For information on the latest version, please have a look at 1.33.5.
set_on_tp_popup (Manual Mode)
This section explains how to use set_on_tp_popup during Manual (Teach) operations. This function registers a callback function that is invoked whenever a DRL program or TP action triggers a popup message on the Teach Pendant. It is useful for answering prompts (RESUME/STOP), routing operator decisions to the host app, and logging human–robot interactions during teaching.
Typical usage
Show operator confirmations (e.g., “Clamp closed?”, “Ready to jog to next point?”) and capture the response on the host PC.
Gate risky actions in teach mode (e.g., approach near obstacles) with an explicit human confirmation.
Log popup content/level/button type to audit teaching sessions or guide SOPs.
Note
The callback is triggered every time a TP popup occurs while connected.
To answer a popup from the host, use tp_popup_response.
Example: Register a popup callback and respond to operator choice
// 1) Define TP popup callback
void OnTpPopup(LPMESSAGE_POPUP tPopup)
{
printf("-------------------------------------------\n");
printf("[TP POPUP]\n");
printf("Message : %s\n", tPopup->_szText);
printf("Level : %d\n", tPopup->_iLevel); // 0: info, 1: warning, 2: alarm
printf("Buttons : %d\n", tPopup->_iBtnType); // 0: Resume/Stop, 1: OK
printf("-------------------------------------------\n");
// 2) Simple policy examples in Teach mode
// - Auto-acknowledge harmless info
// - Require operator decision for risk-related prompts (leave unanswered)
if (tPopup->_iLevel == MESSAGE_LEVEL_INFO &&
strstr(tPopup->_szText, "Start jogging") != nullptr)
{
// Acknowledge informational prompt
drfl.tp_popup_response(POPUP_RESPONSE_RESUME);
printf("[Host] Auto-acknowledged jogging start.\n");
}
else if (strstr(tPopup->_szText, "Near obstacle") != nullptr)
{
// Let the human press the TP button; do not auto-respond
printf("[Host] Waiting for operator decision on TP.\n");
}
else
{
// Default: no automatic response
printf("[Host] Logged popup. No automatic response.\n");
}
}
// Preconditions:
// - drfl.open_connection("192.168.137.100");
// - Controller in Manual (Teach) mode
drfl.set_on_tp_popup(OnTpPopup);
printf("[Teach] TP popup callback registered.\n");
// Keep the process alive to receive callbacks during teaching
while (true) std::this_thread::sleep_for(std::chrono::seconds(1));
In this example, the host application listens for popup events generated on the Teach Pendant (TP). When an informational popup appears (e.g., “Start jogging”), it sends POPUP_RESPONSE_RESUME. However, for higher-risk messages such as “Near obstacle,” the system pauses and waits for the operator’s manual input. This approach enables safe semi-automatic decision handling while maintaining manual override control.
Tips
Combine with set_on_tp_log to correlate popup and log streams for SOP auditing.
For input forms on TP, pair with set_on_tp_get_user_input and tp_get_user_input_response.
Log the popup level (
_iLevel) on the host PC to record popup severity (e.g., warning, alarm) in teach mode.If your callback policy auto-responds, document the cases clearly and do not send POPUP_RESPONSE_RESUME automatically for dangerous actions.