permitida troca da cabeca de pulverizacao em tempo real atraves de parametro, confirmado com timeout o envio dos novos dados do mapa para o redis

AgroBase/AgroBase/Models/Enums.cs

@@ -381,5 +381,13 @@
             PID = 1
         }
 
+        public enum CabecasModelo
+        {
+            Target = 0,
+            Vegetation = 1,
+            Cana = 2,
+            Segmentation = 3,
+        }
+
     }
 }

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -527,7 +527,9 @@ namespace AgroBase.Models
                         AtuPercentualInicioPulverizacao = 85,
                         AtuPressaoLinha = 18,
                         AtuAgitadorModo = ModoAgitadorCalda.SemAgitacao,
-                        AtuModoControle = ModoControleBomba.PID
+                        AtuModoControle = ModoControleBomba.PID,
+                        AtuModeloCabeca = CabecasModelo.Target,
+                        AtuClasseAlvo = "erva"
                     };
                     op.Parametros.ModulosMandatorios.AddRange(new List<OperacaoModulosMandatoriosModel>()
                     {
@@ -640,6 +642,8 @@ namespace AgroBase.Models
                         AtuPressaoLinha = 18,
                         AtuAgitadorModo = ModoAgitadorCalda.Continuo,
                         AtuModoControle = ModoControleBomba.PID,
+                        AtuModeloCabeca = CabecasModelo.Target,
+                        AtuClasseAlvo = "erva"
                     };
                     op.Parametros.ModulosMandatorios.AddRange(new List<OperacaoModulosMandatoriosModel>()
                     {
@@ -782,6 +786,8 @@ namespace AgroBase.Models
                         AtuPressaoLinha = 18,
                         AtuAgitadorModo = ModoAgitadorCalda.SemAgitacao,
                         AtuModoControle = ModoControleBomba.PID,
+                        AtuModeloCabeca = CabecasModelo.Target,
+                        AtuClasseAlvo = "erva"
                     };
                     op.Parametros.ModulosMandatorios.AddRange(new List<OperacaoModulosMandatoriosModel>()
                     {
@@ -922,6 +928,8 @@ namespace AgroBase.Models
                         AtuPressaoLinha = 18,
                         AtuAgitadorModo = ModoAgitadorCalda.SemAgitacao,
                         AtuModoControle = ModoControleBomba.PID,
+                        AtuModeloCabeca = CabecasModelo.Target,
+                        AtuClasseAlvo = "erva"
                     };
                     op.Parametros.ModulosMandatorios.AddRange(new List<OperacaoModulosMandatoriosModel>()
                     {
@@ -1022,6 +1030,8 @@ namespace AgroBase.Models
                         AtuPressaoLinha = 18,
                         AtuAgitadorModo = ModoAgitadorCalda.SemAgitacao,
                         AtuModoControle = ModoControleBomba.PID,
+                        AtuModeloCabeca = CabecasModelo.Target,
+                        AtuClasseAlvo = "erva"
                     };
                     op.Parametros.ModulosMandatorios.AddRange(new List<OperacaoModulosMandatoriosModel>()
                     {

AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs

@@ -549,6 +549,34 @@ namespace AgroBase.Models.Operacoes
             }
         }
 
+        private CabecasModelo _atuModeloCabeca;
+        public CabecasModelo AtuModeloCabeca
+        {
+            get => _atuModeloCabeca;
+            set
+            {
+                if (_atuModeloCabeca != value)
+                {
+                    _atuModeloCabeca = value;
+                    OnPropertyChanged(nameof(AtuModeloCabeca));
+                }
+            }
+        }
+
+        private string _atuClasseAlvo;
+        public string AtuClasseAlvo
+        {
+            get => _atuClasseAlvo;
+            set
+            {
+                if (_atuClasseAlvo != value)
+                {
+                    _atuClasseAlvo = value;
+                    OnPropertyChanged(nameof(AtuClasseAlvo));
+                }
+            }
+        }
+
         private bool _movAuxilioSonar;
         public bool MovAuxilioSonar
         {

AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs

@@ -1014,8 +1014,6 @@ namespace AgroBase.Models
 
                 double distanciaUltimoPonto = GPSUtils.DistanciaEntrePontos(_posicaoAtual, ultimoPonto.Posicao);
 
-                //int idxCorredorDentro = VerificaEquipamentoDentroCorredor(_posicaoAtual);
-
                 if (!double.IsNaN(distanciaUltimoPonto) && !double.IsInfinity(distanciaUltimoPonto) && distanciaUltimoPonto < 5.0)
                 {
                     msg = $"Início no meio da rua ignorado: robô está a {distanciaUltimoPonto:0.00}m do fim. Nova operação começará do zero.";
@@ -1028,6 +1026,7 @@ namespace AgroBase.Models
                 (bool noCoredor, var idxPontoMaisProximo) = VerificaEquipamentoDentroCorredorMontado(_posicaoAtual);
                 if (noCoredor && idxPontoMaisProximo >= 0 && idxPontoMaisProximo < _TrajetoriaFixa.Count)
                 {
+                    int idxCorredorDentro = VerificaEquipamentoDentroCorredor(_posicaoAtual);
                     for (int i = 0; i <= idxPontoMaisProximo; i++)
                     {
                         _TrajetoriaFixa[i].Visitado = true;
@@ -2289,6 +2288,22 @@ namespace AgroBase.Models
                 if (!PontoInicialAdicionado)
                 {
                     _trajetoriaFixa.Add(PontoInicial);
+                    if (false)
+                    {
+                        GPSModel SegundoPonto = GPSUtils.ProjetarPontoDeslocado(CorredorAtual.FirstOrDefault(), (VariaveisEquipamento.DistanciaEntreBicosCm / 100.0 / 2.0), anguloProjetar1);
+                        PontoTrajetoriaModel PontoSecundario = new PontoTrajetoriaModel(TipoPontoRua.LigacaoEntrada)
+                        {
+                            idxCorredor = idx,
+                            idxPonto = _trajetoriaFixa.Count(),
+                            idxPontoCorredor = _trajetoriaFixa.Count(x => x.idxCorredor == idx),
+                            Posicao = SegundoPonto,
+                            Direcao = direcaoAtual,
+                            Orientacao = GPSUtils.CalcularOrientacao(ultimoPontoTrajetoria.Posicao, SegundoPonto),
+                            Visitado = false,
+                            LarguraCorredor = larguraCorredorMenor
+                        };
+                        _trajetoriaFixa.Add(PontoSecundario);
+                    }
                 }
 
                 foreach (GPSModel pontoAtual in CorredorAtual)
@@ -2399,6 +2414,8 @@ namespace AgroBase.Models
 
             AutonomiaCorredor.Iniciar();
 
+            VerificacaoInicialMeioRuaConcluida = false;
+
             AtualizarDadosTrajetoria();
 
             LoopAtualizaDados();

AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs

@@ -4,6 +4,7 @@ using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using System.Threading;
 using System.Threading.Tasks;
 using static AgroBase.Models.Enums;
 using static AgroBase.Models.Operadores.OperadoresModels;
@@ -303,6 +304,7 @@ namespace AgroBase.Services.Operadores
 
                 RedisService.AtualizarCampos(
                     CtxKey.DadosOperacao,
+                    ("id", op.ID ?? ""),
                     ("configurado", true),
                     ("modo", op.Parametros?.Modo ?? ModoOperacao.NaoDefinido),
                     ("tempo_aguardar_inicio_operacao", op.TempoIniciarOperacao),
@@ -355,7 +357,9 @@ namespace AgroBase.Services.Operadores
                             percent_vertical_deteccao = pControle.AtuPercentualInicioPulverizacao / 100.0,
                             height_area_deteccao = pControle.AtuAlturaAreaPulverizacao / 100.0,
                             pct_erva_bico_on = pControle.AtuPercentualErvasBicoOn / 100.0,
-                            pct_erva_bico_off = pControle.AtuPercentualErvasBicoOff / 100.0
+                            pct_erva_bico_off = pControle.AtuPercentualErvasBicoOff / 100.0,
+                            modelo_cabeca = pControle.AtuModeloCabeca.ToString().ToLower(),
+                            modelo_classe_alvo = pControle.AtuClasseAlvo,
                         }
                     ),
                     ("Snr", new
@@ -367,14 +371,13 @@ namespace AgroBase.Services.Operadores
                     )
                 );
 
-                if ((op.Parametros?.ControleAutomatico ?? false) && (op.Trajetoria?._TrajetoriaFixa?.Any() ?? false))
+                _ = SolicitarAtualizacaoMapaAsync(op).ContinueWith(
-                {
+                    task =>
-                    var comando = new
                     {
-                        cmd = HealthWorkerCommandType.AtualizarPontosMapa
+                        Variaveis.MostrarLog($"[HealthWorkerService] Erro atualizando mapa: {task.Exception?.GetBaseException().Message}");
-                    };
+                    },
-                    RedisService.Publish(CmdKey.HealthWorkerRx, JsonConvert.SerializeObject(comando));
+                    TaskContinuationOptions.OnlyOnFaulted
-                }
+                );
 
                 //Console.WriteLine("Dados de operacao atualizados com sucesso!");
 
@@ -386,6 +389,99 @@ namespace AgroBase.Services.Operadores
             }
         }
 
+        private static readonly SemaphoreSlim _mapaSync = new SemaphoreSlim(1, 1);
+
+        private static async Task<bool> SolicitarAtualizacaoMapaAsync(OperacaoModel op)
+        {
+            Variaveis.MostrarLog($"[HealthWorkerService] SolicitarAtualizacaoMapaAsync solicitado");
+            if (!await _mapaSync.WaitAsync(0))
+                return false;
+
+            try
+            {
+                for (int tentativa = 1; tentativa <= 3; tentativa++)
+                {
+                    if (!ReferenceEquals(op, Variaveis.OperacaoEmAndamento))
+                        return false;
+
+                    bool atualizado = await AtualizarPontosMapa(op);
+
+                    if (atualizado)
+                        return true;
+
+                    if (tentativa < 3)
+                        await Task.Delay(200);
+                    Variaveis.MostrarLog($"[HealthWorkerService] SolicitarAtualizacaoMapaAsync. Tentativa={tentativa}");
+                }
+
+                return false;
+            }
+            finally
+            {
+                _mapaSync.Release();
+            }
+        }
+
+        private static async Task<bool> AtualizarPontosMapa(OperacaoModel op)
+        {
+            if (!(op?.Parametros?.ControleAutomatico ?? false) || !(op?.Trajetoria?._TrajetoriaFixa?.Any() ?? false))
+                return false;
+
+            var commandId = Guid.NewGuid().ToString("N");
+            var operationId = op?.ID ?? "";
+            var mapRevision = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
+
+            RedisService.AtualizarCampos(
+                CtxKey.DadosOperacao,
+                ("mapa_revisao_solicitada", mapRevision),
+                ("mapa_operacao_id", operationId),
+                ("mapa_command_id", commandId),
+                ("mapa_status", "pendente")
+            );
+
+            var comando = new
+            {
+                cmd = HealthWorkerCommandType.AtualizarPontosMapa,
+                command_id = commandId,
+                operation_id = operationId,
+                map_revision = mapRevision
+            };
+
+            long assinantes = RedisService.Publish(
+                CmdKey.HealthWorkerRx,
+                JsonConvert.SerializeObject(comando)
+            );
+
+            bool sucesso = await AguardarMapaAplicadoAsync(commandId, mapRevision, TimeSpan.FromSeconds(3));
+            return assinantes > 0 && sucesso;
+        }
+
+        private static async Task<bool> AguardarMapaAplicadoAsync(string commandId, long revision, TimeSpan timeout)
+        {
+            var limite = DateTime.UtcNow + timeout;
+
+            while (DateTime.UtcNow < limite)
+            {
+                string ultimoCommandId = RedisService.GetField(CtxKey.DadosHealthWorker, "ultimo_comando_mapa", "");
+                long revisaoAplicada = RedisService.GetField(CtxKey.DadosHealthWorker, "mapa_revisao_aplicada", 0L);
+                string status = RedisService.GetField(CtxKey.DadosHealthWorker, "mapa_status", "");
+
+                if (ultimoCommandId == commandId && revisaoAplicada == revision && status == "aplicado")
+                {
+                    return true;
+                }
+
+                if (ultimoCommandId == commandId && status == "erro")
+                {
+                    return false;
+                }
+
+                await Task.Delay(100);
+            }
+
+            return false;
+        }
+
         public static void AtualizarDadosControleOperacao()
         {
             try

AgroBase/AgroBase/Services/RedisService.cs

@@ -145,10 +145,23 @@ namespace AgroBase.Services
             }
         }
 
-        public static void Publish(string canal, string mensagem)
+        public static long Publish(string canal, string mensagem)
         {
-            var pub = _redis.GetSubscriber();
+            try
-            pub.Publish(canal, mensagem);
+            {
+                if (_redis == null || !_redis.IsConnected)
+                    return 0;
+
+                var pub = _redis.GetSubscriber();
+                return pub.Publish(canal, mensagem);
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine(
+                    $"❌ Erro ao publicar em '{canal}': {ex.Message}"
+                );
+                return 0;
+            }
         }
 
         public static void Subscribe(string canal, Action<string> callback)

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/camera_worker/oak_fcc3_core/segformer_service.py

@@ -4,6 +4,8 @@
 from __future__ import annotations
 
 import time
+import threading
+import unicodedata
 from pathlib import Path
 from typing import Dict, List, Tuple
 
@@ -18,9 +20,9 @@ except Exception:
 
 DEFAULT_CHANNEL_ORDER = ["R", "G", "B", "RE", "NIR"]
 
-TARGET_COLORS_RGB = {
+HEAD_COLORS_RGB = {
     0: (30, 30, 30),      # background
-    1: (255, 70, 30),     # target / alvo pulverizável
+    1: (255, 70, 30),     # classe positiva da cabeça binária selecionada
     255: (0, 0, 0),       # ignore/fallback
 }
 
@@ -50,7 +52,7 @@ def get_input_channel_indices(config: dict) -> List[int]:
 
 class MultiSpecSegformerService:
     """
-    Runtime oficial Weed Worker v1.
+    Runtime oficial Weed Worker multi-head.
 
     Contrato:
       input:
@@ -66,20 +68,67 @@ class MultiSpecSegformerService:
           - SegFormer multi-head
           - resize fullres
           - argmax
-        e expõe saída:
+        e expõe as saídas multi-head. Este serviço executa somente uma das
+        cabeças operacionais por inferência:
           - target_mask
+          - vegetation_mask
+          - cana_mask
+          - semantic_mask (convertida para binário pela classe escolhida)
 
       output:
         np.ndarray uint8 HxW
-        0 = fundo / não pulverizar
+        máscara binária uint8 HxW da cabeça selecionada
-        1 = alvo pulverizável
+        0 = classe negativa
+        1 = classe positiva
+
+    semantic_mask nunca é entregue diretamente ao WeedDetector. Quando
+    selecionada, ela é convertida para 0/1 usando semantic_target_class.
     """
 
-    TARGET_MODES = ("target_direct", "direct_target", "target_head", "target", "spray", "operational")
+    MODE_ALIASES = {
+        "target": "target",
+        "target_direct": "target",
+        "direct_target": "target",
+        "target_head": "target",
+        "spray": "target",
+        "operational": "target",
+
+        "vegetation": "vegetation",
+        "vegetation_direct": "vegetation",
+        "direct_vegetation": "vegetation",
+        "vegetation_head": "vegetation",
+        "vegetacao": "vegetation",
+
+        "cana": "cana",
+        "cana_direct": "cana",
+        "direct_cana": "cana",
+        "cana_head": "cana",
+
+        "semantic": "semantic",
+        "semantic_direct": "semantic",
+        "direct_semantic": "semantic",
+        "semantic_head": "semantic",
+        "segmentacao": "semantic",
+    }
+
+    OUTPUT_BY_HEAD = {
+        "target": "target_mask",
+        "vegetation": "vegetation_mask",
+        "cana": "cana_mask",
+        "semantic": "semantic_mask",
+    }
+
+    SEMANTIC_CLASS_IDS = {
+        "chao": 0,
+        "cana": 1,
+        "erva": 2,
+    }
 
     def __init__(self, model_config: dict, mostrar_log=print):
         self.config = model_config or {}
         self.mostrar_log = mostrar_log
+        self._runtime_lock = threading.RLock()
+        self._runtime_generation = 0
 
         self.input_channel_names = get_input_channel_names(self.config)
         self.input_channel_indices = get_input_channel_indices(self.config)
@@ -87,8 +136,22 @@ class MultiSpecSegformerService:
 
         self.runtime_backend = str(self.config.get("runtime_backend", "onnx")).lower()
         self.onnx_provider = str(self.config.get("onnx_provider", "tensorrt")).lower()
-        self.runtime_mode = str(self.config.get("runtime_mode", "target_direct")).lower()
+        # runtime_mode é a fonte única da verdade. onnx_output_mode permanece
-        self.onnx_output_mode = str(self.config.get("onnx_output_mode", self.runtime_mode)).lower()
+        # apenas como fallback para configs antigas que não possuem runtime_mode.
+        configured_mode = self.config.get(
+            "runtime_mode",
+            self.config.get("onnx_output_mode", "target"),
+        )
+        self.runtime_mode = str(configured_mode).strip().lower()
+        self.selected_head = self._normalizar_head(self.runtime_mode)
+        self.selected_output_name = self.OUTPUT_BY_HEAD[self.selected_head]
+        self.semantic_target_class = self._normalizar_semantic_target_class(
+            self.config.get("semantic_target_class", "erva")
+        )
+        self.semantic_target_id = self.SEMANTIC_CLASS_IDS[self.semantic_target_class]
+
+        # Mantido para compatibilidade com logs/código externo antigo.
+        self.onnx_output_mode = self.runtime_mode
         self.onnx_output_kind = str(self.config.get("onnx_output_kind", "mask")).lower()
 
         # No contrato v1, a normalização está dentro do ONNX.
@@ -121,6 +184,8 @@ class MultiSpecSegformerService:
             f"[WEED_ONNX] backend=onnx "
             f"provider={self.onnx_provider} "
             f"runtime_mode={self.runtime_mode} "
+            f"selected_head={self.selected_head} "
+            f"selected_output={self.selected_output_name} "
             f"output_kind={self.onnx_output_kind} "
             f"preprocess_norm={self.onnx_preprocess_norm}"
         )
@@ -129,6 +194,40 @@ class MultiSpecSegformerService:
     # Inicialização / contrato
     # ============================================================
 
+    @classmethod
+    def _normalizar_head(cls, mode: str) -> str:
+        normalized = str(mode).strip().lower()
+        head = cls.MODE_ALIASES.get(normalized)
+
+        if head is None:
+            raise RuntimeError(
+                f"runtime_mode inválido para Weed Worker: {mode!r}. "
+                "Use 'target', 'vegetation', 'cana' ou 'semantic'."
+            )
+
+        return head
+
+    @staticmethod
+    def _normalizar_texto(value) -> str:
+        text = unicodedata.normalize("NFKD", str(value).strip().lower())
+        return "".join(ch for ch in text if not unicodedata.combining(ch))
+
+    @classmethod
+    def _normalizar_semantic_target_class(cls, value) -> str:
+        normalized = cls._normalizar_texto(value)
+        aliases = {
+            "0": "chao", "chao": "chao", "solo": "chao", "background": "chao", "bg": "chao",
+            "1": "cana", "cana": "cana", "sugarcane": "cana",
+            "2": "erva", "erva": "erva", "weed": "erva",
+        }
+        result = aliases.get(normalized)
+        if result is None:
+            raise RuntimeError(
+                f"semantic_target_class inválida: {value!r}. "
+                "Use 'chao', 'cana' ou 'erva'."
+            )
+        return result
+
     def _validar_contrato_runtime(self):
         if self.runtime_backend not in ("onnx", "tensorrt", "trt"):
             raise RuntimeError(
@@ -136,17 +235,9 @@ class MultiSpecSegformerService:
                 "Use runtime_backend='onnx'."
             )
 
-        if self.runtime_mode not in self.TARGET_MODES:
+        # A normalização no __init__ já valida o modo e define a cabeça.
-            raise RuntimeError(
+        if self.selected_head not in self.OUTPUT_BY_HEAD:
-                f"runtime_mode inválido para Weed Worker v1: {self.runtime_mode}. "
+            raise RuntimeError(f"Cabeça operacional inválida: {self.selected_head}")
-                "Use runtime_mode='target_direct'."
-            )
-
-        if self.onnx_output_mode not in self.TARGET_MODES:
-            raise RuntimeError(
-                f"onnx_output_mode inválido para Weed Worker v1: {self.onnx_output_mode}. "
-                "Use onnx_output_mode='target_direct'."
-            )
 
         if self.onnx_output_kind != "mask":
             raise RuntimeError(
@@ -249,23 +340,91 @@ class MultiSpecSegformerService:
         self.mostrar_log(f"[WEED_ONNX] providers ativos={self.onnx_session.get_providers()}")
 
     def _selecionar_outputs_runtime(self, output_names: List[str]) -> List[str]:
-        target_outputs = [
+        output_lookup = {str(name).lower(): str(name) for name in output_names}
-            n for n in output_names
+        expected = self.selected_output_name.lower()
-            if "target" in str(n).lower()
-        ]
 
-        if target_outputs:
+        if expected in output_lookup:
-            return target_outputs
+            return [output_lookup[expected]]
-
-        # Fallback seguro: se o ONNX tiver só uma saída, usa ela.
-        if len(output_names) == 1:
-            return list(output_names)
 
         raise RuntimeError(
-            "Não encontrei saída target no ONNX. "
+            f"A saída necessária {self.selected_output_name!r} não existe no ONNX. "
-            f"Outputs disponíveis: {output_names}"
+            f"Cabeça selecionada={self.selected_head!r}; "
+            f"outputs disponíveis={output_names}."
         )
 
+    def atualizar_runtime_mode(self, runtime_mode, semantic_target_class=None) -> bool:
+        """Troca a cabeça operacional sem recriar a sessão ONNX.
+
+        Retorna True quando a configuração efetivamente mudou. Uma inferência
+        que já estava em andamento é descartada e o novo modo vale no frame
+        seguinte.
+        """
+        new_mode = str(runtime_mode).strip().lower()
+        new_head = self._normalizar_head(new_mode)
+        new_output = self.OUTPUT_BY_HEAD[new_head]
+
+        if semantic_target_class is None:
+            semantic_target_class = self.semantic_target_class
+        new_semantic_class = self._normalizar_semantic_target_class(semantic_target_class)
+        new_semantic_id = self.SEMANTIC_CLASS_IDS[new_semantic_class]
+
+        output_lookup = {str(n).lower(): str(n) for n in self.onnx_output_names}
+        actual_output = output_lookup.get(new_output.lower())
+        if actual_output is None:
+            raise RuntimeError(
+                f"A saída necessária {new_output!r} não existe no ONNX. "
+                f"Outputs disponíveis={self.onnx_output_names}."
+            )
+
+        with self._runtime_lock:
+            changed = (
+                new_head != self.selected_head
+                or (new_head == "semantic" and new_semantic_id != self.semantic_target_id)
+            )
+            if not changed:
+                return False
+
+            old_desc = self._runtime_description_unlocked()
+            self.runtime_mode = new_head
+            self.onnx_output_mode = new_head
+            self.selected_head = new_head
+            self.selected_output_name = actual_output
+            self.onnx_run_output_names = [actual_output]
+            self.semantic_target_class = new_semantic_class
+            self.semantic_target_id = new_semantic_id
+            self._runtime_generation += 1
+            self._limpar_cache_unlocked()
+            new_desc = self._runtime_description_unlocked()
+
+        self.mostrar_log(f"[WEED_ONNX][MODE] {old_desc} -> {new_desc}")
+        return True
+
+    def atualizar_config(self, config: dict) -> bool:
+        config = config or {}
+        mode = config.get("runtime_mode", config.get("onnx_output_mode", self.runtime_mode))
+        semantic_class = config.get("semantic_target_class", self.semantic_target_class)
+        changed = self.atualizar_runtime_mode(mode, semantic_class)
+        self.config.update(config)
+        return changed
+
+    def _runtime_description_unlocked(self) -> str:
+        if self.selected_head == "semantic":
+            return f"semantic[{self.semantic_target_class}={self.semantic_target_id}]"
+        return self.selected_head
+
+    def _limpar_cache_unlocked(self):
+        self._ultimo_predictions = None
+        self._ultimo_probs = None
+        self._ultimo_predictions_full = {}
+
+    def limpar_cache_runtime(self):
+        with self._runtime_lock:
+            self._limpar_cache_unlocked()
+
+    def get_runtime_generation(self) -> int:
+        with self._runtime_lock:
+            return int(self._runtime_generation)
+
     # ============================================================
     # Inferência
     # ============================================================
@@ -295,8 +454,16 @@ class MultiSpecSegformerService:
 
         t_forward0 = time.perf_counter()
 
+        with self._runtime_lock:
+            run_output_names = list(self.onnx_run_output_names)
+            selected_head = self.selected_head
+            selected_output_name = self.selected_output_name
+            semantic_target_class = self.semantic_target_class
+            semantic_target_id = self.semantic_target_id
+            runtime_generation = self._runtime_generation
+
         outputs = self.onnx_session.run(
-            self.onnx_run_output_names,
+            run_output_names,
             {self.onnx_input_name: x},
         )
 
@@ -307,22 +474,39 @@ class MultiSpecSegformerService:
         if len(outputs) < 1:
             raise RuntimeError("ONNX não retornou nenhuma saída.")
 
-        target_mask = self._onnx_output_to_mask(outputs[0], out_hw)
+        raw_mask = self._onnx_output_to_mask(outputs[0], out_hw)
+
+        if selected_head == "semantic":
+            selected_mask = (raw_mask == semantic_target_id).astype(np.uint8)
+        else:
+            selected_mask = raw_mask
+
+        # Defesa do contrato do WeedDetector: a saída final deste serviço é
+        # sempre binária. As cabeças binárias já devem conter 0/1; semantic
+        # foi explicitamente convertida acima.
+        invalid_values = np.logical_and(selected_mask != 0, selected_mask != 1)
+        if np.any(invalid_values):
+            values = np.unique(selected_mask[invalid_values])[:10].tolist()
+            raise RuntimeError(
+                f"A saída {selected_output_name!r} não é binária. "
+                f"Valores inválidos encontrados: {values}"
+            )
 
         post_ms = (time.perf_counter() - t_post0) * 1000.0
         total_ms = (time.perf_counter() - t_total0) * 1000.0
 
-        self._ultimo_tensor = chw
+        predictions_full = {
-        self._ultimo_predictions = target_mask
+            "selected": selected_mask,
-        self._ultimo_probs = None
+            "selected_head": selected_head,
-
+            "selected_output": selected_output_name,
-        self._ultimo_predictions_full = {
+            "semantic_target_class": semantic_target_class if selected_head == "semantic" else None,
-            "target": target_mask,
+            "semantic_target_id": semantic_target_id if selected_head == "semantic" else None,
-            "target_head": target_mask,
+            "target": selected_mask if selected_head == "target" else None,
-            "target_op": target_mask,
+            "target_head": selected_mask if selected_head == "target" else None,
-            "semantic": None,
+            "target_op": selected_mask if selected_head == "target" else None,
-            "vegetation": None,
+            "semantic": raw_mask if selected_head == "semantic" else None,
-            "cana": None,
+            "vegetation": selected_mask if selected_head == "vegetation" else None,
+            "cana": selected_mask if selected_head == "cana" else None,
             "probs": None,
 
             "infer_ms": total_ms,
@@ -330,17 +514,29 @@ class MultiSpecSegformerService:
             "forward_ms": forward_ms,
             "post_ms": post_ms,
 
-            "runtime_mode": self.runtime_mode,
+            "runtime_mode": selected_head,
+            "runtime_generation": runtime_generation,
             "backend": "onnx",
             "providers": self.onnx_session.get_providers(),
             "outputs": self.onnx_output_names,
-            "outputs_executados": self.onnx_run_output_names,
+            "outputs_executados": run_output_names,
         }
 
-        if return_full:
+        # A configuração pode mudar enquanto o provider executa. A verificação
-            return dict(self._ultimo_predictions_full)
+        # e a publicação do cache ficam no mesmo lock para impedir que um frame
+        # antigo reapareça depois de atualizar_runtime_mode() limpar o estado.
+        with self._runtime_lock:
+            if runtime_generation != self._runtime_generation:
+                return None
+            self._ultimo_tensor = chw
+            self._ultimo_predictions = selected_mask
+            self._ultimo_probs = None
+            self._ultimo_predictions_full = predictions_full
 
-        return target_mask
+        if return_full:
+            return dict(predictions_full)
+
+        return selected_mask
 
     def _prepare_input_numpy_onnx(self, tensor5_chw: np.ndarray):
         if tensor5_chw is None:
@@ -435,7 +631,7 @@ class MultiSpecSegformerService:
         Não roda inferência aqui.
         Usa:
           - tensor multiespectral cacheado
-          - target_mask cacheada
+          - máscara binária cacheada da cabeça selecionada
         """
         tensor = tensor5_chw if tensor5_chw is not None else self._ultimo_tensor
         pred = predictions if predictions is not None else self._ultimo_predictions
@@ -449,7 +645,7 @@ class MultiSpecSegformerService:
         if pred is None:
             return rgb_bgr, None, rgb_bgr, None, None
 
-        seg_rgb = self.ids_to_rgb(pred, TARGET_COLORS_RGB)
+        seg_rgb = self.ids_to_rgb(pred, HEAD_COLORS_RGB)
         overlay_rgb = cv2.addWeighted(rgb, 1.0 - alpha, seg_rgb, alpha, 0.0)
 
         seg_bgr = cv2.cvtColor(seg_rgb, cv2.COLOR_RGB2BGR)

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/health_worker/main.py

@@ -80,14 +80,59 @@ def main():
             time.sleep(0.1)
     
     def redis_callback(dados):
-        acao = HealthWorkerCommandType(dados.get("cmd", 0))
+        try:
+            acao = HealthWorkerCommandType(int(dados.get("cmd", 0)))
+        except Exception as e:
+            mostrar_log(f"Comando inválido: {dados} | {e}")
+            return
 
-        if acao == HealthWorkerCommandType.AtualizarPontosMapa:
+        if acao != HealthWorkerCommandType.AtualizarPontosMapa:
-            try:
+            return
-                ContextoGlobalRedis._atualizar_pontos_mapa()
+
-            except Exception as e:
+        command_id = str(dados.get("command_id", ""))
-                mostrar_log(f"Erro ao atualizar pontos do mapa: {e}")
+        operation_id = str(dados.get("operation_id", ""))
-            mostrar_log("Dados de mapa da Operacao atualizados com sucesso!")
+        map_revision = dados.get("map_revision")
+
+        try:
+            resultado = ContextoGlobalRedis._atualizar_pontos_mapa(
+                operation_id=operation_id,
+                map_revision=map_revision,
+            )
+
+            if not resultado.get("sucesso", False):
+                raise RuntimeError(resultado.get("erro", "Falha desconhecida"))
+
+            ContextoGlobalRedis.atualizar_ctx_dict(
+                CtxKey.DadosHealthWorker,
+                ultimo_comando_mapa=command_id,
+                mapa_operacao_id=operation_id,
+                mapa_revisao_aplicada=map_revision,
+                mapa_pontos_aplicados=resultado["quantidade"],
+                mapa_status="aplicado",
+                mapa_erro="",
+                mapa_aplicado_em=time.time(),
+            )
+
+            mostrar_log(
+                f"Mapa aplicado | command_id={command_id} | "
+                f"operacao={operation_id} | "
+                f"revisao={map_revision} | "
+                f"pontos={resultado['quantidade']}"
+            )
+
+        except Exception as e:
+            ContextoGlobalRedis.atualizar_ctx_dict(
+                CtxKey.DadosHealthWorker,
+                ultimo_comando_mapa=command_id,
+                mapa_operacao_id=operation_id,
+                mapa_revisao_aplicada=map_revision,
+                mapa_status="erro",
+                mapa_erro=str(e),
+            )
+
+            mostrar_log(
+                f"Erro ao aplicar mapa | command_id={command_id} | {e}"
+            )
 
     def inicializar():
         mostrar_log("🚀 Iniciando Health Worker...")

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/contexto_global_redis.py

@@ -1330,11 +1330,60 @@ class ContextoGlobalRedis:
             return False
 
     @classmethod
-    def _atualizar_pontos_mapa(cls):
+    def _atualizar_pontos_mapa(cls, operation_id=None, map_revision=None):
+        try:
+            operacao = cls.get_operacao()
+
+            operacao_atual = str(operacao.get("mapa_operacao_id", ""))
+
+            if operation_id and operacao_atual != operation_id:
+                return {
+                    "sucesso": False,
+                    "erro": (
+                        f"Operação divergente: esperado={operation_id}, "
+                        f"atual={operacao_atual}"
+                    ),
+                }
+
+            # Conversão atual dos pontos...
+            pontos_info = cls._converter_pontos_mapa(operacao)
+
+            if not pontos_info:
+                return {
+                    "sucesso": False,
+                    "erro": "Nenhum ponto válido foi produzido",
+                }
+
+            atualizado = cls.atualizar_ctx_dict(
+                CtxKey.DadosOperacao,
+                pontos_mapa=pontos_info,
+                mapa_revisao_processada=map_revision,
+            )
+
+            cls._atualizar_mpc(do_manager=False, iniciar_operacao=False)
+
+            if not atualizado:
+                return {
+                    "sucesso": False,
+                    "erro": "Falha ao gravar pontos_mapa no Redis",
+                }
+
+            return {
+                "sucesso": True,
+                "quantidade": len(pontos_info),
+            }
+
+        except Exception as e:
+            return {
+                "sucesso": False,
+                "erro": str(e),
+            }
+
+    @classmethod
+    def _converter_pontos_mapa(cls, operacao):
         pontos_info = []
 
         try:
-            operacao = cls.get_operacao()
             dados_dir = cls._dict(operacao.get("Dir", {}))
             tipo_controle = cls._int(
                 dados_dir.get("tipo_controle", TiposControladorDirecional.Manual.value),
@@ -1343,7 +1392,7 @@ class ContextoGlobalRedis:
 
             if tipo_controle != TiposControladorDirecional.MPC.value:
                 cls.atualizar_ctx_dict(CtxKey.DadosOperacao, pontos_mapa=[])
-                return
+                return pontos_info
 
             dados_mpc = cls._dict(dados_dir.get("mpc", {}))
             pontos = dados_mpc.get("pontos", []) or []
@@ -1351,12 +1400,12 @@ class ContextoGlobalRedis:
 
             if not pontos:
                 cls.atualizar_ctx_dict(CtxKey.DadosOperacao, pontos_mapa=[])
-                return
+                return pontos_info
 
             if not isinstance(p_ref, (list, tuple)) or len(p_ref) < 2:
                 mostrar_log("Ponto de referência do mapa ausente/inválido. Não foi possível converter pontos MPC.")
                 cls.atualizar_ctx_dict(CtxKey.DadosOperacao, pontos_mapa=[])
-                return
+                return pontos_info
 
             from shared.gps_handler import GPSHandler
 
@@ -1378,18 +1427,12 @@ class ContextoGlobalRedis:
                 except Exception as e:
                     mostrar_log(f"Erro ao converter ponto MPC: {p} | {e}")
 
-            cls.atualizar_ctx_dict(
-                CtxKey.DadosOperacao,
-                pontos_mapa=pontos_info,
-            )
-
-            if pontos_info:
-                cls._atualizar_mpc(do_manager=False, iniciar_operacao=False)
-
         except Exception as e:
             mostrar_log(f"Erro ao atualizar pontos do mapa: {e}")
             cls.atualizar_ctx_dict(CtxKey.DadosOperacao, pontos_mapa=pontos_info)
 
+        return pontos_info
+
     # ============================================================
     # Mapeamento de parâmetros
     # ============================================================

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

@@ -861,37 +861,35 @@ class CameraManager:
         self._ultima_saude_ts = time.time()
 
         try:
-            # O lock protege somente a identidade da sessão da câmera.
+            # Mantém a referência estável durante leitura/publicação da saúde.
+            # fechar_camera_manager aguarda esta seção curta terminar.
             with self._vida_lock:
                 camera_atual = self.camera
-                generation = self._camera_generation
 
-            if camera_atual is not None:
+                if camera_atual is not None:
-                if pipeline_ia is None:
+                    if pipeline_ia is None:
-                    pipeline_ia = self._avaliar_saude_pipeline_ia()
+                        pipeline_ia = self._avaliar_saude_pipeline_ia()
+                    camera_atual.atualizar_saude(pipeline_ia=pipeline_ia)
 
-                camera_atual.atualizar_saude(pipeline_ia=pipeline_ia)
+                elif self.mx_id is not None:
-
+                    from camera_worker.manager import definir_saude_camera
-            elif self.mx_id is not None:
+                    definir_saude_camera(
-                from camera_worker.manager import definir_saude_camera
+                        self.mx_id,
-
+                        StatusModulo.DESCONECTADO,
-                definir_saude_camera(
+                        0,
-                    self.mx_id,
+                        ["desconectado"],
-                    StatusModulo.DESCONECTADO,
+                        False,
-                    0,
+                        {},
-                    ["desconectado"],
+                        disp=T_Code.Cam,
-                    False,
+                        conectado=False,
-                    {},
+                    )
-                    disp=T_Code.Cam,
-                    conectado=False,
-                )
 
         except Exception as e:
             self.mostrar_log(f"[saude] erro: {e}")
 
     def _atualizar_config_dinamica_detector(self, intervalo_s=0.20):
         """
-        Atualiza config do detector em baixa frequência.
+        Atualiza config do detector e a cabeça ONNX em baixa frequência.
 
         Isso permite refletir:
           - velocidade atual;
@@ -917,6 +915,32 @@ class CameraManager:
             if self.weed_detector is not None:
                 self.weed_detector.atualizar_config(cfg)
 
+            mode_changed = False
+            if self.model_svc is not None:
+                mode_changed = self.model_svc.atualizar_config(cfg)
+
+            if mode_changed:
+                # Remove qualquer máscara/detecção gerada no modo anterior.
+                with self._pred_lock:
+                    self._pred_cache = {}
+                    self._pred_consumido_ts = 0.0
+                self._ultimo_predictions = None
+                self._ultimo_predictions_full = None
+
+                # O detector não deve manter na memória espacial regiões
+                # derivadas da máscara velha.
+                if self.weed_detector is not None:
+                    method = getattr(self.weed_detector, "limpar_memoria_alvo", None)
+                    if not callable(method):
+                        method = getattr(self.weed_detector, "_inicializar_estado", None)
+                    if callable(method):
+                        method()
+
+                self.mostrar_log(
+                    "[weed][MODEL] modo atualizado dinamicamente; "
+                    "caches anteriores descartados"
+                )
+
             self._ultimo_config_update_ts = agora
 
         except Exception as e:
@@ -1537,6 +1561,16 @@ class CameraManager:
                     pred_ts = time.time()
 
                     with self._pred_lock:
+                        infer_mode_generation = int(
+                            infer_full.get("runtime_generation", -1)
+                        )
+                        current_mode_generation = int(
+                            self.model_svc.get_runtime_generation()
+                        )
+                        if infer_mode_generation != current_mode_generation:
+                            self.perf.inc("infer_descartada_troca_modo")
+                            continue
+
                         if (
                             self._pred_cache.get("predictions") is not None
                             and float(self._pred_cache.get("ts", 0.0) or 0.0)

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

@@ -90,9 +90,13 @@ WEED_DEFAULT_CONFIG = {
     "runtime_backend": "onnx",
     "onnx_provider": "tensorrt",
 
-    # Modo operacional: usar diretamente a cabeça target.
+    # Cabeça utilizada:
-    "runtime_mode": "target_direct",
+    # target | vegetation | cana | semantic
-    "onnx_output_mode": "target_direct",
+    "runtime_mode": "target",
+
+    # Usado somente quando runtime_mode = semantic:
+    # chao | cana | erva
+    "semantic_target_class": "erva",
 
     # Contrato do ONNX novo:
     # entrada 0..1 crua -> normalização interna -> resize -> argmax -> target_mask.
@@ -249,6 +253,9 @@ def aplicar_overrides_redis(cfg: dict) -> dict:
     contexto = ContextoGlobalRedis.get_contexto()
     equipamento = ContextoGlobalRedis.get_equipamento()
 
+    cfg["runtime_mode"] = str(dados_atu.get("modelo_cabeca") or "target").strip().lower()
+    cfg["semantic_target_class"] = str(dados_atu.get("modelo_classe_alvo") or "erva").strip().lower()
+
     cfg["qtd_bicos"] = int(equipamento.get("qtd_bicos") or cfg.get("qtd_bicos", 7) or 7)
 
     # Modelo ONNX full-runtime validado para o Weed Worker.

AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/weed_worker/weed_detector.py

@@ -124,6 +124,10 @@ class WeedDetector:
         self._last_update_ts: Optional[float] = None
         self._distancia_deslocada_total_cm = 0.0
 
+    def limpar_memoria_alvo(self):
+        """Descarta evidências e estados de bico do modo de máscara anterior."""
+        self._inicializar_estado()
+
     def _atualizar_geometria_memoria(self):
         cfg = self.config
 

AgroBase/OperationControl/Controls/ManualControlPad.xaml.cs

@@ -112,6 +112,7 @@ namespace OperationControl.Controls
 
             if (VariaveisControleOperacao.RoverEmFoco != null)
             {
+                VariaveisControleOperacao.RoverEmFoco!.Controle.ControleManualAcionado = manual_on;
                 VariaveisControleOperacao.RoverEmFoco!.Controle.MovimentoAutomatico = !manual_on;
                 VariaveisControleOperacao.RoverEmFoco!.Controle.DirecionalAutomatico = !manual_on;
                 VariaveisControleOperacao.EnviarParametrosOperacao(new AgroBase.Models.Operacoes.OperacaoParametrosModel()

AgroBase/OperationControl/Models/AppShell.cs

@@ -80,7 +80,7 @@ namespace OperationControl.Models
 
                 Show();
 
-                APIService.IniciarRotinas();
+                await APIService.IniciarRotinasAsync();
 
                 /*
                  * O MQTT novo precisa estar pronto antes dos timers.
@@ -507,7 +507,9 @@ namespace OperationControl.Models
                     new OperacaoParametrosDadosGNSSModel
                     {
                         Latitude = -22.17254631649402,
+                        LatitudeAnt = -22.17253728573052,
                         Longitude = -47.395203906184044,
+                        LongitudeAnt = -47.395203906184044,
                         OrientacaoReal = 187
                     },
 

AgroBase/OperationControl/OperationControl_ftisshyg_wpftmp.csproj

@@ -0,0 +1,374 @@
+<Project>
+  <PropertyGroup>
+    <AssemblyName>OperationControl</AssemblyName>
+    <IntermediateOutputPath>obj\Debug\</IntermediateOutputPath>
+    <BaseIntermediateOutputPath>obj\</BaseIntermediateOutputPath>
+    <MSBuildProjectExtensionsPath>C:\ZendionInc\agrobot_base\AgroBase\OperationControl\obj\</MSBuildProjectExtensionsPath>
+    <_TargetAssemblyProjectName>OperationControl</_TargetAssemblyProjectName>
+  </PropertyGroup>
+  <Import Project="Sdk.props" Sdk="Microsoft.NET.Sdk" />
+  <PropertyGroup>
+    <OutputType>WinExe</OutputType>
+    <TargetFramework>net8.0-windows7.0</TargetFramework>
+    <Nullable>enable</Nullable>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <UseWPF>true</UseWPF>
+    <UseWindowsForms>True</UseWindowsForms>
+  </PropertyGroup>
+  <ItemGroup>
+    <None Remove="3d.jpg" />
+    <None Remove="barra.jpg" />
+    <None Remove="caminho.jpeg" />
+    <None Remove="logo.png" />
+    <None Remove="mapa.jpg" />
+    <None Remove="robo_superior.jpg" />
+    <None Remove="solo.jpeg" />
+  </ItemGroup>
+  <ItemGroup>
+    <PackageReference Include="BruTile" Version="6.0.0" />
+    <PackageReference Include="BruTile.MbTiles" Version="6.0.0" />
+    <PackageReference Include="Extended.Wpf.Toolkit" Version="5.0.0" />
+    <PackageReference Include="FFME.Windows" Version="7.0.361-beta.1" />
+    <PackageReference Include="GirCore.Gst-1.0" Version="0.7.0-preview.3" />
+    <PackageReference Include="GirCore.GstVideo-1.0" Version="0.7.0-preview.3" />
+    <PackageReference Include="LibVLCSharp" Version="3.9.4" />
+    <PackageReference Include="LibVLCSharp.WPF" Version="3.9.4" />
+    <PackageReference Include="Mapsui" Version="5.0.0" />
+    <PackageReference Include="Mapsui.Extensions" Version="5.0.0" />
+    <PackageReference Include="Mapsui.Wpf" Version="5.0.0" />
+    <PackageReference Include="Mapsui3.Geometries" Version="3.0.0-alpha.3" />
+    <PackageReference Include="NetTopologySuite" Version="2.6.0" />
+    <PackageReference Include="NetTopologySuite.IO.GeoJSON" Version="4.0.0" />
+    <PackageReference Include="NetTopologySuite.IO.ShapeFile" Version="2.1.0" />
+    <PackageReference Include="OpenTK" Version="4.9.4" />
+    <PackageReference Include="ScottPlot.WPF" Version="5.1.57" />
+    <PackageReference Include="System.IO.Ports" Version="10.0.0" />
+    <PackageReference Include="VideoLAN.LibVLC.Windows" Version="3.0.21" />
+  </ItemGroup>
+  <ItemGroup>
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\AgroBase\AgroBase.csproj" />
+  </ItemGroup>
+  <ItemGroup>
+    <ReferencePath Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\ref\net8.0\Accessibility.dll" />
+    <ReferencePath Include="C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe" />
+    <ReferencePath Include="C:\Users\USER\.nuget\packages\bitmiracle.libtiff.net\2.4.660\lib\netstandard2.0\BitMiracle.LibTiff.NET.dll" />
+    <ReferencePath Include="C:\Users\USER\.nuget\packages\brutile\6.0.0\lib\net8.0\BruTile.dll" />
+    <ReferencePath Include="C:\Users\USER\.nuget\packages\brutile.mbtiles\6.0.0\lib\net8.0\BruTile.MbTiles.dll" />
+    <ReferencePath Include="C:\Users\USER\.nuget\packages\brutile\6.0.0\lib\net8.0\BruTile.XmlSerializers.dll" />
+    <ReferencePath Include="C:\Users\USER\.nuget\packages\dotspatial.projections\4.0.656\lib\net6.0\DotSpatial.Projections.dll" />
+    <ReferencePath Include="C:\Users\USER\.nuget\packages\excss\4.3.1\lib\net8.0\ExCSS.dll" />
+    <ReferencePath Include="C:\Users\USER\.nuget\packages\ffme.windows\7.0.361-beta.1\lib\net8.0-windows7.0\ffme.win.dll" />
+    <ReferencePath Include="C:\Users\USER\.nuget\packages\ffmpeg.autogen\7.0.0\lib\netstandard2.1\FFmpeg.AutoGen.dll" />
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+    <Analyzer Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\analyzers/dotnet/cs/Microsoft.Interop.SourceGeneration.dll" />
+    <Analyzer Include="C:\Program Files\dotnet\packs\Microsoft.NETCore.App.Ref\8.0.0\analyzers/dotnet/cs/System.Text.RegularExpressions.Generator.dll" />
+    <Analyzer Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\analyzers/dotnet/System.Windows.Forms.Analyzers.dll" />
+    <Analyzer Include="C:\Program Files\dotnet\packs\Microsoft.WindowsDesktop.App.Ref\8.0.0\analyzers/dotnet/cs/System.Windows.Forms.Analyzers.CSharp.dll" />
+  </ItemGroup>
+  <Import Project="Sdk.targets" Sdk="Microsoft.NET.Sdk" />
+</Project>

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

@@ -42,6 +42,7 @@ namespace OperationControl.ViewModels.Views.Operacao.Monitoramento
                     var r = VariaveisControleOperacao.RoverEmFoco;
                     if (r != null)
                     {
+                        r.Controle.ControleManualAcionado = value;
                         r.Controle.MovimentoAutomatico = value ? false : r.ControleAutomatico;
                         r.Controle.DirecionalAutomatico = value ? false : r.ControleAutomatico;
                         VariaveisControleOperacao.EnviarParametrosOperacao(new AgroBase.Models.Operacoes.OperacaoParametrosModel()

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

@@ -412,7 +412,7 @@
 
                                         <StackPanel Orientation="Horizontal" Margin="0,0,0,8">
                                             <Label Content="Lateral" Foreground="#DDDDDD"/>
-                                            <Slider Width="110" Minimum="-100" Maximum="100" Margin="8,0" Value="{Binding OpcoesVM.GpsLeverArmLateral, Mode=TwoWay}" TickFrequency="1" IsSnapToTickEnabled="True" SmallChange="1" LargeChange="1"/>
+                                            <Slider Width="110" Minimum="-200" Maximum="200" Margin="8,0" Value="{Binding OpcoesVM.GpsLeverArmLateral, Mode=TwoWay}" TickFrequency="1" IsSnapToTickEnabled="True" SmallChange="1" LargeChange="1"/>
                                             <Label Content="{Binding OpcoesVM.GpsLeverArmLateralTexto}" Foreground="#DDDDDD" Margin="0,0,10,0"/>
 
                                             <Label Content="Frontal" Foreground="#DDDDDD"/>

AgroBase/OperationControl/Views/Operacao/Monitoramento/ParametrizacaoView.xaml

@@ -19,6 +19,11 @@
                 <x:Type TypeName="enums:Enums+ModoAgitadorCalda"/>
             </ObjectDataProvider.MethodParameters>
         </ObjectDataProvider>
+        <ObjectDataProvider x:Key="CabecasModeloValues" MethodName="GetValues" ObjectType="{x:Type sys:Enum}">
+            <ObjectDataProvider.MethodParameters>
+                <x:Type TypeName="enums:Enums+CabecasModelo"/>
+            </ObjectDataProvider.MethodParameters>
+        </ObjectDataProvider>
     </UserControl.Resources>
     <Grid>
         <Grid.Resources>
@@ -177,6 +182,12 @@
 
                     <TextBlock Text="Ervas Bico Off (%)" Style="{StaticResource ParamLabelStyle}"/>
                     <TextBox ToolTip="Percentual mínimo de erva para manter o bico ligado. Abaixo desse valor, o bico é desligado." Text="{Binding Parametros.Controle.AtuPercentualErvasBicoOff, UpdateSourceTrigger=PropertyChanged}" Style="{StaticResource ParamTextBoxStyle}" Margin="0,0,0,0"/>
+
+                    <TextBlock Text="Modo Pulverização" Style="{StaticResource ParamLabelStyle}"/>
+                    <ComboBox ToolTip="Define o modo de trabalho da inteligência artificial para detecção do alvo para pulverização." ItemsSource="{Binding Source={StaticResource CabecasModeloValues}}" SelectedItem="{Binding Parametros.Controle.AtuModeloCabeca, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
+
+                    <TextBlock Text="Classe Alvo" Style="{StaticResource ParamLabelStyle}"/>
+                    <TextBox ToolTip="Nome da classe usada como alvo do pulverizador. Não precisa ser informado quando não for Semantic." Text="{Binding Parametros.Controle.AtuClasseAlvo, UpdateSourceTrigger=PropertyChanged}" Style="{StaticResource ParamTextBoxStyle}" Margin="0,0,0,0"/>
                 </StackPanel>
             </Border>