get_safety_configuration_ex_v3 (DRCF v3)

This function retrieves the current safety configuration from the controller for DRCF version 3 firmware.

It returns a pointer to SAFETY_CONFIGURATION_EX2_V3, an extended layout that keeps v2 fields and adds v3-specific items (e.g., expanded zone/property models and additional options).

Definition
DRFLEx.h within class CDRFLEx, public section (line 924)

// DRCF v3
LPSAFETY_CONFIGURATION_EX2_V3 get_safety_configuration_ex_v3()
{
    return _get_safety_configuration_ex_v3(_rbtCtrl);
}

Parameter
None

Return

Type	Description
LPSAFETY_CONFIGURATION_EX2_V3	Pointer to the current safety configuration (DRCF v3 extended layout).

Example

LPSAFETY_CONFIGURATION_EX2_V3 cfg = drfl.get_safety_configuration_ex_v3();
if (!cfg) {
    printf("Failed to read safety configuration (DRCF v3)\n");
    return -1;
}