alterado timers para AsyncTaskTimer

AgroBase/AgroBase/AgroBase.csproj

@@ -416,6 +416,7 @@
       <DependentUpon>frmSonar.cs</DependentUpon>
     </Compile>
     <Compile Include="Models\AlarmeModel.cs" />
+    <Compile Include="Models\AsyncTaskTimerModel.cs" />
     <Compile Include="Models\BLD300RModel.cs" />
     <Compile Include="Models\CameraCaminhoModel.cs" />
     <Compile Include="Models\CameraModel.cs" />

AgroBase/AgroBase/Forms/Atuador/frmAtuCalibragem.cs

@@ -1,6 +1,7 @@
 using AgroBase.Comum;
 using AgroBase.Models;
 using AgroBase.Models.Modules;
+using CefSharp.DevTools.Page;
 using Microsoft.DirectX.PrivateImplementationDetails;
 using System;
 using System.Collections.Generic;
@@ -9,6 +10,7 @@ using System.Data;
 using System.Drawing;
 using System.Linq;
 using System.Text;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 using System.Windows.Forms.DataVisualization.Charting;
 using static AgroBase.Models.Enums;
@@ -17,7 +19,7 @@ namespace AgroBase.Forms.Atuador
 {
     public partial class frmAtuCalibragem : Form
     {
-        Timer tmrLeitura = new Timer() { Interval = 1000 };
+        AsyncTaskTimerModel tmrLeitura;
         DispositivosService<AtuadorModel> DispAtu = (DispositivosService<AtuadorModel>)Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == T_Code.Atu);
         CalibragemVazao _CalibragemVazao = new CalibragemVazao();
 
@@ -55,7 +57,7 @@ namespace AgroBase.Forms.Atuador
             grdSensoriamento.Rows.Add(new object[] { "Percentual", "0" });
 
 
-            tmrLeitura.Tick += TmrLeitura_Tick;
+            tmrLeitura = new AsyncTaskTimerModel(tmrLeitura_Tick, 1000, this);
             tmrLeitura.Start();
         }
 
@@ -121,7 +123,7 @@ namespace AgroBase.Forms.Atuador
 
         }
 
-        private void TmrLeitura_Tick(object sender, EventArgs e)
+        private async Task tmrLeitura_Tick()
         {
             DispAtu = (DispositivosService<AtuadorModel>)Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == T_Code.Atu);
 

AgroBase/AgroBase/Forms/Atuador/frmAtuCamera.cs

@@ -2,6 +2,7 @@
 using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 using AgroBase.Models;
 using AgroBase.Services;
@@ -13,7 +14,7 @@ namespace AgroBase.Forms
     public partial class frmAtuCamera : Form
     {
         private CameraSoloModel cameraSolo = new CameraSoloModel();
-        private Timer tmrLeitura;
+        private AsyncTaskTimerModel tmrLeitura;
 
         public frmAtuCamera()
         {
@@ -53,7 +54,7 @@ namespace AgroBase.Forms
             }
         }
 
-        private void TmrLeitura_Tick(object sender, EventArgs e)
+        private async Task tmrLeitura_Tick()
         {
             ListarObjetosDetectados();
         }
@@ -102,8 +103,7 @@ namespace AgroBase.Forms
                 cameraSolo.tmrProcesso
             );
 
-            tmrLeitura = new Timer() { Interval = 200 };
-            tmrLeitura.Tick += TmrLeitura_Tick;
+            tmrLeitura = new AsyncTaskTimerModel(tmrLeitura_Tick, 200);
             tmrLeitura.Start();
         }
 

AgroBase/AgroBase/Forms/Direcional/frmDirConfig.Designer.cs

@@ -30,6 +30,8 @@ namespace AgroBase.Forms.Direcional
         private void InitializeComponent()
         {
             this.gpbSentido = new System.Windows.Forms.GroupBox();
+            this.lblIP = new System.Windows.Forms.Label();
+            this.txtIP = new System.Windows.Forms.TextBox();
             this.cmbTipoMovimento = new System.Windows.Forms.ComboBox();
             this.lblTipoMovimento = new System.Windows.Forms.Label();
             this.btnSalvarSentido = new System.Windows.Forms.Button();
@@ -69,8 +71,6 @@ namespace AgroBase.Forms.Direcional
             this.cmbETEsquerda = new System.Windows.Forms.ComboBox();
             this.lblETEsquerda = new System.Windows.Forms.Label();
             this.lblETDireita = new System.Windows.Forms.Label();
-            this.lblIP = new System.Windows.Forms.Label();
-            this.txtIP = new System.Windows.Forms.TextBox();
             this.gpbSentido.SuspendLayout();
             this.gpbDF.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudDFOffset)).BeginInit();
@@ -102,6 +102,25 @@ namespace AgroBase.Forms.Direcional
             this.gpbSentido.TabStop = false;
             this.gpbSentido.Text = "Sentido de giro";
             // 
+            // lblIP
+            // 
+            this.lblIP.AutoSize = true;
+            this.lblIP.Location = new System.Drawing.Point(10, 326);
+            this.lblIP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblIP.Name = "lblIP";
+            this.lblIP.Size = new System.Drawing.Size(17, 13);
+            this.lblIP.TabIndex = 143;
+            this.lblIP.Text = "IP";
+            // 
+            // txtIP
+            // 
+            this.txtIP.Location = new System.Drawing.Point(13, 343);
+            this.txtIP.Margin = new System.Windows.Forms.Padding(2);
+            this.txtIP.Name = "txtIP";
+            this.txtIP.Size = new System.Drawing.Size(85, 20);
+            this.txtIP.TabIndex = 142;
+            this.txtIP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
             // cmbTipoMovimento
             // 
             this.cmbTipoMovimento.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
@@ -201,6 +220,7 @@ namespace AgroBase.Forms.Direcional
             // 
             // cmbDFDireita
             // 
+            this.cmbDFDireita.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbDFDireita.FormattingEnabled = true;
             this.cmbDFDireita.Location = new System.Drawing.Point(66, 25);
             this.cmbDFDireita.Margin = new System.Windows.Forms.Padding(2);
@@ -210,6 +230,7 @@ namespace AgroBase.Forms.Direcional
             // 
             // cmbDFEsquerda
             // 
+            this.cmbDFEsquerda.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbDFEsquerda.FormattingEnabled = true;
             this.cmbDFEsquerda.Location = new System.Drawing.Point(66, 50);
             this.cmbDFEsquerda.Margin = new System.Windows.Forms.Padding(2);
@@ -306,6 +327,7 @@ namespace AgroBase.Forms.Direcional
             // 
             // cmbEFDireita
             // 
+            this.cmbEFDireita.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbEFDireita.FormattingEnabled = true;
             this.cmbEFDireita.Location = new System.Drawing.Point(66, 25);
             this.cmbEFDireita.Margin = new System.Windows.Forms.Padding(2);
@@ -315,6 +337,7 @@ namespace AgroBase.Forms.Direcional
             // 
             // cmbEFEsquerda
             // 
+            this.cmbEFEsquerda.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbEFEsquerda.FormattingEnabled = true;
             this.cmbEFEsquerda.Location = new System.Drawing.Point(66, 50);
             this.cmbEFEsquerda.Margin = new System.Windows.Forms.Padding(2);
@@ -411,6 +434,7 @@ namespace AgroBase.Forms.Direcional
             // 
             // cmbDTDireita
             // 
+            this.cmbDTDireita.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbDTDireita.FormattingEnabled = true;
             this.cmbDTDireita.Location = new System.Drawing.Point(66, 25);
             this.cmbDTDireita.Margin = new System.Windows.Forms.Padding(2);
@@ -420,6 +444,7 @@ namespace AgroBase.Forms.Direcional
             // 
             // cmbDTEsquerda
             // 
+            this.cmbDTEsquerda.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbDTEsquerda.FormattingEnabled = true;
             this.cmbDTEsquerda.Location = new System.Drawing.Point(66, 50);
             this.cmbDTEsquerda.Margin = new System.Windows.Forms.Padding(2);
@@ -516,6 +541,7 @@ namespace AgroBase.Forms.Direcional
             // 
             // cmbETDireita
             // 
+            this.cmbETDireita.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbETDireita.FormattingEnabled = true;
             this.cmbETDireita.Location = new System.Drawing.Point(66, 25);
             this.cmbETDireita.Margin = new System.Windows.Forms.Padding(2);
@@ -525,6 +551,7 @@ namespace AgroBase.Forms.Direcional
             // 
             // cmbETEsquerda
             // 
+            this.cmbETEsquerda.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbETEsquerda.FormattingEnabled = true;
             this.cmbETEsquerda.Location = new System.Drawing.Point(66, 50);
             this.cmbETEsquerda.Margin = new System.Windows.Forms.Padding(2);
@@ -552,25 +579,6 @@ namespace AgroBase.Forms.Direcional
             this.lblETDireita.TabIndex = 2;
             this.lblETDireita.Text = "Direita";
             // 
-            // lblIP
-            // 
-            this.lblIP.AutoSize = true;
-            this.lblIP.Location = new System.Drawing.Point(10, 326);
-            this.lblIP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblIP.Name = "lblIP";
-            this.lblIP.Size = new System.Drawing.Size(17, 13);
-            this.lblIP.TabIndex = 143;
-            this.lblIP.Text = "IP";
-            // 
-            // txtIP
-            // 
-            this.txtIP.Location = new System.Drawing.Point(13, 343);
-            this.txtIP.Margin = new System.Windows.Forms.Padding(2);
-            this.txtIP.Name = "txtIP";
-            this.txtIP.Size = new System.Drawing.Size(85, 20);
-            this.txtIP.TabIndex = 142;
-            this.txtIP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
-            // 
             // frmDirConfig
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);

AgroBase/AgroBase/Forms/IHM/frmAjustes.cs

@@ -189,7 +189,7 @@ namespace AgroBase.Forms.IHM
         private FilterInfoCollection videoDevices;
         private VideoCaptureDevice videoSourceEsquerda;
         private VideoCaptureDevice videoSourceDireita;
-        private Timer tmrKinect;
+        private AsyncTaskTimerModel tmrKinect;
 
         private void AtualizarCameras()
         {
@@ -286,7 +286,7 @@ namespace AgroBase.Forms.IHM
             }
         }
 
-        private void TmrKinect_Tick(object sender, EventArgs e)
+        private async Task tmrKinect_Tick()
         {
             Bitmap bitmap = (Bitmap)(chbKinect.Checked ? KinectService.bitmapMap : KinectService.bitmapRGB).Clone();
             picCentro.Image = bitmap;
@@ -315,10 +315,7 @@ namespace AgroBase.Forms.IHM
         {
             if (tmrKinect == null)
             {
-                tmrKinect = new Timer();
-                tmrKinect.Interval = 100;
-                tmrKinect.Tick -= TmrKinect_Tick;
-                tmrKinect.Tick += TmrKinect_Tick;
+                tmrKinect = new AsyncTaskTimerModel(tmrKinect_Tick, 100, this);
                 tmrKinect.Start();
             }
         }

AgroBase/AgroBase/Forms/IHM/frmDiagnosticos.cs

@@ -662,10 +662,12 @@ namespace AgroBase.Forms.IHM
                 idx = PreencheDadosLinha(grid, Testes, idx, Inicializado ? Testes[idx].ValorAferido : -1);
 
                 var ServoFreio = Modulo_Sen.Servos.FirstOrDefault(x => x.ID.Contains(Modulo.Modulo_ID) && x.Inicializado);
-                bool AtivarFreio = SenIniciado && ServoFreio != null ? await EnviarComandoMovFreio(Variaveis.OperacaoEmAndamento.DispSen, ServoFreio, AcaoFreio.Ativar, Testes[idx], 2000) : false;
+                (bool atuar, int angAtivar) = Modulo.MovMotor.ConfigFreio.AtualizarDadosFreio(true, 0, 15);
+                bool AtivarFreio = SenIniciado && ServoFreio != null ? await EnviarComandoMovFreio(Variaveis.OperacaoEmAndamento.DispSen, ServoFreio, angAtivar, Testes[idx], 2000) : false;
                 idx = PreencheDadosLinha(grid, Testes, idx, ServoFreio != null ? Testes[idx].ValorAferido : -1);
 
-                bool DesativarFreio = SenIniciado && ServoFreio != null ? await EnviarComandoMovFreio(Variaveis.OperacaoEmAndamento.DispSen, ServoFreio, AcaoFreio.Desativar, Testes[idx], 2000) : false;
+                (bool desatuar, int angDesativar) = Modulo.MovMotor.ConfigFreio.AtualizarDadosFreio(false);
+                bool DesativarFreio = SenIniciado && ServoFreio != null ? await EnviarComandoMovFreio(Variaveis.OperacaoEmAndamento.DispSen, ServoFreio, angDesativar, Testes[idx], 2000) : false;
                 idx = PreencheDadosLinha(grid, Testes, idx, ServoFreio != null ? Testes[idx].ValorAferido : -1);
 
             }
@@ -708,12 +710,12 @@ namespace AgroBase.Forms.IHM
             return Sucesso;
         }
 
-        private async Task<bool> EnviarComandoMovFreio(DispositivosService<SensoriamentoModel> Dispositivo, SensorServoModel ServoFreio, AcaoFreio Acao, ColunasDiagnosticoModel Teste, int Timeout)
+        private async Task<bool> EnviarComandoMovFreio(DispositivosService<SensoriamentoModel> Dispositivo, SensorServoModel ServoFreio, int Angulo, ColunasDiagnosticoModel Teste, int Timeout)
         {
             Dispositivo.Dados.Servos.ForEach(x => x.Controlar = false);
             ServoFreio.Controlar = true;
 
-            GeneralJoystick.EnviarComandoSensoriamento(S_Code.sFRO, ServoFreio.ID, Acao);
+            GeneralJoystick.EnviarComandoSensoriamento(S_Code.sFRO, ServoFreio.ID, Angulo);
             //Dispositivo.AdicionarMensagemFila(Dispositivo.Dados.Modulo_ID, ServoFreio.ProtocoloComando(), true, false);
 
             DateTime Inicio = DateTime.Now;

AgroBase/AgroBase/Forms/IHM/frmIHM.cs

@@ -7,7 +7,7 @@ using System.Data;
 using System.Diagnostics;
 using System.Drawing;
 using System.Linq;
-using System.Timers;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 
@@ -15,8 +15,8 @@ namespace AgroBase.Forms.IHM
 {
     public partial class frmIHM : Form
     {
-        System.Timers.Timer tmrDispositivos = new System.Timers.Timer() { Interval = 1000, Enabled = false };
-        System.Timers.Timer tmrAtualizacaoArquivos = new System.Timers.Timer() { Interval = 300, Enabled = false };
+        AsyncTaskTimerModel tmrDispositivos;
+        AsyncTaskTimerModel tmrAtualizacaoArquivos;
         public ulong CodFalha = 0;
 
         public frmIHM()
@@ -97,30 +97,80 @@ namespace AgroBase.Forms.IHM
         private void frmIHM_Load(object sender, EventArgs e)
         {
             lblVersao.Text = "v " + Variaveis.Versao;
-            tmrDispositivos.Elapsed += TmrDispositivos_Elapsed;
+            tmrDispositivos = new AsyncTaskTimerModel(tmrDispositivos_Tick, 5000, this);
             tmrDispositivos.Start();
 
-            tmrAtualizacaoArquivos.Elapsed += TmrAtualizacaoArquivos_Elapsed;
+            tmrAtualizacaoArquivos = new AsyncTaskTimerModel(tmrAtualizacaoArquivos_Tick, 300, this);
             tmrAtualizacaoArquivos.Start();
 
             lblCodigoFalha.Click += LblCodigoFalha_Click;
         }
 
-        private void TmrAtualizacaoArquivos_Elapsed(object sender, ElapsedEventArgs e)
+        private async Task tmrAtualizacaoArquivos_Tick()
         {
-            tmrAtualizacaoArquivos.Stop();
+            lblProgressoAtualizacao.Text = VersionamentoService.AtualizandoArquivos ? $"({VersionamentoService.ProgressoAtualizacao.ToString("0.00")}%) Atualizando arquivos..." : VersionamentoService.ResultadoAtualizacao;
+            pgbAtualizacaoArquivos.Value = (int)VersionamentoService.ProgressoAtualizacao;
 
-            Func<bool> func = new Func<bool>(() =>
+            tmrAtualizacaoArquivos.SetInterval(VersionamentoService.AtualizandoArquivos ? 300 : 5000);
+        }
+        
+        private async Task tmrDispositivos_Tick()
+        {
+            CodFalha = Variaveis.OperacaoEmAndamento.RetornaCodigoFalha();
+
+            var Labels = this.Controls.OfType<Label>().Where(y => y.Name.Contains("lblD_")).ToList();
+            Labels.ForEach(lbl =>
             {
-                //pgbAtualizacaoArquivos.Visible = VersionamentoService.AtualizandoArquivos;
-                //lblProgressoAtualizacao.Visible = VersionamentoService.AtualizandoArquivos;
-                lblProgressoAtualizacao.Text = VersionamentoService.AtualizandoArquivos ? $"({VersionamentoService.ProgressoAtualizacao.ToString("0.00")}%) Atualizando arquivos..." : VersionamentoService.ResultadoAtualizacao;
-                pgbAtualizacaoArquivos.Value = (int)VersionamentoService.ProgressoAtualizacao;
-                return true;
-            });
-            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(pgbAtualizacaoArquivos, func);
+                T_Code Dispositivo = (T_Code)Enum.Parse(typeof(T_Code), lbl.Name.Split('_')[1]);
+                string Mod_ID = lbl.Name.Split('_').Length == 3 ? lbl.Name.Split('_')[2] : lbl.Name.Split('_')[1];
 
-            tmrAtualizacaoArquivos.Start();
+                if (Dispositivo == T_Code.Cam)
+                {
+                    var listaCameras = CameraService.AtualizaListaCameras();
+
+                    var CameraCaminho = Variaveis.OperacaoEmAndamento.CameraCaminhoKinect;
+                    if (CameraCaminho != null && Mod_ID == CameraCaminho.ID)
+                    {
+                        lbl.ForeColor = !listaCameras.Any(x => x.Value == CameraCaminho.CameraSelecionada) ? Color.DarkRed : CameraCaminho.camera.selectedCamera == 0 ? Color.Gold : Color.DarkGreen;
+                    }
+                    else
+                    {
+                        var CameraSolo = Variaveis.OperacaoEmAndamento.CamerasSolo.FirstOrDefault(x => x.ID == Mod_ID);
+                        if (CameraSolo != null)
+                        {
+                            lbl.ForeColor = !listaCameras.Any(x => x.Value == CameraSolo.CameraSelecionada) ? Color.DarkRed : CameraSolo.camera.selectedCamera == 0 ? Color.Gold : Color.DarkGreen;
+                        }
+                    }
+                }
+                else
+                {
+                    var Modulo = SerialService.DispositivosMapeados.FirstOrDefault(x => x.Dispositivo == Dispositivo && (x.Mod_ID == Mod_ID || x.Mod_ID == null));
+                    if (Modulo != null)
+                    {
+                        lbl.ForeColor = Modulo.Erro ? Color.Gold : Modulo.Conectado ? Color.DarkGreen : Color.DarkRed;
+                    }
+                    else
+                    {
+                        lbl.ForeColor = Color.Black;
+                    }
+                }
+            });
+
+            if (SerialService.DispositivosMapeados.Count == 0)
+            {
+                Variaveis.DispositivosConectados.Where(x => x.Dados.GetStatusConexao()).ToList().ForEach(x => x.AcaoDesconectar());
+            }
+
+            bool mqttConectado = Variaveis.MqttService.StatusConexao();
+            lblMqtt.Text = "MQTT: " + (mqttConectado ? "Conectado" : "Desconectado");
+            lblMqtt.ForeColor = mqttConectado ? Color.Green : Color.Red;
+            bool opLiberada = Variaveis.OperacaoEmAndamento.OperacaoLiberada;
+            lblOperacaoLiberada.Text = "Operação Liberada: " + (opLiberada ? "Sim" : "Não");
+            lblOperacaoLiberada.ForeColor = opLiberada ? Color.Green : Color.Red;
+            lblCodigoFalha.Text = $"Código de Falha: {CodFalha}";
+            picWifi.Image = APIService.HasInternet ? Resources.wifi_on : Resources.wifi_off;
+
+            await FuncoesGlobais.SafeExecuteAsync(() => SerialService.RealizarVarreduraPortasUSB());
         }
 
         private void LblCodigoFalha_Click(object sender, EventArgs e)
@@ -129,76 +179,6 @@ namespace AgroBase.Forms.IHM
             MessageBox.Show($"{DescricaoFalha}", "Código de Falha", MessageBoxButtons.OK, MessageBoxIcon.Information);
         }
 
-        private async void TmrDispositivos_Elapsed(object sender, ElapsedEventArgs e)
-        {
-            ((System.Timers.Timer)sender).Stop();
-
-            CodFalha = Variaveis.OperacaoEmAndamento.RetornaCodigoFalha();
-
-            Func<bool> funcao = new Func<bool>(() =>
-            {
-                var Labels = this.Controls.OfType<Label>().Where(y => y.Name.Contains("lblD_")).ToList();
-                Labels.ForEach(lbl =>
-                {
-                    T_Code Dispositivo = (T_Code)Enum.Parse(typeof(T_Code), lbl.Name.Split('_')[1]);
-                    string Mod_ID = lbl.Name.Split('_').Length == 3 ? lbl.Name.Split('_')[2] : lbl.Name.Split('_')[1];
-
-                    if (Dispositivo == T_Code.Cam)
-                    {
-                        var listaCameras = CameraService.AtualizaListaCameras();
-
-                        var CameraCaminho = Variaveis.OperacaoEmAndamento.CameraCaminhoKinect;
-                        if (CameraCaminho != null && Mod_ID == CameraCaminho.ID)
-                        {
-                            lbl.ForeColor = !listaCameras.Any(x => x.Value == CameraCaminho.CameraSelecionada) ? Color.DarkRed : CameraCaminho.camera.selectedCamera == 0 ? Color.Gold : Color.DarkGreen;
-                        }
-                        else
-                        {
-                            var CameraSolo = Variaveis.OperacaoEmAndamento.CamerasSolo.FirstOrDefault(x => x.ID == Mod_ID);
-                            if (CameraSolo != null)
-                            {
-                                lbl.ForeColor = !listaCameras.Any(x => x.Value == CameraSolo.CameraSelecionada) ? Color.DarkRed : CameraSolo.camera.selectedCamera == 0 ? Color.Gold : Color.DarkGreen;
-                            }
-                        }
-                    }
-                    else
-                    {
-                        var Modulo = SerialService.DispositivosMapeados.FirstOrDefault(x => x.Dispositivo == Dispositivo && (x.Mod_ID == Mod_ID || x.Mod_ID == null));
-                        if (Modulo != null)
-                        {
-                            lbl.ForeColor = Modulo.Erro ? Color.Gold : Modulo.Conectado ? Color.DarkGreen : Color.DarkRed;
-                        }
-                        else
-                        {
-                            lbl.ForeColor = Color.Black;
-                        }
-                    }
-                });
-
-                if (SerialService.DispositivosMapeados.Count == 0)
-                {
-                    Variaveis.DispositivosConectados.Where(x => x.Dados.GetStatusConexao()).ToList().ForEach(x => x.AcaoDesconectar());
-                }
-
-                bool mqttConectado = Variaveis.MqttService.StatusConexao();
-                lblMqtt.Text = "MQTT: " + (mqttConectado ? "Conectado" : "Desconectado");
-                lblMqtt.ForeColor = mqttConectado ? Color.Green : Color.Red;
-                bool opLiberada = Variaveis.OperacaoEmAndamento.OperacaoLiberada;
-                lblOperacaoLiberada.Text = "Operação Liberada: " + (opLiberada ? "Sim" : "Não");
-                lblOperacaoLiberada.ForeColor = opLiberada ? Color.Green : Color.Red;
-                lblCodigoFalha.Text = $"Código de Falha: {CodFalha}";
-                picWifi.Image = APIService.HasInternet ? Resources.wifi_on : Resources.wifi_off;
-
-                return true;
-            });
-
-            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(this, funcao);
-
-            await SerialService.RealizarVarreduraPortasUSB(tmrDispositivos);
-
-            ((System.Timers.Timer)sender).Start();
-        }
-
         private void lblModulo_Click(object sender, EventArgs e)
         {
             Label lbl = (Label)sender;

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

@@ -33,6 +33,10 @@ namespace AgroBase.Forms.Movimentacao
             this.cmbTipoMovimento = new System.Windows.Forms.ComboBox();
             this.lblTipoMovimento = new System.Windows.Forms.Label();
             this.gpbDF = new System.Windows.Forms.GroupBox();
+            this.gpbDF_Freio = new System.Windows.Forms.GroupBox();
+            this.nudDF_Angulo = new System.Windows.Forms.NumericUpDown();
+            this.rdbDF_Dec = new System.Windows.Forms.RadioButton();
+            this.rdbDF_Inc = new System.Windows.Forms.RadioButton();
             this.lblDFEndereco = new System.Windows.Forms.Label();
             this.txtDFEndereco = new System.Windows.Forms.TextBox();
             this.cmbDFFrente = new System.Windows.Forms.ComboBox();
@@ -40,6 +44,10 @@ namespace AgroBase.Forms.Movimentacao
             this.lblDFTras = new System.Windows.Forms.Label();
             this.lblDFFrente = new System.Windows.Forms.Label();
             this.gpbEF = new System.Windows.Forms.GroupBox();
+            this.gpbEF_Freio = new System.Windows.Forms.GroupBox();
+            this.nudEF_Angulo = new System.Windows.Forms.NumericUpDown();
+            this.rdbEF_Dec = new System.Windows.Forms.RadioButton();
+            this.rdbEF_Inc = new System.Windows.Forms.RadioButton();
             this.lblEFEndereco = new System.Windows.Forms.Label();
             this.txtEFEndereco = new System.Windows.Forms.TextBox();
             this.cmbEFFrente = new System.Windows.Forms.ComboBox();
@@ -47,6 +55,10 @@ namespace AgroBase.Forms.Movimentacao
             this.lblEFTras = new System.Windows.Forms.Label();
             this.lblEFFrente = new System.Windows.Forms.Label();
             this.gpbDT = new System.Windows.Forms.GroupBox();
+            this.gpbDT_Freio = new System.Windows.Forms.GroupBox();
+            this.nudDT_Angulo = new System.Windows.Forms.NumericUpDown();
+            this.rdbDT_Dec = new System.Windows.Forms.RadioButton();
+            this.rdbDT_Inc = new System.Windows.Forms.RadioButton();
             this.lblDTEndereco = new System.Windows.Forms.Label();
             this.txtDTEndereco = new System.Windows.Forms.TextBox();
             this.cmbDTFrente = new System.Windows.Forms.ComboBox();
@@ -54,13 +66,19 @@ namespace AgroBase.Forms.Movimentacao
             this.lblDTTras = new System.Windows.Forms.Label();
             this.lblDTFrente = new System.Windows.Forms.Label();
             this.gpbET = new System.Windows.Forms.GroupBox();
+            this.gpbET_Freio = new System.Windows.Forms.GroupBox();
+            this.nudET_Angulo = new System.Windows.Forms.NumericUpDown();
+            this.rdbET_Dec = new System.Windows.Forms.RadioButton();
+            this.rdbET_Inc = new System.Windows.Forms.RadioButton();
             this.lblETEndereco = new System.Windows.Forms.Label();
             this.txtETEndereco = new System.Windows.Forms.TextBox();
             this.cmbETFrente = new System.Windows.Forms.ComboBox();
             this.cmbETTras = new System.Windows.Forms.ComboBox();
             this.lblETTras = new System.Windows.Forms.Label();
             this.lblETFrente = new System.Windows.Forms.Label();
-            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.gpbAjustes = new System.Windows.Forms.GroupBox();
+            this.lblIP = new System.Windows.Forms.Label();
+            this.txtIP = new System.Windows.Forms.TextBox();
             this.txtOffsetLeitura = new System.Windows.Forms.TextBox();
             this.lblOffsetLeitura = new System.Windows.Forms.Label();
             this.lblReducao = new System.Windows.Forms.Label();
@@ -74,14 +92,20 @@ namespace AgroBase.Forms.Movimentacao
             this.nudNumPolos = new System.Windows.Forms.NumericUpDown();
             this.lblRampa = new System.Windows.Forms.Label();
             this.nudRampa = new System.Windows.Forms.NumericUpDown();
-            this.txtIP = new System.Windows.Forms.TextBox();
-            this.lblIP = new System.Windows.Forms.Label();
             this.gpbSentido.SuspendLayout();
             this.gpbDF.SuspendLayout();
+            this.gpbDF_Freio.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudDF_Angulo)).BeginInit();
             this.gpbEF.SuspendLayout();
+            this.gpbEF_Freio.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudEF_Angulo)).BeginInit();
             this.gpbDT.SuspendLayout();
+            this.gpbDT_Freio.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudDT_Angulo)).BeginInit();
             this.gpbET.SuspendLayout();
-            this.groupBox1.SuspendLayout();
+            this.gpbET_Freio.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudET_Angulo)).BeginInit();
+            this.gpbAjustes.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudReducao)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudDiametroRoda)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudRPMMax)).BeginInit();
@@ -101,7 +125,7 @@ namespace AgroBase.Forms.Movimentacao
             this.gpbSentido.Margin = new System.Windows.Forms.Padding(2);
             this.gpbSentido.Name = "gpbSentido";
             this.gpbSentido.Padding = new System.Windows.Forms.Padding(2);
-            this.gpbSentido.Size = new System.Drawing.Size(376, 283);
+            this.gpbSentido.Size = new System.Drawing.Size(376, 357);
             this.gpbSentido.TabIndex = 40;
             this.gpbSentido.TabStop = false;
             this.gpbSentido.Text = "Sentido de giro";
@@ -127,6 +151,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // gpbDF
             // 
+            this.gpbDF.Controls.Add(this.gpbDF_Freio);
             this.gpbDF.Controls.Add(this.lblDFEndereco);
             this.gpbDF.Controls.Add(this.txtDFEndereco);
             this.gpbDF.Controls.Add(this.cmbDFFrente);
@@ -137,11 +162,58 @@ namespace AgroBase.Forms.Movimentacao
             this.gpbDF.Margin = new System.Windows.Forms.Padding(2);
             this.gpbDF.Name = "gpbDF";
             this.gpbDF.Padding = new System.Windows.Forms.Padding(2);
-            this.gpbDF.Size = new System.Drawing.Size(168, 105);
+            this.gpbDF.Size = new System.Drawing.Size(168, 143);
             this.gpbDF.TabIndex = 9;
             this.gpbDF.TabStop = false;
             this.gpbDF.Text = "M4 - Direito Frente (DF)";
             // 
+            // gpbDF_Freio
+            // 
+            this.gpbDF_Freio.Controls.Add(this.nudDF_Angulo);
+            this.gpbDF_Freio.Controls.Add(this.rdbDF_Dec);
+            this.gpbDF_Freio.Controls.Add(this.rdbDF_Inc);
+            this.gpbDF_Freio.Location = new System.Drawing.Point(5, 100);
+            this.gpbDF_Freio.Name = "gpbDF_Freio";
+            this.gpbDF_Freio.Size = new System.Drawing.Size(158, 38);
+            this.gpbDF_Freio.TabIndex = 16;
+            this.gpbDF_Freio.TabStop = false;
+            this.gpbDF_Freio.Text = "Freio";
+            // 
+            // nudDF_Angulo
+            // 
+            this.nudDF_Angulo.Location = new System.Drawing.Point(105, 12);
+            this.nudDF_Angulo.Maximum = new decimal(new int[] {
+            180,
+            0,
+            0,
+            0});
+            this.nudDF_Angulo.Name = "nudDF_Angulo";
+            this.nudDF_Angulo.Size = new System.Drawing.Size(47, 20);
+            this.nudDF_Angulo.TabIndex = 12;
+            this.nudDF_Angulo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // rdbDF_Dec
+            // 
+            this.rdbDF_Dec.AutoSize = true;
+            this.rdbDF_Dec.Location = new System.Drawing.Point(50, 14);
+            this.rdbDF_Dec.Name = "rdbDF_Dec";
+            this.rdbDF_Dec.Size = new System.Drawing.Size(45, 17);
+            this.rdbDF_Dec.TabIndex = 13;
+            this.rdbDF_Dec.TabStop = true;
+            this.rdbDF_Dec.Text = "Dec";
+            this.rdbDF_Dec.UseVisualStyleBackColor = true;
+            // 
+            // rdbDF_Inc
+            // 
+            this.rdbDF_Inc.AutoSize = true;
+            this.rdbDF_Inc.Location = new System.Drawing.Point(8, 14);
+            this.rdbDF_Inc.Name = "rdbDF_Inc";
+            this.rdbDF_Inc.Size = new System.Drawing.Size(40, 17);
+            this.rdbDF_Inc.TabIndex = 12;
+            this.rdbDF_Inc.TabStop = true;
+            this.rdbDF_Inc.Text = "Inc";
+            this.rdbDF_Inc.UseVisualStyleBackColor = true;
+            // 
             // lblDFEndereco
             // 
             this.lblDFEndereco.AutoSize = true;
@@ -163,6 +235,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // cmbDFFrente
             // 
+            this.cmbDFFrente.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbDFFrente.FormattingEnabled = true;
             this.cmbDFFrente.Location = new System.Drawing.Point(66, 25);
             this.cmbDFFrente.Margin = new System.Windows.Forms.Padding(2);
@@ -172,6 +245,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // cmbDFTras
             // 
+            this.cmbDFTras.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbDFTras.FormattingEnabled = true;
             this.cmbDFTras.Location = new System.Drawing.Point(66, 50);
             this.cmbDFTras.Margin = new System.Windows.Forms.Padding(2);
@@ -201,6 +275,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // gpbEF
             // 
+            this.gpbEF.Controls.Add(this.gpbEF_Freio);
             this.gpbEF.Controls.Add(this.lblEFEndereco);
             this.gpbEF.Controls.Add(this.txtEFEndereco);
             this.gpbEF.Controls.Add(this.cmbEFFrente);
@@ -211,11 +286,58 @@ namespace AgroBase.Forms.Movimentacao
             this.gpbEF.Margin = new System.Windows.Forms.Padding(2);
             this.gpbEF.Name = "gpbEF";
             this.gpbEF.Padding = new System.Windows.Forms.Padding(2);
-            this.gpbEF.Size = new System.Drawing.Size(168, 105);
+            this.gpbEF.Size = new System.Drawing.Size(168, 143);
             this.gpbEF.TabIndex = 9;
             this.gpbEF.TabStop = false;
             this.gpbEF.Text = "M2 - Esquerdo Frente (EF)";
             // 
+            // gpbEF_Freio
+            // 
+            this.gpbEF_Freio.Controls.Add(this.nudEF_Angulo);
+            this.gpbEF_Freio.Controls.Add(this.rdbEF_Dec);
+            this.gpbEF_Freio.Controls.Add(this.rdbEF_Inc);
+            this.gpbEF_Freio.Location = new System.Drawing.Point(5, 100);
+            this.gpbEF_Freio.Name = "gpbEF_Freio";
+            this.gpbEF_Freio.Size = new System.Drawing.Size(158, 38);
+            this.gpbEF_Freio.TabIndex = 15;
+            this.gpbEF_Freio.TabStop = false;
+            this.gpbEF_Freio.Text = "Freio";
+            // 
+            // nudEF_Angulo
+            // 
+            this.nudEF_Angulo.Location = new System.Drawing.Point(105, 12);
+            this.nudEF_Angulo.Maximum = new decimal(new int[] {
+            180,
+            0,
+            0,
+            0});
+            this.nudEF_Angulo.Name = "nudEF_Angulo";
+            this.nudEF_Angulo.Size = new System.Drawing.Size(47, 20);
+            this.nudEF_Angulo.TabIndex = 12;
+            this.nudEF_Angulo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // rdbEF_Dec
+            // 
+            this.rdbEF_Dec.AutoSize = true;
+            this.rdbEF_Dec.Location = new System.Drawing.Point(50, 14);
+            this.rdbEF_Dec.Name = "rdbEF_Dec";
+            this.rdbEF_Dec.Size = new System.Drawing.Size(45, 17);
+            this.rdbEF_Dec.TabIndex = 13;
+            this.rdbEF_Dec.TabStop = true;
+            this.rdbEF_Dec.Text = "Dec";
+            this.rdbEF_Dec.UseVisualStyleBackColor = true;
+            // 
+            // rdbEF_Inc
+            // 
+            this.rdbEF_Inc.AutoSize = true;
+            this.rdbEF_Inc.Location = new System.Drawing.Point(8, 14);
+            this.rdbEF_Inc.Name = "rdbEF_Inc";
+            this.rdbEF_Inc.Size = new System.Drawing.Size(40, 17);
+            this.rdbEF_Inc.TabIndex = 12;
+            this.rdbEF_Inc.TabStop = true;
+            this.rdbEF_Inc.Text = "Inc";
+            this.rdbEF_Inc.UseVisualStyleBackColor = true;
+            // 
             // lblEFEndereco
             // 
             this.lblEFEndereco.AutoSize = true;
@@ -237,6 +359,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // cmbEFFrente
             // 
+            this.cmbEFFrente.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbEFFrente.FormattingEnabled = true;
             this.cmbEFFrente.Location = new System.Drawing.Point(66, 25);
             this.cmbEFFrente.Margin = new System.Windows.Forms.Padding(2);
@@ -246,6 +369,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // cmbEFTras
             // 
+            this.cmbEFTras.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbEFTras.FormattingEnabled = true;
             this.cmbEFTras.Location = new System.Drawing.Point(66, 50);
             this.cmbEFTras.Margin = new System.Windows.Forms.Padding(2);
@@ -275,21 +399,69 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // gpbDT
             // 
+            this.gpbDT.Controls.Add(this.gpbDT_Freio);
             this.gpbDT.Controls.Add(this.lblDTEndereco);
             this.gpbDT.Controls.Add(this.txtDTEndereco);
             this.gpbDT.Controls.Add(this.cmbDTFrente);
             this.gpbDT.Controls.Add(this.cmbDTTras);
             this.gpbDT.Controls.Add(this.lblDTTras);
             this.gpbDT.Controls.Add(this.lblDTFrente);
-            this.gpbDT.Location = new System.Drawing.Point(195, 169);
+            this.gpbDT.Location = new System.Drawing.Point(195, 207);
             this.gpbDT.Margin = new System.Windows.Forms.Padding(2);
             this.gpbDT.Name = "gpbDT";
             this.gpbDT.Padding = new System.Windows.Forms.Padding(2);
-            this.gpbDT.Size = new System.Drawing.Size(168, 105);
+            this.gpbDT.Size = new System.Drawing.Size(168, 143);
             this.gpbDT.TabIndex = 9;
             this.gpbDT.TabStop = false;
             this.gpbDT.Text = "M3 - Direito Trás (DT)";
             // 
+            // gpbDT_Freio
+            // 
+            this.gpbDT_Freio.Controls.Add(this.nudDT_Angulo);
+            this.gpbDT_Freio.Controls.Add(this.rdbDT_Dec);
+            this.gpbDT_Freio.Controls.Add(this.rdbDT_Inc);
+            this.gpbDT_Freio.Location = new System.Drawing.Point(5, 100);
+            this.gpbDT_Freio.Name = "gpbDT_Freio";
+            this.gpbDT_Freio.Size = new System.Drawing.Size(158, 38);
+            this.gpbDT_Freio.TabIndex = 15;
+            this.gpbDT_Freio.TabStop = false;
+            this.gpbDT_Freio.Text = "Freio";
+            // 
+            // nudDT_Angulo
+            // 
+            this.nudDT_Angulo.Location = new System.Drawing.Point(105, 12);
+            this.nudDT_Angulo.Maximum = new decimal(new int[] {
+            180,
+            0,
+            0,
+            0});
+            this.nudDT_Angulo.Name = "nudDT_Angulo";
+            this.nudDT_Angulo.Size = new System.Drawing.Size(47, 20);
+            this.nudDT_Angulo.TabIndex = 12;
+            this.nudDT_Angulo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // rdbDT_Dec
+            // 
+            this.rdbDT_Dec.AutoSize = true;
+            this.rdbDT_Dec.Location = new System.Drawing.Point(50, 14);
+            this.rdbDT_Dec.Name = "rdbDT_Dec";
+            this.rdbDT_Dec.Size = new System.Drawing.Size(45, 17);
+            this.rdbDT_Dec.TabIndex = 13;
+            this.rdbDT_Dec.TabStop = true;
+            this.rdbDT_Dec.Text = "Dec";
+            this.rdbDT_Dec.UseVisualStyleBackColor = true;
+            // 
+            // rdbDT_Inc
+            // 
+            this.rdbDT_Inc.AutoSize = true;
+            this.rdbDT_Inc.Location = new System.Drawing.Point(8, 14);
+            this.rdbDT_Inc.Name = "rdbDT_Inc";
+            this.rdbDT_Inc.Size = new System.Drawing.Size(40, 17);
+            this.rdbDT_Inc.TabIndex = 12;
+            this.rdbDT_Inc.TabStop = true;
+            this.rdbDT_Inc.Text = "Inc";
+            this.rdbDT_Inc.UseVisualStyleBackColor = true;
+            // 
             // lblDTEndereco
             // 
             this.lblDTEndereco.AutoSize = true;
@@ -311,6 +483,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // cmbDTFrente
             // 
+            this.cmbDTFrente.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbDTFrente.FormattingEnabled = true;
             this.cmbDTFrente.Location = new System.Drawing.Point(66, 25);
             this.cmbDTFrente.Margin = new System.Windows.Forms.Padding(2);
@@ -320,6 +493,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // cmbDTTras
             // 
+            this.cmbDTTras.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbDTTras.FormattingEnabled = true;
             this.cmbDTTras.Location = new System.Drawing.Point(66, 50);
             this.cmbDTTras.Margin = new System.Windows.Forms.Padding(2);
@@ -349,21 +523,69 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // gpbET
             // 
+            this.gpbET.Controls.Add(this.gpbET_Freio);
             this.gpbET.Controls.Add(this.lblETEndereco);
             this.gpbET.Controls.Add(this.txtETEndereco);
             this.gpbET.Controls.Add(this.cmbETFrente);
             this.gpbET.Controls.Add(this.cmbETTras);
             this.gpbET.Controls.Add(this.lblETTras);
             this.gpbET.Controls.Add(this.lblETFrente);
-            this.gpbET.Location = new System.Drawing.Point(13, 169);
+            this.gpbET.Location = new System.Drawing.Point(13, 207);
             this.gpbET.Margin = new System.Windows.Forms.Padding(2);
             this.gpbET.Name = "gpbET";
             this.gpbET.Padding = new System.Windows.Forms.Padding(2);
-            this.gpbET.Size = new System.Drawing.Size(168, 105);
+            this.gpbET.Size = new System.Drawing.Size(168, 143);
             this.gpbET.TabIndex = 0;
             this.gpbET.TabStop = false;
             this.gpbET.Text = "M1 - Esquerdo Trás (ET)";
             // 
+            // gpbET_Freio
+            // 
+            this.gpbET_Freio.Controls.Add(this.nudET_Angulo);
+            this.gpbET_Freio.Controls.Add(this.rdbET_Dec);
+            this.gpbET_Freio.Controls.Add(this.rdbET_Inc);
+            this.gpbET_Freio.Location = new System.Drawing.Point(5, 100);
+            this.gpbET_Freio.Name = "gpbET_Freio";
+            this.gpbET_Freio.Size = new System.Drawing.Size(158, 38);
+            this.gpbET_Freio.TabIndex = 14;
+            this.gpbET_Freio.TabStop = false;
+            this.gpbET_Freio.Text = "Freio";
+            // 
+            // nudET_Angulo
+            // 
+            this.nudET_Angulo.Location = new System.Drawing.Point(105, 12);
+            this.nudET_Angulo.Maximum = new decimal(new int[] {
+            180,
+            0,
+            0,
+            0});
+            this.nudET_Angulo.Name = "nudET_Angulo";
+            this.nudET_Angulo.Size = new System.Drawing.Size(47, 20);
+            this.nudET_Angulo.TabIndex = 12;
+            this.nudET_Angulo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // rdbET_Dec
+            // 
+            this.rdbET_Dec.AutoSize = true;
+            this.rdbET_Dec.Location = new System.Drawing.Point(50, 14);
+            this.rdbET_Dec.Name = "rdbET_Dec";
+            this.rdbET_Dec.Size = new System.Drawing.Size(45, 17);
+            this.rdbET_Dec.TabIndex = 13;
+            this.rdbET_Dec.TabStop = true;
+            this.rdbET_Dec.Text = "Dec";
+            this.rdbET_Dec.UseVisualStyleBackColor = true;
+            // 
+            // rdbET_Inc
+            // 
+            this.rdbET_Inc.AutoSize = true;
+            this.rdbET_Inc.Location = new System.Drawing.Point(8, 14);
+            this.rdbET_Inc.Name = "rdbET_Inc";
+            this.rdbET_Inc.Size = new System.Drawing.Size(40, 17);
+            this.rdbET_Inc.TabIndex = 12;
+            this.rdbET_Inc.TabStop = true;
+            this.rdbET_Inc.Text = "Inc";
+            this.rdbET_Inc.UseVisualStyleBackColor = true;
+            // 
             // lblETEndereco
             // 
             this.lblETEndereco.AutoSize = true;
@@ -385,6 +607,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // cmbETFrente
             // 
+            this.cmbETFrente.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbETFrente.FormattingEnabled = true;
             this.cmbETFrente.Location = new System.Drawing.Point(66, 25);
             this.cmbETFrente.Margin = new System.Windows.Forms.Padding(2);
@@ -394,6 +617,7 @@ namespace AgroBase.Forms.Movimentacao
             // 
             // cmbETTras
             // 
+            this.cmbETTras.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbETTras.FormattingEnabled = true;
             this.cmbETTras.Location = new System.Drawing.Point(66, 50);
             this.cmbETTras.Margin = new System.Windows.Forms.Padding(2);
@@ -421,31 +645,50 @@ namespace AgroBase.Forms.Movimentacao
             this.lblETFrente.TabIndex = 0;
             this.lblETFrente.Text = "Frente";
             // 
-            // groupBox1
+            // gpbAjustes
             // 
-            this.groupBox1.Controls.Add(this.lblIP);
-            this.groupBox1.Controls.Add(this.txtIP);
-            this.groupBox1.Controls.Add(this.txtOffsetLeitura);
-            this.groupBox1.Controls.Add(this.lblOffsetLeitura);
-            this.groupBox1.Controls.Add(this.lblReducao);
-            this.groupBox1.Controls.Add(this.nudReducao);
-            this.groupBox1.Controls.Add(this.btnSalvar);
-            this.groupBox1.Controls.Add(this.lblDiametroRoda);
-            this.groupBox1.Controls.Add(this.nudDiametroRoda);
-            this.groupBox1.Controls.Add(this.lblRPMMax);
-            this.groupBox1.Controls.Add(this.nudRPMMax);
-            this.groupBox1.Controls.Add(this.lblNumPolos);
-            this.groupBox1.Controls.Add(this.nudNumPolos);
-            this.groupBox1.Controls.Add(this.lblRampa);
-            this.groupBox1.Controls.Add(this.nudRampa);
-            this.groupBox1.Location = new System.Drawing.Point(11, 298);
-            this.groupBox1.Margin = new System.Windows.Forms.Padding(2);
-            this.groupBox1.Name = "groupBox1";
-            this.groupBox1.Padding = new System.Windows.Forms.Padding(2);
-            this.groupBox1.Size = new System.Drawing.Size(376, 113);
-            this.groupBox1.TabIndex = 135;
-            this.groupBox1.TabStop = false;
-            this.groupBox1.Text = "Ajustes";
+            this.gpbAjustes.Controls.Add(this.lblIP);
+            this.gpbAjustes.Controls.Add(this.txtIP);
+            this.gpbAjustes.Controls.Add(this.txtOffsetLeitura);
+            this.gpbAjustes.Controls.Add(this.lblOffsetLeitura);
+            this.gpbAjustes.Controls.Add(this.lblReducao);
+            this.gpbAjustes.Controls.Add(this.nudReducao);
+            this.gpbAjustes.Controls.Add(this.btnSalvar);
+            this.gpbAjustes.Controls.Add(this.lblDiametroRoda);
+            this.gpbAjustes.Controls.Add(this.nudDiametroRoda);
+            this.gpbAjustes.Controls.Add(this.lblRPMMax);
+            this.gpbAjustes.Controls.Add(this.nudRPMMax);
+            this.gpbAjustes.Controls.Add(this.lblNumPolos);
+            this.gpbAjustes.Controls.Add(this.nudNumPolos);
+            this.gpbAjustes.Controls.Add(this.lblRampa);
+            this.gpbAjustes.Controls.Add(this.nudRampa);
+            this.gpbAjustes.Location = new System.Drawing.Point(11, 372);
+            this.gpbAjustes.Margin = new System.Windows.Forms.Padding(2);
+            this.gpbAjustes.Name = "gpbAjustes";
+            this.gpbAjustes.Padding = new System.Windows.Forms.Padding(2);
+            this.gpbAjustes.Size = new System.Drawing.Size(376, 113);
+            this.gpbAjustes.TabIndex = 135;
+            this.gpbAjustes.TabStop = false;
+            this.gpbAjustes.Text = "Ajustes";
+            // 
+            // lblIP
+            // 
+            this.lblIP.AutoSize = true;
+            this.lblIP.Location = new System.Drawing.Point(280, 20);
+            this.lblIP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblIP.Name = "lblIP";
+            this.lblIP.Size = new System.Drawing.Size(17, 13);
+            this.lblIP.TabIndex = 141;
+            this.lblIP.Text = "IP";
+            // 
+            // txtIP
+            // 
+            this.txtIP.Location = new System.Drawing.Point(283, 37);
+            this.txtIP.Margin = new System.Windows.Forms.Padding(2);
+            this.txtIP.Name = "txtIP";
+            this.txtIP.Size = new System.Drawing.Size(85, 20);
+            this.txtIP.TabIndex = 12;
+            this.txtIP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
             // txtOffsetLeitura
             // 
@@ -618,32 +861,13 @@ namespace AgroBase.Forms.Movimentacao
             this.nudRampa.TabIndex = 31;
             this.nudRampa.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
             // 
-            // txtIP
-            // 
-            this.txtIP.Location = new System.Drawing.Point(283, 37);
-            this.txtIP.Margin = new System.Windows.Forms.Padding(2);
-            this.txtIP.Name = "txtIP";
-            this.txtIP.Size = new System.Drawing.Size(85, 20);
-            this.txtIP.TabIndex = 12;
-            this.txtIP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
-            // 
-            // lblIP
-            // 
-            this.lblIP.AutoSize = true;
-            this.lblIP.Location = new System.Drawing.Point(280, 20);
-            this.lblIP.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblIP.Name = "lblIP";
-            this.lblIP.Size = new System.Drawing.Size(17, 13);
-            this.lblIP.TabIndex = 141;
-            this.lblIP.Text = "IP";
-            // 
             // frmMovConfig
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.BackColor = System.Drawing.Color.White;
-            this.ClientSize = new System.Drawing.Size(398, 424);
-            this.Controls.Add(this.groupBox1);
+            this.ClientSize = new System.Drawing.Size(398, 492);
+            this.Controls.Add(this.gpbAjustes);
             this.Controls.Add(this.gpbSentido);
             this.Margin = new System.Windows.Forms.Padding(2);
             this.MaximizeBox = false;
@@ -656,14 +880,26 @@ namespace AgroBase.Forms.Movimentacao
             this.gpbSentido.PerformLayout();
             this.gpbDF.ResumeLayout(false);
             this.gpbDF.PerformLayout();
+            this.gpbDF_Freio.ResumeLayout(false);
+            this.gpbDF_Freio.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudDF_Angulo)).EndInit();
             this.gpbEF.ResumeLayout(false);
             this.gpbEF.PerformLayout();
+            this.gpbEF_Freio.ResumeLayout(false);
+            this.gpbEF_Freio.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudEF_Angulo)).EndInit();
             this.gpbDT.ResumeLayout(false);
             this.gpbDT.PerformLayout();
+            this.gpbDT_Freio.ResumeLayout(false);
+            this.gpbDT_Freio.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudDT_Angulo)).EndInit();
             this.gpbET.ResumeLayout(false);
             this.gpbET.PerformLayout();
-            this.groupBox1.ResumeLayout(false);
-            this.groupBox1.PerformLayout();
+            this.gpbET_Freio.ResumeLayout(false);
+            this.gpbET_Freio.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.nudET_Angulo)).EndInit();
+            this.gpbAjustes.ResumeLayout(false);
+            this.gpbAjustes.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudReducao)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudDiametroRoda)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudRPMMax)).EndInit();
@@ -695,7 +931,7 @@ namespace AgroBase.Forms.Movimentacao
         private System.Windows.Forms.ComboBox cmbETTras;
         private System.Windows.Forms.Label lblETTras;
         private System.Windows.Forms.Label lblETFrente;
-        private System.Windows.Forms.GroupBox groupBox1;
+        private System.Windows.Forms.GroupBox gpbAjustes;
         private System.Windows.Forms.Label lblNumPolos;
         private System.Windows.Forms.Label lblRampa;
         private System.Windows.Forms.NumericUpDown nudRampa;
@@ -721,5 +957,21 @@ namespace AgroBase.Forms.Movimentacao
         private System.Windows.Forms.Label lblOffsetLeitura;
         private System.Windows.Forms.Label lblIP;
         private System.Windows.Forms.TextBox txtIP;
+        private System.Windows.Forms.GroupBox gpbET_Freio;
+        private System.Windows.Forms.NumericUpDown nudET_Angulo;
+        private System.Windows.Forms.RadioButton rdbET_Dec;
+        private System.Windows.Forms.RadioButton rdbET_Inc;
+        private System.Windows.Forms.GroupBox gpbDT_Freio;
+        private System.Windows.Forms.NumericUpDown nudDT_Angulo;
+        private System.Windows.Forms.RadioButton rdbDT_Dec;
+        private System.Windows.Forms.RadioButton rdbDT_Inc;
+        private System.Windows.Forms.GroupBox gpbDF_Freio;
+        private System.Windows.Forms.NumericUpDown nudDF_Angulo;
+        private System.Windows.Forms.RadioButton rdbDF_Dec;
+        private System.Windows.Forms.RadioButton rdbDF_Inc;
+        private System.Windows.Forms.GroupBox gpbEF_Freio;
+        private System.Windows.Forms.NumericUpDown nudEF_Angulo;
+        private System.Windows.Forms.RadioButton rdbEF_Dec;
+        private System.Windows.Forms.RadioButton rdbEF_Inc;
     }
 }

AgroBase/AgroBase/Forms/Movimentacao/frmMovConfig.cs

@@ -40,7 +40,9 @@ namespace AgroBase.Forms.Movimentacao
                 cmb.Items.AddRange(Enum.GetNames(typeof(Sentido)).ToArray());
                 cmb.SelectedIndex = 0;
 
-                var Modulo = Disp.Dados.Modulos.FirstOrDefault(x => x.Modulo_ID == cmb.Name.Substring(3, 2));
+                string Mod_ID = cmb.Name.Substring(3, 2);
+
+                var Modulo = Disp.Dados.Modulos.FirstOrDefault(x => x.Modulo_ID == Mod_ID);
                 if (Modulo != null)
                 {
                     Sentido sentido = Sentido.Parado;
@@ -69,6 +71,18 @@ namespace AgroBase.Forms.Movimentacao
 
                     TextBox txtEndereco = FuncoesGlobais.FindControlRecursive<TextBox>(gpbSentido, "txt" + Modulo.Modulo_ID + "Endereco");
                     txtEndereco.Text = Modulo.MovMotor.Endereco;
+
+                    GroupBox gpbFreio = FuncoesGlobais.FindControlRecursive<GroupBox>(gpbSentido, "gpb" + Mod_ID + "_Freio");
+                    if (gpbFreio != null)
+                    {
+                        RadioButton rdbInc = gpbFreio.Controls.OfType<RadioButton>().FirstOrDefault(x => x.Name == "rdb" + Mod_ID + "_Inc");
+                        RadioButton rdbDec = gpbFreio.Controls.OfType<RadioButton>().FirstOrDefault(x => x.Name == "rdb" + Mod_ID + "_Dec");
+                        NumericUpDown nudAngulo = gpbFreio.Controls.OfType<NumericUpDown>().FirstOrDefault(x => x.Name == "nud" + Mod_ID + "_Angulo");
+
+                        rdbInc.Checked = Modulo.MovMotor.ConfigFreio.Incremental;
+                        rdbDec.Checked = !Modulo.MovMotor.ConfigFreio.Incremental;
+                        nudAngulo.Value = Modulo.MovMotor.ConfigFreio.AnguloInicial;
+                    }
                 }
             }
 
@@ -116,6 +130,17 @@ namespace AgroBase.Forms.Movimentacao
 
                     TextBox txtEndereco = FuncoesGlobais.FindControlRecursive<TextBox>(gpbSentido, "txt" + Modulo.Modulo_ID + "Endereco");
                     Modulo.MovMotor.Endereco = txtEndereco.Text;
+
+                    GroupBox gpbFreio = FuncoesGlobais.FindControlRecursive<GroupBox>(gpbSentido, "gpb" + Modulo.Modulo_ID + "_Freio");
+                    if (gpbFreio != null)
+                    {
+                        RadioButton rdbInc = gpbFreio.Controls.OfType<RadioButton>().FirstOrDefault(x => x.Name == "rdb" + Modulo.Modulo_ID + "_Inc");
+                        RadioButton rdbDec = gpbFreio.Controls.OfType<RadioButton>().FirstOrDefault(x => x.Name == "rdb" + Modulo.Modulo_ID + "_Dec");
+                        NumericUpDown nudAngulo = gpbFreio.Controls.OfType<NumericUpDown>().FirstOrDefault(x => x.Name == "nud" + Modulo.Modulo_ID + "_Angulo");
+
+                        Modulo.MovMotor.ConfigFreio.Incremental = rdbInc.Checked;
+                        Modulo.MovMotor.ConfigFreio.AnguloInicial = (int)nudAngulo.Value;
+                    }
                 }
             }
 

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs

@@ -7,12 +7,13 @@ using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 using AgroBase.Services;
 using AgroBase.Models.Modules;
+using System.Threading.Tasks;
 
 namespace AgroBase.Forms.Operacoes
 {
     public partial class frmOperacaoManual : Form
     {
-        Timer tmrLeitura;
+        AsyncTaskTimerModel tmrLeitura;
         DateTime UltimoComandoDir = DateTime.Now;
 
         public frmOperacaoManual()
@@ -48,15 +49,13 @@ namespace AgroBase.Forms.Operacoes
             PopularBicos();
             Variaveis.OperacaoEmAndamento.chartGraficos = chartGraficos;
 
-            tmrLeitura = new Timer() { Interval = 500 };
-            tmrLeitura.Tick += tmrLeitura_Tick;
+            tmrLeitura = new AsyncTaskTimerModel(tmrLeitura_Tick, 500, this);
             tmrLeitura.Start();
         }
 
         private void frmOperacaoManual_FormClosing(object sender, FormClosingEventArgs e)
         {
             tmrLeitura.Stop();
-            tmrLeitura.Dispose();
             Variaveis.OperacaoEmAndamento.FinalizarOperacao();
             Variaveis.OperacaoEmAndamento.DesligarCameras();
         }
@@ -118,12 +117,7 @@ namespace AgroBase.Forms.Operacoes
         }
 
 
-        private void tmrLeitura_Tick(object sender, EventArgs e)
-        {
-            AtualizarDados();
-        }
-
-        public void AtualizarDados()
+        private async Task tmrLeitura_Tick()
         {
             this.Text = Variaveis.OperacaoEmAndamento.TextoFormOperacao("Manual");
 

AgroBase/AgroBase/Forms/Operacoes/frmOperacaoMapaGPS.cs

@@ -13,7 +13,7 @@ namespace AgroBase.Forms.Operacoes
 {
     public partial class frmOperacaoMapaGPS : Form
     {
-        private Timer tmrLeituras = new Timer() { Interval = 200 };
+        private AsyncTaskTimerModel tmrLeituras;
 
         #region Eventos do formulário
 
@@ -37,7 +37,7 @@ namespace AgroBase.Forms.Operacoes
 
         private void frmOperacaoMapaGPS_Load(object sender, EventArgs e)
         {
-            tmrLeituras.Tick += TmrLeituras_Tick;
+            tmrLeituras = new AsyncTaskTimerModel(tmrLeituras_Tick, 200, this);
             tmrLeituras.Start();
 
             AtualizarDispositivos();
@@ -64,7 +64,7 @@ namespace AgroBase.Forms.Operacoes
 
         #region Rotinas e Atualizações de tela
 
-        private void TmrLeituras_Tick(object sender, EventArgs e)
+        private async Task tmrLeituras_Tick()
         {
             pnlOrientacao.Invalidate();
             pnlInclinacao.Invalidate();

AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs

@@ -10,6 +10,7 @@ using System.Drawing;
 using System.Drawing.Drawing2D;
 using System.IO;
 using System.Linq;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 
 namespace AgroBase.Forms.Operacoes
@@ -35,7 +36,7 @@ namespace AgroBase.Forms.Operacoes
         string pathImagensSoloE = "";
         string pathImagensSoloD = "";
         DateTime MomentoAtual = DateTime.Now;
-        Timer tmrPlay = new Timer() { Interval = 1000 };
+        AsyncTaskTimerModel tmrPlay;
         MapasModel Mapa = new MapasModel();
         private Visualizador3DService visualizador3D;
         private MapaDinamicoModel MapaDinamico;
@@ -85,7 +86,7 @@ namespace AgroBase.Forms.Operacoes
 
         private void frmResultadosOperacao_Load(object sender, EventArgs e)
         {
-            tmrPlay.Tick += TmrPlay_Tick;
+            tmrPlay = new AsyncTaskTimerModel(tmrPlay_Tick, 1000, this);
 
             picDIR_DF.Image = FuncoesGlobais.EspelharImagemHorizontalmente(Resources.roda_superior);
             picDIR_DT.Image = FuncoesGlobais.EspelharImagemHorizontalmente(Resources.roda_superior);
@@ -93,7 +94,7 @@ namespace AgroBase.Forms.Operacoes
             MapaDinamico = new MapaDinamicoModel(this, pnlZoomMapa);
         }
 
-        private void TmrPlay_Tick(object sender, EventArgs e)
+        private async Task tmrPlay_Tick()
         {
             if (trbMomento.Value < trbMomento.Maximum)
             {
@@ -113,8 +114,8 @@ namespace AgroBase.Forms.Operacoes
 
         private void btnPlay_Click(object sender, EventArgs e)
         {
-            tmrPlay.Enabled = !tmrPlay.Enabled;
-            btnPlay.Text = tmrPlay.Enabled ? "Pause" : "Pay";
+            tmrPlay.Toogle();
+            btnPlay.Text = tmrPlay.IsRunning ? "Pause" : "Pay";
         }
 
         private void btnCarregarOperacao_Click(object sender, EventArgs e)
@@ -904,6 +905,12 @@ namespace AgroBase.Forms.Operacoes
         private void AtulizarDadosMotorMovimentacao(string ID)
         {
             var Log = LogsMovimentacao.FirstOrDefault(x => x.Momento == MomentoAtual && x.Modulo_ID == ID);
+            var Log_Sen = LogsSensoriamento.FirstOrDefault(x => x.Momento == MomentoAtual);
+            bool freio =
+                (ID.Contains("ET") && Log_Sen.AnguloFreioET > 0 && Log_Sen.AnguloFreioET < 180) ||
+                (ID.Contains("DT") && Log_Sen.AnguloFreioDT > 0 && Log_Sen.AnguloFreioDT < 180) ||
+                (ID.Contains("EF") && Log_Sen.AnguloFreioEF > 0 && Log_Sen.AnguloFreioEF < 180) ||
+                (ID.Contains("DF") && Log_Sen.AnguloFreioDF > 0 && Log_Sen.AnguloFreioDF < 180);
 
             GroupBox gpbRpm = FuncoesGlobais.FindControlRecursive<GroupBox>(tabMovGreal, "gpbMOV_Geral_" + ID);
             gpbRpm.ForeColor = !Log.Inicializado ? Color.Red : Color.Black;
@@ -914,9 +921,9 @@ namespace AgroBase.Forms.Operacoes
             CheckBox chbBrk = FuncoesGlobais.FindControlRecursive<CheckBox>(gpbRpm, "chbMOV_Brk_" + ID);
             chbBrk.Checked = Log.EmFreio;
             TextBox txtSentidoSP = FuncoesGlobais.FindControlRecursive<TextBox>(gpbRpm, "txtMOV_SentidoSP_" + ID);
-            txtSentidoSP.Text = Log.Sentido_SP.ToString();
+            txtSentidoSP.Text = freio ? Enums.Direcao.EmFreio.ToString() : Log.Sentido_SP.ToString();
             TextBox txtSentido = FuncoesGlobais.FindControlRecursive<TextBox>(gpbRpm, "txtMOV_Sentido_" + ID);
-            txtSentido.Text = Log.Sentido.ToString();
+            txtSentido.Text = Log.EmFreio ? Enums.Direcao.EmFreio.ToString() : Log.Sentido.ToString();
 
             GroupBox gpbTmp = FuncoesGlobais.FindControlRecursive<GroupBox>(tabMovTemperatura, "gpbMOV_Temperatura_" + ID);
             TextBox txtAtual = FuncoesGlobais.FindControlRecursive<TextBox>(gpbTmp, "txtMOV_TemperaturaAt_" + ID);

AgroBase/AgroBase/Forms/Sensoriamento/frmSenConfig.Designer.cs

@@ -51,13 +51,16 @@
             this.gpbBateria = new System.Windows.Forms.GroupBox();
             this.btnBateriaCalibrar = new System.Windows.Forms.Button();
             this.gpbCameras = new System.Windows.Forms.GroupBox();
+            this.btnAtualizarCameras = new System.Windows.Forms.Button();
             this.lblSolodir = new System.Windows.Forms.Label();
             this.cmbSoloDir = new System.Windows.Forms.ComboBox();
             this.lblSoloesq = new System.Windows.Forms.Label();
             this.cmbSoloEsq = new System.Windows.Forms.ComboBox();
             this.lblCaminho = new System.Windows.Forms.Label();
             this.cmbCaminho = new System.Windows.Forms.ComboBox();
-            this.btnAtualizarCameras = new System.Windows.Forms.Button();
+            this.btnFreio = new System.Windows.Forms.Button();
+            this.cmbModFreio = new System.Windows.Forms.ComboBox();
+            this.label1 = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.gridsTEN)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.gridsCOR)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.gridsTMP)).BeginInit();
@@ -210,7 +213,7 @@
             // btnBateriaVer
             // 
             this.btnBateriaVer.Location = new System.Drawing.Point(8, 54);
-            this.btnBateriaVer.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.btnBateriaVer.Margin = new System.Windows.Forms.Padding(2);
             this.btnBateriaVer.Name = "btnBateriaVer";
             this.btnBateriaVer.Size = new System.Drawing.Size(135, 19);
             this.btnBateriaVer.TabIndex = 16;
@@ -223,7 +226,7 @@
             this.cmbBateriaParametro.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.cmbBateriaParametro.FormattingEnabled = true;
             this.cmbBateriaParametro.Location = new System.Drawing.Point(7, 30);
-            this.cmbBateriaParametro.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.cmbBateriaParametro.Margin = new System.Windows.Forms.Padding(2);
             this.cmbBateriaParametro.Name = "cmbBateriaParametro";
             this.cmbBateriaParametro.Size = new System.Drawing.Size(137, 21);
             this.cmbBateriaParametro.TabIndex = 17;
@@ -240,7 +243,7 @@
             // nudBateriaValor
             // 
             this.nudBateriaValor.Location = new System.Drawing.Point(8, 79);
-            this.nudBateriaValor.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.nudBateriaValor.Margin = new System.Windows.Forms.Padding(2);
             this.nudBateriaValor.Name = "nudBateriaValor";
             this.nudBateriaValor.Size = new System.Drawing.Size(64, 20);
             this.nudBateriaValor.TabIndex = 20;
@@ -249,7 +252,7 @@
             // btnBateriaDefinir
             // 
             this.btnBateriaDefinir.Location = new System.Drawing.Point(76, 78);
-            this.btnBateriaDefinir.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.btnBateriaDefinir.Margin = new System.Windows.Forms.Padding(2);
             this.btnBateriaDefinir.Name = "btnBateriaDefinir";
             this.btnBateriaDefinir.Size = new System.Drawing.Size(67, 19);
             this.btnBateriaDefinir.TabIndex = 21;
@@ -266,9 +269,9 @@
             this.gpbBateria.Controls.Add(this.nudBateriaValor);
             this.gpbBateria.Controls.Add(this.btnBateriaVer);
             this.gpbBateria.Location = new System.Drawing.Point(488, 454);
-            this.gpbBateria.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.gpbBateria.Margin = new System.Windows.Forms.Padding(2);
             this.gpbBateria.Name = "gpbBateria";
-            this.gpbBateria.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.gpbBateria.Padding = new System.Windows.Forms.Padding(2);
             this.gpbBateria.Size = new System.Drawing.Size(154, 121);
             this.gpbBateria.TabIndex = 22;
             this.gpbBateria.TabStop = false;
@@ -277,7 +280,7 @@
             // btnBateriaCalibrar
             // 
             this.btnBateriaCalibrar.Location = new System.Drawing.Point(8, 99);
-            this.btnBateriaCalibrar.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.btnBateriaCalibrar.Margin = new System.Windows.Forms.Padding(2);
             this.btnBateriaCalibrar.Name = "btnBateriaCalibrar";
             this.btnBateriaCalibrar.Size = new System.Drawing.Size(135, 19);
             this.btnBateriaCalibrar.TabIndex = 22;
@@ -295,14 +298,25 @@
             this.gpbCameras.Controls.Add(this.lblCaminho);
             this.gpbCameras.Controls.Add(this.cmbCaminho);
             this.gpbCameras.Location = new System.Drawing.Point(646, 454);
-            this.gpbCameras.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.gpbCameras.Margin = new System.Windows.Forms.Padding(2);
             this.gpbCameras.Name = "gpbCameras";
-            this.gpbCameras.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.gpbCameras.Padding = new System.Windows.Forms.Padding(2);
             this.gpbCameras.Size = new System.Drawing.Size(197, 121);
             this.gpbCameras.TabIndex = 23;
             this.gpbCameras.TabStop = false;
             this.gpbCameras.Text = "Câmeras";
             // 
+            // btnAtualizarCameras
+            // 
+            this.btnAtualizarCameras.Location = new System.Drawing.Point(64, 99);
+            this.btnAtualizarCameras.Margin = new System.Windows.Forms.Padding(2);
+            this.btnAtualizarCameras.Name = "btnAtualizarCameras";
+            this.btnAtualizarCameras.Size = new System.Drawing.Size(129, 19);
+            this.btnAtualizarCameras.TabIndex = 26;
+            this.btnAtualizarCameras.Text = "Atualizar";
+            this.btnAtualizarCameras.UseVisualStyleBackColor = true;
+            this.btnAtualizarCameras.Click += new System.EventHandler(this.btnAtualizarCameras_Click);
+            // 
             // lblSolodir
             // 
             this.lblSolodir.AutoSize = true;
@@ -316,7 +330,7 @@
             // 
             this.cmbSoloDir.FormattingEnabled = true;
             this.cmbSoloDir.Location = new System.Drawing.Point(64, 72);
-            this.cmbSoloDir.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.cmbSoloDir.Margin = new System.Windows.Forms.Padding(2);
             this.cmbSoloDir.Name = "cmbSoloDir";
             this.cmbSoloDir.Size = new System.Drawing.Size(129, 21);
             this.cmbSoloDir.TabIndex = 24;
@@ -334,7 +348,7 @@
             // 
             this.cmbSoloEsq.FormattingEnabled = true;
             this.cmbSoloEsq.Location = new System.Drawing.Point(64, 47);
-            this.cmbSoloEsq.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.cmbSoloEsq.Margin = new System.Windows.Forms.Padding(2);
             this.cmbSoloEsq.Name = "cmbSoloEsq";
             this.cmbSoloEsq.Size = new System.Drawing.Size(129, 21);
             this.cmbSoloEsq.TabIndex = 22;
@@ -352,27 +366,49 @@
             // 
             this.cmbCaminho.FormattingEnabled = true;
             this.cmbCaminho.Location = new System.Drawing.Point(64, 23);
-            this.cmbCaminho.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.cmbCaminho.Margin = new System.Windows.Forms.Padding(2);
             this.cmbCaminho.Name = "cmbCaminho";
             this.cmbCaminho.Size = new System.Drawing.Size(129, 21);
             this.cmbCaminho.TabIndex = 20;
             // 
-            // btnAtualizarCameras
+            // btnFreio
             // 
-            this.btnAtualizarCameras.Location = new System.Drawing.Point(64, 99);
-            this.btnAtualizarCameras.Margin = new System.Windows.Forms.Padding(2);
-            this.btnAtualizarCameras.Name = "btnAtualizarCameras";
-            this.btnAtualizarCameras.Size = new System.Drawing.Size(129, 19);
-            this.btnAtualizarCameras.TabIndex = 26;
-            this.btnAtualizarCameras.Text = "Atualizar";
-            this.btnAtualizarCameras.UseVisualStyleBackColor = true;
-            this.btnAtualizarCameras.Click += new System.EventHandler(this.btnAtualizarCameras_Click);
+            this.btnFreio.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right)));
+            this.btnFreio.Location = new System.Drawing.Point(867, 499);
+            this.btnFreio.Name = "btnFreio";
+            this.btnFreio.Size = new System.Drawing.Size(75, 23);
+            this.btnFreio.TabIndex = 24;
+            this.btnFreio.Text = "Freio";
+            this.btnFreio.UseVisualStyleBackColor = true;
+            this.btnFreio.Click += new System.EventHandler(this.btnFreio_Click);
+            // 
+            // cmbModFreio
+            // 
+            this.cmbModFreio.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbModFreio.FormattingEnabled = true;
+            this.cmbModFreio.Location = new System.Drawing.Point(867, 477);
+            this.cmbModFreio.Margin = new System.Windows.Forms.Padding(2);
+            this.cmbModFreio.Name = "cmbModFreio";
+            this.cmbModFreio.Size = new System.Drawing.Size(75, 21);
+            this.cmbModFreio.TabIndex = 27;
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.Location = new System.Drawing.Point(864, 462);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(42, 13);
+            this.label1.TabIndex = 27;
+            this.label1.Text = "Módulo";
             // 
             // frmSenConfig
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.ClientSize = new System.Drawing.Size(954, 585);
+            this.Controls.Add(this.label1);
+            this.Controls.Add(this.cmbModFreio);
+            this.Controls.Add(this.btnFreio);
             this.Controls.Add(this.gpbCameras);
             this.Controls.Add(this.gpbBateria);
             this.Controls.Add(this.lblUltrassom);
@@ -443,5 +479,8 @@
         private System.Windows.Forms.ComboBox cmbCaminho;
         private System.Windows.Forms.Button btnBateriaCalibrar;
         private System.Windows.Forms.Button btnAtualizarCameras;
+        private System.Windows.Forms.Button btnFreio;
+        private System.Windows.Forms.ComboBox cmbModFreio;
+        private System.Windows.Forms.Label label1;
     }
 }

AgroBase/AgroBase/Forms/Sensoriamento/frmSenConfig.cs

@@ -4,12 +4,8 @@ using AgroBase.Models.Modules;
 using AgroBase.Services;
 using System;
 using System.Collections.Generic;
-using System.ComponentModel;
 using System.Data;
-using System.Drawing;
 using System.Linq;
-using System.Text;
-using System.Threading;
 using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
@@ -63,6 +59,9 @@ namespace AgroBase.Forms.Sensoriamento
             cmbBateriaParametro.Items.AddRange(PZEMService.Parametros.Keys.ToArray());
             cmbBateriaParametro.SelectedIndex = 0;
             
+            cmbModFreio.Items.Clear();
+            cmbModFreio.Items.AddRange(Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Select(x => x.Modulo_ID).ToArray());
+            cmbModFreio.SelectedIndex = 0;
         }
 
         private void AtualizarCameras()
@@ -272,6 +271,30 @@ namespace AgroBase.Forms.Sensoriamento
             ModbusService.AdicionarComandoNaFila(Comando);
         }
 
-        
+        private void btnFreio_Click(object sender, EventArgs e)
+        {
+            string Mod_ID = cmbModFreio.Text;
+            var Modulo = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.First(x => x.Modulo_ID == Mod_ID);
+            var ServoFreio = Variaveis.OperacaoEmAndamento.DispSen.Dados.Servos.FirstOrDefault(x => x.ID.Contains(Modulo.Modulo_ID) && x.Inicializado);
+            if (ServoFreio != null)
+            {
+                if (!Modulo.MovMotor.ConfigFreio.Controle)
+                {
+                    (bool atuar, int angulo) = Modulo.MovMotor.ConfigFreio.AtualizarDadosFreio(true, 0, -1, 5);
+                    if (atuar)
+                    {
+                        GeneralJoystick.EnviarComandoSensoriamento(S_Code.sFRO, ServoFreio.ID, angulo);
+                    }
+                }
+                else
+                {
+                    (bool atuar, int angulo) = Modulo.MovMotor.ConfigFreio.AtualizarDadosFreio(false);
+                    if (atuar)
+                    {
+                        GeneralJoystick.EnviarComandoSensoriamento(S_Code.sFRO, ServoFreio.ID, angulo);
+                    }
+                }
+            }
+        }
     }
 }

AgroBase/AgroBase/Forms/frmAcompanhamento.Designer.cs

@@ -29,19 +29,27 @@ namespace AgroBase.Forms
         /// </summary>
         private void InitializeComponent()
         {
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea17 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend17 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series17 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea18 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend18 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series18 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea19 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend19 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series19 = new System.Windows.Forms.DataVisualization.Charting.Series();
-            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea20 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
-            System.Windows.Forms.DataVisualization.Charting.Legend legend20 = new System.Windows.Forms.DataVisualization.Charting.Legend();
-            System.Windows.Forms.DataVisualization.Charting.Series series20 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea5 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend5 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series5 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea6 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend6 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series6 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea7 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend7 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series7 = new System.Windows.Forms.DataVisualization.Charting.Series();
+            System.Windows.Forms.DataVisualization.Charting.ChartArea chartArea8 = new System.Windows.Forms.DataVisualization.Charting.ChartArea();
+            System.Windows.Forms.DataVisualization.Charting.Legend legend8 = new System.Windows.Forms.DataVisualization.Charting.Legend();
+            System.Windows.Forms.DataVisualization.Charting.Series series8 = new System.Windows.Forms.DataVisualization.Charting.Series();
             this.pnlFundo = new System.Windows.Forms.Panel();
+            this.lblMagnetometro = new System.Windows.Forms.Label();
+            this.lblGPS = new System.Windows.Forms.Label();
+            this.pnlOrientacaoMagnetometro = new System.Windows.Forms.Panel();
+            this.pnlOrientacaoGPS = new System.Windows.Forms.Panel();
+            this.lblU2 = new System.Windows.Forms.Label();
+            this.lblU1 = new System.Windows.Forms.Label();
+            this.lblU4 = new System.Windows.Forms.Label();
+            this.lblU3 = new System.Windows.Forms.Label();
             this.lblUL_A05 = new System.Windows.Forms.Label();
             this.lblUL_Wit = new System.Windows.Forms.Label();
             this.lblUL_Pzm = new System.Windows.Forms.Label();
@@ -116,14 +124,6 @@ namespace AgroBase.Forms
             this.lblEFA_SP = new System.Windows.Forms.Label();
             this.lblM_EF = new System.Windows.Forms.Label();
             this.picEF = new System.Windows.Forms.PictureBox();
-            this.lblU3 = new System.Windows.Forms.Label();
-            this.lblU4 = new System.Windows.Forms.Label();
-            this.lblU2 = new System.Windows.Forms.Label();
-            this.lblU1 = new System.Windows.Forms.Label();
-            this.lblMagnetometro = new System.Windows.Forms.Label();
-            this.lblGPS = new System.Windows.Forms.Label();
-            this.pnlOrientacaoMagnetometro = new System.Windows.Forms.Panel();
-            this.pnlOrientacaoGPS = new System.Windows.Forms.Panel();
             this.pnlFundo.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.chartET)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.chartDT)).BeginInit();
@@ -229,6 +229,94 @@ namespace AgroBase.Forms
             this.pnlFundo.Size = new System.Drawing.Size(1473, 811);
             this.pnlFundo.TabIndex = 0;
             // 
+            // lblMagnetometro
+            // 
+            this.lblMagnetometro.AutoSize = true;
+            this.lblMagnetometro.Location = new System.Drawing.Point(744, 97);
+            this.lblMagnetometro.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblMagnetometro.Name = "lblMagnetometro";
+            this.lblMagnetometro.Size = new System.Drawing.Size(75, 13);
+            this.lblMagnetometro.TabIndex = 188;
+            this.lblMagnetometro.Text = "Magnetômetro";
+            // 
+            // lblGPS
+            // 
+            this.lblGPS.AutoSize = true;
+            this.lblGPS.Location = new System.Drawing.Point(685, 97);
+            this.lblGPS.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblGPS.Name = "lblGPS";
+            this.lblGPS.Size = new System.Drawing.Size(29, 13);
+            this.lblGPS.TabIndex = 187;
+            this.lblGPS.Text = "GPS";
+            // 
+            // pnlOrientacaoMagnetometro
+            // 
+            this.pnlOrientacaoMagnetometro.BackColor = System.Drawing.Color.White;
+            this.pnlOrientacaoMagnetometro.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
+            this.pnlOrientacaoMagnetometro.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
+            this.pnlOrientacaoMagnetometro.Location = new System.Drawing.Point(740, 11);
+            this.pnlOrientacaoMagnetometro.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlOrientacaoMagnetometro.Name = "pnlOrientacaoMagnetometro";
+            this.pnlOrientacaoMagnetometro.Size = new System.Drawing.Size(78, 84);
+            this.pnlOrientacaoMagnetometro.TabIndex = 186;
+            this.pnlOrientacaoMagnetometro.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoMagnetometro_Paint);
+            // 
+            // pnlOrientacaoGPS
+            // 
+            this.pnlOrientacaoGPS.BackColor = System.Drawing.Color.White;
+            this.pnlOrientacaoGPS.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
+            this.pnlOrientacaoGPS.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
+            this.pnlOrientacaoGPS.Location = new System.Drawing.Point(658, 11);
+            this.pnlOrientacaoGPS.Margin = new System.Windows.Forms.Padding(2);
+            this.pnlOrientacaoGPS.Name = "pnlOrientacaoGPS";
+            this.pnlOrientacaoGPS.Size = new System.Drawing.Size(78, 84);
+            this.pnlOrientacaoGPS.TabIndex = 185;
+            this.pnlOrientacaoGPS.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoGPS_Paint);
+            // 
+            // lblU2
+            // 
+            this.lblU2.AutoSize = true;
+            this.lblU2.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblU2.Location = new System.Drawing.Point(748, 555);
+            this.lblU2.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblU2.Name = "lblU2";
+            this.lblU2.Size = new System.Drawing.Size(68, 17);
+            this.lblU2.TabIndex = 184;
+            this.lblU2.Text = "U2: 0 mm";
+            // 
+            // lblU1
+            // 
+            this.lblU1.AutoSize = true;
+            this.lblU1.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblU1.Location = new System.Drawing.Point(639, 555);
+            this.lblU1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblU1.Name = "lblU1";
+            this.lblU1.Size = new System.Drawing.Size(68, 17);
+            this.lblU1.TabIndex = 183;
+            this.lblU1.Text = "U1: 0 mm";
+            // 
+            // lblU4
+            // 
+            this.lblU4.AutoSize = true;
+            this.lblU4.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblU4.Location = new System.Drawing.Point(748, 238);
+            this.lblU4.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblU4.Name = "lblU4";
+            this.lblU4.Size = new System.Drawing.Size(68, 17);
+            this.lblU4.TabIndex = 182;
+            this.lblU4.Text = "U4: 0 mm";
+            // 
+            // lblU3
+            // 
+            this.lblU3.AutoSize = true;
+            this.lblU3.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lblU3.Location = new System.Drawing.Point(639, 238);
+            this.lblU3.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblU3.Name = "lblU3";
+            this.lblU3.Size = new System.Drawing.Size(68, 17);
+            this.lblU3.TabIndex = 181;
+            this.lblU3.Text = "U3: 0 mm";
+            // 
             // lblUL_A05
             // 
             this.lblUL_A05.AutoSize = true;
@@ -370,68 +458,68 @@ namespace AgroBase.Forms
             // 
             // chartET
             // 
-            chartArea17.Name = "ChartArea1";
-            this.chartET.ChartAreas.Add(chartArea17);
-            legend17.Name = "Legend1";
-            this.chartET.Legends.Add(legend17);
+            chartArea5.Name = "ChartArea1";
+            this.chartET.ChartAreas.Add(chartArea5);
+            legend5.Name = "Legend1";
+            this.chartET.Legends.Add(legend5);
             this.chartET.Location = new System.Drawing.Point(201, 410);
             this.chartET.Margin = new System.Windows.Forms.Padding(2);
             this.chartET.Name = "chartET";
-            series17.ChartArea = "ChartArea1";
-            series17.Legend = "Legend1";
-            series17.Name = "Series1";
-            this.chartET.Series.Add(series17);
+            series5.ChartArea = "ChartArea1";
+            series5.Legend = "Legend1";
+            series5.Name = "Series1";
+            this.chartET.Series.Add(series5);
             this.chartET.Size = new System.Drawing.Size(434, 390);
             this.chartET.TabIndex = 94;
             this.chartET.Text = "chart1";
             // 
             // chartDT
             // 
-            chartArea18.Name = "ChartArea1";
-            this.chartDT.ChartAreas.Add(chartArea18);
-            legend18.Name = "Legend1";
-            this.chartDT.Legends.Add(legend18);
+            chartArea6.Name = "ChartArea1";
+            this.chartDT.ChartAreas.Add(chartArea6);
+            legend6.Name = "Legend1";
+            this.chartDT.Legends.Add(legend6);
             this.chartDT.Location = new System.Drawing.Point(834, 410);
             this.chartDT.Margin = new System.Windows.Forms.Padding(2);
             this.chartDT.Name = "chartDT";
-            series18.ChartArea = "ChartArea1";
-            series18.Legend = "Legend1";
-            series18.Name = "Series1";
-            this.chartDT.Series.Add(series18);
+            series6.ChartArea = "ChartArea1";
+            series6.Legend = "Legend1";
+            series6.Name = "Series1";
+            this.chartDT.Series.Add(series6);
             this.chartDT.Size = new System.Drawing.Size(433, 390);
             this.chartDT.TabIndex = 110;
             this.chartDT.Text = "chart1";
             // 
             // chartDF
             // 
-            chartArea19.Name = "ChartArea1";
-            this.chartDF.ChartAreas.Add(chartArea19);
-            legend19.Name = "Legend1";
-            this.chartDF.Legends.Add(legend19);
+            chartArea7.Name = "ChartArea1";
+            this.chartDF.ChartAreas.Add(chartArea7);
+            legend7.Name = "Legend1";
+            this.chartDF.Legends.Add(legend7);
             this.chartDF.Location = new System.Drawing.Point(834, 4);
             this.chartDF.Margin = new System.Windows.Forms.Padding(2);
             this.chartDF.Name = "chartDF";
-            series19.ChartArea = "ChartArea1";
-            series19.Legend = "Legend1";
-            series19.Name = "Series1";
-            this.chartDF.Series.Add(series19);
+            series7.ChartArea = "ChartArea1";
+            series7.Legend = "Legend1";
+            series7.Name = "Series1";
+            this.chartDF.Series.Add(series7);
             this.chartDF.Size = new System.Drawing.Size(433, 390);
             this.chartDF.TabIndex = 109;
             this.chartDF.Text = "chart1";
             // 
             // chartEF
             // 
-            chartArea20.Name = "ChartArea1";
-            this.chartEF.ChartAreas.Add(chartArea20);
-            legend20.Name = "Legend1";
-            this.chartEF.Legends.Add(legend20);
+            chartArea8.Name = "ChartArea1";
+            this.chartEF.ChartAreas.Add(chartArea8);
+            legend8.Name = "Legend1";
+            this.chartEF.Legends.Add(legend8);
             this.chartEF.Location = new System.Drawing.Point(201, 4);
             this.chartEF.Margin = new System.Windows.Forms.Padding(2);
             this.chartEF.Name = "chartEF";
-            series20.ChartArea = "ChartArea1";
-            series20.Legend = "Legend1";
-            series20.Name = "Series1";
-            this.chartEF.Series.Add(series20);
+            series8.ChartArea = "ChartArea1";
+            series8.Legend = "Legend1";
+            series8.Name = "Series1";
+            this.chartEF.Series.Add(series8);
             this.chartEF.Size = new System.Drawing.Size(434, 390);
             this.chartEF.TabIndex = 93;
             this.chartEF.Text = "chart1";
@@ -1007,94 +1095,6 @@ namespace AgroBase.Forms
             this.picEF.TabIndex = 90;
             this.picEF.TabStop = false;
             // 
-            // lblU3
-            // 
-            this.lblU3.AutoSize = true;
-            this.lblU3.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblU3.Location = new System.Drawing.Point(639, 238);
-            this.lblU3.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblU3.Name = "lblU3";
-            this.lblU3.Size = new System.Drawing.Size(68, 17);
-            this.lblU3.TabIndex = 181;
-            this.lblU3.Text = "U3: 0 mm";
-            // 
-            // lblU4
-            // 
-            this.lblU4.AutoSize = true;
-            this.lblU4.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblU4.Location = new System.Drawing.Point(748, 238);
-            this.lblU4.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblU4.Name = "lblU4";
-            this.lblU4.Size = new System.Drawing.Size(68, 17);
-            this.lblU4.TabIndex = 182;
-            this.lblU4.Text = "U4: 0 mm";
-            // 
-            // lblU2
-            // 
-            this.lblU2.AutoSize = true;
-            this.lblU2.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblU2.Location = new System.Drawing.Point(748, 555);
-            this.lblU2.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblU2.Name = "lblU2";
-            this.lblU2.Size = new System.Drawing.Size(68, 17);
-            this.lblU2.TabIndex = 184;
-            this.lblU2.Text = "U2: 0 mm";
-            // 
-            // lblU1
-            // 
-            this.lblU1.AutoSize = true;
-            this.lblU1.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lblU1.Location = new System.Drawing.Point(639, 555);
-            this.lblU1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblU1.Name = "lblU1";
-            this.lblU1.Size = new System.Drawing.Size(68, 17);
-            this.lblU1.TabIndex = 183;
-            this.lblU1.Text = "U1: 0 mm";
-            // 
-            // lblMagnetometro
-            // 
-            this.lblMagnetometro.AutoSize = true;
-            this.lblMagnetometro.Location = new System.Drawing.Point(744, 97);
-            this.lblMagnetometro.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblMagnetometro.Name = "lblMagnetometro";
-            this.lblMagnetometro.Size = new System.Drawing.Size(75, 13);
-            this.lblMagnetometro.TabIndex = 188;
-            this.lblMagnetometro.Text = "Magnetômetro";
-            // 
-            // lblGPS
-            // 
-            this.lblGPS.AutoSize = true;
-            this.lblGPS.Location = new System.Drawing.Point(685, 97);
-            this.lblGPS.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
-            this.lblGPS.Name = "lblGPS";
-            this.lblGPS.Size = new System.Drawing.Size(29, 13);
-            this.lblGPS.TabIndex = 187;
-            this.lblGPS.Text = "GPS";
-            // 
-            // pnlOrientacaoMagnetometro
-            // 
-            this.pnlOrientacaoMagnetometro.BackColor = System.Drawing.Color.White;
-            this.pnlOrientacaoMagnetometro.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
-            this.pnlOrientacaoMagnetometro.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
-            this.pnlOrientacaoMagnetometro.Location = new System.Drawing.Point(740, 11);
-            this.pnlOrientacaoMagnetometro.Margin = new System.Windows.Forms.Padding(2);
-            this.pnlOrientacaoMagnetometro.Name = "pnlOrientacaoMagnetometro";
-            this.pnlOrientacaoMagnetometro.Size = new System.Drawing.Size(78, 84);
-            this.pnlOrientacaoMagnetometro.TabIndex = 186;
-            this.pnlOrientacaoMagnetometro.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoMagnetometro_Paint);
-            // 
-            // pnlOrientacaoGPS
-            // 
-            this.pnlOrientacaoGPS.BackColor = System.Drawing.Color.White;
-            this.pnlOrientacaoGPS.BackgroundImage = global::AgroBase.Properties.Resources.rosa_dos_ventos;
-            this.pnlOrientacaoGPS.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
-            this.pnlOrientacaoGPS.Location = new System.Drawing.Point(658, 11);
-            this.pnlOrientacaoGPS.Margin = new System.Windows.Forms.Padding(2);
-            this.pnlOrientacaoGPS.Name = "pnlOrientacaoGPS";
-            this.pnlOrientacaoGPS.Size = new System.Drawing.Size(78, 84);
-            this.pnlOrientacaoGPS.TabIndex = 185;
-            this.pnlOrientacaoGPS.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlOrientacaoGPS_Paint);
-            // 
             // frmAcompanhamento
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@@ -1107,7 +1107,6 @@ namespace AgroBase.Forms
             this.Text = "Acompanhamento";
             this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.frmAcompanhamento_FormClosing);
             this.Load += new System.EventHandler(this.frmAcompanhamento_Load);
-            this.Shown += new System.EventHandler(this.frmAcompanhamento_Shown);
             this.pnlFundo.ResumeLayout(false);
             this.pnlFundo.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.chartET)).EndInit();

AgroBase/AgroBase/Forms/frmAcompanhamento.cs

@@ -6,6 +6,7 @@ using System.Collections.Generic;
 using System.Data;
 using System.Drawing;
 using System.Linq;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 using System.Windows.Forms.DataVisualization.Charting;
 using static AgroBase.Models.Enums;
@@ -14,6 +15,8 @@ namespace AgroBase.Forms
 {
     public partial class frmAcompanhamento : Form
     {
+        AsyncTaskTimerModel tmrAtualizacao;
+
         public frmAcompanhamento()
         {
             InitializeComponent();
@@ -25,152 +28,175 @@ namespace AgroBase.Forms
             picET.Paint += pic_Paint;
             picDF.Paint += pic_Paint;
             picDT.Paint += pic_Paint;
-        }
-
-        private void frmAcompanhamento_Shown(object sender, EventArgs e)
-        {
 
+            tmrAtualizacao = new AsyncTaskTimerModel(tmrAtualizacao_Tick, 500, this);
+            tmrAtualizacao.Start();
         }
 
         private void frmAcompanhamento_FormClosing(object sender, FormClosingEventArgs e)
         {
-            e.Cancel = true;
-            this.Hide();
+            tmrAtualizacao.Stop();
         }
 
-        public void AtualizaGrafico()
+        public async Task tmrAtualizacao_Tick()
         {
             picET.Invalidate();
             picEF.Invalidate();
             picDT.Invalidate();
             picDF.Invalidate();
 
-            try
-            {
-                AtualzarDadosMovimentacao();
-            }
-            catch (Exception ex)
-            {
+            pnlOrientacaoGPS.Invalidate();
+            pnlOrientacaoMagnetometro.Invalidate();
 
+            AtualzarDadosMovimentacao();
+
+            if (PZEMService.Iniciado)
+            {
+                lblUL_Pzm.Text = "Ultima Leitura PZM: " + PZEMService.UltimaLeitura.DataHora.ToString("HH:mm:ss");
+                lblTensao.Text = "Bateria: " + PZEMService.UltimaLeitura.Tensao.ToString("0.00") + " V - " + PZEMService.UltimaLeitura.Corrente.ToString("0.00") + " A - " + PZEMService.UltimaLeitura.Potencia.ToString("0.00") + " W";
             }
-            
+            if (WT901CService.Iniciado)
+            {
+                lblUL_Wit.Text = "Ultima Leitura WIT: " + WT901CService.DadosLeitura.Momento.ToString("HH:mm:ss");
+            }
+            if (UltrasonicA05Service.Iniciado)
+            {
+                lblUL_A05.Text = "Ultima Leitura A05: " + UltrasonicA05Service.DadosLeitura.Momento.ToString("HH:mm:ss");
+                lblU1.Text = "U1: " + UltrasonicA05Service.DadosLeitura.U1.ToString("") + " mm";
+                lblU2.Text = "U2: " + UltrasonicA05Service.DadosLeitura.U2.ToString("") + " mm";
+                lblU3.Text = "U3: " + UltrasonicA05Service.DadosLeitura.U3.ToString("") + " mm";
+                lblU4.Text = "U4: " + UltrasonicA05Service.DadosLeitura.U4.ToString("") + " mm";
+            }
+            if (Variaveis.OperacaoEmAndamento.DispSen.Dados.Conectado)
+            {
+                AtualizarDadosSensor("AB3V", lblB3V);
+                AtualizarDadosSensor("AB5V", lblB5V);
+                AtualizarDadosSensor("AB7V2", lblB7V2);
+                AtualizarDadosSensor("AB12V", lblB12V);
+            }
+        }
+
+        private void AtualizarDadosSensor(string id, Label lbl)
+        {
+            var sensor = Variaveis.OperacaoEmAndamento.DispSen.Dados.Sensores.FirstOrDefault(x => x.ID == id);
+            double d0 = 0;
+            double d1 = 0;
+            if (sensor != null && sensor.Inicializado &&  sensor.Leituras != null && sensor.Leituras.Count() > 0)
+            {
+                d0 = sensor.Leituras?[0] ?? 0;
+                d1 = sensor.Leituras?[1] ?? 0;
+            }
+            lbl.Text = "Barramento 3V: " + d0.ToString("0.00") + " V " + d1.ToString("0.00") + " mA";
         }
 
         private void AtualzarDadosMovimentacao()
         {
-            if (chartEF.InvokeRequired)
-            {
-                chartEF.Invoke(new Action(AtualizaGrafico));
-            }
-            else
-            {
-                var DispMvd = Variaveis.OperacaoEmAndamento.DispMvd;
+            var DispMvd = Variaveis.OperacaoEmAndamento.DispMvd;
 
-                lblTempoConectado.Text = "Tempo conectado: " + TimeSpan.FromSeconds(DispMvd.TempoConectado).ToString(@"hh\:mm\:ss") + " hrs";
-                lblTempoEmMovimento.Text = "Tempo em movimento: " + TimeSpan.FromSeconds(DispMvd.Dados.TempoEmAtividade).ToString(@"hh\:mm\:ss") + " hrs";
-                lblDistanciaTotal.Text = "Distancia percorrida total: " + DispMvd.Dados.DistanciaPercorridaTotal.ToString("0.00") + " m";
-                lblDistanciaParcial.Text = "Distancia percorrida parcial: " + DispMvd.Dados.DistanciaPercorridaParcial.ToString("0.00") + " m";
+            lblTempoConectado.Text = "Tempo conectado: " + TimeSpan.FromSeconds(DispMvd.TempoConectado).ToString(@"hh\:mm\:ss") + " hrs";
+            lblTempoEmMovimento.Text = "Tempo em movimento: " + TimeSpan.FromSeconds(DispMvd.Dados.TempoEmAtividade).ToString(@"hh\:mm\:ss") + " hrs";
+            lblDistanciaTotal.Text = "Distancia percorrida total: " + DispMvd.Dados.DistanciaPercorridaTotal.ToString("0.00") + " m";
+            lblDistanciaParcial.Text = "Distancia percorrida parcial: " + DispMvd.Dados.DistanciaPercorridaParcial.ToString("0.00") + " m";
 
-                foreach (var Modulo in DispMvd.Dados.Modulos)
+            foreach (var Modulo in DispMvd.Dados.Modulos)
+            {
+                Label lblTitulo = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lblM_" + Modulo.Modulo_ID);
+                lblTitulo.ForeColor = Modulo.MovMotor.Comandar ? Modulo.MovMotor.BLD_Inicializado ? Color.Green : Color.Red : Color.Black;
+                lblTitulo.Text = lblTitulo.Text.Split(' ')[0] + " (" + Modulo.Modulo_ID + ") - Alm: " + Modulo.MovMotor.CodigoAlarme;
+                Label lblM_RPMSP = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_RPMSP");
+                lblM_RPMSP.Text = "RPM SP: " + Modulo.MovMotor.RPM_SP_Leitura.ToString("0.00");
+                Label lblM_RPM = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_RPM");
+                lblM_RPM.Text = "RPM Roda: " + Modulo.MovMotor.RPM_Roda.ToString("0.00");
+                Label lblM_Velocidade = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_Velocidade");
+                lblM_Velocidade.Text = "Velocidade: " + Modulo.MovMotor.VelocidadeInstantanea.ToString("0.00") + " Km/h";
+                Label lblM_SentidoSP = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_SentidoSP");
+                lblM_SentidoSP.Text = "Sentido SP: " + Enum.GetName(typeof(Sentido), Modulo.MovMotor.Sentido_SP);
+                Label lblM_Sentido = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_Sentido");
+                lblM_Sentido.Text = "Sentido: " + Enum.GetName(typeof(Sentido), Modulo.MovMotor.Sentido);
+                Label lblM_Temperatura = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_Temperatura");
+                lblM_Temperatura.Text = "Temperatura: " + Modulo.MovMotor.Temperatura.ToString("0.00") + "ºC";
+                lblM_Temperatura.ForeColor = Modulo.MovMotor.CodigoAlarme > 0 ? Color.Red : Color.Black;
+                Label lblM_Corrente = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_Corrente");
+                lblM_Corrente.Text = "Corrente: " + Modulo.MovMotor.Corrente_Max.ToString("0.00") + "A";
+                Label lblM_Tensao = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_Tensao");
+                lblM_Tensao.Text = "Tensão: " + Modulo.MovMotor.Tensao.ToString("0.00") + "V";
+
+                MvdMotorMOVSensorimanetoGrafico Log = null;
+                if (Modulo.MovMotor.LogGrafico.Count > 0)
                 {
-                    Label lblTitulo = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lblM_" + Modulo.Modulo_ID);
-                    lblTitulo.ForeColor = Modulo.MovMotor.Comandar ? Modulo.MovMotor.BLD_Inicializado ? Color.Green : Color.Red : Color.Black;
-                    lblTitulo.Text = lblTitulo.Text.Split(' ')[0] + " (" + Modulo.Modulo_ID + ") - Alm: " + Modulo.MovMotor.CodigoAlarme;
-                    Label lblM_RPMSP = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_RPMSP");
-                    lblM_RPMSP.Text = "RPM SP: " + Modulo.MovMotor.RPM_SP_Leitura.ToString("0.00");
-                    Label lblM_RPM = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_RPM");
-                    lblM_RPM.Text = "RPM Roda: " + Modulo.MovMotor.RPM_Roda.ToString("0.00");
-                    Label lblM_Velocidade = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_Velocidade");
-                    lblM_Velocidade.Text = "Velocidade: " + Modulo.MovMotor.VelocidadeInstantanea.ToString("0.00") + " Km/h";
-                    Label lblM_SentidoSP = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_SentidoSP");
-                    lblM_SentidoSP.Text = "Sentido SP: " + Enum.GetName(typeof(Sentido), Modulo.MovMotor.Sentido_SP);
-                    Label lblM_Sentido = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_Sentido");
-                    lblM_Sentido.Text = "Sentido: " + Enum.GetName(typeof(Sentido), Modulo.MovMotor.Sentido);
-                    Label lblM_Temperatura = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_Temperatura");
-                    lblM_Temperatura.Text = "Temperatura: " + Modulo.MovMotor.Temperatura.ToString("0.00") + "ºC";
-                    lblM_Temperatura.ForeColor = Modulo.MovMotor.CodigoAlarme > 0 ? Color.Red : Color.Black;
-                    Label lblM_Corrente = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_Corrente");
-                    lblM_Corrente.Text = "Corrente: " + Modulo.MovMotor.Corrente_Max.ToString("0.00") + "A";
-                    Label lblM_Tensao = pnlFundo.Controls.OfType<Label>().FirstOrDefault(ctrl => ctrl.Name == "lbl" + Modulo.Modulo_ID + "M_Tensao");
-                    lblM_Tensao.Text = "Tensão: " + Modulo.MovMotor.Tensao.ToString("0.00") + "V";
+                    Log = Modulo.MovMotor.LogGrafico[Modulo.MovMotor.LogGrafico.Count - 1];
+                }
 
-                    MvdMotorMOVSensorimanetoGrafico Log = null;
-                    if (Modulo.MovMotor.LogGrafico.Count > 0)
+                double Minimo = 0;
+                double Maximo = 0;
+
+
+                try
+                {
+                    Chart chart = (Chart)(pnlFundo.Controls.Find("chart" + Modulo.Modulo_ID, false).First());
+                    chart.Titles.Clear();
+                    chart.Titles.Add(Modulo.Modulo_ID);
+                    var Logs = (Modulo.MovMotor.LogGrafico.Count > MovimentacaoModel.LogsManter ? Modulo.MovMotor.LogGrafico.Skip(Math.Max(0, Modulo.MovMotor.LogGrafico.Count - MovimentacaoModel.LogsManter)).Take(MovimentacaoModel.LogsManter).ToList() : Modulo.MovMotor.LogGrafico).Where(log => log.Modulo_ID == Modulo.Modulo_ID).ToList();
+                    chart.Series.Clear();
+                    List<string> Momentos = Logs.Select(x => x.Momento.ToString("mm:ss:fff")).ToList();
+
+                    var serieTensao = new Series("Tensão: " + (Log != null ? Log.Tensao : 0));
+                    serieTensao.Points.DataBindXY(Momentos, Logs.Select(x => x.Tensao).ToList());
+                    serieTensao.ChartType = SeriesChartType.Line;
+                    chart.Series.Add(serieTensao);
+                    Minimo = Logs.Any() && Logs.Min(x => x.Tensao) < Minimo ? Logs.Min(x => x.Tensao) : Minimo;
+                    Maximo = Logs.Any() && Logs.Max(x => x.Tensao) > Maximo ? Logs.Max(x => x.Tensao) : Maximo;
+
+                    var serieRPMsp = new Series("RPM SP: " + (Log != null ? Log.RPM_SP : 0));
+                    serieRPMsp.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_SP).ToList());
+                    serieRPMsp.ChartType = SeriesChartType.Line;
+                    chart.Series.Add(serieRPMsp);
+                    Minimo = Logs.Any() && Logs.Min(x => x.RPM_SP) < Minimo ? Logs.Min(x => x.RPM_SP) : Minimo;
+                    Maximo = Logs.Any() && Logs.Min(x => x.RPM_SP) > Maximo ? Logs.Min(x => x.RPM_SP) : Maximo;
+
+                    var serieRPMRoda = new Series("RPM Roda: " + (Log != null ? Log.RPM_Roda : 0));
+                    serieRPMRoda.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_Roda).ToList());
+                    serieRPMRoda.ChartType = SeriesChartType.Spline;
+                    chart.Series.Add(serieRPMRoda);
+                    Minimo = Logs.Any() && Logs.Min(x => x.RPM_Roda) < Minimo ? Logs.Min(x => x.RPM_Roda) : Minimo;
+                    Maximo = Logs.Any() && Logs.Max(x => x.RPM_Roda) > Maximo ? Logs.Max(x => x.RPM_Roda) : Maximo;
+
+                    var serieRPMMotor = new Series("RPM Motor: " + (Log != null ? Log.RPM_Motor : 0));
+                    serieRPMMotor.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_Motor).ToList());
+                    serieRPMMotor.ChartType = SeriesChartType.Spline;
+                    chart.Series.Add(serieRPMMotor);
+                    Minimo = Logs.Any() && Logs.Min(x => x.RPM_Motor) < Minimo ? Logs.Min(x => x.RPM_Motor) : Minimo;
+                    Maximo = Logs.Any() && Logs.Max(x => x.RPM_Motor) > Maximo ? Logs.Max(x => x.RPM_Motor) : Maximo;
+
+                    var serieTemperatura = new Series("Motor ºC: " + (Log != null ? Log.Temperatura : 0));
+                    serieTemperatura.Points.DataBindXY(Momentos, Logs.Select(x => x.Temperatura).ToList());
+                    serieTemperatura.ChartType = SeriesChartType.Line;
+                    chart.Series.Add(serieTemperatura);
+                    Minimo = Logs.Any() && Logs.Min(x => x.Temperatura) < Minimo ? Logs.Min(x => x.Temperatura) : Minimo;
+                    Maximo = Logs.Any() && Logs.Max(x => x.Temperatura) > Maximo ? Logs.Max(x => x.Temperatura) : Maximo;
+
+                    var serieTempDriver = new Series("Driver ºC: " + (Log != null ? Log.TemperaturaDriver : 0));
+                    serieTempDriver.Points.DataBindXY(Momentos, Logs.Select(x => x.TemperaturaDriver).ToList());
+                    serieTempDriver.ChartType = SeriesChartType.Line;
+                    chart.Series.Add(serieTempDriver);
+                    Minimo = Logs.Any() && Logs.Min(x => x.TemperaturaDriver) < Minimo ? Logs.Min(x => x.TemperaturaDriver) : Minimo;
+                    Maximo = Logs.Any() && Logs.Max(x => x.TemperaturaDriver) > Maximo ? Logs.Max(x => x.TemperaturaDriver) : Maximo;
+
+                    foreach (var legend in chart.Legends)
                     {
-                        Log = Modulo.MovMotor.LogGrafico[Modulo.MovMotor.LogGrafico.Count - 1];
+                        legend.Docking = Docking.Bottom;
                     }
 
-                    double Minimo = 0;
-                    double Maximo = 0;
-
-
-                    try
-                    {
-                        Chart chart = (Chart)(pnlFundo.Controls.Find("chart" + Modulo.Modulo_ID, false).First());
-                        chart.Titles.Clear();
-                        chart.Titles.Add(Modulo.Modulo_ID);
-                        var Logs = (Modulo.MovMotor.LogGrafico.Count > MovimentacaoModel.LogsManter ? Modulo.MovMotor.LogGrafico.Skip(Math.Max(0, Modulo.MovMotor.LogGrafico.Count - MovimentacaoModel.LogsManter)).Take(MovimentacaoModel.LogsManter).ToList() : Modulo.MovMotor.LogGrafico).Where(log => log.Modulo_ID == Modulo.Modulo_ID).ToList();
-                        chart.Series.Clear();
-                        List<string> Momentos = Logs.Select(x => x.Momento.ToString("mm:ss:fff")).ToList();
-
-                        var serieTensao = new Series("Tensão: " + (Log != null ? Log.Tensao : 0));
-                        serieTensao.Points.DataBindXY(Momentos, Logs.Select(x => x.Tensao).ToList());
-                        serieTensao.ChartType = SeriesChartType.Line;
-                        chart.Series.Add(serieTensao);
-                        Minimo = Logs.Any() && Logs.Min(x => x.Tensao) < Minimo ? Logs.Min(x => x.Tensao) : Minimo;
-                        Maximo = Logs.Any() && Logs.Max(x => x.Tensao) > Maximo ? Logs.Max(x => x.Tensao) : Maximo;
-
-                        var serieRPMsp = new Series("RPM SP: " + (Log != null ? Log.RPM_SP : 0));
-                        serieRPMsp.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_SP).ToList());
-                        serieRPMsp.ChartType = SeriesChartType.Line;
-                        chart.Series.Add(serieRPMsp);
-                        Minimo = Logs.Any() && Logs.Min(x => x.RPM_SP) < Minimo ? Logs.Min(x => x.RPM_SP) : Minimo;
-                        Maximo = Logs.Any() && Logs.Min(x => x.RPM_SP) > Maximo ? Logs.Min(x => x.RPM_SP) : Maximo;
-
-                        var serieRPMRoda = new Series("RPM Roda: " + (Log != null ? Log.RPM_Roda : 0));
-                        serieRPMRoda.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_Roda).ToList());
-                        serieRPMRoda.ChartType = SeriesChartType.Spline;
-                        chart.Series.Add(serieRPMRoda);
-                        Minimo = Logs.Any() && Logs.Min(x => x.RPM_Roda) < Minimo ? Logs.Min(x => x.RPM_Roda) : Minimo;
-                        Maximo = Logs.Any() && Logs.Max(x => x.RPM_Roda) > Maximo ? Logs.Max(x => x.RPM_Roda) : Maximo;
-
-                        var serieRPMMotor = new Series("RPM Motor: " + (Log != null ? Log.RPM_Motor : 0));
-                        serieRPMMotor.Points.DataBindXY(Momentos, Logs.Select(x => x.RPM_Motor).ToList());
-                        serieRPMMotor.ChartType = SeriesChartType.Spline;
-                        chart.Series.Add(serieRPMMotor);
-                        Minimo = Logs.Any() && Logs.Min(x => x.RPM_Motor) < Minimo ? Logs.Min(x => x.RPM_Motor) : Minimo;
-                        Maximo = Logs.Any() && Logs.Max(x => x.RPM_Motor) > Maximo ? Logs.Max(x => x.RPM_Motor) : Maximo;
-
-                        var serieTemperatura = new Series("Motor ºC: " + (Log != null ? Log.Temperatura : 0));
-                        serieTemperatura.Points.DataBindXY(Momentos, Logs.Select(x => x.Temperatura).ToList());
-                        serieTemperatura.ChartType = SeriesChartType.Line;
-                        chart.Series.Add(serieTemperatura);
-                        Minimo = Logs.Any() && Logs.Min(x => x.Temperatura) < Minimo ? Logs.Min(x => x.Temperatura) : Minimo;
-                        Maximo = Logs.Any() && Logs.Max(x => x.Temperatura) > Maximo ? Logs.Max(x => x.Temperatura) : Maximo;
-
-                        var serieTempDriver = new Series("Driver ºC: " + (Log != null ? Log.TemperaturaDriver : 0));
-                        serieTempDriver.Points.DataBindXY(Momentos, Logs.Select(x => x.TemperaturaDriver).ToList());
-                        serieTempDriver.ChartType = SeriesChartType.Line;
-                        chart.Series.Add(serieTempDriver);
-                        Minimo = Logs.Any() && Logs.Min(x => x.TemperaturaDriver) < Minimo ? Logs.Min(x => x.TemperaturaDriver) : Minimo;
-                        Maximo = Logs.Any() && Logs.Max(x => x.TemperaturaDriver) > Maximo ? Logs.Max(x => x.TemperaturaDriver) : Maximo;
-
-                        foreach (var legend in chart.Legends)
-                        {
-                            legend.Docking = Docking.Bottom;
-                        }
-
-                        chart.ChartAreas[0].AxisY.Minimum = Minimo - 5;
-                        chart.ChartAreas[0].AxisY.Maximum = Maximo + 5;
-                    }
-                    catch
-                    {
-
-                    }
-
-                    
+                    chart.ChartAreas[0].AxisY.Minimum = Minimo - 5;
+                    chart.ChartAreas[0].AxisY.Maximum = Maximo + 5;
+                }
+                catch
+                {
 
                 }
+
+
+
             }
         }
 
@@ -332,56 +358,6 @@ namespace AgroBase.Forms
 
         }
 
-        delegate void AtualizarSensoresDelegate(string Texto);
-
-        public void AtualizarSensores(string Texto)
-        {
-            Label lbl = 
-                Texto.Contains("Bateria") ? lblTensao: 
-                Texto.Contains("Temp") ? lblTemperatura: 
-                Texto.Contains("3V") ? lblB3V :
-                Texto.Contains("5V") ? lblB5V :
-                Texto.Contains("7V2") ? lblB7V2 :
-                Texto.Contains("12V") ? lblB12V :
-                Texto.Contains("PZM") ? lblUL_Pzm :
-                Texto.Contains("WIT") ? lblUL_Wit :
-                Texto.Contains("A05") ? lblUL_A05 :
-                Texto.Contains("U1") ? lblU1 :
-                Texto.Contains("U2") ? lblU2 :
-                Texto.Contains("U3") ? lblU3 :
-                Texto.Contains("U4") ? lblU4 :
-                new Label();
-            if (lbl.InvokeRequired)
-            {
-                lbl.Invoke(new AtualizarSensoresDelegate(AtualizarSensores), Texto);
-            }
-            else
-            {
-                lbl.Text = Texto;
-            }
-        }
-    
-        public void AtualizarOrientacao()
-        {
-            if (pnlOrientacaoGPS.InvokeRequired)
-            {
-                pnlOrientacaoGPS.Invoke(new Action(pnlOrientacaoGPS.Invalidate));
-            }
-            else
-            {
-                pnlOrientacaoGPS.Invalidate();
-            }
-
-            if (pnlOrientacaoMagnetometro.InvokeRequired)
-            {
-                pnlOrientacaoMagnetometro.Invoke(new Action(pnlOrientacaoMagnetometro.Invalidate));
-            }
-            else
-            {
-                pnlOrientacaoMagnetometro.Invalidate();
-            }
-        }
-
         private void pnlOrientacaoGPS_Paint(object sender, PaintEventArgs e)
         {
             double Angulo = GPSService.UltimaLeitura.Orientacao;
@@ -393,6 +369,7 @@ namespace AgroBase.Forms
             double Angulo = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola;
             FuncoesGlobais.DesenharInclinacao((Panel)sender, e, (float)Angulo, -90);
         }
-    
+
+        
     }
 }

AgroBase/AgroBase/Forms/frmGPS.cs

@@ -1,12 +1,11 @@
 using AgroBase.Models;
 using AgroBase.Services;
-using CefSharp;
-using CefSharp.WinForms;
 using Newtonsoft.Json;
 using SharpDX.Text;
 using System;
 using System.Collections.Generic;
 using System.IO;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 
 namespace AgroBase.Forms
@@ -14,7 +13,7 @@ namespace AgroBase.Forms
     public partial class frmGPS : Form
     {
         private MapasModel Mapa;
-        private Timer tmrLeitura;
+        private AsyncTaskTimerModel tmrLeitura;
         private List<GPSModel> Trajetoria = new List<GPSModel>();
         private string LogID = DateTime.Now.ToString("dd_MM_yyyy_HH_mm_ss");
 
@@ -31,18 +30,16 @@ namespace AgroBase.Forms
         private void frmGPS_Load(object sender, EventArgs e)
         {
             IniciarMapa();
-            tmrLeitura = new Timer() { Interval = 1000 };
-            tmrLeitura.Tick += tmrLeitura_Tick;
+            tmrLeitura = new AsyncTaskTimerModel(tmrLeitura_Tick, 1000, this);
             tmrLeitura.Start();
         }
 
         private void frmGPS_FormClosing(object sender, FormClosingEventArgs e)
         {
             tmrLeitura.Stop();
-            tmrLeitura.Dispose();
         }
 
-        private void tmrLeitura_Tick(object sender, EventArgs e)
+        private async Task tmrLeitura_Tick()
         {
             lblAltitude.Text = "Altitude: " + GPSService.UltimaLeitura.Altitude.ToString("0.0");
             lblDatahora.Text = "Ultima Leitura: " + GPSService.UltimaLeitura.DataHora.ToString("HH:mm:ss");

AgroBase/AgroBase/Forms/frmInstancial.cs

@@ -15,7 +15,6 @@ namespace AgroBase.Forms
 
         public static frmPrincipal frmPrincipal = new frmPrincipal();
         public static frmJoystick frmJoystick = new frmJoystick();
-        public static frmAcompanhamento frmAcompanhamento = new frmAcompanhamento();
         public static frmIHM frmIHM = new frmIHM() 
         { 
             FormBorderStyle = FormBorderStyle.None, 
@@ -31,6 +30,7 @@ namespace AgroBase.Forms
             MKS057DService.IniciarRotinas();
             ModbusService.IniciarRotinas();
             KinectService.InicializarRotinas();
+            GeneralJoystick.IniciarRotinas();
             VersionamentoService.AtualizarArquivoVersionamento(true).ConfigureAwait(false);
 
             EncerrarProcessosPython();

AgroBase/AgroBase/Forms/frmLoraConfig.cs

@@ -13,25 +13,22 @@ namespace AgroBase.Forms
     {
         LoRaService loraService = Variaveis.ConexaoLoRa;
         LoRaParametrosModel Parametros = null;
-        Timer tmrLeitura = new Timer() { Interval = 1000 };
+        AsyncTaskTimerModel tmrLeitura;
 
         public frmLoraConfig()
         {
             InitializeComponent();
-
-            tmrLeitura.Tick += tmrLeitura_Tick;
-            tmrLeitura.Start();
         }
 
-        private void tmrLeitura_Tick(object sender, EventArgs e)
+        private void frmLoraConfig_Load(object sender, EventArgs e)
         {
+            tmrLeitura = new AsyncTaskTimerModel(tmrLeitura_Tick, 1000, this);
+            tmrLeitura.Start();
+
+            //Parametros = loraService.CarregarParametros();
             if (LoRaService.Iniciado)
             {
-                var MensagemDisponivel = loraService.MensagemPendente;
-                if (MensagemDisponivel != null)
-                {
-                    AtualizarConsole(MensagemDisponivel.Remetente, MensagemDisponivel.Destinatario, MensagemDisponivel.Mensagem);
-                }
+                AtualizarParametros().ConfigureAwait(false);
             }
         }
 
@@ -71,12 +68,15 @@ namespace AgroBase.Forms
             AtualizarDadosTela();
         }
 
-        private void frmLoraConfig_Load(object sender, EventArgs e)
+        private async Task tmrLeitura_Tick()
         {
-            //Parametros = loraService.CarregarParametros();
             if (LoRaService.Iniciado)
             {
-                AtualizarParametros().ConfigureAwait(false);
+                var MensagemDisponivel = loraService.MensagemPendente;
+                if (MensagemDisponivel != null)
+                {
+                    AtualizarConsole(MensagemDisponivel.Remetente, MensagemDisponivel.Destinatario, MensagemDisponivel.Mensagem);
+                }
             }
         }
 

AgroBase/AgroBase/Forms/frmPrincipal.cs

@@ -10,16 +10,16 @@ using System.Data;
 using System.Drawing;
 using System.IO.Ports;
 using System.Linq;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
-using System.Timers;
 
 namespace AgroBase
 {
     public partial class frmPrincipal : Form
     {
-        System.Timers.Timer tmrDispositivos = new System.Timers.Timer() { Interval = 1000, Enabled = false };
-        System.Timers.Timer tmrAtualizacaoArquivos = new System.Timers.Timer() { Interval = 300, Enabled = false };
+        AsyncTaskTimerModel tmrLoopDispositivos;
+        AsyncTaskTimerModel tmrAtualizacaoArquivos;
 
         public frmPrincipal()
         {
@@ -28,14 +28,12 @@ namespace AgroBase
 
         private void Form1_Load(object sender, EventArgs e)
         {
-            tmrDispositivos.Elapsed += TmrDispositivos_Elapsed;
-            tmrDispositivos.Start();
+            tmrLoopDispositivos = new AsyncTaskTimerModel(tmrLoopDispositivos_Tick, SerialService.InteraloVerificacao, this);
+            tmrLoopDispositivos.Start();
 
-            tmrAtualizacaoArquivos.Elapsed += TmrAtualizacaoArquivos_Elapsed;
+            tmrAtualizacaoArquivos = new AsyncTaskTimerModel(tmrAtualizacaoArquivos_Tick, 300, this);
             tmrAtualizacaoArquivos.Start();
 
-            AtualizaDadosGerais();
-
             btnJoyAtt_Click(new object(), new EventArgs());
 
             cmbModoOperacao.Items.Clear();
@@ -49,68 +47,6 @@ namespace AgroBase
             e.Cancel = true;
         }
 
-        public void AtualizaDadosGerais()
-        {
-            Func<bool> funcVel = new Func<bool>(() =>
-            {
-                tkbVelocidade.Minimum = 0;
-                tkbVelocidade.Maximum = 100;
-                FuncoesGlobais.PreencheValorTrackBar(tkbVelocidade, Variaveis.OperacaoEmAndamento.Controle.VelocidadeMP);
-                return true;
-            });
-            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(tkbVelocidade, funcVel);
-            
-            Func<bool> funcAng = new Func<bool>(() =>
-            {
-                tkbAngulo.Minimum = 0;
-                tkbAngulo.Maximum = 90;
-                FuncoesGlobais.PreencheValorTrackBar(tkbAngulo, Variaveis.OperacaoEmAndamento.Controle.Angulo);
-                return true;
-            });
-            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(tkbAngulo, funcAng);
-
-            Func<bool> funcKmh = new Func<bool>(() =>
-            {
-                trkKmh.Minimum = 0;
-                trkKmh.Maximum = 100;
-                return true;
-            });
-            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(trkKmh, funcKmh);
-
-            Func<bool> funcRpm = new Func<bool>(() =>
-            {
-                trkRPM.Minimum = Variaveis.OperacaoEmAndamento.Controle.RPM_Min;
-                trkRPM.Maximum = VariaveisEquipamento.RPM_Max_Roda;
-                FuncoesGlobais.PreencheValorTrackBar(trkRPM, Variaveis.OperacaoEmAndamento.Controle.RPM_SP);
-                int percentual = Convert.ToInt32((trkRPM.Value / (double)VariaveisEquipamento.RPM_Max_Roda) * 100.0);
-                AtualizaRPM(percentual);
-                return true;
-            });
-            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(trkRPM, funcRpm);
-        }
-
-        private void TmrAtualizacaoArquivos_Elapsed(object sender, ElapsedEventArgs e)
-        {
-            tmrAtualizacaoArquivos.Stop();
-
-            Func<bool> func = new Func<bool>(() =>
-            {
-                lblProgressoAtualizacao.Text = VersionamentoService.AtualizandoArquivos ? $"({VersionamentoService.ProgressoAtualizacao.ToString("0.00")}%) Atualizando arquivos..." : VersionamentoService.ResultadoAtualizacao;
-                pgbAtualizacaoArquivos.Value = (int)VersionamentoService.ProgressoAtualizacao;
-                return true;
-            });
-            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(pgbAtualizacaoArquivos, func);
-
-            tmrAtualizacaoArquivos.Start();
-        }
-
-        private void btnForcarAtualizacao_Click(object sender, EventArgs e)
-        {
-            VersionamentoService.ForcarDownloadArquivos = true;
-            VersionamentoService.AtualizarArquivoVersionamento(true).ConfigureAwait(false);
-        }
-
-
 
         #region DISPOSITIVOS
 
@@ -161,61 +97,93 @@ namespace AgroBase
             }
         }
 
-        private async void TmrDispositivos_Elapsed(object sender, ElapsedEventArgs e)
-        {
-            ((System.Timers.Timer)sender).Stop();
-
-            Func<bool> funcao = new Func<bool>(() =>
-            {
-                lstDisponiveis.Items.Clear();
-                lstDisponiveis.Items.AddRange(
-                    SerialService.DispositivosMapeados
-                    .GroupBy(x => x.Dispositivo)
-                    .Select(x => new ListViewItem()
-                    {
-                        Text =
-                        x.FirstOrDefault().Endereco + " - " + Enum.GetName(typeof(T_Code), x.Key) + " v" + x.FirstOrDefault().Versao +
-
-                        (SerialService.DispositivosMultiplos.Contains(x.FirstOrDefault().Dispositivo) ? (" (" + string.Join(", ", x.Where(y => y.Conectado).Select(y => y.Mod_ID)) + ")") :
-
-                        "") + " - " +
-                        (x.Any(y => y.Conectado) ? "Conectado" : "Desconectado")
-                    }).ToArray()
-                );
-                if (SerialService.DispositivosMapeados.Count == 0)
-                {
-                    Variaveis.DispositivosConectados.Where(x => x.Dados.GetStatusConexao()).ToList().ForEach(x => x.AcaoDesconectar());
-                }
-
-                Variaveis.DispositivosConectados.ForEach(x =>
-                {
-                    x.AcaoConexao();
-                });
-
-                bool opLiberada = Variaveis.OperacaoEmAndamento.OperacaoLiberada;
-                lblStripOperacaoLiberada.Text = "Operação Liberada: " + (opLiberada ? "Sim" : "Não");
-                lblStripOperacaoLiberada.ForeColor = opLiberada ? Color.Green : Color.Red;
-
-                return true;
-            });
-
-            FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(lstDisponiveis, funcao);
-
-            if (chbConexaoautomatica.Checked)
-            {
-                await SerialService.RealizarVarreduraPortasUSB((System.Timers.Timer)sender);
-
-                AtualizaDadosGerais();
-            }
-
-            ((System.Timers.Timer)sender).Start();
-        }
-
         private void cmbDispositivos_SelectedIndexChanged(object sender, EventArgs e)
         {
             btnJoyAtt_Click(sender, e);
         }
 
+        private async Task tmrLoopDispositivos_Tick()
+        {
+            AtualizaDadosGerais();
+
+            lstDisponiveis.Items.Clear();
+            lstDisponiveis.Items.AddRange(
+                SerialService.DispositivosMapeados
+                .GroupBy(x => x.Dispositivo)
+                .Select(x => new ListViewItem()
+                {
+                    Text =
+                    x.FirstOrDefault().Endereco + " - " + Enum.GetName(typeof(T_Code), x.Key) + " v" + x.FirstOrDefault().Versao +
+
+                    (SerialService.DispositivosMultiplos.Contains(x.FirstOrDefault().Dispositivo) ? (" (" + string.Join(", ", x.Where(y => y.Conectado).Select(y => y.Mod_ID)) + ")") :
+
+                    "") + " - " +
+                    (x.Any(y => y.Conectado) ? "Conectado" : "Desconectado")
+                }).ToArray()
+            );
+            if (SerialService.DispositivosMapeados.Count == 0)
+            {
+                Variaveis.DispositivosConectados.Where(x => x.Dados.GetStatusConexao()).ToList().ForEach(x => x.AcaoDesconectar());
+            }
+
+            Variaveis.DispositivosConectados.ForEach(x =>
+            {
+                x.AcaoConexao();
+            });
+
+            lblStripMqtt.Text = "MQTT: " + (Variaveis.MqttService.StatusConexao() ? "Conectado" : "Desconectado");
+
+            bool opLiberada = Variaveis.OperacaoEmAndamento.OperacaoLiberada;
+            lblStripOperacaoLiberada.Text = "Operação Liberada: " + (opLiberada ? "Sim" : "Não");
+            lblStripOperacaoLiberada.ForeColor = opLiberada ? Color.Green : Color.Red;
+
+            if (chbConexaoautomatica.Checked)
+            {
+                await FuncoesGlobais.SafeExecuteAsync(() => SerialService.RealizarVarreduraPortasUSB());
+
+                AtualizaDadosGerais();
+            }
+        }
+
+        public void AtualizaDadosGerais()
+        {
+            tkbVelocidade.Minimum = 0;
+            tkbVelocidade.Maximum = 100;
+            FuncoesGlobais.PreencheValorTrackBar(tkbVelocidade, Variaveis.OperacaoEmAndamento.Controle.VelocidadeMP);
+
+            tkbAngulo.Minimum = 0;
+            tkbAngulo.Maximum = 90;
+            FuncoesGlobais.PreencheValorTrackBar(tkbAngulo, Variaveis.OperacaoEmAndamento.Controle.Angulo);
+
+            trkKmh.Minimum = 0;
+            trkKmh.Maximum = 100;
+
+            trkRPM.Minimum = Variaveis.OperacaoEmAndamento.Controle.RPM_Min;
+            trkRPM.Maximum = VariaveisEquipamento.RPM_Max_Roda;
+            FuncoesGlobais.PreencheValorTrackBar(trkRPM, Variaveis.OperacaoEmAndamento.Controle.RPM_SP);
+            int percentual = Convert.ToInt32((trkRPM.Value / (double)VariaveisEquipamento.RPM_Max_Roda) * 100.0);
+            AtualizaRPM(percentual);
+        }
+
+        #endregion
+
+        #region VERSIONAMENTO DE ARQUIVOS
+
+        private void btnForcarAtualizacao_Click(object sender, EventArgs e)
+        {
+            VersionamentoService.ForcarDownloadArquivos = true;
+            VersionamentoService.AtualizarArquivoVersionamento(true).ConfigureAwait(false);
+            tmrAtualizacaoArquivos.SetInterval(300);
+            tmrAtualizacaoArquivos.Restart();
+        }
+
+        private async Task tmrAtualizacaoArquivos_Tick()
+        {
+            lblProgressoAtualizacao.Text = VersionamentoService.AtualizandoArquivos ? $"({VersionamentoService.ProgressoAtualizacao.ToString("0.00")}%) Atualizando arquivos..." : VersionamentoService.ResultadoAtualizacao;
+            pgbAtualizacaoArquivos.Value = (int)VersionamentoService.ProgressoAtualizacao;
+
+            tmrAtualizacaoArquivos.SetInterval(VersionamentoService.AtualizandoArquivos ? 300 : 5000);
+        }
 
         #endregion
 
@@ -332,7 +300,8 @@ namespace AgroBase
 
         private void btnAcompanhamento_Click(object sender, EventArgs e)
         {
-            frmInstancial.frmAcompanhamento.Show();
+            frmAcompanhamento frm = new frmAcompanhamento();
+            frm.Show();
         }
 
         private void btnCamera_Click(object sender, EventArgs e)

AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs

@@ -4,6 +4,7 @@ using System;
 using System.Drawing;
 using System.Drawing.Drawing2D;
 using System.Linq;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 
@@ -11,8 +12,7 @@ namespace AgroBase.Forms
 {
     public partial class frmSimulacaoMapaGPS : Form
     {
-        Timer tmrSonar;
-        Timer tmrLeitura = new Timer() { Interval = 500 };
+        AsyncTaskTimerModel tmrLeitura;
         StatusCarroMapa StatusCarro = StatusCarroMapa.Parado;
         MapaDinamicoModel MapaDinamico;
         bool calc = false;
@@ -23,9 +23,6 @@ namespace AgroBase.Forms
         {
             InitializeComponent();
 
-            tmrLeitura.Tick += Tmr_Tick;
-            tmrLeitura.Start();
-
             // Ativa o double buffering
             this.DoubleBuffered = true;
             this.SetStyle(ControlStyles.AllPaintingInWmPaint, true);
@@ -35,11 +32,30 @@ namespace AgroBase.Forms
             MapaDinamico = new MapaDinamicoModel(this, pnlZoomMapa);
         }
 
-        private void Tmr_Tick(object sender, EventArgs e)
+        private void frmSimulacaoMapaGPS_Load(object sender, EventArgs e)
+        {
+            tmrLeitura = new AsyncTaskTimerModel(tmrLeitura_Tick, 500, this);
+            tmrLeitura.Start();
+
+            Variaveis.OperacaoEmAndamento.Mapa = new MapasModel()
+            {
+                pnlMapa = pnlMapa,
+            };
+            //Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal = new SonarModel(picSonar);
+            KinectService.InicializarKinect(null, picSonar, null, null);
+        }
+
+        private void frmSimulacaoMapaGPS_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            tmrLeitura.Stop();
+            Variaveis.OperacaoEmAndamento.Iniciado = false;
+        }
+
+        private async Task tmrLeitura_Tick()
         {
             if (chbAutomatico.Checked)
             {
-                btnAcrescentarGPS_Click(sender, e);
+                btnAcrescentarGPS_Click(btnAcrescentarGPS, new EventArgs());
             }
         }
 
@@ -95,28 +111,7 @@ namespace AgroBase.Forms
         }
 
 
-        private void frmSimulacaoMapaGPS_Load(object sender, EventArgs e)
-        {
-            Variaveis.OperacaoEmAndamento.Mapa = new MapasModel()
-            {
-                pnlMapa = pnlMapa,
-            };
-            //Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal = new SonarModel(picSonar);
-            KinectService.InicializarKinect(null, picSonar, null, null);
-        }
-
-        private void frmSimulacaoMapaGPS_FormClosing(object sender, FormClosingEventArgs e)
-        {
-            if (tmrSonar != null && tmrSonar.Enabled)
-            {
-                tmrSonar.Stop();
-            }
-            if (tmrLeitura != null && tmrLeitura.Enabled)
-            {
-                tmrLeitura.Stop();
-            }
-            Variaveis.OperacaoEmAndamento.Iniciado = false;
-        }
+        
 
         private void btnCarregar_Click(object sender, EventArgs e)
         {

AgroBase/AgroBase/Forms/frmWT901C.cs

@@ -4,6 +4,7 @@ using System;
 using System.Drawing;
 using System.Windows.Forms;
 using System.Drawing.Drawing2D;
+using System.Threading.Tasks;
 
 namespace AgroBase.Forms
 {
@@ -14,7 +15,7 @@ namespace AgroBase.Forms
         double AnguloY = 0;
         double AnguloZ = 0;
         private Visualizador3DService visualizador3D;
-        Timer tmrLeitura;
+        AsyncTaskTimerModel tmrLeitura;
         //WT901C485 WT901C = Variaveis.WT901C;
 
         public frmWT901C()
@@ -42,29 +43,24 @@ namespace AgroBase.Forms
         private void frmWT901C_Load(object sender, EventArgs e)
         {
             PopularDadosGrid();
-            tmrLeitura = new Timer() { Interval = 200 };
-            tmrLeitura.Tick += tmrLeitura_Tick;
+
+            tmrLeitura = new AsyncTaskTimerModel(tmrLeitura_Tick, 500, this);
             tmrLeitura.Start();
         }
 
         private void frmWT901C_FormClosing(object sender, FormClosingEventArgs e)
         {
             tmrLeitura.Stop();
-            tmrLeitura.Dispose();
         }
 
-        private void tmrLeitura_Tick(object sender, EventArgs e)
+        private async Task tmrLeitura_Tick()
         {
-            ((Timer)sender).Stop();
-
             AnguloX = Variaveis.OperacaoEmAndamento.Sensoriamento.InclinacaoX;
             AnguloY = Variaveis.OperacaoEmAndamento.Sensoriamento.InclinacaoY;
             AnguloZ = Variaveis.OperacaoEmAndamento.Sensoriamento.InclinacaoZ;
             OrientacaoMagnetica = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola;
 
             AtualizarDadosTela();
-
-            ((Timer)sender).Start();
         }
 
         private void PopularDadosGrid()

AgroBase/AgroBase/Models/AsyncTaskTimerModel.cs

@@ -0,0 +1,134 @@
+using System;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace AgroBase.Models
+{
+    public class AsyncTaskTimerModel
+    {
+        private CancellationTokenSource _cancellationTokenSource;
+        private Func<Task> _taskToExecute;
+        private int _interval; // Intervalo em milissegundos
+        public int Interval { get { return _interval; } }
+        private Control _uiControl;
+
+        /// <summary>
+        /// Inicializa uma nova instância do AsyncTaskTimerService.
+        /// </summary>
+        /// <param name="taskToExecute">A tarefa assíncrona que será executada periodicamente.</param>
+        /// <param name="interval">Intervalo em milissegundos entre as execuções.</param>
+        /// <param name="uiControl">Controle para executar tarefas relacionadas à UI. Opcional.</param>
+        public AsyncTaskTimerModel(Func<Task> taskToExecute, int interval, Control uiControl = null)
+        {
+            if (taskToExecute == null) throw new ArgumentNullException(nameof(taskToExecute));
+            if (interval <= 0) throw new ArgumentException("Interval must be greater than zero.", nameof(interval));
+
+            _taskToExecute = taskToExecute;
+            _interval = interval;
+            _uiControl = uiControl;
+        }
+
+        /// <summary>
+        /// Inicia o timer assíncrono.
+        /// </summary>
+        public void Start()
+        {
+            if (_cancellationTokenSource != null) return;
+
+            _cancellationTokenSource = new CancellationTokenSource();
+            Task.Run(() => TimerLoopAsync(_cancellationTokenSource.Token));
+        }
+
+        /// <summary>
+        /// Para o timer assíncrono.
+        /// </summary>
+        public void Stop()
+        {
+            if (_cancellationTokenSource == null) return;
+
+            _cancellationTokenSource.Cancel();
+            _cancellationTokenSource = null;
+        }
+
+        /// <summary>
+        /// Reinicia o timer assíncrono.
+        /// </summary>
+        public void Restart()
+        {
+            Stop();
+            Start();
+        }
+
+        /// <summary>
+        /// Alterna o status do timer.
+        /// </summary>
+        public void Toogle()
+        {
+            if (IsRunning)
+            {
+                Stop();
+            }
+            else
+            {
+                Start();
+            }
+        }
+
+        /// <summary>
+        /// Define o intervalo entre as execuções.
+        /// </summary>
+        /// <param name="interval">Novo intervalo em milissegundos.</param>
+        public void SetInterval(int interval)
+        {
+            if (interval <= 0) throw new ArgumentException("Interval must be greater than zero.", nameof(interval));
+            _interval = interval;
+        }
+
+        /// <summary>
+        /// Verifica se o timer está em execução.
+        /// </summary>
+        public bool IsRunning => _cancellationTokenSource != null;
+
+        /// <summary>
+        /// Loop interno do timer.
+        /// </summary>
+        private async Task TimerLoopAsync(CancellationToken cancellationToken)
+        {
+            while (!cancellationToken.IsCancellationRequested)
+            {
+                try
+                {
+                    if (_uiControl != null)
+                    {
+                        // Se um controle de UI foi especificado, use-o para executar tarefas relacionadas à UI
+                        await FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThreadAsync(_uiControl, _taskToExecute);
+                    }
+                    else
+                    {
+                        // Caso contrário, execute a tarefa diretamente
+                        await _taskToExecute();
+                    }
+
+                    // Aguarda o intervalo antes da próxima execução
+                    await Task.Delay(_interval, cancellationToken);
+                }
+                catch (OperationCanceledException)
+                {
+                    // Cancelamento solicitado
+                    break;
+                }
+                catch (Exception ex)
+                {
+                    // Tratar erros inesperados
+                    Console.WriteLine($"Erro no timer: {ex.Message}");
+                }
+            }
+
+            Console.WriteLine("Timer encerrado.");
+        }
+
+        
+    }
+
+}

AgroBase/AgroBase/Models/GPSModel.cs

@@ -1,9 +1,4 @@
-using AgroBase.Services;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
+using System;
 using static AgroBase.Models.Enums;
 
 namespace AgroBase.Models

AgroBase/AgroBase/Models/GeneralJoystick.cs

@@ -53,9 +53,13 @@ namespace AgroBase
         //public static double Angulo { get; set; } = 20;
         //public static int Velocidade { get; set; } = 50;
 
-        public static Timer tmrJoystick = new Timer() { Interval = 100, Enabled = false };
+        public static AsyncTaskTimerModel tmrJoystick;
+
+        public static void IniciarRotinas()
+        {
+            tmrJoystick = new AsyncTaskTimerModel(tmrJoystick_Tick, 100);
+        }
 
-        
         public static void AtualizaDispositivo()
         {
             Func<bool> funcAtt = new Func<bool>(() =>
@@ -98,8 +102,7 @@ namespace AgroBase
             if (joystickGuid == Guid.Empty)
             {
                 JoystickConectado = null;
-                tmrJoystick.Enabled = false;
-                tmrJoystick.Tick -= TmrJoystick_Tick;
+                tmrJoystick.Stop();
 
                 return;
             }
@@ -123,8 +126,7 @@ namespace AgroBase
 
             if (JoystickConectado != null)
             {
-                tmrJoystick.Enabled = true;
-                tmrJoystick.Tick += TmrJoystick_Tick;
+                tmrJoystick.Start();
                 frmInstancial.frmPrincipal.cmbJoysticks.SelectedIndex = 0;
             }
 
@@ -168,7 +170,7 @@ namespace AgroBase
             return mappedValue;
         }
 
-        private static void TmrJoystick_Tick(object sendder, EventArgs e)
+        private static async Task tmrJoystick_Tick()
         {
             if (JoystickConectado == null)
             {
@@ -694,7 +696,7 @@ namespace AgroBase
                     var Sinaleiro = DispSen.Dados.Sinaleiros.FirstOrDefault(x => x.ID == ID);
                     if (Sinaleiro != null)
                     {
-                        Sinaleiro.Comportamento = Status;
+                        Sinaleiro.Comportamento = (SensorSinaleiroComportamentoModel)Status;
                         string ProtocoloSinaleiro = Sinaleiro.ProtocoloComando();
                         DispSen.AdicionarMensagemFila(DispSen.Dados.Modulo_ID, ProtocoloSinaleiro, true, false);
                     }
@@ -712,7 +714,7 @@ namespace AgroBase
                     var ServoFreio = DispSen.Dados.Servos.FirstOrDefault(x => x.ID == ID);
                     if (ServoFreio != null)
                     {
-                        ServoFreio._AnguloControle = VariaveisEquipamento.AnguloFreio[(AcaoFreio)Status];
+                        ServoFreio._AnguloControle = (int)Status;
                         string ProtocoloFreio = ServoFreio.ProtocoloComando();
                         DispSen.AdicionarMensagemFila(DispSen.Dados.Modulo_ID, ProtocoloFreio, true, false);
                     }

AgroBase/AgroBase/Models/KinectModel.cs

@@ -1,13 +1,7 @@
 using AgroBase.Services;
-using Assimp;
-using Emgu.CV;
 using System;
 using System.Collections.Generic;
-using System.Drawing;
 using System.Linq;
-using System.Security.Permissions;
-using System.Text;
-using System.Threading.Tasks;
 using static AgroBase.Models.Enums;
 
 namespace AgroBase.Models

AgroBase/AgroBase/Models/MapasModel.cs

@@ -4,6 +4,7 @@ using CefSharp.WinForms;
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 
@@ -514,6 +515,7 @@ namespace AgroBase.Models
         }
         private bool GerandoTrajetoria = false;
         private DateTime UltimaAtualizacaoTrajetoriaDinamica = DateTime.MinValue;
+        private AsyncTaskTimerModel tmrCarregamento;
 
 
         public void btnCarregar_Click(object sender, EventArgs e, string caminhoArquivo = "", bool monitoramento = false)
@@ -535,9 +537,8 @@ namespace AgroBase.Models
                 picLoading.Visible = true;
                 pnlMapa.Controls.Add(picLoading);
 
-                Timer tmr = new Timer() { Interval = 500 };
-                tmr.Tick += Tmr_Tick;
-                tmr.Start();
+                tmrCarregamento = new AsyncTaskTimerModel(tmrCarregamento_Tick, 500);
+                tmrCarregamento.Start();
             }
         }
 
@@ -554,16 +555,29 @@ namespace AgroBase.Models
                 pnlMapa.Controls.Add(picLoading);
             }
             mapaService.CarregarMapaGPS(MapasVariaveisModel.NomeArquivoMapaGPS);
-            Timer tmr = new Timer() { Interval = 500 };
-            tmr.Tick += Tmr_Tick;
-            tmr.Start();
+
+            tmrCarregamento = new AsyncTaskTimerModel(tmrCarregamento_Tick, 500, pnlMapa);
+            tmrCarregamento.Start();
         }
 
-        private void Tmr_Tick(object sender, EventArgs e)
+        private async Task tmrCarregamento_Tick()
         {
-            if (mapaService.pythonProcess.HasExited)
+            try
             {
-                ((Timer)sender).Stop();
+                lock (mapaService.pythonProcess)
+                {
+                    if (mapaService.pythonProcess == null)
+                    {
+                        return;
+                    }
+
+                    if (mapaService.pythonProcess != null && !mapaService.pythonProcess.HasExited)
+                    {
+                        return;
+                    }
+                }
+                
+                // Processo finalizado ou não associado
                 picLoading.Visible = false;
                 mapaService.Carregado = true;
 
@@ -579,6 +593,20 @@ namespace AgroBase.Models
                 }
 
                 IniciarProcessamento();
+
+                lock (mapaService.pythonProcess)
+                {
+                    mapaService.pythonProcess.Dispose();
+                    mapaService.pythonProcess = null;
+                }
+
+                tmrCarregamento.Stop();
+            }
+            catch (InvalidOperationException ex)
+            {
+                Console.WriteLine($"Erro ao verificar o estado do processo: {ex.Message}");
+                picLoading.Visible = false;
+                tmrCarregamento.Stop();
             }
         }
 

AgroBase/AgroBase/Models/MensagemFilaModel.cs

@@ -1,8 +1,4 @@
 using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using static AgroBase.Models.Enums;
 
 namespace AgroBase.Models

AgroBase/AgroBase/Models/ModbusModel.cs

@@ -1,9 +1,4 @@
-using OpenTK.Platform.Windows;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
+using System;
 using static AgroBase.Models.Enums;
 
 namespace AgroBase.Models

AgroBase/AgroBase/Models/Modules/DirecionalModel.cs

@@ -265,7 +265,7 @@ namespace AgroBase.Models.Modules
                         if (Variaveis.DispositivosConectados.Any(x => x.Dispositivo == T_Code.Dir))
                         {
                             //((frmDirPlot)(frmPrincipal.Dispositivos.First(x => x.Dispositivo == T_Code.Dir).frmPlot)).AtualizaGrafico();
-                            frmInstancial.frmAcompanhamento.AtualizaGrafico();
+                            //frmInstancial.frmAcompanhamento.tmrAtualizacao_Tick();
                         }
                         
                     }

AgroBase/AgroBase/Models/Modules/MovimentacaoModel.cs

@@ -43,7 +43,7 @@ namespace AgroBase.Models
         public double DistanciaPercorridaTotal { get; set; } = 0;
         public double DistanciaPercorridaParcial { get; set; } = 0;
         public double DistanciaPercorridaOperacao { get; set; } = 0;
-        public Timer tmrRegistrador { get; set; }
+        public AsyncTaskTimerModel tmrRegistrador { get; set; }
 
 
 
@@ -258,7 +258,7 @@ namespace AgroBase.Models
                         }
 
 
-                        frmInstancial.frmAcompanhamento.AtualizaGrafico();
+                        //frmInstancial.frmAcompanhamento.tmrAtualizacao_Tick();
                     }
                 }
                 catch (Exception ex)
@@ -296,16 +296,11 @@ namespace AgroBase.Models
 
         public void IniciarRegistrador()
         {
-            tmrRegistrador = new Timer()
-            {
-                Interval = 1000,
-                Enabled = false
-            };
-            tmrRegistrador.Tick += TmrRegistrador_Tick;
+            tmrRegistrador = new AsyncTaskTimerModel(tmrRegistrador_Tick, 1000);
             tmrRegistrador.Start();
         }
 
-        private void TmrRegistrador_Tick(object sender, EventArgs e)
+        private async Task tmrRegistrador_Tick()
         {
             if (UltimaDirecao != Direcao.Parado)
             {

AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs

@@ -132,7 +132,7 @@ namespace AgroBase.Models.Modules
             Dados.Modulos.ForEach(x =>
             {
                 x.MovMotor.Alarme = false;
-                x.MovMotor.Freio = false;
+                x.MovMotor.ConfigFreio.Leitura = false;
                 x.MovMotor.Ligado = false;
                 x.MovMotor.LogGrafico = new List<MvdMotorMOVSensorimanetoGrafico>();
                 x.MovMotor.TemperaturaDriver = 0;
@@ -215,7 +215,7 @@ namespace AgroBase.Models.Modules
                                     int.TryParse(Dados[8], out sentido);
                                     Modulo.MovMotor.Sentido = (Sentido)sentido;
                                     bool freio = Dados[9] == "1";
-                                    Modulo.MovMotor.Freio = freio;
+                                    Modulo.MovMotor.ConfigFreio.Leitura = freio;
                                     int codAlarme = 0;
                                     int.TryParse(Dados[10], out codAlarme);
                                     Modulo.MovMotor.CodigoAlarme = codAlarme;
@@ -275,7 +275,7 @@ namespace AgroBase.Models.Modules
                                     int.TryParse(Dados[8], out sentido);
                                     Modulo.MovMotor.Sentido = (Sentido)sentido;
                                     bool freio = Dados[9] == "1";
-                                    Modulo.MovMotor.Freio = freio;
+                                    Modulo.MovMotor.ConfigFreio.Leitura = freio;
                                     int codAlarme = 0;
                                     int.TryParse(Dados[10], out codAlarme);
                                     Modulo.MovMotor.CodigoAlarme = codAlarme;
@@ -343,8 +343,6 @@ namespace AgroBase.Models.Modules
             {
                 Modulo.MovMotor.LogGrafico.RemoveAt(0);
             }
-
-            frmInstancial.frmAcompanhamento.AtualizaGrafico();
         }
 
         public void DefineStatusConexao(string Mod_ID, bool conecatdo)
@@ -483,7 +481,8 @@ namespace AgroBase.Models.Modules
 
             }
         }
-    
+
+
     }
 
     public class ModuloMvdModel
@@ -659,7 +658,7 @@ namespace AgroBase.Models.Modules
         // SETs
         public string Endereco { get; set; }
         public bool Ligado { get; set; } = false;
-        public bool Freio { get; set; } = false;
+        //public bool Freio { get; set; } = false;
         public int CodigoAlarme { get; set; } = 0;
         public int RPM_SP { get; set; } = 0;
         public int RPM_SP_Controle { get; set; } = 0;
@@ -721,6 +720,8 @@ namespace AgroBase.Models.Modules
         public List<MvdMotorMOVSensorimanetoGrafico> LogGrafico { get; set; } = new List<MvdMotorMOVSensorimanetoGrafico>();
         public List<AlarmeModel> Alarmes { get; set; } = new List<AlarmeModel>();
 
+        public MvdServoFreioModel ConfigFreio { get; set; } = new MvdServoFreioModel();
+
 
         public static MvdMotorBLDC CarregarParametrosIniciais(string Mod_ID, string _Endereco)
         {
@@ -736,6 +737,12 @@ namespace AgroBase.Models.Modules
                     FuncoesPinout.PWM,
                     FuncoesPinout.BRK,
                 },
+                ConfigFreio = new MvdServoFreioModel()
+                {
+                    AnguloInicial = 10, 
+                    Incremental = Mod_ID.Contains("E"), 
+                    Leitura = false, 
+                },
                 ConfigSentidos = new Dictionary<TipoMovimentoDirecional, ConfiguracaoSentidoMotor>()
                 {
                     {
@@ -744,8 +751,8 @@ namespace AgroBase.Models.Modules
                         {
                             Direita = Sentido.Parado,
                             Esquerda = Sentido.Parado,
-                            Frente = Mod_ID.Contains("E") ? Sentido.Antihorario : Sentido.Horario,
-                            Tras = Mod_ID.Contains("E") ? Sentido.Horario : Sentido.Antihorario
+                            Frente = Mod_ID.Contains("E") ? Sentido.Horario : Sentido.Antihorario,
+                            Tras = Mod_ID.Contains("E") ? Sentido.Antihorario : Sentido.Horario
                         }
                     },
                     {
@@ -754,8 +761,8 @@ namespace AgroBase.Models.Modules
                         {
                             Direita = Sentido.Parado,
                             Esquerda = Sentido.Parado,
-                            Frente = Mod_ID.Contains("E") ? Sentido.Antihorario : Sentido.Horario,
-                            Tras = Mod_ID.Contains("E") ? Sentido.Horario : Sentido.Antihorario
+                            Frente = Mod_ID.Contains("E") ? Sentido.Horario : Sentido.Antihorario,
+                            Tras = Mod_ID.Contains("E") ? Sentido.Antihorario : Sentido.Horario
                         }
                     },
                     {
@@ -764,8 +771,8 @@ namespace AgroBase.Models.Modules
                         {
                             Direita = Sentido.Parado,
                             Esquerda = Sentido.Parado,
-                            Frente = Mod_ID.Contains("E") ? Sentido.Antihorario : Sentido.Horario,
-                            Tras = Mod_ID.Contains("E") ? Sentido.Horario : Sentido.Antihorario
+                            Frente = Mod_ID.Contains("E") ? Sentido.Horario : Sentido.Antihorario,
+                            Tras = Mod_ID.Contains("E") ? Sentido.Antihorario : Sentido.Horario
                         }
                     },
                     {
@@ -774,8 +781,8 @@ namespace AgroBase.Models.Modules
                         {
                             Direita = Sentido.Parado,
                             Esquerda = Sentido.Parado,
-                            Frente = Mod_ID.Contains("E") ? Sentido.Antihorario : Sentido.Horario,
-                            Tras = Mod_ID.Contains("E") ? Sentido.Horario : Sentido.Antihorario
+                            Frente = Mod_ID.Contains("E") ? Sentido.Horario : Sentido.Antihorario,
+                            Tras = Mod_ID.Contains("E") ? Sentido.Antihorario : Sentido.Horario
                         }
                     },
                     {
@@ -784,8 +791,8 @@ namespace AgroBase.Models.Modules
                         {
                             Direita = Sentido.Parado,
                             Esquerda = Sentido.Parado,
-                            Frente = Sentido.Antihorario,
-                            Tras = Sentido.Horario
+                            Frente = Sentido.Horario,
+                            Tras = Sentido.Antihorario
                         }
                     },
                     {
@@ -794,8 +801,8 @@ namespace AgroBase.Models.Modules
                         {
                             Direita = Sentido.Parado,
                             Esquerda = Sentido.Parado,
-                            Frente = Mod_ID.Contains("T") ? Sentido.Antihorario : Sentido.Horario,
-                            Tras = Mod_ID.Contains("T") ? Sentido.Horario : Sentido.Antihorario
+                            Frente = Mod_ID.Contains("T") ? Sentido.Horario : Sentido.Antihorario,
+                            Tras = Mod_ID.Contains("T") ? Sentido.Antihorario : Sentido.Horario
                         }
                     },
                     {
@@ -804,8 +811,8 @@ namespace AgroBase.Models.Modules
                         {
                             Direita = Sentido.Parado,
                             Esquerda = Sentido.Parado,
-                            Frente = Mod_ID.Contains("E") ? Sentido.Antihorario : Sentido.Horario,
-                            Tras = Mod_ID.Contains("E") ? Sentido.Horario : Sentido.Antihorario
+                            Frente = Mod_ID.Contains("E") ? Sentido.Horario : Sentido.Antihorario,
+                            Tras = Mod_ID.Contains("E") ? Sentido.Antihorario : Sentido.Horario
                         }
                     },
                 },
@@ -840,7 +847,8 @@ namespace AgroBase.Models.Modules
         {
             string ProtocoloMotor = "";
 
-            AcaoFreio AcaoDoFreio = AcaoFreio.SemAcao;
+            bool Freado = DirecaoAtual == Direcao.EmFreio;
+            (bool AtuarServo, int AnguloFreio) = ConfigFreio.AtualizarDadosFreio(Freado, 0, -1, 5);
 
             if (Comandar && ((!Alarme && CodigoAlarme == 0) || CmdAlarme))
             {
@@ -851,7 +859,7 @@ namespace AgroBase.Models.Modules
 
                 RPM_SP_Controle = Variaveis.OperacaoEmAndamento.Controle.RPM_Motor;
                 RPM_SP =
-                    DirecaoAtual == Direcao.Parado || CmdAlarme ? 0 :
+                    DirecaoAtual == Direcao.Parado || Freado || CmdAlarme ? 0 :
                     RPM_SP_Controle;
 
                 Ligado = RPM_SP > 0;
@@ -866,8 +874,6 @@ namespace AgroBase.Models.Modules
                         break;
                 }
 
-                Freio = DirecaoAtual == Direcao.EmFreio;
-
                 if (BLD_Inicializado)
                 {
                     byte Addr = Convert.ToByte(Endereco.Replace("0x", ""), 16);
@@ -898,19 +904,17 @@ namespace AgroBase.Models.Modules
                             TimeoutResposta = 500,
                         });
                     }
-                    if (Leitura == null || Leitura.Freado != Freio)
+                    if (Leitura == null || Leitura.Freado != ConfigFreio.Leitura)
                     {
                         BLD300RService.AdicionarComandoNaFila(new BLD300RService.BLDComandoModel()
                         {
                             Endereco = Addr,
                             Parametro = BLD300RService.Parametros.First(x => x.Chave == "Breaked"),
-                            Valor = Freio ? 1 : 0,
+                            Valor = Freado ? 1 : 0,
                             Get = false,
                             AguardaResposta = true,
                             TimeoutResposta = 500,
                         });
-
-                        AcaoDoFreio = Freio ? AcaoFreio.Ativar : AcaoFreio.Desativar;
                     }
                     if (Leitura == null || Leitura.Ativado != Ligado)
                     {
@@ -932,17 +936,17 @@ namespace AgroBase.Models.Modules
                         ID + SerialService.SplitParams +
                         ((int)Sentido_SP).ToString() + SerialService.SplitParams +
                         RPM_SP.ToString() + SerialService.SplitParams +
-                        (Freio ? "1" : "0");
+                        (Freado ? "1" : "0");
                 }
             }
 
-            if (AcaoDoFreio != AcaoFreio.SemAcao)
+            if (AtuarServo)
             {
                 string Mod_ID = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(x => x.MovMotor.Endereco == Endereco)?.Modulo_ID ?? "";
                 var ServoFreio = Variaveis.OperacaoEmAndamento.DispSen.Dados.Servos.FirstOrDefault(x => x.ID.Contains(Mod_ID) && x.Inicializado && x.Controlar);
                 if (ServoFreio != null)
                 {
-                    GeneralJoystick.EnviarComandoSensoriamento(S_Code.sFRO, ServoFreio.ID, AcaoDoFreio);
+                    GeneralJoystick.EnviarComandoSensoriamento(S_Code.sFRO, ServoFreio.ID, AnguloFreio);
                 }
             }
 
@@ -1389,6 +1393,113 @@ namespace AgroBase.Models.Modules
         public double Corrente { get; set; }
     }
 
+    public class MvdServoFreioModel
+    {
+        public bool Incremental { get; set; }
+        public int AnguloInicial { get; set; }
+        private int AnguloControle { get; set; } = -1;
+        private int AnguloControleMin
+        {
+            get
+            {
+                if (Incremental)
+                {
+                    return AnguloMin;
+                }
+                else
+                {
+                    return AnguloMax;
+                }
+            }
+        }
+        private int AnguloControleMax { get; set; } = 20;
+        public bool Leitura { get; set; }
+        private bool _controle { get; set; }
+        public bool Controle
+        {
+            get
+            {
+                return _controle;
+            }
+        }
+        private int RPM_SP { get; set; }
+        private int MargemRPM { get; set; } = 2; // Margem de tolerância no RPM
+        private int AnguloMin { get; set; } = 0; // Ângulo mínimo permitido pelo servo
+        private int AnguloMax { get; set; } = 180; // Ângulo máximo permitido pelo servo
+        private int FatorEscala { get; set; } = 10; // Fator de ajuste do controle proporcional
+
+        public (bool, int) AtualizarDadosFreio(bool status, int rpm_sp = 0, int anguloInicial = -1, int anguloSP = -1)
+        {
+            bool mudou = _controle != status;
+            _controle = status;
+            RPM_SP = rpm_sp;
+
+            if (!_controle)
+            {
+                AnguloControle = AnguloControleMin; // Solta o freio se não estiver no modo de controle
+                return (mudou, AnguloControle);
+            }
+
+            if (anguloInicial == -1)
+            {
+                anguloInicial = AnguloInicial;
+            }
+
+            if (AnguloControle == -1)
+            {
+                AnguloControle = AnguloControleMin;
+            }
+
+            if (AnguloControle == AnguloControleMin)
+            {
+                AnguloControle = anguloInicial;
+            }
+
+            int ajuste = anguloSP;
+            if (anguloSP == -1)
+            {
+                double Rpm_Atual = MovimentacaoModel.CalculaRPMVelocidade(Variaveis.OperacaoEmAndamento.Sensoriamento.VelocidadeMedia);
+
+                // Garante que os valores de RPM sejam válidos
+                Rpm_Atual = Math.Max(Rpm_Atual, 0);
+                RPM_SP = Math.Max(RPM_SP, 0);
+
+                // Verifica se o RPM atual está dentro da margem de tolerância
+                if (Math.Abs(Rpm_Atual - RPM_SP) <= MargemRPM)
+                {
+                    return (false, AnguloControle); // Se dentro da margem, não ajusta o ângulo
+                }
+
+                // Calcula o erro e ajusta proporcionalmente
+                int erroRPM = RPM_SP - (int)Rpm_Atual;
+                ajuste = erroRPM / FatorEscala;
+
+                // Se incremental, aplica um ajuste limitado
+                if (Incremental)
+                {
+                    ajuste = Math.Abs(ajuste); // Garante que o ajuste seja positivo
+                }
+                else
+                {
+                    ajuste = -Math.Abs(ajuste); // Garante que o ajuste seja negativo
+                }
+            }
+
+            // Atualiza o ângulo de controle, garantindo que fique dentro dos limites
+            int limiteMax = AnguloInicial + (Incremental ? AnguloControleMax : -AnguloControleMax);
+            if (Incremental)
+            {
+                AnguloControle = (int)FuncoesMatematicas.Clamp(AnguloControle + ajuste, AnguloMin, limiteMax);
+            }
+            else
+            {
+                AnguloControle = (int)FuncoesMatematicas.Clamp(AnguloControle - ajuste, limiteMax, AnguloMax);
+            }
+
+            return (true, AnguloControle);
+        }
+    }
+
 
 
 }

AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs

@@ -638,11 +638,6 @@ namespace AgroBase.Models.Modules
                                     vShunt,
                                 };
 
-                                if (Sensor.ID.Contains("AB"))
-                                {
-                                    frmInstancial.frmAcompanhamento.AtualizarSensores(Sensor.ID.Replace("AB", "Barramento ") + ": " + vBarramento.ToString("0.00") + " V " + corrente.ToString("0.00") + " mA");
-                                }
-
                                 AtualizaGrafico = true;
                                 break;
                             }
@@ -668,7 +663,7 @@ namespace AgroBase.Models.Modules
 
                                 if (Sensor.Descricao.ToLower().Contains("bateria"))
                                 {
-                                    frmInstancial.frmAcompanhamento.AtualizarSensores("Tensão atual: " + realVoltage.ToString("0.00") + "V - Mín: " + Sensor.ValorMinimo.ToString("0.00") + "V - Máx: " + Sensor.ValorMaximo.ToString("0.00") + "V");
+                                    //frmInstancial.frmAcompanhamento.AtualizarSensores("Tensão atual: " + realVoltage.ToString("0.00") + "V - Mín: " + Sensor.ValorMinimo.ToString("0.00") + "V - Máx: " + Sensor.ValorMaximo.ToString("0.00") + "V");
                                     //Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria = (realVoltage / Sensor.LimiteMaximo) * 100;
                                     if (Variaveis.OperacaoEmAndamento.Sensoriamento.PorcentagemBateria < 0)
                                     {
@@ -691,7 +686,7 @@ namespace AgroBase.Models.Modules
 
                                 if (Sensor.Descricao.ToLower().Contains("bateria"))
                                 {
-                                    frmInstancial.frmAcompanhamento.AtualizarSensores(Tc.ToString("0.00") + " ºC");
+                                    //frmInstancial.frmAcompanhamento.AtualizarSensores(Tc.ToString("0.00") + " ºC");
                                 }
 
                                 AtualizaGrafico = true;
@@ -1134,10 +1129,19 @@ namespace AgroBase.Models.Modules
                 EnderecoExpansor = Pinout.EnderecoExpansor,
                 Pinos = Pinout.Pinos.ToList(),
             };
+
+            bool incremental = true;
+            var freio = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(x => ID.Contains(x.Modulo_ID));
+            if (freio != null)
+            {
+                incremental = freio.MovMotor.ConfigFreio.Incremental;
+            }
+
             _pinout.Pinos = _pinout.Pinos.Where(x => x.ComponenteID == ID).ToList();
             string Protocolo = ((int)F_Code.Cfg).ToString() + SerialService.SplitMessage +
                 ID + SerialService.SplitParams +
                 (Conectar ? "1" : "0") + SerialService.SplitParams +
+                (incremental ? "1" : "0") + SerialService.SplitParams +
                 PinoutModel.PinoProtocolo(_pinout, Funcoes);
             return Protocolo;
         }

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -1888,7 +1888,7 @@ namespace AgroBase.Models
                         Sentido = Modulo.MovMotor.Sentido,
                         Velocidade = Modulo.MovMotor.VelocidadeInstantanea,
                         CodAlarme = Modulo.MovMotor.CodigoAlarme,
-                        EmFreio = Modulo.MovMotor.Freio,
+                        EmFreio = Modulo.MovMotor.ConfigFreio.Leitura,
                         Ativado = Modulo.MovMotor.Ligado,
                     };
                     SalvarLog(T_Code.Mov.ToString(), logMov, false);

AgroBase/AgroBase/Models/PZEMModel.cs

@@ -1,8 +1,4 @@
 using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 
 namespace AgroBase.Models
 {

AgroBase/AgroBase/Models/Variaveis.cs

@@ -13,6 +13,7 @@ using Microsoft.Win32;
 using System.Reflection;
 using CefSharp.WinForms;
 using System.IO;
+using System.Threading;
 
 namespace AgroBase.Models
 {
@@ -738,24 +739,34 @@ namespace AgroBase.Models
         }
 
 
-        public static T ExecutarMetodoComVerificacaoCrossThread<T>(Control controle, Func<T> acao)
+        public static async Task ExecutarMetodoComVerificacaoCrossThreadAsync(Control controle, Func<Task> acao)
         {
-            T res = default(T);
-            if (controle != null && controle.InvokeRequired)
+            if (controle.InvokeRequired)
             {
-                controle.Invoke((MethodInvoker)delegate
-                {
-                    res = acao();
-                });
+                await (Task)controle.Invoke(new Func<Task>(() => acao()));
             }
             else
             {
-                res = acao();
+                await acao();
             }
-
-            return res;
         }
 
+        public static T ExecutarMetodoComVerificacaoCrossThread<T>(Control controle, Func<T> acao)
+        {
+            if (controle == null)
+                throw new ArgumentNullException(nameof(controle));
+
+            if (controle.InvokeRequired)
+            {
+                return (T)controle.Invoke(new Func<T>(() => acao()));
+            }
+            else
+            {
+                return acao();
+            }
+        }
+
+
 
         public static string MontarStringPerformance(float? gpuLoad, float? cpuLoad, float? ramUsage, float? cpuTemp, float? gpuTemp)
         {
@@ -766,6 +777,26 @@ namespace AgroBase.Models
                    $"Temp GPU: {gpuTemp?.ToString("0.0") ?? "N/A"}°C";
         }
 
+
+
+        private static SemaphoreSlim semaphore = new SemaphoreSlim(1, 1);
+
+        public static async Task SafeExecuteAsync(Func<Task> action)
+        {
+            await semaphore.WaitAsync();
+            try
+            {
+                await action();
+            }
+            finally
+            {
+                semaphore.Release();
+            }
+        }
+
+
+        
+
     }
     
     public static class FuncoesMatematicas

AgroBase/AgroBase/Services/BLD300RService.cs

@@ -109,7 +109,7 @@ namespace AgroBase.Services
                 Chave = "Enabled",
                 Descricao = "Verifica/Define o status do motor",
                 Escala = 1,
-                LeituraLoop = false,
+                LeituraLoop = true,
                 LeituraGeral = true,
                 N_Registros = 0x0001,
                 Registro = 0x0066
@@ -119,7 +119,7 @@ namespace AgroBase.Services
                 Chave = "Breaked",
                 Descricao = "Verifica/Define o status do freio do motor",
                 Escala = 1,
-                LeituraLoop = false,
+                LeituraLoop = true,
                 LeituraGeral = true,
                 N_Registros = 0x0001,
                 Registro = 0x006A
@@ -129,7 +129,7 @@ namespace AgroBase.Services
                 Chave = "Direction",
                 Descricao = "Verifica/Define o sentido de giro do motor",
                 Escala = 1,
-                LeituraLoop = false,
+                LeituraLoop = true,
                 LeituraGeral = true,
                 N_Registros = 0x0001,
                 Registro = 0x006D
@@ -182,24 +182,18 @@ namespace AgroBase.Services
 
         private static readonly object FilaLock = new object();
 
-        private static System.Timers.Timer tmrLoopComandos = new System.Timers.Timer() { Interval = 100, Enabled = false };
-        private static System.Timers.Timer tmrReceberDados = new System.Timers.Timer() { Interval = TaxaAmostragem, Enabled = false };
+        private static AsyncTaskTimerModel tmrLoopComandos;
+        private static AsyncTaskTimerModel tmrReceberDados;
+
         private static bool EnvioLiberado { get; set; } = true;
 
         public static void IniciarRotinas()
         {
-            //Task.Run(() => LoopEnvioComandos()); // Inicia o loop de comandos em segundo plano
-            //Task.Run(() => ReceberDados()); // Inicia a recepção de dados em segundo plano
-            if (!tmrReceberDados.Enabled)
-            {
-                tmrReceberDados.Elapsed += TmrReceberDados_Elapsed; ;
-                tmrReceberDados.Start();
-            }
-            if (!tmrLoopComandos.Enabled)
-            {
-                tmrLoopComandos.Elapsed += TmrLoopComandos_Elapsed;
-                tmrLoopComandos.Start();
-            }
+            tmrLoopComandos = new AsyncTaskTimerModel(tmrLoopComandos_Tick, 100);
+            tmrLoopComandos.Start();
+
+            tmrReceberDados = new AsyncTaskTimerModel(tmrReceberDados_Tick, TaxaAmostragem);
+            tmrReceberDados.Start();
         }
 
         // Inicializa o serviço Ethernet com IP e porta específicos
@@ -319,7 +313,7 @@ namespace AgroBase.Services
                     // Recebe a resposta via Ethernet, independentemente de precisar processá-la ou não
                     byte[] resposta = await _ethernetService.ReceiveDataAsync(7, Comando.TimeoutResposta); // Timeout ajustável, aqui 1 segundo
 
-                    SerialService.MostrarComandoResposta(T_Code.Bld, comando, resposta);
+                    //SerialService.MostrarComandoResposta(T_Code.Bld, comando, resposta);
 
                     if (Comando.AguardaResposta)
                     {
@@ -377,6 +371,67 @@ namespace AgroBase.Services
             }
         }
 
+        private static void ConfigurarDriver(byte Addr)
+        {
+            var Modulo = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(x => Convert.ToByte(x.MovMotor.Endereco.Replace("0x", ""), 16) == Addr);
+            AdicionarComandoNaFila(new BLDComandoModel()
+            {
+                Endereco = Addr,
+                AguardaResposta = true,
+                TimeoutResposta = 200,
+                Get = false,
+                Parametro = Parametros.First(x => x.Chave == "ControleRS485"),
+                Valor = 1
+            });
+            AdicionarComandoNaFila(new BLDComandoModel()
+            {
+                Endereco = Addr,
+                AguardaResposta = true,
+                TimeoutResposta = 200,
+                Get = false,
+                Parametro = Parametros.First(x => x.Chave == "AlarmeCode"),
+                Valor = 0
+            });
+            AdicionarComandoNaFila(new BLDComandoModel()
+            {
+                Endereco = Addr,
+                AguardaResposta = true,
+                TimeoutResposta = 200,
+                Get = false,
+                Parametro = Parametros.First(x => x.Chave == "NumPolos"),
+                Valor = Modulo.MovMotor.NumeroPolos
+            });
+            AdicionarComandoNaFila(new BLDComandoModel()
+            {
+                Endereco = Addr,
+                AguardaResposta = true,
+                TimeoutResposta = 200,
+                Get = false,
+                Parametro = Parametros.First(x => x.Chave == "RPM_Max"),
+                Valor = (int)Variaveis.OperacaoEmAndamento.DispMvd.Dados.RPM_Max_MotorBLDC
+            });
+            AdicionarComandoNaFila(new BLDComandoModel()
+            {
+                Endereco = Addr,
+                AguardaResposta = true,
+                TimeoutResposta = 200,
+                Get = false,
+                Parametro = Parametros.First(x => x.Chave == "Rampa"),
+                Valor = Modulo.MovMotor.Rampa
+            });
+            AdicionarComandoNaFila(new BLDComandoModel()
+            {
+                Endereco = Addr,
+                AguardaResposta = true,
+                TimeoutResposta = 200,
+                Get = false,
+                Parametro = Parametros.First(x => x.Chave == "Enabled"),
+                Valor = 0
+            });
+            DadosLeitura.Where(x => x.Endereco == Addr).First().Configurado = true;
+        }
+
+
         private static bool DecifrarResposta(byte[] resposta, ModbusParametrosModel Parametro, byte Addr)
         {
             try
@@ -480,23 +535,8 @@ namespace AgroBase.Services
             }
         }
 
-        
-        private static async void TmrLoopComandos_Elapsed(object sender, EventArgs e)
+        private static async Task tmrReceberDados_Tick()
         {
-            ((System.Timers.Timer)sender).Stop();
-
-            if (EnvioLiberado)
-            {
-                await LoopEnvioComandos();
-            }
-
-            ((System.Timers.Timer)sender).Start();
-        }
-
-        private static void TmrReceberDados_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
-        {
-            ((System.Timers.Timer)sender).Stop();
-
             if (!Iniciado && SerialService.DispositivosMapeados.Any(x => x.Dispositivo == T_Code.Bld))
             {
                 foreach (var Leitura in DadosLeitura.Where(x => x.UltimoComandoRecebido.AddSeconds(10) < DateTime.Now))
@@ -512,7 +552,7 @@ namespace AgroBase.Services
 
                 TaxaAmostragem = 3000;
 
-                ((System.Timers.Timer)sender).Start();
+                tmrReceberDados.SetInterval(TaxaAmostragem);
                 return;
             }
 
@@ -540,7 +580,7 @@ namespace AgroBase.Services
                     Modulo.MovMotor.Corrente_Max = Math.Round(Leitura.CorrenteMax, 2);
                     Modulo.MovMotor.Tensao = Math.Round(Leitura.Tensao, 2);
                     Modulo.MovMotor.Ligado = Leitura.Ativado;
-                    Modulo.MovMotor.Freio = Leitura.Freado;
+                    Modulo.MovMotor.ConfigFreio.Leitura = Leitura.Freado;
                     Modulo.MovMotor.Sentido = Leitura.Direcao;
                     Modulo.MovMotor.CodigoAlarme = Leitura.CodigoAlarme;
 
@@ -565,84 +605,16 @@ namespace AgroBase.Services
                     Modulo.MovMotor.ProtocoloComando(Controle.UltimaDirecao);
                 }
             }
-
-            ((System.Timers.Timer)sender).Start();
         }
 
 
-        private static void ConfigurarDriver(byte Addr)
+        private static async Task tmrLoopComandos_Tick()
         {
-            var Modulo = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(x => Convert.ToByte(x.MovMotor.Endereco.Replace("0x", ""), 16) == Addr);
-            AdicionarComandoNaFila(new BLDComandoModel()
+            if (!EnvioLiberado)
             {
-                Endereco = Addr, 
-                AguardaResposta = true,
-                TimeoutResposta = 200, 
-                Get = false, 
-                Parametro = Parametros.First(x => x.Chave == "ControleRS485"), 
-                Valor = 1
-            });
-            AdicionarComandoNaFila(new BLDComandoModel()
-            {
-                Endereco = Addr,
-                AguardaResposta = true,
-                TimeoutResposta = 200,
-                Get = false,
-                Parametro = Parametros.First(x => x.Chave == "AlarmeCode"),
-                Valor = 0
-            });
-            AdicionarComandoNaFila(new BLDComandoModel()
-            {
-                Endereco = Addr,
-                AguardaResposta = true,
-                TimeoutResposta = 200,
-                Get = false,
-                Parametro = Parametros.First(x => x.Chave == "NumPolos"),
-                Valor = Modulo.MovMotor.NumeroPolos
-            });
-            AdicionarComandoNaFila(new BLDComandoModel()
-            {
-                Endereco = Addr,
-                AguardaResposta = true,
-                TimeoutResposta = 200,
-                Get = false,
-                Parametro = Parametros.First(x => x.Chave == "RPM_Max"),
-                Valor = (int)Variaveis.OperacaoEmAndamento.DispMvd.Dados.RPM_Max_MotorBLDC
-            });
-            AdicionarComandoNaFila(new BLDComandoModel()
-            {
-                Endereco = Addr,
-                AguardaResposta = true,
-                TimeoutResposta = 200,
-                Get = false,
-                Parametro = Parametros.First(x => x.Chave == "Rampa"),
-                Valor = Modulo.MovMotor.Rampa
-            });
-            AdicionarComandoNaFila(new BLDComandoModel()
-            {
-                Endereco = Addr,
-                AguardaResposta = true,
-                TimeoutResposta = 200,
-                Get = false,
-                Parametro = Parametros.First(x => x.Chave == "Enabled"),
-                Valor = 0
-            });
-            DadosLeitura.Where(x => x.Endereco == Addr).First().Configurado = true;
-        }
-
-        public static void AdicionarComandoNaFila(BLDComandoModel Comando)
-        {
-            lock (FilaLock)
-            {
-                if (!FilaComandos.Any(x => x.Endereco == Comando.Endereco && x.Parametro.Registro == Comando.Parametro.Registro && x.Get == Comando.Get && !x.Enviado))
-                {
-                    FilaComandos.Add(Comando);
-                }
+                return;
             }
-        }
 
-        private static async Task LoopEnvioComandos()
-        {
             EnvioLiberado = false;
 
             // Verifica se a conexão foi perdida e tenta reconectar
@@ -682,6 +654,17 @@ namespace AgroBase.Services
             }
         }
 
+        public static void AdicionarComandoNaFila(BLDComandoModel Comando)
+        {
+            lock (FilaLock)
+            {
+                if (!FilaComandos.Any(x => x.Endereco == Comando.Endereco && x.Parametro.Registro == Comando.Parametro.Registro && x.Get == Comando.Get && !x.Enviado))
+                {
+                    FilaComandos.Add(Comando);
+                }
+            }
+        }
+
         private static async Task ProcessarFilaPrioridade()
         {
             var FilaPrioridade = new List<BLDComandoModel>();

AgroBase/AgroBase/Services/DispositivosService.cs

@@ -48,7 +48,7 @@ namespace AgroBase.Comum
         public Form frmPin { get; set; }
 
 
-        public Timer tmrLimpeza = new Timer() { Interval = 10000, Enabled = false };
+        public AsyncTaskTimerModel tmrLimpeza;
         public int Ticks { get; set; } = 0;
 
         public int TempoConectado { get; set; } = 0;
@@ -212,7 +212,7 @@ namespace AgroBase.Comum
                 throw new Exception("A porta " + _Porta.PortName + " não está aberta");
             }
 
-            AtualizarConsole("> " + DateTime.Now.ToString("HH:mm:ss:fff") + " - " + Dados);
+            AtualizarConsole("> " + DateTime.Now.ToString("HH:mm:ss:fff") + " - " + Dados).ConfigureAwait(false);
 
             try
             {
@@ -473,13 +473,7 @@ namespace AgroBase.Comum
                 Size = new System.Drawing.Size() { Height = 141, Width = 300 },
                 ReadOnly = true
             };
-            tmrLimpeza = new Timer()
-            {
-                Interval = 1000,
-                Enabled = false
-            };
-            tmrLimpeza.Tick -= TmrLimpeza_Tick;
-            tmrLimpeza.Tick += TmrLimpeza_Tick;
+            tmrLimpeza = new AsyncTaskTimerModel(tmrLimpeza_Tick, 1000);
 
             Button btnConfig = new Button()
             {
@@ -559,7 +553,7 @@ namespace AgroBase.Comum
             }
         }
 
-        private void TmrLimpeza_Tick(object sender, EventArgs e)
+        private async Task tmrLimpeza_Tick()
         {
             if (Ticks % 5 == 0)
             {
@@ -822,7 +816,7 @@ namespace AgroBase.Comum
                 });
             }
 
-            AtualizarConsole("< " + DateTime.Now.ToString("HH:mm:ss:fff") + " - " + Recebido);
+            AtualizarConsole("< " + DateTime.Now.ToString("HH:mm:ss:fff") + " - " + Recebido).ConfigureAwait(false);
 
             if (mensagem != "" && mensagem[0].ToString() == SerialService.BeginSensor && !EqualityComparer<T>.Default.Equals(Dados, default(T)))
             {
@@ -903,7 +897,7 @@ namespace AgroBase.Comum
                     txtEnvios.Text = "";
                     btnConectar.Text = "Conectar";
 
-                    tmrLimpeza.Enabled = false;
+                    tmrLimpeza.Stop();
 
                     SalvarLog();
                 }
@@ -928,7 +922,7 @@ namespace AgroBase.Comum
                 txtEnvios.ReadOnly = false;
                 txtEnvios.Text = "";
                 btnConectar.Text = "Desconectar";
-                tmrLimpeza.Enabled = true;
+                tmrLimpeza.Start();
             }
         }
 
@@ -938,21 +932,21 @@ namespace AgroBase.Comum
         }
 
         delegate void AtualizarConsoleDelegate(string Texto);
-        
-        private void AtualizarConsole(string Texto)
+
+        private async Task AtualizarConsole(string texto)
         {
-            Texto += Environment.NewLine;
+            texto += Environment.NewLine;
+
             if (txaConsole.InvokeRequired)
             {
-                txaConsole.Invoke(new AtualizarConsoleDelegate(AtualizarConsole), Texto);
+                await Task.Run(() => txaConsole.Invoke(new Action(() => txaConsole.Text += texto)));
             }
             else
             {
-                txaConsole.Text += Texto;
+                txaConsole.Text += texto;
             }
         }
 
-
         private T CarregarParametros(dynamic empty)
         {
             //string nomeArquivo = Variaveis.CaminhoParametros + "parameters" + Enum.GetName(typeof(T_Code), Dispositivo) + ".par";

AgroBase/AgroBase/Services/EthernetService.cs

@@ -176,7 +176,7 @@ public class EthernetService
                 {
                     await _networkStream.ReadAsync(tempBuffer, 0, tempBuffer.Length);
                 }
-                Console.WriteLine("Buffer limpo.");
+                //Console.WriteLine("Buffer limpo.");
             }
         }
         catch (Exception ex)

AgroBase/AgroBase/Services/FilaService.cs

@@ -3,7 +3,6 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Threading.Tasks;
-using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 
 namespace AgroBase.Services
@@ -13,6 +12,7 @@ namespace AgroBase.Services
         private static List<MensagemFilaModel> MensagensFila;
         private static readonly object _lock = new object();
         private static int _counter = 1;
+        private static AsyncTaskTimerModel tmrFila;
 
         public static bool Liberado
         {
@@ -28,7 +28,8 @@ namespace AgroBase.Services
         public static void Inicializar()
         {
             MensagensFila = new List<MensagemFilaModel>();
-            EnviarMensagensLoop().ConfigureAwait(false);
+            tmrFila = new AsyncTaskTimerModel(tmrFila_Tick, 10);
+            tmrFila.Start();
         }
 
         public static void AdicionarMensagemFila(string Modulo_ID, T_Code Dispositivo, string Mensagem, bool _prioridade, bool _aguardaCallback)
@@ -139,50 +140,45 @@ namespace AgroBase.Services
             }
         }
 
-        public static async Task EnviarMensagensLoop()
+        public static async Task tmrFila_Tick()
         {
-            while (true)
-            {
-                RemoverDuplicatas();
+            RemoverDuplicatas();
 
-                lock (_lock)
+            lock (_lock)
+            {
+                var Filas = MensagensFila.Where(x => !x.Enviado).GroupBy(x => x.Dispositivo);
+                foreach (var Fila in Filas)
                 {
-                    var Filas = MensagensFila.Where(x => !x.Enviado).GroupBy(x => x.Dispositivo);
-                    foreach (var Fila in Filas)
+                    var Dispositivo = Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == Fila.Key);
+                    if (!Dispositivo._Porta.IsOpen)
                     {
-                        var Dispositivo = Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == Fila.Key);
-                        if (!Dispositivo._Porta.IsOpen)
+                        lock (_lock)
                         {
-                            lock (_lock)
-                            {
-                                MensagensFila.RemoveAll(x => x.Dispositivo == Fila.Key);
-                            }
-                            continue;
+                            MensagensFila.RemoveAll(x => x.Dispositivo == Fila.Key);
+                        }
+                        continue;
+                    }
+
+                    if (FilaLiberada(Fila.Key))
+                    {
+                        MensagemFilaModel Mensagem = null;
+                        lock (_lock)
+                        {
+                            Mensagem = MensagensFila.Where(x => x.Dispositivo == Fila.Key).OrderByDescending(x => x.Prioridade).ThenBy(x => x.AdicionadoEm).FirstOrDefault(x => !x.Enviado);
                         }
 
-                        if (FilaLiberada(Fila.Key))
+                        if (Mensagem != null)
                         {
-                            MensagemFilaModel Mensagem = null;
-                            lock (_lock)
+                            if (RealizarEnvio(Mensagem))
                             {
-                                Mensagem = MensagensFila.Where(x => x.Dispositivo == Fila.Key).OrderByDescending(x => x.Prioridade).ThenBy(x => x.AdicionadoEm).FirstOrDefault(x => !x.Enviado);
-                            }
-
-                            if (Mensagem != null)
-                            {
-                                if (RealizarEnvio(Mensagem))
-                                {
-                                    MarcarMensagemEnviada(Mensagem.Id);
-                                }
+                                MarcarMensagemEnviada(Mensagem.Id);
                             }
                         }
                     }
                 }
-
-                VerificarMensagensSemResposta();
-
-                await Task.Delay(10);
             }
+
+            VerificarMensagensSemResposta();
         }
 
         private static void RemoverDuplicatas()

AgroBase/AgroBase/Services/GPSService.cs

@@ -593,8 +593,6 @@ namespace AgroBase.Services
 
             DefinirAnguloCarroGPS();
 
-            frmInstancial.frmAcompanhamento.AtualizarOrientacao();
-
             int ID = Convert.ToInt32(Variaveis.ConexaoLoRa.parametros.address);
             double angulo = ((Variaveis.OperacaoEmAndamento.Sensoriamento?.AnguloCarro ?? 0) - 180);
             EnviarCoordenadasParaMapa(UltimaLeitura.Latitude, UltimaLeitura.Longitude, angulo, Variaveis.OperacaoEmAndamento.Iniciado, ID);

AgroBase/AgroBase/Services/KinectService.cs

@@ -49,7 +49,7 @@ namespace AgroBase.Services
         public static Bitmap bitmapRGB;
         public static Bitmap bitmapHeat;
         public static Bitmap bitmapMap;
-        private static System.Timers.Timer tmrLeitura;
+        private static AsyncTaskTimerModel tmrLeitura;
         private static DataGridView gridDados;
         public static PictureBox picRGB;
         public static PictureBox picProfundidade;
@@ -72,12 +72,8 @@ namespace AgroBase.Services
 
         public static void InicializarRotinas()
         {
-            if (tmrLeitura == null || !tmrLeitura.Enabled)
-            {
-                tmrLeitura = new System.Timers.Timer() { Interval = 200 };
-                tmrLeitura.Elapsed += TmrLeitura_Elapsed;
-                tmrLeitura.Start();
-            }
+            tmrLeitura = new AsyncTaskTimerModel(tmrLeitura_Tick, 200);
+            tmrLeitura.Start();
         }
 
         public static bool InicializarKinect(DataGridView dg = null, PictureBox pcRgb = null, PictureBox pcPf = null, TrackBar tkAng = null)
@@ -307,19 +303,15 @@ namespace AgroBase.Services
             }
         }
 
-        private static void TmrLeitura_Elapsed(object sender, EventArgs e)
+        private static async Task tmrLeitura_Tick()
         {
-            ((System.Timers.Timer)sender).Stop();
+            tmrLeitura.SetInterval(Iniciado ? 200 : 1000);
 
             if (!Iniciado)
             {
-                ((System.Timers.Timer)sender).Interval = 1000;
-                ((System.Timers.Timer)sender).Start();
                 return;
             }
 
-            ((System.Timers.Timer)sender).Interval = 200;
-
             Leitura.Obstaculos = IdentificarObstaculos();
             Leitura.AtualizarUltimoStatusDeteccao();
 
@@ -342,8 +334,6 @@ namespace AgroBase.Services
             {
                 GeneralJoystick.EnviaComandoMotor(Keys.Escape, T_Code.Mov);
             }
-
-            ((System.Timers.Timer)sender).Start();
         }
 
         private static void KinectSensor_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)

AgroBase/AgroBase/Services/LoRaService.cs

@@ -123,8 +123,9 @@ namespace AgroBase.Services
         public static readonly object _dadosOperacaoLock = new object();
         public static List<LoRaProtocoloTransmissaoModel> LeituraDadosOperacao = new List<LoRaProtocoloTransmissaoModel>();
 
-
+        private static AsyncTaskTimerModel tmrEnvio;
         private static bool RotinaEnvioIniciada = false;
+        private static AsyncTaskTimerModel tmrPing;
         private static bool RotinaPingsIniciada = false;
 
 
@@ -200,11 +201,15 @@ namespace AgroBase.Services
 
                 if (!RotinaEnvioIniciada)
                 {
-                    LoopEnvioBuffer().ConfigureAwait(false);
+                    RotinaEnvioIniciada = true;
+                    tmrEnvio = new AsyncTaskTimerModel(tmrEnvio_Tick, 500);
+                    tmrEnvio.Start();
                 }
                 if (!RotinaPingsIniciada && !Variaveis.IsAgroMonitor)
                 {
-                    EnviarPingComunicacao().ConfigureAwait(false);
+                    RotinaPingsIniciada = true;
+                    tmrPing = new AsyncTaskTimerModel(tmrPing_Tick, VariaveisEquipamento.TempoEntrePingsConexao);
+                    tmrEnvio.Start();
                 }
             }
         }
@@ -679,27 +684,21 @@ namespace AgroBase.Services
         }
 
 
-        private static async Task LoopEnvioBuffer()
+        private static async Task tmrEnvio_Tick()
         {
-            RotinaEnvioIniciada = true;
-            while (true)
+            var mensagens = bufferEnvio.ToList();
+            foreach (var buffer in mensagens)
             {
-                var mensagens = bufferEnvio.ToList();
-                foreach (var buffer in mensagens)
-                {
-                    EnviarComando(_PortaLoRa, buffer);
-                    await Task.Delay(1500);
-                }
-                mensagens.ForEach(x => bufferEnvio.Remove(x));
+                EnviarComando(_PortaLoRa, buffer);
+                await Task.Delay(1500);
+            }
+            mensagens.ForEach(x => bufferEnvio.Remove(x));
 
 
-                var mensagensAntigas = bufferRecebido.Where(x => x.Key.AddSeconds(10) <= DateTime.Now).ToList();
-                foreach (var item in mensagensAntigas)
-                {
-                    bufferRecebido.Remove(item.Key);
-                }
-
-                await Task.Delay(500);
+            var mensagensAntigas = bufferRecebido.Where(x => x.Key.AddSeconds(10) <= DateTime.Now).ToList();
+            foreach (var item in mensagensAntigas)
+            {
+                bufferRecebido.Remove(item.Key);
             }
         }
 
@@ -745,19 +744,12 @@ namespace AgroBase.Services
         }
 
 
-        public static async Task EnviarPingComunicacao()
+        public static async Task tmrPing_Tick()
         {
-            RotinaPingsIniciada = true;
-
-            while (true)
+            if (!Variaveis.OperacaoEmAndamento.Iniciado)
             {
-                await Task.Delay(VariaveisEquipamento.TempoEntrePingsConexao);
-
-                if (!Variaveis.OperacaoEmAndamento.Iniciado)
-                {
-                    Console.WriteLine("Enviando ping de comunicação para a base...");
-                    EnviarDadosParaBase();
-                }
+                Console.WriteLine("Enviando ping de comunicação para a base...");
+                EnviarDadosParaBase();
             }
         }
 

AgroBase/AgroBase/Services/MKS057DService.cs

@@ -21,8 +21,8 @@ namespace AgroBase.Services
             }
         }
         public static int TaxaAmostragem { get; set; } = 1000;
-        private static System.Timers.Timer tmrLoopComandos = new System.Timers.Timer() { Interval = 100, Enabled = false };
-        private static System.Timers.Timer tmrReceberDados = new System.Timers.Timer() { Interval = TaxaAmostragem, Enabled = false };
+        private static AsyncTaskTimerModel tmrLoopComandos;
+        private static AsyncTaskTimerModel tmrReceberDados;
         private static List<MKS057ComandoModel> FilaComandos = new List<MKS057ComandoModel>();
         private static readonly object FilaLock = new object();
         private static bool EnvioLiberado { get; set; } = true;
@@ -42,18 +42,8 @@ namespace AgroBase.Services
 
         public static void IniciarRotinas()
         {
-            //Task.Run(() => LoopEnvioComandos()); // Inicia o loop de comandos em segundo plano
-            //Task.Run(() => ReceberDados()); // Inicia a recepção de dados em segundo plano
-            if (!tmrReceberDados.Enabled)
-            {
-                tmrReceberDados.Elapsed += TmrReceberDados_Elapsed;
-                tmrReceberDados.Start();
-            }
-            if (!tmrLoopComandos.Enabled)
-            {
-                tmrLoopComandos.Elapsed += TmrLoopComandos_Elapsed;
-                tmrLoopComandos.Start();
-            }
+            tmrLoopComandos = new AsyncTaskTimerModel(tmrLoopComandos_Tick, 100);
+            tmrReceberDados = new AsyncTaskTimerModel(tmrReceberDados_Tick, TaxaAmostragem);
         }
 
         // Inicializa o serviço Ethernet com IP e porta específicos
@@ -183,13 +173,16 @@ namespace AgroBase.Services
                 }
             }
         }
-
         
-
-        private static void TmrReceberDados_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
+        private static bool EnderecoValido(byte addr)
         {
-            ((System.Timers.Timer)sender).Stop();
+            return Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Any(x => Convert.ToByte(x.DirMotor.Endereco.Replace("0x", ""), 16) == addr);
+        }
 
+
+
+        private static async Task tmrReceberDados_Tick()
+        {
             if (!Iniciado && SerialService.DispositivosMapeados.Any(x => x.Dispositivo == T_Code.Mks))
             {
                 foreach (var Leitura in DadosLeitura.Where(x => x.UltimoComandoRecebido.AddSeconds(10) < DateTime.Now))
@@ -198,8 +191,6 @@ namespace AgroBase.Services
                 }
 
                 TaxaAmostragem = 3000;
-
-                ((System.Timers.Timer)sender).Start();
                 return;
             }
 
@@ -217,27 +208,10 @@ namespace AgroBase.Services
                     AdicionarComandoNaFila(MontarComandoRequisicaoPulsos(Convert.ToByte(Modulo.DirMotor.Endereco, 16)));
                 }
             }
-
-            ((System.Timers.Timer)sender).Start();
         }
 
-        private static async void TmrLoopComandos_Elapsed(object sender, EventArgs e)
-        {
-            ((System.Timers.Timer)sender).Stop();
-
-            if (EnvioLiberado)
-            {
-                await LoopEnvioComandos();
-            }
-
-            ((System.Timers.Timer)sender).Start();
-        }
-
-        private static bool EnderecoValido(byte addr)
-        {
-            return Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Any(x => Convert.ToByte(x.DirMotor.Endereco.Replace("0x", ""), 16) == addr);
-        }
 
+        
         public static void AdicionarComandoNaFila(MKS057ComandoModel Comando)
         {
             if (!EnderecoValido(Comando.Endereco))
@@ -254,8 +228,13 @@ namespace AgroBase.Services
             }
         }
 
-        private static async Task LoopEnvioComandos()
+        private static async Task tmrLoopComandos_Tick()
         {
+            if (!EnvioLiberado)
+            {
+                return;
+            }
+
             EnvioLiberado = false;
 
             // Verifica se a conexão foi perdida e tenta reconectar

AgroBase/AgroBase/Services/ModbusService.cs

@@ -43,22 +43,16 @@ namespace AgroBase.Services
 
         public static List<ModbusComandoModel> FilaComandos = new List<ModbusComandoModel>();
         private static readonly object FilaLock = new object();
-        private static System.Timers.Timer tmrLoopComandos = new System.Timers.Timer() { Interval = 100, Enabled = false };
-        private static System.Timers.Timer tmrReceberDados = new System.Timers.Timer() { Interval = 1000, Enabled = false };
+        private static AsyncTaskTimerModel tmrLoopComandos;
+        private static AsyncTaskTimerModel tmrReceberDados;
 
 
         public static void IniciarRotinas()
         {
-            if (!tmrReceberDados.Enabled)
-            {
-                tmrReceberDados.Elapsed += TmrReceberDados_Elapsed;
-                tmrReceberDados.Start();
-            }
-            if (!tmrLoopComandos.Enabled)
-            {
-                tmrLoopComandos.Elapsed += TmrLoopComandos_Elapsed;
-                tmrLoopComandos.Start();
-            }
+            tmrLoopComandos = new AsyncTaskTimerModel(tmrLoopComandos_Tick, 100);
+            tmrLoopComandos.Start();
+            tmrReceberDados = new AsyncTaskTimerModel(tmrReceberDados_Tick, TaxaAmostragem);
+            tmrReceberDados.Start();
         }
 
         public static void DefinirPortaCOM(SerialPort Porta)
@@ -99,10 +93,8 @@ namespace AgroBase.Services
             }
         }
 
-        private static void TmrReceberDados_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
+        private static async Task tmrReceberDados_Tick()
         {
-            ((System.Timers.Timer)sender).Stop();
-
             if (Iniciado)
             {
                 if (PZEMService.Iniciado && !PZEMService.ModoLeitura)
@@ -143,14 +135,11 @@ namespace AgroBase.Services
                 }
             }
 
-            ((System.Timers.Timer)sender).Interval = TaxaAmostragem;
-            ((System.Timers.Timer)sender).Start();
+            tmrReceberDados.SetInterval(TaxaAmostragem);
         }
 
-        private static async void TmrLoopComandos_Elapsed(object sender, EventArgs e)
+        private static async Task tmrLoopComandos_Tick()
         {
-            ((System.Timers.Timer)sender).Stop();
-
             if (EnvioLiberado && !Verificando && !frmInstancial.Fechando)
             {
                 EnvioLiberado = false;
@@ -178,8 +167,6 @@ namespace AgroBase.Services
                     EnvioLiberado = true;
                 }
             }
-
-            ((System.Timers.Timer)sender).Start();
         }
 
 
@@ -261,34 +248,16 @@ namespace AgroBase.Services
                 case T_Code.Pzm:
                     {
                         sucesso = PZEMService.ProcessarResposta(Comando.Resposta);
-                        if (frmInstancial.DebugMode)
-                        {
-                            frmInstancial.frmAcompanhamento.AtualizarSensores("Ultima Leitura PZM: " + PZEMService.UltimaLeitura.DataHora.ToString("HH:mm:ss"));
-                            frmInstancial.frmAcompanhamento.AtualizarSensores("Bateria: " + PZEMService.UltimaLeitura.Tensao.ToString("0.00") + " V - " + PZEMService.UltimaLeitura.Corrente.ToString("0.00") + " A - " + PZEMService.UltimaLeitura.Potencia.ToString("0.00") + " W");
-                        }
                         break;
                     }
                 case T_Code.Wit:
                     {
                         sucesso = WT901CService.ProcessarResposta(Comando.Resposta, Comando.Comando);
-                        if (frmInstancial.DebugMode)
-                        {
-                            frmInstancial.frmAcompanhamento.AtualizarSensores("Ultima Leitura WIT: " + WT901CService.DadosLeitura.Momento.ToString("HH:mm:ss"));
-                            frmInstancial.frmAcompanhamento.AtualizarOrientacao();
-                        }
                         break;
                     }
                 case T_Code.A05:
                     {
                         sucesso = UltrasonicA05Service.DecifrarRespostaAquisicao(Comando.Resposta);
-                        if (frmInstancial.DebugMode)
-                        {
-                            frmInstancial.frmAcompanhamento.AtualizarSensores("Ultima Leitura A05: " + UltrasonicA05Service.DadosLeitura.Momento.ToString("HH:mm:ss"));
-                            frmInstancial.frmAcompanhamento.AtualizarSensores("U1: " + UltrasonicA05Service.DadosLeitura.U1.ToString("") + " mm");
-                            frmInstancial.frmAcompanhamento.AtualizarSensores("U2: " + UltrasonicA05Service.DadosLeitura.U2.ToString("") + " mm");
-                            frmInstancial.frmAcompanhamento.AtualizarSensores("U3: " + UltrasonicA05Service.DadosLeitura.U3.ToString("") + " mm");
-                            frmInstancial.frmAcompanhamento.AtualizarSensores("U4: " + UltrasonicA05Service.DadosLeitura.U4.ToString("") + " mm");
-                        }
                         break;
                     }
             }

AgroBase/AgroBase/Services/MqttService.cs

@@ -15,7 +15,7 @@ public class MqttService
 {
     private IMqttClient _client;
     private IMqttClientOptions _options;
-    private System.Timers.Timer tmrCheck = new System.Timers.Timer() { Interval = 1000, Enabled = false };
+    private AsyncTaskTimerModel tmrCheck;
 
     public List<MqttTopicosModel> Topicos = new List<MqttTopicosModel>()
     {
@@ -112,27 +112,16 @@ public class MqttService
             }
         });
 
-        tmrCheck.Elapsed += TmrCheck_Elapsed;
+        tmrCheck = new AsyncTaskTimerModel(tmrCheck_Tick, 1000);
         tmrCheck.Start();
     }
 
-    private async void TmrCheck_Elapsed(object sender, EventArgs e)
+    private async Task tmrCheck_Tick()
     {
-        ((System.Timers.Timer)sender).Stop();
-
         if (!_client.IsConnected)
         {
             await ConnectAsync();
         }
-
-        Func<bool> funcao = new Func<bool>(() =>
-        {
-            frmInstancial.frmPrincipal.lblStripMqtt.Text = "MQTT: " + (_client.IsConnected ? "Conectado" : "Desconectado");
-            return true;
-        });
-        FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(frmInstancial.frmPrincipal, funcao);
-
-        ((System.Timers.Timer)sender).Start();
     }
 
     public bool StatusConexao()

AgroBase/AgroBase/Services/PythonService.cs

@@ -2,6 +2,8 @@
 using System;
 using System.Collections.Generic;
 using System.Diagnostics;
+using System.Linq;
+using System.Threading.Tasks;
 
 namespace AgroBase.Services
 {
@@ -59,40 +61,71 @@ namespace AgroBase.Services
 
         public static Process RunScript(string Script, string[] Argumentos)
         {
-            string ScriptPath = CaminhoGeral + CaminhoScripts + Script;
-            string Args = "";
-            foreach (var arg in Argumentos)
+            try
             {
-                Args += ' '.ToString() + '"'.ToString() + arg.Replace("\\", "/") + '"'.ToString();
+                string ScriptPath = CaminhoGeral + CaminhoScripts + Script;
+                string Args = string.Join(" ", Argumentos.Select(arg => $"\"{arg.Replace("\\", "/")}\""));
+
+                Process pythonProcess = new Process
+                {
+                    StartInfo = new ProcessStartInfo
+                    {
+                        FileName = "python",
+                        Arguments = $"{ScriptPath} {Args}",
+                        UseShellExecute = false,
+                        RedirectStandardOutput = true,
+                        RedirectStandardError = true,
+                        CreateNoWindow = true,
+                        Verb = Variaveis.NomeAplicacao
+                    }
+                };
+
+                //pythonProcess.Exited += PythonProcess_Exited;
+                //pythonProcess.OutputDataReceived += PythonProcess_OutputDataReceived;
+                //pythonProcess.ErrorDataReceived += PythonProcess_ErrorDataReceived;
+
+                pythonProcess.Start();
+
+                //pythonProcess.BeginOutputReadLine();
+                //pythonProcess.BeginErrorReadLine();
+
+                lock (processosIniciados)
+                {
+                    processosIniciados.Add(pythonProcess);
+                }
+
+                return pythonProcess;
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine($"Erro ao iniciar script Python: {ex.Message}");
+                return null;
+            }
+        }
+
+        public static async Task<bool> RunScriptWithTimeout(string Script, string[] Argumentos, int timeoutMs)
+        {
+            var processo = RunScript(Script, Argumentos);
+            if (processo == null) return false;
+
+            var completed = await Task.Run(() => processo.WaitForExit(timeoutMs));
+            if (!completed)
+            {
+                Console.WriteLine("Script Python excedeu o tempo limite e será encerrado.");
+                processo.Kill();
+                return false;
             }
 
-            Process pythonProcess = new Process();
-            pythonProcess.StartInfo.FileName = "python";
-            pythonProcess.StartInfo.Arguments = ScriptPath + Args;
-            pythonProcess.StartInfo.UseShellExecute = false;
-            pythonProcess.StartInfo.RedirectStandardOutput = true;
-            pythonProcess.StartInfo.RedirectStandardError = true;
-            pythonProcess.StartInfo.CreateNoWindow = true;
-
-            pythonProcess.StartInfo.Verb = Variaveis.NomeAplicacao;
-
-            pythonProcess.Exited += PythonProcess_Exited;
-            pythonProcess.OutputDataReceived += PythonProcess_OutputDataReceived;
-            pythonProcess.ErrorDataReceived += PythonProcess_ErrorDataReceived;
-
-            pythonProcess.Start();
-
-            pythonProcess.BeginOutputReadLine();
-            pythonProcess.BeginErrorReadLine();
-
-            processosIniciados.Add(pythonProcess);
-
-            return pythonProcess;
+            return true;
         }
 
         private static void PythonProcess_ErrorDataReceived(object sender, DataReceivedEventArgs e)
         {
-            Console.WriteLine("Erro recebidos pelo Python: " + e.Data);
+            if (!string.IsNullOrWhiteSpace(e.Data))
+            {
+                Console.WriteLine($"Erro recebidos pelo Python: {e.Data}");
+                // Log adicional ou notificação pode ser adicionado aqui
+            }
         }
 
         private static void PythonProcess_OutputDataReceived(object sender, DataReceivedEventArgs e)
@@ -107,7 +140,14 @@ namespace AgroBase.Services
         {
             if (DebugMode)
             {
-                Console.WriteLine("Processo finalizado");
+                Console.WriteLine("Processo Python finalizado");
+            }
+
+            lock (processosIniciados)
+            {
+                var processo = (Process)sender;
+                processosIniciados.Remove(processo);
+                processo.Dispose();
             }
         }
 

AgroBase/AgroBase/Services/SerialService.cs

@@ -267,9 +267,9 @@ namespace AgroBase.Services
 
 
 
-        public static async Task RealizarVarreduraPortasUSB(System.Timers.Timer tmr)
+        public static async Task RealizarVarreduraPortasUSB() // System.Timers.Timer tmr
         {
-            tmr.Interval = InteraloVerificacao;
+            //tmr.Interval = InteraloVerificacao;
 
             if (VarreduraEmAndamento || frmInstancial.Fechando)
             {
@@ -661,9 +661,18 @@ namespace AgroBase.Services
                 return false;
             }
 
+            bool ProcurarPzm = !PZEMService.Iniciado || !DispositivosMapeados.Any(x => x.Dispositivo == T_Code.Pzm);
+            bool ProcurarWit = !WT901CService.Iniciado || !DispositivosMapeados.Any(x => x.Dispositivo == T_Code.Wit);
+            bool ProcurarA05 = !UltrasonicA05Service.Iniciado || !DispositivosMapeados.Any(x => x.Dispositivo == T_Code.A05);
+
+            if (!ProcurarPzm && !ProcurarWit && !ProcurarA05)
+            {
+                return false;
+            }
+
             AtualizarConsole("Procurando dispositivos Modbus");
 
-            if (!PZEMService.Iniciado || !DispositivosMapeados.Any(x => x.Dispositivo == T_Code.Pzm))
+            if (ProcurarPzm)
             {
                 AtualizarConsole("Procurando dispositivo PZM");
                 bool _encontrado = await PZEMService.VerificaPortaPZEM(ModbusService.Iniciado ? ModbusService._PortaModbus : porta);
@@ -674,7 +683,7 @@ namespace AgroBase.Services
                     return _encontrado;
                 }
             }
-            if (!WT901CService.Iniciado || !DispositivosMapeados.Any(x => x.Dispositivo == T_Code.Wit))
+            if (ProcurarWit)
             {
                 AtualizarConsole("Procurando dispositivo WIT");
                 bool _encontrado = await WT901CService.VerificaPortaWT901C(ModbusService.Iniciado ? ModbusService._PortaModbus : porta);
@@ -684,7 +693,7 @@ namespace AgroBase.Services
                     return _encontrado;
                 }
             }
-            if (!UltrasonicA05Service.Iniciado || !DispositivosMapeados.Any(x => x.Dispositivo == T_Code.A05))
+            if (ProcurarA05)
             {
                 AtualizarConsole("Procurando dispositivo A05");
                 bool _encontrado = await UltrasonicA05Service.VerificaPortaA05(ModbusService.Iniciado ? ModbusService._PortaModbus : porta);
@@ -694,21 +703,6 @@ namespace AgroBase.Services
                     return _encontrado;
                 }
             }
-            /*if (Variaveis.OperacaoEmAndamento.DispMvd != null && Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Any(x => !x.MovMotor.DadosDriver.Iniciado))
-            {
-                foreach (var Modulo in Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.Where(x => !x.MovMotor.DadosDriver.Iniciado))
-                {
-                    Encontrado = await Modulo.MovMotor.DadosDriver.VerificaPortaBLD(ModbusService._PortaModbus);
-                    if (Encontrado)
-                    {
-                        await Modulo.MovMotor.DadosDriver.AtualizarDadosDriver();
-                        if (PararAoEncontrar)
-                        {
-                            return Encontrado;
-                        }
-                    }
-                }
-            }*/
 
             return ModbusService.Iniciado;
         }

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

@@ -15,3 +15,5 @@
 11/11/2024 09:35:21:159 - Porta COM68 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
 11/11/2024 13:38:33:524 - Porta COM85 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
 21/11/2024 13:26:00:651 - Porta COM90 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+22/11/2024 08:24:14:797 - Porta COM88 - 0: Erro ao processar fila de comandos. Erro=The port is closed.
+22/11/2024 15:31:48:366 - Porta COM - 0: Erro ao processar fila de comandos. Erro=The port is closed.

AgroBase/AgroBase/bin/Debug/Parametros/parametersAtu-1_0.par

@@ -1 +1 @@
-{"Modulo_ID":"Atu","RequisitarDados":false,"Conectado":false,"QuantidadeBicos":4,"DensidadeHerbicida":1.05,"AtuacaoNivelAlto":true,"BicosPulverizadores":[{"ID":"B01","Posicao":1,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B02","Posicao":2,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B03","Posicao":3,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0},{"ID":"B04","Posicao":4,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0}],"BombaPressurizadora":{"ID":"BOMBA","BombaAtuada":false,"Ligado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[14,35,36,37,5],"Pressao":0.0,"Potencia":0.0},"Sensores":[{"LogGrafico":[],"ID":"FLXLN","Prioridade":23,"Descricao":"Fluxo na linha principal","Componente":198,"Aferir":true,"DelayAmostragem":300,"Inicializado":false,"Testando":false,"Funcoes":[25],"Parametros":[],"UnidadeMedida":"mL/s","Leituras":[],"ValorMinimo":0.0,"ValorMaximo":0.0,"LimiteMaximo":0.0,"LimiteMinimo":0.0},{"LogGrafico":[],"ID":"MASRS","Prioridade":3,"Descricao":"Massa do reservatório de herbicida","Componente":532,"Aferir":true,"DelayAmostragem":1000,"Inicializado":false,"Testando":false,"Funcoes":[22,23],"Parametros":[],"UnidadeMedida":"Kg","Leituras":[],"ValorMinimo":0.0,"ValorMaximo":0.0,"LimiteMaximo":50.0,"LimiteMinimo":5.0},{"LogGrafico":[],"ID":"PRSLN","Prioridade":3,"Descricao":"Pressão na linha principal","Componente":333,"Aferir":true,"DelayAmostragem":1000,"Inicializado":false,"Testando":false,"Funcoes":[24],"Parametros":[["Vmin","000.00"],["Vmax","004.50"],["Pmax","174.04"]],"UnidadeMedida":"psi","Leituras":[],"ValorMinimo":0.0,"ValorMaximo":0.0,"LimiteMaximo":120.0,"LimiteMinimo":60.0}],"ScriptDeteccaoErvas":"weed_detector-1_0.py","_MassaRef":0.8,"_MassaLeituraRef":40876.37,"_MassaLeituraExtra":1895800.0,"_MassaLeitura":1895800.0,"MassaReservatorio":0.0,"VolumeReservatorio":0.0,"PercentualReservatorio":0.0,"VolumeVazaoAferido":0.0,"_FluxoMlRef":102.0,"_FluxoPulsoRef":80.0,"_LeituraPulsos":0,"_LeituraPeriodo":0,"VazaoFluxoMLpS":0.0,"VolumeVazaoML":0.0,"InicioAtuacao":"0001-01-01T00:00:00","FimAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0,"_PressaoVmin":0.0,"_PressaoVmax":4.5,"_PressaoMax":174.045,"_LeituraPressao":0.0,"PressaoLinha":0.0,"PressaoLinhaCalc":0.0}
+{"Modulo_ID":"Atu","RequisitarDados":false,"Conectado":false,"QuantidadeBicos":4,"DensidadeHerbicida":1.05,"AtuacaoNivelAlto":true,"BicosPulverizadores":[{"ID":"B01","Posicao":1,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0,"Atuacoes":0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0},{"ID":"B02","Posicao":2,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0,"Atuacoes":0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0},{"ID":"B03","Posicao":3,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0,"Atuacoes":0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0},{"ID":"B04","Posicao":4,"Atuado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[21],"StatusBico":false,"MediaNivelFluxo":0.0,"Atuacoes":0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0}],"BombaPressurizadora":{"ID":"BOMBA","BombaAtuada":false,"Ligado":false,"Comandar":true,"Inicializado":false,"Testando":false,"Funcoes":[14,35,36,37,5],"Pressao":0.0,"Potencia":0.0},"Sensores":[{"LogGrafico":[],"ID":"FLXLN","Prioridade":23,"Descricao":"Fluxo na linha principal","Componente":198,"Aferir":true,"DelayAmostragem":300,"Inicializado":false,"Testando":false,"Funcoes":[25],"Parametros":[],"UnidadeMedida":"mL/s","Leituras":[],"ValorMinimo":0.0,"ValorMaximo":0.0,"LimiteMaximo":0.0,"LimiteMinimo":0.0},{"LogGrafico":[],"ID":"MASRS","Prioridade":3,"Descricao":"Massa do reservatório de herbicida","Componente":532,"Aferir":true,"DelayAmostragem":1000,"Inicializado":false,"Testando":false,"Funcoes":[22,23],"Parametros":[],"UnidadeMedida":"Kg","Leituras":[],"ValorMinimo":0.0,"ValorMaximo":0.0,"LimiteMaximo":50.0,"LimiteMinimo":5.0},{"LogGrafico":[],"ID":"PRSLN","Prioridade":3,"Descricao":"Pressão na linha principal","Componente":333,"Aferir":true,"DelayAmostragem":1000,"Inicializado":false,"Testando":false,"Funcoes":[24],"Parametros":[["Vmin","000.00"],["Vmax","004.50"],["Pmax","174.04"]],"UnidadeMedida":"psi","Leituras":[],"ValorMinimo":0.0,"ValorMaximo":0.0,"LimiteMaximo":120.0,"LimiteMinimo":60.0}],"ScriptDeteccaoErvas":"weed_detector-1_0.py","_MassaRef":0.8,"_MassaLeituraRef":40876.37,"_MassaLeituraExtra":1895800.0,"_MassaLeitura":1895800.0,"MassaReservatorio":0.0,"VolumeReservatorio":0.0,"PercentualReservatorio":0.0,"VolumeVazaoAferido":0.0,"_FluxoMlRef":102.0,"_FluxoPulsoRef":80.0,"_LeituraPulsos":0,"_LeituraPeriodo":0,"VazaoFluxoMLpS":0.0,"VolumeVazaoML":0.0,"InicioAtuacao":"0001-01-01T00:00:00","TempoAtuado":0.0,"_PressaoVmin":0.0,"_PressaoVmax":4.5,"_PressaoMax":174.045,"_LeituraPressao":0.0,"PressaoLinha":0.0,"PressaoLinhaCalc":0.0}

AgroBase/AgroBase/bin/Debug/Python/Output/GeoJson.json

@@ -1 +1 @@
-{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1517","Name":"11_11_2024_14_08_37","Length":0.0,"Dist1":0.0,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0]]}}]}
+{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1517","Name":"22_11_2024_17_15_15","Length":0.0,"Dist1":0.0,"Dist2":0.0},"geometry":{"id":null,"type":"LineString","coordinates":[[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0],[0.0,0.0]]}}]}

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

@@ -25,7 +25,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_fa1fb12b82d67d7b576b4a6c72021b43 {
+                #map_07a098740876f040ece2bf1f6f913e03 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,14 +39,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_fa1fb12b82d67d7b576b4a6c72021b43" ></div>
+            <div class="folium-map" id="map_07a098740876f040ece2bf1f6f913e03" ></div>
         
 </body>
 <script>
     
     
-            var map_fa1fb12b82d67d7b576b4a6c72021b43 = L.map(
-                "map_fa1fb12b82d67d7b576b4a6c72021b43",
+            var map_07a098740876f040ece2bf1f6f913e03 = L.map(
+                "map_07a098740876f040ece2bf1f6f913e03",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -60,13 +60,13 @@
 
         
     
-            var tile_layer_fc2a48162ee97dadb749ec5c9d4585d1 = L.tileLayer(
+            var tile_layer_ebd09008a2ea454b658d8ddf7b42809d = L.tileLayer(
                 "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
                 {"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
             );
         
     
-            tile_layer_fc2a48162ee97dadb749ec5c9d4585d1.addTo(map_fa1fb12b82d67d7b576b4a6c72021b43);
+            tile_layer_ebd09008a2ea454b658d8ddf7b42809d.addTo(map_07a098740876f040ece2bf1f6f913e03);
         
 </script>
 
@@ -87,7 +87,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_fa1fb12b82d67d7b576b4a6c72021b43);
+        trajeto_json.addTo(map_07a098740876f040ece2bf1f6f913e03);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -145,7 +145,7 @@
         
         var marcadorDinamico = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_fa1fb12b82d67d7b576b4a6c72021b43);
+        }).addTo(map_07a098740876f040ece2bf1f6f913e03);
     
         // Conectar ao broker MQTT
         const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@@ -183,7 +183,7 @@
             marcadorDinamico.setRotationAngle(angulo);
             
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_fa1fb12b82d67d7b576b4a6c72021b43.setView(novaPosicao, map_fa1fb12b82d67d7b576b4a6c72021b43.getZoom());
+            map_07a098740876f040ece2bf1f6f913e03.setView(novaPosicao, map_07a098740876f040ece2bf1f6f913e03.getZoom());
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {

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

@@ -25,7 +25,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_9bc1c08b3771a8d9d88d8c84ea53aafc {
+                #map_f4618322b26ef6900f1125b33a98b933 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,14 +39,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_9bc1c08b3771a8d9d88d8c84ea53aafc" ></div>
+            <div class="folium-map" id="map_f4618322b26ef6900f1125b33a98b933" ></div>
         
 </body>
 <script>
     
     
-            var map_9bc1c08b3771a8d9d88d8c84ea53aafc = L.map(
-                "map_9bc1c08b3771a8d9d88d8c84ea53aafc",
+            var map_f4618322b26ef6900f1125b33a98b933 = L.map(
+                "map_f4618322b26ef6900f1125b33a98b933",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -60,13 +60,13 @@
 
         
     
-            var tile_layer_05bcea44b7b0f79e78a69feab7be7c58 = L.tileLayer(
+            var tile_layer_51e21784728e165fdac4114417c9be97 = L.tileLayer(
                 "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
                 {"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
             );
         
     
-            tile_layer_05bcea44b7b0f79e78a69feab7be7c58.addTo(map_9bc1c08b3771a8d9d88d8c84ea53aafc);
+            tile_layer_51e21784728e165fdac4114417c9be97.addTo(map_f4618322b26ef6900f1125b33a98b933);
         
     
 
@@ -82,7 +82,7 @@
                 }*/
             });
     }
-    function geo_json_9fbf11020c519372602572fe907c2112_onEachFeature(feature, layer) {
+    function geo_json_0724bb7f6b75e35871d716caa4a037af_onEachFeature(feature, layer) {
             layer.on({
             
     click: function(e) {
@@ -118,20 +118,20 @@
         }*/
     });
         };
-        var geo_json_9fbf11020c519372602572fe907c2112 = L.geoJson(null, {
-                onEachFeature: geo_json_9fbf11020c519372602572fe907c2112_onEachFeature,
+        var geo_json_0724bb7f6b75e35871d716caa4a037af = L.geoJson(null, {
+                onEachFeature: geo_json_0724bb7f6b75e35871d716caa4a037af_onEachFeature,
             
         });
 
-        function geo_json_9fbf11020c519372602572fe907c2112_add (data) {
-            geo_json_9fbf11020c519372602572fe907c2112
+        function geo_json_0724bb7f6b75e35871d716caa4a037af_add (data) {
+            geo_json_0724bb7f6b75e35871d716caa4a037af
                 .addData(data);
         }
-            geo_json_9fbf11020c519372602572fe907c2112_add({"features": [{"geometry": {"coordinates": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1517", "Length": 0.0, "Name": "11_11_2024_14_08_37"}, "type": "Feature"}], "type": "FeatureCollection"});
+            geo_json_0724bb7f6b75e35871d716caa4a037af_add({"features": [{"geometry": {"coordinates": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1517", "Length": 0.0, "Name": "22_11_2024_17_15_15"}, "type": "Feature"}], "type": "FeatureCollection"});
 
         
     
-            geo_json_9fbf11020c519372602572fe907c2112.addTo(map_9bc1c08b3771a8d9d88d8c84ea53aafc);
+            geo_json_0724bb7f6b75e35871d716caa4a037af.addTo(map_f4618322b26ef6900f1125b33a98b933);
         
 </script>
 
@@ -152,7 +152,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_9bc1c08b3771a8d9d88d8c84ea53aafc);
+        trajeto_json.addTo(map_f4618322b26ef6900f1125b33a98b933);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -210,7 +210,7 @@
         }
         trajeto_dinamico_json_add({"features": []});
 
-        trajeto_dinamico_json.addTo(map_9bc1c08b3771a8d9d88d8c84ea53aafc);
+        trajeto_dinamico_json.addTo(map_f4618322b26ef6900f1125b33a98b933);
 
         function adicionarGeometriaDinamica(novaGeometria) {
             trajeto_dinamico_json.addData(novaGeometria);
@@ -263,9 +263,9 @@
         
         var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_9bc1c08b3771a8d9d88d8c84ea53aafc);
+        }).addTo(map_f4618322b26ef6900f1125b33a98b933);
         
-        var marcadorBase = L.marker([0, 0], {}).addTo(map_9bc1c08b3771a8d9d88d8c84ea53aafc);
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_f4618322b26ef6900f1125b33a98b933);
         var icon = L.AwesomeMarkers.icon(
             {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
         );
@@ -347,7 +347,7 @@
                 }
                 
                 if (foco) {
-                    map_9bc1c08b3771a8d9d88d8c84ea53aafc.setView(novaPosicao, map_9bc1c08b3771a8d9d88d8c84ea53aafc.getZoom());
+                    map_f4618322b26ef6900f1125b33a98b933.setView(novaPosicao, map_f4618322b26ef6900f1125b33a98b933.getZoom());
                 }
                 
             }
@@ -364,7 +364,7 @@
         function atualizarSelecaoRuas(selecionadas) {
             selecionadas = JSON.parse(selecionadas);
             RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
-            geo_json_9fbf11020c519372602572fe907c2112.eachLayer(function (layer) {
+            geo_json_0724bb7f6b75e35871d716caa4a037af.eachLayer(function (layer) {
                 if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
                     layer.setStyle({ color: 'blue' });
                 } else {

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

@@ -1 +1 @@
-d183f77e5e1a919a1748ce240aac9f56e10790c2389f0601b3ac9063fe720309
+afe56ee07a44e7bdf0ff34262548be78816ffa76793d188967eb564a704ab6d0

AgroBase/AgroMonitor/Forms/frmAjustesOperacao.cs

@@ -13,7 +13,7 @@ namespace AgroMonitor.Forms
 {
     public partial class frmAjustesOperacao : Form
     {
-        Timer tmrDadosMapa = new Timer();
+        AsyncTaskTimerModel tmrDadosMapa;
         string path = Variaveis.CaminhoSistema + Variaveis.CaminhoOperacoes + "\\" + MapasVariaveisModel.NomeArquivoMapaInterativoSaida;
         UltrasonicA05Configuracoes ConfigUltrassom = UltrasonicA05Helper.CarregarConfiguracaoPadrao(ConfiguracaoSensorUltrassonico.NaoUtilizado);
 
@@ -35,7 +35,10 @@ namespace AgroMonitor.Forms
 
         private void frmAjustesOperacao_FormClosing(object sender, FormClosingEventArgs e)
         {
-            tmrDadosMapa.Stop();
+            if (tmrDadosMapa != null)
+            {
+                tmrDadosMapa.Stop();
+            }
         }
 
         
@@ -98,15 +101,14 @@ namespace AgroMonitor.Forms
 
             Variaveis.OperacaoEmAndamento.Mapa.btnCarregar_Click(sender, e);
 
-            if (!tmrDadosMapa.Enabled)
+            if (tmrDadosMapa != null && !tmrDadosMapa.IsRunning)
             {
-                tmrDadosMapa = new Timer() { Interval = 500 };
-                tmrDadosMapa.Tick += tmrDadosMapa_Tick;
+                tmrDadosMapa = new AsyncTaskTimerModel(tmrDadosMapa_Tick, 500, this);
                 tmrDadosMapa.Start();
             }
         }
 
-        private void tmrDadosMapa_Tick(object sender, EventArgs e)
+        private async Task tmrDadosMapa_Tick()
         {
             if (Variaveis.OperacaoEmAndamento.Mapa.mapaService.DadosMapa == null)
             {
@@ -165,8 +167,7 @@ namespace AgroMonitor.Forms
 
                 MessageBox.Show("Operação carregada com sucesso!", "Sucesso", MessageBoxButtons.OK, MessageBoxIcon.Information);
 
-                tmrDadosMapa = new Timer() { Interval = 500 };
-                tmrDadosMapa.Tick += tmrDadosMapa_Tick;
+                tmrDadosMapa = new AsyncTaskTimerModel(tmrDadosMapa_Tick, 500, this);
                 tmrDadosMapa.Start();
 
                 await Task.Delay(1000);

AgroBase/AgroMonitor/Forms/frmInicial.Designer.cs

@@ -118,6 +118,7 @@
             this.Name = "frmInicial";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "Agro Monitoramento";
+            this.Load += new System.EventHandler(this.frmInicial_Load);
             ((System.ComponentModel.ISupportInitialize)(this.picRastreamento)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.picRede)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.picAjustes)).EndInit();

AgroBase/AgroMonitor/Forms/frmInicial.cs

@@ -4,13 +4,14 @@ using AgroBase.Services;
 using AgroMonitor.Forms;
 using System;
 using System.Drawing;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 
 namespace AgroMonitor
 {
     public partial class frmInicial : Form
     {
-        Timer tmrDispositivos = new Timer() { Interval = 1000, Enabled = false };
+        AsyncTaskTimerModel tmrDispositivos;
 
         public frmInicial()
         {
@@ -44,17 +45,19 @@ namespace AgroMonitor
             }, true);
         }
 
+        private void frmInicial_Load(object sender, EventArgs e)
+        {
+            tmrDispositivos = new AsyncTaskTimerModel(tmrDispositivos_Tick, 1000, this);
+        }
+
         private void IniciarDependencias()
         {
             tmrDispositivos.Tick += TmrDispositivos_Elapsed;
             tmrDispositivos.Start();
         }
 
-        private async void TmrDispositivos_Elapsed(object sender, EventArgs e)
+        private async Task tmrDispositivos_Tick()
         {
-            var tmr = ((Timer)sender);
-            tmr.Stop();
-
             Func<bool> funcao = new Func<bool>(() =>
             {
                 lblMqtt.Text = "MQTT: " + (Variaveis.MqttService.StatusConexao() ? "Conectado" : "Desconectado");
@@ -73,17 +76,15 @@ namespace AgroMonitor
 
             if (!GPSService.Iniciado || !LoRaService.Iniciado)
             {
-                await SerialService.RealizarVarreduraPortasUSB(new System.Timers.Timer());
-                tmr.Interval = SerialService.InteraloVerificacao;
+                await SerialService.RealizarVarreduraPortasUSB();
+                tmrDispositivos.SetInterval(SerialService.InteraloVerificacao);
             }
             else
             {
-                tmr.Interval = 10000;
+                tmrDispositivos.SetInterval(10000);
             }
-
-            tmr.Start();
         }
 
-
+        
     }
 }

AgroBase/AgroMonitor/Forms/frmMonitoramento.cs

@@ -4,6 +4,7 @@ using System;
 using System.Collections.Generic;
 using System.Data;
 using System.Linq;
+using System.Threading.Tasks;
 using System.Windows.Forms;
 using static AgroBase.Models.Enums;
 
@@ -11,7 +12,7 @@ namespace AgroMonitor.Forms
 {
     public partial class frmMonitoramento : Form
     {
-        Timer tmrLeituras = new Timer();
+        AsyncTaskTimerModel tmrLeituras;
         DateTime MomentoLog = DateTime.Now;
         private MapasModel Mapa;
         Dictionary<byte, List<LoRaProtocoloTransmissaoModel>> Logs = new Dictionary<byte, List<LoRaProtocoloTransmissaoModel>>();
@@ -25,8 +26,7 @@ namespace AgroMonitor.Forms
 
         private void frmMonitoramento_Load(object sender, EventArgs e)
         {
-            tmrLeituras.Interval = 1000;
-            tmrLeituras.Tick += tmrLeituras_Tick;
+            tmrLeituras = new AsyncTaskTimerModel(tmrLeituras_Tick, 1000, this);
             tmrLeituras.Start();
 
             cmbTipoMovimento.Items.Clear();
@@ -42,7 +42,7 @@ namespace AgroMonitor.Forms
             Logs = new Dictionary<byte, List<LoRaProtocoloTransmissaoModel>>(VariaveisMonitoramento.EquipamentosConectadosLogs);
         }
 
-        private void tmrLeituras_Tick(object sender, EventArgs e)
+        private async Task tmrLeituras_Tick()
         {
             string EquipamentoSelecionado = cmbEquipamento.Text;
             if (cmbEquipamento.Items.Count != VariaveisMonitoramento.EquipamentosConectados.Count())

Firmware/Sensoriamento/Sensoriamento_v11/Sensoriamento_v11.ino

@@ -913,6 +913,9 @@ class ServoFreio {
 
     String _ID;
     PinoModel _pino;
+
+    bool Incremental = true;
+
     bool Iniciado = false;
 
     int _Angulo = 0;
@@ -928,7 +931,7 @@ class ServoFreio {
       
       if (_pino.Definido()) {
         _Servo.attach(_pino.num);
-        _Servo.write(0);
+        _Servo.write(Incremental ? 0 : 180);
       }
 
       Iniciado = true;
@@ -1159,10 +1162,12 @@ void ProcessarCfg(ProtocoloSerial Mensagem) {
       }
     }
     else if (_freio != nullptr) {
-      TiposBarramentos pinoB = (TiposBarramentos)Partes[2].toInt();
-      int pino = Partes[3].toInt();
+      bool inc = Partes[2] == "1";
+      TiposBarramentos pinoB = (TiposBarramentos)Partes[3].toInt();
+      int pino = Partes[4].toInt();
       if (pino > -1) {
         if (Conectar) {
+          _freio->Incremental = inc;
           _freio->_pino = PinoModel(pino, pinoB, _OUTPUT);
           _freio->Inicializar();
         }