set_on_monitoring_ctrl_io_ex

This is a function for registering an extended callback that monitors the I/O state of the control box installed in the robot controller. The function interface differs depending on whether the controller is V2 or V3, and it is available only in M2.5 version or higher. To activate this feature, the monitoring version must be set to 1 using set_up_monitoring_version().

Definition
DRFLEx.h within class CDRFLEx, public section (line 627)

#if DRCF_VERSION == 2
    void set_on_monitoring_ctrl_io_ex(TOnMonitoringCtrlIOExCB pCallbackFunc) {
        _set_on_monitoring_ctrl_io_ex(_rbtCtrl, pCallbackFunc);
    };
#elif DRCF_VERSION == 3
    // Latest version — callback activated after setup_monitoring_version(1)
    void set_on_monitoring_ctrl_io_ex(TOnMonitoringCtrlIOEx2CB pCallbackFunc) {
        _set_on_monitoring_ctrl_io_ex2(_rbtCtrl, pCallbackFunc);
    };
#endif

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnMonitoringCtrlIOExCB / TOnMonitoringCtrlIOEx2CB		Extended callback function pointer for monitoring control I/O signals The structure varies depending on controller version (DRCF_VERSION 2 or 3)

Return
None

Example

#if DRCF_VERSION == 2
void OnMonitoringCtrlIOExCB(const LPMONITORING_CTRLIO_EX pCtrlIO)
{
    cout << "gpio data" << endl;
    for (int i = 0; i < NUM_DIGITAL; i++)
        cout << "DIO[" << i << "]: " << pCtrlIO->_tInput._iActualDI[i] << endl;
}
#elif DRCF_VERSION == 3
void OnMonitoringCtrlIOExCB(const LPMONITORING_CTRLIO_EX2 pCtrlIO)
{
    cout << "gpio data" << endl;
    for (int i = 0; i < NUM_DIGITAL; i++)
        cout << "DIO[" << i << "]: " << pCtrlIO->_tInput._iActualDI[i] << endl;
}
#endif

int main()
{
    drfl.set_on_monitoring_ctrl_io_ex(OnMonitoringCtrlIOExCB);
}

This example registers an extended I/O monitoring callback that continuously prints the digital input states from the controller. The callback interface differs depending on the defined controller version (V2 or V3).