenter?.MapaOperacao?.LoadMapFile(_ultimoMapaCarregado);
@@ -391,12 +396,28 @@ namespace OperationControl.ViewModels
 
         private string? _ultimoMapaCarregado;
 
+        private void CriarMarcadorBase(MapViewControl Mapa)
+        {
+            string markerId = VariaveisControleOperacao.BaseMarkerID;
+            if (!Mapa?.markers?.Added(markerId) ?? false)
+            {
+                Mapa?.markers?.AddMarker(
+                    markerId,
+                    true,
+                    lat: Variaveis.GpsService?.UltimaLeitura?.Latitude,
+                    lon: Variaveis.GpsService?.UltimaLeitura?.Longitude,
+                    heading: Variaveis.GpsService?.UltimaLeitura?.OrientacaoReal,
+                    label: "Base"
+                );
+            }
+        }
+
         private void OnCarregarMapaSolicitado(string caminhoArquivo)
         {
             try
             {
                 _ultimoMapaCarregado = caminhoArquivo;
-                _viewPreparacaoMapa?.MapControl?.LoadMapFile(caminhoArquivo);
+                _viewPreparacaoMapa?.MapaPreparacao?.LoadMapFile(caminhoArquivo);
                 MapaCarregado = true;
                 _viewPreparacaoMapaBottom?._vm.AtualizarProgresso(0, $"Mapa carregado: {System.IO.Path.GetFileName(caminhoArquivo)}");
             }
@@ -516,26 +537,24 @@ namespace OperationControl.ViewModels
         }
 
 
-        private void OnAlertaSelecionadoChanged(AlertaModel alerta)
+        private void AbrirDiagnosticoPeloAlerta(AlertaModel alerta)
         {
-            if (alerta == null) return;
+            if (alerta == null)
+                return;
 
-            AtualizarTopOperacaoAlerta(
+            _viewOperacaoRight?._vm?.SelecionarRover(alerta.Rover_ID);
-                $"ALERTA {alerta.Rover_ID}",
+            _viewOperacaoRight?._vm?.SelecionarSecao(SecaoRightBar.Diagnostico);
-                $"{alerta.Titulo}: {alerta.Mensagem}"
+            _viewOperacaoCenter?.Diagnostico?._vm?.AbrirModuloPorAlerta(alerta.Modulo, alerta.Mod_ID);
-            );
-
-            // depois você pode navegar para diagnostico, abrir popup, focar modulo, etc
         }
 
         public void AdicionarAlerta(string roverId, AgroBase.Models.Enums.T_Code modulo, SeveridadeAlerta severidade, string mensagem, string modId = null)
         {
-            (_viewOperacaoBottom.DataContext as OperacaoBottomViewModel)?.AdicionarAlerta(roverId, modulo, severidade, mensagem, modId);
+            _viewOperacaoBottom?._vm?.AdicionarAlerta(roverId, modulo, severidade, mensagem, modId);
         }
 
         public void RemoverAlerta(string roverId, AgroBase.Models.Enums.T_Code modulo, SeveridadeAlerta? severidade = null, string modId = null)
         {
-            (_viewOperacaoBottom.DataContext as OperacaoBottomViewModel)?.RemoverAlerta(roverId, modulo, severidade, modId);
+            _viewOperacaoBottom?._vm?.RemoverAlerta(roverId, modulo, severidade, modId);
         }
 
 
@@ -640,8 +659,8 @@ namespace OperationControl.ViewModels
                     r.InfestacaoPercentual = obj.Atuador?.PercentualErvasTerreno ?? 0;
                 });
 
-                _viewOperacaoCenter?._vm?.DiagnosticoVM?.AtualizarDados(rover);
+                _viewOperacaoCenter?.Diagnostico?._vm?.AtualizarDados(rover);
-                _viewOperacaoCenter?.AtualizarGraficoDiagnostico(_viewOperacaoCenter?._vm?.DiagnosticoVM);
+                _viewOperacaoCenter?.Diagnostico?.AtualizarGraficos();
             }
         }
 
@@ -657,8 +676,8 @@ namespace OperationControl.ViewModels
             {
                 if (!VariaveisControleOperacao.BaseEmFoco)
                 {
-                    _viewOperacaoCenter?.PararStreamCameraFrontal();
+                    _viewOperacaoCenter?.Monitoramento?.PararStreamCameraFrontal();
-                    _viewOperacaoCenter?.PararStreamCameraErvas();
+                    _viewOperacaoCenter?.Monitoramento?.PararStreamCameraErvas();
                     VariaveisControleOperacao.EnviarComandoIniciarUDP(VariaveisControleOperacao.RoverEmFoco?.IP, false);
                 }
                 VariaveisControleOperacao.RoverEmFoco?.RuasPercorrer?.Clear();
@@ -678,8 +697,8 @@ namespace OperationControl.ViewModels
                 AtualizarDadosTela(VariaveisControleOperacao.RoverEmFoco);
 
                 VariaveisControleOperacao.RequisitarParametrosOperacao();
-                _viewOperacaoCenter?.IniciarStreamCameraFrontal();
+                _viewOperacaoCenter?.Monitoramento?.IniciarStreamCameraFrontal();
-                _viewOperacaoCenter?.IniciarStreamCameraErvas();
+                _viewOperacaoCenter?.Monitoramento?.IniciarStreamCameraErvas();
                 VariaveisControleOperacao.EnviarComandoIniciarUDP(VariaveisControleOperacao.RoverEmFoco?.IP, true);
 
                 _viewOperacaoCenter?._vm?.SelecionarRoverLista(rover);

AgroBase/OperationControl/Views/Operacao/DiagnosticoView.xaml

@@ -0,0 +1,678 @@
+<UserControl x:Class="OperationControl.Views.Operacao.DiagnosticoView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+             xmlns:local="clr-namespace:OperationControl.Views.Operacao"
+             xmlns:scott="clr-namespace:ScottPlot.WPF;assembly=ScottPlot.WPF"
+             mc:Ignorable="d"
+             d:DesignHeight="900"
+             d:DesignWidth="1600">
+
+    <UserControl.Resources>
+        <BooleanToVisibilityConverter x:Key="BoolToVisibilityConverter"/>
+
+        <Style x:Key="DiagnosticoModuloButtonStyle" TargetType="Button">
+            <Setter Property="Width" Value="58"/>
+            <Setter Property="Height" Value="24"/>
+            <Setter Property="FontSize" Value="10"/>
+            <Setter Property="FontWeight" Value="SemiBold"/>
+            <Setter Property="Cursor" Value="Hand"/>
+            <Setter Property="Padding" Value="4,0"/>
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="Button">
+                        <Border x:Name="Bd"
+                    Background="{TemplateBinding Background}"
+                    BorderBrush="{TemplateBinding BorderBrush}"
+                    BorderThickness="{TemplateBinding BorderThickness}"
+                    CornerRadius="10"
+                    SnapsToDevicePixels="True">
+                            <ContentPresenter HorizontalAlignment="Center"
+                                  VerticalAlignment="Center"
+                                  RecognizesAccessKey="True"/>
+                        </Border>
+
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsMouseOver" Value="True">
+                                <Setter TargetName="Bd" Property="Opacity" Value="0.92"/>
+                            </Trigger>
+
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter TargetName="Bd" Property="Opacity" Value="0.82"/>
+                            </Trigger>
+
+                            <Trigger Property="IsEnabled" Value="False">
+                                <Setter TargetName="Bd" Property="Opacity" Value="0.45"/>
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+
+    </UserControl.Resources>
+
+    <Grid Margin="12">
+        <Grid.ColumnDefinitions>
+            <ColumnDefinition Width="1.55*"/>
+            <ColumnDefinition Width="1*"/>
+        </Grid.ColumnDefinitions>
+
+        <!-- COLUNA ESQUERDA | MAPA VISUAL DO ROBÔ -->
+        <Border Grid.Column="0"
+                Margin="0,0,10,0"
+                Padding="16"
+                CornerRadius="10"
+                Background="#202020"
+                BorderBrush="#353535"
+                BorderThickness="1">
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="*"/>
+                </Grid.RowDefinitions>
+
+                <!-- CABEÇALHO -->
+                <StackPanel Grid.Row="0" Margin="0,0,0,12">
+                    <TextBlock Text="Diagnóstico do rover"
+                               FontSize="18"
+                               FontWeight="SemiBold"
+                               Foreground="#E6E6E6"/>
+
+                    <TextBlock Text="{Binding ImpedimentoOperacaoTexto}"
+                               Margin="0,6,0,0"
+                               FontSize="12"
+                               Foreground="#B8B8B8"
+                               TextWrapping="Wrap"/>
+                </StackPanel>
+
+                <!-- ÁREA DO ROBÔ -->
+                <Viewbox Grid.Row="1" Stretch="Uniform">
+                    <Grid Width="700" Height="820">
+                        <Border CornerRadius="12"
+                                Background="#1A1A1A"
+                                BorderBrush="#2F2F2F"
+                                BorderThickness="1"/>
+
+                        <Image Source="/Resources/robo_superior.jpg"
+                               Width="800"
+                               Height="750"
+                               Stretch="Uniform"
+                               HorizontalAlignment="Center"
+                               VerticalAlignment="Center"/>
+
+                        <ItemsControl ItemsSource="{Binding DiagnosticoModulos}">
+                            <ItemsControl.ItemsPanel>
+                                <ItemsPanelTemplate>
+                                    <Canvas />
+                                </ItemsPanelTemplate>
+                            </ItemsControl.ItemsPanel>
+
+                            <ItemsControl.ItemContainerStyle>
+                                <Style TargetType="ContentPresenter">
+                                    <Setter Property="Canvas.Left" Value="{Binding Left}" />
+                                    <Setter Property="Canvas.Top" Value="{Binding Top}" />
+                                </Style>
+                            </ItemsControl.ItemContainerStyle>
+
+                            <ItemsControl.ItemTemplate>
+                                <DataTemplate>
+                                    <Button Content="{Binding TextoExibicao}"
+                                            Style="{StaticResource DiagnosticoModuloButtonStyle}"
+                                            Background="{Binding BackgroundBrush}"
+                                            Foreground="{Binding ForegroundBrush}"
+                                            BorderBrush="{Binding BorderBrushColor}"
+                                            BorderThickness="{Binding BorderThicknessValue}"
+                                            Command="{Binding DataContext.SelecionarModuloCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
+                                            CommandParameter="{Binding}" />
+                                </DataTemplate>
+                            </ItemsControl.ItemTemplate>
+                        </ItemsControl>
+                    </Grid>
+                </Viewbox>
+            </Grid>
+        </Border>
+
+        <!-- COLUNA DIREITA | DETALHES -->
+        <Border Grid.Column="1"
+                Margin="10,0,0,0"
+                Padding="16"
+                CornerRadius="10"
+                Background="#202020"
+                BorderBrush="#353535"
+                BorderThickness="1">
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="*"/>
+                </Grid.RowDefinitions>
+
+                <!-- TÍTULO -->
+                <StackPanel Grid.Row="0">
+                    <TextBlock Text="{Binding TituloModuloSelecionado}"
+                               FontSize="18"
+                               FontWeight="SemiBold"
+                               Foreground="#E6E6E6"/>
+
+                    <TextBlock Text="{Binding DescricaoModuloSelecionado}"
+                               Margin="0,6,0,0"
+                               FontSize="12"
+                               Foreground="#A8A8A8"
+                               TextWrapping="Wrap"/>
+                </StackPanel>
+
+                <!-- RESUMO -->
+                <Border Grid.Row="1"
+                        Margin="0,14,0,12"
+                        Padding="12"
+                        Background="#181818"
+                        BorderBrush="#2F2F2F"
+                        BorderThickness="1"
+                        CornerRadius="8">
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="Auto"/>
+                            <RowDefinition Height="Auto"/>
+                            <RowDefinition Height="Auto"/>
+                            <RowDefinition Height="Auto"/>
+                        </Grid.RowDefinitions>
+
+                        <WrapPanel Grid.Row="0" Margin="0,0,0,8">
+                            <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
+                                <TextBlock Text="{Binding InfoModulo}" Foreground="#D8D8D8" FontSize="12"/>
+                            </Border>
+
+                            <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
+                                <TextBlock Text="{Binding InfoLabel}" Foreground="#D8D8D8" FontSize="12"/>
+                            </Border>
+
+                            <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
+                                <TextBlock Text="{Binding InfoSCode}" Foreground="#D8D8D8" FontSize="12"/>
+                            </Border>
+                        </WrapPanel>
+
+                        <WrapPanel Grid.Row="1" Margin="0,0,0,8">
+                            <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
+                                <TextBlock Text="{Binding InfoStatus}" Foreground="#D8D8D8" FontSize="12"/>
+                            </Border>
+
+                            <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
+                                <TextBlock Text="{Binding InfoSaude}" Foreground="#D8D8D8" FontSize="12"/>
+                            </Border>
+
+                            <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
+                                <TextBlock Text="{Binding InfoIniciado}" Foreground="#D8D8D8" FontSize="12"/>
+                            </Border>
+                        </WrapPanel>
+
+                        <WrapPanel Grid.Row="2" Margin="0,0,0,8">
+                            <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
+                                <TextBlock Text="{Binding InfoCan}" Foreground="#D8D8D8" FontSize="12"/>
+                            </Border>
+
+                            <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
+                                <TextBlock Text="{Binding InfoLatencia}" Foreground="#D8D8D8" FontSize="12"/>
+                            </Border>
+
+                            <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
+                                <TextBlock Text="{Binding InfoIdVisual}" Foreground="#D8D8D8" FontSize="12"/>
+                            </Border>
+                        </WrapPanel>
+
+                        <TextBlock Grid.Row="3"
+                                   Text="{Binding ImpedimentoModuloSelecionado}"
+                                   Foreground="#C8C8C8"
+                                   FontSize="12"
+                                   TextWrapping="Wrap"/>
+                    </Grid>
+                </Border>
+
+                <!-- AÇÕES -->
+                <StackPanel Grid.Row="2" Orientation="Horizontal" Margin="0,0,0,12">
+                    <CheckBox Content="Mandatório"
+                              Margin="0,0,14,0"
+                              Foreground="#D8D8D8"
+                              VerticalAlignment="Center"
+                              IsChecked="{Binding MandatorioSelecionado, Mode=TwoWay}"/>
+
+                    <CheckBox Content="Em uso"
+                              Margin="0,0,14,0"
+                              Foreground="#D8D8D8"
+                              VerticalAlignment="Center"
+                              IsChecked="{Binding EmUsoSelecionado, Mode=TwoWay}"/>
+
+                    <Button Content="Salvar"
+                            Width="80"
+                            Height="28"
+                            Background="#2E5C8A"
+                            Foreground="White"
+                            BorderBrush="#4F7EAD"
+                            Command="{Binding SalvarSaudeCommand}"/>
+                </StackPanel>
+
+                <!-- TABS -->
+                <TabControl Grid.Row="3"
+                            Background="#181818"
+                            BorderBrush="#2F2F2F"
+                            Foreground="#DDDDDD">
+                    <TabItem Header="Condições Operacionais">
+                        <Grid Background="#181818">
+                            <ListBox ItemsSource="{Binding CondicoesOperacionais}"
+                                     Margin="8"
+                                     Background="#121212"
+                                     Foreground="#DDDDDD"
+                                     BorderBrush="#2D2D2D"/>
+                        </Grid>
+                    </TabItem>
+
+                    <TabItem Header="Acompanhamento">
+                        <Grid Background="#181818">
+                            <scott:WpfPlot x:Name="pltSaude_Acompanhamento" Margin="8"/>
+                        </Grid>
+                    </TabItem>
+
+                    <TabItem Header="Opções">
+                        <Grid Background="#181818">
+                            <ScrollViewer VerticalScrollBarVisibility="Auto"
+                                          HorizontalScrollBarVisibility="Disabled"
+                                          Padding="8">
+                                <Grid>
+                                    <TextBlock Text="Nenhum teste disponível para este módulo."
+                                               FontSize="12"
+                                               Foreground="#A8A8A8"
+                                               HorizontalAlignment="Center"
+                                               VerticalAlignment="Center"
+                                               TextWrapping="Wrap"
+                                               Visibility="{Binding OpcoesVM.MostrarOpcoesSemDados, Converter={StaticResource BoolToVisibilityConverter}}"/>
+
+                                    <StackPanel Visibility="{Binding OpcoesVM.MostrarOpcoesSensoriamento, Converter={StaticResource BoolToVisibilityConverter}}">
+                                        <StackPanel Orientation="Horizontal" Margin="0,10,0,0">
+                                            <Label Content="Reinicia o módulo" Foreground="#DDDDDD"/>
+                                            <Button Content="Reiniciar" Width="90" Margin="8,0,0,0" Command="{Binding OpcoesVM.SensoriamentoReiniciarCommand}"/>
+                                        </StackPanel>
+                                    </StackPanel>
+
+                                    <StackPanel Visibility="{Binding OpcoesVM.MostrarOpcoesAtuador, Converter={StaticResource BoolToVisibilityConverter}}">
+                                        <StackPanel Orientation="Horizontal" Margin="0,10,0,0">
+                                            <Label Content="Reinicia o módulo" Foreground="#DDDDDD"/>
+                                            <Button Content="Reiniciar" Width="90" Margin="8,0,0,0" Command="{Binding OpcoesVM.AtuadorReiniciarCommand}"/>
+                                        </StackPanel>
+
+                                        <StackPanel Orientation="Horizontal" Margin="0,10,0,0">
+                                            <Label Content="Altura" Foreground="#DDDDDD"/>
+                                            <Slider Width="120" Margin="8,0" Minimum="50" Maximum="80" Value="{Binding OpcoesVM.BarraAltura, Mode=TwoWay}"/>
+                                            <Label Content="{Binding OpcoesVM.BarraAlturaTexto}" Foreground="#DDDDDD"/>
+                                            <Button Content="Mover" Width="60" Margin="8,0,0,0" Command="{Binding OpcoesVM.BarraMoverCommand}"/>
+                                        </StackPanel>
+                                    </StackPanel>
+
+                                    <StackPanel Visibility="{Binding OpcoesVM.MostrarOpcoesBico, Converter={StaticResource BoolToVisibilityConverter}}">
+                                        <TextBlock Text="{Binding OpcoesVM.BicoTitulo}" FontWeight="Bold" Foreground="#DDDDDD" Margin="0,0,0,8"/>
+
+                                        <StackPanel Orientation="Horizontal">
+                                            <Button Content="Ligar" Width="80" Margin="0,0,5,0" Command="{Binding OpcoesVM.BicoLigarCommand}"/>
+                                            <Button Content="Desligar" Width="80" Command="{Binding OpcoesVM.BicoDesligarCommand}"/>
+                                        </StackPanel>
+
+                                        <StackPanel Orientation="Horizontal" Margin="0,8,0,0">
+                                            <Label Content="Movimento" Foreground="#DDDDDD"/>
+                                            <Slider Width="160" Margin="8,0" Minimum="-90" Maximum="90" Value="{Binding OpcoesVM.BicoAngulo, Mode=TwoWay}"/>
+                                            <Label Content="{Binding OpcoesVM.BicoAnguloTexto}" Foreground="#DDDDDD"/>
+                                            <Button Content="Mover" Width="60" Margin="8,0,0,0" Command="{Binding OpcoesVM.BicoMoverCommand}"/>
+                                        </StackPanel>
+
+                                        <StackPanel Orientation="Horizontal" Margin="0,8,0,0">
+                                            <Label Content="Ângulo abertura" Foreground="#DDDDDD"/>
+                                            <TextBox Width="60" Margin="8,0" Text="{Binding OpcoesVM.BicoAnguloAbertura, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"/>
+                                            <Button Content="Salvar" Width="60" Command="{Binding OpcoesVM.BicoSalvarAnguloAberturaCommand}"/>
+                                        </StackPanel>
+
+                                        <TextBlock Text="Bico - Leituras" Foreground="#DDDDDD" FontWeight="SemiBold" Margin="0,10,0,4"/>
+
+                                        <UniformGrid Rows="2" Columns="3">
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Comando enviado" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtBicoComando}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Status real" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtBicoStatusReal}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Tempo ligado" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtBicoTempoLigado}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Vazão" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtBicoVazao}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Pressão" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtBicoPressao}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Atuações" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtBicoAtuacoes}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                        </UniformGrid>
+                                    </StackPanel>
+
+                                    <StackPanel Visibility="{Binding OpcoesVM.MostrarOpcoesBomba, Converter={StaticResource BoolToVisibilityConverter}}">
+                                        <TextBlock Text="{Binding OpcoesVM.BombaTitulo}" FontWeight="Bold" Foreground="#DDDDDD" Margin="0,0,0,8"/>
+
+                                        <StackPanel Orientation="Horizontal">
+                                            <Button Content="Ligar" Width="80" Margin="0,0,5,0" Command="{Binding OpcoesVM.BombaLigarCommand}"/>
+                                            <Button Content="Desligar" Width="80" Margin="0,0,10,0" Command="{Binding OpcoesVM.BombaDesligarCommand}"/>
+                                            <TextBlock Text="Pressão alvo:" VerticalAlignment="Center" Margin="0,0,5,0" FontSize="10" Foreground="#DDDDDD"/>
+                                            <Slider Width="120" Minimum="0" Maximum="150" Margin="0,0,5,0" Value="{Binding OpcoesVM.BombaPressaoAlvo, Mode=TwoWay}"/>
+                                            <Label Content="{Binding OpcoesVM.BombaPressaoAlvoTexto}" VerticalAlignment="Center" FontSize="10" Foreground="#DDDDDD"/>
+                                        </StackPanel>
+
+                                        <UniformGrid Rows="2" Columns="2" Margin="0,10,0,0">
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Comando enviado" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtBombaComando}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Status real" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtBombaStatusReal}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Pressão linha" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtBombaPressaoLinha}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Potência" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtBombaPotencia}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                        </UniformGrid>
+                                    </StackPanel>
+
+                                    <StackPanel Visibility="{Binding OpcoesVM.MostrarOpcoesDirecional, Converter={StaticResource BoolToVisibilityConverter}}">
+                                        <TextBlock Text="{Binding OpcoesVM.DirTitulo}" FontWeight="Bold" Foreground="#DDDDDD" Margin="0,0,0,8"/>
+
+                                        <StackPanel Orientation="Horizontal">
+                                            <Button Content="Referenciar" Width="90" Margin="0,0,5,0" Command="{Binding OpcoesVM.DirReferenciarCommand}"/>
+                                            <Button Content="Mover" Width="80" Command="{Binding OpcoesVM.DirMovimentarCommand}"/>
+                                        </StackPanel>
+
+                                        <StackPanel Orientation="Horizontal" Margin="0,8,0,0">
+                                            <ComboBox Width="130" Margin="0,0,8,0" ItemsSource="{Binding OpcoesVM.DirMovimentosDisponiveis}" SelectedItem="{Binding OpcoesVM.DirMovimentoSelecionado, Mode=TwoWay}"/>
+                                            <ComboBox Width="130" Margin="0,0,8,0" ItemsSource="{Binding OpcoesVM.DirDirecoesDisponiveis}" SelectedItem="{Binding OpcoesVM.DirDirecaoSelecionada, Mode=TwoWay}"/>
+                                            <Slider Width="120" Minimum="0" Maximum="180" Margin="0,0,8,0" Value="{Binding OpcoesVM.DirAngulo, Mode=TwoWay}"/>
+                                            <Label Content="{Binding OpcoesVM.DirAnguloTexto}" Foreground="#DDDDDD"/>
+                                        </StackPanel>
+
+                                        <UniformGrid Rows="2" Columns="2" Margin="0,10,0,0">
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Sentido controle" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtDirSentidoSP}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Sentido real" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtDirSentido}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Ângulo controle" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtDirAnguloSP}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Ângulo real" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtDirAngulo}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                        </UniformGrid>
+                                    </StackPanel>
+
+                                    <StackPanel Visibility="{Binding OpcoesVM.MostrarOpcoesGps, Converter={StaticResource BoolToVisibilityConverter}}">
+                                        <TextBlock Text="Lever Arm" FontWeight="Bold" Foreground="#DDDDDD" Margin="0,0,0,8"/>
+
+                                        <StackPanel Orientation="Horizontal" Margin="0,0,0,8">
+                                            <Label Content="Lateral" Foreground="#DDDDDD"/>
+                                            <Slider Width="110" Minimum="-5" Maximum="5" Margin="8,0" Value="{Binding OpcoesVM.GpsLeverArmLateral, Mode=TwoWay}"/>
+                                            <Label Content="{Binding OpcoesVM.GpsLeverArmLateralTexto}" Foreground="#DDDDDD" Margin="0,0,10,0"/>
+
+                                            <Label Content="Frontal" Foreground="#DDDDDD"/>
+                                            <Slider Width="110" Minimum="-10" Maximum="10" Margin="8,0" Value="{Binding OpcoesVM.GpsLeverArmFrontal, Mode=TwoWay}"/>
+                                            <Label Content="{Binding OpcoesVM.GpsLeverArmFrontalTexto}" Foreground="#DDDDDD"/>
+                                        </StackPanel>
+
+                                        <Button Content="Salvar" Width="80" Margin="0,0,0,8" Command="{Binding OpcoesVM.GpsSalvarCommand}"/>
+
+                                        <UniformGrid Rows="2" Columns="3">
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Correção" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtGpsCorrecao}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Idade" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtGpsIdade}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Precisão" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtGpsPrecisao}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Satélites" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtGpsNSatelites}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Distância base" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtGpsDistBase}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Orientação" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtGpsOrientacao}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                        </UniformGrid>
+                                    </StackPanel>
+
+                                    <StackPanel Visibility="{Binding OpcoesVM.MostrarOpcoesTrajetoria, Converter={StaticResource BoolToVisibilityConverter}}">
+                                        <TextBlock Text="Status do trabalho" FontWeight="Bold" Foreground="#DDDDDD" Margin="0,0,0,8"/>
+
+                                        <StackPanel Orientation="Horizontal" Margin="0,0,0,8">
+                                            <CheckBox Content="Bateria Liberada" Margin="0,0,12,0" Foreground="#DDDDDD" IsChecked="{Binding OpcoesVM.TrajetoriaBatLiberada, Mode=TwoWay}"/>
+                                            <CheckBox Content="Pulverizador Liberado" Margin="0,0,12,0" Foreground="#DDDDDD" IsChecked="{Binding OpcoesVM.TrajetoriaHerbLiberado, Mode=TwoWay}"/>
+                                            <Button Content="Confirmar" Width="80" Command="{Binding OpcoesVM.TrajetoriaConfirmarCommand}" IsEnabled="{Binding OpcoesVM.TrajetoriaPodeConfirmar}"/>
+                                        </StackPanel>
+
+                                        <UniformGrid Rows="2" Columns="3">
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Distância corredor" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtTrajetoriaDistCorredor}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Distância segura bateria" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtTrajetoriaDistBateria}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Distância segura pulverizador" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtTrajetoriaDistPulverizador}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Status" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtTrajetoriaStatus}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Bateria suficiente" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtTrajetoriaBatOk}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Herbicida suficiente" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtTrajetoriaHerbOk}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                        </UniformGrid>
+                                    </StackPanel>
+
+                                    <StackPanel Visibility="{Binding OpcoesVM.MostrarOpcoesRele, Converter={StaticResource BoolToVisibilityConverter}}">
+                                        <TextBlock Text="{Binding OpcoesVM.ReleTitulo}" FontWeight="Bold" Foreground="#DDDDDD" Margin="0,0,0,8"/>
+
+                                        <StackPanel Orientation="Horizontal">
+                                            <Button Content="Ligar" Width="80" Margin="0,0,5,0" Command="{Binding OpcoesVM.ReleLigarCommand}"/>
+                                            <Button Content="Desligar" Width="80" Command="{Binding OpcoesVM.ReleDesligarCommand}"/>
+                                        </StackPanel>
+
+                                        <UniformGrid Rows="1" Columns="2" Margin="0,10,0,0">
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Comando enviado" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtReleComando}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Status real" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtReleStatusReal}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                        </UniformGrid>
+                                    </StackPanel>
+
+                                    <StackPanel Visibility="{Binding OpcoesVM.MostrarOpcoesServo, Converter={StaticResource BoolToVisibilityConverter}}">
+                                        <TextBlock Text="Servo - Testes" FontWeight="Bold" Foreground="#DDDDDD" Margin="0,0,0,8"/>
+
+                                        <StackPanel Orientation="Horizontal">
+                                            <Label Content="Controle" Foreground="#DDDDDD"/>
+                                            <Slider Width="160" Margin="8,0" Minimum="0" Maximum="90" Value="{Binding OpcoesVM.ServoAngulo, Mode=TwoWay}"/>
+                                            <Label Content="{Binding OpcoesVM.ServoAnguloTexto}" Foreground="#DDDDDD"/>
+                                            <Button Content="Enviar" Width="80" Margin="8,0,0,0" Command="{Binding OpcoesVM.ServoEnviarCommand}"/>
+                                        </StackPanel>
+
+                                        <UniformGrid Rows="1" Columns="3" Margin="0,10,0,0">
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Comando enviado" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtServoComando}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Status real" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtServoLeitura}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Modo" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtServoIncremental}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                        </UniformGrid>
+                                    </StackPanel>
+
+                                    <StackPanel Visibility="{Binding OpcoesVM.MostrarOpcoesNpc, Converter={StaticResource BoolToVisibilityConverter}}">
+                                        <StackPanel Orientation="Horizontal" Margin="0,0,0,8">
+                                            <Label Content="Modo de Controle" Foreground="#DDDDDD"/>
+                                            <ComboBox Width="120" Margin="8,0" ItemsSource="{Binding OpcoesVM.NpcCoolerModosDisponiveis}" SelectedItem="{Binding OpcoesVM.NpcCoolerModoSelecionado, Mode=TwoWay}"/>
+                                            <CheckBox Content="Entrada" Margin="10,0,0,0" Foreground="#DDDDDD" IsChecked="{Binding OpcoesVM.NpcCoolerEntrada, Mode=TwoWay}"/>
+                                            <CheckBox Content="Saída" Margin="10,0,0,0" Foreground="#DDDDDD" IsChecked="{Binding OpcoesVM.NpcCoolerSaida, Mode=TwoWay}"/>
+                                        </StackPanel>
+
+                                        <StackPanel Orientation="Horizontal" Margin="0,0,0,8">
+                                            <Label Content="Temperatura ligar" Foreground="#DDDDDD"/>
+                                            <TextBox Width="50" Margin="8,0" Text="{Binding OpcoesVM.NpcCoolerTempOn, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"/>
+                                            <Label Content="Temperatura turbo" Foreground="#DDDDDD" Margin="12,0,0,0"/>
+                                            <TextBox Width="50" Margin="8,0" Text="{Binding OpcoesVM.NpcCoolerTempTurbo, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"/>
+                                            <Button Content="Enviar" Width="80" Margin="10,0,0,0" Command="{Binding OpcoesVM.NpcCoolerEnviarCommand}"/>
+                                        </StackPanel>
+
+                                        <UniformGrid Rows="2" Columns="2">
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Modo controle" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtNpcCoolerModo}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Temperatura" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtNpcCoolerTemperatura}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Cooler entrada" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtNpcCoolerEntrada}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                            <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
+                                                <StackPanel>
+                                                    <TextBlock Text="Cooler saída" FontSize="10" Foreground="#AAAAAA"/>
+                                                    <TextBlock Text="{Binding OpcoesVM.TxtNpcCoolerSaida}" Foreground="#DDDDDD"/>
+                                                </StackPanel>
+                                            </Border>
+                                        </UniformGrid>
+                                    </StackPanel>
+                                </Grid>
+                            </ScrollViewer>
+                        </Grid>
+                    </TabItem>
+
+                    <TabItem Header="Logs">
+                        <Grid Background="#181818">
+                            <ListBox ItemsSource="{Binding LogsModuloSelecionado}"
+                                     Margin="8"
+                                     Background="#121212"
+                                     Foreground="#DDDDDD"
+                                     BorderBrush="#2D2D2D"/>
+                        </Grid>
+                    </TabItem>
+                </TabControl>
+            </Grid>
+        </Border>
+    </Grid>
+</UserControl>

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

@@ -0,0 +1,66 @@
+using OperationControl.ViewModels.Views.Operacao.Diagnostico;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace OperationControl.Views.Operacao
+{
+    /// <summary>
+    /// Interaction logic for DiagnosticoView.xaml
+    /// </summary>
+    public partial class DiagnosticoView : System.Windows.Controls.UserControl
+    {
+        public DiagnosticoViewModel _vm;
+        public DiagnosticoView()
+        {
+            InitializeComponent();
+            _vm = new DiagnosticoViewModel();
+            DataContext = _vm;
+        }
+
+        public void AtualizarGraficos()
+        {
+            if (pltSaude_Acompanhamento == null)
+                return;
+
+            var plot = pltSaude_Acompanhamento.Plot;
+            plot.Clear();
+
+            bool temSeries = false;
+
+            foreach (var serie in _vm.SeriesGrafico)
+            {
+                if (serie.Valores.Count == 0)
+                    continue;
+
+                double[] ys = serie.Valores.ToArray();
+                double[] xs = Enumerable.Range(0, ys.Length).Select(i => (double)i).ToArray();
+
+                var scatter = plot.Add.Scatter(xs, ys);
+                scatter.LegendText = string.IsNullOrWhiteSpace(serie.Unidade)
+                    ? serie.Label
+                    : $"{serie.Label} ({serie.Unidade})";
+
+                temSeries = true;
+            }
+
+            if (temSeries)
+                plot.ShowLegend(ScottPlot.Alignment.UpperLeft);
+
+            plot.Axes.AutoScale();
+            pltSaude_Acompanhamento.Refresh();
+        }
+
+    }
+}

AgroBase/OperationControl/Views/Operacao/MonitoramentoView.xaml

@@ -0,0 +1,219 @@
+<UserControl x:Class="OperationControl.Views.Operacao.MonitoramentoView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+             xmlns:local="clr-namespace:OperationControl.Views.Operacao"
+             xmlns:controls="clr-namespace:OperationControl.Controls"
+             mc:Ignorable="d"
+             d:DesignHeight="900"
+             d:DesignWidth="1600">
+
+    <Grid Margin="12">
+        <Grid.RowDefinitions>
+            <RowDefinition Height="2.2*"/>
+            <RowDefinition Height="1.3*"/>
+        </Grid.RowDefinitions>
+
+        <Grid.ColumnDefinitions>
+            <ColumnDefinition Width="*"/>
+            <ColumnDefinition Width="*"/>
+        </Grid.ColumnDefinitions>
+
+        <!-- CÂMERA FRONTAL -->
+        <Border Grid.Row="0" Grid.Column="0"
+                Margin="0,0,6,6"
+                Padding="10"
+                CornerRadius="10"
+                Background="#202020"
+                BorderBrush="#353535"
+                BorderThickness="1">
+
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="*"/>
+                </Grid.RowDefinitions>
+
+                <DockPanel Grid.Row="0" Margin="0,0,0,8">
+                    <TextBlock Text="Câmera frontal"
+                               DockPanel.Dock="Left"
+                               FontSize="12"
+                               FontWeight="SemiBold"
+                               Foreground="#E6E6E6"
+                               VerticalAlignment="Center"/>
+
+                    <ComboBox x:Name="cmbCameraFrontalFrameTipo"
+                              Width="130"
+                              Height="26"
+                              HorizontalAlignment="Right"
+                              SelectionChanged="cmbCameraFrontalFrameTipo_SelectionChanged"/>
+
+                    <TextBlock Text="12 fps • 230 kbps • CaminhandoRua"
+                               Margin="12,0,8,0"
+                               Foreground="#AFAFAF"
+                               FontSize="11"
+                               VerticalAlignment="Center"
+                               HorizontalAlignment="Right"/>
+                </DockPanel>
+
+                <Grid Grid.Row="1" Background="Black">
+                    <TextBlock Text="SEM SINAL"
+                               Foreground="Gray"
+                               FontSize="18"
+                               HorizontalAlignment="Center"
+                               VerticalAlignment="Center"/>
+
+                    <Image x:Name="imgVideoFront"
+                           Stretch="Uniform"
+                           RenderOptions.BitmapScalingMode="LowQuality"/>
+                </Grid>
+            </Grid>
+        </Border>
+
+        <!-- CÂMERA DE ERVAS -->
+        <Border Grid.Row="0" Grid.Column="1"
+                Margin="6,0,0,6"
+                Padding="10"
+                CornerRadius="10"
+                Background="#202020"
+                BorderBrush="#353535"
+                BorderThickness="1">
+
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="*"/>
+                </Grid.RowDefinitions>
+
+                <DockPanel Grid.Row="0" Margin="0,0,0,8">
+                    <TextBlock Text="Câmera de ervas"
+                               DockPanel.Dock="Left"
+                               FontSize="12"
+                               FontWeight="SemiBold"
+                               Foreground="#E6E6E6"
+                               VerticalAlignment="Center"/>
+
+                    <ComboBox x:Name="cmbCameraTraseiraFrameTipo"
+                              Width="130"
+                              Height="26"
+                              HorizontalAlignment="Right"
+                              SelectionChanged="cmbCameraTraseiraFrameTipo_SelectionChanged"/>
+
+                    <TextBlock Text="10 fps • 193 kbps • 5,41% erva • 0,00% cana"
+                               Margin="12,0,8,0"
+                               Foreground="#AFAFAF"
+                               FontSize="11"
+                               VerticalAlignment="Center"
+                               HorizontalAlignment="Right"/>
+                </DockPanel>
+
+                <Grid Grid.Row="1" Background="Black">
+                    <TextBlock Text="SEM SINAL"
+                               Foreground="Gray"
+                               FontSize="18"
+                               HorizontalAlignment="Center"
+                               VerticalAlignment="Center"/>
+
+                    <Image x:Name="imgVideoWeed"
+                           Stretch="Uniform"
+                           RenderOptions.BitmapScalingMode="LowQuality"/>
+                </Grid>
+            </Grid>
+        </Border>
+
+        <!-- MAPA -->
+        <Border Grid.Row="1" Grid.Column="0"
+                Margin="0,6,6,0"
+                Padding="10"
+                CornerRadius="10"
+                Background="#202020"
+                BorderBrush="#353535"
+                BorderThickness="1">
+
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="*"/>
+                </Grid.RowDefinitions>
+
+                <TextBlock Grid.Row="0"
+                           Text="Mapa e posição do rover"
+                           Margin="0,0,0,8"
+                           FontSize="12"
+                           FontWeight="SemiBold"
+                           Foreground="#E6E6E6"/>
+
+                <controls:MapViewControl x:Name="MapaMonitoramento" MarkerClicked="MAP_MarkerClicked" StreetMapClicked="MAP_StreetMapClicked" Grid.Row="1" Latitude="-22.1726572492617" Longitude="-47.3952163870556" Scale="5000" />
+            </Grid>
+        </Border>
+
+        <!-- ÁREA DIREITA INFERIOR -->
+        <Grid Grid.Row="1" Grid.Column="1" Margin="6,6,0,0">
+            <Grid.RowDefinitions>
+                <RowDefinition Height="1.15*"/>
+                <RowDefinition Height="0.85*"/>
+            </Grid.RowDefinitions>
+
+            <!-- PULVERIZADOR -->
+            <Border Grid.Row="0"
+                    Margin="0,0,0,6"
+                    Padding="10"
+                    CornerRadius="10"
+                    Background="#202020"
+                    BorderBrush="#353535"
+                    BorderThickness="1">
+
+                <Grid>
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="Auto"/>
+                        <RowDefinition Height="*"/>
+                    </Grid.RowDefinitions>
+
+                    <TextBlock Grid.Row="0"
+                               Text="Pulverizador"
+                               Margin="0,0,0,8"
+                               FontSize="12"
+                               FontWeight="SemiBold"
+                               Foreground="#E6E6E6"/>
+
+                    <Grid Grid.Row="1">
+                        <controls:PulverizadorIndicator x:Name="ATU"
+                                                       HorizontalAlignment="Stretch"
+                                                       VerticalAlignment="Center"/>
+                    </Grid>
+                </Grid>
+            </Border>
+
+            <!-- AÇÕES RÁPIDAS -->
+            <Border Grid.Row="1"
+                    Padding="10"
+                    CornerRadius="10"
+                    Background="#202020"
+                    BorderBrush="#353535"
+                    BorderThickness="1">
+
+                <Grid>
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="Auto"/>
+                        <RowDefinition Height="*"/>
+                    </Grid.RowDefinitions>
+
+                    <TextBlock Grid.Row="0"
+                               Text="Ações rápidas"
+                               Margin="0,0,0,8"
+                               FontSize="12"
+                               FontWeight="SemiBold"
+                               Foreground="#E6E6E6"/>
+
+                    <UniformGrid Grid.Row="1" Rows="2" Columns="2" Margin="0,4,0,0">
+                        <Button Content="Retorno à base" Margin="4"/>
+                        <Button Content="Parametrização" Margin="4"/>
+                        <Button Content="Pausar operação" Margin="4"/>
+                        <Button Content="Diagnóstico" Margin="4"/>
+                    </UniformGrid>
+                </Grid>
+            </Border>
+        </Grid>
+    </Grid>
+</UserControl>

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

@@ -0,0 +1,99 @@
+using OperationControl.Controls;
+using OperationControl.Models;
+using OperationControl.ViewModels.Views.Operacao.Monitoramento;
+using System.Windows.Controls;
+
+namespace OperationControl.Views.Operacao
+{
+    /// <summary>
+    /// Interaction logic for MonitoramentoView.xaml
+    /// </summary>
+    public partial class MonitoramentoView : System.Windows.Controls.UserControl
+    {
+        public MonitoramentoViewModel _vm;
+
+        private TcpVideoReceiver videoFront;
+        private TcpVideoReceiver videoWeed;
+
+        public MonitoramentoView()
+        {
+            InitializeComponent();
+            _vm = new MonitoramentoViewModel();
+            DataContext = _vm;
+
+            videoFront = new TcpVideoReceiver(5000, imgVideoFront);
+            videoWeed = new TcpVideoReceiver(5002, imgVideoWeed);
+
+            cmbCameraFrontalFrameTipo.Items.Clear();
+            foreach (var m in Enum.GetNames(typeof(AgroBase.Models.Enums.TipoFrameCamera)))
+                cmbCameraFrontalFrameTipo.Items.Add(m);
+            cmbCameraFrontalFrameTipo.SelectedIndex = 0;
+
+            cmbCameraTraseiraFrameTipo.Items.Clear();
+            foreach (var m in Enum.GetNames(typeof(AgroBase.Models.Enums.TipoFrameCamera)))
+                cmbCameraTraseiraFrameTipo.Items.Add(m);
+            cmbCameraTraseiraFrameTipo.SelectedIndex = 0;
+        }
+
+        #region MAPA
+
+        private void MAP_MarkerClicked(object? sender, MapMarkerManager.MarkerClickedEventArgs e)
+        {
+            
+        }
+
+        private void MAP_StreetMapClicked(object? sender, MapViewControl.StreetMapClickedEventArgs e)
+        {
+            
+        }
+
+        #endregion
+
+        #region CAMERA FRONTAL
+
+        private void cmbCameraFrontalFrameTipo_SelectionChanged(object sender, SelectionChangedEventArgs e)
+        {
+            if (VariaveisControleOperacao.SelectedRoverId == VariaveisControleOperacao.BaseMarkerID) return;
+            PararStreamCameraFrontal();
+            IniciarStreamCameraFrontal();
+        }
+
+        public void IniciarStreamCameraFrontal()
+        {
+            videoFront.Iniciar();
+            VariaveisControleOperacao.EnviarComandoTransmissaoVideo(AgroBase.Models.Enums.T_Code.Snr, true, ((AgroBase.Models.Enums.TipoFrameCamera)cmbCameraFrontalFrameTipo.SelectedIndex));
+        }
+
+        public void PararStreamCameraFrontal(bool finalizar = false)
+        {
+            videoFront.Parar();
+            VariaveisControleOperacao.EnviarComandoTransmissaoVideo(AgroBase.Models.Enums.T_Code.Snr, false, ((AgroBase.Models.Enums.TipoFrameCamera)cmbCameraFrontalFrameTipo.SelectedIndex));
+        }
+
+        #endregion
+
+        #region CAMERA ERVAS
+
+        private void cmbCameraTraseiraFrameTipo_SelectionChanged(object sender, SelectionChangedEventArgs e)
+        {
+            if (VariaveisControleOperacao.SelectedRoverId == VariaveisControleOperacao.BaseMarkerID) return;
+            PararStreamCameraErvas();
+            IniciarStreamCameraErvas();
+        }
+
+        public void IniciarStreamCameraErvas()
+        {
+            videoWeed.Iniciar();
+            VariaveisControleOperacao.EnviarComandoTransmissaoVideo(AgroBase.Models.Enums.T_Code.Cam, true, ((AgroBase.Models.Enums.TipoFrameCamera)cmbCameraTraseiraFrameTipo.SelectedIndex));
+        }
+
+        public void PararStreamCameraErvas(bool finalizar = false)
+        {
+            videoWeed.Parar();
+            VariaveisControleOperacao.EnviarComandoTransmissaoVideo(AgroBase.Models.Enums.T_Code.Cam, false, ((AgroBase.Models.Enums.TipoFrameCamera)cmbCameraTraseiraFrameTipo.SelectedIndex));
+        }
+
+        #endregion
+
+    }
+}

AgroBase/OperationControl/Views/Operacao/OperacaoBottomView.xaml

@@ -134,70 +134,5 @@
                 </TextBlock>
             </Grid>
         </Border>
-
-        <!-- Toast -->
-        <Border x:Name="brdToastAlerta"
-                HorizontalAlignment="Right"
-                VerticalAlignment="Top"
-                Margin="0,-78,20,0"
-                Padding="10,8"
-                CornerRadius="8"
-                Background="#1C1F23"
-                BorderBrush="#3A424F"
-                BorderThickness="1"
-                Cursor="Hand"
-                Visibility="{Binding ToastAlerta, Converter={StaticResource NullToVisibilityConverter}}"
-                MouseLeftButtonUp="ToastAlerta_MouseLeftButtonUp">
-
-            <Border.Style>
-                <Style TargetType="Border">
-                    <Setter Property="Opacity" Value="0.95"/>
-
-                    <Style.Triggers>
-                        <DataTrigger Binding="{Binding ToastAlerta.Severidade}" Value="Warning">
-                            <Setter Property="BorderBrush" Value="#EFBF2F"/>
-                        </DataTrigger>
-                        <DataTrigger Binding="{Binding ToastAlerta.Severidade}" Value="Error">
-                            <Setter Property="BorderBrush" Value="#FF5656"/>
-                        </DataTrigger>
-                        <DataTrigger Binding="{Binding ToastAlerta.Severidade}" Value="Critical">
-                            <Setter Property="BorderBrush" Value="#FF5656"/>
-                            <Setter Property="Background" Value="#3A171C"/>
-                        </DataTrigger>
-                    </Style.Triggers>
-                </Style>
-            </Border.Style>
-
-            <StackPanel Orientation="Horizontal">
-                <TextBlock Text="{Binding ToastAlerta.Icone}"
-                           FontSize="16"
-                           Margin="0,0,6,0"/>
-
-                <StackPanel>
-                    <StackPanel Orientation="Horizontal">
-                        <Border Background="#2F3B4A"
-                                CornerRadius="4"
-                                Padding="4,1"
-                                Margin="0,0,6,0">
-                            <TextBlock Text="{Binding ToastAlerta.Rover_ID}"
-                                       Foreground="White"
-                                       FontSize="10"
-                                       FontWeight="Bold"/>
-                        </Border>
-
-                        <TextBlock Text="{Binding ToastAlerta.Titulo}"
-                                   FontWeight="Bold"
-                                   Foreground="#F5F7FA"
-                                   FontSize="11"/>
-                    </StackPanel>
-
-                    <TextBlock Text="{Binding ToastAlerta.Mensagem}"
-                               Foreground="#B7C0CC"
-                               FontSize="10"
-                               TextWrapping="Wrap"
-                               MaxWidth="320"/>
-                </StackPanel>
-            </StackPanel>
-        </Border>
     </Grid>
 </UserControl>

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

@@ -1,6 +1,5 @@
 using OperationControl.Models;
 using OperationControl.ViewModels.Views.Operacao;
-using System.Windows;
 using System.Windows.Controls;
 using System.Windows.Input;
 namespace OperationControl.Views.Operacao
@@ -30,39 +29,8 @@ namespace OperationControl.Views.Operacao
         {
             if (sender is Border border && border.DataContext is AlertaModel alerta)
             {
-                _vm?.SelecionarAlerta(alerta);
+                _vm?.ClicarNoAlerta(alerta);
-
-                System.Windows.MessageBox.Show(
-                    $"Rover: {alerta.Rover_ID}\n" +
-                    $"Módulo: {alerta.Modulo}\n" +
-                    $"Severidade: {alerta.Severidade}\n" +
-                    $"Mensagem: {alerta.Mensagem}\n\n" +
-                    $"Aqui depois podemos navegar para a ação correspondente.",
-                    "Alerta selecionado",
-                    MessageBoxButton.OK,
-                    MessageBoxImage.Information);
             }
         }
-
-        private void ToastAlerta_MouseLeftButtonUp(object sender, MouseButtonEventArgs e)
-        {
-            var alerta = _vm?.ToastAlerta;
-            if (alerta == null)
-                return;
-
-            _vm.LimparToast();
-            _vm.SelecionarAlerta(alerta);
-
-            System.Windows.MessageBox.Show(
-                $"Toast clicado\n\n" +
-                $"Rover: {alerta.Rover_ID}\n" +
-                $"Módulo: {alerta.Modulo}\n" +
-                $"Severidade: {alerta.Severidade}\n" +
-                $"Mensagem: {alerta.Mensagem}\n\n" +
-                $"Aqui depois podemos disparar a navegação ou foco no diagnóstico.",
-                "Toast de alerta",
-                MessageBoxButton.OK,
-                MessageBoxImage.Information);
-        }
     }
 }

AgroBase/OperationControl/Views/Operacao/OperacaoCenterView.xaml

@@ -5,6 +5,7 @@
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
              xmlns:local="clr-namespace:OperationControl.Views.Operacao"
              xmlns:controls="clr-namespace:OperationControl.Controls"
+             xmlns:views="clr-namespace:OperationControl.Views.Operacao"
              xmlns:scott="clr-namespace:ScottPlot.WPF;assembly=ScottPlot.WPF"
              mc:Ignorable="d"
              d:DesignHeight="450"
@@ -12,46 +13,6 @@
 
     <UserControl.Resources>
         <BooleanToVisibilityConverter x:Key="BoolToVisibilityConverter"/>
-
-        <Style x:Key="DiagnosticoModuloButtonStyle" TargetType="Button">
-            <Setter Property="Width" Value="58"/>
-            <Setter Property="Height" Value="24"/>
-            <Setter Property="FontSize" Value="10"/>
-            <Setter Property="FontWeight" Value="SemiBold"/>
-            <Setter Property="Cursor" Value="Hand"/>
-            <Setter Property="Padding" Value="4,0"/>
-            <Setter Property="Template">
-                <Setter.Value>
-                    <ControlTemplate TargetType="Button">
-                        <Border x:Name="Bd"
-                        Background="{TemplateBinding Background}"
-                        BorderBrush="{TemplateBinding BorderBrush}"
-                        BorderThickness="{TemplateBinding BorderThickness}"
-                        CornerRadius="10"
-                        SnapsToDevicePixels="True">
-                            <ContentPresenter HorizontalAlignment="Center"
-                                      VerticalAlignment="Center"
-                                      RecognizesAccessKey="True"/>
-                        </Border>
-
-                        <ControlTemplate.Triggers>
-                            <Trigger Property="IsMouseOver" Value="True">
-                                <Setter TargetName="Bd" Property="Opacity" Value="0.92"/>
-                            </Trigger>
-
-                            <Trigger Property="IsPressed" Value="True">
-                                <Setter TargetName="Bd" Property="Opacity" Value="0.82"/>
-                            </Trigger>
-
-                            <Trigger Property="IsEnabled" Value="False">
-                                <Setter TargetName="Bd" Property="Opacity" Value="0.45"/>
-                            </Trigger>
-                        </ControlTemplate.Triggers>
-                    </ControlTemplate>
-                </Setter.Value>
-            </Setter>
-        </Style>
-
     </UserControl.Resources>
 
     <Grid Background="#181818">
@@ -65,826 +26,12 @@
 
         <!-- DIAGNÓSTICO -->
         <Grid Visibility="{Binding ExibirDiagnostico, Converter={StaticResource BoolToVisibilityConverter}}">
-            <Grid Margin="12">
+            <views:DiagnosticoView x:Name="areaDiagnostico" />
-                <Grid.ColumnDefinitions>
-                    <ColumnDefinition Width="1.55*"/>
-                    <ColumnDefinition Width="1*"/>
-                </Grid.ColumnDefinitions>
-
-                <!-- COLUNA ESQUERDA | MAPA VISUAL DO ROBÔ -->
-                <Border Grid.Column="0"
-                Margin="0,0,10,0"
-                Padding="16"
-                CornerRadius="10"
-                Background="#202020"
-                BorderBrush="#353535"
-                BorderThickness="1">
-                    <Grid>
-                        <Grid.RowDefinitions>
-                            <RowDefinition Height="Auto"/>
-                            <RowDefinition Height="*"/>
-                        </Grid.RowDefinitions>
-
-                        <!-- CABEÇALHO -->
-                        <StackPanel Grid.Row="0" Margin="0,0,0,12">
-                            <TextBlock Text="Diagnóstico do rover"
-                               FontSize="18"
-                               FontWeight="SemiBold"
-                               Foreground="#E6E6E6"/>
-
-                            <TextBlock Text="Impedimento: Nenhum"
-                               Margin="0,6,0,0"
-                               FontSize="12"
-                               Foreground="#B8B8B8"
-                               TextWrapping="Wrap"/>
-                        </StackPanel>
-
-                        <!-- ÁREA DO ROBÔ -->
-                        <Viewbox Grid.Row="1" Stretch="Uniform">
-                            <Grid Width="700" Height="820">
-                                <!-- fundo -->
-                                <Border CornerRadius="12"
-                                    Background="#1A1A1A"
-                                    BorderBrush="#2F2F2F"
-                                    BorderThickness="1"/>
-
-                                <!-- imagem do robô -->
-                                <Image Source="/Resources/robo_superior.jpg"
-                                   Width="800"
-                                   Height="750"
-                                   Stretch="Uniform"
-                                   HorizontalAlignment="Center"
-                                   VerticalAlignment="Center"/>
-
-                                <!-- overlay com módulos -->
-                                <ItemsControl ItemsSource="{Binding DiagnosticoVM.DiagnosticoModulos}">
-                                    <ItemsControl.ItemsPanel>
-                                        <ItemsPanelTemplate>
-                                            <Canvas />
-                                        </ItemsPanelTemplate>
-                                    </ItemsControl.ItemsPanel>
-
-                                    <ItemsControl.ItemContainerStyle>
-                                        <Style TargetType="ContentPresenter">
-                                            <Setter Property="Canvas.Left" Value="{Binding Left}" />
-                                            <Setter Property="Canvas.Top" Value="{Binding Top}" />
-                                        </Style>
-                                    </ItemsControl.ItemContainerStyle>
-
-                                    <ItemsControl.ItemTemplate>
-                                        <DataTemplate>
-                                            <Button Content="{Binding TextoExibicao}"
-                                                Style="{StaticResource DiagnosticoModuloButtonStyle}"
-                                                Background="{Binding BackgroundBrush}"
-                                                Foreground="{Binding ForegroundBrush}"
-                                                BorderBrush="{Binding BorderBrushColor}"
-                                                BorderThickness="{Binding BorderThicknessValue}"
-                                                Command="{Binding DataContext.DiagnosticoVM.SelecionarModuloCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
-                                                CommandParameter="{Binding}" />
-                                        </DataTemplate>
-                                    </ItemsControl.ItemTemplate>
-                                </ItemsControl>
-                            </Grid>
-                        </Viewbox>
-                        
-                    </Grid>
-                </Border>
-
-                <!-- COLUNA DIREITA | DETALHES -->
-                <Border Grid.Column="1"
-                Margin="10,0,0,0"
-                Padding="16"
-                CornerRadius="10"
-                Background="#202020"
-                BorderBrush="#353535"
-                BorderThickness="1">
-                    <Grid>
-                        <Grid.RowDefinitions>
-                            <RowDefinition Height="Auto"/>
-                            <RowDefinition Height="Auto"/>
-                            <RowDefinition Height="Auto"/>
-                            <RowDefinition Height="*"/>
-                        </Grid.RowDefinitions>
-
-                        <!-- TÍTULO -->
-                        <StackPanel Grid.Row="0">
-                            <TextBlock Text="{Binding DiagnosticoVM.TituloModuloSelecionado}"
-                               FontSize="18"
-                               FontWeight="SemiBold"
-                               Foreground="#E6E6E6"/>
-
-                            <TextBlock Text="{Binding DiagnosticoVM.DescricaoModuloSelecionado}"
-                               Margin="0,6,0,0"
-                               FontSize="12"
-                               Foreground="#A8A8A8"
-                               TextWrapping="Wrap"/>
-                        </StackPanel>
-
-                        <!-- RESUMO -->
-                        <Border Grid.Row="1"
-                        Margin="0,14,0,12"
-                        Padding="12"
-                        Background="#181818"
-                        BorderBrush="#2F2F2F"
-                        BorderThickness="1"
-                        CornerRadius="8">
-                            <Grid>
-                                <Grid.RowDefinitions>
-                                    <RowDefinition Height="Auto"/>
-                                    <RowDefinition Height="Auto"/>
-                                    <RowDefinition Height="Auto"/>
-                                    <RowDefinition Height="Auto"/>
-                                </Grid.RowDefinitions>
-
-                                <!-- LINHA 1 -->
-                                <WrapPanel Grid.Row="0" Margin="0,0,0,8">
-                                    <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
-                                        <TextBlock Text="{Binding DiagnosticoVM.InfoModulo}"
-                       Foreground="#D8D8D8"
-                       FontSize="12"/>
-                                    </Border>
-
-                                    <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
-                                        <TextBlock Text="{Binding DiagnosticoVM.InfoLabel}"
-                       Foreground="#D8D8D8"
-                       FontSize="12"/>
-                                    </Border>
-
-                                    <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
-                                        <TextBlock Text="{Binding DiagnosticoVM.InfoSCode}"
-                       Foreground="#D8D8D8"
-                       FontSize="12"/>
-                                    </Border>
-                                </WrapPanel>
-
-                                <!-- LINHA 2 -->
-                                <WrapPanel Grid.Row="1" Margin="0,0,0,8">
-                                    <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
-                                        <TextBlock Text="{Binding DiagnosticoVM.InfoStatus}"
-                       Foreground="#D8D8D8"
-                       FontSize="12"/>
-                                    </Border>
-
-                                    <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
-                                        <TextBlock Text="{Binding DiagnosticoVM.InfoSaude}"
-                       Foreground="#D8D8D8"
-                       FontSize="12"/>
-                                    </Border>
-
-                                    <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
-                                        <TextBlock Text="{Binding DiagnosticoVM.InfoIniciado}"
-                       Foreground="#D8D8D8"
-                       FontSize="12"/>
-                                    </Border>
-                                </WrapPanel>
-
-                                <!-- LINHA 3 -->
-                                <WrapPanel Grid.Row="2" Margin="0,0,0,8">
-                                    <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
-                                        <TextBlock Text="{Binding DiagnosticoVM.InfoCan}"
-                       Foreground="#D8D8D8"
-                       FontSize="12"/>
-                                    </Border>
-
-                                    <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
-                                        <TextBlock Text="{Binding DiagnosticoVM.InfoLatencia}"
-                       Foreground="#D8D8D8"
-                       FontSize="12"/>
-                                    </Border>
-
-                                    <Border Background="#2B2B2B" CornerRadius="6" Padding="8,4" Margin="0,0,8,8">
-                                        <TextBlock Text="{Binding DiagnosticoVM.InfoIdVisual}"
-                       Foreground="#D8D8D8"
-                       FontSize="12"/>
-                                    </Border>
-                                </WrapPanel>
-
-                                <!-- LINHA 4 -->
-                                <TextBlock Grid.Row="3"
-               Text="{Binding DiagnosticoVM.ImpedimentoModuloSelecionado}"
-               Foreground="#C8C8C8"
-               FontSize="12"
-               TextWrapping="Wrap"/>
-                            </Grid>
-                        </Border>
-
-                        <!-- AÇÕES -->
-                        <StackPanel Grid.Row="2" Orientation="Horizontal" Margin="0,0,0,12">
-                            <CheckBox Content="Mandatório" Margin="0,0,14,0" Foreground="#D8D8D8" VerticalAlignment="Center" IsChecked="{Binding DiagnosticoVM.MandatorioSelecionado, Mode=TwoWay}"/>
-
-                            <CheckBox Content="Em uso" Margin="0,0,14,0" Foreground="#D8D8D8" VerticalAlignment="Center" IsChecked="{Binding DiagnosticoVM.EmUsoSelecionado, Mode=TwoWay}"/>
-
-                            <Button Content="Salvar" Width="80" Height="28" Background="#2E5C8A" Foreground="White" BorderBrush="#4F7EAD" Command="{Binding DiagnosticoVM.SalvarSaudeCommand}"/>
-                        </StackPanel>
-
-                        <!-- TABS -->
-                        <TabControl Grid.Row="3"
-                            Background="#181818"
-                            BorderBrush="#2F2F2F"
-                            Foreground="#DDDDDD">
-                            <TabItem Header="Condições Operacionais">
-                                <Grid Background="#181818">
-                                    <ListBox ItemsSource="{Binding DiagnosticoVM.CondicoesOperacionais}" Margin="8" Background="#121212" Foreground="#DDDDDD" BorderBrush="#2D2D2D"/>
-                                </Grid>
-                            </TabItem>
-
-                            <TabItem Header="Acompanhamento">
-                                <Grid Background="#181818">
-                                    <scott:WpfPlot x:Name="pltSaude_Acompanhamento" Margin="8"/>
-                                </Grid>
-                            </TabItem>
-
-                            <TabItem Header="Opções">
-                                <Grid Background="#181818">
-                                    <ScrollViewer VerticalScrollBarVisibility="Auto"
-                      HorizontalScrollBarVisibility="Disabled"
-                      Padding="8">
-                                        <Grid>
-
-                                            <!-- SEM DADOS -->
-                                            <TextBlock Text="Nenhum teste disponível para este módulo."
-                           FontSize="12"
-                           Foreground="#A8A8A8"
-                           HorizontalAlignment="Center"
-                           VerticalAlignment="Center"
-                           TextWrapping="Wrap"
-                           Visibility="{Binding DiagnosticoVM.OpcoesVM.MostrarOpcoesSemDados, Converter={StaticResource BoolToVisibilityConverter}}"/>
-
-                                            <!-- SENSORIAMENTO -->
-                                            <StackPanel Visibility="{Binding DiagnosticoVM.OpcoesVM.MostrarOpcoesSensoriamento, Converter={StaticResource BoolToVisibilityConverter}}">
-                                                <StackPanel Orientation="Horizontal" Margin="0,10,0,0">
-                                                    <Label Content="Reinicia o módulo" Foreground="#DDDDDD"/>
-                                                    <Button Content="Reiniciar"
-                                Width="90"
-                                Margin="8,0,0,0"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.SensoriamentoReiniciarCommand}"/>
-                                                </StackPanel>
-                                            </StackPanel>
-
-                                            <!-- ATUADOR -->
-                                            <StackPanel Visibility="{Binding DiagnosticoVM.OpcoesVM.MostrarOpcoesAtuador, Converter={StaticResource BoolToVisibilityConverter}}">
-                                                <StackPanel Orientation="Horizontal" Margin="0,10,0,0">
-                                                    <Label Content="Reinicia o módulo" Foreground="#DDDDDD"/>
-                                                    <Button Content="Reiniciar"
-                                Width="90"
-                                Margin="8,0,0,0"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.AtuadorReiniciarCommand}"/>
-                                                </StackPanel>
-
-                                                <StackPanel Orientation="Horizontal" Margin="0,10,0,0">
-                                                    <Label Content="Altura" Foreground="#DDDDDD"/>
-                                                    <Slider Width="120"
-                                Margin="8,0"
-                                Minimum="50"
-                                Maximum="80"
-                                Value="{Binding DiagnosticoVM.OpcoesVM.BarraAltura, Mode=TwoWay}"/>
-                                                    <Label Content="{Binding DiagnosticoVM.OpcoesVM.BarraAlturaTexto}" Foreground="#DDDDDD"/>
-                                                    <Button Content="Mover"
-                                Width="60"
-                                Margin="8,0,0,0"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.BarraMoverCommand}"/>
-                                                </StackPanel>
-                                            </StackPanel>
-
-                                            <!-- BICO -->
-                                            <StackPanel Visibility="{Binding DiagnosticoVM.OpcoesVM.MostrarOpcoesBico, Converter={StaticResource BoolToVisibilityConverter}}">
-                                                <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.BicoTitulo}"
-                               FontWeight="Bold"
-                               Foreground="#DDDDDD"
-                               Margin="0,0,0,8"/>
-
-                                                <StackPanel Orientation="Horizontal">
-                                                    <Button Content="Ligar"
-                                Width="80"
-                                Margin="0,0,5,0"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.BicoLigarCommand}"/>
-                                                    <Button Content="Desligar"
-                                Width="80"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.BicoDesligarCommand}"/>
-                                                </StackPanel>
-
-                                                <StackPanel Orientation="Horizontal" Margin="0,8,0,0">
-                                                    <Label Content="Movimento" Foreground="#DDDDDD"/>
-                                                    <Slider Width="160"
-                                Margin="8,0"
-                                Minimum="-90"
-                                Maximum="90"
-                                Value="{Binding DiagnosticoVM.OpcoesVM.BicoAngulo, Mode=TwoWay}"/>
-                                                    <Label Content="{Binding DiagnosticoVM.OpcoesVM.BicoAnguloTexto}" Foreground="#DDDDDD"/>
-                                                    <Button Content="Mover"
-                                Width="60"
-                                Margin="8,0,0,0"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.BicoMoverCommand}"/>
-                                                </StackPanel>
-
-                                                <StackPanel Orientation="Horizontal" Margin="0,8,0,0">
-                                                    <Label Content="Ângulo abertura" Foreground="#DDDDDD"/>
-                                                    <TextBox Width="60"
-                                 Margin="8,0"
-                                 Text="{Binding DiagnosticoVM.OpcoesVM.BicoAnguloAbertura, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"/>
-                                                    <Button Content="Salvar"
-                                Width="60"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.BicoSalvarAnguloAberturaCommand}"/>
-                                                </StackPanel>
-
-                                                <TextBlock Text="Bico - Leituras"
-                               Foreground="#DDDDDD"
-                               FontWeight="SemiBold"
-                               Margin="0,10,0,4"/>
-
-                                                <UniformGrid Rows="2" Columns="3" Margin="0,0,0,0">
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Comando enviado" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtBicoComando}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Status real" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtBicoStatusReal}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Tempo ligado" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtBicoTempoLigado}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Vazão" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtBicoVazao}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Pressão" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtBicoPressao}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Atuações" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtBicoAtuacoes}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                </UniformGrid>
-                                            </StackPanel>
-
-                                            <!-- BOMBA -->
-                                            <StackPanel Visibility="{Binding DiagnosticoVM.OpcoesVM.MostrarOpcoesBomba, Converter={StaticResource BoolToVisibilityConverter}}">
-                                                <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.BombaTitulo}"
-                               FontWeight="Bold"
-                               Foreground="#DDDDDD"
-                               Margin="0,0,0,8"/>
-
-                                                <StackPanel Orientation="Horizontal">
-                                                    <Button Content="Ligar"
-                                Width="80"
-                                Margin="0,0,5,0"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.BombaLigarCommand}"/>
-                                                    <Button Content="Desligar"
-                                Width="80"
-                                Margin="0,0,10,0"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.BombaDesligarCommand}"/>
-
-                                                    <TextBlock Text="Pressão alvo:"
-                                   VerticalAlignment="Center"
-                                   Margin="0,0,5,0"
-                                   FontSize="10"
-                                   Foreground="#DDDDDD"/>
-
-                                                    <Slider Width="120"
-                                Minimum="0"
-                                Maximum="150"
-                                Margin="0,0,5,0"
-                                Value="{Binding DiagnosticoVM.OpcoesVM.BombaPressaoAlvo, Mode=TwoWay}"/>
-
-                                                    <Label Content="{Binding DiagnosticoVM.OpcoesVM.BombaPressaoAlvoTexto}"
-                               VerticalAlignment="Center"
-                               FontSize="10"
-                               Foreground="#DDDDDD"/>
-                                                </StackPanel>
-
-                                                <UniformGrid Rows="2" Columns="2" Margin="0,10,0,0">
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Comando enviado" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtBombaComando}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Status real" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtBombaStatusReal}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Pressão linha" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtBombaPressaoLinha}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Potência" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtBombaPotencia}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                </UniformGrid>
-                                            </StackPanel>
-
-                                            <!-- DIRECIONAL -->
-                                            <StackPanel Visibility="{Binding DiagnosticoVM.OpcoesVM.MostrarOpcoesDirecional, Converter={StaticResource BoolToVisibilityConverter}}">
-                                                <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.DirTitulo}"
-                               FontWeight="Bold"
-                               Foreground="#DDDDDD"
-                               Margin="0,0,0,8"/>
-
-                                                <StackPanel Orientation="Horizontal">
-                                                    <Button Content="Referenciar"
-                                Width="90"
-                                Margin="0,0,5,0"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.DirReferenciarCommand}"/>
-
-                                                    <Button Content="Mover"
-                                Width="80"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.DirMovimentarCommand}"/>
-                                                </StackPanel>
-
-                                                <StackPanel Orientation="Horizontal" Margin="0,8,0,0">
-                                                    <ComboBox Width="130"
-                                  Margin="0,0,8,0"
-                                  ItemsSource="{Binding DiagnosticoVM.OpcoesVM.DirMovimentosDisponiveis}"
-                                  SelectedItem="{Binding DiagnosticoVM.OpcoesVM.DirMovimentoSelecionado, Mode=TwoWay}"/>
-
-                                                    <ComboBox Width="130"
-                                  Margin="0,0,8,0"
-                                  ItemsSource="{Binding DiagnosticoVM.OpcoesVM.DirDirecoesDisponiveis}"
-                                  SelectedItem="{Binding DiagnosticoVM.OpcoesVM.DirDirecaoSelecionada, Mode=TwoWay}"/>
-
-                                                    <Slider Width="120"
-                                Minimum="0"
-                                Maximum="180"
-                                Margin="0,0,8,0"
-                                Value="{Binding DiagnosticoVM.OpcoesVM.DirAngulo, Mode=TwoWay}"/>
-
-                                                    <Label Content="{Binding DiagnosticoVM.OpcoesVM.DirAnguloTexto}"
-                               Foreground="#DDDDDD"/>
-                                                </StackPanel>
-
-                                                <UniformGrid Rows="2" Columns="2" Margin="0,10,0,0">
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Sentido controle" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtDirSentidoSP}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Sentido real" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtDirSentido}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Ângulo controle" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtDirAnguloSP}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Ângulo real" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtDirAngulo}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                </UniformGrid>
-                                            </StackPanel>
-
-                                            <!-- GPS -->
-                                            <StackPanel Visibility="{Binding DiagnosticoVM.OpcoesVM.MostrarOpcoesGps, Converter={StaticResource BoolToVisibilityConverter}}">
-                                                <TextBlock Text="Lever Arm"
-                               FontWeight="Bold"
-                               Foreground="#DDDDDD"
-                               Margin="0,0,0,8"/>
-
-                                                <StackPanel Orientation="Horizontal" Margin="0,0,0,8">
-                                                    <Label Content="Lateral" Foreground="#DDDDDD"/>
-                                                    <Slider Width="110"
-                                Minimum="-5"
-                                Maximum="5"
-                                Margin="8,0"
-                                Value="{Binding DiagnosticoVM.OpcoesVM.GpsLeverArmLateral, Mode=TwoWay}"/>
-                                                    <Label Content="{Binding DiagnosticoVM.OpcoesVM.GpsLeverArmLateralTexto}" Foreground="#DDDDDD" Margin="0,0,10,0"/>
-
-                                                    <Label Content="Frontal" Foreground="#DDDDDD"/>
-                                                    <Slider Width="110"
-                                Minimum="-10"
-                                Maximum="10"
-                                Margin="8,0"
-                                Value="{Binding DiagnosticoVM.OpcoesVM.GpsLeverArmFrontal, Mode=TwoWay}"/>
-                                                    <Label Content="{Binding DiagnosticoVM.OpcoesVM.GpsLeverArmFrontalTexto}" Foreground="#DDDDDD"/>
-                                                </StackPanel>
-
-                                                <Button Content="Salvar"
-                            Width="80"
-                            Margin="0,0,0,8"
-                            Command="{Binding DiagnosticoVM.OpcoesVM.GpsSalvarCommand}"/>
-
-                                                <UniformGrid Rows="2" Columns="3">
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Correção" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtGpsCorrecao}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Idade" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtGpsIdade}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Precisão" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtGpsPrecisao}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Satélites" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtGpsNSatelites}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Distância base" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtGpsDistBase}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Orientação" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtGpsOrientacao}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                </UniformGrid>
-                                            </StackPanel>
-
-                                            <!-- TRAJETORIA -->
-                                            <StackPanel Visibility="{Binding DiagnosticoVM.OpcoesVM.MostrarOpcoesTrajetoria, Converter={StaticResource BoolToVisibilityConverter}}">
-                                                <TextBlock Text="Status do trabalho"
-                               FontWeight="Bold"
-                               Foreground="#DDDDDD"
-                               Margin="0,0,0,8"/>
-
-                                                <StackPanel Orientation="Horizontal" Margin="0,0,0,8">
-                                                    <CheckBox Content="Bateria Liberada"
-                                  Margin="0,0,12,0"
-                                  Foreground="#DDDDDD"
-                                  IsChecked="{Binding DiagnosticoVM.OpcoesVM.TrajetoriaBatLiberada, Mode=TwoWay}"/>
-
-                                                    <CheckBox Content="Pulverizador Liberado"
-                                  Margin="0,0,12,0"
-                                  Foreground="#DDDDDD"
-                                  IsChecked="{Binding DiagnosticoVM.OpcoesVM.TrajetoriaHerbLiberado, Mode=TwoWay}"/>
-
-                                                    <Button Content="Confirmar"
-                                Width="80"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.TrajetoriaConfirmarCommand}"
-                                IsEnabled="{Binding DiagnosticoVM.OpcoesVM.TrajetoriaPodeConfirmar}"/>
-                                                </StackPanel>
-
-                                                <UniformGrid Rows="2" Columns="3">
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Distância corredor" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtTrajetoriaDistCorredor}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Distância segura bateria" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtTrajetoriaDistBateria}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Distância segura pulverizador" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtTrajetoriaDistPulverizador}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Status" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtTrajetoriaStatus}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Bateria suficiente" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtTrajetoriaBatOk}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Herbicida suficiente" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtTrajetoriaHerbOk}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                </UniformGrid>
-                                            </StackPanel>
-
-                                            <!-- RELÉ -->
-                                            <StackPanel Visibility="{Binding DiagnosticoVM.OpcoesVM.MostrarOpcoesRele, Converter={StaticResource BoolToVisibilityConverter}}">
-                                                <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.ReleTitulo}"
-                               FontWeight="Bold"
-                               Foreground="#DDDDDD"
-                               Margin="0,0,0,8"/>
-
-                                                <StackPanel Orientation="Horizontal">
-                                                    <Button Content="Ligar"
-                                Width="80"
-                                Margin="0,0,5,0"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.ReleLigarCommand}"/>
-                                                    <Button Content="Desligar"
-                                Width="80"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.ReleDesligarCommand}"/>
-                                                </StackPanel>
-
-                                                <UniformGrid Rows="1" Columns="2" Margin="0,10,0,0">
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Comando enviado" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtReleComando}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Status real" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtReleStatusReal}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                </UniformGrid>
-                                            </StackPanel>
-
-                                            <!-- SERVO -->
-                                            <StackPanel Visibility="{Binding DiagnosticoVM.OpcoesVM.MostrarOpcoesServo, Converter={StaticResource BoolToVisibilityConverter}}">
-                                                <TextBlock Text="Servo - Testes"
-                               FontWeight="Bold"
-                               Foreground="#DDDDDD"
-                               Margin="0,0,0,8"/>
-
-                                                <StackPanel Orientation="Horizontal">
-                                                    <Label Content="Controle" Foreground="#DDDDDD"/>
-                                                    <Slider Width="160"
-                                Margin="8,0"
-                                Minimum="0"
-                                Maximum="90"
-                                Value="{Binding DiagnosticoVM.OpcoesVM.ServoAngulo, Mode=TwoWay}"/>
-                                                    <Label Content="{Binding DiagnosticoVM.OpcoesVM.ServoAnguloTexto}" Foreground="#DDDDDD"/>
-                                                    <Button Content="Enviar"
-                                Width="80"
-                                Margin="8,0,0,0"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.ServoEnviarCommand}"/>
-                                                </StackPanel>
-
-                                                <UniformGrid Rows="1" Columns="3" Margin="0,10,0,0">
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Comando enviado" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtServoComando}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Status real" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtServoLeitura}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Modo" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtServoIncremental}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                </UniformGrid>
-                                            </StackPanel>
-
-                                            <!-- NPC -->
-                                            <StackPanel Visibility="{Binding DiagnosticoVM.OpcoesVM.MostrarOpcoesNpc, Converter={StaticResource BoolToVisibilityConverter}}">
-                                                <StackPanel Orientation="Horizontal" Margin="0,0,0,8">
-                                                    <Label Content="Modo de Controle" Foreground="#DDDDDD"/>
-                                                    <ComboBox Width="120"
-                                  Margin="8,0"
-                                  ItemsSource="{Binding DiagnosticoVM.OpcoesVM.NpcCoolerModosDisponiveis}"
-                                  SelectedItem="{Binding DiagnosticoVM.OpcoesVM.NpcCoolerModoSelecionado, Mode=TwoWay}"/>
-                                                    <CheckBox Content="Entrada"
-                                  Margin="10,0,0,0"
-                                  Foreground="#DDDDDD"
-                                  IsChecked="{Binding DiagnosticoVM.OpcoesVM.NpcCoolerEntrada, Mode=TwoWay}"/>
-                                                    <CheckBox Content="Saída"
-                                  Margin="10,0,0,0"
-                                  Foreground="#DDDDDD"
-                                  IsChecked="{Binding DiagnosticoVM.OpcoesVM.NpcCoolerSaida, Mode=TwoWay}"/>
-                                                </StackPanel>
-
-                                                <StackPanel Orientation="Horizontal" Margin="0,0,0,8">
-                                                    <Label Content="Temperatura ligar" Foreground="#DDDDDD"/>
-                                                    <TextBox Width="50"
-                                 Margin="8,0"
-                                 Text="{Binding DiagnosticoVM.OpcoesVM.NpcCoolerTempOn, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"/>
-
-                                                    <Label Content="Temperatura turbo" Foreground="#DDDDDD" Margin="12,0,0,0"/>
-                                                    <TextBox Width="50"
-                                 Margin="8,0"
-                                 Text="{Binding DiagnosticoVM.OpcoesVM.NpcCoolerTempTurbo, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"/>
-
-                                                    <Button Content="Enviar"
-                                Width="80"
-                                Margin="10,0,0,0"
-                                Command="{Binding DiagnosticoVM.OpcoesVM.NpcCoolerEnviarCommand}"/>
-                                                </StackPanel>
-
-                                                <UniformGrid Rows="2" Columns="2">
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Modo controle" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtNpcCoolerModo}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Temperatura" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtNpcCoolerTemperatura}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Cooler entrada" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtNpcCoolerEntrada}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                    <Border BorderBrush="#444" BorderThickness="1" Margin="2" Padding="4">
-                                                        <StackPanel>
-                                                            <TextBlock Text="Cooler saída" FontSize="10" Foreground="#AAAAAA"/>
-                                                            <TextBlock Text="{Binding DiagnosticoVM.OpcoesVM.TxtNpcCoolerSaida}" Foreground="#DDDDDD"/>
-                                                        </StackPanel>
-                                                    </Border>
-                                                </UniformGrid>
-                                            </StackPanel>
-
-                                        </Grid>
-                                    </ScrollViewer>
-                                </Grid>
-                            </TabItem>
-
-                            <TabItem Header="Logs">
-                                <Grid Background="#181818">
-                                    <ListBox ItemsSource="{Binding DiagnosticoVM.LogsModuloSelecionado}" Margin="8" Background="#121212" Foreground="#DDDDDD" BorderBrush="#2D2D2D"/>
-                                </Grid>
-                            </TabItem>
-                        </TabControl>
-                    </Grid>
-                </Border>
-            </Grid>
         </Grid>
-        
+
         <!-- MONITORAMENTO -->
         <Grid Visibility="{Binding ExibirMonitoramento, Converter={StaticResource BoolToVisibilityConverter}}">
-            <Border Margin="12" Padding="20" CornerRadius="10" Background="#202020" BorderBrush="#353535" BorderThickness="1">
+            <views:MonitoramentoView x:Name="areaMonitor"/>
-                <Grid>
-                    <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
-                        <TextBlock Text="{Binding TituloCentro}" HorizontalAlignment="Center" FontSize="24" FontWeight="SemiBold" Foreground="#DDDDDD" TextAlignment="Center"/>
-                        <TextBlock Text="{Binding SubtituloCentro}" HorizontalAlignment="Center" Margin="0,14,0,0" FontSize="14" Foreground="#AAAAAA" TextAlignment="Center" TextWrapping="Wrap" MaxWidth="500"/>
-                    </StackPanel>
-                </Grid>
-            </Border>
-
-            <Border x:Name="brdCameraFrontal" BorderBrush="Black" BorderThickness="1" CornerRadius="8" Margin="1453,0,7,735">
-                <Canvas>
-                    <Label Content="Câmera frontal | 12 fps | 230 kbps | 0,00% cana | 43 cm - 27 cm | 12,95° | CaminhandoRua" FontSize="10" HorizontalAlignment="Center" VerticalAlignment="Top" Canvas.Top="-3"/>
-                    <!--<vlc:VideoView x:Name="VideoFront" Background="Black" Height="237" Width="438" HorizontalAlignment="Center" Canvas.Top="25" VerticalAlignment="Top" Canvas.Left="10"/>-->
-                    <Grid Width="438" Height="237" Canvas.Top="25" Canvas.Left="10" Background="Black">
-                        <TextBlock Text="SEM SINAL" Foreground="Gray" FontSize="18" HorizontalAlignment="Center" VerticalAlignment="Center"/>
-                        <Image x:Name="imgVideoFront" Stretch="Uniform" RenderOptions.BitmapScalingMode="LowQuality" />
-                    </Grid>
-                    <ComboBox x:Name="cmbCameraFrontalFrameTipo" Canvas.Left="10" Canvas.Top="25" HorizontalAlignment="Left" VerticalAlignment="Center" Width="100" SelectionChanged="cmbCameraFrontalFrameTipo_SelectionChanged" />
-                </Canvas>
-            </Border>
-
-            <Border x:Name="brdCameraTraseira" BorderBrush="Black" BorderThickness="1" CornerRadius="8" Margin="1453,281,7,491">
-                <Canvas>
-                    <Label Content="Câmera traseira | 10 fps | 193 kbps | 5,41% erva | 0,00% cana" FontSize="10" HorizontalAlignment="Center" VerticalAlignment="Top" Canvas.Top="-3"/>
-                    <!--<vlc:VideoView x:Name="VideoWeed" Background="Black" Height="200" Width="438" HorizontalAlignment="Center" Canvas.Top="25" VerticalAlignment="Top" Canvas.Left="10"/>-->
-                    <Grid Width="438" Height="200" Canvas.Top="25" Canvas.Left="10" Background="Black">
-                        <TextBlock Text="SEM SINAL" Foreground="Gray" FontSize="18" HorizontalAlignment="Center" VerticalAlignment="Center"/>
-                        <Image x:Name="imgVideoWeed" Stretch="Uniform" RenderOptions.BitmapScalingMode="LowQuality" />
-                    </Grid>
-                    <ComboBox x:Name="cmbCameraTraseiraFrameTipo" Canvas.Left="10" Canvas.Top="25" HorizontalAlignment="Left" VerticalAlignment="Center" Width="100" SelectionChanged="cmbCameraTraseiraFrameTipo_SelectionChanged" />
-                </Canvas>
-            </Border>
         </Grid>
 
     </Grid>

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

@@ -2,6 +2,7 @@
 using OperationControl.Models;
 using OperationControl.ViewModels.Views.Operacao;
 using OperationControl.ViewModels.Views.Operacao.Diagnostico;
+using OperationControl.ViewModels.Views.Operacao.Monitoramento;
 using System.Windows.Controls;
 
 namespace OperationControl.Views.Operacao
@@ -12,70 +13,16 @@ namespace OperationControl.Views.Operacao
     public partial class OperacaoCenterView : System.Windows.Controls.UserControl
     {
         public OperacaoCenterViewModel _vm;
+        public MonitoramentoView Monitoramento => areaMonitor;
+        public DiagnosticoView Diagnostico => areaDiagnostico;
 
         public OperacaoCenterView()
         {
             InitializeComponent();
             _vm = new OperacaoCenterViewModel();
             DataContext = _vm;
-
-            videoFront = new TcpVideoReceiver(5000, imgVideoFront);
-            videoWeed = new TcpVideoReceiver(5002, imgVideoWeed);
         }
 
-
-
-        private TcpVideoReceiver videoFront;
-        private TcpVideoReceiver videoWeed;
-
-        #region CAMERA FRONTAL
-
-        private void cmbCameraFrontalFrameTipo_SelectionChanged(object sender, SelectionChangedEventArgs e)
-        {
-            if (VariaveisControleOperacao.SelectedRoverId == VariaveisControleOperacao.BaseMarkerID) return;
-            PararStreamCameraFrontal();
-            IniciarStreamCameraFrontal();
-        }
-
-        public void IniciarStreamCameraFrontal()
-        {
-            videoFront.Iniciar();
-            var t = ((AgroBase.Models.Enums.TipoFrameCamera)cmbCameraFrontalFrameTipo.SelectedIndex);
-            VariaveisControleOperacao.EnviarComandoTransmissaoVideo(AgroBase.Models.Enums.T_Code.Snr, true, AgroBase.Models.Enums.TipoFrameCamera.Rgb);
-        }
-
-        public void PararStreamCameraFrontal(bool finalizar = false)
-        {
-            videoFront.Parar();
-            VariaveisControleOperacao.EnviarComandoTransmissaoVideo(AgroBase.Models.Enums.T_Code.Snr, false, ((AgroBase.Models.Enums.TipoFrameCamera)cmbCameraFrontalFrameTipo.SelectedIndex));
-        }
-
-        #endregion
-
-        #region CAMERA ERVAS
-
-        private void cmbCameraTraseiraFrameTipo_SelectionChanged(object sender, SelectionChangedEventArgs e)
-        {
-            if (VariaveisControleOperacao.SelectedRoverId == VariaveisControleOperacao.BaseMarkerID) return;
-            PararStreamCameraErvas();
-            IniciarStreamCameraErvas();
-        }
-
-        public void IniciarStreamCameraErvas()
-        {
-            videoWeed.Iniciar();
-            VariaveisControleOperacao.EnviarComandoTransmissaoVideo(AgroBase.Models.Enums.T_Code.Cam, true, ((AgroBase.Models.Enums.TipoFrameCamera)cmbCameraTraseiraFrameTipo.SelectedIndex));
-        }
-
-        public void PararStreamCameraErvas(bool finalizar = false)
-        {
-            videoWeed.Parar();
-            VariaveisControleOperacao.EnviarComandoTransmissaoVideo(AgroBase.Models.Enums.T_Code.Cam, false, ((AgroBase.Models.Enums.TipoFrameCamera)cmbCameraTraseiraFrameTipo.SelectedIndex));
-        }
-
-        #endregion
-
-
         private void MAP_MarkerClicked(object? sender, MapMarkerManager.MarkerClickedEventArgs e)
         {
             _vm.ProcessarMarkerClicked(e);
@@ -86,28 +33,5 @@ namespace OperationControl.Views.Operacao
             _vm.ProcessarStreetMapClicked(e);
         }
 
-        public void AtualizarGraficoDiagnostico(DiagnosticoViewModel vm)
-        {
-            if (vm == null || pltSaude_Acompanhamento == null)
-                return;
-
-            var plot = pltSaude_Acompanhamento.Plot;
-            plot.Clear();
-
-            foreach (var serie in vm.SeriesGrafico)
-            {
-                if (serie.Valores.Count == 0)
-                    continue;
-
-                double[] ys = serie.Valores.ToArray();
-                double[] xs = Enumerable.Range(0, ys.Length).Select(i => (double)i).ToArray();
-
-                plot.Add.Scatter(xs, ys);
-            }
-
-            plot.Axes.AutoScale();
-            pltSaude_Acompanhamento.Refresh();
-        }
-
     }
 }

AgroBase/OperationControl/Views/PreparacaoMapa/PreparacaoMapaView.xaml.cs

@@ -21,8 +21,6 @@ namespace OperationControl.Views
     /// </summary>
     public partial class PreparacaoMapaView : System.Windows.Controls.UserControl
     {
-        public MapViewControl MapControl => MapaPreparacao;
-
         public PreparacaoMapaView()
         {
             InitializeComponent();

AgroBase/OperationControl/Windows/DockWindow.xaml

@@ -4,92 +4,145 @@
         xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
         xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
         xmlns:local="clr-namespace:OperationControl.Windows"
-        xmlns:localHelpers="clr-namespace:OperationControl.Helpers"
+        xmlns:conv="clr-namespace:OperationControl.Converters"
         mc:Ignorable="d"
         Title="DockWindow" Height="1025" Width="1920" WindowStartupLocation="CenterScreen" WindowState="Maximized">
     <Window.Resources>
-        <!--<localHelpers:BoolToVisibilityConverter x:Key="BoolToVisibilityConverter"/>-->
+        <conv:NullToVisibilityConverter x:Key="NullToVisibilityConverter" />
     </Window.Resources>
 
     <Grid>
-        <Grid.RowDefinitions>
+        <Grid>
-            <RowDefinition Height="100"/>
+            <Grid.RowDefinitions>
-            <!-- Topo -->
+                <RowDefinition Height="100"/>
-            <RowDefinition Height="*"/>
+                <!-- Topo -->
-            <!-- Centro -->
+                <RowDefinition Height="*"/>
-            <RowDefinition Height="120"/>
+                <!-- Centro -->
-            <!-- Rodapé -->
+                <RowDefinition Height="120"/>
-        </Grid.RowDefinitions>
+                <!-- Rodapé -->
+            </Grid.RowDefinitions>
 
-        <Grid.ColumnDefinitions>
+            <Grid.ColumnDefinitions>
-            <ColumnDefinition Width="{Binding LeftPanelWidth}"/>
+                <ColumnDefinition Width="{Binding LeftPanelWidth}"/>
-            <!-- Lateral esquerda (voltar) -->
+                <!-- Lateral esquerda (voltar) -->
-            <ColumnDefinition Width="*"/>
+                <ColumnDefinition Width="*"/>
-            <!-- Centro -->
+                <!-- Centro -->
-            <ColumnDefinition Width="{Binding RightPanelWidth}"/>
+                <ColumnDefinition Width="{Binding RightPanelWidth}"/>
-            <!-- Lateral direita (avançar) -->
+                <!-- Lateral direita (avançar) -->
-        </Grid.ColumnDefinitions>
+            </Grid.ColumnDefinitions>
 
-        <!-- Topo (span em 3 colunas) -->
+            <!-- Topo (span em 3 colunas) -->
-        <Border Grid.Row="0" Grid.ColumnSpan="3"
+            <Border Grid.Row="0" Grid.ColumnSpan="3"
-                Background="#222"
+            Background="#222"
-                Padding="8">
+            Padding="8">
-            <ContentControl Content="{Binding TopContent}"/>
+                <ContentControl Content="{Binding TopContent}"/>
-        </Border>
+            </Border>
 
-        <!-- Área central principal -->
+            <!-- Área central principal -->
-        <Border Grid.Row="1" Grid.Column="1"
+            <Border Grid.Row="1" Grid.Column="1"
-                Margin="8"
+            Margin="8"
+            BorderThickness="1"
+            BorderBrush="Gray">
+                <ContentControl Content="{Binding CenterContent}"/>
+            </Border>
+
+            <!-- Rodapé (span 3 colunas) -->
+            <Border Grid.Row="2" Grid.ColumnSpan="3"
+            Background="#181818"
+            Padding="8">
+                <ContentControl Content="{Binding BottomContent}"/>
+            </Border>
+
+            <!-- Lateral esquerda -->
+            <Grid Grid.Row="1" Grid.Column="0" Margin="8">
+                <ContentControl Content="{Binding LeftContent}">
+                    <ContentControl.Style>
+                        <Style TargetType="ContentControl">
+                            <Setter Property="Content" Value="{x:Null}"/>
+                            <Style.Triggers>
+                                <DataTrigger Binding="{Binding LeftContent}" Value="{x:Null}">
+                                    <Setter Property="Template">
+                                        <Setter.Value>
+                                            <ControlTemplate TargetType="ContentControl">
+                                                <Grid>
+                                                    <Button Content="⮜"
+                                                    FontSize="24"
+                                                    HorizontalAlignment="Center"
+                                                    VerticalAlignment="Center"
+                                                    Width="40"
+                                                    Height="40"
+                                                    Command="{Binding BackCommand}"
+                                                    IsEnabled="{Binding CanGoBack}"/>
+                                                </Grid>
+                                            </ControlTemplate>
+                                        </Setter.Value>
+                                    </Setter>
+                                </DataTrigger>
+                            </Style.Triggers>
+                        </Style>
+                    </ContentControl.Style>
+                </ContentControl>
+            </Grid>
+
+            <!-- Lateral direita -->
+            <Border Grid.Row="1" Grid.Column="2"
+            Margin="8"
+            BorderThickness="1"
+            BorderBrush="#404040"
+            Background="#1C1C1C">
+                <ContentControl Content="{Binding RightContent}"/>
+            </Border>
+        </Grid>
+
+        <!-- Overlay global -->
+        <Grid Panel.ZIndex="9999">
+            <Border HorizontalAlignment="Right"
+                VerticalAlignment="Top"
+                Margin="0,20,20,0"
+                Padding="10,8"
+                CornerRadius="8"
+                Background="#1C1F23"
+                BorderBrush="#3A424F"
                 BorderThickness="1"
-                BorderBrush="Gray">
+                Cursor="Hand"
-            <ContentControl Content="{Binding CenterContent}"/>
+                Visibility="{Binding BottomVM.ToastAlerta, Converter={StaticResource NullToVisibilityConverter}}"
-        </Border>
+                MouseLeftButtonUp="ToastAlerta_MouseLeftButtonUp">
 
-        <!-- Rodapé (span 3 colunas) -->
+                <Border.Style>
-        <Border Grid.Row="2" Grid.ColumnSpan="3"
+                    <Style TargetType="Border">
-                Background="#181818"
+                        <Setter Property="Opacity" Value="0.95"/>
-                Padding="8">
-            <ContentControl Content="{Binding BottomContent}"/>
-        </Border>
 
-        <!-- Lateral esquerda -->
-        <Grid Grid.Row="1" Grid.Column="0" Margin="8">
-            <ContentControl Content="{Binding LeftContent}">
-                <ContentControl.Style>
-                    <Style TargetType="ContentControl">
-                        <Setter Property="Content" Value="{x:Null}"/>
                         <Style.Triggers>
-                            <DataTrigger Binding="{Binding LeftContent}" Value="{x:Null}">
+                            <DataTrigger Binding="{Binding BottomVM.ToastAlerta.Severidade}" Value="Warning">
-                                <Setter Property="Template">
+                                <Setter Property="BorderBrush" Value="#EFBF2F"/>
-                                    <Setter.Value>
+                            </DataTrigger>
-                                        <ControlTemplate TargetType="ContentControl">
+                            <DataTrigger Binding="{Binding BottomVM.ToastAlerta.Severidade}" Value="Error">
-                                            <Grid>
+                                <Setter Property="BorderBrush" Value="#FF5656"/>
-                                                <Button Content="⮜"
+                            </DataTrigger>
-                                                        FontSize="24"
+                            <DataTrigger Binding="{Binding BottomVM.ToastAlerta.Severidade}" Value="Critical">
-                                                        HorizontalAlignment="Center"
+                                <Setter Property="BorderBrush" Value="#FF5656"/>
-                                                        VerticalAlignment="Center"
+                                <Setter Property="Background" Value="#3A171C"/>
-                                                        Width="40"
-                                                        Height="40"
-                                                        Command="{Binding BackCommand}"
-                                                        IsEnabled="{Binding CanGoBack}"/>
-                                            </Grid>
-                                        </ControlTemplate>
-                                    </Setter.Value>
-                                </Setter>
                             </DataTrigger>
                         </Style.Triggers>
                     </Style>
-                </ContentControl.Style>
+                </Border.Style>
-            </ContentControl>
-        </Grid>
 
-        <!-- Lateral direita -->
+                <StackPanel Orientation="Horizontal">
-        <Border Grid.Row="1" Grid.Column="2"
+                    <TextBlock Text="{Binding BottomVM.ToastAlerta.Icone}" FontSize="16" Margin="0,0,6,0"/>
-                Margin="8"
+
-                BorderThickness="1"
+                    <StackPanel>
-                BorderBrush="#404040"
+                        <StackPanel Orientation="Horizontal">
-                Background="#1C1C1C">
+                            <Border Background="#2F3B4A" CornerRadius="4" Padding="4,1" Margin="0,0,6,0">
-            <ContentControl Content="{Binding RightContent}"/>
+                                <TextBlock Text="{Binding BottomVM.ToastAlerta.Rover_ID}" Foreground="White" FontSize="10" FontWeight="Bold"/>
-        </Border>
+                            </Border>
+
+                            <TextBlock Text="{Binding BottomVM.ToastAlerta.Titulo}" FontWeight="Bold" Foreground="#F5F7FA" FontSize="11"/>
+                        </StackPanel>
+
+                        <TextBlock Text="{Binding BottomVM.ToastAlerta.Mensagem}" Foreground="#B7C0CC" FontSize="10" TextWrapping="Wrap" MaxWidth="320"/>
+                    </StackPanel>
+                </StackPanel>
+            </Border>
+        </Grid>
     </Grid>
 </Window>

AgroBase/OperationControl/Windows/DockWindow.xaml.cs

@@ -1,17 +1,6 @@
 using OperationControl.ViewModels;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows;
-using System.Windows.Controls;
-using System.Windows.Data;
-using System.Windows.Documents;
 using System.Windows.Input;
-using System.Windows.Media;
-using System.Windows.Media.Imaging;
-using System.Windows.Shapes;
 
 namespace OperationControl.Windows
 {
@@ -27,5 +16,10 @@ namespace OperationControl.Windows
             _vm = new DockWindowViewModel();
             DataContext = _vm;
         }
+
+        private void ToastAlerta_MouseLeftButtonUp(object sender, MouseButtonEventArgs e)
+        {
+            _vm.BottomVM?.ClicarNoToast();
+        }
     }
 }