diff --git a/TODO b/TODO
index 270e4ca..970004d 100644
--- a/TODO
+++ b/TODO
@@ -4,8 +4,11 @@
 - Use string for network exchanges?
 - Mark arguments as const in function headers if needed
    That is done in the owlps-positioning C++ code, but not constantly
-   in C modules.
-- Allow to use hostnames instead of IP addresses.
+   in C modules. [Done in libowlps & libowlps-client.]
+- Allow to use hostnames instead of IP addresses in all modules
+   getaddrinfo(3) (or gethostbyname(3)) should be used when opening
+   sockets in libowlps, then string buffer size have to be adapted in
+   all modules to be able to contain a long hostname.
 - Use struct ether_addr to store MAC addresses?
    We could use the struct ether_addr to store binary MAC addresses,
    and convert them to strings with ether_ntoa() instead of
@@ -14,14 +17,18 @@
 
 * libowlps
 
-- Delete timestamp_is_null()?
-   This function is currently not used.
+- Currently unused functions:
+   ° owl_timestamp_is_null()
+   ° owl_iface_channel_hop()
+   ° owl_iface_set_channel() (except by owl_iface_channel_hop())
+- Move owl_iface_mode_monitor() in owlps-listenerd.c.
 
 
 * Aggregator
 
 - inet_ntoa() is not secure with threads
-   Use inet_ntop() instead?
+   (But it is currently used by only one thread.) Use inet_ntop()
+   instead?
 - Use locks to read/write the AP list
    Currently, several threads can access the list simultaneously, and
    that's not cool!
@@ -34,17 +41,14 @@
    request. We should define an option to allow user to choose the
    time he wants.
 - Allow blank parameters for output options.
-- Fix segfault on SIGINT.
 
 
 * Listener
 
-- Send coordinates in autocalibration requests
-   The listener should be able to know its own position and transmit
-   it in autocalibration requests.
+- Refactor and review read_packet().
+- Listen for autocalibration requests without sending requests?
 - read_packet(): use ieee80211_header_size for all implicit packets
    Currently the size is corrected only for data packets.
-- Fix segfault when rtap_iface is not in monitor mode (?) on Foneras.
 - Move endianess #defines in libowlps?
 - Merge Makefile and Makefile_atheros?
    Use autohell?
@@ -55,7 +59,7 @@
 
 * Client
 
-- Allow to use a string for the direction
+- Allow to use a string for the direction?
    Could be nice, but probably useless.
 
 
diff --git a/libowlps-client/libowlps-client.c b/libowlps-client/libowlps-client.c
index 0c4f19b..dd043f4 100644
--- a/libowlps-client/libowlps-client.c
+++ b/libowlps-client/libowlps-client.c
@@ -16,9 +16,10 @@
  * 'iface' if specified (if you want the interface to be selected,
  * automatically, this parameter should be NULL or an empty string).
  */
-int owlclient_create_trx_socket(char *dest_ip, uint_fast16_t dest_port,
-                                struct sockaddr_in *server,
-                                char *iface)
+int owlclient_create_trx_socket(const char *const dest_ip,
+                                const uint_fast16_t dest_port,
+                                struct sockaddr_in *const server,
+                                const char *const iface)
 {
   struct sockaddr_in client ;
 
@@ -41,7 +42,7 @@ int owlclient_create_trx_socket(char *dest_ip, uint_fast16_t dest_port,
 
 
 /* Selects 'iface' as sending interface for the socket 'sockfd'. */
-void owlclient_use_iface(int sockfd, char *iface)
+void owlclient_use_iface(const int sockfd, const char *const iface)
 {
   if (setsockopt(sockfd, SOL_SOCKET, SO_BINDTODEVICE, iface,
                  strlen(iface) + 1) == -1)
@@ -55,12 +56,18 @@ void owlclient_use_iface(int sockfd, char *iface)
 
 
 
-void owlclient_send_request(int sockfd, struct sockaddr_in *server,
-                            void *packet, uint_fast16_t packet_size,
-                            uint_fast16_t nb_pkt, uint_fast32_t delay)
+void owlclient_send_request(const int sockfd,
+                            const struct sockaddr_in *const server,
+                            const void *const packet,
+                            const uint_fast16_t packet_size,
+                            const uint_fast16_t nb_pkt,
+                            const uint_fast32_t delay)
 {
   uint_fast16_t i ;
 
+  if (nb_pkt == 0)
+    return ;
+
 #ifdef DEBUG
   printf("Sent packets: ") ;
 #endif // DEBUG
@@ -82,8 +89,10 @@ void owlclient_send_request(int sockfd, struct sockaddr_in *server,
 
 
 
-void owlclient_send_packet(int sockfd, struct sockaddr_in *server,
-                           void *packet, uint_fast16_t packet_size)
+void owlclient_send_packet(const int sockfd,
+                           const struct sockaddr_in *const server,
+                           const void *const packet,
+                           const uint_fast16_t packet_size)
 {
   ssize_t nsent = sendto(sockfd, packet, packet_size, 0,
                          (struct sockaddr *) server,
diff --git a/libowlps-client/owlps-client.h b/libowlps-client/owlps-client.h
index 1cc6c20..b005d78 100644
--- a/libowlps-client/owlps-client.h
+++ b/libowlps-client/owlps-client.h
@@ -14,15 +14,21 @@
 
 
 /* Function headers */
-int owlclient_create_trx_socket(char *dest_ip, uint_fast16_t dest_port,
-                                struct sockaddr_in *server,
-                                char *iface) ;
-void owlclient_use_iface(int sockfd, char *iface) ;
-void owlclient_send_request(int sockfd, struct sockaddr_in *server,
-                            void *packet, uint_fast16_t packet_size,
-                            uint_fast16_t nb_pkt, uint_fast32_t delay) ;
-void owlclient_send_packet(int sockfd, struct sockaddr_in *server,
-                           void *packet, uint_fast16_t packet_size) ;
+int owlclient_create_trx_socket(const char *const dest_ip,
+                                const uint_fast16_t dest_port,
+                                struct sockaddr_in *const server,
+                                const char *const iface) ;
+void owlclient_use_iface(const int sockfd, const char *const iface) ;
+void owlclient_send_request(const int sockfd,
+                            const struct sockaddr_in *const server,
+                            const void *const packet,
+                            const uint_fast16_t packet_size,
+                            const uint_fast16_t nb_pkt,
+                            const uint_fast32_t delay) ;
+void owlclient_send_packet(const int sockfd,
+                           const struct sockaddr_in *const server,
+                           const void *const packet,
+                           const uint_fast16_t packet_size) ;
 
 
 #endif // _LIBOWLPS_CLIENT_
diff --git a/libowlps/libowlps.c b/libowlps/libowlps.c
index df88676..c11aea9 100644
--- a/libowlps/libowlps.c
+++ b/libowlps/libowlps.c
@@ -17,6 +17,8 @@
 #include <net/if.h>
 #include <iwlib.h>
 
+#include <assert.h>
+
 #define DEBUG
 
 
@@ -24,13 +26,16 @@ owl_bool owl_run = TRUE ;
 
 
 
+/* *** Miscellaneous functions *** */
+
+
 /*
  * Converts a MAC address from bytes to string.
  * The string is allocated in a static buffer, and will be overwritten
  * each time this function is called.
  * This function is not thread-safe!
  */
-const char* owl_mac_bytes_to_string(uint8_t *mac_binary)
+const char* owl_mac_bytes_to_string(const uint8_t *const mac_binary)
 {
   static char mac_str[OWL_ETHER_ADDR_STRLEN] ;
   owl_mac_bytes_to_string_r(mac_binary, mac_str) ;
@@ -38,13 +43,12 @@ const char* owl_mac_bytes_to_string(uint8_t *mac_binary)
 }
 
 
-
 /*
  * Converts a MAC address from bytes to string.
  * 'mac_str' must be allocated by the caller.
  * This function is thread-safe.
  */
-void owl_mac_bytes_to_string_r(uint8_t *mac_binary,
+void owl_mac_bytes_to_string_r(const uint8_t *const mac_binary,
                                char mac_str[OWL_ETHER_ADDR_STRLEN])
 {
   sprintf(mac_str, "%02x:%02x:%02x:%02x:%02x:%02x",
@@ -53,12 +57,26 @@ void owl_mac_bytes_to_string_r(uint8_t *mac_binary,
 }
 
 
+/*
+ * Compares two MAC addresses.
+ * Returns TRUE if they are identical, FALSE otherwise.
+ */
+owl_bool owl_mac_equals(const uint8_t *const mac1,
+                        const uint8_t *const mac2)
+{
+  int i ;
+  for (i = 0 ; i < ETHER_ADDR_LEN ; ++i)
+    if(mac1[i] != mac2[i])
+      return FALSE ;
+  return TRUE ;
+}
+
 
 /*
  * Converts a IEEE 802.11 frequency into a channel number.
  * Returns 0 if the frequency does not correspond to an official channel.
  */
-uint_fast8_t owl_frequency_to_channel(uint_fast16_t channel)
+uint_fast8_t owl_frequency_to_channel(const uint_fast16_t channel)
 {
   uint_fast8_t c = 0 ; // Result
 
@@ -113,11 +131,14 @@ uint_fast8_t owl_frequency_to_channel(uint_fast16_t channel)
 
 
 
+/* *** Time *** */
+
+
 /*
  * Sets the owl_timestamp 'now' at the current time.
  * Returns 0 in case of success non-zero otherwise.
  */
-int owl_timestamp_now(owl_timestamp *now)
+int owl_timestamp_now(owl_timestamp *const now)
 {
   int ret ;
   struct timespec now_ts ;
@@ -133,7 +154,6 @@ int owl_timestamp_now(owl_timestamp *now)
 }
 
 
-
 /*
  * Returns a owl_timestamp from a struct timespec.
  */
@@ -146,7 +166,6 @@ owl_timestamp owl_timespec_to_timestamp(const struct timespec d)
 }
 
 
-
 /*
  * Returns a owl_timestamp from a struct timeval.
  */
@@ -159,44 +178,40 @@ owl_timestamp owl_timeval_to_timestamp(const struct timeval d)
 }
 
 
-
-owl_bool owl_timestamp_equals(owl_timestamp d1, owl_timestamp d2)
+owl_bool owl_timestamp_equals(const owl_timestamp d1,
+                              const owl_timestamp d2)
 {
   return d1.tv_sec == d2.tv_sec && d1.tv_nsec == d2.tv_nsec ;
 }
 
 
-
-owl_bool owl_timestamp_is_null(owl_timestamp d)
+owl_bool owl_timestamp_is_null(const owl_timestamp d)
 {
   return d.tv_sec == 0 && d.tv_nsec == 0 ;
 }
 
 
-
 /*
  * Converts a owl_timestamp date value into milliseconds.
  */
-uint64_t owl_timestamp_to_ms(owl_timestamp d)
+uint64_t owl_timestamp_to_ms(const owl_timestamp d)
 {
   return (uint64_t) d.tv_sec * 1000u + (uint64_t) d.tv_nsec / 1000000lu ;
 }
 
 
-
 /*
  * Converts a owl_timestamp date value into a printable string.
  * 'dst' must be an allocated array of at least owl_timestamp_STR_LEN
  * characters.
  */
-void owl_timestamp_to_string(char *dst, owl_timestamp src)
+void owl_timestamp_to_string(char *const dst, const owl_timestamp src)
 {
   snprintf(dst, OWL_TIMESTAMP_STR_LEN, "%"PRIu32".%"PRIu32,
            src.tv_sec, src.tv_nsec) ;
 }
 
 
-
 /*
  * Returns the time (in milliseconds) between two dates.
  */
@@ -207,7 +222,6 @@ uint_fast32_t owl_time_elapsed_ms(const owl_timestamp d1,
 }
 
 
-
 /*
  * Returns a owl_timestamp storing the time between two dates.
  */
@@ -226,47 +240,60 @@ owl_timestamp owl_time_elapsed(const owl_timestamp d1,
 
 
 
+/* *** Endianess *** */
+
+
 /*
  * Converts a owl_timestamp from host endianess to network endianess.
  */
-owl_timestamp owl_hton_timestamp(owl_timestamp date)
+owl_timestamp owl_hton_timestamp(const owl_timestamp d)
 {
-  owl_timestamp d ;
-  d.tv_sec = htonl(date.tv_sec) ;
-  d.tv_nsec = htonl(date.tv_nsec) ;
-  return d ;
+  owl_timestamp date ;
+  date.tv_sec = htonl(d.tv_sec) ;
+  date.tv_nsec = htonl(d.tv_nsec) ;
+  return date ;
 }
 
 
-
 /*
  * Converts a owl_timestamp from network endianess to host endianess.
  */
-owl_timestamp owl_ntoh_timestamp(owl_timestamp date)
+owl_timestamp owl_ntoh_timestamp(const owl_timestamp d)
 {
-  owl_timestamp d ;
-  d.tv_sec = ntohl(date.tv_sec) ;
-  d.tv_nsec = ntohl(date.tv_nsec) ;
-  return d ;
+  owl_timestamp date ;
+  date.tv_sec = ntohl(d.tv_sec) ;
+  date.tv_nsec = ntohl(d.tv_nsec) ;
+  return date ;
 }
 
 
-
 /*
- * Compares two MAC addresses.
- * Returns TRUE if they are identical, FALSE otherwise.
+ * Swap bytes composing a float.
+ * You probably want to use the macros owl_htonf() and owl_ntohf()
+ * instead of this function.
  */
-owl_bool owl_mac_equals(uint8_t *mac1, uint8_t *mac2)
+float owl_swap_float(const float f)
 {
-  int i ;
-  for (i = 0 ; i < ETHER_ADDR_LEN ; ++i)
-    if(mac1[i] != mac2[i])
-      return FALSE ;
-  return TRUE ;
+  float ret ;
+  char
+    *f_bytes = (char*) &f,
+    *ret_bytes = (char*) &ret ;
+
+  assert(sizeof(float) == 4) ;
+
+  ret_bytes[0] = f_bytes[3] ;
+  ret_bytes[1] = f_bytes[2] ;
+  ret_bytes[2] = f_bytes[1] ;
+  ret_bytes[3] = f_bytes[0] ;
+
+  return ret ;
 }
 
 
 
+/* *** Network *** */
+
+
 /*
  * Creates a UDP transmission socket and returns its descriptor.
  * Parameters:
@@ -277,14 +304,14 @@ owl_bool owl_mac_equals(uint8_t *mac1, uint8_t *mac2)
  *  - client_description (in/out): the structure in which the client
  *    description will be saved.
  */
-int owl_create_udp_trx_socket(char *server_address,
-                              uint_fast16_t server_port,
-                              struct sockaddr_in *server_description,
-                              struct sockaddr_in *client_description)
+int owl_create_udp_trx_socket(const char *const server_address,
+                              const uint_fast16_t server_port,
+                              struct sockaddr_in *const server_description,
+                              struct sockaddr_in *const client_description)
 {
   int sockfd ; // Socket descriptor
 
-  /* Ceate the UDP socket */
+  /* Create the UDP socket */
   sockfd = socket(AF_INET, SOCK_DGRAM, 0) ;
   if (sockfd < 0)
     {
@@ -309,13 +336,12 @@ int owl_create_udp_trx_socket(char *server_address,
 }
 
 
-
 /*
  * Creates a UDP reception socket and returns its descriptor.
  * Parameters:
  *  - port: port on which the socket listens.
  */
-int owl_create_udp_listening_socket(uint_fast16_t port)
+int owl_create_udp_listening_socket(const uint_fast16_t port)
 {
   int sockfd ; // Socket descriptor
   struct sockaddr_in server_description ; // Server structure
@@ -350,11 +376,10 @@ int owl_create_udp_listening_socket(uint_fast16_t port)
 }
 
 
-
 /*
  * Switches the IEEE 802.11 interface 'iface' to Monitor mode.
  */
-int owl_iface_mode_monitor(char *iface)
+int owl_iface_mode_monitor(const char *const iface)
 {
   struct iwreq wrq ;
   int sockfd = iw_sockets_open() ;
@@ -384,12 +409,12 @@ int owl_iface_mode_monitor(char *iface)
 }
 
 
-
 /*
  * Sets the IEEE 802.11 channel of the interface 'iface'.
  * 'channel' must be an integer between 1 and 14.
  */
-int owl_iface_set_channel(char *iface, uint_fast8_t channel)
+int owl_iface_set_channel(const char *const iface,
+                          const uint_fast8_t channel)
 {
   struct iwreq wrq ;
   int sockfd = iw_sockets_open() ;
@@ -410,12 +435,11 @@ int owl_iface_set_channel(char *iface, uint_fast8_t channel)
 }
 
 
-
 /*
  * Switches alternatively the Wi-Fi channel of the IEEE 802.11 interface
  * 'iface' to 4 or 11.
  */
-int owl_iface_channel_hop(char *iface)
+int owl_iface_channel_hop(const char *const iface)
 {
   uint_fast16_t channel ;
   struct iwreq wrq ;
@@ -425,7 +449,7 @@ int owl_iface_channel_hop(char *iface)
 
   if (ioctl(sockfd, SIOCGIWFREQ, &wrq) == -1)
     {
-      perror("Erreur lors de la lecture de la fréquence ") ;
+      perror("Error reading the frequency") ;
       return ERR_READING_CHANNEL ;
     }
   // The following is not very clean: we should use iw_freq2float(),
@@ -447,10 +471,13 @@ int owl_iface_channel_hop(char *iface)
 
 
 
+/* *** Signals *** */
+
+
 /*
  * Generic signal handler for SIGINT.
  */
-void owl_sigint_handler(int num)
+void owl_sigint_handler(const int num)
 {
   if (num != SIGINT)
     {
@@ -468,9 +495,10 @@ void owl_sigint_handler(int num)
 }
 
 
-
-/* Gestionnaire de signal générique pour SIGTERM */
-void owl_sigterm_handler(int num)
+/*
+ * Generic signal handler for SIGTERM.
+ */
+void owl_sigterm_handler(const int num)
 {
   if (num != SIGTERM)
     {
@@ -484,16 +512,19 @@ void owl_sigterm_handler(int num)
 
 
 
+/* *** Thread-related functions *** */
+
+
 /*
  * Closes the file descriptor 'fd'.
  * 'fd' must be passed as an int pointer (int*).
  */
-void owl_close_fd(void *fd)
+void owl_close_fd(void *const fd)
 {
   if (fd == NULL)
     return ;
 
-  int *file_desc = fd ;
+  const int *const file_desc = fd ;
   if (close(*file_desc) != 0)
     perror("Error closing file descriptor") ;
 #ifdef DEBUG
@@ -504,13 +535,12 @@ void owl_close_fd(void *fd)
 }
 
 
-
 /*
  * Closes the stream 'file'.
  * 'file' must be passed as a pointer on a pointer of FILE (FILE**).
  * If *file either stdout, stderr or stdin, it will not be closed.
  */
-void owl_close_file(void *file)
+void owl_close_file(void *const file)
 {
   if (file == NULL)
     return ;
diff --git a/libowlps/owlps.h b/libowlps/owlps.h
index b28e324..25e8700 100644
--- a/libowlps/owlps.h
+++ b/libowlps/owlps.h
@@ -232,44 +232,59 @@ extern owl_bool owl_run ;
 
 /* Function headers */
 // Misc
-const char* owl_mac_bytes_to_string(uint8_t *mac_binary) ;
-void owl_mac_bytes_to_string_r(uint8_t *mac_binary,
+const char* owl_mac_bytes_to_string(const uint8_t *const mac_binary) ;
+void owl_mac_bytes_to_string_r(const uint8_t *const mac_binary,
                                char mac_str[OWL_ETHER_ADDR_STRLEN]) ;
-owl_bool owl_mac_equals(uint8_t *mac1, uint8_t *mac2) ;
-uint_fast8_t owl_frequency_to_channel(uint_fast16_t channel) ;
+owl_bool owl_mac_equals(const uint8_t *const mac1,
+                        const uint8_t *const mac2) ;
+uint_fast8_t owl_frequency_to_channel(const uint_fast16_t channel) ;
 
 // Time
-int owl_timestamp_now(owl_timestamp *now) ;
+int owl_timestamp_now(owl_timestamp *const now) ;
 owl_timestamp owl_timespec_to_timestamp(const struct timespec d) ;
 owl_timestamp owl_timeval_to_timestamp(const struct timeval d) ;
-void owl_timestamp_to_string(char *dst, owl_timestamp src) ;
-owl_bool owl_timestamp_equals(owl_timestamp d1, owl_timestamp d2) ;
-owl_bool owl_timestamp_is_null(owl_timestamp d) ;
-uint64_t owl_timestamp_to_ms(owl_timestamp date) ;
+owl_bool owl_timestamp_equals(const owl_timestamp d1,
+                              const owl_timestamp d2) ;
+owl_bool owl_timestamp_is_null(const owl_timestamp d) ;
+uint64_t owl_timestamp_to_ms(const owl_timestamp d) ;
+void owl_timestamp_to_string(char *const dst, const owl_timestamp src) ;
 uint_fast32_t owl_time_elapsed_ms(const owl_timestamp d1,
                                   const owl_timestamp d2) ;
 owl_timestamp owl_time_elapsed(const owl_timestamp d1,
                                const owl_timestamp d2) ;
-owl_timestamp owl_hton_timestamp(owl_timestamp date) ;
-owl_timestamp owl_ntoh_timestamp(owl_timestamp date) ;
+
+// Endianess
+owl_timestamp owl_hton_timestamp(const owl_timestamp d) ;
+owl_timestamp owl_ntoh_timestamp(const owl_timestamp d) ;
+float owl_swap_float(const float f) ;
+#if __BYTE_ORDER == __BIG_ENDIAN
+# define owl_htonf(f) (f)
+# define owl_ntohf(f) (f)
+#else // __BYTE_ORDER == __BIG_ENDIAN
+# if __BYTE_ORDER == __LITTLE_ENDIAN
+#  define owl_htonf(f) owl_swap_float(f)
+#  define owl_ntohf(f) owl_swap_float(f)
+# endif // __BYTE_ORDER == __LITTLE_ENDIAN
+#endif // __BYTE_ORDER == __BIG_ENDIAN
 
 // Network
-int owl_create_udp_trx_socket(char *server_address,
-                              uint_fast16_t server_port,
-                              struct sockaddr_in *server_description,
-                              struct sockaddr_in *client_description) ;
-int owl_create_udp_listening_socket(uint_fast16_t port) ;
-int owl_iface_mode_monitor(char *iface) ;
-int owl_iface_set_channel(char *iface, uint_fast8_t channel) ;
-int owl_iface_channel_hop(char *iface) ;
+int owl_create_udp_trx_socket(const char *const server_address,
+                              const uint_fast16_t server_port,
+                              struct sockaddr_in *const server_description,
+                              struct sockaddr_in *const client_description) ;
+int owl_create_udp_listening_socket(const uint_fast16_t port) ;
+int owl_iface_mode_monitor(const char *const iface) ;
+int owl_iface_set_channel(const char *const iface,
+                          const uint_fast8_t channel) ;
+int owl_iface_channel_hop(const char *const iface) ;
 
 // Signals
-void owl_sigint_handler(int num) ;
-void owl_sigterm_handler(int num) ;
+void owl_sigint_handler(const int num) ;
+void owl_sigterm_handler(const int num) ;
 
 // Threads
-void owl_close_fd(void *fd) ;
-void owl_close_file(void *file) ;
+void owl_close_fd(void *const fd) ;
+void owl_close_file(void *const file) ;
 
 
 /* Macros */
diff --git a/owlps-aggregator/Makefile b/owlps-aggregator/Makefile
index f5bf98a..74abb2a 100644
--- a/owlps-aggregator/Makefile
+++ b/owlps-aggregator/Makefile
@@ -1,3 +1,8 @@
+# Source version
+ifndef OWLPS_VERSION
+	OWLPS_VERSION = $$(git describe || echo 'UNKNOWN_VERSION')
+endif
+
 # Répertoire d'installation
 PREFIX=/usr/local
 INSTALL_DIR= $(PREFIX)/bin
@@ -25,7 +30,7 @@ CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes -O -I$(LIBOWLPS_DIR)
 DEPFLAGS=-MMD
 XCFLAGS=$(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
 PICFLAG=-fPIC
-#OWLPSFLAGS =
+OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\"
 LIBS = -pthread -lconfuse -L$(LIBOWLPS_DIR) -lowlps
 LDFLAGS = $(LIBS) $(OWLPSFLAGS)
 
diff --git a/owlps-aggregator/owlps-aggregator.h b/owlps-aggregator/owlps-aggregator.h
index b4bba4b..0060b59 100644
--- a/owlps-aggregator/owlps-aggregator.h
+++ b/owlps-aggregator/owlps-aggregator.h
@@ -11,7 +11,7 @@
 
 
 /* Arguments & program configuration */
-#define OPTIONS "Aa:c:C:f:hi:k:K:l:o:p:t:v" // getopt string
+#define OPTIONS "Aa:c:C:f:hi:k:K:l:o:p:t:vV" // getopt string
 #define DEFAULT_CONFIG_FILE "/usr/local/etc/owlps/owlps-aggregator.conf"
 #define DEFAULT_AGGREGATE_TIMEOUT 1500 // milliseconds
 #define DEFAULT_KEEP_TIMEOUT 3000 // milliseconds
@@ -112,5 +112,6 @@ void order_send(ap_list *ap) ;
 void free_ap_list(void) ;
 
 void print_usage(void) ;
+void print_version(void) ;
 
 #endif // _OWLPS_AGGREGATOR_H_
diff --git a/owlps-aggregator/owlps-aggregatord.c b/owlps-aggregator/owlps-aggregatord.c
index 277a5b1..e98a408 100644
--- a/owlps-aggregator/owlps-aggregatord.c
+++ b/owlps-aggregator/owlps-aggregatord.c
@@ -188,19 +188,30 @@ void parse_config_file(int argc, char **argv)
       CFG_END()
     } ;
 
-  char *config_file ;
+  char *config_file = NULL ; // Configuration file name
 
-  // Option -f specifies a config file, so we search for it first
+  // Option -f specifies a config file, options -h and -V exit the
+  // program, so we search for them first
   int opt ;
-  do
-    opt = getopt(argc, argv, OPTIONS) ;
-  while (opt != 'f' && opt != -1) ;
-  if (opt == 'f')
+  while ((opt = getopt(argc, argv, OPTIONS)) != -1)
     {
-      config_file = malloc((strlen(optarg) + 1) * sizeof(char)) ;
-      strcpy(config_file, optarg) ;
+      switch (opt)
+        {
+        case 'f' :
+          config_file = malloc((strlen(optarg) + 1) * sizeof(char)) ;
+          strcpy(config_file, optarg) ;
+          break ;
+        case 'h' :
+          print_usage() ;
+          exit(0) ;
+        case 'V' :
+          print_version() ;
+          exit(0) ;
+        }
     }
-  else // If -f isn't found, we use the default config file
+
+  // If -f isn't found, we use the default config file
+  if (config_file == NULL)
     {
       config_file =
         malloc((strlen(DEFAULT_CONFIG_FILE) + 1) * sizeof(char)) ;
@@ -415,6 +426,9 @@ int read_loop(int sockfd)
       // Endianess conversions:
       request.request_time = owl_ntoh_timestamp(request.request_time) ;
       request.start_time = owl_ntoh_timestamp(request.start_time) ;
+      request.x_position = owl_ntohf(request.x_position) ;
+      request.y_position = owl_ntohf(request.y_position) ;
+      request.z_position = owl_ntohf(request.z_position) ;
 
       if (cfg_getbool(cfg, "verbose"))
         {
@@ -436,7 +450,7 @@ int read_loop(int sockfd)
                   "\tPosition X: %f\n"
                   "\tPosition Y: %f\n"
                   "\tPosition Z: %f\n"
-                  "\tDirection: %hhd\n"
+                  "\tDirection: %"PRIu8"\n"
                   ,
                   request.type,
                   owl_mac_bytes_to_string(request.ap_mac_addr_bytes),
@@ -1228,9 +1242,12 @@ void print_usage()
          " [-K ap_keep_timeout]"
          " [-C ap_check_interval]"
          "\n"
+         "\t%s -h\n"
+         "\t%s -V\n"
 
          "Main options:\n"
          "\t-h\t\tPrint this help.\n"
+         "\t-V\t\tShow version information.\n"
          "\t-f config_file\tUse 'config_file' instead of the default"
          " configuration file (%s).\n"
          "\t-v\t\tBe verbose (print detailed info on each received"
@@ -1249,7 +1266,7 @@ void print_usage()
          " treated (default: %d).\n"
          "\t-t aggregate_timeout\tRequests are stored during"
          " 'aggregate_timeout' milliseconds before to be grouped"
-         " (default:  %d ms).\n"
+         " (default: %d ms).\n"
          "\t-k keep_timeout\t\tAggregated requests are kept during"
          " 'keep_timeout' milliseconds (default: %d ms).\n"
          "\t-c check_interval\tTime between two checks of the stored"
@@ -1265,6 +1282,8 @@ void print_usage()
          " checks of the stored APs (default: %d ms).\n"
          ,
          program_name,
+         program_name,
+         program_name,
          DEFAULT_CONFIG_FILE,
          POSITIONER_DEFAULT_IP,
          POSITIONER_DEFAULT_PORT,
@@ -1277,3 +1296,17 @@ void print_usage()
          DEFAULT_AP_CHECK_INTERVAL
          ) ;
 }
+
+
+void print_version()
+{
+  printf("This is OwlPS Aggregator, part of the Open Wireless"
+         " Positioning System project.\n"
+         "Version: %s.\n",
+#ifdef OWLPS_VERSION
+         OWLPS_VERSION
+#else // OWLPS_VERSION
+         "unknown version"
+#endif // OWLPS_VERSION
+         ) ;
+}
diff --git a/owlps-ardrone/Makefile b/owlps-ardrone/Makefile
index 382d962..b18f508 100644
--- a/owlps-ardrone/Makefile
+++ b/owlps-ardrone/Makefile
@@ -1,3 +1,8 @@
+# Source version
+ifndef OWLPS_VERSION
+        OWLPS_VERSION = $$(git describe || echo 'UNKNOWN_VERSION')
+endif
+
 # Répertoire d'installation
 PREFIX=/usr/local
 INSTALL_DIR= $(PREFIX)/bin
@@ -29,7 +34,7 @@ XCFLAGS = $(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
 PICFLAG = -fPIC
 LIBS = -L$(LIBOWLPS_DIR) -lowlps -L$(LIBOWLPSCLIENT_DIR) -lowlps-client
 STATIC_LIBS = -liw -lm -lrt
-
+OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\"
 
 ## Cibles de compilation standard ##
 
@@ -42,7 +47,7 @@ all : dynamic static
 % : %.o
 	$(CC) $(LDFLAGS) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LIBS)
 %.o : %.c $(HEADER)
-	$(CC) $(XCFLAGS) -c $<
+	$(CC) $(XCFLAGS) $(OWLPSFLAGS) -c $<
 
 # Compilation du programme
 $(TARGET) : $(TARGET).o $(HEADER)
diff --git a/owlps-ardrone/Makefile_drone b/owlps-ardrone/Makefile_drone
index edd5c2a..2428288 100644
--- a/owlps-ardrone/Makefile_drone
+++ b/owlps-ardrone/Makefile_drone
@@ -1,3 +1,8 @@
+# Source version
+ifndef OWLPS_VERSION
+        OWLPS_VERSION = $$(git describe || echo 'UNKNOWN_VERSION')
+endif
+
 # Emplacement de la suite de cross-compilation
 TOOLCHAIN_PREFIX = /arm
 TOOLCHAIN_BIN = $(TOOLCHAIN_PREFIX)/bin
@@ -39,7 +44,7 @@ STATIC_LIBS = $(LOWLPSA) $(LIBS)
 LATHEROS = -L$(TOOLCHAIN_USR)/lib -L$(TOOLCHAIN_USR_2)/lib
 IATHEROS = -I$(TOOLCHAIN_USR)/include -I$(TOOLCHAIN_USR_2)/include
 LDFLAGS = $(IATHEROS) $(LATHEROS)
-
+OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\"
 
 ## Cibles de compilation standard ##
 
@@ -56,7 +61,7 @@ all: semistatic static
 #	$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(DYNAMIC_LIBS)
 
 %: %.o
-	$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(SEMISTATIC_LIBS)
+	$(CC) $(STRIPFLAGS) $(XCFLAGS) $(OWLPSFLAGS) -o $@ $^ $(LDFLAGS) $(SEMISTATIC_LIBS)
 
 %.static: %.o
 	$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(STATIC_LIBS) \
diff --git a/owlps-ardrone/owlps-drone.c b/owlps-ardrone/owlps-drone.c
index 8c7a65d..ac7ff08 100644
--- a/owlps-ardrone/owlps-drone.c
+++ b/owlps-ardrone/owlps-drone.c
@@ -146,6 +146,9 @@ void parse_main_options(int argc, char **argv)
         case 't' :
           options.delay = strtol(optarg, NULL, 0) ;
           break ;
+        case 'V' :
+          print_version() ;
+          exit(0) ;
         default :
           print_usage() ;
           exit(ERR_BAD_USAGE) ;
@@ -219,7 +222,7 @@ void check_configuration()
       else
         options.nb_pkt = DEFAULT_NBPKT_NORMAL ;
     }
-  
+
   // Calibration request but bad direction
   if (is_calibration_request)
     if (options.direction < OWL_DIRECTION_MIN ||
@@ -271,7 +274,7 @@ void print_configuration()
           "\tDelay: %"PRIuFAST32"\n"
           "\tNumber of packets: %"PRIuFAST16"\n"
           "\tListening port: %"PRIuFAST16"\n"
-          "\tDirection: %d\n"
+          "\tDirection: %"PRIu8"\n"
           "\tX: %f\n"
           "\tY: %f\n"
           "\tZ: %f\n"
@@ -341,6 +344,9 @@ void make_packet()
       printf("Direction = %d, X = %f, Y = %f, Z = %f\n",
              packet[offset - 1], options.x, options.y, options.z) ;
 #endif // DEBUG
+      options.x = owl_htonf(options.x) ;
+      options.y = owl_htonf(options.y) ;
+      options.z = owl_htonf(options.z) ;
       memcpy(&packet[offset], &options.x, sizeof(float)) ;
       offset += sizeof(float) ;
       memcpy(&packet[offset], &options.y, sizeof(float)) ;
@@ -546,6 +552,7 @@ void print_usage()
          "\n"
          "Options:\n"
          "\t-h\t\tPrint this help.\n"
+         "\t-V\t\tPrint version information.\n"
          "\t-d dest_ip\tDestination IP address of the localisation request.\n"
          "\t-p dest_port\tDestination port of the localisation request"
          " (default: %d).\n"
@@ -572,3 +579,17 @@ void print_usage()
          MOBILE_DEFAULT_PORT
          ) ;
 }
+
+
+void print_version()
+{
+  printf("This is OwlPS Client for AR.Drone, part of the Open Wireless"
+         " Positioning System project.\n"
+         "Version: %s.\n",
+#ifdef OWLPS_VERSION
+         OWLPS_VERSION
+#else // OWLPS_VERSION
+         "unknown version"
+#endif // OWLPS_VERSION:w
+         ) ;
+}
diff --git a/owlps-ardrone/owlps-drone.h b/owlps-ardrone/owlps-drone.h
index f16112d..ee1119c 100644
--- a/owlps-ardrone/owlps-drone.h
+++ b/owlps-ardrone/owlps-drone.h
@@ -16,7 +16,7 @@
 #define DEFAULT_DELAY_NORMAL 25000 // Localisation request
 
 /* Program arguments (getopt string) */
-#define OPTIONS "d:hi:l::n:p:t:"
+#define OPTIONS "d:hi:l::n:p:t:V"
 
 
 /* Function headers */
@@ -37,6 +37,7 @@ void send_labview(char*) ;
 void string2data(char*) ;
 void* thread_send(void*) ;
 void print_error(char*) ;
+void print_version(void) ;
 typedef struct result result;
 
 /* Struct */
diff --git a/owlps-client/Makefile b/owlps-client/Makefile
index 92578b6..dd00660 100644
--- a/owlps-client/Makefile
+++ b/owlps-client/Makefile
@@ -1,3 +1,8 @@
+# Source version
+ifndef OWLPS_VERSION
+	OWLPS_VERSION = $$(git describe || echo 'UNKNOWN_VERSION')
+endif
+
 # Répertoire d'installation
 PREFIX=/usr/local
 INSTALL_DIR= $(PREFIX)/bin
@@ -27,6 +32,7 @@ CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes \
 DEPFLAGS = -MMD
 XCFLAGS = $(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
 PICFLAG = -fPIC
+OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\"
 LIBS = -L$(LIBOWLPS_DIR) -lowlps -L$(LIBOWLPSCLIENT_DIR) -lowlps-client
 STATIC_LIBS = -liw -lm -lrt
 
@@ -42,7 +48,7 @@ all : dynamic static
 % : %.o
 	$(CC) $(LDFLAGS) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LIBS)
 %.o : %.c $(HEADER)
-	$(CC) $(XCFLAGS) -c $<
+	$(CC) $(XCFLAGS) $(OWLPSFLAGS) -c $<
 
 # Compilation du programme
 $(TARGET) : $(TARGET).o $(HEADER)
diff --git a/owlps-client/Makefile_atheros b/owlps-client/Makefile_atheros
index feeaeeb..8cb08e9 100644
--- a/owlps-client/Makefile_atheros
+++ b/owlps-client/Makefile_atheros
@@ -1,3 +1,8 @@
+# Source version
+ifndef OWLPS_VERSION
+	OWLPS_VERSION = $$(git describe || echo 'UNKNOWN_VERSION')
+endif
+
 # Emplacement de la suite de cross-compilation
 TOOLCHAIN_PREFIX = $$HOME/openwrt/atheros/8.09
 TOOLCHAIN_BIN = $(TOOLCHAIN_PREFIX)/staging_dir/toolchain-mips_gcc4.1.2/bin
@@ -40,6 +45,7 @@ STATIC_LIBS = $(LOWLPSA) $(LIBS)
 LATHEROS = -L$(TOOLCHAIN_USR)/lib -L$(TOOLCHAIN_USR_2)/lib
 IATHEROS = -I$(TOOLCHAIN_USR)/include -I$(TOOLCHAIN_USR_2)/include
 LDFLAGS = $(IATHEROS) $(LATHEROS)
+OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\"
 
 
 ## Cibles de compilation standard ##
diff --git a/owlps-client/Makefile_atheros_openwrt-10.03 b/owlps-client/Makefile_atheros_openwrt-10.03
index 69cabdc..9b57248 100644
--- a/owlps-client/Makefile_atheros_openwrt-10.03
+++ b/owlps-client/Makefile_atheros_openwrt-10.03
@@ -1,3 +1,8 @@
+# Source version
+ifndef OWLPS_VERSION
+	OWLPS_VERSION = $$(git describe || echo 'UNKNOWN_VERSION')
+endif
+
 # Emplacement de la suite de cross-compilation
 TOOLCHAIN_PREFIX = $$HOME/openwrt/atheros/10.03
 TOOLCHAIN_BIN = $(TOOLCHAIN_PREFIX)/staging_dir/toolchain-mips_gcc-4.3.3+cs_uClibc-0.9.30.1/usr/bin
@@ -40,6 +45,7 @@ STATIC_LIBS = $(LOWLPSA) $(LIBS)
 LATHEROS = -L$(TOOLCHAIN_USR)/lib -L$(TOOLCHAIN_USR_2)/lib
 IATHEROS = -I$(TOOLCHAIN_USR)/include -I$(TOOLCHAIN_USR_2)/include
 LDFLAGS = $(IATHEROS) $(LATHEROS)
+OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\"
 
 
 ## Cibles de compilation standard ##
diff --git a/owlps-client/owlps-client.c b/owlps-client/owlps-client.c
index 5f77440..f9d7c2e 100644
--- a/owlps-client/owlps-client.c
+++ b/owlps-client/owlps-client.c
@@ -26,7 +26,7 @@
 #define DEFAULT_DELAY_NORMAL 25000 // Localisation request
 
 /* Program arguments (getopt string) */
-#define OPTIONS "d:hi:l::n:p:t:"
+#define OPTIONS "d:hi:l::n:p:t:V"
 
 
 /* Function headers */
@@ -43,6 +43,7 @@ void make_packet(void) ;
 void send_request(void) ;
 void receive_position(void) ;
 void print_usage(void) ;
+void print_version(void) ;
 
 
 /* Options */
@@ -162,6 +163,9 @@ void parse_main_options(int argc, char **argv)
         case 't' :
           options.delay = strtol(optarg, NULL, 0) ;
           break ;
+        case 'V' :
+          print_version() ;
+          exit(0) ;
         default :
           print_usage() ;
           exit(ERR_BAD_USAGE) ;
@@ -287,7 +291,7 @@ void print_configuration()
           "\tDelay: %"PRIuFAST32"\n"
           "\tNumber of packets: %"PRIuFAST16"\n"
           "\tListening port: %"PRIuFAST16"\n"
-          "\tDirection: %d\n"
+          "\tDirection: %"PRIu8"\n"
           "\tX: %f\n"
           "\tY: %f\n"
           "\tZ: %f\n"
@@ -348,6 +352,9 @@ void make_packet()
       printf("Direction = %d, X = %f, Y = %f, Z = %f\n",
              packet[offset - 1], options.x, options.y, options.z) ;
 #endif // DEBUG
+      options.x = owl_htonf(options.x) ;
+      options.y = owl_htonf(options.y) ;
+      options.z = owl_htonf(options.z) ;
       memcpy(&packet[offset], &options.x, sizeof(float)) ;
       offset += sizeof(float) ;
       memcpy(&packet[offset], &options.y, sizeof(float)) ;
@@ -405,6 +412,7 @@ void print_usage()
          "\n"
          "Options:\n"
          "\t-h\t\tPrint this help.\n"
+         "\t-V\t\tPrint version information.\n"
          "\t-d dest_ip\tDestination IP address of the localisation request.\n"
          "\t-p dest_port\tDestination port of the localisation request"
          " (default: %d).\n"
@@ -431,3 +439,17 @@ void print_usage()
          MOBILE_DEFAULT_PORT
          ) ;
 }
+
+
+void print_version()
+{
+  printf("This is OwlPS Client, part of the Open Wireless"
+         " Positioning System project.\n"
+         "Version: %s.\n",
+#ifdef OWLPS_VERSION
+         OWLPS_VERSION
+#else // OWLPS_VERSION
+         "unknown version"
+#endif // OWLPS_VERSION
+         ) ;
+}
diff --git a/owlps-listener/Makefile b/owlps-listener/Makefile
index 5d536c7..fd217dd 100644
--- a/owlps-listener/Makefile
+++ b/owlps-listener/Makefile
@@ -1,3 +1,8 @@
+# Source version
+ifndef OWLPS_VERSION
+	OWLPS_VERSION = $$(git describe || echo 'UNKNOWN_VERSION')
+endif
+
 # Répertoire d'installation
 PREFIX=/usr/local
 INSTALL_DIR= $(PREFIX)/sbin
@@ -27,7 +32,8 @@ CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes \
 DEPFLAGS = -MMD
 XCFLAGS = $(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
 PICFLAG = -fPIC
-OWLPSFLAGS = -D USE_CONFIG_FILE -lconfuse -D USE_PTHREAD -pthread
+OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\" \
+	-D USE_CONFIG_FILE -lconfuse -D USE_PTHREAD -pthread
 LIBS = -L$(LIBOWLPS_DIR) -lowlps \
 	-L$(LIBOWLPSCLIENT_DIR) -lowlps-client \
 	-lpcap
diff --git a/owlps-listener/Makefile_atheros b/owlps-listener/Makefile_atheros
index 02ca335..2604b04 100644
--- a/owlps-listener/Makefile_atheros
+++ b/owlps-listener/Makefile_atheros
@@ -1,3 +1,8 @@
+# Source version
+ifndef OWLPS_VERSION
+	OWLPS_VERSION = $$(git describe)
+endif
+
 # Emplacement de la suite de cross-compilation
 TOOLCHAIN_PREFIX = $$HOME/openwrt/atheros/8.09
 TOOLCHAIN_BIN = $(TOOLCHAIN_PREFIX)/staging_dir/toolchain-mips_gcc4.1.2/bin
@@ -36,7 +41,8 @@ LOWLPSCLIENTA = $(LIBOWLPSCLIENT_DIR)/libowlps-client.a
 LIBS = -lpcap -liw -lm $(LOWLPSCLIENTA)
 LATHEROS = -L$(TOOLCHAIN_USR)/lib -L$(TOOLCHAIN_USR_2)/lib
 IATHEROS = -I$(TOOLCHAIN_USR)/include -I$(TOOLCHAIN_USR_2)/include
-OWLPSFLAGS = -D USE_PTHREAD -pthread
+OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\" \
+	-D USE_PTHREAD -pthread
 #OWLPSFLAGS += -D USE_CONFIG_FILE -lconfuse
 LDFLAGS = $(OWLPSFLAGS) $(LIBS)
 
diff --git a/owlps-listener/owlps-listener.h b/owlps-listener/owlps-listener.h
index 47af346..fd8c1f9 100644
--- a/owlps-listener/owlps-listener.h
+++ b/owlps-listener/owlps-listener.h
@@ -24,23 +24,25 @@
  * version of glibc, or another libc (e.g. uClibc), we must define them
  * manually.
  */
-#ifndef le32toh
-# if __BYTE_ORDER == __LITTLE_ENDIAN
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+# ifndef le32toh
 #  define le32toh(x) (x)
-# else // __BYTE_ORDER == __LITTLE_ENDIAN
-#  include <byteswap.h>
-#  define le32toh(x) bswap_32(x)
-# endif // __BYTE_ORDER == __LITTLE_ENDIAN
-#endif // le32toh
-
-#ifndef le16toh
-# if __BYTE_ORDER == __LITTLE_ENDIAN
+# endif // le32toh
+# ifndef le16toh
 #  define le16toh(x) (x)
-# else // __BYTE_ORDER == __LITTLE_ENDIAN
-#  include <byteswap.h>
-#  define le16toh(x) bswap_16(x)
-# endif // __BYTE_ORDER == __LITTLE_ENDIAN
-#endif // le16toh
+# endif // le16toh
+#else // __BYTE_ORDER == __LITTLE_ENDIAN
+# if __BYTE_ORDER == __BIG_ENDIAN
+#  ifndef le32toh
+#   include <byteswap.h>
+#   define le32toh(x) bswap_32(x)
+#  endif // le32toh
+#  ifndef le16toh
+#   include <byteswap.h>
+#   define le16toh(x) bswap_16(x)
+#  endif // le16toh
+# endif // __BYTE_ORDER == __BIG_ENDIAN
+#endif // __BYTE_ORDER == __LITTLE_ENDIAN
 
 
 /* Arguments & program configuration */
@@ -63,6 +65,8 @@ enum {MODE_ACTIVE = 'a', MODE_PASSIVE = 'p', MODE_MIXED = 'm'} ;
 void initialise_configuration(int argc, char **argv) ;
 void parse_config_file(int argc, char **argv) ;
 void parse_command_line(int argc, char **argv) ;
+void parse_main_options(int argc, char **argv) ;
+void parse_calibration_data(int argc, char **argv) ;
 void check_configuration(void) ;
 #ifdef DEBUG
 void print_configuration(void) ;
@@ -157,6 +161,22 @@ void print_version(void) ;
   (cfg_setint(cfg, "autocalibration_nb_packets", (NBPKT)))
 #define GET_AUTOCALIBRATION_NBPKT() \
   (cfg_getint(cfg, "autocalibration_nb_packets"))
+#define SET_MY_DIRECTION(DIRECTION) \
+  (cfg_setint(cfg, "my_direction", (DIRECTION)))
+#define GET_MY_DIRECTION() \
+  (cfg_getint(cfg, "my_direction"))
+#define SET_MY_POSITION_X(POSITION) \
+  (cfg_setfloat(cfg, "my_position_x", (POSITION)))
+#define GET_MY_POSITION_X() \
+  (cfg_getfloat(cfg, "my_position_x"))
+#define SET_MY_POSITION_Y(POSITION) \
+  (cfg_setfloat(cfg, "my_position_y", (POSITION)))
+#define GET_MY_POSITION_Y() \
+  (cfg_getfloat(cfg, "my_position_y"))
+#define SET_MY_POSITION_Z(POSITION) \
+  (cfg_setfloat(cfg, "my_position_z", (POSITION)))
+#define GET_MY_POSITION_Z() \
+  (cfg_getfloat(cfg, "my_position_z"))
 #endif // USE_PTHREAD
 
 #define SET_VERBOSE() \
@@ -234,6 +254,22 @@ void print_version(void) ;
   (options.autocalibration_nb_packets = (NBPKT))
 #define GET_AUTOCALIBRATION_NBPKT() \
   (options.autocalibration_nb_packets)
+#define SET_MY_DIRECTION(DIRECTION) \
+  (options.my_direction = (DIRECTION))
+#define GET_MY_DIRECTION() \
+  (options.my_direction)
+#define SET_MY_POSITION_X(POSITION) \
+  (options.my_position_x = (POSITION))
+#define GET_MY_POSITION_X() \
+  (options.my_position_x)
+#define SET_MY_POSITION_Y(POSITION) \
+  (options.my_position_y = (POSITION))
+#define GET_MY_POSITION_Y() \
+  (options.my_position_y)
+#define SET_MY_POSITION_Z(POSITION) \
+  (options.my_position_z = (POSITION))
+#define GET_MY_POSITION_Z() \
+  (options.my_position_z)
 #endif // USE_PTHREAD
 
 #define SET_VERBOSE() \
diff --git a/owlps-listener/owlps-listenerd.c b/owlps-listener/owlps-listenerd.c
index 033fae3..e26898a 100644
--- a/owlps-listener/owlps-listenerd.c
+++ b/owlps-listener/owlps-listenerd.c
@@ -28,6 +28,8 @@
 #include <netinet/udp.h>
 #include <netinet/ip.h>
 
+#include <assert.h>
+
 
 char *program_name = NULL ;
 uint8_t my_mac_bytes[ETHER_ADDR_LEN] ; // AP MAC address
@@ -36,8 +38,13 @@ char my_ip[INET_ADDRSTRLEN] ; // AP IP address
 pcap_t *capture_handler = NULL ; // Packet capture descriptor
 int aggregation_sockfd ;
 struct sockaddr_in aggregation_server ;
+
+#ifdef USE_PTHREAD
 int autocalibration_send_sockfd ;
 struct sockaddr_in autocalibration_send_server ;
+// TRUE if the coordinates of the listener were provided by the user:
+owl_bool coordinates_provided = FALSE ;
+#endif // USE_PTHREAD
 
 #ifdef USE_CONFIG_FILE
 cfg_t *cfg ; // Configuration structure
@@ -64,6 +71,10 @@ struct {
   uint_fast32_t autocalibration_hello_delay ;
   uint_fast32_t autocalibration_delay ;
   uint_fast16_t autocalibration_nb_packets ;
+  owl_direction my_direction ;
+  float my_position_x ;
+  float my_position_y ;
+  float my_position_z ;
 #endif // USE_PTHREAD
   owl_bool verbose ;
   owl_bool display_captured ;
@@ -85,6 +96,7 @@ struct {
   DEFAULT_AUTOCALIBRATION_HELLO_DELAY,
   DEFAULT_AUTOCALIBRATION_DELAY,
   DEFAULT_AUTOCALIBRATION_NBPKT,
+  0, 0, 0, 0,
 #endif // USE_PTHREAD
   FALSE,
   FALSE
@@ -278,6 +290,14 @@ void parse_config_file(int argc, char **argv)
       // Number of packets for a calibration request:
       CFG_INT("autocalibration_nb_packets",
               DEFAULT_AUTOCALIBRATION_NBPKT, CFGF_NONE),
+      // Direction
+      CFG_INT("my_direction", 0, CFGF_NONE),
+      // Position X
+      CFG_FLOAT("my_position_x", 0, CFGF_NONE),
+      // Position Y
+      CFG_FLOAT("my_position_y", 0, CFGF_NONE),
+      // Position Z
+      CFG_FLOAT("my_position_z", 0, CFGF_NONE),
 #endif // USE_PTHREAD
       // Be verbose, or not:
       CFG_BOOL("verbose", cfg_false, CFGF_NONE),
@@ -306,6 +326,7 @@ void parse_config_file(int argc, char **argv)
                   " You must specify all options on the command line,"
                   " or default value will be used.\n") ;
 #endif // USE_CONFIG_FILE
+          break ;
         case 'h' :
           print_usage() ;
           exit(0) ;
@@ -347,6 +368,14 @@ void parse_config_file(int argc, char **argv)
 
 
 void parse_command_line(int argc, char **argv)
+{
+  parse_main_options(argc, argv) ;
+  parse_calibration_data(argc, argv) ;
+}
+
+
+
+void parse_main_options(int argc, char **argv)
 {
   int opt ;
 
@@ -450,6 +479,29 @@ void parse_command_line(int argc, char **argv)
 
 
 
+void parse_calibration_data(int argc, char **argv)
+{
+  /* Parse remaining arguments (possible calibration data) */
+  if (argc - optind != 0)
+    {
+      if (argc - optind == 4)
+        {
+          coordinates_provided = TRUE ;
+          SET_MY_DIRECTION(strtoul(argv[optind++], NULL, 0)) ;
+          SET_MY_POSITION_X(strtod(argv[optind++], NULL)) ;
+          SET_MY_POSITION_Y(strtod(argv[optind++], NULL)) ;
+          SET_MY_POSITION_Z(strtod(argv[optind], NULL)) ;
+        }
+      else // Bad number of arguments
+        {
+          print_usage() ;
+          exit(ERR_BAD_USAGE) ;
+        }
+    }
+}
+
+
+
 void check_configuration()
 {
   switch (GET_MODE())
@@ -481,15 +533,6 @@ void check_configuration()
       SET_WIFI_IFACE(GET_RTAP_IFACE()) ;
     }
 
-  if (GET_AUTOCALIBRATION() && GET_AUTOCALIBRATION_IP()[0] == '\0')
-    {
-      if (GET_VERBOSE())
-        fprintf(stderr, "No autocalibration IP specified, we will use"
-                " the aggregation IP as the destination of"
-                " autocalibration requests.\n") ;
-      SET_AUTOCALIBRATION_IP(GET_AGGREGATION_IP()) ;
-    }
-
   // Port numbers //
   if (GET_AGGREGATION_PORT() < 1 || GET_AGGREGATION_PORT() > 65535)
     {
@@ -505,22 +548,49 @@ void check_configuration()
                 " failing back to the default value.\n") ;
       SET_LISTENING_PORT(LOC_REQUEST_DEFAULT_PORT) ;
     }
-  if (GET_AUTOCALIBRATION_REQUEST_PORT() < 1 ||
-      GET_AUTOCALIBRATION_REQUEST_PORT() > 65535)
+
+  // Autocalibration stuff //
+#ifdef USE_PTHREAD
+  if (GET_AUTOCALIBRATION())
     {
-      if (GET_VERBOSE())
-        fprintf(stderr, "Warning! Bad autocalibration_request_port:"
-                " failing back to the default value.\n") ;
-      SET_AUTOCALIBRATION_REQUEST_PORT(DEFAULT_AUTOCALIBRATION_REQUEST_PORT) ;
-    }
-  if (GET_AUTOCALIBRATION_PORT() < 1 ||
-      GET_AUTOCALIBRATION_PORT() > 65535)
-    {
-      if (GET_VERBOSE())
-        fprintf(stderr, "Warning! Bad autocalibration_port:"
-                " failing back to the default value.\n") ;
-      SET_AUTOCALIBRATION_PORT(DEFAULT_AUTOCALIBRATION_PORT) ;
+      if (GET_AUTOCALIBRATION_IP()[0] == '\0')
+        {
+          if (GET_VERBOSE())
+            fprintf(stderr, "No autocalibration IP specified, we will"
+                    " use the aggregation IP as the destination of"
+                    " autocalibration requests.\n") ;
+          SET_AUTOCALIBRATION_IP(GET_AGGREGATION_IP()) ;
+        }
+
+      if (GET_AUTOCALIBRATION_NBPKT() < 1)
+        fprintf(stderr, "Warning! autocalibration_nb_packets is null,"
+                " no autocalibration request will be sent!\n") ;
+
+      if (coordinates_provided)
+        if (GET_MY_DIRECTION() < OWL_DIRECTION_MIN ||
+            GET_MY_DIRECTION() > OWL_DIRECTION_MAX)
+          fprintf(stderr, "Warning! « %d » is not a valid"
+                  " direction.\n", (int) GET_MY_DIRECTION()) ;
+
+      // Autocalibration port numbers
+      if (GET_AUTOCALIBRATION_REQUEST_PORT() < 1 ||
+          GET_AUTOCALIBRATION_REQUEST_PORT() > 65535)
+        {
+          if (GET_VERBOSE())
+            fprintf(stderr, "Warning! Bad autocalibration_request_port:"
+                    " failing back to the default value.\n") ;
+          SET_AUTOCALIBRATION_REQUEST_PORT(DEFAULT_AUTOCALIBRATION_REQUEST_PORT) ;
+        }
+      if (GET_AUTOCALIBRATION_PORT() < 1 ||
+          GET_AUTOCALIBRATION_PORT() > 65535)
+        {
+          if (GET_VERBOSE())
+            fprintf(stderr, "Warning! Bad autocalibration_port:"
+                    " failing back to the default value.\n") ;
+          SET_AUTOCALIBRATION_PORT(DEFAULT_AUTOCALIBRATION_PORT) ;
+        }
     }
+#endif // USE_PTHREAD
 }
 
 
@@ -548,6 +618,10 @@ void print_configuration()
           "autocalibration_hello_delay = %"PRIuFAST32"\n"
           "autocalibration_delay = %"PRIuFAST32"\n"
           "autocalibration_nb_packets = %"PRIuFAST16"\n"
+          "my_direction = %"PRIu8"\n"
+          "my_position_x = %f\n"
+          "my_position_y = %f\n"
+          "my_position_z = %f\n"
 #endif // USE_PTHREAD
           "verbose = %s\n"
           "display_captured = %s\n"
@@ -567,6 +641,10 @@ void print_configuration()
           GET_AUTOCALIBRATION_HELLO_DELAY(),
           GET_AUTOCALIBRATION_DELAY(),
           GET_AUTOCALIBRATION_NBPKT(),
+          GET_MY_DIRECTION(),
+          GET_MY_POSITION_X(),
+          GET_MY_POSITION_Y(),
+          GET_MY_POSITION_Z(),
 #endif // USE_PTHREAD
           OWL_BOOL_TO_STRING(GET_VERBOSE()),
           OWL_BOOL_TO_STRING(GET_DISPLAY_CAPTURED())
@@ -812,6 +890,21 @@ void read_packet(u_char *args, const struct pcap_pkthdr *header,
                 printf(".. on the wrong port!") ;
               putchar('\n') ;
             }
+          request.direction =
+            packet[rtap_bytes + ieee80211_header_size + LLC_HEADER_SIZE
+                   + sizeof(struct iphdr) + sizeof(struct udphdr) + 9];
+          memcpy(&request.x_position,
+                 &packet[rtap_bytes + ieee80211_header_size
+                         + LLC_HEADER_SIZE + sizeof(struct iphdr)
+                         + sizeof(struct udphdr) + 10], sizeof(float)) ;
+          memcpy(&request.y_position,
+                 &packet[rtap_bytes + ieee80211_header_size
+                         + LLC_HEADER_SIZE + sizeof(struct iphdr)
+                         + sizeof(struct udphdr) + 14], sizeof(float)) ;
+          memcpy(&request.z_position,
+                 &packet[rtap_bytes + ieee80211_header_size
+                         + LLC_HEADER_SIZE + sizeof(struct iphdr)
+                         + sizeof(struct udphdr) + 18], sizeof(float)) ;
           break ;
 
         default :
@@ -973,9 +1066,9 @@ void read_packet(u_char *args, const struct pcap_pkthdr *header,
              request_time_str,
              start_time_str,
              request.antenna_signal_dbm - 0x100,
-             request.x_position,
-             request.y_position,
-             request.z_position,
+             owl_ntohf(request.x_position),
+             owl_ntohf(request.y_position),
+             owl_ntohf(request.z_position),
              request.direction
              ) ;
     }
@@ -1172,7 +1265,12 @@ uint_fast16_t make_packet(uint8_t **packet)
 {
   uint8_t *pkt ;
   uint_fast16_t size ; // Packet size
+  uint_fast16_t offset ; // Index used to create the packet
   owl_timestamp request_time ;
+  float
+    my_position_x = owl_htonf(GET_MY_POSITION_X()),
+    my_position_y = owl_htonf(GET_MY_POSITION_Y()),
+    my_position_z = owl_htonf(GET_MY_POSITION_Z()) ;
 
   owl_timestamp_now(&request_time) ;
 
@@ -1185,11 +1283,29 @@ uint_fast16_t make_packet(uint8_t **packet)
 
   request_time = owl_hton_timestamp(request_time) ;
 
-  size = sizeof(char) + sizeof(owl_timestamp) ;
+  offset = 0 ;
+  size =
+    sizeof(uint8_t) * 2 + sizeof(owl_timestamp) + sizeof(float) * 3 ;
   pkt = malloc(size) ;
 
-  memset(&pkt[0], OWL_REQUEST_AUTOCALIBRATION, 1) ; // Packet type
-  memcpy(&pkt[1], &request_time, sizeof(request_time)) ;
+  // Request type:
+  memset(&pkt[offset], OWL_REQUEST_AUTOCALIBRATION, 1) ;
+  ++offset ;
+  // Timestamp:
+  memcpy(&pkt[offset], &request_time, sizeof(request_time)) ;
+  offset += sizeof(request_time) ;
+  // Coordinates:
+  pkt[offset] = GET_MY_DIRECTION() ;
+  ++offset ;
+  memcpy(&pkt[offset], &my_position_x, sizeof(float)) ;
+  offset += sizeof(float) ;
+  memcpy(&pkt[offset], &my_position_y, sizeof(float)) ;
+  offset += sizeof(float) ;
+  memcpy(&pkt[offset], &my_position_z, sizeof(float)) ;
+#ifdef DEBUG
+  offset += sizeof(float) ;
+  assert(offset == size) ;
+#endif // DEBUG
 
   *packet = pkt ;
   return size ;
@@ -1225,13 +1341,13 @@ void print_usage()
          " [-D autocalibration_ip]"
          " [-P autocalibration_request_port ] [-a autocalibration_port]"
          " [-H autocalibration_hello_delay] [-t autocalibration_delay]"
-         " [-n autocalibration_nb_packets]\n"
+         " [-n autocalibration_nb_packets] [direction x y z]\n"
          "\t%s -h\n"
          "\t%s -V\n"
 
          "Main options:\n"
          "\t-h\t\tPrint this help.\n"
-         "\t-V\t\tShow version.\n"
+         "\t-V\t\tShow version information.\n"
          "\t-f config_file\tUse 'config_file' instead of the default"
          " configuration file (%s). Available only if program was"
          " compiled with libconfuse.\n"
@@ -1255,16 +1371,19 @@ void print_usage()
          "\t-A\t\t\tEnable autocalibration (default: disabled).\n"
          "\t-D autocalib_ip\t\tDestination IP of the autocalibration"
          "requests (default: aggregation_ip).\n"
-         "\t-P autocalib_req_port\tPort on which autocalibration positioning"
-         " requests are sent (default: %d).\n"
-         "\t-a autocalib_port\tPort on which autocalibration data (hello & orders)"
-         " are exchanged with the aggregation server (default: %d).\n"
+         "\t-P autocalib_req_port\tPort on which autocalibration"
+         " positioning requests are sent (default: %d).\n"
+         "\t-a autocalib_port\tPort on which autocalibration data (hello"
+         " & orders) are exchanged with the aggregation server"
+         " (default: %d).\n"
          "\t-H hello_delay\t\tTime between each hello"
          " message sent to the aggregation server (default: %d s).\n"
          "\t-t delay\t\tTime between each autocalibration"
          " packet transmission (default: %d µs).\n"
          "\t-n nb_packets\t\tNumber of packet transmitted"
          " for one autocalibration request (default: %d).\n"
+         "\tdirection x y z\t\tThe coordinates of the listener"
+         " (direction is an integer; x, y, z are floats).\n"
 
          "Other options:\n"
          "\t-k\tKeep the monitor mode up on wifi_iface. Use it with buggy"
@@ -1293,12 +1412,18 @@ void print_usage()
 
 void print_version()
 {
-  printf("This is OWLPS Listener, part of the Open Wireless Positioning"
+  printf("This is OwlPS Listener, part of the Open Wireless Positioning"
          " System project.\n"
-         "\n"
+         "Version: %s.\n"
          "Compilation-time options:\n"
          "\tSupport for POSIX threads: %s.\n"
          "\tSupport for configuration file (libconfuse): %s.\n",
+#ifdef OWLPS_VERSION
+         OWLPS_VERSION
+#else // OWLPS_VERSION
+         "unknown version"
+#endif // OWLPS_VERSION
+         ,
 #ifdef USE_PTHREAD
          "YES"
 #else // USE_PTHREAD
diff --git a/owlps-positioning/Makefile b/owlps-positioning/Makefile
index ad2121f..5545c48 100644
--- a/owlps-positioning/Makefile
+++ b/owlps-positioning/Makefile
@@ -1,5 +1,9 @@
-.PHONY : all test doc prepare clean purge install uninstall style check
+# Source version
+ifndef OWLPS_VERSION
+	OWLPS_VERSION = $$(git describe || echo 'UNKNOWN_VERSION')
+endif
 
+# Directories & files
 SRC_DIR = src
 OBJ_DIR = obj
 TESTS_DIR = tests
@@ -8,7 +12,7 @@ DOXYFILE = Doxyfile
 
 # Installation directory
 PREFIX = /usr/local
-INSTALL_DIR =  $(PREFIX)/bin
+INSTALL_DIR = $(PREFIX)/bin
 
 # System tools
 RM = rm -fv
@@ -19,7 +23,7 @@ MKDIR = mkdir -pv
 
 # Other tools
 STYLE = astyle --style=gnu --formatted
-CPPCHECK = cppcheck --enable=all
+CPPCHECK = cppcheck --quiet --enable=all
 DOXYGEN = doxygen >/dev/null
 
 # Compilation tools
@@ -36,8 +40,11 @@ GXXFLAGS = $(DEBUG) -Wall -Wextra -I$(LIBOWLPS_DIR)
 LD = $(CXX)
 LDFLAGS = -lstdc++ -lm -lrt -lboost_program_options \
 	-L$(LIBOWLPS_DIR) -lowlps
+OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\"
 
 # Targets
+.PHONY : all test doc clean purge install uninstall style check
+
 TARGET = owlps-positioning
 OBJ_TARGET = $(OBJ_DIR)/$(TARGET).o
 SOURCE_TARGET = $(SRC_DIR)/$(TARGET).cc
@@ -113,14 +120,14 @@ SOURCE_TESTS = $(OBJ:$(OBJ_DIR)/%.o=$(TESTS_DIR)/%_test.hh)
 OBJ_TESTS = $(TESTUTIL_OBJ) $(TESTSETUP_OBJ)
 INCLUDES_TESTS = $(TESTS_DIR)/valuetraits.hh
 
-all: prepare $(TARGET)
+all: $(TARGET)
 
 # Generic targets
 $(TESTS_DIR)/%.o: $(TESTS_DIR)/%.cc $(TESTS_DIR)/%.hh
 	$(CXX) $(GXXFLAGS) $(TESTSGXXFLAGS) -o $@ -c $<
 
 $(OBJ_DIR)/%.o: $(SRC_DIR)/%.cc $(SRC_DIR)/%.hh
-	$(CXX) $(GXXFLAGS) -o $@ -c $<
+	$(MKDIR) $(OBJ_DIR) && $(CXX) $(GXXFLAGS) $(OWLPSFLAGS) -o $@ -c $<
 
 %: $(OBJ_DIR)/%.o
 	$(LD) $(LDFLAGS) -o $@ $^
@@ -289,15 +296,12 @@ $(TESTS_OBJ): $(TESTS_XX) $(INCLUDES_TESTS)
 $(TESTS_TARGET): $(TESTS_OBJ) $(OBJ_TESTS) $(OBJ) $(OBJ_NOTEST)
 	$(LD) $(LDFLAGS) -o $@ $^
 
-test: prepare $(TESTS_TARGET)
+test: $(TESTS_TARGET)
 	@$(TESTS_TARGET)
 
 doc:
 	@$(DOXYGEN) $(DOXYFILE)
 
-prepare:
-	@$(MKDIR) $(OBJ_DIR)
-
 clean:
 	@$(RM) *~ */*~ *.orig */*.orig
 	@$(RM_RECURSIVE_VERBOSE) $(OBJ_DIR)
diff --git a/owlps-positioning/TODO b/owlps-positioning/TODO
index bae3bfb..edec94a 100644
--- a/owlps-positioning/TODO
+++ b/owlps-positioning/TODO
@@ -1,7 +1,4 @@
 
-- Fix Makefile
-   The 'prepare' target *must* be called before the *.o targets.
-
 - Write a class for Request::type?
    CalibrationRequest::direction uses a dedicated class Direction, why
    not Request::type? That would simplify writing of the type to
@@ -38,9 +35,6 @@
    ° Différencier le pas pour X, Y et Z ?
    ° Régler le start & stop dans MultilaterationAlgorithm.
 
-- Mobile
-   Attributs Viterbi ? (Cf. l'ancien clientinfo.hh.)
-
 - Renommages de membres
    ° InputMedium :
    °° current_line_nb et get_current_line_nb()
@@ -48,10 +42,6 @@
    ° Input : get_next_request() −> read_next_request()
    ° Area : p_min et p_max −> coord_min et coord_max
 
-- Doxygen
-   ° Pourquoi une description détaillée placée dans un .cc ne s'affiche
-   pas pour operator<<() ?
-
 - « C++ en action »
    ° Espaces de noms ? 109
    ° Réserver l'espace mémoire des vector avec reserve(). 217
diff --git a/owlps-positioning/src/csvfilereader.cc b/owlps-positioning/src/csvfilereader.cc
index 275f888..81607a2 100644
--- a/owlps-positioning/src/csvfilereader.cc
+++ b/owlps-positioning/src/csvfilereader.cc
@@ -117,7 +117,7 @@ bool CSVFileReader::read_point3d(Point3D &p)
 }
 
 
-void CSVFileReader::print_error_cast()
+void CSVFileReader::print_error_cast() const
 {
   cerr
       << "Bad value « "
diff --git a/owlps-positioning/src/csvfilereader.hh b/owlps-positioning/src/csvfilereader.hh
index 7bf5662..87cd41e 100644
--- a/owlps-positioning/src/csvfilereader.hh
+++ b/owlps-positioning/src/csvfilereader.hh
@@ -21,7 +21,7 @@ protected:
   token_iterator ;
   unsigned int current_field_nb ;
 
-  void print_error_cast(void) ;
+  void print_error_cast(void) const ;
 
 public:
   CSVFileReader(const std::string &filename,
diff --git a/owlps-positioning/src/inputudpsocket.cc b/owlps-positioning/src/inputudpsocket.cc
index e9b0be9..d2028bf 100644
--- a/owlps-positioning/src/inputudpsocket.cc
+++ b/owlps-positioning/src/inputudpsocket.cc
@@ -150,9 +150,9 @@ const Request& InputUDPSocket::get_next_request()
 
       calib_request->set_direction(Direction(request.direction)) ;
 
-      ReferencePoint position(request.x_position,
-                              request.y_position,
-                              request.z_position) ;
+      ReferencePoint position(owl_ntohf(request.x_position),
+                              owl_ntohf(request.y_position),
+                              owl_ntohf(request.z_position)) ;
       const ReferencePoint &reference_point =
         Stock::find_create_reference_point(position) ;
       calib_request->set_reference_point(&reference_point) ;
diff --git a/owlps-positioning/src/outputcsv.cc b/owlps-positioning/src/outputcsv.cc
index e83b9bf..3347963 100644
--- a/owlps-positioning/src/outputcsv.cc
+++ b/owlps-positioning/src/outputcsv.cc
@@ -1,53 +1,15 @@
 #include "outputcsv.hh"
-#include "request.hh"
 #include "resultlist.hh"
-#include "mobile.hh"
-
-#include <sstream>
-
-using namespace std ;
 
 
 
-/* *** Operations *** */
-
-
-const string OutputCSV::result_to_csv(const Result &result)
+void OutputCSV::write(const Result &result)
 {
-  ostringstream csv_line ;
-
-  csv_line << result.get_algorithm() ;
-
-  Point3D position = result.get_position() ;
-  csv_line
-      << ';' << position.get_x()
-      << ';' << position.get_y()
-      << ';' << position.get_z() ;
-
-  return csv_line.str() ;
+  file.write_text(result.to_csv() + '\n') ;
 }
 
 
-const string OutputCSV::results_to_csv(const ResultList &results)
+void OutputCSV::write(const ResultList &results)
 {
-  ostringstream csv_line ;
-
-  const Request *const request = results.get_request() ;
-  if (request != NULL)
-    {
-      if (request->get_mobile() != NULL)
-        csv_line << request->get_mobile()->get_mac_addr() ;
-      csv_line
-          << ';' << static_cast<uint_fast16_t>(request->get_type())
-          << ';' << request->get_time_sent() ;
-    }
-  else
-    csv_line << ";;;" ;
-
-  const vector<Result> &res = results.get_results() ;
-  for (vector<Result>::const_iterator r = res.begin() ; r != res.end() ;
-       ++r)
-    csv_line << ';' << result_to_csv(*r) ;
-
-  return csv_line.str() ;
+  file.write_text(results.to_csv() + '\n') ;
 }
diff --git a/owlps-positioning/src/outputcsv.hh b/owlps-positioning/src/outputcsv.hh
index 1a3b0dc..4588377 100644
--- a/owlps-positioning/src/outputcsv.hh
+++ b/owlps-positioning/src/outputcsv.hh
@@ -14,9 +14,6 @@ class OutputCSV: public OutputMedium
 protected:
   TextFileWriter file ;
 
-  const std::string result_to_csv(const Result &result) ;
-  const std::string results_to_csv(const ResultList &results) ;
-
 public:
   OutputCSV(const std::string &filename):
     file(filename) {}
@@ -30,17 +27,5 @@ public:
 /* *** Operations *** */
 
 
-inline void OutputCSV::write(const Result &result)
-{
-  file.write_text(result_to_csv(result) + '\n') ;
-}
-
-
-inline void OutputCSV::write(const ResultList &results)
-{
-  file.write_text(results_to_csv(results) + '\n') ;
-}
-
-
 
 #endif // _OWLPS_POSITIONING_OUTPUTCSV_HH_
diff --git a/owlps-positioning/src/outputudpsocket.cc b/owlps-positioning/src/outputudpsocket.cc
index b605209..6093286 100644
--- a/owlps-positioning/src/outputudpsocket.cc
+++ b/owlps-positioning/src/outputudpsocket.cc
@@ -1,18 +1,15 @@
 #include "outputudpsocket.hh"
 #include "request.hh"
 #include "resultlist.hh"
+#include "posexcept.hh"
+
+#include <owlps.h>
 
 #include <sstream>
-#include <iostream>
-
-#include <netdb.h>
-#include <cstring>
+#include <cstdio> // For perror()
 
 using namespace std ;
 
-struct hostent *hostInfo ;
-struct sockaddr_in serverAddress ;
-
 
 
 /* *** Constructors *** */
@@ -22,13 +19,15 @@ OutputUDPSocket::OutputUDPSocket(const string &_remote_host,
                                  const uint_fast16_t _remote_port):
   remote_host(_remote_host), remote_port(_remote_port)
 {
-  init_socket() ;
+  if (! init_socket())
+    throw error_opening_output_file("UDP socket") ;
+
 }
 
 
 OutputUDPSocket::~OutputUDPSocket()
 {
-  kill_socket() ;
+  close_socket() ;
 }
 
 
@@ -36,56 +35,63 @@ OutputUDPSocket::~OutputUDPSocket()
 /* *** Operations *** */
 
 
-void OutputUDPSocket::write(const ResultList &results)
+/**
+ * @return true if the socket were successfully opened, false in case of
+ * error.
+ */
+bool OutputUDPSocket::init_socket()
 {
-  // Not implemented
+  sockfd = owl_create_udp_trx_socket(remote_host.c_str(), remote_port,
+                                     &server_info, &client_info) ;
+  return sockfd >= 0 ;
+}
+
+
+/**
+ * Normally, the socket is closed automatically by the destructor. Use
+ * this if you want to close the socket prematurely.
+ * #sockfd is set to -1, even in case of error.
+ * @return \em true if the socket were successfully closed or were not
+ * opened.
+ * @return \em false in case of error.
+ */
+bool OutputUDPSocket::close_socket()
+{
+  if (sockfd >= 0)
+    {
+      if (close(sockfd))
+        {
+          perror("Cannot close UDP socket") ;
+          return false ;
+        }
+
+      sockfd = -1 ;
+    }
+
+  return true ;
 }
 
 
 void OutputUDPSocket::write(const Result &result)
 {
-  string timestampXYZ;
-  ostringstream os;
-
-  Point3D position = result.get_position() ;
-
-  os
-      << position.get_x() << ';'
-      << position.get_y() << ';'
-      << position.get_z() ;
-  timestampXYZ = os.str() ;
-
-  cout << timestampXYZ << '\n' ;
-  send_data(timestampXYZ);
+  send_data(result.to_csv()) ;
 }
 
 
-void OutputUDPSocket::init_socket()
+void OutputUDPSocket::write(const ResultList &results)
 {
-  cout << "Initialisation socket..." << endl;
-  hostInfo = gethostbyname(remote_host.c_str());
-  socketDescriptor = socket(AF_INET, SOCK_DGRAM, 0);
-  serverAddress.sin_family = hostInfo->h_addrtype;
-  memcpy((char *) &serverAddress.sin_addr.s_addr,
-         hostInfo->h_addr_list[0], hostInfo->h_length);
-  serverAddress.sin_port = htons(remote_port);
+  send_data(results.to_csv()) ;
 }
 
 
-void OutputUDPSocket::send_data(string data)
+/**
+ * Sends the text buffer 'data'.
+ */
+void OutputUDPSocket::send_data(const string &data)
 {
-  if (sendto(socketDescriptor, data.c_str(), data.size(), 0,
-             (struct sockaddr *) &serverAddress,
-             sizeof(serverAddress)) < 0)
-    {
-      cerr << "Émission du message impossible\n";
-      close(socketDescriptor);
-    }
-}
-
-
-void OutputUDPSocket::kill_socket()
-{
-  cout << "Fermeture de la socket..." << endl;
-  close(socketDescriptor);
+  ssize_t nsent = sendto(sockfd, data.c_str(), data.size(), 0,
+                         (struct sockaddr *) &server_info,
+                         sizeof(server_info)) ;
+  if (nsent != static_cast<ssize_t>(data.size()))
+    perror("Error sending result data") ;
 }
diff --git a/owlps-positioning/src/outputudpsocket.hh b/owlps-positioning/src/outputudpsocket.hh
index 9502f75..2e8b681 100644
--- a/owlps-positioning/src/outputudpsocket.hh
+++ b/owlps-positioning/src/outputudpsocket.hh
@@ -5,21 +5,28 @@
 
 #include <string>
 #include <stdint.h> // <cstdint> is not C++ 98 compliant
+#include <arpa/inet.h>
 
-/// Sends results to an UDP socket
+/// Sends results to a remote host by UDP
+/**
+ * The results are sent through an UDP socket as a CSV string value. The
+ * format used is the same as in OutputCSV.
+ */
 class OutputUDPSocket: public OutputMedium
 {
-private:
-  int socketDescriptor ;
+protected:
+  int sockfd ;
   std::string remote_host ;
   uint_fast16_t remote_port ;
 
+  struct sockaddr_in server_info ;
+  struct sockaddr_in client_info ;
+
   /** @name Operations */
   //@{
   /// Initialises the socket
-  void init_socket(void) ;
-  void kill_socket(void) ;
-  void send_data(std::string msg) ;
+  bool init_socket(void) ;
+  void send_data(const std::string &data) ;
   //@}
 
 public:
@@ -29,9 +36,10 @@ public:
 
   /** @name Operations */
   //@{
-  /// Initialises the socket
   void write(const Result &result) ;
   void write(const ResultList &results) ;
+  /// Closes the socket
+  bool close_socket(void) ;
   //@}
 } ;
 
diff --git a/owlps-positioning/src/result.cc b/owlps-positioning/src/result.cc
index a3f3ea3..1173b0c 100644
--- a/owlps-positioning/src/result.cc
+++ b/owlps-positioning/src/result.cc
@@ -1,6 +1,10 @@
 #include "result.hh"
 #include "request.hh"
 
+#include <sstream>
+
+using namespace std ;
+
 
 
 /* *** Operators *** */
@@ -27,7 +31,25 @@ bool Result::operator==(const Result &source) const
 
 
 
-std::ostream& operator<<(std::ostream &os, const Result &r)
+/**
+ * @return the result as a CSV string, \em without trailing '\n'.
+ */
+const string Result::to_csv() const
+{
+  ostringstream csv_line ;
+
+  csv_line
+      << algorithm
+      << ';' << position.get_x()
+      << ';' << position.get_y()
+      << ';' << position.get_z() ;
+
+  return csv_line.str() ;
+}
+
+
+
+std::ostream& operator<<(ostream &os, const Result &r)
 {
   os
       << "The result of the algorithm " << r.algorithm
diff --git a/owlps-positioning/src/result.hh b/owlps-positioning/src/result.hh
index 13783a1..ac7f223 100644
--- a/owlps-positioning/src/result.hh
+++ b/owlps-positioning/src/result.hh
@@ -32,6 +32,12 @@ public:
   bool operator!=(const Result &source) const ;
   //@}
 
+  /** @name Conversion accessors */
+  //@{
+  /// Convert to a CSV string
+  const std::string to_csv(void) const ;
+  //@}
+
   /// Displays a Result
   friend std::ostream& operator<<(std::ostream &os, const Result &r) ;
 } ;
diff --git a/owlps-positioning/src/resultlist.cc b/owlps-positioning/src/resultlist.cc
index a9492a5..58a6953 100644
--- a/owlps-positioning/src/resultlist.cc
+++ b/owlps-positioning/src/resultlist.cc
@@ -1,5 +1,8 @@
 #include "resultlist.hh"
 #include "request.hh"
+#include "mobile.hh"
+
+#include <sstream>
 
 using namespace std ;
 
@@ -39,6 +42,36 @@ bool ResultList::operator==(const ResultList &source) const
 
 
 
+/* *** Conversion accessors *** */
+
+
+/**
+ * @return the results as a CSV string, \em without trailing '\n'.
+ */
+const string ResultList::to_csv() const
+{
+  ostringstream csv_line ;
+
+  if (request != NULL)
+    {
+      if (request->get_mobile() != NULL)
+        csv_line << request->get_mobile()->get_mac_addr() ;
+      csv_line
+          << ';' << static_cast<uint_fast16_t>(request->get_type())
+          << ';' << request->get_time_sent() ;
+    }
+  else
+    csv_line << ";;;" ;
+
+  for (vector<Result>::const_iterator r = results.begin() ;
+       r != results.end() ; ++r)
+    csv_line << ';' << r->to_csv() ;
+
+  return csv_line.str() ;
+}
+
+
+
 ostream& operator<<(ostream &os, const ResultList &r)
 {
   if (r.request == NULL)
diff --git a/owlps-positioning/src/resultlist.hh b/owlps-positioning/src/resultlist.hh
index 63a453d..84a98b1 100644
--- a/owlps-positioning/src/resultlist.hh
+++ b/owlps-positioning/src/resultlist.hh
@@ -7,6 +7,8 @@ class Request ;
 #include <vector>
 #include <ostream>
 
+/// \brief List of \link Result results \endlink of a single Request,
+/// computed by one or more positioning algorithm
 class ResultList
 {
 protected:
@@ -39,6 +41,12 @@ public:
   bool operator!=(const ResultList &source) const ;
   //@}
 
+  /** @name Conversion accessors */
+  //@{
+  /// Convert to a CSV string
+  const std::string to_csv(void) const ;
+  //@}
+
   /// Displays a ResultList
   friend std::ostream& operator<<(std::ostream &os,
                                   const ResultList &r) ;
diff --git a/owlps-positioning/src/textfilereader.cc b/owlps-positioning/src/textfilereader.cc
index 6ae90c6..9f9f2cb 100644
--- a/owlps-positioning/src/textfilereader.cc
+++ b/owlps-positioning/src/textfilereader.cc
@@ -1,6 +1,8 @@
 #include "textfilereader.hh"
 #include "posexcept.hh"
 
+#include <iostream>
+
 using namespace std ;
 
 
@@ -15,15 +17,26 @@ using namespace std ;
 TextFileReader::TextFileReader(const string &_file_name):
   file_name(_file_name), current_line_nb(0)
 {
-  file.open(file_name.c_str()) ;
-  if (! file)
-    throw error_opening_input_file(file_name) ;
+  if (file_name == "-")
+    {
+      file_buf = file.rdbuf() ;
+      file.std::ios::rdbuf(std::cin.rdbuf()) ;
+    }
+  else
+    {
+      file.open(file_name.c_str()) ;
+      if (! file)
+        throw error_opening_input_file(file_name) ;
+    }
 }
 
 
 TextFileReader::~TextFileReader()
 {
-  file.close() ;
+  if (file_name == "-")
+    file.std::ios::rdbuf(file_buf) ;
+  else
+    file.close() ;
 }
 
 
diff --git a/owlps-positioning/src/textfilereader.hh b/owlps-positioning/src/textfilereader.hh
index 9a55f53..7b5fdae 100644
--- a/owlps-positioning/src/textfilereader.hh
+++ b/owlps-positioning/src/textfilereader.hh
@@ -4,12 +4,20 @@
 #include <string>
 #include <fstream>
 
-/// Read text from a file, line by line
+/// Reads text from a file, line by line
+/**
+ * If the file name is a dash ('-'), the standard input is used.
+ */
 class TextFileReader
 {
 protected:
+  /// Name of the input file
   std::string file_name ;
+  /// Stream associated with the file
   std::ifstream file ;
+/// Original rdbuf of the stream
+  std::streambuf *file_buf ;
+  /// Number of the last line read
   unsigned int current_line_nb ;
 
   /// Checks if the file is readable and closes it if not
diff --git a/owlps-positioning/src/textfilewriter.cc b/owlps-positioning/src/textfilewriter.cc
index 30aadb1..a347c31 100644
--- a/owlps-positioning/src/textfilewriter.cc
+++ b/owlps-positioning/src/textfilewriter.cc
@@ -2,6 +2,8 @@
 #include "configuration.hh"
 #include "posexcept.hh"
 
+#include <iostream>
+
 using namespace std ;
 
 
@@ -10,21 +12,33 @@ using namespace std ;
 
 
 /**
- * @param _file_name The name of the file to open.
+ * @param _file_name The name of the file to open ('-' for the standard
+ * output).
  * @throw error_opening_input_file if the file cannot be opened.
  */
 TextFileWriter::TextFileWriter(const string &_file_name):
   file_name(_file_name)
 {
-  file.open(file_name.c_str()) ;
-  if (! file)
-    throw error_opening_output_file(file_name) ;
+  if (file_name == "-")
+    {
+      file_buf = file.rdbuf() ;
+      file.std::ios::rdbuf(std::cout.rdbuf()) ;
+    }
+  else
+    {
+      file.open(file_name.c_str()) ;
+      if (! file)
+        throw error_opening_output_file(file_name) ;
+    }
 }
 
 
 TextFileWriter::~TextFileWriter()
 {
-  file.close() ;
+  if (file_name == "-")
+    file.std::ios::rdbuf(file_buf) ;
+  else
+    file.close() ;
 }
 
 
diff --git a/owlps-positioning/src/textfilewriter.hh b/owlps-positioning/src/textfilewriter.hh
index cd2fff6..09a5466 100644
--- a/owlps-positioning/src/textfilewriter.hh
+++ b/owlps-positioning/src/textfilewriter.hh
@@ -4,12 +4,19 @@
 #include <string>
 #include <fstream>
 
-/// Write text to a file
+/// Writes text to a file
+/**
+ * If the file name is a dash ('-'), the standard output is used.
+ */
 class TextFileWriter
 {
 private:
+  /// Name of the output file
   std::string file_name ;
+  /// Stream associated with the file
   std::ofstream file ;
+  /// Original rdbuf of the stream
+  std::streambuf *file_buf ;
 
 public:
   TextFileWriter(const std::string &_file_name) ;
diff --git a/owlps-positioning/src/userinterface.cc b/owlps-positioning/src/userinterface.cc
index 0d777ec..4e96d09 100644
--- a/owlps-positioning/src/userinterface.cc
+++ b/owlps-positioning/src/userinterface.cc
@@ -72,10 +72,11 @@ void UserInterface::fill_options()
 void UserInterface::fill_cli_options()
 {
   cli_options->add_options()
-  ("help,h", "Print help")
+  ("help,h", "Print help.")
+  ("version,V", "Print version information.")
   ("config-file,f", po::value<string>()
    ->default_value(DEFAULT_CONFIG_FILE_NAME),
-   "Alternative configuration file")
+   "Alternative configuration file.")
   ; // End of options
 }
 
@@ -187,7 +188,7 @@ this option more than once. Allowed: Terminal, CSV, UDP. \
 If this option is absent, results will be printed on the terminal.")
   ("output.csv-file", po::value<string>(),
    "CSV file to use for output (when output.medium = CSV).")
-  ("output.udp-host", po::value<int>(),
+  ("output.udp-host", po::value<string>(),
    "Host to which the UDP data is sent (when output.medium = UDP).")
   ("output.udp-port", po::value<int>()
    ->default_value(MOBILE_DEFAULT_PORT),
@@ -214,7 +215,7 @@ void UserInterface::fill_misc_options()
 void UserInterface::parse_options()
 {
   parse_command_line() ;
-  print_usage_and_exit_if_requested() ;
+  print_information_and_exit_if_requested() ;
 
   parse_file() ;
 
@@ -231,13 +232,34 @@ void UserInterface::parse_command_line() const
 }
 
 
-void UserInterface::print_usage_and_exit_if_requested() const
+void UserInterface::print_information_and_exit_if_requested() const
 {
+  bool exit_program = false ;
+
+  // Print version if requested
+  if (Configuration::is_configured("version"))
+    {
+      cout
+          << "This is OwlPS Positioning, part of the Open Wireless"
+          << " Positioning System project.\nVersion: " <<
+#ifdef OWLPS_VERSION
+          OWLPS_VERSION
+#else // OWLPS_VERSION
+          "unknown version"
+#endif // OWLPS_VERSION
+          << ".\n" ;
+      exit_program = true ;
+    }
+
+  // Print usage if requested
   if (Configuration::is_configured("help"))
     {
       cout << *cli_options ;
-      exit(0) ;
+      exit_program = true ;
     }
+
+  if (exit_program)
+    exit(0) ;
 }
 
 
diff --git a/owlps-positioning/src/userinterface.hh b/owlps-positioning/src/userinterface.hh
index c57bfd8..bf0890e 100644
--- a/owlps-positioning/src/userinterface.hh
+++ b/owlps-positioning/src/userinterface.hh
@@ -36,8 +36,8 @@ protected:
   void parse_command_line(void) const ;
   void parse_file(void) const ;
 
-  /// If help was requested by user, displays accepted options and exit
-  void print_usage_and_exit_if_requested(void) const ;
+  /// Print usage and/or version information if requested by the user
+  void print_information_and_exit_if_requested(void) const ;
   //@}
 
 public:
diff --git a/owlps-positioning/src/waypoint.cc b/owlps-positioning/src/waypoint.cc
index 07af7fe..506c86c 100644
--- a/owlps-positioning/src/waypoint.cc
+++ b/owlps-positioning/src/waypoint.cc
@@ -76,7 +76,7 @@ bool Waypoint::operator==(const Waypoint &wp) const
 }
 
 
-Waypoint::operator string() const
+Waypoint::operator std::string() const
 {
   ostringstream csv ;
   csv << (Point3D) *this ;