Add console XML-RPC examples

Author: AlfredTouring

Examples/ConsoleWindowsLinuxMac/Program.cs

@@ -41,6 +41,7 @@ static void Main(string[] args)
 
                 _ur = new UR();
                 _ur.CartesianInfoReceived += CartesianInfoReceived;
+                _ur.XmlRpcServerRequest += XmlRpcServerRequest;
 
                 _ur.Connect(ip);
 
@@ -61,6 +62,8 @@ static void Main(string[] args)
 
         private static void CartesianInfoReceived(object sender, CartesianInfoPackageEventArgs e)
         {
+            // Clear console and display cartesian info every 200ms
+
             if ((DateTime.Now - _lastReceived).TotalMilliseconds < 200) return;
              _lastReceived = DateTime.Now;
 
@@ -73,5 +76,74 @@ private static void CartesianInfoReceived(object sender, CartesianInfoPackageEve
             Console.WriteLine($"RZ = {e.Rz.ToString("0.00")}°");
             Console.WriteLine("Press any key to close...");
         }
+
+        // Method called when the robot sends a request
+        // You shoud execute on your robot : rpc:=rpc_factory("xmlrpc","http://192.168.0.10:50000")
+        // Replace the IP address 192.168.0.10 with the IP of the machine running this .NET code
+        // If you don't know your IP, you can find it in your interface properties or in with this SDK in the property : ur.DataStreamingLocalEndPoint
+        // Use xml_rpc_sample.urp program to test this feature
+        private static void XmlRpcServerRequest(object sender, XmlRpcEventArg request)
+        {
+            Console.WriteLine("Robot IP : " + request.EndPoint.Address);
+            // Prints :
+            // Robot IP : 192.168.0.1
+
+            // Set the returned answer according to the method and its arguments
+            switch (request.MethodName)
+            {
+                case "get_answer":
+                    // Robot script : answer1:=rpc.get_answer("Hello", True, False, 12, 12.2, p[100,100,120,0.1,0,0], [12,1.2,123])
+                    // Reply : answer1:=TRUE    
+
+                    foreach (var argument in request.Arguments)
+                    {
+                        Console.WriteLine(argument.ToString()); // Prints argument value : "Hello", "true", "false", "12", ...
+                    }
+
+                    request.Answer = true;
+                    break;
+
+                case "GetPose":
+                    // Robot script : answer2:=rpc.GetPose()
+                    // Reply : answer2:=p[100,200,100,0,0,0]                    
+                    request.Answer = new Pose(100, 200, 100, 0, 0, 0);
+                    break;
+
+                case "HowAreYou":
+                    // Robot script : answer3:=rpc.HowAreYou("Alfred")
+                    // Reply : answer3:="Fine thx Alfred"                    
+                    request.Answer = "Fine thx " + request.Arguments[0];
+                    break;
+
+                case "SumFirstArray":
+                    // Robot script : answer4:=rpc.SumFirstArray([1,3.5,-2])
+                    // Reply : answer4:=2.5                    
+                    double[] argument1 = request.Arguments[0];
+
+                    double sum1 = 0;
+                    for (int i = 0; i < argument1.Length; i++) sum1 += argument1[i];
+
+                    request.Answer = sum1;
+
+                    break;
+
+                case "SumMyArguments":
+                    // Robot script : answer5:=rpc.SumMyArguments(1,3.5,-2)
+                    // Reply : answer5:=2.5                    
+                    double sum = 0;
+                    for (int i = 0; i < request.Arguments.Length; i++)
+                    {
+                        double argValue = request.Arguments[i];
+                        sum += argValue;
+                    }
+
+                    request.Answer = sum;
+                    break;
+
+                default:
+                    // Do not reply and the answer variable is not assigned
+                    break;
+            }
+        }
     }
 }