HexapiBackground.IK.InverseKinematics.InitializeAsync C# (CSharp) Method

        internal async Task<bool> InitializeAsync()
        {
            if (!await LoadLegDefaultsAsync())
            {
                await _display.WriteAsync("Setup of IK failed!");
                return false;
            }

            _serialDevice = await StartupTask.SerialDeviceHelper.GetSerialDeviceAsync("BCM2836", 115200, TimeSpan.FromMilliseconds(250), TimeSpan.FromMilliseconds(250)); //The PI 3 on-board UART

            if (_serialDevice == null)
                return false;

            _inputStream = new DataReader(_serialDevice.InputStream) { InputStreamOptions = InputStreamOptions.Partial };
            _outputStream = new DataWriter(_serialDevice.OutputStream);

            return true;
        }

        public async void Run(IBackgroundTaskInstance taskInstance)
        {
            _deferral = taskInstance.GetDeferral();

            _display = new SparkFunSerial16X2Lcd();
            _xboxController = new XboxController(_display);
            _ntripClient = new NtripClient("172.16.0.237", 8000, "", "", "", _display); //172.16.0.227
            _ioTClient = new IoTClient(_display);
            _gps = new Gps.Gps( _display, _ntripClient);
            _inverseKinematics = new InverseKinematics(_display);
            _ikController = new IkController(_inverseKinematics, _display, _ioTClient, _gps); //Range and yaw/pitch/roll data from Arduino and SparkFun Razor IMU
            _navigator = new Navigator(_ikController, _display, _gps);
            _hexapi = new Hexapi(_ikController, _xboxController, _navigator, _display, _gps, _ioTClient);

            _initializeTasks.Add(_display.InitializeAsync());
            _initializeTasks.Add(_xboxController.InitializeAsync());
            _initializeTasks.Add(_ikController.InitializeAsync());
            _initializeTasks.Add(_ntripClient.InitializeAsync());
            _initializeTasks.Add(_gps.InitializeAsync());
            _initializeTasks.Add(_inverseKinematics.InitializeAsync());
            _initializeTasks.Add(_ioTClient.InitializeAsync());

            _startTasks.Add(_ntripClient.StartAsync());
            _startTasks.Add(_ikController.StartAsync());
            _startTasks.Add(_gps.StartAsync());
            _startTasks.Add(_inverseKinematics.StartAsync());
            //_startTasks.Add(_ioTClient.StartAsync());//only needed if expecting messages from the server

            //foreach (var d in await SerialDeviceHelper.ListAvailablePorts())
            //{
            //    await _ioTClient.SendEvent(d);
            //}

            await Task.WhenAll(_initializeTasks.ToArray());

            await Task.WhenAll(_startTasks.ToArray());
        }