diff --git a/.waf-tools/boost.py b/.waf-tools/boost.py
index 305945a..9b9395e 100644
--- a/.waf-tools/boost.py
+++ b/.waf-tools/boost.py
@@ -30,15 +30,15 @@
 
 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.
+It can also provide default arguments to the --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']
+   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,
@@ -52,24 +52,55 @@
 import re
 from waflib import Utils, Logs, Errors
 from waflib.Configure import conf
+from waflib.TaskGen import feature, after_method
 
-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_LIBS = ['/usr/lib/x86_64-linux-gnu', '/usr/lib/i386-linux-gnu',
+			  '/usr/lib', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib']
+BOOST_INCLUDES = ['/usr/include', '/usr/local/include', '/opt/local/include', '/sw/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 = '''
+
+BOOST_ERROR_CODE = '''
 #include <boost/system/error_code.hpp>
 int main() { boost::system::error_code c; }
 '''
+
+PTHREAD_CODE = '''
+#include <pthread.h>
+static void* f(void*) { return 0; }
+int main() {
+	pthread_t th;
+	pthread_attr_t attr;
+	pthread_attr_init(&attr);
+	pthread_create(&th, &attr, &f, 0);
+	pthread_join(th, 0);
+	pthread_cleanup_push(0, 0);
+	pthread_cleanup_pop(0);
+	pthread_attr_destroy(&attr);
+}
+'''
+
 BOOST_THREAD_CODE = '''
 #include <boost/thread.hpp>
 int main() { boost::thread t; }
 '''
 
+BOOST_LOG_CODE = '''
+#include <boost/log/trivial.hpp>
+#include <boost/log/utility/setup/console.hpp>
+#include <boost/log/utility/setup/common_attributes.hpp>
+int main() {
+	using namespace boost::log;
+	add_common_attributes();
+	add_console_log(std::clog, keywords::format = "%Message%");
+	BOOST_LOG_TRIVIAL(debug) << "log is working" << std::endl;
+}
+'''
+
 # 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'
@@ -101,34 +132,37 @@
 
 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''')
+				   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)')
+				   help='''path to the directory where the boost libs are,
+				   e.g., path/to/boost_1_55_0/stage/lib''')
 	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''')
+				   help='''select libraries with tags (gd for debug, static is automatically added),
+				   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)')
+				   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)
+				   help='select the lib python with this version \
+						(default: %s)' % py_version)
 
 
 @conf
 def __boost_get_version_file(self, d):
+	if not d:
+		return None
 	dnode = self.root.find_dir(d)
 	if dnode:
 		return dnode.find_node(BOOST_VERSION_FILE)
@@ -141,18 +175,15 @@
 	if node:
 		try:
 			txt = node.read()
-		except (OSError, IOError):
+		except EnvironmentError:
 			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
@@ -160,7 +191,7 @@
 	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:
+	for d in self.environ.get('INCLUDE', '').split(';') + BOOST_INCLUDES:
 		if self.__boost_get_version_file(d):
 			return d
 	if includes:
@@ -195,7 +226,9 @@
 		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:
+		for d in self.environ.get('LIB', '').split(';') + BOOST_LIBS:
+			if not d:
+				continue
 			path = self.root.find_dir(d)
 			if path:
 				files = path.ant_glob('*boost_*')
@@ -226,15 +259,10 @@
 	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 ''
+	files = sorted(files, key=lambda f: (len(f.name), f.name), reverse=True)
 	toolset = self.boost_get_toolset(kw.get('toolset', ''))
-	toolset_pat = '(-%s[0-9]{0,3})+' % toolset
-	version = '(-%s)+' % self.env.BOOST_VERSION
+	toolset_pat = '(-%s[0-9]{0,3})' % toolset
+	version = '-%s' % self.env.BOOST_VERSION
 
 	def find_lib(re_lib, files):
 		for file in files:
@@ -248,28 +276,110 @@
 			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')
+	def match_libs(lib_names, is_static):
+		libs = []
+		lib_names = Utils.to_list(lib_names)
+		if not lib_names:
+			return libs
+		t = []
+		if kw.get('mt', False):
+			t.append('-mt')
+		if kw.get('abi', None):
+			t.append('%s%s' % (is_static and '-s' or '-', kw['abi']))
+		elif is_static:
+			t.append('-s')
+		tags_pat = t and ''.join(t) or ''
+		ext = is_static and self.env.cxxstlib_PATTERN or self.env.cxxshlib_PATTERN
+		ext = ext.partition('%s')[2] # remove '%s' or 'lib%s' from PATTERN
 
-	return path.abspath(), libs
+		for lib in lib_names:
+			if lib == 'python':
+				# for instance, with python='27',
+				# accepts '-py27', '-py2', '27' and '2'
+				# but will reject '-py3', '-py26', '26' and '3'
+				tags = '({0})?((-py{2})|(-py{1}(?=[^0-9]))|({2})|({1}(?=[^0-9]))|(?=[^0-9])(?!-py))'.format(tags_pat, kw['python'][0], kw['python'])
+			else:
+				tags = tags_pat
+			# Trying libraries, from most strict match to least one
+			for pattern in ['boost_%s%s%s%s%s$' % (lib, toolset_pat, tags, version, ext),
+							'boost_%s%s%s%s$' % (lib, tags, version, ext),
+							# Give up trying to find the right version
+							'boost_%s%s%s%s$' % (lib, toolset_pat, tags, ext),
+							'boost_%s%s%s$' % (lib, tags, ext),
+							'boost_%s%s$' % (lib, ext),
+							'boost_%s' % lib]:
+				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 libs
 
+	return  path.abspath(), match_libs(kw.get('lib', None), False), match_libs(kw.get('stlib', None), True)
+
+@conf
+def _check_pthread_flag(self, *k, **kw):
+	'''
+	Computes which flags should be added to CXXFLAGS and LINKFLAGS to compile in multi-threading mode
+
+	Yes, we *need* to put the -pthread thing in CPPFLAGS because with GCC3,
+	boost/thread.hpp will trigger a #error if -pthread isn't used:
+	  boost/config/requires_threads.hpp:47:5: #error "Compiler threading support
+	  is not turned on. Please set the correct command line options for
+	  threading: -pthread (Linux), -pthreads (Solaris) or -mthreads (Mingw32)"
+
+	Based on _BOOST_PTHREAD_FLAG(): https://github.com/tsuna/boost.m4/blob/master/build-aux/boost.m4
+    '''
+
+	var = kw.get('uselib_store', 'BOOST')
+
+	self.start_msg('Checking the flags needed to use pthreads')
+
+	# The ordering *is* (sometimes) important.  Some notes on the
+	# individual items follow:
+	# (none): in case threads are in libc; should be tried before -Kthread and
+	#       other compiler flags to prevent continual compiler warnings
+	# -lpthreads: AIX (must check this before -lpthread)
+	# -Kthread: Sequent (threads in libc, but -Kthread needed for pthread.h)
+	# -kthread: FreeBSD kernel threads (preferred to -pthread since SMP-able)
+	# -llthread: LinuxThreads port on FreeBSD (also preferred to -pthread)
+	# -pthread: GNU Linux/GCC (kernel threads), BSD/GCC (userland threads)
+	# -pthreads: Solaris/GCC
+	# -mthreads: MinGW32/GCC, Lynx/GCC
+	# -mt: Sun Workshop C (may only link SunOS threads [-lthread], but it
+	#      doesn't hurt to check since this sometimes defines pthreads too;
+	#      also defines -D_REENTRANT)
+	#      ... -mt is also the pthreads flag for HP/aCC
+	# -lpthread: GNU Linux, etc.
+	# --thread-safe: KAI C++
+	if Utils.unversioned_sys_platform() == "sunos":
+		# On Solaris (at least, for some versions), libc contains stubbed
+		# (non-functional) versions of the pthreads routines, so link-based
+		# tests will erroneously succeed.  (We need to link with -pthreads/-mt/
+		# -lpthread.)  (The stubs are missing pthread_cleanup_push, or rather
+		# a function called by this macro, so we could check for that, but
+		# who knows whether they'll stub that too in a future libc.)  So,
+		# we'll just look for -pthreads and -lpthread first:
+		boost_pthread_flags = ["-pthreads", "-lpthread", "-mt", "-pthread"]
+	else:
+		boost_pthread_flags = ["", "-lpthreads", "-Kthread", "-kthread", "-llthread", "-pthread",
+							   "-pthreads", "-mthreads", "-lpthread", "--thread-safe", "-mt"]
+
+	for boost_pthread_flag in boost_pthread_flags:
+		try:
+			self.env.stash()
+			self.env['CXXFLAGS_%s' % var] += [boost_pthread_flag]
+			self.env['LINKFLAGS_%s' % var] += [boost_pthread_flag]
+			self.check_cxx(code=PTHREAD_CODE, msg=None, use=var, execute=False)
+
+			self.end_msg(boost_pthread_flag)
+			return
+		except self.errors.ConfigurationError:
+			self.env.revert()
+	self.end_msg('None')
 
 @conf
 def check_boost(self, *k, **kw):
@@ -282,7 +392,10 @@
 	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)}
+	params = {
+		'lib': k and k[0] or kw.get('lib', None),
+		'stlib': kw.get('stlib', None)
+	}
 	for key, value in self.options.__dict__.items():
 		if not key.startswith('boost_'):
 			continue
@@ -297,42 +410,53 @@
 	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))
+							   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']:
+	if not params['lib'] and not params['stlib']:
 		return
+	if 'static' in kw or 'static' in params:
+		Logs.warn('boost: static parameter is deprecated, use stlib instead.')
 	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
+	path, libs, stlibs = self.boost_get_libs(**params)
+	self.env['LIBPATH_%s' % var] = [path]
+	self.env['STLIBPATH_%s' % var] = [path]
+	self.env['LIB_%s' % var] = libs
+	self.env['STLIB_%s' % var] = stlibs
 	self.end_msg('ok')
 	if Logs.verbose:
 		Logs.pprint('CYAN', '	path : %s' % path)
-		Logs.pprint('CYAN', '	libs : %s' % libs)
+		Logs.pprint('CYAN', '	shared libs : %s' % libs)
+		Logs.pprint('CYAN', '	static libs : %s' % stlibs)
 
+	def has_shlib(lib):
+		return params['lib'] and lib in params['lib']
+	def has_stlib(lib):
+		return params['stlib'] and lib in params['stlib']
+	def has_lib(lib):
+		return has_shlib(lib) or has_stlib(lib)
+	if has_lib('thread'):
+		# not inside try_link to make check visible in the output
+		self._check_pthread_flag(k, kw)
 
 	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 has_lib('system'):
+			self.check_cxx(fragment=BOOST_ERROR_CODE, use=var, execute=False)
+		if has_lib('thread'):
+			self.check_cxx(fragment=BOOST_THREAD_CODE, use=var, execute=False)
+		if has_lib('log'):
+			if not has_lib('thread'):
+				self.env['DEFINES_%s' % var] += ['BOOST_LOG_NO_THREADS']
+			if has_shlib('log'):
+				self.env['DEFINES_%s' % var] += ['BOOST_LOG_DYN_LINK']
+			self.check_cxx(fragment=BOOST_LOG_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']:
+		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']
@@ -356,14 +480,14 @@
 				try:
 					try_link()
 					self.end_msg("ok: winning cxxflags combination: %s" % (self.env["CXXFLAGS_%s" % var]))
-					e = None
+					exc = None
 					break
-				except Errors.ConfigurationError as exc:
+				except Errors.ConfigurationError as e:
 					self.env.revert()
-					e = exc
+					exc = e
 
-			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)
+			if exc is not None:
+				self.end_msg("Could not auto-detect boost linking flags combination, you may report it to boost.py author", ex=exc)
 				self.fatal('The configuration failed')
 		else:
 			self.end_msg("Boost linkage flags auto-detection not implemented (needed ?) for this toolchain")
@@ -376,3 +500,19 @@
 			self.end_msg("Could not link against boost libraries using supplied options")
 			self.fatal('The configuration failed')
 		self.end_msg('ok')
+
+
+@feature('cxx')
+@after_method('apply_link')
+def install_boost(self):
+	if install_boost.done or not Utils.is_win32 or not self.bld.cmd.startswith('install'):
+		return
+	install_boost.done = True
+	inst_to = getattr(self, 'install_path', '${BINDIR}')
+	for lib in self.env.LIB_BOOST:
+		try:
+			file = self.bld.find_file(self.env.cxxshlib_PATTERN % lib, self.env.LIBPATH_BOOST)
+			self.bld.install_files(inst_to, self.bld.root.find_node(file))
+		except:
+			continue
+install_boost.done = False
diff --git a/.waf-tools/coverage.py b/.waf-tools/coverage.py
new file mode 100644
index 0000000..ce92883
--- /dev/null
+++ b/.waf-tools/coverage.py
@@ -0,0 +1,22 @@
+# -*- Mode: python; py-indent-offset: 4; indent-tabs-mode: nil; coding: utf-8; -*-
+
+from waflib import TaskGen, Logs
+
+def options(opt):
+    opt.add_option('--with-coverage', action='store_true', default=False, dest='with_coverage',
+                   help='''Set compiler flags for gcc to enable code coverage information''')
+
+def configure(conf):
+    if conf.options.with_coverage:
+        if not conf.options.debug:
+            conf.fatal("Code coverage flags require debug mode compilation (add --debug)")
+        conf.check_cxx(cxxflags=['-fprofile-arcs', '-ftest-coverage', '-fPIC'],
+                       linkflags=['-fprofile-arcs'], uselib_store='GCOV', mandatory=True)
+
+@TaskGen.feature('cxx','cc')
+@TaskGen.after('process_source')
+def add_coverage(self):
+    if getattr(self, 'use', ''):
+        self.use += ' GCOV'
+    else:
+        self.use = 'GCOV'
diff --git a/.waf-tools/default-compiler-flags.py b/.waf-tools/default-compiler-flags.py
index 225833a..2999e8f 100644
--- a/.waf-tools/default-compiler-flags.py
+++ b/.waf-tools/default-compiler-flags.py
@@ -1,53 +1,57 @@
 # -*- 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
+from waflib import Logs, Configure, Utils
 
 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)''')
+                   help='''Compile in debugging mode without optimizations (-O0 or -Og)''')
 
 def configure(conf):
-    areCustomCxxflagsPresent = (len(conf.env.CXXFLAGS) > 0)
-    defaultFlags = ['-std=c++0x', '-std=c++11',
-                    '-stdlib=libc++',   # clang on OSX < 10.9 by default uses gcc's
-                                        # libstdc++, which is not C++11 compatible
-                    '-Wall', '-Wno-long-long', '-Wno-nested-anon-types']
+    cxx = conf.env['CXX_NAME'] # CXX_NAME represents generic name of the compiler
+    if cxx == 'gcc':
+        flags = GccFlags()
+    elif cxx == 'clang':
+        flags = ClangFlags()
+    else:
+        flags = CompilerFlags()
+        Logs.warn('The code has not yet been tested with %s compiler' % cxx)
 
+    areCustomCxxflagsPresent = (len(conf.env.CXXFLAGS) > 0)
+
+    # General flags are always applied (e.g., selecting C++11 mode)
+    generalFlags = flags.getGeneralFlags(conf)
+    conf.add_supported_cxxflags(generalFlags['CXXFLAGS'])
+    conf.add_supported_linkflags(generalFlags['LINKFLAGS'])
+    conf.env.DEFINES += generalFlags['DEFINES']
+
+    # Debug or optimized CXXFLAGS and LINKFLAGS are applied only if the
+    # corresponding environment variables are not set.
+    # DEFINES are always applied.
     if conf.options.debug:
-        conf.define('_DEBUG', 1)
-        defaultFlags += ['-O0',
-                         '-Og', # gcc >= 4.8
-                         '-g3',
-                         '-fcolor-diagnostics', # clang
-                         '-fdiagnostics-color', # gcc >= 4.9
-                         '-Wno-error=maybe-uninitialized', # Bug #1560
-                         '-Wno-unneeded-internal-declaration',
-                        ]
+        extraFlags = flags.getDebugFlags(conf)
         if areCustomCxxflagsPresent:
-            missingFlags = [x for x in defaultFlags if x not in conf.env.CXXFLAGS]
+            missingFlags = [x for x in extraFlags['CXXFLAGS'] 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)
+        extraFlags = flags.getOptimizedFlags(conf)
 
-    # clang on OSX < 10.9 by default uses gcc's libstdc++, which is not C++11 compatible
-    conf.add_supported_linkflags(['-stdlib=libc++'])
+    if not areCustomCxxflagsPresent:
+        conf.add_supported_cxxflags(extraFlags['CXXFLAGS'])
+        conf.add_supported_linkflags(extraFlags['LINKFLAGS'])
+
+    conf.env.DEFINES += extraFlags['DEFINES']
 
 @Configure.conf
 def add_supported_cxxflags(self, cxxflags):
     """
     Check which cxxflags are supported by compiler and add them to env.CXXFLAGS variable
     """
+    if len(cxxflags) == 0:
+        return
+
     self.start_msg('Checking supported CXXFLAGS')
 
     supportedFlags = []
@@ -56,13 +60,16 @@
             supportedFlags += [flag]
 
     self.end_msg(' '.join(supportedFlags))
-    self.env.CXXFLAGS = supportedFlags + self.env.CXXFLAGS
+    self.env.prepend_value('CXXFLAGS', supportedFlags)
 
 @Configure.conf
 def add_supported_linkflags(self, linkflags):
     """
     Check which linkflags are supported by compiler and add them to env.LINKFLAGS variable
     """
+    if len(linkflags) == 0:
+        return
+
     self.start_msg('Checking supported LINKFLAGS')
 
     supportedFlags = []
@@ -71,4 +78,104 @@
             supportedFlags += [flag]
 
     self.end_msg(' '.join(supportedFlags))
-    self.env.LINKFLAGS = supportedFlags + self.env.LINKFLAGS
+    self.env.prepend_value('LINKFLAGS', supportedFlags)
+
+
+class CompilerFlags(object):
+    def getGeneralFlags(self, conf):
+        """Get dict of CXXFLAGS, LINKFLAGS, and DEFINES that are always needed"""
+        return {'CXXFLAGS': [], 'LINKFLAGS': [], 'DEFINES': []}
+
+    def getDebugFlags(self, conf):
+        """Get dict of CXXFLAGS, LINKFLAGS, and DEFINES that are needed only in debug mode"""
+        return {'CXXFLAGS': [], 'LINKFLAGS': [], 'DEFINES': ['_DEBUG']}
+
+    def getOptimizedFlags(self, conf):
+        """Get dict of CXXFLAGS, LINKFLAGS, and DEFINES that are needed only in optimized mode"""
+        return {'CXXFLAGS': [], 'LINKFLAGS': [], 'DEFINES': ['NDEBUG']}
+
+class GccBasicFlags(CompilerFlags):
+    """
+    This class defines basic flags that work for both gcc and clang compilers
+    """
+    def getDebugFlags(self, conf):
+        flags = super(GccBasicFlags, self).getDebugFlags(conf)
+        flags['CXXFLAGS'] += ['-O0',
+                              '-g3',
+                              '-pedantic',
+                              '-Wall',
+                              '-Wextra',
+                              '-Werror',
+                              '-Wno-unused-parameter',
+                              '-Wno-error=maybe-uninitialized', # Bug #1615
+                              '-Wno-error=deprecated-declarations', # Bug #3795
+                              ]
+        return flags
+
+    def getOptimizedFlags(self, conf):
+        flags = super(GccBasicFlags, self).getOptimizedFlags(conf)
+        flags['CXXFLAGS'] += ['-O2',
+                              '-g',
+                              '-pedantic',
+                              '-Wall',
+                              '-Wextra',
+                              '-Wno-unused-parameter',
+                              ]
+        return flags
+
+class GccFlags(GccBasicFlags):
+    def getGeneralFlags(self, conf):
+        flags = super(GccFlags, self).getGeneralFlags(conf)
+        version = tuple(int(i) for i in conf.env['CC_VERSION'])
+        if version < (4, 8, 2):
+            conf.fatal('The version of gcc you are using (%s) is too old.\n' %
+                       '.'.join(conf.env['CC_VERSION']) +
+                       'The minimum supported gcc version is 4.8.2.')
+        else:
+            flags['CXXFLAGS'] += ['-std=c++11']
+        return flags
+
+    def getDebugFlags(self, conf):
+        flags = super(GccFlags, self).getDebugFlags(conf)
+        version = tuple(int(i) for i in conf.env['CC_VERSION'])
+        if version < (5, 1, 0):
+            flags['CXXFLAGS'] += ['-Wno-missing-field-initializers']
+        flags['CXXFLAGS'] += ['-Og', # gcc >= 4.8
+                              '-fdiagnostics-color', # gcc >= 4.9
+                              ]
+        return flags
+
+    def getOptimizedFlags(self, conf):
+        flags = super(GccFlags, self).getOptimizedFlags(conf)
+        version = tuple(int(i) for i in conf.env['CC_VERSION'])
+        if version < (5, 1, 0):
+            flags['CXXFLAGS'] += ['-Wno-missing-field-initializers']
+        flags['CXXFLAGS'] += ['-fdiagnostics-color'] # gcc >= 4.9
+        return flags
+
+class ClangFlags(GccBasicFlags):
+    def getGeneralFlags(self, conf):
+        flags = super(ClangFlags, self).getGeneralFlags(conf)
+        flags['CXXFLAGS'] += ['-std=c++11']
+        if Utils.unversioned_sys_platform() == 'darwin':
+            flags['CXXFLAGS'] += ['-stdlib=libc++']
+            flags['LINKFLAGS'] += ['-stdlib=libc++']
+        return flags
+
+    def getDebugFlags(self, conf):
+        flags = super(ClangFlags, self).getDebugFlags(conf)
+        flags['CXXFLAGS'] += ['-fcolor-diagnostics',
+                              '-Wno-unused-local-typedef', # Bugs #2657 and #3209
+                              '-Wno-error=unneeded-internal-declaration', # Bug #1588
+                              '-Wno-error=deprecated-register',
+                              '-Wno-error=keyword-macro', # Bug #3235
+                              '-Wno-error=infinite-recursion', # Bug #3358
+                              ]
+        return flags
+
+    def getOptimizedFlags(self, conf):
+        flags = super(ClangFlags, self).getOptimizedFlags(conf)
+        flags['CXXFLAGS'] += ['-fcolor-diagnostics',
+                              '-Wno-unused-local-typedef', # Bugs #2657 and #3209
+                              ]
+        return flags
diff --git a/.waf-tools/doxygen.py b/.waf-tools/doxygen.py
index ac8c70b..6d8066b 100644
--- a/.waf-tools/doxygen.py
+++ b/.waf-tools/doxygen.py
@@ -85,7 +85,7 @@
 
 			# Override with any parameters passed to the task generator
 			if getattr(self.generator, 'pars', None):
-				for k, v in self.generator.pars.iteritems():
+				for k, v in self.generator.pars.items():
 					self.pars[k] = v
 
 			self.doxy_inputs = getattr(self, 'doxy_inputs', [])
diff --git a/.waf-tools/pch.py b/.waf-tools/pch.py
index 08cc5de..3df299f 100644
--- a/.waf-tools/pch.py
+++ b/.waf-tools/pch.py
@@ -67,6 +67,11 @@
 
 def configure(conf):
 	if (conf.options.with_pch and conf.env['COMPILER_CXX'] in PCH_COMPILER_OPTIONS.keys()):
+		if Utils.unversioned_sys_platform() == "darwin" and conf.env['CXX_NAME'] == 'clang':
+			version = tuple(int(i) for i in conf.env['CC_VERSION'])
+			if version < (6, 1, 0):
+				# Issue #2804
+				return
 		conf.env.WITH_PCH = True
 		flags = PCH_COMPILER_OPTIONS[conf.env['COMPILER_CXX']]
 		conf.env.CXXPCH_F = flags[0]
diff --git a/.waf-tools/sanitizers.py b/.waf-tools/sanitizers.py
new file mode 100644
index 0000000..a8fe55d
--- /dev/null
+++ b/.waf-tools/sanitizers.py
@@ -0,0 +1,22 @@
+# -*- Mode: python; py-indent-offset: 4; indent-tabs-mode: nil; coding: utf-8; -*-
+
+def options(opt):
+    opt.add_option('--with-sanitizer', action='store', default='', dest='sanitizers',
+                   help='Comma-separated list of compiler sanitizers to enable [default=none]')
+
+def configure(conf):
+    for san in conf.options.sanitizers.split(','):
+        if not san:
+            continue
+
+        sanflag = '-fsanitize=%s' % san
+        conf.start_msg('Checking if compiler supports %s' % sanflag)
+
+        if conf.check_cxx(cxxflags=['-Werror', sanflag, '-fno-omit-frame-pointer'],
+                          linkflags=[sanflag], mandatory=False):
+            conf.end_msg('yes')
+            conf.env.append_unique('CXXFLAGS', [sanflag, '-fno-omit-frame-pointer'])
+            conf.env.append_unique('LINKFLAGS', [sanflag])
+        else:
+            conf.end_msg('no', color='RED')
+            conf.fatal('%s sanitizer is not supported by the current compiler' % san)