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TOnMonitoringModbusCB

This is a callback function for checking Modbus I/O state data registered in the robot controller. As the callback function is executed automatically upon Modbus monitoring updates, 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 (*TOnMonitoringModbusCB)(const LPMONITORING_MODBUS);

// registration API (internal + wrapper)
DRFL_API void _SetOnMonitoringModbus(LPROBOTCONTROL pCtrl, TOnMonitoringModbusCB pCallbackFunc);
void SetOnMonitoringModbus(TOnMonitoringModbusCB pCallbackFunc)
{
    _SetOnMonitoringModbus(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pModbus	MONITORING_MODBUS		Pointer to structure containing Modbus register symbols and values.

Return
None

Example

#include "DRFL.h"
#include <iostream>
using namespace DRAFramework;
using namespace std;

// Callback: invoked when Modbus monitoring data updates
void OnMonitoringModbusCB(const LPMONITORING_MODBUS pModbus)
{
    if (!pModbus) return;

    cout << "[MODBUS] register count = " << pModbus->_iRegCount << endl;

    // Each entry contains a symbol (name) and its current value
    for (int i = 0; i < pModbus->_iRegCount; ++i)
    {
        // Example fields based on structure naming
        //   _tRegister[i]._szSymbol  → register name
        //   _tRegister[i]._iValue    → register value
        cout << "  " << pModbus->_tRegister[i]._szSymbol
             << " : " << pModbus->_tRegister[i]._iValue << endl;
    }
}

int main()
{
    CDRFL drfl;

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

    // Register Modbus monitoring callback
    drfl.set_on_monitoring_modbus(OnMonitoringModbusCB);

    // Keep process alive to receive Modbus updates
    while (true)
        std::this_thread::sleep_for(std::chrono::seconds(1));

    drfl.close_connection();
    return 0;
}

Notes

• Use this callback to build Modbus dashboards, alarm rules, or data logging pipelines.

• For I/O state (GPIO) monitoring, see TOnMonitoringCtrlIOCB and its EX variants.

• Keep the callback lightweight (execution time < 50 ms) and avoid blocking operations.