images are now sent using base64. 40fps on localhost, test to be done on raspberry

.vscode/c_cpp_properties.json

-{
-    "configurations": [
-        {
-            "name": "Linux",
-            "includePath": [
-                "${workspaceFolder}/**"
-            ],
-            "defines": [],
-            "compilerPath": "/usr/bin/clang",
-            "cStandard": "c11",
-            "cppStandard": "c++17",
-            "intelliSenseMode": "clang-x64"
-        }
-    ],
-    "version": 4
-}

.vscode/tasks.json

-{
-  // See https://go.microsoft.com/fwlink/?LinkId=733558
-    // for the documentation about the tasks.json format
-    "version": "2.0.0",
-    "tasks": [
-        {
-            "taskName": "Compile on raspberry",
-            "command": "rsync -az '${file}' 10.105.1.6:~ && ssh server.example.org 'chmod +x ./${fileBasename}; ./${fileBasename}'",
-            "type": "shell",
-            "group": {
-                "kind": "build",
-                "isDefault": true
-            }
-        }
-    ]
-}

software/monitor/monitor/Client.cs

 using System.Net.Sockets;
 using System.Text;
 
+using System.Threading;
+
 namespace monitor
 {
     /// <summary>
         /// </summary>
         private static byte[] receiveBuffer;
 
-        private static int initialReceiveBufferIndex = 0;
+        //private static int initialReceiveBufferIndex = 0;
 
         /// <summary>
         /// String containing received message from tcp server
         /// </summary>
         private static StringBuilder message = new StringBuilder();
-        private static int newLength = 1;
-        private static int packetCounter = 0;
+        //private static int newLength = 1;
+        //private static int packetCounter = 0;
 
         /// <summary>
         /// Callback to send received message to upper level
         /// </summary>
-        public delegate void ReadEvent(string msg, byte[] buffer);
+        public delegate void ReadEvent(string msg);
         public static ReadEvent readEvent = null;
 
         /// <summary>
+        /// Thread used in reception
+        /// </summary>
+        private static Thread readThread;
+
+        /// <summary>
         /// Open connection to server "host", on default port number.
         /// </summary>
         /// <returns>true if connection succeded, false otherwise</returns>
 
                 // received data are stored in buffer
                 // Next reading will be done in ReadCallback method
-                stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message);
+                stream.BeginRead(buffer, 0, 1, new AsyncCallback(ReadCallback), message);
+
+                // Start reading thread
+                //message.Clear();
+                //readThread = new Thread(new ThreadStart(ReadCallback));
+                //readThread.Start();
             }
             catch (ArgumentNullException e)
             {
         /// <summary>
         /// Callback call by stream.BeginRead after reception of newLength data
         /// </summary>
+        //private static void ReadCallback()
+        //{
+        //    char character;
+        //    int data;
+        //    byte[] buffer=new byte[4096];
+        //    int lengthRead;
+
+        //    while (client.Connected)
+        //    {
+        //        try
+        //        {
+        //            //data = stream.ReadByte();
+        //            lengthRead = stream.Read(buffer, 0, buffer.Length);
+        //        }
+        //        catch (ObjectDisposedException)
+        //        {
+        //            Console.WriteLine("Connection to server dropped (object disposed)!");
+        //            return;
+        //        }
+        //        catch (System.IO.IOException)
+        //        {
+        //            Console.WriteLine("Connection to server dropped (other error)");
+        //            return;
+        //        }
+
+        //        if (lengthRead > 0) // a data was read
+        //        {
+        //            //character = (char)data;
+        //            var str = System.Text.Encoding.Default.GetString(buffer);
+        //            int indexOf = str.IndexOf('\n');
+
+        //            //if (character != '\n')
+        //            if (indexOf == -1) // \n doesn't exists
+        //            {
+        //                message.Append(str);
+
+        //                //if (receiveBuffer == null) receiveBuffer = new byte[1];
+        //                //else Array.Resize<byte>(ref receiveBuffer, receiveBuffer.Length + 1); // resize currrent buffer
+
+        //                //receiveBuffer[receiveBuffer.Length - 1] = (byte)data;
+        //            }
+        //            else // end of string found
+        //            {
+        //                message.Append((str.Substring(0,indexOf)));
+        //                readEvent?.Invoke(message.ToString(), receiveBuffer);
+
+        //                message.Clear();
+        //                receiveBuffer = null;
+        //            }
+        //        }
+        //    }
+        //}
+
+        /// <summary>
+        /// Callback call by stream.BeginRead after reception of newLength data
+        /// </summary>
         /// <param name="ar">Not sure of what is it, but needed for terminate reading</param>
+        //private static void ReadCallback(IAsyncResult ar)
+        //{
+        //    if (client.Connected)
+        //    {
+        //        int bytesRead;
+
+        //        try
+        //        {
+        //            // Termintae read operation, and get number of byte stored in buffer
+        //            bytesRead = stream.EndRead(ar);
+        //        }
+        //        catch (ObjectDisposedException e)
+        //        {
+        //            Console.WriteLine("Connection to server dropped: " + e.ToString());
+        //            return;
+        //        }
+
+        //        newLength = 1;
+
+        //        // if number of byte read is not 0, concatenate string and buffer
+        //        if (bytesRead > 0)
+        //        {
+        //            packetCounter++;
+
+        //            if (packetCounter >= 3)
+        //            {
+        //                //Console.WriteLine("Supplementary packet " + packetCounter);
+        //            }
+
+        //            // Append new data to current string (expecting data are ascii)
+        //            message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead));
+
+        //            // Similarly, append received bytes to current buffer 
+        //            if (receiveBuffer == null) receiveBuffer = new byte[bytesRead];
+        //            else Array.Resize<byte>(ref receiveBuffer, initialReceiveBufferIndex + bytesRead); // resize currrent buffer
+
+        //            System.Buffer.BlockCopy(buffer, 0, receiveBuffer, initialReceiveBufferIndex, bytesRead); // and add received data
+        //            initialReceiveBufferIndex = receiveBuffer.Length; // move last index of current buffer
+        //        }
+
+        //        // if it remains received data, prepare for a new reading (get another buffer to append to current one)
+        //        if (client.Available > 0)
+        //        {
+        //            newLength = client.Available;
+        //            if (newLength > BufferMaxSize) newLength = BufferMaxSize;
+        //            else newLength = client.Available;
+        //        }
+        //        else
+        //        {
+        //            // no more data to read, buffer and string can be send to upper level
+        //            readEvent?.Invoke(message.ToString(), receiveBuffer);
+
+        //            message.Clear();
+        //            receiveBuffer = null;
+        //            initialReceiveBufferIndex = 0;
+        //            packetCounter = 0;
+        //        }
+
+        //        // Prepare for reading new data
+        //        if (newLength> BufferMaxSize) newLength = BufferMaxSize;
+        //        if (newLength <= 0) newLength = 1;
+        //        stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message);
+        //    }
+        //}
+
         private static void ReadCallback(IAsyncResult ar)
         {
+            int newLength = 1;
+
             if (client.Connected)
             {
                 int bytesRead;
 
                 try
                 {
-                    // Termintae read operation, and get number of byte stored in buffer
+                    // Terminate read operation, and get number of byte stored in buffer
                     bytesRead = stream.EndRead(ar);
                 }
                 catch (ObjectDisposedException e)
                     return;
                 }
 
-                newLength = 1;
+                //newLength = 1;
 
                 // if number of byte read is not 0, concatenate string and buffer
                 if (bytesRead > 0)
                 {
-                    packetCounter++;
-
-                    if (packetCounter >= 3)
-                    {
-                        //Console.WriteLine("Supplementary packet " + packetCounter);
-                    }
-
                     // Append new data to current string (expecting data are ascii)
                     message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead));
-
-                    // Similarly, append received bytes to current buffer 
-                    if (receiveBuffer == null) receiveBuffer = new byte[bytesRead];
-                    else Array.Resize<byte>(ref receiveBuffer, initialReceiveBufferIndex + bytesRead); // resize currrent buffer
-
-                    System.Buffer.BlockCopy(buffer, 0, receiveBuffer, initialReceiveBufferIndex, bytesRead); // and add received data
-                    initialReceiveBufferIndex = receiveBuffer.Length; // move last index of current buffer
                 }
 
                 // if it remains received data, prepare for a new reading (get another buffer to append to current one)
                 else
                 {
                     // no more data to read, buffer and string can be send to upper level
-                    readEvent?.Invoke(message.ToString(), receiveBuffer);
+                    readEvent?.Invoke(message.ToString());
 
                     message.Clear();
-                    receiveBuffer = null;
-                    initialReceiveBufferIndex = 0;
-                    packetCounter = 0;
                 }
 
                 // Prepare for reading new data

software/monitor/monitor/CommandManager.cs

         /// <summary>
         /// Callback for sending received data to upper level
         /// </summary>
-        public delegate void CommandReceivedEvent(string msg, byte[] buffer);
+        public delegate void CommandReceivedEvent(string msg);
         public CommandReceivedEvent commandReceivedEvent = null;
 
         /// <summary>
         /// </summary>
         /// <param name="message">Message received from server</param>
         /// <param name="buffer">Raw buffer reived from server</param>
-        private void OnMessageReception(string message, byte[] buffer)
+        private void OnMessageReception(string message)
         {
             waitTimer.Stop(); // Stop timeout stopwatch
 
                 
                 waitForAcknowledge = false;
 
-                this.commandReceivedEvent?.Invoke(message, buffer);
+                this.commandReceivedEvent?.Invoke(message);
             }
         }
 
             messageReceived = null;
             // set buffer and message as null to indicate that no message was received
             // and call to OnMessagereception is due to timeout
-            OnMessageReception(messageReceived, null);
+            OnMessageReception(messageReceived);
         }
 
         /// <summary>

software/monitor/monitor/DestijlCommandManager.cs

 //  along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 using System;
+using System.Globalization;
 
 namespace monitor
 {
     /// </summary>
     public static class DestijlCommandList
     {
-        public const string HeaderMtsComDmb = "COM";
-        public const string HeaderMtsDmbOrder = "DMB";
-        public const string HeaderMtsCamera = "CAM";
-        public const string HeaderMtsMessage = "MSG";
-
-        public const string DataComOpen = "o";
-        public const string DataComClose = "C";
-
-        public const string DataCamOpen = "A";
-        public const string DataCamClose = "I";
-        public const string DataCamAskArena = "y";
-        public const string DataCamArenaConfirm = "x";
-        public const string DataCamInfirm = "z";
-        public const string DataCamComputePosition = "p";
-        public const string DataCamStopComputePosition = "s";
-
-        public const string HeaderStmAck = "ACK";
-        public const string HeaderStmNoAck = "NAK";
-        public const string HeaderStmLostDmb = "LCD";
-        public const string HeaderStmImage = "IMG";
-        public const string HeaderStmPos = "POS";
-        public const string HeaderStmMes = "MSG";
-        public const string HeaderStmBat = "BAT";
+        public const string ANSWER_ACK = "AACK";
+        public const string ANSWER_NACK = "ANAK";
+        public const string ANSWER_COM_ERROR = "ACER";
+        public const string ANSWER_TIMEOUT = "ATIM";
+        public const string ANSWER_CMD_REJECTED = "ACRJ";
+        public const string MESSAGE = "MSSG";
+        public const string CAMERA_OPEN = "COPN";
+        public const string CAMERA_CLOSE = "CCLS";
+        public const string CAMERA_IMAGE = "CIMG";
+        public const string CAMERA_ARENA_ASK = "CASA";
+        public const string CAMERA_ARENA_INFIRM = "CAIN";
+        public const string CAMERA_ARENA_CONFIRM = "CACO";
+        public const string CAMERA_POSITION_COMPUTE = "CPCO";
+        public const string CAMERA_POSITION_STOP = "CPST";
+        public const string CAMERA_POSITION = "CPOS";
+        public const string ROBOT_COM_OPEN = "ROPN";
+        public const string ROBOT_COM_CLOSE = "RCLS";
+        public const string ROBOT_PING = "RPIN";
+        public const string ROBOT_RESET = "RRST";
+        public const string ROBOT_START_WITHOUT_WD = "RSOW";
+        public const string ROBOT_START_WITH_WD = "RSWW";
+        public const string ROBOT_RELOAD_WD = "RLDW";
+        public const string ROBOT_MOVE = "RMOV";
+        public const string ROBOT_TURN = "RTRN";
+        public const string ROBOT_GO_FORWARD = "RGFW";
+        public const string ROBOT_GO_BACKWARD = "RGBW";
+        public const string ROBOT_GO_LEFT = "RGLF";
+        public const string ROBOT_GO_RIGHT = "RGRI";
+        public const string ROBOT_STOP = "RSTP";
+        public const string ROBOT_POWEROFF = "RPOF";
+        public const string ROBOT_BATTERY_LEVEL = "RBLV";
+        public const string ROBOT_GET_BATTERY = "RGBT";
+        public const string ROBOT_GET_STATE = "RGST";
+        public const string ROBOT_CURRENT_STATE = "RCST";
+
+        public const char SEPARATOR_CHAR = ':';
+
+        //public const string HeaderMtsComDmb = "COM";
+        //public const string HeaderMtsDmbOrder = "DMB";
+        //public const string HeaderMtsCamera = "CAM";
+        //public const string HeaderMtsMessage = "MSG";
+
+        //public const string DataComOpen = "o";
+        //public const string DataComClose = "C";
+
+        //public const string DataCamOpen = "A";
+        //public const string DataCamClose = "I";
+        //public const string DataCamAskArena = "y";
+        //public const string DataCamArenaConfirm = "x";
+        //public const string DataCamInfirm = "z";
+        //public const string DataCamComputePosition = "p";
+        //public const string DataCamStopComputePosition = "s";
+
+        //public const string HeaderStmAck = "ACK";
+        //public const string HeaderStmNoAck = "NAK";
+        //public const string HeaderStmLostDmb = "LCD";
+        //public const string HeaderStmImage = "IMG";
+        //public const string HeaderStmPos = "POS";
+        //public const string HeaderStmMes = "MSG";
+        //public const string HeaderStmBat = "BAT";
     }
 
     /// <summary>
     /// Commands used for robot messages
     /// </summary>
-    public static class RobotCommandList
-    {
-        public const string RobotPing = "p";
-        public const string RobotReset = "r";
-        public const string RobotStartWithoutWatchdog = "u";
-        public const string RobotStartWithWatchdog = "W";
-        public const string RobotGetBattery = "v";
-        public const string RobotGetBusyState = "b";
-        public const string RobotMove = "M";
-        public const string RobotTurn = "T";
-        public const string RobotGetVersion = "V";
-        public const string RobotPowerOff = "z";
-    }
+    //public static class RobotCommandList
+    //{
+    //    public const string RobotPing = "p";
+    //    public const string RobotReset = "r";
+    //    public const string RobotStartWithoutWatchdog = "u";
+    //    public const string RobotStartWithWatchdog = "W";
+    //    public const string RobotGetBattery = "v";
+    //    public const string RobotGetBusyState = "b";
+    //    public const string RobotMove = "M";
+    //    public const string RobotTurn = "T";
+    //    public const string RobotGetVersion = "V";
+    //    public const string RobotPowerOff = "z";
+    //}
 
     /// <summary>
     /// Specialization class for command manager, which implemnent destijl protocol between monitor and server
         /// <summary>
         /// Callback for sending received data to application level
         /// </summary>
-        public delegate void CommandReceivedEvent(string header, string data, byte[] buffer);
+        public delegate void CommandReceivedEvent(string header, string data);
         public CommandReceivedEvent commandReceivedEvent = null;
 
         /// <summary>
             CommunicationLostWithServer
         }
 
+        public struct Point {
+            public double x;
+            public double y;
+        } 
+
+        public class Position {
+            public int robotID;
+            public double angle;
+            public Point centre;
+            public Point direction;
+
+            public Position() {
+                robotID = 0;
+                angle = 0.0;
+                centre.x = 0.0;
+                centre.y = 0.0;
+                direction.x = 0.0;
+                direction.y = 0.0;
+            }
+
+            public override string ToString() {
+                string s = "ID: " + robotID + ", Angle: " + angle +
+                    ", Centre (x: " + centre.x + ", y: " + centre.y +
+                                          "), Direction (x: " + direction.x + ", y: " + direction.y + ")";
+                return s;
+            }
+        }
+
         /// <summary>
         /// Initializes a new instance of the <see cref="monitor.DestijlCommandManager"/> class.
         /// </summary>
         /// </summary>
         /// <param name="msg">String containing received message</param>
         /// <param name="buffer">Raw buffer to be used when data are not in ascii format (image for example)</param>
-        private void OnCommandReceived(string msg, byte[] buffer)
+        private void OnCommandReceived(string msg)
         {
-            // Firstly, split message in (at least) two part : header, and data
-            string[] msgs = msg.Split(':');
+            // Firstly, remove ending \n and everything after
+            string[] msgsCarriageReturn = msg.Split('\n');
+
+            // Second, split message in (at least) two part : header, and data
+            string[] msgs = msgsCarriageReturn[0].Split(DestijlCommandList.SEPARATOR_CHAR);
 
             // If it exist at least on element in string array, it should be command header
             if (msgs.Length >= 1) receivedHeader = msgs[0];
             else receivedData = null;
 
             // when split is done, provide data to application
-            this.commandReceivedEvent?.Invoke(receivedHeader, receivedData, buffer);
+            this.commandReceivedEvent?.Invoke(receivedHeader, receivedData);
         }
 
         /// <summary>
         /// <param name="data">Data part of the command</param>
         private string CreateCommand(string header, string data)
         {
-            return header + ":" + data;
+            return header + DestijlCommandList.SEPARATOR_CHAR + data+"\n";
+        }
+
+        /// <summary>
+        /// Creates the command to send to server, based on header
+        /// </summary>
+        /// <returns>The command string</returns>
+        /// <param name="header">Header part of the command</param>
+        private string CreateCommand(string header)
+        {
+            return header + DestijlCommandList.SEPARATOR_CHAR+"\n";
         }
 
         /// <summary>
                 if (answer != null)
                 {
                     // if command is not acknowledged, return Rejected
-                    if (answer.ToUpper().Contains(DestijlCommandList.HeaderStmNoAck)) status = CommandStatus.Rejected;
+                    if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_NACK)) status = CommandStatus.Rejected;
                     // if communication is lost with robot, return CommunicationLostWithRobot
-                    else if (answer.ToUpper().Contains(DestijlCommandList.HeaderStmLostDmb)) status = CommandStatus.CommunicationLostWithRobot;
+                    else if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_TIMEOUT)) status = CommandStatus.CommunicationLostWithRobot;
                     // if answer is empty, communication with robot is lost
                     else if (answer.Length == 0) status = CommandStatus.CommunicationLostWithServer;
                     //else status = CommandStatus.InvalidAnswer;
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsComDmb, DestijlCommandList.DataComOpen),
+                CreateCommand(DestijlCommandList.ROBOT_COM_OPEN),
                 out answer,
                 this.timeout);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsComDmb, DestijlCommandList.DataComClose),
+                CreateCommand(DestijlCommandList.ROBOT_COM_CLOSE),
                 out answer,
                 this.timeout);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotPing),
+                CreateCommand(DestijlCommandList.ROBOT_PING),
                 out answer,
                 this.timeout);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotReset),
+                CreateCommand(DestijlCommandList.ROBOT_RESET),
                 out answer,
                 0);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotStartWithWatchdog),
+                CreateCommand(DestijlCommandList.ROBOT_START_WITH_WD),
                 out answer,
                 this.timeout);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotStartWithoutWatchdog),
+                CreateCommand(DestijlCommandList.ROBOT_START_WITHOUT_WD),
                 out answer,
                 this.timeout);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotMove + "=" + distance),
+                CreateCommand(DestijlCommandList.ROBOT_MOVE, Convert.ToString(distance)),
                 out answer,
                 0);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotTurn + "=" + angle),
+                CreateCommand(DestijlCommandList.ROBOT_TURN, Convert.ToString(angle)),
                 out answer,
                 0);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotGetBattery),
+                CreateCommand(DestijlCommandList.ROBOT_GET_BATTERY),
                 out answer,
                 0);
 
         }
 
         /// <summary>
-        /// Request robot firmware version
-        /// </summary>
-        /// <returns>Command status (see DecodeStatus)</returns>
-        /// <param name="version">todo</param>
-        public CommandStatus RobotGetVersion(out string version)
-        {
-            CommandManager.CommandManagerStatus localStatus;
-            CommandStatus status = CommandStatus.Success;
-            version = "";
-
-            string answer;
-
-            localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotGetVersion),
-                out answer,
-                this.timeout);
-
-            if (localStatus == CommandManager.CommandManagerStatus.AnswerReceived)
-            {
-                string[] msg = answer.Split(':');
-
-                if (msg.Length > 1)
-                {
-                    version = msg[1];
-                }
-            }
-            else if (localStatus == CommandManager.CommandManagerStatus.Timeout)
-            {
-                status = CommandStatus.CommunicationLostWithServer;
-            }
-
-            return status;
-        }
-
-        /// <summary>
         /// Power off robot
         /// </summary>
         /// <returns>Command status (see DecodeStatus)</returns>
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotPowerOff),
+                CreateCommand(DestijlCommandList.ROBOT_POWEROFF),
                 out answer,
                 0);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamOpen),
+                CreateCommand(DestijlCommandList.CAMERA_OPEN),
                 out answer,
                 this.timeout);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamClose),
+                CreateCommand(DestijlCommandList.CAMERA_CLOSE),
                 out answer,
                 0);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamAskArena),
+                CreateCommand(DestijlCommandList.CAMERA_ARENA_ASK),
                 out answer,
                 0);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamArenaConfirm),
+                CreateCommand(DestijlCommandList.CAMERA_ARENA_CONFIRM),
                 out answer,
                 0);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamInfirm),
+                CreateCommand(DestijlCommandList.CAMERA_ARENA_INFIRM),
                 out answer,
                 0);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamComputePosition),
+                CreateCommand(DestijlCommandList.CAMERA_POSITION_COMPUTE),
                 out answer,
                 0);
 
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamStopComputePosition),
+                CreateCommand(DestijlCommandList.CAMERA_POSITION_STOP),
                 out answer,
                 0);
 
             return DecodeStatus(localStatus, answer);
         }
+
+        public static Position DecodePosition(string data) {
+            Position pos = new Position();
+
+            pos.robotID = 0;
+            pos.angle = 0.0;
+            pos.centre.x = 0.0; 
+            pos.centre.y=0.0;
+            pos.direction.x = 0.0;
+            pos.direction.y = 0.0;
+
+            string[] parts = data.Split(';');
+
+            //for (int i = 0; i < parts.Length; i++) {
+            //    Console.WriteLine(parts[i]);
+            //}
+
+            NumberFormatInfo provider = new NumberFormatInfo();
+            provider.NumberDecimalSeparator = ".";
+            provider.NumberGroupSeparator = ",";
+            provider.NumberGroupSizes = new int[] { 3 };
+
+            if (parts.Length == 6) {
+                pos.robotID = Convert.ToInt32(parts[0]);
+
+                try
+                {
+                    pos.angle = Convert.ToDouble(parts[1]);
+                } catch (FormatException)
+                {
+                    pos.angle = Convert.ToDouble(parts[1],provider);
+                }
+
+                try
+                {
+                    pos.centre.x = Convert.ToDouble(parts[2]);
+                } catch (FormatException)
+                {
+                    pos.centre.x = Convert.ToDouble(parts[2], provider);
+                }
+
+                try
+                {
+                    pos.centre.y = Convert.ToDouble(parts[3]);
+                }
+                catch (FormatException)
+                {
+                    pos.centre.y = Convert.ToDouble(parts[3], provider);
+                }
+
+                try
+                {
+                    pos.direction.x = Convert.ToDouble(parts[4]);
+                }
+                catch (FormatException)
+                {
+                    pos.direction.x = Convert.ToDouble(parts[4], provider);
+                }
+
+                try
+                {
+                    pos.direction.y = Convert.ToDouble(parts[5]);
+                }
+                catch (FormatException)
+                {
+                    pos.direction.y = Convert.ToDouble(parts[5], provider);
+                }
+
+            } else {
+                // misformatted data, return 0 filled position
+                Console.WriteLine("Misformated position");
+            }
+
+            return pos;
+        }
     }
 }

software/monitor/monitor/MonitorUI.cs

 using System;
 using Gtk;
 using Gdk;
+using Cairo;
 
 using monitor;
 
     private Pixbuf drawingareaCameraPixbuf;
 
     /// <summary>
+    /// Position used for displaying position
+    /// </summary>
+    private DestijlCommandManager.Position position=new DestijlCommandManager.Position();
+
+    /// <summary>
     /// List of availble state for the application
     /// </summary>
     enum SystemState
         a.RetVal = true;
     }
 
-    private byte[] imageComplete;
-    private byte[] imageInProgress;
+    //private byte[] imageComplete;
+    //private byte[] imageInProgress;
 
     /// <summary>
     /// Callback called when new message is received from server
     /// <param name="header">Header of message</param>
     /// <param name="data">Data of message</param>
     /// <param name="buffer">Raw buffer corresponding of received message</param>
-    public void OnCommandReceivedEvent(string header, string data, byte[] buffer)
+    public void OnCommandReceivedEvent(string header, string data)
     {
-        if (buffer==null)
+        if (header == null)
         {
             // we have lost server
             ChangeState(SystemState.NotConnected);
 
-            MessagePopup(MessageType.Error,
+            Gtk.Application.Invoke(delegate
+            {
+                MessagePopup(MessageType.Error,
                      ButtonsType.Ok, "Server lost",
                          "Server is down: disconnecting");
-            cmdManager.Close();
+                cmdManager.Close();
+            });
         }
 
         // if we have received a valid message
 #if DEBUG
             // print message content
             if (header.Length > 4)
-                Console.WriteLine("Bad header(" + buffer.Length + ")");
-            else
-                Console.WriteLine("Received header (" + header.Length + "): " + header);
+                Console.WriteLine("Bad header(" + header.Length + ")");
+            //else
+            //    Console.WriteLine("Received header (" + header.Length + "): " + header);
             //if (header.ToUpper() != DestijlCommandList.HeaderStmImage)
             //{
             //    if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data);
             //}
 #endif
             // Image management
-            if (header == DestijlCommandList.HeaderStmImage)
-            {
-                imageComplete = imageInProgress;
-                imageInProgress = buffer;
-            }
-            else
-            {
-                if (imageInProgress == null) imageInProgress = buffer;
-                else
-                {
-                    Array.Resize<byte>(ref imageInProgress, imageInProgress.Length + buffer.Length);
-                    System.Buffer.BlockCopy(buffer, 0, imageInProgress, imageInProgress.Length - buffer.Length, buffer.Length);
-                }
-            }
+            //if (header == DestijlCommandList.CAMERA_IMAGE)
+            //{
+            //    imageComplete = imageInProgress;
+            //    //TODO: Decoder le base64 pour recuperer le JPG
+            //    imageInProgress = buffer;
+            //}
+            //else
+            //{
+            //    if (imageInProgress == null) imageInProgress = buffer;
+            //    else
+            //    {
+            //        Array.Resize<byte>(ref imageInProgress, imageInProgress.Length + buffer.Length);
+            //        System.Buffer.BlockCopy(buffer, 0, imageInProgress, imageInProgress.Length - buffer.Length, buffer.Length);
+            //    }
+            //}
 
             // depending on message received (based on header)
             // launch correponding action
-            if (header.ToUpper() == DestijlCommandList.HeaderStmBat)
+            header = header.ToUpper();
+
+            if (header == DestijlCommandList.ROBOT_BATTERY_LEVEL)
             {
+                string batLevel = "";
+
                 switch (data[0])
                 {
                     case '2':
-                        labelBatteryLevel.Text = "High";
+                        batLevel = "High";
                         break;
                     case '1':
-                        labelBatteryLevel.Text = "Low";
+                        batLevel = "Low";
                         break;
                     case '0':
-                        labelBatteryLevel.Text = "Empty";
+                        batLevel = "Empty";
                         break;
                     default:
-                        labelBatteryLevel.Text = "Invalid value";
+                        batLevel = "Invalid value";
                         break;
                 }
+
+                Gtk.Application.Invoke(delegate
+                {
+                    labelBatteryLevel.Text = batLevel;
+                });
             }
-            else if (header.ToUpper() == DestijlCommandList.HeaderStmImage)
+            else if (header == DestijlCommandList.CAMERA_IMAGE)
             {
                 // if message is an image, convert it to a pixbuf
                 // that can be displayed
-                if (imageComplete != null)
+                //if (imageComplete != null)
+                //{
+                //TODO: Decoder le base64 et convertir en JPG
+                byte[] image = Convert.FromBase64String(data);
+                //byte[] image = new byte[imageComplete.Length - 4];
+                //System.Buffer.BlockCopy(imageComplete, 4, image, 0, image.Length);
+
+                imageReceivedCounter++;
+
+                try
                 {
-                    byte[] image = new byte[imageComplete.Length - 4];
-                    System.Buffer.BlockCopy(imageComplete, 4, image, 0, image.Length);
+                    drawingareaCameraPixbuf = new Pixbuf(image);
 
-                    imageReceivedCounter++;
-                    try
+                    Gtk.Application.Invoke(delegate
                     {
-                        drawingareaCameraPixbuf = new Pixbuf(image);
                         drawingAreaCamera.QueueDraw();
-                    }
-                    catch (GLib.GException)
-                    {
-                        badImageReceivedCounter++;
+                    });
+                }
+                catch (GLib.GException)
+                {
+                    badImageReceivedCounter++;
 #if DEBUG
-                        Console.WriteLine("Bad Image: " + badImageReceivedCounter +
-                                          " / " + imageReceivedCounter +
-                                          " (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
+                    Console.WriteLine("Bad Image: " + badImageReceivedCounter +
+                                      " / " + imageReceivedCounter +
+                                      " (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
 #endif
-                    }
                 }
+                //}
+            }
+            else if (header == DestijlCommandList.CAMERA_POSITION)
+            {
+                //Console.WriteLine("Pos data: " + data);
+
+                position = DestijlCommandManager.DecodePosition(data);
+                //Console.WriteLine("decoded position: " + position.ToString());
+
+                Gtk.Application.Invoke(delegate
+                {
+                    drawingAreaCamera.QueueDraw();
+                });
             }
         }
     }
         DestijlCommandManager.CommandStatus status;
 
         //if robot is not activated
-        if (buttonRobotActivation.Label == "Activate") 
+        if (buttonRobotActivation.Label == "Activate")
         {
             // if a startup with watchdog is requested
-            if (radioButtonWithWatchdog.Active) 
+            if (radioButtonWithWatchdog.Active)
             {
                 status = cmdManager.RobotStartWithWatchdog();
             }
         {
             if (cmdManager.CameraClose() != DestijlCommandManager.CommandStatus.Success)
             {
-                MessagePopup(MessageType.Error,
-                             ButtonsType.Ok, "Error",
-                             "Error when closing camera: bad answer for supervisor or timeout");
+                Console.WriteLine("Error when closing camera: bad answer for supervisor or timeout");
             }
         }
         else // camera is not active, switch it on
 
             if (cmdManager.CameraOpen() != DestijlCommandManager.CommandStatus.Success)
             {
-                MessagePopup(MessageType.Error,
-                             ButtonsType.Ok, "Error",
-                             "Error when opening camera: bad answer for supervisor or timeout");
-                checkButtonCameraOn.Active = false;
+                Console.WriteLine("Error when opening camera: bad answer for supervisor or timeout");
+                //checkButtonCameraOn.Active = false;
             }
         }
     }
         {
             if (cmdManager.CameraStopComputePosition() != DestijlCommandManager.CommandStatus.Success)
             {
-                MessagePopup(MessageType.Error,
-                             ButtonsType.Ok, "Error",
-                             "Error when stopping position reception: bad answer for supervisor or timeout");
+                Console.WriteLine("Error when stopping position reception: bad answer for supervisor or timeout");
             }
         }
         else // start reception of robot position
         {
             if (cmdManager.CameraComputePosition() != DestijlCommandManager.CommandStatus.Success)
             {
-                MessagePopup(MessageType.Error,
-                             ButtonsType.Ok, "Error",
-                             "Error when starting getting robot position: bad answer for supervisor or timeout");
+                Console.WriteLine("Error when starting getting robot position: bad answer for supervisor or timeout");
 
-                checkButtonRobotPosition.Active = false;
+                //checkButtonRobotPosition.Active = false;
             }
         }
     }
                                   (areaHeight - displayPixbuf.Height) / 2,
                                   displayPixbuf.Width, displayPixbuf.Height,
                                   RgbDither.Normal, 0, 0);
+
+        if (checkButtonRobotPosition.Active) {
+            Cairo.Context cr = Gdk.CairoHelper.Create(area.GdkWindow);
+            Cairo.Color textFontColor = new Cairo.Color(0.8, 0, 0);
+
+            cr.SelectFontFace("Cantarell", FontSlant.Normal, FontWeight.Bold);
+            cr.SetSourceColor(textFontColor);
+            cr.SetFontSize(16);
+
+            double space = 0.0;
+            string text = "Direction (" + position.direction.x.ToString("0.##") + " ; " + position.direction.y.ToString("0.##") +")";
+            TextExtents te = cr.TextExtents(text);
+            cr.MoveTo(areaWidth - te.Width-5,
+                      areaHeight - te.Height -5);
+            space = te.Height;
+            cr.ShowText(text);
+
+            text = "Centre (" + position.centre.x.ToString("0.##") + " ; " + position.centre.y.ToString("0.##") + ")";
+            te = cr.TextExtents(text);
+            cr.MoveTo(areaWidth - te.Width - 5,
+                      areaHeight - te.Height - 5 - space-5);
+            space = space+ te.Height+5;
+            cr.ShowText(text);
+
+            text = "Angle: " + position.angle.ToString("0.##");
+            te = cr.TextExtents(text);
+            cr.MoveTo(areaWidth - te.Width - 5,
+                      areaHeight - te.Height - 5 - space - 5);
+            space = space+ te.Height+5;
+            cr.ShowText(text);
+
+            text = "ID: " + position.robotID;
+            te = cr.TextExtents(text);
+            cr.MoveTo(areaWidth - te.Width - 5,
+                      areaHeight - te.Height - 5 - space-5);
+
+            cr.ShowText(text);
+
+            ((IDisposable)cr.GetTarget()).Dispose();
+            ((IDisposable)cr).Dispose();
+        }
     }
 
     /// <summary>

software/raspberry/superviseur-robot/.dep.inc

-# This code depends on make tool being used
-DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES} ${TESTOBJECTFILES}))
-ifneq (${DEPFILES},)
-include ${DEPFILES}
-endif

software/raspberry/superviseur-robot/.idea/.name

-ProjDestijl

software/raspberry/superviseur-robot/.idea/codeStyles/Project.xml

-<component name="ProjectCodeStyleConfiguration">
-  <code_scheme name="Project" version="173">
-    <Objective-C-extensions>
-      <file>
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Import" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Macro" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Typedef" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Enum" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Constant" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Global" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Struct" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="FunctionPredecl" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Function" />
-      </file>
-      <class>
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Property" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Synthesize" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InitMethod" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="StaticMethod" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InstanceMethod" />
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="DeallocMethod" />
-      </class>
-      <extensions>
-        <pair source="cpp" header="h" fileNamingConvention="NONE" />
-        <pair source="c" header="h" fileNamingConvention="NONE" />
-      </extensions>
-    </Objective-C-extensions>
-  </code_scheme>
-</component>

software/raspberry/superviseur-robot/.idea/misc.xml

-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
-  <component name="JavaScriptSettings">
-    <option name="languageLevel" value="ES6" />
-  </component>
-</project>

software/raspberry/superviseur-robot/.idea/modules.xml

-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/superviseur-robot.iml" filepath="$PROJECT_DIR$/.idea/superviseur-robot.iml" />
-    </modules>
-  </component>
-</project>

software/raspberry/superviseur-robot/.idea/superviseur-robot.iml

-<?xml version="1.0" encoding="UTF-8"?>
-<module classpath="CMake" type="CPP_MODULE" version="4" />

software/raspberry/superviseur-robot/.idea/vcs.xml

-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$/../../.." vcs="Git" />
-  </component>
-</project>

software/raspberry/superviseur-robot/.idea/workspace.xml

-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CMakeRunConfigurationManager" shouldGenerate="true" shouldDeleteObsolete="true" buildAllGenerated="true">
-    <generated>
-      <config projectName="ProjDestijl" targetName="superviseur" />
-      <config projectName="ProjDestijl" targetName="destijl" />
-    </generated>
-  </component>
-  <component name="CMakeSettings" AUTO_RELOAD="true">
-    <configurations>
-      <configuration PROFILE_NAME="Debug" CONFIG_NAME="Debug" />
-    </configurations>
-  </component>
-  <component name="ChangeListManager">
-    <list default="true" id="4c044020-a391-4234-8366-64abd3f0f464" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/.idea/codeStyles/Project.xml" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/.idea/vcs.xml" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/superviseur-pthread/CMakeLists.txt" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/superviseur-pthread/src/Program.cpp" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/superviseur-pthread/src/Tasks.cpp" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/superviseur-pthread/src/Tasks.h" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.gitignore" beforeDir="false" afterPath="$PROJECT_DIR$/.gitignore" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/CMakeLists.txt" beforeDir="false" afterPath="$PROJECT_DIR$/CMakeLists.txt" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/destijl_init/Makefile" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/examples/CMakeLists.txt" beforeDir="false" afterPath="$PROJECT_DIR$/examples/CMakeLists.txt" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/CMakeLists.txt" beforeDir="false" afterPath="$PROJECT_DIR$/lib/CMakeLists.txt" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/Robot.h" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/Serial.h" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/TcpServer.h" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/definitions.h" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/image.h" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/message.h" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/monitor.h" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/src/Robot.cpp" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/src/Serial.cpp" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/src/TcpServer.cpp" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/src/image.cpp" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/src/message.cpp" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/lib/src/monitor.cpp" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/superviseur-xenomai/src/Program.cpp" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/superviseur-xenomai/src/Tasks.cpp" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/superviseur-xenomai/src/Tasks.h" beforeDir="false" />
-    </list>
-    <ignored path="$PROJECT_DIR$/cmake-build-debug/" />
-    <ignored path="$PROJECT_DIR$/CMakeFiles/" />
-    <ignored path="$PROJECT_DIR$/superviseur/CMakeFiles/" />
-    <ignored path="$PROJECT_DIR$/lib/CMakeFiles/" />
-    <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
-    <option name="SHOW_DIALOG" value="false" />
-    <option name="HIGHLIGHT_CONFLICTS" value="true" />
-    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
-    <option name="LAST_RESOLUTION" value="IGNORE" />
-  </component>
-  <component name="ExecutionTargetManager" SELECTED_TARGET="CMakeBuildProfile:Debug" />
-  <component name="FUSProjectUsageTrigger">
-    <session id="-329952360">
-      <usages-collector id="statistics.lifecycle.project">
-        <counts>
-          <entry key="project.closed" value="2" />
-          <entry key="project.open.time.3" value="1" />
-          <entry key="project.open.time.9" value="1" />
-          <entry key="project.opened" value="2" />
-        </counts>
-      </usages-collector>
-      <usages-collector id="statistics.file.extensions.open">
-        <counts>
-          <entry key="cmake" value="1" />
-          <entry key="cpp" value="36" />
-          <entry key="gitignore" value="1" />
-          <entry key="h" value="18" />
-          <entry key="txt" value="20" />
-        </counts>
-      </usages-collector>
-      <usages-collector id="statistics.file.types.open">
-        <counts>
-          <entry key="CMakeLists.txt" value="21" />
-          <entry key="ObjectiveC" value="54" />
-          <entry key="PLAIN_TEXT" value="1" />
-        </counts>
-      </usages-collector>
-      <usages-collector id="statistics.file.extensions.edit">
-        <counts>
-          <entry key="cpp" value="3165" />
-          <entry key="gitignore" value="19" />
-          <entry key="h" value="1381" />
-          <entry key="txt" value="1035" />
-        </counts>
-      </usages-collector>
-      <usages-collector id="statistics.file.types.edit">
-        <counts>
-          <entry key="CMakeLists.txt" value="1035" />
-          <entry key="Doxygen file" value="2" />
-          <entry key="ObjectiveC" value="4544" />
-          <entry key="PLAIN_TEXT" value="19" />
-        </counts>
-      </usages-collector>
-    </session>
-  </component>
-  <component name="FileEditorManager">
-    <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/lib/CMakeLists.txt">
-          <provider selected="true" editor-type-id="text-editor">
-            <state>
-              <caret column="81" selection-start-column="81" selection-end-column="81" />
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/lib/image.h">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="209">
-              <caret line="17" selection-start-line="17" selection-end-line="17" />
-              <folding>
-                <element signature="e#566#599#0" expanded="true" />
-                <element signature="e#635#673#0" expanded="true" />
-                <element signature="e#865#890#0" expanded="true" />
-                <element signature="e#935#962#0" expanded="true" />
-              </folding>
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/lib/src/message.cpp">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="405">
-              <caret line="27" column="32" selection-start-line="27" selection-start-column="32" selection-end-line="27" selection-end-column="32" />
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/lib/monitor.h">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="389">
-              <caret line="64" column="94" selection-start-line="64" selection-start-column="94" selection-end-line="64" selection-end-column="94" />
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/lib/src/monitor.cpp">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="338">
-              <caret line="104" column="23" selection-start-line="104" selection-start-column="23" selection-end-line="104" selection-end-column="23" />
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/CMakeLists.txt">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="330">
-              <caret line="22" selection-start-line="22" selection-end-line="22" />
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/superviseur/CMakeLists.txt">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="135">
-              <caret line="9" selection-start-line="9" selection-end-line="9" />
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/superviseur/src/main.cpp">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="75">
-              <caret line="89" column="13" selection-start-line="89" selection-start-column="13" selection-end-line="89" selection-end-column="13" />
-              <folding>
-                <element signature="e#88#106#0" expanded="true" />
-              </folding>
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/superviseur/src/functions.h">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="180">
-              <caret line="51" column="21" selection-start-line="51" selection-start-column="12" selection-end-line="51" selection-end-column="21" />
-              <folding>
-                <element signature="e#319#337#0" expanded="true" />
-              </folding>
-            </state>
-          </provider>
-        </entry>
-      </file>
-      <file pinned="false" current-in-tab="true">
-        <entry file="file://$PROJECT_DIR$/superviseur/src/functions.cpp">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="300">
-              <caret line="20" column="19" selection-start-line="20" selection-start-column="19" selection-end-line="20" selection-end-column="19" />
-            </state>
-          </provider>
-        </entry>
-      </file>
-    </leaf>
-  </component>
-  <component name="Git.Settings">
-    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$/../../.." />
-  </component>
-  <component name="IdeDocumentHistory">
-    <option name="CHANGED_PATHS">
-      <list>
-        <option value="$PROJECT_DIR$/.gitignore" />
-        <option value="$PROJECT_DIR$/lib/Definition.h" />
-        <option value="$PROJECT_DIR$/lib/src/Robot.cpp" />
-        <option value="$PROJECT_DIR$/lib/Image.h" />
-        <option value="$PROJECT_DIR$/lib/Camera.h" />
-        <option value="$PROJECT_DIR$/lib/src/Camera.cpp" />
-        <option value="$PROJECT_DIR$/lib/src/Image.cpp" />
-        <option value="$PROJECT_DIR$/destijl_init/CMakeLists.txt" />
-        <option value="$PROJECT_DIR$/monitor/CMakeLists.txt" />
-        <option value="$PROJECT_DIR$/monitor/src/functions.h" />
-        <option value="$PROJECT_DIR$/monitor/src/main.cpp" />
-        <option value="$PROJECT_DIR$/monitor-pc/CMakeLists.txt" />
-        <option value="$PROJECT_DIR$/monitor-pc/src/functions.cpp" />
-        <option value="$PROJECT_DIR$/monitor-pc/src/functions.h" />
-        <option value="$PROJECT_DIR$/monitor-pc/src/main.cpp" />
-        <option value="$PROJECT_DIR$/monitor-pthread/CMakeLists.txt" />
-        <option value="$PROJECT_DIR$/superviseur-pthread/src/Functions.h" />
-        <option value="$PROJECT_DIR$/superviseur-pthread/src/Functions.cpp" />
-        <option value="$PROJECT_DIR$/lib/src/TcpServer.cpp" />
-        <option value="$PROJECT_DIR$/lib/TcpServer.h" />
-        <option value="$PROJECT_DIR$/lib/src/Messages.cpp" />
-        <option value="$PROJECT_DIR$/lib/Messages.h" />
-        <option value="$PROJECT_DIR$/superviseur-pthread/src/Tasks.h" />
-        <option value="$PROJECT_DIR$/superviseur-pthread/src/Program.cpp" />
-        <option value="$PROJECT_DIR$/superviseur-pthread/src/Tasks.cpp" />
-        <option value="$PROJECT_DIR$/superviseur-pthread/CMakeLists.txt" />
-        <option value="$PROJECT_DIR$/examples/CMakeLists.txt" />
-        <option value="$PROJECT_DIR$/superviseur-xenomai/CMakeLists.txt" />
-        <option value="$PROJECT_DIR$/superviseur-xenomai/src/Program.cpp" />
-        <option value="$PROJECT_DIR$/lib/MsgManager.h" />
-        <option value="$PROJECT_DIR$/superviseur-xenomai/src/Tasks.cpp" />
-        <option value="$PROJECT_DIR$/superviseur-xenomai/src/Tasks.h" />
-        <option value="$PROJECT_DIR$/lib/CMakeLists.txt" />
-        <option value="$PROJECT_DIR$/lib/image.h" />
-        <option value="$PROJECT_DIR$/lib/src/message.cpp" />
-        <option value="$PROJECT_DIR$/lib/monitor.h" />
-        <option value="$PROJECT_DIR$/lib/src/monitor.cpp" />
-        <option value="$PROJECT_DIR$/superviseur/src/functions.h" />
-        <option value="$PROJECT_DIR$/superviseur/src/functions.cpp" />
-        <option value="$PROJECT_DIR$/CMakeLists.txt" />
-        <option value="$PROJECT_DIR$/superviseur/src/main.cpp" />
-        <option value="$PROJECT_DIR$/superviseur/CMakeLists.txt" />
-      </list>
-    </option>
-  </component>
-  <component name="JsBuildToolGruntFileManager" detection-done="true" sorting="DEFINITION_ORDER" />
-  <component name="JsBuildToolPackageJson" detection-done="true" sorting="DEFINITION_ORDER" />
-  <component name="JsGulpfileManager">
-    <detection-done>true</detection-done>
-    <sorting>DEFINITION_ORDER</sorting>
-  </component>
-  <component name="OCFindUsagesOptions" text="true" ivars="false" properties="true" derivedClasses="false" />
-  <component name="ProjectFrameBounds">
-    <option name="x" value="260" />
-    <option name="y" value="101" />
-    <option name="width" value="1660" />
-    <option name="height" value="1088" />
-  </component>
-  <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
-  <component name="ProjectView">
-    <navigator proportions="" version="1">
-      <foldersAlwaysOnTop value="true" />
-    </navigator>
-    <panes>
-      <pane id="Scope" />
-      <pane id="ProjectPane">
-        <subPane>
-          <expand>
-            <path>
-              <item name="ProjDestijl" type="b2602c69:ProjectViewProjectNode" />
-              <item name="superviseur-robot" type="462c0819:PsiDirectoryNode" />
-            </path>
-            <path>
-              <item name="ProjDestijl" type="b2602c69:ProjectViewProjectNode" />
-              <item name="superviseur-robot" type="462c0819:PsiDirectoryNode" />
-              <item name="lib" type="462c0819:PsiDirectoryNode" />
-            </path>
-            <path>
-              <item name="ProjDestijl" type="b2602c69:ProjectViewProjectNode" />
-              <item name="superviseur-robot" type="462c0819:PsiDirectoryNode" />
-              <item name="superviseur" type="462c0819:PsiDirectoryNode" />
-            </path>
-            <path>
-              <item name="ProjDestijl" type="b2602c69:ProjectViewProjectNode" />
-              <item name="superviseur-robot" type="462c0819:PsiDirectoryNode" />
-              <item name="superviseur" type="462c0819:PsiDirectoryNode" />
-              <item name="src" type="462c0819:PsiDirectoryNode" />
-            </path>
-            <path>
-              <item name="ProjDestijl" type="b2602c69:ProjectViewProjectNode" />
-              <item name="External Libraries" type="cb654da1:ExternalLibrariesNode" />
-            </path>
-          </expand>
-          <select />
-        </subPane>
-      </pane>
-    </panes>
-  </component>
-  <component name="PropertiesComponent">
-    <property name="WebServerToolWindowFactoryState" value="false" />
-    <property name="last_opened_file_path" value="$PROJECT_DIR$/superviseur/bin/superviseur" />
-    <property name="settings.editor.selected.configurable" value="reference.settingsdialog.IDE.editor.colors.General" />
-  </component>
-  <component name="RecentsManager">
-    <key name="CopyFile.RECENT_KEYS">
-      <recent name="$PROJECT_DIR$/destijl_init" />
-    </key>
-    <key name="MoveFile.RECENT_KEYS">
-      <recent name="$PROJECT_DIR$/lib" />
-      <recent name="$PROJECT_DIR$/destijl_init/src" />
-    </key>
-  </component>
-  <component name="RunDashboard">
-    <option name="ruleStates">
-      <list>
-        <RuleState>
-          <option name="name" value="ConfigurationTypeDashboardGroupingRule" />
-        </RuleState>
-        <RuleState>
-          <option name="name" value="StatusDashboardGroupingRule" />
-        </RuleState>
-      </list>
-    </option>
-  </component>
-  <component name="RunManager" selected="Application.superviseur">
-    <configuration name="Build All" type="CMakeRunConfiguration" factoryName="Application" PASS_PARENT_ENVS_2="true" CONFIG_NAME="Debug" EXPLICIT_BUILD_TARGET_NAME="all">
-      <method v="2">
-        <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
-      </method>
-    </configuration>
-    <configuration name="destijl" type="CMakeRunConfiguration" factoryName="Application" PASS_PARENT_ENVS_2="true" PROJECT_NAME="ProjDestijl" TARGET_NAME="destijl" CONFIG_NAME="Debug">
-      <method v="2">
-        <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
-      </method>
-    </configuration>
-    <configuration name="superviseur" type="CMakeRunConfiguration" factoryName="Application" PASS_PARENT_ENVS_2="true" PROJECT_NAME="ProjDestijl" TARGET_NAME="superviseur" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="ProjDestijl" RUN_TARGET_NAME="superviseur">
-      <method v="2">
-        <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
-      </method>
-    </configuration>
-    <list>
-      <item itemvalue="Application.Build All" />
-      <item itemvalue="Application.destijl" />
-      <item itemvalue="Application.superviseur" />
-    </list>
-  </component>
-  <component name="SvnConfiguration">
-    <configuration />
-  </component>
-  <component name="TaskManager">
-    <task active="true" id="Default" summary="Default task">
-      <changelist id="4c044020-a391-4234-8366-64abd3f0f464" name="Default Changelist" comment="" />
-      <created>1539692092358</created>
-      <option name="number" value="Default" />
-      <option name="presentableId" value="Default" />
-      <updated>1539692092358</updated>
-      <workItem from="1539692095452" duration="3090000" />
-      <workItem from="1539698076207" duration="43886000" />
-    </task>
-    <servers />
-  </component>
-  <component name="TimeTrackingManager">
-    <option name="totallyTimeSpent" value="46976000" />
-  </component>
-  <component name="ToolWindowManager">
-    <frame x="260" y="101" width="1660" height="1088" extended-state="0" />
-    <layout>
-      <window_info active="true" content_ui="combo" id="Project" order="0" visible="true" weight="0.21277915" />
-      <window_info id="Structure" order="1" side_tool="true" weight="0.25" />
-      <window_info id="Favorites" order="2" side_tool="true" />
-      <window_info anchor="bottom" id="Message" order="0" />
-      <window_info anchor="bottom" id="Find" order="1" weight="0.2114165" />
-      <window_info anchor="bottom" id="Run" order="2" />
-      <window_info anchor="bottom" id="Debug" order="3" weight="0.39957717" />
-      <window_info anchor="bottom" id="Cvs" order="4" weight="0.25" />
-      <window_info anchor="bottom" id="Inspection" order="5" weight="0.4" />
-      <window_info anchor="bottom" id="TODO" order="6" />
-      <window_info anchor="bottom" id="Database Changes" order="7" show_stripe_button="false" />
-      <window_info anchor="bottom" id="Messages" order="8" weight="0.3118393" />
-      <window_info anchor="bottom" id="Terminal" order="9" weight="0.32980973" />
-      <window_info anchor="bottom" id="Event Log" order="10" side_tool="true" />
-      <window_info anchor="bottom" id="Version Control" order="11" show_stripe_button="false" />
-      <window_info anchor="bottom" id="CMake" order="12" weight="0.32980973" />
-      <window_info anchor="right" id="Commander" internal_type="SLIDING" order="0" type="SLIDING" weight="0.4" />
-      <window_info anchor="right" id="Ant Build" order="1" weight="0.25" />
-      <window_info anchor="right" content_ui="combo" id="Hierarchy" order="2" weight="0.25" />
-      <window_info anchor="right" id="Database" order="3" />
-    </layout>
-  </component>
-  <component name="TypeScriptGeneratedFilesManager">
-    <option name="version" value="1" />
-  </component>
-  <component name="VcsContentAnnotationSettings">
-    <option name="myLimit" value="2678400000" />
-  </component>
-  <component name="XDebuggerManager">
-    <breakpoint-manager>
-      <breakpoints>
-        <line-breakpoint enabled="true" type="com.jetbrains.cidr.execution.debugger.OCBreakpointType">
-          <url>file://$PROJECT_DIR$/examples/src/serverTest.cpp</url>
-          <line>28</line>
-          <option name="timeStamp" value="1" />
-        </line-breakpoint>
-        <line-breakpoint enabled="true" type="com.jetbrains.cidr.execution.debugger.OCBreakpointType">
-          <url>file://$PROJECT_DIR$/superviseur/src/functions.cpp</url>
-          <line>16</line>
-          <option name="timeStamp" value="6" />
-        </line-breakpoint>
-      </breakpoints>
-    </breakpoint-manager>
-  </component>
-  <component name="editorHistoryManager">
-    <entry file="file://$PROJECT_DIR$/destijl_init/src/functions.h">
-      <provider selected="true" editor-type-id="text-editor" />
-    </entry>
-    <entry file="file://$PROJECT_DIR$/destijl_init/src/main.cpp">
-      <provider selected="true" editor-type-id="text-editor" />
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/src/Camera.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="795">
-          <caret line="53" column="19" selection-start-line="53" selection-start-column="19" selection-end-line="53" selection-end-column="19" />
-          <folding>
-            <element signature="e#43#62#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/Image.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="525">
-          <caret line="35" column="52" selection-start-line="35" selection-start-column="52" selection-end-line="35" selection-end-column="52" />
-          <folding>
-            <element signature="e#80#99#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/Definition.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="330">
-          <caret line="22" column="10" selection-start-line="22" selection-start-column="10" selection-end-line="22" selection-end-column="10" />
-          <folding>
-            <element signature="e#90#128#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/Camera.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="435">
-          <caret line="29" selection-start-line="29" selection-end-line="29" />
-          <folding>
-            <element signature="e#82#120#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/destijl_init/CMakeLists.txt">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="90">
-          <caret line="6" column="21" selection-start-line="6" selection-start-column="21" selection-end-line="6" selection-end-column="21" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/monitor/CMakeLists.txt">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="135">
-          <caret line="9" selection-start-line="9" selection-end-line="9" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/monitor/src/functions.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="615">
-          <caret line="41" column="41" selection-start-line="41" selection-start-column="41" selection-end-line="41" selection-end-column="41" />
-          <folding>
-            <element signature="e#1028#1087#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/monitor/src/functions.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="203">
-          <caret line="33" selection-start-line="24" selection-end-line="33" />
-          <folding>
-            <element signature="e#319#337#0" expanded="true" />
-            <element signature="e#446#577#0" expanded="true" />
-            <element signature="e#588#616#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/build/CMakeFiles/Makefile.cmake">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="90">
-          <caret line="6" column="16" selection-start-line="6" selection-start-column="16" selection-end-line="6" selection-end-column="16" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/monitor-pc/CMakeLists.txt">
-      <provider selected="true" editor-type-id="text-editor">
-        <state>
-          <caret column="68" selection-start-column="68" selection-end-column="68" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/monitor/src/main.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-1185">
-          <caret line="20" selection-start-line="20" selection-end-line="20" />
-          <folding>
-            <element signature="e#88#106#0" expanded="true" />
-            <element signature="e#308#328#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/monitor-pc/src/functions.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="434">
-          <caret line="68" lean-forward="true" selection-start-line="30" selection-end-line="68" />
-          <folding>
-            <element signature="e#319#337#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/monitor-pc/src/main.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-510">
-          <caret line="11" lean-forward="true" selection-start-line="11" selection-end-line="11" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/monitor-pc/src/functions.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="824">
-          <caret line="214" column="11" lean-forward="true" selection-start-line="214" selection-start-column="11" selection-end-line="214" selection-end-column="11" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/src.sav/image.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-1260">
-          <caret line="12" selection-start-line="12" selection-end-line="12" />
-          <folding>
-            <element signature="e#494#512#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/src.sav/image.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-810" />
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/monitor-pthread/CMakeLists.txt">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="30">
-          <caret line="2" column="43" lean-forward="true" selection-start-line="2" selection-start-column="43" selection-end-line="2" selection-end-column="43" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/monitor-pthread/src/functions.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-2655" />
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/src.sav/monitor.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="1680">
-          <caret line="112" lean-forward="true" selection-start-line="19" selection-end-line="112" />
-          <folding>
-            <element signature="e#82#104#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/src.sav/message.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="135">
-          <caret line="9" column="2" lean-forward="true" selection-start-line="9" selection-start-column="2" selection-end-line="9" selection-end-column="2" />
-          <folding>
-            <element signature="e#312#330#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/src/Serial.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-1080" />
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/src.sav/message.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="405">
-          <caret line="27" column="36" lean-forward="true" selection-start-line="26" selection-start-column="4" selection-end-line="27" selection-end-column="36" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/src.sav/monitor.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="433">
-          <caret line="151" column="1" selection-start-line="146" selection-end-line="151" selection-end-column="1" />
-          <folding>
-            <element signature="e#1030#1072#0" expanded="true" />
-            <element signature="e#1814#1860#0" expanded="true" />
-            <element signature="e#1973#2002#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/src/TcpServer.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="299">
-          <caret line="76" selection-start-line="76" selection-end-line="76" />
-          <folding>
-            <element signature="e#648#670#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/Robot.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-495" />
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/TcpServer.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="195">
-          <caret line="14" column="17" selection-start-line="14" selection-start-column="17" selection-end-line="14" selection-end-column="17" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/superviseur-pthread/src/Program.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="419">
-          <caret line="107" selection-start-line="107" selection-end-line="107" />
-          <folding>
-            <element signature="e#90#108#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/examples/CMakeLists.txt">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="135">
-          <caret line="9" column="22" selection-start-line="9" selection-start-column="22" selection-end-line="9" selection-end-column="22" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/superviseur-pthread/CMakeLists.txt">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="105">
-          <caret line="7" column="60" selection-start-line="7" selection-start-column="60" selection-end-line="7" selection-end-column="60" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/superviseur-pthread/src/Tasks.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="405">
-          <caret line="33" column="40" selection-start-line="33" selection-start-column="40" selection-end-line="33" selection-end-column="40" />
-          <folding>
-            <element signature="e#319#338#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/superviseur-pthread/src/Tasks.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="509">
-          <caret line="245" column="27" selection-start-line="245" selection-start-column="27" selection-end-line="245" selection-end-column="27" />
-          <folding>
-            <element signature="e#0#18#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/superviseur-xenomai/src/Program.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="373">
-          <caret line="148" column="7" selection-start-line="145" selection-start-column="6" selection-end-line="148" selection-end-column="7" />
-          <folding>
-            <element signature="e#88#106#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/src/Robot.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="165">
-          <caret line="29" column="19" selection-start-line="29" selection-start-column="19" selection-end-line="29" selection-end-column="19" />
-          <folding>
-            <element signature="e#891#909#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/superviseur-xenomai/src/Tasks.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="748">
-          <caret line="84" column="60" selection-start-line="84" selection-start-column="60" selection-end-line="84" selection-end-column="60" />
-          <folding>
-            <element signature="e#316#341#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/MsgManager.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-151">
-          <caret line="20" column="8" selection-start-line="20" selection-start-column="8" selection-end-line="20" selection-end-column="8" />
-          <folding>
-            <element signature="e#86#105#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/superviseur-xenomai/src/Tasks.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="410">
-          <caret line="92" column="35" lean-forward="true" selection-start-line="92" selection-start-column="35" selection-end-line="92" selection-end-column="35" />
-          <folding>
-            <element signature="e#0#19#0" expanded="true" />
-            <element signature="e#876#929#0" expanded="true" />
-            <element signature="e#1024#1083#0" expanded="true" />
-            <element signature="e#1218#1293#0" expanded="true" />
-            <element signature="e#1799#1852#0" expanded="true" />
-            <element signature="e#1939#2002#0" expanded="true" />
-            <element signature="e#2104#2194#0" expanded="true" />
-            <element signature="e#2383#2442#0" expanded="true" />
-            <element signature="e#2683#2730#0" expanded="true" />
-            <element signature="e#3232#3297#0" expanded="true" />
-            <element signature="e#3735#3816#0" expanded="true" />
-            <element signature="e#3922#3978#0" expanded="true" />
-            <element signature="e#6217#6275#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/src/Image.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="419">
-          <caret line="51" column="6" selection-start-line="51" selection-start-column="6" selection-end-line="51" selection-end-column="26" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/src/MsgManager.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="339">
-          <caret line="136" column="23" selection-start-line="136" selection-start-column="23" selection-end-line="136" selection-end-column="23" />
-          <folding>
-            <element signature="e#44#64#0" expanded="true" />
-            <element signature="e#751#793#0" expanded="true" />
-            <element signature="e#832#878#0" expanded="true" />
-            <element signature="e#938#967#0" expanded="true" />
-            <element signature="e#1253#1282#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/superviseur-xenomai/CMakeLists.txt">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="60">
-          <caret line="4" column="82" selection-start-line="4" selection-start-column="82" selection-end-line="4" selection-end-column="82" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/image.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="209">
-          <caret line="17" selection-start-line="17" selection-end-line="17" />
-          <folding>
-            <element signature="e#566#599#0" expanded="true" />
-            <element signature="e#635#673#0" expanded="true" />
-            <element signature="e#865#890#0" expanded="true" />
-            <element signature="e#935#962#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/src/message.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="405">
-          <caret line="27" column="32" selection-start-line="27" selection-start-column="32" selection-end-line="27" selection-end-column="32" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/monitor.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="389">
-          <caret line="64" column="94" selection-start-line="64" selection-start-column="94" selection-end-line="64" selection-end-column="94" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/src/monitor.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="338">
-          <caret line="104" column="23" selection-start-line="104" selection-start-column="23" selection-end-line="104" selection-end-column="23" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/superviseur/src/functions.h">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="180">
-          <caret line="51" column="21" selection-start-line="51" selection-start-column="12" selection-end-line="51" selection-end-column="21" />
-          <folding>
-            <element signature="e#319#337#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/CMakeLists.txt">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="330">
-          <caret line="22" selection-start-line="22" selection-end-line="22" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/lib/CMakeLists.txt">
-      <provider selected="true" editor-type-id="text-editor">
-        <state>
-          <caret column="81" selection-start-column="81" selection-end-column="81" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/superviseur/CMakeLists.txt">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="135">
-          <caret line="9" selection-start-line="9" selection-end-line="9" />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/superviseur/src/main.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="75">
-          <caret line="89" column="13" selection-start-line="89" selection-start-column="13" selection-end-line="89" selection-end-column="13" />
-          <folding>
-            <element signature="e#88#106#0" expanded="true" />
-          </folding>
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/superviseur/src/functions.cpp">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="300">
-          <caret line="20" column="19" selection-start-line="20" selection-start-column="19" selection-end-line="20" selection-end-column="19" />
-        </state>
-      </provider>
-    </entry>
-  </component>
-</project>

software/raspberry/superviseur-robot/lib/base64/.gitignore

+*.swp
+test-base64

software/raspberry/superviseur-robot/lib/base64/LICENSE

+Copyright © 2004-2017 by René Nyffenegger
+
+This source code is provided 'as-is', without any express or implied
+warranty. In no event will the author be held liable for any damages
+arising from the use of this software.
+                                                                              
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+                                                                              
+1. The origin of this source code must not be misrepresented; you must not
+   claim that you wrote the original source code. If you use this source code
+   in a product, an acknowledgment in the product documentation would be
+   appreciated but is not required.
+                                                                              
+2. Altered source versions must be plainly marked as such, and must not be
+   misrepresented as being the original source code.
+                                                                              
+3. This notice may not be removed or altered from any source distribution.

software/raspberry/superviseur-robot/lib/base64/README.md

+# base64 (C++)
+
+Base64 encoding and decoding with c++
+
+## See also
+
+https://renenyffenegger.ch/notes/development/Base64/Encoding-and-decoding-base-64-with-cpp

software/raspberry/superviseur-robot/lib/base64/base64.cpp

+/* 
+   base64.cpp and base64.h
+
+   base64 encoding and decoding with C++.
+
+   Version: 1.01.00
+
+   Copyright (C) 2004-2017 René Nyffenegger
+
+   This source code is provided 'as-is', without any express or implied
+   warranty. In no event will the author be held liable for any damages
+   arising from the use of this software.
+
+   Permission is granted to anyone to use this software for any purpose,
+   including commercial applications, and to alter it and redistribute it
+   freely, subject to the following restrictions:
+
+   1. The origin of this source code must not be misrepresented; you must not
+      claim that you wrote the original source code. If you use this source code
+      in a product, an acknowledgment in the product documentation would be
+      appreciated but is not required.
+
+   2. Altered source versions must be plainly marked as such, and must not be
+      misrepresented as being the original source code.
+
+   3. This notice may not be removed or altered from any source distribution.
+
+   René Nyffenegger rene.nyffenegger@adp-gmbh.ch
+
+*/
+
+#include "base64.h"
+#include <iostream>
+
+static const std::string base64_chars = 
+             "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+             "abcdefghijklmnopqrstuvwxyz"
+             "0123456789+/";
+
+
+static inline bool is_base64(unsigned char c) {
+  return (isalnum(c) || (c == '+') || (c == '/'));
+}
+
+std::string base64_encode(unsigned char const* bytes_to_encode, unsigned int in_len) {
+  std::string ret;
+  int i = 0;
+  int j = 0;
+  unsigned char char_array_3[3];
+  unsigned char char_array_4[4];
+
+  while (in_len--) {
+    char_array_3[i++] = *(bytes_to_encode++);
+    if (i == 3) {
+      char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
+      char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
+      char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
+      char_array_4[3] = char_array_3[2] & 0x3f;
+
+      for(i = 0; (i <4) ; i++)
+        ret += base64_chars[char_array_4[i]];
+      i = 0;
+    }
+  }
+
+  if (i)
+  {
+    for(j = i; j < 3; j++)
+      char_array_3[j] = '\0';
+
+    char_array_4[0] = ( char_array_3[0] & 0xfc) >> 2;
+    char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
+    char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
+
+    for (j = 0; (j < i + 1); j++)
+      ret += base64_chars[char_array_4[j]];
+
+    while((i++ < 3))
+      ret += '=';
+
+  }
+
+  return ret;
+
+}
+
+std::string base64_decode(std::string const& encoded_string) {
+  int in_len = encoded_string.size();
+  int i = 0;
+  int j = 0;
+  int in_ = 0;
+  unsigned char char_array_4[4], char_array_3[3];
+  std::string ret;
+
+  while (in_len-- && ( encoded_string[in_] != '=') && is_base64(encoded_string[in_])) {
+    char_array_4[i++] = encoded_string[in_]; in_++;
+    if (i ==4) {
+      for (i = 0; i <4; i++)
+        char_array_4[i] = base64_chars.find(char_array_4[i]);
+
+      char_array_3[0] = ( char_array_4[0] << 2       ) + ((char_array_4[1] & 0x30) >> 4);
+      char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
+      char_array_3[2] = ((char_array_4[2] & 0x3) << 6) +   char_array_4[3];
+
+      for (i = 0; (i < 3); i++)
+        ret += char_array_3[i];
+      i = 0;
+    }
+  }
+
+  if (i) {
+    for (j = 0; j < i; j++)
+      char_array_4[j] = base64_chars.find(char_array_4[j]);
+
+    char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
+    char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
+
+    for (j = 0; (j < i - 1); j++) ret += char_array_3[j];
+  }
+
+  return ret;
+}

software/raspberry/superviseur-robot/lib/base64/base64.h

+//
+//  base64 encoding and decoding with C++.
+//  Version: 1.01.00
+//
+
+#ifndef BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A
+#define BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A
+
+#include <string>
+
+std::string base64_encode(unsigned char const* , unsigned int len);
+std::string base64_decode(std::string const& s);
+
+#endif /* BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A */

software/raspberry/superviseur-robot/lib/base64/compile-and-run-test

+g++ test.cpp base64.cpp -o test-base64
+./test-base64

software/raspberry/superviseur-robot/lib/base64/test.cpp

+#include "base64.h"
+#include <iostream>
+
+int main() {
+  const std::string s = 
+    "René Nyffenegger\n"
+    "http://www.renenyffenegger.ch\n"
+    "passion for data\n";
+
+  std::string encoded = base64_encode(reinterpret_cast<const unsigned char*>(s.c_str()), s.length());
+  std::string decoded = base64_decode(encoded);
+
+  std::cout << "encoded: " << std::endl << encoded << std::endl << std::endl;
+  std::cout << "decoded: " << std::endl << decoded << std::endl;
+
+
+  // Test all possibilites of fill bytes (none, one =, two ==)
+  // References calculated with: https://www.base64encode.org/
+
+  std::string rest0_original = "abc";
+  std::string rest0_reference = "YWJj";
+
+  std::string rest0_encoded = base64_encode(reinterpret_cast<const unsigned char*>(rest0_original.c_str()),
+    rest0_original.length());
+  std::string rest0_decoded = base64_decode(rest0_encoded);
+
+  std::cout << "encoded:   " << rest0_encoded << std::endl;
+  std::cout << "reference: " << rest0_reference << std::endl;
+  std::cout << "decoded:   " << rest0_decoded << std::endl << std::endl;
+
+
+  std::string rest1_original = "abcd";
+  std::string rest1_reference = "YWJjZA==";
+
+  std::string rest1_encoded = base64_encode(reinterpret_cast<const unsigned char*>(rest1_original.c_str()),
+    rest1_original.length());
+  std::string rest1_decoded = base64_decode(rest1_encoded);
+
+  std::cout << "encoded:   " << rest1_encoded << std::endl;
+  std::cout << "reference: " << rest1_reference << std::endl;
+  std::cout << "decoded:   " << rest1_decoded << std::endl << std::endl;
+
+
+  std::string rest2_original = "abcde";
+  std::string rest2_reference = "YWJjZGU=";
+
+  std::string rest2_encoded = base64_encode(reinterpret_cast<const unsigned char*>(rest2_original.c_str()),
+    rest2_original.length());
+  std::string rest2_decoded = base64_decode(rest2_encoded);
+
+  std::cout << "encoded:   " << rest2_encoded << std::endl;
+  std::cout << "reference: " << rest2_reference << std::endl;
+  std::cout << "decoded:   " << rest2_decoded << std::endl << std::endl;
+
+  return 0;
+}

software/raspberry/superviseur-robot/lib/camera.cpp

 
 using namespace cv;
 
-void Camera::setSize(int size) {
+Camera::Camera(int size) {
+    this->SetSize(size);
+    this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3);
+    this->cap.set(CV_CAP_PROP_FRAME_WIDTH,width);
+    this->cap.set(CV_CAP_PROP_FRAME_HEIGHT,height);
+}
+
+bool Camera::Open() {
+    this->cap.open(0);
+}
+
+void Camera::Close() {
+    this->cap.release();
+}
+
+void Camera::SetSize(int size) {
     this->size = size;
+    
     switch (size){
         case xs:
             this->width = 480;
     }
 }
 
-
-int Camera::open_camera() {
-    this->cap.open(0);
-}
-
-Camera::Camera(int size) {
-    this->setSize(size);
-    this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3);
-    this->cap.set(CV_CAP_PROP_FRAME_WIDTH,width);
-    this->cap.set(CV_CAP_PROP_FRAME_HEIGHT,height);
-}
-
-int Camera::close_camera() {
-    cap.release();
-    return 0;
-}
-
-Img Camera::grab_image() {
+Img Camera::Grab() {
     ImageMat frame;
+    
     cap >> frame;
     Img capture = Img(frame);
+    
     return capture;
 }
 
-
-bool Camera::isOpen() {
+bool Camera::IsOpen() {
     return cap.isOpened();
 }
 
-int Camera::getWidth() const {
+int Camera::GetWidth() const {
     return width;
 }
 
-int Camera::getHeight() const {
+int Camera::GetHeight() const {
     return height;
 }
 

software/raspberry/superviseur-robot/lib/camera.h

 
 class Camera {
 public:
-
     Camera(int size);
 
-    int open_camera();
-
-    int getWidth() const;
-
-    int getHeight() const;
+    bool Open();
+    void Close();
+    
+    int GetWidth() const;
+    int GetHeight() const;
 
-    bool isOpen();
-    void setSize(int size);
+    bool IsOpen();
+    void SetSize(int size);
 
-    int close_camera();
-    Img grab_image();
+    Img Grab();
     
 private:
     cv::VideoCapture cap;

software/raspberry/superviseur-robot/lib/commonitor.cpp

 #include <stdexcept>
 #include <string>
 
+#include "base64/base64.h"
+
 /*
  * @brief Constants used for sending commands to monitor
  */
 const string LABEL_MONITOR_CAMERA_CLOSE = "CCLS";
 const string LABEL_MONITOR_CAMERA_IMAGE = "CIMG";
 const string LABEL_MONITOR_CAMERA_ARENA_ASK = "CASA";
-const string LABEL_MONITOR_CAMERA_ARENA_INFIRME = "CAIN";
+const string LABEL_MONITOR_CAMERA_ARENA_INFIRM = "CAIN";
 const string LABEL_MONITOR_CAMERA_ARENA_CONFIRM = "CACO";
 const string LABEL_MONITOR_CAMERA_POSITION_COMPUTE = "CPCO";
 const string LABEL_MONITOR_CAMERA_POSITION_STOP = "CPST";
         throw std::runtime_error{"Can not create socket"};
     }
 
+    int enable = 1;
+    if (setsockopt(socketFD, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(int)) < 0) {
+        cerr<<"setsockopt(SO_REUSEADDR) failed"<<endl<<flush;
+    }
+    
+    bzero((char *) &server, sizeof(server));
     server.sin_addr.s_addr = INADDR_ANY;
     server.sin_family = AF_INET;
     server.sin_port = htons(port);
  * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that.
  * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously  
  */
-void ComMonitor::Write(Message &msg) {
+void ComMonitor::Write(Message *msg) {
     string str;
-
+    
     // Call user method before Write
     Write_Pre();
 
     //cout << "Message sent to monitor: " << str->c_str() << endl;
     write(clientID, str.c_str(), str.length());
 
-    delete(&msg);
-
+    if (!msg->CompareID(MESSAGE_CAM_IMAGE)) {
+        delete(msg);
+    }
+   
     // Call user method after write
     Write_Post();
 }
  * @param msg Message to be converted
  * @return A string, image of the message
  */
-string ComMonitor::MessageToString(Message &msg) {
+string ComMonitor::MessageToString(Message *msg) {
     int id;
     string str;
-    Message *localMsg = &msg;
+    //Message *localMsg = msg;
     Position pos;
 
-    id = msg.GetID();
+    Img *image;
+    Jpg jpeg ;
+    string s;
+                    
+    id = msg->GetID();
 
     switch (id) {
         case MESSAGE_ANSWER_ACK :
             str.append(LABEL_MONITOR_ANSWER_COM_ERROR);
             break;
         case MESSAGE_CAM_POSITION:
-            pos = ((MessagePosition*) & msg)->GetPosition();
+            pos = ((MessagePosition*) msg)->GetPosition();
 
             str.append(LABEL_MONITOR_CAMERA_POSITION + LABEL_SEPARATOR_CHAR + to_string(pos.robotId) + ";" +
                     to_string(pos.angle) + ";" + to_string(pos.center.x) + ";" + to_string(pos.center.y) + ";" +
                     to_string(pos.direction.x) + ";" + to_string(pos.direction.y));
             break;
         case MESSAGE_CAM_IMAGE:
-            str.append(LABEL_MONITOR_CAMERA_IMAGE + LABEL_SEPARATOR_CHAR + ((MessageImg*) & msg)->GetImage()->ToBase64());
+            image=((MessageImg*) msg)->GetImage();
+            jpeg = image->ToJpg();
+            
+            cout << "Jpeg size: " << to_string(jpeg.size())<<endl<<flush;
+            
+            s = base64_encode(jpeg.data(), jpeg.size());
+            str.append(LABEL_MONITOR_CAMERA_IMAGE + LABEL_SEPARATOR_CHAR + s);
             break;
         case MESSAGE_ROBOT_BATTERY_LEVEL:
-            str.append(LABEL_MONITOR_ROBOT_BATTERY_LEVEL + LABEL_SEPARATOR_CHAR + to_string(((MessageBattery*) & msg)->GetLevel()));
+            str.append(LABEL_MONITOR_ROBOT_BATTERY_LEVEL + LABEL_SEPARATOR_CHAR + to_string(((MessageBattery*) msg)->GetLevel()));
             break;
         case MESSAGE_ROBOT_STATE_BUSY:
             str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "1");
             str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "0");
             break;
         case MESSAGE_LOG:
-            str.append(LABEL_MONITOR_MESSAGE + LABEL_SEPARATOR_CHAR + ((MessageString*) & msg)->GetString());
+            str.append(LABEL_MONITOR_MESSAGE + LABEL_SEPARATOR_CHAR + ((MessageString*) msg)->GetString());
             break;
         case MESSAGE_EMPTY:
             str.append(""); //empty string
             break;
         default:
-            cerr<<"["<<__PRETTY_FUNCTION__<<"] (from ComMonitor::Write): Invalid message to send ("<<msg.ToString()<<")"<<endl<<flush;
+            cerr<<"["<<__PRETTY_FUNCTION__<<"] (from ComMonitor::Write): Invalid message to send ("<<msg->ToString()<<")"<<endl<<flush;
             throw std::runtime_error {"Invalid message to send"};
     }
 
         msg = new Message(MESSAGE_CAM_ASK_ARENA);
     } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_CONFIRM) != string::npos) {
         msg = new Message(MESSAGE_CAM_ARENA_CONFIRM);
-    } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_INFIRME) != string::npos) {
+    } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_INFIRM) != string::npos) {
         msg = new Message(MESSAGE_CAM_ARENA_INFIRM);
     } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_CLOSE) != string::npos) {
         msg = new Message(MESSAGE_CAM_CLOSE);

software/raspberry/superviseur-robot/lib/commonitor.h

 
 using namespace std;
      
-#define SERVER_PORT 1234
+#define SERVER_PORT 5544
 
 /**
  * Class used for generating a server and communicating through it with monitor
      * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that.
      * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously  
      */
-    void Write(Message &msg);
+    void Write(Message *msg);
     
     /**
      * Function called at beginning of Write method
      * @param msg Message to be converted
      * @return A string, image of the message
      */
-    string MessageToString(Message &msg);
+    string MessageToString(Message *msg);
     
     /**
      * Method used internally to convert a string received over TCP to a message 

software/raspberry/superviseur-robot/lib/img.cpp

 
 #include "img.h"
 
-bool Arene::empty() {
-    if ((this->arene.height==0) || (this->arene.width==0)) return true;
+bool Arena::IsEmpty() {
+    if ((this->arena.height==0) || (this->arena.width==0)) return true;
     else return false;
 }
 
 string Img::ToString() {
     return "Image size: "+to_string(this->img.cols)+"x"+to_string(this->img.rows)+" (dim="+to_string(this->img.dims)+")";
 }
-    
-string Img::ToBase64() {
-    return "";
-}
 
 Img* Img::Copy() {
     return new Img(this->img);
 }
     
-float Img::calculAngle(Position robot) {
+float Img::CalculAngle(Position robot) {
     float a = robot.direction.x - robot.center.x;
     float b = robot.direction.y - robot.center.y ;
     float angle = atan2(b,a);
     return angle * 180.f/M_PI;
 }
 
-float Img::calculAngle2(cv::Point2f pt1, cv::Point2f pt2) {
+float Img::CalculAngle2(cv::Point2f pt1, cv::Point2f pt2) {
     float a = pt1.x - pt2.x;
     float b = pt1.y - pt2.y ;
     float angle = atan2(b,a);
     return ((aruco[0]+aruco[1])/2);;
 }
 
-std::list<Position> Img::search_aruco(Arene monArene) {
+std::list<Position> Img::search_aruco(Arena monArene) {
     ImageMat imgTraitment;
     std::list<Position> positionList;
     cv::Point2f areneCoor;
 }
 #endif // __WITH_ARUCO__
 
-float Img::euclideanDist(cv::Point2f p, cv::Point2f q) {
+float Img::EuclideanDistance(cv::Point2f p, cv::Point2f q) {
     cv::Point diff = p - q;
     return cv::sqrt(diff.x*diff.x + diff.y*diff.y);
 }
 
-Jpg Img::toJpg() {
+Jpg Img::ToJpg() {
     Jpg imgJpg;
     cv::imencode(".jpg",this->img,imgJpg);
     return imgJpg;
 //    return imgBase64;
 //}
 
-std::list<Position> Img::search_robot(Arene monArene) {
+std::list<Position> Img::SearchRobot(Arena monArene) {
 
     std::list<Position> robotsFind;
     std::vector<std::vector<cv::Point2f> > contours;
 
     ImageMat imgTraitment;
 
-    if(monArene.empty())
+    if(monArene.IsEmpty())
         imgTraitment=this->img.clone();
     else
-        imgTraitment = cropArena(monArene);
+        imgTraitment = CropArena(monArene);
 
     cvtColor(imgTraitment,imgTraitment,CV_RGB2GRAY);
     threshold(imgTraitment,imgTraitment,128,255,CV_THRESH_BINARY);
             c = approx[2];
 
 
-            if(!monArene.empty()) // ajout de l'offset de l'arène
+            if(!monArene.IsEmpty()) // ajout de l'offset de l'arène
             {
-                a.x += monArene.arene.x;
-                a.y += monArene.arene.y;
-                b.x += monArene.arene.x;
-                b.y += monArene.arene.y;
-                c.x += monArene.arene.x;
-                c.y += monArene.arene.y;
+                a.x += monArene.arena.x;
+                a.y += monArene.arena.y;
+                b.x += monArene.arena.x;
+                b.y += monArene.arena.y;
+                c.x += monArene.arena.x;
+                c.y += monArene.arena.y;
             }
 
             center.x = (a.x + b.x + c.x)/3;
             Position newPos;
             newPos.center=center;
 
-            if(euclideanDist(center,b) > euclideanDist(center,a) && euclideanDist(center,b) > euclideanDist(center,c) )
+            if(EuclideanDistance(center,b) > EuclideanDistance(center,a) && EuclideanDistance(center,b) > EuclideanDistance(center,c) )
             {
 
                 newPos.direction=b;
                 //line(img,center,b,Scalar(0,125,0),2,8,0);
             }
-            else if(euclideanDist(center,a) > euclideanDist(center,c))
+            else if(EuclideanDistance(center,a) > EuclideanDistance(center,c))
             {
                 newPos.direction=a;
                 //line(img,center,a,Scalar(0,125,0),2,8,0);
                 newPos.direction=c;
                 //line(img,center,c,Scalar(0,125,0),2,8,0);
             }
-            newPos.angle=calculAngle(newPos);
+            newPos.angle=CalculAngle(newPos);
             robotsFind.push_back(newPos);
         }
     }
     return robotsFind;
 }
 
-Arene Img::search_arena() {
+Arena Img::SearchArena() {
     std::vector<std::vector<cv::Point> > contours;
     std::vector<cv::Point> approx;
     std::vector<cv::Vec4i> hierarchy;
         approxPolyDP(ImageMat(contours[i]), approx, cv::arcLength(ImageMat(contours[i]), true)*0.1, true);
         if(approx.size()==4 && fabs(cv::contourArea(contours[i])) > 100000)
         {
-            Arene rectangle;
-            rectangle.arene = cv::boundingRect(ImageMat(contours[i]));
+            Arena rectangle;
+            rectangle.arena = cv::boundingRect(ImageMat(contours[i]));
             return rectangle;
         }
     }
-    return Arene();
+    return Arena();
 }
 
-int Img::draw_robot(Position robot) {
+int Img::DrawRobot(Position robot) {
     cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0,0,255),3,8,0);
     return 0;
 }
 
-int Img::draw_all_robots(std::list<Position> robots) {
+int Img::DrawAllRobots(std::list<Position> robots) {
     for(Position robot  : robots){
         cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0,0,255),3,8,0);
     }
     return robots.size();
 }
 
-int Img::draw_arena(Arene areneToDraw) {
-    cv::rectangle(this->img,areneToDraw.arene.tl(),areneToDraw.arene.br(),cv::Scalar(0,0,125),2,8,0);
+int Img::DrawArena(Arena areneToDraw) {
+    cv::rectangle(this->img,areneToDraw.arena.tl(),areneToDraw.arena.br(),cv::Scalar(0,0,125),2,8,0);
     return 0;
 }
 
-ImageMat Img::cropArena(Arene arene) {
-    return this->img(arene.arene);
+ImageMat Img::CropArena(Arena arene) {
+    return this->img(arene.arena);
 }

software/raspberry/superviseur-robot/lib/img.h

     int robotId;
 } Position;
 
-class Arene {
+class Arena {
 public:
-    Arene() {}
+    Arena() {}
     
-    cv::Rect arene;
-    bool empty();
+    cv::Rect arena;
+    bool IsEmpty();
 };
 
 class Img {
     string ToString();
     Img* Copy();
     
-    Jpg toJpg();
-    string ToBase64();
-    Arene search_arena();
+    Jpg ToJpg();
+    Arena SearchArena();
 
-    int draw_robot(Position robot);
-    int draw_all_robots(std::list<Position> robots);
-    int draw_arena(Arene areneToDraw);
-    std::list<Position> search_robot(Arene monArene);
+    int DrawRobot(Position robot);
+    int DrawAllRobots(std::list<Position> robots);
+    int DrawArena(Arena areneToDraw);
+    std::list<Position> SearchRobot(Arena myArena);
     
     
 #ifdef __WITH_ARUCO__    
-    list<Position> search_aruco(Arene monArene = NULL);
+    list<Position> search_aruco(Arena monArene = NULL);
 #endif // __WITH_ARUCO__
 private:
     ImageMat img;
     cv::Point2f find_aruco_direction(std::vector<cv::Point2f> aruco);
 #endif // __WITH_ARUCO__
     
-    float calculAngle(Position robots);
-    float calculAngle2(cv::Point2f pt1, cv::Point2f pt2);
-    float euclideanDist(cv::Point2f p, cv::Point2f q);
-    ImageMat cropArena(Arene arene);
+    float CalculAngle(Position robots);
+    float CalculAngle2(cv::Point2f pt1, cv::Point2f pt2);
+    float EuclideanDistance(cv::Point2f p, cv::Point2f q);
+    ImageMat CropArena(Arena arene);
 };
 
 #endif //__IMG_H__

software/raspberry/superviseur-robot/lib/messages.cpp

  * @param image Image
  * @throw std::runtime_error if message ID is incompatible with image
  */
-MessageImg::MessageImg(MessageID id, Img* image) {
+MessageImg::MessageImg(MessageID id, Img *image) {
     MessageImg::SetID(id);
     MessageImg::SetImage(image);
 }
  * @param image Reference to image object
  */
 void MessageImg::SetImage(Img* image) {
-    this->image = image->Copy();
+    //this->image = image->Copy();
+    this->image = image;
 }
 
 /**
  * @return A message, copy of current
  */
 Message* MessageImg::Copy() {
-    
     return new MessageImg(this->messageID, this->image->Copy());
 }
 

software/raspberry/superviseur-robot/lib/messages.h

     MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND,
     MESSAGE_ANSWER_ROBOT_ERROR,
     MESSAGE_ANSWER_COM_ERROR,
-           
+      
+    // Messages specific to server
+    MESSAGE_MONITOR_LOST,
+    
     // messages for serial communication with robot
     MESSAGE_ROBOT_COM_OPEN,
     MESSAGE_ROBOT_COM_CLOSE,
          
-    // Messages specific to server
-    MESSAGE_MONITOR_LOST,
-    
     // Messages for camera   
     MESSAGE_CAM_OPEN,
     MESSAGE_CAM_CLOSE,
      * @param image Pointer to image
      * @throw std::runtime_error if message ID is incompatible with image message
      */
-    MessageImg(MessageID id, Img* image);
+    MessageImg(MessageID id, Img *image);
 
     /**
      * Destroy Image message

software/raspberry/superviseur-robot/main.cpp

 
     tasks.Init();
     
-    /*if (tasks.AcceptClient()) {
+    if (tasks.AcceptClient()) {
+        cout << "Rock'n'Roll baby, client accepted!"<<endl<<flush;
         tasks.Run();
         
         tasks.Join();
     }
     
-    tasks.Stop();*/
+    tasks.Stop();
     
-    tasks.Run();
+    //tasks.Run();
 
     return 0;
 }

software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk

 	${OBJECTDIR}/lib/server.o \
 	${OBJECTDIR}/main.o \
 	${OBJECTDIR}/tasks.o \
+	${OBJECTDIR}/_ext/a7f31ab4/base64.o \
 	${OBJECTDIR}/_ext/6cc0dc4a/camera.o \
 	${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \
 	${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \
 	${RM} "$@.d"
 	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
 
+${OBJECTDIR}/_ext/a7f31ab4/base64.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
+	${MKDIR} -p ${OBJECTDIR}/_ext/a7f31ab4
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a7f31ab4/base64.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
+
 ${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
 	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
 	${RM} "$@.d"

software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk

 OBJECTFILES= \
 	${OBJECTDIR}/lib/messages.o \
 	${OBJECTDIR}/main.o \
+	${OBJECTDIR}/_ext/a7f31ab4/base64.o \
 	${OBJECTDIR}/_ext/6cc0dc4a/camera.o \
 	${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \
 	${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \
 	${RM} "$@.d"
 	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
 
+${OBJECTDIR}/_ext/a7f31ab4/base64.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
+	${MKDIR} -p ${OBJECTDIR}/_ext/a7f31ab4
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a7f31ab4/base64.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
+
 ${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
 	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
 	${RM} "$@.d"

software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk

 	${OBJECTDIR}/lib/server.o \
 	${OBJECTDIR}/main.o \
 	${OBJECTDIR}/tasks.o \
+	${OBJECTDIR}/_ext/a7f31ab4/base64.o \
 	${OBJECTDIR}/_ext/6cc0dc4a/camera.o \
 	${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \
 	${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \
 	${RM} "$@.d"
 	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
 
+${OBJECTDIR}/_ext/a7f31ab4/base64.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
+	${MKDIR} -p ${OBJECTDIR}/_ext/a7f31ab4
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a7f31ab4/base64.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
+
 ${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
 	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
 	${RM} "$@.d"

software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk

 	${OBJECTDIR}/lib/server.o \
 	${OBJECTDIR}/main.o \
 	${OBJECTDIR}/tasks.o \
+	${OBJECTDIR}/_ext/a7f31ab4/base64.o \
 	${OBJECTDIR}/_ext/6cc0dc4a/camera.o \
 	${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \
 	${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \
 	${RM} "$@.d"
 	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
 
+${OBJECTDIR}/_ext/a7f31ab4/base64.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
+	${MKDIR} -p ${OBJECTDIR}/_ext/a7f31ab4
+	${RM} "$@.d"
+	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a7f31ab4/base64.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
+
 ${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
 	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
 	${RM} "$@.d"

software/raspberry/superviseur-robot/nbproject/configurations.xml

     <logicalFolder name="HeaderFiles"
                    displayName="Header Files"
                    projectFiles="true">
+      <itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h</itemPath>
       <itemPath>./lib/camera.h</itemPath>
       <itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</itemPath>
       <itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</itemPath>
     <logicalFolder name="SourceFiles"
                    displayName="Source Files"
                    projectFiles="true">
+      <itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp</itemPath>
       <itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</itemPath>
       <itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</itemPath>
       <itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</itemPath>
       </item>
       <item path="./tasks.h" ex="false" tool="3" flavor2="0">
       </item>
+      <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp"
+            ex="false"
+            tool="1"
+            flavor2="0">
+      </item>
+      <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h"
+            ex="false"
+            tool="3"
+            flavor2="0">
+      </item>
       <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp"
             ex="false"
             tool="1"
       </item>
       <item path="./tasks.h" ex="false" tool="3" flavor2="0">
       </item>
+      <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp"
+            ex="false"
+            tool="1"
+            flavor2="0">
+      </item>
+      <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h"
+            ex="false"
+            tool="3"
+            flavor2="0">
+      </item>
       <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp"
             ex="false"
             tool="1"
       </item>
       <item path="./tasks.h" ex="false" tool="3" flavor2="0">
       </item>
+      <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp"
+            ex="false"
+            tool="1"
+            flavor2="0">
+      </item>
+      <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h"
+            ex="false"
+            tool="3"
+            flavor2="0">
+      </item>
       <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp"
             ex="false"
             tool="1"
       </item>
       <item path="./tasks.cpp" ex="true" tool="1" flavor2="9">
       </item>
+      <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp"
+            ex="false"
+            tool="1"
+            flavor2="0">
+      </item>
+      <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h"
+            ex="false"
+            tool="3"
+            flavor2="0">
+      </item>
       <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp"
             ex="false"
             tool="1"

software/raspberry/superviseur-robot/nbproject/private/private.xml

     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
         <group>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file>
+            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>

software/raspberry/superviseur-robot/tasks_pthread.cpp

     
     /* Open com port with STM32 */
     cout << "Open serial com (";
-    status = robot.Open("/dev/ttyUSB1");
+    status = robot.Open("/dev/ttyUSB0");
     cout << status;
     cout << ")" << endl;
 
 }
 
 void Tasks::Run() {
-    Message *msgRcv;
-    Message *msgSend;
-    int counter = 3;
-
-    //    threadServer=new thread((void (*)(void*)) &Tasks::ServerTask,this);
+    
+    threadTimer=new thread((void (*)(void*)) &Tasks::TimerTask,this);
+    threadServer=new thread((void (*)(void*)) &Tasks::ServerTask,this);
     //    threadSendToMon=new thread((void (*)(void*)) &Tasks::SendToMonTask,this);
-    //    threadTimer=new thread((void (*)(void*)) &Tasks::TimerTask,this);
-
-    msgSend = ComRobot::Ping();
-    cout << "Send => " << msgSend->ToString() << endl << flush;
-    msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
-    cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
-
-    delete(msgRcv);
-
-    msgSend = ComRobot::StartWithoutWD();
-    cout << "Send => " << msgSend->ToString() << endl << flush;
-    msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
-    cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
-
-    delete(msgRcv);
-
-    msgSend = ComRobot::Move(1000);
-    cout << "Send => " << msgSend->ToString() << endl << flush;
-    msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
-    cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
-
-    delete(msgRcv);
-
-    msgSend = ComRobot::GetBattery();
-    cout << "Send => " << msgSend->ToString() << endl << flush;
-    msgRcv = robot.SendCommand(msgSend, MESSAGE_ROBOT_BATTERY_LEVEL, 3);
-    cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+    
 
-    delete(msgRcv);
+//    msgSend = ComRobot::Ping();
+//    cout << "Send => " << msgSend->ToString() << endl << flush;
+//    msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
+//    cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+//
+//    delete(msgRcv);
+//
+//    msgSend = ComRobot::StartWithoutWD();
+//    cout << "Send => " << msgSend->ToString() << endl << flush;
+//    msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
+//    cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+//
+//    delete(msgRcv);
+//
+//    msgSend = ComRobot::Move(1000);
+//    cout << "Send => " << msgSend->ToString() << endl << flush;
+//    msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
+//    cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+//
+//    delete(msgRcv);
+//
+//    msgSend = ComRobot::GetBattery();
+//    cout << "Send => " << msgSend->ToString() << endl << flush;
+//    msgRcv = robot.SendCommand(msgSend, MESSAGE_ROBOT_BATTERY_LEVEL, 3);
+//    cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+//
+//    delete(msgRcv);
+    cout<<"Tasks launched"<<endl<<flush; 
 }
 
 void Tasks::Stop() {
 }
 
 void Tasks::ServerTask(void *arg) {
-    int err;
+    Message *msgRcv;
+    Message *msgSend;
+    bool isActive=true;
+    
     cout << "Start " << __PRETTY_FUNCTION__ <<endl<<flush;
     
-    while (1) {
+    while (isActive) {
+        msgRcv=NULL;
+        msgSend=NULL;
+        
+        msgRcv = monitor.Read();
+        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) msgSend = new Message(MESSAGE_ANSWER_ACK);
+        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) msgSend = new Message(MESSAGE_ANSWER_ACK);
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) msgSend = new Message(MESSAGE_ANSWER_ACK);
+        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) msgSend = new Message(MESSAGE_ANSWER_ACK);
+        
+        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) isActive = false;
+
+        if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
+            sendImage=true;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+        }
+        
+        if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
+            sendImage=false;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+        }
+        
+        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
+            sendPosition=true;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+        }
         
+        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
+            sendPosition=false;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+        }
+        
+        if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL,BATTERY_FULL);
+        
+        if (msgSend != NULL) monitor.Write(msgSend);
+        delete(msgRcv);
     }
 }
 
 void Tasks::TimerTask(void* arg) {
     struct timespec tim, tim2;
+    Message *msgSend;
+    int counter;
+    
     tim.tv_sec = 0;
-    tim.tv_nsec = 100000000;
+    tim.tv_nsec = 50000000; // 50ms (20fps)
     
     cout << "Start " << __PRETTY_FUNCTION__ <<endl<<flush;
+    
+    Camera camera=Camera(sm);
+    cout << "Try opening camera"<<endl<<flush;
+    if (camera.Open()) cout<<"Camera opened successfully"<<endl<<flush;
+    else cout<<"Failed to open camera"<<endl<<flush;
+    
     while (1) {
         //std::this_thread::sleep_for(std::chrono::seconds )
         //sleep(1);
             return;
         }
         
-        mutexTimer.unlock();
+        //mutexTimer.unlock();
+        if (sendImage==true) {
+            counter++;
+            
+            if (counter>=1) {
+                counter=0;
+                Img image=camera.Grab();
+                
+                cout << image.ToString()<<endl<<flush;
+                MessageImg *msg=new MessageImg(MESSAGE_CAM_IMAGE, &image);
+                
+                monitor.Write(msg);
+                cout << "Image sent"<<endl<<flush;
+            }
+        }
+        
+        if (sendPosition==true) {
+            Position pos;
+            pos.angle=0.0;
+            pos.robotId=1;
+            pos.center=cv::Point2f(0.5,0.5);
+            pos.direction=cv::Point2f(1.0,2.5);
+            
+            MessagePosition *msgp=new MessagePosition(MESSAGE_CAM_POSITION, pos);
+            monitor.Write(msgp);
+            cout << "Position sent"<<endl<<flush;
+        }
     }
 }
 

software/raspberry/superviseur-robot/tasks_pthread.h

     ComMonitor monitor;
     ComRobot robot;
     
+    bool sendImage=false;
+    bool sendPosition=false;
+    
     thread *threadServer;
     thread *threadSendToMon;
     thread *threadTimer;