ligado tela Operacao Movimento e Pulverizador

AgroBase/AgroBase/AgroBase.csproj

@@ -384,6 +384,9 @@
     <Compile Include="Forms\frmPinout.Designer.cs">
       <DependentUpon>frmPinout.cs</DependentUpon>
     </Compile>
+    <Compile Include="Forms\IHM\Controls\HmiAgitatorModeSelector.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
     <Compile Include="Forms\IHM\Controls\HmiAttitudeIndicator.cs">
       <SubType>Component</SubType>
     </Compile>
@@ -396,6 +399,12 @@
     <Compile Include="Forms\IHM\Controls\HmiCameraSelector.cs">
       <SubType>UserControl</SubType>
     </Compile>
+    <Compile Include="Forms\IHM\Controls\HmiCompactCheckRow.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="Forms\IHM\Controls\HmiCompactNumericField.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
     <Compile Include="Forms\IHM\Controls\HmiCompassControl.cs">
       <SubType>Component</SubType>
     </Compile>
@@ -408,6 +417,9 @@
     <Compile Include="Forms\IHM\Controls\HmiMetricTile.cs">
       <SubType>UserControl</SubType>
     </Compile>
+    <Compile Include="Forms\IHM\Controls\HmiModeSelector.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
     <Compile Include="Forms\IHM\Controls\HmiModuleBadge.cs">
       <SubType>Component</SubType>
     </Compile>
@@ -432,9 +444,15 @@
     <Compile Include="Forms\IHM\Controls\HmiNumericField.cs">
       <SubType>UserControl</SubType>
     </Compile>
+    <Compile Include="Forms\IHM\Controls\HmiNumericParameterCard.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
     <Compile Include="Forms\IHM\Controls\HmiOperationTabButton.cs">
       <SubType>Component</SubType>
     </Compile>
+    <Compile Include="Forms\IHM\Controls\HmiParameterSliderRow.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
     <Compile Include="Forms\IHM\Controls\HmiParameterToggleRow.cs">
       <SubType>UserControl</SubType>
     </Compile>
@@ -501,6 +519,30 @@
     <Compile Include="Forms\IHM\Operacao\HmiCompactMetricCard.Designer.cs">
       <DependentUpon>HmiCompactMetricCard.cs</DependentUpon>
     </Compile>
+    <Compile Include="Forms\IHM\Operacao\Parametros\ucParametrosAtuador.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="Forms\IHM\Operacao\Parametros\ucParametrosAtuador.Designer.cs">
+      <DependentUpon>ucParametrosAtuador.cs</DependentUpon>
+    </Compile>
+    <Compile Include="Forms\IHM\Operacao\Parametros\ucParametrosDirecional.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="Forms\IHM\Operacao\Parametros\ucParametrosDirecional.Designer.cs">
+      <DependentUpon>ucParametrosDirecional.cs</DependentUpon>
+    </Compile>
+    <Compile Include="Forms\IHM\Operacao\Parametros\ucParametrosMapa.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="Forms\IHM\Operacao\Parametros\ucParametrosMapa.Designer.cs">
+      <DependentUpon>ucParametrosMapa.cs</DependentUpon>
+    </Compile>
+    <Compile Include="Forms\IHM\Operacao\Parametros\ucParametrosMovimento.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="Forms\IHM\Operacao\Parametros\ucParametrosMovimento.Designer.cs">
+      <DependentUpon>ucParametrosMovimento.cs</DependentUpon>
+    </Compile>
     <Compile Include="Forms\IHM\Operacao\ucOperacaoMovimentacao.cs">
       <SubType>UserControl</SubType>
     </Compile>

AgroBase/AgroBase/Forms/IHM/Controls/HmiAgitatorModeSelector.cs

@@ -0,0 +1,131 @@
+using AgroBase.Forms.IHM.Controls;
+using System;
+using System.ComponentModel;
+using System.Drawing;
+using System.Windows.Forms;
+
+namespace AgroBase.Forms.IHM.Operacao.Parametros.Controls
+{
+    [DefaultEvent("SelectedModeChanged")]
+    public class HmiAgitatorModeSelector : UserControl
+    {
+        private readonly Button _btnSemAgitacao;
+        private readonly Button _btnContinuo;
+        private readonly Button _btnIntermitente;
+
+        private string _selectedMode = "Continuo";
+
+        public event EventHandler SelectedModeChanged;
+
+        public HmiAgitatorModeSelector()
+        {
+            DoubleBuffered = true;
+            BackColor = Color.Transparent;
+            Margin = Padding.Empty;
+            Padding = Padding.Empty;
+            MinimumSize = new Size(260, 44);
+
+            TableLayoutPanel layout = new TableLayoutPanel
+            {
+                Dock = DockStyle.Fill,
+                BackColor = Color.Transparent,
+                ColumnCount = 3,
+                RowCount = 1,
+                Margin = Padding.Empty,
+                Padding = Padding.Empty
+            };
+
+            layout.ColumnStyles.Add(new ColumnStyle(SizeType.Percent, 33.33F));
+            layout.ColumnStyles.Add(new ColumnStyle(SizeType.Percent, 33.33F));
+            layout.ColumnStyles.Add(new ColumnStyle(SizeType.Percent, 33.34F));
+            layout.RowStyles.Add(new RowStyle(SizeType.Percent, 100F));
+
+            _btnSemAgitacao = CriarBotao("Sem agitação");
+            _btnContinuo = CriarBotao("Contínuo");
+            _btnIntermitente = CriarBotao("Intermitente");
+
+            layout.Controls.Add(_btnSemAgitacao, 0, 0);
+            layout.Controls.Add(_btnContinuo, 1, 0);
+            layout.Controls.Add(_btnIntermitente, 2, 0);
+
+            Controls.Add(layout);
+
+            _btnSemAgitacao.Click += delegate { SelectedMode = "SemAgitacao"; };
+            _btnContinuo.Click += delegate { SelectedMode = "Continuo"; };
+            _btnIntermitente.Click += delegate { SelectedMode = "Intermitente"; };
+
+            AtualizarAparencia();
+        }
+
+        private static Button CriarBotao(string texto)
+        {
+            Button button = new Button
+            {
+                Dock = DockStyle.Fill,
+                BackColor = HmiTheme.SurfaceRaised,
+                ForeColor = HmiTheme.TextMuted,
+                FlatStyle = FlatStyle.Flat,
+                Font = new Font("Segoe UI", 7.6F, FontStyle.Bold),
+                Text = texto,
+                TextAlign = ContentAlignment.MiddleCenter,
+                Cursor = Cursors.Hand,
+                Margin = new Padding(2),
+                UseVisualStyleBackColor = false
+            };
+
+            button.FlatAppearance.BorderSize = 1;
+            button.FlatAppearance.BorderColor = HmiTheme.Border;
+            return button;
+        }
+
+        private void AtualizarAparencia()
+        {
+            AplicarEstado(_btnSemAgitacao, _selectedMode == "SemAgitacao");
+            AplicarEstado(_btnContinuo, _selectedMode == "Continuo");
+            AplicarEstado(_btnIntermitente, _selectedMode == "Intermitente");
+        }
+
+        private static void AplicarEstado(Button button, bool selecionado)
+        {
+            if (selecionado)
+            {
+                button.BackColor = Color.FromArgb(31, 91, 43);
+                button.ForeColor = HmiTheme.Success;
+                button.FlatAppearance.BorderColor = HmiTheme.Success;
+            }
+            else
+            {
+                button.BackColor = HmiTheme.SurfaceRaised;
+                button.ForeColor = HmiTheme.TextMuted;
+                button.FlatAppearance.BorderColor = HmiTheme.Border;
+            }
+        }
+
+        [Category("Dados")]
+        [DefaultValue("Continuo")]
+        public string SelectedMode
+        {
+            get { return _selectedMode; }
+            set
+            {
+                string novo;
+
+                if (string.Equals(value, "SemAgitacao", StringComparison.OrdinalIgnoreCase))
+                    novo = "SemAgitacao";
+                else if (string.Equals(value, "Intermitente", StringComparison.OrdinalIgnoreCase))
+                    novo = "Intermitente";
+                else
+                    novo = "Continuo";
+
+                if (_selectedMode == novo)
+                    return;
+
+                _selectedMode = novo;
+                AtualizarAparencia();
+
+                if (SelectedModeChanged != null)
+                    SelectedModeChanged(this, EventArgs.Empty);
+            }
+        }
+    }
+}

AgroBase/AgroBase/Forms/IHM/Controls/HmiCompactCheckRow.cs

@@ -0,0 +1,201 @@
+using AgroBase.Forms.IHM.Controls;
+using System;
+using System.ComponentModel;
+using System.Drawing;
+using System.Windows.Forms;
+
+namespace AgroBase.Forms.IHM.Operacao.Parametros.Controls
+{
+    [DefaultEvent("CheckedChanged")]
+    public class HmiCompactCheckRow : UserControl
+    {
+        private readonly TableLayoutPanel _layout;
+        private readonly Label _lblTitulo;
+        private readonly CheckBox _check;
+
+        public event EventHandler CheckedChanged;
+
+        public HmiCompactCheckRow()
+        {
+            SetStyle(
+                ControlStyles.AllPaintingInWmPaint |
+                ControlStyles.OptimizedDoubleBuffer |
+                ControlStyles.ResizeRedraw |
+                ControlStyles.UserPaint,
+                true
+            );
+
+            DoubleBuffered = true;
+            BackColor = HmiTheme.SurfaceRaised;
+            Cursor = Cursors.Hand;
+            Height = 54;
+            MinimumSize = new Size(150, 44);
+            Margin = new Padding(3);
+            Padding = new Padding(9, 5, 7, 5);
+
+            _layout = new TableLayoutPanel
+            {
+                BackColor = Color.Transparent,
+                ColumnCount = 2,
+                RowCount = 1,
+                Dock = DockStyle.Fill,
+                Margin = Padding.Empty,
+                Padding = Padding.Empty
+            };
+
+            _layout.ColumnStyles.Add(
+                new ColumnStyle(SizeType.Percent, 100F)
+            );
+
+            _layout.ColumnStyles.Add(
+                new ColumnStyle(SizeType.Absolute, 42F)
+            );
+
+            _layout.RowStyles.Add(
+                new RowStyle(SizeType.Percent, 100F)
+            );
+
+            _lblTitulo = new Label
+            {
+                AutoEllipsis = true,
+                AutoSize = false,
+                BackColor = Color.Transparent,
+                Cursor = Cursors.Hand,
+                Dock = DockStyle.Fill,
+                Font = new Font(
+                    "Segoe UI",
+                    8F,
+                    FontStyle.Bold
+                ),
+                ForeColor = HmiTheme.Text,
+                Margin = Padding.Empty,
+                Padding = new Padding(2, 0, 4, 0),
+                Text = "Parâmetro",
+                TextAlign = ContentAlignment.MiddleLeft
+            };
+
+            _check = CriarCheck();
+
+            _layout.Controls.Add(_lblTitulo, 0, 0);
+            _layout.Controls.Add(_check, 1, 0);
+
+            Controls.Add(_layout);
+
+            _check.CheckedChanged += Check_CheckedChanged;
+
+            _lblTitulo.Click += AlternarPorClique;
+            _layout.Click += AlternarPorClique;
+            Click += AlternarPorClique;
+
+            AtualizarAparencia();
+        }
+
+        private static CheckBox CriarCheck()
+        {
+            CheckBox check = new CheckBox
+            {
+                Anchor = AnchorStyles.None,
+                Appearance = Appearance.Button,
+                AutoSize = false,
+                BackColor = Color.FromArgb(30, 90, 46),
+                Checked = true,
+                Cursor = Cursors.Hand,
+                Dock = DockStyle.None,
+                FlatStyle = FlatStyle.Flat,
+                Font = new Font(
+                    "Segoe UI Symbol",
+                    9F,
+                    FontStyle.Bold
+                ),
+                ForeColor = HmiTheme.Success,
+                Height = 30,
+                Margin = Padding.Empty,
+                Padding = Padding.Empty,
+                Text = "✓",
+                TextAlign = ContentAlignment.MiddleCenter,
+                UseVisualStyleBackColor = false,
+                Width = 34
+            };
+
+            check.FlatAppearance.BorderSize = 1;
+            check.FlatAppearance.BorderColor = HmiTheme.Success;
+            check.FlatAppearance.CheckedBackColor =
+                Color.FromArgb(30, 90, 46);
+
+            check.FlatAppearance.MouseDownBackColor =
+                Color.FromArgb(37, 108, 55);
+
+            check.FlatAppearance.MouseOverBackColor =
+                Color.FromArgb(34, 100, 51);
+
+            return check;
+        }
+
+        private void AlternarPorClique(object sender, EventArgs e)
+        {
+            _check.Checked = !_check.Checked;
+        }
+
+        private void Check_CheckedChanged(object sender, EventArgs e)
+        {
+            AtualizarAparencia();
+
+            if (CheckedChanged != null)
+                CheckedChanged(this, EventArgs.Empty);
+        }
+
+        private void AtualizarAparencia()
+        {
+            if (_check.Checked)
+            {
+                _check.Text = "✓";
+                _check.ForeColor = HmiTheme.Success;
+                _check.BackColor = Color.FromArgb(30, 90, 46);
+                _check.FlatAppearance.BorderColor = HmiTheme.Success;
+
+                _lblTitulo.ForeColor = HmiTheme.Text;
+            }
+            else
+            {
+                _check.Text = "×";
+                _check.ForeColor = HmiTheme.Danger;
+                _check.BackColor = HmiTheme.Surface;
+                _check.FlatAppearance.BorderColor = HmiTheme.Danger;
+
+                _lblTitulo.ForeColor = HmiTheme.TextMuted;
+            }
+
+            Invalidate();
+        }
+
+        [Category("Conteúdo")]
+        public string Titulo
+        {
+            get { return _lblTitulo.Text; }
+            set { _lblTitulo.Text = value ?? string.Empty; }
+        }
+
+        [Category("Dados")]
+        [DefaultValue(true)]
+        public bool Checked
+        {
+            get { return _check.Checked; }
+            set
+            {
+                if (_check.Checked == value)
+                {
+                    AtualizarAparencia();
+                    return;
+                }
+
+                _check.Checked = value;
+            }
+        }
+
+        [Browsable(false)]
+        public CheckBox CheckBox
+        {
+            get { return _check; }
+        }
+    }
+}

AgroBase/AgroBase/Forms/IHM/Controls/HmiCompactNumericField.cs

@@ -0,0 +1,381 @@
+using AgroBase.Forms.IHM.Controls;
+using System;
+using System.ComponentModel;
+using System.Drawing;
+using System.Globalization;
+using System.Windows.Forms;
+
+namespace AgroBase.Forms.IHM.Operacao.Parametros.Controls
+{
+    [DefaultEvent("ValueChanged")]
+    public class HmiCompactNumericField : UserControl
+    {
+        private readonly TableLayoutPanel _root;
+        private readonly Label _lblTitulo;
+        private readonly TableLayoutPanel _valueLayout;
+        private readonly Button _btnDiminuir;
+        private readonly TextBox _txtValor;
+        private readonly Button _btnAumentar;
+        private readonly Label _lblUnidade;
+
+        private decimal _value;
+        private decimal _minimum;
+        private decimal _maximum = 100M;
+        private decimal _increment = 1M;
+        private int _decimalPlaces;
+
+        public event EventHandler ValueChanged;
+
+        public HmiCompactNumericField()
+        {
+            SetStyle(
+                ControlStyles.AllPaintingInWmPaint |
+                ControlStyles.OptimizedDoubleBuffer |
+                ControlStyles.ResizeRedraw |
+                ControlStyles.UserPaint,
+                true);
+
+            DoubleBuffered = true;
+            BackColor = HmiTheme.SurfaceRaised;
+            Margin = new Padding(3);
+            Padding = new Padding(7, 5, 7, 5);
+            MinimumSize = new Size(105, 62);
+
+            _root = new TableLayoutPanel
+            {
+                Dock = DockStyle.Fill,
+                BackColor = Color.Transparent,
+                ColumnCount = 1,
+                RowCount = 2,
+                Margin = Padding.Empty,
+                Padding = Padding.Empty
+            };
+
+            _root.ColumnStyles.Add(
+                new ColumnStyle(SizeType.Percent, 100F));
+
+            _root.RowStyles.Add(
+                new RowStyle(SizeType.Absolute, 22F));
+
+            _root.RowStyles.Add(
+                new RowStyle(SizeType.Percent, 100F));
+
+            _lblTitulo = new Label
+            {
+                Dock = DockStyle.Fill,
+                AutoSize = false,
+                AutoEllipsis = true,
+                BackColor = Color.Transparent,
+                ForeColor = HmiTheme.TextMuted,
+                Font = new Font("Segoe UI", 6.8F, FontStyle.Bold),
+                Text = "Parâmetro",
+                TextAlign = ContentAlignment.MiddleLeft,
+                Margin = Padding.Empty,
+                Padding = Padding.Empty
+            };
+
+            _valueLayout = new TableLayoutPanel
+            {
+                Dock = DockStyle.Fill,
+                BackColor = Color.Transparent,
+                ColumnCount = 4,
+                RowCount = 1,
+                Margin = Padding.Empty,
+                Padding = Padding.Empty
+            };
+
+            _valueLayout.ColumnStyles.Add(
+                new ColumnStyle(SizeType.Absolute, 34F));
+
+            _valueLayout.ColumnStyles.Add(
+                new ColumnStyle(SizeType.Percent, 100F));
+
+            _valueLayout.ColumnStyles.Add(
+                new ColumnStyle(SizeType.Absolute, 34F));
+
+            _valueLayout.ColumnStyles.Add(
+                new ColumnStyle(SizeType.Absolute, 34F));
+
+            _valueLayout.RowStyles.Add(
+                new RowStyle(SizeType.Percent, 100F));
+
+            _btnDiminuir = CriarBotaoValor("−");
+            _btnAumentar = CriarBotaoValor("+");
+
+            _txtValor = new TextBox
+            {
+                Dock = DockStyle.Fill,
+                BackColor = HmiTheme.Surface,
+                ForeColor = HmiTheme.Text,
+                BorderStyle = BorderStyle.FixedSingle,
+                Font = new Font("Segoe UI", 9F, FontStyle.Bold),
+                TextAlign = HorizontalAlignment.Center,
+                ReadOnly = true,
+                ShortcutsEnabled = false,
+                TabStop = false,
+                Margin = new Padding(3, 1, 3, 1)
+            };
+
+            _lblUnidade = new Label
+            {
+                Dock = DockStyle.Fill,
+                AutoSize = false,
+                BackColor = Color.Transparent,
+                ForeColor = HmiTheme.TextMuted,
+                Font = new Font("Segoe UI", 7F, FontStyle.Bold),
+                Text = "%",
+                TextAlign = ContentAlignment.MiddleCenter,
+                Margin = Padding.Empty,
+                Padding = Padding.Empty
+            };
+
+            _valueLayout.Controls.Add(_btnDiminuir, 0, 0);
+            _valueLayout.Controls.Add(_txtValor, 1, 0);
+            _valueLayout.Controls.Add(_btnAumentar, 2, 0);
+            _valueLayout.Controls.Add(_lblUnidade, 3, 0);
+
+            _root.Controls.Add(_lblTitulo, 0, 0);
+            _root.Controls.Add(_valueLayout, 0, 1);
+
+            Controls.Add(_root);
+
+            _btnDiminuir.Click += delegate
+            {
+                Value -= Increment;
+            };
+
+            _btnAumentar.Click += delegate
+            {
+                Value += Increment;
+            };
+
+            AtualizarTexto();
+            AtualizarBotoes();
+        }
+
+        private static Button CriarBotaoValor(string texto)
+        {
+            Button button = new Button
+            {
+                Dock = DockStyle.Fill,
+                BackColor = HmiTheme.Surface,
+                ForeColor = HmiTheme.Info,
+                FlatStyle = FlatStyle.Flat,
+                Font = new Font("Segoe UI", 12F, FontStyle.Bold),
+                Text = texto,
+                TextAlign = ContentAlignment.MiddleCenter,
+                Cursor = Cursors.Hand,
+                Margin = new Padding(1),
+                Padding = Padding.Empty,
+                TabStop = false,
+                UseVisualStyleBackColor = false
+            };
+
+            button.FlatAppearance.BorderSize = 1;
+            button.FlatAppearance.BorderColor = HmiTheme.Border;
+            button.FlatAppearance.MouseOverBackColor =
+                Color.FromArgb(35, 52, 61);
+
+            button.FlatAppearance.MouseDownBackColor =
+                Color.FromArgb(42, 67, 78);
+
+            return button;
+        }
+
+        private void DefinirValor(decimal value)
+        {
+            decimal novo = Math.Max(
+                Minimum,
+                Math.Min(Maximum, value));
+
+            novo = decimal.Round(
+                novo,
+                DecimalPlaces,
+                MidpointRounding.AwayFromZero);
+
+            if (_value == novo)
+            {
+                AtualizarTexto();
+                AtualizarBotoes();
+                return;
+            }
+
+            _value = novo;
+
+            AtualizarTexto();
+            AtualizarBotoes();
+
+            if (ValueChanged != null)
+                ValueChanged(this, EventArgs.Empty);
+        }
+
+        private void AtualizarTexto()
+        {
+            string formato = DecimalPlaces > 0
+                ? "F" + DecimalPlaces
+                : "F0";
+
+            _txtValor.Text = _value.ToString(
+                formato,
+                CultureInfo.CurrentCulture);
+        }
+
+        private void AtualizarBotoes()
+        {
+            bool podeDiminuir = _value > Minimum;
+            bool podeAumentar = _value < Maximum;
+
+            AplicarEstadoBotao(
+                _btnDiminuir,
+                podeDiminuir);
+
+            AplicarEstadoBotao(
+                _btnAumentar,
+                podeAumentar);
+        }
+
+        private static void AplicarEstadoBotao(
+            Button button,
+            bool habilitado)
+        {
+            button.Enabled = habilitado;
+
+            if (habilitado)
+            {
+                button.ForeColor = HmiTheme.Info;
+                button.BackColor = HmiTheme.Surface;
+                button.FlatAppearance.BorderColor =
+                    HmiTheme.Border;
+            }
+            else
+            {
+                button.ForeColor = HmiTheme.TextMuted;
+                button.BackColor = HmiTheme.SurfaceRaised;
+                button.FlatAppearance.BorderColor =
+                    HmiTheme.SurfaceRaised;
+            }
+        }
+
+        [Category("Conteúdo")]
+        public string Titulo
+        {
+            get { return _lblTitulo.Text; }
+            set { _lblTitulo.Text = value ?? string.Empty; }
+        }
+
+        [Category("Conteúdo")]
+        public string Unidade
+        {
+            get { return _lblUnidade.Text; }
+            set
+            {
+                _lblUnidade.Text = value ?? string.Empty;
+                AtualizarLarguraUnidade();
+            }
+        }
+
+        private void AtualizarLarguraUnidade()
+        {
+            int largura;
+
+            if (string.IsNullOrWhiteSpace(_lblUnidade.Text))
+                largura = 4;
+            else if (_lblUnidade.Text.Length <= 1)
+                largura = 25;
+            else
+                largura = 35;
+
+            _valueLayout.ColumnStyles[3].SizeType =
+                SizeType.Absolute;
+
+            _valueLayout.ColumnStyles[3].Width =
+                largura;
+        }
+
+        [Category("Dados")]
+        [DefaultValue(typeof(decimal), "0")]
+        public decimal Value
+        {
+            get { return _value; }
+            set { DefinirValor(value); }
+        }
+
+        [Category("Dados")]
+        [DefaultValue(typeof(decimal), "0")]
+        public decimal Minimum
+        {
+            get { return _minimum; }
+            set
+            {
+                _minimum = value;
+
+                if (_maximum < _minimum)
+                    _maximum = _minimum;
+
+                DefinirValor(_value);
+            }
+        }
+
+        [Category("Dados")]
+        [DefaultValue(typeof(decimal), "100")]
+        public decimal Maximum
+        {
+            get { return _maximum; }
+            set
+            {
+                _maximum = value;
+
+                if (_maximum < _minimum)
+                    _minimum = _maximum;
+
+                DefinirValor(_value);
+            }
+        }
+
+        [Category("Dados")]
+        [DefaultValue(typeof(decimal), "1")]
+        public decimal Increment
+        {
+            get { return _increment; }
+            set
+            {
+                _increment = value > 0M
+                    ? value
+                    : 1M;
+            }
+        }
+
+        [Category("Dados")]
+        [DefaultValue(0)]
+        public int DecimalPlaces
+        {
+            get { return _decimalPlaces; }
+            set
+            {
+                _decimalPlaces = Math.Max(
+                    0,
+                    Math.Min(4, value));
+
+                DefinirValor(_value);
+            }
+        }
+
+        [Browsable(false)]
+        public Button BotaoDiminuir
+        {
+            get { return _btnDiminuir; }
+        }
+
+        [Browsable(false)]
+        public Button BotaoAumentar
+        {
+            get { return _btnAumentar; }
+        }
+
+        [Browsable(false)]
+        public TextBox CampoValor
+        {
+            get { return _txtValor; }
+        }
+    }
+}

AgroBase/AgroBase/Forms/IHM/Controls/HmiModeSelector.cs

@@ -0,0 +1,135 @@
+using AgroBase.Forms.IHM.Controls;
+using System;
+using System.ComponentModel;
+using System.Drawing;
+using System.Windows.Forms;
+
+namespace AgroBase.Forms.IHM.Operacao.Parametros.Controls
+{
+    [DefaultEvent("SelectedModeChanged")]
+    public class HmiModeSelector : UserControl
+    {
+        private readonly Button _btnMpc;
+        private readonly Button _btnPid;
+        private string _selectedMode = "MPC";
+
+        public event EventHandler SelectedModeChanged;
+
+        public HmiModeSelector()
+        {
+            DoubleBuffered = true;
+            BackColor = HmiTheme.SurfaceRaised;
+            Padding = new Padding(8);
+            Margin = new Padding(3);
+            MinimumSize = new Size(180, 88);
+
+            TableLayoutPanel root = new TableLayoutPanel
+            {
+                Dock = DockStyle.Fill,
+                ColumnCount = 2,
+                RowCount = 2,
+                BackColor = Color.Transparent,
+                Margin = Padding.Empty,
+                Padding = Padding.Empty
+            };
+
+            root.ColumnStyles.Add(new ColumnStyle(SizeType.Percent, 50F));
+            root.ColumnStyles.Add(new ColumnStyle(SizeType.Percent, 50F));
+            root.RowStyles.Add(new RowStyle(SizeType.Absolute, 26F));
+            root.RowStyles.Add(new RowStyle(SizeType.Percent, 100F));
+
+            Label title = new Label
+            {
+                Dock = DockStyle.Fill,
+                AutoSize = false,
+                BackColor = Color.Transparent,
+                ForeColor = HmiTheme.Text,
+                Font = new Font("Segoe UI", 8.2F, FontStyle.Bold),
+                Text = "Modo de controle",
+                TextAlign = ContentAlignment.MiddleLeft,
+                Margin = Padding.Empty
+            };
+
+            _btnMpc = CriarBotao("MPC");
+            _btnPid = CriarBotao("PID");
+
+            root.Controls.Add(title, 0, 0);
+            root.SetColumnSpan(title, 2);
+            root.Controls.Add(_btnMpc, 0, 1);
+            root.Controls.Add(_btnPid, 1, 1);
+
+            Controls.Add(root);
+
+            _btnMpc.Click += delegate { SelectedMode = "MPC"; };
+            _btnPid.Click += delegate { SelectedMode = "PID"; };
+
+            AtualizarAparencia();
+        }
+
+        private static Button CriarBotao(string text)
+        {
+            Button button = new Button
+            {
+                Dock = DockStyle.Fill,
+                BackColor = HmiTheme.Surface,
+                ForeColor = HmiTheme.TextMuted,
+                FlatStyle = FlatStyle.Flat,
+                Font = new Font("Segoe UI", 9F, FontStyle.Bold),
+                Text = text,
+                TextAlign = ContentAlignment.MiddleCenter,
+                Cursor = Cursors.Hand,
+                Margin = new Padding(2),
+                UseVisualStyleBackColor = false
+            };
+
+            button.FlatAppearance.BorderSize = 1;
+            button.FlatAppearance.BorderColor = HmiTheme.Border;
+
+            return button;
+        }
+
+        private void AtualizarAparencia()
+        {
+            AplicarEstado(_btnMpc, _selectedMode == "MPC");
+            AplicarEstado(_btnPid, _selectedMode == "PID");
+        }
+
+        private static void AplicarEstado(Button button, bool selected)
+        {
+            if (selected)
+            {
+                button.BackColor = Color.FromArgb(31, 91, 43);
+                button.ForeColor = HmiTheme.Success;
+                button.FlatAppearance.BorderColor = HmiTheme.Success;
+            }
+            else
+            {
+                button.BackColor = HmiTheme.Surface;
+                button.ForeColor = HmiTheme.TextMuted;
+                button.FlatAppearance.BorderColor = HmiTheme.Border;
+            }
+        }
+
+        [Category("Dados")]
+        [DefaultValue("MPC")]
+        public string SelectedMode
+        {
+            get { return _selectedMode; }
+            set
+            {
+                string novo = string.Equals(value, "PID", StringComparison.OrdinalIgnoreCase)
+                    ? "PID"
+                    : "MPC";
+
+                if (_selectedMode == novo)
+                    return;
+
+                _selectedMode = novo;
+                AtualizarAparencia();
+
+                if (SelectedModeChanged != null)
+                    SelectedModeChanged(this, EventArgs.Empty);
+            }
+        }
+    }
+}

AgroBase/AgroBase/Forms/IHM/Controls/HmiNozzleCard.cs

@@ -3,17 +3,10 @@ using System.ComponentModel;
 using System.Drawing;
 using System.Drawing.Drawing2D;
 using System.Windows.Forms;
+using static AgroBase.Models.Enums;
 
 namespace AgroBase.Forms.IHM.Controls.Operacao
 {
-    public enum HmiNozzleState
-    {
-        Desconectado = 0,
-        Conectado = 1,
-        Falha = 2,
-        Alerta = 3,
-        Operante = 4
-    }
 
     [DefaultEvent("NozzleClick")]
     public class HmiNozzleCard : UserControl
@@ -27,7 +20,7 @@ namespace AgroBase.Forms.IHM.Controls.Operacao
 
         private bool _commandOn;
         private bool _readOn;
-        private HmiNozzleState _state = HmiNozzleState.Operante;
+        private StatusModulo _state = StatusModulo.Desconectado;
         private bool _allowCommand = true;
 
         public event EventHandler NozzleClick;
@@ -178,23 +171,23 @@ namespace AgroBase.Forms.IHM.Controls.Operacao
             }
         }
 
-        private static Color GetStateColor(HmiNozzleState state)
+        private static Color GetStateColor(StatusModulo state)
         {
             switch (state)
             {
-                case HmiNozzleState.Desconectado:
+                case StatusModulo.Desconectado:
                     return HmiTheme.TextMuted;
 
-                case HmiNozzleState.Conectado:
+                case StatusModulo.Conectado:
                     return HmiTheme.Info;
 
-                case HmiNozzleState.Falha:
+                case StatusModulo.Falha:
                     return HmiTheme.Danger;
 
-                case HmiNozzleState.Alerta:
+                case StatusModulo.Alerta:
                     return HmiTheme.Warning;
 
-                case HmiNozzleState.Operante:
+                case StatusModulo.Operante:
                 default:
                     return HmiTheme.Success;
             }
@@ -208,7 +201,7 @@ namespace AgroBase.Forms.IHM.Controls.Operacao
         }
 
         [Category("Estado")]
-        public HmiNozzleState State
+        public StatusModulo State
         {
             get { return _state; }
             set
@@ -292,8 +285,8 @@ namespace AgroBase.Forms.IHM.Controls.Operacao
         [Category("Conteúdo")]
         public string TempoLigado
         {
-            get { return _lblTempo.Text.Replace("Tempo ", ""); }
+            get { return _lblTempo.Text; }
-            set { _lblTempo.Text = "Tempo " + (value ?? "00:00"); }
+            set { _lblTempo.Text = (value ?? "00:00"); }
         }
     }
 }

AgroBase/AgroBase/Forms/IHM/Controls/HmiNumericParameterCard.cs

@@ -0,0 +1,185 @@
+using AgroBase.Forms.IHM.Controls;
+using System;
+using System.ComponentModel;
+using System.Drawing;
+using System.Windows.Forms;
+
+namespace AgroBase.Forms.IHM.Operacao.Parametros.Controls
+{
+    [DefaultEvent("ValueChanged")]
+    public class HmiNumericParameterCard : UserControl
+    {
+        private readonly Label _lblTitulo;
+        private readonly Label _lblDescricao;
+        private readonly NumericUpDown _numeric;
+        private readonly Label _lblUnidade;
+        private readonly ToolTip _toolTip;
+
+        public event EventHandler ValueChanged;
+
+        public HmiNumericParameterCard()
+        {
+            DoubleBuffered = true;
+            BackColor = HmiTheme.SurfaceRaised;
+            Margin = new Padding(3);
+            Padding = new Padding(10, 7, 10, 7);
+            MinimumSize = new Size(180, 88);
+
+            TableLayoutPanel root = new TableLayoutPanel
+            {
+                Dock = DockStyle.Fill,
+                BackColor = Color.Transparent,
+                ColumnCount = 2,
+                RowCount = 3,
+                Margin = Padding.Empty,
+                Padding = Padding.Empty
+            };
+
+            root.ColumnStyles.Add(new ColumnStyle(SizeType.Percent, 100F));
+            root.ColumnStyles.Add(new ColumnStyle(SizeType.Absolute, 42F));
+
+            root.RowStyles.Add(new RowStyle(SizeType.Absolute, 28F));
+            root.RowStyles.Add(new RowStyle(SizeType.Percent, 100F));
+
+            _lblTitulo = new Label
+            {
+                Dock = DockStyle.Fill,
+                AutoSize = false,
+                BackColor = Color.Transparent,
+                ForeColor = HmiTheme.Text,
+                Font = new Font("Segoe UI", 8.2F, FontStyle.Bold),
+                Text = "Parâmetro",
+                TextAlign = ContentAlignment.MiddleLeft,
+                AutoEllipsis = true,
+                Margin = Padding.Empty
+            };
+
+            _lblDescricao = new Label
+            {
+                Dock = DockStyle.Fill,
+                AutoSize = false,
+                BackColor = Color.Transparent,
+                ForeColor = HmiTheme.TextMuted,
+                Font = new Font("Segoe UI", 6.5F),
+                Text = "Descrição",
+                TextAlign = ContentAlignment.TopLeft,
+                AutoEllipsis = true,
+                Margin = Padding.Empty
+            };
+
+            _toolTip = new ToolTip();
+
+            _numeric = new NumericUpDown
+            {
+                Dock = DockStyle.Fill,
+                BackColor = HmiTheme.Surface,
+                ForeColor = HmiTheme.Text,
+                BorderStyle = BorderStyle.FixedSingle,
+                Font = new Font("Segoe UI", 9.5F, FontStyle.Bold),
+                TextAlign = HorizontalAlignment.Center,
+                Minimum = 0,
+                Maximum = 100,
+                DecimalPlaces = 1,
+                Increment = 0.5M,
+                Margin = new Padding(0, 3, 5, 3)
+            };
+
+            _lblUnidade = new Label
+            {
+                Dock = DockStyle.Fill,
+                AutoSize = false,
+                BackColor = Color.Transparent,
+                ForeColor = HmiTheme.TextMuted,
+                Font = new Font("Segoe UI", 8F, FontStyle.Bold),
+                Text = "m",
+                TextAlign = ContentAlignment.MiddleCenter,
+                Margin = new Padding(0, 3, 0, 3)
+            };
+
+            root.Controls.Add(_lblTitulo, 0, 0);
+            root.SetColumnSpan(_lblTitulo, 2);
+            root.Controls.Add(_numeric, 0, 1);
+            root.Controls.Add(_lblUnidade, 1, 1);
+
+            Controls.Add(root);
+
+            _numeric.ValueChanged += delegate
+            {
+                if (ValueChanged != null)
+                    ValueChanged(this, EventArgs.Empty);
+            };
+        }
+
+        [Category("Conteúdo")]
+        public string Titulo
+        {
+            get { return _lblTitulo.Text; }
+            set { _lblTitulo.Text = value ?? string.Empty; }
+        }
+
+        [Category("Conteúdo")]
+        public string Descricao
+        {
+            get { return _lblDescricao.Text; }
+            set
+            {
+                _lblDescricao.Text = value ?? string.Empty;
+                _toolTip.SetToolTip(this, _lblDescricao.Text);
+                _toolTip.SetToolTip(_lblTitulo, _lblDescricao.Text);
+                _toolTip.SetToolTip(_numeric, _lblDescricao.Text);
+            }
+        }
+
+        [Category("Conteúdo")]
+        public string Unidade
+        {
+            get { return _lblUnidade.Text; }
+            set { _lblUnidade.Text = value ?? string.Empty; }
+        }
+
+        [Category("Dados")]
+        public decimal Value
+        {
+            get { return _numeric.Value; }
+            set
+            {
+                decimal novo = Math.Max(_numeric.Minimum, Math.Min(_numeric.Maximum, value));
+                _numeric.Value = novo;
+            }
+        }
+
+        [Category("Dados")]
+        public decimal Minimum
+        {
+            get { return _numeric.Minimum; }
+            set { _numeric.Minimum = value; }
+        }
+
+        [Category("Dados")]
+        public decimal Maximum
+        {
+            get { return _numeric.Maximum; }
+            set { _numeric.Maximum = value; }
+        }
+
+        [Category("Dados")]
+        public decimal Increment
+        {
+            get { return _numeric.Increment; }
+            set { _numeric.Increment = value; }
+        }
+
+        [Category("Dados")]
+        public int DecimalPlaces
+        {
+            get { return _numeric.DecimalPlaces; }
+            set { _numeric.DecimalPlaces = Math.Max(0, value); }
+        }
+
+        [Browsable(false)]
+        public NumericUpDown Numeric
+        {
+            get { return _numeric; }
+        }
+    }
+}

AgroBase/AgroBase/Forms/IHM/Controls/HmiParameterSliderRow.cs

@@ -0,0 +1,299 @@
+using AgroBase.Forms.IHM.Controls;
+using AgroBase.Forms.IHM.Controls.Operacao;
+using System;
+using System.ComponentModel;
+using System.Drawing;
+using System.Windows.Forms;
+
+namespace AgroBase.Forms.IHM.Operacao.Parametros.Controls
+{
+    public enum HmiSliderValueFormat
+    {
+        PercentAndSpeed = 0,
+        PercentOnly = 1,
+        Degrees = 2
+    }
+
+    [DefaultEvent("ValueChanged")]
+    public class HmiParameterSliderRow : UserControl
+    {
+        private readonly Label _lblTitulo;
+        private readonly Label _lblValor;
+        private readonly Label _lblLimiteMin;
+        private readonly Label _lblLimiteMax;
+        private readonly HmiSlider _slider;
+
+        private double _velocidadeMaximaKmh = 1.0D;
+        private HmiSliderValueFormat _valueFormat = HmiSliderValueFormat.PercentAndSpeed;
+
+        private readonly TableLayoutPanel _root;
+        private bool _compactMode;
+
+        public event EventHandler ValueChanged;
+
+        public HmiParameterSliderRow()
+        {
+            DoubleBuffered = true;
+            BackColor = HmiTheme.SurfaceRaised;
+            Margin = new Padding(3);
+            Padding = new Padding(10, 6, 10, 5);
+            MinimumSize = new Size(250, 86);
+
+            _root = new TableLayoutPanel
+            {
+                Dock = DockStyle.Fill,
+                ColumnCount = 2,
+                RowCount = 3,
+                BackColor = Color.Transparent,
+                Margin = Padding.Empty,
+                Padding = Padding.Empty
+            };
+
+            _root.ColumnStyles.Add(new ColumnStyle(SizeType.Percent, 58F));
+            _root.ColumnStyles.Add(new ColumnStyle(SizeType.Percent, 42F));
+            _root.RowStyles.Add(new RowStyle(SizeType.Absolute, 26F));
+            _root.RowStyles.Add(new RowStyle(SizeType.Percent, 100F));
+            _root.RowStyles.Add(new RowStyle(SizeType.Absolute, 18F));
+
+            _lblTitulo = new Label
+            {
+                Dock = DockStyle.Fill,
+                BackColor = Color.Transparent,
+                ForeColor = HmiTheme.Text,
+                Font = new Font("Segoe UI", 8.5F, FontStyle.Bold),
+                Text = "Valor",
+                TextAlign = ContentAlignment.MiddleLeft,
+                AutoEllipsis = true,
+                Margin = Padding.Empty
+            };
+
+            _lblValor = new Label
+            {
+                Dock = DockStyle.Fill,
+                BackColor = Color.Transparent,
+                ForeColor = HmiTheme.Success,
+                Font = new Font("Segoe UI", 9.5F, FontStyle.Bold),
+                Text = "50%",
+                TextAlign = ContentAlignment.MiddleRight,
+                AutoEllipsis = true,
+                Margin = Padding.Empty
+            };
+
+            _slider = new HmiSlider
+            {
+                Dock = DockStyle.Fill,
+                Margin = new Padding(0, 3, 0, 2),
+                Minimum = 0,
+                Maximum = 100,
+                Value = 50,
+                AccentColor = HmiTheme.Success
+            };
+
+            _lblLimiteMin = new Label
+            {
+                Dock = DockStyle.Fill,
+                BackColor = Color.Transparent,
+                ForeColor = HmiTheme.TextMuted,
+                Font = new Font("Segoe UI", 6.5F),
+                Text = "0%",
+                TextAlign = ContentAlignment.MiddleLeft,
+                Margin = Padding.Empty
+            };
+
+            _lblLimiteMax = new Label
+            {
+                Dock = DockStyle.Fill,
+                BackColor = Color.Transparent,
+                ForeColor = HmiTheme.TextMuted,
+                Font = new Font("Segoe UI", 6.5F),
+                Text = "100%",
+                TextAlign = ContentAlignment.MiddleRight,
+                Margin = Padding.Empty
+            };
+
+            _root.Controls.Add(_lblTitulo, 0, 0);
+            _root.Controls.Add(_lblValor, 1, 0);
+            _root.Controls.Add(_slider, 0, 1);
+            _root.SetColumnSpan(_slider, 2);
+            _root.Controls.Add(_lblLimiteMin, 0, 2);
+            _root.Controls.Add(_lblLimiteMax, 1, 2);
+
+            Controls.Add(_root);
+
+            _slider.ValueChanged += Slider_ValueChanged;
+            AtualizarTextoValor();
+        }
+
+        private void Slider_ValueChanged(object sender, EventArgs e)
+        {
+            AtualizarTextoValor();
+
+            if (ValueChanged != null)
+                ValueChanged(this, EventArgs.Empty);
+        }
+
+        private void AtualizarTextoValor()
+        {
+            if (_valueFormat == HmiSliderValueFormat.Degrees)
+            {
+                _lblValor.Text = _slider.Value + "°";
+                _lblLimiteMin.Text = _slider.Minimum + "°";
+                _lblLimiteMax.Text = _slider.Maximum + "°";
+                return;
+            }
+
+            if (_valueFormat == HmiSliderValueFormat.PercentOnly)
+            {
+                _lblValor.Text = _slider.Value + "%";
+                _lblLimiteMin.Text = _slider.Minimum + "%";
+                _lblLimiteMax.Text = _slider.Maximum + "%";
+                return;
+            }
+
+            double kmh = _velocidadeMaximaKmh * _slider.Value / 100D;
+            _lblValor.Text = string.Format("{0}% · {1:0.0} km/h", _slider.Value, kmh);
+            _lblLimiteMin.Text = _slider.Minimum + "%";
+            _lblLimiteMax.Text = _slider.Maximum + "%";
+        }
+
+        [Category("Conteúdo")]
+        public string Titulo
+        {
+            get { return _lblTitulo.Text; }
+            set { _lblTitulo.Text = value ?? string.Empty; }
+        }
+
+        [Category("Dados")]
+        public int Minimum
+        {
+            get { return _slider.Minimum; }
+            set
+            {
+                _slider.Minimum = value;
+                AtualizarTextoValor();
+            }
+        }
+
+        [Category("Dados")]
+        public int Maximum
+        {
+            get { return _slider.Maximum; }
+            set
+            {
+                _slider.Maximum = value;
+                AtualizarTextoValor();
+            }
+        }
+
+        [Category("Dados")]
+        public int Value
+        {
+            get { return _slider.Value; }
+            set { _slider.Value = value; }
+        }
+
+        [Category("Dados")]
+        public double VelocidadeMaximaKmh
+        {
+            get { return _velocidadeMaximaKmh; }
+            set
+            {
+                _velocidadeMaximaKmh = Math.Max(0D, value);
+                AtualizarTextoValor();
+            }
+        }
+
+        [Category("Aparência")]
+        [DefaultValue(HmiSliderValueFormat.PercentAndSpeed)]
+        public HmiSliderValueFormat ValueFormat
+        {
+            get { return _valueFormat; }
+            set
+            {
+                _valueFormat = value;
+                AtualizarTextoValor();
+            }
+        }
+
+        [Category("Aparência")]
+        public Color AccentColor
+        {
+            get { return _slider.AccentColor; }
+            set
+            {
+                _slider.AccentColor = value;
+                _lblValor.ForeColor = value;
+            }
+        }
+
+        [Category("Aparência")]
+        [DefaultValue(false)]
+        public bool CompactMode
+        {
+            get { return _compactMode; }
+            set
+            {
+                if (_compactMode == value)
+                    return;
+
+                _compactMode = value;
+                AtualizarModoCompacto();
+            }
+        }
+
+        [Browsable(false)]
+        public HmiSlider Slider
+        {
+            get { return _slider; }
+        }
+
+        private void AtualizarModoCompacto()
+        {
+            if (_compactMode)
+            {
+                MinimumSize = new Size(80, 44);
+                Padding = new Padding(8, 3, 8, 3);
+
+                _root.RowStyles[0].Height = 20F;
+                _root.RowStyles[1].SizeType = SizeType.Percent;
+                _root.RowStyles[1].Height = 100F;
+                _root.RowStyles[2].Height = 0F;
+
+                _lblLimiteMin.Visible = false;
+                _lblLimiteMax.Visible = false;
+
+                _lblTitulo.Font = new Font("Segoe UI", 7.4F, FontStyle.Bold);
+
+                _lblValor.Font = new Font("Segoe UI", 7.8F, FontStyle.Bold);
+
+                _slider.Margin = new Padding(0);
+                _slider.ThumbRadius = 6;
+                _slider.TrackHeight = 4;
+            }
+            else
+            {
+                MinimumSize = new Size(250, 86);
+                Padding = new Padding(10, 6, 10, 5);
+
+                _root.RowStyles[0].Height = 26F;
+                _root.RowStyles[1].SizeType = SizeType.Percent;
+                _root.RowStyles[1].Height = 100F;
+                _root.RowStyles[2].Height = 18F;
+
+                _lblLimiteMin.Visible = true;
+                _lblLimiteMax.Visible = true;
+
+                _lblTitulo.Font = new Font("Segoe UI", 8.5F, FontStyle.Bold);
+
+                _lblValor.Font = new Font("Segoe UI", 9.5F, FontStyle.Bold);
+
+                _slider.Margin = new Padding(0, 3, 0, 2);
+                _slider.ThumbRadius = 8;
+                _slider.TrackHeight = 5;
+            }
+
+            PerformLayout();
+            Invalidate();
+        }
+    }
+}

AgroBase/AgroBase/Forms/IHM/Controls/HmiWheelStatusCard.cs

@@ -3,6 +3,7 @@ using System.ComponentModel;
 using System.Drawing;
 using System.Drawing.Drawing2D;
 using System.Windows.Forms;
+using static AgroBase.Models.Enums;
 
 namespace AgroBase.Forms.IHM.Controls.Operacao
 {
@@ -330,6 +331,28 @@ namespace AgroBase.Forms.IHM.Controls.Operacao
             return check;
         }
 
+        public void AtualizarDados(
+            bool dir_em_uso,
+            double dir_ang_sp,
+            double dir_ang_at,
+            Sentido dir_sentido,
+            bool mov_em_uso,
+            double mov_vel_sp,
+            double mov_vel_at,
+            bool mov_freio
+        )
+        {
+            CheckDir.Checked = dir_em_uso;
+            DirecionalSp = $"{dir_ang_sp}";
+            DirecionalAtual = $"{dir_ang_at}";
+            StatusDirecional = $"{dir_sentido}";
+
+            CheckMov.Checked = mov_em_uso;
+            MovimentoSp = $"{mov_vel_sp}";
+            MovimentoAtual = $"{mov_vel_at}";
+            StatusMovimento = mov_freio ? "Freado" : "Livre";
+        }
+
         protected override void OnPaint(PaintEventArgs e)
         {
             base.OnPaint(e);

AgroBase/AgroBase/Forms/IHM/Operacao/Parametros/ucParametrosAtuador.Designer.cs

@@ -0,0 +1,336 @@
+namespace AgroBase.Forms.IHM.Operacao.Parametros
+{
+    partial class ucParametrosAtuador
+    {
+        private System.ComponentModel.IContainer components = null;
+
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && components != null) components.Dispose();
+            base.Dispose(disposing);
+        }
+
+        #region Component Designer generated code
+
+        private void InitializeComponent()
+        {
+            this.rootLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.pnlAgitador = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
+            this.agitadorLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.lblAgitadorTitulo = new System.Windows.Forms.Label();
+            this.lblAgitadorDescricao = new System.Windows.Forms.Label();
+            this.seletorModoAgitador = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiAgitatorModeSelector();
+            this.pidLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.paramKp = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField();
+            this.paramKi = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField();
+            this.paramKd = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField();
+            this.pnlPulverizacao = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
+            this.pulverizacaoLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.lblPulverizacaoTitulo = new System.Windows.Forms.Label();
+            this.lblPulverizacaoDescricao = new System.Windows.Forms.Label();
+            this.parametrosLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.paramBicosEmUso = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField();
+            this.paramPressaoLinha = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField();
+            this.paramInicioTela = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField();
+            this.paramAlturaArea = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField();
+            this.paramErvasOn = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField();
+            this.paramErvasOff = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField();
+            this.rootLayout.SuspendLayout();
+            this.pnlAgitador.SuspendLayout();
+            this.agitadorLayout.SuspendLayout();
+            this.pidLayout.SuspendLayout();
+            this.pnlPulverizacao.SuspendLayout();
+            this.pulverizacaoLayout.SuspendLayout();
+            this.parametrosLayout.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // rootLayout
+            // 
+            this.rootLayout.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.Background;
+            this.rootLayout.ColumnCount = 2;
+            this.rootLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 40F));
+            this.rootLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 60F));
+            this.rootLayout.Controls.Add(this.pnlAgitador, 0, 0);
+            this.rootLayout.Controls.Add(this.pnlPulverizacao, 1, 0);
+            this.rootLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rootLayout.Location = new System.Drawing.Point(0, 0);
+            this.rootLayout.Margin = System.Windows.Forms.Padding.Empty;
+            this.rootLayout.Name = "rootLayout";
+            this.rootLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.rootLayout.RowCount = 1;
+            this.rootLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.rootLayout.Size = new System.Drawing.Size(760, 286);
+            this.rootLayout.TabIndex = 0;
+            // 
+            // pnlAgitador
+            // 
+            ConfigurePanel(this.pnlAgitador, this.agitadorLayout);
+            this.pnlAgitador.Margin = new System.Windows.Forms.Padding(0, 0, 3, 0);
+            this.pnlAgitador.Name = "pnlAgitador";
+            // 
+            // agitadorLayout
+            // 
+            this.agitadorLayout.ColumnCount = 1;
+            this.agitadorLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.agitadorLayout.Controls.Add(this.lblAgitadorTitulo, 0, 0);
+            this.agitadorLayout.Controls.Add(this.lblAgitadorDescricao, 0, 1);
+            this.agitadorLayout.Controls.Add(this.seletorModoAgitador, 0, 2);
+            this.agitadorLayout.Controls.Add(this.pidLayout, 0, 3);
+            this.agitadorLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.agitadorLayout.Location = new System.Drawing.Point(8, 8);
+            this.agitadorLayout.Margin = new System.Windows.Forms.Padding(0);
+            this.agitadorLayout.Name = "agitadorLayout";
+            this.agitadorLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.agitadorLayout.RowCount = 4;
+            this.agitadorLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 26F));
+            this.agitadorLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 34F));
+            this.agitadorLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 50F));
+            this.agitadorLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.agitadorLayout.Size = new System.Drawing.Size(282, 270);
+            this.agitadorLayout.TabIndex = 0;
+            // 
+            // lblAgitadorTitulo
+            // 
+            SetupSectionTitle(this.lblAgitadorTitulo, "AGITADOR DE CALDA");
+            this.lblAgitadorTitulo.Name = "lblAgitadorTitulo";
+            // 
+            // lblAgitadorDescricao
+            // 
+            SetupSectionDescription(this.lblAgitadorDescricao, "Selecione o modo e ajuste os ganhos PID usados no controle do agitador.");
+            this.lblAgitadorDescricao.Name = "lblAgitadorDescricao";
+            // 
+            // seletorModoAgitador
+            // 
+            this.seletorModoAgitador.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.seletorModoAgitador.Location = new System.Drawing.Point(0, 63);
+            this.seletorModoAgitador.Margin = new System.Windows.Forms.Padding(0, 3, 0, 5);
+            this.seletorModoAgitador.MinimumSize = new System.Drawing.Size(0, 40);
+            this.seletorModoAgitador.Name = "seletorModoAgitador";
+            this.seletorModoAgitador.SelectedMode = "Continuo";
+            this.seletorModoAgitador.Size = new System.Drawing.Size(282, 42);
+            this.seletorModoAgitador.TabIndex = 2;
+            // 
+            // pidLayout
+            // 
+            this.pidLayout.BackColor = System.Drawing.Color.Transparent;
+            this.pidLayout.ColumnCount = 1;
+            this.pidLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.pidLayout.Controls.Add(this.paramKp, 0, 0);
+            this.pidLayout.Controls.Add(this.paramKi, 0, 1);
+            this.pidLayout.Controls.Add(this.paramKd, 0, 2);
+            this.pidLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.pidLayout.Location = new System.Drawing.Point(0, 110);
+            this.pidLayout.Margin = new System.Windows.Forms.Padding(0);
+            this.pidLayout.Name = "pidLayout";
+            this.pidLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.pidLayout.RowCount = 3;
+            this.pidLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33F));
+            this.pidLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33F));
+            this.pidLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.34F));
+            this.pidLayout.Size = new System.Drawing.Size(282, 160);
+            this.pidLayout.TabIndex = 3;
+            // 
+            // paramKp
+            // 
+            SetupNumeric(this.paramKp, "Kp", "", 1.10M, 0M, 20M, 0.05M, 2);
+            this.paramKp.Margin = new System.Windows.Forms.Padding(0, 2, 0, 4);
+            this.paramKp.Name = "paramKp";
+            // 
+            // paramKi
+            // 
+            SetupNumeric(this.paramKi, "Ki", "", 0.12M, 0M, 20M, 0.01M, 2);
+            this.paramKi.Margin = new System.Windows.Forms.Padding(0, 2, 0, 4);
+            this.paramKi.Name = "paramKi";
+            // 
+            // paramKd
+            // 
+            SetupNumeric(this.paramKd, "Kd", "", 0.03M, 0M, 20M, 0.01M, 2);
+            this.paramKd.Margin = new System.Windows.Forms.Padding(0, 2, 0, 0);
+            this.paramKd.Name = "paramKd";
+            // 
+            // pnlPulverizacao
+            // 
+            ConfigurePanel(this.pnlPulverizacao, this.pulverizacaoLayout);
+            this.pnlPulverizacao.Margin = new System.Windows.Forms.Padding(3, 0, 0, 0);
+            this.pnlPulverizacao.Name = "pnlPulverizacao";
+            // 
+            // pulverizacaoLayout
+            // 
+            this.pulverizacaoLayout.ColumnCount = 1;
+            this.pulverizacaoLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.pulverizacaoLayout.Controls.Add(this.lblPulverizacaoTitulo, 0, 0);
+            this.pulverizacaoLayout.Controls.Add(this.lblPulverizacaoDescricao, 0, 1);
+            this.pulverizacaoLayout.Controls.Add(this.parametrosLayout, 0, 2);
+            this.pulverizacaoLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.pulverizacaoLayout.Location = new System.Drawing.Point(8, 8);
+            this.pulverizacaoLayout.Margin = new System.Windows.Forms.Padding(0);
+            this.pulverizacaoLayout.Name = "pulverizacaoLayout";
+            this.pulverizacaoLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.pulverizacaoLayout.RowCount = 3;
+            this.pulverizacaoLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 26F));
+            this.pulverizacaoLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 34F));
+            this.pulverizacaoLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.pulverizacaoLayout.Size = new System.Drawing.Size(434, 270);
+            this.pulverizacaoLayout.TabIndex = 0;
+            // 
+            // lblPulverizacaoTitulo
+            // 
+            SetupSectionTitle(this.lblPulverizacaoTitulo, "PULVERIZAÇÃO E WEED WORKER");
+            this.lblPulverizacaoTitulo.Name = "lblPulverizacaoTitulo";
+            // 
+            // lblPulverizacaoDescricao
+            // 
+            SetupSectionDescription(this.lblPulverizacaoDescricao, "Defina os recursos da operação e os limites da região de atuação de cada bico.");
+            this.lblPulverizacaoDescricao.Name = "lblPulverizacaoDescricao";
+            // 
+            // parametrosLayout
+            // 
+            this.parametrosLayout.BackColor = System.Drawing.Color.Transparent;
+            this.parametrosLayout.ColumnCount = 2;
+            this.parametrosLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.parametrosLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.parametrosLayout.Controls.Add(this.paramBicosEmUso, 0, 0);
+            this.parametrosLayout.Controls.Add(this.paramPressaoLinha, 1, 0);
+            this.parametrosLayout.Controls.Add(this.paramInicioTela, 0, 1);
+            this.parametrosLayout.Controls.Add(this.paramAlturaArea, 1, 1);
+            this.parametrosLayout.Controls.Add(this.paramErvasOn, 0, 2);
+            this.parametrosLayout.Controls.Add(this.paramErvasOff, 1, 2);
+            this.parametrosLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.parametrosLayout.Location = new System.Drawing.Point(0, 60);
+            this.parametrosLayout.Margin = new System.Windows.Forms.Padding(0);
+            this.parametrosLayout.Name = "parametrosLayout";
+            this.parametrosLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.parametrosLayout.RowCount = 3;
+            this.parametrosLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33F));
+            this.parametrosLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33F));
+            this.parametrosLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.34F));
+            this.parametrosLayout.Size = new System.Drawing.Size(434, 210);
+            this.parametrosLayout.TabIndex = 2;
+            // 
+            // paramBicosEmUso
+            // 
+            SetupNumeric(this.paramBicosEmUso, "Bicos em uso", "", 7M, 1M, 12M, 1M, 0);
+            this.paramBicosEmUso.Margin = new System.Windows.Forms.Padding(2, 2, 4, 4);
+            this.paramBicosEmUso.Name = "paramBicosEmUso";
+            // 
+            // paramPressaoLinha
+            // 
+            SetupNumeric(this.paramPressaoLinha, "Pressão da linha", "psi", 18M, 0M, 120M, 1M, 0);
+            this.paramPressaoLinha.Margin = new System.Windows.Forms.Padding(4, 2, 2, 4);
+            this.paramPressaoLinha.Name = "paramPressaoLinha";
+            // 
+            // paramInicioTela
+            // 
+            SetupNumeric(this.paramInicioTela, "Início da atuação", "%", 85M, 0M, 100M, 1M, 0);
+            this.paramInicioTela.Margin = new System.Windows.Forms.Padding(2, 2, 4, 4);
+            this.paramInicioTela.Name = "paramInicioTela";
+            // 
+            // paramAlturaArea
+            // 
+            SetupNumeric(this.paramAlturaArea, "Altura da área", "%", 15M, 1M, 100M, 1M, 0);
+            this.paramAlturaArea.Margin = new System.Windows.Forms.Padding(4, 2, 2, 4);
+            this.paramAlturaArea.Name = "paramAlturaArea";
+            // 
+            // paramErvasOn
+            // 
+            SetupNumeric(this.paramErvasOn, "Ervas para ligar", "%", 25.0M, 0M, 100M, 0.5M, 1);
+            this.paramErvasOn.Margin = new System.Windows.Forms.Padding(2, 2, 4, 0);
+            this.paramErvasOn.Name = "paramErvasOn";
+            // 
+            // paramErvasOff
+            // 
+            SetupNumeric(this.paramErvasOff, "Ervas para desligar", "%", 15.0M, 0M, 100M, 0.5M, 1);
+            this.paramErvasOff.Margin = new System.Windows.Forms.Padding(4, 2, 2, 0);
+            this.paramErvasOff.Name = "paramErvasOff";
+            // 
+            // ucParametrosAtuador
+            // 
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
+            this.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.Background;
+            this.Controls.Add(this.rootLayout);
+            this.DoubleBuffered = true;
+            this.Margin = new System.Windows.Forms.Padding(0);
+            this.Name = "ucParametrosAtuador";
+            this.Size = new System.Drawing.Size(760, 286);
+            this.rootLayout.ResumeLayout(false);
+            this.pnlAgitador.ResumeLayout(false);
+            this.agitadorLayout.ResumeLayout(false);
+            this.pidLayout.ResumeLayout(false);
+            this.pnlPulverizacao.ResumeLayout(false);
+            this.pulverizacaoLayout.ResumeLayout(false);
+            this.parametrosLayout.ResumeLayout(false);
+            this.ResumeLayout(false);
+        }
+
+        private static void ConfigurePanel(AgroBase.Forms.IHM.Controls.HmiRoundedPanel panel, System.Windows.Forms.Control child)
+        {
+            panel.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
+            panel.Controls.Add(child);
+            panel.CornerRadius = 9;
+            panel.Dock = System.Windows.Forms.DockStyle.Fill;
+            panel.FillColor = AgroBase.Forms.IHM.Controls.HmiTheme.Surface;
+            panel.Padding = new System.Windows.Forms.Padding(8);
+        }
+
+        private static void SetupSectionTitle(System.Windows.Forms.Label label, string text)
+        {
+            label.AutoEllipsis = true;
+            label.BackColor = System.Drawing.Color.Transparent;
+            label.Dock = System.Windows.Forms.DockStyle.Fill;
+            label.Font = new System.Drawing.Font("Segoe UI", 9F, System.Drawing.FontStyle.Bold);
+            label.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.Text;
+            label.Margin = System.Windows.Forms.Padding.Empty;
+            label.Text = text;
+            label.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
+        }
+
+        private static void SetupSectionDescription(System.Windows.Forms.Label label, string text)
+        {
+            label.AutoEllipsis = true;
+            label.BackColor = System.Drawing.Color.Transparent;
+            label.Dock = System.Windows.Forms.DockStyle.Fill;
+            label.Font = new System.Drawing.Font("Segoe UI", 7F);
+            label.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.TextMuted;
+            label.Margin = System.Windows.Forms.Padding.Empty;
+            label.Text = text;
+            label.TextAlign = System.Drawing.ContentAlignment.TopLeft;
+        }
+
+        private static void SetupNumeric(AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField field, string title, string unit, decimal value, decimal minimum, decimal maximum, decimal increment, int decimalPlaces)
+        {
+            field.Dock = System.Windows.Forms.DockStyle.Fill;
+            field.MinimumSize = new System.Drawing.Size(0, 60);
+            field.Titulo = title;
+            field.Unidade = unit;
+            field.Minimum = minimum;
+            field.Maximum = maximum;
+            field.Increment = increment;
+            field.DecimalPlaces = decimalPlaces;
+            field.Value = value;
+        }
+
+        #endregion
+
+        private System.Windows.Forms.TableLayoutPanel rootLayout;
+        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlAgitador;
+        private System.Windows.Forms.TableLayoutPanel agitadorLayout;
+        private System.Windows.Forms.Label lblAgitadorTitulo;
+        private System.Windows.Forms.Label lblAgitadorDescricao;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiAgitatorModeSelector seletorModoAgitador;
+        private System.Windows.Forms.TableLayoutPanel pidLayout;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField paramKp;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField paramKi;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField paramKd;
+        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlPulverizacao;
+        private System.Windows.Forms.TableLayoutPanel pulverizacaoLayout;
+        private System.Windows.Forms.Label lblPulverizacaoTitulo;
+        private System.Windows.Forms.Label lblPulverizacaoDescricao;
+        private System.Windows.Forms.TableLayoutPanel parametrosLayout;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField paramBicosEmUso;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField paramPressaoLinha;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField paramInicioTela;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField paramAlturaArea;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField paramErvasOn;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactNumericField paramErvasOff;
+    }
+}

AgroBase/AgroBase/Forms/IHM/Operacao/Parametros/ucParametrosAtuador.cs

@@ -0,0 +1,116 @@
+using System;
+using System.Windows.Forms;
+
+namespace AgroBase.Forms.IHM.Operacao.Parametros
+{
+    public partial class ucParametrosAtuador : UserControl
+    {
+        public event EventHandler ParametrosAlterados;
+
+        public ucParametrosAtuador()
+        {
+            InitializeComponent();
+            ConfigurarEstadoInicial();
+            VincularEventos();
+        }
+
+        private void ConfigurarEstadoInicial()
+        {
+            seletorModoAgitador.SelectedMode = "Continuo";
+
+            paramKp.Value = 1.00M;
+            paramKi.Value = 0.10M;
+            paramKd.Value = 0.00M;
+
+            paramBicosEmUso.Value = 7M;
+            paramPressaoLinha.Value = 18M;
+
+            paramInicioTela.Value = 85M;
+            paramAlturaArea.Value = 15M;
+            paramErvasOn.Value = 25M;
+            paramErvasOff.Value = 15M;
+        }
+
+        private void VincularEventos()
+        {
+            seletorModoAgitador.SelectedModeChanged += Controle_Alterado;
+
+            paramKp.ValueChanged += Controle_Alterado;
+            paramKi.ValueChanged += Controle_Alterado;
+            paramKd.ValueChanged += Controle_Alterado;
+
+            paramBicosEmUso.ValueChanged += Controle_Alterado;
+            paramPressaoLinha.ValueChanged += Controle_Alterado;
+            paramInicioTela.ValueChanged += Controle_Alterado;
+            paramAlturaArea.ValueChanged += Controle_Alterado;
+            paramErvasOn.ValueChanged += Controle_Alterado;
+            paramErvasOff.ValueChanged += Controle_Alterado;
+        }
+
+        private void Controle_Alterado(object sender, EventArgs e)
+        {
+            if (ParametrosAlterados != null)
+                ParametrosAlterados(this, EventArgs.Empty);
+        }
+
+        public string ModoAgitador
+        {
+            get { return seletorModoAgitador.SelectedMode; }
+            set { seletorModoAgitador.SelectedMode = value; }
+        }
+
+        public decimal KpAgitador
+        {
+            get { return paramKp.Value; }
+            set { paramKp.Value = value; }
+        }
+
+        public decimal KiAgitador
+        {
+            get { return paramKi.Value; }
+            set { paramKi.Value = value; }
+        }
+
+        public decimal KdAgitador
+        {
+            get { return paramKd.Value; }
+            set { paramKd.Value = value; }
+        }
+
+        public int QuantidadeBicosEmUso
+        {
+            get { return Convert.ToInt32(paramBicosEmUso.Value); }
+            set { paramBicosEmUso.Value = value; }
+        }
+
+        public decimal PressaoLinhaPsi
+        {
+            get { return paramPressaoLinha.Value; }
+            set { paramPressaoLinha.Value = value; }
+        }
+
+        public int PercentualInicioTela
+        {
+            get { return Convert.ToInt32(paramInicioTela.Value); }
+            set { paramInicioTela.Value = value; }
+        }
+
+        public int PercentualAlturaArea
+        {
+            get { return Convert.ToInt32(paramAlturaArea.Value); }
+            set { paramAlturaArea.Value = value; }
+        }
+
+        public decimal PercentualErvasOn
+        {
+            get { return paramErvasOn.Value; }
+            set { paramErvasOn.Value = value; }
+        }
+
+        public decimal PercentualErvasOff
+        {
+            get { return paramErvasOff.Value; }
+            set { paramErvasOff.Value = value; }
+        }
+    }
+}

AgroBase/AgroBase/Forms/IHM/Operacao/Parametros/ucParametrosDirecional.Designer.cs

@@ -0,0 +1,299 @@
+namespace AgroBase.Forms.IHM.Operacao.Parametros
+{
+    partial class ucParametrosDirecional
+    {
+        private System.ComponentModel.IContainer components = null;
+
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && components != null)
+                components.Dispose();
+
+            base.Dispose(disposing);
+        }
+
+        #region Component Designer generated code
+
+        private void InitializeComponent()
+        {
+            this.rootLayout = new System.Windows.Forms.TableLayoutPanel();
+
+            this.pnlAssistencias = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
+            this.assistenciasLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.lblAssistenciasTitulo = new System.Windows.Forms.Label();
+            this.lblAssistenciasDescricao = new System.Windows.Forms.Label();
+            this.checksLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.checkDirecionalAutomatico = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow();
+            this.checkAssistidoSonar = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow();
+            this.checkAssistidoImu = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow();
+            this.checkImuPrefereArco = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow();
+
+            this.pnlControle = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
+            this.controleLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.lblControleTitulo = new System.Windows.Forms.Label();
+            this.lblControleDescricao = new System.Windows.Forms.Label();
+            this.sliderAnguloMaximo = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow();
+            this.sliderVelocidadeDirecional = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow();
+
+            this.pnlNavegacao = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
+            this.navegacaoLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.lblNavegacaoTitulo = new System.Windows.Forms.Label();
+            this.seletorModoControle = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiModeSelector();
+            this.parametroHorizonte = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiNumericParameterCard();
+            this.parametroDistanciaSaida = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiNumericParameterCard();
+
+            this.rootLayout.SuspendLayout();
+            this.pnlAssistencias.SuspendLayout();
+            this.assistenciasLayout.SuspendLayout();
+            this.checksLayout.SuspendLayout();
+            this.pnlControle.SuspendLayout();
+            this.controleLayout.SuspendLayout();
+            this.pnlNavegacao.SuspendLayout();
+            this.navegacaoLayout.SuspendLayout();
+            this.SuspendLayout();
+
+            // rootLayout
+            this.rootLayout.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.Background;
+            this.rootLayout.ColumnCount = 2;
+            this.rootLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 42F));
+            this.rootLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 58F));
+            this.rootLayout.Controls.Add(this.pnlAssistencias, 0, 0);
+            this.rootLayout.Controls.Add(this.pnlControle, 1, 0);
+            this.rootLayout.Controls.Add(this.pnlNavegacao, 0, 1);
+            this.rootLayout.SetColumnSpan(this.pnlNavegacao, 2);
+            this.rootLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rootLayout.Margin = System.Windows.Forms.Padding.Empty;
+            this.rootLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.rootLayout.RowCount = 2;
+            this.rootLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 58F));
+            this.rootLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 42F));
+
+            // Assistências
+            ConfigurePanel(this.pnlAssistencias, this.assistenciasLayout);
+            this.pnlAssistencias.Margin = new System.Windows.Forms.Padding(0, 0, 3, 3);
+            this.pnlAssistencias.Padding = new System.Windows.Forms.Padding(8);
+
+            this.assistenciasLayout.ColumnCount = 1;
+            this.assistenciasLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.assistenciasLayout.Controls.Add(this.lblAssistenciasTitulo, 0, 0);
+            this.assistenciasLayout.Controls.Add(this.lblAssistenciasDescricao, 0, 1);
+            this.assistenciasLayout.Controls.Add(this.checksLayout, 0, 2);
+            this.assistenciasLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.assistenciasLayout.Margin = System.Windows.Forms.Padding.Empty;
+            this.assistenciasLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.assistenciasLayout.RowCount = 3;
+            this.assistenciasLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 24F));
+            this.assistenciasLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 25F));
+            this.assistenciasLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+
+            SetupSectionTitle(this.lblAssistenciasTitulo, "AUTOMAÇÃO E ASSISTÊNCIAS");
+            SetupSectionDescription(this.lblAssistenciasDescricao, "Defina quais recursos podem interferir no controle direcional.");
+
+            this.checksLayout.BackColor = System.Drawing.Color.Transparent;
+            this.checksLayout.ColumnCount = 2;
+            this.checksLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.checksLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.checksLayout.Controls.Add(this.checkDirecionalAutomatico, 0, 0);
+            this.checksLayout.Controls.Add(this.checkAssistidoSonar, 1, 0);
+            this.checksLayout.Controls.Add(this.checkAssistidoImu, 0, 1);
+            this.checksLayout.Controls.Add(this.checkImuPrefereArco, 1, 1);
+            this.checksLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.checksLayout.Margin = System.Windows.Forms.Padding.Empty;
+            this.checksLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.checksLayout.RowCount = 2;
+            this.checksLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.checksLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+
+            SetupCheck(this.checkDirecionalAutomatico, "Direcional automático");
+            SetupCheck(this.checkAssistidoSonar, "Assistido por sonar");
+            SetupCheck(this.checkAssistidoImu, "Assistido por IMU");
+            SetupCheck(this.checkImuPrefereArco, "IMU prefere arco");
+
+            // Controle direcional
+            ConfigurePanel(this.pnlControle, this.controleLayout);
+            this.pnlControle.Margin = new System.Windows.Forms.Padding(3, 0, 0, 3);
+            this.pnlControle.Padding = new System.Windows.Forms.Padding(8);
+
+            this.controleLayout.ColumnCount = 2;
+            this.controleLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.controleLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.controleLayout.Controls.Add(this.lblControleTitulo, 0, 0);
+            this.controleLayout.SetColumnSpan(this.lblControleTitulo, 2);
+            this.controleLayout.Controls.Add(this.lblControleDescricao, 0, 1);
+            this.controleLayout.SetColumnSpan(this.lblControleDescricao, 2);
+            this.controleLayout.Controls.Add(this.sliderAnguloMaximo, 0, 2);
+            this.controleLayout.Controls.Add(this.sliderVelocidadeDirecional, 1, 2);
+            this.controleLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.controleLayout.Margin = System.Windows.Forms.Padding.Empty;
+            this.controleLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.controleLayout.RowCount = 3;
+            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 24F));
+            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 25F));
+            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+
+            SetupSectionTitle(this.lblControleTitulo, "LIMITES DO DIRECIONAL");
+            SetupSectionDescription(this.lblControleDescricao, "Ajuste o ângulo máximo e a velocidade usada pelos motores de passo.");
+
+            this.sliderAnguloMaximo.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.sliderAnguloMaximo.Margin = new System.Windows.Forms.Padding(0, 2, 3, 0);
+            this.sliderAnguloMaximo.MinimumSize = System.Drawing.Size.Empty;
+            this.sliderAnguloMaximo.Titulo = "Ângulo máximo";
+            this.sliderAnguloMaximo.Minimum = 0;
+            this.sliderAnguloMaximo.Maximum = 90;
+            this.sliderAnguloMaximo.ValueFormat = AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiSliderValueFormat.Degrees;
+            this.sliderAnguloMaximo.Value = 45;
+            this.sliderAnguloMaximo.AccentColor = AgroBase.Forms.IHM.Controls.HmiTheme.Warning;
+
+            this.sliderVelocidadeDirecional.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.sliderVelocidadeDirecional.Margin = new System.Windows.Forms.Padding(3, 2, 0, 0);
+            this.sliderVelocidadeDirecional.MinimumSize = System.Drawing.Size.Empty;
+            this.sliderVelocidadeDirecional.Titulo = "Velocidade direcional";
+            this.sliderVelocidadeDirecional.Minimum = 0;
+            this.sliderVelocidadeDirecional.Maximum = 100;
+            this.sliderVelocidadeDirecional.ValueFormat = AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiSliderValueFormat.PercentOnly;
+            this.sliderVelocidadeDirecional.Value = 60;
+            this.sliderVelocidadeDirecional.AccentColor = AgroBase.Forms.IHM.Controls.HmiTheme.Info;
+
+            // Controle e navegação
+            ConfigurePanel(this.pnlNavegacao, this.navegacaoLayout);
+            this.pnlNavegacao.Margin = new System.Windows.Forms.Padding(0, 3, 0, 0);
+            this.pnlNavegacao.Padding = new System.Windows.Forms.Padding(8);
+
+            this.navegacaoLayout.ColumnCount = 3;
+            this.navegacaoLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 30F));
+            this.navegacaoLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 35F));
+            this.navegacaoLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 35F));
+            this.navegacaoLayout.Controls.Add(this.lblNavegacaoTitulo, 0, 0);
+            this.navegacaoLayout.SetColumnSpan(this.lblNavegacaoTitulo, 3);
+            this.navegacaoLayout.Controls.Add(this.seletorModoControle, 0, 1);
+            this.navegacaoLayout.Controls.Add(this.parametroHorizonte, 1, 1);
+            this.navegacaoLayout.Controls.Add(this.parametroDistanciaSaida, 2, 1);
+            this.navegacaoLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.navegacaoLayout.Margin = System.Windows.Forms.Padding.Empty;
+            this.navegacaoLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.navegacaoLayout.RowCount = 2;
+            this.navegacaoLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 22F));
+            this.navegacaoLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+
+            SetupSectionTitle(this.lblNavegacaoTitulo, "CONTROLE E NAVEGAÇÃO");
+
+            this.seletorModoControle.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.seletorModoControle.Margin = new System.Windows.Forms.Padding(0, 1, 3, 0);
+            this.seletorModoControle.MinimumSize = System.Drawing.Size.Empty;
+            this.seletorModoControle.SelectedMode = "MPC";
+
+            this.parametroHorizonte.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.parametroHorizonte.Margin = new System.Windows.Forms.Padding(3, 1, 3, 0);
+            this.parametroHorizonte.MinimumSize = System.Drawing.Size.Empty;
+            this.parametroHorizonte.Titulo = "Horizonte de predição";
+            this.parametroHorizonte.Descricao = "Distância analisada pelo controlador";
+            this.parametroHorizonte.Unidade = "m";
+            this.parametroHorizonte.Minimum = 1M;
+            this.parametroHorizonte.Maximum = 30M;
+            this.parametroHorizonte.Increment = 0.5M;
+            this.parametroHorizonte.DecimalPlaces = 1;
+            this.parametroHorizonte.Value = 4M;
+
+            this.parametroDistanciaSaida.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.parametroDistanciaSaida.Margin = new System.Windows.Forms.Padding(3, 1, 0, 0);
+            this.parametroDistanciaSaida.MinimumSize = System.Drawing.Size.Empty;
+            this.parametroDistanciaSaida.Titulo = "Distância saída para manobra";
+            this.parametroDistanciaSaida.Descricao = "Distância para iniciar a manobra entre ruas";
+            this.parametroDistanciaSaida.Unidade = "m";
+            this.parametroDistanciaSaida.Minimum = 0M;
+            this.parametroDistanciaSaida.Maximum = 20M;
+            this.parametroDistanciaSaida.Increment = 0.5M;
+            this.parametroDistanciaSaida.DecimalPlaces = 1;
+            this.parametroDistanciaSaida.Value = 5M;
+
+            // ucParametrosDirecional
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
+            this.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.Background;
+            this.Controls.Add(this.rootLayout);
+            this.DoubleBuffered = true;
+            this.Name = "ucParametrosDirecional";
+            this.Size = new System.Drawing.Size(760, 286);
+
+            this.rootLayout.ResumeLayout(false);
+            this.pnlAssistencias.ResumeLayout(false);
+            this.assistenciasLayout.ResumeLayout(false);
+            this.checksLayout.ResumeLayout(false);
+            this.pnlControle.ResumeLayout(false);
+            this.controleLayout.ResumeLayout(false);
+            this.pnlNavegacao.ResumeLayout(false);
+            this.navegacaoLayout.ResumeLayout(false);
+            this.ResumeLayout(false);
+        }
+
+        private static void ConfigurePanel(AgroBase.Forms.IHM.Controls.HmiRoundedPanel panel, System.Windows.Forms.Control child)
+        {
+            panel.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
+            panel.Controls.Add(child);
+            panel.CornerRadius = 9;
+            panel.Dock = System.Windows.Forms.DockStyle.Fill;
+            panel.FillColor = AgroBase.Forms.IHM.Controls.HmiTheme.Surface;
+            panel.Padding = new System.Windows.Forms.Padding(8);
+        }
+
+        private static void SetupSectionTitle(System.Windows.Forms.Label label, string text)
+        {
+            label.AutoEllipsis = true;
+            label.BackColor = System.Drawing.Color.Transparent;
+            label.Dock = System.Windows.Forms.DockStyle.Fill;
+            label.Font = new System.Drawing.Font("Segoe UI", 8.5F, System.Drawing.FontStyle.Bold);
+            label.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.Text;
+            label.Margin = System.Windows.Forms.Padding.Empty;
+            label.Text = text;
+            label.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
+        }
+
+        private static void SetupSectionDescription(System.Windows.Forms.Label label, string text)
+        {
+            label.AutoEllipsis = true;
+            label.BackColor = System.Drawing.Color.Transparent;
+            label.Dock = System.Windows.Forms.DockStyle.Fill;
+            label.Font = new System.Drawing.Font("Segoe UI", 6.7F);
+            label.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.TextMuted;
+            label.Margin = System.Windows.Forms.Padding.Empty;
+            label.Text = text;
+            label.TextAlign = System.Drawing.ContentAlignment.TopLeft;
+        }
+
+        private static void SetupCheck(AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow check, string title)
+        {
+            check.Dock = System.Windows.Forms.DockStyle.Fill;
+            check.Titulo = title;
+            check.Checked = true;
+            check.Margin = new System.Windows.Forms.Padding(3);
+            check.MinimumSize = System.Drawing.Size.Empty;
+        }
+
+        #endregion
+
+        private System.Windows.Forms.TableLayoutPanel rootLayout;
+
+        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlAssistencias;
+        private System.Windows.Forms.TableLayoutPanel assistenciasLayout;
+        private System.Windows.Forms.Label lblAssistenciasTitulo;
+        private System.Windows.Forms.Label lblAssistenciasDescricao;
+        private System.Windows.Forms.TableLayoutPanel checksLayout;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow checkDirecionalAutomatico;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow checkAssistidoSonar;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow checkAssistidoImu;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow checkImuPrefereArco;
+
+        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlControle;
+        private System.Windows.Forms.TableLayoutPanel controleLayout;
+        private System.Windows.Forms.Label lblControleTitulo;
+        private System.Windows.Forms.Label lblControleDescricao;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow sliderAnguloMaximo;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow sliderVelocidadeDirecional;
+
+        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlNavegacao;
+        private System.Windows.Forms.TableLayoutPanel navegacaoLayout;
+        private System.Windows.Forms.Label lblNavegacaoTitulo;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiModeSelector seletorModoControle;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiNumericParameterCard parametroHorizonte;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiNumericParameterCard parametroDistanciaSaida;
+    }
+}

AgroBase/AgroBase/Forms/IHM/Operacao/Parametros/ucParametrosDirecional.cs

@@ -0,0 +1,111 @@
+using System;
+using System.Windows.Forms;
+
+namespace AgroBase.Forms.IHM.Operacao.Parametros
+{
+    public partial class ucParametrosDirecional : UserControl
+    {
+        public event EventHandler ParametrosAlterados;
+
+        public ucParametrosDirecional()
+        {
+            InitializeComponent();
+            ConfigurarEstadoInicial();
+            VincularEventos();
+        }
+
+        private void ConfigurarEstadoInicial()
+        {
+            checkDirecionalAutomatico.Checked = true;
+            checkAssistidoSonar.Checked = true;
+            checkAssistidoImu.Checked = true;
+            checkImuPrefereArco.Checked = false;
+
+            sliderAnguloMaximo.Value = 45;
+            sliderAnguloMaximo.VelocidadeMaximaKmh = 0D;
+
+            sliderVelocidadeDirecional.Value = 60;
+            sliderVelocidadeDirecional.VelocidadeMaximaKmh = 0D;
+
+            seletorModoControle.SelectedMode = "MPC";
+
+            parametroHorizonte.Value = 4M;
+            parametroDistanciaSaida.Value = 5M;
+        }
+
+        private void VincularEventos()
+        {
+            checkDirecionalAutomatico.CheckedChanged += Controle_Alterado;
+            checkAssistidoSonar.CheckedChanged += Controle_Alterado;
+            checkAssistidoImu.CheckedChanged += Controle_Alterado;
+            checkImuPrefereArco.CheckedChanged += Controle_Alterado;
+
+            sliderAnguloMaximo.ValueChanged += Controle_Alterado;
+            sliderVelocidadeDirecional.ValueChanged += Controle_Alterado;
+
+            seletorModoControle.SelectedModeChanged += Controle_Alterado;
+            parametroHorizonte.ValueChanged += Controle_Alterado;
+            parametroDistanciaSaida.ValueChanged += Controle_Alterado;
+        }
+
+        private void Controle_Alterado(object sender, EventArgs e)
+        {
+            if (ParametrosAlterados != null)
+                ParametrosAlterados(this, EventArgs.Empty);
+        }
+
+        public bool DirecionalAutomatico
+        {
+            get { return checkDirecionalAutomatico.Checked; }
+            set { checkDirecionalAutomatico.Checked = value; }
+        }
+
+        public bool AssistidoPorSonar
+        {
+            get { return checkAssistidoSonar.Checked; }
+            set { checkAssistidoSonar.Checked = value; }
+        }
+
+        public bool AssistidoPorImu
+        {
+            get { return checkAssistidoImu.Checked; }
+            set { checkAssistidoImu.Checked = value; }
+        }
+
+        public bool ImuPrefereArco
+        {
+            get { return checkImuPrefereArco.Checked; }
+            set { checkImuPrefereArco.Checked = value; }
+        }
+
+        public int AnguloMaximo
+        {
+            get { return sliderAnguloMaximo.Value; }
+            set { sliderAnguloMaximo.Value = value; }
+        }
+
+        public int VelocidadeDirecionalPercentual
+        {
+            get { return sliderVelocidadeDirecional.Value; }
+            set { sliderVelocidadeDirecional.Value = value; }
+        }
+
+        public string ModoControle
+        {
+            get { return seletorModoControle.SelectedMode; }
+            set { seletorModoControle.SelectedMode = value; }
+        }
+
+        public decimal HorizontePredicaoMetros
+        {
+            get { return parametroHorizonte.Value; }
+            set { parametroHorizonte.Value = value; }
+        }
+
+        public decimal DistanciaSaidaCorredorMetros
+        {
+            get { return parametroDistanciaSaida.Value; }
+            set { parametroDistanciaSaida.Value = value; }
+        }
+    }
+}

AgroBase/AgroBase/Forms/IHM/Operacao/Parametros/ucParametrosMapa.Designer.cs

@@ -0,0 +1,37 @@
+namespace AgroBase.Forms.IHM.Operacao.Parametros
+{
+    partial class ucParametrosMapa
+    {
+        /// <summary> 
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary> 
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Component Designer generated code
+
+        /// <summary> 
+        /// Required method for Designer support - do not modify 
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            components = new System.ComponentModel.Container();
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+        }
+
+        #endregion
+    }
+}

AgroBase/AgroBase/Forms/IHM/Operacao/Parametros/ucParametrosMapa.cs

@@ -0,0 +1,20 @@
+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.IHM.Operacao.Parametros
+{
+    public partial class ucParametrosMapa : UserControl
+    {
+        public ucParametrosMapa()
+        {
+            InitializeComponent();
+        }
+    }
+}

AgroBase/AgroBase/Forms/IHM/Operacao/Parametros/ucParametrosMovimento.Designer.cs

@@ -0,0 +1,217 @@
+namespace AgroBase.Forms.IHM.Operacao.Parametros
+{
+    partial class ucParametrosMovimento
+    {
+        private System.ComponentModel.IContainer components = null;
+
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && components != null)
+                components.Dispose();
+
+            base.Dispose(disposing);
+        }
+
+        #region Component Designer generated code
+
+        private void InitializeComponent()
+        {
+            this.rootLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.pnlAutomacao = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
+            this.automacaoLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.lblAutomacaoTitulo = new System.Windows.Forms.Label();
+            this.lblAutomacaoDescricao = new System.Windows.Forms.Label();
+            this.checksLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.checkMovimentoAutomatico = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow();
+            this.checkAssistidoSonar = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow();
+            this.checkParadaObstaculo = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow();
+            this.checkAssistidoImu = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow();
+            this.checkParadaInclinacao = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow();
+            this.checkFrenagemParar = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow();
+            this.pnlVelocidades = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
+            this.velocidadesLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.lblVelocidadesTitulo = new System.Windows.Forms.Label();
+            this.lblVelocidadesDescricao = new System.Windows.Forms.Label();
+            this.sliderSemErvas = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow();
+            this.sliderComErvas = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow();
+
+            this.rootLayout.SuspendLayout();
+            this.pnlAutomacao.SuspendLayout();
+            this.automacaoLayout.SuspendLayout();
+            this.checksLayout.SuspendLayout();
+            this.pnlVelocidades.SuspendLayout();
+            this.velocidadesLayout.SuspendLayout();
+            this.SuspendLayout();
+
+            this.rootLayout.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.Background;
+            this.rootLayout.ColumnCount = 2;
+            this.rootLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 45F));
+            this.rootLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 55F));
+            this.rootLayout.Controls.Add(this.pnlAutomacao, 0, 0);
+            this.rootLayout.Controls.Add(this.pnlVelocidades, 1, 0);
+            this.rootLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rootLayout.Margin = System.Windows.Forms.Padding.Empty;
+            this.rootLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.rootLayout.RowCount = 1;
+            this.rootLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+
+            ConfigurePanel(this.pnlAutomacao, this.automacaoLayout);
+            this.pnlAutomacao.Margin = new System.Windows.Forms.Padding(0, 0, 3, 0);
+
+            this.automacaoLayout.ColumnCount = 1;
+            this.automacaoLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.automacaoLayout.Controls.Add(this.lblAutomacaoTitulo, 0, 0);
+            this.automacaoLayout.Controls.Add(this.lblAutomacaoDescricao, 0, 1);
+            this.automacaoLayout.Controls.Add(this.checksLayout, 0, 2);
+            this.automacaoLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.automacaoLayout.Margin = System.Windows.Forms.Padding.Empty;
+            this.automacaoLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.automacaoLayout.RowCount = 3;
+            this.automacaoLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 27F));
+            this.automacaoLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 32F));
+            this.automacaoLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+
+            SetupSectionTitle(this.lblAutomacaoTitulo, "AUTOMAÇÃO E ASSISTÊNCIAS");
+            SetupSectionDescription(this.lblAutomacaoDescricao, "Ative somente os recursos que devem participar do controle de movimento.");
+
+            this.checksLayout.BackColor = System.Drawing.Color.Transparent;
+            this.checksLayout.ColumnCount = 2;
+            this.checksLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.checksLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.checksLayout.Controls.Add(this.checkMovimentoAutomatico, 0, 0);
+            this.checksLayout.Controls.Add(this.checkAssistidoSonar, 1, 0);
+            this.checksLayout.Controls.Add(this.checkParadaObstaculo, 0, 1);
+            this.checksLayout.Controls.Add(this.checkAssistidoImu, 1, 1);
+            this.checksLayout.Controls.Add(this.checkParadaInclinacao, 0, 2);
+            this.checksLayout.Controls.Add(this.checkFrenagemParar, 1, 2);
+            this.checksLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.checksLayout.Margin = System.Windows.Forms.Padding.Empty;
+            this.checksLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.checksLayout.RowCount = 3;
+            this.checksLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33F));
+            this.checksLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33F));
+            this.checksLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.34F));
+
+            SetupCheck(this.checkMovimentoAutomatico, "Movimento automático");
+            SetupCheck(this.checkAssistidoSonar, "Assistido por sonar");
+            SetupCheck(this.checkParadaObstaculo, "Parada por obstáculo");
+            SetupCheck(this.checkAssistidoImu, "Assistido por IMU");
+            SetupCheck(this.checkParadaInclinacao, "Parada por inclinação");
+            SetupCheck(this.checkFrenagemParar, "Frenagem ao parar");
+
+            ConfigurePanel(this.pnlVelocidades, this.velocidadesLayout);
+            this.pnlVelocidades.Margin = new System.Windows.Forms.Padding(3, 0, 0, 0);
+
+            this.velocidadesLayout.ColumnCount = 1;
+            this.velocidadesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.velocidadesLayout.Controls.Add(this.lblVelocidadesTitulo, 0, 0);
+            this.velocidadesLayout.Controls.Add(this.lblVelocidadesDescricao, 0, 1);
+            this.velocidadesLayout.Controls.Add(this.sliderSemErvas, 0, 2);
+            this.velocidadesLayout.Controls.Add(this.sliderComErvas, 0, 3);
+            this.velocidadesLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.velocidadesLayout.Margin = System.Windows.Forms.Padding.Empty;
+            this.velocidadesLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.velocidadesLayout.RowCount = 4;
+            this.velocidadesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 27F));
+            this.velocidadesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 32F));
+            this.velocidadesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.velocidadesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+
+            SetupSectionTitle(this.lblVelocidadesTitulo, "LIMITES DE VELOCIDADE");
+            SetupSectionDescription(this.lblVelocidadesDescricao, "A velocidade em km/h é calculada pelo percentual da velocidade máxima do equipamento.");
+
+            this.sliderSemErvas.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.sliderSemErvas.Margin = new System.Windows.Forms.Padding(0, 2, 0, 3);
+            this.sliderSemErvas.Titulo = "Sem ervas no radar";
+            this.sliderSemErvas.Value = 68;
+            this.sliderSemErvas.VelocidadeMaximaKmh = 5D;
+            this.sliderSemErvas.AccentColor = AgroBase.Forms.IHM.Controls.HmiTheme.Success;
+
+            this.sliderComErvas.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.sliderComErvas.Margin = new System.Windows.Forms.Padding(0, 3, 0, 0);
+            this.sliderComErvas.Titulo = "Com ervas no radar";
+            this.sliderComErvas.Value = 45;
+            this.sliderComErvas.VelocidadeMaximaKmh = 5D;
+            this.sliderComErvas.AccentColor = AgroBase.Forms.IHM.Controls.HmiTheme.Info;
+
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
+            this.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.Background;
+            this.Controls.Add(this.rootLayout);
+            this.DoubleBuffered = true;
+            this.Name = "ucParametrosMovimento";
+            this.Size = new System.Drawing.Size(760, 286);
+
+            this.rootLayout.ResumeLayout(false);
+            this.pnlAutomacao.ResumeLayout(false);
+            this.automacaoLayout.ResumeLayout(false);
+            this.checksLayout.ResumeLayout(false);
+            this.pnlVelocidades.ResumeLayout(false);
+            this.velocidadesLayout.ResumeLayout(false);
+            this.ResumeLayout(false);
+        }
+
+        private static void ConfigurePanel(AgroBase.Forms.IHM.Controls.HmiRoundedPanel panel, System.Windows.Forms.Control child)
+        {
+            panel.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
+            panel.Controls.Add(child);
+            panel.CornerRadius = 9;
+            panel.Dock = System.Windows.Forms.DockStyle.Fill;
+            panel.FillColor = AgroBase.Forms.IHM.Controls.HmiTheme.Surface;
+            panel.Padding = new System.Windows.Forms.Padding(10);
+        }
+
+        private static void SetupSectionTitle(System.Windows.Forms.Label label, string text)
+        {
+            label.AutoEllipsis = true;
+            label.BackColor = System.Drawing.Color.Transparent;
+            label.Dock = System.Windows.Forms.DockStyle.Fill;
+            label.Font = new System.Drawing.Font("Segoe UI", 9F, System.Drawing.FontStyle.Bold);
+            label.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.Text;
+            label.Margin = System.Windows.Forms.Padding.Empty;
+            label.Text = text;
+            label.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
+        }
+
+        private static void SetupSectionDescription(System.Windows.Forms.Label label, string text)
+        {
+            label.AutoEllipsis = true;
+            label.BackColor = System.Drawing.Color.Transparent;
+            label.Dock = System.Windows.Forms.DockStyle.Fill;
+            label.Font = new System.Drawing.Font("Segoe UI", 7F);
+            label.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.TextMuted;
+            label.Margin = System.Windows.Forms.Padding.Empty;
+            label.Text = text;
+            label.TextAlign = System.Drawing.ContentAlignment.TopLeft;
+        }
+
+        private static void SetupCheck(AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow check, string title)
+        {
+            check.Dock = System.Windows.Forms.DockStyle.Fill;
+            check.Titulo = title;
+            check.Checked = true;
+            check.Margin = new System.Windows.Forms.Padding(3);
+            check.MinimumSize = System.Drawing.Size.Empty;
+        }
+
+        #endregion
+
+        private System.Windows.Forms.TableLayoutPanel rootLayout;
+        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlAutomacao;
+        private System.Windows.Forms.TableLayoutPanel automacaoLayout;
+        private System.Windows.Forms.Label lblAutomacaoTitulo;
+        private System.Windows.Forms.Label lblAutomacaoDescricao;
+        private System.Windows.Forms.TableLayoutPanel checksLayout;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow checkMovimentoAutomatico;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow checkAssistidoSonar;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow checkParadaObstaculo;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow checkAssistidoImu;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow checkParadaInclinacao;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiCompactCheckRow checkFrenagemParar;
+        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlVelocidades;
+        private System.Windows.Forms.TableLayoutPanel velocidadesLayout;
+        private System.Windows.Forms.Label lblVelocidadesTitulo;
+        private System.Windows.Forms.Label lblVelocidadesDescricao;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow sliderSemErvas;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow sliderComErvas;
+    }
+}

AgroBase/AgroBase/Forms/IHM/Operacao/Parametros/ucParametrosMovimento.cs

@@ -0,0 +1,111 @@
+using AgroBase.Forms.IHM.Operacao.Parametros.Controls;
+using System;
+using System.Windows.Forms;
+
+namespace AgroBase.Forms.IHM.Operacao.Parametros
+{
+    public partial class ucParametrosMovimento : UserControl
+    {
+        public event EventHandler ParametrosAlterados;
+
+        public ucParametrosMovimento()
+        {
+            InitializeComponent();
+            ConfigurarEstadoInicial();
+            VincularEventos();
+        }
+
+        private void ConfigurarEstadoInicial()
+        {
+            checkMovimentoAutomatico.Checked = true;
+            checkAssistidoSonar.Checked = true;
+            checkParadaObstaculo.Checked = true;
+            checkAssistidoImu.Checked = true;
+            checkParadaInclinacao.Checked = true;
+            checkFrenagemParar.Checked = true;
+
+            sliderSemErvas.Value = 68;
+            sliderSemErvas.VelocidadeMaximaKmh = 5D;
+
+            sliderComErvas.Value = 45;
+            sliderComErvas.VelocidadeMaximaKmh = 5D;
+        }
+
+        private void VincularEventos()
+        {
+            checkMovimentoAutomatico.CheckedChanged += Controle_Alterado;
+            checkAssistidoSonar.CheckedChanged += Controle_Alterado;
+            checkParadaObstaculo.CheckedChanged += Controle_Alterado;
+            checkAssistidoImu.CheckedChanged += Controle_Alterado;
+            checkParadaInclinacao.CheckedChanged += Controle_Alterado;
+            checkFrenagemParar.CheckedChanged += Controle_Alterado;
+
+            sliderSemErvas.ValueChanged += Controle_Alterado;
+            sliderComErvas.ValueChanged += Controle_Alterado;
+        }
+
+        private void Controle_Alterado(object sender, EventArgs e)
+        {
+            if (ParametrosAlterados != null)
+                ParametrosAlterados(this, EventArgs.Empty);
+        }
+
+        public bool MovimentoAutomatico
+        {
+            get { return checkMovimentoAutomatico.Checked; }
+            set { checkMovimentoAutomatico.Checked = value; }
+        }
+
+        public bool AssistidoPorSonar
+        {
+            get { return checkAssistidoSonar.Checked; }
+            set { checkAssistidoSonar.Checked = value; }
+        }
+
+        public bool ParadaPorObstaculo
+        {
+            get { return checkParadaObstaculo.Checked; }
+            set { checkParadaObstaculo.Checked = value; }
+        }
+
+        public bool AssistidoPorImu
+        {
+            get { return checkAssistidoImu.Checked; }
+            set { checkAssistidoImu.Checked = value; }
+        }
+
+        public bool ParadaPorInclinacao
+        {
+            get { return checkParadaInclinacao.Checked; }
+            set { checkParadaInclinacao.Checked = value; }
+        }
+
+        public bool FrenagemAoParar
+        {
+            get { return checkFrenagemParar.Checked; }
+            set { checkFrenagemParar.Checked = value; }
+        }
+
+        public int VelocidadeSemErvasPercentual
+        {
+            get { return sliderSemErvas.Value; }
+            set { sliderSemErvas.Value = value; }
+        }
+
+        public int VelocidadeComErvasPercentual
+        {
+            get { return sliderComErvas.Value; }
+            set { sliderComErvas.Value = value; }
+        }
+
+        public double VelocidadeMaximaEquipamentoKmh
+        {
+            get { return sliderSemErvas.VelocidadeMaximaKmh; }
+            set
+            {
+                sliderSemErvas.VelocidadeMaximaKmh = value;
+                sliderComErvas.VelocidadeMaximaKmh = value;
+            }
+        }
+    }
+}

AgroBase/AgroBase/Forms/IHM/Operacao/ucOperacaoMovimentacao.Designer.cs

@@ -1,7 +1,12 @@
 using AgroBase.Forms.IHM.Controls;
 using AgroBase.Forms.IHM.Controls.Operacao;
+using AgroBase.Forms.IHM.Operacao.Parametros.Controls;
+using AgroBase.Models;
+using AgroBase.Models.Modules;
+using System;
 using System.Drawing;
 using System.Windows.Forms;
+using static AgroBase.Models.Enums;
 
 namespace AgroBase.Forms.IHM.Operacao
 {
@@ -11,6 +16,15 @@ namespace AgroBase.Forms.IHM.Operacao
 
         protected override void Dispose(bool disposing)
         {
+            _controleDescartado = true;
+
+            if (picCamera != null)
+            {
+                System.Drawing.Image imagemAtual = picCamera.Image;
+                picCamera.Image = null;
+                imagemAtual?.Dispose();
+            }
+
             if (disposing && components != null)
                 components.Dispose();
 
@@ -29,15 +43,9 @@ namespace AgroBase.Forms.IHM.Operacao
             this.lblControleTitulo = new System.Windows.Forms.Label();
             this.lblJoystick = new System.Windows.Forms.Label();
             this.cmbJoystick = new System.Windows.Forms.ComboBox();
-            this.lblVelocidadeMax = new System.Windows.Forms.Label();
+            this.sliderVelocidadeMax = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow();
-            this.lblVelocidadeMaxValor = new System.Windows.Forms.Label();
+            this.sliderAngulo = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow();
-            this.sliderVelocidadeMax = new AgroBase.Forms.IHM.Controls.Operacao.HmiSlider();
+            this.sliderVelocidadeDir = new AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow();
-            this.lblAngulo = new System.Windows.Forms.Label();
-            this.lblAnguloValor = new System.Windows.Forms.Label();
-            this.sliderAngulo = new AgroBase.Forms.IHM.Controls.Operacao.HmiSlider();
-            this.lblVelocidadeDir = new System.Windows.Forms.Label();
-            this.lblVelocidadeDirValor = new System.Windows.Forms.Label();
-            this.sliderVelocidadeDir = new AgroBase.Forms.IHM.Controls.Operacao.HmiSlider();
             this.lblTipoMovimento = new System.Windows.Forms.Label();
             this.cmbTipoMovimento = new System.Windows.Forms.ComboBox();
             this.acoesLayout = new System.Windows.Forms.TableLayoutPanel();
@@ -135,25 +143,16 @@ namespace AgroBase.Forms.IHM.Operacao
             this.controleLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 36F));
             this.controleLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 34F));
             this.controleLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.controleLayout.RowCount = 11;
+            this.controleLayout.RowCount = 8;
-            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 22F));
+            this.controleLayout.RowStyles.Clear();
-            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 30F));
+            this.controleLayout.RowStyles.Add(new RowStyle(SizeType.Absolute, 22F)); // título
-            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 18F));
+            this.controleLayout.RowStyles.Add(new RowStyle(SizeType.Absolute, 27F)); // joystick
-            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 29F));
+            this.controleLayout.RowStyles.Add(new RowStyle(SizeType.Percent, 33.33F)); // vel máxima
-            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 18F));
+            this.controleLayout.RowStyles.Add(new RowStyle(SizeType.Percent, 33.33F)); // ângulo
-            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 29F));
+            this.controleLayout.RowStyles.Add(new RowStyle(SizeType.Percent, 33.34F)); // vel dir
-            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 18F));
+            this.controleLayout.RowStyles.Add(new RowStyle(SizeType.Absolute, 17F)); // tipo
-            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 29F));
+            this.controleLayout.RowStyles.Add(new RowStyle(SizeType.Absolute, 28F)); // combo
-            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 18F));
+            this.controleLayout.RowStyles.Add(new RowStyle(SizeType.Absolute, 40F)); // ações
-            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 31F));
-            this.controleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 46F));
-
-            // Joystick
-            this.controleLayout.RowStyles[1] = new RowStyle(SizeType.Absolute, 27F);
-            // Combo de tipo de movimento
-            this.controleLayout.RowStyles[9] = new RowStyle(SizeType.Absolute, 28F);
-            // Botões
-            this.controleLayout.RowStyles[10] = new RowStyle(SizeType.Absolute, 40F);
 
             SetupTitle(this.lblControleTitulo, "CONTROLE DE MOVIMENTO");
             this.controleLayout.Controls.Add(this.lblControleTitulo, 0, 0);
@@ -168,51 +167,31 @@ namespace AgroBase.Forms.IHM.Operacao
             this.controleLayout.Controls.Add(this.cmbJoystick, 1, 1);
             this.controleLayout.SetColumnSpan(this.cmbJoystick, 2);
 
-            SetupCaption(this.lblVelocidadeMax, "Velocidade máx.");
+            SetupParameterSlider(this.sliderVelocidadeMax, "Velocidade máxima", HmiTheme.Success, 0, 100, 30, HmiSliderValueFormat.PercentAndSpeed);
-            SetupValue(this.lblVelocidadeMaxValor, "68% · 3,4 km/h", AgroBase.Forms.IHM.Controls.HmiTheme.Success);
+            this.sliderVelocidadeMax.VelocidadeMaximaKmh = FuncoesMatematicas.CalculaVelocidadeRPM(VariaveisEquipamento.RPM_Max_Roda);
-            this.controleLayout.Controls.Add(this.lblVelocidadeMax, 0, 2);
+            this.controleLayout.Controls.Add(this.sliderVelocidadeMax, 0, 2);
-            this.controleLayout.SetColumnSpan(this.lblVelocidadeMax, 2);
-            this.controleLayout.Controls.Add(this.lblVelocidadeMaxValor, 2, 2);
-            SetupSlider(this.sliderVelocidadeMax, AgroBase.Forms.IHM.Controls.HmiTheme.Success, 0, 100, 68);
-            this.controleLayout.Controls.Add(this.sliderVelocidadeMax, 0, 3);
             this.controleLayout.SetColumnSpan(this.sliderVelocidadeMax, 3);
 
-            SetupCaption(this.lblAngulo, "Ângulo direcional");
+            SetupParameterSlider(this.sliderAngulo, "Ângulo direcional", HmiTheme.Manual, 0, 90, 12, HmiSliderValueFormat.Degrees);
-            SetupValue(this.lblAnguloValor, "+12°", AgroBase.Forms.IHM.Controls.HmiTheme.Manual);
+            this.controleLayout.Controls.Add(this.sliderAngulo, 0, 3);
-            this.controleLayout.Controls.Add(this.lblAngulo, 0, 4);
-            this.controleLayout.SetColumnSpan(this.lblAngulo, 2);
-            this.controleLayout.Controls.Add(this.lblAnguloValor, 2, 4);
-            SetupSlider(this.sliderAngulo, AgroBase.Forms.IHM.Controls.HmiTheme.Manual, 0, 90, 12);
-            this.controleLayout.Controls.Add(this.sliderAngulo, 0, 5);
             this.controleLayout.SetColumnSpan(this.sliderAngulo, 3);
 
-            SetupCaption(this.lblVelocidadeDir, "Velocidade direcional");
+            SetupParameterSlider(this.sliderVelocidadeDir, "Velocidade direcional", HmiTheme.Info, 0, 100, 55, HmiSliderValueFormat.PercentOnly);
-            SetupValue(this.lblVelocidadeDirValor, "55%", AgroBase.Forms.IHM.Controls.HmiTheme.Info);
+            this.controleLayout.Controls.Add(this.sliderVelocidadeDir, 0, 4);
-            this.controleLayout.Controls.Add(this.lblVelocidadeDir, 0, 6);
-            this.controleLayout.SetColumnSpan(this.lblVelocidadeDir, 2);
-            this.controleLayout.Controls.Add(this.lblVelocidadeDirValor, 2, 6);
-            SetupSlider(this.sliderVelocidadeDir, AgroBase.Forms.IHM.Controls.HmiTheme.Info, 0, 100, 55);
-            this.controleLayout.Controls.Add(this.sliderVelocidadeDir, 0, 7);
             this.controleLayout.SetColumnSpan(this.sliderVelocidadeDir, 3);
 
             SetupCaption(this.lblTipoMovimento, "Tipo de movimento");
-            this.controleLayout.Controls.Add(this.lblTipoMovimento, 0, 8);
+            this.controleLayout.Controls.Add(this.lblTipoMovimento, 0, 5);
             this.controleLayout.SetColumnSpan(this.lblTipoMovimento, 3);
 
             SetupCombo(this.cmbTipoMovimento);
-            this.cmbTipoMovimento.Items.AddRange(new object[]
+            this.cmbTipoMovimento.Items.AddRange(Enum.GetNames(typeof(TipoMovimentoDirecional)));
-            {
+            this.controleLayout.Controls.Add(this.cmbTipoMovimento, 0, 6);
-                "Rodas dianteiras",
-                "Rodas traseiras",
-                "Rotacionar no eixo",
-                "Movimento arco",
-                "Movimento lateral",
-                "Movimento diagonal",
-                "Diagnóstico"
-            });
-            this.controleLayout.Controls.Add(this.cmbTipoMovimento, 0, 9);
             this.controleLayout.SetColumnSpan(this.cmbTipoMovimento, 3);
 
+            this.controleLayout.Controls.Add(this.acoesLayout, 0, 7);
+            this.controleLayout.SetColumnSpan(this.acoesLayout, 3);
+
             this.acoesLayout.ColumnCount = 3;
             this.acoesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 34F));
             this.acoesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33F));
@@ -225,12 +204,9 @@ namespace AgroBase.Forms.IHM.Operacao
             this.acoesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
             this.acoesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 1F));
 
-            SetupAction(this.btnControleManual, "MANUAL", AgroBase.Forms.IHM.Controls.HmiTheme.Success);
+            SetupAction(this.btnControleManual, "MANUAL", AgroBase.Forms.IHM.Controls.HmiTheme.Info);
-            SetupAction(this.btnReferenciar, "ZERAR", AgroBase.Forms.IHM.Controls.HmiTheme.Info);
+            SetupAction(this.btnReferenciar, "ZERAR", AgroBase.Forms.IHM.Controls.HmiTheme.Disabled);
-            SetupAction(this.btnFreio, "FREIO", AgroBase.Forms.IHM.Controls.HmiTheme.Danger);
+            SetupAction(this.btnFreio, "FREIO", AgroBase.Forms.IHM.Controls.HmiTheme.Disabled);
-
-            this.controleLayout.Controls.Add(this.acoesLayout, 0, 10);
-            this.controleLayout.SetColumnSpan(this.acoesLayout, 3);
 
             // wheels
             this.rodasLayout.Dock = DockStyle.Fill;
@@ -448,9 +424,7 @@ namespace AgroBase.Forms.IHM.Operacao
             this.ResumeLayout(false);
         }
 
-        private static void ConfigurePanel(
+        private static void ConfigurePanel(AgroBase.Forms.IHM.Controls.HmiRoundedPanel panel, System.Windows.Forms.Control child)
-            AgroBase.Forms.IHM.Controls.HmiRoundedPanel panel,
-            System.Windows.Forms.Control child)
         {
             panel.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
             panel.Controls.Add(child);
@@ -461,9 +435,7 @@ namespace AgroBase.Forms.IHM.Operacao
             panel.Padding = new System.Windows.Forms.Padding(7);
         }
 
-        private static void SetupTitle(
+        private static void SetupTitle(System.Windows.Forms.Label label, string text)
-            System.Windows.Forms.Label label,
-            string text)
         {
             label.Dock = System.Windows.Forms.DockStyle.Fill;
             label.BackColor = System.Drawing.Color.Transparent;
@@ -474,9 +446,7 @@ namespace AgroBase.Forms.IHM.Operacao
             label.AutoEllipsis = true;
         }
 
-        private static void SetupCaption(
+        private static void SetupCaption(System.Windows.Forms.Label label, string text)
-            System.Windows.Forms.Label label,
-            string text)
         {
             label.Dock = System.Windows.Forms.DockStyle.Fill;
             label.BackColor = System.Drawing.Color.Transparent;
@@ -502,8 +472,7 @@ namespace AgroBase.Forms.IHM.Operacao
             label.Padding = Padding.Empty;
         }
 
-        private static void SetupCombo(
+        private static void SetupCombo(System.Windows.Forms.ComboBox combo)
-            System.Windows.Forms.ComboBox combo)
         {
             combo.Dock = System.Windows.Forms.DockStyle.Fill;
             combo.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
@@ -514,27 +483,25 @@ namespace AgroBase.Forms.IHM.Operacao
             combo.Margin = new System.Windows.Forms.Padding(0, 1, 0, 1);
         }
 
-        private static void SetupSlider(
+        private static void SetupParameterSlider(HmiParameterSliderRow slider, string titulo, Color accent, int minimum, int maximum, int value, HmiSliderValueFormat format)
-            AgroBase.Forms.IHM.Controls.Operacao.HmiSlider slider,
-            System.Drawing.Color accent,
-            int min,
-            int max,
-            int value)
         {
-            slider.Dock = System.Windows.Forms.DockStyle.Fill;
+            slider.CompactMode = true;
-            slider.Minimum = min;
+
-            slider.Maximum = max;
+            slider.Dock = DockStyle.Fill;
-            slider.Value = value;
+            slider.Margin = Padding.Empty;
+            slider.Padding = Padding.Empty;
+            slider.MinimumSize = Size.Empty;
+            slider.BackColor = Color.Transparent;
+
+            slider.Titulo = titulo;
+            slider.Minimum = minimum;
+            slider.Maximum = maximum;
+            slider.ValueFormat = format;
             slider.AccentColor = accent;
-            slider.TrackColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
+            slider.Value = value;
-            slider.ThumbColor = AgroBase.Forms.IHM.Controls.HmiTheme.Text;
-            slider.Margin = System.Windows.Forms.Padding.Empty;
         }
 
-        private static void SetupAction(
+        private static void SetupAction(HmiSidebarButton button, string text, Color accent)
-            HmiSidebarButton button,
-            string text,
-            Color accent)
         {
             button.Dock = DockStyle.Fill;
 
@@ -550,14 +517,13 @@ namespace AgroBase.Forms.IHM.Operacao
             button.MaximumSize = Size.Empty;
         }
 
-        private static void SetupWheel(
+        private static void SetupWheel(HmiWheelStatusCard card, string titulo)
-    HmiWheelStatusCard card,
-    string titulo)
         {
             card.Dock = DockStyle.Fill;
             card.Margin = new Padding(2, 0, 2, 0);
             card.MinimumSize = Size.Empty;
 
+            card.Tag = titulo;
             card.Titulo = titulo;
 
             card.DirecionalSp = "+0,0°";
@@ -568,7 +534,9 @@ namespace AgroBase.Forms.IHM.Operacao
             card.MovimentoAtual = "0 rpm";
             card.StatusMovimento = "Sem freio";
 
+            card.CheckDir.Tag = titulo;
             card.CheckDir.Checked = true;
+            card.CheckMov.Tag = titulo;
             card.CheckMov.Checked = true;
 
             card.CorStatusDirecional = HmiTheme.Success;
@@ -577,11 +545,7 @@ namespace AgroBase.Forms.IHM.Operacao
             card.BringToFront();
         }
 
-        private static void SetupCompactCard(
+        private static void SetupCompactCard(HmiCompactMetricCard card, string titulo, string valor, Color cor)
-            HmiCompactMetricCard card,
-            string titulo,
-            string valor,
-            Color cor)
         {
             card.Dock = DockStyle.Fill;
             card.Titulo = titulo;
@@ -591,11 +555,7 @@ namespace AgroBase.Forms.IHM.Operacao
             card.MinimumSize = Size.Empty;
         }
 
-        private static void SetupTelemetry(
+        private static void SetupTelemetry(AgroBase.Forms.IHM.Controls.Operacao.HmiTelemetryRow row, string icon, string title, string value)
-            AgroBase.Forms.IHM.Controls.Operacao.HmiTelemetryRow row,
-            string icon,
-            string title,
-            string value)
         {
             row.Dock = System.Windows.Forms.DockStyle.Fill;
             row.IconText = icon;
@@ -603,6 +563,7 @@ namespace AgroBase.Forms.IHM.Operacao
             row.Valor = value;
         }
 
+
         #endregion
 
         private System.Windows.Forms.TableLayoutPanel rootLayout;
@@ -613,15 +574,9 @@ namespace AgroBase.Forms.IHM.Operacao
         private System.Windows.Forms.Label lblControleTitulo;
         private System.Windows.Forms.Label lblJoystick;
         private System.Windows.Forms.ComboBox cmbJoystick;
-        private System.Windows.Forms.Label lblVelocidadeMax;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow sliderVelocidadeMax;
-        private System.Windows.Forms.Label lblVelocidadeMaxValor;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow sliderAngulo;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiSlider sliderVelocidadeMax;
+        private AgroBase.Forms.IHM.Operacao.Parametros.Controls.HmiParameterSliderRow sliderVelocidadeDir;
-        private System.Windows.Forms.Label lblAngulo;
-        private System.Windows.Forms.Label lblAnguloValor;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiSlider sliderAngulo;
-        private System.Windows.Forms.Label lblVelocidadeDir;
-        private System.Windows.Forms.Label lblVelocidadeDirValor;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiSlider sliderVelocidadeDir;
         private System.Windows.Forms.Label lblTipoMovimento;
         private System.Windows.Forms.ComboBox cmbTipoMovimento;
         private System.Windows.Forms.TableLayoutPanel acoesLayout;

AgroBase/AgroBase/Forms/IHM/Operacao/ucOperacaoMovimentacao.cs

@@ -1,10 +1,29 @@
 using AgroBase.Forms.IHM.Controls;
+using AgroBase.Forms.IHM.Controls.Operacao;
+using AgroBase.Models;
+using AgroBase.Models.Modules;
+using AgroBase.Models.Operacoes;
+using AgroBase.Models.Operadores;
+using AgroBase.Services.Operadores;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Threading.Tasks;
 using System.Windows.Forms;
+using static AgroBase.Models.Enums;
 
 namespace AgroBase.Forms.IHM.Operacao
 {
     public partial class ucOperacaoMovimentacao : UserControl
     {
+        private bool _modoManualAtivado = false;
+        private bool _freioAtivado = false;
+        private bool _atualizandoSlider = false;
+        private bool _requisitandoCameraFrame;
+        private bool _controleDescartado;
+        OperacaoModel op => Variaveis.OperacaoEmAndamento;
+
         public ucOperacaoMovimentacao()
         {
             InitializeComponent();
@@ -21,8 +40,6 @@ namespace AgroBase.Forms.IHM.Operacao
             sliderAngulo.Value = 12;
             sliderVelocidadeDir.Value = 55;
 
-            AtualizarLabelsSliders();
-
             telemetryVelocidade.CorValor = HmiTheme.Info;
             telemetryTensao.CorValor = HmiTheme.Success;
             telemetryCorrente.CorValor = HmiTheme.Warning;
@@ -55,39 +72,377 @@ namespace AgroBase.Forms.IHM.Operacao
         {
             sliderVelocidadeMax.ValueChanged += delegate
             {
-                AtualizarLabelsSliders();
+                if (!_modoManualAtivado)
+                    return;
+
+                if (op?.Controle == null)
+                    return;
+
+                op.Controle.PercentualVelocidadeSP = sliderVelocidadeMax.Value;
             };
+            sliderVelocidadeMax.KeyDown += delegate { _atualizandoSlider = true; };
+            sliderVelocidadeMax.KeyUp += delegate { _atualizandoSlider = false; };
 
             sliderAngulo.ValueChanged += delegate
             {
-                AtualizarLabelsSliders();
+                if (!_modoManualAtivado)
+                    return;
+
+                if (op?.Controle == null)
+                    return;
+
+                op.Controle.Angulo = sliderAngulo.Value;
             };
+            sliderAngulo.KeyDown += delegate { _atualizandoSlider = true; };
+            sliderAngulo.KeyUp += delegate { _atualizandoSlider = false; };
 
             sliderVelocidadeDir.ValueChanged += delegate
             {
-                AtualizarLabelsSliders();
+                if (!_modoManualAtivado)
+                    return;
+
+                if (op?.Parametros?.Controle == null)
+                    return;
+
+                op.Parametros.Controle.DirVelocidadeMovimento = sliderVelocidadeDir.Value;
             };
+            sliderVelocidadeDir.KeyDown += delegate { _atualizandoSlider = true; };
+            sliderVelocidadeDir.KeyUp += delegate { _atualizandoSlider = false; };
+
+            btnControleManual.Click += BtnControleManual_Click;
+            btnReferenciar.Click += BtnReferenciar_Click;
+            btnFreio.Click += BtnFreio_Click;
+
+            cmbTipoMovimento.SelectedIndexChanged += CmbTipoMovimento_SelectedIndexChanged;
+
+            cardET.CheckDir.CheckedChanged += CheckDir_CheckedChanged;
+            cardET.CheckMov.CheckedChanged += CheckMov_CheckedChanged;
+            cardDT.CheckDir.CheckedChanged += CheckDir_CheckedChanged;
+            cardDT.CheckMov.CheckedChanged += CheckMov_CheckedChanged;
+            cardEF.CheckDir.CheckedChanged += CheckDir_CheckedChanged;
+            cardEF.CheckMov.CheckedChanged += CheckMov_CheckedChanged;
+            cardDF.CheckDir.CheckedChanged += CheckDir_CheckedChanged;
+            cardDF.CheckMov.CheckedChanged += CheckMov_CheckedChanged;
         }
 
-        private void AtualizarLabelsSliders()
+        private void CheckMov_CheckedChanged(object sender, EventArgs e)
         {
-            double velocidadeKmh =
+            if (!_modoManualAtivado)
-                sliderVelocidadeMax.Value * 0.05;
+                return;
 
-            lblVelocidadeMaxValor.Text =
+            if (!(op?.DispMvd?.Dados?.Modulos?.Any() ?? false))
-                sliderVelocidadeMax.Value +
+                return;
-                "% · " +
-                velocidadeKmh.ToString("0.0") +
-                " km/h";
 
-            lblAnguloValor.Text =
+            var chb = sender as CheckBox;
-                "+" +
-                sliderAngulo.Value +
-                "°";
 
-            lblVelocidadeDirValor.Text =
+            var mod = op?.DispMvd?.Dados?.Modulos?.FirstOrDefault(x => x.Modulo_ID == chb.Tag.ToString())?.MovMotor;
-                sliderVelocidadeDir.Value +
+            if (mod == null)
-                "%";
+                return;
+
+            mod.Comandar = chb.Checked;
+        }
+
+        private void CheckDir_CheckedChanged(object sender, EventArgs e)
+        {
+            if (!_modoManualAtivado)
+                return;
+
+            if (!(op?.DispMvd?.Dados?.Modulos?.Any() ?? false))
+                return;
+
+            var chb = sender as CheckBox;
+
+            var mod = op?.DispMvd?.Dados?.Modulos?.FirstOrDefault(x => x.Modulo_ID == chb.Tag.ToString())?.DirMotor;
+            if (mod == null)
+                return;
+
+            mod.Comandar = chb.Checked;
+        }
+
+        private void CmbTipoMovimento_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            if (!_modoManualAtivado)
+                return;
+
+            if (op?.Controle == null)
+                return;
+
+            var mods = op?.DispMvd?.Dados?.Modulos;
+
+            op.Controle.DefinirTipoMovimento((TipoMovimentoDirecional)cmbTipoMovimento.SelectedIndex, mods);
+
+            AtualizarDadosRodas(cardET, mods, forcar: true);
+            AtualizarDadosRodas(cardDT, mods, forcar: true);
+            AtualizarDadosRodas(cardEF, mods, forcar: true);
+            AtualizarDadosRodas(cardDF, mods, forcar: true);
+        }
+
+        private void BtnFreio_Click(object sender, EventArgs e)
+        {
+            if (!_modoManualAtivado)
+                return;
+
+            if (op?.Controle == null)
+                return;
+
+            _freioAtivado = !_freioAtivado;
+            btnFreio.AccentColor = _freioAtivado ? HmiTheme.Danger : HmiTheme.Info;
+            btnFreio.BorderColor = _freioAtivado ? HmiTheme.Danger : HmiTheme.Info;
+
+            GeneralJoystick.ProcessarDadosControle(BotoesJoystick.Bolinha, !_freioAtivado, ForcarComando: true);
+        }
+
+        private void BtnReferenciar_Click(object sender, EventArgs e)
+        {
+            if (!_modoManualAtivado)
+                return;
+
+            if (op?.DispMvd == null)
+                return;
+
+            GeneralJoystick.ProcessarDadosControle(BotoesJoystick.R3, false, ForcarComando: true);
+        }
+
+        private void BtnControleManual_Click(object sender, EventArgs e)
+        {
+            _modoManualAtivado = !_modoManualAtivado;
+            btnControleManual.AccentColor = _modoManualAtivado ? HmiTheme.Danger : HmiTheme.Info;
+            btnControleManual.BorderColor = _modoManualAtivado ? HmiTheme.Danger : HmiTheme.Info;
+
+            btnReferenciar.AccentColor = _modoManualAtivado ? HmiTheme.Info : HmiTheme.Disabled;
+            btnReferenciar.BackColor = _modoManualAtivado ? HmiTheme.Info : HmiTheme.Disabled;
+            btnFreio.AccentColor = _modoManualAtivado ? HmiTheme.Info : HmiTheme.Disabled;
+            btnFreio.BackColor = _modoManualAtivado ? HmiTheme.Info : HmiTheme.Disabled;
+
+            op.Parametros.Controle.ControleManualAcionado = _modoManualAtivado;
+        }
+
+        public void AtualizarDadosTela()
+        {
+            var dados = op?.Sensoriamento;
+            var mods = op?.DispMvd?.Dados?.Modulos;
+
+            AtualizarDadosControle(op?.Controle, op?.Parametros?.Controle);
+
+            AtualizarDadosRodas(cardET, mods);
+            AtualizarDadosRodas(cardDT, mods);
+            AtualizarDadosRodas(cardEF, mods);
+            AtualizarDadosRodas(cardDF, mods);
+
+            AtualizarDadosCamera(dados?.Cameras?.FirstOrDefault(x => x.dispositivo == Enums.T_Code.Snr), dados?.OperadorSaude?.ModulosSaude?.FirstOrDefault(x => x.modulo == T_Code.Snr)?.saude ?? 0);
+
+            AtualizarDadosSonar(dados.OperadorVisual);
+
+            AtualizarDadosImu(dados.IMU);
+
+            AtualizarDadosTelemetria(dados);
+        }
+
+        public void AtualizarDadosControle(OperacaoControleModel controle, OperacaoParametrosControleModel parametros)
+        {
+            AtualizarListaJoysticks();
+
+            if (_atualizandoSlider)
+                return;
+
+            sliderVelocidadeMax.VelocidadeMaximaKmh = FuncoesMatematicas.CalculaVelocidadeRPM(VariaveisEquipamento.RPM_Max_Roda);
+            sliderVelocidadeMax.Value = (int)Limitar(controle?.PercentualVelocidadeSP ?? 0, sliderVelocidadeMax.Minimum, sliderVelocidadeMax.Maximum);
+            sliderAngulo.Value = (int)Limitar(controle?.Angulo ?? 0, sliderAngulo.Minimum, sliderAngulo.Maximum);
+            sliderVelocidadeDir.Value = (int)Limitar(parametros?.DirVelocidadeMovimento ?? 0, sliderVelocidadeDir.Minimum, sliderVelocidadeDir.Maximum);
+        }
+
+        private void AtualizarListaJoysticks()
+        {
+            string joystickSelecionado = cmbJoystick.SelectedItem as string;
+            string[] itemsAntigos = cmbJoystick.Items.Cast<string>().ToArray();
+            GeneralJoystick.AtualizaDispositivo();
+            string[] itemsNovos = GeneralJoystick.JoysticksConectados.ToArray();
+
+            if (itemsAntigos.SequenceEqual(itemsNovos))
+                return;
+
+            cmbJoystick.BeginUpdate();
+
+            try
+            {
+                cmbJoystick.Items.Clear();
+                cmbJoystick.Items.AddRange(itemsNovos);
+
+                string joystickConectado = GeneralJoystick.JoystickConectado?.Information?.InstanceName;
+
+                int indice = -1;
+
+                if (!string.IsNullOrWhiteSpace(joystickConectado))
+                    indice = cmbJoystick.Items.IndexOf(joystickConectado);
+
+                if (indice < 0 && !string.IsNullOrWhiteSpace(joystickSelecionado))
+                    indice = cmbJoystick.Items.IndexOf(joystickSelecionado);
+
+                if (indice < 0 && cmbJoystick.Items.Count > 0)
+                    indice = 0;
+
+                cmbJoystick.SelectedIndex = indice;
+            }
+            finally
+            {
+                cmbJoystick.EndUpdate();
             }
         }
+
+        private void AtualizarDadosRodas(HmiWheelStatusCard card, List<ModuloMvdModel> Mods, bool forcar = false)
+        {
+            if (_modoManualAtivado && !forcar)
+                return;
+
+            var Dir = Mods.FirstOrDefault(x => x.Modulo_ID == card.Tag.ToString())?.DirMotor;
+            var Mov = Mods.FirstOrDefault(x => x.Modulo_ID == card.Tag.ToString())?.MovMotor;
+
+            card.AtualizarDados(
+                dir_em_uso: Dir?.Comandar ?? false,
+                dir_ang_sp: Dir?.Angulo_SP ?? 0,
+                dir_ang_at: Dir?.AnguloReal ?? 0,
+                dir_sentido: Dir?.SentidoReal ?? Sentido.Parado,
+                mov_em_uso: Mov?.Comandar ?? false,
+                mov_vel_sp: Mov?.RPM_SP ?? 0,
+                mov_vel_at: Mov?.RPM_Roda ?? 0,
+                mov_freio: Mov?.UltimoFreioSP ?? false
+            );
+        }
+
+        public async void AtualizarDadosCamera(CameraWorkerItemModel dados, double saude)
+        {
+            lblCameraStatus.Text = $"FPS {dados?.fps ?? 0:F0} · {dados?.stream_kbps ?? 0:F1} MB/s · Saúde {saude:F0}%";
+            
+            if (!_requisitandoCameraFrame)
+                _ = RequisitarCameraFrameAsync();
+        }
+
+        private async Task RequisitarCameraFrameAsync()
+        {
+            if (_requisitandoCameraFrame || _controleDescartado)
+                return;
+
+            _requisitandoCameraFrame = true;
+
+            try
+            {
+                TipoFrameCamera tipoFrame = (TipoFrameCamera)cmbTipoFrame.SelectedIndex;
+
+                var frame = await VisualWorkerService.GetCameraFrame(tipoFrame);
+
+                if (_controleDescartado || frame == null)
+                    return;
+
+                Image imagemRecebida = frame.image();
+
+                if (imagemRecebida == null)
+                    return;
+
+                // Garante que o PictureBox receba uma imagem independente
+                // de streams ou buffers internos do frame.
+                Image imagemSegura;
+
+                using (imagemRecebida)
+                {
+                    imagemSegura = new Bitmap(imagemRecebida);
+                }
+
+                AtualizarImagemPainel(picCamera, imagemSegura);
+            }
+            catch (OutOfMemoryException ex)
+            {
+                // Em System.Drawing isso também pode significar
+                // imagem ou stream inválido, não só falta real de RAM.
+                Variaveis.MostrarLog("[IHM][Câmera] Frame inválido ou erro de memória: " + ex.Message);
+            }
+            catch (Exception ex)
+            {
+                Variaveis.MostrarLog("[IHM][Câmera] Erro ao obter frame: " + ex.Message);
+            }
+            finally
+            {
+                _requisitandoCameraFrame = false;
+            }
+        }
+
+        private void AtualizarImagemPainel(PictureBox pictureBox, Image novaImagem)
+        {
+            if (pictureBox == null)
+            {
+                novaImagem?.Dispose();
+                return;
+            }
+
+            if (pictureBox.IsDisposed || pictureBox.Disposing || _controleDescartado)
+            {
+                novaImagem?.Dispose();
+                return;
+            }
+
+            if (pictureBox.InvokeRequired)
+            {
+                try
+                {
+                    pictureBox.BeginInvoke(new Action<PictureBox, Image>(AtualizarImagemPainel), pictureBox, novaImagem);
+                }
+                catch
+                {
+                    novaImagem?.Dispose();
+                }
+
+                return;
+            }
+
+            Image imagemAnterior = pictureBox.Image;
+            pictureBox.Image = novaImagem;
+            imagemAnterior?.Dispose();
+        }
+
+        private void AtualizarDadosSonar(VisualWorkerModel dados)
+        {
+            cardSonarModo.Valor = dados?.Analises?.matriz_confianca?.block?.decision?.mode ?? "N/A";
+            cardSonarFator.Valor = (dados?.Analises?.matriz_confianca?.block?.decision?.v_max_sugerida_mps ?? 0f).ToString("F2") + "%";
+            cardSonarProximo.Valor = (dados?.Analises?.matriz_confianca?.block?.decision?.dist_necessaria ?? 0f).ToString("F2") + " m";
+            cardSonarLivreEsq.Valor = "0,00 m";
+            cardSonarLivreDir.Valor = "0,00 m";
+            cardSonarCorredor.Valor = (dados?.Analises?.segmentacao?.status_corredor ?? StatusCarroMapa.Indefinido).ToString();
+        }
+
+        private void AtualizarDadosImu(ModuloIMUModel dados)
+        {
+            cardImuModo.Valor = dados?.risk_level ?? "N/A";
+            cardImuFator.Valor = (dados?.velocidade_factor ?? 0f).ToString("F2");
+            cardImuMotivo.Valor = string.Join(", ", (dados?.motivos_risco ?? new System.Collections.Generic.List<string>()));
+
+            attitudeIndicator.FrontalDeg = dados.RollSeguro;
+            attitudeIndicator.LateralDeg = dados.PitchSeguro;
+        }
+
+        private void AtualizarDadosTelemetria(OperacaoSensoriamentoConjuntoModel dados)
+        {
+            double velocidadeKmh = FuncoesMatematicas.ConverteMsParaKmh(dados?.Movimentacao?.VelocidadeMediaMs ?? 0);
+            TimeSpan tempoMovimento = dados?.Movimentacao?.TempoMovimento ?? TimeSpan.Zero;
+            double autonomiaMinutos = dados?.Bateria?.TempoEstimadoRestanteMinutos ?? 0;
+            TimeSpan tempoAutonomia = TimeSpan.FromMinutes(Math.Max(0, autonomiaMinutos));
+
+            telemetryVelocidade.Valor = $"{velocidadeKmh:F2} km/h";
+            telemetryTensao.Valor = $"{dados?.Bateria?.TensaoInstantanea ?? 0:F2} V";
+            telemetryCorrente.Valor = $"{dados?.Bateria?.CorrenteInstantanea ?? 0:F2} A";
+            telemetryPotencia.Valor = $"{dados?.Bateria?.PotenciaInstantanea ?? 0:F2} W";
+            telemetryRpm.Valor = $"{dados?.Movimentacao?.RPMRodaMedio ?? 0:F0} rpm";
+            telemetryDistancia.Valor = $"{dados?.Movimentacao?.DistanciaPercorridaTotal ?? 0:F2} m";
+            telemetryTempo.Valor = tempoMovimento.ToString(@"hh\:mm\:ss");
+            telemetryVelMedia.Valor = $"{velocidadeKmh:F2} km/h";
+            telemetryAutonomiaM.Valor = $"{dados?.Bateria?.DistanciaEstimadaRestanteMetros ?? 0:F0} m";
+            telemetryAutonomiaTempo.Valor = tempoAutonomia.ToString(@"hh\:mm\:ss");
+        }
+
+
+
+        private static double Limitar(double valor, double minimo, double maximo)
+        {
+            return Math.Max(minimo, Math.Min(maximo, valor));
+        }
+
+    }
 }

AgroBase/AgroBase/Forms/IHM/Operacao/ucOperacaoParametros.Designer.cs

@@ -6,11 +6,8 @@
 
         protected override void Dispose(bool disposing)
         {
-            if (disposing &&
+            if (disposing && components != null)
-                components != null)
-            {
                 components.Dispose();
-            }
 
             base.Dispose(disposing);
         }
@@ -20,514 +17,199 @@
         private void InitializeComponent()
         {
             this.rootLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.leftLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.tabsLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.btnAbaMovimento = new System.Windows.Forms.Button();
+            this.btnAbaDirecional = new System.Windows.Forms.Button();
+            this.btnAbaAtuador = new System.Windows.Forms.Button();
+            this.btnAbaMapa = new System.Windows.Forms.Button();
 
-            this.pnlGeral = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
+            this.pnlDescricaoAba = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
-            this.geralLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.lblDescricaoAba = new System.Windows.Forms.Label();
-            this.lblGeralTitulo = new System.Windows.Forms.Label();
-            this.lblModoOperacao = new System.Windows.Forms.Label();
-            this.btnModoManual = new System.Windows.Forms.Button();
-            this.btnModoMapaGps = new System.Windows.Forms.Button();
-            this.toggleRegistrarDados = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow();
 
-            this.pnlMovimento = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
+            this.pnlConteudo = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
-            this.movimentoLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.lblMovimentoTitulo = new System.Windows.Forms.Label();
-            this.movTogglesLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.toggleMovAutomatico = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow();
-            this.toggleMovSonar = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow();
-            this.toggleParadaObstaculo = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow();
-            this.toggleMovImu = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow();
-            this.toggleParadaInclinacao = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow();
-            this.toggleFrenagemParar = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow();
-            this.movValuesLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.paramVelSemErvas = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-            this.paramVelComErvas = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-
-            this.pnlDirecional = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
-            this.direcionalLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.lblDirecionalTitulo = new System.Windows.Forms.Label();
-            this.dirTogglesLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.toggleDirAutomatico = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow();
-            this.toggleDirSonar = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow();
-            this.toggleDirImu = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow();
-            this.toggleImuPrefereArco = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow();
-            this.dirValuesLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.paramAnguloMaximo = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-            this.paramVelMovimentoDir = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-            this.pnlTipoControle = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
-            this.tipoControleLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.lblTipoControle = new System.Windows.Forms.Label();
-            this.btnControleMpc = new System.Windows.Forms.Button();
-            this.btnControlePid = new System.Windows.Forms.Button();
-
-            this.pnlAtuador = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
-            this.atuadorLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.lblAtuadorTitulo = new System.Windows.Forms.Label();
-            this.togglePulverizadorAutomatico = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow();
-            this.cmbModoAgitador = new System.Windows.Forms.ComboBox();
-            this.atuadorValuesLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.paramBicosEmUso = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-            this.paramCapacidadeReservatorio = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-            this.paramPressaoLinha = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-            this.paramTelaIniciar = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-            this.paramAlturaArea = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-            this.paramErvasOn = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-            this.paramErvasOff = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-
-            this.pnlMpc = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
-            this.mpcLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.lblMpcTitulo = new System.Windows.Forms.Label();
-            this.paramHorizonte = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-            this.paramAnteciparFim = new AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox();
-
-            this.rightLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.pnlMapa = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
-            this.mapLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.mapHeaderLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.lblMapaTitulo = new System.Windows.Forms.Label();
-            this.btnMapaBonito = new System.Windows.Forms.Button();
-            this.btnMapaDinamico = new System.Windows.Forms.Button();
-            this.pnlMapaVisual = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
-            this.lblMapaPlaceholder = new System.Windows.Forms.Label();
-            this.lblMapaAjuda = new System.Windows.Forms.Label();
 
+            this.footerPanel = new AgroBase.Forms.IHM.Controls.HmiRoundedPanel();
             this.footerLayout = new System.Windows.Forms.TableLayoutPanel();
-            this.btnAplicarAtual = new AgroBase.Forms.IHM.Controls.HmiSidebarButton();
+
-            this.btnSalvarParametros = new AgroBase.Forms.IHM.Controls.HmiSidebarButton();
+            this.lblModoOperacao = new System.Windows.Forms.Label();
+            this.cmbModoOperacao = new System.Windows.Forms.ComboBox();
+
+            this.posProcessamentoLayout = new System.Windows.Forms.TableLayoutPanel();
+            this.lblPosProcessamento = new System.Windows.Forms.Label();
+            this.checkPosProcessamento = new System.Windows.Forms.CheckBox();
+
+            this.btnRedefinir = new AgroBase.Forms.IHM.Controls.HmiSidebarButton();
+            this.btnSalvar = new AgroBase.Forms.IHM.Controls.HmiSidebarButton();
 
             this.rootLayout.SuspendLayout();
-            this.leftLayout.SuspendLayout();
+            this.tabsLayout.SuspendLayout();
-            this.pnlGeral.SuspendLayout();
+            this.pnlDescricaoAba.SuspendLayout();
-            this.geralLayout.SuspendLayout();
+            this.footerPanel.SuspendLayout();
-            this.pnlMovimento.SuspendLayout();
-            this.movimentoLayout.SuspendLayout();
-            this.movTogglesLayout.SuspendLayout();
-            this.movValuesLayout.SuspendLayout();
-            this.pnlDirecional.SuspendLayout();
-            this.direcionalLayout.SuspendLayout();
-            this.dirTogglesLayout.SuspendLayout();
-            this.dirValuesLayout.SuspendLayout();
-            this.pnlTipoControle.SuspendLayout();
-            this.tipoControleLayout.SuspendLayout();
-            this.pnlAtuador.SuspendLayout();
-            this.atuadorLayout.SuspendLayout();
-            this.atuadorValuesLayout.SuspendLayout();
-            this.pnlMpc.SuspendLayout();
-            this.mpcLayout.SuspendLayout();
-            this.rightLayout.SuspendLayout();
-            this.pnlMapa.SuspendLayout();
-            this.mapLayout.SuspendLayout();
-            this.mapHeaderLayout.SuspendLayout();
-            this.pnlMapaVisual.SuspendLayout();
             this.footerLayout.SuspendLayout();
+            this.posProcessamentoLayout.SuspendLayout();
             this.SuspendLayout();
 
-            // root
+            // rootLayout
-            this.rootLayout.BackColor =
+            this.rootLayout.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.Background;
-                AgroBase.Forms.IHM.Controls.HmiTheme.Background;
+            this.rootLayout.ColumnCount = 1;
+            this.rootLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.rootLayout.Controls.Add(this.tabsLayout, 0, 0);
+            this.rootLayout.Controls.Add(this.pnlDescricaoAba, 0, 1);
+            this.rootLayout.Controls.Add(this.pnlConteudo, 0, 2);
+            this.rootLayout.Controls.Add(this.footerPanel, 0, 3);
+            this.rootLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rootLayout.Margin = System.Windows.Forms.Padding.Empty;
+            this.rootLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.rootLayout.RowCount = 4;
+            this.rootLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 45F));
+            this.rootLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 28F));
+            this.rootLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.rootLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 62F));
 
-            this.rootLayout.ColumnCount = 2;
+            // tabsLayout
+            this.tabsLayout.BackColor = System.Drawing.Color.Transparent;
+            this.tabsLayout.ColumnCount = 4;
+            this.tabsLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tabsLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tabsLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tabsLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tabsLayout.Controls.Add(this.btnAbaMovimento, 0, 0);
+            this.tabsLayout.Controls.Add(this.btnAbaDirecional, 1, 0);
+            this.tabsLayout.Controls.Add(this.btnAbaAtuador, 2, 0);
+            this.tabsLayout.Controls.Add(this.btnAbaMapa, 3, 0);
+            this.tabsLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tabsLayout.Margin = new System.Windows.Forms.Padding(0, 0, 0, 3);
+            this.tabsLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.tabsLayout.RowCount = 1;
+            this.tabsLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
 
-            this.rootLayout.ColumnStyles.Add(
+            SetupTabButton(this.btnAbaMovimento, "↔   Movimento");
-                new System.Windows.Forms.ColumnStyle(
+            SetupTabButton(this.btnAbaDirecional, "◉   Direcional");
-                    System.Windows.Forms.SizeType.Percent,
+            SetupTabButton(this.btnAbaAtuador, "♨   Atuador");
-                    52F));
+            SetupTabButton(this.btnAbaMapa, "⌖   Mapa e Navegação");
 
-            this.rootLayout.ColumnStyles.Add(
+            // pnlDescricaoAba
-                new System.Windows.Forms.ColumnStyle(
+            this.pnlDescricaoAba.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
-                    System.Windows.Forms.SizeType.Percent,
+            this.pnlDescricaoAba.Controls.Add(this.lblDescricaoAba);
-                    48F));
+            this.pnlDescricaoAba.CornerRadius = 7;
+            this.pnlDescricaoAba.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.pnlDescricaoAba.FillColor = AgroBase.Forms.IHM.Controls.HmiTheme.SurfaceRaised;
+            this.pnlDescricaoAba.Margin = new System.Windows.Forms.Padding(0, 0, 0, 3);
+            this.pnlDescricaoAba.Padding = new System.Windows.Forms.Padding(10, 0, 10, 0);
 
-            this.rootLayout.Controls.Add(
+            // lblDescricaoAba
-                this.leftLayout,
+            this.lblDescricaoAba.AutoEllipsis = true;
-                0,
+            this.lblDescricaoAba.BackColor = System.Drawing.Color.Transparent;
-                0);
+            this.lblDescricaoAba.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lblDescricaoAba.Font = new System.Drawing.Font("Segoe UI", 7.2F);
+            this.lblDescricaoAba.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.TextMuted;
+            this.lblDescricaoAba.Margin = System.Windows.Forms.Padding.Empty;
+            this.lblDescricaoAba.Text = "Automação, assistências e velocidades de deslocamento";
+            this.lblDescricaoAba.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
 
-            this.rootLayout.Controls.Add(
+            // pnlConteudo
-                this.rightLayout,
+            this.pnlConteudo.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
-                1,
+            this.pnlConteudo.CornerRadius = 9;
-                0);
+            this.pnlConteudo.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.pnlConteudo.FillColor = AgroBase.Forms.IHM.Controls.HmiTheme.Surface;
+            this.pnlConteudo.Margin = new System.Windows.Forms.Padding(0, 0, 0, 3);
+            this.pnlConteudo.Padding = new System.Windows.Forms.Padding(6);
 
-            this.rootLayout.Dock =
+            // footerPanel
-                System.Windows.Forms.DockStyle.Fill;
+            this.footerPanel.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
+            this.footerPanel.Controls.Add(this.footerLayout);
+            this.footerPanel.CornerRadius = 9;
+            this.footerPanel.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.footerPanel.FillColor = AgroBase.Forms.IHM.Controls.HmiTheme.Surface;
+            this.footerPanel.Margin = System.Windows.Forms.Padding.Empty;
+            this.footerPanel.Padding = new System.Windows.Forms.Padding(8, 6, 8, 6);
 
-            this.rootLayout.Margin =
+            // footerLayout
-                new System.Windows.Forms.Padding(0);
+            this.footerLayout.BackColor = System.Drawing.Color.Transparent;
-
+            this.footerLayout.ColumnCount = 5;
-            this.rootLayout.Padding =
+            this.footerLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 55F));
-                new System.Windows.Forms.Padding(0);
+            this.footerLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 128F));
-
+            this.footerLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
-            // left
+            this.footerLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 135F));
-            this.leftLayout.BackColor =
+            this.footerLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 145F));
-                System.Drawing.Color.Transparent;
+            this.footerLayout.Controls.Add(this.lblModoOperacao, 0, 0);
-
+            this.footerLayout.Controls.Add(this.cmbModoOperacao, 1, 0);
-            this.leftLayout.ColumnCount = 1;
+            this.footerLayout.Controls.Add(this.posProcessamentoLayout, 2, 0);
-
+            this.footerLayout.Controls.Add(this.btnRedefinir, 3, 0);
-            this.leftLayout.ColumnStyles.Add(
+            this.footerLayout.Controls.Add(this.btnSalvar, 4, 0);
-                new System.Windows.Forms.ColumnStyle(
-                    System.Windows.Forms.SizeType.Percent,
-                    100F));
-
-            this.leftLayout.Controls.Add(
-                this.pnlGeral,
-                0,
-                0);
-
-            this.leftLayout.Controls.Add(
-                this.pnlMovimento,
-                0,
-                1);
-
-            this.leftLayout.Controls.Add(
-                this.pnlDirecional,
-                0,
-                2);
-
-            this.leftLayout.Controls.Add(
-                this.pnlAtuador,
-                0,
-                3);
-
-            this.leftLayout.Controls.Add(
-                this.pnlMpc,
-                0,
-                4);
-
-            this.leftLayout.Dock =
-                System.Windows.Forms.DockStyle.Fill;
-
-            this.leftLayout.Margin =
-                new System.Windows.Forms.Padding(
-                    0,
-                    0,
-                    3,
-                    0);
-
-            this.leftLayout.RowCount = 5;
-
-            this.leftLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 14F));
-            this.leftLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
-            this.leftLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 22F));
-            this.leftLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 27F));
-            this.leftLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 12F));
-
-            ConfigurePanel(this.pnlGeral, this.geralLayout);
-            ConfigurePanel(this.pnlMovimento, this.movimentoLayout);
-            ConfigurePanel(this.pnlDirecional, this.direcionalLayout);
-            ConfigurePanel(this.pnlAtuador, this.atuadorLayout);
-            ConfigurePanel(this.pnlMpc, this.mpcLayout);
-
-            // geral
-            this.geralLayout.ColumnCount = 4;
-            this.geralLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 23F));
-            this.geralLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 19F));
-            this.geralLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 19F));
-            this.geralLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 39F));
-            this.geralLayout.Controls.Add(this.lblGeralTitulo, 0, 0);
-            this.geralLayout.Controls.Add(this.lblModoOperacao, 0, 1);
-            this.geralLayout.Controls.Add(this.btnModoManual, 1, 1);
-            this.geralLayout.Controls.Add(this.btnModoMapaGps, 2, 1);
-            this.geralLayout.Controls.Add(this.toggleRegistrarDados, 3, 1);
-            this.geralLayout.SetColumnSpan(this.lblGeralTitulo, 4);
-            this.geralLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.geralLayout.RowCount = 2;
-            this.geralLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 23F));
-            this.geralLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
-
-            SetupTitle(this.lblGeralTitulo, "1  GERAL DA OPERAÇÃO");
-
-            this.lblModoOperacao.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lblModoOperacao.Text = "Modo de operação";
-            this.lblModoOperacao.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.TextMuted;
-            this.lblModoOperacao.Font = new System.Drawing.Font("Segoe UI", 7F);
-            this.lblModoOperacao.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
-
-            SetupChoiceButton(this.btnModoManual, "Manual");
-            SetupChoiceButton(this.btnModoMapaGps, "MapaGPS");
-
-            this.toggleRegistrarDados.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.toggleRegistrarDados.Titulo = "Registrar dados para pós-processamento";
-
-            // movimento
-            this.movimentoLayout.ColumnCount = 2;
-            this.movimentoLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 58F));
-            this.movimentoLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 42F));
-            this.movimentoLayout.Controls.Add(this.lblMovimentoTitulo, 0, 0);
-            this.movimentoLayout.Controls.Add(this.movTogglesLayout, 0, 1);
-            this.movimentoLayout.Controls.Add(this.movValuesLayout, 1, 1);
-            this.movimentoLayout.SetColumnSpan(this.lblMovimentoTitulo, 2);
-            this.movimentoLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.movimentoLayout.RowCount = 2;
-            this.movimentoLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 23F));
-            this.movimentoLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
-
-            SetupTitle(this.lblMovimentoTitulo, "2  MOVIMENTO");
-
-            this.movTogglesLayout.ColumnCount = 2;
-            this.movTogglesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.movTogglesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.movTogglesLayout.Controls.Add(this.toggleMovAutomatico, 0, 0);
-            this.movTogglesLayout.Controls.Add(this.toggleMovImu, 1, 0);
-            this.movTogglesLayout.Controls.Add(this.toggleMovSonar, 0, 1);
-            this.movTogglesLayout.Controls.Add(this.toggleParadaInclinacao, 1, 1);
-            this.movTogglesLayout.Controls.Add(this.toggleParadaObstaculo, 0, 2);
-            this.movTogglesLayout.Controls.Add(this.toggleFrenagemParar, 1, 2);
-            this.movTogglesLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.movTogglesLayout.RowCount = 3;
-            this.movTogglesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33F));
-            this.movTogglesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33F));
-            this.movTogglesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.34F));
-
-            this.toggleMovAutomatico.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.toggleMovAutomatico.Titulo = "Movimento automático";
-            this.toggleMovSonar.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.toggleMovSonar.Titulo = "Assistido por sonar";
-            this.toggleParadaObstaculo.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.toggleParadaObstaculo.Titulo = "Parada por obstáculo";
-            this.toggleMovImu.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.toggleMovImu.Titulo = "Assistido por IMU";
-            this.toggleParadaInclinacao.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.toggleParadaInclinacao.Titulo = "Parada por inclinação";
-            this.toggleFrenagemParar.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.toggleFrenagemParar.Titulo = "Frenagem ao parar";
-
-            this.movValuesLayout.ColumnCount = 1;
-            this.movValuesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
-            this.movValuesLayout.Controls.Add(this.paramVelSemErvas, 0, 0);
-            this.movValuesLayout.Controls.Add(this.paramVelComErvas, 0, 1);
-            this.movValuesLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.movValuesLayout.RowCount = 2;
-            this.movValuesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.movValuesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-
-            SetupValueBox(this.paramVelSemErvas, "Vel. sem ervas", "%", 50, 0, 100, 0);
-            SetupValueBox(this.paramVelComErvas, "Vel. com ervas", "%", 35, 0, 100, 0);
-
-            // direcional
-            this.direcionalLayout.ColumnCount = 2;
-            this.direcionalLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 45F));
-            this.direcionalLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 55F));
-            this.direcionalLayout.Controls.Add(this.lblDirecionalTitulo, 0, 0);
-            this.direcionalLayout.Controls.Add(this.dirTogglesLayout, 0, 1);
-            this.direcionalLayout.Controls.Add(this.dirValuesLayout, 1, 1);
-            this.direcionalLayout.SetColumnSpan(this.lblDirecionalTitulo, 2);
-            this.direcionalLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.direcionalLayout.RowCount = 2;
-            this.direcionalLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 23F));
-            this.direcionalLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
-
-            SetupTitle(this.lblDirecionalTitulo, "3  DIRECIONAL");
-
-            this.dirTogglesLayout.ColumnCount = 1;
-            this.dirTogglesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
-            this.dirTogglesLayout.Controls.Add(this.toggleDirAutomatico, 0, 0);
-            this.dirTogglesLayout.Controls.Add(this.toggleDirSonar, 0, 1);
-            this.dirTogglesLayout.Controls.Add(this.toggleDirImu, 0, 2);
-            this.dirTogglesLayout.Controls.Add(this.toggleImuPrefereArco, 0, 3);
-            this.dirTogglesLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.dirTogglesLayout.RowCount = 4;
-            for (int i = 0; i < 4; i++)
-                this.dirTogglesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
-
-            this.toggleDirAutomatico.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.toggleDirAutomatico.Titulo = "Direcional automático";
-            this.toggleDirSonar.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.toggleDirSonar.Titulo = "Assistido por sonar";
-            this.toggleDirImu.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.toggleDirImu.Titulo = "Assistido por IMU";
-            this.toggleImuPrefereArco.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.toggleImuPrefereArco.Titulo = "IMU prefere arco";
-            this.toggleImuPrefereArco.Checked = false;
-
-            this.dirValuesLayout.ColumnCount = 3;
-            this.dirValuesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33F));
-            this.dirValuesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33F));
-            this.dirValuesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.34F));
-            this.dirValuesLayout.Controls.Add(this.paramAnguloMaximo, 0, 0);
-            this.dirValuesLayout.Controls.Add(this.paramVelMovimentoDir, 1, 0);
-            this.dirValuesLayout.Controls.Add(this.pnlTipoControle, 2, 0);
-            this.dirValuesLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-
-            SetupValueBox(this.paramAnguloMaximo, "Ângulo máximo", "°", 45, 0, 90, 0);
-            SetupValueBox(this.paramVelMovimentoDir, "Vel. movimento", "%", 60, 0, 100, 0);
-
-            this.pnlTipoControle.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
-            this.pnlTipoControle.Controls.Add(this.tipoControleLayout);
-            this.pnlTipoControle.CornerRadius = 7;
-            this.pnlTipoControle.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.pnlTipoControle.FillColor = AgroBase.Forms.IHM.Controls.HmiTheme.SurfaceRaised;
-            this.pnlTipoControle.Margin = new System.Windows.Forms.Padding(2);
-            this.pnlTipoControle.Padding = new System.Windows.Forms.Padding(5);
-
-            this.tipoControleLayout.ColumnCount = 2;
-            this.tipoControleLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tipoControleLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tipoControleLayout.Controls.Add(this.lblTipoControle, 0, 0);
-            this.tipoControleLayout.Controls.Add(this.btnControleMpc, 0, 1);
-            this.tipoControleLayout.Controls.Add(this.btnControlePid, 1, 1);
-            this.tipoControleLayout.SetColumnSpan(this.lblTipoControle, 2);
-            this.tipoControleLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tipoControleLayout.RowCount = 2;
-            this.tipoControleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 23F));
-            this.tipoControleLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
-
-            this.lblTipoControle.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lblTipoControle.Text = "Tipo de controle";
-            this.lblTipoControle.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.TextMuted;
-            this.lblTipoControle.Font = new System.Drawing.Font("Segoe UI", 7F);
-            this.lblTipoControle.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-
-            SetupChoiceButton(this.btnControleMpc, "MPC");
-            SetupChoiceButton(this.btnControlePid, "PID");
-
-            // atuador
-            this.atuadorLayout.ColumnCount = 2;
-            this.atuadorLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 42F));
-            this.atuadorLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 58F));
-            this.atuadorLayout.Controls.Add(this.lblAtuadorTitulo, 0, 0);
-            this.atuadorLayout.Controls.Add(this.togglePulverizadorAutomatico, 1, 0);
-            this.atuadorLayout.Controls.Add(this.cmbModoAgitador, 0, 1);
-            this.atuadorLayout.Controls.Add(this.atuadorValuesLayout, 0, 2);
-            this.atuadorLayout.SetColumnSpan(this.atuadorValuesLayout, 2);
-            this.atuadorLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.atuadorLayout.RowCount = 3;
-            this.atuadorLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 27F));
-            this.atuadorLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 34F));
-            this.atuadorLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
-
-            SetupTitle(this.lblAtuadorTitulo, "4  ATUADOR");
-
-            this.togglePulverizadorAutomatico.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.togglePulverizadorAutomatico.Titulo = "Pulverizador automático";
-
-            this.cmbModoAgitador.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.cmbModoAgitador.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
-            this.cmbModoAgitador.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.cmbModoAgitador.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.SurfaceRaised;
-            this.cmbModoAgitador.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.Text;
-            this.cmbModoAgitador.Items.AddRange(new object[] { "Sem agitação", "Contínuo", "Intermitente" });
-            this.cmbModoAgitador.SelectedIndex = 1;
-            this.atuadorLayout.SetColumnSpan(this.cmbModoAgitador, 2);
-
-            this.atuadorValuesLayout.ColumnCount = 4;
-            this.atuadorValuesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
-            this.atuadorValuesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
-            this.atuadorValuesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
-            this.atuadorValuesLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
-            this.atuadorValuesLayout.Controls.Add(this.paramBicosEmUso, 0, 0);
-            this.atuadorValuesLayout.Controls.Add(this.paramCapacidadeReservatorio, 1, 0);
-            this.atuadorValuesLayout.Controls.Add(this.paramPressaoLinha, 2, 0);
-            this.atuadorValuesLayout.Controls.Add(this.paramTelaIniciar, 3, 0);
-            this.atuadorValuesLayout.Controls.Add(this.paramAlturaArea, 0, 1);
-            this.atuadorValuesLayout.Controls.Add(this.paramErvasOn, 1, 1);
-            this.atuadorValuesLayout.Controls.Add(this.paramErvasOff, 2, 1);
-            this.atuadorValuesLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.atuadorValuesLayout.RowCount = 2;
-            this.atuadorValuesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.atuadorValuesLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-
-            SetupValueBox(this.paramBicosEmUso, "Bicos em uso", "", 6, 1, 12, 0);
-            SetupValueBox(this.paramCapacidadeReservatorio, "Capacidade reservatório", "L", 200, 50, 500, 0);
-            SetupValueBox(this.paramPressaoLinha, "Pressão da linha", "psi", 45, 0, 120, 0);
-            SetupValueBox(this.paramTelaIniciar, "% tela para iniciar", "%", 40, 0, 100, 0);
-            SetupValueBox(this.paramAlturaArea, "Altura da área", "%", 60, 0, 100, 0);
-            SetupValueBox(this.paramErvasOn, "% ervas ON", "%", 25, 0, 100, 0);
-            SetupValueBox(this.paramErvasOff, "% ervas OFF", "%", 15, 0, 100, 0);
-
-            // MPC
-            this.mpcLayout.ColumnCount = 3;
-            this.mpcLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 30F));
-            this.mpcLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 35F));
-            this.mpcLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 35F));
-            this.mpcLayout.Controls.Add(this.lblMpcTitulo, 0, 0);
-            this.mpcLayout.Controls.Add(this.paramHorizonte, 1, 0);
-            this.mpcLayout.Controls.Add(this.paramAnteciparFim, 2, 0);
-            this.mpcLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-
-            SetupTitle(this.lblMpcTitulo, "5  MPC E NAVEGAÇÃO");
-            SetupValueBox(this.paramHorizonte, "Horizonte de predição", "m", 12, 0, 30, 1);
-            SetupValueBox(this.paramAnteciparFim, "Antecipar fim corredor", "m", 5, 0, 15, 1);
-
-            // right
-            this.rightLayout.BackColor = System.Drawing.Color.Transparent;
-            this.rightLayout.ColumnCount = 1;
-            this.rightLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
-            this.rightLayout.Controls.Add(this.pnlMapa, 0, 0);
-            this.rightLayout.Controls.Add(this.footerLayout, 0, 1);
-            this.rightLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.rightLayout.Margin = new System.Windows.Forms.Padding(3, 0, 0, 0);
-            this.rightLayout.RowCount = 2;
-            this.rightLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 80F));
-            this.rightLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 20F));
-
-            ConfigurePanel(this.pnlMapa, this.mapLayout);
-
-            this.mapLayout.ColumnCount = 1;
-            this.mapLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
-            this.mapLayout.Controls.Add(this.mapHeaderLayout, 0, 0);
-            this.mapLayout.Controls.Add(this.pnlMapaVisual, 0, 1);
-            this.mapLayout.Controls.Add(this.lblMapaAjuda, 0, 2);
-            this.mapLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.mapLayout.RowCount = 3;
-            this.mapLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 31F));
-            this.mapLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
-            this.mapLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 35F));
-
-            this.mapHeaderLayout.ColumnCount = 3;
-            this.mapHeaderLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
-            this.mapHeaderLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 82F));
-            this.mapHeaderLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 90F));
-            this.mapHeaderLayout.Controls.Add(this.lblMapaTitulo, 0, 0);
-            this.mapHeaderLayout.Controls.Add(this.btnMapaBonito, 1, 0);
-            this.mapHeaderLayout.Controls.Add(this.btnMapaDinamico, 2, 0);
-            this.mapHeaderLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-
-            SetupTitle(this.lblMapaTitulo, "6  MAPA DA OPERAÇÃO");
-            SetupChoiceButton(this.btnMapaBonito, "Mapa bonito");
-            SetupChoiceButton(this.btnMapaDinamico, "Mapa dinâmico");
-
-            this.pnlMapaVisual.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
-            this.pnlMapaVisual.Controls.Add(this.lblMapaPlaceholder);
-            this.pnlMapaVisual.CornerRadius = 8;
-            this.pnlMapaVisual.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.pnlMapaVisual.FillColor = System.Drawing.Color.FromArgb(18, 29, 22);
-
-            this.lblMapaPlaceholder.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lblMapaPlaceholder.BackColor = System.Drawing.Color.Transparent;
-            this.lblMapaPlaceholder.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.Success;
-            this.lblMapaPlaceholder.Font = new System.Drawing.Font("Consolas", 8.5F, System.Drawing.FontStyle.Bold);
-            this.lblMapaPlaceholder.Text =
-                "MAPA DA OPERAÇÃO\n\n" +
-                "01     02     03     04     05\n" +
-                "│      │      │      │      │\n" +
-                "│      │      │      │      │\n" +
-                "│      │    [ROVER]   │      │\n" +
-                "│      │      │      │      │\n" +
-                "09     10     11     12\n\n" +
-                "8 ruas selecionadas";
-            this.lblMapaPlaceholder.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-
-            this.lblMapaAjuda.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lblMapaAjuda.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.SurfaceRaised;
-            this.lblMapaAjuda.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.TextMuted;
-            this.lblMapaAjuda.Font = new System.Drawing.Font("Segoe UI", 7F, System.Drawing.FontStyle.Italic);
-            this.lblMapaAjuda.Text = "Toque nas ruas para selecionar ou desmarcar.";
-            this.lblMapaAjuda.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-
-            // footer
-            this.footerLayout.ColumnCount = 2;
-            this.footerLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 48F));
-            this.footerLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 52F));
-            this.footerLayout.Controls.Add(this.btnAplicarAtual, 0, 0);
-            this.footerLayout.Controls.Add(this.btnSalvarParametros, 1, 0);
             this.footerLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.footerLayout.Margin = new System.Windows.Forms.Padding(0);
+            this.footerLayout.Margin = System.Windows.Forms.Padding.Empty;
+            this.footerLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.footerLayout.RowCount = 1;
+            this.footerLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
 
-            SetupAction(this.btnAplicarAtual, "APLICAR À OPERAÇÃO ATUAL", "▤", AgroBase.Forms.IHM.Controls.HmiTheme.TextMuted);
+            // lblModoOperacao
-            SetupAction(this.btnSalvarParametros, "SALVAR PARÂMETROS", "▣", AgroBase.Forms.IHM.Controls.HmiTheme.Success);
+            SetupFooterLabel(this.lblModoOperacao, "Modo");
+            this.lblModoOperacao.Padding = new System.Windows.Forms.Padding(2, 0, 0, 0);
 
-            // user control
+            // cmbModoOperacao
+            this.cmbModoOperacao.Anchor = System.Windows.Forms.AnchorStyles.Left;
+            this.cmbModoOperacao.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.SurfaceRaised;
+            this.cmbModoOperacao.Dock = System.Windows.Forms.DockStyle.None;
+            this.cmbModoOperacao.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbModoOperacao.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.cmbModoOperacao.Font = new System.Drawing.Font("Segoe UI", 8F, System.Drawing.FontStyle.Bold);
+            this.cmbModoOperacao.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.Text;
+            this.cmbModoOperacao.Margin = System.Windows.Forms.Padding.Empty;
+            this.cmbModoOperacao.Size = new System.Drawing.Size(120, 25);
+
+            // posProcessamentoLayout
+            this.posProcessamentoLayout.BackColor = System.Drawing.Color.Transparent;
+            this.posProcessamentoLayout.ColumnCount = 2;
+            this.posProcessamentoLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.posProcessamentoLayout.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 30F));
+            this.posProcessamentoLayout.Controls.Add(this.lblPosProcessamento, 0, 0);
+            this.posProcessamentoLayout.Controls.Add(this.checkPosProcessamento, 1, 0);
+            this.posProcessamentoLayout.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.posProcessamentoLayout.Margin = new System.Windows.Forms.Padding(6, 0, 8, 0);
+            this.posProcessamentoLayout.Padding = System.Windows.Forms.Padding.Empty;
+            this.posProcessamentoLayout.RowCount = 1;
+            this.posProcessamentoLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+
+            // lblPosProcessamento
+            this.lblPosProcessamento.AutoEllipsis = true;
+            this.lblPosProcessamento.BackColor = System.Drawing.Color.Transparent;
+            this.lblPosProcessamento.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lblPosProcessamento.Font = new System.Drawing.Font("Segoe UI", 7F, System.Drawing.FontStyle.Bold);
+            this.lblPosProcessamento.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.TextMuted;
+            this.lblPosProcessamento.Margin = new System.Windows.Forms.Padding(0, 0, 5, 0);
+            this.lblPosProcessamento.Text = "Registrar pós-processamento";
+            this.lblPosProcessamento.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+
+            // checkPosProcessamento
+            this.checkPosProcessamento.Anchor = System.Windows.Forms.AnchorStyles.None;
+            this.checkPosProcessamento.Appearance = System.Windows.Forms.Appearance.Button;
+            this.checkPosProcessamento.AutoSize = false;
+            this.checkPosProcessamento.BackColor = System.Drawing.Color.FromArgb(30, 90, 46);
+            this.checkPosProcessamento.Checked = true;
+            this.checkPosProcessamento.CheckState = System.Windows.Forms.CheckState.Checked;
+            this.checkPosProcessamento.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.checkPosProcessamento.Dock = System.Windows.Forms.DockStyle.None;
+            this.checkPosProcessamento.FlatAppearance.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Success;
+            this.checkPosProcessamento.FlatAppearance.BorderSize = 1;
+            this.checkPosProcessamento.FlatAppearance.CheckedBackColor = System.Drawing.Color.FromArgb(30, 90, 46);
+            this.checkPosProcessamento.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.checkPosProcessamento.Font = new System.Drawing.Font("Segoe UI Symbol", 8F, System.Drawing.FontStyle.Bold);
+            this.checkPosProcessamento.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.Success;
+            this.checkPosProcessamento.Margin = System.Windows.Forms.Padding.Empty;
+            this.checkPosProcessamento.Padding = System.Windows.Forms.Padding.Empty;
+            this.checkPosProcessamento.Size = new System.Drawing.Size(22, 22);
+            this.checkPosProcessamento.Text = "✓";
+            this.checkPosProcessamento.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.checkPosProcessamento.UseVisualStyleBackColor = false;
+
+            // btnRedefinir
+            SetupFooterAction(this.btnRedefinir, "REDEFINIR", "↻", AgroBase.Forms.IHM.Controls.HmiTheme.Warning);
+
+            // btnSalvar
+            SetupFooterAction(this.btnSalvar, "SALVAR", "▣", AgroBase.Forms.IHM.Controls.HmiTheme.Success);
+
+            // ucOperacaoParametros
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
             this.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.Background;
             this.Controls.Add(this.rootLayout);
@@ -536,183 +218,81 @@
             this.Size = new System.Drawing.Size(784, 435);
 
             this.rootLayout.ResumeLayout(false);
-            this.leftLayout.ResumeLayout(false);
+            this.tabsLayout.ResumeLayout(false);
-            this.pnlGeral.ResumeLayout(false);
+            this.pnlDescricaoAba.ResumeLayout(false);
-            this.geralLayout.ResumeLayout(false);
+            this.footerPanel.ResumeLayout(false);
-            this.pnlMovimento.ResumeLayout(false);
-            this.movimentoLayout.ResumeLayout(false);
-            this.movTogglesLayout.ResumeLayout(false);
-            this.movValuesLayout.ResumeLayout(false);
-            this.pnlDirecional.ResumeLayout(false);
-            this.direcionalLayout.ResumeLayout(false);
-            this.dirTogglesLayout.ResumeLayout(false);
-            this.dirValuesLayout.ResumeLayout(false);
-            this.pnlTipoControle.ResumeLayout(false);
-            this.tipoControleLayout.ResumeLayout(false);
-            this.pnlAtuador.ResumeLayout(false);
-            this.atuadorLayout.ResumeLayout(false);
-            this.atuadorValuesLayout.ResumeLayout(false);
-            this.pnlMpc.ResumeLayout(false);
-            this.mpcLayout.ResumeLayout(false);
-            this.rightLayout.ResumeLayout(false);
-            this.pnlMapa.ResumeLayout(false);
-            this.mapLayout.ResumeLayout(false);
-            this.mapHeaderLayout.ResumeLayout(false);
-            this.pnlMapaVisual.ResumeLayout(false);
             this.footerLayout.ResumeLayout(false);
+            this.posProcessamentoLayout.ResumeLayout(false);
             this.ResumeLayout(false);
         }
 
-        private static void ConfigurePanel(
+        private static void SetupTabButton(System.Windows.Forms.Button button, string text)
-            AgroBase.Forms.IHM.Controls.HmiRoundedPanel panel,
-            System.Windows.Forms.Control child)
         {
-            panel.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
+            button.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.Surface;
-            panel.Controls.Add(child);
+            button.Cursor = System.Windows.Forms.Cursors.Hand;
-            panel.CornerRadius = 9;
+            button.Dock = System.Windows.Forms.DockStyle.Fill;
-            panel.Dock = System.Windows.Forms.DockStyle.Fill;
+            button.FlatAppearance.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
-            panel.FillColor = AgroBase.Forms.IHM.Controls.HmiTheme.Surface;
+            button.FlatAppearance.BorderSize = 1;
-            panel.Margin = new System.Windows.Forms.Padding(0, 0, 0, 3);
+            button.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            panel.Padding = new System.Windows.Forms.Padding(7);
+            button.Font = new System.Drawing.Font("Segoe UI", 8.5F, System.Drawing.FontStyle.Bold);
+            button.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.TextMuted;
+            button.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            button.Text = text;
+            button.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            button.UseVisualStyleBackColor = false;
         }
 
-        private static void SetupTitle(
+        private static void SetupFooterLabel(System.Windows.Forms.Label label, string text)
-            System.Windows.Forms.Label label,
-            string text)
         {
-            label.Dock = System.Windows.Forms.DockStyle.Fill;
+            label.AutoEllipsis = true;
             label.BackColor = System.Drawing.Color.Transparent;
-            label.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.Text;
+            label.Dock = System.Windows.Forms.DockStyle.Fill;
-            label.Font = new System.Drawing.Font("Segoe UI", 9F, System.Drawing.FontStyle.Bold);
+            label.Font = new System.Drawing.Font("Segoe UI", 7.2F, System.Drawing.FontStyle.Bold);
+            label.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.TextMuted;
+            label.Margin = System.Windows.Forms.Padding.Empty;
             label.Text = text;
             label.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
-            label.AutoEllipsis = true;
         }
 
-        private static void SetupChoiceButton(
+        private static void SetupFooterAction(AgroBase.Forms.IHM.Controls.HmiSidebarButton button, string text, string icon, System.Drawing.Color accent)
-            System.Windows.Forms.Button button,
-            string text)
         {
-            button.Dock = System.Windows.Forms.DockStyle.Fill;
-            button.Text = text;
-            button.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            button.FlatAppearance.BorderColor = AgroBase.Forms.IHM.Controls.HmiTheme.Border;
-            button.BackColor = AgroBase.Forms.IHM.Controls.HmiTheme.SurfaceRaised;
-            button.ForeColor = AgroBase.Forms.IHM.Controls.HmiTheme.TextMuted;
-            button.Font = new System.Drawing.Font("Segoe UI", 7F, System.Drawing.FontStyle.Bold);
-            button.Margin = new System.Windows.Forms.Padding(2);
-        }
-
-        private static void SetupValueBox(
-            AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox control,
-            string title,
-            string unit,
-            decimal value,
-            decimal min,
-            decimal max,
-            int decimals)
-        {
-            control.Dock = System.Windows.Forms.DockStyle.Fill;
-            control.Titulo = title;
-            control.Unidade = unit;
-            control.Minimo = min;
-            control.Maximo = max;
-            control.CasasDecimais = decimals;
-            control.Valor = value;
-        }
-
-        private static void SetupAction(
-            AgroBase.Forms.IHM.Controls.HmiSidebarButton button,
-            string text,
-            string icon,
-            System.Drawing.Color accent)
-        {
-            button.Dock = System.Windows.Forms.DockStyle.Fill;
-            button.Text = text;
-            button.IconText = icon;
             button.AccentColor = accent;
             button.BorderColor = accent;
+            button.Cursor = System.Windows.Forms.Cursors.Hand;
+            button.Dock = System.Windows.Forms.DockStyle.Fill;
             button.FillColor = AgroBase.Forms.IHM.Controls.HmiTheme.SurfaceRaised;
-            button.Margin = new System.Windows.Forms.Padding(3);
+            button.IconText = icon;
+            button.Margin = new System.Windows.Forms.Padding(3, 0, 0, 0);
+            button.MaximumSize = System.Drawing.Size.Empty;
+            button.MinimumSize = System.Drawing.Size.Empty;
+            button.Text = text;
         }
 
         #endregion
 
         private System.Windows.Forms.TableLayoutPanel rootLayout;
-        private System.Windows.Forms.TableLayoutPanel leftLayout;
+        private System.Windows.Forms.TableLayoutPanel tabsLayout;
+        private System.Windows.Forms.Button btnAbaMovimento;
+        private System.Windows.Forms.Button btnAbaDirecional;
+        private System.Windows.Forms.Button btnAbaAtuador;
+        private System.Windows.Forms.Button btnAbaMapa;
 
-        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlGeral;
+        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlDescricaoAba;
-        private System.Windows.Forms.TableLayoutPanel geralLayout;
+        private System.Windows.Forms.Label lblDescricaoAba;
-        private System.Windows.Forms.Label lblGeralTitulo;
-        private System.Windows.Forms.Label lblModoOperacao;
-        private System.Windows.Forms.Button btnModoManual;
-        private System.Windows.Forms.Button btnModoMapaGps;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow toggleRegistrarDados;
 
-        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlMovimento;
+        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlConteudo;
-        private System.Windows.Forms.TableLayoutPanel movimentoLayout;
-        private System.Windows.Forms.Label lblMovimentoTitulo;
-        private System.Windows.Forms.TableLayoutPanel movTogglesLayout;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow toggleMovAutomatico;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow toggleMovSonar;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow toggleParadaObstaculo;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow toggleMovImu;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow toggleParadaInclinacao;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow toggleFrenagemParar;
-        private System.Windows.Forms.TableLayoutPanel movValuesLayout;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramVelSemErvas;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramVelComErvas;
-
-        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlDirecional;
-        private System.Windows.Forms.TableLayoutPanel direcionalLayout;
-        private System.Windows.Forms.Label lblDirecionalTitulo;
-        private System.Windows.Forms.TableLayoutPanel dirTogglesLayout;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow toggleDirAutomatico;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow toggleDirSonar;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow toggleDirImu;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow toggleImuPrefereArco;
-        private System.Windows.Forms.TableLayoutPanel dirValuesLayout;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramAnguloMaximo;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramVelMovimentoDir;
-        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlTipoControle;
-        private System.Windows.Forms.TableLayoutPanel tipoControleLayout;
-        private System.Windows.Forms.Label lblTipoControle;
-        private System.Windows.Forms.Button btnControleMpc;
-        private System.Windows.Forms.Button btnControlePid;
-
-        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlAtuador;
-        private System.Windows.Forms.TableLayoutPanel atuadorLayout;
-        private System.Windows.Forms.Label lblAtuadorTitulo;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterToggleRow togglePulverizadorAutomatico;
-        private System.Windows.Forms.ComboBox cmbModoAgitador;
-        private System.Windows.Forms.TableLayoutPanel atuadorValuesLayout;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramBicosEmUso;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramCapacidadeReservatorio;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramPressaoLinha;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramTelaIniciar;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramAlturaArea;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramErvasOn;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramErvasOff;
-
-        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlMpc;
-        private System.Windows.Forms.TableLayoutPanel mpcLayout;
-        private System.Windows.Forms.Label lblMpcTitulo;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramHorizonte;
-        private AgroBase.Forms.IHM.Controls.Operacao.HmiParameterValueBox paramAnteciparFim;
-
-        private System.Windows.Forms.TableLayoutPanel rightLayout;
-        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlMapa;
-        private System.Windows.Forms.TableLayoutPanel mapLayout;
-        private System.Windows.Forms.TableLayoutPanel mapHeaderLayout;
-        private System.Windows.Forms.Label lblMapaTitulo;
-        private System.Windows.Forms.Button btnMapaBonito;
-        private System.Windows.Forms.Button btnMapaDinamico;
-        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel pnlMapaVisual;
-        private System.Windows.Forms.Label lblMapaPlaceholder;
-        private System.Windows.Forms.Label lblMapaAjuda;
 
+        private AgroBase.Forms.IHM.Controls.HmiRoundedPanel footerPanel;
         private System.Windows.Forms.TableLayoutPanel footerLayout;
-        private AgroBase.Forms.IHM.Controls.HmiSidebarButton btnAplicarAtual;
+
-        private AgroBase.Forms.IHM.Controls.HmiSidebarButton btnSalvarParametros;
+        private System.Windows.Forms.Label lblModoOperacao;
+        private System.Windows.Forms.ComboBox cmbModoOperacao;
+
+        private System.Windows.Forms.TableLayoutPanel posProcessamentoLayout;
+        private System.Windows.Forms.Label lblPosProcessamento;
+        private System.Windows.Forms.CheckBox checkPosProcessamento;
+
+        private AgroBase.Forms.IHM.Controls.HmiSidebarButton btnRedefinir;
+        private AgroBase.Forms.IHM.Controls.HmiSidebarButton btnSalvar;
     }
 }

AgroBase/AgroBase/Forms/IHM/Operacao/ucOperacaoParametros.cs

@@ -1,133 +1,236 @@
 using AgroBase.Forms.IHM.Controls;
+using AgroBase.Forms.IHM.Operacao.Parametros;
 using System;
+using System.Collections.Generic;
 using System.Drawing;
 using System.Windows.Forms;
+using static AgroBase.Models.Enums;
 
 namespace AgroBase.Forms.IHM.Operacao
 {
     public partial class ucOperacaoParametros : UserControl
     {
+        private readonly Dictionary<TipoAbaParametros, UserControl> _abas;
+        private TipoAbaParametros _abaAtual;
+
+        private readonly ucParametrosMovimento _ucMovimento;
+        private readonly ucParametrosDirecional _ucDirecional;
+        private readonly ucParametrosAtuador _ucAtuador;
+        private readonly ucParametrosMapa _ucMapa;
+
+        public event EventHandler RedefinirSolicitado;
+        public event EventHandler SalvarSolicitado;
+        public event EventHandler ModoOperacaoAlterado;
+        public event EventHandler RegistrarPosProcessamentoAlterado;
+
         public ucOperacaoParametros()
         {
             InitializeComponent();
+
+            _ucMovimento = new ucParametrosMovimento();
+            _ucDirecional = new ucParametrosDirecional();
+            _ucAtuador = new ucParametrosAtuador();
+            _ucMapa = new ucParametrosMapa();
+
+            _abas = new Dictionary<TipoAbaParametros, UserControl>();
+            _abas.Add(TipoAbaParametros.Movimento, _ucMovimento);
+            _abas.Add(TipoAbaParametros.Direcional, _ucDirecional);
+            _abas.Add(TipoAbaParametros.Atuador, _ucAtuador);
+            _abas.Add(TipoAbaParametros.Mapa, _ucMapa);
+
+            ConfigurarSubControles();
             ConfigurarEstadoInicial();
             VincularEventos();
         }
 
+        private void ConfigurarSubControles()
+        {
+            foreach (KeyValuePair<TipoAbaParametros, UserControl> item in _abas)
+            {
+                item.Value.Dock = DockStyle.Fill;
+                item.Value.Margin = Padding.Empty;
+                item.Value.Visible = false;
+                pnlConteudo.Controls.Add(item.Value);
+            }
+        }
+
         private void ConfigurarEstadoInicial()
         {
-            btnMapaBonito.BackColor =
+            cmbModoOperacao.Items.Clear();
-                Color.FromArgb(31, 91, 43);
+            cmbModoOperacao.Items.AddRange(Enum.GetNames(typeof(ModoOperacao)));
 
-            btnMapaBonito.ForeColor =
+            if (cmbModoOperacao.Items.Count > 1)
-                HmiTheme.Text;
+                cmbModoOperacao.SelectedIndex = 1;
 
-            btnMapaBonito.FlatAppearance.BorderColor =
+            checkPosProcessamento.Checked = true;
-                HmiTheme.Success;
+            AtualizarAparenciaCheck(checkPosProcessamento);
 
-            btnModoMapaGps.BackColor =
+            AbrirAba(TipoAbaParametros.Movimento);
-                Color.FromArgb(31, 91, 43);
-
-            btnModoMapaGps.ForeColor =
-                HmiTheme.Text;
-
-            btnModoMapaGps.FlatAppearance.BorderColor =
-                HmiTheme.Success;
-
-            btnControleMpc.BackColor =
-                Color.FromArgb(31, 91, 43);
-
-            btnControleMpc.ForeColor =
-                HmiTheme.Text;
-
-            btnControleMpc.FlatAppearance.BorderColor =
-                HmiTheme.Success;
         }
 
         private void VincularEventos()
         {
-            btnModoManual.Click += delegate
+            btnAbaMovimento.Click += delegate { AbrirAba(TipoAbaParametros.Movimento); };
+            btnAbaDirecional.Click += delegate { AbrirAba(TipoAbaParametros.Direcional); };
+            btnAbaAtuador.Click += delegate { AbrirAba(TipoAbaParametros.Atuador); };
+            btnAbaMapa.Click += delegate { AbrirAba(TipoAbaParametros.Mapa); };
+
+            btnRedefinir.Click += delegate
             {
-                SelecionarBotaoDuplo(
+                if (RedefinirSolicitado != null)
-                    btnModoManual,
+                    RedefinirSolicitado(this, EventArgs.Empty);
-                    btnModoMapaGps);
             };
 
-            btnModoMapaGps.Click += delegate
+            btnSalvar.Click += delegate
             {
-                SelecionarBotaoDuplo(
+                if (SalvarSolicitado != null)
-                    btnModoMapaGps,
+                    SalvarSolicitado(this, EventArgs.Empty);
-                    btnModoManual);
             };
 
-            btnControleMpc.Click += delegate
+            cmbModoOperacao.SelectedIndexChanged += delegate
             {
-                SelecionarBotaoDuplo(
+                if (ModoOperacaoAlterado != null)
-                    btnControleMpc,
+                    ModoOperacaoAlterado(this, EventArgs.Empty);
-                    btnControlePid);
             };
 
-            btnControlePid.Click += delegate
+            checkPosProcessamento.CheckedChanged += delegate
             {
-                SelecionarBotaoDuplo(
+                AtualizarAparenciaCheck(checkPosProcessamento);
-                    btnControlePid,
-                    btnControleMpc);
-            };
 
-            btnMapaBonito.Click += delegate
+                if (RegistrarPosProcessamentoAlterado != null)
-            {
+                    RegistrarPosProcessamentoAlterado(this, EventArgs.Empty);
-                SelecionarBotaoDuplo(
-                    btnMapaBonito,
-                    btnMapaDinamico);
-            };
-
-            btnMapaDinamico.Click += delegate
-            {
-                SelecionarBotaoDuplo(
-                    btnMapaDinamico,
-                    btnMapaBonito);
             };
         }
 
-        private static void SelecionarBotaoDuplo(
+        private void AbrirAba(TipoAbaParametros aba)
-            Button selecionado,
-            Button outro)
         {
-            AplicarEstadoBotao(
+            _abaAtual = aba;
-                selecionado,
-                true);
 
-            AplicarEstadoBotao(
+            foreach (KeyValuePair<TipoAbaParametros, UserControl> item in _abas)
-                outro,
+                item.Value.Visible = item.Key == aba;
-                false);
+
+            UserControl controleAtual;
+            if (_abas.TryGetValue(aba, out controleAtual))
+            {
+                controleAtual.BringToFront();
+                controleAtual.Visible = true;
             }
 
-        private static void AplicarEstadoBotao(
+            AplicarEstadoBotaoAba(btnAbaMovimento, aba == TipoAbaParametros.Movimento);
-            Button button,
+            AplicarEstadoBotaoAba(btnAbaDirecional, aba == TipoAbaParametros.Direcional);
-            bool selecionado)
+            AplicarEstadoBotaoAba(btnAbaAtuador, aba == TipoAbaParametros.Atuador);
+            AplicarEstadoBotaoAba(btnAbaMapa, aba == TipoAbaParametros.Mapa);
+
+            AtualizarDescricaoAba(aba);
+        }
+
+        private void AtualizarDescricaoAba(TipoAbaParametros aba)
+        {
+            switch (aba)
+            {
+                case TipoAbaParametros.Movimento:
+                    lblDescricaoAba.Text = "Automação, assistências e velocidades de deslocamento";
+                    break;
+                case TipoAbaParametros.Direcional:
+                    lblDescricaoAba.Text = "Controle direcional, assistências, ângulo e velocidade";
+                    break;
+                case TipoAbaParametros.Atuador:
+                    lblDescricaoAba.Text = "Pulverizador, agitador, reservatório e critérios de atuação";
+                    break;
+                case TipoAbaParametros.Mapa:
+                    lblDescricaoAba.Text = "Mapa da operação, seleção de ruas e parâmetros de navegação";
+                    break;
+                default:
+                    lblDescricaoAba.Text = string.Empty;
+                    break;
+            }
+        }
+
+        private static void AplicarEstadoBotaoAba(Button button, bool selecionado)
         {
             if (selecionado)
             {
-                button.BackColor =
+                button.BackColor = Color.FromArgb(46, 31, 63);
-                    Color.FromArgb(31, 91, 43);
+                button.ForeColor = Color.FromArgb(190, 121, 255);
-
+                button.FlatAppearance.BorderColor = Color.FromArgb(170, 90, 240);
-                button.ForeColor =
-                    HmiTheme.Text;
-
-                button.FlatAppearance.BorderColor =
-                    HmiTheme.Success;
             }
             else
             {
-                button.BackColor =
+                button.BackColor = HmiTheme.Surface;
-                    HmiTheme.SurfaceRaised;
+                button.ForeColor = HmiTheme.TextMuted;
+                button.FlatAppearance.BorderColor = HmiTheme.Border;
+            }
+        }
 
-                button.ForeColor =
+        private static void AtualizarAparenciaCheck(CheckBox check)
-                    HmiTheme.TextMuted;
+        {
+            if (check.Checked)
+            {
+                check.Text = "✓";
+                check.ForeColor = HmiTheme.Success;
+                check.BackColor = Color.FromArgb(30, 90, 46);
+                check.FlatAppearance.BorderColor = HmiTheme.Success;
+            }
+            else
+            {
+                check.Text = "×";
+                check.ForeColor = HmiTheme.Danger;
+                check.BackColor = HmiTheme.Surface;
+                check.FlatAppearance.BorderColor = HmiTheme.Danger;
+            }
+        }
 
-                button.FlatAppearance.BorderColor =
+        public string ModoOperacaoSelecionado
-                    HmiTheme.Border;
+        {
+            get { return Convert.ToString(cmbModoOperacao.SelectedItem); }
+            set
+            {
+                if (string.IsNullOrWhiteSpace(value))
+                    return;
+
+                int index = cmbModoOperacao.FindStringExact(value);
+                if (index >= 0)
+                    cmbModoOperacao.SelectedIndex = index;
             }
         }
+
+        public bool RegistrarPosProcessamento
+        {
+            get { return checkPosProcessamento.Checked; }
+            set { checkPosProcessamento.Checked = value; }
+        }
+
+        public TipoAbaParametros AbaAtual
+        {
+            get { return _abaAtual; }
+        }
+
+        public ucParametrosMovimento Movimento
+        {
+            get { return _ucMovimento; }
+        }
+
+        public ucParametrosDirecional Direcional
+        {
+            get { return _ucDirecional; }
+        }
+
+        public ucParametrosAtuador Atuador
+        {
+            get { return _ucAtuador; }
+        }
+
+        public ucParametrosMapa Mapa
+        {
+            get { return _ucMapa; }
+        }
+    }
+
+    public enum TipoAbaParametros
+    {
+        Movimento = 0,
+        Direcional = 1,
+        Atuador = 2,
+        Mapa = 3
     }
 }

AgroBase/AgroBase/Forms/IHM/Operacao/ucOperacaoPulverizador.Designer.cs

@@ -402,13 +402,7 @@
             button.MaximumSize = System.Drawing.Size.Empty;
         }
 
-        private static void SetupHealth(
+        private static void SetupHealth(AgroBase.Forms.IHM.Controls.Operacao.HmiSprayerModuleHealthRow row, string icon, string title, string health, string status, System.Drawing.Color color)
-            AgroBase.Forms.IHM.Controls.Operacao.HmiSprayerModuleHealthRow row,
-            string icon,
-            string title,
-            string health,
-            string status,
-            System.Drawing.Color color)
         {
             row.Dock = System.Windows.Forms.DockStyle.Fill;
             row.IconText = icon;
@@ -430,9 +424,7 @@
             combo.Margin = new System.Windows.Forms.Padding(0, 1, 0, 1);
         }
 
-        private static void SetupNozzle(
+        private static void SetupNozzle(AgroBase.Forms.IHM.Controls.Operacao.HmiNozzleCard card, string code)
-            AgroBase.Forms.IHM.Controls.Operacao.HmiNozzleCard card,
-            string code)
         {
             card.Dock = System.Windows.Forms.DockStyle.Fill;
             card.Codigo = code;

AgroBase/AgroBase/Forms/IHM/Operacao/ucOperacaoPulverizador.cs

@@ -1,16 +1,27 @@
 using AgroBase.Forms.IHM.Controls;
 using AgroBase.Forms.IHM.Controls.Operacao;
+using AgroBase.Models;
+using AgroBase.Models.Operadores;
+using AgroBase.Services.Operadores;
+using Assimp.Unmanaged;
 using System;
 using System.Collections.Generic;
 using System.Drawing;
+using System.Linq;
+using System.Threading.Tasks;
 using System.Windows.Forms;
+using static AgroBase.Models.Enums;
 
 namespace AgroBase.Forms.IHM.Operacao
 {
     public partial class ucOperacaoPulverizador : UserControl
     {
-        private readonly List<HmiNozzleCard> _bicos =
+        private bool _requisitandoCameraFrame;
-            new List<HmiNozzleCard>();
+        private bool _controleDescartado;
+
+        OperacaoModel op => Variaveis.OperacaoEmAndamento;
+
+        private readonly List<HmiNozzleCard> _bicos = new List<HmiNozzleCard>();
 
         public ucOperacaoPulverizador()
         {
@@ -20,6 +31,205 @@ namespace AgroBase.Forms.IHM.Operacao
             VincularEventos();
         }
 
+        public void AtualizarDadosTela()
+        {
+            var dados = op?.Sensoriamento;
+
+            AtualizarDadosBomba();
+            AtualizarDadosAgitador();
+            AtualizarSaudeModulos();
+            AtualizarDadosCamera(dados?.Cameras?.FirstOrDefault(x => x.dispositivo == Enums.T_Code.Cam), dados?.OperadorSaude?.ModulosSaude?.FirstOrDefault(x => x.modulo == T_Code.Cam)?.saude ?? 0);
+            AtualizarDadosBicos(dados?.Atuador?.Bicos, dados?.OperadorSaude?.ModulosSaude?.FirstOrDefault(x => x.modulo == T_Code.Atu));
+            AtualizarDadosTelemetria(dados?.Atuador);
+        }
+
+        private void AtualizarDadosBomba()
+        {
+            double pressaoSP = op?.Parametros?.Controle?.AtuPressaoLinha ?? 0;
+            bool bombaLigada = op?.Sensoriamento?.Atuador?.BombaLigada ?? false;
+
+            cardPressaoSp.Valor = pressaoSP.ToString("F1");
+            cardStatusBomba.Valor = bombaLigada ? "Ligada" : "Desligada";
+            cardStatusBomba.CorValor = bombaLigada ? HmiTheme.Success : HmiTheme.Danger;
+        }
+
+        private void AtualizarDadosAgitador()
+        {
+            Enums.ModoAgitadorCalda modo = op?.Parametros?.Controle?.AtuAgitadorModo ?? Enums.ModoAgitadorCalda.SemAgitacao;
+            bool agitadorLigado = (op?.Sensoriamento?.Atuador?.PotenciaAgitador ?? 0) > 0;
+
+            cardModoAgitador.Valor = modo.ToString();
+            cardStatusAgitador.Valor = agitadorLigado ? "Ligado" : "Desligado";
+            cardStatusAgitador.CorValor = agitadorLigado ? HmiTheme.Success : HmiTheme.Danger;
+        }
+
+        private void AtualizarSaudeModulos()
+        {
+            var saude_m = op?.Sensoriamento?.OperadorSaude?.ModulosSaude;
+            var saude_i = saude_m?.FirstOrDefault(x => x.modulo == Enums.T_Code.Atu)?.saude_individual;
+
+            var saudeBomba = saude_i?.FirstOrDefault(x => x.label == op?.DispAtu?.Dados?.BombaPressurizadora?.ID);
+            var saudeAgitador = saude_i?.FirstOrDefault(x => x.label == op?.DispAtu?.Dados?.AgitadorDeCalda?.ID);
+            var saudeSensores = saude_i?.Where(x => op?.DispAtu?.Dados?.Sensores?.Where(y => y.Aferir)?.Select(y => y.ID).Contains(x.label) ?? false)?.ToList();
+            var saudeBicos = saude_i?.Where(x => op?.DispAtu?.Dados?.BicosPulverizadores?.Where(y => y.Comandar)?.Select(y => y.ID).Contains(x.label) ?? false)?.ToList();
+            var saudeCamera = saude_m?.FirstOrDefault(x => x.modulo == Enums.T_Code.Cam);
+
+            var saudeSensoresMedia = saudeSensores?.Average(x => x.saude) ?? 0;
+            Enums.StatusModulo saudeSensoresStatus =
+                saudeSensoresMedia >= 80 ? Enums.StatusModulo.Operante :
+                saudeSensoresMedia <= 0 ? Enums.StatusModulo.Falha :
+                Enums.StatusModulo.Alerta;
+
+            var saudeBicosMedia = saudeBicos?.Average(x => x.saude) ?? 0;
+            Enums.StatusModulo saudeBicosStatus =
+                saudeBicosMedia >= 80 ? Enums.StatusModulo.Operante :
+                saudeBicosMedia <= 0 ? Enums.StatusModulo.Falha :
+                Enums.StatusModulo.Alerta;
+
+            void DefinirSaudeModulo(HmiSprayerModuleHealthRow card, double saude, Enums.StatusModulo status)
+            {
+                card.Saude = saude.ToString("F0") + "%";
+                card.Status = status.ToString();
+                card.StatusColor =
+                    status == Enums.StatusModulo.Operante ? HmiTheme.Success :
+                    status == Enums.StatusModulo.Alerta ? HmiTheme.Warning :
+                    status == Enums.StatusModulo.Falha ? HmiTheme.Danger :
+                    status == Enums.StatusModulo.Desconectado ? HmiTheme.Disabled :
+                    status == Enums.StatusModulo.Conectado ? HmiTheme.Info :
+                    HmiTheme.Disabled;
+            }
+
+            DefinirSaudeModulo(healthBomba, saudeBomba?.saude ?? 0, saudeBomba?.status ?? Enums.StatusModulo.Desconectado);
+            DefinirSaudeModulo(healthAgitador, saudeAgitador?.saude ?? 0, saudeAgitador?.status ?? Enums.StatusModulo.Desconectado);
+            DefinirSaudeModulo(healthSensores, saudeSensoresMedia, saudeSensoresStatus);
+            DefinirSaudeModulo(healthBicos, saudeBicosMedia, saudeBicosStatus);
+            DefinirSaudeModulo(healthCamera, saudeCamera?.saude ?? 0, saudeCamera?.status ?? Enums.StatusModulo.Desconectado);
+        }
+
+        public async void AtualizarDadosCamera(CameraWorkerItemModel dados, double saude)
+        {
+            lblVideoStatus.Text = $"FPS {dados?.fps ?? 0:F0} · {dados?.stream_kbps ?? 0:F1} MB/s · Saúde {saude:F0}%";
+
+            if (!_requisitandoCameraFrame)
+                _ = RequisitarCameraFrameAsync();
+        }
+
+        private async Task RequisitarCameraFrameAsync()
+        {
+            if (_requisitandoCameraFrame || _controleDescartado)
+                return;
+
+            _requisitandoCameraFrame = true;
+
+            try
+            {
+                TipoFrameCamera tipoFrame = (TipoFrameCamera)cmbTipoFrame.SelectedIndex;
+
+                var frame = await WeedWorkerService.GetCameraFrame(tipoFrame);
+
+                if (_controleDescartado || frame == null)
+                    return;
+
+                Image imagemRecebida = frame.image();
+
+                if (imagemRecebida == null)
+                    return;
+
+                // Garante que o PictureBox receba uma imagem independente
+                // de streams ou buffers internos do frame.
+                Image imagemSegura;
+
+                using (imagemRecebida)
+                {
+                    imagemSegura = new Bitmap(imagemRecebida);
+                }
+
+                AtualizarImagemPainel(picVideo, imagemSegura);
+            }
+            catch (OutOfMemoryException ex)
+            {
+                // Em System.Drawing isso também pode significar
+                // imagem ou stream inválido, não só falta real de RAM.
+                Variaveis.MostrarLog("[IHM][Câmera] Frame inválido ou erro de memória: " + ex.Message);
+            }
+            catch (Exception ex)
+            {
+                Variaveis.MostrarLog("[IHM][Câmera] Erro ao obter frame: " + ex.Message);
+            }
+            finally
+            {
+                _requisitandoCameraFrame = false;
+            }
+        }
+
+        private void AtualizarImagemPainel(PictureBox pictureBox, Image novaImagem)
+        {
+            if (pictureBox == null)
+            {
+                novaImagem?.Dispose();
+                return;
+            }
+
+            if (pictureBox.IsDisposed || pictureBox.Disposing || _controleDescartado)
+            {
+                novaImagem?.Dispose();
+                return;
+            }
+
+            if (pictureBox.InvokeRequired)
+            {
+                try
+                {
+                    pictureBox.BeginInvoke(new Action<PictureBox, Image>(AtualizarImagemPainel), pictureBox, novaImagem);
+                }
+                catch
+                {
+                    novaImagem?.Dispose();
+                }
+
+                return;
+            }
+
+            Image imagemAnterior = pictureBox.Image;
+            pictureBox.Image = novaImagem;
+            imagemAnterior?.Dispose();
+        }
+
+        private void AtualizarDadosBicos(List<AtuadorBicoLogModel> dados, ManagerWorkerMessageResponseModulosPendentesModel saude)
+        {
+            foreach (var bico in dados)
+            {
+                var card = Bicos.FirstOrDefault(x => x.Codigo == bico.ID);
+                card.Atuacoes = bico.Atuacoes;
+                card.VazaoInstantanea = 0;
+                card.VazaoMedia = bico.MediaNivelFluxo;
+                card.TempoLigado = bico.TempoAtuado.ToString();
+
+                card.CommandOn = bico.Atuado;
+                card.ReadOn = bico.StatusBico;
+                card.State = saude?.saude_individual?.FirstOrDefault(x => x.label == bico.ID)?.status ?? StatusModulo.Desconectado;
+            }
+        }
+
+        private void AtualizarDadosTelemetria(AtuadorLogModel dados)
+        {
+            TimeSpan tempoAutonomia = TimeSpan.FromMinutes(Math.Max(0, dados?.TempoEstimadoRestanteMinutos ?? 0));
+            TimeSpan tempoPulverizador = TimeSpan.FromSeconds(Math.Max(0, dados?.TempoPulverizadorAtuado ?? 0));
+
+            telemetryReservatorio.Valor = (dados?.VolumeReservatorio ?? 0).ToString("F1") + " L";
+            telemetryVazaoInstantanea.Valor = (dados?.VazaoFluxoMLpSInstantaneaCorrigida ?? 0).ToString("F0") + " mL/s";
+            telemetryVazaoMedia.Valor = (dados?.VazaoFluxoMLpSMedia ?? 0).ToString("F0") + " mL/s";
+            telemetryPressaoSensor.Valor = (dados?.PressaoSensor ?? 0).ToString("F1") + " psi";
+            telemetryPressaoBomba.Valor = (dados?.PressaoAtualBomba ?? 0).ToString("F1") + " psi";
+            telemetryAutonomiaM.Valor = (dados?.DistanciaEstimadaRestanteMetros ?? 0).ToString("F1") + " m";
+            telemetryAutonomiaTempo.Valor = FormatarTempo(tempoAutonomia);
+            telemetryVolumeAplicado.Valor = (dados?.VolumeVazaoML ?? 0).ToString("F1") + " L";
+            telemetryLitroMetro.Valor = (dados?.LPorMetro ?? 0).ToString("F1") + " L/m";
+            telemetryInfestacao.Valor = (dados?.PercentualErvasTerreno ?? 0).ToString("F1") + "% · Baixa";
+            telemetryTempoLigado.Valor = FormatarTempo(tempoPulverizador);
+        }
+
+
         private void RegistrarBicos()
         {
             _bicos.Add(nozzleB01);
@@ -35,61 +245,6 @@ namespace AgroBase.Forms.IHM.Operacao
         {
             cmbTipoFrame.SelectedIndex = 0;
 
-            nozzleB01.State = HmiNozzleState.Operante;
-            nozzleB02.State = HmiNozzleState.Conectado;
-            nozzleB03.State = HmiNozzleState.Falha;
-            nozzleB04.State = HmiNozzleState.Alerta;
-            nozzleB05.State = HmiNozzleState.Operante;
-            nozzleB06.State = HmiNozzleState.Desconectado;
-            nozzleB07.State = HmiNozzleState.Operante;
-
-            nozzleB01.CommandOn = true;
-            nozzleB01.ReadOn = true;
-            nozzleB02.CommandOn = true;
-            nozzleB02.ReadOn = true;
-            nozzleB03.CommandOn = true;
-            nozzleB03.ReadOn = false;
-            nozzleB04.CommandOn = true;
-            nozzleB04.ReadOn = true;
-            nozzleB05.CommandOn = true;
-            nozzleB05.ReadOn = true;
-            nozzleB06.CommandOn = false;
-            nozzleB06.ReadOn = false;
-            nozzleB07.CommandOn = true;
-            nozzleB07.ReadOn = true;
-
-            nozzleB01.Atuacoes = 1258;
-            nozzleB02.Atuacoes = 1187;
-            nozzleB03.Atuacoes = 892;
-            nozzleB04.Atuacoes = 1023;
-            nozzleB05.Atuacoes = 1290;
-            nozzleB06.Atuacoes = 0;
-            nozzleB07.Atuacoes = 1211;
-
-            nozzleB01.VazaoInstantanea = 980;
-            nozzleB02.VazaoInstantanea = 1011;
-            nozzleB03.VazaoInstantanea = 421;
-            nozzleB04.VazaoInstantanea = 727;
-            nozzleB05.VazaoInstantanea = 951;
-            nozzleB06.VazaoInstantanea = 0;
-            nozzleB07.VazaoInstantanea = 972;
-
-            nozzleB01.VazaoMedia = 960;
-            nozzleB02.VazaoMedia = 990;
-            nozzleB03.VazaoMedia = 631;
-            nozzleB04.VazaoMedia = 701;
-            nozzleB05.VazaoMedia = 940;
-            nozzleB06.VazaoMedia = 0;
-            nozzleB07.VazaoMedia = 959;
-
-            nozzleB01.TempoLigado = "12:34";
-            nozzleB02.TempoLigado = "12:31";
-            nozzleB03.TempoLigado = "08:47";
-            nozzleB04.TempoLigado = "10:55";
-            nozzleB05.TempoLigado = "12:39";
-            nozzleB06.TempoLigado = "00:00";
-            nozzleB07.TempoLigado = "12:17";
-
             telemetryReservatorio.CorValor = HmiTheme.Info;
             telemetryVazaoInstantanea.CorValor = HmiTheme.Success;
             telemetryVazaoMedia.CorValor = HmiTheme.Success;
@@ -121,9 +276,7 @@ namespace AgroBase.Forms.IHM.Operacao
             card.CommandOn = !card.CommandOn;
         }
 
-        private static void AplicarEstadoPainel(
+        private static void AplicarEstadoPainel(HmiRoundedPanel panel, Color color)
-            HmiRoundedPanel panel,
-            Color color)
         {
             panel.BorderColor = color;
             panel.Invalidate();
@@ -133,5 +286,23 @@ namespace AgroBase.Forms.IHM.Operacao
         {
             get { return _bicos.AsReadOnly(); }
         }
+
+
+
+        private static string FormatarTempo(TimeSpan tempo)
+        {
+            if (tempo < TimeSpan.Zero)
+                tempo = TimeSpan.Zero;
+
+            int horasTotais = (int)tempo.TotalHours;
+
+            return string.Format(
+                "{0:00}:{1:00}:{2:00}",
+                horasTotais,
+                tempo.Minutes,
+                tempo.Seconds
+            );
+        }
+
     }
 }

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

@@ -162,7 +162,7 @@
             this.btnVoltar.Margin = new System.Windows.Forms.Padding(0, 2, 8, 2);
             this.btnVoltar.MinimumSize = new System.Drawing.Size(102, 36);
             this.btnVoltar.Name = "btnVoltar";
-            this.btnVoltar.Size = new System.Drawing.Size(102, 36);
+            this.btnVoltar.Size = new System.Drawing.Size(102, 42);
             this.btnVoltar.TabIndex = 0;
             this.btnVoltar.Text = "VOLTAR";
             // 
@@ -180,7 +180,7 @@
             this.headerTextLayout.RowCount = 2;
             this.headerTextLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 60F));
             this.headerTextLayout.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 40F));
-            this.headerTextLayout.Size = new System.Drawing.Size(500, 46);
+            this.headerTextLayout.Size = new System.Drawing.Size(486, 46);
             this.headerTextLayout.TabIndex = 1;
             // 
             // lblTitulo
@@ -192,7 +192,7 @@
             this.lblTitulo.Location = new System.Drawing.Point(0, 0);
             this.lblTitulo.Margin = new System.Windows.Forms.Padding(0);
             this.lblTitulo.Name = "lblTitulo";
-            this.lblTitulo.Size = new System.Drawing.Size(500, 27);
+            this.lblTitulo.Size = new System.Drawing.Size(486, 27);
             this.lblTitulo.TabIndex = 0;
             this.lblTitulo.Text = "AJUSTES DO EQUIPAMENTO";
             this.lblTitulo.TextAlign = System.Drawing.ContentAlignment.BottomLeft;
@@ -206,7 +206,7 @@
             this.lblSubtitulo.Location = new System.Drawing.Point(0, 27);
             this.lblSubtitulo.Margin = new System.Windows.Forms.Padding(0);
             this.lblSubtitulo.Name = "lblSubtitulo";
-            this.lblSubtitulo.Size = new System.Drawing.Size(500, 19);
+            this.lblSubtitulo.Size = new System.Drawing.Size(486, 19);
             this.lblSubtitulo.TabIndex = 1;
             this.lblSubtitulo.Text = "Configurações físicas, câmeras e comunicação do rover";
             // 
@@ -219,12 +219,12 @@
             this.pnlRover.CornerRadius = 9;
             this.pnlRover.Dock = System.Windows.Forms.DockStyle.Fill;
             this.pnlRover.FillColor = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(58)))), ((int)(((byte)(46)))));
-            this.pnlRover.Location = new System.Drawing.Point(607, 0);
+            this.pnlRover.Location = new System.Drawing.Point(593, 0);
             this.pnlRover.Margin = new System.Windows.Forms.Padding(5, 0, 0, 0);
             this.pnlRover.MinimumSize = new System.Drawing.Size(30, 30);
             this.pnlRover.Name = "pnlRover";
             this.pnlRover.Padding = new System.Windows.Forms.Padding(8);
-            this.pnlRover.Size = new System.Drawing.Size(157, 46);
+            this.pnlRover.Size = new System.Drawing.Size(171, 46);
             this.pnlRover.TabIndex = 2;
             // 
             // lblRover
@@ -235,7 +235,7 @@
             this.lblRover.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(210)))), ((int)(((byte)(122)))));
             this.lblRover.Location = new System.Drawing.Point(8, 8);
             this.lblRover.Name = "lblRover";
-            this.lblRover.Size = new System.Drawing.Size(141, 30);
+            this.lblRover.Size = new System.Drawing.Size(155, 30);
             this.lblRover.TabIndex = 0;
             this.lblRover.Text = "ROVER 01\r\nConfiguração local";
             this.lblRover.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -577,6 +577,7 @@
             this.btnRestaurar.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(53)))), ((int)(((byte)(63)))), ((int)(((byte)(69)))));
             this.btnRestaurar.Cursor = System.Windows.Forms.Cursors.Hand;
             this.btnRestaurar.FillColor = System.Drawing.Color.FromArgb(((int)(((byte)(30)))), ((int)(((byte)(36)))), ((int)(((byte)(41)))));
+            this.btnRestaurar.IconText = "●";
             this.btnRestaurar.Location = new System.Drawing.Point(334, 2);
             this.btnRestaurar.Margin = new System.Windows.Forms.Padding(0, 2, 0, 2);
             this.btnRestaurar.MinimumSize = new System.Drawing.Size(130, 36);
@@ -592,6 +593,7 @@
             this.btnSalvar.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(53)))), ((int)(((byte)(63)))), ((int)(((byte)(69)))));
             this.btnSalvar.Cursor = System.Windows.Forms.Cursors.Hand;
             this.btnSalvar.FillColor = System.Drawing.Color.FromArgb(((int)(((byte)(30)))), ((int)(((byte)(36)))), ((int)(((byte)(41)))));
+            this.btnSalvar.IconText = "●";
             this.btnSalvar.Location = new System.Drawing.Point(464, 2);
             this.btnSalvar.Margin = new System.Windows.Forms.Padding(0, 2, 0, 2);
             this.btnSalvar.MinimumSize = new System.Drawing.Size(130, 36);
@@ -607,6 +609,7 @@
             this.btnTestarComunicacao.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(53)))), ((int)(((byte)(63)))), ((int)(((byte)(69)))));
             this.btnTestarComunicacao.Cursor = System.Windows.Forms.Cursors.Hand;
             this.btnTestarComunicacao.FillColor = System.Drawing.Color.FromArgb(((int)(((byte)(30)))), ((int)(((byte)(36)))), ((int)(((byte)(41)))));
+            this.btnTestarComunicacao.IconText = "●";
             this.btnTestarComunicacao.Location = new System.Drawing.Point(609, 2);
             this.btnTestarComunicacao.Margin = new System.Windows.Forms.Padding(0, 2, 0, 2);
             this.btnTestarComunicacao.MinimumSize = new System.Drawing.Size(130, 36);

AgroBase/AgroBase/Forms/IHM/frmAjustes.cs

@@ -15,6 +15,8 @@ namespace AgroBase.Forms.IHM
 {
     public partial class frmAjustes : Form, ITelaNavegavel
     {
+        public event EventHandler VoltarSolicitado;
+
         private List<OAKCameraModel> ListaCameras = new List<OAKCameraModel>();
         private OAKCameraModel CameraCaminho = new OAKCameraModel();
         private List<OAKCameraModel> CamerasSolo = new List<OAKCameraModel>();
@@ -22,8 +24,6 @@ namespace AgroBase.Forms.IHM
         private bool _carregando;
         private bool _alteracoesPendentes;
 
-        public event EventHandler VoltarSolicitado;
-
         public frmAjustes()
         {
             InitializeComponent();
@@ -56,6 +56,11 @@ namespace AgroBase.Forms.IHM
             }
         }
 
+        public void AtualizarDadosTela()
+        {
+            
+        }
+
 
         private void ConfigurarAparencia()
         {
@@ -1330,5 +1335,7 @@ namespace AgroBase.Forms.IHM
                     { ("OK", null), delegate { } }
                 });
         }
+
+        
     }
 }

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

@@ -219,7 +219,7 @@
             this.btnVoltar.Margin = new System.Windows.Forms.Padding(0, 3, 8, 3);
             this.btnVoltar.MinimumSize = new System.Drawing.Size(102, 36);
             this.btnVoltar.Name = "btnVoltar";
-            this.btnVoltar.Size = new System.Drawing.Size(102, 36);
+            this.btnVoltar.Size = new System.Drawing.Size(102, 40);
             this.btnVoltar.TabIndex = 0;
             this.btnVoltar.Text = "VOLTAR";
             // 
@@ -231,7 +231,7 @@
             this.headerTextLayout.Controls.Add(this.lblTitulo, 0, 0);
             this.headerTextLayout.Controls.Add(this.lblSubtitulo, 0, 1);
             this.headerTextLayout.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.headerTextLayout.Location = new System.Drawing.Point(111, 0);
+            this.headerTextLayout.Location = new System.Drawing.Point(109, 0);
             this.headerTextLayout.Margin = new System.Windows.Forms.Padding(7, 0, 5, 0);
             this.headerTextLayout.Name = "headerTextLayout";
             this.headerTextLayout.RowCount = 2;
@@ -278,12 +278,12 @@
             this.pnlHeaderImpedimento.CornerRadius = 8;
             this.pnlHeaderImpedimento.Dock = System.Windows.Forms.DockStyle.Fill;
             this.pnlHeaderImpedimento.FillColor = System.Drawing.Color.FromArgb(((int)(((byte)(40)))), ((int)(((byte)(35)))), ((int)(((byte)(14)))));
-            this.pnlHeaderImpedimento.Location = new System.Drawing.Point(471, 3);
+            this.pnlHeaderImpedimento.Location = new System.Drawing.Point(469, 3);
             this.pnlHeaderImpedimento.Margin = new System.Windows.Forms.Padding(4, 3, 4, 3);
             this.pnlHeaderImpedimento.MinimumSize = new System.Drawing.Size(30, 30);
             this.pnlHeaderImpedimento.Name = "pnlHeaderImpedimento";
             this.pnlHeaderImpedimento.Padding = new System.Windows.Forms.Padding(7);
-            this.pnlHeaderImpedimento.Size = new System.Drawing.Size(177, 40);
+            this.pnlHeaderImpedimento.Size = new System.Drawing.Size(179, 40);
             this.pnlHeaderImpedimento.TabIndex = 2;
             // 
             // lblImpedimentoGeral
@@ -295,7 +295,7 @@
             this.lblImpedimentoGeral.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(244)))), ((int)(((byte)(181)))), ((int)(((byte)(68)))));
             this.lblImpedimentoGeral.Location = new System.Drawing.Point(7, 7);
             this.lblImpedimentoGeral.Name = "lblImpedimentoGeral";
-            this.lblImpedimentoGeral.Size = new System.Drawing.Size(163, 26);
+            this.lblImpedimentoGeral.Size = new System.Drawing.Size(165, 26);
             this.lblImpedimentoGeral.TabIndex = 0;
             this.lblImpedimentoGeral.Text = "⚠ Impedimento: IMU instável";
             this.lblImpedimentoGeral.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1114,6 +1114,7 @@
             this.btnSalvarModulo.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(53)))), ((int)(((byte)(63)))), ((int)(((byte)(69)))));
             this.btnSalvarModulo.Cursor = System.Windows.Forms.Cursors.Hand;
             this.btnSalvarModulo.FillColor = System.Drawing.Color.FromArgb(((int)(((byte)(30)))), ((int)(((byte)(36)))), ((int)(((byte)(41)))));
+            this.btnSalvarModulo.IconText = "●";
             this.btnSalvarModulo.Location = new System.Drawing.Point(178, 2);
             this.btnSalvarModulo.Margin = new System.Windows.Forms.Padding(0, 2, 0, 2);
             this.btnSalvarModulo.MinimumSize = new System.Drawing.Size(130, 36);
@@ -1129,6 +1130,7 @@
             this.actionsLayout.SetColumnSpan(this.btnIgnorarFalha, 3);
             this.btnIgnorarFalha.Cursor = System.Windows.Forms.Cursors.Hand;
             this.btnIgnorarFalha.FillColor = System.Drawing.Color.FromArgb(((int)(((byte)(30)))), ((int)(((byte)(36)))), ((int)(((byte)(41)))));
+            this.btnIgnorarFalha.IconText = "●";
             this.btnIgnorarFalha.Location = new System.Drawing.Point(0, 38);
             this.btnIgnorarFalha.Margin = new System.Windows.Forms.Padding(0, 2, 0, 2);
             this.btnIgnorarFalha.MinimumSize = new System.Drawing.Size(130, 36);
@@ -1472,6 +1474,7 @@
             this.btnAcao1.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(53)))), ((int)(((byte)(63)))), ((int)(((byte)(69)))));
             this.btnAcao1.Cursor = System.Windows.Forms.Cursors.Hand;
             this.btnAcao1.FillColor = System.Drawing.Color.FromArgb(((int)(((byte)(30)))), ((int)(((byte)(36)))), ((int)(((byte)(41)))));
+            this.btnAcao1.IconText = "●";
             this.btnAcao1.Location = new System.Drawing.Point(0, 2);
             this.btnAcao1.Margin = new System.Windows.Forms.Padding(0, 2, 0, 2);
             this.btnAcao1.MinimumSize = new System.Drawing.Size(130, 36);
@@ -1486,6 +1489,7 @@
             this.btnAcao2.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(53)))), ((int)(((byte)(63)))), ((int)(((byte)(69)))));
             this.btnAcao2.Cursor = System.Windows.Forms.Cursors.Hand;
             this.btnAcao2.FillColor = System.Drawing.Color.FromArgb(((int)(((byte)(30)))), ((int)(((byte)(36)))), ((int)(((byte)(41)))));
+            this.btnAcao2.IconText = "●";
             this.btnAcao2.Location = new System.Drawing.Point(114, 2);
             this.btnAcao2.Margin = new System.Windows.Forms.Padding(0, 2, 0, 2);
             this.btnAcao2.MinimumSize = new System.Drawing.Size(130, 36);
@@ -1500,6 +1504,7 @@
             this.btnAcao3.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(53)))), ((int)(((byte)(63)))), ((int)(((byte)(69)))));
             this.btnAcao3.Cursor = System.Windows.Forms.Cursors.Hand;
             this.btnAcao3.FillColor = System.Drawing.Color.FromArgb(((int)(((byte)(30)))), ((int)(((byte)(36)))), ((int)(((byte)(41)))));
+            this.btnAcao3.IconText = "●";
             this.btnAcao3.Location = new System.Drawing.Point(228, 2);
             this.btnAcao3.Margin = new System.Windows.Forms.Padding(0, 2, 0, 2);
             this.btnAcao3.MinimumSize = new System.Drawing.Size(130, 36);

AgroBase/AgroBase/Forms/IHM/frmDiagnosticos.cs

@@ -1,4 +1,5 @@
 using AgroBase.Forms.IHM.Controls;
+using AgroBase.Models;
 using System;
 using System.Collections.Generic;
 using System.Drawing;
@@ -8,10 +9,11 @@ namespace AgroBase.Forms.IHM
 {
     public partial class frmDiagnosticos : Form, ITelaNavegavel
     {
+        public event EventHandler VoltarSolicitado;
+
         private readonly List<HmiModuleBadge> _badges = new List<HmiModuleBadge>();
         private readonly Dictionary<HmiModuleBadge, HmiModuleState> _estadoOriginalBadges = new Dictionary<HmiModuleBadge, HmiModuleState>();
 
-        public event EventHandler VoltarSolicitado;
         
         public frmDiagnosticos()
         {
@@ -23,6 +25,11 @@ namespace AgroBase.Forms.IHM
             VincularEventos();
         }
 
+        public void AtualizarDadosTela()
+        {
+
+        }
+
         private void OrganizarCamadasMapa()
         {
             picRover.SendToBack();

AgroBase/AgroBase/Forms/IHM/frmIHM.cs

@@ -239,8 +239,7 @@ namespace AgroBase.Forms.IHM
             }
             catch (Exception ex)
             {
-                Console.WriteLine(
+                Variaveis.MostrarLog("Erro no tmrDispositivos_Tick: " + ex.Message);
-                    "Erro no tmrDispositivos_Tick: " + ex.Message);
             }
 
             return Task.CompletedTask;
@@ -259,239 +258,84 @@ namespace AgroBase.Forms.IHM
             // =========================================================
             // BATERIA
             // =========================================================
-
+            double bateria = operacao?.Sensoriamento?.Bateria?.PercentualBateria ?? 0;
-            double bateria =
+            double bateriaSaude = ObterSaudeModulo(saudeModulos, Enums.T_Code.Bat);
-                operacao?
+            Color corBateria = CorPorValorESaude(bateria, bateriaSaude);
-                    .Sensoriamento?
+            AtualizarBateria($"{Limitar(bateria, 0, 100):0}%", corBateria);
-                    .Bateria?
-                    .PercentualBateria ?? 0;
-
-            double bateriaSaude =
-                ObterSaudeModulo(
-                    saudeModulos,
-                    Enums.T_Code.Bat
-                );
-
-            Color corBateria =
-                CorPorValorESaude(
-                    bateria,
-                    bateriaSaude
-                );
-
-            AtualizarBateria(
-                $"{Limitar(bateria, 0, 100):0}%",
-                corBateria
-            );
 
             // =========================================================
             // RESERVATÓRIO
             // =========================================================
-
+            double reservatorio = operacao?.Sensoriamento?.Atuador?.PercentualReservatorio ?? 0;
-            double reservatorio =
+            double atuadorSaude = ObterSaudeModulo(saudeModulos, Enums.T_Code.Atu);
-                operacao?
+            Color corReservatorio = CorPorValorESaude(reservatorio, atuadorSaude);
-                    .Sensoriamento?
+            AtualizarReservatorio($"{Limitar(reservatorio, 0, 100):0}%", corReservatorio);
-                    .Atuador?
-                    .VolumeReservatorio ?? 0;
-
-            double atuadorSaude =
-                ObterSaudeModulo(
-                    saudeModulos,
-                    Enums.T_Code.Atu
-                );
-
-            /*
-             * Estou considerando VolumeReservatorio como percentual.
-             *
-             * Se ele estiver em litros, converta antes:
-             *
-             * reservatorio =
-             *     capacidadeLitros > 0
-             *         ? volumeAtualLitros / capacidadeLitros * 100
-             *         : 0;
-             */
-
-            Color corReservatorio =
-                CorPorValorESaude(
-                    reservatorio,
-                    atuadorSaude
-                );
-
-            AtualizarReservatorio(
-                $"{Limitar(reservatorio, 0, 100):0}%",
-                corReservatorio
-            );
 
             // =========================================================
             // TEMPERATURA
             // =========================================================
-
+            double temperatura = operacao?.Sensoriamento?.CoolerControl?.Temperatura ?? 0;
-            double temperatura =
+            double temperaturaSaude = ObterSaudeModulo(saudeModulos, Enums.T_Code.Npc);
-                operacao?
+            Color corTemperatura = CorTemperatura(temperatura, temperaturaSaude);
-                    .Sensoriamento?
+            AtualizarTemperatura($"{temperatura:0.#} °C", corTemperatura);
-                    .CoolerControl?
-                    .Temperatura ?? 0;
-
-            double temperaturaSaude =
-                ObterSaudeModulo(
-                    saudeModulos,
-                    Enums.T_Code.Npc
-                );
-
-            Color corTemperatura =
-                CorTemperatura(
-                    temperatura,
-                    temperaturaSaude
-                );
-
-            AtualizarTemperatura(
-                $"{temperatura:0.#} °C",
-                corTemperatura
-            );
 
             // =========================================================
             // REDE / IPB
             // =========================================================
-
+            double redeSaude = ObterSaudeModulo(saudeModulos, Enums.T_Code.Ipb);
-            double redeSaude =
+            Color corRede = CorPorPercentual(redeSaude);
-                ObterSaudeModulo(
+            AtualizarRede($"{Limitar(redeSaude, 0, 100):0}%", corRede);
-                    saudeModulos,
-                    Enums.T_Code.Ipb
-                );
-
-            Color corRede =
-                CorPorPercentual(redeSaude);
-
-            AtualizarRede(
-                $"{Limitar(redeSaude, 0, 100):0}%",
-                corRede
-            );
 
             // =========================================================
             // GNSS
             // =========================================================
-
+            var gnss = operacao?.Sensoriamento?.Gps;
-            var gnss =
+            double gnssSaude = ObterSaudeModulo(saudeModulos, Enums.T_Code.Gps);
-                operacao?
+            bool gnssConectado = gnss != null && gnssSaude > 0;
-                    .Sensoriamento?
-                    .Gps;
-
-            double gnssSaude =
-                ObterSaudeModulo(
-                    saudeModulos,
-                    Enums.T_Code.Gps
-                );
-
-            bool gnssConectado =
-                gnss != null &&
-                gnssSaude > 0;
-
             if (!gnssConectado)
             {
-                AtualizarGnss(
+                AtualizarGnss("Desconectado", HmiTheme.Danger);
-                    "Desconectado",
-                    HmiTheme.Danger
-                );
             }
             else
             {
-                Enums.TiposCorrecaoGPS qualidadeFix =
+                Enums.TiposCorrecaoGPS qualidadeFix = gnss.QualidadeFix;
-                    gnss.QualidadeFix;
+                double precisaoCm = Math.Max(0, gnss.PrecisaoCm);
-
+                double notaGnss = CalcularNotaGnss(qualidadeFix, precisaoCm, gnssSaude);
-                double precisaoCm =
+                Color corGnss = CorPorPercentual(notaGnss);
-                    Math.Max(
+                string textoGnss = $"{FormatarQualidadeGnss(qualidadeFix)} " + $"{precisaoCm:0.##} cm";
-                        0,
+                AtualizarGnss(textoGnss, corGnss);
-                        gnss.PrecisaoCm
-                    );
-
-                double notaGnss =
-                    CalcularNotaGnss(
-                        qualidadeFix,
-                        precisaoCm,
-                        gnssSaude
-                    );
-
-                Color corGnss =
-                    CorPorPercentual(notaGnss);
-
-                string textoGnss =
-                    $"{FormatarQualidadeGnss(qualidadeFix)} " +
-                    $"{precisaoCm:0.##} cm";
-
-                AtualizarGnss(
-                    textoGnss,
-                    corGnss
-                );
             }
 
             // =========================================================
             // BASE
             // =========================================================
-
+            bool baseConectada = VariaveisOperacao.PosicaoBase?.Inicializado ?? false;
-            bool baseConectada =
-                VariaveisOperacao
-                    .PosicaoBase
-                    .Inicializado;
-
             if (!baseConectada || gnss == null)
             {
-                AtualizarDistanciaBase(
+                AtualizarDistanciaBase("Desconectada", HmiTheme.Danger);
-                    "Desconectada",
-                    HmiTheme.Danger
-                );
             }
             else
             {
-                double distanciaBase =
+                double distanciaBase = GPSUtils.DistanciaEntrePontos(gnss, VariaveisOperacao.PosicaoBase);
-                    GPSUtils.DistanciaEntrePontos(
+                Color corBase = CorDistanciaBase(distanciaBase, 1000);
-                        gnss,
+                string distanciaTexto = FormatarDistancia(distanciaBase);
-                        VariaveisOperacao.PosicaoBase
+                AtualizarDistanciaBase(distanciaTexto, corBase);
-                    );
-
-                Color corBase =
-                    CorDistanciaBase(
-                        distanciaBase,
-                        1000
-                    );
-
-                string distanciaTexto =
-                    FormatarDistancia(distanciaBase);
-
-                AtualizarDistanciaBase(
-                    distanciaTexto,
-                    corBase
-                );
             }
 
             // =========================================================
             // BOTÕES DA OPERAÇÃO
             // =========================================================
-
+            bool operacaoPausada = dadosOperacao?.Pausa ?? false;
-            bool operacaoPausada =
+            bool operacaoEmergencia = dadosOperacao?.Emergencia ?? false;
-                dadosOperacao?.Pausa ?? false;
+            bool operacaoIniciada = dadosOperacao?.OperacaoIniciada ?? false;
-
+            AtualizarAcoesOperacao(statusOperacao, operacaoIniciada, operacaoPausada, operacaoEmergencia);
-            bool operacaoEmergencia =
-                dadosOperacao?.Emergencia ?? false;
-
-            bool operacaoIniciada =
-                dadosOperacao?.OperacaoIniciada ?? false;
-
-            AtualizarAcoesOperacao(
-                statusOperacao,
-                operacaoIniciada,
-                operacaoPausada,
-                operacaoEmergencia
-            );
 
             // =========================================================
             // FORMULÁRIO FILHO ATIVO
             // =========================================================
-
+            if (_telaAtual != null && !_telaAtual.IsDisposed)
-            if (
-                _telaAtual != null &&
-                !_telaAtual.IsDisposed &&
-                _telaAtual.Name == frmMenu.Name)
             {
-                frmMenu.AtualizarControlesUI();
+                (_telaAtual as ITelaNavegavel).AtualizarDadosTela();
             }
         }
 
@@ -1040,6 +884,7 @@ namespace AgroBase.Forms.IHM
     public interface ITelaNavegavel
     {
         event EventHandler VoltarSolicitado;
+        void AtualizarDadosTela();
     }
 
 }

AgroBase/AgroBase/Forms/IHM/frmMenu.cs

@@ -13,7 +13,7 @@ using static AgroBase.Models.Enums;
 
 namespace AgroBase.Forms.IHM
 {
-    public partial class frmMenu : Form
+    public partial class frmMenu : Form, ITelaNavegavel
     {
         private bool _sincronizando;
 
@@ -24,6 +24,7 @@ namespace AgroBase.Forms.IHM
         public event EventHandler AjustarLeverArmSolicitado;
 
         public event EventHandler<TelaSolicitadaEventArgs> TelaSolicitada;
+        public event EventHandler VoltarSolicitado;
 
         public frmMenu()
         {
@@ -72,6 +73,11 @@ namespace AgroBase.Forms.IHM
             
         }
 
+        public void AtualizarDadosTela()
+        {
+            AtualizarControlesUI();
+        }
+
         public void AtualizarControlesUI()
         {
             bool mqttConectado = Variaveis.MqttServiceLocal != null && Variaveis.MqttServiceLocal.StatusConexao();
@@ -383,6 +389,7 @@ namespace AgroBase.Forms.IHM
             }
         }
 
+        
     }
 
 

AgroBase/AgroBase/Forms/IHM/frmOperacao.cs

@@ -1,5 +1,6 @@
 
 using AgroBase.Forms.IHM.Operacao;
+using AgroBase.Models;
 using System;
 using System.Windows.Forms;
 
@@ -25,16 +26,18 @@ namespace AgroBase.Forms.IHM
 
     public partial class frmOperacao : Form, ITelaNavegavel
     {
-        private AbaOperacaoIHM _abaAtual;
-
         public event EventHandler VoltarSolicitado;
-        public event EventHandler<AbaOperacaoAlteradaEventArgs> AbaAlterada;
 
+        private AbaOperacaoIHM _abaAtual;
+        public event EventHandler<AbaOperacaoAlteradaEventArgs> AbaAlterada;
         private readonly ucOperacaoMovimentacao _ucMovimentacao = new ucOperacaoMovimentacao { Dock = DockStyle.Fill };
         private readonly ucOperacaoPulverizador _ucPulverizador = new ucOperacaoPulverizador { Dock = DockStyle.Fill };
         private readonly ucOperacaoNavegacao _ucNavegacao = new ucOperacaoNavegacao { Dock = DockStyle.Fill };
         private readonly ucOperacaoParametros _ucParametros = new ucOperacaoParametros { Dock = DockStyle.Fill };
 
+        public Panel PainelConteudo { get { return pnlConteudoAba; } }
+        public AbaOperacaoIHM AbaAtual { get { return _abaAtual; } }
+
         public frmOperacao()
         {
             InitializeComponent();
@@ -42,8 +45,25 @@ namespace AgroBase.Forms.IHM
             SelecionarAba(AbaOperacaoIHM.Movimentacao, false);
         }
 
-        public Panel PainelConteudo { get { return pnlConteudoAba; } }
+        public void AtualizarDadosTela()
-        public AbaOperacaoIHM AbaAtual { get { return _abaAtual; } }
+        {
+            switch (_abaAtual)
+            {
+                case AbaOperacaoIHM.Movimentacao:
+                    _ucMovimentacao.AtualizarDadosTela();
+                    break;
+                case AbaOperacaoIHM.Pulverizador:
+                    _ucPulverizador.AtualizarDadosTela();
+                    break;
+                case AbaOperacaoIHM.Navegacao:
+                    break;
+                case AbaOperacaoIHM.Parametros:
+                    break;
+            }
+        }
+
+
+        
 
         private void VincularEventos()
         {
@@ -59,6 +79,7 @@ namespace AgroBase.Forms.IHM
             tabParametros.Click += delegate { SelecionarAba(AbaOperacaoIHM.Parametros, true); };
         }
 
+        
         public void SelecionarAba(AbaOperacaoIHM aba)
         {
             SelecionarAba(aba, true);

AgroBase/AgroBase/Forms/frmPrincipal.cs

@@ -256,6 +256,9 @@ namespace AgroBase
         private void btnJoyAtt_Click(object sender, EventArgs e)
         {
             GeneralJoystick.AtualizaDispositivo();
+            cmbJoysticks.Items.Clear();
+            cmbJoysticks.Items.AddRange(GeneralJoystick.JoysticksConectados.ToArray());
+            cmbJoysticks.SelectedIndex = GeneralJoystick.JoysticksConectados.IndexOf(GeneralJoystick.JoystickConectado.Information.InstanceName);
         }
 
         private void btnJoyEdt_Click(object sender, EventArgs e)

AgroBase/AgroBase/Models/GeneralJoystick.cs

@@ -15,6 +15,7 @@ namespace AgroBase
 {
     public class GeneralJoystick
     {
+        public static List<string> JoysticksConectados = new List<string>();
         public static Joystick JoystickConectado = null;
         public static int MargemAnalogico = 100;
         public static int MaximoAnalogico = 65534;
@@ -66,17 +67,18 @@ namespace AgroBase
             {
                 DispCon = Variaveis.DispositivosConectados.Where(x => x.Dados.ConexaoAtiva).ToList();
                 frmInstancial.frmJoystick.lblDispositivo.Text = "Dispositivos: " + (DispCon.Count == 0 ? "N/A" : string.Join(", ", DispCon.Select(x => x._Descricao + " (" + Enum.GetName(typeof(T_Code), x.Dispositivo) + ")").ToArray()));
-                frmInstancial.frmPrincipal.cmbJoysticks.Items.Clear();
 
                 InicializarJoysticksConectados();
 
                 return true;
             });
-            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(frmInstancial.frmPrincipal.cmbJoysticks, funcAtt);
+            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(frmInstancial.frmJoystick.lblDispositivo, funcAtt);
         }
 
         public static void InicializarJoysticksConectados()
         {
+            JoysticksConectados = new List<string>();
+
             var directInput = new DirectInput();
 
             // Find a Joystick Guid
@@ -85,7 +87,7 @@ namespace AgroBase
             foreach (var deviceInstance in directInput.GetDevices(DeviceType.Gamepad, DeviceEnumerationFlags.AllDevices))
             {
                 joystickGuid = deviceInstance.InstanceGuid;
-                frmInstancial.frmPrincipal.cmbJoysticks.Items.Add(deviceInstance.InstanceName);
+                JoysticksConectados.Add(deviceInstance.InstanceName);
             }
 
             // If Gamepad not found, look for a Joystick
@@ -94,7 +96,7 @@ namespace AgroBase
                 foreach (var deviceInstance in directInput.GetDevices(DeviceType.Joystick, DeviceEnumerationFlags.AllDevices))
                 {
                     joystickGuid = deviceInstance.InstanceGuid;
-                    frmInstancial.frmPrincipal.cmbJoysticks.Items.Add(deviceInstance.InstanceName);
+                    JoysticksConectados.Add(deviceInstance.InstanceName);
                 }
             }
 
@@ -127,7 +129,6 @@ namespace AgroBase
             if (JoystickConectado != null)
             {
                 tmrJoystick.Start();
-                frmInstancial.frmPrincipal.cmbJoysticks.SelectedIndex = 0;
             }
 
         }
@@ -553,13 +554,16 @@ namespace AgroBase
                 (op.Parametros.Controle.MovimentoAutomatico && Comando.Dispositivo == T_Code.Mov) ||
                 (op.Parametros.Controle.DirecionalAutomatico && Comando.Dispositivo == T_Code.Dir);
 
+            bool bloqueioCalibragem = 
+                op.Sensoriamento.Operacao.Calibrando;
+
             bool bloqueioOperacional =
-                op.Sensoriamento.Operacao.Calibrando ||
                 !op.Sensoriamento.Operacao.OperacaoLiberada ||
                 !op.Sensoriamento.Operacao.OperacaoIniciada;
 
             bool deveInterromper =
                 bloqueioAutomatico ||
+                bloqueioCalibragem ||
                 !VerificaComandoValidoSonar(Comando.key) ||
                 (!ForcarComando && bloqueioOperacional);
 

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -4938,6 +4938,14 @@ namespace AgroBase.Models
         public List<OperacaoSensoriamentoLogErrosModel> Logs { get; set; } = new List<OperacaoSensoriamentoLogErrosModel>();
         // CoolerControl
         public CoolerControlDataModel CoolerControl { get; set; } = new CoolerControlDataModel();
+        // Cameras
+        public List<CameraWorkerItemModel> Cameras { get; set; } = new List<CameraWorkerItemModel>();
+        public void AtualizarCameras()
+        {
+            Cameras = CameraWorkerService.ListaCameras != null
+                ? new List<CameraWorkerItemModel>(CameraWorkerService.ListaCameras)
+                : new List<CameraWorkerItemModel>();
+        }
 
         public DateTime UltimoRegistroLog { get; set; } = DateTime.MinValue;
 
@@ -4988,6 +4996,7 @@ namespace AgroBase.Models
             AtualizarTrajetoria(agora);
             AtualizarGps(agora);
             AtualizarLivox(agora);
+            AtualizarCameras();
             DadosPerformance.AtualizarDadosPerformance();
             
 
@@ -5031,6 +5040,7 @@ namespace AgroBase.Models
             var dadosHealthWorker = OperadorSaude?.Clone();
             var dadosLivox = LivoxLidar?.Clone();
             var dadosCooler = _Cooler?.GetResumo(agora);
+            var dadosCameras = new List<CameraWorkerItemModel>(Cameras ?? new List<CameraWorkerItemModel>());
             op.Controle.Momento = agora;
 
             OperacaoSensoriamentoConjuntoModel dadosAtualizados = new OperacaoSensoriamentoConjuntoModel(op)
@@ -5051,6 +5061,7 @@ namespace AgroBase.Models
                 DadosPerformance = dadosPerformance,
                 LivoxLidar = dadosLivox,
                 CoolerControl = dadosCooler,
+                Cameras = dadosCameras,
                 Logs = op.ListarEventosPendentes(),
                 UltimoRegistroLog = UltimoRegistroLog,
             };
@@ -5078,6 +5089,7 @@ namespace AgroBase.Models
                 IMU = IMU?.Clone(),
                 LivoxLidar = LivoxLidar?.Clone(),
                 CoolerControl = CoolerControl?.Clone(),
+                Cameras = new List<CameraWorkerItemModel>(Cameras ?? new List<CameraWorkerItemModel>()),
                 Logs = new List<OperacaoSensoriamentoLogErrosModel>(Logs ?? new List<OperacaoSensoriamentoLogErrosModel>()),
                 UltimoRegistroLog = UltimoRegistroLog,
             };

AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs

@@ -176,6 +176,36 @@ namespace AgroBase.Models.Operacoes
 
     public class OperacaoParametrosControleModel : INotifyPropertyChanged
     {
+        private bool _controleManualAcionado;
+        public bool ControleManualAcionado
+        {
+            get => _controleManualAcionado;
+            set
+            {
+                if (_controleManualAcionado != value)
+                {
+                    _controleManualAcionado = value;
+                    OnPropertyChanged(nameof(ControleManualAcionado));
+
+                    if (_controleManualAcionado)
+                    {
+                        _movimentoAutomaticoAnterior = _movimentoAutomatico;
+                        _direcionalAutomaticoAnterior = _direcionalAutomatico;
+                        _movimentoAutomatico = false;
+                        _direcionalAutomatico = false;
+                    }
+                    else
+                    {
+                        if (_movimentoAutomatico != _movimentoAutomaticoAnterior)
+                            _movimentoAutomatico = _movimentoAutomaticoAnterior;
+                        if (_direcionalAutomatico != _direcionalAutomaticoAnterior)
+                            _direcionalAutomatico = _direcionalAutomaticoAnterior;
+                    }
+                }
+            }
+        }
+
+        private bool _movimentoAutomaticoAnterior;
         private bool _movimentoAutomatico;
         public bool MovimentoAutomatico
         {
@@ -190,6 +220,7 @@ namespace AgroBase.Models.Operacoes
             }
         }
 
+        private bool _direcionalAutomaticoAnterior;
         private bool _direcionalAutomatico;
         public bool DirecionalAutomatico
         {