TOnMonitoringCtrlIOExCB

This is a callback function for checking I/O state data installed in the control box of the robot controller. It provides extended I/O information (digital and analog) for controllers that support DRCF version 2.
Compared to TOnMonitoringCtrlIOCB, this function includes additional I/O metadata.

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: DRFLEx.h

// typedef (DRFLEx.h)
typedef void (*TOnMonitoringCtrlIOExCB)(const LPMONITORING_CTRLIO_EX);

// registration API (internal + wrapper)
DRFL_API void _set_on_monitoring_ctrl_io_ex(LPROBOTCONTROL pCtrl, TOnMonitoringCtrlIOExCB pCallbackFunc);
void set_on_monitoring_ctrl_io_ex(TOnMonitoringCtrlIOExCB pCallbackFunc)
{
    _set_on_monitoring_ctrl_io_ex(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCtrlIO	MONITORING_CTRLIO_EX		Pointer to structure containing extended digital/analog I/O state data.

Return
None

Example

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

using namespace DRAFramework;
using namespace std;

// Callback triggered when extended I/O data is updated (requires DRCF_VERSION == 2)
void OnMonitoringCtrlIOExCB(const LPMONITORING_CTRLIO_EX pCtrlIO)
{
    cout << "[I/O EX] GPIO state data" << endl;

    // Digital Input
    for (int i = 0; i < NUM_DIGITAL; ++i)
        cout << "DI#" << i << " : " << static_cast<int>(pCtrlIO->_tInput._iActualDI[i]) << endl;

    // Digital Output
    for (int i = 0; i < NUM_DIGITAL; ++i)
        cout << "DO#" << i << " : " << static_cast<int>(pCtrlIO->_tOutput._iActualDO[i]) << endl;

    // Example: Analog I/O (if supported)
    cout << "AI[0]: " << pCtrlIO->_tInput._fActualAI[0]
         << " | AO[0]: " << pCtrlIO->_tOutput._fActualAO[0] << endl;
}

int main()
{
#if DRCF_VERSION == 2
    CDRFLEx drfl;

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

    // Register callback for extended I/O monitoring
    drfl.set_on_monitoring_ctrl_io_ex(OnMonitoringCtrlIOExCB);

    // Keep program alive to receive events
    while (true)
        this_thread::sleep_for(chrono::seconds(1));

    drfl.close_connection();
#else
    cout << "[INFO] TOnMonitoringCtrlIOExCB requires DRCF_VERSION == 2" << endl;
#endif

    return 0;
}

Notes

• This callback is supported only for controllers using DRCF version 2.

• Provides more detailed I/O information, including analog and status bits, for advanced diagnostics.

• Ideal for real-time I/O dashboards, diagnostic tools, or factory integration systems.

• Keep callback logic lightweight (execution time < 50 ms).