private void thread()
{
UdpClient ucl = new UdpClient(6000);
IAsyncResult iar = ucl.BeginReceive(null, null);
while (!exit)
{
if (!iar.AsyncWaitHandle.WaitOne(1000))
{
continue;
}
IPEndPoint ep = new IPEndPoint(0, 0);
byte[] data = ucl.EndReceive(iar, ref ep);
iar = ucl.BeginReceive(null, 0);
using (MemoryStream ms = new MemoryStream(data))
{
BinaryReader br = new BinaryReader(ms);
while (ms.Position < ms.Length)
{
CanMessage m = CanMessage.DeserializeFrom(br);
if (MessageReceived != null)
{
MessageReceived(this, m);
}
}
}
}
ucl.Close();
}
