Visual Servoing Platform version 3.5.0
vpParallelPort.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Parallel port management.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#include <visp3/core/vpConfig.h>
40
41#ifdef VISP_HAVE_PARPORT
42
43#include <fcntl.h>
44#include <sys/ioctl.h>
45#include <sys/stat.h>
46#include <sys/types.h>
47#include <unistd.h>
48
49#include <visp3/io/vpParallelPort.h>
50
56static unsigned char vpParallelPortData;
57
72{
73 sprintf(device, "/dev/parport0");
74
75 this->open();
76
77 unsigned char data = 0;
78 this->sendData(data);
79}
80
88
98void vpParallelPort::open()
99{
100 fd = ::open("/dev/parport0", O_WRONLY);
101 if (fd < 0) {
102 printf("Can't open /dev/parport0\n");
103 printf("Check if you have write access to /dev/parport0\n");
104 perror("Open parallel port");
105 throw(vpParallelPortException(vpParallelPortException::opening, "Can't open /dev/parport0"));
106 }
107
108 int i;
109
110 ioctl(fd, PPCLAIM);
111 i = PARPORT_MODE_COMPAT;
112 ioctl(fd, PPSETMODE, &i);
113 i = IEEE1284_MODE_COMPAT;
114 ioctl(fd, PPNEGOT, &i);
115}
116
134void vpParallelPort::sendData(unsigned char &data)
135{
136 ioctl(fd, PPWDATA, &data);
137
138 // Memorise the last sended data to the static variable
139 vpParallelPortData = data;
140}
141
147unsigned char vpParallelPort::getData() { return vpParallelPortData; }
148
156void vpParallelPort::close()
157{
158 ioctl(fd, PPRELEASE);
159
160 int err;
161 err = ::close(fd);
162
163 if (err != 0) {
164 printf("Can't close the parallel port\n");
165 throw(vpParallelPortException(vpParallelPortException::closing, "Can't close the parallel port"));
166 }
167}
168
169#elif !defined(VISP_BUILD_SHARED_LIBS)
170// Work arround to avoid warning: libvisp_core.a(vpParallelPort.cpp.o) has no
171// symbols
172void dummy_vpParallelPort(){};
173#endif
Error that can be emited by the vpParallelPort class and its derivates.
virtual ~vpParallelPort()
unsigned char getData()
void sendData(unsigned char &data)