Ajout d'un projet en pthread + ajout support des images sur moniteur

software/monitor/monitor-python-qt/main_window.py

@@ -13,35 +13,54 @@ from PyQt5 import QtCore, QtGui, QtWidgets
 class Ui_MainWindow(object):
     def setupUi(self, MainWindow):
         MainWindow.setObjectName("MainWindow")
-        MainWindow.resize(928, 629)
+        MainWindow.resize(973, 635)
+        MainWindow.setMinimumSize(QtCore.QSize(973, 635))
         self.centralwidget = QtWidgets.QWidget(MainWindow)
         self.centralwidget.setObjectName("centralwidget")
-        self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.centralwidget)
+        self.widget = QtWidgets.QWidget(self.centralwidget)
+        self.widget.setGeometry(QtCore.QRect(14, 13, 947, 574))
+        self.widget.setObjectName("widget")
+        self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.widget)
+        self.horizontalLayout_6.setContentsMargins(0, 0, 0, 0)
         self.horizontalLayout_6.setObjectName("horizontalLayout_6")
         self.verticalLayout_4 = QtWidgets.QVBoxLayout()
         self.verticalLayout_4.setObjectName("verticalLayout_4")
-        self.checkBox_enableCamera = QtWidgets.QCheckBox(self.centralwidget)
+        self.checkBox_enableCamera = QtWidgets.QCheckBox(self.widget)
         self.checkBox_enableCamera.setObjectName("checkBox_enableCamera")
         self.verticalLayout_4.addWidget(self.checkBox_enableCamera)
-        self.graphicsView_Image = QtWidgets.QGraphicsView(self.centralwidget)
+        self.label_Image = QtWidgets.QLabel(self.widget)
-        self.graphicsView_Image.setObjectName("graphicsView_Image")
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
-        self.verticalLayout_4.addWidget(self.graphicsView_Image)
+        sizePolicy.setHorizontalStretch(0)
-        self.pushButton_confirmArena = QtWidgets.QPushButton(self.centralwidget)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.label_Image.sizePolicy().hasHeightForWidth())
+        self.label_Image.setSizePolicy(sizePolicy)
+        self.label_Image.setMinimumSize(QtCore.QSize(640, 480))
+        self.label_Image.setSizeIncrement(QtCore.QSize(1, 1))
+        self.label_Image.setFrameShape(QtWidgets.QFrame.Box)
+        self.label_Image.setText("")
+        self.label_Image.setObjectName("label_Image")
+        self.verticalLayout_4.addWidget(self.label_Image)
+        self.pushButton_confirmArena = QtWidgets.QPushButton(self.widget)
         self.pushButton_confirmArena.setObjectName("pushButton_confirmArena")
         self.verticalLayout_4.addWidget(self.pushButton_confirmArena)
         self.horizontalLayout_3 = QtWidgets.QHBoxLayout()
         self.horizontalLayout_3.setObjectName("horizontalLayout_3")
-        self.checkBox_enableFPS = QtWidgets.QCheckBox(self.centralwidget)
+        self.checkBox_enableFPS = QtWidgets.QCheckBox(self.widget)
         self.checkBox_enableFPS.setObjectName("checkBox_enableFPS")
         self.horizontalLayout_3.addWidget(self.checkBox_enableFPS)
-        self.checkBox_enablePosition = QtWidgets.QCheckBox(self.centralwidget)
+        self.checkBox_enablePosition = QtWidgets.QCheckBox(self.widget)
         self.checkBox_enablePosition.setObjectName("checkBox_enablePosition")
         self.horizontalLayout_3.addWidget(self.checkBox_enablePosition)
         self.verticalLayout_4.addLayout(self.horizontalLayout_3)
         self.horizontalLayout_6.addLayout(self.verticalLayout_4)
         self.verticalLayout_6 = QtWidgets.QVBoxLayout()
         self.verticalLayout_6.setObjectName("verticalLayout_6")
-        self.groupBox_connection = QtWidgets.QGroupBox(self.centralwidget)
+        self.groupBox_activation = QtWidgets.QGroupBox(self.widget)
+        self.groupBox_activation.setAlignment(QtCore.Qt.AlignCenter)
+        self.groupBox_activation.setObjectName("groupBox_activation")
+        self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.groupBox_activation)
+        self.verticalLayout_2.setObjectName("verticalLayout_2")
+        self.groupBox_connection = QtWidgets.QGroupBox(self.groupBox_activation)
         self.groupBox_connection.setAlignment(QtCore.Qt.AlignCenter)
         self.groupBox_connection.setFlat(False)
         self.groupBox_connection.setCheckable(False)
@@ -102,12 +121,7 @@ class Ui_MainWindow(object):
         self.line.setFrameShadow(QtWidgets.QFrame.Sunken)
         self.line.setObjectName("line")
         self.verticalLayout.addWidget(self.line)
-        self.verticalLayout_6.addWidget(self.groupBox_connection)
+        self.verticalLayout_2.addWidget(self.groupBox_connection)
-        self.groupBox_activation = QtWidgets.QGroupBox(self.centralwidget)
-        self.groupBox_activation.setAlignment(QtCore.Qt.AlignCenter)
-        self.groupBox_activation.setObjectName("groupBox_activation")
-        self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.groupBox_activation)
-        self.verticalLayout_2.setObjectName("verticalLayout_2")
         self.checkBox_watchdog = QtWidgets.QCheckBox(self.groupBox_activation)
         self.checkBox_watchdog.setObjectName("checkBox_watchdog")
         self.verticalLayout_2.addWidget(self.checkBox_watchdog)
@@ -120,7 +134,7 @@ class Ui_MainWindow(object):
         self.line_2.setObjectName("line_2")
         self.verticalLayout_2.addWidget(self.line_2)
         self.verticalLayout_6.addWidget(self.groupBox_activation)
-        self.groupBox_mouvments = QtWidgets.QGroupBox(self.centralwidget)
+        self.groupBox_mouvments = QtWidgets.QGroupBox(self.widget)
         self.groupBox_mouvments.setAlignment(QtCore.Qt.AlignCenter)
         self.groupBox_mouvments.setObjectName("groupBox_mouvments")
         self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.groupBox_mouvments)
@@ -149,7 +163,7 @@ class Ui_MainWindow(object):
         self.line_3.setObjectName("line_3")
         self.verticalLayout_3.addWidget(self.line_3)
         self.verticalLayout_6.addWidget(self.groupBox_mouvments)
-        self.groupBox_AnswerandBattery = QtWidgets.QGroupBox(self.centralwidget)
+        self.groupBox_AnswerandBattery = QtWidgets.QGroupBox(self.widget)
         self.groupBox_AnswerandBattery.setObjectName("groupBox_AnswerandBattery")
         self.verticalLayout_5 = QtWidgets.QVBoxLayout(self.groupBox_AnswerandBattery)
         self.verticalLayout_5.setObjectName("verticalLayout_5")
@@ -171,7 +185,7 @@ class Ui_MainWindow(object):
         self.horizontalLayout_6.addLayout(self.verticalLayout_6)
         MainWindow.setCentralWidget(self.centralwidget)
         self.menubar = QtWidgets.QMenuBar(MainWindow)
-        self.menubar.setGeometry(QtCore.QRect(0, 0, 928, 22))
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 973, 22))
         self.menubar.setObjectName("menubar")
         self.menu_Quitter = QtWidgets.QMenu(self.menubar)
         self.menu_Quitter.setObjectName("menu_Quitter")
@@ -198,12 +212,12 @@ class Ui_MainWindow(object):
         self.pushButton_confirmArena.setText(_translate("MainWindow", "Co&nfirme arena border..."))
         self.checkBox_enableFPS.setText(_translate("MainWindow", "Enable &FPS"))
         self.checkBox_enablePosition.setText(_translate("MainWindow", "Enable Pos&ition"))
+        self.groupBox_activation.setTitle(_translate("MainWindow", "Robot Activation"))
         self.groupBox_connection.setTitle(_translate("MainWindow", "Connection"))
         self.label.setText(_translate("MainWindow", "Address:"))
         self.label_2.setText(_translate("MainWindow", "Port:"))
         self.label_3.setText(_translate("MainWindow", "Status:"))
         self.label_connectionStatus.setText(_translate("MainWindow", "Not connected"))
-        self.groupBox_activation.setTitle(_translate("MainWindow", "Robot Activation"))
         self.checkBox_watchdog.setText(_translate("MainWindow", "Start with &watchdog"))
         self.pushButton_start.setText(_translate("MainWindow", "Start r&obot"))
         self.groupBox_mouvments.setTitle(_translate("MainWindow", "Mouvments"))

software/monitor/monitor-python-qt/monitor-python.py

@@ -1,27 +1,34 @@
 #!/usr/bin/env python3
 
 from email.message import Message
+from email.policy import Policy
 import os
 
 import time
 import sys
+from tkinter import Image
 
-from PyQt5 import (QtCore, QtWidgets)
+from PyQt5 import (QtCore, QtWidgets, QtGui)
 
 from main_window import Ui_MainWindow
 from log_dialog import Ui_Dialog
 from network import *
 from globvar import GlobVar
 
+import base64
+
 class Window(QtWidgets.QMainWindow, Ui_MainWindow):
     _msg_dialog= None
     _batteryTimer=None
+    _FPSTimer=None
+    
+    fps=0
     
     def __init__(self, parent=None):
         super().__init__(parent)
         self.setupUi(self)
         
-        self.DisableUIWidgets("Network")
+        #self.DisableUIWidgets("Network")
         
         self.lineEdit_address.setText(GlobVar.address)
         self.lineEdit_port.setText(str(GlobVar.port))
@@ -30,6 +37,8 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
         self._msg_dialog.ui= Ui_Dialog()
         self._msg_dialog.ui.setupUi(self._msg_dialog)
         
+        self.fps=0
+        
         self.networkThread = Network()
         
         self.connectSignalSlots()
@@ -41,6 +50,10 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
         self._batteryTimer = QtCore.QTimer()
         self._batteryTimer.timeout.connect(self.OnBatteryTimeout)
         
+        # Create fps timer
+        self._FPSTimer = QtCore.QTimer()
+        self._FPSTimer.timeout.connect(self.OnFPSTimeout)
+        
     def connectSignalSlots(self):
         # Buttons
         self.pushButton_start.pressed.connect(self.OnButtonPress_Start)
@@ -78,7 +91,7 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
     def EnableUIWidgets(self, area):
         if area == "Network":
             self.groupBox_activation.setDisabled(False)
-            self.graphicsView_Image.setDisabled(False)
+            self.label_Image.setDisabled(False)
             self.pushButton_confirmArena.setDisabled(False)
             self.checkBox_enableCamera.setDisabled(False)
             self.checkBox_enableFPS.setDisabled(False)
@@ -90,7 +103,7 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
     def DisableUIWidgets(self, area):
         if area == "Network":
             self.groupBox_activation.setDisabled(True)
-            self.graphicsView_Image.setDisabled(True)
+            self.label_Image.setDisabled(True)
             self.pushButton_confirmArena.setDisabled(True)
             self.checkBox_enableCamera.setDisabled(True)
             self.checkBox_enableFPS.setDisabled(True)
@@ -131,16 +144,19 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
                 msg.warning(self,'Invalid answer', 'Server answer was not acknowledged. Maybe robot is still running', msg.Ok)
             
             self.pushButton_start.setText("Start r&obot")
-            self.DisableUIWidgets("Robot")
+            #self.DisableUIWidgets("Robot")
             
     @QtCore.pyqtSlot() 
     def OnButtonPress_ConfirmArena(self):
+        self.networkThread.cameraAskArena()
         msg= QtWidgets.QMessageBox
         ret = msg.question(self, '', 'Arena boundaries are correctly detected ?',msg.Yes| msg.No)
         
         if ret == msg.Yes:
+            self.networkThread.cameraConfirmArena()
             print ("Answer is YES")
         else:
+            self.networkThread.cameraInfirmArena()
             print ("Answer is NO")
         
     @QtCore.pyqtSlot() 
@@ -165,21 +181,26 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
       
     @QtCore.pyqtSlot(int)  
     def OnCheckBoxChanged_EnableCamera(self, state):
-        msg= QtWidgets.QMessageBox
+        if self.checkBox_enableCamera.isChecked():
-        msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok)
+            self.networkThread.cameraOpen()
-        self.checkBox_enableCamera.setChecked(False)
+        else:
+            self.networkThread.cameraClose()
         
     @QtCore.pyqtSlot(int) 
     def OnCheckBoxChanged_EnableFPS(self, state):
-        msg= QtWidgets.QMessageBox
+        if state !=0:
-        msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok)
+            self._FPSTimer.start(1000)
-        self.checkBox_enableFPS.setChecked(False)
+            self.checkBox_enableFPS.setText("FPS (0)")
+        else:
+            self._FPSTimer.stop()
+            self.checkBox_enableFPS.setText("Enable FPS")
         
     @QtCore.pyqtSlot(int) 
     def OnCheckBoxChanged_EnablePosition(self, state):
-        msg= QtWidgets.QMessageBox
+        if self.checkBox_enablePosition.isChecked():
-        msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok)
+            self.networkThread.cameraGetPosition()
-        self.checkBox_enablePosition.setChecked(False)
+        else:
+            self.networkThread.cameraStopPosition()
         
     @QtCore.pyqtSlot(int) 
     def OnCheckBoxChanged_GetBattery(self, state):
@@ -229,6 +250,24 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
                 self.checkBox_getBattery.setText ("Get battery (2 = full)")
             else:
                 self.checkBox_getBattery.setText ("Get battery (invalid value)")
+        elif Network.CAMERA_IMAGE in s:
+            #print ("Image received")
+            #print ("Date received: " + s)
+            
+            self.fps=self.fps+1
+            str_split = s.split(':')
+            image_jpg= base64.b64decode(str_split[1])
+            img = QtGui.QImage.fromData(image_jpg, "jpg")
+            im_pixmap = QtGui.QPixmap(QtGui.QPixmap.fromImage(img))
+            
+            #print ("Image size: " + str(im_pixmap.width()) + "x" + str(im_pixmap.height()))
+            
+            self.label_Image.setPixmap(im_pixmap)
+            self.label_Image.setScaledContents(True)
+            self.label_Image.setSizePolicy(QtWidgets.QSizePolicy.Ignored,QtWidgets.QSizePolicy.Ignored)
+        elif Network.CAMERA_POSITION in s:
+            print ("position received")
+            print (s)
               
     # Callback for battery timeout
     @QtCore.pyqtSlot() 
@@ -236,6 +275,13 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
         # Send a request for battery level. Answer will be done in OnReceptionEvent callback
         self.networkThread.robotGetBattery()
     
+    # Callback for FPS timeout
+    @QtCore.pyqtSlot() 
+    def OnFPSTimeout(self) -> None:
+        # Display current FPS
+        self.checkBox_enableFPS.setText("FPS (" + str(self.fps)+")")
+        self.fps=0
+        
     # Callback for connection/deconnection event from network manager
     @QtCore.pyqtSlot(int) 
     def OnConnectionEvent(self, event) -> None:       
@@ -251,7 +297,7 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
             
             self.label_connectionStatus.setText("Not connected")
             self.pushButton_start.setText("Start r&obot")
-            self.DisableUIWidgets("Network")
+            #self.DisableUIWidgets("Network")
             
     # Callback for answer event from network manager
     @QtCore.pyqtSlot(int) 

software/monitor/monitor-python-qt/network.py

@@ -116,8 +116,8 @@ class Network(QtCore.QThread):
     
     # Private method for connecting to server     
     def __connect(self) -> None:
-        #self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        #self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
 
         try:
             self.sock.connect((GlobVar.address, GlobVar.port))
@@ -126,7 +126,7 @@ class Network(QtCore.QThread):
     
         # In UDP, no way to know if server is running (connect is always successfull). 
         # So, send a single line feed to ping the server
-        self.sock.send(str.encode("\n"))
+        #self.sock.send(str.encode("\n"))
         self.waitForAnswer=False    
         
     # Private method for receiving data from server. 
@@ -147,6 +147,11 @@ class Network(QtCore.QThread):
                 bytes_recd = bytes_recd + len(chunk)
                 last_char=chunk[-1]
             
+            #print ("")
+            #print ("Data: ")
+            #print (b''.join(chunks))
+            #print ("")
+            
             self.__receiveHandler(b''.join(chunks).decode("utf-8"))
             chunks = []
             bytes_recd =0
@@ -315,6 +320,46 @@ class Network(QtCore.QThread):
     def robotGetBattery(self) -> None:
         ans = self.__sendCommand(self.ROBOT_GET_BATTERY,False)
         
+    # Send OpenCamera command to server
+    def cameraOpen(self) -> int:
+        ans = self.__sendCommand(self.CAMERA_OPEN, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send CloseCamera command to server
+    def cameraClose(self) -> int:
+        ans = self.__sendCommand(self.CAMERA_CLOSE, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send GetPosition command to server
+    def cameraGetPosition(self) -> int:
+        ans = self.__sendCommand(self.CAMERA_POSITION_COMPUTE, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send StopPosition command to server
+    def cameraStopPosition(self) -> int:
+        ans = self.__sendCommand(self.CAMERA_POSITION_STOP, True)
+        decodedAns = self.__decodeAnswer(ans)
+        self.answerEvent.emit(decodedAns)
+        return decodedAns
+    
+    # Send AskArena command to server
+    def cameraAskArena(self) -> None:
+        ans = self.__sendCommand(self.CAMERA_ARENA_ASK,False)
+
+    # Send ConfirmArena command to server
+    def cameraConfirmArena(self) -> None:
+        ans = self.__sendCommand(self.CAMERA_ARENA_CONFIRM,False)
+        
+    # Send InfirmArena command to server
+    def cameraInfirmArena(self) -> None:
+        ans = self.__sendCommand(self.CAMERA_ARENA_INFIRM,False)
+    
 # Function for decoding battery level
 def batterylevelToStr(batlvl: int) -> str:
     switcher = {

software/monitor/monitor-python-qt/ui/main_window.ui

@@ -6,14 +6,29 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>928</width>
+    <width>973</width>
-    <height>629</height>
+    <height>635</height>
    </rect>
   </property>
+  <property name="minimumSize">
+   <size>
+    <width>973</width>
+    <height>635</height>
+   </size>
+  </property>
   <property name="windowTitle">
    <string>Robot Monitor</string>
   </property>
   <widget class="QWidget" name="centralwidget">
+   <widget class="QWidget" name="">
+    <property name="geometry">
+     <rect>
+      <x>14</x>
+      <y>13</y>
+      <width>947</width>
+      <height>574</height>
+     </rect>
+    </property>
     <layout class="QHBoxLayout" name="horizontalLayout_6">
      <item>
       <layout class="QVBoxLayout" name="verticalLayout_4">
@@ -25,7 +40,32 @@
         </widget>
        </item>
        <item>
-       <widget class="QGraphicsView" name="graphicsView_Image"/>
+        <widget class="QLabel" name="label_Image">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>640</width>
+           <height>480</height>
+          </size>
+         </property>
+         <property name="sizeIncrement">
+          <size>
+           <width>1</width>
+           <height>1</height>
+          </size>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::Box</enum>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
        </item>
        <item>
         <widget class="QPushButton" name="pushButton_confirmArena">
@@ -56,6 +96,15 @@
      </item>
      <item>
       <layout class="QVBoxLayout" name="verticalLayout_6">
+       <item>
+        <widget class="QGroupBox" name="groupBox_activation">
+         <property name="title">
+          <string>Robot Activation</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_2">
           <item>
            <widget class="QGroupBox" name="groupBox_connection">
             <property name="title">
@@ -165,15 +214,6 @@
             </layout>
            </widget>
           </item>
-      <item>
-       <widget class="QGroupBox" name="groupBox_activation">
-        <property name="title">
-         <string>Robot Activation</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
-        <layout class="QVBoxLayout" name="verticalLayout_2">
           <item>
            <widget class="QCheckBox" name="checkBox_watchdog">
             <property name="text">
@@ -307,12 +347,13 @@
      </item>
     </layout>
    </widget>
+  </widget>
   <widget class="QMenuBar" name="menubar">
    <property name="geometry">
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>928</width>
+     <width>973</width>
      <height>22</height>
     </rect>
    </property>

software/raspberry/superviseur-robot-dumber-pthread/.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/raspberry/superviseur-robot-dumber-pthread/.gitignore

@@ -0,0 +1,17 @@
+build/
+src.sav/
+cmake-build-debug/
+futur/
+CMakeFiles/
+
+*.cmake
+CMakeCache.txt
+
+docs/
+doc/
+
+workspace/
+dist/
+not_for_students/
+
+

software/raspberry/superviseur-robot-dumber-pthread/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/raspberry/superviseur-robot-dumber-pthread/README.md

@@ -0,0 +1 @@
+# TP-RT_C

software/raspberry/superviseur-robot-dumber-pthread/gdbsudo.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+pkexec /usr/bin/gdb $*

software/raspberry/superviseur-robot-dumber-pthread/lib/.gitignore

@@ -0,0 +1,6 @@
+CMakeFiles/
+
+libdestjil.a
+Makefile
+*.cmake
+

software/raspberry/superviseur-robot-dumber-pthread/lib/base64/.gitignore

@@ -0,0 +1,2 @@
+*.swp
+test-base64

software/raspberry/superviseur-robot-dumber-pthread/lib/base64/LICENSE

@@ -0,0 +1,19 @@
+Copyright © 2004-2017 by René Nyffenegger
+
+This source code is provided 'as-is', without any express or implied
+warranty. In no event will the author be held liable for any damages
+arising from the use of this software.
+                                                                              
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+                                                                              
+1. The origin of this source code must not be misrepresented; you must not
+   claim that you wrote the original source code. If you use this source code
+   in a product, an acknowledgment in the product documentation would be
+   appreciated but is not required.
+                                                                              
+2. Altered source versions must be plainly marked as such, and must not be
+   misrepresented as being the original source code.
+                                                                              
+3. This notice may not be removed or altered from any source distribution.

software/raspberry/superviseur-robot-dumber-pthread/lib/base64/README.md

@@ -0,0 +1,7 @@
+# base64 (C++)
+
+Base64 encoding and decoding with c++
+
+## See also
+
+https://renenyffenegger.ch/notes/development/Base64/Encoding-and-decoding-base-64-with-cpp

software/raspberry/superviseur-robot-dumber-pthread/lib/base64/base64.cpp

@@ -0,0 +1,122 @@
+/* 
+   base64.cpp and base64.h
+
+   base64 encoding and decoding with C++.
+
+   Version: 1.01.00
+
+   Copyright (C) 2004-2017 René Nyffenegger
+
+   This source code is provided 'as-is', without any express or implied
+   warranty. In no event will the author be held liable for any damages
+   arising from the use of this software.
+
+   Permission is granted to anyone to use this software for any purpose,
+   including commercial applications, and to alter it and redistribute it
+   freely, subject to the following restrictions:
+
+   1. The origin of this source code must not be misrepresented; you must not
+      claim that you wrote the original source code. If you use this source code
+      in a product, an acknowledgment in the product documentation would be
+      appreciated but is not required.
+
+   2. Altered source versions must be plainly marked as such, and must not be
+      misrepresented as being the original source code.
+
+   3. This notice may not be removed or altered from any source distribution.
+
+   René Nyffenegger rene.nyffenegger@adp-gmbh.ch
+
+*/
+
+#include "base64.h"
+#include <iostream>
+
+static const std::string base64_chars = 
+             "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+             "abcdefghijklmnopqrstuvwxyz"
+             "0123456789+/";
+
+
+static inline bool is_base64(unsigned char c) {
+  return (isalnum(c) || (c == '+') || (c == '/'));
+}
+
+std::string base64_encode(unsigned char const* bytes_to_encode, unsigned int in_len) {
+  std::string ret;
+  int i = 0;
+  int j = 0;
+  unsigned char char_array_3[3];
+  unsigned char char_array_4[4];
+
+  while (in_len--) {
+    char_array_3[i++] = *(bytes_to_encode++);
+    if (i == 3) {
+      char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
+      char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
+      char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
+      char_array_4[3] = char_array_3[2] & 0x3f;
+
+      for(i = 0; (i <4) ; i++)
+        ret += base64_chars[char_array_4[i]];
+      i = 0;
+    }
+  }
+
+  if (i)
+  {
+    for(j = i; j < 3; j++)
+      char_array_3[j] = '\0';
+
+    char_array_4[0] = ( char_array_3[0] & 0xfc) >> 2;
+    char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
+    char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
+
+    for (j = 0; (j < i + 1); j++)
+      ret += base64_chars[char_array_4[j]];
+
+    while((i++ < 3))
+      ret += '=';
+
+  }
+
+  return ret;
+
+}
+
+std::string base64_decode(std::string const& encoded_string) {
+  int in_len = encoded_string.size();
+  int i = 0;
+  int j = 0;
+  int in_ = 0;
+  unsigned char char_array_4[4], char_array_3[3];
+  std::string ret;
+
+  while (in_len-- && ( encoded_string[in_] != '=') && is_base64(encoded_string[in_])) {
+    char_array_4[i++] = encoded_string[in_]; in_++;
+    if (i ==4) {
+      for (i = 0; i <4; i++)
+        char_array_4[i] = base64_chars.find(char_array_4[i]);
+
+      char_array_3[0] = ( char_array_4[0] << 2       ) + ((char_array_4[1] & 0x30) >> 4);
+      char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
+      char_array_3[2] = ((char_array_4[2] & 0x3) << 6) +   char_array_4[3];
+
+      for (i = 0; (i < 3); i++)
+        ret += char_array_3[i];
+      i = 0;
+    }
+  }
+
+  if (i) {
+    for (j = 0; j < i; j++)
+      char_array_4[j] = base64_chars.find(char_array_4[j]);
+
+    char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
+    char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
+
+    for (j = 0; (j < i - 1); j++) ret += char_array_3[j];
+  }
+
+  return ret;
+}

software/raspberry/superviseur-robot-dumber-pthread/lib/base64/base64.h

@@ -0,0 +1,14 @@
+//
+//  base64 encoding and decoding with C++.
+//  Version: 1.01.00
+//
+
+#ifndef BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A
+#define BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A
+
+#include <string>
+
+std::string base64_encode(unsigned char const* , unsigned int len);
+std::string base64_decode(std::string const& s);
+
+#endif /* BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A */

software/raspberry/superviseur-robot-dumber-pthread/lib/base64/compile-and-run-test

@@ -0,0 +1,2 @@
+g++ test.cpp base64.cpp -o test-base64
+./test-base64

software/raspberry/superviseur-robot-dumber-pthread/lib/base64/test.cpp

@@ -0,0 +1,56 @@
+#include "base64.h"
+#include <iostream>
+
+int main() {
+  const std::string s = 
+    "René Nyffenegger\n"
+    "http://www.renenyffenegger.ch\n"
+    "passion for data\n";
+
+  std::string encoded = base64_encode(reinterpret_cast<const unsigned char*>(s.c_str()), s.length());
+  std::string decoded = base64_decode(encoded);
+
+  std::cout << "encoded: " << std::endl << encoded << std::endl << std::endl;
+  std::cout << "decoded: " << std::endl << decoded << std::endl;
+
+
+  // Test all possibilites of fill bytes (none, one =, two ==)
+  // References calculated with: https://www.base64encode.org/
+
+  std::string rest0_original = "abc";
+  std::string rest0_reference = "YWJj";
+
+  std::string rest0_encoded = base64_encode(reinterpret_cast<const unsigned char*>(rest0_original.c_str()),
+    rest0_original.length());
+  std::string rest0_decoded = base64_decode(rest0_encoded);
+
+  std::cout << "encoded:   " << rest0_encoded << std::endl;
+  std::cout << "reference: " << rest0_reference << std::endl;
+  std::cout << "decoded:   " << rest0_decoded << std::endl << std::endl;
+
+
+  std::string rest1_original = "abcd";
+  std::string rest1_reference = "YWJjZA==";
+
+  std::string rest1_encoded = base64_encode(reinterpret_cast<const unsigned char*>(rest1_original.c_str()),
+    rest1_original.length());
+  std::string rest1_decoded = base64_decode(rest1_encoded);
+
+  std::cout << "encoded:   " << rest1_encoded << std::endl;
+  std::cout << "reference: " << rest1_reference << std::endl;
+  std::cout << "decoded:   " << rest1_decoded << std::endl << std::endl;
+
+
+  std::string rest2_original = "abcde";
+  std::string rest2_reference = "YWJjZGU=";
+
+  std::string rest2_encoded = base64_encode(reinterpret_cast<const unsigned char*>(rest2_original.c_str()),
+    rest2_original.length());
+  std::string rest2_decoded = base64_decode(rest2_encoded);
+
+  std::cout << "encoded:   " << rest2_encoded << std::endl;
+  std::cout << "reference: " << rest2_reference << std::endl;
+  std::cout << "decoded:   " << rest2_decoded << std::endl << std::endl;
+
+  return 0;
+}

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

@@ -0,0 +1,159 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "camera.h"
+#include "img.h"
+#include <unistd.h>
+
+using namespace cv;
+
+/**
+ * Create an object for accessing camera
+ * @param size Size of picture to grab (@see captureSize)
+ * @param fps speed of sampling
+ */
+Camera::Camera(int size, int fps) {
+    this->SetSize(size);
+    this->fps = fps;
+#ifndef __FOR_PC__
+    this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3);
+    this->cap.set(CV_CAP_PROP_FRAME_WIDTH, width);
+    this->cap.set(CV_CAP_PROP_FRAME_HEIGHT, height);
+    this->cap.set(CV_CAP_PROP_FPS, fps);
+#endif /* __FOR_PC__ */
+}
+
+/**
+ * Open camera
+ * @return True if camera is open, false otherwise
+ */
+bool Camera::Open() {
+    bool status = false;
+
+#ifdef __FOR_PC__
+    if (this->cap.open(0)) {
+        //this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3);
+        this->cap.set(CV_CAP_PROP_FRAME_WIDTH, width);
+        this->cap.set(CV_CAP_PROP_FRAME_HEIGHT, height);
+
+        status = true;
+    }
+#else
+    if (this->cap.open()) {
+        cout << "Camera warmup 2sec" << endl << flush;
+        sleep(2);
+        cout << "Start capture" << endl << flush;
+
+        status = true;
+    }
+#endif /* __FOR_PC__ */
+
+    return status;
+}
+
+/**
+ * Close and release camera
+ */
+void Camera::Close() {
+    this->cap.release();
+}
+
+/**
+ * Define size for sampled picture
+ * @param size Size of picture (@see captureSize)
+ */
+void Camera::SetSize(int size) {
+    this->size = size;
+
+    switch (size) {
+        case xs:
+            this->width = 320;
+            this->height = 240;
+            break;
+        case sm:
+            this->width = 640;
+            this->height = 480;
+            break;
+        case md:
+            this->width = 800;
+            this->height = 600;
+            break;
+        case lg:
+            this->width = 1024;
+            this->height = 768;
+            break;
+        default:
+            this->width = 480;
+            this->height = 360;
+    }
+}
+
+/**
+ * Grab next image from camera
+ * @return Image taken from camera
+ */
+Img Camera::Grab() {
+    ImageMat frame;
+
+#ifdef __FOR_PC__
+    cap >> frame;
+    Img capture = Img(frame);
+#else
+    cap.grab();
+    cap.retrieve(frame);
+
+#ifdef __INVERSE_COLOR__
+    cvtColor(frame, frame, CV_BGR2RGB);
+#endif // __INVERSE_COLOR__
+
+    Img capture = Img(frame);
+#endif /* __FOR_PC__ */
+
+    return capture;
+}
+
+/**
+ * Get opening status for camera
+ * @return true if camera is open, false otherwise
+ */
+bool Camera::IsOpen() {
+    return cap.isOpened();
+}
+
+/**
+ * Get width of sampled image
+ * @return Width of sampled picture
+ */
+int Camera::GetWidth() const {
+    return width;
+}
+
+/**
+ * Get height of sampled image
+ * @return height of sampled picture
+ */
+int Camera::GetHeight() const {
+    return height;
+}
+
+/**
+ * Get fps of sampled image
+ * @return fps of sampled picture
+ */
+int Camera::GetFPS() const {
+    return fps;
+}

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

@@ -0,0 +1,127 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __CAMERA_H__
+#define __CAMERA_H__
+
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/videoio/legacy/constants_c.h>
+
+#ifndef __FOR_PC__
+#include "raspicam/raspicam_cv.h"
+#endif /* __FOR_PC__ */
+#include "img.h"
+
+/**
+ * Enumerate for picture size
+ */
+enum captureSize {xs, sm, md, lg};
+
+/**
+ * Class for camera (image grab)
+ * 
+ * @brief Class for camera (image grab)
+ */
+class Camera {
+public:
+    /**
+     * Create an object for accessing camera
+     * @param size Size of picture to grab (@see captureSize)
+     * @param fps speed of sampling
+     */
+    Camera(int size, int fps);
+
+    /**
+     * Open camera
+     * @return True if camera is open, false otherwise
+     */
+    bool Open();
+    
+    /**
+     * Close and release camera
+     */
+    void Close();
+    
+    /**
+     * Get width of sampled image
+     * @return Width of sampled picture
+     */
+    int GetWidth() const;
+    
+    /**
+     * Get height of sampled image
+     * @return height of sampled picture
+     */
+    int GetHeight() const;
+    
+    /**
+     * Get fps of sampled image
+     * @return fps of sampled picture
+     */
+    int GetFPS() const;
+
+    /**
+     * Get opening status for camera
+     * @return true if camera is open, false otherwise
+     */
+    bool IsOpen();
+    
+    /**
+     * Define size for sampled picture
+     * @param size Size of picture (@see captureSize)
+     */
+    void SetSize(int size);
+
+    /**
+     * Grab next image from camera
+     * @return Image taken from camera
+     */
+    Img Grab();
+    
+private:
+#ifdef __FOR_PC__
+    /**
+     * Camera descriptor
+     */
+    cv::VideoCapture cap;
+#else
+    raspicam::RaspiCam_Cv cap;
+#endif /*  __FOR_PC__ */   
+   
+    /**
+     * Size for image (default= small)
+     */
+    int size = sm;
+    
+    /**
+     * Width of image
+     */
+    int width;
+    
+    /**
+     * Height of image
+     */
+    int height;
+    
+    /**
+     * fps of image
+     */
+    int fps;
+};
+
+#endif //__CAMERA_H__

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

@@ -0,0 +1,351 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "commonitor.h"
+#include <iostream>
+#include <sys/socket.h>
+
+#include <netdb.h>
+#include <unistd.h>
+#include <arpa/inet.h>
+#include <netinet/in.h>
+
+#include <algorithm>
+#include <stdexcept>
+#include <string>
+
+#include "base64/base64.h"
+
+/*
+ * @brief Constants used for sending commands to monitor
+ */
+const string LABEL_MONITOR_ANSWER_ACK = "AACK";
+const string LABEL_MONITOR_ANSWER_NACK = "ANAK";
+const string LABEL_MONITOR_ANSWER_COM_ERROR = "ACER";
+const string LABEL_MONITOR_ANSWER_TIMEOUT = "ATIM";
+const string LABEL_MONITOR_ANSWER_CMD_REJECTED = "ACRJ";
+const string LABEL_MONITOR_MESSAGE = "MSSG";
+const string LABEL_MONITOR_CAMERA_OPEN = "COPN";
+const string LABEL_MONITOR_CAMERA_CLOSE = "CCLS";
+const string LABEL_MONITOR_CAMERA_IMAGE = "CIMG";
+const string LABEL_MONITOR_CAMERA_ARENA_ASK = "CASA";
+const string LABEL_MONITOR_CAMERA_ARENA_INFIRM = "CAIN";
+const string LABEL_MONITOR_CAMERA_ARENA_CONFIRM = "CACO";
+const string LABEL_MONITOR_CAMERA_POSITION_COMPUTE = "CPCO";
+const string LABEL_MONITOR_CAMERA_POSITION_STOP = "CPST";
+const string LABEL_MONITOR_CAMERA_POSITION = "CPOS";
+const string LABEL_MONITOR_ROBOT_COM_OPEN = "ROPN";
+const string LABEL_MONITOR_ROBOT_COM_CLOSE = "RCLS";
+const string LABEL_MONITOR_ROBOT_PING = "RPIN";
+const string LABEL_MONITOR_ROBOT_RESET = "RRST";
+const string LABEL_MONITOR_ROBOT_START_WITHOUT_WD = "RSOW";
+const string LABEL_MONITOR_ROBOT_START_WITH_WD = "RSWW";
+const string LABEL_MONITOR_ROBOT_RELOAD_WD = "RLDW";
+const string LABEL_MONITOR_ROBOT_MOVE = "RMOV";
+const string LABEL_MONITOR_ROBOT_TURN = "RTRN";
+const string LABEL_MONITOR_ROBOT_GO_FORWARD = "RGFW";
+const string LABEL_MONITOR_ROBOT_GO_BACKWARD = "RGBW";
+const string LABEL_MONITOR_ROBOT_GO_LEFT = "RGLF";
+const string LABEL_MONITOR_ROBOT_GO_RIGHT = "RGRI";
+const string LABEL_MONITOR_ROBOT_STOP = "RSTP";
+const string LABEL_MONITOR_ROBOT_POWEROFF = "RPOF";
+const string LABEL_MONITOR_ROBOT_BATTERY_LEVEL = "RBLV";
+const string LABEL_MONITOR_ROBOT_GET_BATTERY = "RGBT";
+const string LABEL_MONITOR_ROBOT_GET_STATE = "RGST";
+const string LABEL_MONITOR_ROBOT_CURRENT_STATE = "RCST";
+
+const string LABEL_SEPARATOR_CHAR = ":";
+
+/**
+ * Create a server and open a socket over TCP
+ * 
+ * @param port Port used for communication
+ * @return Socket number
+ * @throw std::runtime_error if it fails
+ */
+int ComMonitor::Open(int port) {
+    struct sockaddr_in server;
+
+    socketFD = socket(AF_INET, SOCK_STREAM, 0);
+    if (socketFD < 0) {
+        throw std::runtime_error{"Can not create socket"};
+    }
+
+    int enable = 1;
+    if (setsockopt(socketFD, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(int)) < 0) {
+        cerr<<"setsockopt(SO_REUSEADDR) failed"<<endl<<flush;
+    }
+    
+    bzero((char *) &server, sizeof(server));
+    server.sin_addr.s_addr = INADDR_ANY;
+    server.sin_family = AF_INET;
+    server.sin_port = htons(port);
+
+    if (bind(socketFD, (struct sockaddr *) &server, sizeof (server)) < 0) {
+        cerr<<"["<<__PRETTY_FUNCTION__<<"] Can not bind socket ("<<to_string(port)<<")"<<endl<<flush;
+        throw std::runtime_error{"Can not bind socket"};
+    }
+
+    listen(socketFD, 1);
+
+    return socketFD;
+}
+
+/**
+ * Close socket and server
+ */
+void ComMonitor::Close() {
+    close(socketFD);
+
+    socketFD = -1;
+}
+
+/**
+ * Wait for a client to connect
+ * @return Client number 
+ * @throw std::runtime_error if it fails
+ */
+int ComMonitor::AcceptClient() {
+    struct sockaddr_in client;
+    int c = sizeof (struct sockaddr_in);
+
+    clientID = accept(socketFD, (struct sockaddr *) &client, (socklen_t*) & c);
+
+    if (clientID < 0)
+        throw std::runtime_error {"Accept failed"};
+
+    return clientID;
+}
+
+/**
+ * Send a message to monitor
+ * 
+ * @param msg Message to send to monitor
+ * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that.
+ * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously  
+ */
+void ComMonitor::Write(Message *msg) {
+    string str;
+    
+    // Call user method before Write
+    Write_Pre();
+
+    /* Convert message to string to send to monitor */
+    str = MessageToString(msg);
+
+    //cout << "Message sent to monitor: " << str->c_str() << endl;
+    write(clientID, str.c_str(), str.length());
+
+    if (!msg->CompareID(MESSAGE_CAM_IMAGE)) {
+        delete(msg);
+    }
+   
+    // Call user method after write
+    Write_Post();
+}
+
+/**
+ * Receive a message from monitor
+ * 
+ * @return Message received from monitor
+ * @attention Message provided is produced by the method. You must delete it when you are done using it
+ * @warning Read is not thread safe : check that multiple tasks can't access this method simultaneously  
+ */
+Message *ComMonitor::Read() {
+    char length = 0;
+    string s;
+    char data;
+    bool endReception = false;
+    Message *msg;
+
+    // Call user method before read
+    Read_Pre();
+
+    if (clientID > 0) {
+        while (!endReception) {
+            if ((length = recv(clientID, (void*) &data, 1, MSG_WAITALL)) > 0) {
+                if (data != '\n') {
+                    s += data;
+                } else endReception = true;
+            }
+        }
+
+        if (length <= 0) msg = new Message(MESSAGE_MONITOR_LOST);
+        else {
+            msg = StringToMessage(s);
+        }
+    }
+
+    // Call user method after read
+    Read_Post();
+
+    return msg;
+}
+
+/**
+ * Method used internally to convert a message content to a string that can be sent over TCP
+ * @param msg Message to be converted
+ * @return A string, image of the message
+ */
+string ComMonitor::MessageToString(Message *msg) {
+    int id;
+    string str;
+    //Message *localMsg = msg;
+    Position pos;
+
+    Img *image;
+    Jpg jpeg ;
+    string s;
+                    
+    id = msg->GetID();
+
+    switch (id) {
+        case MESSAGE_ANSWER_ACK :
+            str.append(LABEL_MONITOR_ANSWER_ACK);
+            break;
+        case MESSAGE_ANSWER_NACK:
+            str.append(LABEL_MONITOR_ANSWER_NACK);
+            break;
+        case MESSAGE_ANSWER_ROBOT_TIMEOUT:
+            str.append(LABEL_MONITOR_ANSWER_TIMEOUT);
+            break;
+        case MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND:
+            str.append(LABEL_MONITOR_ANSWER_CMD_REJECTED);
+            break;
+        case MESSAGE_ANSWER_ROBOT_ERROR:
+            str.append(LABEL_MONITOR_ANSWER_CMD_REJECTED);
+            break;
+        case MESSAGE_ANSWER_COM_ERROR:
+            str.append(LABEL_MONITOR_ANSWER_COM_ERROR);
+            break;
+        case MESSAGE_CAM_POSITION:
+            pos = ((MessagePosition*) msg)->GetPosition();
+
+            str.append(LABEL_MONITOR_CAMERA_POSITION + LABEL_SEPARATOR_CHAR + to_string(pos.robotId) + ";" +
+                    to_string(pos.angle) + ";" + to_string(pos.center.x) + ";" + to_string(pos.center.y) + ";" +
+                    to_string(pos.direction.x) + ";" + to_string(pos.direction.y));
+            break;
+        case MESSAGE_CAM_IMAGE:
+            image=((MessageImg*) msg)->GetImage();
+            jpeg = image->ToJpg();
+            
+            //cout << "Jpeg size: " << to_string(jpeg.size())<<endl<<flush;
+            
+            s = base64_encode(jpeg.data(), jpeg.size());
+            str.append(LABEL_MONITOR_CAMERA_IMAGE + LABEL_SEPARATOR_CHAR + s);
+            break;
+        case MESSAGE_ROBOT_BATTERY_LEVEL:
+            str.append(LABEL_MONITOR_ROBOT_BATTERY_LEVEL + LABEL_SEPARATOR_CHAR + to_string(((MessageBattery*) msg)->GetLevel()));
+            break;
+        case MESSAGE_ROBOT_STATE_BUSY:
+            str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "1");
+            break;
+        case MESSAGE_ROBOT_STATE_NOT_BUSY:
+            str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "0");
+            break;
+        case MESSAGE_LOG:
+            str.append(LABEL_MONITOR_MESSAGE + LABEL_SEPARATOR_CHAR + ((MessageString*) msg)->GetString());
+            break;
+        case MESSAGE_EMPTY:
+            str.append(""); //empty string
+            break;
+        default:
+            cerr<<"["<<__PRETTY_FUNCTION__<<"] (from ComMonitor::Write): Invalid message to send ("<<msg->ToString()<<")"<<endl<<flush;
+            throw std::runtime_error {"Invalid message to send"};
+    }
+
+    str.append("\n");
+
+    return str;
+}
+
+/**
+ * Method used internally to convert a string received over TCP to a message 
+ * @param s String containing message
+ * @return A message, image of the string
+ */
+Message *ComMonitor::StringToMessage(string &s) {
+    Message *msg;
+    size_t pos;
+    string org = s;
+    string tokenCmd;
+    string tokenData;
+
+    /* Separate command from data if string contains a ':' */
+    if ((pos = org.find(LABEL_SEPARATOR_CHAR)) != string::npos) {
+        tokenCmd = org.substr(0, pos);
+        org.erase(0, pos + 1);
+        tokenData = org;
+    } else tokenCmd = org;
+
+    /* Convert command to message */
+    if (tokenCmd.find(LABEL_MONITOR_ROBOT_MOVE) != string::npos) {
+        msg = new MessageInt(MESSAGE_ROBOT_MOVE, stoi(tokenData));
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_TURN) != string::npos) {
+        msg = new MessageInt(MESSAGE_ROBOT_TURN, stoi(tokenData));
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_START_WITHOUT_WD) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_START_WITHOUT_WD);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_START_WITH_WD) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_START_WITH_WD);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_RELOAD_WD) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_RELOAD_WD);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_PING) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_PING);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_RESET) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_RESET);
+    } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_ASK) != string::npos) {
+        msg = new Message(MESSAGE_CAM_ASK_ARENA);
+    } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_CONFIRM) != string::npos) {
+        msg = new Message(MESSAGE_CAM_ARENA_CONFIRM);
+    } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_INFIRM) != string::npos) {
+        msg = new Message(MESSAGE_CAM_ARENA_INFIRM);
+    } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_CLOSE) != string::npos) {
+        msg = new Message(MESSAGE_CAM_CLOSE);
+    } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_OPEN) != string::npos) {
+        msg = new Message(MESSAGE_CAM_OPEN);
+    } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_POSITION_COMPUTE) != string::npos) {
+        msg = new Message(MESSAGE_CAM_POSITION_COMPUTE_START);
+    } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_POSITION_STOP) != string::npos) {
+        msg = new Message(MESSAGE_CAM_POSITION_COMPUTE_STOP);
+    } else if (tokenCmd.find(LABEL_MONITOR_MESSAGE) != string::npos) {
+        msg = new MessageString(MESSAGE_LOG, tokenData);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_COM_CLOSE) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_COM_CLOSE);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_COM_OPEN) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_COM_OPEN);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GET_BATTERY) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_BATTERY_GET);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GET_STATE) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_STATE_GET);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_FORWARD) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_GO_FORWARD);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_BACKWARD) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_GO_BACKWARD);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_LEFT) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_GO_LEFT);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_RIGHT) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_GO_RIGHT);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_STOP) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_STOP);
+    } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_POWEROFF) != string::npos) {
+        msg = new Message(MESSAGE_ROBOT_POWEROFF);
+    } else {
+        msg = new Message(MESSAGE_EMPTY);
+    }
+
+    return msg;
+}

software/raspberry/superviseur-robot-dumber-pthread/lib/commonitor.h

@@ -0,0 +1,134 @@
+ /*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __COMMONITOR_H__
+#define __COMMONITOR_H__
+
+#include "messages.h"
+#include <string>
+
+using namespace std;
+     
+#define SERVER_PORT 5544
+
+/**
+ * Class used for generating a server and communicating through it with monitor
+ * 
+ * @brief Communication class with monitor (server)
+ * 
+ */
+class ComMonitor {
+public:
+    /**
+     * Constructor
+     */
+    ComMonitor() {}
+    
+    /**
+     * Destructor
+     */
+    virtual ~ComMonitor() {}
+    
+    /**
+     * Create a server and open a socket over TCP
+     * 
+     * @param port Port used for communication
+     * @return Socket number
+     * @throw std::runtime_error if it fails
+     */
+    int Open(int port);
+    
+    /**
+     * Close socket and server
+     */
+    void Close();
+    
+    /**
+     * Wait for a client to connect
+     * @return Client number 
+     * @throw std::runtime_error if it fails
+     */
+    int AcceptClient();
+    
+    /**
+     * Send a message to monitor
+     * 
+     * @param msg Message to send to monitor
+     * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that.
+     * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously  
+     */
+    void Write(Message *msg);
+    
+    /**
+     * Function called at beginning of Write method
+     * Use it to do some synchronization (call of mutex, for example)
+     */
+    virtual void Write_Pre() {}
+    
+    /**
+     * Function called at end of Write method
+     * Use it to do some synchronization (release of mutex, for example)
+     */
+    virtual void Write_Post() {}
+    
+    /**
+     * Receive a message from monitor
+     * 
+     * @return Message received from monitor
+     * @attention Message provided is produced by the method. You must delete it when you are done using it
+     * @warning Read is not thread safe : check that multiple tasks can't access this method simultaneously  
+     */
+    Message *Read();
+    
+    /**
+     * Function called at beginning of Read method
+     * Use it to do some synchronization (call of mutex, for example)
+     */
+    virtual void Read_Pre() {}
+    
+    /**
+     * Function called at end of Read method
+     * Use it to do some synchronization (release of mutex, for example)
+     */
+    virtual void Read_Post() {}
+protected:
+    /**
+     * Socket descriptor
+     */
+    int socketFD = -1;
+    
+    /**
+     * Socket descriptor
+     */
+    int clientID = -1;
+    
+    /**
+     * Method used internally to convert a message content to a string that can be sent over TCP
+     * @param msg Message to be converted
+     * @return A string, image of the message
+     */
+    string MessageToString(Message *msg);
+    
+    /**
+     * Method used internally to convert a string received over TCP to a message 
+     * @param s String containing message
+     * @return A message, image of the string
+     */
+    Message *StringToMessage(string &s);
+};
+
+#endif /* __COMMONITOR_H__ */

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

@@ -0,0 +1,360 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "comrobot.h"
+
+#include <stdio.h>
+#include <stdlib.h> 
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>  
+
+#include <string>
+#include <stdexcept>
+
+#ifdef __FOR_PC__
+// #define USART_FILENAME "/dev/ttyUSB0"
+#define USART_FILENAME "/dev/ttyS0"
+#else
+#define USART_FILENAME "/dev/ttyS0"
+#endif /* __FOR_PC__ */
+
+/*
+ * Constants to be used for communicating with robot. Contains command tag
+ */
+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; // carriage return (\\r)
+
+/**
+ * Open serial link with robot
+ * @return File descriptor
+ * @throw std::runtime_error if it fails
+ */
+int ComRobot::Open() {
+    return this->Open(USART_FILENAME);
+}
+
+/**
+ * Open serial link with robot
+ * @param usart Filename of usart to open
+ * @return File descriptor
+ * @throw std::runtime_error if it fails
+ */
+int ComRobot::Open(string usart) {
+    struct termios options;
+
+    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;
+        throw std::runtime_error{"Unable to open UART"};
+        exit(EXIT_FAILURE);
+    } else {
+        fcntl(fd, F_SETFL, 0);
+        tcgetattr(fd, &options);
+        options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+        cfsetospeed(&options, B9600);
+        cfsetispeed(&options, B9600);
+        options.c_cc[VMIN] = 0;
+        options.c_cc[VTIME] = 1; /* Timeout of 100 ms per character */
+        tcsetattr(fd, TCSANOW, &options);
+    }
+
+    return fd;
+}
+
+/**
+ * Close serial link
+ * @return Success if above 0, failure if below 0
+ */
+int ComRobot::Close() {
+    return close(fd);
+}
+
+/**
+ * Send a message to robot
+ * @param msg Message to send to robot
+ * @return 1 if success, 0 otherwise
+ * @attention Message is destroyed (delete) after being sent. You do not need to delete it yourself
+ * @attention Write is blocking until message is written into buffer (linux side)
+ * @warning Write is not thread save : check that multiple tasks can't access this method simultaneously  
+ */
+Message *ComRobot::Write(Message* msg) {
+    Message *msgAnswer;
+    string s;
+
+    if (this->fd != -1) {
+
+        Write_Pre();
+
+        s = MessageToString(msg);
+        AddChecksum(s);
+
+        //cout << "[" <<__PRETTY_FUNCTION__<<"] Send command: "<<s<<endl<<flush;
+        int count = write(this->fd, s.c_str(), s.length()); //Filestream, bytes to write, number of bytes to write
+
+        if (count < 0) {
+            cerr << "[" << __PRETTY_FUNCTION__ << "] UART TX error (" << to_string(count) << ")" << endl << flush;
+            msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
+        } else { /* write successfull, read answer from robot */
+
+            try {
+                s = Read();
+                //cout << "Answer = "<<s<<endl<<flush;
+
+                if (VerifyChecksum(s)) {
+                    msgAnswer = StringToMessage(s);
+                } else msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND);
+
+            } catch (std::runtime_error &e) {
+                s = string(e.what());
+
+                if (s.find("imeout")) { // timeout detecté
+                    msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_TIMEOUT);
+                } else {
+                    msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
+                }
+            }
+        }
+    } else {
+        cerr << __PRETTY_FUNCTION__ << ": Com port not open" << endl << flush;
+        throw std::runtime_error{"Com port not open"};
+    }
+
+    // deallocation of msg
+    delete(msg);
+
+    return msgAnswer;
+}
+
+/**
+ * Get a message from robot
+ * @return Message currently received
+ * @attention A message object is created (new) when receiving data from robot. You MUST remember to destroy is (delete) after use
+ * @attention Read method is blocking until a message is received
+ * @warning Read is not thread safe : Do not call it in multiple tasks simultaneously
+ */
+string ComRobot::Read() {
+    string s;
+    int rxLength;
+    unsigned char receivedChar;
+
+    do {
+        rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max)
+        if (rxLength == 0) { // timeout
+            // try again
+            rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max)
+            if (rxLength == 0) { // re-timeout: it sucks !
+                throw std::runtime_error{"ComRobot::Read: Timeout when reading from com port"};
+            }
+        } else if (rxLength < 0) { // big pb !
+            throw std::runtime_error{"ComRobot::Read: Unknown problem when reading from com port"};
+        } else { // everything ok
+            if ((receivedChar != '\r') && (receivedChar != '\n')) s += receivedChar;
+        }
+    } while ((receivedChar != '\r') && (receivedChar != '\n'));
+
+    return s;
+}
+
+Message *ComRobot::SendCommand(Message* msg, MessageID answerID, int maxRetries) {
+    int counter = maxRetries;
+    Message *msgSend;
+    Message *msgRcv;
+    Message *msgTmp;
+
+    do {
+        msgSend = msg->Copy();
+        cout << "S => " << msgSend->ToString() << endl << flush;
+        msgTmp = Write(msgSend);
+        cout << "R <= " << msgTmp->ToString() << endl << flush;
+
+        if (msgTmp->CompareID(answerID)) counter = 0;
+        else counter--;
+
+        if (counter == 0) msgRcv = msgTmp->Copy();
+
+        delete(msgTmp);
+    } while (counter);
+
+    delete (msg);
+
+    return msgRcv;
+}
+
+/**
+ * Convert an array of char to its message representation (when receiving data from stm32)
+ * @param bytes Array of char
+ * @return Message corresponding to received array of char
+ */
+Message* ComRobot::StringToMessage(string s) {
+    Message *msg;
+
+    switch (s[0]) {
+        case LABEL_ROBOT_OK:
+            msg = new Message(MESSAGE_ANSWER_ACK);
+            break;
+        case LABEL_ROBOT_ERROR:
+            msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
+            break;
+        case LABEL_ROBOT_UNKNOWN_COMMAND:
+            msg = new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND);
+            break;
+        case '0':
+            msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY);
+            break;
+        case '1':
+            msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW);
+            break;
+        case '2':
+            msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
+            break;
+        default:
+            msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
+            cerr << "[" << __PRETTY_FUNCTION__ << "] Unknown message received from robot (" << s << ")" << endl << flush;
+    }
+
+    return msg;
+}
+
+/**
+ * Convert a message to its array of char representation (for sending command to stm32)
+ * @param msg Message to be sent to robot
+ * @param buffer Array of char, image of message to send
+ */
+string ComRobot::MessageToString(Message *msg) {
+    string s;
+
+    float val_f;
+    int val_i;
+    unsigned char *b;
+
+    switch (msg->GetID()) {
+        case MESSAGE_ROBOT_PING:
+            s += LABEL_ROBOT_PING;
+            break;
+        case MESSAGE_ROBOT_RESET:
+            s += LABEL_ROBOT_RESET;
+            break;
+        case MESSAGE_ROBOT_POWEROFF:
+            s += LABEL_ROBOT_POWEROFF;
+            break;
+        case MESSAGE_ROBOT_START_WITHOUT_WD:
+            s += LABEL_ROBOT_START_WITHOUT_WD;
+            break;
+        case MESSAGE_ROBOT_START_WITH_WD:
+            s += LABEL_ROBOT_START_WITH_WD;
+            break;
+        case MESSAGE_ROBOT_RELOAD_WD:
+            s += LABEL_ROBOT_RELOAD_WD;
+            break;
+        case MESSAGE_ROBOT_BATTERY_GET:
+            s += LABEL_ROBOT_GET_BATTERY;
+            break;
+        case MESSAGE_ROBOT_STATE_GET:
+            s += LABEL_ROBOT_GET_STATE;
+            break;
+        case MESSAGE_ROBOT_GO_FORWARD:
+            s += LABEL_ROBOT_MOVE;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
+            s.append(to_string(500000));
+            break;
+        case MESSAGE_ROBOT_GO_BACKWARD:
+            s += LABEL_ROBOT_MOVE;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
+            s.append(to_string(-500000));
+            break;
+        case MESSAGE_ROBOT_GO_LEFT:
+            s += LABEL_ROBOT_TURN;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
+            s.append(to_string(-500000));
+            break;
+        case MESSAGE_ROBOT_GO_RIGHT:
+            s += LABEL_ROBOT_TURN;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
+            s.append(to_string(500000));
+            break;
+        case MESSAGE_ROBOT_STOP:
+            s += LABEL_ROBOT_MOVE;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
+            s.append(to_string(0));
+            break;
+        case MESSAGE_ROBOT_MOVE:
+            s += LABEL_ROBOT_MOVE;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
+            s.append(to_string(((MessageInt*) msg)->GetValue()));
+            break;
+        case MESSAGE_ROBOT_TURN:
+            s += LABEL_ROBOT_TURN;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
+            s.append(to_string(((MessageInt*) msg)->GetValue()));
+            break;
+        default:
+            cerr << "[" << __PRETTY_FUNCTION__ << "] Invalid message for robot (" << msg->ToString() << ")" << endl << flush;
+            throw std::runtime_error{"Invalid message"};
+    }
+
+    return s;
+}
+
+/**
+ * Add a checksum and carriage return to a command string
+ * @param[in,out] s String containing command for robot, without ending char (carriage return) 
+ */
+void ComRobot::AddChecksum(string &s) {
+    unsigned char checksum = 0;
+
+    for (string::iterator it = s.begin(); it != s.end(); ++it) {
+        checksum ^= (unsigned char) *it;
+    }
+
+    s += (char) checksum; // Add calculated checksum
+    s += (char) LABEL_ROBOT_ENDING_CHAR;
+}
+
+/**
+ * Verify if checksum of an incoming answer from robot is valid, 
+ * then remove checksum from incoming answer (if checksum is ok)
+ * @param[in,out] s String containing incoming answer from robot
+ * @return true is checksum is valid, false otherwise.
+ */
+bool ComRobot::VerifyChecksum(string &s) {
+    unsigned char checksum = 0;
+
+    for (string::iterator it = s.begin(); it != s.end(); ++it) {
+        checksum ^= (unsigned char) *it;
+    }
+
+    if (checksum == 0) { // checksum is ok, remove last char of string (checksum)
+        s.pop_back(); // remove last char
+        return true;
+    } else return false;
+}

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

@@ -0,0 +1,198 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __COMROBOT_H__
+#define __COMROBOT_H__
+
+#include "messages.h"
+#include <string>
+
+using namespace std;
+
+/**
+ * Class used for communicating with robot over serial
+ * 
+ * @brief Communication class with robot
+ * 
+ */
+class ComRobot {
+public:
+
+    /**
+     * Constructor
+     */
+    ComRobot() {
+    }
+
+    /**
+     * Destructor
+     */
+    virtual ~ComRobot() {
+    }
+
+    /**
+     * Open serial link with robot
+     * @return File descriptor
+     * @throw std::runtime_error if it fails
+     */
+    int Open();
+
+    /**
+     * Open serial link with robot
+     * @param usart Filename of usart to open
+     * @return File descriptor
+     * @throw std::runtime_error if it fails
+     */
+    int Open(string usart);
+
+    /**
+     * Close serial link
+     * @return Success if above 0, failure if below 0
+     */
+    int Close();
+
+    /**
+     * Send a message to robot
+     * @param msg Message to send to robot
+     * @return A message containing either an answer (Ack/Nak/Timeout/Error) or a value (battery level, robot state) depending of the command
+     * @attention Input message is destroyed (delete) after being sent. You do not need to delete it yourself
+     * @attention Write produce an answer message. You have to dispose it (delete) when you have finished using it
+     * @attention Write is blocking until message is written into buffer (linux side)
+     * @warning Write is not thread save : check that multiple tasks can't access this method simultaneously  
+     */
+    Message *Write(Message* msg);
+
+    /**
+     * Function called at beginning of Write method
+     * Use it to do some synchronization (call of mutex, for example)
+     */
+    virtual void Write_Pre() {
+    }
+
+    /**
+     * Function called at end of Write method
+     * Use it to do some synchronization (call of mutex, for example)
+     */
+    virtual void Write_Post() {
+    }
+    
+    Message *SendCommand(Message* msg, MessageID answerID, int maxRetries);
+    
+    static Message *Ping() {
+        return new Message(MESSAGE_ROBOT_PING);
+    }
+
+    static Message *Reset() {
+        return new Message(MESSAGE_ROBOT_RESET);
+    }
+
+    static Message *PowerOff() {
+        return new Message(MESSAGE_ROBOT_POWEROFF);
+    }
+
+    static Message *StartWithWD() {
+        return new Message(MESSAGE_ROBOT_START_WITH_WD);
+    }
+
+    static Message *StartWithoutWD() {
+        return new Message(MESSAGE_ROBOT_START_WITHOUT_WD);
+    }
+
+    static Message *ReloadWD() {
+        return new Message(MESSAGE_ROBOT_RELOAD_WD);
+    }
+
+    static Message *Move(int length) {
+        return new MessageInt(MESSAGE_ROBOT_MOVE, length);
+    }
+
+    static Message *Turn(int angle) {
+        return new MessageInt(MESSAGE_ROBOT_TURN, angle);
+    }
+
+    static Message *Stop() {
+        return new Message(MESSAGE_ROBOT_STOP);
+    }
+
+    static Message *GoForward() {
+        return new Message(MESSAGE_ROBOT_GO_FORWARD);
+    }
+
+    static Message *GoBackward() {
+        return new Message(MESSAGE_ROBOT_GO_BACKWARD);
+    }
+
+    static Message *GoLeft() {
+        return new Message(MESSAGE_ROBOT_GO_LEFT);
+    }
+
+    static Message *GoRight() {
+        return new Message(MESSAGE_ROBOT_GO_RIGHT);
+    }
+
+    static Message *GetBattery() {
+        return new Message(MESSAGE_ROBOT_BATTERY_GET);
+    }
+
+    static Message *GetState() {
+        return new Message(MESSAGE_ROBOT_STATE_GET);
+    }
+
+protected:
+    /**
+     * Serial link file descriptor
+     */
+    int fd;
+
+    /**
+     * Get an answer from robot
+     * @return String containing answer from robot
+     * @attention Read method is blocking until a message is received (timeout of 500 ms)
+     * @warning Read is not thread safe : Do not call it in multiple tasks simultaneously
+     */
+    string Read();
+
+    /**
+     * Convert a string to its message representation (when receiving data from robot)
+     * @param s String from robot containing answer
+     * @return Message corresponding to received array of char
+     */
+    Message* StringToMessage(string s);
+
+    /**
+     * Convert a message to its string representation (for sending command to robot)
+     * @param msg Message to be sent to robot
+     * @return String containing command to robot
+     */
+    string MessageToString(Message *msg);
+
+    /**
+     * Add a checksum and carriage return to a command string
+     * @param[in,out] s String containing command for robot, without ending char (carriage return) 
+     */
+    void AddChecksum(string &s);
+
+    /**
+     * Verify if checksum of an incoming answer from robot is valid, 
+     * then remove checksum from incoming answer (if checksum is ok)
+     * @param[in,out] s String containing incoming answer from robot
+     * @return true is checksum is valid, false otherwise.
+     */
+    bool VerifyChecksum(string &s);
+};
+
+#endif /* __COMROBOT_H__ */

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

@@ -0,0 +1,307 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "img.h"
+#include <opencv2/imgproc/types_c.h>
+
+/**
+ * Tell if arena is empty (not found) or not
+ * @return true if no arena found, false otherwise
+ */
+bool Arena::IsEmpty() {
+    if ((this->arena.height == 0) || (this->arena.width == 0)) return true;
+    else return false;
+}
+
+/**
+ * Create new Img object based on image data
+ * 
+ * @param imgMatrice Image data to be stored (raw data)
+ */
+Img::Img(ImageMat imgMatrice) {
+    this->img = imgMatrice.clone();
+   
+#ifdef __WITH_ARUCO__
+    this->dictionary=cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3));
+#endif // __WITH_ARUCO__
+}
+
+/**
+ * Convert object to a string representation
+ * 
+ * @return String containing information on contained image (size and number of channel) 
+ */
+string Img::ToString() {
+    return "Image size: " + to_string(this->img.cols) + "x" + to_string(this->img.rows) + " (dim=" + to_string(this->img.dims) + ")";
+}
+
+/**
+ * Create a copy of current object
+ * 
+ * @return New Img object, copy of current 
+ */
+Img* Img::Copy() {
+    return new Img(this->img);
+}
+
+/**
+ * Function for computing angle 
+ * @param robots Position of robot
+ * @return Angle
+ */
+float Img::CalculAngle(Position robot) {
+    float a = robot.direction.x - robot.center.x;
+    float b = robot.direction.y - robot.center.y;
+    float angle = atan2(b, a);
+    return angle * 180.f / M_PI;
+}
+
+/**
+ * Function for computing angle 
+ * @param pt1 ???
+ * @param pt2 ???
+ * @return Angle
+ */
+float Img::CalculAngle2(cv::Point2f pt1, cv::Point2f pt2) {
+    float a = pt1.x - pt2.x;
+    float b = pt1.y - pt2.y;
+    float angle = atan2(b, a);
+    return angle * 180.f / M_PI;
+}
+
+#ifdef __WITH_ARUCO__ 
+
+/**
+ * Find center point of given aruco
+ * @param aruco Aruco coordinates
+ * @return Center point coordinate
+ */
+cv::Point2f Img::FindArucoCenter(std::vector<cv::Point2f> aruco) {
+    return ((aruco[0] + aruco[2]) / 2);
+}
+
+/**
+ * Find direction of given aruco
+ * @param aruco Aruco coordinates
+ * @return Orientation of aruco
+ */
+cv::Point2f Img::FindArucoDirection(std::vector<cv::Point2f> aruco) {
+    return ((aruco[0] + aruco[1]) / 2);
+}
+#endif // __WITH_ARUCO__
+
+/**
+ * Used for computing distance
+ * @param p ???
+ * @param q ???
+ * @return Distance
+ */
+float Img::EuclideanDistance(cv::Point2f p, cv::Point2f q) {
+    cv::Point diff = p - q;
+    return cv::sqrt(diff.x * diff.x + diff.y * diff.y);
+}
+
+/**
+ * Compress current image to JPEG
+ * @return Image compressed as JPEG
+ */
+Jpg Img::ToJpg() {
+    Jpg imgJpg;
+    cv::imencode(".jpg", this->img, imgJpg);
+    return imgJpg;
+}
+
+/**
+ * Search available robots in an image
+ * @param arena Arena position for cropping image
+ * @return list of position, empty if no robot found
+ */
+std::list<Position> Img::SearchRobot(Arena arena) {
+#ifdef __WITH_ARUCO__
+    ImageMat imgTraitment;
+    std::list<Position> positionList;
+    cv::Point2f areneCoor;
+    std::vector<int> ids;
+    std::vector<std::vector<cv::Point2f> > corners;
+
+    if (arena.IsEmpty())
+        imgTraitment = this->img.clone();
+    else {
+        imgTraitment = CropArena(arena);
+        areneCoor.x = arena.arena.x;
+        areneCoor.y = arena.arena.y;
+    }
+
+    cv::aruco::detectMarkers(imgTraitment, dictionary, corners, ids);
+    if (ids.size() > 0) {
+        for (int i = 0; i < ids.size(); i++) {
+            Position newPos;
+            newPos.center = FindArucoCenter(corners[i]);
+            newPos.direction = FindArucoDirection(corners[i]);
+            newPos.robotId = ids[i];
+            if (!arena.IsEmpty()) {
+                newPos.direction += areneCoor;
+                newPos.center += areneCoor;
+            }
+            newPos.angle = CalculAngle2(newPos.center, newPos.direction);
+            positionList.push_back(newPos);
+        }
+    }
+    return positionList;
+#else
+    std::list<Position> robotsFind;
+    std::vector<std::vector<cv::Point> > contours;
+    std::vector<cv::Point> approx;
+    std::vector<cv::Vec4i> hierarchy;
+
+    ImageMat imgTraitment;
+
+    if (arena.IsEmpty()) {
+        imgTraitment = this->img.clone();
+    } else {
+        imgTraitment = this->img(arena.arena);
+    }
+
+    cvtColor(imgTraitment, imgTraitment, CV_RGB2GRAY);
+    threshold(imgTraitment, imgTraitment, 128, 255, CV_THRESH_BINARY);
+    findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0));
+
+    for (unsigned int i = 0; i < contours.size(); i++) {
+        ImageMat m(contours[i]);
+        cv::approxPolyDP(m, approx, cv::arcLength(ImageMat(contours[i]), true)*0.17, true);
+
+        if (approx.size() == 3 && fabs(cv::contourArea(contours[i])) > 200 && fabs(cv::contourArea(contours[i])) < 700) {
+            cv::Point a, b, c;
+            cv::Point center;
+
+            a = approx[0];
+            b = approx[1];
+            c = approx[2];
+
+            if (!arena.IsEmpty()) { // ajout de l'offset de l'arène
+                a.x += arena.arena.x;
+                a.y += arena.arena.y;
+                b.x += arena.arena.x;
+                b.y += arena.arena.y;
+                c.x += arena.arena.x;
+                c.y += arena.arena.y;
+            }
+
+            center.x = (a.x + b.x + c.x) / 3;
+            center.y = (a.y + b.y + c.y) / 3;
+            Position newPos;
+            newPos.center = center;
+
+            if (EuclideanDistance(center, b) > EuclideanDistance(center, a) && EuclideanDistance(center, b) > EuclideanDistance(center, c)) {
+                newPos.direction = b;
+                //line(img,center,b,Scalar(0,125,0),2,8,0);
+            } else if (EuclideanDistance(center, a) > EuclideanDistance(center, c)) {
+
+                newPos.direction = a;
+                //line(img,center,a,Scalar(0,125,0),2,8,0);
+            } else {
+                newPos.direction = c;
+                //line(img,center,c,Scalar(0,125,0),2,8,0);
+            }
+
+            newPos.angle = CalculAngle(newPos);
+            newPos.robotId = -1; // dumb identifier
+
+            robotsFind.push_back(newPos);
+        }
+    }
+
+    return robotsFind;
+
+#endif // __WITH_ARUCO__
+}
+
+/**
+ * Search arena outline in current image
+ * @return Arena object with coordinate of outline, empty if no arena found
+ */
+Arena Img::SearchArena() {
+    std::vector<std::vector<cv::Point> > contours;
+    std::vector<cv::Point> approx;
+    std::vector<cv::Vec4i> hierarchy;
+
+    ImageMat imageTrt;
+    cv::cvtColor(this->img, imageTrt, CV_RGB2GRAY); // conversion en niveau de gris
+    cv::threshold(imageTrt, imageTrt, 128, 255, CV_THRESH_BINARY); // Threshold les éléments les plus clair
+    cv::Canny(imageTrt, imageTrt, 100, 200, 3); // detection d'angle
+
+    findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0));
+    for (unsigned int i = 0; i < contours.size(); i++) {
+        approxPolyDP(ImageMat(contours[i]), approx, cv::arcLength(ImageMat(contours[i]), true)*0.1, true);
+        if (approx.size() == 4 && fabs(cv::contourArea(contours[i])) > 100000) {
+            Arena rectangle;
+            rectangle.arena = cv::boundingRect(ImageMat(contours[i]));
+            return rectangle;
+        }
+    }
+
+    return Arena();
+}
+
+/**
+ * Draw an oriented arrow at robot position
+ * @param robot Position of robot
+ */
+void Img::DrawRobot(Position robot) {
+    cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0, 0, 255), 3, 8, 0);
+}
+
+/**
+ * Draw an oriented arrow for each position provided
+ * @param robots List of robot positions
+ * @return Number of position drawn
+ */
+int Img::DrawAllRobots(std::list<Position> robots) {
+    for (Position robot : robots) {
+        cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0, 0, 255), 3, 8, 0);
+    }
+
+    return robots.size();
+}
+
+/**
+ * Draw arena outline
+ * @param arenaToDraw Arena position
+ */
+void Img::DrawArena(Arena arenaToDraw) {
+    cv::rectangle(this->img, arenaToDraw.arena.tl(), arenaToDraw.arena.br(), cv::Scalar(0, 0, 125), 2, 8, 0);
+}
+
+/**
+ * Crop image around detected arena
+ * @param arena Coordinate of arena
+ * @return Reduced image, focused on arena
+ */
+ImageMat Img::CropArena(Arena arena) {
+    return this->img(arena.arena);
+}
+
+/**
+ * Crop image around detected arena
+ * @param arena Coordinate of arena
+ * @return Reduced image, focused on arena
+ */
+Img Img::Resize() {
+    ImageMat newImage;
+    cv::resize(this->img, newImage, cv::Size(320,240), cv::INTER_LINEAR);
+    return Img(newImage);
+}

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

@@ -0,0 +1,240 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __IMG_H__
+#define __IMG_H__
+
+#include <iostream>
+#include <list>
+#include <string>
+
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/core.hpp>
+
+#ifdef __WITH_ARUCO__
+#include <opencv2/aruco/dictionary.hpp>
+#include <opencv2/aruco/charuco.hpp>
+#include <opencv2/core/mat.hpp>
+#endif // __WITH_ARUCO__
+
+#define ARENA_NOT_DETECTED -1
+
+using namespace std;
+
+/**
+ * Redefinition of cv::Mat type
+ */
+typedef cv::Mat ImageMat;
+
+/**
+ * Declaration of Jpg type
+ */
+typedef vector<unsigned char> Jpg;
+
+/**
+ * Class position, used for store robot coordinates
+ * 
+ * @brief Class position, used for store robot coordinates
+ */
+class Position {
+public:
+    int robotId;
+    float angle;
+    cv::Point2f center; 
+    cv::Point2f direction;
+    
+    /**
+     * Constructor of Position object
+     */
+    Position() {
+        robotId = -1;
+        angle = 0.0;
+        center=cv::Point2f(0.0,0.0);
+        direction=cv::Point2f(0.0,0.0);
+    }
+    
+    /**
+     * Build a string representation of the object
+     * @return String containing object information
+     */
+    string ToString() {
+        return "Id=" + to_string(this->robotId) + ", Angle=" + to_string(this->angle) + ", center=(" + to_string(this->center.x) + ";" + to_string(this->center.y) + ")";
+    }
+};
+
+/**
+ * Class arena, used for holding outline of arena on image and cropping image to only usefull area
+ * 
+ * @brief Class arena, used for holding outline of arena on image and cropping image to only usefull area
+ */
+class Arena {
+public:
+    /**
+     * Coordinate of arena, empty if no arena found
+     */
+    cv::Rect arena;
+    
+    /**
+     * Constructor of Arena object
+     */
+    Arena() {}
+    
+    /**
+     * Tell if arena is empty (not found) or not
+     * @return true if no arena found, false otherwise
+     */
+    bool IsEmpty();
+    
+    /**
+     * Build a string representation of the object
+     * @return String containing object information
+     */
+    string ToString() {
+        if (IsEmpty()) return "Arena empty";
+        else
+        return "Arena: (x;y)=(" + to_string(this->arena.x) + ";" + to_string(this->arena.x) + " (w;h)=(" + to_string(this->arena.width) + ";" + to_string(this->arena.height) + ")";
+    }
+};
+
+/**
+ * Class for image storage and treatment
+ * 
+ * @brief Class for image storage and treatment
+ */
+class Img {
+public:
+    /**
+     * Image data
+     */
+    ImageMat img;
+    
+    /**
+     * Create new Img object based on image data
+     * 
+     * @param imgMatrice Image data to be stored (raw data)
+     */
+    Img(ImageMat imgMatrice);
+    
+    /**
+     * Convert object to a string representation
+     * 
+     * @return String containing information on contained image (size and number of channel) 
+     */
+    string ToString();
+    
+    /**
+     * Create a copy of current object
+     * 
+     * @return New Img object, copy of current 
+     */
+    Img* Copy();
+    
+    /**
+     * Compress current image to JPEG
+     * @return Image compressed as JPEG
+     */
+    Jpg ToJpg();
+    
+    /**
+     * Search arena outline in current image
+     * @return Arena object with coordinate of outline, empty if no arena found
+     */
+    Arena SearchArena();
+    
+    /**
+     * Draw an oriented arrow at robot position
+     * @param robot Position of robot
+     */
+    void DrawRobot(Position robot);
+    
+    /**
+     * Draw an oriented arrow for each position provided
+     * @param robots List of robot positions
+     * @return Number of position drawn
+     */
+    int DrawAllRobots(std::list<Position> robots);
+    
+    /**
+     * Draw arena outline
+     * @param arenaToDraw Arena position
+     */
+    void DrawArena(Arena arenaToDraw);
+    
+    /**
+     * Search available robots in an image
+     * @param arena Arena position for cropping image
+     * @return list of position, empty if no robot found
+     */
+    std::list<Position> SearchRobot(Arena arena);
+        
+    Img Resize();
+#ifdef __WITH_ARUCO__    
+    /**
+     * Dictionary to be used for aruco recognition
+     */
+    cv::Ptr<cv::aruco::Dictionary> dictionary;
+#endif // __WITH_ARUCO__
+private:
+#ifdef __WITH_ARUCO__
+    /**
+     * Find center point of given aruco
+     * @param aruco Aruco coordinates
+     * @return Center point coordinate
+     */
+    cv::Point2f FindArucoCenter(std::vector<cv::Point2f> aruco);
+    
+    /**
+     * Find direction of given aruco
+     * @param aruco Aruco coordinates
+     * @return Orientation of aruco
+     */
+    cv::Point2f FindArucoDirection(std::vector<cv::Point2f> aruco);
+#endif // __WITH_ARUCO__
+    
+    /**
+     * Function for computing angle 
+     * @param robots Position of robot
+     * @return Angle
+     */
+    float CalculAngle(Position robots);
+    
+    /**
+     * Function for computing angle 
+     * @param pt1 ???
+     * @param pt2 ???
+     * @return Angle
+     */
+    float CalculAngle2(cv::Point2f pt1, cv::Point2f pt2);
+    
+    /**
+     * Used for computing distance
+     * @param p ???
+     * @param q ???
+     * @return Distance
+     */
+    float EuclideanDistance(cv::Point2f p, cv::Point2f q);
+    
+    /**
+     * Crop image around detected arena
+     * @param arena Coordinate of arena
+     * @return Reduced image, focused on arena
+     */
+    ImageMat CropArena(Arena arena);
+};
+
+#endif //__IMG_H__

software/raspberry/superviseur-robot-dumber-pthread/lib/messages.cpp

@@ -0,0 +1,533 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "messages.h"
+#include <exception>
+#include <stdexcept>
+#include <string>
+
+/*
+ * @brief Constants used with ToString method, for printing message id
+ */
+
+const string MESSAGE_ID_STRING[] = {
+    "Empty",
+    "Log",
+    "Answer [Acknowledge]",
+    "Answer [Not Acknowledge]",
+    "Answer [Command timeout]",
+    "Answer [Command unknown]",
+    "Answer [Command error]",
+    "Answer [Communication error]",
+    "Monitor connection lost",
+    "Open serial com",
+    "Close serial com",
+    "Open camera",
+    "Close camera",
+    "Ask for arena",
+    "Arena confirmed",
+    "Arena infirmed",
+    "Compute position",
+    "Stop compute position",
+    "Position",
+    "Image",
+    "Robot ping",
+    "Robot reset",
+    "Robot start with watchdog",
+    "Robot start without watchdog",
+    "Robot reload watchdog",
+    "Robot move",
+    "Robot turn",
+    "Robot go forward",
+    "Robot go backward",
+    "Robot go left",
+    "Robot go right",
+    "Robot stop",
+    "Robot poweroff",
+    "Robot get battery",
+    "Robot battery level",
+    "Robot get state",
+    "Robot current state",
+    "Robot state [Not busy]",
+    "Robot state [Busy]"
+};
+
+/*
+ * @brief Constants used with ToString method, for printing answer id
+ */
+const string ANSWER_ID_STRING[] = {
+    "Acknowledge",
+    "Not Acknowledge",
+    "Robot lost",
+    "Timeout error",
+    "Unknown command",
+    "Invalid or refused command",
+    "Checksum error"
+};
+
+/**
+ * Create a new, empty message
+ */
+Message::Message() {
+    this->messageID = MESSAGE_EMPTY;
+}
+
+/**
+ * Create a new, empty message
+ */
+Message::Message(MessageID id) {
+    SetID(id);
+}
+
+/**
+ * Destroy message
+ */
+Message::~Message() {
+}
+
+/**
+ * Set message ID
+ * @param id Message ID
+ */
+void Message::SetID(MessageID id) {
+    if (CheckID(id)) {
+        this->messageID = id;
+    } else throw std::runtime_error {"Invalid message id for Message"};
+}
+
+/**
+ * Translate content of message into a string that can be displayed
+ * @return A string describing message contents
+ */
+string Message::ToString() {
+    if (CheckID(this->messageID))
+        return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"";
+    else
+        return "Invalid message";
+}
+
+/**
+ * Allocate a new mesage and copy contents of current message
+ * @return A message, copy of current
+ */
+Message* Message::Copy() {
+    Message *msg = new Message(this->messageID);
+
+    return msg;
+}
+
+/**
+ * Get message ID
+ * @return Current message ID
+ */
+bool Message::CheckID(MessageID id) {
+    if ((id == MESSAGE_CAM_IMAGE) ||
+        (id == MESSAGE_CAM_POSITION) ||
+        (id == MESSAGE_ROBOT_MOVE) ||
+        (id == MESSAGE_ROBOT_TURN) ||
+        (id == MESSAGE_LOG) ||
+        (id == MESSAGE_ROBOT_BATTERY_LEVEL)) {
+        return false;
+    } else return true;
+}
+
+/* MessageInt */
+
+/**
+ * Create a new, empty int message
+ */
+MessageInt::MessageInt() {
+    value = 0.0;
+}
+
+/**
+ * Create a new int message, with given ID and value
+ * @param id Message ID
+ * @param val Message value
+ * @throw std::runtime_error if message ID is incompatible with int data
+ */
+MessageInt::MessageInt(MessageID id, int val) {
+    MessageInt::SetID(id);
+
+    value = val;
+}
+
+/**
+ * Set message ID
+ * @param id Message ID
+ * @throw std::runtime_error if message ID is incompatible with float data
+ */
+void MessageInt::SetID(MessageID id) {
+    if (CheckID(id))
+        messageID = id;
+    else
+        throw std::runtime_error {
+        "Invalid message id for MessageInt"
+    };
+}
+
+/**
+ * Translate content of message into a string that can be displayed
+ * @return A string describing message contents
+ */
+string MessageInt::ToString() {
+    if (CheckID(this->messageID))
+        return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nValue: " + to_string(this->value);
+    else
+        return "Invalid message";
+}
+
+/**
+ * Allocate a new message and copy contents of current message
+ * @return A message, copy of current
+ */
+Message* MessageInt::Copy() {
+    return new MessageInt(this->messageID, this->value);
+}
+
+/**
+ * Verify if message ID is compatible with current message type
+ * @param id Message ID
+ * @return true, if message ID is acceptable, false otherwise
+ */
+bool MessageInt::CheckID(MessageID id) {
+    if ((id != MESSAGE_ROBOT_TURN) &&
+            (id != MESSAGE_ROBOT_MOVE)) {
+        return false;
+    } else return true;
+}
+
+/* class MessageString */
+
+/**
+ * Create a new, empty string message
+ */
+MessageString::MessageString() {
+    s = string("");
+}
+
+/**
+ * Create a new string message, with given ID and string
+ * @param id Message ID
+ * @param s Message string
+ * @throw std::runtime_error if message ID is incompatible with string data
+ */
+MessageString::MessageString(MessageID id, string s) {
+    MessageString::SetID(id);
+
+    this->s = s;
+}
+
+/**
+ * Set message ID
+ * @param id Message ID
+ * @throw std::runtime_error if message ID is incompatible with string data
+ */
+void MessageString::SetID(MessageID id) {
+    if (CheckID(id))
+        messageID = id;
+    else
+        throw std::runtime_error {
+        "Invalid message id for MessageString"
+    };
+}
+
+/**
+ * Translate content of message into a string that can be displayed
+ * @return A string describing message contents
+ */
+string MessageString::ToString() {
+    if (CheckID(this->messageID))
+        return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nString: \"" + this->s + "\"";
+    else
+        return "Invalid message";
+}
+
+/**
+ * Allocate a new message and copy contents of current message
+ * @return A message, copy of current
+ */
+Message* MessageString::Copy() {
+    return new MessageString(this->messageID, this->s);
+}
+
+/**
+ * Verify if message ID is compatible with current message type
+ * @param id Message ID
+ * @return true, if message ID is acceptable, false otherwise
+ */
+bool MessageString::CheckID(MessageID id) {
+    if ((id != MESSAGE_LOG)) {
+        return false;
+    } else return true;
+}
+
+/* class MessageImg */
+
+/**
+ * Create a new, empty image message
+ */
+MessageImg::MessageImg() {
+    image = NULL;
+}
+
+/**
+ * Create a new image message, with given ID and image
+ * @param id Message ID
+ * @param image Image
+ * @throw std::runtime_error if message ID is incompatible with image
+ */
+MessageImg::MessageImg(MessageID id, Img *image) {
+    MessageImg::SetID(id);
+    MessageImg::SetImage(image);
+}
+
+/**
+ * Destroy Image message
+ */
+MessageImg::~MessageImg() {
+    delete (this->image);
+}
+
+/**
+ * Set message ID
+ * @param id Message ID
+ * @throw std::runtime_error if message ID is incompatible with image
+ */
+void MessageImg::SetID(MessageID id) {
+    if (CheckID(id))
+        messageID = id;
+    else
+        throw std::runtime_error {
+        "Invalid message id for MessageImg"
+    };
+}
+
+/**
+ * Set message image
+ * @param image Reference to image object
+ */
+void MessageImg::SetImage(Img* image) {
+    //this->image = image->Copy();
+    this->image = image;
+}
+
+/**
+ * Translate content of message into a string that can be displayed
+ * @return A string describing message contents
+ */
+string MessageImg::ToString() {
+    if (CheckID(this->messageID))
+        return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\n" + this->image->ToString();
+    else
+        return "Invalid message";
+}
+
+/**
+ * Allocate a new message and copy contents of current message
+ * @return A message, copy of current
+ */
+Message* MessageImg::Copy() {
+    return new MessageImg(this->messageID, this->image->Copy());
+}
+
+/**
+ * Verify if message ID is compatible with current message type
+ * @param id Message ID
+ * @return true, if message ID is acceptable, false otherwise
+ */
+bool MessageImg::CheckID(MessageID id) {
+    if (id != MESSAGE_CAM_IMAGE) {
+        return false;
+    } else return true;
+}
+
+/* class MessageBattery */
+
+/**
+ * Create a new, empty battery message
+ */
+MessageBattery::MessageBattery() {
+    this->level = BATTERY_UNKNOWN;
+}
+
+/**
+ * Create a new battery message, with given ID and battery level
+ * @param id Message ID
+ * @param level Battery level
+ * @throw std::runtime_error if message ID is incompatible with battery
+ */
+MessageBattery::MessageBattery(MessageID id, BatteryLevel level) {
+    MessageBattery::SetID(id);
+    MessageBattery::SetLevel(level);
+}
+
+/**
+ * Set message ID
+ * @param id Message ID
+ * @throw std::runtime_error if message ID is incompatible with battery
+ */
+void MessageBattery::SetID(MessageID id) {
+    if (CheckID(id))
+        messageID = id;
+    else
+        throw std::runtime_error {
+        "Invalid message id for MessageBattery"
+    };
+}
+
+/**
+ * Set battery level
+ * @param level Battery level
+ */
+void MessageBattery::SetLevel(BatteryLevel level) {
+    if ((level < BATTERY_UNKNOWN) || (level > BATTERY_FULL)) {
+        throw std::runtime_error{
+            "Invalid battery level for MessageBattery"};
+    } else {
+        this->level = level;
+    }
+}
+
+/**
+ * Translate content of message into a string that can be displayed
+ * @return A string describing message contents
+ */
+string MessageBattery::ToString() {
+    string levelString;
+    
+    switch (this->level) {
+        case BATTERY_UNKNOWN:
+            levelString="Unknown";
+            break;
+        case BATTERY_EMPTY:
+            levelString="Empty";
+            break;
+        case BATTERY_LOW:
+            levelString="Low";
+            break;
+        case BATTERY_FULL:
+            levelString="Full";
+            break;
+        default:
+            levelString="Invalid";
+    }
+    
+    if (CheckID(this->messageID))
+        return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nBattery level: \"" + levelString + "\"";
+    else
+        return "Invalid message";
+}
+
+/**
+ * Allocate a new message and copy contents of current message
+ * @return A message, copy of current
+ */
+Message* MessageBattery::Copy() {
+    return new MessageBattery(this->messageID, this->level);
+}
+
+/**
+ * Verify if message ID is compatible with current message type
+ * @param id Message ID
+ * @return true, if message ID is acceptable, false otherwise
+ */
+bool MessageBattery::CheckID(MessageID id) {
+    if ((id != MESSAGE_ROBOT_BATTERY_LEVEL)) {
+        return false;
+    } else return true;
+}
+
+/* class MessagePosition */
+
+/**
+ * Create a new, empty string message
+ */
+MessagePosition::MessagePosition() {
+    this->pos.angle = 0.0;
+    this->pos.robotId = 0;
+    this->pos.center.x=0.0;
+    this->pos.center.y=0.0;
+    this->pos.direction.x=0.0;
+    this->pos.direction.y=0.0;
+}
+
+/**
+ * Create a new string message, with given ID and string
+ * @param id Message ID
+ * @param s Message string
+ * @throw std::runtime_error if message ID is incompatible with string data
+ */
+MessagePosition::MessagePosition(MessageID id, Position& pos) {
+    MessagePosition::SetID(id);
+    MessagePosition::SetPosition(pos);
+}
+
+/**
+ * Set message ID
+ * @param id Message ID
+ * @throw std::runtime_error if message ID is incompatible with string data
+ */
+void MessagePosition::SetID(MessageID id) {
+    if (CheckID(id))
+        messageID = id;
+    else
+        throw std::runtime_error {
+        "Invalid message id for MessagePosition"
+    };
+}
+
+/**
+ * Set position
+ * @param pos Reference to position
+ */
+void MessagePosition::SetPosition(Position& pos) {
+    this->pos.angle = pos.angle;
+    this->pos.robotId = pos.robotId;
+    this->pos.center = pos.center;
+    this->pos.direction = pos.direction;
+}
+    
+/**
+ * Translate content of message into a string that can be displayed
+ * @return A string describing message contents
+ */
+string MessagePosition::ToString() {
+    if (CheckID(this->messageID))
+        return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nPosition: \"" + to_string(this->pos.center.x) + ";" + to_string(this->pos.center.y) + "\"";
+    else
+        return "Invalid message";
+}
+
+/**
+ * Allocate a new message and copy contents of current message
+ * @return A message, copy of current
+ */
+Message* MessagePosition::Copy() {
+    return new MessagePosition(this->messageID, this->pos);
+}
+
+/**
+ * Verify if message ID is compatible with current message type
+ * @param id Message ID
+ * @return true, if message ID is acceptable, false otherwise
+ */
+bool MessagePosition::CheckID(MessageID id) {
+    if ((id != MESSAGE_CAM_POSITION)) {
+        return false;
+    } else return true;
+}

software/raspberry/superviseur-robot-dumber-pthread/lib/messages.h

@@ -0,0 +1,567 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __MESSAGES_H__
+#define __MESSAGES_H__
+
+#include <string>
+#include "img.h"
+
+/**
+ * Message ID defined for system communication
+ * 
+ * @brief List of available message ID
+ * 
+ */
+typedef enum {
+    //Generic messages
+    MESSAGE_EMPTY = 0,
+    MESSAGE_LOG,
+    
+    // Message containing answer (after robot command, or for monitor)
+    MESSAGE_ANSWER_ACK,
+    MESSAGE_ANSWER_NACK,
+    MESSAGE_ANSWER_ROBOT_TIMEOUT,
+    MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND,
+    MESSAGE_ANSWER_ROBOT_ERROR,
+    MESSAGE_ANSWER_COM_ERROR,
+      
+    // Messages specific to server
+    MESSAGE_MONITOR_LOST,
+    
+    // messages for serial communication with robot
+    MESSAGE_ROBOT_COM_OPEN,
+    MESSAGE_ROBOT_COM_CLOSE,
+         
+    // Messages for camera   
+    MESSAGE_CAM_OPEN,
+    MESSAGE_CAM_CLOSE,
+    MESSAGE_CAM_ASK_ARENA,
+    MESSAGE_CAM_ARENA_CONFIRM,
+    MESSAGE_CAM_ARENA_INFIRM,
+    MESSAGE_CAM_POSITION_COMPUTE_START,
+    MESSAGE_CAM_POSITION_COMPUTE_STOP,
+    MESSAGE_CAM_POSITION,
+    MESSAGE_CAM_IMAGE,
+            
+    // Messages for robot
+    MESSAGE_ROBOT_PING,
+    MESSAGE_ROBOT_RESET,
+    MESSAGE_ROBOT_START_WITH_WD,
+    MESSAGE_ROBOT_START_WITHOUT_WD,
+    MESSAGE_ROBOT_RELOAD_WD,
+    MESSAGE_ROBOT_MOVE,
+    MESSAGE_ROBOT_TURN,
+    MESSAGE_ROBOT_GO_FORWARD,
+    MESSAGE_ROBOT_GO_BACKWARD,
+    MESSAGE_ROBOT_GO_LEFT,
+    MESSAGE_ROBOT_GO_RIGHT,
+    MESSAGE_ROBOT_STOP,
+    MESSAGE_ROBOT_POWEROFF,
+    MESSAGE_ROBOT_BATTERY_GET,
+    MESSAGE_ROBOT_BATTERY_LEVEL,
+    MESSAGE_ROBOT_STATE_GET,
+    MESSAGE_ROBOT_STATE_NOT_BUSY,
+    MESSAGE_ROBOT_STATE_BUSY
+} MessageID;
+
+typedef enum {
+    BATTERY_UNKNOWN=-1,
+    BATTERY_EMPTY=0,
+    BATTERY_LOW,
+    BATTERY_FULL
+} BatteryLevel;
+
+using namespace std;
+
+/**
+ * Base class for messaging
+ * 
+ * @brief Base class for messaging
+ * 
+ */
+class Message {
+public:
+    /**
+     * Create a new, empty message
+     */
+    Message();
+
+    /**
+     * Create a new, empty message
+     */
+    Message(MessageID id);
+    
+    /**
+     * Destroy message
+     */
+    virtual ~Message();
+
+    /**
+     * Translate content of message into a string that can be displayed
+     * @return A string describing message contents
+     */
+    virtual string ToString();
+
+    /**
+     * Allocate a new mesage and copy contents of current message
+     * @return A message, copy of current
+     */
+    virtual Message* Copy();
+
+    /**
+     * Compare message ID
+     * @param id Id to compare message to
+     * @return true if id is equal to message id, false otherwise
+     */
+    bool CompareID(MessageID id) {
+        return (this->messageID == id) ? true:false;
+    }
+    
+    /**
+     * Get message ID
+     * @return Current message ID
+     */
+    MessageID GetID() {
+        return messageID;
+    }
+
+    /**
+     * Set message ID
+     * @param id Message ID
+     */
+    virtual void SetID(MessageID id);
+
+    /**
+     * Comparison operator
+     * @param msg Message to be compared
+     * @return true if message are equal, false otherwise
+     */
+    virtual bool operator==(const Message& msg) {
+        return (messageID == msg.messageID);
+    }
+
+    /**
+     * Difference operator
+     * @param msg Message to be compared
+     * @return true if message are different, false otherwise
+     */
+    virtual bool operator!=(const Message& msg) {
+        return !(messageID == msg.messageID);
+    }
+
+protected:
+    /**
+     * Message identifier (@see MessageID)
+     */
+    MessageID messageID;
+
+    /**
+     * Verify if message ID is compatible with current message type
+     * @param id Message ID
+     * @return true, if message ID is acceptable, false otherwise
+     */
+    virtual bool CheckID(MessageID id);
+};
+
+
+/**
+ * Message class for holding float value, based on Message class
+ * 
+ * @brief Float message class
+ * 
+ */
+class MessageInt : public Message {
+public:
+    /**
+     * Create a new, empty float message
+     */
+    MessageInt();
+
+    /**
+     * Create a new float message, with given ID and value
+     * @param id Message ID
+     * @param val Message value
+     * @throw std::runtime_error if message ID is incompatible with float data
+     */
+    MessageInt(MessageID id, int val);
+
+    /**
+     * Set message ID
+     * @param id Message ID
+     * @throw std::runtime_error if message ID is incompatible with float data
+     */
+    void SetID(MessageID id);
+
+    /**
+     * Get message value (int)
+     * @return int value
+     */
+    int GetValue() {
+        return value;
+    }
+
+    /**
+     * Set message value (int)
+     * @param val int value to store in message
+     */
+    void SetValue(int val) {
+        this->value = val;
+    }
+
+    /**
+     * Translate content of message into a string that can be displayed
+     * @return A string describing message contents
+     */
+    string ToString();
+
+    /**
+     * Allocate a new mesage and copy contents of current message
+     * @return A message, copy of current
+     */
+    Message* Copy();
+
+    /**
+     * Comparison operator
+     * @param msg Message to be compared
+     * @return true if message are equal, false otherwise
+     */
+    virtual bool operator==(const MessageInt& msg) {
+        return ((messageID == msg.messageID) && (value == msg.value));
+    }
+
+    /**
+     * Difference operator
+     * @param msg Message to be compared
+     * @return true if message are different, false otherwise
+     */
+    virtual bool operator!=(const MessageInt& msg) {
+        return !((messageID == msg.messageID) && (value == msg.value));
+    }
+    
+protected:
+    /**
+     * Message integer value
+     */
+    int value;
+
+    /**
+     * Verify if message ID is compatible with current message type
+     * @param id Message ID
+     * @return true, if message ID is acceptable, false otherwise
+     */
+    bool CheckID(MessageID id);
+};
+
+/**
+ * Message class for holding string value, based on Message class
+ * 
+ * @brief String message class
+ * 
+ */
+class MessageString : public Message {
+public:
+    /**
+     * Create a new, empty string message
+     */
+    MessageString();
+
+    /**
+     * Create a new string message, with given ID and string
+     * @param id Message ID
+     * @param s Message string
+     * @throw std::runtime_error if message ID is incompatible with string data
+     */
+    MessageString(MessageID id, string s);
+
+    /**
+     * Set message ID
+     * @param id Message ID
+     * @throw std::runtime_error if message ID is incompatible with string data
+     */
+    void SetID(MessageID id);
+
+    /**
+     * Get message string
+     * @return String
+     */
+    string GetString() {
+        return s;
+    }
+
+    /**
+     * Set message string
+     * @param s String to store in message
+     */
+    void SetString(string s) {
+        this->s = s;
+    }
+
+    /**
+     * Translate content of message into a string that can be displayed
+     * @return A string describing message contents
+     */
+    string ToString();
+
+    /**
+     * Allocate a new message and copy contents of current message
+     * @return A message, copy of current
+     */
+    Message* Copy();
+
+    /**
+     * Comparison operator
+     * @param msg Message to be compared
+     * @return true if message are equal, false otherwise
+     */
+    virtual bool operator==(const MessageString& msg) {
+        return ((messageID == msg.messageID) && (s == msg.s));
+    }
+
+    /**
+     * Difference operator
+     * @param msg Message to be compared
+     * @return true if message are different, false otherwise
+     */
+    virtual bool operator!=(const MessageString& msg) {
+        return !((messageID == msg.messageID) && (s == msg.s));
+    }
+protected:
+    /**
+     * Message content
+     */
+    string s;
+
+    /**
+     * Verify if message ID is compatible with current message type
+     * @param id Message ID
+     * @return true, if message ID is acceptable, false otherwise
+     */
+    bool CheckID(MessageID id);
+};
+
+/**
+ * Message class for holding image, based on Message class
+ * 
+ * @brief Image message class
+ * 
+ */
+class MessageImg : public Message {
+public:
+    /**
+     * Create a new, empty image message
+     */
+    MessageImg();
+
+    /**
+     * Create a new image message, with given ID and boolean value
+     * @param id Message ID
+     * @param image Pointer to image
+     * @throw std::runtime_error if message ID is incompatible with image message
+     */
+    MessageImg(MessageID id, Img *image);
+
+    /**
+     * Destroy Image message
+     */
+    virtual ~MessageImg();
+    
+    /**
+     * Set message ID
+     * @param id Message ID
+     * @throw std::runtime_error if message ID is incompatible with image message
+     */
+    void SetID(MessageID id);
+
+    /**
+     * Get message image
+     * @return Pointer to image
+     */
+    Img* GetImage() {
+        return image;
+    }
+
+    /**
+     * Set message image
+     * @param image Pointer to image object
+     */
+    void SetImage(Img* image);
+
+    /**
+     * Translate content of message into a string that can be displayed
+     * @return A string describing message contents
+     */
+    string ToString();
+
+    /**
+     * Allocate a new message and copy contents of current message
+     * @return A message, copy of current
+     */
+    Message* Copy();
+
+protected:
+    /**
+     * Message image
+     */
+    Img* image;
+
+    /**
+     * Verify if message ID is compatible with current message type
+     * @param id Message ID
+     * @return true, if message ID is acceptable, false otherwise
+     */
+    bool CheckID(MessageID id);
+};
+
+/**
+ * Message class for holding position, based on Message class
+ * 
+ * @brief Position message class
+ * 
+ */
+class MessagePosition : public Message {
+public:
+    /**
+     * Create a new, empty position message
+     */
+    MessagePosition();
+
+    /**
+     * Create a new position message, with given ID and position
+     * @param id Message ID
+     * @param pos Position
+     * @throw std::runtime_error if message ID is incompatible with image message
+     */
+    MessagePosition(MessageID id, Position& pos);
+
+    /**
+     * Set message ID
+     * @param id Message ID
+     * @throw std::runtime_error if message ID is incompatible with position message
+     */
+    void SetID(MessageID id);
+
+    /**
+     * Get position
+     * @return Position
+     */
+    Position GetPosition() {
+        return pos;
+    }
+
+    /**
+     * Set position
+     * @param pos Reference to position
+     */
+    void SetPosition(Position& pos);
+
+    /**
+     * Translate content of message into a string that can be displayed
+     * @return A string describing message contents
+     */
+    string ToString();
+
+    /**
+     * Allocate a new message and copy contents of current message
+     * @return A message, copy of current
+     */
+    Message* Copy();
+
+protected:
+    /**
+     * Position
+     */
+   Position pos;
+
+    /**
+     * Verify if message ID is compatible with current message type
+     * @param id Message ID
+     * @return true, if message ID is acceptable, false otherwise
+     */
+    bool CheckID(MessageID id);
+};
+
+/**
+ * Message class for holding battery level, based on Message class
+ * 
+ * @brief Battery message class
+ * 
+ */
+class MessageBattery : public Message {
+public:
+    /**
+     * Create a new, empty battery message
+     */
+    MessageBattery();
+
+    /**
+     * Create a new battery message, with given ID and battery level
+     * @param id Message ID
+     * @param level Battery level
+     * @throw std::runtime_error if message ID is incompatible with battery message
+     */
+    MessageBattery(MessageID id, BatteryLevel level);
+
+    /**
+     * Set message ID
+     * @param id Message ID
+     * @throw std::runtime_error if message ID is incompatible with battery message
+     */
+    void SetID(MessageID id);
+
+    /**
+     * Get message image
+     * @return Battery level
+     */
+    BatteryLevel GetLevel() {
+        return level;
+    }
+
+    /**
+     * Set battery level
+     * @param level Battery level
+     */
+    void SetLevel(BatteryLevel level);
+
+    /**
+     * Translate content of message into a string that can be displayed
+     * @return A string describing message contents
+     */
+    string ToString();
+
+    /**
+     * Allocate a new message and copy contents of current message
+     * @return A message, copy of current
+     */
+    Message* Copy();
+
+protected:
+    /**
+     * Battery level
+     */
+   BatteryLevel level;
+
+    /**
+     * Verify if message ID is compatible with current message type
+     * @param id Message ID
+     * @return true, if message ID is acceptable, false otherwise
+     */
+    bool CheckID(MessageID id);
+};
+
+#endif /* __MESSAGES_H__ */
+

software/raspberry/superviseur-robot-dumber-pthread/main.cpp

@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <iostream>
+#include <unistd.h>
+
+#include <sys/mman.h>
+
+#ifdef __WITH_PTHREAD__
+#include "tasks_pthread.h"
+#else
+#include "tasks.h"
+#endif // __WITH_PTHREAD__
+
+int main(int argc, char **argv) {
+    Tasks tasks;
+    
+    
+    //Lock the memory to avoid memory swapping for this program
+    mlockall(MCL_CURRENT | MCL_FUTURE);
+
+    cout<<"#################################"<<endl;
+    cout<<"#      DE STIJL PROJECT         #"<<endl;
+    cout<<"#################################"<<endl;
+
+    tasks.Init();
+    
+    if (tasks.AcceptClient()) {
+        cout << "Rock'n'Roll baby, client accepted!"<<endl<<flush;
+        tasks.Run();
+        
+        tasks.Join();
+    }
+    
+    tasks.Stop();
+    
+    //tasks.Run();
+
+    return 0;
+}
+

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

@@ -0,0 +1,125 @@
+#
+# 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__PC_
+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
+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
+
+# Fortran Compiler Flags
+FFLAGS=
+
+# Assembler Flags
+ASFLAGS=
+
+# Link Libraries and Options
+LDLIBSOPTIONS=`pkg-config --libs opencv`  
+
+# Build Targets
+.build-conf: ${BUILD_SUBPROJECTS}
+	"${MAKE}"  -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread
+
+${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread: ${OBJECTFILES}
+	${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
+	${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread ${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"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
+
+${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 ${OBJECTDIR}/lib/camera.o lib/camera.cpp
+
+${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 ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
+
+${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 ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
+
+${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 ${OBJECTDIR}/lib/img.o lib/img.cpp
+
+${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 ${OBJECTDIR}/lib/messages.o lib/messages.cpp
+
+${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 ${OBJECTDIR}/main.o main.cpp
+
+${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
+
+# 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-dumber-pthread/nbproject/Makefile-Debug__RPI_.mk

@@ -0,0 +1,125 @@
+#
+# 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_pthread.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_pthread.o: tasks_pthread.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_pthread.o tasks_pthread.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-dumber-pthread/nbproject/Makefile-JPO2019_RPI_.mk

@@ -0,0 +1,125 @@
+#
+# 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=JPO2019_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_pthread.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=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
+CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
+
+# Fortran Compiler Flags
+FFLAGS=
+
+# Assembler Flags
+ASFLAGS=
+
+# Link Libraries and Options
+LDLIBSOPTIONS=`pkg-config --libs opencv4`  
+
+# Build Targets
+.build-conf: ${BUILD_SUBPROJECTS}
+	"${MAKE}"  -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread
+
+${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread: ${OBJECTFILES}
+	${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
+	${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lpthread -lrt
+
+${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib/base64
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
+
+${OBJECTDIR}/lib/camera.o: lib/camera.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
+
+${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
+
+${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
+
+${OBJECTDIR}/lib/img.o: lib/img.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
+
+${OBJECTDIR}/lib/messages.o: lib/messages.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
+
+${OBJECTDIR}/main.o: main.cpp
+	${MKDIR} -p ${OBJECTDIR}
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
+
+${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
+	${MKDIR} -p ${OBJECTDIR}
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.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-dumber-pthread/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=superviseur-robot-dumber-pthread
+
+# Active Configuration
+DEFAULTCONF=Debug__PC_
+CONF=${DEFAULTCONF}
+
+# All Configurations
+ALLCONFS=Debug__PC_ Debug__RPI_ JPO2019_RPI_ 
+
+
+# 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/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-variables.mk

@@ -0,0 +1,43 @@
+#
+# Generated - do not edit!
+#
+# NOCDDL
+#
+CND_BASEDIR=`pwd`
+CND_BUILDDIR=build
+CND_DISTDIR=dist
+# Debug__PC_ configuration
+CND_PLATFORM_Debug__PC_=GNU-Linux
+CND_ARTIFACT_DIR_Debug__PC_=dist/Debug__PC_/GNU-Linux
+CND_ARTIFACT_NAME_Debug__PC_=superviseur-robot-dumber-pthread
+CND_ARTIFACT_PATH_Debug__PC_=dist/Debug__PC_/GNU-Linux/superviseur-robot-dumber-pthread
+CND_PACKAGE_DIR_Debug__PC_=dist/Debug__PC_/GNU-Linux/package
+CND_PACKAGE_NAME_Debug__PC_=superviseur-robot-dumber-pthread.tar
+CND_PACKAGE_PATH_Debug__PC_=dist/Debug__PC_/GNU-Linux/package/superviseur-robot-dumber-pthread.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
+# JPO2019_RPI_ configuration
+CND_PLATFORM_JPO2019_RPI_=GNU-Linux
+CND_ARTIFACT_DIR_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux
+CND_ARTIFACT_NAME_JPO2019_RPI_=superviseur-robot-dumber-pthread
+CND_ARTIFACT_PATH_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/superviseur-robot-dumber-pthread
+CND_PACKAGE_DIR_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/package
+CND_PACKAGE_NAME_JPO2019_RPI_=superviseur-robot-dumber-pthread.tar
+CND_PACKAGE_PATH_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/package/superviseur-robot-dumber-pthread.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/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-Debug__PC_.bash

@@ -0,0 +1,76 @@
+#!/bin/bash -x
+
+#
+# Generated - do not edit!
+#
+
+# Macros
+TOP=`pwd`
+CND_PLATFORM=GNU-Linux
+CND_CONF=Debug__PC_
+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-dumber-pthread
+OUTPUT_BASENAME=superviseur-robot-dumber-pthread
+PACKAGE_TOP_DIR=superviseur-robot-dumber-pthread/
+
+# 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 "${NBTMPDIR}/superviseur-robot-dumber-pthread/bin"
+copyFileToTmpDir "${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-dumber-pthread.tar
+cd ${NBTMPDIR}
+tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot-dumber-pthread.tar *
+checkReturnCode
+
+# Cleanup
+cd "${TOP}"
+rm -rf ${NBTMPDIR}

software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-Debug__RPI_.bash

@@ -0,0 +1,76 @@
+#!/bin/bash -x
+
+#
+# Generated - do not edit!
+#
+
+# Macros
+TOP=`pwd`
+CND_PLATFORM=GNU-Linux
+CND_CONF=Debug__RPI_
+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/
+
+# 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 "${NBTMPDIR}/superviseur-robot/bin"
+copyFileToTmpDir "${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
+cd ${NBTMPDIR}
+tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar *
+checkReturnCode
+
+# Cleanup
+cd "${TOP}"
+rm -rf ${NBTMPDIR}

software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-JPO2019_RPI_.bash

@@ -0,0 +1,76 @@
+#!/bin/bash -x
+
+#
+# Generated - do not edit!
+#
+
+# Macros
+TOP=`pwd`
+CND_PLATFORM=GNU-Linux
+CND_CONF=JPO2019_RPI_
+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-dumber-pthread
+OUTPUT_BASENAME=superviseur-robot-dumber-pthread
+PACKAGE_TOP_DIR=superviseur-robot-dumber-pthread/
+
+# 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 "${NBTMPDIR}/superviseur-robot-dumber-pthread/bin"
+copyFileToTmpDir "${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-dumber-pthread.tar
+cd ${NBTMPDIR}
+tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot-dumber-pthread.tar *
+checkReturnCode
+
+# Cleanup
+cd "${TOP}"
+rm -rf ${NBTMPDIR}

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

@@ -0,0 +1,269 @@
+<?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">
+      <itemPath>./lib/base64/base64.h</itemPath>
+      <itemPath>./lib/camera.h</itemPath>
+      <itemPath>./lib/commonitor.h</itemPath>
+      <itemPath>./lib/comrobot.h</itemPath>
+      <itemPath>./lib/img.h</itemPath>
+      <itemPath>./lib/messages.h</itemPath>
+      <itemPath>./tasks.h</itemPath>
+      <itemPath>./tasks_pthread.h</itemPath>
+    </logicalFolder>
+    <logicalFolder name="ResourceFiles"
+                   displayName="Resource Files"
+                   projectFiles="true">
+      <itemPath>./gdbsudo.sh</itemPath>
+    </logicalFolder>
+    <logicalFolder name="SourceFiles"
+                   displayName="Source Files"
+                   projectFiles="true">
+      <itemPath>./lib/base64/base64.cpp</itemPath>
+      <itemPath>./lib/camera.cpp</itemPath>
+      <itemPath>./lib/commonitor.cpp</itemPath>
+      <itemPath>./lib/comrobot.cpp</itemPath>
+      <itemPath>./lib/img.cpp</itemPath>
+      <itemPath>./main.cpp</itemPath>
+      <itemPath>./lib/messages.cpp</itemPath>
+      <itemPath>./tasks.cpp</itemPath>
+      <itemPath>./tasks_pthread.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>
+  <sourceRootList>
+    <Elem>lib</Elem>
+  </sourceRootList>
+  <projectmakefile>./Makefile</projectmakefile>
+  <confs>
+    <conf name="Debug__PC_" type="1">
+      <toolsSet>
+        <compilerSet>default</compilerSet>
+        <dependencyChecking>true</dependencyChecking>
+        <rebuildPropChanged>false</rebuildPropChanged>
+      </toolsSet>
+      <compileType>
+        <cTool>
+          <incDir>
+            <pElem>./</pElem>
+            <pElem>./lib</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</commandLine>
+          <preprocessorList>
+            <Elem>_WITH_TRACE_</Elem>
+            <Elem>__FOR_PC__</Elem>
+            <Elem>__WITH_ARUCO__</Elem>
+          </preprocessorList>
+        </ccTool>
+        <linkerTool>
+          <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>
+      <item path="./tasks_pthread.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>
+        </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.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./tasks_pthread.cpp" ex="false" tool="1" flavor2="0">
+      </item>
+      <item path="./tasks_pthread.h" ex="false" tool="3" flavor2="0">
+      </item>
+    </conf>
+    <conf name="JPO2019_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>
+          <standard>8</standard>
+          <incDir>
+            <pElem>./</pElem>
+            <pElem>./lib</pElem>
+          </incDir>
+          <commandLine>-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11</commandLine>
+          <preprocessorList>
+            <Elem>_WITH_TRACE_</Elem>
+            <Elem>__FOR_PC__</Elem>
+            <Elem>__WITH_ARUCO__</Elem>
+            <Elem>__WITH_PTHREAD__</Elem>
+          </preprocessorList>
+        </ccTool>
+        <linkerTool>
+          <linkerLibItems>
+            <linkerOptionItem>`pkg-config --libs opencv4`</linkerOptionItem>
+          </linkerLibItems>
+          <commandLine>-Wl,--no-as-needed -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="8">
+      </item>
+      <item path="./lib/base64/base64.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./lib/camera.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./lib/camera.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./lib/commonitor.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./lib/commonitor.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./lib/comrobot.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./lib/comrobot.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./lib/img.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./lib/img.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./lib/messages.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./lib/messages.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./main.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./tasks.cpp" ex="true" tool="1" flavor2="8">
+      </item>
+      <item path="./tasks.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./tasks_pthread.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./tasks_pthread.h" ex="false" tool="3" flavor2="0">
+      </item>
+    </conf>
+  </confs>
+</configurationDescriptor>

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

@@ -0,0 +1,8 @@
+#
+# Generated - do not edit!
+#
+# NOCDDL
+#
+# Debug__PC_ configuration
+# Debug__RPI_ configuration
+# JPO2019_RPI_ configuration

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

@@ -0,0 +1,109 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configurationDescriptor version="100">
+  <projectmakefile>./Makefile</projectmakefile>
+  <confs>
+    <conf name="Debug__PC_" 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>sudo "${OUTPUT_PATH}"</runcommandpicklistitem>
+          <runcommandpicklistitem>sudo -E "${OUTPUT_PATH}"</runcommandpicklistitem>
+          <runcommandpicklistitem>pkexec "${OUTPUT_PATH}"</runcommandpicklistitem>
+          <runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
+        </runcommandpicklist>
+        <runcommand>"${OUTPUT_PATH}"</runcommand>
+        <rundir></rundir>
+        <buildfirst>true</buildfirst>
+        <console-type>1</console-type>
+        <terminal-type>0</terminal-type>
+        <remove-instrumentation>0</remove-instrumentation>
+        <environment>
+        </environment>
+      </runprofile>
+    </conf>
+    <conf name="Debug__RPI_" type="1">
+      <toolsSet>
+        <developmentServer>pi@10.105.1.11:22</developmentServer>
+        <platform>2</platform>
+      </toolsSet>
+      <dbx_gdbdebugger version="1">
+        <gdb_pathmaps>
+        </gdb_pathmaps>
+        <gdb_interceptlist>
+          <gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
+        </gdb_interceptlist>
+        <gdb_options>
+          <DebugOptions>
+          </DebugOptions>
+        </gdb_options>
+        <gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
+      </dbx_gdbdebugger>
+      <nativedebugger version="1">
+        <engine>gdb</engine>
+      </nativedebugger>
+      <runprofile version="9">
+        <runcommandpicklist>
+          <runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
+        </runcommandpicklist>
+        <runcommand>"${OUTPUT_PATH}"</runcommand>
+        <rundir></rundir>
+        <buildfirst>true</buildfirst>
+        <terminal-type>0</terminal-type>
+        <remove-instrumentation>0</remove-instrumentation>
+        <environment>
+        </environment>
+      </runprofile>
+    </conf>
+    <conf name="JPO2019_RPI_" type="1">
+      <toolsSet>
+        <developmentServer>xenomai@192.168.1.141:22</developmentServer>
+        <platform>2</platform>
+      </toolsSet>
+      <dbx_gdbdebugger version="1">
+        <gdb_pathmaps>
+        </gdb_pathmaps>
+        <gdb_interceptlist>
+          <gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
+        </gdb_interceptlist>
+        <gdb_options>
+          <DebugOptions>
+          </DebugOptions>
+        </gdb_options>
+        <gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
+      </dbx_gdbdebugger>
+      <nativedebugger version="1">
+        <engine>gdb</engine>
+      </nativedebugger>
+      <runprofile version="9">
+        <runcommandpicklist>
+          <runcommandpicklistitem>"${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-dumber-pthread/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/raspberry/superviseur-robot-dumber-pthread/nbproject/private/downloads-10.105.1.13-pi-22

@@ -0,0 +1,3 @@
+#Tue Jan 08 15:35:51 CET 2019
+____VERSION=2.0
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/dist/Debug__Pthread__RPI/GNU-Linux/superviseur-robot=1v

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

@@ -0,0 +1,19 @@
+<?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>2</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/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/img.h</file>
+            <file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/img.cpp</file>
+            <file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/messages.cpp</file>
+            <file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/tasks_pthread.cpp</file>
+            <file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/commonitor.cpp</file>
+            <file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/camera.cpp</file>
+            <file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/camera.h</file>
+        </group>
+    </open-files>
+</project-private>

software/raspberry/superviseur-robot-dumber-pthread/nbproject/private/timestamps-10.105.1.11-pi-22

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software/raspberry/superviseur-robot-dumber-pthread/nbproject/project.properties

@@ -0,0 +1,2 @@
+#Tue Nov 13 11:04:27 CET 2018
+project.license=gpl30

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

@@ -0,0 +1,34 @@
+<?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>superviseur-pthread</name>
+            <c-extensions/>
+            <cpp-extensions>cpp</cpp-extensions>
+            <header-extensions>h</header-extensions>
+            <sourceEncoding>UTF-8</sourceEncoding>
+            <make-dep-projects/>
+            <sourceRootList>
+                <sourceRootElem>lib</sourceRootElem>
+            </sourceRootList>
+            <confList>
+                <confElem>
+                    <name>Debug__PC_</name>
+                    <type>1</type>
+                </confElem>
+                <confElem>
+                    <name>Debug__RPI_</name>
+                    <type>1</type>
+                </confElem>
+                <confElem>
+                    <name>JPO2019_RPI_</name>
+                    <type>1</type>
+                </confElem>
+            </confList>
+            <formatting>
+                <project-formatting-style>false</project-formatting-style>
+            </formatting>
+        </data>
+    </configuration>
+</project>

software/raspberry/superviseur-robot-dumber-pthread/tasks.cpp

@@ -0,0 +1,383 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "tasks.h"
+#include <stdexcept>
+
+// Déclaration des priorités des taches
+#define PRIORITY_TSERVER 30
+#define PRIORITY_TOPENCOMROBOT 20
+#define PRIORITY_TMOVE 10
+#define PRIORITY_TSENDTOMON 22
+#define PRIORITY_TRECEIVEFROMMON 25
+#define PRIORITY_TSTARTROBOT 20
+#define PRIORITY_TCAMERA 21
+
+/*
+ * Some remarks:
+ * 1- This program is mostly a template. It shows you how to create tasks, semaphore
+ *   message queues, mutex ... and how to use them
+ * 
+ * 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
+ * 
+ * 3- Data flow is probably not optimal
+ * 
+ * 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
+ *   time for internal buffer to flush
+ * 
+ * 5- Same behavior existe for ComMonitor::Write !
+ * 
+ * 6- When you want to write something in terminal, use cout and terminate with endl and flush
+ * 
+ * 7- Good luck !
+ */
+
+/**
+ * @brief Initialisation des structures de l'application (tâches, mutex, 
+ * semaphore, etc.)
+ */
+void Tasks::Init() {
+    int status;
+    int err;
+
+    /**************************************************************************************/
+    /* 	Mutex creation                                                                    */
+    /**************************************************************************************/
+    if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_mutex_create(&mutex_move, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    cout << "Mutexes created successfully" << endl << flush;
+
+    /**************************************************************************************/
+    /* 	Semaphors creation       							  */
+    /**************************************************************************************/
+    if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
+        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_sem_create(&sem_openComRobot, NULL, 0, S_FIFO)) {
+        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) {
+        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_sem_create(&sem_startRobot, NULL, 0, S_FIFO)) {
+        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    cout << "Semaphores created successfully" << endl << flush;
+
+    /**************************************************************************************/
+    /* Tasks creation                                                                     */
+    /**************************************************************************************/
+    if (err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_create(&th_openComRobot, "th_openComRobot", 0, PRIORITY_TOPENCOMROBOT, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_create(&th_startRobot, "th_startRobot", 0, PRIORITY_TSTARTROBOT, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_create(&th_camera, "th_camera", 0, PRIORITY_TCAMERA, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    cout << "Tasks created successfully" << endl << flush;
+
+    /**************************************************************************************/
+    /* Message queues creation                                                            */
+    /**************************************************************************************/
+    if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
+        cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    cout << "Queues created successfully" << endl << flush;
+
+    /* Open com port with STM32 */
+    cout << "Open serial com (";
+    status = robot.Open();
+    cout << status;
+    cout << ")" << endl;
+
+    if (status >= 0) {
+        // Open server
+
+        status = monitor.Open(SERVER_PORT);
+        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)
+        };
+    } else
+        throw std::runtime_error {
+        "Unable to open serial port /dev/ttyS0 "
+    };
+}
+
+/**
+ * @brief Démarrage des tâches
+ */
+void Tasks::Run() {
+    int err;
+
+    if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+
+    if (err = rt_task_start(&th_camera, (void(*)(void*)) & Tasks::CameraTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+
+    //    if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
+    //        cerr << "Error task start: " << strerror(-err) << endl << flush;
+    //        exit(EXIT_FAILURE);
+    //    }
+
+    cout << "Tasks launched" << endl << flush;
+}
+
+/**
+ * @brief Arrêt des tâches
+ */
+void Tasks::Stop() {
+    monitor.Close();
+    robot.Close();
+}
+
+/**
+ */
+void Tasks::Join() {
+    rt_sem_broadcast(&sem_barrier);
+    pause();
+}
+
+/**
+ * @brief Thread handling server communication.
+ */
+
+void Tasks::ReceiveFromMonTask(void *arg) {
+    Message *msgRcv;
+    Message *msgSend;
+    bool isActive = true;
+
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+
+    while (isActive) {
+        msgRcv = NULL;
+        msgSend = NULL;
+
+        msgRcv = monitor.Read();
+        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+            isActive = true;
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+            cout << "isActive = false!" << msgRcv->ToString() << endl << flush;
+            isActive = false;
+
+            delete(msgRcv); // mus be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
+            msgSend = robot.Write(msgRcv);
+            cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
+            msgSend = robot.Write(msgRcv);
+            cout << "Start without wd answer: " << msgSend->ToString() << endl << flush;
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_RESET)) {
+            msgSend = robot.Write(msgRcv);
+            cout << "Reset answer: " << msgSend->ToString() << endl << flush;
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
+                msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
+                msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
+                msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
+                msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
+            msgSend = robot.Write(msgRcv);
+
+            cout << "Movement answer: " << msgSend->ToString() << endl << flush;
+
+            if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
+                delete (msgSend);
+                msgSend = NULL;
+            }
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
+            sendImage = true;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
+            sendImage = false;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
+            sendPosition = true;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
+            sendPosition = false;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
+            msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
+            showArena = true;
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
+            showArena = false;
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
+            showArena = false;
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgSend != NULL) monitor.Write(msgSend);
+    }
+}
+
+/**
+ * @brief Thread handling periodic image capture.
+ */
+void Tasks::CameraTask(void* arg) {
+    struct timespec tim, tim2;
+    Message *msgSend;
+    int counter;
+    int cntFrame = 0;
+    Position pos;
+    Arena arena;
+
+    tim.tv_sec = 0;
+    tim.tv_nsec = 50000000; // 50ms (20fps)
+
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+
+    Camera camera = Camera(sm, 20);
+    cout << "Try opening camera" << endl << flush;
+    if (camera.Open()) cout << "Camera opened successfully" << endl << flush;
+    else {
+        cout << "Failed to open camera" << endl << flush;
+
+        exit(0);
+    }
+
+    while (1) {
+        
+    }
+}
+
+/**
+ * @brief Thread sending data to monitor.
+ */
+void Tasks::SendToMonTask(void* arg) {
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+
+    while (1) {
+
+    }
+}
+
+/**
+ * Write a message in a given queue
+ * @param queue Queue identifier
+ * @param msg Message to be stored
+ */
+void WriteInQueue(RT_QUEUE &queue, Message *msg) {
+    int err;
+
+    if ((err = rt_queue_send(&queue, (const void *) msg, sizeof ((const void *) msg), Q_NORMAL)) < 0) {
+        cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
+        throw std::runtime_error{"Error in write in queue"};
+    }
+}
+
+/**
+ * Read a message from a given queue, block if empty
+ * @param queue Queue identifier
+ * @return Message read
+ */
+Message *ReadInQueue(RT_QUEUE &queue) {
+    int err;
+    Message *msg;
+
+    if ((err = rt_queue_read(&queue, (void*) msg, sizeof ((void*) msg), TM_INFINITE)) < 0) {
+        cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
+        throw std::runtime_error{"Error in write in queue"};
+    }
+
+    return msg;
+}
+

software/raspberry/superviseur-robot-dumber-pthread/tasks.h

@@ -0,0 +1,165 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __TASKS_H__
+#define __TASKS_H__
+
+#include <unistd.h>
+#include <iostream>
+
+#include <sys/mman.h>
+#include <alchemy/task.h>
+#include <alchemy/timer.h>
+#include <alchemy/mutex.h>
+#include <alchemy/sem.h>
+#include <alchemy/queue.h>
+
+#include "messages.h"
+#include "commonitor.h"
+#include "comrobot.h"
+#include "camera.h"
+#include "img.h"
+
+using namespace std;
+
+class Tasks {
+public:
+    /**
+     * @brief Initialisation des structures de l'application (tâches, mutex, 
+     * semaphore, etc.)
+     */
+    void Init();
+
+    /**
+     * @brief Démarrage des tâches
+     */
+    void Run();
+
+    /**
+     * @brief Arrêt des tâches
+     */
+    void Stop();
+    
+    /**
+     */
+    void Join();
+    
+    /**
+     */
+    bool AcceptClient() {
+        return monitor.AcceptClient();
+    }
+    
+private:
+    ComMonitor monitor;
+    ComRobot robot;
+    
+    bool sendImage=false;
+    bool sendPosition=false;
+    
+    int counter;
+    bool flag;
+    
+    bool showArena=false;
+    
+    RT_TASK th_server;
+    RT_TASK th_sendToMon;
+    RT_TASK th_receiveFromMon;
+    RT_TASK th_openComRobot;
+    RT_TASK th_startRobot;
+    RT_TASK th_move;
+    RT_TASK th_camera;
+
+    RT_MUTEX mutex_robotStarted;
+    RT_MUTEX mutex_move;
+
+    RT_SEM sem_barrier;
+    RT_SEM sem_openComRobot;
+    RT_SEM sem_serverOk;
+    RT_SEM sem_startRobot;
+
+    RT_QUEUE q_messageToMon;
+
+    int etatCommMoniteur;
+    int robotStarted;
+    char robotMove;
+
+    int MSG_QUEUE_SIZE;
+
+    char mode_start;
+    
+    /**
+     * Write a message in a given queue
+     * @param queue Queue identifier
+     * @param msg Message to be stored
+     */
+    void WriteInQueue(RT_QUEUE *queue, Message *msg);
+
+    /**
+     * Read a message from a given queue, block if empty
+     * @param queue Queue identifier
+     * @return Message read
+     */
+    Message *ReadInQueue(RT_QUEUE *queue);
+    
+    /**
+     * @brief Thread handling server communication.
+     */
+    void ReceiveFromMonTask(void *arg);
+
+    /**
+     * @brief Thread handling periodic image capture.
+     */
+    void CameraTask(void *arg);
+    
+    /**
+     * @brief Thread sending data to monitor.
+     */
+    void SendToMonTask(void *arg);
+//    /**
+//     * \brief       Thread handling server communication.
+//     */
+//    void f_server(void *arg);
+//
+//    /**
+//     * \brief       Thread handling communication to monitor.
+//     */
+//    void f_sendToMon(void *arg);
+//
+//    /**
+//     * \brief       Thread handling communication from monitor.
+//     */
+//    void f_receiveFromMon(void *arg);
+//
+//    /**
+//     * \brief       Thread handling opening of robot communication.
+//     */
+//    void f_openComRobot(void * arg);
+//
+//    /**
+//     * \brief       Thread handling robot mouvements.
+//     */
+//    void f_move(void *arg);
+//
+//    /**
+//     * \brief       Thread handling robot activation.
+//     */
+//    void f_startRobot(void *arg);
+};
+
+#endif // __TASKS_H__ 
+

software/raspberry/superviseur-robot-dumber-pthread/tasks_pthread.cpp

@@ -0,0 +1,315 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "tasks_pthread.h"
+#include <time.h>
+
+#ifdef __WITH_PTHREAD__
+
+// Déclaration des priorités des taches
+#define PRIORITY_TSERVER 30
+#define PRIORITY_TOPENCOMROBOT 20
+#define PRIORITY_TMOVE 10
+#define PRIORITY_TSENDTOMON 25
+#define PRIORITY_TRECEIVEFROMMON 22
+#define PRIORITY_TSTARTROBOT 20
+
+/*
+ * Some remarks:
+ * 1- This program is mostly a template. It shows you how to create tasks, semaphore
+ *   message queues, mutex ... and how to use them
+ * 
+ * 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
+ * 
+ * 3- Data flow is probably not optimal
+ * 
+ * 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
+ *   time for internal buffer to flush
+ * 
+ * 5- Same behavior existe for ComMonitor::Write !
+ * 
+ * 6- When you want to write something in terminal, use cout and terminate with endl and flush
+ * 
+ * 7- Good luck !
+ */
+
+void Tasks::Init() {
+    int status;
+
+    /* Open com port with STM32 */
+    cout << "Open serial com (";
+    status = robot.Open();
+    cout << status;
+    cout << ")" << endl;
+
+    if (status >= 0) {
+        // Open server
+
+        status = monitor.Open(SERVER_PORT);
+        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)
+        };
+    } else
+        throw std::runtime_error {
+        "Unable to open serial port /dev/ttyS0 "
+    };
+}
+
+void Tasks::Run() {
+    threadTimer = new thread((void (*)(void*)) & Tasks::TimerTask, this);
+    threadServer = new thread((void (*)(void*)) & Tasks::ServerTask, this);
+
+    cout << "Tasks launched" << endl << flush;
+}
+
+void Tasks::Stop() {
+    monitor.Close();
+    robot.Close();
+}
+
+void Tasks::ServerTask(void *arg) {
+    Message *msgRcv;
+    Message *msgSend;
+    bool isActive = true;
+
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+
+    while (isActive) {
+        msgRcv = NULL;
+        msgSend = NULL;
+
+        msgRcv = monitor.Read();
+        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+            isActive = true;
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+            cout << "isActive = false!" << msgRcv->ToString() << endl << flush;
+            isActive = false;
+
+            delete(msgRcv); // mus be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
+            msgSend = robot.Write(msgRcv);
+            cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
+            msgSend = robot.Write(msgRcv);
+            cout << "Start without wd answer: " << msgSend->ToString() << endl << flush;
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_RESET)) {
+            msgSend = robot.Write(msgRcv);
+            cout << "Reset answer: " << msgSend->ToString() << endl << flush;
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
+                msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
+                msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
+                msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
+                msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
+            msgSend = robot.Write(msgRcv);
+
+            cout << "Movement answer: " << msgSend->ToString() << endl << flush;
+
+            if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
+                delete (msgSend);
+                msgSend = NULL;
+            }
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
+            sendImage = true;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+            cout << "Start sending images" << endl << flush;
+            
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
+            sendImage = false;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+            cout << "Stop sending images" << endl << flush;
+            
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
+            sendPosition = true;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+            cout << "Start computing positions based on AruCo" << endl << flush;
+            
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
+            sendPosition = false;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+            cout << "Stop computing positions based on AruCo" << endl << flush;
+            
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
+            msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
+            showArena = true;
+            cout << "Ask for arena boundaries" << endl << flush;
+            
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
+            showArena = false;
+            cout << "Arena boundaries OK" << endl << flush;
+            
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
+            showArena = false;
+            cout << "Arena boundaries rejected" << endl << flush;
+            
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgSend != NULL) monitor.Write(msgSend);
+    }
+}
+
+void Tasks::TimerTask(void* arg) {
+    struct timespec tim, tim2;
+    Message *msgSend;
+    int counter;
+    int cntFrame = 0;
+    Position pos;
+    Arena arena;
+    int counter_img;
+
+    tim.tv_sec = 0;
+    tim.tv_nsec = 50000000; // 50ms (20fps)
+
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+
+    Camera camera = Camera(sm, 15);
+    cout << "Try opening camera" << endl << flush;
+    if (camera.Open()) {
+        cout << "Camera opened successfully" << endl ;
+        cout << "Image size: " << camera.GetWidth() << "x"<< camera.GetHeight() << " @ " << camera.GetFPS() <<endl<<flush;
+    } else {
+        cout << "Failed to open camera" << endl << flush;
+
+        exit(0);
+    }
+
+    pos.angle = 0.0;
+    pos.robotId = -1;
+    pos.center = cv::Point2f(0, 0);
+    pos.direction = cv::Point2f(0, 0);
+
+    counter_img = 0;
+
+    while (1) {
+        Img image = camera.Grab(); // 15fps
+        //cntFrame++;
+        //cout << "cnt: " << to_string(cntFrame) << endl << flush;
+        
+        if (sendPosition == true) {
+            counter++;
+
+            if (counter >= 5) { // div =15
+                counter = 0;
+                
+                //if (!arena.IsEmpty()) {
+                image.dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3));
+
+                std::list<Position> poses = image.SearchRobot(arena);
+                cout << "Nbr of pos detected: " << to_string(poses.size()) << endl << flush;
+
+                if (poses.size() > 0) {
+                    Position firstPos = poses.front();
+
+                    pos.angle = firstPos.angle;
+                    pos.robotId = firstPos.robotId;
+                    pos.center = firstPos.center;
+                    pos.direction = firstPos.direction;
+                } else {
+                    // Nothing found
+                    pos.angle = 0.0;
+                    pos.robotId = -1;
+                    pos.center = cv::Point2f(0, 0);
+                    pos.direction = cv::Point2f(0, 0);
+                }
+
+                MessagePosition *msgp = new MessagePosition(MESSAGE_CAM_POSITION, pos);
+                monitor.Write(msgp);
+                cout << "Position sent" << endl << flush;
+            }
+        }
+
+        if (sendImage == true) {
+            counter_img++;
+
+            if (counter_img >= 1) {
+                counter_img = 0;
+
+                if (showArena) {
+                    arena = image.SearchArena();
+
+                    if (!arena.IsEmpty()) image.DrawArena(arena);
+                    else cout << "Arena not found" << endl << flush;
+                }
+
+                if (sendPosition == true) {
+                    image.DrawRobot(pos);
+                }
+
+                if (!arena.IsEmpty()) image.DrawArena(arena);
+                
+                Img resizedImage = image.Resize();
+                MessageImg *msg = new MessageImg(MESSAGE_CAM_IMAGE, &resizedImage);
+
+                monitor.Write(msg);
+                //cout << "Image sent" <<  endl << flush;
+            }
+        }
+    }
+}
+
+void Tasks::SendToMonTask(void* arg) {
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+
+    while (1) {
+
+    }
+}
+
+#endif //__WITH_PTHREAD__

software/raspberry/superviseur-robot-dumber-pthread/tasks_pthread.h

@@ -0,0 +1,104 @@
+/*
+ * Copyright (C) 2018 dimercur
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __TASKS_H__
+#define __TASKS_H__
+
+#ifdef __WITH_PTHREAD__
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include "camera.h"
+#include "img.h"
+
+#include "messages.h"
+#include "commonitor.h"
+#include "comrobot.h"
+
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+
+class Tasks {
+public:
+/**
+     * @brief Initialisation des structures de l'application (tâches, mutex, 
+     * semaphore, etc.)
+     */
+    void Init();
+
+    /**
+     * @brief Démarrage des tâches
+     */
+    void Run();
+
+    /**
+     * @brief Arrêt des tâches
+     */
+    void Stop();
+    
+    /**
+     */
+    void Join() {
+        threadServer->join();
+        threadTimer->join();
+        threadSendToMon->join();
+    }
+    
+    /**
+     */
+    bool AcceptClient() {
+        return monitor.AcceptClient();
+    }
+    
+     /**
+     * @brief Thread handling server communication.
+     */
+    void ServerTask(void *arg);
+
+    /**
+     * @brief Thread handling server communication.
+     */
+    void TimerTask(void *arg);
+    
+    /**
+     * @brief Thread handling communication to monitor.
+     */
+    void SendToMonTask(void *arg);
+private:
+    ComMonitor monitor;
+    ComRobot robot;
+    
+    bool sendImage=false;
+    bool sendPosition=false;
+    
+    int counter;
+    bool flag;
+    
+    bool showArena=false;
+    
+    thread *threadServer;
+    thread *threadSendToMon;
+    thread *threadTimer;
+    
+    mutex mutexTimer;
+};
+
+#endif // __WITH_PTHREAD__
+#endif /* __TASKS_H__ */
+

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

@@ -155,3 +155,4 @@ int Camera::GetWidth() const {
 int Camera::GetHeight() const {
     return height;
 }
+

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

@@ -6,11 +6,6 @@
     </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>
+        <group/>
-            <file>file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
-            <file>file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
-            <file>file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
-            <file>file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
-        </group>
     </open-files>
 </project-private>