AForge.Robotics.Surveyor.SRV1.Connect C# (CSharp) Method

        public void Connect( string ip, int port )
        {
            Disconnect( );

            lock ( sync )
            {
                try
                {
                    // make sure communication queue is empty
                    communicationQueue.Clear( );

                    endPoint = new IPEndPoint( IPAddress.Parse( ip ), Convert.ToInt16( port ) );
                    // create TCP/IP socket and set timeouts
                    socket = new Socket( AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp );
                    socket.ReceiveTimeout = 5000;
                    socket.SendTimeout    = 1000;

                    // connect to SVS
                    socket.Connect( endPoint );

                    // create events
                    stopEvent = new ManualResetEvent( false );

                    requestIsAvailable = new AutoResetEvent( false );
                    replyIsAvailable   = new AutoResetEvent( false );

                    // create and start new thread
                    thread = new Thread( new ThreadStart( CommunicationThread ) );
                    thread.Start( );
                }
                catch ( SocketException )
                {
                    socket.Close( );
                    socket   = null;
                    endPoint = null;

                    throw new ConnectionFailedException( "Failed connecting to SRV-1." );
                }
            }
        }

        /// <summary>
        /// Connect to SVS board.
        /// </summary>
        ///
        /// <param name="ipAddress">IP address of SVS board.</param>
        ///
        /// <remarks><para>The method establishes connection to SVS board. If it succeeds then
        /// other methods can be used to manipulate the board.</para>
        ///
        /// <para><note>The method calls <see cref="Disconnect"/> before making any connection
        /// attempts to make sure previous connection is closed.</note></para>
        /// </remarks>
        ///
        /// <exception cref="ConnectionFailedException">Failed connecting to SVS.</exception>
        ///
        public void Connect(string ipAddress)
        {
            // close previous connection
            Disconnect();

            lock (sync1)
            {
                lock (sync2)
                {
                    try
                    {
                        communicator1 = new SRV1();
                        communicator2 = new SRV1();

                        communicator1.Connect(ipAddress, 10001);
                        communicator2.Connect(ipAddress, 10002);

                        hostAddress = ipAddress;
                    }
                    catch
                    {
                        Disconnect();

                        throw new ConnectionFailedException("Failed connecting to SVS.");
                    }
                }
            }
        }