TOnDisconnectedCB

This callback function is used to check whether the connection with the robot controller has been terminated by an external cause or user intervention.

See Rules for callback functions.

Defined in: DRFLEx.h

// typedef (DRFL.h)
typedef void (*TOnDisconnectedCB)();

// registration API (internal + wrapper)
DRFL_API void _set_on_disconnected(LPROBOTCONTROL pCtrl, TOnDisconnectedCB pCallbackFunc);
void set_on_disconnected(TOnDisconnectedCB pCallbackFunc)
{
    _set_on_disconnected(_rbtCtrl, pCallbackFunc);
};

Parameter
None

Return
None

Example

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

using namespace DRAFramework;
using namespace std;

CDRFLEx drfl;
atomic<bool> g_bDisconnected(false);

// Callback triggered when the robot controller connection is lost
void OnDisconnectedCB()
{
    // Only record the event; main() reconnects
    g_bDisconnected = true;
}

void OnMonitoringStateCB(const ROBOT_STATE eState)
{
    cout << "[STATE] " << (int)eState << endl;
}

void RegisterCallbacks()
{
    drfl.set_on_monitoring_state(OnMonitoringStateCB);
}

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

    // Register disconnection callback; it stays registered after a disconnect
    drfl.set_on_disconnected(OnDisconnectedCB);
    RegisterCallbacks();
    drfl.setup_monitoring_version(1);

    // Keep program alive to handle potential disconnects
    while (true)
    {
        if (g_bDisconnected.exchange(false)) {
            cout << "[DISCONNECT] Lost connection with the robot controller." << endl;

            if (drfl.open_connection("192.168.137.100")) {
                cout << "[RECONNECT] Connection re-established successfully." << endl;
                // The other callbacks were unregistered: register them again
                RegisterCallbacks();
                drfl.setup_monitoring_version(1);
            }
            else {
                cout << "[ERROR] Failed to reconnect. Check network or controller power." << endl;
                g_bDisconnected = true;   // retry on the next pass
            }
        }
        this_thread::sleep_for(chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Notes

• This callback is invoked when the network session or controller link is terminated.

• Use it to log the event, alert the user, or signal the application to reconnect. Call open_connection outside the callback, as in the example.

• When a connection ends (close_connection, loss of connection, or open_connection on an object that is already connected), every callback registered with a set_on_* function is unregistered, except those registered with set_on_disconnected, set_on_monitoring_ctrl_io_ex (with DRCF_VERSION 3, the default), set_on_rt_monitoring_data and set_on_rt_log_alarm, which stay registered. After each successful open_connection, register the other callbacks again and call setup_monitoring_version again. open_connection on a connected object closes the existing connection first and prints “Already connected : <ip>”.

• If no data is received from the controller for about 2 seconds, the connection ends and the disconnect callback is called. See open_connection.

• After the connection has ended, call only open_connection.