Library built on top of libNfc, that allows to easily send APDU commands through a terminal.

Enter the repo directory then simply :

make

This code uses libnfc

If you're on Linux, you can install libnfc simply by doing :

git clone https://github.com/nfc-tools/libnfc.git
autoreconf -vis
./configure --enable-doc
make
sudo make install

The code contains an implementation of the APDU protocol according to Wikipedia. However, I'm not entierly sure if I implemented correctly the extended apdu protocol. The PN532 doesn't support it anyway...

Use the NfcManager to simplify the process of detecting, opening and transceiving data.

NfcManager manager;
if(manager.open()){
    if(manager.isTargetPresent()){
        // do things ...
    }
    manager.close();
}

Once the device opened, use the APDU class to send and receive APDUs commands. If you want to perform a select command, you would do :

APDU apdu;
apdu.setClass(0x00);
apdu.setInstruction(0xA4);
apdu.setParams(0x04, 0x00);
apdu.setCmd(hexStringToByteArray(appId));
apdu.buildAPDU();
manager.transceive(apdu);

To know more about APDUs instruction codes etc, read the beautiful ISO standard

When manager.transceive() ends, the APDU object will contain the response, if any. You can get it like this :

std::vector<uint8_t> responseBytes = apdu.getRespBytes();
std::string responseString = apdu.getRespString();

That said, NfcManager already implements the select command, you just need to do this :

manager.selectApplication(appId, apdu);

You can find a full examples here.