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 and transmission period for UDP-based output streaming.

Definition
DRFLEx.h within class CDRFLEx, public section

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

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 or period were accepted. A rejected configuration is reported through set_on_rt_log_alarm.

Example

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

drfl.disconnect_rt_control();

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.