int CQboduinoDriver::sendComand(std::string board, CComando& comand, std::vector<dataUnion>& response, std::vector<dataUnion>& data)
{
response.clear();
cereal::CerealPort *ser=boards_[board];
long timeout=*timeouts_[board];
ser->flush();
std::string oud;
if(comand.serialize(data, oud)<0)
return -4;
if(!write(ser,oud))
return -5;
std::string ind;
if(!read(ser,ind,timeout))
return -6;
if(comand.deserialize(ind, response)<0)
{
return -7;
}
return 1;
}
int CQboduinoDriver::sendCommand(std::string board, CComando& command, std::vector<dataUnion>& response, std::vector<dataUnion>& data)
{
response.clear();
cereal::CerealPort *port=boards_[board];
long timeout=*timeouts_[board];
port->flush();
std::string oud;
if(command.serialize(data, oud)<0)
return -4; //data could not be serialized
if(!write(port,oud))
return -5; //data could not be writen on port
std::string ind;
if(!read(port,ind,timeout))
return -6; //response could not be read
if(command.deserialize(ind, response)<0)
{
return -7;//response could not be deserialized
}
return 1;
}