PC SDK EventLog Domain

bgrantbgrant Canada
edited April 17 in Developer Tools
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");
        }
    }
}

Comments

  • bgrantbgrant Canada
    edited April 17
    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. 

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