ajustes contra corrida

AgroBase/AgroBase/Models/Variaveis.cs

@@ -21,6 +21,7 @@ using System.Diagnostics;
 using Newtonsoft.Json;
 using AgroMonitor;
 using System.Net;
+using System.Net.Sockets;
 
 namespace AgroBase.Models
 {
@@ -328,9 +329,24 @@ namespace AgroBase.Models
                 double ms = (DateTime.UtcNow - lastPkt).TotalMilliseconds;
 
                 if (ms > UDP_RESTART_MS)
+                {
+                    try
                     {
                         await RestartUdpChannelSafe();
                     }
+                    catch (SocketException)
+                    {
+                        // normal durante restart
+                    }
+                    catch (ObjectDisposedException)
+                    {
+                        // normal durante restart
+                    }
+                    catch (Exception ex)
+                    {
+                        Console.WriteLine("[UDP] Watchdog exception: " + ex.Message);
+                    }
+                }
             }
             finally
             {

AgroBase/AgroBase/Services/UdpReliableChannel.cs

@@ -38,6 +38,8 @@ public sealed class UdpReliableChannel : IDisposable
     private CancellationTokenSource _hbCts;
     private Task _hbTask;
     private int _hbRunning = 0;
+    private readonly object _sockLock = new object();
+    private volatile bool _stopping = false;
 
 
     public void SetRemote(string ip, int port)
@@ -71,37 +73,37 @@ public sealed class UdpReliableChannel : IDisposable
 
     public void Stop()
     {
+        lock (_sockLock)
+        {
+            _stopping = true;
             _running = false;
+        }
 
+        // pare heartbeat antes de matar socket
         StopHeartbeat();
 
-        try { _udp?.Close(); } catch { }   // força o Receive quebrar
-        try { _udp?.Dispose(); } catch { } // garante liberar socket
+        try { _udp?.Close(); } catch { }
+        try { _udp?.Dispose(); } catch { }
 
-        // espera thread encerrar (pra não ficar thread velha viva)
         try
         {
             if (_rxThread != null && _rxThread.IsAlive)
-            {
-                if (!_rxThread.Join(500))
-                {
-                    // Se travar, não aborta (Thread.Abort é treta), só segue.
-                    // Mas normalmente Close() já libera.
-                }
-            }
+                _rxThread.Join(500);
         }
         catch { }
 
+        lock (_sockLock)
+        {
             _udp = null;
             _rxThread = null;
-
-        // reseta sequência RX pra evitar descartar tudo após restart
             _lastSeqRx = 0;
 
-        // opcional: limpa ACKs pendentes pra não vazar
             foreach (var kv in _pendingAck)
                 kv.Value.TrySetResult(false);
             _pendingAck.Clear();
+
+            _stopping = false;
+        }
     }
 
     public void Dispose()
@@ -214,8 +216,19 @@ public sealed class UdpReliableChannel : IDisposable
 
     private Task SendInternalAsync(byte type, byte[] payload, uint seq, uint tsMs, bool requestAck)
     {
-        if (_udp == null) throw new InvalidOperationException("Channel not started.");
-        if (Remote == null) throw new InvalidOperationException("Remote not set.");
+        UdpClient udp;
+        IPEndPoint remote;
+
+        lock (_sockLock)
+        {
+            if (_stopping || !_running) return Task.CompletedTask;
+
+            udp = _udp;
+            remote = Remote;
+        }
+
+        if (udp == null) return Task.CompletedTask;
+        if (remote == null) return Task.CompletedTask;
 
         if (payload.Length > MaxPayloadBytes)
             throw new ArgumentException("Payload too big (" + payload.Length + " > " + MaxPayloadBytes + ").");
@@ -223,7 +236,6 @@ public sealed class UdpReliableChannel : IDisposable
         byte flags = (byte)(requestAck ? 1 : 0);
 
         byte[] buf = new byte[12 + payload.Length];
-        // magic BE
         buf[0] = (byte)(MAGIC >> 8);
         buf[1] = (byte)(MAGIC & 0xFF);
         buf[2] = type;
@@ -235,8 +247,18 @@ public sealed class UdpReliableChannel : IDisposable
         if (payload.Length > 0)
             Buffer.BlockCopy(payload, 0, buf, 12, payload.Length);
 
-        // UdpClient.SendAsync existe no .NET Framework 4.6+, ok.
-        return _udp.SendAsync(buf, buf.Length, Remote);
+        try
+        {
+            return udp.SendAsync(buf, buf.Length, remote);
+        }
+        catch (ObjectDisposedException)
+        {
+            return Task.CompletedTask;
+        }
+        catch (SocketException)
+        {
+            return Task.CompletedTask;
+        }
     }
 
     private void RxLoop()