set_on_rt_log_alarm

This function registers a callback that is triggered when a log or alarm message is received from the robot controller during real-time external control.

It allows external systems to monitor warnings, errors, and status logs in real time, enabling fast responses to safety or system issues while maintaining real-time control loops.

Definition
DRFLEx.h within class CDRFLEx, public section (line 663)

void set_on_rt_log_alarm(TOnLogAlarmCB pCallbackFunc) {
    _set_on_rt_log_alarm(_rbtCtrlUDP, pCallbackFunc);
};

Parameter

Parameter Name

Data Type

Description

pCallbackFunc

TOnLogAlarmCB

Function pointer to user-defined callback that handles
log or alarm messages sent from the robot controller.

Note

  • The callback executes automatically when a log or alarm event occurs.

  • Use this callback to capture real-time safety warnings, system messages, or controller errors.

  • Avoid performing slow or blocking operations (such as file writing or printing at high frequency) inside the callback to maintain communication stability.

Return

Value

Description

1

Success — callback successfully registered.

0

Error — invalid callback or UDP communication failure.

Example

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

// Define callback for alarm and log monitoring
void OnRTLogAlarm(const char* msg) {
    static int count = 0;
    if (++count % 20 == 0)  // Limit printing frequency
        printf("[RT LOG/ALARM] %s\n", msg);
}

int main() {
    CDRFLEx drfl;
    drfl.connect_rt_control("192.168.137.100", 12347);

    // Register real-time log and alarm callback
    drfl.set_on_rt_log_alarm(OnRTLogAlarm);

    // Configure and start RT control
    string version = "v1.0";
    float period = 0.001f;
    int losscount = 4;

    drfl.set_rt_control_input(version, period, losscount);
    drfl.set_rt_control_output(version, period, losscount);
    drfl.start_rt_control();

    // Continuous loop (keep connection alive)
    while (true) {
        // The callback will automatically trigger when alarm/log events occur
    }

    drfl.disconnect_rt_control();
    return 0;
}

In this example, OnRTLogAlarm() prints any alarm or log message that the controller sends during real-time control operation.

Tips

  • Useful for safety monitoring, diagnostics, and debug logging during live control.

  • Integrate with a GUI or network logger to visualize alarm states in real time.

  • Keep the callback lightweight to avoid interrupting UDP data flow.