adicionado multi threading nos operacoes

AgroBase/AgroBase/AgroBase.csproj

@@ -403,6 +403,7 @@
     <Compile Include="Models\GraficoInterativoModel.cs" />
     <Compile Include="Models\KinectModel.cs" />
     <Compile Include="Models\LoRaModel.cs" />
+    <Compile Include="Models\MapaDinamicoModel.cs" />
     <Compile Include="Models\MapasModel.cs" />
     <Compile Include="Models\MensagemFilaModel.cs" />
     <Compile Include="Models\MKS057DModel.cs" />
@@ -628,6 +629,9 @@
     <Content Include="Python\Scripts\pzem.py">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </Content>
+    <Content Include="Python\Scripts\street-detector-mqtt.py">
+      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+    </Content>
     <Content Include="Python\Scripts\street-detector.py">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </Content>

AgroBase/AgroBase/Forms/IHM/frmAjustes.Designer.cs

@@ -37,7 +37,6 @@
             this.picDireita = new System.Windows.Forms.PictureBox();
             this.pnlCentro = new System.Windows.Forms.Panel();
             this.picCentro = new System.Windows.Forms.PictureBox();
-            this.lblCentro = new System.Windows.Forms.Label();
             this.cmbS0 = new System.Windows.Forms.ComboBox();
             this.cmbC = new System.Windows.Forms.ComboBox();
             this.cmbS1 = new System.Windows.Forms.ComboBox();
@@ -64,6 +63,9 @@
             this.picGravar = new System.Windows.Forms.PictureBox();
             this.picAtualizar = new System.Windows.Forms.PictureBox();
             this.cmbComunicacao = new System.Windows.Forms.ComboBox();
+            this.btnCalibrarKinect = new System.Windows.Forms.Button();
+            this.chbKinect = new System.Windows.Forms.CheckBox();
+            this.trkKinect = new System.Windows.Forms.TrackBar();
             this.pnlEsquerda.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picEsquerda)).BeginInit();
             this.pnlDireita.SuspendLayout();
@@ -75,6 +77,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.picLer)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.picGravar)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.picAtualizar)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.trkKinect)).BeginInit();
             this.SuspendLayout();
             // 
             // pnlEsquerda
@@ -164,16 +167,6 @@
             this.picCentro.TabIndex = 1;
             this.picCentro.TabStop = false;
             // 
-            // lblCentro
-            // 
-            this.lblCentro.AutoSize = true;
-            this.lblCentro.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
-            this.lblCentro.Location = new System.Drawing.Point(374, 48);
-            this.lblCentro.Name = "lblCentro";
-            this.lblCentro.Size = new System.Drawing.Size(132, 20);
-            this.lblCentro.TabIndex = 6;
-            this.lblCentro.Text = "Caminho Frontal";
-            // 
             // cmbS0
             // 
             this.cmbS0.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
@@ -185,11 +178,12 @@
             // 
             // cmbC
             // 
+            this.cmbC.Enabled = false;
             this.cmbC.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
             this.cmbC.FormattingEnabled = true;
             this.cmbC.Location = new System.Drawing.Point(332, 249);
             this.cmbC.Name = "cmbC";
-            this.cmbC.Size = new System.Drawing.Size(225, 28);
+            this.cmbC.Size = new System.Drawing.Size(141, 28);
             this.cmbC.TabIndex = 8;
             // 
             // cmbS1
@@ -445,12 +439,47 @@
             this.cmbComunicacao.TabIndex = 36;
             this.cmbComunicacao.SelectedIndexChanged += new System.EventHandler(this.cmbComunicacao_SelectedIndexChanged);
             // 
+            // btnCalibrarKinect
+            // 
+            this.btnCalibrarKinect.Enabled = false;
+            this.btnCalibrarKinect.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F);
+            this.btnCalibrarKinect.Location = new System.Drawing.Point(479, 249);
+            this.btnCalibrarKinect.Name = "btnCalibrarKinect";
+            this.btnCalibrarKinect.Size = new System.Drawing.Size(78, 28);
+            this.btnCalibrarKinect.TabIndex = 37;
+            this.btnCalibrarKinect.Text = "Calibrar";
+            this.btnCalibrarKinect.UseVisualStyleBackColor = true;
+            this.btnCalibrarKinect.Click += new System.EventHandler(this.btnCalibrarKinect_Click);
+            // 
+            // chbKinect
+            // 
+            this.chbKinect.AutoSize = true;
+            this.chbKinect.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
+            this.chbKinect.Location = new System.Drawing.Point(381, 44);
+            this.chbKinect.Name = "chbKinect";
+            this.chbKinect.Size = new System.Drawing.Size(132, 24);
+            this.chbKinect.TabIndex = 38;
+            this.chbKinect.Text = "Sonar Ativado";
+            this.chbKinect.UseVisualStyleBackColor = true;
+            this.chbKinect.CheckedChanged += new System.EventHandler(this.chbKinect_CheckedChanged);
+            // 
+            // trkKinect
+            // 
+            this.trkKinect.Location = new System.Drawing.Point(332, 9);
+            this.trkKinect.Name = "trkKinect";
+            this.trkKinect.Size = new System.Drawing.Size(225, 45);
+            this.trkKinect.TabIndex = 39;
+            this.trkKinect.TickFrequency = 4;
+            // 
             // frmAjustes
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.BackColor = System.Drawing.Color.Ivory;
             this.ClientSize = new System.Drawing.Size(800, 480);
+            this.Controls.Add(this.chbKinect);
+            this.Controls.Add(this.trkKinect);
+            this.Controls.Add(this.btnCalibrarKinect);
             this.Controls.Add(this.cmbComunicacao);
             this.Controls.Add(this.picSalvar);
             this.Controls.Add(this.picAtualizar);
@@ -477,7 +506,6 @@
             this.Controls.Add(this.cmbS1);
             this.Controls.Add(this.cmbC);
             this.Controls.Add(this.cmbS0);
-            this.Controls.Add(this.lblCentro);
             this.Controls.Add(this.pnlCentro);
             this.Controls.Add(this.lblDireita);
             this.Controls.Add(this.pnlDireita);
@@ -488,6 +516,7 @@
             this.Name = "frmAjustes";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "frmAjustes";
+            this.TopMost = true;
             this.Load += new System.EventHandler(this.frmAjustes_Load);
             this.pnlEsquerda.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.picEsquerda)).EndInit();
@@ -500,6 +529,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.picLer)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.picGravar)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.picAtualizar)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.trkKinect)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -513,7 +543,6 @@
         private System.Windows.Forms.Label lblDireita;
         private System.Windows.Forms.Panel pnlDireita;
         private System.Windows.Forms.Panel pnlCentro;
-        private System.Windows.Forms.Label lblCentro;
         private System.Windows.Forms.ComboBox cmbS0;
         private System.Windows.Forms.ComboBox cmbC;
         private System.Windows.Forms.ComboBox cmbS1;
@@ -543,5 +572,8 @@
         private System.Windows.Forms.PictureBox picDireita;
         private System.Windows.Forms.PictureBox picCentro;
         private System.Windows.Forms.ComboBox cmbComunicacao;
+        private System.Windows.Forms.Button btnCalibrarKinect;
+        private System.Windows.Forms.CheckBox chbKinect;
+        private System.Windows.Forms.TrackBar trkKinect;
     }
 }

AgroBase/AgroBase/Forms/IHM/frmAjustes.cs

@@ -12,6 +12,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
+using Emgu.Util;
 
 namespace AgroBase.Forms.IHM
 {
@@ -41,6 +42,12 @@ namespace AgroBase.Forms.IHM
                 Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraID_Caminho = cmbC.Text;
                 Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraID_Solo.Clear();
                 Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraID_Solo.AddRange(new string[] { cmbS0.Text, cmbS1.Text });
+                if (KinectService.Iniciado)
+                {
+                    KinectService.Parametros.SonarAtivado = chbKinect.Checked;
+                    KinectService.Parametros.Angulo = trkKinect.Value;
+                    KinectService.SalvarParametros();
+                }
 
                 MessageBox.Show("Configuração de câmeras salva com sucesso!", "Sucesso", MessageBoxButtons.OK, MessageBoxIcon.Information);
             });
@@ -89,6 +96,14 @@ namespace AgroBase.Forms.IHM
             {
                 AtualizarParametros().ConfigureAwait(false);
             }
+
+            chbKinect.Enabled = KinectService.Iniciado;
+            trkKinect.Enabled = KinectService.Iniciado;
+            if (KinectService.Iniciado)
+            {
+                chbKinect.Checked = KinectService.Parametros.SonarAtivado;
+                KinectService.AtualizarTrackBar(trkKinect);
+            }
         }
 
         #region COMUNICACAO
@@ -176,13 +191,12 @@ namespace AgroBase.Forms.IHM
         #region CAMERAS
 
         private FilterInfoCollection videoDevices;
-        private VideoCaptureDevice videoSourceCentro;
         private VideoCaptureDevice videoSourceEsquerda;
         private VideoCaptureDevice videoSourceDireita;
+        private Timer tmrKinect;
 
         private void AtualizarCameras()
         {
-            Variaveis.OperacaoEmAndamento.CameraCaminho.combo = cmbC;
             Variaveis.OperacaoEmAndamento.CamerasSolo[0].combo = cmbS0;
             Variaveis.OperacaoEmAndamento.CamerasSolo[1].combo = cmbS1;
 
@@ -197,15 +211,10 @@ namespace AgroBase.Forms.IHM
             Cameras = CameraService.AtualizaListaCameras();
 
             cmbC.Items.Clear();
-            cmbC.Items.AddRange(Cameras.Values.ToArray());
-            string IDrua = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraID_Caminho;
-            if (Cameras.Any(x => x.Value == IDrua))
+            if (KinectService.Iniciado)
             {
-                cmbC.SelectedIndex = cmbC.Items.IndexOf(IDrua);
-            }
-            else
-            {
-                cmbC.Text = IDrua;
+                cmbC.Items.Add("Sonar Frontal");
+                cmbC.SelectedIndex = 0;
             }
 
             var CamerasSolo = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraID_Solo;
@@ -236,7 +245,7 @@ namespace AgroBase.Forms.IHM
 
             IniciarCameras();
         }
-        
+
         private void IniciarCameras()
         {
             Bitmap blackBitmap = new Bitmap(picCentro.Width, picCentro.Height);
@@ -245,12 +254,6 @@ namespace AgroBase.Forms.IHM
                 g.Clear(Color.Black);
             }
 
-            if (videoSourceCentro != null)
-            {
-                videoSourceCentro.Stop();
-                videoSourceCentro = null;
-                picCentro.Image = blackBitmap;
-            }
             if (videoSourceEsquerda != null)
             {
                 videoSourceEsquerda.Stop();
@@ -271,15 +274,6 @@ namespace AgroBase.Forms.IHM
                 CamerasIDs.Add(info.MonikerString.ToLower());
             }
 
-            //string IDcamRua = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraID_Caminho.ToLower().Replace("\\", "#");
-            string IDcamRua = cmbC.Text.ToLower().Replace("\\", "#");
-            if (!string.IsNullOrEmpty(IDcamRua) && CamerasIDs.Any(x => x.Contains(IDcamRua)))
-            {
-                videoSourceCentro = new VideoCaptureDevice(CamerasIDs.First(x => x.Contains(IDcamRua)));
-                videoSourceCentro.NewFrame += new NewFrameEventHandler(videoSourceCentro_NewFrame);
-                videoSourceCentro.Start();
-            }
-            //string IDcamSoloE = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraID_Solo.Count() > 0 ? Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraID_Solo[0].ToLower().Replace("\\", "#") : "";
             string IDcamSoloE = cmbS0.Text.ToLower().Replace("\\", "#");
             if (!string.IsNullOrEmpty(IDcamSoloE) && CamerasIDs.Any(x => x.Contains(IDcamSoloE)))
             {
@@ -287,7 +281,6 @@ namespace AgroBase.Forms.IHM
                 videoSourceEsquerda.NewFrame += new NewFrameEventHandler(videoSourceEsquerda_NewFrame);
                 videoSourceEsquerda.Start();
             }
-            //string IDcamSoloD = Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraID_Solo.Count() > 1 ? Variaveis.OperacaoEmAndamento.DispSen.Dados.CameraID_Solo[1].ToLower().Replace("\\", "#") : "";
             string IDcamSoloD = cmbS1.Text.ToLower().Replace("\\", "#");
             if (!string.IsNullOrEmpty(IDcamSoloD) && CamerasIDs.Any(x => x.Contains(IDcamSoloD)))
             {
@@ -297,6 +290,12 @@ namespace AgroBase.Forms.IHM
             }
         }
 
+        private void TmrKinect_Tick(object sender, EventArgs e)
+        {
+            Bitmap bitmap = (Bitmap)(chbKinect.Checked ? KinectService.bitmapMap : KinectService.bitmapRGB).Clone();
+            picCentro.Image = bitmap;
+        }
+
         private void videoSourceCentro_NewFrame(object sender, NewFrameEventArgs eventArgs)
         {
             Bitmap bitmap = (Bitmap)eventArgs.Frame.Clone();
@@ -318,15 +317,14 @@ namespace AgroBase.Forms.IHM
 
         private void cmbCentro_SelectedIndexChanged(object sender, EventArgs e)
         {
-            if (Variaveis.OperacaoEmAndamento.CameraCaminho.combo.SelectedIndex > 0 && Variaveis.OperacaoEmAndamento.CamerasSolo.Any(x => x.combo.SelectedIndex == Variaveis.OperacaoEmAndamento.CameraCaminho.combo.SelectedIndex))
+            if (tmrKinect == null)
             {
-                MessageBox.Show("Essa câmera já está sendo usada por outro processo!", "Erro", MessageBoxButtons.OK, MessageBoxIcon.Warning);
-                Variaveis.OperacaoEmAndamento.CameraCaminho.combo.SelectedIndex = Variaveis.OperacaoEmAndamento.CameraCaminho.camera.selectedCamera;
-                return;
+                tmrKinect = new Timer();
+                tmrKinect.Interval = 100;
+                tmrKinect.Tick -= TmrKinect_Tick;
+                tmrKinect.Tick += TmrKinect_Tick;
+                tmrKinect.Start();
             }
-
-            Variaveis.OperacaoEmAndamento.CameraCaminho.camera.selectedCamera = cmbC.SelectedIndex;
-            IniciarCameras();
         }
 
         private void cmbCameraSolo_SelectedIndexChanged(object sender, EventArgs e)
@@ -359,5 +357,16 @@ namespace AgroBase.Forms.IHM
         {
             AtualizarParametros().ConfigureAwait(false);
         }
+
+        private void btnCalibrarKinect_Click(object sender, EventArgs e)
+        {
+            KinectService.RecalibrarSubdivisoes();
+        }
+
+        private void chbKinect_CheckedChanged(object sender, EventArgs e)
+        {
+            btnCalibrarKinect.Enabled = ((CheckBox)sender).Checked;
+        }
+
     }
 }

AgroBase/AgroBase/Forms/IHM/frmDiagnosticos.Designer.cs

@@ -341,6 +341,7 @@
             this.Name = "frmDiagnosticos";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "Diagnósticos";
+            this.TopMost = true;
             this.Load += new System.EventHandler(this.frmDiagnosticos_Load);
             this.tabControl1.ResumeLayout(false);
             this.tabPulverizador.ResumeLayout(false);

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

@@ -29,6 +29,7 @@
         private void InitializeComponent()
         {
             this.pnlMapa = new System.Windows.Forms.Panel();
+            this.pnlJoystick = new System.Windows.Forms.Panel();
             this.pnlCameraCaminho = new System.Windows.Forms.Panel();
             this.pnlCameraSoloD = new System.Windows.Forms.Panel();
             this.pnlCameraSoloE = new System.Windows.Forms.Panel();
@@ -62,13 +63,12 @@
             this.lblModoOperacao = new System.Windows.Forms.Label();
             this.txtModoOperacao = new System.Windows.Forms.TextBox();
             this.picFechar = new System.Windows.Forms.PictureBox();
-            this.pnlJoystick = new System.Windows.Forms.Panel();
             this.pnlAcompanhamento = new System.Windows.Forms.Panel();
-            this.cmbModoControle = new System.Windows.Forms.ComboBox();
             this.lblModoControle = new System.Windows.Forms.Label();
+            this.cmbModoControle = new System.Windows.Forms.ComboBox();
             this.statusStrip1 = new System.Windows.Forms.StatusStrip();
-            this.lblUltimaLeituraCaminho = new System.Windows.Forms.ToolStripStatusLabel();
             this.lblUltimaLeituraSolo = new System.Windows.Forms.ToolStripStatusLabel();
+            this.lblUltimaLeituraCaminho = new System.Windows.Forms.ToolStripStatusLabel();
             this.lblPerformance = new System.Windows.Forms.ToolStripStatusLabel();
             this.pnlMapa.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picFechar)).BeginInit();
@@ -89,6 +89,14 @@
             this.pnlMapa.Size = new System.Drawing.Size(480, 455);
             this.pnlMapa.TabIndex = 0;
             // 
+            // pnlJoystick
+            // 
+            this.pnlJoystick.Location = new System.Drawing.Point(16, 242);
+            this.pnlJoystick.Name = "pnlJoystick";
+            this.pnlJoystick.Size = new System.Drawing.Size(100, 100);
+            this.pnlJoystick.TabIndex = 18;
+            this.pnlJoystick.Visible = false;
+            // 
             // pnlCameraCaminho
             // 
             this.pnlCameraCaminho.Location = new System.Drawing.Point(176, 355);
@@ -388,14 +396,6 @@
             this.picFechar.TabIndex = 1;
             this.picFechar.TabStop = false;
             // 
-            // pnlJoystick
-            // 
-            this.pnlJoystick.Location = new System.Drawing.Point(16, 242);
-            this.pnlJoystick.Name = "pnlJoystick";
-            this.pnlJoystick.Size = new System.Drawing.Size(100, 100);
-            this.pnlJoystick.TabIndex = 18;
-            this.pnlJoystick.Visible = false;
-            // 
             // pnlAcompanhamento
             // 
             this.pnlAcompanhamento.AutoScroll = true;
@@ -432,6 +432,15 @@
             this.pnlAcompanhamento.Size = new System.Drawing.Size(312, 397);
             this.pnlAcompanhamento.TabIndex = 32;
             // 
+            // lblModoControle
+            // 
+            this.lblModoControle.AutoSize = true;
+            this.lblModoControle.Location = new System.Drawing.Point(3, 45);
+            this.lblModoControle.Name = "lblModoControle";
+            this.lblModoControle.Size = new System.Drawing.Size(91, 13);
+            this.lblModoControle.TabIndex = 31;
+            this.lblModoControle.Text = "Modo de Controle";
+            // 
             // cmbModoControle
             // 
             this.cmbModoControle.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
@@ -443,15 +452,6 @@
             this.cmbModoControle.Size = new System.Drawing.Size(120, 28);
             this.cmbModoControle.TabIndex = 30;
             // 
-            // lblModoControle
-            // 
-            this.lblModoControle.AutoSize = true;
-            this.lblModoControle.Location = new System.Drawing.Point(3, 45);
-            this.lblModoControle.Name = "lblModoControle";
-            this.lblModoControle.Size = new System.Drawing.Size(91, 13);
-            this.lblModoControle.TabIndex = 31;
-            this.lblModoControle.Text = "Modo de Controle";
-            // 
             // statusStrip1
             // 
             this.statusStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
@@ -464,18 +464,18 @@
             this.statusStrip1.TabIndex = 33;
             this.statusStrip1.Text = "statusStrip1";
             // 
-            // lblUltimaLeituraCaminho
-            // 
-            this.lblUltimaLeituraCaminho.Name = "lblUltimaLeituraCaminho";
-            this.lblUltimaLeituraCaminho.Size = new System.Drawing.Size(181, 17);
-            this.lblUltimaLeituraCaminho.Text = "Última Leitura Caminho: 00:00:00";
-            // 
             // lblUltimaLeituraSolo
             // 
             this.lblUltimaLeituraSolo.Name = "lblUltimaLeituraSolo";
             this.lblUltimaLeituraSolo.Size = new System.Drawing.Size(155, 17);
             this.lblUltimaLeituraSolo.Text = "Última Leitura Solo: 00:00:00";
             // 
+            // lblUltimaLeituraCaminho
+            // 
+            this.lblUltimaLeituraCaminho.Name = "lblUltimaLeituraCaminho";
+            this.lblUltimaLeituraCaminho.Size = new System.Drawing.Size(181, 17);
+            this.lblUltimaLeituraCaminho.Text = "Última Leitura Caminho: 00:00:00";
+            // 
             // lblPerformance
             // 
             this.lblPerformance.Name = "lblPerformance";
@@ -497,6 +497,7 @@
             this.Name = "frmDialogoMapa";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "frmDialogoMapa";
+            this.TopMost = true;
             this.pnlMapa.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.picFechar)).EndInit();
             this.pnlAcompanhamento.ResumeLayout(false);

AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs

@@ -82,9 +82,9 @@ namespace AgroBase.Forms.IHM
             {
                 lblUltimaLeituraSolo.Text = "Última Leitura Solo: " + FuncoesGlobais.TimestampToDate(ultimaLeitura.Leitura.timestamp);
             }
-            if (Variaveis.OperacaoEmAndamento.CameraCaminho != null)
+            if (Variaveis.OperacaoEmAndamento.CameraCaminhoKinect != null)
             {
-                lblUltimaLeituraCaminho.Text = "Última Leitura Caminho: " + FuncoesGlobais.TimestampToDate(Variaveis.OperacaoEmAndamento.CameraCaminho.Leitura.timestamp);
+                lblUltimaLeituraCaminho.Text = "Última Leitura Caminho: " + FuncoesGlobais.TimestampToDate(Variaveis.OperacaoEmAndamento.CameraCaminhoKinect.Leitura.timestamp);
             }
             lblPerformance.Text = Variaveis.OperacaoEmAndamento.PerformanceStr;
 
@@ -179,6 +179,8 @@ namespace AgroBase.Forms.IHM
                 pnlJoystick.MouseMove += PanelJoystickBack_MouseMove;
                 pnlJoystick.MouseUp += PanelJoystickBack_MouseUp;
 
+                Variaveis.OperacaoEmAndamento.AtualizaListaCameras(pnlCameraCaminho, new List<Panel>() { pnlCameraSoloE, pnlCameraSoloD }, true);
+
                 IniciarOperacao();
             }
         }

AgroBase/AgroBase/Forms/IHM/frmIHM.Designer.cs

@@ -50,13 +50,15 @@
             this.lblOperacao = new System.Windows.Forms.Label();
             this.lblAjustes = new System.Windows.Forms.Label();
             this.lblDesligar = new System.Windows.Forms.Label();
-            this.label1 = new System.Windows.Forms.Label();
+            this.lblModoManual = new System.Windows.Forms.Label();
             this.picManual = new System.Windows.Forms.PictureBox();
             this.picDiagnosticos = new System.Windows.Forms.PictureBox();
             this.picOperacao = new System.Windows.Forms.PictureBox();
             this.picAjustes = new System.Windows.Forms.PictureBox();
             this.picDesligar = new System.Windows.Forms.PictureBox();
             this.picRobo = new System.Windows.Forms.PictureBox();
+            this.lblD_A05 = new System.Windows.Forms.Label();
+            this.lblStatus = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.picManual)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.picDiagnosticos)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.picOperacao)).BeginInit();
@@ -103,8 +105,9 @@
             // lblD_Gps
             // 
             this.lblD_Gps.AutoSize = true;
+            this.lblD_Gps.BackColor = System.Drawing.Color.Gray;
             this.lblD_Gps.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.lblD_Gps.Location = new System.Drawing.Point(153, 23);
+            this.lblD_Gps.Location = new System.Drawing.Point(151, 171);
             this.lblD_Gps.Name = "lblD_Gps";
             this.lblD_Gps.Size = new System.Drawing.Size(48, 24);
             this.lblD_Gps.TabIndex = 6;
@@ -314,28 +317,28 @@
             this.lblDesligar.AutoSize = true;
             this.lblDesligar.BackColor = System.Drawing.Color.Transparent;
             this.lblDesligar.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.lblDesligar.Location = new System.Drawing.Point(685, 450);
+            this.lblDesligar.Location = new System.Drawing.Point(685, 406);
             this.lblDesligar.Name = "lblDesligar";
             this.lblDesligar.Size = new System.Drawing.Size(78, 24);
             this.lblDesligar.TabIndex = 36;
             this.lblDesligar.Text = "Desligar";
             // 
-            // label1
+            // lblModoManual
             // 
-            this.label1.AutoSize = true;
-            this.label1.BackColor = System.Drawing.Color.Transparent;
-            this.label1.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.label1.Location = new System.Drawing.Point(364, 450);
-            this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(126, 24);
-            this.label1.TabIndex = 38;
-            this.label1.Text = "Modo Manual";
+            this.lblModoManual.AutoSize = true;
+            this.lblModoManual.BackColor = System.Drawing.Color.Transparent;
+            this.lblModoManual.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.lblModoManual.Location = new System.Drawing.Point(364, 406);
+            this.lblModoManual.Name = "lblModoManual";
+            this.lblModoManual.Size = new System.Drawing.Size(126, 24);
+            this.lblModoManual.TabIndex = 38;
+            this.lblModoManual.Text = "Modo Manual";
             // 
             // picManual
             // 
             this.picManual.Cursor = System.Windows.Forms.Cursors.Default;
             this.picManual.Image = global::AgroBase.Properties.Resources.joystick;
-            this.picManual.Location = new System.Drawing.Point(362, 302);
+            this.picManual.Location = new System.Drawing.Point(362, 258);
             this.picManual.Name = "picManual";
             this.picManual.Size = new System.Drawing.Size(130, 130);
             this.picManual.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
@@ -379,7 +382,7 @@
             // 
             this.picDesligar.Cursor = System.Windows.Forms.Cursors.Default;
             this.picDesligar.Image = global::AgroBase.Properties.Resources.desligar;
-            this.picDesligar.Location = new System.Drawing.Point(658, 302);
+            this.picDesligar.Location = new System.Drawing.Point(658, 258);
             this.picDesligar.Name = "picDesligar";
             this.picDesligar.Size = new System.Drawing.Size(130, 130);
             this.picDesligar.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
@@ -396,13 +399,37 @@
             this.picRobo.TabIndex = 1;
             this.picRobo.TabStop = false;
             // 
+            // lblD_A05
+            // 
+            this.lblD_A05.AutoSize = true;
+            this.lblD_A05.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.lblD_A05.Location = new System.Drawing.Point(151, 24);
+            this.lblD_A05.Name = "lblD_A05";
+            this.lblD_A05.Size = new System.Drawing.Size(43, 24);
+            this.lblD_A05.TabIndex = 39;
+            this.lblD_A05.Text = "A05";
+            this.lblD_A05.Click += new System.EventHandler(this.lblModulo_Click);
+            // 
+            // lblStatus
+            // 
+            this.lblStatus.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblStatus.AutoSize = true;
+            this.lblStatus.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblStatus.Location = new System.Drawing.Point(359, 458);
+            this.lblStatus.Name = "lblStatus";
+            this.lblStatus.Size = new System.Drawing.Size(44, 13);
+            this.lblStatus.TabIndex = 40;
+            this.lblStatus.Text = "Iniciado";
+            // 
             // frmIHM
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(11F, 24F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.BackColor = System.Drawing.Color.White;
             this.ClientSize = new System.Drawing.Size(800, 480);
-            this.Controls.Add(this.label1);
+            this.Controls.Add(this.lblStatus);
+            this.Controls.Add(this.lblD_A05);
+            this.Controls.Add(this.lblModoManual);
             this.Controls.Add(this.picManual);
             this.Controls.Add(this.lblDesligar);
             this.Controls.Add(this.lblAjustes);
@@ -478,7 +505,9 @@
         private System.Windows.Forms.Label lblOperacao;
         private System.Windows.Forms.Label lblAjustes;
         private System.Windows.Forms.Label lblDesligar;
-        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.Label lblModoManual;
         private System.Windows.Forms.PictureBox picManual;
+        private System.Windows.Forms.Label lblD_A05;
+        public System.Windows.Forms.Label lblStatus;
     }
 }

AgroBase/AgroBase/Forms/IHM/frmIHM.cs

@@ -12,6 +12,7 @@ using System.IO.Ports;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Timers;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 
@@ -19,7 +20,7 @@ namespace AgroBase.Forms.IHM
 {
     public partial class frmIHM : Form
     {
-        Timer tmrDispositivos = new Timer() { Interval = 5000, Enabled = false };
+        System.Timers.Timer tmrDispositivos = new System.Timers.Timer() { Interval = 1000, Enabled = false };
 
         public frmIHM()
         {
@@ -71,59 +72,66 @@ namespace AgroBase.Forms.IHM
 
         private void frmIHM_Load(object sender, EventArgs e)
         {
-            tmrDispositivos.Tick += TmrDispositivos_Tick;
+            tmrDispositivos.Elapsed += TmrDispositivos_Elapsed;
             tmrDispositivos.Start();
         }
 
-        private void TmrDispositivos_Tick(object sender, EventArgs e)
+        private void TmrDispositivos_Elapsed(object sender, ElapsedEventArgs e)
         {
-            SerialService.RealizarVarreduraPortasUSB().ConfigureAwait(false);
-
-            var Labels = this.Controls.OfType<Label>().Where(y => y.Name.Contains("lblD_")).ToList();
-            Labels.ForEach(lbl =>
+            Func<bool> funcao = new Func<bool>(() =>
             {
-                T_Code Dispositivo = (T_Code)Enum.Parse(typeof(T_Code), lbl.Name.Split('_')[1]);
-                string Mod_ID = lbl.Name.Split('_').Length == 3 ? lbl.Name.Split('_')[2] : lbl.Name.Split('_')[1];
-
-                if (Dispositivo == T_Code.Cam)
+                var Labels = this.Controls.OfType<Label>().Where(y => y.Name.Contains("lblD_")).ToList();
+                Labels.ForEach(lbl =>
                 {
-                    var listaCameras = CameraService.AtualizaListaCameras();
+                    T_Code Dispositivo = (T_Code)Enum.Parse(typeof(T_Code), lbl.Name.Split('_')[1]);
+                    string Mod_ID = lbl.Name.Split('_').Length == 3 ? lbl.Name.Split('_')[2] : lbl.Name.Split('_')[1];
 
-                    var CameraCaminho = Variaveis.OperacaoEmAndamento.CameraCaminho;
-                    if (CameraCaminho != null && Mod_ID == CameraCaminho.ID)
+                    if (Dispositivo == T_Code.Cam)
                     {
-                        lbl.ForeColor = !listaCameras.Any(x => x.Value == CameraCaminho.CameraSelecionada) ? Color.DarkRed : CameraCaminho.camera.selectedCamera == 0 ? Color.Gold : Color.DarkGreen;
-                    }
-                    else
-                    {
-                        var CameraSolo = Variaveis.OperacaoEmAndamento.CamerasSolo.FirstOrDefault(x => x.ID == Mod_ID);
-                        if (CameraSolo != null)
+                        var listaCameras = CameraService.AtualizaListaCameras();
+
+                        var CameraCaminho = Variaveis.OperacaoEmAndamento.CameraCaminhoKinect;
+                        if (CameraCaminho != null && Mod_ID == CameraCaminho.ID)
                         {
-                            lbl.ForeColor = !listaCameras.Any(x => x.Value == CameraSolo.CameraSelecionada) ? Color.DarkRed : CameraSolo.camera.selectedCamera == 0 ? Color.Gold : Color.DarkGreen;
+                            lbl.ForeColor = !listaCameras.Any(x => x.Value == CameraCaminho.CameraSelecionada) ? Color.DarkRed : CameraCaminho.camera.selectedCamera == 0 ? Color.Gold : Color.DarkGreen;
+                        }
+                        else
+                        {
+                            var CameraSolo = Variaveis.OperacaoEmAndamento.CamerasSolo.FirstOrDefault(x => x.ID == Mod_ID);
+                            if (CameraSolo != null)
+                            {
+                                lbl.ForeColor = !listaCameras.Any(x => x.Value == CameraSolo.CameraSelecionada) ? Color.DarkRed : CameraSolo.camera.selectedCamera == 0 ? Color.Gold : Color.DarkGreen;
+                            }
                         }
                     }
-                }
-                else
-                {
-                    var Modulo = SerialService.DispositivosMapeados.FirstOrDefault(x => x.Dispositivo == Dispositivo && (x.Mod_ID == Mod_ID || x.Mod_ID == null));
-                    if (Modulo != null)
-                    {
-                        lbl.ForeColor = Modulo.Erro ? Color.Gold : Modulo.Conectado ? Color.DarkGreen : Color.DarkRed;
-                    }
                     else
                     {
-                        lbl.ForeColor = Color.Black;
+                        var Modulo = SerialService.DispositivosMapeados.FirstOrDefault(x => x.Dispositivo == Dispositivo && (x.Mod_ID == Mod_ID || x.Mod_ID == null));
+                        if (Modulo != null)
+                        {
+                            lbl.ForeColor = Modulo.Erro ? Color.Gold : Modulo.Conectado ? Color.DarkGreen : Color.DarkRed;
+                        }
+                        else
+                        {
+                            lbl.ForeColor = Color.Black;
+                        }
                     }
+                });
+
+                if (SerialService.DispositivosMapeados.Count == 0)
+                {
+                    Variaveis.DispositivosConectados.Where(x => x.Dados.GetStatusConexao()).ToList().ForEach(x => x.AcaoDesconectar());
                 }
+
+                lblMqtt.Text = "MQTT: " + (Variaveis.MqttService.StatusConexao() ? "Conectado" : "Desconectado");
+                lblMqtt.ForeColor = Variaveis.MqttService.StatusConexao() ? Color.Green : Color.Red;
+
+                return true;
             });
 
-            if (SerialService.DispositivosMapeados.Count == 0)
-            {
-                Variaveis.DispositivosConectados.Where(x => x.Dados.GetStatusConexao()).ToList().ForEach(x => x.AcaoDesconectar());
-            }
+            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(this, funcao);
 
-            lblMqtt.Text = "MQTT: " + (Variaveis.MqttService.StatusConexao() ? "Conectado" : "Desconectado");
-            lblMqtt.ForeColor = Variaveis.MqttService.StatusConexao() ? Color.Green : Color.Red;
+            Task.Run(async () => await SerialService.RealizarVarreduraPortasUSB(tmrDispositivos));
         }
 
         private void lblModulo_Click(object sender, EventArgs e)

AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.Designer.cs

@@ -467,6 +467,7 @@
             this.Name = "frmInicioOperacao";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "Preparando operação...";
+            this.TopMost = true;
             this.Load += new System.EventHandler(this.frmInicioOperacao_Load);
             this.fpnlInformacoes.ResumeLayout(false);
             this.fpnlInformacoes.PerformLayout();

AgroBase/AgroBase/Forms/Movimentacao/frmMovCamera.cs

@@ -295,7 +295,7 @@ namespace AgroBase.Forms.Movimentacao
                 VideoPorta,
                 VideoUrl,
                 VideoUrl, 
-                new Timer()
+                new System.Timers.Timer()
             );
 
             tmrLeitura = new Timer() { Interval = 200 };

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs

@@ -88,7 +88,7 @@ namespace AgroBase.Forms.Operacoes
                 lblUltimaLeituraSolo.Text = "Ultima Leitura Solo: " + FuncoesGlobais.TimestampToDate(ultimaLeitura.Leitura.timestamp);
             }
 
-            lblUltimaLeituraRua.Text = "Ultima Leitura Rua: " + FuncoesGlobais.TimestampToDate(Variaveis.OperacaoEmAndamento.CameraCaminho.Leitura.timestamp);
+            lblUltimaLeituraRua.Text = "Ultima Leitura Rua: " + FuncoesGlobais.TimestampToDate(Variaveis.OperacaoEmAndamento.CameraCaminhoKinect.Leitura.timestamp);
 
             btnCarregarMapa.Enabled = !Variaveis.OperacaoEmAndamento.Iniciado;
 
@@ -251,7 +251,7 @@ namespace AgroBase.Forms.Operacoes
 
         private void pnlCaminho_Paint(object sender, PaintEventArgs e)
         {
-            var cameraCaminho = Variaveis.OperacaoEmAndamento.CameraCaminho;
+            var cameraCaminho = Variaveis.OperacaoEmAndamento.CameraCaminhoKinect;
 
             Panel pnlContornos = (Panel)sender;
             if (cameraCaminho.Leitura == null) return;

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

@@ -285,6 +285,11 @@
             this.label63 = new System.Windows.Forms.Label();
             this.chartSensoriamento = new System.Windows.Forms.DataVisualization.Charting.Chart();
             this.tabSinaleiros = new System.Windows.Forms.TabPage();
+            this.lblU1 = new System.Windows.Forms.Label();
+            this.lblU2 = new System.Windows.Forms.Label();
+            this.lblU3 = new System.Windows.Forms.Label();
+            this.lblU4 = new System.Windows.Forms.Label();
+            this.picRoboSuperior = new System.Windows.Forms.PictureBox();
             this.lblManual = new System.Windows.Forms.Label();
             this.lblOperacao = new System.Windows.Forms.Label();
             this.pnlManual = new System.Windows.Forms.Panel();
@@ -294,6 +299,18 @@
             this.tabOrientacao = new System.Windows.Forms.TabPage();
             this.pnlInclinacao = new System.Windows.Forms.Panel();
             this.pnl3D = new System.Windows.Forms.Panel();
+            this.tabSonar = new System.Windows.Forms.TabPage();
+            this.chbGrade = new System.Windows.Forms.CheckBox();
+            this.gridObstaculos = new System.Windows.Forms.DataGridView();
+            this.txtDirecaoDesvio = new System.Windows.Forms.TextBox();
+            this.label100 = new System.Windows.Forms.Label();
+            this.txtDesvioNecessario = new System.Windows.Forms.TextBox();
+            this.label99 = new System.Windows.Forms.Label();
+            this.txtEspacoLivreDireita = new System.Windows.Forms.TextBox();
+            this.label98 = new System.Windows.Forms.Label();
+            this.txtEspacoLivreEsquerda = new System.Windows.Forms.TextBox();
+            this.label97 = new System.Windows.Forms.Label();
+            this.picMapaCalor = new System.Windows.Forms.PictureBox();
             this.panel6 = new System.Windows.Forms.Panel();
             this.txtTipoMovimento = new System.Windows.Forms.TextBox();
             this.lblTipoMovimento = new System.Windows.Forms.Label();
@@ -326,18 +343,30 @@
             this.label36 = new System.Windows.Forms.Label();
             this.txtMomento = new System.Windows.Forms.TextBox();
             this.btnPlay = new System.Windows.Forms.Button();
-            this.tabSonar = new System.Windows.Forms.TabPage();
-            this.picMapaCalor = new System.Windows.Forms.PictureBox();
-            this.txtEspacoLivreEsquerda = new System.Windows.Forms.TextBox();
-            this.label97 = new System.Windows.Forms.Label();
-            this.txtEspacoLivreDireita = new System.Windows.Forms.TextBox();
-            this.label98 = new System.Windows.Forms.Label();
-            this.txtDesvioNecessario = new System.Windows.Forms.TextBox();
-            this.label99 = new System.Windows.Forms.Label();
-            this.txtDirecaoDesvio = new System.Windows.Forms.TextBox();
-            this.label100 = new System.Windows.Forms.Label();
-            this.gridObstaculos = new System.Windows.Forms.DataGridView();
-            this.chbGrade = new System.Windows.Forms.CheckBox();
+            this.tabControl3 = new System.Windows.Forms.TabControl();
+            this.tabSonarRGB = new System.Windows.Forms.TabPage();
+            this.tabSonarCalor = new System.Windows.Forms.TabPage();
+            this.picSonarRGB = new System.Windows.Forms.PictureBox();
+            this.tabSegmentacao = new System.Windows.Forms.TabPage();
+            this.pnlCaminho = new System.Windows.Forms.Panel();
+            this.txtCamCaminhoAngulo = new System.Windows.Forms.TextBox();
+            this.label101 = new System.Windows.Forms.Label();
+            this.txtCamCaminhoEsquerda = new System.Windows.Forms.TextBox();
+            this.label102 = new System.Windows.Forms.Label();
+            this.txtCamCaminhoDireita = new System.Windows.Forms.TextBox();
+            this.label103 = new System.Windows.Forms.Label();
+            this.chbDesenharContornos = new System.Windows.Forms.CheckBox();
+            this.chbDesenharExtremos = new System.Windows.Forms.CheckBox();
+            this.tabControl4 = new System.Windows.Forms.TabControl();
+            this.tabMapaGPS = new System.Windows.Forms.TabPage();
+            this.tabMapaDinamico = new System.Windows.Forms.TabPage();
+            this.pnlZoomMapa = new System.Windows.Forms.Panel();
+            this.txtTemperatura = new System.Windows.Forms.TextBox();
+            this.label104 = new System.Windows.Forms.Label();
+            this.txtAltitude = new System.Windows.Forms.TextBox();
+            this.label105 = new System.Windows.Forms.Label();
+            this.txtPressao = new System.Windows.Forms.TextBox();
+            this.label106 = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.trbMomento)).BeginInit();
             this.panel1.SuspendLayout();
             this.panel2.SuspendLayout();
@@ -381,12 +410,21 @@
             this.gpbSEN_Filtro.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.chartSensoriamento)).BeginInit();
             this.tabSinaleiros.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.picRoboSuperior)).BeginInit();
             this.tabOrientacao.SuspendLayout();
+            this.tabSonar.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.gridObstaculos)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.picMapaCalor)).BeginInit();
             this.panel6.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).BeginInit();
-            this.tabSonar.SuspendLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.picMapaCalor)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.gridObstaculos)).BeginInit();
+            this.tabControl3.SuspendLayout();
+            this.tabSonarRGB.SuspendLayout();
+            this.tabSonarCalor.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.picSonarRGB)).BeginInit();
+            this.tabSegmentacao.SuspendLayout();
+            this.tabControl4.SuspendLayout();
+            this.tabMapaGPS.SuspendLayout();
+            this.tabMapaDinamico.SuspendLayout();
             this.SuspendLayout();
             // 
             // trbMomento
@@ -401,6 +439,7 @@
             // panel1
             // 
             this.panel1.BackColor = System.Drawing.Color.White;
+            this.panel1.Controls.Add(this.tabControl4);
             this.panel1.Controls.Add(this.pnlOrientacaoDif);
             this.panel1.Controls.Add(this.label83);
             this.panel1.Controls.Add(this.label82);
@@ -427,7 +466,6 @@
             this.panel1.Controls.Add(this.lblGPS);
             this.panel1.Controls.Add(this.pnlOrientacaoMagnetometro);
             this.panel1.Controls.Add(this.pnlOrientacaoGPS);
-            this.panel1.Controls.Add(this.pnlMapa);
             this.panel1.Location = new System.Drawing.Point(522, 10);
             this.panel1.Margin = new System.Windows.Forms.Padding(2);
             this.panel1.Name = "panel1";
@@ -706,10 +744,11 @@
             // 
             // pnlMapa
             // 
-            this.pnlMapa.Location = new System.Drawing.Point(2, 103);
+            this.pnlMapa.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.pnlMapa.Location = new System.Drawing.Point(3, 3);
             this.pnlMapa.Margin = new System.Windows.Forms.Padding(2);
             this.pnlMapa.Name = "pnlMapa";
-            this.pnlMapa.Size = new System.Drawing.Size(412, 366);
+            this.pnlMapa.Size = new System.Drawing.Size(394, 334);
             this.pnlMapa.TabIndex = 0;
             // 
             // panel2
@@ -730,6 +769,7 @@
             this.tabControl1.Controls.Add(this.tabSinaleiros);
             this.tabControl1.Controls.Add(this.tabOrientacao);
             this.tabControl1.Controls.Add(this.tabSonar);
+            this.tabControl1.Controls.Add(this.tabSegmentacao);
             this.tabControl1.Location = new System.Drawing.Point(2, 2);
             this.tabControl1.Margin = new System.Windows.Forms.Padding(2);
             this.tabControl1.Name = "tabControl1";
@@ -3104,6 +3144,11 @@
             // 
             // tabSinaleiros
             // 
+            this.tabSinaleiros.Controls.Add(this.lblU1);
+            this.tabSinaleiros.Controls.Add(this.lblU2);
+            this.tabSinaleiros.Controls.Add(this.lblU3);
+            this.tabSinaleiros.Controls.Add(this.lblU4);
+            this.tabSinaleiros.Controls.Add(this.picRoboSuperior);
             this.tabSinaleiros.Controls.Add(this.lblManual);
             this.tabSinaleiros.Controls.Add(this.lblOperacao);
             this.tabSinaleiros.Controls.Add(this.pnlManual);
@@ -3118,6 +3163,56 @@
             this.tabSinaleiros.Text = "Sinaleiros";
             this.tabSinaleiros.UseVisualStyleBackColor = true;
             // 
+            // lblU1
+            // 
+            this.lblU1.AutoSize = true;
+            this.lblU1.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
+            this.lblU1.Location = new System.Drawing.Point(77, 467);
+            this.lblU1.Name = "lblU1";
+            this.lblU1.Size = new System.Drawing.Size(68, 17);
+            this.lblU1.TabIndex = 9;
+            this.lblU1.Text = "U1: 0 mm";
+            // 
+            // lblU2
+            // 
+            this.lblU2.AutoSize = true;
+            this.lblU2.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
+            this.lblU2.Location = new System.Drawing.Point(372, 467);
+            this.lblU2.Name = "lblU2";
+            this.lblU2.Size = new System.Drawing.Size(68, 17);
+            this.lblU2.TabIndex = 8;
+            this.lblU2.Text = "U2: 0 mm";
+            // 
+            // lblU3
+            // 
+            this.lblU3.AutoSize = true;
+            this.lblU3.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
+            this.lblU3.Location = new System.Drawing.Point(77, 206);
+            this.lblU3.Name = "lblU3";
+            this.lblU3.Size = new System.Drawing.Size(68, 17);
+            this.lblU3.TabIndex = 7;
+            this.lblU3.Text = "U3: 0 mm";
+            // 
+            // lblU4
+            // 
+            this.lblU4.AutoSize = true;
+            this.lblU4.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F);
+            this.lblU4.Location = new System.Drawing.Point(372, 206);
+            this.lblU4.Name = "lblU4";
+            this.lblU4.Size = new System.Drawing.Size(68, 17);
+            this.lblU4.TabIndex = 5;
+            this.lblU4.Text = "U4: 0 mm";
+            // 
+            // picRoboSuperior
+            // 
+            this.picRoboSuperior.Image = global::AgroBase.Properties.Resources.robo_superior;
+            this.picRoboSuperior.Location = new System.Drawing.Point(147, 206);
+            this.picRoboSuperior.Name = "picRoboSuperior";
+            this.picRoboSuperior.Size = new System.Drawing.Size(219, 278);
+            this.picRoboSuperior.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
+            this.picRoboSuperior.TabIndex = 4;
+            this.picRoboSuperior.TabStop = false;
+            // 
             // lblManual
             // 
             this.lblManual.AutoSize = true;
@@ -3198,8 +3293,145 @@
             this.pnl3D.Size = new System.Drawing.Size(486, 512);
             this.pnl3D.TabIndex = 1;
             // 
+            // tabSonar
+            // 
+            this.tabSonar.Controls.Add(this.tabControl3);
+            this.tabSonar.Controls.Add(this.chbGrade);
+            this.tabSonar.Controls.Add(this.gridObstaculos);
+            this.tabSonar.Controls.Add(this.txtDirecaoDesvio);
+            this.tabSonar.Controls.Add(this.label100);
+            this.tabSonar.Controls.Add(this.txtDesvioNecessario);
+            this.tabSonar.Controls.Add(this.label99);
+            this.tabSonar.Controls.Add(this.txtEspacoLivreDireita);
+            this.tabSonar.Controls.Add(this.label98);
+            this.tabSonar.Controls.Add(this.txtEspacoLivreEsquerda);
+            this.tabSonar.Controls.Add(this.label97);
+            this.tabSonar.Location = new System.Drawing.Point(4, 22);
+            this.tabSonar.Name = "tabSonar";
+            this.tabSonar.Padding = new System.Windows.Forms.Padding(3);
+            this.tabSonar.Size = new System.Drawing.Size(496, 522);
+            this.tabSonar.TabIndex = 6;
+            this.tabSonar.Text = "Sonar";
+            this.tabSonar.UseVisualStyleBackColor = true;
+            // 
+            // chbGrade
+            // 
+            this.chbGrade.AutoSize = true;
+            this.chbGrade.Location = new System.Drawing.Point(435, 353);
+            this.chbGrade.Name = "chbGrade";
+            this.chbGrade.Size = new System.Drawing.Size(55, 17);
+            this.chbGrade.TabIndex = 48;
+            this.chbGrade.Text = "Grade";
+            this.chbGrade.UseVisualStyleBackColor = true;
+            // 
+            // gridObstaculos
+            // 
+            this.gridObstaculos.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
+            this.gridObstaculos.EditMode = System.Windows.Forms.DataGridViewEditMode.EditProgrammatically;
+            this.gridObstaculos.Location = new System.Drawing.Point(5, 376);
+            this.gridObstaculos.Name = "gridObstaculos";
+            this.gridObstaculos.Size = new System.Drawing.Size(485, 140);
+            this.gridObstaculos.TabIndex = 47;
+            // 
+            // txtDirecaoDesvio
+            // 
+            this.txtDirecaoDesvio.Location = new System.Drawing.Point(312, 351);
+            this.txtDirecaoDesvio.Margin = new System.Windows.Forms.Padding(2);
+            this.txtDirecaoDesvio.Name = "txtDirecaoDesvio";
+            this.txtDirecaoDesvio.ReadOnly = true;
+            this.txtDirecaoDesvio.Size = new System.Drawing.Size(100, 20);
+            this.txtDirecaoDesvio.TabIndex = 46;
+            this.txtDirecaoDesvio.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // label100
+            // 
+            this.label100.AutoSize = true;
+            this.label100.Location = new System.Drawing.Point(213, 354);
+            this.label100.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label100.Name = "label100";
+            this.label100.Size = new System.Drawing.Size(95, 13);
+            this.label100.TabIndex = 45;
+            this.label100.Text = "Direção do Desvio";
+            // 
+            // txtDesvioNecessario
+            // 
+            this.txtDesvioNecessario.Location = new System.Drawing.Point(109, 351);
+            this.txtDesvioNecessario.Margin = new System.Windows.Forms.Padding(2);
+            this.txtDesvioNecessario.Name = "txtDesvioNecessario";
+            this.txtDesvioNecessario.ReadOnly = true;
+            this.txtDesvioNecessario.Size = new System.Drawing.Size(100, 20);
+            this.txtDesvioNecessario.TabIndex = 44;
+            this.txtDesvioNecessario.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // label99
+            // 
+            this.label99.AutoSize = true;
+            this.label99.Location = new System.Drawing.Point(5, 354);
+            this.label99.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label99.Name = "label99";
+            this.label99.Size = new System.Drawing.Size(96, 13);
+            this.label99.TabIndex = 43;
+            this.label99.Text = "Desvio Necessário";
+            // 
+            // txtEspacoLivreDireita
+            // 
+            this.txtEspacoLivreDireita.Location = new System.Drawing.Point(312, 327);
+            this.txtEspacoLivreDireita.Margin = new System.Windows.Forms.Padding(2);
+            this.txtEspacoLivreDireita.Name = "txtEspacoLivreDireita";
+            this.txtEspacoLivreDireita.ReadOnly = true;
+            this.txtEspacoLivreDireita.Size = new System.Drawing.Size(100, 20);
+            this.txtEspacoLivreDireita.TabIndex = 42;
+            this.txtEspacoLivreDireita.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // label98
+            // 
+            this.label98.AutoSize = true;
+            this.label98.Location = new System.Drawing.Point(213, 330);
+            this.label98.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label98.Name = "label98";
+            this.label98.Size = new System.Drawing.Size(85, 13);
+            this.label98.TabIndex = 41;
+            this.label98.Text = "Espaço à Direita";
+            // 
+            // txtEspacoLivreEsquerda
+            // 
+            this.txtEspacoLivreEsquerda.Location = new System.Drawing.Point(109, 327);
+            this.txtEspacoLivreEsquerda.Margin = new System.Windows.Forms.Padding(2);
+            this.txtEspacoLivreEsquerda.Name = "txtEspacoLivreEsquerda";
+            this.txtEspacoLivreEsquerda.ReadOnly = true;
+            this.txtEspacoLivreEsquerda.Size = new System.Drawing.Size(100, 20);
+            this.txtEspacoLivreEsquerda.TabIndex = 40;
+            this.txtEspacoLivreEsquerda.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // label97
+            // 
+            this.label97.AutoSize = true;
+            this.label97.Location = new System.Drawing.Point(5, 330);
+            this.label97.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label97.Name = "label97";
+            this.label97.Size = new System.Drawing.Size(100, 13);
+            this.label97.TabIndex = 39;
+            this.label97.Text = "Espaço à Esquerda";
+            // 
+            // picMapaCalor
+            // 
+            this.picMapaCalor.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.picMapaCalor.Location = new System.Drawing.Point(3, 3);
+            this.picMapaCalor.Margin = new System.Windows.Forms.Padding(2);
+            this.picMapaCalor.Name = "picMapaCalor";
+            this.picMapaCalor.Size = new System.Drawing.Size(473, 284);
+            this.picMapaCalor.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
+            this.picMapaCalor.TabIndex = 1;
+            this.picMapaCalor.TabStop = false;
+            // 
             // panel6
             // 
+            this.panel6.Controls.Add(this.txtPressao);
+            this.panel6.Controls.Add(this.label106);
+            this.panel6.Controls.Add(this.txtAltitude);
+            this.panel6.Controls.Add(this.label105);
+            this.panel6.Controls.Add(this.txtTemperatura);
+            this.panel6.Controls.Add(this.label104);
             this.panel6.Controls.Add(this.txtTipoMovimento);
             this.panel6.Controls.Add(this.lblTipoMovimento);
             this.panel6.Controls.Add(this.txtErvasNoRadar);
@@ -3540,135 +3772,260 @@
             this.btnPlay.UseVisualStyleBackColor = true;
             this.btnPlay.Click += new System.EventHandler(this.btnPlay_Click);
             // 
-            // tabSonar
+            // tabControl3
             // 
-            this.tabSonar.Controls.Add(this.chbGrade);
-            this.tabSonar.Controls.Add(this.gridObstaculos);
-            this.tabSonar.Controls.Add(this.txtDirecaoDesvio);
-            this.tabSonar.Controls.Add(this.label100);
-            this.tabSonar.Controls.Add(this.txtDesvioNecessario);
-            this.tabSonar.Controls.Add(this.label99);
-            this.tabSonar.Controls.Add(this.txtEspacoLivreDireita);
-            this.tabSonar.Controls.Add(this.label98);
-            this.tabSonar.Controls.Add(this.txtEspacoLivreEsquerda);
-            this.tabSonar.Controls.Add(this.label97);
-            this.tabSonar.Controls.Add(this.picMapaCalor);
-            this.tabSonar.Location = new System.Drawing.Point(4, 22);
-            this.tabSonar.Name = "tabSonar";
-            this.tabSonar.Padding = new System.Windows.Forms.Padding(3);
-            this.tabSonar.Size = new System.Drawing.Size(496, 522);
-            this.tabSonar.TabIndex = 6;
-            this.tabSonar.Text = "Sonar";
-            this.tabSonar.UseVisualStyleBackColor = true;
+            this.tabControl3.Controls.Add(this.tabSonarRGB);
+            this.tabControl3.Controls.Add(this.tabSonarCalor);
+            this.tabControl3.Location = new System.Drawing.Point(3, 6);
+            this.tabControl3.Name = "tabControl3";
+            this.tabControl3.SelectedIndex = 0;
+            this.tabControl3.Size = new System.Drawing.Size(487, 316);
+            this.tabControl3.TabIndex = 49;
             // 
-            // picMapaCalor
+            // tabSonarRGB
             // 
-            this.picMapaCalor.Location = new System.Drawing.Point(5, 5);
-            this.picMapaCalor.Margin = new System.Windows.Forms.Padding(2);
-            this.picMapaCalor.Name = "picMapaCalor";
-            this.picMapaCalor.Size = new System.Drawing.Size(486, 318);
-            this.picMapaCalor.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
-            this.picMapaCalor.TabIndex = 1;
-            this.picMapaCalor.TabStop = false;
+            this.tabSonarRGB.Controls.Add(this.picSonarRGB);
+            this.tabSonarRGB.Location = new System.Drawing.Point(4, 22);
+            this.tabSonarRGB.Name = "tabSonarRGB";
+            this.tabSonarRGB.Padding = new System.Windows.Forms.Padding(3);
+            this.tabSonarRGB.Size = new System.Drawing.Size(479, 290);
+            this.tabSonarRGB.TabIndex = 0;
+            this.tabSonarRGB.Text = "Sonar em Área";
+            this.tabSonarRGB.UseVisualStyleBackColor = true;
             // 
-            // txtEspacoLivreEsquerda
+            // tabSonarCalor
             // 
-            this.txtEspacoLivreEsquerda.Location = new System.Drawing.Point(109, 327);
-            this.txtEspacoLivreEsquerda.Margin = new System.Windows.Forms.Padding(2);
-            this.txtEspacoLivreEsquerda.Name = "txtEspacoLivreEsquerda";
-            this.txtEspacoLivreEsquerda.ReadOnly = true;
-            this.txtEspacoLivreEsquerda.Size = new System.Drawing.Size(100, 20);
-            this.txtEspacoLivreEsquerda.TabIndex = 40;
-            this.txtEspacoLivreEsquerda.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.tabSonarCalor.Controls.Add(this.picMapaCalor);
+            this.tabSonarCalor.Location = new System.Drawing.Point(4, 22);
+            this.tabSonarCalor.Name = "tabSonarCalor";
+            this.tabSonarCalor.Padding = new System.Windows.Forms.Padding(3);
+            this.tabSonarCalor.Size = new System.Drawing.Size(479, 290);
+            this.tabSonarCalor.TabIndex = 1;
+            this.tabSonarCalor.Text = "Mapa de Calor";
+            this.tabSonarCalor.UseVisualStyleBackColor = true;
             // 
-            // label97
+            // picSonarRGB
             // 
-            this.label97.AutoSize = true;
-            this.label97.Location = new System.Drawing.Point(5, 330);
-            this.label97.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label97.Name = "label97";
-            this.label97.Size = new System.Drawing.Size(100, 13);
-            this.label97.TabIndex = 39;
-            this.label97.Text = "Espaço à Esquerda";
+            this.picSonarRGB.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.picSonarRGB.Location = new System.Drawing.Point(3, 3);
+            this.picSonarRGB.Margin = new System.Windows.Forms.Padding(2);
+            this.picSonarRGB.Name = "picSonarRGB";
+            this.picSonarRGB.Size = new System.Drawing.Size(473, 284);
+            this.picSonarRGB.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
+            this.picSonarRGB.TabIndex = 2;
+            this.picSonarRGB.TabStop = false;
             // 
-            // txtEspacoLivreDireita
+            // tabSegmentacao
             // 
-            this.txtEspacoLivreDireita.Location = new System.Drawing.Point(312, 327);
-            this.txtEspacoLivreDireita.Margin = new System.Windows.Forms.Padding(2);
-            this.txtEspacoLivreDireita.Name = "txtEspacoLivreDireita";
-            this.txtEspacoLivreDireita.ReadOnly = true;
-            this.txtEspacoLivreDireita.Size = new System.Drawing.Size(100, 20);
-            this.txtEspacoLivreDireita.TabIndex = 42;
-            this.txtEspacoLivreDireita.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.tabSegmentacao.Controls.Add(this.chbDesenharExtremos);
+            this.tabSegmentacao.Controls.Add(this.chbDesenharContornos);
+            this.tabSegmentacao.Controls.Add(this.txtCamCaminhoDireita);
+            this.tabSegmentacao.Controls.Add(this.label103);
+            this.tabSegmentacao.Controls.Add(this.txtCamCaminhoEsquerda);
+            this.tabSegmentacao.Controls.Add(this.label102);
+            this.tabSegmentacao.Controls.Add(this.txtCamCaminhoAngulo);
+            this.tabSegmentacao.Controls.Add(this.label101);
+            this.tabSegmentacao.Controls.Add(this.pnlCaminho);
+            this.tabSegmentacao.Location = new System.Drawing.Point(4, 22);
+            this.tabSegmentacao.Name = "tabSegmentacao";
+            this.tabSegmentacao.Padding = new System.Windows.Forms.Padding(3);
+            this.tabSegmentacao.Size = new System.Drawing.Size(496, 522);
+            this.tabSegmentacao.TabIndex = 7;
+            this.tabSegmentacao.Text = "Segmentação";
+            this.tabSegmentacao.UseVisualStyleBackColor = true;
             // 
-            // label98
+            // pnlCaminho
             // 
-            this.label98.AutoSize = true;
-            this.label98.Location = new System.Drawing.Point(213, 330);
-            this.label98.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label98.Name = "label98";
-            this.label98.Size = new System.Drawing.Size(85, 13);
-            this.label98.TabIndex = 41;
-            this.label98.Text = "Espaço à Direita";
+            this.pnlCaminho.BackColor = System.Drawing.Color.White;
+            this.pnlCaminho.Location = new System.Drawing.Point(5, 5);
+            this.pnlCaminho.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlCaminho.Name = "pnlCaminho";
+            this.pnlCaminho.Size = new System.Drawing.Size(486, 398);
+            this.pnlCaminho.TabIndex = 16;
+            this.pnlCaminho.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlCaminho_Paint);
             // 
-            // txtDesvioNecessario
+            // txtCamCaminhoAngulo
             // 
-            this.txtDesvioNecessario.Location = new System.Drawing.Point(109, 351);
-            this.txtDesvioNecessario.Margin = new System.Windows.Forms.Padding(2);
-            this.txtDesvioNecessario.Name = "txtDesvioNecessario";
-            this.txtDesvioNecessario.ReadOnly = true;
-            this.txtDesvioNecessario.Size = new System.Drawing.Size(100, 20);
-            this.txtDesvioNecessario.TabIndex = 44;
-            this.txtDesvioNecessario.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.txtCamCaminhoAngulo.Location = new System.Drawing.Point(5, 421);
+            this.txtCamCaminhoAngulo.Margin = new System.Windows.Forms.Padding(2);
+            this.txtCamCaminhoAngulo.Name = "txtCamCaminhoAngulo";
+            this.txtCamCaminhoAngulo.ReadOnly = true;
+            this.txtCamCaminhoAngulo.Size = new System.Drawing.Size(101, 20);
+            this.txtCamCaminhoAngulo.TabIndex = 42;
+            this.txtCamCaminhoAngulo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
-            // label99
+            // label101
             // 
-            this.label99.AutoSize = true;
-            this.label99.Location = new System.Drawing.Point(5, 354);
-            this.label99.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label99.Name = "label99";
-            this.label99.Size = new System.Drawing.Size(96, 13);
-            this.label99.TabIndex = 43;
-            this.label99.Text = "Desvio Necessário";
+            this.label101.AutoSize = true;
+            this.label101.Location = new System.Drawing.Point(2, 405);
+            this.label101.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label101.Name = "label101";
+            this.label101.Size = new System.Drawing.Size(40, 13);
+            this.label101.TabIndex = 41;
+            this.label101.Text = "Angulo";
             // 
-            // txtDirecaoDesvio
+            // txtCamCaminhoEsquerda
             // 
-            this.txtDirecaoDesvio.Location = new System.Drawing.Point(312, 351);
-            this.txtDirecaoDesvio.Margin = new System.Windows.Forms.Padding(2);
-            this.txtDirecaoDesvio.Name = "txtDirecaoDesvio";
-            this.txtDirecaoDesvio.ReadOnly = true;
-            this.txtDirecaoDesvio.Size = new System.Drawing.Size(100, 20);
-            this.txtDirecaoDesvio.TabIndex = 46;
-            this.txtDirecaoDesvio.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.txtCamCaminhoEsquerda.Location = new System.Drawing.Point(5, 459);
+            this.txtCamCaminhoEsquerda.Margin = new System.Windows.Forms.Padding(2);
+            this.txtCamCaminhoEsquerda.Name = "txtCamCaminhoEsquerda";
+            this.txtCamCaminhoEsquerda.ReadOnly = true;
+            this.txtCamCaminhoEsquerda.Size = new System.Drawing.Size(101, 20);
+            this.txtCamCaminhoEsquerda.TabIndex = 44;
+            this.txtCamCaminhoEsquerda.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
-            // label100
+            // label102
             // 
-            this.label100.AutoSize = true;
-            this.label100.Location = new System.Drawing.Point(213, 354);
-            this.label100.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label100.Name = "label100";
-            this.label100.Size = new System.Drawing.Size(95, 13);
-            this.label100.TabIndex = 45;
-            this.label100.Text = "Direção do Desvio";
+            this.label102.AutoSize = true;
+            this.label102.Location = new System.Drawing.Point(2, 443);
+            this.label102.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label102.Name = "label102";
+            this.label102.Size = new System.Drawing.Size(96, 13);
+            this.label102.TabIndex = 43;
+            this.label102.Text = "Angulo a esquerda";
             // 
-            // gridObstaculos
+            // txtCamCaminhoDireita
             // 
-            this.gridObstaculos.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.gridObstaculos.EditMode = System.Windows.Forms.DataGridViewEditMode.EditProgrammatically;
-            this.gridObstaculos.Location = new System.Drawing.Point(5, 376);
-            this.gridObstaculos.Name = "gridObstaculos";
-            this.gridObstaculos.Size = new System.Drawing.Size(485, 140);
-            this.gridObstaculos.TabIndex = 47;
+            this.txtCamCaminhoDireita.Location = new System.Drawing.Point(5, 497);
+            this.txtCamCaminhoDireita.Margin = new System.Windows.Forms.Padding(2);
+            this.txtCamCaminhoDireita.Name = "txtCamCaminhoDireita";
+            this.txtCamCaminhoDireita.ReadOnly = true;
+            this.txtCamCaminhoDireita.Size = new System.Drawing.Size(101, 20);
+            this.txtCamCaminhoDireita.TabIndex = 46;
+            this.txtCamCaminhoDireita.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
-            // chbGrade
+            // label103
             // 
-            this.chbGrade.AutoSize = true;
-            this.chbGrade.Location = new System.Drawing.Point(435, 353);
-            this.chbGrade.Name = "chbGrade";
-            this.chbGrade.Size = new System.Drawing.Size(55, 17);
-            this.chbGrade.TabIndex = 48;
-            this.chbGrade.Text = "Grade";
-            this.chbGrade.UseVisualStyleBackColor = true;
+            this.label103.AutoSize = true;
+            this.label103.Location = new System.Drawing.Point(2, 481);
+            this.label103.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label103.Name = "label103";
+            this.label103.Size = new System.Drawing.Size(80, 13);
+            this.label103.TabIndex = 45;
+            this.label103.Text = "Angulo a direita";
+            // 
+            // chbDesenharContornos
+            // 
+            this.chbDesenharContornos.AutoSize = true;
+            this.chbDesenharContornos.Location = new System.Drawing.Point(369, 408);
+            this.chbDesenharContornos.Name = "chbDesenharContornos";
+            this.chbDesenharContornos.Size = new System.Drawing.Size(122, 17);
+            this.chbDesenharContornos.TabIndex = 47;
+            this.chbDesenharContornos.Text = "Desenhar contornos";
+            this.chbDesenharContornos.UseVisualStyleBackColor = true;
+            // 
+            // chbDesenharExtremos
+            // 
+            this.chbDesenharExtremos.AutoSize = true;
+            this.chbDesenharExtremos.Checked = true;
+            this.chbDesenharExtremos.CheckState = System.Windows.Forms.CheckState.Checked;
+            this.chbDesenharExtremos.Location = new System.Drawing.Point(368, 431);
+            this.chbDesenharExtremos.Name = "chbDesenharExtremos";
+            this.chbDesenharExtremos.Size = new System.Drawing.Size(117, 17);
+            this.chbDesenharExtremos.TabIndex = 48;
+            this.chbDesenharExtremos.Text = "Desenhar extremos";
+            this.chbDesenharExtremos.UseVisualStyleBackColor = true;
+            // 
+            // tabControl4
+            // 
+            this.tabControl4.Controls.Add(this.tabMapaGPS);
+            this.tabControl4.Controls.Add(this.tabMapaDinamico);
+            this.tabControl4.Location = new System.Drawing.Point(5, 104);
+            this.tabControl4.Name = "tabControl4";
+            this.tabControl4.SelectedIndex = 0;
+            this.tabControl4.Size = new System.Drawing.Size(408, 366);
+            this.tabControl4.TabIndex = 0;
+            // 
+            // tabMapaGPS
+            // 
+            this.tabMapaGPS.Controls.Add(this.pnlMapa);
+            this.tabMapaGPS.Location = new System.Drawing.Point(4, 22);
+            this.tabMapaGPS.Name = "tabMapaGPS";
+            this.tabMapaGPS.Padding = new System.Windows.Forms.Padding(3);
+            this.tabMapaGPS.Size = new System.Drawing.Size(400, 340);
+            this.tabMapaGPS.TabIndex = 0;
+            this.tabMapaGPS.Text = "Mapa GPS";
+            this.tabMapaGPS.UseVisualStyleBackColor = true;
+            // 
+            // tabMapaDinamico
+            // 
+            this.tabMapaDinamico.Controls.Add(this.pnlZoomMapa);
+            this.tabMapaDinamico.Location = new System.Drawing.Point(4, 22);
+            this.tabMapaDinamico.Name = "tabMapaDinamico";
+            this.tabMapaDinamico.Padding = new System.Windows.Forms.Padding(3);
+            this.tabMapaDinamico.Size = new System.Drawing.Size(400, 340);
+            this.tabMapaDinamico.TabIndex = 1;
+            this.tabMapaDinamico.Text = "Mapa Dinâmico";
+            this.tabMapaDinamico.UseVisualStyleBackColor = true;
+            // 
+            // pnlZoomMapa
+            // 
+            this.pnlZoomMapa.BackColor = System.Drawing.Color.White;
+            this.pnlZoomMapa.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.pnlZoomMapa.Location = new System.Drawing.Point(3, 3);
+            this.pnlZoomMapa.Name = "pnlZoomMapa";
+            this.pnlZoomMapa.Size = new System.Drawing.Size(394, 334);
+            this.pnlZoomMapa.TabIndex = 16;
+            // 
+            // txtTemperatura
+            // 
+            this.txtTemperatura.Location = new System.Drawing.Point(4, 497);
+            this.txtTemperatura.Margin = new System.Windows.Forms.Padding(2);
+            this.txtTemperatura.Name = "txtTemperatura";
+            this.txtTemperatura.ReadOnly = true;
+            this.txtTemperatura.Size = new System.Drawing.Size(117, 20);
+            this.txtTemperatura.TabIndex = 54;
+            this.txtTemperatura.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // label104
+            // 
+            this.label104.AutoSize = true;
+            this.label104.Location = new System.Drawing.Point(2, 481);
+            this.label104.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label104.Name = "label104";
+            this.label104.Size = new System.Drawing.Size(67, 13);
+            this.label104.TabIndex = 53;
+            this.label104.Text = "Temperatura";
+            // 
+            // txtAltitude
+            // 
+            this.txtAltitude.Location = new System.Drawing.Point(126, 497);
+            this.txtAltitude.Margin = new System.Windows.Forms.Padding(2);
+            this.txtAltitude.Name = "txtAltitude";
+            this.txtAltitude.ReadOnly = true;
+            this.txtAltitude.Size = new System.Drawing.Size(117, 20);
+            this.txtAltitude.TabIndex = 56;
+            this.txtAltitude.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // label105
+            // 
+            this.label105.AutoSize = true;
+            this.label105.Location = new System.Drawing.Point(124, 481);
+            this.label105.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label105.Name = "label105";
+            this.label105.Size = new System.Drawing.Size(42, 13);
+            this.label105.TabIndex = 55;
+            this.label105.Text = "Altitude";
+            // 
+            // txtPressao
+            // 
+            this.txtPressao.Location = new System.Drawing.Point(246, 497);
+            this.txtPressao.Margin = new System.Windows.Forms.Padding(2);
+            this.txtPressao.Name = "txtPressao";
+            this.txtPressao.ReadOnly = true;
+            this.txtPressao.Size = new System.Drawing.Size(117, 20);
+            this.txtPressao.TabIndex = 58;
+            this.txtPressao.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // label106
+            // 
+            this.label106.AutoSize = true;
+            this.label106.Location = new System.Drawing.Point(244, 481);
+            this.label106.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label106.Name = "label106";
+            this.label106.Size = new System.Drawing.Size(45, 13);
+            this.label106.TabIndex = 57;
+            this.label106.Text = "Pressão";
             // 
             // frmResultadosOperacao
             // 
@@ -3751,14 +4108,24 @@
             ((System.ComponentModel.ISupportInitialize)(this.chartSensoriamento)).EndInit();
             this.tabSinaleiros.ResumeLayout(false);
             this.tabSinaleiros.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.picRoboSuperior)).EndInit();
             this.tabOrientacao.ResumeLayout(false);
+            this.tabSonar.ResumeLayout(false);
+            this.tabSonar.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.gridObstaculos)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.picMapaCalor)).EndInit();
             this.panel6.ResumeLayout(false);
             this.panel6.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).EndInit();
-            this.tabSonar.ResumeLayout(false);
-            this.tabSonar.PerformLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.picMapaCalor)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.gridObstaculos)).EndInit();
+            this.tabControl3.ResumeLayout(false);
+            this.tabSonarRGB.ResumeLayout(false);
+            this.tabSonarCalor.ResumeLayout(false);
+            ((System.ComponentModel.ISupportInitialize)(this.picSonarRGB)).EndInit();
+            this.tabSegmentacao.ResumeLayout(false);
+            this.tabSegmentacao.PerformLayout();
+            this.tabControl4.ResumeLayout(false);
+            this.tabMapaGPS.ResumeLayout(false);
+            this.tabMapaDinamico.ResumeLayout(false);
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -4058,5 +4425,34 @@
         private System.Windows.Forms.TextBox txtDesvioNecessario;
         private System.Windows.Forms.Label label99;
         private System.Windows.Forms.CheckBox chbGrade;
+        private System.Windows.Forms.Label lblU1;
+        private System.Windows.Forms.Label lblU2;
+        private System.Windows.Forms.Label lblU3;
+        private System.Windows.Forms.Label lblU4;
+        private System.Windows.Forms.PictureBox picRoboSuperior;
+        private System.Windows.Forms.TabControl tabControl3;
+        private System.Windows.Forms.TabPage tabSonarRGB;
+        private System.Windows.Forms.TabPage tabSonarCalor;
+        private System.Windows.Forms.PictureBox picSonarRGB;
+        private System.Windows.Forms.TabPage tabSegmentacao;
+        private System.Windows.Forms.Panel pnlCaminho;
+        private System.Windows.Forms.TextBox txtCamCaminhoAngulo;
+        private System.Windows.Forms.Label label101;
+        private System.Windows.Forms.CheckBox chbDesenharExtremos;
+        private System.Windows.Forms.CheckBox chbDesenharContornos;
+        private System.Windows.Forms.TextBox txtCamCaminhoDireita;
+        private System.Windows.Forms.Label label103;
+        private System.Windows.Forms.TextBox txtCamCaminhoEsquerda;
+        private System.Windows.Forms.Label label102;
+        private System.Windows.Forms.TabControl tabControl4;
+        private System.Windows.Forms.TabPage tabMapaGPS;
+        private System.Windows.Forms.TabPage tabMapaDinamico;
+        private System.Windows.Forms.Panel pnlZoomMapa;
+        private System.Windows.Forms.TextBox txtPressao;
+        private System.Windows.Forms.Label label106;
+        private System.Windows.Forms.TextBox txtAltitude;
+        private System.Windows.Forms.Label label105;
+        private System.Windows.Forms.TextBox txtTemperatura;
+        private System.Windows.Forms.Label label104;
     }
 }

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs

@@ -32,8 +32,13 @@ namespace AgroBase.Forms.Operacoes
         List<SenSensoriamentoLogModel> LogsSensoriamento = new List<SenSensoriamentoLogModel>();
         List<PzmSensoriamentoLogModel> LogsPzem = new List<PzmSensoriamentoLogModel>();
         List<WitSensoriamentoLogModel> LogsWt901C = new List<WitSensoriamentoLogModel>();
+        List<UltrasonicA05Model> LogsA05 = new List<UltrasonicA05Model>();
         List<KinectModel> LogsKinect = new List<KinectModel>();
+        List<CamSoloSensoriamentoLogModel> LogsCam_Solo_E = new List<CamSoloSensoriamentoLogModel>();
+        List<CamSoloSensoriamentoLogModel> LogsCam_Solo_D = new List<CamSoloSensoriamentoLogModel>();
+        List<CamCaminhoSensoriamentoLogModel> LogsCam_Caminho = new List<CamCaminhoSensoriamentoLogModel>();
         string pathImagensCaminho = "";
+        string pathImagensSonarRGB = "";
         string pathImagensMapaCalor = "";
         string pathImagensSoloE = "";
         string pathImagensSoloD = "";
@@ -41,6 +46,7 @@ namespace AgroBase.Forms.Operacoes
         Timer tmrPlay = new Timer() { Interval = 1000 };
         MapasModel Mapa = new MapasModel();
         private Visualizador3DService visualizador3D;
+        private MapaDinamicoModel MapaDinamico;
         private int idxMomentoAtual
         {
             get
@@ -63,6 +69,12 @@ namespace AgroBase.Forms.Operacoes
 
         public frmResultadosOperacao()
         {
+            // Ativa o double buffering
+            this.DoubleBuffered = true;
+            this.SetStyle(ControlStyles.AllPaintingInWmPaint, true);
+            this.SetStyle(ControlStyles.UserPaint, true);
+            this.SetStyle(ControlStyles.OptimizedDoubleBuffer, true);
+
             InitializeComponent();
 
             InitializeGLControl();
@@ -81,6 +93,8 @@ namespace AgroBase.Forms.Operacoes
 
             picDIR_DF.Image = FuncoesGlobais.EspelharImagemHorizontalmente(Resources.roda_superior);
             picDIR_DT.Image = FuncoesGlobais.EspelharImagemHorizontalmente(Resources.roda_superior);
+
+            MapaDinamico = new MapaDinamicoModel(this, pnlZoomMapa);
         }
 
         private void TmrPlay_Tick(object sender, EventArgs e)
@@ -124,10 +138,14 @@ namespace AgroBase.Forms.Operacoes
                 LogsSensoriamento = JsonConvert.DeserializeObject<SenSensoriamentoLogModel[]>(DeserializarDadosOperacao(ofd.FileName, data.sen ?? Enums.T_Code.Sen.ToString())).ToList();
                 LogsPzem = JsonConvert.DeserializeObject<PzmSensoriamentoLogModel[]>(DeserializarDadosOperacao(ofd.FileName, data.pzm ?? Enums.T_Code.Pzm.ToString())).ToList();
                 LogsWt901C = JsonConvert.DeserializeObject<WitSensoriamentoLogModel[]>(DeserializarDadosOperacao(ofd.FileName, data.wit ?? Enums.T_Code.Wit.ToString())).ToList();
+                LogsA05 = JsonConvert.DeserializeObject<UltrasonicA05Model[]>(DeserializarDadosOperacao(ofd.FileName, data.a05 ?? Enums.T_Code.A05.ToString())).ToList();
                 LogsKinect = JsonConvert.DeserializeObject<KinectModel[]>(DeserializarDadosOperacao(ofd.FileName, data.knt ?? Enums.T_Code.Knt.ToString())).ToList();
-                //pathImagensCaminho = ofd.FileName.Replace("data.lgop", data.caminho + "/");
-                pathImagensCaminho = ofd.FileName.Replace("data.lgop", data.knt + "/rgb_");
+                LogsCam_Solo_E = JsonConvert.DeserializeObject<CamSoloSensoriamentoLogModel[]>(DeserializarDadosOperacao(ofd.FileName, data.soloE)).ToList();
+                LogsCam_Solo_D = JsonConvert.DeserializeObject<CamSoloSensoriamentoLogModel[]>(DeserializarDadosOperacao(ofd.FileName, data.soloD)).ToList();
+                LogsCam_Caminho = JsonConvert.DeserializeObject<CamCaminhoSensoriamentoLogModel[]>(DeserializarDadosOperacao(ofd.FileName, data.caminho)).ToList();
+                pathImagensSonarRGB = ofd.FileName.Replace("data.lgop", data.knt + "/rgb_");
                 pathImagensMapaCalor = ofd.FileName.Replace("data.lgop", data.knt + "/heat_");
+                pathImagensCaminho = ofd.FileName.Replace("data.lgop", data.caminho + "/");
                 pathImagensSoloE = ofd.FileName.Replace("data.lgop", data.soloE + "/");
                 pathImagensSoloD = ofd.FileName.Replace("data.lgop", data.soloD + "/");
 
@@ -589,7 +607,9 @@ namespace AgroBase.Forms.Operacoes
 
         private void AtualizarInformacoesCameras()
         {
-            //CarregarImagemCamera(picCameraCaminho, pathImagensCaminho);
+            CarregarImagemCamera(picCameraCaminho, pathImagensCaminho);
+            AtualizarInformacoesCameraCaminho();
+
             CarregarImagemCamera(picCameraSoloE, pathImagensSoloE);
             CarregarImagemCamera(picCameraSoloD, pathImagensSoloD);
         }
@@ -612,6 +632,22 @@ namespace AgroBase.Forms.Operacoes
             lblGPS.ForeColor = !Log.Inicializado ? Color.Red : Color.Black;
 
             pnlOrientacaoGPS.Invalidate();
+
+
+            var LogKnt = LogsKinect.FirstOrDefault(x => x.Momento == MomentoAtual);
+            var LogOpe = LogsOperacao.FirstOrDefault(x => x.Momento == MomentoAtual);
+
+            double AnguloCarro = (LogsWt901C.FirstOrDefault(x => x.Momento == MomentoAtual).Inicializado ? LogOpe.AnguloCarroBussola : LogOpe.AnguloCarroGPS);
+
+            MapaDinamico.AtualizarDados(
+                LogKnt.Iniciado && LogKnt.StatusDetecao ? LogKnt.ObstaculoCritico : null,
+                (float)LogOpe.AnguloRua,
+                (float)AnguloCarro,
+                new GPSModel() { Latitude = Log.Latitude, Longitude = Log.Longitude },
+                LogsGPS,
+                null, //Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaProjetada.FirstOrDefault(),
+                new List<GPSModel>(LogsGPS.Take(LogsGPS.IndexOf(Log) + 1))
+            );
         }
 
         private void AtualizarInformacoesDirecional()
@@ -742,11 +778,20 @@ namespace AgroBase.Forms.Operacoes
             pnlOrientacaoMagnetometro.Invalidate();
             pnlInclinacao.Invalidate();
             visualizador3D.AtualizarAngulos(LogWit.AngleX, LogWit.AngleY, LogWit.AngleZ);
+            txtTemperatura.Text = LogWit.Temperatura.ToString("0.00");
+            txtAltitude.Text = LogWit.Altitude.ToString("0.00");
+            txtPressao.Text = LogWit.Pressao.ToString("0.00");
 
             var LogSen = LogsSensoriamento.FirstOrDefault(x => x.Momento == MomentoAtual);
             pnlManual.BackColor = LogSen.StatusSinaleiroMN == Enums.StatusLED.Aceso ? Color.Yellow : Color.Gold;
             pnlAutomatico.BackColor = LogSen.StatusSinaleiroAT == Enums.StatusLED.Aceso ? Color.Yellow : Color.Gold;
             pnlOperacao.BackColor = LogSen.StatusSinaleiroOP == Enums.StatusLED.Aceso ? Color.Green : Color.DarkGreen;
+
+            var LogA05 = LogsA05.FirstOrDefault(x => x.Momento == MomentoAtual);
+            lblU1.Text = "U1: " + LogA05.U1.ToString() + " mm";
+            lblU2.Text = "U2: " + LogA05.U2.ToString() + " mm";
+            lblU3.Text = "U3: " + LogA05.U3.ToString() + " mm";
+            lblU4.Text = "U4: " + LogA05.U4.ToString() + " mm";
         }
 
         private void AtualizarInformacoesKinect()
@@ -788,16 +833,27 @@ namespace AgroBase.Forms.Operacoes
 
             CarregarImagemCamera(picMapaCalor, pathImagensMapaCalor);
 
-            CarregarImagemCamera(picCameraCaminho, pathImagensCaminho);
+            CarregarImagemCamera(picSonarRGB, pathImagensSonarRGB);
 
             if (chbGrade.Checked)
             {
-                Bitmap bitmap = (Bitmap)picCameraCaminho.Image.Clone();
+                Bitmap bitmap = (Bitmap)picSonarRGB.Image.Clone();
                 bitmap = (Bitmap)KinectService.ExibirObstaculos(bitmap, Log.Subdivisoes, Log.Obstaculos).Clone();
-                picCameraCaminho.Image = (Bitmap)bitmap.Clone();
+                picSonarRGB.Image = (Bitmap)bitmap.Clone();
             }
         }
 
+        private void AtualizarInformacoesCameraCaminho()
+        {
+            var Log = LogsCam_Caminho.FirstOrDefault(x => x.Momento == MomentoAtual);
+
+            txtCamCaminhoAngulo.Text = Log.Angulo.ToString("0.00");
+            txtCamCaminhoEsquerda.Text = Log.AnguloEsquerdo.ToString("0.00");
+            txtCamCaminhoDireita.Text = Log.AnguloDireito.ToString("0.00");
+
+            pnlCaminho.Invalidate();
+        }
+
 
         private void pnlOrientacaoDirecional_Paint(object sender, PaintEventArgs e)
         {
@@ -970,6 +1026,87 @@ namespace AgroBase.Forms.Operacoes
             g.FillEllipse(brush, circlePosX - radius, circlePosY - radius, radius * 2, radius * 2);
         }
 
+        private void pnlCaminho_Paint(object sender, PaintEventArgs e)
+        {
+            var Log = LogsCam_Caminho.FirstOrDefault(x => x.Momento == MomentoAtual);
 
+            Panel pnlContornos = (Panel)sender;
+            if (Log.Leitura == null) return;
+
+            Graphics graphics = e.Graphics;
+            graphics.Clear(pnlContornos.BackColor); // Limpa o fundo
+
+            // Determina as dimensões máximas dos contornos
+            float larguraMaxContornos = 512; // Substitua pelo valor real
+            float alturaMaxContornos = 512; // Substitua pelo valor real
+
+            // Proporção de escala baseada no tamanho do Panel e nas dimensões dos contornos
+            float proporcaoX = pnlContornos.Width / larguraMaxContornos;
+            float proporcaoY = pnlContornos.Height / alturaMaxContornos;
+            float escala = Math.Min(proporcaoX, proporcaoY); // Mantém a proporção sem distorcer
+
+            // Calcula o novo tamanho dos contornos após o redimensionamento
+            float novaLargura = larguraMaxContornos * escala;
+            float novaAltura = alturaMaxContornos * escala;
+
+            // Calcula o deslocamento para centralizar os contornos no Panel
+            float deslocamentoX = (pnlContornos.Width - novaLargura) / 2;
+            float deslocamentoY = (pnlContornos.Height - novaAltura) / 2;
+
+            List<Point> pontosCamera = new List<Point>();
+            var Classe = Log.ClassMap.FirstOrDefault(x => x.Key == "rua");
+            foreach (var cameraClass in Log.Leitura.Classes.Where(x => x.Classe == Classe.Key))
+            {
+                if (cameraClass.Contornos == null || cameraClass.Contornos.Length == 0) continue;
+
+                using (Pen pen = new Pen(Color.Blue, 2))
+                {
+                    for (int i = 0; i < cameraClass.Contornos.Length - 1; i++)
+                    {
+                        Point contorno = new Point() { X = cameraClass.Contornos[i][0], Y = cameraClass.Contornos[i][1] };
+                        Point contornoP = new Point() { X = cameraClass.Contornos[i + 1][0], Y = cameraClass.Contornos[i + 1][1] };
+
+                        // Aplica a escala e o deslocamento às coordenadas
+                        Point start = new Point((int)(contorno.X * escala + deslocamentoX), (int)(contorno.Y * escala + deslocamentoY));
+                        Point end = new Point((int)(contornoP.X * escala + deslocamentoX), (int)(contornoP.Y * escala + deslocamentoY));
+
+                        if (chbDesenharContornos.Checked)
+                        {
+                            graphics.DrawLine(pen, start, end);
+                        }
+
+                        pontosCamera.Add(contorno);
+                    }
+
+                    // Se necessário, fechar o contorno conectando o último ponto ao primeiro
+                    if (cameraClass.Contornos.Length > 1 && chbDesenharContornos.Checked)
+                    {
+                        var primeiro = cameraClass.Contornos.First();
+                        var ultimo = cameraClass.Contornos.Last();
+                        Point start = new Point((int)(ultimo[0] * escala + deslocamentoX), (int)(ultimo[1] * escala + deslocamentoY));
+                        Point end = new Point((int)(primeiro[0] * escala + deslocamentoX), (int)(primeiro[1] * escala + deslocamentoY));
+                        graphics.DrawLine(pen, start, end);
+                    }
+                }
+            }
+
+            if (chbDesenharExtremos.Checked)
+            {
+                using (Pen pen = new Pen(Classe.Value, 2))
+                {
+                    var PontosExtremos = CameraCaminhoModel.DefinirPontosExtremos(pontosCamera);
+                    for (int i = 0; i < PontosExtremos.Count - 1; i++)
+                    {
+                        // Aplica a escala e o deslocamento às coordenadas
+                        Point start = new Point((int)(PontosExtremos[i].X * escala + deslocamentoX), (int)(PontosExtremos[i].Y * escala + deslocamentoY));
+                        Point end = new Point((int)(PontosExtremos[i + 1].X * escala + deslocamentoX), (int)(PontosExtremos[i + 1].Y * escala + deslocamentoY));
+
+                        graphics.DrawLine(pen, start, end);
+                    }
+                }
+            }
+        }
+
+        
     }
 }

AgroBase/AgroBase/Forms/Sensoriamento/frmSenCamera.cs

@@ -92,7 +92,7 @@ namespace AgroBase.Forms.Sensoriamento
                 VideoPorta, 
                 VideoUrl, 
                 VideoUrl, 
-                new Timer()
+                new System.Timers.Timer()
             );
 
             tmrLeitura = new Timer() { Interval = 200 };

AgroBase/AgroBase/Forms/frmAcompanhamento.Designer.cs

@@ -29,19 +29,22 @@ namespace AgroBase.Forms
         /// </summary>
         private void InitializeComponent()
         {
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea1 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend1 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series1 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea2 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend2 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series2 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea3 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend3 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series3 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea4 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend4 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series4 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea17 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend17 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series17 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea18 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend18 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series18 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea19 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend19 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series19 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea20 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend20 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series20 = new System.Windows.Forms.DataVisualization.Charting.Series();
             this.pnlFundo = new System.Windows.Forms.Panel();
+            this.lblUL_A05 = new System.Windows.Forms.Label();
+            this.lblUL_Wit = new System.Windows.Forms.Label();
+            this.lblUL_Pzm = new System.Windows.Forms.Label();
             this.lblB12V = new System.Windows.Forms.Label();
             this.lblB7V2 = new System.Windows.Forms.Label();
             this.lblB5V = new System.Windows.Forms.Label();
@@ -113,9 +116,14 @@ namespace AgroBase.Forms
             this.lblEFA_SP = new System.Windows.Forms.Label();
             this.lblM_EF = new System.Windows.Forms.Label();
             this.picEF = new System.Windows.Forms.PictureBox();
-            this.lblUL_Pzm = new System.Windows.Forms.Label();
-            this.lblUL_Wit = new System.Windows.Forms.Label();
-            this.lblUL_A05 = new System.Windows.Forms.Label();
+            this.lblU3 = new System.Windows.Forms.Label();
+            this.lblU4 = new System.Windows.Forms.Label();
+            this.lblU2 = new System.Windows.Forms.Label();
+            this.lblU1 = new System.Windows.Forms.Label();
+            this.lblMagnetometro = new System.Windows.Forms.Label();
+            this.lblGPS = new System.Windows.Forms.Label();
+            this.pnlOrientacaoMagnetometro = new System.Windows.Forms.Panel();
+            this.pnlOrientacaoGPS = new System.Windows.Forms.Panel();
             this.pnlFundo.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.chartET)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.chartDT)).BeginInit();
@@ -132,6 +140,14 @@ namespace AgroBase.Forms
             // 
             this.pnlFundo.AutoScroll = true;
             this.pnlFundo.BackColor = System.Drawing.Color.White;
+            this.pnlFundo.Controls.Add(this.lblMagnetometro);
+            this.pnlFundo.Controls.Add(this.lblGPS);
+            this.pnlFundo.Controls.Add(this.pnlOrientacaoMagnetometro);
+            this.pnlFundo.Controls.Add(this.pnlOrientacaoGPS);
+            this.pnlFundo.Controls.Add(this.lblU2);
+            this.pnlFundo.Controls.Add(this.lblU1);
+            this.pnlFundo.Controls.Add(this.lblU4);
+            this.pnlFundo.Controls.Add(this.lblU3);
             this.pnlFundo.Controls.Add(this.lblUL_A05);
             this.pnlFundo.Controls.Add(this.lblUL_Wit);
             this.pnlFundo.Controls.Add(this.lblUL_Pzm);
@@ -213,6 +229,39 @@ namespace AgroBase.Forms
             this.pnlFundo.Size = new System.Drawing.Size(1473, 811);
             this.pnlFundo.TabIndex = 0;
             // 
+            // lblUL_A05
+            // 
+            this.lblUL_A05.AutoSize = true;
+            this.lblUL_A05.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblUL_A05.Location = new System.Drawing.Point(656, 755);
+            this.lblUL_A05.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblUL_A05.Name = "lblUL_A05";
+            this.lblUL_A05.Size = new System.Drawing.Size(122, 12);
+            this.lblUL_A05.TabIndex = 180;
+            this.lblUL_A05.Text = "Ultima Leitura A05: 00:00:00";
+            // 
+            // lblUL_Wit
+            // 
+            this.lblUL_Wit.AutoSize = true;
+            this.lblUL_Wit.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblUL_Wit.Location = new System.Drawing.Point(656, 743);
+            this.lblUL_Wit.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblUL_Wit.Name = "lblUL_Wit";
+            this.lblUL_Wit.Size = new System.Drawing.Size(122, 12);
+            this.lblUL_Wit.TabIndex = 179;
+            this.lblUL_Wit.Text = "Ultima Leitura WIT: 00:00:00";
+            // 
+            // lblUL_Pzm
+            // 
+            this.lblUL_Pzm.AutoSize = true;
+            this.lblUL_Pzm.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblUL_Pzm.Location = new System.Drawing.Point(656, 731);
+            this.lblUL_Pzm.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblUL_Pzm.Name = "lblUL_Pzm";
+            this.lblUL_Pzm.Size = new System.Drawing.Size(126, 12);
+            this.lblUL_Pzm.TabIndex = 178;
+            this.lblUL_Pzm.Text = "Ultima Leitura PZM: 00:00:00";
+            // 
             // lblB12V
             // 
             this.lblB12V.AutoSize = true;
@@ -321,68 +370,68 @@ namespace AgroBase.Forms
             // 
             // chartET
             // 
-            chartArea1.Name = "ChartArea1";
-            this.chartET.ChartAreas.Add(chartArea1);
-            legend1.Name = "Legend1";
-            this.chartET.Legends.Add(legend1);
+            chartArea17.Name = "ChartArea1";
+            this.chartET.ChartAreas.Add(chartArea17);
+            legend17.Name = "Legend1";
+            this.chartET.Legends.Add(legend17);
             this.chartET.Location = new System.Drawing.Point(201, 410);
             this.chartET.Margin = new System.Windows.Forms.Padding(2);
             this.chartET.Name = "chartET";
-            series1.ChartArea = "ChartArea1";
-            series1.Legend = "Legend1";
-            series1.Name = "Series1";
-            this.chartET.Series.Add(series1);
+            series17.ChartArea = "ChartArea1";
+            series17.Legend = "Legend1";
+            series17.Name = "Series1";
+            this.chartET.Series.Add(series17);
             this.chartET.Size = new System.Drawing.Size(434, 390);
             this.chartET.TabIndex = 94;
             this.chartET.Text = "chart1";
             // 
             // chartDT
             // 
-            chartArea2.Name = "ChartArea1";
-            this.chartDT.ChartAreas.Add(chartArea2);
-            legend2.Name = "Legend1";
-            this.chartDT.Legends.Add(legend2);
+            chartArea18.Name = "ChartArea1";
+            this.chartDT.ChartAreas.Add(chartArea18);
+            legend18.Name = "Legend1";
+            this.chartDT.Legends.Add(legend18);
             this.chartDT.Location = new System.Drawing.Point(834, 410);
             this.chartDT.Margin = new System.Windows.Forms.Padding(2);
             this.chartDT.Name = "chartDT";
-            series2.ChartArea = "ChartArea1";
-            series2.Legend = "Legend1";
-            series2.Name = "Series1";
-            this.chartDT.Series.Add(series2);
+            series18.ChartArea = "ChartArea1";
+            series18.Legend = "Legend1";
+            series18.Name = "Series1";
+            this.chartDT.Series.Add(series18);
             this.chartDT.Size = new System.Drawing.Size(433, 390);
             this.chartDT.TabIndex = 110;
             this.chartDT.Text = "chart1";
             // 
             // chartDF
             // 
-            chartArea3.Name = "ChartArea1";
-            this.chartDF.ChartAreas.Add(chartArea3);
-            legend3.Name = "Legend1";
-            this.chartDF.Legends.Add(legend3);
+            chartArea19.Name = "ChartArea1";
+            this.chartDF.ChartAreas.Add(chartArea19);
+            legend19.Name = "Legend1";
+            this.chartDF.Legends.Add(legend19);
             this.chartDF.Location = new System.Drawing.Point(834, 4);
             this.chartDF.Margin = new System.Windows.Forms.Padding(2);
             this.chartDF.Name = "chartDF";
-            series3.ChartArea = "ChartArea1";
-            series3.Legend = "Legend1";
-            series3.Name = "Series1";
-            this.chartDF.Series.Add(series3);
+            series19.ChartArea = "ChartArea1";
+            series19.Legend = "Legend1";
+            series19.Name = "Series1";
+            this.chartDF.Series.Add(series19);
             this.chartDF.Size = new System.Drawing.Size(433, 390);
             this.chartDF.TabIndex = 109;
             this.chartDF.Text = "chart1";
             // 
             // chartEF
             // 
-            chartArea4.Name = "ChartArea1";
-            this.chartEF.ChartAreas.Add(chartArea4);
-            legend4.Name = "Legend1";
-            this.chartEF.Legends.Add(legend4);
+            chartArea20.Name = "ChartArea1";
+            this.chartEF.ChartAreas.Add(chartArea20);
+            legend20.Name = "Legend1";
+            this.chartEF.Legends.Add(legend20);
             this.chartEF.Location = new System.Drawing.Point(201, 4);
             this.chartEF.Margin = new System.Windows.Forms.Padding(2);
             this.chartEF.Name = "chartEF";
-            series4.ChartArea = "ChartArea1";
-            series4.Legend = "Legend1";
-            series4.Name = "Series1";
-            this.chartEF.Series.Add(series4);
+            series20.ChartArea = "ChartArea1";
+            series20.Legend = "Legend1";
+            series20.Name = "Series1";
+            this.chartEF.Series.Add(series20);
             this.chartEF.Size = new System.Drawing.Size(434, 390);
             this.chartEF.TabIndex = 93;
             this.chartEF.Text = "chart1";
@@ -958,38 +1007,93 @@ namespace AgroBase.Forms
             this.picEF.TabIndex = 90;
             this.picEF.TabStop = false;
             // 
-            // lblUL_Pzm
+            // lblU3
             // 
-            this.lblUL_Pzm.AutoSize = true;
-            this.lblUL_Pzm.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblUL_Pzm.Location = new System.Drawing.Point(656, 731);
-            this.lblUL_Pzm.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblUL_Pzm.Name = "lblUL_Pzm";
-            this.lblUL_Pzm.Size = new System.Drawing.Size(126, 12);
-            this.lblUL_Pzm.TabIndex = 178;
-            this.lblUL_Pzm.Text = "Ultima Leitura PZM: 00:00:00";
+            this.lblU3.AutoSize = true;
+            this.lblU3.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblU3.Location = new System.Drawing.Point(639, 238);
+            this.lblU3.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblU3.Name = "lblU3";
+            this.lblU3.Size = new System.Drawing.Size(68, 17);
+            this.lblU3.TabIndex = 181;
+            this.lblU3.Text = "U3: 0 mm";
             // 
-            // lblUL_Wit
+            // lblU4
             // 
-            this.lblUL_Wit.AutoSize = true;
-            this.lblUL_Wit.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblUL_Wit.Location = new System.Drawing.Point(656, 743);
-            this.lblUL_Wit.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblUL_Wit.Name = "lblUL_Wit";
-            this.lblUL_Wit.Size = new System.Drawing.Size(122, 12);
-            this.lblUL_Wit.TabIndex = 179;
-            this.lblUL_Wit.Text = "Ultima Leitura WIT: 00:00:00";
+            this.lblU4.AutoSize = true;
+            this.lblU4.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblU4.Location = new System.Drawing.Point(748, 238);
+            this.lblU4.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblU4.Name = "lblU4";
+            this.lblU4.Size = new System.Drawing.Size(68, 17);
+            this.lblU4.TabIndex = 182;
+            this.lblU4.Text = "U4: 0 mm";
             // 
-            // lblUL_A05
+            // lblU2
             // 
-            this.lblUL_A05.AutoSize = true;
-            this.lblUL_A05.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblUL_A05.Location = new System.Drawing.Point(656, 755);
-            this.lblUL_A05.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblUL_A05.Name = "lblUL_A05";
-            this.lblUL_A05.Size = new System.Drawing.Size(122, 12);
-            this.lblUL_A05.TabIndex = 180;
-            this.lblUL_A05.Text = "Ultima Leitura A05: 00:00:00";
+            this.lblU2.AutoSize = true;
+            this.lblU2.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblU2.Location = new System.Drawing.Point(748, 555);
+            this.lblU2.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblU2.Name = "lblU2";
+            this.lblU2.Size = new System.Drawing.Size(68, 17);
+            this.lblU2.TabIndex = 184;
+            this.lblU2.Text = "U2: 0 mm";
+            // 
+            // lblU1
+            // 
+            this.lblU1.AutoSize = true;
+            this.lblU1.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblU1.Location = new System.Drawing.Point(639, 555);
+            this.lblU1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblU1.Name = "lblU1";
+            this.lblU1.Size = new System.Drawing.Size(68, 17);
+            this.lblU1.TabIndex = 183;
+            this.lblU1.Text = "U1: 0 mm";
+            // 
+            // lblMagnetometro
+            // 
+            this.lblMagnetometro.AutoSize = true;
+            this.lblMagnetometro.Location = new System.Drawing.Point(744, 97);
+            this.lblMagnetometro.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblMagnetometro.Name = "lblMagnetometro";
+            this.lblMagnetometro.Size = new System.Drawing.Size(75, 13);
+            this.lblMagnetometro.TabIndex = 188;
+            this.lblMagnetometro.Text = "Magnetômetro";
+            // 
+            // lblGPS
+            // 
+            this.lblGPS.AutoSize = true;
+            this.lblGPS.Location = new System.Drawing.Point(685, 97);
+            this.lblGPS.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblGPS.Name = "lblGPS";
+            this.lblGPS.Size = new System.Drawing.Size(29, 13);
+            this.lblGPS.TabIndex = 187;
+            this.lblGPS.Text = "GPS";
+            // 
+            // pnlOrientacaoMagnetometro
+            // 
+            this.pnlOrientacaoMagnetometro.BackColor = System.Drawing.Color.White;
+            this.pnlOrientacaoMagnetometro.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
+            this.pnlOrientacaoMagnetometro.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
+            this.pnlOrientacaoMagnetometro.Location = new System.Drawing.Point(740, 11);
+            this.pnlOrientacaoMagnetometro.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlOrientacaoMagnetometro.Name = "pnlOrientacaoMagnetometro";
+            this.pnlOrientacaoMagnetometro.Size = new System.Drawing.Size(78, 84);
+            this.pnlOrientacaoMagnetometro.TabIndex = 186;
+            this.pnlOrientacaoMagnetometro.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoMagnetometro_Paint);
+            // 
+            // pnlOrientacaoGPS
+            // 
+            this.pnlOrientacaoGPS.BackColor = System.Drawing.Color.White;
+            this.pnlOrientacaoGPS.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
+            this.pnlOrientacaoGPS.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
+            this.pnlOrientacaoGPS.Location = new System.Drawing.Point(658, 11);
+            this.pnlOrientacaoGPS.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlOrientacaoGPS.Name = "pnlOrientacaoGPS";
+            this.pnlOrientacaoGPS.Size = new System.Drawing.Size(78, 84);
+            this.pnlOrientacaoGPS.TabIndex = 185;
+            this.pnlOrientacaoGPS.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoGPS_Paint);
             // 
             // frmAcompanhamento
             // 
@@ -1096,5 +1200,13 @@ namespace AgroBase.Forms
         public System.Windows.Forms.Label lblUL_Wit;
         public System.Windows.Forms.Label lblUL_Pzm;
         public System.Windows.Forms.Label lblUL_A05;
+        private System.Windows.Forms.Label lblU4;
+        private System.Windows.Forms.Label lblU3;
+        private System.Windows.Forms.Label lblU2;
+        private System.Windows.Forms.Label lblU1;
+        private System.Windows.Forms.Label lblMagnetometro;
+        private System.Windows.Forms.Label lblGPS;
+        private System.Windows.Forms.Panel pnlOrientacaoMagnetometro;
+        private System.Windows.Forms.Panel pnlOrientacaoGPS;
     }
 }

AgroBase/AgroBase/Forms/frmAcompanhamento.cs

@@ -1,6 +1,7 @@
 using AgroBase.Comum;
 using AgroBase.Models;
 using AgroBase.Models.Modules;
+using AgroBase.Services;
 using System;
 using System.Collections.Generic;
 using System.ComponentModel;
@@ -340,6 +341,10 @@ namespace AgroBase.Forms
                 Texto.Contains("PZM") ? lblUL_Pzm :
                 Texto.Contains("WIT") ? lblUL_Wit :
                 Texto.Contains("A05") ? lblUL_A05 :
+                Texto.Contains("U1") ? lblU1 :
+                Texto.Contains("U2") ? lblU2 :
+                Texto.Contains("U3") ? lblU3 :
+                Texto.Contains("U4") ? lblU4 :
                 new Label();
             if (lbl.InvokeRequired)
             {
@@ -350,5 +355,39 @@ namespace AgroBase.Forms
                 lbl.Text = Texto;
             }
         }
+    
+        public void AtualizarOrientacao()
+        {
+            if (pnlOrientacaoGPS.InvokeRequired)
+            {
+                pnlOrientacaoGPS.Invoke(new Action(pnlOrientacaoGPS.Invalidate));
+            }
+            else
+            {
+                pnlOrientacaoGPS.Invalidate();
+            }
+
+            if (pnlOrientacaoMagnetometro.InvokeRequired)
+            {
+                pnlOrientacaoMagnetometro.Invoke(new Action(pnlOrientacaoMagnetometro.Invalidate));
+            }
+            else
+            {
+                pnlOrientacaoMagnetometro.Invalidate();
+            }
+        }
+
+        private void pnlOrientacaoGPS_Paint(object sender, PaintEventArgs e)
+        {
+            double Angulo = GPSService.UltimaLeitura.Orientacao;
+            FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)Angulo, -90);
+        }
+
+        private void pnlOrientacaoMagnetometro_Paint(object sender, PaintEventArgs e)
+        {
+            double Angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola;
+            FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)Angulo, -90);
+        }
+    
     }
 }

AgroBase/AgroBase/Forms/frmInstancial.cs

@@ -39,6 +39,7 @@ namespace AgroBase.Forms
             BLD300RService.IniciarRotinas();
             MKS057DService.IniciarRotinas();
             ModbusService.IniciarRotinas();
+            KinectService.InicializarRotinas();
         }
 
         private void frmInstancial_Shown(object sender, EventArgs e)

AgroBase/AgroBase/Forms/frmKinect.Designer.cs

@@ -35,28 +35,31 @@
             this.btnCalibrar = new System.Windows.Forms.Button();
             this.chbGrade = new System.Windows.Forms.CheckBox();
             this.chbTexto = new System.Windows.Forms.CheckBox();
+            this.picSegmentado = new System.Windows.Forms.PictureBox();
+            this.chbAtivado = new System.Windows.Forms.CheckBox();
             ((System.ComponentModel.ISupportInitialize)(this.picProfundidade)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.picRGB)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.trackBarAngle)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.gridDados)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.picSegmentado)).BeginInit();
             this.SuspendLayout();
             // 
             // picProfundidade
             // 
-            this.picProfundidade.Location = new System.Drawing.Point(9, 131);
+            this.picProfundidade.Location = new System.Drawing.Point(11, 11);
             this.picProfundidade.Margin = new System.Windows.Forms.Padding(2);
             this.picProfundidade.Name = "picProfundidade";
-            this.picProfundidade.Size = new System.Drawing.Size(480, 365);
+            this.picProfundidade.Size = new System.Drawing.Size(480, 300);
             this.picProfundidade.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
             this.picProfundidade.TabIndex = 0;
             this.picProfundidade.TabStop = false;
             // 
             // picRGB
             // 
-            this.picRGB.Location = new System.Drawing.Point(493, 131);
+            this.picRGB.Location = new System.Drawing.Point(495, 11);
             this.picRGB.Margin = new System.Windows.Forms.Padding(2);
             this.picRGB.Name = "picRGB";
-            this.picRGB.Size = new System.Drawing.Size(480, 365);
+            this.picRGB.Size = new System.Drawing.Size(480, 300);
             this.picRGB.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
             this.picRGB.TabIndex = 1;
             this.picRGB.TabStop = false;
@@ -84,9 +87,9 @@
             // 
             // btnCalibrar
             // 
-            this.btnCalibrar.Location = new System.Drawing.Point(1229, 61);
+            this.btnCalibrar.Location = new System.Drawing.Point(1243, 61);
             this.btnCalibrar.Name = "btnCalibrar";
-            this.btnCalibrar.Size = new System.Drawing.Size(75, 23);
+            this.btnCalibrar.Size = new System.Drawing.Size(61, 23);
             this.btnCalibrar.TabIndex = 6;
             this.btnCalibrar.Text = "Calibrar";
             this.btnCalibrar.UseVisualStyleBackColor = true;
@@ -114,11 +117,34 @@
             this.chbTexto.UseVisualStyleBackColor = true;
             this.chbTexto.CheckedChanged += new System.EventHandler(this.chbTexto_CheckedChanged);
             // 
+            // picSegmentado
+            // 
+            this.picSegmentado.Location = new System.Drawing.Point(11, 315);
+            this.picSegmentado.Margin = new System.Windows.Forms.Padding(2);
+            this.picSegmentado.Name = "picSegmentado";
+            this.picSegmentado.Size = new System.Drawing.Size(480, 235);
+            this.picSegmentado.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
+            this.picSegmentado.TabIndex = 10;
+            this.picSegmentado.TabStop = false;
+            // 
+            // chbAtivado
+            // 
+            this.chbAtivado.AutoSize = true;
+            this.chbAtivado.Location = new System.Drawing.Point(1174, 65);
+            this.chbAtivado.Name = "chbAtivado";
+            this.chbAtivado.Size = new System.Drawing.Size(62, 17);
+            this.chbAtivado.TabIndex = 11;
+            this.chbAtivado.Text = "Ativado";
+            this.chbAtivado.UseVisualStyleBackColor = true;
+            this.chbAtivado.CheckedChanged += new System.EventHandler(this.chbAtivado_CheckedChanged);
+            // 
             // frmKinect
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.ClientSize = new System.Drawing.Size(1316, 561);
+            this.Controls.Add(this.chbAtivado);
+            this.Controls.Add(this.picSegmentado);
             this.Controls.Add(this.chbTexto);
             this.Controls.Add(this.chbGrade);
             this.Controls.Add(this.btnCalibrar);
@@ -135,6 +161,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.picRGB)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.trackBarAngle)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.gridDados)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.picSegmentado)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -149,5 +176,7 @@
         private System.Windows.Forms.Button btnCalibrar;
         private System.Windows.Forms.CheckBox chbGrade;
         private System.Windows.Forms.CheckBox chbTexto;
+        private System.Windows.Forms.PictureBox picSegmentado;
+        private System.Windows.Forms.CheckBox chbAtivado;
     }
 }

AgroBase/AgroBase/Forms/frmKinect.cs

@@ -1,4 +1,5 @@
-using AgroBase.Services;
+using AgroBase.Models;
+using AgroBase.Services;
 using Microsoft.Kinect;
 using System;
 using System.Collections.Generic;
@@ -6,6 +7,7 @@ using System.Drawing;
 using System.Drawing.Imaging;
 using System.Linq;
 using System.Runtime.InteropServices;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 
 namespace AgroBase.Forms
@@ -20,6 +22,9 @@ namespace AgroBase.Forms
         private void frmKinect_Load(object sender, EventArgs e)
         {
             KinectService.InicializarKinect(gridDados, picRGB, picProfundidade, trackBarAngle);
+            chbAtivado.Checked = KinectService.Parametros.SonarAtivado;
+            chbGrade.Checked = KinectService.MostrarGrade;
+            chbTexto.Checked = KinectService.MostrarTexto;
         }
 
         private void btnCalibrar_Click(object sender, EventArgs e)
@@ -36,6 +41,11 @@ namespace AgroBase.Forms
         {
             KinectService.MostrarTexto = ((CheckBox)sender).Checked;
         }
+
+        private void chbAtivado_CheckedChanged(object sender, EventArgs e)
+        {
+            KinectService.Parametros.SonarAtivado = ((CheckBox)sender).Checked;
+        }
     }
 
     

AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs

@@ -29,10 +29,10 @@ namespace AgroBase
         /// </summary>
         private void InitializeComponent()
         {
-            this.components = new System.ComponentModel.Container();
             this.gpbAcoes = new System.Windows.Forms.GroupBox();
             this.erroStrip = new System.Windows.Forms.StatusStrip();
             this.lblStripErro = new System.Windows.Forms.ToolStripStatusLabel();
+            this.lblStatusConexao = new System.Windows.Forms.ToolStripStatusLabel();
             this.pnlLateral = new System.Windows.Forms.Panel();
             this.chbConexaoautomatica = new System.Windows.Forms.CheckBox();
             this.gpbDispositivos = new System.Windows.Forms.GroupBox();
@@ -66,7 +66,6 @@ namespace AgroBase
             this.btnJoyAtt = new System.Windows.Forms.Button();
             this.btnJoyEdt = new System.Windows.Forms.Button();
             this.cmbJoysticks = new System.Windows.Forms.ComboBox();
-            this.timerDispositivos = new System.Windows.Forms.Timer(this.components);
             this.btnDiagnosticos = new System.Windows.Forms.Button();
             this.btnAcompanhamento = new System.Windows.Forms.Button();
             this.btnAtuCamera = new System.Windows.Forms.Button();
@@ -94,7 +93,6 @@ namespace AgroBase
             this.btnIniciarOperacao = new System.Windows.Forms.Button();
             this.lblModoOperacao = new System.Windows.Forms.Label();
             this.cmbModoOperacao = new System.Windows.Forms.ComboBox();
-            this.lblStatusConexao = new System.Windows.Forms.ToolStripStatusLabel();
             this.gpbAcoes.SuspendLayout();
             this.erroStrip.SuspendLayout();
             this.pnlLateral.SuspendLayout();
@@ -146,6 +144,12 @@ namespace AgroBase
             this.lblStripErro.Size = new System.Drawing.Size(49, 17);
             this.lblStripErro.Text = "Iniciado";
             // 
+            // lblStatusConexao
+            // 
+            this.lblStatusConexao.Name = "lblStatusConexao";
+            this.lblStatusConexao.Size = new System.Drawing.Size(16, 17);
+            this.lblStatusConexao.Text = "...";
+            // 
             // pnlLateral
             // 
             this.pnlLateral.AutoScroll = true;
@@ -501,11 +505,6 @@ namespace AgroBase
             this.cmbJoysticks.Size = new System.Drawing.Size(112, 21);
             this.cmbJoysticks.TabIndex = 3;
             // 
-            // timerDispositivos
-            // 
-            this.timerDispositivos.Interval = 5000;
-            this.timerDispositivos.Tick += new System.EventHandler(this.timerDispositivos_Tick);
-            // 
             // btnDiagnosticos
             // 
             this.btnDiagnosticos.Location = new System.Drawing.Point(5, 6);
@@ -831,12 +830,6 @@ namespace AgroBase
             this.cmbModoOperacao.TabIndex = 13;
             this.cmbModoOperacao.SelectedIndexChanged += new System.EventHandler(this.cmbModoOperacao_SelectedIndexChanged);
             // 
-            // lblStatusConexao
-            // 
-            this.lblStatusConexao.Name = "lblStatusConexao";
-            this.lblStatusConexao.Size = new System.Drawing.Size(16, 17);
-            this.lblStatusConexao.Text = "...";
-            // 
             // frmPrincipal
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@@ -904,7 +897,6 @@ namespace AgroBase
         private System.Windows.Forms.Button btnJoyAtt;
         private System.Windows.Forms.Button btnVer;
         private System.Windows.Forms.GroupBox gpbDispositivos;
-        private System.Windows.Forms.Timer timerDispositivos;
         public System.Windows.Forms.ListView lstDisponiveis;
         private System.Windows.Forms.ComboBox cmbTipos;
         private System.Windows.Forms.Label lblVelocidade;

AgroBase/AgroBase/Forms/frmPrincipal.cs

@@ -23,11 +23,14 @@ using System.Threading;
 using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
+using System.Timers;
 
 namespace AgroBase
 {
     public partial class frmPrincipal : Form
     {
+        System.Timers.Timer tmrDispositivos = new System.Timers.Timer() { Interval = 1000, Enabled = false };
+
         public frmPrincipal()
         {
             InitializeComponent();
@@ -35,7 +38,9 @@ namespace AgroBase
 
         private void Form1_Load(object sender, EventArgs e)
         {
-            timerDispositivos.Enabled = true;
+            tmrDispositivos.Elapsed += TmrDispositivos_Elapsed;
+            tmrDispositivos.Start();
+
             AtualizaDadosGerais();
         }
 
@@ -119,55 +124,44 @@ namespace AgroBase
             }
         }
 
-        private void timerDispositivos_Tick(object sender, EventArgs e)
+        private void TmrDispositivos_Elapsed(object sender, ElapsedEventArgs e)
         {
-            lstDisponiveis.Items.Clear();
-            lstDisponiveis.Items.AddRange(
-                SerialService.DispositivosMapeados
-                .GroupBy(x => x.Dispositivo)
-                .Select(x => new ListViewItem()
-                {
-                    Text =
-                    x.FirstOrDefault().PortaCOM + " - " + Enum.GetName(typeof(T_Code), x.Key) + " v" + x.FirstOrDefault().Versao +
-
-                    (SerialService.DispositivosMultiplos.Contains(x.FirstOrDefault().Dispositivo) ? (" (" + string.Join(", ", x.Where(y => y.Conectado).Select(y => y.Mod_ID)) + ")") :
-                    
-                    "") + " - " +
-                    (x.Any(y => y.Conectado) ? "Conectado" : "Desconectado")
-
-                    /*(x.FirstOrDefault().Dispositivo == T_Code.Gps ? (GPSService.Iniciado ? "Conectado" : "Desconectado") :
-                    x.FirstOrDefault().Dispositivo == T_Code.Pzm ? (PZEMService.Iniciado ? "Conectado" : "Desconectado") :
-                    x.FirstOrDefault().Dispositivo == T_Code.Lra ? (LoRaService.Iniciado ? "Conectado" : "Desconectado") :
-                    x.FirstOrDefault().Dispositivo == T_Code.Wit ? (WT901CService.Iniciado ? "Conectado" : "Desconectado") :
-                    x.FirstOrDefault().Dispositivo == T_Code.Bld ? (Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Any(y => y.MovMotor.DadosDriver.Iniciado) ? "Conectado" : "Desconectado") :
-                    (Variaveis.DispositivosConectados.FirstOrDefault(y => y.PortaCOM() == x.FirstOrDefault().PortaCOM)?.StatusPorta() ?? "Desconectado"))*/
-                }).ToArray()
-            );
-            if (SerialService.DispositivosMapeados.Count == 0)
+            Func<bool> funcao = new Func<bool>(() =>
             {
-                Variaveis.DispositivosConectados.Where(x => x.Dados.GetStatusConexao()).ToList().ForEach(x => x.AcaoDesconectar());
-            }
+                lstDisponiveis.Items.Clear();
+                lstDisponiveis.Items.AddRange(
+                    SerialService.DispositivosMapeados
+                    .GroupBy(x => x.Dispositivo)
+                    .Select(x => new ListViewItem()
+                    {
+                        Text =
+                        x.FirstOrDefault().PortaCOM + " - " + Enum.GetName(typeof(T_Code), x.Key) + " v" + x.FirstOrDefault().Versao +
+
+                        (SerialService.DispositivosMultiplos.Contains(x.FirstOrDefault().Dispositivo) ? (" (" + string.Join(", ", x.Where(y => y.Conectado).Select(y => y.Mod_ID)) + ")") :
+
+                        "") + " - " +
+                        (x.Any(y => y.Conectado) ? "Conectado" : "Desconectado")
+                    }).ToArray()
+                );
+                if (SerialService.DispositivosMapeados.Count == 0)
+                {
+                    Variaveis.DispositivosConectados.Where(x => x.Dados.GetStatusConexao()).ToList().ForEach(x => x.AcaoDesconectar());
+                }
+
+                Variaveis.DispositivosConectados.ForEach(x =>
+                {
+                    x.AcaoConexao();
+                });
+
+                return true;
+            });
+
+            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(lstDisponiveis, funcao);
 
             if (chbConexaoautomatica.Checked)
             {
-                SerialService.RealizarVarreduraPortasUSB().ConfigureAwait(false);
+                Task.Run(async () => await SerialService.RealizarVarreduraPortasUSB((System.Timers.Timer)sender));
             }
-
-            if (
-                Variaveis.OperacaoEmAndamento.DispAtu == null && Variaveis.DispositivosConectados.Any(x => x.Dispositivo == T_Code.Atu) ||
-                //Variaveis.OperacaoEmAndamento.DispDir == null && Variaveis.DispositivosConectados.Any(x => x.Dispositivo == T_Code.Dir) ||
-                //Variaveis.OperacaoEmAndamento.DispMov == null && Variaveis.DispositivosConectados.Any(x => x.Dispositivo == T_Code.Mov) ||
-                Variaveis.OperacaoEmAndamento.DispMvd == null && Variaveis.DispositivosConectados.Any(x => x.Dispositivo == T_Code.Mvd) ||
-                Variaveis.OperacaoEmAndamento.DispSen == null && Variaveis.DispositivosConectados.Any(x => x.Dispositivo == T_Code.Sen)
-            )
-            {
-                Variaveis.OperacaoEmAndamento = OperacaoModel.CarregarParametrosOperacaoPadrao((ModoOperacao)cmbModoOperacao.SelectedIndex);
-            }
-
-            Variaveis.DispositivosConectados.ForEach(x =>
-            {
-                x.AcaoConexao();
-            });
         }
 
         private void cmbDispositivos_SelectedIndexChanged(object sender, EventArgs e)

AgroBase/AgroBase/Forms/frmPrincipal.resx

@@ -123,9 +123,6 @@
   <metadata name="generalStrip.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>133, 16</value>
   </metadata>
-  <metadata name="timerDispositivos.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>266, 15</value>
-  </metadata>
   <metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>59</value>
   </metadata>

AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs

@@ -29,6 +29,7 @@
         private void InitializeComponent()
         {
             this.pnlOpcoes = new System.Windows.Forms.Panel();
+            this.lblStatusOperacao = new System.Windows.Forms.Label();
             this.lblDistanciaLateral = new System.Windows.Forms.Label();
             this.btnAtualizarLeitura = new System.Windows.Forms.Button();
             this.lblDistanciaFinal = new System.Windows.Forms.Label();
@@ -78,7 +79,6 @@
             this.lblAproximando = new System.Windows.Forms.Label();
             this.lblDistProx = new System.Windows.Forms.Label();
             this.lblDistAnt = new System.Windows.Forms.Label();
-            this.lblStatusOperacao = new System.Windows.Forms.Label();
             this.pnlOpcoes.SuspendLayout();
             this.gpbSonar.SuspendLayout();
             this.gpbGPS.SuspendLayout();
@@ -106,6 +106,17 @@
             this.pnlOpcoes.Size = new System.Drawing.Size(1379, 100);
             this.pnlOpcoes.TabIndex = 0;
             // 
+            // lblStatusOperacao
+            // 
+            this.lblStatusOperacao.AutoSize = true;
+            this.lblStatusOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
+            this.lblStatusOperacao.Location = new System.Drawing.Point(154, 35);
+            this.lblStatusOperacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblStatusOperacao.Name = "lblStatusOperacao";
+            this.lblStatusOperacao.Size = new System.Drawing.Size(133, 13);
+            this.lblStatusOperacao.TabIndex = 24;
+            this.lblStatusOperacao.Text = "Operação: Parametrizando";
+            // 
             // lblDistanciaLateral
             // 
             this.lblDistanciaLateral.AutoSize = true;
@@ -213,6 +224,7 @@
             this.chbSonarVirando.TabIndex = 28;
             this.chbSonarVirando.Text = "Sonar atuando";
             this.chbSonarVirando.UseVisualStyleBackColor = true;
+            this.chbSonarVirando.CheckedChanged += new System.EventHandler(this.chbSonarVirando_CheckedChanged);
             // 
             // btnAdicionarDeteccao
             // 
@@ -223,7 +235,6 @@
             this.btnAdicionarDeteccao.TabIndex = 25;
             this.btnAdicionarDeteccao.Text = "Add";
             this.btnAdicionarDeteccao.UseVisualStyleBackColor = true;
-            this.btnAdicionarDeteccao.Click += new System.EventHandler(this.btnAdicionarDeteccao_Click);
             // 
             // lblAnguloFinal
             // 
@@ -661,17 +672,6 @@
             this.lblDistAnt.TabIndex = 24;
             this.lblDistAnt.Text = "Distância Ponto Anterior: 0,00 m";
             // 
-            // lblStatusOperacao
-            // 
-            this.lblStatusOperacao.AutoSize = true;
-            this.lblStatusOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 7.8F);
-            this.lblStatusOperacao.Location = new System.Drawing.Point(154, 35);
-            this.lblStatusOperacao.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblStatusOperacao.Name = "lblStatusOperacao";
-            this.lblStatusOperacao.Size = new System.Drawing.Size(133, 13);
-            this.lblStatusOperacao.TabIndex = 24;
-            this.lblStatusOperacao.Text = "Operação: Parametrizando";
-            // 
             // frmSimulacaoMapaGPS
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);

AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs

@@ -21,11 +21,7 @@ namespace AgroBase.Forms
     {
         Timer tmrSonar;
         StatusCarroMapa StatusCarro = StatusCarroMapa.Parado;
-        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
+        MapaDinamicoModel MapaDinamico;
 
         public frmSimulacaoMapaGPS()
         {
@@ -35,255 +31,15 @@ namespace AgroBase.Forms
             tmr.Tick += Tmr_Tick;
             //tmr.Start();
 
-            /*tmrSonar = new Timer() { Interval = 100 };
-            tmrSonar.Tick += tmrSonar_Tick;
-            tmrSonar.Start();*/
-
-
-            this.pnlZoomMapa.Paint += PnlZoomMapa_Paint;
-            this.pnlZoomMapa.MouseWheel += PnlZoomMapa_MouseWheel;
-            this.pnlZoomMapa.MouseDown += PnlZoomMapa_MouseDown;
-            this.pnlZoomMapa.MouseMove += PnlZoomMapa_MouseMove;
-            this.pnlZoomMapa.MouseUp += PnlZoomMapa_MouseUp;
-
             // Ativa o double buffering
             this.DoubleBuffered = true;
             this.SetStyle(ControlStyles.AllPaintingInWmPaint, true);
             this.SetStyle(ControlStyles.UserPaint, true);
             this.SetStyle(ControlStyles.OptimizedDoubleBuffer, true);
 
-            pnlZoomMapa.GetType().GetMethod("SetStyle", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic).Invoke(pnlZoomMapa, new object[] { ControlStyles.UserPaint | ControlStyles.AllPaintingInWmPaint | ControlStyles.OptimizedDoubleBuffer, true });
+            MapaDinamico = new MapaDinamicoModel(this, pnlZoomMapa);
         }
 
-        private void PnlZoomMapa_MouseUp(object sender, MouseEventArgs e)
-        {
-            if (e.Button == MouseButtons.Left)
-            {
-                _isDragging = false; // Termina o arrasto
-                Cursor = Cursors.Default;
-            }
-        }
-
-        private void PnlZoomMapa_MouseMove(object sender, MouseEventArgs e)
-        {
-            Panel 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;
-
-                // Atualiza a posição inicial do mouse
-                _startPoint = e.Location;
-
-                // Redesenha o panel para refletir o novo deslocamento
-                panel1.Invalidate();
-
-                Cursor = Cursors.Cross;
-            }
-        }
-
-        private void PnlZoomMapa_MouseDown(object sender, MouseEventArgs e)
-        {
-            if (e.Button == MouseButtons.Left)
-            {
-                _isDragging = true;
-                _startPoint = e.Location; // Salva a posição inicial do mouse
-                Cursor = Cursors.Hand;
-            }
-        }
-
-        private void PnlZoomMapa_MouseWheel(object sender, MouseEventArgs e)
-        {
-            Panel panel1 = (Panel)sender;
-
-            if (e.Delta > 0)
-            {
-                _zoom *= ZoomFactor; // Aumenta o zoom
-            }
-            else if (e.Delta < 0)
-            {
-                _zoom /= ZoomFactor; // Diminui o zoom
-            }
-
-            panel1.Invalidate();
-        }
-
-        private void PnlZoomMapa_Paint(object sender, PaintEventArgs e)
-        {
-            var Mapa = Variaveis.OperacaoEmAndamento.Mapa;
-
-            if (!Mapa.TrajetoriaProjetada.Any())
-            {
-                return;
-            }
-
-            Panel panel1 = (Panel)sender;
-            var _trajetoriaRuaAtual = Mapa.TrajetoriaProjetada.FirstOrDefault();
-
-            Graphics g = e.Graphics;
-
-            // Defina as dimensões do panel
-            int width = panel1.Width;
-            int height = panel1.Height;
-
-            // Coordenadas centrais (onde o robô estará), ajustadas pelo deslocamento do mapa
-            float centerX = width / 2 + _mapOffset.X;
-            float centerY = height / 2 + _mapOffset.Y;
-
-            // Desenha os pontos da trajetória projetada
-            DrawTrajectory(g, Mapa.TrajetoriaDinamica, centerX, centerY, Color.Purple, Pens.MediumPurple);
-
-            // Desenha os pontos da trajetória planejada da rua atual
-            DrawTrajectory(g, _trajetoriaRuaAtual, centerX, centerY, Color.Green, Pens.Blue);
-
-            // Desenha os pontos da trajetória percorrida
-            DrawTrajectory(g, Variaveis.OperacaoEmAndamento.GPSTrajetoria, centerX, centerY, Color.Orange, Pens.OrangeRed);
-
-            // Desenha a posição atual do robô (ponto vermelho)
-            float PxToCm = DrawRobot(g, centerX, centerY, Color.Red, Color.Red, (float)VariaveisEquipamento.LarguraEsquerda, (float)VariaveisEquipamento.LarguraDireita, (float)VariaveisEquipamento.LarguraEsquerda, (float)VariaveisEquipamento.LarguraDireita, (float)Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro);
-
-            if (KinectService.Iniciado && Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect.StatusDetecao)
-            {
-                var obstaculo = KinectService.Leitura.ObstaculoCritico;
-                DrawObstacle(g, centerX, centerY, Color.Cyan, Color.Cyan, (float)Variaveis.OperacaoEmAndamento.Mapa.AnguloCaminho - (float)obstaculo.AnguloParaDesvio, obstaculo, PxToCm);
-            }
-        }
-
-        private void DrawTrajectory(Graphics g, List<GPSModel> trajectory, float centerX, float centerY, Color pointColor, Pen linePen)
-        {
-            var _posicaoAtual = GPSService.UltimaLeitura;
-
-            for (int i = 0; i < trajectory.Count; i++)
-            {
-                var trajPoint = trajectory[i];
-                // Calcule a posição no panel
-                float x = centerX + (float)((trajPoint.Longitude - _posicaoAtual.Longitude) * _zoom);
-                float y = centerY - (float)((trajPoint.Latitude - _posicaoAtual.Latitude) * _zoom);
-
-                // Desenha o ponto da trajetória
-                DrawPoint(g, x, y, pointColor);
-
-                // Desenha a linha conectando os pontos
-                if (i > 0)
-                {
-                    var prevPoint = trajectory[i - 1];
-                    float prevX = centerX + (float)((prevPoint.Longitude - _posicaoAtual.Longitude) * _zoom);
-                    float prevY = centerY - (float)((prevPoint.Latitude - _posicaoAtual.Latitude) * _zoom);
-
-                    g.DrawLine(linePen, prevX, prevY, x, y);
-                }
-            }
-        }
-
-        private void DrawPoint(Graphics g, float x, float y, Color color)
-        {
-            float size = 5;
-            using (Brush brush = new SolidBrush(color))
-            {
-                g.FillEllipse(brush, x - size / 2, y - size / 2, size, size);
-            }
-        }
-
-        private float DrawRobot(Graphics g, float x, float y, Color pointColor, Color borderColor, float larguraEsquerda, float larguraDireita, float comprimentoFrente, float comprimentoTras, float angle)
-        {
-            // Desenhar o ponto GPS
-            DrawPoint(g, x, y, pointColor);
-
-            GPSModel posicaoRobo = GPSService.UltimaLeitura;
-
-            int agPlus = Convert.ToInt32(135 + angle);
-
-            (float xET, float yET) = CalcularPontosLateraisRobo(posicaoRobo, larguraEsquerda, comprimentoTras, x, y, agPlus + 90);
-            (float xDT, float yDT) = CalcularPontosLateraisRobo(posicaoRobo, larguraDireita, comprimentoTras, x, y, agPlus + 0);
-            (float xEF, float yEF) = CalcularPontosLateraisRobo(posicaoRobo, larguraEsquerda, comprimentoFrente, x, y, agPlus + 180);
-            (float xDF, float yDF) = CalcularPontosLateraisRobo(posicaoRobo, larguraDireita, comprimentoFrente, x, y, agPlus + 270);
-
-            // Calcular os cantos do retângulo considerando o ângulo
-            PointF[] corners = new PointF[4];
-
-            // Cantos do retângulo com as novas medidas
-            corners[0] = new PointF(xET, yET); // Superior esquerdo
-            corners[1] = new PointF(xDT, yDT); // Superior direito
-            corners[2] = new PointF(xDF, yDF);    // Inferior direito
-            corners[3] = new PointF(xEF, yEF);    // Inferior esquerdo
-
-            // Desenhar o contorno do robô
-            using (Pen pen = new Pen(borderColor, 2))
-            {
-                g.DrawPolygon(pen, corners);
-            }
-
-            // Desenhar a linha indicando a frente do robô (do ponto central para a frente)
-            DrawFrontLine(g, x, y, xDF, yDF, xEF, yEF, borderColor);
-
-            float PxToCm = Math.Abs(xET - xDT) / (larguraDireita + larguraEsquerda);
-
-            return PxToCm;
-        }
-
-        private void DrawObstacle(Graphics g, float xRobot, float yRobot, Color pointColor, Color borderColor, float angle, Obstaculo obstaculo, float PxToCm)
-        {
-            GPSModel posicaoRobo = GPSService.UltimaLeitura;
-            GPSModel posicaoObstaculo = Variaveis.OperacaoEmAndamento.Mapa.GerarPontoDeslocado(posicaoRobo, angle, obstaculo.DistanciaMedia_mm / 1000);
-
-            float x = xRobot + (float)((posicaoObstaculo.Longitude - posicaoRobo.Longitude) * _zoom);
-            float y = yRobot - (float)((posicaoObstaculo.Latitude - posicaoRobo.Latitude) * _zoom);
-
-            // Desenhar o ponto GPS
-            DrawPoint(g, x, y, pointColor);
-
-
-            int agPlus = Convert.ToInt32(135 + angle);
-
-            float largura = obstaculo.Largura_mm / 20;
-
-            (float xET, float yET) = CalcularPontosLateraisRobo(posicaoObstaculo, largura, largura, x, y, agPlus + 90);
-            (float xDT, float yDT) = CalcularPontosLateraisRobo(posicaoObstaculo, largura, largura, x, y, agPlus + 0);
-            (float xEF, float yEF) = CalcularPontosLateraisRobo(posicaoObstaculo, largura, largura, x, y, agPlus + 180);
-            (float xDF, float yDF) = CalcularPontosLateraisRobo(posicaoObstaculo, largura, largura, x, y, agPlus + 270);
-
-            // Calcular os cantos do retângulo considerando o ângulo
-            PointF[] corners = new PointF[4];
-
-            // Cantos do retângulo com as novas medidas
-            corners[0] = new PointF(xET, yET); // Superior esquerdo
-            corners[1] = new PointF(xDT, yDT); // Superior direito
-            corners[2] = new PointF(xDF, yDF);    // Inferior direito
-            corners[3] = new PointF(xEF, yEF);    // Inferior esquerdo
-
-            // Desenhar o contorno do robô
-            using (Pen pen = new Pen(borderColor, 2))
-            {
-                g.DrawPolygon(pen, corners);
-            }
-        }
-
-        private void DrawFrontLine(Graphics g, float x, float y, float xDF, float yDF, float xEF, float yEF, Color borderColor)
-        {
-            // Calcular o ponto médio entre DF e EF
-            float midX = (xDF + xEF) / 2;
-            float midY = (yDF + yEF) / 2;
-
-            // Desenhar a linha do ponto central para a frente do robô
-            using (Pen frontPen = new Pen(borderColor, 2))
-            {
-                g.DrawLine(frontPen, x, y, midX, midY);
-            }
-        }
-
-        private (float, float) CalcularPontosLateraisRobo(GPSModel posicaoRobo, float Largura, float Comprimento, float x, float y, int offAngulo)
-        {
-            float hP = (float)Math.Sqrt(Math.Pow(Largura, 2) + Math.Pow(Comprimento, 2)) / 100f;
-            GPSModel pP = Variaveis.OperacaoEmAndamento.Mapa.GerarPontoDeslocado(posicaoRobo, offAngulo, hP);
-            float xP = x + (float)((pP.Longitude - posicaoRobo.Longitude) * _zoom);
-            float yP = y - (float)((pP.Latitude - posicaoRobo.Latitude) * _zoom);
-
-            return (xP, yP);
-        }
-
-
         private void Tmr_Tick(object sender, EventArgs e)
         {
             btnCalcularAngulo_Click(sender, e);
@@ -311,7 +67,16 @@ namespace AgroBase.Forms
                 pnlOrientacaoTrajeto.Invalidate();
                 pnlAnguloControle.Invalidate();
                 pnlOrientacaoCarro.Invalidate();
-                pnlZoomMapa.Invalidate();
+
+                MapaDinamico.AtualizarDados(
+                    KinectService.Iniciado && Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect.StatusDetecao ? KinectService.Leitura.ObstaculoCritico : null, 
+                    (float)Variaveis.OperacaoEmAndamento.Mapa.AnguloCaminho,
+                    (float)Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarro, 
+                    GPSService.UltimaLeitura, 
+                    Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaDinamica,
+                    Variaveis.OperacaoEmAndamento.Mapa.TrajetoriaProjetada.FirstOrDefault(),
+                    Variaveis.OperacaoEmAndamento.GPSTrajetoria
+                );
             }
             else
             {
@@ -328,8 +93,6 @@ namespace AgroBase.Forms
             };
             //Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal = new SonarModel(picSonar);
             KinectService.InicializarKinect(null, picSonar, null, null);
-            KinectService.MostrarGrade = true;
-            KinectService.MostrarTexto = true;
         }
 
         private void frmSimulacaoMapaGPS_FormClosing(object sender, FormClosingEventArgs e)
@@ -415,12 +178,6 @@ namespace AgroBase.Forms
 
             AtualizarPosicaoGPS();
 
-            if (chbMoverObstaculo.Checked && ObjetoDetectado && double.TryParse(txtDistanciaSonar.Text, out double distSonar))
-            {
-                distSonar -= (distancia * 100);
-                txtDistanciaSonar.Text = distSonar.ToString();
-            }
-
             Tmr_Tick(sender, e);
         }
 
@@ -536,68 +293,6 @@ namespace AgroBase.Forms
             }
         }
 
-
-        bool ObjetoDetectado = false;
-        Direcao dirSonar = Direcao.Esquerda;
-        int angulo = 0;
-        int posicao = 1;
-        int distanciaMaxima = 356;
-        private void tmrSonar_Tick(object sender, EventArgs e)
-        {
-            pnlOrientacaoCarro.Invalidate();
-
-            if (Variaveis.OperacaoEmAndamento.DispSen.Dados.Conectado && Variaveis.OperacaoEmAndamento.DispSen.Dados.Sensores.Any(x => x.Componente == S_Code.sSNR && x.Inicializado) || !chbSonarVirando.Checked)
-            {
-                return;
-            }
-
-            int.TryParse(txtAnguloInicial.Text, out int anguloInicial);
-            int.TryParse(txtAnguloFinal.Text, out int anguloFinal);
-            int distancia = ObjetoDetectado && angulo >= anguloInicial && angulo <= anguloFinal ? int.Parse(txtDistanciaSonar.Text) : distanciaMaxima;
-
-            var posArr = Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_old.Deteccoes.FirstOrDefault(x => x.Posicao == posicao);
-            if (posArr == null)
-            {
-                posArr = new SonarRegistroModel()
-                {
-                    Posicao = posicao,
-                    Leituras = new List<SonarLeituraModel>()
-                };
-                Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_old.Deteccoes.Add(posArr);
-            }
-            var leituras = posArr.Leituras;
-            if (leituras.Any(x => x.Angulo == angulo))
-            {
-                leituras.First(x => x.Angulo == angulo).Momento = DateTime.Now;
-                leituras.First(x => x.Angulo == angulo).Distancia = distancia;
-            }
-            else
-            {
-                leituras.Add(new SonarLeituraModel(angulo, distancia));
-            }
-            Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_old.PosicaoAtual = posicao;
-            Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_old.AtualizarSonar();
-
-            angulo += dirSonar == Direcao.Esquerda ? SonarModel.anguloAcrescentar : -SonarModel.anguloAcrescentar;
-
-            if (angulo >= 180)
-            {
-                dirSonar = Direcao.Direita;
-                //posArr.Leituras.Clear();
-            }
-            else if (angulo <= 0)
-            {
-                dirSonar = Direcao.Esquerda;
-                //posArr.Leituras.Clear();
-            }
-        }
-
-        private void btnAdicionarDeteccao_Click(object sender, EventArgs e)
-        {
-            ObjetoDetectado = !ObjetoDetectado;
-            btnAdicionarDeteccao.Text = ObjetoDetectado ? "Del" : "Add";
-        }
-
         private void btnAtualizarLeitura_Click(object sender, EventArgs e)
         {
             Tmr_Tick(new Timer(), e);
@@ -626,6 +321,10 @@ namespace AgroBase.Forms
             pnlOrientacaoCarro.Invalidate();
         }
 
-        
+        private void chbSonarVirando_CheckedChanged(object sender, EventArgs e)
+        {
+            KinectService.Parametros.SonarAtivado = ((CheckBox)sender).Checked;
+        }
+
     }
 }

AgroBase/AgroBase/Forms/frmWT901C.cs

@@ -66,12 +66,16 @@ namespace AgroBase.Forms
 
         private void tmrLeitura_Tick(object sender, EventArgs e)
         {
+            ((Timer)sender).Stop();
+
             AnguloX = Variaveis.OperacaoEmAndamento.Sensoriamento.InclinacaoX;
             AnguloY = Variaveis.OperacaoEmAndamento.Sensoriamento.InclinacaoY;
             AnguloZ = Variaveis.OperacaoEmAndamento.Sensoriamento.InclinacaoZ;
             OrientacaoMagnetica = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola;
 
             AtualizarDadosTela();
+
+            ((Timer)sender).Start();
         }
 
         private void PopularDadosGrid()
@@ -84,6 +88,7 @@ namespace AgroBase.Forms
             gridDados.Columns.Add("clUnidade", "Unidade");
 
             gridDados.Rows.Add("Versão", "", "");
+            gridDados.Rows.Add("Modelo", "", "");
             gridDados.Rows.Add("Data", "", "");
             gridDados.Rows.Add("Hora", "", "");
             gridDados.Rows.Add("Acelerôemtro X", "", "g");
@@ -237,44 +242,45 @@ namespace AgroBase.Forms
             txtZ.Text = AnguloZ.ToString("0.00");
 
             gridDados.Rows[0].Cells[1].Value = WT901CService.DadosLeitura.Versao;
-            gridDados.Rows[1].Cells[1].Value = WT901CService.DadosLeitura.DataHora.ToString("dd/MM/yyyy");
-            gridDados.Rows[2].Cells[1].Value = WT901CService.DadosLeitura.DataHora.ToString("HH:mm:ss");
-            gridDados.Rows[3].Cells[1].Value = WT901CService.DadosLeitura.AccX;
-            gridDados.Rows[4].Cells[1].Value = WT901CService.DadosLeitura.AccY;
-            gridDados.Rows[5].Cells[1].Value = WT901CService.DadosLeitura.AccZ;
-            gridDados.Rows[6].Cells[1].Value = WT901CService.DadosLeitura.AccM;
-            gridDados.Rows[7].Cells[1].Value = WT901CService.DadosLeitura.AsX;
-            gridDados.Rows[8].Cells[1].Value = WT901CService.DadosLeitura.AsY;
-            gridDados.Rows[9].Cells[1].Value = WT901CService.DadosLeitura.AsZ;
-            gridDados.Rows[10].Cells[1].Value = WT901CService.DadosLeitura.AsM;
-            gridDados.Rows[11].Cells[1].Value = WT901CService.DadosLeitura.AngleX;
-            gridDados.Rows[12].Cells[1].Value = WT901CService.DadosLeitura.AngleY;
-            gridDados.Rows[13].Cells[1].Value = WT901CService.DadosLeitura.AngleZ;
-            gridDados.Rows[14].Cells[1].Value = WT901CService.DadosLeitura.HX;
-            gridDados.Rows[15].Cells[1].Value = WT901CService.DadosLeitura.HY;
-            gridDados.Rows[16].Cells[1].Value = WT901CService.DadosLeitura.HZ;
-            gridDados.Rows[17].Cells[1].Value = WT901CService.DadosLeitura.HM;
-            gridDados.Rows[18].Cells[1].Value = WT901CService.DadosLeitura.Temperatura;
-            gridDados.Rows[19].Cells[1].Value = WT901CService.DadosLeitura.Pressao;
-            gridDados.Rows[20].Cells[1].Value = WT901CService.DadosLeitura.Altitude;
-            gridDados.Rows[21].Cells[1].Value = "";
-            gridDados.Rows[22].Cells[1].Value = WT901CService.DadosLeitura.D0;
-            gridDados.Rows[23].Cells[1].Value = WT901CService.DadosLeitura.D1;
-            gridDados.Rows[24].Cells[1].Value = WT901CService.DadosLeitura.D2;
-            gridDados.Rows[25].Cells[1].Value = WT901CService.DadosLeitura.D3;
-            gridDados.Rows[26].Cells[1].Value = WT901CService.DadosLeitura.Q0;
-            gridDados.Rows[27].Cells[1].Value = WT901CService.DadosLeitura.Q1;
-            gridDados.Rows[28].Cells[1].Value = WT901CService.DadosLeitura.Q2;
-            gridDados.Rows[29].Cells[1].Value = WT901CService.DadosLeitura.Q3;
-            gridDados.Rows[30].Cells[1].Value = WT901CService.DadosLeitura.Longitude;
-            gridDados.Rows[31].Cells[1].Value = WT901CService.DadosLeitura.Latitude;
-            gridDados.Rows[32].Cells[1].Value = WT901CService.DadosLeitura.GPS_Altitude;
-            gridDados.Rows[33].Cells[1].Value = WT901CService.DadosLeitura.GPS_Orientacao;
-            gridDados.Rows[34].Cells[1].Value = WT901CService.DadosLeitura.GPS_Velcodiade;
-            gridDados.Rows[35].Cells[1].Value = WT901CService.DadosLeitura.GPS_NumeroSatelites;
-            gridDados.Rows[36].Cells[1].Value = WT901CService.DadosLeitura.PDOP;
-            gridDados.Rows[37].Cells[1].Value = WT901CService.DadosLeitura.HDOP;
-            gridDados.Rows[38].Cells[1].Value = WT901CService.DadosLeitura.VDOP;
+            gridDados.Rows[1].Cells[1].Value = WT901CService.DadosLeitura.Modelo;
+            gridDados.Rows[2].Cells[1].Value = WT901CService.DadosLeitura.DataHora.ToString("dd/MM/yyyy");
+            gridDados.Rows[3].Cells[1].Value = WT901CService.DadosLeitura.DataHora.ToString("HH:mm:ss");
+            gridDados.Rows[4].Cells[1].Value = WT901CService.DadosLeitura.AccX;
+            gridDados.Rows[5].Cells[1].Value = WT901CService.DadosLeitura.AccY;
+            gridDados.Rows[6].Cells[1].Value = WT901CService.DadosLeitura.AccZ;
+            gridDados.Rows[7].Cells[1].Value = WT901CService.DadosLeitura.AccM;
+            gridDados.Rows[8].Cells[1].Value = WT901CService.DadosLeitura.AsX;
+            gridDados.Rows[9].Cells[1].Value = WT901CService.DadosLeitura.AsY;
+            gridDados.Rows[10].Cells[1].Value = WT901CService.DadosLeitura.AsZ;
+            gridDados.Rows[11].Cells[1].Value = WT901CService.DadosLeitura.AsM;
+            gridDados.Rows[12].Cells[1].Value = WT901CService.DadosLeitura.AngleX;
+            gridDados.Rows[13].Cells[1].Value = WT901CService.DadosLeitura.AngleY;
+            gridDados.Rows[14].Cells[1].Value = WT901CService.DadosLeitura.AngleZ;
+            gridDados.Rows[15].Cells[1].Value = WT901CService.DadosLeitura.HX;
+            gridDados.Rows[16].Cells[1].Value = WT901CService.DadosLeitura.HY;
+            gridDados.Rows[17].Cells[1].Value = WT901CService.DadosLeitura.HZ;
+            gridDados.Rows[18].Cells[1].Value = WT901CService.DadosLeitura.HM;
+            gridDados.Rows[19].Cells[1].Value = WT901CService.DadosLeitura.Temperatura;
+            gridDados.Rows[20].Cells[1].Value = WT901CService.DadosLeitura.Pressao;
+            gridDados.Rows[21].Cells[1].Value = WT901CService.DadosLeitura.Altitude;
+            gridDados.Rows[22].Cells[1].Value = "";
+            gridDados.Rows[23].Cells[1].Value = WT901CService.DadosLeitura.D0;
+            gridDados.Rows[24].Cells[1].Value = WT901CService.DadosLeitura.D1;
+            gridDados.Rows[25].Cells[1].Value = WT901CService.DadosLeitura.D2;
+            gridDados.Rows[26].Cells[1].Value = WT901CService.DadosLeitura.D3;
+            gridDados.Rows[27].Cells[1].Value = WT901CService.DadosLeitura.Q0;
+            gridDados.Rows[28].Cells[1].Value = WT901CService.DadosLeitura.Q1;
+            gridDados.Rows[29].Cells[1].Value = WT901CService.DadosLeitura.Q2;
+            gridDados.Rows[30].Cells[1].Value = WT901CService.DadosLeitura.Q3;
+            gridDados.Rows[31].Cells[1].Value = WT901CService.DadosLeitura.Longitude;
+            gridDados.Rows[32].Cells[1].Value = WT901CService.DadosLeitura.Latitude;
+            gridDados.Rows[33].Cells[1].Value = WT901CService.DadosLeitura.GPS_Altitude;
+            gridDados.Rows[34].Cells[1].Value = WT901CService.DadosLeitura.GPS_Orientacao;
+            gridDados.Rows[35].Cells[1].Value = WT901CService.DadosLeitura.GPS_Velcodiade;
+            gridDados.Rows[36].Cells[1].Value = WT901CService.DadosLeitura.GPS_NumeroSatelites;
+            gridDados.Rows[37].Cells[1].Value = WT901CService.DadosLeitura.PDOP;
+            gridDados.Rows[38].Cells[1].Value = WT901CService.DadosLeitura.HDOP;
+            gridDados.Rows[39].Cells[1].Value = WT901CService.DadosLeitura.VDOP;
         }
 
 

AgroBase/AgroBase/Models/CameraCaminhoModel.cs

@@ -1,42 +1,77 @@
 using AgroBase.Services;
 using CefSharp.WinForms;
+using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
 using System.Drawing;
+using System.Drawing.Imaging;
+using System.IO;
 using System.Linq;
+using System.Runtime.Remoting.Messaging;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 
 namespace AgroBase.Models
 {
     public class CameraCaminhoModel
     {
+        public System.Timers.Timer tmrProcesso;
+        public System.Timers.Timer tmrLeitura;
+        public Bitmap bitmapSegmentado;
+
+        public string ID { get; set; }
+        public string Nome { get; set; }
+        public int Posicao { get; set; }
+        public bool Iniciada { get; set; } = false;
+        public CameraService camera { get; set; }
+        public ChromiumWebBrowser browser { get; set; }
+        public Panel panel { get; set; }
+        public ComboBox combo { get; set; }
+        public string ArquivoLeitura { get; set; }
+        public int MaxLeituras { get; set; }
+        public string VideoPorta { get; set; }
+        public string VideoUrl { get; set; }
+        public string CameraSelecionada { get; set; }
+
+        public Dictionary<string, Color> ClassMap = new Dictionary<string, Color>()
+        {
+            { "background", Color.Black },
+            { "rua", Color.DarkRed },
+            { "cana", Color.DarkGreen },
+            { "ceu", Color.Gold },
+        };
+
+        public CameraDeepLabV3PlusModel Leitura { get; set; } = new CameraDeepLabV3PlusModel();
+        public List<Point> PontosExtremos { get; set; } = new List<Point>();
+        public double Angulo { get; set; }
+        public double AnguloEsquerdo { get; set; }
+        public double AnguloDireito { get; set; }
+
+        public DateTime UltimoEnvio { get; set; } = DateTime.MinValue;
+        private int DelayEnvio { get; set; } = 100;
+
+
         public CameraCaminhoModel() 
         {
-            tmrProcesso.Tick += TmrProcesso_Tick;
-            tmrProcesso.Start();
+            
         }
 
-        public Timer tmrProcesso = new Timer() { Interval = 500 };
-
-        private void TmrProcesso_Tick(object sender, EventArgs e)
+        public void InicializarCamera()
         {
-            if (camera._mqttTopico != null)
+            if (tmrProcesso == null)
             {
-                var Mensagem = camera._mqttTopico.Mensagens.FirstOrDefault(y => y.Momento > camera.IniciadoEm && y.Mensagem == "OK");
-                if (Mensagem != null)
-                {
-                    tmrProcesso.Stop();
+                tmrProcesso = new System.Timers.Timer();
+                tmrProcesso.Interval = 500;
+                tmrProcesso.Elapsed += TmrProcesso_Elapsed;
+                tmrProcesso.Start();
+            }
 
-                    camera.ProntoEm = Mensagem.Momento;
-
-                    if (browser == null)
-                    {
-                        Iniciada = true;
-                        browser = new ChromiumWebBrowser(camera.URLcamera);
-                        panel.Controls.Add(browser);
-                        browser.Dock = DockStyle.Fill;
-                    }
-                }
+            if (tmrLeitura == null)
+            {
+                tmrLeitura = new System.Timers.Timer();
+                tmrLeitura.Interval = 100;
+                tmrLeitura.Elapsed += TmrLeitura_Elapsed;
+                tmrLeitura.Start();
             }
         }
 
@@ -44,6 +79,15 @@ namespace AgroBase.Models
         {
             try
             {
+                if (tmrLeitura != null)
+                {
+                    tmrLeitura.Stop();
+                }
+                if (tmrProcesso != null)
+                {
+                    tmrProcesso.Stop();
+                }
+
                 Iniciada = false;
                 Variaveis.MqttService.Topicos.Remove(camera._mqttTopico);
                 if (panel != null)
@@ -63,37 +107,116 @@ namespace AgroBase.Models
             }
         }
 
-
-
-
-        public string ID { get; set; }
-        public string Nome { get; set; }
-        public int Posicao { get; set; }
-        public bool Iniciada { get; set; } = false;
-        public CameraService camera { get; set; }
-        public ChromiumWebBrowser browser { get; set; }
-        public Panel panel { get; set; }
-        public ComboBox combo { get; set; }
-        public string ArquivoLeitura { get; set; }
-        public int MaxLeituras { get; set; }
-        public string VideoPorta { get; set; }
-        public string VideoUrl { get; set; }
-        public string MqttTopico { get; set; } = "street_detector";
-        public string CameraSelecionada { get; set; }
-        
-        public Dictionary<string, Color> ClassMap = new Dictionary<string, Color>()
+        private void TmrProcesso_Elapsed(object sender, EventArgs e)
         {
-            { "background", Color.Black },
-            { "rua", Color.DarkRed },
-            { "cana", Color.DarkGreen },
-            { "ceu", Color.Gold },
-        };
+            if (camera._mqttTopico != null)
+            {
+                var Mensagem = camera._mqttTopico.Mensagens.FirstOrDefault(y => y.Momento > camera.IniciadoEm && y.Mensagem == "OK");
+                if (Mensagem != null)
+                {
+                    ((System.Timers.Timer)sender).Stop();
+
+                    camera.ProntoEm = Mensagem.Momento;
+
+                    if (browser == null)
+                    {
+                        Iniciada = true;
+                        if (panel != null)
+                        {
+                            panel.GetType().GetMethod("SetStyle", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic).Invoke(panel, new object[] { ControlStyles.UserPaint | ControlStyles.AllPaintingInWmPaint | ControlStyles.OptimizedDoubleBuffer, true });
+                            panel.BackgroundImageLayout = ImageLayout.Zoom;
+                            /*browser = new ChromiumWebBrowser(camera.URLcamera);
+                            panel.Controls.Add(browser);
+                            browser.Dock = DockStyle.Fill;*/
+                        }
+                    }
+                }
+            }
+        }
+
+        private async void TmrLeitura_Elapsed(object sender, EventArgs e)
+        {
+            ((System.Timers.Timer)sender).Stop();
+
+            if (Iniciada)
+            {
+                DateTime Agora = DateTime.Now;
+                // Se ja passou 5 segundos sem ter enviado uma mensagem
+                if (UltimoEnvio.AddMilliseconds(5000) < Agora)
+                {
+                    Bitmap bitmap = (Bitmap)KinectService.bitmapRGB.Clone();
+                    await EnviarBitmapParaProcessamento(bitmap);
+                }
+            }
+
+            ((System.Timers.Timer)sender).Start();
+        }
+        
+        public async Task EnviarBitmapParaProcessamento(Bitmap bitmap)
+        {
+            //Console.WriteLine("Enviando bitmap para segmentacao...");
+            // Converta o Bitmap para um array de bytes no formato JPEG
+            byte[] bitmapBytes;
+            using (var ms = new MemoryStream())
+            {
+                bitmap.Save(ms, ImageFormat.Jpeg);
+                bitmapBytes = ms.ToArray();
+            }
+
+            // Publique o array de bytes via MQTT
+            await Variaveis.MqttService.PublishAsync(
+                Variaveis.MqttService.Topicos.First(x => x.Topico == CamerasVaraiveisModel.TopicoEnvioBitmap), 
+                bitmapBytes
+            );
+
+            UltimoEnvio = DateTime.Now;
+        }
+
+        public Bitmap ExtraiImagemDaMensagem(string message)
+        {
+            // Decodificar o payload JSON
+            dynamic jsonData = JsonConvert.DeserializeObject(message);
+
+            // Extrair a imagem base64 do JSON
+            string imageBase64 = jsonData.segmented_image;
+
+            // Converter a string base64 de volta para um array de bytes
+            byte[] imageBytes = Convert.FromBase64String(imageBase64);
+
+            // Converter o array de bytes em um Bitmap
+            using (var ms = new MemoryStream(imageBytes))
+            {
+                Bitmap bitmap = new Bitmap(ms);
+
+                return bitmap;
+            }
+        }
+
+        public void AtualizarBitmapTela(Bitmap bitmap)
+        {
+            //Console.WriteLine("Recebido bitmap segmentado");
+
+            bitmapSegmentado = bitmap;
+            if (panel != null)
+            {
+                panel.BackgroundImage = bitmapSegmentado;
+            }
+
+            Task.Run(async () =>
+            {
+                await Task.Delay(DelayEnvio);
+                Bitmap bitmapEnvio = (Bitmap)KinectService.bitmapRGB.Clone();
+                await EnviarBitmapParaProcessamento(bitmapEnvio);
+            });
+        }
+
+        
+
+
+
+
+
 
-        public CameraDeepLabV3PlusModel Leitura { get; set; } = new CameraDeepLabV3PlusModel();
-        public List<Point> PontosExtremos { get; set; } = new List<Point>();
-        public double Angulo { get; set; }
-        public double AnguloEsquerdo { get; set; }
-        public double AnguloDireito { get; set; }
 
 
         public static List<Point> DefinirPontosExtremos(List<Point> PontosCamera)

AgroBase/AgroBase/Models/CameraSoloModel.cs

@@ -8,22 +8,22 @@ namespace AgroBase.Models
 {
     public class CameraSoloModel
     {
+        public System.Timers.Timer tmrProcesso = new System.Timers.Timer() { Interval = 500, Enabled = false };
+
         public CameraSoloModel() 
         {
-            tmrProcesso.Tick += TmrProcesso_Tick;
+            tmrProcesso.Elapsed += TmrProcesso_Elapsed;
             tmrProcesso.Start();
         }
 
-        public Timer tmrProcesso = new Timer() { Interval = 500 };
-
-        private void TmrProcesso_Tick(object sender, EventArgs e)
+        private void TmrProcesso_Elapsed(object sender, EventArgs e)
         {
             if (camera._mqttTopico != null )
             {
                 var Mensagem = camera._mqttTopico.Mensagens.FirstOrDefault(y => y.Momento > camera.IniciadoEm && y.Mensagem == "OK");
                 if (Mensagem != null)
                 {
-                    tmrProcesso.Stop();
+                    ((System.Timers.Timer)sender).Stop();
 
                     camera.ProntoEm = Mensagem.Momento;
 

AgroBase/AgroBase/Models/Enums.cs

@@ -172,7 +172,7 @@ namespace AgroBase.Models
         public enum ParametrosOperacao
         {
             CameraSolo, 
-            CameraCaminho, 
+            Kinect, 
             Mapa, 
             Joystick
         }

AgroBase/AgroBase/Models/GeneralJoystick.cs

@@ -710,14 +710,24 @@ namespace AgroBase
 
         private static void AtualizaConsole(string Mensagem)
         {
-            frmInstancial.frmJoystick.lblConsole.Text = Mensagem;
+            if (frmInstancial.frmJoystick.lblConsole.InvokeRequired)
+            {
+                frmInstancial.frmJoystick.lblConsole.Invoke((MethodInvoker)delegate
+                {
+                    frmInstancial.frmJoystick.lblConsole.Text = Mensagem;
+                });
+            }
+            else
+            {
+                frmInstancial.frmJoystick.lblConsole.Text = Mensagem;
+            }
         }
 
         private static bool VerificaComandoValido(Keys Comando)
         {
             List<Keys> ComandosImpedidos = new List<Keys>();
 
-            if (KinectService.Iniciado && Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect.DesvioNecessario)
+            if (KinectService.Iniciado && KinectService.Parametros.SonarAtivado && Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect.DesvioNecessario)
             {
                 switch (Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect.DirecaoDesvio)
                 {

AgroBase/AgroBase/Models/KinectModel.cs

@@ -151,7 +151,7 @@ namespace AgroBase.Models
             {
                 UltimoStatusDetecao = StatusDetecao;
 
-                if (StatusDetecao && Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Any(x => x.MovMotor.BLD_Inicializado))
+                if (StatusDetecao && Variaveis.OperacaoEmAndamento.DispMvd != null && Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Any(x => x.MovMotor.BLD_Inicializado))
                 {
                     GeneralJoystick.EnviaComandoMotor(System.Windows.Forms.Keys.Escape, T_Code.Mov);
                 }
@@ -729,8 +729,8 @@ namespace AgroBase.Models
 
     public class KinectParametrosModel
     {
-        public string TopicoEnvioDados { get; set; } = "kinect/depth";
-        public string TopicoRecebimentoDados { get; set; } = "kinect/obstacles";
+        public bool SonarAtivado { get; set; }
+        public int Angulo { get; set; }
         public float focalLength { get; set; }
         public float sensorWidthMM { get; set; }
         public int maxDepth { get; set; }

AgroBase/AgroBase/Models/MapaDinamicoModel.cs

@@ -0,0 +1,285 @@
+using AgroBase.Services;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace AgroBase.Models
+{
+    public class MapaDinamicoModel
+    {
+        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 GPSModel _posicaoAtual { get; set; } = new GPSModel();
+        private List<GPSModel> TrajetoriaDinamica { get; set; } = new List<GPSModel>();
+        private List<GPSModel> TrajetoriaRuaProjetada { get; set; } = new List<GPSModel>();
+        private List<GPSModel> TrajetoriaRobo { get; set; } = new List<GPSModel>();
+        private Obstaculo obstaculoDetectado { get; set; }
+        private float AnguloCaminho { get; set; }
+        private float AnguloCarro { get; set; }
+
+        private Panel pnlZoomMapa;
+        private Form parent;
+
+        public MapaDinamicoModel(Form _parent, Panel pnl)
+        {
+            this.pnlZoomMapa = pnl;
+
+            this.pnlZoomMapa.Paint += PnlZoomMapa_Paint;
+            this.pnlZoomMapa.MouseWheel += PnlZoomMapa_MouseWheel;
+            this.pnlZoomMapa.MouseDown += PnlZoomMapa_MouseDown;
+            this.pnlZoomMapa.MouseMove += PnlZoomMapa_MouseMove;
+            this.pnlZoomMapa.MouseUp += PnlZoomMapa_MouseUp;
+
+            parent = _parent;
+
+            pnlZoomMapa.GetType().GetMethod("SetStyle", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic).Invoke(pnlZoomMapa, new object[] { ControlStyles.UserPaint | ControlStyles.AllPaintingInWmPaint | ControlStyles.OptimizedDoubleBuffer, true });
+        }
+
+        public void AtualizarDados(Obstaculo obstaculo, float anguloCaminho, float anguloCarro, GPSModel posicaoAtual, List<GPSModel> trajetoriaDinamica, List<GPSModel> trajetoriaRua, List<GPSModel> trajetoriaRobo)
+        {
+            obstaculoDetectado = obstaculo;
+            AnguloCaminho = anguloCaminho;
+            AnguloCarro = anguloCarro;
+            _posicaoAtual = posicaoAtual;
+            TrajetoriaDinamica = trajetoriaDinamica;
+            TrajetoriaRuaProjetada = trajetoriaRua;
+            TrajetoriaRobo = trajetoriaRobo;
+
+            pnlZoomMapa.Invalidate();
+        }
+
+        private void PnlZoomMapa_MouseUp(object sender, MouseEventArgs e)
+        {
+            if (e.Button == MouseButtons.Left)
+            {
+                _isDragging = false; // Termina o arrasto
+                parent.Cursor = Cursors.Default;
+            }
+        }
+
+        private void PnlZoomMapa_MouseMove(object sender, MouseEventArgs e)
+        {
+            Panel 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;
+
+                // Atualiza a posição inicial do mouse
+                _startPoint = e.Location;
+
+                // Redesenha o panel para refletir o novo deslocamento
+                panel1.Invalidate();
+
+                parent.Cursor = Cursors.Cross;
+            }
+        }
+
+        private void PnlZoomMapa_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (e.Button == MouseButtons.Left)
+            {
+                _isDragging = true;
+                _startPoint = e.Location; // Salva a posição inicial do mouse
+                parent.Cursor = Cursors.Hand;
+            }
+        }
+
+        private void PnlZoomMapa_MouseWheel(object sender, MouseEventArgs e)
+        {
+            Panel panel1 = (Panel)sender;
+
+            if (e.Delta > 0)
+            {
+                _zoom *= ZoomFactor; // Aumenta o zoom
+            }
+            else if (e.Delta < 0)
+            {
+                _zoom /= ZoomFactor; // Diminui o zoom
+            }
+
+            panel1.Invalidate();
+        }
+
+        private void PnlZoomMapa_Paint(object sender, PaintEventArgs e)
+        {
+            Panel panel1 = (Panel)sender;
+
+            Graphics g = e.Graphics;
+
+            // Defina as dimensões do panel
+            int width = panel1.Width;
+            int height = panel1.Height;
+
+            // Coordenadas centrais (onde o robô estará), ajustadas pelo deslocamento do mapa
+            float centerX = width / 2 + _mapOffset.X;
+            float centerY = height / 2 + _mapOffset.Y;
+
+            // Desenha os pontos da trajetória projetada
+            DrawTrajectory(g, TrajetoriaDinamica, centerX, centerY, Color.Purple, Pens.MediumPurple);
+
+            // Desenha os pontos da trajetória planejada da rua atual
+            DrawTrajectory(g, TrajetoriaRuaProjetada, centerX, centerY, Color.Green, Pens.Blue);
+
+            // Desenha os pontos da trajetória percorrida
+            DrawTrajectory(g, TrajetoriaRobo, centerX, centerY, Color.Orange, Pens.OrangeRed);
+
+            // Desenha a posição atual do robô (ponto vermelho)
+            float PxToCm = DrawRobot(g, centerX, centerY, Color.Red, Color.Red, (float)VariaveisEquipamento.LarguraEsquerda, (float)VariaveisEquipamento.LarguraDireita, (float)VariaveisEquipamento.LarguraEsquerda, (float)VariaveisEquipamento.LarguraDireita, AnguloCarro);
+
+            if (obstaculoDetectado != null)
+            {
+                DrawObstacle(g, centerX, centerY, Color.Cyan, Color.Cyan, AnguloCaminho - (float)obstaculoDetectado.AnguloParaDesvio, obstaculoDetectado, PxToCm);
+            }
+        }
+
+
+
+        private void DrawTrajectory(Graphics g, List<GPSModel> trajectory, float centerX, float centerY, Color pointColor, Pen linePen)
+        {
+            if (trajectory == null)
+            {
+                trajectory = new List<GPSModel>();
+            }
+
+            for (int i = 0; i < trajectory.Count; i++)
+            {
+                var trajPoint = trajectory[i];
+                // Calcule a posição no panel
+                float x = centerX + (float)((trajPoint.Longitude - _posicaoAtual.Longitude) * _zoom);
+                float y = centerY - (float)((trajPoint.Latitude - _posicaoAtual.Latitude) * _zoom);
+
+                // Desenha o ponto da trajetória
+                DrawPoint(g, x, y, pointColor);
+
+                // Desenha a linha conectando os pontos
+                if (i > 0)
+                {
+                    var prevPoint = trajectory[i - 1];
+                    float prevX = centerX + (float)((prevPoint.Longitude - _posicaoAtual.Longitude) * _zoom);
+                    float prevY = centerY - (float)((prevPoint.Latitude - _posicaoAtual.Latitude) * _zoom);
+
+                    g.DrawLine(linePen, prevX, prevY, x, y);
+                }
+            }
+        }
+
+        private void DrawPoint(Graphics g, float x, float y, Color color)
+        {
+            float size = 5;
+            using (Brush brush = new SolidBrush(color))
+            {
+                g.FillEllipse(brush, x - size / 2, y - size / 2, size, size);
+            }
+        }
+
+        private float DrawRobot(Graphics g, float x, float y, Color pointColor, Color borderColor, float larguraEsquerda, float larguraDireita, float comprimentoFrente, float comprimentoTras, float angle)
+        {
+            // Desenhar o ponto GPS
+            DrawPoint(g, x, y, pointColor);
+
+            GPSModel posicaoRobo = GPSService.UltimaLeitura;
+
+            int agPlus = Convert.ToInt32(135 + angle);
+
+            (float xET, float yET) = CalcularPontosLateraisRobo(posicaoRobo, larguraEsquerda, comprimentoTras, x, y, agPlus + 90);
+            (float xDT, float yDT) = CalcularPontosLateraisRobo(posicaoRobo, larguraDireita, comprimentoTras, x, y, agPlus + 0);
+            (float xEF, float yEF) = CalcularPontosLateraisRobo(posicaoRobo, larguraEsquerda, comprimentoFrente, x, y, agPlus + 180);
+            (float xDF, float yDF) = CalcularPontosLateraisRobo(posicaoRobo, larguraDireita, comprimentoFrente, x, y, agPlus + 270);
+
+            // Calcular os cantos do retângulo considerando o ângulo
+            PointF[] corners = new PointF[4];
+
+            // Cantos do retângulo com as novas medidas
+            corners[0] = new PointF(xET, yET); // Superior esquerdo
+            corners[1] = new PointF(xDT, yDT); // Superior direito
+            corners[2] = new PointF(xDF, yDF);    // Inferior direito
+            corners[3] = new PointF(xEF, yEF);    // Inferior esquerdo
+
+            // Desenhar o contorno do robô
+            using (Pen pen = new Pen(borderColor, 2))
+            {
+                g.DrawPolygon(pen, corners);
+            }
+
+            // Desenhar a linha indicando a frente do robô (do ponto central para a frente)
+            DrawFrontLine(g, x, y, xDF, yDF, xEF, yEF, borderColor);
+
+            float PxToCm = Math.Abs(xET - xDT) / (larguraDireita + larguraEsquerda);
+
+            return PxToCm;
+        }
+
+        private void DrawObstacle(Graphics g, float xRobot, float yRobot, Color pointColor, Color borderColor, float angle, Obstaculo obstaculo, float PxToCm)
+        {
+            GPSModel posicaoRobo = GPSService.UltimaLeitura;
+            GPSModel posicaoObstaculo = Variaveis.OperacaoEmAndamento.Mapa.GerarPontoDeslocado(posicaoRobo, angle, obstaculo.DistanciaMedia_mm / 1000);
+
+            float x = xRobot + (float)((posicaoObstaculo.Longitude - posicaoRobo.Longitude) * _zoom);
+            float y = yRobot - (float)((posicaoObstaculo.Latitude - posicaoRobo.Latitude) * _zoom);
+
+            // Desenhar o ponto GPS
+            DrawPoint(g, x, y, pointColor);
+
+
+            int agPlus = Convert.ToInt32(135 + angle);
+
+            float largura = obstaculo.Largura_mm / 20;
+
+            (float xET, float yET) = CalcularPontosLateraisRobo(posicaoObstaculo, largura, largura, x, y, agPlus + 90);
+            (float xDT, float yDT) = CalcularPontosLateraisRobo(posicaoObstaculo, largura, largura, x, y, agPlus + 0);
+            (float xEF, float yEF) = CalcularPontosLateraisRobo(posicaoObstaculo, largura, largura, x, y, agPlus + 180);
+            (float xDF, float yDF) = CalcularPontosLateraisRobo(posicaoObstaculo, largura, largura, x, y, agPlus + 270);
+
+            // Calcular os cantos do retângulo considerando o ângulo
+            PointF[] corners = new PointF[4];
+
+            // Cantos do retângulo com as novas medidas
+            corners[0] = new PointF(xET, yET); // Superior esquerdo
+            corners[1] = new PointF(xDT, yDT); // Superior direito
+            corners[2] = new PointF(xDF, yDF);    // Inferior direito
+            corners[3] = new PointF(xEF, yEF);    // Inferior esquerdo
+
+            // Desenhar o contorno do robô
+            using (Pen pen = new Pen(borderColor, 2))
+            {
+                g.DrawPolygon(pen, corners);
+            }
+        }
+
+        private void DrawFrontLine(Graphics g, float x, float y, float xDF, float yDF, float xEF, float yEF, Color borderColor)
+        {
+            // Calcular o ponto médio entre DF e EF
+            float midX = (xDF + xEF) / 2;
+            float midY = (yDF + yEF) / 2;
+
+            // Desenhar a linha do ponto central para a frente do robô
+            using (Pen frontPen = new Pen(borderColor, 2))
+            {
+                g.DrawLine(frontPen, x, y, midX, midY);
+            }
+        }
+
+        private (float, float) CalcularPontosLateraisRobo(GPSModel posicaoRobo, float Largura, float Comprimento, float x, float y, int offAngulo)
+        {
+            float hP = (float)Math.Sqrt(Math.Pow(Largura, 2) + Math.Pow(Comprimento, 2)) / 100f;
+            GPSModel pP = Variaveis.OperacaoEmAndamento.Mapa.GerarPontoDeslocado(posicaoRobo, offAngulo, hP);
+            float xP = x + (float)((pP.Longitude - posicaoRobo.Longitude) * _zoom);
+            float yP = y - (float)((pP.Latitude - posicaoRobo.Latitude) * _zoom);
+
+            return (xP, yP);
+        }
+
+
+    }
+}

AgroBase/AgroBase/Models/ModbusModel.cs

@@ -18,8 +18,6 @@ namespace AgroBase.Models
         public DateTime UltimaRequisicao { get; set; } = DateTime.MaxValue;
         public string Descricao { get; set; }
         public string Chave { get; set; }
-        public byte FuncaoGet { get; set; }
-        public byte FuncaoSet { get; set; }
         public byte Registro { get; set; }
         public byte N_Registros { get; set; }
         public bool LeituraLoop { get; set; }

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -213,7 +213,7 @@ namespace AgroBase.Models
             {
                 bool _operacaoLiberada = ModulosConectados;
                 if (ParametrosMandatorios.Any(x => x.Parametro == ParametrosOperacao.CameraSolo && x.Mandatorio) && CamerasSolo.Count(x => x.Iniciada) < QuantidadeCamerasSolo) _operacaoLiberada = false;
-                if (ParametrosMandatorios.Any(x => x.Parametro == ParametrosOperacao.CameraCaminho && x.Mandatorio) && (CameraCaminho == null || !CameraCaminho.Iniciada)) _operacaoLiberada = false;
+                if (ParametrosMandatorios.Any(x => x.Parametro == ParametrosOperacao.Kinect && x.Mandatorio) && (Sensoriamento.SonarFrontal_Kinect == null || !Sensoriamento.SonarFrontal_Kinect.Iniciado)) _operacaoLiberada = false;
                 if (ParametrosMandatorios.Any(x => x.Parametro == ParametrosOperacao.Mapa && x.Mandatorio) && !Mapa.mapaService.Carregado) _operacaoLiberada = false;
                 if (ParametrosMandatorios.Any(x => x.Parametro == ParametrosOperacao.Joystick && x.Mandatorio && GeneralJoystick.JoystickConectado == null)) _operacaoLiberada = false;
 
@@ -257,7 +257,7 @@ namespace AgroBase.Models
         public double CapacidadeReservatorio { get; set; } = 30;
         public int QuantidadeCamerasSolo { get; set; } = 2;
         public List<CameraSoloModel> CamerasSolo { get; set; } = new List<CameraSoloModel>();
-        public CameraCaminhoModel CameraCaminho { get; set; }
+        public CameraCaminhoModel CameraCaminhoKinect { get; set; }
         public int TempoIniciarOperacao { get; set; } = 25;
         public string ID { get; set; }
         public Timer tmrLogs = new Timer() { Interval = 1000 };
@@ -580,7 +580,7 @@ namespace AgroBase.Models
                         },
                         new OperacaoParametrosMandatoriosModel()
                         {
-                            Parametro = ParametrosOperacao.CameraCaminho, 
+                            Parametro = ParametrosOperacao.Kinect, 
                             Mandatorio = true,
                         }, 
                         new OperacaoParametrosMandatoriosModel()
@@ -707,28 +707,22 @@ namespace AgroBase.Models
             {
                 ID = "C",
                 Nome = "Cam_Caminho",
-                Posicao = 0,
                 ArquivoLeitura = "leitura_ruas.json",
                 browser = null,
                 camera = new CameraService(),
-                CameraSelecionada = DispSen.Dados.CameraID_Caminho,
-                combo = new ComboBox(),
                 MaxLeituras = 1,
-                VideoPorta = (VariaveisPortas.CameraCaminho + 0).ToString(),
-                VideoUrl = "street_detector",
-                MqttTopico = "street_detector",
                 Angulo = 0,
                 AnguloDireito = 0,
                 AnguloEsquerdo = 0,
                 Leitura = new CameraDeepLabV3PlusModel(),
                 PontosExtremos = new List<Point>()
             };
-            CameraCaminho = cameraCaminho;
-            CameraCaminho.camera.selectedCamera = listaCameras.ToList().IndexOf(CameraCaminho.CameraSelecionada);
-            if (CameraCaminho.camera.selectedCamera > 0 && Iniciar)
+            CameraCaminhoKinect = cameraCaminho;
+            CameraCaminhoKinect.camera.selectedCamera = KinectService.Iniciado ? 1 : 0;
+            if (CameraCaminhoKinect.camera.selectedCamera > 0 && Iniciar)
             {
-                CameraCaminho.panel = pnlCameraCaminho;
-                IniciarCameraCaminho(CameraCaminho);
+                CameraCaminhoKinect.panel = pnlCameraCaminho;
+                IniciarCameraCaminho(CameraCaminhoKinect);
             }
         }
 
@@ -764,26 +758,23 @@ namespace AgroBase.Models
         {
             CameraSolo.DesligarCamera();
         }
-
+        
         public void IniciarCameraCaminho(CameraCaminhoModel cameraCaminho)
         {
             DesligarCameraCaminho(cameraCaminho);
 
             if (cameraCaminho.camera.selectedCamera > 0)
             {
+                cameraCaminho.InicializarCamera();
                 cameraCaminho.camera.IniciarCamera(
                     PythonService.ScriptStreetDetector,
                     new string[] {
-                        cameraCaminho.MaxLeituras.ToString(),
-                        cameraCaminho.VideoPorta,
-                        cameraCaminho.VideoUrl,
-                        cameraCaminho.ArquivoLeitura,
-                        "1",
-                        cameraCaminho.MqttTopico
+                        CamerasVaraiveisModel.TopicoRecebimentoBitmap, 
+                        CamerasVaraiveisModel.TopicoEnvioBitmap, 
                     },
                     cameraCaminho.VideoPorta,
                     cameraCaminho.VideoUrl,
-                    cameraCaminho.MqttTopico,
+                    CamerasVaraiveisModel.TopicoRecebimentoBitmap,
                     cameraCaminho.tmrProcesso
                 );
             }
@@ -793,7 +784,7 @@ namespace AgroBase.Models
         {
             cameraCaminho.DesligarCamera();
         }
-
+        
         #endregion
 
 
@@ -856,11 +847,14 @@ namespace AgroBase.Models
         
         public void FinalizarOperacao()
         {
-            Variaveis.OperacaoEmAndamento.CamerasSolo.ForEach(Camera =>
+            if (!Iniciado)
             {
-                Camera.DesligarCamera();
-            });
-            Variaveis.OperacaoEmAndamento.CameraCaminho.DesligarCamera();
+                Variaveis.OperacaoEmAndamento.CamerasSolo.ForEach(Camera =>
+                {
+                    Camera.DesligarCamera();
+                });
+                Variaveis.OperacaoEmAndamento.CameraCaminhoKinect.DesligarCamera();
+            }
 
             if (Modo == ModoOperacao.MapaGPS)
             {
@@ -912,6 +906,11 @@ namespace AgroBase.Models
 
                 await Task.Delay(1000);
             }
+
+            if (KinectService.Iniciado)
+            {
+                KinectService.RecalibrarSubdivisoes();
+            }
         }
 
         #region CONTROLE DA OPERACAO
@@ -1217,14 +1216,14 @@ namespace AgroBase.Models
         {
             try
             {
-                var cameraCaminho = Variaveis.OperacaoEmAndamento.CameraCaminho;
+                var cameraCaminho = Variaveis.OperacaoEmAndamento.CameraCaminhoKinect;
 
                 if (cameraCaminho == null || !cameraCaminho.Iniciada)
                 {
                     return;
                 }
 
-                var MqttTopico = Variaveis.MqttService.Topicos.FirstOrDefault(x => x.Topico == cameraCaminho.MqttTopico);
+                var MqttTopico = Variaveis.MqttService.Topicos.FirstOrDefault(x => x.Topico == CamerasVaraiveisModel.TopicoRecebimentoBitmap);
                 if (MqttTopico != null && MqttTopico.Mensagens.Any(x => x.Momento > cameraCaminho.camera.IniciadoEm))
                 {
                     try
@@ -1630,6 +1629,17 @@ namespace AgroBase.Models
                 };
                 SalvarLog(T_Code.Wit.ToString(), logWit, Fim);
 
+                UltrasonicA05Model logA05 = new UltrasonicA05Model()
+                {
+                    Momento = Agora,
+                    Endereco = UltrasonicA05Service.slaveAddress,
+                    U1 = UltrasonicA05Service.DadosLeitura.U1, 
+                    U2 = UltrasonicA05Service.DadosLeitura.U2, 
+                    U3 = UltrasonicA05Service.DadosLeitura.U3, 
+                    U4 = UltrasonicA05Service.DadosLeitura.U4, 
+                };
+                SalvarLog(T_Code.A05.ToString(), logA05, Fim);
+
                 SalvarLogKinect(Agora);
 
                 SalvarLogCameras(Agora).ConfigureAwait(false);
@@ -1648,10 +1658,11 @@ namespace AgroBase.Models
                         sen = T_Code.Sen.ToString(),
                         pzm = T_Code.Pzm.ToString(),
                         wit = T_Code.Wit.ToString(),
+                        a05 = T_Code.A05.ToString(),
                         knt = T_Code.Knt.ToString(),
-                        caminho = "caminho",
-                        soloE = "soloE",
-                        soloD = "soloD"
+                        caminho = CameraCaminhoKinect.Nome,
+                        soloE = CamerasSolo[0].Nome,
+                        soloD = CamerasSolo[1].Nome
                     };
                     File.WriteAllText(ArquivoOp, JsonConvert.SerializeObject(data));
                 }
@@ -1696,18 +1707,27 @@ namespace AgroBase.Models
                 nome = x.Nome,
                 browser = x.browser,
             })
-            /*.Union(new[] {
+            .Union(new[] {
                 new {
                     tipo = typeof(CamCaminhoSensoriamentoLogModel),
-                    nome = CameraCaminho.Nome,
-                    browser = CameraCaminho.browser
+                    nome = CameraCaminhoKinect.Nome,
+                    browser = CameraCaminhoKinect.browser,
                 }
-            })*/
+            })
             .ToList();
 
 
             foreach (var Camera in Cameras)
             {
+                string Caminho = Variaveis.CaminhoOperacoes + ID + "/" + Camera.nome;
+                if (!Directory.Exists(Caminho))
+                {
+                    Directory.CreateDirectory(Caminho);
+                }
+
+                Caminho += "/" + idxLog + ".jpg";
+                Bitmap frame = null;
+
                 if (Camera.tipo == typeof(CamSoloSensoriamentoLogModel))
                 {
                     var leitura = CamerasSolo.First(x => x.Nome == Camera.nome).Leitura;
@@ -1723,13 +1743,20 @@ namespace AgroBase.Models
                         }
                     };
                     SalvarLog(Camera.nome, logCam, false);
+
+                    frame = await FuncoesGlobais.GetBrowserImage(Camera.browser);
                 }
                 else if (Camera.tipo == typeof(CamCaminhoSensoriamentoLogModel))
                 {
-                    var leitura = CameraCaminho.Leitura;
+                    var leitura = CameraCaminhoKinect.Leitura;
                     CamCaminhoSensoriamentoLogModel logCam = new CamCaminhoSensoriamentoLogModel()
                     {
                         Momento = Agora,
+                        ClassMap = new Dictionary<string, Color>(CameraCaminhoKinect.ClassMap),
+                        PontosExtremos = new List<Point>(CameraCaminhoKinect.PontosExtremos), 
+                        Angulo = CameraCaminhoKinect.Angulo, 
+                        AnguloDireito = CameraCaminhoKinect.AnguloDireito, 
+                        AnguloEsquerdo = CameraCaminhoKinect.AnguloEsquerdo, 
                         Leitura = new CameraDeepLabV3PlusModel()
                         {
                             timestamp = leitura.timestamp,
@@ -1742,18 +1769,14 @@ namespace AgroBase.Models
                         }
                     };
                     SalvarLog(Camera.nome, logCam, false);
+
+                    if (CameraCaminhoKinect.camera._mqttTopico != null && CameraCaminhoKinect.camera._mqttTopico.Mensagens.Any())
+                    {
+                        string message = CameraCaminhoKinect.camera._mqttTopico.Mensagens[CameraCaminhoKinect.camera._mqttTopico.Mensagens.Count() - 1].Mensagem;
+                        frame = CameraCaminhoKinect.ExtraiImagemDaMensagem(message);
+                    }
                 }
 
-                string Caminho = Variaveis.CaminhoOperacoes + ID + "/" + Camera.nome;
-                if (!Directory.Exists(Caminho))
-                {
-                    Directory.CreateDirectory(Caminho);
-                }
-
-                Caminho += "/" + idxLog + ".jpg";
-
-                Bitmap frame = await FuncoesGlobais.GetBrowserImage(Camera.browser);
-
                 FuncoesGlobais.SalvarImagemComprimida(frame, Caminho);
             }
         }
@@ -1792,8 +1815,14 @@ namespace AgroBase.Models
             string rgb = Caminho + "/rgb_" + idxLog + ".jpg";
             string heat = Caminho + "/heat_" + idxLog + ".jpg";
 
-            FuncoesGlobais.SalvarImagemComprimida(KinectService.bitmapRGB, rgb);
-            FuncoesGlobais.SalvarImagemComprimida(KinectService.bitmapHeat, heat);
+            lock (KinectService._lockBitmapRGB)
+            {
+                FuncoesGlobais.SalvarImagemComprimida(KinectService.bitmapRGB, rgb);
+            }
+            lock (KinectService._lockBitmapHeat)
+            {
+                FuncoesGlobais.SalvarImagemComprimida(KinectService.bitmapHeat, heat);
+            }
         }
 
         
@@ -1999,6 +2028,7 @@ namespace AgroBase.Models
         public string pzm { get; set; }
         public string wit { get; set; }
         public string knt { get; set; }
+        public string a05 { get; set; }
         public string caminho { get; set; }
         public string soloE { get; set; }
         public string soloD { get; set; }
@@ -2233,6 +2263,11 @@ namespace AgroBase.Models
     public class CamCaminhoSensoriamentoLogModel
     {
         public DateTime Momento { get; set; }
+        public Dictionary<string, Color> ClassMap {  get; set; }
+        public List<Point> PontosExtremos { get; set; }
+        public double Angulo { get; set; }
+        public double AnguloEsquerdo { get; set; }
+        public double AnguloDireito { get; set; }
         public CameraDeepLabV3PlusModel Leitura { get; set; }
     }
 

AgroBase/AgroBase/Models/Variaveis.cs

@@ -18,6 +18,7 @@ using CefSharp.WinForms;
 using System.IO;
 using CefSharp.DevTools.Memory;
 using CefSharp.DevTools.Page;
+using OpenCvSharp.Internal.Vectors;
 
 namespace AgroBase.Models
 {
@@ -571,10 +572,35 @@ namespace AgroBase.Models
             EncoderParameters encoderParams = new EncoderParameters(1);
             encoderParams.Param[0] = new EncoderParameter(System.Drawing.Imaging.Encoder.Quality, qualidade);
 
+            using (Graphics g = Graphics.FromImage(frame))
+            {
+                g.DrawString(DateTime.Now.ToString("dd/MM/yyyy HH:mm:ss"), new Font("Arial", 10), Brushes.Red, new PointF(10, 10));
+            }
+
             // Salva a imagem com a qualidade ajustada
             frame.Save(Caminho, jpegCodec, encoderParams);
         }
 
+
+        public static T ExecutarMetodoComVerificacaoCrossThread<T>(Control controle, Func<T> acao)
+        {
+            T res = default(T);
+            if (controle != null && controle.InvokeRequired)
+            {
+                controle.Invoke((MethodInvoker)delegate
+                {
+                    res = acao();
+                });
+            }
+            else
+            {
+                res = acao();
+            }
+
+            return res;
+        }
+
+
     }
     
     public static class FuncoesMatematicas

AgroBase/AgroBase/Models/WT901CModel.cs

@@ -10,6 +10,7 @@ namespace AgroBase.Models
     {
         public DateTime Momento { get; set; }
         public string Versao { get; set; }
+        public string Modelo { get; set; }
         public DateTime DataHora { get; set; }
         public double AccX { get; set; }
         public double AccY { get; set; }

AgroBase/AgroBase/Python/Scripts/street-detector-mqtt.py

@@ -0,0 +1,183 @@
+import torch
+from PIL import Image
+import torchvision.transforms as T
+import numpy as np
+import cv2
+import json
+import time
+import io
+import paho.mqtt.client as mqtt
+import uuid
+import sys
+import os
+import base64
+
+# Parâmetros de entrada
+output_folder = 'Python/Output/'
+model_folder = 'C:\\ZendionINC\\agrobot_base\\Treinamento\\models\\ruas\\'
+mqtt_send_topic = sys.argv[1]  # Tópico para receber o bitmap
+mqtt_receive_topic = sys.argv[2]  # Tópico para enviar o resultado
+
+# Configurações MQTT
+mqtt_client = mqtt.Client(f"client_street_detector_{uuid.uuid4()}")
+mqtt_client.connect("localhost", port=1883)
+
+script_dir = os.path.dirname(__file__)  # Obtém o diretório onde o script está localizado
+parent_dir = os.path.dirname(script_dir)  # Obtém o diretório pai (Python/)
+sys.path.append(parent_dir)
+
+# Supondo que você tenha a estrutura do repositório e o módulo `network` conforme descrito no README
+from Models.deeplabv3plus.modeling import deeplabv3plus_resnet50 as deeplabv3_model
+
+# Configurações Iniciais
+NUM_CLASSES = 4  # Pascal VOC possui 3 classes + 1 para o fundo
+OUTPUT_STRIDE = 16  # Valor comum para DeepLab
+MODEL_PATH = model_folder + 'backup/ruasModel_final.pth'  # Caminho para o modelo pré-treinado
+
+# Função para carregar o modelo
+def load_model(model_path):
+    model = deeplabv3_model(num_classes=NUM_CLASSES, output_stride=OUTPUT_STRIDE)
+    model.load_state_dict(torch.load(model_path), strict=False)
+    model.eval()  # Modo de avaliação
+    return model
+
+device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+# Carregar o modelo
+model = load_model(MODEL_PATH)
+model.to(device)
+
+# Função para processar o frame
+def segment_frame(frame):
+    image = Image.fromarray(cv2.cvtColor(frame, cv2.COLOR_BGR2RGB))
+    transform = T.Compose([
+        T.Resize(520),
+        T.ToTensor(),
+        T.Normalize(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),
+    ])
+    
+    input_tensor = transform(image).unsqueeze(0).to(device)
+    with torch.no_grad():
+        output = model(input_tensor)
+    output_predictions = output.max(1)[1].squeeze().detach().cpu().numpy()
+
+    return output_predictions
+
+# Função para ler o mapa de rótulos
+def read_labelmap(path):
+    label_colors = []
+    class_names = []
+    with open(path, 'r') as file:
+        for line in file.readlines():
+            if line.startswith('#'):
+                continue
+            parts = line.strip().split(':')
+            if len(parts) >= 2:
+                label = parts[0].strip()
+                color = tuple(map(int, parts[1].split(',')))
+                class_names.append(label)
+                label_colors.append(color)
+    return np.array(label_colors), class_names
+
+# Função para gerar o JSON de saída
+def generate_json(image):
+    label_colors, class_names = read_labelmap(model_folder + "dataset/labelmap.txt")
+    detected_classes = set(np.unique(image))
+
+    timestamp = time.time()
+    json_data = {'timestamp': timestamp, 'Classes': []}
+    for l in detected_classes:
+        if l < len(label_colors):
+            class_entry = {'Classe': class_names[l], 'Contornos': []}
+            mask = (image == l).astype(np.uint8) * 255
+            contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+            for contour in contours:
+                if contour.size > 0:
+                    for point in contour:
+                        class_entry['Contornos'].append(point.squeeze().tolist())
+            json_data['Classes'].append(class_entry)
+
+    return json_data
+
+# Função para aplicar o overlay da segmentação no frame original
+def apply_segmentation_overlay(frame, output_predictions):
+    label_colors, class_names = read_labelmap(model_folder + "dataset/labelmap.txt")
+    nc = len(label_colors)
+    
+    height, width, _ = frame.shape
+    overlay = np.zeros((height, width, 3), dtype=np.uint8)
+    
+    output_predictions_resized = cv2.resize(output_predictions, (width, height), interpolation=cv2.INTER_NEAREST)
+
+    for l in np.unique(output_predictions_resized):
+        if l < nc:
+            mask = output_predictions_resized == l
+            overlay[mask] = label_colors[l]
+    
+    overlayed_frame = cv2.addWeighted(frame, 0.6, overlay, 0.4, 0)
+    
+    return overlayed_frame
+
+# Função para converter imagem para base64
+def image_to_base64(image):
+    _, buffer = cv2.imencode('.jpg', image)
+    image_base64 = base64.b64encode(buffer).decode('utf-8')
+    return image_base64
+
+# Função para decodificar a imagem bitmap recebida via MQTT
+def decode_bitmap_message(payload):
+    image_stream = io.BytesIO(payload)
+    image = Image.open(image_stream)
+    return np.array(image)
+
+# Função chamada quando uma mensagem MQTT é recebida
+def on_message(client, userdata, message):
+    print(f"Mensagem recebida no tópico {message.topic}")
+    try:
+        bitmap = decode_bitmap_message(message.payload)
+        output_predictions = segment_frame(bitmap)
+
+        # Gerar JSON das classes detectadas
+        json_data = generate_json(output_predictions)
+
+        # Aplicar segmentação ao bitmap
+        segmented_bitmap = apply_segmentation_overlay(bitmap, output_predictions)
+
+        # Converter o bitmap segmentado em base64
+        segmented_bitmap_base64 = image_to_base64(segmented_bitmap)
+
+        # Adicionar o bitmap segmentado no JSON
+        json_data['segmented_image'] = segmented_bitmap_base64
+        
+        # Enviar JSON e bitmap segmentado via MQTT
+        mqtt_client.publish(mqtt_send_topic, json.dumps(json_data).encode('utf-8'))  # Enviar JSON
+        print(f"Segmentação processada e enviada para {mqtt_send_topic}")
+    except Exception as e:
+        print(f"Erro ao processar a imagem: {e}")
+        
+def on_connect(client, userdata, flags, rc):
+    if rc == 0:
+        print("Conectado ao MQTT com sucesso!")
+    else:
+        print(f"Falha ao conectar ao MQTT: {rc}")
+
+def on_disconnect(client, userdata, rc):
+    print(f"Desconectado do MQTT: {rc}")
+
+# Configurações do MQTT
+mqtt_client.on_connect = on_connect
+mqtt_client.on_disconnect = on_disconnect
+mqtt_client.on_message = on_message
+mqtt_client.subscribe(mqtt_receive_topic)
+
+mqtt_client.publish(mqtt_send_topic, "OK")
+
+mqtt_client.loop_forever()
+
+# Loop principal aguardando mensagens MQTT
+try:
+    while True:
+        time.sleep(1)
+except KeyboardInterrupt:
+    print("Finalizando script...")
+finally:
+    mqtt_client.loop_stop()

AgroBase/AgroBase/Services/BLD300RService.cs

@@ -53,8 +53,6 @@ namespace AgroBase.Services
             {
                 Chave = "Versao",
                 Descricao = "Verifica a versão do driver",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 1,
                 LeituraLoop = false,
                 LeituraGeral = true,
@@ -65,8 +63,6 @@ namespace AgroBase.Services
             {
                 Chave = "ControleRS485",
                 Descricao = "Habilita/Desabilita controle através da interface RS485",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 1,
                 LeituraLoop = false,
                 LeituraGeral = true,
@@ -77,8 +73,6 @@ namespace AgroBase.Services
             {
                 Chave = "AlarmeCode",
                 Descricao = "Verifica o código de alarme",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 1,
                 LeituraLoop = true,
                 LeituraGeral = true,
@@ -89,8 +83,6 @@ namespace AgroBase.Services
             {
                 Chave = "NumPolos",
                 Descricao = "Verifica/Define o número de polos do motor definido no driver",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 1,
                 LeituraLoop = false,
                 LeituraGeral = true,
@@ -101,8 +93,6 @@ namespace AgroBase.Services
             {
                 Chave = "RPM_Max",
                 Descricao = "Verifica/Define o RPM máximo do motor através do controle",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 1,
                 LeituraLoop = false,
                 LeituraGeral = true,
@@ -113,8 +103,6 @@ namespace AgroBase.Services
             {
                 Chave = "Rampa",
                 Descricao = "Verifica/Define o tempo de rampa de aceleração/desaceleração (x 100 ms)",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 1,
                 LeituraLoop = false,
                 LeituraGeral = true,
@@ -125,8 +113,6 @@ namespace AgroBase.Services
             {
                 Chave = "RPM_SP",
                 Descricao = "Verifica/Define o RPM de Set Point",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 1,
                 LeituraLoop = false,
                 LeituraGeral = true,
@@ -137,8 +123,6 @@ namespace AgroBase.Services
             {
                 Chave = "RPM",
                 Descricao = "Verifica o RPM atual do motor",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 0.27,
                 LeituraLoop = true,
                 LeituraGeral = true,
@@ -149,8 +133,6 @@ namespace AgroBase.Services
             {
                 Chave = "Enabled",
                 Descricao = "Verifica/Define o status do motor",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 1,
                 LeituraLoop = true,
                 LeituraGeral = true,
@@ -161,8 +143,6 @@ namespace AgroBase.Services
             {
                 Chave = "Breaked",
                 Descricao = "Verifica/Define o status do freio do motor",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 1,
                 LeituraLoop = true,
                 LeituraGeral = true,
@@ -173,8 +153,6 @@ namespace AgroBase.Services
             {
                 Chave = "Direction",
                 Descricao = "Verifica/Define o sentido de giro do motor",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 1,
                 LeituraLoop = true,
                 LeituraGeral = true,
@@ -185,8 +163,6 @@ namespace AgroBase.Services
             {
                 Chave = "LimiteCorrente",
                 Descricao = "Verifica o limite de corrente definido",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 0.01,
                 LeituraLoop = false,
                 LeituraGeral = true,
@@ -197,8 +173,6 @@ namespace AgroBase.Services
             {
                 Chave = "Tensao",
                 Descricao = "Verifica a tensão de alimentação no driver",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 0.01,
                 LeituraLoop = true,
                 LeituraGeral = true,
@@ -209,8 +183,6 @@ namespace AgroBase.Services
             {
                 Chave = "Temperatura",
                 Descricao = "Verifica a temperatura do driver",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 0.01,
                 LeituraLoop = true,
                 LeituraGeral = true,
@@ -221,8 +193,6 @@ namespace AgroBase.Services
             {
                 Chave = "Restaurar",
                 Descricao = "Restaura os parâmetros de fábrica",
-                FuncaoGet = 0x03,
-                FuncaoSet = 0x06,
                 Escala = 1,
                 LeituraLoop = false,
                 LeituraGeral = false,
@@ -237,7 +207,7 @@ namespace AgroBase.Services
 
         private static readonly object FilaLock = new object();
 
-        private static System.Windows.Forms.Timer tmrLoopComandos = new System.Windows.Forms.Timer() { Interval = 100 };
+        private static System.Timers.Timer tmrLoopComandos = new System.Timers.Timer() { Interval = 100, Enabled = false };
         private static bool EnvioLiberado { get; set; } = true;
 
 
@@ -373,17 +343,21 @@ namespace AgroBase.Services
             Task.Run(() => ReceberDados()); // Inicia a recepção de dados em segundo plano
             if (!tmrLoopComandos.Enabled)
             {
-                tmrLoopComandos.Tick += TmrLoopComandos_Tick;
+                tmrLoopComandos.Elapsed += TmrLoopComandos_Elapsed;
                 tmrLoopComandos.Start();
             }
         }
 
-        private static void TmrLoopComandos_Tick(object sender, EventArgs e)
+        private static async void TmrLoopComandos_Elapsed(object sender, EventArgs e)
         {
+            ((System.Timers.Timer)sender).Stop();
+
             if (Iniciado && EnvioLiberado)
             {
-                Task.Run(() => LoopEnvioComandos());
+                await LoopEnvioComandos();
             }
+
+            ((System.Timers.Timer)sender).Start();
         }
 
         private static void EnviarComando(SerialPort _Porta, byte[] Comando)
@@ -509,7 +483,7 @@ namespace AgroBase.Services
 
                 if (resposta.Length > 3)
                 {
-                    if (Parametros.Any(x => x.FuncaoGet == resposta[1]))
+                    if (Parametros.Any(x => 0x03 == resposta[1]))
                     {
                         int num_registros = resposta[2];
                         byte[] bytes_resposta = resposta.Skip(3).Take(num_registros).ToArray(); // Ajustando para pegar 2 bytes por registro
@@ -522,7 +496,7 @@ namespace AgroBase.Services
                         Leitura.UltimoComandoRecebido = DateTime.Now;
                         return true;
                     }
-                    else if (Parametros.Any(x => x.FuncaoSet == resposta[1]))
+                    else if (Parametros.Any(x => 0x06 == resposta[1]))
                     {
                         Parametro.Valor = resposta.Skip(4).Take(2).ToArray();
 

AgroBase/AgroBase/Services/CameraService.cs

@@ -33,7 +33,7 @@ namespace AgroBase.Services
         public string URLcamera = "";
 
 
-        public void IniciarCamera(string Script, string[] Argumentos, string FlaskPorta, string FlaskUrl, string MqttTopico, Timer tmrProcesso)
+        public void IniciarCamera(string Script, string[] Argumentos, string FlaskPorta, string FlaskUrl, string MqttTopico, System.Timers.Timer tmrProcesso)
         {
             if (_mqttTopico == null)
             {
@@ -91,4 +91,10 @@ namespace AgroBase.Services
 
 
     }
+
+    public class CamerasVaraiveisModel
+    {
+        public static string TopicoEnvioBitmap { get; set; } = "street_detector_send";
+        public static string TopicoRecebimentoBitmap { get; set; } = "street_detector_receive";
+    }
 }

AgroBase/AgroBase/Services/DispositivosService.cs

@@ -98,15 +98,32 @@ namespace AgroBase.Comum
                     }
                 }
             }
-            if (!DispositivosTipo.Any())
+            if (cmbPorta.InvokeRequired)
             {
-                cmbPorta.Items.Clear();
-                cmbPorta.Text = "";
+                cmbPorta.Invoke((MethodInvoker)delegate {
+                    if (!DispositivosTipo.Any())
+                    {
+                        cmbPorta.Items.Clear();
+                        cmbPorta.Text = "";
+                    }
+                    if (cmbPorta.Items.Count > 1)
+                        cmbPorta.SelectedIndex = 1;
+                    else if (cmbPorta.Items.Count > 0)
+                        cmbPorta.SelectedIndex = 0;
+                });
+            }
+            else
+            {
+                if (!DispositivosTipo.Any())
+                {
+                    cmbPorta.Items.Clear();
+                    cmbPorta.Text = "";
+                }
+                if (cmbPorta.Items.Count > 1)
+                    cmbPorta.SelectedIndex = 1;
+                else if (cmbPorta.Items.Count > 0)
+                    cmbPorta.SelectedIndex = 0;
             }
-            if (cmbPorta.Items.Count > 1)
-                cmbPorta.SelectedIndex = 1;
-            else if (cmbPorta.Items.Count > 0)
-                cmbPorta.SelectedIndex = 0;
         }
 
         public void AtualizarBauds()

AgroBase/AgroBase/Services/GPSService.cs

@@ -1,4 +1,5 @@
-using AgroBase.Models;
+using AgroBase.Forms;
+using AgroBase.Models;
 using Emgu.CV.Features2D;
 using Newtonsoft.Json;
 using System;
@@ -590,6 +591,8 @@ namespace AgroBase.Services
 
         public static void AtualizarCoordenadasGPS()
         {
+            frmInstancial.frmAcompanhamento.AtualizarOrientacao();
+
             int ID = Convert.ToInt32(Variaveis.IsAgroMonitor ? Variaveis.OperacaoEmAndamento.DispSen.Dados.LoRaParametrosBase.address : Variaveis.ConexaoLoRa.parametros.address);
             EnviarCoordenadasParaMapa(UltimaLeitura.Latitude, UltimaLeitura.Longitude, ((Variaveis.OperacaoEmAndamento.Sensoriamento?.AnguloCarro ?? 0) - 180), true, ID);
 

AgroBase/AgroBase/Services/LoRaService.cs

@@ -505,6 +505,11 @@ namespace AgroBase.Services
         private static async Task<bool> AlterarStatusReleModo(Estado novoEstado)
         {
             var DispSen = Variaveis.OperacaoEmAndamento.DispSen;
+            if (DispSen == null)
+            {
+                return false;
+            }
+
             var ReleLra = DispSen.Dados.Reles.FirstOrDefault(x => x.ID == "RLLRA" && x.Inicializado);
             if (!Variaveis.IsAgroMonitor &&
                 (DispSen == null || !DispSen.Dados.Conectado || ReleLra == null)

AgroBase/AgroBase/Services/MKS057DService.cs

@@ -131,17 +131,21 @@ namespace AgroBase.Services
             Task.Run(() => ReceberDados()); // Inicia a recepção de dados em segundo plano
             if (!tmrLoopComandos.Enabled)
             {
-                tmrLoopComandos.Tick += TmrLoopComandos_Tick;
+                tmrLoopComandos.Elapsed += TmrLoopComandos_Elapsed;
                 tmrLoopComandos.Start();
             }
         }
 
-        private static void TmrLoopComandos_Tick(object sender, EventArgs e)
+        private static async void TmrLoopComandos_Elapsed(object sender, EventArgs e)
         {
+            ((System.Timers.Timer)sender).Stop();
+
             if (EnvioLiberado)
             {
-                Task.Run(() => LoopEnvioComandos());
+                await LoopEnvioComandos();
             }
+
+            ((System.Timers.Timer)sender).Start();
         }
 
         private static bool EnderecoValido(byte addr)
@@ -405,7 +409,7 @@ namespace AgroBase.Services
 
         private static List<MKS057ComandoModel> FilaComandos = new List<MKS057ComandoModel>();
         private static readonly object FilaLock = new object();
-        private static System.Windows.Forms.Timer tmrLoopComandos = new System.Windows.Forms.Timer() { Interval = 100 };
+        private static System.Timers.Timer tmrLoopComandos = new System.Timers.Timer() { Interval = 100, Enabled = false };
         private static bool EnvioLiberado { get; set; } = true;
 
         public static List<MKS057DModel> DadosLeitura = new List<MKS057DModel>();
@@ -584,7 +588,7 @@ namespace AgroBase.Services
                     continue;
                 }
 
-                TaxaAmostragem = Referenciando ? 200 : 10000;
+                TaxaAmostragem = Referenciando ? 200 : 1000;
 
                 if (Referenciando)
                 {
@@ -2282,7 +2286,7 @@ namespace AgroBase.Services
                 rCHK += SerialBuffer_RX[a];
                 Console.Write("{0:X2} ", SerialBuffer_RX[a]);
             }
-            Console.WriteLine("{0:X2} rCHK: {1:X2} Length: {2}", SerialBuffer_RX[Data_Number - 1], (byte)rCHK, Data_Number);
+            Console.WriteLine("{0:X2} rCHK: {1:X2} Length: {2}", SerialBuffer_RX[Data_Number > 0 ? Data_Number - 1 : Data_Number], (byte)rCHK, Data_Number);
         }
 
         private static void txDisplay()

AgroBase/AgroBase/Services/ModbusService.cs

@@ -43,7 +43,7 @@ namespace AgroBase.Services
 
         public static List<ModbusComandoModel> FilaComandos = new List<ModbusComandoModel>();
         private static readonly object FilaLock = new object();
-        private static System.Windows.Forms.Timer tmrLoopComandos = new System.Windows.Forms.Timer() { Interval = 100 };
+        private static System.Timers.Timer tmrLoopComandos = new System.Timers.Timer() { Interval = 100, Enabled = false };
 
 
         public static void IniciarRotinas()
@@ -51,7 +51,7 @@ namespace AgroBase.Services
             Task.Run(() => ReceberDados());
             if (!tmrLoopComandos.Enabled)
             {
-                tmrLoopComandos.Tick += TmrLoopComandos_Tick;
+                tmrLoopComandos.Elapsed += TmrLoopComandos_Elapsed;
                 tmrLoopComandos.Start();
             }
         }
@@ -87,8 +87,11 @@ namespace AgroBase.Services
 
         private static void DescartarDadosBuffer()
         {
-            _PortaModbus.DiscardInBuffer();
-            _PortaModbus.DiscardOutBuffer();
+            if (_PortaModbus != null)
+            {
+                _PortaModbus.DiscardInBuffer();
+                _PortaModbus.DiscardOutBuffer();
+            }
         }
 
         private static async Task<bool> ReceberDados()
@@ -141,12 +144,16 @@ namespace AgroBase.Services
             }
         }
 
-        private static void TmrLoopComandos_Tick(object sender, EventArgs e)
+        private static async void TmrLoopComandos_Elapsed(object sender, EventArgs e)
         {
+            ((System.Timers.Timer)sender).Stop();
+
             if (EnvioLiberado && !Verificando && !frmInstancial.Fechando)
             {
-                Task.Run(() => LoopEnvioComandos());
+                await LoopEnvioComandos();
             }
+
+            ((System.Timers.Timer)sender).Start();
         }
 
         private static async Task LoopEnvioComandos()
@@ -251,18 +258,24 @@ namespace AgroBase.Services
                     {
                         sucesso = PZEMService.ProcessarResposta(Comando.Resposta);
                         frmInstancial.frmAcompanhamento.AtualizarSensores("Ultima Leitura PZM: " + PZEMService.UltimaLeitura.DataHora.ToString("HH:mm:ss"));
+                        frmInstancial.frmAcompanhamento.AtualizarSensores("Bateria: " + PZEMService.UltimaLeitura.Tensao.ToString("0.00") + " V - " + PZEMService.UltimaLeitura.Corrente.ToString("0.00") + " A - " + PZEMService.UltimaLeitura.Potencia.ToString("0.00") + " W");
                         break;
                     }
                 case T_Code.Wit:
                     {
-                        sucesso = WT901CService.ProcessarResposta(Comando.Resposta);
+                        sucesso = WT901CService.ProcessarResposta(Comando.Resposta, Comando.Comando);
                         frmInstancial.frmAcompanhamento.AtualizarSensores("Ultima Leitura WIT: " + WT901CService.DadosLeitura.Momento.ToString("HH:mm:ss"));
+                        frmInstancial.frmAcompanhamento.AtualizarOrientacao();
                         break;
                     }
                 case T_Code.A05:
                     {
                         sucesso = UltrasonicA05Service.DecifrarRespostaAquisicao(Comando.Resposta);
                         frmInstancial.frmAcompanhamento.AtualizarSensores("Ultima Leitura A05: " + UltrasonicA05Service.DadosLeitura.Momento.ToString("HH:mm:ss"));
+                        frmInstancial.frmAcompanhamento.AtualizarSensores("U1: " + UltrasonicA05Service.DadosLeitura.U1.ToString("") + " mm");
+                        frmInstancial.frmAcompanhamento.AtualizarSensores("U2: " + UltrasonicA05Service.DadosLeitura.U2.ToString("") + " mm");
+                        frmInstancial.frmAcompanhamento.AtualizarSensores("U3: " + UltrasonicA05Service.DadosLeitura.U3.ToString("") + " mm");
+                        frmInstancial.frmAcompanhamento.AtualizarSensores("U4: " + UltrasonicA05Service.DadosLeitura.U4.ToString("") + " mm");
                         break;
                     }
             }
@@ -349,7 +362,7 @@ namespace AgroBase.Services
 
             // Convertendo o valor para o formato correto (LSB = 0.01)
             int valorInt = (int)(valor * Parametro.Escala); // Convertendo para inteiro conforme a resolução
-            byte functionCode = Parametro.FuncaoSet;
+            byte functionCode = 0x06;
             ushort registerAddress = Parametro.Registro;
 
             // Construindo o comando
@@ -369,7 +382,7 @@ namespace AgroBase.Services
         {
             Parametro.UltimaRequisicao = DateTime.Now;
 
-            byte functionCode = Parametro.FuncaoGet;
+            byte functionCode = 0x03;
             ushort registerAddress = Parametro.Registro;
             ushort numberOfRegisters = Parametro.N_Registros; // Lendo apenas um registro
 

AgroBase/AgroBase/Services/MqttService.cs

@@ -4,8 +4,12 @@ using AgroBase.Services;
 using MQTTnet;
 using MQTTnet.Client;
 using MQTTnet.Client.Options;
+using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
+using System.Drawing;
+using System.Drawing.Imaging;
+using System.IO;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
@@ -15,7 +19,7 @@ public class MqttService
 {
     private IMqttClient _client;
     private IMqttClientOptions _options;
-    private Timer tmrCheck = new Timer() { Interval = 1000 };
+    private System.Timers.Timer tmrCheck = new System.Timers.Timer() { Interval = 1000, Enabled = false };
 
     public List<MqttTopicosModel> Topicos = new List<MqttTopicosModel>()
     {
@@ -37,6 +41,12 @@ public class MqttService
             Mensagens = new List<MqttTopicosMensagensModel>(),
             Inscrever = false
         },
+        new MqttTopicosModel()
+        {
+            Topico = CamerasVaraiveisModel.TopicoEnvioBitmap, 
+            Mensagens = new List<MqttTopicosMensagensModel>(), 
+            Inscrever = false
+        }
     };
 
     public MqttService(string brokerAddress, int brokerPort)
@@ -84,20 +94,42 @@ public class MqttService
                 {
                     Variaveis.OperacaoEmAndamento.OpMapaGPS.AtualizarRuasSelecionadas();
                 }
+                else if (topico.Topico == CamerasVaraiveisModel.TopicoRecebimentoBitmap && message != "OK")
+                {
+                    try
+                    {
+                        Bitmap bitmap = Variaveis.OperacaoEmAndamento.CameraCaminhoKinect.ExtraiImagemDaMensagem(message);
+                        Variaveis.OperacaoEmAndamento.CameraCaminhoKinect.AtualizarBitmapTela(bitmap);
+                    }
+                    catch (Exception ex)
+                    {
+                        Console.WriteLine($"Erro ao processar a mensagem MQTT: {ex.Message}");
+                    }
+                }
             }
         });
 
-        tmrCheck.Tick += TmrCheck_Tick;
+        tmrCheck.Elapsed += TmrCheck_Elapsed;
         tmrCheck.Start();
     }
 
-    private void TmrCheck_Tick(object sender, EventArgs e)
+    private async void TmrCheck_Elapsed(object sender, EventArgs e)
     {
+        ((System.Timers.Timer)sender).Stop();
+
         if (!_client.IsConnected)
         {
-            ConnectAsync().ConfigureAwait(false);
+            await ConnectAsync();
         }
-        frmInstancial.frmPrincipal.lblStripMqtt.Text = "MQTT: " + (_client.IsConnected ? "Conectado" : "Desconectado");
+
+        Func<bool> funcao = new Func<bool>(() =>
+        {
+            frmInstancial.frmPrincipal.lblStripMqtt.Text = "MQTT: " + (_client.IsConnected ? "Conectado" : "Desconectado");
+            return true;
+        });
+        FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(frmInstancial.frmPrincipal, funcao);
+
+        ((System.Timers.Timer)sender).Start();
     }
 
     public bool StatusConexao()
@@ -129,13 +161,34 @@ public class MqttService
             return;
         }
 
-        var payload = Encoding.UTF8.GetBytes(message);
-        var mqttMessage = new MqttApplicationMessageBuilder()
+        if (_client.IsConnected)
+        {
+            var payload = Encoding.UTF8.GetBytes(message);
+            var mqttMessage = new MqttApplicationMessageBuilder()
+                .WithTopic(topic.Topico)
+                .WithPayload(payload)
+                .Build();
+
+            await _client.PublishAsync(mqttMessage);
+        }
+    }
+
+    public async Task PublishAsync(MqttTopicosModel topic, byte[] payloadBytes, bool Forcar = false)
+    {
+        if (topic.Inscrever && !Forcar)
+        {
+            return;
+        }
+
+        if (_client.IsConnected)
+        {
+            var mqttMessage = new MqttApplicationMessageBuilder()
             .WithTopic(topic.Topico)
-            .WithPayload(payload)
+            .WithPayload(payloadBytes)
             .Build();
 
-        await _client.PublishAsync(mqttMessage);
+            await _client.PublishAsync(mqttMessage);
+        }
     }
 
     public async Task SubscribeAsync(MqttTopicosModel topic)

AgroBase/AgroBase/Services/PZEMService.cs

@@ -198,7 +198,6 @@ namespace AgroBase.Services
 
             double percent = FuncoesMatematicas.Map(UltimaLeitura.Tensao, TensaoMinima, TensaoMaxima, 0, 100);
             Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = percent;
-            frmInstancial.frmAcompanhamento.AtualizarSensores("Bateria: " + UltimaLeitura.Tensao.ToString("0.00") + " V - " + UltimaLeitura.Corrente.ToString("0.00") + " A - " + UltimaLeitura.Potencia.ToString("0.00") + " W");
             Variaveis.OperacaoEmAndamento.Sensoriamento.BateriaConsumida = ContadorCarga.PercentualConsumido;
 
             return Sucesso;

AgroBase/AgroBase/Services/PythonService.cs

@@ -9,6 +9,7 @@ namespace AgroBase.Services
 {
     public class PythonService
     {
+        public static bool DebugMode = false;
         public static string CaminhoGeral = "Python\\";
         public static string CaminhoScripts = "Scripts\\";
         public static string CaminhoLeitura = "Output\\";
@@ -17,7 +18,7 @@ namespace AgroBase.Services
         public static string ScriptWeedDetector = "weed-detector.py";
         public static string ScriptWeedDetectorV7 = "weed-detector-v7.py";
         public static string ScriptGreenDetector = "green-detector.py";
-        public static string ScriptStreetDetector = "street-detector.py";
+        public static string ScriptStreetDetector = "street-detector-mqtt.py";
         public static string ScriptMapConverter = "map-load.py";
         public static string ScriptMapFollower = "map-follow.py";
         public static string ScriptLineAngle = "line-angle2.py";
@@ -38,29 +39,44 @@ namespace AgroBase.Services
             pythonProcess.StartInfo.Arguments = ScriptPath + Args;
             pythonProcess.StartInfo.UseShellExecute = false;
             pythonProcess.StartInfo.RedirectStandardOutput = true;
+            pythonProcess.StartInfo.RedirectStandardError = true;
             pythonProcess.StartInfo.CreateNoWindow = true;
 
             pythonProcess.Exited += PythonProcess_Exited;
             pythonProcess.OutputDataReceived += PythonProcess_OutputDataReceived;
+            pythonProcess.ErrorDataReceived += PythonProcess_ErrorDataReceived;
 
             pythonProcess.Start();
 
+            pythonProcess.BeginOutputReadLine();
+            pythonProcess.BeginErrorReadLine();
+
             processosIniciados.Add(pythonProcess);
 
             return pythonProcess;
         }
 
+        private static void PythonProcess_ErrorDataReceived(object sender, DataReceivedEventArgs e)
+        {
+            Console.WriteLine("Erro recebidos pelo Python: " + e.Data);
+        }
+
         private static void PythonProcess_OutputDataReceived(object sender, DataReceivedEventArgs e)
         {
-            Console.WriteLine("Dados recebidos: " + e.Data);
+            if (DebugMode)
+            {
+                Console.WriteLine("Dados recebidos pelo Python: " + e.Data);
+            }
         }
 
         private static void PythonProcess_Exited(object sender, EventArgs e)
         {
-            Console.WriteLine("Processo finalizado");
+            if (DebugMode)
+            {
+                Console.WriteLine("Processo finalizado");
+            }
         }
 
-
         public static void EncerrarProcessos()
         {
             foreach (var processo in processosIniciados)
@@ -71,5 +87,6 @@ namespace AgroBase.Services
                 }
             }
         }
+
     }
 }

AgroBase/AgroBase/Services/SerialService.cs

@@ -17,6 +17,8 @@ namespace AgroBase.Services
 {
     public class SerialService
     {
+        public static int InteraloVerificacao = 5000;
+
         public static string BeginLine = "@";
         public static string BreakLine = "&";
         public static string EndLine = "$";
@@ -102,13 +104,17 @@ namespace AgroBase.Services
         private static bool VarreduraEmAndamento = false;
         
 
-        public static async Task RealizarVarreduraPortasUSB()
+        public static async Task RealizarVarreduraPortasUSB(System.Timers.Timer tmr)
         {
+            tmr.Interval = InteraloVerificacao;
+
             if (VarreduraEmAndamento || frmInstancial.Fechando)
             {
                 return;
             }
 
+            tmr.Stop();
+
             VarreduraEmAndamento = true;
 
             try
@@ -204,7 +210,7 @@ namespace AgroBase.Services
                     }
                     catch (Exception ex)
                     {
-                        Console.WriteLine(ex.Message.ToString());
+                        Console.WriteLine("Erro ao identificar dispositivo proprio: " + ex.Message);
                     }
                     finally
                     {
@@ -249,18 +255,16 @@ namespace AgroBase.Services
                 {
                     await ProcuraDispositivoBLD(BLD300RService._PortaBLD);
                 }
-                /*if (DispositivosMapeados.Any(x => x.Dispositivo == T_Code.Mvd) && Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Any(x => !DispositivosMapeados.Any(y => y.Mod_ID == x.Modulo_ID)))
-                {
-                    await ProcuraDispositivoMvd(new SerialPort() { PortName = DispositivosMapeados.First(x => x.Dispositivo == T_Code.Mvd).PortaCOM, BaudRate = 115200 });
-                }*/
             }
             catch (Exception ex)
             {
-                Console.WriteLine(ex.Message);
+                Console.WriteLine("Erro ao realizar varredura de portas: " + ex.Message);
             }
             finally
             {
                 VarreduraEmAndamento = false;
+
+                tmr.Start();
             }
         }
 
@@ -338,35 +342,51 @@ namespace AgroBase.Services
             else
             {
                 cts.Cancel();
-                return null; // ou string.Empty, dependendo de como você deseja lidar com isso
+                return ""; // ou string.Empty, dependendo de como você deseja lidar com isso
             }
         }
 
         public static void AtualizarDispositivos()
         {
-            DispositivosConexaoInicial.ForEach(Dispositivo =>
+            Func<bool> funcao = new Func<bool>(() =>
             {
-                IDispositivosService dispositivoService = Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == Dispositivo);
-                if (dispositivoService == null)
+                bool PrimeiraExecucao = !Variaveis.DispositivosConectados.Any();
+                DispositivosConexaoInicial.ForEach(Dispositivo =>
                 {
-                    dispositivoService = DispositivosServiceFactory.CreateDispositivoService(
-                        Dispositivo,
-                        "Nome: " + Enum.GetName(typeof(T_Code), Dispositivo),
-                        "Descrição: " + string.Join(", ", DispositivosMapeados.Where(x => x.Dispositivo == Dispositivo).Select(x => x.Mod_ID).ToArray()),
-                        new SerialPort()
-                    );
-                    Variaveis.DispositivosConectados.Add(dispositivoService);
-                    Control controle = dispositivoService.InstanciarDispositivo(Variaveis.DispositivosConectados.Count - 1);
-                    controle.Location = new System.Drawing.Point(controle.Location.X, controle.Location.Y + (Variaveis.DispositivosConectados.Count * 50));
-                    frmInstancial.frmPrincipal.pnlLateral.Controls.Add(controle);
-                    frmInstancial.frmPrincipal.cmbDispositivos.Items.Add(dispositivoService._Descricao);
-                }
-                dispositivoService.AtualizarPortas();
-                if (dispositivoService.PortaCOM() != "" && !dispositivoService._Porta.IsOpen && frmInstancial.frmPrincipal.chbConexaoautomatica.Checked)
+                    IDispositivosService dispositivoService = Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == Dispositivo);
+                    if (dispositivoService == null)
+                    {
+                        dispositivoService = DispositivosServiceFactory.CreateDispositivoService(
+                            Dispositivo,
+                            "Nome: " + Enum.GetName(typeof(T_Code), Dispositivo),
+                            "Descrição: " + string.Join(", ", DispositivosMapeados.Where(x => x.Dispositivo == Dispositivo).Select(x => x.Mod_ID).ToArray()),
+                            new SerialPort()
+                        );
+                        Variaveis.DispositivosConectados.Add(dispositivoService);
+
+                        Control controle = dispositivoService.InstanciarDispositivo(Variaveis.DispositivosConectados.Count - 1);
+                        controle.Location = new System.Drawing.Point(controle.Location.X, controle.Location.Y + (Variaveis.DispositivosConectados.Count * 50));
+                        frmInstancial.frmPrincipal.pnlLateral.Controls.Add(controle);
+                        frmInstancial.frmPrincipal.cmbDispositivos.Items.Add(dispositivoService._Descricao);
+                    }
+
+                    dispositivoService.AtualizarPortas();
+
+                    if (dispositivoService.PortaCOM() != "" && !dispositivoService._Porta.IsOpen && (frmInstancial.frmPrincipal.chbConexaoautomatica.Checked || !frmInstancial.DebugMode))
+                    {
+                        dispositivoService.btnConectar_Click(new object(), new EventArgs());
+                    }
+                });
+
+                if (PrimeiraExecucao)
                 {
-                    dispositivoService.btnConectar_Click(new object(), new EventArgs());
+                    Variaveis.OperacaoEmAndamento = OperacaoModel.CarregarParametrosOperacaoPadrao(ModoOperacao.Manual);
                 }
+
+                return true;
             });
+
+            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(frmInstancial.frmPrincipal, funcao);
         }
 
         private static async Task<bool> TentarIdentificarDispositivo(SerialPort porta)
@@ -689,8 +709,12 @@ namespace AgroBase.Services
 
         private static void AtualizarConsole(string msg)
         {
-            frmInstancial.frmPrincipal.lblStatusConexao.Text = msg;
             Console.WriteLine(msg);
+            frmInstancial.frmPrincipal.Invoke((MethodInvoker)(() =>
+            {
+                frmInstancial.frmPrincipal.lblStatusConexao.Text = msg;
+                frmInstancial.frmIHM.lblStatus.Text = msg;
+            }));
         }
 
     }

AgroBase/AgroBase/Services/Visualizador3DService.cs

@@ -10,6 +10,7 @@ using System.Windows.Forms;
 using OpenTK;
 using OpenTK.Graphics.OpenGL;
 using AgroBase.Models;
+using System.Threading.Tasks;
 
 namespace AgroBase.Services
 {
@@ -35,6 +36,79 @@ namespace AgroBase.Services
         private double AnguloZ { get; set; }
         private string Path3D { get; set; }
 
+
+        // Este método agora será chamado na thread separada
+        public void InicializarEExecutarServico()
+        {
+            // Para garantir que o código roda na thread da UI:
+            if (glControl.InvokeRequired)
+            {
+                glControl.Invoke(new Action(() => InicializarServico()));
+            }
+            else
+            {
+                InicializarServico();
+            }
+
+            Task.Run(() =>
+            {
+                while (true)
+                {
+                    // Invalida o controle na thread da UI
+                    glControl.Invoke((MethodInvoker)delegate
+                    {
+                        glControl.Invalidate();
+                    });
+                    Task.Delay(16).Wait(); // Limitar a atualização a ~60fps
+                }
+            });
+        }
+
+        // Inicialização do GLControl e carregamento de modelos 3D
+        private void InicializarServico()
+        {
+            GL.Enable(EnableCap.DepthTest);
+
+            List<float> Vertices = new List<float>();
+
+            if (Path3D.Contains(".obj"))
+            {
+                objLoader = new OBJLoader();
+                objLoader.Load(Path3D, 2.0f);
+                Vertices = objLoader.Vertices;
+            }
+            else if (Path3D.Contains(".stl"))
+            {
+                stlLoader = new STLLoader();
+                stlLoader.ScaleFactor = 0.005f;
+                stlLoader.Load(Path3D);
+                Vertices = stlLoader.Vertices;
+            }
+            else if (Path3D.Contains(".wrl"))
+            {
+                wrlLoader = new WRLLoader();
+                wrlLoader.Load(Path3D);
+                Vertices = wrlLoader.Vertices;
+            }
+            else if (Path3D.Contains(".ply"))
+            {
+                plyLoader = new PLYLoader();
+                plyLoader.Load(Path3D);
+                Vertices = plyLoader.Vertices;
+            }
+
+            // Calcular o centro do modelo e ajustar a posição
+            var (centerX, centerY, centerZ) = Visualizador3DModel.CalculateCenter(Vertices);
+
+            for (int i = 0; i < Vertices.Count; i += 3)
+            {
+                Vertices[i] -= centerX;
+                Vertices[i + 1] -= (centerY + 0.0f);
+                Vertices[i + 2] -= centerZ;
+            }
+        }
+
+
         public void AtualizarAngulos(double X, double Y, double Z)
         {
             AnguloX = X;
@@ -68,6 +142,9 @@ namespace AgroBase.Services
 
             //glControl.MakeCurrent();
             //glControl.Invalidate();
+
+            // Iniciar o serviço 3D em uma thread separada
+            //InicializarEExecutarServico();
         }
 
         private void GlControl_Load(object sender, EventArgs e)
@@ -151,13 +228,13 @@ namespace AgroBase.Services
             // Escrever as orientações no chão
             DrawText("S", -0.05f, 0.0f, 10.0f);
             DrawText("N", -0.05f, 0.0f, -10.0f);
-            DrawText("O", 10.0f, 0.0f, -0.05f);
-            DrawText("L", -10.0f, 0.0f, -0.05f);
+            DrawText("L", 10.0f, 0.0f, -0.05f);
+            DrawText("O", -10.0f, 0.0f, -0.05f);
 
             // Aplicar inclinação ao objeto 3D
             GL.Rotate(AnguloX, 0.0, 0.0, 1.0);
             GL.Rotate(AnguloY, 1.0, 0.0, 0.0);
-            GL.Rotate(-AnguloZ - 180, 0.0, 1.0, 0.0);
+            GL.Rotate(AnguloZ - 180, 0.0, 1.0, 0.0);
 
             // Desenhar o objeto 3D
             GL.Begin(OpenTK.Graphics.OpenGL.PrimitiveType.Triangles);

AgroBase/AgroBase/Services/WT901CService.cs

@@ -1,5 +1,6 @@
 using AgroBase.Forms;
 using AgroBase.Models;
+using Microsoft.Win32;
 using System;
 using System.Collections.Generic;
 using System.IO.Ports;
@@ -21,6 +22,41 @@ namespace AgroBase.Services
         private static Dictionary<string, object> DadosSensor { get; } = new Dictionary<string, object>();
         public static WT901CModel DadosLeitura { get; set; } = new WT901CModel();
         public static byte[] ComandoAquisicao = new byte[8] { slaveAddress, 0x03, 0x00, 0x30, 0x00, 0x30, 0x48, 0x50 };
+        private static byte[] RegistrosIniciais = new byte[] 
+        {
+            0x01,
+            0x02,
+            0x03,
+            0x04,
+            0x0E,
+            0x0F,
+            0x10,
+            0x11,
+            0x12,
+            0x16,
+            0x1A,
+            0x1F,
+            0x21,
+            0x23,
+            0x24,
+            0x2D,
+            0x61,
+            0x63,
+            0x63,
+            0x69,
+            0x6B,
+            0x6E,
+            0x6E,
+            0x6F,
+            0x6F,
+            0x75,
+            0x7F,
+            0x83,
+            0x84,
+            0x8F,
+            0x90,
+            0x91,
+        };
 
         public static async Task<bool> VerificaPortaWT901C(SerialPort porta)
         {
@@ -43,11 +79,12 @@ namespace AgroBase.Services
                 await Task.Delay(200);
             }
 
-            Iniciado = DecifrarRespostaAquisicao(Comando.Resposta);
+            Iniciado = DecifrarRespostaAquisicao(Comando.Resposta, ComandoAquisicaoDados());
 
             if (Iniciado)
             {
                 DefinirDispositivo();
+                ConfiguraModulo();
                 return Iniciado;
             }
 
@@ -73,16 +110,16 @@ namespace AgroBase.Services
             }
         }
 
-        public static bool ProcessarResposta(byte[] Resposta)
+        public static bool ProcessarResposta(byte[] Resposta, byte[] Comando)
         {
-            bool Sucesso = DecifrarRespostaAquisicao(Resposta);
+            bool Sucesso = DecifrarRespostaAquisicao(Resposta, Comando);
 
             if (Iniciado)
             {
                 PreencherDadosLeitura();
 
-                Variaveis.OperacaoEmAndamento.Sensoriamento.InclinacaoX = DadosLeitura.AngleX;
-                Variaveis.OperacaoEmAndamento.Sensoriamento.InclinacaoY = DadosLeitura.AngleY;
+                Variaveis.OperacaoEmAndamento.Sensoriamento.InclinacaoX = DadosLeitura.AngleX * -1;
+                Variaveis.OperacaoEmAndamento.Sensoriamento.InclinacaoY = DadosLeitura.AngleY * -1;
                 Variaveis.OperacaoEmAndamento.Sensoriamento.InclinacaoZ = DadosLeitura.AngleZ;
                 Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola = DadosLeitura.AngleZ * -1;
             }
@@ -90,15 +127,55 @@ namespace AgroBase.Services
             return Sucesso;
         }
 
-        public static byte[] ComandoAquisicaoDados()
+        private static void ConfiguraModulo()
         {
-            return ComandoAquisicao;
+            foreach (byte Registro in RegistrosIniciais)
+            {
+                var Comando = new ModbusComandoModel()
+                {
+                    Dispositivo = T_Code.Wit,
+                    Endereco = slaveAddress,
+                    Comando = ModbusService.ComandoGetParametro(slaveAddress, new ModbusParametrosModel() { Registro = Registro, N_Registros = 0x04 }),
+                    Verificacao = true,
+                    TamanhoEsperado = 13,
+                    TimeoutResposta = 500
+                };
+
+                ModbusService.AdicionarComandoNaFila(Comando);
+            }
         }
 
-        private static bool DecifrarRespostaAquisicao(byte[] resposta)
+        private static async Task CalibrarAceleracao(bool Notificacao)
+        {
+            var ComandoLiberacaoParametro = new byte[] { slaveAddress, 0x06, 0x00, 0x69, 0xB5, 0x88, 0x22, 0xA1 };
+            var ComandoModoCalibragem = new byte[] { slaveAddress, 0x06, 0x00, 0x01, 0x00, 0x01, 0x14, 0x4B };
+            var ComandoSalvaCalibragem = new byte[] { slaveAddress, 0x06, 0x00, 0x00, 0x00, 0x00, 0x84, 0x4B };
+
+            var Comando1 = new ModbusComandoModel() { Comando = ComandoLiberacaoParametro, Dispositivo = T_Code.Wit, Endereco = slaveAddress, Verificacao = false, TamanhoEsperado = 8, TimeoutResposta = 500 };
+            ModbusService.AdicionarComandoNaFila(Comando1);
+            var Comando2 = new ModbusComandoModel() { Comando = ComandoModoCalibragem, Dispositivo = T_Code.Wit, Endereco = slaveAddress, Verificacao = false, TamanhoEsperado = 8, TimeoutResposta = 500 };
+            ModbusService.AdicionarComandoNaFila(Comando2);
+            await Task.Delay(5000);
+            var Comando3 = new ModbusComandoModel() { Comando = ComandoLiberacaoParametro, Dispositivo = T_Code.Wit, Endereco = slaveAddress, Verificacao = false, TamanhoEsperado = 8, TimeoutResposta = 500 };
+            ModbusService.AdicionarComandoNaFila(Comando3);
+            var Comando4 = new ModbusComandoModel() { Comando = ComandoSalvaCalibragem, Dispositivo = T_Code.Wit, Endereco = slaveAddress, Verificacao = false, TamanhoEsperado = 8, TimeoutResposta = 500 };
+            ModbusService.AdicionarComandoNaFila(Comando4);
+
+            if (Notificacao)
+            {
+                MessageBox.Show("Aceleração calibrado com sucesso!");
+            }
+        }
+
+        public static byte[] ComandoAquisicaoDados()
+        {
+            byte[] Comando = ModbusService.ComandoGetParametro(slaveAddress, new ModbusParametrosModel() { N_Registros = 0x30, Registro = 0x30 });
+            return Comando;
+        }
+
+        private static bool DecifrarRespostaAquisicao(byte[] resposta, byte[] comando)
         {
             byte[] modbusBytes;
-            byte[] comando = ComandoAquisicaoDados();
             if (comando != null && resposta != null && resposta.Length >= 7 && ModbusService.FindModbus(comando, resposta, out modbusBytes))
             {
                 int readReg = comando[2] << 8 | comando[3];
@@ -176,14 +253,35 @@ namespace AgroBase.Services
             if (!string.IsNullOrEmpty(reg7f) && !string.IsNullOrEmpty(reg80) && !string.IsNullOrEmpty(reg81) &&
                 !string.IsNullOrEmpty(reg82) && !string.IsNullOrEmpty(reg83) && !string.IsNullOrEmpty(reg84))
             {
-                var sbytes = BitConverter.GetBytes(short.Parse(reg7f))
-                    .Concat(BitConverter.GetBytes(short.Parse(reg80)))
-                    .Concat(BitConverter.GetBytes(short.Parse(reg81)))
-                    .Concat(BitConverter.GetBytes(short.Parse(reg82)))
-                    .Concat(BitConverter.GetBytes(short.Parse(reg83)))
-                    .Concat(BitConverter.GetBytes(short.Parse(reg84)))
-                    .ToArray();
-                string sn = Encoding.Default.GetString(sbytes);
+                // Converter cada valor de registro em bytes
+                var bytes7f = BitConverter.GetBytes(short.Parse(reg7f));
+                var bytes80 = BitConverter.GetBytes(short.Parse(reg80));
+                var bytes81 = BitConverter.GetBytes(short.Parse(reg81));
+                var bytes82 = BitConverter.GetBytes(short.Parse(reg82));
+                var bytes83 = BitConverter.GetBytes(short.Parse(reg83));
+                var bytes84 = BitConverter.GetBytes(short.Parse(reg84));
+
+                // Criar um array para armazenar todos os bytes concatenados
+                var allBytes = new byte[bytes7f.Length + bytes80.Length + bytes81.Length +
+                                        bytes82.Length + bytes83.Length + bytes84.Length];
+
+                // Copiar os arrays de bytes individuais para o array final
+                int offset = 0;
+                Array.Copy(bytes7f, 0, allBytes, offset, bytes7f.Length);
+                offset += bytes7f.Length;
+                Array.Copy(bytes80, 0, allBytes, offset, bytes80.Length);
+                offset += bytes80.Length;
+                Array.Copy(bytes81, 0, allBytes, offset, bytes81.Length);
+                offset += bytes81.Length;
+                Array.Copy(bytes82, 0, allBytes, offset, bytes82.Length);
+                offset += bytes82.Length;
+                Array.Copy(bytes83, 0, allBytes, offset, bytes83.Length);
+                offset += bytes83.Length;
+                Array.Copy(bytes84, 0, allBytes, offset, bytes84.Length);
+
+                // Converter o array de bytes concatenados em uma string
+                string sn = Encoding.Default.GetString(allBytes);
+                wt901CModel.Modelo = sn;
                 // Aqui você pode adicionar o número de série ao modelo, se necessário
             }
 

AgroBase/AgroBase/bin/Debug/Logs/A05_err.txt

@@ -0,0 +1,24 @@
+11/09/2024 09:21:22:375 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:45:554 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:45:728 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:03:898 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:08:947 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:08:953 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:08:960 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:14:132 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:23:53:437 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:25:00:431 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:25:00:448 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:40:50:094 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+

AgroBase/AgroBase/bin/Debug/Logs/Bld_err.txt

@@ -10880,3 +10880,490 @@
 22/08/2024 16:19:41:641 - Porta COM68 - 3: Resposta inválida. 
 22/08/2024 16:19:42:650 - Porta COM68 - 2: Resposta inválida. 
 22/08/2024 16:19:43:660 - Porta COM68 - 4: Resposta inválida. 
+28/08/2024 08:27:58:429 - Porta COM29 - 1: Resposta inválida. 
+28/08/2024 08:27:59:461 - Porta COM29 - 3: Resposta inválida. 
+28/08/2024 08:28:00:517 - Porta COM29 - 2: Resposta inválida. 
+28/08/2024 08:28:01:574 - Porta COM29 - 4: Resposta inválida. 
+28/08/2024 08:28:18:374 - Porta COM29 - 1: Resposta inválida. 
+28/08/2024 08:28:19:410 - Porta COM29 - 3: Resposta inválida. 
+28/08/2024 08:28:20:427 - Porta COM29 - 2: Resposta inválida. 
+28/08/2024 08:28:21:489 - Porta COM29 - 4: Resposta inválida. 
+28/08/2024 08:33:28:958 - Porta COM29 - 1: Resposta inválida. 
+28/08/2024 08:33:29:967 - Porta COM29 - 3: Resposta inválida. 
+28/08/2024 08:33:30:998 - Porta COM29 - 2: Resposta inválida. 
+28/08/2024 08:33:32:030 - Porta COM29 - 4: Resposta inválida. 
+28/08/2024 08:46:50:917 - Porta COM29 - 1: Resposta inválida. 
+28/08/2024 08:46:51:947 - Porta COM29 - 3: Resposta inválida. 
+28/08/2024 08:46:52:984 - Porta COM29 - 2: Resposta inválida. 
+28/08/2024 08:46:53:990 - Porta COM29 - 4: Resposta inválida. 
+03/09/2024 14:35:43:792 - Porta COM20 - 1: Resposta inválida. 
+03/09/2024 14:35:44:800 - Porta COM20 - 3: Resposta inválida. 
+03/09/2024 14:35:45:860 - Porta COM20 - 2: Resposta inválida. 
+03/09/2024 14:35:46:939 - Porta COM20 - 4: Resposta inválida. 
+03/09/2024 14:36:03:741 - Porta COM20 - 1: Resposta inválida. 
+03/09/2024 14:36:04:799 - Porta COM20 - 3: Resposta inválida. 
+03/09/2024 14:36:05:860 - Porta COM20 - 2: Resposta inválida. 
+03/09/2024 14:36:06:873 - Porta COM20 - 4: Resposta inválida. 
+03/09/2024 14:36:23:699 - Porta COM20 - 1: Resposta inválida. 
+03/09/2024 14:36:24:754 - Porta COM20 - 3: Resposta inválida. 
+03/09/2024 14:36:25:760 - Porta COM20 - 2: Resposta inválida. 
+03/09/2024 14:36:26:763 - Porta COM20 - 4: Resposta inválida. 
+03/09/2024 14:36:43:745 - Porta COM20 - 1: Resposta inválida. 
+03/09/2024 14:36:44:807 - Porta COM20 - 3: Resposta inválida. 
+03/09/2024 14:36:45:834 - Porta COM20 - 2: Resposta inválida. 
+03/09/2024 14:36:46:846 - Porta COM20 - 4: Resposta inválida. 
+03/09/2024 14:37:03:565 - Porta COM20 - 1: Resposta inválida. 
+03/09/2024 14:37:04:624 - Porta COM20 - 3: Resposta inválida. 
+03/09/2024 14:37:05:669 - Porta COM20 - 2: Resposta inválida. 
+03/09/2024 14:37:06:674 - Porta COM20 - 4: Resposta inválida. 
+03/09/2024 14:37:23:514 - Porta COM20 - 1: Resposta inválida. 
+03/09/2024 14:37:24:517 - Porta COM20 - 3: Resposta inválida. 
+03/09/2024 14:37:25:578 - Porta COM20 - 2: Resposta inválida. 
+03/09/2024 14:37:26:619 - Porta COM20 - 4: Resposta inválida. 
+11/09/2024 08:54:57:896 - Porta COM29 - 1: Resposta inválida. 
+11/09/2024 08:54:58:957 - Porta COM29 - 3: Resposta inválida. 
+11/09/2024 08:54:59:963 - Porta COM29 - 2: Resposta inválida. 
+11/09/2024 08:55:00:028 - Porta COM29 - 4: Resposta inválida ou código de função incorreto. 56-31-2E-30-2E-33-33-5F-41-30-35-5F-52-34-0D-0A
+11/09/2024 09:04:08:306 - Porta COM68 - 1: Resposta inválida. 
+11/09/2024 09:04:09:333 - Porta COM68 - 3: Resposta inválida. 
+11/09/2024 09:04:10:384 - Porta COM68 - 2: Resposta inválida. 
+11/09/2024 09:04:11:392 - Porta COM68 - 4: Resposta inválida. 
+11/09/2024 09:04:30:667 - Porta COM68 - 1: Resposta inválida. 
+11/09/2024 09:04:31:706 - Porta COM68 - 3: Resposta inválida. 
+11/09/2024 09:04:32:739 - Porta COM68 - 2: Resposta inválida. 
+11/09/2024 09:04:33:753 - Porta COM68 - 4: Resposta inválida. 
+11/09/2024 09:26:28:094 - Porta COM68 - 1: Resposta inválida. 
+11/09/2024 09:26:29:156 - Porta COM68 - 3: Resposta inválida. 
+11/09/2024 09:26:30:218 - Porta COM68 - 2: Resposta inválida. 
+11/09/2024 09:26:31:282 - Porta COM68 - 4: Resposta inválida. 
+11/09/2024 09:26:50:650 - Porta COM68 - 1: Resposta inválida. 
+11/09/2024 09:26:51:672 - Porta COM68 - 3: Resposta inválida. 
+11/09/2024 09:26:52:730 - Porta COM68 - 2: Resposta inválida. 
+11/09/2024 09:26:53:735 - Porta COM68 - 4: Resposta inválida. 
+11/09/2024 13:03:14:754 - Porta COM29 - 1: Resposta inválida. 
+11/09/2024 13:03:15:760 - Porta COM29 - 3: Resposta inválida. 
+11/09/2024 13:03:16:762 - Porta COM29 - 2: Resposta inválida. 
+11/09/2024 13:03:17:768 - Porta COM29 - 4: Resposta inválida. 
+11/09/2024 13:03:29:751 - Porta COM29 - 1: Resposta inválida. 
+11/09/2024 13:03:30:754 - Porta COM29 - 3: Resposta inválida. 
+11/09/2024 13:03:31:806 - Porta COM29 - 2: Resposta inválida. 
+11/09/2024 13:03:32:822 - Porta COM29 - 4: Resposta inválida. 
+11/09/2024 13:03:44:668 - Porta COM29 - 1: Resposta inválida. 
+11/09/2024 13:03:45:671 - Porta COM29 - 3: Resposta inválida. 
+11/09/2024 13:03:46:675 - Porta COM29 - 2: Resposta inválida. 
+11/09/2024 13:03:47:679 - Porta COM29 - 4: Resposta inválida. 
+11/09/2024 13:03:59:642 - Porta COM29 - 1: Resposta inválida. 
+11/09/2024 13:04:00:664 - Porta COM29 - 3: Resposta inválida. 
+11/09/2024 13:04:01:666 - Porta COM29 - 2: Resposta inválida. 
+11/09/2024 13:04:02:679 - Porta COM29 - 4: Resposta inválida. 
+11/09/2024 13:56:10:326 - Porta COM68 - 1: Resposta inválida. 
+11/09/2024 13:56:11:329 - Porta COM68 - 3: Resposta inválida. 
+11/09/2024 13:56:12:333 - Porta COM68 - 2: Resposta inválida. 
+11/09/2024 13:56:13:394 - Porta COM68 - 4: Resposta inválida. 
+11/09/2024 13:56:38:219 - Porta COM68 - 1: Resposta inválida. 
+11/09/2024 13:56:39:243 - Porta COM68 - 3: Resposta inválida. 
+11/09/2024 13:56:40:247 - Porta COM68 - 2: Resposta inválida. 
+11/09/2024 13:56:43:435 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 14:43:51:569 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 14:43:52:585 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 14:43:53:640 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 14:43:54:674 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 14:44:19:341 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 14:44:20:360 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 14:44:21:373 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 14:44:22:376 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 14:44:34:345 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 14:44:35:385 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 14:44:36:434 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 14:44:37:489 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 14:45:42:859 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 14:45:44:112 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 14:45:45:152 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 14:45:46:178 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 14:45:59:339 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 14:46:00:377 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 14:46:01:390 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 14:46:02:394 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 14:46:14:297 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 14:46:15:327 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 14:46:16:375 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 14:46:17:403 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 14:55:34:238 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 14:55:35:252 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 14:55:36:317 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 14:55:37:339 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 14:56:01:837 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 14:56:02:839 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 14:56:03:882 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 14:56:04:921 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:01:15:970 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:01:17:015 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:01:18:019 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:01:19:035 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:01:38:765 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:01:39:790 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:01:40:803 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:01:41:859 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:12:45:710 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:12:46:770 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:12:47:814 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:12:48:857 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:13:05:863 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:13:06:899 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:13:07:965 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:13:08:982 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:13:33:898 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:13:34:953 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:13:35:983 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:13:37:043 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:14:37:910 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:14:38:961 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:19:31:227 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:19:32:252 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:19:33:309 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:19:34:337 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:27:41:911 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:27:42:992 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:27:44:038 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:27:45:266 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:27:56:422 - Porta COM3 - 1: Resposta inválida ou código de função incorreto. 92-FF-12-FF-C8-12-21-00-FE
+12/09/2024 15:27:57:247 - Porta COM3 - 3: Resposta inválida ou código de função incorreto. A4-80-12-02-01-C1-02-FF-A1
+12/09/2024 15:27:57:635 - Porta COM3 - 2: Resposta inválida ou código de função incorreto. 01-FF-C1-E6-11-C0-A1
+12/09/2024 15:27:58:366 - Porta COM3 - 4: Resposta inválida ou código de função incorreto. 01-FE-01-FF-92-91-FF
+12/09/2024 15:28:25:941 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:28:26:948 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:28:28:021 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:28:29:114 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:28:38:431 - Porta COM3 - 1: Resposta inválida ou código de função incorreto. 12-FF-A1-12-01-FD-14-E9-04-F3-12
+12/09/2024 15:28:39:171 - Porta COM3 - 3: Resposta inválida ou código de função incorreto. A5-00-FF-01-FF-00-21-00-49-35-FE
+12/09/2024 15:28:39:764 - Porta COM3 - 2: Resposta inválida ou código de função incorreto. 01-FF-02-12-FF-91-FF
+12/09/2024 15:28:40:218 - Porta COM3 - 4: Resposta inválida ou código de função incorreto. 00-C1-09-94-F5-04-CE
+12/09/2024 15:30:32:063 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:30:33:130 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:30:34:185 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:30:35:241 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:30:55:376 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:30:56:436 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:30:57:475 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:30:58:528 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:33:05:956 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:33:06:965 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:33:07:984 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:33:09:011 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:35:41:789 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:35:42:845 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:35:43:968 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:35:44:974 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:36:29:877 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:36:30:922 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:36:31:931 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:36:32:934 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:47:24:468 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:47:25:514 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:47:26:556 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:47:27:608 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:47:37:289 - Porta COM3 - 1: Resposta inválida ou código de função incorreto. 12-A5-24-FF-21-FF-84-FA-11-D0
+12/09/2024 15:47:37:723 - Porta COM3 - 3: Resposta inválida ou código de função incorreto. 01-FF-01-FF-E1-12-FF
+12/09/2024 15:47:38:339 - Porta COM3 - 2: Resposta inválida ou código de função incorreto. 12-FF-01-C8-04-E5-25-FF-25-FF
+12/09/2024 15:47:39:136 - Porta COM3 - 4: Resposta inválida ou código de função incorreto. 01-FF-91-FF-81-81-09
+12/09/2024 15:48:47:454 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:48:48:460 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:48:49:465 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:48:50:493 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:49:02:671 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:49:03:692 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:49:04:731 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:49:05:735 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:52:27:988 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:52:29:031 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:52:30:068 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:52:31:072 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:53:33:491 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:53:34:550 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:53:35:583 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:53:36:629 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 15:53:56:519 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 15:53:57:568 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 15:53:58:577 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 15:53:59:631 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:01:59:677 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:02:00:707 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:02:01:763 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:02:02:812 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:09:29:877 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:09:30:921 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:09:31:929 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:09:33:007 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:09:44:096 - Porta COM3 - 1: Resposta inválida. 
+12/09/2024 16:09:45:097 - Porta COM3 - 3: Resposta inválida. 
+12/09/2024 16:09:46:099 - Porta COM3 - 2: Resposta inválida. 
+12/09/2024 16:09:47:130 - Porta COM3 - 4: Resposta inválida. 
+12/09/2024 16:10:10:792 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:10:11:838 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:10:12:890 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:10:13:917 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:10:30:927 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:10:31:932 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:10:32:989 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:10:34:026 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:12:12:176 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:12:13:232 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:12:14:288 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:12:15:349 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:12:24:269 - Porta COM3 - 1: Resposta inválida ou código de função incorreto. 49-FD-01-FF-A1-09-01-26-54-82
+12/09/2024 16:12:25:299 - Porta COM3 - 3: Resposta inválida ou código de função incorreto. 02-E1-C1-12-FF-51-43-91-51
+12/09/2024 16:12:26:292 - Porta COM3 - 2: Resposta inválida ou código de função incorreto. C1-E1-49-C8-D1-12-FF-00-FF-51-42-31-A8
+12/09/2024 16:12:27:047 - Porta COM3 - 4: Resposta inválida ou código de função incorreto. 09-D1-24-FF-81-12-FF
+12/09/2024 16:12:50:247 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:12:51:249 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:12:52:282 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:12:53:344 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:13:23:826 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:13:24:840 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:13:25:844 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:13:26:893 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:16:28:222 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:16:29:265 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:16:30:320 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:16:31:369 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:17:29:437 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:17:30:500 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:17:31:546 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:17:32:573 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:17:57:569 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:17:58:573 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:17:59:605 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:18:00:651 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:24:24:110 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:24:25:131 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:24:26:144 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:24:27:207 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:24:36:808 - Porta COM3 - 1: Resposta inválida ou código de função incorreto. 01-36-11-84-D1-91-1F-F8
+12/09/2024 16:24:37:524 - Porta COM3 - 3: Resposta inválida ou código de função incorreto. 01-FF-25-FF-81-25-FF
+12/09/2024 16:24:38:271 - Porta COM3 - 2: Resposta inválida ou código de função incorreto. 21-84-93-65-F8-09-91-FF-0A-C1
+12/09/2024 16:24:38:944 - Porta COM3 - 4: Resposta inválida ou código de função incorreto. A1-21-8A-49-83-25-FF
+12/09/2024 16:25:02:260 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:25:03:315 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:25:04:370 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:25:05:404 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:25:22:387 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:25:23:436 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:25:24:497 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:25:25:551 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:25:42:292 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:25:43:303 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:25:44:361 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:25:45:392 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:36:22:107 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:36:23:127 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:36:24:139 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:36:25:163 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:36:50:123 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:36:51:179 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:36:52:240 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:36:53:264 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:37:47:064 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:37:48:126 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:37:49:175 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:37:50:213 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:41:05:309 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:41:06:316 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:41:07:372 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:41:08:426 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:46:00:539 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:46:01:574 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:46:02:605 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:46:03:618 - Porta COM68 - 4: Resposta inválida. 
+12/09/2024 16:46:12:077 - Porta COM3 - 1: Resposta inválida ou código de função incorreto. 01-FF-41-27-F4-E1-51-15-FE-11-A0
+12/09/2024 16:46:12:944 - Porta COM3 - 3: Resposta inválida ou código de função incorreto. C1-92-81-12-01-FF-90-01-FF
+12/09/2024 16:46:13:134 - Porta COM3 - 2: Resposta inválida ou código de função incorreto. 24-FF-01-CD-41-64-FE
+12/09/2024 16:46:13:682 - Porta COM3 - 4: Resposta inválida ou código de função incorreto. 91-FF-09-12-FF-24-FF
+12/09/2024 16:46:38:790 - Porta COM68 - 1: Resposta inválida. 
+12/09/2024 16:46:39:820 - Porta COM68 - 3: Resposta inválida. 
+12/09/2024 16:46:40:823 - Porta COM68 - 2: Resposta inválida. 
+12/09/2024 16:46:41:856 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 08:41:28:381 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 08:41:29:422 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 08:41:30:472 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 08:41:31:500 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 08:42:02:609 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 08:42:03:642 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 08:42:04:689 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 08:42:05:728 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 08:42:28:509 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 08:42:29:532 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 08:42:30:579 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 08:42:31:625 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 08:42:48:374 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 08:42:49:410 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 08:42:50:453 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 08:42:51:484 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 08:43:08:485 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 08:43:09:525 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 08:43:10:563 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 08:43:11:579 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 08:43:28:763 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 08:43:29:809 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 08:43:30:853 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 08:43:31:887 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 08:43:48:700 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 08:43:49:728 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 08:43:50:778 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 08:43:51:813 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 08:44:08:588 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 08:44:09:622 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 08:44:10:682 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 09:22:42:713 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 09:22:43:748 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 09:22:44:796 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 09:22:45:857 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 09:23:05:378 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 09:23:06:409 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 09:23:07:453 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 09:23:08:500 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 09:28:59:293 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 09:29:00:318 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 09:29:01:362 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 09:29:02:420 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 09:29:11:469 - Porta COM3 - 1: Resposta inválida ou código de função incorreto. 01-FF-01-FE-84-40-00-1F-FF
+13/09/2024 09:29:12:240 - Porta COM3 - 3: Resposta inválida ou código de função incorreto. 41-FF-02-4B-FD-80-92
+13/09/2024 09:29:12:860 - Porta COM3 - 2: Resposta inválida ou código de função incorreto. 41-25-43-15-FF-02-49-49
+13/09/2024 09:29:13:466 - Porta COM3 - 4: Resposta inválida ou código de função incorreto. 25-FF-14-03-A1-64-FE
+13/09/2024 09:39:46:282 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 09:39:47:311 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 09:39:48:359 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 09:39:49:410 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 09:40:36:860 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 09:40:37:907 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 09:40:38:912 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 09:40:39:954 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 09:48:24:360 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 09:48:25:368 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 09:48:26:413 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 09:48:27:416 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 09:49:05:025 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 09:49:06:590 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 09:49:08:316 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 09:49:09:372 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 09:53:23:425 - Porta COM68 - 1: Resposta inválida. FF-FF-FF
+13/09/2024 09:53:24:442 - Porta COM68 - 3: Resposta inválida. FF-FF-FF
+13/09/2024 09:53:25:494 - Porta COM68 - 2: Resposta inválida. FF-FF-FF
+13/09/2024 09:53:26:547 - Porta COM68 - 4: Resposta inválida. FF-FF-FF
+13/09/2024 09:53:36:495 - Porta COM3 - 1: Resposta inválida ou código de função incorreto. 01-02-FF-91-FF-01-6D-F9-09-04-42
+13/09/2024 09:53:37:172 - Porta COM3 - 3: Resposta inválida ou código de função incorreto. 00-FF-02-FF-09-22-FF
+13/09/2024 09:53:37:768 - Porta COM3 - 2: Resposta inválida ou código de função incorreto. 94-07-FF-11-54-FF-01
+13/09/2024 09:53:38:474 - Porta COM3 - 4: Resposta inválida ou código de função incorreto. C1-01-FF-00-FF-11-FF
+13/09/2024 10:11:34:417 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:11:35:433 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:11:36:469 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:11:37:493 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 10:11:54:740 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:11:55:762 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:11:56:771 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:11:57:829 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 10:12:15:070 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:12:16:073 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:12:17:120 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:12:18:171 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 10:12:35:378 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:12:36:414 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:12:37:452 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:12:38:491 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 10:14:35:482 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:14:36:501 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:14:37:503 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:14:38:537 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 10:17:45:751 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:17:46:757 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:17:47:764 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:17:48:771 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 10:18:25:836 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:18:26:842 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:18:27:853 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:18:28:864 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 10:23:10:322 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:23:11:326 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:23:12:335 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:23:13:342 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 10:25:54:662 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:25:55:719 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:25:56:729 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:25:57:751 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 10:29:19:737 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:29:20:791 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:29:21:799 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:29:22:807 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 10:34:31:598 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:34:32:650 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:34:33:656 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:34:34:664 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 10:39:10:095 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:39:11:145 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:39:12:153 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:39:13:163 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 10:57:42:379 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 10:57:43:411 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 10:57:44:420 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 10:57:45:440 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 11:01:17:680 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 11:01:18:688 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 11:01:19:724 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 11:01:20:747 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 11:03:40:514 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 11:03:41:551 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 11:03:42:587 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 11:03:43:628 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 11:07:28:311 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 11:07:29:343 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 11:07:30:359 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 11:07:31:367 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 11:09:52:365 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 11:09:53:379 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 11:09:54:413 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 11:09:55:421 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 12:38:43:877 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 12:38:44:940 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 12:38:45:998 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 12:38:47:002 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 12:39:04:543 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 12:39:05:601 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 12:39:06:607 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 12:39:07:613 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 12:50:01:338 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 12:50:02:371 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 12:50:03:421 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 12:50:04:425 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 12:56:34:676 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 12:56:35:722 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 12:56:36:774 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 12:56:37:815 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 12:59:41:090 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 12:59:42:125 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 12:59:43:161 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 12:59:44:214 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 13:14:33:820 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 13:14:34:842 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 13:14:35:876 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 13:14:36:912 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 13:15:08:573 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 13:15:09:594 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 13:15:10:620 - Porta COM29 - 2: Resposta inválida. 
+13/09/2024 13:15:11:641 - Porta COM29 - 4: Resposta inválida. 
+13/09/2024 13:15:58:871 - Porta COM29 - 1: Resposta inválida. 
+13/09/2024 13:15:59:898 - Porta COM29 - 3: Resposta inválida. 
+13/09/2024 13:40:28:667 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 13:40:29:719 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 13:40:30:724 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 13:40:31:747 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 13:40:58:399 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 13:41:00:544 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 13:41:01:786 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 13:41:03:558 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 13:44:14:983 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 13:44:16:033 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 13:44:17:035 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 13:44:18:059 - Porta COM68 - 4: Resposta inválida. 
+13/09/2024 13:44:45:554 - Porta COM68 - 1: Resposta inválida. 
+13/09/2024 13:44:46:698 - Porta COM68 - 3: Resposta inválida. 
+13/09/2024 13:44:48:168 - Porta COM68 - 2: Resposta inválida. 
+13/09/2024 13:44:49:569 - Porta COM68 - 4: Resposta inválida. 

AgroBase/AgroBase/bin/Debug/Logs/Mbs_err.txt

@@ -1,2 +1,5 @@
 22/08/2024 14:49:56:227 - Porta COM29 - 0: Erro ao processar fila de comandos. Erro=Value cannot be null.
 22/08/2024 15:59:48:813 - Porta COM3 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+12/09/2024 15:47:36:349 - Porta COM3 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+12/09/2024 16:37:44:764 - Porta COM68 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+12/09/2024 16:46:08:695 - Porta COM3 - 0: Erro ao processar fila de comandos. Erro=The port is closed.

AgroBase/AgroBase/bin/Debug/Logs/Pzm_err.txt

@@ -0,0 +1,60 @@
+11/09/2024 09:08:08:044 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 09:11:51:296 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 09:13:53:159 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 09:20:51:494 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 13:58:20:730 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 13:59:32:934 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 13:59:46:366 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 13:59:46:443 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:00:50:751 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:27:783 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:29:235 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:45:561 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:45:569 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:45:694 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:48:916 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:54:54:017 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:54:54:146 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:15:153 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:16:592 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:22:410 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:59:592 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:22:769 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:22:783 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:23:917 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:23:54:596 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:24:12:201 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:24:28:130 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:24:42:527 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:40:48:883 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:40:49:039 - Porta COM70 - 1: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+

AgroBase/AgroBase/bin/Debug/Logs/Sen/12_09_2024_37_36.json

@@ -0,0 +1 @@
+[{"Momento":"2024-09-12T16:38:04.8284177-03:00","Protocolo":"@1;Sen;258;TMVET,1,411,1,200,0,0,36,-1.038$","Enviado":true},{"Momento":"2024-09-12T16:38:04.8373941-03:00","Protocolo":"Sen;#211;TMVET;1$\r","Enviado":false},{"Momento":"2024-09-12T16:38:04.8513564-03:00","Protocolo":"Sen;655;1;$\r","Enviado":false},{"Momento":"2024-09-12T16:38:04.8593349-03:00","Protocolo":"Sen;#322;AB5V;5.02;16.48;164.80;830.00$\r","Enviado":false},{"Momento":"2024-09-12T16:38:04.8673142-03:00","Protocolo":"@2;Sen;258;TMVEF,1,411,1,200,0,0,34,-1.038$","Enviado":true},{"Momento":"2024-09-12T16:38:04.8752922-03:00","Protocolo":"Sen;#211;TMVEF;1$\r","Enviado":false},{"Momento":"2024-09-12T16:38:04.8852658-03:00","Protocolo":"Sen;#322;AB12V;12.18;-0.40;-0.51;6.20$\r","Enviado":false},{"Momento":"2024-09-12T16:38:04.8932447-03:00","Protocolo":"Sen;655;2;$\r","Enviado":false},{"Momento":"2024-09-12T16:38:04.9101991-03:00","Protocolo":"@3;Sen;258;TMVDT,1,411,1,200,0,0,39,-1.038$","Enviado":true},{"Momento":"2024-09-12T16:38:04.9181774-03:00","Protocolo":"Sen;#211;TMVDT;1$\r","Enviado":false},{"Momento":"2024-09-12T16:38:04.929148-03:00","Protocolo":"Sen;655;3;$\r","Enviado":false},{"Momento":"2024-09-12T16:38:04.9421136-03:00","Protocolo":"@4;Sen;258;TMVDF,1,411,1,200,0,0,35,-1.038$","Enviado":true},{"Momento":"2024-09-12T16:38:04.9500922-03:00","Protocolo":"Sen;#211;TMVDF;1$\r","Enviado":false},{"Momento":"2024-09-12T16:38:04.961063-03:00","Protocolo":"Sen;655;4;$\r","Enviado":false},{"Momento":"2024-09-12T16:38:15.1069147-03:00","Protocolo":"Sen;#322;AB5VSen;#322;AB12V;12.18;-0.34;-0.52;6.20$\r","Enviado":false},{"Momento":"2024-09-12T16:38:20.1105248-03:00","Protocolo":"Sen;#322;AB5V;5.02;16.71;171.70;874.00$\r","Enviado":false},{"Momento":"2024-09-12T16:38:31.0233228-03:00","Protocolo":"Sen;#411;TMVDT;0.00$\r","Enviado":false},{"Momento":"2024-09-12T16:39:00.2723464-03:00","Protocolo":"Sen;#411;TMVDT;0.00$\r","Enviado":false},{"Momento":"2024-09-12T16:39:15.0946825-03:00","Protocolo":"Sen;#322;AB12V;12.18;-0.47;-0.63;7.20$\r","Enviado":false},{"Momento":"2024-09-12T16:39:20.1182406-03:00","Protocolo":"Sen;#322;AB5V;5.02;16.23;173.10;866.00$\r","Enviado":false},{"Momento":"2024-09-12T16:40:15.046882-03:00","Protocolo":"Sen;#322;AB5V;5.02;17.00;167.30;838.00$\r","Enviado":false},{"Momento":"2024-09-12T16:40:20.1278268-03:00","Protocolo":"Sen;#322;AB5V;5.02;16.88;163.10;820.00$\r","Enviado":false}

AgroBase/AgroBase/bin/Debug/Logs/Wit_err.txt

@@ -0,0 +1,314 @@
+11/09/2024 09:08:08:043 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 09:08:08:086 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 09:08:09:021 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 09:11:10:348 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 09:23:18:239 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 13:14:13:861 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro=Index was outside the bounds of the array.
+11/09/2024 13:24:42:276 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:42:341 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:42:402 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:42:463 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:42:525 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:43:738 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:44:555 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:45:780 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:46:144 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:48:013 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:49:280 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:49:699 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:50:136 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:50:623 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:51:175 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:52:175 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:53:474 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:53:738 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:54:244 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:54:730 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:55:216 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:55:670 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:56:205 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:57:079 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:58:361 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:58:722 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:59:267 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:24:59:706 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:00:252 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:00:693 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:01:240 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:02:114 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:03:340 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:03:749 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:04:299 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:04:851 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:05:338 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:05:888 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:06:264 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:08:249 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:08:781 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:09:331 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:09:882 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:10:373 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:10:859 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:11:313 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:13:183 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:13:427 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:13:869 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:14:418 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:14:961 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:15:401 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:15:886 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:16:493 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:17:208 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:18:474 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:19:008 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:19:558 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:19:933 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:20:545 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:20:923 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:21:473 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:23:120 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:24:389 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:24:529 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:24:970 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:25:515 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:25:955 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:26:554 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:28:416 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:28:635 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:29:075 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:29:621 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:29:999 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:30:608 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:31:153 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:32:091 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:33:450 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:33:608 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:34:049 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:34:648 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:35:199 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:35:638 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:36:123 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:37:080 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:38:330 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:38:646 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:39:095 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:39:629 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:40:177 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:40:665 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:41:167 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:42:160 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:52:766 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:53:285 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:54:194 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:55:586 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:56:326 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:56:671 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:58:525 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:59:055 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:25:59:604 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:00:199 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:00:873 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:01:170 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:01:996 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:41:434 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:42:895 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:43:304 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:43:899 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:44:542 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:45:134 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:45:430 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:45:678 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:46:276 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:47:434 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:48:754 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:50:151 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:50:385 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:50:995 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:52:981 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:53:861 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:55:511 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:55:953 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:56:490 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:56:833 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:58:670 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:59:121 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:26:59:418 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:00:359 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:00:893 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:01:469 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:03:365 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:03:881 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:04:418 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:05:011 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:05:592 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:05:949 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:06:483 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:08:726 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:09:119 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:09:432 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:10:014 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:10:957 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:11:536 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:12:649 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:14:368 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:14:763 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:15:108 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:16:005 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:16:541 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:17:635 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:19:069 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:19:526 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:20:059 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:21:519 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:22:323 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:23:704 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:24:490 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:24:741 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:25:369 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:25:979 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:26:289 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:26:524 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:27:678 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:29:226 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:29:837 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:30:352 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:30:726 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:31:247 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:31:855 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:32:676 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:34:276 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:34:804 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:35:395 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:35:741 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:36:323 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:37:436 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:38:805 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:39:213 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:40:091 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:40:388 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:41:025 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:41:558 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:42:448 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:43:755 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:44:806 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:45:385 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:45:982 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:46:264 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:47:365 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:48:908 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:49:501 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:50:084 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:50:381 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:51:276 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:51:618 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:52:431 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:53:917 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:54:531 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:55:110 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:55:407 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:55:989 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:56:665 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:58:337 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:27:59:695 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:00:008 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:24:495 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:24:560 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:24:624 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:24:686 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:24:749 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:26:035 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:27:860 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:28:396 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:29:324 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:30:629 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:30:898 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:31:448 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:28:52:880 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:29:12:034 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:30:54:835 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro=Cannot implicitly convert type 'byte[]' to 'byte'
+11/09/2024 13:31:12:317 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro=Cannot implicitly convert type 'byte[]' to 'byte'
+11/09/2024 13:32:44:119 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro=Cannot implicitly convert type 'byte[]' to 'byte'
+11/09/2024 13:33:36:927 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:33:54:009 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:34:37:323 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:34:39:513 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:36:03:321 - Porta COM29 - 80: Erro ao processar fila de comandos. Erro='System.Array' does not contain a definition for 'Concat'
+11/09/2024 13:57:17:251 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 13:59:46:459 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 13:59:52:189 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:00:47:347 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:01:23:868 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:01:27:855 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:27:864 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:45:710 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:45:800 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:47:417 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+11/09/2024 14:02:53:418 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:06:353 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:10:026 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:14:013 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:15:211 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:15:318 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:15:601 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:19:201 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:25:737 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:55:25:873 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:56:01:094 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 15:56:49:167 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:21:710 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:21:718 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:21:724 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:21:731 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:21:738 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:21:746 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:21:753 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:21:793 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:21:772 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+12/09/2024 16:13:25:490 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:24:01:345 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:24:17:551 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:25:06:182 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:27:22:750 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+
+13/09/2024 09:40:48:993 - Porta COM70 - 80: Erro ao processar fila de comandos. Erro=The I/O operation has been aborted because of either a thread exit or an application request.
+

AgroBase/AgroBase/bin/Debug/Mapas/12_09_2024_08_38_51.json

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-]
-}
+{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1517","Name":"13_09_2024_09_23_55","Length":0.0,"Dist1":0.0,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0]]}}]}

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

@@ -25,7 +25,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_01838006ef93b3c339efdc56b26e92d5 {
+                #map_4c8d1d53e823eaa73762642d22d93052 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,14 +39,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_01838006ef93b3c339efdc56b26e92d5" ></div>
+            <div class="folium-map" id="map_4c8d1d53e823eaa73762642d22d93052" ></div>
         
 </body>
 <script>
     
     
-            var map_01838006ef93b3c339efdc56b26e92d5 = L.map(
-                "map_01838006ef93b3c339efdc56b26e92d5",
+            var map_4c8d1d53e823eaa73762642d22d93052 = L.map(
+                "map_4c8d1d53e823eaa73762642d22d93052",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -60,13 +60,13 @@
 
         
     
-            var tile_layer_c9358d92b2c66b7d787be9a664a48ba9 = L.tileLayer(
+            var tile_layer_80955e2aeea86381a3a0ac5f89012003 = L.tileLayer(
                 "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
                 {"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
             );
         
     
-            tile_layer_c9358d92b2c66b7d787be9a664a48ba9.addTo(map_01838006ef93b3c339efdc56b26e92d5);
+            tile_layer_80955e2aeea86381a3a0ac5f89012003.addTo(map_4c8d1d53e823eaa73762642d22d93052);
         
 </script>
 
@@ -87,7 +87,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_01838006ef93b3c339efdc56b26e92d5);
+        trajeto_json.addTo(map_4c8d1d53e823eaa73762642d22d93052);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -145,7 +145,7 @@
         
         var marcadorDinamico = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_01838006ef93b3c339efdc56b26e92d5);
+        }).addTo(map_4c8d1d53e823eaa73762642d22d93052);
     
         // Conectar ao broker MQTT
         const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@@ -183,7 +183,7 @@
             marcadorDinamico.setRotationAngle(angulo);
             
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_01838006ef93b3c339efdc56b26e92d5.setView(novaPosicao, map_01838006ef93b3c339efdc56b26e92d5.getZoom());
+            map_4c8d1d53e823eaa73762642d22d93052.setView(novaPosicao, map_4c8d1d53e823eaa73762642d22d93052.getZoom());
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

AgroBase/AgroBase/bin/Debug/Python/Scripts/street-detector-mqtt.py

@@ -0,0 +1,183 @@
+import torch
+from PIL import Image
+import torchvision.transforms as T
+import numpy as np
+import cv2
+import json
+import time
+import io
+import paho.mqtt.client as mqtt
+import uuid
+import sys
+import os
+import base64
+
+# Parâmetros de entrada
+output_folder = 'Python/Output/'
+model_folder = 'C:\\ZendionINC\\agrobot_base\\Treinamento\\models\\ruas\\'
+mqtt_send_topic = sys.argv[1]  # Tópico para receber o bitmap
+mqtt_receive_topic = sys.argv[2]  # Tópico para enviar o resultado
+
+# Configurações MQTT
+mqtt_client = mqtt.Client(f"client_street_detector_{uuid.uuid4()}")
+mqtt_client.connect("localhost", port=1883)
+
+script_dir = os.path.dirname(__file__)  # Obtém o diretório onde o script está localizado
+parent_dir = os.path.dirname(script_dir)  # Obtém o diretório pai (Python/)
+sys.path.append(parent_dir)
+
+# Supondo que você tenha a estrutura do repositório e o módulo `network` conforme descrito no README
+from Models.deeplabv3plus.modeling import deeplabv3plus_resnet50 as deeplabv3_model
+
+# Configurações Iniciais
+NUM_CLASSES = 4  # Pascal VOC possui 3 classes + 1 para o fundo
+OUTPUT_STRIDE = 16  # Valor comum para DeepLab
+MODEL_PATH = model_folder + 'backup/ruasModel_final.pth'  # Caminho para o modelo pré-treinado
+
+# Função para carregar o modelo
+def load_model(model_path):
+    model = deeplabv3_model(num_classes=NUM_CLASSES, output_stride=OUTPUT_STRIDE)
+    model.load_state_dict(torch.load(model_path), strict=False)
+    model.eval()  # Modo de avaliação
+    return model
+
+device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+# Carregar o modelo
+model = load_model(MODEL_PATH)
+model.to(device)
+
+# Função para processar o frame
+def segment_frame(frame):
+    image = Image.fromarray(cv2.cvtColor(frame, cv2.COLOR_BGR2RGB))
+    transform = T.Compose([
+        T.Resize(520),
+        T.ToTensor(),
+        T.Normalize(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),
+    ])
+    
+    input_tensor = transform(image).unsqueeze(0).to(device)
+    with torch.no_grad():
+        output = model(input_tensor)
+    output_predictions = output.max(1)[1].squeeze().detach().cpu().numpy()
+
+    return output_predictions
+
+# Função para ler o mapa de rótulos
+def read_labelmap(path):
+    label_colors = []
+    class_names = []
+    with open(path, 'r') as file:
+        for line in file.readlines():
+            if line.startswith('#'):
+                continue
+            parts = line.strip().split(':')
+            if len(parts) >= 2:
+                label = parts[0].strip()
+                color = tuple(map(int, parts[1].split(',')))
+                class_names.append(label)
+                label_colors.append(color)
+    return np.array(label_colors), class_names
+
+# Função para gerar o JSON de saída
+def generate_json(image):
+    label_colors, class_names = read_labelmap(model_folder + "dataset/labelmap.txt")
+    detected_classes = set(np.unique(image))
+
+    timestamp = time.time()
+    json_data = {'timestamp': timestamp, 'Classes': []}
+    for l in detected_classes:
+        if l < len(label_colors):
+            class_entry = {'Classe': class_names[l], 'Contornos': []}
+            mask = (image == l).astype(np.uint8) * 255
+            contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+            for contour in contours:
+                if contour.size > 0:
+                    for point in contour:
+                        class_entry['Contornos'].append(point.squeeze().tolist())
+            json_data['Classes'].append(class_entry)
+
+    return json_data
+
+# Função para aplicar o overlay da segmentação no frame original
+def apply_segmentation_overlay(frame, output_predictions):
+    label_colors, class_names = read_labelmap(model_folder + "dataset/labelmap.txt")
+    nc = len(label_colors)
+    
+    height, width, _ = frame.shape
+    overlay = np.zeros((height, width, 3), dtype=np.uint8)
+    
+    output_predictions_resized = cv2.resize(output_predictions, (width, height), interpolation=cv2.INTER_NEAREST)
+
+    for l in np.unique(output_predictions_resized):
+        if l < nc:
+            mask = output_predictions_resized == l
+            overlay[mask] = label_colors[l]
+    
+    overlayed_frame = cv2.addWeighted(frame, 0.6, overlay, 0.4, 0)
+    
+    return overlayed_frame
+
+# Função para converter imagem para base64
+def image_to_base64(image):
+    _, buffer = cv2.imencode('.jpg', image)
+    image_base64 = base64.b64encode(buffer).decode('utf-8')
+    return image_base64
+
+# Função para decodificar a imagem bitmap recebida via MQTT
+def decode_bitmap_message(payload):
+    image_stream = io.BytesIO(payload)
+    image = Image.open(image_stream)
+    return np.array(image)
+
+# Função chamada quando uma mensagem MQTT é recebida
+def on_message(client, userdata, message):
+    print(f"Mensagem recebida no tópico {message.topic}")
+    try:
+        bitmap = decode_bitmap_message(message.payload)
+        output_predictions = segment_frame(bitmap)
+
+        # Gerar JSON das classes detectadas
+        json_data = generate_json(output_predictions)
+
+        # Aplicar segmentação ao bitmap
+        segmented_bitmap = apply_segmentation_overlay(bitmap, output_predictions)
+
+        # Converter o bitmap segmentado em base64
+        segmented_bitmap_base64 = image_to_base64(segmented_bitmap)
+
+        # Adicionar o bitmap segmentado no JSON
+        json_data['segmented_image'] = segmented_bitmap_base64
+        
+        # Enviar JSON e bitmap segmentado via MQTT
+        mqtt_client.publish(mqtt_send_topic, json.dumps(json_data).encode('utf-8'))  # Enviar JSON
+        print(f"Segmentação processada e enviada para {mqtt_send_topic}")
+    except Exception as e:
+        print(f"Erro ao processar a imagem: {e}")
+        
+def on_connect(client, userdata, flags, rc):
+    if rc == 0:
+        print("Conectado ao MQTT com sucesso!")
+    else:
+        print(f"Falha ao conectar ao MQTT: {rc}")
+
+def on_disconnect(client, userdata, rc):
+    print(f"Desconectado do MQTT: {rc}")
+
+# Configurações do MQTT
+mqtt_client.on_connect = on_connect
+mqtt_client.on_disconnect = on_disconnect
+mqtt_client.on_message = on_message
+mqtt_client.subscribe(mqtt_receive_topic)
+
+mqtt_client.publish(mqtt_send_topic, "OK")
+
+mqtt_client.loop_forever()
+
+# Loop principal aguardando mensagens MQTT
+try:
+    while True:
+        time.sleep(1)
+except KeyboardInterrupt:
+    print("Finalizando script...")
+finally:
+    mqtt_client.loop_stop()