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TOnRTMonitoringDataCB

This is a real-time callback function that provides robot operation data at high-frequency intervals through the UDP-based real-time communication interface.
It allows continuous monitoring of key robot states (joint position, torque, external force, etc.) in applications requiring low-latency feedback.

The callback is called once per output period set with set_rt_control_output.

See Rules for callback functions.

Defined in: DRFLEx.h

// typedef (DRFLEx.h)
typedef void (*TOnRTMonitoringDataCB)(const LPRT_OUTPUT_DATA_LIST);

// internal definition
DRFL_API void _set_on_rt_monitoring_data(LPROBOTCONTROL pCtrl, TOnRTMonitoringDataCB pCallbackFunc);

// user-callable wrapper (UDP real-time control interface)
void set_on_rt_monitoring_data(TOnRTMonitoringDataCB pCallbackFunc)
{
    _set_on_rt_monitoring_data(_rbtCtrlUDP, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pRTData	RT_OUTPUT_DATA_LIST		Pointer to a structure containing real-time monitoring data such as joint position, torque, velocity, and status flags.

Return
None

Example

#include "DRFLEx.h"
#include <iostream>
#include <iomanip>
#include <mutex>
#include <thread>
#include <chrono>
using namespace DRAFramework;
using namespace std;

// Latest sample, copied in the callback and printed by the main loop
std::mutex g_mtxRT;
RT_OUTPUT_DATA_LIST g_tLatestRT;
bool g_bHasRT = false;

// Real-time data callback (UDP): copy the data and return
void OnRTMonitoringDataCB(const LPRT_OUTPUT_DATA_LIST pRTData)
{
    if (!pRTData) return;

    std::lock_guard<std::mutex> lock(g_mtxRT);
    g_tLatestRT = *pRTData;
    g_bHasRT = true;
}

void PrintRTData(const RT_OUTPUT_DATA_LIST& tData)
{
    cout << fixed << setprecision(3);
    cout << "[REAL-TIME MONITORING DATA]" << endl;

    // Display joint positions
    cout << "Joint positions [deg]: ";
    for (int i = 0; i < NUM_JOINT; i++)
        cout << setw(8) << tData.actual_joint_position[i] << " ";
    cout << endl;

    // Display external torques
    cout << "External torque [Nm]: ";
    for (int i = 0; i < NUM_JOINT; i++)
        cout << setw(8) << tData.external_joint_torque[i] << " ";
    cout << endl;

    // Display tool force
    cout << "Tool force [N]: ";
    for (int i = 0; i < 3; i++)
        cout << setw(8) << tData.external_tcp_force[i] << " ";
    cout << endl;

    cout << "------------------------------------" << endl;
}

int main()
{
    CDRFLEx drfl;

    // Connect to controller in real-time mode (UDP)
    if (!drfl.connect_rt_control("192.168.137.100")) {
        cout << "Failed to connect to controller (RT mode)." << endl;
        return -1;
    }

    // Register callback for RT monitoring
    drfl.set_on_rt_monitoring_data(OnRTMonitoringDataCB);

    // Select the output data version and period, then start the stream
    drfl.set_rt_control_output("v1.0", 0.002f, 4);
    drfl.start_rt_control();

    // Main loop: print the latest sample every 100 ms
    while (true) {
        RT_OUTPUT_DATA_LIST tData;
        bool bHasData = false;
        {
            std::lock_guard<std::mutex> lock(g_mtxRT);
            tData = g_tLatestRT;
            bHasData = g_bHasRT;
        }
        if (bHasData)
            PrintRTData(tData);
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }

    drfl.disconnect_rt_control();
    return 0;
}

Notes

• This callback is called once per output period set with set_rt_control_output.

• Typical fields accessible in RT_OUTPUT_DATA_LIST include:
  - Joint positions, velocities, and torques
  - External TCP force and moment
  - Digital/analog input states
  - System and motion flags
  

• Recommended use cases:
  - Real-time visualization of robot motion
  - Force-based control or adaptive compliance monitoring
  - Research or control experiments using low-latency feedback
  

• Do not call get_rt_control_input_version_list, get_rt_control_output_version_list, get_rt_control_input_data_list, get_rt_control_output_data_list or disconnect_rt_control from an RT callback; the call does not return. connect_rt_control called from an RT callback returns false and prints Already connected.

• Use this callback only when DRCF_VERSION ≥ 2 and the UDP interface is properly initialized.