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/usr/include/usbmuxd-proto.h is in libusbmuxd-dev 1.0.10-3+b1.

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The actual contents of the file can be viewed below.

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/*
 * usbmuxd-proto.h - Protocol definition for the usbmux protocol.
 *
 * Copyright (C) 2009 Paul Sladen <libiphone@paul.sladen.org>
 * Copyright (C) 2009 Nikias Bassen <nikias@gmx.li>
 * Copyright (C) 2009 Hector Martin <hector@marcansoft.com>
 *
 * 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 General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */

#ifndef USBMUXD_PROTO_H
#define USBMUXD_PROTO_H

#include <stdint.h>
#define USBMUXD_PROTOCOL_VERSION 0

#if defined(WIN32) || defined(__CYGWIN__)
#define USBMUXD_SOCKET_PORT 27015
#else
#define USBMUXD_SOCKET_FILE "/var/run/usbmuxd"
#endif

#ifdef __cplusplus
extern "C" {
#endif

enum usbmuxd_result {
	RESULT_OK = 0,
	RESULT_BADCOMMAND = 1,
	RESULT_BADDEV = 2,
	RESULT_CONNREFUSED = 3,
	// ???
	// ???
	RESULT_BADVERSION = 6,
};

enum usbmuxd_msgtype {
	MESSAGE_RESULT  = 1,
	MESSAGE_CONNECT = 2,
	MESSAGE_LISTEN = 3,
	MESSAGE_DEVICE_ADD = 4,
	MESSAGE_DEVICE_REMOVE = 5,
	//???
	//???
	MESSAGE_PLIST = 8,
};

struct usbmuxd_header {
	uint32_t length;    // length of message, including header
	uint32_t version;   // protocol version
	uint32_t message;   // message type
	uint32_t tag;       // responses to this query will echo back this tag
} __attribute__((__packed__));

struct usbmuxd_result_msg {
	struct usbmuxd_header header;
	uint32_t result;
} __attribute__((__packed__));

struct usbmuxd_connect_request {
	struct usbmuxd_header header;
	uint32_t device_id;
	uint16_t port;   // TCP port number
	uint16_t reserved;   // set to zero
} __attribute__((__packed__));

struct usbmuxd_listen_request {
	struct usbmuxd_header header;
} __attribute__((__packed__));

struct usbmuxd_device_record {
	uint32_t device_id;
	uint16_t product_id;
	char serial_number[256];
	uint16_t padding;
	uint32_t location;
} __attribute__((__packed__));

#ifdef __cplusplus
}
#endif

#endif /* USBMUXD_PROTO_H */