Visual Servoing Platform version 3.6.0
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vpParallelPort.cpp
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Parallel port management.
32 */
33
34#include <visp3/core/vpConfig.h>
35
36#ifdef VISP_HAVE_PARPORT
37
38#include <fcntl.h>
39#include <sys/ioctl.h>
40#include <sys/stat.h>
41#include <sys/types.h>
42#include <unistd.h>
43
44#include <visp3/io/vpParallelPort.h>
45
51static unsigned char vpParallelPortData;
52
67{
68 device = "/dev/parport0";
69
70 this->open();
71
72 unsigned char data = 0;
73 this->sendData(data);
74}
75
83
93void vpParallelPort::open()
94{
95 fd = ::open(device.c_str(), O_WRONLY);
96 if (fd < 0) {
97 printf("Can't open /dev/parport0\n");
98 printf("Check if you have write access to /dev/parport0\n");
99 perror("Open parallel port");
100 throw(vpParallelPortException(vpParallelPortException::opening, "Can't open /dev/parport0"));
101 }
102
103 int i;
104
105 ioctl(fd, PPCLAIM);
106 i = PARPORT_MODE_COMPAT;
107 ioctl(fd, PPSETMODE, &i);
108 i = IEEE1284_MODE_COMPAT;
109 ioctl(fd, PPNEGOT, &i);
110}
111
126void vpParallelPort::sendData(unsigned char &data)
127{
128 ioctl(fd, PPWDATA, &data);
129
130 // Memorise the last sended data to the static variable
131 vpParallelPortData = data;
132}
133
139unsigned char vpParallelPort::getData() { return vpParallelPortData; }
140
148void vpParallelPort::close()
149{
150 ioctl(fd, PPRELEASE);
151
152 int err;
153 err = ::close(fd);
154
155 if (err != 0) {
156 printf("Can't close the parallel port\n");
157 throw(vpParallelPortException(vpParallelPortException::closing, "Can't close the parallel port"));
158 }
159}
160
161#elif !defined(VISP_BUILD_SHARED_LIBS)
162// Work around to avoid warning: libvisp_core.a(vpParallelPort.cpp.o) has no
163// symbols
164void dummy_vpParallelPort(){};
165#endif
Error that can be emitted by the vpParallelPort class and its derivates.
virtual ~vpParallelPort()
unsigned char getData()
void sendData(unsigned char &data)