It started as a check on someone's well-being by Middletown Township police after a 42-year-old Bucks County man had sent concerning messages to friends and family.

More than eight hours later, after a lengthy standoff between the man and police, a daylong barricade situation ended peacefully Saturday night.

According to Middletown police, officers responded to the 500 block of Hulmeville Road in Langhorne about noon Saturday after friends and family had grown concerned about the man's behavior.

When police arrived, they found the man - whom police did not identify - barricaded in his home. He was "in crisis," said Police Lt. Steve Forman.

Police said he appeared determined not to leave the house. So about 60 first responders - a SWAT team, negotiators, firefighters, and police officers - gathered at the scene. Several neighbors nearby were evacuated.

Forman said that after police had not communicated with the man for several hours, they dispersed tear gas into the house to try to coax him out. Still, he did not respond.

Eventually, led by a robot sending video feedback, authorities were able to enter the home and peacefully take the man into custody just after 8 p.m. He had not been charged with any criminal offenses Saturday night. Police said they were filing a petition for a mental-health evaluation.

During the incident, Forman said, the man fired one shot, striking only a tree. Police did not return fire.