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

Object

NamedObject

SDKBase

IpcQueue

Implements

IComparable

INamedObject

IDisposable

Inherited Members

SDKBase.Dispose()

SDKBase.Dispose(Boolean)

NamedObject.Equals(String)

NamedObject.Equals(NamedObject)

NamedObject.Equals(Object)

NamedObject.CompareTo(String)

NamedObject.CompareTo(NamedObject)

NamedObject.CompareTo(Object)

NamedObject.GetHashCode()

NamedObject.ToString()

NamedObject.Name

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
Int32

MessageSizeLimit

Returns the size limitation for a message.

Declaration

public int MessageSizeLimit { get; }

Property Value

Type	Description
Int32

QueueId

Returns the ID of the Ipc queue.

Declaration

public int QueueId { get; }

Property Value

Type	Description
Int32

QueueName

Returns the name of the Ipc queue.

Declaration

public string QueueName { get; }

Property Value

Type	Description
String

RemoteAccessible

Specifies whether the queue is remotely accessible or not.

Declaration

public bool RemoteAccessible { get; }

Property Value

Type	Description
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
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
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
Int32	Sender	The sender of the message
Int32	Cmd	The type of command
Int32	UserDef	A user defined value
Int32	UserData	User information
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
ArgumentException	if Data is invalid.

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

This method sends a message to the queue.

Declaration

public void Send(int Sender, int Cmd, int UserDef, int UserData, byte[] Data, int Length)

Parameters

Type	Name	Description
Int32	Sender	The sender of the message
Int32	Cmd	The type of command
Int32	UserDef	A user defined value
Int32	UserData	User information
Byte[]	Data	The data that will be sent
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
ArgumentException	if Data is invalid.

Implements

System.IComparable

INamedObject

System.IDisposable