src/libYARP_dev/galil/qnx6/yarp/YARPGalilDeviceDriver.cpp
int YARPGalilDeviceDriver::get_ref_accelerations(void *accs)
{
	long rc = 0;

	double *output = (double *) accs;

	char cmd[] = "AC";
	char *buff = m_buffer_out;

	memcpy(buff, cmd, sizeof(cmd)-1);
	buff+=(sizeof(cmd)-1);

	buff = _append_question_marks(buff);

	// close command
	buff = _append_cmd('\0', buff);

	rc = DMCCommand((HANDLEDMC) m_handle,
					m_buffer_out,
					m_buffer_in, buff_length);

	_ascii_to_binary(m_buffer_in, output);

	return rc;
}
//TODO: This would be necesary to do it in ascii mode (DMCCommand)
This would be necesary to do it in ascii mode (DMCCommand)
This would be necesary to do it in ascii mode ( DMCCommand )
int YARPGalilDeviceDriver::get_ref_accelerations(void *accs)
{
	long rc = 0;
	double *output = (double *) accs;
	char cmd[] = "AC";
	char *buff = m_buffer_out;
	memcpy(buff, cmd, sizeof(cmd)-1);
	buff+=(sizeof(cmd)-1);
	buff = _append_question_marks(buff);
	buff = _append_cmd('\0', buff);
	rc = DMCCommand((HANDLEDMC) m_handle,
					m_buffer_out,
					m_buffer_in, buff_length);
	_ascii_to_binary(m_buffer_in, output);
	return rc;
}
int YARPGalilDeviceDriver :: get_ref_accelerations ( void * accs ) { long rc = 0 ; double * output = ( double * ) accs ; char cmd [ ] = " " ; char * buff = m_buffer_out ; memcpy ( buff , cmd , sizeof ( cmd ) - 1 ) ; buff += ( sizeof ( cmd ) - 1 ) ; buff = _append_question_marks ( buff ) ; buff = _append_cmd ( ' \0 ' , buff ) ; rc = DMCCommand ( ( HANDLEDMC ) m_handle , m_buffer_out , m_buffer_in , buff_length ) ; _ascii_to_binary ( m_buffer_in , output ) ; return rc ; }
TODO: This would be necesary to do it in ascii mode (DMCCommand)
TODO : This would be necesary to do it in ascii mode ( DMCCommand )
// close command