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ajout des commentaires, version candidate pour la version stable 2.0

Sébastien DI MERCURIO 5 years ago
parent
commit
c7929ff18c
100 changed files with 12131 additions and 20 deletions
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software/raspberry/superviseur-robot/lib/definitions.h View File

@@ -1,21 +1,34 @@
1 1
 /*
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- * To change this license header, choose License Headers in Project Properties.
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- * To change this template file, choose Tools | Templates
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- * and open the template in the editor.
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+ * Copyright (C) 2018 dimercur
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+ *
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+ * This program is free software: you can redistribute it and/or modify
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+ * it under the terms of the GNU General Public License as published by
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+ * the Free Software Foundation, either version 3 of the License, or
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+ * (at your option) any later version.
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+ *
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+ * This program is distributed in the hope that it will be useful,
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+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
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+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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+ * GNU General Public License for more details.
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+ *
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+ * You should have received a copy of the GNU General Public License
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+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
5 16
  */
6 17
 
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-/* 
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- * File:   msg.h
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- * Author: pehladik
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- *
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- * Created on 15 janvier 2018, 20:45
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+/**
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+ * \file      definitions.h
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+ * \author    PE.Hladik
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+ * \version   1.0
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+ * \date      06/06/2017
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+ * \brief     Various constants used in destjil project
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  */
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+
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 #ifndef DEFINITIONS_H
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 #define DEFINITIONS_H
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-#define OPEN_COM_DMB  'o'
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-#define CLOSE_COM_DMB 'C'
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+#define OPEN_COM_DMB            'o'
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+#define CLOSE_COM_DMB           'C'
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 #define DMB_PING                'p'
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 #define DMB_IDLE                'r'
@@ -32,11 +45,11 @@
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 #define DMB_GO_RIGHT            'R'
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 #define DMB_STOP_MOVE           'S'
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-#define ROBOT_TIMED_OUT -3
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-#define ROBOT_UKNOWN_CMD -2
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-#define ROBOT_ERROR  -1
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-#define ROBOT_CHECKSUM  -4
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-#define ROBOT_OK    0
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+#define ROBOT_TIMED_OUT         -3
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+#define ROBOT_UKNOWN_CMD        -2
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+#define ROBOT_ERROR             -1
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+#define ROBOT_CHECKSUM          -4
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+#define ROBOT_OK                0
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 #define CAM_OPEN                    'A'
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 #define CAM_CLOSE                   'I'
@@ -46,12 +59,12 @@
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 #define CAM_COMPUTE_POSITION        'p'
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 #define CAM_STOP_COMPUTE_POSITION   's'
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-#define DMB_BAT_LOW 0
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-#define DMB_BAT_MEDIUM 1
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-#define DMB_BAT_HIGH 2
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+#define DMB_BAT_LOW             0
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+#define DMB_BAT_MEDIUM          1
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+#define DMB_BAT_HIGH            2
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-#define DMB_BUSY 1
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-#define DMB_DO_NOTHING 0
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+#define DMB_BUSY                1
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+#define DMB_DO_NOTHING          0
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 #endif /* MSG_H */
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+<tr class="memitem:a15d9063cd3c60755685ceb75df4a7354"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="definitions_8h.html#a15d9063cd3c60755685ceb75df4a7354">CAM_ARENA_CONFIRM</a>&#160;&#160;&#160;'x'</td></tr>
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+<tr class="separator:a15d9063cd3c60755685ceb75df4a7354"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ac836c6abc7e32d2cf7f59ed2a8383ca7"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="definitions_8h.html#ac836c6abc7e32d2cf7f59ed2a8383ca7">CAM_ARENA_INFIRM</a>&#160;&#160;&#160;'z'</td></tr>
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+<tr class="separator:ac836c6abc7e32d2cf7f59ed2a8383ca7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a74fdb9d00556feb699d3c72bd7b5d5e5"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="definitions_8h.html#a74fdb9d00556feb699d3c72bd7b5d5e5">CAM_COMPUTE_POSITION</a>&#160;&#160;&#160;'p'</td></tr>
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+<tr class="separator:a74fdb9d00556feb699d3c72bd7b5d5e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ae864cfaefbf5a210e67678b2144a289f"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="definitions_8h.html#ae864cfaefbf5a210e67678b2144a289f">CAM_STOP_COMPUTE_POSITION</a>&#160;&#160;&#160;'s'</td></tr>
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+<tr class="separator:ae864cfaefbf5a210e67678b2144a289f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a66c0c4960c1e81c8da8c8e1d4a202352"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="definitions_8h.html#a66c0c4960c1e81c8da8c8e1d4a202352">DMB_BAT_LOW</a>&#160;&#160;&#160;0</td></tr>
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+<tr class="separator:a66c0c4960c1e81c8da8c8e1d4a202352"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:aea6ef1c13db1a8a4a29b065d0c3f73e4"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="definitions_8h.html#aea6ef1c13db1a8a4a29b065d0c3f73e4">DMB_BAT_MEDIUM</a>&#160;&#160;&#160;1</td></tr>
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+<tr class="separator:aea6ef1c13db1a8a4a29b065d0c3f73e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ab34c46794a9de6746a96752668c73754"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="definitions_8h.html#ab34c46794a9de6746a96752668c73754">DMB_BAT_HIGH</a>&#160;&#160;&#160;2</td></tr>
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+<tr class="separator:ab34c46794a9de6746a96752668c73754"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a3327443cd321f0c356a5d3d74377892b"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="definitions_8h.html#a3327443cd321f0c356a5d3d74377892b">DMB_BUSY</a>&#160;&#160;&#160;1</td></tr>
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+<tr class="separator:a3327443cd321f0c356a5d3d74377892b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a07650c5f6647c5143bac535fdbeb77d5"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="definitions_8h.html#a07650c5f6647c5143bac535fdbeb77d5">DMB_DO_NOTHING</a>&#160;&#160;&#160;0</td></tr>
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+<tr class="separator:a07650c5f6647c5143bac535fdbeb77d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<div class="textblock"><p>Various constants used in destjil project. </p>
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+<dl class="section author"><dt>Author</dt><dd>PE.Hladik </dd></dl>
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+<dl class="section version"><dt>Version</dt><dd>1.0 </dd></dl>
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+<dl class="section date"><dt>Date</dt><dd>06/06/2017 </dd></dl>
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+
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+<p class="definition">Definition in file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+</div><h2 class="groupheader">Macro Definition Documentation</h2>
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+<a id="a15d9063cd3c60755685ceb75df4a7354"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a15d9063cd3c60755685ceb75df4a7354">&#9670;&nbsp;</a></span>CAM_ARENA_CONFIRM</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define CAM_ARENA_CONFIRM&#160;&#160;&#160;'x'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00057">57</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="ac836c6abc7e32d2cf7f59ed2a8383ca7"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac836c6abc7e32d2cf7f59ed2a8383ca7">&#9670;&nbsp;</a></span>CAM_ARENA_INFIRM</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define CAM_ARENA_INFIRM&#160;&#160;&#160;'z'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00058">58</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a6418778d1f34e618aebd9ca1861ab500"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6418778d1f34e618aebd9ca1861ab500">&#9670;&nbsp;</a></span>CAM_ASK_ARENA</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define CAM_ASK_ARENA&#160;&#160;&#160;'y'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00056">56</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a675009273c3923e8ad1a6d2818063b61"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a675009273c3923e8ad1a6d2818063b61">&#9670;&nbsp;</a></span>CAM_CLOSE</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define CAM_CLOSE&#160;&#160;&#160;'I'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00055">55</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a74fdb9d00556feb699d3c72bd7b5d5e5"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a74fdb9d00556feb699d3c72bd7b5d5e5">&#9670;&nbsp;</a></span>CAM_COMPUTE_POSITION</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define CAM_COMPUTE_POSITION&#160;&#160;&#160;'p'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00059">59</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a2a7149bbe097fae8e799ce2ab6f69390"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2a7149bbe097fae8e799ce2ab6f69390">&#9670;&nbsp;</a></span>CAM_OPEN</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define CAM_OPEN&#160;&#160;&#160;'A'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00054">54</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="ae864cfaefbf5a210e67678b2144a289f"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae864cfaefbf5a210e67678b2144a289f">&#9670;&nbsp;</a></span>CAM_STOP_COMPUTE_POSITION</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define CAM_STOP_COMPUTE_POSITION&#160;&#160;&#160;'s'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00060">60</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a1b18773c1ce9068c4d38c2cbd2900263"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1b18773c1ce9068c4d38c2cbd2900263">&#9670;&nbsp;</a></span>CLOSE_COM_DMB</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define CLOSE_COM_DMB&#160;&#160;&#160;'C'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00031">31</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="ab34c46794a9de6746a96752668c73754"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab34c46794a9de6746a96752668c73754">&#9670;&nbsp;</a></span>DMB_BAT_HIGH</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_BAT_HIGH&#160;&#160;&#160;2</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00064">64</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a66c0c4960c1e81c8da8c8e1d4a202352"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a66c0c4960c1e81c8da8c8e1d4a202352">&#9670;&nbsp;</a></span>DMB_BAT_LOW</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_BAT_LOW&#160;&#160;&#160;0</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00062">62</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="aea6ef1c13db1a8a4a29b065d0c3f73e4"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#aea6ef1c13db1a8a4a29b065d0c3f73e4">&#9670;&nbsp;</a></span>DMB_BAT_MEDIUM</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_BAT_MEDIUM&#160;&#160;&#160;1</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00063">63</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a3327443cd321f0c356a5d3d74377892b"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a3327443cd321f0c356a5d3d74377892b">&#9670;&nbsp;</a></span>DMB_BUSY</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_BUSY&#160;&#160;&#160;1</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00066">66</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a07650c5f6647c5143bac535fdbeb77d5"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a07650c5f6647c5143bac535fdbeb77d5">&#9670;&nbsp;</a></span>DMB_DO_NOTHING</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_DO_NOTHING&#160;&#160;&#160;0</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00067">67</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="af1737e8fe4da4e8bc2d5db9d26c42462"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#af1737e8fe4da4e8bc2d5db9d26c42462">&#9670;&nbsp;</a></span>DMB_GET_VBAT</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_GET_VBAT&#160;&#160;&#160;'v'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00038">38</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+</div>
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+</div>
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+<a id="a499f41cc19a4459de033687049cbbe71"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a499f41cc19a4459de033687049cbbe71">&#9670;&nbsp;</a></span>DMB_GO_BACK</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_GO_BACK&#160;&#160;&#160;'B'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00043">43</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+</div>
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+</div>
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+<a id="ae363a29a4961cd8a646a0ca9199bc6cf"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae363a29a4961cd8a646a0ca9199bc6cf">&#9670;&nbsp;</a></span>DMB_GO_FORWARD</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_GO_FORWARD&#160;&#160;&#160;'F'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00042">42</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+</div>
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+</div>
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+<a id="aefcb838e73a335f1a2a6c914ee2ff752"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#aefcb838e73a335f1a2a6c914ee2ff752">&#9670;&nbsp;</a></span>DMB_GO_LEFT</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_GO_LEFT&#160;&#160;&#160;'L'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00044">44</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+</div>
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+</div>
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+<a id="ad681962f7b8cf4797ebd48be0405d1b9"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad681962f7b8cf4797ebd48be0405d1b9">&#9670;&nbsp;</a></span>DMB_GO_RIGHT</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_GO_RIGHT&#160;&#160;&#160;'R'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00045">45</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+</div>
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+</div>
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+<a id="a82b279c49221d3cd3d875d521dfb97b9"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a82b279c49221d3cd3d875d521dfb97b9">&#9670;&nbsp;</a></span>DMB_IDLE</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_IDLE&#160;&#160;&#160;'r'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00034">34</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+</div>
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+<a id="ad58c241121e685f26a291aa4bd5f9c80"></a>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_IS_BUSY&#160;&#160;&#160;'b'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00039">39</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_MOVE&#160;&#160;&#160;'M'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00040">40</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#acf7d51360dcb103fc57604725ec2816d">&#9670;&nbsp;</a></span>DMB_PING</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_PING&#160;&#160;&#160;'p'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00033">33</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a2ca219902014ffb39aab27cca08a948f">&#9670;&nbsp;</a></span>DMB_RELOAD_WD</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_RELOAD_WD&#160;&#160;&#160;'w'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00037">37</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#adee1628bbc796ba55f4a349895f4e0fa">&#9670;&nbsp;</a></span>DMB_START_WITH_WD</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_START_WITH_WD&#160;&#160;&#160;'W'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00036">36</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a5ebbd37042a6244b4f9d473ae7132780">&#9670;&nbsp;</a></span>DMB_START_WITHOUT_WD</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_START_WITHOUT_WD&#160;&#160;&#160;'u'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00035">35</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DMB_STOP_MOVE&#160;&#160;&#160;'S'</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00046">46</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        </tr>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00041">41</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+        </tr>
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+
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00030">30</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+        </tr>
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+<p class="definition">Definition at line <a class="el" href="definitions_8h_source.html#l00051">51</a> of file <a class="el" href="definitions_8h_source.html">definitions.h</a>.</p>
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+        </tr>
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+: <a class="el" href="struct_message_from_mon.html#ad46f6e6dd24be5cb2bc5eae5b3cdd095">MessageFromMon</a>
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+, <a class="el" href="struct_message_to_mon.html#acb1096bef5e5c300f3d795556fda852a">MessageToMon</a>
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+</li>
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+</ul>
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+</div><!-- contents -->
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+<!-- start footer part -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+  <ul>
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+    <li class="footer">Generated by
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.13 </li>
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+   &#160;<span id="projectnumber">1.0</span>
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+   <div id="projectbrief">Bibliotheque de support pour TP/RT</div>
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+       class="ui-resizable-handle">
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+</iframe>
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+
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+<div class="contents">
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+&#160;<ul>
86
+<li>angle
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+: <a class="el" href="struct_position.html#a733540df6c0f832676dc0846b34bb1e2">Position</a>
88
+</li>
89
+<li>center
90
+: <a class="el" href="struct_position.html#aa56444be37071311cfa11aae3e2c2f64">Position</a>
91
+</li>
92
+<li>data
93
+: <a class="el" href="struct_message_from_mon.html#a1aea445500b0fa020a1b08eaff791107">MessageFromMon</a>
94
+, <a class="el" href="struct_message_to_mon.html#a4e5977ba9fb3fa07d435155731944d15">MessageToMon</a>
95
+, <a class="el" href="struct_message_to_robot.html#abf7dafbba72784855abd50469ba82705">MessageToRobot</a>
96
+</li>
97
+<li>direction
98
+: <a class="el" href="struct_position.html#a780d124971951424c0c63f6d81bb4d92">Position</a>
99
+</li>
100
+<li>header
101
+: <a class="el" href="struct_message_from_mon.html#ad46f6e6dd24be5cb2bc5eae5b3cdd095">MessageFromMon</a>
102
+, <a class="el" href="struct_message_to_mon.html#acb1096bef5e5c300f3d795556fda852a">MessageToMon</a>
103
+, <a class="el" href="struct_message_to_robot.html#ab00202c6cfdd86ea4cd891c972405db6">MessageToRobot</a>
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+</li>
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+</ul>
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+</div><!-- contents -->
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+</div><!-- doc-content -->
108
+<!-- start footer part -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+  <ul>
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+    <li class="footer">Generated by
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+    <a href="http://www.doxygen.org/index.html">
113
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.13 </li>
114
+  </ul>
115
+</div>
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+</body>
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+</html>

+ 425
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software/raspberry/superviseur-robot/lib/doc/html/globals.html View File

@@ -0,0 +1,425 @@
1
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<head>
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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+<meta name="generator" content="Doxygen 1.8.13"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+<title>Bibliotheques TP RT: File Members</title>
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+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="jquery.js"></script>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript">
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+  $(document).ready(initResizable);
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+</script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
22
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
23
+</head>
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+<body>
25
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<div id="titlearea">
27
+<table cellspacing="0" cellpadding="0">
28
+ <tbody>
29
+ <tr style="height: 56px;">
30
+  <td id="projectlogo"><img alt="Logo" src="robot-icon.resized.png"/></td>
31
+  <td id="projectalign" style="padding-left: 0.5em;">
32
+   <div id="projectname">Bibliotheques TP RT
33
+   &#160;<span id="projectnumber">1.0</span>
34
+   </div>
35
+   <div id="projectbrief">Bibliotheque de support pour TP/RT</div>
36
+  </td>
37
+ </tr>
38
+ </tbody>
39
+</table>
40
+</div>
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+<!-- end header part -->
42
+<!-- Generated by Doxygen 1.8.13 -->
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+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
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53
+</script>
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+<div id="main-nav"></div>
55
+</div><!-- top -->
56
+<div id="side-nav" class="ui-resizable side-nav-resizable">
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+  <div id="nav-tree">
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+    <div id="nav-tree-contents">
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+      <div id="nav-sync" class="sync"></div>
60
+    </div>
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+  </div>
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+  <div id="splitbar" style="-moz-user-select:none;" 
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+       class="ui-resizable-handle">
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+  </div>
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+</div>
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+<script type="text/javascript">
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+$(document).ready(function(){initNavTree('globals.html','');});
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+</script>
69
+<div id="doc-content">
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+<!-- window showing the filter options -->
71
+<div id="MSearchSelectWindow"
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+     onkeydown="return searchBox.OnSearchSelectKey(event)">
75
+</div>
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+
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="MSearchResultsWindow">
79
+<iframe src="javascript:void(0)" frameborder="0" 
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+        name="MSearchResults" id="MSearchResults">
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+</iframe>
82
+</div>
83
+
84
+<div class="contents">
85
+<div class="textblock">Here is a list of all file members with links to the files they belong to:</div>
86
+
87
+<h3><a id="index_a"></a>- a -</h3><ul>
88
+<li>acceptClient()
89
+: <a class="el" href="server_8h.html#abff9f8e931ecce919588b371dc511857">server.h</a>
90
+</li>
91
+<li>Arene
92
+: <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">image.h</a>
93
+</li>
94
+</ul>
95
+
96
+
97
+<h3><a id="index_c"></a>- c -</h3><ul>
98
+<li>CAM_ARENA_CONFIRM
99
+: <a class="el" href="definitions_8h.html#a15d9063cd3c60755685ceb75df4a7354">definitions.h</a>
100
+</li>
101
+<li>CAM_ARENA_INFIRM
102
+: <a class="el" href="definitions_8h.html#ac836c6abc7e32d2cf7f59ed2a8383ca7">definitions.h</a>
103
+</li>
104
+<li>CAM_ASK_ARENA
105
+: <a class="el" href="definitions_8h.html#a6418778d1f34e618aebd9ca1861ab500">definitions.h</a>
106
+</li>
107
+<li>CAM_CLOSE
108
+: <a class="el" href="definitions_8h.html#a675009273c3923e8ad1a6d2818063b61">definitions.h</a>
109
+</li>
110
+<li>CAM_COMPUTE_POSITION
111
+: <a class="el" href="definitions_8h.html#a74fdb9d00556feb699d3c72bd7b5d5e5">definitions.h</a>
112
+</li>
113
+<li>CAM_OPEN
114
+: <a class="el" href="definitions_8h.html#a2a7149bbe097fae8e799ce2ab6f69390">definitions.h</a>
115
+</li>
116
+<li>CAM_STOP_COMPUTE_POSITION
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+: <a class="el" href="definitions_8h.html#ae864cfaefbf5a210e67678b2144a289f">definitions.h</a>
118
+</li>
119
+<li>Camera
120
+: <a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">image.h</a>
121
+</li>
122
+<li>CHECK_ARENA
123
+: <a class="el" href="monitor_8h.html#a22d20ac264e03c59d6941cb11386aa89">monitor.h</a>
124
+</li>
125
+<li>close_camera()
126
+: <a class="el" href="image_8h.html#a19eac11a04cb4b86fd32e6a36445ad5d">image.h</a>
127
+</li>
128
+<li>CLOSE_COM_DMB
129
+: <a class="el" href="definitions_8h.html#a1b18773c1ce9068c4d38c2cbd2900263">definitions.h</a>
130
+</li>
131
+<li>close_communication_robot()
132
+: <a class="el" href="robot_8h.html#a3fbce7530a62f9287f8a3b85b9c7e4d7">robot.h</a>
133
+</li>
134
+<li>closeServer()
135
+: <a class="el" href="server_8h.html#ab65b2df50051036defe0f35366f5a3d6">server.h</a>
136
+</li>
137
+<li>closesocket
138
+: <a class="el" href="monitor_8h.html#ab6b45251e218af8f09c5d627b5262398">monitor.h</a>
139
+</li>
140
+<li>compress_image()
141
+: <a class="el" href="image_8h.html#a909ca7577f0ac2e4bd0ea21291690dce">image.h</a>
142
+</li>
143
+</ul>
144
+
145
+
146
+<h3><a id="index_d"></a>- d -</h3><ul>
147
+<li>DEFAULT_INTERFACE_FILE
148
+: <a class="el" href="monitor_8h.html#af533d8bd7d6a1d9f9efba3b259280e32">monitor.h</a>
149
+</li>
150
+<li>DEFAULT_NODEJS_PATH
151
+: <a class="el" href="monitor_8h.html#a2c47b710f0858fe41c544517c6b2a2fd">monitor.h</a>
152
+</li>
153
+<li>DEFAULT_PARITY
154
+: <a class="el" href="monitor_8h.html#a939612a13947b5bb9fc848e3222a231d">monitor.h</a>
155
+</li>
156
+<li>DEFAULT_PORT
157
+: <a class="el" href="monitor_8h.html#a16b710f592bf8f7900666392adc444dc">monitor.h</a>
158
+</li>
159
+<li>DEFAULT_SERVER_PORT
160
+: <a class="el" href="server_8h.html#af257e2a3e091629829857a2eb8931a7a">server.h</a>
161
+</li>
162
+<li>detect_arena()
163
+: <a class="el" href="image_8h.html#acad45df4061a55f17be0db97c1406249">image.h</a>
164
+</li>
165
+<li>DETECT_ARENA
166
+: <a class="el" href="monitor_8h.html#ab3be9ae187e8b98bb000ca0bca68e982">monitor.h</a>
167
+</li>
168
+<li>detect_position()
169
+: <a class="el" href="image_8h.html#af9f6e2dd4409486f2f6446d1a8a02c40">image.h</a>
170
+</li>
171
+<li>DMB_BAT_HIGH
172
+: <a class="el" href="definitions_8h.html#ab34c46794a9de6746a96752668c73754">definitions.h</a>
173
+</li>
174
+<li>DMB_BAT_LOW
175
+: <a class="el" href="definitions_8h.html#a66c0c4960c1e81c8da8c8e1d4a202352">definitions.h</a>
176
+</li>
177
+<li>DMB_BAT_MEDIUM
178
+: <a class="el" href="definitions_8h.html#aea6ef1c13db1a8a4a29b065d0c3f73e4">definitions.h</a>
179
+</li>
180
+<li>DMB_BUSY
181
+: <a class="el" href="definitions_8h.html#a3327443cd321f0c356a5d3d74377892b">definitions.h</a>
182
+</li>
183
+<li>DMB_DO_NOTHING
184
+: <a class="el" href="definitions_8h.html#a07650c5f6647c5143bac535fdbeb77d5">definitions.h</a>
185
+</li>
186
+<li>DMB_GET_VBAT
187
+: <a class="el" href="definitions_8h.html#af1737e8fe4da4e8bc2d5db9d26c42462">definitions.h</a>
188
+</li>
189
+<li>DMB_GO_BACK
190
+: <a class="el" href="definitions_8h.html#a499f41cc19a4459de033687049cbbe71">definitions.h</a>
191
+</li>
192
+<li>DMB_GO_FORWARD
193
+: <a class="el" href="definitions_8h.html#ae363a29a4961cd8a646a0ca9199bc6cf">definitions.h</a>
194
+</li>
195
+<li>DMB_GO_LEFT
196
+: <a class="el" href="definitions_8h.html#aefcb838e73a335f1a2a6c914ee2ff752">definitions.h</a>
197
+</li>
198
+<li>DMB_GO_RIGHT
199
+: <a class="el" href="definitions_8h.html#ad681962f7b8cf4797ebd48be0405d1b9">definitions.h</a>
200
+</li>
201
+<li>DMB_IDLE
202
+: <a class="el" href="definitions_8h.html#a82b279c49221d3cd3d875d521dfb97b9">definitions.h</a>
203
+</li>
204
+<li>DMB_IS_BUSY
205
+: <a class="el" href="definitions_8h.html#ad58c241121e685f26a291aa4bd5f9c80">definitions.h</a>
206
+</li>
207
+<li>DMB_MOVE
208
+: <a class="el" href="definitions_8h.html#ac48dee90eb71d036d001321674abbb8b">definitions.h</a>
209
+</li>
210
+<li>DMB_PING
211
+: <a class="el" href="definitions_8h.html#acf7d51360dcb103fc57604725ec2816d">definitions.h</a>
212
+</li>
213
+<li>DMB_RELOAD_WD
214
+: <a class="el" href="definitions_8h.html#a2ca219902014ffb39aab27cca08a948f">definitions.h</a>
215
+</li>
216
+<li>DMB_START_WITH_WD
217
+: <a class="el" href="definitions_8h.html#adee1628bbc796ba55f4a349895f4e0fa">definitions.h</a>
218
+</li>
219
+<li>DMB_START_WITHOUT_WD
220
+: <a class="el" href="definitions_8h.html#a5ebbd37042a6244b4f9d473ae7132780">definitions.h</a>
221
+</li>
222
+<li>DMB_STOP_MOVE
223
+: <a class="el" href="definitions_8h.html#a7308179907a0a2989c162865e7a7979a">definitions.h</a>
224
+</li>
225
+<li>DMB_TURN
226
+: <a class="el" href="definitions_8h.html#ac6c5492c8100e73f8d30ed36072684db">definitions.h</a>
227
+</li>
228
+<li>draw_arena()
229
+: <a class="el" href="image_8h.html#a5ffd032a466af45a505fb46252194bbf">image.h</a>
230
+</li>
231
+<li>draw_position()
232
+: <a class="el" href="image_8h.html#a869c3946d4a414b8730ca4f91fbd9556">image.h</a>
233
+</li>
234
+</ul>
235
+
236
+
237
+<h3><a id="index_f"></a>- f -</h3><ul>
238
+<li>free_msgToMon_data()
239
+: <a class="el" href="message_8h.html#a285193a5a9d3b142f3f1c53c471d3173">message.h</a>
240
+</li>
241
+</ul>
242
+
243
+
244
+<h3><a id="index_g"></a>- g -</h3><ul>
245
+<li>get_image()
246
+: <a class="el" href="image_8h.html#ad904f3348c2d44f9c82435c94cd83844">image.h</a>
247
+</li>
248
+</ul>
249
+
250
+
251
+<h3><a id="index_h"></a>- h -</h3><ul>
252
+<li>HEADER_MTS_CAMERA
253
+: <a class="el" href="monitor_8h.html#a91e2658cf20010646211ba748885c180">monitor.h</a>
254
+</li>
255
+<li>HEADER_MTS_COM_DMB
256
+: <a class="el" href="monitor_8h.html#a0c829d92889c5c9b2d485964ce933fab">monitor.h</a>
257
+</li>
258
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259
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330
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399
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405
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406
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217
+: <a class="el" href="monitor_8h.html#af2325d19ae9da4310eb608c744149f53">monitor.h</a>
218
+</li>
219
+<li>HEADER_STM_BAT
220
+: <a class="el" href="monitor_8h.html#a0de226ae5af8b83f3b163ff4413eef95">monitor.h</a>
221
+</li>
222
+<li>HEADER_STM_IMAGE
223
+: <a class="el" href="monitor_8h.html#ad62b697bd25a71d171db46740aef2830">monitor.h</a>
224
+</li>
225
+<li>HEADER_STM_LOST_DMB
226
+: <a class="el" href="monitor_8h.html#afe29ce74d16751828da8aec7e13ad06b">monitor.h</a>
227
+</li>
228
+<li>HEADER_STM_MES
229
+: <a class="el" href="monitor_8h.html#ac1034bccb09918cccd3ba142377a6788">monitor.h</a>
230
+</li>
231
+<li>HEADER_STM_NO_ACK
232
+: <a class="el" href="monitor_8h.html#ac2e64478522da4e3b45c139c0c72557f">monitor.h</a>
233
+</li>
234
+<li>HEADER_STM_POS
235
+: <a class="el" href="monitor_8h.html#a6a07aae2539981459edc8070a0f019db">monitor.h</a>
236
+</li>
237
+<li>HEIGHT
238
+: <a class="el" href="image_8h.html#aed89bd71aee8be823e8a20ec4e093c1e">image.h</a>
239
+</li>
240
+</ul>
241
+
242
+
243
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244
+<li>INVALID_SOCKET
245
+: <a class="el" href="monitor_8h.html#a26769957ec1a2beaf223f33b66ee64ab">monitor.h</a>
246
+</li>
247
+</ul>
248
+
249
+
250
+<h3><a id="index_n"></a>- n -</h3><ul>
251
+<li>NO_ARENA
252
+: <a class="el" href="monitor_8h.html#a1d58e03abc2a587c7f0a0665c94c0e68">monitor.h</a>
253
+</li>
254
+</ul>
255
+
256
+
257
+<h3><a id="index_o"></a>- o -</h3><ul>
258
+<li>OPEN_COM_DMB
259
+: <a class="el" href="definitions_8h.html#aac798eaf6994ddcadd8a38ad8aba234f">definitions.h</a>
260
+</li>
261
+</ul>
262
+
263
+
264
+<h3><a id="index_r"></a>- r -</h3><ul>
265
+<li>ROBOT_CHECKSUM
266
+: <a class="el" href="definitions_8h.html#af1118b8a83d446b4965347bba126a488">definitions.h</a>
267
+</li>
268
+<li>ROBOT_ERROR
269
+: <a class="el" href="definitions_8h.html#a4aefbbdd5d35999aa0575ab7183148d4">definitions.h</a>
270
+</li>
271
+<li>ROBOT_OK
272
+: <a class="el" href="definitions_8h.html#ad7b2f95c0b423fb9784acb897b910c36">definitions.h</a>
273
+</li>
274
+<li>ROBOT_TIMED_OUT
275
+: <a class="el" href="definitions_8h.html#a624686d3af63394ee02f0a197967d44a">definitions.h</a>
276
+</li>
277
+<li>ROBOT_UKNOWN_CMD
278
+: <a class="el" href="definitions_8h.html#a70a2d5db14b900843364adb7cfe53ac8">definitions.h</a>
279
+</li>
280
+</ul>
281
+
282
+
283
+<h3><a id="index_s"></a>- s -</h3><ul>
284
+<li>serialPort
285
+: <a class="el" href="robot_8h.html#a32c8768c18732c59b503f8ee7515a693">robot.h</a>
286
+</li>
287
+<li>SOCKET_ERROR
288
+: <a class="el" href="monitor_8h.html#a633b0396ff93d336a088412a190a5072">monitor.h</a>
289
+</li>
290
+</ul>
291
+
292
+
293
+<h3><a id="index_w"></a>- w -</h3><ul>
294
+<li>WIDTH
295
+: <a class="el" href="image_8h.html#a241aeeb764887ae5e3de58b98f04b16d">image.h</a>
296
+</li>
297
+</ul>
298
+</div><!-- contents -->
299
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300
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301
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303
+    <li class="footer">Generated by
304
+    <a href="http://www.doxygen.org/index.html">
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.13 </li>
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+</head>
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+<body>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+   <div id="projectname">Bibliotheques TP RT
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+   </div>
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+   <div id="projectbrief">Bibliotheque de support pour TP/RT</div>
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+ </tr>
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+ </tbody>
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+</table>
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+<!-- end header part -->
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+<!-- Generated by Doxygen 1.8.13 -->
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60
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+  <div id="splitbar" style="-moz-user-select:none;" 
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+       class="ui-resizable-handle">
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+  </div>
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+</div>
66
+<script type="text/javascript">
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+$(document).ready(function(){initNavTree('globals_func.html','');});
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+</script>
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+<div id="doc-content">
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+<!-- window showing the filter options -->
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+<div id="MSearchSelectWindow"
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+</iframe>
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+
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+<div class="contents">
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+&#160;<ul>
86
+<li>acceptClient()
87
+: <a class="el" href="server_8h.html#abff9f8e931ecce919588b371dc511857">server.h</a>
88
+</li>
89
+<li>close_camera()
90
+: <a class="el" href="image_8h.html#a19eac11a04cb4b86fd32e6a36445ad5d">image.h</a>
91
+</li>
92
+<li>close_communication_robot()
93
+: <a class="el" href="robot_8h.html#a3fbce7530a62f9287f8a3b85b9c7e4d7">robot.h</a>
94
+</li>
95
+<li>closeServer()
96
+: <a class="el" href="server_8h.html#ab65b2df50051036defe0f35366f5a3d6">server.h</a>
97
+</li>
98
+<li>compress_image()
99
+: <a class="el" href="image_8h.html#a909ca7577f0ac2e4bd0ea21291690dce">image.h</a>
100
+</li>
101
+<li>detect_arena()
102
+: <a class="el" href="image_8h.html#acad45df4061a55f17be0db97c1406249">image.h</a>
103
+</li>
104
+<li>detect_position()
105
+: <a class="el" href="image_8h.html#af9f6e2dd4409486f2f6446d1a8a02c40">image.h</a>
106
+</li>
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+<li>draw_arena()
108
+: <a class="el" href="image_8h.html#a5ffd032a466af45a505fb46252194bbf">image.h</a>
109
+</li>
110
+<li>draw_position()
111
+: <a class="el" href="image_8h.html#a869c3946d4a414b8730ca4f91fbd9556">image.h</a>
112
+</li>
113
+<li>free_msgToMon_data()
114
+: <a class="el" href="message_8h.html#a285193a5a9d3b142f3f1c53c471d3173">message.h</a>
115
+</li>
116
+<li>get_image()
117
+: <a class="el" href="image_8h.html#ad904f3348c2d44f9c82435c94cd83844">image.h</a>
118
+</li>
119
+<li>open_camera()
120
+: <a class="el" href="image_8h.html#aca0662ab31eac7fdb2d64fecc52ff1da">image.h</a>
121
+</li>
122
+<li>open_communication_robot()
123
+: <a class="el" href="robot_8h.html#a0e70fa821a04d349552b8bd54f6935db">robot.h</a>
124
+</li>
125
+<li>openServer()
126
+: <a class="el" href="server_8h.html#a99b54d5b3404766f906f49605a4aa0e3">server.h</a>
127
+</li>
128
+<li>print_msgToMon()
129
+: <a class="el" href="message_8h.html#ae409e822d69cee7483a2d41c62698a85">message.h</a>
130
+</li>
131
+<li>receive_message_from_monitor()
132
+: <a class="el" href="monitor_8h.html#a61eca0d5b49118350db39583e1bd1032">monitor.h</a>
133
+</li>
134
+<li>receiveDataFromServer()
135
+: <a class="el" href="server_8h.html#a8b66a2007f3f9ed8538428a309c9d368">server.h</a>
136
+</li>
137
+<li>receiveDataFromServerFromClient()
138
+: <a class="el" href="server_8h.html#a247e0124af257d0cc7abc25a7c448d1b">server.h</a>
139
+</li>
140
+<li>send_command_to_robot()
141
+: <a class="el" href="robot_8h.html#abe88fd581be321a9d86ae7063abd2f65">robot.h</a>
142
+</li>
143
+<li>send_message_to_monitor()
144
+: <a class="el" href="monitor_8h.html#ac3d876b96642b6ee46f6a96b7ffcb864">monitor.h</a>
145
+</li>
146
+<li>sendDataToServer()
147
+: <a class="el" href="server_8h.html#a8d865d29914b980fd71ed8d347e4ec50">server.h</a>
148
+</li>
149
+<li>sendDataToServerForClient()
150
+: <a class="el" href="server_8h.html#a4c2df7961aa7379ac79d80980a1c537b">server.h</a>
151
+</li>
152
+<li>sendImage()
153
+: <a class="el" href="server_8h.html#a51b9372f5467705aa81d76ae034c7628">server.h</a>
154
+</li>
155
+<li>set_msgToMon_data()
156
+: <a class="el" href="message_8h.html#aa938f8156bfca7379f533b751334ca6f">message.h</a>
157
+</li>
158
+<li>set_msgToMon_header()
159
+: <a class="el" href="message_8h.html#a8c768ba3ccfd64ba1e39079c967aff26">message.h</a>
160
+</li>
161
+</ul>
162
+</div><!-- contents -->
163
+</div><!-- doc-content -->
164
+<!-- start footer part -->
165
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
166
+  <ul>
167
+    <li class="footer">Generated by
168
+    <a href="http://www.doxygen.org/index.html">
169
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.13 </li>
170
+  </ul>
171
+</div>
172
+</body>
173
+</html>

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+</script>
19
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+   <div id="projectbrief">Bibliotheque de support pour TP/RT</div>
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38
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+      <div id="nav-sync" class="sync"></div>
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+  <div id="splitbar" style="-moz-user-select:none;" 
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+       class="ui-resizable-handle">
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+<div id="doc-content">
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+<!-- window showing the filter options -->
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+<div id="MSearchSelectWindow"
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+<!-- iframe showing the search results (closed by default) -->
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+</iframe>
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+</div>
83
+
84
+<div class="contents">
85
+&#160;<ul>
86
+<li>Arene
87
+: <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">image.h</a>
88
+</li>
89
+<li>Camera
90
+: <a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">image.h</a>
91
+</li>
92
+<li>Image
93
+: <a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">image.h</a>
94
+</li>
95
+<li>Jpg
96
+: <a class="el" href="image_8h.html#a9ac2855e21920c676a108df386ff9415">image.h</a>
97
+</li>
98
+<li>SOCKADDR
99
+: <a class="el" href="monitor_8h.html#ae334b73cedf7204187dce3f817576009">monitor.h</a>
100
+</li>
101
+<li>SOCKADDR_IN
102
+: <a class="el" href="monitor_8h.html#a29046dc0232f0e5c70adbc25090d77b8">monitor.h</a>
103
+</li>
104
+<li>SOCKET
105
+: <a class="el" href="monitor_8h.html#a8dc8083897335125630f1af5dafd5831">monitor.h</a>
106
+</li>
107
+</ul>
108
+</div><!-- contents -->
109
+</div><!-- doc-content -->
110
+<!-- start footer part -->
111
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by
114
+    <a href="http://www.doxygen.org/index.html">
115
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.13 </li>
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+  </ul>
117
+</div>
118
+</body>
119
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+<div class="textblock"><code>#include &quot;<a class="el" href="image_8h_source.html">image.h</a>&quot;</code><br />
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114
+<tr class="separator:a73f53d1da08f1f8123da89585d16c7ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
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116
+<tr class="memdesc:a5ffd032a466af45a505fb46252194bbf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Dessine le plus petit rectangle contenant l'arène.  <a href="#a5ffd032a466af45a505fb46252194bbf">More...</a><br /></td></tr>
117
+<tr class="separator:a5ffd032a466af45a505fb46252194bbf"><td class="memSeparator" colspan="2">&#160;</td></tr>
118
+<tr class="memitem:aca0662ab31eac7fdb2d64fecc52ff1da"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#aca0662ab31eac7fdb2d64fecc52ff1da">open_camera</a> (<a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *camera)</td></tr>
119
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120
+<tr class="separator:aca0662ab31eac7fdb2d64fecc52ff1da"><td class="memSeparator" colspan="2">&#160;</td></tr>
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122
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123
+<tr class="separator:a864afddf57678b37b99d9eca70405d63"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a19eac11a04cb4b86fd32e6a36445ad5d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#a19eac11a04cb4b86fd32e6a36445ad5d">close_camera</a> (<a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *camera)</td></tr>
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+<tr class="memdesc:a19eac11a04cb4b86fd32e6a36445ad5d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ferme la camera passé en paramètre.  <a href="#a19eac11a04cb4b86fd32e6a36445ad5d">More...</a><br /></td></tr>
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+<tr class="separator:a19eac11a04cb4b86fd32e6a36445ad5d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:acad45df4061a55f17be0db97c1406249"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#acad45df4061a55f17be0db97c1406249">detect_arena</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *monImage, <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *rectangle)</td></tr>
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+<tr class="memdesc:acad45df4061a55f17be0db97c1406249"><td class="mdescLeft">&#160;</td><td class="mdescRight">Détecte une arène dans une image fournis en paramètre.  <a href="#acad45df4061a55f17be0db97c1406249">More...</a><br /></td></tr>
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+<tr class="separator:acad45df4061a55f17be0db97c1406249"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a909ca7577f0ac2e4bd0ea21291690dce"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#a909ca7577f0ac2e4bd0ea21291690dce">compress_image</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="el" href="image_8h.html#a9ac2855e21920c676a108df386ff9415">Jpg</a> *imageCompress)</td></tr>
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+<tr class="memdesc:a909ca7577f0ac2e4bd0ea21291690dce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Détecte la position d'un robot.  <a href="#a909ca7577f0ac2e4bd0ea21291690dce">More...</a><br /></td></tr>
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+<tr class="separator:a909ca7577f0ac2e4bd0ea21291690dce"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ac813f76084a0d9d252fb5c01830ab7df"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#ac813f76084a0d9d252fb5c01830ab7df">detect_position</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="el" href="struct_position.html">Position</a> *posTriangle, <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *monArene)</td></tr>
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+<tr class="memdesc:ac813f76084a0d9d252fb5c01830ab7df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Détecte la position d'un robot.  <a href="#ac813f76084a0d9d252fb5c01830ab7df">More...</a><br /></td></tr>
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+<tr class="separator:ac813f76084a0d9d252fb5c01830ab7df"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a869c3946d4a414b8730ca4f91fbd9556"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#a869c3946d4a414b8730ca4f91fbd9556">draw_position</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgOutput, <a class="el" href="struct_position.html">Position</a> *positionRobot)</td></tr>
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+<tr class="memdesc:a869c3946d4a414b8730ca4f91fbd9556"><td class="mdescLeft">&#160;</td><td class="mdescRight">Dessine sur une image en entrée la position d'un robot et sa direction.  <a href="#a869c3946d4a414b8730ca4f91fbd9556">More...</a><br /></td></tr>
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+<tr class="separator:a869c3946d4a414b8730ca4f91fbd9556"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<div class="textblock"><p>Fonctions de traitement d'image utilisable pour la détection du robot. </p>
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+<dl class="section author"><dt>Author</dt><dd>L.Senaneuch </dd></dl>
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+<dl class="section version"><dt>Version</dt><dd>1.0 </dd></dl>
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+<dl class="section date"><dt>Date</dt><dd>06/06/2017</dd></dl>
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+<p>Ce fichier utilise la libraire openCV2 pour faciliter le traitement d'image dans le projet Destijl. Il permet de faciliter la détection de l'arène et la détection du robot. /!\ Attention Bien que celui-ci soit un .cpp la structure du code n'est pas sous forme d'objet. </p>
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+
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+<p class="definition">Definition in file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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+</div><h2 class="groupheader">Function Documentation</h2>
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+<a id="afe015c86402c7d09d9d7b28587c7fd1b"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#afe015c86402c7d09d9d7b28587c7fd1b">&#9670;&nbsp;</a></span>calculAngle()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">float calculAngle </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="struct_position.html">Position</a> *&#160;</td>
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+          <td class="paramname"><em>positionRobot</em></td><td>)</td>
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+          <td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00253">253</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a19eac11a04cb4b86fd32e6a36445ad5d"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a19eac11a04cb4b86fd32e6a36445ad5d">&#9670;&nbsp;</a></span>close_camera()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">void close_camera </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *&#160;</td>
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+          <td class="paramname"><em>camera</em></td><td>)</td>
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+          <td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Ferme la camera passé en paramètre. </p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">*Camera</td><td>Pointeur sur la camera à fermer </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+
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+<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00112">112</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a909ca7577f0ac2e4bd0ea21291690dce"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a909ca7577f0ac2e4bd0ea21291690dce">&#9670;&nbsp;</a></span>compress_image()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">void compress_image </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgInput</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a9ac2855e21920c676a108df386ff9415">Jpg</a> *&#160;</td>
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+          <td class="paramname"><em>imageCompress</em>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Détecte la position d'un robot. </p>
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+<p>Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.</p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">*imgInput</td><td>Pointeur sur l'image à sauvegarder en mémoire sous format jpg. </td></tr>
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+    <tr><td class="paramname">*imageCompress</td><td>Pointeur sur une image .jpg. </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+
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+<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00164">164</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a41fa265b5f57fcd2a13e726880297d12"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a41fa265b5f57fcd2a13e726880297d12">&#9670;&nbsp;</a></span>cropArena()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int cropArena </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgInput</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgOutput</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *&#160;</td>
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+          <td class="paramname"><em>AreneInput</em>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00150">150</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="acad45df4061a55f17be0db97c1406249"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#acad45df4061a55f17be0db97c1406249">&#9670;&nbsp;</a></span>detect_arena()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int detect_arena </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>monImage</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *&#160;</td>
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+          <td class="paramname"><em>rectangle</em>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Détecte une arène dans une image fournis en paramètre. </p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">*monImage</td><td>Pointeur sur l'image d'entrée </td></tr>
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+    <tr><td class="paramname">*rectangle</td><td>Pointeur sur les coordonnées du rectangles trouvé. </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+<dl class="section return"><dt>Returns</dt><dd>Retourne -1 si aucune arène n'est détectée. Sinon retourne 0 </dd></dl>
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+
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+<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00126">126</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="ac813f76084a0d9d252fb5c01830ab7df"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac813f76084a0d9d252fb5c01830ab7df">&#9670;&nbsp;</a></span>detect_position()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int detect_position </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgInput</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="struct_position.html">Position</a> *&#160;</td>
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+          <td class="paramname"><em>posTriangle</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *&#160;</td>
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+          <td class="paramname"><em>monArene</em> = <code>NULL</code>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Détecte la position d'un robot. </p>
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+<p>Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.</p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">*imgInput</td><td>Pointeur sur l'image sur laquelle chercher la position du des robots. </td></tr>
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+    <tr><td class="paramname">*posTriangle</td><td>Pointeur sur un tableau de position ou seront stocké les positions des triangles détectés. </td></tr>
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+    <tr><td class="paramname">*monArene</td><td>Pointeur de type Arène si nécessaire d'affiner la recherche (optionnel) </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+<dl class="section return"><dt>Returns</dt><dd>Le nombre de triangles détectés. </dd></dl>
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+
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+<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00170">170</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a5ffd032a466af45a505fb46252194bbf"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a5ffd032a466af45a505fb46252194bbf">&#9670;&nbsp;</a></span>draw_arena()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">void draw_arena </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgInput</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgOutput</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *&#160;</td>
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+          <td class="paramname"><em>monArene</em>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Dessine le plus petit rectangle contenant l'arène. </p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">*imgInput</td><td>Pointeur sur l'image d'entrée. </td></tr>
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+    <tr><td class="paramname">*imgOutput</td><td>Pointeur sur l'image de sortie (image d'entrée + arène marquée) </td></tr>
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+    <tr><td class="paramname">*monArene</td><td>Pointeur de type Arène contenant les information à dessiner </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+
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+<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00051">51</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a869c3946d4a414b8730ca4f91fbd9556"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a869c3946d4a414b8730ca4f91fbd9556">&#9670;&nbsp;</a></span>draw_position()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">void draw_position </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgInput</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgOutput</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="struct_position.html">Position</a> *&#160;</td>
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+          <td class="paramname"><em>positionRobot</em>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Dessine sur une image en entrée la position d'un robot et sa direction. </p>
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+<p>Sauvegarde l'image des coordonnées passées par positionRobot superposée à l'image d'entrée sur imgOutput.</p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">*imgInput</td><td>Pointeur sur l'image d'entrée </td></tr>
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+    <tr><td class="paramname">*imgOutput</td><td>Pointeur sur l'image de sortie ( image d'entrée + dessin de la position) </td></tr>
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+    <tr><td class="paramname">*positionRobot</td><td>Pointeur sur la structure position d'un robot. </td></tr>
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+  </dd>
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+</dl>
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+
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+<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00244">244</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a73f53d1da08f1f8123da89585d16c7ef">&#9670;&nbsp;</a></span>euclideanDist()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">float euclideanDist </td>
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+          <td>(</td>
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+          <td class="paramtype">Point &amp;&#160;</td>
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+          <td class="paramname"><em>p</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype">Point &amp;&#160;</td>
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+          <td class="paramname"><em>q</em>&#160;</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00159">159</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a864afddf57678b37b99d9eca70405d63"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a864afddf57678b37b99d9eca70405d63">&#9670;&nbsp;</a></span>get_image()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">void get_image </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *&#160;</td>
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+          <td class="paramname"><em>camera</em>, </td>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype">const char *&#160;</td>
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+
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+<p>Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image. </p>
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+<p>La camera doit préalablement être ouverte via <em>openCamera</em>(...)</p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">*Camera</td><td>Pointeur sur la camera passée en entrée. </td></tr>
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+    <tr><td class="paramname">*monImage</td><td>Pointeur sur une image capturée. </td></tr>
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+    <tr><td class="paramname">*fichier</td><td>chemin du fichier d'image </td></tr>
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+</dl>
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+<dl class="section return"><dt>Returns</dt><dd>Retourne -1 si une erreur survient. </dd></dl>
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+
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+<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00093">93</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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+
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *&#160;</td>
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+
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+<p>Ouvre une camera. </p>
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+<p>Met à jour le descripteur de fichier passé en paramètre pour correspondre à la camera ouverte</p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">*Camera</td><td>Pointeur d'un file descriptor d'une camera ouverte </td></tr>
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+<a href="#typedef-members">Typedefs</a> &#124;
89
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+<div class="title">image.h File Reference</div>  </div>
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+</div><!--header-->
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+<div class="contents">
94
+
95
+<p>Functions for image treatment.  
96
+<a href="#details">More...</a></p>
97
+<div class="textblock"><code>#include &lt;raspicam/raspicam_cv.h&gt;</code><br />
98
+<code>#include &quot;opencv2/imgproc/imgproc.hpp&quot;</code><br />
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+<tr class="separator:a466446fef9c0348568bc6743186d1a38"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9ac2855e21920c676a108df386ff9415"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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143
+<tr class="memitem:aca0662ab31eac7fdb2d64fecc52ff1da"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="image_8h.html#aca0662ab31eac7fdb2d64fecc52ff1da">open_camera</a> (<a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *camera)</td></tr>
144
+<tr class="memdesc:aca0662ab31eac7fdb2d64fecc52ff1da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ouvre une camera.  <a href="#aca0662ab31eac7fdb2d64fecc52ff1da">More...</a><br /></td></tr>
145
+<tr class="separator:aca0662ab31eac7fdb2d64fecc52ff1da"><td class="memSeparator" colspan="2">&#160;</td></tr>
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147
+<tr class="memdesc:a19eac11a04cb4b86fd32e6a36445ad5d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ferme la camera passé en paramètre.  <a href="#a19eac11a04cb4b86fd32e6a36445ad5d">More...</a><br /></td></tr>
148
+<tr class="separator:a19eac11a04cb4b86fd32e6a36445ad5d"><td class="memSeparator" colspan="2">&#160;</td></tr>
149
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150
+<tr class="memdesc:ad904f3348c2d44f9c82435c94cd83844"><td class="mdescLeft">&#160;</td><td class="mdescRight">Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image.  <a href="#ad904f3348c2d44f9c82435c94cd83844">More...</a><br /></td></tr>
151
+<tr class="separator:ad904f3348c2d44f9c82435c94cd83844"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:acad45df4061a55f17be0db97c1406249"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="image_8h.html#acad45df4061a55f17be0db97c1406249">detect_arena</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *monImage, <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *rectangle)</td></tr>
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+<tr class="memdesc:acad45df4061a55f17be0db97c1406249"><td class="mdescLeft">&#160;</td><td class="mdescRight">Détecte une arène dans une image fournis en paramètre.  <a href="#acad45df4061a55f17be0db97c1406249">More...</a><br /></td></tr>
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+<tr class="separator:acad45df4061a55f17be0db97c1406249"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a5ffd032a466af45a505fb46252194bbf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="image_8h.html#a5ffd032a466af45a505fb46252194bbf">draw_arena</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgOutput, <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *monArene)</td></tr>
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+<tr class="memdesc:a5ffd032a466af45a505fb46252194bbf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Dessine le plus petit rectangle contenant l'arène.  <a href="#a5ffd032a466af45a505fb46252194bbf">More...</a><br /></td></tr>
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+<tr class="separator:a5ffd032a466af45a505fb46252194bbf"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:af9f6e2dd4409486f2f6446d1a8a02c40"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="image_8h.html#af9f6e2dd4409486f2f6446d1a8a02c40">detect_position</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="el" href="struct_position.html">Position</a> *posTriangle, <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *monArene=NULL)</td></tr>
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+<tr class="memdesc:af9f6e2dd4409486f2f6446d1a8a02c40"><td class="mdescLeft">&#160;</td><td class="mdescRight">Détecte la position d'un robot.  <a href="#af9f6e2dd4409486f2f6446d1a8a02c40">More...</a><br /></td></tr>
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+<tr class="separator:af9f6e2dd4409486f2f6446d1a8a02c40"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a869c3946d4a414b8730ca4f91fbd9556"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="image_8h.html#a869c3946d4a414b8730ca4f91fbd9556">draw_position</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgOutput, <a class="el" href="struct_position.html">Position</a> *positionRobot)</td></tr>
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+<tr class="memdesc:a869c3946d4a414b8730ca4f91fbd9556"><td class="mdescLeft">&#160;</td><td class="mdescRight">Dessine sur une image en entrée la position d'un robot et sa direction.  <a href="#a869c3946d4a414b8730ca4f91fbd9556">More...</a><br /></td></tr>
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+<tr class="separator:a869c3946d4a414b8730ca4f91fbd9556"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a909ca7577f0ac2e4bd0ea21291690dce"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="image_8h.html#a909ca7577f0ac2e4bd0ea21291690dce">compress_image</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="el" href="image_8h.html#a9ac2855e21920c676a108df386ff9415">Jpg</a> *imageCompress)</td></tr>
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+<tr class="memdesc:a909ca7577f0ac2e4bd0ea21291690dce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Détecte la position d'un robot.  <a href="#a909ca7577f0ac2e4bd0ea21291690dce">More...</a><br /></td></tr>
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+<tr class="separator:a909ca7577f0ac2e4bd0ea21291690dce"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<div class="textblock"><p>Functions for image treatment. </p>
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+<dl class="section author"><dt>Author</dt><dd>L.Senaneuch </dd></dl>
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+<dl class="section version"><dt>Version</dt><dd>1.0 </dd></dl>
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+<dl class="section date"><dt>Date</dt><dd>06/06/2017</dd></dl>
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+<p>This file use openCV2 library for picture processing. This allow to detect arena and robot. </p>
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+
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+<p class="definition">Definition in file <a class="el" href="image_8h_source.html">image.h</a>.</p>
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+</div><h2 class="groupheader">Macro Definition Documentation</h2>
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+<a id="aed89bd71aee8be823e8a20ec4e093c1e"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#aed89bd71aee8be823e8a20ec4e093c1e">&#9670;&nbsp;</a></span>HEIGHT</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define HEIGHT&#160;&#160;&#160;360</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="image_8h_source.html#l00045">45</a> of file <a class="el" href="image_8h_source.html">image.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a241aeeb764887ae5e3de58b98f04b16d"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a241aeeb764887ae5e3de58b98f04b16d">&#9670;&nbsp;</a></span>WIDTH</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define WIDTH&#160;&#160;&#160;480</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="image_8h_source.html#l00044">44</a> of file <a class="el" href="image_8h_source.html">image.h</a>.</p>
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+
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+</div>
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+</div>
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+<h2 class="groupheader">Typedef Documentation</h2>
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+<a id="aa856a7cb8a1535c9f13096bede6c8586"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#aa856a7cb8a1535c9f13096bede6c8586">&#9670;&nbsp;</a></span>Arene</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">typedef Rect <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="image_8h_source.html#l00066">66</a> of file <a class="el" href="image_8h_source.html">image.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a739dda3f6f6ddbab22617837b43a692a"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a739dda3f6f6ddbab22617837b43a692a">&#9670;&nbsp;</a></span>Camera</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">typedef RaspiCam_Cv <a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="image_8h_source.html#l00058">58</a> of file <a class="el" href="image_8h_source.html">image.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a466446fef9c0348568bc6743186d1a38"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a466446fef9c0348568bc6743186d1a38">&#9670;&nbsp;</a></span>Image</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">typedef Mat <a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="image_8h_source.html#l00055">55</a> of file <a class="el" href="image_8h_source.html">image.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a9ac2855e21920c676a108df386ff9415"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a9ac2855e21920c676a108df386ff9415">&#9670;&nbsp;</a></span>Jpg</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">typedef vector&lt;unsigned char&gt; <a class="el" href="image_8h.html#a9ac2855e21920c676a108df386ff9415">Jpg</a></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="image_8h_source.html#l00067">67</a> of file <a class="el" href="image_8h_source.html">image.h</a>.</p>
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+
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+</div>
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+</div>
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+<h2 class="groupheader">Function Documentation</h2>
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+<a id="a19eac11a04cb4b86fd32e6a36445ad5d"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a19eac11a04cb4b86fd32e6a36445ad5d">&#9670;&nbsp;</a></span>close_camera()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">void close_camera </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *&#160;</td>
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+          <td class="paramname"><em>camera</em></td><td>)</td>
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+          <td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Ferme la camera passé en paramètre. </p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">camera</td><td>Pointeur sur la camera à fermer </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+
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+</div>
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+</div>
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+<a id="a909ca7577f0ac2e4bd0ea21291690dce"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a909ca7577f0ac2e4bd0ea21291690dce">&#9670;&nbsp;</a></span>compress_image()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">void compress_image </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgInput</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a9ac2855e21920c676a108df386ff9415">Jpg</a> *&#160;</td>
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+          <td class="paramname"><em>imageCompress</em>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Détecte la position d'un robot. </p>
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+<p>Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.</p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">imgInput</td><td>Pointeur sur l'image à sauvegarder en mémoire sous format jpg. </td></tr>
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+    <tr><td class="paramname">imageCompress</td><td>Pointeur sur une image .jpg. </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+
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+</div>
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+</div>
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+<a id="acad45df4061a55f17be0db97c1406249"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#acad45df4061a55f17be0db97c1406249">&#9670;&nbsp;</a></span>detect_arena()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int detect_arena </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>monImage</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *&#160;</td>
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+          <td class="paramname"><em>rectangle</em>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
365
+<p>Détecte une arène dans une image fournis en paramètre. </p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">monImage</td><td>Pointeur sur l'image d'entrée </td></tr>
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+    <tr><td class="paramname">rectangle</td><td>Pointeur sur les coordonnées du rectangles trouvé. </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+<dl class="section return"><dt>Returns</dt><dd>Retourne -1 si aucune arène n'est détectée. Sinon retourne 0 </dd></dl>
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+
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+</div>
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+</div>
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+<a id="af9f6e2dd4409486f2f6446d1a8a02c40"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#af9f6e2dd4409486f2f6446d1a8a02c40">&#9670;&nbsp;</a></span>detect_position()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int detect_position </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgInput</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="struct_position.html">Position</a> *&#160;</td>
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+          <td class="paramname"><em>posTriangle</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *&#160;</td>
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+          <td class="paramname"><em>monArene</em> = <code>NULL</code>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Détecte la position d'un robot. </p>
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+<p>Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.</p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">imgInput</td><td>Pointeur sur l'image sur laquelle chercher la position du des robots. </td></tr>
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+    <tr><td class="paramname">posTriangle</td><td>Pointeur sur un tableau de position ou seront stocké les positions des triangles détectés. </td></tr>
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+    <tr><td class="paramname">monArene</td><td>Pointeur de type Arène si nécessaire d'affiner la recherche (optionnel) </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+<dl class="section return"><dt>Returns</dt><dd>Le nombre de triangles détectés. </dd></dl>
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+
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+</div>
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+</div>
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+<a id="a5ffd032a466af45a505fb46252194bbf"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a5ffd032a466af45a505fb46252194bbf">&#9670;&nbsp;</a></span>draw_arena()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">void draw_arena </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgInput</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgOutput</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *&#160;</td>
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+          <td class="paramname"><em>monArene</em>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Dessine le plus petit rectangle contenant l'arène. </p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">imgInput</td><td>Pointeur sur l'image d'entrée. </td></tr>
459
+    <tr><td class="paramname">imgOutput</td><td>Pointeur sur l'image de sortie (image d'entrée + arène marquée) </td></tr>
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+    <tr><td class="paramname">monArene</td><td>Pointeur de type Arène contenant les information à dessiner </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+
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+</div>
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+</div>
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+<a id="a869c3946d4a414b8730ca4f91fbd9556"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a869c3946d4a414b8730ca4f91fbd9556">&#9670;&nbsp;</a></span>draw_position()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">void draw_position </td>
475
+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgInput</em>, </td>
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+        </tr>
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+          <td class="paramkey"></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>imgOutput</em>, </td>
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+          <td class="paramtype"><a class="el" href="struct_position.html">Position</a> *&#160;</td>
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+
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+<p>Dessine sur une image en entrée la position d'un robot et sa direction. </p>
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+<p>Sauvegarde l'image des coordonnées passées par positionRobot superposée à l'image d'entrée sur imgOutput.</p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">imgInput</td><td>Pointeur sur l'image d'entrée </td></tr>
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+    <tr><td class="paramname">imgOutput</td><td>Pointeur sur l'image de sortie ( image d'entrée + dessin de la position) </td></tr>
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+    <tr><td class="paramname">positionRobot</td><td>Pointeur sur la structure position d'un robot. </td></tr>
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+
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">void get_image </td>
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+          <td>(</td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *&#160;</td>
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+          <td class="paramname"><em>camera</em>, </td>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *&#160;</td>
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+          <td class="paramname"><em>monImage</em>, </td>
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+          <td class="paramkey"></td>
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+
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+<p>Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image. </p>
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+<p>La camera doit préalablement être ouverte via <em>openCamera</em>(...)</p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">camera</td><td>Pointeur sur la camera passée en entrée. </td></tr>
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+    <tr><td class="paramname">monImage</td><td>Pointeur sur une image capturée. </td></tr>
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+    <tr><td class="paramname">fichier</td><td>Chemin du fichier d'image </td></tr>
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+<p>Ouvre une camera. </p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">camera</td><td>Pointeur d'un file descriptor d'une camera ouverte </td></tr>
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+  </dd>
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+</dl>
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+<dl class="section return"><dt>Returns</dt><dd>Retourne 0 si la camera a été ouverte correctement et -1 si une erreur survient. </dd></dl>
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+<dl class="section author"><dt>Author</dt><dd>PE.Hladik </dd></dl>
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92
+
93
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94
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95
+<div class="textblock"><code>#include &lt;stdio.h&gt;</code><br />
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115
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116
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118
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119
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120
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121
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+<tr class="separator:a285193a5a9d3b142f3f1c53c471d3173"><td class="memSeparator" colspan="2">&#160;</td></tr>
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124
+<tr class="memdesc:ae409e822d69cee7483a2d41c62698a85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print message, header and data.  <a href="#ae409e822d69cee7483a2d41c62698a85">More...</a><br /></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
128
+<div class="textblock"><p>Functions for sending message to monitor. </p>
129
+<dl class="section author"><dt>Author</dt><dd>PE.Hladik </dd></dl>
130
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92
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93
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94
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95
+<div class="textblock"><code>#include &quot;<a class="el" href="monitor_8h_source.html">monitor.h</a>&quot;</code><br />
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+<tr class="memitem:a04c8d7ed93b301fafe6dcc08d64ba21b"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="monitor_8cpp.html#a04c8d7ed93b301fafe6dcc08d64ba21b">serverReceive</a> (int size)</td></tr>
114
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115
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116
+<tr class="separator:a7265ec937de7d9ca68b81e5bd8203962"><td class="memSeparator" colspan="2">&#160;</td></tr>
117
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118
+<tr class="separator:aef87d80a1e44bf1953b3282967282ef0"><td class="memSeparator" colspan="2">&#160;</td></tr>
119
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120
+<tr class="memdesc:af49d46447ce41019bd13a2c07a000644"><td class="mdescLeft">&#160;</td><td class="mdescRight">Envoi d'un message vers l'interface graphique.  <a href="#af49d46447ce41019bd13a2c07a000644">More...</a><br /></td></tr>
121
+<tr class="separator:af49d46447ce41019bd13a2c07a000644"><td class="memSeparator" colspan="2">&#160;</td></tr>
122
+<tr class="memitem:a61eca0d5b49118350db39583e1bd1032"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="monitor_8cpp.html#a61eca0d5b49118350db39583e1bd1032">receive_message_from_monitor</a> (char *typeMessage, char *data)</td></tr>
123
+<tr class="memdesc:a61eca0d5b49118350db39583e1bd1032"><td class="mdescLeft">&#160;</td><td class="mdescRight">Réception d'un message. La fonction est bloquante et retourne par référence le type de message reçu (DMB pour un ordre au robot, ARN pour la détection des arènes et POS pour un calcul de position) ainsi que les données associées.  <a href="#a61eca0d5b49118350db39583e1bd1032">More...</a><br /></td></tr>
124
+<tr class="separator:a61eca0d5b49118350db39583e1bd1032"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a1f38ae3a59ce304779ebbca10378654a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="monitor_8h.html#a29046dc0232f0e5c70adbc25090d77b8">SOCKADDR_IN</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="monitor_8cpp.html#a1f38ae3a59ce304779ebbca10378654a">ssin</a></td></tr>
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+<tr class="memitem:acd1a03adb2455aaacbd886642518d569"><td class="memItemLeft" align="right" valign="top">socklen_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="monitor_8cpp.html#acd1a03adb2455aaacbd886642518d569">recsize</a> = sizeof (<a class="el" href="monitor_8cpp.html#a1f38ae3a59ce304779ebbca10378654a">ssin</a>)</td></tr>
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+</table>
135
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
136
+<div class="textblock"><p>Library for sending message to monitor or receiving message. </p>
137
+<dl class="section author"><dt>Author</dt><dd>L.senaneuch </dd></dl>
138
+<dl class="section version"><dt>Version</dt><dd>1.0 </dd></dl>
139
+<dl class="section date"><dt>Date</dt><dd>06/06/2017 </dd></dl>
140
+
141
+<p class="definition">Definition in file <a class="el" href="monitor_8cpp_source.html">monitor.cpp</a>.</p>
142
+</div><h2 class="groupheader">Function Documentation</h2>
143
+<a id="aef87d80a1e44bf1953b3282967282ef0"></a>
144
+<h2 class="memtitle"><span class="permalink"><a href="#aef87d80a1e44bf1953b3282967282ef0">&#9670;&nbsp;</a></span>receive()</h2>
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+
146
+<div class="memitem">
147
+<div class="memproto">
148
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149
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+          <td class="memname">int receive </td>
151
+          <td>(</td>
152
+          <td class="paramtype">char *&#160;</td>
153
+          <td class="paramname"><em>data</em></td><td>)</td>
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+
159
+<p class="definition">Definition at line <a class="el" href="monitor_8cpp_source.html#l00090">90</a> of file <a class="el" href="monitor_8cpp_source.html">monitor.cpp</a>.</p>
160
+
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+</div>
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+<a id="a61eca0d5b49118350db39583e1bd1032"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a61eca0d5b49118350db39583e1bd1032">&#9670;&nbsp;</a></span>receive_message_from_monitor()</h2>
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+
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+<div class="memproto">
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+      <table class="memname">
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+          <td class="memname">int receive_message_from_monitor </td>
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173
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174
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176
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180
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182
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184
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185
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186
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187
+</div><div class="memdoc">
188
+
189
+<p>Réception d'un message. La fonction est bloquante et retourne par référence le type de message reçu (DMB pour un ordre au robot, ARN pour la détection des arènes et POS pour un calcul de position) ainsi que les données associées. </p>
190
+<dl class="params"><dt>Parameters</dt><dd>
191
+  <table class="params">
192
+    <tr><td class="paramname">typeMessage</td><td>Type du message reçu : DMB pour un ordre au robot, ARN pour la demande de détection de l'arène, POS pour un calcul de position et MSG pour un message de l'interface </td></tr>
193
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194
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195
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196
+</dl>
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+<dl class="section return"><dt>Returns</dt><dd>retourne 0 la taille du message reçu ou une valeur négative si la connexion est perdue. </dd></dl>
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8cpp_source.html#l00083">83</a> of file <a class="el" href="monitor_8cpp_source.html">monitor.cpp</a>.</p>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#af49d46447ce41019bd13a2c07a000644">&#9670;&nbsp;</a></span>send_message_to_monitor()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int send_message_to_monitor </td>
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+          <td>(</td>
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+          <td class="paramtype">const char *&#160;</td>
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+          <td class="paramname"><em>typeMessage</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype">const void *&#160;</td>
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+          <td class="paramname"><em>data</em> = <code>NULL</code>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Envoi d'un message vers l'interface graphique. </p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">typeMessage</td><td>Type du message envoyé. Les valeurs possibles sont IMG pour une image, MES pour un message à afficher dans la console, POS pour la position du robot, BAT pour une valeur de la batterie et ACK pour valider un message de l'interface. </td></tr>
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+    <tr><td class="paramname">data</td><td>données associées au message. Le type de la donnée doit correspondre au message : Image pour IMG, char * MES, <a class="el" href="struct_position.html">Position</a> pour POS, char * pour BAT et rien pour ACK. Attention, il n'y a aucune vérification a posterio. </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+<dl class="section return"><dt>Returns</dt><dd>retourne 0 si l'envoie a bien été réalisé et -1 en cas de problème. </dd></dl>
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8cpp_source.html#l00040">40</a> of file <a class="el" href="monitor_8cpp_source.html">monitor.cpp</a>.</p>
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+          <td class="memname">int sendMessage </td>
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+          <td>(</td>
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+          <td class="paramname"><em>data</em>, </td>
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+        </tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype">int&#160;</td>
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+          <td class="paramname"><em>dataLength</em>&#160;</td>
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+        <tr>
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+          <td></td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8cpp_source.html#l00097">97</a> of file <a class="el" href="monitor_8cpp_source.html">monitor.cpp</a>.</p>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a04c8d7ed93b301fafe6dcc08d64ba21b">&#9670;&nbsp;</a></span>serverReceive()</h2>
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+
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+          <td class="memname">string serverReceive </td>
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+          <td>(</td>
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+          <td class="paramtype">int&#160;</td>
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+          <td class="paramname"><em>size</em></td><td>)</td>
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+<p class="definition">Definition at line <a class="el" href="monitor_8cpp_source.html#l00033">33</a> of file <a class="el" href="monitor_8cpp_source.html">monitor.cpp</a>.</p>
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+<div class="contents">
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+
95
+<p>Library for sending message to monitor or receiving message.  
96
+<a href="#details">More...</a></p>
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+<div class="textblock"><code>#include &lt;sys/types.h&gt;</code><br />
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+<code>#include &lt;sys/socket.h&gt;</code><br />
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+<code>#include &lt;netinet/in.h&gt;</code><br />
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+<code>#include &lt;arpa/inet.h&gt;</code><br />
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+<code>#include &lt;unistd.h&gt;</code><br />
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+<code>#include &lt;signal.h&gt;</code><br />
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+<code>#include &lt;stdlib.h&gt;</code><br />
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+<code>#include &lt;stdio.h&gt;</code><br />
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+<code>#include &lt;string.h&gt;</code><br />
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+<code>#include &quot;<a class="el" href="image_8h_source.html">image.h</a>&quot;</code><br />
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+Include dependency graph for monitor.h:</div>
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+</div>
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+<p><a href="monitor_8h_source.html">Go to the source code of this file.</a></p>
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+<table class="memberdecls">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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+Classes</h2></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_message_from_mon.html">MessageFromMon</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
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+Macros</h2></td></tr>
127
+<tr class="memitem:ad62b697bd25a71d171db46740aef2830"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="monitor_8h.html#ad62b697bd25a71d171db46740aef2830">HEADER_STM_IMAGE</a>&#160;&#160;&#160;&quot;IMG&quot;</td></tr>
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+<tr class="separator:ad62b697bd25a71d171db46740aef2830"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a0de226ae5af8b83f3b163ff4413eef95"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="monitor_8h.html#a0de226ae5af8b83f3b163ff4413eef95">HEADER_STM_BAT</a>&#160;&#160;&#160;&quot;BAT&quot;</td></tr>
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+<tr class="separator:a0de226ae5af8b83f3b163ff4413eef95"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a6a07aae2539981459edc8070a0f019db"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="monitor_8h.html#a6a07aae2539981459edc8070a0f019db">HEADER_STM_POS</a>&#160;&#160;&#160;&quot;POS&quot;</td></tr>
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+<tr class="separator:a6a07aae2539981459edc8070a0f019db"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ac2e64478522da4e3b45c139c0c72557f"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="monitor_8h.html#ac2e64478522da4e3b45c139c0c72557f">HEADER_STM_NO_ACK</a>&#160;&#160;&#160;&quot;NAK&quot;</td></tr>
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+<tr class="separator:ac2e64478522da4e3b45c139c0c72557f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:af2325d19ae9da4310eb608c744149f53"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="monitor_8h.html#af2325d19ae9da4310eb608c744149f53">HEADER_STM_ACK</a>&#160;&#160;&#160;&quot;ACK&quot;</td></tr>
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+<tr class="separator:a29046dc0232f0e5c70adbc25090d77b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+Functions</h2></td></tr>
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+<tr class="memdesc:ac3d876b96642b6ee46f6a96b7ffcb864"><td class="mdescLeft">&#160;</td><td class="mdescRight">Envoi d'un message vers l'interface graphique.  <a href="#ac3d876b96642b6ee46f6a96b7ffcb864">More...</a><br /></td></tr>
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+<tr class="separator:ac3d876b96642b6ee46f6a96b7ffcb864"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a61eca0d5b49118350db39583e1bd1032"><td class="mdescLeft">&#160;</td><td class="mdescRight">Réception d'un message. La fonction est bloquante et retourne par référence le type de message reçu (DMB pour un ordre au robot, ARN pour la détection des arènes et POS pour un calcul de position) ainsi que les données associées.  <a href="#a61eca0d5b49118350db39583e1bd1032">More...</a><br /></td></tr>
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+<tr class="separator:a61eca0d5b49118350db39583e1bd1032"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<div class="textblock"><p>Library for sending message to monitor or receiving message. </p>
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+<dl class="section author"><dt>Author</dt><dd>L.senaneuch </dd></dl>
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+<dl class="section version"><dt>Version</dt><dd>1.0 </dd></dl>
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+<dl class="section date"><dt>Date</dt><dd>06/06/2017 </dd></dl>
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+
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+<p class="definition">Definition in file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+</div><h2 class="groupheader">Macro Definition Documentation</h2>
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+<a id="a22d20ac264e03c59d6941cb11386aa89"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a22d20ac264e03c59d6941cb11386aa89">&#9670;&nbsp;</a></span>CHECK_ARENA</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define CHECK_ARENA&#160;&#160;&#160;(2)</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00062">62</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="ab6b45251e218af8f09c5d627b5262398"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab6b45251e218af8f09c5d627b5262398">&#9670;&nbsp;</a></span>closesocket</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define closesocket</td>
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+          <td>(</td>
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+          <td class="paramtype">&#160;</td>
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+          <td class="paramname">param</td><td>)</td>
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+          <td>&#160;&#160;&#160;close(param)</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00068">68</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="af533d8bd7d6a1d9f9efba3b259280e32"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#af533d8bd7d6a1d9f9efba3b259280e32">&#9670;&nbsp;</a></span>DEFAULT_INTERFACE_FILE</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DEFAULT_INTERFACE_FILE&#160;&#160;&#160;&quot;./interface.js&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00066">66</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a2c47b710f0858fe41c544517c6b2a2fd"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2c47b710f0858fe41c544517c6b2a2fd">&#9670;&nbsp;</a></span>DEFAULT_NODEJS_PATH</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DEFAULT_NODEJS_PATH&#160;&#160;&#160;&quot;/usr/bin/nodejs&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00065">65</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a939612a13947b5bb9fc848e3222a231d"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a939612a13947b5bb9fc848e3222a231d">&#9670;&nbsp;</a></span>DEFAULT_PARITY</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DEFAULT_PARITY&#160;&#160;&#160;0</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00059">59</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a16b710f592bf8f7900666392adc444dc"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a16b710f592bf8f7900666392adc444dc">&#9670;&nbsp;</a></span>DEFAULT_PORT</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DEFAULT_PORT&#160;&#160;&#160;8080</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00058">58</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="ab3be9ae187e8b98bb000ca0bca68e982"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab3be9ae187e8b98bb000ca0bca68e982">&#9670;&nbsp;</a></span>DETECT_ARENA</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define DETECT_ARENA&#160;&#160;&#160;(1)</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00061">61</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a91e2658cf20010646211ba748885c180"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a91e2658cf20010646211ba748885c180">&#9670;&nbsp;</a></span>HEADER_MTS_CAMERA</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define HEADER_MTS_CAMERA&#160;&#160;&#160;&quot;CAM&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00052">52</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+</div>
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+</div>
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+<a id="a0c829d92889c5c9b2d485964ce933fab"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a0c829d92889c5c9b2d485964ce933fab">&#9670;&nbsp;</a></span>HEADER_MTS_COM_DMB</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define HEADER_MTS_COM_DMB&#160;&#160;&#160;&quot;COM&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00051">51</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+<a id="a5ccd30e6502bb94eaa13a597edb1f156"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a5ccd30e6502bb94eaa13a597edb1f156">&#9670;&nbsp;</a></span>HEADER_MTS_DMB_ORDER</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define HEADER_MTS_DMB_ORDER&#160;&#160;&#160;&quot;DMB&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00050">50</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a980e8f9457e30018fddcd4d997f17a85">&#9670;&nbsp;</a></span>HEADER_MTS_MSG</h2>
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define HEADER_MTS_MSG&#160;&#160;&#160;&quot;MSG&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00049">49</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+<a id="a2be30c9a3e65eaf5502b8542a6ac6259"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2be30c9a3e65eaf5502b8542a6ac6259">&#9670;&nbsp;</a></span>HEADER_MTS_STOP</h2>
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define HEADER_MTS_STOP&#160;&#160;&#160;&quot;STO&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00053">53</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#af2325d19ae9da4310eb608c744149f53">&#9670;&nbsp;</a></span>HEADER_STM_ACK</h2>
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define HEADER_STM_ACK&#160;&#160;&#160;&quot;ACK&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00045">45</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+<h2 class="memtitle"><span class="permalink"><a href="#a0de226ae5af8b83f3b163ff4413eef95">&#9670;&nbsp;</a></span>HEADER_STM_BAT</h2>
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define HEADER_STM_BAT&#160;&#160;&#160;&quot;BAT&quot;</td>
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+        </tr>
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+      </table>
420
+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00042">42</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="ad62b697bd25a71d171db46740aef2830"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad62b697bd25a71d171db46740aef2830">&#9670;&nbsp;</a></span>HEADER_STM_IMAGE</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
433
+          <td class="memname">#define HEADER_STM_IMAGE&#160;&#160;&#160;&quot;IMG&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00041">41</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="afe29ce74d16751828da8aec7e13ad06b"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#afe29ce74d16751828da8aec7e13ad06b">&#9670;&nbsp;</a></span>HEADER_STM_LOST_DMB</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define HEADER_STM_LOST_DMB&#160;&#160;&#160;&quot;LCD&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00047">47</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="ac1034bccb09918cccd3ba142377a6788"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac1034bccb09918cccd3ba142377a6788">&#9670;&nbsp;</a></span>HEADER_STM_MES</h2>
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+
461
+<div class="memitem">
462
+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define HEADER_STM_MES&#160;&#160;&#160;&quot;MSG&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00046">46</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="ac2e64478522da4e3b45c139c0c72557f"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac2e64478522da4e3b45c139c0c72557f">&#9670;&nbsp;</a></span>HEADER_STM_NO_ACK</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define HEADER_STM_NO_ACK&#160;&#160;&#160;&quot;NAK&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00044">44</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a6a07aae2539981459edc8070a0f019db"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6a07aae2539981459edc8070a0f019db">&#9670;&nbsp;</a></span>HEADER_STM_POS</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define HEADER_STM_POS&#160;&#160;&#160;&quot;POS&quot;</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00043">43</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a26769957ec1a2beaf223f33b66ee64ab"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a26769957ec1a2beaf223f33b66ee64ab">&#9670;&nbsp;</a></span>INVALID_SOCKET</h2>
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+
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+<div class="memitem">
510
+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define INVALID_SOCKET&#160;&#160;&#160;-1</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00055">55</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a1d58e03abc2a587c7f0a0665c94c0e68"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1d58e03abc2a587c7f0a0665c94c0e68">&#9670;&nbsp;</a></span>NO_ARENA</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define NO_ARENA&#160;&#160;&#160;(3)</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
534
+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00063">63</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a633b0396ff93d336a088412a190a5072"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a633b0396ff93d336a088412a190a5072">&#9670;&nbsp;</a></span>SOCKET_ERROR</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">#define SOCKET_ERROR&#160;&#160;&#160;-1</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
550
+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00056">56</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<h2 class="groupheader">Typedef Documentation</h2>
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+<a id="ae334b73cedf7204187dce3f817576009"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae334b73cedf7204187dce3f817576009">&#9670;&nbsp;</a></span>SOCKADDR</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">typedef struct sockaddr <a class="el" href="monitor_8h.html#ae334b73cedf7204187dce3f817576009">SOCKADDR</a></td>
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+        </tr>
564
+      </table>
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+</div><div class="memdoc">
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+
567
+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00072">72</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a29046dc0232f0e5c70adbc25090d77b8"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a29046dc0232f0e5c70adbc25090d77b8">&#9670;&nbsp;</a></span>SOCKADDR_IN</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">typedef struct sockaddr_in <a class="el" href="monitor_8h.html#a29046dc0232f0e5c70adbc25090d77b8">SOCKADDR_IN</a></td>
579
+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00071">71</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a8dc8083897335125630f1af5dafd5831"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a8dc8083897335125630f1af5dafd5831">&#9670;&nbsp;</a></span>SOCKET</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">typedef int <a class="el" href="monitor_8h.html#a8dc8083897335125630f1af5dafd5831">SOCKET</a></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="monitor_8h_source.html#l00070">70</a> of file <a class="el" href="monitor_8h_source.html">monitor.h</a>.</p>
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+
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+</div>
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+</div>
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+<h2 class="groupheader">Function Documentation</h2>
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+<a id="a61eca0d5b49118350db39583e1bd1032"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a61eca0d5b49118350db39583e1bd1032">&#9670;&nbsp;</a></span>receive_message_from_monitor()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int receive_message_from_monitor </td>
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+          <td>(</td>
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+          <td class="paramtype">char *&#160;</td>
614
+          <td class="paramname"><em>typeMessage</em>, </td>
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+        </tr>
616
+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype">char *&#160;</td>
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+          <td class="paramname"><em>data</em>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Réception d'un message. La fonction est bloquante et retourne par référence le type de message reçu (DMB pour un ordre au robot, ARN pour la détection des arènes et POS pour un calcul de position) ainsi que les données associées. </p>
631
+<dl class="params"><dt>Parameters</dt><dd>
632
+  <table class="params">
633
+    <tr><td class="paramname">typeMessage</td><td>Type du message reçu : DMB pour un ordre au robot, ARN pour la demande de détection de l'arène, POS pour un calcul de position et MSG pour un message de l'interface </td></tr>
634
+    <tr><td class="paramname">data</td><td>données associées au message reçu. </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+<dl class="section return"><dt>Returns</dt><dd>Retourne 0 la taille du message reçu ou une valeur négative si la connexion est perdue. </dd></dl>
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+
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+</div>
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+</div>
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+<a id="ac3d876b96642b6ee46f6a96b7ffcb864"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac3d876b96642b6ee46f6a96b7ffcb864">&#9670;&nbsp;</a></span>send_message_to_monitor()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int send_message_to_monitor </td>
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+          <td>(</td>
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+          <td class="paramtype">const char *&#160;</td>
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+          <td class="paramname"><em>typeMessage</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype">const void *&#160;</td>
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+          <td class="paramname"><em>data</em> = <code>NULL</code>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
668
+<p>Envoi d'un message vers l'interface graphique. </p>
669
+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
671
+    <tr><td class="paramname">typeMessage</td><td>Type du message envoyé. Les valeurs possibles sont IMG pour une image, MES pour un message à afficher dans la console, POS pour la position du robot, BAT pour une valeur de la batterie et ACK pour valider un message de l'interface. </td></tr>
672
+    <tr><td class="paramname">data</td><td>données associées au message. Le type de la donnée doit correspondre au message : Image pour IMG, char * MES, <a class="el" href="struct_position.html">Position</a> pour POS, char * pour BAT et rien pour ACK. Attention, il n'y a aucune vérification a posterio. </td></tr>
673
+  </table>
674
+  </dd>
675
+</dl>
676
+<dl class="section return"><dt>Returns</dt><dd>Retourne 0 si l'envoie a bien été réalisé et -1 en cas de problème. </dd></dl>
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+
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+</div>
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+</div>
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+</div><!-- contents -->
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.13 </li>
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40
+  outline:none;
41
+}
42
+
43
+#nav-tree .label {
44
+  margin:0px;
45
+  padding:0px;
46
+  font: 12px 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
47
+}
48
+
49
+#nav-tree .label a {
50
+  padding:2px;
51
+}
52
+
53
+#nav-tree .selected a {
54
+  text-decoration:none;
55
+  color:#fff;
56
+}
57
+
58
+#nav-tree .children_ul {
59
+  margin:0px;
60
+  padding:0px;
61
+}
62
+
63
+#nav-tree .item {
64
+  margin:0px;
65
+  padding:0px;
66
+}
67
+
68
+#nav-tree {
69
+  padding: 0px 0px;
70
+  background-color: #FAFAFF; 
71
+  font-size:14px;
72
+  overflow:auto;
73
+}
74
+
75
+#doc-content {
76
+  overflow:auto;
77
+  display:block;
78
+  padding:0px;
79
+  margin:0px;
80
+  -webkit-overflow-scrolling : touch; /* iOS 5+ */
81
+}
82
+
83
+#side-nav {
84
+  padding:0 6px 0 0;
85
+  margin: 0px;
86
+  display:block;
87
+  position: absolute;
88
+  left: 0px;
89
+  width: 250px;
90
+}
91
+
92
+.ui-resizable .ui-resizable-handle {
93
+  display:block;
94
+}
95
+
96
+.ui-resizable-e {
97
+  background-image:url("splitbar.png");
98
+  background-size:100%;
99
+  background-repeat:no-repeat;
100
+  background-attachment: scroll;
101
+  cursor:ew-resize;
102
+  height:100%;
103
+  right:0;
104
+  top:0;
105
+  width:6px;
106
+}
107
+
108
+.ui-resizable-handle {
109
+  display:none;
110
+  font-size:0.1px;
111
+  position:absolute;
112
+  z-index:1;
113
+}
114
+
115
+#nav-tree-contents {
116
+  margin: 6px 0px 0px 0px;
117
+}
118
+
119
+#nav-tree {
120
+  background-image:url('nav_h.png');
121
+  background-repeat:repeat-x;
122
+  background-color: #F9FAFC;
123
+  -webkit-overflow-scrolling : touch; /* iOS 5+ */
124
+}
125
+
126
+#nav-sync {
127
+  position:absolute;
128
+  top:5px;
129
+  right:24px;
130
+  z-index:0;
131
+}
132
+
133
+#nav-sync img {
134
+  opacity:0.3;
135
+}
136
+
137
+#nav-sync img:hover {
138
+  opacity:0.9;
139
+}
140
+
141
+@media print
142
+{
143
+  #nav-tree { display: none; }
144
+  div.ui-resizable-handle { display: none; position: relative; }
145
+}
146
+

+ 517
- 0
software/raspberry/superviseur-robot/lib/doc/html/navtree.js View File

@@ -0,0 +1,517 @@
1
+var navTreeSubIndices = new Array();
2
+var arrowDown = '&#9660;';
3
+var arrowRight = '&#9658;';
4
+
5
+function getData(varName)
6
+{
7
+  var i = varName.lastIndexOf('/');
8
+  var n = i>=0 ? varName.substring(i+1) : varName;
9
+  return eval(n.replace(/\-/g,'_'));
10
+}
11
+
12
+function stripPath(uri)
13
+{
14
+  return uri.substring(uri.lastIndexOf('/')+1);
15
+}
16
+
17
+function stripPath2(uri)
18
+{
19
+  var i = uri.lastIndexOf('/');
20
+  var s = uri.substring(i+1);
21
+  var m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/);
22
+  return m ? uri.substring(i-6) : s;
23
+}
24
+
25
+function hashValue()
26
+{
27
+  return $(location).attr('hash').substring(1).replace(/[^\w\-]/g,'');
28
+}
29
+
30
+function hashUrl()
31
+{
32
+  return '#'+hashValue();
33
+}
34
+
35
+function pathName()
36
+{
37
+  return $(location).attr('pathname').replace(/[^-A-Za-z0-9+&@#/%?=~_|!:,.;\(\)]/g, '');
38
+}
39
+
40
+function localStorageSupported()
41
+{
42
+  try {
43
+    return 'localStorage' in window && window['localStorage'] !== null && window.localStorage.getItem;
44
+  }
45
+  catch(e) {
46
+    return false;
47
+  }
48
+}
49
+
50
+
51
+function storeLink(link)
52
+{
53
+  if (!$("#nav-sync").hasClass('sync') && localStorageSupported()) {
54
+      window.localStorage.setItem('navpath',link);
55
+  }
56
+}
57
+
58
+function deleteLink()
59
+{
60
+  if (localStorageSupported()) {
61
+    window.localStorage.setItem('navpath','');
62
+  }
63
+}
64
+
65
+function cachedLink()
66
+{
67
+  if (localStorageSupported()) {
68
+    return window.localStorage.getItem('navpath');
69
+  } else {
70
+    return '';
71
+  }
72
+}
73
+
74
+function getScript(scriptName,func,show)
75
+{
76
+  var head = document.getElementsByTagName("head")[0];
77
+  var script = document.createElement('script');
78
+  script.id = scriptName;
79
+  script.type = 'text/javascript';
80
+  script.onload = func;
81
+  script.src = scriptName+'.js';
82
+  if ($.browser.msie && $.browser.version<=8) {
83
+    // script.onload does not work with older versions of IE
84
+    script.onreadystatechange = function() {
85
+      if (script.readyState=='complete' || script.readyState=='loaded') {
86
+        func(); if (show) showRoot();
87
+      }
88
+    }
89
+  }
90
+  head.appendChild(script); 
91
+}
92
+
93
+function createIndent(o,domNode,node,level)
94
+{
95
+  var level=-1;
96
+  var n = node;
97
+  while (n.parentNode) { level++; n=n.parentNode; }
98
+  if (node.childrenData) {
99
+    var imgNode = document.createElement("span");
100
+    imgNode.className = 'arrow';
101
+    imgNode.style.paddingLeft=(16*level).toString()+'px';
102
+    imgNode.innerHTML=arrowRight;
103
+    node.plus_img = imgNode;
104
+    node.expandToggle = document.createElement("a");
105
+    node.expandToggle.href = "javascript:void(0)";
106
+    node.expandToggle.onclick = function() {
107
+      if (node.expanded) {
108
+        $(node.getChildrenUL()).slideUp("fast");
109
+        node.plus_img.innerHTML=arrowRight;
110
+        node.expanded = false;
111
+      } else {
112
+        expandNode(o, node, false, false);
113
+      }
114
+    }
115
+    node.expandToggle.appendChild(imgNode);
116
+    domNode.appendChild(node.expandToggle);
117
+  } else {
118
+    var span = document.createElement("span");
119
+    span.className = 'arrow';
120
+    span.style.width   = 16*(level+1)+'px';
121
+    span.innerHTML = '&#160;';
122
+    domNode.appendChild(span);
123
+  }
124
+}
125
+
126
+var animationInProgress = false;
127
+
128
+function gotoAnchor(anchor,aname,updateLocation)
129
+{
130
+  var pos, docContent = $('#doc-content');
131
+  var ancParent = $(anchor.parent());
132
+  if (ancParent.hasClass('memItemLeft') ||
133
+      ancParent.hasClass('fieldname') ||
134
+      ancParent.hasClass('fieldtype') ||
135
+      ancParent.is(':header'))
136
+  {
137
+    pos = ancParent.position().top;
138
+  } else if (anchor.position()) {
139
+    pos = anchor.position().top;
140
+  }
141
+  if (pos) {
142
+    var dist = Math.abs(Math.min(
143
+               pos-docContent.offset().top,
144
+               docContent[0].scrollHeight-
145
+               docContent.height()-docContent.scrollTop()));
146
+    animationInProgress=true;
147
+    docContent.animate({
148
+      scrollTop: pos + docContent.scrollTop() - docContent.offset().top
149
+    },Math.max(50,Math.min(500,dist)),function(){
150
+      if (updateLocation) window.location.href=aname;
151
+      animationInProgress=false;
152
+    });
153
+  }
154
+}
155
+
156
+function newNode(o, po, text, link, childrenData, lastNode)
157
+{
158
+  var node = new Object();
159
+  node.children = Array();
160
+  node.childrenData = childrenData;
161
+  node.depth = po.depth + 1;
162
+  node.relpath = po.relpath;
163
+  node.isLast = lastNode;
164
+
165
+  node.li = document.createElement("li");
166
+  po.getChildrenUL().appendChild(node.li);
167
+  node.parentNode = po;
168
+
169
+  node.itemDiv = document.createElement("div");
170
+  node.itemDiv.className = "item";
171
+
172
+  node.labelSpan = document.createElement("span");
173
+  node.labelSpan.className = "label";
174
+
175
+  createIndent(o,node.itemDiv,node,0);
176
+  node.itemDiv.appendChild(node.labelSpan);
177
+  node.li.appendChild(node.itemDiv);
178
+
179
+  var a = document.createElement("a");
180
+  node.labelSpan.appendChild(a);
181
+  node.label = document.createTextNode(text);
182
+  node.expanded = false;
183
+  a.appendChild(node.label);
184
+  if (link) {
185
+    var url;
186
+    if (link.substring(0,1)=='^') {
187
+      url = link.substring(1);
188
+      link = url;
189
+    } else {
190
+      url = node.relpath+link;
191
+    }
192
+    a.className = stripPath(link.replace('#',':'));
193
+    if (link.indexOf('#')!=-1) {
194
+      var aname = '#'+link.split('#')[1];
195
+      var srcPage = stripPath(pathName());
196
+      var targetPage = stripPath(link.split('#')[0]);
197
+      a.href = srcPage!=targetPage ? url : "javascript:void(0)";
198
+      a.onclick = function(){
199
+        storeLink(link);
200
+        if (!$(a).parent().parent().hasClass('selected'))
201
+        {
202
+          $('.item').removeClass('selected');
203
+          $('.item').removeAttr('id');
204
+          $(a).parent().parent().addClass('selected');
205
+          $(a).parent().parent().attr('id','selected');
206
+        }
207
+        var anchor = $(aname);
208
+        gotoAnchor(anchor,aname,true);
209
+      };
210
+    } else {
211
+      a.href = url;
212
+      a.onclick = function() { storeLink(link); }
213
+    }
214
+  } else {
215
+    if (childrenData != null)
216
+    {
217
+      a.className = "nolink";
218
+      a.href = "javascript:void(0)";
219
+      a.onclick = node.expandToggle.onclick;
220
+    }
221
+  }
222
+
223
+  node.childrenUL = null;
224
+  node.getChildrenUL = function() {
225
+    if (!node.childrenUL) {
226
+      node.childrenUL = document.createElement("ul");
227
+      node.childrenUL.className = "children_ul";
228
+      node.childrenUL.style.display = "none";
229
+      node.li.appendChild(node.childrenUL);
230
+    }
231
+    return node.childrenUL;
232
+  };
233
+
234
+  return node;
235
+}
236
+
237
+function showRoot()
238
+{
239
+  var headerHeight = $("#top").height();
240
+  var footerHeight = $("#nav-path").height();
241
+  var windowHeight = $(window).height() - headerHeight - footerHeight;
242
+  (function (){ // retry until we can scroll to the selected item
243
+    try {
244
+      var navtree=$('#nav-tree');
245
+      navtree.scrollTo('#selected',0,{offset:-windowHeight/2});
246
+    } catch (err) {
247
+      setTimeout(arguments.callee, 0);
248
+    }
249
+  })();
250
+}
251
+
252
+function expandNode(o, node, imm, showRoot)
253
+{
254
+  if (node.childrenData && !node.expanded) {
255
+    if (typeof(node.childrenData)==='string') {
256
+      var varName    = node.childrenData;
257
+      getScript(node.relpath+varName,function(){
258
+        node.childrenData = getData(varName);
259
+        expandNode(o, node, imm, showRoot);
260
+      }, showRoot);
261
+    } else {
262
+      if (!node.childrenVisited) {
263
+        getNode(o, node);
264
+      } if (imm || ($.browser.msie && $.browser.version>8)) {
265
+        // somehow slideDown jumps to the start of tree for IE9 :-(
266
+        $(node.getChildrenUL()).show();
267
+      } else {
268
+        $(node.getChildrenUL()).slideDown("fast");
269
+      }
270
+      node.plus_img.innerHTML = arrowDown;
271
+      node.expanded = true;
272
+    }
273
+  }
274
+}
275
+
276
+function glowEffect(n,duration)
277
+{
278
+  n.addClass('glow').delay(duration).queue(function(next){
279
+    $(this).removeClass('glow');next();
280
+  });
281
+}
282
+
283
+function highlightAnchor()
284
+{
285
+  var aname = hashUrl();
286
+  var anchor = $(aname);
287
+  if (anchor.parent().attr('class')=='memItemLeft'){
288
+    var rows = $('.memberdecls tr[class$="'+hashValue()+'"]');
289
+    glowEffect(rows.children(),300); // member without details
290
+  } else if (anchor.parent().attr('class')=='fieldname'){
291
+    glowEffect(anchor.parent().parent(),1000); // enum value
292
+  } else if (anchor.parent().attr('class')=='fieldtype'){
293
+    glowEffect(anchor.parent().parent(),1000); // struct field
294
+  } else if (anchor.parent().is(":header")) {
295
+    glowEffect(anchor.parent(),1000); // section header
296
+  } else {
297
+    glowEffect(anchor.next(),1000); // normal member
298
+  }
299
+  gotoAnchor(anchor,aname,false);
300
+}
301
+
302
+function selectAndHighlight(hash,n)
303
+{
304
+  var a;
305
+  if (hash) {
306
+    var link=stripPath(pathName())+':'+hash.substring(1);
307
+    a=$('.item a[class$="'+link+'"]');
308
+  }
309
+  if (a && a.length) {
310
+    a.parent().parent().addClass('selected');
311
+    a.parent().parent().attr('id','selected');
312
+    highlightAnchor();
313
+  } else if (n) {
314
+    $(n.itemDiv).addClass('selected');
315
+    $(n.itemDiv).attr('id','selected');
316
+  }
317
+  if ($('#nav-tree-contents .item:first').hasClass('selected')) {
318
+    $('#nav-sync').css('top','30px');
319
+  } else {
320
+    $('#nav-sync').css('top','5px');
321
+  }
322
+  showRoot();
323
+}
324
+
325
+function showNode(o, node, index, hash)
326
+{
327
+  if (node && node.childrenData) {
328
+    if (typeof(node.childrenData)==='string') {
329
+      var varName    = node.childrenData;
330
+      getScript(node.relpath+varName,function(){
331
+        node.childrenData = getData(varName);
332
+        showNode(o,node,index,hash);
333
+      },true);
334
+    } else {
335
+      if (!node.childrenVisited) {
336
+        getNode(o, node);
337
+      }
338
+      $(node.getChildrenUL()).css({'display':'block'});
339
+      node.plus_img.innerHTML = arrowDown;
340
+      node.expanded = true;
341
+      var n = node.children[o.breadcrumbs[index]];
342
+      if (index+1<o.breadcrumbs.length) {
343
+        showNode(o,n,index+1,hash);
344
+      } else {
345
+        if (typeof(n.childrenData)==='string') {
346
+          var varName = n.childrenData;
347
+          getScript(n.relpath+varName,function(){
348
+            n.childrenData = getData(varName);
349
+            node.expanded=false;
350
+            showNode(o,node,index,hash); // retry with child node expanded
351
+          },true);
352
+        } else {
353
+          var rootBase = stripPath(o.toroot.replace(/\..+$/, ''));
354
+          if (rootBase=="index" || rootBase=="pages" || rootBase=="search") {
355
+            expandNode(o, n, true, true);
356
+          }
357
+          selectAndHighlight(hash,n);
358
+        }
359
+      }
360
+    }
361
+  } else {
362
+    selectAndHighlight(hash);
363
+  }
364
+}
365
+
366
+function removeToInsertLater(element) {
367
+  var parentNode = element.parentNode;
368
+  var nextSibling = element.nextSibling;
369
+  parentNode.removeChild(element);
370
+  return function() {
371
+    if (nextSibling) {
372
+      parentNode.insertBefore(element, nextSibling);
373
+    } else {
374
+      parentNode.appendChild(element);
375
+    }
376
+  };
377
+}
378
+
379
+function getNode(o, po)
380
+{
381
+  var insertFunction = removeToInsertLater(po.li);
382
+  po.childrenVisited = true;
383
+  var l = po.childrenData.length-1;
384
+  for (var i in po.childrenData) {
385
+    var nodeData = po.childrenData[i];
386
+    po.children[i] = newNode(o, po, nodeData[0], nodeData[1], nodeData[2],
387
+      i==l);
388
+  }
389
+  insertFunction();
390
+}
391
+
392
+function gotoNode(o,subIndex,root,hash,relpath)
393
+{
394
+  var nti = navTreeSubIndices[subIndex][root+hash];
395
+  o.breadcrumbs = $.extend(true, [], nti ? nti : navTreeSubIndices[subIndex][root]);
396
+  if (!o.breadcrumbs && root!=NAVTREE[0][1]) { // fallback: show index
397
+    navTo(o,NAVTREE[0][1],"",relpath);
398
+    $('.item').removeClass('selected');
399
+    $('.item').removeAttr('id');
400
+  }
401
+  if (o.breadcrumbs) {
402
+    o.breadcrumbs.unshift(0); // add 0 for root node
403
+    showNode(o, o.node, 0, hash);
404
+  }
405
+}
406
+
407
+function navTo(o,root,hash,relpath)
408
+{
409
+  var link = cachedLink();
410
+  if (link) {
411
+    var parts = link.split('#');
412
+    root = parts[0];
413
+    if (parts.length>1) hash = '#'+parts[1].replace(/[^\w\-]/g,'');
414
+    else hash='';
415
+  }
416
+  if (hash.match(/^#l\d+$/)) {
417
+    var anchor=$('a[name='+hash.substring(1)+']');
418
+    glowEffect(anchor.parent(),1000); // line number
419
+    hash=''; // strip line number anchors
420
+  }
421
+  var url=root+hash;
422
+  var i=-1;
423
+  while (NAVTREEINDEX[i+1]<=url) i++;
424
+  if (i==-1) { i=0; root=NAVTREE[0][1]; } // fallback: show index
425
+  if (navTreeSubIndices[i]) {
426
+    gotoNode(o,i,root,hash,relpath)
427
+  } else {
428
+    getScript(relpath+'navtreeindex'+i,function(){
429
+      navTreeSubIndices[i] = eval('NAVTREEINDEX'+i);
430
+      if (navTreeSubIndices[i]) {
431
+        gotoNode(o,i,root,hash,relpath);
432
+      }
433
+    },true);
434
+  }
435
+}
436
+
437
+function showSyncOff(n,relpath)
438
+{
439
+    n.html('<img src="'+relpath+'sync_off.png" title="'+SYNCOFFMSG+'"/>');
440
+}
441
+
442
+function showSyncOn(n,relpath)
443
+{
444
+    n.html('<img src="'+relpath+'sync_on.png" title="'+SYNCONMSG+'"/>');
445
+}
446
+
447
+function toggleSyncButton(relpath)
448
+{
449
+  var navSync = $('#nav-sync');
450
+  if (navSync.hasClass('sync')) {
451
+    navSync.removeClass('sync');
452
+    showSyncOff(navSync,relpath);
453
+    storeLink(stripPath2(pathName())+hashUrl());
454
+  } else {
455
+    navSync.addClass('sync');
456
+    showSyncOn(navSync,relpath);
457
+    deleteLink();
458
+  }
459
+}
460
+
461
+function initNavTree(toroot,relpath)
462
+{
463
+  var o = new Object();
464
+  o.toroot = toroot;
465
+  o.node = new Object();
466
+  o.node.li = document.getElementById("nav-tree-contents");
467
+  o.node.childrenData = NAVTREE;
468
+  o.node.children = new Array();
469
+  o.node.childrenUL = document.createElement("ul");
470
+  o.node.getChildrenUL = function() { return o.node.childrenUL; };
471
+  o.node.li.appendChild(o.node.childrenUL);
472
+  o.node.depth = 0;
473
+  o.node.relpath = relpath;
474
+  o.node.expanded = false;
475
+  o.node.isLast = true;
476
+  o.node.plus_img = document.createElement("span");
477
+  o.node.plus_img.className = 'arrow';
478
+  o.node.plus_img.innerHTML = arrowRight;
479
+
480
+  if (localStorageSupported()) {
481
+    var navSync = $('#nav-sync');
482
+    if (cachedLink()) {
483
+      showSyncOff(navSync,relpath);
484
+      navSync.removeClass('sync');
485
+    } else {
486
+      showSyncOn(navSync,relpath);
487
+    }
488
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+   <div id="projectname">Bibliotheques TP RT
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+<a href="#var-members">Variables</a>  </div>
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+  <div class="headertitle">
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+<div class="title">robot.cpp File Reference</div>  </div>
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+</div><!--header-->
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+<div class="contents">
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+<div class="textblock"><code>#include &quot;<a class="el" href="robot_8h_source.html">robot.h</a>&quot;</code><br />
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+</div><div class="textblock"><div class="dynheader">
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+Include dependency graph for robot.cpp:</div>
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+<table class="memberdecls">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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+Functions</h2></td></tr>
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+<tr class="memitem:a116eceb372bf4bda7e6a360286e762b1"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#a116eceb372bf4bda7e6a360286e762b1">getChar</a> (char *c)</td></tr>
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+<tr class="memitem:ac9d64c6d05c20ae9fdb8c158e2ee7098"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#ac9d64c6d05c20ae9fdb8c158e2ee7098">sendCmd</a> (char cmd, const char *arg)</td></tr>
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+<tr class="separator:ac9d64c6d05c20ae9fdb8c158e2ee7098"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a9360e75fe324da14faaa87105771140e"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#a9360e75fe324da14faaa87105771140e">open_communication_robot</a> (const char *path)</td></tr>
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+<tr class="memdesc:a9360e75fe324da14faaa87105771140e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ouvre la communication avec le robot.  <a href="#a9360e75fe324da14faaa87105771140e">More...</a><br /></td></tr>
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+<tr class="separator:a9360e75fe324da14faaa87105771140e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a3fbce7530a62f9287f8a3b85b9c7e4d7"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#a3fbce7530a62f9287f8a3b85b9c7e4d7">close_communication_robot</a> (void)</td></tr>
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+<tr class="memdesc:a3fbce7530a62f9287f8a3b85b9c7e4d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ferme la communication avec le robot.  <a href="#a3fbce7530a62f9287f8a3b85b9c7e4d7">More...</a><br /></td></tr>
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+<tr class="separator:a3fbce7530a62f9287f8a3b85b9c7e4d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a68c01c5d6226d21fc0d141f681806677"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#a68c01c5d6226d21fc0d141f681806677">send_command_to_robot</a> (char cmd, const char *arg)</td></tr>
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+<tr class="memdesc:a68c01c5d6226d21fc0d141f681806677"><td class="mdescLeft">&#160;</td><td class="mdescRight">Envoi une commande au robot et attends sa réponse.  <a href="#a68c01c5d6226d21fc0d141f681806677">More...</a><br /></td></tr>
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+<tr class="separator:a68c01c5d6226d21fc0d141f681806677"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
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+Variables</h2></td></tr>
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+<tr class="memitem:a6f8059414f0228f0256115e024eeed4b"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="robot_8cpp.html#a6f8059414f0228f0256115e024eeed4b">fd</a></td></tr>
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+<tr class="separator:a6f8059414f0228f0256115e024eeed4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table>
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+<h2 class="groupheader">Function Documentation</h2>
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+<a id="ab87123df26d91967d4d7507ad10326ac"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab87123df26d91967d4d7507ad10326ac">&#9670;&nbsp;</a></span>checkSumGO()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">char checkSumGO </td>
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+          <td>(</td>
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+          <td class="paramtype">char *&#160;</td>
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+          <td class="paramname"><em>msg</em></td><td>)</td>
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+          <td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00237">237</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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+
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+</div>
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+<a id="a3fbce7530a62f9287f8a3b85b9c7e4d7"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a3fbce7530a62f9287f8a3b85b9c7e4d7">&#9670;&nbsp;</a></span>close_communication_robot()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int close_communication_robot </td>
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+          <td>(</td>
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+          <td class="paramtype">void&#160;</td>
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+          <td class="paramname"></td><td>)</td>
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+          <td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Ferme la communication avec le robot. </p>
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+<p>Ferme le descripteur de fichier du port serie contrôlant le robot.</p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">void</td><td>aucun </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+<dl class="section return"><dt>Returns</dt><dd>Retourne -1 en cas d'erreur ou 0 en cas de fermeture effectué </dd></dl>
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+
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+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00064">64</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a116eceb372bf4bda7e6a360286e762b1"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a116eceb372bf4bda7e6a360286e762b1">&#9670;&nbsp;</a></span>getChar()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int getChar </td>
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+          <td>(</td>
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+          <td class="paramtype">char *&#160;</td>
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+          <td class="paramname"><em>c</em></td><td>)</td>
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+          <td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00199">199</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a9360e75fe324da14faaa87105771140e"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a9360e75fe324da14faaa87105771140e">&#9670;&nbsp;</a></span>open_communication_robot()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int open_communication_robot </td>
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+          <td>(</td>
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+          <td class="paramtype">const char *&#160;</td>
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+          <td class="paramname"><em>path</em> = <code><a class="el" href="robot_8h.html#a32c8768c18732c59b503f8ee7515a693">serialPort</a></code></td><td>)</td>
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+          <td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Ouvre la communication avec le robot. </p>
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+<p>Ouvre le serial port passé en paramétre. Par defaut cette fonction ouvre le port ttySO connecté au module xbee.</p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">*path</td><td>chaine de caractère indiquant le path du port serie à ouvrir. </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+<dl class="section return"><dt>Returns</dt><dd>Return -1 si l'ouverture c'est mal passé et 0 si le port est ouvert. </dd></dl>
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+
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+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00036">36</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a2e1339c58b604c970f67096c7d143c2a"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2e1339c58b604c970f67096c7d143c2a">&#9670;&nbsp;</a></span>readSerial()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int readSerial </td>
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+          <td>(</td>
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+          <td class="paramtype">char *&#160;</td>
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+          <td class="paramname"><em>msg</em></td><td>)</td>
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+          <td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00216">216</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="adf885bd17005f841896acf2e49350db7"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#adf885bd17005f841896acf2e49350db7">&#9670;&nbsp;</a></span>receiveMsg()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int receiveMsg </td>
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+          <td>(</td>
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+          <td class="paramtype">void&#160;</td>
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+          <td class="paramname"></td><td>)</td>
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+          <td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00168">168</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<a id="a68c01c5d6226d21fc0d141f681806677"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a68c01c5d6226d21fc0d141f681806677">&#9670;&nbsp;</a></span>send_command_to_robot()</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int send_command_to_robot </td>
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+          <td>(</td>
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+          <td class="paramtype">char&#160;</td>
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+          <td class="paramname"><em>cmd</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype">const char *&#160;</td>
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+          <td class="paramname"><em>arg</em> = <code>NULL</code>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p>Envoi une commande au robot et attends sa réponse. </p>
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+<p>Envoi une commande au robot en ajoutant le checksum et lis la réponse du robot en verifiant le checksum. Le premier paramétre <em>cmd</em> correspond au type de commande ex : PING, SETMOVE ... Le second paramétre <em>*arg</em> correspond aux arguments à la commande ex : SETMOVE, "100" La fonction retourne un code confirmation transmise par le robot (ROBOT_CHEKSUM, ROBOT_ERROR, ROBOT_TIMED_OUT, ROBOT_OK, ROBOT_UKNOW_CMD)</p>
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+<dl class="params"><dt>Parameters</dt><dd>
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+  <table class="params">
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+    <tr><td class="paramname">cmd</td><td>Entête de la commande </td></tr>
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+    <tr><td class="paramname">*arg</td><td>Argument de la commande </td></tr>
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+  </table>
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+  </dd>
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+</dl>
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+<dl class="section return"><dt>Returns</dt><dd>retourne un code confirmation. </dd></dl>
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+
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+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00074">74</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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+
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+</div>
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+<a id="ac9d64c6d05c20ae9fdb8c158e2ee7098"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac9d64c6d05c20ae9fdb8c158e2ee7098">&#9670;&nbsp;</a></span>sendCmd()</h2>
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int sendCmd </td>
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+          <td>(</td>
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+          <td class="paramtype">char&#160;</td>
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+          <td class="paramname"><em>cmd</em>, </td>
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+        </tr>
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+        <tr>
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+          <td class="paramkey"></td>
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+          <td></td>
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+          <td class="paramtype">const char *&#160;</td>
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+          <td class="paramname"><em>arg</em>&#160;</td>
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+        </tr>
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+        <tr>
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+          <td></td>
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+          <td>)</td>
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+          <td></td><td></td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00138">138</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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+
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+</div>
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+</div>
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+<h2 class="groupheader">Variable Documentation</h2>
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+<a id="a6f8059414f0228f0256115e024eeed4b"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6f8059414f0228f0256115e024eeed4b">&#9670;&nbsp;</a></span>fd</h2>
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+
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+<div class="memitem">
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+<div class="memproto">
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+      <table class="memname">
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+        <tr>
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+          <td class="memname">int fd</td>
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+        </tr>
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+      </table>
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+</div><div class="memdoc">
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+
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+<p class="definition">Definition at line <a class="el" href="robot_8cpp_source.html#l00028">28</a> of file <a class="el" href="robot_8cpp_source.html">robot.cpp</a>.</p>
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+</div>
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+</div><!-- contents -->
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+</div><!-- doc-content -->
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+<!-- start footer part -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+  <ul>
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+    <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="robot_8cpp.html">robot.cpp</a></li>
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+    <li class="footer">Generated by
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+    <a href="http://www.doxygen.org/index.html">
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.13 </li>
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+  </ul>
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