.. _flange_serial_write:

flange_serial_write
------------------------------------------
This function sends serial data through the **flange serial port** in the robot controller. |br|
The port parameter is **only available in the new flange version (v2).**

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

.. code-block:: cpp

    bool flange_serial_write(int nSize, char* pSendData, int nPort = 1)
    {
        return _flange_serial_write(_rbtCtrl, nSize, pSendData, nPort);
    };

**Parameter**

.. list-table::
   :widths: 20 20 20 40
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - nSize
     - int
     - -
     - Number of bytes of ``pSendData`` to send (maximum 32).
   * - pSendData
     - char*
     - -
     - Pointer to the data buffer to be sent.  
       Maximum supported size: **256 bytes**.
   * - nPort
     - int
     - 1
     - **Port number for flange serial interface** |br|
       1: X1, 2: X2 (X2 only on M/H models)

**Return**

.. list-table::
   :widths: 25 75
   :header-rows: 1

   * - **Value**
     - **Description**
   * - 0
     - Error — failed to transmit data.
   * - 1
     - Success — data successfully transmitted.

.. note::

   The flange board revision used by the flange serial and flange I/O functions is read at open_connection.

**Example**

.. code-block:: cpp

    char buf[] = "test123";
    Drfl.flange_serial_open(1, 115200);
    Drfl.flange_serial_write(7, buf, 1);

    LPFLANGE_SER_RXD_INFO_EX temp = Drfl.flange_serial_read(4.5, 1);
    printf("Serial read : %.*s\n", temp->_iSize, (const char*)temp->_cRxd);
    printf("Serial cnt  : %d\n", temp->_iSize);

    Drfl.flange_serial_close(1);

This example opens the flange serial port, sends a 7-byte test message, reads back received data using `flange_serial_read()`, and finally closes the port.
It demonstrates basic **send/receive flow** for flange serial communication.