stop_rt_control

This function stops the Real-time (RT) input/output streaming that was previously started by start_rt_control. It safely terminates the real-time data exchange between the PC and the robot controller.

Definition
DRFLEx.h within class CDRFLEx, public section (line 590)

bool stop_rt_control() {
    return _stop_rt_control(_rbtCtrlUDP);
};

Parameter
None

Return

Value	Description
1	Successfully stopped real-time communication.
0	Failed to stop (e.g., stream not active or invalid handle).

Note

• Stops both input and output streams that were configured via set_rt_control_input and set_rt_control_output.

• Should always be called before disconnect_rt_control.

Example

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

int main() {
    CDRFLEx drfl;

    // Connect and configure
    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;

    drfl.set_rt_control_output(version, period, lossCount);
    drfl.start_rt_control();

    // Perform RT operations
    // ...

    // Stop real-time communication
    drfl.stop_rt_control();

    // Finally disconnect
    drfl.disconnect_rt_control();
    return 0;
}

In this example, the function stops the ongoing RT data exchange so that resources can be safely released or reconfigured before disconnection.

Tips

• Always stop RT streaming before disconnecting the UDP channel.

• Recommended when changing RT version, period, or communication direction.

• Prevents residual data packets and ensures clean session closure.