Merge branch 'pyro' into eel

32 files changed, 1598 insertions, 0 deletions

diff --git a/meta-rcar-gen3-adas/recipes-support/ctemplate/ctemplate.inc b/meta-rcar-gen3-adas/recipes-support/ctemplate/ctemplate.inc
new file mode 100644
index 0000000..3caba6b
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/ctemplate/ctemplate.inc
@@ -0,0 +1,12 @@
+SUMMARY = "CTemplate is a simple but powerful template language for C++. It emphasizes separating logic from presentation: it is impossible to embed application logic in this template language."
+HOMEPAGE = "https://code.google.com/p/ctemplate/"
+LICENSE = "GOOGLE-NEW-BSD"
+SECTION = "libs"
+
+inherit autotools pkgconfig
+
+LIC_FILES_CHKSUM = "file://COPYING;md5=762732742c73dc6c7fbe8632f06c059a"
+
+BBCLASSEXTEND = "native nativesdk"
+
+
diff --git a/meta-rcar-gen3-adas/recipes-support/ctemplate/ctemplate_2.3.bb b/meta-rcar-gen3-adas/recipes-support/ctemplate/ctemplate_2.3.bb
new file mode 100644
index 0000000..8383c12
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/ctemplate/ctemplate_2.3.bb
@@ -0,0 +1,9 @@
+require ctemplate.inc
+
+SRC_URI = "svn://ctemplate.googlecode.com/svn/;module=tags/ctemplate-2.3;protocol=http"
+SRC_URI[md5sum] = ""
+SRC_URI[sha256sum] = ""
+SRCREV = "r141"
+S = "${WORKDIR}/tags/ctemplate-2.3"
+B = "${WORKDIR}/tags/ctemplate-2.3"
+
diff --git a/meta-rcar-gen3-adas/recipes-support/ctemplate/ctemplate_svn.bb b/meta-rcar-gen3-adas/recipes-support/ctemplate/ctemplate_svn.bb
new file mode 100644
index 0000000..c51ed40
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/ctemplate/ctemplate_svn.bb
@@ -0,0 +1,11 @@
+require ctemplate.inc
+
+SRC_URI = "svn://ctemplate.googlecode.com/svn/;module=trunk;protocol=http"
+SRC_URI[md5sum] = ""
+SRC_URI[sha256sum] = ""
+SRCREV = "${AUTOREV}"
+S = "${WORKDIR}/trunk"
+
+PV = "2.3+svnr${SRCREV}"
+
+DEFAULT_PREFERENCE = "-1"
diff --git a/meta-rcar-gen3-adas/recipes-support/gflags/gflags_git.bb b/meta-rcar-gen3-adas/recipes-support/gflags/gflags_git.bb
new file mode 100644
index 0000000..79b5116
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/gflags/gflags_git.bb
@@ -0,0 +1,20 @@
+SUMMARY = "GFlags library"
+DESCRIPTION = "The gflags package contains a C++ library that implements commandline flags processing"
+
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://${S}/COPYING.txt;md5=c80d1a3b623f72bb85a4c75b556551df"
+
+SRC_URI = "git://github.com/gflags/gflags.git"
+SRCREV = "14c0e93755d5a32c3d2029d83094564b8823b7b4"
+
+S = "${WORKDIR}/git"
+
+inherit cmake
+
+RDEPENDS_${PN} += "bash"
+
+EXTRA_OECMAKE = "-DBUILD_SHARED_LIBS=ON -DINSTALL_HEADERS=ON -DINSTALL_SHARED_LIBS=ON"
+
+FILES_${PN}-dev += " \
+    ${libdir}/cmake \
+"
diff --git a/meta-rcar-gen3-adas/recipes-support/glm/glm.inc b/meta-rcar-gen3-adas/recipes-support/glm/glm.inc
new file mode 100644
index 0000000..a550a73
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/glm/glm.inc
@@ -0,0 +1,16 @@
+SUMMARY = "OpenGL Mathematics"
+HOMEPAGE = "http://glm.g-truc.net"
+DESCRIPTION = "OpenGL Mathematics (GLM) is a header only C++ mathematics library for graphics software based on the OpenGL Shading Language (GLSL) specifications."
+LICENSE = "MIT"
+SECTION = "multimedia"
+
+inherit pkgconfig cmake
+
+LIC_FILES_CHKSUM = " \
+	file://copying.txt;md5=6ba02d5f908587c6f3942e76bf6d92d6 \
+"
+
+ALLOW_EMPTY_${PN} = "1"
+
+FILES_${PN}-dev += "/usr/lib/cmake/"
+
diff --git a/meta-rcar-gen3-adas/recipes-support/glm/glm/0001-Fix-cmake-pathes.patch b/meta-rcar-gen3-adas/recipes-support/glm/glm/0001-Fix-cmake-pathes.patch
new file mode 100644
index 0000000..5ca3daa
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/glm/glm/0001-Fix-cmake-pathes.patch
@@ -0,0 +1,25 @@
+From 4a3e9a475a6688abc81f336a5089e99b15cb5b14 Mon Sep 17 00:00:00 2001
+From: Petr Nechaev <petr.nechaev@cogentembedded.com>
+Date: Fri, 28 Aug 2015 16:16:09 +0300
+Subject: [PATCH] Fix cmake pathes
+
+---
+ CMakeLists.txt | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 860a6ee..174f35d 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -164,7 +164,7 @@ configure_file(
+ # install tree package config
+ configure_package_config_file(
+     cmake/glmConfig.cmake.in
+-    ${GLM_INSTALL_CONFIGDIR}/glmConfig.cmake
++    ${CMAKE_CURRENT_BINARY_DIR}/${GLM_INSTALL_CONFIGDIR}/glmConfig.cmake
+     INSTALL_DESTINATION ${GLM_INSTALL_CONFIGDIR}
+     PATH_VARS CMAKE_INSTALL_INCLUDEDIR
+     NO_CHECK_REQUIRED_COMPONENTS_MACRO
+-- 
+1.9.3
+
diff --git a/meta-rcar-gen3-adas/recipes-support/glm/glm_0.9.7.0.bb b/meta-rcar-gen3-adas/recipes-support/glm/glm_0.9.7.0.bb
new file mode 100644
index 0000000..0ba9214
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/glm/glm_0.9.7.0.bb
@@ -0,0 +1,10 @@
+require glm.inc
+
+SRC_URI = "\
+	https://github.com/g-truc/${BPN}/archive/${PV}.tar.gz \
+	file://0001-Fix-cmake-pathes.patch \
+"
+
+SRC_URI[md5sum] = "33025d322f08e7783f6513272ef60aff"
+SRC_URI[sha256sum] = "71f95cb20602dff9e799e7f4854d4173474382dbd9d0efc6f77bde6d289351fa"
+
diff --git a/meta-rcar-gen3-adas/recipes-support/glm/glm_git.bb b/meta-rcar-gen3-adas/recipes-support/glm/glm_git.bb
new file mode 100644
index 0000000..68f0d3e
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/glm/glm_git.bb
@@ -0,0 +1,13 @@
+require glm.inc
+
+SRC_URI = "\
+	git://github.com/g-truc/glm.git \
+	file://0001-Fix-cmake-pathes.patch \
+"
+
+SRCREV = "ebdd48fa6f4a3f1436badeb43580a7910551740e"
+S = "${WORKDIR}/git"
+
+PV = "0.999+git${SRCREV}"
+
+DEFAULT_PREFERENCE = "-1"
diff --git a/meta-rcar-gen3-adas/recipes-support/libiio/libiio.inc b/meta-rcar-gen3-adas/recipes-support/libiio/libiio.inc
new file mode 100644
index 0000000..81662a5
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/libiio/libiio.inc
@@ -0,0 +1,11 @@
+DESCRIPTION = "Library for interfacing with IIO devices"
+HOMEPAGE = "http://wiki.analog.com/resources/tools-software/linux-software/libiio"
+SECTION = "System/Libraries"
+LICENSE = "LGPL-2.1"
+
+LIC_FILES_CHKSUM ??= "file://COPYING.txt;md5=7c13b3376cea0ce68d2d2da0a1b3a72c"
+
+inherit cmake pkgconfig
+
+DEPENDS = "libxml2 bison-native flex-native systemd"
+
diff --git a/meta-rcar-gen3-adas/recipes-support/libiio/libiio_0.5.bb b/meta-rcar-gen3-adas/recipes-support/libiio/libiio_0.5.bb
new file mode 100644
index 0000000..664dc96
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/libiio/libiio_0.5.bb
@@ -0,0 +1,9 @@
+require ${BPN}.inc
+
+SRC_URI = "https://github.com/analogdevicesinc/${BPN}/archive/v${PV}.tar.gz"
+SRC_URI[md5sum] = "4496c24dabdce60bdcf231ebe19bb501"
+SRC_URI[sha256sum] = "c41cdcfeae8717e72f1100b4dac9d7cc9d86f4e0731da3354149cb7e051666f3"
+
+LIC_FILES_CHKSUM ??= "file://COPYING;md5=7c13b3376cea0ce68d2d2da0a1b3a72c"
+
+S = "${WORKDIR}/${BPN}-${PV}"
diff --git a/meta-rcar-gen3-adas/recipes-support/libiio/libiio_git.bb b/meta-rcar-gen3-adas/recipes-support/libiio/libiio_git.bb
new file mode 100644
index 0000000..0c02133
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/libiio/libiio_git.bb
@@ -0,0 +1,8 @@
+require ${BPN}.inc
+
+SRC_URI = "git://github.com/analogdevicesinc/${BPN}.git"
+S = "${WORKDIR}/git"
+SRCREV = "7ce5cd5b508389077aedaaa4d5f1c0b08b78ded5"
+
+DEFAULT_PREFERENCE = "1"
+
diff --git a/meta-rcar-gen3-adas/recipes-support/libusbg/libusbg.inc b/meta-rcar-gen3-adas/recipes-support/libusbg/libusbg.inc
new file mode 100644
index 0000000..eb62395
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/libusbg/libusbg.inc
@@ -0,0 +1,10 @@
+SUMMARY = "USB Gadget Configfs Library"
+
+LICENSE = "GPLv2 & LGPLv2.1"
+LIC_FILES_CHKSUM = "file://COPYING;md5=b234ee4d69f5fce4486a80fdaf4a4263 \
+                    file://COPYING.LGPL;md5=4fbd65380cdd255951079008b364516c"
+
+DEPENDS += " libconfig "
+
+inherit autotools pkgconfig
+
diff --git a/meta-rcar-gen3-adas/recipes-support/libusbg/libusbg_0.1.0.bb b/meta-rcar-gen3-adas/recipes-support/libusbg/libusbg_0.1.0.bb
new file mode 100644
index 0000000..b63bcd4
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/libusbg/libusbg_0.1.0.bb
@@ -0,0 +1,9 @@
+require libusbg.inc
+
+SRC_URI = "https://github.com/libusbg/libusbg/archive/v${PV}.tar.gz"
+
+SRC_URI[md5sum] = "2d3af961f7007a35ed3816de6b712ac1"
+SRC_URI[sha256sum] = "82fa5c71741a70477148ed455c307611075a4f9af6886ab3e7a4471377dfd2c7"
+
+S = "${WORKDIR}/libusbg-${PV}"
+
diff --git a/meta-rcar-gen3-adas/recipes-support/libusbg/libusbg_git.bb b/meta-rcar-gen3-adas/recipes-support/libusbg/libusbg_git.bb
new file mode 100644
index 0000000..4f873da
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/libusbg/libusbg_git.bb
@@ -0,0 +1,9 @@
+require libusbg.inc
+
+PV = "0.1.0b"
+SRCREV = "f1613aab97513188478087e001defbfca6847eca"
+SRC_URI = "git://github.com/kopasiak/libusbg.git"
+
+S = "${WORKDIR}/git"
+
+DEFAULT_PREFERENCE = "1"
diff --git a/meta-rcar-gen3-adas/recipes-support/netevent/netevent/0001-fix-endian-for-cross-arch.patch b/meta-rcar-gen3-adas/recipes-support/netevent/netevent/0001-fix-endian-for-cross-arch.patch
new file mode 100644
index 0000000..e984447
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/netevent/netevent/0001-fix-endian-for-cross-arch.patch
@@ -0,0 +1,113 @@
+From d9e02e86cacb6771381c4cde45f6badd71ec01cf Mon Sep 17 00:00:00 2001
+From: Andrey Gusakov <andrey.gusakov@cogentembedded.com>
+Date: Tue, 13 Sep 2016 15:51:33 +0300
+Subject: [PATCH 1/2] fix endian for cross-arch
+
+
+Signed-off-by: Andrey Gusakov <andrey.gusakov@cogentembedded.com>
+---
+ reader.cpp |   21 +++++++++++++++------
+ write.cpp  |   21 ++++++++++++++++-----
+ 2 files changed, 31 insertions(+), 11 deletions(-)
+
+diff --git a/reader.cpp b/reader.cpp
+index ab047bd..651967a 100644
+--- a/reader.cpp
++++ b/reader.cpp
+@@ -3,9 +3,18 @@
+ #include <signal.h>
+ #include <sys/wait.h>
+ #include <sys/types.h>
++#include <arpa/inet.h>
+ #include <stdint.h>
+ #include <unistd.h>
+ 
++int64_t htonll(int64_t value){
++    int num = 42;
++    if(*(char *)&num == 42) //test big/little endian
++        return (((int64_t)htonl(value)) << 32) + htonl(value >> 32);
++    else
++        return value;
++}
++
+ static bool running = true;
+ bool on = true;
+ static int fd = 0;
+@@ -159,7 +168,7 @@ int read_device(const char *devfile)
+ 
+ 	// First thing to write is the size of the structures as a 16 bit uint!
+ 	uint16_t strsz;
+-	strsz = sizeof(dev);
++	strsz = htons(sizeof(dev));
+ 	if (!cout.write((const char*)&strsz, sizeof(strsz)))
+ 		exit(1);
+ 	if (cout.eof())
+@@ -272,11 +281,11 @@ int read_device(const char *devfile)
+ 		}
+ 		else if (on) {
+ 			input_event_t et;
+-			et.tv_sec = ev.time.tv_sec;
+-			et.tv_usec = ev.time.tv_usec;
+-			et.type = ev.type;
+-			et.code = ev.code;
+-			et.value = ev.value;
++			et.tv_sec = htonll(ev.time.tv_sec);
++			et.tv_usec = htonl(ev.time.tv_usec);
++			et.type = htons(ev.type);
++			et.code = htons(ev.code);
++			et.value = htonl(ev.value);
+ 			if (!cout.write((const char*)&et, sizeof(et)))
+ 				exit(1);
+ 			if (cout.eof())
+diff --git a/write.cpp b/write.cpp
+index 7d58bf6..91c956c 100644
+--- a/write.cpp
++++ b/write.cpp
+@@ -1,9 +1,18 @@
+ #include "main.h"
+ #include <sys/wait.h>
+ #include <sys/types.h>
++#include <arpa/inet.h>
+ #include <stdint.h>
+ #include <unistd.h>
+ 
++int64_t ntohll(int64_t value){
++    int num = 42;
++    if(*(char *)&num == 42) //test big/little endian
++        return value;
++    else
++        return (((int64_t)ntohl(value)) << 32) + ntohl(value >> 32);
++}
++
+ static const char *uinput_file[] = {
+ 	"/dev/uinput",
+ 	"/dev/input/uinput",
+@@ -35,6 +44,7 @@ int spawn_device()
+ 	struct input_event ev;
+ 
+ 	cin.read((char*)&strsz, sizeof(strsz));
++	strsz = ntohs(strsz);
+ 	if (strsz != sizeof(uinput_user_dev)) {
+ 		cerr << "Device information field sizes do not match. Sorry." << endl;
+ 		return 1;
+@@ -126,11 +136,12 @@ int spawn_device()
+ 			cerr << "End of data" << endl;
+ 			break;
+ 		}
+-	ev.time.tv_sec = et.tv_sec;
+-	ev.time.tv_usec = et.tv_usec;
+-	ev.type = et.type;
+-	ev.code = et.code;
+-	ev.value = et.value;
++		ev.time.tv_sec = ntohll(et.tv_sec);
++		ev.time.tv_usec = ntohl(et.tv_usec);
++		ev.type = ntohs(et.type);
++		ev.code = ntohs(et.code);
++		ev.value = ntohl(et.value);
++		//cErr << "EV " << ev.time.tv_sec << "." << ev.time.tv_usec << ": type " << ev.type << ", code " << ev.code << ", value " << ev.value << endl;
+ 		if (hotkey_hook(ev.type, ev.code, ev.value))
+ 			continue;
+ 		if (write(fd, &ev, sizeof(ev)) < (ssize_t)sizeof(ev)) {
+-- 
+1.7.10.4
+
diff --git a/meta-rcar-gen3-adas/recipes-support/netevent/netevent/0002-fix-cross-compile.patch b/meta-rcar-gen3-adas/recipes-support/netevent/netevent/0002-fix-cross-compile.patch
new file mode 100644
index 0000000..cca70ba
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/netevent/netevent/0002-fix-cross-compile.patch
@@ -0,0 +1,70 @@
+From 7b30e567552535d9546e34d4fc38337095347224 Mon Sep 17 00:00:00 2001
+From: Andrey Gusakov <andrey.gusakov@cogentembedded.com>
+Date: Tue, 13 Sep 2016 15:51:55 +0300
+Subject: [PATCH 2/2] fix cross-compile
+
+
+Signed-off-by: Andrey Gusakov <andrey.gusakov@cogentembedded.com>
+---
+ Makefile   |   19 ++++++++++---------
+ reader.cpp |    1 +
+ 2 files changed, 11 insertions(+), 9 deletions(-)
+
+diff --git a/Makefile b/Makefile
+index 02d25c7..9bbe82e 100644
+--- a/Makefile
++++ b/Makefile
+@@ -1,14 +1,15 @@
+-prefix = /usr/local
+-bindir = $(prefix)/bin
+-CXX = g++
+-CC = gcc
+-CFLAGS = -Wall -pthread
+-LDFLAGS = -g -pthread
++PREFIX ?= /usr
++SBINDIR ?= $(PREFIX)/bin
++CXX ?= g++
++CC ?= gcc
++CFLAGS += -Wall -pthread
++LDFLAGS += -g
++LIBS = -lpthread
+ 
+ SOURCES = main.cpp reader.cpp write.cpp showev.cpp
+ 
+ ifneq ($(inotify),no)
+-	CFLAGS += -DWITH_INOTIFY
++	GCC_FLAGS += -DWITH_INOTIFY
+ endif
+ 
+ all: build netevent devname
+@@ -23,13 +24,13 @@ build/%.o: %.c
+ 	$(CC) $(CFLAGS) -c -o $@ $*.c -MMD -MF build/$*.d -MT $@
+ 
+ netevent: $(patsubst %.cpp,build/%.o,$(SOURCES))
+-	$(CXX) $(LDFLAGS) -o $@ $^
++	$(CXX) $(LDFLAGS) -o $@ $^ $(LIBS)
+ 
+ devname: build/devname.o
+ 	$(CC) -o $@ $^
+ 
+ install: all
+-	install -m 755 -p -t "$(DESTDIR)$(bindir)" netevent devname
++	install -m 755 -p -t "$(DESTDIR)$(SBINDIR)" netevent devname
+ 
+ clean:
+ 	-rm -rf build
+diff --git a/reader.cpp b/reader.cpp
+index 651967a..07fa64a 100644
+--- a/reader.cpp
++++ b/reader.cpp
+@@ -6,6 +6,7 @@
+ #include <arpa/inet.h>
+ #include <stdint.h>
+ #include <unistd.h>
++#include <pthread.h>
+ 
+ int64_t htonll(int64_t value){
+     int num = 42;
+-- 
+1.7.10.4
+
diff --git a/meta-rcar-gen3-adas/recipes-support/netevent/netevent/0003-use-socket-instead-of-stdout.patch b/meta-rcar-gen3-adas/recipes-support/netevent/netevent/0003-use-socket-instead-of-stdout.patch
new file mode 100644
index 0000000..4fb3039
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/netevent/netevent/0003-use-socket-instead-of-stdout.patch
@@ -0,0 +1,653 @@
+From 68944103c94f4957c2dbc0d246bf1360d28bd5b4 Mon Sep 17 00:00:00 2001
+From: Andrey Gusakov <andrey.gusakov@cogentembedded.com>
+Date: Wed, 14 Sep 2016 18:16:47 +0300
+Subject: [PATCH] use socket instead of stdout
+
+---
+ main.cpp   |  16 +++---
+ reader.cpp | 181 +++++++++++++++++++++++++++++++++++++------------------------
+ write.cpp  | 139 ++++++++++++++++++++++++++++++++++++-----------
+ 3 files changed, 226 insertions(+), 110 deletions(-)
+
+diff --git a/main.cpp b/main.cpp
+index da512b0..e695328 100644
+--- a/main.cpp
++++ b/main.cpp
+@@ -9,15 +9,15 @@ bool no_grab = false;
+ bool count_syn = false;
+ bool be_quiet = false;
+ 
+-int read_device(const char *devname);
+-int spawn_device();
++int read_device(const char *devname, const char *hostname, int port);
++int spawn_device(int port);
+ int show_events(int count, const char *devname);
+ 
+ static void usage(const char *arg0)
+ {
+ 	size_t len = strlen(arg0);
+-	cerr << "usage: " << arg0                  << " [options] -read <device>" << endl;
+-	cerr << "       " << std::string(len, ' ') << "           -write" << endl;
++	cerr << "usage: " << arg0                  << " [options] -read <device> <ip/hostname> <port>" << endl;
++	cerr << "       " << std::string(len, ' ') << "           -write <port>" << endl;
+ 	cerr << "       " << std::string(len, ' ') << " [options] -showevents <count> <device>" << endl;
+ 	cerr << "options are:" << endl;
+ 	cerr << "  -ontoggle <command>     Command to execute when grabbing is toggled." << endl;
+@@ -53,12 +53,14 @@ int main(int argc, char **argv)
+ 			usage(arg0);
+ 		}
+ 		else if (command == "-read") {
+-        		if (argc < 3)
++			if (argc < 5)
+ 				usage(arg0);
+-			return read_device(argv[2]);
++			return read_device(argv[2], argv[3], atoi(argv[4]));
+ 		}
+ 		else if (command == "-write") {
+-			return spawn_device();
++			if (argc < 3)
++				usage(arg0);
++			return spawn_device(atoi(argv[2]));
+ 		}
+ 		else if (command == "-toggler") {
+ 			if (argc < 3)
+diff --git a/reader.cpp b/reader.cpp
+index 07fa64a..0b6de20 100644
+--- a/reader.cpp
++++ b/reader.cpp
+@@ -3,10 +3,14 @@
+ #include <signal.h>
+ #include <sys/wait.h>
+ #include <sys/types.h>
++#include <sys/socket.h>
+ #include <arpa/inet.h>
+ #include <stdint.h>
++#include <stdio.h>
+ #include <unistd.h>
+ #include <pthread.h>
++#include <netinet/in.h>
++#include <netdb.h>
+ 
+ int64_t htonll(int64_t value){
+     int num = 42;
+@@ -50,26 +54,26 @@ static void *tog_func(void *ign)
+ #if !defined( WITH_INOTIFY )
+ 	struct stat st;
+ 	if (lstat(toggle_file, &st) != 0) {
+-		cErr << "stat failed on " << toggle_file << ": " << err << endl;
++		fprintf(stderr, "stat failed on %s, %d\n", toggle_file, errno);
+ 		tog_on = false;
+ 	}
+ 	else
+ 	{
+ 		if (!S_ISFIFO(st.st_mode)) {
+-			cerr << "The toggle file is not a fifo, and inotify support has not been compiled in." << endl;
+-			cerr << "This is evil, please compile with inotify support." << endl;
++			fprintf(stderr, "The toggle file is not a fifo, and inotify support has not been compiled in.\n");
++			fprintf(stderr, "This is evil, please compile with inotify support.\n");
+ 			tog_on = false;
+ 		}
+ 	}
+ #else
+ 	inf_fd = inotify_init();
+ 	if (inf_fd == -1) {
+-		cErr << "inotify_init failed: " << err << endl;
++		fprintf(stderr, "inotify_init failed: %d\n");
+ 		tog_on = false;
+ 	} else {
+ 		watch_fd = inotify_add_watch(inf_fd, toggle_file, IN_CLOSE_WRITE | IN_CREATE);
+ 		if (watch_fd == -1) {
+-			cErr << "inotify_add_watch failed: " << err << endl;
++			fprintf(stderr, "inotify_add_watch failed: %d\n", err);
+ 			tog_on = false;
+ 		}
+ 	}
+@@ -79,17 +83,17 @@ static void *tog_func(void *ign)
+ #if defined( WITH_INOTIFY )
+ 		inotify_event iev;
+ 		if (read(inf_fd, &iev, sizeof(iev)) != (ssize_t)sizeof(iev)) {
+-			cErr << "Failed to read from inotify watch: " << err << endl;
++			fprintf(stderr, "Failed to read from inotify watch: %d\n", err);
+ 			break;
+ 		}
+ 		if (iev.wd != watch_fd) {
+-			cerr << "Inotify sent is bogus information..." << endl;
++			fprintf(stderr, "Inotify sent is bogus information...\n");
+ 			continue;
+ 		}
+ #endif
+ 		tfd = open(toggle_file, O_RDONLY);
+ 		if (tfd < 0) {
+-			cErr << "Failed to open '" << toggle_file << "': " << err << endl;
++			fprintf(stderr, "Failed to open '%s', %d\n", toggle_file, errno);
+ 			break;
+ 		}
+ 		memset(dat, 0, sizeof(dat));
+@@ -110,22 +114,58 @@ static void *tog_func(void *ign)
+ static void toggle_hook()
+ {
+ 	if (ioctl(fd, EVIOCGRAB, (on ? (void*)1 : (void*)0)) == -1) {
+-		cErr << "Grab failed: " << err << endl;
++		fprintf(stderr, "Grab failed: %d\n", errno);
+ 	}
+ 	setenv("GRAB", (on ? "1" : "0"), -1);
+-       	if (toggle_cmd) {
++	if (toggle_cmd) {
+ 		if (!fork()) {
+ 			execlp("sh", "sh", "-c", toggle_cmd, NULL);
+-       			cErr << "Failed to run command: " << err << endl;
+-       			exit(1);
++			fprintf(stderr, "Failed to run command: %d\n", errno);
++			exit(1);
+ 		}
+ 
+-       	}
++	}
++}
++
++int socket_open(const char *hostname, int port)
++{
++	int ret;
++	int sockfd;
++	struct sockaddr_in serv_addr;
++	struct hostent *server;
++
++	printf("connecting to %s:%d\n", hostname, port);
++
++	sockfd = socket(AF_INET, SOCK_STREAM, 0);
++	if (sockfd < 0) {
++		fprintf(stderr, "ERROR opening socket\n");
++		return sockfd;
++	}
++
++	server = gethostbyname(hostname);
++	if (server == NULL) {
++		fprintf(stderr, "ERROR, no such host\n");
++		return -1;
++	}
++
++	bzero((char *) &serv_addr, sizeof(serv_addr));
++	serv_addr.sin_family = AF_INET;
++	bcopy((char *)server->h_addr,
++		(char *)&serv_addr.sin_addr.s_addr,
++		server->h_length);
++	serv_addr.sin_port = htons(port);
++	ret = connect(sockfd,(struct sockaddr *)&serv_addr,sizeof(serv_addr));
++	if (ret < 0) {
++		fprintf(stderr, "ERROR connecting %d, %d\n", ret, errno);
++		return ret;
++	}
++	return sockfd;
+ }
+ 
+-int read_device(const char *devfile)
++int read_device_new(const char *devfile, const char *hostname, int port)
+ {
+ 	struct input_event ev;
++	int sock_fd;
+ 	size_t i;
+ 	ssize_t s;
+ 	//int e = 0;
+@@ -136,14 +176,13 @@ int read_device(const char *devfile)
+ 
+ 	if (fd < 0) {
+ 		std::string err(strerror(errno));
+-		cerr << "Failed to open device '" << devfile << "': " << err << endl;
++		fprintf(stderr, "Failed to open device '%s', %d\n", devfile, errno);
+ 		return 1;
+ 	}
+ 
+ 	if (on) {
+ 		if (ioctl(fd, EVIOCGRAB, (void*)1) == -1) {
+-			std::string err(strerror(errno));
+-			cerr << "Failed to grab device: " << err << endl;
++			fprintf(stderr, "Failed to grab device: %d\n", errno);
+ 		}
+ 		setenv("GRAB", "1", -1);
+ 	}
+@@ -154,59 +193,54 @@ int read_device(const char *devfile)
+ 	memset(&dev, 0, sizeof(dev));
+ 
+ 	if (ioctl(fd, EVIOCGNAME(sizeof(dev.name)), dev.name) == -1) {
+-		cErr << "Failed to get device name: " << err << endl;
++		fprintf(stderr, "Failed to get device name: %d\n", errno);
+ 		goto error;
+ 	}
+ 
+ 	if (ioctl(fd, EVIOCGID, &dev.id) == -1) {
+-		cErr << "Failed to get device id: " << err << endl;
++		fprintf(stderr, "Failed to get device id: %d\n", errno);
+ 		goto error;
+ 	}
+ 
+-	cerr << " Device: " << dev.name << endl;
+-	cerr << "     Id: " << dev.id.version << endl;
+-	cerr << "BusType: " << dev.id.bustype << endl;
++	fprintf(stderr, " Device: %s\n", dev.name);
++	fprintf(stderr, "     Id: %d\n", dev.id.version);
++	fprintf(stderr, "BusType: %d\n", dev.id.bustype);
++
++	sock_fd = socket_open(hostname, port);
++	if (sock_fd < 0)
++		goto error;
+ 
+ 	// First thing to write is the size of the structures as a 16 bit uint!
+ 	uint16_t strsz;
+ 	strsz = htons(sizeof(dev));
+-	if (!cout.write((const char*)&strsz, sizeof(strsz)))
+-		exit(1);
+-	if (cout.eof())
+-		exit(0);
+-
+-	if (!cout.write(dev.name, sizeof(dev.name)))
+-		exit(1);
+-	if (cout.eof())
+-		exit(0);
+-	if (!cout.write((const char*)&dev.id, sizeof(dev.id)))
+-		exit(1);
+-	if (cout.eof())
+-		exit(0);
+-
+-	cerr << "Getting input bits." << endl;
++	if (!write(sock_fd, (const char*)&strsz, sizeof(strsz)))
++		goto err_close;
++
++	if (!write(sock_fd, dev.name, sizeof(dev.name)))
++		goto err_close;
++
++	if (!write(sock_fd, (const char*)&dev.id, sizeof(dev.id)))
++		goto err_close;
++
++	fprintf(stderr, "Getting input bits.\n");
+ 	if (ioctl(fd, EVIOCGBIT(0, sizeof(input_bits)), &input_bits) == -1) {
+-		cErr << "Failed to get input-event bits: " << err << endl;
++		fprintf(stderr, "Failed to get input-event bits: %d\n", errno);
+ 		goto error;
+ 	}
+-	if (!cout.write((const char*)input_bits, sizeof(input_bits)))
+-		exit(1);
+-	if (cout.eof())
+-		exit(0);
++	if (!write(sock_fd, (const char*)input_bits, sizeof(input_bits)))
++		goto err_close;
+ 
+ #define TransferBitsFor(REL, rel, REL_MAX) \
+ 	do { \
+ 	if (testbit(input_bits, EV_##REL)) { \
+ 		unsigned char bits##rel[1+REL_MAX/8]; \
+-		cerr << "Getting " #rel "-bits." << endl; \
++		fprintf(stderr, "Getting " #rel "-bits.\n"); \
+ 		if (ioctl(fd, EVIOCGBIT(EV_##REL, sizeof(bits##rel)), bits##rel) == -1) { \
+-			cErr << "Failed to get " #rel " bits: " << err << endl; \
++			fprintf(stderr, "Failed to get " #rel " bits: %d\n", errno); \
+ 			goto error; \
+ 		} \
+-		if (!cout.write((const char*)&bits##rel, sizeof(bits##rel))) \
+-			exit(1); \
+-		if (cout.eof()) \
+-			exit(0); \
++		if (!write(sock_fd, (const char*)&bits##rel, sizeof(bits##rel))) \
++			goto err_close; \
+ 	} \
+ 	} while(0)
+ 
+@@ -220,16 +254,14 @@ int read_device(const char *devfile)
+ #define TransferDataFor(KEY, key, KEY_MAX) \
+ 	do { \
+ 	if (testbit(input_bits, EV_##KEY)) { \
+-		cerr << "Getting " #key "-state." << endl; \
++		fprintf(stderr, "Getting " #key "-state.\n"); \
+ 		unsigned char bits##key[1+KEY_MAX/8]; \
+ 		if (ioctl(fd, EVIOCG##KEY(sizeof(bits##key)), bits##key) == -1) { \
+-			cErr << "Failed to get " #key " state: " << err << endl; \
++			fprintf(stderr, "Failed to get " #key " state: %d\n", errno); \
+ 			goto error; \
+ 		} \
+-		if (!cout.write((const char*)bits##key, sizeof(bits##key))) \
+-			exit(1); \
+-		if (cout.eof()) \
+-			exit(0); \
++		if (!write(sock_fd, (const char*)bits##key, sizeof(bits##key))) \
++			goto err_close; \
+ 	} \
+ 	} while(0)
+ 
+@@ -239,39 +271,35 @@ int read_device(const char *devfile)
+ 
+ 	if (testbit(input_bits, EV_ABS)) {
+ 		struct input_absinfo ai;
+-		cerr << "Getting abs-info." << endl;
++		fprintf(stderr, "Getting abs-info.\n");
+ 		for (i = 0; i < ABS_MAX; ++i) {
+ 			if (ioctl(fd, EVIOCGABS(i), &ai) == -1) {
+-				cErr << "Failed to get device id: " << err << endl;
++				fprintf(stderr, "Failed to get device id: %d\n", errno);
+ 				goto error;
+ 			}
+-			if (!cout.write((const char*)&ai, sizeof(ai)))
+-				exit(1);
+-			if (cout.eof())
+-				exit(0);
++			if (!write(sock_fd, (const char*)&ai, sizeof(ai)))
++				goto err_close;
+ 		}
+ 	}
+ 
+-	cout.flush();
+-
+ 	if (toggle_file) {
+ 		if (pthread_create(&tog_thread, 0, &tog_func, 0) != 0) {
+-			cErr << "Failed to create toggling-thread: " << err << endl;
++			fprintf(stderr, "Failed to create toggling-thread: %d\n", errno);
+ 			goto error;
+ 		}
+         }
+ 
+-	cerr << "Transferring input events." << endl;
++	fprintf(stderr, "Transferring input events.\n");
+ 	while (running) {
+ 		int dummy;
+ 		waitpid(0, &dummy, WNOHANG);
+ 		s = read(fd, &ev, sizeof(ev));
+ 		if (!s) {
+-			cerr << "EOF" << endl;
++			fprintf(stderr, "EOF\n");
+ 			break;
+ 		}
+ 		else if (s < 0) {
+-			cErr << "When reading from device: " << err << endl;
++			fprintf(stderr, "When reading from device: %d\n", errno);
+ 			goto error;
+ 		}
+ 
+@@ -282,20 +310,22 @@ int read_device(const char *devfile)
+ 		}
+ 		else if (on) {
+ 			input_event_t et;
++
++			//fprintf(stderr, "EV %d.%06d: type %d, code %d, value %d\n",
++			//	(int)ev.time.tv_sec, (int)ev.time.tv_usec, (int)ev.type, ev.code, ev.value);
+ 			et.tv_sec = htonll(ev.time.tv_sec);
+ 			et.tv_usec = htonl(ev.time.tv_usec);
+ 			et.type = htons(ev.type);
+ 			et.code = htons(ev.code);
+ 			et.value = htonl(ev.value);
+-			if (!cout.write((const char*)&et, sizeof(et)))
+-				exit(1);
+-			if (cout.eof())
+-				exit(0);
+-			cout.flush();
++			if (!write(sock_fd, (const char*)&et, sizeof(et)))
++				goto err_close;
+ 		}
+ 	}
+ 
+ 	goto end;
++err_close:
++	close(sock_fd);
+ error:
+ 	//e = 1;
+ end:
+@@ -306,3 +336,12 @@ end:
+ 
+ 	return 0;
+ }
++
++int read_device(const char *devfile, const char *hostname, int port)
++{
++	while (1) {
++		read_device_new(devfile, hostname, port);
++		sleep(1);
++	}
++	return 0;
++}
+\ No newline at end of file
+diff --git a/write.cpp b/write.cpp
+index 91c956c..dc6c3bc 100644
+--- a/write.cpp
++++ b/write.cpp
+@@ -1,9 +1,13 @@
+ #include "main.h"
+ #include <sys/wait.h>
+ #include <sys/types.h>
++#include <sys/socket.h>
+ #include <arpa/inet.h>
+ #include <stdint.h>
++#include <stdio.h>
+ #include <unistd.h>
++#include <netinet/in.h>
++#include <netdb.h>
+ 
+ int64_t ntohll(int64_t value){
+     int num = 42;
+@@ -22,12 +26,55 @@ static const size_t uinput_cnt = sizeof(uinput_file) / sizeof(uinput_file[0]);
+ 
+ static uint16_t strsz;
+ 
+-int spawn_device()
++int socket_start_listen(int port)
++{
++	int ret;
++	int sockfd;
++	struct sockaddr_in serv_addr;
++
++	printf("starting on port %d\n", port);
++
++	sockfd = socket(AF_INET, SOCK_STREAM, 0);
++	if (sockfd < 0) {
++		fprintf(stderr, "ERROR opening socket %d", sockfd);
++		return sockfd;
++	}
++	bzero((char *) &serv_addr, sizeof(serv_addr));
++	serv_addr.sin_family = AF_INET;
++	serv_addr.sin_addr.s_addr = INADDR_ANY;
++	serv_addr.sin_port = htons(port);
++	ret = bind(sockfd, (struct sockaddr *) &serv_addr, sizeof(serv_addr));
++	if (ret	< 0) {
++		fprintf(stderr, "ERROR on binding %d", ret);
++		return ret;
++	}
++	listen(sockfd, 1);
++	return sockfd;
++}
++
++int socket_wait_connection(int sockfd)
++{
++	int newsockfd;
++	struct sockaddr_in cli_addr;
++	socklen_t clilen;
++
++	clilen = sizeof(cli_addr);
++	newsockfd = accept(sockfd, (struct sockaddr *) &cli_addr, &clilen);
++	if (newsockfd < 0) {
++		fprintf(stderr, "ERROR on accept %d", newsockfd);
++		return newsockfd;
++	}
++	return newsockfd;
++}
++
++int spawn_device_new(int sock_con)
+ {
+ 	int e;
+ 	int fd;
+-	size_t i;
++	int i;
+ 	ssize_t si;
++	struct uinput_user_dev dev;
++	struct input_event ev;
+ 
+ 	for (i = 0; i < uinput_cnt; ++i) {
+ 		fd = open(uinput_file[i], O_WRONLY | O_NDELAY);
+@@ -36,30 +83,28 @@ int spawn_device()
+ 	}
+ 
+ 	if (i >= uinput_cnt) {
+-		cerr << "Failed to open uinput device file. Please specify." << endl;
++		fprintf(stderr, "Failed to open uinput device file. Please specify.\n");
+ 		return 1;
+ 	}
+ 
+-	struct uinput_user_dev dev;
+-	struct input_event ev;
+-
+-	cin.read((char*)&strsz, sizeof(strsz));
++	read(sock_con, (char*)&strsz, sizeof(strsz));
+ 	strsz = ntohs(strsz);
+ 	if (strsz != sizeof(uinput_user_dev)) {
+-		cerr << "Device information field sizes do not match. Sorry." << endl;
+-		return 1;
++		fprintf(stderr, "Device information field sizes do not match (%d != %d). Sorry.\n",
++			strsz, (int)sizeof(uinput_user_dev));
++		goto err_close;
+ 	}
+ 
+ 	memset(&dev, 0, sizeof(dev));
+-	cin.read((char*)dev.name, sizeof(dev.name));
+-	cin.read((char*)&dev.id, sizeof(dev.id));
++	read(sock_con, dev.name, sizeof(dev.name));
++	read(sock_con, &dev.id, sizeof(dev.id));
+ 	
+-	cin.read((char*)input_bits, sizeof(input_bits));
++	read(sock_con, input_bits, sizeof(input_bits));
+ 	for (i = 0; i < EV_MAX; ++i) {
+ 		if (!testbit(input_bits, i))
+ 			continue;
+ 		if (ioctl(fd, UI_SET_EVBIT, i) == -1) {
+-			cErr << "Failed to set evbit " << i << ": " << err << endl;
++			fprintf(stderr, "Failed to set evbit %d, %d\n", i, errno);
+ 			goto error;
+ 		}
+ 	}
+@@ -68,13 +113,13 @@ int spawn_device()
+ 	do { \
+ 	if (testbit(input_bits, EV_##REL)) { \
+ 		unsigned char bits##rel[1+REL_MAX/8]; \
+-		cerr << "Reading " #rel "-bits" << endl; \
+-		cin.read((char*)bits##rel, sizeof(bits##rel)); \
++		fprintf(stderr, "Reading " #rel "-bits\n"); \
++		read(sock_con, (char*)bits##rel, sizeof(bits##rel)); \
+ 		for (i = 0; i < REL_MAX; ++i) { \
+ 			if (!testbit(bits##rel, i)) continue; \
+ 			if (ioctl(fd, UI_SET_##RELBIT, i) == -1) { \
+-				cErr << "Failed to set " #rel "-bit: " << i << ": " << err << endl; \
+-				goto error; \
++				fprintf(stderr, "Failed to set " #rel "-bit: %d, %d\n", i, errno); \
++				goto err_close; \
+ 			} \
+ 		} \
+ 	} \
+@@ -91,13 +136,13 @@ int spawn_device()
+ 	do { \
+ 	if (testbit(input_bits, EV_##KEY)) { \
+ 		unsigned char bits##key[1+KEY_MAX/8]; \
+-		cerr << "Reading " #key "-data" << endl; \
+-		cin.read((char*)bits##key, sizeof(bits##key)); \
++		fprintf(stderr, "Reading " #key "-data\n"); \
++		read(sock_con, (char*)bits##key, sizeof(bits##key)); \
+ 		for (i = 0; i < KEY_MAX; ++i) { \
+ 			if (!testbit(bits##key, i)) continue; \
+ 			if (ioctl(fd, UI_SET_##KEYBIT, i) == -1) { \
+-				cErr << "Failed to activate " #key "-bit: " << i << ": " << err << endl; \
+-				goto error; \
++				fprintf(stderr, "Failed to activate " #key "-bit: %d, %d\n", i, errno); \
++				goto err_close; \
+ 			} \
+ 		} \
+ 	} \
+@@ -110,7 +155,7 @@ int spawn_device()
+ 	if (testbit(input_bits, EV_ABS)) {
+ 		struct input_absinfo ai;
+ 		for (i = 0; i < ABS_MAX; ++i) {
+-			cin.read((char*)&ai, sizeof(ai));
++			read(sock_con, (char*)&ai, sizeof(ai));
+ 			dev.absmin[i] = ai.minimum;
+ 			dev.absmax[i] = ai.maximum;
+ 		}
+@@ -118,22 +163,22 @@ int spawn_device()
+ 
+ 	si = write(fd, &dev, sizeof(dev));
+ 	if (si < (ssize_t)sizeof(dev)) {
+-		cErr << "Failed to write initial data to device: " << err << endl;
+-		goto error;
++		fprintf(stderr, "Failed to write initial data to device: %d\n", errno);
++		goto err_close;
+ 	}
+ 
+ 	if (ioctl(fd, UI_DEV_CREATE) == -1) {
+-		cErr << "Failed to create device: " << err << endl;
+-		goto error;
++		fprintf(stderr, "Failed to create device: %d\n", errno);
++		goto err_close;
+ 	}
+ 
+-	cerr << "Transferring input events." << endl;
++	fprintf(stderr, "Transferring input events.\n");
+ 	while (true) {
+ 		input_event_t et;
+ 		int dummy;
+ 		waitpid(0, &dummy, WNOHANG);
+-		if (!cin.read((char*)&et, sizeof(et))) {
+-			cerr << "End of data" << endl;
++		if (!read(sock_con, (char*)&et, sizeof(et))) {
++			fprintf(stderr, "End of data\n");
+ 			break;
+ 		}
+ 		ev.time.tv_sec = ntohll(et.tv_sec);
+@@ -141,16 +186,21 @@ int spawn_device()
+ 		ev.type = ntohs(et.type);
+ 		ev.code = ntohs(et.code);
+ 		ev.value = ntohl(et.value);
+-		//cErr << "EV " << ev.time.tv_sec << "." << ev.time.tv_usec << ": type " << ev.type << ", code " << ev.code << ", value " << ev.value << endl;
++		//fprintf(stderr, "EV %d.%06d: type %d, code %d, value %d\n",
++		//	(int)ev.time.tv_sec, (int)ev.time.tv_usec, (int)ev.type, ev.code, ev.value);
+ 		if (hotkey_hook(ev.type, ev.code, ev.value))
+ 			continue;
+ 		if (write(fd, &ev, sizeof(ev)) < (ssize_t)sizeof(ev)) {
+-			cErr << "Write error: " << err << endl;
+-			goto error;
++			fprintf(stderr, "Write error: %d\n", errno);
++			goto err_close;
+ 		}
+ 	}
+ 
+ 	goto end;
++
++err_close:
++	if (sock_con > 0)
++		close(sock_con);
+ error:
+ 	e = 1;
+ end:
+@@ -159,3 +209,28 @@ end:
+ 	
+ 	return e;
+ }
++
++int spawn_device(int port)
++{
++	int ret;
++	int sock_listen, sock_con;
++	printf("...%d\n", port);
++
++	sock_listen = socket_start_listen(port);
++	if (sock_listen < 0)
++		return sock_listen;
++
++	printf("Got connection on port %d\n", port);
++	while(1) {
++		sock_con = socket_wait_connection(sock_listen);
++		if (sock_con < 0)
++			goto err_close;
++		ret = spawn_device_new(sock_con);
++		printf("connection closed %d\n", ret);
++		sleep(1);
++	}
++	return 0;
++err_close:
++	close(sock_listen);
++	return -1;
++}
+\ No newline at end of file
+-- 
+2.7.4
+
diff --git a/meta-rcar-gen3-adas/recipes-support/netevent/netevent/0004-Add-TCP-keep-alive-to-handle-peer-death-properly.patch b/meta-rcar-gen3-adas/recipes-support/netevent/netevent/0004-Add-TCP-keep-alive-to-handle-peer-death-properly.patch
new file mode 100644
index 0000000..f84f113
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/netevent/netevent/0004-Add-TCP-keep-alive-to-handle-peer-death-properly.patch
@@ -0,0 +1,162 @@
+From 0d797dca82a714688657523a89a14c37ae7767cf Mon Sep 17 00:00:00 2001
+From: Grigory Kletsko <grigory.kletsko@cogentembedded.com>
+Date: Wed, 5 Oct 2016 22:15:25 +0300
+Subject: [PATCH] Add TCP keep alive to handle peer death properly
+
+---
+ reader.cpp | 32 +++++++++++++++++++++++++++++++-
+ write.cpp  | 46 ++++++++++++++++++++++++++++++++++++++++++++--
+ 2 files changed, 75 insertions(+), 3 deletions(-)
+
+diff --git a/reader.cpp b/reader.cpp
+index 0b6de20..e1a26e3 100644
+--- a/reader.cpp
++++ b/reader.cpp
+@@ -11,6 +11,8 @@
+ #include <pthread.h>
+ #include <netinet/in.h>
+ #include <netdb.h>
++#include <netinet/in.h>
++#include <netinet/tcp.h>
+ 
+ int64_t htonll(int64_t value){
+     int num = 42;
+@@ -131,6 +133,8 @@ int socket_open(const char *hostname, int port)
+ {
+ 	int ret;
+ 	int sockfd;
++	int val;
++	
+ 	struct sockaddr_in serv_addr;
+ 	struct hostent *server;
+ 
+@@ -159,6 +163,32 @@ int socket_open(const char *hostname, int port)
+ 		fprintf(stderr, "ERROR connecting %d, %d\n", ret, errno);
+ 		return ret;
+ 	}
++
++	val = 5;
++	ret = setsockopt(sockfd, IPPROTO_TCP, TCP_KEEPCNT, &val,
++			 sizeof(val));
++	if (ret < 0) {
++		fprintf(stderr, "ERROR on setsockopt %d", ret);
++		return ret;	
++	}
++
++	val = 1;
++	ret = setsockopt(sockfd, IPPROTO_TCP, TCP_KEEPIDLE, &val,
++			 sizeof(val));
++	if (ret < 0) {
++		fprintf(stderr, "ERROR on setsockopt %d", ret);
++		return ret;	
++	}
++
++	val = 1;
++	ret = setsockopt(sockfd, IPPROTO_TCP, TCP_KEEPINTVL, &val,
++			 sizeof(val));
++	if (ret < 0) {
++		fprintf(stderr, "ERROR on setsockopt %d", ret);
++		return ret;	
++	}
++
++
+ 	return sockfd;
+ }
+ 
+@@ -344,4 +374,4 @@ int read_device(const char *devfile, const char *hostname, int port)
+ 		sleep(1);
+ 	}
+ 	return 0;
+-}
+\ No newline at end of file
++}
+diff --git a/write.cpp b/write.cpp
+index dc6c3bc..67ce412 100644
+--- a/write.cpp
++++ b/write.cpp
+@@ -8,6 +8,9 @@
+ #include <unistd.h>
+ #include <netinet/in.h>
+ #include <netdb.h>
++#include <sys/socket.h>
++#include <netinet/in.h>
++#include <netinet/tcp.h>
+ 
+ int64_t ntohll(int64_t value){
+     int num = 42;
+@@ -30,6 +33,8 @@ int socket_start_listen(int port)
+ {
+ 	int ret;
+ 	int sockfd;
++	int val;
++	
+ 	struct sockaddr_in serv_addr;
+ 
+ 	printf("starting on port %d\n", port);
+@@ -48,7 +53,41 @@ int socket_start_listen(int port)
+ 		fprintf(stderr, "ERROR on binding %d", ret);
+ 		return ret;
+ 	}
++
++	val = 1;
++	ret = setsockopt(sockfd, SOL_SOCKET, SO_KEEPALIVE, &val,
++			 sizeof(val));
++	if (ret < 0) {
++		fprintf(stderr, "ERROR on setsockopt %d", ret);
++		return ret;	
++	}
++
++	val = 5;
++	ret = setsockopt(sockfd, IPPROTO_TCP, TCP_KEEPCNT, &val,
++			 sizeof(val));
++	if (ret < 0) {
++		fprintf(stderr, "ERROR on setsockopt %d", ret);
++		return ret;	
++	}
++
++	val = 1;
++	ret = setsockopt(sockfd, IPPROTO_TCP, TCP_KEEPIDLE, &val,
++			 sizeof(val));
++	if (ret < 0) {
++		fprintf(stderr, "ERROR on setsockopt %d", ret);
++		return ret;	
++	}
++
++	val = 1;
++	ret = setsockopt(sockfd, IPPROTO_TCP, TCP_KEEPINTVL, &val,
++			 sizeof(val));
++	if (ret < 0) {
++		fprintf(stderr, "ERROR on setsockopt %d", ret);
++		return ret;	
++	}
++
+ 	listen(sockfd, 1);
++	
+ 	return sockfd;
+ }
+ 
+@@ -174,10 +213,13 @@ int spawn_device_new(int sock_con)
+ 
+ 	fprintf(stderr, "Transferring input events.\n");
+ 	while (true) {
++		int ret;
+ 		input_event_t et;
+ 		int dummy;
+ 		waitpid(0, &dummy, WNOHANG);
+-		if (!read(sock_con, (char*)&et, sizeof(et))) {
++		ret = read(sock_con, (char*)&et, sizeof(et));
++
++		if (ret <= 0) {
+ 			fprintf(stderr, "End of data\n");
+ 			break;
+ 		}
+@@ -233,4 +275,4 @@ int spawn_device(int port)
+ err_close:
+ 	close(sock_listen);
+ 	return -1;
+-}
+\ No newline at end of file
++}
+-- 
+2.7.4
+
diff --git a/meta-rcar-gen3-adas/recipes-support/netevent/netevent_git.bb b/meta-rcar-gen3-adas/recipes-support/netevent/netevent_git.bb
new file mode 100644
index 0000000..7dde8f5
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/netevent/netevent_git.bb
@@ -0,0 +1,29 @@
+SUMMARY = "netevent - share input devices over net"
+SECTION = "misc"
+
+LICENSE = "CLOSED"
+
+PN = "netevent"
+PE = "1"
+PV = "0.1"
+PR = "r1"
+
+SRC_URI = "git://github.com/Blub/netevent.git \
+    file://0001-fix-endian-for-cross-arch.patch \
+    file://0002-fix-cross-compile.patch \
+    file://0003-use-socket-instead-of-stdout.patch \
+    file://0004-Add-TCP-keep-alive-to-handle-peer-death-properly.patch \
+"
+
+SRCREV = "06f1fe545f2063ae882fc8b66dc07f1ced85d1da"
+
+S = "${WORKDIR}/git"
+
+B = "${S}"
+
+do_install() {
+    install -d ${D}${bindir}
+
+    install -m 0755 netevent ${D}${bindir}/
+    install -m 0755 devname ${D}${bindir}/
+}
diff --git a/meta-rcar-gen3-adas/recipes-support/nlopt/nlopt.inc b/meta-rcar-gen3-adas/recipes-support/nlopt/nlopt.inc
new file mode 100644
index 0000000..245fef2
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/nlopt/nlopt.inc
@@ -0,0 +1,32 @@
+DESCRIPTION = "library for nonlinear optimization, wrapping many algorithms for global and local, constrained or unconstrained, optimization"
+HOMEPAGE = "http://ab-initio.mit.edu/wiki/index.php/NLopt"
+SECTION = "System/Libraries"
+LICENSE = "LGPL-2.1 | MIT"
+
+LIC_FILES_CHKSUM ??= "file://COPYING;md5=7036bf07f719818948a837064b1af213"
+
+inherit autotools pkgconfig
+
+DEPENDS += "swig-native"
+
+# remove dead weight from the build
+EXTRA_OECONF += " \
+	--without-guile \
+	--without-python \
+	--without-octave \
+	--without-matlab \
+	--enable-shared \
+"
+
+# see https://github.com/stevengj/nlopt/issues/29
+EXTRA_OECONF += "--enable-maintainer-mode"
+
+EXTRA_OECONF_remove = "--disable-static"
+
+# see https://github.com/stevengj/nlopt/issues/9
+do_configure_prepend () {
+	touch ${S}/swig/nlopt.scm.in
+}
+
+SRC_URI_append = " file://0001-Fix-compilation-error.patch"
+
diff --git a/meta-rcar-gen3-adas/recipes-support/nlopt/nlopt/0001-Fix-compilation-error.patch b/meta-rcar-gen3-adas/recipes-support/nlopt/nlopt/0001-Fix-compilation-error.patch
new file mode 100644
index 0000000..10b3594
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/nlopt/nlopt/0001-Fix-compilation-error.patch
@@ -0,0 +1,25 @@
+From 994c3fdbde7ce1b2a31d4bd3053aed7cdc857760 Mon Sep 17 00:00:00 2001
+From: Petr Nechaev <petr.nechaev@cogentembedded.com>
+Date: Sat, 31 Oct 2015 15:24:11 +0300
+Subject: [PATCH 1/1] Fix compilation error
+
+---
+ swig/Makefile.am | 2 --
+ 1 file changed, 2 deletions(-)
+
+diff --git a/swig/Makefile.am b/swig/Makefile.am
+index 5ccbfe1..d55ac28 100644
+--- a/swig/Makefile.am
++++ b/swig/Makefile.am
+@@ -44,8 +44,6 @@ if MAINTAINER_MODE
+ 
+ nlopt-guile.cpp nlopt.scm.in: $(SWIG_SRC) nlopt-guile.i $(HDR)
+ 	swig -I$(top_srcdir)/api -outdir $(builddir) -c++ -guile -scmstub -o $@ $(srcdir)/nlopt.i
+-	rm -f nlopt.scm.in
+-	mv nlopt.scm nlopt.scm.in
+ 
+ nlopt-python.cpp nlopt.py: $(SWIG_SRC) nlopt-python.i numpy.i $(HDR)
+ 	swig -I$(top_srcdir)/api -outdir $(builddir) -c++ -python -o $@ $(srcdir)/nlopt.i
+-- 
+2.4.3
+
diff --git a/meta-rcar-gen3-adas/recipes-support/nlopt/nlopt_2.4.2.bb b/meta-rcar-gen3-adas/recipes-support/nlopt/nlopt_2.4.2.bb
new file mode 100644
index 0000000..5c72a31
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/nlopt/nlopt_2.4.2.bb
@@ -0,0 +1,7 @@
+require ${PN}.inc
+
+SRC_URI = "https://github.com/stevengj/${BPN}/archive/${BPN}-${PV}.tar.gz"
+SRC_URI[md5sum] = "5f60160dd0cb0f7c4fed983940bd5224"
+SRC_URI[sha256sum] = "d838b5b4b1c6b6493666ff61a8817a4ebcee924f54fb95f6f64e5f727ddbf2a6"
+
+S = "${WORKDIR}/${BPN}-${BPN}-${PV}"
diff --git a/meta-rcar-gen3-adas/recipes-support/nlopt/nlopt_git.bb b/meta-rcar-gen3-adas/recipes-support/nlopt/nlopt_git.bb
new file mode 100644
index 0000000..dd425d9
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/nlopt/nlopt_git.bb
@@ -0,0 +1,8 @@
+require ${PN}.inc
+
+SRC_URI = "git://github.com/stevengj/${BPN}.git"
+S = "${WORKDIR}/git"
+SRCREV = "cc413c5491df015c93992ddedd43b222d4369b45"
+
+DEFAULT_PREFERENCE = "-1"
+
diff --git a/meta-rcar-gen3-adas/recipes-support/spacenav/libspnav/0001-libspnav-cross-compile.patch b/meta-rcar-gen3-adas/recipes-support/spacenav/libspnav/0001-libspnav-cross-compile.patch
new file mode 100644
index 0000000..3a33da1
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/spacenav/libspnav/0001-libspnav-cross-compile.patch
@@ -0,0 +1,42 @@
+diff -pruN libspnav-0.2.3.orig/configure libspnav-0.2.3/configure
+--- libspnav-0.2.3.orig/configure	2011-11-25 18:36:43.000000000 -0800
++++ libspnav-0.2.3/configure	2016-03-18 04:46:31.327083251 -0700
+@@ -8,7 +8,7 @@ DBG=yes
+ X11=yes
+ 
+ srcdir="`dirname "$0"`"
+-libdir=lib
++libdir=lib64
+ 
+ #if [ "`uname -m`" = 'x86_64' ]; then
+ #	libdir=lib64
+diff -pruN libspnav-0.2.3.orig/Makefile.in libspnav-0.2.3/Makefile.in
+--- libspnav-0.2.3.orig/Makefile.in	2014-08-17 18:38:31.000000000 -0700
++++ libspnav-0.2.3/Makefile.in	2016-03-18 04:46:31.339083251 -0700
+@@ -8,10 +8,11 @@ lib_a = lib$(name).a
+ incpaths = -I. -I/usr/local/include -I/usr/X11R6/include
+ libpaths = -L/usr/local/lib -L/usr/X11R6/lib
+ 
+-CC = gcc
+-AR = ar
+-CFLAGS = $(opt) $(dbg) -std=c89 $(pic) -pedantic -Wall -fno-strict-aliasing $(incpaths) $(user_cflags)
+-LDFLAGS = $(libpaths) $(user_ldflags) $(xlib)
++CC ?= gcc
++AR ?= ar
++CFLAGS ?= -std=c89 -pedantic -Wall -fno-strict-aliasing
++CFLAGS += $(opt) $(dbg) $(pic) -I. $(user_cflags)
++LDFLAGS ?= $(libpaths) $(user_ldflags) $(xlib)
+ 
+ ifeq ($(shell uname -s), Darwin)
+ 	lib_so = libspnav.dylib
+@@ -54,8 +55,8 @@ install: $(lib_a) $(lib_so)
+ 	cp $(lib_so) $(DESTDIR)$(PREFIX)/$(libdir)/$(lib_so)
+ 	[ -n "$(soname)" ] && \
+ 		rm -f $(DESTDIR)$(PREFIX)/$(libdir)/$(soname) $(DESTDIR)$(PREFIX)/$(libdir)/$(devlink) && \
+-		ln -s $(DESTDIR)$(PREFIX)/$(libdir)/$(lib_so) $(DESTDIR)$(PREFIX)/$(libdir)/$(soname) && \
+-		ln -s $(DESTDIR)$(PREFIX)/$(libdir)/$(soname) $(DESTDIR)$(PREFIX)/$(libdir)/$(devlink) || \
++		ln -s $(lib_so) $(DESTDIR)$(PREFIX)/$(libdir)/$(soname) && \
++		ln -s $(soname) $(DESTDIR)$(PREFIX)/$(libdir)/$(devlink) || \
+ 		true
+ 	for h in $(hdr); do cp -p $(srcdir)/$$h $(DESTDIR)$(PREFIX)/include/; done
+ 
diff --git a/meta-rcar-gen3-adas/recipes-support/spacenav/libspnav/0002-Fix-configuration-for-libdir.patch b/meta-rcar-gen3-adas/recipes-support/spacenav/libspnav/0002-Fix-configuration-for-libdir.patch
new file mode 100644
index 0000000..8976eb6
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/spacenav/libspnav/0002-Fix-configuration-for-libdir.patch
@@ -0,0 +1,87 @@
+From c79af49c33f8ce705f63dee9dbc48cd716064e98 Mon Sep 17 00:00:00 2001
+From: Andrey Vostrikov <andrey.vostrikov@cogentembedded.com>
+Date: Fri, 22 Apr 2016 13:38:21 +0300
+Subject: [PATCH] Fix configuration for libdir
+
+Signed-off-by: Andrey Vostrikov <andrey.vostrikov@cogentembedded.com>
+---
+ Makefile.in | 18 +++++++++---------
+ configure   | 13 +++++++------
+ 2 files changed, 16 insertions(+), 15 deletions(-)
+
+diff --git a/Makefile.in b/Makefile.in
+index eb996a9..6808e44 100644
+--- a/Makefile.in
++++ b/Makefile.in
+@@ -50,22 +50,22 @@ distclean:
+ 
+ .PHONY: install
+ install: $(lib_a) $(lib_so)
+-	mkdir -p $(DESTDIR)$(PREFIX)/$(libdir) $(DESTDIR)$(PREFIX)/include
+-	cp $(lib_a) $(DESTDIR)$(PREFIX)/$(libdir)/$(lib_a)
+-	cp $(lib_so) $(DESTDIR)$(PREFIX)/$(libdir)/$(lib_so)
++	mkdir -p $(DESTDIR)/$(libdir) $(DESTDIR)$(PREFIX)/include
++	cp $(lib_a) $(DESTDIR)/$(libdir)/$(lib_a)
++	cp $(lib_so) $(DESTDIR)/$(libdir)/$(lib_so)
+ 	[ -n "$(soname)" ] && \
+-		rm -f $(DESTDIR)$(PREFIX)/$(libdir)/$(soname) $(DESTDIR)$(PREFIX)/$(libdir)/$(devlink) && \
+-		ln -s $(lib_so) $(DESTDIR)$(PREFIX)/$(libdir)/$(soname) && \
+-		ln -s $(soname) $(DESTDIR)$(PREFIX)/$(libdir)/$(devlink) || \
++		rm -f $(DESTDIR)/$(libdir)/$(soname) $(DESTDIR)/$(libdir)/$(devlink) && \
++		ln -s $(lib_so) $(DESTDIR)/$(libdir)/$(soname) && \
++		ln -s $(soname) $(DESTDIR)/$(libdir)/$(devlink) || \
+ 		true
+ 	for h in $(hdr); do cp -p $(srcdir)/$$h $(DESTDIR)$(PREFIX)/include/; done
+ 
+ .PHONY: uninstall
+ uninstall:
+-	rm -f $(DESTDIR)$(PREFIX)/$(libdir)/$(lib_a)
+-	rm -f $(DESTDIR)$(PREFIX)/$(libdir)/$(lib_so)
++	rm -f $(DESTDIR)/$(libdir)/$(lib_a)
++	rm -f $(DESTDIR)/$(libdir)/$(lib_so)
+ 	[ -n "$(soname)" ] && \
+-		rm -f $(DESTDIR)$(PREFIX)/$(libdir)/$(soname) $(DESTDIR)$(PREFIX)/$(libdir)/$(devlink) || \
++		rm -f $(DESTDIR)/$(libdir)/$(soname) $(DESTDIR)/$(libdir)/$(devlink) || \
+ 		true
+ 	for i in $(hdr); do rm -f $(DESTDIR)$(PREFIX)/include/$$i; done
+ 
+diff --git a/configure b/configure
+index 6f85fec..7f6289d 100755
+--- a/configure
++++ b/configure
+@@ -8,18 +8,18 @@ DBG=yes
+ X11=yes
+ 
+ srcdir="`dirname "$0"`"
+-libdir=lib64
+-
+-#if [ "`uname -m`" = 'x86_64' ]; then
+-#	libdir=lib64
+-#fi
+-
++libdir=/usr/lib
++echo "initial $prefix"
+ for arg; do
+ 	case "$arg" in
+ 	--prefix=*)
+ 		value=`echo $arg | sed 's/--prefix=//'`
+ 		PREFIX=${value:-$prefix}
+ 		;;
++	--libdir=*)
++		value=`echo $arg | sed 's/--libdir=//'`
++		libdir=${value:-$libdir}
++		;;
+ 	
+ 	--enable-opt)
+ 		OPT=yes;;
+@@ -53,6 +53,7 @@ for arg; do
+ done
+ 
+ echo "  prefix: $PREFIX"
++echo "  libdir: $libdir"
+ echo "  optimize for speed: $OPT"
+ echo "  include debugging symbols: $DBG"
+ echo "  x11 communication method: $X11"
+-- 
+2.1.4
+
diff --git a/meta-rcar-gen3-adas/recipes-support/spacenav/libspnav/libspnav-0.2.3.tar.gz b/meta-rcar-gen3-adas/recipes-support/spacenav/libspnav/libspnav-0.2.3.tar.gz
new file mode 100644
index 0000000..ed9da47
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/spacenav/libspnav/libspnav-0.2.3.tar.gz
diff --git a/meta-rcar-gen3-adas/recipes-support/spacenav/libspnav_0.2.3.bb b/meta-rcar-gen3-adas/recipes-support/spacenav/libspnav_0.2.3.bb
new file mode 100644
index 0000000..8586a7c
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/spacenav/libspnav_0.2.3.bb
@@ -0,0 +1,24 @@
+SUMMARY = "SpaceNavigator 3D-mouse daemon interface library"
+SECTION = "libs/multimedia"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://README;md5=a8f5600270c9340ba8f2d956133a91d3"
+
+SRC_URI = " \
+	file://libspnav-0.2.3.tar.gz \
+	file://0001-libspnav-cross-compile.patch \
+	file://0002-Fix-configuration-for-libdir.patch \
+"
+
+SRC_URI[md5sum] = "44d840540d53326d4a119c0f1aa7bf0a"
+SRC_URI[sha256sum] = "7ae4d7bb7f6a5dda28b487891e01accc856311440f582299760dace6ee5f1f93"
+
+S = "${WORKDIR}/libspnav-${PV}"
+
+inherit autotools pkgconfig
+
+B = "${WORKDIR}/libspnav-${PV}"
+
+# Disable X11 protocol
+EXTRA_OECONF = "--disable-x11"
+
+FILES_${PN} = " ${libdir} "
diff --git a/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd/0001-spacenavd-cross-compile.patch b/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd/0001-spacenavd-cross-compile.patch
new file mode 100644
index 0000000..ed4cc51
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd/0001-spacenavd-cross-compile.patch
@@ -0,0 +1,95 @@
+diff -pruN spacenavd-0.6.orig/configure spacenavd-0.6/configure
+--- spacenavd-0.6.orig/configure	2012-05-16 20:56:12.000000000 -0700
++++ spacenavd-0.6/configure	2016-03-18 04:35:24.259067397 -0700
+@@ -154,25 +154,25 @@ cat "$srcdir/Makefile.in" >>Makefile
+ 
+ # create config.h
+ echo 'creating config.h'
+-echo '#ifndef CONFIG_H_' >src/config.h
+-echo '#define CONFIG_H_' >>src/config.h
+-echo >>src/config.h
++echo '#ifndef CONFIG_H_' >$srcdir/src/config.h
++echo '#define CONFIG_H_' >>$srcdir/src/config.h
++echo >>$srcdir/src/config.h
+ if [ "$X11" = yes ]; then
+-	echo '#define USE_X11' >>src/config.h
+-	echo >>src/config.h
++	echo '#define USE_X11' >>$srcdir/src/config.h
++	echo >>$srcdir/src/config.h
+ fi
+ if [ "$HOTPLUG" = yes ]; then
+-	echo '#define USE_NETLINK' >>src/config.h
+-	echo >>src/config.h
++	echo '#define USE_NETLINK' >>$srcdir/src/config.h
++	echo >>$srcdir/src/config.h
+ fi
+-echo '#define VERSION "'$VER'"' >>src/config.h
+-echo >>src/config.h
++echo '#define VERSION "'$VER'"' >>$srcdir/src/config.h
++echo >>$srcdir/src/config.h
+ 
+ # check for alloca.h
+-check_header alloca.h >>src/config.h
++check_header alloca.h >>$srcdir/src/config.h
+ 
+-echo >>src/config.h
+-echo '#endif	/* CONFIG_H_ */' >>src/config.h
++echo >>$srcdir/src/config.h
++echo '#endif	/* CONFIG_H_ */' >>$srcdir/src/config.h
+ 
+ echo ''
+ echo 'Done. You can now type make (or gmake) to compile spacenavd.'
+diff -pruN spacenavd-0.6.orig/Makefile.in spacenavd-0.6/Makefile.in
+--- spacenavd-0.6.orig/Makefile.in	2013-06-25 17:12:28.000000000 -0700
++++ spacenavd-0.6/Makefile.in	2016-03-18 04:44:10.451079903 -0700
+@@ -1,14 +1,14 @@
+-src = $(wildcard src/*.c) $(wildcard src/serial/*.c) $(wildcard src/magellan/*.c)
+-hdr = $(wildcard src/*.h) $(wildcard src/serial/*.h) $(wildcard src/magellan/*.h)
++src = $(wildcard $(srcdir)/src/*.c) $(wildcard $(srcdir)/src/serial/*.c) $(wildcard $(srcdir)/src/magellan/*.c)
++hdr = $(wildcard $(srcdir)/src/*.h) $(wildcard $(srcdir)/src/serial/*.h) $(wildcard $(srcdir)/src/magellan/*.h)
+ obj = $(src:.c=.o)
+ dep = $(obj:.o=.d)
+ bin = spacenavd
+-ctl = spnavd_ctl
+ 
+-CC = gcc
++CC ?= gcc
+ INSTALL = install
+-CFLAGS = -pedantic -Wall $(dbg) $(opt) -fno-strict-aliasing -I$(srcdir)/src -I/usr/local/include $(add_cflags)
+-LDFLAGS = -L/usr/local/lib $(xlib) $(add_ldflags)
++CFLAGS ?= -pedantic -Wall -fno-strict-aliasing  -I/usr/local/include $(add_cflags)
++CFLAGS += $(dbg) $(opt) -I$(srcdir)/src
++LDFLAGS ?= -L/usr/local/lib $(xlib) $(add_ldflags)
+ 
+ $(bin): $(obj)
+ 	$(CC) -o $@ $(obj) $(LDFLAGS)
+@@ -36,7 +36,6 @@ cleandep:
+ install: $(bin)
+ 	$(INSTALL) -d $(DESTDIR)$(PREFIX)/bin
+ 	$(INSTALL) -m 755 $(bin) $(DESTDIR)$(PREFIX)/bin/$(bin)
+-	$(INSTALL) -m 755 $(srcdir)/$(ctl) $(DESTDIR)$(PREFIX)/bin/$(ctl)
+ 	cd $(srcdir) && ./setup_init --no-install
+ 
+ #	[ -d /etc/hal/fdi/policy ] && \
+@@ -45,7 +44,5 @@ install: $(bin)
+ .PHONY: uninstall
+ uninstall:
+ 	rm -f $(DESTDIR)$(PREFIX)/bin/$(bin)
+-	rm -f $(DESTDIR)$(PREFIX)/bin/$(ctl)
+-	rm -f $(DESTDIR)/etc/hal/fdi/policy/spacenav.fdi
+ 
+ #	cd $(srcdir) && ./setup_init remove
+diff -pruN spacenavd-0.6.orig/src/config.h spacenavd-0.6/src/config.h
+--- spacenavd-0.6.orig/src/config.h	1969-12-31 16:00:00.000000000 -0800
++++ spacenavd-0.6/src/config.h	2016-03-18 04:35:24.295067398 -0700
+@@ -0,0 +1,10 @@
++#ifndef CONFIG_H_
++#define CONFIG_H_
++
++#define USE_NETLINK
++
++#define VERSION ""
++
++#define HAVE_ALLOCA_H
++
++#endif	/* CONFIG_H_ */
diff --git a/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd/0002-Fix-build-configuration.patch b/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd/0002-Fix-build-configuration.patch
new file mode 100644
index 0000000..a2500b9
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd/0002-Fix-build-configuration.patch
@@ -0,0 +1,27 @@
+From 10138bf87a7d4c23ce3c067455fb299410b37a49 Mon Sep 17 00:00:00 2001
+From: Andrey Vostrikov <andrey.vostrikov@cogentembedded.com>
+Date: Fri, 22 Apr 2016 13:36:28 +0300
+Subject: [PATCH] Fix build configuration
+
+Signed-off-by: Andrey Vostrikov <andrey.vostrikov@cogentembedded.com>
+---
+ Makefile.in |  6 +++---
+ configure   | 16 ++++++++--------
+ 2 files changed, 11 insertions(+), 11 deletions(-)
+
+diff --git a/Makefile.in b/Makefile.in
+index 27d1a21..48dc517 100644
+--- a/Makefile.in
++++ b/Makefile.in
+@@ -8,7 +8,7 @@ CC ?= gcc
+ INSTALL = install
+ CFLAGS ?= -pedantic -Wall -fno-strict-aliasing  -I/usr/local/include $(add_cflags)
+ CFLAGS += $(dbg) $(opt) -I$(srcdir)/src
+-LDFLAGS ?= -L/usr/local/lib $(xlib) $(add_ldflags)
++LDFLAGS ?= -L/usr/lib64 $(xlib) $(add_ldflags)
+ 
+ $(bin): $(obj)
+ 	$(CC) -o $@ $(obj) $(LDFLAGS)
+diff --git a/configure b/configure
+index 2795a3c..c016b33 100755
+
diff --git a/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd/spacenavd-0.6.tar.gz b/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd/spacenavd-0.6.tar.gz
new file mode 100644
index 0000000..fa9fa37
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd/spacenavd-0.6.tar.gz
diff --git a/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd/spacenavd.service b/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd/spacenavd.service
new file mode 100644
index 0000000..46302a6
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd/spacenavd.service
@@ -0,0 +1,13 @@
+[Unit]
+Description=Spacenavd startup
+RequiresMountsFor=/run
+
+[Service]
+User=root
+EnvironmentFile=-/etc/default/spacenavd
+ExecStart=/usr/bin/spacenavd $OPTARGS
+Type=forking
+
+[Install]
+WantedBy=multi-user.target
+
diff --git a/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd_0.6.bb b/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd_0.6.bb
new file mode 100644
index 0000000..943aa9a
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-support/spacenav/spacenavd_0.6.bb
@@ -0,0 +1,39 @@
+SUMMARY = "Userspace library to SpaceNavigator 3D-mouse"
+SECTION = "libs/multimedia"
+LICENSE = "GPLv3"
+LIC_FILES_CHKSUM = "file://COPYING;md5=d32239bcb673463ab874e80d47fae504"
+
+BBCLASSEXTEND = "native nativesdk"
+
+SRC_URI = " \
+	file://spacenavd-0.6.tar.gz \
+	file://0001-spacenavd-cross-compile.patch \
+	file://0002-Fix-build-configuration.patch \
+"
+
+SRC_URI[md5sum] = "7e2c04fb8dbb7d39b9ee7b64565e0c4f"
+SRC_URI[sha256sum] = "c2d203bf96c5a959590146a43fe5d6e5e8c5c38a8b2f55aa199d967d0d88d0ab"
+
+S = "${WORKDIR}/spacenavd-${PV}"
+B = "${S}"
+
+inherit autotools pkgconfig useradd systemd
+
+# Don't configure udev by default since it will cause a circular
+# dependecy with udev package, which depends on libusb
+EXTRA_OECONF = " --disable-x11"
+
+SRC_URI_append = " file://spacenavd.service"
+
+SYSTEMD_SERVICE_${PN} = "spacenavd.service"
+
+USERADD_PACKAGES = "${PN}"
+GROUPADD_PARAM_${PN} = "--system spacenavd"
+
+do_install_append() {
+    if ${@bb.utils.contains('DISTRO_FEATURES', 'systemd', 'true', 'false', d)}; then
+        install -d ${D}${systemd_unitdir}/system/
+        install -m 0644 ${WORKDIR}/spacenavd.service ${D}${systemd_unitdir}/system/
+    fi
+}
+