my adaptation

		double j1=joints[0];
			double j2=joints[1];
			double j3=joints[2];
			double j4=joints[3];
			double j5=joints[4];
			double j6=joints[5];
			double  w=joints[6];
			double gripper = joints[7];

			//char joint[20];
			char *joint= new char[40];
			char *jdenso;
			char *input3="q\r";
			//char inp3[]="q\r";
			//input3=inp3;

			sprintf(joint, "%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f \r",j1,j2,j3,j4,j5,j6,w,gripper);
			serialPort.Write(joint);

			//serialPort.Read();  // MATTER HERE!!!!
			// *** START RS232 reading
			LONG    lLastError = ERROR_SUCCESS;
			enum { EOF_Char = 115 };
			// Keep reading data, until an "s" or "S" has been received // EOF (CTRL-Z)
			bool fContinue = true;
			do
			{
				// Wait for an event
				lLastError = serialPort.WaitEvent();   // it waits here forever!!!!
				if (lLastError != ERROR_SUCCESS)
					ShowError(serialPort.GetLastError(), _T("Unable to wait for a COM-port event."));

				// Save event
				const CSerial::EEvent eEvent = serialPort.GetEventType();

				// Handle break event
				if (eEvent & CSerial::EEventBreak)
				{
					printf("\n### BREAK received ###\n");
				}

				// Handle CTS event
				if (eEvent & CSerial::EEventCTS)
				{
					printf("\n### Clear to send %s ###\n", serialPort.GetCTS()?"on":"off");
				}

				// Handle DSR event
				if (eEvent & CSerial::EEventDSR)
				{
					printf("\n### Data set ready %s ###\n", serialPort.GetDSR()?"on":"off");
				}

				// Handle error event
				if (eEvent & CSerial::EEventError)
				{
					printf("\n### ERROR: ");
					switch (serialPort.GetError())
					{
					case CSerial::EErrorBreak:		printf("Break condition");			break;
					case CSerial::EErrorFrame:		printf("Framing error");			break;
					case CSerial::EErrorIOE:		printf("IO device error");			break;
					case CSerial::EErrorMode:		printf("Unsupported mode");			break;
					case CSerial::EErrorOverrun:	printf("Buffer overrun");			break;
					case CSerial::EErrorRxOver:		printf("Input buffer overflow");	break;
					case CSerial::EErrorParity:		printf("Input parity error");		break;
					case CSerial::EErrorTxFull:		printf("Output buffer full");		break;
					default:						printf("Unknown");					break;
					}
					printf(" ###\n");
				}

				// Handle ring event
				if (eEvent & CSerial::EEventRing)
				{
					printf("\n### RING ###\n");
				}

				// Handle RLSD/CD event
				if (eEvent & CSerial::EEventRLSD)
				{
					printf("\n### RLSD/CD %s ###\n", serialPort.GetRLSD()?"on":"off");
				}

				// Handle data receive event
				if (eEvent & CSerial::EEventRecv)
				{
					// Read data, until there is nothing left
					DWORD dwBytesRead = 0;
					char szBuffer[101];
					do
					{
						// Read data from the COM-port
						lLastError = serialPort.Read(szBuffer,sizeof(szBuffer)-1,&dwBytesRead);
						if (lLastError != ERROR_SUCCESS)
							ShowError(serialPort.GetLastError(), _T("Unable to read from COM-port."));

						if (dwBytesRead > 0)
						{
							// Finalize the data, so it is a valid string
							szBuffer[dwBytesRead] = '\0';

							// Display the data
							printf("%s", szBuffer);

							// Check if EOF (CTRL+'[') has been specified
							if (strchr(szBuffer,EOF_Char))
								fContinue = false;
						}
					}
					while (dwBytesRead == sizeof(szBuffer)-1);
				}
			}
			while (fContinue);
			// *** END RS232 reading

			serialPort.Write(input3);