aruco rajouté + script pour compiler et installer opencv avec le support aruco

software/install-opencv.sh

@@ -0,0 +1,88 @@
+#!/bin/bash
+
+######################################
+# INSTALL OPENCV ON UBUNTU OR DEBIAN #
+######################################
+
+# |          THIS SCRIPT IS TESTED CORRECTLY ON          |
+# |------------------------------------------------------|
+# | OS               | OpenCV       | Test | Last test   |
+# |------------------|--------------|------|-------------|
+# | Ubuntu 18.04 LTS | OpenCV 3.4.2 | OK   | 18 Jul 2018 |
+# | Debian 9.5       | OpenCV 3.4.2 | OK   | 18 Jul 2018 |
+# |----------------------------------------------------- |
+# | Debian 9.0       | OpenCV 3.2.0 | OK   | 25 Jun 2017 |
+# | Debian 8.8       | OpenCV 3.2.0 | OK   | 20 May 2017 |
+# | Ubuntu 16.04 LTS | OpenCV 3.2.0 | OK   | 20 May 2017 |
+
+
+# VERSION TO BE INSTALLED
+
+OPENCV_VERSION='3.4.2'
+
+
+# 1. KEEP UBUNTU OR DEBIAN UP TO DATE
+
+sudo apt-get -y update
+# sudo apt-get -y upgrade       # Uncomment this line to install the newest versions of all packages currently installed
+# sudo apt-get -y dist-upgrade  # Uncomment this line to, in addition to 'upgrade', handles changing dependencies with new versions of packages
+# sudo apt-get -y autoremove    # Uncomment this line to remove packages that are now no longer needed
+
+
+# 2. INSTALL THE DEPENDENCIES
+
+# Build tools:
+sudo apt-get install -y build-essential cmake
+
+# GUI (if you want to use GTK instead of Qt, replace 'qt5-default' with 'libgtkglext1-dev' and remove '-DWITH_QT=ON' option in CMake):
+#sudo apt-get install -y qt5-default libvtk6-dev
+sudo apt-get install -y libgtkglext1-dev
+
+# Media I/O:
+sudo apt-get install -y zlib1g-dev libjpeg-dev libwebp-dev libpng-dev libtiff5-dev libjasper-dev libopenexr-dev libgdal-dev
+
+# Video I/O:
+sudo apt-get install -y libdc1394-22-dev libavcodec-dev libavformat-dev libswscale-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev yasm libopencore-amrnb-dev libopencore-amrwb-dev libv4l-dev libxine2-dev
+
+# Parallelism and linear algebra libraries:
+sudo apt-get install -y libtbb-dev libeigen3-dev
+
+# Python:
+sudo apt-get install -y python-dev python-tk python-numpy python3-dev python3-tk python3-numpy
+
+# Java:
+sudo apt-get install -y ant default-jdk
+
+# Documentation:
+sudo apt-get install -y doxygen
+
+
+# 3. INSTALL THE LIBRARY
+
+sudo apt-get install -y unzip wget
+wget https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip
+
+unzip ${OPENCV_VERSION}.zip
+rm ${OPENCV_VERSION}.zip
+mv opencv-${OPENCV_VERSION} OpenCV
+
+# 3.5 Add Aruco
+# Get opencv_contrib from github
+# Copy aruco directory from <opencv_contrib>/modules to <opencv>/modules
+wget https://github.com/opencv/opencv_contrib/archive/${OPENCV_VERSION}.zip
+mv ${OPENCV_VERSION}.zip opencv_contrib-${OPENCV_VERSION}.zip
+unzip opencv_contrib-${OPENCV_VERSION}.zip
+
+cd OpenCV
+mkdir build
+cd build
+# cmake -DWITH_QT=ON -DWITH_OPENGL=ON -DFORCE_VTK=ON -DWITH_TBB=ON -DWITH_GDAL=ON -DWITH_XINE=ON -DBUILD_EXAMPLES=ON -DENABLE_PRECOMPILED_HEADERS=OFF ..
+cmake -DWITH_OPENGL=ON -DFORCE_VTK=ON -DWITH_TBB=ON -DWITH_GDAL=ON -DWITH_XINE=ON -DBUILD_EXAMPLES=ON -DENABLE_PRECOMPILED_HEADERS=ON -D INSTALL_C_EXAMPLES=ON -D BUILD_JAVA=OFF -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-${OPENCV_VERSION}/modules -DBUILD_aruco=ON ..
+make -j5
+sudo make install
+sudo ldconfig
+
+
+# 4. EXECUTE SOME OPENCV EXAMPLES AND COMPILE A DEMONSTRATION
+
+# To complete this step, please visit 'http://milq.github.io/install-opencv-ubuntu-debian'.

software/monitor/monitor/Client.cs

@@ -35,7 +35,7 @@ namespace monitor
         /// <summary>
         /// Default server name
         /// </summary>
-        public const string defaultIP = "localhost";
+        public const string defaultIP = "10.105.1.13";
 
         /// <summary>
         /// Default server port number
@@ -55,7 +55,7 @@ namespace monitor
         /// <summary>
         /// Size of internal buffer used when reading data from server
         /// </summary>
-        private const int BufferMaxSize = 512;
+        private const int BufferMaxSize = 8*1024;
 
         /// <summary>
         /// Internal buffer used when reading data from server
@@ -66,7 +66,7 @@ namespace monitor
         /// buffer containing received message from TCP server
         /// Used to concatenate internal buffers into one
         /// </summary>
-        private static byte[] receiveBuffer;
+        //private static byte[] receiveBuffer;
 
         //private static int initialReceiveBufferIndex = 0;
 
@@ -84,11 +84,6 @@ namespace monitor
         public static ReadEvent readEvent = null;
 
         /// <summary>
-        /// Thread used in reception
-        /// </summary>
-        private static Thread readThread;
-
-        /// <summary>
         /// Open connection to server "host", on default port number.
         /// </summary>
         /// <returns>true if connection succeded, false otherwise</returns>
@@ -159,131 +154,11 @@ namespace monitor
         /// <summary>
         /// Callback call by stream.BeginRead after reception of newLength data
         /// </summary>
-        //private static void ReadCallback()
-        //{
-        //    char character;
-        //    int data;
-        //    byte[] buffer=new byte[4096];
-        //    int lengthRead;
-
-        //    while (client.Connected)
-        //    {
-        //        try
-        //        {
-        //            //data = stream.ReadByte();
-        //            lengthRead = stream.Read(buffer, 0, buffer.Length);
-        //        }
-        //        catch (ObjectDisposedException)
-        //        {
-        //            Console.WriteLine("Connection to server dropped (object disposed)!");
-        //            return;
-        //        }
-        //        catch (System.IO.IOException)
-        //        {
-        //            Console.WriteLine("Connection to server dropped (other error)");
-        //            return;
-        //        }
-
-        //        if (lengthRead > 0) // a data was read
-        //        {
-        //            //character = (char)data;
-        //            var str = System.Text.Encoding.Default.GetString(buffer);
-        //            int indexOf = str.IndexOf('\n');
-
-        //            //if (character != '\n')
-        //            if (indexOf == -1) // \n doesn't exists
-        //            {
-        //                message.Append(str);
-
-        //                //if (receiveBuffer == null) receiveBuffer = new byte[1];
-        //                //else Array.Resize<byte>(ref receiveBuffer, receiveBuffer.Length + 1); // resize currrent buffer
-
-        //                //receiveBuffer[receiveBuffer.Length - 1] = (byte)data;
-        //            }
-        //            else // end of string found
-        //            {
-        //                message.Append((str.Substring(0,indexOf)));
-        //                readEvent?.Invoke(message.ToString(), receiveBuffer);
-
-        //                message.Clear();
-        //                receiveBuffer = null;
-        //            }
-        //        }
-        //    }
-        //}
-
-        /// <summary>
-        /// Callback call by stream.BeginRead after reception of newLength data
-        /// </summary>
         /// <param name="ar">Not sure of what is it, but needed for terminate reading</param>
-        //private static void ReadCallback(IAsyncResult ar)
-        //{
-        //    if (client.Connected)
-        //    {
-        //        int bytesRead;
-
-        //        try
-        //        {
-        //            // Termintae read operation, and get number of byte stored in buffer
-        //            bytesRead = stream.EndRead(ar);
-        //        }
-        //        catch (ObjectDisposedException e)
-        //        {
-        //            Console.WriteLine("Connection to server dropped: " + e.ToString());
-        //            return;
-        //        }
-
-        //        newLength = 1;
-
-        //        // if number of byte read is not 0, concatenate string and buffer
-        //        if (bytesRead > 0)
-        //        {
-        //            packetCounter++;
-
-        //            if (packetCounter >= 3)
-        //            {
-        //                //Console.WriteLine("Supplementary packet " + packetCounter);
-        //            }
-
-        //            // Append new data to current string (expecting data are ascii)
-        //            message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead));
-
-        //            // Similarly, append received bytes to current buffer 
-        //            if (receiveBuffer == null) receiveBuffer = new byte[bytesRead];
-        //            else Array.Resize<byte>(ref receiveBuffer, initialReceiveBufferIndex + bytesRead); // resize currrent buffer
-
-        //            System.Buffer.BlockCopy(buffer, 0, receiveBuffer, initialReceiveBufferIndex, bytesRead); // and add received data
-        //            initialReceiveBufferIndex = receiveBuffer.Length; // move last index of current buffer
-        //        }
-
-        //        // if it remains received data, prepare for a new reading (get another buffer to append to current one)
-        //        if (client.Available > 0)
-        //        {
-        //            newLength = client.Available;
-        //            if (newLength > BufferMaxSize) newLength = BufferMaxSize;
-        //            else newLength = client.Available;
-        //        }
-        //        else
-        //        {
-        //            // no more data to read, buffer and string can be send to upper level
-        //            readEvent?.Invoke(message.ToString(), receiveBuffer);
-
-        //            message.Clear();
-        //            receiveBuffer = null;
-        //            initialReceiveBufferIndex = 0;
-        //            packetCounter = 0;
-        //        }
-
-        //        // Prepare for reading new data
-        //        if (newLength> BufferMaxSize) newLength = BufferMaxSize;
-        //        if (newLength <= 0) newLength = 1;
-        //        stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message);
-        //    }
-        //}
-
         private static void ReadCallback(IAsyncResult ar)
         {
             int newLength = 1;
+            int index = -1;
 
             if (client.Connected)
             {
@@ -299,39 +174,99 @@ namespace monitor
                     Console.WriteLine("Connection to server dropped: " + e.ToString());
                     return;
                 }
+                catch (System.IO.IOException e)
+                {
+                    Console.WriteLine("Connection to server dropped: " + e.ToString());
+                    return;
+                }
 
-                //newLength = 1;
+                newLength = 1;
+                index = -1;
 
                 // if number of byte read is not 0, concatenate string and buffer
                 if (bytesRead > 0)
                 {
+                    //Console.WriteLine("Receive " + bytesRead + " data");
+
                     // Append new data to current string (expecting data are ascii)
                     message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead));
+                    index = SearchCarriageReturn(buffer, bytesRead);
                 }
 
                 // if it remains received data, prepare for a new reading (get another buffer to append to current one)
-                if (client.Available > 0)
+                if (index == -1)
                 {
-                    newLength = client.Available;
-                    if (newLength > BufferMaxSize) newLength = BufferMaxSize;
-                    else newLength = client.Available;
+                    if (client.Available > 0)
+                    {
+                        newLength = client.Available;
+                        if (newLength > BufferMaxSize) newLength = BufferMaxSize;
+                        else newLength = client.Available;
+                    }
                 }
                 else
                 {
+                    string s = message.ToString();
+
+                    //Console.WriteLine("Message received (" + s.Length + ")");
                     // no more data to read, buffer and string can be send to upper level
-                    readEvent?.Invoke(message.ToString());
+                    readEvent?.Invoke(s);
 
                     message.Clear();
+
+                    if (index != bytesRead - 1)
+                    {
+                        //Console.WriteLine("Index not at end (" + index + "/" + bytesRead + ")");
+                        //Console.WriteLine("1=" + (char)buffer[index + 1] + " 2=" + (char)buffer[index + 2]);
+
+                        byte[] trailing=new byte[BufferMaxSize];
+
+                        Array.Copy(buffer, index + 1, trailing, 0, bytesRead - index - 1);
+                        message.Append(Encoding.ASCII.GetString(trailing, 0, bytesRead - index - 1));
+                    }
                 }
 
                 // Prepare for reading new data
                 if (newLength> BufferMaxSize) newLength = BufferMaxSize;
                 if (newLength <= 0) newLength = 1;
-                stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message);
+
+                try
+                {
+                    stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message);
+                }
+                catch (ObjectDisposedException e)
+                {
+                    Console.WriteLine("Connection to server dropped: " + e.ToString());
+                    return;
+                }
+                catch (System.IO.IOException e)
+                {
+                    Console.WriteLine("Connection to server dropped: " + e.ToString());
+                    return;
+                }
             }
         }
 
         /// <summary>
+        /// Searchs the carriage return.
+        /// </summary>
+        /// <returns>Index of carriage return, if present, -1 otherwise.</returns>
+        /// <param name="buf">Buffer of byte</param>
+        /// <param name="length">Length of buffer</param>
+        private static int SearchCarriageReturn(byte[] buf, int length)
+        {
+            int index = -1;
+            int i = 0;
+
+            for (i = 0; i < length; i++)
+            {
+                if (buf[i] == (byte)'\n') break;
+            }
+
+            if (i!= length) index = i;
+            return index;
+        }
+
+        /// <summary>
         /// Write a string to server
         /// </summary>
         /// <returns>Nothing</returns>

software/monitor/monitor/MonitorUI.cs

@@ -26,6 +26,7 @@ using Gdk;
 using Cairo;
 
 using monitor;
+using System.Timers;
 
 /// <summary>
 /// Main part of the program, behavior of main window
@@ -69,6 +70,13 @@ public partial class MainWindow : Gtk.Window
 
     private int imageReceivedCounter = 0;
     private int badImageReceivedCounter = 0;
+    private int imageFPS = 0;
+    private int imageFPScounter = 0;
+
+    /// <summary>
+    /// Timer for FPS request
+    /// </summary>
+    private System.Timers.Timer fpsTimer;
 
     /// <summary>
     /// Initializes a new instance of the <see cref="MainWindow"/> class.
@@ -83,6 +91,10 @@ public partial class MainWindow : Gtk.Window
         batteryTimer = new System.Timers.Timer(10000.0);
         batteryTimer.Elapsed += OnBatteryTimerElapsed;
 
+        // create new timer for FPS , every 1s
+        fpsTimer = new System.Timers.Timer(1000.0);
+        fpsTimer.Elapsed += OnFpsTimerElapsed;
+
         // Customize controls
         AdjustControls();
     }
@@ -126,6 +138,8 @@ public partial class MainWindow : Gtk.Window
 
                 checkButtonCameraOn.Active = false;
                 checkButtonRobotPosition.Active = false;
+                checkButtonFPS.Active = false;
+
                 if (cmdManager != null) cmdManager.Close();
 
                 batteryTimer.Stop();
@@ -165,6 +179,7 @@ public partial class MainWindow : Gtk.Window
 
                 checkButtonCameraOn.Active = false;
                 checkButtonRobotPosition.Active = false;
+                checkButtonFPS.Active = false;
 
                 systemState = SystemState.NotConnected;
 
@@ -183,11 +198,9 @@ public partial class MainWindow : Gtk.Window
     /// <param name="message">Message</param>
     private void MessagePopup(MessageType type, ButtonsType buttons, string title, string message)
     {
-        MessageDialog md = new MessageDialog(this, DialogFlags.DestroyWithParent, type, buttons, message)
-        {
-            Title = title
-        };
+        MessageDialog md = new MessageDialog(this, DialogFlags.DestroyWithParent, type, buttons, message);
 
+        md.Title = title;
         md.Run();
         md.Destroy();
     }
@@ -206,15 +219,11 @@ public partial class MainWindow : Gtk.Window
         a.RetVal = true;
     }
 
-    //private byte[] imageComplete;
-    //private byte[] imageInProgress;
-
     /// <summary>
     /// Callback called when new message is received from server
     /// </summary>
     /// <param name="header">Header of message</param>
     /// <param name="data">Data of message</param>
-    /// <param name="buffer">Raw buffer corresponding of received message</param>
     public void OnCommandReceivedEvent(string header, string data)
     {
         if (header == null)
@@ -237,33 +246,11 @@ public partial class MainWindow : Gtk.Window
 #if DEBUG
             // print message content
             if (header.Length > 4)
+            {
                 Console.WriteLine("Bad header(" + header.Length + ")");
-            //else
-            //    Console.WriteLine("Received header (" + header.Length + "): " + header);
-            //if (header.ToUpper() != DestijlCommandList.HeaderStmImage)
-            //{
-            //    if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data);
-            //}
+            }
 #endif
-            // Image management
-            //if (header == DestijlCommandList.CAMERA_IMAGE)
-            //{
-            //    imageComplete = imageInProgress;
-            //    //TODO: Decoder le base64 pour recuperer le JPG
-            //    imageInProgress = buffer;
-            //}
-            //else
-            //{
-            //    if (imageInProgress == null) imageInProgress = buffer;
-            //    else
-            //    {
-            //        Array.Resize<byte>(ref imageInProgress, imageInProgress.Length + buffer.Length);
-            //        System.Buffer.BlockCopy(buffer, 0, imageInProgress, imageInProgress.Length - buffer.Length, buffer.Length);
-            //    }
-            //}
-
-            // depending on message received (based on header)
-            // launch correponding action
+            // Depending on message received (based on header), launch correponding action
             header = header.ToUpper();
 
             if (header == DestijlCommandList.ROBOT_BATTERY_LEVEL)
@@ -293,20 +280,23 @@ public partial class MainWindow : Gtk.Window
             }
             else if (header == DestijlCommandList.CAMERA_IMAGE)
             {
-                // if message is an image, convert it to a pixbuf
-                // that can be displayed
-                //if (imageComplete != null)
-                //{
-                //TODO: Decoder le base64 et convertir en JPG
-                byte[] image = Convert.FromBase64String(data);
-                //byte[] image = new byte[imageComplete.Length - 4];
-                //System.Buffer.BlockCopy(imageComplete, 4, image, 0, image.Length);
-
                 imageReceivedCounter++;
 
+                byte[] image = new byte[2];
+                try
+                {
+                    image = Convert.FromBase64String(data);
+                }
+                catch (FormatException)
+                {
+                    badImageReceivedCounter++;
+                    Console.WriteLine("Unable to convert from base64 ");
+                }
+
                 try
                 {
                     drawingareaCameraPixbuf = new Pixbuf(image);
+                    imageFPScounter++;
 
                     Gtk.Application.Invoke(delegate
                     {
@@ -326,10 +316,7 @@ public partial class MainWindow : Gtk.Window
             }
             else if (header == DestijlCommandList.CAMERA_POSITION)
             {
-                //Console.WriteLine("Pos data: " + data);
-
                 position = DestijlCommandManager.DecodePosition(data);
-                //Console.WriteLine("decoded position: " + position.ToString());
 
                 Gtk.Application.Invoke(delegate
                 {
@@ -728,6 +715,23 @@ public partial class MainWindow : Gtk.Window
             ((IDisposable)cr.GetTarget()).Dispose();
             ((IDisposable)cr).Dispose();
         }
+
+        if (checkButtonFPS.Active) {
+            Cairo.Context cr = Gdk.CairoHelper.Create(area.GdkWindow);
+            Cairo.Color textFontColor = new Cairo.Color(0.8, 0, 0);
+
+            cr.SelectFontFace("Cantarell", FontSlant.Normal, FontWeight.Bold);
+            cr.SetSourceColor(textFontColor);
+            cr.SetFontSize(16);
+
+            string text = "FPS= " + imageFPS.ToString() ;
+            TextExtents te = cr.TextExtents(text);
+            cr.MoveTo( 10,10 + te.Height);
+            cr.ShowText(text);
+
+            ((IDisposable)cr.GetTarget()).Dispose();
+            ((IDisposable)cr).Dispose();
+        }
     }
 
     /// <summary>
@@ -738,9 +742,8 @@ public partial class MainWindow : Gtk.Window
         DestijlCommandManager.CommandStatus status;
         MessageDialog md = new MessageDialog(this, DialogFlags.DestroyWithParent,
                                              MessageType.Question, ButtonsType.YesNo, "Arena is correct ?");
-        {
-            Title = "Check arena";
-        };
+
+        md.Title = "Check arena";
 
         ResponseType result = (ResponseType)md.Run();
         md.Destroy();
@@ -781,4 +784,33 @@ public partial class MainWindow : Gtk.Window
         // show popup and wait for user to say if arena is ok or not 
         DetectArena();
     }
+
+    protected void OnCheckButtonFPSToggled(object sender, EventArgs e)
+    {
+        if (checkButtonFPS.Active) { // User ask for FPS
+            imageFPS = 0;
+            imageFPScounter = 0;
+
+            fpsTimer.Start();
+        }
+        else { // stop computing FPS
+            fpsTimer.Stop();
+
+            Gtk.Application.Invoke(delegate
+            {
+                drawingAreaCamera.QueueDraw();
+            });
+        }
+    }
+
+    private void OnFpsTimerElapsed(object sender, ElapsedEventArgs e)
+    {
+        imageFPS = imageFPScounter;
+        imageFPScounter = 0;
+
+        Gtk.Application.Invoke(delegate
+        {
+            drawingAreaCamera.QueueDraw();
+        });
+    }
 }

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

@@ -21,14 +21,18 @@ public partial class MainWindow
 
 	private global::Gtk.VBox boxCamera;
 
+	private global::Gtk.HBox hbox2;
+
 	private global::Gtk.Alignment alignment1;
 
-	private global::Gtk.HBox hbox2;
+	private global::Gtk.HBox hbox5;
 
 	private global::Gtk.CheckButton checkButtonCameraOn;
 
 	private global::Gtk.CheckButton checkButtonRobotPosition;
 
+	private global::Gtk.CheckButton checkButtonFPS;
+
 	private global::Gtk.Button buttonAskArena;
 
 	private global::Gtk.DrawingArea drawingAreaCamera;
@@ -170,33 +174,51 @@ public partial class MainWindow
 		this.boxCamera.Name = "boxCamera";
 		this.boxCamera.Spacing = 6;
 		// Container child boxCamera.Gtk.Box+BoxChild
-		this.alignment1 = new global::Gtk.Alignment(0F, 0.5F, 0F, 1F);
-		this.alignment1.Name = "alignment1";
-		this.alignment1.BorderWidth = ((uint)(6));
-		// Container child alignment1.Gtk.Container+ContainerChild
 		this.hbox2 = new global::Gtk.HBox();
 		this.hbox2.Name = "hbox2";
 		this.hbox2.Spacing = 6;
 		// Container child hbox2.Gtk.Box+BoxChild
+		this.alignment1 = new global::Gtk.Alignment(0F, 0.5F, 0F, 1F);
+		this.alignment1.Name = "alignment1";
+		this.alignment1.BorderWidth = ((uint)(6));
+		// Container child alignment1.Gtk.Container+ContainerChild
+		this.hbox5 = new global::Gtk.HBox();
+		this.hbox5.Name = "hbox5";
+		this.hbox5.Spacing = 6;
+		// Container child hbox5.Gtk.Box+BoxChild
 		this.checkButtonCameraOn = new global::Gtk.CheckButton();
 		this.checkButtonCameraOn.CanFocus = true;
 		this.checkButtonCameraOn.Name = "checkButtonCameraOn";
 		this.checkButtonCameraOn.Label = global::Mono.Unix.Catalog.GetString("Camera On");
 		this.checkButtonCameraOn.DrawIndicator = true;
 		this.checkButtonCameraOn.UseUnderline = true;
-		this.hbox2.Add(this.checkButtonCameraOn);
-		global::Gtk.Box.BoxChild w3 = ((global::Gtk.Box.BoxChild)(this.hbox2[this.checkButtonCameraOn]));
+		this.hbox5.Add(this.checkButtonCameraOn);
+		global::Gtk.Box.BoxChild w3 = ((global::Gtk.Box.BoxChild)(this.hbox5[this.checkButtonCameraOn]));
 		w3.Position = 0;
-		// Container child hbox2.Gtk.Box+BoxChild
+		// Container child hbox5.Gtk.Box+BoxChild
 		this.checkButtonRobotPosition = new global::Gtk.CheckButton();
 		this.checkButtonRobotPosition.CanFocus = true;
 		this.checkButtonRobotPosition.Name = "checkButtonRobotPosition";
-		this.checkButtonRobotPosition.Label = global::Mono.Unix.Catalog.GetString("Robot Position");
+		this.checkButtonRobotPosition.Label = global::Mono.Unix.Catalog.GetString("Show Position");
 		this.checkButtonRobotPosition.DrawIndicator = true;
 		this.checkButtonRobotPosition.UseUnderline = true;
-		this.hbox2.Add(this.checkButtonRobotPosition);
-		global::Gtk.Box.BoxChild w4 = ((global::Gtk.Box.BoxChild)(this.hbox2[this.checkButtonRobotPosition]));
+		this.hbox5.Add(this.checkButtonRobotPosition);
+		global::Gtk.Box.BoxChild w4 = ((global::Gtk.Box.BoxChild)(this.hbox5[this.checkButtonRobotPosition]));
 		w4.Position = 1;
+		// Container child hbox5.Gtk.Box+BoxChild
+		this.checkButtonFPS = new global::Gtk.CheckButton();
+		this.checkButtonFPS.CanFocus = true;
+		this.checkButtonFPS.Name = "checkButtonFPS";
+		this.checkButtonFPS.Label = global::Mono.Unix.Catalog.GetString("Show FPS");
+		this.checkButtonFPS.DrawIndicator = true;
+		this.checkButtonFPS.UseUnderline = true;
+		this.hbox5.Add(this.checkButtonFPS);
+		global::Gtk.Box.BoxChild w5 = ((global::Gtk.Box.BoxChild)(this.hbox5[this.checkButtonFPS]));
+		w5.Position = 2;
+		this.alignment1.Add(this.hbox5);
+		this.hbox2.Add(this.alignment1);
+		global::Gtk.Box.BoxChild w7 = ((global::Gtk.Box.BoxChild)(this.hbox2[this.alignment1]));
+		w7.Position = 0;
 		// Container child hbox2.Gtk.Box+BoxChild
 		this.buttonAskArena = new global::Gtk.Button();
 		this.buttonAskArena.CanFocus = true;
@@ -204,26 +226,24 @@ public partial class MainWindow
 		this.buttonAskArena.UseUnderline = true;
 		this.buttonAskArena.Label = global::Mono.Unix.Catalog.GetString("Ask Arena...");
 		this.hbox2.Add(this.buttonAskArena);
-		global::Gtk.Box.BoxChild w5 = ((global::Gtk.Box.BoxChild)(this.hbox2[this.buttonAskArena]));
-		w5.PackType = ((global::Gtk.PackType)(1));
-		w5.Position = 2;
-		w5.Expand = false;
-		w5.Fill = false;
-		this.alignment1.Add(this.hbox2);
-		this.boxCamera.Add(this.alignment1);
-		global::Gtk.Box.BoxChild w7 = ((global::Gtk.Box.BoxChild)(this.boxCamera[this.alignment1]));
-		w7.Position = 0;
-		w7.Expand = false;
-		w7.Fill = false;
+		global::Gtk.Box.BoxChild w8 = ((global::Gtk.Box.BoxChild)(this.hbox2[this.buttonAskArena]));
+		w8.Position = 2;
+		w8.Expand = false;
+		w8.Fill = false;
+		this.boxCamera.Add(this.hbox2);
+		global::Gtk.Box.BoxChild w9 = ((global::Gtk.Box.BoxChild)(this.boxCamera[this.hbox2]));
+		w9.Position = 0;
+		w9.Expand = false;
+		w9.Fill = false;
 		// Container child boxCamera.Gtk.Box+BoxChild
 		this.drawingAreaCamera = new global::Gtk.DrawingArea();
 		this.drawingAreaCamera.Name = "drawingAreaCamera";
 		this.boxCamera.Add(this.drawingAreaCamera);
-		global::Gtk.Box.BoxChild w8 = ((global::Gtk.Box.BoxChild)(this.boxCamera[this.drawingAreaCamera]));
-		w8.Position = 1;
+		global::Gtk.Box.BoxChild w10 = ((global::Gtk.Box.BoxChild)(this.boxCamera[this.drawingAreaCamera]));
+		w10.Position = 1;
 		this.hbox1.Add(this.boxCamera);
-		global::Gtk.Box.BoxChild w9 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.boxCamera]));
-		w9.Position = 0;
+		global::Gtk.Box.BoxChild w11 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.boxCamera]));
+		w11.Position = 0;
 		// Container child hbox1.Gtk.Box+BoxChild
 		this.hbox3 = new global::Gtk.HBox();
 		this.hbox3.Name = "hbox3";
@@ -232,10 +252,10 @@ public partial class MainWindow
 		this.vseparator1 = new global::Gtk.VSeparator();
 		this.vseparator1.Name = "vseparator1";
 		this.hbox3.Add(this.vseparator1);
-		global::Gtk.Box.BoxChild w10 = ((global::Gtk.Box.BoxChild)(this.hbox3[this.vseparator1]));
-		w10.Position = 0;
-		w10.Expand = false;
-		w10.Fill = false;
+		global::Gtk.Box.BoxChild w12 = ((global::Gtk.Box.BoxChild)(this.hbox3[this.vseparator1]));
+		w12.Position = 0;
+		w12.Expand = false;
+		w12.Fill = false;
 		// Container child hbox3.Gtk.Box+BoxChild
 		this.alignment3 = new global::Gtk.Alignment(1F, 0F, 0F, 0F);
 		this.alignment3.Name = "alignment3";
@@ -255,10 +275,10 @@ public partial class MainWindow
 		this.labelServer.LabelProp = global::Mono.Unix.Catalog.GetString("<b><u>Server connection</u></b>");
 		this.labelServer.UseMarkup = true;
 		this.vbox10.Add(this.labelServer);
-		global::Gtk.Box.BoxChild w11 = ((global::Gtk.Box.BoxChild)(this.vbox10[this.labelServer]));
-		w11.Position = 0;
-		w11.Expand = false;
-		w11.Fill = false;
+		global::Gtk.Box.BoxChild w13 = ((global::Gtk.Box.BoxChild)(this.vbox10[this.labelServer]));
+		w13.Position = 0;
+		w13.Expand = false;
+		w13.Fill = false;
 		// Container child vbox10.Gtk.Box+BoxChild
 		this.gtkAlignmentServer = new global::Gtk.Alignment(0F, 0F, 1F, 1F);
 		this.gtkAlignmentServer.Name = "gtkAlignmentServer";
@@ -279,10 +299,10 @@ public partial class MainWindow
 		this.entryServerName.IsEditable = true;
 		this.entryServerName.InvisibleChar = '●';
 		this.table1.Add(this.entryServerName);
-		global::Gtk.Table.TableChild w12 = ((global::Gtk.Table.TableChild)(this.table1[this.entryServerName]));
-		w12.LeftAttach = ((uint)(1));
-		w12.RightAttach = ((uint)(2));
-		w12.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w14 = ((global::Gtk.Table.TableChild)(this.table1[this.entryServerName]));
+		w14.LeftAttach = ((uint)(1));
+		w14.RightAttach = ((uint)(2));
+		w14.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table1.Gtk.Table+TableChild
 		this.entryServerPort = new global::Gtk.Entry();
 		this.entryServerPort.CanFocus = true;
@@ -290,12 +310,12 @@ public partial class MainWindow
 		this.entryServerPort.IsEditable = true;
 		this.entryServerPort.InvisibleChar = '●';
 		this.table1.Add(this.entryServerPort);
-		global::Gtk.Table.TableChild w13 = ((global::Gtk.Table.TableChild)(this.table1[this.entryServerPort]));
-		w13.TopAttach = ((uint)(1));
-		w13.BottomAttach = ((uint)(2));
-		w13.LeftAttach = ((uint)(1));
-		w13.RightAttach = ((uint)(2));
-		w13.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w15 = ((global::Gtk.Table.TableChild)(this.table1[this.entryServerPort]));
+		w15.TopAttach = ((uint)(1));
+		w15.BottomAttach = ((uint)(2));
+		w15.LeftAttach = ((uint)(1));
+		w15.RightAttach = ((uint)(2));
+		w15.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table1.Gtk.Table+TableChild
 		this.entryTimeout = new global::Gtk.Entry();
 		this.entryTimeout.CanFocus = true;
@@ -303,12 +323,12 @@ public partial class MainWindow
 		this.entryTimeout.IsEditable = true;
 		this.entryTimeout.InvisibleChar = '●';
 		this.table1.Add(this.entryTimeout);
-		global::Gtk.Table.TableChild w14 = ((global::Gtk.Table.TableChild)(this.table1[this.entryTimeout]));
-		w14.TopAttach = ((uint)(2));
-		w14.BottomAttach = ((uint)(3));
-		w14.LeftAttach = ((uint)(1));
-		w14.RightAttach = ((uint)(2));
-		w14.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w16 = ((global::Gtk.Table.TableChild)(this.table1[this.entryTimeout]));
+		w16.TopAttach = ((uint)(2));
+		w16.BottomAttach = ((uint)(3));
+		w16.LeftAttach = ((uint)(1));
+		w16.RightAttach = ((uint)(2));
+		w16.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table1.Gtk.Table+TableChild
 		this.label1 = new global::Gtk.Label();
 		this.label1.Name = "label1";
@@ -316,9 +336,9 @@ public partial class MainWindow
 		this.label1.LabelProp = global::Mono.Unix.Catalog.GetString("Server name:");
 		this.label1.Justify = ((global::Gtk.Justification)(1));
 		this.table1.Add(this.label1);
-		global::Gtk.Table.TableChild w15 = ((global::Gtk.Table.TableChild)(this.table1[this.label1]));
-		w15.XOptions = ((global::Gtk.AttachOptions)(4));
-		w15.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w17 = ((global::Gtk.Table.TableChild)(this.table1[this.label1]));
+		w17.XOptions = ((global::Gtk.AttachOptions)(4));
+		w17.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table1.Gtk.Table+TableChild
 		this.label2 = new global::Gtk.Label();
 		this.label2.Name = "label2";
@@ -326,26 +346,26 @@ public partial class MainWindow
 		this.label2.LabelProp = global::Mono.Unix.Catalog.GetString("Server port:");
 		this.label2.Justify = ((global::Gtk.Justification)(1));
 		this.table1.Add(this.label2);
-		global::Gtk.Table.TableChild w16 = ((global::Gtk.Table.TableChild)(this.table1[this.label2]));
-		w16.TopAttach = ((uint)(1));
-		w16.BottomAttach = ((uint)(2));
-		w16.XOptions = ((global::Gtk.AttachOptions)(4));
-		w16.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w18 = ((global::Gtk.Table.TableChild)(this.table1[this.label2]));
+		w18.TopAttach = ((uint)(1));
+		w18.BottomAttach = ((uint)(2));
+		w18.XOptions = ((global::Gtk.AttachOptions)(4));
+		w18.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table1.Gtk.Table+TableChild
 		this.label5 = new global::Gtk.Label();
 		this.label5.Name = "label5";
 		this.label5.LabelProp = global::Mono.Unix.Catalog.GetString("Timeout (ms):");
 		this.table1.Add(this.label5);
-		global::Gtk.Table.TableChild w17 = ((global::Gtk.Table.TableChild)(this.table1[this.label5]));
-		w17.TopAttach = ((uint)(2));
-		w17.BottomAttach = ((uint)(3));
-		w17.XOptions = ((global::Gtk.AttachOptions)(4));
-		w17.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w19 = ((global::Gtk.Table.TableChild)(this.table1[this.label5]));
+		w19.TopAttach = ((uint)(2));
+		w19.BottomAttach = ((uint)(3));
+		w19.XOptions = ((global::Gtk.AttachOptions)(4));
+		w19.YOptions = ((global::Gtk.AttachOptions)(4));
 		this.vbox6.Add(this.table1);
-		global::Gtk.Box.BoxChild w18 = ((global::Gtk.Box.BoxChild)(this.vbox6[this.table1]));
-		w18.Position = 0;
-		w18.Expand = false;
-		w18.Fill = false;
+		global::Gtk.Box.BoxChild w20 = ((global::Gtk.Box.BoxChild)(this.vbox6[this.table1]));
+		w20.Position = 0;
+		w20.Expand = false;
+		w20.Fill = false;
 		// Container child vbox6.Gtk.Box+BoxChild
 		this.buttonServerConnection = new global::Gtk.Button();
 		this.buttonServerConnection.CanFocus = true;
@@ -353,30 +373,30 @@ public partial class MainWindow
 		this.buttonServerConnection.UseUnderline = true;
 		this.buttonServerConnection.Label = global::Mono.Unix.Catalog.GetString("Connect");
 		this.vbox6.Add(this.buttonServerConnection);
-		global::Gtk.Box.BoxChild w19 = ((global::Gtk.Box.BoxChild)(this.vbox6[this.buttonServerConnection]));
-		w19.PackType = ((global::Gtk.PackType)(1));
-		w19.Position = 1;
-		w19.Expand = false;
-		w19.Fill = false;
-		this.gtkAlignmentServer.Add(this.vbox6);
-		this.vbox10.Add(this.gtkAlignmentServer);
-		global::Gtk.Box.BoxChild w21 = ((global::Gtk.Box.BoxChild)(this.vbox10[this.gtkAlignmentServer]));
+		global::Gtk.Box.BoxChild w21 = ((global::Gtk.Box.BoxChild)(this.vbox6[this.buttonServerConnection]));
+		w21.PackType = ((global::Gtk.PackType)(1));
 		w21.Position = 1;
 		w21.Expand = false;
 		w21.Fill = false;
+		this.gtkAlignmentServer.Add(this.vbox6);
+		this.vbox10.Add(this.gtkAlignmentServer);
+		global::Gtk.Box.BoxChild w23 = ((global::Gtk.Box.BoxChild)(this.vbox10[this.gtkAlignmentServer]));
+		w23.Position = 1;
+		w23.Expand = false;
+		w23.Fill = false;
 		this.vbox5.Add(this.vbox10);
-		global::Gtk.Box.BoxChild w22 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox10]));
-		w22.Position = 0;
-		w22.Expand = false;
-		w22.Fill = false;
+		global::Gtk.Box.BoxChild w24 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox10]));
+		w24.Position = 0;
+		w24.Expand = false;
+		w24.Fill = false;
 		// Container child vbox5.Gtk.Box+BoxChild
 		this.hseparator1 = new global::Gtk.HSeparator();
 		this.hseparator1.Name = "hseparator1";
 		this.vbox5.Add(this.hseparator1);
-		global::Gtk.Box.BoxChild w23 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.hseparator1]));
-		w23.Position = 1;
-		w23.Expand = false;
-		w23.Fill = false;
+		global::Gtk.Box.BoxChild w25 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.hseparator1]));
+		w25.Position = 1;
+		w25.Expand = false;
+		w25.Fill = false;
 		// Container child vbox5.Gtk.Box+BoxChild
 		this.vbox11 = new global::Gtk.VBox();
 		this.vbox11.Name = "vbox11";
@@ -388,10 +408,10 @@ public partial class MainWindow
 		this.labelRobot.LabelProp = global::Mono.Unix.Catalog.GetString("<b><u>Robot Activation</u></b>");
 		this.labelRobot.UseMarkup = true;
 		this.vbox11.Add(this.labelRobot);
-		global::Gtk.Box.BoxChild w24 = ((global::Gtk.Box.BoxChild)(this.vbox11[this.labelRobot]));
-		w24.Position = 0;
-		w24.Expand = false;
-		w24.Fill = false;
+		global::Gtk.Box.BoxChild w26 = ((global::Gtk.Box.BoxChild)(this.vbox11[this.labelRobot]));
+		w26.Position = 0;
+		w26.Expand = false;
+		w26.Fill = false;
 		// Container child vbox11.Gtk.Box+BoxChild
 		this.alignment9 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
 		this.alignment9.Name = "alignment9";
@@ -418,8 +438,8 @@ public partial class MainWindow
 		this.radioButtonWithWatchdog.UseUnderline = true;
 		this.radioButtonWithWatchdog.Group = new global::GLib.SList(global::System.IntPtr.Zero);
 		this.hbox4.Add(this.radioButtonWithWatchdog);
-		global::Gtk.Box.BoxChild w25 = ((global::Gtk.Box.BoxChild)(this.hbox4[this.radioButtonWithWatchdog]));
-		w25.Position = 0;
+		global::Gtk.Box.BoxChild w27 = ((global::Gtk.Box.BoxChild)(this.hbox4[this.radioButtonWithWatchdog]));
+		w27.Position = 0;
 		// Container child hbox4.Gtk.Box+BoxChild
 		this.radioButtonWithoutWatchdog = new global::Gtk.RadioButton(global::Mono.Unix.Catalog.GetString("without watchdog"));
 		this.radioButtonWithoutWatchdog.CanFocus = true;
@@ -428,14 +448,14 @@ public partial class MainWindow
 		this.radioButtonWithoutWatchdog.UseUnderline = true;
 		this.radioButtonWithoutWatchdog.Group = this.radioButtonWithWatchdog.Group;
 		this.hbox4.Add(this.radioButtonWithoutWatchdog);
-		global::Gtk.Box.BoxChild w26 = ((global::Gtk.Box.BoxChild)(this.hbox4[this.radioButtonWithoutWatchdog]));
-		w26.Position = 1;
+		global::Gtk.Box.BoxChild w28 = ((global::Gtk.Box.BoxChild)(this.hbox4[this.radioButtonWithoutWatchdog]));
+		w28.Position = 1;
 		this.alignment6.Add(this.hbox4);
 		this.vbox8.Add(this.alignment6);
-		global::Gtk.Box.BoxChild w28 = ((global::Gtk.Box.BoxChild)(this.vbox8[this.alignment6]));
-		w28.Position = 0;
-		w28.Expand = false;
-		w28.Fill = false;
+		global::Gtk.Box.BoxChild w30 = ((global::Gtk.Box.BoxChild)(this.vbox8[this.alignment6]));
+		w30.Position = 0;
+		w30.Expand = false;
+		w30.Fill = false;
 		// Container child vbox8.Gtk.Box+BoxChild
 		this.alignment5 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
 		this.alignment5.Name = "alignment5";
@@ -451,30 +471,30 @@ public partial class MainWindow
 		this.alignment7.Add(this.buttonRobotActivation);
 		this.alignment5.Add(this.alignment7);
 		this.vbox8.Add(this.alignment5);
-		global::Gtk.Box.BoxChild w31 = ((global::Gtk.Box.BoxChild)(this.vbox8[this.alignment5]));
-		w31.Position = 1;
-		w31.Expand = false;
-		w31.Fill = false;
+		global::Gtk.Box.BoxChild w33 = ((global::Gtk.Box.BoxChild)(this.vbox8[this.alignment5]));
+		w33.Position = 1;
+		w33.Expand = false;
+		w33.Fill = false;
 		this.gtkAlignmentRobot.Add(this.vbox8);
 		this.alignment9.Add(this.gtkAlignmentRobot);
 		this.vbox11.Add(this.alignment9);
-		global::Gtk.Box.BoxChild w34 = ((global::Gtk.Box.BoxChild)(this.vbox11[this.alignment9]));
-		w34.Position = 1;
-		w34.Expand = false;
-		w34.Fill = false;
+		global::Gtk.Box.BoxChild w36 = ((global::Gtk.Box.BoxChild)(this.vbox11[this.alignment9]));
+		w36.Position = 1;
+		w36.Expand = false;
+		w36.Fill = false;
 		this.vbox5.Add(this.vbox11);
-		global::Gtk.Box.BoxChild w35 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox11]));
-		w35.Position = 2;
-		w35.Expand = false;
-		w35.Fill = false;
+		global::Gtk.Box.BoxChild w37 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox11]));
+		w37.Position = 2;
+		w37.Expand = false;
+		w37.Fill = false;
 		// Container child vbox5.Gtk.Box+BoxChild
 		this.hseparator2 = new global::Gtk.HSeparator();
 		this.hseparator2.Name = "hseparator2";
 		this.vbox5.Add(this.hseparator2);
-		global::Gtk.Box.BoxChild w36 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.hseparator2]));
-		w36.Position = 3;
-		w36.Expand = false;
-		w36.Fill = false;
+		global::Gtk.Box.BoxChild w38 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.hseparator2]));
+		w38.Position = 3;
+		w38.Expand = false;
+		w38.Fill = false;
 		// Container child vbox5.Gtk.Box+BoxChild
 		this.vbox12 = new global::Gtk.VBox();
 		this.vbox12.Name = "vbox12";
@@ -486,10 +506,10 @@ public partial class MainWindow
 		this.labelRobotControl.LabelProp = global::Mono.Unix.Catalog.GetString("<b><u>Robot Controls and Status</u></b>");
 		this.labelRobotControl.UseMarkup = true;
 		this.vbox12.Add(this.labelRobotControl);
-		global::Gtk.Box.BoxChild w37 = ((global::Gtk.Box.BoxChild)(this.vbox12[this.labelRobotControl]));
-		w37.Position = 0;
-		w37.Expand = false;
-		w37.Fill = false;
+		global::Gtk.Box.BoxChild w39 = ((global::Gtk.Box.BoxChild)(this.vbox12[this.labelRobotControl]));
+		w39.Position = 0;
+		w39.Expand = false;
+		w39.Fill = false;
 		// Container child vbox12.Gtk.Box+BoxChild
 		this.gtkAlignmentRobotControl = new global::Gtk.Alignment(0F, 0F, 1F, 1F);
 		this.gtkAlignmentRobotControl.Name = "gtkAlignmentRobotControl";
@@ -511,67 +531,67 @@ public partial class MainWindow
 		this.buttonDown.CanFocus = true;
 		this.buttonDown.Name = "buttonDown";
 		this.buttonDown.UseUnderline = true;
-		global::Gtk.Image w38 = new global::Gtk.Image();
-		w38.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-down-symbolic.symbolic.png");
-		this.buttonDown.Image = w38;
+		global::Gtk.Image w40 = new global::Gtk.Image();
+		w40.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-down-symbolic.symbolic.png");
+		this.buttonDown.Image = w40;
 		this.table4.Add(this.buttonDown);
-		global::Gtk.Table.TableChild w39 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonDown]));
-		w39.TopAttach = ((uint)(2));
-		w39.BottomAttach = ((uint)(3));
-		w39.LeftAttach = ((uint)(1));
-		w39.RightAttach = ((uint)(2));
-		w39.XOptions = ((global::Gtk.AttachOptions)(4));
-		w39.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w41 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonDown]));
+		w41.TopAttach = ((uint)(2));
+		w41.BottomAttach = ((uint)(3));
+		w41.LeftAttach = ((uint)(1));
+		w41.RightAttach = ((uint)(2));
+		w41.XOptions = ((global::Gtk.AttachOptions)(4));
+		w41.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table4.Gtk.Table+TableChild
 		this.buttonForward = new global::Gtk.Button();
 		this.buttonForward.CanFocus = true;
 		this.buttonForward.Name = "buttonForward";
 		this.buttonForward.UseUnderline = true;
-		global::Gtk.Image w40 = new global::Gtk.Image();
-		w40.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-up-symbolic.symbolic.png");
-		this.buttonForward.Image = w40;
+		global::Gtk.Image w42 = new global::Gtk.Image();
+		w42.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-up-symbolic.symbolic.png");
+		this.buttonForward.Image = w42;
 		this.table4.Add(this.buttonForward);
-		global::Gtk.Table.TableChild w41 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonForward]));
-		w41.LeftAttach = ((uint)(1));
-		w41.RightAttach = ((uint)(2));
-		w41.XOptions = ((global::Gtk.AttachOptions)(4));
-		w41.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w43 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonForward]));
+		w43.LeftAttach = ((uint)(1));
+		w43.RightAttach = ((uint)(2));
+		w43.XOptions = ((global::Gtk.AttachOptions)(4));
+		w43.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table4.Gtk.Table+TableChild
 		this.buttonLeft = new global::Gtk.Button();
 		this.buttonLeft.CanFocus = true;
 		this.buttonLeft.Name = "buttonLeft";
 		this.buttonLeft.UseUnderline = true;
-		global::Gtk.Image w42 = new global::Gtk.Image();
-		w42.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-start-symbolic.symbolic.png");
-		this.buttonLeft.Image = w42;
+		global::Gtk.Image w44 = new global::Gtk.Image();
+		w44.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-start-symbolic.symbolic.png");
+		this.buttonLeft.Image = w44;
 		this.table4.Add(this.buttonLeft);
-		global::Gtk.Table.TableChild w43 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonLeft]));
-		w43.TopAttach = ((uint)(1));
-		w43.BottomAttach = ((uint)(2));
-		w43.XOptions = ((global::Gtk.AttachOptions)(4));
-		w43.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w45 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonLeft]));
+		w45.TopAttach = ((uint)(1));
+		w45.BottomAttach = ((uint)(2));
+		w45.XOptions = ((global::Gtk.AttachOptions)(4));
+		w45.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table4.Gtk.Table+TableChild
 		this.buttonRight = new global::Gtk.Button();
 		this.buttonRight.CanFocus = true;
 		this.buttonRight.Name = "buttonRight";
 		this.buttonRight.UseUnderline = true;
-		global::Gtk.Image w44 = new global::Gtk.Image();
-		w44.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-end-symbolic.symbolic.png");
-		this.buttonRight.Image = w44;
+		global::Gtk.Image w46 = new global::Gtk.Image();
+		w46.Pixbuf = global::Gdk.Pixbuf.LoadFromResource("monitor.ressources.pan-end-symbolic.symbolic.png");
+		this.buttonRight.Image = w46;
 		this.table4.Add(this.buttonRight);
-		global::Gtk.Table.TableChild w45 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonRight]));
-		w45.TopAttach = ((uint)(1));
-		w45.BottomAttach = ((uint)(2));
-		w45.LeftAttach = ((uint)(2));
-		w45.RightAttach = ((uint)(3));
-		w45.XOptions = ((global::Gtk.AttachOptions)(4));
-		w45.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w47 = ((global::Gtk.Table.TableChild)(this.table4[this.buttonRight]));
+		w47.TopAttach = ((uint)(1));
+		w47.BottomAttach = ((uint)(2));
+		w47.LeftAttach = ((uint)(2));
+		w47.RightAttach = ((uint)(3));
+		w47.XOptions = ((global::Gtk.AttachOptions)(4));
+		w47.YOptions = ((global::Gtk.AttachOptions)(4));
 		this.alignment8.Add(this.table4);
 		this.vbox9.Add(this.alignment8);
-		global::Gtk.Box.BoxChild w47 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.alignment8]));
-		w47.Position = 0;
-		w47.Expand = false;
-		w47.Fill = false;
+		global::Gtk.Box.BoxChild w49 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.alignment8]));
+		w49.Position = 0;
+		w49.Expand = false;
+		w49.Fill = false;
 		// Container child vbox9.Gtk.Box+BoxChild
 		this.table3 = new global::Gtk.Table(((uint)(1)), ((uint)(2)), false);
 		this.table3.Name = "table3";
@@ -584,10 +604,10 @@ public partial class MainWindow
 		this.label3.LabelProp = global::Mono.Unix.Catalog.GetString("Battery level:");
 		this.label3.Justify = ((global::Gtk.Justification)(1));
 		this.table3.Add(this.label3);
-		global::Gtk.Table.TableChild w48 = ((global::Gtk.Table.TableChild)(this.table3[this.label3]));
-		w48.YPadding = ((uint)(10));
-		w48.XOptions = ((global::Gtk.AttachOptions)(4));
-		w48.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w50 = ((global::Gtk.Table.TableChild)(this.table3[this.label3]));
+		w50.YPadding = ((uint)(10));
+		w50.XOptions = ((global::Gtk.AttachOptions)(4));
+		w50.YOptions = ((global::Gtk.AttachOptions)(4));
 		// Container child table3.Gtk.Table+TableChild
 		this.labelBatteryLevel = new global::Gtk.Label();
 		this.labelBatteryLevel.Name = "labelBatteryLevel";
@@ -595,48 +615,49 @@ public partial class MainWindow
 		this.labelBatteryLevel.Xalign = 0F;
 		this.labelBatteryLevel.LabelProp = global::Mono.Unix.Catalog.GetString("Unknown");
 		this.table3.Add(this.labelBatteryLevel);
-		global::Gtk.Table.TableChild w49 = ((global::Gtk.Table.TableChild)(this.table3[this.labelBatteryLevel]));
-		w49.LeftAttach = ((uint)(1));
-		w49.RightAttach = ((uint)(2));
-		w49.YOptions = ((global::Gtk.AttachOptions)(4));
+		global::Gtk.Table.TableChild w51 = ((global::Gtk.Table.TableChild)(this.table3[this.labelBatteryLevel]));
+		w51.LeftAttach = ((uint)(1));
+		w51.RightAttach = ((uint)(2));
+		w51.YOptions = ((global::Gtk.AttachOptions)(4));
 		this.vbox9.Add(this.table3);
-		global::Gtk.Box.BoxChild w50 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.table3]));
-		w50.Position = 2;
-		w50.Expand = false;
-		w50.Fill = false;
+		global::Gtk.Box.BoxChild w52 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.table3]));
+		w52.Position = 2;
+		w52.Expand = false;
+		w52.Fill = false;
 		// Container child vbox9.Gtk.Box+BoxChild
 		this.checkButtonGetBattery = new global::Gtk.CheckButton();
 		this.checkButtonGetBattery.CanFocus = true;
 		this.checkButtonGetBattery.Name = "checkButtonGetBattery";
 		this.checkButtonGetBattery.Label = global::Mono.Unix.Catalog.GetString("Get battery level");
+		this.checkButtonGetBattery.Active = true;
 		this.checkButtonGetBattery.DrawIndicator = true;
 		this.checkButtonGetBattery.UseUnderline = true;
 		this.vbox9.Add(this.checkButtonGetBattery);
-		global::Gtk.Box.BoxChild w51 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.checkButtonGetBattery]));
-		w51.Position = 3;
-		w51.Expand = false;
-		w51.Fill = false;
+		global::Gtk.Box.BoxChild w53 = ((global::Gtk.Box.BoxChild)(this.vbox9[this.checkButtonGetBattery]));
+		w53.Position = 3;
+		w53.Expand = false;
+		w53.Fill = false;
 		this.gtkAlignmentRobotControl.Add(this.vbox9);
 		this.vbox12.Add(this.gtkAlignmentRobotControl);
-		global::Gtk.Box.BoxChild w53 = ((global::Gtk.Box.BoxChild)(this.vbox12[this.gtkAlignmentRobotControl]));
-		w53.Position = 1;
+		global::Gtk.Box.BoxChild w55 = ((global::Gtk.Box.BoxChild)(this.vbox12[this.gtkAlignmentRobotControl]));
+		w55.Position = 1;
 		this.vbox5.Add(this.vbox12);
-		global::Gtk.Box.BoxChild w54 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox12]));
-		w54.Position = 4;
+		global::Gtk.Box.BoxChild w56 = ((global::Gtk.Box.BoxChild)(this.vbox5[this.vbox12]));
+		w56.Position = 4;
 		this.alignment3.Add(this.vbox5);
 		this.hbox3.Add(this.alignment3);
-		global::Gtk.Box.BoxChild w56 = ((global::Gtk.Box.BoxChild)(this.hbox3[this.alignment3]));
-		w56.Position = 1;
-		w56.Expand = false;
-		w56.Fill = false;
+		global::Gtk.Box.BoxChild w58 = ((global::Gtk.Box.BoxChild)(this.hbox3[this.alignment3]));
+		w58.Position = 1;
+		w58.Expand = false;
+		w58.Fill = false;
 		this.hbox1.Add(this.hbox3);
-		global::Gtk.Box.BoxChild w57 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.hbox3]));
-		w57.Position = 1;
-		w57.Expand = false;
-		w57.Fill = false;
+		global::Gtk.Box.BoxChild w59 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.hbox3]));
+		w59.Position = 1;
+		w59.Expand = false;
+		w59.Fill = false;
 		this.vbox1.Add(this.hbox1);
-		global::Gtk.Box.BoxChild w58 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.hbox1]));
-		w58.Position = 1;
+		global::Gtk.Box.BoxChild w60 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.hbox1]));
+		w60.Position = 1;
 		this.Add(this.vbox1);
 		if ((this.Child != null))
 		{
@@ -650,6 +671,7 @@ public partial class MainWindow
 		this.ShowLogWindowAction.Activated += new global::System.EventHandler(this.OnShowLogWindowActionActivated);
 		this.checkButtonCameraOn.Clicked += new global::System.EventHandler(this.OnCheckButtonCameraOnClicked);
 		this.checkButtonRobotPosition.Clicked += new global::System.EventHandler(this.OnCheckButtonRobotPositionClicked);
+		this.checkButtonFPS.Toggled += new global::System.EventHandler(this.OnCheckButtonFPSToggled);
 		this.buttonAskArena.Clicked += new global::System.EventHandler(this.OnButtonAskArenaClicked);
 		this.drawingAreaCamera.ExposeEvent += new global::Gtk.ExposeEventHandler(this.OnDrawingAreaCameraExposeEvent);
 		this.buttonServerConnection.Clicked += new global::System.EventHandler(this.OnButtonServerConnectionClicked);

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

@@ -74,68 +74,95 @@
                 <property name="MemberName" />
                 <property name="Spacing">6</property>
                 <child>
-                  <widget class="Gtk.Alignment" id="alignment1">
+                  <widget class="Gtk.HBox" id="hbox2">
                     <property name="MemberName" />
-                    <property name="Xscale">0</property>
-                    <property name="Xalign">0</property>
-                    <property name="BorderWidth">6</property>
+                    <property name="Spacing">6</property>
                     <child>
-                      <widget class="Gtk.HBox" id="hbox2">
+                      <widget class="Gtk.Alignment" id="alignment1">
                         <property name="MemberName" />
-                        <property name="Spacing">6</property>
-                        <child>
-                          <widget class="Gtk.CheckButton" id="checkButtonCameraOn">
-                            <property name="MemberName" />
-                            <property name="CanFocus">True</property>
-                            <property name="Label" translatable="yes">Camera On</property>
-                            <property name="DrawIndicator">True</property>
-                            <property name="HasLabel">True</property>
-                            <property name="UseUnderline">True</property>
-                            <signal name="Clicked" handler="OnCheckButtonCameraOnClicked" />
-                          </widget>
-                          <packing>
-                            <property name="Position">0</property>
-                            <property name="AutoSize">True</property>
-                          </packing>
-                        </child>
-                        <child>
-                          <widget class="Gtk.CheckButton" id="checkButtonRobotPosition">
-                            <property name="MemberName" />
-                            <property name="CanFocus">True</property>
-                            <property name="Label" translatable="yes">Robot Position</property>
-                            <property name="DrawIndicator">True</property>
-                            <property name="HasLabel">True</property>
-                            <property name="UseUnderline">True</property>
-                            <signal name="Clicked" handler="OnCheckButtonRobotPositionClicked" />
-                          </widget>
-                          <packing>
-                            <property name="Position">1</property>
-                            <property name="AutoSize">True</property>
-                          </packing>
-                        </child>
+                        <property name="Xscale">0</property>
+                        <property name="Xalign">0</property>
+                        <property name="BorderWidth">6</property>
                         <child>
-                          <widget class="Gtk.Button" id="buttonAskArena">
+                          <widget class="Gtk.HBox" id="hbox5">
                             <property name="MemberName" />
-                            <property name="CanFocus">True</property>
-                            <property name="Type">TextOnly</property>
-                            <property name="Label" translatable="yes">Ask Arena...</property>
-                            <property name="UseUnderline">True</property>
-                            <signal name="Clicked" handler="OnButtonAskArenaClicked" />
+                            <property name="Spacing">6</property>
+                            <child>
+                              <widget class="Gtk.CheckButton" id="checkButtonCameraOn">
+                                <property name="MemberName" />
+                                <property name="CanFocus">True</property>
+                                <property name="Label" translatable="yes">Camera On</property>
+                                <property name="DrawIndicator">True</property>
+                                <property name="HasLabel">True</property>
+                                <property name="UseUnderline">True</property>
+                                <signal name="Clicked" handler="OnCheckButtonCameraOnClicked" />
+                              </widget>
+                              <packing>
+                                <property name="Position">0</property>
+                                <property name="AutoSize">True</property>
+                              </packing>
+                            </child>
+                            <child>
+                              <widget class="Gtk.CheckButton" id="checkButtonRobotPosition">
+                                <property name="MemberName" />
+                                <property name="CanFocus">True</property>
+                                <property name="Label" translatable="yes">Show Position</property>
+                                <property name="DrawIndicator">True</property>
+                                <property name="HasLabel">True</property>
+                                <property name="UseUnderline">True</property>
+                                <signal name="Clicked" handler="OnCheckButtonRobotPositionClicked" />
+                              </widget>
+                              <packing>
+                                <property name="Position">1</property>
+                                <property name="AutoSize">True</property>
+                              </packing>
+                            </child>
+                            <child>
+                              <widget class="Gtk.CheckButton" id="checkButtonFPS">
+                                <property name="MemberName" />
+                                <property name="CanFocus">True</property>
+                                <property name="Label" translatable="yes">Show FPS</property>
+                                <property name="DrawIndicator">True</property>
+                                <property name="HasLabel">True</property>
+                                <property name="UseUnderline">True</property>
+                                <signal name="Toggled" handler="OnCheckButtonFPSToggled" />
+                              </widget>
+                              <packing>
+                                <property name="Position">2</property>
+                                <property name="AutoSize">True</property>
+                              </packing>
+                            </child>
                           </widget>
-                          <packing>
-                            <property name="PackType">End</property>
-                            <property name="Position">2</property>
-                            <property name="AutoSize">True</property>
-                            <property name="Expand">False</property>
-                            <property name="Fill">False</property>
-                          </packing>
                         </child>
                       </widget>
+                      <packing>
+                        <property name="Position">0</property>
+                        <property name="AutoSize">True</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <placeholder />
+                    </child>
+                    <child>
+                      <widget class="Gtk.Button" id="buttonAskArena">
+                        <property name="MemberName" />
+                        <property name="CanFocus">True</property>
+                        <property name="Type">TextOnly</property>
+                        <property name="Label" translatable="yes">Ask Arena...</property>
+                        <property name="UseUnderline">True</property>
+                        <signal name="Clicked" handler="OnButtonAskArenaClicked" />
+                      </widget>
+                      <packing>
+                        <property name="Position">2</property>
+                        <property name="AutoSize">True</property>
+                        <property name="Expand">False</property>
+                        <property name="Fill">False</property>
+                      </packing>
                     </child>
                   </widget>
                   <packing>
                     <property name="Position">0</property>
-                    <property name="AutoSize">False</property>
+                    <property name="AutoSize">True</property>
                     <property name="Expand">False</property>
                     <property name="Fill">False</property>
                   </packing>
@@ -758,6 +785,7 @@
                                         <property name="MemberName" />
                                         <property name="CanFocus">True</property>
                                         <property name="Label" translatable="yes">Get battery level</property>
+                                        <property name="Active">True</property>
                                         <property name="DrawIndicator">True</property>
                                         <property name="HasLabel">True</property>
                                         <property name="UseUnderline">True</property>

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

@@ -17,18 +17,42 @@
 
 #include "camera.h"
 #include "img.h"
+#include <unistd.h>
 
 using namespace cv;
 
-Camera::Camera(int size) {
+Camera::Camera(int size, int fps) {
     this->SetSize(size);
+#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__ */
 }
 
 bool Camera::Open() {
-    this->cap.open(0);
+    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;
 }
 
 void Camera::Close() {
@@ -58,15 +82,22 @@ void Camera::SetSize(int size) {
         default:
             this->width = 480;
             this->height = 360;
-
     }
 }
 
 Img Camera::Grab() {
     ImageMat frame;
     
+#ifdef __FOR_PC__
     cap >> frame;
     Img capture = Img(frame);
+#else
+    cap.grab();
+    cap.retrieve (frame);
+    cvtColor(frame,frame,CV_BGR2RGB);
+    
+    Img capture = Img(frame);
+#endif /* __FOR_PC__ */
     
     return capture;
 }

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

@@ -21,13 +21,16 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
+#ifndef __FOR_PC__
+#include "raspicam/raspicam_cv.h"
+#endif /* __FOR_PC__ */
 #include "img.h"
 
 enum captureSize {xs, sm, md, lg};
 
 class Camera {
 public:
-    Camera(int size);
+    Camera(int size, int fps);
 
     bool Open();
     void Close();
@@ -41,7 +44,12 @@ public:
     Img Grab();
     
 private:
+#ifdef __FOR_PC__
     cv::VideoCapture cap;
+#else
+    raspicam::RaspiCam_Cv cap;
+#endif /*  __FOR_PC__ */   
+   
     int size = sm;
     int width;
     int height;

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

@@ -243,7 +243,7 @@ string ComMonitor::MessageToString(Message *msg) {
             image=((MessageImg*) msg)->GetImage();
             jpeg = image->ToJpg();
             
-            cout << "Jpeg size: " << to_string(jpeg.size())<<endl<<flush;
+            //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);

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

@@ -18,7 +18,7 @@
 #include "img.h"
 
 bool Arena::IsEmpty() {
-    if ((this->arena.height==0) || (this->arena.width==0)) return true;
+    if ((this->arena.height == 0) || (this->arena.width == 0)) return true;
     else return false;
 }
 
@@ -27,61 +27,64 @@ Img::Img(ImageMat imgMatrice) {
 }
 
 string Img::ToString() {
-    return "Image size: "+to_string(this->img.cols)+"x"+to_string(this->img.rows)+" (dim="+to_string(this->img.dims)+")";
+    return "Image size: " + to_string(this->img.cols) + "x" + to_string(this->img.rows) + " (dim=" + to_string(this->img.dims) + ")";
 }
 
 Img* Img::Copy() {
     return new Img(this->img);
 }
-    
+
 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;
+    float b = robot.direction.y - robot.center.y;
+    float angle = atan2(b, a);
+    return angle * 180.f / M_PI;
 }
 
 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;
+    float b = pt1.y - pt2.y;
+    float angle = atan2(b, a);
+    return angle * 180.f / M_PI;
 }
 
 #ifdef __WITH_ARUCO__ 
-cv::Point2f Img::find_aruco_center(std::vector<cv::Point2f> aruco) {
-    return ((aruco[0] + aruco[2])/2);
+
+cv::Point2f Img::FindArucoCenter(std::vector<cv::Point2f> aruco) {
+    return ((aruco[0] + aruco[2]) / 2);
 }
 
-cv::Point2f Img::find_aruco_direction(std::vector<cv::Point2f> aruco) {
-    return ((aruco[0]+aruco[1])/2);;
+cv::Point2f Img::FindArucoDirection(std::vector<cv::Point2f> aruco) {
+    return ((aruco[0] + aruco[1]) / 2);
 }
 
-std::list<Position> Img::search_aruco(Arena monArene) {
+std::list<Position> Img::SearchAruco(Arena arena) {
     ImageMat imgTraitment;
     std::list<Position> positionList;
     cv::Point2f areneCoor;
     std::vector<int> ids;
     std::vector<std::vector<cv::Point2f> > corners;
-    if(monArene.empty())
-        imgTraitment=this->img.clone();
-    else{
-        imgTraitment = cropArena(monArene);
-        areneCoor.x = monArene.x;
-        areneCoor.y = monArene.y;
+    
+    if (arena.IsEmpty())
+        imgTraitment = this->img.clone();
+    else {
+        imgTraitment = CropArena(arena);
+        areneCoor.x = arena.arena.x;
+        areneCoor.y = arena.arena.y;
     }
-    cv::detectMarkers(imgTraitment,dictionary, corners, ids);
-    if(ids.size()>0){
-        for(int i = 0 ; i < ids.size() ; i++){
+    
+    cv::aruco::detectMarkers(imgTraitment, dictionary, corners, ids);
+    if (ids.size() > 0) {
+        for (int i = 0; i < ids.size(); i++) {
             Position newPos;
-            newPos.center = find_aruco_center(corners[i]);
-            newPos.direction = find_aruco_direction(corners[i]);
+            newPos.center = FindArucoCenter(corners[i]);
+            newPos.direction = FindArucoDirection(corners[i]);
             newPos.robotId = ids[i];
-            if(!monArene.empty()){
+            if (!arena.IsEmpty()) {
                 newPos.direction += areneCoor;
                 newPos.center += areneCoor;
             }
-            newPos.angle = calculAngle2(newPos.center, newPos.direction);
+            newPos.angle = CalculAngle2(newPos.center, newPos.direction);
             positionList.push_back(newPos);
         }
     }
@@ -91,92 +94,79 @@ std::list<Position> Img::search_aruco(Arena monArene) {
 
 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);
+    return cv::sqrt(diff.x * diff.x + diff.y * diff.y);
 }
 
 Jpg Img::ToJpg() {
     Jpg imgJpg;
-    cv::imencode(".jpg",this->img,imgJpg);
+    cv::imencode(".jpg", this->img, imgJpg);
     return imgJpg;
 }
 
-//string Img::ToBase64() {
-//    string imgBase64;
-//    Jpg imgJpg = toJpg();
-//    
-//    /* faire la convertion Jpg vers base 64 */
-//    return imgBase64;
-//}
-
-std::list<Position> Img::SearchRobot(Arena monArene) {
+std::list<Position> Img::SearchRobot(Arena arena) {
 
     std::list<Position> robotsFind;
-    std::vector<std::vector<cv::Point2f> > contours;
-    std::vector<cv::Point2f> approx;
+    std::vector<std::vector<cv::Point> > contours;
+    std::vector<cv::Point> approx;
     std::vector<cv::Vec4i> hierarchy;
 
     ImageMat imgTraitment;
 
-    if(monArene.IsEmpty())
-        imgTraitment=this->img.clone();
-    else
-        imgTraitment = CropArena(monArene);
-
-    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::Point2f(0, 0));
+    if (arena.IsEmpty()) {
+        imgTraitment = this->img.clone();
+    } else {
+        imgTraitment = this->img(arena.arena);
+    }
 
-    for(unsigned int i = 0;i < contours.size();i++)
-    {
-        cv::approxPolyDP(ImageMat(contours[i]), 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)
-        {
+    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));
 
-            cv::Point2f a,b,c;
-            cv::Point2f center;
+    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(!monArene.IsEmpty()) // ajout de l'offset de l'arène
-            {
-                a.x += monArene.arena.x;
-                a.y += monArene.arena.y;
-                b.x += monArene.arena.x;
-                b.y += monArene.arena.y;
-                c.x += monArene.arena.x;
-                c.y += monArene.arena.y;
+            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;
+            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.center = center;
 
-                newPos.direction=b;
+            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 if (EuclideanDistance(center, a) > EuclideanDistance(center, c)) {
 
-            }
-            else
-            {
-                newPos.direction=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.angle = CalculAngle(newPos);
+            newPos.robotId = -1; // dumb identifier
+
             robotsFind.push_back(newPos);
         }
     }
+
     return robotsFind;
 }
 
@@ -186,16 +176,14 @@ Arena Img::SearchArena() {
     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
+    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++)
-    {
+    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)
-        {
+        if (approx.size() == 4 && fabs(cv::contourArea(contours[i])) > 100000) {
             Arena rectangle;
             rectangle.arena = cv::boundingRect(ImageMat(contours[i]));
             return rectangle;
@@ -205,22 +193,22 @@ Arena Img::SearchArena() {
 }
 
 int Img::DrawRobot(Position robot) {
-    cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0,0,255),3,8,0);
+    cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0, 0, 255), 3, 8, 0);
     return 0;
 }
 
 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);
+    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();
 }
 
-int Img::DrawArena(Arena areneToDraw) {
-    cv::rectangle(this->img,areneToDraw.arena.tl(),areneToDraw.arena.br(),cv::Scalar(0,0,125),2,8,0);
+int Img::DrawArena(Arena arenaToDraw) {
+    cv::rectangle(this->img, arenaToDraw.arena.tl(), arenaToDraw.arena.br(), cv::Scalar(0, 0, 125), 2, 8, 0);
     return 0;
 }
 
-ImageMat Img::CropArena(Arena arene) {
-    return this->img(arene.arena);
+ImageMat Img::CropArena(Arena arena) {
+    return this->img(arena.arena);
 }

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

@@ -29,7 +29,9 @@
 #ifdef __WITH_ARUCO__
 #include <opencv2/aruco/dictionary.hpp>
 #include <opencv2/aruco/charuco.hpp>
+//#include <opencv2/aruco.hpp>
 #include <opencv2/core/mat.hpp>
+
 #endif // __WITH_ARUCO__
 
 #define ARENA_NOT_DETECTED -1
@@ -57,6 +59,8 @@ public:
 
 class Img {
 public:
+    ImageMat img;
+    
     Img(ImageMat imgMatrice);
     
     string ToString();
@@ -67,26 +71,23 @@ public:
 
     int DrawRobot(Position robot);
     int DrawAllRobots(std::list<Position> robots);
-    int DrawArena(Arena areneToDraw);
-    std::list<Position> SearchRobot(Arena myArena);
-    
-    
+    int DrawArena(Arena arenaToDraw);
+    std::list<Position> SearchRobot(Arena arena);
+        
 #ifdef __WITH_ARUCO__    
-    list<Position> search_aruco(Arena monArene = NULL);
+    list<Position> SearchAruco(Arena arena);
+    cv::Ptr<cv::aruco::Dictionary> dictionary;
 #endif // __WITH_ARUCO__
 private:
-    ImageMat img;
-    
 #ifdef __WITH_ARUCO__
-    Ptr<std::Dictionary> dictionary;
-    cv::Point2f find_aruco_center(std::vector<cv::Point2f> aruco);
-    cv::Point2f find_aruco_direction(std::vector<cv::Point2f> aruco);
+    cv::Point2f FindArucoCenter(std::vector<cv::Point2f> aruco);
+    cv::Point2f FindArucoDirection(std::vector<cv::Point2f> aruco);
 #endif // __WITH_ARUCO__
     
     float CalculAngle(Position robots);
     float CalculAngle2(cv::Point2f pt1, cv::Point2f pt2);
     float EuclideanDistance(cv::Point2f p, cv::Point2f q);
-    ImageMat CropArena(Arena arene);
+    ImageMat CropArena(Arena arena);
 };
 
 #endif //__IMG_H__

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

@@ -35,6 +35,11 @@ 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/message.o \
 	${OBJECTDIR}/lib/messages.o \
 	${OBJECTDIR}/lib/monitor.o \
@@ -42,11 +47,6 @@ OBJECTFILES= \
 	${OBJECTDIR}/lib/server.o \
 	${OBJECTDIR}/main.o \
 	${OBJECTDIR}/tasks.o \
-	${OBJECTDIR}/_ext/a7f31ab4/base64.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/camera.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/img.o \
 	${OBJECTDIR}/tasks_pthread.o
 
 
@@ -74,6 +74,31 @@ ${CND_DISTDIR}/${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"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
+
+${OBJECTDIR}/lib/camera.o: lib/camera.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
+
+${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
+
+${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
+
+${OBJECTDIR}/lib/img.o: lib/img.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
+
 ${OBJECTDIR}/lib/message.o: lib/message.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
@@ -109,31 +134,6 @@ ${OBJECTDIR}/tasks.o: tasks.cpp
 	${RM} "$@.d"
 	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
 
-${OBJECTDIR}/_ext/a7f31ab4/base64.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/a7f31ab4
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a7f31ab4/base64.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
-
-${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/camera.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
-
-${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp
-
-${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp
-
-${OBJECTDIR}/_ext/6cc0dc4a/img.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/img.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp
-
 ${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"

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

@@ -35,13 +35,13 @@ 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}/_ext/a7f31ab4/base64.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/camera.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/img.o \
 	${OBJECTDIR}/tasks_pthread.o
 
 
@@ -69,45 +69,45 @@ ${CND_DISTDIR}/${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} -lpthread -lrt
 
-${OBJECTDIR}/lib/messages.o: lib/messages.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
+${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib/base64
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
 
-${OBJECTDIR}/main.o: main.cpp
-	${MKDIR} -p ${OBJECTDIR}
+${OBJECTDIR}/lib/camera.o: lib/camera.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
 
-${OBJECTDIR}/_ext/a7f31ab4/base64.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/a7f31ab4
+${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a7f31ab4/base64.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
 
-${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
+${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/camera.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
 
-${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
+${OBJECTDIR}/lib/img.o: lib/img.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
 
-${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
+${OBJECTDIR}/lib/messages.o: lib/messages.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
 
-${OBJECTDIR}/_ext/6cc0dc4a/img.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
+${OBJECTDIR}/main.o: main.cpp
+	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/img.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
 
 ${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
 
 # Subprojects
 .build-subprojects:

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

@@ -0,0 +1,131 @@
+#
+# 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__Pthread__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 opencv` /usr/local/lib/libraspicam_cv.so /usr/local/lib/libraspicam.so  
+
+# 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: /usr/local/lib/libraspicam_cv.so
+
+${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: /usr/local/lib/libraspicam.so
+
+${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} ${LDLIBSOPTIONS} -lpthread -lrt
+
+${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib/base64
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
+
+${OBJECTDIR}/lib/camera.o: lib/camera.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
+
+${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
+
+${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
+
+${OBJECTDIR}/lib/img.o: lib/img.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
+
+${OBJECTDIR}/lib/messages.o: lib/messages.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
+
+${OBJECTDIR}/main.o: main.cpp
+	${MKDIR} -p ${OBJECTDIR}
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
+
+${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
+	${MKDIR} -p ${OBJECTDIR}
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
+
+# Subprojects
+.build-subprojects:
+
+# Clean Targets
+.clean-conf: ${CLEAN_SUBPROJECTS}
+	${RM} -r ${CND_BUILDDIR}/${CND_CONF}
+	${RM} -r ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/libraspicam_cv.so ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/libraspicam.so
+	${RM} ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot
+
+# Subprojects
+.clean-subprojects:
+
+# Enable dependency checking
+.dep.inc: .depcheck-impl
+
+include .dep.inc

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

@@ -35,7 +35,12 @@ 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/image.o \
+	${OBJECTDIR}/lib/img.o \
 	${OBJECTDIR}/lib/message.o \
 	${OBJECTDIR}/lib/messages.o \
 	${OBJECTDIR}/lib/monitor.o \
@@ -43,11 +48,6 @@ OBJECTFILES= \
 	${OBJECTDIR}/lib/server.o \
 	${OBJECTDIR}/main.o \
 	${OBJECTDIR}/tasks.o \
-	${OBJECTDIR}/_ext/a7f31ab4/base64.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/camera.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/img.o \
 	${OBJECTDIR}/tasks_pthread.o
 
 
@@ -75,11 +75,36 @@ ${CND_DISTDIR}/${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"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
+
+${OBJECTDIR}/lib/camera.o: lib/camera.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
+
+${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
+
+${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
+
 ${OBJECTDIR}/lib/image.o: lib/image.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
 	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/image.o lib/image.cpp
 
+${OBJECTDIR}/lib/img.o: lib/img.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
+
 ${OBJECTDIR}/lib/message.o: lib/message.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
@@ -115,31 +140,6 @@ ${OBJECTDIR}/tasks.o: tasks.cpp
 	${RM} "$@.d"
 	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
 
-${OBJECTDIR}/_ext/a7f31ab4/base64.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/a7f31ab4
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a7f31ab4/base64.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
-
-${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/camera.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
-
-${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp
-
-${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp
-
-${OBJECTDIR}/_ext/6cc0dc4a/img.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/img.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp
-
 ${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"

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

@@ -35,7 +35,12 @@ 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/image.o \
+	${OBJECTDIR}/lib/img.o \
 	${OBJECTDIR}/lib/message.o \
 	${OBJECTDIR}/lib/messages.o \
 	${OBJECTDIR}/lib/monitor.o \
@@ -43,11 +48,6 @@ OBJECTFILES= \
 	${OBJECTDIR}/lib/server.o \
 	${OBJECTDIR}/main.o \
 	${OBJECTDIR}/tasks.o \
-	${OBJECTDIR}/_ext/a7f31ab4/base64.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/camera.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \
-	${OBJECTDIR}/_ext/6cc0dc4a/img.o \
 	${OBJECTDIR}/tasks_pthread.o
 
 
@@ -75,11 +75,36 @@ ${CND_DISTDIR}/${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}
 
+${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib/base64
+	${RM} "$@.d"
+	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
+
+${OBJECTDIR}/lib/camera.o: lib/camera.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
+
+${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
+
+${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
+
 ${OBJECTDIR}/lib/image.o: lib/image.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
 	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/image.o lib/image.cpp
 
+${OBJECTDIR}/lib/img.o: lib/img.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
+
 ${OBJECTDIR}/lib/message.o: lib/message.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
@@ -115,31 +140,6 @@ ${OBJECTDIR}/tasks.o: tasks.cpp
 	${RM} "$@.d"
 	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
 
-${OBJECTDIR}/_ext/a7f31ab4/base64.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/a7f31ab4
-	${RM} "$@.d"
-	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a7f31ab4/base64.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
-
-${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
-	${RM} "$@.d"
-	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/camera.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
-
-${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
-	${RM} "$@.d"
-	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp
-
-${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
-	${RM} "$@.d"
-	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp
-
-${OBJECTDIR}/_ext/6cc0dc4a/img.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp
-	${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
-	${RM} "$@.d"
-	$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/img.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp
-
 ${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"

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

@@ -31,7 +31,7 @@ DEFAULTCONF=Debug
 CONF=${DEFAULTCONF}
 
 # All Configurations
-ALLCONFS=Debug Release Debug__RPI_ Debug__Pthread_ 
+ALLCONFS=Debug Release Debug__RPI_ Debug__Pthread_ Debug__Pthread__RPI 
 
 
 # build

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

@@ -38,6 +38,14 @@ CND_ARTIFACT_PATH_Debug__Pthread_=dist/Debug__Pthread_/GNU-Linux/superviseur-rob
 CND_PACKAGE_DIR_Debug__Pthread_=dist/Debug__Pthread_/GNU-Linux/package
 CND_PACKAGE_NAME_Debug__Pthread_=superviseur-robot.tar
 CND_PACKAGE_PATH_Debug__Pthread_=dist/Debug__Pthread_/GNU-Linux/package/superviseur-robot.tar
+# Debug__Pthread__RPI configuration
+CND_PLATFORM_Debug__Pthread__RPI=GNU-Linux
+CND_ARTIFACT_DIR_Debug__Pthread__RPI=dist/Debug__Pthread__RPI/GNU-Linux
+CND_ARTIFACT_NAME_Debug__Pthread__RPI=superviseur-robot
+CND_ARTIFACT_PATH_Debug__Pthread__RPI=dist/Debug__Pthread__RPI/GNU-Linux/superviseur-robot
+CND_PACKAGE_DIR_Debug__Pthread__RPI=dist/Debug__Pthread__RPI/GNU-Linux/package
+CND_PACKAGE_NAME_Debug__Pthread__RPI=superviseur-robot.tar
+CND_PACKAGE_PATH_Debug__Pthread__RPI=dist/Debug__Pthread__RPI/GNU-Linux/package/superviseur-robot.tar
 #
 # include compiler specific variables
 #

software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread__RPI.bash

@@ -0,0 +1,76 @@
+#!/bin/bash -x
+
+#
+# Generated - do not edit!
+#
+
+# Macros
+TOP=`pwd`
+CND_PLATFORM=GNU-Linux
+CND_CONF=Debug__Pthread__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"