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VS2017配置C#使用json格式
顾怡静
  • Json
  • SDK
  • 配置环境
顾怡静
Always Easier Than Before

配置环境

用户可通过 socket 通讯向控制器控制端口 8055 发送指定格式的 json 字符串来实现相关sdk 功能。

VS软件配置

1.鼠标右键点击方案名

2.选择管理 NuGet 包管理器

3.在浏览选项输入 json，安装第一个插件包 Newtonsoft.Json

4.添加引用，在方案引用选项点击鼠标右键选中添加

5.在搜索框输入 Serialization，勾选第一个 using System.Runtime.Serialization 点击确定

添加引用

using：对命名空间的引用

添加引用

Examples

Example 1

using Newtonsoft.Json;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Net;
using System.Net.Sockets;
using System.Runtime.Serialization;
using System.Text;
namespace json_Csharp
{
    class Program
    {
        static void Main(string[] args)
        {
            String IP = "192.168.1.200";
            int port = 8055;
            Json.connectETController(IP, port);
            //获取机器人状态
            Json.Json_str getState = Json.SendCMD("getRobotState");
            if (getState.result.ToString() == "4")
            {
                //清除报警
                Json.Json_str clearAlarm = Json.SendCMD("clearAlarm");
            }
            Json.Json_str getMotorStatus = Json.SendCMD("getMotorStatus");
            if (getMotorStatus.result.ToString() == "false")
            {
                //同步编码器数据
                Json.Json_str set_servo_status = Json.SendCMD("syncMotorStatus");
            }
            //获取机器人位姿
            Json.Json_str getpose = Json.SendCMD("getRobotPose");
            Console.WriteLine("getpose:{0}", string.Join(",", getpose.robot_array));
            //获取机器人位置
            Json.Json_str getpos = Json.SendCMD("getRobotPos");
            Console.WriteLine("getpos:{0}", string.Join(",", getpos.robot_array));
        }
    }
    [DataContract]
class Json
    {
public static Socket ClientSocket;
[DataMember]
public string jsonrpc { get; set; }
[DataMember]
public string method { get; set; }
[DataMember]
public object param { get; set; }
[DataMember]
public int id { get; set; }
[DataMember]
public object error { get; set; }
[DataMember]
public object result { get; set; }
[DataMember]
public double[] robot_array { get; set; }
public static bool connectETController(string IP, int port)
{
try
{
IPAddress ip = IPAddress.Parse(IP); //将 IP 地址字符串转换成 IPAddress
实例
ClientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stre
am, ProtocolType.Tcp);//使用指定的地址簇协议、套接字类型和通信协议
IPEndPoint endPoint = new IPEndPoint(ip, port); // 用指定的 ip 和端口号
初始化 IPEndPoint 实例
ClientSocket.Connect(endPoint); //与远程主机建立连接
return true;
}
catch (Exception ex)
{
Console.WriteLine(ex);
return false;
throw;
}
}
public static Json_str SendCMD(string cmd, object param = null)
{
Json_str descJson = null;
    ArrayList d_array = new ArrayList();
string rec = "";
try
{
List<Json> send_json = new List<Json>(){
new Json(){jsonrpc="2.0",method=cmd,param=param,id=1 } };
string jsonData = JsonConvert.SerializeObject(send_json);
jsonData = jsonData.Substring(1, jsonData.Length - 2);
jsonData = jsonData.Replace("param", "params");
jsonData = jsonData.Replace("null", "[]");
jsonData += "\n";
byte[] message = Encoding.ASCII.GetBytes(jsonData); //通信时实际发送
的是字节数组，所以要将发送消息转换字节
ClientSocket.Send(message);//发送 byte 数组
byte[] receive = new byte[1024];//定义接收长度
int length = ClientSocket.Receive(receive); // length 接收字节数组长
度
rec = Encoding.ASCII.GetString(receive);
descJson = JsonConvert.DeserializeObject<Json_str>(rec);
if (descJson.result != null && descJson.result.ToString().IndexOf("["
) != -1)
{
string ret_string = descJson.result.ToString().Substring(descJson
.result.ToString().IndexOf("["), descJson.result.ToString().LastIndexOf("]"));
ret_string = ret_string.Replace("[", "");
ret_string = ret_string.Replace("]", "");
string[] s = ret_string.Split(',');
for (int i1 = 0; i1 < s.Length; i1++)
{
d_array.Add(Double.Parse(s[i1]));
}
descJson.robot_array = (double[])d_array.ToArray(typeof(double));
}
return descJson;
}
catch (Exception ex)
{
Console.Write(ex);
descJson = null;
return descJson;
}
}
public class Json_str
{
[DataMember]
    public string jsonrpc { get; set; }
[DataMember]
public object error { get; set; }
[DataMember]
public object result { get; set; }
[DataMember]
public int id { get; set; }
[DataMember]
public double[] robot_array { get; set; }
         }
    }
}

Example 2

using Newtonsoft.Json;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Net;
using System.Net.Sockets;
using System.Runtime.Serialization;
using System.Text;
namespace json_Csharp
{
class Program
{
static void Main(string[] args)
{
String IP = "192.168.1.200";
int port = 8055;
Json.connectETController(IP, port);
//获取机器人状态
Json.Json_str getState = Json.SendCMD("getRobotState");
if ((string)getState.result == "4")
{
//清除报警
Json.Json_str clearAlarm = Json.SendCMD("clearAlarm");
    }
Json.Json_str getMotorStatus = Json.SendCMD("getMotorStatus");
if ((string)getMotorStatus.result == "false")
{
//同步编码器数据
Json.Json_str set_servo_status = Json.SendCMD("syncMotorStatus");
}
double[] ready = { -90,-90,90,-90,90,-90,0,0};
Json.Json_str move_J = Json.SendCMD("moveByJoint", new { targetPos =
ready, speed = 20, acc = 50, dec = 50 });
//获取机器人状态
getState = Json.SendCMD("getRobotState");
while ((string)getState.result!="0")
{
getState = Json.SendCMD("getRobotState");
}
//获取机器人位姿
Json.Json_str getpose = Json.SendCMD("getRobotPose");
Console.WriteLine("getpose:{0}", string.Join(",", getpose.robot_array
));
double[] run_pose = getpose.robot_array;
run_pose[0] = run_pose[0] + 100;
Json.Json_str run_pos = Json.SendCMD("inverseKinematic", new { target
Pose = run_pose });
Json.Json_str move_L = Json.SendCMD("moveByLine", new { targetPos = r
un_pos.robot_array, speed=100, acc=50,dec=50 });
//获取机器人状态
getState = Json.SendCMD("getRobotState");
while ((string)getState.result != "0")
{
getState = Json.SendCMD("getRobotState");
}
}
}
[DataContract]
class Json
{
public static Socket ClientSocket;
[DataMember]
public string jsonrpc { get; set; }
[DataMember]
public string method { get; set; }
[DataMember]
    public object param { get; set; }
[DataMember]
public int id { get; set; }
[DataMember]
public object error { get; set; }
[DataMember]
public object result { get; set; }
[DataMember]
public double[] robot_array { get; set; }
public static bool connectETController(string IP, int port)
{
try
{
IPAddress ip = IPAddress.Parse(IP); //将 IP 地址字符串转换成
IPAddress 实例
ClientSocket = new Socket(AddressFamily.InterNetwork, SocketType.
Stream, ProtocolType.Tcp);//使用指定的地址簇协议、套接字类型和通信协议
IPEndPoint endPoint = new IPEndPoint(ip, port); // 用指定的 ip 和端
口号初始化 IPEndPoint 实例
ClientSocket.Connect(endPoint); //与远程主机建立连接
return true;
}
catch (Exception ex)
{
Console.WriteLine(ex);
return false;
throw;
}
}
public static Json_str SendCMD(string cmd, object param = null)
{
Json_str descJson = null;
ArrayList d_array = new ArrayList();
string rec = "";
try
{
List<Json> send_json = new List<Json>(){
new Json(){jsonrpc="2.0",method=cmd,param=param,id=1 } };
string jsonData = JsonConvert.SerializeObject(send_json);
jsonData = jsonData.Substring(1, jsonData.Length - 2);
jsonData = jsonData.Replace("param", "params");
    jsonData = jsonData.Replace("null", "[]");
jsonData += "\n";
byte[] message = Encoding.ASCII.GetBytes(jsonData); //通信时实际
发送的是字节数组，所以要将发送消息转换字节
ClientSocket.Send(message);//发送 byte 数组
byte[] receive = new byte[1024];//定义接收长度
int length = ClientSocket.Receive(receive); // length 接收字节数
组长度
rec = Encoding.ASCII.GetString(receive);
descJson = JsonConvert.DeserializeObject<Json_str>(rec);
if (descJson.result != null && descJson.result.ToString().IndexOf
("[") != -1)
{
string ret_string = descJson.result.ToString().Substring(desc
Json.result.ToString().IndexOf("["), descJson.result.ToString().LastIndexOf("]"))
;
ret_string = ret_string.Replace("[", "");
ret_string = ret_string.Replace("]", "");
string[] s = ret_string.Split(',');
for (int i1 = 0; i1 < s.Length; i1++)
{
d_array.Add(Double.Parse(s[i1]));
}
descJson.robot_array = (double[])d_array.ToArray(typeof(doubl
e));
}
return descJson;
}
catch (Exception ex)
{
Console.Write(ex);
descJson = null;
return descJson;
}
}
public class Json_str
{
[DataMember]
public string jsonrpc { get; set; }
[DataMember]
public object error { get; set; }
[DataMember]
public object result { get; set; }
    [DataMember]
public int id { get; set; }
[DataMember]
public double[] robot_array { get; set; }
}
}
}
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Always Easier Than Before
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