AForge.Robotics.Surveyor.SRV1Camera.SignalToStop C# (CSharp) Method

        public void SignalToStop( )
        {
            // stop thread
            if ( thread != null )
            {
                // signal to stop
                stopEvent.Set( );
            }
        }

        /// <summary>
        /// Disconnect from SRV-1 Blackfin robot.
        /// </summary>
        ///
        /// <remarks><para>The method disconnects from SRV-1 robot making all other methods
        /// unavailable (except <see cref="Connect"/> method). In the case if user
        /// obtained instance of camera using <see cref="GetCamera"/> method, the video will
        /// be stopped automatically (and those <see cref="SRV1Camera"/> instances should be discarded).
        /// </para></remarks>
        ///
        public void Disconnect()
        {
            lock (sync)
            {
                if (thread != null)
                {
                    // signal camera to stop
                    if (camera != null)
                    {
                        camera.SignalToStop();
                    }

                    // signal worker thread to stop
                    stopEvent.Set();
                    requestIsAvailable.Set();
                    replyIsAvailable.Set();

                    // finilze the camera
                    if (camera != null)
                    {
                        // wait for aroung 250 ms
                        for (var i = 0; (i < 5) && (camera.IsRunning); i++)
                        {
                            System.Threading.Thread.Sleep(50);
                        }
                        // abort camera if it can not be stopped
                        if (camera.IsRunning)
                        {
                            camera.Stop();
                        }
                        camera = null;
                    }

                    // wait for aroung 1 s
                    for (var i = 0; (i < 20) && (thread.Join(0) == false); i++)
                    {
                        System.Threading.Thread.Sleep(50);
                    }
                    // abort thread if it can not be stopped
                    if (thread.Join(0) == false)
                    {
                        thread.Abort();
                    }

                    thread = null;

                    // release events
                    stopEvent.Close();
                    stopEvent = null;

                    requestIsAvailable.Close();
                    requestIsAvailable = null;

                    replyIsAvailable.Close();
                    replyIsAvailable = null;
                }

                if (socket != null)
                {
                    if (socket.Connected)
                    {
                        socket.Disconnect(false);
                    }
                    socket.Close();
                    socket   = null;
                    endPoint = null;
                }
            }
        }