vpParallelPort.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Parallel port management.
 */
 
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_PARPORT
 
#include <fcntl.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>
 
#include <visp3/io/vpParallelPort.h>
 
static unsigned char vpParallelPortData;
 
vpParallelPort::vpParallelPort() : fd(0), device()
{
  device = "/dev/parport0";
 
  this->open();
 
  unsigned char data = 0;
  this->sendData(data);
}
 
vpParallelPort::~vpParallelPort() { this->close(); }
 
void vpParallelPort::open()
{
  fd = ::open(device.c_str(), O_WRONLY);
  if (fd < 0) {
    printf("Can't open /dev/parport0\n");
    printf("Check if you have write access to /dev/parport0\n");
    perror("Open parallel port");
    throw(vpParallelPortException(vpParallelPortException::opening, "Can't open /dev/parport0"));
  }
 
  int i;
 
  ioctl(fd, PPCLAIM);
  i = PARPORT_MODE_COMPAT;
  ioctl(fd, PPSETMODE, &i);
  i = IEEE1284_MODE_COMPAT;
  ioctl(fd, PPNEGOT, &i);
}
 
void vpParallelPort::sendData(unsigned char &data)
{
  ioctl(fd, PPWDATA, &data);
 
  // Memorise the last sended data to the static variable
  vpParallelPortData = data;
}
 
unsigned char vpParallelPort::getData() { return vpParallelPortData; }
 
void vpParallelPort::close()
{
  ioctl(fd, PPRELEASE);
 
  int err;
  err = ::close(fd);
 
  if (err != 0) {
    printf("Can't close the parallel port\n");
    throw(vpParallelPortException(vpParallelPortException::closing, "Can't close the parallel port"));
  }
}
 
#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work around to avoid warning: libvisp_core.a(vpParallelPort.cpp.o) has no
// symbols
void dummy_vpParallelPort(){};
#endif