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TOnDisconnectedCB

This is a callback function for checking if the connection with the robot controller has been terminated by an external cause or user intervention.
As the callback function is executed automatically upon a specific event, a code that requires excessive execution time (within 50 msec) inside the callback function should not be made.

Defined in: DRFL.h

// typedef (DRFL.h)
typedef void (*TOnDisconnectedCB)();

// registration API (internal + wrapper)
DRFL_API void _SetOnDisconnected(LPROBOTCONTROL pCtrl, TOnDisconnectedCB pCallbackFunc);
void SetOnDisconnected(TOnDisconnectedCB pCallbackFunc)
{
    _SetOnDisconnected(_rbtCtrl, pCallbackFunc);
};

Parameter
None

Return
None

Example

#include "DRFL.h"
#include <iostream>
#include <thread>
#include <chrono>

using namespace DRAFramework;
using namespace std;

// Callback triggered when the robot controller connection is lost
void OnDisconnectedCB()
{
    cout << "[DISCONNECT] Lost connection with the robot controller." << endl;

    // Try reconnection or safely handle error state
    bool success = drfl.open_connection("192.168.137.100");
    if (success)
        cout << "[RECONNECT] Connection re-established successfully." << endl;
    else
        cout << "[ERROR] Failed to reconnect. Check network or controller power." << endl;
}

int main()
{
    CDRFL drfl;

    // Connect to the robot controller
    if (!drfl.open_connection("192.168.137.100")) {
        cout << "Failed to connect to controller." << endl;
        return -1;
    }

    // Register disconnection callback
    drfl.set_on_disconnected(OnDisconnectedCB);

    // Keep program alive to handle potential disconnects
    while (true)
    {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Notes

• This callback is invoked when the network session or controller link is terminated.

• Use it to automatically attempt reconnection, log the event, or alert the user.

• Avoid blocking or time-consuming code inside the callback (execution < 50 ms).