ajustes udp

AgroBase/AgroBase/Forms/frmInstancial.cs

@@ -108,6 +108,8 @@ namespace AgroBase.Forms
 
             PythonService.EncerrarProcessos();
 
+            Variaveis.StopUdpChannel();
+
             foreach (var Disp in Variaveis.DispositivosConectados)
             {
                 Disp.EnviarProtocolosConfiguracao(false);

AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs

@@ -1709,7 +1709,8 @@ namespace AgroBase.Models
             if (topico != null && !string.IsNullOrEmpty(msg))
             {
                 await Variaveis.MqttServiceBase.PublishAsync(topico, msg);
-                Variaveis.OperacaoEmAndamento.Parametros.DadosLeitura.UltimoEnvioLog = DateTime.Now;
+                if (Variaveis.OperacaoEmAndamento.Parametros.DadosLeitura != null)
+                    Variaveis.OperacaoEmAndamento.Parametros.DadosLeitura.UltimoEnvioLog = DateTime.Now;
             }
         }
 

AgroBase/AgroBase/Models/Variaveis.cs

@@ -199,24 +199,28 @@ namespace AgroBase.Models
         private static AsyncTaskTimerModel _tmrUdpWatchdog;
 
         private const int FAILSAFE_MS = 400;
-        private const int UDP_RESTART_MS = 2000;
+        private const int UDP_RESTART_MS = 5000;
 
 
         public static void IniciarUDP()
         {
             StartUdpChannel();
 
+            _tmrFailSafe?.Dispose();
             _tmrFailSafe = new AsyncTaskTimerModel("tmrFailSafe", tmrFailSafe_Tick, 100);
             _tmrFailSafe.Start();
 
+            _tmrUdpWatchdog?.Dispose();
             _tmrUdpWatchdog = new AsyncTaskTimerModel("tmrUdpWatchdog", tmrUdpWatchdog_Tick, 250);
             _tmrUdpWatchdog.Start();
         }
 
         private static void StartUdpChannel()
         {
-            StopUdpChannel();
+            //StopUdpChannel();
 
+            UdpChannel?.Stop();
+            UdpChannel?.Dispose();
             UdpChannel = new UdpReliableChannel();
             UdpChannel.Start(VariaveisPortas.Ethernet_UDP_RX);
 
@@ -231,6 +235,9 @@ namespace AgroBase.Models
         {
             try
             {
+                _tmrFailSafe?.Dispose();
+                _tmrUdpWatchdog?.Dispose();
+
                 UdpChannel?.Stop();
                 UdpChannel?.Dispose();
             }
@@ -249,6 +256,8 @@ namespace AgroBase.Models
                 return;
             }
 
+            Console.WriteLine("[UDP] Commnad");
+
             // Só controle entra daqui
             if (type != UdpReliableChannel.TYPE_COMMAND) return;
 
@@ -375,6 +384,7 @@ namespace AgroBase.Models
                 }
                 catch { }
 
+                Console.WriteLine("[UDP] Tentando reconectar...");
                 // Reinicia o canal
                 StartUdpChannel();
 

AgroBase/AgroBase/Services/UdpReliableChannel.cs

@@ -1,6 +1,4 @@
-using AgroBase.Models;
+using System;
-using AgroMonitor;
-using System;
 using System.Collections.Concurrent;
 using System.Net;
 using System.Net.Sockets;
@@ -10,7 +8,7 @@ using System.Threading.Tasks;
 public sealed class UdpReliableChannel : IDisposable
 {
     public const ushort MAGIC = 0xA711;
-    public const byte TYPE_COMMAND = 0x7F;
+    public const byte TYPE_COMMAND = 0x01;
     public const byte TYPE_HEARTBEAT = 0x7F;
 
     public int AckTimeoutMs { get; set; } = 120;
@@ -95,7 +93,7 @@ public sealed class UdpReliableChannel : IDisposable
         try
         {
             if (_rxThread != null && _rxThread.IsAlive)
-                _rxThread.Join(500);
+                _rxThread.Join(2000); // ou sem timeout se preferir travar até fechar
         }
         catch { }
 
@@ -272,62 +270,75 @@ public sealed class UdpReliableChannel : IDisposable
     {
         var from = new IPEndPoint(IPAddress.Any, 0);
 
-        while (_running)
+        while (true)
         {
-            byte[] data = null;
+            UdpClient udp;
+            lock (_sockLock) udp = _udp;
+
+            if (!_running || udp == null) break;
+
             try
             {
-                data = _udp.Receive(ref from); // bloqueia
+                if (udp.Available == 0)
+                {
+                    Thread.Sleep(30);
+                    continue;
+                }
+
+                var data = udp.Receive(ref from);
+                if (data == null || data.Length < 12) continue;
+
+                ushort magic = (ushort)((data[0] << 8) | data[1]);
+                if (magic != MAGIC) continue;
+
+                byte type = data[2];
+                byte flags = data[3];
+                uint seq = ReadU32BE(data, 4);
+
+                int payloadLen = data.Length - 12;
+                byte[] payload = new byte[payloadLen];
+                if (payloadLen > 0)
+                    Buffer.BlockCopy(data, 12, payload, 0, payloadLen);
+
+                // ACK
+                if (type == 0xFF)
+                {
+                    if (payloadLen >= 4)
+                    {
+                        uint ackSeq = ReadU32BE(payload, 0);
+                        var h = OnAck;
+                        if (h != null) h(ackSeq);
+
+                        TaskCompletionSource<bool> tcs;
+                        if (_pendingAck.TryGetValue(ackSeq, out tcs))
+                            tcs.TrySetResult(true);
+                    }
+                    continue;
+                }
+
+                // newest wins
+                if (seq <= _lastSeqRx) continue;
+                _lastSeqRx = seq;
+
+                var handler = OnPacket;
+                if (handler != null)
+                    handler(type, payload, from);
+
+                // responde ACK se pedido
+                if ((flags & 1) != 0)
+                {
+                    try { SendAckAsync(from, seq); }
+                    catch { }
+                }
             }
-            catch
+            catch (ObjectDisposedException)
+            {
+                break; // Stop()
+            }
+            catch (SocketException)
             {
                 if (!_running) break;
-                continue;
+                // erro real (raro). pode logar se quiser
-            }
-
-            if (data == null || data.Length < 12) continue;
-
-            ushort magic = (ushort)((data[0] << 8) | data[1]);
-            if (magic != MAGIC) continue;
-
-            byte type = data[2];
-            byte flags = data[3];
-            uint seq = ReadU32BE(data, 4);
-
-            int payloadLen = data.Length - 12;
-            byte[] payload = new byte[payloadLen];
-            if (payloadLen > 0)
-                Buffer.BlockCopy(data, 12, payload, 0, payloadLen);
-
-            // ACK
-            if (type == 0xFF)
-            {
-                if (payloadLen >= 4)
-                {
-                    uint ackSeq = ReadU32BE(payload, 0);
-                    var h = OnAck;
-                    if (h != null) h(ackSeq);
-
-                    TaskCompletionSource<bool> tcs;
-                    if (_pendingAck.TryGetValue(ackSeq, out tcs))
-                        tcs.TrySetResult(true);
-                }
-                continue;
-            }
-
-            // newest wins
-            if (seq <= _lastSeqRx) continue;
-            _lastSeqRx = seq;
-
-            var handler = OnPacket;
-            if (handler != null)
-                handler(type, payload, from);
-
-            // responde ACK se pedido
-            if ((flags & 1) != 0)
-            {
-                try { SendAckAsync(from, seq); }
-                catch { }
             }
         }
     }