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For information on the latest version, please have a look at GL013301.

disconnect_rt_control

This function terminates the active UDP real-time control session established with the robot controller. It safely closes the RT communication channel and resets all internal RT configurations.

Definition
DRFLEx.h within class CDRFLEx, public section (line 576)

bool disconnect_rt_control() {
    return _disconnect_rt_control(_rbtCtrlUDP);
};

Parameter
None

Return

Value

Description

1

Disconnection successful.

0

Disconnection failed (e.g., already disconnected or invalid handle).

Note

  • Disconnecting automatically resets all RT configurations and internal handles.

  • Recommended after calling stop_rt_control to ensure a clean shutdown.

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    drfl.connect_rt_control("192.168.137.100", 12347);
    drfl.start_rt_control();

    // Stop streaming and close the UDP channel
    drfl.stop_rt_control();
    drfl.disconnect_rt_control();
    return 0;
}

In this example, the function safely closes the active UDP RT control session and resets internal configurations used for real-time streaming.

Tips

  • Always stop RT streaming before disconnecting.

  • Use only once per session; the destructor will also release the handle if still active.

  • Reconnect via connect_rt_control to start a new RT session.