TOnProgramStoppedCB

This is a callback function for checking if program execution in the robot controller has been completely terminated when the program stops due to errors or user commands during execution in automatic mode.
As the callback function is executed automatically upon the event, a code that requires excessive execution time (within 50 msec) should not be performed inside it.

Defined in: DRFL.h

// typedef (DRFL.h)
typedef void (*TOnProgramStoppedCB)(const PROGRAM_STOP_CAUSE);

// registration API (internal + wrapper)
DRFL_API void _SetOnProgramStopped(LPROBOTCONTROL pCtrl, TOnProgramStoppedCB pCallbackFunc);
void SetOnProgramStopped(TOnProgramStoppedCB pCallbackFunc)
{
    _SetOnProgramStopped(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eStopCause	PROGRAM_STOP_CAUSE		Cause of the program termination (e.g., user stop, error, safety, etc.).

Return
None

Example

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

// Called automatically when a running DRL program stops or terminates
void OnProgramStoppedCB(const PROGRAM_STOP_CAUSE eStopCause)
{
    switch (eStopCause)
    {
    case PROGRAM_STOP_CAUSE_USER_STOP:
        std::printf("[PROGRAM STOP] User requested stop.\n");
        break;

    case PROGRAM_STOP_CAUSE_ERR_OCCURED:
        std::printf("[PROGRAM STOP] Error occurred during execution.\n");
        // Optionally check for error code or perform recovery logic
        break;

    case PROGRAM_STOP_CAUSE_SAFETY_STOP:
        std::printf("[PROGRAM STOP] Safety stop triggered.\n");
        break;

    case PROGRAM_STOP_CAUSE_NORMAL_END:
        std::printf("[PROGRAM STOP] Program completed normally.\n");
        break;

    default:
        std::printf("[PROGRAM STOP] Unknown stop cause: %d\n", eStopCause);
        break;
    }
}

int main()
{
    CDRFL drfl;

    // Connect to the robot controller
    if (!drfl.open_connection("192.168.137.100")) {
        std::printf("Failed to connect to controller.\n");
        return -1;
    }

    // Register callback for program stop event
    drfl.set_on_program_stopped(OnProgramStoppedCB);

    // Example: start DRL program and wait for callback
    drfl.play_drl_start("example_program");

    while (true) {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Notes

• The callback is invoked when any DRL program running in Auto mode terminates (normal or abnormal).

• Use this to perform cleanup, logging, or restart preparation when the program ends.

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