.. _close_connection:

close_connection
------------------------------------------
This function disconnects the robot controller from the external PC.  
It safely terminates the established TCP/IP communication session.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

    bool close_connection() { return _close_connection(_rbtCtrl); };

**Parameter** |br|
None

**Return**

.. list-table::
   :widths: 10 20 70
   :header-rows: 1

   * - **Value**
     - **Type**
     - **Description**
   * - 1
     - int
     - Success — robot controller disconnected successfully.

.. note::

   When a connection ends (``close_connection``, loss of connection, or ``open_connection`` on an object that is already connected), every callback registered with a ``set_on_*`` function is unregistered, except those registered with ``set_on_disconnected``, ``set_on_monitoring_ctrl_io_ex`` (with DRCF_VERSION 3, the default), ``set_on_rt_monitoring_data`` and ``set_on_rt_log_alarm``, which stay registered. After each successful ``open_connection``, register the other callbacks again and call ``setup_monitoring_version`` again. ``open_connection`` on a connected object closes the existing connection first and prints "Already connected : <ip>".

   After the connection has ended, call only ``open_connection``.

**Example**

.. code-block:: cpp

   drfl.close_connection();

This example safely closes the TCP/IP connection with the robot controller,  
ensuring all communication sessions are properly terminated.