/**
 * \file cameradriver.c
 * \brief This provides the IO layer which feeds inputs from a user or
 * the camera server to the state machine, and then sends any state machine
 * output back to SICS or the camera.
 *
 * \Author Ferdi Franceschini February 2013
 *
 * Copyright: see file Copyright.txt
 */
#include <limits.h>
#include <errno.h>
#include <string.h>
#include <sics.h>
#include <obdes.h>
#include <countdriv.h>
#include <nwatch.h>
#include <asyncqueue.h>
#include <math.h>
#include "camera.h"

#define NAMELEN 32
#define IFMTLEN 4
#define ERRLEN 256
#define MSGLEN 512
#define MAX_META_COUNT 32
#define MAX_SCANVAR_COUNT 16

enum camstates {idle, acquiring, processing, saving};
#define CAMDRIV_ERRTABLE \
  TR(ENONE,     "OK")                           \
  TR(EFAIL,     "command failed")               \
  TR(EBUSYACQ,  "camera busy acquiring image")  \
  TR(EBUSYSAVE, "camera busy saving image")     \
  TE(EBUSYPROC, "camera busy processing image")

#define TR(a,b) a,
#define TE(a,b) a
enum errcodes {CAMDRIV_ERRTABLE};
#undef TR
#undef TE

#define TR(a,b) b,
#define TE(a,b) b
static char *errmsg[] = {CAMDRIV_ERRTABLE};
#undef TR
#undef TE

#define CAMDRIV_PARTABLE \
  TR(CLOCK,    "clock")            \
  TR(BIN,      "bin")              \
  TR(SIZE,     "size")             \
  TR(GAIN,     "gain")             \
  TR(FLIP,     "flip")             \
  TR(XSTART,   "xstart")           \
  TR(YSTART,   "ystart")           \
  TR(XEND,     "xend")             \
  TR(YEND,     "yend")             \
  TR(EXPOSURE, "exposure")         \
  TR(TEMP,     "temperature")      \
  TR(THRESH,   "threshold")        \
  TR(SHOPT,    "shutteropentime")  \
  TE(SHCLT,    "shutterclosetime")
#define TR(a,b) 1+
#define TE(a,b) 1
static int NUMCAMPAR = CAMDRIV_PARTABLE;
#undef TR
#undef TE

#define FLIP_TABLE \
  TR(NORMAL,  "normal")       \
  TR(INVINT,  "invintensity") \
  TR(NORMFH,  "normfh")       \
  TR(NORMFV,  "normfv")       \
  TR(NORMFHV, "normfhv")      \
  TR(INVFH,   "invfh")        \
  TR(INVFV,   "invfv")        \
  TE(INVFHV,  "invfhv")

#define TR(a,b) a,
#define TE(a,b) a
enum campar  {CAMDRIV_PARTABLE, MULTI, DEBUG};
enum flipval {FLIP_TABLE};
#undef TR
#undef TE

#define TR(a,b) b,
#define TE(a,b) b
static char *cacmdstr[] = {CAMDRIV_PARTABLE, "multi", "debug", NULL};
static char *flipcmdstr[] = {FLIP_TABLE, NULL};
#undef TR
#undef TE

#define UPDATE_SETTINGS_CFG 1
#define CLEAR_META_CFG 2
#define UPDATE_META_CFG 4
#define UPDATE_SCANVAR_CFG 8
#define UPDATE_FILE_CFG 16

typedef struct {
  char path[MSGLEN];
  char basename[MSGLEN];
  long  startnumber;
  char imageformat[IFMTLEN];
  char experimentdetail[MSGLEN];
} filecfg_t;

typedef struct {
  float clockMHz;
  float bin;
  float size;
  float gain;
  enum flipval flip;
  float xstart;
  float ystart;
  float xend;
  float yend;
  float exposure;
  float temp;
  float thresh;
  float shopt;
  float shclt;
  int updatecfg;
  filecfg_t file;
  char meta_list[MAX_META_COUNT][MSGLEN];
  char scanvar_list[MAX_SCANVAR_COUNT][NAMELEN];
  pDummy scanvar_dummy[MAX_SCANVAR_COUNT];
  pIDrivable pscanvar[MAX_SCANVAR_COUNT];
  int meta_count;
  int scanvar_count;
} camcfg_t;

typedef struct {
  pObjectDescriptor pDes;
  int debug;
  char *asynq;
  camsm_t state_machine;
  pNWTimer state_timer;
  int status;
  enum errcodes camError;
  camcfg_t camera;
  pAsyncUnit asyncUnit;
  SicsInterp *pSics;
} CamObj;

/* Camera communications and protocol handlers */
static pAsyncProtocol CAM_Protocol = NULL;
static int cb_state_timer(void *ctx, int mode);
static int cb_getstate(pAsyncTxn txn);
static int CamSet(CounterDriver *cntrData, char *name, int iCter, float fVal);

/* if emsg == NULL conversion OK else if emsg == num not an integer else emsg == error message */
long getlong(char *num, char *emsg) {
  long val = 0;
  char *endptr;
  errno = 0;
  emsg = NULL;

  val = strtol(num, &endptr, 10);
  if ( (errno == ERANGE &&  (val == LONG_MAX || val == LONG_MIN)) || (errno != 0 && val == 0) )
    emsg = strerror(errno);
  if (endptr == num)
    emsg = num;

  return val;
}
static void CAM_Notify(void* context, int event) {
  CamObj *self = (CamObj *) context;

  switch (event) {
    case AQU_DISCONNECT:
      SICSLogWrite("CAM:(AQU_DISCONNECT)", eLogError);
      if (self->state_timer) {
        NetWatchRemoveTimer(self->state_timer);
        self->state_timer=0;
      }
      break;
    case AQU_RECONNECT:
      SICSLogWrite("CAM:(AQU_RECONNECT)", eLogError);
      NetWatchRegisterTimerPeriodic(&self->state_timer, 2000, 500, cb_state_timer, self);
      break;
  }
  return;
}

int defaultHandleInput(pAsyncProtocol p, pAsyncTxn txn, int ch);
static int CAM_Rx(pAsyncProtocol p, pAsyncTxn txn, int ch) {
  int ret = 1;

  if (ch == '\r')
    ret = 1;
  else if (ch == '\n')
    ret = AQU_POP_CMD;
  else if (txn->inp_idx < txn->inp_len)
    txn->inp_buf[txn->inp_idx++] = ch;
  else
    ret = AQU_POP_CMD;

  return ret;
}
static int CAM_Ev(pAsyncProtocol p, pAsyncTxn pTxn, int event) {
  if (event == AQU_TIMEOUT) {
    pTxn->txn_status = ATX_TIMEOUT;
    return AQU_POP_CMD;
  }
  return AQU_POP_CMD;
}

void CameraInitProtocol(SicsInterp *pSics) {
  if (CAM_Protocol == NULL) {
    CAM_Protocol = AsyncProtocolCreate(pSics, "CAMERA", NULL, NULL);
    CAM_Protocol->sendCommand = NULL;
    CAM_Protocol->handleInput = CAM_Rx;
    CAM_Protocol->prepareTxn  = NULL;
    CAM_Protocol->killPrivate = NULL;
    CAM_Protocol->handleEvent = CAM_Ev;
    #if 0
    CAM_Protocol->sendTerminator = strdup("\r\n");
    CAM_Protocol->replyTerminator[0] = strdup("\r\n");
    #endif
  }
}

/* CounterDriver interface functions */
static int CamGetStatus(CounterDriver *cntrData, float *fControl) {
  CamObj *camdrv= (CamObj *)cntrData->pData;

  return camdrv->status;
}

/* \brief run_sm, call the state machine with the given input.
 * \param self, driver context including current state
 * \param ev_sym, input event
 */
static void run_sm(CamObj *self, enum event_codes ev_sym) {
  char *sscur, *ssnext, *esout, message[MSGLEN+1];

  if (self->debug) {
    sscur = strstate(self->state_machine.Sc);
    snprintf(message, MSGLEN, "DEBUG:(run_sm) Scurr:%s Ei:%s",
        sscur,event_names[ev_sym]);
    SICSLogWrite(message, eLog);
  }

  camdriv_input(self, &self->state_machine, ev_sym);

  if (self->debug) {
    ssnext = strstate(self->state_machine.Sc), SSLEN;
    esout = strevent(self->state_machine.Eo), ESLEN;
    snprintf(message, MSGLEN, "DEBUG:(run_sm) Snext:%s Eo:%s", ssnext, esout);
    SICSLogWrite(message, eLog);
  }
}

/* Called by the scan command and via the count and countnb subcommands of a
 * counter object. Will update the configuration if necessary.
 */
static int CamStart(CounterDriver *cntrData) {
  CamObj *self = NULL;
  enum event_codes cd_sym;
  char logmsg[MSGLEN+1];

  self = cntrData->pData;
  if (self->debug) {
    snprintf(logmsg, MSGLEN, "DEBUG:(CamStart): preset=%f\n",cntrData->fPreset);
    SICSLogWrite(logmsg, eLog);
  }

  CamSet(cntrData, "exposure", 0, cntrData->fPreset);
  if (self->state_machine.multi) {
    cd_sym = ECD_MLTI_ON;
  } else {
    cd_sym = ECD_TK_SHOT;
  }
  run_sm(self, cd_sym);
  return 1;
}

static int CamPause(CounterDriver *cntrData) {
  return 1;
}
static int CamContinue(CounterDriver *cntrData) {
  return 1;
}
static int CamHalt(CounterDriver *cntrData) {
  CamObj *self = cntrData->pData;
  state_t start_state = {.cl=SCL_RDY, .cm=SCM_IDLE, .dr=SDR_IDLE};

  if (self->state_machine.multi) {
    run_sm(self, ECD_MLTI_OFF);
  } else {
    STset(&self->state_machine.Sc, start_state);
    EVclr(&self->state_machine.Eo);
    self->status = HWIdle;
  }
  return 1;
}
/* FIXME what should the counter data be set to? Total intensity? */
static int CamReadValues(CounterDriver *cntrData) {
  int status, iReplyLen=MSGLEN;
  char *cmd="TODO ", pReply[MSGLEN];
  CamObj *self = NULL;
  return 1;

  self = cntrData->pData;
  status = AsyncUnitTransact(self->asyncUnit, cmd, strlen(cmd), pReply, &iReplyLen);
  return 1;
}

static int CamGetError(CounterDriver *cntrData, int *iCode, char *error, int iErrLen) {
  CamObj *camdrv=NULL;
  camdrv = (CamObj *) cntrData->pData;
  *iCode = camdrv->camError;

  camdrv->camError = ENONE;
  switch (*iCode) {
    case EBUSYACQ:
      snprintf(error, (size_t) iErrLen,
          "CAM: Can't complete operation, %s", errmsg[EBUSYACQ]);
    break;
    case EBUSYSAVE:
      snprintf(error, (size_t) iErrLen,
          "CAM: Can't complete operation, %s", errmsg[EBUSYSAVE]);
    break;
    case EBUSYPROC:
      snprintf(error, (size_t) iErrLen,
          "CAM: Can't complete operation, %s", errmsg[EBUSYPROC]);
    break;
    case ENONE:
      snprintf(error, (size_t) iErrLen,
          "CAM: Can't complete operation, %s", errmsg[ENONE]);
    break;
    case EFAIL:
      snprintf(error, (size_t) iErrLen, "CAM: %s", errmsg[EFAIL]);
    break;
  }
  return 1;
}

static int CamTryAndFixIt(CounterDriver *cntrData, int iCode) {
  return COTERM;
}

static int CamSet(CounterDriver *cntrData, char *name, int iCter, float fVal) {
  CamObj *camdriv= (CamObj *)cntrData->pData;

  int found=0;
  char *cmd;
  enum campar id;
  enum flipval flip;

  for (id=0; (cmd = cacmdstr[id]) != NULL; id++) {
    if (strcmp(cmd,name) == 0) {
      found=1;
      break;
    }
  }

  if (!found) {
    return 0;
  }
  switch (id) {
    case DEBUG:
      if (fVal == 1)
        camdriv->debug = 1;
      else
        camdriv->debug = 0;
      break;
    case MULTI:
      if (fVal != 0 && fVal != 1) {
        return 0;
      } else {
        camdriv->state_machine.multi = fVal;
      }
      break;
    case CLOCK:
      if (fVal > 0) {
        camdriv->camera.clockMHz = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      } else {
        return 0;
      }
      break;
    case BIN:
      if (fVal > 0) {
        camdriv->camera.bin = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      } else {
        return 0;
      }
      break;
    case SIZE:
      if (fVal > 0) {
        camdriv->camera.size = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      } else {
        return 0;
      }
      break;
    case GAIN:
      if (fVal > 0) {
        camdriv->camera.gain = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      } else {
        return 0;
      }
      break;
    case FLIP:
      flip = fVal;
      switch (flip) {
        case NORMAL:
        case INVINT:
        case NORMFH:
        case NORMFV:
        case NORMFHV:
        case INVFH:
        case INVFV:
        case INVFHV:
          camdriv->camera.flip = flip;
          camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
          break;
        default:
          return 0;
          break;
      }
      break;
    case XSTART:
      if (fVal > 0) {
        camdriv->camera.xstart = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      } else {
        return 0;
      }
      break;
    case YSTART:
      if (fVal > 0) {
        camdriv->camera.ystart = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      } else {
        return 0;
      }
      break;
    case XEND:
      if (fVal > 0) {
        camdriv->camera.xend = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      } else {
        return 0;
      }
      break;
    case YEND:
      if (fVal > 0) {
        camdriv->camera.yend = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      } else {
        return 0;
      }
      break;
    case EXPOSURE:
      if (fVal > 0) {
        camdriv->camera.exposure = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      } else {
        return 0;
      }
      break;
    case TEMP:
        camdriv->camera.temp = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      break;
    case THRESH:
      if (fVal > 0) {
        camdriv->camera.thresh = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      } else {
        return 0;
      }
      break;
    case SHOPT:
      if (fVal > 0) {
        camdriv->camera.shopt = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      } else {
        return 0;
      }
      break;
    case SHCLT:
      if (fVal > 0) {
        camdriv->camera.shclt = fVal;
        camdriv->camera.updatecfg |= UPDATE_SETTINGS_CFG;
      } else {
        return 0;
      }
      break;
    default:
      return 0;
  }
  return 1;
}

static int CamGet(CounterDriver *cntrData, char *name, int iCter, float *fVal) {
  CamObj *camdriv= (CamObj *)cntrData->pData;

  int found=0;
  char *cmd;
  enum campar id;

  for (id=0; (cmd = cacmdstr[id]) != NULL; id++) {
    if (strcmp(cmd,name) == 0) {
      found=1;
      break;
    }
  }

  if (!found) {
    return 0;
  }
  switch (id) {
    case MULTI:
      *fVal = (float) camdriv->state_machine.multi;
      break;
    case CLOCK:
      *fVal = camdriv->camera.clockMHz;
      break;
    case BIN:
      *fVal = camdriv->camera.bin;
      break;
    case SIZE:
      *fVal = camdriv->camera.size;
      break;
    case GAIN:
      *fVal = camdriv->camera.gain;
      break;
    case FLIP:
      *fVal = camdriv->camera.flip;
      break;
    case XSTART:
      *fVal = camdriv->camera.xstart;
      break;
    case YSTART:
      *fVal = camdriv->camera.ystart;
      break;
    case XEND:
      *fVal = camdriv->camera.xend;
      break;
    case YEND:
      *fVal = camdriv->camera.yend;
      break;
    case EXPOSURE:
      *fVal = camdriv->camera.exposure;
      break;
    case TEMP:
      *fVal = camdriv->camera.temp;
      break;
    case THRESH:
      *fVal = camdriv->camera.thresh;
      break;
    case SHOPT:
      *fVal = camdriv->camera.shopt;
      break;
    case SHCLT:
      *fVal = camdriv->camera.shclt;
      break;
    default:
      return 0;
  }
  return 1;
}

static int CamSend(CounterDriver *cntrData, char *pText, char *pReply, int iReplyLen) {
  int status;
  CamObj *self = NULL;

  self = cntrData->pData;

  //char *pBuf = (char *)calloc(strlen(pText)+10, sizeof(char));
  //sprintf(pBuf, "set meta, %s", pText);
  //status = AsyncUnitTransact(self->asyncUnit, pBuf, strlen(pBuf), pReply, &iReplyLen);
  status = AsyncUnitTransact(self->asyncUnit, pText, strlen(pText), pReply, &iReplyLen);
  //free(pBuf);
  if (status <= 0)
    return 0;
  else
    return 1;
}

static int cb_shotcmd(pAsyncTxn txn) {
  CamObj *self = (CamObj *) txn->cntx;
  char *resp = txn->inp_buf, message[MSGLEN+1];

  if (self->debug) {
    snprintf(message, MSGLEN, "DEBUG:(cb_shotcmd) Camera reply: %s", resp);
    SICSLogWrite(message, eLog);
  }
  if (strncmp(resp, "OK", 2) != 0) {
    self->camError = EFAIL;
    return 0;
  }
  return 1;
}

/**
 * \brief Decides if an output message is targeted at the camera or SICS or if
 * it should be fed back into the state transition function.
 */
int camdriv_out(void *me, event_t Eo) {
  int i, len, pend=0;
  char cmd[MSGLEN]="", logmsg[MSGLEN+1]="";
  float clock, fVal;
  CamObj *self = (CamObj *)me;

  if (Eo.ca) {
    /* send command to camera */
    if (self->debug) {
      snprintf(logmsg, MSGLEN, "DEBUG:(camdriv_out:Eo.ca): ev=%s, output=%s\n",
          event_names[Eo.ca], event_signatures[Eo.ca]);
      SICSLogWrite(logmsg, eLog);
    }
    switch (Eo.ca) {
      case ECA_TK_SHOT:
        len = strlen(event_signatures[ECA_TK_SHOT]);
        strncpy(cmd, event_signatures[ECA_TK_SHOT], len);
        len = strlen(cmd);
        AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_shotcmd, self, MSGLEN);
        break;
      case ECA_MLTI_ON:
        len = strlen(event_signatures[ECA_MLTI_ON]);
        strncpy(cmd, event_signatures[ECA_MLTI_ON], len);
        len = strlen(cmd);
        AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_shotcmd, self, MSGLEN);
        break;
      case ECA_MLTI_OFF:
        len = strlen(event_signatures[ECA_MLTI_OFF]);
        strncpy(cmd, event_signatures[ECA_MLTI_OFF], len);
        len = strlen(cmd);
        AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_shotcmd, self, MSGLEN);
        break;
      case ECA_CFG:
        /* TODO Should we retry sending a command if AsyncUnitSendTxn fails?
         * The driver should abort the shot and then try to send the
         * configuration the next time a shot is taken. */
        if( (self->camera.updatecfg & UPDATE_SETTINGS_CFG) == UPDATE_SETTINGS_CFG) {
          clock = self->camera.clockMHz;
          snprintf(cmd, MSGLEN,
              "set camera,clock=%.*fmhz,bin=%dx,size=%d,gain=%dxhs,flip=%s,xstart=%d,ystart=%d,xend=%d,yend=%d,exposure=%f,temperature=%f,threshold=%d,shutteropentime=%d,shutterclosetime=%d",
              clock>=1 ? 0 : 1, clock, (int)self->camera.bin, (int)self->camera.size,
              (int)self->camera.gain, flipcmdstr[self->camera.flip],
              (int)self->camera.xstart, (int)self->camera.ystart,
              (int)self->camera.xend, (int)self->camera.yend, self->camera.exposure,
              self->camera.temp, (int)self->camera.thresh, (int)self->camera.shopt,
              (int)self->camera.shclt
              );
          len = strlen(cmd);
          self->camera.updatecfg &= ~UPDATE_SETTINGS_CFG;
          if (self->debug) {
            snprintf(logmsg, MSGLEN, "DEBUG:(camdriv_out:UPDATE_SETTINGS_CFG): cmd=%s\n", cmd);
            SICSLogWrite(logmsg, eLog);
          }
          AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_shotcmd, self, MSGLEN);
        }
        if( (self->camera.updatecfg & CLEAR_META_CFG) == CLEAR_META_CFG) {
          snprintf(cmd, MSGLEN, "clear meta");
          len = strlen(cmd);
          if (self->debug) {
            snprintf(logmsg, MSGLEN, "DEBUG:(camdriv_out:CLEAR_META_CFG): cmd=%s\n", cmd);
            SICSLogWrite(logmsg, eLog);
          }
          AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_shotcmd, self, MSGLEN);
        }
        if( (self->camera.updatecfg & UPDATE_META_CFG) == UPDATE_META_CFG) {
          //TODO concatenate the meta_list into a comma separated string and send it in MSGLEN chunks.
          for (i=0; i < self->camera.meta_count && pend < MSGLEN; i++) {
            pend = sprintf(cmd, "set meta,");
            pend += snprintf(&cmd[pend], MSGLEN, "%s", self->camera.meta_list[i]);
            len = strlen(cmd);
            if (self->debug) {
              snprintf(logmsg, MSGLEN, "DEBUG:(camdriv_out:UPDATE_META_CFG): cmd=%s\n", cmd);
              SICSLogWrite(logmsg, eLog);
            }
            AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_shotcmd, self, MSGLEN);
          }
        }
        if( (self->camera.updatecfg & UPDATE_SCANVAR_CFG) == UPDATE_SCANVAR_CFG) {
          pend = sprintf(cmd, "set meta");
          //TODO Send in MSGLEN chunks even though the string may never exceed MSGLEN
          for (i=0; i < self->camera.scanvar_count && pend < MSGLEN; i++) {
            fVal = self->camera.pscanvar[i]->GetValue(self->camera.scanvar_dummy[i], pServ->dummyCon);
            pend += snprintf(&cmd[pend], MSGLEN, ",%s=%f", self->camera.scanvar_list[i], fVal);
          }
          len = strlen(cmd);
          if (self->debug) {
            snprintf(logmsg, MSGLEN, "DEBUG:(camdriv_out:UPDATE_SCANVAR_CFG): cmd=%s\n", cmd);
            SICSLogWrite(logmsg, eLog);
          }
          AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_shotcmd, self, MSGLEN);
        }
        if( (self->camera.updatecfg & UPDATE_FILE_CFG) == UPDATE_FILE_CFG) {
          snprintf(cmd, MSGLEN, "set file,path=%s,basename=%s,startnumber=%ld,imageformat=%s,experimentdetail=%s",
              self->camera.file.path, self->camera.file.basename, self->camera.file.startnumber, self->camera.file.imageformat,self->camera.file.experimentdetail);
          len = strlen(cmd);
          if (self->debug) {
            snprintf(logmsg, MSGLEN, "DEBUG:(camdriv_out:UPDATE_FILE_CFG): cmd=%s\n", cmd);
            SICSLogWrite(logmsg, eLog);
          }
          AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_shotcmd, self, MSGLEN);
          self->camera.updatecfg &= ~UPDATE_FILE_CFG;
        }
        break;
      default:
        snprintf(logmsg, MSGLEN, "CAM:(camdriv_out) Unhandled event %s", event_names[Eo.ca]);
        SICSLogWrite(logmsg, eLogError);
        return -1;
    }
    return -1;
  }
  if (Eo.cm) {
    snprintf(logmsg, MSGLEN, "TODO:(camdriv_out:Eo.cm): ev=%s, output=%s\n",
        event_names[Eo.cm], event_signatures[Eo.cm]);
    SICSLogWrite(logmsg, eLogError);
    return -1;
  }
  if (Eo.cd) {
    snprintf(logmsg, MSGLEN, "TODO:(camdriv_out:Eo.cm): ev=%s, output=%s\n",
        event_names[Eo.cd], event_signatures[Eo.cd]);
    SICSLogWrite(logmsg, eLogError);
    return -1;
  }
  if (Eo.dr) {
    /* send msg to SICS */
    if (self->debug) {
      snprintf(logmsg, MSGLEN, "DEBUG:(camdriv_out): ev=%s, output=%s\n",
          event_names[Eo.dr], event_signatures[Eo.dr]);
      SICSLogWrite(logmsg, eLog);
    }
    switch (Eo.dr) {
      case EDR_IDLE:
        self->status = HWIdle;
        break;
      case EDR_BUSY:
        self->status = HWBusy;
        break;
      case EDR_FAULT:
        self->status = HWFault;
        break;
      default:
        snprintf(logmsg, MSGLEN, "CAM:(camdriv_out) Unhandled event %s", event_names[Eo.dr]);
        SICSLogWrite(logmsg, eLogError);
        return -1;
    }
    return -1;
  }
  if (Eo.cl) {
    switch (Eo.cl) {
      case ECL_RDY:
        return ECL_RDY;
        break;
      default:
        snprintf(logmsg, MSGLEN, "CAM:(camdriv_out) Unhandled event %s", event_names[Eo.cl]);
        SICSLogWrite(logmsg, eLogError);
        return -1;
    }
    return -1;
  }
  return -1;
}
static int cb_state_timer(void *ctx, int mode) {
  CamObj *self = (CamObj *) ctx;
  char errmsg[32]="";
  char cmd[MSGLEN];
  int len, status;

  len = strlen(event_signatures[ECA_GET_STATE]);
  strncpy(cmd, event_signatures[ECA_GET_STATE], len);
  status = AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_getstate, self, MSGLEN);

  if (status==1) {
    return 1;
  } else {
    snprintf(errmsg, 31, "CAM:(cb_getstate) AsyncUnitSendTxn failed");
    SICSLogWrite(errmsg, eLogError);
    return 0;
  }
}

/* Input from camera state feedback */
static int cb_getstate(pAsyncTxn txn) {
  CamObj *self = (CamObj *) txn->cntx;
  char *resp = txn->inp_buf, message[MSGLEN+1];
  int ret=1, time_rem, time_tot;
  enum event_codes ca_sym, cm_sym;


  if (txn->txn_status == ATX_TIMEOUT) {
    ret = 0;
  } else if ( cam_parse_status(resp, &ca_sym, &time_rem, &time_tot) == -1) {
    snprintf(message, MSGLEN,
        "CAM:(cb_getstate) cam_parse_status failed to parse '%s'",resp);
    SICSLogWrite(message, eLogError);
    ret = 0;
  } else {
  if (self->debug) {
    snprintf(message, MSGLEN, "DEBUG:(cb_getstate) Camera reply: %s", resp);
    SICSLogWrite(message, eLog);
  }
    cm_sym = camera_model(ca_sym);
    run_sm(self, cm_sym);
  }
  return ret;
}

/* Auxiliary Camera Driver commands */
int cmd_code(char **cmd_list, char *cmd) {
  int i;
  for (i=0; cmd_list[i] != NULL; i++)
    if (strcasecmp(cmd_list[i], cmd) == 0)
      return i;
  return -1;
}

int file_cmd(CamObj *camdriv, SConnection *pCon, char *subcmd, char *data) {
  int i, subcmd_code, retval = 1;
  long numval;
  enum file_subcmd_codes {PATH, BASENAME, IMAGEFMT, STARTNUM, EXPDETAIL};
  char *file_subcmd_names[] = {"path", "name", "format", "startnumber", "detail", NULL};
  char *glemsg = NULL, emsg[MSGLEN];

  if ( (subcmd_code = cmd_code(file_subcmd_names, subcmd)) == -1) {
    return 0;
  }
  switch (subcmd_code) {
    case PATH:
      snprintf(camdriv->camera.file.path, MSGLEN, "%s", data);
      break;
    case BASENAME:
      snprintf(camdriv->camera.file.basename, MSGLEN, "%s", data);
      break;
    case STARTNUM:
      numval = getlong(data, glemsg);
      if (glemsg == NULL) {
        camdriv->camera.file.startnumber = numval;
      } else if (glemsg == data) {
        snprintf(emsg, MSGLEN, "CAM:(file_cmd) %s is not an integer", data);
        SCWrite(pCon, emsg, eError);
        retval = 0;
      } else {
        snprintf(emsg, MSGLEN, "CAM:(file_cmd) %s", glemsg);
        SCWrite(pCon, emsg, eError);
        retval = 0;
      }
      break;
    case IMAGEFMT:
      if (strcasecmp(data, "tif") == 0) {
        for (i=0; data[i]; i++) {
          data[i] = tolower(data[i]);
        }
        snprintf(camdriv->camera.file.imageformat, IFMTLEN, "%s", data);
      } else {
        retval = 0;
      }
      break;
    case EXPDETAIL:
      snprintf(camdriv->camera.file.experimentdetail, MSGLEN, "%s", data);
      break;
    default:
      retval = 0;
  }
  return retval;
}
/**
 * \brief Auxiliary command interface which gets around type and string length
 * limitations of the CountAction command.
 */
int CamAuxCmd(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]) {
  char *cmd = NULL;
  char message[MSGLEN];
  enum auxcmd_codes   {CLEAR_META,  META, FILECMD,   SCANVAR, MOTOR};
  char *auxcmd_names[] = {"clearmeta", "meta", "file", "scanvar", "motor", NULL};
  int i, code, retval = 1, pend=0;
  CamObj *camdriv = (CamObj *)pData;
  CommandList *pCom = NULL;
  pIDrivable pDriv = NULL;
  pDummy pDumData = NULL;

  if (argc < 2) {
    snprintf(message, MSGLEN, "CAM: You must specify a command");
    SCWrite(pCon, message, eError);
    return 0;
  }
  if ( (code = cmd_code(auxcmd_names, argv[1])) == -1 ) {
    snprintf(message, MSGLEN, "CAM: %s is not a valid command", argv[1]);
    SCWrite(pCon, message, eError);
    retval = 0;
    goto END;
  }
  switch (code) {
    case CLEAR_META:
      camdriv->camera.meta_count = 0;
      camdriv->camera.scanvar_count = 0;
      camdriv->camera.updatecfg |= CLEAR_META_CFG;
      camdriv->camera.updatecfg &= ~UPDATE_META_CFG;
      camdriv->camera.updatecfg &= ~UPDATE_SCANVAR_CFG;
      break;
    case META:
      if (argc < 3) {
        snprintf(message, MSGLEN, "CAM: Insufficient arguments, the META command requires name=val data");
        SCWrite(pCon, message, eError);
        retval = 0;
        goto END;
      }
      if (camdriv->camera.meta_count < MAX_META_COUNT) {
        for (i=2; i < argc; i++) {
          pend += snprintf(&(camdriv->camera.meta_list[camdriv->camera.meta_count][pend]), MSGLEN, "%s ", argv[i]);
        }
        camdriv->camera.meta_count++;
        camdriv->camera.updatecfg |= UPDATE_META_CFG;
      } else {
        goto END;
      }
      break;
    case SCANVAR:
    case MOTOR:
      if (argc < 3) {
        snprintf(message, MSGLEN, "CAM: Insufficient arguments, the MOTOR/SCANVAR command requires the name of something you can drive like a motor or environment control");
        SCWrite(pCon, message, eError);
        retval = 0;
        goto END;
      }
      if (camdriv->camera.scanvar_count < MAX_SCANVAR_COUNT) {
        pCom = FindCommand(pSics, argv[2]);
        if (!pCom) {
          snprintf(message, MSGLEN, "CAM: There is no command object for a driveable with this name %s", argv[2]);
          SCWrite(pCon, message, eError);
          retval = 0;
          goto END;
        }
        pDumData = (pDummy) pCom->pData;
        if (!pDumData) {
          snprintf(message, MSGLEN, "CAM: There is no data for the command object of a driveable with this name %s", argv[2]);
          SCWrite(pCon, message, eError);
          retval = 0;
          goto END;
        }
        pDriv = (pIDrivable) pDumData->pDescriptor->GetInterface(pDumData, DRIVEID);
        if (!pDriv) {
          snprintf(message, MSGLEN, "CAM: %s is not a driveable object", argv[2]);
          SCWrite(pCon, message, eError);
          retval = 0;
          goto END;
        }
        camdriv->camera.scanvar_dummy[camdriv->camera.scanvar_count] = pDumData;
        camdriv->camera.pscanvar[camdriv->camera.scanvar_count] = pDriv;
        snprintf(camdriv->camera.scanvar_list[camdriv->camera.scanvar_count++], NAMELEN, "%s", argv[2]);
        camdriv->camera.updatecfg |= UPDATE_SCANVAR_CFG;
      } else {
        snprintf(message, MSGLEN, "CAM: Exceeded maximum number (%d) of driveable objects", MAX_SCANVAR_COUNT);
        SCWrite(pCon, message, eError);
        retval = 0;
        goto END;
      }
      break;
    case FILECMD:
      if (argc < 4) {
        snprintf(message, MSGLEN, "CAM: Insufficient arguments for the FILE command");
        SCWrite(pCon, message, eError);
        retval = 0;
        goto END;
      }
      if (file_cmd(camdriv, pCon, argv[2], argv[3]))
        camdriv->camera.updatecfg |= UPDATE_FILE_CFG;
      else {
        snprintf(message, MSGLEN, "CAM: Failed to create camera file configuration");
        SCWrite(pCon, message, eError);
        retval = 0;
        goto END;
      }
      break;
  }
END:
  if (cmd != NULL)
    free(cmd);
  return retval;
}

pCounterDriver CreateCam(SConnection *pCon, char *name, char *asynq) {
  char msg[ERRLEN], cmd[MSGLEN], auxcmd[NAMELEN];
  int len;
  state_t start_state = {.cl=SCL_RDY, .cm=SCM_IDLE, .dr=SDR_IDLE};

  pCounterDriver pCntDriv = NULL;
  CamObj *pNewCam = NULL;

  pNewCam = (CamObj *) malloc(sizeof(CamObj));
  memset(pNewCam, 0, sizeof(CamObj));
  pNewCam->pDes = CreateDescriptor("CameraCommandObject");
  STset(&pNewCam->state_machine.Sc, start_state);
  EVclr(&pNewCam->state_machine.Eo);
  pNewCam->state_machine.output_fn = camdriv_out;
  pNewCam->state_machine.multi = 0;
  pNewCam->state_timer = 0;
  pNewCam->status = HWIdle;
  pNewCam->camError = ENONE;
  pNewCam->debug = 1;
  pNewCam->camera.updatecfg = 0;
  pNewCam->camera.meta_count = 0;
  pNewCam->camera.scanvar_count = 0;
  pNewCam->camera.file.startnumber = 1;
  snprintf(pNewCam->camera.file.imageformat, IFMTLEN, "tif");
  pNewCam->camera.file.experimentdetail[0] = '\0';
  pNewCam->asynq = strdup(asynq);
  pNewCam->pSics = pServ->pSics;

  if (!AsyncUnitCreate(asynq, &pNewCam->asyncUnit)) {
    snprintf(msg, ERRLEN, "CAM:AsyncQueue %s has not been defined", asynq);
    SCWrite(pCon, msg, eError);
    return NULL;
  }
  AsyncUnitSetTimeout(pNewCam->asyncUnit, 60000);
  AsyncUnitSetNotify(pNewCam->asyncUnit, pNewCam, CAM_Notify);

  pCntDriv = CreateCounterDriver(name, "anstocamera");
  if (pCntDriv == NULL)
    return NULL;


  pCntDriv->GetStatus = CamGetStatus;
  pCntDriv->Start = CamStart;
  pCntDriv->Pause = CamPause;
  pCntDriv->Continue = CamContinue;
  pCntDriv->Halt = CamHalt;
  pCntDriv->ReadValues = CamReadValues;
  pCntDriv->GetError = CamGetError;
  pCntDriv->TryAndFixIt = CamTryAndFixIt;
  pCntDriv->Set = CamSet;
  pCntDriv->Get = CamGet;
  pCntDriv->Send = CamSend;

  pCntDriv->iNoOfMonitors = 1;
  pCntDriv->pData = pNewCam;

  len = strlen(event_signatures[ECA_GET_STATE]);
  strncpy(cmd, event_signatures[ECA_GET_STATE], len);
  NetWatchRegisterTimerPeriodic(&pNewCam->state_timer, 2000, 500, cb_state_timer, pNewCam);

  snprintf(auxcmd, NAMELEN, "%s_cmd", name);
  AddCommand(pNewCam->pSics, auxcmd, CamAuxCmd, NULL, pNewCam);
  return pCntDriv;
}