set_on_tp_initializing_completed

This is a function for registering the callback function that automatically checks whether initialization has been completed when the robot controller carries out initialization by T/P application after the booting of the robot controller. It is useful when functions that should be executed automatically are made.

Definition
DRFLEx.h within class CDRFLEx, public section (line 649)

void set_on_tp_initializing_completed(TOnTpInitializingCompletedCB pCallbackFunc) {
    _set_on_tp_initializing_completed(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnTpInitializingCompletedCB		Refer to definition of callback function

Return
None

Example

void OnTpInitializingCompletedCB()
{
    // Requests control right after checking Tp initialization
    cout << "tp initializing completed" << endl;
    drfl.manage_access_control(MANAGE_ACCESS_CONTROL_REQUEST);
}

int main()
{
    drfl.set_on_tp_initializing_completed(OnTpInitializingCompletedCB);
}

Once registered, this callback executes automatically after the T/P (Teach Pendant) initialization process completes. It prints a message and requests control authority using manage_access_control(), allowing the external application to take control immediately after system boot.