start_rt_control

This function starts the Real-time Control (RT) data stream over UDP. After configuration of input/output schema and connection establishment, this function begins sending and receiving real-time data frames between the PC and the controller.

Definition
DRFLEx.h within class CDRFLEx, public section (line 589)

bool start_rt_control() {
    return _start_rt_control(_rbtCtrlUDP);
};

Parameter
None

Return

Value	Description
1	Successfully started real-time streaming.
0	Failed to start (e.g., not connected, version not set).

Note

• Starts both input and output streaming as configured by set_rt_control_input and set_rt_control_output.

• Must be called after successful connect_rt_control.

• Real-time streaming uses UDP and runs independently of TCP-based DRFL APIs.

Example

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;

// Configure RT output and start streaming
drfl.set_rt_control_output(version, period, lossCount);

if (drfl.start_rt_control())
    printf("RT streaming started.\n");
else
    printf("Failed to start RT streaming.\n");

In this example, the function activates real-time data exchange between the PC and the controller, allowing the application to read and write RT data frames at a 1 kHz update rate.

Tips

• Always configure RT input/output versions before starting the stream.

• Stop streaming using stop_rt_control before disconnecting.

• High-frequency update (e.g., 0.001 s) may require elevated thread scheduling priority.