diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..26b37e7
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,19 @@
+bin
+build
+lib
+gen/**/*.pb.cc
+gen/**/*.pb.h
+gen/roah_rsbb_msgs.h
+CMakeCache.txt
+CMakeFiles
+cmake_install.cmake
+Makefile
+*~
+**/*~
+*.orig
+**/*.orig
+.kdev4
+*.kdev4
+.kdev_include_paths
+.cproject
+.project
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..e8ff414
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required (VERSION 2.8.7)
+project (RoAH_RSBB_Comm)
+
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
+set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
+
+add_definitions("-std=c++0x")
+
+add_subdirectory(gen/roah_rsbb_msgs/)
+add_subdirectory(libs/)
+add_subdirectory(include/)
+include_directories(${INCLUDE_DIRS})
+
+add_executable(capture_comm src/capture_comm.cpp)
+target_link_libraries(capture_comm roah_rsbb_msgs protobuf_comm)
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..7638586
--- /dev/null
+++ b/README.md
@@ -0,0 +1,52 @@
+RoAH RSBB Comm
+==============
+
+This repository contains the basic files needed to communicate with
+the RoCKIn@Home Referee, Scoring and Benchmarking Box.
+
+Here are provided:
+
+- The proto files used to communicate;
+- A reduced version of the protobuf_comm library by Tim Niemueller
+(http://www.robocup-logistics.org/refbox), containing only the files
+needed to communicate over UDP;
+- A C++ header to ease the task of communicating specifically with
+RoAH RSBB.
+
+
+## Dependencies
+
+You need to have installed a C++11 compiler, CMake, Boost, Protobuf
+and OpenSSL.
+
+If you are using Ubuntu, install the dependencies with:
+```
+sudo apt-get install build-essential cmake libboost-all-dev libprotoc-dev libssl-dev
+```
+
+This was tested with Ubuntu 12.04.5 LTS (Precise Pangolin) and
+14.04.1 LTS (Trusty Tahr).
+
+## Compiling
+
+To compile, use:
+```
+cmake .
+make
+```
+
+Two libraries will be compiled, that you can use on your projects:
+```
+lib/libroah_rsbb_msgs.a
+lib/libprotobuf_comm.a
+```
+
+## Using roah_rsbb.h
+
+This C++ header file provides a small decorator on top of
+protobuf_comm specifically for RoAH. The classes `PublicChannel` and
+`PrivateChannel` adapt the use of each channel specifically. They
+provide a pooling interface for the last messages of the allowed
+types received on each channel as well as a specific signal for each
+one. Be careful with synchronization, the callbacks will be called
+from different threads.
diff --git a/cleanup b/cleanup
new file mode 100755
index 0000000..348fab7
--- /dev/null
+++ b/cleanup
@@ -0,0 +1,51 @@
+#!/bin/bash
+
+DIRS="include src"
+SOURCE_FILES=`find -L $DIRS -iname "*\.[ch]pp" -or -iname "*\.[ch]" | grep -v "/\."`
+HEADER_FILES=`find -L $DIRS -iname "*\.hpp" -or -iname "*\.h" | grep -v "/\."`
+
+
+# astyle
+if [ "$(astyle -V 2>&1)" != "Artistic Style Version 2.04" ]; then
+ echo "Please update astyle to version 2.04:"
+ echo
+ echo 'mkdir -p $HOME/bin/ &&'
+ echo 'cd /tmp &&'
+ echo 'wget -c -T 20 -t 20 -O "astyle_2.04_linux.tar.gz" \'
+ echo '"http://sourceforge.net/projects/astyle/files/astyle/astyle%202.04/astyle_2.04_linux.tar.gz/download" &&'
+ echo 'tar xavf astyle_*_linux.tar.* &&'
+ echo 'cd astyle/build/gcc/ &&'
+ echo 'make -j5 &&'
+ echo 'cp bin/astyle $HOME/bin/ &&'
+ echo 'cd ../../.. &&'
+ echo 'rm -rfv astyle &&'
+ echo 'cd'
+ echo
+ exit 2
+fi
+astyle -s2 -A8 -C -S -N -L -w -y -p -d -U -c -E -j -H -k1 -Y $SOURCE_FILES
+
+
+# Empty lines
+echo At least one empty line at and of files
+sed -n '1x;1!H;${x;s/$/\n/;p}' -i $SOURCE_FILES
+echo At least three empty lines between functions
+echo Only one empty line before \#include
+echo No empty lines at beginning of blocks
+echo No empty lines at end of blocks
+echo No empty lines at beginning of files
+echo One empty line at end of files
+sed -n '1x;1!H;${x;s/\([^\n]\)\n\{2,3\}\([^\n]\)/\1\n\n\n\n\2/g;s/\n\n\n*#include/\n\n#include/g;s/{\(\n *\)*\n/{\n/g;s/\(\n *\)*\n\( *\)}/\n\2}/g;s/^\n*//;s/\n*$//;p}' -i $SOURCE_FILES
+echo Only one empty line before \#ifndef in hpps
+echo Only one empty line before \#endif in hpps
+sed -n '1x;1!H;${x;s/\n\n\n*#ifndef/\n\n#ifndef/g;s/\n\n\n*#endif/\n\n#endif/g;p}' -i $HEADER_FILES
+
+
+# remove spaces in empty lines
+astyle -s2 -A8 -C -S -N -L -w -y -p -d -U -c -j -H -k1 -Y $SOURCE_FILES
+
+
+# remove garbage
+find -L -name "*~" -print -delete
+find -L -name "*\.orig" -print -delete
+find -L -name "#*#" -print -delete
diff --git a/gen/roah_rsbb_msgs/CMakeLists.txt b/gen/roah_rsbb_msgs/CMakeLists.txt
new file mode 100644
index 0000000..ef2e685
--- /dev/null
+++ b/gen/roah_rsbb_msgs/CMakeLists.txt
@@ -0,0 +1,18 @@
+find_package(Protobuf REQUIRED)
+include_directories(${PROTOBUF_INCLUDE_DIRS})
+
+file(GLOB ROAH_RSBB_MSGS_PROTOS ${CMAKE_CURRENT_SOURCE_DIR}/../../proto/*.proto)
+protobuf_generate_cpp(RSBB_PROTO_SRCS RSBB_PROTO_HDRS ${ROAH_RSBB_MSGS_PROTOS})
+add_library(roah_rsbb_msgs STATIC ${RSBB_PROTO_SRCS})
+target_link_libraries(roah_rsbb_msgs ${PROTOBUF_LIBRARIES})
+
+set(ROAH_RSBB_MSGS_HPP "${CMAKE_CURRENT_BINARY_DIR}/../roah_rsbb_msgs.h")
+file(REMOVE ${ROAH_RSBB_MSGS_HPP})
+foreach(PB_H ${RSBB_PROTO_HDRS})
+ get_filename_component(FILE_PB_H ${PB_H} NAME)
+ file(APPEND ${ROAH_RSBB_MSGS_HPP} "#include \"roah_rsbb_msgs/${FILE_PB_H}\"\n")
+endforeach()
+
+include_directories(${CMAKE_CURRENT_BINARY_DIR}/../)
+
+set(INCLUDE_DIRS ${INCLUDE_DIRS} ${CMAKE_CURRENT_BINARY_DIR}/../ PARENT_SCOPE)
diff --git a/gpl.txt b/gpl.txt
new file mode 100644
index 0000000..94a9ed0
--- /dev/null
+++ b/gpl.txt
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
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+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
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+
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+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+ For example, if you distribute copies of such a program, whether
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+
+ Developers that use the GNU GPL protect your rights with two steps:
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+ For the developers' and authors' protection, the GPL clearly explains
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+
+ Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License. You are not responsible
+for enforcing compliance by third parties with this License.
+
+ An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations. If propagation of a covered
+work results from an entity transaction, each party to that
+transaction who receives a copy of the work also receives whatever
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+
+ You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License. For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+ 11. Patents.
+
+ A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based. The
+work thus licensed is called the contributor's "contributor version".
+
+ A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
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+but do not include claims that would be infringed only as a
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+patent license under the contributor's essential patent claims, to
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+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
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+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License. You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
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+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+
+ Copyright (C)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program 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 General Public License
+ along with this program. If not, see .
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ Copyright (C)
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+.
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
new file mode 100644
index 0000000..7a480ee
--- /dev/null
+++ b/include/CMakeLists.txt
@@ -0,0 +1 @@
+set(INCLUDE_DIRS ${INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR} PARENT_SCOPE)
diff --git a/include/roah_rsbb.h b/include/roah_rsbb.h
new file mode 100644
index 0000000..daec0f7
--- /dev/null
+++ b/include/roah_rsbb.h
@@ -0,0 +1,379 @@
+/*
+ * Copyright 2014 Instituto de Sistemas e Robotica, Instituto Superior Tecnico
+ *
+ * This file is part of RoAH RSBB Comm.
+ *
+ * RoAH RSBB Comm 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 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RoAH RSBB Comm 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 RoAH RSBB Comm. If not, see .
+ */
+
+#ifndef __ROAH_RSBB_H__
+#define __ROAH_RSBB_H__
+
+#include
+
+#include
+
+#include "roah_rsbb_msgs.h"
+
+
+
+namespace roah_rsbb
+{
+ void
+ now (::roah_rsbb_msgs::Time* time_msg)
+ {
+ boost::posix_time::ptime now = boost::posix_time::microsec_clock::universal_time();
+ boost::posix_time::time_duration diff = now - boost::posix_time::from_time_t (0);
+ time_msg->set_sec (diff.total_seconds());
+#if defined(BOOST_DATE_TIME_HAS_NANOSECONDS)
+ time_msg->set_nsec (diff.fractional_seconds());
+#else
+ time_msg->set_nsec (diff.fractional_seconds() * 1000);
+#endif
+ }
+
+
+
+ class CerrErrorHandler
+ {
+ public:
+ CerrErrorHandler (std::string const& name,
+ protobuf_comm::ProtobufBroadcastPeer& channel) :
+ name_ (name)
+ {
+ channel.signal_recv_error().connect (boost::bind (&CerrErrorHandler::recv_error, this, _1, _2));
+ channel.signal_send_error().connect (boost::bind (&CerrErrorHandler::send_error, this, _1));
+ }
+
+ void
+ unknown_msg (boost::asio::ip::udp::endpoint& endpoint,
+ uint16_t comp_id,
+ uint16_t msg_type,
+ std::shared_ptr msg)
+ {
+ std::cerr << "On channel " << name_
+ << ": Unknown message from " << endpoint.address().to_string()
+ << ":" << endpoint.port()
+ << ", COMP_ID " << comp_id
+ << ", MSG_TYPE " << msg_type
+ << ", of type " << typeid (*msg).name() << std::endl << std::flush;
+ }
+
+ private:
+ std::string name_;
+
+ void
+ recv_error (boost::asio::ip::udp::endpoint& endpoint,
+ std::string msg)
+ {
+ std::cerr << "On channel " << name_
+ << ": Receive error from " << endpoint.address().to_string()
+ << ":" << endpoint.port()
+ << ": " << msg << std::endl << std::flush;
+ }
+
+ void
+ send_error (std::string msg)
+ {
+ std::cerr << "On channel " << name_
+ << ": Send error: " << msg << std::endl << std::flush;
+ }
+ };
+
+
+
+ template
+ class Channel :
+ public protobuf_comm::ProtobufBroadcastPeer
+ {
+ public:
+ Channel (std::string const& name,
+ std::string const& host,
+ unsigned short port) :
+ protobuf_comm::ProtobufBroadcastPeer (host, port),
+ name_ (name),
+ host_ (host),
+ port_ (port),
+ error_handler_ (name, *this)
+ {
+ signal_received().connect (boost::bind (&Channel::recv_msg_base, this, _1, _2, _3, _4));
+ }
+
+ Channel (std::string const& name,
+ std::string const& host,
+ unsigned short port,
+ std::string const& key,
+ std::string const& cypher) :
+ protobuf_comm::ProtobufBroadcastPeer (host, port, key, cypher),
+ name_ (name),
+ host_ (host),
+ port_ (port),
+ error_handler_ (name, *this)
+ {
+ signal_received().connect (boost::bind (&Channel::recv_msg_base, this, _1, _2, _3, _4));
+ }
+
+ std::string const& name() const
+ {
+ return name_;
+ }
+
+ std::string const& host() const
+ {
+ return host_;
+ }
+
+ unsigned short port() const
+ {
+ return port_;
+ }
+
+ protected:
+ virtual bool
+ recv_msg (boost::asio::ip::udp::endpoint& endpoint,
+ uint16_t comp_id,
+ uint16_t msg_type,
+ std::shared_ptr msg) = 0;
+
+ private:
+ std::string name_;
+ std::string host_;
+ unsigned short port_;
+ ErrorHandler error_handler_;
+
+ void
+ recv_msg_base (boost::asio::ip::udp::endpoint& endpoint,
+ uint16_t comp_id,
+ uint16_t msg_type,
+ std::shared_ptr msg)
+ {
+ if (! recv_msg (endpoint, comp_id, msg_type, msg)) {
+ error_handler_.unknown_msg (endpoint, comp_id, msg_type, msg);
+ }
+ }
+ };
+
+
+
+ template
+ class PublicChannel :
+ public Channel
+ {
+ public:
+ PublicChannel (std::string const& host,
+ unsigned short port) :
+ Channel ("roah_rsbb::PublicChannel(" + host + ":" + boost::lexical_cast (port) + ")", host, port)
+ {
+ protobuf_comm::MessageRegister& mr = this->message_register();
+ mr.add_message_type();
+ mr.add_message_type();
+ }
+
+ typedef
+ boost::signals2::signal) >
+ signal_robot_beacon_received_type;
+
+ signal_robot_beacon_received_type& signal_robot_beacon_received()
+ {
+ return signal_robot_beacon_received_;
+ }
+
+ std::shared_ptr
+ last_robot_beacon() const
+ {
+ std::shared_ptr ret;
+ {
+ std::lock_guard lock (robot_beacon_mutex_);
+ ret = last_robot_beacon_;
+ }
+ return ret;
+ }
+
+ typedef
+ boost::signals2::signal) >
+ signal_rsbb_beacon_received_type;
+
+ signal_rsbb_beacon_received_type& signal_rsbb_beacon_received()
+ {
+ return signal_rsbb_beacon_received_;
+ }
+
+ std::shared_ptr
+ last_rsbb_beacon() const
+ {
+ std::shared_ptr ret;
+ {
+ std::lock_guard lock (rsbb_beacon_mutex_);
+ ret = last_rsbb_beacon_;
+ }
+ return ret;
+ }
+
+ private:
+ signal_robot_beacon_received_type signal_robot_beacon_received_;
+ std::mutex robot_beacon_mutex_;
+ std::shared_ptr last_robot_beacon_;
+
+ signal_rsbb_beacon_received_type signal_rsbb_beacon_received_;
+ std::mutex rsbb_beacon_mutex_;
+ std::shared_ptr last_rsbb_beacon_;
+
+ bool
+ recv_msg (boost::asio::ip::udp::endpoint& endpoint,
+ uint16_t comp_id,
+ uint16_t msg_type,
+ std::shared_ptr msg)
+ {
+ auto robot_beacon = std::dynamic_pointer_cast (msg);
+ if (robot_beacon) {
+ {
+ std::lock_guard lock (robot_beacon_mutex_);
+ last_robot_beacon_ = robot_beacon;
+ }
+
+ signal_robot_beacon_received_ (endpoint, comp_id, msg_type, robot_beacon);
+
+ return true;
+ }
+
+ auto rsbb_beacon = std::dynamic_pointer_cast (msg);
+ if (rsbb_beacon) {
+ {
+ std::lock_guard lock (rsbb_beacon_mutex_);
+ last_rsbb_beacon_ = rsbb_beacon;
+ }
+
+ signal_rsbb_beacon_received_ (endpoint, comp_id, msg_type, rsbb_beacon);
+
+ return true;
+ }
+
+ return false;
+ }
+ };
+
+
+ template
+ class PrivateChannel :
+ public Channel
+ {
+ public:
+ PrivateChannel (std::string const& host,
+ unsigned short port,
+ std::string const& key,
+ std::string const& cypher) :
+ Channel ("roah_rsbb::PrivateChannel(" + host + ":" + boost::lexical_cast (port) + ")", host, port, key, cypher)
+ {
+ protobuf_comm::MessageRegister& mr = this->message_register();
+ mr.add_message_type();
+ mr.add_message_type();
+ }
+
+ typedef
+ boost::signals2::signal) >
+ signal_benchmark_state_received_type;
+
+ signal_benchmark_state_received_type& signal_benchmark_state_received()
+ {
+ return signal_benchmark_state_received_;
+ }
+
+ std::shared_ptr
+ last_benchmark_state() const
+ {
+ std::shared_ptr ret;
+ {
+ std::lock_guard lock (benchmark_state_mutex_);
+ ret = last_benchmark_state_;
+ }
+ return ret;
+ }
+
+ typedef
+ boost::signals2::signal) >
+ signal_robot_state_received_type;
+
+ signal_robot_state_received_type& signal_robot_state_received()
+ {
+ return signal_robot_state_received_;
+ }
+
+ std::shared_ptr
+ last_robot_state() const
+ {
+ std::shared_ptr ret;
+ {
+ std::lock_guard lock (robot_state_mutex_);
+ ret = last_robot_state_;
+ }
+ return ret;
+ }
+
+ private:
+ signal_benchmark_state_received_type signal_benchmark_state_received_;
+ std::mutex benchmark_state_mutex_;
+ std::shared_ptr last_benchmark_state_;
+
+ signal_robot_state_received_type signal_robot_state_received_;
+ std::mutex robot_state_mutex_;
+ std::shared_ptr last_robot_state_;
+
+ bool
+ recv_msg (boost::asio::ip::udp::endpoint& endpoint,
+ uint16_t comp_id,
+ uint16_t msg_type,
+ std::shared_ptr msg)
+ {
+ auto benchmark_state = std::dynamic_pointer_cast (msg);
+ if (benchmark_state) {
+ {
+ std::lock_guard lock (benchmark_state_mutex_);
+ last_benchmark_state_ = benchmark_state;
+ }
+
+ signal_benchmark_state_received_ (endpoint, comp_id, msg_type, benchmark_state);
+
+ return true;
+ }
+
+ auto robot_state = std::dynamic_pointer_cast (msg);
+ if (robot_state) {
+ {
+ std::lock_guard lock (robot_state_mutex_);
+ last_robot_state_ = robot_state;
+ }
+
+ signal_robot_state_received_ (endpoint, comp_id, msg_type, robot_state);
+
+ return true;
+ }
+
+ return false;
+ }
+ };
+}
+
+#endif
diff --git a/lgpl.txt b/lgpl.txt
new file mode 100644
index 0000000..65c5ca8
--- /dev/null
+++ b/lgpl.txt
@@ -0,0 +1,165 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+ This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+ 0. Additional Definitions.
+
+ As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+ "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+ An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+ A "Combined Work" is a work produced by combining or linking an
+Application with the Library. The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+ The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+ The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+ 1. Exception to Section 3 of the GNU GPL.
+
+ You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+ 2. Conveying Modified Versions.
+
+ If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+ a) under this License, provided that you make a good faith effort to
+ ensure that, in the event an Application does not supply the
+ function or data, the facility still operates, and performs
+ whatever part of its purpose remains meaningful, or
+
+ b) under the GNU GPL, with none of the additional permissions of
+ this License applicable to that copy.
+
+ 3. Object Code Incorporating Material from Library Header Files.
+
+ The object code form of an Application may incorporate material from
+a header file that is part of the Library. You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+ a) Give prominent notice with each copy of the object code that the
+ Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the object code with a copy of the GNU GPL and this license
+ document.
+
+ 4. Combined Works.
+
+ You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+ a) Give prominent notice with each copy of the Combined Work that
+ the Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the Combined Work with a copy of the GNU GPL and this license
+ document.
+
+ c) For a Combined Work that displays copyright notices during
+ execution, include the copyright notice for the Library among
+ these notices, as well as a reference directing the user to the
+ copies of the GNU GPL and this license document.
+
+ d) Do one of the following:
+
+ 0) Convey the Minimal Corresponding Source under the terms of this
+ License, and the Corresponding Application Code in a form
+ suitable for, and under terms that permit, the user to
+ recombine or relink the Application with a modified version of
+ the Linked Version to produce a modified Combined Work, in the
+ manner specified by section 6 of the GNU GPL for conveying
+ Corresponding Source.
+
+ 1) Use a suitable shared library mechanism for linking with the
+ Library. A suitable mechanism is one that (a) uses at run time
+ a copy of the Library already present on the user's computer
+ system, and (b) will operate properly with a modified version
+ of the Library that is interface-compatible with the Linked
+ Version.
+
+ e) Provide Installation Information, but only if you would otherwise
+ be required to provide such information under section 6 of the
+ GNU GPL, and only to the extent that such information is
+ necessary to install and execute a modified version of the
+ Combined Work produced by recombining or relinking the
+ Application with a modified version of the Linked Version. (If
+ you use option 4d0, the Installation Information must accompany
+ the Minimal Corresponding Source and Corresponding Application
+ Code. If you use option 4d1, you must provide the Installation
+ Information in the manner specified by section 6 of the GNU GPL
+ for conveying Corresponding Source.)
+
+ 5. Combined Libraries.
+
+ You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+ a) Accompany the combined library with a copy of the same work based
+ on the Library, uncombined with any other library facilities,
+ conveyed under the terms of this License.
+
+ b) Give prominent notice with the combined library that part of it
+ is a work based on the Library, and explaining where to find the
+ accompanying uncombined form of the same work.
+
+ 6. Revised Versions of the GNU Lesser General Public License.
+
+ The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+ If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
diff --git a/libs/CMakeLists.txt b/libs/CMakeLists.txt
new file mode 100644
index 0000000..a94f3a9
--- /dev/null
+++ b/libs/CMakeLists.txt
@@ -0,0 +1,15 @@
+find_package(Boost 1.46.1 REQUIRED thread system)
+include_directories(${Boost_INCLUDE_DIRS})
+link_directories(${Boost_LIBRARY_DIRS})
+
+find_package(OpenSSL REQUIRED)
+include_directories(${OPENSSL_INCLUDE_DIR})
+add_definitions("-DHAVE_LIBCRYPTO")
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+
+file(GLOB PROTOBUF_COMM_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/protobuf_comm/*.cpp)
+add_library(protobuf_comm STATIC ${PROTOBUF_COMM_SOURCES})
+target_link_libraries(protobuf_comm ${OPENSSL_LIBRARIES} ${Boost_LIBRARIES})
+
+set(INCLUDE_DIRS ${INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR} PARENT_SCOPE)
diff --git a/libs/protobuf_comm/crypto.cpp b/libs/protobuf_comm/crypto.cpp
new file mode 100644
index 0000000..d42aead
--- /dev/null
+++ b/libs/protobuf_comm/crypto.cpp
@@ -0,0 +1,349 @@
+
+/***************************************************************************
+ * crypto.cpp - Protobuf stream protocol - crypto utils
+ *
+ * Created: Tue Mar 11 21:14:58 2014
+ * Copyright 2014 Tim Niemueller [www.niemueller.de]
+ ****************************************************************************/
+
+/* Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * - Neither the name of the authors nor the names of its contributors
+ * may be used to endorse or promote products derived from this
+ * software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include
+#include
+
+#include
+#ifdef HAVE_LIBCRYPTO
+# include
+# include
+# include
+# include
+#endif
+
+namespace protobuf_comm {
+#if 0 /* just to make Emacs auto-indent happy */
+}
+#endif
+
+/** @class BufferEncryptor
+ * Encrypt buffers using AES128 in ECB mode.
+ * @author Tim Niemueller
+ */
+
+/** Constructor.
+ * @param key encryption key, can be any string, will be processed to meet
+ * the cipher's requirements.
+ * @param cipher_name Cipher combination to use, currently supported are
+ * aes-128-ecb, aes-128-cbc, aes-256-ecb, and aes-256-cbc
+ */
+BufferEncryptor::BufferEncryptor(const std::string &key, std::string cipher_name)
+{
+ cipher_ = cipher_by_name(cipher_name.c_str());
+ cipher_id_ = cipher_name_to_id(cipher_name.c_str());
+
+ const size_t key_size = EVP_CIPHER_key_length(cipher_);
+ const size_t iv_size = EVP_CIPHER_iv_length(cipher_);
+ key_ = (unsigned char *)malloc(key_size);
+ unsigned char iv[iv_size];
+ if( ! EVP_BytesToKey(cipher_, EVP_sha256(), NULL,
+ (const unsigned char *)key.c_str(), key.size(), 8, key_, iv))
+ {
+ throw std::runtime_error("Failed to generate key");
+ }
+
+ if (!RAND_bytes((unsigned char *)&iv_, sizeof(iv_))) {
+ throw std::runtime_error("Failed to generate IV");
+ }
+}
+
+
+/** Destructor. */
+BufferEncryptor::~BufferEncryptor()
+{
+ free(key_);
+}
+
+
+/** Encrypt a buffer.
+ * Uses the cipher set in the constructor.
+ * @param plain plain text data
+ * @param enc upon return contains encrypted buffer
+ */
+void
+BufferEncryptor::encrypt(const std::string &plain, std::string &enc)
+{
+#ifdef HAVE_LIBCRYPTO
+ const EVP_CIPHER *evp_cipher = cipher_by_id(cipher_id_);
+
+ const size_t iv_size = EVP_CIPHER_iv_length(evp_cipher);
+ unsigned char iv_hash[SHA256_DIGEST_LENGTH];
+
+ unsigned char *enc_m = (unsigned char *)enc.c_str();
+
+ if (iv_size > 0) {
+ iv_ += 1;
+
+ if (! SHA256((unsigned char *)&iv_, sizeof(iv_), iv_hash)) {
+ throw std::runtime_error("Failed to generate IV");
+ }
+ enc.replace(0, iv_size, (char *)iv_hash, iv_size);
+ enc_m += iv_size;
+ }
+
+ EVP_CIPHER_CTX ctx;
+ if ( ! EVP_EncryptInit(&ctx, evp_cipher, key_, iv_hash))
+ {
+ throw std::runtime_error("Could not initialize cipher context");
+ }
+
+ int outl = enc.size() - iv_size;
+ if ( ! EVP_EncryptUpdate(&ctx, enc_m, &outl,
+ (unsigned char *)plain.c_str(), plain.size()) )
+ {
+ throw std::runtime_error("EncryptUpdate failed");
+ }
+
+ int plen = 0;
+ if ( ! EVP_EncryptFinal_ex(&ctx, enc_m + outl, &plen) ) {
+ throw std::runtime_error("EncryptFinal failed");
+ }
+ outl += plen;
+
+ enc.resize(outl + iv_size);
+#else
+ throw std::runtime_error("Encryption support not available");
+#endif
+
+}
+
+
+/** Get required size for an encrypted buffer of the given plain text length.
+ * @param plain_length length of the plain text buffer to encrypt
+ * @return length of encrypted buffer required
+ */
+size_t
+BufferEncryptor::encrypted_buffer_size(size_t plain_length)
+{
+#ifdef HAVE_LIBCRYPTO
+ const EVP_CIPHER *evp_cipher = cipher_by_id(cipher_id_);
+
+ const size_t iv_size = EVP_CIPHER_iv_length(evp_cipher);
+ size_t block_size = EVP_CIPHER_block_size(evp_cipher);
+
+ return (((plain_length / block_size) + 1) * block_size) + iv_size;
+#else
+ throw std::runtime_error("Encryption not supported");
+#endif
+}
+
+
+/** @class BufferDecryptor
+ * Decrypt buffers encrypted with BufferEncryptor.
+ * @author Tim Niemueller
+ */
+
+
+/** Constructor.
+ * @param key encryption key, can be any string, will be processed to meet
+ * AES128 requirements.
+ */
+BufferDecryptor::BufferDecryptor(const std::string &key)
+ : key_(key)
+{
+}
+
+
+/** Destructor. */
+BufferDecryptor::~BufferDecryptor()
+{
+}
+
+
+void
+BufferDecryptor::generate_key(int cipher)
+{
+ const EVP_CIPHER *evp_cipher = cipher_by_id(cipher);
+
+ const size_t key_size = EVP_CIPHER_key_length(evp_cipher);
+ const size_t iv_size = EVP_CIPHER_iv_length(evp_cipher);
+ unsigned char *key = (unsigned char *)malloc(key_size);
+ unsigned char iv[iv_size];
+ if( ! EVP_BytesToKey(evp_cipher, EVP_sha256(), NULL,
+ (const unsigned char *)key_.c_str(), key_.size(), 8, key, iv))
+ {
+ free(key);
+ throw std::runtime_error("Failed to generate key");
+ }
+
+ std::string ks((const char *)key, key_size);
+ free(key);
+
+ keys_[cipher] = ks;
+}
+
+
+/** Decrypt a buffer.
+ * @param cipher cipher ID
+ * @param enc encrypted buffer
+ * @param enc_size number of bytes in @p enc
+ * @param plain on return contains plain text data
+ * @param plain_size size in bytes of @p plain
+ * @return number of bytes that were in the encrypted buffer (this can be shorter if the data
+ * did not exactly fit the AES block size.
+ */
+size_t
+BufferDecryptor::decrypt(int cipher, const void *enc, size_t enc_size, void *plain, size_t plain_size)
+{
+#ifdef HAVE_LIBCRYPTO
+ if (keys_.find(cipher) == keys_.end()) {
+ generate_key(cipher);
+ }
+
+ const EVP_CIPHER *evp_cipher = cipher_by_id(cipher);
+
+ const size_t iv_size = EVP_CIPHER_iv_length(evp_cipher);
+ const unsigned char *iv = (const unsigned char *)enc;
+ unsigned char *enc_m = (unsigned char *)enc + iv_size;
+ enc_size -= iv_size;
+
+ EVP_CIPHER_CTX ctx;
+ if ( ! EVP_DecryptInit(&ctx, evp_cipher, (const unsigned char *)keys_[cipher].c_str(), iv))
+ {
+ throw std::runtime_error("Could not initialize cipher context");
+ }
+
+ int outl = plain_size;
+ if ( ! EVP_DecryptUpdate(&ctx,
+ (unsigned char *)plain, &outl, enc_m, enc_size))
+ {
+ throw std::runtime_error("DecryptUpdate failed");
+ }
+
+ int plen = 0;
+ if ( ! EVP_DecryptFinal(&ctx, (unsigned char *)plain + outl, &plen) ) {
+ throw std::runtime_error("DecryptFinal failed");
+ }
+ outl += plen;
+
+ return outl;
+#else
+ throw std::runtime_error("Decryption support not available");
+#endif
+}
+
+
+/** Get cipher name for PB_ENCRYPTION_* constants.
+ * @param cipher cipher ID
+ * @return string representing the cipher
+ */
+const char *
+cipher_name_by_id(int cipher)
+{
+ switch (cipher) {
+ case PB_ENCRYPTION_AES_128_ECB:
+ return SN_aes_128_ecb;
+ case PB_ENCRYPTION_AES_128_CBC:
+ return SN_aes_128_cbc;
+
+ case PB_ENCRYPTION_AES_256_ECB:
+ return SN_aes_256_ecb;
+ case PB_ENCRYPTION_AES_256_CBC:
+ return SN_aes_256_cbc;
+
+ default:
+ throw std::runtime_error("Unknown cipher type");
+ }
+}
+
+
+/** Get cipher for PB_ENCRYPTION_* constants.
+ * @param cipher cipher ID
+ * @return cipher engine
+ */
+const EVP_CIPHER *
+cipher_by_id(int cipher)
+{
+ switch (cipher) {
+ case PB_ENCRYPTION_AES_128_ECB:
+ return EVP_aes_128_ecb();
+ case PB_ENCRYPTION_AES_128_CBC:
+ return EVP_aes_128_cbc();
+
+ case PB_ENCRYPTION_AES_256_ECB:
+ return EVP_aes_256_ecb();
+ case PB_ENCRYPTION_AES_256_CBC:
+ return EVP_aes_256_cbc();
+
+ default:
+ throw std::runtime_error("Unknown cipher type");
+ }
+}
+
+/** Get cipher by name constants.
+ * @param cipher cipher name
+ * @return cipher engine
+ */
+int
+cipher_name_to_id(const char *cipher)
+{
+ if (strcmp(cipher, LN_aes_128_ecb) == 0) {
+ return PB_ENCRYPTION_AES_128_ECB;
+ } else if (strcmp(cipher, LN_aes_128_cbc) == 0) {
+ return PB_ENCRYPTION_AES_128_CBC;
+ } else if (strcmp(cipher, LN_aes_256_ecb) == 0) {
+ return PB_ENCRYPTION_AES_256_ECB;
+ } else if (strcmp(cipher, LN_aes_256_cbc) == 0) {
+ return PB_ENCRYPTION_AES_256_CBC;
+ } else {
+ throw std::runtime_error("Unknown cipher type");
+ }
+}
+
+
+/** Get cipher by name constants.
+ * @param cipher cipher name
+ * @return cipher engine
+ */
+const EVP_CIPHER *
+cipher_by_name(const char *cipher)
+{
+ if (strcmp(cipher, LN_aes_128_ecb) == 0) {
+ return EVP_aes_128_ecb();
+ } else if (strcmp(cipher, LN_aes_128_cbc) == 0) {
+ return EVP_aes_128_cbc();
+ } else if (strcmp(cipher, LN_aes_256_ecb) == 0) {
+ return EVP_aes_256_ecb();
+ } else if (strcmp(cipher, LN_aes_256_cbc) == 0) {
+ return EVP_aes_256_cbc();
+ } else {
+ throw std::runtime_error("Unknown cipher type");
+ }
+}
+
+
+} // end namespace fawkes
diff --git a/libs/protobuf_comm/crypto.h b/libs/protobuf_comm/crypto.h
new file mode 100644
index 0000000..ade310f
--- /dev/null
+++ b/libs/protobuf_comm/crypto.h
@@ -0,0 +1,101 @@
+
+/***************************************************************************
+ * crypto.h - Protobuf stream protocol - crypto utils
+ *
+ * Created: Tue Mar 11 21:12:35 2014
+ * Copyright 2014 Tim Niemueller [www.niemueller.de]
+ ****************************************************************************/
+
+/* Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * - Neither the name of the authors nor the names of its contributors
+ * may be used to endorse or promote products derived from this
+ * software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef __PROTOBUF_COMM_CRYPTO_H_
+#define __PROTOBUF_COMM_CRYPTO_H_
+
+#include
+#include