.. _cb_tonhommingcompletedcb:

TOnHommingCompletedCB
------------------------------------------
This callback function is used to check whether **homing has been completed** when the robot controller is operating in **homing control mode**.

See :ref:`Rules for callback functions <callback_rules>`.

**Defined in:** ``DRFLEx.h``

.. code-block:: cpp

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

   // registration API (internal + wrapper)
   DRFL_API void _set_on_homming_completed(LPROBOTCONTROL pCtrl, TOnHommingCompletedCB pCallbackFunc);
   void set_on_homming_completed(TOnHommingCompletedCB pCallbackFunc)
   {
       _set_on_homming_completed(_rbtCtrl, pCallbackFunc);
   };

**Parameter** |br|
None

**Return** |br|
None

**Example**

.. code-block:: cpp

   #include "DRFLEx.h"
   #include <iostream>
   #include <thread>
   #include <chrono>

   using namespace DRAFramework;
   using namespace std;

   // Callback function triggered when homing operation is completed
   void OnHommingCompletedCB()
   {
       cout << "[HOMING] Completed successfully." << endl;

       // Optional: issue post-homing initialization logic
       // For example, prepare for motion
   }

   int main()
   {
       CDRFLEx drfl;

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

       // 2) Register homing completion callback
       drfl.set_on_homming_completed(OnHommingCompletedCB);

       // 3) Start homing operation
       drfl.move_home(MOVE_HOME_MECHANIC, 1);
       cout << "[INFO] Homing started..." << endl;

       // 4) Wait for homing completion event
       while (true)
       {
           std::this_thread::sleep_for(std::chrono::seconds(1));
       }

       drfl.close_connection();
       return 0;
   }

**Notes**

- The callback is automatically invoked once the **homing process finishes successfully**.  
- Common usage includes **logging**, **UI updates**, or **enabling next operation steps**.