Everything under libs/ is reusable code with a CMake target of the same name unless noted. These pages are for someone coding against a library: what it is, what it deliberately is not, its public headers, and what will catch you out. Every library is listed; the ones without a page yet say so.
Library Target What it is Page pub_subzenoh_pub_subZenoh sessions, Cap’n Proto publish and subscribe, expression subscriptions, services, liveliness; the generated schema registry. pub_sub reflectionreflectionREFLECT_STRUCT and REFLECT_ENUM: the compile-time field lists every codec and UI walks.reflection config_codecconfig_codecReflected-struct configuration: YAML and JSON both ways, self-description, validation by field path, clamping. No Qt. config_codec corecorePaths, logging setup, systemd notify; the one place the runtime environment variables are read. core clicliVerb dispatch for the multi-verb tools: global options, exit codes, results on stdout. cli helpershelpersQt-free odds and ends: hex, colour, unit conversion, a rate gate, the FFmpeg log bridge. helpers qt_helpersqt_helpersThe Qt-using sibling: a paint-caching widget base, colour conversion, resource fonts. qt_helpers agent_controlagent_controlThe --mcp control socket embedded in every GUI app: methods, screenshots, input, the widget locator. agent_control dashboard_widgetsdashboard_widgetsEvery dashboard widget, the widget table, the layout config and its loader, the factory, and the widget.* agent methods; shared by the dashboard and the editor. dashboard_widgets node_healthnode_healthThe health a node publishes and the monitor that reads every node at once; what inspect health prints. node_health bagbagRecording and replaying the bus as MCAP. bag
Library Target What it is Page cancanThe backend-independent half: the Channel interface, channel naming, bit-timing arithmetic, the FD length table, a virtual backend. can can_pcancan_pcanPCAN-USB FD adapters over libusb. can_pcan can_socketcancan_socketcanThe kernel’s CAN stack. Linux at runtime, built everywhere. can_socketcan can_moteccan_motecThe MoTeC UTC over libusb, and the network gateways that speak the same command envelope. can_motec can_trccan_trcPCAN .trc traces, read and written; a trace as a replay channel. can_trc can_backendscan_backendsAssembles the backends into one registry so can need not know they exist. can_backends dbc_parserdbc_parserDBC files parsed, and typed decoders generated from them at build time. dbc_parser canopencanopenEDS parsing, SDO, PDO, NMT and LSS, a virtual bus, and code generation from an EDS. canopen
Library Target What it is Page gsofgsofThe Trimble GSOF protocol. constexpr, no I/O. gsof bd992bd992TCP, reconnection and read-before-write configuration for a BD992. bd992 xbusxbusThe Xsens XBus protocol. constexpr, no I/O. xbus mti610mti610The serial port, the reader thread and the Config/Measurement handshake for an MTi-610. mti610 mototrbomototrboMOTOTRBO XNL, XCMP and NAI. constexpr, no I/O. mototrbo xprxprA MOTOTRBO radio’s session over TCP. xpr mselmselThe MSEL Master Relay protocol: decoding reports, building commands. msel display_backlightdisplay_backlightA display module’s rootfs record and the sysfs backlight, light sensor and temperature devices behind it. display_backlight i2c_busi2c_busAn I2C bus by host: Linux i2c-dev, or an MCP2221A bridge elsewhere. i2c_bus mcp2221amcp2221aThe Microchip USB-to-I2C bridge, over HID. mcp2221a
Library Target What it is Page plistplistApple property lists, binary and XML. plist apple_usbapple_usbusbmux client and server, lockdown, TLS, pairing, NCM discovery. Portable protocol layer, Linux transport. apple_usb apple_mfi_icapple_mfi_icThe MFi authentication coprocessor over I2C. apple_mfi_ic iap2iap2The iAP2 accessory protocol and the MFi signer. iap2 airplayairplayThe CarPlay session: RTSP control, pairing crypto, H.264 video, AAC audio, HID. airplay
Library Target What it is Page protowireprotowireJust enough protobuf for MVT and OSM PBF. protowire osmosmOpenStreetMap PBF, decoded. osm mvtmvtMapbox Vector Tiles, decoded and encoded. mvt mbtilesmbtilesThe .mbtiles archive format, and the one place TMS rows become XYZ. mbtiles map_rulesmap_rulesWhat a piece of OSM data is, decided once for the tiler and the router alike. map_rules map_wiremap_wireA road-graph segment on the wire. map_wire road_graphroad_graphThe routable road network on disk, mmap’d, with a contraction hierarchy. road_graph track_storetrack_storeThe race-track catalogue that lives inside the .mbtiles. track_store map_rendermap_renderVector tiles to pixels through QRhi against an offscreen texture; labels, tile cache. map_render map_surfacemap_surfaceThe same map pass drawn straight into a QRhiWidget. map_surface map_controlsmap_controlsThe floating buttons both map surfaces overlay on their maps. map_controls
Library Target What it is Page csymcsymCompile-time symbolic differentiation: a residual lambda traced, differentiated and lowered to straight-line code with its Jacobian, JᵀJ and Jᵀr. Header-only. csym geodesygeodesyThe WGS 84 ellipsoid: geodetic↔ECEF (Vermeille), the NED frame, radii, normal gravity and earth rate, templated so csym can differentiate through it. geodesy deflecdeflecDeflection of the vertical: NGS’s gridded models read verbatim (memory-mapped) and interpolated as NGS does, and the gravity they make. deflec wmmwmm, wmm_hr2025The World Magnetic Model: a compile-time .COF parser and field synthesis, with WMM-HR 2025 embedded and parsed during the build. wmm factor_graphfactor_graphNonlinear least squares on csym residuals: a fixed-lag smoother with frozen marginal priors, and a batch smoother that is RTS for linear models. factor_graph imu_preintimu_preintIMU preintegration from strapdown dq/dv in ECEF with earth rate; the IMU and bias-walk factors, the MTi sample sequencer, a truth simulator. imu_preint vehicle_estimatorvehicle_estimatorMTi and dual-antenna GNSS fused into position, attitude, velocity, acceleration and sideslip, with no bus types; the whole-drive smoother; vehicle_estimator_sim. vehicle_estimator calibration_storecalibration_storeWhat the estimator learned about the installation, kept between sessions as an append-only SQLite history; generic rows, defensive reads. calibration_store
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