PC SDK - exception while reading RAPID data

alamaison

I'm working with PC SDK 5.14, and i'm trying to make a software in C# which receive and send some data to an ABB Controller.

In my software, i wrote some code to register to an event when one of the rapid value change. Then I read this value and send it to the rest of my code.

[CODE]

private bool registerRapidDataEvents()

{

  RapidData rd =   controller.Rapid.GetTask("T_ROB1").GetModule("LASER")

                             .GetRapidData("LASER_MODE");

  rd.ValueChanged += new EventHandler<DataValueChangedEventArgs>

                                                     (laserLaserMode_ValueChanged);

  rd.Dispose();

  return true;

}

private void laserLaserMode_ValueChanged(object sender, DataValueChangedEventArgs e)

{

  if (this.callbackObject != null && this.controller != null)

  {

     RapidData rd = null;

     try

     {

      rd = controller.Rapid.GetTask("T_ROB1")

                            .GetModule("LASER")

                            .GetRapidData("LASER_MODE");

      IRapidData data = rd.Value;

      if (data is ABB.Robotics.Controllers.RapidDomain.Byte)

      {

         ABB.Robotics.Controllers.RapidDomain.Byte value =                    

                    (ABB.Robotics.Controllers.RapidDomain.Byte)data;

         OnLaserModeChanged((int)value);

       }

   }

   catch (ABB.Robotics.BaseException ex)

   {}

   finally

   {

       if (rd != null)

       rd.Dispose();

    }

  }

}

[/CODE]

My problem is that one exception of type "System.Threading.ThreadAbortException" is send by ABB.Robotics.Adapters.IRC5.dll

This exception occur when I execute, in the event callback function, the line :

[CODE]IRapidData data = rd.Value;[/CODE]

I don't know what I'm doing wrong because I succesfully register the event without any problem.

For debugging purpose I wrote some code in RobotStudio which is running in a virtual robot :

[CODE]

MODULE LASER

   PERS byte LASER_MODE:=1; 

   PROC main()

   While true DO

      IF LASER_MODE<8 THEN

         LASER_MODE := LASER_MODE + 1;

      ELSE

         LASER_MODE := 0;

      ENDIF

      WaitTime 5;

   ENDWHILE

   ENDPROC

ENDMODULE

[/CODE]

baldwindc

Probably not a complete fix, but remove your call to "rd.dispose()" 

You're going to be using the variable for the duration of the class since you set up an event handler.