TOnTpInitializingCompletedCB

This is a callback function for checking whether initialization has been completed when the robot controller carries out initialization by the Teach Pendant (T/P) application after the controller boots.
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 (*TOnTpInitializingCompletedCB)();

// registration API (internal + wrapper)
DRFL_API void _SetOnTpInitializingCompleted(LPROBOTCONTROL pCtrl, TOnTpInitializingCompletedCB pCallbackFunc);
void SetOnTpInitializingCompleted(TOnTpInitializingCompletedCB pCallbackFunc)
{
    _SetOnTpInitializingCompleted(_rbtCtrl, pCallbackFunc);
};

Parameter
None

Return
None

Example

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

// Callback function triggered when TP initialization is completed
void OnTpInitializingCompletedCB()
{
    cout << "[TP INIT] Teach Pendant initialization completed." << endl;

    // Request control authority right after initialization
    drfl.manage_access_control(MANAGE_ACCESS_CONTROL_REQUEST);
}

int main()
{
    CDRFL drfl;

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

    // Register TP initialization completion callback
    drfl.set_on_tp_initializing_completed(OnTpInitializingCompletedCB);

    // Keep alive to monitor TP initialization
    while (true)
    {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Notes

• The callback is invoked when Teach Pendant initialization completes after controller startup.

• Common usage includes requesting control authority (MANAGE_ACCESS_CONTROL_REQUEST) or performing application startup routines.

• Keep the callback lightweight (execution time < 50 ms) and avoid blocking operations.