diff --git a/.waf-tools/boost.py b/.waf-tools/boost.py
new file mode 100644
index 0000000..305945a
--- /dev/null
+++ b/.waf-tools/boost.py
@@ -0,0 +1,378 @@
+#!/usr/bin/env python
+# encoding: utf-8
+#
+# partially based on boost.py written by Gernot Vormayr
+# written by Ruediger Sonderfeld <ruediger@c-plusplus.de>, 2008
+# modified by Bjoern Michaelsen, 2008
+# modified by Luca Fossati, 2008
+# rewritten for waf 1.5.1, Thomas Nagy, 2008
+# rewritten for waf 1.6.2, Sylvain Rouquette, 2011
+
+'''
+
+This is an extra tool, not bundled with the default waf binary.
+To add the boost tool to the waf file:
+$ ./waf-light --tools=compat15,boost
+	or, if you have waf >= 1.6.2
+$ ./waf update --files=boost
+
+When using this tool, the wscript will look like:
+
+	def options(opt):
+		opt.load('compiler_cxx boost')
+
+	def configure(conf):
+		conf.load('compiler_cxx boost')
+		conf.check_boost(lib='system filesystem')
+
+	def build(bld):
+		bld(source='main.cpp', target='app', use='BOOST')
+
+Options are generated, in order to specify the location of boost includes/libraries.
+The `check_boost` configuration function allows to specify the used boost libraries.
+It can also provide default arguments to the --boost-static and --boost-mt command-line arguments.
+Everything will be packaged together in a BOOST component that you can use.
+
+When using MSVC, a lot of compilation flags need to match your BOOST build configuration:
+ - you may have to add /EHsc to your CXXFLAGS or define boost::throw_exception if BOOST_NO_EXCEPTIONS is defined.
+   Errors: C4530
+ - boost libraries will try to be smart and use the (pretty but often not useful) auto-linking feature of MSVC
+   So before calling `conf.check_boost` you might want to disabling by adding:
+   	conf.env.DEFINES_BOOST += ['BOOST_ALL_NO_LIB']
+   Errors:
+ - boost might also be compiled with /MT, which links the runtime statically.
+   If you have problems with redefined symbols,
+		self.env['DEFINES_%s' % var] += ['BOOST_ALL_NO_LIB']
+		self.env['CXXFLAGS_%s' % var] += ['/MD', '/EHsc']
+Passing `--boost-linkage_autodetect` might help ensuring having a correct linkage in some basic cases.
+
+'''
+
+import sys
+import re
+from waflib import Utils, Logs, Errors
+from waflib.Configure import conf
+
+BOOST_LIBS = ['/usr/lib', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib/x86_64-linux-gnu', '/usr/lib/i386-linux-gnu', '/usr/local/ndn/lib']
+BOOST_INCLUDES = ['/usr/include', '/usr/local/include', '/opt/local/include', '/sw/include', '/usr/local/ndn/include']
+BOOST_VERSION_FILE = 'boost/version.hpp'
+BOOST_VERSION_CODE = '''
+#include <iostream>
+#include <boost/version.hpp>
+int main() { std::cout << BOOST_LIB_VERSION << ":" << BOOST_VERSION << std::endl; }
+'''
+BOOST_SYSTEM_CODE = '''
+#include <boost/system/error_code.hpp>
+int main() { boost::system::error_code c; }
+'''
+BOOST_THREAD_CODE = '''
+#include <boost/thread.hpp>
+int main() { boost::thread t; }
+'''
+
+# toolsets from {boost_dir}/tools/build/v2/tools/common.jam
+PLATFORM = Utils.unversioned_sys_platform()
+detect_intel = lambda env: (PLATFORM == 'win32') and 'iw' or 'il'
+detect_clang = lambda env: (PLATFORM == 'darwin') and 'clang-darwin' or 'clang'
+detect_mingw = lambda env: (re.search('MinGW', env.CXX[0])) and 'mgw' or 'gcc'
+BOOST_TOOLSETS = {
+	'borland':  'bcb',
+	'clang':	detect_clang,
+	'como':	 'como',
+	'cw':	   'cw',
+	'darwin':   'xgcc',
+	'edg':	  'edg',
+	'g++':	  detect_mingw,
+	'gcc':	  detect_mingw,
+	'icpc':	 detect_intel,
+	'intel':	detect_intel,
+	'kcc':	  'kcc',
+	'kylix':	'bck',
+	'mipspro':  'mp',
+	'mingw':	'mgw',
+	'msvc':	 'vc',
+	'qcc':	  'qcc',
+	'sun':	  'sw',
+	'sunc++':   'sw',
+	'tru64cxx': 'tru',
+	'vacpp':	'xlc'
+}
+
+
+def options(opt):
+	opt = opt.add_option_group('Boost Options')
+
+	opt.add_option('--boost-includes', type='string',
+				   default='', dest='boost_includes',
+				   help='''path to the directory where the boost includes are, e.g., /path/to/boost_1_55_0/stage/include''')
+	opt.add_option('--boost-libs', type='string',
+				   default='', dest='boost_libs',
+				   help='''path to the directory where the boost libs are, e.g., /path/to/boost_1_55_0/stage/lib''')
+	opt.add_option('--boost-static', action='store_true',
+				   default=False, dest='boost_static',
+				   help='link with static boost libraries (.lib/.a)')
+	opt.add_option('--boost-mt', action='store_true',
+				   default=False, dest='boost_mt',
+				   help='select multi-threaded libraries')
+	opt.add_option('--boost-abi', type='string', default='', dest='boost_abi',
+				   help='''select libraries with tags (dgsyp, d for debug), see doc Boost, Getting Started, chapter 6.1''')
+	opt.add_option('--boost-linkage_autodetect', action="store_true", dest='boost_linkage_autodetect',
+				   help="auto-detect boost linkage options (don't get used to it / might break other stuff)")
+	opt.add_option('--boost-toolset', type='string',
+				   default='', dest='boost_toolset',
+				   help='force a toolset e.g. msvc, vc90, gcc, mingw, mgw45 (default: auto)')
+	py_version = '%d%d' % (sys.version_info[0], sys.version_info[1])
+	opt.add_option('--boost-python', type='string',
+				   default=py_version, dest='boost_python',
+				   help='select the lib python with this version (default: %s)' % py_version)
+
+
+@conf
+def __boost_get_version_file(self, d):
+	dnode = self.root.find_dir(d)
+	if dnode:
+		return dnode.find_node(BOOST_VERSION_FILE)
+	return None
+
+@conf
+def boost_get_version(self, d):
+	"""silently retrieve the boost version number"""
+	node = self.__boost_get_version_file(d)
+	if node:
+		try:
+			txt = node.read()
+		except (OSError, IOError):
+			Logs.error("Could not read the file %r" % node.abspath())
+		else:
+			re_but1 = re.compile('^#define\\s+BOOST_LIB_VERSION\\s+"(.+)"', re.M)
+			m1 = re_but1.search(txt)
+
+			re_but2 = re.compile('^#define\\s+BOOST_VERSION\\s+(\\d+)', re.M)
+			m2 = re_but2.search(txt)
+
+			if m1 and m2:
+				return (m1.group(1), m2.group(1))
+
+	return self.check_cxx(fragment=BOOST_VERSION_CODE, includes=[d], execute=True, define_ret=True).split(":")
+
+@conf
+def boost_get_includes(self, *k, **kw):
+	includes = k and k[0] or kw.get('includes', None)
+	if includes and self.__boost_get_version_file(includes):
+		return includes
+	for d in Utils.to_list(self.environ.get('INCLUDE', '')) + BOOST_INCLUDES:
+		if self.__boost_get_version_file(d):
+			return d
+	if includes:
+		self.end_msg('headers not found in %s' % includes)
+		self.fatal('The configuration failed')
+	else:
+		self.end_msg('headers not found, please provide a --boost-includes argument (see help)')
+		self.fatal('The configuration failed')
+
+
+@conf
+def boost_get_toolset(self, cc):
+	toolset = cc
+	if not cc:
+		build_platform = Utils.unversioned_sys_platform()
+		if build_platform in BOOST_TOOLSETS:
+			cc = build_platform
+		else:
+			cc = self.env.CXX_NAME
+	if cc in BOOST_TOOLSETS:
+		toolset = BOOST_TOOLSETS[cc]
+	return isinstance(toolset, str) and toolset or toolset(self.env)
+
+
+@conf
+def __boost_get_libs_path(self, *k, **kw):
+	''' return the lib path and all the files in it '''
+	if 'files' in kw:
+		return self.root.find_dir('.'), Utils.to_list(kw['files'])
+	libs = k and k[0] or kw.get('libs', None)
+	if libs:
+		path = self.root.find_dir(libs)
+		files = path.ant_glob('*boost_*')
+	if not libs or not files:
+		for d in Utils.to_list(self.environ.get('LIB', [])) + BOOST_LIBS:
+			path = self.root.find_dir(d)
+			if path:
+				files = path.ant_glob('*boost_*')
+				if files:
+					break
+			path = self.root.find_dir(d + '64')
+			if path:
+				files = path.ant_glob('*boost_*')
+				if files:
+					break
+	if not path:
+		if libs:
+			self.end_msg('libs not found in %s' % libs)
+			self.fatal('The configuration failed')
+		else:
+			self.end_msg('libs not found, please provide a --boost-libs argument (see help)')
+			self.fatal('The configuration failed')
+
+	self.to_log('Found the boost path in %r with the libraries:' % path)
+	for x in files:
+		self.to_log('    %r' % x)
+	return path, files
+
+@conf
+def boost_get_libs(self, *k, **kw):
+	'''
+	return the lib path and the required libs
+	according to the parameters
+	'''
+	path, files = self.__boost_get_libs_path(**kw)
+	t = []
+	if kw.get('mt', False):
+		t.append('mt')
+	if kw.get('abi', None):
+		t.append(kw['abi'])
+	tags = t and '(-%s)+' % '-'.join(t) or ''
+	toolset = self.boost_get_toolset(kw.get('toolset', ''))
+	toolset_pat = '(-%s[0-9]{0,3})+' % toolset
+	version = '(-%s)+' % self.env.BOOST_VERSION
+
+	def find_lib(re_lib, files):
+		for file in files:
+			if re_lib.search(file.name):
+				self.to_log('Found boost lib %s' % file)
+				return file
+		return None
+
+	def format_lib_name(name):
+		if name.startswith('lib') and self.env.CC_NAME != 'msvc':
+			name = name[3:]
+		return name[:name.rfind('.')]
+
+	libs = []
+	for lib in Utils.to_list(k and k[0] or kw.get('lib', None)):
+		py = (lib == 'python') and '(-py%s)+' % kw['python'] or ''
+		# Trying libraries, from most strict match to least one
+		for pattern in ['boost_%s%s%s%s%s' % (lib, toolset_pat, tags, py, version),
+						'boost_%s%s%s%s' % (lib, tags, py, version),
+						'boost_%s%s%s' % (lib, tags, version),
+						# Give up trying to find the right version
+						'boost_%s%s%s%s' % (lib, toolset_pat, tags, py),
+						'boost_%s%s%s' % (lib, tags, py),
+						'boost_%s%s' % (lib, tags)]:
+			self.to_log('Trying pattern %s' % pattern)
+			file = find_lib(re.compile(pattern), files)
+			if file:
+				libs.append(format_lib_name(file.name))
+				break
+		else:
+			self.end_msg('lib %s not found in %s' % (lib, path.abspath()))
+			self.fatal('The configuration failed')
+
+	return path.abspath(), libs
+
+
+@conf
+def check_boost(self, *k, **kw):
+	"""
+	Initialize boost libraries to be used.
+
+	Keywords: you can pass the same parameters as with the command line (without "--boost-").
+	Note that the command line has the priority, and should preferably be used.
+	"""
+	if not self.env['CXX']:
+		self.fatal('load a c++ compiler first, conf.load("compiler_cxx")')
+
+	params = {'lib': k and k[0] or kw.get('lib', None)}
+	for key, value in self.options.__dict__.items():
+		if not key.startswith('boost_'):
+			continue
+		key = key[len('boost_'):]
+		params[key] = value and value or kw.get(key, '')
+
+	var = kw.get('uselib_store', 'BOOST')
+
+	self.start_msg('Checking boost includes')
+	self.env['INCLUDES_%s' % var] = inc = self.boost_get_includes(**params)
+	versions = self.boost_get_version(inc)
+	self.env.BOOST_VERSION = versions[0]
+	self.env.BOOST_VERSION_NUMBER = int(versions[1])
+	self.end_msg("%d.%d.%d" % (int(versions[1]) / 100000,
+				   int(versions[1]) / 100 % 1000,
+				   int(versions[1]) % 100))
+	if Logs.verbose:
+		Logs.pprint('CYAN', '	path : %s' % self.env['INCLUDES_%s' % var])
+
+	if not params['lib']:
+		return
+	self.start_msg('Checking boost libs')
+	suffix = params.get('static', None) and 'ST' or ''
+	path, libs = self.boost_get_libs(**params)
+	self.env['%sLIBPATH_%s' % (suffix, var)] = [path]
+	self.env['%sLIB_%s' % (suffix, var)] = libs
+	self.end_msg('ok')
+	if Logs.verbose:
+		Logs.pprint('CYAN', '	path : %s' % path)
+		Logs.pprint('CYAN', '	libs : %s' % libs)
+
+
+	def try_link():
+		if 'system' in params['lib']:
+			self.check_cxx(
+			 fragment=BOOST_SYSTEM_CODE,
+			 use=var,
+			 execute=False,
+			)
+		if 'thread' in params['lib']:
+			self.check_cxx(
+			 fragment=BOOST_THREAD_CODE,
+			 use=var,
+			 execute=False,
+			)
+
+	if params.get('linkage_autodetect', False):
+		self.start_msg("Attempting to detect boost linkage flags")
+		toolset = self.boost_get_toolset(kw.get('toolset', ''))
+		if toolset in ['vc']:
+			# disable auto-linking feature, causing error LNK1181
+			# because the code wants to be linked against
+			self.env['DEFINES_%s' % var] += ['BOOST_ALL_NO_LIB']
+
+			# if no dlls are present, we guess the .lib files are not stubs
+			has_dlls = False
+			for x in Utils.listdir(path):
+				if x.endswith(self.env.cxxshlib_PATTERN % ''):
+					has_dlls = True
+					break
+			if not has_dlls:
+				self.env['STLIBPATH_%s' % var] = [path]
+				self.env['STLIB_%s' % var] = libs
+				del self.env['LIB_%s' % var]
+				del self.env['LIBPATH_%s' % var]
+
+			# we attempt to play with some known-to-work CXXFLAGS combinations
+			for cxxflags in (['/MD', '/EHsc'], []):
+				self.env.stash()
+				self.env["CXXFLAGS_%s" % var] += cxxflags
+				try:
+					try_link()
+					self.end_msg("ok: winning cxxflags combination: %s" % (self.env["CXXFLAGS_%s" % var]))
+					e = None
+					break
+				except Errors.ConfigurationError as exc:
+					self.env.revert()
+					e = exc
+
+			if e is not None:
+				self.end_msg("Could not auto-detect boost linking flags combination, you may report it to boost.py author", ex=e)
+				self.fatal('The configuration failed')
+		else:
+			self.end_msg("Boost linkage flags auto-detection not implemented (needed ?) for this toolchain")
+			self.fatal('The configuration failed')
+	else:
+		self.start_msg('Checking for boost linkage')
+		try:
+			try_link()
+		except Errors.ConfigurationError as e:
+			self.end_msg("Could not link against boost libraries using supplied options")
+			self.fatal('The configuration failed')
+		self.end_msg('ok')
diff --git a/.waf-tools/default-compiler-flags.py b/.waf-tools/default-compiler-flags.py
new file mode 100644
index 0000000..29694b9
--- /dev/null
+++ b/.waf-tools/default-compiler-flags.py
@@ -0,0 +1,67 @@
+# -*- Mode: python; py-indent-offset: 4; indent-tabs-mode: nil; coding: utf-8; -*-
+#
+# Copyright (c) 2014, Regents of the University of California
+#
+# GPL 3.0 license, see the COPYING.md file for more information
+
+from waflib import Logs, Configure
+
+def options(opt):
+    opt.add_option('--debug', '--with-debug', action='store_true', default=False, dest='debug',
+                   help='''Compile in debugging mode without all optimizations (-O0)''')
+    opt.add_option('--with-c++11', action='store_true', default=False, dest='use_cxx11',
+                   help='''Enable C++11 mode (experimental, may not work)''')
+
+def configure(conf):
+    areCustomCxxflagsPresent = (len(conf.env.CXXFLAGS) > 0)
+    defaultFlags = []
+
+    if conf.options.use_cxx11:
+        defaultFlags += ['-std=c++0x', '-std=c++11']
+    else:
+        defaultFlags += ['-std=c++03']
+
+    defaultFlags += [
+        # '-pedantic',
+        '-Wall',
+        '-Wno-long-long',
+        '-Wno-unneeded-internal-declaration'
+        ]
+
+    if conf.options.debug:
+        conf.define('_DEBUG', 1)
+        defaultFlags += ['-O0',
+                         '-Og', # gcc >= 4.8
+                         '-g3',
+                         '-fcolor-diagnostics', # clang
+                         '-fdiagnostics-color', # gcc >= 4.9
+                         # '-Werror',
+                         '-Wno-error=maybe-uninitialized', # Bug #1560
+                        ]
+        if areCustomCxxflagsPresent:
+            missingFlags = [x for x in defaultFlags if x not in conf.env.CXXFLAGS]
+            if len(missingFlags) > 0:
+                Logs.warn("Selected debug mode, but CXXFLAGS is set to a custom value '%s'"
+                          % " ".join(conf.env.CXXFLAGS))
+                Logs.warn("Default flags '%s' are not activated" % " ".join(missingFlags))
+        else:
+            conf.add_supported_cxxflags(defaultFlags)
+    else:
+        defaultFlags += ['-O2', '-g']
+        if not areCustomCxxflagsPresent:
+            conf.add_supported_cxxflags(defaultFlags)
+
+@Configure.conf
+def add_supported_cxxflags(self, cxxflags):
+    """
+    Check which cxxflags are supported by compiler and add them to env.CXXFLAGS variable
+    """
+    self.start_msg('Checking allowed flags for c++ compiler')
+
+    supportedFlags = []
+    for flag in cxxflags:
+        if self.check_cxx(cxxflags=['-Werror', flag], mandatory=False):
+            supportedFlags += [flag]
+
+    self.end_msg(' '.join(supportedFlags))
+    self.env.CXXFLAGS = supportedFlags + self.env.CXXFLAGS
diff --git a/.waf-tools/dependency-checker.py b/.waf-tools/dependency-checker.py
new file mode 100644
index 0000000..629fbfd
--- /dev/null
+++ b/.waf-tools/dependency-checker.py
@@ -0,0 +1,28 @@
+# encoding: utf-8
+
+from waflib import Options, Logs
+from waflib.Configure import conf
+
+def addDependencyOptions(self, opt, name, extraHelp=''):
+    opt.add_option('--with-%s' % name, type='string', default=None,
+                   dest='with_%s' % name,
+                   help='Path to %s, e.g., /usr/local %s' % (name, extraHelp))
+setattr(Options.OptionsContext, "addDependencyOptions", addDependencyOptions)
+
+@conf
+def checkDependency(self, name, **kw):
+    root = kw.get('path', getattr(Options.options, 'with_%s' % name))
+    kw['msg'] = kw.get('msg', 'Checking for %s library' % name)
+    kw['uselib_store'] = kw.get('uselib_store', name.upper())
+    kw['define_name'] = kw.get('define_name', 'HAVE_%s' % kw['uselib_store'])
+    kw['mandatory'] = kw.get('mandatory', True)
+
+    if root:
+        isOk = self.check_cxx(includes="%s/include" % root,
+                              libpath="%s/lib" % root,
+                              **kw)
+    else:
+        isOk = self.check_cxx(**kw)
+
+    if isOk:
+        self.env[kw['define_name']] = True
diff --git a/.waf-tools/doxygen.py b/.waf-tools/doxygen.py
new file mode 100644
index 0000000..ac8c70b
--- /dev/null
+++ b/.waf-tools/doxygen.py
@@ -0,0 +1,214 @@
+#! /usr/bin/env python
+# encoding: UTF-8
+# Thomas Nagy 2008-2010 (ita)
+
+"""
+
+Doxygen support
+
+Variables passed to bld():
+* doxyfile -- the Doxyfile to use
+
+When using this tool, the wscript will look like:
+
+	def options(opt):
+		opt.load('doxygen')
+
+	def configure(conf):
+		conf.load('doxygen')
+		# check conf.env.DOXYGEN, if it is mandatory
+
+	def build(bld):
+		if bld.env.DOXYGEN:
+			bld(features="doxygen", doxyfile='Doxyfile', ...)
+
+        def doxygen(bld):
+		if bld.env.DOXYGEN:
+			bld(features="doxygen", doxyfile='Doxyfile', ...)
+"""
+
+from fnmatch import fnmatchcase
+import os, os.path, re, stat
+from waflib import Task, Utils, Node, Logs, Errors, Build
+from waflib.TaskGen import feature
+
+DOXY_STR = '"${DOXYGEN}" - '
+DOXY_FMTS = 'html latex man rft xml'.split()
+DOXY_FILE_PATTERNS = '*.' + ' *.'.join('''
+c cc cxx cpp c++ java ii ixx ipp i++ inl h hh hxx hpp h++ idl odl cs php php3
+inc m mm py f90c cc cxx cpp c++ java ii ixx ipp i++ inl h hh hxx
+'''.split())
+
+re_rl = re.compile('\\\\\r*\n', re.MULTILINE)
+re_nl = re.compile('\r*\n', re.M)
+def parse_doxy(txt):
+	tbl = {}
+	txt   = re_rl.sub('', txt)
+	lines = re_nl.split(txt)
+	for x in lines:
+		x = x.strip()
+		if not x or x.startswith('#') or x.find('=') < 0:
+			continue
+		if x.find('+=') >= 0:
+			tmp = x.split('+=')
+			key = tmp[0].strip()
+			if key in tbl:
+				tbl[key] += ' ' + '+='.join(tmp[1:]).strip()
+			else:
+				tbl[key] = '+='.join(tmp[1:]).strip()
+		else:
+			tmp = x.split('=')
+			tbl[tmp[0].strip()] = '='.join(tmp[1:]).strip()
+	return tbl
+
+class doxygen(Task.Task):
+	vars  = ['DOXYGEN', 'DOXYFLAGS']
+	color = 'BLUE'
+
+	def runnable_status(self):
+		'''
+		self.pars are populated in runnable_status - because this function is being
+		run *before* both self.pars "consumers" - scan() and run()
+
+		set output_dir (node) for the output
+		'''
+
+		for x in self.run_after:
+			if not x.hasrun:
+				return Task.ASK_LATER
+
+		if not getattr(self, 'pars', None):
+			txt = self.inputs[0].read()
+			self.pars = parse_doxy(txt)
+			if not self.pars.get('OUTPUT_DIRECTORY'):
+				self.pars['OUTPUT_DIRECTORY'] = self.inputs[0].parent.get_bld().abspath()
+
+			# Override with any parameters passed to the task generator
+			if getattr(self.generator, 'pars', None):
+				for k, v in self.generator.pars.iteritems():
+					self.pars[k] = v
+
+			self.doxy_inputs = getattr(self, 'doxy_inputs', [])
+			if not self.pars.get('INPUT'):
+				self.doxy_inputs.append(self.inputs[0].parent)
+			else:
+				for i in self.pars.get('INPUT').split():
+					if os.path.isabs(i):
+						node = self.generator.bld.root.find_node(i)
+					else:
+						node = self.generator.path.find_node(i)
+					if not node:
+						self.generator.bld.fatal('Could not find the doxygen input %r' % i)
+					self.doxy_inputs.append(node)
+
+		if not getattr(self, 'output_dir', None):
+			bld = self.generator.bld
+			# First try to find an absolute path, then find or declare a relative path
+			self.output_dir = bld.root.find_dir(self.pars['OUTPUT_DIRECTORY'])
+			if not self.output_dir:
+				self.output_dir = bld.path.find_or_declare(self.pars['OUTPUT_DIRECTORY'])
+
+		self.signature()
+		return Task.Task.runnable_status(self)
+
+	def scan(self):
+		exclude_patterns = self.pars.get('EXCLUDE_PATTERNS','').split()
+		file_patterns = self.pars.get('FILE_PATTERNS','').split()
+		if not file_patterns:
+			file_patterns = DOXY_FILE_PATTERNS
+		if self.pars.get('RECURSIVE') == 'YES':
+			file_patterns = ["**/%s" % pattern for pattern in file_patterns]
+		nodes = []
+		names = []
+		for node in self.doxy_inputs:
+			if os.path.isdir(node.abspath()):
+				for m in node.ant_glob(incl=file_patterns, excl=exclude_patterns):
+					nodes.append(m)
+			else:
+				nodes.append(node)
+		return (nodes, names)
+
+	def run(self):
+		dct = self.pars.copy()
+		dct['INPUT'] = ' '.join(['"%s"' % x.abspath() for x in self.doxy_inputs])
+		code = '\n'.join(['%s = %s' % (x, dct[x]) for x in self.pars])
+		code = code.encode() # for python 3
+		#fmt = DOXY_STR % (self.inputs[0].parent.abspath())
+		cmd = Utils.subst_vars(DOXY_STR, self.env)
+		env = self.env.env or None
+		proc = Utils.subprocess.Popen(cmd, shell=True, stdin=Utils.subprocess.PIPE, env=env, cwd=self.generator.bld.path.get_bld().abspath())
+		proc.communicate(code)
+		return proc.returncode
+
+	def post_run(self):
+		nodes = self.output_dir.ant_glob('**/*', quiet=True)
+		for x in nodes:
+			x.sig = Utils.h_file(x.abspath())
+		self.outputs += nodes
+		return Task.Task.post_run(self)
+
+class tar(Task.Task):
+	"quick tar creation"
+	run_str = '${TAR} ${TAROPTS} ${TGT} ${SRC}'
+	color   = 'RED'
+	after   = ['doxygen']
+	def runnable_status(self):
+		for x in getattr(self, 'input_tasks', []):
+			if not x.hasrun:
+				return Task.ASK_LATER
+
+		if not getattr(self, 'tar_done_adding', None):
+			# execute this only once
+			self.tar_done_adding = True
+			for x in getattr(self, 'input_tasks', []):
+				self.set_inputs(x.outputs)
+			if not self.inputs:
+				return Task.SKIP_ME
+		return Task.Task.runnable_status(self)
+
+	def __str__(self):
+		tgt_str = ' '.join([a.nice_path(self.env) for a in self.outputs])
+		return '%s: %s\n' % (self.__class__.__name__, tgt_str)
+
+@feature('doxygen')
+def process_doxy(self):
+	if not getattr(self, 'doxyfile', None):
+		self.generator.bld.fatal('no doxyfile??')
+
+	node = self.doxyfile
+	if not isinstance(node, Node.Node):
+		node = self.path.find_resource(node)
+	if not node:
+		raise ValueError('doxygen file not found')
+
+	# the task instance
+	dsk = self.create_task('doxygen', node)
+
+	if getattr(self, 'doxy_tar', None):
+		tsk = self.create_task('tar')
+		tsk.input_tasks = [dsk]
+		tsk.set_outputs(self.path.find_or_declare(self.doxy_tar))
+		if self.doxy_tar.endswith('bz2'):
+			tsk.env['TAROPTS'] = ['cjf']
+		elif self.doxy_tar.endswith('gz'):
+			tsk.env['TAROPTS'] = ['czf']
+		else:
+			tsk.env['TAROPTS'] = ['cf']
+
+def configure(conf):
+	'''
+	Check if doxygen and tar commands are present in the system
+
+	If the commands are present, then conf.env.DOXYGEN and conf.env.TAR
+	variables will be set. Detection can be controlled by setting DOXYGEN and
+	TAR environmental variables.
+	'''
+
+	conf.find_program('doxygen', var='DOXYGEN', mandatory=False)
+	conf.find_program('tar', var='TAR', mandatory=False)
+
+# doxygen docs
+from waflib.Build import BuildContext
+class doxy(BuildContext):
+    cmd = "doxygen"
+    fun = "doxygen"
diff --git a/.waf-tools/pch.py b/.waf-tools/pch.py
new file mode 100644
index 0000000..08cc5de
--- /dev/null
+++ b/.waf-tools/pch.py
@@ -0,0 +1,148 @@
+#! /usr/bin/env python
+# encoding: utf-8
+# Alexander Afanasyev (UCLA), 2014
+
+"""
+Enable precompiled C++ header support (currently only clang++ and g++ are supported)
+
+To use this tool, wscript should look like:
+
+	def options(opt):
+		opt.load('pch')
+		# This will add `--with-pch` configure option.
+		# Unless --with-pch during configure stage specified, the precompiled header support is disabled
+
+	def configure(conf):
+		conf.load('pch')
+		# this will set conf.env.WITH_PCH if --with-pch is specified and the supported compiler is used
+		# Unless conf.env.WITH_PCH is set, the precompiled header support is disabled
+
+	def build(bld):
+		bld(features='cxx pch',
+			target='precompiled-headers',
+			name='precompiled-headers',
+			headers='a.h b.h c.h', # headers to pre-compile into `precompiled-headers`
+
+			# Other parameters to compile precompiled headers
+			# includes=...,
+			# export_includes=...,
+			# use=...,
+			# ...
+
+			# Exported parameters will be propagated even if precompiled headers are disabled
+		)
+
+		bld(
+			target='test',
+			features='cxx cxxprogram',
+			source='a.cpp b.cpp d.cpp main.cpp',
+			use='precompiled-headers',
+		)
+
+		# or
+
+		bld(
+			target='test',
+			features='pch cxx cxxprogram',
+			source='a.cpp b.cpp d.cpp main.cpp',
+			headers='a.h b.h c.h',
+		)
+
+Note that precompiled header must have multiple inclusion guards.  If the guards are missing, any benefit of precompiled header will be voided and compilation may fail in some cases.
+"""
+
+import os
+from waflib import Task, TaskGen, Logs, Utils
+from waflib.Tools import c_preproc, cxx
+
+
+PCH_COMPILER_OPTIONS = {
+	'clang++': [['-include'], '.pch', ['-x', 'c++-header']],
+	'g++':     [['-include'], '.gch', ['-x', 'c++-header']],
+}
+
+
+def options(opt):
+	opt.add_option('--without-pch', action='store_false', default=True, dest='with_pch', help='''Try to use precompiled header to speed up compilation (only g++ and clang++)''')
+
+def configure(conf):
+	if (conf.options.with_pch and conf.env['COMPILER_CXX'] in PCH_COMPILER_OPTIONS.keys()):
+		conf.env.WITH_PCH = True
+		flags = PCH_COMPILER_OPTIONS[conf.env['COMPILER_CXX']]
+		conf.env.CXXPCH_F = flags[0]
+		conf.env.CXXPCH_EXT = flags[1]
+		conf.env.CXXPCH_FLAGS = flags[2]
+
+
+@TaskGen.feature('pch')
+@TaskGen.before('process_source')
+def apply_pch(self):
+	if not self.env.WITH_PCH:
+		return
+
+	if getattr(self.bld, 'pch_tasks', None) is None:
+		self.bld.pch_tasks = {}
+
+	if getattr(self, 'headers', None) is None:
+		return
+
+	self.headers = self.to_nodes(self.headers)
+
+	if getattr(self, 'name', None):
+		try:
+			task = self.bld.pch_tasks[self.name]
+			self.bld.fatal("Duplicated 'pch' task with name %r" % self.name)
+		except KeyError:
+			pass
+
+	out = '%s.%d%s' % (self.target, self.idx, self.env['CXXPCH_EXT'])
+	out = self.path.find_or_declare(out)
+	task = self.create_task('gchx', self.headers, out)
+
+	# target should be an absolute path of `out`, but without precompiled header extension
+	task.target = out.abspath()[:-len(out.suffix())]
+
+	self.pch_task = task
+	if getattr(self, 'name', None):
+		self.bld.pch_tasks[self.name] = task
+
+@TaskGen.feature('cxx')
+@TaskGen.after_method('process_source', 'propagate_uselib_vars')
+def add_pch(self):
+	if not (self.env['WITH_PCH'] and getattr(self, 'use', None) and getattr(self, 'compiled_tasks', None) and getattr(self.bld, 'pch_tasks', None)):
+		return
+
+	pch = None
+	# find pch task, if any
+
+	if getattr(self, 'pch_task', None):
+		pch = self.pch_task
+	else:
+		for use in Utils.to_list(self.use):
+			try:
+				pch = self.bld.pch_tasks[use]
+			except KeyError:
+				pass
+
+	if pch:
+		for x in self.compiled_tasks:
+			x.env.append_value('CXXFLAGS', self.env['CXXPCH_F'] + [pch.target])
+
+class gchx(Task.Task):
+	run_str = '${CXX} ${ARCH_ST:ARCH} ${CXXFLAGS} ${CPPFLAGS} ${CXXPCH_FLAGS} ${FRAMEWORKPATH_ST:FRAMEWORKPATH} ${CPPPATH_ST:INCPATHS} ${DEFINES_ST:DEFINES} ${CXXPCH_F:SRC} ${CXX_SRC_F}${SRC[0].abspath()} ${CXX_TGT_F}${TGT[0].abspath()}'
+	scan    = c_preproc.scan
+	color   = 'BLUE'
+	ext_out=['.h']
+
+	def runnable_status(self):
+		try:
+			node_deps = self.generator.bld.node_deps[self.uid()]
+		except KeyError:
+			node_deps = []
+		ret = Task.Task.runnable_status(self)
+		if ret == Task.SKIP_ME and self.env.CXX_NAME == 'clang':
+			t = os.stat(self.outputs[0].abspath()).st_mtime
+			for n in self.inputs + node_deps:
+				if os.stat(n.abspath()).st_mtime > t:
+					return Task.RUN_ME
+		return ret
diff --git a/.waf-tools/protoc.py b/.waf-tools/protoc.py
new file mode 100644
index 0000000..8ae3ad2
--- /dev/null
+++ b/.waf-tools/protoc.py
@@ -0,0 +1,94 @@
+#!/usr/bin/env python
+# encoding: utf-8
+# Philipp Bender, 2012
+# Matt Clarkson, 2012
+
+import re
+from waflib.Task import Task
+from waflib.TaskGen import extension 
+
+"""
+A simple tool to integrate protocol buffers into your build system.
+
+Example::
+
+    def configure(conf):
+        conf.load('compiler_cxx cxx protoc')
+
+    def build(bld):
+        bld(
+                features = 'cxx cxxprogram'
+                source   = 'main.cpp file1.proto proto/file2.proto', 
+                include  = '. proto',
+                target   = 'executable') 
+
+Notes when using this tool:
+
+- protoc command line parsing is tricky.
+
+  The generated files can be put in subfolders which depend on
+  the order of the include paths.
+
+  Try to be simple when creating task generators
+  containing protoc stuff.
+
+"""
+
+class protoc(Task):
+	# protoc expects the input proto file to be an absolute path.
+	run_str = '${PROTOC} ${PROTOC_FLAGS} ${PROTOC_ST:INCPATHS} ${SRC[0].abspath()}'
+	color   = 'BLUE'
+	ext_out = ['.h', 'pb.cc']
+	def scan(self):
+		"""
+		Scan .proto dependencies
+		"""
+		node = self.inputs[0]
+
+		nodes = []
+		names = []
+		seen = []
+
+		if not node: return (nodes, names)
+
+		search_paths = [self.generator.path.find_node(x) for x in self.generator.includes]
+
+		def parse_node(node):
+			if node in seen:
+				return
+			seen.append(node)
+			code = node.read().split("\n")
+			for line in code:
+				m = re.search(r'^import\s+"(.*)";.*(//)?.*', line)
+				if m:
+					dep = m.groups()[0]
+					for incpath in search_paths:
+						found = incpath.find_resource(dep)
+						if found:
+							nodes.append(found)
+							parse_node(found)
+						else:
+							names.append(dep)
+
+		parse_node(node)
+		return (nodes, names)
+
+@extension('.proto')
+def process_protoc(self, node):
+	cpp_node = node.change_ext('.pb.cc')
+	hpp_node = node.change_ext('.pb.h')
+	self.create_task('protoc', node, [cpp_node, hpp_node])
+	self.source.append(cpp_node)
+
+	if 'cxx' in self.features and not self.env.PROTOC_FLAGS:
+		self.env.PROTOC_FLAGS = '--cpp_out=%s' % node.parent.get_bld().abspath()
+
+	use = getattr(self, 'use', '')
+	if not 'PROTOBUF' in use:
+		self.use = self.to_list(use) + ['PROTOBUF']
+
+def configure(conf):
+	conf.check_cfg(package="protobuf", uselib_store="PROTOBUF", args=['--cflags', '--libs'])
+	conf.find_program('protoc', var='PROTOC')
+	conf.env.PROTOC_ST = '-I%s'
+
diff --git a/.waf-tools/sphinx_build.py b/.waf-tools/sphinx_build.py
new file mode 100644
index 0000000..e61da6e
--- /dev/null
+++ b/.waf-tools/sphinx_build.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+# inspired by code by Hans-Martin von Gaudecker, 2012
+
+import os
+from waflib import Node, Task, TaskGen, Errors, Logs, Build, Utils
+
+class sphinx_build(Task.Task):
+    color = 'BLUE'
+    run_str = '${SPHINX_BUILD} -D ${VERSION} -D ${RELEASE} -q -b ${BUILDERNAME} -d ${DOCTREEDIR} ${SRCDIR} ${OUTDIR}'
+
+    def __str__(self):
+        env = self.env
+        src_str = ' '.join([a.path_from(a.ctx.launch_node()) for a in self.inputs])
+        tgt_str = ' '.join([a.path_from(a.ctx.launch_node()) for a in self.outputs])
+        if self.outputs: sep = ' -> '
+        else: sep = ''
+        return'%s [%s]: %s%s%s\n'%(self.__class__.__name__.replace('_task',''),
+                                   self.env['BUILDERNAME'], src_str, sep, tgt_str)
+
+@TaskGen.extension('.py', '.rst')
+def sig_hook(self, node):
+    node.sig=Utils.h_file(node.abspath())
+
+@TaskGen.feature("sphinx")
+@TaskGen.before_method("process_source")
+def apply_sphinx(self):
+    """Set up the task generator with a Sphinx instance and create a task."""
+
+    inputs = []
+    for i in Utils.to_list(self.source):
+        if not isinstance(i, Node.Node):
+            node = self.path.find_node(node)
+        else:
+            node = i
+        if not node:
+            raise ValueError('[%s] file not found' % i)
+        inputs.append(node)
+
+    task = self.create_task('sphinx_build', inputs)
+
+    conf = self.path.find_node(self.config)
+    task.inputs.append(conf)
+
+    confdir = conf.parent.abspath()
+    buildername = getattr(self, "builder", "html")
+    srcdir = getattr(self, "srcdir", confdir)
+    outdir = self.path.find_or_declare(getattr(self, "outdir", buildername)).get_bld()
+    doctreedir = getattr(self, "doctreedir", os.path.join(outdir.abspath(), ".doctrees"))
+
+    task.env['BUILDERNAME'] = buildername
+    task.env['SRCDIR'] = srcdir
+    task.env['DOCTREEDIR'] = doctreedir
+    task.env['OUTDIR'] = outdir.abspath()
+    task.env['VERSION'] = "version=%s" % self.VERSION
+    task.env['RELEASE'] = "release=%s" % self.VERSION
+
+    import imp
+    confData = imp.load_source('sphinx_conf', conf.abspath())
+
+    if buildername == "man":
+        for i in confData.man_pages:
+            target = outdir.find_or_declare('%s.%d' % (i[1], i[4]))
+            task.outputs.append(target)
+
+            if self.install_path:
+                self.bld.install_files("%s/man%d/" % (self.install_path, i[4]), target)
+    else:
+        task.outputs.append(outdir)
+
+def configure(conf):
+    conf.find_program('sphinx-build', var='SPHINX_BUILD', mandatory=False)
+
+# sphinx docs
+from waflib.Build import BuildContext
+class sphinx(BuildContext):
+    cmd = "sphinx"
+    fun = "sphinx"