Class IpcQueue

This type represents an Ipc queue, which can be used to send data between the controller and its clients. IPC can be used with RW 5.10 and later. Messages can be sent to the queue from other clients who knows the queue id. Only the creator of the queue can recieve messages from the queue.

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

Messages must be sent and recieved from a MTA thread. This means that you shall not send and recieve messages from the UI thread. See Receive(Int32, IpcMessage) for more information.

Properties

Capacity

Returns the capacity (max number of elements) of the queue.

Declaration
public int Capacity { get; }
Property Value
Type Description
System.Int32

MessageSizeLimit

Returns the size limitation for a message.

Declaration
public int MessageSizeLimit { get; }
Property Value
Type Description
System.Int32

QueueId

Returns the ID of the Ipc queue.

Declaration
public int QueueId { get; }
Property Value
Type Description
System.Int32

QueueName

Returns the name of the Ipc queue.

Declaration
public string QueueName { get; }
Property Value
Type Description
System.String

RemoteAccessible

Specifies whether the queue is remotely accessible or not.

Declaration
public bool RemoteAccessible { get; }
Property Value
Type Description
System.Boolean

Methods

Receive(Int32, IpcMessage)

This method receives a message from the queue.

Declaration
public IpcReturnType Receive(int Timeout, IpcMessage Msg)
Parameters
Type Name Description
System.Int32 Timeout

A timeout value in milliseconds.
IpcMessage Msg

The received message (if any).
Returns
Type Description
IpcReturnType

The result of the call.
Remarks

IPC can only be used with RW 5.10 and later.

This method must be called from a MTA thread. Create a separate reciever thread and use the method Thread.SetApartmentState() to set the apartment state to MTA before starting it.

Calls to this method are blocking.

Examples

This example creates a queue and then tries to read a message from it.

Controller c = new Controller();

IpcQueue rabQueue = c.Ipc.CreateQueue("RABQueue", 5, Ipc.MaxMessageSize); IpcMessage message = new IpcMessage(Ipc.MaxMessageSize);

rabQueue.Receive(1000, message);

// Expecting IPC message data of type string. Convert it for later use. string messageData = new UTF8Encoding().GetString(message.Data);

Exceptions
Type Condition
System.ArgumentException

QueueId is invalid.

Send(IpcMessage)

This method sends a message to a RAPID queue.

Declaration
public void Send(IpcMessage Message)
Parameters
Type Name Description
IpcMessage Message

The message to send.
Remarks

IPC can only be used with RW 5.10 and later.

There must be code to receive the message in the RAPID program.

No mastership is required to send a message.

This method must be called from a MTA thread. Create a separate sender thread and use the method Thread.SetApartmentState() to set the apartment state to MTA before starting it.

Examples

In this example a message (string;"test") is sent to a RAPID queue.

private void SendData()
{
    Controller c = new Controller();
    IpcQueue rapidQueue = c.Ipc.GetQueue("RMQ_T_ROB1");
    IpcMessage message = new IpcMessage();
    Byte[] data = new UTF8Encoding().GetBytes("string;\"test\"");
    message.SetData(data);
    rapidQueue.Send(message);
}

Send(Int32, Int32, Int32, Int32, Byte[])

This method sends a message to the queue.

Declaration
public void Send(int Sender, int Cmd, int UserDef, int UserData, byte[] Data)
Parameters
Type Name Description
System.Int32 Sender

The sender of the message
System.Int32 Cmd

The type of command
System.Int32 UserDef

A user defined value
System.Int32 UserData

User information
System.Byte[] Data

The data that will be sent
Remarks

This method must be called from a MTA thread. Create a separate sender thread and use the method Thread.SetApartmentState() to set the apartment state to MTA before starting it.

Examples

Controller c = new Controller();

IpcQueue rapidQueue = c.Ipc.GetQueue("RMQ_T_ROB1");

Byte[] data = new UTF8Encoding().GetBytes("string;"test"");

rapidQueue.Send(0, 0, 0, 0, data);

Exceptions
Type Condition
System.ArgumentException

if Data is invalid.

Send(Int32, Int32, Int32, Int32, Byte[], Int32)

This method sends a message to the queue.

Declaration
[Obsolete("Use Send(int Sender, int Cmd, int UserDef, int UserData, Byte[] Data) instead.")]
public void Send(int Sender, int Cmd, int UserDef, int UserData, byte[] Data, int Length)
Parameters
Type Name Description
System.Int32 Sender

The sender of the message
System.Int32 Cmd

The type of command
System.Int32 UserDef

A user defined value
System.Int32 UserData

User information
System.Byte[] Data

The data that will be sent
System.Int32 Length

Length of the data that will be sent
Remarks

This method must be called from a MTA thread. Create a separate sender thread and use the method Thread.SetApartmentState() to set the apartment state to MTA before starting it.

Examples

Controller c = new Controller();

IpcQueue rapidQueue = c.Ipc.GetQueue("RMQ_T_ROB1");

Byte[] data = new UTF8Encoding().GetBytes("string;"test""); Send string including null character rapidQueue.Send(0, 0, 0, 0, data, data.Length+1);

Exceptions
Type Condition
System.ArgumentException

if Data is invalid.

Implements

System.IComparable
System.IDisposable