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It looks like MaidSafe is using RUDP protocol:
http://maidsafe.net/SystemDocs/detail/RUDP.html
I wonder if RUDP is in the roadmap for pfsense? Not quite sure how to check. Anyway I wanted to raise a flag…
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I suppose that depends on how it's implemented.
It looks like it can run over standard UDP just with its own payload format, in which case it would look no different to pfSense than normal UDP and wouldn't require any special handling.