TOnMasteringNeedCB

This callback function is used to check whether the robot’s axes have been twisted or misaligned by an external force. When this event occurs, the robot requires re-mastering (axis alignment) through homing. The alignment completion can then be verified using the TOnHommingCompletedCB callback.

See Rules for callback functions.

Defined in: DRFLEx.h

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

// registration API (internal + wrapper)
DRFL_API void _set_on_mastering_need(LPROBOTCONTROL pCtrl, TOnMasteringNeedCB pCallbackFunc);
void set_on_mastering_need(TOnMasteringNeedCB pCallbackFunc)
{
    _set_on_mastering_need(_rbtCtrl, pCallbackFunc);
};

Parameter
None

Return
None

Example

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

std::atomic<bool> g_bNeedHoming(false);

// Callback triggered when robot mastering (axis alignment) is required
void OnMasteringNeedCB()
{
    cout << "[MASTERING] Axis misalignment detected. Requesting homing sequence..." << endl;

    // Request homing from the main loop; do not call move_home here
    g_bNeedHoming = true;
}

int main()
{
    CDRFLEx drfl;

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

    // Register mastering-needed callback
    drfl.set_on_mastering_need(OnMasteringNeedCB);

    // Main loop: start homing outside the callback
    while (true)
    {
        if (g_bNeedHoming) {
            g_bNeedHoming = false;
            // Initiate homing mode for re-alignment of robot axes
            drfl.move_home(MOVE_HOME_MECHANIC, 1);
        }
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }

    drfl.close_connection();
    return 0;
}

Notes

• This callback is invoked when the controller detects axis offset that requires re-mastering.

• Use this event to trigger an automatic homing or alignment process.

• Use TOnHommingCompletedCB to confirm when re-alignment finishes.