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MiniRobotLanguage (MRL)
TWM. Command
Text Window Message
Intention
Send a Text-Message to another running robot instance, which must be in receiving mode, using the WFM. command. Usage is simple:
' Sent Text to last localized Window use "19" as dwdata
TWM.Text
' Sent Text to robot $$CMH, use 19 (default) as dwdata
TWM.Text|$$CMH
' Sent Text to Windowhandle in $$MYW, use 21 as dwdata
TWM.Text|$$MYW|21
As the PRV. command is much more easy to use, for "Inter-Robot Communication", its the preferred way to exchange data between robots.
The TWM. / WFM. method is more complicated, and should be used primarily to communicate with external programs.
This command can be used to communicate (send messages) to WinRobots compatible automation-systems.
Syntax
TWM.P1[|P2][|P3]
Parameter Explanation
P1 - Text/String to send to the other robot.
P2 - (optional) Receiver/Target window handle
(communications handle). If omitted, last localized
window is been taken as receiver.
P3 - (optional) dwData, a number, which is 19 by default.
It's recommended to ignore this number and omit this
parameter, unless you now what you do.
Please note that you can get the window-handle of this instance by using the #cbw# Systemvariable.
Example
'**********************************************
' TWM./WFM. - Sample
' Shows that the Parallel-Robot starts with
' all variables as they have been at starting-time
' of the starting robot.
' It can also use all Subroutines in this file.
'**********************************************
VAR.$$INP=0
VAR.$$CMH=#cbw#
PRT. My Name is Robbi $$CMH.
'-----------------------------------------------------------
PRR.
PRT.I am Parallel-Robot Robbi: #cbw#
PRT. I am going to send to: $$CMH
PAU.2
TWM.#This is my message!#|$$CMH
PRT.Parallelrobot Ending.
PAU.12
END.
PRE.$$RET|0
PRT. I am waiting for a Message from Robbi: $$RET
'-----------------------------------------------------------
WFM.md|$$WAI|19
MBX.I got: $$WAI
END.
'-----------------------------------------------------------
Remarks
To implement a communication between the SPR and an external program, you can use the following Sub-Programs (BASIC-Code). The communication is done using the WM_COPYDATA-Message.
'#################################################################
'#
'#################################################################
' T01 - hwnd, T02 - Text$,T05 - eigenes Empfänger-Handel, T03 - optionale Zahl,B01 - wenn >0 dann wird Postmessage statt Sendmessage verwendet
FUNCTION PM_SendPM(BYVAL T01 AS DWORD,BYVAL T02 AS STRING,BYVAL T05 AS DWORD,OPT BYVAL T03 AS LONG,OPT BYVAL B01 AS BYTE) AS LONG
REGISTER R01 AS DWORD,R02 AS LONG
LOCAL S01 AS STRING
' T05 - Own Handle
S01="TPMS"+MKDWD$(T05)+T02
' hTarget, dwdata-Zahl,Text$,Send/Post
R02=PM_SendPrivateMsg(T01,T03,S01,B01)
enx:
FUNCTION = R02
END FUNCTION
'#################################################################
'#
'#################################################################
' Returns 0 oder 1 (sucess)
' Format: "TPMS"+MKDWD$(Sender)+MSG$
FUNCTION PM_GetPM(BYREF PrivateMsg AS STRING, BYVAL wParam AS LONG, BYVAL lParam AS LONG, BYREF sender AS DWORD,BYREF dwdata AS LONG) AS LONG
REGISTER R01 AS LONG
LOCAL S01,S02 AS STRING
dwdata=PM_GetPrivateMsg(S01,wParam,lParam)
S02=LEFT$(S01,4)
IF S02="TPMS" THEN
S02=MID$(S01,5,4):Sender=CVDWD(S02)
IF IsNoWin(Sender) THEN R01=0:GOTO ero
PrivateMsg=MID$(S01,9)
R01=1
ELSE
R01=0:GOTO ero
END IF
ero:
FUNCTION = R01
END FUNCTION
'#################################################################
'#
'#################################################################
'
FUNCTION PM_SendPrivateMsg(BYVAL hTarget AS LONG, BYVAL UseMsg AS LONG, BYVAL Buff AS STRING,OPT BYVAL B01 AS BYTE) AS LONG
REGISTER LenBuff AS LONG, R02 AS LONG
DIM Buf(1) AS LOCAL BYTE
LOCAL cds AS COPYDATASTRUCT
LenBuff = LEN(Buff)
REDIM Buf(LenBuff) AS BYTE
POKE$ VARPTR(Buf(0)), Buff
cds.dwData = UseMsg
cds.cbData = UBOUND(Buf) - LBOUND(Buf) + 1
cds.lpData = VARPTR(Buf(0))
IF zero(B01) THEN
R02 = SendMessage(hTarget, %WM_COPYDATA, LenBuff,VARPTR(cds))
ELSE
PostMessage(hTarget, %WM_COPYDATA, LenBuff,VARPTR(cds))
R02=1
END IF
FUNCTION=R02
END FUNCTION
'#################################################################
'#
'#################################################################
FUNCTION PM_GetPrivateMsg(BYREF PrivateMsg AS STRING, BYVAL wParam AS LONG, BYVAL lParam AS LONG) AS LONG
LOCAL cds AS COPYDATASTRUCT
DIM Buf(1) AS LOCAL BYTE
REDIM Buf(wParam) AS BYTE
CALL MoveMemory(cds, BYVAL lParam, SIZEOF(cds))
CALL MoveMemory(buf(0), BYVAL cds.lpData, cds.cbData)
PrivateMsg = PEEK$(VARPTR(buf(0)), wParam)
FUNCTION = cds.dwData
END FUNCTION
'#################################################################
'#
'#################################################################
Limitations:
-
See also:
• PRE. - Parallelrobot-Run-End
• PRV. - Parallel-Robot send Variable
• WFV. - Wait-For-VariableChange
• SGS - Set Global Signal (Mutex)