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

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

drfl.open_connection("192.168.137.100");
drfl.set_on_tp_progress(OnTpProgress);

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

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.