TOnMonitoringDataCB

This is a callback function for checking robot operation data that represents the current location, joint positions, and task-space pose of the robot controller.
As the callback function is executed automatically upon specific monitoring events, 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 (*TOnMonitoringDataCB)(const LPMONITORING_DATA);

// registration API (internal + wrapper)
DRFL_API void _SetOnMonitoringData(LPROBOTCONTROL pCtrl, TOnMonitoringDataCB pCallbackFunc);
void SetOnMonitoringData(TOnMonitoringDataCB pCallbackFunc)
{
    _SetOnMonitoringData(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pData	MONITORING_DATA		Pointer to structure containing current robot joint and task-space information.

Return
None

Example

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

// Callback function triggered periodically to provide robot monitoring data
void OnMonitoringDataCB(const LPMONITORING_DATA pData)
{
    cout << "[MONITOR] Joint positions (deg): ";
    for (int i = 0; i < 6; ++i)
    {
        cout << pData->_tCtrl._tJoint._fActualPos[i];
        if (i < 5) cout << ", ";
    }
    cout << endl;

    // Display TCP position (mm, deg)
    cout << "[MONITOR] TCP position: X=" << pData->_tCtrl._tTask._fActualPos[0]
         << " Y=" << pData->_tCtrl._tTask._fActualPos[1]
         << " Z=" << pData->_tCtrl._tTask._fActualPos[2] << endl;
}

int main()
{
    CDRFL drfl;

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

    // Register real-time monitoring callback
    drfl.set_on_monitoring_data(OnMonitoringDataCB);

    // Keep program alive to continuously receive monitoring updates
    while (true)
    {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Notes

• This callback delivers the same data as the controller’s current operation state (joint & task position).

• Used for real-time visualization, data logging, or telemetry updates in applications.

• Avoid performing long or blocking computations inside the callback (execution < 50 ms).