set_on_monitoring_ctrl_io_ex (Manual Mode)

This section explains how to use set_on_monitoring_ctrl_io_ex during Manual (Teach) operations to register a callback function that receives real-time I/O monitoring data from the robot’s control box when using API version DRCF_VERSION == 2.

Typical usage

• Monitor digital and analog I/O state changes in real time during manual operation.

• Debug I/O wiring or verify signal transitions without polling functions repeatedly.

• Log or visualize I/O changes in a user-defined callback for testing.

Note

• The callback is triggered whenever any I/O input/output state changes.

• Must be registered after establishing a connection with the robot controller.

• For newer monitoring API, see set_on_monitoring_ctrl_io_ex2(Manual Mode).

Example: Register I/O monitoring callback (DRCF v2)

#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;

// 1) Define the callback function
void OnMonitoringCtrlIOEx(const LPROBOT_MONITORING_CTRLIO_EX pData) {
    std::printf("[I/O Monitor v2] DIN_1: %d, DOUT_1: %d, ANIN1: %.2f V\n",
                pData->_digitalInput[0],
                pData->_digitalOutput[0],
                pData->_analogInput[0]);
}

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active

    // 2) Register callback
    drfl.set_on_monitoring_ctrl_io_ex(OnMonitoringCtrlIOEx);

    // 3) Keep program alive to receive events
    while (true) { std::this_thread::sleep_for(std::chrono::seconds(1)); }

    return 0;
}

Tips

• The callback executes in a separate monitoring thread — avoid blocking operations.

• Use lightweight logging or data buffering inside the callback.

• Unregister or stop monitoring before closing the connection to prevent dangling callbacks.