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Fix a possible race between udp dispatch and socket code

Witold Krecicki requested to merge 943-race-in-dispatcher-socket into master

There's a small possibility of race between udp dispatcher and socket code - socket code can still hold internal reference to a socket while dispatcher calls isc_socket_open, which can cause an assertion failure. Fix it by removing the assertion, and instead simply locking the socket in isc_socket_open.

Closes #943

Edited by Evan Hunt

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