TOnMonitoringRobotSystemCB

This is a callback function that is executed when the robot operation system changes in the robot controller. It allows you to monitor transitions between system modes such as Real Robot, Virtual Robot, or Simulation.

Since this callback is automatically executed by the controller on a system change event, you should avoid performing long or blocking operations (execution time should be within 50 msec).

Defined in: DRFLEx.h

// typedef (DRFLEx.h)
typedef void (*TOnMonitoringRobotSystemCB)(const ROBOT_SYSTEM);

// internal definition
DRFL_API void _set_on_monitoring_robot_system(LPROBOTCONTROL pCtrl, TOnMonitoringRobotSystemCB pCallbackFunc);

// user-callable wrapper
void set_on_monitoring_robot_system(TOnMonitoringRobotSystemCB pCallbackFunc)
{
    _set_on_monitoring_robot_system(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eRobotSystem	ROBOT_SYSTEM		Indicates the current robot operation system (e.g., REAL_ROBOT, VIRTUAL_ROBOT, SIMULATION).

Return
None

Example

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

// Callback executed when robot operation system changes
void OnMonitoringRobotSystemCB(const ROBOT_SYSTEM eSystem)
{
    cout << "[ROBOT SYSTEM STATE UPDATED]" << endl;

    switch (eSystem)
    {
        case ROBOT_SYSTEM_REAL:
            cout << "Robot system: REAL ROBOT — connected to physical hardware." << endl;
            break;

        case ROBOT_SYSTEM_VIRTUAL:
            cout << "Robot system: VIRTUAL ROBOT — operating in virtual mode." << endl;
            break;

        case ROBOT_SYSTEM_SIMULATION:
            cout << "Robot system: SIMULATION — running simulation environment." << endl;
            break;

        default:
            cout << "Robot system: UNKNOWN (" << (int)eSystem << ")" << endl;
            break;
    }
}

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 callback for robot system monitoring
    drfl.set_on_monitoring_robot_system(OnMonitoringRobotSystemCB);

    // Keep monitoring loop alive
    while (true)
        std::this_thread::sleep_for(std::chrono::seconds(1));

    drfl.close_connection();
    return 0;
}

Notes

• Triggered when the controller changes between:
  - Real Robot (ROBOT_SYSTEM_REAL)
  - Virtual Robot (ROBOT_SYSTEM_VIRTUAL)
  - Simulation (ROBOT_SYSTEM_SIMULATION)
  

• Common uses:
  - Displaying current system mode in UI
  - Logging system transitions
  - Automatically adapting control logic to match system type
  

• Execution time inside the callback must be short (< 50 ms).