set_on_monitoring_safety_state

This function registers a callback that automatically detects and responds when the safety state of the robot controller changes. It is especially useful when implementing logic that should react to safety events or module updates.

Definition
DRFLEx.h within class CDRFLEx, public section (line 657)

void set_on_monitoring_safety_state(TOnMonitoringSafetyStateCB pCallbackFunc) {
    _set_on_monitoring_safety_state(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnMonitoringSafetyStateCB		Callback function pointer triggered when the controller’s safety state is updated

Return
None

Example

void OnMonitoringSafetyStateCB(SafetyState iState)
{
    // Triggered when the safety module state is updated
}

int main()
{
    drfl.set_on_monitoring_safety_state(OnMonitoringSafetyStateCB);
}

This example registers a safety monitoring callback that is invoked automatically whenever the controller’s safety module state changes. It allows developers to define safety-related responses, such as logging, alerts, or mode changes.