C#读ecat伺服参数

下面是一个使用C#中的Socket对象来读取EtherCAT伺服参数的示例方法：

csharp
using System;
using System.Net;
using System.Net.Sockets;
using System.Text;

public class EtherCATServoReader
{
    private const int BufferSize = 1024;
    private const int Timeout = 5000; // 5 seconds

    public static string ReadServoParameters(string ipAddress, int port)
    {
        var endpoint = new IPEndPoint(IPAddress.Parse(ipAddress), port);

        using (var socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp))
        {
            socket.ReceiveTimeout = Timeout;

            try
            {
                socket.Connect(endpoint);

                // Send the command to read the servo parameters
                var command = "READ_SERVO_PARAMETERS";
                var buffer = Encoding.ASCII.GetBytes(command);
                socket.Send(buffer);

                // Receive the response
                buffer = new byte[BufferSize];
                var response = new StringBuilder();

                while (true)
                {
                    int bytesRead = socket.Receive(buffer);
                    response.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead));

                    // Check if the response is complete
                    if (response.ToString().EndsWith("END"))
                    {
                        break;
                    }
                }

                return response.ToString();
            }
            catch (SocketException ex)
            {
                Console.WriteLine("Socket Exception: " + ex.Message);
                return null;
            }
        }
    }
}
使用示例：

csharp
var ipAddress = "192.168.0.100";
var port = 5000;

var result = EtherCATServoReader.ReadServoParameters(ipAddress, port);
if (result != null)
{
    Console.WriteLine(result);
}
else
{
    Console.WriteLine("Failed to read servo parameters.");
}
请注意，上述示例仅演示了如何使用Socket对象进行基本的TCP通信，实际情况下，您需要根据您的EtherCAT设备和协议规范来编写相应的代码。