TOnMonitoringStateCB

This is a callback function for checking changes in operation state information in the robot controller. As the callback function is executed automatically in the case of a specific event, a code that requires an excessive execution time (within 50 msec) within the callback function should not be made.

Defined in: DRFL.h

typedef void (*TOnMonitoringStateCB)(const ROBOT_STATE);

void SetOnMonitoringState(TOnMonitoringStateCB pCallbackFunc)
{
    _SetOnMonitoringState(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eState	ROBOT_STATE		Refer to the Definition of Enumeration Type.

Return
None

Example

#include "DRFL.h"
using namespace DRAFramework;

// Callback function: triggered whenever the robot’s operational state changes
void OnMonitoringStateCB(const ROBOT_STATE eState)
{
    switch ((unsigned char)eState)
    {
        case STATE_SAFE_OFF:
            printf("[STATE] SAFE OFF detected. Resetting safety and enabling servo...\n");
            drfl.set_robot_control(CONTROL_RESET_SAFET_OFF);
            break;

        case STATE_IDLE:
            printf("[STATE] Robot is now idle and ready.\n");
            break;

        case STATE_MOVING:
            printf("[STATE] Robot is executing motion.\n");
            break;

        case STATE_STOPPED:
            printf("[STATE] Robot motion stopped.\n");
            break;

        default:
            printf("[STATE] Unknown or transitional state: %d\n", eState);
            break;
    }
}

int main()
{
    CDRFL drfl;

    // Connect to the robot controller
    drfl.open_connection("192.168.137.100");

    // Register callback for robot state monitoring
    drfl.set_on_monitoring_state(OnMonitoringStateCB);

    // Keep program alive to observe state transitions
    while (true)
    {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Note

• This callback is automatically invoked by the controller whenever a robot state transition occurs.

• Avoid heavy computation, blocking calls, or file I/O within the callback (execution time < 50 ms).

• Typical usage includes servo enabling after STATE_SAFE_OFF, logging state changes, or updating GUI indicators.