initial

Signed-off-by: Jiri Pirko <jiri@mellanox.com>
diff --git a/COPYING b/COPYING
new file mode 100644
index 0000000..4362b49
--- /dev/null
+++ b/COPYING
@@ -0,0 +1,502 @@
+                  GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 2.1, February 1999
+
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+
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+That's all there is to it!
diff --git a/Makefile.am b/Makefile.am
new file mode 100644
index 0000000..c2e0c57
--- /dev/null
+++ b/Makefile.am
@@ -0,0 +1,5 @@
+MAINTAINERCLEANFILES = Makefile.in
+
+ACLOCAL_AMFLAGS = -I m4
+
+SUBDIRS = include libactuator utils man
diff --git a/README b/README
new file mode 100644
index 0000000..95763f5
--- /dev/null
+++ b/README
@@ -0,0 +1,28 @@
+# libactuator - Library for actuator manipulation #
+
+This package contains a library which provides a wrapper for generic
+Netlink actuator kernel interface. It also provides a tool named "act"
+for manipulation and monitoring of actuators.
+
+## Install
+
+    $ ./autogen.sh
+    $ ./configure
+    $ make
+    $ sudo make install
+
+## Authors
+
+* Jiri Pirko <jiri@resnulli.us>
+
+## Internet Resources
+
+* Project Home:     http://www.libactuator.org/
+* Git Source Tree:  https://git.kernel.org/pub/scm/linux/kernel/git/jpirko/libactuator.git
+
+## License
+
+Copyright (C) 2017 Jiri Pirko <jiri@resnulli.us>
+
+libactuator is distributed under GNU Lesser General Public License version 2.1.
+See the file "COPYING" in the source distribution for information on terms & conditions for accessing and otherwise using libactuator.
diff --git a/SubmittingPatches b/SubmittingPatches
new file mode 100644
index 0000000..f349815
--- /dev/null
+++ b/SubmittingPatches
@@ -0,0 +1,43 @@
+#  How to Submit Patches for libactuator  #
+===========================================
+
+Send changes to libactuator as patches to jiri@resnulli.us.
+
+Avoid using attachments because usually it doesn't work.
+In another words, inline the patch inside the e-mail's body.
+
+The simplest workflow to send changes is using git. The following
+steps will guide you to do the task.
+
+1) Clone the source code on your local machine.
+$ git clone https://git.kernel.org/pub/scm/linux/kernel/git/jpirko/libactuator.git
+
+2) Create a local branch for you
+$ cd libactuator
+$ git checkout -b testbranch
+
+3) Do your changes
+<<do some changes>>
+
+4) Commit them to the repository
+$ git commit -a -s
+
+5) Optionally, you can verify how it looks like in the repo
+$ git show
+
+6) Extract the patch in a standard format into /tmp directory
+$ git format-patch origin -o /tmp --subject-prefix "patch libactuator"
+
+7) Use git send-email to send the patch*.
+$ git send-email /tmp/0001-somepatch.patch --to=jiri@resnulli.us
+
+And you are done :)
+
+* You may need to configure smtp in order to send emails, so please
+  check the "Example" section in the reference [3] below as a start.
+
+Additional references about git:
+[1] http://git-scm.com/docs/gittutorial
+[2] http://git-scm.com/docs/gitworkflows.html
+[3] http://git-scm.com/docs/git-send-email
+[4] http://git-scm.com/book
diff --git a/autogen.sh b/autogen.sh
new file mode 100755
index 0000000..665de9c
--- /dev/null
+++ b/autogen.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+autoreconf --force --install -I m4
+rm -Rf autom4te.cache;
diff --git a/configure.ac b/configure.ac
new file mode 100644
index 0000000..e63027d
--- /dev/null
+++ b/configure.ac
@@ -0,0 +1,66 @@
+#                                               -*- Autoconf -*-
+# Process this file with autoconf to produce a configure script.
+
+AC_INIT([libactuator], [0], [jiri@resnulli.us])
+AC_CONFIG_AUX_DIR([build-aux])
+AC_CONFIG_MACRO_DIR([m4])
+AM_INIT_AUTOMAKE([-Wall foreign subdir-objects])
+m4_ifdef([AM_SILENT_RULES], [AM_SILENT_RULES(yes)], [])
+AM_PROG_AR
+
+# Here are a set of rules to help you update your library version information:
+# 1. Start with version information of ‘0:0:0’ for each libtool library.
+# 2. Update the version information only immediately before a public release
+#    of your software. More frequent updates are unnecessary, and only guarantee
+#    that the current interface number gets larger faster.
+# 3. If the library source code has changed at all since the last update,
+#    then increment revision (‘c:r:a’ becomes ‘c:r+1:a’).
+# 4. If any interfaces have been added, removed, or changed since the last
+#    update, increment current, and set revision to 0.
+# 5. If any interfaces have been added since the last public release, then
+#    increment age.
+# 6. If any interfaces have been removed or changed since the last public
+#    release, then set age to 0.
+
+AC_SUBST(LIBACTUATOR_CURRENT, 0)
+AC_SUBST(LIBACTUATOR_REVISION, 0)
+AC_SUBST(LIBACTUATOR_AGE, 0)
+
+CFLAGS="$CFLAGS -Wall"
+
+# Checks for programs.
+AC_PROG_CC
+LT_INIT
+
+PKG_CHECK_MODULES([LIBMNL], [libmnl])
+
+# Checks for header files.
+AC_CHECK_HEADERS([stdint.h stdlib.h])
+
+# Checks for typedefs, structures, and compiler characteristics.
+AC_C_INLINE
+
+# Checks for library functions.
+AC_FUNC_MALLOC
+
+AC_ARG_ENABLE([logging],
+	AS_HELP_STRING([--disable-logging], [disable system logging @<:@default=enabled@:>@]),
+	[], enable_logging=yes)
+AS_IF([test "x$enable_logging" = "xyes"], [
+	AC_DEFINE(ENABLE_LOGGING, [1], [System logging.])
+])
+
+AC_ARG_ENABLE([debug],
+	AS_HELP_STRING([--enable-debug], [enable debug messages @<:@default=disabled@:>@]),
+	[], [enable_debug=no])
+AS_IF([test "x$enable_debug" = "xyes"], [
+	AC_DEFINE(ENABLE_DEBUG, [1], [Debug messages.])
+])
+
+AC_CONFIG_FILES([Makefile
+include/Makefile \
+libactuator/Makefile \
+libactuator/libactuator.pc \
+utils/Makefile \
+man/Makefile])
+AC_OUTPUT
diff --git a/include/Makefile.am b/include/Makefile.am
new file mode 100644
index 0000000..babb39e
--- /dev/null
+++ b/include/Makefile.am
@@ -0,0 +1,6 @@
+MAINTAINERCLEANFILES = Makefile.in
+
+libactuatorincludedir = $(includedir)
+nobase_libactuatorinclude_HEADERS = actuator.h
+
+noinst_HEADERS = linux/actuator.h
diff --git a/include/actuator.h b/include/actuator.h
new file mode 100644
index 0000000..61efc2a
--- /dev/null
+++ b/include/actuator.h
@@ -0,0 +1,93 @@
+/*
+ *   actuator.h - Actuator manipulation library
+ *   Copyright (C) 2017 Jiri Pirko <jiri@resnulli.us>
+ *
+ *   This library is free software; you can redistribute it and/or
+ *   modify it under the terms of the GNU Lesser General Public
+ *   License as published by the Free Software Foundation; either
+ *   version 2.1 of the License, or (at your option) any later version.
+ *
+ *   This library is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *   Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public
+ *   License along with this library; if not, write to the Free Software
+ *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#ifndef _ACTUATOR_H_
+#define _ACTUATOR_H_
+
+#include <stdarg.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct actuator;
+
+void actuator_set_log_fn(struct actuator *actuator,
+			 void (*log_fn)(struct actuator *actuator, int priority,
+					const char *file, int line,
+					const char *fn, const char *format,
+					va_list args));
+int actuator_get_log_priority(struct actuator *actuator);
+void actuator_set_log_priority(struct actuator *actuator, int priority);
+
+struct actuator_handle {
+	const char *bus_name;
+	const char *dev_name;
+	uint32_t index;
+};
+
+struct actuator_info;
+
+enum actuator_event_type
+actuator_info_event_type(const struct actuator_info *info);
+void actuator_info_handle(const struct actuator_info *info,
+			  struct actuator_handle *handle);
+const char *actuator_info_driver_name(const struct actuator_info *info);
+uint8_t actuator_info_type(const struct actuator_info *info);
+uint8_t actuator_info_units(const struct actuator_info *info);
+bool actuator_info_has_value(const struct actuator_info *info);
+uint32_t actuator_info_value(const struct actuator_info *info);
+bool actuator_info_has_move_state(const struct actuator_info *info);
+uint8_t actuator_info_move_state(const struct actuator_info *info);
+
+typedef void (*actuator_cb_t)(struct actuator *actuator,
+			      struct actuator_info *info, void *cb_priv);
+
+int actuator_get(struct actuator *actuator,
+		 const struct actuator_handle *handle,
+		 actuator_cb_t cb, void *cb_priv);
+int actuator_move(struct actuator *actuator,
+		  const struct actuator_handle *handle, const char *fmt, ...);
+int actuator_stop(struct actuator *actuator,
+		  const struct actuator_handle *handle, const char *fmt, ...);
+
+enum actuator_event_type {
+	ACTUATOR_EVENT_TYPE_GET,
+	ACTUATOR_EVENT_TYPE_NEW,
+	ACTUATOR_EVENT_TYPE_DEL,
+	__ACTUATOR_EVENT_TYPE_MAX,
+	ACTUATOR_EVENT_TYPE_MAX = __ACTUATOR_EVENT_TYPE_MAX - 1
+};
+
+void actuator_event_cb_set(struct actuator *actuator,
+			   enum actuator_event_type type,
+			   actuator_cb_t cb, void *cb_priv);
+int actuator_event_process(struct actuator *actuator);
+int actuator_event_fd_get(struct actuator *actuator);
+
+int actuator_init(struct actuator **p_act);
+void actuator_fini(struct actuator *actuator);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* _ACTUATOR_H_ */
diff --git a/include/linux/actuator.h b/include/linux/actuator.h
new file mode 100644
index 0000000..4e2d958
--- /dev/null
+++ b/include/linux/actuator.h
@@ -0,0 +1,74 @@
+/*
+ * include/uapi/linux/actuator.h - Generic actuator support
+ * Copyright (c) 2017 Jiri Pirko <jiri@resnulli.us>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ */
+
+#ifndef _UAPI_LINUX_ACTUATOR_H_
+#define _UAPI_LINUX_ACTUATOR_H_
+
+#define ACTUATOR_GENL_NAME "actuator"
+#define ACTUATOR_GENL_VERSION 0x1
+#define ACTUATOR_GENL_MCGRP_CONFIG_NAME "config"
+
+enum actuator_command {
+	/* don't change the order or add anything between, this is ABI! */
+	ACTUATOR_CMD_UNSPEC,
+
+	ACTUATOR_CMD_GET,		/* can dump */
+	ACTUATOR_CMD_NEW,
+	ACTUATOR_CMD_DEL,
+
+	ACTUATOR_CMD_MOVE,
+	ACTUATOR_CMD_STOP,
+
+	/* add new commands above here */
+	__ACTUATOR_CMD_MAX,
+	ACTUATOR_CMD_MAX = __ACTUATOR_CMD_MAX - 1
+};
+
+enum actuator_type {
+	ACTUATOR_TYPE_UNSPEC,
+	ACTUATOR_TYPE_LINEAR,
+};
+
+enum actuator_units {
+	ACTUATOR_UNITS_UNSPEC,
+	ACTUATOR_UNITS_UM, /* micrometres */
+};
+
+enum actuator_move_state {
+	ACTUATOR_MOVE_STATE_UNSPEC,
+	ACTUATOR_MOVE_STATE_STOPPED,
+	ACTUATOR_MOVE_STATE_POSITIVE,
+	ACTUATOR_MOVE_STATE_NEGATIVE,
+};
+
+enum actuator_attr {
+	/* don't change the order or add anything between, this is ABI! */
+	ACTUATOR_ATTR_UNSPEC,
+
+	/* bus name + dev name + index together are a handle
+	 * for actuator entity
+	 */
+	ACTUATOR_ATTR_BUS_NAME,		/* string */
+	ACTUATOR_ATTR_DEV_NAME,		/* string */
+	ACTUATOR_ATTR_INDEX,		/* u32 */
+
+	ACTUATOR_ATTR_DRIVER_NAME,	/* string */
+	ACTUATOR_ATTR_TYPE,		/* u8, enum actuator_type */
+	ACTUATOR_ATTR_UNITS,		/* u8, enum actuator_units */
+	ACTUATOR_ATTR_VALUE,		/* u32, in units */
+	ACTUATOR_ATTR_MOVE_STATE,	/* u8, enum actuator_move_state */
+
+	/* add new attributes above here, update the policy in actuator.c */
+
+	__ACTUATOR_ATTR_MAX,
+	ACTUATOR_ATTR_MAX = __ACTUATOR_ATTR_MAX - 1
+};
+
+#endif /* _UAPI_LINUX_ACTUATOR_H_ */
diff --git a/libactuator/Makefile.am b/libactuator/Makefile.am
new file mode 100644
index 0000000..e11a477
--- /dev/null
+++ b/libactuator/Makefile.am
@@ -0,0 +1,17 @@
+MAINTAINERCLEANFILES = Makefile.in
+
+ACLOCAL_AMFLAGS = -I m4
+
+AM_CFLAGS = -fvisibility=hidden -ffunction-sections -fdata-sections
+AM_LDFLAGS = -Wl,--gc-sections -Wl,--as-needed
+
+lib_LTLIBRARIES = libactuator.la
+libactuator_la_SOURCES = libactuator.c mnlg.c
+libactuator_la_CFLAGS= $(AM_CFLAGS) $(LIBMNL_CFLAGS) -I${top_srcdir}/include -D_GNU_SOURCE
+libactuator_la_LIBADD= $(LIBMNL_LIBS)
+libactuator_la_LDFLAGS = $(AM_LDFLAGS) -version-info @LIBACTUATOR_CURRENT@:@LIBACTUATOR_REVISION@:@LIBACTUATOR_AGE@
+
+pkgconfigdir = $(libdir)/pkgconfig
+pkgconfig_DATA = libactuator.pc
+
+EXTRA_DIST = mnlg.h
diff --git a/libactuator/libactuator.c b/libactuator/libactuator.c
new file mode 100644
index 0000000..cf36069
--- /dev/null
+++ b/libactuator/libactuator.c
@@ -0,0 +1,578 @@
+/*
+ *   libactuator.c - Actuator manipulation library
+ *   Copyright (C) 2017 Jiri Pirko <jiri@resnulli.us>
+ *
+ *   This library is free software; you can redistribute it and/or
+ *   modify it under the terms of the GNU Lesser General Public
+ *   License as published by the Free Software Foundation; either
+ *   version 2.1 of the License, or (at your option) any later version.
+ *
+ *   This library is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *   Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public
+ *   License along with this library; if not, write to the Free Software
+ *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdarg.h>
+#include <stdint.h>
+#include <syslog.h>
+#include <string.h>
+#include <ctype.h>
+#include <errno.h>
+#include <assert.h>
+#include <linux/genetlink.h>
+#include <linux/actuator.h>
+#include <libmnl/libmnl.h>
+#include <actuator.h>
+
+#include "mnlg.h"
+
+#define ARRAY_SIZE(x) (sizeof(x) / sizeof((x)[0]))
+#define ACTUATOR_EXPORT __attribute__ ((visibility("default")))
+
+struct actuator_cb {
+	actuator_cb_t cb;
+	void *cb_priv;
+};
+
+struct actuator {
+	void (*log_fn)(struct actuator *actuator, int priority,
+		       const char *file, int line, const char *fn,
+		       const char *format, va_list args);
+	int log_priority;
+	struct mnlg_socket *nlg;
+	struct actuator_cb cbs[ACTUATOR_EVENT_TYPE_MAX + 1];
+};
+
+void actuator_log(struct actuator *actuator, int priority,
+		  const char *file, int line, const char *fn,
+		  const char *format, ...)
+{
+	va_list args;
+
+	va_start(args, format);
+	actuator->log_fn(actuator, priority, file, line, fn, format, args);
+	va_end(args);
+}
+
+static inline void __attribute__((always_inline, format(printf, 2, 3)))
+actuator_log_null(struct actuator *actuator, const char *format, ...) {}
+
+#define actuator_log_cond(act, prio, arg...)					\
+	do {								\
+		if (actuator_get_log_priority(act) >= prio)			\
+			actuator_log(actuator, prio, __FILE__, __LINE__,		\
+				__FUNCTION__, ## arg);			\
+	} while (0)
+
+#ifdef ENABLE_LOGGING
+#  ifdef ENABLE_DEBUG
+#    define dbg(act, arg...) actuator_log_cond(act, LOG_DEBUG, ## arg)
+#  else
+#    define dbg(act, arg...) actuator_log_null(act, ## arg)
+#  endif
+#  define info(act, arg...) actuator_log_cond(act, LOG_INFO, ## arg)
+#  define warn(act, arg...) actuator_log_cond(act, LOG_WARNING, ## arg)
+#  define err(act, arg...) actuator_log_cond(act, LOG_ERR, ## arg)
+#else
+#  define dbg(act, arg...) actuator_log_null(act, ## arg)
+#  define info(act, arg...) actuator_log_null(act, ## arg)
+#  define warn(act, arg...) actuator_log_null(act, ## arg)
+#  define err(act, arg...) actuator_log_null(act, ## arg)
+#endif
+
+static void log_stderr(struct actuator *actuator, int priority,
+		       const char *file, int line, const char *fn,
+		       const char *format, va_list args)
+{
+	fprintf(stderr, "libactuator: %s: ", fn);
+	vfprintf(stderr, format, args);
+	fprintf(stderr, "\n");
+}
+
+static int log_priority(const char *priority)
+{
+	char *endptr;
+	int prio;
+
+	prio = strtol(priority, &endptr, 10);
+	if (endptr[0] == '\0' || isspace(endptr[0]))
+		return prio;
+	if (strncmp(priority, "err", 3) == 0)
+		return LOG_ERR;
+	if (strncmp(priority, "info", 4) == 0)
+		return LOG_INFO;
+	if (strncmp(priority, "debug", 5) == 0)
+		return LOG_DEBUG;
+	return 0;
+}
+
+/**
+ *	actuator_set_log_fn - set logging callback
+ *
+ *	@act: libactuator library context
+ *	@log_fn: function to be called for logging messages
+ *
+ *	The built-in logging writes to stderr. It can be overridden
+ *	by a custom function, to plug log messages into the user's
+ *	logging functionality.
+ */
+ACTUATOR_EXPORT
+void actuator_set_log_fn(struct actuator *actuator,
+			 void (*log_fn)(struct actuator *actuator, int priority,
+					const char *file, int line,
+					const char *fn, const char *format,
+					va_list args))
+{
+	actuator->log_fn = log_fn;
+	dbg(actuator, "Custom logging function %p registered.", log_fn);
+}
+
+/**
+ *	actuator_get_log_priority - get logging priority
+ *
+ *	@act: libactuator library context
+ *
+ *	Get the current logging priority.
+ */
+ACTUATOR_EXPORT
+int actuator_get_log_priority(struct actuator *actuator)
+{
+	return actuator->log_priority;
+}
+
+/**
+ *	actuator_set_log_priority - set logging priority
+ *
+ *	@act: libactuator library context
+ *	@priority: the new logging priority
+ *
+ *	Set the current logging priority. The value controls which messages
+ *	are logged.
+ */
+ACTUATOR_EXPORT
+void actuator_set_log_priority(struct actuator *actuator, int priority)
+{
+	actuator->log_priority = priority;
+}
+
+static int _mnlg_socket_recvfrom(struct actuator *actuator,
+				 mnl_cb_t data_cb, void *data)
+{
+	int err;
+
+	err = mnlg_socket_recvfrom(actuator->nlg, data_cb, data);
+	if (err < 0) {
+		err(actuator, "actuator netlink answers: %s\n", strerror(-err));
+		return err;
+	}
+	return 0;
+}
+
+static int _mnlg_socket_recv_run(struct actuator *actuator,
+				 mnl_cb_t data_cb, void *data)
+{
+	int err;
+
+	err = mnlg_socket_recv_run(actuator->nlg, data_cb, data);
+	if (err < 0) {
+		err(actuator, "actuator netlink answers: %s\n", strerror(-err));
+		return err;
+	}
+	return 0;
+}
+
+static int _mnlg_socket_sndrcv(struct actuator *actuator,
+			       const struct nlmsghdr *nlh,
+			       mnl_cb_t data_cb, void *data)
+{
+	int err;
+
+	err = mnlg_socket_send(actuator->nlg, nlh);
+	if (err < 0) {
+		err(actuator, "Failed to call mnlg_socket_send\n");
+		return err;
+	}
+	return _mnlg_socket_recv_run(actuator, data_cb, data);
+}
+
+static int _mnlg_socket_group_add(struct actuator *actuator,
+				  const char *group_name)
+{
+	int err;
+
+	err = mnlg_socket_group_add(actuator->nlg, group_name);
+	if (err < 0) {
+		err(actuator, "Failed to call mnlg_socket_group_add\n");
+		return err;
+	}
+	return 0;
+}
+
+static void _handle_put(struct nlmsghdr *nlh,
+			const struct actuator_handle *handle)
+{
+	mnl_attr_put_strz(nlh, ACTUATOR_ATTR_BUS_NAME, handle->bus_name);
+	mnl_attr_put_strz(nlh, ACTUATOR_ATTR_DEV_NAME, handle->dev_name);
+	mnl_attr_put_u32(nlh, ACTUATOR_ATTR_INDEX, handle->index);
+}
+
+static const enum mnl_attr_data_type actuator_policy[ACTUATOR_ATTR_MAX + 1] = {
+	[ACTUATOR_ATTR_BUS_NAME] = MNL_TYPE_NUL_STRING,
+	[ACTUATOR_ATTR_DEV_NAME] = MNL_TYPE_NUL_STRING,
+	[ACTUATOR_ATTR_INDEX] = MNL_TYPE_U32,
+	[ACTUATOR_ATTR_DRIVER_NAME] = MNL_TYPE_NUL_STRING,
+	[ACTUATOR_ATTR_TYPE] = MNL_TYPE_U8,
+	[ACTUATOR_ATTR_UNITS] = MNL_TYPE_U8,
+	[ACTUATOR_ATTR_VALUE] = MNL_TYPE_U32,
+	[ACTUATOR_ATTR_MOVE_STATE] = MNL_TYPE_U8,
+};
+
+static int actuator_attr_cb(const struct nlattr *attr, void *data)
+{
+	const struct nlattr **tb = data;
+	int type;
+
+	if (mnl_attr_type_valid(attr, ACTUATOR_ATTR_MAX) < 0)
+		return MNL_CB_ERROR;
+
+	type = mnl_attr_get_type(attr);
+	if (mnl_attr_validate(attr, actuator_policy[type]) < 0)
+		return MNL_CB_ERROR;
+
+	tb[type] = attr;
+	return MNL_CB_OK;
+}
+
+struct actuator_info {
+	enum actuator_event_type type;
+	struct nlattr *tb[ACTUATOR_ATTR_MAX + 1];
+};
+
+ACTUATOR_EXPORT
+enum actuator_event_type
+actuator_info_event_type(const struct actuator_info *info)
+{
+	return info->type;
+}
+
+ACTUATOR_EXPORT
+void actuator_info_handle(const struct actuator_info *info,
+			  struct actuator_handle *handle)
+{
+	handle->bus_name = mnl_attr_get_str(info->tb[ACTUATOR_ATTR_BUS_NAME]);
+	handle->dev_name = mnl_attr_get_str(info->tb[ACTUATOR_ATTR_DEV_NAME]);
+	handle->index = mnl_attr_get_u32(info->tb[ACTUATOR_ATTR_INDEX]);
+}
+
+ACTUATOR_EXPORT
+const char *actuator_info_driver_name(const struct actuator_info *info)
+{
+	return mnl_attr_get_str(info->tb[ACTUATOR_ATTR_DRIVER_NAME]);
+}
+
+ACTUATOR_EXPORT
+uint8_t actuator_info_type(const struct actuator_info *info)
+{
+	return mnl_attr_get_u8(info->tb[ACTUATOR_ATTR_TYPE]);
+}
+
+ACTUATOR_EXPORT
+uint8_t actuator_info_units(const struct actuator_info *info)
+{
+	return mnl_attr_get_u8(info->tb[ACTUATOR_ATTR_UNITS]);
+}
+
+ACTUATOR_EXPORT
+bool actuator_info_has_value(const struct actuator_info *info)
+{
+	return info->tb[ACTUATOR_ATTR_VALUE];
+}
+
+ACTUATOR_EXPORT
+uint32_t actuator_info_value(const struct actuator_info *info)
+{
+	return mnl_attr_get_u32(info->tb[ACTUATOR_ATTR_VALUE]);
+}
+
+ACTUATOR_EXPORT
+bool actuator_info_has_move_state(const struct actuator_info *info)
+{
+	return info->tb[ACTUATOR_ATTR_MOVE_STATE];
+}
+
+ACTUATOR_EXPORT
+uint8_t actuator_info_move_state(const struct actuator_info *info)
+{
+	return mnl_attr_get_u8(info->tb[ACTUATOR_ATTR_MOVE_STATE]);
+}
+
+struct actuator_cb_info {
+	struct actuator *actuator;
+	struct actuator_cb *cbs;
+	unsigned int cbs_count;
+};
+
+static int actuator_cb(const struct nlmsghdr *nlh, void *data)
+{
+	struct genlmsghdr *genl = mnl_nlmsg_get_payload(nlh);
+	struct actuator_cb_info *cb_info = data;
+	struct actuator_info info = {};
+	enum actuator_event_type type;
+	struct nlattr **tb = info.tb;
+	struct actuator_cb *cb;
+	uint8_t cmd = genl->cmd;
+
+	mnl_attr_parse(nlh, sizeof(*genl), actuator_attr_cb, tb);
+	if (!tb[ACTUATOR_ATTR_BUS_NAME] || !tb[ACTUATOR_ATTR_DEV_NAME] ||
+	    !tb[ACTUATOR_ATTR_INDEX] || !tb[ACTUATOR_ATTR_DRIVER_NAME] ||
+	    !tb[ACTUATOR_ATTR_TYPE] || !tb[ACTUATOR_ATTR_UNITS])
+		return MNL_CB_ERROR;
+
+	switch (cmd) {
+	case ACTUATOR_CMD_GET:
+		type = ACTUATOR_EVENT_TYPE_GET;
+		break;
+	case ACTUATOR_CMD_NEW:
+		type = ACTUATOR_EVENT_TYPE_NEW;
+		break;
+	case ACTUATOR_CMD_DEL:
+		type = ACTUATOR_EVENT_TYPE_DEL;
+		break;
+	default: /* Silently ignore the unknowns */
+		return MNL_CB_OK;
+	}
+
+	if (cb_info->cbs_count <= type)
+		return MNL_CB_ERROR;
+	info.type = type;
+	cb = &cb_info->cbs[type];
+	cb->cb(cb_info->actuator, &info, cb->cb_priv);
+	return MNL_CB_OK;
+}
+
+/**
+ *	actuator_get - gets actuator/actuators information
+ *
+ *	@actuator: libactuator library context
+ *	@handle: actuator handle
+ *	@cb: per-actuator instance callback
+ *	@cb_priv: callback private data
+ *
+ *	Gets actuator/actuators information. In case the handle is NULL,
+ *	all available actuators are processed.
+ */
+ACTUATOR_EXPORT
+int actuator_get(struct actuator *actuator,
+		 const struct actuator_handle *handle,
+		 actuator_cb_t _cb, void *cb_priv)
+{
+	uint16_t flags = NLM_F_REQUEST | NLM_F_ACK;
+	struct actuator_cb_info cb_info;
+	struct actuator_cb cb;
+	struct nlmsghdr *nlh;
+
+	cb_info.actuator = actuator;
+	cb.cb = _cb;
+	cb.cb_priv = cb_priv;
+	cb_info.cbs = &cb;
+	cb_info.cbs_count = 1;
+
+	if (!handle)
+		flags |= NLM_F_DUMP;
+	nlh = mnlg_msg_prepare(actuator->nlg, ACTUATOR_CMD_GET, flags);
+	if (handle)
+		_handle_put(nlh, handle);
+	return _mnlg_socket_sndrcv(actuator, nlh, actuator_cb, &cb_info);
+}
+
+/**
+ *	actuator_move - moves actuator
+ *
+ *	@actuator: libactuator library context
+ *	@handle: actuator handle
+ *	@fmt: format for vararg
+ *
+ *	Moves the actuator movement.
+ */
+ACTUATOR_EXPORT
+int actuator_move(struct actuator *actuator,
+		  const struct actuator_handle *handle, const char *fmt, ...)
+{
+	struct nlmsghdr *nlh;
+	va_list ap;
+
+	nlh = mnlg_msg_prepare(actuator->nlg, ACTUATOR_CMD_MOVE,
+			       NLM_F_REQUEST | NLM_F_ACK);
+	_handle_put(nlh, handle);
+
+	va_start(ap, fmt);
+	while (*fmt) {
+		switch (*fmt++) {
+		case 'v': /* value */
+			mnl_attr_put_u32(nlh, ACTUATOR_ATTR_VALUE,
+					 va_arg(ap, uint32_t));
+			break;
+		default:
+			err(actuator, "Unknown move argument format\n");
+			return -EINVAL;
+		}
+	}
+	va_end(ap);
+
+	return _mnlg_socket_sndrcv(actuator, nlh, NULL, NULL);
+}
+
+/**
+ *	actuator_stop - stops actuator
+ *
+ *	@actuator: libactuator library context
+ *	@handle: actuator handle
+ *	@fmt: format for vararg
+ *
+ *	Stops the actuator movement.
+ */
+ACTUATOR_EXPORT
+int actuator_stop(struct actuator *actuator,
+		  const struct actuator_handle *handle, const char *fmt, ...)
+{
+	struct nlmsghdr *nlh;
+	va_list ap;
+
+	nlh = mnlg_msg_prepare(actuator->nlg, ACTUATOR_CMD_STOP,
+			       NLM_F_REQUEST | NLM_F_ACK);
+	_handle_put(nlh, handle);
+
+	va_start(ap, fmt);
+	while (*fmt) {
+		switch (*fmt++) {
+		default:
+			err(actuator, "Unknown stop argument format\n");
+			return -EINVAL;
+		}
+	}
+	va_end(ap);
+
+	return _mnlg_socket_sndrcv(actuator, nlh, NULL, NULL);
+}
+
+/**
+ *	actuator_eventfd_process - processes event filedesctiptor
+ *
+ *	@actuator: libactuator library context
+ *
+ *	Processes event filedesctiptor.
+ */
+ACTUATOR_EXPORT
+void actuator_event_cb_set(struct actuator *actuator,
+			   enum actuator_event_type type,
+			   actuator_cb_t cb, void *cb_priv)
+{
+	actuator->cbs[type].cb = cb;
+	actuator->cbs[type].cb_priv = cb_priv;
+}
+
+/**
+ *	actuator_event_process - processes pending events
+ *
+ *	@actuator: libactuator library context
+ *
+ *	Processes pending events.
+ */
+ACTUATOR_EXPORT
+int actuator_event_process(struct actuator *actuator)
+{
+	struct actuator_cb_info cb_info;
+
+	cb_info.actuator = actuator;
+	cb_info.cbs = actuator->cbs;
+	cb_info.cbs_count = ARRAY_SIZE(actuator->cbs);
+	return _mnlg_socket_recvfrom(actuator, actuator_cb, &cb_info);
+}
+
+/**
+ *	actuator_event_fd_get - gets event filedesctiptor
+ *
+ *	@actuator: libactuator library context
+ *
+ *	Gets event filedesctiptor.
+ */
+ACTUATOR_EXPORT
+int actuator_event_fd_get(struct actuator *actuator)
+{
+	return mnlg_socket_get_fd(actuator->nlg);
+}
+
+static void *myzalloc(size_t size)
+{
+	return calloc(1, size);
+}
+
+/**
+ *	actuator_init - inits actuator context
+ *
+ *	@p_actuator: pointer where new library context address will be stored
+ *
+ *	Allocates and initializes library context, opens generic Netlink socket.
+ */
+ACTUATOR_EXPORT
+int actuator_init(struct actuator **p_actuator)
+{
+	struct actuator *actuator;
+	const char *env;
+	int err;
+
+	actuator = myzalloc(sizeof(*actuator));
+	if (!actuator)
+		return -ENOMEM;
+	actuator->log_fn = log_stderr;
+	actuator->log_priority = LOG_ERR;
+	env = getenv("ACTUATOR_LOG");
+	if (env != NULL)
+		actuator_set_log_priority(actuator, log_priority(env));
+
+	dbg(actuator, "actuator context %p created", actuator);
+	dbg(actuator, "log_priority=%d", actuator->log_priority);
+
+	actuator->nlg = mnlg_socket_open(ACTUATOR_GENL_NAME,
+					 ACTUATOR_GENL_VERSION);
+	if (!actuator->nlg) {
+		err(actuator, "Failed to connect to actuator Netlink");
+		err = -errno;
+		goto err_mnlg_socket_open;
+	}
+
+	err = _mnlg_socket_group_add(actuator, ACTUATOR_GENL_MCGRP_CONFIG_NAME);
+	if (err)
+		goto err_mnlg_socket_group_add;
+
+	*p_actuator = actuator;
+	return 0;
+
+err_mnlg_socket_group_add:
+	mnlg_socket_close(actuator->nlg);
+err_mnlg_socket_open:
+	free(actuator);
+	return err;
+}
+
+/**
+ *	actuator_fini - finishes actuator context
+ *
+ *	@actuator: libactuator library context
+ *
+ *	Do library context cleanup.
+ */
+ACTUATOR_EXPORT
+void actuator_fini(struct actuator *actuator)
+{
+	mnlg_socket_close(actuator->nlg);
+	free(actuator);
+}
diff --git a/libactuator/libactuator.pc.in b/libactuator/libactuator.pc.in
new file mode 100644
index 0000000..22254e4
--- /dev/null
+++ b/libactuator/libactuator.pc.in
@@ -0,0 +1,10 @@
+prefix=@prefix@
+exec_prefix=@exec_prefix@
+libdir=@libdir@
+includedir=@includedir@
+
+Name: libactuator
+Description: Actuator manipulation library.
+Version: @PACKAGE_VERSION@
+Libs: -L${libdir} -lactuator
+Cflags: -I${includedir}
diff --git a/libactuator/mnlg.c b/libactuator/mnlg.c
new file mode 100644
index 0000000..18694f2
--- /dev/null
+++ b/libactuator/mnlg.c
@@ -0,0 +1,292 @@
+/*
+ *   mnlg.c - Generic Netlink helpers for libmnl
+ *   Copyright (C) 2017 Jiri Pirko <jiri@resnulli.us>
+ *
+ *   This library is free software; you can redistribute it and/or
+ *   modify it under the terms of the GNU Lesser General Public
+ *   License as published by the Free Software Foundation; either
+ *   version 2.1 of the License, or (at your option) any later version.
+ *
+ *   This library is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *   Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public
+ *   License along with this library; if not, write to the Free Software
+ *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include <stdlib.h>
+#include <stdbool.h>
+#include <string.h>
+#include <errno.h>
+#include <unistd.h>
+#include <time.h>
+#include <libmnl/libmnl.h>
+#include <linux/genetlink.h>
+
+#include "mnlg.h"
+
+struct mnlg_socket {
+	struct mnl_socket *nl;
+	char *buf;
+	uint32_t id;
+	uint8_t version;
+	unsigned int seq;
+	unsigned int portid;
+};
+
+static struct nlmsghdr *__mnlg_msg_prepare(struct mnlg_socket *nlg, uint8_t cmd,
+					   uint16_t flags, uint32_t id,
+					   uint8_t version)
+{
+	struct nlmsghdr *nlh;
+	struct genlmsghdr *genl;
+
+	nlh = mnl_nlmsg_put_header(nlg->buf);
+	nlh->nlmsg_type	= id;
+	nlh->nlmsg_flags = flags;
+	nlg->seq = time(NULL);
+	nlh->nlmsg_seq = nlg->seq;
+
+	genl = mnl_nlmsg_put_extra_header(nlh, sizeof(struct genlmsghdr));
+	genl->cmd = cmd;
+	genl->version = version;
+
+	return nlh;
+}
+
+struct nlmsghdr *mnlg_msg_prepare(struct mnlg_socket *nlg, uint8_t cmd,
+				  uint16_t flags)
+{
+	return __mnlg_msg_prepare(nlg, cmd, flags, nlg->id, nlg->version);
+}
+
+int mnlg_socket_send(struct mnlg_socket *nlg, const struct nlmsghdr *nlh)
+{
+	return mnl_socket_sendto(nlg->nl, nlh, nlh->nlmsg_len);
+}
+
+int mnlg_socket_recvfrom(struct mnlg_socket *nlg, mnl_cb_t data_cb, void *data)
+{
+	int err;
+
+	err = mnl_socket_recvfrom(nlg->nl, nlg->buf, MNL_SOCKET_BUFFER_SIZE);
+	if (err <= 0)
+		return err;
+	return mnl_cb_run(nlg->buf, err, nlg->seq, nlg->portid, data_cb, data);
+}
+
+int mnlg_socket_recv_run(struct mnlg_socket *nlg, mnl_cb_t data_cb, void *data)
+{
+	int err;
+
+	do {
+		err = mnlg_socket_recvfrom(nlg, data_cb, data);
+	} while (err > 0);
+
+	return err;
+}
+
+struct group_info {
+	bool found;
+	uint32_t id;
+	const char *name;
+};
+
+static int parse_mc_grps_cb(const struct nlattr *attr, void *data)
+{
+	const struct nlattr **tb = data;
+	int type = mnl_attr_get_type(attr);
+
+	if (mnl_attr_type_valid(attr, CTRL_ATTR_MCAST_GRP_MAX) < 0)
+		return MNL_CB_OK;
+
+	switch (type) {
+	case CTRL_ATTR_MCAST_GRP_ID:
+		if (mnl_attr_validate(attr, MNL_TYPE_U32) < 0)
+			return MNL_CB_ERROR;
+		break;
+	case CTRL_ATTR_MCAST_GRP_NAME:
+		if (mnl_attr_validate(attr, MNL_TYPE_STRING) < 0)
+			return MNL_CB_ERROR;
+		break;
+	}
+	tb[type] = attr;
+	return MNL_CB_OK;
+}
+
+static void parse_genl_mc_grps(struct nlattr *nested,
+			       struct group_info *group_info)
+{
+	struct nlattr *pos;
+	const char *name;
+
+	mnl_attr_for_each_nested(pos, nested) {
+		struct nlattr *tb[CTRL_ATTR_MCAST_GRP_MAX + 1] = {};
+
+		mnl_attr_parse_nested(pos, parse_mc_grps_cb, tb);
+		if (!tb[CTRL_ATTR_MCAST_GRP_NAME] ||
+		    !tb[CTRL_ATTR_MCAST_GRP_ID])
+			continue;
+
+		name = mnl_attr_get_str(tb[CTRL_ATTR_MCAST_GRP_NAME]);
+		if (strcmp(name, group_info->name) != 0)
+			continue;
+
+		group_info->id = mnl_attr_get_u32(tb[CTRL_ATTR_MCAST_GRP_ID]);
+		group_info->found = true;
+	}
+}
+
+static int get_group_id_attr_cb(const struct nlattr *attr, void *data)
+{
+	const struct nlattr **tb = data;
+	int type = mnl_attr_get_type(attr);
+
+	if (mnl_attr_type_valid(attr, CTRL_ATTR_MAX) < 0)
+		return MNL_CB_ERROR;
+
+	if (type == CTRL_ATTR_MCAST_GROUPS &&
+	    mnl_attr_validate(attr, MNL_TYPE_NESTED) < 0)
+		return MNL_CB_ERROR;
+	tb[type] = attr;
+	return MNL_CB_OK;
+}
+
+static int get_group_id_cb(const struct nlmsghdr *nlh, void *data)
+{
+	struct group_info *group_info = data;
+	struct nlattr *tb[CTRL_ATTR_MAX + 1] = {};
+	struct genlmsghdr *genl = mnl_nlmsg_get_payload(nlh);
+
+	mnl_attr_parse(nlh, sizeof(*genl), get_group_id_attr_cb, tb);
+	if (!tb[CTRL_ATTR_MCAST_GROUPS])
+		return MNL_CB_ERROR;
+	parse_genl_mc_grps(tb[CTRL_ATTR_MCAST_GROUPS], group_info);
+	return MNL_CB_OK;
+}
+
+int mnlg_socket_group_add(struct mnlg_socket *nlg, const char *group_name)
+{
+	struct nlmsghdr *nlh;
+	struct group_info group_info;
+	int err;
+
+	nlh = __mnlg_msg_prepare(nlg, CTRL_CMD_GETFAMILY,
+				 NLM_F_REQUEST | NLM_F_ACK, GENL_ID_CTRL, 1);
+	mnl_attr_put_u32(nlh, CTRL_ATTR_FAMILY_ID, nlg->id);
+
+	err = mnlg_socket_send(nlg, nlh);
+	if (err < 0)
+		return err;
+
+	group_info.found = false;
+	group_info.name = group_name;
+	err = mnlg_socket_recv_run(nlg, get_group_id_cb, &group_info);
+	if (err < 0)
+		return err;
+
+	if (!group_info.found) {
+		errno = ENOENT;
+		return -1;
+	}
+
+	err = mnl_socket_setsockopt(nlg->nl, NETLINK_ADD_MEMBERSHIP,
+				    &group_info.id, sizeof(group_info.id));
+	if (err < 0)
+		return err;
+
+	return 0;
+}
+
+static int get_family_id_attr_cb(const struct nlattr *attr, void *data)
+{
+	const struct nlattr **tb = data;
+	int type = mnl_attr_get_type(attr);
+
+	if (mnl_attr_type_valid(attr, CTRL_ATTR_MAX) < 0)
+		return MNL_CB_ERROR;
+
+	if (type == CTRL_ATTR_FAMILY_ID &&
+	    mnl_attr_validate(attr, MNL_TYPE_U16) < 0)
+		return MNL_CB_ERROR;
+	tb[type] = attr;
+	return MNL_CB_OK;
+}
+
+static int get_family_id_cb(const struct nlmsghdr *nlh, void *data)
+{
+	uint32_t *p_id = data;
+	struct nlattr *tb[CTRL_ATTR_MAX + 1] = {};
+	struct genlmsghdr *genl = mnl_nlmsg_get_payload(nlh);
+
+	mnl_attr_parse(nlh, sizeof(*genl), get_family_id_attr_cb, tb);
+	if (!tb[CTRL_ATTR_FAMILY_ID])
+		return MNL_CB_ERROR;
+	*p_id = mnl_attr_get_u16(tb[CTRL_ATTR_FAMILY_ID]);
+	return MNL_CB_OK;
+}
+
+int mnlg_socket_get_fd(struct mnlg_socket *nlg)
+{
+	return mnl_socket_get_fd(nlg->nl);
+}
+
+struct mnlg_socket *mnlg_socket_open(const char *family_name, uint8_t version)
+{
+	struct mnlg_socket *nlg;
+	struct nlmsghdr *nlh;
+	int err;
+
+	nlg = malloc(sizeof(*nlg));
+	if (!nlg)
+		return NULL;
+
+	nlg->buf = malloc(MNL_SOCKET_BUFFER_SIZE);
+	if (!nlg->buf)
+		goto err_buf_alloc;
+
+	nlg->nl = mnl_socket_open(NETLINK_GENERIC);
+	if (!nlg->nl)
+		goto err_mnl_socket_open;
+
+	err = mnl_socket_bind(nlg->nl, 0, MNL_SOCKET_AUTOPID);
+	if (err < 0)
+		goto err_mnl_socket_bind;
+
+	nlg->portid = mnl_socket_get_portid(nlg->nl);
+
+	nlh = __mnlg_msg_prepare(nlg, CTRL_CMD_GETFAMILY,
+				 NLM_F_REQUEST | NLM_F_ACK, GENL_ID_CTRL, 1);
+	mnl_attr_put_strz(nlh, CTRL_ATTR_FAMILY_NAME, family_name);
+
+	err = mnlg_socket_send(nlg, nlh);
+	if (err < 0)
+		goto err_mnlg_socket_send;
+
+	err = mnlg_socket_recv_run(nlg, get_family_id_cb, &nlg->id);
+	if (err < 0)
+		goto err_mnlg_socket_recv_run;
+
+	nlg->version = version;
+	return nlg;
+
+err_mnlg_socket_recv_run:
+err_mnlg_socket_send:
+err_mnl_socket_bind:
+	mnl_socket_close(nlg->nl);
+err_mnl_socket_open:
+	free(nlg->buf);
+err_buf_alloc:
+	free(nlg);
+	return NULL;
+}
+
+void mnlg_socket_close(struct mnlg_socket *nlg)
+{
+	mnl_socket_close(nlg->nl);
+	free(nlg->buf);
+	free(nlg);
+}
diff --git a/libactuator/mnlg.h b/libactuator/mnlg.h
new file mode 100644
index 0000000..807420d
--- /dev/null
+++ b/libactuator/mnlg.h
@@ -0,0 +1,37 @@
+/*
+ *   mnlg.h - Generic Netlink helpers for libmnl
+ *   Copyright (C) 2017 Jiri Pirko <jiri@resnulli.us>
+ *
+ *   This library is free software; you can redistribute it and/or
+ *   modify it under the terms of the GNU Lesser General Public
+ *   License as published by the Free Software Foundation; either
+ *   version 2.1 of the License, or (at your option) any later version.
+ *
+ *   This library is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *   Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public
+ *   License along with this library; if not, write to the Free Software
+ *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#ifndef _MNLG_H_
+#define _MNLG_H_
+
+#include <libmnl/libmnl.h>
+
+struct mnlg_socket;
+
+struct nlmsghdr *mnlg_msg_prepare(struct mnlg_socket *nlg, uint8_t cmd,
+				  uint16_t flags);
+int mnlg_socket_send(struct mnlg_socket *nlg, const struct nlmsghdr *nlh);
+int mnlg_socket_recvfrom(struct mnlg_socket *nlg, mnl_cb_t data_cb, void *data);
+int mnlg_socket_recv_run(struct mnlg_socket *nlg, mnl_cb_t data_cb, void *data);
+int mnlg_socket_group_add(struct mnlg_socket *nlg, const char *group_name);
+int mnlg_socket_get_fd(struct mnlg_socket *nlg);
+struct mnlg_socket *mnlg_socket_open(const char *family_name, uint8_t version);
+void mnlg_socket_close(struct mnlg_socket *nlg);
+
+#endif /* _MNLG_H_ */
diff --git a/man/Makefile.am b/man/Makefile.am
new file mode 100644
index 0000000..dde0b7d
--- /dev/null
+++ b/man/Makefile.am
@@ -0,0 +1 @@
+dist_man8_MANS = act.8
diff --git a/man/act-dev.8 b/man/act-dev.8
new file mode 100644
index 0000000..c339ca4
--- /dev/null
+++ b/man/act-dev.8
@@ -0,0 +1,85 @@
+.TH ACT\-DEV 8 "14 Mar 2016" "libactuator" "Linux"
+.SH NAME
+act-dev \- Actuator device manipulation
+.SH SYNOPSIS
+.sp
+.ad l
+.in +8
+.ti -8
+.B act
+.RI "[ " OPTIONS " ]"
+.B dev
+.RI  " { " COMMAND " | "
+.BR help " }"
+.sp
+
+.ti -8
+.IR OPTIONS " := { "
+\fB\-V\fR[\fIersion\fR] }
+
+.ti -8
+.B act dev show
+.RI "[ " DEV " ]"
+
+.ti -8
+.BR "act dev move "
+.IR DEV
+.BR value
+.IR VALUE
+
+.ti -8
+.BR "act dev stop "
+.IR DEV
+
+.ti -8
+.B act dev help
+
+.SH "DESCRIPTION"
+.SS act dev show - display actuator device attributes
+
+.PP
+.B "DEV"
+- specifies the actuator device to show.
+If this argument is omitted all actuator devices are listed.
+
+.SS act dev move - move actuator to desired position according to value
+Units of the value are per-actuator. 
+
+.PP
+.B "DEV"
+- specifies the actuator device to operate on.
+
+.in +4
+Format is:
+.in +2
+BUS_NAME/BUS_ADDRESS
+
+.SS act dev stop - stops actuator movement
+
+.PP
+.B "DEV"
+- specifies the actuator device to operate on.
+
+.SH "EXAMPLES"
+.PP
+act dev show
+.RS 4
+Shows the state of all actuator devices on the system.
+.RE
+.PP
+act dev show usb/1-2/0
+.RS 4
+Shows the state of specified actuator device.
+.RE
+.PP
+act dev move usb/1-2/0 value 100000
+.RS 4
+Move the actuator to position 100000 (according to actuator units).
+
+.SH SEE ALSO
+.BR act (8),
+.br
+
+.SH AUTHOR
+Jiri Pirko <jiri@resnulli.us>
+
diff --git a/man/act.8 b/man/act.8
new file mode 100644
index 0000000..3b18dfd
--- /dev/null
+++ b/man/act.8
@@ -0,0 +1,71 @@
+.TH ACT 8 "17 Jul 2017" "libactuator" "Linux"
+.SH NAME
+act \- Actuator tool
+.SH SYNOPSIS
+.sp
+.ad l
+.in +8
+.ti -8
+.B act
+.RI "[ " OPTIONS " ] " OBJECT " { " COMMAND " | "
+.BR help " }"
+.sp
+
+.ti -8
+.IR OBJECT " := { "
+.BR dev " | " monitor " }"
+.sp
+
+.ti -8
+.IR OPTIONS " := { "
+\fB\-V\fR[\fIersion\fR] }
+
+.SH OPTIONS
+
+.TP
+.BR "\-V" , " --Version"
+Print the version of the
+.B act
+utility and exit.
+
+.SS
+.I OBJECT
+
+.TP
+.B dev
+- actuator device.
+
+.TP
+.B monitor
+- watch for actuator events.
+
+.SS
+.I COMMAND
+
+Specifies the action to perform on the object.
+The set of possible actions depends on the object type.
+As a rule, it is possible to
+.B show
+(or
+.B list
+) objects, but some objects do not allow all of these operations
+or have some additional commands. The
+.B help
+command is available for all objects. It prints
+out a list of available commands and argument syntax conventions.
+.sp
+If no command is given, some default command is assumed.
+Usually it is
+.B list
+or, if the objects of this class cannot be listed,
+.BR "help" .
+
+.SH EXIT STATUS
+Exit status is 0 if command was successful or a positive integer upon failure.
+
+.SH SEE ALSO
+.BR act-dev (8),
+.br
+
+.SH AUTHOR
+Jiri Pirko <jiri@resnulli.us>
diff --git a/utils/Makefile.am b/utils/Makefile.am
new file mode 100644
index 0000000..dc94991
--- /dev/null
+++ b/utils/Makefile.am
@@ -0,0 +1,10 @@
+MAINTAINERCLEANFILES = Makefile.in
+
+ACLOCAL_AMFLAGS = -I m4
+
+AM_CFLAGS = -I${top_srcdir}/include
+
+act_LDADD = $(top_builddir)/libactuator/libactuator.la
+
+bin_PROGRAMS=act
+act_SOURCES=act.c
diff --git a/utils/act.c b/utils/act.c
new file mode 100644
index 0000000..5b9fc07
--- /dev/null
+++ b/utils/act.c
@@ -0,0 +1,544 @@
+/*
+ *   act.c - Actuator manipulation tool
+ *   Copyright (C) 2017 Jiri Pirko <jiri@resnulli.us>
+ *
+ *   This library is free software; you can redistribute it and/or
+ *   modify it under the terms of the GNU Lesser General Public
+ *   License as published by the Free Software Foundation; either
+ *   version 2.1 of the License, or (at your option) any later version.
+ *
+ *   This library is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *   Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public
+ *   License along with this library; if not, write to the Free Software
+ *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <stdbool.h>
+#include <limits.h>
+#include <getopt.h>
+#include <errno.h>
+#include <actuator.h>
+#include <sys/select.h>
+#include <linux/actuator.h>
+
+#define pr_err(args...) fprintf(stderr, ##args)
+#define pr_out(args...)						\
+	do {							\
+		fprintf(stdout, ##args);			\
+	} while (0)
+
+#define BIT(nr)                 (1UL << (nr))
+#define ACT_OPT_HANDLE		BIT(0)
+#define ACT_OPT_VALUE		BIT(1)
+
+struct act_opts {
+	uint32_t present; /* flags of present items */
+	struct actuator_handle handle;
+	uint32_t value;
+};
+
+struct act {
+	struct actuator *actuator;
+	int argc;
+	char **argv;
+	struct act_opts opts;
+};
+
+static int act_argc(struct act *act)
+{
+	return act->argc;
+}
+
+static char *act_argv(struct act *act)
+{
+	if (act_argc(act) == 0)
+		return NULL;
+	return *act->argv;
+}
+
+static void act_arg_inc(struct act *act)
+{
+	if (act_argc(act) == 0)
+		return;
+	act->argc--;
+	act->argv++;
+}
+
+static char *act_argv_next(struct act *act)
+{
+	char *ret;
+
+	if (act_argc(act) == 0)
+		return NULL;
+
+	ret = *act->argv;
+	act_arg_inc(act);
+	return ret;
+}
+
+static int strcmpx(const char *str1, const char *str2)
+{
+	if (strlen(str1) > strlen(str2))
+		return -1;
+	return strncmp(str1, str2, strlen(str1));
+}
+
+static bool act_argv_match(struct act *act, const char *pattern)
+{
+	if (act_argc(act) == 0)
+		return false;
+	return strcmpx(act_argv(act), pattern) == 0;
+}
+
+static bool act_no_arg(struct act *act)
+{
+	return act_argc(act) == 0;
+}
+
+static unsigned int strslashcount(char *str)
+{
+	unsigned int count = 0;
+	char *pos = str;
+
+	while ((pos = strchr(pos, '/'))) {
+		count++;
+		pos++;
+	}
+	return count;
+}
+
+static int strslashrsplit(char *str, char **before, char **after)
+{
+	char *slash;
+
+	slash = strrchr(str, '/');
+	if (!slash)
+		return -EINVAL;
+	*slash = '\0';
+	*before = str;
+	*after = slash + 1;
+	return 0;
+}
+
+static int strtouint32_t(const char *str, uint32_t *p_val)
+{
+	char *endptr;
+	unsigned long int val;
+
+	val = strtoul(str, &endptr, 10);
+	if (endptr == str || *endptr != '\0')
+		return -EINVAL;
+	if (val > UINT_MAX)
+		return -ERANGE;
+	*p_val = val;
+	return 0;
+}
+
+static int act_argv_handle(struct act *act, struct actuator_handle *handle)
+{
+	char *str = act_argv_next(act);
+	unsigned int slash_count;
+	char *indexstr = indexstr;
+	char *reststr = reststr;
+	int err;
+
+	if (!str) {
+		pr_err("Port identification (\"bus_name/dev_name/index\") expected.\n");
+		return -EINVAL;
+	}
+	slash_count = strslashcount(str);
+	if (slash_count != 2) {
+		pr_err("Wrong port identification string format.\n");
+		pr_err("Expected \"bus_name/dev_name/index\".\n");
+		return -EINVAL;
+	}
+
+	strslashrsplit(str, &reststr, &indexstr);
+	err = strtouint32_t(indexstr, &handle->index);
+	if (err) {
+		pr_err("Index \"%s\" is not a number or not within range\n",
+		       indexstr);
+		return err;
+	}
+	strslashrsplit(reststr, (char **) &handle->bus_name,
+		       (char **) &handle->dev_name);
+	return 0;
+}
+
+static int act_argv_uint32_t(struct act *act, uint32_t *p_val)
+{
+	char *str = act_argv_next(act);
+	int err;
+
+	if (!str) {
+		pr_err("Unsigned number argument expected\n");
+		return -EINVAL;
+	}
+
+	err = strtouint32_t(str, p_val);
+	if (err) {
+		pr_err("\"%s\" is not a number or not within range\n", str);
+		return err;
+	}
+	return 0;
+}
+
+static int act_argv_parse(struct act *act, uint32_t o_required)
+{
+	struct act_opts *opts = &act->opts;
+	uint32_t o_found = 0;
+	int err;
+
+	if (o_required & ACT_OPT_HANDLE) {
+		err = act_argv_handle(act, &opts->handle);
+		if (err)
+			return err;
+		o_found |= ACT_OPT_HANDLE;
+	}
+
+	while (act_argc(act)) {
+		if (act_argv_match(act, "value") && (o_required & ACT_OPT_VALUE)) {
+			act_arg_inc(act);
+			err = act_argv_uint32_t(act, &opts->value);
+			if (err)
+				return err;
+			o_found |= ACT_OPT_VALUE;
+		} else {
+			pr_err("Unknown option \"%s\"\n", act_argv(act));
+			return -EINVAL;
+		}
+	}
+
+	opts->present = o_found;
+
+	if ((o_required & ACT_OPT_VALUE) && !(o_found & ACT_OPT_VALUE)) {
+		pr_err("Value option expected.\n");
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
+static void act_cmd_dev_help(void)
+{
+	pr_err("Usage: act dev show [ DEV ]\n");
+	pr_err("       act dev move DEV value VALUE\n");
+	pr_err("       act dev stop DEV\n");
+}
+
+static void pr_out_handle_begin(struct act *act, struct actuator_handle *handle)
+{
+	pr_out("%s/%s/%u:", handle->bus_name, handle->dev_name, handle->index);
+}
+
+static void pr_out_handle_end(struct act *act)
+{
+	pr_out("\n");
+}
+
+static const char *act_event_type_name(enum actuator_event_type event_type)
+{
+	switch (event_type) {
+	case ACTUATOR_EVENT_TYPE_GET:
+		return "get";
+	case ACTUATOR_EVENT_TYPE_NEW:
+		return "new";
+	case ACTUATOR_EVENT_TYPE_DEL:
+		return "del";
+	default:
+		return "<unknown event_type>";
+	}
+}
+
+static void pr_out_event_type_begin(struct act *act,
+				    enum actuator_event_type event_type)
+{
+	pr_out("%s: ", act_event_type_name(event_type));
+}
+
+static void pr_out_event_type_end(struct act *act)
+{
+}
+
+static void pr_out_str(struct act *act, const char *label, const char *str)
+{
+	pr_out(" %s %s", label, str);
+}
+
+static void pr_out_u32(struct act *act, const char *label, uint32_t val)
+{
+	pr_out(" %s %u", label, val);
+}
+
+static const char *act_type_name(uint8_t type)
+{
+	switch (type) {
+	case ACTUATOR_TYPE_LINEAR:
+		return "linear";
+	default:
+		return "<unknown type>";
+	}
+}
+
+static const char *act_units_name(uint8_t units)
+{
+	switch (units) {
+	case ACTUATOR_UNITS_UM:
+		return "um";
+	default:
+		return "<unknown units>";
+	}
+}
+
+static const char *act_move_state_name(uint8_t move_state)
+{
+	switch (move_state) {
+	case ACTUATOR_MOVE_STATE_STOPPED:
+		return "stopped";
+	case ACTUATOR_MOVE_STATE_POSITIVE:
+		return "positive";
+	case ACTUATOR_MOVE_STATE_NEGATIVE:
+		return "negative";
+	default:
+		return "<unknown move_state>";
+	}
+}
+
+static void pr_out_actuator_info(struct act *act, struct actuator_info *info)
+{
+	struct actuator_handle handle;
+
+	actuator_info_handle(info, &handle);
+	pr_out_handle_begin(act, &handle);
+	pr_out_str(act, "driver_name", actuator_info_driver_name(info));
+	pr_out_str(act, "type", act_type_name(actuator_info_type(info)));
+	pr_out_str(act, "units", act_units_name(actuator_info_units(info)));
+	if (actuator_info_has_value(info))
+		pr_out_u32(act, "value", actuator_info_value(info));
+	if (actuator_info_has_move_state(info))
+		pr_out_str(act, "move_state",
+			   act_move_state_name(actuator_info_move_state(info)));
+	pr_out_handle_end(act);
+}
+
+static void act_cmd_dev_show_cb(struct actuator *actuator,
+				struct actuator_info *info, void *cb_priv)
+{
+	struct act *act = cb_priv;
+
+	pr_out_actuator_info(act, info);
+}
+
+static int act_cmd_dev_show(struct act *act)
+{
+	return actuator_get(act->actuator, NULL, &act_cmd_dev_show_cb, act);
+}
+
+static int act_cmd_dev_move(struct act *act)
+{
+	int err;
+
+	err = act_argv_parse(act, ACT_OPT_HANDLE | ACT_OPT_VALUE);
+	if (err)
+		return err;
+	return actuator_move(act->actuator, &act->opts.handle,
+			     "v", act->opts.value);
+}
+
+static int act_cmd_dev_stop(struct act *act)
+{
+	int err;
+
+	err = act_argv_parse(act, ACT_OPT_HANDLE);
+	if (err)
+		return err;
+	return actuator_stop(act->actuator, &act->opts.handle, "");
+}
+
+static void act_cmd_mon_show_cb(struct actuator *actuator,
+				struct actuator_info *info, void *cb_priv)
+{
+	struct act *act = cb_priv;
+
+	pr_out_event_type_begin(act, actuator_info_event_type(info));
+	pr_out_actuator_info(act, info);
+	pr_out_event_type_end(act);
+}
+
+static int act_cmd_mon(struct act *act)
+{
+	fd_set fds;
+	int fdmax;
+	struct timeval tv = {};
+	int fd = actuator_event_fd_get(act->actuator);
+	int ret;
+	int err;
+
+	FD_ZERO(&fds);
+	FD_SET(fd, &fds);
+	fdmax = fd + 1;
+
+	actuator_event_cb_set(act->actuator, ACTUATOR_EVENT_TYPE_GET,
+			      &act_cmd_mon_show_cb, act);
+	actuator_event_cb_set(act->actuator, ACTUATOR_EVENT_TYPE_NEW,
+			      &act_cmd_mon_show_cb, act);
+	actuator_event_cb_set(act->actuator, ACTUATOR_EVENT_TYPE_DEL,
+			      &act_cmd_mon_show_cb, act);
+
+	do {
+		ret = select(fdmax, &fds, NULL, NULL, &tv);
+		if (ret == -1) {
+			if (errno == EINTR)
+				return 0;
+			return -errno;
+		}
+		err = actuator_event_process(act->actuator);
+		if (err)
+			return err;
+	} while (true);
+}
+
+static int act_cmd_dev(struct act *act)
+{
+	if (act_argv_match(act, "help")) {
+		act_cmd_dev_help();
+		return 0;
+	} else if (act_argv_match(act, "show") ||
+		   act_argv_match(act, "list") ||  act_no_arg(act)) {
+		act_arg_inc(act);
+		return act_cmd_dev_show(act);
+	} else if (act_argv_match(act, "move")) {
+		act_arg_inc(act);
+		return act_cmd_dev_move(act);
+	} else if (act_argv_match(act, "stop")) {
+		act_arg_inc(act);
+		return act_cmd_dev_stop(act);
+	}
+	pr_err("Command \"%s\" not found\n", act_argv(act));
+	return -ENOENT;
+}
+
+static void help(void)
+{
+	pr_err("Usage: act [ OPTIONS ] OBJECT { COMMAND | help }\n"
+	       "where  OBJECT := { dev | monitor  }\n"
+	       "       OPTIONS := { -V[ersion] }\n");
+}
+
+static int act_cmd(struct act *act)
+{
+	if (act_argv_match(act, "help") || act_no_arg(act)) {
+		help();
+		return 0;
+	} else if (act_argv_match(act, "dev")) {
+		act_arg_inc(act);
+		return act_cmd_dev(act);
+	} else if (act_argv_match(act, "monitor")) {
+		act_arg_inc(act);
+		return act_cmd_mon(act);
+	}
+	pr_err("Object \"%s\" not found\n", act_argv(act));
+	return -ENOENT;
+}
+
+static int act_init(struct act *act, int argc, char **argv)
+{
+	int err;
+
+	act->argc = argc;
+	act->argv = argv;
+
+	err = actuator_init(&act->actuator);
+	if (err) {
+		pr_err("Failed to connect to actuator Netlink\n");
+		return -errno;
+	}
+
+	return 0;
+}
+
+static void act_fini(struct act *act)
+{
+	actuator_fini(act->actuator);
+}
+
+static struct act *act_alloc(void)
+{
+	struct act *act;
+
+	act = calloc(1, sizeof(*act));
+	if (!act)
+		return NULL;
+	return act;
+}
+
+static void act_free(struct act *act)
+{
+	free(act);
+}
+
+int main(int argc, char **argv)
+{
+	static const struct option long_options[] = {
+		{ "Version",		no_argument,		NULL, 'V' },
+		{ NULL, 0, NULL, 0 }
+	};
+	struct act *act;
+	int opt;
+	int err;
+	int ret;
+
+	act = act_alloc();
+	if (!act) {
+		pr_err("Failed to allocate memory for context\n");
+		return EXIT_FAILURE;
+	}
+
+	while ((opt = getopt_long(argc, argv, "V",
+				  long_options, NULL)) >= 0) {
+
+		switch (opt) {
+		case 'V':
+			printf("act "PACKAGE_VERSION"\n");
+			ret = EXIT_SUCCESS;
+			goto act_free;
+		default:
+			pr_err("Unknown option.\n");
+			help();
+			ret = EXIT_FAILURE;
+			goto act_free;
+		}
+	}
+
+	argc -= optind;
+	argv += optind;
+
+	err = act_init(act, argc, argv);
+	if (err) {
+		ret = EXIT_FAILURE;
+		goto act_free;
+	}
+
+	err = act_cmd(act);
+	if (err) {
+		ret = EXIT_FAILURE;
+		goto act_fini;
+	}
+
+	ret = EXIT_SUCCESS;
+
+act_fini:
+	act_fini(act);
+act_free:
+	act_free(act);
+
+	return ret;
+}