set_rt_control_input

This function sets the input data communication configuration for Real-time External Control (from external controller → robot controller). It defines the version, update period, and loss tolerance used for UDP-based input streaming.

Definition
DRFLEx.h within class CDRFLEx, public section (line 586)

bool set_rt_control_input(string strVersion, float fPeriod, int nLossCnt) {
    return _set_rt_control_input(_rbtCtrlUDP, strVersion.c_str(), fPeriod, nLossCnt);
};

Parameter

Parameter Name	Data Type	Description
strVersion	string	Input data version to be used for RT streaming (e.g., “v1.0”)
fPeriod	float	Communication period in seconds. Valid range: 0.001 ~ 1.0 [s] (1 kHz ~ 1 Hz update rate)
nLossCnt	int	Maximum allowed consecutive packet loss count. If the number of lost packets exceeds this value, the RT connection is automatically terminated. When set to -1, loss count is not checked.

Note

fPeriod currently supports 0.001 s ~ 1.0 s only.
This function must be called after connect_rt_control and before start_rt_control.
Input schema must match one of the versions from get_rt_control_input_version_list.

Return

Value	Description
1	Successfully configured RT input communication.
0	Failed to configure (e.g., invalid version, out-of-range period, or disconnected state).

Example

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

int main() {
    CDRFLEx drfl;

    // Connect and configure RT input data
    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;

    if (drfl.set_rt_control_input(version, period, lossCount))
        std::cout << "RT input configuration set successfully." << std::endl;
    else
        std::cout << "Failed to set RT input configuration." << std::endl;

    drfl.disconnect_rt_control();
    return 0;
}

In this example, the function sets the RT input configuration for version “v1.0” with a 1 ms update rate and a loss tolerance of 4 consecutive packets.

Tips

For stable performance, use a period between 0.002 s and 0.01 s depending on network conditions.
Matching input/output periods ensures smoother real-time synchronization.
If connection drops frequently, try increasing the nLossCnt value.