set_rt_control_output

This function sets the output data communication configuration for Real-time External Control (from robot controller → external controller). It defines the version, transmission period, and optional loss count for UDP-based output streaming.

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

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

Parameter

Parameter Name	Data Type	Default Value	Description
strVersion	string		Output 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 transmission rate).
nLossCnt	int		Reserved. Currently not used in this function.

Note

• fPeriod currently supports 0.001 s ~ 1.0 s.

• nLossCnt parameter is reserved and not used in the current controller version.

• This function should be called after connect_rt_control and before start_rt_control.

Return

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

Example

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

int main() {
    CDRFLEx drfl;

    // Connect and configure RT output 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;       // Reserved, not used

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

    drfl.disconnect_rt_control();
    return 0;
}

In this example, the function sets the RT output configuration for version “v1.0” with a 1 ms transmission period. The nLossCnt parameter is currently unused.

Tips

• Use the same period for both input and output to maintain real-time synchronization.

• Smaller periods (e.g., 0.001–0.005 s) provide higher update rates but increase network load.

• Adjust the period according to network latency and controller performance.