rajouts des commentaires (Demande #35)

Creation d'une classe imageWidget dans le moniteur (demande #43)
modifications du comportement des fleches dans le moniteur (demande #41)
Suppression de relicats anciens

aruco_markers/.gitignore

@@ -0,0 +1,2 @@
+*.png
+*.jpg

aruco_markers/generate_markers.sh

@@ -0,0 +1,23 @@
+#!/bin/sh
+
+echo "Generating 20 markers"
+example_aruco_create_marker -d=3 --id=1 --ms=100 marker_4X4_1000_1.png
+example_aruco_create_marker -d=3 --id=2 --ms=100 marker_4X4_1000_2.png
+example_aruco_create_marker -d=3 --id=3 --ms=100 marker_4X4_1000_3.png
+example_aruco_create_marker -d=3 --id=4 --ms=100 marker_4X4_1000_4.png
+example_aruco_create_marker -d=3 --id=5 --ms=100 marker_4X4_1000_5.png
+example_aruco_create_marker -d=3 --id=6 --ms=100 marker_4X4_1000_6.png
+example_aruco_create_marker -d=3 --id=7 --ms=100 marker_4X4_1000_7.png
+example_aruco_create_marker -d=3 --id=8 --ms=100 marker_4X4_1000_8.png
+example_aruco_create_marker -d=3 --id=9 --ms=100 marker_4X4_1000_9.png
+example_aruco_create_marker -d=3 --id=10 --ms=100 marker_4X4_1000_10.png
+example_aruco_create_marker -d=3 --id=11 --ms=100 marker_4X4_1000_11.png
+example_aruco_create_marker -d=3 --id=12 --ms=100 marker_4X4_1000_12.png
+example_aruco_create_marker -d=3 --id=13 --ms=100 marker_4X4_1000_13.png
+example_aruco_create_marker -d=3 --id=14 --ms=100 marker_4X4_1000_14.png
+example_aruco_create_marker -d=3 --id=15 --ms=100 marker_4X4_1000_15.png
+example_aruco_create_marker -d=3 --id=16 --ms=100 marker_4X4_1000_16.png
+example_aruco_create_marker -d=3 --id=17 --ms=100 marker_4X4_1000_17.png
+example_aruco_create_marker -d=3 --id=18 --ms=100 marker_4X4_1000_18.png
+example_aruco_create_marker -d=3 --id=19 --ms=100 marker_4X4_1000_19.png
+example_aruco_create_marker -d=3 --id=20 --ms=100 marker_4X4_1000_20.png

software/monitor/monitor/Client.cs

@@ -63,19 +63,9 @@ namespace monitor
         private static byte[] buffer = new byte[BufferMaxSize];
 
         /// <summary>
-        /// buffer containing received message from TCP server
-        /// Used to concatenate internal buffers into one
-        /// </summary>
-        //private static byte[] receiveBuffer;
-
-        //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;
 
         /// <summary>
         /// Callback to send received message to upper level
@@ -117,11 +107,6 @@ namespace monitor
                 // received data are stored in buffer
                 // Next reading will be done in ReadCallback method
                 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)
             {
@@ -207,7 +192,6 @@ namespace monitor
                 {
                     string s = message.ToString();
 
-                    //Console.WriteLine("Message received (" + s.Length + ")");
                     // no more data to read, buffer and string can be send to upper level
                     readEvent?.Invoke(s);
 
@@ -215,9 +199,6 @@ namespace monitor
 
                     if (index != bytesRead - 1)
                     {
-                        //Console.WriteLine("Index not at end (" + index + "/" + bytesRead + ")");
-                        //Console.WriteLine("1=" + (char)buffer[index + 1] + " 2=" + (char)buffer[index + 2]);
-
                         byte[] trailing=new byte[BufferMaxSize];
 
                         Array.Copy(buffer, index + 1, trailing, 0, bytesRead - index - 1);

software/monitor/monitor/DestijlCommandManager.cs

@@ -19,6 +19,9 @@
 //  You should have received a copy of the GNU General Public License
 //  along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
+// 15/01/2019 dimercur
+// Demande #41: Modifier les messages envoyés par les flèches de direction
+
 using System;
 using System.Globalization;
 
@@ -65,50 +68,9 @@ namespace monitor
         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";
-    //}
-
-    /// <summary>
     /// Specialization class for command manager, which implemnent destijl protocol between monitor and server
     /// </summary>
     public class DestijlCommandManager
@@ -409,17 +371,84 @@ namespace monitor
         }
 
         /// <summary>
-        /// Move robot forward or backward, for a distance expressed in millimeter
+        /// Move robot forward for an unlimited distance
+        /// </summary>
+        /// <returns>Command status (see DecodeStatus)</returns>
+        public CommandStatus RobotGoForward()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.ROBOT_GO_FORWARD),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        /// <summary>
+        /// Move robot backward for an unlimited distance
+        /// </summary>
+        /// <returns>Command status (see DecodeStatus)</returns>
+        public CommandStatus RobotGoBackward()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.ROBOT_GO_BACKWARD),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        /// <summary>
+        /// Turn robot to the left for an unlimited number of turn
+        /// </summary>
+        /// <returns>Command status (see DecodeStatus)</returns>
+        public CommandStatus RobotGoLeft()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.ROBOT_GO_LEFT),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        /// <summary>
+        /// Turn robot to the right for an unlimited number of turn
         /// </summary>
         /// <returns>Command status (see DecodeStatus)</returns>
-        /// <param name="distance">Distance of mouvment, in millimeter</param>
-        public CommandStatus RobotMove(int distance)
+        public CommandStatus RobotGoRight()
         {
             CommandManager.CommandManagerStatus localStatus;
             string answer;
 
             localStatus = commandManager.SendCommand(
-                CreateCommand(DestijlCommandList.ROBOT_MOVE, Convert.ToString(distance)),
+                CreateCommand(DestijlCommandList.ROBOT_GO_RIGHT),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        /// <summary>
+        /// Stop robot mouvement
+        /// </summary>
+        /// <returns>Command status (see DecodeStatus)</returns>
+        public CommandStatus RobotStop()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.ROBOT_STOP),
                 out answer,
                 0);
 
@@ -609,10 +638,6 @@ namespace monitor
 
             string[] parts = data.Split(';');
 
-            //for (int i = 0; i < parts.Length; i++) {
-            //    Console.WriteLine(parts[i]);
-            //}
-
             NumberFormatInfo provider = new NumberFormatInfo();
             provider.NumberDecimalSeparator = ".";
             provider.NumberGroupSeparator = ",";

software/monitor/monitor/ImageWidget.cs

@@ -0,0 +1,304 @@
+//
+//  ImageWidget.cs
+//
+//  Author:
+//       Di MERCURIO Sébastien <dimercur@insa-toulouse.fr>
+//
+//  Copyright (c) 2019 INSA - DGEI
+//
+//  This program is free software: you can redistribute it and/or modify
+//  it under the terms of the GNU General Public License as published by
+//  the Free Software Foundation, either version 3 of the License, or
+//  (at your option) any later version.
+//
+//  This program is distributed in the hope that it will be useful,
+//  but WITHOUT ANY WARRANTY; without even the implied warranty of
+//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//  GNU General Public License for more details.
+//
+//  You should have received a copy of the GNU General Public License
+//  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+// 15/10/2019 dimercur
+// Demande #43: Migrer le code lié à la gestion des images dans sa propre classe widget
+
+using System;
+using Gtk;
+using Cairo;
+using Gdk;
+
+using System.Timers;
+
+namespace monitor
+{
+    /// <summary>
+    /// Class used for video display
+    /// </summary>
+    public class ImageWidget
+    {
+        /// <summary>
+        /// Reference to GTK base widget
+        /// </summary>
+        private DrawingArea drawingArea;
+
+        /// <summary>
+        /// Pixbuffer used for displaying image
+        /// </summary>
+        private Pixbuf drawingareaCameraPixbuf;
+
+        /// <summary>
+        /// Indicate if position must be displayed or not
+        /// </summary>
+        public bool showPosition;
+
+        /// <summary>
+        /// Indicate if FPS must be displayed or not
+        /// </summary>
+        private bool showFPS;
+        public bool ShowFPS
+        {
+            get
+            {
+                return showFPS;
+            }
+
+            set
+            {
+                showFPS = value;
+
+                if (value == true)
+                {
+                    imageFPS = 0;
+                    imageFPScounter = 0;
+
+                    fpsTimer.Start();
+                }
+                else
+                {
+                    fpsTimer.Stop();
+
+                    Refresh();
+                }
+            }
+        }
+
+        /// <summary>
+        /// Counter used for FPS computation
+        /// </summary>
+        private int imageFPS = 0;
+        private int imageFPScounter = 0;
+
+        /// <summary>
+        /// Timer for FPS request
+        /// </summary>
+        private System.Timers.Timer fpsTimer;
+
+        /// <summary>
+        /// Hold position to be displayed
+        /// </summary>
+        private DestijlCommandManager.Position position;
+        public DestijlCommandManager.Position Position
+        {
+            get
+            {
+                return position;
+            }
+
+            set 
+            {
+                position = value; 
+                Refresh();
+            }
+        }
+
+        /// <summary>
+        /// Request a refresh of drawing area
+        /// </summary>
+        private void Refresh() 
+        {
+            Gtk.Application.Invoke(delegate
+            {
+                drawingArea.QueueDraw();
+            });
+        }
+
+        /// <summary>
+        /// Initializes a new instance of ImageWidget class.
+        /// </summary>
+        /// <param name="area">Reference to GTK drawing area widget</param>
+        public ImageWidget(DrawingArea area)
+        {
+            this.drawingArea = area;
+            // create new timer for FPS , every 1s
+            fpsTimer = new System.Timers.Timer(1000.0);
+            fpsTimer.Elapsed += OnFpsTimerElapsed;
+
+            showPosition = false;
+            showFPS = false;
+
+            drawingArea.ExposeEvent += OnDrawingAreaCameraExposeEvent;
+        }
+
+        /// <summary>
+        /// Show an image from a ressource
+        /// </summary>
+        /// <param name="ressource">Ressource path</param>
+        public void ShowImage(string ressource) 
+        {
+            drawingareaCameraPixbuf = Pixbuf.LoadFromResource("monitor.ressources.missing_picture.png");
+            imageFPScounter++;
+
+            Refresh();
+        }
+
+        /// <summary>
+        /// Show an image from a byte array
+        /// </summary>
+        /// <param name="image">Byte array containing a valid image</param>
+        public void ShowImage(byte[] image)
+        {
+            drawingareaCameraPixbuf = new Pixbuf(image);
+            imageFPScounter++;
+
+            Refresh();
+        }
+
+        /// <summary>
+        /// Callback called when drawingarea need refresh
+        /// </summary>
+        /// <param name="o">Sender object</param>
+        /// <param name="args">Expose arguments</param>
+        protected void OnDrawingAreaCameraExposeEvent(object o, ExposeEventArgs args)
+        {
+            //Console.WriteLine("Event expose. Args = " + args.ToString());
+
+            DrawingArea area = (DrawingArea)o;
+            Gdk.Pixbuf displayPixbuf;
+            int areaWidth, areaHeight;
+
+            // Get graphic context for background
+            Gdk.GC gc = area.Style.BackgroundGC(Gtk.StateType.Normal);
+
+            // get size of drawingarea widget
+            area.GdkWindow.GetSize(out areaWidth, out areaHeight);
+            int width = drawingareaCameraPixbuf.Width;
+            int height = drawingareaCameraPixbuf.Height;
+            float ratio = (float)width / (float)height;
+
+            // if widget is smaller than image, reduce it
+            if (areaWidth <= width)
+            {
+                width = areaWidth;
+                height = (int)(width / ratio);
+            }
+
+            // if image is smaller than widget, enlarge it
+            if (width > areaWidth)
+            {
+                width = areaWidth;
+            }
+
+            if (height > areaHeight)
+            {
+                height = areaHeight;
+            }
+
+            //scale original picture and copy result in local pixbuf
+            displayPixbuf = drawingareaCameraPixbuf.ScaleSimple(width, height, InterpType.Bilinear);
+
+            // draw local pixbuff centered on drawingarea
+            area.GdkWindow.DrawPixbuf(gc, displayPixbuf,
+                                      0, 0,
+                                      (areaWidth - displayPixbuf.Width) / 2,
+                                      (areaHeight - displayPixbuf.Height) / 2,
+                                      displayPixbuf.Width, displayPixbuf.Height,
+                                      RgbDither.Normal, 0, 0);
+
+            if (showPosition)
+            {
+                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);
+
+                if (position != null)
+                {
+                    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);
+                }
+                else
+                {
+                    string text = "Position (NULL)";
+                    TextExtents te = cr.TextExtents(text);
+                    cr.MoveTo(areaWidth - te.Width - 5,
+                              areaHeight - te.Height - 5);
+                    
+                    cr.ShowText(text);
+                }
+
+                ((IDisposable)cr.GetTarget()).Dispose();
+                ((IDisposable)cr).Dispose();
+            }
+
+            if (showFPS)
+            {
+                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);
+
+                string text = "FPS= " + imageFPS.ToString();
+                TextExtents te = cr.TextExtents(text);
+                cr.MoveTo(10, 10 + te.Height);
+                cr.ShowText(text);
+
+                ((IDisposable)cr.GetTarget()).Dispose();
+                ((IDisposable)cr).Dispose();
+            }
+        }
+    
+        /// <summary>
+        /// Timer used for FPS computation
+        /// </summary>
+        /// <param name="sender">Sender object</param>
+        /// <param name="e">unused parameter</param>
+        private void OnFpsTimerElapsed(object sender, ElapsedEventArgs e)
+        {
+            imageFPS = imageFPScounter;
+            imageFPScounter = 0;
+
+            Refresh();
+        }
+    }
+}

software/monitor/monitor/MonitorUI.cs

@@ -19,6 +19,11 @@
 //  You should have received a copy of the GNU General Public License
 //  along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
+// 15/01/2019 dimercur
+// Demande #41: Modifier les messages envoyés par les flèches de direction
+
+// 15/10/2019 dimercur
+// Demande #43: Migrer le code lié à la gestion des images dans sa propre classe widget
 
 using System;
 using Gtk;
@@ -39,11 +44,6 @@ public partial class MainWindow : Gtk.Window
     private DestijlCommandManager cmdManager;
 
     /// <summary>
-    /// Pixbuffer used for displaying image
-    /// </summary>
-    private Pixbuf drawingareaCameraPixbuf;
-
-    /// <summary>
     /// Position used for displaying position
     /// </summary>
     private DestijlCommandManager.Position position=new DestijlCommandManager.Position();
@@ -64,19 +64,20 @@ public partial class MainWindow : Gtk.Window
     private SystemState systemState = SystemState.NotConnected;
 
     /// <summary>
+    /// Object used for displaying image on a valid DrawingArea widget
+    /// </summary>
+    private ImageWidget imageWidget;
+
+    /// <summary>
     /// Timer for battery request
     /// </summary>
     private System.Timers.Timer batteryTimer;
 
-    private int imageReceivedCounter = 0;
-    private int badImageReceivedCounter = 0;
-    private int imageFPS = 0;
-    private int imageFPScounter = 0;
-
     /// <summary>
-    /// Timer for FPS request
+    /// Counter for image reception and detecting bad picture ratio
     /// </summary>
-    private System.Timers.Timer fpsTimer;
+    private int imageReceivedCounter = 0;
+    private int badImageReceivedCounter = 0;
 
     /// <summary>
     /// Initializes a new instance of the <see cref="MainWindow"/> class.
@@ -87,14 +88,13 @@ public partial class MainWindow : Gtk.Window
 
         cmdManager = new DestijlCommandManager(OnCommandReceivedEvent);
 
+        // Init of image widget
+        imageWidget = new ImageWidget(drawingAreaCamera);
+
         // create new timer for battery request, every 10s
         batteryTimer = new System.Timers.Timer(10000.0);
         batteryTimer.Elapsed += OnBatteryTimerElapsed;
 
-        // create new timer for FPS , every 1s
-        fpsTimer = new System.Timers.Timer(1000.0);
-        fpsTimer.Elapsed += OnFpsTimerElapsed;
-
         // Customize controls
         AdjustControls();
     }
@@ -108,7 +108,7 @@ public partial class MainWindow : Gtk.Window
         ChangeState(SystemState.NotConnected);
 
         // Load "no picture" image from disque
-        drawingareaCameraPixbuf = Pixbuf.LoadFromResource("monitor.ressources.missing_picture.png");
+        imageWidget.ShowImage("monitor.ressources.missing_picture.png");
 
         // setup server controls
         entryServerName.Text = Client.defaultIP;
@@ -140,6 +140,9 @@ public partial class MainWindow : Gtk.Window
                 checkButtonRobotPosition.Active = false;
                 checkButtonFPS.Active = false;
 
+                imageWidget.ShowFPS = false;
+                imageWidget.showPosition = false;
+
                 if (cmdManager != null) cmdManager.Close();
 
                 batteryTimer.Stop();
@@ -181,6 +184,9 @@ public partial class MainWindow : Gtk.Window
                 checkButtonRobotPosition.Active = false;
                 checkButtonFPS.Active = false;
 
+                imageWidget.ShowFPS = false;
+                imageWidget.showPosition = false;
+
                 systemState = SystemState.NotConnected;
 
                 return;
@@ -295,13 +301,7 @@ public partial class MainWindow : Gtk.Window
 
                 try
                 {
-                    drawingareaCameraPixbuf = new Pixbuf(image);
-                    imageFPScounter++;
-
-                    Gtk.Application.Invoke(delegate
-                    {
-                        drawingAreaCamera.QueueDraw();
-                    });
+                    imageWidget.ShowImage(image);
                 }
                 catch (GLib.GException)
                 {
@@ -316,12 +316,7 @@ public partial class MainWindow : Gtk.Window
             }
             else if (header == DestijlCommandList.CAMERA_POSITION)
             {
-                position = DestijlCommandManager.DecodePosition(data);
-
-                Gtk.Application.Invoke(delegate
-                {
-                    drawingAreaCamera.QueueDraw();
-                });
+                imageWidget.Position = DestijlCommandManager.DecodePosition(data);
             }
         }
     }
@@ -336,6 +331,7 @@ public partial class MainWindow : Gtk.Window
         Console.WriteLine("Bye bye 2");
         if (cmdManager != null) cmdManager.Close();
         this.Destroy();
+
         Application.Quit();
     }
 
@@ -506,19 +502,23 @@ public partial class MainWindow : Gtk.Window
         // depending on button clicked, launch appropriate action
         if (sender == buttonRight)
         {
-            cmdManager.RobotTurn(90);
+            cmdManager.RobotGoRight();
         }
         else if (sender == buttonLeft)
         {
-            cmdManager.RobotTurn(-90);
+            cmdManager.RobotGoLeft();
         }
         else if (sender == buttonForward)
         {
-            cmdManager.RobotMove(100);
+            cmdManager.RobotGoForward();
         }
         else if (sender == buttonDown)
         {
-            cmdManager.RobotMove(-100);
+            cmdManager.RobotGoBackward();
+        }
+        else if (sender == buttonStop)
+        {
+            cmdManager.RobotStop();
         }
         else
         {
@@ -622,116 +622,8 @@ public partial class MainWindow : Gtk.Window
                 //checkButtonRobotPosition.Active = false;
             }
         }
-    }
-
-    /// <summary>
-    /// Callback called when drawingarea need refresh
-    /// </summary>
-    /// <param name="o">Sender object</param>
-    /// <param name="args">Expose arguments</param>
-    protected void OnDrawingAreaCameraExposeEvent(object o, ExposeEventArgs args)
-    {
-        //Console.WriteLine("Event expose. Args = " + args.ToString());
-
-        DrawingArea area = (DrawingArea)o;
-        Gdk.Pixbuf displayPixbuf;
-        int areaWidth, areaHeight;
-
-        // Get graphic context for background
-        Gdk.GC gc = area.Style.BackgroundGC(Gtk.StateType.Normal);
 
-        // get size of drawingarea widget
-        area.GdkWindow.GetSize(out areaWidth, out areaHeight);
-        int width = drawingareaCameraPixbuf.Width;
-        int height = drawingareaCameraPixbuf.Height;
-        float ratio = (float)width / (float)height;
-
-        // if widget is smaller than image, reduce it
-        if (areaWidth <= width)
-        {
-            width = areaWidth;
-            height = (int)(width / ratio);
-        }
-
-        // if image is smaller than widget, enlarge it
-        if (width > areaWidth)
-        {
-            width = areaWidth;
-        }
-
-        if (height > areaHeight)
-        {
-            height = areaHeight;
-        }
-
-        //scale original picture and copy result in local pixbuf
-        displayPixbuf = drawingareaCameraPixbuf.ScaleSimple(width, height, InterpType.Bilinear);
-
-        // draw local pixbuff centered on drawingarea
-        area.GdkWindow.DrawPixbuf(gc, displayPixbuf,
-                                  0, 0,
-                                  (areaWidth - displayPixbuf.Width) / 2,
-                                  (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();
-        }
-
-        if (checkButtonFPS.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);
-
-            string text = "FPS= " + imageFPS.ToString() ;
-            TextExtents te = cr.TextExtents(text);
-            cr.MoveTo( 10,10 + te.Height);
-            cr.ShowText(text);
-
-            ((IDisposable)cr.GetTarget()).Dispose();
-            ((IDisposable)cr).Dispose();
-        }
+        imageWidget.showPosition = checkButtonRobotPosition.Active;
     }
 
     /// <summary>
@@ -766,7 +658,7 @@ public partial class MainWindow : Gtk.Window
     }
 
     /// <summary>
-    /// Callback called when "detect Arena " button is clicked
+    /// Callback called when "Detect Arena" button is clicked
     /// </summary>
     /// <param name="sender">Sender object</param>
     /// <param name="e">Event</param>
@@ -785,32 +677,13 @@ public partial class MainWindow : Gtk.Window
         DetectArena();
     }
 
+    /// <summary>
+    /// Callback function for FPS checkbutton
+    /// </summary>
+    /// <param name="sender">Sender object</param>
+    /// <param name="e">unused paramter</param>
     protected void OnCheckButtonFPSToggled(object sender, EventArgs e)
     {
-        if (checkButtonFPS.Active) { // User ask for FPS
-            imageFPS = 0;
-            imageFPScounter = 0;
-
-            fpsTimer.Start();
-        }
-        else { // stop computing FPS
-            fpsTimer.Stop();
-
-            Gtk.Application.Invoke(delegate
-            {
-                drawingAreaCamera.QueueDraw();
-            });
-        }
-    }
-
-    private void OnFpsTimerElapsed(object sender, ElapsedEventArgs e)
-    {
-        imageFPS = imageFPScounter;
-        imageFPScounter = 0;
-
-        Gtk.Application.Invoke(delegate
-        {
-            drawingAreaCamera.QueueDraw();
-        });
+        imageWidget.ShowFPS = checkButtonFPS.Active;
     }
 }

software/monitor/monitor/gtk-gui/MainWindow.cs

@@ -117,6 +117,8 @@ public partial class MainWindow
 
 	private global::Gtk.Button buttonRight;
 
+	private global::Gtk.Button buttonStop;
+
 	private global::Gtk.Table table3;
 
 	private global::Gtk.Label label3;
@@ -528,70 +530,92 @@ public partial class MainWindow
 		this.table4.ColumnSpacing = ((uint)(6));
 		// Container child table4.Gtk.Table+TableChild
 		this.buttonDown = new global::Gtk.Button();
+		global::Gtk.Tooltips w40 = new Gtk.Tooltips();
+		w40.SetTip(this.buttonDown, "Move robot backward", "Move robot backward");
 		this.buttonDown.CanFocus = true;
 		this.buttonDown.Name = "buttonDown";
 		this.buttonDown.UseUnderline = true;
-		global::Gtk.Image w40 = new global::Gtk.Image();
-		w40.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-down-symbolic.symbolic.png");
-		this.buttonDown.Image = w40;
+		global::Gtk.Image w41 = new global::Gtk.Image();
+		w41.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-down-symbolic.symbolic.png");
+		this.buttonDown.Image = w41;
 		this.table4.Add(this.buttonDown);
-		global::Gtk.Table.TableChild w41 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonDown]));
-		w41.TopAttach = ((uint)(2));
-		w41.BottomAttach = ((uint)(3));
-		w41.LeftAttach = ((uint)(1));
-		w41.RightAttach = ((uint)(2));
-		w41.XOptions = ((global::Gtk.AttachOptions)(4));
-		w41.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w42 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonDown]));
+		w42.TopAttach = ((uint)(2));
+		w42.BottomAttach = ((uint)(3));
+		w42.LeftAttach = ((uint)(1));
+		w42.RightAttach = ((uint)(2));
+		w42.XOptions = ((global::Gtk.AttachOptions)(4));
+		w42.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table4.Gtk.Table+TableChild
 		this.buttonForward = new global::Gtk.Button();
+		w40.SetTip(this.buttonForward, "Move robot forward", "Move robot forward");
 		this.buttonForward.CanFocus = true;
 		this.buttonForward.Name = "buttonForward";
 		this.buttonForward.UseUnderline = true;
-		global::Gtk.Image w42 = new global::Gtk.Image();
-		w42.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-up-symbolic.symbolic.png");
-		this.buttonForward.Image = w42;
+		global::Gtk.Image w43 = new global::Gtk.Image();
+		w43.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-up-symbolic.symbolic.png");
+		this.buttonForward.Image = w43;
 		this.table4.Add(this.buttonForward);
-		global::Gtk.Table.TableChild w43 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonForward]));
-		w43.LeftAttach = ((uint)(1));
-		w43.RightAttach = ((uint)(2));
-		w43.XOptions = ((global::Gtk.AttachOptions)(4));
-		w43.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w44 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonForward]));
+		w44.LeftAttach = ((uint)(1));
+		w44.RightAttach = ((uint)(2));
+		w44.XOptions = ((global::Gtk.AttachOptions)(4));
+		w44.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table4.Gtk.Table+TableChild
 		this.buttonLeft = new global::Gtk.Button();
+		w40.SetTip(this.buttonLeft, "Turn robot to the left", "Turn robot to the left");
 		this.buttonLeft.CanFocus = true;
 		this.buttonLeft.Name = "buttonLeft";
 		this.buttonLeft.UseUnderline = true;
-		global::Gtk.Image w44 = new global::Gtk.Image();
-		w44.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-start-symbolic.symbolic.png");
-		this.buttonLeft.Image = w44;
+		global::Gtk.Image w45 = new global::Gtk.Image();
+		w45.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-start-symbolic.symbolic.png");
+		this.buttonLeft.Image = w45;
 		this.table4.Add(this.buttonLeft);
-		global::Gtk.Table.TableChild w45 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonLeft]));
-		w45.TopAttach = ((uint)(1));
-		w45.BottomAttach = ((uint)(2));
-		w45.XOptions = ((global::Gtk.AttachOptions)(4));
-		w45.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w46 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonLeft]));
+		w46.TopAttach = ((uint)(1));
+		w46.BottomAttach = ((uint)(2));
+		w46.XOptions = ((global::Gtk.AttachOptions)(4));
+		w46.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table4.Gtk.Table+TableChild
 		this.buttonRight = new global::Gtk.Button();
+		w40.SetTip(this.buttonRight, "Turn robot to the right", "Turn robot to the right");
 		this.buttonRight.CanFocus = true;
 		this.buttonRight.Name = "buttonRight";
 		this.buttonRight.UseUnderline = true;
-		global::Gtk.Image w46 = new global::Gtk.Image();
-		w46.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-end-symbolic.symbolic.png");
-		this.buttonRight.Image = w46;
+		global::Gtk.Image w47 = new global::Gtk.Image();
+		w47.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-end-symbolic.symbolic.png");
+		this.buttonRight.Image = w47;
 		this.table4.Add(this.buttonRight);
-		global::Gtk.Table.TableChild w47 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonRight]));
-		w47.TopAttach = ((uint)(1));
-		w47.BottomAttach = ((uint)(2));
-		w47.LeftAttach = ((uint)(2));
-		w47.RightAttach = ((uint)(3));
-		w47.XOptions = ((global::Gtk.AttachOptions)(4));
-		w47.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w48 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonRight]));
+		w48.TopAttach = ((uint)(1));
+		w48.BottomAttach = ((uint)(2));
+		w48.LeftAttach = ((uint)(2));
+		w48.RightAttach = ((uint)(3));
+		w48.XOptions = ((global::Gtk.AttachOptions)(4));
+		w48.YOptions = ((global::Gtk.AttachOptions)(4));
+		// Container child table4.Gtk.Table+TableChild
+		this.buttonStop = new global::Gtk.Button();
+		w40.SetTip(this.buttonStop, "Stop robot movements", "Stop robot movements");
+		this.buttonStop.CanFocus = true;
+		this.buttonStop.Name = "buttonStop";
+		this.buttonStop.UseUnderline = true;
+		global::Gtk.Image w49 = new global::Gtk.Image();
+		w49.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.hand-filled-32.png");
+		this.buttonStop.Image = w49;
+		this.table4.Add(this.buttonStop);
+		global::Gtk.Table.TableChild w50 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonStop]));
+		w50.TopAttach = ((uint)(1));
+		w50.BottomAttach = ((uint)(2));
+		w50.LeftAttach = ((uint)(1));
+		w50.RightAttach = ((uint)(2));
+		w50.XOptions = ((global::Gtk.AttachOptions)(4));
+		w50.YOptions = ((global::Gtk.AttachOptions)(4));
 		this.alignment8.Add(this.table4);
 		this.vbox9.Add(this.alignment8);
-		global::Gtk.Box.BoxChild w49 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.alignment8]));
-		w49.Position = 0;
-		w49.Expand = false;
-		w49.Fill = false;
+		global::Gtk.Box.BoxChild w52 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.alignment8]));
+		w52.Position = 0;
+		w52.Expand = false;
+		w52.Fill = false;
 		// Container child vbox9.Gtk.Box+BoxChild
 		this.table3 = new global::Gtk.Table(((uint)(1)), ((uint)(2)), false);
 		this.table3.Name = "table3";
@@ -604,10 +628,10 @@ public partial class MainWindow
 		this.label3.LabelProp = global::Mono.Unix.Catalog.GetString("Battery level:");
 		this.label3.Justify = ((global::Gtk.Justification)(1));
 		this.table3.Add(this.label3);
-		global::Gtk.Table.TableChild w50 = ((global::Gtk.Table.TableChild)(this.table3[this.label3]));
-		w50.YPadding = ((uint)(10));
-		w50.XOptions = ((global::Gtk.AttachOptions)(4));
-		w50.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w53 = ((global::Gtk.Table.TableChild)(this.table3[this.label3]));
+		w53.YPadding = ((uint)(10));
+		w53.XOptions = ((global::Gtk.AttachOptions)(4));
+		w53.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table3.Gtk.Table+TableChild
 		this.labelBatteryLevel = new global::Gtk.Label();
 		this.labelBatteryLevel.Name = "labelBatteryLevel";
@@ -615,15 +639,15 @@ public partial class MainWindow
 		this.labelBatteryLevel.Xalign = 0F;
 		this.labelBatteryLevel.LabelProp = global::Mono.Unix.Catalog.GetString("Unknown");
 		this.table3.Add(this.labelBatteryLevel);
-		global::Gtk.Table.TableChild w51 = ((global::Gtk.Table.TableChild)(this.table3[this.labelBatteryLevel]));
-		w51.LeftAttach = ((uint)(1));
-		w51.RightAttach = ((uint)(2));
-		w51.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w54 = ((global::Gtk.Table.TableChild)(this.table3[this.labelBatteryLevel]));
+		w54.LeftAttach = ((uint)(1));
+		w54.RightAttach = ((uint)(2));
+		w54.YOptions = ((global::Gtk.AttachOptions)(4));
 		this.vbox9.Add(this.table3);
-		global::Gtk.Box.BoxChild w52 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.table3]));
-		w52.Position = 2;
-		w52.Expand = false;
-		w52.Fill = false;
+		global::Gtk.Box.BoxChild w55 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.table3]));
+		w55.Position = 2;
+		w55.Expand = false;
+		w55.Fill = false;
 		// Container child vbox9.Gtk.Box+BoxChild
 		this.checkButtonGetBattery = new global::Gtk.CheckButton();
 		this.checkButtonGetBattery.CanFocus = true;
@@ -633,31 +657,31 @@ public partial class MainWindow
 		this.checkButtonGetBattery.DrawIndicator = true;
 		this.checkButtonGetBattery.UseUnderline = true;
 		this.vbox9.Add(this.checkButtonGetBattery);
-		global::Gtk.Box.BoxChild w53 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.checkButtonGetBattery]));
-		w53.Position = 3;
-		w53.Expand = false;
-		w53.Fill = false;
+		global::Gtk.Box.BoxChild w56 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.checkButtonGetBattery]));
+		w56.Position = 3;
+		w56.Expand = false;
+		w56.Fill = false;
 		this.gtkAlignmentRobotControl.Add(this.vbox9);
 		this.vbox12.Add(this.gtkAlignmentRobotControl);
-		global::Gtk.Box.BoxChild w55 = ((global::Gtk.Box.BoxChild)(this.vbox12[this.gtkAlignmentRobotControl]));
-		w55.Position = 1;
+		global::Gtk.Box.BoxChild w58 = ((global::Gtk.Box.BoxChild)(this.vbox12[this.gtkAlignmentRobotControl]));
+		w58.Position = 1;
 		this.vbox5.Add(this.vbox12);
-		global::Gtk.Box.BoxChild w56 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox12]));
-		w56.Position = 4;
+		global::Gtk.Box.BoxChild w59 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox12]));
+		w59.Position = 4;
 		this.alignment3.Add(this.vbox5);
 		this.hbox3.Add(this.alignment3);
-		global::Gtk.Box.BoxChild w58 = ((global::Gtk.Box.BoxChild)(this.hbox3[this.alignment3]));
-		w58.Position = 1;
-		w58.Expand = false;
-		w58.Fill = false;
+		global::Gtk.Box.BoxChild w61 = ((global::Gtk.Box.BoxChild)(this.hbox3[this.alignment3]));
+		w61.Position = 1;
+		w61.Expand = false;
+		w61.Fill = false;
 		this.hbox1.Add(this.hbox3);
-		global::Gtk.Box.BoxChild w59 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.hbox3]));
-		w59.Position = 1;
-		w59.Expand = false;
-		w59.Fill = false;
+		global::Gtk.Box.BoxChild w62 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.hbox3]));
+		w62.Position = 1;
+		w62.Expand = false;
+		w62.Fill = false;
 		this.vbox1.Add(this.hbox1);
-		global::Gtk.Box.BoxChild w60 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.hbox1]));
-		w60.Position = 1;
+		global::Gtk.Box.BoxChild w63 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.hbox1]));
+		w63.Position = 1;
 		this.Add(this.vbox1);
 		if ((this.Child != null))
 		{
@@ -673,9 +697,9 @@ public partial class MainWindow
 		this.checkButtonRobotPosition.Clicked += new global::System.EventHandler(this.OnCheckButtonRobotPositionClicked);
 		this.checkButtonFPS.Toggled += new global::System.EventHandler(this.OnCheckButtonFPSToggled);
 		this.buttonAskArena.Clicked += new global::System.EventHandler(this.OnButtonAskArenaClicked);
-		this.drawingAreaCamera.ExposeEvent += new global::Gtk.ExposeEventHandler(this.OnDrawingAreaCameraExposeEvent);
 		this.buttonServerConnection.Clicked += new global::System.EventHandler(this.OnButtonServerConnectionClicked);
 		this.buttonRobotActivation.Clicked += new global::System.EventHandler(this.OnButtonRobotActivationClicked);
+		this.buttonStop.Clicked += new global::System.EventHandler(this.OnButtonMouvClicked);
 		this.buttonRight.Clicked += new global::System.EventHandler(this.OnButtonMouvClicked);
 		this.buttonLeft.Clicked += new global::System.EventHandler(this.OnButtonMouvClicked);
 		this.buttonForward.Clicked += new global::System.EventHandler(this.OnButtonMouvClicked);

software/monitor/monitor/gtk-gui/gui.stetic

@@ -170,7 +170,6 @@
                 <child>
                   <widget class="Gtk.DrawingArea" id="drawingAreaCamera">
                     <property name="MemberName" />
-                    <signal name="ExposeEvent" handler="OnDrawingAreaCameraExposeEvent" />
                   </widget>
                   <packing>
                     <property name="Position">1</property>
@@ -611,11 +610,9 @@
                                               <placeholder />
                                             </child>
                                             <child>
-                                              <placeholder />
-                                            </child>
-                                            <child>
                                               <widget class="Gtk.Button" id="buttonDown">
                                                 <property name="MemberName" />
+                                                <property name="Tooltip" translatable="yes">Move robot backward</property>
                                                 <property name="CanFocus">True</property>
                                                 <property name="Type">TextAndIcon</property>
                                                 <property name="Icon">resource:monitor.ressources.pan-down-symbolic.symbolic.png</property>
@@ -642,6 +639,7 @@
                                             <child>
                                               <widget class="Gtk.Button" id="buttonForward">
                                                 <property name="MemberName" />
+                                                <property name="Tooltip" translatable="yes">Move robot forward</property>
                                                 <property name="CanFocus">True</property>
                                                 <property name="Type">TextAndIcon</property>
                                                 <property name="Icon">resource:monitor.ressources.pan-up-symbolic.symbolic.png</property>
@@ -666,6 +664,7 @@
                                             <child>
                                               <widget class="Gtk.Button" id="buttonLeft">
                                                 <property name="MemberName" />
+                                                <property name="Tooltip" translatable="yes">Turn robot to the left</property>
                                                 <property name="CanFocus">True</property>
                                                 <property name="Type">TextAndIcon</property>
                                                 <property name="Icon">resource:monitor.ressources.pan-start-symbolic.symbolic.png</property>
@@ -690,6 +689,7 @@
                                             <child>
                                               <widget class="Gtk.Button" id="buttonRight">
                                                 <property name="MemberName" />
+                                                <property name="Tooltip" translatable="yes">Turn robot to the right</property>
                                                 <property name="CanFocus">True</property>
                                                 <property name="Type">TextAndIcon</property>
                                                 <property name="Icon">resource:monitor.ressources.pan-end-symbolic.symbolic.png</property>
@@ -713,6 +713,33 @@
                                                 <property name="YShrink">False</property>
                                               </packing>
                                             </child>
+                                            <child>
+                                              <widget class="Gtk.Button" id="buttonStop">
+                                                <property name="MemberName" />
+                                                <property name="Tooltip" translatable="yes">Stop robot movements</property>
+                                                <property name="CanFocus">True</property>
+                                                <property name="Type">TextAndIcon</property>
+                                                <property name="Icon">resource:monitor.ressources.hand-filled-32.png</property>
+                                                <property name="Label" translatable="yes" />
+                                                <property name="UseUnderline">True</property>
+                                                <signal name="Clicked" handler="OnButtonMouvClicked" />
+                                              </widget>
+                                              <packing>
+                                                <property name="TopAttach">1</property>
+                                                <property name="BottomAttach">2</property>
+                                                <property name="LeftAttach">1</property>
+                                                <property name="RightAttach">2</property>
+                                                <property name="AutoSize">True</property>
+                                                <property name="XOptions">Fill</property>
+                                                <property name="YOptions">Fill</property>
+                                                <property name="XExpand">False</property>
+                                                <property name="XFill">True</property>
+                                                <property name="XShrink">False</property>
+                                                <property name="YExpand">False</property>
+                                                <property name="YFill">True</property>
+                                                <property name="YShrink">False</property>
+                                              </packing>
+                                            </child>
                                           </widget>
                                         </child>
                                       </widget>

software/monitor/monitor/monitor.csproj

@@ -70,6 +70,7 @@
     <EmbeddedResource Include="ressources\robot-icon.png" />
     <EmbeddedResource Include="ressources\robot-icon.resized.png" />
     <EmbeddedResource Include="ressources\missing_picture.png" />
+    <EmbeddedResource Include="ressources\hand-filled-32.png" />
   </ItemGroup>
   <ItemGroup>
     <Compile Include="gtk-gui\generated.cs" />
@@ -80,6 +81,7 @@
     <Compile Include="Client.cs" />
     <Compile Include="CommandManager.cs" />
     <Compile Include="DestijlCommandManager.cs" />
+    <Compile Include="ImageWidget.cs" />
   </ItemGroup>
   <ItemGroup>
     <None Include="afterBuild.sh" />

software/raspberry/superviseur-robot/.gitignore

@@ -9,3 +9,6 @@ Makefile
 *.cmake
 CMakeCache.txt
 
+docs/
+doc/
+

software/raspberry/superviseur-robot/CMakeLists.txt

@@ -1,23 +0,0 @@
-cmake_minimum_required(VERSION 3.6)
-project(ProjDestijl CXX)
-
-set (ProjDestjil_VERSION_MAJOR 1)
-set (ProjDestjil_VERSION_MINOR 0)
-set (CMAKE_CXX_STANDARD 11)
-
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/superviseur/bin)
-
-option(BUILD_FOR_XENOMAI "Build for Raspberry" OFF)
-
-set(CMAKE_BUILD_TYPE DEBUG)
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy")
-
-set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt")
-
-add_subdirectory("lib")
-#add_subdirectory("examples")
-add_subdirectory("superviseur")
-

software/raspberry/superviseur-robot/ProjDestijl.cbp

@@ -1,142 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<CodeBlocks_project_file>
-	<FileVersion major="1" minor="6"/>
-	<Project>
-		<Option title="ProjDestijl"/>
-		<Option makefile_is_custom="1"/>
-		<Option compiler="gcc"/>
-		<Option virtualFolders="CMake Files\;CMake Files\lib\;CMake Files\superviseur\;"/>
-		<Build>
-			<Target title="all">
-				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot"/>
-				<Option type="4"/>
-				<MakeCommands>
-					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 all"/>
-					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="rebuild_cache">
-				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot"/>
-				<Option type="4"/>
-				<MakeCommands>
-					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 rebuild_cache"/>
-					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="edit_cache">
-				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot"/>
-				<Option type="4"/>
-				<MakeCommands>
-					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 edit_cache"/>
-					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="destijl">
-				<Option output="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/lib/libdestijl.a" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib"/>
-				<Option object_output="./"/>
-				<Option type="2"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/."/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 destijl"/>
-					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="destijl/fast">
-				<Option output="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/lib/libdestijl.a" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib"/>
-				<Option object_output="./"/>
-				<Option type="2"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/."/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 destijl/fast"/>
-					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="superviseur">
-				<Option output="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur/bin/superviseur" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/../superviseur/bin"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src"/>
-					<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib"/>
-					<Add directory="/usr/xenomai/include"/>
-					<Add directory="/usr/xenomai/include/mercury"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 superviseur"/>
-					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="superviseur/fast">
-				<Option output="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur/bin/superviseur" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/../superviseur/bin"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src"/>
-					<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib"/>
-					<Add directory="/usr/xenomai/include"/>
-					<Add directory="/usr/xenomai/include/mercury"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 superviseur/fast"/>
-					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-		</Build>
-		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp">
-			<Option target="destijl"/>
-		</Unit>
-		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp">
-			<Option target="destijl"/>
-		</Unit>
-		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp">
-			<Option target="destijl"/>
-		</Unit>
-		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp">
-			<Option target="destijl"/>
-		</Unit>
-		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp">
-			<Option target="superviseur"/>
-		</Unit>
-		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h">
-			<Option target="superviseur"/>
-		</Unit>
-		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp">
-			<Option target="superviseur"/>
-		</Unit>
-		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/CMakeLists.txt">
-			<Option virtualFolder="CMake Files\"/>
-		</Unit>
-		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/CMakeLists.txt">
-			<Option virtualFolder="CMake Files\lib\"/>
-		</Unit>
-		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/CMakeLists.txt">
-			<Option virtualFolder="CMake Files\superviseur\"/>
-		</Unit>
-	</Project>
-</CodeBlocks_project_file>

software/raspberry/superviseur-robot/compile_commands.json

@@ -1,32 +0,0 @@
-[
-{
-  "directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib",
-  "command": "/usr/bin/g++   -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/.   -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2   -std=gnu++11 -o CMakeFiles/destijl.dir/src/robot.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp",
-  "file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp"
-},
-{
-  "directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib",
-  "command": "/usr/bin/g++   -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/.   -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2   -std=gnu++11 -o CMakeFiles/destijl.dir/src/monitor.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp",
-  "file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp"
-},
-{
-  "directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib",
-  "command": "/usr/bin/g++   -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/.   -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2   -std=gnu++11 -o CMakeFiles/destijl.dir/src/message.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp",
-  "file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp"
-},
-{
-  "directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib",
-  "command": "/usr/bin/g++   -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/.   -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2   -std=gnu++11 -o CMakeFiles/destijl.dir/src/image.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp",
-  "file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp"
-},
-{
-  "directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur",
-  "command": "/usr/bin/g++   -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury   -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2   -std=gnu++11 -o CMakeFiles/superviseur.dir/src/main.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp",
-  "file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp"
-},
-{
-  "directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur",
-  "command": "/usr/bin/g++   -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury   -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2   -std=gnu++11 -o CMakeFiles/superviseur.dir/src/functions.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp",
-  "file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp"
-}
-]

software/raspberry/superviseur-robot/lib/CMakeLists.txt

@@ -1,5 +0,0 @@
-set(LIB_FILES ./src/robot.cpp ./src/monitor.cpp ./src/message.cpp ./src/image.cpp)
-include_directories("./")
-
-add_library(destijl STATIC ${LIB_FILES})
-

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

@@ -1,4 +1,4 @@
- /*
+/*
  * Copyright (C) 2018 dimercur
  *
  * This program is free software: you can redistribute it and/or modify
@@ -21,48 +21,64 @@
 
 using namespace cv;
 
+/**
+ * Create an object for accessing camera
+ * @param size Size of picture to grab (@see captureSize)
+ * @param fps speed of sampling
+ */
 Camera::Camera(int size, int fps) {
     this->SetSize(size);
 #ifndef __FOR_PC__
     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);
+    this->cap.set(CV_CAP_PROP_FRAME_WIDTH, width);
+    this->cap.set(CV_CAP_PROP_FRAME_HEIGHT, height);
     this->cap.set(CV_CAP_PROP_FPS, fps);
 #endif /* __FOR_PC__ */
 }
 
+/**
+ * Open camera
+ * @return True if camera is open, false otherwise
+ */
 bool Camera::Open() {
     bool status = false;
-    
+
 #ifdef __FOR_PC__
     if (this->cap.open(0)) {
         //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);
-        
-        status =true;
-     }
+        this->cap.set(CV_CAP_PROP_FRAME_WIDTH, width);
+        this->cap.set(CV_CAP_PROP_FRAME_HEIGHT, height);
+
+        status = true;
+    }
 #else
     if (this->cap.open()) {
-        cout<<"Camera warmup 2sec"<<endl<<flush;
+        cout << "Camera warmup 2sec" << endl << flush;
         sleep(2);
-        cout<<"Start capture"<<endl<<flush;
-    
-        status =true;
+        cout << "Start capture" << endl << flush;
+
+        status = true;
     }
 #endif /* __FOR_PC__ */
-    
+
     return status;
 }
 
+/**
+ * Close and release camera
+ */
 void Camera::Close() {
     this->cap.release();
 }
 
+/**
+ * Define size for sampled picture
+ * @param size Size of picture (@see captureSize)
+ */
 void Camera::SetSize(int size) {
     this->size = size;
-    
-    switch (size){
+
+    switch (size) {
         case xs:
             this->width = 480;
             this->height = 360;
@@ -85,33 +101,47 @@ void Camera::SetSize(int size) {
     }
 }
 
+/**
+ * Grab next image from camera
+ * @return Image taken from camera
+ */
 Img Camera::Grab() {
     ImageMat frame;
-    
+
 #ifdef __FOR_PC__
     cap >> frame;
     Img capture = Img(frame);
 #else
     cap.grab();
-    cap.retrieve (frame);
-    cvtColor(frame,frame,CV_BGR2RGB);
-    
+    cap.retrieve(frame);
+    cvtColor(frame, frame, CV_BGR2RGB);
+
     Img capture = Img(frame);
 #endif /* __FOR_PC__ */
-    
+
     return capture;
 }
 
+/**
+ * Get opening status for camera
+ * @return true if camera is open, false otherwise
+ */
 bool Camera::IsOpen() {
     return cap.isOpened();
 }
 
+/**
+ * Get width of sampled image
+ * @return Width of sampled picture
+ */
 int Camera::GetWidth() const {
     return width;
 }
 
+/**
+ * Get height of sampled image
+ * @return height of sampled picture
+ */
 int Camera::GetHeight() const {
     return height;
 }
-
-

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

@@ -26,32 +26,89 @@
 #endif /* __FOR_PC__ */
 #include "img.h"
 
+/**
+ * Enumerate for picture size
+ */
 enum captureSize {xs, sm, md, lg};
 
+/**
+ * Class for camera (image grab)
+ * 
+ * @brief Class for camera (image grab)
+ */
 class Camera {
 public:
+    /**
+     * Create an object for accessing camera
+     * @param size Size of picture to grab (@see captureSize)
+     * @param fps speed of sampling
+     */
     Camera(int size, int fps);
 
+    /**
+     * Open camera
+     * @return True if camera is open, false otherwise
+     */
     bool Open();
+    
+    /**
+     * Close and release camera
+     */
     void Close();
     
+    /**
+     * Get width of sampled image
+     * @return Width of sampled picture
+     */
     int GetWidth() const;
+    
+    /**
+     * Get height of sampled image
+     * @return height of sampled picture
+     */
     int GetHeight() const;
 
+    /**
+     * Get opening status for camera
+     * @return true if camera is open, false otherwise
+     */
     bool IsOpen();
+    
+    /**
+     * Define size for sampled picture
+     * @param size Size of picture (@see captureSize)
+     */
     void SetSize(int size);
 
+    /**
+     * Grab next image from camera
+     * @return Image taken from camera
+     */
     Img Grab();
     
 private:
 #ifdef __FOR_PC__
+    /**
+     * Camera descriptor
+     */
     cv::VideoCapture cap;
 #else
     raspicam::RaspiCam_Cv cap;
 #endif /*  __FOR_PC__ */   
    
+    /**
+     * Size for image (default= small)
+     */
     int size = sm;
+    
+    /**
+     * Width of image
+     */
     int width;
+    
+    /**
+     * Height of image
+     */
     int height;
 };
 

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

@@ -339,6 +339,8 @@ Message *ComMonitor::StringToMessage(string &s) {
         msg = new Message(MESSAGE_ROBOT_GO_LEFT);
     } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_RIGHT) != string::npos) {
         msg = new Message(MESSAGE_ROBOT_GO_RIGHT);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_STOP) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_STOP);
     } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_POWEROFF) != string::npos) {
         msg = new Message(MESSAGE_ROBOT_POWEROFF);
     } else {

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

@@ -1,70 +0,0 @@
-/*
- * Copyright (C) 2018 dimercur
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-/**
- * \file      definitions.h
- * \author    PE.Hladik
- * \version   1.0
- * \date      06/06/2017
- * \brief     Various constants used in destjil project
- */
-
-
-#ifndef DEFINITIONS_H
-#define DEFINITIONS_H
-
-#define OPEN_COM_DMB            'o'
-#define CLOSE_COM_DMB           'C'
-
-#define DMB_PING                'p'
-#define DMB_IDLE                'r'
-#define DMB_START_WITHOUT_WD    'u'
-#define DMB_START_WITH_WD       'W'
-#define DMB_RELOAD_WD           'w'
-#define DMB_GET_VBAT            'v'
-#define DMB_IS_BUSY             'b'
-#define DMB_MOVE                'M'
-#define DMB_TURN                'T'
-#define DMB_GO_FORWARD          'F'
-#define DMB_GO_BACK             'B'
-#define DMB_GO_LEFT             'L'
-#define DMB_GO_RIGHT            'R'
-#define DMB_STOP_MOVE           'S'
-
-#define ROBOT_TIMED_OUT         -3
-#define ROBOT_UKNOWN_CMD        -2
-#define ROBOT_ERROR             -1
-#define ROBOT_CHECKSUM          -4
-#define ROBOT_OK                0
-
-#define CAM_OPEN                    'A'
-#define CAM_CLOSE                   'I'
-#define CAM_ASK_ARENA               'y'
-#define CAM_ARENA_CONFIRM           'x'
-#define CAM_ARENA_INFIRM            'z'
-#define CAM_COMPUTE_POSITION        'p'
-#define CAM_STOP_COMPUTE_POSITION   's'
-
-#define DMB_BAT_LOW             0
-#define DMB_BAT_MEDIUM          1
-#define DMB_BAT_HIGH            2
-
-#define DMB_BUSY                1
-#define DMB_DO_NOTHING          0
-
-#endif /* MSG_H */
-

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

@@ -1,260 +0,0 @@
-
-/*
- * Copyright (C) 2018 dimercur
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-/**
- * \file      image.cpp
- * \author    L.Senaneuch
- * \version   1.0
- * \date      06/06/2017
- * \brief     Fonctions de traitement d'image utilisable pour la détection du robot.
- *
- * \details   Ce fichier utilise la libraire openCV2 pour faciliter le traitement d'image dans le projet Destijl.
- *            Il permet de faciliter la détection de l'arène et la détection du robot.
- *			  /!\ Attention Bien que celui-ci soit un .cpp la structure du code n'est pas sous forme d'objet.
- */
-
-#include "image.h"
-#include <iostream>
-
-using namespace cv;
-#ifndef __STUB__
-#ifdef __FOR_PC__
-VideoCapture cap;
-#else
-using namespace raspicam;
-#endif /* __FOR_PC__ */
-#else
-Image stubImg;
-
-#endif
-using namespace std;
-
-float calculAngle(Position * positionRobot);
-int cropArena(Image *imgInput, Image *imgOutput, Arene *AreneInput);
-float euclideanDist(Point& p, Point& q);
-
-void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene)
-{
-    if(imgInput!=imgOutput)
-        *imgOutput=imgInput->clone();
-    rectangle(*imgOutput,monArene->tl(),monArene->br(),Scalar(0,0,125),2,8,0);
-}
-
-int open_camera(Camera  *camera)
-{
-#ifndef __STUB__
-#ifdef __FOR_PC__
-    // open the default camera, use something different from 0 otherwise;
-    // Check VideoCapture documentation.
-    printf("Opening Camera...\n");
-    if(!cap.open(0))
-        return -1;
-    
-    return 0;
-#else // for raspberry
-    
-    camera->set(CV_CAP_PROP_FORMAT, CV_8UC3);
-    camera->set(CV_CAP_PROP_FRAME_WIDTH,WIDTH);
-    camera->set(CV_CAP_PROP_FRAME_HEIGHT,HEIGHT);
-
-    printf("Opening Camera...\n");
-    if (!(camera->open())) {
-        perror("Can't open Camera\n") ;
-        return -1;
-    }
-    else
-    {
-        printf("Camera warmup 2sec\n");
-        sleep(2);
-        printf("Start capture\n");
-        return 0;
-    }
-#endif /* __FOR_PC__ */
-#else 
-    return 0;
-#endif
-}
-
-void get_image(Camera *camera, Image * monImage, const char  * fichier) // getImg(Camera, Image img);
-{
-#ifndef __STUB__
-#ifdef __FOR_PC__
-    if (monImage != NULL)
-    {
-        cap>>*monImage;
-    }
-#else // for raspberry
-    camera->grab();
-    camera->retrieve(*monImage);
-    cvtColor(*monImage,*monImage,CV_BGR2RGB);
-#endif /* __FOR_PC__ */
-#else
-    stubImg = imread(fichier, CV_LOAD_IMAGE_COLOR);
-    stubImg.copyTo(*monImage);
-#endif
-}
-
-void close_camera(Camera *camera) // closeCam(Camera) : camera Entrer
-{
-#ifndef __STUB__
-#ifdef __FOR_PC__
-    cap.release();
-#else // for raspberry
-    camera->release();
-#endif /* __FOR_PC__ */
-#else
-
-#endif
-}
-
-
-int detect_arena(Image *monImage, Arene *rectangle) // Image en entrée // rectangle en sortie
-{
-    vector<vector<Point> > contours;
-    vector<Point> approx;
-    vector<Vec4i> hierarchy;
-
-    Image imageTrt;
-    cvtColor(*monImage,imageTrt,CV_RGB2GRAY); // conversion en niveau de gris
-    threshold(imageTrt,imageTrt,128,255,CV_THRESH_BINARY); // Threshold les éléments les plus clair
-    Canny(imageTrt, imageTrt, 100,200,3); // detection d'angle
-
-    findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
-    for(unsigned int i = 0; i < contours.size();i++)
-	{
-        approxPolyDP(Image(contours[i]), approx, arcLength(Image(contours[i]), true)*0.1, true);
-        if(approx.size()==4 && fabs(cv::contourArea(contours[i])) > 100000)
-        {
-            *rectangle = boundingRect(Image(contours[i]));
-            return 0;
-        }
-    }
-    return -1;
-}
-
-int cropArena(Image *imgInput, Image *imgOutput, Arene *areneInput) // image // rectangle // image2
-{
-    Image img;
-    img=imgInput->clone();
-
-    *imgOutput = img(*areneInput);
-    return 0;
-}
-
-float euclideanDist(Point& p, Point& q) {
-    Point diff = p - q;
-    return cv::sqrt(diff.x*diff.x + diff.y*diff.y);
-}
-
-void compress_image(Image *imgInput, Jpg *imageCompress) // image entrée // imageEncodé en sortie
-{
-    imencode(".jpg",*imgInput,*imageCompress);
-}
-
-
-int detect_position(Image *imgInput, Position *posTriangle, Arene * monArene) // entree : image  / sortie tab pos
-{
-    vector<vector<Point> > contours;
-    vector<Point> approx;
-    vector<Vec4i> hierarchy;
-
-    Image imgTraitment;
-
-    if(monArene==NULL)
-        imgTraitment=imgInput->clone();
-    else
-        cropArena(imgInput,&imgTraitment, monArene);
-
-    cvtColor(imgTraitment,imgTraitment,CV_RGB2GRAY);
-    threshold(imgTraitment,imgTraitment,128,255,CV_THRESH_BINARY);
-    findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
-
-    int nbrTriangle = 0;
-    for(unsigned int i = 0;i < contours.size();i++)
-	{
-        approxPolyDP(Mat(contours[i]), approx, arcLength(Mat(contours[i]), true)*0.17, true);
-        if(approx.size() == 3 && fabs(contourArea(contours[i])) > 200 && fabs(contourArea(contours[i])) < 700)
-        {
-
-            Point a,b,c;
-            Point center;
-
-
-            a = approx[0];
-            b = approx[1];
-            c = approx[2];
-
-
-            if(monArene !=NULL) // ajout de l'offset de l'arène
-            {
-               a.x += monArene->x;
-               a.y += monArene->y;
-               b.x += monArene->x;
-               b.y += monArene->y;
-               c.x += monArene->x;
-               c.y += monArene->y;		    
-            }
-		
-            center.x = (a.x + b.x + c.x)/3;
-            center.y = (a.y + b.y + c.y)/3;
-
-            posTriangle[nbrTriangle].center=center;
-
-            if(euclideanDist(center,b) > euclideanDist(center,a) && euclideanDist(center,b) > euclideanDist(center,c) )
-            {
-
-                posTriangle[nbrTriangle].direction=b;
-                //line(img,center,b,Scalar(0,125,0),2,8,0);
-            }
-            else if(euclideanDist(center,a) > euclideanDist(center,c))
-            {
-                posTriangle[nbrTriangle].direction=a;
-                //line(img,center,a,Scalar(0,125,0),2,8,0);
-
-            }
-            else
-            {
-                posTriangle[nbrTriangle].direction=c;
-                //line(img,center,c,Scalar(0,125,0),2,8,0);
-            }
-            posTriangle[nbrTriangle].angle=calculAngle(&posTriangle[nbrTriangle]);
-
-            nbrTriangle++;
-
-        }
-    }
-    return nbrTriangle;
-}
-
-void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot) // img E/S   pos : E
-{
-    if(imgInput!=imgOutput)
-    {
-        *imgOutput=imgInput->clone();
-    }
-    line(*imgOutput,positionRobot->center,positionRobot->direction,Scalar(0,125,0),2,8,0);
-}
-
-float calculAngle(Position * positionRobot) // position en entree
-{
-    float a = positionRobot->direction.x - positionRobot->center.x;
-    float b = positionRobot->direction.y - positionRobot->center.y ;
-    float angle = atan2(b,a);
-    return angle * 180.f/M_PI;
-
-}

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

@@ -1,140 +0,0 @@
-/*
- * Copyright (C) 2018 dimercur
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#ifndef _IMAGE_H_
-#define _IMAGE_H_
-
-#ifndef __STUB__
-#ifndef __FOR_PC__
-#include <raspicam/raspicam_cv.h>
-#else
-#include <opencv2/highgui/highgui.hpp>
-#endif /* __FOR_PC__ */
-#else
-#include <opencv2/highgui/highgui.hpp>
-#endif
-#include "opencv2/imgproc/imgproc.hpp"
-#include <unistd.h>
-#include <math.h>
-
-#define WIDTH 480 //1280 1024 640 480
-#define HEIGHT 360 // 960 768 480 360
-
-using namespace std;
-using namespace cv;
-#ifndef __STUB__
-#ifndef __FOR_PC__
-using namespace raspicam;
-#endif /* __FOR_PC__ */
-#endif
-
-typedef Mat Image;
-#ifndef __STUB__
-#ifndef __FOR_PC__
-typedef RaspiCam_Cv Camera;
-#else
-typedef int Camera;
-#endif /* __FOR_PC__ */
-#else
-typedef int Camera;
-#endif
-
-typedef Rect Arene;
-typedef vector<unsigned char> Jpg;
-
-struct Position {
-    Point center;
-    Point direction;
-    float angle;
-};
-
-/**
- * \brief       Ouvre une camera.
- * \details     Met à jour le descripteur de fichier passé en paramètre pour correspondre à la camera ouverte
- *             
- * \param       camera  Pointeur d'un file descriptor d'une camera ouverte
- * \return      Retourne 0 si la camera a été ouverte correctement et -1 si une erreur survient.
- */
-int open_camera(Camera *camera);
-
-/**
- * \brief       Ferme la camera passé en paramètre
- *             
- * \param       camera  Pointeur sur la camera à fermer
- */
-void close_camera(Camera *camera);
-
-/**
- * \brief       Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image 
- * \details     La camera doit préalablement être ouverte via \a openCamera(...)
- *             
- * \param       camera      Pointeur sur la camera passée en entrée.
- * \param       monImage    Pointeur sur une image capturée. 
- * \param       fichier     Chemin du fichier d'image
- * \return      Retourne -1 si une erreur survient.
- */
-void get_image(Camera *camera, Image * monImage, const char *fichier = NULL);
-
-/**
- * \brief       Détecte une arène dans une image fournis en paramètre.
- *             
- * \param       monImage    Pointeur sur l'image d'entrée
- * \param       rectangle   Pointeur sur les coordonnées du rectangles trouvé. 
- * \return      Retourne -1 si aucune arène n'est détectée. Sinon retourne 0
- */
-int detect_arena(Image *monImage, Arene *rectangle);
-
-/**
- * \brief       Dessine le plus petit rectangle contenant l'arène
- 
- * \param       imgInput    Pointeur sur l'image d'entrée.
- * \param       imgOutput   Pointeur sur l'image de sortie (image d'entrée + arène marquée)
- * \param       monArene    Pointeur de type Arène contenant les information à dessiner
- */
-void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene);
-
-/**
- * \brief       Détecte la position d'un robot.
- * \details     Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.
- *             
- * \param       imgInput    Pointeur sur l'image sur laquelle chercher la position du des robots.
- * \param       posTriangle Pointeur sur un tableau de position ou seront stocké les positions des triangles détectés.
- * \param       monArene    Pointeur de type Arène si nécessaire d'affiner la recherche (optionnel) 
- * \return      Le nombre de triangles détectés.
- */
-int detect_position(Image *imgInput, Position *posTriangle, Arene * monArene = NULL);
-
-/**
- * \brief       Dessine sur une image en entrée la position d'un robot et sa direction.
- * \details     Sauvegarde l'image des coordonnées passées par positionRobot superposée à l'image d'entrée sur imgOutput.
- *             
- * \param       imgInput         Pointeur sur l'image d'entrée
- * \param       imgOutput        Pointeur sur l'image de sortie ( image d'entrée + dessin de la position)
- * \param       positionRobot    Pointeur sur la structure position d'un robot.
- */
-void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot);
-
-/**
- * \brief       Détecte la position d'un robot.
- * \details     Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.
- *             
- * \param       imgInput      	Pointeur sur l'image à sauvegarder en mémoire sous format jpg.
- * \param       imageCompress	Pointeur sur une image .jpg.
- */
-void compress_image(Image *imgInput, Jpg *imageCompress);
-
-#endif // _IMAGE_H_

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

@@ -17,23 +17,47 @@
 
 #include "img.h"
 
+/**
+ * Tell if arena is empty (not found) or not
+ * @return true if no arena found, false otherwise
+ */
 bool Arena::IsEmpty() {
     if ((this->arena.height == 0) || (this->arena.width == 0)) return true;
     else return false;
 }
 
+/**
+ * Create new Img object based on image data
+ * 
+ * @param imgMatrice Image data to be stored (raw data)
+ */
 Img::Img(ImageMat imgMatrice) {
     this->img = imgMatrice.clone();
 }
 
+/**
+ * Convert object to a string representation
+ * 
+ * @return String containing information on contained image (size and number of channel) 
+ */
 string Img::ToString() {
     return "Image size: " + to_string(this->img.cols) + "x" + to_string(this->img.rows) + " (dim=" + to_string(this->img.dims) + ")";
 }
 
+/**
+ * Create a copy of current object
+ * 
+ * @return New Img object, copy of current 
+ */
 Img* Img::Copy() {
     return new Img(this->img);
 }
 
+/**
+ * Function for computing angle 
+ * @param robots Position of robot
+ * @return Angle
+ */
 float Img::CalculAngle(Position robot) {
     float a = robot.direction.x - robot.center.x;
     float b = robot.direction.y - robot.center.y;
@@ -41,6 +65,12 @@ float Img::CalculAngle(Position robot) {
     return angle * 180.f / M_PI;
 }
 
+/**
+ * Function for computing angle 
+ * @param pt1 ???
+ * @param pt2 ???
+ * @return Angle
+ */
 float Img::CalculAngle2(cv::Point2f pt1, cv::Point2f pt2) {
     float a = pt1.x - pt2.x;
     float b = pt1.y - pt2.y;
@@ -50,21 +80,59 @@ float Img::CalculAngle2(cv::Point2f pt1, cv::Point2f pt2) {
 
 #ifdef __WITH_ARUCO__ 
 
+/**
+ * Find center point of given aruco
+ * @param aruco Aruco coordinates
+ * @return Center point coordinate
+ */
 cv::Point2f Img::FindArucoCenter(std::vector<cv::Point2f> aruco) {
     return ((aruco[0] + aruco[2]) / 2);
 }
 
+/**
+ * Find direction of given aruco
+ * @param aruco Aruco coordinates
+ * @return Orientation of aruco
+ */
 cv::Point2f Img::FindArucoDirection(std::vector<cv::Point2f> aruco) {
     return ((aruco[0] + aruco[1]) / 2);
 }
+#endif // __WITH_ARUCO__
+
+/**
+ * Used for computing distance
+ * @param p ???
+ * @param q ???
+ * @return Distance
+ */
+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);
+}
 
-std::list<Position> Img::SearchAruco(Arena arena) {
+/**
+ * Compress current image to JPEG
+ * @return Image compressed as JPEG
+ */
+Jpg Img::ToJpg() {
+    Jpg imgJpg;
+    cv::imencode(".jpg", this->img, imgJpg);
+    return imgJpg;
+}
+
+/**
+ * Search available robots in an image
+ * @param arena Arena position for cropping image
+ * @return list of position, empty if no robot found
+ */
+std::list<Position> Img::SearchRobot(Arena arena) {
+#ifdef __WITH_ARUCO__
     ImageMat imgTraitment;
     std::list<Position> positionList;
     cv::Point2f areneCoor;
     std::vector<int> ids;
     std::vector<std::vector<cv::Point2f> > corners;
-    
+
     if (arena.IsEmpty())
         imgTraitment = this->img.clone();
     else {
@@ -72,7 +140,7 @@ std::list<Position> Img::SearchAruco(Arena arena) {
         areneCoor.x = arena.arena.x;
         areneCoor.y = arena.arena.y;
     }
-    
+
     cv::aruco::detectMarkers(imgTraitment, dictionary, corners, ids);
     if (ids.size() > 0) {
         for (int i = 0; i < ids.size(); i++) {
@@ -89,22 +157,7 @@ std::list<Position> Img::SearchAruco(Arena arena) {
         }
     }
     return positionList;
-}
-#endif // __WITH_ARUCO__
-
-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 imgJpg;
-    cv::imencode(".jpg", this->img, imgJpg);
-    return imgJpg;
-}
-
-std::list<Position> Img::SearchRobot(Arena arena) {
-
+#else
     std::list<Position> robotsFind;
     std::vector<std::vector<cv::Point> > contours;
     std::vector<cv::Point> approx;
@@ -168,8 +221,14 @@ std::list<Position> Img::SearchRobot(Arena arena) {
     }
 
     return robotsFind;
+
+#endif // __WITH_ARUCO__
 }
 
+/**
+ * Search arena outline in current image
+ * @return Arena object with coordinate of outline, empty if no arena found
+ */
 Arena Img::SearchArena() {
     std::vector<std::vector<cv::Point> > contours;
     std::vector<cv::Point> approx;
@@ -189,26 +248,44 @@ Arena Img::SearchArena() {
             return rectangle;
         }
     }
+
     return Arena();
 }
 
-int Img::DrawRobot(Position robot) {
+/**
+ * Draw an oriented arrow at robot position
+ * @param robot Position of robot
+ */
+void 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;
 }
 
+/**
+ * Draw an oriented arrow for each position provided
+ * @param robots List of robot positions
+ * @return Number of position drawn
+ */
 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::DrawArena(Arena arenaToDraw) {
+/**
+ * Draw arena outline
+ * @param arenaToDraw Arena position
+ */
+void Img::DrawArena(Arena arenaToDraw) {
     cv::rectangle(this->img, arenaToDraw.arena.tl(), arenaToDraw.arena.br(), cv::Scalar(0, 0, 125), 2, 8, 0);
-    return 0;
 }
 
+/**
+ * Crop image around detected arena
+ * @param arena Coordinate of arena
+ * @return Reduced image, focused on arena
+ */
 ImageMat Img::CropArena(Arena arena) {
     return this->img(arena.arena);
 }

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

@@ -29,64 +29,181 @@
 #ifdef __WITH_ARUCO__
 #include <opencv2/aruco/dictionary.hpp>
 #include <opencv2/aruco/charuco.hpp>
-//#include <opencv2/aruco.hpp>
 #include <opencv2/core/mat.hpp>
-
 #endif // __WITH_ARUCO__
 
 #define ARENA_NOT_DETECTED -1
 
 using namespace std;
 
+/**
+ * Redefinition of cv::Mat type
+ */
 typedef cv::Mat ImageMat;
 
+/**
+ * Declaration of Jpg type
+ */
 typedef vector<unsigned char> Jpg;
 
+/**
+ * Position type used for store robot coordinates
+ *