Visual Servoing Platform  version 3.2.1 under development (2019-07-18)
vpParallelPort.cpp
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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 
56 static unsigned char vpParallelPortData;
57 
71 vpParallelPort::vpParallelPort() : fd(0), device()
72 {
73  sprintf(device, "/dev/parport0");
74 
75  this->open();
76 
77  unsigned char data = 0;
78  this->sendData(data);
79 }
80 
87 vpParallelPort::~vpParallelPort() { this->close(); }
88 
98 void 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 
134 void 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 
147 unsigned char vpParallelPort::getData() { return vpParallelPortData; }
148 
156 void 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
172 void dummy_vpParallelPort(){};
173 #endif
unsigned char getData()
virtual ~vpParallelPort()
void sendData(unsigned char &data)
Error that can be emited by the vpParallelPort class and its derivates.