adicionado codigo de falhas

.gitignore

@@ -48,3 +48,7 @@ Thumbs.db
 *.mov
 *.wmv
 
+# Ignorar a pasta Operacoes dentro da hierarquia completa
+AgroBase/AgroBase/bin/Debug/Operacoes/
+AgroBase/AgroBase/bin/Debug/Logs/
+AgroBase/AgroBase/bin/Debug/Mapas/

AgroBase/AgroBase/AgroBase.csproj

@@ -12,7 +12,7 @@
     <OutputType>WinExe</OutputType>
     <RootNamespace>AgroBase</RootNamespace>
     <AssemblyName>AgroBase</AssemblyName>
-    <TargetFrameworkVersion>v4.7.2</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
     <TargetPlatformVersion>10.0</TargetPlatformVersion>
     <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
@@ -112,6 +112,10 @@
     <Reference Include="OpenCvSharp.Extensions, Version=1.0.0.0, Culture=neutral, PublicKeyToken=6adad1e807fea099, processorArchitecture=MSIL">
       <HintPath>..\packages\OpenCvSharp4.Extensions.4.10.0.20240616\lib\netstandard2.0\OpenCvSharp.Extensions.dll</HintPath>
     </Reference>
+    <Reference Include="OpenHardwareMonitorLib, Version=0.9.6.0, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>.\OpenHardwareMonitorLib.dll</HintPath>
+    </Reference>
     <Reference Include="OpenTK, Version=1.1.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
       <HintPath>..\packages\OpenTK.1.1.2225.0\lib\net20\OpenTK.dll</HintPath>
     </Reference>
@@ -429,7 +433,6 @@
     <Compile Include="Models\Variaveis.cs" />
     <Compile Include="Models\Visualizador3DModel.cs" />
     <Compile Include="Models\WT901CModel.cs" />
-    <Compile Include="Services\APIService.cs" />
     <Compile Include="Services\BLD300RService.cs" />
     <Compile Include="Services\CameraService.cs" />
     <Compile Include="Services\CoulombCounterService.cs" />
@@ -455,9 +458,7 @@
     <Compile Include="Services\MqttService.cs" />
     <Compile Include="Services\PythonService.cs" />
     <Compile Include="Services\PZEMService.cs" />
-    <Compile Include="Services\RS485Service.cs" />
     <Compile Include="Services\SerialService.cs" />
-    <Compile Include="Services\SocketService.cs" />
     <Compile Include="Services\UltrasonicA05Service.cs" />
     <Compile Include="Services\Visualizador3DService.cs" />
     <Compile Include="Services\WT901CService.cs" />

AgroBase/AgroBase/App.config

@@ -1,25 +1,25 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <configuration>
     <startup> 
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.7.2" />
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/>
     </startup>
   <runtime>
     <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
       <dependentAssembly>
-        <assemblyIdentity name="System.Runtime.CompilerServices.Unsafe" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-6.0.0.0" newVersion="6.0.0.0" />
+        <assemblyIdentity name="System.Runtime.CompilerServices.Unsafe" publicKeyToken="b03f5f7f11d50a3a" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-6.0.0.0" newVersion="6.0.0.0"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.Text.Json" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-8.0.0.1" newVersion="8.0.0.1" />
+        <assemblyIdentity name="System.Text.Json" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-8.0.0.1" newVersion="8.0.0.1"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.Drawing.Common" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-8.0.0.0" newVersion="8.0.0.0" />
+        <assemblyIdentity name="System.Drawing.Common" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-8.0.0.0" newVersion="8.0.0.0"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0" />
+        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0"/>
       </dependentAssembly>
     </assemblyBinding>
   </runtime>

AgroBase/AgroBase/Forms/Atuador/frmAtuCamera.cs

@@ -1,8 +1,4 @@
 using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Data;
-using System.Diagnostics;
 using System.Drawing;
 using System.Linq;
 using System.Windows.Forms;

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

@@ -50,6 +50,8 @@
             this.picDiagnosticarTudo = new System.Windows.Forms.PictureBox();
             this.picIniciarDiagnostico = new System.Windows.Forms.PictureBox();
             this.picLoading = new System.Windows.Forms.PictureBox();
+            this.tabFalhas = new System.Windows.Forms.TabPage();
+            this.tvwFalhas = new System.Windows.Forms.TreeView();
             this.tabControl1.SuspendLayout();
             this.tabPulverizador.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.dgPulverizador)).BeginInit();
@@ -72,6 +74,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.picDiagnosticarTudo)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.picIniciarDiagnostico)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.picLoading)).BeginInit();
+            this.tabFalhas.SuspendLayout();
             this.SuspendLayout();
             // 
             // tabControl1
@@ -84,6 +87,7 @@
             this.tabControl1.Controls.Add(this.tabCameras);
             this.tabControl1.Controls.Add(this.tabSinaleiros);
             this.tabControl1.Controls.Add(this.tabResultados);
+            this.tabControl1.Controls.Add(this.tabFalhas);
             this.tabControl1.Font = new System.Drawing.Font("Microsoft Sans Serif", 18F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.tabControl1.Location = new System.Drawing.Point(100, 12);
             this.tabControl1.Name = "tabControl1";
@@ -94,10 +98,10 @@
             // tabPulverizador
             // 
             this.tabPulverizador.Controls.Add(this.dgPulverizador);
-            this.tabPulverizador.Location = new System.Drawing.Point(4, 40);
+            this.tabPulverizador.Location = new System.Drawing.Point(4, 38);
             this.tabPulverizador.Name = "tabPulverizador";
             this.tabPulverizador.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPulverizador.Size = new System.Drawing.Size(904, 532);
+            this.tabPulverizador.Size = new System.Drawing.Size(904, 534);
             this.tabPulverizador.TabIndex = 0;
             this.tabPulverizador.Text = "Pulverizador";
             this.tabPulverizador.UseVisualStyleBackColor = true;
@@ -117,10 +121,10 @@
             // tabMovimentacao
             // 
             this.tabMovimentacao.Controls.Add(this.dgMovimentacao);
-            this.tabMovimentacao.Location = new System.Drawing.Point(4, 34);
+            this.tabMovimentacao.Location = new System.Drawing.Point(4, 38);
             this.tabMovimentacao.Name = "tabMovimentacao";
             this.tabMovimentacao.Padding = new System.Windows.Forms.Padding(3);
-            this.tabMovimentacao.Size = new System.Drawing.Size(680, 418);
+            this.tabMovimentacao.Size = new System.Drawing.Size(904, 534);
             this.tabMovimentacao.TabIndex = 1;
             this.tabMovimentacao.Text = "Movimentação";
             this.tabMovimentacao.UseVisualStyleBackColor = true;
@@ -163,10 +167,10 @@
             // tabSensoriamento
             // 
             this.tabSensoriamento.Controls.Add(this.dgSensoriamento);
-            this.tabSensoriamento.Location = new System.Drawing.Point(4, 34);
+            this.tabSensoriamento.Location = new System.Drawing.Point(4, 38);
             this.tabSensoriamento.Name = "tabSensoriamento";
             this.tabSensoriamento.Padding = new System.Windows.Forms.Padding(3);
-            this.tabSensoriamento.Size = new System.Drawing.Size(680, 418);
+            this.tabSensoriamento.Size = new System.Drawing.Size(904, 534);
             this.tabSensoriamento.TabIndex = 3;
             this.tabSensoriamento.Text = "Sensoriamento";
             this.tabSensoriamento.UseVisualStyleBackColor = true;
@@ -186,10 +190,10 @@
             // tabComunicacao
             // 
             this.tabComunicacao.Controls.Add(this.dgComunicacao);
-            this.tabComunicacao.Location = new System.Drawing.Point(4, 34);
+            this.tabComunicacao.Location = new System.Drawing.Point(4, 38);
             this.tabComunicacao.Name = "tabComunicacao";
             this.tabComunicacao.Padding = new System.Windows.Forms.Padding(3);
-            this.tabComunicacao.Size = new System.Drawing.Size(680, 418);
+            this.tabComunicacao.Size = new System.Drawing.Size(904, 534);
             this.tabComunicacao.TabIndex = 4;
             this.tabComunicacao.Text = "Comunicação";
             this.tabComunicacao.UseVisualStyleBackColor = true;
@@ -210,10 +214,10 @@
             // 
             this.tabCameras.Controls.Add(this.picCamera);
             this.tabCameras.Controls.Add(this.dgCameras);
-            this.tabCameras.Location = new System.Drawing.Point(4, 34);
+            this.tabCameras.Location = new System.Drawing.Point(4, 38);
             this.tabCameras.Name = "tabCameras";
             this.tabCameras.Padding = new System.Windows.Forms.Padding(3);
-            this.tabCameras.Size = new System.Drawing.Size(680, 418);
+            this.tabCameras.Size = new System.Drawing.Size(904, 534);
             this.tabCameras.TabIndex = 5;
             this.tabCameras.Text = "Câmeras";
             this.tabCameras.UseVisualStyleBackColor = true;
@@ -242,10 +246,10 @@
             // tabSinaleiros
             // 
             this.tabSinaleiros.Controls.Add(this.dgSinaleiros);
-            this.tabSinaleiros.Location = new System.Drawing.Point(4, 34);
+            this.tabSinaleiros.Location = new System.Drawing.Point(4, 38);
             this.tabSinaleiros.Name = "tabSinaleiros";
             this.tabSinaleiros.Padding = new System.Windows.Forms.Padding(3);
-            this.tabSinaleiros.Size = new System.Drawing.Size(680, 418);
+            this.tabSinaleiros.Size = new System.Drawing.Size(904, 534);
             this.tabSinaleiros.TabIndex = 6;
             this.tabSinaleiros.Text = "Sinaleiros";
             this.tabSinaleiros.UseVisualStyleBackColor = true;
@@ -265,10 +269,10 @@
             // tabResultados
             // 
             this.tabResultados.Controls.Add(this.dgResultados);
-            this.tabResultados.Location = new System.Drawing.Point(4, 34);
+            this.tabResultados.Location = new System.Drawing.Point(4, 38);
             this.tabResultados.Name = "tabResultados";
             this.tabResultados.Padding = new System.Windows.Forms.Padding(3);
-            this.tabResultados.Size = new System.Drawing.Size(680, 418);
+            this.tabResultados.Size = new System.Drawing.Size(904, 534);
             this.tabResultados.TabIndex = 7;
             this.tabResultados.Text = "Resultados";
             this.tabResultados.UseVisualStyleBackColor = true;
@@ -327,6 +331,27 @@
             this.picLoading.TabIndex = 15;
             this.picLoading.TabStop = false;
             // 
+            // tabFalhas
+            // 
+            this.tabFalhas.Controls.Add(this.tvwFalhas);
+            this.tabFalhas.Location = new System.Drawing.Point(4, 38);
+            this.tabFalhas.Name = "tabFalhas";
+            this.tabFalhas.Padding = new System.Windows.Forms.Padding(3);
+            this.tabFalhas.Size = new System.Drawing.Size(904, 534);
+            this.tabFalhas.TabIndex = 8;
+            this.tabFalhas.Text = "Cód. Falhas";
+            this.tabFalhas.UseVisualStyleBackColor = true;
+            // 
+            // tvwFalhas
+            // 
+            this.tvwFalhas.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.tvwFalhas.Location = new System.Drawing.Point(6, 6);
+            this.tvwFalhas.Name = "tvwFalhas";
+            this.tvwFalhas.Size = new System.Drawing.Size(892, 522);
+            this.tvwFalhas.TabIndex = 0;
+            // 
             // frmDiagnosticos
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@@ -365,6 +390,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.picDiagnosticarTudo)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.picIniciarDiagnostico)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.picLoading)).EndInit();
+            this.tabFalhas.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }
@@ -393,5 +419,7 @@
         private System.Windows.Forms.DataGridView dgResultados;
         private System.Windows.Forms.PictureBox picCamera;
         private System.Windows.Forms.PictureBox picLoading;
+        private System.Windows.Forms.TabPage tabFalhas;
+        private System.Windows.Forms.TreeView tvwFalhas;
     }
 }

AgroBase/AgroBase/Forms/IHM/frmDiagnosticos.cs

@@ -6,16 +6,10 @@ using AgroBase.Models.Modules;
 using AgroBase.Services;
 using System;
 using System.Collections.Generic;
-using System.ComponentModel;
-using System.Data;
-using System.Diagnostics;
 using System.Drawing;
 using System.Linq;
-using System.Text;
-using System.Threading;
 using System.Threading.Tasks;
 using System.Windows.Forms;
-using System.Windows.Forms.DataVisualization.Charting;
 using static AgroBase.Models.Enums;
 
 namespace AgroBase.Forms.IHM
@@ -72,6 +66,8 @@ namespace AgroBase.Forms.IHM
                     await IniciarDiagnostico(tabControl1.SelectedIndex);
                     tabControl1.SelectedIndex = 6;
                     await IniciarDiagnostico(tabControl1.SelectedIndex);
+                    tabControl1.SelectedIndex = 8;
+                    await IniciarDiagnostico(tabControl1.SelectedIndex);
                     FinalizarDiagnostico();
 
                     picLoading.Image = null;
@@ -183,11 +179,20 @@ namespace AgroBase.Forms.IHM
             PreencherDadosDiagnosticoCameras(Diagnosticos.FirstOrDefault(x => x.Modulo == T_Code.Cam));
             PreencherDadosDiagnosticoSinaleiros(Diagnosticos.FirstOrDefault(x => x.Modulo == T_Code.Sen));
             PreencherDadosTabelaResultado(dgResultados);
+            OperacaoModel.PopularTreeView(tvwFalhas, Variaveis.OperacaoEmAndamento.RetornaCodigoFalha());
         }
 
         private async Task<bool> IniciarDiagnostico(int idx)
         {
             bool Sucesso = false;
+
+            if (idx == 8)
+            {
+                OperacaoModel.PopularTreeView(tvwFalhas, Variaveis.OperacaoEmAndamento.RetornaCodigoFalha());
+
+                return true;
+            }
+
             var Diagnostico = Diagnosticos[idx];
             Diagnostico.Testes.ForEach(x =>
             {
@@ -523,8 +528,8 @@ namespace AgroBase.Forms.IHM
                 {
                     Componente = x.Modulo_ID,
                     Teste = "Temperatura",
-                    ValorPadrao = 85,
-                    ComplementoValorPadrao = "<"
+                    ValorPadrao = 10,
+                    ComplementoValorPadrao = ">"
                 },
                 new ColunasDiagnosticoModel()
                 {
@@ -598,10 +603,10 @@ namespace AgroBase.Forms.IHM
             var Testes = Diagnostico.Testes;
 
             TipoMovimentoDirecional _oldTipoMovimento = Variaveis.OperacaoEmAndamento.Controle.TipoMovimento;
-            int _oldRPM = Variaveis.OperacaoEmAndamento.Controle.RPM_SP;
+            double _oldPercentualVelocidade = Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP;
 
             Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = TipoMovimentoDirecional.Diagnostico;
-            Variaveis.OperacaoEmAndamento.Controle.RPM_SP = 20;
+            Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP = 20;
 
             DispositivosService<MovimentacaoUnificadaModel> Dispositivo = (DispositivosService<MovimentacaoUnificadaModel>)Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == Enums.T_Code.Mvd);
             
@@ -666,7 +671,7 @@ namespace AgroBase.Forms.IHM
             }
 
             Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = _oldTipoMovimento;
-            Variaveis.OperacaoEmAndamento.Controle.RPM_SP = _oldRPM;
+            Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP = _oldPercentualVelocidade;
 
             return true;
         }

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

@@ -61,6 +61,10 @@
             this.lblModoOperacao = new System.Windows.Forms.Label();
             this.txtModoOperacao = new System.Windows.Forms.TextBox();
             this.pnlSensores = new System.Windows.Forms.Panel();
+            this.lblOperacaoLiberada = new System.Windows.Forms.Label();
+            this.txtOperacaoLiberada = new System.Windows.Forms.TextBox();
+            this.pnlOrientacao = new System.Windows.Forms.Panel();
+            this.pnlInclinacao = new System.Windows.Forms.Panel();
             this.lblModoControle = new System.Windows.Forms.Label();
             this.cmbModoControle = new System.Windows.Forms.ComboBox();
             this.statusStrip1 = new System.Windows.Forms.StatusStrip();
@@ -71,13 +75,14 @@
             this.tabSensores = new System.Windows.Forms.TabPage();
             this.tabControle = new System.Windows.Forms.TabPage();
             this.pnlControle = new System.Windows.Forms.Panel();
-            this.tkbVelocidade = new System.Windows.Forms.TrackBar();
-            this.lblVelocidade = new System.Windows.Forms.Label();
+            this.pnlFreio = new System.Windows.Forms.Panel();
             this.lblAnguloDirecional = new System.Windows.Forms.Label();
             this.tkbAnguloDirecional = new System.Windows.Forms.TrackBar();
+            this.lblVelocidade = new System.Windows.Forms.Label();
+            this.tkbVelocidade = new System.Windows.Forms.TrackBar();
             this.picFechar = new System.Windows.Forms.PictureBox();
-            this.pnlOrientacao = new System.Windows.Forms.Panel();
-            this.pnlInclinacao = new System.Windows.Forms.Panel();
+            this.lblCodFalha = new System.Windows.Forms.Label();
+            this.btnCodFalha = new System.Windows.Forms.Button();
             this.pnlMapa.SuspendLayout();
             this.pnlSensores.SuspendLayout();
             this.statusStrip1.SuspendLayout();
@@ -85,8 +90,8 @@
             this.tabSensores.SuspendLayout();
             this.tabControle.SuspendLayout();
             this.pnlControle.SuspendLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.tkbVelocidade)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.tkbAnguloDirecional)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.tkbVelocidade)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.picFechar)).BeginInit();
             this.SuspendLayout();
             // 
@@ -139,7 +144,7 @@
             // txtStatusAtual
             // 
             this.txtStatusAtual.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
-            this.txtStatusAtual.Location = new System.Drawing.Point(164, 37);
+            this.txtStatusAtual.Location = new System.Drawing.Point(164, 101);
             this.txtStatusAtual.Name = "txtStatusAtual";
             this.txtStatusAtual.ReadOnly = true;
             this.txtStatusAtual.Size = new System.Drawing.Size(120, 26);
@@ -149,7 +154,7 @@
             // lblStatusAtual
             // 
             this.lblStatusAtual.AutoSize = true;
-            this.lblStatusAtual.Location = new System.Drawing.Point(3, 40);
+            this.lblStatusAtual.Location = new System.Drawing.Point(3, 104);
             this.lblStatusAtual.Name = "lblStatusAtual";
             this.lblStatusAtual.Size = new System.Drawing.Size(97, 20);
             this.lblStatusAtual.TabIndex = 5;
@@ -158,7 +163,7 @@
             // txtIniciadoEm
             // 
             this.txtIniciadoEm.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
-            this.txtIniciadoEm.Location = new System.Drawing.Point(164, 69);
+            this.txtIniciadoEm.Location = new System.Drawing.Point(164, 133);
             this.txtIniciadoEm.Name = "txtIniciadoEm";
             this.txtIniciadoEm.ReadOnly = true;
             this.txtIniciadoEm.Size = new System.Drawing.Size(120, 26);
@@ -168,7 +173,7 @@
             // lblIniciadoEm
             // 
             this.lblIniciadoEm.AutoSize = true;
-            this.lblIniciadoEm.Location = new System.Drawing.Point(3, 72);
+            this.lblIniciadoEm.Location = new System.Drawing.Point(3, 136);
             this.lblIniciadoEm.Name = "lblIniciadoEm";
             this.lblIniciadoEm.Size = new System.Drawing.Size(92, 20);
             this.lblIniciadoEm.TabIndex = 7;
@@ -177,7 +182,7 @@
             // txtConcluidoEm
             // 
             this.txtConcluidoEm.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
-            this.txtConcluidoEm.Location = new System.Drawing.Point(164, 101);
+            this.txtConcluidoEm.Location = new System.Drawing.Point(164, 165);
             this.txtConcluidoEm.Name = "txtConcluidoEm";
             this.txtConcluidoEm.ReadOnly = true;
             this.txtConcluidoEm.Size = new System.Drawing.Size(120, 26);
@@ -187,7 +192,7 @@
             // lblConcluidoEm
             // 
             this.lblConcluidoEm.AutoSize = true;
-            this.lblConcluidoEm.Location = new System.Drawing.Point(3, 104);
+            this.lblConcluidoEm.Location = new System.Drawing.Point(3, 168);
             this.lblConcluidoEm.Name = "lblConcluidoEm";
             this.lblConcluidoEm.Size = new System.Drawing.Size(107, 20);
             this.lblConcluidoEm.TabIndex = 9;
@@ -196,7 +201,7 @@
             // txtDistanciaPercorrida
             // 
             this.txtDistanciaPercorrida.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
-            this.txtDistanciaPercorrida.Location = new System.Drawing.Point(164, 133);
+            this.txtDistanciaPercorrida.Location = new System.Drawing.Point(164, 197);
             this.txtDistanciaPercorrida.Name = "txtDistanciaPercorrida";
             this.txtDistanciaPercorrida.ReadOnly = true;
             this.txtDistanciaPercorrida.Size = new System.Drawing.Size(120, 26);
@@ -206,7 +211,7 @@
             // lblDistanciaPercorrida
             // 
             this.lblDistanciaPercorrida.AutoSize = true;
-            this.lblDistanciaPercorrida.Location = new System.Drawing.Point(3, 136);
+            this.lblDistanciaPercorrida.Location = new System.Drawing.Point(3, 200);
             this.lblDistanciaPercorrida.Name = "lblDistanciaPercorrida";
             this.lblDistanciaPercorrida.Size = new System.Drawing.Size(151, 20);
             this.lblDistanciaPercorrida.TabIndex = 11;
@@ -215,7 +220,7 @@
             // txtTempoOperacao
             // 
             this.txtTempoOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
-            this.txtTempoOperacao.Location = new System.Drawing.Point(164, 165);
+            this.txtTempoOperacao.Location = new System.Drawing.Point(164, 229);
             this.txtTempoOperacao.Name = "txtTempoOperacao";
             this.txtTempoOperacao.ReadOnly = true;
             this.txtTempoOperacao.Size = new System.Drawing.Size(120, 26);
@@ -225,7 +230,7 @@
             // lblTempoOperacao
             // 
             this.lblTempoOperacao.AutoSize = true;
-            this.lblTempoOperacao.Location = new System.Drawing.Point(3, 168);
+            this.lblTempoOperacao.Location = new System.Drawing.Point(3, 232);
             this.lblTempoOperacao.Name = "lblTempoOperacao";
             this.lblTempoOperacao.Size = new System.Drawing.Size(154, 20);
             this.lblTempoOperacao.TabIndex = 13;
@@ -234,7 +239,7 @@
             // txtErvasIdentificadas
             // 
             this.txtErvasIdentificadas.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
-            this.txtErvasIdentificadas.Location = new System.Drawing.Point(164, 197);
+            this.txtErvasIdentificadas.Location = new System.Drawing.Point(164, 261);
             this.txtErvasIdentificadas.Name = "txtErvasIdentificadas";
             this.txtErvasIdentificadas.ReadOnly = true;
             this.txtErvasIdentificadas.Size = new System.Drawing.Size(120, 26);
@@ -244,7 +249,7 @@
             // lblErvasIdentificadas
             // 
             this.lblErvasIdentificadas.AutoSize = true;
-            this.lblErvasIdentificadas.Location = new System.Drawing.Point(3, 200);
+            this.lblErvasIdentificadas.Location = new System.Drawing.Point(3, 264);
             this.lblErvasIdentificadas.Name = "lblErvasIdentificadas";
             this.lblErvasIdentificadas.Size = new System.Drawing.Size(144, 20);
             this.lblErvasIdentificadas.TabIndex = 15;
@@ -253,7 +258,7 @@
             // txtHerbicidaAplicado
             // 
             this.txtHerbicidaAplicado.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
-            this.txtHerbicidaAplicado.Location = new System.Drawing.Point(164, 229);
+            this.txtHerbicidaAplicado.Location = new System.Drawing.Point(164, 293);
             this.txtHerbicidaAplicado.Name = "txtHerbicidaAplicado";
             this.txtHerbicidaAplicado.ReadOnly = true;
             this.txtHerbicidaAplicado.Size = new System.Drawing.Size(120, 26);
@@ -263,7 +268,7 @@
             // lblHerbicidaAplicado
             // 
             this.lblHerbicidaAplicado.AutoSize = true;
-            this.lblHerbicidaAplicado.Location = new System.Drawing.Point(3, 232);
+            this.lblHerbicidaAplicado.Location = new System.Drawing.Point(3, 296);
             this.lblHerbicidaAplicado.Name = "lblHerbicidaAplicado";
             this.lblHerbicidaAplicado.Size = new System.Drawing.Size(141, 20);
             this.lblHerbicidaAplicado.TabIndex = 17;
@@ -272,7 +277,7 @@
             // txtBateriaConsumida
             // 
             this.txtBateriaConsumida.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
-            this.txtBateriaConsumida.Location = new System.Drawing.Point(164, 261);
+            this.txtBateriaConsumida.Location = new System.Drawing.Point(164, 325);
             this.txtBateriaConsumida.Name = "txtBateriaConsumida";
             this.txtBateriaConsumida.ReadOnly = true;
             this.txtBateriaConsumida.Size = new System.Drawing.Size(120, 26);
@@ -282,7 +287,7 @@
             // lblBateriaConsumida
             // 
             this.lblBateriaConsumida.AutoSize = true;
-            this.lblBateriaConsumida.Location = new System.Drawing.Point(3, 264);
+            this.lblBateriaConsumida.Location = new System.Drawing.Point(3, 328);
             this.lblBateriaConsumida.Name = "lblBateriaConsumida";
             this.lblBateriaConsumida.Size = new System.Drawing.Size(144, 20);
             this.lblBateriaConsumida.TabIndex = 19;
@@ -290,7 +295,7 @@
             // 
             // pgbReservatorio
             // 
-            this.pgbReservatorio.Location = new System.Drawing.Point(164, 293);
+            this.pgbReservatorio.Location = new System.Drawing.Point(164, 357);
             this.pgbReservatorio.Name = "pgbReservatorio";
             this.pgbReservatorio.Size = new System.Drawing.Size(120, 26);
             this.pgbReservatorio.TabIndex = 21;
@@ -298,7 +303,7 @@
             // lblReservatorio
             // 
             this.lblReservatorio.AutoSize = true;
-            this.lblReservatorio.Location = new System.Drawing.Point(3, 299);
+            this.lblReservatorio.Location = new System.Drawing.Point(3, 363);
             this.lblReservatorio.Name = "lblReservatorio";
             this.lblReservatorio.Size = new System.Drawing.Size(127, 20);
             this.lblReservatorio.TabIndex = 23;
@@ -307,7 +312,7 @@
             // lblBateria
             // 
             this.lblBateria.AutoSize = true;
-            this.lblBateria.Location = new System.Drawing.Point(3, 331);
+            this.lblBateria.Location = new System.Drawing.Point(3, 395);
             this.lblBateria.Name = "lblBateria";
             this.lblBateria.Size = new System.Drawing.Size(88, 20);
             this.lblBateria.TabIndex = 25;
@@ -315,7 +320,7 @@
             // 
             // pgbBateria
             // 
-            this.pgbBateria.Location = new System.Drawing.Point(164, 325);
+            this.pgbBateria.Location = new System.Drawing.Point(164, 389);
             this.pgbBateria.Name = "pgbBateria";
             this.pgbBateria.Size = new System.Drawing.Size(120, 26);
             this.pgbBateria.TabIndex = 24;
@@ -323,7 +328,7 @@
             // lblOperacao
             // 
             this.lblOperacao.AutoSize = true;
-            this.lblOperacao.Location = new System.Drawing.Point(3, 363);
+            this.lblOperacao.Location = new System.Drawing.Point(3, 427);
             this.lblOperacao.Name = "lblOperacao";
             this.lblOperacao.Size = new System.Drawing.Size(107, 20);
             this.lblOperacao.TabIndex = 27;
@@ -331,7 +336,7 @@
             // 
             // pgbOperacao
             // 
-            this.pgbOperacao.Location = new System.Drawing.Point(164, 357);
+            this.pgbOperacao.Location = new System.Drawing.Point(164, 421);
             this.pgbOperacao.Name = "pgbOperacao";
             this.pgbOperacao.Size = new System.Drawing.Size(120, 26);
             this.pgbOperacao.TabIndex = 26;
@@ -339,7 +344,7 @@
             // lblRuaAtual
             // 
             this.lblRuaAtual.AutoSize = true;
-            this.lblRuaAtual.Location = new System.Drawing.Point(3, 395);
+            this.lblRuaAtual.Location = new System.Drawing.Point(3, 459);
             this.lblRuaAtual.Name = "lblRuaAtual";
             this.lblRuaAtual.Size = new System.Drawing.Size(108, 20);
             this.lblRuaAtual.TabIndex = 29;
@@ -347,7 +352,7 @@
             // 
             // pgbRuaAtual
             // 
-            this.pgbRuaAtual.Location = new System.Drawing.Point(164, 389);
+            this.pgbRuaAtual.Location = new System.Drawing.Point(164, 453);
             this.pgbRuaAtual.Name = "pgbRuaAtual";
             this.pgbRuaAtual.Size = new System.Drawing.Size(120, 26);
             this.pgbRuaAtual.TabIndex = 28;
@@ -374,6 +379,10 @@
             // pnlSensores
             // 
             this.pnlSensores.AutoScroll = true;
+            this.pnlSensores.Controls.Add(this.btnCodFalha);
+            this.pnlSensores.Controls.Add(this.lblCodFalha);
+            this.pnlSensores.Controls.Add(this.lblOperacaoLiberada);
+            this.pnlSensores.Controls.Add(this.txtOperacaoLiberada);
             this.pnlSensores.Controls.Add(this.pnlOrientacao);
             this.pnlSensores.Controls.Add(this.pnlInclinacao);
             this.pnlSensores.Controls.Add(this.lblModoOperacao);
@@ -409,6 +418,49 @@
             this.pnlSensores.Size = new System.Drawing.Size(307, 497);
             this.pnlSensores.TabIndex = 32;
             // 
+            // lblOperacaoLiberada
+            // 
+            this.lblOperacaoLiberada.AutoSize = true;
+            this.lblOperacaoLiberada.Location = new System.Drawing.Point(3, 40);
+            this.lblOperacaoLiberada.Name = "lblOperacaoLiberada";
+            this.lblOperacaoLiberada.Size = new System.Drawing.Size(145, 20);
+            this.lblOperacaoLiberada.TabIndex = 30;
+            this.lblOperacaoLiberada.Text = "Operação Liberada";
+            // 
+            // txtOperacaoLiberada
+            // 
+            this.txtOperacaoLiberada.Font = new System.Drawing.Font("Microsoft Sans Serif", 12.25F);
+            this.txtOperacaoLiberada.Location = new System.Drawing.Point(164, 37);
+            this.txtOperacaoLiberada.Name = "txtOperacaoLiberada";
+            this.txtOperacaoLiberada.ReadOnly = true;
+            this.txtOperacaoLiberada.Size = new System.Drawing.Size(120, 26);
+            this.txtOperacaoLiberada.TabIndex = 31;
+            this.txtOperacaoLiberada.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // pnlOrientacao
+            // 
+            this.pnlOrientacao.BackColor = System.Drawing.Color.White;
+            this.pnlOrientacao.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
+            this.pnlOrientacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
+            this.pnlOrientacao.Location = new System.Drawing.Point(184, 502);
+            this.pnlOrientacao.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlOrientacao.Name = "pnlOrientacao";
+            this.pnlOrientacao.Size = new System.Drawing.Size(100, 100);
+            this.pnlOrientacao.TabIndex = 12;
+            this.pnlOrientacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacao_Paint);
+            // 
+            // pnlInclinacao
+            // 
+            this.pnlInclinacao.BackColor = System.Drawing.Color.White;
+            this.pnlInclinacao.BackgroundImage = global::AgroBase.Properties.Resources.transferidor;
+            this.pnlInclinacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
+            this.pnlInclinacao.Location = new System.Drawing.Point(7, 502);
+            this.pnlInclinacao.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlInclinacao.Name = "pnlInclinacao";
+            this.pnlInclinacao.Size = new System.Drawing.Size(100, 100);
+            this.pnlInclinacao.TabIndex = 16;
+            this.pnlInclinacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlInclinacao_Paint);
+            // 
             // lblModoControle
             // 
             this.lblModoControle.AutoSize = true;
@@ -428,7 +480,6 @@
             this.cmbModoControle.Name = "cmbModoControle";
             this.cmbModoControle.Size = new System.Drawing.Size(120, 28);
             this.cmbModoControle.TabIndex = 30;
-            this.cmbModoControle.SelectedIndexChanged += new System.EventHandler(this.cmbModoControle_SelectedIndexChanged_1);
             // 
             // statusStrip1
             // 
@@ -496,6 +547,7 @@
             // pnlControle
             // 
             this.pnlControle.AutoScroll = true;
+            this.pnlControle.Controls.Add(this.pnlFreio);
             this.pnlControle.Controls.Add(this.lblAnguloDirecional);
             this.pnlControle.Controls.Add(this.tkbAnguloDirecional);
             this.pnlControle.Controls.Add(this.lblVelocidade);
@@ -509,26 +561,13 @@
             this.pnlControle.Size = new System.Drawing.Size(307, 497);
             this.pnlControle.TabIndex = 0;
             // 
-            // tkbVelocidade
+            // pnlFreio
             // 
-            this.tkbVelocidade.Enabled = false;
-            this.tkbVelocidade.Location = new System.Drawing.Point(7, 98);
-            this.tkbVelocidade.Maximum = 100;
-            this.tkbVelocidade.Name = "tkbVelocidade";
-            this.tkbVelocidade.Size = new System.Drawing.Size(277, 45);
-            this.tkbVelocidade.TabIndex = 32;
-            this.tkbVelocidade.TickFrequency = 10;
-            this.tkbVelocidade.Value = 30;
-            this.tkbVelocidade.Scroll += new System.EventHandler(this.tkbVelocidade_Scroll);
-            // 
-            // lblVelocidade
-            // 
-            this.lblVelocidade.AutoSize = true;
-            this.lblVelocidade.Location = new System.Drawing.Point(3, 75);
-            this.lblVelocidade.Name = "lblVelocidade";
-            this.lblVelocidade.Size = new System.Drawing.Size(179, 20);
-            this.lblVelocidade.TabIndex = 33;
-            this.lblVelocidade.Text = "Velocidade: 30% 5 km/h";
+            this.pnlFreio.Location = new System.Drawing.Point(134, 272);
+            this.pnlFreio.Name = "pnlFreio";
+            this.pnlFreio.Size = new System.Drawing.Size(150, 150);
+            this.pnlFreio.TabIndex = 36;
+            this.pnlFreio.Visible = false;
             // 
             // lblAnguloDirecional
             // 
@@ -551,6 +590,27 @@
             this.tkbAnguloDirecional.Value = 20;
             this.tkbAnguloDirecional.Scroll += new System.EventHandler(this.tkbAnguloDirecional_Scroll);
             // 
+            // lblVelocidade
+            // 
+            this.lblVelocidade.AutoSize = true;
+            this.lblVelocidade.Location = new System.Drawing.Point(3, 75);
+            this.lblVelocidade.Name = "lblVelocidade";
+            this.lblVelocidade.Size = new System.Drawing.Size(179, 20);
+            this.lblVelocidade.TabIndex = 33;
+            this.lblVelocidade.Text = "Velocidade: 30% 5 km/h";
+            // 
+            // tkbVelocidade
+            // 
+            this.tkbVelocidade.Enabled = false;
+            this.tkbVelocidade.Location = new System.Drawing.Point(7, 98);
+            this.tkbVelocidade.Maximum = 100;
+            this.tkbVelocidade.Name = "tkbVelocidade";
+            this.tkbVelocidade.Size = new System.Drawing.Size(277, 45);
+            this.tkbVelocidade.TabIndex = 32;
+            this.tkbVelocidade.TickFrequency = 10;
+            this.tkbVelocidade.Value = 30;
+            this.tkbVelocidade.Scroll += new System.EventHandler(this.tkbVelocidade_Scroll);
+            // 
             // picFechar
             // 
             this.picFechar.Image = global::AgroBase.Properties.Resources.fechar;
@@ -561,29 +621,24 @@
             this.picFechar.TabIndex = 1;
             this.picFechar.TabStop = false;
             // 
-            // pnlOrientacao
+            // lblCodFalha
             // 
-            this.pnlOrientacao.BackColor = System.Drawing.Color.White;
-            this.pnlOrientacao.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
-            this.pnlOrientacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
-            this.pnlOrientacao.Location = new System.Drawing.Point(184, 438);
-            this.pnlOrientacao.Margin = new System.Windows.Forms.Padding(2);
-            this.pnlOrientacao.Name = "pnlOrientacao";
-            this.pnlOrientacao.Size = new System.Drawing.Size(100, 100);
-            this.pnlOrientacao.TabIndex = 12;
-            this.pnlOrientacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacao_Paint);
+            this.lblCodFalha.AutoSize = true;
+            this.lblCodFalha.Location = new System.Drawing.Point(3, 72);
+            this.lblCodFalha.Name = "lblCodFalha";
+            this.lblCodFalha.Size = new System.Drawing.Size(125, 20);
+            this.lblCodFalha.TabIndex = 32;
+            this.lblCodFalha.Text = "Código de Falha";
             // 
-            // pnlInclinacao
+            // btnCodFalha
             // 
-            this.pnlInclinacao.BackColor = System.Drawing.Color.White;
-            this.pnlInclinacao.BackgroundImage = global::AgroBase.Properties.Resources.transferidor;
-            this.pnlInclinacao.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
-            this.pnlInclinacao.Location = new System.Drawing.Point(7, 438);
-            this.pnlInclinacao.Margin = new System.Windows.Forms.Padding(2);
-            this.pnlInclinacao.Name = "pnlInclinacao";
-            this.pnlInclinacao.Size = new System.Drawing.Size(100, 100);
-            this.pnlInclinacao.TabIndex = 16;
-            this.pnlInclinacao.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlInclinacao_Paint);
+            this.btnCodFalha.Location = new System.Drawing.Point(164, 69);
+            this.btnCodFalha.Name = "btnCodFalha";
+            this.btnCodFalha.Size = new System.Drawing.Size(120, 26);
+            this.btnCodFalha.TabIndex = 33;
+            this.btnCodFalha.Text = "0";
+            this.btnCodFalha.UseVisualStyleBackColor = true;
+            this.btnCodFalha.Click += new System.EventHandler(this.btnCodFalha_Click);
             // 
             // frmDialogoMapa
             // 
@@ -604,6 +659,8 @@
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "frmDialogoMapa";
             this.TopMost = true;
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmDialogoMapa_FormClosing);
+            this.Load += new System.EventHandler(this.frmDialogoMapa_Load);
             this.pnlMapa.ResumeLayout(false);
             this.pnlSensores.ResumeLayout(false);
             this.pnlSensores.PerformLayout();
@@ -614,8 +671,8 @@
             this.tabControle.ResumeLayout(false);
             this.pnlControle.ResumeLayout(false);
             this.pnlControle.PerformLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.tkbVelocidade)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.tkbAnguloDirecional)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.tkbVelocidade)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.picFechar)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();
@@ -674,5 +731,10 @@
         private System.Windows.Forms.TrackBar tkbVelocidade;
         private System.Windows.Forms.Label lblAnguloDirecional;
         private System.Windows.Forms.TrackBar tkbAnguloDirecional;
+        private System.Windows.Forms.Panel pnlFreio;
+        private System.Windows.Forms.Label lblOperacaoLiberada;
+        private System.Windows.Forms.TextBox txtOperacaoLiberada;
+        private System.Windows.Forms.Button btnCodFalha;
+        private System.Windows.Forms.Label lblCodFalha;
     }
 }

AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs

@@ -1,15 +1,10 @@
 using AgroBase.Models;
-using AgroBase.Models.Modules;
 using AgroBase.Services;
-using CefSharp.DevTools.CSS;
-using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
-using System.ComponentModel;
 using System.Data;
 using System.Drawing;
 using System.Linq;
-using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
 
@@ -17,7 +12,8 @@ namespace AgroBase.Forms.IHM
 {
     public partial class frmDialogoMapa : Form
     {
-        Timer tmrLeitura = new Timer() { Interval = 500 };
+        System.Timers.Timer tmrLeitura = new System.Timers.Timer() { Interval = 500 };
+        private ulong CodigoFalha = 0;
 
         public frmDialogoMapa()
         {
@@ -30,9 +26,9 @@ namespace AgroBase.Forms.IHM
             this.SetStyle(ControlStyles.OptimizedDoubleBuffer, true);
 
             pnlJoystick.GetType().GetMethod("SetStyle", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic).Invoke(pnlJoystick, new object[] { ControlStyles.UserPaint | ControlStyles.AllPaintingInWmPaint | ControlStyles.OptimizedDoubleBuffer, true });
+            pnlFreio.GetType().GetMethod("SetStyle", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic).Invoke(pnlFreio, new object[] { ControlStyles.UserPaint | ControlStyles.AllPaintingInWmPaint | ControlStyles.OptimizedDoubleBuffer, true });
 
-            tmrLeitura.Tick += tmrLeitura_Tick;
-            tmrLeitura.Start();
+            tmrLeitura.Elapsed += tmrLeitura_Elapsed;
 
             cmbModoControle.Items.Clear();
             cmbModoControle.Items.AddRange(Enum.GetNames(typeof(Enums.TipoMovimentoDirecional)));
@@ -60,6 +56,18 @@ namespace AgroBase.Forms.IHM
             });
         }
 
+        private void frmDialogoMapa_Load(object sender, EventArgs e)
+        {
+            tmrLeitura.Start();
+        }
+
+        private void frmDialogoMapa_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            tmrLeitura.Stop();
+            tmrLeitura.Elapsed -= tmrLeitura_Elapsed;
+            tmrLeitura.Dispose();
+        }
+
         public async Task AtualizarRuasSelecionadas(List<string> ruasSelecionadas)
         {
             Variaveis.OperacaoEmAndamento.AtualizaListaCameras(pnlCameraCaminho, new List<Panel>(){ pnlCameraSoloE, pnlCameraSoloD }, true);
@@ -70,58 +78,68 @@ namespace AgroBase.Forms.IHM
 
         public void IniciarOperacao()
         {
-            Variaveis.OperacaoEmAndamento.IniciarOperacao();
+            Task.Run(async () => {
+                await Variaveis.OperacaoEmAndamento.IniciarOperacao();
 
-            InicializarModoManual();
+                //InicializarModoManual();
+            });
         }
 
-        private void tmrLeitura_Tick(object sender, EventArgs e)
+        private void tmrLeitura_Elapsed(object sender, EventArgs e)
         {
-            pnlOrientacao.Invalidate();
-            pnlInclinacao.Invalidate();
+            pnlOrientacao.Invoke((MethodInvoker)delegate {
+                pnlOrientacao.Invalidate();
+                pnlInclinacao.Invalidate();
 
-            var ultimaLeitura = Variaveis.OperacaoEmAndamento.CamerasSolo.OrderByDescending(x => x.Leitura.timestamp).FirstOrDefault();
-            if (ultimaLeitura != null)
-            {
-                lblUltimaLeituraSolo.Text = "Última Leitura Solo: " + FuncoesGlobais.TimestampToDate(ultimaLeitura.Leitura.timestamp);
-            }
-            if (Variaveis.OperacaoEmAndamento.CameraCaminhoKinect != null)
-            {
-                lblUltimaLeituraCaminho.Text = "Última Leitura Caminho: " + FuncoesGlobais.TimestampToDate(Variaveis.OperacaoEmAndamento.CameraCaminhoKinect.Leitura.timestamp);
-            }
-            lblPerformance.Text = Variaveis.OperacaoEmAndamento.PerformanceStr;
+                var ultimaLeitura = Variaveis.OperacaoEmAndamento.CamerasSolo.OrderByDescending(x => x.Leitura.timestamp).FirstOrDefault();
+                if (ultimaLeitura != null)
+                {
+                    lblUltimaLeituraSolo.Text = "Última Leitura Solo: " + FuncoesGlobais.TimestampToDate(ultimaLeitura.Leitura.timestamp);
+                }
+                if (Variaveis.OperacaoEmAndamento.CameraCaminhoKinect != null)
+                {
+                    lblUltimaLeituraCaminho.Text = "Última Leitura Caminho: " + FuncoesGlobais.TimestampToDate(Variaveis.OperacaoEmAndamento.CameraCaminhoKinect.Leitura.timestamp);
+                }
+                lblPerformance.Text = Variaveis.OperacaoEmAndamento.PerformanceStr;
 
-            txtModoOperacao.Text = Variaveis.OperacaoEmAndamento.Modo.ToString();
-            txtStatusAtual.Text = Variaveis.OperacaoEmAndamento.StatusAtual.ToString();
-            txtIniciadoEm.Text = new DateTime(Variaveis.OperacaoEmAndamento.TimestampInicio).ToString("dd/MM HH:mm:ss");
-            txtConcluidoEm.Text = new DateTime(Variaveis.OperacaoEmAndamento.TimestampFim).ToString("dd/MM HH:mm:ss");
-            txtDistanciaPercorrida.Text = Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Sum().ToString("0.00") + " m";
-            txtTempoOperacao.Text = Variaveis.OperacaoEmAndamento.Tempo.Hours.ToString("00") + ":" + Variaveis.OperacaoEmAndamento.Tempo.Minutes.ToString("00") + ":" + Variaveis.OperacaoEmAndamento.Tempo.Seconds.ToString("00");
-            txtErvasIdentificadas.Text = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ErvasIdentificadas.ToString("000");
-            txtHerbicidaAplicado.Text = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.HerbicidaConsumido.ToString("0.000") + " L";
-            txtBateriaConsumida.Text = Variaveis.OperacaoEmAndamento.Sensoriamento.BateriaConsumida.ToString("0.00") + "%";
+                lblMapaCarregado.Text = "Operação: " + Variaveis.OperacaoEmAndamento.Descricao;
 
-            FuncoesGlobais.PreencheValorProgressBar(pgbReservatorio, Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio);
-            lblReservatorio.Text = "Reservatório: " + (Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio < 0 ? 0 : Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio).ToString("0.00") + "%";
+                txtModoOperacao.Text = Variaveis.OperacaoEmAndamento.Modo.ToString();
+                bool opLiberada = Variaveis.OperacaoEmAndamento.OperacaoLiberada;
+                txtOperacaoLiberada.Text = opLiberada ? "Sim" : "Não";
+                txtOperacaoLiberada.ForeColor = opLiberada ? Color.Black : Color.Red;
+                CodigoFalha = Variaveis.OperacaoEmAndamento.RetornaCodigoFalha();
+                btnCodFalha.Text = CodigoFalha.ToString();
+                txtStatusAtual.Text = Variaveis.OperacaoEmAndamento.StatusAtual.ToString();
+                txtIniciadoEm.Text = Variaveis.OperacaoEmAndamento.TimestampInicio == 0 ? "Aguardando" : new DateTime(Variaveis.OperacaoEmAndamento.TimestampInicio).ToString("dd/MM HH:mm:ss");
+                txtConcluidoEm.Text = Variaveis.OperacaoEmAndamento.TimestampFim == 0 ? "Aguardando" : new DateTime(Variaveis.OperacaoEmAndamento.TimestampFim).ToString("dd/MM HH:mm:ss");
+                txtDistanciaPercorrida.Text = Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida.Sum().ToString("0.00") + " m";
+                txtTempoOperacao.Text = Variaveis.OperacaoEmAndamento.Tempo.Hours.ToString("00") + ":" + Variaveis.OperacaoEmAndamento.Tempo.Minutes.ToString("00") + ":" + Variaveis.OperacaoEmAndamento.Tempo.Seconds.ToString("00");
+                txtErvasIdentificadas.Text = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ErvasIdentificadas.ToString();
+                txtHerbicidaAplicado.Text = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.HerbicidaConsumido.ToString("0.000") + " L";
+                txtBateriaConsumida.Text = Variaveis.OperacaoEmAndamento.Sensoriamento.BateriaConsumida.ToString("0.00") + " %";
 
-            FuncoesGlobais.PreencheValorProgressBar(pgbBateria, Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria);
-            lblBateria.Text = "Bateria: " + (PZEMService.Iniciado && PZEMService.UltimaLeitura != null ? PZEMService.UltimaLeitura.Tensao.ToString("0.00") + "v " + PZEMService.UltimaLeitura.Corrente.ToString("0.00") + "A " : "") + (Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria < 0 ? 0 : Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria).ToString("0.00") + "%";
+                FuncoesGlobais.PreencheValorProgressBar(pgbReservatorio, Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio);
+                lblReservatorio.Text = "Reservatório: " + (Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio < 0 ? 0 : Variaveis.OperacaoEmAndamento.DispAtu.Dados.PercentualReservatorio).ToString("0.00") + "%";
 
-            FuncoesGlobais.PreencheValorProgressBar(pgbOperacao, Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto);
-            lblOperacao.Text = "Operação: " + (Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto < 0 ? 0 : Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto).ToString("0.00") + "%";
-            FuncoesGlobais.PreencheValorProgressBar(pgbRuaAtual, Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua);
-            lblRuaAtual.Text = "Rua Atual: " + (Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua < 0 ? 0 : Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua).ToString("0.00") + "%";
+                FuncoesGlobais.PreencheValorProgressBar(pgbBateria, Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria);
+                lblBateria.Text = "Bateria: " + (PZEMService.Iniciado && PZEMService.UltimaLeitura != null ? PZEMService.UltimaLeitura.Tensao.ToString("0.00") + "v " + PZEMService.UltimaLeitura.Corrente.ToString("0.00") + "A " : "") + (Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria < 0 ? 0 : Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria).ToString("0.00") + "%";
 
-            if (Variaveis.OperacaoEmAndamento.Modo != Enums.ModoOperacao.Manual)
-            {
-                cmbModoControle.SelectedIndex = (int)Variaveis.OperacaoEmAndamento.Controle.TipoMovimento;
+                FuncoesGlobais.PreencheValorProgressBar(pgbOperacao, Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto);
+                lblOperacao.Text = "Operação: " + (Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto < 0 ? 0 : Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoTrajeto).ToString("0.00") + "%";
+                FuncoesGlobais.PreencheValorProgressBar(pgbRuaAtual, Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua);
+                lblRuaAtual.Text = "Rua Atual: " + (Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua < 0 ? 0 : Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.ProgressoRua).ToString("0.00") + "%";
 
-                double Percentual = (Variaveis.OperacaoEmAndamento.Controle.RPM_SP / (Variaveis.OperacaoEmAndamento.Controle.RPM_Max / VariaveisEquipamento.RelacaoRPM)) * 100.0;
-                tkbVelocidade.Value = Convert.ToInt32(Percentual);
+                if (Variaveis.OperacaoEmAndamento.Modo != Enums.ModoOperacao.Manual)
+                {
+                    cmbModoControle.SelectedIndex = (int)Variaveis.OperacaoEmAndamento.Controle.TipoMovimento;
 
-                tkbAnguloDirecional.Value = Math.Abs(Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.Angulo));
-            }
+                    double Percentual = (Variaveis.OperacaoEmAndamento.Controle.RPM_SP / VariaveisEquipamento.RPM_Max_Roda) * 100.0;
+                    tkbVelocidade.Value = Convert.ToInt32(Percentual);
 
+                    tkbAnguloDirecional.Value = Math.Abs(Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.Angulo));
+                }
+            });
         }
 
         private void pnlOrientacao_Paint(object sender, PaintEventArgs e)
@@ -154,6 +172,11 @@ namespace AgroBase.Forms.IHM
         private int joystickRadius;
         private Point joystickPosition;
 
+        private Point freioPosition;
+        private Point freioStartPosition;
+        private bool isDraggingFreio = false;
+        private bool isBrakeLocked = false;
+
         private void AtualizarElementosModoManual()
         {
             cmbModoControle.Enabled = false;
@@ -161,18 +184,19 @@ namespace AgroBase.Forms.IHM
             tkbVelocidade.Enabled = false;
             pnlJoystick.Visible = false;
 
+            cmbModoControle.SelectedIndex = (int)Variaveis.OperacaoEmAndamento.Controle.TipoMovimento;
+
             tkbAnguloDirecional.Minimum = 0;
             tkbAnguloDirecional.Maximum = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.Angulo_Max);
-            tkbAnguloDirecional.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.Angulo);
+            FuncoesGlobais.PreencheValorTrackBar(tkbAnguloDirecional, Variaveis.OperacaoEmAndamento.Controle.Angulo);
 
-            double Percentual = (Variaveis.OperacaoEmAndamento.Controle.RPM_SP / (Variaveis.OperacaoEmAndamento.Controle.RPM_Max / VariaveisEquipamento.RelacaoRPM)) * 100.0;
-            tkbVelocidade.Value = Convert.ToInt32(Percentual);
+            FuncoesGlobais.PreencheValorTrackBar(tkbVelocidade, Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP);
 
             tkbVelocidade_Scroll(null, null);
             tkbAnguloDirecional_Scroll(null, null);
         }
 
-        private void InicializarModoManual()
+        public void InicializarModoManual()
         {
             AtualizarElementosModoManual();
 
@@ -190,9 +214,10 @@ namespace AgroBase.Forms.IHM
                 tkbAnguloDirecional.Enabled = true;
 
                 pnlJoystick.Visible = true;
+                pnlFreio.Visible = true;
 
                 // Configurar o painel do joystick
-                pnlJoystick.BackColor = Color.FromArgb(128, 0, 0, 0); // Fundo semitransparente
+                pnlJoystick.BackColor = Color.LightGray; // Fundo semitransparente
 
                 // Definir região circular para o painel
                 System.Drawing.Drawing2D.GraphicsPath path = new System.Drawing.Drawing2D.GraphicsPath();
@@ -214,12 +239,26 @@ namespace AgroBase.Forms.IHM
                 pnlJoystick.MouseMove += PanelJoystickBack_MouseMove;
                 pnlJoystick.MouseUp += PanelJoystickBack_MouseUp;
 
+                pnlFreio.BackColor = Color.LightGray;
+                pnlFreio.BorderStyle = BorderStyle.FixedSingle;
+
+                // Eventos de toque/pressão
+                pnlFreio.Paint += BrakePanel_Paint;
+                pnlFreio.MouseDown += BrakePanel_MouseDown;
+                pnlFreio.MouseMove += BrakePanel_MouseMove;
+                pnlFreio.MouseUp += BrakePanel_MouseUp;
+
+                // Configuração inicial do freio
+                freioStartPosition = new Point(pnlFreio.Width / 2 - 20, 10);
+                freioPosition = freioStartPosition;
+
                 Variaveis.OperacaoEmAndamento.AtualizaListaCameras(pnlCameraCaminho, new List<Panel>() { pnlCameraSoloE, pnlCameraSoloD }, true);
 
                 IniciarOperacao();
             }
         }
 
+        #region JOYSTICK
         private void PanelJoystickBack_Paint(object sender, PaintEventArgs e)
         {
             e.Graphics.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
@@ -300,22 +339,104 @@ namespace AgroBase.Forms.IHM
             }
         }
 
-        private void CmbModoControle_SelectedIndexChanged(object sender, EventArgs e)
+        #endregion
+
+        #region FREIO
+        // Desenho do trilho e trava no painel do freio
+        private void BrakePanel_Paint(object sender, PaintEventArgs e)
         {
-            Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = (Enums.TipoMovimentoDirecional)cmbModoControle.SelectedIndex;
+            Panel panel = sender as Panel;
+            e.Graphics.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
+
+            // Desenhar trilha do freio (trajetória vertical)
+            e.Graphics.DrawLine(new Pen(Color.Black, 5), panel.Width / 2, 10, panel.Width / 2, panel.Height - 50);
+
+            // Desenhar a área de trava (na lateral direita)
+            e.Graphics.DrawRectangle(new Pen(Color.Blue, 3), panel.Width - 30, panel.Height - 60, 20, 40);
+
+            // Desenhar o botão de freio atual
+            e.Graphics.FillEllipse(Brushes.Red, freioPosition.X, freioPosition.Y, 40, 40);
         }
 
-        private void cmbModoControle_SelectedIndexChanged_1(object sender, EventArgs e)
+        // Iniciar o arraste
+        private void BrakePanel_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (new Rectangle(freioPosition.X, freioPosition.Y, 40, 40).Contains(e.Location))
+            {
+                isDraggingFreio = true;
+            }
+        }
+
+        // Movimentar o botão de freio
+        private void BrakePanel_MouseMove(object sender, MouseEventArgs e)
+        {
+            if (isDraggingFreio)
+            {
+                // Calcula a posição ao arrastar
+                int deltaY = e.Y - freioPosition.Y;
+                int newPosX = freioPosition.X;
+                int newPosY = freioPosition.Y + deltaY;
+
+                // Limitar o movimento do freio ao trilho e destravar se o usuário mover para fora da trava
+                if (!isBrakeLocked || (isBrakeLocked && e.X < pnlFreio.Width - 30))
+                {
+                    isBrakeLocked = false; // Destrava o freio se mover para fora
+
+                    // Restringe o movimento vertical dentro da área do trilho
+                    if (newPosY >= 10 && newPosY <= pnlFreio.Height - 50)
+                    {
+                        freioPosition = new Point(newPosX, newPosY);
+                        pnlFreio.Invalidate(); // Redesenha o painel
+
+                        // Enviar comando de freio
+                        GeneralJoystick.EnviaComandoMotor(Keys.Space, Enums.T_Code.Mov);
+                    }
+                }
+
+                // Verifica se o usuário está na área de trava
+                if (freioPosition.Y >= pnlFreio.Height - 90 && e.X >= pnlFreio.Width - 30)
+                {
+                    isBrakeLocked = true; // Freio travado
+                    freioPosition = new Point(pnlFreio.Width - 40, pnlFreio.Height - 60); // Posiciona o freio na trava
+                    pnlFreio.Invalidate();
+                }
+            }
+        }
+
+        // Soltar o botão de freio
+        private void BrakePanel_MouseUp(object sender, MouseEventArgs e)
+        {
+            isDraggingFreio = false;
+
+            if (!isBrakeLocked)
+            {
+                // Se o freio não estiver travado, retorna à posição inicial
+                freioPosition = freioStartPosition;
+                pnlFreio.Invalidate(); // Redesenha o painel
+
+                // Enviar comando para desativar o freio
+                GeneralJoystick.EnviaComandoMotor(Keys.Escape, Enums.T_Code.Mov);
+            }
+            else
+            {
+                // Freio travado, mantém travado
+                GeneralJoystick.EnviaComandoMotor(Keys.Space, Enums.T_Code.Mov);
+            }
+        }
+
+        #endregion
+
+        private void CmbModoControle_SelectedIndexChanged(object sender, EventArgs e)
         {
             Variaveis.OperacaoEmAndamento.Controle.TipoMovimento = (Enums.TipoMovimentoDirecional)cmbModoControle.SelectedIndex;
         }
 
         private void tkbVelocidade_Scroll(object sender, EventArgs e)
         {
-            double RPM = (tkbVelocidade.Value / 100.0) * Variaveis.OperacaoEmAndamento.Controle.RPM_Max / VariaveisEquipamento.RelacaoRPM;
+            double RPM = (tkbVelocidade.Value / 100.0) * VariaveisEquipamento.RPM_Max_Roda;
             double Velocidade = MovimentacaoModel.CalculaVelocidadeRPM(RPM);
 
-            Variaveis.OperacaoEmAndamento.Controle.RPM_SP = Convert.ToInt32(RPM);
+            Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP = tkbVelocidade.Value;
 
             lblVelocidade.Text = $"Velocidade: {tkbVelocidade.Value}% {Velocidade.ToString("0.00")} km/h";
         }
@@ -330,6 +451,11 @@ namespace AgroBase.Forms.IHM
 
         #endregion
 
-
+        private void btnCodFalha_Click(object sender, EventArgs e)
+        {
+            string DescricaoFalha = OperacaoModel.DescricaoCodigoFalha(CodigoFalha);
+            MessageBox.Show($"{DescricaoFalha}", "Código de Falha", MessageBoxButtons.OK, MessageBoxIcon.Information);
+        }
+    
     }
 }

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

@@ -60,6 +60,8 @@
             this.lblD_A05 = new System.Windows.Forms.Label();
             this.lblStatus = new System.Windows.Forms.Label();
             this.lblVersao = new System.Windows.Forms.Label();
+            this.lblOperacaoLiberada = new System.Windows.Forms.Label();
+            this.lblCodigoFalha = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.picManual)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.picDiagnosticos)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.picOperacao)).BeginInit();
@@ -120,7 +122,7 @@
             this.lblMqtt.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right)));
             this.lblMqtt.AutoSize = true;
             this.lblMqtt.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblMqtt.Location = new System.Drawing.Point(473, 578);
+            this.lblMqtt.Location = new System.Drawing.Point(473, 508);
             this.lblMqtt.Name = "lblMqtt";
             this.lblMqtt.Size = new System.Drawing.Size(114, 13);
             this.lblMqtt.TabIndex = 13;
@@ -318,7 +320,7 @@
             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(850, 517);
+            this.lblDesligar.Location = new System.Drawing.Point(850, 383);
             this.lblDesligar.Name = "lblDesligar";
             this.lblDesligar.Size = new System.Drawing.Size(102, 24);
             this.lblDesligar.TabIndex = 36;
@@ -329,7 +331,7 @@
             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(489, 517);
+            this.lblModoManual.Location = new System.Drawing.Point(489, 383);
             this.lblModoManual.Name = "lblModoManual";
             this.lblModoManual.Size = new System.Drawing.Size(153, 24);
             this.lblModoManual.TabIndex = 38;
@@ -339,7 +341,7 @@
             // 
             this.picManual.Cursor = System.Windows.Forms.Cursors.Default;
             this.picManual.Image = global::AgroBase.Properties.Resources.joystick;
-            this.picManual.Location = new System.Drawing.Point(491, 364);
+            this.picManual.Location = new System.Drawing.Point(491, 230);
             this.picManual.Name = "picManual";
             this.picManual.Size = new System.Drawing.Size(150, 150);
             this.picManual.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
@@ -383,7 +385,7 @@
             // 
             this.picDesligar.Cursor = System.Windows.Forms.Cursors.Default;
             this.picDesligar.Image = global::AgroBase.Properties.Resources.desligar;
-            this.picDesligar.Location = new System.Drawing.Point(827, 364);
+            this.picDesligar.Location = new System.Drawing.Point(827, 230);
             this.picDesligar.Name = "picDesligar";
             this.picDesligar.Size = new System.Drawing.Size(150, 150);
             this.picDesligar.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
@@ -416,11 +418,11 @@
             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(933, 578);
+            this.lblStatus.Location = new System.Drawing.Point(473, 558);
             this.lblStatus.Name = "lblStatus";
-            this.lblStatus.Size = new System.Drawing.Size(44, 13);
+            this.lblStatus.Size = new System.Drawing.Size(84, 13);
             this.lblStatus.TabIndex = 40;
-            this.lblStatus.Text = "Iniciado";
+            this.lblStatus.Text = "Sistema Iniciado";
             // 
             // lblVersao
             // 
@@ -433,12 +435,37 @@
             this.lblVersao.TabIndex = 41;
             this.lblVersao.Text = "v 0";
             // 
+            // lblOperacaoLiberada
+            // 
+            this.lblOperacaoLiberada.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblOperacaoLiberada.AutoSize = true;
+            this.lblOperacaoLiberada.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblOperacaoLiberada.Location = new System.Drawing.Point(473, 481);
+            this.lblOperacaoLiberada.Name = "lblOperacaoLiberada";
+            this.lblOperacaoLiberada.Size = new System.Drawing.Size(124, 13);
+            this.lblOperacaoLiberada.TabIndex = 42;
+            this.lblOperacaoLiberada.Text = "Operação Liberada: Não";
+            // 
+            // lblCodigoFalha
+            // 
+            this.lblCodigoFalha.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right)));
+            this.lblCodigoFalha.AutoSize = true;
+            this.lblCodigoFalha.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.lblCodigoFalha.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblCodigoFalha.Location = new System.Drawing.Point(473, 534);
+            this.lblCodigoFalha.Name = "lblCodigoFalha";
+            this.lblCodigoFalha.Size = new System.Drawing.Size(96, 13);
+            this.lblCodigoFalha.TabIndex = 43;
+            this.lblCodigoFalha.Text = "Código de Falha: 0";
+            // 
             // 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(1024, 600);
+            this.Controls.Add(this.lblCodigoFalha);
+            this.Controls.Add(this.lblOperacaoLiberada);
             this.Controls.Add(this.lblVersao);
             this.Controls.Add(this.lblStatus);
             this.Controls.Add(this.lblD_A05);
@@ -523,5 +550,7 @@
         private System.Windows.Forms.Label lblD_A05;
         public System.Windows.Forms.Label lblStatus;
         public System.Windows.Forms.Label lblVersao;
+        private System.Windows.Forms.Label lblOperacaoLiberada;
+        private System.Windows.Forms.Label lblCodigoFalha;
     }
 }

AgroBase/AgroBase/Forms/IHM/frmIHM.cs

@@ -1,17 +1,11 @@
-using AgroBase.Comum;
-using AgroBase.Forms.Operacoes;
+using AgroBase.Forms.Operacoes;
 using AgroBase.Models;
 using AgroBase.Services;
 using System;
-using System.Collections.Generic;
-using System.ComponentModel;
 using System.Data;
 using System.Diagnostics;
 using System.Drawing;
-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;
@@ -21,6 +15,7 @@ namespace AgroBase.Forms.IHM
     public partial class frmIHM : Form
     {
         System.Timers.Timer tmrDispositivos = new System.Timers.Timer() { Interval = 1000, Enabled = false };
+        public ulong CodFalha = 0;
 
         public frmIHM()
         {
@@ -47,8 +42,8 @@ namespace AgroBase.Forms.IHM
                 if (Variaveis.OperacaoEmAndamento.OperacaoLiberada)
                 {
                     frmDialogoMapa frm = new frmDialogoMapa();
-                    frm.ShowDialog();
-                    frm.IniciarOperacao();
+                    frm.Show();
+                    frm.InicializarModoManual();
                 }
                 else
                 {
@@ -76,10 +71,22 @@ namespace AgroBase.Forms.IHM
             lblVersao.Text = "v " + Variaveis.Versao;
             tmrDispositivos.Elapsed += TmrDispositivos_Elapsed;
             tmrDispositivos.Start();
+
+            lblCodigoFalha.Click += LblCodigoFalha_Click;
         }
 
-        private void TmrDispositivos_Elapsed(object sender, ElapsedEventArgs e)
+        private void LblCodigoFalha_Click(object sender, EventArgs e)
         {
+            string DescricaoFalha = OperacaoModel.DescricaoCodigoFalha(CodFalha);
+            MessageBox.Show($"{DescricaoFalha}", "Código de Falha", MessageBoxButtons.OK, MessageBoxIcon.Information);
+        }
+
+        private async void TmrDispositivos_Elapsed(object sender, ElapsedEventArgs e)
+        {
+            ((System.Timers.Timer)sender).Stop();
+
+            CodFalha = Variaveis.OperacaoEmAndamento.RetornaCodigoFalha();
+
             Func<bool> funcao = new Func<bool>(() =>
             {
                 var Labels = this.Controls.OfType<Label>().Where(y => y.Name.Contains("lblD_")).ToList();
@@ -125,15 +132,22 @@ namespace AgroBase.Forms.IHM
                     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;
+                bool mqttConectado = Variaveis.MqttService.StatusConexao();
+                lblMqtt.Text = "MQTT: " + (mqttConectado ? "Conectado" : "Desconectado");
+                lblMqtt.ForeColor = mqttConectado ? Color.Green : Color.Red;
+                bool opLiberada = Variaveis.OperacaoEmAndamento.OperacaoLiberada;
+                lblOperacaoLiberada.Text = "Operação Liberada: " + (opLiberada ? "Sim" : "Não");
+                lblOperacaoLiberada.ForeColor = opLiberada ? Color.Green : Color.Red;
+                lblCodigoFalha.Text = $"Código de Falha: {CodFalha}";
 
                 return true;
             });
 
             FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(this, funcao);
 
-            Task.Run(async () => await SerialService.RealizarVarreduraPortasUSB(tmrDispositivos));
+            await SerialService.RealizarVarreduraPortasUSB(tmrDispositivos);
+
+            ((System.Timers.Timer)sender).Start();
         }
 
         private void lblModulo_Click(object sender, EventArgs e)

AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs

@@ -2,13 +2,10 @@
 using AgroBase.Models;
 using System;
 using System.Collections.Generic;
-using System.ComponentModel;
 using System.Data;
 using System.Drawing;
 using System.IO;
 using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 

AgroBase/AgroBase/Forms/Movimentacao/frmMovCamera.cs

@@ -34,7 +34,6 @@ namespace AgroBase.Forms.Movimentacao
         private int MaxLeituras = 1;
         private string VideoPorta = VariaveisPortas.CameraCaminho.ToString();
         private string VideoUrl = "street_detector";
-        private string SocketPorta = VariaveisPortas.SocketCaminho.ToString();
         private bool MostrarDebug = true;
         private string ArquivoLeitura = "leitura_solo.json";
 

AgroBase/AgroBase/Forms/Movimentacao/frmMovConfig.Designer.cs

@@ -30,6 +30,8 @@ namespace AgroBase.Forms.Movimentacao
         private void InitializeComponent()
         {
             this.gpbSentido = new System.Windows.Forms.GroupBox();
+            this.cmbTipoMovimento = new System.Windows.Forms.ComboBox();
+            this.lblTipoMovimento = new System.Windows.Forms.Label();
             this.gpbDF = new System.Windows.Forms.GroupBox();
             this.lblDFEndereco = new System.Windows.Forms.Label();
             this.txtDFEndereco = new System.Windows.Forms.TextBox();
@@ -38,21 +40,21 @@ namespace AgroBase.Forms.Movimentacao
             this.lblDFTras = new System.Windows.Forms.Label();
             this.lblDFFrente = new System.Windows.Forms.Label();
             this.gpbEF = new System.Windows.Forms.GroupBox();
-            this.label1 = new System.Windows.Forms.Label();
+            this.lblEFEndereco = new System.Windows.Forms.Label();
             this.txtEFEndereco = new System.Windows.Forms.TextBox();
             this.cmbEFFrente = new System.Windows.Forms.ComboBox();
             this.cmbEFTras = new System.Windows.Forms.ComboBox();
             this.lblEFTras = new System.Windows.Forms.Label();
             this.lblEFFrente = new System.Windows.Forms.Label();
             this.gpbDT = new System.Windows.Forms.GroupBox();
-            this.label3 = new System.Windows.Forms.Label();
+            this.lblDTEndereco = new System.Windows.Forms.Label();
             this.txtDTEndereco = new System.Windows.Forms.TextBox();
             this.cmbDTFrente = new System.Windows.Forms.ComboBox();
             this.cmbDTTras = new System.Windows.Forms.ComboBox();
             this.lblDTTras = new System.Windows.Forms.Label();
             this.lblDTFrente = new System.Windows.Forms.Label();
             this.gpbET = new System.Windows.Forms.GroupBox();
-            this.label2 = new System.Windows.Forms.Label();
+            this.lblETEndereco = new System.Windows.Forms.Label();
             this.txtETEndereco = new System.Windows.Forms.TextBox();
             this.cmbETFrente = new System.Windows.Forms.ComboBox();
             this.cmbETTras = new System.Windows.Forms.ComboBox();
@@ -70,8 +72,8 @@ namespace AgroBase.Forms.Movimentacao
             this.nudNumPolos = new System.Windows.Forms.NumericUpDown();
             this.lblRampa = new System.Windows.Forms.Label();
             this.nudRampa = new System.Windows.Forms.NumericUpDown();
-            this.lblTipoMovimento = new System.Windows.Forms.Label();
-            this.cmbTipoMovimento = new System.Windows.Forms.ComboBox();
+            this.lblOffsetLeitura = new System.Windows.Forms.Label();
+            this.txtOffsetLeitura = new System.Windows.Forms.TextBox();
             this.gpbSentido.SuspendLayout();
             this.gpbDF.SuspendLayout();
             this.gpbEF.SuspendLayout();
@@ -102,6 +104,25 @@ namespace AgroBase.Forms.Movimentacao
             this.gpbSentido.TabStop = false;
             this.gpbSentido.Text = "Sentido de giro";
             // 
+            // cmbTipoMovimento
+            // 
+            this.cmbTipoMovimento.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbTipoMovimento.FormattingEnabled = true;
+            this.cmbTipoMovimento.Location = new System.Drawing.Point(195, 18);
+            this.cmbTipoMovimento.Name = "cmbTipoMovimento";
+            this.cmbTipoMovimento.Size = new System.Drawing.Size(168, 21);
+            this.cmbTipoMovimento.TabIndex = 11;
+            this.cmbTipoMovimento.SelectedIndexChanged += new System.EventHandler(this.cmbTipoMovimento_SelectedIndexChanged);
+            // 
+            // lblTipoMovimento
+            // 
+            this.lblTipoMovimento.AutoSize = true;
+            this.lblTipoMovimento.Location = new System.Drawing.Point(15, 21);
+            this.lblTipoMovimento.Name = "lblTipoMovimento";
+            this.lblTipoMovimento.Size = new System.Drawing.Size(98, 13);
+            this.lblTipoMovimento.TabIndex = 10;
+            this.lblTipoMovimento.Text = "Tipo de Movimento";
+            // 
             // gpbDF
             // 
             this.gpbDF.Controls.Add(this.lblDFEndereco);
@@ -178,7 +199,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // gpbEF
             // 
-            this.gpbEF.Controls.Add(this.label1);
+            this.gpbEF.Controls.Add(this.lblEFEndereco);
             this.gpbEF.Controls.Add(this.txtEFEndereco);
             this.gpbEF.Controls.Add(this.cmbEFFrente);
             this.gpbEF.Controls.Add(this.cmbEFTras);
@@ -193,15 +214,15 @@ namespace AgroBase.Forms.Movimentacao
             this.gpbEF.TabStop = false;
             this.gpbEF.Text = "M2 - Esquerdo Frente (EF)";
             // 
-            // label1
+            // lblEFEndereco
             // 
-            this.label1.AutoSize = true;
-            this.label1.Location = new System.Drawing.Point(10, 78);
-            this.label1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(53, 13);
-            this.label1.TabIndex = 11;
-            this.label1.Text = "Endereço";
+            this.lblEFEndereco.AutoSize = true;
+            this.lblEFEndereco.Location = new System.Drawing.Point(10, 78);
+            this.lblEFEndereco.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblEFEndereco.Name = "lblEFEndereco";
+            this.lblEFEndereco.Size = new System.Drawing.Size(53, 13);
+            this.lblEFEndereco.TabIndex = 11;
+            this.lblEFEndereco.Text = "Endereço";
             // 
             // txtEFEndereco
             // 
@@ -252,7 +273,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // gpbDT
             // 
-            this.gpbDT.Controls.Add(this.label3);
+            this.gpbDT.Controls.Add(this.lblDTEndereco);
             this.gpbDT.Controls.Add(this.txtDTEndereco);
             this.gpbDT.Controls.Add(this.cmbDTFrente);
             this.gpbDT.Controls.Add(this.cmbDTTras);
@@ -267,15 +288,15 @@ namespace AgroBase.Forms.Movimentacao
             this.gpbDT.TabStop = false;
             this.gpbDT.Text = "M3 - Direito Trás (DT)";
             // 
-            // label3
+            // lblDTEndereco
             // 
-            this.label3.AutoSize = true;
-            this.label3.Location = new System.Drawing.Point(10, 78);
-            this.label3.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label3.Name = "label3";
-            this.label3.Size = new System.Drawing.Size(53, 13);
-            this.label3.TabIndex = 11;
-            this.label3.Text = "Endereço";
+            this.lblDTEndereco.AutoSize = true;
+            this.lblDTEndereco.Location = new System.Drawing.Point(10, 78);
+            this.lblDTEndereco.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblDTEndereco.Name = "lblDTEndereco";
+            this.lblDTEndereco.Size = new System.Drawing.Size(53, 13);
+            this.lblDTEndereco.TabIndex = 11;
+            this.lblDTEndereco.Text = "Endereço";
             // 
             // txtDTEndereco
             // 
@@ -326,7 +347,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // gpbET
             // 
-            this.gpbET.Controls.Add(this.label2);
+            this.gpbET.Controls.Add(this.lblETEndereco);
             this.gpbET.Controls.Add(this.txtETEndereco);
             this.gpbET.Controls.Add(this.cmbETFrente);
             this.gpbET.Controls.Add(this.cmbETTras);
@@ -341,15 +362,15 @@ namespace AgroBase.Forms.Movimentacao
             this.gpbET.TabStop = false;
             this.gpbET.Text = "M1 - Esquerdo Trás (ET)";
             // 
-            // label2
+            // lblETEndereco
             // 
-            this.label2.AutoSize = true;
-            this.label2.Location = new System.Drawing.Point(10, 78);
-            this.label2.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.label2.Name = "label2";
-            this.label2.Size = new System.Drawing.Size(53, 13);
-            this.label2.TabIndex = 11;
-            this.label2.Text = "Endereço";
+            this.lblETEndereco.AutoSize = true;
+            this.lblETEndereco.Location = new System.Drawing.Point(10, 78);
+            this.lblETEndereco.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblETEndereco.Name = "lblETEndereco";
+            this.lblETEndereco.Size = new System.Drawing.Size(53, 13);
+            this.lblETEndereco.TabIndex = 11;
+            this.lblETEndereco.Text = "Endereço";
             // 
             // txtETEndereco
             // 
@@ -400,6 +421,8 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // groupBox1
             // 
+            this.groupBox1.Controls.Add(this.txtOffsetLeitura);
+            this.groupBox1.Controls.Add(this.lblOffsetLeitura);
             this.groupBox1.Controls.Add(this.lblReducao);
             this.groupBox1.Controls.Add(this.nudReducao);
             this.groupBox1.Controls.Add(this.btnSalvar);
@@ -572,24 +595,25 @@ namespace AgroBase.Forms.Movimentacao
             this.nudRampa.TabIndex = 31;
             this.nudRampa.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
-            // lblTipoMovimento
+            // lblOffsetLeitura
             // 
-            this.lblTipoMovimento.AutoSize = true;
-            this.lblTipoMovimento.Location = new System.Drawing.Point(15, 21);
-            this.lblTipoMovimento.Name = "lblTipoMovimento";
-            this.lblTipoMovimento.Size = new System.Drawing.Size(98, 13);
-            this.lblTipoMovimento.TabIndex = 10;
-            this.lblTipoMovimento.Text = "Tipo de Movimento";
+            this.lblOffsetLeitura.AutoSize = true;
+            this.lblOffsetLeitura.Location = new System.Drawing.Point(188, 67);
+            this.lblOffsetLeitura.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblOffsetLeitura.Name = "lblOffsetLeitura";
+            this.lblOffsetLeitura.Size = new System.Drawing.Size(87, 13);
+            this.lblOffsetLeitura.TabIndex = 140;
+            this.lblOffsetLeitura.Text = "Offset Leitura (%)";
             // 
-            // cmbTipoMovimento
+            // txtOffsetLeitura
             // 
-            this.cmbTipoMovimento.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
-            this.cmbTipoMovimento.FormattingEnabled = true;
-            this.cmbTipoMovimento.Location = new System.Drawing.Point(195, 18);
-            this.cmbTipoMovimento.Name = "cmbTipoMovimento";
-            this.cmbTipoMovimento.Size = new System.Drawing.Size(168, 21);
-            this.cmbTipoMovimento.TabIndex = 11;
-            this.cmbTipoMovimento.SelectedIndexChanged += new System.EventHandler(this.cmbTipoMovimento_SelectedIndexChanged);
+            this.txtOffsetLeitura.Location = new System.Drawing.Point(191, 84);
+            this.txtOffsetLeitura.Margin = new System.Windows.Forms.Padding(2);
+            this.txtOffsetLeitura.Name = "txtOffsetLeitura";
+            this.txtOffsetLeitura.Size = new System.Drawing.Size(85, 20);
+            this.txtOffsetLeitura.TabIndex = 12;
+            this.txtOffsetLeitura.Text = "0,74";
+            this.txtOffsetLeitura.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
             // frmMovConfig
             // 
@@ -660,16 +684,18 @@ namespace AgroBase.Forms.Movimentacao
         private System.Windows.Forms.NumericUpDown nudDiametroRoda;
         private System.Windows.Forms.Label lblDFEndereco;
         private System.Windows.Forms.TextBox txtDFEndereco;
-        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.Label lblEFEndereco;
         private System.Windows.Forms.TextBox txtEFEndereco;
-        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.Label lblDTEndereco;
         private System.Windows.Forms.TextBox txtDTEndereco;
-        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.Label lblETEndereco;
         private System.Windows.Forms.TextBox txtETEndereco;
         private System.Windows.Forms.Label lblReducao;
         private System.Windows.Forms.NumericUpDown nudReducao;
         private System.Windows.Forms.NumericUpDown nudNumPolos;
         private System.Windows.Forms.ComboBox cmbTipoMovimento;
         private System.Windows.Forms.Label lblTipoMovimento;
+        private System.Windows.Forms.TextBox txtOffsetLeitura;
+        private System.Windows.Forms.Label lblOffsetLeitura;
     }
 }

AgroBase/AgroBase/Forms/Movimentacao/frmMovConfig.cs

@@ -2,8 +2,6 @@
 using AgroBase.Models;
 using AgroBase.Models.Modules;
 using System;
-using System.Collections.Generic;
-using System.Data;
 using System.Linq;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
@@ -71,6 +69,7 @@ namespace AgroBase.Forms.Movimentacao
                     nudRampa.Value = Modulo.MovMotor.Rampa;
                     nudRPMMax.Value = Modulo.MovMotor.RPM_Max;
                     nudReducao.Value = Modulo.MovMotor.Reducao;
+                    txtOffsetLeitura.Text = Modulo.MovMotor.OffsetLeitura.ToString();
 
                     TextBox txtEndereco = FuncoesGlobais.FindControlRecursive<TextBox>(gpbSentido, "txt" + Modulo.Modulo_ID + "Endereco");
                     txtEndereco.Text = Modulo.MovMotor.Endereco;
@@ -114,6 +113,7 @@ namespace AgroBase.Forms.Movimentacao
                     Modulo.MovMotor.Rampa = Convert.ToInt32(nudRampa.Value);
                     Modulo.MovMotor.RPM_Max = Convert.ToInt32(nudRPMMax.Value);
                     Modulo.MovMotor.Reducao = Convert.ToInt32(nudReducao.Value);
+                    Modulo.MovMotor.OffsetLeitura = Convert.ToDouble(txtOffsetLeitura.Text);
 
                     VariaveisEquipamento.DiametroRoda = Convert.ToDouble(nudDiametroRoda.Value / 1000);
 

AgroBase/AgroBase/Forms/Movimentacao/frmMovDiagnosticos.Designer.cs

@@ -29,173 +29,50 @@ namespace AgroBase.Forms
         /// </summary>
         private void InitializeComponent()
         {
-            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(frmMovDiagnosticos));
-            this.picRobo = new System.Windows.Forms.PictureBox();
-            this.dgvET = new System.Windows.Forms.DataGridView();
-            this.dgvEF = new System.Windows.Forms.DataGridView();
-            this.dgvDT = new System.Windows.Forms.DataGridView();
-            this.dgvDF = new System.Windows.Forms.DataGridView();
-            this.lblM1 = new System.Windows.Forms.Label();
-            this.lblM2 = new System.Windows.Forms.Label();
-            this.lblM3 = new System.Windows.Forms.Label();
-            this.label1 = new System.Windows.Forms.Label();
-            this.btnIniciar = new System.Windows.Forms.Button();
-            ((System.ComponentModel.ISupportInitialize)(this.picRobo)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.dgvET)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.dgvEF)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.dgvDT)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.dgvDF)).BeginInit();
+            this.tvwFalhas = new System.Windows.Forms.TreeView();
+            this.btnAtualizar = new System.Windows.Forms.Button();
             this.SuspendLayout();
             // 
-            // picRobo
+            // tvwFalhas
             // 
-            this.picRobo.Image = ((System.Drawing.Image)(resources.GetObject("picRobo.Image")));
-            this.picRobo.Location = new System.Drawing.Point(424, 66);
-            this.picRobo.Name = "picRobo";
-            this.picRobo.Size = new System.Drawing.Size(353, 486);
-            this.picRobo.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
-            this.picRobo.TabIndex = 0;
-            this.picRobo.TabStop = false;
-            // 
-            // dgvET
-            // 
-            this.dgvET.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
+            this.tvwFalhas.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
             | System.Windows.Forms.AnchorStyles.Right)));
-            this.dgvET.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.dgvET.Location = new System.Drawing.Point(12, 365);
-            this.dgvET.Name = "dgvET";
-            this.dgvET.RowHeadersWidth = 51;
-            this.dgvET.RowTemplate.Height = 24;
-            this.dgvET.Size = new System.Drawing.Size(406, 187);
-            this.dgvET.TabIndex = 1;
+            this.tvwFalhas.Location = new System.Drawing.Point(12, 12);
+            this.tvwFalhas.Name = "tvwFalhas";
+            this.tvwFalhas.Size = new System.Drawing.Size(877, 449);
+            this.tvwFalhas.TabIndex = 0;
             // 
-            // dgvEF
+            // btnAtualizar
             // 
-            this.dgvEF.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
-            this.dgvEF.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.dgvEF.Location = new System.Drawing.Point(12, 66);
-            this.dgvEF.Name = "dgvEF";
-            this.dgvEF.RowHeadersWidth = 51;
-            this.dgvEF.RowTemplate.Height = 24;
-            this.dgvEF.Size = new System.Drawing.Size(406, 187);
-            this.dgvEF.TabIndex = 2;
-            // 
-            // dgvDT
-            // 
-            this.dgvDT.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
-            this.dgvDT.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.dgvDT.Location = new System.Drawing.Point(783, 365);
-            this.dgvDT.Name = "dgvDT";
-            this.dgvDT.RowHeadersWidth = 51;
-            this.dgvDT.RowTemplate.Height = 24;
-            this.dgvDT.Size = new System.Drawing.Size(406, 187);
-            this.dgvDT.TabIndex = 3;
-            // 
-            // dgvDF
-            // 
-            this.dgvDF.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
-            this.dgvDF.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.dgvDF.Location = new System.Drawing.Point(783, 66);
-            this.dgvDF.Name = "dgvDF";
-            this.dgvDF.RowHeadersWidth = 51;
-            this.dgvDF.RowTemplate.Height = 24;
-            this.dgvDF.Size = new System.Drawing.Size(406, 187);
-            this.dgvDF.TabIndex = 4;
-            // 
-            // lblM1
-            // 
-            this.lblM1.AutoSize = true;
-            this.lblM1.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblM1.Location = new System.Drawing.Point(7, 337);
-            this.lblM1.Name = "lblM1";
-            this.lblM1.Size = new System.Drawing.Size(231, 25);
-            this.lblM1.TabIndex = 5;
-            this.lblM1.Text = "M1 - Esquerdo Trás (ET)";
-            // 
-            // lblM2
-            // 
-            this.lblM2.AutoSize = true;
-            this.lblM2.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblM2.Location = new System.Drawing.Point(12, 38);
-            this.lblM2.Name = "lblM2";
-            this.lblM2.Size = new System.Drawing.Size(246, 25);
-            this.lblM2.TabIndex = 6;
-            this.lblM2.Text = "M2 - Esquerdo Frente (EF)";
-            // 
-            // lblM3
-            // 
-            this.lblM3.AutoSize = true;
-            this.lblM3.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblM3.Location = new System.Drawing.Point(778, 337);
-            this.lblM3.Name = "lblM3";
-            this.lblM3.Size = new System.Drawing.Size(203, 25);
-            this.lblM3.TabIndex = 7;
-            this.lblM3.Text = "M3 - Direito Trás (DT)";
-            // 
-            // label1
-            // 
-            this.label1.AutoSize = true;
-            this.label1.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.label1.Location = new System.Drawing.Point(778, 38);
-            this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(218, 25);
-            this.label1.TabIndex = 8;
-            this.label1.Text = "M4 - Direito Frente (DF)";
-            // 
-            // btnIniciar
-            // 
-            this.btnIniciar.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.btnIniciar.Location = new System.Drawing.Point(424, 558);
-            this.btnIniciar.Name = "btnIniciar";
-            this.btnIniciar.Size = new System.Drawing.Size(353, 48);
-            this.btnIniciar.TabIndex = 9;
-            this.btnIniciar.Text = "Iniciar Diagnósticos";
-            this.btnIniciar.UseVisualStyleBackColor = true;
-            this.btnIniciar.Click += new System.EventHandler(this.btnIniciar_Click);
+            this.btnAtualizar.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right)));
+            this.btnAtualizar.Location = new System.Drawing.Point(814, 467);
+            this.btnAtualizar.Name = "btnAtualizar";
+            this.btnAtualizar.Size = new System.Drawing.Size(75, 23);
+            this.btnAtualizar.TabIndex = 1;
+            this.btnAtualizar.Text = "Atualizar";
+            this.btnAtualizar.UseVisualStyleBackColor = true;
+            this.btnAtualizar.Click += new System.EventHandler(this.btnAtualizar_Click);
             // 
             // frmMovDiagnosticos
             // 
-            this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 16F);
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(1201, 618);
-            this.Controls.Add(this.btnIniciar);
-            this.Controls.Add(this.label1);
-            this.Controls.Add(this.lblM3);
-            this.Controls.Add(this.lblM2);
-            this.Controls.Add(this.lblM1);
-            this.Controls.Add(this.dgvDF);
-            this.Controls.Add(this.dgvDT);
-            this.Controls.Add(this.dgvEF);
-            this.Controls.Add(this.dgvET);
-            this.Controls.Add(this.picRobo);
+            this.ClientSize = new System.Drawing.Size(901, 502);
+            this.Controls.Add(this.btnAtualizar);
+            this.Controls.Add(this.tvwFalhas);
+            this.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
             this.Name = "frmMovDiagnosticos";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "Diagnósticos";
             this.Load += new System.EventHandler(this.frmDiagnosticos_Load);
-            ((System.ComponentModel.ISupportInitialize)(this.picRobo)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.dgvET)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.dgvEF)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.dgvDT)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.dgvDF)).EndInit();
             this.ResumeLayout(false);
-            this.PerformLayout();
 
         }
 
         #endregion
 
-        private System.Windows.Forms.PictureBox picRobo;
-        private System.Windows.Forms.DataGridView dgvET;
-        private System.Windows.Forms.DataGridView dgvEF;
-        private System.Windows.Forms.DataGridView dgvDT;
-        private System.Windows.Forms.DataGridView dgvDF;
-        private System.Windows.Forms.Label lblM1;
-        private System.Windows.Forms.Label lblM2;
-        private System.Windows.Forms.Label lblM3;
-        private System.Windows.Forms.Label label1;
-        private System.Windows.Forms.Button btnIniciar;
+        private System.Windows.Forms.TreeView tvwFalhas;
+        private System.Windows.Forms.Button btnAtualizar;
     }
 }

AgroBase/AgroBase/Forms/Movimentacao/frmMovDiagnosticos.cs

@@ -1,32 +1,11 @@
-using AgroBase.Comum;
-using AgroBase.Models;
+using AgroBase.Models;
 using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Data;
-using System.Drawing;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Forms;
-using static AgroBase.Models.Enums;
 
 namespace AgroBase.Forms
 {
     public partial class frmMovDiagnosticos : Form
     {
-        public static Timer tmrLeitura = new Timer() { Enabled = false, Interval = 500 };
-        public List<DataGridView> Tabelas = new List<DataGridView>();
-        public static DispositivosService<MovimentacaoModel> DispMov;
-        List<string> ListaPinosDiagnosticar = new List<string>()
-        {
-            "DIR",
-            "BRK",
-            "STP",
-            "PWM",
-            "Sensor"
-        };
-
         public frmMovDiagnosticos()
         {
             InitializeComponent();
@@ -34,68 +13,12 @@ namespace AgroBase.Forms
 
         private void frmDiagnosticos_Load(object sender, EventArgs e)
         {
-            Tabelas = new List<DataGridView>() { dgvET, dgvEF, dgvDF, dgvDT };
-            tmrLeitura.Tick += tmrLeitura_Tick;
-            PopularGrids();
+            btnAtualizar_Click(sender, e);
         }
 
-        private void PopularGrids()
+        private void btnAtualizar_Click(object sender, EventArgs e)
         {
-            foreach (var dgv in Tabelas)
-            {
-                dgv.RowHeadersVisible = false;
-                dgv.Columns.Clear();
-                dgv.Rows.Clear();
-                dgv.Columns.Add("cl_Pino", "Pino");
-                for (int i = 1; i < 10; i++)
-                {
-                    dgv.Columns.Add("cl_Teste" + i, "Teste " + i);
-                }
-                foreach (var pino in ListaPinosDiagnosticar)
-                {
-                    dgv.Rows.Add(new string[] { pino });
-                }
-            }
-        }
-
-        private void PreencherDadosGrid(MovSensoriamentoMotor Motor)
-        {
-            DataGridView dgv = Tabelas.FirstOrDefault(x => x.Name == "dgv" + Motor.ID);
-            if (dgv != null)
-            {
-                SensoriamentoMotorTestes Log = Motor.LogTestes.OrderByDescending(x => x.Momento).FirstOrDefault();
-                int indexColuna = Motor.LogTestes.Count(x => x.Componente == Log.Componente);
-                int indexLinha = ListaPinosDiagnosticar.IndexOf(Log.Componente);
-                dgv.Rows[indexLinha].Cells[indexColuna].Value = Log.Resultado + " - " + Log.Comando + " - " + Log.Leitura;
-            }
-        }
-
-        private void btnIniciar_Click(object sender, EventArgs e)
-        {
-            DispMov = (DispositivosService<MovimentacaoModel>)Variaveis.DispositivosConectados.FirstOrDefault(x => x._Porta.IsOpen && x.Dispositivo == T_Code.Mov);
-            if (DispMov == null)
-            {
-                return;
-            }
-
-            foreach (var Motor in DispMov.Dados.Motores)
-            {
-                string ProtocoloMotor = Motor.ProtocoloTeste();
-                DispMov.AdicionarMensagemFila(DispMov.Dados.Modulo_ID, ProtocoloMotor, true, true);
-                System.Threading.Thread.Sleep(10);
-            }
-
-            tmrLeitura.Enabled = true;
-        }
-
-        private void tmrLeitura_Tick(object sender, EventArgs e)
-        {
-            MovSensoriamentoMotor Motor = DispMov.Dados.Motores.FirstOrDefault(x => x.Comandar && x.Testando);
-            if (Motor != null)
-            {
-                PreencherDadosGrid(Motor);
-            }
-            tmrLeitura.Enabled = DispMov.Dados.Motores.Any(x => x.Testando);
+            OperacaoModel.PopularTreeView(tvwFalhas, Variaveis.OperacaoEmAndamento.RetornaCodigoFalha());
         }
     }
 }

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs

@@ -59,26 +59,63 @@ namespace AgroBase.Forms.Operacoes
             Variaveis.OperacaoEmAndamento.FinalizarOperacao();
         }
 
-        private void btnIniciarOperacao_Click(object sender, EventArgs e)
+        private async void btnIniciarOperacao_Click(object sender, EventArgs e)
         {
             if (btnIniciarOperacao.Text == "Finalizar Operação")
             {
+                // Atualiza a UI na thread principal
+                btnIniciarOperacao.Invoke((MethodInvoker)delegate
+                {
+                    btnIniciarOperacao.Text = "Finalizando...";
+                    btnIniciarOperacao.Enabled = false;
+                });
+
+                // Executa a finalização da operação
                 Variaveis.OperacaoEmAndamento.FinalizarOperacao();
+
+                // Atualiza a UI novamente na thread principal
+                btnIniciarOperacao.Invoke((MethodInvoker)delegate
+                {
+                    btnIniciarOperacao.Text = "Iniciar Operação";
+                    btnIniciarOperacao.Enabled = true;
+                });
             }
             else
             {
+                // Atualiza a UI na thread principal
+                btnIniciarOperacao.Invoke((MethodInvoker)delegate
+                {
+                    btnIniciarOperacao.Text = "Iniciando...";
+                    btnIniciarOperacao.Enabled = false;
+                });
+
+                // Verifica se a operação está liberada
                 if (Variaveis.OperacaoEmAndamento.OperacaoLiberada)
                 {
-                    Variaveis.OperacaoEmAndamento.IniciarOperacao(null, false);
+                    // Inicia a operação de forma assíncrona
+                    await Variaveis.OperacaoEmAndamento.IniciarOperacao(null, false);
+
+                    // Atualiza a UI após o início da operação
+                    btnIniciarOperacao.Invoke((MethodInvoker)delegate
+                    {
+                        btnIniciarOperacao.Text = "Finalizar Operação";
+                        btnIniciarOperacao.Enabled = true;
+                    });
                 }
                 else
                 {
-                    MessageBox.Show("Finalize a parametrização corretamente para iniciar a operação!", "Aviso", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                    // Mostra a mensagem de erro na thread principal
+                    btnIniciarOperacao.Invoke((MethodInvoker)delegate
+                    {
+                        MessageBox.Show("Finalize a parametrização corretamente para iniciar a operação!", "Aviso", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                        btnIniciarOperacao.Text = "Iniciar Operação";
+                        btnIniciarOperacao.Enabled = true;
+                    });
                 }
             }
-            btnIniciarOperacao.Text = !Variaveis.OperacaoEmAndamento.Iniciado ? "Iniciar Operação" : "Finalizar Operação";
         }
 
+
         private void tmrLeitura_Tick(object sender, EventArgs e)
         {
             AtualizarDados();

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs

@@ -143,29 +143,32 @@ namespace AgroBase.Forms.Operacoes
 
         private void btnIniciarOperacao_Click(object sender, EventArgs e)
         {
-            if (!Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Any())
+            Task.Run(async () =>
             {
-                MessageBox.Show("Selecione as ruas para realizar a operação!");
-                return;
-            }
-
-            if (btnIniciarOperacao.Text == "Finalizar Operação")
-            {
-                Variaveis.OperacaoEmAndamento.FinalizarOperacao();
-            }
-            else
-            {
-                if (Variaveis.OperacaoEmAndamento.OperacaoLiberada && Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal > 0 && Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Any())
+                if (!Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Any())
                 {
-                    //Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombaPressurizadora.PressaoSP = Convert.ToDouble(nudPressaoSP.Value);
-                    Variaveis.OperacaoEmAndamento.IniciarOperacao(null, false);
+                    MessageBox.Show("Selecione as ruas para realizar a operação!");
+                    return;
+                }
+
+                if (btnIniciarOperacao.Text == "Finalizar Operação")
+                {
+                    Variaveis.OperacaoEmAndamento.FinalizarOperacao();
                 }
                 else
                 {
-                    MessageBox.Show("Finalize a parametrização corretamente para iniciar a operação!", "Aviso", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                    if (Variaveis.OperacaoEmAndamento.OperacaoLiberada && Variaveis.OperacaoEmAndamento.Mapa.DistanciaTotal > 0 && Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Any())
+                    {
+                        //Variaveis.OperacaoEmAndamento.DispAtu.Dados.BombaPressurizadora.PressaoSP = Convert.ToDouble(nudPressaoSP.Value);
+                        await Variaveis.OperacaoEmAndamento.IniciarOperacao(null, false);
+                    }
+                    else
+                    {
+                        MessageBox.Show("Finalize a parametrização corretamente para iniciar a operação!", "Aviso", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                    }
                 }
-            }
-            AtualizaComponentesOperacao();
+                AtualizaComponentesOperacao();
+            });
         }
 
         private void AtualizaComponentesOperacao()

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoSeguidorLinha.Designer.cs

@@ -669,7 +669,7 @@ namespace AgroBase.Forms.Operacoes
             // 
             this.lblPerformance.AutoSize = true;
             this.lblPerformance.Font = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblPerformance.Location = new System.Drawing.Point(812, 684);
+            this.lblPerformance.Location = new System.Drawing.Point(615, 687);
             this.lblPerformance.Name = "lblPerformance";
             this.lblPerformance.Size = new System.Drawing.Size(158, 12);
             this.lblPerformance.TabIndex = 16;

AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs

@@ -60,7 +60,7 @@ namespace AgroBase.Forms.Operacoes
             nudAnguloMaximo.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.Angulo_Max);
             nudAnguloMinimo.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.Angulo_Min);
             nudVelocidadeMP.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.VelocidadeMP);
-            nudTemposalvarlog.Value = Variaveis.OperacaoEmAndamento.tmrLogs.Interval / 1000;
+            nudTemposalvarlog.Value = (decimal)OperacaoModel.tmrLogsInterval / 1000;
             nudQtdBicos.Value = Variaveis.OperacaoEmAndamento.DispAtu.Dados.QuantidadeBicos;
             nudQtdCameras.Value = Variaveis.OperacaoEmAndamento.QuantidadeCamerasSolo;
             nudCapacidadereservatorio.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.CapacidadeReservatorio);
@@ -127,7 +127,7 @@ namespace AgroBase.Forms.Operacoes
             Variaveis.OperacaoEmAndamento.Controle.Angulo_Max = (int)(nudAnguloMaximo.Value);
             Variaveis.OperacaoEmAndamento.Controle.Angulo_Min = (int)(nudAnguloMinimo.Value);
             Variaveis.OperacaoEmAndamento.Controle.VelocidadeMP = (int)(nudVelocidadeMP.Value);
-            Variaveis.OperacaoEmAndamento.tmrLogs.Interval = (int)(nudTemposalvarlog.Value * 1000);
+            OperacaoModel.tmrLogsInterval = (double)(nudTemposalvarlog.Value * 1000);
             Variaveis.OperacaoEmAndamento.DispAtu.Dados.QuantidadeBicos = (int)nudQtdBicos.Value;
             Variaveis.OperacaoEmAndamento.QuantidadeCamerasSolo = (int)nudQtdCameras.Value;
             Variaveis.OperacaoEmAndamento.CapacidadeReservatorio = (double)nudCapacidadereservatorio.Value;

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs

@@ -1,24 +1,15 @@
 using AgroBase.Models;
 using AgroBase.Properties;
 using AgroBase.Services;
-using CefSharp.DevTools.Page;
-using Emgu.CV;
 using Newtonsoft.Json;
-using OpenTK;
 using System;
 using System.Collections.Generic;
-using System.ComponentModel;
 using System.Data;
 using System.Drawing;
 using System.Drawing.Drawing2D;
 using System.IO;
 using System.Linq;
-using System.Security.Cryptography;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Forms;
-using System.Windows.Forms.DataVisualization.Charting;
-using OpenTK.Graphics.OpenGL;
 
 namespace AgroBase.Forms.Operacoes
 {
@@ -65,6 +56,7 @@ namespace AgroBase.Forms.Operacoes
         GraficoInterativoModel graficoMovVelocidade;
         GraficoInterativoModel graficoAtu;
         GraficoInterativoModel graficoSen;
+        GraficoInterativoModel graficoCpu;
 
 
         public frmResultadosOperacao()
@@ -125,7 +117,7 @@ namespace AgroBase.Forms.Operacoes
         {
             OpenFileDialog ofd = new OpenFileDialog();
             ofd.Filter = "Arquivos de Operação|*.lgop";
-            ofd.InitialDirectory = Application.StartupPath + Variaveis.CaminhoOperacoes;
+            ofd.InitialDirectory = Application.StartupPath + "\\" + Variaveis.CaminhoOperacoes;
             if (ofd.ShowDialog() == DialogResult.OK)
             {
                 OperacaoDadosModel data = JsonConvert.DeserializeObject<OperacaoDadosModel>(File.ReadAllText(ofd.FileName));
@@ -188,30 +180,58 @@ namespace AgroBase.Forms.Operacoes
                 },
                 new GraficoInterativoSerieModel()
                 {
-                    Titulo = "EF",
+                    Titulo = "EF Roda",
+                    Valores = LogsMovimentacao.Where(x => x.Modulo_ID == "EF").Select(x => x.RPM_Roda).ToList(),
+                    Visivel = true,
+                    MostrarValor = true
+                },
+                new GraficoInterativoSerieModel()
+                {
+                    Titulo = "EF Motor",
                     Valores = LogsMovimentacao.Where(x => x.Modulo_ID == "EF").Select(x => x.RPM_Motor).ToList(),
+                    Visivel = false,
+                    MostrarValor = true
+                },
+                new GraficoInterativoSerieModel()
+                {
+                    Titulo = "ET Roda",
+                    Valores = LogsMovimentacao.Where(x => x.Modulo_ID == "ET").Select(x => x.RPM_Roda).ToList(),
                     Visivel = true,
                     MostrarValor = true
                 },
                 new GraficoInterativoSerieModel()
                 {
-                    Titulo = "ET",
+                    Titulo = "ET Motor",
                     Valores = LogsMovimentacao.Where(x => x.Modulo_ID == "ET").Select(x => x.RPM_Motor).ToList(),
+                    Visivel = false,
+                    MostrarValor = true
+                },
+                new GraficoInterativoSerieModel()
+                {
+                    Titulo = "DT Roda",
+                    Valores = LogsMovimentacao.Where(x => x.Modulo_ID == "DT").Select(x => x.RPM_Roda).ToList(),
                     Visivel = true,
                     MostrarValor = true
                 },
                 new GraficoInterativoSerieModel()
                 {
-                    Titulo = "DT",
+                    Titulo = "DT Motor",
                     Valores = LogsMovimentacao.Where(x => x.Modulo_ID == "DT").Select(x => x.RPM_Motor).ToList(),
+                    Visivel = false,
+                    MostrarValor = true
+                },
+                new GraficoInterativoSerieModel()
+                {
+                    Titulo = "DF Roda",
+                    Valores = LogsMovimentacao.Where(x => x.Modulo_ID == "DF").Select(x => x.RPM_Roda).ToList(),
                     Visivel = true,
                     MostrarValor = true
                 },
                 new GraficoInterativoSerieModel()
                 {
-                    Titulo = "DF",
+                    Titulo = "DF Motor",
                     Valores = LogsMovimentacao.Where(x => x.Modulo_ID == "DF").Select(x => x.RPM_Motor).ToList(),
-                    Visivel = true,
+                    Visivel = false,
                     MostrarValor = true
                 },
             });
@@ -427,12 +447,54 @@ namespace AgroBase.Forms.Operacoes
                     Visivel = true,
                 }
             });
+
+            graficoCpu = new GraficoInterativoModel(chartCpu, Momentos, new List<GraficoInterativoSerieModel>()
+            {
+                new GraficoInterativoSerieModel()
+                {
+                    Titulo = "CPU %",
+                    Valores = LogsOperacao.Select(x => (double)(x?.CPU_load ?? 0)).ToList(),
+                    Visivel = true,
+                },
+                new GraficoInterativoSerieModel()
+                {
+                    Titulo = "GPU %",
+                    Valores = LogsOperacao.Select(x => (double)(x?.GPU_load ?? 0)).ToList(),
+                    Visivel = true,
+                },
+                new GraficoInterativoSerieModel()
+                {
+                    Titulo = "HDD %",
+                    Valores = LogsOperacao.Select(x => (double)(x?.HDD_load ?? 0)).ToList(),
+                    Visivel = true,
+                },
+                new GraficoInterativoSerieModel()
+                {
+                    Titulo = "RAM %",
+                    Valores = LogsOperacao.Select(x => (double)(x?.RAM_usage ?? 0)).ToList(),
+                    Visivel = true,
+                },
+                new GraficoInterativoSerieModel()
+                {
+                    Titulo = "CPU Temp",
+                    Valores = LogsOperacao.Select(x => (double)(x?.CPU_temp ?? 0)).ToList(),
+                    Visivel = true,
+                },
+                new GraficoInterativoSerieModel()
+                {
+                    Titulo = "GPU Temp",
+                    Valores = LogsOperacao.Select(x => (double)(x?.GPU_temp ?? 0)).ToList(),
+                    Visivel = true,
+                },
+            });
+
         }
 
         private void InicializarCombosBusca()
         {
             CarregarInformacoesBusca(gpbMOV_Geral_Filtro, graficoMovGeral.Series.Select(x => x.Titulo).ToArray());
             CarregarInformacoesBusca(gpbSEN_Filtro, graficoSen.Series.Select(x => x.Titulo).ToArray());
+            CarregarInformacoesBusca(gpbCpu_Filtro, graficoCpu.Series.Select(x => x.Titulo).ToArray());
         }
 
         private void CarregarInformacoesBusca(GroupBox gpb, string[] Componentes)
@@ -516,6 +578,10 @@ namespace AgroBase.Forms.Operacoes
             {
                 grafico = graficoMovGeral;
             }
+            if (gpb.Name.Contains("Cpu"))
+            {
+                grafico = graficoCpu;
+            }
             if (grafico != null)
             {
                 var Dados = grafico.Series.FirstOrDefault(x => x.Titulo == cmbComponente.Text).Valores.Select((x, i) => new { valor = x, idx = i }).ToList();
@@ -583,6 +649,8 @@ namespace AgroBase.Forms.Operacoes
             AtualizarInformacoesSensoriamento();
 
             AtualizarInformacoesKinect();
+
+            AtualizarInformacoesCPU();
         }
 
         private void AtualizarInformacoesOperacao()
@@ -601,8 +669,13 @@ namespace AgroBase.Forms.Operacoes
             txtErvasNoRadar.Text = Log.ErvasNoRadar.ToString();
             txtTipoMovimento.Text = Log.TipoMovimento.ToString();
 
+            TimeSpan duracaoOperacao = LogsOperacao.First().Momento - Log.Momento;
+            txtDuracaoOperacao.Text = duracaoOperacao.ToString(@"hh\:mm\:ss");
+
             pnlOrientacaoCaminho.Invalidate();
             pnlOrientacaoDif.Invalidate();
+
+            OperacaoModel.PopularTreeView(tvwFalhas, Log.CodigoFalha);
         }
 
         private void AtualizarInformacoesCameras()
@@ -854,6 +927,22 @@ namespace AgroBase.Forms.Operacoes
             pnlCaminho.Invalidate();
         }
 
+        private void AtualizarInformacoesCPU()
+        {
+            graficoCpu.AtualizarDados(idxMomentoAtual);
+
+            if (cmbCpu_Componente.SelectedIndex > -1)
+            {
+                var Valores = graficoCpu.Series.FirstOrDefault(x => x.Titulo == cmbCpu_Componente.Text).Valores.Take(idxMomentoAtual + 1).ToList();
+                txtCpu_Atual.Text = Valores[idxMomentoAtual].ToString("0.00");
+                txtCpu_Media.Text = Valores.Average().ToString("0.00");
+                txtCpu_Mediana.Text = FuncoesMatematicas.CalcularMediana(Valores).ToString("0.00");
+                txtCpu_Moda.Text = FuncoesMatematicas.CalcularModa(Valores).ToString("0.00");
+                txtCpu_Minimo.Text = Valores.Min().ToString("0.00");
+                txtCpu_Maximo.Text = Valores.Max().ToString("0.00");
+            }
+        }
+
 
         private void pnlOrientacaoDirecional_Paint(object sender, PaintEventArgs e)
         {
@@ -1029,9 +1118,9 @@ namespace AgroBase.Forms.Operacoes
         private void pnlCaminho_Paint(object sender, PaintEventArgs e)
         {
             var Log = LogsCam_Caminho.FirstOrDefault(x => x.Momento == MomentoAtual);
+            if (Log == null || Log.Leitura == null) return;
 
             Panel pnlContornos = (Panel)sender;
-            if (Log.Leitura == null) return;
 
             Graphics graphics = e.Graphics;
             graphics.Clear(pnlContornos.BackColor); // Limpa o fundo

AgroBase/AgroBase/Forms/Sensoriamento/frmSenCamera.cs

@@ -3,13 +3,7 @@ using AgroBase.Services;
 using CefSharp.WinForms;
 using Newtonsoft.Json;
 using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Data;
-using System.Drawing;
 using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 
 namespace AgroBase.Forms.Sensoriamento
@@ -23,7 +17,6 @@ namespace AgroBase.Forms.Sensoriamento
         private int MaxLeituras = 10;
         private string VideoPorta = VariaveisPortas.CameraCaminho.ToString();
         private string VideoUrl = "line_angle";
-        private string SocketPorta = VariaveisPortas.SocketCaminho.ToString();
         private bool MostrarDebug = true;
         private string ArquivoLeitura = "leitura_angulo";
 

AgroBase/AgroBase/Forms/frmAcompanhamento.cs

@@ -1,16 +1,11 @@
-using AgroBase.Comum;
-using AgroBase.Models;
+using AgroBase.Models;
 using AgroBase.Models.Modules;
 using AgroBase.Services;
 using System;
 using System.Collections.Generic;
-using System.ComponentModel;
 using System.Data;
 using System.Drawing;
 using System.Linq;
-using System.Text;
-using System.Threading;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 using System.Windows.Forms.DataVisualization.Charting;
 using static AgroBase.Models.Enums;
@@ -75,14 +70,14 @@ namespace AgroBase.Forms
                 lblTempoEmMovimento.Text = "Tempo em movimento: " + TimeSpan.FromSeconds(DispMvd.Dados.TempoEmAtividade).ToString(@"hh\:mm\:ss") + " hrs";
                 lblDistanciaTotal.Text = "Distancia percorrida total: " + DispMvd.Dados.DistanciaPercorridaTotal.ToString("0.00") + " m";
                 lblDistanciaParcial.Text = "Distancia percorrida parcial: " + DispMvd.Dados.DistanciaPercorridaParcial.ToString("0.00") + " m";
-                
+
                 foreach (var Modulo in DispMvd.Dados.Modulos)
                 {
                     Label lblTitulo = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lblM_" + Modulo.Modulo_ID);
                     lblTitulo.ForeColor = Modulo.MovMotor.Comandar ? Modulo.MovMotor.BLD_Inicializado ? Color.Green : Color.Red : Color.Black;
                     lblTitulo.Text = lblTitulo.Text.Split(' ')[0] + " (" + Modulo.Modulo_ID + ") - Alm: " + Modulo.MovMotor.CodigoAlarme;
                     Label lblM_RPMSP = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_RPMSP");
-                    lblM_RPMSP.Text = "RPM SP: " + Variaveis.OperacaoEmAndamento.Controle.RPM_SP.ToString("0.00");
+                    lblM_RPMSP.Text = "RPM SP: " + Modulo.MovMotor.RPM_SP_Leitura.ToString("0.00");
                     Label lblM_RPM = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_RPM");
                     lblM_RPM.Text = "RPM Roda: " + Modulo.MovMotor.RPM_Roda.ToString("0.00");
                     Label lblM_Velocidade = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_Velocidade");
@@ -132,10 +127,17 @@ namespace AgroBase.Forms
                         Minimo = Logs.Any() && Logs.Min(x => x.RPM_SP) < Minimo ? Logs.Min(x => x.RPM_SP) : Minimo;
                         Maximo = Logs.Any() && Logs.Min(x => x.RPM_SP) > Maximo ? Logs.Min(x => x.RPM_SP) : Maximo;
 
-                        var serieRPMRoda = new Series("RPM Roda: " + (Log != null ? Log.RPM_Motor : 0));
-                        serieRPMRoda.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_Motor).ToList());
+                        var serieRPMRoda = new Series("RPM Roda: " + (Log != null ? Log.RPM_Roda : 0));
+                        serieRPMRoda.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_Roda).ToList());
                         serieRPMRoda.ChartType = SeriesChartType.Spline;
                         chart.Series.Add(serieRPMRoda);
+                        Minimo = Logs.Any() && Logs.Min(x => x.RPM_Roda) < Minimo ? Logs.Min(x => x.RPM_Roda) : Minimo;
+                        Maximo = Logs.Any() && Logs.Max(x => x.RPM_Roda) > Maximo ? Logs.Max(x => x.RPM_Roda) : Maximo;
+
+                        var serieRPMMotor = new Series("RPM Motor: " + (Log != null ? Log.RPM_Motor : 0));
+                        serieRPMMotor.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_Motor).ToList());
+                        serieRPMMotor.ChartType = SeriesChartType.Spline;
+                        chart.Series.Add(serieRPMMotor);
                         Minimo = Logs.Any() && Logs.Min(x => x.RPM_Motor) < Minimo ? Logs.Min(x => x.RPM_Motor) : Minimo;
                         Maximo = Logs.Any() && Logs.Max(x => x.RPM_Motor) > Maximo ? Logs.Max(x => x.RPM_Motor) : Maximo;
 

AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs

@@ -50,7 +50,7 @@ namespace AgroBase
             this.generalStrip = new System.Windows.Forms.StatusStrip();
             this.lblStripJoystick = new System.Windows.Forms.ToolStripStatusLabel();
             this.lblStripJoystickComando = new System.Windows.Forms.ToolStripStatusLabel();
-            this.lblStripOperacao = new System.Windows.Forms.ToolStripStatusLabel();
+            this.lblStripOperacaoLiberada = new System.Windows.Forms.ToolStripStatusLabel();
             this.lblStripOperacaoStatus = new System.Windows.Forms.ToolStripStatusLabel();
             this.lblStripMqtt = new System.Windows.Forms.ToolStripStatusLabel();
             this.gpbMovimentacao = new System.Windows.Forms.GroupBox();
@@ -319,7 +319,7 @@ namespace AgroBase
             this.generalStrip.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.lblStripJoystick,
             this.lblStripJoystickComando,
-            this.lblStripOperacao,
+            this.lblStripOperacaoLiberada,
             this.lblStripOperacaoStatus,
             this.lblStripMqtt});
             this.generalStrip.Location = new System.Drawing.Point(0, 587);
@@ -341,11 +341,11 @@ namespace AgroBase
             this.lblStripJoystickComando.Size = new System.Drawing.Size(16, 17);
             this.lblStripJoystickComando.Text = "...";
             // 
-            // lblStripOperacao
+            // lblStripOperacaoLiberada
             // 
-            this.lblStripOperacao.Name = "lblStripOperacao";
-            this.lblStripOperacao.Size = new System.Drawing.Size(104, 17);
-            this.lblStripOperacao.Text = "Operação: Manual";
+            this.lblStripOperacaoLiberada.Name = "lblStripOperacaoLiberada";
+            this.lblStripOperacaoLiberada.Size = new System.Drawing.Size(134, 17);
+            this.lblStripOperacaoLiberada.Text = "Operação Liberada: Não";
             // 
             // lblStripOperacaoStatus
             // 
@@ -380,23 +380,25 @@ namespace AgroBase
             this.lblKmh.Location = new System.Drawing.Point(166, 20);
             this.lblKmh.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblKmh.Name = "lblKmh";
-            this.lblKmh.Size = new System.Drawing.Size(100, 13);
+            this.lblKmh.Size = new System.Drawing.Size(132, 13);
             this.lblKmh.TabIndex = 23;
-            this.lblKmh.Text = "Velocidade: 3 km/h";
+            this.lblKmh.Text = "Velocidade: 0% 0,00 km/h";
             // 
             // trkKmh
             // 
             this.trkKmh.Location = new System.Drawing.Point(168, 37);
             this.trkKmh.Margin = new System.Windows.Forms.Padding(2);
-            this.trkKmh.Maximum = 34;
+            this.trkKmh.Maximum = 100;
             this.trkKmh.Name = "trkKmh";
             this.trkKmh.Size = new System.Drawing.Size(158, 45);
             this.trkKmh.TabIndex = 22;
+            this.trkKmh.TickFrequency = 10;
             this.trkKmh.Value = 3;
             this.trkKmh.ValueChanged += new System.EventHandler(this.trkKmh_ValueChanged);
             // 
             // trkRPM
             // 
+            this.trkRPM.Enabled = false;
             this.trkRPM.Location = new System.Drawing.Point(4, 37);
             this.trkRPM.Margin = new System.Windows.Forms.Padding(2);
             this.trkRPM.Maximum = 100;
@@ -922,7 +924,7 @@ namespace AgroBase
         private System.Windows.Forms.Button btnIniciarOperacao;
         private System.Windows.Forms.Label lblKmh;
         public System.Windows.Forms.TrackBar trkKmh;
-        private System.Windows.Forms.ToolStripStatusLabel lblStripOperacao;
+        private System.Windows.Forms.ToolStripStatusLabel lblStripOperacaoLiberada;
         private System.Windows.Forms.ToolStripStatusLabel lblStripOperacaoStatus;
         private System.Windows.Forms.Button btnGPS;
         private System.Windows.Forms.Button btnConfigurarOperacao;

AgroBase/AgroBase/Forms/frmPrincipal.cs

@@ -1,26 +1,16 @@
-using AgroBase.Comum;
-using AgroBase.Forms;
+using AgroBase.Forms;
 using AgroBase.Forms.Atuador;
 using AgroBase.Forms.IHM;
 using AgroBase.Forms.Movimentacao;
 using AgroBase.Forms.Operacoes;
 using AgroBase.Forms.Sensoriamento;
 using AgroBase.Models;
-using AgroBase.Models.Modules;
 using AgroBase.Services;
-using Newtonsoft.Json;
 using System;
-using System.Collections.Generic;
 using System.Data;
-using System.Diagnostics;
 using System.Drawing;
-using System.IO;
 using System.IO.Ports;
 using System.Linq;
-using System.Text;
-using System.Text.Json.Serialization;
-using System.Threading;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 using System.Timers;
@@ -42,6 +32,12 @@ namespace AgroBase
             tmrDispositivos.Start();
 
             AtualizaDadosGerais();
+
+            btnJoyAtt_Click(new object(), new EventArgs());
+
+            cmbModoOperacao.Items.Clear();
+            cmbModoOperacao.Items.AddRange(Enum.GetNames(typeof(ModoOperacao)));
+            cmbModoOperacao.SelectedIndex = (int)Variaveis.OperacaoEmAndamento.Modo;
         }
 
         private void frmPrincipal_FormClosing(object sender, FormClosingEventArgs e)
@@ -52,26 +48,41 @@ namespace AgroBase
 
         public void AtualizaDadosGerais()
         {
-            btnJoyAtt_Click(new object(), new EventArgs());
+            Func<bool> funcVel = new Func<bool>(() =>
+            {
+                tkbVelocidade.Minimum = 0;
+                tkbVelocidade.Maximum = 100;
+                FuncoesGlobais.PreencheValorTrackBar(tkbVelocidade, Variaveis.OperacaoEmAndamento.Controle.VelocidadeMP);
+                return true;
+            });
+            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(tkbVelocidade, funcVel);
+            
+            Func<bool> funcAng = new Func<bool>(() =>
+            {
+                tkbAngulo.Minimum = 0;
+                tkbAngulo.Maximum = 90;
+                FuncoesGlobais.PreencheValorTrackBar(tkbAngulo, Variaveis.OperacaoEmAndamento.Controle.Angulo);
+                return true;
+            });
+            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(tkbAngulo, funcAng);
 
-            tkbVelocidade.Minimum = 0;
-            tkbVelocidade.Maximum = 100;
-            tkbVelocidade.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.VelocidadeMP);
+            Func<bool> funcKmh = new Func<bool>(() =>
+            {
+                trkKmh.Minimum = 0;
+                trkKmh.Maximum = 100;
+                return true;
+            });
+            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(trkKmh, funcKmh);
 
-            tkbAngulo.Minimum = 0;
-            tkbAngulo.Maximum = 90;
-            tkbAngulo.Value = Convert.ToInt32(Variaveis.OperacaoEmAndamento.Controle.Angulo);
-
-            trkRPM.Minimum = Variaveis.OperacaoEmAndamento.Controle.RPM_Min;
-            trkRPM.Maximum = VariaveisEquipamento.RPM_Max_Roda;
-            trkRPM.Value = Variaveis.OperacaoEmAndamento.Controle.RPM_SP;
-
-            trkKmh.Minimum = 0;
-            trkKmh.Maximum = Convert.ToInt32(MovimentacaoModel.CalculaVelocidadeRPM(trkRPM.Maximum));
-
-            cmbModoOperacao.Items.Clear();
-            cmbModoOperacao.Items.AddRange(Enum.GetNames(typeof(ModoOperacao)));
-            cmbModoOperacao.SelectedIndex = (int)Variaveis.OperacaoEmAndamento.Modo;
+            Func<bool> funcRpm = new Func<bool>(() =>
+            {
+                trkRPM.Minimum = Variaveis.OperacaoEmAndamento.Controle.RPM_Min;
+                trkRPM.Maximum = VariaveisEquipamento.RPM_Max_Roda;
+                FuncoesGlobais.PreencheValorTrackBar(trkRPM, Variaveis.OperacaoEmAndamento.Controle.RPM_SP);
+                AtualizaRPM(trkRPM.Value);
+                return true;
+            });
+            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(trkRPM, funcRpm);
         }
 
 
@@ -124,8 +135,10 @@ namespace AgroBase
             }
         }
 
-        private void TmrDispositivos_Elapsed(object sender, ElapsedEventArgs e)
+        private async void TmrDispositivos_Elapsed(object sender, ElapsedEventArgs e)
         {
+            ((System.Timers.Timer)sender).Stop();
+
             Func<bool> funcao = new Func<bool>(() =>
             {
                 lstDisponiveis.Items.Clear();
@@ -153,6 +166,10 @@ namespace AgroBase
                     x.AcaoConexao();
                 });
 
+                bool opLiberada = Variaveis.OperacaoEmAndamento.OperacaoLiberada;
+                lblStripOperacaoLiberada.Text = "Operação Liberada: " + (opLiberada ? "Sim" : "Não");
+                lblStripOperacaoLiberada.ForeColor = opLiberada ? Color.Green : Color.Red;
+
                 return true;
             });
 
@@ -160,8 +177,12 @@ namespace AgroBase
 
             if (chbConexaoautomatica.Checked)
             {
-                Task.Run(async () => await SerialService.RealizarVarreduraPortasUSB((System.Timers.Timer)sender));
+                await SerialService.RealizarVarreduraPortasUSB((System.Timers.Timer)sender);
+
+                AtualizaDadosGerais();
             }
+
+            ((System.Timers.Timer)sender).Start();
         }
 
         private void cmbDispositivos_SelectedIndexChanged(object sender, EventArgs e)
@@ -193,7 +214,6 @@ namespace AgroBase
                 Variaveis.OperacaoEmAndamento.AbrirForm();
             }
 
-            lblStripOperacao.Text = "Operação: " + Enum.GetName(typeof(ModoOperacao), Variaveis.OperacaoEmAndamento.Modo);
             lblStripOperacaoStatus.Text = Variaveis.OperacaoEmAndamento.Iniciado ? "Iniciado" : "Não iniciado";
         }
 
@@ -223,18 +243,17 @@ namespace AgroBase
             frmInstancial.frmJoystick.Show();
         }
 
-        public void AtualizaRPM(int valor)
+        public void AtualizaRPM(int Percentual)
         {
-            if (valor >= trkRPM.Minimum && valor <= trkRPM.Maximum)
-            {
-                double Velocidade = MovimentacaoModel.CalculaVelocidadeRPM(valor);
-                trkRPM.Value = valor;
-                trkKmh.Value = Convert.ToInt32(Velocidade);
+            int RPM = Convert.ToInt32((Percentual / 100.0) * VariaveisEquipamento.RPM_Max_Roda);
+            double Velocidade = MovimentacaoModel.CalculaVelocidadeRPM(RPM);
 
-                Variaveis.OperacaoEmAndamento.Controle.RPM_SP = trkRPM.Value;
-                lblRPM.Text = "RPM: " + Variaveis.OperacaoEmAndamento.Controle.RPM_SP;
-                lblKmh.Text = "Velocidade: " + Velocidade.ToString("0.00") + " km/h";
-            }
+            FuncoesGlobais.PreencheValorTrackBar(trkRPM, RPM);
+            FuncoesGlobais.PreencheValorTrackBar(trkKmh, Percentual);
+
+            Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP = Percentual;
+            lblRPM.Text = $"RPM: {RPM}";
+            lblKmh.Text = $"Velocidade: {Percentual.ToString("0")}% {Velocidade.ToString("0.00")} km/h";
         }
 
         private void tkbVelocidadeMP_ValueChanged(object sender, EventArgs e)
@@ -251,7 +270,7 @@ namespace AgroBase
 
         private void trkRPM_Scroll(object sender, EventArgs e)
         {
-            try
+            /*try
             {
                 int RPM = ((TrackBar)sender).Value;
                 AtualizaRPM(RPM);
@@ -259,15 +278,15 @@ namespace AgroBase
             catch (Exception ex)
             {
 
-            }
+            }*/
         }
 
         private void trkKmh_ValueChanged(object sender, EventArgs e)
         {
             try
             {
-                int RPM = Convert.ToInt32(MovimentacaoModel.CalculaRPMVelocidade(((TrackBar)sender).Value));
-                AtualizaRPM(RPM);
+                int Percentual = trkKmh.Value;
+                AtualizaRPM(Percentual);
             }
             catch (Exception ex)
             {

AgroBase/AgroBase/Models/GeneralJoystick.cs

@@ -1,14 +1,11 @@
 using System.Collections.Generic;
 using System.Linq;
-using System.Text;
 using System.Windows.Forms;
 using System;
-using AgroBase.Comum;
 using static AgroBase.Models.Enums;
 using AgroBase.Forms;
 using AgroBase.Models;
 using System.Threading.Tasks;
-using Windows.Gaming.Input;
 using AgroBase.Models.Modules;
 using SharpDX.DirectInput;
 using AgroBase.Services;
@@ -464,10 +461,10 @@ namespace AgroBase
             });
         }
 
-        public static void EnviaComandoMotor(Keys Tecla, T_Code Disp = T_Code.Vzo, bool MensagemBase = false)
+        public static void EnviaComandoMotor(Keys Tecla, T_Code Disp = T_Code.Vzo, bool ForcarComando = false)
         {
             if (
-                !frmDiagnosticos.Diagnosticando &&
+                !frmDiagnosticos.Diagnosticando && !ForcarComando && 
                 (!Variaveis.OperacaoEmAndamento.OperacaoLiberada || 
                 !Variaveis.OperacaoEmAndamento.Iniciado || 
                 Variaveis.OperacaoEmAndamento.Modo != ModoOperacao.Manual ||

AgroBase/AgroBase/Models/LoRaModel.cs

@@ -3,7 +3,6 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using static AgroBase.Models.Enums;
 
 namespace AgroBase.Models
@@ -165,6 +164,7 @@ namespace AgroBase.Models
     {
         public DateTime Momento { get; set; }
         public byte EnderecoCarro { get; set; }
+        public ulong CodigoFalha { get; set; }
         public LoRaProtocoloTransmissaoCoordenadasModel Coordenadas { get; set; }
         public LoRaProtocoloTransmissaoSensoresModel Sensores { get; set; }
         public LoRaProtocoloTransmissaoOperacaoModel Operacao { get; set; }

AgroBase/AgroBase/Models/MapasModel.cs

@@ -38,7 +38,7 @@ namespace AgroBase.Models
             {
                 double distancia = 0.0;
 
-                foreach (var trecho in TrajetoriaProjetada)
+                foreach (var trecho in TrajetoriaMapa)
                 {
                     distancia += GPSService.DistanciaDoTrecho(trecho);
                 }

AgroBase/AgroBase/Models/Modules/AtuadorModel.cs

@@ -1,14 +1,8 @@
 using AgroBase.Services;
-using Emgu.CV.Ocl;
-using Emgu.CV.Structure;
-using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
-using System.IO;
 using System.Linq;
-using System.Text;
 using System.Threading.Tasks;
-using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 
 namespace AgroBase.Models.Modules
@@ -632,6 +626,45 @@ namespace AgroBase.Models.Modules
 
         }
 
+        public (bool, List<string>) StatusModulosATU()
+        {
+            var Bicos = BicosPulverizadores.Where(x => x.Comandar).ToList();
+            var BicosComFalha = Bicos.Where(x => !x.Inicializado).ToList();
+            bool _bicosOperantes = !BicosComFalha.Any();
+
+            bool _bombaOperante = BombaPressurizadora.Inicializado;
+
+            var _sensorFluxo = Sensores.FirstOrDefault(x => x.Componente == S_Code.sFLX);
+            bool _sensorFluxoOperante = (!_sensorFluxo?.Aferir ?? false) || ((_sensorFluxo?.Aferir ?? false) && (_sensorFluxo?.Inicializado ?? false));
+            var _sensorMassa = Sensores.FirstOrDefault(x => x.Componente == S_Code.sMAS);
+            bool _sensorMassaOperante = (!_sensorMassa?.Aferir ?? false) || ((_sensorMassa?.Aferir ?? false) && (_sensorMassa?.Inicializado ?? false));
+            var _sensorPressao = Sensores.FirstOrDefault(x => x.Componente == S_Code.sPRS);
+            bool _sensorPressaoOperante = (!_sensorPressao?.Aferir ?? false) || ((_sensorPressao?.Aferir ?? false) && (_sensorPressao?.Inicializado ?? false));
+
+            List<string> ModsComFalha = BicosComFalha.Select(x => x.ID).ToList();
+
+            if (!_bombaOperante)
+            {
+                ModsComFalha.Add(BombaPressurizadora.ID);
+            }
+            if (!_sensorFluxoOperante)
+            {
+                ModsComFalha.Add(_sensorFluxo.ID);
+            }
+            if (!_sensorMassaOperante)
+            {
+                ModsComFalha.Add(_sensorMassa.ID);
+            }
+            if (!_sensorPressaoOperante)
+            {
+                ModsComFalha.Add(_sensorPressao.ID);
+            }
+
+            bool _atuadorOperante = _bombaOperante && _bicosOperantes && _sensorPressaoOperante;
+
+            return (_atuadorOperante, ModsComFalha);
+        }
+
     }
 
     public class AtuadorBicoModel

AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs

@@ -1,14 +1,9 @@
-using AgroBase.Comum;
-using AgroBase.Forms;
+using AgroBase.Forms;
 using AgroBase.Services;
-using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
-using System.IO;
 using System.Linq;
-using System.Text;
 using System.Threading.Tasks;
-using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 
 namespace AgroBase.Models.Modules
@@ -36,7 +31,41 @@ namespace AgroBase.Models.Modules
         public int TempoEmAtividade { get; set; } = 0;
         public double DistanciaPercorridaTotal { get; set; } = 0;
         public double DistanciaPercorridaParcial { get; set; } = 0;
-        
+
+        public (bool, List<string>) StatusModulosBLD(Direcao Lado) 
+        {
+            string Prefixo = Lado == Direcao.Esquerda ? "E" : Lado == Direcao.Direita ? "D" : "";
+            var Mods = Modulos.Where(Mod => Mod.Modulo_ID.Contains(Prefixo) && Mod.MovMotor.Comandar).ToList();
+            var ModsComFalha = Mods
+                .Where(Mod => 
+                    !Mod.MovMotor.BLD_Inicializado || 
+                    Mod.MovMotor.CodigoAlarme != 0 || 
+                    Mod.MovMotor.Alarme
+                )
+                .ToList();
+
+            bool _operante = ModsComFalha.Count() < Mods.Count();
+            List<string> ModsInoperantes = ModsComFalha.Select(x => x.Modulo_ID).ToList();
+
+            return (_operante, ModsInoperantes);
+        }
+
+        public (bool, List<string>) StatusModulosMKS(TipoMovimentoDirecional TipoMovimento)
+        {
+            var Mods = Modulos.Where(Mod => Mod.DirMotor.Comandar).ToList();
+            var ModsComFalha = Mods
+                .Where(Mod => 
+                    !Mod.DirMotor.MKS_Inicializado && (
+                        Mod.DirMotor.ConfigSentidos[TipoMovimento].Esquerda != Sentido.Parado && 
+                        Mod.DirMotor.ConfigSentidos[TipoMovimento].Direita != Sentido.Parado
+                    )
+                );
+
+            bool _operante = !ModsComFalha.Any();
+            List<string> ModsInoperantes = ModsComFalha.Select(x => x.Modulo_ID).ToList();
+
+            return (_operante, ModsInoperantes);
+        }
 
 
         public static MovimentacaoUnificadaModel CarregarParametrosIniciais()
@@ -88,9 +117,10 @@ namespace AgroBase.Models.Modules
                 x.MovMotor.LogGrafico = new List<MvdMotorMOVSensorimanetoGrafico>();
                 x.MovMotor.TemperaturaDriver = 0;
                 x.MovMotor.Temperatura = 0;
-                x.MovMotor.RPM_Motor = 0;
+                //x.MovMotor.RPM_Motor = 0;
+                x.MovMotor.RPM_Roda = 0;
                 x.MovMotor.RPM_SP = 0;
-                x.MovMotor.RPM_SP_C = 0;
+                x.MovMotor.RPM_SP_Controle = 0;
                 x.MovMotor.Corrente_Max = 0;
                 x.MovMotor.Sentido = Sentido.Parado;
                 x.MovMotor.CodigoAlarme = 0;
@@ -149,7 +179,8 @@ namespace AgroBase.Models.Modules
                                     Modulo.MovMotor.Inicializado = Dados[2] == "1";
                                     double rpm = 0;
                                     double.TryParse(Dados[3].Replace(".", ","), out rpm);
-                                    Modulo.MovMotor.RPM_Motor = rpm;
+                                    //Modulo.MovMotor.RPM_Motor = rpm;
+                                    Modulo.MovMotor.RPM_Roda = rpm;
                                     double temperatura = 0;
                                     double.TryParse(Dados[4].Replace(".", ","), out temperatura);
                                     temperatura = FuncoesMatematicas.CalcularTemperatura(temperatura, 0.0);
@@ -208,7 +239,8 @@ namespace AgroBase.Models.Modules
                                     Modulo.MovMotor.Inicializado = Dados[2] == "1";
                                     double rpm = 0;
                                     double.TryParse(Dados[3].Replace(".", ","), out rpm);
-                                    Modulo.MovMotor.RPM_Motor = rpm;
+                                    //Modulo.MovMotor.RPM_Motor = rpm;
+                                    Modulo.MovMotor.RPM_Roda = rpm;
                                     double temperatura = 0;
                                     double.TryParse(Dados[4].Replace(".", ","), out temperatura);
                                     temperatura = FuncoesMatematicas.CalcularTemperatura(temperatura, 0.0);
@@ -278,7 +310,7 @@ namespace AgroBase.Models.Modules
             {
                 Momento = DateTime.Now,
                 Modulo_ID = Modulo.Modulo_ID,
-                RPM_SP = Modulo.MovMotor.RPM_SP,
+                RPM_SP = Modulo.MovMotor.RPM_SP_Leitura, 
                 RPM_Motor = Modulo.MovMotor.RPM_Motor,
                 RPM_Roda = Modulo.MovMotor.RPM_Roda, 
                 Corrente = Modulo.MovMotor.Corrente,
@@ -417,7 +449,7 @@ namespace AgroBase.Models.Modules
 
                     if (Sucesso && DirecaoAtual != Direcao.Parado)
                     {
-                        Variaveis.OperacaoEmAndamento.Controle.RPM_SP = 20;
+                        Variaveis.OperacaoEmAndamento.Controle.PercentualVelocidadeSP = 20;
                         foreach (var Modulo in Modulos)
                         {
                             Modulo.MovMotor.ProtocoloComando(
@@ -589,7 +621,7 @@ namespace AgroBase.Models.Modules
 
             if (MovMotor.BLD_Inicializado && (!AlarmeAnterior || Adicionado) && AlarmeAtual) // Motor iniciado, Não estava em alarme anteriormente ou foi adicionado agora, alarme atual
             {
-                //Variaveis.OperacaoEmAndamento.DispMov.AdicionarMensagemFila(Variaveis.OperacaoEmAndamento.DispMov.Dados.Modulo_ID, ProtocoloComando(Direcao.Frente, true), true, false);
+                Variaveis.OperacaoEmAndamento.DispMvd.AdicionarMensagemFila(Modulo_ID, MovMotor.ProtocoloComando(Direcao.Parado, true), true, false);
             }
 
             Alm.Valor = _Alarme.Valor;
@@ -611,27 +643,37 @@ namespace AgroBase.Models.Modules
         public bool Freio { get; set; } = false;
         public int CodigoAlarme { get; set; } = 0;
         public int RPM_SP { get; set; } = 0;
-        public int RPM_SP_C { get; set; } = 0;
+        public int RPM_SP_Controle { get; set; } = 0;
+        public int RPM_SP_Leitura
+        {
+            get
+            {
+                return RPM_SP / Reducao;
+            }
+        }
         public Sentido Sentido_SP { get; set; } = Sentido.Parado;
-        public int NumeroPolos { get; set; } = 16;
+        public int NumeroPolos { get; set; } = 10;
         public int Rampa { get; set; } = 0;
-        public int RPM_Max { get; set; } = 600;
-        public int Reducao { get; set; } = 27;
+        public int RPM_Max { get; set; } = 500;
+        public int Reducao { get; set; } = 5;
+        public double OffsetLeitura { get; set; } = 1.0;
 
 
         // GETs
-        public double RPM_Motor { get; set; } = 0;
+        public double RPM_Roda { get; set; } = 0;
         public Sentido Sentido { get; set; } = Sentido.Parado;
         public double Temperatura { get; set; } = 0;
         public double TemperaturaDriver { get; set; } = 0;
         public double Tensao { get; set; } = 0;
         public double Corrente_Max { get; set; } = 0;
         public double Corrente { get; set; } = 0;
-        public double RPM_Roda
+        public double RPM_Motor
         {
             get
             {
-                return Convert.ToInt32(RPM_Motor / VariaveisEquipamento.RelacaoRPM);
+                //return Convert.ToInt32(RPM_Motor / VariaveisEquipamento.RelacaoRPM);
+                return RPM_Roda * VariaveisEquipamento.RelacaoRPM;
+                //return RPM_Roda * 0.74;
             }
         }
         public double VelocidadeInstantanea
@@ -783,17 +825,17 @@ namespace AgroBase.Models.Modules
 
             AcaoFreio AcaoDoFreio = AcaoFreio.SemAcao;
 
-            if (Comandar && (!Alarme || CmdAlarme))
+            if (Comandar && ((!Alarme && CodigoAlarme == 0) || CmdAlarme))
             {
                 if (!CmdAlarme)
                 {
                     MovimentacaoUnificadaModel.UltimaDirecao = DirecaoAtual;
                 }
 
-                RPM_SP_C = Variaveis.OperacaoEmAndamento.Controle.RPM_Motor;
+                RPM_SP_Controle = Variaveis.OperacaoEmAndamento.Controle.RPM_Motor;
                 RPM_SP =
                     DirecaoAtual == Direcao.Parado || CmdAlarme ? 0 :
-                    Variaveis.OperacaoEmAndamento.Controle.RPM_Motor;
+                    RPM_SP_Controle;
 
                 Ligado = RPM_SP > 0;
 
@@ -827,7 +869,7 @@ namespace AgroBase.Models.Modules
                             TimeoutResposta = 500,
                         });
                     }
-                    if (Ligado && (Leitura == null || Leitura.RPM_SP != RPM_SP_C))
+                    if (Ligado && (Leitura == null || Leitura.RPM_SP != RPM_SP_Controle))
                     {
                         BLD300RService.AdicionarComandoNaFila(new BLD300RService.BLDComandoModel()
                         {

AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs

@@ -1,15 +1,8 @@
 using AgroBase.Forms;
 using AgroBase.Services;
-using CefSharp;
-using Emgu.CV.ML;
-using Emgu.CV.Structure;
-using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
-using System.Drawing;
-using System.IO;
 using System.Linq;
-using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
@@ -657,10 +650,10 @@ namespace AgroBase.Models.Modules
                                 if (Sensor.Descricao.ToLower().Contains("bateria"))
                                 {
                                     frmInstancial.frmAcompanhamento.AtualizarSensores("Tensão atual: " + realVoltage.ToString("0.00") + "V - Mín: " + Sensor.ValorMinimo.ToString("0.00") + "V - Máx: " + Sensor.ValorMaximo.ToString("0.00") + "V");
-                                    Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = (realVoltage / Sensor.LimiteMaximo) * 100;
+                                    //Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = (realVoltage / Sensor.LimiteMaximo) * 100;
                                     if (Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria < 0)
                                     {
-                                        Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = 0;
+                                        //Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = 0;
                                     }
                                 }
 
@@ -939,6 +932,37 @@ namespace AgroBase.Models.Modules
             Variaveis.OperacaoEmAndamento.DispSen.AdicionarMensagemFila(Modulo_ID, ProtocoloAquisicao, true, false);
         }
 
+
+        public (bool, List<string>) StatusModulosSEN()
+        {
+            var _Sensores = Sensores.Where(x => x.Aferir).ToList();
+            var _SensoresComFalha = _Sensores.Where(x => !x.Inicializado).ToList();
+            bool _sensoresOperantes = _SensoresComFalha.Count() < _Sensores.Count();
+
+            var _Sinaleiros = Sinaleiros.ToList();
+            var _SinaleirosComFalha = _Sinaleiros.Where(x => !x.Inicializado).ToList();
+            bool _sinaleirosOperantes = !_SinaleirosComFalha.Any();
+
+            var _Reles = Reles.Where(x => x.Controlar).ToList();
+            var _RelesComFalha = _Reles.Where(x => !x.Inicializado).ToList();
+            bool _relesOperantes = !_RelesComFalha.Any();
+
+            var _Servos = Servos.Where(x => x.Controlar).ToList();
+            var _ServosComFalha = _Servos.Where(x => !x.Inicializado).ToList();
+            bool _servosOperantes = !_ServosComFalha.Any();
+
+            bool _sensoriamentoOperante = _sensoresOperantes && _relesOperantes && _servosOperantes;
+            List<string> ModsComFalha = 
+                _SensoresComFalha.Select(x => x.ID)
+                .Union(_SinaleirosComFalha.Select(x => x.ID))
+                .Union(_RelesComFalha.Select(x => x.ID))
+                .Union(_ServosComFalha.Select(x => x.ID))
+                .ToList();
+
+            return (_sensoriamentoOperante, ModsComFalha);
+        }
+
+
     }
 
     public class SensorModel

AgroBase/AgroBase/Models/Operacoes/OperacaoMapaGPSModel.cs

@@ -162,7 +162,7 @@ namespace AgroBase.Models.Operacoes
                 var BicosNaoAtuados = new List<AtuadorBicoModel>(Variaveis.OperacaoEmAndamento.DispAtu.Dados.BicosPulverizadores);
                 BicosNaoAtuados.ForEach(x => x.Atuado = false);
                 Controle.BicosAtuados = BicosNaoAtuados.ToList();
-                Controle.RPM_SP = 0;
+                Controle.PercentualVelocidadeSP = 0;
                 Controle.Angulo = 0;
             }
             else if (statusAtual == StatusCarroMapa.Direcionando)
@@ -172,41 +172,41 @@ namespace AgroBase.Models.Operacoes
                 bool DesvioSonar = (KinectService.Iniciado && Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect.DesvioNecessario);
                 if (Manobrando || DesvioSonar)
                 {
-                    Controle.RPM_SP = Controle.RPM_Min;
+                    Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
                 }
                 else
                 {
-                    Controle.RPM_SP = Controle.RPM_Max;
+                    Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMax;
                 }
             }
             else if (statusAtual == StatusCarroMapa.EntrandoRua)
             {
-                Controle.RPM_SP = Controle.RPM_Min;
+                Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
             }
             else if (statusAtual == StatusCarroMapa.SaindoRua)
             {
-                Controle.RPM_SP = Controle.RPM_Min;
+                Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
             }
             else if (statusAtual == StatusCarroMapa.CaminhandoRua)
             {
                 if (Sensoriamento.ErvasNoRadar == 0)
                 {
-                    Controle.RPM_SP = Controle.RPM_Max;
+                    Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMax;
                 }
                 else
                 {
-                    Controle.RPM_SP = Convert.ToInt32(Controle.RPM_Max * 0.85);
+                    Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMax * 0.85;
                 }
 
                 double margemAngulo = 5;
                 if (Controle.Angulo > margemAngulo || Controle.Angulo < (margemAngulo * -1))
                 {
-                    Controle.RPM_SP = Controle.RPM_Min;
+                    Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMin;
                 }
             }
             else if (statusAtual == StatusCarroMapa.Manobrando)
             {
-                Controle.RPM_SP = Controle.RPM_Max / 2;
+                Controle.PercentualVelocidadeSP = Controle.PercentualVelocidadeMax / 2.0;
             }
         }
 

AgroBase/AgroBase/Models/Variaveis.cs

@@ -1,24 +1,18 @@
-using AgroBase.Comum;
-using AgroBase.Models.Modules;
+using AgroBase.Models.Modules;
 using AgroBase.Services;
 using System;
 using System.Collections.Generic;
 using System.Drawing.Imaging;
 using System.Drawing;
 using System.Linq;
-using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 using System.Drawing.Drawing2D;
 using Microsoft.Win32;
 using System.Reflection;
-using AgroBase.Forms.Operacoes;
 using CefSharp.WinForms;
 using System.IO;
-using CefSharp.DevTools.Memory;
-using CefSharp.DevTools.Page;
-using OpenCvSharp.Internal.Vectors;
 
 namespace AgroBase.Models
 {
@@ -63,11 +57,8 @@ namespace AgroBase.Models
 
     public static class VariaveisPortas
     {
-        public static int GPS { get; } = 6512;
         public static int CameraSolo { get; } = 6522;
         public static int CameraCaminho { get; } = 6544;
-        public static int SocketSolo { get; } = 6568;
-        public static int SocketCaminho { get; } = 6588;
     }
 
     public static class VariaveisEquipamento
@@ -82,14 +73,29 @@ namespace AgroBase.Models
             }
         }
         public static double DiametroRoda { get; set; } = 0.3556;
-        public static double BateriaMax { get; set; } = 20;
+        public static double PercentualTensaoBateriaMin { get; set; } = 25.0;
+        public static double PercentualReservatorioMin { get; set; } = 5.0;
+        public static double PercentualToleranciaPressaoLinha { get; set; } = 0.15;
         public static double ReducaoDirecional { get; set; } = 20.0;
-        public static int RPM_Max_Roda { get; set; } = 100;
+        public static int RPM_Max_Roda
+        {
+            get
+            {
+                double RpmMax = 
+                    Variaveis.OperacaoEmAndamento.DispMvd != null ? 
+                        Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Average(x => x.MovMotor.RPM_Max) / RelacaoRPM : 
+                        100;
+                return (int)RpmMax;
+            }
+        }
         public static double RelacaoRPM
         {
             get
             {
-                double RelacaoRPM = Variaveis.OperacaoEmAndamento.DispMvd != null ? Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Average(x => x.MovMotor.RPM_Max) / VariaveisEquipamento.RPM_Max_Roda : 1;
+                double RelacaoRPM = 
+                    Variaveis.OperacaoEmAndamento.DispMvd != null ? 
+                        Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Average(x => x.MovMotor.Reducao) : 
+                        1;
                 return RelacaoRPM;
             }
         }
@@ -255,6 +261,15 @@ namespace AgroBase.Models
                 pgb.Minimum;
         }
 
+        public static void PreencheValorTrackBar(TrackBar tkb, double Valor)
+        {
+            tkb.Value =
+                Valor >= tkb.Minimum && Valor <= tkb.Maximum ? tkb.Value = Convert.ToInt32(Valor) :
+                Valor < tkb.Minimum ? tkb.Value = tkb.Minimum :
+                Valor > tkb.Maximum ? tkb.Value = tkb.Maximum :
+                tkb.Minimum;
+        }
+
         
         // Método para salvar o frame atual em JPEG
         public static void SalvarFrameJPEG(Bitmap frame, string caminhoArquivo)
@@ -621,6 +636,15 @@ namespace AgroBase.Models
         }
 
 
+        public static string MontarStringPerformance(float? gpuLoad, float? cpuLoad, float? ramUsage, float? cpuTemp, float? gpuTemp)
+        {
+            return $"GPU: {gpuLoad?.ToString("0.0") ?? "N/A"}%  " +
+                   $"CPU: {cpuLoad?.ToString("0.0") ?? "N/A"}%  " +
+                   $"RAM: {ramUsage?.ToString("0.0") ?? "N/A"}%  " +
+                   $"Temp CPU: {cpuTemp?.ToString("0.0") ?? "N/A"}°C  " +
+                   $"Temp GPU: {gpuTemp?.ToString("0.0") ?? "N/A"}°C";
+        }
+
     }
     
     public static class FuncoesMatematicas

AgroBase/AgroBase/Properties/Settings.Designer.cs

@@ -1,10 +1,10 @@
 //------------------------------------------------------------------------------
 // <auto-generated>
-//     O código foi gerado por uma ferramenta.
-//     Versão de Tempo de Execução:4.0.30319.42000
+//     This code was generated by a tool.
+//     Runtime Version:4.0.30319.42000
 //
-//     As alterações ao arquivo poderão causar comportamento incorreto e serão perdidas se
-//     o código for gerado novamente.
+//     Changes to this file may cause incorrect behavior and will be lost if
+//     the code is regenerated.
 // </auto-generated>
 //------------------------------------------------------------------------------
 
@@ -12,7 +12,7 @@ namespace AgroBase.Properties {
     
     
     [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
-    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "16.10.0.0")]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.8.0.0")]
     internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
         
         private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));

AgroBase/AgroBase/Services/APIService.cs

@@ -1,120 +0,0 @@
-using AgroBase.Models;
-using Newtonsoft.Json;
-using System;
-using System.Collections.Generic;
-using System.Diagnostics;
-using System.Linq;
-using System.Net.Http;
-using System.Text;
-
-namespace AgroBase.Services
-{
-    public static class APIService
-    {
-        public static Process pythonProcess = null;
-        public static string API_Base { get; set; } = "http://localhost";
-        public static string API_Porta { get; set; } = "5001";
-        public static string GPS_setCoordenadasEndpoint { get; set; } = "/receber-coordenadas";
-        public static string GPS_getCoordenadasEndpoint { get; set; } = "/servir-coordenadas/<id>";
-        public static string Mapa_setRuasSelecionadasEndpoint { get; set; } = "/receber-ruas-selecionadas";
-        public static string Mapa_getRuasSelecionadasEndpoint { get; set; } = "/servir-ruas-selecionadas";
-        public static int GPS_IDcoordenadasRobo { get; set; } = 1;
-
-        public static string ApiBase()
-        {
-            return API_Base + ":" + API_Porta.ToString();
-        }
-
-        public static void Inicializar()
-        {
-            if (pythonProcess == null)
-            {
-                pythonProcess = PythonService.RunScript(PythonService.ScriptAPI, new string[] { 
-                    API_Porta.ToString(), 
-                    GPS_getCoordenadasEndpoint, 
-                    GPS_setCoordenadasEndpoint, 
-                    Mapa_getRuasSelecionadasEndpoint, 
-                    Mapa_setRuasSelecionadasEndpoint 
-                });
-            }
-        }
-
-        public static void Parar()
-        {
-            if (pythonProcess != null && !pythonProcess.HasExited)
-            {
-                pythonProcess.Kill();
-                pythonProcess = null;
-            }
-        }
-
-        public static async void AtualizarCoordenadasGPS(GPSModel Leitura, int ID)
-        {
-            var url = ApiBase() + GPS_setCoordenadasEndpoint;
-            var localizacao = new
-            {
-                id = ID.ToString(),
-                latitude = Leitura.Latitude,
-                longitude = Leitura.Longitude
-            };
-
-            var json = JsonConvert.SerializeObject(localizacao);
-            var data = new StringContent(json, Encoding.UTF8, "application/json");
-
-            try
-            {
-                using (var client = new HttpClient())
-                {
-                    var response = await client.PostAsync(url, data);
-
-                    string result = await response.Content.ReadAsStringAsync();
-                }
-            }
-            catch (Exception e)
-            {
-                Console.WriteLine("Erro ao atualizar coordenadas GPS: " + e.Message);
-
-                if (pythonProcess == null || pythonProcess.HasExited)
-                {
-                    Inicializar();
-                }
-            }
-        }
-
-        public static async void AtualizarRuasSelecionadas()
-        {
-            try
-            {
-                var url = ApiBase() + Mapa_getRuasSelecionadasEndpoint;
-
-                using (var client = new HttpClient())
-                {
-                    var response = await client.GetAsync(url);
-                    List<string> ids = new List<string>();
-                    string result = await response.Content.ReadAsStringAsync();
-                    if (!result.Contains("[]"))
-                    {
-                        result = result.Replace("\n", "");
-                        result = result.Replace("\"", "");
-                        ids = JsonConvert.DeserializeObject<int[]>(result).Select(x => x.ToString()).ToList();
-                    }
-                    if (ids.Count != Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer.Count)
-                    {
-                        Variaveis.OperacaoEmAndamento.Mapa.RuasPercorrer = ids;
-                        Variaveis.OperacaoEmAndamento.Mapa.PopularTrajetoriaMapa();
-                    }
-                }
-            }
-            catch (Exception e)
-            {
-                Console.WriteLine("Erro ao atualizar ruas selecionadas: " + e.Message);
-
-                if (pythonProcess == null || pythonProcess.HasExited)
-                {
-                    Inicializar();
-                }
-            }
-        }
-
-    }
-}

AgroBase/AgroBase/Services/BLD300RService.cs

@@ -1,19 +1,11 @@
-using AgroBase.Forms;
-using AgroBase.Models;
+using AgroBase.Models;
 using System;
 using System.Collections.Generic;
 using System.IO.Ports;
 using System.Linq;
-using System.Text;
 using System.Threading.Tasks;
 using static AgroBase.Models.Enums;
-using System.Windows.Forms;
-using Emgu.CV.Structure;
-using System.Drawing.Printing;
-using System.Threading;
 using System.IO;
-using Newtonsoft.Json;
-using System.Collections;
 
 namespace AgroBase.Services
 {
@@ -37,6 +29,7 @@ namespace AgroBase.Services
                     {
                         RegisrarErrosComunicacao(0, $"Erro ao abrir porta {_PortaBLD.PortName}. Erro={ex.Message}");
                         //_PortaBLD = null;
+                        AtualizarPortaCOM(new SerialPort() { PortName = _PortaBLD.PortName, BaudRate = _PortaBLD.BaudRate });
                     }
                 }
                 return _PortaBLD != null && _PortaBLD.IsOpen && DadosLeitura.Any(x => x.Iniciado);
@@ -208,6 +201,7 @@ namespace AgroBase.Services
         private static readonly object FilaLock = new object();
 
         private static System.Timers.Timer tmrLoopComandos = new System.Timers.Timer() { Interval = 100, Enabled = false };
+        private static System.Timers.Timer tmrReceberDados = new System.Timers.Timer() { Interval = TaxaAmostragem, Enabled = false };
         private static bool EnvioLiberado { get; set; } = true;
 
 
@@ -221,11 +215,6 @@ namespace AgroBase.Services
                 AtualizarPortaCOM(porta);
             }
 
-            if (Iniciado)
-            {
-                return true;
-            }
-
             EnvioLiberado = false;
             
             var Parametro = Parametros.First(x => x.Chave == "Versao");
@@ -340,7 +329,12 @@ namespace AgroBase.Services
         public static void IniciarRotinas()
         {
             //Task.Run(() => LoopEnvioComandos()); // Inicia o loop de comandos em segundo plano
-            Task.Run(() => ReceberDados()); // Inicia a recepção de dados em segundo plano
+            //Task.Run(() => ReceberDados()); // Inicia a recepção de dados em segundo plano
+            if (!tmrReceberDados.Enabled)
+            {
+                tmrReceberDados.Elapsed += TmrReceberDados_Elapsed; ;
+                tmrReceberDados.Start();
+            }
             if (!tmrLoopComandos.Enabled)
             {
                 tmrLoopComandos.Elapsed += TmrLoopComandos_Elapsed;
@@ -352,7 +346,7 @@ namespace AgroBase.Services
         {
             ((System.Timers.Timer)sender).Stop();
 
-            if (Iniciado && EnvioLiberado)
+            if (EnvioLiberado)
             {
                 await LoopEnvioComandos();
             }
@@ -385,65 +379,82 @@ namespace AgroBase.Services
             }
         }
 
-        private static async Task ReceberDados()
+        private static void TmrReceberDados_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
-            while (true)
-            {
-                await Task.Delay(TaxaAmostragem);
+            ((System.Timers.Timer)sender).Stop();
 
-                if (!Iniciado)
+            if (!Iniciado)
+            {
+                foreach (var Leitura in DadosLeitura.Where(x => x.UltimoComandoRecebido.AddSeconds(10) < DateTime.Now))
                 {
-                    continue;
+                    AdicionarComandoNaFila(new BLDComandoModel()
+                    {
+                        Endereco = Leitura.Endereco,
+                        Parametro = Parametros.First(x => x.Chave == "Versao"),
+                        Get = true,
+                        AguardaResposta = true
+                    });
                 }
 
-                foreach (var Leitura in DadosLeitura.Where(x => x.Iniciado).OrderBy(x => x.Endereco))
+                TaxaAmostragem = 3000;
+
+                ReconectarPortaCOM();
+
+                ((System.Timers.Timer)sender).Start();
+                return;
+            }
+
+            foreach (var Leitura in DadosLeitura.Where(x => x.Iniciado).OrderBy(x => x.Endereco))
+            {
+                foreach (var Parametro in Parametros.Where(x => x.LeituraLoop))
                 {
-                    foreach (var Parametro in Parametros.Where(x => x.LeituraLoop))
+                    var Comando = new BLDComandoModel()
                     {
-                        var Comando = new BLDComandoModel()
+                        Endereco = Leitura.Endereco,
+                        AguardaResposta = true,
+                        Parametro = Parametro,
+                        Get = true,
+                        TimeoutResposta = 300
+                    };
+                    AdicionarComandoNaFila(Comando);
+                }
+
+                var Modulo = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(x => Convert.ToByte(x.MovMotor.Endereco.Replace("0x", ""), 16) == Leitura.Endereco);
+                if (Modulo != null)
+                {
+                    //Modulo.MovMotor.RPM_Motor = Leitura.RPM;
+                    Modulo.MovMotor.RPM_Roda = Leitura.RPM * Modulo.MovMotor.OffsetLeitura;
+                    Modulo.MovMotor.TemperaturaDriver = Math.Round(Leitura.Temperatura, 2);
+                    Modulo.MovMotor.Corrente_Max = Math.Round(Leitura.CorrenteMax, 2);
+                    Modulo.MovMotor.Tensao = Math.Round(Leitura.Tensao, 2);
+                    Modulo.MovMotor.Ligado = Leitura.Ativado;
+                    Modulo.MovMotor.Freio = Leitura.Freado;
+                    Modulo.MovMotor.Sentido = Leitura.Direcao;
+                    Modulo.MovMotor.CodigoAlarme = Leitura.CodigoAlarme;
+
+                    Variaveis.OperacaoEmAndamento.DispMvd.Dados.RegistrarLogMov(Modulo);
+
+                    // Tenta reiniciar o alarme dos modulos se a operacao nao estiver liberada
+                    if (Modulo.MovMotor.CodigoAlarme > 0 && Modulo.MovMotor.CodigoAlarme <= 99 && !Variaveis.OperacaoEmAndamento.OperacaoLiberada)
+                    {
+                        RegisrarErrosComunicacao(Leitura.Endereco, $"Módulo com código de alarme {Modulo.MovMotor.CodigoAlarme}, reiniciando o módulo...");
+                        AdicionarComandoNaFila(new BLDComandoModel()
                         {
                             Endereco = Leitura.Endereco,
                             AguardaResposta = true,
-                            Parametro = Parametro,
-                            Get = true,
-                            TimeoutResposta = 300
-                        };
-                        AdicionarComandoNaFila(Comando);
+                            TimeoutResposta = 200,
+                            Get = false,
+                            Parametro = Parametros.First(x => x.Chave == "AlarmeCode"),
+                            Valor = 0
+                        });
                     }
 
-                    var Modulo = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(x => Convert.ToByte(x.MovMotor.Endereco.Replace("0x", ""), 16) == Leitura.Endereco);
-                    if (Modulo != null)
-                    {
-                        Modulo.MovMotor.RPM_Motor = Leitura.RPM;
-                        Modulo.MovMotor.TemperaturaDriver = Math.Round(Leitura.Temperatura, 2);
-                        Modulo.MovMotor.Corrente_Max = Math.Round(Leitura.CorrenteMax, 2);
-                        Modulo.MovMotor.Tensao = Math.Round(Leitura.Tensao, 2);
-                        Modulo.MovMotor.Ligado = Leitura.Ativado;
-                        Modulo.MovMotor.Freio = Leitura.Freado;
-                        Modulo.MovMotor.Sentido = Leitura.Direcao;
-                        Modulo.MovMotor.CodigoAlarme = Leitura.CodigoAlarme;
-
-                        Variaveis.OperacaoEmAndamento.DispMvd.Dados.RegistrarLogMov(Modulo);
-
-                        if (Modulo.MovMotor.CodigoAlarme > 0 && Modulo.MovMotor.CodigoAlarme <= 99)
-                        {
-                            RegisrarErrosComunicacao(Leitura.Endereco, $"Módulo com código de alarme {Modulo.MovMotor.CodigoAlarme}, reiniciando o módulo...");
-                            AdicionarComandoNaFila(new BLDComandoModel()
-                            {
-                                Endereco = Leitura.Endereco,
-                                AguardaResposta = true,
-                                TimeoutResposta = 200,
-                                Get = false,
-                                Parametro = Parametros.First(x => x.Chave == "AlarmeCode"),
-                                Valor = 0
-                            });
-                        }
-
-                        var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Mov);
-                        Modulo.MovMotor.ProtocoloComando(Controle.UltimaDirecao);
-                    }
+                    var Controle = Variaveis.OperacaoEmAndamento.Controle.TiposControle.FirstOrDefault(x => x.Tipo == T_Code.Mov);
+                    Modulo.MovMotor.ProtocoloComando(Controle.UltimaDirecao);
                 }
             }
+
+            ((System.Timers.Timer)sender).Start();
         }
 
         private static bool DecifrarResposta(byte[] resposta, ModbusParametrosModel Parametro, byte Addr)
@@ -695,24 +706,31 @@ namespace AgroBase.Services
 
         private static void RegisrarErrosComunicacao(byte addr, string mensagem)
         {
-            var Caminho = Variaveis.CaminhoLogsDispositivos;
-            if (!Directory.Exists(Caminho))
+            try
             {
-                Directory.CreateDirectory(Caminho);
+                var Caminho = Variaveis.CaminhoLogsDispositivos;
+                if (!Directory.Exists(Caminho))
+                {
+                    Directory.CreateDirectory(Caminho);
+                }
+
+                var Arquivo = T_Code.Bld.ToString() + "_err.txt";
+                Caminho += "/" + Arquivo;
+
+                mensagem = DateTime.Now.ToString("dd/MM/yyyy HH:mm:ss:fff") + " - Porta " + _PortaBLD.PortName + " - " + addr + ": " + mensagem + Environment.NewLine;
+
+                if (!File.Exists(Caminho))
+                {
+                    File.WriteAllText(Caminho, mensagem);
+                }
+                else
+                {
+                    File.AppendAllText(Caminho, mensagem);
+                }
             }
-
-            var Arquivo = T_Code.Bld.ToString() + "_err.txt";
-            Caminho += "/" + Arquivo;
-
-            mensagem = DateTime.Now.ToString("dd/MM/yyyy HH:mm:ss:fff") + " - Porta " + _PortaBLD.PortName + " - " + addr + ": " + mensagem + Environment.NewLine;
-
-            if (!File.Exists(Caminho))
+            catch
             {
-                File.WriteAllText(Caminho, mensagem);
-            }
-            else
-            {
-                File.AppendAllText(Caminho, mensagem);
+                Console.WriteLine("Erro ao salvar log de erro BLD");
             }
         }
 

AgroBase/AgroBase/Services/LoRaSerializer.cs

@@ -1,11 +1,7 @@
 using AgroBase.Models;
 using System;
 using System.Collections.Generic;
-using System.IO;
-using System.Linq;
-using System.Runtime.Serialization.Formatters.Binary;
 using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 
@@ -23,6 +19,9 @@ namespace AgroBase.Services
             // Serializar EnderecoCarro (byte)
             bytes.Add(model.EnderecoCarro);
 
+            // Serializar CodigoFalha (ulong)
+            bytes.AddRange(BitConverter.GetBytes(model.CodigoFalha));
+
             // Serializar Coordenadas (LoRaProtocoloTransmissaoCoordenadasModel)
             bytes.AddRange(BitConverter.GetBytes(model.Coordenadas.Latitude));
             bytes.AddRange(BitConverter.GetBytes(model.Coordenadas.Longitude));
@@ -70,6 +69,10 @@ namespace AgroBase.Services
             model.EnderecoCarro = bytes[index];
             index += sizeof(byte);
 
+            // Desserializar CodigoFalha (ulong)
+            model.CodigoFalha = BitConverter.ToUInt64(bytes, index);
+            index += sizeof(ulong);
+
             // Desserializar Coordenadas (LoRaProtocoloTransmissaoCoordenadasModel)
             model.Coordenadas = new LoRaProtocoloTransmissaoCoordenadasModel
             {
@@ -116,7 +119,6 @@ namespace AgroBase.Services
             return model;
         }
 
-
         public static byte[] SerializeGPSModel(byte Endereco, GPSModel model)
         {
             List<byte> bytes = new List<byte>();
@@ -170,7 +172,7 @@ namespace AgroBase.Services
             bytes.AddRange(BitConverter.GetBytes((int)model.Dispositivo));
 
             // Serializar RPM
-            bytes.AddRange(BitConverter.GetBytes(model.RPM));
+            bytes.AddRange(BitConverter.GetBytes(model.PercentualVelocidadeSP));
 
             // Serializar AnguloMP
             bytes.AddRange(BitConverter.GetBytes(model.AnguloMP));
@@ -205,8 +207,8 @@ namespace AgroBase.Services
             index += sizeof(int);
 
             // Desserializar RPM
-            model.RPM = BitConverter.ToInt32(bytes, index);
-            index += sizeof(int);
+            model.PercentualVelocidadeSP = BitConverter.ToDouble(bytes, index);
+            index += sizeof(double);
 
             // Desserializar AnguloMP
             model.AnguloMP = BitConverter.ToDouble(bytes, index);

AgroBase/AgroBase/Services/LoRaService.cs

@@ -1,23 +1,12 @@
 using AgroBase.Models;
-using Emgu.CV;
-using Emgu.CV.Features2D;
-using Emgu.CV.Structure;
-using Microsoft.DirectX.DirectInput;
-using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
-using System.IO;
 using System.IO.Ports;
 using System.Linq;
-using System.Runtime.Remoting.Channels;
 using System.Text;
 using System.Text.RegularExpressions;
-using System.Threading;
 using System.Threading.Tasks;
-using System.Windows.Forms;
 using static AgroBase.Models.Enums;
-using static Emgu.CV.ML.KNearest;
-using static System.Windows.Forms.VisualStyles.VisualStyleElement.Window;
 
 namespace AgroBase.Services
 {
@@ -769,10 +758,15 @@ namespace AgroBase.Services
                 double velocidadeMin = MovimentacaoModel.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.Controle.RPM_Min);
                 double TemperaturaCampo = WT901CService.Iniciado ? WT901CService.DadosLeitura.Temperatura : 0;
 
+                (bool dirOperante, List<string> dirModsFalha) = Variaveis.OperacaoEmAndamento.DispMvd.Dados.StatusModulosMKS(Variaveis.OperacaoEmAndamento.Controle.TipoMovimento);
+                (bool movEsqOperante, List<string> movEsqModsFalha) = Variaveis.OperacaoEmAndamento.DispMvd.Dados.StatusModulosBLD(Direcao.Esquerda);
+                (bool movDirOperante, List<string> movDirModsFalha) = Variaveis.OperacaoEmAndamento.DispMvd.Dados.StatusModulosBLD(Direcao.Direita);
+
                 LoRaProtocoloTransmissaoModel dados = new LoRaProtocoloTransmissaoModel()
                 {
                     Momento = DateTime.Now,
                     EnderecoCarro = Variaveis.ConexaoLoRa.parametros.address,
+                    CodigoFalha = Variaveis.OperacaoEmAndamento.RetornaCodigoFalha(), 
                     Operacao = new LoRaProtocoloTransmissaoOperacaoModel()
                     {
                         idxRuaAtual = Variaveis.OperacaoEmAndamento.Sensoriamento.IdxRuaAtual,

AgroBase/AgroBase/Services/MKS057DService.cs

@@ -1,16 +1,10 @@
-using AgroBase.Forms;
-using AgroBase.Forms.IHM;
-using AgroBase.Models;
-using CefSharp.DevTools.Page;
-using OpenTK.Audio.OpenAL;
-using SharpDX.DirectInput;
+using AgroBase.Models;
 using System;
 using System.Collections;
 using System.Collections.Generic;
 using System.IO;
 using System.IO.Ports;
 using System.Linq;
-using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
@@ -44,6 +38,7 @@ namespace AgroBase.Services
         }
         public static int TaxaAmostragem { get; set; } = 1000;
         public static SerialPort _PortaMKS = new SerialPort();
+        private static System.Timers.Timer tmrReceberDados = new System.Timers.Timer() { Interval = TaxaAmostragem, Enabled = false };
 
         public static async Task<bool> VerificaPortaMKS(SerialPort porta)
         {
@@ -55,9 +50,6 @@ namespace AgroBase.Services
                 AtualizarPortaCOM(porta);
             }
 
-            string oldHV = "";
-            string oldFV = "";
-
             List<string> Mod_IDs = new List<string>();
 
             foreach (var Modulo in Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Where(x => !x.DirMotor.MKS_Inicializado))
@@ -128,7 +120,12 @@ namespace AgroBase.Services
         public static void IniciarRotinas()
         {
             //Task.Run(() => LoopEnvioComandos()); // Inicia o loop de comandos em segundo plano
-            Task.Run(() => ReceberDados()); // Inicia a recepção de dados em segundo plano
+            //Task.Run(() => ReceberDados()); // Inicia a recepção de dados em segundo plano
+            if (!tmrReceberDados.Enabled)
+            {
+                tmrReceberDados.Elapsed += TmrReceberDados_Elapsed;
+                tmrReceberDados.Start();
+            }
             if (!tmrLoopComandos.Enabled)
             {
                 tmrLoopComandos.Elapsed += TmrLoopComandos_Elapsed;
@@ -136,6 +133,43 @@ namespace AgroBase.Services
             }
         }
 
+        private static void TmrReceberDados_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
+        {
+            ((System.Timers.Timer)sender).Stop();
+
+            if (!Iniciado)
+            {
+                foreach (var Leitura in DadosLeitura.Where(x => x.UltimoComandoRecebido.AddSeconds(10) < DateTime.Now))
+                {
+                    AdicionarComandoNaFila(MontarComandoRequisicaoPulsos(Leitura.Endereco));
+                }
+
+                TaxaAmostragem = 3000;
+
+                ReconectarPortaCOM();
+
+                ((System.Timers.Timer)sender).Start();
+                return;
+            }
+
+            TaxaAmostragem = Referenciando ? 200 : 1000;
+
+            if (Referenciando)
+            {
+                AdicionarComandoNaFila(MontarComandoRequisicaoPulsos(AddrRef));
+                AdicionarComandoNaFila(MontarComandoRequisicaoIO(AddrRef));
+            }
+            else
+            {
+                foreach (var Modulo in Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Where(x => x.DirMotor.MKS_Inicializado))
+                {
+                    AdicionarComandoNaFila(MontarComandoRequisicaoPulsos(Convert.ToByte(Modulo.DirMotor.Endereco, 16)));
+                }
+            }
+
+            ((System.Timers.Timer)sender).Start();
+        }
+
         private static async void TmrLoopComandos_Elapsed(object sender, EventArgs e)
         {
             ((System.Timers.Timer)sender).Stop();
@@ -224,24 +258,31 @@ namespace AgroBase.Services
 
         private static void RegisrarErrosComunicacao(byte addr, string mensagem)
         {
-            var Caminho = Variaveis.CaminhoLogsDispositivos;
-            if (!Directory.Exists(Caminho))
+            try
             {
-                Directory.CreateDirectory(Caminho);
+                var Caminho = Variaveis.CaminhoLogsDispositivos;
+                if (!Directory.Exists(Caminho))
+                {
+                    Directory.CreateDirectory(Caminho);
+                }
+
+                var Arquivo = T_Code.Mks.ToString() + "_err.txt";
+                Caminho += "/" + Arquivo;
+
+                mensagem = DateTime.Now.ToString("dd/MM/yyyy HH:mm:ss:fff") + " - Porta " + (_PortaMKS?.PortName ?? "COM") + " - " + addr + ": " + mensagem + Environment.NewLine;
+
+                if (!File.Exists(Caminho))
+                {
+                    File.WriteAllText(Caminho, mensagem);
+                }
+                else
+                {
+                    File.AppendAllText(Caminho, mensagem);
+                }
             }
-
-            var Arquivo = T_Code.Mks.ToString() + "_err.txt";
-            Caminho += "/" + Arquivo;
-
-            mensagem = DateTime.Now.ToString("dd/MM/yyyy HH:mm:ss:fff") + " - Porta " + (_PortaMKS?.PortName ?? "COM") + " - " + addr + ": " + mensagem + Environment.NewLine;
-
-            if (!File.Exists(Caminho))
+            catch
             {
-                File.WriteAllText(Caminho, mensagem);
-            }
-            else
-            {
-                File.AppendAllText(Caminho, mensagem);
+                Console.WriteLine("Erro ao salvar log de erro MKS");
             }
         }
 
@@ -568,44 +609,6 @@ namespace AgroBase.Services
         }
 
 
-        private static async Task<bool> ReceberDados()
-        {
-            while (true)
-            {
-                await Task.Delay(TaxaAmostragem);
-
-                if (!Iniciado)
-                {
-                    foreach (var Leitura in DadosLeitura.Where(x => x.UltimoComandoRecebido.AddSeconds(10) < DateTime.Now))
-                    {
-                        AdicionarComandoNaFila(MontarComandoRequisicaoPulsos(Leitura.Endereco));
-                    }
-
-                    TaxaAmostragem = 3000;
-
-                    ReconectarPortaCOM();
-
-                    continue;
-                }
-
-                TaxaAmostragem = Referenciando ? 200 : 1000;
-
-                if (Referenciando)
-                {
-                    AdicionarComandoNaFila(MontarComandoRequisicaoPulsos(AddrRef));
-                    AdicionarComandoNaFila(MontarComandoRequisicaoIO(AddrRef));
-                }
-                else
-                {
-                    foreach (var Modulo in Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Where(x => x.DirMotor.MKS_Inicializado))
-                    {
-                        AdicionarComandoNaFila(MontarComandoRequisicaoPulsos(Convert.ToByte(Modulo.DirMotor.Endereco, 16)));
-                    }
-                }
-            }
-        }
-
-
         public static int ConverterAnguloParaValor(double _angulo)
         {
             int val = 0;

AgroBase/AgroBase/Services/ModbusService.cs

@@ -44,11 +44,16 @@ namespace AgroBase.Services
         public static List<ModbusComandoModel> FilaComandos = new List<ModbusComandoModel>();
         private static readonly object FilaLock = new object();
         private static System.Timers.Timer tmrLoopComandos = new System.Timers.Timer() { Interval = 100, Enabled = false };
+        private static System.Timers.Timer tmrReceberDados = new System.Timers.Timer() { Interval = 1000, Enabled = false };
 
 
         public static void IniciarRotinas()
         {
-            Task.Run(() => ReceberDados());
+            if (!tmrReceberDados.Enabled)
+            {
+                tmrReceberDados.Elapsed += TmrReceberDados_Elapsed;
+                tmrReceberDados.Start();
+            }
             if (!tmrLoopComandos.Enabled)
             {
                 tmrLoopComandos.Elapsed += TmrLoopComandos_Elapsed;
@@ -94,23 +99,18 @@ namespace AgroBase.Services
             }
         }
 
-        private static async Task<bool> ReceberDados()
+        private static void TmrReceberDados_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
-            while (true)
+            ((System.Timers.Timer)sender).Stop();
+
+            if (Iniciado)
             {
-                await Task.Delay(TaxaAmostragem);
-
-                if (!Iniciado)
-                {
-                    continue;
-                }
-
                 if (PZEMService.Iniciado && !PZEMService.ModoLeitura)
                 {
                     AdicionarComandoNaFila(new ModbusComandoModel()
                     {
-                        Dispositivo = T_Code.Pzm, 
-                        Endereco = PZEMService.slaveAddress, 
+                        Dispositivo = T_Code.Pzm,
+                        Endereco = PZEMService.slaveAddress,
                         Comando = PZEMService.ComandoAquisicaoDados(),
                         Verificacao = false,
                         TamanhoEsperado = 16,
@@ -124,7 +124,7 @@ namespace AgroBase.Services
                         Dispositivo = T_Code.Wit,
                         Endereco = WT901CService.slaveAddress,
                         Comando = WT901CService.ComandoAquisicaoDados(),
-                        Verificacao = false, 
+                        Verificacao = false,
                         TamanhoEsperado = 101,
                         TimeoutResposta = 1000,
                     });
@@ -142,6 +142,9 @@ namespace AgroBase.Services
                     });
                 }
             }
+
+            ((System.Timers.Timer)sender).Interval = TaxaAmostragem;
+            ((System.Timers.Timer)sender).Start();
         }
 
         private static async void TmrLoopComandos_Elapsed(object sender, EventArgs e)
@@ -150,39 +153,36 @@ namespace AgroBase.Services
 
             if (EnvioLiberado && !Verificando && !frmInstancial.Fechando)
             {
-                await LoopEnvioComandos();
+                EnvioLiberado = false;
+
+                try
+                {
+                    List<ModbusComandoModel> comandosParaEnviar;
+
+                    lock (FilaLock)
+                    {
+                        comandosParaEnviar = FilaComandos.Where(x => !x.Enviado).OrderByDescending(x => x.Verificacao).ThenBy(x => x.Momento).ToList();
+                    }
+
+                    foreach (var Comando in comandosParaEnviar)
+                    {
+                        await EnviarComando(Comando);
+                    }
+                }
+                catch (Exception ex)
+                {
+                    RegisrarErrosComunicacao(T_Code.Mbs, 0, $"Erro ao processar fila de comandos. Erro={ex.Message}");
+                }
+                finally
+                {
+                    EnvioLiberado = true;
+                }
             }
 
             ((System.Timers.Timer)sender).Start();
         }
 
-        private static async Task LoopEnvioComandos()
-        {
-            EnvioLiberado = false;
 
-            try
-            {
-                List<ModbusComandoModel> comandosParaEnviar;
-
-                lock (FilaLock)
-                {
-                    comandosParaEnviar = FilaComandos.Where(x => !x.Enviado).OrderByDescending(x => x.Verificacao).ThenBy(x => x.Momento).ToList();
-                }
-
-                foreach (var Comando in comandosParaEnviar)
-                {
-                    await EnviarComando(Comando);
-                }
-            }
-            catch (Exception ex)
-            {
-                RegisrarErrosComunicacao(T_Code.Mbs, 0, $"Erro ao processar fila de comandos. Erro={ex.Message}");
-            }
-            finally
-            {
-                EnvioLiberado = true;
-            }
-        }
 
         private static void RegisrarErrosComunicacao(T_Code dispositivo, byte addr, string mensagem)
         {

AgroBase/AgroBase/Services/PZEMService.cs

@@ -1,17 +1,10 @@
 using AgroBase.Models;
-using CefSharp.WinForms;
-using CefSharp;
 using System;
 using System.Collections.Generic;
-using System.Globalization;
 using System.IO.Ports;
 using System.Linq;
 using System.Windows.Forms;
-using Newtonsoft.Json;
-using Emgu.CV.CvEnum;
-using Emgu.CV.Aruco;
 using System.Threading.Tasks;
-using AgroBase.Forms;
 using static AgroBase.Models.Enums;
 
 namespace AgroBase.Services
@@ -24,8 +17,9 @@ namespace AgroBase.Services
 
         public static PZEMModel UltimaLeitura = new PZEMModel();
         public static PZEMModel PenultimaLeitura = new PZEMModel();
-        public static double TensaoMinima { get; set; } = 30;
-        public static double TensaoMaxima { get; set; } = 42;
+        public static double TensaoMinima { get; set; } = 36.0;
+        public static double TensaoMaxima { get; set; } = 42.0;
+        public static double CorrenteMax { get; set; } = 20.0;
         public static bool ModoLeitura = false;
 
         
@@ -46,7 +40,7 @@ namespace AgroBase.Services
             { "EnderecoRTU", 0x0002 },
             { "EscalaCorrenteAtual", 0x0003  },
         };
-        public static CoulombCounterService ContadorCarga = new CoulombCounterService(VariaveisEquipamento.BateriaMax);
+        public static CoulombCounterService ContadorCarga = new CoulombCounterService(CorrenteMax);
 
 
         public static async Task<bool> VerificaPortaPZEM(SerialPort porta)
@@ -196,8 +190,6 @@ namespace AgroBase.Services
 
             ContadorCarga.AtualizarConsumo();
 
-            double percent = FuncoesMatematicas.Map(UltimaLeitura.Tensao, TensaoMinima, TensaoMaxima, 0, 100);
-            Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = percent;
             Variaveis.OperacaoEmAndamento.Sensoriamento.BateriaConsumida = ContadorCarga.PercentualConsumido;
 
             return Sucesso;

AgroBase/AgroBase/Services/RS485Service.cs

@@ -1,87 +0,0 @@
-using System;
-using System.Collections.Concurrent;
-using System.Collections.Generic;
-using System.IO.Ports;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace AgroBase.Services
-{
-    public class RS485Service
-    {
-        public static SerialPort _serialPort;
-        private static ConcurrentDictionary<int, TaskCompletionSource<byte[]>> _pendingRequests;
-        private static List<byte> _receiveBuffer = new List<byte>();
-
-        public RS485Service(string portName)
-        {
-
-        }
-
-        public static void Inicializar(string portName)
-        {
-            _serialPort = new SerialPort(portName, 9600, Parity.None, 8, StopBits.Two);
-            _serialPort.DataReceived += OnDataReceived;
-            _serialPort.Open();
-            _pendingRequests = new ConcurrentDictionary<int, TaskCompletionSource<byte[]>>();
-        }
-
-        public static async Task<byte[]> SendRequestAsync(int address, byte[] request)
-        {
-            var tcs = new TaskCompletionSource<byte[]>();
-            _pendingRequests[address] = tcs;
-
-            _serialPort.Write(request, 0, request.Length);
-
-            // Timeout após 2 segundos
-            var timeoutTask = Task.Delay(2000).ContinueWith(t => tcs.TrySetCanceled());
-
-            var completedTask = await Task.WhenAny(tcs.Task, timeoutTask);
-
-            // Verifica se a tarefa concluída foi a de timeout
-            if (completedTask == timeoutTask)
-            {
-                _receiveBuffer.Clear();
-                throw new TimeoutException("O dispositivo não respondeu dentro do tempo esperado.");
-            }
-
-            // Retorna o resultado da tarefa que não foi de timeout
-            return await tcs.Task;
-        }
-
-        private static void OnDataReceived(object sender, SerialDataReceivedEventArgs e)
-        {
-            while (_serialPort.BytesToRead > 0)
-            {
-                byte[] buffer = new byte[_serialPort.BytesToRead];
-                int bytesRead = _serialPort.Read(buffer, 0, buffer.Length);
-                _receiveBuffer.AddRange(buffer);
-
-                if (_receiveBuffer.Count > 20) 
-                {
-                    _receiveBuffer.Clear();
-                    _serialPort.DiscardInBuffer();
-                }
-                // Verifica se a mensagem completa foi recebida
-                else if (_receiveBuffer.Count >= 4) // Tamanho mínimo de uma mensagem MODBUS RTU (endereço + função + CRC)
-                {
-                    // Verifica o CRC
-                    if (ModbusService.VerifyChecksum(_receiveBuffer.ToArray()))
-                    {
-                        byte[] response = _receiveBuffer.ToArray();
-                        _receiveBuffer.Clear();
-                     
-                        // Processar a resposta e identificar o dispositivo
-                        int address = 0x02;
-                     
-                        if (_pendingRequests.TryRemove(address, out var tcs))
-                        {
-                            tcs.SetResult(response);
-                        }
-                    }
-                }
-            }
-        }
-    }
-}

AgroBase/AgroBase/Services/SerialService.cs

@@ -1,12 +1,9 @@
 using AgroBase.Forms;
 using AgroBase.Models;
-using CefSharp.DevTools.Network;
 using System;
 using System.Collections.Generic;
-using System.Drawing;
 using System.IO.Ports;
 using System.Linq;
-using System.Net.NetworkInformation;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
@@ -113,8 +110,6 @@ namespace AgroBase.Services
                 return;
             }
 
-            tmr.Stop();
-
             VarreduraEmAndamento = true;
 
             try
@@ -263,8 +258,6 @@ namespace AgroBase.Services
             finally
             {
                 VarreduraEmAndamento = false;
-
-                tmr.Start();
             }
         }
 
@@ -682,7 +675,7 @@ namespace AgroBase.Services
             while (buffer.Count < tamanhoEsperado && inicio.AddMilliseconds(Timeout) > DateTime.Now)
             {
                 await Task.Delay(50);
-                if (porta == null)
+                if (porta == null || !porta.IsOpen)
                 {
                     break;
                 }
@@ -710,11 +703,14 @@ namespace AgroBase.Services
         private static void AtualizarConsole(string msg)
         {
             Console.WriteLine(msg);
-            frmInstancial.frmPrincipal.Invoke((MethodInvoker)(() =>
+            if (!Variaveis.IsAgroMonitor)
             {
-                frmInstancial.frmPrincipal.lblStatusConexao.Text = msg;
-                frmInstancial.frmIHM.lblStatus.Text = msg;
-            }));
+                frmInstancial.frmPrincipal.Invoke((MethodInvoker)(() =>
+                {
+                    frmInstancial.frmPrincipal.lblStatusConexao.Text = msg;
+                    frmInstancial.frmIHM.lblStatus.Text = msg;
+                }));
+            }
         }
 
     }

AgroBase/AgroBase/Services/SocketService.cs

@@ -1,100 +0,0 @@
-using Newtonsoft.Json;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Net.Sockets;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace AgroBase.Services
-{
-    public class SocketService<T>
-    {
-        private int DadosRegistrar;
-        private TcpClient client;
-        private NetworkStream stream;
-        private byte[] buffer = new byte[1024];
-        public List<T> DadosRecebidos = new List<T>();
-
-        public void Connect(string host, int port, int _Registrar = 50, int Tentativa = 0)
-        {
-            DadosRegistrar = _Registrar;
-
-            try
-            {
-                client = new TcpClient(host, port);
-                stream = client.GetStream();
-                stream.BeginRead(buffer, 0, buffer.Length, OnRead, null);
-            }
-            catch
-            {
-                if (Tentativa < 3)
-                {
-                    Tentativa++;
-                    Connect(host, port, Tentativa);
-                }
-            }
-        }
-
-        private void OnRead(IAsyncResult ar)
-        {
-            string dado = "";
-            try
-            {
-                int bytesRead = stream.EndRead(ar);
-                if (bytesRead > 0)
-                {
-                    string result = Encoding.UTF8.GetString(buffer, 0, bytesRead);
-                    // Aqui você processaria a mensagem recebida
-                    //Console.WriteLine(result);
-
-                    if (result != "" && result != null && !result.Contains("null"))
-                    {
-                        var dados = result.Replace("}{", "}¬{").Split('¬');
-                        for (int i = 0; i < (dados.Length > 1 ? dados.Length - 1 : dados.Length); i++)
-                        {
-                            dado = dados[i];
-                            if (dado != "")
-                            {
-                                var _Dados = JsonConvert.DeserializeObject<T>(dado);
-                                if (_Dados != null)
-                                {
-                                    DadosRecebidos.Add(_Dados);
-                                    if (DadosRecebidos.Count() > DadosRegistrar)
-                                    {
-                                        DadosRecebidos.RemoveAt(0);
-                                    }
-                                }
-                            }
-                        }
-                    }
-                }
-
-                // Continue lendo do stream
-                stream.BeginRead(buffer, 0, buffer.Length, OnRead, null);
-            }
-            catch (Exception ex)
-            {
-                //Console.WriteLine(dado + " - " + ex.Message);
-                try
-                {
-                    stream.BeginRead(buffer, 0, buffer.Length, OnRead, null);
-                }
-                catch
-                {
-
-                }
-            }
-
-            
-        }
-
-        public void Disconnect()
-        {
-            if (client != null)
-            {
-                client.Close();
-            }
-        }
-    }
-}

AgroBase/AgroBase/Services/Visualizador3DService.cs

@@ -1,16 +1,12 @@
-using AgroBase.Forms;
-using OpenTK;
+using OpenTK;
 using System;
 using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;
-using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
-using OpenTK;
 using OpenTK.Graphics.OpenGL;
 using AgroBase.Models;
-using System.Threading.Tasks;
 
 namespace AgroBase.Services
 {
@@ -36,85 +32,16 @@ namespace AgroBase.Services
         private double AnguloZ { get; set; }
         private string Path3D { get; set; }
 
-
-        // Este método agora será chamado na thread separada
-        public void InicializarEExecutarServico()
+        public void AtualizarAngulos(double X, double Y, double Z, double Tolerance = 1.0)
         {
-            // Para garantir que o código roda na thread da UI:
-            if (glControl.InvokeRequired)
+            if (Math.Abs(AnguloX - X) > Tolerance || Math.Abs(AnguloY - Y) > Tolerance || Math.Abs(AnguloZ - Z) > Tolerance)
             {
-                glControl.Invoke(new Action(() => InicializarServico()));
+                AnguloX = X;
+                AnguloY = Y;
+                AnguloZ = Z;
+                glControl.Invalidate();
+                glControl.SwapBuffers();
             }
-            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;
-            AnguloY = Y;
-            AnguloZ = Z;
-            glControl.Invalidate();
         }
 
         public void InitializeGLControl(Control controlePai, string path)

AgroBase/AgroBase/bin/Debug/AgroBase.exe.config

@@ -1,25 +1,25 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <configuration>
     <startup> 
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.7.2" />
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/>
     </startup>
   <runtime>
     <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
       <dependentAssembly>
-        <assemblyIdentity name="System.Runtime.CompilerServices.Unsafe" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-6.0.0.0" newVersion="6.0.0.0" />
+        <assemblyIdentity name="System.Runtime.CompilerServices.Unsafe" publicKeyToken="b03f5f7f11d50a3a" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-6.0.0.0" newVersion="6.0.0.0"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.Text.Json" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-8.0.0.1" newVersion="8.0.0.1" />
+        <assemblyIdentity name="System.Text.Json" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-8.0.0.1" newVersion="8.0.0.1"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.Drawing.Common" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-8.0.0.0" newVersion="8.0.0.0" />
+        <assemblyIdentity name="System.Drawing.Common" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-8.0.0.0" newVersion="8.0.0.0"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0" />
+        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0"/>
       </dependentAssembly>
     </assemblyBinding>
   </runtime>

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_d8b0eac8006286063c46977a5850eb3b {
+                #map_f7cf9b1d703905dc42af2562c43228c7 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,14 +39,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_d8b0eac8006286063c46977a5850eb3b" ></div>
+            <div class="folium-map" id="map_f7cf9b1d703905dc42af2562c43228c7" ></div>
         
 </body>
 <script>
     
     
-            var map_d8b0eac8006286063c46977a5850eb3b = L.map(
-                "map_d8b0eac8006286063c46977a5850eb3b",
+            var map_f7cf9b1d703905dc42af2562c43228c7 = L.map(
+                "map_f7cf9b1d703905dc42af2562c43228c7",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -60,13 +60,13 @@
 
         
     
-            var tile_layer_07b13c18ca6f11b92f3c0b6f3ad1ed3d = L.tileLayer(
+            var tile_layer_bd1db720aa858e8b1a4444ca4570e080 = 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_07b13c18ca6f11b92f3c0b6f3ad1ed3d.addTo(map_d8b0eac8006286063c46977a5850eb3b);
+            tile_layer_bd1db720aa858e8b1a4444ca4570e080.addTo(map_f7cf9b1d703905dc42af2562c43228c7);
         
 </script>
 
@@ -87,7 +87,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_d8b0eac8006286063c46977a5850eb3b);
+        trajeto_json.addTo(map_f7cf9b1d703905dc42af2562c43228c7);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -145,7 +145,7 @@
         
         var marcadorDinamico = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_d8b0eac8006286063c46977a5850eb3b);
+        }).addTo(map_f7cf9b1d703905dc42af2562c43228c7);
     
         // 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_d8b0eac8006286063c46977a5850eb3b.setView(novaPosicao, map_d8b0eac8006286063c46977a5850eb3b.getZoom());
+            map_f7cf9b1d703905dc42af2562c43228c7.setView(novaPosicao, map_f7cf9b1d703905dc42af2562c43228c7.getZoom());
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

AgroBase/AgroBase/obj/Debug/.NETFramework,Version=v4.8.AssemblyAttributes.cs

@@ -0,0 +1,4 @@
+// <autogenerated />
+using System;
+using System.Reflection;
+[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.8", FrameworkDisplayName = ".NET Framework 4.8")]

AgroBase/AgroBase/obj/Debug/AgroBase.csproj.CoreCompileInputs.cache

@@ -1 +1 @@
-bdd21f50cc3e3f4237dd3630823d3cc1c1429ce566681ea51064cbffb36b69e2
+65382a232ce56ae18acc2e54ffd7c49c619f9806a116c6b57342b59d47ad9dbd

AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt

@@ -492,3 +492,4 @@ C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Emgu.CV.Platform.NetStand
 C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\MathNet.Numerics.dll
 C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\MathNet.Numerics.xml
 C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\Python\Scripts\street-detector-mqtt.py
+C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\OpenHardwareMonitorLib.dll

AgroBase/AgroBase/packages.config

@@ -11,13 +11,13 @@
   <package id="Emgu.CV" version="4.4.0.4099" targetFramework="net472" />
   <package id="Emgu.CV.Bitmap" version="4.4.0.4099" targetFramework="net472" />
   <package id="Emgu.CV.runtime.windows" version="4.4.0.4099" targetFramework="net472" />
-  <package id="MathNet.Numerics" version="5.0.0" targetFramework="net472" />
+  <package id="MathNet.Numerics" version="5.0.0" targetFramework="net472" requireReinstallation="true" />
   <package id="Microsoft.Bcl.AsyncInterfaces" version="8.0.0" targetFramework="net472" />
   <package id="MQTTnet" version="3.1.1" targetFramework="net472" />
   <package id="Newtonsoft.Json" version="13.0.3" targetFramework="net472" />
-  <package id="OpenCvSharp4" version="4.10.0.20240616" targetFramework="net472" />
-  <package id="OpenCvSharp4.Extensions" version="4.10.0.20240616" targetFramework="net472" />
-  <package id="OpenCvSharp4.runtime.win" version="4.10.0.20240616" targetFramework="net472" />
+  <package id="OpenCvSharp4" version="4.10.0.20240616" targetFramework="net472" requireReinstallation="true" />
+  <package id="OpenCvSharp4.Extensions" version="4.10.0.20240616" targetFramework="net472" requireReinstallation="true" />
+  <package id="OpenCvSharp4.runtime.win" version="4.10.0.20240616" targetFramework="net472" requireReinstallation="true" />
   <package id="OpenTK" version="1.1.2225.0" targetFramework="net472" />
   <package id="OpenTK.GLControl" version="1.1.2225.0" targetFramework="net472" />
   <package id="SharpDX" version="4.2.0" targetFramework="net472" />

AgroBase/AgroMonitor/AgroMonitor.csproj

@@ -8,10 +8,11 @@
     <OutputType>WinExe</OutputType>
     <RootNamespace>AgroMonitor</RootNamespace>
     <AssemblyName>AgroMonitor</AssemblyName>
-    <TargetFrameworkVersion>v4.7.2</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
     <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
     <Deterministic>true</Deterministic>
+    <TargetFrameworkProfile />
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
     <PlatformTarget>AnyCPU</PlatformTarget>

AgroBase/AgroMonitor/App.config

@@ -1,26 +1,26 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <configuration>
     <startup> 
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.7.2" />
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/>
     </startup>
   <runtime>
     <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
       <dependentAssembly>
-        <assemblyIdentity name="System.Text.Json" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-8.0.0.1" newVersion="8.0.0.1" />
+        <assemblyIdentity name="System.Text.Json" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-8.0.0.1" newVersion="8.0.0.1"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.Runtime.CompilerServices.Unsafe" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-6.0.0.0" newVersion="6.0.0.0" />
+        <assemblyIdentity name="System.Runtime.CompilerServices.Unsafe" publicKeyToken="b03f5f7f11d50a3a" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-6.0.0.0" newVersion="6.0.0.0"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.Drawing.Common" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-8.0.0.0" newVersion="8.0.0.0" />
+        <assemblyIdentity name="System.Drawing.Common" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-8.0.0.0" newVersion="8.0.0.0"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0" />
+        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0"/>
       </dependentAssembly>
     </assemblyBinding>
   </runtime>
-</configuration>
+</configuration>

AgroBase/AgroMonitor/Forms/frmAjustesOperacao.Designer.cs

@@ -30,6 +30,10 @@
         {
             this.gpbModulos = new System.Windows.Forms.GroupBox();
             this.pnlModulos = new System.Windows.Forms.Panel();
+            this.rtbA05 = new System.Windows.Forms.RichTextBox();
+            this.chbA05 = new System.Windows.Forms.CheckBox();
+            this.rtbKnt = new System.Windows.Forms.RichTextBox();
+            this.chbKnt = new System.Windows.Forms.CheckBox();
             this.rtbLRA = new System.Windows.Forms.RichTextBox();
             this.chbLra = new System.Windows.Forms.CheckBox();
             this.rtbATU = new System.Windows.Forms.RichTextBox();
@@ -90,10 +94,6 @@
             this.btnCarregar = new System.Windows.Forms.Button();
             this.txtDescricao = new System.Windows.Forms.TextBox();
             this.lblDescricao = new System.Windows.Forms.Label();
-            this.rtbKnt = new System.Windows.Forms.RichTextBox();
-            this.chbKnt = new System.Windows.Forms.CheckBox();
-            this.rtbA05 = new System.Windows.Forms.RichTextBox();
-            this.chbA05 = new System.Windows.Forms.CheckBox();
             this.gpbModulos.SuspendLayout();
             this.pnlModulos.SuspendLayout();
             this.tabControl1.SuspendLayout();
@@ -147,6 +147,51 @@
             this.pnlModulos.Size = new System.Drawing.Size(204, 475);
             this.pnlModulos.TabIndex = 6;
             // 
+            // rtbA05
+            // 
+            this.rtbA05.BackColor = System.Drawing.SystemColors.Control;
+            this.rtbA05.BorderStyle = System.Windows.Forms.BorderStyle.None;
+            this.rtbA05.Location = new System.Drawing.Point(3, 666);
+            this.rtbA05.Name = "rtbA05";
+            this.rtbA05.ReadOnly = true;
+            this.rtbA05.Size = new System.Drawing.Size(174, 42);
+            this.rtbA05.TabIndex = 18;
+            this.rtbA05.Text = "Responsável por monitorar obstáculos absolutos nas posições extremas dos quatro c" +
+    "antos do equipamento";
+            // 
+            // chbA05
+            // 
+            this.chbA05.AutoSize = true;
+            this.chbA05.BackColor = System.Drawing.SystemColors.Control;
+            this.chbA05.Location = new System.Drawing.Point(3, 643);
+            this.chbA05.Name = "chbA05";
+            this.chbA05.Size = new System.Drawing.Size(45, 17);
+            this.chbA05.TabIndex = 19;
+            this.chbA05.Text = "A05";
+            this.chbA05.UseVisualStyleBackColor = false;
+            // 
+            // rtbKnt
+            // 
+            this.rtbKnt.BackColor = System.Drawing.SystemColors.Control;
+            this.rtbKnt.BorderStyle = System.Windows.Forms.BorderStyle.None;
+            this.rtbKnt.Location = new System.Drawing.Point(3, 595);
+            this.rtbKnt.Name = "rtbKnt";
+            this.rtbKnt.ReadOnly = true;
+            this.rtbKnt.Size = new System.Drawing.Size(174, 42);
+            this.rtbKnt.TabIndex = 16;
+            this.rtbKnt.Text = "Responsável pelo monitoramento e detecção de obstáculos à frente do equipamento";
+            // 
+            // chbKnt
+            // 
+            this.chbKnt.AutoSize = true;
+            this.chbKnt.BackColor = System.Drawing.SystemColors.Control;
+            this.chbKnt.Location = new System.Drawing.Point(3, 572);
+            this.chbKnt.Name = "chbKnt";
+            this.chbKnt.Size = new System.Drawing.Size(48, 17);
+            this.chbKnt.TabIndex = 17;
+            this.chbKnt.Text = "KNT";
+            this.chbKnt.UseVisualStyleBackColor = false;
+            // 
             // rtbLRA
             // 
             this.rtbLRA.BackColor = System.Drawing.SystemColors.Control;
@@ -460,9 +505,9 @@
             this.lblPressaoLinha.AutoSize = true;
             this.lblPressaoLinha.Location = new System.Drawing.Point(6, 94);
             this.lblPressaoLinha.Name = "lblPressaoLinha";
-            this.lblPressaoLinha.Size = new System.Drawing.Size(188, 13);
+            this.lblPressaoLinha.Size = new System.Drawing.Size(133, 13);
             this.lblPressaoLinha.TabIndex = 7;
-            this.lblPressaoLinha.Text = "Pressão de setpoint da linha hidráulica";
+            this.lblPressaoLinha.Text = "Pressão da linha hidráulica";
             // 
             // lblPercentualAtuacao2
             // 
@@ -776,51 +821,6 @@
             this.lblDescricao.TabIndex = 7;
             this.lblDescricao.Text = "Descrição";
             // 
-            // rtbKnt
-            // 
-            this.rtbKnt.BackColor = System.Drawing.SystemColors.Control;
-            this.rtbKnt.BorderStyle = System.Windows.Forms.BorderStyle.None;
-            this.rtbKnt.Location = new System.Drawing.Point(3, 595);
-            this.rtbKnt.Name = "rtbKnt";
-            this.rtbKnt.ReadOnly = true;
-            this.rtbKnt.Size = new System.Drawing.Size(174, 42);
-            this.rtbKnt.TabIndex = 16;
-            this.rtbKnt.Text = "Responsável pelo monitoramento e detecção de obstáculos à frente do equipamento";
-            // 
-            // chbKnt
-            // 
-            this.chbKnt.AutoSize = true;
-            this.chbKnt.BackColor = System.Drawing.SystemColors.Control;
-            this.chbKnt.Location = new System.Drawing.Point(3, 572);
-            this.chbKnt.Name = "chbKnt";
-            this.chbKnt.Size = new System.Drawing.Size(48, 17);
-            this.chbKnt.TabIndex = 17;
-            this.chbKnt.Text = "KNT";
-            this.chbKnt.UseVisualStyleBackColor = false;
-            // 
-            // rtbA05
-            // 
-            this.rtbA05.BackColor = System.Drawing.SystemColors.Control;
-            this.rtbA05.BorderStyle = System.Windows.Forms.BorderStyle.None;
-            this.rtbA05.Location = new System.Drawing.Point(3, 666);
-            this.rtbA05.Name = "rtbA05";
-            this.rtbA05.ReadOnly = true;
-            this.rtbA05.Size = new System.Drawing.Size(174, 42);
-            this.rtbA05.TabIndex = 18;
-            this.rtbA05.Text = "Responsável por monitorar obstáculos absolutos nas posições extremas dos quatro c" +
-    "antos do equipamento";
-            // 
-            // chbA05
-            // 
-            this.chbA05.AutoSize = true;
-            this.chbA05.BackColor = System.Drawing.SystemColors.Control;
-            this.chbA05.Location = new System.Drawing.Point(3, 643);
-            this.chbA05.Name = "chbA05";
-            this.chbA05.Size = new System.Drawing.Size(45, 17);
-            this.chbA05.TabIndex = 19;
-            this.chbA05.Text = "A05";
-            this.chbA05.UseVisualStyleBackColor = false;
-            // 
             // frmAjustesOperacao
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);

AgroBase/AgroMonitor/Forms/frmAjustesOperacao.cs

@@ -1,15 +1,9 @@
 using AgroBase.Models;
-using AgroBase.Models.Operacoes;
 using AgroBase.Services;
-using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
-using System.ComponentModel;
-using System.Data;
-using System.Drawing;
 using System.IO;
 using System.Linq;
-using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
@@ -18,7 +12,6 @@ namespace AgroMonitor.Forms
 {
     public partial class frmAjustesOperacao : Form
     {
-        OperacaoParametrosModel Parametros = new OperacaoParametrosModel();
         Timer tmrDadosMapa = new Timer();
         string path = Variaveis.CaminhoSistema + Variaveis.CaminhoOperacoes + "\\" + MapasVariaveisModel.NomeArquivoMapaInterativoSaida;
 
@@ -141,9 +134,9 @@ namespace AgroMonitor.Forms
             }
         }
 
-        private void btnCarregar_Click(object sender, EventArgs e)
+        private async void btnCarregar_Click(object sender, EventArgs e)
         {
-            CarregarOperacao().ConfigureAwait(false);
+            await CarregarOperacao();
         }
 
         private async Task CarregarOperacao()

AgroBase/AgroMonitor/Forms/frmMonitoramento.Designer.cs

@@ -28,7 +28,6 @@
         /// </summary>
         private void InitializeComponent()
         {
-            this.lblEquipamento = new System.Windows.Forms.Label();
             this.cmbEquipamento = new System.Windows.Forms.ComboBox();
             this.lblLatitude = new System.Windows.Forms.Label();
             this.lblLongitude = new System.Windows.Forms.Label();
@@ -36,13 +35,11 @@
             this.txtLongitude = new System.Windows.Forms.TextBox();
             this.pnlDados = new System.Windows.Forms.Panel();
             this.pnlControle = new System.Windows.Forms.Panel();
+            this.lblTipoMovimento = new System.Windows.Forms.Label();
+            this.cmbTipoMovimento = new System.Windows.Forms.ComboBox();
             this.btnParar = new System.Windows.Forms.Button();
-            this.lblVelocidadeMP = new System.Windows.Forms.Label();
             this.lblAngulo = new System.Windows.Forms.Label();
-            this.lblRPM = new System.Windows.Forms.Label();
-            this.nudVelocidadeMP = new System.Windows.Forms.NumericUpDown();
-            this.nudAngulo = new System.Windows.Forms.NumericUpDown();
-            this.nudRPM = new System.Windows.Forms.NumericUpDown();
+            this.lblVelocidadeSP = new System.Windows.Forms.Label();
             this.btnControle = new System.Windows.Forms.Button();
             this.lblControle = new System.Windows.Forms.Label();
             this.chbFoco = new System.Windows.Forms.CheckBox();
@@ -87,33 +84,27 @@
             this.pnlMapa = new System.Windows.Forms.Panel();
             this.lblMapa = new System.Windows.Forms.Label();
             this.btnCarregar = new System.Windows.Forms.Button();
-            this.cmbTipoMovimento = new System.Windows.Forms.ComboBox();
-            this.lblTipoMovimento = new System.Windows.Forms.Label();
+            this.btnVerFalha = new System.Windows.Forms.Button();
+            this.lblCodigoFalha = new System.Windows.Forms.Label();
+            this.txtCodigoFalha = new System.Windows.Forms.TextBox();
+            this.tkbVelocidadeSP = new System.Windows.Forms.TrackBar();
+            this.tkbAnguloMP = new System.Windows.Forms.TrackBar();
+            this.tvwFalhas = new System.Windows.Forms.TreeView();
             this.pnlDados.SuspendLayout();
             this.pnlControle.SuspendLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeMP)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.nudAngulo)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.nudRPM)).BeginInit();
+            this.pnlMapa.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.tkbVelocidadeSP)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.tkbAnguloMP)).BeginInit();
             this.SuspendLayout();
             // 
-            // lblEquipamento
-            // 
-            this.lblEquipamento.AutoSize = true;
-            this.lblEquipamento.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblEquipamento.Location = new System.Drawing.Point(6, 11);
-            this.lblEquipamento.Name = "lblEquipamento";
-            this.lblEquipamento.Size = new System.Drawing.Size(91, 17);
-            this.lblEquipamento.TabIndex = 0;
-            this.lblEquipamento.Text = "Equipamento";
-            // 
             // cmbEquipamento
             // 
             this.cmbEquipamento.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbEquipamento.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
             this.cmbEquipamento.FormattingEnabled = true;
-            this.cmbEquipamento.Location = new System.Drawing.Point(113, 8);
+            this.cmbEquipamento.Location = new System.Drawing.Point(166, 8);
             this.cmbEquipamento.Name = "cmbEquipamento";
-            this.cmbEquipamento.Size = new System.Drawing.Size(100, 25);
+            this.cmbEquipamento.Size = new System.Drawing.Size(88, 25);
             this.cmbEquipamento.TabIndex = 1;
             this.cmbEquipamento.SelectedIndexChanged += new System.EventHandler(this.cmbEquipamento_SelectedIndexChanged);
             // 
@@ -121,7 +112,7 @@
             // 
             this.lblLatitude.AutoSize = true;
             this.lblLatitude.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblLatitude.Location = new System.Drawing.Point(6, 113);
+            this.lblLatitude.Location = new System.Drawing.Point(12, 128);
             this.lblLatitude.Name = "lblLatitude";
             this.lblLatitude.Size = new System.Drawing.Size(59, 17);
             this.lblLatitude.TabIndex = 2;
@@ -131,7 +122,7 @@
             // 
             this.lblLongitude.AutoSize = true;
             this.lblLongitude.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblLongitude.Location = new System.Drawing.Point(111, 113);
+            this.lblLongitude.Location = new System.Drawing.Point(117, 128);
             this.lblLongitude.Name = "lblLongitude";
             this.lblLongitude.Size = new System.Drawing.Size(71, 17);
             this.lblLongitude.TabIndex = 3;
@@ -139,7 +130,7 @@
             // 
             // txtLatitude
             // 
-            this.txtLatitude.Location = new System.Drawing.Point(5, 133);
+            this.txtLatitude.Location = new System.Drawing.Point(11, 148);
             this.txtLatitude.Name = "txtLatitude";
             this.txtLatitude.ReadOnly = true;
             this.txtLatitude.Size = new System.Drawing.Size(100, 20);
@@ -148,7 +139,7 @@
             // 
             // txtLongitude
             // 
-            this.txtLongitude.Location = new System.Drawing.Point(113, 133);
+            this.txtLongitude.Location = new System.Drawing.Point(119, 148);
             this.txtLongitude.Name = "txtLongitude";
             this.txtLongitude.ReadOnly = true;
             this.txtLongitude.Size = new System.Drawing.Size(100, 20);
@@ -158,9 +149,12 @@
             // pnlDados
             // 
             this.pnlDados.AutoScroll = true;
+            this.pnlDados.Controls.Add(this.chbFoco);
+            this.pnlDados.Controls.Add(this.txtCodigoFalha);
+            this.pnlDados.Controls.Add(this.lblCodigoFalha);
+            this.pnlDados.Controls.Add(this.btnVerFalha);
             this.pnlDados.Controls.Add(this.pnlControle);
             this.pnlDados.Controls.Add(this.lblControle);
-            this.pnlDados.Controls.Add(this.chbFoco);
             this.pnlDados.Controls.Add(this.txtTempoEstimado);
             this.pnlDados.Controls.Add(this.lblTempoEstimado);
             this.pnlDados.Controls.Add(this.lblTempoDecorrido);
@@ -200,111 +194,83 @@
             this.pnlDados.Controls.Add(this.lblLeitura);
             this.pnlDados.Controls.Add(this.txtLeitura);
             this.pnlDados.Controls.Add(this.cmbEquipamento);
-            this.pnlDados.Controls.Add(this.lblEquipamento);
             this.pnlDados.Controls.Add(this.txtLatitude);
             this.pnlDados.Controls.Add(this.lblLongitude);
             this.pnlDados.Controls.Add(this.lblLatitude);
             this.pnlDados.Controls.Add(this.txtLongitude);
             this.pnlDados.Dock = System.Windows.Forms.DockStyle.Right;
-            this.pnlDados.Location = new System.Drawing.Point(787, 0);
+            this.pnlDados.Location = new System.Drawing.Point(802, 0);
             this.pnlDados.Name = "pnlDados";
-            this.pnlDados.Size = new System.Drawing.Size(239, 594);
+            this.pnlDados.Size = new System.Drawing.Size(274, 594);
             this.pnlDados.TabIndex = 6;
             // 
             // pnlControle
             // 
+            this.pnlControle.Controls.Add(this.tkbAnguloMP);
+            this.pnlControle.Controls.Add(this.tkbVelocidadeSP);
+            this.pnlControle.Controls.Add(this.lblAngulo);
+            this.pnlControle.Controls.Add(this.lblVelocidadeSP);
             this.pnlControle.Controls.Add(this.lblTipoMovimento);
             this.pnlControle.Controls.Add(this.cmbTipoMovimento);
             this.pnlControle.Controls.Add(this.btnParar);
-            this.pnlControle.Controls.Add(this.lblVelocidadeMP);
-            this.pnlControle.Controls.Add(this.lblAngulo);
-            this.pnlControle.Controls.Add(this.lblRPM);
-            this.pnlControle.Controls.Add(this.nudVelocidadeMP);
-            this.pnlControle.Controls.Add(this.nudAngulo);
-            this.pnlControle.Controls.Add(this.nudRPM);
             this.pnlControle.Controls.Add(this.btnControle);
-            this.pnlControle.Location = new System.Drawing.Point(5, 623);
+            this.pnlControle.Location = new System.Drawing.Point(11, 638);
             this.pnlControle.Name = "pnlControle";
-            this.pnlControle.Size = new System.Drawing.Size(208, 232);
+            this.pnlControle.Size = new System.Drawing.Size(233, 276);
             this.pnlControle.TabIndex = 49;
             // 
+            // lblTipoMovimento
+            // 
+            this.lblTipoMovimento.AutoSize = true;
+            this.lblTipoMovimento.Location = new System.Drawing.Point(5, 6);
+            this.lblTipoMovimento.Name = "lblTipoMovimento";
+            this.lblTipoMovimento.Size = new System.Drawing.Size(83, 13);
+            this.lblTipoMovimento.TabIndex = 17;
+            this.lblTipoMovimento.Text = "Tipo Movimento";
+            // 
+            // cmbTipoMovimento
+            // 
+            this.cmbTipoMovimento.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbTipoMovimento.FormattingEnabled = true;
+            this.cmbTipoMovimento.Location = new System.Drawing.Point(109, 3);
+            this.cmbTipoMovimento.Name = "cmbTipoMovimento";
+            this.cmbTipoMovimento.Size = new System.Drawing.Size(114, 21);
+            this.cmbTipoMovimento.TabIndex = 16;
+            // 
             // btnParar
             // 
             this.btnParar.Font = new System.Drawing.Font("Microsoft Sans Serif", 15F);
-            this.btnParar.Location = new System.Drawing.Point(6, 191);
+            this.btnParar.Location = new System.Drawing.Point(8, 235);
             this.btnParar.Name = "btnParar";
-            this.btnParar.Size = new System.Drawing.Size(195, 38);
+            this.btnParar.Size = new System.Drawing.Size(215, 38);
             this.btnParar.TabIndex = 15;
             this.btnParar.Text = "Parar";
             this.btnParar.UseVisualStyleBackColor = true;
             this.btnParar.Click += new System.EventHandler(this.btnParar_Click);
             // 
-            // lblVelocidadeMP
-            // 
-            this.lblVelocidadeMP.AutoSize = true;
-            this.lblVelocidadeMP.Location = new System.Drawing.Point(137, 140);
-            this.lblVelocidadeMP.Name = "lblVelocidadeMP";
-            this.lblVelocidadeMP.Size = new System.Drawing.Size(31, 13);
-            this.lblVelocidadeMP.TabIndex = 14;
-            this.lblVelocidadeMP.Text = "% Dir";
-            // 
             // lblAngulo
             // 
             this.lblAngulo.AutoSize = true;
-            this.lblAngulo.Location = new System.Drawing.Point(69, 140);
+            this.lblAngulo.Location = new System.Drawing.Point(5, 163);
             this.lblAngulo.Name = "lblAngulo";
-            this.lblAngulo.Size = new System.Drawing.Size(40, 13);
+            this.lblAngulo.Size = new System.Drawing.Size(56, 13);
             this.lblAngulo.TabIndex = 13;
-            this.lblAngulo.Text = "Angulo";
+            this.lblAngulo.Text = "Angulo: 0°";
             // 
-            // lblRPM
+            // lblVelocidadeSP
             // 
-            this.lblRPM.AutoSize = true;
-            this.lblRPM.Location = new System.Drawing.Point(3, 140);
-            this.lblRPM.Name = "lblRPM";
-            this.lblRPM.Size = new System.Drawing.Size(31, 13);
-            this.lblRPM.TabIndex = 12;
-            this.lblRPM.Text = "RPM";
-            // 
-            // nudVelocidadeMP
-            // 
-            this.nudVelocidadeMP.Location = new System.Drawing.Point(140, 156);
-            this.nudVelocidadeMP.Name = "nudVelocidadeMP";
-            this.nudVelocidadeMP.Size = new System.Drawing.Size(62, 20);
-            this.nudVelocidadeMP.TabIndex = 11;
-            this.nudVelocidadeMP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
-            // 
-            // nudAngulo
-            // 
-            this.nudAngulo.Location = new System.Drawing.Point(72, 156);
-            this.nudAngulo.Maximum = new decimal(new int[] {
-            90,
-            0,
-            0,
-            0});
-            this.nudAngulo.Name = "nudAngulo";
-            this.nudAngulo.Size = new System.Drawing.Size(62, 20);
-            this.nudAngulo.TabIndex = 10;
-            this.nudAngulo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
-            // 
-            // nudRPM
-            // 
-            this.nudRPM.Location = new System.Drawing.Point(4, 156);
-            this.nudRPM.Maximum = new decimal(new int[] {
-            600,
-            0,
-            0,
-            0});
-            this.nudRPM.Name = "nudRPM";
-            this.nudRPM.Size = new System.Drawing.Size(62, 20);
-            this.nudRPM.TabIndex = 9;
-            this.nudRPM.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            this.lblVelocidadeSP.AutoSize = true;
+            this.lblVelocidadeSP.Location = new System.Drawing.Point(5, 99);
+            this.lblVelocidadeSP.Name = "lblVelocidadeSP";
+            this.lblVelocidadeSP.Size = new System.Drawing.Size(132, 13);
+            this.lblVelocidadeSP.TabIndex = 12;
+            this.lblVelocidadeSP.Text = "Velocidade: 0% 0,00 km/h";
             // 
             // btnControle
             // 
-            this.btnControle.Location = new System.Drawing.Point(52, 54);
+            this.btnControle.Location = new System.Drawing.Point(8, 33);
             this.btnControle.Name = "btnControle";
-            this.btnControle.Size = new System.Drawing.Size(94, 57);
+            this.btnControle.Size = new System.Drawing.Size(215, 57);
             this.btnControle.TabIndex = 8;
             this.btnControle.UseVisualStyleBackColor = true;
             this.btnControle.KeyDown += new System.Windows.Forms.KeyEventHandler(this.btnControle_KeyDown);
@@ -314,7 +280,7 @@
             // 
             this.lblControle.AutoSize = true;
             this.lblControle.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblControle.Location = new System.Drawing.Point(6, 603);
+            this.lblControle.Location = new System.Drawing.Point(12, 618);
             this.lblControle.Name = "lblControle";
             this.lblControle.Size = new System.Drawing.Size(61, 17);
             this.lblControle.TabIndex = 48;
@@ -323,16 +289,16 @@
             // chbFoco
             // 
             this.chbFoco.AutoSize = true;
-            this.chbFoco.Location = new System.Drawing.Point(9, 41);
+            this.chbFoco.Location = new System.Drawing.Point(9, 13);
             this.chbFoco.Name = "chbFoco";
-            this.chbFoco.Size = new System.Drawing.Size(86, 17);
+            this.chbFoco.Size = new System.Drawing.Size(151, 17);
             this.chbFoco.TabIndex = 7;
-            this.chbFoco.Text = "Acompanhar";
+            this.chbFoco.Text = "Acompanhar Equipamento";
             this.chbFoco.UseVisualStyleBackColor = true;
             // 
             // txtTempoEstimado
             // 
-            this.txtTempoEstimado.Location = new System.Drawing.Point(113, 219);
+            this.txtTempoEstimado.Location = new System.Drawing.Point(119, 234);
             this.txtTempoEstimado.Name = "txtTempoEstimado";
             this.txtTempoEstimado.ReadOnly = true;
             this.txtTempoEstimado.Size = new System.Drawing.Size(100, 20);
@@ -343,7 +309,7 @@
             // 
             this.lblTempoEstimado.AutoSize = true;
             this.lblTempoEstimado.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblTempoEstimado.Location = new System.Drawing.Point(111, 199);
+            this.lblTempoEstimado.Location = new System.Drawing.Point(117, 214);
             this.lblTempoEstimado.Name = "lblTempoEstimado";
             this.lblTempoEstimado.Size = new System.Drawing.Size(66, 17);
             this.lblTempoEstimado.TabIndex = 45;
@@ -353,7 +319,7 @@
             // 
             this.lblTempoDecorrido.AutoSize = true;
             this.lblTempoDecorrido.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblTempoDecorrido.Location = new System.Drawing.Point(6, 199);
+            this.lblTempoDecorrido.Location = new System.Drawing.Point(12, 214);
             this.lblTempoDecorrido.Name = "lblTempoDecorrido";
             this.lblTempoDecorrido.Size = new System.Drawing.Size(70, 17);
             this.lblTempoDecorrido.TabIndex = 44;
@@ -361,7 +327,7 @@
             // 
             // txtTempoDecorrido
             // 
-            this.txtTempoDecorrido.Location = new System.Drawing.Point(5, 219);
+            this.txtTempoDecorrido.Location = new System.Drawing.Point(11, 234);
             this.txtTempoDecorrido.Name = "txtTempoDecorrido";
             this.txtTempoDecorrido.ReadOnly = true;
             this.txtTempoDecorrido.Size = new System.Drawing.Size(100, 20);
@@ -372,7 +338,7 @@
             // 
             this.lblProgressoRua.AutoSize = true;
             this.lblProgressoRua.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblProgressoRua.Location = new System.Drawing.Point(112, 242);
+            this.lblProgressoRua.Location = new System.Drawing.Point(118, 257);
             this.lblProgressoRua.Name = "lblProgressoRua";
             this.lblProgressoRua.Size = new System.Drawing.Size(50, 17);
             this.lblProgressoRua.TabIndex = 42;
@@ -380,7 +346,7 @@
             // 
             // pgbProgressoRua
             // 
-            this.pgbProgressoRua.Location = new System.Drawing.Point(111, 262);
+            this.pgbProgressoRua.Location = new System.Drawing.Point(117, 277);
             this.pgbProgressoRua.Name = "pgbProgressoRua";
             this.pgbProgressoRua.Size = new System.Drawing.Size(100, 20);
             this.pgbProgressoRua.TabIndex = 41;
@@ -389,7 +355,7 @@
             // 
             this.lblProgressoOperacao.AutoSize = true;
             this.lblProgressoOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblProgressoOperacao.Location = new System.Drawing.Point(6, 242);
+            this.lblProgressoOperacao.Location = new System.Drawing.Point(12, 257);
             this.lblProgressoOperacao.Name = "lblProgressoOperacao";
             this.lblProgressoOperacao.Size = new System.Drawing.Size(87, 17);
             this.lblProgressoOperacao.TabIndex = 40;
@@ -397,14 +363,14 @@
             // 
             // pgbProgressoOperacao
             // 
-            this.pgbProgressoOperacao.Location = new System.Drawing.Point(5, 262);
+            this.pgbProgressoOperacao.Location = new System.Drawing.Point(11, 277);
             this.pgbProgressoOperacao.Name = "pgbProgressoOperacao";
             this.pgbProgressoOperacao.Size = new System.Drawing.Size(100, 20);
             this.pgbProgressoOperacao.TabIndex = 39;
             // 
             // txtStatusCarro
             // 
-            this.txtStatusCarro.Location = new System.Drawing.Point(113, 176);
+            this.txtStatusCarro.Location = new System.Drawing.Point(119, 191);
             this.txtStatusCarro.Name = "txtStatusCarro";
             this.txtStatusCarro.ReadOnly = true;
             this.txtStatusCarro.Size = new System.Drawing.Size(100, 20);
@@ -415,7 +381,7 @@
             // 
             this.lblStatusCarro.AutoSize = true;
             this.lblStatusCarro.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblStatusCarro.Location = new System.Drawing.Point(111, 156);
+            this.lblStatusCarro.Location = new System.Drawing.Point(117, 171);
             this.lblStatusCarro.Name = "lblStatusCarro";
             this.lblStatusCarro.Size = new System.Drawing.Size(43, 17);
             this.lblStatusCarro.TabIndex = 37;
@@ -425,7 +391,7 @@
             // 
             this.lblStatusOperacao.AutoSize = true;
             this.lblStatusOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblStatusOperacao.Location = new System.Drawing.Point(6, 156);
+            this.lblStatusOperacao.Location = new System.Drawing.Point(12, 171);
             this.lblStatusOperacao.Name = "lblStatusOperacao";
             this.lblStatusOperacao.Size = new System.Drawing.Size(71, 17);
             this.lblStatusOperacao.TabIndex = 36;
@@ -433,7 +399,7 @@
             // 
             // txtStatusOperacao
             // 
-            this.txtStatusOperacao.Location = new System.Drawing.Point(5, 176);
+            this.txtStatusOperacao.Location = new System.Drawing.Point(11, 191);
             this.txtStatusOperacao.Name = "txtStatusOperacao";
             this.txtStatusOperacao.ReadOnly = true;
             this.txtStatusOperacao.Size = new System.Drawing.Size(100, 20);
@@ -444,7 +410,7 @@
             // 
             this.lblErvasIdentificadas.AutoSize = true;
             this.lblErvasIdentificadas.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblErvasIdentificadas.Location = new System.Drawing.Point(152, 381);
+            this.lblErvasIdentificadas.Location = new System.Drawing.Point(158, 396);
             this.lblErvasIdentificadas.Name = "lblErvasIdentificadas";
             this.lblErvasIdentificadas.Size = new System.Drawing.Size(54, 13);
             this.lblErvasIdentificadas.TabIndex = 34;
@@ -454,7 +420,7 @@
             // 
             this.lblVelocidadeDados.AutoSize = true;
             this.lblVelocidadeDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblVelocidadeDados.Location = new System.Drawing.Point(111, 566);
+            this.lblVelocidadeDados.Location = new System.Drawing.Point(117, 581);
             this.lblVelocidadeDados.Name = "lblVelocidadeDados";
             this.lblVelocidadeDados.Size = new System.Drawing.Size(82, 13);
             this.lblVelocidadeDados.TabIndex = 33;
@@ -464,7 +430,7 @@
             // 
             this.lblVelocidade.AutoSize = true;
             this.lblVelocidade.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblVelocidade.Location = new System.Drawing.Point(6, 543);
+            this.lblVelocidade.Location = new System.Drawing.Point(12, 558);
             this.lblVelocidade.Name = "lblVelocidade";
             this.lblVelocidade.Size = new System.Drawing.Size(78, 17);
             this.lblVelocidade.TabIndex = 32;
@@ -472,7 +438,7 @@
             // 
             // pgbVelocidade
             // 
-            this.pgbVelocidade.Location = new System.Drawing.Point(5, 563);
+            this.pgbVelocidade.Location = new System.Drawing.Point(11, 578);
             this.pgbVelocidade.Maximum = 20;
             this.pgbVelocidade.Name = "pgbVelocidade";
             this.pgbVelocidade.Size = new System.Drawing.Size(100, 20);
@@ -482,7 +448,7 @@
             // 
             this.lblHerbicidaDados.AutoSize = true;
             this.lblHerbicidaDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblHerbicidaDados.Location = new System.Drawing.Point(111, 394);
+            this.lblHerbicidaDados.Location = new System.Drawing.Point(117, 409);
             this.lblHerbicidaDados.Name = "lblHerbicidaDados";
             this.lblHerbicidaDados.Size = new System.Drawing.Size(100, 13);
             this.lblHerbicidaDados.TabIndex = 30;
@@ -492,7 +458,7 @@
             // 
             this.lblHerbicida.AutoSize = true;
             this.lblHerbicida.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblHerbicida.Location = new System.Drawing.Point(6, 371);
+            this.lblHerbicida.Location = new System.Drawing.Point(12, 386);
             this.lblHerbicida.Name = "lblHerbicida";
             this.lblHerbicida.Size = new System.Drawing.Size(126, 17);
             this.lblHerbicida.TabIndex = 29;
@@ -500,7 +466,7 @@
             // 
             // pgbHerbicidaAplicado
             // 
-            this.pgbHerbicidaAplicado.Location = new System.Drawing.Point(5, 391);
+            this.pgbHerbicidaAplicado.Location = new System.Drawing.Point(11, 406);
             this.pgbHerbicidaAplicado.Maximum = 35;
             this.pgbHerbicidaAplicado.Name = "pgbHerbicidaAplicado";
             this.pgbHerbicidaAplicado.Size = new System.Drawing.Size(100, 20);
@@ -510,7 +476,7 @@
             // 
             this.lblPressaoDados.AutoSize = true;
             this.lblPressaoDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblPressaoDados.Location = new System.Drawing.Point(111, 437);
+            this.lblPressaoDados.Location = new System.Drawing.Point(117, 452);
             this.lblPressaoDados.Name = "lblPressaoDados";
             this.lblPressaoDados.Size = new System.Drawing.Size(44, 13);
             this.lblPressaoDados.TabIndex = 27;
@@ -520,7 +486,7 @@
             // 
             this.lblPressao.AutoSize = true;
             this.lblPressao.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblPressao.Location = new System.Drawing.Point(6, 414);
+            this.lblPressao.Location = new System.Drawing.Point(12, 429);
             this.lblPressao.Name = "lblPressao";
             this.lblPressao.Size = new System.Drawing.Size(119, 17);
             this.lblPressao.TabIndex = 26;
@@ -528,7 +494,7 @@
             // 
             // pgbPressao
             // 
-            this.pgbPressao.Location = new System.Drawing.Point(5, 434);
+            this.pgbPressao.Location = new System.Drawing.Point(11, 449);
             this.pgbPressao.Maximum = 150;
             this.pgbPressao.Name = "pgbPressao";
             this.pgbPressao.Size = new System.Drawing.Size(100, 20);
@@ -538,7 +504,7 @@
             // 
             this.lblTemperaturaCampoDados.AutoSize = true;
             this.lblTemperaturaCampoDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblTemperaturaCampoDados.Location = new System.Drawing.Point(111, 523);
+            this.lblTemperaturaCampoDados.Location = new System.Drawing.Point(117, 538);
             this.lblTemperaturaCampoDados.Name = "lblTemperaturaCampoDados";
             this.lblTemperaturaCampoDados.Size = new System.Drawing.Size(42, 13);
             this.lblTemperaturaCampoDados.TabIndex = 24;
@@ -548,7 +514,7 @@
             // 
             this.lblTemperaturaCampo.AutoSize = true;
             this.lblTemperaturaCampo.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblTemperaturaCampo.Location = new System.Drawing.Point(6, 500);
+            this.lblTemperaturaCampo.Location = new System.Drawing.Point(8, 515);
             this.lblTemperaturaCampo.Name = "lblTemperaturaCampo";
             this.lblTemperaturaCampo.Size = new System.Drawing.Size(138, 17);
             this.lblTemperaturaCampo.TabIndex = 23;
@@ -556,7 +522,7 @@
             // 
             // pgbTemperaturaCampo
             // 
-            this.pgbTemperaturaCampo.Location = new System.Drawing.Point(5, 520);
+            this.pgbTemperaturaCampo.Location = new System.Drawing.Point(11, 535);
             this.pgbTemperaturaCampo.Name = "pgbTemperaturaCampo";
             this.pgbTemperaturaCampo.Size = new System.Drawing.Size(100, 20);
             this.pgbTemperaturaCampo.TabIndex = 22;
@@ -565,7 +531,7 @@
             // 
             this.lblTemperaturaMotoresDados.AutoSize = true;
             this.lblTemperaturaMotoresDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblTemperaturaMotoresDados.Location = new System.Drawing.Point(111, 480);
+            this.lblTemperaturaMotoresDados.Location = new System.Drawing.Point(117, 495);
             this.lblTemperaturaMotoresDados.Name = "lblTemperaturaMotoresDados";
             this.lblTemperaturaMotoresDados.Size = new System.Drawing.Size(42, 13);
             this.lblTemperaturaMotoresDados.TabIndex = 21;
@@ -575,7 +541,7 @@
             // 
             this.lblTemperaturaMotores.AutoSize = true;
             this.lblTemperaturaMotores.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblTemperaturaMotores.Location = new System.Drawing.Point(6, 457);
+            this.lblTemperaturaMotores.Location = new System.Drawing.Point(12, 472);
             this.lblTemperaturaMotores.Name = "lblTemperaturaMotores";
             this.lblTemperaturaMotores.Size = new System.Drawing.Size(145, 17);
             this.lblTemperaturaMotores.TabIndex = 20;
@@ -583,7 +549,7 @@
             // 
             // pgbTemperaturaMotores
             // 
-            this.pgbTemperaturaMotores.Location = new System.Drawing.Point(5, 477);
+            this.pgbTemperaturaMotores.Location = new System.Drawing.Point(11, 492);
             this.pgbTemperaturaMotores.Maximum = 200;
             this.pgbTemperaturaMotores.Name = "pgbTemperaturaMotores";
             this.pgbTemperaturaMotores.Size = new System.Drawing.Size(100, 20);
@@ -593,7 +559,7 @@
             // 
             this.lblReservatorioDados.AutoSize = true;
             this.lblReservatorioDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblReservatorioDados.Location = new System.Drawing.Point(111, 351);
+            this.lblReservatorioDados.Location = new System.Drawing.Point(117, 366);
             this.lblReservatorioDados.Name = "lblReservatorioDados";
             this.lblReservatorioDados.Size = new System.Drawing.Size(75, 13);
             this.lblReservatorioDados.TabIndex = 15;
@@ -603,7 +569,7 @@
             // 
             this.lblBateriaDados.AutoSize = true;
             this.lblBateriaDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblBateriaDados.Location = new System.Drawing.Point(111, 308);
+            this.lblBateriaDados.Location = new System.Drawing.Point(117, 323);
             this.lblBateriaDados.Name = "lblBateriaDados";
             this.lblBateriaDados.Size = new System.Drawing.Size(98, 13);
             this.lblBateriaDados.TabIndex = 14;
@@ -613,7 +579,7 @@
             // 
             this.lblReservatorio.AutoSize = true;
             this.lblReservatorio.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblReservatorio.Location = new System.Drawing.Point(6, 328);
+            this.lblReservatorio.Location = new System.Drawing.Point(12, 343);
             this.lblReservatorio.Name = "lblReservatorio";
             this.lblReservatorio.Size = new System.Drawing.Size(153, 17);
             this.lblReservatorio.TabIndex = 13;
@@ -621,7 +587,7 @@
             // 
             // pgbReservatorio
             // 
-            this.pgbReservatorio.Location = new System.Drawing.Point(5, 348);
+            this.pgbReservatorio.Location = new System.Drawing.Point(11, 363);
             this.pgbReservatorio.Maximum = 35;
             this.pgbReservatorio.Name = "pgbReservatorio";
             this.pgbReservatorio.Size = new System.Drawing.Size(100, 20);
@@ -631,7 +597,7 @@
             // 
             this.lblBateria.AutoSize = true;
             this.lblBateria.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblBateria.Location = new System.Drawing.Point(6, 285);
+            this.lblBateria.Location = new System.Drawing.Point(12, 300);
             this.lblBateria.Name = "lblBateria";
             this.lblBateria.Size = new System.Drawing.Size(53, 17);
             this.lblBateria.TabIndex = 11;
@@ -639,14 +605,14 @@
             // 
             // pgbBateria
             // 
-            this.pgbBateria.Location = new System.Drawing.Point(5, 305);
+            this.pgbBateria.Location = new System.Drawing.Point(11, 320);
             this.pgbBateria.Name = "pgbBateria";
             this.pgbBateria.Size = new System.Drawing.Size(100, 20);
             this.pgbBateria.TabIndex = 10;
             // 
             // txtOrientacao
             // 
-            this.txtOrientacao.Location = new System.Drawing.Point(113, 90);
+            this.txtOrientacao.Location = new System.Drawing.Point(119, 105);
             this.txtOrientacao.Name = "txtOrientacao";
             this.txtOrientacao.ReadOnly = true;
             this.txtOrientacao.Size = new System.Drawing.Size(100, 20);
@@ -657,7 +623,7 @@
             // 
             this.lblOrientacao.AutoSize = true;
             this.lblOrientacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblOrientacao.Location = new System.Drawing.Point(111, 70);
+            this.lblOrientacao.Location = new System.Drawing.Point(117, 85);
             this.lblOrientacao.Name = "lblOrientacao";
             this.lblOrientacao.Size = new System.Drawing.Size(78, 17);
             this.lblOrientacao.TabIndex = 8;
@@ -667,7 +633,7 @@
             // 
             this.lblLeitura.AutoSize = true;
             this.lblLeitura.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblLeitura.Location = new System.Drawing.Point(6, 70);
+            this.lblLeitura.Location = new System.Drawing.Point(12, 85);
             this.lblLeitura.Name = "lblLeitura";
             this.lblLeitura.Size = new System.Drawing.Size(52, 17);
             this.lblLeitura.TabIndex = 7;
@@ -675,7 +641,7 @@
             // 
             // txtLeitura
             // 
-            this.txtLeitura.Location = new System.Drawing.Point(5, 90);
+            this.txtLeitura.Location = new System.Drawing.Point(11, 105);
             this.txtLeitura.Name = "txtLeitura";
             this.txtLeitura.ReadOnly = true;
             this.txtLeitura.Size = new System.Drawing.Size(100, 20);
@@ -687,10 +653,11 @@
             this.pnlMapa.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
             | System.Windows.Forms.AnchorStyles.Left) 
             | System.Windows.Forms.AnchorStyles.Right)));
+            this.pnlMapa.Controls.Add(this.tvwFalhas);
             this.pnlMapa.Location = new System.Drawing.Point(11, 11);
             this.pnlMapa.Margin = new System.Windows.Forms.Padding(2);
             this.pnlMapa.Name = "pnlMapa";
-            this.pnlMapa.Size = new System.Drawing.Size(771, 542);
+            this.pnlMapa.Size = new System.Drawing.Size(786, 542);
             this.pnlMapa.TabIndex = 7;
             // 
             // lblMapa
@@ -716,29 +683,68 @@
             this.btnCarregar.UseVisualStyleBackColor = true;
             this.btnCarregar.Click += new System.EventHandler(this.btnCarregar_Click);
             // 
-            // cmbTipoMovimento
+            // btnVerFalha
             // 
-            this.cmbTipoMovimento.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
-            this.cmbTipoMovimento.FormattingEnabled = true;
-            this.cmbTipoMovimento.Location = new System.Drawing.Point(92, 3);
-            this.cmbTipoMovimento.Name = "cmbTipoMovimento";
-            this.cmbTipoMovimento.Size = new System.Drawing.Size(110, 21);
-            this.cmbTipoMovimento.TabIndex = 16;
+            this.btnVerFalha.Location = new System.Drawing.Point(219, 46);
+            this.btnVerFalha.Name = "btnVerFalha";
+            this.btnVerFalha.Size = new System.Drawing.Size(35, 23);
+            this.btnVerFalha.TabIndex = 50;
+            this.btnVerFalha.Text = "Ver";
+            this.btnVerFalha.UseVisualStyleBackColor = true;
+            this.btnVerFalha.Click += new System.EventHandler(this.btnVerFalha_Click);
             // 
-            // lblTipoMovimento
+            // lblCodigoFalha
             // 
-            this.lblTipoMovimento.AutoSize = true;
-            this.lblTipoMovimento.Location = new System.Drawing.Point(3, 6);
-            this.lblTipoMovimento.Name = "lblTipoMovimento";
-            this.lblTipoMovimento.Size = new System.Drawing.Size(83, 13);
-            this.lblTipoMovimento.TabIndex = 17;
-            this.lblTipoMovimento.Text = "Tipo Movimento";
+            this.lblCodigoFalha.AutoSize = true;
+            this.lblCodigoFalha.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
+            this.lblCodigoFalha.Location = new System.Drawing.Point(6, 49);
+            this.lblCodigoFalha.Name = "lblCodigoFalha";
+            this.lblCodigoFalha.Size = new System.Drawing.Size(91, 17);
+            this.lblCodigoFalha.TabIndex = 51;
+            this.lblCodigoFalha.Text = "Código Falha";
+            // 
+            // txtCodigoFalha
+            // 
+            this.txtCodigoFalha.Location = new System.Drawing.Point(113, 49);
+            this.txtCodigoFalha.Name = "txtCodigoFalha";
+            this.txtCodigoFalha.ReadOnly = true;
+            this.txtCodigoFalha.Size = new System.Drawing.Size(100, 20);
+            this.txtCodigoFalha.TabIndex = 52;
+            this.txtCodigoFalha.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // tkbVelocidadeSP
+            // 
+            this.tkbVelocidadeSP.Location = new System.Drawing.Point(8, 115);
+            this.tkbVelocidadeSP.Maximum = 100;
+            this.tkbVelocidadeSP.Name = "tkbVelocidadeSP";
+            this.tkbVelocidadeSP.Size = new System.Drawing.Size(215, 45);
+            this.tkbVelocidadeSP.TabIndex = 18;
+            this.tkbVelocidadeSP.TickFrequency = 10;
+            // 
+            // tkbAnguloMP
+            // 
+            this.tkbAnguloMP.Location = new System.Drawing.Point(8, 179);
+            this.tkbAnguloMP.Maximum = 100;
+            this.tkbAnguloMP.Name = "tkbAnguloMP";
+            this.tkbAnguloMP.Size = new System.Drawing.Size(215, 45);
+            this.tkbAnguloMP.TabIndex = 19;
+            this.tkbAnguloMP.TickFrequency = 10;
+            // 
+            // tvwFalhas
+            // 
+            this.tvwFalhas.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.tvwFalhas.Location = new System.Drawing.Point(421, 3);
+            this.tvwFalhas.Name = "tvwFalhas";
+            this.tvwFalhas.Size = new System.Drawing.Size(362, 536);
+            this.tvwFalhas.TabIndex = 0;
+            this.tvwFalhas.Visible = false;
             // 
             // frmMonitoramento
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(1026, 594);
+            this.ClientSize = new System.Drawing.Size(1076, 594);
             this.Controls.Add(this.btnCarregar);
             this.Controls.Add(this.lblMapa);
             this.Controls.Add(this.pnlMapa);
@@ -751,16 +757,15 @@
             this.pnlDados.PerformLayout();
             this.pnlControle.ResumeLayout(false);
             this.pnlControle.PerformLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.nudVelocidadeMP)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.nudAngulo)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.nudRPM)).EndInit();
+            this.pnlMapa.ResumeLayout(false);
+            ((System.ComponentModel.ISupportInitialize)(this.tkbVelocidadeSP)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.tkbAnguloMP)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();
 
         }
 
         #endregion
-        private System.Windows.Forms.Label lblEquipamento;
         private System.Windows.Forms.ComboBox cmbEquipamento;
         private System.Windows.Forms.Label lblLatitude;
         private System.Windows.Forms.Label lblLongitude;
@@ -812,14 +817,16 @@
         private System.Windows.Forms.Panel pnlControle;
         private System.Windows.Forms.Label lblControle;
         private System.Windows.Forms.Button btnControle;
-        private System.Windows.Forms.Label lblVelocidadeMP;
         private System.Windows.Forms.Label lblAngulo;
-        private System.Windows.Forms.Label lblRPM;
-        private System.Windows.Forms.NumericUpDown nudVelocidadeMP;
-        private System.Windows.Forms.NumericUpDown nudAngulo;
-        private System.Windows.Forms.NumericUpDown nudRPM;
+        private System.Windows.Forms.Label lblVelocidadeSP;
         private System.Windows.Forms.Button btnParar;
         private System.Windows.Forms.ComboBox cmbTipoMovimento;
         private System.Windows.Forms.Label lblTipoMovimento;
+        private System.Windows.Forms.Label lblCodigoFalha;
+        private System.Windows.Forms.Button btnVerFalha;
+        private System.Windows.Forms.TextBox txtCodigoFalha;
+        private System.Windows.Forms.TrackBar tkbVelocidadeSP;
+        private System.Windows.Forms.TrackBar tkbAnguloMP;
+        private System.Windows.Forms.TreeView tvwFalhas;
     }
 }

AgroBase/AgroMonitor/Forms/frmMonitoramento.cs

@@ -2,12 +2,8 @@
 using AgroBase.Services;
 using System;
 using System.Collections.Generic;
-using System.ComponentModel;
 using System.Data;
-using System.Drawing;
 using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 
@@ -126,6 +122,7 @@ namespace AgroMonitor.Forms
                 txtLatitude.Text = GPSService.UltimaLeitura.Latitude.ToString();
                 txtLongitude.Text = GPSService.UltimaLeitura.Longitude.ToString();
 
+                txtCodigoFalha.Text = "";
                 txtStatusOperacao.Text = "";
                 txtStatusCarro.Text = "";
                 txtTempoDecorrido.Text = "";
@@ -161,6 +158,8 @@ namespace AgroMonitor.Forms
                     txtLatitude.Text = Equipamento.Coordenadas.Latitude.ToString();
                     txtLongitude.Text = Equipamento.Coordenadas.Longitude.ToString();
 
+                    txtCodigoFalha.Text = Equipamento.CodigoFalha.ToString();
+
                     txtStatusOperacao.Text = Equipamento.Operacao.statusOperacao.ToString();
                     txtStatusCarro.Text = Equipamento.Operacao.statusCarro.ToString();
                     txtTempoDecorrido.Text = TimeSpan.FromSeconds(Equipamento.Operacao.TempoOperacao).ToString(@"hh\:mm\:ss");
@@ -227,11 +226,11 @@ namespace AgroMonitor.Forms
             {
                 Momento = DateTime.Now, 
                 Tecla = DeParaTeclas[Tecla], 
-                TipoMovimento = (TipoMovimentoDirecional)cmbTipoMovimento.SelectedIndex,
-                RPM = Convert.ToInt32(nudRPM.Value), 
-                AnguloMP = Convert.ToInt32(nudAngulo.Value), 
-                VelocidadeMP = Convert.ToInt32(nudVelocidadeMP.Value), 
-                Dispositivo = Disp,
+                TipoMovimento = (TipoMovimentoDirecional)cmbTipoMovimento.SelectedIndex, 
+                PercentualVelocidadeSP = tkbVelocidadeSP.Value, 
+                AnguloMP = tkbAnguloMP.Value, 
+                VelocidadeMP = 50, 
+                Dispositivo = Disp, 
                 Emergencia = btnParar.Text == "Retomar"
             };
 
@@ -267,6 +266,29 @@ namespace AgroMonitor.Forms
                 EnviarComandoControleEquipamento(Keys.Escape);
             }
         }
-    
+
+        private void btnVerFalha_Click(object sender, EventArgs e)
+        {
+            tvwFalhas.Visible = !tvwFalhas.Visible;
+
+            if (!tvwFalhas.Visible)
+            {
+                return;
+            }
+
+            byte Endereco = Convert.ToByte(cmbEquipamento.Text);
+
+            if (Endereco > 0x00 && VariaveisMonitoramento.EquipamentosConectados.Any(x => x.Key == Endereco))
+            {
+                var Equipamento = VariaveisMonitoramento.EquipamentosConectados[Endereco];
+
+                OperacaoModel.PopularTreeView(tvwFalhas, Equipamento.CodigoFalha);
+            }
+            else
+            {
+                MessageBox.Show("Selecione um equipamento para ver o código de falhas", "Equipamento não selecionado", MessageBoxButtons.OK, MessageBoxIcon.Error);
+            }
+        }
+
     }
 }

AgroBase/AgroMonitor/Properties/Settings.Designer.cs

@@ -8,21 +8,17 @@
 // </auto-generated>
 //------------------------------------------------------------------------------
 
-namespace AgroMonitor.Properties
-{
-
-
+namespace AgroMonitor.Properties {
+    
+    
     [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
-    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "11.0.0.0")]
-    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase
-    {
-
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.8.0.0")]
+    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
+        
         private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
-
-        public static Settings Default
-        {
-            get
-            {
+        
+        public static Settings Default {
+            get {
                 return defaultInstance;
             }
         }

AgroBase/AgroMonitor/bin/Debug/AgroBase.exe.config

@@ -1,25 +1,25 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <configuration>
     <startup> 
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.7.2" />
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/>
     </startup>
   <runtime>
     <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
       <dependentAssembly>
-        <assemblyIdentity name="System.Runtime.CompilerServices.Unsafe" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-6.0.0.0" newVersion="6.0.0.0" />
+        <assemblyIdentity name="System.Runtime.CompilerServices.Unsafe" publicKeyToken="b03f5f7f11d50a3a" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-6.0.0.0" newVersion="6.0.0.0"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.Text.Json" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-8.0.0.1" newVersion="8.0.0.1" />
+        <assemblyIdentity name="System.Text.Json" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-8.0.0.1" newVersion="8.0.0.1"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.Drawing.Common" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-8.0.0.0" newVersion="8.0.0.0" />
+        <assemblyIdentity name="System.Drawing.Common" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-8.0.0.0" newVersion="8.0.0.0"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0" />
+        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0"/>
       </dependentAssembly>
     </assemblyBinding>
   </runtime>

AgroBase/AgroMonitor/bin/Debug/AgroMonitor.exe.config

@@ -1,26 +1,26 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <configuration>
     <startup> 
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.7.2" />
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/>
     </startup>
   <runtime>
     <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
       <dependentAssembly>
-        <assemblyIdentity name="System.Text.Json" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-8.0.0.1" newVersion="8.0.0.1" />
+        <assemblyIdentity name="System.Text.Json" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-8.0.0.1" newVersion="8.0.0.1"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.Runtime.CompilerServices.Unsafe" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-6.0.0.0" newVersion="6.0.0.0" />
+        <assemblyIdentity name="System.Runtime.CompilerServices.Unsafe" publicKeyToken="b03f5f7f11d50a3a" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-6.0.0.0" newVersion="6.0.0.0"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.Drawing.Common" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-8.0.0.0" newVersion="8.0.0.0" />
+        <assemblyIdentity name="System.Drawing.Common" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-8.0.0.0" newVersion="8.0.0.0"/>
       </dependentAssembly>
       <dependentAssembly>
-        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0" />
+        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0"/>
       </dependentAssembly>
     </assemblyBinding>
   </runtime>
-</configuration>
+</configuration>