From 0962be6b8b0939546e246c555832b4a799d5e240 Mon Sep 17 00:00:00 2001
From: bert hubert <bert.hubert@netherlabs.nl>
Date: Mon, 26 Aug 2019 15:58:01 +0200
Subject: [PATCH] the whole thingus

---
 Makefile                      |   10 +-
 beidou.hh                     |    5 +-
 ephemeris.hh                  |   36 +-
 ext/CLI11/CLI/App.hpp         | 1276 +++++++++++++++++++++++++++++++++
 ext/CLI11/CLI/CLI.hpp         |   16 +
 ext/CLI11/CLI/Error.hpp       |  165 +++++
 ext/CLI11/CLI/Ini.hpp         |  115 +++
 ext/CLI11/CLI/Option.hpp      |  460 ++++++++++++
 ext/CLI11/CLI/Split.hpp       |   90 +++
 ext/CLI11/CLI/StringTools.hpp |  190 +++++
 ext/CLI11/CLI/Timer.hpp       |  121 ++++
 ext/CLI11/CLI/TypeTools.hpp   |  114 +++
 ext/CLI11/CLI/Validators.hpp  |   83 +++
 html/doalles.js               |   26 +-
 navdump.cc                    |   11 +
 navnexus.cc                   |    2 +-
 navparse.cc                   |  186 ++++-
 ubxtool.cc                    |  504 ++++++++-----
 18 files changed, 3177 insertions(+), 233 deletions(-)
 create mode 100644 ext/CLI11/CLI/App.hpp
 create mode 100644 ext/CLI11/CLI/CLI.hpp
 create mode 100644 ext/CLI11/CLI/Error.hpp
 create mode 100644 ext/CLI11/CLI/Ini.hpp
 create mode 100644 ext/CLI11/CLI/Option.hpp
 create mode 100644 ext/CLI11/CLI/Split.hpp
 create mode 100644 ext/CLI11/CLI/StringTools.hpp
 create mode 100644 ext/CLI11/CLI/Timer.hpp
 create mode 100644 ext/CLI11/CLI/TypeTools.hpp
 create mode 100644 ext/CLI11/CLI/Validators.hpp

diff --git a/Makefile b/Makefile
index bb6868c..9e7594a 100644
--- a/Makefile
+++ b/Makefile
@@ -1,4 +1,4 @@
-CXXFLAGS:= -std=gnu++17 -Wall -O3 -MMD -MP -ggdb -fno-omit-frame-pointer  -Iext/fmt-5.2.1/include/ -Iext/powerblog/ext/simplesocket -Iext/powerblog/ext/
+CXXFLAGS:= -std=gnu++17 -Wall -O3 -MMD -MP -ggdb -fno-omit-frame-pointer -Iext/CLI11  -Iext/fmt-5.2.1/include/ -Iext/powerblog/ext/simplesocket -Iext/powerblog/ext/ -I/usr/local/opt/openssl/include/ -Wno-delete-non-virtual-dtor
 
 PROGRAMS = navparse ubxtool navnexus navrecv navdump
 
@@ -12,10 +12,10 @@ clean:
 H2OPP=ext/powerblog/h2o-pp.o
 SIMPLESOCKETS=ext/powerblog/ext/simplesocket/swrappers.o ext/powerblog/ext/simplesocket/sclasses.o  ext/powerblog/ext/simplesocket/comboaddress.o 
 
-navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o
-	$(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -lh2o-evloop -lssl -lcrypto -lz  -lcurl -lprotobuf  # -lwslay
+navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o
+	$(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/  -lh2o-evloop -lssl -lcrypto -lz  -lcurl -lprotobuf  # -lwslay
 
-navdump: navdump.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o 
+navdump: navdump.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o
 	$(CXX) -std=gnu++17 $^ -o $@ -pthread  -lprotobuf
 
 
@@ -29,6 +29,6 @@ navrecv: navrecv.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) navmon.pb.o stora
 navmon.pb.cc: navmon.proto
 	protoc --cpp_out=./ navmon.proto
 
-ubxtool: navmon.pb.o ubxtool.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o  gps.o
+ubxtool: navmon.pb.o ubxtool.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o  gps.o beidou.o
 	$(CXX) -std=gnu++17 $^ -o $@ -lprotobuf
 
diff --git a/beidou.hh b/beidou.hh
index d4ae692..118df9a 100644
--- a/beidou.hh
+++ b/beidou.hh
@@ -22,7 +22,7 @@ struct BeidouMessage
   };
 
   
-  int fraid, sow; // part of every message (thanks!)
+  int fraid{-1}, sow{-1}; // part of every message (thanks!)
   
   int parse(std::basic_string_view<uint8_t> cond, uint8_t* pageno)
   {
@@ -99,6 +99,7 @@ struct BeidouMessage
     e = bbitu(133,32);
     cus = bbits(181, 18);
     crc = bbits(199, 18);
+    crs = bbits(225, 18);
     sqrtA = bbitu(251, 32);
     
     t0eMSB = bbitu(291, 2);
@@ -126,7 +127,7 @@ struct BeidouMessage
     i0 = bbits(66, 32);
     cic = bbits(106, 18);
     omegadot = bbits(132, 24);
-    cis = bbits(160, 18);
+    cis = bbits(164, 18);
     idot = bbits(190, 14);
     Omega0 = bbits(212, 32);
     omega = bbits(252, 32);
diff --git a/ephemeris.hh b/ephemeris.hh
index 8fbb171..02f001b 100644
--- a/ephemeris.hh
+++ b/ephemeris.hh
@@ -10,30 +10,30 @@ void getCoordinates(int wn, double tow, const T& iod, Point* p, bool quiet=true)
   using namespace std;
   // here goes
 
-  const double mu = 3.986004418 * pow(10.0, 14.0);
-  const double omegaE = 7.2921151467 * pow(10.0, -5);
+  const double mu = iod.getMu(); 
+  const double omegaE = iod.getOmegaE();
   
-  double sqrtA = 1.0*iod.sqrtA / (1ULL<<19);
-  double deltan = M_PI * 1.0*iod.deltan / (1LL<<43);
-  double t0e = iod.t0e; // t0e is PRE-SCALED
-  double m0 = M_PI * 1.0*iod.m0 / (1LL<<31);
-  double e = 1.0*iod.e / (1ULL<<33);
-  double omega = M_PI * 1.0*iod.omega / (1LL<<31);
+  const double sqrtA = iod.getSqrtA(); 
+  const double deltan = iod.getDeltan(); 
+  const double t0e = iod.getT0e(); 
+  const double m0 = iod.getM0();
+  const double e = iod.getE();
+  const double omega = iod.getOmega();
 
-  double cuc = 1.0*iod.cuc / (1LL<<29);
-  double cus = 1.0*iod.cus / (1LL<<29);
+  const double cuc = iod.getCuc();
+  const double cus = iod.getCus();
 
-  double crc = 1.0*iod.crc / (1LL<<5);
-  double crs = 1.0*iod.crs / (1LL<<5);
+  const double crc = iod.getCrc();
+  const double crs = iod.getCrs();
 
-  double cic = 1.0*iod.cic / (1LL<<29);
-  double cis = 1.0*iod.cis / (1LL<<29);
+  const double cic = iod.getCic();
+  const double cis = iod.getCis();
 
-  double idot = M_PI * 1.0*iod.idot / (1LL<<43);
-  double i0 = M_PI * 1.0*iod.i0 / (1LL << 31);
+  const double idot = iod.getIdot();
+  const double i0 = iod.getI0();
 
-  double Omegadot = M_PI * 1.0*iod.omegadot / (1LL << 43);
-  double Omega0 = M_PI * 1.0*iod.omega0 / (1LL << 31);
+  const double Omegadot = iod.getOmegadot();
+  const double Omega0 = iod.getOmega0();
   
   // NO IOD BEYOND THIS POINT!
   if(!quiet) {
diff --git a/ext/CLI11/CLI/App.hpp b/ext/CLI11/CLI/App.hpp
new file mode 100644
index 0000000..cdb91ab
--- /dev/null
+++ b/ext/CLI11/CLI/App.hpp
@@ -0,0 +1,1276 @@
+#pragma once
+
+// Distributed under the 3-Clause BSD License.  See accompanying
+// file LICENSE or https://github.com/CLIUtils/CLI11 for details.
+
+#include <algorithm>
+#include <deque>
+#include <functional>
+#include <iostream>
+#include <memory>
+#include <numeric>
+#include <set>
+#include <sstream>
+#include <string>
+#include <utility>
+#include <vector>
+
+// CLI Library includes
+#include "CLI/Error.hpp"
+#include "CLI/Ini.hpp"
+#include "CLI/Option.hpp"
+#include "CLI/Split.hpp"
+#include "CLI/StringTools.hpp"
+#include "CLI/TypeTools.hpp"
+
+namespace CLI {
+
+namespace detail {
+enum class Classifer { NONE, POSITIONAL_MARK, SHORT, LONG, SUBCOMMAND };
+struct AppFriend;
+} // namespace detail
+
+class App;
+
+using App_p = std::unique_ptr<App>;
+
+/// Creates a command line program, with very few defaults.
+/** To use, create a new `Program()` instance with `argc`, `argv`, and a help description. The templated
+*  add_option methods make it easy to prepare options. Remember to call `.start` before starting your
+* program, so that the options can be evaluated and the help option doesn't accidentally run your program. */
+class App {
+    friend Option;
+    friend detail::AppFriend;
+
+  protected:
+    // This library follows the Google style guide for member names ending in underscores
+
+    /// @name Basics
+    ///@{
+
+    /// Subcommand name or program name (from parser)
+    std::string name_{"program"};
+
+    /// Description of the current program/subcommand
+    std::string description_;
+
+    /// If true, allow extra arguments (ie, don't throw an error).
+    bool allow_extras_{false};
+
+    ///  If true, return immediatly on an unrecognised option (implies allow_extras)
+    bool prefix_command_{false};
+
+    /// This is a function that runs when complete. Great for subcommands. Can throw.
+    std::function<void()> callback_;
+
+    ///@}
+    /// @name Options
+    ///@{
+
+    /// The list of options, stored locally
+    std::vector<Option_p> options_;
+
+    /// A pointer to the help flag if there is one
+    Option *help_ptr_{nullptr};
+
+    ///@}
+    /// @name Parsing
+    ///@{
+
+    using missing_t = std::vector<std::pair<detail::Classifer, std::string>>;
+
+    /// Pair of classifier, string for missing options. (extra detail is removed on returning from parse)
+    ///
+    /// This is faster and cleaner than storing just a list of strings and reparsing. This may contain the -- separator.
+    missing_t missing_;
+
+    /// This is a list of pointers to options with the orignal parse order
+    std::vector<Option *> parse_order_;
+
+    ///@}
+    /// @name Subcommands
+    ///@{
+
+    /// Storage for subcommand list
+    std::vector<App_p> subcommands_;
+
+    /// If true, the program name is not case sensitive
+    bool ignore_case_{false};
+
+    /// Allow subcommand fallthrough, so that parent commands can collect commands after subcommand.
+    bool fallthrough_{false};
+
+    /// A pointer to the parent if this is a subcommand
+    App *parent_{nullptr};
+
+    /// True if this command/subcommand was parsed
+    bool parsed_{false};
+
+    /// -1 for 1 or more, 0 for not required, # for exact number required
+    int require_subcommand_ = 0;
+
+    ///@}
+    /// @name Config
+    ///@{
+
+    /// The name of the connected config file
+    std::string config_name_;
+
+    /// True if ini is required (throws if not present), if false simply keep going.
+    bool config_required_{false};
+
+    /// Pointer to the config option
+    Option *config_ptr_{nullptr};
+
+    ///@}
+
+    /// Special private constructor for subcommand
+    App(std::string description_, bool help, detail::enabler) : description_(std::move(description_)) {
+
+        if(help)
+            help_ptr_ = add_flag("-h,--help", "Print this help message and exit");
+    }
+
+  public:
+    /// @name Basic
+    ///@{
+
+    /// Create a new program. Pass in the same arguments as main(), along with a help string.
+    App(std::string description_ = "", bool help = true) : App(description_, help, detail::dummy) {}
+
+    /// Set a callback for the end of parsing.
+    ///
+    /// Due to a bug in c++11,
+    /// it is not possible to overload on std::function (fixed in c++14
+    /// and backported to c++11 on newer compilers). Use capture by reference
+    /// to get a pointer to App if needed.
+    App *set_callback(std::function<void()> callback) {
+        callback_ = callback;
+        return this;
+    }
+
+    /// Remove the error when extras are left over on the command line.
+    App *allow_extras(bool allow = true) {
+        allow_extras_ = allow;
+        return this;
+    }
+
+    /// Do not parse anything after the first unrecongnised option and return
+    App *prefix_command(bool allow = true) {
+        prefix_command_ = allow;
+        return this;
+    }
+
+    /// Ignore case. Subcommand inherit value.
+    App *ignore_case(bool value = true) {
+        ignore_case_ = value;
+        if(parent_ != nullptr) {
+            for(const auto &subc : parent_->subcommands_) {
+                if(subc.get() != this && (this->check_name(subc->name_) || subc->check_name(this->name_)))
+                    throw OptionAlreadyAdded(subc->name_);
+            }
+        }
+        return this;
+    }
+
+    /// Check to see if this subcommand was parsed, true only if received on command line.
+    bool parsed() const { return parsed_; }
+
+    /// Check to see if this subcommand was parsed, true only if received on command line.
+    /// This allows the subcommand to be directly checked.
+    operator bool() const { return parsed_; }
+
+    /// Require a subcommand to be given (does not affect help call)
+    /// Does not return a pointer since it is supposed to be called on the main App.
+    App *require_subcommand(int value = -1) {
+        require_subcommand_ = value;
+        return this;
+    }
+
+    /// Stop subcommand fallthrough, so that parent commands cannot collect commands after subcommand.
+    /// Default from parent, usually set on parent.
+    App *fallthrough(bool value = true) {
+        fallthrough_ = value;
+        return this;
+    }
+
+    ///@}
+    /// @name Adding options
+    ///@{
+
+    /// Add an option, will automatically understand the type for common types.
+    ///
+    /// To use, create a variable with the expected type, and pass it in after the name.
+    /// After start is called, you can use count to see if the value was passed, and
+    /// the value will be initialized properly. Numbers, vectors, and strings are supported.
+    ///
+    /// ->required(), ->default, and the validators are options,
+    /// The positional options take an optional number of arguments.
+    ///
+    /// For example,
+    ///
+    ///     std::string filename;
+    ///     program.add_option("filename", filename, "description of filename");
+    ///
+    Option *add_option(std::string name, callback_t callback, std::string description = "", bool defaulted = false) {
+        Option myopt{name, description, callback, defaulted, this};
+
+        if(std::find_if(std::begin(options_), std::end(options_), [&myopt](const Option_p &v) {
+               return *v == myopt;
+           }) == std::end(options_)) {
+            options_.emplace_back();
+            Option_p &option = options_.back();
+            option.reset(new Option(name, description, callback, defaulted, this));
+            return option.get();
+        } else
+            throw OptionAlreadyAdded(myopt.get_name());
+    }
+
+    /// Add option for non-vectors (duplicate copy needed without defaulted to avoid `iostream << value`)
+    template <typename T, enable_if_t<!is_vector<T>::value, detail::enabler> = detail::dummy>
+    Option *add_option(std::string name,
+                       T &variable, ///< The variable to set
+                       std::string description = "") {
+
+        CLI::callback_t fun = [&variable](CLI::results_t res) {
+            if(res.size() != 1)
+                return false;
+            return detail::lexical_cast(res[0], variable);
+        };
+
+        Option *opt = add_option(name, fun, description, false);
+        opt->set_custom_option(detail::type_name<T>());
+        return opt;
+    }
+
+    /// Add option for non-vectors with a default print
+    template <typename T, enable_if_t<!is_vector<T>::value, detail::enabler> = detail::dummy>
+    Option *add_option(std::string name,
+                       T &variable, ///< The variable to set
+                       std::string description,
+                       bool defaulted) {
+
+        CLI::callback_t fun = [&variable](CLI::results_t res) {
+            if(res.size() != 1)
+                return false;
+            return detail::lexical_cast(res[0], variable);
+        };
+
+        Option *opt = add_option(name, fun, description, defaulted);
+        opt->set_custom_option(detail::type_name<T>());
+        if(defaulted) {
+            std::stringstream out;
+            out << variable;
+            opt->set_default_str(out.str());
+        }
+        return opt;
+    }
+
+    /// Add option for vectors (no default)
+    template <typename T>
+    Option *add_option(std::string name,
+                       std::vector<T> &variable, ///< The variable vector to set
+                       std::string description = "") {
+
+        CLI::callback_t fun = [&variable](CLI::results_t res) {
+            bool retval = true;
+            variable.clear();
+            for(const auto &a : res) {
+                variable.emplace_back();
+                retval &= detail::lexical_cast(a, variable.back());
+            }
+            return (!variable.empty()) && retval;
+        };
+
+        Option *opt = add_option(name, fun, description, false);
+        opt->set_custom_option(detail::type_name<T>(), -1, true);
+        return opt;
+    }
+
+    /// Add option for vectors
+    template <typename T>
+    Option *add_option(std::string name,
+                       std::vector<T> &variable, ///< The variable vector to set
+                       std::string description,
+                       bool defaulted) {
+
+        CLI::callback_t fun = [&variable](CLI::results_t res) {
+            bool retval = true;
+            variable.clear();
+            for(const auto &a : res) {
+                variable.emplace_back();
+                retval &= detail::lexical_cast(a, variable.back());
+            }
+            return (!variable.empty()) && retval;
+        };
+
+        Option *opt = add_option(name, fun, description, defaulted);
+        opt->set_custom_option(detail::type_name<T>(), -1, true);
+        if(defaulted)
+            opt->set_default_str("[" + detail::join(variable) + "]");
+        return opt;
+    }
+
+    /// Add option for flag
+    Option *add_flag(std::string name, std::string description = "") {
+        CLI::callback_t fun = [](CLI::results_t) { return true; };
+
+        Option *opt = add_option(name, fun, description, false);
+        if(opt->get_positional())
+            throw IncorrectConstruction("Flags cannot be positional");
+        opt->set_custom_option("", 0);
+        return opt;
+    }
+
+    /// Add option for flag integer
+    template <typename T,
+              enable_if_t<std::is_integral<T>::value && !is_bool<T>::value, detail::enabler> = detail::dummy>
+    Option *add_flag(std::string name,
+                     T &count, ///< A varaible holding the count
+                     std::string description = "") {
+
+        count = 0;
+        CLI::callback_t fun = [&count](CLI::results_t res) {
+            count = static_cast<T>(res.size());
+            return true;
+        };
+
+        Option *opt = add_option(name, fun, description, false);
+        if(opt->get_positional())
+            throw IncorrectConstruction("Flags cannot be positional");
+        opt->set_custom_option("", 0);
+        return opt;
+    }
+
+    /// Bool version only allows the flag once
+    template <typename T, enable_if_t<is_bool<T>::value, detail::enabler> = detail::dummy>
+    Option *add_flag(std::string name,
+                     T &count, ///< A varaible holding true if passed
+                     std::string description = "") {
+
+        count = false;
+        CLI::callback_t fun = [&count](CLI::results_t res) {
+            count = true;
+            return res.size() == 1;
+        };
+
+        Option *opt = add_option(name, fun, description, false);
+        if(opt->get_positional())
+            throw IncorrectConstruction("Flags cannot be positional");
+        opt->set_custom_option("", 0);
+        return opt;
+    }
+
+    /// Add set of options (No default)
+    template <typename T>
+    Option *add_set(std::string name,
+                    T &member,           ///< The selected member of the set
+                    std::set<T> options, ///< The set of posibilities
+                    std::string description = "") {
+
+        CLI::callback_t fun = [&member, options](CLI::results_t res) {
+            if(res.size() != 1) {
+                return false;
+            }
+            bool retval = detail::lexical_cast(res[0], member);
+            if(!retval)
+                return false;
+            return std::find(std::begin(options), std::end(options), member) != std::end(options);
+        };
+
+        Option *opt = add_option(name, fun, description, false);
+        std::string typeval = detail::type_name<T>();
+        typeval += " in {" + detail::join(options) + "}";
+        opt->set_custom_option(typeval);
+        return opt;
+    }
+
+    /// Add set of options
+    template <typename T>
+    Option *add_set(std::string name,
+                    T &member,           ///< The selected member of the set
+                    std::set<T> options, ///< The set of posibilities
+                    std::string description,
+                    bool defaulted) {
+
+        CLI::callback_t fun = [&member, options](CLI::results_t res) {
+            if(res.size() != 1) {
+                return false;
+            }
+            bool retval = detail::lexical_cast(res[0], member);
+            if(!retval)
+                return false;
+            return std::find(std::begin(options), std::end(options), member) != std::end(options);
+        };
+
+        Option *opt = add_option(name, fun, description, defaulted);
+        std::string typeval = detail::type_name<T>();
+        typeval += " in {" + detail::join(options) + "}";
+        opt->set_custom_option(typeval);
+        if(defaulted) {
+            std::stringstream out;
+            out << member;
+            opt->set_default_str(out.str());
+        }
+        return opt;
+    }
+
+    /// Add set of options, string only, ignore case (no default)
+    Option *add_set_ignore_case(std::string name,
+                                std::string &member,           ///< The selected member of the set
+                                std::set<std::string> options, ///< The set of posibilities
+                                std::string description = "") {
+
+        CLI::callback_t fun = [&member, options](CLI::results_t res) {
+            if(res.size() != 1) {
+                return false;
+            }
+            member = detail::to_lower(res[0]);
+            auto iter = std::find_if(std::begin(options), std::end(options), [&member](std::string val) {
+                return detail::to_lower(val) == member;
+            });
+            if(iter == std::end(options))
+                return false;
+            else {
+                member = *iter;
+                return true;
+            }
+        };
+
+        Option *opt = add_option(name, fun, description, false);
+        std::string typeval = detail::type_name<std::string>();
+        typeval += " in {" + detail::join(options) + "}";
+        opt->set_custom_option(typeval);
+
+        return opt;
+    }
+
+    /// Add set of options, string only, ignore case
+    Option *add_set_ignore_case(std::string name,
+                                std::string &member,           ///< The selected member of the set
+                                std::set<std::string> options, ///< The set of posibilities
+                                std::string description,
+                                bool defaulted) {
+
+        CLI::callback_t fun = [&member, options](CLI::results_t res) {
+            if(res.size() != 1) {
+                return false;
+            }
+            member = detail::to_lower(res[0]);
+            auto iter = std::find_if(std::begin(options), std::end(options), [&member](std::string val) {
+                return detail::to_lower(val) == member;
+            });
+            if(iter == std::end(options))
+                return false;
+            else {
+                member = *iter;
+                return true;
+            }
+        };
+
+        Option *opt = add_option(name, fun, description, defaulted);
+        std::string typeval = detail::type_name<std::string>();
+        typeval += " in {" + detail::join(options) + "}";
+        opt->set_custom_option(typeval);
+        if(defaulted) {
+            opt->set_default_str(member);
+        }
+        return opt;
+    }
+
+    /// Add a complex number
+    template <typename T>
+    Option *add_complex(std::string name,
+                        T &variable,
+                        std::string description = "",
+                        bool defaulted = false,
+                        std::string label = "COMPLEX") {
+        CLI::callback_t fun = [&variable](results_t res) {
+            if(res.size() != 2)
+                return false;
+            double x, y;
+            bool worked = detail::lexical_cast(res[0], x) && detail::lexical_cast(res[1], y);
+            if(worked)
+                variable = T(x, y);
+            return worked;
+        };
+
+        CLI::Option *opt = add_option(name, fun, description, defaulted);
+        opt->set_custom_option(label, 2);
+        if(defaulted) {
+            std::stringstream out;
+            out << variable;
+            opt->set_default_str(out.str());
+        }
+        return opt;
+    }
+
+    /// Add a configuration ini file option
+    Option *add_config(std::string name = "--config",
+                       std::string default_filename = "",
+                       std::string help = "Read an ini file",
+                       bool required = false) {
+
+        // Remove existing config if present
+        if(config_ptr_ != nullptr)
+            remove_option(config_ptr_);
+        config_name_ = default_filename;
+        config_required_ = required;
+        config_ptr_ = add_option(name, config_name_, help, default_filename != "");
+        return config_ptr_;
+    }
+
+    /// Removes an option from the App. Takes an option pointer. Returns true if found and removed.
+    bool remove_option(Option *opt) {
+        auto iterator =
+            std::find_if(std::begin(options_), std::end(options_), [opt](const Option_p &v) { return v.get() == opt; });
+        if(iterator != std::end(options_)) {
+            options_.erase(iterator);
+            return true;
+        }
+        return false;
+    }
+
+    ///@}
+    /// @name Subcommmands
+    ///@{
+
+    /// Add a subcommand. Like the constructor, you can override the help message addition by setting help=false
+    App *add_subcommand(std::string name, std::string description = "", bool help = true) {
+        subcommands_.emplace_back(new App(description, help, detail::dummy));
+        subcommands_.back()->name_ = name;
+        subcommands_.back()->allow_extras();
+        subcommands_.back()->parent_ = this;
+        subcommands_.back()->ignore_case_ = ignore_case_;
+        subcommands_.back()->fallthrough_ = fallthrough_;
+        for(const auto &subc : subcommands_)
+            if(subc.get() != subcommands_.back().get())
+                if(subc->check_name(subcommands_.back()->name_) || subcommands_.back()->check_name(subc->name_))
+                    throw OptionAlreadyAdded(subc->name_);
+        return subcommands_.back().get();
+    }
+
+    /// Check to see if a subcommand is part of this command (doesn't have to be in command line)
+    App *get_subcommand(App *subcom) const {
+        for(const App_p &subcomptr : subcommands_)
+            if(subcomptr.get() == subcom)
+                return subcom;
+        throw CLI::OptionNotFound(subcom->get_name());
+    }
+
+    /// Check to see if a subcommand is part of this command (text version)
+    App *get_subcommand(std::string subcom) const {
+        for(const App_p &subcomptr : subcommands_)
+            if(subcomptr->check_name(subcom))
+                return subcomptr.get();
+        throw CLI::OptionNotFound(subcom);
+    }
+
+    ///@}
+    /// @name Extras for subclassing
+    ///@{
+
+    /// This allows subclasses to inject code before callbacks but after parse.
+    ///
+    /// This does not run if any errors or help is thrown.
+    virtual void pre_callback() {}
+
+    ///@}
+    /// @name Parsing
+    ///@{
+
+    /// Parses the command line - throws errors
+    /// This must be called after the options are in but before the rest of the program.
+    std::vector<std::string> parse(int argc, char **argv) {
+        name_ = argv[0];
+        std::vector<std::string> args;
+        for(int i = argc - 1; i > 0; i--)
+            args.emplace_back(argv[i]);
+        return parse(args);
+    }
+
+    /// The real work is done here. Expects a reversed vector.
+    /// Changes the vector to the remaining options.
+    std::vector<std::string> &parse(std::vector<std::string> &args) {
+        _validate();
+        _parse(args);
+        run_callback();
+        return args;
+    }
+
+    /// Print a nice error message and return the exit code
+    int exit(const Error &e) const {
+        if(e.exit_code != static_cast<int>(ExitCodes::Success)) {
+            std::cerr << "ERROR: ";
+            std::cerr << e.what() << std::endl;
+            if(e.print_help)
+                std::cerr << help();
+        } else {
+            if(e.print_help)
+                std::cout << help();
+        }
+        return e.get_exit_code();
+    }
+
+    /// Reset the parsed data
+    void reset() {
+
+        parsed_ = false;
+        missing_.clear();
+
+        for(const Option_p &opt : options_) {
+            opt->clear();
+        }
+        for(const App_p &app : subcommands_) {
+            app->reset();
+        }
+    }
+
+    ///@}
+    /// @name Post parsing
+    ///@{
+
+    /// Counts the number of times the given option was passed.
+    size_t count(std::string name) const {
+        for(const Option_p &opt : options_) {
+            if(opt->check_name(name)) {
+                return opt->count();
+            }
+        }
+        throw OptionNotFound(name);
+    }
+
+    /// Get a subcommand pointer list to the currently selected subcommands (after parsing)
+    std::vector<App *> get_subcommands() const {
+        std::vector<App *> subcomms;
+        for(const App_p &subcomptr : subcommands_)
+            if(subcomptr->parsed_)
+                subcomms.push_back(subcomptr.get());
+        return subcomms;
+    }
+
+    /// Check to see if given subcommand was selected
+    bool got_subcommand(App *subcom) const {
+        // get subcom needed to verify that this was a real subcommand
+        return get_subcommand(subcom)->parsed_;
+    }
+
+    /// Check with name instead of pointer to see if subcommand was selected
+    bool got_subcommand(std::string name) const { return get_subcommand(name)->parsed_; }
+
+    ///@}
+    /// @name Help
+    ///@{
+
+    /// Produce a string that could be read in as a config of the current values of the App. Set default_also to include
+    /// default arguments. Prefix will add a string to the beginning of each option.
+    std::string config_to_str(bool default_also = false, std::string prefix = "") const {
+        std::stringstream out;
+        for(const Option_p &opt : options_) {
+
+            // Only process option with a long-name
+            if(!opt->lnames_.empty()) {
+                std::string name = prefix + opt->lnames_[0];
+
+                // Non-flags
+                if(opt->get_expected() != 0) {
+
+                    // If the option was found on command line
+                    if(opt->count() > 0)
+                        out << name << "=" << detail::inijoin(opt->results()) << std::endl;
+
+                    // If the option has a default and is requested by optional argument
+                    else if(default_also && opt->defaultval_ != "")
+                        out << name << "=" << opt->defaultval_ << std::endl;
+                    // Flag, one passed
+                } else if(opt->count() == 1) {
+                    out << name << "=true" << std::endl;
+
+                    // Flag, multiple passed
+                } else if(opt->count() > 1) {
+                    out << name << "=" << opt->count() << std::endl;
+
+                    // Flag, not present
+                } else if(opt->count() == 0 && default_also && opt.get() != get_help_ptr()) {
+                    out << name << "=false" << std::endl;
+                }
+            }
+        }
+        for(const App_p &subcom : subcommands_)
+            out << subcom->config_to_str(default_also, prefix + subcom->name_ + ".");
+        return out.str();
+    }
+
+    /// Makes a help message, with a column wid for column 1
+    std::string help(size_t wid = 30, std::string prev = "") const {
+        // Delegate to subcommand if needed
+        if(prev == "")
+            prev = name_;
+        else
+            prev += " " + name_;
+
+        auto selected_subcommands = get_subcommands();
+        if(!selected_subcommands.empty())
+            return selected_subcommands.at(0)->help(wid, prev);
+
+        std::stringstream out;
+        out << description_ << std::endl;
+        out << "Usage: " << prev;
+
+        // Check for options_
+        bool npos = false;
+        std::set<std::string> groups;
+        for(const Option_p &opt : options_) {
+            if(opt->nonpositional()) {
+                npos = true;
+                groups.insert(opt->get_group());
+            }
+        }
+
+        if(npos)
+            out << " [OPTIONS]";
+
+        // Positionals
+        bool pos = false;
+        for(const Option_p &opt : options_)
+            if(opt->get_positional()) {
+                // A hidden positional should still show up in the usage statement
+                // if(detail::to_lower(opt->get_group()) == "hidden")
+                //    continue;
+                out << " " << opt->help_positional();
+                if(opt->_has_help_positional())
+                    pos = true;
+            }
+
+        if(!subcommands_.empty()) {
+            if(require_subcommand_ != 0)
+                out << " SUBCOMMAND";
+            else
+                out << " [SUBCOMMAND]";
+        }
+
+        out << std::endl << std::endl;
+
+        // Positional descriptions
+        if(pos) {
+            out << "Positionals:" << std::endl;
+            for(const Option_p &opt : options_) {
+                if(detail::to_lower(opt->get_group()) == "hidden")
+                    continue;
+                if(opt->_has_help_positional())
+                    detail::format_help(out, opt->help_pname(), opt->get_description(), wid);
+            }
+            out << std::endl;
+        }
+
+        // Options
+        if(npos) {
+            for(const std::string &group : groups) {
+                if(detail::to_lower(group) == "hidden")
+                    continue;
+                out << group << ":" << std::endl;
+                for(const Option_p &opt : options_) {
+                    if(opt->nonpositional() && opt->get_group() == group)
+                        detail::format_help(out, opt->help_name(), opt->get_description(), wid);
+                }
+                out << std::endl;
+            }
+        }
+
+        // Subcommands
+        if(!subcommands_.empty()) {
+            out << "Subcommands:" << std::endl;
+            for(const App_p &com : subcommands_)
+                detail::format_help(out, com->get_name(), com->description_, wid);
+        }
+        return out.str();
+    }
+
+    ///@}
+    /// @name Getters
+    ///@{
+
+    /// Get a pointer to the help flag.
+    Option *get_help_ptr() { return help_ptr_; }
+
+    /// Get a pointer to the help flag. (const)
+    const Option *get_help_ptr() const { return help_ptr_; }
+
+    /// Get a pointer to the config option.
+    Option *get_config_ptr() { return config_ptr_; }
+
+    /// Get a pointer to the config option. (const)
+    const Option *get_config_ptr() const { return config_ptr_; }
+    /// Get the name of the current app
+    std::string get_name() const { return name_; }
+
+    /// Check the name, case insensitive if set
+    bool check_name(std::string name_to_check) const {
+        std::string local_name = name_;
+        if(ignore_case_) {
+            local_name = detail::to_lower(name_);
+            name_to_check = detail::to_lower(name_to_check);
+        }
+
+        return local_name == name_to_check;
+    }
+
+    /// This gets a vector of pointers with the original parse order
+    const std::vector<Option *> &parse_order() const { return parse_order_; }
+
+    ///@}
+
+  protected:
+    /// Check the options to make sure there are no conficts.
+    ///
+    /// Currenly checks to see if mutiple positionals exist with -1 args
+    void _validate() const {
+        auto count = std::count_if(std::begin(options_), std::end(options_), [](const Option_p &opt) {
+            return opt->get_expected() == -1 && opt->get_positional();
+        });
+        if(count > 1)
+            throw InvalidError(name_ + ": Too many positional arguments with unlimited expected args");
+        for(const App_p &app : subcommands_)
+            app->_validate();
+    }
+
+    /// Return missing from the master
+    missing_t *missing() {
+        if(parent_ != nullptr)
+            return parent_->missing();
+        return &missing_;
+    }
+
+    /// Internal function to run (App) callback, top down
+    void run_callback() {
+        pre_callback();
+        if(callback_)
+            callback_();
+        for(App *subc : get_subcommands()) {
+            subc->run_callback();
+        }
+    }
+
+    bool _valid_subcommand(const std::string &current) const {
+        for(const App_p &com : subcommands_)
+            if(com->check_name(current) && !*com)
+                return true;
+        if(parent_ != nullptr)
+            return parent_->_valid_subcommand(current);
+        else
+            return false;
+    }
+
+    /// Selects a Classifer enum based on the type of the current argument
+    detail::Classifer _recognize(const std::string &current) const {
+        std::string dummy1, dummy2;
+
+        if(current == "--")
+            return detail::Classifer::POSITIONAL_MARK;
+        if(_valid_subcommand(current))
+            return detail::Classifer::SUBCOMMAND;
+        if(detail::split_long(current, dummy1, dummy2))
+            return detail::Classifer::LONG;
+        if(detail::split_short(current, dummy1, dummy2))
+            return detail::Classifer::SHORT;
+        return detail::Classifer::NONE;
+    }
+
+    /// Internal parse function
+    void _parse(std::vector<std::string> &args) {
+        parsed_ = true;
+        bool positional_only = false;
+
+        while(!args.empty()) {
+            _parse_single(args, positional_only);
+        }
+
+        if(help_ptr_ != nullptr && help_ptr_->count() > 0) {
+            throw CallForHelp();
+        }
+
+        // Process an INI file
+        if(config_ptr_ != nullptr && config_name_ != "") {
+            try {
+                std::vector<detail::ini_ret_t> values = detail::parse_ini(config_name_);
+                while(!values.empty()) {
+                    if(!_parse_ini(values)) {
+                        throw ExtrasINIError(values.back().fullname);
+                    }
+                }
+            } catch(const FileError &) {
+                if(config_required_)
+                    throw;
+            }
+        }
+
+        // Get envname options if not yet passed
+        for(const Option_p &opt : options_) {
+            if(opt->count() == 0 && opt->envname_ != "") {
+                char *buffer = nullptr;
+                std::string ename_string;
+
+#ifdef _MSC_VER
+                // Windows version
+                size_t sz = 0;
+                if(_dupenv_s(&buffer, &sz, opt->envname_.c_str()) == 0 && buffer != nullptr) {
+                    ename_string = std::string(buffer);
+                    free(buffer);
+                }
+#else
+                // This also works on Windows, but gives a warning
+                buffer = std::getenv(opt->envname_.c_str());
+                if(buffer != nullptr)
+                    ename_string = std::string(buffer);
+#endif
+
+                if(!ename_string.empty()) {
+                    opt->add_result(ename_string);
+                }
+            }
+        }
+
+        // Process callbacks
+        for(const Option_p &opt : options_) {
+            if(opt->count() > 0 && !opt->get_callback_run()) {
+                opt->run_callback();
+            }
+        }
+
+        // Verify required options
+        for(const Option_p &opt : options_) {
+            // Required
+            if(opt->get_required() && (static_cast<int>(opt->count()) < opt->get_expected() || opt->count() == 0))
+                throw RequiredError(opt->get_name());
+            // Requires
+            for(const Option *opt_req : opt->requires_)
+                if(opt->count() > 0 && opt_req->count() == 0)
+                    throw RequiresError(opt->get_name(), opt_req->get_name());
+            // Excludes
+            for(const Option *opt_ex : opt->excludes_)
+                if(opt->count() > 0 && opt_ex->count() != 0)
+                    throw ExcludesError(opt->get_name(), opt_ex->get_name());
+        }
+
+        auto selected_subcommands = get_subcommands();
+        if(require_subcommand_ < 0 && selected_subcommands.empty())
+            throw RequiredError("Subcommand required");
+        else if(require_subcommand_ > 0 && static_cast<int>(selected_subcommands.size()) != require_subcommand_)
+            throw RequiredError(std::to_string(require_subcommand_) + " subcommand(s) required");
+
+        // Convert missing (pairs) to extras (string only)
+        if(parent_ == nullptr) {
+            args.resize(missing()->size());
+            std::transform(std::begin(*missing()),
+                           std::end(*missing()),
+                           std::begin(args),
+                           [](const std::pair<detail::Classifer, std::string> &val) { return val.second; });
+            std::reverse(std::begin(args), std::end(args));
+
+            size_t num_left_over = std::count_if(
+                std::begin(*missing()), std::end(*missing()), [](std::pair<detail::Classifer, std::string> &val) {
+                    return val.first != detail::Classifer::POSITIONAL_MARK;
+                });
+
+            if(num_left_over > 0 && !(allow_extras_ || prefix_command_))
+                throw ExtrasError("[" + detail::rjoin(args, " ") + "]");
+        }
+    }
+
+    /// Parse one ini param, return false if not found in any subcommand, remove if it is
+    ///
+    /// If this has more than one dot.separated.name, go into the subcommand matching it
+    /// Returns true if it managed to find the option, if false you'll need to remove the arg manully.
+    bool _parse_ini(std::vector<detail::ini_ret_t> &args) {
+        detail::ini_ret_t &current = args.back();
+        std::string parent = current.parent(); // respects curent.level
+        std::string name = current.name();
+
+        // If a parent is listed, go to a subcommand
+        if(parent != "") {
+            current.level++;
+            for(const App_p &com : subcommands_)
+                if(com->check_name(parent))
+                    return com->_parse_ini(args);
+            return false;
+        }
+
+        auto op_ptr = std::find_if(
+            std::begin(options_), std::end(options_), [name](const Option_p &v) { return v->check_lname(name); });
+
+        if(op_ptr == std::end(options_))
+            return false;
+
+        // Let's not go crazy with pointer syntax
+        Option_p &op = *op_ptr;
+
+        if(op->results_.empty()) {
+            // Flag parsing
+            if(op->get_expected() == 0) {
+                if(current.inputs.size() == 1) {
+                    std::string val = current.inputs.at(0);
+                    val = detail::to_lower(val);
+                    if(val == "true" || val == "on" || val == "yes")
+                        op->results_ = {""};
+                    else if(val == "false" || val == "off" || val == "no")
+                        ;
+                    else
+                        try {
+                            size_t ui = std::stoul(val);
+                            for(size_t i = 0; i < ui; i++)
+                                op->results_.emplace_back("");
+                        } catch(const std::invalid_argument &) {
+                            throw ConversionError(current.fullname + ": Should be true/false or a number");
+                        }
+                } else
+                    throw ConversionError(current.fullname + ": too many inputs for a flag");
+            } else {
+                op->results_ = current.inputs;
+                op->run_callback();
+            }
+        }
+
+        args.pop_back();
+        return true;
+    }
+
+    /// Parse "one" argument (some may eat more than one), delegate to parent if fails, add to missing if missing from
+    /// master
+    void _parse_single(std::vector<std::string> &args, bool &positional_only) {
+
+        detail::Classifer classifer = positional_only ? detail::Classifer::NONE : _recognize(args.back());
+        switch(classifer) {
+        case detail::Classifer::POSITIONAL_MARK:
+            missing()->emplace_back(classifer, args.back());
+            args.pop_back();
+            positional_only = true;
+            break;
+        case detail::Classifer::SUBCOMMAND:
+            _parse_subcommand(args);
+            break;
+        case detail::Classifer::LONG:
+            // If already parsed a subcommand, don't accept options_
+            _parse_long(args);
+            break;
+        case detail::Classifer::SHORT:
+            // If already parsed a subcommand, don't accept options_
+            _parse_short(args);
+            break;
+        case detail::Classifer::NONE:
+            // Probably a positional or something for a parent (sub)command
+            _parse_positional(args);
+        }
+    }
+
+    /// Count the required remaining positional arguments
+    size_t _count_remaining_required_positionals() const {
+        size_t retval = 0;
+        for(const Option_p &opt : options_)
+            if(opt->get_positional() && opt->get_required() && opt->get_expected() > 0 &&
+               static_cast<int>(opt->count()) < opt->get_expected())
+                retval = static_cast<size_t>(opt->get_expected()) - opt->count();
+
+        return retval;
+    }
+
+    /// Parse a positional, go up the tree to check
+    void _parse_positional(std::vector<std::string> &args) {
+
+        std::string positional = args.back();
+        for(const Option_p &opt : options_) {
+            // Eat options, one by one, until done
+            if(opt->get_positional() &&
+               (static_cast<int>(opt->count()) < opt->get_expected() || opt->get_expected() < 0)) {
+
+                opt->add_result(positional);
+                parse_order_.push_back(opt.get());
+                args.pop_back();
+                return;
+            }
+        }
+
+        if(parent_ != nullptr && fallthrough_)
+            return parent_->_parse_positional(args);
+        else {
+            args.pop_back();
+            missing()->emplace_back(detail::Classifer::NONE, positional);
+
+            if(prefix_command_) {
+                while(!args.empty()) {
+                    missing()->emplace_back(detail::Classifer::NONE, args.back());
+                    args.pop_back();
+                }
+            }
+        }
+    }
+
+    /// Parse a subcommand, modify args and continue
+    ///
+    /// Unlike the others, this one will always allow fallthrough
+    void _parse_subcommand(std::vector<std::string> &args) {
+        if(_count_remaining_required_positionals() > 0)
+            return _parse_positional(args);
+        for(const App_p &com : subcommands_) {
+            if(com->check_name(args.back())) {
+                args.pop_back();
+                com->_parse(args);
+                return;
+            }
+        }
+        if(parent_ != nullptr)
+            return parent_->_parse_subcommand(args);
+        else
+            throw HorribleError("Subcommand " + args.back() + " missing");
+    }
+
+    /// Parse a short argument, must be at the top of the list
+    void _parse_short(std::vector<std::string> &args) {
+        std::string current = args.back();
+
+        std::string name;
+        std::string rest;
+        if(!detail::split_short(current, name, rest))
+            throw HorribleError("Short");
+
+        auto op_ptr = std::find_if(
+            std::begin(options_), std::end(options_), [name](const Option_p &opt) { return opt->check_sname(name); });
+
+        // Option not found
+        if(op_ptr == std::end(options_)) {
+            // If a subcommand, try the master command
+            if(parent_ != nullptr && fallthrough_)
+                return parent_->_parse_short(args);
+            // Otherwise, add to missing
+            else {
+                args.pop_back();
+                missing()->emplace_back(detail::Classifer::SHORT, current);
+                return;
+            }
+        }
+
+        args.pop_back();
+
+        // Get a reference to the pointer to make syntax bearable
+        Option_p &op = *op_ptr;
+
+        int num = op->get_expected();
+
+        if(num == 0) {
+            op->add_result("");
+            parse_order_.push_back(op.get());
+        } else if(rest != "") {
+            if(num > 0)
+                num--;
+            op->add_result(rest);
+            parse_order_.push_back(op.get());
+            rest = "";
+        }
+
+        if(num == -1) {
+            while(!args.empty() && _recognize(args.back()) == detail::Classifer::NONE) {
+                op->add_result(args.back());
+                parse_order_.push_back(op.get());
+                args.pop_back();
+            }
+        } else
+            while(num > 0 && !args.empty()) {
+                num--;
+                std::string current_ = args.back();
+                args.pop_back();
+                op->add_result(current_);
+                parse_order_.push_back(op.get());
+            }
+
+        if(rest != "") {
+            rest = "-" + rest;
+            args.push_back(rest);
+        }
+    }
+
+    /// Parse a long argument, must be at the top of the list
+    void _parse_long(std::vector<std::string> &args) {
+        std::string current = args.back();
+
+        std::string name;
+        std::string value;
+        if(!detail::split_long(current, name, value))
+            throw HorribleError("Long:" + args.back());
+
+        auto op_ptr = std::find_if(
+            std::begin(options_), std::end(options_), [name](const Option_p &v) { return v->check_lname(name); });
+
+        // Option not found
+        if(op_ptr == std::end(options_)) {
+            // If a subcommand, try the master command
+            if(parent_ != nullptr && fallthrough_)
+                return parent_->_parse_long(args);
+            // Otherwise, add to missing
+            else {
+                args.pop_back();
+                missing()->emplace_back(detail::Classifer::LONG, current);
+                return;
+            }
+        }
+
+        args.pop_back();
+
+        // Get a reference to the pointer to make syntax bearable
+        Option_p &op = *op_ptr;
+
+        int num = op->get_expected();
+
+        if(value != "") {
+            if(num != -1)
+                num--;
+            op->add_result(value);
+            parse_order_.push_back(op.get());
+        } else if(num == 0) {
+            op->add_result("");
+            parse_order_.push_back(op.get());
+        }
+
+        if(num == -1) {
+            while(!args.empty() && _recognize(args.back()) == detail::Classifer::NONE) {
+                op->add_result(args.back());
+                parse_order_.push_back(op.get());
+                args.pop_back();
+            }
+        } else
+            while(num > 0 && !args.empty()) {
+                num--;
+                op->add_result(args.back());
+                parse_order_.push_back(op.get());
+                args.pop_back();
+            }
+        return;
+    }
+};
+
+namespace detail {
+/// This class is simply to allow tests access to App's protected functions
+struct AppFriend {
+
+    /// Wrap _parse_short, perfectly forward arguments and return
+    template <typename... Args>
+    static auto parse_short(App *app, Args &&... args) ->
+        typename std::result_of<decltype (&App::_parse_short)(App, Args...)>::type {
+        return app->_parse_short(std::forward<Args>(args)...);
+    }
+
+    /// Wrap _parse_long, perfectly forward arguments and return
+    template <typename... Args>
+    static auto parse_long(App *app, Args &&... args) ->
+        typename std::result_of<decltype (&App::_parse_long)(App, Args...)>::type {
+        return app->_parse_long(std::forward<Args>(args)...);
+    }
+
+    /// Wrap _parse_subcommand, perfectly forward arguments and return
+    template <typename... Args>
+    static auto parse_subcommand(App *app, Args &&... args) ->
+        typename std::result_of<decltype (&App::_parse_subcommand)(App, Args...)>::type {
+        return app->_parse_subcommand(std::forward<Args>(args)...);
+    }
+};
+} // namespace detail
+
+} // namespace CLI
diff --git a/ext/CLI11/CLI/CLI.hpp b/ext/CLI11/CLI/CLI.hpp
new file mode 100644
index 0000000..2ef44c1
--- /dev/null
+++ b/ext/CLI11/CLI/CLI.hpp
@@ -0,0 +1,16 @@
+#pragma once
+
+// Distributed under the 3-Clause BSD License.  See accompanying
+// file LICENSE or https://github.com/CLIUtils/CLI11 for details.
+
+// CLI Library includes
+// Order is important for combiner script
+
+#include "CLI/Error.hpp"
+#include "CLI/TypeTools.hpp"
+#include "CLI/StringTools.hpp"
+#include "CLI/Split.hpp"
+#include "CLI/Ini.hpp"
+#include "CLI/Validators.hpp"
+#include "CLI/Option.hpp"
+#include "CLI/App.hpp"
diff --git a/ext/CLI11/CLI/Error.hpp b/ext/CLI11/CLI/Error.hpp
new file mode 100644
index 0000000..0502d6c
--- /dev/null
+++ b/ext/CLI11/CLI/Error.hpp
@@ -0,0 +1,165 @@
+#pragma once
+
+// Distributed under the 3-Clause BSD License.  See accompanying
+// file LICENSE or https://github.com/CLIUtils/CLI11 for details.
+
+#include <exception>
+#include <stdexcept>
+#include <string>
+
+namespace CLI {
+
+/// These codes are part of every error in CLI. They can be obtained from e using e.exit_code or as a quick shortcut,
+/// int values from e.get_error_code().
+enum class ExitCodes {
+    Success = 0,
+    IncorrectConstruction = 100,
+    BadNameString,
+    OptionAlreadyAdded,
+    File,
+    Conversion,
+    Validation,
+    Required,
+    Requires,
+    Excludes,
+    Extras,
+    ExtrasINI,
+    Invalid,
+    Horrible,
+    OptionNotFound,
+    BaseClass = 255
+};
+
+// Error definitions
+
+/// @defgroup error_group Errors
+/// @brief Errors thrown by CLI11
+///
+/// These are the errors that can be thrown. Some of them, like CLI::Success, are not really errors.
+/// @{
+
+/// All errors derive from this one
+struct Error : public std::runtime_error {
+    int exit_code;
+    bool print_help;
+    int get_exit_code() const { return exit_code; }
+    Error(std::string parent, std::string name, ExitCodes exit_code = ExitCodes::BaseClass, bool print_help = true)
+        : runtime_error(parent + ": " + name), exit_code(static_cast<int>(exit_code)), print_help(print_help) {}
+    Error(std::string parent,
+          std::string name,
+          int exit_code = static_cast<int>(ExitCodes::BaseClass),
+          bool print_help = true)
+        : runtime_error(parent + ": " + name), exit_code(exit_code), print_help(print_help) {}
+};
+
+/// Construction errors (not in parsing)
+struct ConstructionError : public Error {
+    // Using Error::Error constructors seem to not work on GCC 4.7
+    ConstructionError(std::string parent,
+                      std::string name,
+                      ExitCodes exit_code = ExitCodes::BaseClass,
+                      bool print_help = true)
+        : Error(parent, name, exit_code, print_help) {}
+};
+
+/// Thrown when an option is set to conflicting values (non-vector and multi args, for example)
+struct IncorrectConstruction : public ConstructionError {
+    IncorrectConstruction(std::string name)
+        : ConstructionError("IncorrectConstruction", name, ExitCodes::IncorrectConstruction) {}
+};
+
+/// Thrown on construction of a bad name
+struct BadNameString : public ConstructionError {
+    BadNameString(std::string name) : ConstructionError("BadNameString", name, ExitCodes::BadNameString) {}
+};
+
+/// Thrown when an option already exists
+struct OptionAlreadyAdded : public ConstructionError {
+    OptionAlreadyAdded(std::string name)
+        : ConstructionError("OptionAlreadyAdded", name, ExitCodes::OptionAlreadyAdded) {}
+};
+
+// Parsing errors
+
+/// Anything that can error in Parse
+struct ParseError : public Error {
+    ParseError(std::string parent, std::string name, ExitCodes exit_code = ExitCodes::BaseClass, bool print_help = true)
+        : Error(parent, name, exit_code, print_help) {}
+};
+
+// Not really "errors"
+
+/// This is a successful completion on parsing, supposed to exit
+struct Success : public ParseError {
+    Success() : ParseError("Success", "Successfully completed, should be caught and quit", ExitCodes::Success, false) {}
+};
+
+/// -h or --help on command line
+struct CallForHelp : public ParseError {
+    CallForHelp()
+        : ParseError("CallForHelp", "This should be caught in your main function, see examples", ExitCodes::Success) {}
+};
+
+/// Thrown when parsing an INI file and it is missing
+struct FileError : public ParseError {
+    FileError(std::string name) : ParseError("FileError", name, ExitCodes::File) {}
+};
+
+/// Thrown when conversion call back fails, such as when an int fails to coerse to a string
+struct ConversionError : public ParseError {
+    ConversionError(std::string name) : ParseError("ConversionError", name, ExitCodes::Conversion) {}
+};
+
+/// Thrown when validation of results fails
+struct ValidationError : public ParseError {
+    ValidationError(std::string name) : ParseError("ValidationError", name, ExitCodes::Validation) {}
+};
+
+/// Thrown when a required option is missing
+struct RequiredError : public ParseError {
+    RequiredError(std::string name) : ParseError("RequiredError", name, ExitCodes::Required) {}
+};
+
+/// Thrown when a requires option is missing
+struct RequiresError : public ParseError {
+    RequiresError(std::string name, std::string subname)
+        : ParseError("RequiresError", name + " requires " + subname, ExitCodes::Requires) {}
+};
+
+/// Thrown when a exludes option is present
+struct ExcludesError : public ParseError {
+    ExcludesError(std::string name, std::string subname)
+        : ParseError("ExcludesError", name + " excludes " + subname, ExitCodes::Excludes) {}
+};
+
+/// Thrown when too many positionals or options are found
+struct ExtrasError : public ParseError {
+    ExtrasError(std::string name) : ParseError("ExtrasError", name, ExitCodes::Extras) {}
+};
+
+/// Thrown when extra values are found in an INI file
+struct ExtrasINIError : public ParseError {
+    ExtrasINIError(std::string name) : ParseError("ExtrasINIError", name, ExitCodes::ExtrasINI) {}
+};
+
+/// Thrown when validation fails before parsing
+struct InvalidError : public ParseError {
+    InvalidError(std::string name) : ParseError("InvalidError", name, ExitCodes::Invalid) {}
+};
+
+/// This is just a safety check to verify selection and parsing match
+struct HorribleError : public ParseError {
+    HorribleError(std::string name)
+        : ParseError("HorribleError", "(You should never see this error) " + name, ExitCodes::Horrible) {}
+};
+
+// After parsing
+
+/// Thrown when counting a non-existent option
+struct OptionNotFound : public Error {
+    OptionNotFound(std::string name) : Error("OptionNotFound", name, ExitCodes::OptionNotFound) {}
+};
+
+/// @}
+
+} // namespace CLI
diff --git a/ext/CLI11/CLI/Ini.hpp b/ext/CLI11/CLI/Ini.hpp
new file mode 100644
index 0000000..bab094d
--- /dev/null
+++ b/ext/CLI11/CLI/Ini.hpp
@@ -0,0 +1,115 @@
+#pragma once
+
+// Distributed under the 3-Clause BSD License.  See accompanying
+// file LICENSE or https://github.com/CLIUtils/CLI11 for details.
+
+#include <algorithm>
+#include <fstream>
+#include <iostream>
+#include <string>
+
+#include "CLI/StringTools.hpp"
+
+namespace CLI {
+namespace detail {
+
+inline std::string inijoin(std::vector<std::string> args) {
+    std::ostringstream s;
+    size_t start = 0;
+    for(const auto &arg : args) {
+        if(start++ > 0)
+            s << " ";
+
+        auto it = std::find_if(arg.begin(), arg.end(), [](char ch) { return std::isspace<char>(ch, std::locale()); });
+        if(it == arg.end())
+            s << arg;
+        else if(arg.find(R"(")") == std::string::npos)
+            s << R"(")" << arg << R"(")";
+        else
+            s << R"(')" << arg << R"(')";
+    }
+
+    return s.str();
+}
+
+struct ini_ret_t {
+    /// This is the full name with dots
+    std::string fullname;
+
+    /// Listing of inputs
+    std::vector<std::string> inputs;
+
+    /// Current parent level
+    size_t level = 0;
+
+    /// Return parent or empty string, based on level
+    ///
+    /// Level 0, a.b.c would return a
+    /// Level 1, a.b.c could return b
+    std::string parent() const {
+        std::vector<std::string> plist = detail::split(fullname, '.');
+        if(plist.size() > (level + 1))
+            return plist[level];
+        else
+            return "";
+    }
+
+    /// Return name
+    std::string name() const {
+        std::vector<std::string> plist = detail::split(fullname, '.');
+        return plist.at(plist.size() - 1);
+    }
+};
+
+/// Internal parsing function
+inline std::vector<ini_ret_t> parse_ini(std::istream &input) {
+    std::string name, line;
+    std::string section = "default";
+
+    std::vector<ini_ret_t> output;
+
+    while(getline(input, line)) {
+        std::vector<std::string> items;
+
+        detail::trim(line);
+        size_t len = line.length();
+        if(len > 1 && line[0] == '[' && line[len - 1] == ']') {
+            section = line.substr(1, len - 2);
+        } else if(len > 0 && line[0] != ';') {
+            output.emplace_back();
+            ini_ret_t &out = output.back();
+
+            // Find = in string, split and recombine
+            auto pos = line.find("=");
+            if(pos != std::string::npos) {
+                name = detail::trim_copy(line.substr(0, pos));
+                std::string item = detail::trim_copy(line.substr(pos + 1));
+                items = detail::split_up(item);
+            } else {
+                name = detail::trim_copy(line);
+                items = {"ON"};
+            }
+
+            if(detail::to_lower(section) == "default")
+                out.fullname = name;
+            else
+                out.fullname = section + "." + name;
+
+            out.inputs.insert(std::end(out.inputs), std::begin(items), std::end(items));
+        }
+    }
+    return output;
+}
+
+/// Parse an INI file, throw an error (ParseError:INIParseError or FileError) on failure
+inline std::vector<ini_ret_t> parse_ini(const std::string &name) {
+
+    std::ifstream input{name};
+    if(!input.good())
+        throw FileError(name);
+
+    return parse_ini(input);
+}
+
+} // namespace detail
+} // namespace CLI
diff --git a/ext/CLI11/CLI/Option.hpp b/ext/CLI11/CLI/Option.hpp
new file mode 100644
index 0000000..2c01a66
--- /dev/null
+++ b/ext/CLI11/CLI/Option.hpp
@@ -0,0 +1,460 @@
+#pragma once
+
+// Distributed under the 3-Clause BSD License.  See accompanying
+// file LICENSE or https://github.com/CLIUtils/CLI11 for details.
+
+#include <algorithm>
+#include <functional>
+#include <memory>
+#include <set>
+#include <string>
+#include <tuple>
+#include <utility>
+#include <vector>
+
+#include "CLI/Error.hpp"
+#include "CLI/Split.hpp"
+#include "CLI/StringTools.hpp"
+
+namespace CLI {
+
+using results_t = std::vector<std::string>;
+using callback_t = std::function<bool(results_t)>;
+
+class Option;
+class App;
+
+using Option_p = std::unique_ptr<Option>;
+
+class Option {
+    friend App;
+
+  protected:
+    /// @name Names
+    ///@{
+
+    /// A list of the short names (`-a`) without the leading dashes
+    std::vector<std::string> snames_;
+
+    /// A list of the long names (`--a`) without the leading dashes
+    std::vector<std::string> lnames_;
+
+    /// A positional name
+    std::string pname_;
+
+    /// If given, check the environment for this option
+    std::string envname_;
+
+    ///@}
+    /// @name Help
+    ///@{
+
+    /// The description for help strings
+    std::string description_;
+
+    /// A human readable default value, usually only set if default is true in creation
+    std::string defaultval_;
+
+    /// A human readable type value, set when App creates this
+    std::string typeval_;
+
+    /// The group membership
+    std::string group_{"Options"};
+
+    /// True if this option has a default
+    bool default_{false};
+
+    ///@}
+    /// @name Configuration
+    ///@{
+
+    /// True if this is a required option
+    bool required_{false};
+
+    /// The number of expected values, 0 for flag, -1 for unlimited vector
+    int expected_{1};
+
+    /// A private setting to allow args to not be able to accept incorrect expected values
+    bool changeable_{false};
+
+    /// Ignore the case when matching (option, not value)
+    bool ignore_case_{false};
+
+    /// A list of validators to run on each value parsed
+    std::vector<std::function<bool(std::string)>> validators_;
+
+    /// A list of options that are required with this option
+    std::set<Option *> requires_;
+
+    /// A list of options that are excluded with this option
+    std::set<Option *> excludes_;
+
+    ///@}
+    /// @name Other
+    ///@{
+
+    /// Remember the parent app
+    App *parent_;
+
+    /// Options store a callback to do all the work
+    callback_t callback_;
+
+    ///@}
+    /// @name Parsing results
+    ///@{
+
+    /// Results of parsing
+    results_t results_;
+
+    /// Whether the callback has run (needed for INI parsing)
+    bool callback_run_{false};
+
+    ///@}
+
+    /// Making an option by hand is not defined, it must be made by the App class
+    Option(std::string name,
+           std::string description = "",
+           std::function<bool(results_t)> callback = [](results_t) { return true; },
+           bool default_ = true,
+           App *parent = nullptr)
+        : description_(std::move(description)), default_(default_), parent_(parent), callback_(std::move(callback)) {
+        std::tie(snames_, lnames_, pname_) = detail::get_names(detail::split_names(name));
+    }
+
+  public:
+    /// @name Basic
+    ///@{
+
+    /// Count the total number of times an option was passed
+    size_t count() const { return results_.size(); }
+
+    /// This class is true if option is passed.
+    operator bool() const { return count() > 0; }
+
+    /// Clear the parsed results (mostly for testing)
+    void clear() { results_.clear(); }
+
+    ///@}
+    /// @name Setting options
+    ///@{
+
+    /// Set the option as required
+    Option *required(bool value = true) {
+        required_ = value;
+        return this;
+    }
+
+    /// Support Plubmum term
+    Option *mandatory(bool value = true) { return required(value); }
+
+    /// Set the number of expected arguments (Flags bypass this)
+    Option *expected(int value) {
+        if(value == 0)
+            throw IncorrectConstruction("Cannot set 0 expected, use a flag instead");
+        else if(expected_ == 0)
+            throw IncorrectConstruction("Cannot make a flag take arguments!");
+        else if(!changeable_)
+            throw IncorrectConstruction("You can only change the expected arguments for vectors");
+        expected_ = value;
+        return this;
+    }
+
+    /// Adds a validator
+    Option *check(std::function<bool(std::string)> validator) {
+
+        validators_.push_back(validator);
+        return this;
+    }
+
+    /// Changes the group membership
+    Option *group(std::string name) {
+        group_ = name;
+        return this;
+    }
+
+    /// Sets required options
+    Option *requires(Option *opt) {
+        auto tup = requires_.insert(opt);
+        if(!tup.second)
+            throw OptionAlreadyAdded(get_name() + " requires " + opt->get_name());
+        return this;
+    }
+
+    /// Can find a string if needed
+    template <typename T = App> Option *requires(std::string opt_name) {
+        for(const Option_p &opt : dynamic_cast<T *>(parent_)->options_)
+            if(opt.get() != this && opt->check_name(opt_name))
+                return requires(opt.get());
+        throw IncorrectConstruction("Option " + opt_name + " is not defined");
+    }
+
+    /// Any number supported, any mix of string and Opt
+    template <typename A, typename B, typename... ARG> Option *requires(A opt, B opt1, ARG... args) {
+        requires(opt);
+        return requires(opt1, args...);
+    }
+
+    /// Sets excluded options
+    Option *excludes(Option *opt) {
+        auto tup = excludes_.insert(opt);
+        if(!tup.second)
+            throw OptionAlreadyAdded(get_name() + " excludes " + opt->get_name());
+        return this;
+    }
+
+    /// Can find a string if needed
+    template <typename T = App> Option *excludes(std::string opt_name) {
+        for(const Option_p &opt : dynamic_cast<T *>(parent_)->options_)
+            if(opt.get() != this && opt->check_name(opt_name))
+                return excludes(opt.get());
+        throw IncorrectConstruction("Option " + opt_name + " is not defined");
+    }
+    /// Any number supported, any mix of string and Opt
+    template <typename A, typename B, typename... ARG> Option *excludes(A opt, B opt1, ARG... args) {
+        excludes(opt);
+        return excludes(opt1, args...);
+    }
+
+    /// Sets environment variable to read if no option given
+    Option *envname(std::string name) {
+        envname_ = name;
+        return this;
+    }
+
+    /// Ignore case
+    ///
+    /// The template hides the fact that we don't have the definition of App yet.
+    /// You are never expected to add an argument to the template here.
+    template <typename T = App> Option *ignore_case(bool value = true) {
+        ignore_case_ = value;
+        for(const Option_p &opt : dynamic_cast<T *>(parent_)->options_)
+            if(opt.get() != this && *opt == *this)
+                throw OptionAlreadyAdded(opt->get_name());
+        return this;
+    }
+
+    ///@}
+    /// @name Accessors
+    ///@{
+
+    /// True if this is a required option
+    bool get_required() const { return required_; }
+
+    /// The number of arguments the option expects
+    int get_expected() const { return expected_; }
+
+    /// True if this has a default value
+    int get_default() const { return default_; }
+
+    /// True if the argument can be given directly
+    bool get_positional() const { return pname_.length() > 0; }
+
+    /// True if option has at least one non-positional name
+    bool nonpositional() const { return (snames_.size() + lnames_.size()) > 0; }
+
+    /// True if option has description
+    bool has_description() const { return description_.length() > 0; }
+
+    /// Get the group of this option
+    const std::string &get_group() const { return group_; }
+
+    /// Get the description
+    const std::string &get_description() const { return description_; }
+
+    // Just the pname
+    std::string get_pname() const { return pname_; }
+
+    ///@}
+    /// @name Help tools
+    ///@{
+
+    /// Gets a , sep list of names. Does not include the positional name if opt_only=true.
+    std::string get_name(bool opt_only = false) const {
+        std::vector<std::string> name_list;
+        if(!opt_only && pname_.length() > 0)
+            name_list.push_back(pname_);
+        for(const std::string &sname : snames_)
+            name_list.push_back("-" + sname);
+        for(const std::string &lname : lnames_)
+            name_list.push_back("--" + lname);
+        return detail::join(name_list);
+    }
+
+    /// The name and any extras needed for positionals
+    std::string help_positional() const {
+        std::string out = pname_;
+        if(get_expected() > 1)
+            out = out + "(" + std::to_string(get_expected()) + "x)";
+        else if(get_expected() == -1)
+            out = out + "...";
+        out = get_required() ? out : "[" + out + "]";
+        return out;
+    }
+
+    /// The first half of the help print, name plus default, etc
+    std::string help_name() const {
+        std::stringstream out;
+        out << get_name(true) << help_aftername();
+        return out.str();
+    }
+
+    /// pname with type info
+    std::string help_pname() const {
+        std::stringstream out;
+        out << get_pname() << help_aftername();
+        return out.str();
+    }
+
+    /// This is the part after the name is printed but before the description
+    std::string help_aftername() const {
+        std::stringstream out;
+
+        if(get_expected() != 0) {
+            if(typeval_ != "")
+                out << " " << typeval_;
+            if(defaultval_ != "")
+                out << "=" << defaultval_;
+            if(get_expected() > 1)
+                out << " x " << get_expected();
+            if(get_expected() == -1)
+                out << " ...";
+        }
+        if(envname_ != "")
+            out << " (env:" << envname_ << ")";
+        if(!requires_.empty()) {
+            out << " Requires:";
+            for(const Option *opt : requires_)
+                out << " " << opt->get_name();
+        }
+        if(!excludes_.empty()) {
+            out << " Excludes:";
+            for(const Option *opt : excludes_)
+                out << " " << opt->get_name();
+        }
+        return out.str();
+    }
+
+    ///@}
+    /// @name Parser tools
+    ///@{
+
+    /// Process the callback
+    void run_callback() const {
+        if(!callback_(results_))
+            throw ConversionError(get_name() + "=" + detail::join(results_));
+        if(!validators_.empty()) {
+            for(const std::string &result : results_)
+                for(const std::function<bool(std::string)> &vali : validators_)
+                    if(!vali(result))
+                        throw ValidationError(get_name() + "=" + result);
+        }
+    }
+
+    /// If options share any of the same names, they are equal (not counting positional)
+    bool operator==(const Option &other) const {
+        for(const std::string &sname : snames_)
+            if(other.check_sname(sname))
+                return true;
+        for(const std::string &lname : lnames_)
+            if(other.check_lname(lname))
+                return true;
+        // We need to do the inverse, just in case we are ignore_case
+        for(const std::string &sname : other.snames_)
+            if(check_sname(sname))
+                return true;
+        for(const std::string &lname : other.lnames_)
+            if(check_lname(lname))
+                return true;
+        return false;
+    }
+
+    /// Check a name. Requires "-" or "--" for short / long, supports positional name
+    bool check_name(std::string name) const {
+
+        if(name.length() > 2 && name.substr(0, 2) == "--")
+            return check_lname(name.substr(2));
+        else if(name.length() > 1 && name.substr(0, 1) == "-")
+            return check_sname(name.substr(1));
+        else {
+            std::string local_pname = pname_;
+            if(ignore_case_) {
+                local_pname = detail::to_lower(local_pname);
+                name = detail::to_lower(name);
+            }
+            return name == local_pname;
+        }
+    }
+
+    /// Requires "-" to be removed from string
+    bool check_sname(std::string name) const {
+        if(ignore_case_) {
+            name = detail::to_lower(name);
+            return std::find_if(std::begin(snames_), std::end(snames_), [&name](std::string local_sname) {
+                       return detail::to_lower(local_sname) == name;
+                   }) != std::end(snames_);
+        } else
+            return std::find(std::begin(snames_), std::end(snames_), name) != std::end(snames_);
+    }
+
+    /// Requires "--" to be removed from string
+    bool check_lname(std::string name) const {
+        if(ignore_case_) {
+            name = detail::to_lower(name);
+            return std::find_if(std::begin(lnames_), std::end(lnames_), [&name](std::string local_sname) {
+                       return detail::to_lower(local_sname) == name;
+                   }) != std::end(lnames_);
+        } else
+            return std::find(std::begin(lnames_), std::end(lnames_), name) != std::end(lnames_);
+    }
+
+    /// Puts a result at position r
+    void add_result(std::string s) {
+        results_.push_back(s);
+        callback_run_ = false;
+    }
+
+    /// Get a copy of the results
+    std::vector<std::string> results() const { return results_; }
+
+    /// See if the callback has been run already
+    bool get_callback_run() const { return callback_run_; }
+
+    ///@}
+    /// @name Custom options
+    ///@{
+
+    /// Set a custom option, typestring, expected, and changeable
+    void set_custom_option(std::string typeval, int expected = 1, bool changeable = false) {
+        typeval_ = typeval;
+        expected_ = expected;
+        changeable_ = changeable;
+    }
+
+    /// Set the default value string representation
+    void set_default_str(std::string val) { defaultval_ = val; }
+
+    /// Set the default value string representation and evaluate
+    void set_default_val(std::string val) {
+        set_default_str(val);
+        auto old_results = results_;
+        results_ = {val};
+        run_callback();
+        results_ = std::move(old_results);
+    }
+
+    /// Set the type name displayed on this option
+    void set_type_name(std::string val) { typeval_ = val; }
+
+    ///@}
+
+  protected:
+    /// @name App Helpers
+    ///@{
+    /// Can print positional name detailed option if true
+    bool _has_help_positional() const {
+        return get_positional() && (has_description() || !requires_.empty() || !excludes_.empty());
+    }
+    ///@}
+};
+
+} // namespace CLI
diff --git a/ext/CLI11/CLI/Split.hpp b/ext/CLI11/CLI/Split.hpp
new file mode 100644
index 0000000..f7fb5ab
--- /dev/null
+++ b/ext/CLI11/CLI/Split.hpp
@@ -0,0 +1,90 @@
+#pragma once
+
+// Distributed under the 3-Clause BSD License.  See accompanying
+// file LICENSE or https://github.com/CLIUtils/CLI11 for details.
+
+#include <string>
+#include <tuple>
+#include <vector>
+
+#include "CLI/Error.hpp"
+#include "CLI/StringTools.hpp"
+
+namespace CLI {
+namespace detail {
+
+// Returns false if not a short option. Otherwise, sets opt name and rest and returns true
+inline bool split_short(const std::string &current, std::string &name, std::string &rest) {
+    if(current.size() > 1 && current[0] == '-' && valid_first_char(current[1])) {
+        name = current.substr(1, 1);
+        rest = current.substr(2);
+        return true;
+    } else
+        return false;
+}
+
+// Returns false if not a long option. Otherwise, sets opt name and other side of = and returns true
+inline bool split_long(const std::string &current, std::string &name, std::string &value) {
+    if(current.size() > 2 && current.substr(0, 2) == "--" && valid_first_char(current[2])) {
+        auto loc = current.find("=");
+        if(loc != std::string::npos) {
+            name = current.substr(2, loc - 2);
+            value = current.substr(loc + 1);
+        } else {
+            name = current.substr(2);
+            value = "";
+        }
+        return true;
+    } else
+        return false;
+}
+
+// Splits a string into multiple long and short names
+inline std::vector<std::string> split_names(std::string current) {
+    std::vector<std::string> output;
+    size_t val;
+    while((val = current.find(",")) != std::string::npos) {
+        output.push_back(current.substr(0, val));
+        current = current.substr(val + 1);
+    }
+    output.push_back(current);
+    return output;
+}
+
+/// Get a vector of short names, one of long names, and a single name
+inline std::tuple<std::vector<std::string>, std::vector<std::string>, std::string>
+get_names(const std::vector<std::string> &input) {
+
+    std::vector<std::string> short_names;
+    std::vector<std::string> long_names;
+    std::string pos_name;
+
+    for(std::string name : input) {
+        if(name.length() == 0)
+            continue;
+        else if(name.length() > 1 && name[0] == '-' && name[1] != '-') {
+            if(name.length() == 2 && valid_first_char(name[1]))
+                short_names.emplace_back(1, name[1]);
+            else
+                throw BadNameString("Invalid one char name: " + name);
+        } else if(name.length() > 2 && name.substr(0, 2) == "--") {
+            name = name.substr(2);
+            if(valid_name_string(name))
+                long_names.push_back(name);
+            else
+                throw BadNameString("Bad long name: " + name);
+        } else if(name == "-" || name == "--") {
+            throw BadNameString("Must have a name, not just dashes");
+        } else {
+            if(pos_name.length() > 0)
+                throw BadNameString("Only one positional name allowed, remove: " + name);
+            pos_name = name;
+        }
+    }
+
+    return std::tuple<std::vector<std::string>, std::vector<std::string>, std::string>(
+        short_names, long_names, pos_name);
+}
+
+} // namespace detail
+} // namespace CLI
diff --git a/ext/CLI11/CLI/StringTools.hpp b/ext/CLI11/CLI/StringTools.hpp
new file mode 100644
index 0000000..c7c04c6
--- /dev/null
+++ b/ext/CLI11/CLI/StringTools.hpp
@@ -0,0 +1,190 @@
+#pragma once
+
+// Distributed under the 3-Clause BSD License.  See accompanying
+// file LICENSE or https://github.com/CLIUtils/CLI11 for details.
+
+#include <algorithm>
+#include <iomanip>
+#include <locale>
+#include <sstream>
+#include <string>
+#include <type_traits>
+
+namespace CLI {
+namespace detail {
+
+// Based on http://stackoverflow.com/questions/236129/split-a-string-in-c
+/// Split a string by a delim
+inline std::vector<std::string> split(const std::string &s, char delim) {
+    std::vector<std::string> elems;
+    // Check to see if emtpy string, give consistent result
+    if(s == "")
+        elems.emplace_back("");
+    else {
+        std::stringstream ss;
+        ss.str(s);
+        std::string item;
+        while(std::getline(ss, item, delim)) {
+            elems.push_back(item);
+        }
+    }
+    return elems;
+}
+
+/// Simple function to join a string
+template <typename T> std::string join(const T &v, std::string delim = ",") {
+    std::ostringstream s;
+    size_t start = 0;
+    for(const auto &i : v) {
+        if(start++ > 0)
+            s << delim;
+        s << i;
+    }
+    return s.str();
+}
+
+/// Join a string in reverse order
+template <typename T> std::string rjoin(const T &v, std::string delim = ",") {
+    std::ostringstream s;
+    for(size_t start = 0; start < v.size(); start++) {
+        if(start > 0)
+            s << delim;
+        s << v[v.size() - start - 1];
+    }
+    return s.str();
+}
+
+// Based roughly on http://stackoverflow.com/questions/25829143/c-trim-whitespace-from-a-string
+
+/// Trim whitespace from left of string
+inline std::string &ltrim(std::string &str) {
+    auto it = std::find_if(str.begin(), str.end(), [](char ch) { return !std::isspace<char>(ch, std::locale()); });
+    str.erase(str.begin(), it);
+    return str;
+}
+
+/// Trim anything from left of string
+inline std::string &ltrim(std::string &str, const std::string &filter) {
+    auto it = std::find_if(str.begin(), str.end(), [&filter](char ch) { return filter.find(ch) == std::string::npos; });
+    str.erase(str.begin(), it);
+    return str;
+}
+
+/// Trim whitespace from right of string
+inline std::string &rtrim(std::string &str) {
+    auto it = std::find_if(str.rbegin(), str.rend(), [](char ch) { return !std::isspace<char>(ch, std::locale()); });
+    str.erase(it.base(), str.end());
+    return str;
+}
+
+/// Trim anything from right of string
+inline std::string &rtrim(std::string &str, const std::string &filter) {
+    auto it =
+        std::find_if(str.rbegin(), str.rend(), [&filter](char ch) { return filter.find(ch) == std::string::npos; });
+    str.erase(it.base(), str.end());
+    return str;
+}
+
+/// Trim whitespace from string
+inline std::string &trim(std::string &str) { return ltrim(rtrim(str)); }
+
+/// Trim anything from string
+inline std::string &trim(std::string &str, const std::string filter) { return ltrim(rtrim(str, filter), filter); }
+
+/// Make a copy of the string and then trim it
+inline std::string trim_copy(const std::string &str) {
+    std::string s = str;
+    return trim(s);
+}
+
+/// Make a copy of the string and then trim it, any filter string can be used (any char in string is filtered)
+inline std::string trim_copy(const std::string &str, const std::string &filter) {
+    std::string s = str;
+    return trim(s, filter);
+}
+/// Print a two part "help" string
+inline void format_help(std::stringstream &out, std::string name, std::string description, size_t wid) {
+    name = "  " + name;
+    out << std::setw(static_cast<int>(wid)) << std::left << name;
+    if(description != "") {
+        if(name.length() >= wid)
+            out << std::endl << std::setw(static_cast<int>(wid)) << "";
+        out << description;
+    }
+    out << std::endl;
+}
+
+/// Verify the first character of an option
+template <typename T> bool valid_first_char(T c) { return std::isalpha(c, std::locale()) || c == '_'; }
+
+/// Verify following characters of an option
+template <typename T> bool valid_later_char(T c) {
+    return std::isalnum(c, std::locale()) || c == '_' || c == '.' || c == '-';
+}
+
+/// Verify an option name
+inline bool valid_name_string(const std::string &str) {
+    if(str.empty() || !valid_first_char(str[0]))
+        return false;
+    for(auto c : str.substr(1))
+        if(!valid_later_char(c))
+            return false;
+    return true;
+}
+
+/// Return a lower case version of a string
+inline std::string to_lower(std::string str) {
+    std::transform(std::begin(str), std::end(str), std::begin(str), [](const std::string::value_type &x) {
+        return std::tolower(x, std::locale());
+    });
+    return str;
+}
+
+/// Split a string '"one two" "three"' into 'one two', 'three'
+inline std::vector<std::string> split_up(std::string str) {
+
+    std::vector<char> delims = {'\'', '\"'};
+    auto find_ws = [](char ch) { return std::isspace<char>(ch, std::locale()); };
+    trim(str);
+
+    std::vector<std::string> output;
+
+    while(!str.empty()) {
+        if(str[0] == '\'') {
+            auto end = str.find('\'', 1);
+            if(end != std::string::npos) {
+                output.push_back(str.substr(1, end - 1));
+                str = str.substr(end + 1);
+            } else {
+                output.push_back(str.substr(1));
+                str = "";
+            }
+        } else if(str[0] == '\"') {
+            auto end = str.find('\"', 1);
+            if(end != std::string::npos) {
+                output.push_back(str.substr(1, end - 1));
+                str = str.substr(end + 1);
+            } else {
+                output.push_back(str.substr(1));
+                str = "";
+            }
+
+        } else {
+            auto it = std::find_if(std::begin(str), std::end(str), find_ws);
+            if(it != std::end(str)) {
+                std::string value = std::string(str.begin(), it);
+                output.push_back(value);
+                str = std::string(it, str.end());
+            } else {
+                output.push_back(str);
+                str = "";
+            }
+        }
+        trim(str);
+    }
+
+    return output;
+}
+
+} // namespace detail
+} // namespace CLI
diff --git a/ext/CLI11/CLI/Timer.hpp b/ext/CLI11/CLI/Timer.hpp
new file mode 100644
index 0000000..4457143
--- /dev/null
+++ b/ext/CLI11/CLI/Timer.hpp
@@ -0,0 +1,121 @@
+#pragma once
+
+// Distributed under the 3-Clause BSD License.  See accompanying
+// file LICENSE or https://github.com/CLIUtils/CLI11 for details.
+
+#include <chrono>
+#include <functional>
+#include <iostream>
+#include <string>
+#include <utility>
+
+namespace CLI {
+
+class Timer {
+  protected:
+    /// This is a typedef to make clocks easier to use
+    using clock = std::chrono::steady_clock;
+
+    /// This typedef is for points in time
+    using time_point = std::chrono::time_point<clock>;
+
+    /// This is the type of a printing function, you can make your own
+    using time_print_t = std::function<std::string(std::string, std::string)>;
+
+    /// This is the title of the timer
+    std::string title_;
+
+    /// This is the function that is used to format most of the timing message
+    time_print_t time_print_;
+
+    /// This is the starting point (when the timer was created)
+    time_point start_;
+
+    /// This is the number of times cycles (print divides by this number)
+    size_t cycles{1};
+
+  public:
+    /// Standard print function, this one is set by default
+    static std::string Simple(std::string title, std::string time) { return title + ": " + time; }
+
+    /// This is a fancy print function with --- headers
+    static std::string Big(std::string title, std::string time) {
+        return std::string("-----------------------------------------\n") + "| " + title + " | Time = " + time + "\n" +
+               "-----------------------------------------";
+    }
+
+  public:
+    /// Standard constructor, can set title and print function
+    Timer(std::string title = "Timer", time_print_t time_print = Simple)
+        : title_(std::move(title)), time_print_(std::move(time_print)), start_(clock::now()) {}
+
+    /// Time a function by running it multiple times. Target time is the len to target.
+    std::string time_it(std::function<void()> f, double target_time = 1) {
+        time_point start = start_;
+        double total_time;
+
+        start_ = clock::now();
+        size_t n = 0;
+        do {
+            f();
+            std::chrono::duration<double> elapsed = clock::now() - start_;
+            total_time = elapsed.count();
+        } while(n++ < 100 && total_time < target_time);
+
+        std::string out = make_time_str(total_time / n) + " for " + std::to_string(n) + " tries";
+        start_ = start;
+        return out;
+    }
+
+    /// This formats the numerical value for the time string
+    std::string make_time_str() const {
+        time_point stop = clock::now();
+        std::chrono::duration<double> elapsed = stop - start_;
+        double time = elapsed.count() / cycles;
+        return make_time_str(time);
+    }
+
+    // LCOV_EXCL_START
+    std::string make_time_str(double time) const {
+        auto print_it = [](double x, std::string unit) {
+            char buffer[50];
+            std::snprintf(buffer, 50, "%.5g", x);
+            return buffer + std::string(" ") + unit;
+        };
+
+        if(time < .000001)
+            return print_it(time * 1000000000, "ns");
+        else if(time < .001)
+            return print_it(time * 1000000, "us");
+        else if(time < 1)
+            return print_it(time * 1000, "ms");
+        else
+            return print_it(time, "s");
+    }
+    // LCOV_EXCL_END
+
+    /// This is the main function, it creates a string
+    std::string to_string() const { return time_print_(title_, make_time_str()); }
+
+    /// Division sets the number of cycles to divide by (no graphical change)
+    Timer &operator/(size_t val) {
+        cycles = val;
+        return *this;
+    }
+};
+
+/// This class prints out the time upon destruction
+class AutoTimer : public Timer {
+  public:
+    /// Reimplementing the constructor is required in GCC 4.7
+    AutoTimer(std::string title = "Timer", time_print_t time_print = Simple) : Timer(title, time_print) {}
+    // GCC 4.7 does not support using inheriting constructors.
+
+    /// This desctructor prints the string
+    ~AutoTimer() { std::cout << to_string() << std::endl; }
+};
+
+} // namespace CLI
+
+/// This prints out the time if shifted into a std::cout like stream.
+inline std::ostream &operator<<(std::ostream &in, const CLI::Timer &timer) { return in << timer.to_string(); }
diff --git a/ext/CLI11/CLI/TypeTools.hpp b/ext/CLI11/CLI/TypeTools.hpp
new file mode 100644
index 0000000..4214092
--- /dev/null
+++ b/ext/CLI11/CLI/TypeTools.hpp
@@ -0,0 +1,114 @@
+#pragma once
+
+// Distributed under the 3-Clause BSD License.  See accompanying
+// file LICENSE or https://github.com/CLIUtils/CLI11 for details.
+
+#include <exception>
+#include <string>
+#include <type_traits>
+#include <vector>
+
+namespace CLI {
+
+// Type tools
+
+// Copied from C++14
+#if __cplusplus < 201402L
+template <bool B, class T = void> using enable_if_t = typename std::enable_if<B, T>::type;
+#else
+// If your compiler supports C++14, you can use that definition instead
+using std::enable_if_t;
+#endif
+
+template <typename T> struct is_vector { static const bool value = false; };
+
+template <class T, class A> struct is_vector<std::vector<T, A>> { static bool const value = true; };
+
+template <typename T> struct is_bool { static const bool value = false; };
+
+template <> struct is_bool<bool> { static bool const value = true; };
+
+namespace detail {
+// Based generally on https://rmf.io/cxx11/almost-static-if
+/// Simple empty scoped class
+enum class enabler {};
+
+/// An instance to use in EnableIf
+constexpr enabler dummy = {};
+
+// Type name print
+
+/// Was going to be based on
+///  http://stackoverflow.com/questions/1055452/c-get-name-of-type-in-template
+/// But this is cleaner and works better in this case
+
+template <typename T,
+          enable_if_t<std::is_integral<T>::value && std::is_signed<T>::value, detail::enabler> = detail::dummy>
+constexpr const char *type_name() {
+    return "INT";
+}
+
+template <typename T,
+          enable_if_t<std::is_integral<T>::value && std::is_unsigned<T>::value, detail::enabler> = detail::dummy>
+constexpr const char *type_name() {
+    return "UINT";
+}
+
+template <typename T, enable_if_t<std::is_floating_point<T>::value, detail::enabler> = detail::dummy>
+constexpr const char *type_name() {
+    return "FLOAT";
+}
+
+/// This one should not be used, since vector types print the internal type
+template <typename T, enable_if_t<is_vector<T>::value, detail::enabler> = detail::dummy>
+constexpr const char *type_name() {
+    return "VECTOR";
+}
+
+template <typename T,
+          enable_if_t<!std::is_floating_point<T>::value && !std::is_integral<T>::value && !is_vector<T>::value,
+                      detail::enabler> = detail::dummy>
+constexpr const char *type_name() {
+    return "TEXT";
+}
+
+// Lexical cast
+
+/// Integers / enums
+template <typename T,
+          enable_if_t<std::is_integral<T>::value || std::is_enum<T>::value, detail::enabler> = detail::dummy>
+bool lexical_cast(std::string input, T &output) {
+    try {
+        output = static_cast<T>(std::stoll(input));
+        return true;
+    } catch(const std::invalid_argument &) {
+        return false;
+    } catch(const std::out_of_range &) {
+        return false;
+    }
+}
+
+/// Floats
+template <typename T, enable_if_t<std::is_floating_point<T>::value, detail::enabler> = detail::dummy>
+bool lexical_cast(std::string input, T &output) {
+    try {
+        output = static_cast<T>(std::stold(input));
+        return true;
+    } catch(const std::invalid_argument &) {
+        return false;
+    } catch(const std::out_of_range &) {
+        return false;
+    }
+}
+
+/// String and similar
+template <typename T,
+          enable_if_t<!std::is_floating_point<T>::value && !std::is_integral<T>::value && !std::is_enum<T>::value,
+                      detail::enabler> = detail::dummy>
+bool lexical_cast(std::string input, T &output) {
+    output = input;
+    return true;
+}
+
+} // namespace detail
+} // namespace CLI
diff --git a/ext/CLI11/CLI/Validators.hpp b/ext/CLI11/CLI/Validators.hpp
new file mode 100644
index 0000000..975d5c7
--- /dev/null
+++ b/ext/CLI11/CLI/Validators.hpp
@@ -0,0 +1,83 @@
+#pragma once
+
+// Distributed under the 3-Clause BSD License.  See accompanying
+// file LICENSE or https://github.com/CLIUtils/CLI11 for details.
+
+#include "CLI/TypeTools.hpp"
+#include <functional>
+#include <iostream>
+#include <string>
+
+// C standard library
+// Only needed for existence checking
+// Could be swapped for filesystem in C++17
+#include <sys/stat.h>
+#include <sys/types.h>
+
+namespace CLI {
+
+/// @defgroup validator_group Validators
+/// @brief Some validators that are provided
+///
+/// These are simple `bool(std::string)` validators that are useful.
+/// @{
+
+/// Check for an existing file
+inline bool ExistingFile(std::string filename) {
+    struct stat buffer;
+    bool exist = stat(filename.c_str(), &buffer) == 0;
+    bool is_dir = (buffer.st_mode & S_IFDIR) != 0;
+    if(!exist) {
+        std::cerr << "File does not exist: " << filename << std::endl;
+        return false;
+    } else if(is_dir) {
+        std::cerr << "File is actually a directory: " << filename << std::endl;
+        return false;
+    } else {
+        return true;
+    }
+}
+
+/// Check for an existing directory
+inline bool ExistingDirectory(std::string filename) {
+    struct stat buffer;
+    bool exist = stat(filename.c_str(), &buffer) == 0;
+    bool is_dir = (buffer.st_mode & S_IFDIR) != 0;
+    if(!exist) {
+        std::cerr << "Directory does not exist: " << filename << std::endl;
+        return false;
+    } else if(is_dir) {
+        return true;
+    } else {
+        std::cerr << "Directory is actually a file: " << filename << std::endl;
+        return false;
+    }
+}
+
+/// Check for a non-existing path
+inline bool NonexistentPath(std::string filename) {
+    struct stat buffer;
+    bool exist = stat(filename.c_str(), &buffer) == 0;
+    if(!exist) {
+        return true;
+    } else {
+        std::cerr << "Path exists: " << filename << std::endl;
+        return false;
+    }
+}
+
+/// Produce a range validator function
+template <typename T> std::function<bool(std::string)> Range(T min, T max) {
+    return [min, max](std::string input) {
+        T val;
+        detail::lexical_cast(input, val);
+        return val >= min && val <= max;
+    };
+}
+
+/// Range of one value is 0 to value
+template <typename T> std::function<bool(std::string)> Range(T max) { return Range(static_cast<T>(0), max); }
+
+/// @}
+
+} // namespace CLI
diff --git a/html/doalles.js b/html/doalles.js
index 861ad7a..38d157d 100644
--- a/html/doalles.js
+++ b/html/doalles.js
@@ -14,7 +14,7 @@ function maketable(str, arr)
         enter().
         append("tr");
     
-    var columns = ["sv", "iod", "eph-age-m", "latest-disco", "sisa", "delta_hz_corr", "e1bhs", "e1bdvs", "e5bhs", "e5bdvs", "gpshealth", "a0", "a1","a0g", "a1g", "sources", "db", "elev", "last-seen-s"];    
+    var columns = ["sv", "iod", "aode", "eph-age-m", "latest-disco", "sisa", "delta_hz_corr", "health", "a0", "a1","a0g", "a1g", "sources", "db", "elev", "last-seen-s"];    
     
     // append the header row
     thead.append("tr")
@@ -61,28 +61,20 @@ function maketable(str, arr)
                 }
                 else if(column == "latest-disco" && row[column] != null) 
                     ret.value = ((100*row[column]).toFixed(2))+" cm";
-                else if(column == "e1bdvs" || column =="e5bdvs")  {                    
-                    if(row[column] == 0)
-                        ret.value = "valid";
-                    else if(row[column] == 1)
-                        ret.value = "working no guarantee"                
-                }
-                else if(column == "e1bhs" || column =="e5bhs")  {
-                    if(row[column] == 0)
-                        ret.value = "ok";
-                    else if(row[column] == 1)
-                        ret.value = "out of service"
-                    else if(row[column] == 2)
-                        ret.value = "will be out of service"
-                    else if(row[column] == 3) {
+                else if(column == "health")  {
+                    ret.value = row[column];
+                    console.log(row["healthissue"]);
+                    if(row["healthissue"] == 1) {
                         ret.color="orange";
-                        ret.value = "test"
+                    }
+                    if(row["healthissue"] == 2) {
+                        ret.color="red";
                     }
                 }                
                 else {
                     ret.value= row[column];
                 }
-                if(column == "eph-age-m" && row[column] > 30 && row["last-seen-s"] < 120)
+                if(column == "eph-age-m" && row[column] > 60 && row["last-seen-s"] < 120)
                     ret.color="orange";
                 if(column == "sisa" && parseInt(row[column]) > 312)
                     ret.color="#ffaaaa";
diff --git a/navdump.cc b/navdump.cc
index c633601..48b4398 100644
--- a/navdump.cc
+++ b/navdump.cc
@@ -17,6 +17,9 @@
 #include "navmon.pb.h"
 #include "ephemeris.hh"
 #include "gps.hh"
+#include "glonass.hh"
+#include "beidou.hh"
+
 #include <unistd.h>
 using namespace std;
 
@@ -75,7 +78,15 @@ int main(int argc, char** argv)
       }
       cout<<"\n";
     }
+    else if(nmm.type() == NavMonMessage::BeidouInavType) {
+      int sv = nmm.bi().gnsssv();
+      auto cond = getCondensedBeidouMessage(std::basic_string<uint8_t>((uint8_t*)nmm.bi().contents().c_str(), nmm.bi().contents().size()));
+      BeidouMessage bm;
+      uint8_t pageno;
+      int fraid = bm.parse(cond, &pageno);
+      cout<<"BeiDou "<<sv<<": "<<bm.sow<<", FraID "<<fraid<<endl;
 
+    }
     else if(nmm.type() == NavMonMessage::ObserverPositionType) {
       cout<<"ECEF"<<endl;
       // XXX!! this has to deal with source id!
diff --git a/navnexus.cc b/navnexus.cc
index fa6d9a0..1fa99af 100644
--- a/navnexus.cc
+++ b/navnexus.cc
@@ -45,7 +45,7 @@ vector<uint64_t> getSources()
     }
     if(result->d_name[0] != '.') {
       uint64_t src;
-      if(sscanf(result->d_name, "%08lx", &src)==1)
+      if(sscanf(result->d_name, "%08llx", &src)==1)
         ret.push_back(src);
     }
   }
diff --git a/navparse.cc b/navparse.cc
index b1e3afa..e34d7b3 100644
--- a/navparse.cc
+++ b/navparse.cc
@@ -19,9 +19,11 @@
 #include "navmon.pb.h"
 #include "ephemeris.hh"
 #include "gps.hh"
+#include "glonass.hh"
+#include "beidou.hh"
+
 #include <optional>
 using namespace std;
-
 struct EofException{};
 
 Point g_ourpos(3922.505 * 1000,  290.116 * 1000, 5004.189 * 1000);
@@ -89,6 +91,34 @@ struct SVIOD
       return words[2] && words[3];
   }
   void addGalileoWord(std::basic_string_view<uint8_t> page);
+
+  double getMu() const
+  {
+    if(gnssid == 2) return 3.986004418 * pow(10.0, 14.0);
+    if(gnssid == 0) return 3.986005    * pow(10.0, 14.0);
+    throw std::runtime_error("getMu() called for unsupported gnssid "+to_string(gnssid));
+  } // m^3/s^2
+  // same for galileo & gps
+  double getOmegaE()    const { return 7.2921151467 * pow(10.0, -5.0);} // rad/s
+
+  uint32_t getT0e() const { return t0e; }
+  double getSqrtA() const { return ldexp(sqrtA,     -19);   }
+  double getE()     const { return ldexp(e,         -33);   }
+  double getCuc()   const { return ldexp(cuc,       -29);   } // radians
+  double getCus()   const { return ldexp(cus,       -29);   } // radians
+  double getCrc()   const { return ldexp(crc,        -5);   } // meters
+  double getCrs()   const { return ldexp(crs,        -5);   } // meters
+  double getM0()    const { return ldexp(m0 * M_PI, -31);   } // radians
+  double getDeltan()const { return ldexp(deltan *M_PI, -43); } //radians/s
+  double getI0()        const { return ldexp(i0 * M_PI,       -31);   } // radians
+  double getCic()       const { return ldexp(cic,             -29);   } // radians
+  double getCis()       const { return ldexp(cis,             -29);   } // radians
+  double getOmegadot()  const { return ldexp(omegadot * M_PI, -43);   } // radians/s
+  double getOmega0()    const { return ldexp(omega0 * M_PI,   -31);   } // radians
+  double getIdot()      const { return ldexp(idot * M_PI,     -43);   } // radians/s
+  double getOmega()     const { return ldexp(omega * M_PI,    -31);   } // radians
+
+  
 };
 
 void SVIOD::addGalileoWord(std::basic_string_view<uint8_t> page)
@@ -165,6 +195,12 @@ struct SVStat
   uint8_t dn; // leap second day number
   //   1  2^-31 2^-43 2^-55   16 second
   int ura, af0, af1,  af2,   t0c; // GPS parameters that should not be here XXX
+
+  // beidou:
+  int t0eMSB{-1}, t0eLSB{-1}, aode{-1};
+  BeidouMessage beidouMessage, oldBeidouMessage;
+  BeidouMessage lastBeidouMessage2;
+  
   map<uint64_t, SVPerRecv> perrecv;
   pair<uint32_t, double> deltaHz;
   double latestDisco{-1};
@@ -349,15 +385,19 @@ struct InfluxPusher
 {
   explicit InfluxPusher(std::string_view dbname) : d_dbname(dbname)
   {
+    if(dbname=="null")
+      cout<<"Not sending data to influxdb"<<endl;
   }
-  void addValue( const pair<pair<int,int>,SVStat>& ent, string_view name, auto value)
+  template<typename T>
+  void addValue( const pair<pair<int,int>,SVStat>& ent, string_view name, const T& value)
   {
     d_buffer+= string(name)+",gnssid="+to_string(ent.first.first)+ +",sv=" +to_string(ent.first.second)+" value="+to_string(value)+
       " "+to_string(nanoTime(ent.first.first, ent.second.wn, ent.second.tow))+"\n";
     checkSend();
   }
-  
-  void addValue(pair<int,int> id, string_view name, auto value)
+
+  template<typename T>
+  void addValue(pair<int,int> id, string_view name, const T& value)
   {
     if(g_svstats[id].wn ==0 && g_svstats[id].tow == 0)
       return;
@@ -392,7 +432,8 @@ struct InfluxPusher
 
   ~InfluxPusher()
   {
-    doSend(d_buffer);
+    if(d_dbname != "null")
+      doSend(d_buffer);
   }
   
   std::string d_buffer;
@@ -446,6 +487,36 @@ std::optional<double> getHzCorrection(time_t now)
   return allHzCorr;
 }
 
+char getGNSSChar(int id)
+{
+  if(id==0)
+    return 'G';
+  if(id==2)
+    return 'E';
+  if(id==3)
+    return 'C';
+  if(id==6)
+    return 'R';
+  else
+    return '0'+id;
+}
+
+double getElevation(const Point& p)
+{
+  Point our = g_ourpos;
+  Point core{0,0,0};
+  
+  Vector core2us(core, our);
+  Vector dx(our, p); //  = x-ourx, dy = y-oury, dz = z-ourz;
+  
+  // https://ds9a.nl/articles/
+  
+  double elev = acos ( core2us.inner(dx) / (core2us.length() * dx.length()));
+  double deg = 180.0* (elev/M_PI);
+  return 90.0 - deg;
+}
+
+
 int main(int argc, char** argv)
 try
 {
@@ -478,8 +549,6 @@ try
           int dw = (uint8_t)g_svstats[{0,sv}].wn - g_svstats[{0,sv}].wn0t;
           int age = dw * 7 * 86400 + g_svstats[{0,sv}].tow - g_svstats[{0,sv}].t0t; // t0t is PRESCALED
           
-          
-
           gpsutcstats[age]=s.first.second;
           continue;
         }
@@ -532,17 +601,23 @@ try
   h2s.addHandler("/svs", [](auto handler, auto req) {
       nlohmann::json ret = nlohmann::json::object();
 
-
-
       auto hzCorrection = getHzCorrection(time(0));
       
       for(const auto& s: g_svstats) {
         nlohmann::json item  = nlohmann::json::object();
         if(!s.second.tow) // I know, I know, will suck briefly
           continue;
+
+        item["gnssid"] = s.first.first;
+        item["svid"] = s.first.second;
+        if(s.first.first == 3) {
+          item["sisa"]=humanUra(s.second.ura);
+          if(s.second.t0eMSB >= 0 && s.second.t0eLSB >=0)
+            item["eph-age-m"] = ephAge(s.second.tow, 8.0*((s.second.t0eMSB<<15) + s.second.t0eLSB))/60.0;
+        }
         if(s.second.completeIOD()) {
           item["iod"]=s.second.getIOD();
-          if(s.first.first ==0) {
+          if(s.first.first == 0 || s.first.first == 3) {
             item["sisa"]=humanUra(s.second.ura);
             //            cout<<"Asked to convert "<<s.second.ura<<" for sv "<<s.first.first<<","<<s.first.second<<endl;
           }
@@ -564,8 +639,6 @@ try
           Vector core2us(core, our);
           Vector dx(our, p); //  = x-ourx, dy = y-oury, dz = z-ourz;
           
-          // https://ds9a.nl/articles/
-          
           double elev = acos ( core2us.inner(dx) / (core2us.length() * dx.length()));
           double deg = 180.0* (elev/M_PI);
           item["elev"] = 90 - deg;
@@ -580,22 +653,46 @@ try
             if(hzCorrection)
               item["delta_hz_corr"] = s.second.deltaHz.second - *hzCorrection;
           }
-          
         }
 
         item["a0"]=s.second.a0;
         item["a1"]=s.second.a1;
         item["dtLS"]=s.second.dtLS;
+
+        if(s.first.first == 3) {  // beidou
+          item["a0g"]=s.second.a0g;
+          item["a1g"]=s.second.a1g;
+          if(s.second.aode > 0)
+            item["aode"]=s.second.aode;
+        }
+
+        
         if(s.first.first == 2) {  // galileo
           item["a0g"]=s.second.a0g;
           item["a1g"]=s.second.a1g;
+          vector<string> options{"ok", "out of service", "will be out of service", "test"};
+          item["health"] =
+            options[s.second.e1bhs]                       +"/" +
+            options[s.second.e5bhs]                       +"/" +
+            (s.second.e1bdvs ? "no guarantee" : "val") +"/"+
+            (s.second.e5bdvs ? "no guarantee" : "val");
           item["e5bdvs"]=s.second.e5bdvs;
           item["e1bdvs"]=s.second.e1bdvs;
           item["e5bhs"]=s.second.e5bhs;
           item["e1bhs"]=s.second.e1bhs;
+          item["healthissue"]=0;
+          if(s.second.e1bhs == 2 || s.second.e5bhs == 2)
+            item["healthissue"] = 1;
+          if(s.second.e1bhs == 3 || s.second.e5bhs == 3)
+            item["healthissue"] = 1;
+          if(s.second.e1bdvs || s.second.e5bdvs || s.second.e1bhs == 1 || s.second.e5bhs == 1)
+            item["healthissue"] = 2;
+          
+        }
+        else if(s.first.first == 0 || s.first.first == 3) {// gps or beidou 
+          item["health"]= s.second.gpshealth ? ("NOT OK: "+to_string(s.second.gpshealth)) : string("OK");
+          item["healthissue"]= 2* !!s.second.gpshealth;
         }
-        else
-          item["gpshealth"]=s.second.gpshealth;
         
         nlohmann::json perrecv  = nlohmann::json::object();
         for(const auto& pr : s.second.perrecv) {
@@ -607,6 +704,7 @@ try
         }
         item["perrecv"]=perrecv;
 
+        // xxx this is silly, should use local time
         item["last-seen-s"] = s.second.tow ? (7*86400*(latestWN(s.first.first) - s.second.wn) + latestTow(s.first.first) - (int)s.second.tow) : -1;
         if(s.second.latestDisco >=0) {
           item["latest-disco"]= s.second.latestDisco;
@@ -615,7 +713,7 @@ try
         
         item["wn"] = s.second.wn;
         item["tow"] = s.second.tow;
-        ret[fmt::sprintf("%c%02d", s.first.first ? 'E' : 'G', s.first.second)] = item;
+        ret[fmt::sprintf("%c%02d", getGNSSChar(s.first.first), s.first.second)] = item;
       }
       return ret;
     });
@@ -660,8 +758,6 @@ try
       g_svstats[id].perrecv[nmm.sourceid()].el = nmm.rd().el();
       g_svstats[id].perrecv[nmm.sourceid()].azi = nmm.rd().azi();
 
-      
-
       // THIS HAS TO SPLIT OUT PER SOURCE
       idb.addValue(id, "db", nmm.rd().db());
       if(nmm.rd().el() <= 90 && nmm.rd().el() > 0)
@@ -919,6 +1015,60 @@ try
       if(g_svstats[id].wn < 512)
         g_svstats[id].wn += 2048;
     }
+    else if(nmm.type()== NavMonMessage::BeidouInavType) {
+      pair<int,int> id{nmm.bi().gnssid(), nmm.bi().gnsssv()};
+
+      g_svstats[id].perrecv[nmm.sourceid()].t = nmm.localutcseconds();
+      
+      auto& svstat = g_svstats[id];
+      uint8_t pageno;
+      auto cond = getCondensedBeidouMessage(std::basic_string<uint8_t>((uint8_t*)nmm.bi().contents().c_str(), nmm.bi().contents().size()));
+      auto& bm = svstat.beidouMessage;
+      
+      int fraid=bm.parse(cond, &pageno);
+      svstat.tow = nmm.bi().gnsstow();
+      svstat.wn = nmm.bi().gnsswn();
+      if(fraid == 1) {
+        svstat.ura = bm.urai;
+        svstat.gpshealth = bm.sath1;
+        svstat.af0 = bm.a0;
+        svstat.af1 = bm.a1;
+        svstat.af2 = bm.a2;
+        svstat.aode = bm.aode;
+      }
+      if(fraid == 2) {
+        svstat.lastBeidouMessage2 = bm;
+        svstat.t0eMSB = bm.t0eMSB;
+      }
+      if(fraid == 3) {
+        svstat.t0eLSB = bm.t0eLSB;
+        Point oldpoint, newpoint;
+        if(bm.sow - svstat.lastBeidouMessage2.sow == 6 && svstat.oldBeidouMessage.sow >= 0 && svstat.oldBeidouMessage.getT0e() != svstat.beidouMessage.getT0e()) {
+          getCoordinates(svstat.wn, svstat.tow, svstat.oldBeidouMessage, &oldpoint);
+          getCoordinates(svstat.wn, svstat.tow, bm, &newpoint);
+          Vector jump(oldpoint ,newpoint);
+          cout<<fmt::sprintf("Discontinuity C%02d (%f,%f,%f) -> (%f, %f, %f), jump: %f, seconds: %f\n",
+                             id.second, oldpoint.x, oldpoint.y, oldpoint.z,
+                             newpoint.x, newpoint.y, newpoint.z, jump.length(), (double)bm.getT0e() - svstat.oldBeidouMessage.getT0e());
+          svstat.latestDisco = jump.length();
+        }
+        svstat.oldBeidouMessage = bm;
+      }
+      if(fraid==5 && pageno == 9) {
+        svstat.a0g = bm.a0gps;
+        svstat.a1g = bm.a1gps;        
+      }
+
+      if(fraid==5 && pageno == 10) {
+        svstat.a0 = bm.a0utc;
+        svstat.a1 = bm.a1utc;        
+      }
+      Point core, sat;
+
+      getCoordinates(svstat.wn, svstat.tow, bm, &sat);
+      Vector l(core, sat);      
+      cout<<"C"<<id.second<< " "<<bm.sow<<" "<<(bm.sow % 30 )<<" FraID "<<fraid<<" "<<fmt::format("({0}, {1}, {2})", sat.x, sat.y, sat.z) <<", r: "<<l.length()<<" elev: "<<getElevation(sat)<<endl;
+    }
     else {
       cout<<"Unknown type "<< (int)nmm.type()<<endl;
     }
diff --git a/ubxtool.cc b/ubxtool.cc
index 80b3be8..177153f 100644
--- a/ubxtool.cc
+++ b/ubxtool.cc
@@ -22,13 +22,16 @@
 #include <arpa/inet.h>
 #include "navmon.pb.h"
 #include "gps.hh"
+#include "glonass.hh"
+#include "beidou.hh"
+#include "CLI/CLI.hpp"
 struct timespec g_gstutc;
 uint16_t g_wn;
 using namespace std;
 
 uint16_t g_srcid{2};
 
-#define BAUDRATE B921600
+#define BAUDRATE B115200
 #define MODEMDEVICE "/dev/ttyACM0"
 
 namespace {
@@ -208,28 +211,48 @@ UBXMessage waitForUBX(int fd, int seconds, uint8_t ubxClass, uint8_t ubxType)
   for(int n=0; n < seconds*20; ++n) {
     auto [msg, tv] = getUBXMessage(fd);
     (void) tv;
-    //    cerr<<"Got: "<<(int)msg.getClass() << " " <<(int)msg.getType() <<endl;
+
     if(msg.getClass() == ubxClass && msg.getType() == ubxType) {
       return msg;
     }
+    else
+      cerr<<"Got: "<<(int)msg.getClass() << " " <<(int)msg.getType() <<" while waiting for "<<(int)ubxClass<<" " <<(int)ubxType<<endl;
   }
   throw std::runtime_error("Did not get response on time");
 }
 
-bool waitForUBXAckNack(int fd, int seconds)
+struct TimeoutError{};
+
+bool waitForUBXAckNack(int fd, int seconds, int ubxClass, int ubxType)
 {
-  for(int n=0; n < seconds*4; ++n) {
+  time_t start = time(0);
+  for(int n=0; n < 100; ++n) {
     auto [msg, tv] = getUBXMessage(fd);
     (void)tv;
-    //    cerr<<"Got: "<<(int)msg.getClass() << " " <<(int)msg.getType() <<endl;
-    if(msg.getClass() == 0x05 && msg.getType() == 0x01) {
+    if(time(0) - start > seconds) {
+      throw TimeoutError();
+    }
+
+    if(msg.getClass() != 5 || !(msg.getType() == 0 || msg.getType() == 1)) {
+      cerr<<"Got: "<<(int)msg.getClass() << " " <<(int)msg.getType() <<" while waiting for ack/nack of " << ubxClass<<" "<<ubxType<<endl;
+      continue;
+    }
+      
+    const auto& payload = msg.getPayload();
+    if(payload.size() != 2) {
+      cerr << "Wrong payload size for ack/nack: "<<payload.size()<<endl;
+      continue;
+    }
+    cerr<<"Got an " << (msg.getType() ? "ack" : "nack")<<" for "<<(int)payload[0] <<" " << (int)payload[1]<<" while waiting for "<<ubxClass<<" " <<ubxType<<endl;
+    
+    if(msg.getClass() == 0x05 && msg.getType() == 0x01 && payload[0]==ubxClass && payload[1]==ubxType) {
       return true;
     }
-    else if(msg.getClass() == 0x05 && msg.getType() == 0x00) {
+    else if(msg.getClass() == 0x05 && msg.getType() == 0x00 && payload[0]==ubxClass && payload[1]==ubxType) {
       return false;
     }
   }
-  throw std::runtime_error("Did not get ACK/NACK response on time");
+  throw std::runtime_error("Did not get ACK/NACK response for class "+to_string(ubxClass)+" type "+to_string(ubxType)+" on time");
 }
 
 void emitNMM(int fd, const NavMonMessage& nmm)
@@ -243,14 +266,23 @@ void emitNMM(int fd, const NavMonMessage& nmm)
   writen2(fd, out.c_str(), out.size());
 }
 
-void enableUBXMessageUSB(int fd, uint8_t ubxClass, uint8_t ubxType)
+void enableUBXMessageUSB(int fd, uint8_t ubxClass, uint8_t ubxType, uint8_t rate=1)
 {
-  auto msg = buildUbxMessage(0x06, 0x01, {ubxClass, ubxType, 0, 0, 0, 1, 0, 0});
-  writen2(fd, msg.c_str(), msg.size());
-  if(waitForUBXAckNack(fd, 2))
-    return;
-  else
-    throw std::runtime_error("Got NACK enabling UBX message "+to_string((int)ubxClass)+" "+to_string((int)ubxType));
+  for(int n=0 ; n < 5; ++n) {
+    try {
+      auto msg = buildUbxMessage(0x06, 0x01, {ubxClass, ubxType, 0, 0, 0, rate, 0, 0});
+      writen2(fd, msg.c_str(), msg.size());
+      if(waitForUBXAckNack(fd, 2, 0x06, 0x01))
+        return;
+      else
+        throw std::runtime_error("Got NACK enabling UBX message "+to_string((int)ubxClass)+" "+to_string((int)ubxType));
+    }
+    catch(TimeoutError& te) {
+      cerr<<"Had "<<n<<"th timeout in enableUBXMessageUSB"<<endl;
+      continue;
+    }
+  }
+  throw TimeoutError();
 }
 
 bool isCharDevice(string_view fname)
@@ -262,33 +294,34 @@ bool isCharDevice(string_view fname)
 }
 
 
-// ubxtool device srcid
-int main(int argc, char** argv)
+void readSome(int fd)
 {
-  GOOGLE_PROTOBUF_VERIFY_VERSION;
-
-  
-  if(argc != 3) {
-    cout<<"syntax: ubxtool /dev/ttyACM0 1\nDevice name, followed by your assigned source id"<<endl;
-    return EXIT_FAILURE;
+  for(int n=0; n < 5; ++n) {
+    auto [msg, timestamp] = getUBXMessage(fd);
+    (void)timestamp;
+    cerr<<"Read some init: "<<(int)msg.getClass() << " " <<(int)msg.getType() <<endl;
+    if(msg.getClass() == 0x4)
+      cerr<<string((char*)msg.getPayload().c_str(), msg.getPayload().size()) <<endl;
   }
-  struct termios oldtio,newtio;                                           
+}
+
+struct termios g_oldtio;
+
+int initFD(const char* fname)
+{
   int fd;
+  if(string(fname) != "stdin" && string(fname) != "/dev/stdin" && isCharDevice(fname)) {
+    fd = open(fname, O_RDWR | O_NOCTTY );
+    if (fd <0 ) {
+      throw runtime_error("Opening file "+string(fname));
+    }
+
+    struct termios newtio;
+    if(tcgetattr(fd, &g_oldtio)) { /* save current port settings */
+      perror("tcgetattr");
+      exit(-1);
+    }
 
-  if(string(argv[1]) != "stdin" && string(argv[1]) != "/dev/stdin" && isCharDevice(argv[1]))
-    fd = open(argv[1], O_RDWR | O_NOCTTY );
-  else {
-    g_fromFile = true;
-    
-    fd = open(argv[1], O_RDONLY );
-  }
-  if (fd <0) {perror(argv[1]); exit(-1); }                            
-  
-  g_srcid = atoi(argv[2]);
-  
-  if(!g_fromFile) {
-    tcgetattr(fd,&oldtio); /* save current port settings */                 
-    
     bzero(&newtio, sizeof(newtio));                                         
     newtio.c_cflag = BAUDRATE | CRTSCTS | CS8 | CLOCAL | CREAD;             
     newtio.c_iflag = IGNPAR;                                                
@@ -301,81 +334,162 @@ int main(int argc, char** argv)
     newtio.c_cc[VMIN]     = 5;   /* blocking read until 5 chars received */ 
     
     tcflush(fd, TCIFLUSH);                                                  
-    tcsetattr(fd,TCSANOW,&newtio);                                          
-
-    for(int n=0; n < 5; ++n) {
-      auto [msg, timestamp] = getUBXMessage(fd);
-      (void)timestamp;
-      cerr<<"Read some init: "<<(int)msg.getClass() << " " <<(int)msg.getType() <<endl;
-      //    if(msg.getClass() == 0x2)
-      //cerr<<string((char*)msg.getPayload().c_str(), msg.getPayload().size()) <<endl;
+    if(tcsetattr(fd,TCSANOW, &newtio)) {
+      perror("tcsetattr");
+      exit(-1);
     }
+  }
+  else {
+    g_fromFile = true;
     
-    std::basic_string<uint8_t> msg;
-    cerr<<"Asking for rate"<<endl;
-    msg = buildUbxMessage(0x06, 0x01, {0x02, 89}); // ask for rates of class 0x02 type 89, RLM
-    writen2(fd, msg.c_str(), msg.size());
-    
-    UBXMessage um=waitForUBX(fd, 2, 0x06, 0x01);
-    cerr<<"Message rate: "<<endl;
-    for(const auto& c : um.getPayload())
-      cerr<<(int)c<< " ";
-    cerr<<endl;
-    
-    msg = buildUbxMessage(0x06, 0x01, {0x02, 89, 0, 0, 0, 1, 0, 0});
-    writen2(fd, msg.c_str(), msg.size());
-    
-    if(waitForUBXAckNack(fd, 2))
-      cerr<<"Got ack on rate setting"<<endl;
-    else
-      cerr<<"Got nack on rate setting"<<endl;
-    
-    //                                  ver   RO   maxch cfgs
-    msg = buildUbxMessage(0x06, 0x3e, {0x00, 0x00, 0xff, 0x02,
-          //                            GPS   min  max   res   x1   x2    x3,   x4
-                                        0x00, 0x04, 0x08, 0,  0x01, 0x00, 0x01, 0x00,
-          //                            GAL   min  max   res   x1   x2    x3,   x4
-                                        0x00, 0x04, 0x08, 0,  0x01, 0x00, 0x01, 0x00
+    fd = open(fname, O_RDONLY );
+    if(fd < 0)
+      throw runtime_error("Opening file "+string(fname));
+  }
+  return fd;
 
-          });
-    writen2(fd, msg.c_str(), msg.size());
+}
+
+// ubxtool device srcid
+int main(int argc, char** argv)
+{
+  GOOGLE_PROTOBUF_VERIFY_VERSION;
+
+  CLI::App app("ubxtool");
     
-    if(waitForUBXAckNack(fd, 2))
-      cerr<<"Got ack on GNSS setting"<<endl;
-    else
-      cerr<<"Got nack on GNSS setting"<<endl;
-    
-    cerr<<"Disabling NMEA"<<endl;
-    msg = buildUbxMessage(0x06, 0x00, {0x03,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x03,0x00,0x01,0x00,0x00,0x00,0x00,0x00});
-    writen2(fd, msg.c_str(), msg.size());
-    if(waitForUBXAckNack(fd, 2))
-      cerr<<"NMEA disabled"<<endl;
-    else
-      cerr<<"Got NACK disabling NMEA"<<endl;
-    
-    msg = buildUbxMessage(0x06, 0x00, {0x03});
-    writen2(fd, msg.c_str(), msg.size());
-    
-    um=waitForUBX(fd, 2, 0x06, 0x00);
-    cerr<<"Protocol settings on USB: \n";
-    for(const auto& c : um.getPayload())
-      cerr<<(int)c<< " ";
-    cerr<<endl;
-    
-    cerr<<"Enabling UBX-RXM-RAWX"<<endl; // RF doppler
-    enableUBXMessageUSB(fd, 0x02, 0x15);
-    
-    cerr<<"Enabling UBX-RXM-SFRBX"<<endl; // raw navigation frames
-    enableUBXMessageUSB(fd, 0x02, 0x13);
-    
-    cerr<<"Enabling UBX-NAV-POSECEF"<<endl; // position
-    enableUBXMessageUSB(fd, 0x01, 0x01);
-    
-    cerr<<"Enabling UBX-NAV-SAT"<<endl;  // satellite reception details
-    enableUBXMessageUSB(fd, 0x01, 0x35);
-    
-    cerr<<"Enabling UBX-NAV-PVT"<<endl; // position, velocity, time fix
-    enableUBXMessageUSB(fd, 0x01, 0x07);
+  vector<std::string> serial;
+  bool doGPS{true}, doGalileo{true}, doGlonass{false}, doBeidou{true};
+  app.add_option("serial", serial, "Serial");
+  app.add_flag("--beidou,-c", doBeidou, "Enable BeiDou reception");
+  app.add_flag("--gps,-g", doGPS, "Enable GPS reception");
+  app.add_flag("--glonass,-r", doGlonass, "Enable Glonass reception");
+  app.add_flag("--galileo,-e", doGalileo, "Enable Galileo reception");
+
+  
+  try {
+    app.parse(argc, argv);
+  } catch(const CLI::Error &e) {
+    return app.exit(e);
+  }
+
+  
+  if(serial.size() != 2) {
+    cout<<app.help()<<endl;
+    return EXIT_FAILURE;
+  }
+
+  int fd = initFD(serial[0].c_str());
+  
+  g_srcid = atoi(serial[1].c_str());
+  
+  if(!g_fromFile) {
+    bool doInit = true;
+    if(doInit) {
+      readSome(fd);
+      
+      std::basic_string<uint8_t> msg;
+
+      cerr<<"Sending a soft reset"<<endl;
+      msg = buildUbxMessage(0x06, 0x04, {0x00, 0x00, 0x01, 0x00});
+      writen2(fd, msg.c_str(), msg.size());
+      usleep(100000);
+      close(fd);
+      for(int n=0 ; n< 20; ++n) {
+        cerr<<"Waiting for device to come back"<<endl;
+        try {
+          fd = initFD(serial[0].c_str());
+          readSome(fd);          
+        }
+        catch(...)
+          {
+            cerr<<"Not yet back"<<endl;
+            usleep(400000);
+            continue;
+          }
+        break;
+      }
+      
+      cerr<<"Sending GNSS query"<<endl;
+      msg = buildUbxMessage(0x06, 0x3e, {});
+      writen2(fd, msg.c_str(), msg.size());
+      UBXMessage um1=waitForUBX(fd, 2, 0x06, 0x3e);
+      auto payload = um1.getPayload();
+      cerr<<"GNSS status, got " << (int)payload[3]<<" rows:\n";
+      for(uint8_t n = 0 ; n < payload[3]; ++n) {
+        cerr<<"GNSSID "<<(int)payload[4+8*n]<<" enabled "<<(int)payload[8+8*n]<<" minTrk "<< (int)payload[5+8*n] <<" maxTrk "<<(int)payload[6+8*n]<<endl;
+      }
+
+      if(waitForUBXAckNack(fd, 2, 0x06, 0x3e)) {
+        cerr<<"Got ACK for our poll of GNSS settings"<<endl;
+      }
+      
+      //                                  ver   RO   maxch cfgs
+      msg = buildUbxMessage(0x06, 0x3e, {0x00, 0x00, 0xff, 0x04,
+          //                            GPS   min  max   res   x1         x2    x3,   x4
+                                        0x00, 0x04, 0x08, 0,  doGPS,    0x00, 0x01, 0x00,
+          //                            BEI   min  max   res   x1   x2    x3,   x4
+                                        0x03, 0x04, 0x08, 0,  doBeidou, 0x00, 0x01, 0x00,
+            
+          //                            GAL   min  max   res   x1   x2    x3,   x4
+                                        0x02, 0x04, 0x08, 0,  doGalileo, 0x00, 0x01, 0x00,
+          //                            GLO   min  max   res   x1   x2    x3,   x4
+                                        0x06, 0x04, 0x08, 0,  doGlonass, 0x00, 0x01, 0x00
+
+            });
+      
+      cerr<<"Sending GNSS setting, GPS: "<<doGPS<<", Galileo: "<<doGalileo<<", BeiDou: "<<doBeidou<<", GLONASS: "<<doGlonass<<endl;
+      writen2(fd, msg.c_str(), msg.size());
+      
+      if(waitForUBXAckNack(fd, 2, 0x06, 0x3e))
+        cerr<<"Got ack on GNSS setting"<<endl;
+      else {
+        cerr<<"Got nack on GNSS setting"<<endl;
+        exit(-1);
+      }
+      
+      
+      cerr<<"Disabling NMEA"<<endl;
+      msg = buildUbxMessage(0x06, 0x00, {0x03,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x03,0x00,0x01,0x00,0x00,0x00,0x00,0x00});
+      writen2(fd, msg.c_str(), msg.size());
+      if(waitForUBXAckNack(fd, 10, 0x06, 0x00))
+        cerr<<"NMEA disabled"<<endl;
+      else
+        cerr<<"Got NACK disabling NMEA"<<endl;
+      
+      cerr<<"Polling USB settings"<<endl; // UBX-CFG-PRT, 0x03 == USB
+      msg = buildUbxMessage(0x06, 0x00, {0x03});
+      writen2(fd, msg.c_str(), msg.size());
+      
+      UBXMessage um=waitForUBX(fd, 4, 0x06, 0x00); // UBX-CFG-PRT
+      cerr<<"Protocol settings on USB: \n";
+      for(const auto& c : um.getPayload())
+        cerr<<(int)c<< " ";
+      cerr<<endl;
+      
+      if(waitForUBXAckNack(fd, 10, 0x06, 0x00))
+        cerr<<"Got ACK on USB port config"<<endl;
+      else
+        cerr<<"Got NACK on USB port config"<<endl;
+      
+      
+      cerr<<"Enabling UBX-RXM-RLM"<<endl; // SAR
+      enableUBXMessageUSB(fd, 0x02, 0x59);
+      
+      cerr<<"Enabling UBX-RXM-RAWX"<<endl; // RF doppler
+      enableUBXMessageUSB(fd, 0x02, 0x15);
+      
+      cerr<<"Enabling UBX-RXM-SFRBX"<<endl; // raw navigation frames
+      enableUBXMessageUSB(fd, 0x02, 0x13);
+      
+      cerr<<"Enabling UBX-NAV-POSECEF"<<endl; // position
+      enableUBXMessageUSB(fd, 0x01, 0x01, 8);
+      
+      cerr<<"Enabling UBX-NAV-SAT"<<endl;  // satellite reception details
+      enableUBXMessageUSB(fd, 0x01, 0x35, 4);
+      
+      cerr<<"Enabling UBX-NAV-PVT"<<endl; // position, velocity, time fix
+      enableUBXMessageUSB(fd, 0x01, 0x07, 1);
+    }
   }
   
   /* goal: isolate UBX messages, ignore everyting else.
@@ -392,7 +506,7 @@ int main(int argc, char** argv)
 
   std::map<pair<int,int>, struct timeval> lasttv, tv;
   int curCycleTOW{-1}; // means invalid
-  
+  cerr<<"Entering main loop"<<endl;
   for(;;) {
     try {
       auto [msg, timestamp] = getUBXMessage(fd);
@@ -427,7 +541,7 @@ int main(int argc, char** argv)
         tm.tm_sec = pvt.sec;
 
         uint32_t satt = timegm(&tm);
-        double satutc = timegm(&tm) + pvt.nano/1000000000.0; // negative is no problem here
+        //        double satutc = timegm(&tm) + pvt.nano/1000000000.0; // negative is no problem here
         if(pvt.nano < 0) {
           pvt.sec--;
           satt--;
@@ -438,17 +552,17 @@ int main(int argc, char** argv)
         g_gstutc.tv_nsec = pvt.nano;
 
         
-        double seconds= pvt.sec + pvt.nano/1000000000.0;
+        //        double seconds= pvt.sec + pvt.nano/1000000000.0;
         //        fmt::fprintf(stderr, "Satellite UTC: %02d:%02d:%06.4f -> %.4f or %d:%f\n", tm.tm_hour, tm.tm_min, seconds, satutc, timegm(&tm), pvt.nano/1000.0);
 
         if(!g_fromFile) {
-          struct tm ourtime;
-          time_t ourt = timestamp.tv_sec;
-          gmtime_r(&ourt, &ourtime);
+          //          struct tm ourtime;
+          //          time_t ourt = timestamp.tv_sec;
+          //          gmtime_r(&ourt, &ourtime);
+          //          
+          //double ourutc = ourt + timestamp.tv_usec/1000000.0;
           
-          double ourutc = ourt + timestamp.tv_usec/1000000.0;
-          
-          seconds = ourtime.tm_sec + timestamp.tv_usec/1000000.0;
+          //          seconds = ourtime.tm_sec + timestamp.tv_usec/1000000.0;
           //          fmt::fprintf(stderr, "Our UTC      : %02d:%02d:%06.4f -> %.4f or %d:%f -> delta = %.4fs\n", tm.tm_hour, tm.tm_min, seconds, ourutc, timestamp.tv_sec, 1.0*timestamp.tv_usec, ourutc - satutc);
         }
       }
@@ -473,7 +587,7 @@ int main(int argc, char** argv)
           uint8_t prStddev = payload[43+23*n] & 0xf;
           uint8_t cpStddev = payload[44+23*n] & 0xf;
           uint8_t doStddev = payload[45+23*n] & 0xf;
-          uint8_t trkStat = payload[46+23*n] & 0xf;
+          //          uint8_t trkStat = payload[46+23*n] & 0xf;
 
           NavMonMessage nmm;
           nmm.set_type(NavMonMessage::RFDataType);
@@ -540,7 +654,7 @@ int main(int argc, char** argv)
             nmm.set_sourceid(g_srcid);         
             //            cerr<<"GPS frame, numwords: "<<(int)payload[4]<<", version: "<<(int)payload[6]<<endl;
             static int wn, tow;
-            auto gpsframe = getGPSFromSFRBXMsg(id.second, payload);
+            auto gpsframe = getGPSFromSFRBXMsg(payload);
             auto cond = getCondensedGPSMessage(gpsframe);
             auto frameno = getbitu(&cond[0], 24+19, 3);
             if(frameno == 1)
@@ -557,66 +671,112 @@ int main(int argc, char** argv)
             emitNMM(1, nmm);
             continue;
           }
-          auto inav = getInavFromSFRBXMsg(payload);
-          unsigned int wtype = getbitu(&inav[0], 0, 6);
-          tv[id] = timestamp;
-
-          //          cerr<<"gnssid "<<id.first<<" sv "<<id.second<<" " << wtype << endl;
-          uint32_t satTOW;
-          int msgTOW{0};
-          if(getTOWFromInav(inav, &satTOW, &g_wn)) { // 0, 6, 5
-            //            cerr<<"   "<<wtype<<" sv "<<id.second<<" tow "<<satTOW << " % 30 = "<< satTOW % 30<<", implied start of cycle: "<<(satTOW - (satTOW %30)) <<endl;
-            msgTOW = satTOW;
-            curCycleTOW = satTOW - (satTOW %30);
+          else if(id.first ==2) {
+            auto inav = getInavFromSFRBXMsg(payload);
+            unsigned int wtype = getbitu(&inav[0], 0, 6);
+            tv[id] = timestamp;
+            
+            //          cerr<<"gnssid "<<id.first<<" sv "<<id.second<<" " << wtype << endl;
+            uint32_t satTOW;
+            int msgTOW{0};
+            if(getTOWFromInav(inav, &satTOW, &g_wn)) { // 0, 6, 5
+              //            cerr<<"   "<<wtype<<" sv "<<id.second<<" tow "<<satTOW << " % 30 = "<< satTOW % 30<<", implied start of cycle: "<<(satTOW - (satTOW %30)) <<endl;
+              msgTOW = satTOW;
+              curCycleTOW = satTOW - (satTOW %30);
+            }
+            else {
+              if(curCycleTOW < 0) // did not yet have a start of cycle
+                continue;
+              //            cerr<<"   "<<wtype<<" sv "<<id.second<<" tow ";
+              if(wtype == 2) {
+                //              cerr<<"infered to be 1 "<<curCycleTOW + 31<<endl;
+                msgTOW = curCycleTOW + 31;
+              }
+              else if(wtype == 4) {
+                //              cerr<<"infered to be 3 "<<curCycleTOW + 33<<endl;
+                msgTOW = curCycleTOW + 33;
+              } // next have '6' which sets TOW
+              else if(wtype==7 || wtype == 9) {
+                msgTOW = curCycleTOW + 7;
+              }
+              else if(wtype==8 || wtype == 10) {
+                msgTOW = curCycleTOW + 9;
+              }
+              else if(wtype==1) {
+                msgTOW = curCycleTOW + 21;
+              }
+              else if(wtype==3) {
+                msgTOW = curCycleTOW + 23; 
+              }
+              else { // dummy
+                cerr<<"what kind of wtype is this"<<endl;
+                continue;
+              }
+            }
+            NavMonMessage nmm;
+            nmm.set_sourceid(g_srcid);
+            nmm.set_type(NavMonMessage::GalileoInavType);
+            nmm.set_localutcseconds(g_gstutc.tv_sec);
+            nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
+            
+            nmm.mutable_gi()->set_gnsswn(g_wn);
+            nmm.mutable_gi()->set_gnsstow(msgTOW);
+            nmm.mutable_gi()->set_gnssid(id.first);
+            nmm.mutable_gi()->set_gnsssv(id.second);
+            nmm.mutable_gi()->set_contents((const char*)&inav[0], inav.size());
+            
+            emitNMM(1, nmm);
           }
-          else {
-            if(curCycleTOW < 0) // did not yet have a start of cycle
-              continue;
-            //            cerr<<"   "<<wtype<<" sv "<<id.second<<" tow ";
-            if(wtype == 2) {
-              //              cerr<<"infered to be 1 "<<curCycleTOW + 31<<endl;
-              msgTOW = curCycleTOW + 31;
-            }
-            else if(wtype == 4) {
-              //              cerr<<"infered to be 3 "<<curCycleTOW + 33<<endl;
-              msgTOW = curCycleTOW + 33;
-            } // next have '6' which sets TOW
-            else if(wtype==7 || wtype == 9) {
-              msgTOW = curCycleTOW + 7;
-            }
-            else if(wtype==8 || wtype == 10) {
-              msgTOW = curCycleTOW + 9;
-            }
-            else if(wtype==1) {
-              msgTOW = curCycleTOW + 21;
-            }
-            else if(wtype==3) {
-              msgTOW = curCycleTOW + 23; 
-            }
-            else { // dummy
-              cerr<<"what kind of wtype is this"<<endl;
+          else if(id.first==3) {
+            auto gstr = getGlonassFromSFRBXMsg(payload);
+            auto cond = getCondensedBeidouMessage(gstr);
+            static map<int, BeidouMessage> bms;
+            auto& bm = bms[id.second];
+            
+            uint8_t pageno;
+            int fraid=bm.parse(cond, &pageno);
+            cerr<<"BeiDou C"<<id.second<<" FraID "<< fraid<<" SOW "<< bm.sow<<" ";
+            if(fraid == 1)
+              cerr<<" sath1 "<<(int)bm.sath1<<" aodc "<<(int)bm.aodc <<" urai "<<(int)bm.urai<<" WN "<<bm.wn;
+            else
+              ;
+            cerr<<endl;
+            if(bm.wn < 0) {
+              cerr<<"BeiDou WN unknown, not yet emitting message"<<endl;
               continue;
             }
+            NavMonMessage nmm;
+            nmm.set_type(NavMonMessage::BeidouInavType);
+            nmm.set_localutcseconds(g_gstutc.tv_sec);
+            nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
+            nmm.set_sourceid(g_srcid);         
+            nmm.mutable_bi()->set_gnsswn(bm.wn);  
+            nmm.mutable_bi()->set_gnsstow(bm.sow); 
+            nmm.mutable_bi()->set_gnssid(id.first);
+            nmm.mutable_bi()->set_gnsssv(id.second);
+            nmm.mutable_bi()->set_contents(string((char*)gstr.c_str(), gstr.size()));
+            emitNMM(1, nmm);
+            continue;
           }
-          NavMonMessage nmm;
-          nmm.set_sourceid(g_srcid);
-          nmm.set_type(NavMonMessage::GalileoInavType);
-          nmm.set_localutcseconds(g_gstutc.tv_sec);
-          nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
-        
-          nmm.mutable_gi()->set_gnsswn(g_wn);
-          nmm.mutable_gi()->set_gnsstow(msgTOW);
-          nmm.mutable_gi()->set_gnssid(id.first);
-          nmm.mutable_gi()->set_gnsssv(id.second);
-          nmm.mutable_gi()->set_contents((const char*)&inav[0], inav.size());
-        
-          emitNMM(1, nmm);
-        
+          else if(id.first==6) {
+            cerr<<"SFRBX from GLONASS "<<id.second<<" @ frequency "<<(int)payload[3]<<", msg of "<<(int)payload[4]<< " words"<<endl;
+            auto gstr = getGlonassFromSFRBXMsg(payload);
+            static map<int, GlonassMessage> gms;
+            GlonassMessage& gm = gms[id.second];
+            int strno = gm.parse(gstr);
+            cerr<<"R"<<id.second<<" "<<strno<<" ("<<gm.x<<", "<<gm.y<<", "<<gm.z<<") "<<sqrt(ldexp(gm.x, -11)*ldexp(gm.x, -11) + ldexp(gm.y, -11)*ldexp(gm.y, -11) +  ldexp(gm.z, -11)*ldexp(gm.z, -11)) <<" -> ("<<gm.dx<<", "<<gm.dy<<", "<<gm.dz<<")"<<endl;
+            if(strno == 4)
+              cerr<<"  R"<<id.second<<" "<< fmt::sprintf("%d %02d:%02d:%02d", gm.NT, (int)gm.hour,(int)gm.minute, (int)gm.seconds)<<" : P4="<<gm.P4<<" -> " << (int)gm.Tb<<", P1: "<<(int)gm.P1<<endl;
+          }
+          else
+            cerr<<"SFRBX from unsupported GNSSID "<<id.first<<", sv "<<id.second<<", "<<payload.size()<<" bytes"<<endl;
         
+#if 0        
           if(0 && lasttv.count(id)) {
             fmt::fprintf(stderr, "gnssid %d sv %d wtype %d, %d:%d -> %d:%d, delta=%d\n", 
                          payload[0], payload[1], wtype, lasttv[id].tv_sec, lasttv[id].tv_usec, tv[id].tv_sec, tv[id].tv_usec, tv[id].tv_usec - lasttv[id].tv_usec);
           }
+#endif
           lasttv[id]=tv[id];          
         }
         catch(CRCMismatch& cm) {
@@ -656,6 +816,6 @@ int main(int argc, char** argv)
     }
   }
   if(!g_fromFile)
-    tcsetattr(fd,TCSANOW,&oldtio);                                          
+    tcsetattr(fd, TCSANOW, &g_oldtio);                                          
 }