udp.Connect(ip, Port);
            udp.Send(Cmd , len);
            byte[] receive = new byte[256];
            return UdpReceiveData(ip, Port);   

public static bool messageReceived = false;

public static void ReceiveCallback(IAsyncResult ar)
{
  UdpClient u = (UdpClient)((UdpState)(ar.AsyncState)).u;
  IPEndPoint e = (IPEndPoint)((UdpState)(ar.AsyncState)).e;

  Byte[] receiveBytes = u.EndReceive(ar, ref e);
  string receiveString = Encoding.ASCII.GetString(receiveBytes);

  Console.WriteLine("Received: {0}", receiveString);
  messageReceived = true;
}

public static void ReceiveMessages()
{
  // Receive a message and write it to the console.
  IPEndPoint e = new IPEndPoint(IPAddress.Any, listenPort);
  UdpClient u = new UdpClient(e);

  UdpState s = new UdpState();
  s.e = e;
  s.u = u;

  Console.WriteLine("listening for messages");
  u.BeginReceive(new AsyncCallback(ReceiveCallback), s);

  // Do some work while we wait for a message. For this example,
  // we'll just sleep
  while (!messageReceived)
  {
    Thread.Sleep(100);
  }
}