set_on_monitoring_access_control

This function registers a callback that monitors and reacts to control right events (such as request, permission, or rejection) in the robot controller. It is useful for managing multiple clients requesting robot control authority.

Definition
DRFLEx.h within class CDRFLEx, public section (line 635)

void set_on_monitoring_access_control(TOnMonitoringAccessControlCB pCallbackFunc) {
    _set_on_monitoring_access_control(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnMonitoringAccessControlCB		Callback function pointer triggered on access control events

Return
None

Example

void OnMonitoringAccessControlCB(const MONITORING_ACCESS_CONTROL eAccCtrl)
{
    // Handles access control request messages
    switch (eAccCtrl)
    {
    case MONITORING_ACCESS_CONTROL_REQUEST:
        // Rejects the transfer of control right
        drfl.manage_access_control(MANAGE_ACCESS_CONTROL_RESPONSE_NO);
        break;
    default:
        break;
    }
}

int main()
{
    drfl.set_on_monitoring_access_control(OnMonitoringAccessControlCB);
}

This example registers an access control monitoring callback that listens for robot control right requests from external clients. When a control right request is received, the callback automatically responds with a rejection signal.