commit 2925e4d78611aa5222a864e2240fbad9183b4387
Author: peri4 <peri4@peri4-work.(none)>
Date:   Tue Nov 30 08:11:27 2010 +0300

    30.11.2010 - initial commit

diff --git a/.kdev4/pip.kdev4 b/.kdev4/pip.kdev4
new file mode 100644
index 00000000..0de0e122
--- /dev/null
+++ b/.kdev4/pip.kdev4
@@ -0,0 +1,32 @@
+[Buildset]
+BuildItems=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x01\x00\x00\x00\x06\x00p\x00i\x00p)
+
+[CMake]
+BuildDirs=/home/peri4/pprojects/pip/
+CMakeDir=/usr/share/cmake/Modules
+Current CMake Binary=file:///usr/bin/cmake
+CurrentBuildDir=file:///home/peri4/pprojects/pip/
+CurrentBuildType=Debug
+CurrentInstallDir=
+ProjectRootRelative=./
+
+[Launch]
+Launch Configurations=Launch Configuration 0
+
+[Launch][Launch Configuration 0]
+Configured Launch Modes=execute
+Configured Launchers=nativeAppLauncher
+Name=pip
+Type=Native Application
+
+[Launch][Launch Configuration 0][Data]
+Arguments=
+Dependencies=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x01\x00\x00\x00\x06\x00p\x00i\x00p)
+Dependency Action=Build
+EnvironmentGroup=default
+Project Target=pip,pip
+Working Directory=
+isExecutable=false
+
+[Project]
+VersionControlSupport=kdevgit
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 00000000..d1b36d93
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,11 @@
+project(pip)
+cmake_minimum_required(VERSION 2.6)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR} .)
+file(GLOB CPPS "*.cpp")
+add_definitions(-O2 -g3 -DMV_DEBUG)
+add_executable(pip ${CPPS})
+if (${WIN32})
+	target_link_libraries(pip pthread ws2_32)
+else (${WIN32})
+	target_link_libraries(pip pthread rt)
+endif (${WIN32})
diff --git a/main.cpp b/main.cpp
new file mode 100644
index 00000000..9587e97a
--- /dev/null
+++ b/main.cpp
@@ -0,0 +1,5 @@
+#include "pitimer.h"
+
+int main(int argc, char * argv[]) {
+	cout << date2string(currentDate()) << endl;
+};
diff --git a/piconfig.cpp b/piconfig.cpp
new file mode 100644
index 00000000..27f3affe
--- /dev/null
+++ b/piconfig.cpp
@@ -0,0 +1,253 @@
+#include "piconfig.h"
+
+
+PIConfig::PIConfig(const string & path): PIFile(path) {
+	if (!isOpened())
+		open(path, Read | Write | New);
+	parse();
+}
+
+
+bool PIConfig::getValue(const string & vname, const bool def, bool * exist) const {
+	return atob(getValue(vname, btos(def), exist));}
+char PIConfig::getValue(const string & vname, const char def, bool * exist) const {
+	return atoi(getValue(vname, string(1, def), exist).c_str());}
+short PIConfig::getValue(const string & vname, const short def, bool * exist) const {
+	return atoi(getValue(vname, itos(def), exist).c_str());}
+int PIConfig::getValue(const string & vname, const int def, bool * exist) const {
+	return atoi(getValue(vname, itos(def), exist).c_str());}
+long PIConfig::getValue(const string & vname, const long def, bool * exist) const {
+	return atoi(getValue(vname, ltos(def), exist).c_str());}
+uchar PIConfig::getValue(const string & vname, const uchar def, bool * exist) const {
+	return atoi(getValue(vname, uitos(def), exist).c_str());}
+ushort PIConfig::getValue(const string & vname, const ushort def, bool * exist) const {
+	return atoi(getValue(vname, uitos(def), exist).c_str());}
+uint PIConfig::getValue(const string & vname, const uint def, bool * exist) const {
+	return atoi(getValue(vname, uitos(def), exist).c_str());}
+ulong PIConfig::getValue(const string & vname, const ulong def, bool * exist) const {
+	return atoi(getValue(vname, ultos(def), exist).c_str());}
+float PIConfig::getValue(const string & vname, const float def, bool * exist) const {
+	return atof(getValue(vname, ftos(def), exist).c_str());}
+double PIConfig::getValue(const string & vname, const double def, bool * exist) const {
+	return atof(getValue(vname, dtos(def), exist).c_str());}
+
+
+void PIConfig::setValue(const string & name, const char * value, bool write) {
+	setValue(name, string(value), "s", write);}
+void PIConfig::setValue(const string & name, const bool value, bool write) {
+	setValue(name, btos(value), "b", write);}
+void PIConfig::setValue(const string & name, const char value, bool write) {
+	setValue(name, string(1, value), "s", write);}
+void PIConfig::setValue(const string & name, const short value, bool write) {
+	setValue(name, itos(value), "n", write);}
+void PIConfig::setValue(const string & name, const int value, bool write) {
+	setValue(name, itos(value), "n", write);}
+void PIConfig::setValue(const string & name, const long value, bool write) {
+	setValue(name, ltos(value), "n", write);}
+void PIConfig::setValue(const string & name, const uchar value, bool write) {
+	setValue(name, uitos(value), "n", write);}
+void PIConfig::setValue(const string & name, const ushort value, bool write) {
+	setValue(name, uitos(value), "n", write);}
+void PIConfig::setValue(const string & name, const uint value, bool write) {
+	setValue(name, uitos(value), "n", write);}
+void PIConfig::setValue(const string & name, const ulong value, bool write) {
+	setValue(name, ultos(value), "n", write);}
+void PIConfig::setValue(const string & name, const float value, bool write) {
+	setValue(name, ftos(value), "f", write);}
+void PIConfig::setValue(const string & name, const double value, bool write) {
+	setValue(name, dtos(value), "f", write);}
+
+
+string PIConfig::getValue(const string & vname, const string & def, bool * exist) const {
+	for (int i = 0; i < settname.size(); i++) {
+		if (settname[i] == vname) {
+			if (exist != 0) *exist = true;
+			return settval[i];
+		}
+	}
+	if (exist != 0) *exist = false;
+	return def;
+}
+
+
+void PIConfig::setValue(const string & name, const string & value, const string & type, bool write) {
+	int number = getNumber(name);
+	if (number == -1) {
+		addLine(name, value, type);
+		return;
+	}
+	string tmp = settname[number] + " = " + value + " #" + setttype[number] + " " + settcom[number];
+	settval[number] = value;
+	all[settlines[number]] = tmp;
+	if (write) writeAll();
+}
+
+
+bool PIConfig::existsValue(const string & name) {
+	for (int i = 0; i < settname.size(); i++)
+		if (settname[i] == name) return true;
+	return false;
+}
+
+
+void PIConfig::addLine(const string & name, const string & value, const string & type) {
+	if (setttab.size() > 0) *this << setttab[setttab.size() - 1] << name << " = " << value << " #" << type << "\n";
+	else *this << name << " = " << value << " #" << type << "\n";
+	settname.push_back(name);
+	settval.push_back(value);
+	settcom.push_back("");
+	setttype.push_back(type);
+	if (setttab.size() > 0) setttab.push_back(setttab[setttab.size() - 1]);
+	else setttab.push_back("\t");
+	settlines.push_back(all.size());
+	all.push_back(name + " = " + value + " #" + type);
+	flush();
+}
+
+
+void PIConfig::insertLine(int number, const string & name, const string & value, const string & type) {
+	if (number >= settname.size()) {
+		addLine(name, value, type);
+		return;
+	}
+	settname.insert(settname.begin() + number, name);
+	settval.insert(settval.begin() + number, value);
+	settcom.insert(settcom.begin() + number, "");
+	setttab.insert(setttab.begin() + number, setttab[number]);
+	setttype.insert(setttype.begin() + number, type);
+	settlines.insert(settlines.begin() + number, settlines[number]);
+	for (int i = number + 1; i < settlines.size(); i++) settlines[i]++;
+	all.insert(all.begin() + settlines[number], name + " = " + value + " #" + type);
+	flush();
+	writeAll();
+}
+
+
+int PIConfig::getNumber(const string & name) {
+	for (int i = 0; i < settname.size(); i++)
+		if (settname[i] == name)
+			return i;
+	return -1;
+}
+
+
+void PIConfig::setValue(int number, const string & value, bool write) {
+	string tmp = settname[number] + " = " + value + " #" + setttype[number] + " " + settcom[number];
+	settval[number] = value;
+	all[settlines[number]] = tmp;
+	if (write) writeAll();
+}
+
+
+void PIConfig::setName(int number, const string & name) {
+	string tmp = name + " = " + settval[number] + " #" + setttype[number] + " " + settcom[number];
+	settname[number] = name;
+	all[settlines[number]] = tmp;
+	writeAll();
+}
+
+
+void PIConfig::setType(int number, const string & type) {
+	string tmp = settname[number] + " = " + settval[number] + " #" + type + " " + settcom[number];
+	setttype[number] = type;
+	all[settlines[number]] = tmp;
+	writeAll();
+}
+
+
+void PIConfig::setComment(int number, const string & comment) {
+	string tmp = settname[number] + " = " + settval[number] + " #" + setttype[number] + " " + comment;
+	settcom[number] = comment;
+	all[settlines[number]] = tmp;
+	writeAll();
+}
+
+
+void PIConfig::deleteLine(const string & name) {
+	bool exist = false;
+	int i;
+	for (i = 0; i < settname.size(); i++) {
+		if (settname[i] == name) {
+			exist = true;
+			break;
+		}
+	}
+	if (!exist) return;
+	deleteLine(i);
+}
+
+
+void PIConfig::deleteLine(int number) {
+	settname.erase(settname.begin() + number);
+	settval.erase(settval.begin() + number);
+	settcom.erase(settcom.begin() + number);
+	setttab.erase(setttab.begin() + number);
+	setttype.erase(setttype.begin() + number);
+	all.erase(all.begin() + settlines[number]);
+	for (int i = number; i < settlines.size(); i++) settlines[i]--;
+	settlines.erase(settlines.begin() + number);
+	writeAll();
+}
+
+
+void PIConfig::writeAll() {
+	clear();
+	int c = 0;
+	for (int i = 0; i < all.size() - 1; i++) {
+		if (c < settlines.size() && c < setttab.size()) {
+			if (settlines[c] == i) {
+				*this << setttab[c];
+				c++;
+			}
+		}
+		*this << all[i] << "\n";
+	}
+	readAll();
+}
+
+
+void PIConfig::readAll() {
+	settname.clear();
+	settval.clear();
+	settcom.clear();
+	setttab.clear();
+	settlines.clear();
+	setttype.clear();
+	all.clear();
+	flush();
+	parse();
+}
+
+
+void PIConfig::parse() {
+	string str, tab, comm;
+	int ind, sind;
+	if (!isOpened()) return;
+	seek(0);
+	lines = 0;
+	while (!isEnd()) {
+		str = readLine();
+		tab = s_left(str, str.find_first_of(s_left(s_trimmed(str), 1)));
+		str = s_trimmed(str);
+		all.push_back(str);
+		ind = str.find_first_of('=');
+		if ((ind > 0) && !(str[0] == '#')) {
+			sind = str.find_first_of('#');
+			if (sind > 0) {
+				comm = s_trimmed(s_right(str, str.size() - sind - 1));
+				setttype.push_back(s_left(comm, 1));
+				comm = s_trimmed(s_right(comm, comm.size() - 1));
+				settcom.push_back(comm);
+				str = s_left(str, sind);
+			} else {
+				setttype.push_back("s");
+				settcom.push_back("");
+			}
+			settname.push_back(s_trimmed(s_left(str, ind)));
+			settval.push_back(s_trimmed(s_right(str, str.size() - ind - 1)));
+			setttab.push_back(tab);
+			settlines.push_back(lines);
+		}
+		lines++;
+	}
+}
diff --git a/piconfig.h b/piconfig.h
new file mode 100644
index 00000000..39f89cb4
--- /dev/null
+++ b/piconfig.h
@@ -0,0 +1,72 @@
+#ifndef PICONFIG_H
+#define PICONFIG_H
+
+#include "pifile.h"
+
+class PIConfig: public PIFile
+{
+public:
+	PIConfig(const string & path);
+	~PIConfig() {;}
+	
+	string getValue(const string & vname, const string & def = "", bool * exist = 0) const;
+	string getValue(const string & vname, const char * def = "", bool * exist = 0) const;
+	bool getValue(const string & vname, const bool def = false, bool * exist = 0) const;
+	char getValue(const string & vname, const char def = 0, bool * exist = 0) const;
+	short getValue(const string & vname, const short def = 0, bool * exist = 0) const;
+	int getValue(const string & vname, const int def = 0, bool * exist = 0) const;
+	long getValue(const string & vname, const long def = 0, bool * exist = 0) const;
+	uchar getValue(const string & vname, const uchar def = 0, bool * exist = 0) const;
+	ushort getValue(const string & vname, const ushort def = 0, bool * exist = 0) const;
+	uint getValue(const string & vname, const uint def = 0, bool * exist = 0) const;
+	ulong getValue(const string & vname, const ulong def = 0, bool * exist = 0) const;
+	float getValue(const string & vname, const float def = 0., bool * exist = 0) const;
+	double getValue(const string & vname, const double def = 0., bool * exist = 0) const;
+
+	void setValue(const string & name, const string & value, const string & type = "s", bool write = true);
+	void setValue(const string & name, const char * value, bool write = true);
+	void setValue(const string & name, const bool value, bool write = true);
+	void setValue(const string & name, const char value, bool write = true);
+	void setValue(const string & name, const short value, bool write = true);
+	void setValue(const string & name, const int value, bool write = true);
+	void setValue(const string & name, const long value, bool write = true);
+	void setValue(const string & name, const uchar value, bool write = true);
+	void setValue(const string & name, const ushort value, bool write = true);
+	void setValue(const string & name, const uint value, bool write = true);
+	void setValue(const string & name, const ulong value, bool write = true);
+	void setValue(const string & name, const float value, bool write = true);
+	void setValue(const string & name, const double value, bool write = true);
+
+	string getValue(int number) const {return settval[number];}
+	string getName(int number) const {return settname[number];}
+	string getComment(int number) const {return settcom[number];}
+	void setValue(int number, const string & value, bool write = true);
+	bool existsValue(const string & name);
+	char getType(int number) const {return setttype[number][0];}
+	int getNumber(const string & name);
+	void setName(int number, const string & name);
+	void setType(int number, const string & type);
+	void setComment(int number, const string & comment);
+	int numValues() const {return settval.size();}
+	void addLine(const string & name, const string & value, const string & type = "s");
+	void insertLine(int number, const string & name, const string & value, const string & type = "s");
+	void deleteLine(const string & name);
+	void deleteLine(int number);
+	void readAll();
+	void writeAll();
+	
+private:
+	void parse();
+	
+	vector<string> settname;
+	vector<string> settval;
+	vector<string> settcom;
+	vector<string> setttab;
+	vector<string> setttype;
+	vector<string> all;
+	vector<int> settlines;
+	int lines;
+	
+};
+
+#endif // PICONFIG_H
diff --git a/piconsole.cpp b/piconsole.cpp
new file mode 100644
index 00000000..e6cb2230
--- /dev/null
+++ b/piconsole.cpp
@@ -0,0 +1,412 @@
+#include "piconsole.h"
+
+
+PIConsole::PIConsole(bool startNow, KeyFunc slot): PIThread() {
+	setPriority(piLow);
+	needLockRun(true);
+	ret_func = slot;
+	num_format = 0;
+	cur_tab = width = height = my = 0;
+#ifdef WINDOWS
+	ulcoord.X = ulcoord.Y = 0;
+	hOut = GetStdHandle(STD_OUTPUT_HANDLE);
+	GetConsoleScreenBufferInfo(hOut, &sbi);
+	dattr = sbi.wAttributes;
+	width = sbi.srWindow.Right - sbi.srWindow.Left;
+	height = sbi.srWindow.Bottom - sbi.srWindow.Top;
+	GetConsoleMode(hOut, &smode);
+	GetConsoleCursorInfo(hOut, &curinfo);
+#endif
+	addTab(string("main"));
+	listener = new PIKbdListener(key_event, this);
+	if (startNow) start(40);
+}
+
+
+PIConsole::~PIConsole() {
+	if (isRunning()) {
+		stop();
+		waitForFinish();
+		moveTo(0, my + 4);
+		showCursor();
+	}
+	delete listener;
+	clearTabs(false);
+#ifdef WINDOWS
+	SetConsoleMode(hOut, smode);
+	SetConsoleTextAttribute(hOut, dattr);
+#endif
+}
+
+
+int PIConsole::addTab(string name, char bind_key) {
+	tabs.push_back(Tab(name, bind_key));
+	cur_tab = tabs.size() - 1;
+	return tabs.size();
+}
+
+
+void PIConsole::removeTab(uint index) {
+	if (index >= tabs.size()) return;
+	tabs.erase(vector<Tab>::iterator(&tabs[index]));
+	if (cur_tab >= tabs.size()) cur_tab = tabs.size() - 1;
+}
+
+
+void PIConsole::removeTab(string name) {
+	uint index = tabs.size() + 1;
+	for (uint i = 0; i < tabs.size(); ++i) {
+		if (tabs[i].name == name) {
+			index = i;
+			break;
+		}
+	}
+	removeTab(index);
+}
+
+
+bool PIConsole::setTab(uint index) {
+	if (index >= tabs.size() || index < 0)
+		return false;
+	cur_tab = index;
+	if (!isRunning()) return true;
+	lock();
+	clearScreen();
+	fillLabels();
+	unlock();
+	return true;
+}
+
+
+bool PIConsole::setTab(string name) {
+	uint index = tabs.size() + 1;
+	for (uint i = 0; i < tabs.size(); ++i) {
+		if (tabs[i].name == name) {
+			index = i;
+			break;
+		}
+	}
+	return setTab(index);
+}
+
+
+bool PIConsole::setTabBindKey(uint index, char bind_key) {
+	if (index < 0 || index >= tabs.size())
+		return false;
+	tabs[index].key = bind_key;
+	return true;
+}
+
+
+bool PIConsole::setTabBindKey(string name, char bind_key) {
+	uint index =tabs.size() + 1;
+	for (uint i = 0; i < tabs.size(); ++i) {
+		if (tabs[i].name == name) {
+			index = i;
+			break;
+		}
+	}
+	return setTabBindKey(index, bind_key);
+}
+
+
+void PIConsole::key_event(void * t, char key) {
+	PIConsole * p = (PIConsole * )t;
+	for (uint i = 0; i < p->tabsCount(); ++i) {
+		if (p->tabs[i].key == key) {
+			p->setTab(i);
+			return;
+		}
+	}
+	if (p->ret_func != 0) p->ret_func(t, key);
+}
+
+
+string PIConsole::fstr(Flags<PIConsole::Format> f) {
+	if (f[PIConsole::Dec]) num_format = 0;
+	if (f[PIConsole::Hex]) num_format = 1;
+	if (f[PIConsole::Oct]) num_format = 2;
+	if (f[PIConsole::Scientific]) num_format = 3;
+
+#ifdef WINDOWS
+	WORD attr = dattr;
+
+	if (f[PIConsole::Inverse]) {
+		if (f[PIConsole::Red]) attr |= BACKGROUND_RED;
+		if (f[PIConsole::Green]) attr |= BACKGROUND_GREEN;
+		if (f[PIConsole::Blue]) attr |= BACKGROUND_BLUE;
+		if (f[PIConsole::Yellow]) attr |= (BACKGROUND_RED | BACKGROUND_GREEN);
+		if (f[PIConsole::Magenta]) attr |= (BACKGROUND_RED | BACKGROUND_BLUE);
+		if (f[PIConsole::Cyan]) attr |= (BACKGROUND_GREEN | BACKGROUND_BLUE);
+		if (f[PIConsole::White]) attr |= (BACKGROUND_RED | BACKGROUND_GREEN | BACKGROUND_BLUE);
+		attr |= (FOREGROUND_RED | FOREGROUND_GREEN | FOREGROUND_BLUE);
+	} else {
+		if (f[PIConsole::Red]) attr |= FOREGROUND_RED;
+		if (f[PIConsole::Green]) attr |= FOREGROUND_GREEN;
+		if (f[PIConsole::Blue]) attr |= FOREGROUND_BLUE;
+		if (f[PIConsole::Yellow]) attr |= (FOREGROUND_RED | FOREGROUND_GREEN);
+		if (f[PIConsole::Magenta]) attr |= (FOREGROUND_RED | FOREGROUND_BLUE);
+		if (f[PIConsole::Cyan]) attr |= (FOREGROUND_GREEN | FOREGROUND_BLUE);
+		if (f[PIConsole::White]) attr |= (FOREGROUND_RED | FOREGROUND_GREEN | FOREGROUND_BLUE);
+	}
+	if (f[PIConsole::Bold]) attr |= FOREGROUND_INTENSITY;
+
+	SetConsoleTextAttribute(hOut, attr);
+	return "";
+#else
+	string ts = "\e[0";
+
+	if (f[PIConsole::Bold]) ts += ";1";
+	if (f[PIConsole::Faint]) ts += ";2";
+	if (f[PIConsole::Italic]) ts += ";3";
+	if (f[PIConsole::Underline]) ts += ";4";
+	if (f[PIConsole::Blink]) ts += ";5";
+	if (f[PIConsole::Inverse]) ts += ";7";
+
+	if (f[PIConsole::Black]) ts += ";30";
+	if (f[PIConsole::Red]) ts += ";31";
+	if (f[PIConsole::Green]) ts += ";32";
+	if (f[PIConsole::Yellow]) ts += ";33";
+	if (f[PIConsole::Blue]) ts += ";34";
+	if (f[PIConsole::Magenta]) ts += ";35";
+	if (f[PIConsole::Cyan]) ts += ";36";
+	if (f[PIConsole::White]) ts += ";37";
+
+	return ts + "m";
+#endif
+}
+
+#define siprint(x)  switch (num_format) {case (1): return printf("0x%.4hX", x); break; case (2): return printf("%o", x); break; default: return printf("%hd", x); break;}
+#define iprint(x)   switch (num_format) {case (1): return printf("0x%.8X", x); break; case (2): return printf("%o", x); break; default: return printf("%d", x); break;}
+#define liprint(x)  switch (num_format) {case (1): return printf("0x%.16lX", x); break; case (2): return printf("%lo", x); break; default: return printf("%ld", x); break;}
+#define lliprint(x) switch (num_format) {case (1): return printf("0x%.16LX", x); break; case (2): return printf("%Lo", x); break; default: return printf("%Ld", x); break;}
+#define suprint(x)  switch (num_format) {case (1): return printf("0x%.4hX", x); break; case (2): return printf("%o", x); break; default: return printf("%hd", x); break;}
+#define uprint(x)   switch (num_format) {case (1): return printf("0x%.8X", x); break; case (2): return printf("%o", x); break; default: return printf("%u", x); break;}
+#define luprint(x)  switch (num_format) {case (1): return printf("0x%.16lX", x); break; case (2): return printf("%lo", x); break; default: return printf("%lu", x); break;}
+#define lluprint(x) switch (num_format) {case (1): return printf("0x%.16LX", x); break; case (2): return printf("%Lo", x); break; default: return printf("%Lu", x); break;}
+#define fprint(x)   switch (num_format) {case (3): return printf("%e", x); break; default: return printf("%.5g", x); break;}
+#define dprint(x)   switch (num_format) {case (3): return printf("%le", x); break; default: return printf("%.5lg", x); break;}
+
+inline int PIConsole::couts(string v) {return printf("%s", v.c_str());}
+inline int PIConsole::couts(char * v) {return printf("%s", v);}
+inline int PIConsole::couts(bool v) {return (v ? printf("true") : printf("false"));}
+inline int PIConsole::couts(char v) {return printf("%c", v);}
+inline int PIConsole::couts(short v) {siprint(v);}
+inline int PIConsole::couts(int v) {iprint(v);}
+inline int PIConsole::couts(long v) {liprint(v);}
+inline int PIConsole::couts(llong v) {lliprint(v);}
+inline int PIConsole::couts(uchar v) {uprint(v);}
+inline int PIConsole::couts(ushort v) {suprint(v);}
+inline int PIConsole::couts(uint v) {uprint(v);}
+inline int PIConsole::couts(ulong v) {luprint(v);}
+inline int PIConsole::couts(ullong v) {lluprint(v);}
+inline int PIConsole::couts(float v) {fprint(v);}
+inline int PIConsole::couts(double v) {dprint(v);}
+
+
+void PIConsole::begin() {
+#ifdef WINDOWS
+	SetConsoleMode(hOut, ENABLE_WRAP_AT_EOL_OUTPUT);
+#endif
+	clearScreen();
+	hideCursor();
+	fillLabels();
+}
+
+
+void PIConsole::run() {
+	uint cx, clen = 0;
+#ifdef WINDOWS
+	GetConsoleScreenBufferInfo(hOut, &sbi);
+	width = sbi.srWindow.Right - sbi.srWindow.Left;
+	height = sbi.srWindow.Bottom - sbi.srWindow.Top;
+#else
+	winsize ws;
+	ioctl(0, TIOCGWINSZ, &ws);
+	width = ws.ws_col;
+	height = ws.ws_row;
+#endif
+	col_cnt = vars().size();
+	col_wid = (col_cnt > 0) ? width / col_cnt : width;
+	for (uint i = 0; i < col_cnt; ++i) {
+		cx = col_wid * i;
+		toUpperLeft();
+		for (uint j = 0; j < vars()[i].size(); ++j) {
+			if (my < j) my = j;
+			tv = vars()[i][j];
+			moveRight(cx);
+			if (tv.name.size() == 0) {
+				newLine();
+				continue;
+			}
+			if (tv.type == 0 && tv.s == 0) {
+				newLine();
+				continue;
+			}
+			moveRight(tv.offset);
+			switch (tv.type) {
+			case 0: clen = printValue(*tv.s, tv.format); break;
+			case 1: clen = printValue(*tv.b, tv.format); break;
+			case 2: clen = printValue(*tv.i, tv.format); break;
+			case 3: clen = printValue(*tv.l, tv.format); break;
+			case 4: clen = printValue(*tv.c, tv.format); break;
+			case 5: clen = printValue(*tv.f, tv.format); break;
+			case 6: clen = printValue(*tv.d, tv.format); break;
+			case 7: clen = printValue(*tv.sh, tv.format); break;
+			case 8: clen = printValue(*tv.ui, tv.format); break;
+			case 9: clen = printValue(*tv.ul, tv.format); break;
+			case 10: clen = printValue(*tv.ush, tv.format); break;
+			case 11: clen = printValue(*tv.uc, tv.format); break;
+			case 12: clen = printValue(*tv.ll, tv.format); break;
+			case 13: clen = printValue(*tv.ull, tv.format); break;
+			case 14: clen = printValue(bitsValue(tv.uc, tv.bitFrom, tv.bitCount), tv.format); break;
+			}
+			if (clen + tv.offset < (uint)col_wid)
+				printf("%s", string(col_wid - clen - tv.offset, ' ').c_str());
+			newLine();
+		}
+	}
+	fflush(0);
+}
+
+
+void PIConsole::fillLabels() {
+	uint cx, my = 0;
+#ifdef WINDOWS
+	GetConsoleScreenBufferInfo(hOut, &sbi);
+	width = sbi.srWindow.Right - sbi.srWindow.Left;
+	height = sbi.srWindow.Bottom - sbi.srWindow.Top;
+#else
+	winsize ws;
+	ioctl(0, TIOCGWINSZ, &ws);
+	width = ws.ws_col;
+	height = ws.ws_row;
+#endif
+	col_cnt = vars().size();
+	col_wid = (col_cnt > 0) ? width / col_cnt : width;
+	for (uint i = 0; i < col_cnt; ++i) {
+		cx = col_wid * i;
+		toUpperLeft();
+		for (uint j = 0; j < vars()[i].size(); ++j) {
+			if (my < j) my = j;
+			moveRight(cx);
+			tv = vars()[i][j];
+			if (tv.name.size() == 0) {
+				newLine();
+				continue;
+			}
+			clearLine();
+			if (tv.type == 0 && tv.s == 0) {
+				printLine(tv.name, cx, tv.format);
+				newLine();
+				continue;
+			}
+			vars()[i][j].offset = printValue(tv.name + ": ", tv.format);
+			newLine();
+		}
+	}
+	moveTo(0, my + 2);
+	if (tabs[cur_tab].status.length() > 0) {
+		printValue(tabs[cur_tab].status);
+		newLine();
+	}
+	status();
+	//fflush(0);
+}
+
+
+void PIConsole::status() {
+	Tab * ctab;
+	//clearLine();
+	for (uint i = 0; i < tabsCount(); ++i) {
+		ctab = &tabs[i];
+		if (ctab->key == 0) continue;
+		printValue(ctab->key, PIConsole::Bold);
+		printValue(ctab->name + " ", PIConsole::Cyan | PIConsole::Inverse);
+		printValue(string(" "), PIConsole::Normal);
+	}
+	newLine();
+}
+
+
+int PIConsole::bitsValue(unsigned char * src, int offset, int count) {
+	int ret = 0, stbyte = offset / 8, cbit = offset - stbyte * 8;
+	char cbyte = src[stbyte];
+	for (int i = 0; i < count; i++) {
+		ret |= ((cbyte >> cbit & 1) << i);
+		cbit++;
+		if (cbit == 8) {
+			cbit = 0;
+			stbyte++;
+			cbyte = src[stbyte];
+		}
+	}
+	return ret;
+}
+
+#define ADD_VAR_BODY tv.name = name; tv.bitFrom = tv.bitCount = 0; tv.format = format; checkColumn(column);
+
+void PIConsole::addString(string name, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 0; tv.s = 0; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, string* ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 0; tv.s = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, bool * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 1; tv.b = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, int * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 2; tv.i = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, long * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 3; tv.l = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, char * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 4; tv.c = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, float * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 5; tv.f = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, double * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 6; tv.d = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, short * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 7; tv.sh = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, uint * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 8; tv.ui = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, ulong * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 9; tv.ul = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, ushort * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 10; tv.ush = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, uchar * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 11; tv.uc = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, llong * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 12; tv.ll = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addVariable(string name, ullong * ptr, int column, Flags<PIConsole::Format> format) {
+	ADD_VAR_BODY tv.type = 13; tv.ull = ptr; vars()[column - 1].push_back(tv);}
+void PIConsole::addBitVariable(string name, uchar * ptr, int fromBit, int bitCount, int column, Flags<PIConsole::Format> format) {
+	tv.name = name; tv.bitFrom = fromBit; tv.bitCount = bitCount; tv.type = 14; tv.uc = ptr; tv.format = format;
+	checkColumn(column); vars()[column - 1].push_back(tv);}
+void PIConsole::addEmptyLine(int column) {
+	tv.name = ""; tv.type = 0; tv.d = 0; tv.format = Normal;
+	checkColumn(column); vars()[column - 1].push_back(tv);}
+
+#define PRINT_VAR_BODY couts(fstr(format)); int ret = couts(value); fstr(PIConsole::Dec); return ret;
+
+void PIConsole::printLine(string value, int dx, Flags<PIConsole::Format> format) {
+	int i = width - value.length() - dx;
+#ifdef QNX
+	--i;
+#endif
+	couts(fstr(format));
+	if (i >= 0) couts(value + string(i, ' '));
+	else couts(string(value, 0, value.length() + i));
+	couts(fstr(Dec));
+}
+int PIConsole::printValue(string value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(char * value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(bool value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(int value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(long value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(llong value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(float value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(double value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(char value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(short value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(uchar value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(ushort value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(uint value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(ulong value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
+int PIConsole::printValue(ullong value, Flags<PIConsole::Format> format) {PRINT_VAR_BODY}
diff --git a/piconsole.h b/piconsole.h
new file mode 100644
index 00000000..759b70da
--- /dev/null
+++ b/piconsole.h
@@ -0,0 +1,197 @@
+#ifndef PICONSOLE_H
+#define PICONSOLE_H
+
+#include "pikbdlistener.h"
+#ifndef WINDOWS
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#endif
+
+typedef void (*KeyFunc)(void * , char);
+
+class PIConsole: public PIThread
+{
+public:
+	PIConsole(bool startNow = true, KeyFunc slot = 0);
+	~PIConsole();
+
+	enum Format {Normal = 0x01,
+				 Bold = 0x02,
+				 Faint = 0x04,
+				 Italic = 0x08,
+				 Underline = 0x10,
+				 Blink = 0x20,
+				 Inverse = 0x40,
+				 Black = 0x100,
+				 Red = 0x200,
+				 Green = 0x400,
+				 Yellow = 0x800,
+				 Blue = 0x1000,
+				 Magenta = 0x2000,
+				 Cyan = 0x4000,
+				 White = 0x8000,
+				 Dec = 0x10000,
+				 Hex = 0x20000,
+				 Oct = 0x40000,
+				 Scientific = 0x80000};
+
+	void addString(string name, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, string * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, char * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, bool * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, short * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, int * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, long * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, llong * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, uchar * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, ushort * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, uint * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, ulong * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, ullong * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, float * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addVariable(string name, double * ptr, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addBitVariable(string name, uchar * ptr, int fromBit, int bitCount, int column = 1, Flags<PIConsole::Format> format = PIConsole::Normal);
+	void addEmptyLine(int column = 1);
+	int addTab(string name, char bind_key = 0);
+	void removeTab(uint index);
+	void removeTab(string name);
+	uint tabsCount() const {return tabs.size();}
+	bool setTab(uint index);
+	bool setTab(string name);
+	bool setTabBindKey(uint index, char bind_key);
+	bool setTabBindKey(string name, char bind_key);
+	void addCustomStatus(string str) {tabs[cur_tab].status = str;}
+	void clearCustomStatus() {tabs[cur_tab].status = "";}
+	void clearVariables(bool clearScreen = true) {if (clearScreen && isRunning()) {toUpperLeft(); clearScreenLower();} vars().clear();}
+	void clearTabs(bool clearScreen = true) {if (clearScreen && isRunning()) {toUpperLeft(); clearScreenLower();} tabs.clear();}
+	string fstr(Flags<PIConsole::Format> f);
+	string currentTab() const {return tabs[cur_tab].name;}
+
+private:
+	void begin();
+	void run();
+	void fillLabels();
+
+#ifdef WINDOWS
+	inline void getWinCurCoord() {GetConsoleScreenBufferInfo(hOut, &csbi); ccoord = csbi.dwCursorPosition;}
+	inline COORD & getWinCoord(int dx = 0, int dy = 0) {getWinCurCoord(); ccoord.X += dx; ccoord.Y += dy; return ccoord;}
+	inline void toUpperLeft() {SetConsoleCursorPosition(hOut, ulcoord);}
+	inline void moveRight(int n = 1) {SetConsoleCursorPosition(hOut, getWinCoord(n));}
+	inline void moveLeft(int n = 1) {SetConsoleCursorPosition(hOut, getWinCoord(-n));}
+	inline void moveTo(int x = 0, int y = 0) {ccoord.X = x; ccoord.Y = y; SetConsoleCursorPosition(hOut, ccoord);}
+	inline void clearScreen() {FillConsoleOutputAttribute(hOut, dattr, width * (height + 1), ulcoord, &written);
+								FillConsoleOutputCharacter(hOut, ' ', width * (height + 1), ulcoord, &written);}
+	inline void clearScreenLower() {getWinCurCoord(); FillConsoleOutputAttribute(hOut, dattr, width * height - width * ccoord.Y + ccoord.X, ccoord, &written);
+														FillConsoleOutputCharacter(hOut, ' ', width * height - width * ccoord.Y + ccoord.X, ccoord, &written);}
+	inline void clearLine() {getWinCurCoord(); FillConsoleOutputAttribute(hOut, dattr, width - ccoord.X, ccoord, &written);
+												FillConsoleOutputCharacter(hOut, ' ', width - ccoord.X, ccoord, &written);}
+	inline void newLine() {getWinCurCoord(); ccoord.X = 0; ccoord.Y++; SetConsoleCursorPosition(hOut, ccoord);}
+	inline void hideCursor() {curinfo.bVisible = false; SetConsoleCursorInfo(hOut, &curinfo);}
+	inline void showCursor() {curinfo.bVisible = true; SetConsoleCursorInfo(hOut, &curinfo);}
+#else
+	inline void toUpperLeft() {printf("\e[H");}
+	inline void moveRight(int n = 1) {if (n > 0) printf("\e[%dC", n);}
+	inline void moveLeft(int n = 1) {if (n > 0) printf("\e[%dD", n);}
+	inline void moveTo(int x = 0, int y = 0) {printf("\e[%d;%dH", y, x);}
+	inline void clearScreen() {printf("\e[H\e[J");}
+	inline void clearScreenLower() {printf("\e[J");}
+	inline void clearLine() {printf("\e[K");}
+	inline void newLine() {printf("\eE");}
+	inline void hideCursor() {printf("\e[?25l");}
+	inline void showCursor() {printf("\e[?25h");}
+#endif
+	void status();
+	void checkColumn(uint col) {if (vars().size() < col) {vars().resize(col);}}
+	int bitsValue(unsigned char * src, int offset, int count);
+	void printLine(string str, int dx = 0, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(string str, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(char * str, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(bool value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(int value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(long value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(llong value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(float value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(double value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(char value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(short value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(uchar value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(ushort value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(uint value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(ulong value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	int printValue(ullong value, Flags<PIConsole::Format> format = PIConsole::Normal);
+	static void key_event(void * t, char key);
+
+	struct Variable {
+		string name;
+		Flags<PIConsole::Format> format;
+		int type;
+		int offset;
+		int bitFrom;
+		int bitCount;
+		union {
+			string * s;
+			bool * b;
+			short * sh;
+			int * i;
+			long * l;
+			llong * ll;
+			float * f;
+			double * d;
+			char * c;
+			uchar * uc;
+			ushort * ush;
+			uint * ui;
+			ulong * ul;
+			ullong * ull;
+		};
+		void operator =(const Variable & src) {name = src.name; format = src.format; type = src.type; offset = src.offset;
+											   bitFrom = src.bitFrom; bitCount = src.bitCount; c = src.c;}
+	};
+
+	struct Tab {
+		vector<vector<Variable> > variables;
+		string name;
+		string status;
+		char key;
+		Tab() {;}
+		Tab(string n, char k) {name = n; key = k;}
+	};
+
+	inline vector<vector<Variable> > & vars() {return tabs[cur_tab].variables;}
+	inline int couts(string v);
+	inline int couts(char * v);
+	inline int couts(bool v);
+	inline int couts(char v);
+	inline int couts(short v);
+	inline int couts(int v);
+	inline int couts(long v);
+	inline int couts(llong v);
+	inline int couts(uchar v);
+	inline int couts(ushort v);
+	inline int couts(uint v);
+	inline int couts(ulong v);
+	inline int couts(ullong v);
+	inline int couts(float v);
+	inline int couts(double v);
+
+#ifdef WINDOWS
+	void * hOut;
+	CONSOLE_SCREEN_BUFFER_INFO sbi, csbi;
+	CONSOLE_CURSOR_INFO curinfo;
+	COORD ccoord, ulcoord;
+	WORD dattr;
+	DWORD smode, written;
+#else
+	struct termios sterm, vterm;
+#endif
+	vector<Tab> tabs;
+	Variable tv;
+	PIKbdListener * listener;
+	KeyFunc ret_func;
+	int width, height, ret, col_wid, num_format;
+	uint my;
+	uint cur_tab, col_cnt;
+
+};
+
+#endif // PICONSOLE_H
diff --git a/piethernet.cpp b/piethernet.cpp
new file mode 100644
index 00000000..3f1e32cb
--- /dev/null
+++ b/piethernet.cpp
@@ -0,0 +1,128 @@
+#include "piethernet.h"
+
+
+PIEthernet::PIEthernet(string ip, int port, void * data_, EthernetFunc slot): PIThread() {
+	setPriority(piHigh);
+	data = data_;
+	ip_ = ip_s = ip;
+	port_ = port_s = port;
+	sock = sock_s = -1;
+	ret_func = slot;
+	buffer = new char[BUFFER_SIZE];
+#ifdef WINDOWS
+	WSADATA wsaData;
+	WSAStartup(MAKEWORD(2, 2), &wsaData);
+#endif
+	sock = socket(PF_INET, SOCK_DGRAM, 0);
+	sock_s = socket(PF_INET, SOCK_DGRAM, 0);
+	if (sock == -1 || sock_s == -1)
+		cout << "[PIEthernet] Unable to create socket" << endl;
+}
+
+
+PIEthernet::~PIEthernet() {
+	if (isRunning()) {
+		stop();
+		pthread_cancel(thread);
+	}
+	if (sock != -1) {
+		shutdown(sock, SHUT_RDWR);
+		close(sock);
+	}
+	if (sock_s != -1) {
+		shutdown(sock_s, SHUT_RDWR);
+		close(sock_s);
+	}
+#ifdef WINDOWS
+	WSACleanup();
+#endif
+	delete buffer;
+}
+
+
+void PIEthernet::begin() {
+	if (!init()) stop();
+}
+
+
+void PIEthernet::run() {
+#ifdef WINDOWS
+	int addr_len;
+#else
+	socklen_t addr_len;
+#endif
+	//cout << "[PIEthernet] reading ... ";
+	readed = recvfrom(sock, buffer, BUFFER_SIZE, 0, (sockaddr * )&addr_, &addr_len);
+	//cout << WSAGetLastError() << endl;
+	if (readed < 0) {
+		//cout << "[PIEthernet] Error while reading" << endl;
+		//stop();
+		//init();
+		return;
+	}
+	if (ret_func != 0) ret_func(data, buffer);
+}
+
+
+void PIEthernet::end() {
+	if (sock != -1) {
+		shutdown(sock, SHUT_RDWR);
+		close(sock);
+		sock = -1;
+	}
+	if (sock_s != -1) {
+		shutdown(sock_s, SHUT_RDWR);
+		close(sock_s);
+		sock_s = -1;
+	}
+	//cout << "[PIEthernet] end" << endl;
+}
+
+
+bool PIEthernet::init() {
+	addr_.sin_addr.s_addr = inet_addr(ip_.c_str());
+	addr_.sin_family = PF_INET;
+	addr_.sin_port = htons(port_);
+	if (bind(sock, (sockaddr * )&addr_, sizeof(addr_)) == -1) {
+		cout << "[PIEthernet] Cant`t bind to " << ip_ << ":" << port_ << endl;
+		return false;
+	}
+	return true;
+}
+
+
+bool PIEthernet::send(string ip, int port, char * data, int size) {
+	if (sock_s == -1) {
+		//cout << "[PIEthernet] Can`t send to uninitialized socket" << endl;
+		return false;
+	}
+	saddr_.sin_port = htons(port);
+	saddr_.sin_addr.s_addr = inet_addr(ip.c_str());
+	saddr_.sin_family = PF_INET;
+	wrote = sendto(sock_s, data, size, 0, (sockaddr * )&saddr_, sizeof(saddr_));
+	if (wrote != size) {
+		//cout << "[PIEthernet] Error while sending" << endl;
+		return false;
+	}
+	//cout << "[PIEthernet] Wrote " << wrote << " bytes in " << devName << endl;
+	return true;
+}
+
+
+bool PIEthernet::send(char * data, int size) {
+	if (sock_s == -1) {
+		//cout << "[PIEthernet] Can`t send to uninitialized socket" << endl;
+		return false;
+	}
+	saddr_.sin_port = htons(port_s);
+	saddr_.sin_addr.s_addr = inet_addr(ip_s.data());
+	saddr_.sin_family = PF_INET;
+	//cout << "[PIEthernet] sending in " << sock_s << endl;
+	wrote = sendto(sock_s, data, size, 0, (sockaddr * )&saddr_, sizeof(saddr_));
+	if (wrote != size) {
+		//cout << "[PIEthernet] Error while sending" << endl;
+		return false;
+	}
+	//cout << "[PIEthernet] Wrote " << wrote << " bytes" << endl;
+	return true;
+}
diff --git a/piethernet.h b/piethernet.h
new file mode 100644
index 00000000..0725985e
--- /dev/null
+++ b/piethernet.h
@@ -0,0 +1,50 @@
+#ifndef PIETHERNET_H
+#define PIETHERNET_H
+
+#include "pithread.h"
+#ifndef WINDOWS
+#  include <netinet/in.h>
+#  include <arpa/inet.h>
+#  include <sys/socket.h>
+#else
+#  include <winsock2.h>
+#  define SHUT_RDWR SD_BOTH
+#endif
+
+#define BUFFER_SIZE 4096
+
+typedef bool (*EthernetFunc)(void * , char * );
+
+class PIEthernet: public PIThread
+{
+public:
+	// slot is any function format "bool <func>(void*, char*)"
+	PIEthernet(string ip, int port, void * data, EthernetFunc slot = 0);
+	~PIEthernet();
+
+	void setSlot(EthernetFunc func) {ret_func = func;}
+	void setReadAddress(string ip, int port) {ip_ = ip; port_ = port;}
+	void setSendAddress(string ip, int port) {ip_s = ip; port_s = port;}
+
+	bool send(string ip, int port, char * data, int size);
+	bool send(char * data, int size);
+	bool init();
+	bool initialized() const {return sock != -1;}
+
+private:
+	void begin();
+	void run();
+	void end();
+
+
+	int sock, sock_s, port_, port_s, wrote;
+	sockaddr_in addr_, saddr_;
+	string ip_, ip_s;
+	EthernetFunc ret_func;
+	char * buffer;
+	void * data;
+	int readed;
+
+};
+
+#endif // PIETHERNET_H
diff --git a/pifile.cpp b/pifile.cpp
new file mode 100644
index 00000000..d3e6ebcd
--- /dev/null
+++ b/pifile.cpp
@@ -0,0 +1,57 @@
+#include "pifile.h"
+
+
+bool PIFile::open(const string & path_, Flags<Mode> mode_) {
+	cpath = path_;
+	cmode = mode_;
+	if (cmode[New]) {
+		stream.open(cpath.c_str(), fstream::in | fstream::out | fstream::trunc);
+		stream.close();
+		cmode &= ~New;
+		stream.open(cpath.c_str(), (fstream::openmode)(int)cmode | fstream::binary);
+	} else stream.open(cpath.c_str(), (fstream::openmode)(int)cmode | fstream::binary);
+	return isOpened();
+}
+
+
+string PIFile::readLine() {
+	char * buff = new char[4096];
+	stream.getline(buff, 4096);
+	return string(buff);
+}
+
+
+int PIFile::size() {
+	int s, cp = stream.tellg();
+	stream.seekg(0, fstream::end);
+	s = stream.tellg();
+	stream.seekg(cp);
+	return s;
+}
+
+
+void PIFile::seek(int position) {
+	if (cmode[Read]) stream.seekg(position);
+	if (cmode[Write]) stream.seekp(position);
+}
+
+
+void PIFile::resize(int new_size, char fill_) {
+	int ds = new_size - size();
+	if (ds == 0) return;
+	if (ds > 0) {
+		char * buff = new char[ds];
+		memset(buff, fill_, ds);
+		stream.write(buff, ds);
+		delete buff;
+		return;
+	}
+	cout << "[PIFile] Downsize is not support yet :-(" << endl;
+}
+
+
+int PIFile::pos() {
+	if (cmode[Read]) return stream.tellg();
+	if (cmode[Write]) return stream.tellp();
+	return -1;
+}
diff --git a/pifile.h b/pifile.h
new file mode 100644
index 00000000..70377f05
--- /dev/null
+++ b/pifile.h
@@ -0,0 +1,77 @@
+#ifndef PIFILE_H
+#define PIFILE_H
+
+#include <fstream>
+#include "piincludes.h"
+
+using std::fstream;
+
+class PIFile
+{
+public:
+	PIFile() {;}
+	enum Mode {Read = fstream::in, Write = fstream::out, Truncate = fstream::trunc, New = fstream::app};
+	PIFile(const string & path, Flags<Mode> mode = Read | Write) {open(path, mode);}
+	~PIFile() {if (isOpened()) close();}
+	
+	bool open(const string & path, Flags<Mode> mode = Read | Write);
+	void close() {stream.close();}
+	void clear() {close(); stream.open(cpath.c_str(), fstream::trunc | (fstream::openmode)(int)cmode);}
+	void seek(int position);
+	void resize(int new_size, char fill = 0);
+	void fill(char c) {stream.fill(c);}
+	void flush() {stream.flush();}
+	string readLine();
+	
+	string path() const {return cpath;}
+	Flags<Mode> mode() const {return cmode;}
+	int size();
+	int pos();
+	bool isOpened() const {return stream.is_open();}
+	bool isEnd() const {return stream.eof();}
+	
+	PIFile & writeData(const void * data, int size_) {stream.write((char * )data, size_); return *this;}
+	PIFile & readData(void * data, int size_) {stream.read((char * )data, size_); return *this;}
+	
+	PIFile & writeBinary(const char v) {stream.write((char * )&v, sizeof(v)); return *this;}
+	PIFile & writeBinary(const short v) {stream.write((char * )&v, sizeof(v)); return *this;}
+	PIFile & writeBinary(const int v) {stream.write((char * )&v, sizeof(v)); return *this;}
+	PIFile & writeBinary(const long v) {stream.write((char * )&v, sizeof(v)); return *this;}
+	PIFile & writeBinary(const uchar v) {stream.write((char * )&v, sizeof(v)); return *this;}
+	PIFile & writeBinary(const ushort v) {stream.write((char * )&v, sizeof(v)); return *this;}
+	PIFile & writeBinary(const uint v) {stream.write((char * )&v, sizeof(v)); return *this;}
+	PIFile & writeBinary(const ulong v) {stream.write((char * )&v, sizeof(v)); return *this;}
+	PIFile & writeBinary(const float v) {stream.write((char * )&v, sizeof(v)); return *this;}
+	PIFile & writeBinary(const double v) {stream.write((char * )&v, sizeof(v)); return *this;}
+	
+	PIFile & operator <<(const char & v) {stream.write(&v, 1); return *this;}
+	PIFile & operator <<(const string & v) {stream.write(v.c_str(), v.size()); return *this;}
+	PIFile & operator <<(const short & v) {stream << v; return *this;}
+	PIFile & operator <<(const int & v) {stream << v; return *this;}
+	PIFile & operator <<(const long & v) {stream << v; return *this;}
+	PIFile & operator <<(const uchar & v) {stream << v; return *this;}
+	PIFile & operator <<(const ushort & v) {stream << v; return *this;}
+	PIFile & operator <<(const uint & v) {stream << v; return *this;}
+	PIFile & operator <<(const ulong & v) {stream << v; return *this;}
+	PIFile & operator <<(const float & v) {stream << v; return *this;}
+	PIFile & operator <<(const double & v) {stream << v; return *this;}
+	
+	PIFile & operator >>(char & v) {stream >> v; return *this;}
+	PIFile & operator >>(short & v) {stream >> v; return *this;}
+	PIFile & operator >>(int & v) {stream >> v; return *this;}
+	PIFile & operator >>(long & v) {stream >> v; return *this;}
+	PIFile & operator >>(uchar & v) {stream >> v; return *this;}
+	PIFile & operator >>(ushort & v) {stream >> v; return *this;}
+	PIFile & operator >>(uint & v) {stream >> v; return *this;}
+	PIFile & operator >>(ulong & v) {stream >> v; return *this;}
+	PIFile & operator >>(float & v) {stream >> v; return *this;}
+	PIFile & operator >>(double & v) {stream >> v; return *this;}
+	
+private:
+	fstream stream;
+	string cpath;
+	Flags<Mode> cmode;
+	
+};
+
+#endif // PIFILE_H
diff --git a/piincludes.h b/piincludes.h
new file mode 100644
index 00000000..cdc471aa
--- /dev/null
+++ b/piincludes.h
@@ -0,0 +1,112 @@
+#ifndef PIINCLUDES_H
+#define PIINCLUDES_H
+
+#if __WIN32__ || __WIN64__
+#  define WINDOWS
+#endif
+#if __QNX__
+#  define QNX
+#endif
+
+#include <iostream>
+#include <unistd.h>
+#include <cstdio>
+#include <cstdlib>
+#include <string.h>
+#include <string>
+#include <vector>
+#include <list>
+#include <deque>
+
+#ifdef WINDOWS
+#include <conio.h>
+#include <windows.h>
+#include <wincon.h>
+#endif
+
+#define FOREVER for (;;)
+#define FOREVER_WAIT FOREVER msleep(10);
+
+typedef long long llong;
+typedef unsigned char uchar;
+typedef unsigned short int ushort;
+typedef unsigned int uint;
+typedef unsigned long ulong;
+typedef unsigned long long ullong;
+
+using std::cout;
+using std::cin;
+using std::endl;
+using std::flush;
+using std::vector;
+using std::list;
+using std::deque;
+using std::string;
+
+template<typename Enum>
+class Flags {
+private:
+	int flags;
+public:
+	inline Flags(): flags(0) {;}
+	inline Flags(Enum e): flags(e) {;}
+	inline Flags(const Flags & f): flags(f.flags) {;}
+	inline Flags(const int i): flags(i) {;}
+	inline void operator =(const Flags & f) {flags = f.flags;}
+	inline void operator |=(const Flags & f) {flags = flags | f.flags;}
+	inline void operator |=(const Enum & e) {flags = flags | e;}
+	inline void operator |=(const int i) {flags = flags | i;}
+	inline void operator &=(const Flags & f) {flags = flags & f.flags;}
+	inline void operator &=(const Enum & e) {flags = flags & e;}
+	inline void operator &=(const int i) {flags = flags & i;}
+	inline Flags & operator |(Flags f) const {Flags tf(flags | f.flags); return tf;}
+	inline Flags & operator |(Enum e) const {Flags tf(flags | e); return tf;}
+	inline Flags & operator |(int i) const {Flags tf(flags | i); return tf;}
+	inline Flags & operator &(Flags f) const {Flags tf(flags & f.flags); return tf;}
+	inline Flags & operator &(Enum e) const {Flags tf(flags & e); return tf;}
+	inline Flags & operator &(int i) const {Flags tf(flags & i); return tf;}
+	inline bool operator [](Enum e) {return (flags & e) == e;}
+	inline operator int() const {return flags;}
+};
+
+
+inline bool atob(const string & str) { return str == "1" ? true : false;};
+inline string btos(const bool num) { return num ? "0" : "1";};
+inline string itos(const int num) {
+	char ch[256];
+	sprintf(ch, "%d", num);
+	return string(ch); };
+inline string ltos(const long num) {
+	char ch[256];
+	sprintf(ch, "%ld", num);
+	return string(ch); };
+inline string uitos(const uint num) {
+	char ch[256];
+	sprintf(ch, "%ud", num);
+	return string(ch); };
+inline string ultos(const ulong num) {
+	char ch[256];
+	sprintf(ch, "%lud", num);
+	return string(ch); };
+inline string ftos(const float num) {
+	char ch[256];
+	sprintf(ch, "%g", num);
+	return string(ch); };
+inline string dtos(const double num) {
+	char ch[256];
+	sprintf(ch, "%g", num);
+	return string(ch); };
+inline string s_left(const string & str, int len) {return str.substr(0, len);};
+inline string s_right(const string & str, int len) {return str.size() < len ? str : str.substr(str.size() - len, len);};
+inline string s_trimmed(const string & str) {
+	int st = 0, fn = 0;
+	for (int i = 0; i < str.size(); ++i)
+		if (str[i] != ' ' && str[i] != '\t')
+			{st = i; break;}
+	for (int i = str.size() - 1; i >= 0; --i)
+		if (str[i] != ' ' && str[i] != '\t')
+			{fn = i; break;}
+	return str.substr(st, fn - st + 1);
+};
+
+#endif // PIINCLUDES_H
diff --git a/pikbdlistener.cpp b/pikbdlistener.cpp
new file mode 100644
index 00000000..d9e8e33b
--- /dev/null
+++ b/pikbdlistener.cpp
@@ -0,0 +1,39 @@
+#include "pikbdlistener.h"
+
+
+PIKbdListener::PIKbdListener(KBFunc slot, void * data_): PIThread() {
+	ret_func = slot;
+	data = data_;
+#ifdef __WIN32__
+	hIn = GetStdHandle(STD_INPUT_HANDLE);
+	GetConsoleMode(hIn, &smode);
+	SetConsoleMode(hIn, ENABLE_PROCESSED_INPUT);
+#else
+	struct termios term;
+	tcgetattr(0, &term);
+	sterm = term;
+	term.c_lflag &= ~(ECHO | ICANON) | NOFLSH;
+	tcsetattr(0, TCSAFLUSH, &term);
+#endif
+	start();
+}
+
+
+PIKbdListener::~PIKbdListener() {
+#ifdef __WIN32__
+	SetConsoleMode(hIn, smode);
+#else
+	tcsetattr(0, TCSANOW, &sterm);
+#endif
+}
+
+
+void PIKbdListener::run() {
+#ifdef __WIN32__
+	ReadConsole(hIn, &rc, 1, &ret, 0);
+#else
+	ret = read(0, &rc, 1);
+#endif
+	if (ret_func != 0 && ret > 0) ret_func(data, rc);
+}
+
diff --git a/pikbdlistener.h b/pikbdlistener.h
new file mode 100644
index 00000000..f4da00bd
--- /dev/null
+++ b/pikbdlistener.h
@@ -0,0 +1,34 @@
+#ifndef PIKBDLISTENER_H
+#define PIKBDLISTENER_H
+
+#include "pithread.h"
+#ifndef __WIN32__
+#include <termios.h>
+#endif
+
+typedef void (*KBFunc)(void * , char);
+
+class PIKbdListener: public PIThread {
+public:
+	// slot is any function format "void <func>(void * , char)"
+	PIKbdListener(KBFunc slot = 0, void * data = 0);
+	~PIKbdListener();
+	
+private:
+	void run();
+	
+	KBFunc ret_func;
+	char rc;
+	void * data;
+#ifdef __WIN32__
+	DWORD ret;
+	void * hIn;
+	DWORD smode;
+#else
+	int ret;
+	struct termios sterm;
+#endif
+	
+};
+
+#endif // PIKBDLISTENER_H
diff --git a/pimutex.h b/pimutex.h
new file mode 100644
index 00000000..fe1e1118
--- /dev/null
+++ b/pimutex.h
@@ -0,0 +1,37 @@
+#ifndef PIMUTEX_H
+#define PIMUTEX_H
+
+#include <pthread.h>
+#include "piincludes.h"
+
+class PIMutex
+{
+public:
+	PIMutex() {
+		pthread_mutexattr_t attr;
+		pthread_mutexattr_init(&attr);
+		pthread_mutexattr_settype(&attr, PTHREAD_PROCESS_SHARED);
+		pthread_mutex_init(&mutex, &attr);
+		pthread_mutexattr_destroy(&attr);
+	}
+	~PIMutex() {pthread_mutex_destroy(&mutex);}
+	void lock() {pthread_mutex_lock(&mutex);}
+	void unlock() {pthread_mutex_unlock(&mutex);}
+	bool tryLock() {return (pthread_mutex_trylock(&mutex) == 0);}
+	
+private:
+	pthread_mutex_t mutex;
+	
+};
+
+class PIMutexLocker
+{
+public:
+	PIMutexLocker(PIMutex * m): mutex(m) {mutex->lock();}
+	PIMutexLocker(PIMutex & m): mutex(&m) {mutex->lock();}
+	~PIMutexLocker() {mutex->unlock();}
+private:
+	PIMutex * mutex;
+};
+
+#endif // PIMUTEX_H
diff --git a/pip.kdev4 b/pip.kdev4
new file mode 100644
index 00000000..fb90c960
--- /dev/null
+++ b/pip.kdev4
@@ -0,0 +1,3 @@
+[Project]
+Manager=KDevCMakeManager
+Name=pip
diff --git a/piprotocol.cpp b/piprotocol.cpp
new file mode 100644
index 00000000..935cb0c2
--- /dev/null
+++ b/piprotocol.cpp
@@ -0,0 +1,167 @@
+#include "piprotocol.h"
+
+
+PIProtocol::PIProtocol(string devName, int speed, void * headerPtr, int headerSize, void * dataPtr, int dataSize) {
+    init();
+    type = PIProtocol::Serial;
+    serial = new PISerial(devName, this, received);
+    serial->setReadData(headerPtr, headerSize, dataSize);
+    this->devName = devName;
+    this->headerPtr = (unsigned char * )headerPtr;
+    this->headerSize = headerSize;
+    this->dataPtr = (unsigned char * )dataPtr;
+    this->dataSize = dataSize;
+    packet = new char[headerSize + dataSize];
+}
+
+
+PIProtocol::PIProtocol(string ip, int port, void * dataPtr, int dataSize) {
+    init();
+    type = PIProtocol::Ethernet;
+    ether = new PIEthernet(ip, port, this, received);
+    this->devName = ip + ":" + itos(port);
+    this->dataPtr = (unsigned char * )dataPtr;
+    this->dataSize = dataSize;
+    packet = new char[dataSize];
+}
+
+
+PIProtocol::~PIProtocol() {
+	delete sendtimer;
+    if (timer != 0) delete timer;
+    if (type == PIProtocol::Serial) delete serial;
+    if (type == PIProtocol::Ethernet) delete ether;
+}
+
+
+void PIProtocol::init() {
+    work = false;
+    net_diag = PIProtocol::Unknown;
+    cur_pckt = 0;
+    timer = 0;
+    sendtimer = new PITimer(this, run);
+    wrong_count = receive_count = send_count = 0;
+    immediateFreq = integralFreq = 0.f;
+    headerPtr = dataPtr = sendDataPtr = 0;
+    headerSize = dataSize = sendDataSize = 0;
+    exp_freq = 20.f;
+    devState = "Unknown";
+}
+
+
+void PIProtocol::setExpectedFrequency(float frequency)
+{
+    exp_freq = frequency;
+    if (exp_freq < 3.33) pckt_cnt_max = 10;
+    else pckt_cnt_max = 3 * (int)exp_freq;
+    last_packets.resize(pckt_cnt_max);
+    timer = new PITimer(this, diag_event);
+	timer->start(1000. / exp_freq);
+	timer->reset();
+}
+
+
+void PIProtocol::startReceive()
+{
+    if (type == PIProtocol::Serial) serial->start();
+    if (type == PIProtocol::Ethernet) ether->start();
+}
+
+
+void PIProtocol::stopReceive()
+{
+    if (type == PIProtocol::Serial) serial->stop();
+    if (type == PIProtocol::Ethernet) ether->stop();
+}
+
+
+bool PIProtocol::received(void * t, char * data) {
+    PIProtocol * p = (PIProtocol * )t;
+    memcpy(p->dataPtr, data, p->dataSize);
+    p->work = true;
+    //p->lock();
+    if (p->validate())
+    {
+        //p->unlock();
+        p->receive_count++;
+        p->cur_pckt = 1;
+        return true;
+    }
+    //p->unlock();
+    p->wrong_count++;
+    return false;
+}
+
+
+void PIProtocol::diag_event(void * t) {
+    PIProtocol * p = (PIProtocol * )t;
+    p->calc_freq();
+    p->calc_diag();
+    p->check_state();
+}
+
+
+void PIProtocol::calc_diag() {
+    PIProtocol::Quality diag;
+    if (!work) {
+        diag = PIProtocol::Unknown;
+        return;
+    }
+    if (pckt_cnt < pckt_cnt_max) {
+        last_packets[pckt_cnt] = cur_pckt;
+        pckt_cnt++;
+    } else {
+        packets[last_packets.back()]--;
+        last_packets.pop_back();
+        last_packets.push_front(cur_pckt);
+    }
+    packets[cur_pckt]++;
+    cur_pckt = 0;
+    float good_percents;
+    good_percents = (float)packets[1] / pckt_cnt * 100.0f;
+    if (good_percents == 0.0) diag = PIProtocol::Failure;
+    else if (good_percents <= 20.0) diag = PIProtocol::Bad;
+    else if (good_percents > 20.0 && good_percents <= 80.0) diag = PIProtocol::Average;
+    else diag = PIProtocol::Good;
+    if (diag != net_diag) net_diag = diag;
+}
+
+
+void PIProtocol::calc_freq() {
+	tf = 1000. / timer->elapsed_m();
+	timer->reset();
+	if (cur_pckt != 1) tf = 0.;
+    immediateFreq = tf;
+    if (last_freq.size() >= pckt_cnt_max) last_freq.pop_front();
+    last_freq.push_back(tf);
+    tf = last_freq[0];
+    for (int i = 1; i < last_freq.size(); ++i)
+        tf += last_freq[i];
+    integralFreq = tf / last_freq.size();
+}
+
+
+void PIProtocol::check_state() {
+    if (type == PIProtocol::Serial) {
+        if (serial->initialized()) devState = "Initialized";
+        else devState = "Uninitialized";
+    }
+    if (type == PIProtocol::Ethernet) {
+        if (ether->initialized()) devState = "Initialized";
+        else devState = "Uninitialized";
+    }
+}
+
+
+
+void PIProtocol::send() {
+    //lock();
+    memcpy(packet, sendDataPtr, sendDataSize);
+    //unlock();
+    if (type == PIProtocol::Serial)
+        if (serial->send(packet, sendDataSize))
+            send_count++;
+    if (type == PIProtocol::Ethernet)
+        if (ether->send(packet, sendDataSize))
+            send_count++;
+}
diff --git a/piprotocol.h b/piprotocol.h
new file mode 100644
index 00000000..8b54d176
--- /dev/null
+++ b/piprotocol.h
@@ -0,0 +1,78 @@
+#ifndef PIPROTOCOL_H
+#define PIPROTOCOL_H
+
+#include "piserial.h"
+#include "piethernet.h"
+#include "pitimer.h"
+
+class PIProtocol
+{
+    enum Type {Serial, Ethernet};
+public:
+    PIProtocol(string devName, int speed, void * headerPtr, int headerSize, void * dataPtr, int dataSize); // for RS
+    PIProtocol(string ip, int port, void * dataPtr, int dataSize); // for Ethernet
+    ~PIProtocol();
+
+    enum Quality {Unknown = 1, Failure = 2, Bad = 3, Average = 4, Good = 5};
+
+    void startReceive(); // start receive
+    void stopReceive(); // stop receive
+    void startSend(float frequency = 20.f) {sendtimer->start(frequency > 0 ? 1000.f / frequency : 1000);} // start sending
+    void stopSend() {sendtimer->stop();} // stop sending
+    void setSendData(void * dataPtr, int dataSize) {sendDataPtr = (unsigned char * )dataPtr; sendDataSize = dataSize;}
+    void setReceiveData(void * dataPtr, int dataSize) {this->dataPtr = (unsigned char * )dataPtr; this->dataSize = dataSize;}
+    void setSendAddress(string ip, int port) {if (type == PIProtocol::Ethernet) ether->setReadAddress(ip, port);} // for Ethernet
+    void setParameters(Flags<PISerial::Parameters> parameters) {if (type == PIProtocol::Serial) serial->setParameters(parameters);} // for RS
+
+    void setExpectedFrequency(float frequency); // for start diagnostic connection quality
+    float * immediateFrequency_ptr() {return &immediateFreq;}
+    float * integralFrequency_ptr() {return &integralFreq;}
+    unsigned long long int * wrongCount_ptr() {return &wrong_count;}
+    unsigned long long int * receiveCount_ptr() {return &receive_count;}
+    unsigned long long int * sendCount_ptr() {return &send_count;}
+    PIProtocol::Quality * quality_ptr() {return &net_diag;}
+    string * deviceState_ptr() {return &devState;}
+    string deviceName() {return devName;}
+
+protected:
+    virtual bool validate() {return true;} // function for validate algorithm and save data from dataPtr to external struct
+    virtual unsigned int checksum(unsigned char * data, int size) // function for checksum
+    {
+        unsigned char c = 0;
+        for (int i = 0; i < size; ++i)
+            c += data[i];
+        c = ~(c + 1);
+        return c;
+    }
+    virtual bool aboutSend() {return true;} // executed before send data, if return 'false' then data is not sending
+
+    void init();
+    void send();
+    void check_state();
+    void calc_freq();
+    void calc_diag();
+    static bool received(void * t, char * data);
+    static void diag_event(void * t);
+
+    PISerial * serial;
+    PIEthernet * ether;
+    unsigned int dataSize, headerSize, sendDataSize;
+    unsigned char * dataPtr, * headerPtr, * sendDataPtr;
+
+private:
+    static void run(void * e) {PIProtocol* p = (PIProtocol*)e; if (p->aboutSend()) p->send();}
+    PITimer * timer, * sendtimer;
+    PIProtocol::Type type;
+    PIProtocol::Quality net_diag;
+    deque<float> last_freq;
+    deque<char> last_packets;
+    string devState, devName;
+    bool work;
+    float exp_freq, immediateFreq, integralFreq, tf;
+    int pckt_cnt, pckt_cnt_max, packets[2];
+    char * packet;
+    char cur_pckt;
+    unsigned long long int wrong_count, receive_count, send_count;
+};
+
+#endif // PIPROTOCOL_H
diff --git a/piserial.cpp b/piserial.cpp
new file mode 100644
index 00000000..fe427fae
--- /dev/null
+++ b/piserial.cpp
@@ -0,0 +1,245 @@
+#include "piserial.h"
+
+
+PISerial::PISerial(string name, void * data_, SerialFunc slot): PIThread() {
+	setPriority(piHigh);
+	data = data_;
+	devName = name;
+	fd = -1;
+	dataSize = headerSize = 0;
+	headerPtr = 0;
+	ret_func = slot;
+	buffer = new char[BUFFER_SIZE];
+	sbuffer = new char[BUFFER_SIZE];
+#ifdef WINDOWS
+	hCom = 0;
+#endif
+	ispeed = ospeed = B115200;
+}
+
+
+PISerial::~PISerial() {
+	stop();
+	pthread_cancel(thread);
+#ifdef WINDOWS
+	if (fd != -1) {
+		SetCommState(hCom, &sdesc);
+		SetCommMask(hCom, mask);
+		CloseHandle(hCom);
+	}
+#else
+	if (fd != -1) {
+		tcsetattr(fd, TCSANOW, &sdesc);
+		close(fd);
+	}
+#endif
+	delete buffer;
+	delete sbuffer;
+}
+
+
+void PISerial::begin() {
+	sbuffIndex = 0;
+	startIndex = 0;
+	backIndex = 0;
+	tryagain = first = false;
+	hbuffer = new char[headerSize];
+	pbuffer = new char[dataSize];
+	if (!init()) stop();
+}
+
+
+void PISerial::run() {
+	if (dataSize == 0) return;
+	char b;
+	int i = 0, j;
+#ifdef WINDOWS
+	WaitCommEvent(hCom, 0, 0);
+	ReadFile(hCom, buffer, dataSize, &readed, 0);
+#else
+	readed = read(fd, buffer, BUFFER_SIZE);
+#endif
+	if (headerSize > 0)
+	{
+		while (i < readed)
+		{
+					//cout << sbuffIndex << ";" << startIndex << endl;
+			if (!tryagain)
+			{
+				b = buffer[i];
+				sbuffer[sbuffIndex] = b;
+			} else {
+				backIndex++;
+				if (backIndex == headerSize + dataSize) tryagain = false;
+			}
+			if (first)
+			{
+				if (sbuffIndex-startIndex == headerSize + dataSize - 1)
+				{
+					//cout << "vsdfgvb" << endl;
+					memcpy(pbuffer,&sbuffer[startIndex+headerSize],dataSize);
+					if (ret_func(data, pbuffer))
+					{
+						startIndex = 0;
+						sbuffIndex = -1;
+					} else {
+						//startIndex++;
+						memcpy(sbuffer, hbuffer, headerSize);
+						memcpy(&sbuffer[headerSize], pbuffer, dataSize);
+						backIndex = 0;
+						tryagain = true;
+						startIndex = 1;
+						sbuffIndex = -1;
+					}
+					first = false;
+				}
+			} else {
+				if (sbuffIndex - startIndex == headerSize - 1)
+				{
+					memcpy(hbuffer, &sbuffer[startIndex], headerSize);
+					for (j = 0; j < headerSize; ++j) {
+						if (hbuffer[j] != ((char*)headerPtr)[j]) {
+							startIndex++;
+							//cout << "no" << endl;
+							break;
+						}
+					}
+					if (j == headerSize) {
+						first = true;
+						//cout << "yes" << endl;
+					}
+				}
+			}
+			sbuffIndex++;
+			if (sbuffIndex >= BUFFER_SIZE)
+			{
+				if (first)
+				{
+					memcpy(pbuffer, &sbuffer[startIndex + headerSize], BUFFER_SIZE - startIndex - headerSize);
+					memcpy(sbuffer, hbuffer, headerSize);
+					memcpy(&sbuffer[headerSize], pbuffer, BUFFER_SIZE - startIndex - headerSize);
+					sbuffIndex = BUFFER_SIZE - startIndex - 1;
+				} else {
+					memcpy(sbuffer, hbuffer, headerSize);
+					sbuffIndex = headerSize - 1;
+					startIndex = 0;
+				}
+			}
+			if (!tryagain) i++;
+		}
+	} else {
+		for (uint i = 0; i < readed; ++i) {
+			b = buffer[i];
+			sbuffer[sbuffIndex] = b;
+			if (sbuffIndex == dataSize - 1) {
+				if (ret_func != 0) ret_func(data, sbuffer);
+				sbuffIndex = -1;
+			}
+			sbuffIndex++;
+		}
+	}
+}
+
+
+void PISerial::end() {
+	delete pbuffer;
+	delete hbuffer;
+	if (fd == -1) return;
+#ifdef WINDOWS
+	SetCommState(hCom, &sdesc);
+	CloseHandle(hCom);
+#else
+	tcsetattr(fd, TCSANOW, &sdesc);
+	close(fd);
+#endif
+	fd = -1;
+}
+
+
+bool PISerial::init() {
+#ifdef WINDOWS
+	hCom = CreateFile(devName.c_str(), GENERIC_READ | GENERIC_WRITE, FILE_SHARE_READ | FILE_SHARE_WRITE, 0, OPEN_EXISTING, FILE_ATTRIBUTE_SYSTEM, 0);
+	if(hCom == INVALID_HANDLE_VALUE) {
+		cout << "[PISerial] Unable to open " << devName << endl;
+		return false;
+	}
+	fd = 0;
+	COMMTIMEOUTS times;
+	times.ReadIntervalTimeout = 1;
+	times.ReadTotalTimeoutConstant = 1;
+	times.ReadTotalTimeoutMultiplier = 0;
+	times.WriteTotalTimeoutConstant = 0;
+	times.WriteTotalTimeoutMultiplier = 1;
+	if (SetCommTimeouts(hCom, &times) == -1) {
+		cout << "[PISerial] Unable to set timeouts for " << devName << endl;
+		CloseHandle(hCom);
+		fd = -1;
+		return false;
+	}
+	GetCommMask(hCom, &mask);
+	SetCommMask(hCom, EV_RXCHAR);
+	GetCommState(hCom, &sdesc);
+	desc = sdesc;
+	desc.DCBlength = sizeof(desc);
+	desc.BaudRate = ispeed;
+	desc.ByteSize = 8;
+	desc.fParity = params[PISerial::IgnoreParityControl] ? 0 : 1;
+	desc.StopBits = params[PISerial::TwoStopBits] ? TWOSTOPBITS : ONESTOPBIT;
+	if (SetCommState(hCom, &desc) == -1) {
+		cout << "[PISerial] Unable to set comm state for " << devName << endl;
+		CloseHandle(hCom);
+		fd = -1;
+		return false;
+	}
+#else
+	fd = open(devName.data(), O_NOCTTY | O_RDWR);
+	if(fd == -1) {
+		cout << "[PISerial] Unable to open " << devName << endl;
+		return false;
+	}
+	fcntl(fd, F_SETFL, 0);
+
+	tcgetattr(fd, &desc);
+	sdesc = desc;
+	desc.c_iflag = desc.c_oflag = desc.c_lflag = 0;
+	desc.c_cflag = CLOCAL | CREAD | CSIZE;
+	if (params[PISerial::TwoStopBits]) desc.c_cflag &= CSTOPB;
+	if (params[PISerial::IgnoreParityControl]) desc.c_iflag &= IGNPAR ; // | INPCK | IGNBRK | IGNCR;
+	desc.c_cc[VMIN] = 0;
+	desc.c_cc[VTIME] = 1;
+
+	cfsetispeed(&desc, ispeed);
+	cfsetospeed(&desc, ospeed);
+
+	if(tcsetattr(fd, TCSANOW, &desc) < 0) {
+		cout << "[PISerial] Can`t set attributes for " << devName << endl;
+		close(fd);
+		return false;
+	}
+	tcflush(fd, TCIOFLUSH);
+	//cout << "[PISerial] Initialized " << devName << endl;
+#endif
+	return true;
+}
+
+
+bool PISerial::send(char * data, int size) {
+	//cout << "[PISerial] send size: " << sizeof(data) << endl;
+	if (fd == -1) {
+		//cout << "[PISerial] Can`t write to uninitialized COM" << endl;
+		return false;
+	}
+#ifdef WINDOWS
+	DWORD wrote;
+	WriteFile(hCom, data, size, &wrote, 0);
+#else
+	int wrote;
+	wrote = write(fd, data, size);
+#endif
+        if ((int)wrote != size) {
+		//cout << "[PISerial] Error while sending" << endl;
+		return false;
+	}
+	//cout << "[PISerial] Wrote " << wrote << " bytes in " << devName << endl;
+	return true;
+}
diff --git a/piserial.h b/piserial.h
new file mode 100644
index 00000000..c67a68d1
--- /dev/null
+++ b/piserial.h
@@ -0,0 +1,75 @@
+#ifndef PISERIAL_H
+#define PISERIAL_H
+
+#include "pithread.h"
+#ifndef WINDOWS
+#include <termios.h>
+#include <fcntl.h>
+#else
+#define B110	110
+#define B300	300
+#define B600	600
+#define B1200	1200
+#define B2400	2400
+#define B4800	4800
+#define B9600	9600
+#define B14400	14400
+#define B19200	19200
+#define B38400	38400
+#define B57600	57600
+#define B115200	115200
+#define B128000	128000
+#define B256000	256000
+#endif
+
+#define BUFFER_SIZE 4096
+
+typedef bool (*SerialFunc)(void * , char * );
+
+class PISerial: public PIThread
+{
+public:
+	// slot is any function format "bool <func>(void*, char*)"
+	PISerial(string name, void * data, SerialFunc slot = 0);
+	~PISerial();
+
+	enum Parameters {IgnoreParityControl = 0x01, TwoStopBits = 0x02};
+
+	void setSlot(SerialFunc func) {ret_func = func;}
+	void setSpeed(int speed) {ospeed = ispeed = speed;}
+	void setOutSpeed(int speed) {ospeed = speed;}
+	void setInSpeed(int speed) {ispeed = speed;}
+	void setParameters(Flags<PISerial::Parameters> parameters) {params = parameters;}
+	void setReadData(void * headerPtr, int headerSize, int dataSize) {this->headerPtr = headerPtr;
+																	  this->headerSize = headerSize;
+																	  this->dataSize = dataSize;}
+
+	bool send(char * data, int size);
+	bool init();
+	bool initialized() const {return fd != -1;}
+
+private:
+	void begin();
+	void run();
+	void end();
+
+#ifdef WINDOWS
+	DCB desc, sdesc;
+	void * hCom;
+	DWORD readed, mask;
+#else
+	termios desc, sdesc;
+	int readed;
+#endif
+	int fd, ospeed, ispeed;
+	string devName;
+	SerialFunc ret_func;
+	char * buffer, * sbuffer, * hbuffer, * pbuffer;
+	void * headerPtr, * data;
+	int dataSize, headerSize, sbuffIndex, startIndex, backIndex;
+	Flags<PISerial::Parameters> params;
+	bool first, tryagain;
+
+};
+
+#endif // PISERIAL_H
diff --git a/pithread.cpp b/pithread.cpp
new file mode 100644
index 00000000..9483def5
--- /dev/null
+++ b/pithread.cpp
@@ -0,0 +1,61 @@
+#include "pithread.h"
+
+
+PIThread::PIThread(bool startNow, int timer_delay) {
+	running = lockRun = false;
+	priority_ = piNormal;
+	timer = timer_delay;
+	if (startNow) start(timer_delay);
+}
+
+
+PIThread::~PIThread() {
+	if (!running) return;
+	pthread_cancel(thread);
+}
+
+
+bool PIThread::start(int timer_delay) {
+	pthread_attr_t attr;
+	terminating = false;
+	timer = timer_delay;
+	pthread_attr_init(&attr);
+	pthread_attr_setschedparam(&attr, &sparam);
+	if (pthread_create(&thread, &attr, thread_function, this) == 0) {
+		running = true;
+		return true;
+	}
+	return false;
+}
+
+
+void * PIThread::thread_function(void * t) {
+	PIThread * ct = (PIThread * )t;
+	ct->begin();
+	while (!ct->terminating) {
+		if (ct->lockRun) ct->mutex_.lock();
+		ct->run();
+		if (ct->lockRun) ct->mutex_.unlock();;
+		if (ct->timer > 0) msleep(ct->timer);
+	}
+	ct->end();
+	ct->running = false;
+	//cout << "thread " << t << " exiting ... " << endl;
+	pthread_exit(0);
+	return 0;
+}
+
+
+void PIThread::setPriority(PIThread::Priority prior) {
+	priority_ = prior;
+#if __QNX__ || __WIN32__
+	sparam.sched_priority = (int)priority_;
+#else
+	sparam.__sched_priority = (int)priority_;
+#endif
+	if (!running) return;
+	pthread_getschedparam(thread, &policy, &sparam);
+	pthread_setschedparam(thread, policy, &sparam);
+}
+
+
diff --git a/pithread.h b/pithread.h
new file mode 100644
index 00000000..c491cdb2
--- /dev/null
+++ b/pithread.h
@@ -0,0 +1,61 @@
+#ifndef PITHREAD_H
+#define PITHREAD_H
+
+#include <pthread.h>
+#include "piincludes.h"
+#include "pimutex.h"
+
+#ifdef WINDOWS
+	inline void msleep(int msecs) {Sleep(msecs);}
+#else
+	inline void msleep(int msecs) {usleep(msecs * 1000);}
+#endif
+
+class PIThread {
+public:
+	PIThread(bool startNow = false, int timer_delay = -1);
+	~PIThread();
+
+#ifdef QNX
+	enum Priority {piHighest = 12,
+				   piHigh = 11,
+				   piNormal = 10,
+				   piLow = 9,
+				   piLowerst = 8 };
+#else
+	enum Priority {piHighest = -2,
+				   piHigh = -1,
+				   piNormal = 0,
+				   piLow = 1,
+				   piLowerst = 2 };
+#endif
+
+	bool start(int timer_delay = -1);
+	void stop() {terminating = true;}
+	void setPriority(PIThread::Priority prior);
+	PIThread::Priority priority() const {return priority_;}
+	bool isRunning() const {return running;}
+	void waitForFinish() {while (running) msleep(1);}
+	void needLockRun(bool need) {lockRun = need;}
+	void lock() {mutex_.lock();;}
+	void unlock() {mutex_.unlock();}
+	PIMutex & mutex() {return mutex_;}
+
+private:
+	virtual void begin() {;} // executed at start
+	virtual void run() {;} // main loop
+	virtual void end() {;} // executed at finish
+
+protected:
+	static void * thread_function(void * t);
+
+	volatile bool terminating, running, lockRun;
+	int timer, policy;
+	pthread_t thread;
+	PIMutex mutex_;
+	sched_param sparam;
+	PIThread::Priority priority_;
+
+};
+
+#endif // PITHREAD_H
diff --git a/pitimer.cpp b/pitimer.cpp
new file mode 100644
index 00000000..c2e06569
--- /dev/null
+++ b/pitimer.cpp
@@ -0,0 +1,128 @@
+#include "pitimer.h"
+
+
+PITimer::PITimer(void * data_, TimerEvent slot) {
+	ret_func = slot;
+	data = data_;
+#ifndef __WIN32__
+	ti = -1;
+	running = false;
+	se.sigev_notify = SIGEV_THREAD;
+	se.sigev_value.sival_ptr = this;
+	se.sigev_notify_function = timer_event;
+	se.sigev_notify_attributes = 0;
+#endif
+	reset();
+}
+
+
+#ifndef __WIN32__
+void PITimer::start(double msecs) {
+	spec.it_interval.tv_nsec = ((int)(msecs * 1000) % 1000000) * 1000;
+	spec.it_interval.tv_sec = (time_t)(msecs / 1000);
+	spec.it_value = spec.it_interval;
+	ti = timer_create(CLOCK_REALTIME, &se, &timer);
+	timer_settime(timer, 0, &spec, 0);
+	running = true;
+}
+
+
+void PITimer::timer_event(sigval e) {
+	PITimer * ct = (PITimer * )e.sival_ptr;
+	if (ct->ret_func != 0) ct->ret_func(ct->data);
+}
+#endif
+
+
+double PITimer::elapsed_n() {
+#ifdef __WIN32__
+	t_cur = GetCurrentTime();
+	return (t_cur * 1000000. - t_st * 1000000.);
+#else
+	clock_gettime(0, &t_cur);
+	return (t_cur.tv_sec * 1.e+9 + t_cur.tv_nsec) -
+		   (t_st.tv_sec * 1.e+9 + t_st.tv_nsec);
+#endif
+}
+
+
+double PITimer::elapsed_u() {
+#ifdef __WIN32__
+	t_cur = GetCurrentTime();
+	return (t_cur * 1000. - t_st * 1000.);
+#else
+	clock_gettime(0, &t_cur);
+	return (t_cur.tv_sec * 1.e+6 + (t_cur.tv_nsec / 1.e+3)) -
+		   (t_st.tv_sec * 1.e+6 + (t_st.tv_nsec / 1.e+3));
+#endif
+}
+
+
+double PITimer::elapsed_m() {
+#ifdef __WIN32__
+	t_cur = GetCurrentTime();
+	return (double)(t_cur - t_st);
+#else
+	clock_gettime(0, &t_cur);
+	return (t_cur.tv_sec * 1.e+3 + (t_cur.tv_nsec / 1.e+6)) -
+		   (t_st.tv_sec * 1.e+3 + (t_st.tv_nsec / 1.e+6));
+#endif
+}
+
+
+double PITimer::elapsed_s() {
+#ifdef __WIN32__
+	t_cur = GetCurrentTime();
+	return (t_cur / 1000. - t_st / 1000.);
+#else
+	clock_gettime(0, &t_cur);
+	return (t_cur.tv_sec + (t_cur.tv_nsec / 1.e+9)) -
+		   (t_st.tv_sec + (t_st.tv_nsec / 1.e+9));
+#endif
+}
+
+
+PITime currentTime() {
+	time_t rt = time(0);
+	tm * pt = localtime(&rt);
+	PITime t;
+	t.seconds = pt->tm_sec;
+	t.minutes = pt->tm_min;
+	t.hours = pt->tm_hour;
+	return t;
+}
+
+
+PIDate currentDate() {
+	time_t rt = time(0);
+	tm * pt = localtime(&rt);
+	PIDate d;
+	d.day = pt->tm_mday;
+	d.month = pt->tm_mon + 1;
+	d.year = pt->tm_year + 1900;
+	return d;
+}
+
+
+string time2string(const PITime & time, const string & format) {
+	string ts = format;
+	int i = ts.find_first_of('h');
+	if (i >= 0) ts = ts.replace(i, 1, itos(time.hours));
+	i = ts.find_first_of('m');
+	if (i >= 0) ts = ts.replace(i, 1, itos(time.minutes));
+	i = ts.find_first_of('s');
+	if (i >= 0) ts = ts.replace(i, 1, itos(time.seconds));
+	return ts;
+}
+
+
+string date2string(const PIDate & date, const string & format) {
+	string ts = format;
+	int i = ts.find_first_of('y');
+	if (i >= 0) ts = ts.replace(i, 1, itos(date.year));
+	i = ts.find_first_of('m');
+	if (i >= 0) ts = ts.replace(i, 1, itos(date.month));
+	i = ts.find_first_of('d');
+	if (i >= 0) ts = ts.replace(i, 1, itos(date.day));
+	return ts;
+}
diff --git a/pitimer.h b/pitimer.h
new file mode 100644
index 00000000..6b8dfdad
--- /dev/null
+++ b/pitimer.h
@@ -0,0 +1,69 @@
+#ifndef PITIMER_H
+#define PITIMER_H
+
+#include <ctime>
+#include <csignal>
+#include "pithread.h"
+
+typedef void (*TimerEvent)(void * );
+
+struct PITime {
+	int seconds;
+	int minutes;
+	int hours;
+};
+
+struct PIDate {
+	int day;
+	int month;
+	int year; // since 1900
+};
+
+class PITimer
+#ifdef __WIN32__
+: public PIThread
+#endif
+{
+public:
+	PITimer(void * data = 0, TimerEvent slot = 0);
+	~PITimer() {stop();}
+#ifdef __WIN32__
+	void reset() {t_st = GetCurrentTime();}
+#else
+	void reset() {clock_gettime(0, &t_st);}
+	void start(double msecs);
+	void stop() {if (ti == 0) timer_delete(timer); ti = -1; running = false;}
+	bool isRunning() const {return running;}
+#endif
+	double elapsed_n(); // nanoseconds
+	double elapsed_u(); // microseconds
+	double elapsed_m(); // miliseconds
+	double elapsed_s(); // seconds
+	
+private:
+#ifdef __WIN32__
+	void run() {if (ret_func != 0) ret_func(data);}
+	
+	long int t_st, t_cur;
+#else
+	static void timer_event(sigval e);
+	
+	bool running;
+	int ti;
+	itimerspec spec;
+	timespec t_st, t_cur;
+	timer_t timer;
+	sigevent se;
+#endif
+	
+	void * data;
+	TimerEvent ret_func;
+	
+};
+
+PITime currentTime();
+PIDate currentDate();
+string time2string(const PITime & time, const string & format = "h:m:s");
+string date2string(const PIDate & date, const string & format = "d.m.y");
+
+#endif // PITIMER_H