.. _set_on_tp_initializing_completed:

set_on_tp_initializing_completed
------------------------------------------
This function registers a callback function that automatically checks whether initialization has been completed when the robot controller is initialized by the T/P application after booting. Use it to run your own code automatically when this event occurs.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

    void set_on_tp_initializing_completed(TOnTpInitializingCompletedCB pCallbackFunc) { 
        _set_on_tp_initializing_completed(_rbtCtrl, pCallbackFunc); 
    };

**Parameter**

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

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - pCallbackFunc
     - :ref:`TOnTpInitializingCompletedCB <cb_tontpinitializingcompletedcb>`
     - -
     - Refer to definition of callback function

**Return** |br|
None

.. note::

   The callback is called once, the first time a robot state other than STATE_NOT_READY or STATE_INITIALIZING is received after registration, and is then unregistered. The controller reports the robot state when the connection is opened and whenever it changes. Register this callback before open_connection: if the controller is already initialised it is then called during connection. A callback registered after connecting to an idle controller is called at the next state change. Register it again after every open_connection.

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

**Example**

.. code-block:: cpp

   void OnTpInitializingCompletedCB()
   {
       // Requests control right after checking Tp initialization
       printf("tp initializing completed\n");
       drfl.manage_access_control(MANAGE_ACCESS_CONTROL_REQUEST);
   }

   drfl.set_on_tp_initializing_completed(OnTpInitializingCompletedCB);

Once registered, this callback executes automatically **after the T/P (Teach Pendant) initialization process** completes.  
It prints a message and requests **control authority** using `manage_access_control()`,  
allowing the external application to take control immediately after system boot.