manage_access_control

This is a function for sending the control right request message to the robot controller, or for processing a user response when the control right request message is received.

Definition
DRFLEx.h within class CDRFLEx, public section (line 751)

bool manage_access_control(MANAGE_ACCESS_CONTROL eAccessControl = MANAGE_ACCESS_CONTROL_REQUEST) {
    return _manage_access_control(_rbtCtrl, eAccessControl);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eAccessControl	MANAGE_ACCESS_CONTROL	MANAGE_ACCESS_CONTROL_REQUEST	Specifies the type of control authority management command.

Return

Value	Type	Description
0	int	Error — failed to send or process the control right message.
1	int	Success — successfully processed the control right request or response.

Example

void OnMonitoringAccessControlCB(const MONITORING_ACCESS_CONTROL eAccCtrl)
{
    switch(eAccCtrl) {
        case MONITORING_ACCESS_CONTROL_DENY:
            // Deny the transfer of control right
            break;
        default:
            // Displays no control right message
            break;
    }
}

int main()
{
    drfl.SetOnMonitoringAccessControl(OnMonitoringAccessControlCB);

    // Requests transfer of control right
    drfl.manage_access_control(MANAGE_ACCESS_CONTROL_REQUEST);
}

This example registers a callback function to monitor control-right events and sends a control right request to the robot controller. When executed, it requests authority to control the robot and handles responses (granted or denied) accordingly.