.. _set_on_tp_popup:

set_on_tp_popup
------------------------------------------
This function is used to register a callback function to check the popup message  
when the ``tp_popup`` command is used in DRL.  
Use it to run your own code automatically when this event occurs.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

    void set_on_tp_popup(TOnTpPopupCB pCallbackFunc) { 
        _set_on_tp_popup(_rbtCtrl, pCallbackFunc); 
    };

**Parameter**

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

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - pCallbackFunc
     - :ref:`TOnTpPopupCB <cb_tontppopupcb>`
     - -
     - Refer to definition of callback function

**Return** |br|
None

.. note::

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

**Example**

.. code-block:: cpp

   // Callback function to handle popup events from TP
   void OnTpPopup(LPMESSAGE_POPUP tPopup)
   {
       printf("-------------------------------------------\n");
       printf("[TP POPUP DETECTED]\n");
       printf("Popup Message : %s\n", tPopup->_szText);
       printf("Message Level : %d\n", tPopup->_iLevel);
       printf("Button Type   : %d\n", tPopup->_iBtnType);
       printf("-------------------------------------------\n");

       // Example: handle based on popup message or level
       if (strcmp(tPopup->_szText, "Confirm Start?") == 0)
       {
           printf("[Host] Sending RESUME response to controller...\n");
           drfl.tp_popup_response(POPUP_RESPONSE_RESUME);
       }
       else if (tPopup->_iLevel == MESSAGE_LEVEL_ALARM)   // Alarm level popup
       {
           printf("[Host] Alarm received from TP. Logging event...\n");
           // Log or take action (e.g., slow down motion)
       }
       else
       {
           printf("[Host] Display only popup - no action required.\n");
       }
   }

   // Register the popup callback
   drfl.set_on_tp_popup(OnTpPopup);

   // Main program logic
   printf("Waiting for popup events from Teach Pendant...\n");
   while (true)
   {
       // Maintain connection and check callbacks
       this_thread::sleep_for(chrono::seconds(1));
   }

When registered, this callback function executes automatically  
when a **popup message is triggered on the Teach Pendant (TP)** through DRL.  
It allows the user to **check popup content, message level, and button type**,  
and optionally **send a response back to the controller** (``POPUP_RESPONSE_RESUME`` or ``POPUP_RESPONSE_STOP``).  
This enables dynamic handling of TP-side prompts such as confirmations,  
warnings, or notifications during robot operation.