├── .circleci ├── config.yml ├── docker │ ├── bionic │ │ ├── arm64 │ │ │ └── Dockerfile │ │ ├── armhf │ │ │ └── Dockerfile │ │ └── base │ │ │ └── Dockerfile │ ├── bookworm │ │ ├── arm64 │ │ │ └── Dockerfile │ │ ├── armhf │ │ │ └── Dockerfile │ │ └── base │ │ │ └── Dockerfile │ ├── bullseye │ │ ├── arm64 │ │ │ └── Dockerfile │ │ ├── armhf │ │ │ └── Dockerfile │ │ └── base │ │ │ └── Dockerfile │ ├── buster │ │ ├── arm64 │ │ │ └── Dockerfile │ │ ├── armhf │ │ │ └── Dockerfile │ │ └── base │ │ │ └── Dockerfile │ ├── focal │ │ ├── arm64 │ │ │ └── Dockerfile │ │ ├── armhf │ │ │ └── Dockerfile │ │ └── base │ │ │ └── Dockerfile │ ├── jammy │ │ ├── arm64 │ │ │ └── Dockerfile │ │ ├── armhf │ │ │ └── Dockerfile │ │ └── base │ │ │ └── Dockerfile │ ├── noble │ │ ├── arm64 │ │ │ └── Dockerfile │ │ ├── armhf │ │ │ └── Dockerfile │ │ └── base │ │ │ └── Dockerfile │ ├── stretch │ │ ├── arm64 │ │ │ └── Dockerfile │ │ ├── armhf │ │ │ └── Dockerfile │ │ └── base │ │ │ └── Dockerfile │ └── xenial │ │ ├── arm64 │ │ └── Dockerfile │ │ ├── armhf │ │ └── Dockerfile │ │ └── base │ │ └── Dockerfile └── dput.cf ├── .clang-format ├── .github └── FUNDING.yml ├── .gitignore ├── .mailmap ├── AUTHORS ├── CMakeLists.txt ├── COPYING ├── CTestConfig.cmake ├── DEPENDENCIES ├── INSTALL.txt ├── README.md ├── cmake_modules ├── FindAIS.cmake ├── FindCryptopp.cmake ├── FindGMP.cmake ├── FindLLVMForGoby.cmake ├── FindMAVLINK.cmake ├── FindMOOS.cmake ├── FindMYSQL.cmake ├── FindProj.cmake ├── FindProtobufGoby.cmake ├── FindSanitizers.cmake ├── FindSqlite3.cmake ├── FindZeroMQ.cmake ├── GobyClangTool.cmake ├── UseLATEX.cmake └── today.cmake ├── release.md ├── scripts ├── clang-format-hooks │ ├── .gitignore │ ├── COPYING │ ├── README.md │ ├── apply-format │ ├── docs │ │ ├── NewerClangFormatUbuntu.md │ │ └── screenshot-hook.png │ └── git-pre-commit-format ├── goby_launch ├── mascot.sh ├── mascot.txt └── update_copyright.sh └── src ├── CMakeLists.txt ├── acomms.h ├── acomms ├── acomms_constants.h ├── amac.h ├── amac │ ├── mac_manager.cpp │ └── mac_manager.h ├── bind.h ├── buffer │ └── dynamic_buffer.h ├── connect.h ├── dccl.h ├── dccl │ ├── dccl.cpp │ └── dccl.h ├── ip_codecs.cpp ├── ip_codecs.h ├── modem_driver.h ├── modemdriver │ ├── abc_driver.cpp │ ├── abc_driver.h │ ├── benthos_atm900_driver.cpp │ ├── benthos_atm900_driver.h │ ├── benthos_atm900_driver_fsm.cpp │ ├── benthos_atm900_driver_fsm.h │ ├── detail │ │ └── boost_statechart_compat.h │ ├── driver_base.cpp │ ├── driver_base.h │ ├── driver_exception.h │ ├── driver_helpers.h │ ├── iridium_driver.cpp │ ├── iridium_driver.h │ ├── iridium_driver_common.h │ ├── iridium_driver_fsm.cpp │ ├── iridium_driver_fsm.h │ ├── iridium_rudics_packet.cpp │ ├── iridium_rudics_packet.h │ ├── iridium_sbd_packet.cpp │ ├── iridium_sbd_packet.h │ ├── iridium_shore_driver.cpp │ ├── iridium_shore_driver.h │ ├── iridium_shore_driver_sbd_directip.cpp │ ├── iridium_shore_driver_sbd_rockblock.cpp │ ├── iridium_shore_rudics.h │ ├── iridium_shore_sbd_directip.h │ ├── janus_driver.cpp │ ├── janus_driver.h │ ├── mm_driver.cpp │ ├── mm_driver.h │ ├── popoto_driver.cpp │ ├── popoto_driver.h │ ├── store_server_driver.cpp │ ├── store_server_driver.h │ ├── udp_driver.cpp │ ├── udp_driver.h │ ├── udp_multicast_driver.cpp │ └── udp_multicast_driver.h ├── protobuf │ ├── abc_driver.proto │ ├── amac.proto │ ├── amac_config.proto │ ├── benthos_atm900.proto │ ├── buffer.proto │ ├── dccl.proto │ ├── driver_base.proto │ ├── file_transfer.proto │ ├── iridium_driver.proto │ ├── iridium_sbd_directip.proto │ ├── iridium_shore_driver.proto │ ├── janus_driver.proto │ ├── manipulator.proto │ ├── mm_driver.proto │ ├── modem_driver_status.proto │ ├── modem_message.proto │ ├── mosh_packet.proto │ ├── network_ack.proto │ ├── network_header.proto │ ├── popoto_driver.proto │ ├── queue.proto │ ├── rockblock_simulator_config.proto │ ├── route.proto │ ├── rudics_shore.proto │ ├── store_server.proto │ ├── store_server_config.proto │ ├── store_server_driver.proto │ ├── time_update.proto │ ├── udp_driver.proto │ └── udp_multicast_driver.proto ├── queue.h ├── queue │ ├── queue.cpp │ ├── queue.h │ ├── queue_constants.h │ ├── queue_exception.h │ ├── queue_manager.cpp │ └── queue_manager.h ├── route.h ├── route │ ├── route.cpp │ └── route.h └── src.cmake ├── apps ├── CMakeLists.txt ├── acomms │ ├── CMakeLists.txt │ ├── abc_modem_simulator │ │ ├── CMakeLists.txt │ │ └── abc_modem_simulator.cpp │ ├── rockblock_simulator │ │ ├── CMakeLists.txt │ │ └── rockblock_simulator.cpp │ └── store_server │ │ ├── CMakeLists.txt │ │ └── store_server.cpp ├── middleware │ ├── CMakeLists.txt │ ├── basic_frontseat_simulator │ │ ├── CMakeLists.txt │ │ ├── basic_frontseat_simulator.cpp │ │ └── protocol.txt │ ├── clang_tool │ │ ├── CMakeLists.txt │ │ ├── actions.h │ │ ├── generate.cpp │ │ ├── pubsub_entry.h │ │ ├── tool.cpp │ │ ├── visualize.cpp │ │ └── yaml_raii.h │ ├── goby_tool │ │ ├── CMakeLists.txt │ │ ├── goby_tool.cpp │ │ ├── log.proto │ │ ├── marshalling │ │ │ ├── protobuf.cpp │ │ │ ├── protobuf.h │ │ │ └── protobuf.proto │ │ ├── tool.proto │ │ ├── unified_log_tool.cpp │ │ └── unified_log_tool.h │ ├── hdf5 │ │ ├── CMakeLists.txt │ │ └── hdf5_app.cpp │ ├── log_tool │ │ ├── CMakeLists.txt │ │ └── log_tool.cpp │ └── serial_mux │ │ ├── CMakeLists.txt │ │ ├── config.proto │ │ └── mux.cpp ├── moos │ ├── CMakeLists.txt │ ├── goby_moos_gateway │ │ ├── CMakeLists.txt │ │ └── goby_moos_gateway.cpp │ ├── iFrontSeat │ │ ├── CMakeLists.txt │ │ ├── iFrontSeat.cpp │ │ ├── iFrontSeat.h │ │ ├── legacy_translator.cpp │ │ └── legacy_translator.h │ ├── pAcommsHandler │ │ ├── CMakeLists.txt │ │ ├── pAcommsHandler.cpp │ │ ├── pAcommsHandler.h │ │ ├── pAcommsHandler.moos │ │ ├── pAcommsHandlerMain.cpp │ │ └── pAcommsHandler_complete.moos │ ├── pGobyMOOSAppTemplate │ │ ├── CMakeLists.txt │ │ ├── pGobyMOOSAppTemplate.cpp │ │ ├── pGobyMOOSAppTemplate.h │ │ └── pGobyMOOSAppTemplate_config.proto │ └── pTranslator │ │ ├── CMakeLists.txt │ │ ├── pTranslator.cpp │ │ ├── pTranslator.h │ │ ├── pTranslatorMain.cpp │ │ └── pTranslator_config.proto ├── util │ ├── CMakeLists.txt │ └── serial2tcp_server │ │ ├── CMakeLists.txt │ │ └── serial2tcp_server.cpp └── zeromq │ ├── CMakeLists.txt │ ├── acomms │ ├── CMakeLists.txt │ ├── bridge │ │ ├── CMakeLists.txt │ │ └── bridge.cpp │ ├── file_transfer │ │ ├── CMakeLists.txt │ │ └── file_transfer.cpp │ ├── ip_gateway │ │ ├── CMakeLists.txt │ │ └── ip_gateway.cpp │ ├── modemdriver │ │ ├── CMakeLists.txt │ │ └── modemdriver.cpp │ └── mosh_relay │ │ ├── CMakeLists.txt │ │ └── mosh_relay.cpp │ ├── coroner │ ├── CMakeLists.txt │ └── coroner.cpp │ ├── frontseat_interface │ ├── CMakeLists.txt │ ├── empty_helm_interface.cpp │ ├── frontseat_interface.cpp │ ├── frontseat_interface.h │ └── moos_helm_interface.cpp │ ├── geov │ ├── CMakeLists.txt │ └── geov.cpp │ ├── gobyd │ ├── CMakeLists.txt │ ├── common.h │ ├── gobyd.cpp │ └── intervehicle_portal.cpp │ ├── gpsd_client │ ├── CMakeLists.txt │ ├── gpsd_client.cpp │ └── gpsd_client.h │ ├── liaison │ ├── CMakeLists.txt │ ├── liaison.cpp │ ├── liaison.h │ ├── liaison_commander.cpp │ ├── liaison_commander.h │ ├── liaison_home.cpp │ ├── liaison_home.h │ ├── liaison_scope.cpp │ ├── liaison_scope.h │ ├── liaison_wt_thread.cpp │ └── liaison_wt_thread.h │ ├── logger │ ├── CMakeLists.txt │ ├── logger.cpp │ └── playback.cpp │ ├── mavlink_gateway │ ├── CMakeLists.txt │ └── mavlink_gateway.cpp │ ├── opencpn │ ├── CMakeLists.txt │ └── opencpn.cpp │ ├── terminate │ ├── CMakeLists.txt │ └── terminate.cpp │ └── zeromq_tool │ ├── CMakeLists.txt │ └── zeromq_tool.cpp ├── doc ├── CMakeLists.txt ├── README ├── dev_manual │ ├── CMakeLists.txt │ ├── doxy2html.sh │ ├── doxy2pdf.sh │ └── goby-dev.doxy.in ├── manifest │ ├── goby.gfs │ └── goby.mfs ├── markdown │ ├── doc010_cli.md │ ├── doc050_examples.md │ ├── doc100_acomms.md │ ├── doc101_acomms-queue.md │ ├── doc102_acomms-mac.md │ ├── doc103_acomms-driver.md │ ├── doc200_middleware.md │ ├── doc210_transporter.md │ ├── doc220_marshalling.md │ ├── doc230_application.md │ ├── doc231_middleware_applications.md │ ├── doc240_middleware-io.md │ ├── doc300_util.md │ ├── doc340_time.md │ ├── doc500_zeromq.md │ ├── doc501_zeromq_applications.md │ ├── doc502_goby_gps.md │ ├── doc503_goby_coroner.md │ ├── doc504_goby_logger.md │ ├── doc505_goby_liaison.md │ ├── doc506_goby_frontseat_interface.md │ ├── doc507_goby_viz.md │ ├── doc600_moos.md │ ├── doc999_switching_from_goby2.md │ ├── images │ │ ├── acomms_component.eps │ │ ├── acomms_sequence.eps │ │ ├── auv_community.eps │ │ ├── bistatic3.eps │ │ ├── dccl-header.eps │ │ ├── dccl-header.png │ │ ├── dccl-schematic.eps │ │ ├── dccl_example.eps │ │ ├── dclt_component.eps │ │ ├── glogger-example.eps │ │ ├── glogger-example.png │ │ ├── glogger-gui.eps │ │ ├── glogger-gui.png │ │ ├── goby-acomms-background-sequence.eps │ │ ├── goby-acomms-background-sequence.png │ │ ├── goby-acomms-detailed-overview.eps │ │ ├── goby-acomms-detailed-overview.png │ │ ├── goby-acomms-mmdriver-mpc.eps │ │ ├── goby-acomms-mmdriver-mpc.png │ │ ├── goby-acomms-mmdriver-muc.eps │ │ ├── goby-acomms-mmdriver-muc.png │ │ ├── goby-acomms-mmdriver-pdt.eps │ │ ├── goby-acomms-mmdriver-pdt.png │ │ ├── goby-acomms-mmdriver-pnt.eps │ │ ├── goby-acomms-mmdriver-pnt.png │ │ ├── goby-acomms-mmdriver-rate0.eps │ │ ├── goby-acomms-mmdriver-rate0.png │ │ ├── goby-acomms-mmdriver-rate2.eps │ │ ├── goby-acomms-mmdriver-rate2.png │ │ ├── goby-acomms-mmdriver-tdp.eps │ │ ├── goby-acomms-mmdriver-tdp.png │ │ ├── goby-acomms-overview.eps │ │ ├── goby-acomms-overview.png │ │ ├── goby-acomms-send-message-sequence.eps │ │ ├── goby-acomms-send-message-sequence.png │ │ ├── gobysoft_logo.eps │ │ ├── gobysoft_logo_image_only.eps │ │ ├── gobysoft_logo_image_only_large.png │ │ ├── gobysoft_logo_image_only_medium.png │ │ ├── gobysoft_logo_image_only_small.png │ │ ├── hello_world_compile.eps │ │ ├── hello_world_sequence.eps │ │ ├── hello_world_sketch.eps │ │ ├── hello_world_structure.eps │ │ ├── iFrontSeat_structure.eps │ │ ├── intervehicle_subscribe_and_broadcast.png │ │ ├── liaison_commander.png │ │ ├── liaison_commander2.png │ │ ├── liaison_scope.png │ │ ├── nested_ipc.png │ │ ├── priority_graph.eps │ │ ├── priority_graph.png │ │ ├── pubsubexample.png │ │ ├── slots.eps │ │ ├── slots_decentralized.eps │ │ ├── slots_polled.eps │ │ ├── state-diagram.eps │ │ ├── state-diagram.png │ │ └── zeromq_portal_sequence.svg │ └── main.md ├── mermaid │ └── zeromq_portal_sequence.md ├── user_manual │ ├── .chap_gps_driver.tex.properties.xml │ ├── .chap_hello_world.tex.properties.xml │ ├── .chap_introduction.tex.properties.xml │ ├── .chap_underpinnings.tex.properties.xml │ ├── .user_manual.tex.properties.xml │ ├── CMakeLists.txt │ ├── IEEEabrv.bib │ ├── IEEEtran.bst │ ├── IEEEtran.cls │ ├── build_user_manual.sh │ ├── chap_acomms.tex │ ├── chap_common.tex │ ├── chap_goby_moos.tex │ ├── chap_gps_driver.tex │ ├── chap_hello_world.tex │ ├── chap_introduction.tex │ ├── chap_underpinnings.tex │ ├── chap_whats_next.tex │ ├── generate_includes.sh │ ├── graphviz.sty │ ├── includes │ │ ├── base.pb.cfg │ │ ├── common.pb.cfg │ │ ├── dccl_config.pb.cfg │ │ ├── driver_abc_driver.pb.cfg │ │ ├── driver_benthos.pb.cfg │ │ ├── driver_config.pb.cfg │ │ ├── driver_iridium.pb.cfg │ │ ├── driver_mmdriver.pb.cfg │ │ ├── driver_pb.pb.cfg │ │ ├── driver_udp.pb.cfg │ │ ├── driver_udp_multicast.pb.cfg │ │ ├── driver_ufield.pb.cfg │ │ ├── example1.xml │ │ ├── goby_liaison_ex1.pb.cfg │ │ ├── liaison.pb.cfg │ │ ├── mac_config.pb.cfg │ │ ├── mac_mmdriver.pb.cfg │ │ ├── moos_commander_liaison.pb.cfg │ │ ├── moos_gateway_g.pb.cfg │ │ ├── moos_gateway_g_ex1.pb.cfg │ │ ├── moos_scope_liaison.pb.cfg │ │ ├── pAcommsHandler_all.moos │ │ ├── pAcommsHandler_reduced.moos │ │ ├── pTranslator.moos │ │ ├── queue_config.pb.cfg │ │ ├── route_config.pb.cfg │ │ └── transitional_config.pb.cfg │ ├── user_manual.bib │ └── user_manual.tex └── whitepaper │ ├── CMakeLists.txt │ ├── old │ └── whitepaper.tex │ └── whitepaper.tex ├── exception.h ├── goby-config.cmake.in ├── goby.h ├── middleware ├── acomms │ └── groups.h ├── ais.h ├── application │ ├── configuration_reader.cpp │ ├── configuration_reader.h │ ├── configurator.h │ ├── detail │ │ ├── interprocess_common.h │ │ └── thread_type_selector.h │ ├── groups.h │ ├── interface.h │ ├── multi_thread.h │ ├── simple_thread.h │ ├── single_thread.h │ ├── thread.h │ ├── tool.cpp │ └── tool.h ├── common.h ├── coroner │ ├── coroner.h │ ├── groups.h │ ├── health_monitor_thread.cpp │ └── health_monitor_thread.h ├── frontseat │ ├── CMakeLists.txt │ ├── bluefin │ │ ├── CMakeLists.txt │ │ ├── bluefin.cpp │ │ ├── bluefin.h │ │ ├── bluefin.proto │ │ ├── bluefin_config.proto │ │ └── bluefin_incoming.cpp │ ├── exception.h │ ├── groups.h │ ├── interface.cpp │ ├── interface.h │ ├── iver │ │ ├── CMakeLists.txt │ │ ├── iver_driver.cpp │ │ ├── iver_driver.h │ │ ├── iver_driver.proto │ │ └── iver_driver_config.proto │ ├── simulator │ │ ├── CMakeLists.txt │ │ └── basic │ │ │ ├── CMakeLists.txt │ │ │ ├── basic_simulator_frontseat_driver.cpp │ │ │ ├── basic_simulator_frontseat_driver.h │ │ │ ├── basic_simulator_frontseat_driver.proto │ │ │ └── basic_simulator_frontseat_driver_config.proto │ └── waveglider │ │ ├── CMakeLists.txt │ │ ├── waveglider_sv2_codecs.cpp │ │ ├── waveglider_sv2_codecs.h │ │ ├── waveglider_sv2_frontseat_driver.cpp │ │ ├── waveglider_sv2_frontseat_driver.h │ │ ├── waveglider_sv2_frontseat_driver.proto │ │ ├── waveglider_sv2_frontseat_driver_config.proto │ │ └── waveglider_sv2_serial_client.h ├── gobyd │ └── groups.h ├── gpsd │ └── groups.h ├── group.h ├── io │ ├── can.h │ ├── cobs │ │ ├── common.h │ │ ├── pty.h │ │ ├── serial.h │ │ ├── tcp_client.h │ │ └── tcp_server.h │ ├── detail │ │ ├── io_interface.h │ │ ├── io_transporters.h │ │ ├── pty_interface.h │ │ ├── serial_interface.h │ │ ├── tcp_client_interface.h │ │ └── tcp_server_interface.h │ ├── groups.h │ ├── line_based │ │ ├── common.h │ │ ├── pty.h │ │ ├── serial.h │ │ ├── tcp_client.h │ │ └── tcp_server.h │ ├── mavlink │ │ ├── common.h │ │ ├── serial.h │ │ └── udp.h │ ├── udp_one_to_many.h │ └── udp_point_to_point.h ├── languages │ └── julia │ │ └── application.h ├── log.h ├── log │ ├── dccl_log_plugin.h │ ├── groups.h │ ├── hdf5 │ │ ├── hdf5.cpp │ │ ├── hdf5.h │ │ ├── hdf5_plugin.h │ │ ├── hdf5_predicate.h │ │ └── hdf5_protobuf_values.h │ ├── json_log_plugin.h │ ├── log_entry.cpp │ ├── log_entry.h │ ├── log_plugin.h │ └── protobuf_log_plugin.h ├── marshalling │ ├── cstr.h │ ├── dccl.h │ ├── detail │ │ ├── dccl_serializer_parser.cpp │ │ ├── dccl_serializer_parser.h │ │ └── primitive_type.h │ ├── interface.cpp │ ├── interface.h │ ├── json.h │ ├── mavlink.cpp │ ├── mavlink.h │ └── protobuf.h ├── navigation │ ├── groups.h │ └── navigation.h ├── opencpn │ └── groups.h ├── protobuf │ ├── app_config.proto │ ├── can_config.proto │ ├── coroner.proto │ ├── frontseat.proto │ ├── frontseat_config.proto │ ├── frontseat_data.proto │ ├── geographic.proto │ ├── gpsd.proto │ ├── hdf5.proto │ ├── intermodule.proto │ ├── intervehicle.proto │ ├── intervehicle_transporter_config.proto │ ├── io.proto │ ├── layer.proto │ ├── log_convert_tool_config.proto │ ├── logger.proto │ ├── navigation.proto │ ├── pty_config.proto │ ├── serial_config.proto │ ├── serializer_transporter.proto │ ├── tcp_config.proto │ ├── terminate.proto │ ├── transporter_config.proto │ └── udp_config.proto ├── src.cmake ├── terminate │ ├── groups.h │ └── terminate.h └── transport │ ├── detail │ ├── subscription_store.h │ └── type_helpers.h │ ├── interface.h │ ├── intermodule.h │ ├── interprocess.h │ ├── interthread.cpp │ ├── interthread.h │ ├── intervehicle.h │ ├── intervehicle │ ├── driver_thread.cpp │ ├── driver_thread.h │ └── groups.h │ ├── null.h │ ├── poller.h │ ├── publisher.h │ ├── serialization_handlers.h │ └── subscriber.h ├── moos ├── CMakeLists.txt ├── dynamic_moos_vars.h ├── frontseat │ ├── convert.cpp │ └── convert.h ├── goby_moos_app.cpp ├── goby_moos_app.h ├── middleware │ ├── CMakeLists.txt │ ├── coroner │ │ ├── CMakeLists.txt │ │ └── coroner_gateway_plugin.cpp │ ├── frontseat │ │ ├── CMakeLists.txt │ │ ├── frontseat_gateway_plugin.cpp │ │ └── frontseat_gateway_plugin.h │ ├── moos_plugin_translator.cpp │ └── moos_plugin_translator.h ├── modem_id_convert.cpp ├── modem_id_convert.h ├── moos_bluefin_driver.cpp ├── moos_bluefin_driver.h ├── moos_geodesy.cpp ├── moos_geodesy.h ├── moos_header.h ├── moos_liaison_load.cpp ├── moos_liaison_load.h ├── moos_protobuf_helpers.cpp ├── moos_protobuf_helpers.h ├── moos_serializer.h ├── moos_string.h ├── moos_translator.cpp ├── moos_translator.h ├── moos_ufield_sim_driver.cpp ├── moos_ufield_sim_driver.h ├── protobuf │ ├── bluefin_driver.proto │ ├── desired_course.proto │ ├── goby_moos_app.proto │ ├── iFrontSeat_config.proto │ ├── liaison_config.proto │ ├── modem_id_lookup.proto │ ├── moos_gateway_config.proto │ ├── moos_helm_frontseat_interface_config.proto │ ├── node_status.proto │ ├── pAcommsHandler_config.proto │ ├── translator.proto │ └── ufield_sim_driver.proto └── transitional │ ├── dccl_constants.h │ ├── message.h │ ├── message_algorithms.cpp │ ├── message_algorithms.h │ ├── message_publish.h │ ├── message_val.cpp │ ├── message_val.h │ └── message_var.h ├── protobuf └── option_extensions.proto ├── share ├── Goby.jl │ ├── Project.toml │ └── src │ │ ├── Goby.jl │ │ ├── gen_goby.jl │ │ └── pkg.jl ├── doc │ ├── MIT_Open_Source_Approval_Case_16741.pdf │ ├── header_bin.txt │ ├── header_lib.txt │ ├── papers │ │ └── dccl_oceans10.pdf │ ├── style_example.cpp │ └── style_example.h ├── liaison │ ├── css │ │ ├── fonts.css │ │ └── liaison.css │ ├── example.pb.cfg │ ├── fonts │ │ ├── geni102-webfont.eot │ │ ├── geni102-webfont.svg │ │ ├── geni102-webfont.ttf │ │ ├── geni102-webfont.woff │ │ ├── genr102-webfont.eot │ │ ├── genr102-webfont.svg │ │ ├── genr102-webfont.ttf │ │ └── genr102-webfont.woff │ └── images │ │ ├── goby-lp.png │ │ ├── gobysoft_logo_dot_org.png │ │ ├── gobysoft_logo_dot_org_small.png │ │ └── mit-logo.gif └── xml │ ├── acoustic_moospoke.xml │ ├── coopnav_auv_status.xml │ ├── coopnav_cna_status.xml │ ├── flush_queue.xml │ ├── message_schema.xsd │ ├── poller_update.xml │ ├── simple_status.xml │ ├── size_test.xml │ ├── small_test.xml │ └── small_test_with_ack.xml ├── test ├── CMakeLists.txt ├── acomms │ ├── CMakeLists.txt │ ├── amac1 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── benthos_atm900_driver1 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── dccl1 │ │ └── test.proto │ ├── dccl3 │ │ ├── header.proto │ │ └── test.proto │ ├── driver_tester │ │ ├── driver_tester.cpp │ │ └── driver_tester.h │ ├── dynamic_buffer1 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── ipcodecs │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── iridiumdriver1 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── iridiumdriver_rockblock1 │ │ ├── CMakeLists.txt │ │ ├── goby_rockblock_simulator.pb.cfg │ │ └── test.cpp │ ├── janus_driver │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── mmdriver1 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── mmdriver2 │ │ ├── CMakeLists.txt │ │ ├── test.cpp │ │ └── test_config.proto │ ├── popoto_driver1 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── queue1 │ │ ├── CMakeLists.txt │ │ ├── test.cpp │ │ └── test.proto │ ├── queue2 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── queue3 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── queue4 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── queue5 │ │ ├── CMakeLists.txt │ │ ├── test.cpp │ │ └── test.proto │ ├── queue6 │ │ ├── CMakeLists.txt │ │ ├── test.cpp │ │ └── test.proto │ ├── route1 │ │ ├── CMakeLists.txt │ │ ├── test.cpp │ │ └── test.proto │ ├── store_server_driver1 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── udp_multicast_driver1 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── udpdriver1 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── udpdriver2 │ │ ├── CMakeLists.txt │ │ └── test.cpp │ └── udpdriver3 │ │ ├── CMakeLists.txt │ │ └── test.cpp ├── middleware │ ├── CMakeLists.txt │ ├── hdf5 │ │ ├── CMakeLists.txt │ │ ├── test-plugin.cpp │ │ ├── test.cpp │ │ └── test2.proto │ ├── json │ │ ├── CMakeLists.txt │ │ └── json.cpp │ ├── log │ │ ├── CMakeLists.txt │ │ ├── test.cpp │ │ └── test.proto │ ├── mavlink │ │ ├── CMakeLists.txt │ │ └── mavlink.cpp │ └── middleware_interthread │ │ ├── CMakeLists.txt │ │ ├── test.cpp │ │ └── test.proto ├── moos │ ├── CMakeLists.txt │ ├── goby_app_config │ │ ├── CMakeLists.txt │ │ ├── config.proto │ │ ├── test.cpp │ │ └── test.moos │ └── translator1 │ │ ├── CMakeLists.txt │ │ ├── basic_node_report.proto │ │ ├── modemidlookup.txt │ │ └── test.cpp ├── suppressions.tsan.txt ├── time │ ├── CMakeLists.txt │ ├── time.cpp │ └── time3.cpp ├── util │ ├── CMakeLists.txt │ ├── ais │ │ ├── CMakeLists.txt │ │ └── ais.cpp │ ├── as │ │ ├── CMakeLists.txt │ │ └── as.cpp │ ├── base255 │ │ ├── CMakeLists.txt │ │ └── base255.cpp │ ├── cobs │ │ ├── CMakeLists.txt │ │ └── cobs_test.cpp │ ├── debug_logger │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── geodesy │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── hex_codec │ │ ├── CMakeLists.txt │ │ └── hex_codec.cpp │ ├── linebasedcomms │ │ ├── CMakeLists.txt │ │ └── test.cpp │ ├── nmea │ │ ├── CMakeLists.txt │ │ └── nmea.cpp │ ├── sci │ │ ├── CMakeLists.txt │ │ └── sci.cpp │ ├── seawater │ │ ├── CMakeLists.txt │ │ └── seawater.cpp │ └── units │ │ ├── CMakeLists.txt │ │ └── units.cpp └── zeromq │ ├── CMakeLists.txt │ ├── middleware_basic │ ├── CMakeLists.txt │ ├── test-scheme.h │ ├── test.cpp │ └── test.proto │ ├── middleware_interprocess_forwarder │ ├── CMakeLists.txt │ ├── test.cpp │ └── test.proto │ ├── middleware_regex │ ├── CMakeLists.txt │ ├── test.cpp │ └── test.proto │ ├── middleware_speed │ ├── CMakeLists.txt │ ├── test.cpp │ └── test.proto │ ├── multi_thread_app1 │ ├── CMakeLists.txt │ ├── test.cpp │ └── test.proto │ ├── multi_thread_app2 │ ├── CMakeLists.txt │ ├── test.cpp │ └── test.proto │ ├── single_thread_app1 │ ├── CMakeLists.txt │ ├── test.cpp │ └── test.proto │ ├── zeromq_and_intervehicle │ ├── CMakeLists.txt │ ├── test.cpp │ └── test.proto │ ├── zeromq_intermodule_and_interprocess │ ├── CMakeLists.txt │ ├── test.cpp │ └── test.proto │ └── zeromq_portal_without_interthread │ ├── CMakeLists.txt │ ├── test.cpp │ └── test.proto ├── time.h ├── time ├── asio.h ├── convert.h ├── io.h ├── legacy.h ├── simulation.cpp ├── simulation.h ├── src.cmake ├── steady_clock.h ├── system_clock.h └── types.h ├── util.h ├── util ├── ais.h ├── ais │ ├── decode.cpp │ ├── decode.h │ ├── encode.cpp │ └── encode.h ├── as.h ├── asio_compat.h ├── base_convert.cpp ├── base_convert.h ├── binary.h ├── constants.h ├── dccl_compat.h ├── debug_logger.h ├── debug_logger │ ├── flex_ncurses.cpp │ ├── flex_ncurses.h │ ├── flex_ostream.cpp │ ├── flex_ostream.h │ ├── flex_ostreambuf.cpp │ ├── flex_ostreambuf.h │ ├── logger_manipulators.cpp │ ├── logger_manipulators.h │ ├── term_color.cpp │ └── term_color.h ├── geodesy.cpp ├── geodesy.h ├── linebasedcomms.h ├── linebasedcomms │ ├── gps_sentence.cpp │ ├── gps_sentence.h │ ├── interface.cpp │ ├── interface.h │ ├── nmea_sentence.cpp │ ├── nmea_sentence.h │ ├── serial_client.cpp │ ├── serial_client.h │ ├── tcp_client.cpp │ ├── tcp_client.h │ ├── tcp_server.cpp │ ├── tcp_server.h │ └── thread_stub.h ├── primitive_types.h ├── protobuf │ ├── ais.proto │ ├── debug_logger.proto │ ├── io.h │ └── linebasedcomms.proto ├── sci.h ├── seawater.h ├── seawater │ ├── depth.h │ ├── detail │ │ └── salinity_impl.h │ ├── pressure.h │ ├── salinity.h │ ├── soundspeed.h │ ├── swstate.h │ └── units.h ├── src.cmake ├── thirdparty │ ├── cobs │ │ ├── README.md │ │ └── cobs.h │ ├── cpp-httplib │ │ └── httplib.h │ ├── jwt-cpp │ │ ├── base.h │ │ ├── jwt.h │ │ └── traits │ │ │ ├── defaults.h.mustache │ │ │ └── nlohmann-json │ │ │ ├── defaults.h │ │ │ └── traits.h │ └── nlohmann │ │ └── json.hpp └── units │ └── rpm │ └── system.hpp ├── version.h └── zeromq ├── CMakeLists.txt ├── application ├── multi_thread.h └── single_thread.h ├── liaison └── liaison_container.h ├── 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