TOnRTMonitoringDataCB

This is a real-time callback function that provides robot operation data in high-frequency intervals through the UDP-based real-time communication interface.
It allows continuous monitoring of key robot states (joint position, torque, external force, etc.) in applications requiring low-latency feedback.

Because this function runs inside a real-time loop, you must not include blocking or heavy operations (e.g., file I/O, printing, or long computations). Execution time should remain within 50 msec.

Defined in: DRFLEx.h

// typedef (DRFLEx.h)
typedef void (*TOnRTMonitoringDataCB)(const LPRT_OUTPUT_DATA_LIST);

// internal definition
DRFL_API void _set_on_rt_monitoring_data(LPROBOTCONTROL pCtrl, TOnRTMonitoringDataCB pCallbackFunc);

// user-callable wrapper (UDP real-time control interface)
void set_on_rt_monitoring_data(TOnRTMonitoringDataCB pCallbackFunc)
{
    _set_on_rt_monitoring_data(_rbtCtrlUDP, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pRTData	RT_OUTPUT_DATA_LIST		Pointer to a structure containing real-time monitoring data such as joint position, torque, velocity, and status flags.

Return
None

Example

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

// Real-time data callback (UDP)
void OnRTMonitoringDataCB(const LPRT_OUTPUT_DATA_LIST pRTData)
{
    if (!pRTData) return;

    cout << fixed << setprecision(3);
    cout << "[REAL-TIME MONITORING DATA]" << endl;

    // Display joint positions
    cout << "Joint positions [rad]: ";
    for (int i = 0; i < NUM_JOINT; i++)
        cout << setw(8) << pRTData->_tCtrl._fJointPosition[i] << " ";
    cout << endl;

    // Display external torques
    cout << "External torque [Nm]: ";
    for (int i = 0; i < NUM_JOINT; i++)
        cout << setw(8) << pRTData->_tCtrl._fExternalTorque[i] << " ";
    cout << endl;

    // Display tool force
    cout << "Tool force [N]: ";
    for (int i = 0; i < 3; i++)
        cout << setw(8) << pRTData->_tCtrl._fTcpForce[i] << " ";
    cout << endl;

    cout << "------------------------------------" << endl;
}

int main()
{
    CDRFLEx drfl;

    // Connect to controller in real-time mode (UDP)
    if (!drfl.open_connection_rt("192.168.137.100")) {
        cout << "Failed to connect to controller (RT mode)." << endl;
        return -1;
    }

    // Register callback for RT monitoring
    drfl.set_on_rt_monitoring_data(OnRTMonitoringDataCB);

    // Keep running (real-time loop)
    while (true)
        std::this_thread::sleep_for(std::chrono::milliseconds(100));

    drfl.close_connection();
    return 0;
}

Notes

• This callback provides high-frequency feedback (≈4 ms cycle) from the robot controller.

• Typical fields accessible in RT_OUTPUT_DATA_LIST include:
  - Joint positions, velocities, and torques
  - External TCP force and moment
  - Digital/analog input states
  - System and motion flags
  

• Recommended use cases:
  - Real-time visualization of robot motion
  - Force-based control or adaptive compliance monitoring
  - Research or control experiments using low-latency feedback
  

• Keep callback operations lightweight (< 50 ms) to maintain UDP stability.

• Use this callback only when DRCF_VERSION ≥ 2 and UDP interface is properly initialized.