'There's nothing special to do, unless the printer does not come with a Windows driver. As long as a Windows driver of a printer is installed, you can print to it with an FRX.
Many POS receipt printers on the basis of dot Matrix or thermal paper also have their own print commands - keyword OPOS - have ESC commands to directly control the printer, but since 5-10 years you don't depend on that and don't necessarily gain advantages printing with these commands. Just install the printer drivers, configurate the printer under Windows and then create a report.
Otherwise, at least provide the model/make/printer name to get help, there's nothing this receipt tells about which specific dialect of commnds is neessary. Even though OPOS is a roof of such receipt printer languages, every printer vendor has it's own variation, you need the manual of that printer to look up reference to commands available, if you want or need to go that route.
It's important enough to make this a separate post: If you go the route of printer specific commands, you buy into a few problems:
Since the programming of that is very printer specific, you will either need to require only a specific printer or familily of printers your POS system can support with a certain set of commands or need tor program many variations to support a large range of printers.
There are also further problems on top of technically addressing some printer, a lot of coutries require a receipt QR code (as is shown on your photo) that is enabling verification. The keyword here is fiscalization. Simply see Wikipedia for a starting point: https://en.wikipedia.org/wiki/Fiscalization
To compute that QR code needs quite some hard programming in the topic of cryptogaphy. Modern POS hardware includes modules that make such things easier, but I think won't easily integrate with legacy printers, so you'll not have it easy to close that gap and I'd recommend basing a POS system on something more modern.
a) content
As Chris mentioned that depends on the local requirement, for example in germany : https://kassensichv.net/articles/qr-code-ersetzt-tse-signatur
(Have a look on format of QR-Code, too) Maybe scanning a sample code with your mobile app helps.
b) printing
Printing in a vfp report
You can generate the QR code in a report using the famous Foxbarcode and its QR extension https://github.com/VFPX/FoxBarCode
You will have to check whether the Matrix printer supports that (resolution)
Printing using printercodes
you may use internal printer language (Zebra, ESC,...) which maybe even able to generate and print a qr code.
But as Chris mentioned : different printers may need different Codes
And you will need a driver which sends that straight to the printer, maybe "universal text only" or using the "printdirect class" or "rawprint"
And you have to differ carefully between matrixprinter, thermalprinter and thermal inkejet , all used in POS systems but with different graphics capabilities.
We use textreport class library, my former manager found a long time ago. At that time our clients used DotMatrix reports heavily. This class is awesome, you can print any text you want and customize it. All our FoxPro laser reports have an instance of this class if the user selects to print to DotMatrix printer. I am trying to find the source library and who created it(third-party product, free) but that was a lifesaver for us. You can even print it do a disc creating a disc text file as a backup
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