set_on_monitoring_ctrl_io_ex (Manual Mode)

This section explains how to use set_on_monitoring_ctrl_io_ex during Manual (Teach) operations to register a callback function that receives real-time I/O monitoring data from the robot’s control box. The callback type depends on DRCF_VERSION; both variants are shown below.

Typical usage

Monitor digital and analog I/O state changes in real time during manual operation.
Debug I/O wiring or verify signal transitions without polling functions repeatedly.
Log or visualize I/O changes in a user-defined callback for testing.

Note

The callback is triggered whenever any I/O input/output state changes.
Must be registered after establishing a connection with the robot controller.
With DRCF_VERSION 3, set_on_monitoring_ctrl_io_ex takes a TOnMonitoringCtrlIOEx2CB callback; see set_on_monitoring_ctrl_io_ex.

Example: Register I/O monitoring callback (DRCF v2)

// 1) Define the callback function
void OnMonitoringCtrlIOEx(const LPMONITORING_CTRLIO_EX pData) {
    printf("[I/O Monitor v2] DIN_1: %d, DOUT_1: %d, ANIN1: %.2f V\n",
                pData->_tInput._iActualDI[0],
                pData->_tOutput._iTargetDO[0],
                pData->_tInput._fActualAI[0]);
}

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active

// 2) Register callback
drfl.set_on_monitoring_ctrl_io_ex(OnMonitoringCtrlIOEx);

// 3) Keep program alive to receive events
while (true) { std::this_thread::sleep_for(std::chrono::seconds(1)); }

Example: Register I/O monitoring callback (DRCF v3)

// 1) Define the callback function (DRCF_VERSION 3 uses MONITORING_CTRLIO_EX2)
void OnMonitoringCtrlIOEx2(const LPMONITORING_CTRLIO_EX2 pData) {
    printf("[I/O Monitor v3] DIN_1: %d, DOUT_1: %d, ANIN1: %.2f\n",
                pData->_tInput._iActualDI[0],
                pData->_tOutput._iTargetDO[0],
                pData->_tInput._fActualAI[0]);
}

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active

// 2) Register callback
drfl.set_on_monitoring_ctrl_io_ex(OnMonitoringCtrlIOEx2);

// 3) Keep program alive to receive events
while (true) { std::this_thread::sleep_for(std::chrono::seconds(1)); }

The structure is described in MONITORING_CTRLIO_EX2.

Tips

The callback runs at the same time as the rest of your program.
See Rules for callback functions.
Unregister or stop monitoring before closing the connection to prevent dangling callbacks.