You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

start_rt_control

This function starts the Real-time Control (RT) data stream over UDP. After configuration of input/output schema and connection establishment, this function begins sending and receiving real-time data frames between the PC and the controller.

Definition
DRFLEx.h within class CDRFLEx, public section (line 589)

bool start_rt_control() {
    return _start_rt_control(_rbtCtrlUDP);
};

Parameter
None

Return

Value	Description
1	Successfully started real-time streaming.
0	Failed to start (e.g., not connected, version not set).

Note

Starts both input and output streaming as configured by set_rt_control_input and set_rt_control_output.
Must be called after successful connect_rt_control.
Real-time streaming uses UDP and runs independently of TCP-based DRFL APIs.

Example

#include "DRFLEx.h"
#include <iostream>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;
    drfl.connect_rt_control("192.168.137.100", 12347);

    std::string version = "v1.0";
    float period = 0.001f;   // 1 msec = 1 kHz
    int lossCount = 4;

    // Configure RT output and start streaming
    drfl.set_rt_control_output(version, period, lossCount);

    if (drfl.start_rt_control())
        std::cout << "RT streaming started." << std::endl;
    else
        std::cout << "Failed to start RT streaming." << std::endl;

    return 0;
}

In this example, the function activates real-time data exchange between the PC and the controller, allowing the application to read and write RT data frames at a 1 kHz update rate.

Tips

Always configure RT input/output versions before starting the stream.
Stop streaming using stop_rt_control before disconnecting.
High-frequency update (e.g., 0.001 s) may require elevated thread scheduling priority.