Ivy

Ivy is a text-based software bus featuring regular expression based message subscription and is used as the Paparazzi project's components' principal communication cord. Including the libivy headers and library and using a predefined set of messages it is possible for any software component to take part in communication in a Paparazzi biotope. The protocol itself is independent of the Paparazzi project and can be obtained along with examples and documentation from http://www.tls.cena.fr/products/ivy/ .