localhost by default, reconnexion ok, panel control ok

This reverts commit f98343aca4.

.gitignore

@@ -64,4 +64,6 @@ GUI
 
 /software/raspberry/superviseur-robot/superviseur/dist/
 /software/raspberry/testeur/testeur/build/
-/software/raspberry/testeur/testeur/dist/
+/software/raspberry/testeur/testeur/dist/
+/software/simulateur/build/
+/software/simulateur/dist/

software/monitor/monitor/Client.cs

@@ -35,7 +35,7 @@ namespace monitor
         /// <summary>
         /// Default server name
         /// </summary>
-        public const string defaultIP = "10.105.1.13";
+        public const string defaultIP = "localhost";
 
         /// <summary>
         /// Default server port number

software/monitor/monitor/CommandManager.cs

@@ -180,11 +180,16 @@ namespace monitor
                 isBusy = true;
 
                 // Send command to server
+                if (timeout > 0) // Command request an acknowledge
+                {
+                    waitForAcknowledge = true;  // Flag used in OnMessageReception callback to avoid
+                                                // sending acknowledge message to upper level
+                }
+
                 Client.Write(cmd);
 
                 if (timeout > 0) // Command request an acknowledge
-                {
-                    
+                {   
                     waitForAcknowledge = true;  // Flag used in OnMessageReception callback to avoid
                                                 // sending acknowledge message to upper level
                     waitTimer.Interval = timeout;

software/monitor/monitor/DestijlCommandManager.cs

@@ -111,7 +111,8 @@ namespace monitor
             InvalidAnswer,
             Busy,
             CommunicationLostWithRobot,
-            CommunicationLostWithServer
+            CommunicationLostWithServer,
+            CommunicationError
         }
 
         public struct Point {
@@ -259,6 +260,8 @@ namespace monitor
                     if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_NACK)) status = CommandStatus.Rejected;
                     // if communication is lost with robot, return CommunicationLostWithRobot
                     else if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_TIMEOUT)) status = CommandStatus.CommunicationLostWithRobot;
+
+                    else if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_COM_ERROR)) status = CommandStatus.CommunicationError;
                     // if answer is empty, communication with robot is lost
                     else if (answer.Length == 0) status = CommandStatus.CommunicationLostWithServer;
                     //else status = CommandStatus.InvalidAnswer;

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

@@ -26,6 +26,15 @@
 #include <string>
 #include <stdexcept>
 
+#ifdef __SIMULATION__
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+int sock = 0;
+string host = "127.0.0.1";
+#define PORT 6699
+#endif
+
 #ifdef __FOR_PC__
 #define USART_FILENAME "/dev/ttyUSB0"
 #else
@@ -71,6 +80,33 @@ int ComRobot::Open() {
 int ComRobot::Open(string usart) {
     struct termios options;
 
+#ifdef __SIMULATION__
+
+    struct sockaddr_in serv_addr;
+    if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
+        printf("\n Socket creation error \n");
+        return -1;
+    }
+    struct timeval tv;
+    tv.tv_sec = 0;
+    tv.tv_usec = 200000;
+    setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char*) &tv, sizeof tv);
+
+    serv_addr.sin_family = AF_INET;
+    serv_addr.sin_port = htons(PORT);
+
+    // Convert IPv4 and IPv6 addresses from text to binary form 
+    if (inet_pton(AF_INET, host.c_str(), &serv_addr.sin_addr) <= 0) {
+        printf("\nInvalid address/ Address not supported \n");
+        return -1;
+    }
+
+    if (connect(sock, (struct sockaddr *) &serv_addr, sizeof (serv_addr)) < 0) {
+        return -1;
+    }
+    return 1;
+#else
+
     fd = open(usart.c_str(), O_RDWR | O_NOCTTY /*| O_NDELAY*/); //Open in blocking read/write mode
     if (fd == -1) {
         cerr << "[" << __PRETTY_FUNCTION__ << "] Unable to open UART (" << usart << "). Ensure it is not in use by another application" << endl << flush;
@@ -88,6 +124,37 @@ int ComRobot::Open(string usart) {
     }
 
     return fd;
+#endif
+}
+
+int ComRobot::Open(string shost, int nport) {
+#ifdef __SIMULATION__
+
+    struct sockaddr_in serv_addr;
+    if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
+        printf("\n Socket creation error \n");
+        return -1;
+    }
+    struct timeval tv;
+    tv.tv_sec = 0;
+    tv.tv_usec = 200000;
+    setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char*) &tv, sizeof tv);
+
+    serv_addr.sin_family = AF_INET;
+    serv_addr.sin_port = htons(nport);
+
+    if (inet_pton(AF_INET, shost.c_str(), &serv_addr.sin_addr) <= 0) {
+        cout << "Invalid address/ Address not supported" << endl;
+        return -1;
+    }
+
+    if (connect(sock, (struct sockaddr *) &serv_addr, sizeof (serv_addr)) < 0) {
+        return -2;
+    }
+    return 1;
+#else
+    return -1
+#endif
 }
 
 /**
@@ -95,7 +162,11 @@ int ComRobot::Open(string usart) {
  * @return Success if above 0, failure if below 0
  */
 int ComRobot::Close() {
+#ifdef __SIMULATION__
+    return close(sock);
+#elif
     return close(fd);
+#endif
 }
 
 /**
@@ -115,6 +186,28 @@ Message *ComRobot::Write(Message* msg) {
         Write_Pre();
 
         s = MessageToString(msg);
+#ifdef __SIMULATION__
+        s += "\r";
+
+        char buffer[1024] = {0};
+        cout << "[" << __PRETTY_FUNCTION__ << "] Send command: " << s << endl << flush;
+        send(sock, s.c_str(), s.length(), MSG_NOSIGNAL);
+
+        int valread = read(sock, buffer, 1024);
+
+        if (valread == 0) {
+            cout << "The communication is out of order" << endl;
+            msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
+        } else if (valread < 0) {
+            cout << "Timeout" << endl;
+            msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_TIMEOUT);
+        } else {
+            string s(&buffer[0], valread);
+            msgAnswer = StringToMessage(s);
+            cout << "Response: " << buffer << ", id: " << msgAnswer->GetID() << endl;
+        }
+
+#else       
         AddChecksum(s);
 
         //cout << "[" <<__PRETTY_FUNCTION__<<"] Send command: "<<s<<endl<<flush;
@@ -143,6 +236,7 @@ Message *ComRobot::Write(Message* msg) {
                 }
             }
         }
+#endif
     } else {
         cerr << __PRETTY_FUNCTION__ << ": Com port not open" << endl << flush;
         throw std::runtime_error{"Com port not open"};

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

@@ -59,6 +59,14 @@ public:
      */
     int Open(string usart);
 
+    /**
+     * Open tcp client for the graphical simulator
+     * @param host Host address
+     * @param port Port number
+     * @return 1 if ok or -1
+     */
+    int Open(string shost, int nport);
+
     /**
      * Close serial link
      * @return Success if above 0, failure if below 0
@@ -89,9 +97,9 @@ public:
      */
     virtual void Write_Post() {
     }
-    
+
     Message *SendCommand(Message* msg, MessageID answerID, int maxRetries);
-    
+
     static Message *Ping() {
         return new Message(MESSAGE_ROBOT_PING);
     }

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

@@ -67,47 +67,47 @@ LDLIBSOPTIONS=`pkg-config --libs opencv`
 
 ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
 	${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
-	${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt
+	${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt -Wl,--rpath /usr/xenomai/lib
 
 ${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib/base64
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
 
 ${OBJECTDIR}/lib/camera.o: lib/camera.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
 
 ${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
 
 ${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
 
 ${OBJECTDIR}/lib/img.o: lib/img.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
 
 ${OBJECTDIR}/lib/messages.o: lib/messages.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
 
 ${OBJECTDIR}/main.o: main.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
 
 ${OBJECTDIR}/tasks.o: tasks.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
 
 # Subprojects
 .build-subprojects:

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

@@ -1,125 +0,0 @@
-#
-# Generated Makefile - do not edit!
-#
-# Edit the Makefile in the project folder instead (../Makefile). Each target
-# has a -pre and a -post target defined where you can add customized code.
-#
-# This makefile implements configuration specific macros and targets.
-
-
-# Environment
-MKDIR=mkdir
-CP=cp
-GREP=grep
-NM=nm
-CCADMIN=CCadmin
-RANLIB=ranlib
-CC=gcc
-CCC=g++
-CXX=g++
-FC=gfortran
-AS=as
-
-# Macros
-CND_PLATFORM=GNU-Linux
-CND_DLIB_EXT=so
-CND_CONF=Debug__RPI_
-CND_DISTDIR=dist
-CND_BUILDDIR=build
-
-# Include project Makefile
-include ./Makefile
-
-# Object Directory
-OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
-
-# Object Files
-OBJECTFILES= \
-	${OBJECTDIR}/lib/base64/base64.o \
-	${OBJECTDIR}/lib/camera.o \
-	${OBJECTDIR}/lib/commonitor.o \
-	${OBJECTDIR}/lib/comrobot.o \
-	${OBJECTDIR}/lib/img.o \
-	${OBJECTDIR}/lib/messages.o \
-	${OBJECTDIR}/main.o \
-	${OBJECTDIR}/tasks.o
-
-
-# C Compiler Flags
-CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
-
-# CC Compiler Flags
-CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11
-CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11
-
-# Fortran Compiler Flags
-FFLAGS=
-
-# Assembler Flags
-ASFLAGS=
-
-# Link Libraries and Options
-LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam  
-
-# Build Targets
-.build-conf: ${BUILD_SUBPROJECTS}
-	"${MAKE}"  -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot
-
-${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
-	${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
-	${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt
-
-${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib/base64
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
-
-${OBJECTDIR}/lib/camera.o: lib/camera.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
-
-${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
-
-${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
-
-${OBJECTDIR}/lib/img.o: lib/img.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
-
-${OBJECTDIR}/lib/messages.o: lib/messages.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
-
-${OBJECTDIR}/main.o: main.cpp
-	${MKDIR} -p ${OBJECTDIR}
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
-
-${OBJECTDIR}/tasks.o: tasks.cpp
-	${MKDIR} -p ${OBJECTDIR}
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
-
-# Subprojects
-.build-subprojects:
-
-# Clean Targets
-.clean-conf: ${CLEAN_SUBPROJECTS}
-	${RM} -r ${CND_BUILDDIR}/${CND_CONF}
-
-# Subprojects
-.clean-subprojects:
-
-# Enable dependency checking
-.dep.inc: .depcheck-impl
-
-include .dep.inc

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

@@ -31,7 +31,7 @@ DEFAULTCONF=Debug__PC_
 CONF=${DEFAULTCONF}
 
 # All Configurations
-ALLCONFS=Debug__PC_ Debug__RPI_ 
+ALLCONFS=Debug__PC_ 
 
 
 # build

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

@@ -14,14 +14,6 @@ CND_ARTIFACT_PATH_Debug__PC_=dist/Debug__PC_/GNU-Linux/superviseur-robot
 CND_PACKAGE_DIR_Debug__PC_=dist/Debug__PC_/GNU-Linux/package
 CND_PACKAGE_NAME_Debug__PC_=superviseur-robot.tar
 CND_PACKAGE_PATH_Debug__PC_=dist/Debug__PC_/GNU-Linux/package/superviseur-robot.tar
-# Debug__RPI_ configuration
-CND_PLATFORM_Debug__RPI_=GNU-Linux
-CND_ARTIFACT_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux
-CND_ARTIFACT_NAME_Debug__RPI_=superviseur-robot
-CND_ARTIFACT_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/superviseur-robot
-CND_PACKAGE_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package
-CND_PACKAGE_NAME_Debug__RPI_=superviseur-robot.tar
-CND_PACKAGE_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package/superviseur-robot.tar
 #
 # include compiler specific variables
 #

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

@@ -71,6 +71,7 @@
           <preprocessorList>
             <Elem>_WITH_TRACE_</Elem>
             <Elem>__FOR_PC__</Elem>
+            <Elem>__SIMULATION__</Elem>
             <Elem>__WITH_ARUCO__</Elem>
           </preprocessorList>
         </ccTool>
@@ -78,78 +79,7 @@
           <linkerLibItems>
             <linkerOptionItem>`pkg-config --libs opencv`</linkerOptionItem>
           </linkerLibItems>
-          <commandLine>-Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt</commandLine>
-        </linkerTool>
-      </compileType>
-      <item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">
-      </item>
-      <item path="./lib/base64/base64.cpp" ex="false" tool="1" flavor2="0">
-      </item>
-      <item path="./lib/base64/base64.h" ex="false" tool="3" flavor2="0">
-      </item>
-      <item path="./lib/camera.cpp" ex="false" tool="1" flavor2="0">
-      </item>
-      <item path="./lib/camera.h" ex="false" tool="3" flavor2="0">
-      </item>
-      <item path="./lib/commonitor.cpp" ex="false" tool="1" flavor2="0">
-      </item>
-      <item path="./lib/commonitor.h" ex="false" tool="3" flavor2="0">
-      </item>
-      <item path="./lib/comrobot.cpp" ex="false" tool="1" flavor2="0">
-      </item>
-      <item path="./lib/comrobot.h" ex="false" tool="3" flavor2="0">
-      </item>
-      <item path="./lib/img.cpp" ex="false" tool="1" flavor2="0">
-      </item>
-      <item path="./lib/img.h" ex="false" tool="3" flavor2="0">
-      </item>
-      <item path="./lib/messages.cpp" ex="false" tool="1" flavor2="0">
-      </item>
-      <item path="./lib/messages.h" ex="false" tool="3" flavor2="0">
-      </item>
-      <item path="./main.cpp" ex="false" tool="1" flavor2="0">
-      </item>
-      <item path="./tasks.cpp" ex="false" tool="1" flavor2="0">
-      </item>
-      <item path="./tasks.h" ex="false" tool="3" flavor2="0">
-      </item>
-    </conf>
-    <conf name="Debug__RPI_" type="1">
-      <toolsSet>
-        <compilerSet>GNU|GNU</compilerSet>
-        <dependencyChecking>true</dependencyChecking>
-        <rebuildPropChanged>false</rebuildPropChanged>
-      </toolsSet>
-      <compileType>
-        <cTool>
-          <incDir>
-            <pElem>./</pElem>
-            <pElem>./lib</pElem>
-            <pElem>/usr/xenomai/include</pElem>
-            <pElem>/usr/xenomai/include/mercury</pElem>
-          </incDir>
-          <commandLine>-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy</commandLine>
-        </cTool>
-        <ccTool>
-          <incDir>
-            <pElem>./</pElem>
-            <pElem>./lib</pElem>
-            <pElem>/usr/xenomai/include</pElem>
-            <pElem>/usr/xenomai/include/mercury</pElem>
-          </incDir>
-          <commandLine>-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11</commandLine>
-          <preprocessorList>
-            <Elem>_WITH_TRACE_</Elem>
-            <Elem>__WITH_ARUCO__</Elem>
-          </preprocessorList>
-        </ccTool>
-        <linkerTool>
-          <linkerLibItems>
-            <linkerOptionItem>`pkg-config --libs opencv`</linkerOptionItem>
-            <linkerLibLibItem>raspicam_cv</linkerLibLibItem>
-            <linkerLibLibItem>raspicam</linkerLibLibItem>
-          </linkerLibItems>
-          <commandLine>-Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt</commandLine>
+          <commandLine>-Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt -Wl,--rpath /usr/xenomai/lib</commandLine>
         </linkerTool>
       </compileType>
       <item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">

software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk

@@ -4,4 +4,3 @@
 # NOCDDL
 #
 # Debug__PC_ configuration
-# Debug__RPI_ configuration

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

@@ -39,38 +39,5 @@
         </environment>
       </runprofile>
     </conf>
-    <conf name="Debug__RPI_" type="1">
-      <toolsSet>
-        <developmentServer>pi@10.105.1.08:22</developmentServer>
-        <platform>2</platform>
-      </toolsSet>
-      <dbx_gdbdebugger version="1">
-        <gdb_pathmaps>
-        </gdb_pathmaps>
-        <gdb_interceptlist>
-          <gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
-        </gdb_interceptlist>
-        <gdb_options>
-          <DebugOptions>
-          </DebugOptions>
-        </gdb_options>
-        <gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
-      </dbx_gdbdebugger>
-      <nativedebugger version="1">
-        <engine>gdb</engine>
-      </nativedebugger>
-      <runprofile version="9">
-        <runcommandpicklist>
-          <runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
-        </runcommandpicklist>
-        <runcommand>"${OUTPUT_PATH}"</runcommand>
-        <rundir></rundir>
-        <buildfirst>true</buildfirst>
-        <terminal-type>0</terminal-type>
-        <remove-instrumentation>0</remove-instrumentation>
-        <environment>
-        </environment>
-      </runprofile>
-    </conf>
   </confs>
 </configurationDescriptor>

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

@@ -2,17 +2,16 @@
 <project-private xmlns="http://www.netbeans.org/ns/project-private/1">
     <data xmlns="http://www.netbeans.org/ns/make-project-private/1">
         <activeConfTypeElem>1</activeConfTypeElem>
-        <activeConfIndexElem>1</activeConfIndexElem>
+        <activeConfIndexElem>0</activeConfIndexElem>
     </data>
     <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/etud/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
+            <file>file:/home/etud/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
+            <file>file:/home/etud/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
+            <file>file:/home/etud/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
+            <file>file:/home/etud/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file>
         </group>
     </open-files>
 </project-private>

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

@@ -17,10 +17,6 @@
                     <name>Debug__PC_</name>
                     <type>1</type>
                 </confElem>
-                <confElem>
-                    <name>Debug__RPI_</name>
-                    <type>1</type>
-                </confElem>
             </confList>
             <formatting>
                 <project-formatting-style>false</project-formatting-style>

software/simulateur/.dep.inc

@@ -0,0 +1,5 @@
+# This code depends on make tool being used
+DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES} ${TESTOBJECTFILES}))
+ifneq (${DEPFILES},)
+include ${DEPFILES}
+endif

software/simulateur/Makefile

@@ -0,0 +1,128 @@
+#
+#  There exist several targets which are by default empty and which can be 
+#  used for execution of your targets. These targets are usually executed 
+#  before and after some main targets. They are: 
+#
+#     .build-pre:              called before 'build' target
+#     .build-post:             called after 'build' target
+#     .clean-pre:              called before 'clean' target
+#     .clean-post:             called after 'clean' target
+#     .clobber-pre:            called before 'clobber' target
+#     .clobber-post:           called after 'clobber' target
+#     .all-pre:                called before 'all' target
+#     .all-post:               called after 'all' target
+#     .help-pre:               called before 'help' target
+#     .help-post:              called after 'help' target
+#
+#  Targets beginning with '.' are not intended to be called on their own.
+#
+#  Main targets can be executed directly, and they are:
+#  
+#     build                    build a specific configuration
+#     clean                    remove built files from a configuration
+#     clobber                  remove all built files
+#     all                      build all configurations
+#     help                     print help mesage
+#  
+#  Targets .build-impl, .clean-impl, .clobber-impl, .all-impl, and
+#  .help-impl are implemented in nbproject/makefile-impl.mk.
+#
+#  Available make variables:
+#
+#     CND_BASEDIR                base directory for relative paths
+#     CND_DISTDIR                default top distribution directory (build artifacts)
+#     CND_BUILDDIR               default top build directory (object files, ...)
+#     CONF                       name of current configuration
+#     CND_PLATFORM_${CONF}       platform name (current configuration)
+#     CND_ARTIFACT_DIR_${CONF}   directory of build artifact (current configuration)
+#     CND_ARTIFACT_NAME_${CONF}  name of build artifact (current configuration)
+#     CND_ARTIFACT_PATH_${CONF}  path to build artifact (current configuration)
+#     CND_PACKAGE_DIR_${CONF}    directory of package (current configuration)
+#     CND_PACKAGE_NAME_${CONF}   name of package (current configuration)
+#     CND_PACKAGE_PATH_${CONF}   path to package (current configuration)
+#
+# NOCDDL
+
+
+# Environment 
+MKDIR=mkdir
+CP=cp
+CCADMIN=CCadmin
+
+
+# build
+build: .build-post
+
+.build-pre:
+# Add your pre 'build' code here...
+
+.build-post: .build-impl
+# Add your post 'build' code here...
+
+
+# clean
+clean: .clean-post
+
+.clean-pre:
+# Add your pre 'clean' code here...
+
+.clean-post: .clean-impl
+# Add your post 'clean' code here...
+
+
+# clobber
+clobber: .clobber-post
+
+.clobber-pre:
+# Add your pre 'clobber' code here...
+
+.clobber-post: .clobber-impl
+# Add your post 'clobber' code here...
+
+
+# all
+all: .all-post
+
+.all-pre:
+# Add your pre 'all' code here...
+
+.all-post: .all-impl
+# Add your post 'all' code here...
+
+
+# build tests
+build-tests: .build-tests-post
+
+.build-tests-pre:
+# Add your pre 'build-tests' code here...
+
+.build-tests-post: .build-tests-impl
+# Add your post 'build-tests' code here...
+
+
+# run tests
+test: .test-post
+
+.test-pre: build-tests
+# Add your pre 'test' code here...
+
+.test-post: .test-impl
+# Add your post 'test' code here...
+
+
+# help
+help: .help-post
+
+.help-pre:
+# Add your pre 'help' code here...
+
+.help-post: .help-impl
+# Add your post 'help' code here...
+
+
+
+# include project implementation makefile
+include nbproject/Makefile-impl.mk
+
+# include project make variables
+include nbproject/Makefile-variables.mk

software/simulateur/main.cpp

@@ -0,0 +1,298 @@
+#include <unistd.h> 
+#include <stdio.h> 
+#include <sys/socket.h> 
+#include <stdlib.h> 
+#include <netinet/in.h> 
+#include <string.h> 
+#include <iostream>
+#include <time.h>
+using namespace std;
+
+const char LABEL_ROBOT_PING = 'p';
+const char LABEL_ROBOT_RESET = 'r';
+const char LABEL_ROBOT_START_WITH_WD = 'W';
+const char LABEL_ROBOT_START_WITHOUT_WD = 'u';
+const char LABEL_ROBOT_RELOAD_WD = 'w';
+const char LABEL_ROBOT_MOVE = 'M';
+const char LABEL_ROBOT_TURN = 'T';
+const char LABEL_ROBOT_GET_BATTERY = 'v';
+const char LABEL_ROBOT_GET_STATE = 'b';
+const char LABEL_ROBOT_POWEROFF = 'z';
+
+const char LABEL_ROBOT_OK = 'O';
+const char LABEL_ROBOT_ERROR = 'E';
+const char LABEL_ROBOT_UNKNOWN_COMMAND = 'C';
+
+const char LABEL_ROBOT_SEPARATOR_CHAR = '=';
+const char LABEL_ROBOT_ENDING_CHAR = 0x0D;
+
+int server_fd, new_socket, valread;
+struct sockaddr_in address;
+int addrlen;
+#define PORT 6699
+
+int status = 0;
+int noerr = 0;
+int isWD = 0;
+
+long int ellapse(struct timespec ref, struct timespec cur) {
+    long int e;
+    e = cur.tv_sec - ref.tv_sec;
+    e *= 1000000000;
+    e += cur.tv_nsec - ref.tv_nsec;
+    return e;
+}
+
+void print_time(struct timespec start_time) {
+    struct timespec t;
+    clock_gettime(CLOCK_REALTIME, &t);
+    long int e = ellapse(start_time, t);
+    fprintf(stdout, "%9ld", e / 1000000);
+}
+
+int simulate_error() {
+    int r = rand() % 1000;
+    if (r > 950) {
+        printf("[I don't understand what you said (-1)]\n");
+        return -1;
+    } else if (r > 900) {
+        printf("[I'm mute, because I never got your message (-2)]\n");
+        return -2;
+    }
+    printf("[WILCO (0)] ");
+    return 0;
+}
+
+void simulate_transmission_time() {
+    usleep((rand() % 30) * 1000);
+}
+
+void open_server() {
+
+    int opt = 1;
+    // Creating socket file descriptor 
+    if ((server_fd = socket(AF_INET, SOCK_STREAM, 0)) == 0) {
+        perror("socket failed");
+        exit(EXIT_FAILURE);
+    }
+
+    // Forcefully attaching socket to the port 8080 
+    if (setsockopt(server_fd, SOL_SOCKET, SO_REUSEADDR | SO_REUSEPORT,
+            &opt, sizeof (opt))) {
+        perror("setsockopt");
+        exit(EXIT_FAILURE);
+    }
+
+    cout << "<<< simulator >>>" << endl;    
+    cout << ">>> Hello, I'm Mr " ;
+    if (noerr) cout << "perfect ";
+    cout << "Robot" << endl;
+
+    // Forcefully attaching socket to the port 8080 
+    if (bind(server_fd, (struct sockaddr *) &address,
+            sizeof (address)) < 0) {
+        perror("bind failed");
+        exit(EXIT_FAILURE);
+    }
+    cout << ">>> I create a server" << endl;
+    cout << ">>> ..." << endl;
+
+}
+
+void wait_connection() {
+    if (listen(server_fd, 3) < 0) {
+        perror("listen");
+        exit(EXIT_FAILURE);
+    }
+
+    cout << ">>> I'm waiting a client" << endl;
+    if ((new_socket = accept(server_fd, (struct sockaddr *) &address,
+            (socklen_t*) & addrlen)) < 0) {
+        perror("accept");
+        exit(EXIT_FAILURE);
+    }
+}
+
+void reset(){
+    isWD = 0;
+    status = 0;   
+    cout << ">>> XX I stop XX" << endl;
+}
+
+int main(int argc, char const *argv[]) {
+    if (argc != 1){
+        if (argv[1] == std::string("noerror")){
+            noerr = 1;
+        }
+    }
+
+    char buffer[1024] = {0};
+    addrlen = sizeof (address);
+    address.sin_family = AF_INET;
+    address.sin_addr.s_addr = INADDR_ANY;
+    address.sin_port = htons(PORT);
+
+    srand(time(NULL));
+
+    open_server();
+    wait_connection();
+    cout << ">>> I'm ready to receive something" << endl;
+    struct timespec start_time;
+    clock_gettime(CLOCK_REALTIME, &start_time);
+    struct timespec start_wd;
+
+
+    struct timespec t;
+
+    long int e;
+    struct timespec last_call;
+    clock_gettime(CLOCK_REALTIME, &last_call);
+    isWD = 0;
+
+    while (status < 3) {
+
+        if (isWD) {
+            clock_gettime(CLOCK_REALTIME, &t);
+            e = ellapse(last_call, t);
+            if ((e / 1000000000) > 3) {
+                cout << ">>> You break my heart, you never talk at the right time." << endl;
+                break;
+            }
+        }
+
+
+        valread = read(new_socket, buffer, 1024);
+        if (valread <= 0) {
+            if (errno == EAGAIN) {
+                status = 3;
+                cout << ">>> You break my heart, I've been waiting too long for you." << endl;
+                break;
+            } else {
+                cout << ">>> Why did you hang up? Please, contact me again." << endl;
+                reset();
+                wait_connection();
+                clock_gettime(CLOCK_REALTIME, &last_call);
+            }
+        }
+        string s = "";
+        int error = 0;
+        
+        if (!noerr) error = simulate_error();
+        
+        if (error == 0) {
+
+            print_time(start_time);
+            printf(": I received a message %s\n", buffer);
+            switch (buffer[0]) {
+                case LABEL_ROBOT_START_WITHOUT_WD:
+                    cout << ">>> I start without watchdog" << endl;
+                    s += LABEL_ROBOT_OK;
+                    break;
+                case LABEL_ROBOT_PING:
+                    cout << ">>> ...Pong" << endl;
+                    s += LABEL_ROBOT_OK;
+                    break;
+                case LABEL_ROBOT_START_WITH_WD:
+                    clock_gettime(CLOCK_REALTIME, &start_wd);
+                    clock_gettime(CLOCK_REALTIME, &last_call);
+                    struct timeval tv;
+                    tv.tv_sec = 3;
+                    tv.tv_usec = 0;
+                    setsockopt(new_socket, SOL_SOCKET, SO_RCVTIMEO, (const char*) &tv, sizeof tv);
+
+                    cout << ">>> I start with watchdog" << endl;
+                    s += LABEL_ROBOT_OK;
+                    isWD = 1;
+                    break;
+                case LABEL_ROBOT_MOVE:
+                    switch (buffer[2]) {
+                        case '0':
+                            cout << ">>> XX I stop XX" << endl;
+                            break;
+                        case '-':
+                            cout << ">>> \\/ I move backward \\/" << endl;
+                            break;
+                        default:
+                            cout << ">>> /\\ I move forward /\\" << endl;
+                            break;
+                    }
+                    s += LABEL_ROBOT_OK;
+                    break;
+                case LABEL_ROBOT_TURN:
+                    switch (buffer[2]) {
+                        case '-':
+                            cout << ">>> << I turn to the left <<" << endl;
+                            break;
+                        default:
+                            cout << ">>> >> I turn to the right >>" << endl;
+                            break;
+                    }
+                    s += LABEL_ROBOT_OK;
+                    break;
+                case LABEL_ROBOT_GET_BATTERY:
+                    cout << ">>> I give you my battery level :-o" << endl;
+                    clock_gettime(CLOCK_REALTIME, &t);
+                    e = ellapse(start_time, t);
+                    if (e > 20000000000) {
+                        s += '0';
+                    } else {
+                        if (e > 10000000000) {
+                            s += '1';
+                        } else {
+                            s += '2';
+                        }
+                    }
+                    break;
+                case LABEL_ROBOT_RELOAD_WD:
+                    clock_gettime(CLOCK_REALTIME, &t);
+                    e = ellapse(start_wd, t);
+                    e = (e / 1000000) % 1000;
+                    if (isWD) {
+                        if ((e < 50) || (e > 950)) {
+                            cout << ">>> Just in time for a reload " << e << "ms" << endl;
+                            last_call = t;
+                            status = 0;
+                            s += LABEL_ROBOT_OK;
+                        } else {
+                            status++;
+                            cout << ">>> You missed the date, -1 point " << e << "ms (" << status << ")" << endl;
+
+                            s += LABEL_ROBOT_UNKNOWN_COMMAND;
+                        }
+                    } else {
+                        cout << "Why you said that, I do nothing" << endl;
+                    }
+                    break;
+                case LABEL_ROBOT_POWEROFF:
+                    cout << ">>> Bye bye, see you soon" << endl;
+                    s += LABEL_ROBOT_OK;
+                    status = 10;
+                    break;
+                case LABEL_ROBOT_RESET:
+                    cout << ">>> I reset" << endl;
+                    s += LABEL_ROBOT_OK;
+                    reset();
+                    break;
+                case LABEL_ROBOT_GET_STATE:
+                    cout << ">>> I'm fine, thank you" << endl;
+                    s += LABEL_ROBOT_OK;
+                    break;
+                default:
+                    //msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
+                    cerr << "[" << __PRETTY_FUNCTION__ << "] Unknown message received from robot (" << buffer << ")" << endl << flush;
+            }
+            simulate_transmission_time();
+            send(new_socket, s.c_str(), s.length(), 0);
+        } else if (error == -1) {
+            s += LABEL_ROBOT_UNKNOWN_COMMAND;
+            simulate_transmission_time();
+            send(new_socket, s.c_str(), s.length(), 0);
+        } else if (error == -2) {
+            /* Do nothing */
+        }
+    }
+
+    cout << "The robot is out. End of story. " << endl;
+    cout << " /\\_/\\" << endl << "( o.o )" << endl << " > ^ <" << endl;
+    return 0;
+} 

software/simulateur/nbproject/Makefile-Debug.mk

@@ -0,0 +1,83 @@
+#
+# Generated Makefile - do not edit!
+#
+# Edit the Makefile in the project folder instead (../Makefile). Each target
+# has a -pre and a -post target defined where you can add customized code.
+#
+# This makefile implements configuration specific macros and targets.
+
+
+# Environment
+MKDIR=mkdir
+CP=cp
+GREP=grep
+NM=nm
+CCADMIN=CCadmin
+RANLIB=ranlib
+CC=gcc
+CCC=g++
+CXX=g++
+FC=gfortran
+AS=as
+
+# Macros
+CND_PLATFORM=GNU-Linux
+CND_DLIB_EXT=so
+CND_CONF=Debug
+CND_DISTDIR=dist
+CND_BUILDDIR=build
+
+# Include project Makefile
+include Makefile
+
+# Object Directory
+OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
+
+# Object Files
+OBJECTFILES= \
+	${OBJECTDIR}/main.o
+
+
+# C Compiler Flags
+CFLAGS=
+
+# CC Compiler Flags
+CCFLAGS=
+CXXFLAGS=
+
+# Fortran Compiler Flags
+FFLAGS=
+
+# Assembler Flags
+ASFLAGS=
+
+# Link Libraries and Options
+LDLIBSOPTIONS=
+
+# Build Targets
+.build-conf: ${BUILD_SUBPROJECTS}
+	"${MAKE}"  -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur
+
+${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur: ${OBJECTFILES}
+	${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
+	${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur ${OBJECTFILES} ${LDLIBSOPTIONS}
+
+${OBJECTDIR}/main.o: main.cpp
+	${MKDIR} -p ${OBJECTDIR}
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
+
+# Subprojects
+.build-subprojects:
+
+# Clean Targets
+.clean-conf: ${CLEAN_SUBPROJECTS}
+	${RM} -r ${CND_BUILDDIR}/${CND_CONF}
+
+# Subprojects
+.clean-subprojects:
+
+# Enable dependency checking
+.dep.inc: .depcheck-impl
+
+include .dep.inc

software/simulateur/nbproject/Makefile-Release.mk

@@ -0,0 +1,83 @@
+#
+# Generated Makefile - do not edit!
+#
+# Edit the Makefile in the project folder instead (../Makefile). Each target
+# has a -pre and a -post target defined where you can add customized code.
+#
+# This makefile implements configuration specific macros and targets.
+
+
+# Environment
+MKDIR=mkdir
+CP=cp
+GREP=grep
+NM=nm
+CCADMIN=CCadmin
+RANLIB=ranlib
+CC=gcc
+CCC=g++
+CXX=g++
+FC=gfortran
+AS=as
+
+# Macros
+CND_PLATFORM=GNU-Linux
+CND_DLIB_EXT=so
+CND_CONF=Release
+CND_DISTDIR=dist
+CND_BUILDDIR=build
+
+# Include project Makefile
+include Makefile
+
+# Object Directory
+OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
+
+# Object Files
+OBJECTFILES= \
+	${OBJECTDIR}/main.o
+
+
+# C Compiler Flags
+CFLAGS=
+
+# CC Compiler Flags
+CCFLAGS=
+CXXFLAGS=
+
+# Fortran Compiler Flags
+FFLAGS=
+
+# Assembler Flags
+ASFLAGS=
+
+# Link Libraries and Options
+LDLIBSOPTIONS=
+
+# Build Targets
+.build-conf: ${BUILD_SUBPROJECTS}
+	"${MAKE}"  -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur
+
+${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur: ${OBJECTFILES}
+	${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
+	${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur ${OBJECTFILES} ${LDLIBSOPTIONS}
+
+${OBJECTDIR}/main.o: main.cpp
+	${MKDIR} -p ${OBJECTDIR}
+	${RM} "$@.d"
+	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
+
+# Subprojects
+.build-subprojects:
+
+# Clean Targets
+.clean-conf: ${CLEAN_SUBPROJECTS}
+	${RM} -r ${CND_BUILDDIR}/${CND_CONF}
+
+# Subprojects
+.clean-subprojects:
+
+# Enable dependency checking
+.dep.inc: .depcheck-impl
+
+include .dep.inc

software/simulateur/nbproject/Makefile-impl.mk

@@ -0,0 +1,133 @@
+# 
+# Generated Makefile - do not edit! 
+# 
+# Edit the Makefile in the project folder instead (../Makefile). Each target
+# has a pre- and a post- target defined where you can add customization code.
+#
+# This makefile implements macros and targets common to all configurations.
+#
+# NOCDDL
+
+
+# Building and Cleaning subprojects are done by default, but can be controlled with the SUB
+# macro. If SUB=no, subprojects will not be built or cleaned. The following macro
+# statements set BUILD_SUB-CONF and CLEAN_SUB-CONF to .build-reqprojects-conf
+# and .clean-reqprojects-conf unless SUB has the value 'no'
+SUB_no=NO
+SUBPROJECTS=${SUB_${SUB}}
+BUILD_SUBPROJECTS_=.build-subprojects
+BUILD_SUBPROJECTS_NO=
+BUILD_SUBPROJECTS=${BUILD_SUBPROJECTS_${SUBPROJECTS}}
+CLEAN_SUBPROJECTS_=.clean-subprojects
+CLEAN_SUBPROJECTS_NO=
+CLEAN_SUBPROJECTS=${CLEAN_SUBPROJECTS_${SUBPROJECTS}}
+
+
+# Project Name
+PROJECTNAME=simulateur
+
+# Active Configuration
+DEFAULTCONF=Debug
+CONF=${DEFAULTCONF}
+
+# All Configurations
+ALLCONFS=Debug Release 
+
+
+# build
+.build-impl: .build-pre .validate-impl .depcheck-impl
+	@#echo "=> Running $@... Configuration=$(CONF)"
+	"${MAKE}" -f nbproject/Makefile-${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .build-conf
+
+
+# clean
+.clean-impl: .clean-pre .validate-impl .depcheck-impl
+	@#echo "=> Running $@... Configuration=$(CONF)"
+	"${MAKE}" -f nbproject/Makefile-${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .clean-conf
+
+
+# clobber 
+.clobber-impl: .clobber-pre .depcheck-impl
+	@#echo "=> Running $@..."
+	for CONF in ${ALLCONFS}; \
+	do \
+	    "${MAKE}" -f nbproject/Makefile-$${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .clean-conf; \
+	done
+
+# all 
+.all-impl: .all-pre .depcheck-impl
+	@#echo "=> Running $@..."
+	for CONF in ${ALLCONFS}; \
+	do \
+	    "${MAKE}" -f nbproject/Makefile-$${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .build-conf; \
+	done
+
+# build tests
+.build-tests-impl: .build-impl .build-tests-pre
+	@#echo "=> Running $@... Configuration=$(CONF)"
+	"${MAKE}" -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .build-tests-conf
+
+# run tests
+.test-impl: .build-tests-impl .test-pre
+	@#echo "=> Running $@... Configuration=$(CONF)"
+	"${MAKE}" -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .test-conf
+
+# dependency checking support
+.depcheck-impl:
+	@echo "# This code depends on make tool being used" >.dep.inc
+	@if [ -n "${MAKE_VERSION}" ]; then \
+	    echo "DEPFILES=\$$(wildcard \$$(addsuffix .d, \$${OBJECTFILES} \$${TESTOBJECTFILES}))" >>.dep.inc; \
+	    echo "ifneq (\$${DEPFILES},)" >>.dep.inc; \
+	    echo "include \$${DEPFILES}" >>.dep.inc; \
+	    echo "endif" >>.dep.inc; \
+	else \
+	    echo ".KEEP_STATE:" >>.dep.inc; \
+	    echo ".KEEP_STATE_FILE:.make.state.\$${CONF}" >>.dep.inc; \
+	fi
+
+# configuration validation
+.validate-impl:
+	@if [ ! -f nbproject/Makefile-${CONF}.mk ]; \
+	then \
+	    echo ""; \
+	    echo "Error: can not find the makefile for configuration '${CONF}' in project ${PROJECTNAME}"; \
+	    echo "See 'make help' for details."; \
+	    echo "Current directory: " `pwd`; \
+	    echo ""; \
+	fi
+	@if [ ! -f nbproject/Makefile-${CONF}.mk ]; \
+	then \
+	    exit 1; \
+	fi
+
+
+# help
+.help-impl: .help-pre
+	@echo "This makefile supports the following configurations:"
+	@echo "    ${ALLCONFS}"
+	@echo ""
+	@echo "and the following targets:"
+	@echo "    build  (default target)"
+	@echo "    clean"
+	@echo "    clobber"
+	@echo "    all"
+	@echo "    help"
+	@echo ""
+	@echo "Makefile Usage:"
+	@echo "    make [CONF=<CONFIGURATION>] [SUB=no] build"
+	@echo "    make [CONF=<CONFIGURATION>] [SUB=no] clean"
+	@echo "    make [SUB=no] clobber"
+	@echo "    make [SUB=no] all"
+	@echo "    make help"
+	@echo ""
+	@echo "Target 'build' will build a specific configuration and, unless 'SUB=no',"
+	@echo "    also build subprojects."
+	@echo "Target 'clean' will clean a specific configuration and, unless 'SUB=no',"
+	@echo "    also clean subprojects."
+	@echo "Target 'clobber' will remove all built files from all configurations and,"
+	@echo "    unless 'SUB=no', also from subprojects."
+	@echo "Target 'all' will will build all configurations and, unless 'SUB=no',"
+	@echo "    also build subprojects."
+	@echo "Target 'help' prints this message."
+	@echo ""
+

software/simulateur/nbproject/Makefile-variables.mk

@@ -0,0 +1,35 @@
+#
+# Generated - do not edit!
+#
+# NOCDDL
+#
+CND_BASEDIR=`pwd`
+CND_BUILDDIR=build
+CND_DISTDIR=dist
+# Debug configuration
+CND_PLATFORM_Debug=GNU-Linux
+CND_ARTIFACT_DIR_Debug=dist/Debug/GNU-Linux
+CND_ARTIFACT_NAME_Debug=simulateur
+CND_ARTIFACT_PATH_Debug=dist/Debug/GNU-Linux/simulateur
+CND_PACKAGE_DIR_Debug=dist/Debug/GNU-Linux/package
+CND_PACKAGE_NAME_Debug=simulateur.tar
+CND_PACKAGE_PATH_Debug=dist/Debug/GNU-Linux/package/simulateur.tar
+# Release configuration
+CND_PLATFORM_Release=GNU-Linux
+CND_ARTIFACT_DIR_Release=dist/Release/GNU-Linux
+CND_ARTIFACT_NAME_Release=simulateur
+CND_ARTIFACT_PATH_Release=dist/Release/GNU-Linux/simulateur
+CND_PACKAGE_DIR_Release=dist/Release/GNU-Linux/package
+CND_PACKAGE_NAME_Release=simulateur.tar
+CND_PACKAGE_PATH_Release=dist/Release/GNU-Linux/package/simulateur.tar
+#
+# include compiler specific variables
+#
+# dmake command
+ROOT:sh = test -f nbproject/private/Makefile-variables.mk || \
+	(mkdir -p nbproject/private && touch nbproject/private/Makefile-variables.mk)
+#
+# gmake command
+.PHONY: $(shell test -f nbproject/private/Makefile-variables.mk || (mkdir -p nbproject/private && touch nbproject/private/Makefile-variables.mk))
+#
+include nbproject/private/Makefile-variables.mk

software/simulateur/nbproject/Package-Debug.bash

@@ -7,15 +7,15 @@
 # Macros
 TOP=`pwd`
 CND_PLATFORM=GNU-Linux
-CND_CONF=Debug__RPI_
+CND_CONF=Debug
 CND_DISTDIR=dist
 CND_BUILDDIR=build
 CND_DLIB_EXT=so
 NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging
 TMPDIRNAME=tmp-packaging
-OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot
-OUTPUT_BASENAME=superviseur-robot
-PACKAGE_TOP_DIR=superviseur-robot/
+OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur
+OUTPUT_BASENAME=simulateur
+PACKAGE_TOP_DIR=simulateur/
 
 # Functions
 function checkReturnCode
@@ -60,15 +60,15 @@ mkdir -p ${NBTMPDIR}
 
 # Copy files and create directories and links
 cd "${TOP}"
-makeDirectory "${NBTMPDIR}/superviseur-robot/bin"
+makeDirectory "${NBTMPDIR}/simulateur/bin"
 copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755
 
 
 # Generate tar file
 cd "${TOP}"
-rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar
+rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/simulateur.tar
 cd ${NBTMPDIR}
-tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar *
+tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/simulateur.tar *
 checkReturnCode
 
 # Cleanup

software/simulateur/nbproject/Package-Release.bash

@@ -0,0 +1,76 @@
+#!/bin/bash -x
+
+#
+# Generated - do not edit!
+#
+
+# Macros
+TOP=`pwd`
+CND_PLATFORM=GNU-Linux
+CND_CONF=Release
+CND_DISTDIR=dist
+CND_BUILDDIR=build
+CND_DLIB_EXT=so
+NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging
+TMPDIRNAME=tmp-packaging
+OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur
+OUTPUT_BASENAME=simulateur
+PACKAGE_TOP_DIR=simulateur/
+
+# Functions
+function checkReturnCode
+{
+    rc=$?
+    if [ $rc != 0 ]
+    then
+        exit $rc
+    fi
+}
+function makeDirectory
+# $1 directory path
+# $2 permission (optional)
+{
+    mkdir -p "$1"
+    checkReturnCode
+    if [ "$2" != "" ]
+    then
+      chmod $2 "$1"
+      checkReturnCode
+    fi
+}
+function copyFileToTmpDir
+# $1 from-file path
+# $2 to-file path
+# $3 permission
+{
+    cp "$1" "$2"
+    checkReturnCode
+    if [ "$3" != "" ]
+    then
+        chmod $3 "$2"
+        checkReturnCode
+    fi
+}
+
+# Setup
+cd "${TOP}"
+mkdir -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package
+rm -rf ${NBTMPDIR}
+mkdir -p ${NBTMPDIR}
+
+# Copy files and create directories and links
+cd "${TOP}"
+makeDirectory "${NBTMPDIR}/simulateur/bin"
+copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755
+
+
+# Generate tar file
+cd "${TOP}"
+rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/simulateur.tar
+cd ${NBTMPDIR}
+tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/simulateur.tar *
+checkReturnCode
+
+# Cleanup
+cd "${TOP}"
+rm -rf ${NBTMPDIR}

software/simulateur/nbproject/configurations.xml

@@ -0,0 +1,66 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configurationDescriptor version="100">
+  <logicalFolder name="root" displayName="root" projectFiles="true" kind="ROOT">
+    <logicalFolder name="HeaderFiles"
+                   displayName="Header Files"
+                   projectFiles="true">
+    </logicalFolder>
+    <logicalFolder name="ResourceFiles"
+                   displayName="Resource Files"
+                   projectFiles="true">
+    </logicalFolder>
+    <logicalFolder name="SourceFiles"
+                   displayName="Source Files"
+                   projectFiles="true">
+      <itemPath>main.cpp</itemPath>
+    </logicalFolder>
+    <logicalFolder name="TestFiles"
+                   displayName="Test Files"
+                   projectFiles="false"
+                   kind="TEST_LOGICAL_FOLDER">
+    </logicalFolder>
+    <logicalFolder name="ExternalFiles"
+                   displayName="Important Files"
+                   projectFiles="false"
+                   kind="IMPORTANT_FILES_FOLDER">
+      <itemPath>Makefile</itemPath>
+    </logicalFolder>
+  </logicalFolder>
+  <projectmakefile>Makefile</projectmakefile>
+  <confs>
+    <conf name="Debug" type="1">
+      <toolsSet>
+        <compilerSet>default</compilerSet>
+        <dependencyChecking>true</dependencyChecking>
+        <rebuildPropChanged>false</rebuildPropChanged>
+      </toolsSet>
+      <compileType>
+      </compileType>
+      <item path="main.cpp" ex="false" tool="1" flavor2="0">
+      </item>
+    </conf>
+    <conf name="Release" type="1">
+      <toolsSet>
+        <compilerSet>default</compilerSet>
+        <dependencyChecking>true</dependencyChecking>
+        <rebuildPropChanged>false</rebuildPropChanged>
+      </toolsSet>
+      <compileType>
+        <cTool>
+          <developmentMode>5</developmentMode>
+        </cTool>
+        <ccTool>
+          <developmentMode>5</developmentMode>
+        </ccTool>
+        <fortranCompilerTool>
+          <developmentMode>5</developmentMode>
+        </fortranCompilerTool>
+        <asmTool>
+          <developmentMode>5</developmentMode>
+        </asmTool>
+      </compileType>
+      <item path="main.cpp" ex="false" tool="1" flavor2="0">
+      </item>
+    </conf>
+  </confs>
+</configurationDescriptor>

software/simulateur/nbproject/private/Makefile-variables.mk

@@ -0,0 +1,7 @@
+#
+# Generated - do not edit!
+#
+# NOCDDL
+#
+# Debug configuration
+# Release configuration

software/simulateur/nbproject/private/c_standard_headers_indexer.c

@@ -0,0 +1,75 @@
+/*
+ * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS HEADER.
+ *
+ * Copyright (c) 2016 Oracle and/or its affiliates. All rights reserved.
+ *
+ * Oracle and Java are registered trademarks of Oracle and/or its affiliates.
+ * Other names may be trademarks of their respective owners.
+ *
+ * The contents of this file are subject to the terms of either the GNU
+ * General Public License Version 2 only ("GPL") or the Common
+ * Development and Distribution License("CDDL") (collectively, the
+ * "License"). You may not use this file except in compliance with the
+ * License. You can obtain a copy of the License at
+ * http://www.netbeans.org/cddl-gplv2.html
+ * or nbbuild/licenses/CDDL-GPL-2-CP. See the License for the
+ * specific language governing permissions and limitations under the
+ * License.  When distributing the software, include this License Header
+ * Notice in each file and include the License file at
+ * nbbuild/licenses/CDDL-GPL-2-CP.  Oracle designates this
+ * particular file as subject to the "Classpath" exception as provided
+ * by Oracle in the GPL Version 2 section of the License file that
+ * accompanied this code. If applicable, add the following below the
+ * License Header, with the fields enclosed by brackets [] replaced by
+ * your own identifying information:
+ * "Portions Copyrighted [year] [name of copyright owner]"
+ *
+ * If you wish your version of this file to be governed by only the CDDL
+ * or only the GPL Version 2, indicate your decision by adding
+ * "[Contributor] elects to include this software in this distribution
+ * under the [CDDL or GPL Version 2] license." If you do not indicate a
+ * single choice of license, a recipient has the option to distribute
+ * your version of this file under either the CDDL, the GPL Version 2 or
+ * to extend the choice of license to its licensees as provided above.
+ * However, if you add GPL Version 2 code and therefore, elected the GPL
+ * Version 2 license, then the option applies only if the new code is
+ * made subject to such option by the copyright holder.
+ *
+ * Contributor(s):
+ */
+
+// List of standard headers was taken in http://en.cppreference.com/w/c/header
+
+#include <assert.h> 	 // Conditionally compiled macro that compares its argument to zero
+#include <ctype.h> 	 // Functions to determine the type contained in character data
+#include <errno.h> 	 // Macros reporting error conditions
+#include <float.h> 	 // Limits of float types
+#include <limits.h> 	 // Sizes of basic types
+#include <locale.h> 	 // Localization utilities
+#include <math.h> 	 // Common mathematics functions
+#include <setjmp.h> 	 // Nonlocal jumps
+#include <signal.h> 	 // Signal handling
+#include <stdarg.h> 	 // Variable arguments
+#include <stddef.h> 	 // Common macro definitions
+#include <stdio.h> 	 // Input/output
+#include <string.h> 	 // String handling
+#include <stdlib.h> 	 // General utilities: memory management, program utilities, string conversions, random numbers
+#include <time.h> 	 // Time/date utilities
+#include <iso646.h>      // (since C95) Alternative operator spellings
+#include <wchar.h>       // (since C95) Extended multibyte and wide character utilities
+#include <wctype.h>      // (since C95) Wide character classification and mapping utilities
+#ifdef _STDC_C99
+#include <complex.h>     // (since C99) Complex number arithmetic
+#include <fenv.h>        // (since C99) Floating-point environment
+#include <inttypes.h>    // (since C99) Format conversion of integer types
+#include <stdbool.h>     // (since C99) Boolean type
+#include <stdint.h>      // (since C99) Fixed-width integer types
+#include <tgmath.h>      // (since C99) Type-generic math (macros wrapping math.h and complex.h)
+#endif
+#ifdef _STDC_C11
+#include <stdalign.h>    // (since C11) alignas and alignof convenience macros
+#include <stdatomic.h>   // (since C11) Atomic types
+#include <stdnoreturn.h> // (since C11) noreturn convenience macros
+#include <threads.h>     // (since C11) Thread library
+#include <uchar.h>       // (since C11) UTF-16 and UTF-32 character utilities
+#endif

software/simulateur/nbproject/private/configurations.xml

@@ -0,0 +1,72 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configurationDescriptor version="100">
+  <projectmakefile>Makefile</projectmakefile>
+  <confs>
+    <conf name="Debug" type="1">
+      <toolsSet>
+        <developmentServer>localhost</developmentServer>
+        <platform>2</platform>
+      </toolsSet>
+      <dbx_gdbdebugger version="1">
+        <gdb_pathmaps>
+        </gdb_pathmaps>
+        <gdb_interceptlist>
+          <gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
+        </gdb_interceptlist>
+        <gdb_options>
+          <DebugOptions>
+          </DebugOptions>
+        </gdb_options>
+        <gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
+      </dbx_gdbdebugger>
+      <nativedebugger version="1">
+        <engine>gdb</engine>
+      </nativedebugger>
+      <runprofile version="9">
+        <runcommandpicklist>
+          <runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
+        </runcommandpicklist>
+        <runcommand>"${OUTPUT_PATH}"</runcommand>
+        <rundir></rundir>
+        <buildfirst>true</buildfirst>
+        <terminal-type>0</terminal-type>
+        <remove-instrumentation>0</remove-instrumentation>
+        <environment>
+        </environment>
+      </runprofile>
+    </conf>
+    <conf name="Release" type="1">
+      <toolsSet>
+        <developmentServer>localhost</developmentServer>
+        <platform>2</platform>
+      </toolsSet>
+      <dbx_gdbdebugger version="1">
+        <gdb_pathmaps>
+        </gdb_pathmaps>
+        <gdb_interceptlist>
+          <gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
+        </gdb_interceptlist>
+        <gdb_options>
+          <DebugOptions>
+          </DebugOptions>
+        </gdb_options>
+        <gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
+      </dbx_gdbdebugger>
+      <nativedebugger version="1">
+        <engine>gdb</engine>
+      </nativedebugger>
+      <runprofile version="9">
+        <runcommandpicklist>
+          <runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
+        </runcommandpicklist>
+        <runcommand>"${OUTPUT_PATH}"</runcommand>
+        <rundir></rundir>
+        <buildfirst>true</buildfirst>
+        <terminal-type>0</terminal-type>
+        <remove-instrumentation>0</remove-instrumentation>
+        <environment>
+        </environment>
+      </runprofile>
+    </conf>
+  </confs>
+</configurationDescriptor>

software/simulateur/nbproject/private/cpp_standard_headers_indexer.cpp

@@ -0,0 +1,135 @@
+/*
+ * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS HEADER.
+ *
+ * Copyright (c) 2016 Oracle and/or its affiliates. All rights reserved.
+ *
+ * Oracle and Java are registered trademarks of Oracle and/or its affiliates.
+ * Other names may be trademarks of their respective owners.
+ *
+ * The contents of this file are subject to the terms of either the GNU
+ * General Public License Version 2 only ("GPL") or the Common
+ * Development and Distribution License("CDDL") (collectively, the
+ * "License"). You may not use this file except in compliance with the
+ * License. You can obtain a copy of the License at
+ * http://www.netbeans.org/cddl-gplv2.html
+ * or nbbuild/licenses/CDDL-GPL-2-CP. See the License for the
+ * specific language governing permissions and limitations under the
+ * License.  When distributing the software, include this License Header
+ * Notice in each file and include the License file at
+ * nbbuild/licenses/CDDL-GPL-2-CP.  Oracle designates this
+ * particular file as subject to the "Classpath" exception as provided
+ * by Oracle in the GPL Version 2 section of the License file that
+ * accompanied this code. If applicable, add the following below the
+ * License Header, with the fields enclosed by brackets [] replaced by
+ * your own identifying information:
+ * "Portions Copyrighted [year] [name of copyright owner]"
+ *
+ * If you wish your version of this file to be governed by only the CDDL
+ * or only the GPL Version 2, indicate your decision by adding
+ * "[Contributor] elects to include this software in this distribution
+ * under the [CDDL or GPL Version 2] license." If you do not indicate a
+ * single choice of license, a recipient has the option to distribute
+ * your version of this file under either the CDDL, the GPL Version 2 or
+ * to extend the choice of license to its licensees as provided above.
+ * However, if you add GPL Version 2 code and therefore, elected the GPL
+ * Version 2 license, then the option applies only if the new code is
+ * made subject to such option by the copyright holder.
+ *
+ * Contributor(s):
+ */
+
+// List of standard headers was taken in http://en.cppreference.com/w/cpp/header
+
+#include <cstdlib> 	    // General purpose utilities: program control, dynamic memory allocation, random numbers, sort and search
+#include <csignal> 	    // Functions and macro constants for signal management
+#include <csetjmp> 	    // Macro (and function) that saves (and jumps) to an execution context
+#include <cstdarg> 	    // Handling of variable length argument lists
+#include <typeinfo> 	    // Runtime type information utilities
+#include <bitset> 	    // std::bitset class template
+#include <functional> 	    // Function objects, designed for use with the standard algorithms
+#include <utility> 	    // Various utility components
+#include <ctime> 	    // C-style time/date utilites
+#include <cstddef> 	    // typedefs for types such as size_t, NULL and others
+#include <new> 	            // Low-level memory management utilities
+#include <memory> 	    // Higher level memory management utilities
+#include <climits>          // limits of integral types
+#include <cfloat> 	    // limits of float types
+#include <limits> 	    // standardized way to query properties of arithmetic types
+#include <exception> 	    // Exception handling utilities
+#include <stdexcept> 	    // Standard exception objects
+#include <cassert> 	    // Conditionally compiled macro that compares its argument to zero
+#include <cerrno>           // Macro containing the last error number
+#include <cctype>           // functions to determine the type contained in character data
+#include <cwctype>          // functions for determining the type of wide character data
+#include <cstring> 	    // various narrow character string handling functions
+#include <cwchar> 	    // various wide and multibyte string handling functions
+#include <string> 	    // std::basic_string class template
+#include <vector> 	    // std::vector container
+#include <deque> 	    // std::deque container
+#include <list> 	    // std::list container
+#include <set> 	            // std::set and std::multiset associative containers
+#include <map> 	            // std::map and std::multimap associative containers
+#include <stack> 	    // std::stack container adaptor
+#include <queue> 	    // std::queue and std::priority_queue container adaptors
+#include <algorithm> 	    // Algorithms that operate on containers
+#include <iterator> 	    // Container iterators
+#include <cmath>            // Common mathematics functions
+#include <complex>          // Complex number type
+#include <valarray>         // Class for representing and manipulating arrays of values
+#include <numeric>          // Numeric operations on values in containers
+#include <iosfwd>           // forward declarations of all classes in the input/output library
+#include <ios>              // std::ios_base class, std::basic_ios class template and several typedefs
+#include <istream>          // std::basic_istream class template and several typedefs
+#include <ostream>          // std::basic_ostream, std::basic_iostream class templates and several typedefs
+#include <iostream>         // several standard stream objects
+#include <fstream>          // std::basic_fstream, std::basic_ifstream, std::basic_ofstream class templates and several typedefs
+#include <sstream>          // std::basic_stringstream, std::basic_istringstream, std::basic_ostringstream class templates and several typedefs
+#include <strstream>        // std::strstream, std::istrstream, std::ostrstream(deprecated)
+#include <iomanip>          // Helper functions to control the format or input and output
+#include <streambuf>        // std::basic_streambuf class template
+#include <cstdio>           // C-style input-output functions
+#include <locale>           // Localization utilities
+#include <clocale>          // C localization utilities
+#include <ciso646>          // empty header. The macros that appear in iso646.h in C are keywords in C++
+#if __cplusplus >= 201103L
+#include <typeindex>        // (since C++11) 	std::type_index
+#include <type_traits>      // (since C++11) 	Compile-time type information
+#include <chrono>           // (since C++11) 	C++ time utilites
+#include <initializer_list> // (since C++11) 	std::initializer_list class template
+#include <tuple>            // (since C++11) 	std::tuple class template
+#include <scoped_allocator> // (since C++11) 	Nested allocator class
+#include <cstdint>          // (since C++11) 	fixed-size types and limits of other types
+#include <cinttypes>        // (since C++11) 	formatting macros , intmax_t and uintmax_t math and conversions
+#include <system_error>     // (since C++11) 	defines std::error_code, a platform-dependent error code
+#include <cuchar>           // (since C++11) 	C-style Unicode character conversion functions
+#include <array>            // (since C++11) 	std::array container
+#include <forward_list>     // (since C++11) 	std::forward_list container
+#include <unordered_set>    // (since C++11) 	std::unordered_set and std::unordered_multiset unordered associative containers
+#include <unordered_map>    // (since C++11) 	std::unordered_map and std::unordered_multimap unordered associative containers
+#include <random>           // (since C++11) 	Random number generators and distributions
+#include <ratio>            // (since C++11) 	Compile-time rational arithmetic
+#include <cfenv>            // (since C++11) 	Floating-point environment access functions
+#include <codecvt>          // (since C++11) 	Unicode conversion facilities
+#include <regex>            // (since C++11) 	Classes, algorithms and iterators to support regular expression processing
+#include <atomic>           // (since C++11) 	Atomic operations library
+#include <ccomplex>         // (since C++11)(deprecated in C++17) 	simply includes the header <complex>
+#include <ctgmath>          // (since C++11)(deprecated in C++17) 	simply includes the headers <ccomplex> (until C++17)<complex> (since C++17) and <cmath>: the overloads equivalent to the contents of the C header tgmath.h are already provided by those headers
+#include <cstdalign>        // (since C++11)(deprecated in C++17) 	defines one compatibility macro constant
+#include <cstdbool>         // (since C++11)(deprecated in C++17) 	defines one compatibility macro constant
+#include <thread>           // (since C++11) 	std::thread class and supporting functions
+#include <mutex>            // (since C++11) 	mutual exclusion primitives
+#include <future>           // (since C++11) 	primitives for asynchronous computations
+#include <condition_variable> // (since C++11) 	thread waiting conditions
+#endif
+#if __cplusplus >= 201300L
+#include <shared_mutex>     // (since C++14) 	shared mutual exclusion primitives
+#endif
+#if __cplusplus >= 201500L
+#include <any>              // (since C++17) 	std::any class template
+#include <optional>         // (since C++17) 	std::optional class template
+#include <variant>          // (since C++17) 	std::variant class template
+#include <memory_resource>  // (since C++17) 	Polymorphic allocators and memory resources
+#include <string_view>      // (since C++17) 	std::basic_string_view class template
+#include <execution>        // (since C++17) 	Predefined execution policies for parallel versions of the algorithms
+#include <filesystem>       // (since C++17) 	std::path class and supporting functions
+#endif

software/simulateur/nbproject/private/launcher.properties

@@ -0,0 +1,42 @@
+# Launchers File syntax:
+#
+# [Must-have property line] 
+# launcher1.runCommand=<Run Command>
+# [Optional extra properties] 
+# launcher1.displayName=<Display Name, runCommand by default>
+# launcher1.hide=<true if lancher is not visible in menu, false by default>
+# launcher1.buildCommand=<Build Command, Build Command specified in project properties by default>
+# launcher1.runDir=<Run Directory, ${PROJECT_DIR} by default>
+# launcher1.runInOwnTab=<false if launcher reuse common "Run" output tab, true by default>
+# launcher1.symbolFiles=<Symbol Files loaded by debugger, ${OUTPUT_PATH} by default>
+# launcher1.env.<Environment variable KEY>=<Environment variable VALUE>
+# (If this value is quoted with ` it is handled as a native command which execution result will become the value)
+# [Common launcher properties]
+# common.runDir=<Run Directory>
+# (This value is overwritten by a launcher specific runDir value if the latter exists)
+# common.env.<Environment variable KEY>=<Environment variable VALUE>
+# (Environment variables from common launcher are merged with launcher specific variables)
+# common.symbolFiles=<Symbol Files loaded by debugger>
+# (This value is overwritten by a launcher specific symbolFiles value if the latter exists)
+#
+# In runDir, symbolFiles and env fields you can use these macroses:
+# ${PROJECT_DIR}    -   project directory absolute path
+# ${OUTPUT_PATH}    -   linker output path (relative to project directory path)
+# ${OUTPUT_BASENAME}-   linker output filename
+# ${TESTDIR}        -   test files directory (relative to project directory path)
+# ${OBJECTDIR}      -   object files directory (relative to project directory path)
+# ${CND_DISTDIR}    -   distribution directory (relative to project directory path)
+# ${CND_BUILDDIR}   -   build directory (relative to project directory path)
+# ${CND_PLATFORM}   -   platform name
+# ${CND_CONF}       -   configuration name
+# ${CND_DLIB_EXT}   -   dynamic library extension
+#
+# All the project launchers must be listed in the file!
+#
+# launcher1.runCommand=...
+# launcher2.runCommand=...
+# ...
+# common.runDir=...
+# common.env.KEY=VALUE
+
+# launcher1.runCommand=<type your run command here>

software/simulateur/nbproject/private/private.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project-private xmlns="http://www.netbeans.org/ns/project-private/1">
+    <data xmlns="http://www.netbeans.org/ns/make-project-private/1">
+        <activeConfTypeElem>1</activeConfTypeElem>
+        <activeConfIndexElem>0</activeConfIndexElem>
+    </data>
+    <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/etud/dumber/software/simulateur/main.cpp</file>
+        </group>
+    </open-files>
+</project-private>

software/simulateur/nbproject/project.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://www.netbeans.org/ns/project/1">
+    <type>org.netbeans.modules.cnd.makeproject</type>
+    <configuration>
+        <data xmlns="http://www.netbeans.org/ns/make-project/1">
+            <name>simulateur</name>
+            <c-extensions/>
+            <cpp-extensions>cpp</cpp-extensions>
+            <header-extensions/>
+            <sourceEncoding>UTF-8</sourceEncoding>
+            <make-dep-projects/>
+            <sourceRootList/>
+            <confList>
+                <confElem>
+                    <name>Debug</name>
+                    <type>1</type>
+                </confElem>
+                <confElem>
+                    <name>Release</name>
+                    <type>1</type>
+                </confElem>
+            </confList>
+            <formatting>
+                <project-formatting-style>false</project-formatting-style>
+            </formatting>
+        </data>
+    </configuration>
+</project>