Reorganisation de qq fichier

Demande #42: Migrer le code sous xenomai

README.md

@@ -1,15 +1,9 @@
 # Dumber
 
-## 2017-2018 :
+Depot du projet de temps reel 4eme année au departement GEI de l'INSA Toulouse.
-Problème : 
-- Watchdog du robot ne fonctionne pas
-- Interface graphique qui a des etats mal gérée (je voulais le reprendre en utilisant les 'stores' de vuex pour éviter ça).
-- Il faudrait une execution de l'interface (srv nodejs) par défaut au démarage de la RPI.
- 	L'exectution devrait se faire dans l'user space de linux dans le cas d'utilisation d'un noyau xenomai (co-kernel).
-	=> Potentiellement passer d'un noyau preempt_rt (actuel) à un noyau xenomai
 
 ## Repertoires
-- hardware : contient les plans pour la partie mecanique du robot et de son chargeur
+- hardware : contient les plans pour la partie mecanique du robot et de son chargeur, ainsi que les plans de conception des PCB du robot, du chargeur, de l'adaptateur Xbee pour la raspberry  et les plans des CAP du robot
 - software: rassemble les parties logicielles du robot, du chargeur, les bibliotheques et superviseur coté raspberry et l'interface Web
-- pcb: contient les plans de conception des PCB du robot, du chargeur, de l'adaptateur Xbee pour la raspberry  et les plans des CAP du robot
+- doc: contient les sujets de TD et TP
-- incubateur: projet en incubation. Actuellement, contient des essais sur les aruco (pour la detection des robots) ou le portage du firmware du robot sous freertos.
+- aruco_markers: Script de generation des tags (aruco) utilisés sur les robots

software/README.md

@@ -1,8 +1,8 @@
 # Software
 
-Dans ce repertoire se trouvent les logiciels pour les differentes parties du projet dumber
+Dans ce repertoire se trouvent les logiciels pour les differentes parties du projet de TP Temps reel (dumber)
-- robot: Contient le code source du firmware executé par le robot (STM32 / Keil)
+- robot: Contient le code source du firmware executé par le robot (STM32 / TrueStudio)
-- chargeur: Contient le code executé dans le boitier du chargeur de batterie du robot (STM32 / Keil)
+- chargeur: Contient le code executé dans le boitier du chargeur de batterie du robot (STM32 / TrueStudio)
 - raspberry: Contient le code du superviseur temps reel s'executant sur la raspberry et en charge du controle de la camera, et du pilotage du robot (via la liaison serie)
-- UserinterfaceWeb: interface Web pour la surveillance du systeme: connexion au superviseur RT, control et affichage de l'etat du robot, retour d'image.
+- monitor: client C# pour la communication avec le superviseur
-- android: Application android pour le pilotage du robot via un module bluetooth à la place du module XBEE de base sur le robot.
+- install-opencv.sh: Script pour installer et deployer opencv avec support des aruco et bibliotheque raspicam

software/monitor/monitor/Client.cs

@@ -258,8 +258,15 @@ namespace monitor
             {
                 byte[] writeBuffer = Encoding.UTF8.GetBytes(mes);
 
+                try
+                {
                     stream.Write(writeBuffer, 0, mes.Length);
                 }
+                catch (System.IO.IOException) {
+                    Console.WriteLine("Server closed");
+                    client.Close();
+                }
+            }
         }
     }
 }

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

@@ -812,7 +812,6 @@
                                         <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/.gitignore

@@ -2,7 +2,6 @@ build/
 src.sav/
 cmake-build-debug/
 futur/
-build/
 CMakeFiles/
 
 Makefile
@@ -12,3 +11,8 @@ CMakeCache.txt
 docs/
 doc/
 
+workspace/
+dist/
+not_for_students/
+
+

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

@@ -114,7 +114,10 @@ Img Camera::Grab() {
 #else
     cap.grab();
     cap.retrieve(frame);
+
+#ifdef __INVERSE_COLOR__
     cvtColor(frame, frame, CV_BGR2RGB);
+#endif // __INVERSE_COLOR__
 
     Img capture = Img(frame);
 #endif /* __FOR_PC__ */

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

@@ -73,19 +73,17 @@ int ComRobot::Open(string usart) {
 
     fd = open(usart.c_str(), O_RDWR | O_NOCTTY /*| O_NDELAY*/); //Open in blocking read/write mode
     if (fd == -1) {
-        cerr<<"["<<__PRETTY_FUNCTION__<<"] Unable to open UART ("<<usart<<"). Ensure it is not in use by another application"<<endl<<flush;
+        cerr << "[" << __PRETTY_FUNCTION__ << "] Unable to open UART (" << usart << "). Ensure it is not in use by another application" << endl << flush;
         throw std::runtime_error{"Unable to open UART"};
         exit(EXIT_FAILURE);
-    }
+    } else {
-    else
-    {
         fcntl(fd, F_SETFL, 0);
         tcgetattr(fd, &options);
         options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
-        cfsetospeed (&options, B9600);
+        cfsetospeed(&options, B9600);
-        cfsetispeed (&options, B9600);
+        cfsetispeed(&options, B9600);
-        options.c_cc[VMIN]=0;
+        options.c_cc[VMIN] = 0;
-        options.c_cc[VTIME]=1; /* Timeout of 100 ms per character*/
+        options.c_cc[VTIME] = 1; /* Timeout of 100 ms per character */
         tcsetattr(fd, TCSANOW, &options);
     }
 
@@ -99,6 +97,7 @@ int ComRobot::Open(string usart) {
 int ComRobot::Close() {
     return close(fd);
 }
+
 /**
  * Send a message to robot
  * @param msg Message to send to robot
@@ -115,7 +114,7 @@ Message *ComRobot::Write(Message* msg) {
 
         Write_Pre();
 
-        s=MessageToString(msg);
+        s = MessageToString(msg);
         AddChecksum(s);
 
         //cout << "[" <<__PRETTY_FUNCTION__<<"] Send command: "<<s<<endl<<flush;
@@ -128,7 +127,7 @@ Message *ComRobot::Write(Message* msg) {
 
             try {
                 s = Read();
-                cout << "Answer = "<<s<<endl<<flush;
+                //cout << "Answer = "<<s<<endl<<flush;
 
                 if (VerifyChecksum(s)) {
                     msgAnswer = StringToMessage(s);
@@ -169,14 +168,14 @@ string ComRobot::Read() {
 
     do {
         rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max)
-        if (rxLength ==0) { // timeout
+        if (rxLength == 0) { // timeout
             // try again
             rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max)
-            if (rxLength ==0) { // re-timeout: it sucks !
+            if (rxLength == 0) { // re-timeout: it sucks !
-                throw std::runtime_error {"ComRobot::Read: Timeout when reading from com port"};
+                throw std::runtime_error{"ComRobot::Read: Timeout when reading from com port"};
             }
-        } else if (rxLength <0) { // big pb !
+        } else if (rxLength < 0) { // big pb !
-            throw std::runtime_error {"ComRobot::Read: Unknown problem when reading from com port"};
+            throw std::runtime_error{"ComRobot::Read: Unknown problem when reading from com port"};
         } else { // everything ok
             if ((receivedChar != '\r') && (receivedChar != '\n')) s += receivedChar;
         }
@@ -200,7 +199,7 @@ Message *ComRobot::SendCommand(Message* msg, MessageID answerID, int maxRetries)
         if (msgTmp->CompareID(answerID)) counter = 0;
         else counter--;
 
-        if (counter == 0) msgRcv=msgTmp->Copy();
+        if (counter == 0) msgRcv = msgTmp->Copy();
 
         delete(msgTmp);
     } while (counter);
@@ -220,26 +219,26 @@ Message* ComRobot::StringToMessage(string s) {
 
     switch (s[0]) {
         case LABEL_ROBOT_OK:
-            msg=new Message(MESSAGE_ANSWER_ACK);
+            msg = new Message(MESSAGE_ANSWER_ACK);
             break;
         case LABEL_ROBOT_ERROR:
-            msg=new Message(MESSAGE_ANSWER_ROBOT_ERROR);
+            msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
             break;
         case LABEL_ROBOT_UNKNOWN_COMMAND:
-            msg=new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND);
+            msg = new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND);
             break;
         case '0':
-            msg=new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY);
+            msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY);
             break;
         case '1':
-            msg=new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW);
+            msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW);
             break;
         case '2':
-            msg=new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
+            msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
             break;
         default:
-            msg=new Message(MESSAGE_ANSWER_ROBOT_ERROR);
+            msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
-            cerr<<"["<<__PRETTY_FUNCTION__<<"] Unknown message received from robot (" << s <<")"<<endl<<flush;
+            cerr << "[" << __PRETTY_FUNCTION__ << "] Unknown message received from robot (" << s << ")" << endl << flush;
     }
 
     return msg;
@@ -259,62 +258,67 @@ string ComRobot::MessageToString(Message *msg) {
 
     switch (msg->GetID()) {
         case MESSAGE_ROBOT_PING:
-            s+=LABEL_ROBOT_PING;
+            s += LABEL_ROBOT_PING;
             break;
         case MESSAGE_ROBOT_RESET:
-            s+=LABEL_ROBOT_RESET;
+            s += LABEL_ROBOT_RESET;
             break;
         case MESSAGE_ROBOT_POWEROFF:
-            s+=LABEL_ROBOT_POWEROFF;
+            s += LABEL_ROBOT_POWEROFF;
             break;
         case MESSAGE_ROBOT_START_WITHOUT_WD:
-            s+=LABEL_ROBOT_START_WITHOUT_WD;
+            s += LABEL_ROBOT_START_WITHOUT_WD;
             break;
         case MESSAGE_ROBOT_START_WITH_WD:
-            s+=LABEL_ROBOT_START_WITH_WD;
+            s += LABEL_ROBOT_START_WITH_WD;
             break;
         case MESSAGE_ROBOT_RELOAD_WD:
-            s+=LABEL_ROBOT_RELOAD_WD;
+            s += LABEL_ROBOT_RELOAD_WD;
             break;
         case MESSAGE_ROBOT_BATTERY_GET:
-            s+=LABEL_ROBOT_GET_BATTERY;
+            s += LABEL_ROBOT_GET_BATTERY;
             break;
         case MESSAGE_ROBOT_STATE_GET:
-            s+=LABEL_ROBOT_GET_STATE;
+            s += LABEL_ROBOT_GET_STATE;
             break;
         case MESSAGE_ROBOT_GO_FORWARD:
-            s+=LABEL_ROBOT_MOVE;
+            s += LABEL_ROBOT_MOVE;
-            s+=LABEL_ROBOT_SEPARATOR_CHAR;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
             s.append(to_string(500000));
             break;
         case MESSAGE_ROBOT_GO_BACKWARD:
-            s+=LABEL_ROBOT_MOVE;
+            s += LABEL_ROBOT_MOVE;
-            s+=LABEL_ROBOT_SEPARATOR_CHAR;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
             s.append(to_string(-500000));
             break;
         case MESSAGE_ROBOT_GO_LEFT:
-            s+=LABEL_ROBOT_TURN;
+            s += LABEL_ROBOT_TURN;
-            s+=LABEL_ROBOT_SEPARATOR_CHAR;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(90));
+            s.append(to_string(-500000));
             break;
         case MESSAGE_ROBOT_GO_RIGHT:
-            s+=LABEL_ROBOT_TURN;
+            s += LABEL_ROBOT_TURN;
-            s+=LABEL_ROBOT_SEPARATOR_CHAR;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(-90));
+            s.append(to_string(500000));
+            break;
+        case MESSAGE_ROBOT_STOP:
+            s += LABEL_ROBOT_MOVE;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
+            s.append(to_string(0));
             break;
         case MESSAGE_ROBOT_MOVE:
-            s+=LABEL_ROBOT_MOVE;
+            s += LABEL_ROBOT_MOVE;
-            s+=LABEL_ROBOT_SEPARATOR_CHAR;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(((MessageInt*)msg)->GetValue()));
+            s.append(to_string(((MessageInt*) msg)->GetValue()));
             break;
         case MESSAGE_ROBOT_TURN:
-            s+=LABEL_ROBOT_TURN;
+            s += LABEL_ROBOT_TURN;
-            s+=LABEL_ROBOT_SEPARATOR_CHAR;
+            s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(((MessageInt*)msg)->GetValue()));
+            s.append(to_string(((MessageInt*) msg)->GetValue()));
             break;
         default:
-            cerr<<"["<<__PRETTY_FUNCTION__<<"] Invalid message for robot ("<<msg->ToString()<<")"<<endl<<flush;
+            cerr << "[" << __PRETTY_FUNCTION__ << "] Invalid message for robot (" << msg->ToString() << ")" << endl << flush;
-            throw std::runtime_error {"Invalid message"};
+            throw std::runtime_error{"Invalid message"};
     }
 
     return s;
@@ -325,14 +329,14 @@ string ComRobot::MessageToString(Message *msg) {
  * @param[in,out] s String containing command for robot, without ending char (carriage return) 
  */
 void ComRobot::AddChecksum(string &s) {
-    unsigned char checksum=0;
+    unsigned char checksum = 0;
 
-    for (string::iterator it=s.begin(); it!=s.end(); ++it) {
+    for (string::iterator it = s.begin(); it != s.end(); ++it) {
-        checksum ^= (unsigned char)*it;
+        checksum ^= (unsigned char) *it;
     }
 
-    s+=(char)checksum; // Add calculated checksum
+    s += (char) checksum; // Add calculated checksum
-    s+=(char)LABEL_ROBOT_ENDING_CHAR;
+    s += (char) LABEL_ROBOT_ENDING_CHAR;
 }
 
 /**
@@ -342,15 +346,14 @@ void ComRobot::AddChecksum(string &s) {
  * @return true is checksum is valid, false otherwise.
  */
 bool ComRobot::VerifyChecksum(string &s) {
-    unsigned char checksum=0;
+    unsigned char checksum = 0;
 
-    for (string::iterator it=s.begin(); it!=s.end(); ++it) {
+    for (string::iterator it = s.begin(); it != s.end(); ++it) {
-        checksum ^= (unsigned char)*it;
+        checksum ^= (unsigned char) *it;
     }
 
-    if (checksum==0) { // checksum is ok, remove last char of string (checksum)
+    if (checksum == 0) { // checksum is ok, remove last char of string (checksum)
         s.pop_back(); // remove last char
         return true;
-    }
+    } else return false;
-    else return false;
 }

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

@@ -33,6 +33,10 @@ bool Arena::IsEmpty() {
  */
 Img::Img(ImageMat imgMatrice) {
     this->img = imgMatrice.clone();
+   
+#ifdef __WITH_ARUCO__
+    this->dictionary=cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3));
+#endif // __WITH_ARUCO__
 }
 
 /**

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

@@ -47,16 +47,35 @@ typedef cv::Mat ImageMat;
 typedef vector<unsigned char> Jpg;
 
 /**
- * Position type used for store robot coordinates
+ * Class position, used for store robot coordinates
  * 
- * @brief Position type used for store robot coordinates
+ * @brief Class position, used for store robot coordinates
  */
-typedef struct {
+class Position {
+public:
+    int robotId;
+    float angle;
     cv::Point2f center; 
     cv::Point2f direction;
-    float angle;
+    
-    int robotId;
+    /**
-} Position;
+     * Constructor of Position object
+     */
+    Position() {
+        robotId = -1;
+        angle = 0.0;
+        center=cv::Point2f(0.0,0.0);
+        direction=cv::Point2f(0.0,0.0);
+    }
+    
+    /**
+     * Build a string representation of the object
+     * @return String containing object information
+     */
+    string ToString() {
+        return "Id=" + to_string(this->robotId) + ", Angle=" + to_string(this->angle) + ", center=(" + to_string(this->center.x) + ";" + to_string(this->center.y) + ")";
+    }
+};
 
 /**
  * Class arena, used for holding outline of arena on image and cropping image to only usefull area
@@ -65,21 +84,31 @@ typedef struct {
  */
 class Arena {
 public:
-    /**
-     * Constructor of Arena object
-     */
-    Arena() {}
-    
     /**
      * Coordinate of arena, empty if no arena found
      */
     cv::Rect arena;
     
+    /**
+     * Constructor of Arena object
+     */
+    Arena() {}
+    
     /**
      * Tell if arena is empty (not found) or not
      * @return true if no arena found, false otherwise
      */
     bool IsEmpty();
+    
+    /**
+     * Build a string representation of the object
+     * @return String containing object information
+     */
+    string ToString() {
+        if (IsEmpty()) return "Arena empty";
+        else
+        return "Arena: (x;y)=(" + to_string(this->arena.x) + ";" + to_string(this->arena.x) + " (w;h)=(" + to_string(this->arena.width) + ";" + to_string(this->arena.height) + ")";
+    }
 };
 
 /**

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

@@ -23,7 +23,7 @@ AS=as
 # Macros
 CND_PLATFORM=GNU-Linux
 CND_DLIB_EXT=so
-CND_CONF=Debug
+CND_CONF=Debug__PC_
 CND_DISTDIR=dist
 CND_BUILDDIR=build
 
@@ -42,16 +42,15 @@ OBJECTFILES= \
 	${OBJECTDIR}/lib/img.o \
 	${OBJECTDIR}/lib/messages.o \
 	${OBJECTDIR}/main.o \
-	${OBJECTDIR}/tasks.o \
+	${OBJECTDIR}/tasks.o
-	${OBJECTDIR}/tasks_pthread.o
 
 
 # C Compiler Flags
 CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
 
 # CC Compiler Flags
-CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
+CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions
-CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
+CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions
 
 # Fortran Compiler Flags
 FFLAGS=
@@ -73,47 +72,42 @@ ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
 ${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
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
 
 ${OBJECTDIR}/lib/camera.o: lib/camera.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
 
 ${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
 
 ${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
 
 ${OBJECTDIR}/lib/img.o: lib/img.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
 
 ${OBJECTDIR}/lib/messages.o: lib/messages.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
 
 ${OBJECTDIR}/main.o: main.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
 
 ${OBJECTDIR}/tasks.o: tasks.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
-
-${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
-	${MKDIR} -p ${OBJECTDIR}
-	${RM} "$@.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_pthread.o tasks_pthread.cpp
 
 # Subprojects
 .build-subprojects:

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

@@ -1,125 +0,0 @@
-#
-# Generated Makefile - do not edit!
-#
-# Edit the Makefile in the project folder instead (../Makefile). Each target
-# has a -pre and a -post target defined where you can add customized code.
-#
-# This makefile implements configuration specific macros and targets.
-
-
-# Environment
-MKDIR=mkdir
-CP=cp
-GREP=grep
-NM=nm
-CCADMIN=CCadmin
-RANLIB=ranlib
-CC=gcc
-CCC=g++
-CXX=g++
-FC=gfortran
-AS=as
-
-# Macros
-CND_PLATFORM=GNU-Linux
-CND_DLIB_EXT=so
-CND_CONF=Debug__Pthread_
-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
-CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions
-
-# Fortran Compiler Flags
-FFLAGS=
-
-# Assembler Flags
-ASFLAGS=
-
-# Link Libraries and Options
-LDLIBSOPTIONS=`pkg-config --libs opencv`  
-
-# Build Targets
-.build-conf: ${BUILD_SUBPROJECTS}
-	"${MAKE}"  -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot
-
-${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"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
-
-${OBJECTDIR}/lib/camera.o: lib/camera.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
-
-${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
-
-${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
-
-${OBJECTDIR}/lib/img.o: lib/img.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
-
-${OBJECTDIR}/lib/messages.o: lib/messages.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
-
-${OBJECTDIR}/main.o: main.cpp
-	${MKDIR} -p ${OBJECTDIR}
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
-
-${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
-	${MKDIR} -p ${OBJECTDIR}
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
-
-# Subprojects
-.build-subprojects:
-
-# Clean Targets
-.clean-conf: ${CLEAN_SUBPROJECTS}
-	${RM} -r ${CND_BUILDDIR}/${CND_CONF}
-
-# Subprojects
-.clean-subprojects:
-
-# Enable dependency checking
-.dep.inc: .depcheck-impl
-
-include .dep.inc

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

@@ -1,131 +0,0 @@
-#
-# Generated Makefile - do not edit!
-#
-# Edit the Makefile in the project folder instead (../Makefile). Each target
-# has a -pre and a -post target defined where you can add customized code.
-#
-# This makefile implements configuration specific macros and targets.
-
-
-# Environment
-MKDIR=mkdir
-CP=cp
-GREP=grep
-NM=nm
-CCADMIN=CCadmin
-RANLIB=ranlib
-CC=gcc
-CCC=g++
-CXX=g++
-FC=gfortran
-AS=as
-
-# Macros
-CND_PLATFORM=GNU-Linux
-CND_DLIB_EXT=so
-CND_CONF=Debug__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"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
-
-${OBJECTDIR}/lib/camera.o: lib/camera.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
-
-${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
-
-${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
-
-${OBJECTDIR}/lib/img.o: lib/img.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
-
-${OBJECTDIR}/lib/messages.o: lib/messages.cpp
-	${MKDIR} -p ${OBJECTDIR}/lib
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
-
-${OBJECTDIR}/main.o: main.cpp
-	${MKDIR} -p ${OBJECTDIR}
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
-
-${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
-	${MKDIR} -p ${OBJECTDIR}
-	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv`   -MMD -MP -MF "$@.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

@@ -42,16 +42,15 @@ OBJECTFILES= \
 	${OBJECTDIR}/lib/img.o \
 	${OBJECTDIR}/lib/messages.o \
 	${OBJECTDIR}/main.o \
-	${OBJECTDIR}/tasks.o \
+	${OBJECTDIR}/tasks.o
-	${OBJECTDIR}/tasks_pthread.o
 
 
 # C Compiler Flags
 CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
 
 # CC Compiler Flags
-CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
+CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11
-CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
+CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11
 
 # Fortran Compiler Flags
 FFLAGS=
@@ -73,47 +72,42 @@ ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
 ${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
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
 
 ${OBJECTDIR}/lib/camera.o: lib/camera.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
 
 ${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
 
 ${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
 
 ${OBJECTDIR}/lib/img.o: lib/img.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
 
 ${OBJECTDIR}/lib/messages.o: lib/messages.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
 
 ${OBJECTDIR}/main.o: main.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
 
 ${OBJECTDIR}/tasks.o: tasks.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
-
-${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
-	${MKDIR} -p ${OBJECTDIR}
-	${RM} "$@.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_pthread.o tasks_pthread.cpp
 
 # Subprojects
 .build-subprojects: