Ros_CSharp.TcpTransport.connect C# (CSharp) Method

        public bool connect(string host, int port)
        {
            sock = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
            connected_host = host;
            connected_port = port;
            if (!setNonBlocking())
                throw new Exception("Failed to make socket nonblocking");
            setNoDelay(true);
            IPAddress IPA = null;

            if (!IPAddress.TryParse(host, out IPA))
            {
                foreach (IPAddress ipa in Dns.GetHostAddresses(host).Where(ipa => !ipa.ToString().Contains(":")))
                {
                    IPA = ipa;
                    break;
                }
                if (IPA == null)
                {
                    close();
                    EDB.WriteLine("Couldn't resolve host name [{0}]", host);
                    return false;
                }
            }

            if (IPA == null)
                return false;

            IPEndPoint ipep = new IPEndPoint(IPA, port);
            LocalEndPoint = ipep;
            DateTime connectionAttempted = DateTime.Now;
            IAsyncResult asyncres;
            lock (this)
                asyncres = sock.BeginConnect(ipep, iar =>
                {
                    lock(this)
                        if (sock != null)
                            try
                            {
                                sock.EndConnect(iar);
                            }
                            catch (Exception e)
                            {
                                EDB.WriteLine(e);
                            }
                }, null);
            bool completed = false;
            while (ROS.ok && !ROS.shutting_down)
            {
#pragma warning disable 665
                if ((completed = asyncres.AsyncWaitHandle.WaitOne(10,false)))
#pragma warning restore 665
                    break;
                if (DateTime.Now.Subtract(connectionAttempted).TotalSeconds >= 3)
                {
                    EDB.WriteLine("TRYING TO CONNECT FOR " + DateTime.Now.Subtract(connectionAttempted).TotalSeconds + "s\t: " + this);
                    if (!asyncres.AsyncWaitHandle.WaitOne(100,true))
                    {
                        sock.Close();
                        sock = null;
                    }
                }
            }
            if (!completed || sock == null || !sock.Connected)
                return false;
            return ROS.ok && initializeSocket();
        }

        private void onRetryTimer(object o)
        {
#if DEBUG
            EDB.WriteLine("TransportPublisherLink: onRetryTimer");
#endif
            if (dropping)
            {
                return;
            }
            if (needs_retry && DateTime.Now.Subtract(next_retry).TotalMilliseconds < 0)
            {
                retry_period =
                    TimeSpan.FromSeconds((retry_period.TotalSeconds > 20) ? 20 : (2 * retry_period.TotalSeconds));
                needs_retry = false;
                TcpTransport old_transport = connection.transport;
                string       host          = old_transport.connected_host;
                int          port          = old_transport.connected_port;

                TcpTransport transport = new TcpTransport();
                if (transport.connect(host, port))
                {
                    Connection conn = new Connection();
                    conn.initialize(transport, false, null);
                    initialize(conn);
                    ConnectionManager.Instance.addConnection(conn);
                }
            }
        }