GitHub - intel/libaji_client: This is the client side library to access JTAG Server distributed with Quartus (jtagd/jtagserver.exe). The protocol is known as Advanced JTAG Interface (AJI). See src/h/aji.h for available API.
JTAG Testing for Embedded Systems : DebugJet
Amazon.com: Flirc Jeff Probe - Open Source JTAG : Electronics