set_on_monitoring_ctrl_io

This is a function for registering a callback that automatically monitors the current state of the I/O modules installed in the robot controller’s control box. It is typically used for tracking digital input/output changes in real time.

Definition
DRFLEx.h within class CDRFLEx, public section (line 617)

void set_on_monitoring_ctrl_io(TOnMonitoringCtrlIOCB pCallbackFunc) {
    _set_on_monitoring_ctrl_io(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnMonitoringCtrlIOCB		Callback function pointer for I/O state monitoring

Return
None

Example

void OnMonitoringCtrlIOCB(const LPMONITORING_CTRLIO pCtrlIO)
{
    // Displays the digital input GPIO state data
    printf("gpio data\n");
    for (int i = 0; i < NUM_DIGITAL; i++)
        printf("DIO[%d]: %d\n", i, pCtrlIO->_tInput._iActualDI[i]);
}

drfl.set_on_monitoring_ctrl_io(OnMonitoringCtrlIOCB);

This example registers an I/O monitoring callback that continuously prints the digital input signal states detected from the robot controller.