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TOnMonitoringCtrlIOEx2CB

This is the latest extended controller I/O monitoring callback for DRCF version 3. Compared to TOnMonitoringCtrlIOCB and TOnMonitoringCtrlIOExCB, it delivers the v3-format I/O payload (MONITORING_CTRLIO_EX2) and is invoked only after enabling the new monitoring format.

See Rules for callback functions.

Defined in: DRFLEx.h

// typedef (DRFLEx.h)
typedef void (*TOnMonitoringCtrlIOEx2CB)(const LPMONITORING_CTRLIO_EX2);

// registration API (internal + wrapper)
DRFL_API void _set_on_monitoring_ctrl_io_ex2(LPROBOTCONTROL pCtrl, TOnMonitoringCtrlIOEx2CB pCallbackFunc);

#elif DRCF_VERSION == 3
    /* Latest version. callbacks invoked after setup_monitoring_version(1) */
    void set_on_monitoring_ctrl_io_ex(TOnMonitoringCtrlIOEx2CB pCallbackFunc)
    {
        _set_on_monitoring_ctrl_io_ex2(_rbtCtrl, pCallbackFunc);
    };

Parameter

Parameter Name	Data Type	Default Value	Description
pCtrlIOEx2	MONITORING_CTRLIO_EX2		Pointer to v3 extended I/O structure (digital/analog I/O plus v3 metadata).

Return
None

Example

#include "DRFLEx.h"
#include <iostream>
#include <thread>
#include <chrono>

using namespace DRAFramework;

// EX2 I/O monitoring callback (DRCF v3)
void OnMonitoringCtrlIOEx2CB(const LPMONITORING_CTRLIO_EX2 pEx2)
{
    // Print first few digital inputs/outputs as an example
    std::cout << "[I/O EX2] DI0..3: "
              << (int)pEx2->_tInput._iActualDI[0] << ", "
              << (int)pEx2->_tInput._iActualDI[1] << ", "
              << (int)pEx2->_tInput._iActualDI[2] << ", "
              << (int)pEx2->_tInput._iActualDI[3] << std::endl;

    std::cout << "[I/O EX2] DO0..3: "
              << (int)pEx2->_tOutput._iTargetDO[0] << ", "
              << (int)pEx2->_tOutput._iTargetDO[1] << ", "
              << (int)pEx2->_tOutput._iTargetDO[2] << ", "
              << (int)pEx2->_tOutput._iTargetDO[3] << std::endl;
}

int main()
{
#if DRCF_VERSION == 3
    CDRFLEx drfl;

    if (!drfl.open_connection("192.168.137.100")) {
        std::cout << "Failed to connect.\n";
        return -1;
    }

    // Enable v3 monitoring payloads; EX2 callbacks will fire after this
    drfl.setup_monitoring_version(1);

    // Register the EX2 callback
    drfl.set_on_monitoring_ctrl_io_ex(OnMonitoringCtrlIOEx2CB);

    // Alive loop
    while (true) {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
#else
    std::cout << "TOnMonitoringCtrlIOEx2CB requires DRCF_VERSION == 3.\n";
#endif
    return 0;
}

Notes

• Use this when targeting v3 controllers needing richer I/O telemetry.

• Provide a fallback to TOnMonitoringCtrlIOExCB (v2) or TOnMonitoringCtrlIOCB (legacy) for broader compatibility.

• Each callback receives the most recent data. If the callback takes longer than the data period (100 ms before DRCF 3.5, 20 ms from DRCF 3.5), intermediate samples are not delivered. Do not rely on receiving every sample (for example for integration or differentiation).