indiapi.h

#if 0
INDI
Copyright (C) 2003 Elwood C. Downey

This library is free software;
you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation;
either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY;
without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library;
if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110 - 1301  USA

#endif

#pragma once

#include <stdio.h>

/** \mainpage Instrument Neutral Distributed Interface INDI
 *
\section Introduction

<p>INDI is a simple XML-like communications protocol described for interactive and automated remote control of diverse instrumentation. INDI is small, easy to parse, and stateless.</p>
<p>A full description of the INDI protocol is detailed in the INDI <a href="http://www.clearskyinstitute.com/INDI/INDI.pdf">white paper</a></p>

<p>Under INDI, any number of clients can connect to any number of drivers running one or more devices. It is a true N-to-N server/client architecture topology
allowing for reliable deployments of several INDI server, client, and driver instances distrubted across different systems in different physical and logical locations.</p>

<p>The basic premise of INDI is this: Drivers are responsible for defining their functionality in terms of <b>Properties</b>. Clients are not aware of such properties until they establish connection with the driver
and start receiving streams of defined properties. Each property encompases some functionality or information about the device. These include number, text, switch, light, and BLOB properties.</p>

<p>For example, all devices define the <i>CONNECTION</i> vector switch property, which is compromised of two switches:</p>
<ol>
<li><strong>CONNECT</strong>: Connect to the device.</li>
<li><strong>DISCONNECT</strong>: Disconnect to the device.</li>
</ol>

<p>Therefore, a client, whether it is a GUI client that represents such property as buttons, or a Python script that parses the properties, can change the state
of the switch to cause the desired action.</p>
<p>Not all properties are equal. A few properties are reserved to ensure interoperality among different clients that want to target a specific functionality.
These <i>Standard Properties</i> ensure that different clients agree of a common set of properties with specific meaning since INDI does not impose any specific meaning on the properties themselves.</p>

<p>INDI server acts as a convenient hub to route communications between clients and drivers. While it is not strictly required for controlling driver, it offers many queue and routing capabilities.</p>

\section Audience Intended Audience

INDI is intended for developers seeking to add support for their devices in INDI. Any INDI driver can be operated from numerous cross-platform cross-architecture <a href="http://indilib.org/about/clients.html">clients</a>.

\section Development Developing under INDI

<p>Please refere to the <a href="http://www.indilib.org/develop/developer-manual">INDI Developers Manual</a> for a complete guide on INDI's driver developemnt framework.</p>

<p>The INDI Library API is divided into the following main sections:</p>
<ul>
<li><a href="indidevapi_8h.html">INDI Device API</a></li>
<li><a href="classINDI_1_1BaseClient.html">INDI Client API</a></li>
<li><a href="namespaceINDI.html">INDI Base Drivers</a>: Base classes for all INDI drivers. Current base drivers include:
 <ul>
<li><a href="classINDI_1_1Telescope.html">Telescope</a></li>
<li><a href="classINDI_1_1CCD.html">CCD</a></li>
<li><a href="classINDI_1_1GuiderInterface.html">Guider</a></li>
<li><a href="classINDI_1_1FilterWheel.html">Filter Wheel</a></li>
<li><a href="classINDI_1_1Focuser.html">Focuser</a></li>
<li><a href="classINDI_1_1Rotator.html">Rotator</a></li>
<li><a href="classINDI_1_1Detector.html">Detector</a></li>
<li><a href="classINDI_1_1Dome.html">Dome</a></li>
<li><a href="classLightBoxInterface.html">Light Panel</a></li>
<li><a href="classINDI_1_1Weather.html">Weather</a></li>
<li><a href="classINDI_1_1GPS.html">GPS</a></li>
<li><a href="classINDI_1_1USBDevice.html">USB</a></li>
</ul>
<li>@ref Connection "INDI Connection Interface"</li>
<li>@ref INDI::SP "INDI Standard Properties"</li>
<li><a href="md_libs_indibase_alignment_alignment_white_paper.html">INDI Alignment Subsystem</a></li>
<li><a href="structINDI_1_1Logger.html">INDI Debugging & Logging API</a></li>
<li>@ref DSP "Digital Signal Processing API"</li>
<li><a href="indicom_8h.html">INDI Common Routine Library</a></li>
<li><a href="lilxml_8h.html">INDI LilXML Library</a></li>
<li><a href="classStreamManager.html">INDI Stream Manager for video encoding, streaming, and recording.</a></li>
<li><a href="group__configFunctions.html">Configuration</a></li>
</ul>

\section Tutorials

INDI Library includes a number of tutorials to illustrate development of INDI drivers. Check out the <a href="examples.html">examples</a> provided with INDI library.

\section Simulators

Simulators provide a great framework to test drivers and equipment alike. INDI Library provides the following simulators:
<ul>
<li><b>@ref ScopeSim "Telescope Simulator"</b>: Offers GOTO capability, motion control, guiding, and ability to set Periodic Error (PE) which is read by the CCD simulator when generating images.</li>
<li><b>@ref CCDSim "CCD Simulator"</b>: Offers a very flexible CCD simulator with a primary CCD chip and a guide chip. The simulator generate images based on the RA & DEC coordinates it
 snoops from the telescope driver using General Star Catalog (GSC). Please note that you must install GSC for the CCD simulator to work properly. Furthermore,
 The simulator snoops FWHM from the focuser simulator which affects the generated images focus. All images are generated in standard FITS format.</li>
<li><b>@ref GuideSim "Guide Simulator"</b>: Simple dedicated Guide Simulator.
<li><b>@ref FilterSim "Filter Wheel Simulator"</b>: Offers a simple simulator to change filter wheels and their corresponding designations.</li>
<li><b>@ref FocusSim "Focuser Simulator"</b>: Offers a simple simualtor for an absolute position focuser. It generates a simulated FWHM value that may be used by other simulator such as the CCD simulator.</li>
<li><b>@ref DomeSim "Dome Simulator"</b>: Offers a simple simulator for an absolute position dome with shutter.
<li><b>@ref GPSSimulator "GPS Simulator"</b>: Offers a simple simulator for GPS devices that send time and location data to the client and other drivers.
</ul>

\section Help

You can find information on INDI development in the <a href="http://www.indilib.org">INDI Library</a> site. Furthermore, you can discuss INDI related issues on the <a href="http://sourceforge.net/mail/?group_id=90275">INDI development mailing list</a>.

\author Jasem Mutlaq
\author Elwood Downey

For a full list of contributors, please check <a href="https://github.com/indilib/indi/graphs/contributors">Contributors page</a> on Github.

*/

/** \file indiapi.h
    \brief Constants and Data structure definitions for the interface to the reference INDI C API implementation.
    \author Elwood C. Downey
*/

/*******************************************************************************
 * INDI wire protocol version implemented by this API.
 * N.B. this is indepedent of the API itself.
 */

#define INDIV 1.7

/* INDI Library version */
#define INDI_VERSION_MAJOR   1
#define INDI_VERSION_MINOR   9
#define INDI_VERSION_RELEASE 3

/*******************************************************************************
 * Manifest constants
 */

/**
 * @typedef ISState
 * @brief Switch state.
 */
typedef enum
{
ISS_OFF = 0, /*!< Switch is OFF */
ISS_ON       /*!< Switch is ON */
} ISState;

/**
 * @typedef IPState
 * @brief Property state.
 */
typedef enum
{
IPS_IDLE = 0, /*!< State is idle */
IPS_OK,       /*!< State is ok */
IPS_BUSY,     /*!< State is busy */
IPS_ALERT     /*!< State is alert */
} IPState;

/**
 * @typedef ISRule
 * @brief Switch vector rule hint.
 */
typedef enum
{
ISR_1OFMANY, /*!< Only 1 switch of many can be ON (e.g. radio buttons) */
ISR_ATMOST1, /*!< At most one switch can be ON, but all switches can be off. It is similar to ISR_1OFMANY with the exception that all switches can be off. */
ISR_NOFMANY  /*!< Any number of switches can be ON (e.g. check boxes) */
} ISRule;

/**
 * @typedef IPerm
 * @brief Permission hint, with respect to client.
 */
typedef enum
{
IP_RO, /*!< Read Only */
IP_WO, /*!< Write Only */
IP_RW  /*!< Read & Write */
} IPerm;

// The XML strings for these attributes may be any length but implementations
// are only obligued to support these lengths for the various string attributes.
#define MAXINDINAME    64
#define MAXINDILABEL   64
#define MAXINDIDEVICE  64
#define MAXINDIGROUP   64
#define MAXINDIFORMAT  64
#define MAXINDIBLOBFMT 64
#define MAXINDITSTAMP  64
#define MAXINDIMESSAGE 255

/*******************************************************************************
 * Typedefs for each INDI Property type.
 *
 * INumber.format may be any printf-style appropriate for double
 * or style "m" to create sexigesimal using the form "%<w>.<f>m" where
 *   <w> is the total field width.
 *   <f> is the width of the fraction. valid values are:
 *      9  ->  :mm:ss.ss
 *      8  ->  :mm:ss.s
 *      6  ->  :mm:ss
 *      5  ->  :mm.m
 *      3  ->  :mm
 *
 * examples:
 *
 *   to produce     use
 *
 *    "-123:45"    %7.3m
 *  "  0:01:02"    %9.6m
 */

/**
 * @struct IText
 * @brief One text descriptor.
 */
typedef struct _IText
{
/** Index name */
char name[MAXINDINAME];
    /** Short description */
    char label[MAXINDILABEL];
    /** Allocated text string */
    char *text;
    /** Pointer to parent */
    struct _ITextVectorProperty *tvp;
    /** Helper info */
    void *aux0;
    /** Helper info */
    void *aux1;
} IText;

/**
 * @struct _ITextVectorProperty
 * @brief Text vector property descriptor.
 */
typedef struct _ITextVectorProperty
{
    /** Device name */
    char device[MAXINDIDEVICE];
    /** Property name */
    char name[MAXINDINAME];
    /** Short description */
    char label[MAXINDILABEL];
    /** GUI grouping hint */
    char group[MAXINDIGROUP];
    /** Client accessibility hint */
    IPerm p;
    /** Current max time to change, secs */
    double timeout;
    /** Current property state */
    IPState s;
    /** Texts comprising this vector */
    IText *tp;
    /** Dimension of tp[] */
    int ntp;
    /** ISO 8601 timestamp of this event */
    char timestamp[MAXINDITSTAMP];
    /** Helper info */
    void *aux;
} ITextVectorProperty;

/**
 * @struct INumber
 * @brief One number descriptor.
 */
typedef struct _INumber
{
    /** Index name */
    char name[MAXINDINAME];
    /** Short description */
    char label[MAXINDILABEL];
    /** GUI display format, see above */
    char format[MAXINDIFORMAT];
    /** Range min, ignored if min == max */
    double min;
    /** Range max, ignored if min == max */
    double max;
    /** Step size, ignored if step == 0 */
    double step;
    /** Current value */
    double value;
    /** Pointer to parent */
    struct _INumberVectorProperty *nvp;
    /** Helper info */
    void *aux0;
    /** Helper info */
    void *aux1;
} INumber;

/**
 * @struct _INumberVectorProperty
 * @brief Number vector property descriptor.
 *
 * INumber.format may be any printf-style appropriate for double or style
 * "m" to create sexigesimal using the form "%\<w\>.\<f\>m" where:\n
 * \<w\> is the total field width.\n
 * \<f\> is the width of the fraction. valid values are:\n
 *       9  ->  \<w\>:mm:ss.ss \n
 *       8  ->  \<w\>:mm:ss.s \n
 *       6  ->  \<w\>:mm:ss \n
 *       5  ->  \<w\>:mm.m \n
 *       3  ->  \<w\>:mm \n
 *
 * examples:\n
 *
 * To produce "-123:45", use \%7.3m \n
 * To produce "  0:01:02", use \%9.6m
 */
typedef struct _INumberVectorProperty
{
    /** Device name */
    char device[MAXINDIDEVICE];
    /** Property name */
    char name[MAXINDINAME];
    /** Short description */
    char label[MAXINDILABEL];
    /** GUI grouping hint */
    char group[MAXINDIGROUP];
    /** Client accessibility hint */
    IPerm p;
    /** Current max time to change, secs */
    double timeout;
    /** current property state */
    IPState s;
    /** Numbers comprising this vector */
    INumber *np;
    /** Dimension of np[] */
    int nnp;
    /** ISO 8601 timestamp of this event */
    char timestamp[MAXINDITSTAMP];
    /** Helper info */
    void *aux;
} INumberVectorProperty;

/**
 * @struct ISwitch
 * @brief One switch descriptor.
 */
typedef struct _ISwitch
{
    /** Index name */
    char name[MAXINDINAME];
    /** Switch label */
    char label[MAXINDILABEL];
    /** Switch state */
    ISState s;
    /** Pointer to parent */
    struct _ISwitchVectorProperty *svp;
    /** Helper info */
    void *aux;
} ISwitch;

/**
 * @struct _ISwitchVectorProperty
 * @brief Switch vector property descriptor.
 */
typedef struct _ISwitchVectorProperty
{
    /** Device name */
    char device[MAXINDIDEVICE];
    /** Property name */
    char name[MAXINDINAME];
    /** Short description */
    char label[MAXINDILABEL];
    /** GUI grouping hint */
    char group[MAXINDIGROUP];
    /** Client accessibility hint */
    IPerm p;
    /** Switch behavior hint */
    ISRule r;
    /** Current max time to change, secs */
    double timeout;
    /** Current property state */
    IPState s;
    /** Switches comprising this vector */
    ISwitch *sp;
    /** Dimension of sp[] */
    int nsp;
    /** ISO 8601 timestamp of this event */
    char timestamp[MAXINDITSTAMP];
    /** Helper info */
    void *aux;
} ISwitchVectorProperty;

/**
 * @struct ILight
 * @brief One light descriptor.
 */
typedef struct _ILight
{
    /** Index name */
    char name[MAXINDINAME];
    /** Light labels */
    char label[MAXINDILABEL];
    /** Light state */
    IPState s;
    /** Pointer to parent */
    struct _ILightVectorProperty *lvp;
    /** Helper info */
    void *aux;
} ILight;

/**
 * @struct _ILightVectorProperty
 * @brief Light vector property descriptor.
 */
typedef struct _ILightVectorProperty
{
    /** Device name */
    char device[MAXINDIDEVICE];
    /** Property name */
    char name[MAXINDINAME];
    /** Short description */
    char label[MAXINDILABEL];
    /** GUI grouping hint */
    char group[MAXINDIGROUP];
    /** Current property state */
    IPState s;
    /** Lights comprising this vector */
    ILight *lp;
    /** Dimension of lp[] */
    int nlp;
    /** ISO 8601 timestamp of this event */
    char timestamp[MAXINDITSTAMP];
    /** Helper info */
    void *aux;
} ILightVectorProperty;

/**
 * @struct IBLOB
 * @brief One Blob (Binary Large Object) descriptor.
 */
typedef struct _IBLOB/* one BLOB descriptor */
{
    /** Index name */
    char name[MAXINDINAME];
    /** Blob label */
    char label[MAXINDILABEL];
    /** Format attr */
    char format[MAXINDIBLOBFMT];
    /** Allocated binary large object bytes */
    void *blob;
    /** Blob size in bytes */
    int bloblen;
    /** N uncompressed bytes */
    int size;
    /** Pointer to parent */
    struct _IBLOBVectorProperty *bvp;
    /** Helper info */
    void *aux0;
    /** Helper info */
    void *aux1;
    /** Helper info */
    void *aux2;
} IBLOB;

/**
 * @struct _IBLOBVectorProperty
 * @brief BLOB (Binary Large Object) vector property descriptor.
 */
typedef struct _IBLOBVectorProperty /* BLOB vector property descriptor */
{
    /** Device name */
    char device[MAXINDIDEVICE];
    /** Property name */
    char name[MAXINDINAME];
    /** Short description */
    char label[MAXINDILABEL];
    /** GUI grouping hint */
    char group[MAXINDIGROUP];
    /** Client accessibility hint */
    IPerm p;
    /** Current max time to change, secs */
    double timeout;
    /** Current property state */
    IPState s;
    /** BLOBs comprising this vector */
    IBLOB *bp;
    /** Dimension of bp[] */
    int nbp;
    /** ISO 8601 timestamp of this event */
    char timestamp[MAXINDITSTAMP];
    /** Helper info */
    void *aux;
} IBLOBVectorProperty;

/**
 * @brief Handy macro to find the number of elements in array a[]. Must be used
 * with actual array, not pointer.
 */
#define NARRAY(a) (sizeof(a) / sizeof(a[0]))

/**
 * @brief Bails out if memory pointer is 0. Prints file and function.
 */
#define assert_mem(p) if((p) == 0) { fprintf(stderr, "%s(%s): Failed to allocate memory\n", __FILE__, __func__); exit(1); }