diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml
index 40175b4..c5e3f05 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/private.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml
@@ -7,12 +7,9 @@
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
         <group>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
+            <file>file:/home/gallois/Documents/insa4/S2/robot/Temps_Reel_Robot/software/raspberry/superviseur-robot/tasks.cpp</file>
+            <file>file:/home/gallois/Documents/insa4/S2/robot/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
+            <file>file:/home/gallois/Documents/insa4/S2/robot/Temps_Reel_Robot/software/raspberry/superviseur-robot/tasks.h</file>
         </group>
     </open-files>
 </project-private>
diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 126e0b9..4d469f1 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -97,6 +97,11 @@ void Tasks::Init() {
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
+    if (err = rt_sem_create(&sem_restartServer, NULL, 0, S_FIFO)) {
+        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    
     cout << "Semaphores created successfully" << endl << flush;
 
     /**************************************************************************************/
@@ -224,18 +229,22 @@ void Tasks::ServerTask(void *arg) {
     /**************************************************************************************/
     /* The task server starts here                                                        */
     /**************************************************************************************/
-    rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
-    status = monitor.Open(SERVER_PORT);
-    rt_mutex_release(&mutex_monitor);
+    while(1){
+        rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
+        status = monitor.Open(SERVER_PORT);
+        rt_mutex_release(&mutex_monitor);
 
-    cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
+        cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
+
+        if (status < 0) throw std::runtime_error {
+            "Unable to start server on port " + std::to_string(SERVER_PORT)
+        };
+        monitor.AcceptClient(); // Wait the monitor client
+        cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
+        rt_sem_broadcast(&sem_serverOk);
+        rt_sem_p(&sem_restartServer);
+    }
 
-    if (status < 0) throw std::runtime_error {
-        "Unable to start server on port " + std::to_string(SERVER_PORT)
-    };
-    monitor.AcceptClient(); // Wait the monitor client
-    cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
-    rt_sem_broadcast(&sem_serverOk);
 }
 
 /**
@@ -287,7 +296,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
             delete(msgRcv);
             exit(-1);
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
-            rt_sem_v(&sem_openComRobot);
+            //rt_sem_v(&sem_openComRobot);
+            WriteInQueue(&q_messageComRobot, msgRcv); 
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
             rt_sem_v(&sem_startRobot);
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
@@ -319,21 +329,42 @@ void Tasks::OpenComRobot(void *arg) {
     /* The task openComRobot starts here                                                  */
     /**************************************************************************************/
     while (1) {
-        rt_sem_p(&sem_openComRobot, TM_INFINITE);
-        cout << "Open serial com (";
-        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
-        status = robot.Open();
-        rt_mutex_release(&mutex_robot);
-        cout << status;
-        cout << ")" << endl << flush;
+        Message * msg;
+        msg=ReadInQueue(&q_messageComRobot); 
+        if(msg->CompareID(MESSAGE_ROBOT_COM_OPEN)){
+            cout << "Open serial com (";
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+            status = robot.Open();
+            rt_mutex_release(&mutex_robot);
+            cout << status;
+            cout << ")" << endl << flush;
 
-        Message * msgSend;
-        if (status < 0) {
-            msgSend = new Message(MESSAGE_ANSWER_NACK);
-        } else {
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
+            Message * msgSend;
+            if (status < 0) {
+                msgSend = new Message(MESSAGE_ANSWER_NACK);
+            } else {
+                msgSend = new Message(MESSAGE_ANSWER_ACK);
+            }
+            WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
+        }else if(msg->CompareID(MESSAGE_ROBOT_COM_CLOSE)){
+            cout << "Close serial com (";
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+            status = robot.Close();
+            rt_mutex_release(&mutex_robot);
+            cout << status;
+            cout << ")" << endl << flush;
+
+            Message * msgSend;
+            if (status < 0) {
+                msgSend = new Message(MESSAGE_ANSWER_NACK);
+            } else {
+                msgSend = new Message(MESSAGE_ANSWER_ACK);
+            }
+            WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
         }
-        WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
+        delete(msg);
+        //rt_sem_p(&sem_openComRobot, TM_INFINITE);
+        
     }
 }