.. _cb_tonmonitoringctrliioex2cb:

TOnMonitoringCtrlIOEx2CB
------------------------------------------
This is the **latest extended** controller I/O monitoring callback for **DRCF version 3**.  
Compared to :ref:`TOnMonitoringCtrlIOCB <cb_tonmonitoringctrliocb>` and
:ref:`TOnMonitoringCtrlIOExCB <cb_tonmonitoringctrliioexcb>`, it delivers the v3-format
I/O payload (:ref:`MONITORING_CTRLIO_EX2 <struct_MONITORING_CTRLIO_EX2>`) and is invoked only after enabling the
new monitoring format.

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

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

.. code-block:: cpp

   // typedef (DRFLEx.h)
   typedef void (*TOnMonitoringCtrlIOEx2CB)(const LPMONITORING_CTRLIO_EX2);

   // registration API (internal + wrapper)
   DRFL_API void _set_on_monitoring_ctrl_io_ex2(LPROBOTCONTROL pCtrl, TOnMonitoringCtrlIOEx2CB pCallbackFunc);

   #elif DRCF_VERSION == 3
       /* Latest version. callbacks invoked after setup_monitoring_version(1) */
       void set_on_monitoring_ctrl_io_ex(TOnMonitoringCtrlIOEx2CB pCallbackFunc)
       {
           _set_on_monitoring_ctrl_io_ex2(_rbtCtrl, pCallbackFunc);
       };

**Parameter**

.. list-table::
   :header-rows: 1
   :widths: 20 25 15 40

   * - Parameter Name
     - Data Type
     - Default Value
     - Description
   * - pCtrlIOEx2
     - :ref:`MONITORING_CTRLIO_EX2 <struct_MONITORING_CTRLIO_EX2>`
     - -
     - Pointer to v3 extended I/O structure (digital/analog I/O plus v3 metadata).

**Return** |br|
None

**Example**

.. code-block:: cpp

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

   using namespace DRAFramework;

   // EX2 I/O monitoring callback (DRCF v3)
   void OnMonitoringCtrlIOEx2CB(const LPMONITORING_CTRLIO_EX2 pEx2)
   {
       // Print first few digital inputs/outputs as an example
       std::cout << "[I/O EX2] DI0..3: "
                 << (int)pEx2->_tInput._iActualDI[0] << ", "
                 << (int)pEx2->_tInput._iActualDI[1] << ", "
                 << (int)pEx2->_tInput._iActualDI[2] << ", "
                 << (int)pEx2->_tInput._iActualDI[3] << std::endl;

       std::cout << "[I/O EX2] DO0..3: "
                 << (int)pEx2->_tOutput._iTargetDO[0] << ", "
                 << (int)pEx2->_tOutput._iTargetDO[1] << ", "
                 << (int)pEx2->_tOutput._iTargetDO[2] << ", "
                 << (int)pEx2->_tOutput._iTargetDO[3] << std::endl;
   }

   int main()
   {
   #if DRCF_VERSION == 3
       CDRFLEx drfl;

       if (!drfl.open_connection("192.168.137.100")) {
           std::cout << "Failed to connect.\n";
           return -1;
       }

       // Enable v3 monitoring payloads; EX2 callbacks will fire after this
       drfl.setup_monitoring_version(1);

       // Register the EX2 callback
       drfl.set_on_monitoring_ctrl_io_ex(OnMonitoringCtrlIOEx2CB);

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

       drfl.close_connection();
   #else
       std::cout << "TOnMonitoringCtrlIOEx2CB requires DRCF_VERSION == 3.\n";
   #endif
       return 0;
   }

**Notes**

- Use this when targeting **v3 controllers** needing richer I/O telemetry.  
- Provide a fallback to :ref:`TOnMonitoringCtrlIOExCB <cb_tonmonitoringctrliioexcb>` (v2) or
  :ref:`TOnMonitoringCtrlIOCB <cb_tonmonitoringctrliocb>` (legacy) for broader compatibility.  
- Each callback receives the most recent data. If the callback takes longer than the data period (100 ms before DRCF 3.5, 20 ms from DRCF 3.5), intermediate samples are not delivered. Do not rely on receiving every sample (for example for integration or differentiation).