.. _cb_tontpinitializingcompletedcb:

TOnTpInitializingCompletedCB
------------------------------------------
This callback function is used to check whether **initialization has been completed** when the robot controller is initialized by the **Teach Pendant (T/P)** application after the controller boots.

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

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

.. code-block:: cpp

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

   // registration API (internal + wrapper)
   DRFL_API void _set_on_tp_initializing_completed(LPROBOTCONTROL pCtrl, TOnTpInitializingCompletedCB pCallbackFunc);
   void set_on_tp_initializing_completed(TOnTpInitializingCompletedCB pCallbackFunc)
   {
       _set_on_tp_initializing_completed(_rbtCtrl, pCallbackFunc);
   };

**Parameter** |br|
None

**Return** |br|
None

**Example**

.. code-block:: cpp

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

   CDRFLEx drfl;
   std::atomic<bool> g_bTpInitCompleted(false);

   // Callback function triggered when TP initialization is completed
   void OnTpInitializingCompletedCB()
   {
       // Request control authority from the main loop
       g_bTpInitCompleted = true;
   }

   int main()
   {
       // Register TP initialization completion callback before connecting
       drfl.set_on_tp_initializing_completed(OnTpInitializingCompletedCB);

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

       // Main loop: call manage_access_control outside the callback
       while (true)
       {
           if (g_bTpInitCompleted) {
               g_bTpInitCompleted = false;
               cout << "[TP INIT] Teach Pendant initialization completed." << endl;
               drfl.manage_access_control(MANAGE_ACCESS_CONTROL_REQUEST);
           }
           std::this_thread::sleep_for(std::chrono::milliseconds(100));
       }

       drfl.close_connection();
       return 0;
   }

**Notes**

- The callback is called once, the first time a robot state other than STATE_NOT_READY or STATE_INITIALIZING is received after registration, and is then unregistered. The controller reports the robot state when the connection is opened and whenever it changes. Register this callback before open_connection: if the controller is already initialized it is then called during connection. A callback registered after connecting to an idle controller is called at the next state change. Register it again after every open_connection.
- Common usage includes **requesting control authority** (`MANAGE_ACCESS_CONTROL_REQUEST`)  
  or performing application startup routines.