set_on_tp_popup

This function is used to register a callback function to check the popup message when the tp_popup command is used in DRL. It is useful when functions that should be executed automatically are made.

Definition
DRFLEx.h within class CDRFLEx, public section (line 639)

void set_on_tp_popup(TOnTpPopupCB pCallbackFunc) {
    _set_on_tp_popup(_rbtCtrl, pCallbackFunc);
};

Parameter

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

Return
None

Example

// Callback function to handle popup events from TP
void OnTpPopup(LPMESSAGE_POPUP tPopup)
{
    printf("-------------------------------------------\n");
    printf("[TP POPUP DETECTED]\n");
    printf("Popup Message : %s\n", tPopup->_szText);
    printf("Message Level : %d\n", tPopup->_iLevel);
    printf("Button Type   : %d\n", tPopup->_iBtnType);
    printf("-------------------------------------------\n");

    // Example: handle based on popup message or level
    if (strcmp(tPopup->_szText, "Confirm Start?") == 0)
    {
        printf("[Host] Sending OK response to controller...\n");
        drfl.tp_popup_response(POPUP_RESPONSE_OK);
    }
    else if (tPopup->_iLevel == 2)   // Warning level popup
    {
        printf("[Host] Warning received from TP. Logging event...\n");
        // Log or take action (e.g., slow down motion)
    }
    else
    {
        printf("[Host] Display only popup - no action required.\n");
    }
}

// Register the popup callback
drfl.set_on_tp_popup(OnTpPopup);

// Main program logic
printf("Waiting for popup events from Teach Pendant...\n");
while (true)
{
    // Maintain connection and check callbacks
    this_thread::sleep_for(chrono::seconds(1));
}

When registered, this callback function executes automatically when a popup message is triggered on the Teach Pendant (TP) through DRL. It allows the user to check popup content, message level, and button type, and optionally send a response back to the controller (e.g., OK / Cancel). This enables dynamic handling of TP-side prompts such as confirmations, warnings, or notifications during robot operation.