The wireless networked control system (WNCS) is a closed-loop hierarchical network that enables interaction among wireless communication, computation, and control components to support various services ranging from information exchange to intelligent decision making. Different from a single communication system aiming for reliable or efficient delivery, WNCS is goal-oriented, highlighting the ultimate control performance requirement guaranteed under various limits of communication, computation, and control resources. In this article, we present a comprehensive survey of WNCS from the communication perspective. We discuss appropriate WNCS architecture, topics, such as sensing strategy design, under energy and bandwidth constraints, state estimation problems in the presence of imperfect channels, and control approaches for WNCS performance. We further pay attention to the joint design within WNCS to achieve well-performing WNCS improvements. Moreover, considering the fact that timely transmission of the measurements is of significance to precise control, we provide a review of WNCS design involving the Age of Information (AoI) that copes with the goal-oriented requirements. The challenges and new research directions are discussed at the end of this survey.