RAPID Message Queue with PC SDK

RAPID Programming
1

I am getting error “A RMQ message was discarded in task T_ROB1. RMQ_T_ROB1 received a RMQ message that couldn’t be handled.”
What Exactly I am doing wrong here ?

public class Test
{
IpcQueue myQueue;
private IpcQueue tRob1Queue;

private IpcMessage sendMessage;
private IpcMessage recMessage;
public Test()
{

// _Camera.AprilTagCordinatesChanged += DMDecoder_CordinatesChanged;
}

///


/// The main entry point for the application.
///
[MTAThread]
public void start()
{
NetworkScanner scanner = new NetworkScanner();
scanner.Scan();
System.Threading.Thread.Sleep(2000);
scanner.Scan();
var ControllerInfos = scanner.Controllers;
var ctrl = Controller.Connect(ControllerInfos[0], ConnectionType.Standalone);
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”);

// Get the T_ROB1 queue to send messages to the RAPID task
tRob1Queue = ctrl.Ipc.GetQueue(“RMQ_T_ROB1”);

// Create my own PC SDK queue to receive messages
if (!ctrl.Ipc.Exists(“PC_SDK_Q”))
{
myQueue = ctrl.Ipc.CreateQueue(“PC_SDK_Q”, 5, Ipc.IPC_MAXMSGSIZE);
}
myQueue = ctrl.Ipc.GetQueue(“PC_SDK_Q”);
ctrl.EventLog.MessageWritten += EventLogMessageWritten;
recMessage = new IpcMessage();
sendMessage = new IpcMessage();

SendMsgToRapid();

}

static Controller CreateController()
{
try
{
Guid test = new Guid();
NetworkScanner scanner = new NetworkScanner();
Controller controller = new Controller(ControllerFactory.FormatControllerId(new Guid()));
return controller;
}
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: " );
Console.WriteLine(“Press any key to terminate”);
Console.ReadKey();
Environment.Exit(1);
}
return null;
}

private void SendMsgToRapid()
{
Thread.Sleep(5000);
try
{
while (true)
{
SendMessage(true);

CheckReturnMsg();

Thread.Sleep(10000); // Send every 10 seconds
}
}
catch (Exception ex)
{
Console.WriteLine($“{ex.Message}”);
throw ex; // Rethrow to notify caller
}
}

public void SendMessage(bool boolMsg)
{

byte data = null;

// Create message data
if (boolMsg)
{
data = new UTF8Encoding().GetBytes(“bool;TRUE”);
}
else
{
data = new UTF8Encoding().GetBytes(“bool;FALSE”);
}

// Place data and sender information in message
sendMessage.SetData(data);
sendMessage.Sender = myQueue.QueueId;

// Send message to the RAPID queue
tRob1Queue.Send(sendMessage);
}

private void CheckReturnMsg()
{
Thread.Sleep(5000);

IpcReturnType ret = IpcReturnType.Timeout;
string answer = string.Empty;
int timeout = 5000; // 5 seconds timeout

// Check for a message in the PC SDK queue
ret = myQueue.Receive(timeout, recMessage);
if (ret == IpcReturnType.OK)
{
// Convert message data to string
answer = new UTF8Encoding().GetString(recMessage.Data);
Console.WriteLine(answer); // Should show: “Acknowledged”
}
else
{
Console.WriteLine(answer);
}
}

public static void EventLogMessageWritten(object sender, MessageWrittenEventArgs e)
{
if (sender != null && e != null)
{
Console.WriteLine(e.Message.Title);
// Additional code for event logging could be placed here
}
else
{
Console.WriteLine(“Null Event Log Message”);
}
}
}
}
##rapid code

MODULE RAB_COMMUNICATION
    VAR bool flag := FALSE;
    VAR intnum connectnum;
    PROC main()
        CONNECT connectnum WITH RABMsgs;
        IRMQMessage flag, connectnum;
        WHILE flag = FALSE DO
            !do something, eg. normal processing...
            WaitTime 3;
        ENDWHILE
        !PC SDK message received - do something...
        TPWrite "Message from PC SDK, will now...";
        IDelete connectnum;
        EXIT;
    ENDPROC
    TRAP RABMsgs
        VAR rmqmessage msg;
        VAR rmqheader header;
        VAR rmqslot rabclient;
        VAR num userdef;
        VAR string ack := "Acknowledged";
        RMQGetMessage msg;
        RMQGetMsgHeader msg \Header:=header
            \SenderId:=rabclient\UserDef:=userdef;
        !check data type and assign value to flag variable
        IF header.datatype = "bool" THEN
            RMQGetMsgData msg, flag;
            !return receipt to sender
            RMQSendMessage rabclient, ack;
        ELSE
            TPWrite "Unknown data received in RABMsgs...";
        ENDIF
    ENDTRAP
ENDMODULE