TCP Communication

Upper Computer Sets TCP Communication Parameters

Command: 0x7320

Parameter List

Field	Type	Required	Description
client	object	No	Client parameters, present when type is 1
client.frameHeader	string	No	Data frame header, empty means none
client.ip	string	No	Server IP to connect to
client.numberSystem	int	No	Received data parsing base: 0-decimal, 1-hexadecimal
client.port	int	No	Communication port, range (0, 65535]
client.separator	string	No	Data separator
client.terminator	string	No	Data frame terminator, empty means none
server	object	No	Server parameters, present when type is 0
server.frameHeader	string	No	Data frame header, empty means none
server.ip	string	No	Current server IP
server.numberSystem	int	No	Received data parsing base: 0-decimal, 1-hexadecimal
server.port	int	No	Communication port, range (0, 65535]
server.separator	string	No	Data separator
server.terminator	string	No	Data frame terminator, empty means none
craft	int	Yes	Process number, range [1, 9]
robot	int	Yes	Current robot number, range [1, 4]
type	int	Yes	TCP communication mode: 0-server, 1-client, 2-configuration file

Request Example

{
  "client": {
    "frameHeader": "@",
    "ip": "192.168.1.111",
    "numberSystem": 0,
    "port": 9000,
    "separator": ",",
    "terminator": "!"
  },
  "craft": 1,
  "robot": 1,
  "server": {
    "frameHeader": "@",
    "ip": "192.168.0.229",
    "numberSystem": 0,
    "port": 9001,
    "separator": ",",
    "terminator": "!"
  },
  "type": 1
}

---

Upper Computer Queries TCP Communication Parameters

Command: 0x7321

Parameter List

Field	Type	Required	Description
craft	int	Yes	Process number, range [1, 9]
robot	int	Yes	Robot number, range [1, 4]
type	int	Yes	TCP communication mode: 0-server, 1-client, 2-configuration file; when 2, controller sends server parameters

Request Example

{
  "craft": 1,
  "robot": 1,
  "type": 2
}

---

Controller Replies with TCP Communication Parameters

Command: 0x7322

Parameter List

Field	Type	Required	Description
client	object	No	Client parameters, present when type is 1
client.frameHeader	string	No	Data frame header, empty means none
client.ip	string	No	Server IP to connect to
client.numberSystem	int	No	Received data parsing base: 0-decimal, 1-hexadecimal
client.port	int	No	Communication port, range (0, 65535]
client.separator	string	No	Data separator
client.terminator	string	No	Data frame terminator, empty means none
server	object	No	Server parameters, present when type is 0
server.frameHeader	string	No	Data frame header, empty means none
server.ip	string	No	Current server IP
server.numberSystem	int	No	Received data parsing base: 0-decimal, 1-hexadecimal
server.port	int	No	Communication port, range (0, 65535]
server.separator	string	No	Data separator
server.terminator	string	No	Data frame terminator, empty means none
craft	int	Yes	Process number, range [1, 9]
robot	int	Yes	Current robot number, range [1, 4]
type	int	Yes	TCP communication mode: 0-server, 1-client, 2-configuration file

Response Example

{
  "client": {
    "frameHeader": "@",
    "ip": "192.168.1.111",
    "numberSystem": 0,
    "port": 9000,
    "separator": ",",
    "terminator": "!"
  },
  "craft": 1,
  "robot": 1,
  "server": {
    "frameHeader": "@",
    "ip": "192.168.0.229",
    "numberSystem": 0,
    "port": 9001,
    "separator": ",",
    "terminator": "!"
  },
  "type": 1
}

---

Upper Computer Requests TCP Communication Connection

Command: 0x7323

Parameter List

Field	Type	Required	Description
craft	int	Yes	Process number, range [1, 9]
robot	int	Yes	Robot number, range [1, 4]

Request Example

{
  "craft": 1,
  "robot": 1
}

---

Upper Computer Requests TCP Communication Disconnection

Command: 0x7324

Parameter List

Field	Type	Required	Description
craft	int	Yes	Process number, range [1, 9]
robot	int	Yes	Robot number, range [1, 4]

Request Example

{
  "craft": 1,
  "robot": 1
}