TOnProgramStoppedCB

This callback function is used to check whether program execution in the robot controller has been completely terminated when the program stops due to errors or user commands during execution in Auto mode.

See Rules for callback functions.

Defined in: DRFLEx.h

// typedef (DRFL.h)
typedef void (*TOnProgramStoppedCB)(const PROGRAM_STOP_CAUSE);

// registration API (internal + wrapper)
DRFL_API void _set_on_program_stopped(LPROBOTCONTROL pCtrl, TOnProgramStoppedCB pCallbackFunc);
void set_on_program_stopped(TOnProgramStoppedCB pCallbackFunc)
{
    _set_on_program_stopped(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eStopCause	PROGRAM_STOP_CAUSE		Cause of the program termination (e.g., user stop, error, safety, etc.).

Return
None

Example

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

// Called automatically when a running DRL program stops or terminates
void OnProgramStoppedCB(const PROGRAM_STOP_CAUSE eStopCause)
{
    switch (eStopCause)
    {
    case PROGRAM_STOP_CAUSE_FORCE:
        std::printf("[PROGRAM STOP] Program was force-stopped.\n");
        break;

    case PROGRAM_STOP_CAUSE_ERROR:
        std::printf("[PROGRAM STOP] Error occurred during execution.\n");
        // Optionally check for error code or perform recovery logic
        break;

    case PROGRAM_STOP_CAUSE_NORMAL:
        std::printf("[PROGRAM STOP] Program completed normally.\n");
        break;

    default:
        std::printf("[PROGRAM STOP] Unknown stop cause: %d\n", eStopCause);
        break;
    }
}

int main()
{
    CDRFLEx drfl;

    // Connect to the robot controller
    if (!drfl.open_connection("192.168.137.100")) {
        std::printf("Failed to connect to controller.\n");
        return -1;
    }

    // Register callback for program stop event
    drfl.set_on_program_stopped(OnProgramStoppedCB);

    // Acquire control authority and turn the servo on
    drfl.manage_access_control(MANAGE_ACCESS_CONTROL_FORCE_REQUEST);
    std::this_thread::sleep_for(std::chrono::seconds(1));
    drfl.set_robot_control(CONTROL_SERVO_ON);
    for (int i = 0; i < 10 && drfl.get_robot_state() != STATE_STANDBY; ++i)
        std::this_thread::sleep_for(std::chrono::seconds(1));

    // drl_start requires Auto mode
    if (!drfl.set_robot_mode(ROBOT_MODE_AUTONOMOUS)) return -1;

    // Example: start DRL program and wait for callback
    if (!drfl.drl_start(ROBOT_SYSTEM_VIRTUAL, "movej(posj(0,0,90,0,90,0), vel=30, acc=30)\r\n")) {
        std::printf("drl_start was refused.\n");
        return -1;
    }

    while (true) {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Notes

• The callback is invoked when any DRL program running in Auto mode terminates (normal or abnormal).

• Use this to perform cleanup, logging, or restart preparation when the program ends.