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TOnMonitoringCtrlIOEx2CB

This is the latest extended controller I/O monitoring callback for DRCF version 3. Compared to TOnMonitoringCtrlIOCB and TOnMonitoringCtrlIOExCB, it delivers the v3-format I/O payload (MONITORING_CTRLIO_EX2) and is invoked only after enabling the new monitoring format.

Defined in: DRFLEx.h

// typedef (DRFLEx.h)
typedef void (*TOnMonitoringCtrlIOEx2CB)(const LPMONITORING_CTRLIO_EX2);

// registration API (internal + wrapper)
DRFL_API void _set_on_monitoring_ctrl_io_ex2(LPROBOTCONTROL pCtrl, TOnMonitoringCtrlIOEx2CB pCallbackFunc);

#elif DRCF_VERSION == 3
    /* Latest version. callbacks invoked after setup_monitoring_version(1) */
    void set_on_monitoring_ctrl_io_ex(TOnMonitoringCtrlIOEx2CB pCallbackFunc)
    {
        _set_on_monitoring_ctrl_io_ex2(_rbtCtrl, pCallbackFunc);
    };

Parameter

Parameter Name	Data Type	Default Value	Description
pCtrlIOEx2	MONITORING_CTRLIO_EX2		Pointer to v3 extended I/O structure (digital/analog I/O plus v3 metadata).

Return
None

Example

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

using namespace DRAFramework;

// EX2 I/O monitoring callback (DRCF v3)
void OnMonitoringCtrlIOEx2CB(const LPMONITORING_CTRLIO_EX2 pEx2)
{
    // Print first few digital inputs/outputs as an example
    std::cout << "[I/O EX2] DI0..3: "
              << (int)pEx2->_tInput._iActualDI[0] << ", "
              << (int)pEx2->_tInput._iActualDI[1] << ", "
              << (int)pEx2->_tInput._iActualDI[2] << ", "
              << (int)pEx2->_tInput._iActualDI[3] << std::endl;

    std::cout << "[I/O EX2] DO0..3: "
              << (int)pEx2->_tOutput._iActualDO[0] << ", "
              << (int)pEx2->_tOutput._iActualDO[1] << ", "
              << (int)pEx2->_tOutput._iActualDO[2] << ", "
              << (int)pEx2->_tOutput._iActualDO[3] << std::endl;

    // Keep logic lightweight (<50 ms)
}

int main()
{
#if DRCF_VERSION == 3
    CDRFLEx drfl;

    if (!drfl.open_connection("192.168.137.100")) {
        std::cout << "Failed to connect.\n";
        return -1;
    }

    // Enable v3 monitoring payloads; EX2 callbacks will fire after this
    drfl.setup_monitoring_version(1);

    // Register the EX2 callback
    drfl.set_on_monitoring_ctrl_io_ex(OnMonitoringCtrlIOEx2CB);

    // Alive loop
    while (true) {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
#else
    std::cout << "TOnMonitoringCtrlIOEx2CB requires DRCF_VERSION == 3.\n";
#endif
    return 0;
}

Notes

• Use this when targeting v3 controllers needing richer I/O telemetry.

• Provide a fallback to TOnMonitoringCtrlIOExCB (v2) or TOnMonitoringCtrlIOCB (legacy) for broader compatibility.

• Avoid heavy computation or blocking calls inside the callback (execution < 50 ms).