sauvegarde

.gitignore

@@ -62,4 +62,6 @@ GUI
 # Android
 *.apk
 
-/software/raspberry/superviseur-robot/superviseur/dist/
+/software/raspberry/superviseur-robot/superviseur/dist/
+/software/raspberry/testeur/testeur/build/
+/software/raspberry/testeur/testeur/dist/

software/monitor/monitor/Client.cs

@@ -0,0 +1,156 @@
+using System;
+using System.Net.Sockets;
+using System.Threading;
+using System.Text;
+
+namespace monitor
+{
+    public class ClientReadEvent
+    {
+        private static TcpClient myClient = null;
+        private static NetworkStream myStream = null;
+        private const int BufferMaxSize = 512;
+        private static byte[] buffer = new byte[BufferMaxSize];
+        private static StringBuilder sb = new StringBuilder();
+        private static int newLength = 1;
+
+        public delegate void ReadEvent(string str);
+        public static ReadEvent readEvent = null;
+
+        public static void Set(TcpClient client, NetworkStream stream)
+        {
+            myClient = client;
+            myStream = stream;
+        }
+
+        public static void ReadThread()
+        {
+            while (true)
+            {
+                if (myClient.Connected)
+                {
+                    myStream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), sb);
+                }
+                else Thread.Sleep(200);
+            }
+        }
+
+        public static void ReadCallback(IAsyncResult ar)
+        {
+
+        }
+    }
+
+    public class Client
+    {
+        public const string defaultIP = "localhost";
+        public const int defaultPort = 4500;
+
+        private static TcpClient client = null;
+        private static NetworkStream stream = null;
+
+        private const int BufferMaxSize = 512;
+        private static byte[] buffer = new byte[BufferMaxSize];
+        private static StringBuilder message = new StringBuilder();
+        private static int newLength = 1;
+
+        public delegate void ReadEvent(string msg);
+        public static ReadEvent readEvent = null;
+
+        public Client()
+        {
+        }
+
+        public static bool Open(string host)
+        {
+            return Client.Open(host, defaultPort);
+        }
+
+        public static bool Open(string host, int port)
+        {
+            bool status = true;
+
+            try
+            {
+                client = new TcpClient(host, port);
+
+                stream = client.GetStream();
+
+                stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message);
+            }
+            catch (ArgumentNullException e)
+            {
+                Console.WriteLine("ArgumentNullException: " + e);
+                status = false;
+            }
+            catch (SocketException e)
+            {
+                Console.WriteLine("SocketException: " + e.ToString());
+                status = false;
+            }
+            catch (Exception e) 
+            {
+                Console.WriteLine("Unknown Exception: " + e.ToString());
+                status = false;  
+            }
+
+            return status;
+        }
+
+        public static void Close() 
+        {
+            if (stream!=null) stream.Close();
+            if (client!=null) client.Close();
+        }
+
+        private static void ReadCallback(IAsyncResult ar)
+        {
+            if (client.Connected)
+            {
+                int bytesRead;
+
+                try 
+                {
+                    bytesRead = stream.EndRead(ar); 
+                }
+                catch (ObjectDisposedException e)
+                {
+                    Console.WriteLine("Connection to server dropped: " + e.ToString());
+                    return;
+                }
+
+                newLength = 1;
+
+                if (bytesRead > 0)
+                {
+                    message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead));
+                }
+
+                if (client.Available > 0)
+                {
+                    newLength = client.Available;
+                    if (newLength > BufferMaxSize) newLength = BufferMaxSize;
+                    else newLength = client.Available;
+                }
+                else
+                {
+                    readEvent?.Invoke(message.ToString());
+
+                    message.Clear();
+                }
+
+                stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message);
+            }
+        }
+
+        public static void Write(string mes)
+        {
+            if (client.Connected)
+            {
+                byte[] writeBuffer = Encoding.UTF8.GetBytes(mes);
+
+                stream.Write(writeBuffer, 0, mes.Length);
+            }
+        }
+    }
+}

software/monitor/monitor/CommandManager.cs

@@ -0,0 +1,110 @@
+using System.Threading;
+
+namespace monitor
+{
+    public class CommandManager
+    {
+        public delegate void CommandReceivedEvent(string msg);
+        public CommandReceivedEvent commandReceivedEvent = null;
+
+        private System.Timers.Timer waitTimer = new System.Timers.Timer();
+        private ManualResetEvent waitEvent = new ManualResetEvent(false);
+
+        private bool waitForAcknowledge = false;
+
+        private string messageReceived = null;
+        private bool isBusy = false;
+
+        public enum CommandManagerStatus
+        {
+            AnswerReceived,
+            Timeout,
+            Busy
+        };
+
+        public CommandManager(CommandReceivedEvent callback)
+        {
+            Client.readEvent += this.OnMessageReception;
+
+            this.commandReceivedEvent += callback;
+            waitTimer.Elapsed += OnMessageTimeout;
+        }
+
+        ~CommandManager()
+        {
+            Client.Close();    
+        }
+
+        public bool Open(string hostname)
+        {
+            return this.Open(hostname, Client.defaultPort);
+        }
+
+        public bool Open(string hostname, int port)
+        {
+            return Client.Open(hostname, port);
+        }
+
+        public void Close()
+        {
+            Client.Close();
+        }
+
+        private void OnMessageReception(string message)
+        {
+            waitTimer.Stop();
+            this.messageReceived = message;
+            isBusy = false;
+
+            if (waitForAcknowledge) {
+                waitForAcknowledge = false;
+                waitEvent.Set(); // Envoi de l'evenement
+            }
+            else {
+                waitForAcknowledge = false;
+                this.commandReceivedEvent?.Invoke(message);
+            }
+        }
+
+        private void OnMessageTimeout(object sender, System.Timers.ElapsedEventArgs e)
+        {
+            messageReceived = null;
+            OnMessageReception(messageReceived);
+        }
+
+        public CommandManagerStatus SendCommand(string cmd, out string answer, double timeout)
+        {
+            CommandManagerStatus status = CommandManagerStatus.AnswerReceived;
+            answer = null;
+
+            if (isBusy) status = CommandManagerStatus.Busy;
+            else
+            {
+                isBusy = true;
+
+                Client.Write(cmd);
+
+                if (timeout > 0) // la commande attend un acquitement
+                {
+                    waitForAcknowledge = true;
+                    waitTimer.Interval = timeout;
+                    waitTimer.Start();
+
+                    waitEvent.WaitOne();
+                    waitEvent.Reset(); // remise à zero pour une prochaine commande
+
+                    if (this.messageReceived == null) // timeout: connection au serveur defectueuse
+                    {
+                        status = CommandManagerStatus.Timeout;
+                    }
+                }
+                else isBusy = false;
+
+                answer = this.messageReceived;
+                this.messageReceived = null;
+            }
+
+            return status;
+        }
+    }
+}

software/monitor/monitor/DestijlCommandManager.cs

@@ -0,0 +1,420 @@
+using System;
+
+namespace monitor
+{
+    public class DestijlCommandList
+    {
+        public const string HeaderMtsComDmb = "COM";
+        public const string HeaderMtsDmbOrder = "DMB";
+        public const string HeaderMtsCamera = "CAM";
+        public const string HeaderMtsMessage = "MSG";
+
+        public const string DataComOpen = "o";
+        public const string DataComClose = "C";
+
+        public const string DataCamOpen = "A";
+        public const string DataCamClose = "I";
+        public const string DataCamAskArena = "y";
+        public const string DataCamArenaConfirm = "x";
+        public const string DataCamInfirm = "z";
+        public const string DataCamComputePosition = "p";
+        public const string DataCamStopComputePosition = "s";
+
+        public const string HeaderStmAck = "ACK";
+        public const string HeaderStmNoAck = "NAK";
+        public const string HeaderStmLostDmb = "LCD";
+        public const string HeaderStmImage = "IMG";
+        public const string HeaderStmPos = "POS";
+        public const string HeaderStmMes = "MSG";
+        public const string HeaderStmBat = "BAT";
+    }
+
+    public class RobotCommandList
+    {
+        public const string RobotPing = "p";
+        public const string RobotReset = "r";
+        public const string RobotStartWithoutWatchdog = "u";
+        public const string RobotStartWithWatchdog = "W";
+        public const string RobotGetBattery = "v";
+        public const string RobotGetBusyState = "b";
+        public const string RobotMove = "M";
+        public const string RobotTurn = "T";
+        public const string RobotGetVersion = "V";
+        public const string RobotPowerOff = "z";
+    }
+
+    public class DestijlCommandManager
+    {
+        private CommandManager commandManager = null;
+
+        private string receivedHeader = null;
+        private string receivedData = null;
+
+        public delegate void CommandReceivedEvent(string header, string data);
+        public CommandReceivedEvent commandReceivedEvent = null;
+
+        public double timeout = 100; // timeout pour les commandes avec acquitement
+
+        public enum CommandStatus
+        {
+            Success,
+            Rejected,
+            InvalidAnswer,
+            Busy,
+            CommunicationLostWithRobot,
+            CommunicationLostWithServer
+        }
+
+        public DestijlCommandManager(CommandReceivedEvent callback)
+        {
+            commandManager = new CommandManager(OnCommandReceived);
+            this.commandReceivedEvent += callback;
+        }
+
+        ~DestijlCommandManager()
+        {
+            if (commandManager != null) commandManager.Close();
+        }
+
+        private void OnCommandReceived(string msg)
+        {
+            string[] msgs = msg.Split(':');
+
+            if (msgs.Length >= 1) receivedHeader = msgs[0];
+            else receivedHeader = null;
+
+            if (msgs.Length >= 2) receivedData = msgs[1];
+            else receivedData = null;
+
+            this.commandReceivedEvent?.Invoke(receivedHeader, receivedData);
+        }
+
+        public bool Open(string hostname)
+        {
+            return this.Open(hostname, Client.defaultPort);
+        }
+
+        public bool Open(string hostname, int port)
+        {
+            if (commandManager != null) return commandManager.Open(hostname, port);
+            else return false;
+        }
+
+        public void Close()
+        {
+            if (commandManager != null) commandManager.Close();
+        }
+
+        private string CreateCommand(string header, string data)
+        {
+            return header + ":" + data;
+        }
+
+        private void SplitCommand(string cmd, out string header, out string data)
+        {
+            string[] cmdParts = cmd.Split(':');
+
+            if (cmdParts.Length > 0) header = cmdParts[0];
+            else header = null;
+
+            if (cmdParts.Length > 1) data = cmdParts[1];
+            else data = null;
+        }
+
+        private CommandStatus DecodeStatus(CommandManager.CommandManagerStatus localStatus, string answer)
+        {
+            CommandStatus status = CommandStatus.Success;
+
+            if (localStatus == CommandManager.CommandManagerStatus.Timeout) status = CommandStatus.CommunicationLostWithServer;
+            else if (localStatus == CommandManager.CommandManagerStatus.Busy) status = CommandStatus.Busy;
+            else
+            {
+                if (answer != null)
+                {
+                    if (answer.ToUpper().Contains(DestijlCommandList.HeaderStmNoAck)) status = CommandStatus.Rejected;
+                    else if (answer.ToUpper().Contains(DestijlCommandList.HeaderStmLostDmb)) status = CommandStatus.CommunicationLostWithRobot;
+                    else if (answer.ToUpper().Contains(DestijlCommandList.HeaderStmAck)) status = CommandStatus.Success;
+                    else if (answer.Length == 0) status = CommandStatus.CommunicationLostWithServer;
+                    else status = CommandStatus.InvalidAnswer;
+                }
+            }
+
+            return status;
+        }
+
+        public CommandStatus RobotOpenCom()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsComDmb, DestijlCommandList.DataComOpen),
+                out answer,
+                this.timeout);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus RobotCloseCom()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsComDmb, DestijlCommandList.DataComClose),
+                out answer,
+                this.timeout);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus RobotPing()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotPing),
+                out answer,
+                this.timeout);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus RobotReset()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotReset),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus RobotStartWithWatchdog()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotStartWithWatchdog),
+                out answer,
+                this.timeout);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus RobotStartWithoutWatchdog()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotStartWithoutWatchdog),
+                out answer,
+                this.timeout);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus RobotMove(int distance)
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotMove + "=" + distance),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus RobotTurn(int angle)
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotTurn + "=" + angle),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        //public CommandStatus RobotGetBattery(out int battery)
+        public CommandStatus RobotGetBattery()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            //CommandStatus status = CommandStatus.Success;
+
+            //battery = -1;
+
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotGetBattery),
+                out answer,
+                0);
+            
+            //if (localStatus == CommandManager.CommandManagerStatus.AnswerReceived) {
+            //    string[] msg = answer.Split(':');
+
+            //    if (msg.Length > 1)
+            //    {
+            //        try
+            //        {
+            //            battery = Convert.ToInt32(msg[1]);
+            //        }
+            //        catch (Exception) { }
+            //    }
+            //}
+            //else if (localStatus == CommandManager.CommandManagerStatus.Timeout)
+            //{
+            //    status = CommandStatus.CommunicationLostWithServer;
+            //}
+
+            //return status;
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus RobotGetVersion(out string version)
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            CommandStatus status = CommandStatus.Success;
+
+            version = "";
+
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotGetVersion),
+                out answer,
+                this.timeout);
+
+            if (localStatus == CommandManager.CommandManagerStatus.AnswerReceived)
+            {
+                string[] msg = answer.Split(':');
+
+                if (msg.Length > 1)
+                {
+                    version = msg[1];
+                }
+            }
+            else if (localStatus == CommandManager.CommandManagerStatus.Timeout)
+            {
+                status = CommandStatus.CommunicationLostWithServer;
+            }
+
+            return status;
+        }
+
+        public CommandStatus RobotPowerOff()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotPowerOff),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus CameraOpen()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamOpen),
+                out answer,
+                this.timeout);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus CameraClose()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamClose),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus CameraAskArena()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamAskArena),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus CameraArenaConfirm()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamArenaConfirm),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus CameraArenaInfirm()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamInfirm),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus CameraComputePosition()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamComputePosition),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+
+        public CommandStatus CameraStopComputePosition()
+        {
+            CommandManager.CommandManagerStatus localStatus;
+            string answer;
+
+            localStatus = commandManager.SendCommand(
+                CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamStopComputePosition),
+                out answer,
+                0);
+
+            return DecodeStatus(localStatus, answer);
+        }
+    }
+}

software/monitor/monitor/MonitorUI.cs

@@ -1,16 +1,452 @@
 using System;
 using Gtk;
+using Gdk;
+
+using monitor;
 
 public partial class MainWindow : Gtk.Window
 {
+    private DestijlCommandManager cmdManager;
+    private Pixbuf drawingareaCameraPixbuf;
+
+    enum SystemState
+    {
+        NotConnected,
+        ServerConnected,
+        RobotConnected
+    };
+
+    private SystemState systemState = SystemState.NotConnected;
+    private System.Timers.Timer batteryTimer;
+
     public MainWindow() : base(Gtk.WindowType.Toplevel)
     {
         Build();
+       
+        cmdManager = new DestijlCommandManager(OnCommandReceivedEvent);
+
+        batteryTimer = new System.Timers.Timer(10000.0);
+        batteryTimer.Elapsed += OnBatteryTimerElapsed;
+
+        AdjustControls();
+    }
+
+    public void AdjustControls()
+    {
+        ChangeState(SystemState.NotConnected);
+
+        drawingareaCameraPixbuf = new Pixbuf((string)null);
+        drawingareaCameraPixbuf = Pixbuf.LoadFromResource("monitor.ressources.missing_picture.png");
+
+        entryServerName.Text = Client.defaultIP;
+        entryServerPort.Text = Client.defaultPort.ToString();
+        entryTimeout.Text = "10000";
+    }
+
+    private void ChangeState(SystemState newState)
+    {
+        switch (newState)
+        {
+            case SystemState.NotConnected:
+                labelRobot.Sensitive = false;
+                gtkAlignmentRobot.Sensitive = false;
+
+                labelRobotControl.Sensitive = false;
+                gtkAlignmentRobotControl.Sensitive = false;
+                boxCamera.Sensitive = false;
+
+                buttonServerConnection.Label = "Connect";
+                buttonRobotActivation.Label = "Activate";
+                labelBatteryLevel.Text = "Unknown";
+
+                checkButtonCameraOn.Active = false;
+                checkButtonRobotPosition.Active = false;
+                if (cmdManager != null) cmdManager.Close();
+
+                batteryTimer.Stop();
+                break;
+            case SystemState.ServerConnected:
+                buttonServerConnection.Label = "Disconnect";
+                buttonRobotActivation.Label = "Activate";
+                labelBatteryLevel.Text = "Unknown";
+
+                labelRobot.Sensitive = true;
+                gtkAlignmentRobot.Sensitive = true;
+                boxCamera.Sensitive = true;
+
+                labelRobotControl.Sensitive = false;
+                gtkAlignmentRobotControl.Sensitive = false;
+
+                batteryTimer.Stop();
+                break;
+            case SystemState.RobotConnected:
+                buttonRobotActivation.Label = "Reset";
+                labelRobotControl.Sensitive = true;
+                gtkAlignmentRobotControl.Sensitive = true;
+
+                batteryTimer.Start();
+                break;
+            default:
+                labelRobot.Sensitive = false;
+                gtkAlignmentRobot.Sensitive = false;
+
+                labelRobotControl.Sensitive = false;
+                gtkAlignmentRobotControl.Sensitive = false;
+                boxCamera.Sensitive = false;
+
+                buttonServerConnection.Label = "Connect";
+                buttonRobotActivation.Label = "Activate";
+                labelBatteryLevel.Text = "Unknown";
+
+                checkButtonCameraOn.Active = false;
+                checkButtonRobotPosition.Active = false;
+
+                systemState = SystemState.NotConnected;
+
+                return;
+        }
+
+        systemState = newState;
+    }
+
+    private void MessagePopup(MessageType type, ButtonsType buttons, string title, string message)
+    {
+        MessageDialog md = new MessageDialog(this, DialogFlags.DestroyWithParent, type, buttons, message)
+        {
+            Title = title
+        };
+
+        md.Run();
+        md.Destroy();
     }
 
     protected void OnDeleteEvent(object sender, DeleteEventArgs a)
     {
+        Console.WriteLine("Bye bye");
+
+        if (cmdManager != null) cmdManager.Close();
         Application.Quit();
         a.RetVal = true;
     }
+
+    public void OnCommandReceivedEvent(string header, string data)
+    {
+        if (header != null) Console.WriteLine("Received header (" + header.Length + "): " + header);
+        if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data);
+
+        if (header.ToUpper() == DestijlCommandList.HeaderStmBat)
+        {
+            switch (data[0])
+            {
+                case '2':
+                    labelBatteryLevel.Text = "High";
+                    break;
+                case '1':
+                    labelBatteryLevel.Text = "Low";
+                    break;
+                case '0':
+                    labelBatteryLevel.Text = "Empty";
+                    break;
+                default:
+                    labelBatteryLevel.Text = "Invalid value";
+                    break;
+            }
+        }
+    }
+
+    protected void OnQuitActionActivated(object sender, EventArgs e)
+    {
+        Console.WriteLine("Bye bye 2");
+        if (cmdManager != null) cmdManager.Close();
+        this.Destroy();
+        Application.Quit();
+    }
+
+    protected void OnShowLogWindowActionActivated(object sender, EventArgs e)
+    {
+        MessagePopup(MessageType.Info,
+                     ButtonsType.Ok, "Info",
+                     "Logger not yet implemented");
+    }
+
+    protected void OnButtonServerConnectionClicked(object sender, EventArgs e)
+    {
+        DestijlCommandManager.CommandStatus statusCmd;
+
+        if (buttonServerConnection.Label == "Disconnect")
+        {
+            ChangeState(SystemState.NotConnected);
+        }
+        else
+        {
+            if ((entryServerName.Text == "") || (entryServerPort.Text == ""))
+            {
+                MessagePopup(MessageType.Error,
+                             ButtonsType.Ok, "Error",
+                             "Server name or port is invalid");
+            }
+            else
+            {
+                Console.WriteLine("Connecting to " + entryServerName.Text + ":" + entryServerPort.Text);
+                bool status = false;
+
+                try 
+                {
+                    cmdManager.timeout = Convert.ToDouble(entryTimeout.Text);    
+                }
+                catch (Exception)
+                {
+                    cmdManager.timeout = 100;
+                    entryTimeout.Text = cmdManager.timeout.ToString();
+                }
+
+                try
+                {
+                    status = cmdManager.Open(entryServerName.Text, Convert.ToInt32(entryServerPort.Text));
+                }
+                catch (Exception)
+                {
+                    Console.WriteLine("Something went wrong during connection");
+                    return;
+                }
+
+                if (status != true)
+                {
+                    MessagePopup(MessageType.Error,
+                                 ButtonsType.Ok, "Error",
+                                 "Unable to connect to server " + entryServerName.Text + ":" + Convert.ToInt32(entryServerPort.Text));
+                }
+                else
+                {
+                    Console.Write("Send command RobotOpenCom: ");
+                    statusCmd = cmdManager.RobotOpenCom();
+                    Console.WriteLine(statusCmd.ToString());
+
+                    if (statusCmd == DestijlCommandManager.CommandStatus.Success)
+                    {
+                        ChangeState(SystemState.ServerConnected);
+                    }
+                    else
+                    {
+                        MessagePopup(MessageType.Error,
+                                     ButtonsType.Ok, "Error",
+                                     "Unable to open communication with robot.\nCheck that supervisor is accepting OPEN_COM_DMB command");
+
+                        cmdManager.Close();
+                    }
+                }
+            }
+        }
+    }
+
+    protected void OnButtonRobotActivationClicked(object sender, EventArgs e)
+    {
+        DestijlCommandManager.CommandStatus status;
+
+        if (buttonRobotActivation.Label == "Activate") // activation du robot
+        {
+            if (radioButtonWithWatchdog.Active) // Demarrage avec watchdog
+            {
+                status = cmdManager.RobotStartWithWatchdog();
+            }
+            else // Demarrage sans watchdog
+            {
+                status = cmdManager.RobotStartWithoutWatchdog();
+            }
+
+            if (status == DestijlCommandManager.CommandStatus.Success)
+            {
+                ChangeState(SystemState.RobotConnected);
+            }
+            else
+            {
+                if (status == DestijlCommandManager.CommandStatus.CommunicationLostWithServer)
+                {
+                    MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
+                    ChangeState(SystemState.NotConnected);
+                }
+                else
+                {
+                    MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Command rejected\nCheck that supervisor accept \nDMB_START_WITH_WD and/or DMB_START_WITHOUT_WD");
+                }
+            }
+        }
+        else // Reset du robot
+        {
+            status = cmdManager.RobotReset();
+
+            if (status == DestijlCommandManager.CommandStatus.Success)
+            {
+                ChangeState(SystemState.ServerConnected);
+            }
+            else
+            {
+                if (status == DestijlCommandManager.CommandStatus.CommunicationLostWithServer)
+                {
+                    MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
+                    ChangeState(SystemState.NotConnected);
+                }
+                else
+                {
+                    MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Unknown error");
+                }
+            }
+        }
+    }
+
+    protected void OnButtonMouvClicked(object sender, EventArgs e)
+    {
+        if (sender == buttonRight)
+        {
+            cmdManager.RobotTurn(90);
+
+        }
+        else if (sender == buttonLeft)
+        {
+            cmdManager.RobotTurn(-90);
+        }
+        else if (sender == buttonForward)
+        {
+            cmdManager.RobotMove(100);
+        }
+        else if (sender == buttonDown)
+        {
+            cmdManager.RobotMove(-100);
+        }
+        else
+        {
+            MessagePopup(MessageType.Warning, ButtonsType.Ok, "Abnormal behavior", "Callback OnButtonMouvClicked called by unknown sender");
+        }
+    }
+
+    void OnBatteryTimerElapsed(object sender, System.Timers.ElapsedEventArgs e)
+    {
+        DestijlCommandManager.CommandStatus status;
+        //int batteryLevel;
+
+        batteryTimer.Stop();
+
+        if (checkButtonGetBattery.Active)
+        {
+            //status = cmdManager.RobotGetBattery(out batteryLevel);
+            status = cmdManager.RobotGetBattery();
+            switch (status)
+            {
+                case DestijlCommandManager.CommandStatus.Success:
+                    /*switch (batteryLevel)
+                    {
+                        case 2:
+                            labelBatteryLevel.Text = "High";
+                            break;
+                        case 1:
+                            labelBatteryLevel.Text = "Low";
+                            break;
+                        case 0:
+                            labelBatteryLevel.Text = "Empty";
+                            break;
+                        default:
+                            labelBatteryLevel.Text = "Unknown";
+                            break;
+                    }*/
+
+                    batteryTimer.Start();
+                    break;
+                case DestijlCommandManager.CommandStatus.CommunicationLostWithServer:
+                    //MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with server");
+                    Console.WriteLine("Error: Connection lost with server");
+                    batteryTimer.Stop();
+                    labelBatteryLevel.Text = "Unknown";
+
+                    ChangeState(SystemState.NotConnected);
+                    break;
+                case DestijlCommandManager.CommandStatus.CommunicationLostWithRobot:
+                    //MessagePopup(MessageType.Error, ButtonsType.Ok, "Error", "Connection lost with robot");
+                    Console.WriteLine("Error: Connection lost with robot");
+                    batteryTimer.Stop();
+                    labelBatteryLevel.Text = "Unknown";
+
+                    ChangeState(SystemState.ServerConnected);
+                    break;
+                default:
+                    labelBatteryLevel.Text = "Unknown";
+                    batteryTimer.Start();
+                    break;
+            }
+        }
+        else batteryTimer.Start();
+    }
+
+    protected void OnCheckButtonCameraOnClicked(object sender, EventArgs e)
+    {
+        if (!checkButtonCameraOn.Active)
+        {
+            if (cmdManager.CameraClose() != DestijlCommandManager.CommandStatus.Success)
+            {
+                MessagePopup(MessageType.Error,
+                             ButtonsType.Ok, "Error",
+                             "Error when closing camera: bad answer for supervisor or timeout");
+            }
+        }
+        else
+        {
+            if (cmdManager.CameraOpen() != DestijlCommandManager.CommandStatus.Success)
+            {
+                MessagePopup(MessageType.Error,
+                             ButtonsType.Ok, "Error",
+                             "Error when opening camera: bad answer for supervisor or timeout");
+                checkButtonCameraOn.Active = false;
+            }
+        }
+    }
+
+    protected void OnCheckButtonRobotPositionClicked(object sender, EventArgs e)
+    {
+        if (!checkButtonRobotPosition.Active)
+        {
+            if (cmdManager.CameraStopComputePosition() != DestijlCommandManager.CommandStatus.Success)
+            {
+                MessagePopup(MessageType.Error,
+                             ButtonsType.Ok, "Error",
+                             "Error when stopping position reception: bad answer for supervisor or timeout");
+            }
+        }
+        else
+        {
+            if (cmdManager.CameraComputePosition() != DestijlCommandManager.CommandStatus.Success)
+            {
+                MessagePopup(MessageType.Error,
+                             ButtonsType.Ok, "Error",
+                             "Error when starting getting robot position: bad answer for supervisor or timeout");
+
+                checkButtonRobotPosition.Active = false;
+            }
+        }
+    }
+
+    protected void OnDrawingAreaCameraRealized(object sender, EventArgs e)
+    {
+        Console.WriteLine("Event realized. Args = " + e.ToString());
+    }
+
+    protected void OnDrawingAreaCameraExposeEvent(object o, ExposeEventArgs args)
+    {
+        //Console.WriteLine("Event expose. Args = " + args.ToString());
+
+        DrawingArea area = (DrawingArea)o;
+        Gdk.GC gc = area.Style.BackgroundGC(Gtk.StateType.Normal);
+
+        area.GdkWindow.GetSize(out int areaWidth, out int areaHeight);
+
+        area.GdkWindow.DrawPixbuf(gc, drawingareaCameraPixbuf,
+                                  0, 0,
+                                  (areaWidth - drawingareaCameraPixbuf.Width) / 2,
+                                  (areaHeight - drawingareaCameraPixbuf.Height) / 2,
+                                  drawingareaCameraPixbuf.Width, drawingareaCameraPixbuf.Height,
+                                  RgbDither.Normal, 0, 0);
+    }
+
+    protected void OnDrawingAreaCameraConfigureEvent(object o, ConfigureEventArgs args)
+    {
+        //Console.WriteLine("Event configure. Args = " + args.ToString());
+    }
 }

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

@@ -5,27 +5,119 @@ public partial class MainWindow
 {
 	private global::Gtk.UIManager UIManager;
 
+	private global::Gtk.Action FileAction;
+
+	private global::Gtk.Action QuitAction;
+
+	private global::Gtk.Action LogAction;
+
+	private global::Gtk.Action ShowLogWindowAction;
+
 	private global::Gtk.VBox vbox1;
 
-	private global::Gtk.MenuBar menubar1;
+	private global::Gtk.MenuBar menuBar;
 
 	private global::Gtk.HBox hbox1;
 
-	private global::Gtk.DrawingArea drawingarea1;
+	private global::Gtk.VBox boxCamera;
+
+	private global::Gtk.DrawingArea drawingAreaCamera;
 
 	private global::Gtk.Alignment alignment1;
 
-	private global::Gtk.ScrolledWindow GtkScrolledWindow;
+	private global::Gtk.HBox hbox2;
+
+	private global::Gtk.CheckButton checkButtonCameraOn;
+
+	private global::Gtk.CheckButton checkButtonRobotPosition;
+
+	private global::Gtk.HBox hbox3;
+
+	private global::Gtk.VSeparator vseparator1;
+
+	private global::Gtk.Alignment alignment3;
+
+	private global::Gtk.VBox vbox5;
+
+	private global::Gtk.VBox vbox10;
+
+	private global::Gtk.Label labelServer;
+
+	private global::Gtk.Alignment gtkAlignmentServer;
+
+	private global::Gtk.VBox vbox6;
+
+	private global::Gtk.Table table1;
+
+	private global::Gtk.Entry entryServerName;
+
+	private global::Gtk.Entry entryServerPort;
+
+	private global::Gtk.Entry entryTimeout;
+
+	private global::Gtk.Label label1;
+
+	private global::Gtk.Label label2;
+
+	private global::Gtk.Label label5;
+
+	private global::Gtk.Button buttonServerConnection;
+
+	private global::Gtk.HSeparator hseparator1;
+
+	private global::Gtk.VBox vbox11;
 
-	private global::Gtk.Frame frame1;
+	private global::Gtk.Label labelRobot;
 
-	private global::Gtk.Fixed fixed4;
+	private global::Gtk.Alignment alignment9;
 
-	private global::Gtk.Button button7;
+	private global::Gtk.Alignment gtkAlignmentRobot;
 
-	private global::Gtk.Label GtkLabel2;
+	private global::Gtk.VBox vbox8;
 
-	private global::Gtk.Statusbar statusbar1;
+	private global::Gtk.Alignment alignment6;
+
+	private global::Gtk.HBox hbox4;
+
+	private global::Gtk.RadioButton radioButtonWithWatchdog;
+
+	private global::Gtk.RadioButton radioButtonWithoutWatchdog;
+
+	private global::Gtk.Alignment alignment5;
+
+	private global::Gtk.Alignment alignment7;
+
+	private global::Gtk.Button buttonRobotActivation;
+
+	private global::Gtk.HSeparator hseparator2;
+
+	private global::Gtk.VBox vbox12;
+
+	private global::Gtk.Label labelRobotControl;
+
+	private global::Gtk.Alignment gtkAlignmentRobotControl;
+
+	private global::Gtk.VBox vbox9;
+
+	private global::Gtk.Alignment alignment8;
+
+	private global::Gtk.Table table4;
+
+	private global::Gtk.Button buttonDown;
+
+	private global::Gtk.Button buttonForward;
+
+	private global::Gtk.Button buttonLeft;
+
+	private global::Gtk.Button buttonRight;
+
+	private global::Gtk.Table table3;
+
+	private global::Gtk.Label label3;
+
+	private global::Gtk.Label labelBatteryLevel;
+
+	private global::Gtk.CheckButton checkButtonGetBattery;
 
 	protected virtual void Build()
 	{
@@ -33,21 +125,37 @@ public partial class MainWindow
 		// Widget MainWindow
 		this.UIManager = new global::Gtk.UIManager();
 		global::Gtk.ActionGroup w1 = new global::Gtk.ActionGroup("Default");
+		this.FileAction = new global::Gtk.Action("FileAction", global::Mono.Unix.Catalog.GetString("File"), null, null);
+		this.FileAction.IsImportant = true;
+		this.FileAction.ShortLabel = global::Mono.Unix.Catalog.GetString("File");
+		w1.Add(this.FileAction, null);
+		this.QuitAction = new global::Gtk.Action("QuitAction", global::Mono.Unix.Catalog.GetString("Quit..."), null, null);
+		this.QuitAction.IsImportant = true;
+		this.QuitAction.ShortLabel = global::Mono.Unix.Catalog.GetString("Quit");
+		w1.Add(this.QuitAction, "<Primary><Mod2>q");
+		this.LogAction = new global::Gtk.Action("LogAction", global::Mono.Unix.Catalog.GetString("Log"), null, null);
+		this.LogAction.ShortLabel = global::Mono.Unix.Catalog.GetString("Log");
+		w1.Add(this.LogAction, null);
+		this.ShowLogWindowAction = new global::Gtk.Action("ShowLogWindowAction", global::Mono.Unix.Catalog.GetString("Show log window"), null, null);
+		this.ShowLogWindowAction.ShortLabel = global::Mono.Unix.Catalog.GetString("Show log window");
+		w1.Add(this.ShowLogWindowAction, "<Primary><Mod2>s");
 		this.UIManager.InsertActionGroup(w1, 0);
 		this.AddAccelGroup(this.UIManager.AccelGroup);
 		this.Name = "MainWindow";
 		this.Title = global::Mono.Unix.Catalog.GetString("Monitor UI");
+		this.Icon = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.robot-icon.resized.png");
 		this.WindowPosition = ((global::Gtk.WindowPosition)(4));
+		this.BorderWidth = ((uint)(5));
 		// Container child MainWindow.Gtk.Container+ContainerChild
 		this.vbox1 = new global::Gtk.VBox();
 		this.vbox1.Name = "vbox1";
 		this.vbox1.Spacing = 6;
 		// Container child vbox1.Gtk.Box+BoxChild
-		this.UIManager.AddUiFromString("<ui><menubar name=\'menubar1\'/></ui>");
-		this.menubar1 = ((global::Gtk.MenuBar)(this.UIManager.GetWidget("/menubar1")));
-		this.menubar1.Name = "menubar1";
-		this.vbox1.Add(this.menubar1);
-		global::Gtk.Box.BoxChild w2 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.menubar1]));
+		this.UIManager.AddUiFromString(@"<ui><menubar name='menuBar'><menu name='FileAction' action='FileAction'><menuitem name='QuitAction' action='QuitAction'/></menu><menu name='LogAction' action='LogAction'><menuitem name='ShowLogWindowAction' action='ShowLogWindowAction'/></menu></menubar></ui>");
+		this.menuBar = ((global::Gtk.MenuBar)(this.UIManager.GetWidget("/menuBar")));
+		this.menuBar.Name = "menuBar";
+		this.vbox1.Add(this.menuBar);
+		global::Gtk.Box.BoxChild w2 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.menuBar]));
 		w2.Position = 0;
 		w2.Expand = false;
 		w2.Fill = false;
@@ -56,71 +164,486 @@ public partial class MainWindow
 		this.hbox1.Name = "hbox1";
 		this.hbox1.Spacing = 6;
 		// Container child hbox1.Gtk.Box+BoxChild
-		this.drawingarea1 = new global::Gtk.DrawingArea();
-		this.drawingarea1.Name = "drawingarea1";
-		this.hbox1.Add(this.drawingarea1);
-		global::Gtk.Box.BoxChild w3 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.drawingarea1]));
+		this.boxCamera = new global::Gtk.VBox();
+		this.boxCamera.Name = "boxCamera";
+		this.boxCamera.Spacing = 6;
+		// Container child boxCamera.Gtk.Box+BoxChild
+		this.drawingAreaCamera = new global::Gtk.DrawingArea();
+		this.drawingAreaCamera.Name = "drawingAreaCamera";
+		this.boxCamera.Add(this.drawingAreaCamera);
+		global::Gtk.Box.BoxChild w3 = ((global::Gtk.Box.BoxChild)(this.boxCamera[this.drawingAreaCamera]));
 		w3.Position = 0;
-		// Container child hbox1.Gtk.Box+BoxChild
-		this.alignment1 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
+		// Container child boxCamera.Gtk.Box+BoxChild
+		this.alignment1 = new global::Gtk.Alignment(0F, 0.5F, 0F, 1F);
 		this.alignment1.Name = "alignment1";
+		this.alignment1.BorderWidth = ((uint)(6));
 		// Container child alignment1.Gtk.Container+ContainerChild
-		this.GtkScrolledWindow = new global::Gtk.ScrolledWindow();
-		this.GtkScrolledWindow.Name = "GtkScrolledWindow";
-		this.GtkScrolledWindow.ShadowType = ((global::Gtk.ShadowType)(1));
-		// Container child GtkScrolledWindow.Gtk.Container+ContainerChild
-		global::Gtk.Viewport w4 = new global::Gtk.Viewport();
-		w4.ShadowType = ((global::Gtk.ShadowType)(0));
-		// Container child GtkViewport.Gtk.Container+ContainerChild
-		this.frame1 = new global::Gtk.Frame();
-		this.frame1.Name = "frame1";
-		this.frame1.ShadowType = ((global::Gtk.ShadowType)(0));
-		// Container child frame1.Gtk.Container+ContainerChild
-		this.fixed4 = new global::Gtk.Fixed();
-		this.fixed4.Name = "fixed4";
-		this.fixed4.HasWindow = false;
-		// Container child fixed4.Gtk.Fixed+FixedChild
-		this.button7 = new global::Gtk.Button();
-		this.button7.CanFocus = true;
-		this.button7.Name = "button7";
-		this.button7.UseUnderline = true;
-		this.button7.Label = global::Mono.Unix.Catalog.GetString("GtkButton");
-		this.fixed4.Add(this.button7);
-		global::Gtk.Fixed.FixedChild w5 = ((global::Gtk.Fixed.FixedChild)(this.fixed4[this.button7]));
-		w5.X = 30;
-		w5.Y = 25;
-		this.frame1.Add(this.fixed4);
-		this.GtkLabel2 = new global::Gtk.Label();
-		this.GtkLabel2.Name = "GtkLabel2";
-		this.GtkLabel2.LabelProp = global::Mono.Unix.Catalog.GetString("<b>Controls</b>");
-		this.GtkLabel2.UseMarkup = true;
-		this.frame1.LabelWidget = this.GtkLabel2;
-		w4.Add(this.frame1);
-		this.GtkScrolledWindow.Add(w4);
-		this.alignment1.Add(this.GtkScrolledWindow);
-		this.hbox1.Add(this.alignment1);
-		global::Gtk.Box.BoxChild w10 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.alignment1]));
-		w10.Position = 1;
+		this.hbox2 = new global::Gtk.HBox();
+		this.hbox2.Name = "hbox2";
+		this.hbox2.Spacing = 6;
+		// Container child hbox2.Gtk.Box+BoxChild
+		this.checkButtonCameraOn = new global::Gtk.CheckButton();
+		this.checkButtonCameraOn.CanFocus = true;
+		this.checkButtonCameraOn.Name = "checkButtonCameraOn";
+		this.checkButtonCameraOn.Label = global::Mono.Unix.Catalog.GetString("Camera On");
+		this.checkButtonCameraOn.DrawIndicator = true;
+		this.checkButtonCameraOn.UseUnderline = true;
+		this.hbox2.Add(this.checkButtonCameraOn);
+		global::Gtk.Box.BoxChild w4 = ((global::Gtk.Box.BoxChild)(this.hbox2[this.checkButtonCameraOn]));
+		w4.Position = 0;
+		// Container child hbox2.Gtk.Box+BoxChild
+		this.checkButtonRobotPosition = new global::Gtk.CheckButton();
+		this.checkButtonRobotPosition.CanFocus = true;
+		this.checkButtonRobotPosition.Name = "checkButtonRobotPosition";
+		this.checkButtonRobotPosition.Label = global::Mono.Unix.Catalog.GetString("Robot Position");
+		this.checkButtonRobotPosition.DrawIndicator = true;
+		this.checkButtonRobotPosition.UseUnderline = true;
+		this.hbox2.Add(this.checkButtonRobotPosition);
+		global::Gtk.Box.BoxChild w5 = ((global::Gtk.Box.BoxChild)(this.hbox2[this.checkButtonRobotPosition]));
+		w5.Position = 1;
+		this.alignment1.Add(this.hbox2);
+		this.boxCamera.Add(this.alignment1);
+		global::Gtk.Box.BoxChild w7 = ((global::Gtk.Box.BoxChild)(this.boxCamera[this.alignment1]));
+		w7.Position = 1;
+		w7.Expand = false;
+		w7.Fill = false;
+		this.hbox1.Add(this.boxCamera);
+		global::Gtk.Box.BoxChild w8 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.boxCamera]));
+		w8.Position = 0;
+		// Container child hbox1.Gtk.Box+BoxChild
+		this.hbox3 = new global::Gtk.HBox();
+		this.hbox3.Name = "hbox3";
+		this.hbox3.Spacing = 6;
+		// Container child hbox3.Gtk.Box+BoxChild
+		this.vseparator1 = new global::Gtk.VSeparator();
+		this.vseparator1.Name = "vseparator1";
+		this.hbox3.Add(this.vseparator1);
+		global::Gtk.Box.BoxChild w9 = ((global::Gtk.Box.BoxChild)(this.hbox3[this.vseparator1]));
+		w9.Position = 0;
+		w9.Expand = false;
+		w9.Fill = false;
+		// Container child hbox3.Gtk.Box+BoxChild
+		this.alignment3 = new global::Gtk.Alignment(1F, 0F, 0F, 0F);
+		this.alignment3.Name = "alignment3";
+		this.alignment3.BorderWidth = ((uint)(4));
+		// Container child alignment3.Gtk.Container+ContainerChild
+		this.vbox5 = new global::Gtk.VBox();
+		this.vbox5.Name = "vbox5";
+		this.vbox5.Spacing = 6;
+		// Container child vbox5.Gtk.Box+BoxChild
+		this.vbox10 = new global::Gtk.VBox();
+		this.vbox10.Name = "vbox10";
+		this.vbox10.Spacing = 6;
+		// Container child vbox10.Gtk.Box+BoxChild
+		this.labelServer = new global::Gtk.Label();
+		this.labelServer.HeightRequest = 36;
+		this.labelServer.Name = "labelServer";
+		this.labelServer.LabelProp = global::Mono.Unix.Catalog.GetString("<b><u>Server connection</u></b>");
+		this.labelServer.UseMarkup = true;
+		this.vbox10.Add(this.labelServer);
+		global::Gtk.Box.BoxChild w10 = ((global::Gtk.Box.BoxChild)(this.vbox10[this.labelServer]));
+		w10.Position = 0;
+		w10.Expand = false;
+		w10.Fill = false;
+		// Container child vbox10.Gtk.Box+BoxChild
+		this.gtkAlignmentServer = new global::Gtk.Alignment(0F, 0F, 1F, 1F);
+		this.gtkAlignmentServer.Name = "gtkAlignmentServer";
+		this.gtkAlignmentServer.LeftPadding = ((uint)(12));
+		// Container child gtkAlignmentServer.Gtk.Container+ContainerChild
+		this.vbox6 = new global::Gtk.VBox();
+		this.vbox6.Name = "vbox6";
+		this.vbox6.Spacing = 6;
+		// Container child vbox6.Gtk.Box+BoxChild
+		this.table1 = new global::Gtk.Table(((uint)(3)), ((uint)(2)), false);
+		this.table1.Name = "table1";
+		this.table1.RowSpacing = ((uint)(6));
+		this.table1.ColumnSpacing = ((uint)(6));
+		// Container child table1.Gtk.Table+TableChild
+		this.entryServerName = new global::Gtk.Entry();
+		this.entryServerName.CanFocus = true;
+		this.entryServerName.Name = "entryServerName";
+		this.entryServerName.IsEditable = true;
+		this.entryServerName.InvisibleChar = '●';
+		this.table1.Add(this.entryServerName);
+		global::Gtk.Table.TableChild w11 = ((global::Gtk.Table.TableChild)(this.table1[this.entryServerName]));
+		w11.LeftAttach = ((uint)(1));
+		w11.RightAttach = ((uint)(2));
+		w11.YOptions = ((global::Gtk.AttachOptions)(4));
+		// Container child table1.Gtk.Table+TableChild
+		this.entryServerPort = new global::Gtk.Entry();
+		this.entryServerPort.CanFocus = true;
+		this.entryServerPort.Name = "entryServerPort";
+		this.entryServerPort.IsEditable = true;
+		this.entryServerPort.InvisibleChar = '●';
+		this.table1.Add(this.entryServerPort);
+		global::Gtk.Table.TableChild w12 = ((global::Gtk.Table.TableChild)(this.table1[this.entryServerPort]));
+		w12.TopAttach = ((uint)(1));
+		w12.BottomAttach = ((uint)(2));
+		w12.LeftAttach = ((uint)(1));
+		w12.RightAttach = ((uint)(2));
+		w12.YOptions = ((global::Gtk.AttachOptions)(4));
+		// Container child table1.Gtk.Table+TableChild
+		this.entryTimeout = new global::Gtk.Entry();
+		this.entryTimeout.CanFocus = true;
+		this.entryTimeout.Name = "entryTimeout";
+		this.entryTimeout.IsEditable = true;
+		this.entryTimeout.InvisibleChar = '●';
+		this.table1.Add(this.entryTimeout);
+		global::Gtk.Table.TableChild w13 = ((global::Gtk.Table.TableChild)(this.table1[this.entryTimeout]));
+		w13.TopAttach = ((uint)(2));
+		w13.BottomAttach = ((uint)(3));
+		w13.LeftAttach = ((uint)(1));
+		w13.RightAttach = ((uint)(2));
+		w13.YOptions = ((global::Gtk.AttachOptions)(4));
+		// Container child table1.Gtk.Table+TableChild
+		this.label1 = new global::Gtk.Label();
+		this.label1.Name = "label1";
+		this.label1.Xalign = 1F;
+		this.label1.LabelProp = global::Mono.Unix.Catalog.GetString("Server name:");
+		this.label1.Justify = ((global::Gtk.Justification)(1));
+		this.table1.Add(this.label1);
+		global::Gtk.Table.TableChild w14 = ((global::Gtk.Table.TableChild)(this.table1[this.label1]));
+		w14.XOptions = ((global::Gtk.AttachOptions)(4));
+		w14.YOptions = ((global::Gtk.AttachOptions)(4));
+		// Container child table1.Gtk.Table+TableChild
+		this.label2 = new global::Gtk.Label();
+		this.label2.Name = "label2";
+		this.label2.Xalign = 1F;
+		this.label2.LabelProp = global::Mono.Unix.Catalog.GetString("Server port:");
+		this.label2.Justify = ((global::Gtk.Justification)(1));
+		this.table1.Add(this.label2);
+		global::Gtk.Table.TableChild w15 = ((global::Gtk.Table.TableChild)(this.table1[this.label2]));
+		w15.TopAttach = ((uint)(1));
+		w15.BottomAttach = ((uint)(2));
+		w15.XOptions = ((global::Gtk.AttachOptions)(4));
+		w15.YOptions = ((global::Gtk.AttachOptions)(4));
+		// Container child table1.Gtk.Table+TableChild
+		this.label5 = new global::Gtk.Label();
+		this.label5.Name = "label5";
+		this.label5.LabelProp = global::Mono.Unix.Catalog.GetString("Timeout (ms):");
+		this.table1.Add(this.label5);
+		global::Gtk.Table.TableChild w16 = ((global::Gtk.Table.TableChild)(this.table1[this.label5]));
+		w16.TopAttach = ((uint)(2));
+		w16.BottomAttach = ((uint)(3));
+		w16.XOptions = ((global::Gtk.AttachOptions)(4));
+		w16.YOptions = ((global::Gtk.AttachOptions)(4));
+		this.vbox6.Add(this.table1);
+		global::Gtk.Box.BoxChild w17 = ((global::Gtk.Box.BoxChild)(this.vbox6[this.table1]));
+		w17.Position = 0;
+		w17.Expand = false;
+		w17.Fill = false;
+		// Container child vbox6.Gtk.Box+BoxChild
+		this.buttonServerConnection = new global::Gtk.Button();
+		this.buttonServerConnection.CanFocus = true;
+		this.buttonServerConnection.Name = "buttonServerConnection";
+		this.buttonServerConnection.UseUnderline = true;
+		this.buttonServerConnection.Label = global::Mono.Unix.Catalog.GetString("Connect");
+		this.vbox6.Add(this.buttonServerConnection);
+		global::Gtk.Box.BoxChild w18 = ((global::Gtk.Box.BoxChild)(this.vbox6[this.buttonServerConnection]));
+		w18.PackType = ((global::Gtk.PackType)(1));
+		w18.Position = 1;
+		w18.Expand = false;
+		w18.Fill = false;
+		this.gtkAlignmentServer.Add(this.vbox6);
+		this.vbox10.Add(this.gtkAlignmentServer);
+		global::Gtk.Box.BoxChild w20 = ((global::Gtk.Box.BoxChild)(this.vbox10[this.gtkAlignmentServer]));
+		w20.Position = 1;
+		w20.Expand = false;
+		w20.Fill = false;
+		this.vbox5.Add(this.vbox10);
+		global::Gtk.Box.BoxChild w21 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox10]));
+		w21.Position = 0;
+		w21.Expand = false;
+		w21.Fill = false;
+		// Container child vbox5.Gtk.Box+BoxChild
+		this.hseparator1 = new global::Gtk.HSeparator();
+		this.hseparator1.Name = "hseparator1";
+		this.vbox5.Add(this.hseparator1);
+		global::Gtk.Box.BoxChild w22 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.hseparator1]));
+		w22.Position = 1;
+		w22.Expand = false;
+		w22.Fill = false;
+		// Container child vbox5.Gtk.Box+BoxChild
+		this.vbox11 = new global::Gtk.VBox();
+		this.vbox11.Name = "vbox11";
+		this.vbox11.Spacing = 6;
+		// Container child vbox11.Gtk.Box+BoxChild
+		this.labelRobot = new global::Gtk.Label();
+		this.labelRobot.HeightRequest = 36;
+		this.labelRobot.Name = "labelRobot";
+		this.labelRobot.LabelProp = global::Mono.Unix.Catalog.GetString("<b><u>Robot Activation</u></b>");
+		this.labelRobot.UseMarkup = true;
+		this.vbox11.Add(this.labelRobot);
+		global::Gtk.Box.BoxChild w23 = ((global::Gtk.Box.BoxChild)(this.vbox11[this.labelRobot]));
+		w23.Position = 0;
+		w23.Expand = false;
+		w23.Fill = false;
+		// Container child vbox11.Gtk.Box+BoxChild
+		this.alignment9 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
+		this.alignment9.Name = "alignment9";
+		// Container child alignment9.Gtk.Container+ContainerChild
+		this.gtkAlignmentRobot = new global::Gtk.Alignment(0F, 0F, 1F, 1F);
+		this.gtkAlignmentRobot.Name = "gtkAlignmentRobot";
+		this.gtkAlignmentRobot.LeftPadding = ((uint)(12));
+		// Container child gtkAlignmentRobot.Gtk.Container+ContainerChild
+		this.vbox8 = new global::Gtk.VBox();
+		this.vbox8.Name = "vbox8";
+		this.vbox8.Spacing = 6;
+		// Container child vbox8.Gtk.Box+BoxChild
+		this.alignment6 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
+		this.alignment6.Name = "alignment6";
+		// Container child alignment6.Gtk.Container+ContainerChild
+		this.hbox4 = new global::Gtk.HBox();
+		this.hbox4.Name = "hbox4";
+		this.hbox4.Spacing = 6;
+		// Container child hbox4.Gtk.Box+BoxChild
+		this.radioButtonWithWatchdog = new global::Gtk.RadioButton(global::Mono.Unix.Catalog.GetString("with watchdog"));
+		this.radioButtonWithWatchdog.CanFocus = true;
+		this.radioButtonWithWatchdog.Name = "radioButtonWithWatchdog";
+		this.radioButtonWithWatchdog.DrawIndicator = true;
+		this.radioButtonWithWatchdog.UseUnderline = true;
+		this.radioButtonWithWatchdog.Group = new global::GLib.SList(global::System.IntPtr.Zero);
+		this.hbox4.Add(this.radioButtonWithWatchdog);
+		global::Gtk.Box.BoxChild w24 = ((global::Gtk.Box.BoxChild)(this.hbox4[this.radioButtonWithWatchdog]));
+		w24.Position = 0;
+		// Container child hbox4.Gtk.Box+BoxChild
+		this.radioButtonWithoutWatchdog = new global::Gtk.RadioButton(global::Mono.Unix.Catalog.GetString("without watchdog"));
+		this.radioButtonWithoutWatchdog.CanFocus = true;
+		this.radioButtonWithoutWatchdog.Name = "radioButtonWithoutWatchdog";
+		this.radioButtonWithoutWatchdog.DrawIndicator = true;
+		this.radioButtonWithoutWatchdog.UseUnderline = true;
+		this.radioButtonWithoutWatchdog.Group = this.radioButtonWithWatchdog.Group;
+		this.hbox4.Add(this.radioButtonWithoutWatchdog);
+		global::Gtk.Box.BoxChild w25 = ((global::Gtk.Box.BoxChild)(this.hbox4[this.radioButtonWithoutWatchdog]));
+		w25.Position = 1;
+		this.alignment6.Add(this.hbox4);
+		this.vbox8.Add(this.alignment6);
+		global::Gtk.Box.BoxChild w27 = ((global::Gtk.Box.BoxChild)(this.vbox8[this.alignment6]));
+		w27.Position = 0;
+		w27.Expand = false;
+		w27.Fill = false;
+		// Container child vbox8.Gtk.Box+BoxChild
+		this.alignment5 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
+		this.alignment5.Name = "alignment5";
+		// Container child alignment5.Gtk.Container+ContainerChild
+		this.alignment7 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
+		this.alignment7.Name = "alignment7";
+		// Container child alignment7.Gtk.Container+ContainerChild
+		this.buttonRobotActivation = new global::Gtk.Button();
+		this.buttonRobotActivation.CanFocus = true;
+		this.buttonRobotActivation.Name = "buttonRobotActivation";
+		this.buttonRobotActivation.UseUnderline = true;
+		this.buttonRobotActivation.Label = global::Mono.Unix.Catalog.GetString("Activation");
+		this.alignment7.Add(this.buttonRobotActivation);
+		this.alignment5.Add(this.alignment7);
+		this.vbox8.Add(this.alignment5);
+		global::Gtk.Box.BoxChild w30 = ((global::Gtk.Box.BoxChild)(this.vbox8[this.alignment5]));
+		w30.Position = 1;
+		w30.Expand = false;
+		w30.Fill = false;
+		this.gtkAlignmentRobot.Add(this.vbox8);
+		this.alignment9.Add(this.gtkAlignmentRobot);
+		this.vbox11.Add(this.alignment9);
+		global::Gtk.Box.BoxChild w33 = ((global::Gtk.Box.BoxChild)(this.vbox11[this.alignment9]));
+		w33.Position = 1;
+		w33.Expand = false;
+		w33.Fill = false;
+		this.vbox5.Add(this.vbox11);
+		global::Gtk.Box.BoxChild w34 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox11]));
+		w34.Position = 2;
+		w34.Expand = false;
+		w34.Fill = false;
+		// Container child vbox5.Gtk.Box+BoxChild
+		this.hseparator2 = new global::Gtk.HSeparator();
+		this.hseparator2.Name = "hseparator2";
+		this.vbox5.Add(this.hseparator2);
+		global::Gtk.Box.BoxChild w35 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.hseparator2]));
+		w35.Position = 3;
+		w35.Expand = false;
+		w35.Fill = false;
+		// Container child vbox5.Gtk.Box+BoxChild
+		this.vbox12 = new global::Gtk.VBox();
+		this.vbox12.Name = "vbox12";
+		this.vbox12.Spacing = 6;
+		// Container child vbox12.Gtk.Box+BoxChild
+		this.labelRobotControl = new global::Gtk.Label();
+		this.labelRobotControl.HeightRequest = 36;
+		this.labelRobotControl.Name = "labelRobotControl";
+		this.labelRobotControl.LabelProp = global::Mono.Unix.Catalog.GetString("<b><u>Robot Controls and Status</u></b>");
+		this.labelRobotControl.UseMarkup = true;
+		this.vbox12.Add(this.labelRobotControl);
+		global::Gtk.Box.BoxChild w36 = ((global::Gtk.Box.BoxChild)(this.vbox12[this.labelRobotControl]));
+		w36.Position = 0;
+		w36.Expand = false;
+		w36.Fill = false;
+		// Container child vbox12.Gtk.Box+BoxChild
+		this.gtkAlignmentRobotControl = new global::Gtk.Alignment(0F, 0F, 1F, 1F);
+		this.gtkAlignmentRobotControl.Name = "gtkAlignmentRobotControl";
+		this.gtkAlignmentRobotControl.LeftPadding = ((uint)(12));
+		// Container child gtkAlignmentRobotControl.Gtk.Container+ContainerChild
+		this.vbox9 = new global::Gtk.VBox();
+		this.vbox9.Name = "vbox9";
+		this.vbox9.Spacing = 6;
+		// Container child vbox9.Gtk.Box+BoxChild
+		this.alignment8 = new global::Gtk.Alignment(0.5F, 0.5F, 0F, 0F);
+		this.alignment8.Name = "alignment8";
+		// Container child alignment8.Gtk.Container+ContainerChild
+		this.table4 = new global::Gtk.Table(((uint)(3)), ((uint)(3)), false);
+		this.table4.Name = "table4";
+		this.table4.RowSpacing = ((uint)(6));
+		this.table4.ColumnSpacing = ((uint)(6));
+		// Container child table4.Gtk.Table+TableChild
+		this.buttonDown = new global::Gtk.Button();
+		this.buttonDown.CanFocus = true;
+		this.buttonDown.Name = "buttonDown";
+		this.buttonDown.UseUnderline = true;
+		global::Gtk.Image w37 = new global::Gtk.Image();
+		w37.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-down-symbolic.symbolic.png");
+		this.buttonDown.Image = w37;
+		this.table4.Add(this.buttonDown);
+		global::Gtk.Table.TableChild w38 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonDown]));
+		w38.TopAttach = ((uint)(2));
+		w38.BottomAttach = ((uint)(3));
+		w38.LeftAttach = ((uint)(1));
+		w38.RightAttach = ((uint)(2));
+		w38.XOptions = ((global::Gtk.AttachOptions)(4));
+		w38.YOptions = ((global::Gtk.AttachOptions)(4));
+		// Container child table4.Gtk.Table+TableChild
+		this.buttonForward = new global::Gtk.Button();
+		this.buttonForward.CanFocus = true;
+		this.buttonForward.Name = "buttonForward";
+		this.buttonForward.UseUnderline = true;
+		global::Gtk.Image w39 = new global::Gtk.Image();
+		w39.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-up-symbolic.symbolic.png");
+		this.buttonForward.Image = w39;
+		this.table4.Add(this.buttonForward);
+		global::Gtk.Table.TableChild w40 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonForward]));
+		w40.LeftAttach = ((uint)(1));
+		w40.RightAttach = ((uint)(2));
+		w40.XOptions = ((global::Gtk.AttachOptions)(4));
+		w40.YOptions = ((global::Gtk.AttachOptions)(4));
+		// Container child table4.Gtk.Table+TableChild
+		this.buttonLeft = new global::Gtk.Button();
+		this.buttonLeft.CanFocus = true;
+		this.buttonLeft.Name = "buttonLeft";
+		this.buttonLeft.UseUnderline = true;
+		global::Gtk.Image w41 = new global::Gtk.Image();
+		w41.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-start-symbolic.symbolic.png");
+		this.buttonLeft.Image = w41;
+		this.table4.Add(this.buttonLeft);
+		global::Gtk.Table.TableChild w42 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonLeft]));
+		w42.TopAttach = ((uint)(1));
+		w42.BottomAttach = ((uint)(2));
+		w42.XOptions = ((global::Gtk.AttachOptions)(4));
+		w42.YOptions = ((global::Gtk.AttachOptions)(4));
+		// Container child table4.Gtk.Table+TableChild
+		this.buttonRight = new global::Gtk.Button();
+		this.buttonRight.CanFocus = true;
+		this.buttonRight.Name = "buttonRight";
+		this.buttonRight.UseUnderline = true;
+		global::Gtk.Image w43 = new global::Gtk.Image();
+		w43.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-end-symbolic.symbolic.png");
+		this.buttonRight.Image = w43;
+		this.table4.Add(this.buttonRight);
+		global::Gtk.Table.TableChild w44 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonRight]));
+		w44.TopAttach = ((uint)(1));
+		w44.BottomAttach = ((uint)(2));
+		w44.LeftAttach = ((uint)(2));
+		w44.RightAttach = ((uint)(3));
+		w44.XOptions = ((global::Gtk.AttachOptions)(4));
+		w44.YOptions = ((global::Gtk.AttachOptions)(4));
+		this.alignment8.Add(this.table4);
+		this.vbox9.Add(this.alignment8);
+		global::Gtk.Box.BoxChild w46 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.alignment8]));
+		w46.Position = 0;
+		w46.Expand = false;
+		w46.Fill = false;
+		// Container child vbox9.Gtk.Box+BoxChild
+		this.table3 = new global::Gtk.Table(((uint)(1)), ((uint)(2)), false);
+		this.table3.Name = "table3";
+		this.table3.RowSpacing = ((uint)(6));
+		this.table3.ColumnSpacing = ((uint)(6));
+		// Container child table3.Gtk.Table+TableChild
+		this.label3 = new global::Gtk.Label();
+		this.label3.Name = "label3";
+		this.label3.Xalign = 1F;
+		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 w47 = ((global::Gtk.Table.TableChild)(this.table3[this.label3]));
+		w47.YPadding = ((uint)(10));
+		w47.XOptions = ((global::Gtk.AttachOptions)(4));
+		w47.YOptions = ((global::Gtk.AttachOptions)(4));
+		// Container child table3.Gtk.Table+TableChild
+		this.labelBatteryLevel = new global::Gtk.Label();
+		this.labelBatteryLevel.Name = "labelBatteryLevel";
+		this.labelBatteryLevel.Xpad = 1;
+		this.labelBatteryLevel.Xalign = 0F;
+		this.labelBatteryLevel.LabelProp = global::Mono.Unix.Catalog.GetString("Unknown");
+		this.table3.Add(this.labelBatteryLevel);
+		global::Gtk.Table.TableChild w48 = ((global::Gtk.Table.TableChild)(this.table3[this.labelBatteryLevel]));
+		w48.LeftAttach = ((uint)(1));
+		w48.RightAttach = ((uint)(2));
+		w48.YOptions = ((global::Gtk.AttachOptions)(4));
+		this.vbox9.Add(this.table3);
+		global::Gtk.Box.BoxChild w49 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.table3]));
+		w49.Position = 2;
+		w49.Expand = false;
+		w49.Fill = false;
+		// Container child vbox9.Gtk.Box+BoxChild
+		this.checkButtonGetBattery = new global::Gtk.CheckButton();
+		this.checkButtonGetBattery.CanFocus = true;
+		this.checkButtonGetBattery.Name = "checkButtonGetBattery";
+		this.checkButtonGetBattery.Label = global::Mono.Unix.Catalog.GetString("Get battery level");
+		this.checkButtonGetBattery.DrawIndicator = true;
+		this.checkButtonGetBattery.UseUnderline = true;
+		this.vbox9.Add(this.checkButtonGetBattery);
+		global::Gtk.Box.BoxChild w50 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.checkButtonGetBattery]));
+		w50.Position = 3;
+		w50.Expand = false;
+		w50.Fill = false;
+		this.gtkAlignmentRobotControl.Add(this.vbox9);
+		this.vbox12.Add(this.gtkAlignmentRobotControl);
+		global::Gtk.Box.BoxChild w52 = ((global::Gtk.Box.BoxChild)(this.vbox12[this.gtkAlignmentRobotControl]));
+		w52.Position = 1;
+		this.vbox5.Add(this.vbox12);
+		global::Gtk.Box.BoxChild w53 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox12]));
+		w53.Position = 4;
+		this.alignment3.Add(this.vbox5);
+		this.hbox3.Add(this.alignment3);
+		global::Gtk.Box.BoxChild w55 = ((global::Gtk.Box.BoxChild)(this.hbox3[this.alignment3]));
+		w55.Position = 1;
+		w55.Expand = false;
+		w55.Fill = false;
+		this.hbox1.Add(this.hbox3);
+		global::Gtk.Box.BoxChild w56 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.hbox3]));
+		w56.Position = 1;
+		w56.Expand = false;
+		w56.Fill = false;
 		this.vbox1.Add(this.hbox1);
-		global::Gtk.Box.BoxChild w11 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.hbox1]));
-		w11.Position = 1;
-		// Container child vbox1.Gtk.Box+BoxChild
-		this.statusbar1 = new global::Gtk.Statusbar();
-		this.statusbar1.Name = "statusbar1";
-		this.statusbar1.Spacing = 6;
-		this.vbox1.Add(this.statusbar1);
-		global::Gtk.Box.BoxChild w12 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.statusbar1]));
-		w12.Position = 2;
-		w12.Expand = false;
-		w12.Fill = false;
+		global::Gtk.Box.BoxChild w57 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.hbox1]));
+		w57.Position = 1;
 		this.Add(this.vbox1);
 		if ((this.Child != null))
 		{
 			this.Child.ShowAll();
 		}
 		this.DefaultWidth = 1039;
-		this.DefaultHeight = 705;
+		this.DefaultHeight = 735;
 		this.Show();
 		this.DeleteEvent += new global::Gtk.DeleteEventHandler(this.OnDeleteEvent);
+		this.QuitAction.Activated += new global::System.EventHandler(this.OnQuitActionActivated);
+		this.ShowLogWindowAction.Activated += new global::System.EventHandler(this.OnShowLogWindowActionActivated);
+		this.drawingAreaCamera.Realized += new global::System.EventHandler(this.OnDrawingAreaCameraRealized);
+		this.drawingAreaCamera.ExposeEvent += new global::Gtk.ExposeEventHandler(this.OnDrawingAreaCameraExposeEvent);
+		this.drawingAreaCamera.ConfigureEvent += new global::Gtk.ConfigureEventHandler(this.OnDrawingAreaCameraConfigureEvent);
+		this.checkButtonCameraOn.Clicked += new global::System.EventHandler(this.OnCheckButtonCameraOnClicked);
+		this.checkButtonRobotPosition.Clicked += new global::System.EventHandler(this.OnCheckButtonRobotPositionClicked);
+		this.buttonServerConnection.Clicked += new global::System.EventHandler(this.OnButtonServerConnectionClicked);
+		this.buttonRobotActivation.Clicked += new global::System.EventHandler(this.OnButtonRobotActivationClicked);
+		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);
+		this.buttonDown.Clicked += new global::System.EventHandler(this.OnButtonMouvClicked);
 	}
 }

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

@@ -7,20 +7,56 @@
     <widget-library name="glade-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
     <widget-library name="../bin/Debug/monitor.exe" internal="true" />
   </import>
-  <widget class="Gtk.Window" id="MainWindow" design-size="1039 705">
-    <action-group name="Default" />
+  <widget class="Gtk.Window" id="MainWindow" design-size="1039 735">
+    <action-group name="Default">
+      <action id="FileAction">
+        <property name="Type">Action</property>
+        <property name="IsImportant">True</property>
+        <property name="Label" translatable="yes">File</property>
+        <property name="ShortLabel" translatable="yes">File</property>
+      </action>
+      <action id="QuitAction">
+        <property name="Type">Action</property>
+        <property name="Accelerator">&lt;Primary&gt;&lt;Mod2&gt;q</property>
+        <property name="IsImportant">True</property>
+        <property name="Label" translatable="yes">Quit...</property>
+        <property name="ShortLabel" translatable="yes">Quit</property>
+        <signal name="Activated" handler="OnQuitActionActivated" />
+      </action>
+      <action id="LogAction">
+        <property name="Type">Action</property>
+        <property name="Label" translatable="yes">Log</property>
+        <property name="ShortLabel" translatable="yes">Log</property>
+      </action>
+      <action id="ShowLogWindowAction">
+        <property name="Type">Action</property>
+        <property name="Accelerator">&lt;Primary&gt;&lt;Mod2&gt;s</property>
+        <property name="Label" translatable="yes">Show log window</property>
+        <property name="ShortLabel" translatable="yes">Show log window</property>
+        <signal name="Activated" handler="OnShowLogWindowActionActivated" />
+      </action>
+    </action-group>
     <property name="MemberName" />
     <property name="Title" translatable="yes">Monitor UI</property>
+    <property name="Icon">resource:monitor.ressources.robot-icon.resized.png</property>
     <property name="WindowPosition">CenterOnParent</property>
+    <property name="BorderWidth">5</property>
     <signal name="DeleteEvent" handler="OnDeleteEvent" />
     <child>
       <widget class="Gtk.VBox" id="vbox1">
         <property name="MemberName" />
         <property name="Spacing">6</property>
         <child>
-          <widget class="Gtk.MenuBar" id="menubar1">
+          <widget class="Gtk.MenuBar" id="menuBar">
             <property name="MemberName" />
-            <node name="__gtksharp_132_Stetic_Editor_ActionMenuBar" type="Menubar" />
+            <node name="menuBar" type="Menubar">
+              <node type="Menu" action="FileAction">
+                <node type="Menuitem" action="QuitAction" />
+              </node>
+              <node type="Menu" action="LogAction">
+                <node type="Menuitem" action="ShowLogWindowAction" />
+              </node>
+            </node>
           </widget>
           <packing>
             <property name="Position">0</property>
@@ -34,8 +70,71 @@
             <property name="MemberName" />
             <property name="Spacing">6</property>
             <child>
-              <widget class="Gtk.DrawingArea" id="drawingarea1">
+              <widget class="Gtk.VBox" id="boxCamera">
                 <property name="MemberName" />
+                <property name="Spacing">6</property>
+                <child>
+                  <widget class="Gtk.DrawingArea" id="drawingAreaCamera">
+                    <property name="MemberName" />
+                    <signal name="Realized" handler="OnDrawingAreaCameraRealized" />
+                    <signal name="ExposeEvent" handler="OnDrawingAreaCameraExposeEvent" />
+                    <signal name="ConfigureEvent" handler="OnDrawingAreaCameraConfigureEvent" />
+                  </widget>
+                  <packing>
+                    <property name="Position">0</property>
+                    <property name="AutoSize">True</property>
+                  </packing>
+                </child>
+                <child>
+                  <widget class="Gtk.Alignment" id="alignment1">
+                    <property name="MemberName" />
+                    <property name="Xscale">0</property>
+                    <property name="Xalign">0</property>
+                    <property name="BorderWidth">6</property>
+                    <child>
+                      <widget class="Gtk.HBox" id="hbox2">
+                        <property name="MemberName" />
+                        <property name="Spacing">6</property>
+                        <child>
+                          <widget class="Gtk.CheckButton" id="checkButtonCameraOn">
+                            <property name="MemberName" />
+                            <property name="CanFocus">True</property>
+                            <property name="Label" translatable="yes">Camera On</property>
+                            <property name="DrawIndicator">True</property>
+                            <property name="HasLabel">True</property>
+                            <property name="UseUnderline">True</property>
+                            <signal name="Clicked" handler="OnCheckButtonCameraOnClicked" />
+                          </widget>
+                          <packing>
+                            <property name="Position">0</property>
+                            <property name="AutoSize">True</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <widget class="Gtk.CheckButton" id="checkButtonRobotPosition">
+                            <property name="MemberName" />
+                            <property name="CanFocus">True</property>
+                            <property name="Label" translatable="yes">Robot Position</property>
+                            <property name="DrawIndicator">True</property>
+                            <property name="HasLabel">True</property>
+                            <property name="UseUnderline">True</property>
+                            <signal name="Clicked" handler="OnCheckButtonRobotPositionClicked" />
+                          </widget>
+                          <packing>
+                            <property name="Position">1</property>
+                            <property name="AutoSize">True</property>
+                          </packing>
+                        </child>
+                      </widget>
+                    </child>
+                  </widget>
+                  <packing>
+                    <property name="Position">1</property>
+                    <property name="AutoSize">False</property>
+                    <property name="Expand">False</property>
+                    <property name="Fill">False</property>
+                  </packing>
+                </child>
               </widget>
               <packing>
                 <property name="Position">0</property>
@@ -43,60 +142,648 @@
               </packing>
             </child>
             <child>
-              <widget class="Gtk.Alignment" id="alignment1">
+              <widget class="Gtk.HBox" id="hbox3">
                 <property name="MemberName" />
+                <property name="Spacing">6</property>
                 <child>
-                  <widget class="Gtk.ScrolledWindow" id="GtkScrolledWindow">
+                  <widget class="Gtk.VSeparator" id="vseparator1">
                     <property name="MemberName" />
-                    <property name="ShadowType">In</property>
+                  </widget>
+                  <packing>
+                    <property name="Position">0</property>
+                    <property name="AutoSize">True</property>
+                    <property name="Expand">False</property>
+                    <property name="Fill">False</property>
+                  </packing>
+                </child>
+                <child>
+                  <widget class="Gtk.Alignment" id="alignment3">
+                    <property name="MemberName" />
+                    <property name="Xscale">0</property>
+                    <property name="Yscale">0</property>
+                    <property name="Xalign">1</property>
+                    <property name="Yalign">0</property>
+                    <property name="BorderWidth">4</property>
                     <child>
-                      <widget class="Gtk.Viewport" id="GtkViewport">
+                      <widget class="Gtk.VBox" id="vbox5">
                         <property name="MemberName" />
-                        <property name="ShadowType">None</property>
+                        <property name="Spacing">6</property>
+                        <child>
+                          <widget class="Gtk.VBox" id="vbox10">
+                            <property name="MemberName" />
+                            <property name="Spacing">6</property>
+                            <child>
+                              <widget class="Gtk.Label" id="labelServer">
+                                <property name="MemberName" />
+                                <property name="HeightRequest">36</property>
+                                <property name="LabelProp" translatable="yes">&lt;b&gt;&lt;u&gt;Server connection&lt;/u&gt;&lt;/b&gt;</property>
+                                <property name="UseMarkup">True</property>
+                              </widget>
+                              <packing>
+                                <property name="Position">0</property>
+                                <property name="AutoSize">True</property>
+                                <property name="Expand">False</property>
+                                <property name="Fill">False</property>
+                              </packing>
+                            </child>
+                            <child>
+                              <widget class="Gtk.Alignment" id="gtkAlignmentServer">
+                                <property name="MemberName" />
+                                <property name="Xalign">0</property>
+                                <property name="Yalign">0</property>
+                                <property name="LeftPadding">12</property>
+                                <child>
+                                  <widget class="Gtk.VBox" id="vbox6">
+                                    <property name="MemberName" />
+                                    <property name="Spacing">6</property>
+                                    <child>
+                                      <widget class="Gtk.Table" id="table1">
+                                        <property name="MemberName" />
+                                        <property name="NRows">3</property>
+                                        <property name="NColumns">2</property>
+                                        <property name="RowSpacing">6</property>
+                                        <property name="ColumnSpacing">6</property>
+                                        <child>
+                                          <widget class="Gtk.Entry" id="entryServerName">
+                                            <property name="MemberName" />
+                                            <property name="CanFocus">True</property>
+                                            <property name="IsEditable">True</property>
+                                            <property name="InvisibleChar">●</property>
+                                          </widget>
+                                          <packing>
+                                            <property name="LeftAttach">1</property>
+                                            <property name="RightAttach">2</property>
+                                            <property name="AutoSize">True</property>
+                                            <property name="YOptions">Fill</property>
+                                            <property name="XExpand">True</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>
+                                        <child>
+                                          <widget class="Gtk.Entry" id="entryServerPort">
+                                            <property name="MemberName" />
+                                            <property name="CanFocus">True</property>
+                                            <property name="IsEditable">True</property>
+                                            <property name="InvisibleChar">●</property>
+                                          </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="YOptions">Fill</property>
+                                            <property name="XExpand">True</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>
+                                        <child>
+                                          <widget class="Gtk.Entry" id="entryTimeout">
+                                            <property name="MemberName" />
+                                            <property name="CanFocus">True</property>
+                                            <property name="IsEditable">True</property>
+                                            <property name="InvisibleChar">●</property>
+                                          </widget>
+                                          <packing>
+                                            <property name="TopAttach">2</property>
+                                            <property name="BottomAttach">3</property>
+                                            <property name="LeftAttach">1</property>
+                                            <property name="RightAttach">2</property>
+                                            <property name="AutoSize">True</property>
+                                            <property name="YOptions">Fill</property>
+                                            <property name="XExpand">True</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>
+                                        <child>
+                                          <widget class="Gtk.Label" id="label1">
+                                            <property name="MemberName" />
+                                            <property name="Xalign">1</property>
+                                            <property name="LabelProp" translatable="yes">Server name:</property>
+                                            <property name="Justify">Right</property>
+                                          </widget>
+                                          <packing>
+                                            <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>
+                                        <child>
+                                          <widget class="Gtk.Label" id="label2">
+                                            <property name="MemberName" />
+                                            <property name="Xalign">1</property>
+                                            <property name="LabelProp" translatable="yes">Server port:</property>
+                                            <property name="Justify">Right</property>
+                                          </widget>
+                                          <packing>
+                                            <property name="TopAttach">1</property>
+                                            <property name="BottomAttach">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>
+                                        <child>
+                                          <widget class="Gtk.Label" id="label5">
+                                            <property name="MemberName" />
+                                            <property name="LabelProp" translatable="yes">Timeout (ms):</property>
+                                          </widget>
+                                          <packing>
+                                            <property name="TopAttach">2</property>
+                                            <property name="BottomAttach">3</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>
+                                      <packing>
+                                        <property name="Position">0</property>
+                                        <property name="AutoSize">True</property>
+                                        <property name="Expand">False</property>
+                                        <property name="Fill">False</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <widget class="Gtk.Button" id="buttonServerConnection">
+                                        <property name="MemberName" />
+                                        <property name="CanFocus">True</property>
+                                        <property name="Type">TextOnly</property>
+                                        <property name="Label" translatable="yes">Connect</property>
+                                        <property name="UseUnderline">True</property>
+                                        <signal name="Clicked" handler="OnButtonServerConnectionClicked" />
+                                      </widget>
+                                      <packing>
+                                        <property name="PackType">End</property>
+                                        <property name="Position">1</property>
+                                        <property name="AutoSize">True</property>
+                                        <property name="Expand">False</property>
+                                        <property name="Fill">False</property>
+                                      </packing>
+                                    </child>
+                                  </widget>
+                                </child>
+                              </widget>
+                              <packing>
+                                <property name="Position">1</property>
+                                <property name="AutoSize">True</property>
+                                <property name="Expand">False</property>
+                                <property name="Fill">False</property>
+                              </packing>
+                            </child>
+                          </widget>
+                          <packing>
+                            <property name="Position">0</property>
+                            <property name="AutoSize">True</property>
+                            <property name="Expand">False</property>
+                            <property name="Fill">False</property>
+                          </packing>
+                        </child>
                         <child>
-                          <widget class="Gtk.Frame" id="frame1">
+                          <widget class="Gtk.HSeparator" id="hseparator1">
                             <property name="MemberName" />
-                            <property name="ShowScrollbars">True</property>
-                            <property name="ShadowType">None</property>
+                          </widget>
+                          <packing>
+                            <property name="Position">1</property>
+                            <property name="AutoSize">True</property>
+                            <property name="Expand">False</property>
+                            <property name="Fill">False</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <widget class="Gtk.VBox" id="vbox11">
+                            <property name="MemberName" />
+                            <property name="Spacing">6</property>
+                            <child>
+                              <widget class="Gtk.Label" id="labelRobot">
+                                <property name="MemberName" />
+                                <property name="HeightRequest">36</property>
+                                <property name="LabelProp" translatable="yes">&lt;b&gt;&lt;u&gt;Robot Activation&lt;/u&gt;&lt;/b&gt;</property>
+                                <property name="UseMarkup">True</property>
+                              </widget>
+                              <packing>
+                                <property name="Position">0</property>
+                                <property name="AutoSize">True</property>
+                                <property name="Expand">False</property>
+                                <property name="Fill">False</property>
+                              </packing>
+                            </child>
                             <child>
-                              <widget class="Gtk.Fixed" id="fixed4">
+                              <widget class="Gtk.Alignment" id="alignment9">
                                 <property name="MemberName" />
-                                <property name="HasWindow">False</property>
                                 <child>
-                                  <widget class="Gtk.Button" id="button7">
+                                  <widget class="Gtk.Alignment" id="gtkAlignmentRobot">
                                     <property name="MemberName" />
-                                    <property name="CanFocus">True</property>
-                                    <property name="Type">TextOnly</property>
-                                    <property name="Label" translatable="yes">GtkButton</property>
-                                    <property name="UseUnderline">True</property>
+                                    <property name="Xalign">0</property>
+                                    <property name="Yalign">0</property>
+                                    <property name="LeftPadding">12</property>
+                                    <child>
+                                      <widget class="Gtk.VBox" id="vbox8">
+                                        <property name="MemberName" />
+                                        <property name="Spacing">6</property>
+                                        <child>
+                                          <widget class="Gtk.Alignment" id="alignment6">
+                                            <property name="MemberName" />
+                                            <child>
+                                              <widget class="Gtk.HBox" id="hbox4">
+                                                <property name="MemberName" />
+                                                <property name="Spacing">6</property>
+                                                <child>
+                                                  <widget class="Gtk.RadioButton" id="radioButtonWithWatchdog">
+                                                    <property name="MemberName" />
+                                                    <property name="CanFocus">True</property>
+                                                    <property name="Label" translatable="yes">with watchdog</property>
+                                                    <property name="Active">True</property>
+                                                    <property name="DrawIndicator">True</property>
+                                                    <property name="HasLabel">True</property>
+                                                    <property name="UseUnderline">True</property>
+                                                    <property name="Group">radioGroupRobotActivation</property>
+                                                  </widget>
+                                                  <packing>
+                                                    <property name="Position">0</property>
+                                                    <property name="AutoSize">True</property>
+                                                  </packing>
+                                                </child>
+                                                <child>
+                                                  <widget class="Gtk.RadioButton" id="radioButtonWithoutWatchdog">
+                                                    <property name="MemberName" />
+                                                    <property name="CanFocus">True</property>
+                                                    <property name="Label" translatable="yes">without watchdog</property>
+                                                    <property name="DrawIndicator">True</property>
+                                                    <property name="HasLabel">True</property>
+                                                    <property name="UseUnderline">True</property>
+                                                    <property name="Group">radioGroupRobotActivation</property>
+                                                  </widget>
+                                                  <packing>
+                                                    <property name="Position">1</property>
+                                                    <property name="AutoSize">True</property>
+                                                  </packing>
+                                                </child>
+                                              </widget>
+                                            </child>
+                                          </widget>
+                                          <packing>
+                                            <property name="Position">0</property>
+                                            <property name="AutoSize">True</property>
+                                            <property name="Expand">False</property>
+                                            <property name="Fill">False</property>
+                                          </packing>
+                                        </child>
+                                        <child>
+                                          <widget class="Gtk.Alignment" id="alignment5">
+                                            <property name="MemberName" />
+                                            <child>
+                                              <widget class="Gtk.Alignment" id="alignment7">
+                                                <property name="MemberName" />
+                                                <child>
+                                                  <widget class="Gtk.Button" id="buttonRobotActivation">
+                                                    <property name="MemberName" />
+                                                    <property name="CanFocus">True</property>
+                                                    <property name="Type">TextOnly</property>
+                                                    <property name="Label" translatable="yes">Activation</property>
+                                                    <property name="UseUnderline">True</property>
+                                                    <signal name="Clicked" handler="OnButtonRobotActivationClicked" />
+                                                  </widget>
+                                                </child>
+                                              </widget>
+                                            </child>
+                                          </widget>
+                                          <packing>
+                                            <property name="Position">1</property>
+                                            <property name="AutoSize">True</property>
+                                            <property name="Expand">False</property>
+                                            <property name="Fill">False</property>
+                                          </packing>
+                                        </child>
+                                      </widget>
+                                    </child>
                                   </widget>
-                                  <packing>
-                                    <property name="X">30</property>
-                                    <property name="Y">25</property>
-                                  </packing>
                                 </child>
                               </widget>
+                              <packing>
+                                <property name="Position">1</property>
+                                <property name="AutoSize">True</property>
+                                <property name="Expand">False</property>
+                                <property name="Fill">False</property>
+                              </packing>
                             </child>
+                          </widget>
+                          <packing>
+                            <property name="Position">2</property>
+                            <property name="AutoSize">True</property>
+                            <property name="Expand">False</property>
+                            <property name="Fill">False</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <widget class="Gtk.HSeparator" id="hseparator2">
+                            <property name="MemberName" />
+                          </widget>
+                          <packing>
+                            <property name="Position">3</property>
+                            <property name="AutoSize">True</property>
+                            <property name="Expand">False</property>
+                            <property name="Fill">False</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <widget class="Gtk.VBox" id="vbox12">
+                            <property name="MemberName" />
+                            <property name="Spacing">6</property>
                             <child>
-                              <widget class="Gtk.Label" id="GtkLabel2">
+                              <widget class="Gtk.Label" id="labelRobotControl">
                                 <property name="MemberName" />
-                                <property name="LabelProp" translatable="yes">&lt;b&gt;Controls&lt;/b&gt;</property>
+                                <property name="HeightRequest">36</property>
+                                <property name="LabelProp" translatable="yes">&lt;b&gt;&lt;u&gt;Robot Controls and Status&lt;/u&gt;&lt;/b&gt;</property>
                                 <property name="UseMarkup">True</property>
                               </widget>
                               <packing>
-                                <property name="type">label_item</property>
+                                <property name="Position">0</property>
+                                <property name="AutoSize">True</property>
+                                <property name="Expand">False</property>
+                                <property name="Fill">False</property>
+                              </packing>
+                            </child>
+                            <child>
+                              <widget class="Gtk.Alignment" id="gtkAlignmentRobotControl">
+                                <property name="MemberName" />
+                                <property name="Xalign">0</property>
+                                <property name="Yalign">0</property>
+                                <property name="LeftPadding">12</property>
+                                <child>
+                                  <widget class="Gtk.VBox" id="vbox9">
+                                    <property name="MemberName" />
+                                    <property name="Spacing">6</property>
+                                    <child>
+                                      <widget class="Gtk.Alignment" id="alignment8">
+                                        <property name="MemberName" />
+                                        <property name="Xscale">0</property>
+                                        <property name="Yscale">0</property>
+                                        <child>
+                                          <widget class="Gtk.Table" id="table4">
+                                            <property name="MemberName" />
+                                            <property name="NRows">3</property>
+                                            <property name="NColumns">3</property>
+                                            <property name="RowSpacing">6</property>
+                                            <property name="ColumnSpacing">6</property>
+                                            <child>
+                                              <placeholder />
+                                            </child>
+                                            <child>
+                                              <placeholder />
+                                            </child>
+                                            <child>
+                                              <placeholder />
+                                            </child>
+                                            <child>
+                                              <placeholder />
+                                            </child>
+                                            <child>
+                                              <placeholder />
+                                            </child>
+                                            <child>
+                                              <widget class="Gtk.Button" id="buttonDown">
+                                                <property name="MemberName" />
+                                                <property name="CanFocus">True</property>
+                                                <property name="Type">TextAndIcon</property>
+                                                <property name="Icon">resource:monitor.ressources.pan-down-symbolic.symbolic.png</property>
+                                                <property name="Label" translatable="yes" />
+                                                <property name="UseUnderline">True</property>
+                                                <signal name="Clicked" handler="OnButtonMouvClicked" />
+                                              </widget>
+                                              <packing>
+                                                <property name="TopAttach">2</property>
+                                                <property name="BottomAttach">3</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>
+                                            <child>
+                                              <widget class="Gtk.Button" id="buttonForward">
+                                                <property name="MemberName" />
+                                                <property name="CanFocus">True</property>
+                                                <property name="Type">TextAndIcon</property>
+                                                <property name="Icon">resource:monitor.ressources.pan-up-symbolic.symbolic.png</property>
+                                                <property name="Label" translatable="yes" />
+                                                <property name="UseUnderline">True</property>
+                                                <signal name="Clicked" handler="OnButtonMouvClicked" />
+                                              </widget>
+                                              <packing>
+                                                <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>