set_on_monitoring_state

This is a function for registering a callback that automatically detects changes in the operation state of the robot controller. It is useful for executing specific actions automatically when the robot’s state changes.

Definition
DRFLEx.h within class CDRFLEx, public section (line 611)

void set_on_monitoring_state(TOnMonitoringStateCB pCallbackFunc) {
    _set_on_monitoring_state(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnMonitoringStateCB		Callback function pointer to be registered for robot state monitoring

Return
None

Example

void OnMonitoringStateCB(const ROBOT_STATE eState)
{
    switch ((unsigned char)eState)
    {
        case STATE_SAFE_OFF:
            // Robot controller servo ON
            drfl.set_robot_control(CONTROL_RESET_SAFET_OFF);
            break;

        default:
            break;
    }
}

int main()
{
    drfl.set_on_monitoring_state(OnMonitoringStateCB);
}

This example registers a state monitoring callback that automatically turns on the robot servo when the controller enters the SAFE OFF state.