On 2020-03-09, bob prohaska wrote:
>Is there a program that can fill, save and print PDF forms?

It's not particularly easy, but there is. pdftk is what you need,
which in Debian and Raspbian is now available in pdftk-java.

Short version, given A.pdf with the blank form in it:

pdftk A.pdf dump_data_fields_utf8 >FD.fdf

Edit FD.fdf with a text editor

pdftk A.pdf fill_form FD.fdf output B.pdf

and B.pdf will contain the filled form.

Note that you may need several iterations as you work out what to put
where in form_data.fdf.

Longer instructions going into crunchy details:
http://blog.tremily.us/posts/PDF_forms/

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