In this tutorial, you can learn the basics of how to communicate with the Furhat system by using a TCP socket by following a C Sharp example implementation. This example only exemplifies a one-way communication with Furhat. For more details about distributed systems communication with FurhatOS and IrisTK, consult Distributed Systems.

Note: this tutorial assumes that you:

  • Have a Furhat robot
  • Can access the robot through a web browser
  • Have Visual Studio installed for running the example (Monodevelop can be used as an alternative)

Connect using the TCP broker

First, create a TCP Client that connects with FurhatOS. In this case, we are connecting to the system through the local dev-server and are thus using "localhost" as the hostname of our client. The default port for TCP communication with Furhat is 1932.

TcpClient socket = new TcpClient("localhost", 1932);

Send messages

Define a function that allows you to send messages over the TCP socket

public static void Send(string msg, TcpClient socket)
        //Provides the underlying stream of data for network access
        NetworkStream netStream = socket.GetStream();

        //Converts the intended message to byte format
        Byte[] sendBytes = Encoding.ASCII.GetBytes(msg);

        //Sends the message over the network
        netStream.Write(sendBytes, 0, sendBytes.Length);

Send a message that connects the socket to the Furhat broker.

Send("CONNECT furhat MyClassName\n", socket);

As an example, we will make the robot say the phrase "Hello there". For that, we will create two strings. One with an header for an action.speech event and one that will hold a deserialized JSON event object. For more information about what type of events you can send and receive from Furhat, please consult IrisTK Events.

string sendEventHeader = "EVENT action.speech ";

string sampleSayEvent =
        "{\"class\" : \"iristk.system.Event\", " +
        "\"event_name\" : \"action.speech\", " +
        "\"event_id\" : \"my_unique_id_123\", " +
        "\"text\" : \"Hello there\"}";

To finalize this example you should first send the header of the event and the number of bytes of the JSON event to FurhatOS.

Send(sendEventHeader + ASCIIEncoding.ASCII.GetByteCount(sampleSayEvent) + "\n", socket);

And send the actual event that makes Furhat say Hello there.

Send(sampleSayEvent, socket);

You can download the full C Sharp example which you can run as a console project in Visual Studio here.