PC SDK - exception while reading RAPID data

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1

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.


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();
}
}
}

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 :

IRapidData data = rd.Value;

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 :


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
2

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.