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For information on the latest version, please have a look at GL013301.

set_on_tp_popup

This function is used to register a callback function to check the popup message when the tp_popup command is used in DRL. It is useful when functions that should be executed automatically are made.

Definition
DRFLEx.h within class CDRFLEx, public section (line 639)

void set_on_tp_popup(TOnTpPopupCB pCallbackFunc) {
    _set_on_tp_popup(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnTpPopupCB		Refer to definition of callback function

Return
None

Example

#include <iostream>
#include <string>
using namespace std;

// Callback function to handle popup events from TP
void OnTpPopup(LPMESSAGE_POPUP tPopup)
{
    cout << "-------------------------------------------" << endl;
    cout << "[TP POPUP DETECTED]" << endl;
    cout << "Popup Message : " << tPopup->_szText << endl;
    cout << "Message Level : " << tPopup->_iLevel << endl;
    cout << "Button Type   : " << tPopup->_iBtnType << endl;
    cout << "-------------------------------------------" << endl;

    // Example: handle based on popup message or level
    if (strcmp(tPopup->_szText, "Confirm Start?") == 0)
    {
        cout << "[Host] Sending OK response to controller..." << endl;
        drfl.tp_popup_response(POPUP_RESPONSE_OK);
    }
    else if (tPopup->_iLevel == 2)   // Warning level popup
    {
        cout << "[Host] Warning received from TP. Logging event..." << endl;
        // Log or take action (e.g., slow down motion)
    }
    else
    {
        cout << "[Host] Display only popup - no action required." << endl;
    }
}

int main()
{
    // Register the popup callback
    drfl.set_on_tp_popup(OnTpPopup);

    // Main program logic
    cout << "Waiting for popup events from Teach Pendant..." << endl;
    while (true)
    {
        // Maintain connection and check callbacks
        this_thread::sleep_for(chrono::seconds(1));
    }
    return 0;
}

When registered, this callback function executes automatically when a popup message is triggered on the Teach Pendant (TP) through DRL. It allows the user to check popup content, message level, and button type, and optionally send a response back to the controller (e.g., OK / Cancel). This enables dynamic handling of TP-side prompts such as confirmations, warnings, or notifications during robot operation.