void SAVE_POSITION() {
FILE *fp;
fp = fopen("POSITION.txt", "w");
POSITION a;
JOINTS b;
READ_POSITION(&a, &b);
fprintf(fp, "XYZOAT = \n\n");
fprintf(fp, "%g %g %g %g %g %g\n\n", a.X,a.Y,a.Z,a.O,a.A,a.T);
fprintf(fp, "JOINTS = \n\n");
fprintf(fp, "%g %g %g %g %g %g\n", b.j1,b.j2,b.j3,b.j4,b.j5,b.j6); }
IOReturn
IOSCSITape::ReadPosition(SCSI_ReadPositionShortForm *readPos, bool vendor)
{
SCSITaskIdentifier task = NULL;
IOReturn status = kIOReturnError;
SCSITaskStatus taskStatus = kSCSITaskStatus_DeviceNotResponding;
IOMemoryDescriptor * dataBuffer = NULL;
UInt8 readPosData[20] = { 0 };
dataBuffer = IOMemoryDescriptor::withAddress(&readPosData,
sizeof(readPosData),
kIODirectionIn);
require((dataBuffer != 0), ErrorExit);
task = GetSCSITask();
require((task != 0), ErrorExit);
if (READ_POSITION(task,
dataBuffer,
(vendor ? kSCSIReadPositionServiceAction_ShortFormVendorSpecific : kSCSIReadPositionServiceAction_ShortFormBlockID),
0x0,
0x00) == true)
{
taskStatus = DoSCSICommand(task, SCSI_NOMOTION_TIMEOUT);
}
if (taskStatus == kSCSITaskStatus_GOOD)
{
readPos->flags = readPosData[0];
readPos->partitionNumber = readPosData[1];
readPos->firstLogicalObjectLocation =
(readPosData[4] << 24) |
(readPosData[5] << 16) |
(readPosData[6] << 8) |
readPosData[7];
readPos->lastLogicalObjectLocation =
(readPosData[8] << 24) |
(readPosData[9] << 16) |
(readPosData[10] << 8) |
readPosData[11];
readPos->logicalObjectsInObjectBuffer =
(readPosData[13] << 16) |
(readPosData[14] << 8) |
readPosData[15];
readPos->bytesInObjectBuffer =
(readPosData[16] << 24) |
(readPosData[17] << 16) |
(readPosData[18] << 8) |
readPosData[19];
status = kIOReturnSuccess;
}
ReleaseSCSITask(task);
dataBuffer->release();
ErrorExit:
return status;
}
