TOnMonitoringSpeedModeCB

This is a callback function for checking the current velocity (speed) mode of the robot controller. 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 (*TOnMonitoringSpeedModeCB)(const MONITORING_SPEED);

// registration API (internal + wrapper)
DRFL_API void _SetOnMonitoringSpeedMode(LPROBOTCONTROL pCtrl, TOnMonitoringSpeedModeCB pCallbackFunc);
void SetOnMonitoringSpeedMode(TOnMonitoringSpeedModeCB pCallbackFunc)
{
    _SetOnMonitoringSpeedMode(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eSpeedMode	MONITORING_SPEED		Current speed mode reported by the controller (e.g., Low, Normal, High).

Return
None

Example

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

// Callback triggered when the robot’s speed mode changes
void OnMonitoringSpeedModeCB(const MONITORING_SPEED eSpdMode)
{
    switch (eSpdMode)
    {
    case MONITORING_SPEED_LOW:
        cout << "[SPEED MODE] Low-speed mode active." << endl;
        break;

    case MONITORING_SPEED_NORMAL:
        cout << "[SPEED MODE] Normal-speed mode active." << endl;
        break;

    case MONITORING_SPEED_HIGH:
        cout << "[SPEED MODE] High-speed mode active." << endl;
        break;

    default:
        cout << "[SPEED MODE] Unknown speed mode: " << static_cast<int>(eSpdMode) << endl;
        break;
    }
}

int main()
{
    CDRFL drfl;

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

    // Register speed mode monitoring callback
    drfl.set_on_monitoring_speed_mode(OnMonitoringSpeedModeCB);

    // Keep process alive to monitor speed mode events
    while (true)
    {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Notes

• The callback is invoked whenever the robot’s speed mode changes.

• Use this callback to update UI indicators, safety overlays, or motion speed profiles.

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