commit 327efdbe9ad6a09718657453cd3cf80aaf2ff2ad
Author: STEINNI <nicolas.stein@ext.ec.europa.eu>
Date:   Fri Jun 12 17:05:35 2026 +0000

    first GodDaemons group commit

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..9da1861
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,8 @@
+.well-known
+wssGatewayConfig.json
+nodeserver.cert
+nodeserver.key
+package-lock.json
+brol/
+node_modules/
+*.log
diff --git a/GPS/actions/arena/arenaHandlers.js b/GPS/actions/arena/arenaHandlers.js
new file mode 100644
index 0000000..5ba7eac
--- /dev/null
+++ b/GPS/actions/arena/arenaHandlers.js
@@ -0,0 +1,46 @@
+
+export const construct = (redisCnx) => {
+    const tickMs = redisCnx.gpsSrv?.getGpsSettings().collisionTickMs ?? 100
+    setInterval(() => {
+        redisCnx.gpsSrv?.tickArena()
+    }, tickMs)
+}
+
+export const methods = {
+
+    handleAgentEvent(msg) {
+        const agentId = msg.sender
+        if(!agentId || typeof(agentId) !== 'string') {
+            console.warn(`[${this.redisId}] Agent event without sender`)
+            return
+        }
+
+        if(msg.eventType === 'change') {
+            const newVector = msg.payload?.newVector
+            if(!newVector || typeof(newVector.x) !== 'number' || typeof(newVector.y) !== 'number' || typeof(newVector.z) !== 'number') {
+                console.warn(`[${this.redisId}] Invalid newVector from ${agentId}`)
+                return
+            }
+            const newPosition = msg.payload?.newPosition ?? null
+            this.gpsSrv.onVectorChange(agentId, newVector, newPosition)
+            return
+        }
+
+        if(msg.eventType === 'remove') {
+            this.gpsSrv.onAgentRemove(agentId)
+            return
+        }
+    },
+
+    dispatchArenaMessage(msg, chan) {
+        const gps = this.config.gps
+        if(!gps || !this.gpsSrv) return false
+
+        if(this.matchesChan(chan, gps.agentVectorChangeChannel)) {
+            this.handleAgentEvent(msg)
+            return(true)
+        }
+        return(false)
+    },
+
+}
diff --git a/GPS/actions/arena/index.js b/GPS/actions/arena/index.js
new file mode 100644
index 0000000..0f98cb3
--- /dev/null
+++ b/GPS/actions/arena/index.js
@@ -0,0 +1,9 @@
+import { methods as arenaMethods, construct as arenaConstruct } from './arenaHandlers.js'
+
+export const afterLoginMethods = [
+    arenaConstruct,
+]
+
+export const meshActions = {
+    ...arenaMethods,
+}
diff --git a/GPS/actions/arena/worldline.js b/GPS/actions/arena/worldline.js
new file mode 100644
index 0000000..b787778
--- /dev/null
+++ b/GPS/actions/arena/worldline.js
@@ -0,0 +1,150 @@
+const PROXIMITY_EPSILON = 1e-6
+
+export function needsPrismRefresh(agent, now, prismTimeHeight, prismRefreshLeadSeconds = 0) {
+    return(now >= agent.since + prismTimeHeight - prismRefreshLeadSeconds)
+}
+
+export function advanceAgentSegment(agent, now) {
+    agent.position = positionAt(agent, now)
+    agent.since = now
+    agent.generation = (agent.generation ?? 0) + 1
+}
+
+export function positionAt(agent, t) {
+    const dt = t - agent.since
+    return({
+        x: agent.position.x + agent.vector.x * dt,
+        y: agent.position.y + agent.vector.y * dt,
+        z: agent.position.z + agent.vector.z * dt,
+    })
+}
+
+function distanceBetween(agentA, agentB, t) {
+    const a = positionAt(agentA, t)
+    const b = positionAt(agentB, t)
+    const dx = a.x - b.x
+    const dy = a.y - b.y
+    const dz = a.z - b.z
+    return(Math.sqrt(dx * dx + dy * dy + dz * dz))
+}
+
+export function buildPrism(agent, tStart, tEnd, nearMissDistance) {
+    const p0 = positionAt(agent, tStart)
+    const p1 = positionAt(agent, tEnd)
+    const pad = nearMissDistance
+    return({
+        xMin: Math.min(p0.x, p1.x) - pad,
+        xMax: Math.max(p0.x, p1.x) + pad,
+        yMin: Math.min(p0.y, p1.y) - pad,
+        yMax: Math.max(p0.y, p1.y) + pad,
+        zMin: Math.min(p0.z, p1.z) - pad,
+        zMax: Math.max(p0.z, p1.z) + pad,
+        tMin: tStart,
+        tMax: tEnd,
+    })
+}
+
+export function prismsIntersect(a, b) {
+    return(
+        a.xMin <= b.xMax && a.xMax >= b.xMin &&
+        a.yMin <= b.yMax && a.yMax >= b.yMin &&
+        a.zMin <= b.zMax && a.zMax >= b.zMin &&
+        a.tMin <= b.tMax && a.tMax >= b.tMin
+    )
+}
+
+export function minimalDistance(agentA, agentB, tStart, tEnd) {
+    const relPos = {
+        x: positionAt(agentA, tStart).x - positionAt(agentB, tStart).x,
+        y: positionAt(agentA, tStart).y - positionAt(agentB, tStart).y,
+        z: positionAt(agentA, tStart).z - positionAt(agentB, tStart).z,
+    }
+    const relVel = {
+        x: agentA.vector.x - agentB.vector.x,
+        y: agentA.vector.y - agentB.vector.y,
+        z: agentA.vector.z - agentB.vector.z,
+    }
+
+    const relVelSq = relVel.x * relVel.x + relVel.y * relVel.y + relVel.z * relVel.z
+    let tStar = tStart
+    if(relVelSq > 0) {
+        const dot = relPos.x * relVel.x + relPos.y * relVel.y + relPos.z * relVel.z
+        tStar = tStart - dot / relVelSq
+    }
+    tStar = Math.max(tStart, Math.min(tEnd, tStar))
+
+    return({
+        distance: distanceBetween(agentA, agentB, tStar),
+        time: tStar,
+    })
+}
+
+export function firstProximityEntry(agentA, agentB, tStart, tEnd, nearMissDistance) {
+    const d0 = distanceBetween(agentA, agentB, tStart)
+    if(d0 <= nearMissDistance + PROXIMITY_EPSILON) {
+        return({ time: tStart, distance: d0 })
+    }
+
+    const relPos = {
+        x: positionAt(agentA, tStart).x - positionAt(agentB, tStart).x,
+        y: positionAt(agentA, tStart).y - positionAt(agentB, tStart).y,
+        z: positionAt(agentA, tStart).z - positionAt(agentB, tStart).z,
+    }
+    const relVel = {
+        x: agentA.vector.x - agentB.vector.x,
+        y: agentA.vector.y - agentB.vector.y,
+        z: agentA.vector.z - agentB.vector.z,
+    }
+    const relVelSq = relVel.x * relVel.x + relVel.y * relVel.y + relVel.z * relVel.z
+    if(relVelSq === 0) return(null)
+
+    const a = relVelSq
+    const b = 2 * (relPos.x * relVel.x + relPos.y * relVel.y + relPos.z * relVel.z)
+    const c = relPos.x * relPos.x + relPos.y * relPos.y + relPos.z * relPos.z - nearMissDistance * nearMissDistance
+    const D = b * b - 4 * a * c
+    if(D < 0) return(null)
+
+    const sqrtD = Math.sqrt(D)
+    const maxDt = tEnd - tStart
+    const roots = [(-b - sqrtD) / (2 * a), (-b + sqrtD) / (2 * a)]
+        .filter(dt => dt >= 0 && dt <= maxDt)
+        .sort((x, y) => x - y)
+
+    for(const dt of roots) {
+        const t = tStart + dt
+        const d = distanceBetween(agentA, agentB, t)
+        if(d > nearMissDistance + PROXIMITY_EPSILON) continue
+        if(dt < 1e-12) return({ time: tStart, distance: d0 })
+        const dBefore = distanceBetween(agentA, agentB, t - 1e-6)
+        if(dBefore > nearMissDistance + PROXIMITY_EPSILON) return({ time: t, distance: d })
+    }
+    return(null)
+}
+
+export function compareWorldlinePair(agentA, agentB, prismTimeHeight, nearMissDistance, now) {
+    const tStart = Math.max(agentA.since, agentB.since, now)
+    const tEnd = Math.min(
+        agentA.since + prismTimeHeight,
+        agentB.since + prismTimeHeight
+    )
+    if(tEnd <= tStart) return(null)
+
+    const prismA = buildPrism(agentA, tStart, tEnd, nearMissDistance)
+    const prismB = buildPrism(agentB, tStart, tEnd, nearMissDistance)
+    if(!prismsIntersect(prismA, prismB)) return(null)
+
+    const min = minimalDistance(agentA, agentB, tStart, tEnd)
+    if(min.distance > nearMissDistance + PROXIMITY_EPSILON) return(null)
+
+    const entry = firstProximityEntry(agentA, agentB, tStart, tEnd, nearMissDistance)
+    if(!entry) return(null)
+
+    return({
+        agentA: agentA.id,
+        agentB: agentB.id,
+        time: entry.time,
+        distance: entry.distance,
+        minTime: min.time,
+        minDistance: min.distance,
+    })
+}
diff --git a/GPS/actions/system/index.js b/GPS/actions/system/index.js
new file mode 100644
index 0000000..481aa58
--- /dev/null
+++ b/GPS/actions/system/index.js
@@ -0,0 +1,10 @@
+import { methods as utilities, construct as utilitiesConstruct } from './utilities.js'
+import { methods as positions } from './positions.js'
+
+export const afterLoginMethods = [
+    utilitiesConstruct,
+]
+export const meshActions = {
+    ...utilities,
+    ...positions,
+}
diff --git a/GPS/actions/system/positions.js b/GPS/actions/system/positions.js
new file mode 100644
index 0000000..a05ec85
--- /dev/null
+++ b/GPS/actions/system/positions.js
@@ -0,0 +1,146 @@
+import { publishActionReply, parseAt } from '../../actionsHelper.js'
+
+export const methods = {
+
+    /*  Event-Rx:
+        {
+            "action": "GETAGENTPOSITION",
+            "reqid": "6az5e4r6a",
+            "payload": {
+                "agentId": "agent42",
+                "at": "2026-06-07T12:00:00.000Z"
+            }
+        }
+        Event-Tx:
+        {
+            "action": "GETAGENTPOSITION",
+            "success": true,
+            "reqid": "6az5e4r6a",
+            "payload": {
+                "agent": {
+                    "id": "agent42",
+                    "position": { "x": 1, "y": 2, "z": 3 },
+                    "vector": { "x": 0, "y": 0, "z": 0 },
+                    "since": 1717750800,
+                    "generation": 2,
+                    "at": "2026-06-07T12:00:00.000Z"
+                }
+            }
+        }
+    */
+    async action_GETAGENTPOSITION(action, payload, reqid, sender, roles) {
+        const replyOpts = {
+            action,
+            reqid,
+            sender,
+            replyChannel: this.config.gps.gpsActionsReply,
+        }
+        if(!this.accessRights.canDo(roles, action)) {
+            publishActionReply(this, { ...replyOpts, reply: {
+                success: false,
+                err: 'Unauthorized action !',
+            } })
+            return
+        }
+
+        const agentId = payload?.agentId
+        if(!agentId || typeof(agentId) !== 'string') {
+            publishActionReply(this, { ...replyOpts, reply: {
+                success: false,
+                err: 'Missing or invalid agentId',
+            } })
+            return
+        }
+
+        const at = parseAt(payload, () => this.gpsSrv.now())
+        if(at === null) {
+            publishActionReply(this, { ...replyOpts, reply: {
+                success: false,
+                err: 'Invalid at timestamp',
+            } })
+            return
+        }
+
+        const agent = this.gpsSrv.getAgentPosition(agentId, at)
+        if(!agent) {
+            publishActionReply(this, { ...replyOpts, reply: {
+                success: false,
+                err: `Unknown agent: ${agentId}`,
+            } })
+            return
+        }
+
+        publishActionReply(this, { ...replyOpts, reply: {
+            success: true,
+            payload: { agent },
+        } })
+    },
+
+    /*  Event-Rx:
+        {
+            "action": "GETAGENTSINPRISM",
+            "reqid": "6az5e4r6a",
+            "payload": {
+                "prism": {
+                    "xMin": -10, "xMax": 10,
+                    "yMin": -10, "yMax": 10,
+                    "zMin": 0, "zMax": 5
+                },
+                "at": "2026-06-07T12:00:00.000Z"
+            }
+        }
+        Event-Tx:
+        {
+            "action": "GETAGENTSINPRISM",
+            "success": true,
+            "reqid": "6az5e4r6a",
+            "payload": {
+                "agents": [ ... ],
+                "at": "2026-06-07T12:00:00.000Z"
+            }
+        }
+    */
+    async action_GETAGENTSINPRISM(action, payload, reqid, sender, roles) {
+        const replyOpts = {
+            action,
+            reqid,
+            sender,
+            replyChannel: this.config.gps.gpsActionsReply,
+        }
+        if(!this.accessRights.canDo(roles, action)) {
+            publishActionReply(this, { ...replyOpts, reply: {
+                success: false,
+                err: 'Unauthorized action !',
+            } })
+            return
+        }
+
+        const prism = payload?.prism
+        if(!this.gpsSrv.isValidPrism(prism)) {
+            publishActionReply(this, { ...replyOpts, reply: {
+                success: false,
+                err: 'Missing or invalid prism bounds',
+            } })
+            return
+        }
+
+        const at = parseAt(payload, () => this.gpsSrv.now())
+        if(at === null) {
+            publishActionReply(this, { ...replyOpts, reply: {
+                success: false,
+                err: 'Invalid at timestamp',
+            } })
+            return
+        }
+
+        const agents = this.gpsSrv.getAgentsInPrism(prism, at)
+        publishActionReply(this, { ...replyOpts, reply: {
+            success: true,
+            payload: {
+                agents,
+                at: new Date(at * 1000).toISOString(),
+            },
+        } })
+    },
+
+}
diff --git a/GPS/actions/system/utilities.js b/GPS/actions/system/utilities.js
new file mode 100644
index 0000000..07bf1b8
--- /dev/null
+++ b/GPS/actions/system/utilities.js
@@ -0,0 +1,109 @@
+import { publishActionReply } from '../../actionsHelper.js'
+
+export const construct = (redisCnx) => {
+    // console.log('Hello after login from utilities...')
+    // redisCnx.v42=0
+    // setInterval(redisCnx.move4243.bind(redisCnx), 200)
+}
+
+export const methods = {
+
+    /*  Event-Rx:
+        {
+            "action": "TIME"
+            "reqid": "6az5e4r6a"
+        }
+        Event-Tx:
+        {
+            "action": "TIME",
+            "success": true,
+            "payload" : {
+                gpsTime: "2022-09-01T14:42:22.603Z",
+                redisTime: "2022-09-01T14:42:22.603Z"
+            },
+            "reqid": "6az5e4r6a"
+        }
+    */
+    async action_TIME(action, payload, reqid, sender, roles){
+        publishActionReply(this, {
+            action,
+            reqid,
+            sender,
+            replyChannel: this.config.gps.gpsActionsReply,
+            reply: {
+                success: true,
+                payload: {
+                    gpsTime: new Date().toISOString(),
+                    redisTime: await this.redisClient.time(),
+                },
+            },
+        })
+    },
+
+
+    /*  Event-Rx:
+        {
+            "action": "RELOADCONFIG"
+            "reqid": "6az5e4r6a"
+        }
+        Event-Tx:
+        {
+            "action": "RELOADCONFIG",
+            "success": true,
+            "reqid": "6az5e4r6a"
+        }
+    */
+    async action_RELOADCONFIG(action, payload, reqid, sender, roles){
+        const replyOpts = {
+            action,
+            reqid,
+            sender,
+            replyChannel: this.config.gps.gpsActionsReply,
+        }
+        if(!this.accessRights.canDo(roles, action)) {
+            publishActionReply(this, { ...replyOpts, reply: {
+                success: false,
+                err: 'Unauthorized action !',
+            } })
+            return
+        }
+        this.reloadAccessRights()
+        publishActionReply(this, { ...replyOpts, reply: {
+            success: true,
+        } })
+    },
+        
+    /*  Event-Rx:
+        {
+            "action": "GETCONFIG"
+            "reqid": "6az5e4r6a"
+        }
+        Event-Tx:
+        {
+            "action": "GETCONFIG",
+            "success": true,
+            "reqid": "6az5e4r6a",
+            payload: { ...the access rights, and roles... }
+        }
+    */
+    async action_GETCONFIG(action, payload, reqid, sender, roles){
+        const replyOpts = {
+            action,
+            reqid,
+            sender,
+            replyChannel: this.config.gps.gpsActionsReply,
+        }
+        if(!this.accessRights.canDo(roles, action)) {
+            publishActionReply(this, { ...replyOpts, reply: {
+                success: false,
+                err: 'Unauthorized action !',
+            } })
+            return
+        }
+        publishActionReply(this, { ...replyOpts, reply: {
+            success: true,
+            payload: this.getAccessRights(),
+        } })
+    },
+
+}
diff --git a/GPS/actionsHelper.js b/GPS/actionsHelper.js
new file mode 100644
index 0000000..f67eb18
--- /dev/null
+++ b/GPS/actionsHelper.js
@@ -0,0 +1,23 @@
+
+export function publishActionReply(redisCnx, options) {
+    const {
+        action,
+        reqid,
+        sender,
+        reply,
+        replyChannel,
+        senderId = 'gps',
+    } = options
+    reply.action = action
+    reply.sender = senderId
+    if(reqid) reply.reqid = reqid
+    const chan = replyChannel.replace(/\[UID\]/g, sender)
+    redisCnx.redisPublish(chan, reply)
+}
+
+export function parseAt(payload, fallbackFn) {
+    if(!payload?.at) return(fallbackFn())
+    const t = Date.parse(payload.at)
+    if(Number.isNaN(t)) return(null)
+    return(t / 1000)
+}
diff --git a/GPS/agentStore.js b/GPS/agentStore.js
new file mode 100644
index 0000000..7da7980
--- /dev/null
+++ b/GPS/agentStore.js
@@ -0,0 +1,58 @@
+
+export class AgentStore {
+
+    constructor(systemCnx, storage, debug = false) {
+        this.cnx = systemCnx
+        this.storage = storage
+        this.debug = debug
+    }
+
+    agentHashKey(agentId) {
+        return(this.storage.agentHashKey.replace(/\[UID\]/g, agentId))
+    }
+
+    async exportSegment(agent, eventType) {
+        try {
+            const record = {
+                eventType,
+                id: agent.id,
+                position: { ...agent.position },
+                vector: { ...agent.vector },
+                since: agent.since,
+                generation: agent.generation ?? 0,
+                at: new Date().toISOString(),
+            }
+            await this.cnx.redisHset(this.agentHashKey(agent.id), 'segment', record)
+            await this.cnx.redisSadd(this.storage.agentsIndexKey, agent.id)
+            await this.cnx.redisXadd(
+                this.storage.positionsStream,
+                record,
+                this.storage.streamMaxLen ?? ''
+            )
+            if(this.debug) console.log(`[GPS] Exported segment ${agent.id} (${eventType})`)
+        } catch(err) {
+            console.error(`[GPS] Failed to export segment for ${agent.id}:`, err)
+        }
+    }
+
+    async exportRemove(agentId) {
+        try {
+            const record = {
+                eventType: 'remove',
+                id: agentId,
+                at: new Date().toISOString(),
+            }
+            await this.cnx.redisDel(this.agentHashKey(agentId))
+            await this.cnx.redisSrem(this.storage.agentsIndexKey, agentId)
+            await this.cnx.redisXadd(
+                this.storage.positionsStream,
+                record,
+                this.storage.streamMaxLen ?? ''
+            )
+            if(this.debug) console.log(`[GPS] Exported remove ${agentId}`)
+        } catch(err) {
+            console.error(`[GPS] Failed to export remove for ${agentId}:`, err)
+        }
+    }
+
+}
diff --git a/GPS/collisionRegistry.js b/GPS/collisionRegistry.js
new file mode 100644
index 0000000..248a1e9
--- /dev/null
+++ b/GPS/collisionRegistry.js
@@ -0,0 +1,39 @@
+
+export class CollisionRegistry {
+
+    constructor() {
+        this.entries = []
+    }
+
+    purge(agentId) {
+        this.entries = this.entries.filter(
+            e => e.agentA !== agentId && e.agentB !== agentId
+        )
+    }
+
+    add(entry) {
+        const duplicate = this.entries.find(
+            e =>
+                (e.agentA === entry.agentA && e.agentB === entry.agentB) ||
+                (e.agentA === entry.agentB && e.agentB === entry.agentA)
+        )
+        if(duplicate) {
+            if(entry.time < duplicate.time) Object.assign(duplicate, entry)
+            return
+        }
+        this.entries.push(entry)
+    }
+
+    dueBefore(t) {
+        return(this.entries.filter(e => e.time <= t))
+    }
+
+    remove(entry) {
+        this.entries = this.entries.filter(
+            e =>
+                !((e.agentA === entry.agentA && e.agentB === entry.agentB) ||
+                  (e.agentA === entry.agentB && e.agentB === entry.agentA))
+        )
+    }
+
+}
diff --git a/GPS/gpsServer.js b/GPS/gpsServer.js
new file mode 100644
index 0000000..c6e3b5f
--- /dev/null
+++ b/GPS/gpsServer.js
@@ -0,0 +1,274 @@
+import { AccesRights } from '../accesRights.js'
+import { AgentStore } from './agentStore.js'
+import { CollisionRegistry } from './collisionRegistry.js'
+import {
+    compareWorldlinePair,
+    positionAt,
+    needsPrismRefresh,
+    advanceAgentSegment,
+} from './actions/arena/worldline.js'
+
+export class gpsServer {
+
+    constructor(configHelper, allRediscnx, debug) {
+        this.configHelper = configHelper
+        this.gpsConfig = configHelper.config
+        this.allRediscnx = allRediscnx
+        this.debug = debug
+        this.accessRights = new AccesRights(this.gpsConfig, debug)
+        this.agents = new Map()
+        this.registry = new CollisionRegistry()
+        this.arenaCnx = null
+        this.systemCnx = null
+        this.agentStore = null
+    }
+
+    getGpsSettings() {
+        const gps = this.gpsConfig.gps ?? {}
+        return({
+            nearMissDistance: gps.nearMissDistance ?? 1,
+            prismTimeHeight: gps.prismTimeHeight ?? 60,
+            collisionTickMs: gps.collisionTickMs ?? 100,
+            prismRefreshLeadSeconds: gps.prismRefreshLeadSeconds ?? 1,
+        })
+    }
+
+    now() {
+        return(Date.now() / 1000)
+    }
+
+    wireSystemConnexion(cnx) {
+        cnx.gpsSrv = this
+        cnx.accessRights = this.accessRights
+        cnx.reloadAccessRights = () => this.reloadAccessRights()
+        cnx.getAccessRights = () => this.getAccessRights()
+        if(!this.systemCnx || cnx.redisConfig.role === 'primary') {
+            this.systemCnx = cnx
+            this.initAgentStore()
+        }
+    }
+
+    initAgentStore() {
+        const storage = this.gpsConfig.gps?.storage
+        if(storage && this.systemCnx) {
+            this.agentStore = new AgentStore(this.systemCnx, storage, this.debug)
+        }
+    }
+
+    wireArenaConnexion(cnx) {
+        cnx.gpsSrv = this
+        this.arenaCnx = cnx
+    }
+
+    getAgent(agentId) {
+        return(this.agents.get(agentId) ?? null)
+    }
+
+    getAllAgents() {
+        return([...this.agents.values()])
+    }
+
+    buildAgentSnapshot(agent, at) {
+        return({
+            id: agent.id,
+            position: positionAt(agent, at),
+            vector: { ...agent.vector },
+            since: agent.since,
+            generation: agent.generation ?? 0,
+            at: new Date(at * 1000).toISOString(),
+        })
+    }
+
+    getAgentPosition(agentId, at = null) {
+        const agent = this.agents.get(agentId)
+        if(!agent) return(null)
+        const t = at ?? this.now()
+        return(this.buildAgentSnapshot(agent, t))
+    }
+
+    isPositionInPrism(position, prism) {
+        return(
+            position.x >= prism.xMin && position.x <= prism.xMax &&
+            position.y >= prism.yMin && position.y <= prism.yMax &&
+            position.z >= prism.zMin && position.z <= prism.zMax
+        )
+    }
+
+    isValidPrism(prism) {
+        if(!prism || typeof(prism) !== 'object') return(false)
+        const axes = ['xMin', 'xMax', 'yMin', 'yMax', 'zMin', 'zMax']
+        for(const key of axes) {
+            if(typeof(prism[key]) !== 'number' || Number.isNaN(prism[key])) return(false)
+        }
+        return(
+            prism.xMin <= prism.xMax &&
+            prism.yMin <= prism.yMax &&
+            prism.zMin <= prism.zMax
+        )
+    }
+
+    getAgentsInPrism(prism, at = null) {
+        const t = at ?? this.now()
+        const agents = []
+        for(const agent of this.agents.values()) {
+            const position = positionAt(agent, t)
+            if(this.isPositionInPrism(position, prism)) {
+                agents.push(this.buildAgentSnapshot(agent, t))
+            }
+        }
+        return(agents)
+    }
+
+    upsertAgent(agentId, newVector, newPosition = null) {
+        const now = this.now()
+        let agent = this.agents.get(agentId)
+        if(!agent) {
+            agent = {
+                id: agentId,
+                position: newPosition ?? { x: 0, y: 0, z: 0 },
+                vector: { ...newVector },
+                since: now,
+                generation: 1,
+            }
+            this.agents.set(agentId, agent)
+            this.agentStore?.exportSegment(agent, 'change')
+            return(agent)
+        }
+
+        agent.position = positionAt(agent, now)
+        agent.vector = { ...newVector }
+        agent.since = now
+        agent.generation = (agent.generation ?? 0) + 1
+        if(newPosition) agent.position = { ...newPosition }
+        this.agentStore?.exportSegment(agent, 'change')
+        return(agent)
+    }
+
+    ensurePrismValid(agentId, refreshed = new Set()) {
+        return(this.refreshAgentPrism(agentId, refreshed))
+    }
+
+    refreshAgentPrism(agentId, refreshed = new Set()) {
+        if(refreshed.has(agentId)) return(false)
+        const agent = this.agents.get(agentId)
+        if(!agent) return(false)
+
+        const { prismTimeHeight, prismRefreshLeadSeconds } = this.getGpsSettings()
+        const now = this.now()
+        if(!needsPrismRefresh(agent, now, prismTimeHeight, prismRefreshLeadSeconds)) return(false)
+
+        refreshed.add(agentId)
+        this.registry.purge(agentId)
+        advanceAgentSegment(agent, now)
+
+        const hits = this.scanAgentPairs(agentId, refreshed)
+        for(const hit of hits) this.registry.add(hit)
+        this.agentStore?.exportSegment(agent, 'refresh')
+        if(this.debug) console.log(`[GPS] Prism refresh: ${agentId}`)
+        return(true)
+    }
+
+    scanAgentPairs(changedAgentId, refreshed = new Set()) {
+        this.ensurePrismValid(changedAgentId, refreshed)
+        const changed = this.agents.get(changedAgentId)
+        if(!changed) return([])
+
+        const { nearMissDistance, prismTimeHeight } = this.getGpsSettings()
+        const now = this.now()
+        const hits = []
+        for(const [otherId, other] of this.agents) {
+            if(otherId === changedAgentId) continue
+            this.ensurePrismValid(otherId, refreshed)
+            const hit = compareWorldlinePair(
+                changed,
+                other,
+                prismTimeHeight,
+                nearMissDistance,
+                now
+            )
+            if(hit) hits.push(hit)
+        }
+        return(hits)
+    }
+
+    registerHits(hits) {
+        for(const hit of hits) this.registry.add(hit)
+    }
+
+    onVectorChange(agentId, newVector, newPosition = null) {
+        this.registry.purge(agentId)
+        this.upsertAgent(agentId, newVector, newPosition)
+        const hits = this.scanAgentPairs(agentId)
+        this.registerHits(hits)
+        if(this.debug && hits.length) console.log(`[GPS] ${hits.length} proximity pair(s) for ${agentId}`)
+        return(hits)
+    }
+
+    onAgentRemove(agentId) {
+        this.agents.delete(agentId)
+        this.registry.purge(agentId)
+        this.agentStore?.exportRemove(agentId)
+        if(this.debug) console.log(`[GPS] Agent removed: ${agentId}`)
+    }
+
+    tickPrismRefresh() {
+        for(const agentId of this.agents.keys()) {
+            this.refreshAgentPrism(agentId)
+        }
+    }
+
+    buildProximityBatches(due) {
+        const byAgent = new Map()
+        for(const entry of due) {
+            for(const agentId of [entry.agentA, entry.agentB]) {
+                const otherAgent = entry.agentA === agentId ? entry.agentB : entry.agentA
+                if(!byAgent.has(agentId)) byAgent.set(agentId, [])
+                byAgent.get(agentId).push({
+                    otherAgent,
+                    distance: entry.distance,
+                    at: new Date(entry.time * 1000).toISOString(),
+                    minDistance: entry.minDistance,
+                    minAt: new Date(entry.minTime * 1000).toISOString(),
+                })
+            }
+        }
+        return(byAgent)
+    }
+
+    async publishProximityBatch(targetAgentId, pairs) {
+        if(!this.arenaCnx || !pairs.length) return
+        const chan = this.arenaCnx.config.gps.collisionsChannel.replace(/\[UID\]/g, targetAgentId)
+        await this.arenaCnx.redisPublish(chan, {
+            eventType: 'proximity',
+            payload: { pairs },
+            sender: 'gps',
+        })
+    }
+
+    async tickCollisions() {
+        const due = this.registry.dueBefore(this.now())
+        if(!due.length) return
+
+        const batches = this.buildProximityBatches(due)
+        for(const entry of due) this.registry.remove(entry)
+        for(const [agentId, pairs] of batches) {
+            await this.publishProximityBatch(agentId, pairs)
+        }
+    }
+
+    tickArena() {
+        this.tickPrismRefresh()
+        this.tickCollisions()
+    }
+
+    async reloadAccessRights() {
+        await this.configHelper.refreshAccessRights()
+        this.gpsConfig.accessRights = this.configHelper.config.accessRights
+        this.accessRights.refreshAccessRights(this.gpsConfig)
+    }
+
+    getAccessRights() {
+        return(this.gpsConfig.accessRights)
+    }
+
+}
diff --git a/GPS/p42Gps.js b/GPS/p42Gps.js
new file mode 100644
index 0000000..32fb32b
--- /dev/null
+++ b/GPS/p42Gps.js
@@ -0,0 +1,130 @@
+
+import yargs from 'yargs/yargs'
+import { hideBin } from 'yargs/helpers'
+import 'node:process'
+import {RedisConnexion} from './redisConnexion.js'
+import {configHelper} from '../configHelper.js'
+import {gpsServer} from './gpsServer.js'
+
+
+///////////////////////////// Little improvement on console.xxx /////////////////////////////////////
+const originalLog = console.log
+const originalWarn = console.warn
+const originalError = console.error
+function logWithTimestamp(originalFn, level, ...args) {
+  const timestamp = new Date().toISOString()
+  originalFn(`[${timestamp}] [${level}]`, ...args)
+}
+
+console.log = (...args) => logWithTimestamp(originalLog, 'LOG', ...args)
+console.warn = (...args) => logWithTimestamp(originalWarn, 'WARN', ...args)
+console.error = (...args) => logWithTimestamp(originalError, 'ERROR', ...args)
+//////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const argv = yargs(hideBin(process.argv)).command('GPS', 'Global positions and collision system for P42', {})
+    .options({
+        'debug': {
+            description: 'shows debug info',
+            alias: 'd',
+            defaut: false,
+            type: 'boolean'
+        },
+        'config': {
+            description: 'Points to config file (default: ../config.json)',
+            alias: 'c',
+            default: '../config.json',
+            type: 'string'
+        },
+    }).help().version('1.1').argv
+
+const debug = Boolean(process.env.DEBUG) || argv.debug
+
+let cfgh = new configHelper({
+    localfile: argv.config,
+})
+
+
+function meshRedisConns(mesh, meshName, debug, rootConfig) {
+    const { redis, ...meshConfig } = mesh
+    return redis.map(cfg =>
+        new RedisConnexion({
+            debug,
+            config: { ...cfg, ...meshConfig, gps: rootConfig.gps },
+            redisId: cfg.redisId,
+            meshName,
+        })
+    )
+}
+
+async function startAllRedis(rootConfig, cfgh) {
+    if (debug) console.log('Starting all Redis instances...')
+        
+    //1. instantiate all & login all
+    const redisConns = [
+        ...meshRedisConns(rootConfig.systemMesh, 'system', debug, rootConfig),
+        ...meshRedisConns(rootConfig.arenaMesh, 'arena', debug, rootConfig),
+    ]
+
+    const srv = new gpsServer(cfgh, redisConns, debug)
+    for(const cnx of redisConns) {
+        if(cnx.meshName === 'system') srv.wireSystemConnexion(cnx)
+        else if(cnx.meshName === 'arena') srv.wireArenaConnexion(cnx)
+    }
+
+    const loginResults = await Promise.allSettled(
+        redisConns.map(async cnx => {
+            await cnx.redisLogin()
+            return cnx.redisId
+        })
+    )
+
+    //2. make sure all connected before going any further
+    const failedLogin = loginResults.filter(r => r.status !== 'fulfilled')
+    if (failedLogin.length > 0) {
+        console.error('Redis login failures:')
+        failedLogin.forEach((r, i) => {
+            const id = redisConns[i].redisId
+            console.error(`chansStart failed for redis:[${id}] → ${r.reason}`)
+        })
+        throw new Error(
+            `Redis login failed for ${failedLogin.length}/${redisConns.length} instances`
+        )
+    }
+
+    if (debug) console.log('All Redis logins OK')
+        
+    // --- Phase 2: start channels for all (since all succeeded)
+    const chanResults = await Promise.allSettled(
+        redisConns.map(async cnx => {
+            await cnx.redisChansStart()
+            return cnx.redisId
+        })
+    )
+    
+    const failedChans = chanResults.filter(r => r.status !== 'fulfilled')
+    if (failedChans.length > 0) {
+        console.error('Redis chansStart failures:')
+        failedChans.forEach((r, i) => {
+            const id = redisConns[i].redisId
+            console.error(`chansStart failed for redis:[${id}] → ${r.reason}`)
+        })
+        throw new Error(
+            `Redis chansStart failed for ${failedChans.length}/${redisConns.length} instances`
+        )
+    }
+    
+    if (debug) console.log('All Redis chansStart OK')
+        
+    return { redisConns, srv }
+}
+
+cfgh.fetchConfig().then(async rootConfig => {
+    if(!rootConfig) {
+        console.error('Cannot get a valid configuration ! Aaarrghhh...')
+        process.exit()
+    }
+
+    console.log(`Debug mode : ${debug ? 'ON' : 'OFF'}`)
+
+    await startAllRedis(rootConfig, cfgh)
+})
diff --git a/GPS/package.json b/GPS/package.json
new file mode 100644
index 0000000..128a293
--- /dev/null
+++ b/GPS/package.json
@@ -0,0 +1,23 @@
+{
+  "name": "gps",
+  "version": "3.4.6",
+  "description": "Websocket-Redis Message Bus Gateway",
+  "main": "gps.js",
+  "type": "module",
+  "scripts": {
+    "test": "jest --verbose"
+  },
+  "repository": {
+    "type": "git",
+    "url": "wp42GPS"
+  },
+  "author": "Nike",
+  "license": "ISC",
+  "dependencies": {
+    "ajv": "^8.12.0",
+    "pm2": "^6.0.10",
+    "redis": "^4.3.0",
+    "urldecode": "^1.0.1",
+    "yargs": "^17.7.2"
+  }
+}
diff --git a/GPS/redisConnexion.js b/GPS/redisConnexion.js
new file mode 100644
index 0000000..9db90ba
--- /dev/null
+++ b/GPS/redisConnexion.js
@@ -0,0 +1,295 @@
+import redis from 'redis'
+import * as systemMesh from './actions/system/index.js'
+import * as arenaMesh from './actions/arena/index.js'
+
+const meshModules = {
+    system: systemMesh,
+    arena: arenaMesh,
+}
+
+export class RedisConnexion {
+
+    constructor(options) { 
+        this.config = options.config
+        this.debug = options.debug
+        this.redisId = options.redisId
+        this.redisConfig = this.config
+        this.meshName = options.meshName
+
+        const mesh = meshModules[this.meshName]
+        if(mesh?.meshActions) Object.assign(this, mesh.meshActions)
+        this.afterLoginMethods = mesh?.afterLoginMethods ?? []
+        if(!mesh) console.warn(`[${this.redisId}] Unknown meshName: ${this.meshName}`)
+
+        this.redisClient = redis.createClient({
+            socket: {
+                tls: this.redisConfig.tls,
+                host: this.redisConfig.host,
+                port: this.redisConfig.port
+            }
+        });
+
+        this.redisSubscriber = null;
+        this.redisClient.on('error', (err) => {
+            console.error('Redis error: ', err);
+        });
+
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] Redis started...`)
+    }
+
+    fullChan(chanName){
+        if(!chanName.startsWith(this.redisConfig.basePrefix)) chanName = this.redisConfig.basePrefix + chanName
+        return(chanName)
+    }
+
+    matchesChan(chan, pattern) {
+        const fullChan = this.fullChan(chan)
+        const fullPattern = this.fullChan(pattern)
+        const re = new RegExp('^' + fullPattern.replace(/\*/g, '(.+)') + '$')
+        return(re.test(fullChan))
+    }
+
+    async redisLogin(){
+        if(this.debug) console.log(`Connecting to Redis (${this.redisConfig.host}:${this.redisConfig.port}, tls:${this.redisConfig.tls?'yes':'no'})...`);
+        await this.redisClient.connect();
+        if(this.debug) console.log(`Connected to Redis ${this.redisConfig.redisId}`);
+        if(this.redisConfig.user) {
+            await this.redisClient.sendCommand(['AUTH', this.redisConfig.user, this.redisConfig.pass]);
+            if(this.debug) console.log(`Logged into Redis  ${this.redisConfig.redisId}`);
+        } else {
+            if(this.debug) console.log(`Connected (anon) to Redis  ${this.redisConfig.redisId}`);
+        }
+        if(this.debug) {
+            var redisTime = await this.redisClient.time();
+            console.log(`[${this.redisConfig.redisId}] Redis  ${this.redisConfig.redisId} time:`, redisTime);
+        }
+
+        for(const method of this.afterLoginMethods){
+            if(typeof method != 'function') continue
+            method(this)
+        }
+    }
+
+    async redisChansStart(){
+        this.redisSubscriber = this.redisClient.duplicate();
+        await this.redisSubscriber.connect();
+        if(this.redisConfig.user) {
+            await this.redisSubscriber.sendCommand(['AUTH', this.redisConfig.user, this.redisConfig.pass]);
+        }
+        const allChans = this.redisConfig.basePrefix + this.redisConfig.chansNamespace+'*'
+        this.redisSubscriber.pSubscribe(allChans, this.redisReceive.bind(this));
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] PSubscription OK `, allChans);
+    }
+
+    async redisSubscribe(chanName, callBack){
+        if(!chanName.startsWith(this.redisConfig.basePrefix)) chanName = this.redisConfig.basePrefix  + chanName
+        if(!chanName.startsWith(this.redisConfig.basePrefix+this.redisConfig.chansNamespace)) {
+            console.warn(`[${this.redisConfig.redisId}] redisSubscribe : forbidden channel range on this redis !`)
+            return 
+        }
+        await this.redisSubscriber.subscribe(chanName, callBack);
+    }
+
+    async redisPublish(chanName, msg){
+        if(typeof (msg) != 'string') msg = JSON.stringify(msg);
+        if(!chanName.startsWith(this.redisConfig.basePrefix)) chanName = this.redisConfig.basePrefix + chanName
+        if(!chanName.startsWith(this.redisConfig.basePrefix+this.redisConfig.chansNamespace)) {
+            console.warn(`[${this.redisConfig.redisId}] redisPublish : forbidden channel range on this redis ! (${chanName} / ${this.redisConfig.basePrefix+this.redisConfig.chansNamespace}) `)
+            return 
+        }
+
+        await this.redisClient.publish(chanName, msg);
+    }
+
+    async redisSet(k, v, exp = 0, customPrefix=null){
+        if(typeof(v) != 'string') v = JSON.stringify(v);
+        if(customPrefix!==null) k = customPrefix + k
+        else if(!k.startsWith(this.redisConfig.basePrefix)) k = this.redisConfig.basePrefix + k
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] Redis SET `, k);
+        try { await this.redisClient.set(k, v) }
+        catch(err) { console.error(`[${this.redisConfig.redisId}] Redis crash doing Redis set: `, k, v) }
+        if(exp > 0) {
+            try { await this.redisClient.expire(k, exp) }
+            catch(err) { console.error(`[${this.redisConfig.redisId}] Redis crash doing Redis expire: `, k, exp) }
+        }
+    }
+
+    async redisGet(k, customPrefix=null){
+        if(customPrefix!==null) k = customPrefix + k
+        else if(!k.startsWith(this.redisConfig.basePrefix)) k = this.redisConfig.basePrefix + k
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] Redis GET`,  k)
+        let v=null
+        try { v = await this.redisClient.get(k) }
+        catch(err) { console.error(`[${this.redisConfig.redisId}] Redis crash doing Redis get: `, k) }      
+        return(v);
+    }
+
+    resolveKey(k, customPrefix=null){
+        if(customPrefix!==null) return(customPrefix + k)
+        if(!k.startsWith(this.redisConfig.basePrefix)) k = this.redisConfig.basePrefix + k
+        return(k)
+    }
+
+    async redisDel(k, customPrefix=null){
+        k = this.resolveKey(k, customPrefix)
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] Deleting`,  k)
+        await this.redisClient.del(k)
+    }
+
+    async redisHset(k, field, v, customPrefix=null){
+        if(typeof(v) != 'string') v = JSON.stringify(v)
+        k = this.resolveKey(k, customPrefix)
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] Redis HSET`, k, field)
+        try { await this.redisClient.hSet(k, field, v) }
+        catch(err) { console.error(`[${this.redisConfig.redisId}] Redis crash doing HSET: `, k, field, err) }
+    }
+
+    async redisHdel(k, field, customPrefix=null){
+        k = this.resolveKey(k, customPrefix)
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] Redis HDEL`, k, field)
+        try { await this.redisClient.hDel(k, field) }
+        catch(err) { console.error(`[${this.redisConfig.redisId}] Redis crash doing HDEL: `, k, field, err) }
+    }
+
+    async redisSadd(k, member, customPrefix=null){
+        k = this.resolveKey(k, customPrefix)
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] Redis SADD`, k, member)
+        try { await this.redisClient.sAdd(k, member) }
+        catch(err) { console.error(`[${this.redisConfig.redisId}] Redis crash doing SADD: `, k, member, err) }
+    }
+
+    async redisSrem(k, member, customPrefix=null){
+        k = this.resolveKey(k, customPrefix)
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] Redis SREM`, k, member)
+        try { await this.redisClient.sRem(k, member) }
+        catch(err) { console.error(`[${this.redisConfig.redisId}] Redis crash doing SREM: `, k, member, err) }
+    }
+
+
+    async redisGetTtl(k, customPrefix=null){
+        if(customPrefix!==null) k = customPrefix + k
+        else if(!k.startsWith(this.redisConfig.basePrefix)) k = this.redisConfig.basePrefix + k
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] Redis Get TTL `,  k)
+        let v=null
+        try { v = await this.redisClient.ttl(k) }
+        catch(err) { console.error(`[${this.redisConfig.redisId}] Redis crash doing Redis ttl: `, k) }      
+        return(v);
+    }
+    
+    async redisSetTtl(k, ttl, customPrefix=null){
+        if(customPrefix!==null) k = customPrefix + k
+        else if(!k.startsWith(this.redisConfig.basePrefix)) k = this.redisConfig.basePrefix + k
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] Redis Set TTL`,  k);
+        try { await this.redisClient.expire(k, ttl) }
+        catch(err) { console.error(`[${this.redisConfig.redisId}] Redis crash doing Redis expire: `, k, ttl) }
+    }    
+
+    async redisXadd(streamName, kvObj, max = ''){
+        if(!streamName.startsWith(this.redisConfig.basePrefix)) streamName = this.redisConfig.basePrefix  + streamName
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] Redis XADD `, streamName, kvObj);
+        let arr = ['XADD', streamName]
+        if(max != '') arr = [...arr, ...['MAXLEN', '~', (1*max).toString()]]
+        arr.push('*')
+        let payload = '""'
+        try{ payload = JSON.stringify(kvObj) }
+        catch(e) { console.warn(`[${this.redisConfig.redisId}] cannot historize bad json: `,kvObj) }
+        arr.push('streamData')
+        arr.push(payload)
+        let sid = null
+        try { sid = await this.redisClient.sendCommand(arr); }
+        catch(err) { console.error(`[${this.redisConfig.redisId}] Redis crash doing Redis command: `, arr, err) }
+        return(sid);
+    }
+
+    async redisXrange(streamName, start = '-', end = '+', withPayload = true){
+        if(!streamName.startsWith(this.redisConfig.basePrefix)) streamName = this.redisConfig.basePrefix + streamName
+        if(this.debug) console.log(`[${this.redisConfig.redisId}]Redis XRANGE `, streamName);
+        if(typeof(start)!='string') start = start.toString()
+        if(typeof(end)!='string') end = end.toString()
+        let arr = ['XRANGE', streamName, start, end];
+        let res = []
+        try { res = await this.redisClient.sendCommand(arr) }
+        catch(err) { console.error(`[${this.redisConfig.redisId}] Redis crash doing Redis command: `, arr, err.msg) }
+
+        if(withPayload){
+            let o = {};
+            for (let row of res) { // We'll take only the first content of the stream (the value of the key 'streamdata')
+                let payload = ''
+                try{ payload = JSON.parse(row[1][1]) }
+                catch(e) { console.warn(`[${this.redisConfig.redisId}] cannot unhistorize bad json: `,row[1][1]) }
+                o[row[0]] = payload
+            }
+            return(o);
+        } else {
+            return(res.map(row => row[0]))
+        }
+    }
+
+    isHistorizedChan(chan){
+        if(!chan.startsWith(this.redisConfig.basePrefix)) chan = this.redisConfig.basePrefix + chan
+        var matches = this.redisConfig.historizeChannels.filter((e) => {
+            if(!e.startsWith(this.redisConfig.basePrefix)) e = this.redisConfig.basePrefix + e
+            if(e.indexOf('*') > -1) {
+                let r = new RegExp('^'+e.replace(/\*/g,'(.+)')+'$','g')
+                return(chan.match(r) != null);
+            } else return(chan == e);
+        });
+        return(matches.length > 0);
+    }
+  
+    async getProcessInfo(){
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] Redis INFO`);
+        try { 
+            const rawInfo = await this.redisClient.INFO()
+            let arr = rawInfo.replace(/\r/g,'').split('\n')
+            arr = arr.filter(item => (item.trim()!='') && (!item.trim().startsWith('#')))
+            let infoObject = arr.reduce((acc, val) => { kv = val.split(':',2); if(kv.length>0){ acc[kv[0]] = kv[1] } return(acc) }, {})
+         }
+        catch(err) { console.error(`[${this.redisConfig.redisId}] Redis crash doing Redis INFO: `) }
+        return(infoObject)
+    }
+
+    async redisReceive(msg, chan){
+        if(this.debug) console.log(`[${this.redisConfig.redisId}] From Redis chan:`, chan, msg)
+        try {
+            msg = JSON.parse(msg)
+        } catch {
+            console.warn(`[${this.redisConfig.redisId}] Ignoring non-json on channel ${chan} : ${msg}`)
+            return
+        }
+
+        if(this.meshName === 'arena' && this.config.gps && typeof(this.dispatchArenaMessage) === 'function') {
+            if(this.dispatchArenaMessage(msg, chan)) return
+        }
+
+        if(this.meshName === 'system' && this.config.gps?.gpsActionsChannel){
+            const actionsChan = this.fullChan(this.config.gps.gpsActionsChannel)
+            if(chan != actionsChan) return
+    
+            const action = msg.action
+            if(!action || typeof(action) !== 'string') {
+                console.warn(`[${this.redisConfig.redisId}] Ignoring message without action on ${chan}`)
+                return
+            }
+    
+            const handler = this['action_'+action]
+            if(typeof(handler) != 'function') {
+                if(this.debug) console.warn(`[${this.redisConfig.redisId}] Unknown action ${action} on ${chan}`)
+                return
+            }
+    
+            const payload = ('payload' in msg) ? msg.payload : null
+            const reqid = ('reqid' in msg) ? msg.reqid.substr(0, 50) : null
+            const sender = msg.sender || null
+            const roles = Array.isArray(msg.roles) ? msg.roles : ['*']
+    
+            if(this.debug) console.log(`[${this.redisConfig.redisId}] Dispatching action ${action} from ${sender}`)
+            handler.call(this, action, payload, reqid, sender, roles)
+        }
+
+    }
+
+}
+
+
+// redis-cli -h redis.backend.eismea.eu --tls --user default
diff --git a/GPS/startGps.sh b/GPS/startGps.sh
new file mode 100755
index 0000000..323d831
--- /dev/null
+++ b/GPS/startGps.sh
@@ -0,0 +1,13 @@
+#!/bin/sh
+
+cd /opt/p42GodDaemons/GPS/
+
+pid=`ps -ef | grep p42Gps |grep -v grep |  awk '{print $2}'`
+if [ -z "$pid" ]
+then
+    node p42Gps.js --debug > gps.log 2>&1 &
+else
+    echo ''
+    echo 'Already running PID='"$pid"' (use stopGps.sh to stop it)'
+    echo ''
+fi
diff --git a/GPS/stopGps.sh b/GPS/stopGps.sh
new file mode 100755
index 0000000..d8648ac
--- /dev/null
+++ b/GPS/stopGps.sh
@@ -0,0 +1,11 @@
+#!/bin/sh
+
+pid=`ps -ef | grep p42Gps.js |grep -v grep |  awk '{print $2}'`
+if [ -n "$pid" ]
+then
+    echo "killing pid: $pid"
+    kill -9 $pid
+fi
+
+
+
diff --git a/accesRights.js b/accesRights.js
new file mode 100644
index 0000000..ea0df40
--- /dev/null
+++ b/accesRights.js
@@ -0,0 +1,131 @@
+export class AccesRights {
+
+    constructor(config, debug){
+        this.debug = debug
+        this.config = config
+        this.rights = config.accessRights
+    }
+
+    refreshAccessRights(config){
+        this.rights = config.accessRights
+    }
+
+    mustSubscribe(uid, roles) {
+        if(roles.indexOf('*')<0) roles.push('*')
+        let chans = []
+        for(let myRole of roles){
+            for(let rightBlock of this.rights) {
+                if(!rightBlock.mustSubscribe) continue
+                if((rightBlock.roles=='*') || (rightBlock.roles.indexOf(myRole)>-1)) {
+                    chans = this.merge(chans, rightBlock.mustSubscribe.map(item=>item.replace(/\[UID\]/g,uid)))
+                }
+            }
+        }
+        return(chans)
+    }
+
+    isMandatory(uid, roles, chan){
+        return(this.mustSubscribe(uid, roles).filter(this.chanMatch.bind(this, chan)).length>0)
+    }
+
+    canSubscribe(uid, roles, myChan) {        
+        if(roles.indexOf('*')<0) roles.push('*')
+        for(let myRole of roles){
+            for(let rightBlock of this.rights) {
+                if(!rightBlock.canSubscribe) continue
+                if((rightBlock.roles=='*') || (rightBlock.roles.indexOf(myRole)>-1)) {
+                    let canSubList = rightBlock.canSubscribe.map(item=>item.replace(/\[UID\]/g, uid))
+                    if(canSubList.find(this.chanMatch.bind(this, myChan))) return(true)
+                }
+            }
+        }
+        //if(this.debug) console.log(`Roles : ${roles} cannot subscribe on ${myChan}`)        
+        return(false)
+    }
+
+    canPublish(uid, roles, myChan) {
+        if(roles.indexOf('*')<0) roles.push('*')
+        for(let myRole of roles){
+            for(let rightBlock of this.rights) {
+                if(!rightBlock.canPublish) continue
+                if((rightBlock.roles=='*') || (rightBlock.roles.indexOf(myRole)>-1)) {  
+                    let canPubList = rightBlock.canPublish.map(item=>item.replace(/\[UID\]/g, uid))
+                    if(canPubList.find(this.chanMatch.bind(this, myChan))) return(true)
+                }
+            }
+        }
+        //if(this.debug) console.log(`Roles : ${roles} cannot publish on ${myChan}`)        
+        return(false)
+    }
+
+    canSet(uid, roles, myKey){
+        if(roles.indexOf('*')<0) roles.push('*')
+        for(let myRole of roles){
+            for(let rightBlock of this.rights) {
+                if(!rightBlock.canSet) continue
+                if((rightBlock.roles=='*') || (rightBlock.roles.indexOf(myRole)>-1)) { 
+                    let canSetList = rightBlock.canSet.map(item=>item.replace(/\[UID\]/g, uid))              
+                    if(canSetList.find(this.chanMatch.bind(this, myKey))) return(true)
+                }
+            }
+        }
+        //if(this.debug) console.log(`Roles : ${roles} cannot set ${myKey}`)        
+        return(false)        
+    }
+
+    canGet(uid, roles, myKey){
+        if(roles.indexOf('*')<0) roles.push('*')
+        for(let myRole of roles){
+            for(let rightBlock of this.rights) {
+                if(!rightBlock.canGet) continue
+                if((rightBlock.roles=='*') || (rightBlock.roles.indexOf(myRole)>-1)) { 
+                    let canGetList = rightBlock.canGet.map(item=>item.replace(/\[UID\]/g, uid))
+                    if(canGetList.find(this.chanMatch.bind(this, myKey))) return(true)
+                }
+            }
+        }
+        //if(this.debug) console.log(`Roles : ${roles} cannot get ${myKey}`)        
+        return(false)        
+    }
+
+    canDo(roles, action, uid=null){
+        if(roles.indexOf('*')<0) roles.push('*')
+        for(let myRole of roles){
+            for(let rightBlock of this.rights) {
+                if(!rightBlock.canDo) continue
+                if((rightBlock.roles=='*') || (rightBlock.roles.indexOf(myRole)>-1)) { 
+                    if(rightBlock.canDo.indexOf(action)>-1) {
+                        if((rightBlock.uuids) && Array.isArray((rightBlock.uuids))) {
+                            // !!! Separate condition so if rightBlock.uuids but not uid in it, we don't give access !
+                            if(rightBlock.uuids.includes(uid)) return(true) // null should never be in config uuids => old style calls are safe
+                        } else { // no uuid block => role is sufficient to give access
+                            return(true)
+                        }
+                    }
+                }
+            }
+        }
+
+        //Anti-shoot-your-foot
+        if((action=='reloadAccessRights') && (roles.includes('EIC_Dev'))) {
+            console.error('Prevented you from shooting your foot ! \nPlease keep least EIC_Dev in reload access rights !')
+            return(true)
+        }
+
+        //if(this.debug) console.log(`Roles : ${roles} cannot do ${action}`)        
+        return(false)        
+    }
+
+    chanMatch(myChan, configChan) {
+        if((!myChan) || (typeof(myChan)!='string')) return(false)
+        let re = new RegExp('^'+configChan.replace(/\*/g,'(.+)')+'$','g')
+        return(myChan.match(re)!=null)
+    }
+
+    merge(x, y) {
+        let tmp = x
+        for(let yitem of y) if(tmp.indexOf(yitem)<0) tmp.push(yitem)
+        return(tmp)
+    }
+
+}
\ No newline at end of file
diff --git a/config.json b/config.json
new file mode 100644
index 0000000..d241541
--- /dev/null
+++ b/config.json
@@ -0,0 +1,66 @@
+{
+    "accessRights": [
+        {
+            "canDo": [
+                "RELOADCONFIG",
+                "GETCONFIG"
+            ],
+            "roles": [
+                "admin"
+            ]
+        },
+        {
+            "canDo": [
+                "GETAGENTPOSITION",
+                "GETAGENTSINPRISM"
+            ],
+            "roles": "*"
+        }
+    ],
+    "gps": {
+        "gpsActionsChannel": "system:requests:gps",
+        "gpsActionsReply": "system:replies:[UID]",
+        "storage": {
+            "agentHashKey": "system:gps:agent:[UID]",
+            "agentsIndexKey": "system:gps:agents",
+            "positionsStream": "system:gps:positions",
+            "streamMaxLen": 100000
+        },
+        "agentVectorChangeChannel": "arena:agents:*",
+        "collisionsChannel": "arena:agents:[UID]",
+        "nearMissDistance": 1,
+        "prismTimeHeight": 60,
+        "collisionTickMs": 100,
+        "prismRefreshLeadSeconds": 1
+    },
+    "systemMesh": {
+        "redis": [
+            {
+                "redisId": "SYS_1",
+                "role": "primary",
+                "host": "127.0.0.1",
+                "tls": false,
+                "port": 6380,
+                "user": "",
+                "pass": "",
+                "chansNamespace": "system:",
+                "basePrefix": "messageBus:"
+            }
+        ]
+    },
+    "arenaMesh": {
+        "redis": [
+            {
+                "redisId": "ARN_1",
+                "role": "primary",
+                "host": "127.0.0.1",
+                "tls": false,
+                "port": 6379,
+                "user": "",
+                "pass": "",
+                "chansNamespace": "arena:",
+                "basePrefix": "messageBus:"
+            }
+        ]
+    }
+}
diff --git a/configHelper.js b/configHelper.js
new file mode 100644
index 0000000..cdfdf55
--- /dev/null
+++ b/configHelper.js
@@ -0,0 +1,54 @@
+import Ajv from 'ajv'
+import confSchema from './configSchema.json' with { type: 'json' }
+import { pathToFileURL } from 'url'
+
+export class configHelper {
+
+    constructor(options){
+        this.config = {}
+        this.localfile = options.localfile
+        this.fetchConfig = this.fetchConfigFile
+        this.refreshAccessRights = this.refreshAccessRightsFile
+        const ajv = new Ajv({
+            allowUnionTypes: true
+        })
+        this.configValidator = ajv.compile(confSchema)        
+    }
+
+    isValidConfig(conf){
+        if(this.configValidator(conf)) return(true)
+        console.error('Invalid configuration: ', this.configValidator.errors)
+        return(false)
+    }
+
+    async fetchConfigFile(){
+        let curConfig = this.config
+        const url = pathToFileURL(this.localfile).href
+        this.config = await import(url, {
+            with: { type: 'json' }
+        }).then(m => m.default)
+        if(this.isValidConfig(this.config)) return(this.config)
+        console.error(this.configValidator.errors)
+        //revert if invalid conf
+        this.config = curConfig
+    }
+
+    async refreshAccessRightsDynamo(){
+        let ar =  await this.dynamoGet('accessRights')
+        this.config.accessRights = ar
+    }
+
+    async refreshAccessRightsFile(){
+        let tmp
+        try { tmp = import(`${this.localfile}?update=${Date.now()}`, { assert: { type: 'json' } }) }
+        catch(err) { 
+            console.error('Error Reloading config !! (bad json?) => Keeping current accessRights !')
+            return 
+        }
+        if(!tmp.accessRights) {
+            console.error('Error Reloading config !! (no accessRights !) => Keeping current accessRights !')
+            return           
+        }
+        this.config.accessRights = tmp.accessRights
+    }
+}
diff --git a/configSchema.json b/configSchema.json
new file mode 100644
index 0000000..8fed15c
--- /dev/null
+++ b/configSchema.json
@@ -0,0 +1,119 @@
+{
+    "$id": "https://nicsys.eu/god-daemons-config.schema.json",
+    "title": "P42 God Daemons Configuration",
+    "description": "Shared configuration for P42 God Daemons",
+    "type": "object",
+    "definitions": {
+        "redisConnection": {
+            "type": "object",
+            "properties": {
+                "redisId": { "type": "string" },
+                "role": { "type": "string", "enum": ["primary", "shard"] },
+                "host": { "type": "string" },
+                "tls": { "type": "boolean" },
+                "port": { "type": "integer" },
+                "user": { "type": "string" },
+                "pass": { "type": "string" },
+                "chansNamespace": { "type": "string" },
+                "basePrefix": { "type": "string" }
+            },
+            "required": [
+                "redisId",
+                "chansNamespace",
+                "basePrefix"
+            ]
+        },
+        "redisArray": {
+            "type": "array",
+            "items": { "$ref": "#/definitions/redisConnection" },
+            "minItems": 1
+        }
+    },
+    "properties": {
+        "accessRights": {
+            "type": "array",
+            "items": {
+                "type": "object",
+                "properties": {
+                    "roles": {
+                        "type": [
+                            "string",
+                            "array"
+                        ],
+                        "items": {
+                            "type": "string"
+                        }
+                    },
+                    "canDo": {
+                        "type": "array",
+                        "items": {
+                            "type": "string"
+                        }
+                    }
+                },
+                "required": [
+                    "roles",
+                    "canDo"
+                ]
+            }
+        },
+        "gps": {
+            "type": "object",
+            "properties": {
+                "gpsActionsChannel": { "type": "string" },
+                "gpsActionsReply": { "type": "string" },
+                "storage": {
+                    "type": "object",
+                    "properties": {
+                        "agentHashKey": { "type": "string" },
+                        "agentsIndexKey": { "type": "string" },
+                        "positionsStream": { "type": "string" },
+                        "streamMaxLen": { "type": "integer", "minimum": 0 }
+                    },
+                    "required": [
+                        "agentHashKey",
+                        "agentsIndexKey",
+                        "positionsStream"
+                    ]
+                },
+                "agentVectorChangeChannel": { "type": "string" },
+                "collisionsChannel": { "type": "string" },
+                "nearMissDistance": { "type": "number", "minimum": 0 },
+                "prismTimeHeight": { "type": "number", "minimum": 0 },
+                "collisionTickMs": { "type": "integer", "minimum": 1 },
+                "prismRefreshLeadSeconds": { "type": "number", "minimum": 0 }
+            },
+            "required": [
+                "gpsActionsChannel",
+                "gpsActionsReply",
+                "storage",
+                "agentVectorChangeChannel",
+                "collisionsChannel"
+            ]
+        },
+        "systemMesh": {
+            "type": "object",
+            "properties": {
+                "redis": { "$ref": "#/definitions/redisArray" }
+            },
+            "required": [
+                "redis"
+            ]
+        },
+        "arenaMesh": {
+            "type": "object",
+            "properties": {
+                "redis": { "$ref": "#/definitions/redisArray" }
+            },
+            "required": [
+                "redis"
+            ]
+        }
+    },
+    "required": [
+        "accessRights",
+        "systemMesh",
+        "arenaMesh"
+    ],
+    "additionalProperties": true
+}
diff --git a/package.json b/package.json
new file mode 100644
index 0000000..a0c10d6
--- /dev/null
+++ b/package.json
@@ -0,0 +1,7 @@
+{
+    "name": "p42GodDaemons",
+    "type": "module",
+    "dependencies": {
+        "ajv": "^8.12.0"
+    }
+}