agrobot_base/AgroBase/OperationControl/Models/TcpVideoReceiver.cs

using System.IO;
using System.Net;
using System.Net.Sockets;
using System.Windows.Media.Imaging;

namespace OperationControl.Models
{
    public class TcpVideoReceiver
    {
        private readonly int _port;
        private readonly System.Windows.Controls.Image _imageControl;
        public readonly string imageName;

        private volatile bool _rodando;
        private Thread _thread;
        private TcpListener _listener;

        public TcpVideoReceiver(int port, System.Windows.Controls.Image imageControl)
        {
            _port = port;
            _imageControl = imageControl;
            imageName = imageControl.Name;
        }

        public void Iniciar()
        {
            if (_rodando) return;

            _rodando = true;
            _thread = new Thread(Run) { IsBackground = true };
            _thread.Start();
        }

        public void Parar()
        {
            _rodando = false;
            try
            {
                _listener?.Stop();
                _imageControl.Source = null;
            }
            catch { /* ignora */ }
        }

        private void Run()
        {
            try
            {
                _listener = new TcpListener(IPAddress.Any, _port);
                _listener.Start();
                Console.WriteLine($"[VideoReceiver] Ouvindo na porta {_port}...");

                while (_rodando)
                {
                    TcpClient client = null;

                    try
                    {
                        // Em vez de bloquear direto no Accept, usamos Pending() + Sleep
                        if (!_listener.Pending())
                        {
                            Thread.Sleep(100);
                            continue;
                        }

                        client = _listener.AcceptTcpClient();
                        client.NoDelay = true;
                        Console.WriteLine("[VideoReceiver] Cliente conectado.");

                        using (var stream = client.GetStream())
                        using (var br = new BinaryReader(stream))
                        {
                            while (_rodando && client.Connected)
                            {
                                // 1) lê tamanho (4 bytes big-endian)
                                byte[] sizeBytes = br.ReadBytes(4);
                                if (sizeBytes.Length < 4)
                                    break;

                                int size =
                                    (sizeBytes[0] << 24) |
                                    (sizeBytes[1] << 16) |
                                    (sizeBytes[2] << 8) |
                                    (sizeBytes[3]);

                                // 2) lê JPEG
                                byte[] imgBytes = br.ReadBytes(size);
                                if (imgBytes.Length < size)
                                    break;

                                _imageControl.Dispatcher.BeginInvoke(new Action(() =>
                                {
                                    try
                                    {
                                        using (var ms = new MemoryStream(imgBytes))
                                        {
                                            var bmp = new BitmapImage();
                                            bmp.BeginInit();
                                            bmp.CacheOption = BitmapCacheOption.OnLoad;
                                            bmp.StreamSource = ms;
                                            bmp.EndInit();
                                            bmp.Freeze();
                                            _imageControl.Source = bmp;
                                        }
                                    }
                                    catch
                                    {
                                        // ignora frame corrompido ou problema de decode
                                    }
                                }));
                            }
                        }

                        Console.WriteLine("[VideoReceiver] Cliente desconectado.");
                        client.Close();
                    }
                    catch (SocketException ex)
                    {
                        // WSACancelBlockingCall ao parar o listener é normal
                        if (!_rodando)
                            break;

                        Console.WriteLine("[VideoReceiver] SocketException: " + ex.Message);
                        client?.Close();
                        Thread.Sleep(500);
                    }
                    catch (IOException)
                    {
                        // desconexão abrupta do cliente
                        client?.Close();
                        Thread.Sleep(200);
                    }
                    catch (Exception ex)
                    {
                        Console.WriteLine("[VideoReceiver] Erro geral: " + ex.Message);
                        client?.Close();
                        Thread.Sleep(500);
                    }
                }

                Console.WriteLine("[VideoReceiver] Loop encerrado.");
            }
            catch (Exception ex)
            {
                Console.WriteLine("[VideoReceiver] Erro ao iniciar listener: " + ex.Message);
            }
            finally
            {
                try { _listener?.Stop(); } catch { }
            }
        }
    }
}