TOnHommingCompletedCB

This is a callback function for checking whether homing has been completed when the robot controller is operating in homing control mode.
As the callback function is executed automatically in the case of 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 (*TOnHommingCompletedCB)();

// registration API (internal + wrapper)
DRFL_API void _SetOnHommingCompleted(LPROBOTCONTROL pCtrl, TOnHommingCompletedCB pCallbackFunc);
void SetOnHommingCompleted(TOnHommingCompletedCB pCallbackFunc)
{
    _SetOnHommingCompleted(_rbtCtrl, pCallbackFunc);
};

Parameter
None

Return
None

Example

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

using namespace DRAFramework;
using namespace std;

// Callback function triggered when homing operation is completed
void OnHommingCompletedCB()
{
    cout << "[HOMING] Completed successfully." << endl;

    // Optional: issue post-homing initialization logic
    // For example, disable homing mode or prepare for motion
    // drfl.homing(false);
}

int main()
{
    CDRFL drfl;

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

    // 2) Register homing completion callback
    drfl.set_on_homming_completed(OnHommingCompletedCB);

    // 3) Start homing operation
    drfl.homing(true);
    cout << "[INFO] Homing started..." << endl;

    // 4) Wait for homing completion event
    while (true)
    {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Notes

• The callback is automatically invoked once the homing process finishes successfully.

• Common usage includes logging, UI updates, or enabling next operation steps.

• Avoid performing heavy computation or blocking operations inside this callback (execution < 50 ms).