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testes com os drivers mks

This commit is contained in:
Diego Freitas 2025-05-19 09:07:50 -03:00
parent a48eb9b90d
commit cee4a90f76
15 changed files with 255 additions and 180 deletions
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AgroBase/.vs/AgroBase/v17/DocumentLayout.json
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this.groupBox7 = new System.Windows.Forms.GroupBox(); this.groupBox7 = new System.Windows.Forms.GroupBox();
this.btnCANtest = new System.Windows.Forms.Button(); this.btnMovimentoCAN = new System.Windows.Forms.Button();
this.btnSetZeroCAN = new System.Windows.Forms.Button();
this.btnRequisicaoAutomatica = new System.Windows.Forms.Button();
this.btnIniciarRef = new System.Windows.Forms.Button(); this.btnIniciarRef = new System.Windows.Forms.Button();
this.label28 = new System.Windows.Forms.Label(); this.label28 = new System.Windows.Forms.Label();
this.txtSensor = new System.Windows.Forms.TextBox(); this.txtSensor = new System.Windows.Forms.TextBox();
@ -138,9 +140,16 @@
this.txtAnguloAtual = new System.Windows.Forms.TextBox(); this.txtAnguloAtual = new System.Windows.Forms.TextBox();
this.label26 = new System.Windows.Forms.Label(); this.label26 = new System.Windows.Forms.Label();
this.txtAnguloSP = new System.Windows.Forms.TextBox(); this.txtAnguloSP = new System.Windows.Forms.TextBox();
this.btnSetZeroCAN = new System.Windows.Forms.Button();
this.btnMovimentoCAN = new System.Windows.Forms.Button();
this.lblLeituraMksCan = new System.Windows.Forms.Label(); this.lblLeituraMksCan = new System.Windows.Forms.Label();
this.lblVelocidade = new System.Windows.Forms.Label();
this.txtVelocidadeAtual = new System.Windows.Forms.TextBox();
this.label29 = new System.Windows.Forms.Label();
this.txtIntervaloReq = new System.Windows.Forms.TextBox();
this.btnRequisitarDados = new System.Windows.Forms.Button();
this.chbAngulo = new System.Windows.Forms.CheckBox();
this.checkBox1 = new System.Windows.Forms.CheckBox();
this.chbIO = new System.Windows.Forms.CheckBox();
this.chbRpm = new System.Windows.Forms.CheckBox();
this.groupBox1.SuspendLayout(); this.groupBox1.SuspendLayout();
this.groupBox2.SuspendLayout(); this.groupBox2.SuspendLayout();
this.groupBox3.SuspendLayout(); this.groupBox3.SuspendLayout();
@ -1168,9 +1177,18 @@
// //
// groupBox7 // groupBox7
// //
this.groupBox7.Controls.Add(this.chbRpm);
this.groupBox7.Controls.Add(this.chbIO);
this.groupBox7.Controls.Add(this.checkBox1);
this.groupBox7.Controls.Add(this.chbAngulo);
this.groupBox7.Controls.Add(this.btnRequisitarDados);
this.groupBox7.Controls.Add(this.label29);
this.groupBox7.Controls.Add(this.txtIntervaloReq);
this.groupBox7.Controls.Add(this.lblVelocidade);
this.groupBox7.Controls.Add(this.txtVelocidadeAtual);
this.groupBox7.Controls.Add(this.btnMovimentoCAN); this.groupBox7.Controls.Add(this.btnMovimentoCAN);
this.groupBox7.Controls.Add(this.btnSetZeroCAN); this.groupBox7.Controls.Add(this.btnSetZeroCAN);
this.groupBox7.Controls.Add(this.btnCANtest); this.groupBox7.Controls.Add(this.btnRequisicaoAutomatica);
this.groupBox7.Controls.Add(this.btnIniciarRef); this.groupBox7.Controls.Add(this.btnIniciarRef);
this.groupBox7.Controls.Add(this.label28); this.groupBox7.Controls.Add(this.label28);
this.groupBox7.Controls.Add(this.txtSensor); this.groupBox7.Controls.Add(this.txtSensor);
@ -1185,15 +1203,35 @@
this.groupBox7.TabStop = false; this.groupBox7.TabStop = false;
this.groupBox7.Text = "Referenciamento"; this.groupBox7.Text = "Referenciamento";
// //
// btnCANtest // btnMovimentoCAN
// //
this.btnCANtest.Location = new System.Drawing.Point(9, 304); this.btnMovimentoCAN.Location = new System.Drawing.Point(9, 275);
this.btnCANtest.Name = "btnCANtest"; this.btnMovimentoCAN.Name = "btnMovimentoCAN";
this.btnCANtest.Size = new System.Drawing.Size(178, 23); this.btnMovimentoCAN.Size = new System.Drawing.Size(178, 23);
this.btnCANtest.TabIndex = 24; this.btnMovimentoCAN.TabIndex = 26;
this.btnCANtest.Text = "Requisitar Dados CAN"; this.btnMovimentoCAN.Text = "Executar Movimento CAN";
this.btnCANtest.UseVisualStyleBackColor = true; this.btnMovimentoCAN.UseVisualStyleBackColor = true;
this.btnCANtest.Click += new System.EventHandler(this.btnCANtest_Click); this.btnMovimentoCAN.Click += new System.EventHandler(this.btnMovimentoCAN_Click);
//
// btnSetZeroCAN
//
this.btnSetZeroCAN.Location = new System.Drawing.Point(9, 246);
this.btnSetZeroCAN.Name = "btnSetZeroCAN";
this.btnSetZeroCAN.Size = new System.Drawing.Size(178, 23);
this.btnSetZeroCAN.TabIndex = 25;
this.btnSetZeroCAN.Text = "Set Zero CAN";
this.btnSetZeroCAN.UseVisualStyleBackColor = true;
this.btnSetZeroCAN.Click += new System.EventHandler(this.btnSetZeroCAN_Click);
//
// btnRequisicaoAutomatica
//
this.btnRequisicaoAutomatica.Location = new System.Drawing.Point(9, 304);
this.btnRequisicaoAutomatica.Name = "btnRequisicaoAutomatica";
this.btnRequisicaoAutomatica.Size = new System.Drawing.Size(178, 23);
this.btnRequisicaoAutomatica.TabIndex = 24;
this.btnRequisicaoAutomatica.Text = "Requisição Automática";
this.btnRequisicaoAutomatica.UseVisualStyleBackColor = true;
this.btnRequisicaoAutomatica.Click += new System.EventHandler(this.btnCANtest_Click);
// //
// btnIniciarRef // btnIniciarRef
// //
@ -1219,7 +1257,7 @@
this.txtSensor.Location = new System.Drawing.Point(87, 71); this.txtSensor.Location = new System.Drawing.Point(87, 71);
this.txtSensor.Name = "txtSensor"; this.txtSensor.Name = "txtSensor";
this.txtSensor.ReadOnly = true; this.txtSensor.ReadOnly = true;
this.txtSensor.Size = new System.Drawing.Size(100, 20); this.txtSensor.Size = new System.Drawing.Size(61, 20);
this.txtSensor.TabIndex = 21; this.txtSensor.TabIndex = 21;
// //
// label27 // label27
@ -1236,7 +1274,7 @@
this.txtAnguloAtual.Location = new System.Drawing.Point(87, 45); this.txtAnguloAtual.Location = new System.Drawing.Point(87, 45);
this.txtAnguloAtual.Name = "txtAnguloAtual"; this.txtAnguloAtual.Name = "txtAnguloAtual";
this.txtAnguloAtual.ReadOnly = true; this.txtAnguloAtual.ReadOnly = true;
this.txtAnguloAtual.Size = new System.Drawing.Size(100, 20); this.txtAnguloAtual.Size = new System.Drawing.Size(61, 20);
this.txtAnguloAtual.TabIndex = 19; this.txtAnguloAtual.TabIndex = 19;
// //
// label26 // label26
@ -1256,26 +1294,6 @@
this.txtAnguloSP.Size = new System.Drawing.Size(100, 20); this.txtAnguloSP.Size = new System.Drawing.Size(100, 20);
this.txtAnguloSP.TabIndex = 0; this.txtAnguloSP.TabIndex = 0;
// //
// btnSetZeroCAN
//
this.btnSetZeroCAN.Location = new System.Drawing.Point(9, 246);
this.btnSetZeroCAN.Name = "btnSetZeroCAN";
this.btnSetZeroCAN.Size = new System.Drawing.Size(178, 23);
this.btnSetZeroCAN.TabIndex = 25;
this.btnSetZeroCAN.Text = "Set Zero CAN";
this.btnSetZeroCAN.UseVisualStyleBackColor = true;
this.btnSetZeroCAN.Click += new System.EventHandler(this.btnSetZeroCAN_Click);
//
// btnMovimentoCAN
//
this.btnMovimentoCAN.Location = new System.Drawing.Point(9, 275);
this.btnMovimentoCAN.Name = "btnMovimentoCAN";
this.btnMovimentoCAN.Size = new System.Drawing.Size(178, 23);
this.btnMovimentoCAN.TabIndex = 26;
this.btnMovimentoCAN.Text = "Executar Movimento CAN";
this.btnMovimentoCAN.UseVisualStyleBackColor = true;
this.btnMovimentoCAN.Click += new System.EventHandler(this.btnMovimentoCAN_Click);
//
// lblLeituraMksCan // lblLeituraMksCan
// //
this.lblLeituraMksCan.AutoSize = true; this.lblLeituraMksCan.AutoSize = true;
@ -1285,6 +1303,91 @@
this.lblLeituraMksCan.TabIndex = 15; this.lblLeituraMksCan.TabIndex = 15;
this.lblLeituraMksCan.Text = "Leitura"; this.lblLeituraMksCan.Text = "Leitura";
// //
// lblVelocidade
//
this.lblVelocidade.AutoSize = true;
this.lblVelocidade.Location = new System.Drawing.Point(6, 100);
this.lblVelocidade.Name = "lblVelocidade";
this.lblVelocidade.Size = new System.Drawing.Size(31, 13);
this.lblVelocidade.TabIndex = 28;
this.lblVelocidade.Text = "RPM";
//
// txtVelocidadeAtual
//
this.txtVelocidadeAtual.Location = new System.Drawing.Point(87, 97);
this.txtVelocidadeAtual.Name = "txtVelocidadeAtual";
this.txtVelocidadeAtual.ReadOnly = true;
this.txtVelocidadeAtual.Size = new System.Drawing.Size(61, 20);
this.txtVelocidadeAtual.TabIndex = 27;
//
// label29
//
this.label29.AutoSize = true;
this.label29.Location = new System.Drawing.Point(6, 336);
this.label29.Name = "label29";
this.label29.Size = new System.Drawing.Size(71, 13);
this.label29.TabIndex = 30;
this.label29.Text = "Intervalo Req";
//
// txtIntervaloReq
//
this.txtIntervaloReq.Location = new System.Drawing.Point(87, 333);
this.txtIntervaloReq.Name = "txtIntervaloReq";
this.txtIntervaloReq.Size = new System.Drawing.Size(100, 20);
this.txtIntervaloReq.TabIndex = 29;
this.txtIntervaloReq.Text = "500";
this.txtIntervaloReq.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// btnRequisitarDados
//
this.btnRequisitarDados.Location = new System.Drawing.Point(9, 217);
this.btnRequisitarDados.Name = "btnRequisitarDados";
this.btnRequisitarDados.Size = new System.Drawing.Size(178, 23);
this.btnRequisitarDados.TabIndex = 31;
this.btnRequisitarDados.Text = "Requisitar Dados CAN";
this.btnRequisitarDados.UseVisualStyleBackColor = true;
this.btnRequisitarDados.Click += new System.EventHandler(this.btnRequisitarDados_Click);
//
// chbAngulo
//
this.chbAngulo.AutoSize = true;
this.chbAngulo.Location = new System.Drawing.Point(154, 45);
this.chbAngulo.Name = "chbAngulo";
this.chbAngulo.Size = new System.Drawing.Size(46, 17);
this.chbAngulo.TabIndex = 32;
this.chbAngulo.Text = "Req";
this.chbAngulo.UseVisualStyleBackColor = true;
//
// checkBox1
//
this.checkBox1.AutoSize = true;
this.checkBox1.Location = new System.Drawing.Point(154, 76);
this.checkBox1.Name = "checkBox1";
this.checkBox1.Size = new System.Drawing.Size(46, 17);
this.checkBox1.TabIndex = 33;
this.checkBox1.Text = "Req";
this.checkBox1.UseVisualStyleBackColor = true;
//
// chbIO
//
this.chbIO.AutoSize = true;
this.chbIO.Location = new System.Drawing.Point(154, 73);
this.chbIO.Name = "chbIO";
this.chbIO.Size = new System.Drawing.Size(46, 17);
this.chbIO.TabIndex = 33;
this.chbIO.Text = "Req";
this.chbIO.UseVisualStyleBackColor = true;
//
// chbRpm
//
this.chbRpm.AutoSize = true;
this.chbRpm.Location = new System.Drawing.Point(154, 99);
this.chbRpm.Name = "chbRpm";
this.chbRpm.Size = new System.Drawing.Size(46, 17);
this.chbRpm.TabIndex = 34;
this.chbRpm.Text = "Req";
this.chbRpm.UseVisualStyleBackColor = true;
//
// frmMKS // frmMKS
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@ -1431,9 +1534,18 @@
private System.Windows.Forms.Label label28; private System.Windows.Forms.Label label28;
private System.Windows.Forms.TextBox txtSensor; private System.Windows.Forms.TextBox txtSensor;
private System.Windows.Forms.Button btnIniciarRef; private System.Windows.Forms.Button btnIniciarRef;
private System.Windows.Forms.Button btnCANtest; private System.Windows.Forms.Button btnRequisicaoAutomatica;
private System.Windows.Forms.Button btnSetZeroCAN; private System.Windows.Forms.Button btnSetZeroCAN;
private System.Windows.Forms.Button btnMovimentoCAN; private System.Windows.Forms.Button btnMovimentoCAN;
private System.Windows.Forms.Label lblLeituraMksCan; private System.Windows.Forms.Label lblLeituraMksCan;
private System.Windows.Forms.Label lblVelocidade;
private System.Windows.Forms.TextBox txtVelocidadeAtual;
private System.Windows.Forms.Label label29;
private System.Windows.Forms.TextBox txtIntervaloReq;
private System.Windows.Forms.Button btnRequisitarDados;
private System.Windows.Forms.CheckBox chbRpm;
private System.Windows.Forms.CheckBox chbIO;
private System.Windows.Forms.CheckBox checkBox1;
private System.Windows.Forms.CheckBox chbAngulo;
} }
} }

30
AgroBase/AgroBase/Forms/frmMKS.cs
View File

@ -2376,10 +2376,9 @@ namespace AgroBase.Forms
private bool MKSIniciado() private bool MKSIniciado()
{ {
CanService.InicializarCanal(); CanService.InicializarCanal();
byte addr = FuncoesGlobais.StringToHexByte(cmbEndereco.Text);
if (CanService.IsConnected) if (CanService.IsConnected && MKS057DCanService.DadosLeitura.Any(x => x.EnderecoTx == addr && !x.Iniciado))
{ {
byte addr = FuncoesGlobais.StringToHexByte(cmbEndereco.Text);
MKS057DCanService.RequisitarDado(addr, addr, MKS057DCanService.MksHandler.MksFuncCode.Versao); MKS057DCanService.RequisitarDado(addr, addr, MKS057DCanService.MksHandler.MksFuncCode.Versao);
} }
@ -2410,6 +2409,14 @@ namespace AgroBase.Forms
} }
AsyncTaskTimerModel tmrReq; AsyncTaskTimerModel tmrReq;
private async void btnRequisitarDados_Click(object sender, EventArgs e)
{
byte addr = FuncoesGlobais.StringToHexByte(cmbEndereco.Text);
CanService.RegistrarHandler(addr, MKS057DCanService._MksHandler);
await tmrReq_Tick();
}
MKS057DModel dadosLeitura; MKS057DModel dadosLeitura;
private void btnCANtest_Click(object sender, EventArgs e) private void btnCANtest_Click(object sender, EventArgs e)
@ -2431,22 +2438,24 @@ namespace AgroBase.Forms
private async Task tmrReq_Tick() private async Task tmrReq_Tick()
{ {
tmrReq.SetInterval(200); int intervalo = Convert.ToInt32(txtIntervaloReq.Text);
tmrReq?.SetInterval(intervalo);
if (MKSIniciado()) if (MKSIniciado())
{ {
byte addr = FuncoesGlobais.StringToHexByte(cmbEndereco.Text); byte addr = FuncoesGlobais.StringToHexByte(cmbEndereco.Text);
MKS057DCanService.RequisitarDado(addr, addr, MKS057DCanService.MksHandler.MksFuncCode.PulsosRecebidos); if (chbAngulo.Checked) MKS057DCanService.RequisitarDado(addr, addr, MKS057DCanService.MksHandler.MksFuncCode.PulsosRecebidos);
//mks.RequisitarDado(endereco, MKS057DCanService.MksHandler.MksFuncCode.EncoderCarregado); //mks.RequisitarDado(endereco, MKS057DCanService.MksHandler.MksFuncCode.EncoderCarregado);
//mks.RequisitarDado(endereco, MKS057DCanService.MksHandler.MksFuncCode.EncoderAcumulado); //mks.RequisitarDado(endereco, MKS057DCanService.MksHandler.MksFuncCode.EncoderAcumulado);
MKS057DCanService.RequisitarDado(addr, addr, MKS057DCanService.MksHandler.MksFuncCode.IO); if (chbIO.Checked) MKS057DCanService.RequisitarDado(addr, addr, MKS057DCanService.MksHandler.MksFuncCode.IO);
//mks.RequisitarDado(endereco, MKS057DCanService.MksHandler.MksFuncCode.RPM); if (chbRpm.Checked) MKS057DCanService.RequisitarDado(addr, addr, MKS057DCanService.MksHandler.MksFuncCode.RPM);
dadosLeitura = MKS057DCanService.DadosLeitura.FirstOrDefault(x => x.EnderecoTx == FuncoesGlobais.StringToHexByte(cmbEndereco.Text)); dadosLeitura = MKS057DCanService.DadosLeitura.FirstOrDefault(x => x.EnderecoTx == addr);
if (dadosLeitura != null) if (dadosLeitura != null)
{ {
string a = string a =
$"Momento: {DateTime.Now.ToString("dd/MM/yyyy HH:mm:ss:fff")}, " +
$"Versão: {dadosLeitura.FV}, " + $"Versão: {dadosLeitura.FV}, " +
$"RPM: {dadosLeitura.Velocidade}, " + $"RPM: {dadosLeitura.Velocidade}, " +
$"Pulsos: {dadosLeitura.NumeroPulsos}, " + $"Pulsos: {dadosLeitura.NumeroPulsos}, " +
@ -2459,6 +2468,11 @@ namespace AgroBase.Forms
$"Saidas: {string.Join(",", (dadosLeitura.Saidas ?? new List<bool>()).Select(x => x ? "1" : "0"))},"; $"Saidas: {string.Join(",", (dadosLeitura.Saidas ?? new List<bool>()).Select(x => x ? "1" : "0"))},";
lblLeituraMksCan.Text = a; lblLeituraMksCan.Text = a;
txtAnguloAtual.Text = dadosLeitura.AnguloPulsos.ToString();
txtSensor.Text = string.Join(",", (dadosLeitura.Entradas ?? new List<bool>()).Select(x => x ? "1" : "0"));
txtVelocidadeAtual.Text = dadosLeitura.Velocidade.ToString();
} }
} }
} }

2
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
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@ -865,7 +865,7 @@ namespace AgroBase.Models
// Referenciar motores de passo // Referenciar motores de passo
if (DispMvd.Dados.Modulos.Any(x => x.DirMotor.Inicializado)) if (DispMvd.Dados.Modulos.Any(x => x.DirMotor.Inicializado))
{ {
GeneralJoystick.EnviaComandoMotor(Keys.R); //GeneralJoystick.EnviaComandoMotor(Keys.R);
} }
} }

4
AgroBase/AgroBase/Services/LoRaEspService.cs
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@ -22,8 +22,8 @@ namespace AgroBase.Services
return Conectado && Configurado; return Conectado && Configurado;
} }
} }
public LoRaParametrosModel ParametrosSet { get; set; } public LoRaParametrosModel ParametrosSet { get; set; } = new LoRaParametrosModel();
public LoRaParametrosModel ParametrosGet { get; set; } public LoRaParametrosModel ParametrosGet { get; set; } = new LoRaParametrosModel();
public List<FuncoesPinout> Funcoes { get; set; } public List<FuncoesPinout> Funcoes { get; set; }
public List<(int, CanMessagePosicaoDados, byte[])> ProtocoloConfiguracao(PinoutDataModel Pinout, bool conectar) public List<(int, CanMessagePosicaoDados, byte[])> ProtocoloConfiguracao(PinoutDataModel Pinout, bool conectar)

24
AgroBase/AgroBase/Services/MKS057DCanService.cs
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@ -13,7 +13,7 @@ namespace AgroBase.Services
public static List<MKS057DModel> DadosLeitura = new List<MKS057DModel>(); public static List<MKS057DModel> DadosLeitura = new List<MKS057DModel>();
private static int _MStep { get; set; } = 16; private static int _MStep { get; set; } = 16;
private static T_Code Dispositivo { get; set; } = T_Code.Mks; private static T_Code Dispositivo { get; set; } = T_Code.Mks;
private static MksHandler _MksHandler { get; set; } = new MksHandler(); public static MksHandler _MksHandler { get; set; } = new MksHandler();
public static bool Iniciado public static bool Iniciado
{ {
@ -315,6 +315,8 @@ namespace AgroBase.Services
if (data != null && data.Length >= 3) if (data != null && data.Length >= 3)
{ {
item.Velocidade = DecodeUInt16BE(data, 1); item.Velocidade = DecodeUInt16BE(data, 1);
Console.WriteLine($"[DIR {Variaveis.OperacaoEmAndamento.DispMvd?.Dados?.Modulos?.FirstOrDefault(x => (x?.DirMotor?._EnderecoCAN_Tx ?? 0x00) == item.EnderecoTx)?.DirMotor?.Mod_ID ?? item.EnderecoTx.ToString()}] RPM atual: {item.Velocidade}");
} }
break; break;
@ -330,14 +332,7 @@ namespace AgroBase.Services
item.NumeroPulsos = pulsos; item.NumeroPulsos = pulsos;
item.AnguloPulsos = PulsosRecebidosParaAngulo(pulsos); item.AnguloPulsos = PulsosRecebidosParaAngulo(pulsos);
if (item.EnderecoTx == 0x01) Console.WriteLine($"[DIR {Variaveis.OperacaoEmAndamento.DispMvd?.Dados?.Modulos?.FirstOrDefault(x => (x?.DirMotor?._EnderecoCAN_Tx ?? 0x00) == item.EnderecoTx)?.DirMotor?.Mod_ID ?? item.EnderecoTx.ToString()}] Angulo atual: {item.AnguloPulsos} ({item.AnguloEstimado()})");
{
Console.WriteLine($"[DIR ET] Angulo atual: {item.AnguloPulsos} ({item.AnguloEstimado()})");
}
if (item.EnderecoTx == 0x02)
{
Console.WriteLine($"[DIR DT] Angulo atual: {item.AnguloPulsos} ({item.AnguloEstimado()})");
}
} }
break; break;
@ -352,14 +347,7 @@ namespace AgroBase.Services
item.Saidas[0] = (status & 0b00000100) != 0; item.Saidas[0] = (status & 0b00000100) != 0;
item.Saidas[1] = (status & 0b00001000) != 0; item.Saidas[1] = (status & 0b00001000) != 0;
if (item.EnderecoTx == 0x01) Console.WriteLine($"[DIR {Variaveis.OperacaoEmAndamento.DispMvd?.Dados?.Modulos?.FirstOrDefault(x => (x?.DirMotor?._EnderecoCAN_Tx ?? 0x00) == item.EnderecoTx)?.DirMotor?.Mod_ID ?? item.EnderecoTx.ToString()}] IO atual");
{
Console.WriteLine($"[DIR ET] IO atual");
}
if (item.EnderecoTx == 0x02)
{
Console.WriteLine($"[DIR DT] IO atual");
}
} }
break; break;
@ -375,6 +363,8 @@ namespace AgroBase.Services
{ {
string versao = $"{data[1]}.{data[2]}.{data[3]}.{data[4]}"; string versao = $"{data[1]}.{data[2]}.{data[3]}.{data[4]}";
item.FV = versao; item.FV = versao;
Console.WriteLine($"[DIR {Variaveis.OperacaoEmAndamento.DispMvd?.Dados?.Modulos?.FirstOrDefault(x => (x?.DirMotor?._EnderecoCAN_Tx ?? 0x00) == item.EnderecoTx)?.DirMotor?.Mod_ID ?? item.EnderecoTx.ToString()}] Versao atual");
} }
break; break;

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