TOnMonitoringDataExCB

This is an extended version of the monitoring callback that provides enhanced operation data from the robot controller, including detailed information about joint, task, and I/O state.
It functions similarly to TOnMonitoringDataCB but contains additional fields within the MONITORING_DATA_EX structure for advanced monitoring or diagnostic applications.

As the callback function is executed automatically upon 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 (*TOnMonitoringDataExCB)(const LPMONITORING_DATA_EX);

// registration API (internal + wrapper)
DRFL_API void _set_on_monitoring_data_ex(LPROBOTCONTROL pCtrl, TOnMonitoringDataExCB pCallbackFunc);
void set_on_monitoring_data_ex(TOnMonitoringDataExCB pCallbackFunc)
{
    _set_on_monitoring_data_ex(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pData	MONITORING_DATA_EX		Pointer to the extended monitoring data structure containing joint, TCP, torque, and I/O information.

Return
None

Example

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

// Extended monitoring callback for real-time robot data
void OnMonitoringDataExCB(const LPMONITORING_DATA_EX pData)
{
    cout << "[MONITOR-EX] Joint position (deg): ";
    for (int i = 0; i < 6; ++i)
    {
        cout << pData->_tCtrl._tJoint._fActualPos[i];
        if (i < 5) cout << ", ";
    }
    cout << endl;

    // TCP pose (X, Y, Z, Rx, Ry, Rz)
    cout << "[MONITOR-EX] TCP pose: ";
    for (int i = 0; i < 6; ++i)
    {
        cout << pData->_tCtrl._tTask._fActualPos[i];
        if (i < 5) cout << ", ";
    }
    cout << endl;

    // Display I/O state if available
    cout << "[MONITOR-EX] Digital input[0]: "
         << static_cast<int>(pData->_tCtrl._tIo._bDigitalInput[0]) << endl;
}

int main()
{
    CDRFLEx drfl;

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

    // Register extended monitoring callback
    drfl.set_on_monitoring_data_ex(OnMonitoringDataExCB);

    // Keep running to receive continuous updates
    while (true)
    {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Notes

• Provides extended monitoring data including joint torque, TCP pose, I/O states, and additional sensor feedback.

• Recommended for advanced applications such as data logging, digital twin visualization, or robot diagnostics.

• Avoid blocking or heavy computations within the callback (execution < 50 ms).