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

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	Default Value	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. The RT connection is automatically terminated once the number of consecutive lost packets reaches this value. -1 does not disable the check. The counter reaches 1 one period after the last packet, so -1, 0 and 1 all end the session at that same moment. Use 2 or more to tolerate any loss at all; the supplied examples use 4.

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.

• The input watchdog is armed by this function only. For monitoring-only sessions that send no input data, skip this call and configure output alone with set_rt_control_output; no loss check is then applied.

Return

Value	Description
1	The configuration datagram was sent.
0	The configuration datagram could not be sent.

Note

This function does not wait for the controller to acknowledge the configuration. A return value of 1 means only that the datagram was sent; it does not confirm that the version, period or loss count were accepted. A rejected configuration is reported through set_on_rt_log_alarm.

Example

// 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))
    printf("RT input configuration set successfully.\n");
else
    printf("Failed to set RT input configuration.\n");

drfl.disconnect_rt_control();

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 the connection drops frequently, increase nLossCnt. The time the robot tolerates silence is fPeriod x nLossCnt.