get_rt_control_input_data_list

This function returns a list of input data fields supported by a specific Real-time (RT) input data version.
Each version defines which external signals can be transmitted to the robot controller during real-time operation.

Definition
DRFLEx.h within class CDRFLEx, public section (line 584)

string get_rt_control_input_data_list(string strVersion) {
    return _get_rt_control_input_data_list(_rbtCtrlUDP, strVersion.c_str());
};

Parameter

Parameter Name	Data Type	Default Value	Description
strVersion	string		Target input data version (e.g., “v1.0”).

Return

Value	Description
string	Comma-separated list of available input data fields for the specified version.

Input Data List

Parameter Name	Data Type	Description	First Supported Controller Version
external_force_torque	float[6]	External force/torque sensor input.	v1.0
external_digital_input	uint16	External digital input (16 channels).	v1.0
external_digital_output	uint16	External digital output (16 channels).	v1.0
external_analog_input	float[6]	External analog input (6 channels).	v1.0
external_analog_output	float[6]	External analog output (6 channels).	v1.0

Example

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

int main() {
    CDRFLEx drfl;

    drfl.connect_rt_control("192.168.137.100", 12347);

    // Retrieve input data fields for version v1.0
    std::string data_list = drfl.get_rt_control_input_data_list("v1.0");
    std::cout << "Input data fields: " << data_list << std::endl;

    drfl.disconnect_rt_control();
    return 0;
}

In this example, the function queries all available input data fields for the specified version (“v1.0”), allowing the user to configure compatible RT input schema.

Tips

• Use this after calling get_rt_control_input_version_list to confirm the supported input version.

• The list may vary depending on firmware updates or controller model.

• Each listed field corresponds to a structure element used in write_data_rt.