TOnMonitoringStateCB

This callback function is used to check changes in the operation state of the robot controller.

See Rules for callback functions.

Defined in: DRFLEx.h

typedef void (*TOnMonitoringStateCB)(const ROBOT_STATE);

void set_on_monitoring_state(TOnMonitoringStateCB pCallbackFunc)
{
    _set_on_monitoring_state(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eState	ROBOT_STATE		Refer to the Definition of Enumeration Type.

Return
None

Example

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

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

// Callback function: triggered whenever the robot’s operational state changes
void OnMonitoringStateCB(const ROBOT_STATE eState)
{
    switch ((unsigned char)eState)
    {
        case STATE_SAFE_OFF:
            printf("[STATE] SAFE OFF detected. Servo on is requested from the main loop.\n");
            g_bNeedServoOn = true;
            break;

        case STATE_STANDBY:
            printf("[STATE] Robot is now standby and ready.\n");
            break;

        case STATE_MOVING:
            printf("[STATE] Robot is executing motion.\n");
            break;

        case STATE_SAFE_STOP:
            printf("[STATE] Robot is in safe stop.\n");
            break;

        default:
            printf("[STATE] Unknown or transitional state: %d\n", eState);
            break;
    }
}

int main()
{
    CDRFLEx drfl;

    // Connect to the robot controller
    drfl.open_connection("192.168.137.100");

    // Register callback for robot state monitoring
    drfl.set_on_monitoring_state(OnMonitoringStateCB);

    // Keep program alive to observe state transitions
    while (true)
    {
        // Call set_robot_control outside the callback
        if (g_bNeedServoOn)
        {
            g_bNeedServoOn = false;
            drfl.set_robot_control(CONTROL_SERVO_ON);
        }
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Note

• This callback is automatically invoked by the controller whenever a robot state transition occurs.

• Typical usage includes servo enabling after STATE_SAFE_OFF, logging state changes, or updating GUI indicators.

• Call set_robot_control outside the callback.