projet init

software/monitor/monitor/monitor.csproj

     <Reference Include="pango-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
     <Reference Include="atk-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
     <Reference Include="glade-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
-    <Reference Include="pango-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
-    <Reference Include="atk-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
   </ItemGroup>
   <ItemGroup>
     <EmbeddedResource Include="gtk-gui\gui.stetic">

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

     if (clientID > 0) {
         while (!endReception) {
             if ((length = recv(clientID, (void*) &data, 1, MSG_WAITALL)) > 0) {
+                //cout << "length = " << to_string(length) << endl << flush;
                 if (data != '\n') {
                     s += data;
                 } else endReception = true;
             }
+            else {
+                endReception = true;
+            }
+            
+            //cout << "2- length = " << to_string(length) << endl << flush;
         }
 
         if (length <= 0) msg = new Message(MESSAGE_MONITOR_LOST);

software/raspberry/superviseur-robot/main.cpp

     cout<<"#################################"<<endl;
 
     tasks.Init();
+    tasks.Run();
+    tasks.Join();
     
-    if (tasks.AcceptClient()) {
+    /*if (tasks.AcceptClient()) {
         cout << "Rock'n'Roll baby, client accepted!"<<endl<<flush;
         tasks.Run();
         
         tasks.Join();
-    }
+    }*/
     
     tasks.Stop();
     

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

 <project-private xmlns="http://www.netbeans.org/ns/project-private/1">
     <data xmlns="http://www.netbeans.org/ns/make-project-private/1">
         <activeConfTypeElem>1</activeConfTypeElem>
-        <activeConfIndexElem>0</activeConfIndexElem>
+        <activeConfIndexElem>1</activeConfIndexElem>
     </data>
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
         <group>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.h</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/main.cpp</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file>
         </group>
     </open-files>
 </project-private>

software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22

-#Thu Jan 17 13:32:55 CET 2019
+#Fri Feb 08 17:01:19 CET 2019
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_0.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_3.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h_source.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/nomatches.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string-members.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.map=c1547564949000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h__dep__incl.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp=c1542105130000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_d.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_b.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/uiExample.cpp=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug__RPI_.mk=c1542104029000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_4.md5=c1547563913000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/.dep.inc=c1547717148000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_3.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/navtreedata.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__coll__graph.map=c1547560340000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_arena.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_7.js=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/rtvideoExample.cpp=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.cpp=c1544778298000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherits.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/CMakeLists.txt=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/files.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_1.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__dep__incl.pdf=c1547560339000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/.gitignore=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/private/Makefile-variables.mk=c1542029322000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_13.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_1.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message__inherit__graph.pdf=c1547564949000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_0.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_position__inherit__graph.pdf=c1547560340000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_a.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_c.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1547728285000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/nav_g.png=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_2.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1549622533000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_9.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1547728293000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/img.h=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int-members.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1548424346000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serialTest.cpp=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/camera_8h__incl.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img-members.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_0.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__inherit__graph.map=c1547560340000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_8.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_img__coll__graph.md5=c1547563913000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_2.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message__inherit__graph.md5=c1547564949000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_2.map=c1547560340000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/nav_f.png=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/.gitignore=c1547565649000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/CMakeLists.txt=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_2.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h__dep__incl.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_img__inherit__graph.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_string__coll__graph.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_14.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/close.png=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1548424347000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_1.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message__inherit__graph.map=c1547564949000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1518398687000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_6.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h=c1544778298000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_monitor.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/img_8h__dep__incl.pdf=c1547560339000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.h=c1544797217000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug.bash=c1544780526000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Release.mk=c1542104029000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h=c1549641678000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/Makefile=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_4.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_2.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/.gitignore=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_b.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug__RPI_.bash=c1542029322000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__incl.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_1.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/tab_h.png=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_1.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_0.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_arena-members.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Release.bash=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_f.js=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1548424347000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_camera.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_0.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_13.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/pthread_version/tasks_pthread.h=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string__inherit__graph.md5=c1547560339000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery-members.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/base64_8h.tex=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk=c1547717055000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery__inherit__graph.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_0.map=c1547564862000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_9.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery__coll__graph.png=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_3.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h__incl.map=c1547560339000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/pthread_version/tasks_pthread.cpp=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1547728371000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h=c1547565126000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1544778298000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_string__coll__graph.pdf=c1547560340000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/commonitor_8h.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/ProjDestijl.cbp=c1542120848000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/doc.png=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/workspace/.metadata/.plugins/org.eclipse.core.runtime/.settings/com.digi.xctung.prefs=c1547722800000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_3.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1546527039000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1547717999000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/files.js=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/main.cpp=c1549276684000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menu.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_type.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__incl.pdf=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery__inherit__graph.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string__coll__graph.map=c1547560340000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h_source.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/dir_96aba1edb3024c67427e5e41410f3c29.tex=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/annotated.tex=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_c.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/monitor.cpp=c1544778298000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h__incl.map=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/comrobot_8h__incl.md5=c1547560339000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/.gitignore=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread__RPI.bash=c1546855871000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp=c1542105181000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/struct_position.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_a.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_5.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/comrobot_8h__incl.pdf=c1547560339000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_4.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_2.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_4.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/serialTest.cpp=c1542120848000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_2.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_9.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_arena.tex=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/dir_97aefd0d527b934f1d99a682da8fe6a9.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_f.js=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__inherit__graph.pdf=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__inherit__graph.pdf=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/tab_s.png=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h_source.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/comrobot_8h__incl.map=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_img.tex=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_4.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/comrobot_8h__incl.map=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/robot-icon.resized.png=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1518398687000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_4.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/sync_on.png=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1518398687000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_2.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serialExample.cpp=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/typedefs_0.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string.js=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/compile_commands.json=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery__coll__graph.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__inherit__graph.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/doxygen.sty=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/videoExample.cpp=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread_.bash=c1545062469000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp=c1542104053000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h__incl.png=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1547564899000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_enum.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1546526752000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__inherit__graph.map=c1547560340000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_string.tex=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.png=c1547560339000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__inherit__graph.map=c1547560340000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery__coll__graph.md5=c1547560339000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.png=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/search_m.png=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_func.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/jquery.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_3.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_2.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1547564761000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_monitor.js=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_2.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_b.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serverTest.cpp=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_defs.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_6.png=c1547564862000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/search.css=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_camera.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/search.css=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery__inherit__graph.pdf=c1547560339000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery__coll__graph.map=c1547560339000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/monitor.h=c1544778298000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/classes.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/monitor.h=c1544778298000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1518398687000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_3.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/.dep.inc=c1548953904000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_1.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_8.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_3.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_b.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_8.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_6.js=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position__coll__graph.md5=c1547564861000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/tabs.css=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position__coll__graph.md5=c1547564861000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/README.md=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position-members.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/search_l.png=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_3.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_1.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/serverTest.cpp=c1542120848000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/folderopen.png=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int.js=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/folderopen.png=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/typedefs_1.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h=c1546961074000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/dir_97aefd0d527b934f1d99a682da8fe6a9.tex=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/struct_position-members.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_a.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h.tex=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_a.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_5.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/typedefs_1.js=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.png=c1547564949000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/.dep.inc=c1542102478000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/tab_b.png=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/.dep.inc=c1542102478000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.png=c1547564949000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h_source.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_0.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_f.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position__coll__graph.map=c1547564862000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/annotated.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position__coll__graph.map=c1547564862000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position__inherit__graph.png=c1547560340000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_5.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_com_monitor.tex=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_eval.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/mag_sel.png=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-impl.mk=c1542029322000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_eval.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_a.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-impl.mk=c1542029322000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_5.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_10.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/bdwn.png=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery__coll__graph.pdf=c1547560339000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/bdwn.png=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__coll__graph.png=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/workspace/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs=c1547721237000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/resize.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/functions_func.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_11.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/resize.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/open.png=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h__dep__incl.png=c1547560339000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_11.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_camera-members.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h__dep__incl.png=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/serialExample.cpp=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/CMakeLists.txt=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/functions_vars.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/gdbsudo.sh=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h.js=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/gdbsudo.sh=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/rtvideoExample.cpp=c1542120848000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_monitor-members.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.h=c1547716000000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_a.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.h=c1547716000000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1518398687000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_4.png=c1547563913000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/tab_a.png=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_4.png=c1547563913000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Package-Release.bash=c1544780526000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_3.js=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__coll__graph.png=c1547563913000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h=c1542117699000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/struct_position.tex=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h=c1542117699000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__coll__graph.png=c1547563913000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.cpp=c1544778298000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h__incl.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_4.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/uiExample.cpp=c1542120848000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h__incl.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_2.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/uiExample.cpp=c1542120848000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/graph_legend.md5=c1547560339000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_9.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_7.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_9.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp=c1542105162000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp=c1547195899000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__coll__graph.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/doxygen.png=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__coll__graph.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/commonitor_8h__incl.png=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk=c1547649766000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug.mk=c1542104029000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/project.properties=c1542103467000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_c.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug.mk=c1542104029000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_0.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/workspace/.metadata/.plugins/org.eclipse.e4.workbench/workbench.xmi=c1547722800000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_c.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_7.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/workspace/.metadata/.plugins/org.eclipse.e4.workbench/workbench.xmi=c1547722800000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1546855871000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/typedefs_0.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_com_robot.tex=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/dir_96aba1edb3024c67427e5e41410f3c29.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h__incl.map=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_3.png=c1547560340000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery.tex=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1549641580000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_b.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_6.js=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/commonitor_8h__incl.md5=c1547560339000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_e.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/commonitor_8h__incl.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/closed.png=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1546855871000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk=c1547649766000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk=c1547649766000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1546855871000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/index.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_4.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/message.cpp=c1544778298000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_6.md5=c1547564861000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/refman.tex=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_1.js=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menudata.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menudata.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_arena.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/.gitignore=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot-members.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/.gitignore=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.map=c1547560339000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__dep__incl.md5=c1547560339000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/Makefile=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/doxygen.css=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_b.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_6.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/struct_position.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/videoExample.cpp=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__inherit__graph.png=c1547560339000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery.js=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_12.js=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_img.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/bc_s.png=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_img.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_12.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_6.map=c1547564862000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/README.md=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_2.png=c1547560340000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_2.html=c1547565563000
 VERSION=1.3
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/robot-icon.resized.png=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/workspace/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs=c1547722800000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.md5=c1547564949000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h=c1544778298000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile=c1542100687000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h=c1544778298000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.md5=c1547564949000

software/raspberry/superviseur-robot/tasks.cpp

 // Déclaration des priorités des taches
 #define PRIORITY_TSERVER 30
 #define PRIORITY_TOPENCOMROBOT 20
-#define PRIORITY_TMOVE 10
+#define PRIORITY_TMOVE 20
 #define PRIORITY_TSENDTOMON 22
 #define PRIORITY_TRECEIVEFROMMON 25
 #define PRIORITY_TSTARTROBOT 20
     /**************************************************************************************/
     /* 	Mutex creation                                                                    */
     /**************************************************************************************/
+    if (err = rt_mutex_create(&mutex_monitor, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_mutex_create(&mutex_robot, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
     if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
+    if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
+    if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_task_create(&th_camera, "th_camera", 0, PRIORITY_TCAMERA, 0)) {
-        cerr << "Error task create: " << strerror(-err) << endl << flush;
-        exit(EXIT_FAILURE);
-    }
     cout << "Tasks created successfully" << endl << flush;
 
     /**************************************************************************************/
     }
     cout << "Queues created successfully" << endl << flush;
 
-    /* Open com port with STM32 */
-    cout << "Open serial com (";
-    status = robot.Open();
-    cout << status;
-    cout << ")" << endl;
-
-    if (status >= 0) {
-        // Open server
-
-        status = monitor.Open(SERVER_PORT);
-        cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
-
-        if (status < 0) throw std::runtime_error {
-            "Unable to start server on port " + std::to_string(SERVER_PORT)
-        };
-    } else
-        throw std::runtime_error {
-        "Unable to open serial port /dev/ttyS0 "
-    };
 }
 
 /**
  * @brief Démarrage des tâches
  */
 void Tasks::Run() {
+    rt_task_set_priority(NULL, T_LOPRIO);
     int err;
 
-    if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
+    if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) {
         cerr << "Error task start: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-
-    if (err = rt_task_start(&th_camera, (void(*)(void*)) & Tasks::CameraTask, this)) {
+    /**/if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }/**/
+    /**/if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }/**/
+    /**/if (err = rt_task_start(&th_openComRobot, (void(*)(void*)) & Tasks::OpenComRobot, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }/**/
+    if (err = rt_task_start(&th_startRobot, (void(*)(void*)) & Tasks::StartRobotTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_start(&th_move, (void(*)(void*)) & Tasks::MoveTask, this)) {
         cerr << "Error task start: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-
-    //    if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
-    //        cerr << "Error task start: " << strerror(-err) << endl << flush;
-    //        exit(EXIT_FAILURE);
-    //    }
 
     cout << "Tasks launched" << endl << flush;
 }
 /**
  */
 void Tasks::Join() {
+    cout << "Tasks synchronized" << endl << flush;
     rt_sem_broadcast(&sem_barrier);
     pause();
 }
 
 /**
- * @brief Thread handling server communication.
+ * @brief Thread handling server communication with the monitor.
  */
-
-void Tasks::ReceiveFromMonTask(void *arg) {
-    Message *msgRcv;
-    Message *msgSend;
-    bool isActive = true;
-
+void Tasks::ServerTask(void *arg) {
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are started)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
 
-    while (isActive) {
-        msgRcv = NULL;
-        msgSend = NULL;
+    rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
+    int status = monitor.Open(SERVER_PORT);
+    rt_mutex_release(&mutex_monitor);
 
-        msgRcv = monitor.Read();
-        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+    cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
 
-        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-            isActive = true;
+    if (status < 0) throw std::runtime_error {
+        "Unable to start server on port " + std::to_string(SERVER_PORT)
+    };
+    monitor.AcceptClient(); // Wait the monitor client
+    cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
+    rt_sem_broadcast(&sem_serverOk);
+}
 
-            delete(msgRcv); // mus be deleted manually, no consumer
-        }
+/**
+ * @brief Thread sending data to monitor.
+ */
+void Tasks::SendToMonTask(void* arg) {
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
 
-        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-            cout << "isActive = false!" << msgRcv->ToString() << endl << flush;
-            isActive = false;
+    rt_sem_p(&sem_serverOk, TM_INFINITE);
 
-            delete(msgRcv); // mus be deleted manually, no consumer
-        }
+    while (1) {
+        cout << "wait msg to send" << endl << flush;
+        Message *msg = ReadInQueue(&q_messageToMon);
+        cout << "Send msg to mon: " << msg->ToString() << endl << flush;
+        rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
+        monitor.Write(msg);
+        rt_mutex_release(&mutex_monitor);
+    }
+}
 
-        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
-            msgSend = robot.Write(msgRcv);
-            cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
-        }
+/**
+ * @brief Thread receiving data from monitor.
+ */
+void Tasks::ReceiveFromMonTask(void *arg) {
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
 
-        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
-            msgSend = robot.Write(msgRcv);
-            cout << "Start without wd answer: " << msgSend->ToString() << endl << flush;
-        }
+    rt_sem_p(&sem_serverOk, TM_INFINITE);
+    cout << "Received message from monitor activated" << endl << flush;
 
-        if (msgRcv->CompareID(MESSAGE_ROBOT_RESET)) {
-            msgSend = robot.Write(msgRcv);
-            cout << "Reset answer: " << msgSend->ToString() << endl << flush;
-        }
+    while (1) {
+        Message *msgRcv;
+        msgRcv = monitor.Read();
+        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
 
-        if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
+        if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
+            delete(msgRcv);
+            exit(-1);
+        } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
+            rt_sem_v(&sem_openComRobot);
+        } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
+            rt_sem_v(&sem_startRobot);
+        } else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
                 msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
                 msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
                 msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
                 msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
-            msgSend = robot.Write(msgRcv);
-
-            cout << "Movement answer: " << msgSend->ToString() << endl << flush;
-
-            if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
-                delete (msgSend);
-                msgSend = NULL;
-            }
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
-            sendImage = true;
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
-            sendImage = false;
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
 
-            delete(msgRcv); // must be deleted manually, no consumer
+            rt_mutex_acquire(&mutex_move, TM_INFINITE);
+            move = msgRcv->GetID();
+            rt_mutex_release(&mutex_move);
         }
+        delete msgRcv; // mus be deleted manually, no consumer
+    }
+}
 
-        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
-            sendPosition = true;
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
+/**
+ * @brief Thread opening communication with the robot.
+ */
+void Tasks::OpenComRobot(void *arg) {
+    int status;
+    int err;
 
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
 
-        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
-            sendPosition = false;
+    while (1) {
+        rt_sem_p(&sem_openComRobot, TM_INFINITE);
+        cout << "Open serial com (";
+        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+        status = robot.Open();
+        rt_mutex_release(&mutex_robot);
+        cout << status;
+        cout << ")" << endl << flush;
+
+        Message * msgSend;
+        if (status < 0) {
+            msgSend = new Message(MESSAGE_ANSWER_NACK);
+        } else {
             msgSend = new Message(MESSAGE_ANSWER_ACK);
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
-            msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
-            showArena = true;
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
-            showArena = false;
-
-            delete(msgRcv); // must be deleted manually, no consumer
         }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
-            showArena = false;
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgSend != NULL) monitor.Write(msgSend);
+        WriteInQueue(&q_messageToMon, msgSend);
     }
 }
 
 /**
- * @brief Thread handling periodic image capture.
+ * @brief Thread starting the communication with the robot.
  */
-void Tasks::CameraTask(void* arg) {
-    struct timespec tim, tim2;
-    Message *msgSend;
-    int counter;
-    int cntFrame = 0;
-    Position pos;
-    Arena arena;
-
-    tim.tv_sec = 0;
-    tim.tv_nsec = 50000000; // 50ms (20fps)
-
+void Tasks::StartRobotTask(void *arg) {
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
-
-    Camera camera = Camera(sm, 20);
-    cout << "Try opening camera" << endl << flush;
-    if (camera.Open()) cout << "Camera opened successfully" << endl << flush;
-    else {
-        cout << "Failed to open camera" << endl << flush;
-
-        exit(0);
-    }
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
 
     while (1) {
-        
+
+        Message * msgSend;
+        rt_sem_p(&sem_startRobot, TM_INFINITE);
+        cout << "Start robot without watchdog (";
+        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+        msgSend = robot.Write(robot.StartWithoutWD());
+        rt_mutex_release(&mutex_robot);
+        cout << msgSend->GetID();
+        cout << ")" << endl;
+
+        cout << "Movement answer: " << msgSend->ToString() << endl << flush;
+        WriteInQueue(&q_messageToMon, msgSend);
+
+        if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
+            rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+            robotStarted = 1;
+            rt_mutex_release(&mutex_robotStarted);
+        }
     }
 }
 
 /**
- * @brief Thread sending data to monitor.
+ * @brief Thread handling control of the robot.
  */
-void Tasks::SendToMonTask(void* arg) {
+void Tasks::MoveTask(void *arg) {
+    int rs;
+    int cpMove;
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+    rt_task_set_periodic(NULL, TM_NOW, 1000000000);
 
     while (1) {
-
+        rt_task_wait_period(NULL);
+        cout << "Periodic movement update";
+        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+        rs = robotStarted;
+        rt_mutex_release(&mutex_robotStarted);
+        if (rs == 1) {
+            rt_mutex_acquire(&mutex_move, TM_INFINITE);
+            cpMove = move;
+            rt_mutex_release(&mutex_move);
+            
+            cout << " move: " << cpMove;
+            
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+            robot.Write(new Message((MessageID)cpMove));
+            rt_mutex_release(&mutex_robot);
+        }
+        cout << endl << flush;
     }
 }
 
  * @param queue Queue identifier
  * @param msg Message to be stored
  */
-void WriteInQueue(RT_QUEUE &queue, Message *msg) {
+void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) {
     int err;
-
-    if ((err = rt_queue_send(&queue, (const void *) msg, sizeof ((const void *) msg), Q_NORMAL)) < 0) {
+    if ((err = rt_queue_write(queue, (const void *) &msg, sizeof ((const void *) &msg), Q_NORMAL)) < 0) {
         cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
         throw std::runtime_error{"Error in write in queue"};
     }
  * @param queue Queue identifier
  * @return Message read
  */
-Message *ReadInQueue(RT_QUEUE &queue) {
+Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
     int err;
     Message *msg;
 
-    if ((err = rt_queue_read(&queue, (void*) msg, sizeof ((void*) msg), TM_INFINITE)) < 0) {
-        cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
-        throw std::runtime_error{"Error in write in queue"};
-    }
+    if ((err = rt_queue_read(queue, &msg, sizeof ((void*) &msg), TM_INFINITE)) < 0) {
+        cout << "Read in queue failed: " << strerror(-err) << endl << flush;
+        throw std::runtime_error{"Error in read in queue"};
+    }/** else {
+        cout << "@msg :" << msg << endl << flush;
+    } /**/
 
     return msg;
 }

software/raspberry/superviseur-robot/tasks.h

      */
     void Join();
     
-    /**
-     */
-    bool AcceptClient() {
-        return monitor.AcceptClient();
-    }
+
     
 private:
     ComMonitor monitor;
     ComRobot robot;
-    
-    bool sendImage=false;
-    bool sendPosition=false;
-    
-    int counter;
-    bool flag;
-    
-    bool showArena=false;
-    
+    int robotStarted;
+    int move = MESSAGE_ROBOT_STOP;
+        
     RT_TASK th_server;
     RT_TASK th_sendToMon;
     RT_TASK th_receiveFromMon;
     RT_TASK th_openComRobot;
     RT_TASK th_startRobot;
     RT_TASK th_move;
-    RT_TASK th_camera;
-
+    
+    RT_MUTEX mutex_monitor;
+    RT_MUTEX mutex_robot;
     RT_MUTEX mutex_robotStarted;
     RT_MUTEX mutex_move;
 
 
     RT_QUEUE q_messageToMon;
 
-    int etatCommMoniteur;
-    int robotStarted;
-    char robotMove;
-
     int MSG_QUEUE_SIZE;
 
     char mode_start;
      * @return Message read
      */
     Message *ReadInQueue(RT_QUEUE *queue);
-    
+
     /**
-     * @brief Thread handling server communication.
+     * @brief Thread handling server communication with the monitor.
+     */
+    void ServerTask(void *arg);
+     
+    /**
+     * @brief Thread sending data to monitor.
+     */
+    void SendToMonTask(void *arg);
+        
+    /**
+     * @brief Thread receiving data from monitor.
      */
     void ReceiveFromMonTask(void *arg);
+    
+    /**
+     * @brief Thread opening communication with the robot.
+     */
+    void OpenComRobot(void *arg);
 
+    
     /**
-     * @brief Thread handling periodic image capture.
+     * @brief Thread starting the communication with the robot.
      */
-    void CameraTask(void *arg);
+    void StartRobotTask(void *arg);
     
+        
     /**
-     * @brief Thread sending data to monitor.
+     * @brief Thread handling control of the robot.
      */
-    void SendToMonTask(void *arg);
-//    /**
-//     * \brief       Thread handling server communication.
-//     */
-//    void f_server(void *arg);
-//
-//    /**
-//     * \brief       Thread handling communication to monitor.
-//     */
-//    void f_sendToMon(void *arg);
-//
-//    /**
-//     * \brief       Thread handling communication from monitor.
-//     */
-//    void f_receiveFromMon(void *arg);
-//
-//    /**
-//     * \brief       Thread handling opening of robot communication.
-//     */
-//    void f_openComRobot(void * arg);
-//
-//    /**
-//     * \brief       Thread handling robot mouvements.
-//     */
-//    void f_move(void *arg);
-//
-//    /**
-//     * \brief       Thread handling robot activation.
-//     */
-//    void f_startRobot(void *arg);
+    void MoveTask(void *arg);
+
 };
 
 #endif // __TASKS_H__