Class Ipc

This class is the entry point to the IPC functionality of the robot controller. IPC can be used with RW 5.10 and later.

Inheritance
System.Object
NamedObject
SDKBase
Ipc
Implements
System.IComparable
System.IDisposable
Inherited Members
Namespace: ABB.Robotics.Controllers.Messaging
Assembly: ABB.Robotics.Controllers.PC.dll
Syntax
public class Ipc : SDKBase, IComparable, INamedObject, IDisposable

Fields

IPC_MAXMSGSIZE

Maximum IPC message size (not including header)

Declaration
[Obsolete("IPC_MAXMSGSIZE is deprecated, please use GetMaximumMessageSize() instead")]
public const int IPC_MAXMSGSIZE = 444
Field Value
Type Description
System.Int32

Properties

GetMaxPackageSize

Returns the maximum size of an Ipc package.

Declaration
[Obsolete("GetMaxPackageSize is deprecated, please use GetMaximumPackageSize() instead")]
public int GetMaxPackageSize { get; }
Property Value
Type Description
System.Int32

MaxMessageSize

The maximum size of an Ipc message.

Declaration
[Obsolete("MaxMessageSize is deprecated, please use GetMaximumMessageSize() instead")]
public static int MaxMessageSize { get; }
Property Value
Type Description
System.Int32

MaxPackageSize

Maximum IPC package size (not including header)

Declaration
[Obsolete("MaxPackageSize is deprecated, please use GetMaximumPackageSize() instead.")]
public static int MaxPackageSize { get; }
Property Value
Type Description
System.Int32

Queues

Returns the available Ipc queues of the controller. Can be used with RW 5.10 and later.

Declaration
public IpcQueue[] Queues { get; }
Property Value
Type Description
IpcQueue[]

Methods

CreateQueue(String, Int32, Int32)

Creates an Ipc queue.

Declaration
public IpcQueue CreateQueue(string name, int capacity, int msgSize)
Parameters
Type Name Description
System.String name

Name of the queue.
System.Int32 capacity

The capacity (max number of messages) of the queue.
System.Int32 msgSize

Maximum size per message.
Returns
Type Description
IpcQueue

The created queue.
Examples

Controller c = new Controller();

IpcQueue queue = c.Ipc.CreateQueue("RABQueue", 5, Ipc.MaxMessageSize);

DeleteQueue(Int32)

Deletes an Ipc queue.

Declaration
public void DeleteQueue(int id)
Parameters
Type Name Description
System.Int32 id

Queue ID
Examples

Controller c = new Controller()

int queueId = c.Ipc.GetQueueId("RABQueue");

if (c.Ipc.Exists(queueId)) c.Ipc.DeleteQueue(queueId)

Exists(String)

Checks if a named Ipc queue exists.

Declaration
public bool Exists(string name)
Parameters
Type Name Description
System.String name

The name of the queue.
Returns
Type Description
System.Boolean

True if the named queue exists, otherwise false.

GetMaximumMessageSize()

Returns the maximum size of an Ipc Message.

Declaration
public int GetMaximumMessageSize()
Returns
Type Description
System.Int32

GetMaximumPackageSize()

Returns the maximum size of an Ipc package.

Declaration
public int GetMaximumPackageSize()
Returns
Type Description
System.Int32

GetQueue(Int32)

Returns an existing queue.

Declaration
public IpcQueue GetQueue(int id)
Parameters
Type Name Description
System.Int32 id

Queue ID.
Returns
Type Description
IpcQueue

The queue.

GetQueue(String)

Gets an existing queue.

Declaration
public IpcQueue GetQueue(string name)
Parameters
Type Name Description
System.String name

Name of the queue.
Returns
Type Description
IpcQueue

The queue.

GetQueueId(String)

Returns the ID of the specified queue name.

Declaration
public int GetQueueId(string name)
Parameters
Type Name Description
System.String name

The name of the Ipc queue.
Returns
Type Description
System.Int32

The id of the queue.

GetQueueName(Int32)

Returns the queue name from a specified queue ID.

Declaration
public string GetQueueName(int id)
Parameters
Type Name Description
System.Int32 id

The ID.
Returns
Type Description
System.String

The name or null if ID is missing.

Implements

System.IComparable
System.IDisposable