get_rt_control_input_version_list

This function retrieves the list of supported Real-time (RT) input data versions available on the robot controller. Each version corresponds to a predefined input data schema that determines which external data fields (e.g., F/T sensor, DI, DO, AI, AO) can be transmitted to the controller.

Definition
DRFLEx.h within class CDRFLEx, public section (line 583)

string get_rt_control_input_version_list() {
    return _get_rt_control_input_version_list(_rbtCtrlUDP);
};

Parameter
None

Return

Value	Description
String	Comma-separated list of available RT Input Data Versions.

Version List

Input Data Version	First Supported Controller Version
v1.0	V2.9 and above

Example

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

int main() {
    CDRFLEx drfl;

    // Connect and query RT input version list
    drfl.connect_rt_control("192.168.137.100", 12347);
    std::string version_list = drfl.get_rt_control_input_version_list();
    std::cout << "Available RT input versions: " << version_list << std::endl;

    drfl.disconnect_rt_control();
    return 0;
}

In this example, the function queries the controller for all supported RT input data versions, such as “v1.0”, which can then be used when calling set_rt_control_input to configure the streaming schema.

Tips

• Use this function before starting RT control to check version compatibility.

• Returned list may vary depending on controller firmware version.

• Always ensure both input/output versions match when configuring RT streaming.