.. _cb_tonmonitoringdataexcb:

TOnMonitoringDataExCB
------------------------------------------
This is an extended version of the monitoring callback that provides **enhanced operation data**  
from the robot controller, including detailed information about **joint**, **task**, and **I/O state**. |br|
It functions similarly to :ref:`TOnMonitoringDataCB <cb_tonmonitoringdatacb>` but contains additional fields  
within the :ref:`MONITORING_DATA_EX <struct_MONITORING_DATA_EX>` structure for advanced monitoring or diagnostic applications.  

See :ref:`Rules for callback functions <callback_rules>`.

**Defined in:** ``DRFLEx.h``

.. code-block:: cpp

   // typedef (DRFLEx.h)
   typedef void (*TOnMonitoringDataExCB)(const LPMONITORING_DATA_EX);

   // registration API (internal + wrapper)
   DRFL_API void _set_on_monitoring_data_ex(LPROBOTCONTROL pCtrl, TOnMonitoringDataExCB pCallbackFunc);
   void set_on_monitoring_data_ex(TOnMonitoringDataExCB pCallbackFunc)
   {
       _set_on_monitoring_data_ex(_rbtCtrl, pCallbackFunc);
   };

**Parameter**

.. list-table::
   :header-rows: 1
   :widths: 20 25 15 40

   * - Parameter Name
     - Data Type
     - Default Value
     - Description
   * - pData
     - :ref:`MONITORING_DATA_EX <struct_MONITORING_DATA_EX>`
     - -
     - Pointer to the extended monitoring data structure containing joint, TCP, torque, and I/O information.

**Return** |br|
None

**Example**

.. code-block:: cpp

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

   // Extended monitoring callback for real-time robot data
   void OnMonitoringDataExCB(const LPMONITORING_DATA_EX pData)
   {
       cout << "[MONITOR-EX] Joint position (deg): ";
       for (int i = 0; i < 6; ++i)
       {
           cout << pData->_tCtrl._tJoint._fActualPos[i];
           if (i < 5) cout << ", ";
       }
       cout << endl;

       // TCP pose (X, Y, Z, Rx, Ry, Rz)
       cout << "[MONITOR-EX] TCP pose: ";
       for (int i = 0; i < 6; ++i)
       {
           cout << pData->_tCtrl._tTask._fActualPos[0][i];  // row 0 = tool, row 1 = flange
           if (i < 5) cout << ", ";
       }
       cout << endl;

       // Display flange digital input state
       cout << "[MONITOR-EX] Flange digital input[0]: "
            << static_cast<int>(pData->_tMisc._iActualDI[0]) << endl;
   }

   int main()
   {
       CDRFLEx drfl;

       // Connect to robot controller
       if (!drfl.open_connection("192.168.137.100")) {
           cout << "Failed to connect to controller." << endl;
           return -1;
       }

       // Select the extended monitoring data (version 1) after connecting
       drfl.setup_monitoring_version(1);

       // Register extended monitoring callback
       drfl.set_on_monitoring_data_ex(OnMonitoringDataExCB);

       // Keep running to receive continuous updates
       while (true)
       {
           std::this_thread::sleep_for(std::chrono::seconds(1));
       }

       drfl.close_connection();
       return 0;
   }

**Notes**

- Provides **extended monitoring data** including joint torque, TCP pose, I/O states, and additional sensor feedback.  
- Recommended for advanced applications such as **data logging**, **digital twin visualization**, or **robot diagnostics**.  
- 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).