1.2.4 Using Header File
When there is a #include library function-related header file (DRFL.h), when the compile option is set in C++ language, programming is possible using CDRFLEx class, but when set in C language, a “_function name” type global function should be used for programming.
Some functions may have different interface usage depending on the controller version. Before importing the DRFL header, please declare #define DRCF_VERSION 2 or #define DRCF_VERSION 3 according to the controller version.
Example of including and initializing DRFLEx in C++
1#define DRCF_VERSION 3
2#include "../../include/DRFLEx.h"
3#include "util.hpp"
4
5const std::string IP_ADDRESS = "192.168.137.100";
6
7using namespace DRAFramework;
8CDRFLEx robot;
9
10bool g_bHasControlAuthority = FALSE;
11bool g_TpInitailizingComplted = FALSE;
12bool control_authority_granted = FALSE;