set_on_monitoring_data_ex

This is a function for registering an extended callback that monitors the robot’s operation data, such as joint positions and user coordinates, in real time. It is available only in M2.5 version or higher and is activated when the monitoring data version is set to 1 using the set_up_monitoring_version() function.

Definition
DRFLEx.h within class CDRFLEx, public section (line 615)

void set_on_monitoring_data_ex(TOnMonitoringDataExCB pCallbackFunc) {
    _set_on_monitoring_data_ex(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnMonitoringDataExCB		Extended data callback function pointer to handle real-time monitoring updates

Return
None

Example

void OnMonitoringDataExCB(const LPMONITORING_DATA_EX pData)
{
    cout << "joint data "
         << pData->_tCtrl._tUser._fActualPos[0] << ", "
         << pData->_tCtrl._tUser._fActualPos[1] << ", "
         << pData->_tCtrl._tUser._fActualPos[2] << ", "
         << pData->_tCtrl._tUser._fActualPos[3] << ", "
         << pData->_tCtrl._tUser._fActualPos[4] << ", "
         << pData->_tCtrl._tUser._fActualPos[5] << endl;
}

int main()
{
    drfl.set_on_monitoring_data_ex(OnMonitoringDataExCB);
}

This example registers an extended monitoring callback that continuously prints the robot’s user-frame joint position data in real time. It requires the monitoring version to be set to 1 for activation.