XML-RPC

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Common;
using UnderAutomation.UniversalRobots.XmlRpc;

namespace CSharpSnippets
{
  class XmlRpc
  {
    
    static void Main(string[] args)
    {
      // Create a new robot instance
      var robot = new UR();

      // Setup connection to the robot
      var param = new ConnectParameters();
      param.IP = "192.168.0.1";

      // Enable XML-RPC server on port 50000
      param.XmlRpc.Enable = true;
      param.XmlRpc.Port = 50000;

      // Connect to the robot
      robot.Connect(param);

      robot.XmlRpc.XmlRpcServerRequest += XmlRpc_XmlRpcServerRequest;

      //...
    }


    // 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
    private static void XmlRpc_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;
      }
    }
    
  }
}

using UnderAutomation.UniversalRobots.XmlRpc;

class XmlRpcDirect
{
  static void Main(string[] args)
  {
    
    var server = new XmlRpcServer();

    server.Start(50000);

    server.XmlRpcServerRequest += Server_XmlRpcServerRequest;
    
  }

  
  private static void Server_XmlRpcServerRequest(object sender, XmlRpcEventArg request)
  {
    string methodName = request.MethodName;
  }
  
}