set_on_tp_progress (Manual Mode)

This section explains how to use set_on_tp_progress during Manual (Teach) operations. This function registers a callback function that receives progress updates from the Teach Pendant (TP). It is primarily used for monitoring execution progress, such as the percentage of a running program, or displaying visual progress feedback during manual teaching sequences.

Typical usage

• Display real-time progress or completion percentage during a teaching task.

• Monitor multi-step DRL procedures executed in manual mode.

• Log and visualize progress data on a host PC or teaching UI.

• Synchronize TP progress updates with LED or sound feedback to improve user awareness.

Note

• The callback is triggered whenever the TP sends progress update data.

• The callback runs asynchronously — avoid blocking operations within it.

• The received structure contains fields such as _iPercent, _iCurrentCount, and _szDesc.

Example: Monitor progress feedback during manual teaching

#include "DRFLEx.h"
#include <iostream>
#include <thread>
using namespace std;
using namespace DRAFramework;

CDRFLEx drfl;

// Callback for TP progress messages
void OnTpProgress(LPMESSAGE_PROGRESS tProgress)
{
    cout << "-------------------------------------------\n";
    cout << "[TP PROGRESS UPDATE]\n";
    cout << "Step : " << tProgress->_iCurrentCount << " / "
         << tProgress->_iTotalCount << endl;
    cout << "Progress (%) : " << tProgress->_iPercent << "%" << endl;
    cout << "Description  : " << tProgress->_szDesc << endl;
    cout << "-------------------------------------------\n";

    // Example: LED color changes according to progress
    if (tProgress->_iPercent < 50)
        drfl.set_state_led_color(0, 0, 255);     // Blue
    else if (tProgress->_iPercent < 100)
        drfl.set_state_led_color(255, 200, 0);   // Yellow
    else
        drfl.set_state_led_color(0, 255, 0);     // Green (done)
}

int main()
{
    drfl.open_connection("192.168.137.100");
    drfl.set_on_tp_progress(OnTpProgress);

    cout << "[Teach] Waiting for progress updates from TP...\n";
    while (true)
        this_thread::sleep_for(chrono::seconds(1));

    return 0;
}

When registered, this callback is executed automatically when a progress message is reported from the Teach Pendant (TP). It provides real-time information about operation steps, progress percentage, and task description to enhance manual teaching visibility and synchronization with host-side feedback systems.

Tips

• Use to monitor long or multi-step teaching procedures in real time.

• Combine with set_state_led_color for visual progress feedback.

• Avoid heavy processing inside the callback to maintain real-time responsiveness.