Freeradius/tacacs

Hi List, I am looking for a tacacs radius solution. For some reason I can't find that much information about freeradius<->tacacs. My complete setup needs to be database driven. (ldap/ad) I want to be able to log every command a users executes, limit users into groups, limit groups into commands that they can execute. It also must be possible to set wich users can login on wich cisco. Thanks List ! Wesley