ajustes

AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.Designer.cs

@@ -32,6 +32,7 @@
             this.pnlMapa = new System.Windows.Forms.Panel();
             this.pnlJoystick = new System.Windows.Forms.Panel();
             this.pnlMapaDinamico = new System.Windows.Forms.Panel();
+            this.chbAcompanharCarro = new System.Windows.Forms.CheckBox();
             this.pnlCameraCaminho = new System.Windows.Forms.Panel();
             this.pnlCameraCaminhoSeg = new System.Windows.Forms.Panel();
             this.pnlCameraSolo0 = new System.Windows.Forms.Panel();
@@ -107,6 +108,7 @@
             this.tabMapa = new System.Windows.Forms.TabPage();
             this.picFechar = new System.Windows.Forms.PictureBox();
             this.pnlMapa.SuspendLayout();
+            this.pnlMapaDinamico.SuspendLayout();
             this.pnlSensores.SuspendLayout();
             this.statusStrip1.SuspendLayout();
             this.tabControl1.SuspendLayout();
@@ -137,12 +139,26 @@
             // 
             // pnlMapaDinamico
             // 
+            this.pnlMapaDinamico.Controls.Add(this.chbAcompanharCarro);
             this.pnlMapaDinamico.Dock = System.Windows.Forms.DockStyle.Fill;
             this.pnlMapaDinamico.Location = new System.Drawing.Point(3, 3);
             this.pnlMapaDinamico.Name = "pnlMapaDinamico";
             this.pnlMapaDinamico.Size = new System.Drawing.Size(307, 497);
             this.pnlMapaDinamico.TabIndex = 19;
             // 
+            // chbAcompanharCarro
+            // 
+            this.chbAcompanharCarro.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
+            this.chbAcompanharCarro.AutoSize = true;
+            this.chbAcompanharCarro.Font = new System.Drawing.Font("Microsoft Sans Serif", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.chbAcompanharCarro.Location = new System.Drawing.Point(0, 475);
+            this.chbAcompanharCarro.Name = "chbAcompanharCarro";
+            this.chbAcompanharCarro.Size = new System.Drawing.Size(131, 19);
+            this.chbAcompanharCarro.TabIndex = 0;
+            this.chbAcompanharCarro.Text = "Acompanhar Rover";
+            this.chbAcompanharCarro.UseVisualStyleBackColor = true;
+            this.chbAcompanharCarro.CheckedChanged += new System.EventHandler(this.chbAcompanharCarro_CheckedChanged);
+            // 
             // pnlCameraCaminho
             // 
             this.pnlCameraCaminho.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
@@ -924,6 +940,8 @@
             this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmDialogoMapa_FormClosing);
             this.Load += new System.EventHandler(this.frmDialogoMapa_Load);
             this.pnlMapa.ResumeLayout(false);
+            this.pnlMapaDinamico.ResumeLayout(false);
+            this.pnlMapaDinamico.PerformLayout();
             this.pnlSensores.ResumeLayout(false);
             this.pnlSensores.PerformLayout();
             this.statusStrip1.ResumeLayout(false);
@@ -1021,5 +1039,6 @@
         private System.Windows.Forms.Label lblEF;
         private System.Windows.Forms.TextBox txtInclinacao;
         private System.Windows.Forms.Label lblInclinacao;
+        private System.Windows.Forms.CheckBox chbAcompanharCarro;
     }
 }

AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs

@@ -606,6 +606,10 @@ namespace AgroBase.Forms.IHM
                 }
             );
         }
-    
+
+        private void chbAcompanharCarro_CheckedChanged(object sender, EventArgs e)
+        {
+            MapaDinamico.AlterarTravaRover(chbAcompanharCarro.Checked);
+        }
     }
 }

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs

@@ -1118,7 +1118,7 @@ namespace AgroBase.Forms.Operacoes
             txtStatusCarro.Text = Log.Trajetoria.StatusCarro.ToString();
             txtHerbicidaPorErva.Text = herbicidaPorErva.ToString("0.00") + " ml";
             txtDentroRua.Text = Log.Trajetoria.CorredorAtual.Dentro ? "Sim" : "Não";
-            txtDirecaoCarro.Text = Log.Trajetoria.DirecaoCaminho.ToString() + " (" + Log.Trajetoria.ProximoPonto.idxPonto + ")";
+            txtDirecaoCarro.Text = Log.Trajetoria.DirecaoCaminho.ToString() + " (" + Log.Trajetoria.CorredorAtual.Idx + " - " + Log.Trajetoria.ProximoPonto.idxPonto + " - " + Log.Trajetoria.ProximoPonto.idxPontoCorredor + ")";
             txtErvasNoRadar.Text = Log.Atuador.ErvasNoRadar.ToString() + " (" + (Log.Atuador.PercentualErvasNoRadar * 100).ToString("0.00") + "%)";
             txtErvasTerreno.Text = Log.Atuador.PercentualErvasTerreno.ToString("0.00");
             txtTipoMovimento.Text = Log.Controle.TipoMovimento.ToString();

AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.Designer.cs

@@ -94,6 +94,7 @@
             this.label3 = new System.Windows.Forms.Label();
             this.label4 = new System.Windows.Forms.Label();
             this.pnlZoomMapa = new System.Windows.Forms.Panel();
+            this.chbAcompanharCarro = new System.Windows.Forms.CheckBox();
             this.lblRua = new System.Windows.Forms.Label();
             this.lblMargem = new System.Windows.Forms.Label();
             this.lblProximoPonto = new System.Windows.Forms.Label();
@@ -108,6 +109,7 @@
             this.gpbSonar.SuspendLayout();
             this.gpbGPS.SuspendLayout();
             this.pnlMapa.SuspendLayout();
+            this.pnlZoomMapa.SuspendLayout();
             this.SuspendLayout();
             // 
             // pnlOpcoes
@@ -848,11 +850,24 @@
             | System.Windows.Forms.AnchorStyles.Left) 
             | System.Windows.Forms.AnchorStyles.Right)));
             this.pnlZoomMapa.BackColor = System.Drawing.Color.White;
+            this.pnlZoomMapa.Controls.Add(this.chbAcompanharCarro);
             this.pnlZoomMapa.Location = new System.Drawing.Point(522, 10);
             this.pnlZoomMapa.Name = "pnlZoomMapa";
             this.pnlZoomMapa.Size = new System.Drawing.Size(845, 484);
             this.pnlZoomMapa.TabIndex = 15;
             // 
+            // chbAcompanharCarro
+            // 
+            this.chbAcompanharCarro.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
+            this.chbAcompanharCarro.AutoSize = true;
+            this.chbAcompanharCarro.Location = new System.Drawing.Point(3, 463);
+            this.chbAcompanharCarro.Name = "chbAcompanharCarro";
+            this.chbAcompanharCarro.Size = new System.Drawing.Size(118, 17);
+            this.chbAcompanharCarro.TabIndex = 0;
+            this.chbAcompanharCarro.Text = "Acompanhar Rover";
+            this.chbAcompanharCarro.UseVisualStyleBackColor = true;
+            this.chbAcompanharCarro.CheckedChanged += new System.EventHandler(this.chbAcompanharCarro_CheckedChanged);
+            // 
             // lblRua
             // 
             this.lblRua.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
@@ -1013,6 +1028,8 @@
             this.gpbGPS.PerformLayout();
             this.pnlMapa.ResumeLayout(false);
             this.pnlMapa.PerformLayout();
+            this.pnlZoomMapa.ResumeLayout(false);
+            this.pnlZoomMapa.PerformLayout();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -1095,5 +1112,6 @@
         private System.Windows.Forms.TextBox txtDelayPosicao;
         private System.Windows.Forms.Label label8;
         private System.Windows.Forms.ComboBox cmbStatusCorredor;
+        private System.Windows.Forms.CheckBox chbAcompanharCarro;
     }
 }

AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs

@@ -524,6 +524,11 @@ namespace AgroBase.Forms
                 ("segmentacao.status_corredor", cmbStatusCorredor.SelectedIndex)
             );
         }
+
+        private void chbAcompanharCarro_CheckedChanged(object sender, EventArgs e)
+        {
+            MapaDinamico.AlterarTravaRover(chbAcompanharCarro.Checked);
+        }
     }
 
     

AgroBase/AgroBase/Models/Enums.cs

@@ -132,18 +132,20 @@
 
         public enum BotoesJoystick
         {
-            Y,
-            B,
-            A,
-            X,
+            Triangulo,
+            Xis,
+            Quadrado,
+            Bolinha,
             L1,
             R1,
             L2,
             R2,
-            Select,
-            Start,
+            L2A,
+            R2A,
             L3,
             R3,
+            Share,
+            Options,
             SCima,
             SDireita,
             SBaixo,
@@ -156,6 +158,8 @@
             ADDireita,
             ADBaixo,
             ADEsquerda,
+            Touchpad,
+            PS,
             Vazio
         }
 

AgroBase/AgroBase/Models/GeneralJoystick.cs

@@ -27,15 +27,15 @@ namespace AgroBase
             new DeParaComandos() { key = Keys.Right, Dispositivo = T_Code.Dir, botaoJoy = BotoesJoystick.SDireita, PararAoSoltar = true },
             new DeParaComandos() { key = Keys.Right, Dispositivo = T_Code.Dir, botaoJoy = BotoesJoystick.AEDireita, PararAoSoltar = true },
             new DeParaComandos() { key = Keys.R, Dispositivo = T_Code.Dir, botaoJoy = BotoesJoystick.R3, PararAoSoltar = false },
-            new DeParaComandos() { key = Keys.Up, Dispositivo = T_Code.Mov, botaoJoy = BotoesJoystick.A, PararAoSoltar = true },
-            new DeParaComandos() { key = Keys.Down, Dispositivo = T_Code.Mov, botaoJoy = BotoesJoystick.X, PararAoSoltar = true },
-            new DeParaComandos() { key = Keys.Space, Dispositivo = T_Code.Mov, botaoJoy = BotoesJoystick.B, PararAoSoltar = true },
+            new DeParaComandos() { key = Keys.Up, Dispositivo = T_Code.Mov, botaoJoy = BotoesJoystick.Xis, PararAoSoltar = true },
+            new DeParaComandos() { key = Keys.Down, Dispositivo = T_Code.Mov, botaoJoy = BotoesJoystick.Quadrado, PararAoSoltar = true },
+            new DeParaComandos() { key = Keys.Space, Dispositivo = T_Code.Mov, botaoJoy = BotoesJoystick.Bolinha, PararAoSoltar = true },
             new DeParaComandos() { key = Keys.Subtract, Dispositivo = T_Code.Mov, botaoJoy = BotoesJoystick.L1, PararAoSoltar = false },
             new DeParaComandos() { key = Keys.Add, Dispositivo = T_Code.Mov, botaoJoy = BotoesJoystick.R1, PararAoSoltar = false },
-            new DeParaComandos() { key = Keys.D1, Dispositivo = T_Code.Atu, botaoJoy = BotoesJoystick.L2, PararAoSoltar = true, IDcontrolar = "B01" },
-            new DeParaComandos() { key = Keys.D2, Dispositivo = T_Code.Atu, botaoJoy = BotoesJoystick.L2, PararAoSoltar = true, IDcontrolar = "B02" },
-            new DeParaComandos() { key = Keys.D3, Dispositivo = T_Code.Atu, botaoJoy = BotoesJoystick.R2, PararAoSoltar = true, IDcontrolar = "B03" },
-            new DeParaComandos() { key = Keys.D4, Dispositivo = T_Code.Atu, botaoJoy = BotoesJoystick.R2, PararAoSoltar = true, IDcontrolar = "B04" },
+            new DeParaComandos() { key = Keys.D1, Dispositivo = T_Code.Atu, botaoJoy = BotoesJoystick.ADEsquerda, PararAoSoltar = true, IDcontrolar = "B01" },
+            new DeParaComandos() { key = Keys.D2, Dispositivo = T_Code.Atu, botaoJoy = BotoesJoystick.ADBaixo, PararAoSoltar = true, IDcontrolar = "B02" },
+            new DeParaComandos() { key = Keys.D3, Dispositivo = T_Code.Atu, botaoJoy = BotoesJoystick.ADCima, PararAoSoltar = true, IDcontrolar = "B03" },
+            new DeParaComandos() { key = Keys.D4, Dispositivo = T_Code.Atu, botaoJoy = BotoesJoystick.ADDireita, PararAoSoltar = true, IDcontrolar = "B04" },
         };
         public static List<BotoesJoystick> BotoesJoyPressionados = new List<BotoesJoystick>() { };
         public static List<TipoMovimentoDirecional> MovimentosCombinados = new List<TipoMovimentoDirecional>()
@@ -183,8 +183,8 @@ namespace AgroBase
             }
             catch
             {
-                EnviaComandoMotor(Keys.Escape, T_Code.Mov, true);
-                EnviaComandoMotor(Keys.Escape, T_Code.Dir, true);
+                EnviaComandoMotor(Keys.Escape, T_Code.Mov, ForcarComando: true);
+                EnviaComandoMotor(Keys.Escape, T_Code.Dir, ForcarComando: true);
                 AtualizaDispositivo();
                 return;
             }
@@ -195,7 +195,7 @@ namespace AgroBase
 
             foreach (var state in datas)
             {
-                Console.WriteLine(state);
+                //Console.WriteLine(state);
                 if (state.Offset == JoystickOffset.PointOfViewControllers0)
                 {
                     if (state.Value == -1)
@@ -238,22 +238,22 @@ namespace AgroBase
                 {
                     if (ComparaPosicaoAnalogico(state.Value, ComparativoAnalogico.Igual))
                     {
-                        if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.L2))
+                        if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.ADDireita))
                         {
-                            _botoesSoltos.Add(BotoesJoystick.L2);
+                            _botoesSoltos.Add(BotoesJoystick.ADDireita);
                         }
-                        else if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.R2))
+                        if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.ADEsquerda))
                         {
-                            _botoesSoltos.Add(BotoesJoystick.R2);
+                            _botoesSoltos.Add(BotoesJoystick.ADEsquerda);
                         }
                     }
                     else if (ComparaPosicaoAnalogico(state.Value, ComparativoAnalogico.Maior))
                     {
-                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.L2, valor = state.Value });
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.ADDireita, valor = state.Value });
                     }
                     else if (ComparaPosicaoAnalogico(state.Value, ComparativoAnalogico.Menor))
                     {
-                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.R2, valor = state.Value });
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.ADEsquerda, valor = state.Value });
                     }
                 }
                 else if (state.Offset == JoystickOffset.X)
@@ -264,7 +264,7 @@ namespace AgroBase
                         {
                             _botoesSoltos.Add(BotoesJoystick.AEEsquerda);
                         }
-                        else if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.AEDireita))
+                        if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.AEDireita))
                         {
                             _botoesSoltos.Add(BotoesJoystick.AEDireita);
                         }
@@ -286,7 +286,7 @@ namespace AgroBase
                         {
                             _botoesSoltos.Add(BotoesJoystick.AECima);
                         }
-                        else if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.AEBaixo))
+                        if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.AEBaixo))
                         {
                             _botoesSoltos.Add(BotoesJoystick.AEBaixo);
                         }
@@ -302,27 +302,33 @@ namespace AgroBase
                 }
                 else if (state.Offset == JoystickOffset.RotationX)
                 {
-                    if (ComparaPosicaoAnalogico(state.Value, ComparativoAnalogico.Igual))
+                    if (state.Value == 0)
                     {
-                        if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.ADEsquerda))
+                        if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.L2A))
                         {
-                            _botoesSoltos.Add(BotoesJoystick.ADEsquerda);
-                        }
-                        else if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.ADDireita))
-                        {
-                            _botoesSoltos.Add(BotoesJoystick.ADDireita);
+                            _botoesSoltos.Add(BotoesJoystick.L2A);
                         }
                     }
-                    else if (ComparaPosicaoAnalogico(state.Value, ComparativoAnalogico.Maior))
+                    else if (state.Value > 0)
                     {
-                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.ADDireita, valor = state.Value });
-                    }
-                    else if (ComparaPosicaoAnalogico(state.Value, ComparativoAnalogico.Menor))
-                    {
-                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.ADEsquerda, valor = state.Value });
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.L2A, valor = state.Value });
                     }
                 }
                 else if (state.Offset == JoystickOffset.RotationY)
+                {
+                    if (state.Value == 0)
+                    {
+                        if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.R2A))
+                        {
+                            _botoesSoltos.Add(BotoesJoystick.R2A);
+                        }
+                    }
+                    else if (state.Value > 0)
+                    {
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.R2A, valor = state.Value });
+                    }
+                }
+                else if (state.Offset == JoystickOffset.RotationZ)
                 {
                     if (ComparaPosicaoAnalogico(state.Value, ComparativoAnalogico.Igual))
                     {
@@ -330,62 +336,62 @@ namespace AgroBase
                         {
                             _botoesSoltos.Add(BotoesJoystick.ADCima);
                         }
-                        else if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.ADBaixo))
+                        if (BotoesJoyPressionados.Any(x => x == BotoesJoystick.ADBaixo))
                         {
                             _botoesSoltos.Add(BotoesJoystick.ADBaixo);
                         }
                     }
                     else if (ComparaPosicaoAnalogico(state.Value, ComparativoAnalogico.Maior))
                     {
-                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.ADCima, valor = state.Value });
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.ADBaixo, valor = state.Value });
                     }
                     else if (ComparaPosicaoAnalogico(state.Value, ComparativoAnalogico.Menor))
                     {
-                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.ADBaixo, valor = state.Value });
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.ADCima, valor = state.Value });
                     }
                 }
                 else if (state.Offset == JoystickOffset.Buttons0)
                 {
                     if (state.Value == 0)
                     {
-                        _botoesSoltos.Add(BotoesJoystick.A);
+                        _botoesSoltos.Add(BotoesJoystick.Quadrado);
                     }
                     else
                     {
-                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.A, valor = state.Value });
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.Quadrado, valor = state.Value });
                     }
                 }
                 else if (state.Offset == JoystickOffset.Buttons1)
                 {
                     if (state.Value == 0)
                     {
-                        _botoesSoltos.Add(BotoesJoystick.B);
+                        _botoesSoltos.Add(BotoesJoystick.Xis);
                     }
                     else
                     {
-                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.B, valor = state.Value });
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.Xis, valor = state.Value });
                     }
                 }
                 else if (state.Offset == JoystickOffset.Buttons2)
                 {
                     if (state.Value == 0)
                     {
-                        _botoesSoltos.Add(BotoesJoystick.X);
+                        _botoesSoltos.Add(BotoesJoystick.Bolinha);
                     }
                     else
                     {
-                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.X, valor = state.Value });
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.Bolinha, valor = state.Value });
                     }
                 }
                 else if (state.Offset == JoystickOffset.Buttons3)
                 {
                     if (state.Value == 0)
                     {
-                        _botoesSoltos.Add(BotoesJoystick.Y);
+                        _botoesSoltos.Add(BotoesJoystick.Triangulo);
                     }
                     else
                     {
-                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.Y, valor = state.Value });
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.Triangulo, valor = state.Value });
                     }
                 }
                 else if (state.Offset == JoystickOffset.Buttons4)
@@ -414,25 +420,47 @@ namespace AgroBase
                 {
                     if (state.Value == 0)
                     {
-                        _botoesSoltos.Add(BotoesJoystick.Select);
+                        _botoesSoltos.Add(BotoesJoystick.L2);
                     }
                     else
                     {
-                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.Select, valor = state.Value });
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.L2, valor = state.Value });
                     }
                 }
                 else if (state.Offset == JoystickOffset.Buttons7)
                 {
                     if (state.Value == 0)
                     {
-                        _botoesSoltos.Add(BotoesJoystick.Start);
+                        _botoesSoltos.Add(BotoesJoystick.R2);
                     }
                     else
                     {
-                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.Start, valor = state.Value });
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.R2, valor = state.Value });
                     }
                 }
                 else if (state.Offset == JoystickOffset.Buttons8)
+                {
+                    if (state.Value == 0)
+                    {
+                        _botoesSoltos.Add(BotoesJoystick.Share);
+                    }
+                    else
+                    {
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.Share, valor = state.Value });
+                    }
+                }
+                else if (state.Offset == JoystickOffset.Buttons9)
+                {
+                    if (state.Value == 0)
+                    {
+                        _botoesSoltos.Add(BotoesJoystick.Options);
+                    }
+                    else
+                    {
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.Options, valor = state.Value });
+                    }
+                }
+                else if (state.Offset == JoystickOffset.Buttons10)
                 {
                     if (state.Value == 0)
                     {
@@ -443,7 +471,7 @@ namespace AgroBase
                         _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.L3, valor = state.Value });
                     }
                 }
-                else if (state.Offset == JoystickOffset.Buttons9)
+                else if (state.Offset == JoystickOffset.Buttons11)
                 {
                     if (state.Value == 0)
                     {
@@ -454,27 +482,60 @@ namespace AgroBase
                         _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.R3, valor = state.Value });
                     }
                 }
+                else if (state.Offset == JoystickOffset.Buttons12)
+                {
+                    if (state.Value == 0)
+                    {
+                        _botoesSoltos.Add(BotoesJoystick.PS);
+                    }
+                    else
+                    {
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.PS, valor = state.Value });
+                    }
+                }
+                else if (state.Offset == JoystickOffset.Buttons13)
+                {
+                    if (state.Value == 0)
+                    {
+                        _botoesSoltos.Add(BotoesJoystick.Touchpad);
+                    }
+                    else
+                    {
+                        _botoesPressionados.Add(new BotoesPressionadosValores() { botao = BotoesJoystick.Touchpad, valor = state.Value });
+                    }
+                }
             }
 
-            _botoesPressionados.ForEach(botao =>
+            var botoes_pressionados_g = _botoesPressionados
+                .GroupBy(x => x.botao)
+                .Select(x => new {
+                    botao = x.Key,
+                    dados = x
+                })
+                .ToList();
+            botoes_pressionados_g.ForEach(botao =>
             {
+                Console.WriteLine($"Botao pressionado: {botao.botao}, Valor: {string.Join(", ", botao.dados.Select(y => y.valor))}");
                 BotoesJoyPressionados.Add(botao.botao);
-                if (DeParaComandos.Any(x => x.botaoJoy == botao.botao))
+                var Comando = DeParaComandos.FirstOrDefault(x => x.botaoJoy == botao.botao);
+                if (Comando != null)
                 {
-                    EnviaComandoMotor(DeParaComandos.FirstOrDefault(x => x.botaoJoy == botao.botao).key);
+                    EnviaComandoMotor(Comando.key, Comando.Dispositivo, ID: Comando.IDcontrolar);
                 }
             });
             _botoesSoltos.ForEach(botao =>
             {
+                Console.WriteLine($"Botao solto: {botao}");
                 BotoesJoyPressionados.Remove(botao);
-                if (DeParaComandos.Any(x => x.botaoJoy == botao && x.PararAoSoltar))
+                var Comando = DeParaComandos.FirstOrDefault(x => x.botaoJoy == botao);
+                if (Comando != null && Comando.PararAoSoltar)
                 {
-                    EnviaComandoMotor(Keys.Escape, DeParaComandos.FirstOrDefault(x => x.botaoJoy == botao).Dispositivo);
+                    EnviaComandoMotor(Keys.Escape, Comando.Dispositivo, ID: Comando.IDcontrolar);
                 }
             });
         }
 
-        public static void EnviaComandoMotor(Keys Tecla, T_Code Disp = T_Code.Vzo, bool ForcarComando = false)
+        public static void EnviaComandoMotor(Keys Tecla, T_Code Disp = T_Code.Vzo, string ID = null, bool ForcarComando = false)
         {
             // Verifica se deve interromper o fluxo
             // interrompe se nao estiver diagnosticando, nao forca o envio, e se o modo for manual vai verificar o status da operacao e do sonar, pois automatico faz esse controle em outro lugar
@@ -509,10 +570,19 @@ namespace AgroBase
             if (Comando.Comando == Keys.Escape)
             {
                 var ComandosDisp = Disp == T_Code.Vzo ? Comandos : Comandos.Where(x => x.Dispositivo == Disp).ToList();
+                
                 if (ComandosDisp.Any())
                 {
-                    Comando.Dispositivo = ComandosDisp[ComandosDisp.Count - 1].Dispositivo;
-                    Comando.IDcontrolar = ComandosDisp[ComandosDisp.Count - 1].IDcontrolar;
+                    if (Disp == T_Code.Vzo)
+                    {
+                        Comando.Dispositivo = ComandosDisp[ComandosDisp.Count - 1].Dispositivo;
+                        Comando.IDcontrolar = ComandosDisp[ComandosDisp.Count - 1].IDcontrolar;
+                    }
+                    else
+                    {
+                        Comando.Dispositivo = Disp;
+                        Comando.IDcontrolar = !string.IsNullOrEmpty(ID) ? ID : ComandosDisp[ComandosDisp.Count - 1].IDcontrolar;
+                    }
                     DirecaoAtual = Direcao.Parado;
                     Pressionado = true;
                 }

AgroBase/AgroBase/Models/MapaDinamicoModel.cs

@@ -12,8 +12,8 @@ namespace AgroBase.Models
         private double _zoom = 1000000.0; // Nível de zoom
         private const double ZoomFactor = 1.1; // Fator de zoom
         private bool _isDragging = false; // Controle de arrasto
-        private Point _startPoint = new Point(); // Posição inicial do mouse
-        private Point _mapOffset = new Point(); // Deslocamento do mapa
+        private PointF _startPoint = new PointF(); // Posição inicial do mouse
+        private PointF _mapOffset = new PointF(); // Deslocamento do mapa
 
         private GPSModel _posicaoAtual { get; set; } = new GPSModel();
         private List<List<GPSModel>> RuasPlantacao { get; set; } = new List<List<GPSModel>>();
@@ -28,6 +28,16 @@ namespace AgroBase.Models
         private Panel pnlZoomMapa;
         private Form parent;
 
+        // toggles e estado
+        private bool _travarNoRobo = true;       // follow cam
+        private bool _suavizarFollow = true;     // suaviza o panning
+        private float _followAlpha = 0.25f;      // 0.15–0.35 bom
+        private PointF _userPan = PointF.Empty;  // pan manual quando _travarNoRobo=false
+        private PointF _panStart;
+
+        private static float Lerp(float a, float b, float t) => a + (b - a) * t;
+        private static PointF Lerp(PointF a, PointF b, float t) => new PointF(Lerp(a.X, b.X, t), Lerp(a.Y, b.Y, t));
+
         public MapaDinamicoModel(Form _parent, Panel pnl)
         {
             this.pnlZoomMapa = pnl;
@@ -67,6 +77,16 @@ namespace AgroBase.Models
             pnlZoomMapa.Invalidate();
         }
 
+        public void AlterarTravaRover(bool travar)
+        {
+            if (_travarNoRobo && !travar)
+            {
+                _userPan = _mapOffset;
+            }
+
+            _travarNoRobo = travar;
+        }
+
         private void PnlZoomMapa_MouseUp(object sender, MouseEventArgs e)
         {
             if (e.Button == MouseButtons.Left)
@@ -78,21 +98,23 @@ namespace AgroBase.Models
 
         private void PnlZoomMapa_MouseMove(object sender, MouseEventArgs e)
         {
-            Panel panel1 = (Panel)sender;
+            var panel1 = (Panel)sender;
 
             if (_isDragging)
             {
-                // Calcula o deslocamento do mapa com base no movimento do mouse
-                _mapOffset.X += e.X - _startPoint.X;
-                _mapOffset.Y += e.Y - _startPoint.Y;
+                if (!_travarNoRobo)
+                {
+                    var dx = e.X - _startPoint.X;
+                    var dy = e.Y - _startPoint.Y;
 
-                // Atualiza a posição inicial do mouse
-                _startPoint = e.Location;
+                    _userPan = new PointF(_panStart.X + dx, _panStart.Y + dy);
+                    _mapOffset = _userPan; // feedback imediato
 
-                // Redesenha o panel para refletir o novo deslocamento
-                panel1.Invalidate();
-
-                parent.Cursor = Cursors.Cross;
+                    panel1.Invalidate();
+                    parent.Cursor = Cursors.Cross;
+                }
+                // Se quiser permitir “pan” mesmo com follow ON,
+                // você pode: (a) ignorar, ou (b) desligar o follow ao iniciar o drag.
             }
         }
 
@@ -100,8 +122,16 @@ namespace AgroBase.Models
         {
             if (e.Button == MouseButtons.Left)
             {
+                if (_travarNoRobo)
+                {
+                    // congela a vista atual e desliga follow automaticamente
+                    _userPan = _mapOffset;
+                    _travarNoRobo = false;
+                }
+
                 _isDragging = true;
                 _startPoint = e.Location; // Salva a posição inicial do mouse
+                _panStart = _userPan;  // baseline do pan
                 parent.Cursor = Cursors.Hand;
             }
         }
@@ -122,7 +152,7 @@ namespace AgroBase.Models
             panel1.Invalidate();
         }
 
-        private void PnlZoomMapa_Paint(object sender, PaintEventArgs e)
+        private void PnlZoomMapa_Paint_bkp(object sender, PaintEventArgs e)
         {
             try
             {
@@ -222,6 +252,86 @@ namespace AgroBase.Models
             }
         }
 
+        private void PnlZoomMapa_Paint(object sender, PaintEventArgs e)
+        {
+            try
+            {
+                var panel1 = (Panel)sender;
+                Graphics g = e.Graphics;
+
+                float baseCX = panel1.Width / 2f;
+                float baseCY = panel1.Height / 2f;
+
+                // Centro do robô sem offset (para calcular follow)
+                PointF pCtrNoOffset = LatLonToPanel(_posicaoAtual.Latitude, _posicaoAtual.Longitude, baseCX, baseCY);
+
+                // Offset necessário para centralizar o robô
+                PointF offFollow = new PointF(baseCX - pCtrNoOffset.X, baseCY - pCtrNoOffset.Y);
+
+                if (_travarNoRobo)
+                {
+                    _mapOffset = _suavizarFollow
+                        ? new PointF(
+                            _mapOffset.X + (_followAlpha * (offFollow.X - _mapOffset.X)),
+                            _mapOffset.Y + (_followAlpha * (offFollow.Y - _mapOffset.Y))
+                          )
+                        : offFollow;
+                }
+                else
+                {
+                    // mapa travado: usa o pan do usuário; NÃO recalcula aqui
+                    _mapOffset = _userPan;
+                }
+
+                float centerX = baseCX + _mapOffset.X;
+                float centerY = baseCY + _mapOffset.Y;
+
+                // === desenha tudo usando centerX/centerY ===
+                foreach (var _rua in RuasPlantacao)
+                {
+                    var rua = _rua.Select(x => new PontoTrajetoriaModel(Enums.TipoPontoRua.Indefinido) { Posicao = x }).ToList();
+                    DrawTrajectory(g, rua, centerX, centerY, Color.Blue, Pens.Black);
+                }
+
+                DrawTrajectory(g, TrajetoriaDinamica, centerX, centerY, Color.Purple, Pens.MediumPurple, true);
+                DrawTrajectory(g, TrajetoriaRuaProjetada, centerX, centerY, Color.Green, Pens.Blue);
+
+                var _trajetoriaRobo = TrajetoriaRobo.Select(x => new PontoTrajetoriaModel(Enums.TipoPontoRua.Indefinido) { Posicao = x }).ToList();
+                DrawTrajectory(g, _trajetoriaRobo, centerX, centerY, Color.Orange, Pens.OrangeRed);
+
+                // Centro (ENU->px) e antenas
+                PointF pCtr = LatLonToPanel(_posicaoAtual.Latitude, _posicaoAtual.Longitude, centerX, centerY);
+
+                double latCorr = _posicaoAtual.Latitude;
+                double lonCorr = _posicaoAtual.Longitude;
+                double latBrut = _posicaoAtual.LatitudeAnt;
+                double lonBrut = _posicaoAtual.LongitudeAnt;
+
+                AntenaDiagPx diag = DrawRobotAndAntennaDiagnostics(
+                    g,
+                    pCtr.X, pCtr.Y,
+                    AnguloCarro, // RAD
+                    (lat, lon) => LatLonToPanel(lat, lon, centerX, centerY),
+                    latCorr, lonCorr,
+                    latBrut, lonBrut,
+                    Color.ForestGreen
+                );
+
+                if (TrajetoriaSimuladaMPC != null && TrajetoriaSimuladaMPC.Count > 1)
+                {
+                    var _trajetoriaSimulada = TrajetoriaSimuladaMPC
+                        .Select(x => new PontoTrajetoriaModel(Enums.TipoPontoRua.Indefinido) { Posicao = new GPSModel() { Latitude = x.latitude, Longitude = x.longitude } })
+                        .ToList();
+
+                    var penTracejada = new Pen(Color.LimeGreen, 2) { DashStyle = System.Drawing.Drawing2D.DashStyle.Dash };
+                    DrawTrajectory(g, _trajetoriaSimulada, centerX, centerY, Color.LimeGreen, penTracejada);
+                }
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine("Erro ao atualizar mapa dinamico: " + ex.Message);
+            }
+        }
 
 
         private void DrawTrajectory(Graphics g, List<PontoTrajetoriaModel> trajectory, float centerX, float centerY, Color pointColor, Pen linePen, bool drawMargin = false)
@@ -495,7 +605,7 @@ namespace AgroBase.Models
             float dxPx = dxCm * cmToPx;
             float dyPx = dyCm * cmToPx;
 
-            PointF antenaPrevistaPx = CalcularPontoRotacionado(xCtrPx, yCtrPx, dxPx, -dyPx, angleRad);
+            PointF antenaPrevistaPx = CalcularPontoRotacionado(xCtrPx, yCtrPx, dxPx, dyPx, angleRad);
 
             // --- 5) Antena CORRIGIDA (lat/lon após lever arm) ---
             PointF antenaCorrigidaPx = latlonToPanel(latAntCorr, lonAntCorr);

AgroBase/AgroBase/Models/Modules/DirecionalModel.cs

@@ -287,6 +287,7 @@ namespace AgroBase.Models.Modules
                 }
 
                 UltimaDirecao = Direcao;
+                int mx = Sentido_SP == Sentido.Parado ? 0 : Sentido_SP == Sentido.Antihorario ? -1 : 1;
 
                 if (Sentido_SP == Sentido.Parado)
                 {
@@ -299,7 +300,7 @@ namespace AgroBase.Models.Modules
                 }
                 else
                 {
-                    Angulo_SP = _Controle.Angulo + (FolgaMecanica / 2.0);
+                    Angulo_SP = _Controle.Angulo; // + (FolgaMecanica / 2.0);
                 }
 
                 if (Comandar)
@@ -308,8 +309,6 @@ namespace AgroBase.Models.Modules
                     //Console.WriteLine($"[{Mod_ID}] Angulo Atualizado para {Variaveis.OperacaoEmAndamento.SimulacaoAnguloControle}");
                 }
 
-                int mx = Sentido_SP == Sentido.Antihorario ? -1 : 1;
-
                 Angulo_SP = Math.Abs(Angulo_SP) * mx;
 
                 if (_Simulando)

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -1038,7 +1038,7 @@ namespace AgroBase.Models
 
                         Protocolos = new List<string>()
                         {
-                            _Controle.Direcao.ToString() + ";" + _Controle.RPM_SP.ToString()
+                            _Controle.Direcao.ToString() + ";" + _Controle.RPM_SP.ToString() + ";" + (ForcarEnvio ? "1": "0")
                         };
                         break;
                     }
@@ -1080,7 +1080,7 @@ namespace AgroBase.Models
 
                         Protocolos = new List<string>()
                         {
-                            _Controle.Direcao.ToString() + ";" + _Controle.Angulo.ToString() + ";" + _Controle.TipoMovimento.ToString()
+                            _Controle.Direcao.ToString() + ";" + _Controle.Angulo.ToString() + ";" + _Controle.TipoMovimento.ToString() + ";" + (ForcarEnvio ? "1": "0")
                         };
                         break;
                     }
@@ -1113,7 +1113,7 @@ namespace AgroBase.Models
 
                         Protocolos = new List<string>()
                         {
-                            string.Join(";", _Controle.BicosAtuados.Select(x => x.ComandoAtuar ? "1" : "0"))
+                            string.Join(";", _Controle.BicosAtuados.Select(x => x.ComandoAtuar ? "1" : "0")) + ";" + (ForcarEnvio ? "1": "0")
                         };
                         break;
                     }
@@ -1175,7 +1175,7 @@ namespace AgroBase.Models
             _Controle.TipoMovimento = controleBase.TipoMovimento;
 
             // Enviar comando
-            GeneralJoystick.EnviaComandoMotor(controleBase.Tecla, controleBase.Dispositivo, true);
+            GeneralJoystick.EnviaComandoMotor(controleBase.Tecla, controleBase.Dispositivo, ForcarComando: true);
 
             // Restaurar estado anterior
             _Controle.PercentualVelocidadeSP = oldPercentualVelocidade;
@@ -1889,7 +1889,10 @@ namespace AgroBase.Models
                 PercentualOperacao = _Trajetoria?.PercentualTrajetoria ?? 0, 
                 PercentualRuaAtual = _Trajetoria?.CorredorAtual?.Progresso ?? 0, 
                 IdxRuaAtual = _Trajetoria?.CorredorAtual?.Idx ?? 0,
-                QtdPontos = _Trajetoria?.TrajetoriaFixa?.Count ?? 0
+                QtdPontos = _Trajetoria?.TrajetoriaFixa?.Count ?? 0,
+                DistanciaErroMapaCana = _Trajetoria?.DistanciaErroMapaPlantacao ?? 0,
+                PrimeiroPontoDentroMapa = _Trajetoria?.PrimeiroPontoDentroMapa?.Clone() ?? new GPSModel(),
+                PrimeiroPontoDentroCana = _Trajetoria?.PrimeiroPontoDentroCana?.Clone() ?? new GPSModel(),
             };
 
             var dadosGps = GPSService.UltimaLeitura.Clone();
@@ -2131,6 +2134,10 @@ namespace AgroBase.Models
         public double PercentualRuaAtual { get; set; }
         public int QtdPontos { get; set; }
 
+        public GPSModel PrimeiroPontoDentroMapa { get; set; }
+        public GPSModel PrimeiroPontoDentroCana { get; set; }
+        public double DistanciaErroMapaCana { get; set; }
+
         public OperacaoSensoriamentoLogTrajetoriaModel Clone()
         {
             return new OperacaoSensoriamentoLogTrajetoriaModel()
@@ -2161,7 +2168,10 @@ namespace AgroBase.Models
                 IdxRuaAtual = IdxRuaAtual, 
                 PercentualOperacao = PercentualOperacao, 
                 PercentualRuaAtual = PercentualRuaAtual,
-                QtdPontos = QtdPontos
+                QtdPontos = QtdPontos,
+                PrimeiroPontoDentroCana = PrimeiroPontoDentroCana.Clone(), 
+                PrimeiroPontoDentroMapa = PrimeiroPontoDentroMapa.Clone(),
+                DistanciaErroMapaCana = DistanciaErroMapaCana
             };
         }
     }

AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs

@@ -158,12 +158,14 @@ namespace AgroBase.Models
 
         private int idxInicialJanela = 0;
         private int idxFinalJanela = 0;
-        private void AtualizarIndicesJanela()
+        private void AtualizarIndicesJanela(int qtdPontos = -1)
         {
             if (!_TrajetoriaFixaDefinida) return;
 
-            idxInicialJanela = Math.Max(0, (PontoAtual?.idxPonto ?? 0) - JanelaAtualizacaoDePontos / 2);
-            idxFinalJanela = Math.Min(_TrajetoriaFixa.Count - 1, (PontoAtual?.idxPonto ?? 0) + JanelaAtualizacaoDePontos / 2);
+            if (qtdPontos == -1) qtdPontos = JanelaAtualizacaoDePontos;
+
+            idxInicialJanela = Math.Max(0, (PontoAtual?.idxPonto ?? 0) - qtdPontos / 2);
+            idxFinalJanela = Math.Min(_TrajetoriaFixa.Count - 1, (PontoAtual?.idxPonto ?? 0) + qtdPontos / 2);
         }
 
         [JsonProperty]
@@ -418,6 +420,10 @@ namespace AgroBase.Models
                 {
                     StatusAtual = StatusCarroMapa.Manobrando;
                 }
+                else if (!CorredorAtual.Dentro && PontoAtual.Tipo == TipoPontoRua.Rua && ProximoPonto.Tipo == TipoPontoRua.Rua && ProximoPonto.OrientacaoAtual > 7.0)
+                {
+                    StatusAtual = StatusCarroMapa.Manobrando;
+                }
                 else if (CorredorAtual.Dentro && !NaMargemDoCorredor)
                 {
                     StatusAtual = StatusCarroMapa.CaminhandoRua;
@@ -509,6 +515,33 @@ namespace AgroBase.Models
 
             TempoEstimadoRestante = totalRestante.ToString("HH:mm:ss");
         }
+        [JsonProperty]
+        public double DistanciaErroMapaPlantacao { get; private set; } = -1;
+        public GPSModel PrimeiroPontoDentroMapa = null;
+        public GPSModel PrimeiroPontoDentroCana = null;
+        public void AtualizarDistanciaErroMapaPlantacao()
+        {
+            if (DistanciaErroMapaPlantacao > -1) return;
+            if (CorredorAtual.Idx > 0) return;
+            if (!CorredorAtual.Dentro) return;
+
+            GPSModel posicaoAtual = Variaveis.OperacaoEmAndamento.Sensoriamento.Gps.Clone();
+
+            if (PrimeiroPontoDentroMapa == null) PrimeiroPontoDentroMapa = posicaoAtual;
+
+            var OpVisual = Variaveis.OperacaoEmAndamento.Sensoriamento?.OperadorVisual ?? new VisualWorkerModel();
+            StatusModulo OpVisualStatus = Variaveis.OperacaoEmAndamento.Sensoriamento.ModulosSaude.FirstOrDefault(x => x.modulo == T_Code.Snr)?.status ?? StatusModulo.Desconectado;
+
+            if (OpVisualStatus != StatusModulo.Operante) return;
+
+            var DadosSegmentacao = OpVisual.Analises?.segmentacao ?? new VisualWorkerMessageSegmentacaoSemanticaModel();
+            bool CanaNoRadar = new List<StatusCarroMapa>() { StatusCarroMapa.EntrandoRua, StatusCarroMapa.CaminhandoRua, StatusCarroMapa.SaindoRua }.Contains(DadosSegmentacao.status_corredor);
+            if (!CanaNoRadar) return;
+
+            PrimeiroPontoDentroCana = posicaoAtual;
+
+            DistanciaErroMapaPlantacao = GPSUtils.DistanciaEntrePontos(PrimeiroPontoDentroMapa, PrimeiroPontoDentroCana);
+        }
 
         [JsonProperty]
         public double ErroOrientacaoAngular { get; private set; }
@@ -540,7 +573,7 @@ namespace AgroBase.Models
             double curvaDaRua = GPSUtils.CalcularDiferencaAngulo(anguloProximoPonto, anguloCorredor);
 
             // Peso do desalinhamento atual (prioriza alinhar o robô ao corredor)
-            double pesoAlinhamento = Math.Min(Math.Abs(desalinhamentoComRua) / 30.0, 1.0); // Normaliza até 30°
+            double pesoAlinhamento = Math.Min(Math.Abs(desalinhamentoComRua) / Variaveis.OperacaoEmAndamento.Controle.Angulo_Max, 1.0); // Normaliza até 30°
 
             // Peso do centro (prioriza ir pro ponto central do corredor)
             double pesoCentro = 1.0 - pesoAlinhamento;
@@ -624,6 +657,8 @@ namespace AgroBase.Models
             AtualizarErroCombinado();
 
             AtualizarTrajetoriaDinamica();
+
+            AtualizarDistanciaErroMapaPlantacao();
         }
 
         private void VerificaFimCorredorSegmentacao()
@@ -631,7 +666,8 @@ namespace AgroBase.Models
             if (CorredorAtual == null) return;
 
             bool abrirCurva = true;
-            double limiarDistanciaMargem = 20.0;
+            double limiarDistanciaMargem = DistanciaErroMapaPlantacao > -1 ? DistanciaErroMapaPlantacao : 5.0;
+            double distanciaCorredor = CorredorAtual.DistanciaTotal;
             double distanciaRestanteCorredor = CorredorAtual.DistanciaRestante;
             double distanciaUltimoPontoCorredor = GPSUtils.DistanciaEntrePontos(Variaveis.OperacaoEmAndamento.Sensoriamento.Gps, CorredorAtual.Pontos.LastOrDefault().Posicao);
             var OpVisual = Variaveis.OperacaoEmAndamento.Sensoriamento?.OperadorVisual ?? new VisualWorkerModel();
@@ -665,20 +701,21 @@ namespace AgroBase.Models
                 double ts_agora = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds() / 1000.0;
 
                 if (
-                    ((Variaveis.OperacaoEmAndamento.Simulando || 
-                    (ts_agora - DadosSegmentacao.timestamp < 2.0 && // Ultima analise de segmentacao nos ultimos 2 segundos
-                    PercentualTempoComCana > 0.4 && // Esteve a pelo menos 40% do tempo em movimento com presenca de cana
-                    PercentualTempoSemCana < 0.5))) && // Esteve ate no maximo 50% do tempo em movimento sem presenca de cana)
-                    distanciaRestanteCorredor < limiarDistanciaMargem && // Esta a pelo menos x metros do final do corredor
-                    distanciaUltimoPontoCorredor < limiarDistanciaMargem && // Esta a pelo menos x metros do ultimo ponto do corredor
-                    statusCarro == StatusCarroMapa.Direcionando &&  // Carro esta fora do corredor
-                    statusCarroAnt != statusCarro
+                    (
+                        (Variaveis.OperacaoEmAndamento.Simulando || 
+                        (ts_agora - DadosSegmentacao.timestamp < 2.0 && PercentualTempoComCana > 0.4)) // Esteve a pelo menos 40% do tempo em movimento com presenca de cana e o dado esta atualizado
+                    ) 
+                    && distanciaCorredor >= limiarDistanciaMargem
+                    && distanciaRestanteCorredor < limiarDistanciaMargem // Esta a pelo menos x metros do final do corredor
+                    && distanciaUltimoPontoCorredor < limiarDistanciaMargem // Esta a pelo menos x metros do ultimo ponto do corredor
+                    && statusCarro == StatusCarroMapa.Direcionando // Carro esta fora do corredor
+                    //&& statusCarroAnt != statusCarro
                 )
                 {
                     double anguloControle = Variaveis.OperacaoEmAndamento.Controle.Angulo;
                     if (abrirCurva && !CorredorAtual.Ultimo)
                     {
-                        anguloControle = CorredorAtual.idxRuaDireita % 2 == 0 && CorredorAtual.Pontos.First().Direcao == DirecaoCarroRua.Ida ? Variaveis.OperacaoEmAndamento.Controle.Angulo_Max : Variaveis.OperacaoEmAndamento.Controle.Angulo_Min;
+                        anguloControle = CorredorAtual.idxRuaDireita > CorredorAtual.idxRuaEsquerda ? Variaveis.OperacaoEmAndamento.Controle.Angulo_Min : Variaveis.OperacaoEmAndamento.Controle.Angulo_Max;
                     }
 
                     int pontosMarcar = 0;
@@ -689,8 +726,8 @@ namespace AgroBase.Models
                     }
                     if (!CorredorAtual.Ultimo)
                     {
-                        _TrajetoriaFixa[CorredorAtual.Pontos[CorredorAtual.QtdPontos - 1].idxPonto + 1].Visitado = true;
-                        AtualizarIndicesJanela();
+                        _TrajetoriaFixa[CorredorAtual.Pontos[CorredorAtual.QtdPontos - 1].idxPonto + 1].Visitado = true; // Marca ponto de ligacao de entrada do proximo corredor como visitado
+                        AtualizarIndicesJanela((pontosMarcar + 2) * 2);
                         AtualizarTrajetoriaJanela();
                         DefinirPontoAtual();
                         AtualizarCorredorAtual();
@@ -702,6 +739,7 @@ namespace AgroBase.Models
                         AtualizarTrajetoriaJanela();
 
                         DefinirPontoAtual();
+                        DefinirProximoPonto();
 
                         if (abrirCurva)
                         {
@@ -1087,7 +1125,7 @@ namespace AgroBase.Models
             int idxEsq = 0;
             int idxDir = 0;
 
-            double anguloAcrescentar = idxDir % 2 == 0 && direcaoAtual == DirecaoCarroRua.Ida ? 45 : -45;
+            double anguloAcrescentar = direcaoAtual == DirecaoCarroRua.Ida ? 45 : -45;
 
             for (int idx = 0; idx < Corredores.Count(); idx++) 
             {
@@ -1478,7 +1516,7 @@ namespace AgroBase.Models
                 if (
                     ponto.Visitado && 
                     ponto.NaMargem && 
-                    (ponto.Tipo == Enums.TipoPontoRua.Rua || 
+                    (ponto.Tipo == TipoPontoRua.Rua || 
                         (
                             (ponto.Tipo == TipoPontoRua.BordaEntrada && !ponto.Aproximando) || 
                             (ponto.Tipo == TipoPontoRua.BordaSaida && ponto.Aproximando)
@@ -1491,7 +1529,8 @@ namespace AgroBase.Models
                 }
             }
 
-            DistanciaRestante = DistanciaTotal - DistanciaPercorridaCorredor;
+            //DistanciaRestante = DistanciaTotal - DistanciaPercorridaCorredor;
+            DistanciaRestante = GPSUtils.DistanciaDoTrecho(Pontos.Where(x => !x.Visitado).Select(x => x.Posicao).ToList());
             Progresso = (DistanciaTotal > 0) ? FuncoesMatematicas.Clamp((DistanciaPercorridaCorredor / DistanciaTotal) * 100.0, 0, 100) : 0;
             Concluido = !Pontos.Any(x => !x.Visitado);
         }

AgroBase/AgroBase/Models/Variaveis.cs

@@ -103,6 +103,8 @@ namespace AgroBase.Models
         public static double LarguraDireita { get; } = 44.0; // 22
         public static double ComprimentoFrente { get; } = 7.0; // 7
         public static double ComprimentoTras { get; } = 107.0; // 107
+        public static double LeverArmFrontal { get; } = 1.0;
+        public static double LeverArmLateral { get; } = 0.0;
         public static double DistanciaEntreEixos { get; } = 92.0;
         public static double LarguraEquipamentoMm
         {

AgroBase/AgroBase/Models/VariaveisMonitoramento.cs

@@ -118,6 +118,8 @@ namespace AgroMonitor
         public static readonly object _EquipamentosConectadosLogsLock = new object();
     
         public static bool EnviarDadosEmBroadcast { get; set; } = true;
+        public static double LeverArmFrontal { get; } = 0.0;
+        public static double LeverArmLateral { get; } = 0.58;
 
     }
 }

AgroBase/AgroBase/Services/GPSService.cs

@@ -1,4 +1,5 @@
 using AgroBase.Models;
+using AgroMonitor;
 using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
@@ -114,7 +115,8 @@ namespace AgroBase.Services
                     {
                         Console.WriteLine("Parando correção NTRIP...");
                         CorrecaoRTK_Ntrip = false;
-                    }
+                    },
+                    segsFixEstavel: 120
                 );
                 if (!sucesso)
                 {
@@ -484,39 +486,6 @@ namespace AgroBase.Services
             }
 
             // 2) se já temos origem e um heading válido, aplica lever arm
-            if (UltimaLeitura.EnuOriginSet && false)
-            {
-                // a) antena -> ENU
-                var (xAnt, yAnt) = GeoLeverArm.GeodeticToENU(latitude, longitude, UltimaLeitura.Lat0, UltimaLeitura.Lon0);
-
-                // b) heading atual (rad). Substitua pelo seu campo real!
-                double theta = UltimaLeitura.OrientacaoReal; // 0=N, +horário→L
-
-                // c) offsets (m)
-                double lFwd = (VariaveisEquipamento.ComprimentoTras - VariaveisEquipamento.ComprimentoFrente) / 200.0;
-                double lLeft = (VariaveisEquipamento.LarguraDireita - VariaveisEquipamento.LarguraEsquerda) / 200.0;
-
-                // d) compensação: posição do CENTRO
-                var (xCtr, yCtr) = GeoLeverArm.ApplyLeverArmENU(xAnt, yAnt, theta, lFwd, lLeft);
-
-                // e) opcional: volta para lat/lon
-                var (latCtr, lonCtr) = GeoLeverArm.ENUToGeodetic(xCtr, yCtr, UltimaLeitura.Lat0, UltimaLeitura.Lon0);
-
-                // f) salve os valores corrigidos (sem perder os brutos, se quiser)
-                PenultimaLeitura.X = UltimaLeitura.X;
-                PenultimaLeitura.Y = UltimaLeitura.Y;
-
-                UltimaLeitura.Latitude = latCtr;
-                UltimaLeitura.Longitude = lonCtr;
-                UltimaLeitura.X = xCtr;
-                UltimaLeitura.Y = yCtr;
-
-                // Se o resto do sistema espera lat/lon já compensados, você pode
-                // sobrescrever os campos:
-                // UltimaLeitura.Latitude  = latCtr;
-                // UltimaLeitura.Longitude = lonCtr;
-            }
-        
             if (UltimaLeitura.EnuOriginSet)
             {
                 (double latCor, double lonCorr) = GeoLeverArm.FixLeverArmLatLon_Fast(latitude, longitude, UltimaLeitura.OrientacaoReal);
@@ -1706,8 +1675,8 @@ namespace AgroBase.Services
     public class GeoLeverArm
     {
         const double R = 6378137.0; // WGS84
-        public static double xB = 1.0; // +frente (m)
-        public static double yB = 0.0; // +direita (m)
+        public static double xB = Variaveis.IsAgroMonitor ? VariaveisMonitoramento.LeverArmFrontal : VariaveisEquipamento.LeverArmFrontal; // +frente (m)
+        public static double yB = Variaveis.IsAgroMonitor ? VariaveisMonitoramento.LeverArmLateral : VariaveisEquipamento.LeverArmLateral; // +direita (m)
         public static bool invertHeading = false;
         public static bool mirrorLateral = false;
 

AgroBase/AgroBase/Services/MKS057DCanService.cs

@@ -267,9 +267,14 @@ namespace AgroBase.Services
 
             private void VerificarAnguloZero(MKS057DModel item, bool estadoAnterior)
             {
-                if (item.EntradaIN1.valor != estadoAnterior && item.AnguloPulsos > 5)
+                if (item.EntradaIN1.valor != estadoAnterior && item.EntradaIN1.dt <= 0.5)
                 {
-                    Task.Run(async () => await Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(x => x.DirMotor._EnderecoCAN_Tx == item.EnderecoTx)?.DirMotor?.SetZero());
+                    var driver = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(x => x.DirMotor._EnderecoCAN_Tx == item.EnderecoTx)?.DirMotor;
+                    double tempoUltimaLeituraAngulo = (DateTime.Now - item.NumeroPulsos.lidoEm).TotalSeconds;
+                    if (driver != null && Math.Abs(item.AnguloPulsos) >= driver.FolgaMecanica && tempoUltimaLeituraAngulo <= 1.0)
+                    {
+                        Task.Run(async () => await driver.SetZero());
+                    }
                 }
             }
 

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

@@ -29,5 +29,5 @@
       "top_topics_and_observing_domains": [  ]
    } ],
    "hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642",
-   "next_scheduled_calculation_time": "13404243798816092"
+   "next_scheduled_calculation_time": "13404243798816911"
 }

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

@@ -1,3 +1,3 @@
-2025/10/02-10:29:09.769 2320 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/10/02-10:29:09.777 2320 Recovering log #3
-2025/10/02-10:29:09.780 2320 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/10/03-16:24:55.139 454c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/10/03-16:24:55.151 454c Recovering log #3
+2025/10/03-16:24:55.154 454c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 

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

@@ -1,3 +1,3 @@
-2025/10/02-09:55:01.847 4cb4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
-2025/10/02-09:55:01.856 4cb4 Recovering log #3
-2025/10/02-09:55:01.860 4cb4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 
+2025/10/03-15:22:52.728 6c8c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001
+2025/10/03-15:22:52.737 6c8c Recovering log #3
+2025/10/03-15:22:52.740 6c8c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log 

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

@@ -1 +1 @@
-{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13403971755511605","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":11255},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:678:7800:f48c:982:27a5:3fb2","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}
+{"net":{"http_server_properties":{"servers":[{"alternative_service":[{"advertised_alpns":["h3"],"expiration":"13404079551047360","port":443,"protocol_str":"quic"}],"anonymization":["DAAAAAcAAABmaWxlOi8vAA==",false,0],"network_stats":{"srtt":20632},"server":"https://tile.openstreetmap.org","supports_spdy":true}],"supports_quic":{"address":"2804:d78:678:7800:849d:3e58:2f80:31ae","used_quic":true},"version":5},"network_qualities":{"CAASABiAgICA+P////8B":"4G","CAESABiAgICA+P////8B":"4G","CAISABiAgICA+P////8B":"4G","CAYSABiAgICA+P////8B":"Offline"}}}

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

@@ -1 +1 @@
-{"sts":[{"expiry":1790947754.085631,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1759411754.085639}],"version":2}
+{"sts":[{"expiry":1791055495.553238,"host":"bWGAftl61rqoc0YzqPncsLvQQh/iC2Bdp3ejUeGC83w=","mode":"force-https","sts_include_subdomains":true,"sts_observed":1759519495.553241}],"version":2}

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

@@ -1,3 +1,3 @@
-2025/10/02-10:49:08.501 2320 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/10/02-10:49:08.502 2320 Recovering log #3
-2025/10/02-10:49:08.505 2320 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/10/03-17:36:56.743 454c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/10/03-17:36:56.744 454c Recovering log #3
+2025/10/03-17:36:56.748 454c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 

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

@@ -1,3 +1,3 @@
-2025/10/02-09:59:33.196 4cb4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
-2025/10/02-09:59:33.197 4cb4 Recovering log #3
-2025/10/02-09:59:33.200 4cb4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 
+2025/10/03-15:27:23.007 6c8c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/MANIFEST-000001
+2025/10/03-15:27:23.008 6c8c Recovering log #3
+2025/10/03-15:27:23.011 6c8c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Session Storage/000003.log 

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

@@ -1,3 +1,3 @@
-2025/10/02-10:29:09.700 5528 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/10/02-10:29:09.702 5528 Recovering log #7
-2025/10/02-10:29:09.702 5528 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/10/03-16:24:55.062 55a8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/10/03-16:24:55.064 55a8 Recovering log #7
+2025/10/03-16:24:55.064 55a8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 

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

@@ -1,3 +1,3 @@
-2025/10/02-09:55:01.768 1f58 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
-2025/10/02-09:55:01.770 1f58 Recovering log #7
-2025/10/02-09:55:01.770 1f58 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 
+2025/10/03-15:22:52.657 692c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/MANIFEST-000001
+2025/10/03-15:22:52.660 692c Recovering log #7
+2025/10/03-15:22:52.660 692c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Site Characteristics Database/000007.log 

AgroBase/AgroBase/bin/x64/Debug/Parametros/version_files.vsf

@@ -22,18 +22,18 @@
     "Arquivo": "modelseg",
     "Diretorio": "C:\\AgroBaseModels\\Ruas\\",
     "Extensao": ".blob",
-    "Versao": "1_1",
+    "Versao": "1_2",
     "TipoArquivo": 0,
-    "ArquivoDownload": "models/street_detector_model_seg-1_1.blob",
+    "ArquivoDownload": "models/street_detector_model_seg-1_2.blob",
   },
   {
     "id": 4,
     "Arquivo": "modelseg",
     "Diretorio": "C:\\AgroBaseModels\\Ruas\\",
     "Extensao": ".txt",
-    "Versao": "1_1",
+    "Versao": "1_2",
     "TipoArquivo": 0,
-    "ArquivoDownload": "models/street_detector_labelmap_seg-1_1.txt"
+    "ArquivoDownload": "models/street_detector_labelmap_seg-1_2.txt"
   },
   {
     "id": 5,

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

@@ -17,7 +17,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_9e36f5ca41cb68cc441656f7b2cdf5f4 {
+                #map_8784e4a92e0d8028478529607eb9e44b {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -54,14 +54,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_9e36f5ca41cb68cc441656f7b2cdf5f4" ></div>
+            <div class="folium-map" id="map_8784e4a92e0d8028478529607eb9e44b" ></div>
         
 </body>
 <script>
     
     
-            var map_9e36f5ca41cb68cc441656f7b2cdf5f4 = L.map(
-                "map_9e36f5ca41cb68cc441656f7b2cdf5f4",
+            var map_8784e4a92e0d8028478529607eb9e44b = L.map(
+                "map_8784e4a92e0d8028478529607eb9e44b",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -77,6 +77,26 @@
             
 
         
+    
+            var tile_layer_374e8a38ef77ea5641b5d0b57b400825 = L.tileLayer(
+                "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
+                {
+  "minZoom": 0,
+  "maxZoom": 19,
+  "maxNativeZoom": 19,
+  "noWrap": false,
+  "attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors",
+  "subdomains": "abc",
+  "detectRetina": false,
+  "tms": false,
+  "opacity": 1,
+}
+
+            );
+        
+    
+            tile_layer_374e8a38ef77ea5641b5d0b57b400825.addTo(map_8784e4a92e0d8028478529607eb9e44b);
+        
 </script>
 
     <script>
@@ -96,7 +116,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_9e36f5ca41cb68cc441656f7b2cdf5f4);
+        trajeto_json.addTo(map_8784e4a92e0d8028478529607eb9e44b);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -159,9 +179,9 @@
         
         var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_9e36f5ca41cb68cc441656f7b2cdf5f4);
+        }).addTo(map_8784e4a92e0d8028478529607eb9e44b);
         
-        var marcadorBase = L.marker([0, 0], {}).addTo(map_9e36f5ca41cb68cc441656f7b2cdf5f4);
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_8784e4a92e0d8028478529607eb9e44b);
         var icon = L.AwesomeMarkers.icon(
             {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
         );
@@ -226,7 +246,7 @@
                 }
                 
                 if (foco) {
-                    map_9e36f5ca41cb68cc441656f7b2cdf5f4.setView(novaPosicao, map_9e36f5ca41cb68cc441656f7b2cdf5f4.getZoom());
+                    map_8784e4a92e0d8028478529607eb9e44b.setView(novaPosicao, map_8784e4a92e0d8028478529607eb9e44b.getZoom());
                 }
                 
             }
@@ -248,7 +268,7 @@
             marcadorDinamico.setRotationAngle(angulo);
             
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_9e36f5ca41cb68cc441656f7b2cdf5f4.setView(novaPosicao, map_9e36f5ca41cb68cc441656f7b2cdf5f4.getZoom());*/
+            map_8784e4a92e0d8028478529607eb9e44b.setView(novaPosicao, map_8784e4a92e0d8028478529607eb9e44b.getZoom());*/
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/movimentacao.py

@@ -4,7 +4,7 @@ from shared.contexto_global_redis import ContextoGlobalRedis, CtxKey
 from manager_worker.config import mostrar_log
 from manager_worker.filtros import FiltroVelocidade
 
-def definir_comando(parada_necessaria: bool, frear: bool, erro: bool, filtro_vel: FiltroVelocidade):
+def definir_comando(parada_necessaria: bool, erro: bool, filtro_vel: FiltroVelocidade, erro_orientacao: float = None):
     try:
         _operacao = ContextoGlobalRedis.get_operacao()
         status_operacao = StatusOperacao(_operacao.get("status", StatusOperacao.NaoIniciado.value))
@@ -17,6 +17,7 @@ def definir_comando(parada_necessaria: bool, frear: bool, erro: bool, filtro_vel
         if parada_necessaria:
             mostrar_log("🟥 Movimento parado: direcional sem possibilidade de desvio.")
             frenagem_automatica = ContextoGlobalRedis.get_controle().get("frenagem_automatica", False)
+            frear = False
             deve_frear = frenagem_automatica and frear
             return _montar_comando_retorno(0.0, deve_frear)
         
@@ -47,37 +48,31 @@ def definir_comando(parada_necessaria: bool, frear: bool, erro: bool, filtro_vel
         percentual_ervas_no_radar = (_dados_ww.get("estatisticas", {}).get("erva", {}) or {}).get("ema_global", 0.0)
 
         pontos_min = 3
-        vel_min = 15
+        vel_min = 15.0
         ervas_min_percenet = 0.005 # 5%
         vel_com_ervas = _operacao.get("Mov", {}).get("percent_vel_min", 0)
         vel_sem_ervas = _operacao.get("Mov", {}).get("percent_vel_max", 100)
         ang_max = _operacao.get("Dir", {}).get("angulo_max", 30)
         
         status_carro = StatusCarroMapa.Parado
-        erro = 0
-        manobrando = False
         reduzir_para_pulverizar = False
         pontos_fim_corredor = -1
 
         if op_modo == ModoOperacao.MapaGPS:
             _trajetoria = _contexto.get("Trajetoria", {})
             status_carro = StatusCarroMapa(_trajetoria.get("status", StatusCarroMapa.Parado.value))
-            erro = _trajetoria.get("erro_angular", 0)
-            manobrando = _trajetoria.get("manobrando", False)
+            if erro_orientacao is None: erro_orientacao = _trajetoria.get("erro_angular", 0)
             pontos_fim_corredor = _trajetoria.get("CorredorAtual", {}).get("pontos_restantes", -1)
         elif op_modo == ModoOperacao.MapeamentoVisual:
             status_carro = StatusCarroMapa(_dados_vw.get("segmentacao", {}).get("status_corredor", StatusCarroMapa.Parado.value))
-            erro = _dados_vw.get("segmentacao", {}).get("erro_angular", 0)
+            if erro_orientacao is None: erro_orientacao = _dados_vw.get("segmentacao", {}).get("erro_angular", 0)
 
         velocidade_sp = vel_com_ervas
 
         if status_carro == StatusCarroMapa.Parado:
             velocidade_sp = 0
         elif status_carro == StatusCarroMapa.Direcionando:
-            if manobrando:
-                velocidade_sp = vel_com_ervas
-            else:
-                velocidade_sp = calcular_velocidade_relativa(vel_com_ervas, vel_sem_ervas, ang_max, erro)
+            velocidade_sp = calcular_velocidade_relativa(vel_com_ervas, vel_sem_ervas, ang_max, erro_orientacao, k=0.85, curva=0.8, dead=10.0)
         elif status_carro in [StatusCarroMapa.EntrandoRua, StatusCarroMapa.SaindoRua, StatusCarroMapa.Manobrando]:
             velocidade_sp = min(vel_min, vel_com_ervas)
         elif status_carro == StatusCarroMapa.CaminhandoRua:
@@ -86,7 +81,7 @@ def definir_comando(parada_necessaria: bool, frear: bool, erro: bool, filtro_vel
             if reduzir_para_pulverizar or reduzir_para_manobrar:
                 velocidade_sp = vel_com_ervas
             else:
-                velocidade_sp = calcular_velocidade_relativa(vel_com_ervas, vel_sem_ervas, ang_max, erro)
+                velocidade_sp = calcular_velocidade_relativa(vel_com_ervas, vel_sem_ervas, ang_max, erro_orientacao, k=1.0, curva=0.7, dead=5.0)
         
         # Aplica limites
         velocidade_sp = max(vel_com_ervas, min(vel_sem_ervas, velocidade_sp))
@@ -102,13 +97,28 @@ def definir_comando(parada_necessaria: bool, frear: bool, erro: bool, filtro_vel
     except Exception as e:
         mostrar_log(f"Erro ao definir o comando de movimentacao: {e}")
 
-def calcular_velocidade_relativa(vel_min, vel_max, ang_max, erro_orientacao):
-    erro_orientacao = max(min(ang_max, erro_orientacao), -ang_max)
-    severidade = min(abs(erro_orientacao) / ang_max, 1.0)
-    penalidade = severidade * 0.85
-    faixa = vel_max - vel_min
-    velocidade = vel_max - (faixa * penalidade)
-    return round(velocidade, 2)
+def calcular_velocidade_relativa(vel_min, vel_max, ang_max, erro_orientacao, k=1.0, curva=1.0, dead=0.0):
+    """
+    k     ∈ (0,1]: quanto da faixa reduzir no erro máximo (1.0 → chega em vel_min)
+    curva ≥ 1: 1=linear; >1 derruba mais perto do erro grande; <1 mais suave no início
+    dead  ≥ 0: banda morta em ângulo (sem penalizar até |erro| ≤ dead)
+    """
+    # coerência de unidades: erro e ang_max no MESMO sistema (rad ou deg)
+    e = max(min(erro_orientacao, ang_max), -ang_max)
+
+    # normaliza erro com dead-band
+    if dead > 0:
+        e_eff = max(0.0, abs(e) - dead)
+        denom = max(1e-9, ang_max - dead)
+        s = min(e_eff / denom, 1.0)
+    else:
+        s = min(abs(e) / max(1e-9, ang_max), 1.0)
+
+    s = s**curva  # modela a curvatura da queda
+
+    faixa = max(0.0, vel_max - vel_min)
+    vel = vel_min + (1.0 - k*s) * faixa
+    return round(vel, 2)
 
 def _montar_comando_retorno(velocidade_sp: float, frear: bool):
     return {

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/mpc.py

@@ -1303,7 +1303,9 @@ class ControladorMPC:
                     tipo_final = TipoMovimentoDirecional.RodasDianteiras
                     simulacao_latlon = []
 
-            erro_lateral = self.cross_track_error_point(x, y)[0]
+            ponto_alvo_primario = self.pontos_info[idx_alvo_correcao]["xy"]
+            erro_lateral, _, _, _, theta_path, _ = self.cross_track_error_point(x, y)
+            _, erro_orientacao = self._calcula_erro_orientacao(x, y, theta, ponto_alvo_primario, theta_path, 0.5)
             
             _cmd = {
                 "enviar_comando": True,
@@ -1314,6 +1316,7 @@ class ControladorMPC:
                 "tipo": tipo_final.value,
                 "simulacao": simulacao_latlon,
                 "erro_lateral": erro_lateral,
+                "erro_orientacao": erro_orientacao,
                 "debug_custo": debug_custo
             }
 

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/processadores/_4_em_andamento.py

@@ -9,7 +9,7 @@ from manager_worker.modulos.movimentacao import definir_comando as definir_coman
 
 class ProcessadorEmAndamento(ProcessadorBase):
     def __init__(self):
-        self.filtro_mov = FiltroVelocidade()
+        self.filtro_mov = FiltroVelocidade(alpha=0.7)
         ang_max = ContextoGlobalRedis.get_controle().get("angulo_max", 30)
         self.pid_dir = PIDAdaptativo(
             kp_base=0.55,
@@ -31,7 +31,9 @@ class ProcessadorEmAndamento(ProcessadorBase):
             comando_dir = definir_comando_dir(self.pid_dir, envio_necessario)
             if comando_dir.get("enviar_comando", False):
                 self.ultimo_comando_enviado = agora
-                comando_mov = definir_comando_mov(comando_dir.get("parada_necessaria", False), comando_dir.get("frear", False), comando_dir.get("erro", False), self.filtro_mov)
+                custos = comando_dir.get("debug_custo", {})
+                e_ori = custos.get(f"{comando_dir['tipo']}_{comando_dir['angulo']:.2f}", {}).get("erro_orientacao", None) or None
+                comando_mov = definir_comando_mov(comando_dir.get("parada_necessaria", False), comando_dir.get("erro", False), self.filtro_mov, erro_orientacao=e_ori)
                 return comando_controle(
                     percentual_velocidade=comando_mov.get("velocidade"), 
                     frear=comando_mov.get("frear", False), 

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

@@ -78,8 +78,8 @@ def load_seg_config(force_reload=False):
             "ia_resolution": [512,288],
             "det_every_n": 1,
         }
-        _CONFIG_CACHE["ia_model_path"] = ContextoGlobalRedis.get_equipamento().get("path_ia_model_ruas_seg", "C:/AgroBaseModels/Ruas/model-1_1.blob")
-        _CONFIG_CACHE["ia_labelmap_path"] = ContextoGlobalRedis.get_equipamento().get("path_ia_labelmap_ruas_seg", "C:/AgroBaseModels/Ruas/model-1_1.txt")
+        _CONFIG_CACHE["ia_model_path"] = ContextoGlobalRedis.get_equipamento().get("path_ia_model_ruas_seg")
+        _CONFIG_CACHE["ia_labelmap_path"] = ContextoGlobalRedis.get_equipamento().get("path_ia_labelmap_ruas_seg")
 
     return _CONFIG_CACHE
 

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

@@ -445,7 +445,7 @@ class CostmapFuser:
                     st["latched"] = False
 
                 decision.update({
-                    "parar": bool(st["latched"]),
+                    "parar": False, # bool(st["latched"]),
                     "v_max_sugerida_mps": v_max_sug,
                     "frames_on": int(st["on"]),
                     "frames_off": int(st["off"])

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

@@ -38,14 +38,24 @@ class SegmentacaoManager:
         self._ema_lat = None
         self._ema_alpha_ang = 0.25   # suavização do ângulo (0..1)
         self._ema_alpha_lat = 0.25   # suavização do lateral (0..1)
-        self._status_hist = deque(maxlen=7)  # maioria em 7 frames
         self._prev_cx = None
+        
+        max_len = None
+        janela_s = 1.5
+        fps_esperado = 10.0
+        # janela temporal para a MAIORIA
+        self.janela_s = float(janela_s)
+        # tamanho máximo da deque (fallback se o FPS variar)
+        self.max_len = max_len or int(self.janela_s * fps_esperado * 1.5)
+        self._status_hist = deque(maxlen=self.max_len)
+
+        # histerese por banda
         self._has_top_prev = False
         self._has_bot_prev = False
-        self._thr_top_on  = 0.03   # 3% para ligar (ajuste fino depois)
-        self._thr_top_off = 0.02   # 2% para desligar (histerese)
-        self._thr_bot_on  = 0.03
-        self._thr_bot_off = 0.02
+        self._thr_top_on  = 0.20
+        self._thr_top_off = 0.10
+        self._thr_bot_on  = 0.20
+        self._thr_bot_off = 0.10
 
     def _segmentar_predictions(self, predictions):
         try:
@@ -150,44 +160,59 @@ class SegmentacaoManager:
 
 
 
-    def _bool_hysteresis(self, prev: bool, x: float, thr_on: float, thr_off: float) -> bool:
-        """
-        Histerese booleana: se estava False, liga só se x > thr_on;
-        se estava True, só desliga se x < thr_off.
-        """
-        if prev:
-            return x >= thr_off
-        else:
-            return x >= thr_on
+    @staticmethod
+    def _now():
+        # monotonic evita saltos de relógio
+        return time.monotonic()
 
-    def _classificar_status_por_cana(self, mask_cana: np.ndarray, mask_main, near_is_bottom: bool = True):
-        """
-        Aplica a tua regra baseada **apenas** na presença de CANA
-        nas metades da imagem.
-        """
+    def _bool_hysteresis(self, prev: bool, x: float, thr_on: float, thr_off: float) -> bool:
+        return (x >= (thr_off if prev else thr_on))
+
+    def _maioria_ultimos(self, janela_s: float | None = None) -> StatusCarroMapa:
+        """Maioria ponderada pelos últimos 'janela_s' segundos.
+        Se 'janela_s' None → usa self.janela_s."""
+        J = self.janela_s if janela_s is None else float(janela_s)
+        t_now = self._now()
+
+        # 1) limpa itens FORA da janela
+        while self._status_hist and (t_now - self._status_hist[0][1] > J):
+            self._status_hist.popleft()
+
+        if not self._status_hist:
+            # fallback razoável
+            return StatusCarroMapa.Direcionando
+
+        # 2) maioria simples (pode trocar por peso exponencial se quiser)
+        cont = {}
+        for st, _t in self._status_hist:
+            cont[st] = cont.get(st, 0) + 1
+
+        # regra de desempate: prioriza estado mais recente em caso de empate
+        top_freq = max(cont.values())
+        empatados = [st for st, c in cont.items() if c == top_freq]
+        if len(empatados) == 1:
+            return empatados[0]
+        else:
+            # desempata olhando do fim pro início (mais recente primeiro)
+            for st, _t in reversed(self._status_hist):
+                if st in empatados:
+                    return st
+
+    def classificar_por_cana(self, mask_cana, mask_main=None, near_is_bottom=True):
         H, W = mask_cana.shape
         mid = H // 2
-
-        if near_is_bottom:
-            # parte "de baixo" = perto do robô
-            bottom = mask_cana[mid:, :]
-            top    = mask_cana[:mid, :]
-        else:
-            # se tua convenção um dia inverter, estamos prontos
-            bottom = mask_cana[:mid, :]
-            top    = mask_cana[mid:, :]
+        bottom = mask_cana[mid:, :] if near_is_bottom else mask_cana[:mid, :]
+        top    = mask_cana[:mid, :] if near_is_bottom else mask_cana[mid:, :]
 
         area_top = top.size
         area_bot = bottom.size
         p_top = float(top.sum()) / max(1, area_top)
         p_bot = float(bottom.sum()) / max(1, area_bot)
 
-        # histerese por banda
         has_top = self._bool_hysteresis(self._has_top_prev, p_top, self._thr_top_on, self._thr_top_off)
         has_bot = self._bool_hysteresis(self._has_bot_prev, p_bot, self._thr_bot_on, self._thr_bot_off)
         self._has_top_prev, self._has_bot_prev = has_top, has_bot
 
-        # classificação instantânea pela tua definição
         if not has_top and not has_bot:
             status_now = StatusCarroMapa.Direcionando
         elif has_top and not has_bot:
@@ -197,16 +222,13 @@ class SegmentacaoManager:
         else:
             status_now = StatusCarroMapa.CaminhandoRua
 
-        # persistência temporal (maioria)
-        self._status_hist.append(status_now)
-        status_final = max(set(self._status_hist), key=self._status_hist.count)
-
-        # (opcional) se quiser um “gate” extra pra não dizer CaminhandoRua quando a “rua” ocupa quase tudo:
-        mask_cover = np.mean(mask_main)  # fração de pixels True em mask_main
-        if status_final == StatusCarroMapa.CaminhandoRua and mask_cover > 0.90:
-            status_final = StatusCarroMapa.Direcionando
+        # empilha (status, timestamp)
+        self._status_hist.append((status_now, self._now()))
 
+        status_final = self._maioria_ultimos()  # maioria na janela fixa
         return status_now, status_final, p_top, p_bot, has_top, has_bot
+    
+
 
     def _extrair_corredor_principal(self, mask_classes):
         H, W = mask_classes.shape
@@ -407,47 +429,11 @@ class SegmentacaoManager:
         # máscara do "corredor principal" (telemetria/ângulo); pode vir vazia
         mask_main = self._extrair_corredor_principal(self.predictions).astype(bool)
         # opcional (se ainda usar em outros pontos)
-        # mask_cana = (self.predictions == ClassesSegmentacao.CANA.value)
+        mask_cana = (self.predictions == ClassesSegmentacao.CANA.value)
 
         # --- score de corredor por grid (robusto) ---
         score, centers_col, left_col, right_col, valid_row = self._corridor_score_grid(self.predictions)
 
-        # tercis: perto/meio/longe (respeita near_is_bottom)
-        rows = int(len(valid_row))
-        k = max(1, rows // 3)
-        if near_is_bottom:
-            near_ok = float(valid_row[:k].mean())          # base
-            mid_ok  = float(valid_row[k:2*k].mean())
-            far_ok  = float(valid_row[2*k:].mean())        # topo
-        else:
-            # câmera invertida: "perto" está em cima
-            near_ok = float(valid_row[2*k:].mean())
-            mid_ok  = float(valid_row[k:2*k].mean())
-            far_ok  = float(valid_row[:k].mean())
-
-        # --- histerese espacial (liga/desliga) ---
-        TH_ON, TH_OFF = 0.60, 0.50
-
-        def _hyst(prev: bool, x: float, on: float, off: float) -> bool:
-            # liga em 'on', desliga em 'off' (off < on)
-            return (x >= off) if prev else (x >= on)
-
-        has_near_prev = getattr(self, "_h_near", False)
-        has_far_prev  = getattr(self, "_h_far", False)
-        has_near = _hyst(has_near_prev, near_ok, TH_ON, TH_OFF)
-        has_far  = _hyst(has_far_prev,  far_ok,  TH_ON, TH_OFF)
-        self._h_near, self._h_far = has_near, has_far
-
-        # --- status bruto (regra clara) ---
-        if not has_near and not has_far:
-            status_now = StatusCarroMapa.Direcionando
-        elif has_far and not has_near:
-            status_now = StatusCarroMapa.EntrandoRua         # corredor aparece “longe” primeiro
-        elif has_near and not has_far:
-            status_now = StatusCarroMapa.SaindoRua           # corredor some “longe” e só fica perto
-        else:
-            status_now = StatusCarroMapa.CaminhandoRua
-
         # --- scanlines para centro/ângulo (telemetria) ---
         ys = self._get_scanlines_y(H, grid_rows_y_px, near_is_bottom)
         centros, larguras = [], []
@@ -535,12 +521,7 @@ class SegmentacaoManager:
             self._ema_lat = (1 - self._ema_alpha_lat) * self._ema_lat + self._ema_alpha_lat * float(erro_lateral_pct)
         lat_out = round(float(self._ema_lat), 3)
 
-        # --- Persistência temporal (maioria em N frames) ---
-        # self._status_hist é um deque(maxlen=N) inicializado no __init__
-        self._status_hist.append(status_now)
-        # maioria absoluta simples
-        status_final = max(set(self._status_hist), key=self._status_hist.count)
-        self._last_status = status_final
+        status_now, status_final, p_top, p_bot, has_top, has_bot = self.classificar_por_cana(mask_cana, mask_main)
 
         return {
             "timestamp": time.time(),

Python/OAK/datasets/_10_convert_fastscnn.py

@@ -17,15 +17,15 @@ model_path = os.path.join(MODELO, "backup", config["modelo"], MODEL_NAME)
 labelmap_path = os.path.join(MODELO, "dataset", "labelmap.txt")
 model_name = ""
 if model_to_use == "geral":
-    model_name = f"{MODEL_NAME}_best.pth"
+    model_name = f"{MODEL_NAME}_best"
 elif model_to_use == "main_class":
     MAIN_CLASS_NAME = config["main_class_name"]
-    model_name = f"{MODEL_NAME}_best_f1_{MAIN_CLASS_NAME}.pth"
+    model_name = f"{MODEL_NAME}_best_f1_{MAIN_CLASS_NAME}"
 elif model_to_use == "es":
     ES_CLASSES_NAME = config["es_classes"]
-    model_name = f"{MODEL_NAME}_best_es_{ES_CLASSES_NAME}.pth"
+    model_name = f"{MODEL_NAME}_best_es_{ES_CLASSES_NAME}"
 else:
-    model_name = f"{MODEL_NAME}_best.pth"
+    model_name = f"{MODEL_NAME}_best"
 
 dummy_input = torch.randn(1, 3, RESOLUCAO[1], RESOLUCAO[0])  # (batch, channels, height, width)
 
@@ -33,7 +33,7 @@ _, _, classes, _ = carregar_labelmap_completo(labelmap_path)
 NUM_CLASSES = len(classes)
 
 base = FastSCNNWithNorm(num_classes=NUM_CLASSES, to_rgb=True)  # ajuste num_classes conforme seu labelmap
-base.backbone.load_state_dict(torch.load(os.path.join(model_path, model_name), map_location="cpu"))
+base.backbone.load_state_dict(torch.load(os.path.join(model_path, f"{model_name}.pth"), map_location="cpu"))
 base.eval()
 
 torch.onnx.export(

Python/OAK/datasets/_11_test_oak_onboard.py

@@ -21,17 +21,17 @@ labelmap_path = os.path.join(MODELO, "dataset", "labelmap.txt")
 model_path = os.path.join(MODELO, "backup", config["modelo"], MODEL_NAME)
 model_name = ""
 if model_to_use == "geral":
-    model_name = f"{MODEL_NAME}_best.pth"
+    model_name = f"{MODEL_NAME}_best"
 elif model_to_use == "main_class":
     MAIN_CLASS_NAME = config["main_class_name"]
-    model_name = f"{MODEL_NAME}_best_f1_{MAIN_CLASS_NAME}.pth"
+    model_name = f"{MODEL_NAME}_best_f1_{MAIN_CLASS_NAME}"
 elif model_to_use == "es":
     ES_CLASSES_NAME = config["es_classes"]
-    model_name = f"{MODEL_NAME}_best_es_{ES_CLASSES_NAME}.pth"
+    model_name = f"{MODEL_NAME}_best_es_{ES_CLASSES_NAME}"
 else:
-    model_name = f"{MODEL_NAME}_best.pth"
+    model_name = f"{MODEL_NAME}_best"
 
-blob_path = os.path.join(model_path, f"{model_name.replace(".pth", "")}_openvino_2022.1_{SHAVES}shave.blob")
+blob_path = os.path.join(model_path, f"{model_name}_openvino_2022.1_{SHAVES}shave.blob")
 
 # Carregar mapa de cores
 _, colormap_rgb, classes, ignore_rgb = carregar_labelmap_completo(labelmap_path)

Python/OAK/datasets/_3_adjust_ignore_class.py

@@ -1,18 +1,27 @@
+import json
 import os
 import cv2
 import numpy as np
 
-# Configurações
-MODELO = "oak-1"
+# ⚙️ Configurações
+with open("config.json", "r") as f:
+    config = json.load(f)
+MODELO = config["camera"]
+
 pasta_mascaras = os.path.join(MODELO, "dataset", "original", "masks")
 
 # Regras de substituição (cores em RGB)
 # Exemplo: trocar (255, 0, 0) por branco (255,255,255) com tolerância 10
 SUBSTITUICOES = [
     #{"target_rgb": (255, 255, 255), "tolerancia": 10, "replace_rgb": (128, 0, 0)},  # branco -> vermelho
+    
+    #{"target_rgb": (128, 0, 0), "tolerancia": 50, "replace_rgb": (128, 0, 0)},    # chao
+    #{"target_rgb": (0, 128, 0), "tolerancia": 50, "replace_rgb": (0, 128, 0)},    # erva
+    #{"target_rgb": (0, 0, 128), "tolerancia": 50, "replace_rgb": (0, 0, 128)},    # cana
+
     {"target_rgb": (128, 0, 0), "tolerancia": 50, "replace_rgb": (128, 0, 0)},    # chao
-    {"target_rgb": (0, 128, 0), "tolerancia": 50, "replace_rgb": (0, 128, 0)},    # erva
-    {"target_rgb": (0, 0, 128), "tolerancia": 50, "replace_rgb": (0, 0, 128)},    # cana
+    {"target_rgb": (0, 128, 0), "tolerancia": 50, "replace_rgb": (0, 128, 0)},    # cana
+    {"target_rgb": (0, 0, 128), "tolerancia": 50, "replace_rgb": (0, 0, 128)},    # obstaculo
 ]
 
 def aplicar_substituicoes(img_bgr):

Python/OAK/datasets/config.json

@@ -1,12 +1,12 @@
 {
-    "camera": "oak-1",
+    "camera": "oak-d",
     "modelo": "fast_scnn",
-    "model_name": "ervas_res",
-    "main_class_name": "erva", 
-    "es_classes": "harmonic_erva_cana", 
+    "model_name": "cana_res_new",
+    "main_class_name": "cana", 
+    "es_classes": "harmonic_cana_chao", 
     "model_to_use": "es",
-    "resolucao": [1280, 720], 
+    "resolucao": [512, 288], 
     "roi_inicio": 0.0,
     "roi_tamanho": 1.0,
-    "shaves": 6
+    "shaves": 3
 }

Python/OAK/datasets/manifest.csv

@@ -1,6 +1,462 @@
 src_image,src_mask,dst_image,dst_mask,grupo
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-oak-1\dataset\original\images\40_rgb.jpeg,oak-1\dataset\original\masks\40_rgb.png,oak-1\dataset\original\group\chao_erva\images\40_rgb.jpeg,oak-1\dataset\original\group\chao_erva\masks\40_rgb.png,chao_erva
-oak-1\dataset\original\images\40_rgb__1.jpeg,oak-1\dataset\original\masks\40_rgb__1.png,oak-1\dataset\original\group\chao_erva\images\40_rgb__1.jpeg,oak-1\dataset\original\group\chao_erva\masks\40_rgb__1.png,chao_erva
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+oak-d\dataset\original\images\img_20250701_120015_183.jpg,oak-d\dataset\original\masks\img_20250701_120015_183.png,oak-d\dataset\original\group\chao_cana\images\img_20250701_120015_183.jpg,oak-d\dataset\original\group\chao_cana\masks\img_20250701_120015_183.png,chao_cana
+oak-d\dataset\original\images\img_20250701_120040_212.jpg,oak-d\dataset\original\masks\img_20250701_120040_212.png,oak-d\dataset\original\group\chao_cana\images\img_20250701_120040_212.jpg,oak-d\dataset\original\group\chao_cana\masks\img_20250701_120040_212.png,chao_cana
+oak-d\dataset\original\images\img_20250701_120521_112.jpg,oak-d\dataset\original\masks\img_20250701_120521_112.png,oak-d\dataset\original\group\chao_cana_obstaculo\images\img_20250701_120521_112.jpg,oak-d\dataset\original\group\chao_cana_obstaculo\masks\img_20250701_120521_112.png,chao_cana_obstaculo
+oak-d\dataset\original\images\img_20250701_120523_167.jpg,oak-d\dataset\original\masks\img_20250701_120523_167.png,oak-d\dataset\original\group\chao_cana_obstaculo\images\img_20250701_120523_167.jpg,oak-d\dataset\original\group\chao_cana_obstaculo\masks\img_20250701_120523_167.png,chao_cana_obstaculo
+oak-d\dataset\original\images\img_20250701_120525_227.jpg,oak-d\dataset\original\masks\img_20250701_120525_227.png,oak-d\dataset\original\group\chao_cana_obstaculo\images\img_20250701_120525_227.jpg,oak-d\dataset\original\group\chao_cana_obstaculo\masks\img_20250701_120525_227.png,chao_cana_obstaculo
+oak-d\dataset\original\images\img_20250701_120527_346.jpg,oak-d\dataset\original\masks\img_20250701_120527_346.png,oak-d\dataset\original\group\chao_cana_obstaculo\images\img_20250701_120527_346.jpg,oak-d\dataset\original\group\chao_cana_obstaculo\masks\img_20250701_120527_346.png,chao_cana_obstaculo
+oak-d\dataset\original\images\img_20250701_120529_411.jpg,oak-d\dataset\original\masks\img_20250701_120529_411.png,oak-d\dataset\original\group\chao_obstaculo\images\img_20250701_120529_411.jpg,oak-d\dataset\original\group\chao_obstaculo\masks\img_20250701_120529_411.png,chao_obstaculo
+oak-d\dataset\original\images\img_20250701_120531_514.jpg,oak-d\dataset\original\masks\img_20250701_120531_514.png,oak-d\dataset\original\group\chao_obstaculo\images\img_20250701_120531_514.jpg,oak-d\dataset\original\group\chao_obstaculo\masks\img_20250701_120531_514.png,chao_obstaculo
+oak-d\dataset\original\images\img_20250701_120533_593.jpg,oak-d\dataset\original\masks\img_20250701_120533_593.png,oak-d\dataset\original\group\chao_obstaculo\images\img_20250701_120533_593.jpg,oak-d\dataset\original\group\chao_obstaculo\masks\img_20250701_120533_593.png,chao_obstaculo
+oak-d\dataset\original\images\img_20250701_120535_691.jpg,oak-d\dataset\original\masks\img_20250701_120535_691.png,oak-d\dataset\original\group\chao_obstaculo\images\img_20250701_120535_691.jpg,oak-d\dataset\original\group\chao_obstaculo\masks\img_20250701_120535_691.png,chao_obstaculo
+oak-d\dataset\original\images\img_20250701_120537_790.jpg,oak-d\dataset\original\masks\img_20250701_120537_790.png,oak-d\dataset\original\group\chao_obstaculo\images\img_20250701_120537_790.jpg,oak-d\dataset\original\group\chao_obstaculo\masks\img_20250701_120537_790.png,chao_obstaculo
+oak-d\dataset\original\images\img_20250701_120539_851.jpg,oak-d\dataset\original\masks\img_20250701_120539_851.png,oak-d\dataset\original\group\chao_obstaculo\images\img_20250701_120539_851.jpg,oak-d\dataset\original\group\chao_obstaculo\masks\img_20250701_120539_851.png,chao_obstaculo
+oak-d\dataset\original\images\img_20250701_120548_169.jpg,oak-d\dataset\original\masks\img_20250701_120548_169.jpg,oak-d\dataset\original\group\chao_cana\images\img_20250701_120548_169.jpg,oak-d\dataset\original\group\chao_cana\masks\img_20250701_120548_169.jpg,chao_cana
+oak-d\dataset\original\images\img_20250701_120550_270.jpg,oak-d\dataset\original\masks\img_20250701_120550_270.jpg,oak-d\dataset\original\group\chao_cana_obstaculo\images\img_20250701_120550_270.jpg,oak-d\dataset\original\group\chao_cana_obstaculo\masks\img_20250701_120550_270.jpg,chao_cana_obstaculo
+oak-d\dataset\original\images\img_20250701_120552_321.jpg,oak-d\dataset\original\masks\img_20250701_120552_321.png,oak-d\dataset\original\group\chao_cana_obstaculo\images\img_20250701_120552_321.jpg,oak-d\dataset\original\group\chao_cana_obstaculo\masks\img_20250701_120552_321.png,chao_cana_obstaculo
+oak-d\dataset\original\images\img_20250701_120554_394.jpg,oak-d\dataset\original\masks\img_20250701_120554_394.png,oak-d\dataset\original\group\chao_cana_obstaculo\images\img_20250701_120554_394.jpg,oak-d\dataset\original\group\chao_cana_obstaculo\masks\img_20250701_120554_394.png,chao_cana_obstaculo

Python/OAK/datasets/oak-d/labelmap.txt

@@ -1,5 +1,5 @@
 # label:color_rgb:parts:actions
-rua:150,0,0::
-cana:0,129,0::
-obstaculo:0,0,132::
+cana:0,128,0::
+obstaculo:0,0,128::
+chao:128,0,0::
 ignore:255,255,255::