Merge branch 'master' of https://github.com/otcshare/automotive-message-broker

20 files changed, 688 insertions, 83 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1d38fd4f..204361a4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,6 +22,7 @@ option(obd2_plugin "OBD-II plugin" ON)
 option(database_plugin "Database plugins" OFF)
 option(qt_bindings "AMB Qt DBus bindings" OFF)
 option(opencvlux_plugin "OpenCV Lux plugin" OFF)
+option(gpsd_plugin "gpsd location plugin" OFF)
 
 if(opencvlux_plugin)
    message(STATUS "OpenCV Lux plugin enabled")
diff --git a/examples/databaseconfig b/examples/databaseconfig
index 9007fe58..23cde224 100644
--- a/examples/databaseconfig
+++ b/examples/databaseconfig
@@ -14,6 +14,9 @@
 		{
 			"name" : "Example Sink",
 			"path" : "/usr/lib/automotive-message-broker/examplesinkplugin.so"
+		},
+		{
+			"path" : "/usr/lib/automotive-message-broker/dbussinkplugin.so"
 		}
 	]
 }
diff --git a/examples/gpsdconfig b/examples/gpsdconfig
new file mode 100644
index 00000000..3d6c09df
--- /dev/null
+++ b/examples/gpsdconfig
@@ -0,0 +1,15 @@
+{
+	"sources" : [ 
+		{
+			"name" : "gpsd plugin",
+			"path" : "/usr/lib/automotive-message-broker/gpsdplugin.so",
+			"updateVelocity" : "true"
+		}
+	],
+	"sinks": [
+		{
+			"path" : "/usr/lib/automotive-message-broker/dbussinkplugin.so"
+		}
+	]
+}
+
diff --git a/examples/opencvconfig b/examples/opencvconfig
new file mode 100644
index 00000000..fc6c2529
--- /dev/null
+++ b/examples/opencvconfig
@@ -0,0 +1,15 @@
+{
+	"sources" : [ 
+		{
+			"name" : "OpenCV Lux Plugin",
+			"path" : "/usr/lib/automotive-message-broker/opencvluxplugin.so"
+		}
+	],
+	"sinks": [
+		{
+			"name" : "DBusSink",
+			"path" : "/usr/lib/automotive-message-broker/dbussinkplugin.so"
+		} 
+	]
+}
+
diff --git a/examples/storage b/examples/storage
index 19a06f00..c21b03bc 100644
--- a/examples/storage
+++ b/examples/storage
diff --git a/lib/abstractpropertytype.h b/lib/abstractpropertytype.h
index dc625e5e..2f67058a 100644
--- a/lib/abstractpropertytype.h
+++ b/lib/abstractpropertytype.h
@@ -334,7 +334,7 @@ class StringPropertyType: public AbstractPropertyType
 {
 public:
 	StringPropertyType(std::string val)
-		:AbstractPropertyType(),mVariant(NULL)
+		:AbstractPropertyType()
 	{
 		setValue(val);
 	}
@@ -370,22 +370,14 @@ public:
 	{
 		//mVariant = Glib::Variant<std::string>::create(toString());
 
-		if(mVariant)
-			g_variant_unref(mVariant);
-
-		mVariant = g_variant_ref(g_variant_new_string(toString().c_str()));
+		return g_variant_new_string(toString().c_str());
 
-		return mVariant;
 	}
 
 	void fromVariant(GVariant *v)
 	{
 		setValue(std::string(g_variant_get_string(v,NULL)));
 	}
-
-private:
-
-	GVariant* mVariant;
 };
 
 template <class T>
diff --git a/lib/vehicleproperty.h b/lib/vehicleproperty.h
index 5807bf1f..9f95b3f7 100644
--- a/lib/vehicleproperty.h
+++ b/lib/vehicleproperty.h
@@ -455,7 +455,7 @@ public:
 	typedef BasicPropertyType<double> AltitudeType;
 
 	static const Property Direction;
-	typedef BasicPropertyType<uint> DirectionType;
+	typedef BasicPropertyType<uint16_t> DirectionType;
 
 	static const Property VehicleWidth;
 	static const Property VehicleHeight;
diff --git a/plugins/CMakeLists.txt b/plugins/CMakeLists.txt
index ce755b74..c0cf1e1f 100644
--- a/plugins/CMakeLists.txt
+++ b/plugins/CMakeLists.txt
@@ -28,3 +28,4 @@ add_subdirectory(websocketsourceplugin)
 add_subdirectory(tpms)
 add_subdirectory(database)
 add_subdirectory(opencvlux)
+add_subdirectory(gpsd)
diff --git a/plugins/database/databasesink.cpp b/plugins/database/databasesink.cpp
index 85c751df..5c44f54f 100644
--- a/plugins/database/databasesink.cpp
+++ b/plugins/database/databasesink.cpp
@@ -1,5 +1,6 @@
 #include "databasesink.h"
 #include "abstractroutingengine.h"
+#include "listplusplus.h"
 
 #include <json-glib/json-glib.h>
 
@@ -8,52 +9,101 @@ extern "C" AbstractSinkManager * create(AbstractRoutingEngine* routingengine, ma
 	return new DatabaseSinkManager(routingengine, config);
 }
 
-DatabaseSink::DatabaseSink(AbstractRoutingEngine *engine, map<std::string, std::string> config)
-	:AbstractSource(engine,config)
+void * cbFunc(gpointer data)
 {
-	databaseName = "storage";
-	tablename = "data";
-	tablecreate = "CREATE TABLE IF NOT EXISTS data (key TEXT, value BLOB, source TEXT, time REAL, sequence REAL)";
-	shared = new Shared;
-	shared->db->init(databaseName, tablename, tablecreate);
+	Shared *shared = static_cast<Shared*>(data);
+
+	if(!shared)
+	{
+		throw std::runtime_error("Could not cast shared object.");
+	}
 
-	auto cb = [](gpointer data)
+	while(1)
 	{
-		Shared *shared = (Shared*)data;
+		DBObject* obj = shared->queue.pop();
 
-		while(1)
+		if( obj->quit )
 		{
-			DBObject* obj = shared->queue.pop();
+			delete obj;
+			break;
+		}
 
-			if( obj->quit )
-			{
-				delete obj;
-				break;
-			}
+		DictionaryList<string> dict;
 
-			DictionaryList<string> dict;
+		NameValuePair<string> one("key", obj->key);
+		NameValuePair<string> two("value", obj->value);
+		NameValuePair<string> three("source", obj->source);
+		NameValuePair<string> four("time", boost::lexical_cast<string>(obj->time));
+		NameValuePair<string> five("sequence", boost::lexical_cast<string>(obj->sequence));
 
-			NameValuePair<string> one("key", obj->key);
-			NameValuePair<string> two("value", obj->value);
-			NameValuePair<string> three("source", obj->source);
-			NameValuePair<string> four("time", boost::lexical_cast<string>(obj->time));
-			NameValuePair<string> five("sequence", boost::lexical_cast<string>(obj->sequence));
+		dict.push_back(one);
+		dict.push_back(two);
+		dict.push_back(three);
+		dict.push_back(four);
+		dict.push_back(five);
 
-			dict.push_back(one);
-			dict.push_back(two);
-			dict.push_back(three);
-			dict.push_back(four);
-			dict.push_back(five);
+		shared->db->insert(dict);
+		delete obj;
+	}
 
-			shared->db->insert(dict);
-			delete obj;
-		}
+	return NULL;
+}
+
+int getNextEvent(gpointer data)
+{
+	PlaybackShared* pbshared = static_cast<PlaybackShared*>(data);
+
+	if(!pbshared)
+		throw std::runtime_error("failed to cast PlaybackShared object");
+
+	auto itr = pbshared->playbackQueue.begin();
+
+	if(itr == pbshared->playbackQueue.end())
+	{
+		return 0;
+	}
+
+	DBObject* obj = *itr;
+
+	AbstractPropertyType* value = VehicleProperty::getPropertyTypeForPropertyNameValue(obj->key,obj->value);
+
+	if(value)
+	{
+		pbshared->routingEngine->updateProperty(obj->key, value, pbshared->uuid);
+		value->timestamp = obj->time;
+		value->sequence = obj->sequence;
+	}
+
+	if(++itr != pbshared->playbackQueue.end())
+	{
+		DBObject *o2 = *itr;
+		double t = o2->time - obj->time;
+
+		if(t > 0)
+			g_timeout_add(t*1000, getNextEvent, pbshared);
+		else
+			g_timeout_add(t, getNextEvent, pbshared);
+	}
+
+	pbshared->playbackQueue.remove(obj);
+	delete obj;
+
+	return 0;
+}
+
+DatabaseSink::DatabaseSink(AbstractRoutingEngine *engine, map<std::string, std::string> config)
+	:AbstractSource(engine,config),thread(NULL),shared(NULL),playback(false),playbackShared(NULL)
+{
+	databaseName = "storage";
+	tablename = "data";
+	tablecreate = "CREATE TABLE IF NOT EXISTS data (key TEXT, value BLOB, source TEXT, time REAL, sequence REAL)";
 
-		void* ret = NULL;
-		return ret;
-	};
+	//startDb();
 
-	thread = g_thread_new("dbthread", cb, shared);
+	if(config.find("startOnLoad")!= config.end())
+	{
+		startDb();
+	}
 
 	parseConfig();
 
@@ -62,18 +112,27 @@ DatabaseSink::DatabaseSink(AbstractRoutingEngine *engine, map<std::string, std::
 		engine->subscribeToProperty(*itr,this);
 	}
 
+	mSupported.push_back(DatabaseFileProperty);
+	mSupported.push_back(DatabaseLoggingProperty);
+	mSupported.push_back(DatabasePlaybackProperty);
+
+	routingEngine->setSupported(mSupported,this);
+
 }
 
 DatabaseSink::~DatabaseSink()
 {
-	DBObject* obj = new DBObject();
-	obj->quit = true;
-
-	shared->queue.append(obj);
+	if(shared)
+	{
+		DBObject* obj = new DBObject();
+		obj->quit = true;
 
-	g_thread_join(thread);
+		shared->queue.append(obj);
 
-	delete shared;
+		g_thread_join(thread);
+		g_thread_unref(thread);
+		delete shared;
+	}
 }
 
 
@@ -84,13 +143,7 @@ void DatabaseSink::supportedChanged(PropertyList supportedProperties)
 
 PropertyList DatabaseSink::supported()
 {
-	PropertyList props;
-
-	props.push_back(VehicleProperty::EngineSpeed);
-	props.push_back(VehicleProperty::VehicleSpeed);
-	props.push_back(DatabaseLoggingProperty);
-
-	return props;
+	return mSupported;
 }
 
 void DatabaseSink::parseConfig()
@@ -106,7 +159,10 @@ void DatabaseSink::parseConfig()
 	JsonNode* node = json_parser_get_root(parser);
 
 	if(node == nullptr)
-		throw std::runtime_error("Unable to get JSON root object");
+	{
+		/// no options
+		return;
+	}
 
 	JsonReader* reader = json_reader_new(node);
 
@@ -133,8 +189,106 @@ void DatabaseSink::parseConfig()
 	g_object_unref(parser);
 }
 
+void DatabaseSink::stopDb()
+{
+	if(!shared)
+		return;
+
+	DBObject *obj = new DBObject();
+	obj->quit = true;
+	shared->queue.append(obj);
+
+	g_thread_join(thread);
+
+	delete shared;
+	shared = NULL;
+}
+
+void DatabaseSink::startDb()
+{
+	if(playback)
+	{
+		DebugOut(0)<<"ERROR: tried to start logging during playback.  Only logging or playback can be used at one time"<<endl;
+		return;
+	}
+
+	if(shared)
+	{
+		DebugOut(0)<<"WARNING: logging already started.  doing nothing."<<endl;
+		return;
+	}
+
+	initDb();
+
+//	thread = g_thread_new("dbthread", cbFunc, shared);
+}
+
+void DatabaseSink::startPlayback()
+{
+	if(playback)
+		return;
+
+	playback = true;
+
+	initDb();
+
+	/// get supported:
+
+	vector<vector<string> > supportedStr = shared->db->select("SELECT DISTINCT key FROM "+tablename);
+
+	for(int i=0; i < supportedStr.size(); i++)
+	{
+		if(!ListPlusPlus<VehicleProperty::Property>(&mSupported).contains(supportedStr[i][0]))
+			mSupported.push_back(supportedStr[i][0]);
+	}
+
+	routingEngine->setSupported(supported(), this);
+
+	/// populate playback queue:
+
+	vector<vector<string> > results = shared->db->select("SELECT * FROM "+tablename);
+
+	if(playbackShared)
+	{
+		delete playbackShared;
+	}
+
+	playbackShared = new PlaybackShared(routingEngine,uuid());
+
+	for(int i=0;i<results.size();i++)
+	{
+		if(results[i].size() < 5)
+		{
+			throw std::runtime_error("column mismatch in query");
+		}
+
+		DBObject* obj = new DBObject();
+
+		obj->key = results[i][0];
+		obj->value = results[i][1];
+		obj->source = results[i][2];
+		obj->time = boost::lexical_cast<double>(results[i][3]);
+//		obj->sequence = boost::lexical_cast<int>(results[i][4]);
+
+		playbackShared->playbackQueue.push_back(obj);
+	}
+
+	g_timeout_add(0,getNextEvent,playbackShared);
+}
+
+void DatabaseSink::initDb()
+{
+	if(shared) delete shared;
+
+	shared = new Shared;
+	shared->db->init(databaseName, tablename, tablecreate);
+}
+
 void DatabaseSink::propertyChanged(VehicleProperty::Property property, AbstractPropertyType *value, std::string uuid)
 {
+	if(!shared)
+		return;
+
 	DBObject* obj = new DBObject;
 	obj->key = property;
 	obj->value = value->toString();
@@ -153,7 +307,40 @@ std::string DatabaseSink::uuid()
 
 void DatabaseSink::getPropertyAsync(AsyncPropertyReply *reply)
 {
+	reply->success = false;
+
+	if(reply->property == DatabaseFileProperty)
+	{
+		StringPropertyType temp(databaseName);
+		reply->value = &temp;
+
+		reply->success = true;
+		reply->completed(reply);
+
+		return;
+	}
+	else if(reply->property == DatabaseLoggingProperty)
+	{
+		BasicPropertyType<bool> temp = shared;
+
+		reply->value = &temp;
+		reply->success = true;
+		reply->completed(reply);
 
+		return;
+	}
+
+	else if(reply->property == DatabasePlaybackProperty)
+	{
+		BasicPropertyType<bool> temp = playback;
+		reply->value = &temp;
+		reply->success = true;
+		reply->completed(reply);
+
+		return;
+	}
+
+	reply->completed(reply);
 }
 
 void DatabaseSink::getRangePropertyAsync(AsyncRangePropertyReply *reply)
@@ -225,7 +412,44 @@ AsyncPropertyReply *DatabaseSink::setProperty(AsyncSetPropertyRequest request)
 		if(request.value->value<bool>())
 		{
 			///TODO: start or stop logging thread
+			startDb();
+			reply->success = true;
+			BasicPropertyType<bool> temp(true);
+			routingEngine->updateProperty(DatabaseLoggingProperty,&temp,uuid());
 		}
+		else
+		{
+			stopDb();
+			reply->success = true;
+			BasicPropertyType<bool> temp(false);
+			routingEngine->updateProperty(DatabaseLoggingProperty,&temp,uuid());
+		}
+	}
+
+	else if(request.property == DatabaseFileProperty)
+	{
+		std::string fname = request.value->toString();
+
+		databaseName = fname;
+
+		StringPropertyType temp(databaseName);
+
+		routingEngine->updateProperty(DatabaseFileProperty,&temp,uuid());
+
+		reply->success = true;
+	}
+	else if( request.property == DatabasePlaybackProperty)
+	{
+		if(request.value->value<bool>())
+		{
+			startPlayback();
+		}
+		else
+		{
+			/// TODO: stop playback
+		}
+
+		reply->success = true;
 	}
 
 	return reply;
diff --git a/plugins/database/databasesink.h b/plugins/database/databasesink.h
index c41017cd..7a2607f9 100644
--- a/plugins/database/databasesink.h
+++ b/plugins/database/databasesink.h
@@ -26,7 +26,11 @@
 
 #include <glib.h>
 
+#include <functional>
+
 #define DatabaseLoggingProperty "DatabaseLogging"
+#define DatabasePlaybackProperty "DatabasePlayback"
+#define DatabaseFileProperty "DatabaseFile"
 
 template <typename T>
 class Queue
@@ -34,25 +38,26 @@ class Queue
 public:
 	Queue()
 	{
-		mutex = g_mutex_new();
+		g_mutex_init(&mutex);
+		g_cond_init(&cond);
 	}
 
 	int count()
 	{
-		g_mutex_lock(mutex);
+		g_mutex_lock(&mutex);
 		int ret = mQueue.count();
-		g_mutex_unlock(mutex);
+		g_mutex_unlock(&mutex);
 
 		return ret;
 	}
 
 	T pop()
 	{
-		g_mutex_lock(mutex);
+		g_mutex_lock(&mutex);
 
 		while(!mQueue.size())
 		{
-			g_cond_wait(&cond, mutex);
+			g_cond_wait(&cond, &mutex);
 		}
 
 		auto itr = mQueue.begin();
@@ -61,24 +66,24 @@ public:
 
 		mQueue.erase(itr);
 
-		g_mutex_unlock(mutex);
+		g_mutex_unlock(&mutex);
 
 		return item;
 	}
 
 	void append(T item)
 	{
-		g_mutex_lock(mutex);
+		g_mutex_lock(&mutex);
 
 		g_cond_signal(&cond);
 
 		mQueue.push_back(item);
 
-		g_mutex_unlock(mutex);
+		g_mutex_unlock(&mutex);
 	}
 
 private:
-	GMutex * mutex;
+	GMutex mutex;
 	GCond cond;
 	std::vector<T> mQueue;
 };
@@ -110,6 +115,28 @@ public:
 	Queue<DBObject*> queue;
 };
 
+class PlaybackShared
+{
+public:
+	PlaybackShared(AbstractRoutingEngine* re, std::string u)
+		:routingEngine(re),uuid(u) {}
+	~PlaybackShared()
+	{
+		for(auto itr = playbackQueue.begin(); itr != playbackQueue.end(); itr++)
+		{
+			DBObject* obj = *itr;
+
+			delete obj;
+		}
+
+		playbackQueue.clear();
+	}
+
+	AbstractRoutingEngine* routingEngine;
+	std::list<DBObject*> playbackQueue;
+	std::string uuid;
+};
+
 class DatabaseSink : public AbstractSource
 {
 
@@ -127,11 +154,15 @@ public:
 	virtual void subscribeToPropertyChanges(VehicleProperty::Property property);
 	virtual void unsubscribeToPropertyChanges(VehicleProperty::Property property);
 	virtual PropertyList supported();
-	int supportedOperations() { return GetRanged; }
+	int supportedOperations() { return GetRanged | Get | Set;}
 
 private: //methods:
 
 	void parseConfig();
+	void stopDb();
+	void startDb();
+	void startPlayback();
+	void initDb();
 
 private:
 	PropertyList mSubscriptions;
@@ -141,6 +172,9 @@ private:
 	std::string tablename;
 	std::string tablecreate;
 	std::list<VehicleProperty::Property> propertiesToSubscribeTo;
+	PropertyList mSupported;
+	bool playback;
+	PlaybackShared* playbackShared;
 };
 
 class DatabaseSinkManager: public AbstractSinkManager
@@ -151,6 +185,8 @@ public:
 	{
 		new DatabaseSink(routingEngine, config);
 		VehicleProperty::registerProperty(DatabaseLoggingProperty, [](){return new BasicPropertyType<bool>(false);});
+		VehicleProperty::registerProperty(DatabasePlaybackProperty, [](){return new BasicPropertyType<bool>(false);});
+VehicleProperty::registerProperty(DatabaseFileProperty, [](){return new StringPropertyType("out.ogg");});
 	}
 };
 
diff --git a/plugins/dbus/amb-qt/ambqt.h b/plugins/dbus/amb-qt/ambqt.h
index ade3c05a..c406d737 100644
--- a/plugins/dbus/amb-qt/ambqt.h
+++ b/plugins/dbus/amb-qt/ambqt.h
@@ -19,7 +19,7 @@ class AmbProperty: public QObject
 	Q_OBJECT
 	Q_PROPERTY(QString propertyName READ propertyName WRITE setPropertyName)
 	AUTOPROPERTY(QString, propertyName, PropertyName)
-	Q_PROPERTY(QVariant value READ value NOTIFY valueChanged)
+	Q_PROPERTY(QVariant value READ value WRITE setValue NOTIFY valueChanged)
 	Q_PROPERTY(QString interfaceName READ interfaceName WRITE setInterfaceName)
 	AUTOPROPERTY(QString, interfaceName, InterfaceName)
 	Q_PROPERTY(QString objectPath READ objectPath WRITE setObjectPath)
@@ -35,7 +35,7 @@ class AmbProperty: public QObject
 	{
 		if(!mDBusInterface || !mDBusInterface->isValid())
 		{
-			qDebug()<<"error Interface is not valid";
+			qDebug()<<"error Interface is not valid: "<<interfaceName();
 			return QVariant::Invalid;
 		}
 
@@ -44,6 +44,16 @@ class AmbProperty: public QObject
 		return value;
 	}
 
+	void setValue(QVariant v)
+	{
+		if(!mDBusInterface || !mDBusInterface->isValid())
+		{
+			qDebug()<<"error Interface is not valid "<<interfaceName();
+		}
+
+		mDBusInterface->setProperty(propertyName().toAscii(), v);
+	}
+
 Q_SIGNALS:
 	void propertyChanged(QVariant, double);
 	void valueChanged(QVariant);
diff --git a/plugins/dbus/dbusinterfacemanager.cpp b/plugins/dbus/dbusinterfacemanager.cpp
index 812df7b8..024ad8ec 100644
--- a/plugins/dbus/dbusinterfacemanager.cpp
+++ b/plugins/dbus/dbusinterfacemanager.cpp
@@ -69,6 +69,7 @@ on_bus_acquired (GDBusConnection *connection, const gchar *name, gpointer user_d
 	ConstructProperty(ParkingBrakeProperty);
 	ConstructProperty(ParkingLightProperty);
 	ConstructProperty(HazardLightProperty);
+	ConstructProperty(LocationProperty);
 
 	PropertyList list = VehicleProperty::customProperties();
 
diff --git a/plugins/examplesink.cpp b/plugins/examplesink.cpp
index 86b3a8d9..9f5ed063 100644
--- a/plugins/examplesink.cpp
+++ b/plugins/examplesink.cpp
@@ -49,6 +49,8 @@ void ExampleSink::supportedChanged(PropertyList supportedProperties)
 	printf("Support changed!\n");
 	routingEngine->subscribeToProperty(VehicleProperty::EngineSpeed, this);
 	routingEngine->subscribeToProperty(VehicleProperty::VehicleSpeed, this);
+	routingEngine->subscribeToProperty(VehicleProperty::Latitude, this);
+	routingEngine->subscribeToProperty(VehicleProperty::Longitude, this);
 
 	AsyncPropertyRequest velocityRequest;
 	velocityRequest.property = VehicleProperty::VehicleSpeed;
diff --git a/plugins/gpsd/CMakeLists.txt b/plugins/gpsd/CMakeLists.txt
new file mode 100644
index 00000000..10fe2302
--- /dev/null
+++ b/plugins/gpsd/CMakeLists.txt
@@ -0,0 +1,17 @@
+if(gpsd_plugin)
+
+
+pkg_check_modules(gpsd REQUIRED libgps)
+
+include_directories(${CMAKE_SOURCE_DIR}/lib ${include_dirs} ${gpsd_INCLUDE_DIRS})
+
+set(gpsdplugin_headers gpsdplugin.h)
+set(gpsdplugin_sources gpsdplugin.cpp)
+
+add_library(gpsdplugin MODULE ${gpsdplugin_sources})
+set_target_properties(gpsdplugin PROPERTIES PREFIX "")
+target_link_libraries(gpsdplugin amb -L${CMAKE_CURRENT_BINARY_DIR}/lib ${link_libraries} ${gpsd_LIBRARIES})
+
+install(TARGETS gpsdplugin LIBRARY DESTINATION lib/automotive-message-broker)
+
+endif(gpsd_plugin)
diff --git a/plugins/gpsd/gpsdplugin.cpp b/plugins/gpsd/gpsdplugin.cpp
new file mode 100644
index 00000000..b3432f2a
--- /dev/null
+++ b/plugins/gpsd/gpsdplugin.cpp
@@ -0,0 +1,211 @@
+/*
+Copyright (C) 2012 Intel Corporation
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include "gpsdplugin.h"
+#include "timestamp.h"
+
+#include <iostream>
+#include <boost/assert.hpp>
+
+using namespace std;
+
+#include "debugout.h"
+
+static int updateGpsposition(gpointer data)
+{
+	GpsdPlugin::Shared* shared = static_cast<GpsdPlugin::Shared*>(data);
+
+#if (GPSD_API_MAJOR_VERSION >= 5)
+
+	if (!gps_waiting (&shared->gps, 0))
+	{
+		return 1;
+	}
+
+	if(gps_read(&shared->gps) == -1)
+	{
+		DebugOut(0)<<"failed to read gps data from gpsd."<<endl;
+		return 1;
+	}
+#else
+
+	gps_poll(&gps);
+
+#endif
+
+	double time = amb::currentTime();
+
+	if(shared->gps.fix.mode > 2)
+	{
+		if(shared->gps.fix.latitude != shared->oldlat)
+			shared->oldlat = shared->gps.fix.latitude;
+		if(shared->gps.fix.longitude != shared->oldlon)
+			shared->oldlon = shared->gps.fix.longitude;
+		if(shared->gps.fix.altitude != shared->oldalt)
+			shared->oldalt = shared->gps.fix.altitude;
+		if(shared->gps.fix.track != shared->oldheading)
+			shared->oldheading = shared->gps.fix.track;
+		if(shared->gps.fix.speed * MPS_TO_KPH != shared->oldspeed)
+		{
+			shared->oldspeed = shared->gps.fix.speed * MPS_TO_KPH;
+		}
+
+		shared->parent->updateProperty();
+	}
+
+	return 1;
+}
+
+GpsdPlugin::GpsdPlugin(AbstractRoutingEngine* re, map<string, string> config)
+	:AbstractSource(re, config)
+{
+	shared = new Shared(this);
+
+#if(GPSD_API_MAJOR_VERSION >= 5)
+	int ret = gps_open("localhost","2947", &shared->gps);
+
+	if(ret != 0)
+	{
+		debugOut("failed to open gps");
+		DebugOut()<<"return value: "<<ret<<endl;
+		(void)fprintf(stderr,"no gpsd running or network error: %d, %s\n",
+					  errno, gps_errstr(errno));
+		return;
+	}
+#else
+	shared->gps = *(gps_open("localhost","2947"));
+
+#endif
+
+	gps_stream(&shared->gps, WATCH_ENABLE | WATCH_JSON, NULL);
+
+	int timeout=200;
+
+	if(config.find("timeout") != config.end())
+	{
+		timeout = atoi(config["timeout"].c_str());
+	}
+
+	updateVelocity = false;
+
+	if(config.find("updateVelocity") != config.end())
+	{
+		updateVelocity = config["updateVelocity"] == "true";
+	}
+
+	g_timeout_add(timeout,updateGpsposition,shared);
+
+	re->setSupported(supported(), this);
+}
+
+GpsdPlugin::~GpsdPlugin()
+{
+	(void) gps_stream(&shared->gps, WATCH_DISABLE, NULL);
+	gps_close(&shared->gps);
+}
+
+extern "C" AbstractSource * create(AbstractRoutingEngine* routingengine, map<string, string> config)
+{
+	return new GpsdPlugin(routingengine, config);
+	
+}
+
+string GpsdPlugin::uuid()
+{
+	return "326011dd-65cd-4be6-a75e-3e8d46a05b5e";
+}
+
+
+void GpsdPlugin::getPropertyAsync(AsyncPropertyReply *reply)
+{
+	/*if(reply->property == VehicleProperty::ExteriorBrightness)
+	{
+		replyQueue.push_back(reply);
+	}*/
+
+//	else  ///We don't support what you are asking for.  Reply false
+	{
+		reply->value = NULL;
+		reply->success = false;
+		reply->completed(reply);
+	}
+}
+
+void GpsdPlugin::getRangePropertyAsync(AsyncRangePropertyReply *reply)
+{
+	throw std::runtime_error("GpsdPlugin does not support this operation.  We should never hit this method.");
+}
+
+AsyncPropertyReply *GpsdPlugin::setProperty(AsyncSetPropertyRequest request )
+{
+	throw std::runtime_error("GpsdPlugin does not support this operation.  We should never hit this method.");
+}
+
+void GpsdPlugin::subscribeToPropertyChanges(VehicleProperty::Property property)
+{
+
+	//mRequests.push_back(property);
+}
+
+void GpsdPlugin::unsubscribeToPropertyChanges(VehicleProperty::Property property)
+{
+	//mRequests.remove(property);
+}
+
+PropertyList GpsdPlugin::supported()
+{
+	PropertyList props;
+	props.push_back(VehicleProperty::Latitude);
+	props.push_back(VehicleProperty::Longitude);
+	props.push_back(VehicleProperty::Altitude);
+	props.push_back(VehicleProperty::Direction);
+
+	if(updateVelocity)
+		props.push_back(VehicleProperty::VehicleSpeed);
+
+	
+	return props;
+}
+
+int GpsdPlugin::supportedOperations()
+{
+	return Get;
+}
+
+
+void GpsdPlugin::updateProperty()
+{
+	VehicleProperty::LatitudeType lat(shared->oldlat);
+	routingEngine->updateProperty(VehicleProperty::Latitude,&lat, uuid());
+
+	VehicleProperty::LongitudeType lon(shared->oldlon);
+	routingEngine->updateProperty(VehicleProperty::Longitude, &lon, uuid());
+
+	VehicleProperty::AltitudeType alt(shared->oldalt);
+	routingEngine->updateProperty(VehicleProperty::Altitude, &alt, uuid());
+
+	VehicleProperty::DirectionType heading(shared->oldheading);
+	routingEngine->updateProperty(VehicleProperty::Direction, &heading, uuid());
+
+	if(updateVelocity)
+	{
+		VehicleProperty::VehicleSpeedType speed(shared->oldspeed);
+		routingEngine->updateProperty(VehicleProperty::VehicleSpeed, &speed, uuid());
+	}
+}
+
diff --git a/plugins/gpsd/gpsdplugin.h b/plugins/gpsd/gpsdplugin.h
new file mode 100644
index 00000000..7a1004ed
--- /dev/null
+++ b/plugins/gpsd/gpsdplugin.h
@@ -0,0 +1,82 @@
+/*
+Copyright (C) 2012 Intel Corporation
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef GPSDPLUGIN_H
+#define GPSDPLUGIN_H
+
+#include <abstractsource.h>
+#include <string>
+
+#include <gps.h>
+
+using namespace std;
+
+class GpsdPlugin: public AbstractSource
+{
+
+public:
+
+	class Shared
+	{
+	public:
+		Shared(GpsdPlugin* p)
+			:oldspeed(0), oldalt(0), oldlat(0), oldlon(0), oldheading(0), parent(p)
+		{
+
+		}
+
+		struct gps_data_t gps;
+		double oldspeed;
+		double oldalt;
+		double oldlat;
+		double oldlon;
+		double oldheading;
+		GpsdPlugin* parent;
+	};
+
+	GpsdPlugin(AbstractRoutingEngine* re, map<string, string> config);
+	~GpsdPlugin();
+	string uuid();
+	void getPropertyAsync(AsyncPropertyReply *reply);
+	void getRangePropertyAsync(AsyncRangePropertyReply *reply);
+	AsyncPropertyReply * setProperty(AsyncSetPropertyRequest request);
+	void subscribeToPropertyChanges(VehicleProperty::Property property);
+	void unsubscribeToPropertyChanges(VehicleProperty::Property property);
+	PropertyList supported();
+
+	int supportedOperations();
+	
+	void propertyChanged(VehicleProperty::Property property, AbstractPropertyType* value, string uuid) {}
+	void supportedChanged(PropertyList) {}
+	
+	void updateProperty();
+
+
+private:	
+	uint lastLux;
+	std::string device;
+	std::list<AsyncPropertyReply*> replyQueue;
+	Shared* shared;
+
+	bool updateVelocity;
+};
+
+
+
+
+#endif // EXAMPLEPLUGIN_H
diff --git a/plugins/obd2plugin/obd2source.cpp b/plugins/obd2plugin/obd2source.cpp
index 66ea0011..582c944f 100644
--- a/plugins/obd2plugin/obd2source.cpp
+++ b/plugins/obd2plugin/obd2source.cpp
@@ -76,7 +76,7 @@ std::string reply;
 	{
 		//No reply found
 		//printf("Error!\n");
-		DebugOut() << __SMALLFILE__ <<":"<< __LINE__ << "Error resetting ELM\n";
+		DebugOut() << __SMALLFILE__ <<":"<< __LINE__ << "Error resetting ELM"<<endl;
 	}
 	else
 	{
diff --git a/plugins/opencvlux/README b/plugins/opencvlux/README
index e118bd7b..76cad19d 100644
--- a/plugins/opencvlux/README
+++ b/plugins/opencvlux/README
@@ -38,7 +38,8 @@ Camera to use.  The string "0" corrisponds to /dev/video0, "1" to /dev/video1, e
 Default: "0"
 
 "threaded"
-Compute pixel intensity in another thread.  Set to "true" or "false"
+Compute pixel intensity in another thread.  Set to "true" or "false".  This feature has been disabled
+for now.
 
 Default: "false"
 
diff --git a/plugins/opencvlux/opencvluxplugin.h b/plugins/opencvlux/opencvluxplugin.h
index 30c84b63..0955ad9f 100644
--- a/plugins/opencvlux/opencvluxplugin.h
+++ b/plugins/opencvlux/opencvluxplugin.h
@@ -16,8 +16,8 @@ License along with this library; if not, write to the Free Software
 Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
-#ifndef EXAMPLEPLUGIN_H
-#define EXAMPLEPLUGIN_H
+#ifndef OPENCVLUXPLUGIN_H
+#define OPENCVLUXPLUGIN_H
 
 #include <abstractsource.h>
 #include <string>
diff --git a/plugins/websocketsink/CMakeLists.txt b/plugins/websocketsink/CMakeLists.txt
index 5fc4eb86..c2e26a0b 100644
--- a/plugins/websocketsink/CMakeLists.txt
+++ b/plugins/websocketsink/CMakeLists.txt
@@ -1,18 +1,12 @@
 include(CheckIncludeFiles)
 include_directories(${CMAKE_SOURCE_DIR}/lib ${include_dirs})
 
-find_library(websockets_LIBRARY websockets DOC "libwebsockets")
-
-if(websockets_LIBRARY)
-    message(STATUS "libwebsockets found")
-else(websockets_LIBRARY)
-    message(FATAL_ERROR "libwebsockets not found.  please install libwebsockets")
-endif(websockets_LIBRARY)
+pkg_check_modules(websockets REQUIRED libwebsockets)
 
 set(websocketsinkplugin_headers websocketsink.h websocketmanager.h)
 set(websocketsinkplugin_sources websocketsinkmanager.cpp websocketsink.cpp)
 add_library(websocketsinkplugin MODULE ${websocketsinkplugin_sources})
 set_target_properties(websocketsinkplugin PROPERTIES PREFIX "")
-target_link_libraries(websocketsinkplugin amb ${websockets_LIBRARY} -L${CMAKE_CURRENT_BINARY_DIR}/lib ${link_libraries})
+target_link_libraries(websocketsinkplugin amb ${websockets_LIBRARIES} -L${CMAKE_CURRENT_BINARY_DIR}/lib ${link_libraries})
 
 install(TARGETS websocketsinkplugin LIBRARY DESTINATION lib/automotive-message-broker)