correcao final eixos imu, incluido retries no envio de dados can

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

@@ -531,6 +531,11 @@
             this.label36 = new System.Windows.Forms.Label();
             this.txtMomento = new System.Windows.Forms.TextBox();
             this.btnPlay = new System.Windows.Forms.Button();
+            this.pnlOrientacaoDados = new System.Windows.Forms.Panel();
+            this.label146 = new System.Windows.Forms.Label();
+            this.label147 = new System.Windows.Forms.Label();
+            this.txtImuFrontal = new System.Windows.Forms.TextBox();
+            this.txtImuLateral = new System.Windows.Forms.TextBox();
             ((System.ComponentModel.ISupportInitialize)(this.trbMomento)).BeginInit();
             this.panel1.SuspendLayout();
             this.tabControl4.SuspendLayout();
@@ -584,6 +589,7 @@
             this.pnlUltrassom.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picRobo)).BeginInit();
             this.tabOrientacao.SuspendLayout();
+            this.pnl3D.SuspendLayout();
             this.tabSonar.SuspendLayout();
             this.tabControl3.SuspendLayout();
             this.tabSonarRGB.SuspendLayout();
@@ -610,6 +616,7 @@
             this.panel6.SuspendLayout();
             this.pnlInformacoesOperacao.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).BeginInit();
+            this.pnlOrientacaoDados.SuspendLayout();
             this.SuspendLayout();
             // 
             // trbMomento
@@ -4117,6 +4124,7 @@
             // 
             // pnl3D
             // 
+            this.pnl3D.Controls.Add(this.pnlOrientacaoDados);
             this.pnl3D.Location = new System.Drawing.Point(5, 5);
             this.pnl3D.Margin = new System.Windows.Forms.Padding(2);
             this.pnl3D.Name = "pnl3D";
@@ -5908,6 +5916,51 @@
             this.btnPlay.UseVisualStyleBackColor = true;
             this.btnPlay.Click += new System.EventHandler(this.btnPlay_Click);
             // 
+            // pnlOrientacaoDados
+            // 
+            this.pnlOrientacaoDados.Controls.Add(this.txtImuLateral);
+            this.pnlOrientacaoDados.Controls.Add(this.txtImuFrontal);
+            this.pnlOrientacaoDados.Controls.Add(this.label147);
+            this.pnlOrientacaoDados.Controls.Add(this.label146);
+            this.pnlOrientacaoDados.Location = new System.Drawing.Point(1, 362);
+            this.pnlOrientacaoDados.Name = "pnlOrientacaoDados";
+            this.pnlOrientacaoDados.Size = new System.Drawing.Size(150, 150);
+            this.pnlOrientacaoDados.TabIndex = 0;
+            // 
+            // label146
+            // 
+            this.label146.AutoSize = true;
+            this.label146.Location = new System.Drawing.Point(3, 16);
+            this.label146.Name = "label146";
+            this.label146.Size = new System.Drawing.Size(39, 13);
+            this.label146.TabIndex = 1;
+            this.label146.Text = "Frontal";
+            // 
+            // label147
+            // 
+            this.label147.AutoSize = true;
+            this.label147.Location = new System.Drawing.Point(3, 71);
+            this.label147.Name = "label147";
+            this.label147.Size = new System.Drawing.Size(39, 13);
+            this.label147.TabIndex = 2;
+            this.label147.Text = "Lateral";
+            // 
+            // txtImuFrontal
+            // 
+            this.txtImuFrontal.Location = new System.Drawing.Point(6, 32);
+            this.txtImuFrontal.Name = "txtImuFrontal";
+            this.txtImuFrontal.Size = new System.Drawing.Size(100, 20);
+            this.txtImuFrontal.TabIndex = 1;
+            this.txtImuFrontal.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
+            // 
+            // txtImuLateral
+            // 
+            this.txtImuLateral.Location = new System.Drawing.Point(6, 87);
+            this.txtImuLateral.Name = "txtImuLateral";
+            this.txtImuLateral.Size = new System.Drawing.Size(100, 20);
+            this.txtImuLateral.TabIndex = 3;
+            this.txtImuLateral.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
+            // 
             // frmResultadosOperacao
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@@ -6007,6 +6060,7 @@
             this.pnlUltrassom.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.picRobo)).EndInit();
             this.tabOrientacao.ResumeLayout(false);
+            this.pnl3D.ResumeLayout(false);
             this.tabSonar.ResumeLayout(false);
             this.tabSonar.PerformLayout();
             this.tabControl3.ResumeLayout(false);
@@ -6042,6 +6096,8 @@
             this.pnlInformacoesOperacao.ResumeLayout(false);
             this.pnlInformacoesOperacao.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).EndInit();
+            this.pnlOrientacaoDados.ResumeLayout(false);
+            this.pnlOrientacaoDados.PerformLayout();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -6527,5 +6583,10 @@
         private System.Windows.Forms.Label lblVentilacaoRLOUT;
         private System.Windows.Forms.Label lblVentilacaoRLIN;
         private System.Windows.Forms.Label lblVentilacaoTemperatura;
+        private System.Windows.Forms.Panel pnlOrientacaoDados;
+        private System.Windows.Forms.TextBox txtImuLateral;
+        private System.Windows.Forms.TextBox txtImuFrontal;
+        private System.Windows.Forms.Label label147;
+        private System.Windows.Forms.Label label146;
     }
 }

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs

@@ -1169,6 +1169,8 @@ namespace AgroBase.Forms.Operacoes
 
             AtualizarInformacoesSonar();
 
+            AtualizarInformacoesIMU();
+
             AtualizarInformacoesCPU();
 
             AtualizarInformacoesComandos();
@@ -1666,6 +1668,13 @@ namespace AgroBase.Forms.Operacoes
             
         }
 
+        private void AtualizarInformacoesIMU()
+        {
+            var imu = LogsIMU[idxMomentoAtual];
+            txtImuFrontal.Text = imu.PitchSeguro.ToString("0.00");
+            txtImuLateral.Text = imu.RollSeguro.ToString("0.00");
+        }
+
         private void AtualizarInformacoesCameraCaminho()
         {
             double? CalcularErroLateralPctImagem(int width, List<double?[]> centrosCorredor)

AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs

@@ -819,8 +819,8 @@ namespace AgroBase.Models.Operacoes
             Imu = new OperacaoSensoriamentoLogImuModel
             {
                 Iniciado = sen?.IMU?.Iniciado ?? false,
-                InclinacaoFrontal = sen?.IMU?.RollSeguro ?? 0,
+                InclinacaoFrontal = sen?.IMU?.PitchSeguro ?? 0,
-                InclinacaoLateral = sen?.IMU?.PitchSeguro ?? 0,
+                InclinacaoLateral = sen?.IMU?.RollSeguro ?? 0,
                 Rotacao = sen?.IMU?.YawSeguro ?? 0
             };
         }

AgroBase/AgroBase/Models/Variaveis.cs

@@ -926,8 +926,8 @@ namespace AgroBase.Models
             { TipoMovimentoDirecional.MovimentoLateral, 90 },
             { TipoMovimentoDirecional.Diagnostico, 25 },
         };
-        public static double AnguloInclinacaoRollMax { get; set; } = 30.0; // Frontal 40 graus max
+        public static double AnguloInclinacaoRollMax { get; set; } = 22.0; // Lateral
-        public static double AnguloInclinacaoPitchMax { get; set; } = 22.0; // Lateral
+        public static double AnguloInclinacaoPitchMax { get; set; } = 30.0; // Frontal 40 graus max
         public static string VozAlerta { get; set; } = "Microsoft Maria Desktop";
         public static bool Pronto => Variaveis.OperacaoEmAndamento?.Parametros?.Controle != null;
 

AgroBase/AgroBase/Services/CANService.cs

@@ -207,6 +207,7 @@ namespace AgroBase.Services
 
         public bool ContabilizarTimeoutHealth { get; set; } = true;
         public bool MensagemDescoberta { get; set; } = false;
+        public int TentativasEnvio { get; set; } = 0;
     }
 
     public class CanCommandFreqModel<T>

AgroBase/AgroBase/Services/CanServiceEthernet.cs

@@ -90,6 +90,9 @@ namespace AgroBase.Services
         private readonly ConcurrentDictionary<string, long> _timeoutsRespostaPorDispositivo = new ConcurrentDictionary<string, long>();
         private readonly ConcurrentDictionary<string, long> _timeoutsRespostaPorChave = new ConcurrentDictionary<string, long>();
 
+        private readonly List<T_Code> DispositivosRetries = new List<T_Code>() { T_Code.Oid, T_Code.Bat };
+        private const int MAX_TENTATIVAS_RETRIES = 2;
+
         public Dictionary<string, long> TimeoutsRespostaPorId => _timeoutsRespostaPorId.ToDictionary(x => x.Key, x => x.Value);
         public Dictionary<string, long> TimeoutsRespostaPorDispositivo => _timeoutsRespostaPorDispositivo.ToDictionary(x => x.Key, x => x.Value);
         public Dictionary<string, long> TimeoutsRespostaPorChave => _timeoutsRespostaPorChave.ToDictionary(x => x.Key, x => x.Value);
@@ -575,6 +578,7 @@ namespace AgroBase.Services
 
                 msg.Enviado = true;
                 msg.EnviadoEm = DateTime.Now;
+                msg.TentativasEnvio++;
                 _ultimoIdEnviado = msg.IdTx;
                 _tokens -= 1;
                 sent++;
@@ -1076,6 +1080,18 @@ namespace AgroBase.Services
 
                 foreach (var item in timeouts)
                 {
+                    if (DispositivosRetries.Contains(item.Dispositivo) && item.TentativasEnvio < MAX_TENTATIVAS_RETRIES)
+                    {
+                        // Rearma a MESMA transação para um retry.
+                        item.Enviado = false;
+                        item.EnviadoEm = DateTime.MinValue;
+
+                        MostrarLog($"Retry rápido OID | tentativa={item.TentativasEnvio + 1}/{MAX_TENTATIVAS_RETRIES} | {TimeoutChave(item)}", item.IdRx);
+
+                        continue;
+                    }
+
+                    // Só chega aqui se realmente esgotou as tentativas.
                     RegistrarTimeoutResposta(item);
                     MensagensPendentes.Remove(item);
                 }

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

@@ -179,7 +179,7 @@ class CameraMultispectral:
                             nome_sensor=f"{self.modelo}_imu",
                             modo=self.imu_modo,
                             gyro_unidade="deg_s",
-                            referencial_robo="p,-y,-r",
+                            referencial_robo="r,p,y",
                         )
                     else:
                         self.tem_imu = False

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/health_worker/modulos/imu.py

@@ -39,10 +39,10 @@ class CameraIMU(ModuloDiagnosticoBase):
 
         # Limites principais vindos do equipamento.
         # No rover:
-        # roll  = inclinação frontal
+        # roll  = inclinação lateral
-        # pitch = inclinação lateral
+        # pitch = inclinação frontal
-        roll_max_default_deg=45.0,
+        roll_max_default_deg=25.0,
-        pitch_max_default_deg=25.0,
+        pitch_max_default_deg=45.0,
 
         # Níveis derivados do limite máximo configurado.
         angulo_attention_factor=0.50,