.. _drl_stop:

drl_stop
------------------------------------------
This function stops the DRL program (task) currently running in the robot controller. It stops the motion in the currently active section. When drl_stop returns true, the robot is in Manual mode; call set_robot_mode(ROBOT_MODE_AUTONOMOUS) before the next drl_start. When no DRL program is running or paused, or the controller refuses the stop, drl_stop returns false and the mode does not change. drl_stop also returns false after the program has stopped when Manual mode is not confirmed or the robot is in a fault state; after a false return, check get_program_state() and get_robot_mode().

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

.. code-block:: cpp

    bool drl_stop(unsigned char eStopType = 0) { 
        return _drl_stop(_rbtCtrl, eStopType); 
    };

**Parameter**

.. list-table::
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   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - eStopType
     - unsigned char
     - 0
     - The program's motion is always quick-stopped. 0 and 1 end the program as a normal forced stop; 2 ends it as an error stop.

**Return**

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

   * - **Value**
     - **Type**
     - **Description**
   * - 0
     - int
     - Error
   * - 1
     - int
     - Success

**Example**

.. code-block:: cpp

   DRL_PROGRAM_STATE eProgramState = drfl.get_program_state();
   if ((eProgramState == DRL_PROGRAM_STATE_PLAY) ||
       (eProgramState == DRL_PROGRAM_STATE_HOLD)) {
       // Stop DRL program
       drfl.drl_stop(STOP_TYPE_QUICK);
   }

This example checks the current **DRL program execution state** using `get_program_state()`. If the state is either *PLAY* or *HOLD*, the program is stopped using `drl_stop(STOP_TYPE_QUICK)`, which ends the program as a normal forced stop.