set_on_monitoring_data

This function registers a callback that automatically monitors the robot’s operation data such as joint positions, task coordinates, and system status. It is useful when certain tasks must run automatically when the data is updated.

Definition
DRFLEx.h within class CDRFLEx, public section

void set_on_monitoring_data(TOnMonitoringDataCB pCallbackFunc) {
    _set_on_monitoring_data(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnMonitoringDataCB		Callback function pointer to handle real-time monitoring data updates

Return
None

Note

See Rules for callback functions.

Example

void OnMonitoringDataCB(const LPMONITORING_DATA pData)
{
    // Displays the current joint position data
    printf("joint data %.1f, %.1f, %.1f, %.1f, %.1f, %.1f\n", pData->_tCtrl._tJoint._fActualPos[0], pData->_tCtrl._tJoint._fActualPos[1], pData->_tCtrl._tJoint._fActualPos[2], pData->_tCtrl._tJoint._fActualPos[3], pData->_tCtrl._tJoint._fActualPos[4], pData->_tCtrl._tJoint._fActualPos[5]);
}

drfl.set_on_monitoring_data(OnMonitoringDataCB);

This example registers a data monitoring callback that continuously prints the robot’s joint positions in real time as they are updated by the controller.