diff --git a/.gitignore b/.gitignore
index c2fbdd6b5068032cf1bb480a58d97455ff534446..0cad48ae03a59d54d8deb0ab02e98596e7ef67ff 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,4 @@ fabric-js/
 build/
 lab-designs/viewer
 .vscode
+doc/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b81d81565055d5d8e7a47fa65c28d5782b9b0522..54cae954b93e7e7211925b648da7169be5fae8e3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -125,7 +125,7 @@ check_include_file_cxx("opencv2/cudastereo.hpp" HAVE_OPENCVCUDA)
 find_program(CPPCHECK_FOUND cppcheck)
 if (CPPCHECK_FOUND)
 	message(STATUS "Found cppcheck: will perform source checks")
-	set(CMAKE_CXX_CPPCHECK "cppcheck" "--enable=style" "--suppress=*:*catch.hpp" "--suppress=*:*elas*" "--suppress=*:*json.hpp")
+	set(CMAKE_CXX_CPPCHECK "cppcheck" "--enable=warning,performance,portability,style" "--inline-suppr" "--std=c++11" "--suppress=*:*catch.hpp" "--suppress=*:*elas*" "--suppress=*:*json.hpp" "--quiet")
 endif()
 
 # include_directories(${PROJECT_SOURCE_DIR}/common/cpp/include)
diff --git a/Doxyfile b/Doxyfile
new file mode 100644
index 0000000000000000000000000000000000000000..47cb13e46efd68d84723dc80e9d378cdde662d4c
--- /dev/null
+++ b/Doxyfile
@@ -0,0 +1,2496 @@
+# Doxyfile 1.8.13
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
+# All text after a double hash (##) is considered a comment and is placed in
+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
+# The format is:
+# TAG = value [value, ...]
+# For lists, items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (\" \").
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the config file
+# that follow. The default is UTF-8 which is also the encoding used for all text
+# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
+# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
+# for the list of possible encodings.
+# The default value is: UTF-8.
+
+DOXYFILE_ENCODING      = UTF-8
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
+# double-quotes, unless you are using Doxywizard) that should identify the
+# project for which the documentation is generated. This name is used in the
+# title of most generated pages and in a few other places.
+# The default value is: My Project.
+
+PROJECT_NAME           = "FT-Lab"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
+# could be handy for archiving the generated documentation or if some version
+# control system is used.
+
+PROJECT_NUMBER         =
+
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer a
+# quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF          = "Remote Presence immersive video prototype"
+
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
+# in the documentation. The maximum height of the logo should not exceed 55
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
+# the logo to the output directory.
+
+PROJECT_LOGO           =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
+# into which the generated documentation will be written. If a relative path is
+# entered, it will be relative to the location where doxygen was started. If
+# left blank the current directory will be used.
+
+OUTPUT_DIRECTORY       = "./doc"
+
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
+# directories (in 2 levels) under the output directory of each output format and
+# will distribute the generated files over these directories. Enabling this
+# option can be useful when feeding doxygen a huge amount of source files, where
+# putting all generated files in the same directory would otherwise causes
+# performance problems for the file system.
+# The default value is: NO.
+
+CREATE_SUBDIRS         = NO
+
+# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
+# characters to appear in the names of generated files. If set to NO, non-ASCII
+# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
+# U+3044.
+# The default value is: NO.
+
+ALLOW_UNICODE_NAMES    = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
+# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
+# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
+# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
+# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
+# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
+# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
+# Ukrainian and Vietnamese.
+# The default value is: English.
+
+OUTPUT_LANGUAGE        = English
+
+# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
+# descriptions after the members that are listed in the file and class
+# documentation (similar to Javadoc). Set to NO to disable this.
+# The default value is: YES.
+
+BRIEF_MEMBER_DESC      = YES
+
+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
+# description of a member or function before the detailed description
+#
+# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+# The default value is: YES.
+
+REPEAT_BRIEF           = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator that is
+# used to form the text in various listings. Each string in this list, if found
+# as the leading text of the brief description, will be stripped from the text
+# and the result, after processing the whole list, is used as the annotated
+# text. Otherwise, the brief description is used as-is. If left blank, the
+# following values are used ($name is automatically replaced with the name of
+# the entity):The $name class, The $name widget, The $name file, is, provides,
+# specifies, contains, represents, a, an and the.
+
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# doxygen will generate a detailed section even if there is only a brief
+# description.
+# The default value is: NO.
+
+ALWAYS_DETAILED_SEC    = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+# The default value is: NO.
+
+INLINE_INHERITED_MEMB  = YES
+
+# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
+# before files name in the file list and in the header files. If set to NO the
+# shortest path that makes the file name unique will be used
+# The default value is: YES.
+
+FULL_PATH_NAMES        = YES
+
+# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
+# Stripping is only done if one of the specified strings matches the left-hand
+# part of the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the path to
+# strip.
+#
+# Note that you can specify absolute paths here, but also relative paths, which
+# will be relative from the directory where doxygen is started.
+# This tag requires that the tag FULL_PATH_NAMES is set to YES.
+
+STRIP_FROM_PATH        =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
+# path mentioned in the documentation of a class, which tells the reader which
+# header file to include in order to use a class. If left blank only the name of
+# the header file containing the class definition is used. Otherwise one should
+# specify the list of include paths that are normally passed to the compiler
+# using the -I flag.
+
+STRIP_FROM_INC_PATH    =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
+# less readable) file names. This can be useful is your file systems doesn't
+# support long names like on DOS, Mac, or CD-ROM.
+# The default value is: NO.
+
+SHORT_NAMES            = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
+# first line (until the first dot) of a Javadoc-style comment as the brief
+# description. If set to NO, the Javadoc-style will behave just like regular Qt-
+# style comments (thus requiring an explicit @brief command for a brief
+# description.)
+# The default value is: NO.
+
+JAVADOC_AUTOBRIEF      = YES
+
+# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
+# line (until the first dot) of a Qt-style comment as the brief description. If
+# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
+# requiring an explicit \brief command for a brief description.)
+# The default value is: NO.
+
+QT_AUTOBRIEF           = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
+# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
+# a brief description. This used to be the default behavior. The new default is
+# to treat a multi-line C++ comment block as a detailed description. Set this
+# tag to YES if you prefer the old behavior instead.
+#
+# Note that setting this tag to YES also means that rational rose comments are
+# not recognized any more.
+# The default value is: NO.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
+# documentation from any documented member that it re-implements.
+# The default value is: YES.
+
+INHERIT_DOCS           = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
+# page for each member. If set to NO, the documentation of a member will be part
+# of the file/class/namespace that contains it.
+# The default value is: NO.
+
+SEPARATE_MEMBER_PAGES  = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
+# uses this value to replace tabs by spaces in code fragments.
+# Minimum value: 1, maximum value: 16, default value: 4.
+
+TAB_SIZE               = 4
+
+# This tag can be used to specify a number of aliases that act as commands in
+# the documentation. An alias has the form:
+# name=value
+# For example adding
+# "sideeffect=@par Side Effects:\n"
+# will allow you to put the command \sideeffect (or @sideeffect) in the
+# documentation, which will result in a user-defined paragraph with heading
+# "Side Effects:". You can put \n's in the value part of an alias to insert
+# newlines.
+
+ALIASES                =
+
+# This tag can be used to specify a number of word-keyword mappings (TCL only).
+# A mapping has the form "name=value". For example adding "class=itcl::class"
+# will allow you to use the command class in the itcl::class meaning.
+
+TCL_SUBST              =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C. For
+# instance, some of the names that are used will be different. The list of all
+# members will be omitted, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_FOR_C  = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
+# Python sources only. Doxygen will then generate output that is more tailored
+# for that language. For instance, namespaces will be presented as packages,
+# qualified scopes will look different, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_JAVA   = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
+
+OPTIMIZE_FOR_FORTRAN   = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for VHDL.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_VHDL   = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given
+# extension. Doxygen has a built-in mapping, but you can override or extend it
+# using this tag. The format is ext=language, where ext is a file extension, and
+# language is one of the parsers supported by doxygen: IDL, Java, Javascript,
+# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran:
+# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran:
+# Fortran. In the later case the parser tries to guess whether the code is fixed
+# or free formatted code, this is the default for Fortran type files), VHDL. For
+# instance to make doxygen treat .inc files as Fortran files (default is PHP),
+# and .f files as C (default is Fortran), use: inc=Fortran f=C.
+#
+# Note: For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen.
+
+EXTENSION_MAPPING      =
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See http://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT       = YES
+
+# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
+# to that level are automatically included in the table of contents, even if
+# they do not have an id attribute.
+# Note: This feature currently applies only to Markdown headings.
+# Minimum value: 0, maximum value: 99, default value: 0.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+TOC_INCLUDE_HEADINGS   = 0
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by putting a % sign in front of the word or
+# globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT       = YES
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should set this
+# tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string);
+# versus func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
+
+BUILTIN_STL_SUPPORT    = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+# The default value is: NO.
+
+CPP_CLI_SUPPORT        = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
+# will parse them like normal C++ but will assume all classes use public instead
+# of private inheritance when no explicit protection keyword is present.
+# The default value is: NO.
+
+SIP_SUPPORT            = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate
+# getter and setter methods for a property. Setting this option to YES will make
+# doxygen to replace the get and set methods by a property in the documentation.
+# This will only work if the methods are indeed getting or setting a simple
+# type. If this is not the case, or you want to show the methods anyway, you
+# should set this option to NO.
+# The default value is: YES.
+
+IDL_PROPERTY_SUPPORT   = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+# The default value is: NO.
+
+DISTRIBUTE_GROUP_DOC   = NO
+
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
+# Set the SUBGROUPING tag to YES to allow class member groups of the same type
+# (for instance a group of public functions) to be put as a subgroup of that
+# type (e.g. under the Public Functions section). Set it to NO to prevent
+# subgrouping. Alternatively, this can be done per class using the
+# \nosubgrouping command.
+# The default value is: YES.
+
+SUBGROUPING            = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
+# are shown inside the group in which they are included (e.g. using \ingroup)
+# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
+# and RTF).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef fields will be shown inline in
+# the documentation of the scope in which they are defined (i.e. file,
+# namespace, or group documentation), provided this scope is documented. If set
+# to NO, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
+
+INLINE_SIMPLE_STRUCTS  = NO
+
+# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
+# enum is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically be
+# useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+# The default value is: NO.
+
+TYPEDEF_HIDES_STRUCT   = NO
+
+# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
+# cache is used to resolve symbols given their name and scope. Since this can be
+# an expensive process and often the same symbol appears multiple times in the
+# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
+# doxygen will become slower. If the cache is too large, memory is wasted. The
+# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
+# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
+# symbols. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+LOOKUP_CACHE_SIZE      = 0
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
+# documentation are documented, even if no documentation was available. Private
+# class members and static file members will be hidden unless the
+# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
+
+EXTRACT_ALL            = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIVATE        = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
+
+EXTRACT_STATIC         = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
+# locally in source files will be included in the documentation. If set to NO,
+# only classes defined in header files are included. Does not have any effect
+# for Java sources.
+# The default value is: YES.
+
+EXTRACT_LOCAL_CLASSES  = YES
+
+# This flag is only useful for Objective-C code. If set to YES, local methods,
+# which are defined in the implementation section but not in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
+# included.
+# The default value is: NO.
+
+EXTRACT_LOCAL_METHODS  = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base name of
+# the file that contains the anonymous namespace. By default anonymous namespace
+# are hidden.
+# The default value is: NO.
+
+EXTRACT_ANON_NSPACES   = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO, these classes will be included in the various overviews. This option
+# has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# (class|struct|union) declarations. If set to NO, these declarations will be
+# included in the documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS  = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO, these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS      = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS          = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
+# names in lower-case letters. If set to YES, upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+# The default value is: system dependent.
+
+CASE_SENSE_NAMES       = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES, the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES     = NO
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC  = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES   = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS       = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS        = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES       = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME     = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING  = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
+# list. This list is created by putting \todo commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
+# list. This list is created by putting \test commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST      = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST       = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS       =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES  = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES, the
+# list will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES        = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES             = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES        = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER    =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE            =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. See also \cite for info how to create references.
+
+CITE_BIB_FILES         =
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS               = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED   = YES
+
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some parameters
+# in a documented function, or documenting parameters that don't exist or using
+# markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR      = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO, doxygen will only warn about wrong or incomplete
+# parameter documentation, but not about the absence of documentation.
+# The default value is: NO.
+
+WARN_NO_PARAMDOC       = NO
+
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered.
+# The default value is: NO.
+
+WARN_AS_ERROR          = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT            = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr).
+
+WARN_LOGFILE           =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
+# Note: If this tag is empty the current directory is searched.
+
+INPUT                  =
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see: http://www.gnu.org/software/libiconv) for the list of
+# possible encodings.
+# The default value is: UTF-8.
+
+INPUT_ENCODING         = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# read by doxygen.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
+# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
+# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf.
+
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.pyw \
+                         *.f90 \
+                         *.f95 \
+                         *.f03 \
+                         *.f08 \
+                         *.f \
+                         *.for \
+                         *.tcl \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE              = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE                = "components/common/cpp/include/nlohmann/json.hpp" \
+						 "components/common/cpp/include/loguru.hpp" \
+						 "components/common/cpp/include/ctpl_stl.h"
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS       = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS       = */test/*
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
+
+EXCLUDE_SYMBOLS        =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH           =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS       = *
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE      = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH             =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+INPUT_FILTER           =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+FILTER_PATTERNS        =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES    = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER         = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# function all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION    = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS        = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see http://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS              = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS       = YES
+
+# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
+# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
+# cost of reduced performance. This can be particularly helpful with template
+# rich C++ code for which doxygen's built-in parser lacks the necessary type
+# information.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse-libclang=ON option for CMake.
+# The default value is: NO.
+
+CLANG_ASSISTED_PARSING = NO
+
+# If clang assisted parsing is enabled you can provide the compiler with command
+# line options that you would normally use when invoking the compiler. Note that
+# the include paths will already be set by doxygen for the files and directories
+# specified with INPUT and INCLUDE_PATH.
+# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
+
+CLANG_OPTIONS          =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX     = YES
+
+# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
+# which the alphabetical index list will be split.
+# Minimum value: 1, maximum value: 20, default value: 5.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+COLS_IN_ALPHA_INDEX    = 5
+
+# In case all classes in a project start with a common prefix, all classes will
+# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
+# can be used to specify a prefix (or a list of prefixes) that should be ignored
+# while generating the index headers.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX          =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML          = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT            = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION    = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER            =
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER            =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET        =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# cascading style sheets that are included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefore more robust against future updates.
+# Doxygen will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list). For an example see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET  =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES       =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the style sheet and background images according to
+# this color. Hue is specified as an angle on a colorwheel, see
+# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_HUE    = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use grayscales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_SAT    = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA  = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to YES can help to show when doxygen was last run and thus if the
+# documentation is up to date.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP         = NO
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS  = YES
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see: http://developer.apple.com/tools/xcode/), introduced with
+# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
+# Makefile in the HTML output directory. Running make will produce the docset in
+# that directory and running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET        = NO
+
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME  = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
+# Windows.
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP      = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE               =
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION           =
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
+# (YES) or that it should be included in the master .chm file (NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI           = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING     =
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC             = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND             = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP           = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE               =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE          = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
+# folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER     = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME   =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS  =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS  =
+
+# The QHG_LOCATION tag can be used to specify the location of Qt's
+# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
+# generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION           =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP   = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID         = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX          = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine-tune the look of the index. As an example, the default style
+# sheet generated by doxygen has an example that shows how to put an image at
+# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
+# the same information as the tab index, you could consider setting
+# DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW      = NO
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE   = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH         = 250
+
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW    = NO
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE       = 10
+
+# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are not
+# supported properly for IE 6.0, but are supported on all modern browsers.
+#
+# Note that when changing this option you need to delete any form_*.png files in
+# the HTML output directory before the changes have effect.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_TRANSPARENT    = YES
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# http://www.mathjax.org) which uses client side Javascript for the rendering
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX            = NO
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. See the MathJax site (see:
+# http://docs.mathjax.org/en/latest/output.html) for more details.
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility), NativeMML (i.e. MathML) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT         = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from http://www.mathjax.org before deployment.
+# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS     =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE       =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE           = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using Javascript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH    = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH        = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/). See the section "External Indexing and
+# Searching" for details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL       =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE        = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID     =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX         = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT           = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when enabling USE_PDFLATEX this option is only used for generating
+# bitmaps for formulas in the HTML output, but not in the Makefile that is
+# written to the output directory.
+# The default file is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME         = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME     = makeindex
+
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE             = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. The package can be specified just
+# by its name or with the correct syntax as to be used with the LaTeX
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES         =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
+# generated LaTeX document. The header should contain everything until the first
+# chapter. If it is left blank doxygen will generate a standard header. See
+# section "Doxygen usage" for information on how to let doxygen write the
+# default header to a separate file.
+#
+# Note: Only use a user-defined header if you know what you are doing! The
+# following commands have a special meaning inside the header: $title,
+# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
+# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
+# string, for the replacement values of the other commands the user is referred
+# to HTML_HEADER.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER           =
+
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
+# generated LaTeX document. The footer should contain everything after the last
+# chapter. If it is left blank doxygen will generate a standard footer. See
+# LATEX_HEADER for more information on how to generate a default footer and what
+# special commands can be used inside the footer.
+#
+# Note: Only use a user-defined footer if you know what you are doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER           =
+
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES      =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS         = YES
+
+# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
+# the PDF file directly from the LaTeX files. Set this option to YES, to get a
+# higher quality PDF documentation.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX           = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help. This option is also used
+# when generating formulas in HTML.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE        = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES     = NO
+
+# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
+# code with syntax highlighting in the LaTeX output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_SOURCE_CODE      = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE        = plain
+
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP        = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT             = rtf
+
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS         = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's config
+# file, i.e. a series of assignments. You only have to provide replacements,
+# missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE    =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's config file. A template extensions file can be generated
+# using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE    =
+
+# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
+# with syntax highlighting in the RTF output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_SOURCE_CODE        = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION          = .3
+
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR             =
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS              = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML           = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT             = xml
+
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING     = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK       = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT         = docbook
+
+# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
+# program listings (including syntax highlighting and cross-referencing
+# information) to the DOCBOOK output. Note that enabling this will significantly
+# increase the size of the DOCBOOK output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_PROGRAMLISTING = NO
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
+# AutoGen Definitions (see http://autogen.sf.net) file that captures the
+# structure of the code including all documentation. Note that this feature is
+# still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_AUTOGEN_DEF   = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_PERLMOD       = NO
+
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_LATEX          = NO
+
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO, the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_PRETTY         = YES
+
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+ENABLE_PREPROCESSING   = YES
+
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
+# in the source code. If set to NO, only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+MACRO_EXPANSION        = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_ONLY_PREDEF     = NO
+
+# If the SEARCH_INCLUDES tag is set to YES, the include files in the
+# INCLUDE_PATH will be searched if a #include is found.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SEARCH_INCLUDES        = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by the
+# preprocessor.
+# This tag requires that the tag SEARCH_INCLUDES is set to YES.
+
+INCLUDE_PATH           =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will be
+# used.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+INCLUDE_FILE_PATTERNS  =
+
+# The PREDEFINED tag can be used to specify one or more macro names that are
+# defined before the preprocessor is started (similar to the -D option of e.g.
+# gcc). The argument of the tag is a list of macros of the form: name or
+# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
+# is assumed. To prevent a macro definition from being undefined via #undef or
+# recursively expanded use the := operator instead of the = operator.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+PREDEFINED             =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
+# tag can be used to specify a list of macro names that should be expanded. The
+# macro definition that is found in the sources will be used. Use the PREDEFINED
+# tag if you want to use a different macro definition that overrules the
+# definition found in the source code.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_AS_DEFINED      =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
+# remove all references to function-like macros that are alone on a line, have
+# an all uppercase name, and do not end with a semicolon. Such function macros
+# are typically used for boiler-plate code, and will confuse the parser if not
+# removed.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SKIP_FUNCTION_MACROS   = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES tag can be used to specify one or more tag files. For each tag
+# file the location of the external documentation should be added. The format of
+# a tag file without this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where loc1 and loc2 can be relative or absolute paths or URLs. See the
+# section "Linking to external documentation" for more information about the use
+# of tag files.
+# Note: Each tag file must have a unique name (where the name does NOT include
+# the path). If a tag file is not located in the directory in which doxygen is
+# run, you must also specify the path to the tagfile here.
+
+TAGFILES               =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
+# tag file that is based on the input files it reads. See section "Linking to
+# external documentation" for more information about the usage of tag files.
+
+GENERATE_TAGFILE       =
+
+# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
+# the class index. If set to NO, only the inherited external classes will be
+# listed.
+# The default value is: NO.
+
+ALLEXTERNALS           = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will be
+# listed.
+# The default value is: YES.
+
+EXTERNAL_GROUPS        = YES
+
+# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
+# the related pages index. If set to NO, only the current project's pages will
+# be listed.
+# The default value is: YES.
+
+EXTERNAL_PAGES         = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of 'which perl').
+# The default file (with absolute path) is: /usr/bin/perl.
+
+PERL_PATH              = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
+# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
+# NO turns the diagrams off. Note that this option also works with HAVE_DOT
+# disabled, but it is recommended to install and use dot, since it yields more
+# powerful graphs.
+# The default value is: YES.
+
+CLASS_DIAGRAMS         = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. Doxygen will then run the mscgen tool (see:
+# http://www.mcternan.me.uk/mscgen/)) to produce the chart and insert it in the
+# documentation. The MSCGEN_PATH tag allows you to specify the directory where
+# the mscgen tool resides. If left empty the tool is assumed to be found in the
+# default search path.
+
+MSCGEN_PATH            =
+
+# You can include diagrams made with dia in doxygen documentation. Doxygen will
+# then run dia to produce the diagram and insert it in the documentation. The
+# DIA_PATH tag allows you to specify the directory where the dia binary resides.
+# If left empty dia is assumed to be found in the default search path.
+
+DIA_PATH               =
+
+# If set to YES the inheritance and collaboration graphs will hide inheritance
+# and usage relations if the target is undocumented or is not a class.
+# The default value is: YES.
+
+HIDE_UNDOC_RELATIONS   = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz (see:
+# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
+# Bell Labs. The other options in this section have no effect if this option is
+# set to NO
+# The default value is: YES.
+
+HAVE_DOT               = YES
+
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
+# to run in parallel. When set to 0 doxygen will base this on the number of
+# processors available in the system. You can set it explicitly to a value
+# larger than 0 to get control over the balance between CPU load and processing
+# speed.
+# Minimum value: 0, maximum value: 32, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NUM_THREADS        = 0
+
+# When you want a differently looking font in the dot files that doxygen
+# generates you can specify the font name using DOT_FONTNAME. You need to make
+# sure dot is able to find the font, which can be done by putting it in a
+# standard location or by setting the DOTFONTPATH environment variable or by
+# setting DOT_FONTPATH to the directory containing the font.
+# The default value is: Helvetica.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTNAME           = Helvetica
+
+# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
+# dot graphs.
+# Minimum value: 4, maximum value: 24, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTSIZE           = 10
+
+# By default doxygen will tell dot to use the default font as specified with
+# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set
+# the path where dot can find it using this tag.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTPATH           =
+
+# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for
+# each documented class showing the direct and indirect inheritance relations.
+# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CLASS_GRAPH            = YES
+
+# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
+# graph for each documented class showing the direct and indirect implementation
+# dependencies (inheritance, containment, and class references variables) of the
+# class with other documented classes.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+COLLABORATION_GRAPH    = YES
+
+# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
+# groups, showing the direct groups dependencies.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GROUP_GRAPHS           = YES
+
+# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LOOK               = NO
+
+# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
+# class node. If there are many fields or methods and many nodes the graph may
+# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
+# number of items for each type to make the size more manageable. Set this to 0
+# for no limit. Note that the threshold may be exceeded by 50% before the limit
+# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
+# but if the number exceeds 15, the total amount of fields shown is limited to
+# 10.
+# Minimum value: 0, maximum value: 100, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LIMIT_NUM_FIELDS   = 10
+
+# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
+# collaboration graphs will show the relations between templates and their
+# instances.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+TEMPLATE_RELATIONS     = NO
+
+# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
+# YES then doxygen will generate a graph for each documented file showing the
+# direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDE_GRAPH          = YES
+
+# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
+# set to YES then doxygen will generate a graph for each documented file showing
+# the direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDED_BY_GRAPH      = YES
+
+# If the CALL_GRAPH tag is set to YES then doxygen will generate a call
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command. Disabling a call graph can be
+# accomplished by means of the command \hidecallgraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALL_GRAPH             = NO
+
+# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable caller graphs for selected
+# functions only using the \callergraph command. Disabling a caller graph can be
+# accomplished by means of the command \hidecallergraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALLER_GRAPH           = NO
+
+# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
+# hierarchy of all classes instead of a textual one.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GRAPHICAL_HIERARCHY    = YES
+
+# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
+# dependencies a directory has on other directories in a graphical way. The
+# dependency relations are determined by the #include relations between the
+# files in the directories.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DIRECTORY_GRAPH        = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. For an explanation of the image formats see the section
+# output formats in the documentation of the dot tool (Graphviz (see:
+# http://www.graphviz.org/)).
+# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
+# to make the SVG files visible in IE 9+ (other browsers do not have this
+# requirement).
+# Possible values are: png, png:cairo, png:cairo:cairo, png:cairo:gd, png:gd,
+# png:gd:gd, jpg, jpg:cairo, jpg:cairo:gd, jpg:gd, jpg:gd:gd, gif, gif:cairo,
+# gif:cairo:gd, gif:gd, gif:gd:gd, svg, png:gd, png:gd:gd, png:cairo,
+# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
+# png:gdiplus:gdiplus.
+# The default value is: png.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_IMAGE_FORMAT       = png
+
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
+#
+# Note that this requires a modern browser other than Internet Explorer. Tested
+# and working are Firefox, Chrome, Safari, and Opera.
+# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make
+# the SVG files visible. Older versions of IE do not have SVG support.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INTERACTIVE_SVG        = NO
+
+# The DOT_PATH tag can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_PATH               =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the \dotfile
+# command).
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOTFILE_DIRS           =
+
+# The MSCFILE_DIRS tag can be used to specify one or more directories that
+# contain msc files that are included in the documentation (see the \mscfile
+# command).
+
+MSCFILE_DIRS           =
+
+# The DIAFILE_DIRS tag can be used to specify one or more directories that
+# contain dia files that are included in the documentation (see the \diafile
+# command).
+
+DIAFILE_DIRS           =
+
+# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the
+# path where java can find the plantuml.jar file. If left blank, it is assumed
+# PlantUML is not used or called during a preprocessing step. Doxygen will
+# generate a warning when it encounters a \startuml command in this case and
+# will not generate output for the diagram.
+
+PLANTUML_JAR_PATH      =
+
+# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a
+# configuration file for plantuml.
+
+PLANTUML_CFG_FILE      =
+
+# When using plantuml, the specified paths are searched for files specified by
+# the !include statement in a plantuml block.
+
+PLANTUML_INCLUDE_PATH  =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
+# that will be shown in the graph. If the number of nodes in a graph becomes
+# larger than this value, doxygen will truncate the graph, which is visualized
+# by representing a node as a red box. Note that doxygen if the number of direct
+# children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that
+# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+# Minimum value: 0, maximum value: 10000, default value: 50.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_GRAPH_MAX_NODES    = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs
+# generated by dot. A depth value of 3 means that only nodes reachable from the
+# root by following a path via at most 3 edges will be shown. Nodes that lay
+# further from the root node will be omitted. Note that setting this option to 1
+# or 2 may greatly reduce the computation time needed for large code bases. Also
+# note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+# Minimum value: 0, maximum value: 1000, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+MAX_DOT_GRAPH_DEPTH    = 0
+
+# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
+# background. This is disabled by default, because dot on Windows does not seem
+# to support this out of the box.
+#
+# Warning: Depending on the platform used, enabling this option may lead to
+# badly anti-aliased labels on the edges of a graph (i.e. they become hard to
+# read).
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_TRANSPARENT        = NO
+
+# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10) support
+# this, this feature is disabled by default.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_MULTI_TARGETS      = NO
+
+# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
+# explaining the meaning of the various boxes and arrows in the dot generated
+# graphs.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GENERATE_LEGEND        = YES
+
+# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot
+# files that are used to generate the various graphs.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_CLEANUP            = YES
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index bb77b0810c810cded5c1a74eec432b1ee47fa8f2..64c2cfbb7eb675a73944b7ddd7e2a553842a6021 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -96,16 +96,16 @@ static void run(ftl::Configurable *root) {
 	stream->add(source);
 	stream->run();
 
-	while (display->active()) {
+	while (ftl::running && display->active()) {
 		cv::Mat rgb, depth;
 		source->getRGBD(rgb, depth);
 		if (!rgb.empty()) display->render(rgb, depth, source->getParameters());
 		display->wait(10);
 	}
 
+	LOG(INFO) << "Stopping...";
 	stream->stop();
 
-	LOG(INFO) << "Finished.";
 	delete stream;
 	delete display;
 	delete source;
@@ -125,5 +125,7 @@ int main(int argc, char **argv) {
 	//} else {
 	//	ftl::middlebury::test(config);
 	//}
+
+	return ftl::exit_code;
 }
 
diff --git a/components/common/cpp/include/ftl/configuration.hpp b/components/common/cpp/include/ftl/configuration.hpp
index 6a91c9b05781a6442844a53b73828027b1fcf9e0..046b58a07bf536a691a970b3a9d93bf4b5ab119b 100644
--- a/components/common/cpp/include/ftl/configuration.hpp
+++ b/components/common/cpp/include/ftl/configuration.hpp
@@ -12,6 +12,9 @@
 
 namespace ftl {
 
+extern bool running;
+extern int exit_code;
+
 class Configurable;
 
 bool is_directory(const std::string &path);
@@ -116,7 +119,6 @@ T *ftl::config::create(ftl::Configurable *parent, const std::string &name, ARGS
 
     if (entity.is_object()) {
         if (!entity["$id"].is_string()) {
-			// TODO(Nick) Check for # in URI
             std::string id_str = *parent->get<std::string>("$id");
             if (id_str.find('#') != std::string::npos) {
                 entity["$id"] = id_str + std::string("/") + name;
diff --git a/components/common/cpp/include/ftl/cuda_common.hpp b/components/common/cpp/include/ftl/cuda_common.hpp
index 91d5a28c30e1fa911ff984e8a14dabf5acc0aaea..1df4b1b2fa89bb495f4e0108740774e8753a2afa 100644
--- a/components/common/cpp/include/ftl/cuda_common.hpp
+++ b/components/common/cpp/include/ftl/cuda_common.hpp
@@ -34,7 +34,7 @@ class TextureObject {
 	TextureObject(const TextureObject &t);
 	~TextureObject();
 	
-	int pitch() const { return pitch_; }
+	size_t pitch() const { return pitch_; }
 	T *devicePtr() { return ptr_; };
 	__host__ __device__ T *devicePtr(int v) { return &ptr_[v*pitch2_]; }
 	__host__ __device__ int width() const { return width_; }
@@ -148,8 +148,8 @@ TextureObject<T>::TextureObject(size_t width, size_t height) {
 	cudaTextureObject_t tex = 0;
 	cudaCreateTextureObject(&tex, &resDesc, &texDesc, NULL);
 	texobj_ = tex;
-	width_ = width;
-	height_ = height;
+	width_ = (int)width;
+	height_ = (int)height;
 	needsfree_ = true;
 	pitch2_ = pitch_ / sizeof(T);
 	//needsdestroy_ = true;
diff --git a/components/common/cpp/include/loguru.hpp b/components/common/cpp/include/loguru.hpp
index 2bfe8e0e2e174b107fea79dd286be956adc00a82..e43dc742e83d21405dacdafafa830a3251703998 100644
--- a/components/common/cpp/include/loguru.hpp
+++ b/components/common/cpp/include/loguru.hpp
@@ -536,7 +536,7 @@ namespace loguru
 	class LOGURU_EXPORT LogScopeRAII
 	{
 	public:
-		LogScopeRAII() : _file(nullptr) {} // No logging
+		LogScopeRAII() : _file(nullptr), _line(0), _indent_stderr(false), _start_time_ns(0), _name() {} // No logging
 		LogScopeRAII(Verbosity verbosity, const char* file, unsigned line, LOGURU_FORMAT_STRING_TYPE format, ...) LOGURU_PRINTF_LIKE(5, 6);
 		~LogScopeRAII();
 
diff --git a/components/common/cpp/src/configuration.cpp b/components/common/cpp/src/configuration.cpp
index 31f28c309caeb1c8b161db4229b942af0c8b0fb6..dd5bf2aff7155d9105c31c8dae3911ad0428eaae 100644
--- a/components/common/cpp/src/configuration.cpp
+++ b/components/common/cpp/src/configuration.cpp
@@ -47,6 +47,9 @@ using ftl::config::config;
 
 static Configurable *rootCFG = nullptr;
 
+bool ftl::running = true;
+int ftl::exit_code = 0;
+
 bool ftl::is_directory(const std::string &path) {
 #ifdef WIN32
 	DWORD attrib = GetFileAttributesA(path.c_str());
@@ -143,6 +146,7 @@ static bool mergeConfig(const string path) {
 		} catch (...) {
 			LOG(ERROR) << "Unknown error opening config file";
 		}
+		return false;
 	} else {
 		return false;
 	}
@@ -216,6 +220,7 @@ bool ftl::config::update(const std::string &puri, const json_t &value) {
 	if (cfg) {
 		DLOG(1) << "Updating CFG: " << head << "[" << tail << "] = " << value;
 		cfg->set<json_t>(tail, value);
+		return true;
 	} else {
 		DLOG(1) << "Updating: " << head << "[" << tail << "] = " << value;
 		auto &r = resolve(head, false);
@@ -301,18 +306,36 @@ static bool findConfiguration(const string &file, const vector<string> &paths) {
 		f = mergeConfig(FTL_GLOBAL_CONFIG_ROOT "/config.json");
 		found |= f;
 		if (f) LOG(INFO) << "Loaded config: " << FTL_GLOBAL_CONFIG_ROOT "/config.json";
+
+		f = mergeConfig(FTL_GLOBAL_CONFIG_ROOT "/config.jsonc");
+		found |= f;
+		if (f) LOG(INFO) << "Loaded config: " << FTL_GLOBAL_CONFIG_ROOT "/config.jsonc";
+
 		f = mergeConfig(FTL_LOCAL_CONFIG_ROOT "/config.json");
 		found |= f;
 		if (f) LOG(INFO) << "Loaded config: " << FTL_LOCAL_CONFIG_ROOT "/config.json";
+
+		f = mergeConfig(FTL_LOCAL_CONFIG_ROOT "/config.jsonc");
+		found |= f;
+		if (f) LOG(INFO) << "Loaded config: " << FTL_LOCAL_CONFIG_ROOT "/config.jsonc";
+
 		f = mergeConfig("./config.json");
 		found |= f;
 		if (f) LOG(INFO) << "Loaded config: " << "./config.json";
+
+		f = mergeConfig("./config.jsonc");
+		found |= f;
+		if (f) LOG(INFO) << "Loaded config: " << "./config.jsonc";
 		
 		for (auto p : paths) {
 			if (is_directory(p)) {
 				f = mergeConfig(p+"/config.json");
 				found |= f;
 				if (f) LOG(INFO) << "Loaded config: " << p << "/config.json";
+
+				f = mergeConfig(p+"/config.jsonc");
+				found |= f;
+				if (f) LOG(INFO) << "Loaded config: " << p << "/config.jsonc";
 			}
 		}
 	}
@@ -402,7 +425,7 @@ static void signalIntHandler( int signum ) {
    // cleanup and close up stuff here  
    // terminate program  
 
-   exit(0);
+   ftl::running = false;
 }
 
 Configurable *ftl::config::configure(int argc, char **argv, const std::string &root) {
diff --git a/components/common/cpp/src/loguru.cpp b/components/common/cpp/src/loguru.cpp
index ccbc864b47d8c92b2883348f77e6b5972e4fa0b8..b481a411ef0ae05a23b66289abb4297138b994fd 100644
--- a/components/common/cpp/src/loguru.cpp
+++ b/components/common/cpp/src/loguru.cpp
@@ -1,4 +1,5 @@
 // Disable all warnings from gcc/clang:
+#ifdef __GNUC__
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpragmas"
 
@@ -15,6 +16,7 @@
 #pragma GCC diagnostic ignored "-Wunknown-pragmas"
 #pragma GCC diagnostic ignored "-Wunused-macros"
 #pragma GCC diagnostic ignored "-Wzero-as-null-pointer-constant"
+#endif  // __GNUC__
 
 #define LOGURU_REPLACE_GLOG 1
 #include "loguru.hpp"
@@ -508,6 +510,7 @@ namespace loguru
 
 	Text errno_as_text()
 	{
+		// cppcheck-suppress unusedVariable
 		char buff[256];
 	#if defined(__GLIBC__) && defined(_GNU_SOURCE)
 		// GNU Version
@@ -1067,7 +1070,7 @@ namespace loguru
 						 i - skip, int(2 + sizeof(void*) * 2), callstack[i],
 						 status == 0 ? demangled :
 						 info.dli_sname == 0 ? symbols[i] : info.dli_sname,
-						 static_cast<char*>(callstack[i]) - static_cast<char*>(info.dli_saddr));
+						 (ssize_t)(static_cast<char*>(callstack[i]) - static_cast<char*>(info.dli_saddr)));
 				free(demangled);
 			} else {
 				snprintf(buf, sizeof(buf), "%-3d %*p %s\n",
diff --git a/components/common/cpp/src/uri.cpp b/components/common/cpp/src/uri.cpp
index 2fcbd86d1d3c824627641474720067015fb8debd..ab306786b874a0ffa0eefa7e50eb5d11b68f3612 100644
--- a/components/common/cpp/src/uri.cpp
+++ b/components/common/cpp/src/uri.cpp
@@ -106,7 +106,7 @@ string URI::to_string() const {
 }
 
 string URI::getPathSegment(int n) const {
-	int N = (n < 0) ? m_pathseg.size()+n : n;
+	size_t N = (n < 0) ? m_pathseg.size()+n : n;
 	if (N < 0 || N >= m_pathseg.size()) return "";
 	else return m_pathseg[N];
 }
@@ -123,8 +123,8 @@ string URI::getBaseURI(int n) {
         return r;
     } else if (m_pathseg.size()+n >= 0) {
         string r = m_protostr + string("://") + m_host + ((m_port != 0) ? string(":") + std::to_string(m_port) : "");
-        int N = m_pathseg.size()+n;
-        for (int i=0; i<N; i++) {
+        size_t N = m_pathseg.size()+n;
+        for (size_t i=0; i<N; i++) {
 			r += "/";
             r += getPathSegment(i);
         }
diff --git a/components/control/cpp/CMakeLists.txt b/components/control/cpp/CMakeLists.txt
index 9a27600480d26175e27f29f0318f8155c5267d5e..0705bc6e094c68b04ed0d9ad75a18504009eac18 100644
--- a/components/control/cpp/CMakeLists.txt
+++ b/components/control/cpp/CMakeLists.txt
@@ -1,5 +1,6 @@
 add_library(ftlctrl
 	src/slave.cpp
+	src/master.cpp
 )
 
 target_include_directories(ftlctrl PUBLIC
diff --git a/components/control/cpp/include/ftl/master.hpp b/components/control/cpp/include/ftl/master.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..e069f12fcdfc813c27db76dbb75795b23f2570b0
--- /dev/null
+++ b/components/control/cpp/include/ftl/master.hpp
@@ -0,0 +1,65 @@
+#ifndef _FTL_CTRL_MASTER_HPP_
+#define _FTL_CTRL_MASTER_HPP_
+
+#include <ftl/net/universe.hpp>
+#include <ftl/configurable.hpp>
+#include <ftl/uuid.hpp>
+#include <functional>
+#include <string>
+#include <vector>
+
+namespace ftl {
+namespace ctrl {
+
+struct LogEvent {
+	std::string preamble;
+	std::string message;
+};
+
+class Master {
+	public:
+	Master(ftl::Configurable *root, ftl::net::Universe *net);
+	~Master();
+
+	void restart();
+
+	void restart(const ftl::UUID &peer);
+
+	void shutdown();
+
+	void shutdown(const ftl::UUID &peer);
+
+	void set(const std::string &uri, ftl::config::json_t &value);
+
+	void set(const ftl::UUID &peer, const std::string &uri, ftl::config::json_t &value);
+
+	std::vector<std::string> getConfigurables();
+
+	std::vector<std::string> getConfigurables(const ftl::UUID &peer);
+
+	std::vector<ftl::config::json_t> get(const std::string &uri);
+
+	ftl::config::json_t getOne(const std::string &uri);
+
+	ftl::config::json_t get(const ftl::UUID &peer, const std::string &uri);
+
+	void watch(const std::string &uri, std::function<void()> f);
+
+	// Events
+
+	//void onError();
+	void onLog(std::function<void(const LogEvent &)>);
+	//void onFailure();
+	//void onStatus();
+	// void onChange();
+
+	private:
+	std::vector<std::function<void(const LogEvent&)>> log_handlers_;
+	ftl::Configurable *root_;
+	ftl::net::Universe *net_;
+};
+
+}
+}
+
+#endif  // _FTL_CTRL_MASTER_HPP_
diff --git a/components/control/cpp/include/ftl/slave.hpp b/components/control/cpp/include/ftl/slave.hpp
index e61290d630c1f10bd38335b228d9657b17ab6de7..08e973339af0154efb089778c0f38d284b540cdb 100644
--- a/components/control/cpp/include/ftl/slave.hpp
+++ b/components/control/cpp/include/ftl/slave.hpp
@@ -11,6 +11,9 @@ class Slave {
 	public:
 	Slave(ftl::net::Universe *, ftl::Configurable *);
 	~Slave();
+
+	private:
+	ftl::net::Universe *net_;
 };
 
 }
diff --git a/components/control/cpp/src/master.cpp b/components/control/cpp/src/master.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..33ea746b7d0364d56c8d1b410386a09c4f3b846a
--- /dev/null
+++ b/components/control/cpp/src/master.cpp
@@ -0,0 +1,78 @@
+#include <ftl/master.hpp>
+
+using ftl::ctrl::Master;
+using ftl::net::Universe;
+using ftl::Configurable;
+using std::string;
+using ftl::config::json_t;
+using std::vector;
+using std::function;
+using ftl::ctrl::LogEvent;
+
+Master::Master(Configurable *root, Universe *net)
+		: root_(root), net_(net) {
+	net_->bind("log", [this](const std::string &pre, const std::string &msg) {
+		for (auto f : log_handlers_) {
+			f({pre,msg});
+		}
+	});
+}
+
+Master::~Master() {
+	net_->unbind("log");
+}
+
+void Master::restart() {
+	net_->broadcast("restart");
+}
+
+void Master::restart(const ftl::UUID &peer) {
+	net_->send(peer, "restart");
+}
+
+void Master::shutdown() {
+	net_->broadcast("shutdown");
+}
+
+void Master::shutdown(const ftl::UUID &peer) {
+	net_->send(peer, "shutdown");
+}
+
+void Master::set(const string &uri, json_t &value) {
+	net_->broadcast("update_cfg", uri, (string)value);
+}
+
+void Master::set(const ftl::UUID &peer, const string &uri, json_t &value) {
+	net_->send(peer, "update_cfg", uri, (string)value);
+}
+
+vector<string> Master::getConfigurables() {
+	return {};
+}
+
+vector<string> Master::getConfigurables(const ftl::UUID &peer) {
+	return {};
+}
+
+vector<json_t> Master::get(const string &uri) {
+	return {};
+}
+
+json_t Master::getOne(const string &uri) {
+	return {};
+}
+
+json_t Master::get(const ftl::UUID &peer, const string &uri) {
+	return {};
+}
+
+void Master::watch(const string &uri, function<void()> f) {
+
+}
+
+// Events
+
+//void onError();
+void Master::onLog(function<void(const LogEvent &)> h) {
+	log_handlers_.push_back(h);
+}
\ No newline at end of file
diff --git a/components/control/cpp/src/slave.cpp b/components/control/cpp/src/slave.cpp
index 6138be4676a34f6121562080b7a1d3fbd59a6037..076584230b9948eff6c6caaded14438bd718363a 100644
--- a/components/control/cpp/src/slave.cpp
+++ b/components/control/cpp/src/slave.cpp
@@ -7,23 +7,37 @@ using ftl::ctrl::Slave;
 
 static void netLog(void* user_data, const loguru::Message& message) {
 	Universe *net = (Universe*)user_data;
-	net->publish("log", message.preamble, message.message);
+	//net->publish("log", message.preamble, message.message);
 }
 
-Slave::Slave(Universe *net, ftl::Configurable *root) {
+Slave::Slave(Universe *net, ftl::Configurable *root) : net_(net) {
 	net->bind("restart", []() {
 		LOG(WARNING) << "Remote restart...";
-		exit(1);
+		//exit(1);
+		ftl::exit_code = 1;
+		ftl::running = false;
 	});
 
 	net->bind("shutdown", []() {
 		LOG(WARNING) << "Remote shutdown...";
-		exit(0);
+		//exit(0);
+		ftl::running = false;
+	});
+
+	net->bind("update_cfg", [](const std::string &uri, const std::string &value) {
+		ftl::config::update(uri, nlohmann::json::parse(value));
+	});
+
+	net->bind("get_cfg", [](const std::string &uri) -> std::string {
+		return ftl::config::resolve(uri);
 	});
 
 	loguru::add_callback("net_log", netLog, net, loguru::Verbosity_INFO);
 }
 
 Slave::~Slave() {
-
+	net_->unbind("restart");
+	net_->unbind("shutdown");
+	net_->unbind("update_cfg");
+	net_->unbind("get_cfg");
 }
diff --git a/components/net/cpp/include/ftl/net/common.hpp b/components/net/cpp/include/ftl/net/common.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..61914d81a93684f488330974a8cedf92c29681e8
--- /dev/null
+++ b/components/net/cpp/include/ftl/net/common.hpp
@@ -0,0 +1,22 @@
+#ifndef _FTL_NET_COMMON_HPP_
+#define _FTL_NET_COMMON_HPP_
+
+#ifndef WIN32
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netdb.h>
+#include <arpa/inet.h>
+#define INVALID_SOCKET -1
+#define SOCKET_ERROR -1
+#define SOCKET int
+#endif
+
+#ifdef WIN32
+#include <winsock2.h>
+#include <windows.h>
+typedef int socklen_t;
+#endif
+
+#endif  // _FTL_NET_COMMON_HPP_
diff --git a/components/net/cpp/include/ftl/net/dispatcher.hpp b/components/net/cpp/include/ftl/net/dispatcher.hpp
index 7291adb43c0daa6a516c968254fa45f5f8dd9e6f..0b4d3b34dcb4e1662a43c834abe740319c1f56d2 100644
--- a/components/net/cpp/include/ftl/net/dispatcher.hpp
+++ b/components/net/cpp/include/ftl/net/dispatcher.hpp
@@ -119,6 +119,13 @@ class Dispatcher {
 		    return std::make_unique<msgpack::object_handle>(result, std::move(z));
 		}));
 	}
+
+	void unbind(const std::string &name) {
+		auto i = funcs_.find(name);
+		if (i != funcs_.end()) {
+			funcs_.erase(i);
+		}
+	}
 	
 	std::vector<std::string> getBindings() const;
 	
diff --git a/components/net/cpp/include/ftl/net/listener.hpp b/components/net/cpp/include/ftl/net/listener.hpp
index 4c3bb83ac6bf903a23abd2d55c2b38ab3b9e4739..44690ff6327f0af7b6911cdea70869b137a27c4c 100644
--- a/components/net/cpp/include/ftl/net/listener.hpp
+++ b/components/net/cpp/include/ftl/net/listener.hpp
@@ -1,14 +1,7 @@
 #ifndef _FTL_NET_LISTENER_HPP_
 #define _FTL_NET_LISTENER_HPP_
 
-#ifndef WIN32
-#include <netinet/in.h>
-#endif
-
-#ifdef WIN32
-//#include <windows.h>
-#include <winsock2.h>
-#endif
+#include <ftl/net/common.hpp>
 
 #include <ftl/net/handlers.hpp>
 #include <ftl/net/peer.hpp>
@@ -23,12 +16,12 @@ class Protocol;
 class Listener {
 	public:
 	explicit Listener(const char *uri);
-	explicit Listener(int sfd) : descriptor_(sfd), default_proto_(nullptr) {}
+	explicit Listener(SOCKET sfd) : descriptor_(sfd), default_proto_(nullptr) {}
 	virtual ~Listener();
 	
 	bool isListening() { return descriptor_ >= 0; }
 	void close();
-	int _socket() { return descriptor_; }
+	SOCKET _socket() { return descriptor_; }
 	
 	void setProtocol(Protocol *p) { default_proto_ = p; }
 	
@@ -36,7 +29,7 @@ class Listener {
 	void onConnection(connecthandler_t h) { handler_connect_.push_back(h); };
 	
 	private:
-	int descriptor_;
+	SOCKET descriptor_;
 	Protocol *default_proto_;
 	sockaddr_in slocalAddr;
 	std::vector<connecthandler_t> handler_connect_;
diff --git a/components/net/cpp/include/ftl/net/peer.hpp b/components/net/cpp/include/ftl/net/peer.hpp
index 0a16dd27170268b1c098d8a235d4447b7d4354b2..cffb6362d291fc333ad341c63b40a86739042de8 100644
--- a/components/net/cpp/include/ftl/net/peer.hpp
+++ b/components/net/cpp/include/ftl/net/peer.hpp
@@ -5,12 +5,7 @@
 #define NOMINMAX
 #endif
 
-#ifndef WIN32
-#define INVALID_SOCKET -1
-#include <netinet/in.h>
-#else
-#include <winsock2.h>
-#endif
+#include <ftl/net/common.hpp>
 
 //#define GLOG_NO_ABBREVIATED_SEVERITIES
 #include <loguru.hpp>
@@ -74,12 +69,15 @@ class Peer {
 
 	public:
 	explicit Peer(const char *uri, ftl::net::Dispatcher *d=nullptr);
-	explicit Peer(int s, ftl::net::Dispatcher *d=nullptr);
+	explicit Peer(SOCKET s, ftl::net::Dispatcher *d=nullptr);
 	~Peer();
 	
 	/**
 	 * Close the peer if open. Setting retry parameter to true will initiate
-	 * backoff retry attempts.
+	 * backoff retry attempts. This is used to deliberately close a connection
+	 * and not for error conditions where different close semantics apply.
+	 * 
+	 * @param retry Should reconnection be attempted?
 	 */
 	void close(bool retry=false);
 
@@ -88,10 +86,19 @@ class Peer {
 	};
 
 	/**
-	 * Block until the connection and handshake has completed.
+	 * Block until the connection and handshake has completed. You should use
+	 * onConnect callbacks instead of blocking, mostly this is intended for
+	 * the unit tests to keep them synchronous.
+	 * 
+	 * @return True if all connections were successful, false if timeout or error.
 	 */
 	bool waitConnection();
 	
+	/**
+	 * Test if the connection is valid. This returns true in all conditions
+	 * except where the socket has been disconnected permenantly or was never
+	 * able to connect, perhaps due to an invalid address.
+	 */
 	bool isValid() const {
 		return status_ != kInvalid && sock_ != INVALID_SOCKET;
 	};
@@ -121,6 +128,8 @@ class Peer {
 			
 	/**
 	 * Non-blocking Remote Procedure Call using a callback function.
+	 * 
+	 * @return A call id for use with cancelCall() if needed.
 	 */
 	template <typename T, typename... ARGS>
 	int asyncCall(const std::string &name,
@@ -164,6 +173,8 @@ class Peer {
 	void error(int e);
 	
 	bool _data();
+
+	void _badClose(bool retry=true);
 	
 	void _dispatchResponse(uint32_t id, msgpack::object &obj);
 	void _sendResponse(uint32_t id, const msgpack::object &obj);
@@ -172,7 +183,7 @@ class Peer {
 	 * Get the internal OS dependent socket.
 	 * TODO(nick) Work out if this should be private.
 	 */
-	int _socket() const { return sock_; };
+	SOCKET _socket() const { return sock_; };
 	
 	/**
 	 * Internal handlers for specific event types. This should be private but
@@ -198,7 +209,7 @@ class Peer {
 
 	private: // Data
 	Status status_;
-	int sock_;
+	SOCKET sock_;
 	ftl::URI::scheme_t scheme_;
 	uint32_t version_;
 	
@@ -274,6 +285,7 @@ R Peer::call(const std::string &name, ARGS... args) {
 template <typename T, typename... ARGS>
 int Peer::asyncCall(
 		const std::string &name,
+		// cppcheck-suppress *
 		std::function<void(const T&)> cb,
 		ARGS... args) {
 	auto args_obj = std::make_tuple(args...);
diff --git a/components/net/cpp/include/ftl/net/universe.hpp b/components/net/cpp/include/ftl/net/universe.hpp
index 11ebcfdf51620808c1333a0be65be2688b08e7d2..0c02dbe4540d3f876ba709d7a2ee6b479e207c35 100644
--- a/components/net/cpp/include/ftl/net/universe.hpp
+++ b/components/net/cpp/include/ftl/net/universe.hpp
@@ -20,6 +20,10 @@
 namespace ftl {
 namespace net {
 
+struct Error {
+	int errno;
+};
+
 /**
  * Represents a group of network peers and their resources, managing the
  * searching of and sharing of resources across peers. Each universe can
@@ -59,7 +63,7 @@ class Universe : public ftl::Configurable {
 	 */
 	Peer *connect(const std::string &addr);
 	
-	int numberOfPeers() const { return peers_.size(); }
+	size_t numberOfPeers() const { return peers_.size(); }
 
 	int waitConnections();
 	
@@ -76,7 +80,9 @@ class Universe : public ftl::Configurable {
 	 */
 	template <typename F>
 	void bind(const std::string &name, F func);
-	
+
+	void unbind(const std::string &name);
+
 	/**
 	 * Subscribe a function to a resource. The subscribed function is
 	 * triggered whenever that resource is published to. It is akin to
@@ -104,7 +110,7 @@ class Universe : public ftl::Configurable {
 	R call(const UUID &pid, const std::string &name, ARGS... args);
 	
 	template <typename... ARGS>
-	void send(const UUID &pid, const std::string &name, ARGS... args);
+	bool send(const UUID &pid, const std::string &name, ARGS... args);
 
 	template <typename R, typename... ARGS>
 	std::optional<R> findOne(const std::string &name, ARGS... args);
@@ -142,6 +148,14 @@ class Universe : public ftl::Configurable {
 
 	void setLocalID(const ftl::UUID &u) { this_peer = u; };
 	const ftl::UUID &id() const { return this_peer; }
+
+	// --- Event Handlers ------------------------------------------------------
+
+	void onConnect(const std::string &, std::function<void(ftl::net::Peer*)>);
+	void onDisconnect(const std::string &, std::function<void(ftl::net::Peer*)>);
+	void onError(const std::string &, std::function<void(ftl::net::Peer*, const ftl::net::Error &)>);
+
+	void removeCallbacks(const std::string &);
 	
 	private:
 	void _run();
@@ -149,7 +163,10 @@ class Universe : public ftl::Configurable {
 	void _installBindings();
 	void _installBindings(Peer *);
 	bool _subscribe(const std::string &res);
-	void _remove(Peer *);
+	void _cleanupPeers();
+	void _notifyConnect(Peer *);
+	void _notifyDisconnect(Peer *);
+	void _notifyError(Peer *, const ftl::net::Error &);
 	
 	static void __start(Universe *u);
 	
@@ -167,6 +184,22 @@ class Universe : public ftl::Configurable {
 	ftl::UUID id_;
 	ftl::net::Dispatcher disp_;
 	std::thread thread_;
+
+	struct ConnHandler {
+		std::string name;
+		std::function<void(ftl::net::Peer*)> h;
+	};
+
+	struct ErrHandler {
+		std::string name;
+		std::function<void(ftl::net::Peer*, const ftl::net::Error &)> h;
+	};
+
+	// Handlers
+	std::list<ConnHandler> on_connect_;
+	std::list<ConnHandler> on_disconnect_;
+	std::list<ErrHandler> on_error_;
+
 	// std::map<std::string, std::vector<ftl::net::Peer*>> subscriptions_;
 };
 
@@ -174,6 +207,7 @@ class Universe : public ftl::Configurable {
 
 template <typename F>
 void Universe::bind(const std::string &name, F func) {
+	// CHECK Need mutex?
 	disp_.bind(name, func,
 		typename ftl::internal::func_kind_info<F>::result_kind(),
 	    typename ftl::internal::func_kind_info<F>::args_kind());
@@ -285,13 +319,13 @@ R Universe::call(const ftl::UUID &pid, const std::string &name, ARGS... args) {
 }
 
 template <typename... ARGS>
-void Universe::send(const ftl::UUID &pid, const std::string &name, ARGS... args) {
+bool Universe::send(const ftl::UUID &pid, const std::string &name, ARGS... args) {
 	Peer *p = getPeer(pid);
 	if (p == nullptr) {
 		LOG(ERROR) << "Attempting to call an unknown peer : " << pid.to_string();
 		throw -1;
 	}
-	p->send(name, args...);
+	return p->send(name, args...) > 0;
 }
 
 template <typename... ARGS>
diff --git a/components/net/cpp/include/ftl/net/ws_internal.hpp b/components/net/cpp/include/ftl/net/ws_internal.hpp
index 5390f10281c860f91d35e3adf71d1101c1a0b275..ea0471a8882ae5419232ac37c5aae61c7042030a 100644
--- a/components/net/cpp/include/ftl/net/ws_internal.hpp
+++ b/components/net/cpp/include/ftl/net/ws_internal.hpp
@@ -6,6 +6,8 @@
 #include <functional>
 #include <ftl/uri.hpp>
 
+#include <ftl/net/common.hpp>
+
 using std::size_t;
 
 namespace ftl {
@@ -44,7 +46,7 @@ int ws_dispatch(const char *data, size_t len, std::function<void(const wsheader_
  */
 int ws_prepare(wsheader_type::opcode_type, bool useMask, size_t len, char *buffer, size_t maxlen);
 
-bool ws_connect(int sockfd, const ftl::URI &uri);
+bool ws_connect(SOCKET sockfd, const ftl::URI &uri);
 
 };
 };
diff --git a/components/net/cpp/include/ftl/uuid.hpp b/components/net/cpp/include/ftl/uuid.hpp
index c7c884e5defa36ee8d4cd8bdf96c4f9e263a5d52..5d494b8ddc26b262113b42db0bf1e461d61fc8c9 100644
--- a/components/net/cpp/include/ftl/uuid.hpp
+++ b/components/net/cpp/include/ftl/uuid.hpp
@@ -56,6 +56,7 @@ namespace ftl {
 			if (::UuidToStringA(&guid_, &szUuid) == RPC_S_OK) {
 				return std::string((char*)szUuid);
 			}
+			return "00000000-0000-0000-0000-000000000000";
 #else
 			char b[37];
 			uuid_unparse(uuid_, b);
diff --git a/components/net/cpp/src/dispatcher.cpp b/components/net/cpp/src/dispatcher.cpp
index 7bfd7352c27010b80ac13005ffb63c4a1a2add80..719ae2b65fe9b0cdd682c95cf03f33ca688c1768 100644
--- a/components/net/cpp/src/dispatcher.cpp
+++ b/components/net/cpp/src/dispatcher.cpp
@@ -155,7 +155,7 @@ void ftl::net::Dispatcher::enforce_arg_count(std::string const &func, std::size_
 void ftl::net::Dispatcher::enforce_unique_name(std::string const &func) {
     auto pos = funcs_.find(func);
     if (pos != end(funcs_)) {
-    	LOG(ERROR) << "RPC non unique binding for " << func;
+    	LOG(FATAL) << "RPC non unique binding for '" << func << "'";
         throw -1;
     }
 }
diff --git a/components/net/cpp/src/listener.cpp b/components/net/cpp/src/listener.cpp
index 8e0f1267f29c09c87aaea16692e08d3f93692cf9..b8f276a105920dd1933a98ebf4663619e948944e 100644
--- a/components/net/cpp/src/listener.cpp
+++ b/components/net/cpp/src/listener.cpp
@@ -16,6 +16,7 @@
 #include <arpa/inet.h>
 #define INVALID_SOCKET -1
 #define SOCKET_ERROR -1
+#define SOCKET int
 #endif
 
 #ifdef WIN32
@@ -29,8 +30,8 @@ using std::shared_ptr;
 using ftl::net::Peer;
 using ftl::URI;
 
-int tcpListen(URI &uri) {
-	int ssock;
+SOCKET tcpListen(URI &uri) {
+	SOCKET ssock;
 	//std::cerr << "TCP Listen: " << uri.getHost() << " : " << uri.getPort() << std::endl;
 	#ifdef WIN32
 	WSAData wsaData;
@@ -90,7 +91,7 @@ int tcpListen(URI &uri) {
 	return ssock;
 }
 
-int wsListen(URI &uri) {
+SOCKET wsListen(URI &uri) {
 	return INVALID_SOCKET;
 }
 
diff --git a/components/net/cpp/src/net.cpp b/components/net/cpp/src/net.cpp
deleted file mode 100644
index 3992447cbacdfaa605a4c98d7bb9ea190d47c131..0000000000000000000000000000000000000000
--- a/components/net/cpp/src/net.cpp
+++ /dev/null
@@ -1,213 +0,0 @@
-#include <ftl/net.hpp>
-#include <ftl/net/listener.hpp>
-#include <ftl/net/peer.hpp>
-
-#ifdef WIN32
-#include <Ws2tcpip.h>
-#endif
-
-#include <vector>
-#include <iostream>
-#include <chrono>
-
-using namespace std;
-using namespace std::chrono;
-using ftl::net::Listener;
-using ftl::net::Peer;
-
-std::vector<shared_ptr<ftl::net::Peer>> peers;
-static std::vector<shared_ptr<ftl::net::Listener>> listeners;
-static fd_set sfdread;
-static fd_set sfderror;
-
-/*static int freeSocket() {
-	int freeclient = -1;
-
-	//Find a free client slot and allocated it
-	for (unsigned int i=0; i<sockets.size(); i++) {
-		if (sockets[i] == nullptr) { // CHECK, was 0 which seems wrong
-			freeclient = i;
-			break;
-		}
-	}
-
-	//Max clients reached, so send error
-	if (freeclient == -1) {
-		if (sockets.size() < ftl::net::MAX_CONNECTIONS) {
-			sockets.push_back(shared_ptr<Socket>(nullptr));
-			freeclient = sockets.size()-1;
-		} else {
-			// exceeded max connections
-			return -1;
-		}
-	}
-
-	return freeclient;
-}*/
-
-int setDescriptors() {
-	//Reset all file descriptors
-	FD_ZERO(&sfdread);
-	FD_ZERO(&sfderror);
-
-	int n = 0;
-
-	//Set file descriptor for the listening sockets.
-	for (auto l : listeners) {
-		if (l != nullptr && l->isListening()) {
-			FD_SET(l->_socket(), &sfdread);
-			FD_SET(l->_socket(), &sfderror);
-			if (l->_socket() > n) n = l->_socket();
-		}
-	}
-
-	//Set the file descriptors for each client
-	for (auto s : peers) {
-		if (s != nullptr && s->isValid()) {
-			
-			if (s->_socket() > n) {
-				n = s->_socket();
-			}
-
-			FD_SET(s->_socket(), &sfdread);
-			FD_SET(s->_socket(), &sfderror);
-		}
-	}
-
-	return n;
-}
-
-shared_ptr<Listener> ftl::net::listen(const char *uri) {
-	shared_ptr<Listener> l(new Listener(uri));
-	listeners.push_back(l);
-	return l;
-}
-
-shared_ptr<Peer> ftl::net::connect(const char *uri) {
-	shared_ptr<Peer> s(new Peer((uri == NULL) ? "" : uri));
-	peers.push_back(s);
-	return s;
-}
-
-void ftl::net::stop() {
-	for (auto s : peers) {
-		s->close();
-	}
-	
-	peers.clear();
-	
-	for (auto l : listeners) {
-		l->close();
-	}
-	
-	listeners.clear();
-}
-
-bool _run(bool blocking, bool nodelay) {
-	timeval block;
-	
-	//if (ssock == INVALID_SOCKET) return 1;
-
-	bool active = true;
-	bool repeat = nodelay;
-
-	while (active || repeat) {
-		int n = setDescriptors();
-		int selres = 1;
-
-		//Wait for a network event or timeout in 3 seconds
-		block.tv_sec = (repeat) ? 0 : 3;
-		block.tv_usec = 0;
-		selres = select(n+1, &sfdread, 0, &sfderror, &block);
-
-		repeat = false;
-		active = blocking;
-
-		//Some kind of error occured, it is usually possible to recover from this.
-		if (selres < 0) {
-			std::cout << "SELECT ERROR " << selres << std::endl;
-			//return false;
-			continue;
-		} else if (selres == 0) {
-			// Timeout, nothing to do...
-			continue;
-		}
-
-		//If connection request is waiting
-		for (auto l : listeners) {
-			if (l && l->isListening()) {
-				if (FD_ISSET(l->_socket(), &sfdread)) {
-					int rsize = sizeof(sockaddr_storage);
-					sockaddr_storage addr;
-
-					//int freeclient = freeSocket();
-
-					//if (freeclient >= 0) {
-						// TODO Limit connection rate or allow a pause in accepting
-						// TODO Send auto reject message under heavy load
-
-						//Finally accept this client connection.
-						int csock = accept(l->_socket(), (sockaddr*)&addr, (socklen_t*)&rsize);
-
-						if (csock != INVALID_SOCKET) {
-							auto sock = make_shared<Peer>(csock);
-							peers.push_back(sock);
-							
-							// Call connection handlers
-							l->connection(sock);
-						}
-					//}
-				}
-			}
-		}
-
-		//Also check each clients socket to see if any messages or errors are waiting
-		for (auto s : peers) {
-			if (s != NULL && s->isValid()) {
-				//If message received from this client then deal with it
-				if (FD_ISSET(s->_socket(), &sfdread)) {
-					repeat |= s->data();
-				}
-				if (FD_ISSET(s->_socket(), &sfderror)) {
-					s->socketError();
-				}
-			} else if (s != NULL) {
-				// Erase it
-				
-				for (auto i=peers.begin(); i!=peers.end(); i++) {
-					if ((*i) == s) {
-						std::cout << "REMOVING SOCKET" << std::endl;
-						peers.erase(i); break;
-					}
-				}
-			}
-		}
-	}
-	
-	return true;
-}
-
-bool ftl::net::check() {
-	return _run(false,true);
-}
-
-bool ftl::net::wait() {
-	return _run(false,false);
-}
-
-void ftl::net::wait(std::function<bool(void)> f, float to) {
-	auto start = steady_clock::now();
-	while (!f() && duration<float>(steady_clock::now() - start).count() < to)
-		_run(false,false);
-}
-
-bool ftl::net::run(bool async) {
-	if (async) {
-		// TODO Start thread
-	} else {
-		return _run(true,false);
-	}
-	
-	return false;
-}
-
diff --git a/components/net/cpp/src/p2p.cpp b/components/net/cpp/src/p2p.cpp
deleted file mode 100644
index fc12c2032ca8605396037ef7b85094d526d48a90..0000000000000000000000000000000000000000
--- a/components/net/cpp/src/p2p.cpp
+++ /dev/null
@@ -1,44 +0,0 @@
-#include <ftl/net/p2p.hpp>
-
-using ftl::net::P2P;
-using std::optional;
-using std::tuple;
-using ftl::UUID;
-using std::get;
-using namespace std::chrono;
-using std::vector;
-using std::string;
-
-P2P::P2P(const char *uri) : Protocol(uri) {
-	_registerRPC();
-}
-
-P2P::P2P(const string &uri) : Protocol(uri) {
-	_registerRPC();
-}
-
-void P2P::_registerRPC() {
-	bind_find_one("ping", &P2P::_ping);
-}
-
-vector<string> P2P::getAddresses(const UUID &peer) {
-	vector<string> results;
-	return results;
-}
-
-optional<long int> P2P::ping(const UUID &peer) {
-	long int time = duration_cast<milliseconds>(steady_clock::now().time_since_epoch()).count();
-	auto p = find_one<long int>("ping", peer, time);
-	
-	if (!p) return {};
-	return *p - time;
-}
-
-optional<long int> P2P::_ping(const UUID &peer, long int time) {
-	if (id() == peer) {
-		return time;
-	} else {
-		return {};
-	}
-}
-
diff --git a/components/net/cpp/src/peer.cpp b/components/net/cpp/src/peer.cpp
index 4f76a98ff2fadb9f8f7ee669668854e8c7f9bce0..736c80a281095e18c7c535cb1084e5c383e3d3fa 100644
--- a/components/net/cpp/src/peer.cpp
+++ b/components/net/cpp/src/peer.cpp
@@ -6,11 +6,11 @@
 #define NOMINMAX
 #endif
 
+#include <ftl/net/common.hpp>
+
 #include <fcntl.h>
 #ifdef WIN32
-#include <winsock2.h>
 #include <Ws2tcpip.h>
-#include <windows.h>
 #endif
 
 #ifdef WIN32
@@ -24,17 +24,6 @@
 #include <ftl/config.h>
 #include "net_internal.hpp"
 
-#ifndef WIN32
-#include <unistd.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <netdb.h>
-#include <arpa/inet.h>
-#define INVALID_SOCKET -1
-#define SOCKET_ERROR -1
-#endif
-
 #include <iostream>
 #include <memory>
 #include <algorithm>
@@ -68,9 +57,9 @@ ftl::UUID ftl::net::this_peer;
 static ctpl::thread_pool pool(5);
 
 // TODO(nick) Move to tcp_internal.cpp
-static int tcpConnect(URI &uri) {
+static SOCKET tcpConnect(URI &uri) {
 	int rc;
-	sockaddr_in destAddr;
+	//sockaddr_in destAddr;
 
 	#ifdef WIN32
 	WSAData wsaData;
@@ -81,20 +70,20 @@ static int tcpConnect(URI &uri) {
 	#endif
 	
 	//We want a TCP socket
-	int csocket = socket(AF_INET, SOCK_STREAM, 0);
+	SOCKET csocket = socket(AF_INET, SOCK_STREAM, 0);
 
 	if (csocket == INVALID_SOCKET) {
 		LOG(ERROR) << "Unable to create TCP socket";
 		return INVALID_SOCKET;
 	}
 
-	#ifdef WIN32
-	HOSTENT *host = gethostbyname(uri.getHost().c_str());
-	#else
-	hostent *host = gethostbyname(uri.getHost().c_str());
-	#endif
+	addrinfo hints = {}, *addrs;
+	hints.ai_family = AF_INET;
+    hints.ai_socktype = SOCK_STREAM;
+    hints.ai_protocol = IPPROTO_TCP;
+	rc = getaddrinfo(uri.getHost().c_str(), std::to_string(uri.getPort()).c_str(), &hints, &addrs);
 
-	if (host == NULL) {
+	if (rc != 0 || addrs == nullptr) {
 		#ifndef WIN32
 		close(csocket);
 		#else
@@ -105,16 +94,14 @@ static int tcpConnect(URI &uri) {
 		return INVALID_SOCKET;
 	}
 
-	destAddr.sin_family = AF_INET;
-	destAddr.sin_addr.s_addr = ((in_addr *)(host->h_addr))->s_addr;
-	destAddr.sin_port = htons(uri.getPort());
-
 	// Make nonblocking
 	/*long arg = fcntl(csocket, F_GETFL, NULL));
 	arg |= O_NONBLOCK;
 	fcntl(csocket, F_SETFL, arg) < 0)*/
 	
-	rc = ::connect(csocket, (struct sockaddr*)&destAddr, sizeof(destAddr));
+	// TODO(Nick) - Check all returned addresses.
+	auto addr = addrs;
+	rc = ::connect(csocket, addr->ai_addr, (socklen_t)addr->ai_addrlen);
 
 	if (rc < 0) {
 		if (errno == EINPROGRESS) {
@@ -140,7 +127,7 @@ static int tcpConnect(URI &uri) {
 	return csocket;
 }
 
-Peer::Peer(int s, Dispatcher *d) : sock_(s) {
+Peer::Peer(SOCKET s, Dispatcher *d) : sock_(s) {
 	status_ = (s == INVALID_SOCKET) ? kInvalid : kConnecting;
 	_updateURI();
 	
@@ -154,7 +141,7 @@ Peer::Peer(int s, Dispatcher *d) : sock_(s) {
 		bind("__handshake__", [this](uint64_t magic, uint32_t version, UUID pid) {
 			LOG(INFO) << "Handshake 2 received";
 			if (magic != ftl::net::kMagic) {
-				close();
+				_badClose(false);
 				LOG(ERROR) << "Invalid magic during handshake";
 			} else {
 				status_ = kConnected;
@@ -166,6 +153,10 @@ Peer::Peer(int s, Dispatcher *d) : sock_(s) {
 			}
 		});
 
+		bind("__disconnect__", [this]() {
+			_badClose(false);
+		});
+
 		send("__handshake__", ftl::net::kMagic, ftl::net::kVersion, ftl::net::this_peer); 
 	}
 }
@@ -189,7 +180,7 @@ Peer::Peer(const char *pUri, Dispatcher *d) : uri_(pUri) {
 		if (sock_ != INVALID_SOCKET) {
 			if (!ws_connect(sock_, uri)) {
 				LOG(ERROR) << "Websocket connection failed";
-				close();
+				_badClose(false);
 			}
 		} else {
 			LOG(ERROR) << "Connection refused to " << uri.getHost() << ":" << uri.getPort();
@@ -207,7 +198,7 @@ Peer::Peer(const char *pUri, Dispatcher *d) : uri_(pUri) {
 		bind("__handshake__", [this](uint64_t magic, uint32_t version, UUID pid) {
 			LOG(INFO) << "Handshake 1 received";
 			if (magic != ftl::net::kMagic) {
-				close();
+				_badClose(false);
 				LOG(ERROR) << "Invalid magic during handshake";
 			} else {
 				status_ = kConnected;
@@ -250,6 +241,16 @@ void Peer::_updateURI() {
 }
 
 void Peer::close(bool retry) {
+	if (sock_ != INVALID_SOCKET) {
+
+		// Attempt to inform about disconnect
+		send("__disconnect__");
+
+		_badClose(retry);
+	}
+}
+
+void Peer::_badClose(bool retry) {
 	if (sock_ != INVALID_SOCKET) {
 		#ifndef WIN32
 		::close(sock_);
@@ -260,6 +261,7 @@ void Peer::close(bool retry) {
 		status_ = kDisconnected;
 
 		// Attempt auto reconnect?
+		if (retry) LOG(INFO) << "Should attempt reconnect...";
 		
 		//auto i = find(sockets.begin(),sockets.end(),this);
 		//sockets.erase(i);
@@ -333,12 +335,12 @@ bool Peer::_data() {
 				obj.convert(hs);
 				
 				if (get<1>(hs) != "__handshake__") {
-					close();
+					_badClose(false);
 					LOG(ERROR) << "Missing handshake";
 					return false;
 				}
 			} catch(...) {
-				close();
+				_badClose(false);
 				LOG(ERROR) << "Bad first message format";
 				return false;
 			}
@@ -348,116 +350,6 @@ bool Peer::_data() {
 	return false;
 }
 
-/*bool Socket::data() {
-	//Read data from socket
-	size_t n = 0;
-	int c = 0;
-	uint32_t len = 0;
-
-	if (pos_ < 4) {
-		n = 4 - pos_;
-	} else {
-		len = *(int*)buffer_;
-		n = len+4-pos_;
-	}
-
-	while (pos_ < len+4) {
-		if (len > MAX_MESSAGE) {
-			close();
-			LOG(ERROR) << "Socket: " << uri_ << " - message attack";
-			return false;
-		}
-
-		const int rc = ftl::net::internal::recv(sock_, buffer_+pos_, n, 0);
-
-		if (rc > 0) {
-			pos_ += static_cast<size_t>(rc);
-
-			if (pos_ < 4) {
-				n = 4 - pos_;
-			} else {
-				len = *(int*)buffer_;
-				n = len+4-pos_;
-			}
-		} else if (rc == EWOULDBLOCK || rc == 0) {
-			// Data not yet available
-			if (c == 0) {
-				LOG(INFO) << "Socket disconnected " << uri_;
-				close();
-			}
-			return false;
-		} else {
-			LOG(ERROR) << "Socket: " << uri_ << " - error " << rc;
-			close();
-			return false;
-		}
-		c++;
-	}
-
-	// Route the message...
-	uint32_t service = ((uint32_t*)buffer_)[1];
-	auto d = std::string(buffer_+8, len-4);
-	
-	pos_ = 0; // DODGY, processing messages inside handlers is dangerous.
-	gpos_ = 0;
-	
-	if (service == FTL_PROTOCOL_HS1 && !connected_) {
-		handshake1();
-	} else if (service == FTL_PROTOCOL_HS2 && !connected_) {
-		handshake2();
-	} else if (service == FTL_PROTOCOL_RPC) {
-		if (proto_) proto_->dispatchRPC(*this, d);
-		else LOG(WARNING) << "No protocol set for socket " << uri_;
-	} else if (service == FTL_PROTOCOL_RPCRETURN) {
-		_dispatchReturn(d);
-	} else {
-		if (proto_) proto_->dispatchRaw(service, *this);
-		else LOG(WARNING) << "No protocol set for socket " << uri_;
-	}
-
-	return true;
-}*/
-
-/*int Socket::read(char *b, size_t count) {
-	if (count > size()) LOG(WARNING) << "Reading too much data for service " << header_->service;
-	count = (count > size() || count==0) ? size() : count;
-	// TODO, utilise recv directly here...
-	memcpy(b,data_+gpos_,count);
-	gpos_+=count;
-	return count;
-}
-
-int Socket::read(std::string &s, size_t count) {
-	count = (count > size() || count==0) ? size() : count;
-	s = std::string(data_+gpos_,count);
-	return count;
-}
-
-void Socket::handshake1() {
-	Handshake header;
-	read(header);
-
-	std::string peer;
-	if (header.name_size > 0) read(peer,header.name_size);
-
-	std::string protouri;
-	if (header.proto_size > 0) read(protouri,header.proto_size);
-
-	if (protouri.size() > 0) {
-		remote_proto_ = protouri;
-		// TODO Validate protocols with local protocol?
-	}
-
-	send(FTL_PROTOCOL_HS2); // TODO Counterpart protocol.
-	LOG(INFO) << "Handshake (" << protouri << ") confirmed from " << uri_;
-	_connected();
-}
-
-void Socket::handshake2() {
-	LOG(INFO) << "Handshake finalised for " << uri_;
-	_connected();
-}*/
-
 void Peer::_dispatchResponse(uint32_t id, msgpack::object &res) {	
 	// TODO Handle error reporting...
 	
@@ -541,17 +433,17 @@ int Peer::_send() {
 	auto send_size = send_buf_.vector_size();
 	int c = 0;
 	for (int i = 0; i < send_size; i++) {
-		c += ftl::net::internal::send(sock_, (char*)send_vec[i].iov_base, send_vec[i].iov_len, 0);
+		c += ftl::net::internal::send(sock_, (char*)send_vec[i].iov_base, (int)send_vec[i].iov_len, 0);
 	}
 #else
-	int c = ftl::net::internal::writev(sock_, send_buf_.vector(), send_buf_.vector_size());
+	int c = ftl::net::internal::writev(sock_, send_buf_.vector(), (int)send_buf_.vector_size());
 #endif
 	send_buf_.clear();
 	
 	// We are blocking, so -1 should mean actual error
 	if (c == -1) {
 		socketError();
-		close();
+		_badClose();
 	}
 	
 	return c;
@@ -560,7 +452,7 @@ int Peer::_send() {
 Peer::~Peer() {
 	std::unique_lock<std::mutex> lk1(send_mtx_);
 	std::unique_lock<std::mutex> lk2(recv_mtx_);
-	close();
+	_badClose(false);
 
 	delete disp_;
 }
diff --git a/components/net/cpp/src/universe.cpp b/components/net/cpp/src/universe.cpp
index 55ab9b0a50ca43401e92c09eb69c1e9a395deeaa..750258c3600f9b51ca39cd1ed08ad6d6a9bb6be8 100644
--- a/components/net/cpp/src/universe.cpp
+++ b/components/net/cpp/src/universe.cpp
@@ -51,6 +51,8 @@ Universe::Universe(nlohmann::json &config) :
 }
 
 Universe::~Universe() {
+	LOG(INFO) << "Cleanup Network ...";
+
 	active_ = false;
 	thread_.join();
 	
@@ -88,11 +90,17 @@ Peer *Universe::connect(const string &addr) {
 	
 	p->onConnect([this](Peer &p) {
 		peer_ids_[p.id()] = &p;
+		_notifyConnect(&p);
 	});
 	
 	return p;
 }
 
+void Universe::unbind(const std::string &name) {
+	unique_lock<mutex> lk(net_mutex_);
+	disp_.unbind(name);
+}
+
 int Universe::waitConnections() {
 	int count = 0;
 	for (auto p : peers_) {
@@ -106,7 +114,7 @@ int Universe::_setDescriptors() {
 	FD_ZERO(&sfdread_);
 	FD_ZERO(&sfderror_);
 
-	int n = 0;
+	SOCKET n = 0;
 
 	unique_lock<mutex> lk(net_mutex_);
 
@@ -131,16 +139,15 @@ int Universe::_setDescriptors() {
 				FD_SET(s->_socket(), &sfdread_);
 			}
 			FD_SET(s->_socket(), &sfderror_);
-		} else if (s) {
-			_remove(s);
 		}
 	}
+	_cleanupPeers();
 
 	return n;
 }
 
 void Universe::_installBindings(Peer *p) {
-
+	
 }
 
 void Universe::_installBindings() {
@@ -159,17 +166,24 @@ void Universe::_installBindings() {
 }
 
 // Note: should be called inside a net lock
-void Universe::_remove(Peer *p) {
-	LOG(INFO) << "Removing disconnected peer: " << p->id().to_string();
-	for (auto i=peers_.begin(); i!=peers_.end(); i++) {
-		if ((*i) == p) {
-			peers_.erase(i); break;
+void Universe::_cleanupPeers() {
+
+	auto i = peers_.begin();
+	while (i != peers_.end()) {
+		if (!(*i)->isValid()) {
+			Peer *p = *i;
+			LOG(INFO) << "Removing disconnected peer: " << p->id().to_string();
+			_notifyDisconnect(p);
+
+			auto ix = peer_ids_.find(p->id());
+			if (ix != peer_ids_.end()) peer_ids_.erase(ix);
+			delete p;
+
+			i = peers_.erase(i);
+		} else {
+			i++;
 		}
 	}
-
-	auto ix = peer_ids_.find(p->id());
-	if (ix != peer_ids_.end()) peer_ids_.erase(ix);
-	delete p;
 }
 
 Peer *Universe::getPeer(const UUID &id) const {
@@ -193,7 +207,7 @@ bool Universe::createResource(const std::string &uri) {
 int Universe::numberOfSubscribers(const std::string &res) const {
 	auto s = subscribers_.find(res);
 	if (s != subscribers_.end()) {
-		return s->second.size();
+		return (int)s->second.size();
 	} else {
 		return -1;
 	}
@@ -244,6 +258,7 @@ void Universe::_run() {
 		int n = _setDescriptors();
 		int selres = 1;
 
+		// It is an error to use "select" with no sockets ... so just sleep
 		if (n == 0) {
 			std::this_thread::sleep_for(std::chrono::milliseconds(300));
 			continue;
@@ -258,7 +273,8 @@ void Universe::_run() {
 		if (selres < 0) {
 			switch (errno) {
 			case 9	: continue;  // Bad file descriptor = socket closed
-			default	: std::cout << "Unknown select error: " << strerror(errno) << std::endl;
+			case 4	: continue;  // Interrupted system call ... no problem
+			default	: LOG(WARNING) << "Unhandled select error: " << strerror(errno) << "(" << errno << ")";
 			}
 			continue;
 		} else if (selres == 0) {
@@ -276,7 +292,7 @@ void Universe::_run() {
 					sockaddr_storage addr;
 
 					//Finally accept this client connection.
-					int csock = accept(l->_socket(), (sockaddr*)&addr, (socklen_t*)&rsize);
+					SOCKET csock = accept(l->_socket(), (sockaddr*)&addr, (socklen_t*)&rsize);
 
 					if (csock != INVALID_SOCKET) {
 						auto p = new Peer(csock, &disp_);
@@ -284,6 +300,9 @@ void Universe::_run() {
 						_installBindings(p);
 						p->onConnect([this](Peer &p) {
 							peer_ids_[p.id()] = &p;
+							// Note, called in another thread so above lock
+							// does not apply.
+							_notifyConnect(&p);
 						});
 					}
 				}
@@ -301,11 +320,87 @@ void Universe::_run() {
 					s->socketError();
 					s->close();
 				}
-			} else if (s != NULL) {
-				// Erase it
-				_remove(s);
+			}
+		}
+		// TODO(Nick) Don't always need to call this
+		_cleanupPeers();
+	}
+}
+
+void Universe::onConnect(const std::string &name, std::function<void(ftl::net::Peer*)> cb) {
+	unique_lock<mutex> lk(net_mutex_);
+	on_connect_.push_back({name, cb});
+}
+
+void Universe::onDisconnect(const std::string &name, std::function<void(ftl::net::Peer*)> cb) {
+	unique_lock<mutex> lk(net_mutex_);
+	on_disconnect_.push_back({name, cb});
+}
+
+void Universe::onError(const std::string &name, std::function<void(ftl::net::Peer*, const ftl::net::Error &)> cb) {
+	unique_lock<mutex> lk(net_mutex_);
+	on_error_.push_back({name, cb});
+}
+
+void Universe::removeCallbacks(const std::string &name) {
+	unique_lock<mutex> lk(net_mutex_);
+	{
+		auto i = on_connect_.begin();
+		while (i != on_connect_.end()) {
+			if ((*i).name == name) {
+				i = on_connect_.erase(i);
+			} else {
+				i++;
+			}
+		}
+	}
+
+	{
+		auto i = on_disconnect_.begin();
+		while (i != on_disconnect_.end()) {
+			if ((*i).name == name) {
+				i = on_disconnect_.erase(i);
+			} else {
+				i++;
+			}
+		}
+	}
+
+	{
+		auto i = on_error_.begin();
+		while (i != on_error_.end()) {
+			if ((*i).name == name) {
+				i = on_error_.erase(i);
+			} else {
+				i++;
 			}
 		}
 	}
 }
 
+void Universe::_notifyConnect(Peer *p) {
+	unique_lock<mutex> lk(net_mutex_);
+	for (auto &i : on_connect_) {
+		try {
+			i.h(p);
+		} catch(...) {
+			LOG(ERROR) << "Exception inside OnConnect hander: " << i.name;
+		}
+	}
+}
+
+void Universe::_notifyDisconnect(Peer *p) {
+	// In all cases, should already be locked outside this function call
+	//unique_lock<mutex> lk(net_mutex_);
+	for (auto &i : on_disconnect_) {
+		try {
+			i.h(p);
+		} catch(...) {
+			LOG(ERROR) << "Exception inside OnDisconnect hander: " << i.name;
+		}
+	}
+}
+
+void Universe::_notifyError(Peer *p, const ftl::net::Error &e) {
+	// TODO(Nick)
+}
diff --git a/components/net/cpp/src/ws_internal.cpp b/components/net/cpp/src/ws_internal.cpp
index 50e9f8b5e3d029956b170c380b45815335b7f931..a58a47d7746f34bbfe4dc057dd3514473d029cb7 100644
--- a/components/net/cpp/src/ws_internal.cpp
+++ b/components/net/cpp/src/ws_internal.cpp
@@ -9,21 +9,9 @@
 #include <ftl/net/ws_internal.hpp>
 #include <memory>
 
-#ifndef WIN32
-#include <unistd.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <netdb.h>
-#include <arpa/inet.h>
-#define INVALID_SOCKET -1
-#define SOCKET_ERROR -1
-#endif
 
 #ifdef WIN32
-#include <winsock2.h>
 #include <Ws2tcpip.h>
-#include <windows.h>
 #endif
 
 #include <string>
@@ -85,7 +73,7 @@ int ftl::net::ws_dispatch(const char *data, size_t len, std::function<void(const
 
 	// Perform dispatch
 	d(ws, &data[ws.header_size], ws.N);
-	return ws.header_size+ws.N;
+	return (int)(ws.header_size+ws.N);
 }
 
 int ftl::net::ws_prepare(wsheader_type::opcode_type op, bool useMask, size_t len, char *data, size_t maxlen) {
@@ -138,10 +126,10 @@ int ftl::net::ws_prepare(wsheader_type::opcode_type op, bool useMask, size_t len
 		}
 	}
 	
-	return header_size;
+	return (int)header_size;
 }
 
-bool ftl::net::ws_connect(int sockfd, const URI &uri) {
+bool ftl::net::ws_connect(SOCKET sockfd, const URI &uri) {
 	string http = "";
 	int status;
 	int i;
@@ -158,7 +146,7 @@ bool ftl::net::ws_connect(int sockfd, const URI &uri) {
 	http += "Sec-WebSocket-Key: x3JJHMbDL1EzLkh9GBhXDw==\r\n";
 	http += "Sec-WebSocket-Version: 13\r\n";
 	http += "\r\n";
-	int rc = ::send(sockfd, http.c_str(), http.length(), 0);
+	int rc = ::send(sockfd, http.c_str(), (int)http.length(), 0);
 	if (rc != (int)http.length()) {
 		LOG(ERROR) << "Could not send Websocket http request...";
 		std::cout << http;
diff --git a/components/net/cpp/test/CMakeLists.txt b/components/net/cpp/test/CMakeLists.txt
index 38c453171754d47786c1d12b0497f560bbbca3fb..34a642fa00e2019d0f47ce6dbb0451be2a2a2773 100644
--- a/components/net/cpp/test/CMakeLists.txt
+++ b/components/net/cpp/test/CMakeLists.txt
@@ -13,19 +13,6 @@ target_link_libraries(peer_unit
 	Threads::Threads
 	${UUID_LIBRARIES})
 
-### P2P Base Unit ##############################################################
-# TODO(nick) Actually make this a unit test
-
-#add_executable(p2p_base_unit
-#	./tests.cpp
-#	./p2p_base_unit.cpp)
-#add_dependencies(p2p_base_unit ftlnet)
-#target_link_libraries(p2p_base_unit
-#	ftlnet
-#	${URIPARSER_LIBRARIES}
-#	glog::glog
-#	${UUID_LIBRARIES})
-
 ### Net Integration ############################################################
 add_executable(net_integration
 	./tests.cpp
diff --git a/components/net/cpp/test/net_integration.cpp b/components/net/cpp/test/net_integration.cpp
index 816edca923a854ed9ace53ef3a799e6fef7d5b65..fbfa7c22788cf5518720dfda61a6771ae9ccb8b0 100644
--- a/components/net/cpp/test/net_integration.cpp
+++ b/components/net/cpp/test/net_integration.cpp
@@ -5,6 +5,7 @@
 #include <chrono>
 
 using ftl::net::Universe;
+using ftl::net::Peer;
 using std::this_thread::sleep_for;
 using std::chrono::milliseconds;
 
@@ -76,6 +77,74 @@ TEST_CASE("Universe::connect()", "[net]") {
 	//fin_server();
 }
 
+TEST_CASE("Universe::onConnect()", "[net]") {
+	Universe a;
+	Universe b;
+	
+	a.listen("tcp://localhost:7077");
+
+	SECTION("single valid remote init connection") {
+		bool done = false;
+
+		a.onConnect("test", [&done](Peer *p) {
+			done = true;
+		});
+
+		b.connect("tcp://localhost:7077")->waitConnection();
+		sleep_for(milliseconds(100));
+		REQUIRE( done );
+	}
+
+	SECTION("single valid init connection") {
+		bool done = false;
+
+		b.onConnect("test", [&done](Peer *p) {
+			done = true;
+		});
+
+		b.connect("tcp://localhost:7077")->waitConnection();
+		sleep_for(milliseconds(100));
+		REQUIRE( done );
+	}
+}
+
+TEST_CASE("Universe::onDisconnect()", "[net]") {
+	Universe a;
+	Universe b;
+	
+	a.listen("tcp://localhost:7077");
+
+	SECTION("single valid remote close") {
+		bool done = false;
+
+		a.onDisconnect("test", [&done](Peer *p) {
+			done = true;
+		});
+
+		Peer *p = b.connect("tcp://localhost:7077");
+		p->waitConnection();
+		sleep_for(milliseconds(100));
+		p->close();
+		sleep_for(milliseconds(1100));
+		REQUIRE( done );
+	}
+
+	SECTION("single valid close") {
+		bool done = false;
+
+		b.onDisconnect("test", [&done](Peer *p) {
+			done = true;
+		});
+
+		Peer *p = b.connect("tcp://localhost:7077");
+		p->waitConnection();
+		sleep_for(milliseconds(100));
+		p->close();
+		sleep_for(milliseconds(1100));
+		REQUIRE( done );
+	}
+}
+
 TEST_CASE("Universe::broadcast()", "[net]") {
 	Universe a;
 	Universe b;
@@ -283,79 +352,3 @@ TEST_CASE("Universe::publish()", "") {
 	}
 }
 
-/*TEST_CASE("net::listen()", "[net]") {
-
-	SECTION("tcp any interface") {
-		REQUIRE( ftl::net::listen("tcp://localhost:9001")->isListening() );
-
-		SECTION("can connect to listening socket") {
-			auto sock = ftl::net::connect("tcp://127.0.0.1:9001");
-			REQUIRE(sock->isValid());
-			ftl::net::wait([&sock]() { return sock->isConnected(); });
-			REQUIRE(sock->isConnected());
-
-			// TODO Need way of knowing about connection
-		}
-
-		ftl::net::stop();
-	}
-	
-	SECTION("on connection event") {
-		auto l = ftl::net::listen("tcp://localhost:9002");
-		REQUIRE( l->isListening() );
-		
-		bool connected = false;
-		
-		l->onConnection([&](shared_ptr<Socket> s) {
-			ftl::net::wait([&s]() { return s->isConnected(); });
-			REQUIRE( s->isConnected() );
-			connected = true;
-		});
-		
-		auto sock = ftl::net::connect("tcp://127.0.0.1:9002");
-		ftl::net::wait();
-		REQUIRE( connected );
-		ftl::net::stop();
-	}
-}
-
-TEST_CASE("Net Integration", "[integrate]") {
-	std::string data;
-	
-	Protocol p("ftl://utu.fi");
-	
-	p.bind("add", [](int a, int b) {
-		return a + b;
-	});
-	
-	p.bind(100, [&data](uint32_t m, Socket &s) {
-		s.read(data);
-	});
-	
-	auto l = ftl::net::listen("tcp://localhost:9000");
-	REQUIRE( l->isListening() );
-	l->setProtocol(&p);
-	
-	shared_ptr<Socket> s1;
-	l->onConnection([&s1](auto &s) { s1 = s; });
-	
-	shared_ptr<Socket> s2 = ftl::net::connect("tcp://localhost:9000");
-	s2->setProtocol(&p);
-	
-	REQUIRE( s2 != nullptr );
-	ftl::net::wait([&s2]() { return s2->isConnected(); });
-	REQUIRE( s1 != nullptr );	
-
-	REQUIRE( s1->isConnected() );
-	REQUIRE( s2->isConnected() );
-	
-	REQUIRE( s1->call<int>("add", 5, 6) == 11 );
-	REQUIRE( s2->call<int>("add", 10, 5) == 15);
-	
-	s1->send(100, "hello world");
-	ftl::net::wait();
-	// TODO s2->wait(100);
-	
-	REQUIRE( data == "hello world" );
-}*/
-
diff --git a/components/net/cpp/test/peer_unit.cpp b/components/net/cpp/test/peer_unit.cpp
index 583f615d4b9c77735342972116bb15a3bac461fb..d72d96791349818949b65eb2957f7cf3c41fbf70 100644
--- a/components/net/cpp/test/peer_unit.cpp
+++ b/components/net/cpp/test/peer_unit.cpp
@@ -7,6 +7,7 @@
 #include <thread>
 #include <chrono>
 
+#include <ftl/net/common.hpp>
 #include <ftl/net/peer.hpp>
 #include <ftl/net/protocol.hpp>
 #include <ftl/config.h>
@@ -34,25 +35,25 @@ using std::chrono::milliseconds;
 
 class MockPeer : public Peer {
 	public:
-	MockPeer() : Peer(0) {}
+	MockPeer() : Peer((SOCKET)0) {}
 	void mock_data() { data(); }
 };
 
 // --- Support -----------------------------------------------------------------
 
-static std::map<int, std::string> fakedata;
+static std::map<SOCKET, std::string> fakedata;
 
 #ifdef WIN32
 int ftl::net::internal::recv(SOCKET sd, char *buf, int n, int f) {
 #else
-ssize_t ftl::net::internal::recv(int sd, void *buf, size_t n, int f) {
+ssize_t ftl::net::internal::recv(SOCKET sd, void *buf, size_t n, int f) {
 #endif
 	if (fakedata.count(sd) == 0) {
 		std::cout << "Unrecognised socket" << std::endl;
 		return 0;
 	}
 	
-	int l = fakedata[sd].size();
+	size_t l = fakedata[sd].size();
 	
 	std::memcpy(buf, fakedata[sd].c_str(), l);
 	fakedata.erase(sd);
@@ -237,8 +238,8 @@ TEST_CASE("Peer::call()", "[rpc]") {
 		std::thread thr([&s]() {
 			while (fakedata[0].size() == 0) std::this_thread::sleep_for(std::chrono::milliseconds(20));
 			
-			auto [id,value] = readRPC<tuple<>>(0);
-			auto res_obj = std::make_tuple(1,id,"__return__",77);
+			auto res = readRPC<tuple<>>(0);
+			auto res_obj = std::make_tuple(1,std::get<0>(res),"__return__",77);
 			std::stringstream buf;
 			msgpack::pack(buf, res_obj);
 			fakedata[0] = buf.str();
@@ -262,9 +263,9 @@ TEST_CASE("Peer::call()", "[rpc]") {
 		std::thread thr([&s]() {
 			while (fakedata[0].size() == 0) std::this_thread::sleep_for(std::chrono::milliseconds(20));
 			
-			auto [id,value] = readRPC<tuple<>>(0);
+			auto res = readRPC<tuple<>>(0);
 			vector<int> data = {44,55,66};
-			auto res_obj = std::make_tuple(1,id,"__return__",data);
+			auto res_obj = std::make_tuple(1,std::get<0>(res),"__return__",data);
 			std::stringstream buf;
 			msgpack::pack(buf, res_obj);
 			fakedata[0] = buf.str();
diff --git a/components/renderers/cpp/src/rgbd_display.cpp b/components/renderers/cpp/src/rgbd_display.cpp
index 473878548586a5508e97622fe31bbf1b55f7fe55..478ba958d763fa4b955c0a3b39efce9823cae49a 100644
--- a/components/renderers/cpp/src/rgbd_display.cpp
+++ b/components/renderers/cpp/src/rgbd_display.cpp
@@ -74,7 +74,6 @@ void Display::init() {
 	onKey([this](int key) {
 		//LOG(INFO) << "Key = " << key;
 		if (key == 81 || key == 83) {
-			// TODO Should rotate around lookAt object, but requires correct depth
 			Eigen::Quaternion<float> q;  q = Eigen::AngleAxis<float>((key == 81) ? 0.01f : -0.01f, up_);
 			eye_ = (q * (eye_ - centre_)) + centre_;
 		} else if (key == 84 || key == 82) {
diff --git a/components/rgbd-sources/include/ftl/rgbd_source.hpp b/components/rgbd-sources/include/ftl/rgbd_source.hpp
index e6ca35418f80368e5f62adc622203ce09d5962a6..aa5748324dc9aeddd1134556fb3153baf08c1915 100644
--- a/components/rgbd-sources/include/ftl/rgbd_source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd_source.hpp
@@ -19,7 +19,7 @@ namespace rgbd {
  */
 class RGBDSource : public ftl::Configurable {
 	public:
-	RGBDSource(nlohmann::json &config);
+	explicit RGBDSource(nlohmann::json &config);
 	RGBDSource(nlohmann::json &config, ftl::net::Universe *net);
 	virtual ~RGBDSource();
 
@@ -57,6 +57,7 @@ class RGBDSource : public ftl::Configurable {
 	 */
 	class Register {
 		public:
+		// cppcheck-suppress *
 		Register(const std::string &n, std::function<RGBDSource*(nlohmann::json&,ftl::net::Universe*)> f) {
 			RGBDSource::_register(n,f);
 		};
diff --git a/components/rgbd-sources/src/algorithms/rtcensus.cpp b/components/rgbd-sources/src/algorithms/rtcensus.cpp
index dbafd2d3737d5dca90a85fe6b125e7579245efb9..b288045e0f24eb6a2b5b3ef4729c5853b5e17ae5 100644
--- a/components/rgbd-sources/src/algorithms/rtcensus.cpp
+++ b/components/rgbd-sources/src/algorithms/rtcensus.cpp
@@ -43,8 +43,8 @@ static vector<uint64_t> sparse_census_16x16(const Mat &arr) {
 	result.resize(arr.cols*arr.rows, 0);
 
 	/* Loops adapted to avoid edge out-of-bounds checks */
-	for (size_t v=7; v < arr.rows-7; v++) {
-	for (size_t u=7; u < arr.cols-7; u++) {
+	for (int v=7; v < arr.rows-7; v++) {
+	for (int u=7; u < arr.cols-7; u++) {
 		uint64_t r = 0;
 
 		/* 16x16 sparse kernel to 8x8 mask (64 bits) */
diff --git a/components/rgbd-sources/src/calibrate.cpp b/components/rgbd-sources/src/calibrate.cpp
index 7e94ac9efcc140c4b3e8e4c3815392eb54d53863..05364c507c8072c0c4da2f060ec7d8a992945c61 100644
--- a/components/rgbd-sources/src/calibrate.cpp
+++ b/components/rgbd-sources/src/calibrate.cpp
@@ -78,7 +78,7 @@ void Calibrate::Settings::write(FileStorage& fs) const {
 void Calibrate::Settings::read(ftl::Configurable *node) {
     boardSize.width = node->value<vector<int>>("board_size", {10,10})[0];
     boardSize.height = node->value<vector<int>>("board_size", {10,10})[1];
-    squareSize = node->value("square_size", 50);
+    squareSize = node->value("square_size", 50.0f);
     nrFrames = node->value("num_frames", 20);
     aspectRatio = node->value("fix_aspect_ratio", false);
     calibZeroTangentDist = node->value("assume_zero_tangential_distortion", false);
diff --git a/components/rgbd-sources/src/disparity.hpp b/components/rgbd-sources/src/disparity.hpp
index f5c98f399811bd50e1776f8b0f86fc851e41f9d4..cb25e28953bf8ac8455c5a0565fa639e61979196 100644
--- a/components/rgbd-sources/src/disparity.hpp
+++ b/components/rgbd-sources/src/disparity.hpp
@@ -37,6 +37,7 @@ class Disparity : public ftl::Configurable {
 	 */
 	class Register {
 		public:
+		// cppcheck-suppress *
 		Register(const std::string &n, std::function<Disparity*(ftl::Configurable *, const std::string &)> f) {
 			Disparity::_register(n,f);
 		};
@@ -53,8 +54,8 @@ class Disparity : public ftl::Configurable {
 	
 	protected:
 	//nlohmann::json &config_;
-	size_t min_disp_;
-	size_t max_disp_;
+	int min_disp_;
+	int max_disp_;
 	cv::Mat mask_l_;
 	
 	private:
diff --git a/components/rgbd-sources/src/local.cpp b/components/rgbd-sources/src/local.cpp
index e66396597ddb99e53913299e8db89ca422953513..d3d33d7353ffd070579acac71e294da26885ed51 100644
--- a/components/rgbd-sources/src/local.cpp
+++ b/components/rgbd-sources/src/local.cpp
@@ -263,9 +263,9 @@ bool LocalSource::get(cv::Mat &l, cv::Mat &r) {
 	}
 
 	if (downsize_ != 1.0f) {
-		cv::resize(l, l, cv::Size(l.cols * downsize_, l.rows * downsize_),
+		cv::resize(l, l, cv::Size((int)(l.cols * downsize_), (int)(l.rows * downsize_)),
 				0, 0, cv::INTER_LINEAR);
-		cv::resize(r, r, cv::Size(r.cols * downsize_, r.rows * downsize_),
+		cv::resize(r, r, cv::Size((int)(r.cols * downsize_), (int)(r.rows * downsize_)),
 				0, 0, cv::INTER_LINEAR);
 	}
 
diff --git a/components/rgbd-sources/src/net_source.cpp b/components/rgbd-sources/src/net_source.cpp
index 7a9d3cbe21835daed8a704204f238639c15c0203..cc2e8461af7c61effa56fafc20d19e2cc840d39b 100644
--- a/components/rgbd-sources/src/net_source.cpp
+++ b/components/rgbd-sources/src/net_source.cpp
@@ -68,7 +68,12 @@ NetSource::NetSource(nlohmann::json &config, ftl::net::Universe *net)
 }
 
 NetSource::~NetSource() {
-	// TODO Unsubscribe
+	auto uri = get<string>("uri");
+
+	// TODO(Nick) If URI changes then must unbind + rebind.
+	if (uri) {
+		net_->unbind(*uri);
+	}
 }
 
 void NetSource::_recv(const vector<unsigned char> &jpg, const vector<unsigned char> &d) {
diff --git a/components/rgbd-sources/src/rgbd_source.cpp b/components/rgbd-sources/src/rgbd_source.cpp
index 9a8d1c08bd2719f3662f7a10ced13931f2c519c8..a216529aa9f5d3d1eaa30c8bb43fde10e909a7be 100644
--- a/components/rgbd-sources/src/rgbd_source.cpp
+++ b/components/rgbd-sources/src/rgbd_source.cpp
@@ -32,8 +32,8 @@ void RGBDSource::getRGBD(cv::Mat &rgb, cv::Mat &depth) {
 
 Eigen::Vector4f RGBDSource::point(uint ux, uint uy) {
 	const auto &params = getParameters();
-	const float x = ((float)ux-params.width/2) / params.fx;
-	const float y = ((float)uy-params.height/2) / params.fy;
+	const float x = ((float)ux-params.width/2) / (float)params.fx;
+	const float y = ((float)uy-params.height/2) / (float)params.fy;
 
 	unique_lock<mutex> lk(mutex_);
 	const float depth = depth_.at<float>(uy,ux);
@@ -50,11 +50,12 @@ bool RGBDSource::snapshot(const std::string &fileprefix) {
 
 	cv::imwrite(fileprefix+"-RGB.jpg", rgb);
 	cv::imwrite(fileprefix+"-DEPTH.png",depth);
+	return true;
 }
 
 RGBDSource *RGBDSource::create(nlohmann::json &config, ftl::net::Universe *net) {
 	auto &cfg = ftl::config::resolve(config);
-	if (cfg["type"].type_name() != "string") {
+	if (!cfg["type"].is_string()) {
 		LOG(ERROR) << "Missing RGB-D source type: " << cfg["type"].type_name();
 		//return nullptr;
 	}
diff --git a/components/rgbd-sources/src/rgbd_streamer.cpp b/components/rgbd-sources/src/rgbd_streamer.cpp
index 375ae8ebd0d697b6bdab345292e25e9a419bb86d..c596584a14485acf932315e7b6a0d8bc068a0560 100644
--- a/components/rgbd-sources/src/rgbd_streamer.cpp
+++ b/components/rgbd-sources/src/rgbd_streamer.cpp
@@ -69,7 +69,12 @@ Streamer::Streamer(nlohmann::json &config, Universe *net)
 }
 
 Streamer::~Streamer() {
-	// TODO Unbind everything from net....
+	net_->unbind("find_stream");
+	net_->unbind("list_streams");
+	net_->unbind("source_calibration");
+	net_->unbind("get_stream");
+	net_->unbind("sync_streams");
+	net_->unbind("ping_streamer");
 	pool_.stop();
 }
 
@@ -113,6 +118,7 @@ void Streamer::remove(const std::string &) {
 
 void Streamer::stop() {
 	active_ = false;
+	pool_.stop();
 }
 
 void Streamer::run(bool block) {
@@ -128,7 +134,11 @@ void Streamer::run(bool block) {
 			std::chrono::duration<double> elapsed =
 				std::chrono::high_resolution_clock::now() - start;
 
-			sleep_for(milliseconds((long long)((wait - elapsed.count()) * 1000.0f)));
+			if (elapsed.count() >= wait) {
+				LOG(WARNING) << "Frame rate below optimal @ " << (1.0f / elapsed.count());
+			} else {
+				sleep_for(milliseconds((long long)((wait - elapsed.count()) * 1000.0f)));
+			}
 		}
 	} else {
 		// Create thread job for frame ticking
@@ -142,7 +152,11 @@ void Streamer::run(bool block) {
 				std::chrono::duration<double> elapsed =
 					std::chrono::high_resolution_clock::now() - start;
 
-				sleep_for(milliseconds((long long)((wait - elapsed.count()) * 1000.0f)));
+				if (elapsed.count() >= wait) {
+					LOG(WARNING) << "Frame rate below optimal @ " << (1.0f / elapsed.count());
+				} else {
+					sleep_for(milliseconds((long long)((wait - elapsed.count()) * 1000.0f)));
+				}
 			}
 		});
 	}
@@ -156,12 +170,16 @@ void Streamer::_swap(StreamSource &src) {
 }
 
 void Streamer::_schedule() {
+	std::mutex job_mtx;
+	std::condition_variable job_cv;
+	int jobs = 0;
+
 	for (auto s : sources_) {
 		string uri = s.first;
 
 		shared_lock<shared_mutex> slk(s.second->mutex);
 		if (s.second->state != 0) {
-			LOG(WARNING) << "Stream not ready to schedule on time: " << uri;
+			LOG(WARNING) << "Stream not ready to schedule on time: " << uri << " (" << s.second->state << ")";
 			continue;
 		}
 		if (s.second->clients[0].size() == 0) {
@@ -170,19 +188,34 @@ void Streamer::_schedule() {
 		}
 		slk.unlock();
 
+		unique_lock<mutex> lk(job_mtx);
+		jobs += 2;
+		lk.unlock();
+
 		// Grab job
-		pool_.push([this,uri](int id) {
+		pool_.push([this,uri,&jobs,&job_mtx,&job_cv](int id) {
 			StreamSource *src = sources_[uri];
-			src->src->grab();
+
+			try {
+				src->src->grab();
+			} catch(...) {
+				LOG(ERROR) << "Grab Exception for: " << uri;
+			}
 
 			unique_lock<shared_mutex> lk(src->mutex);
 			src->state |= ftl::rgbd::detail::kGrabbed;
 			_swap(*src);
+			lk.unlock();
+
+			unique_lock<mutex> ulk(job_mtx);
+			jobs--;
+			ulk.unlock();
+			job_cv.notify_one();
 		});
 
 		// Transmit job
 		// TODO, could do one for each bitrate...
-		pool_.push([this,uri](int id) {
+		pool_.push([this,uri,&jobs,&job_mtx,&job_cv](int id) {
 			StreamSource *src = sources_[uri];
 
 			if (src->rgb.rows > 0 && src->depth.rows > 0 && src->clients[0].size() > 0) {
@@ -197,13 +230,16 @@ void Streamer::_schedule() {
 				auto i = src->clients[0].begin();
 				while (i != src->clients[0].end()) {
 					try {
-						net_->send((*i).peerid, (*i).uri, rgb_buf, d_buf);
+						if (!net_->send((*i).peerid, (*i).uri, rgb_buf, d_buf)) {
+							(*i).txcount = (*i).txmax;
+						}
 					} catch(...) {
 						(*i).txcount = (*i).txmax;
 					}
 					(*i).txcount++;
 					if ((*i).txcount >= (*i).txmax) {
-						LOG(INFO) << "Remove client";
+						DLOG(2) << "Remove client";
+						unique_lock<shared_mutex> lk(src->mutex);
 						i = src->clients[0].erase(i);
 					} else {
 						i++;
@@ -212,11 +248,20 @@ void Streamer::_schedule() {
 			}
 
 			unique_lock<shared_mutex> lk(src->mutex);
-			LOG(INFO) << "Tx Frame: " << uri;
+			DLOG(1) << "Tx Frame: " << uri;
 			src->state |= ftl::rgbd::detail::kTransmitted;
 			_swap(*src);
+			lk.unlock();
+
+			unique_lock<mutex> ulk(job_mtx);
+			jobs--;
+			ulk.unlock();
+			job_cv.notify_one();
 		});
 	}
+
+	unique_lock<mutex> lk(job_mtx);
+	job_cv.wait(lk, [&jobs]{ return jobs == 0; });
 }
 
 RGBDSource *Streamer::get(const std::string &uri) {
diff --git a/components/rgbd-sources/src/stereovideo_source.cpp b/components/rgbd-sources/src/stereovideo_source.cpp
index daff717e7f014066c664d0f7fcbed2f6e49cd660..07711bc33dc69955467ac577203d001dd8e0af30 100644
--- a/components/rgbd-sources/src/stereovideo_source.cpp
+++ b/components/rgbd-sources/src/stereovideo_source.cpp
@@ -56,12 +56,11 @@ StereoVideoSource::StereoVideoSource(nlohmann::json &config, const string &file)
 	// Generate camera parameters from Q matrix
 	cv::Mat q = calib_->getCameraMatrix();
 	params_ = {
-		// TODO(Nick) Add fx and fy
 		q.at<double>(0,0),	// Fx
 		q.at<double>(1,1),	// Fy
 		-q.at<double>(0,2),	// Cx
 		-q.at<double>(1,2),	// Cy
-		(unsigned int)lsrc_->width(),  // TODO (Nick)
+		(unsigned int)lsrc_->width(),
 		(unsigned int)lsrc_->height(),
 		0.0f,	// 0m min
 		15.0f	// 15m max
@@ -103,7 +102,7 @@ static void disparityToDepth(const cv::Mat &disparity, cv::Mat &depth, const cv:
 			cv::Vec4d homg_pt = _Q*cv::Vec4d(x, y, d, 1.0);
 			//dptr[x] = Vec3d(homg_pt.val);
 			//dptr[x] /= homg_pt[3];
-			dptr[x] = (homg_pt[2] / homg_pt[3]) / 1000.0f; // Depth in meters
+			dptr[x] = (float)(homg_pt[2] / homg_pt[3]) / 1000.0f; // Depth in meters
 
 			if( fabs(d) <= FLT_EPSILON )
 				dptr[x] = 1000.0f;
@@ -112,12 +111,15 @@ static void disparityToDepth(const cv::Mat &disparity, cv::Mat &depth, const cv:
 }
 
 void StereoVideoSource::grab() {
+	// TODO(Nick) find a way to move this to last part ... but grab can't
+	// be called twice by different threads and it is currently
+	// FIXME Call to grab from multiple threads
+	unique_lock<mutex> lk(mutex_);
 	calib_->rectified(left_, right_);
 
 	cv::Mat disp;
 	disp_->compute(left_, right_, disp);
 
-	unique_lock<mutex> lk(mutex_);
 	left_.copyTo(rgb_);
 	disparityToDepth(disp, depth_, calib_->getQ());
 }