PC SDK EventLog Domain

bgrant

Hi all,

I have an application that was working fine but is now throwing an exception on null reference. I am working with the event log domain. I have highlighted the line of code that throws the exception below. Thanks in advance!

using System;

using System.Text;

using System.Data.SqlClient;

using ABB.Robotics.Controllers;

using ABB.Robotics.Controllers.Messaging;

using ABB.Robotics.Controllers.Discovery;

using ABB.Robotics.Controllers.EventLogDomain;

namespace ControllerAPI

{

    class Program

    {

        static string GUID = System.Configuration.ConfigurationManager.AppSettings["System_ID"];

        static string RMQ_QN = System.Configuration.ConfigurationManager.AppSettings["RMQ_Queue_Name"];

        static string RMQ_SQL_SN = System.Configuration.ConfigurationManager.AppSettings["RMQ_SQL_Server_Name"];

        static string RMQ_SQL_DBN = System.Configuration.ConfigurationManager.AppSettings["RMQ_SQL_DB_Name"];

        static string RMQ_SQL_UN = System.Configuration.ConfigurationManager.AppSettings["RMQ_SQL_Username"];

        static string RMQ_SQL_PW = System.Configuration.ConfigurationManager.AppSettings["RMQ_SQL_Password"];

        static string RMQ_SQL_SP = System.Configuration.ConfigurationManager.AppSettings["RMQ_SQL_Stored_Proc"];

        static string EL_SQL_SN = System.Configuration.ConfigurationManager.AppSettings["EL_SQL_Server_Name"];

        static string EL_SQL_DBN = System.Configuration.ConfigurationManager.AppSettings["EL_SQL_DB_Name"];

        static string EL_SQL_UN = System.Configuration.ConfigurationManager.AppSettings["EL_SQL_Username"];

        static string EL_SQL_PW = System.Configuration.ConfigurationManager.AppSettings["EL_SQL_Password"];

        static string EL_SQL_SP = System.Configuration.ConfigurationManager.AppSettings["EL_SQL_Stored_Proc"];

        /// <summary>

        /// The main entry point for the application.

        /// </summary>

        [MTAThread]

        static void Main(string[] args)

        {

            NetworkScanner scanner = new NetworkScanner();

            scanner.Scan();

            // Wait a while for the scan to find more controllers if needed.

            System.Threading.Thread.Sleep(2000);

            scanner.Scan();

            IpcQueue myQueue;

            IpcMessage recMessage;

            Controller ctrl;

            ctrl = CreateController();

            ctrl.Logon(UserInfo.DefaultUser);

            Console.WriteLine("Controller-System: {0} time is: {1} System ID is: {2}", ctrl.SystemName, ctrl.DateTime, ctrl.SystemId);

            Console.WriteLine("Press any key to terminate");

            var Q = RMQ_QN;

            string msg = "";

            int index = 0;

            int queueid = (ctrl.Ipc.GetQueueId(Q));

            if (ctrl.Ipc.Exists(Q))

            {

                ctrl.Ipc.DeleteQueue(queueid);

                myQueue = ctrl.Ipc.CreateQueue(Q, 2, Ipc.IPC_MAXMSGSIZE);

            }

            else

            {

                myQueue = ctrl.Ipc.CreateQueue(Q, 2, Ipc.IPC_MAXMSGSIZE);

            }

            myQueue = ctrl.Ipc.GetQueue(Q);

            while (true)

            {

                

                ctrl.EventLog.MessageWritten += EventLogMessageWritten;

                recMessage = (new IpcMessage());

                IpcReturnType ret = IpcReturnType.Timeout;

                string answer = string.Empty;

                int timeout = 5000;

                //Check for msg in the PC SDK queue

                ret = myQueue.Receive(timeout, recMessage);

                if (ret == IpcReturnType.OK)

                {

                    //convert msg data to string

                    answer = new UTF8Encoding().GetString(recMessage.Data);

                    msg = answer.Trim(' ');

                    msg = msg.Remove(0, 8);

                    index = msg.LastIndexOf(">");

                    if (index > 0)

                    {

                        msg = msg.Substring(0, index + 1);

                        Console.WriteLine(msg.Length.ToString());

                        Console.WriteLine(msg);

                        LogMessage(msg);

                    }

                }

                else

                {

                    Console.WriteLine("Timeout!");

                }

            }

        }

        static Controller CreateController()

        {

            try

            {

                NetworkScanner scanner = new NetworkScanner();

                Controller @static = new Controller(ControllerFactory.FormatControllerId(new Guid(GUID)));

                return @static;

            }

            catch (Exception ex)

            {

                Console.WriteLine("The specified GUID cannot be found. The robot GUID can be found in the internal directory in the 'system.guid' file. The current sysID is: " + GUID);

                Console.WriteLine("Press any key to terminate");

                Console.ReadKey();

                Environment.Exit(1);

            }

            return null;

        }

        public static void LogMessage(object msg)

        {

            using (SqlConnection connection = new SqlConnection("Data Source=" + RMQ_SQL_SN + ";Initial Catalog=" + RMQ_SQL_DBN + ";User Id=" + RMQ_SQL_UN + ";Password=" + RMQ_SQL_PW))

            {

                SqlCommand command = new SqlCommand(RMQ_SQL_SP, connection);

                command.CommandType = System.Data.CommandType.StoredProcedure;

                // make a sqlparameter object that we'll use for each param

                SqlParameter sp;

                string xml = "<BODY>" + "<GUID>" + GUID + "</GUID>" + msg + "</BODY>";

                sp = new SqlParameter("@xml", System.Data.SqlDbType.Xml);

                sp.SqlValue = xml;

                command.Parameters.Add(sp);

                connection.Open();

                command.ExecuteNonQuery();

            }

        }

        public static void EventLogMessageWritten(object sender, MessageWrittenEventArgs e)

        {

            if (sender != null)

            if (e != null)

            {

                Console.WriteLine(e.Message.Title);

                //Console.WriteLine("EVENT HAPPENED");

                //using (SqlConnection connection = new SqlConnection("Data Source=;Initial Catalog=;User Id=;Password=

                //   string query = "INSERT into dbo.ABBEventLog (Data) VALUES (@A)";

                //  using (SqlCommand command = new SqlCommand(query, connection))

                //  {

                //      command.Parameters.AddWithValue("@A", "<A>" + "<SYSID>" + GUID + "</SYSID>" + "<TYPE>" + e.Message.Type + "</TYPE>" + "<CATEGORY>" + e.Message.CategoryId + "</CATEGORY>" + "<MNUM>" + e.Message.SequenceNumber + "</MNUM>" + "<TIME>" + e.Message.Timestamp + "</TIME>" + e.Message.Body + "</A>");

                //      connection.Open();

                //      command.ExecuteNonQuery();

                //  }

                //  }

            }

            else

                Console.WriteLine("Null Event Log Message");

        }

    }

}

bgrant

UPDATE:
I have tried this code with a virtual controller running in RobotStudio 6.08.8307.1040 and I can write any attribute of the event log message to the console. Could my issue be that I have to use the version of ABB.Robotics.Controllers.PC.dll that corresponds to my real controller RobotWare version? I am currently using ABB.Robotics.Controllers.PC.dll from PC SDK 6.08.