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For information on the latest version, please have a look at 1.33.5.

disconnect_rt_control

This function terminates the active UDP real-time control session established with the robot controller. It safely closes the RT communication channel and resets all internal RT configurations.

Definition
DRFLEx.h within class CDRFLEx, public section

bool disconnect_rt_control() {
    return _disconnect_rt_control(_rbtCtrlUDP);
};

Parameter
None

Return

Value

Description

1

The disconnect request was sent, or the RT channel was not open. A return of 1 does not confirm that the controller ended the session.

0

The disconnect request could not be sent on the open RT channel. The function closes the RT channel in either case.

Caution

The RT channel cannot be connected again in the same process. After disconnect_rt_control, connect_rt_control returns 0 and prints Already connected. To connect the RT channel again, restart the application.

Note

  • Disconnecting automatically resets all RT configurations and internal handles.

  • Recommended after calling stop_rt_control to ensure a clean shutdown.

Example

drfl.connect_rt_control("192.168.137.100", 12347);
drfl.start_rt_control();

// Stop streaming and close the UDP channel
drfl.stop_rt_control();
drfl.disconnect_rt_control();

In this example, the function safely closes the active UDP RT control session and resets internal configurations used for real-time streaming.

Tips

  • Always stop RT streaming before disconnecting.

  • Use only once per session; the destructor will also release the handle if still active.