diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index f17ae21..87ee359 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -54,43 +54,44 @@ void Tasks::Init() {
     int status;
     int err;
 
-    /**************************************************************************************/
-    /* 	Mutex creation                                                                    */
-    /**************************************************************************************/
-    if (err = rt_mutex_create(&mutex_monitor, NULL)) {
+
+    /***************************************************************************************
+     * 	Mutex creation
+     **************************************************************************************/
+    if ((err = rt_mutex_create(&mutex_monitor, nullptr))) {
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_mutex_create(&mutex_robot, NULL)) {
+    if ((err = rt_mutex_create(&mutex_robot, nullptr))) {
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
+    if ((err = rt_mutex_create(&mutex_robotStarted, nullptr))) {
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_mutex_create(&mutex_move, NULL)) {
+    if ((err = rt_mutex_create(&mutex_move, nullptr))) {
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
     cout << "Mutexes created successfully" << endl << flush;
 
-    /**************************************************************************************/
-    /* 	Semaphors creation       							  */
-    /**************************************************************************************/
-    if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
+    /***************************************************************************************
+     * 	Semaphores creation
+     **************************************************************************************/
+    if ((err = rt_sem_create(&sem_barrier, nullptr, 0, S_FIFO))) {
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_sem_create(&sem_openComRobot, NULL, 0, S_FIFO)) {
+    if ((err = rt_sem_create(&sem_openComRobot, nullptr, 0, S_FIFO))) {
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) {
+    if ((err = rt_sem_create(&sem_serverOk, nullptr, 0, S_FIFO))) {
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_sem_create(&sem_startRobot, NULL, 0, S_FIFO)) {
+    if ((err = rt_sem_create(&sem_startRobot, nullptr, 0, S_FIFO))) {
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
@@ -99,27 +100,27 @@ void Tasks::Init() {
     /**************************************************************************************/
     /* Tasks creation                                                                     */
     /**************************************************************************************/
-    if (err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0)) {
+    if ((err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0))) {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 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_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 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);
     }
-    if (err = rt_task_create(&th_openComRobot, "th_openComRobot", 0, PRIORITY_TOPENCOMROBOT, 0)) {
+    if ((err = rt_task_create(&th_openComRobot, "th_openComRobot", 0, PRIORITY_TOPENCOMROBOT, 0))) {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_task_create(&th_startRobot, "th_startRobot", 0, PRIORITY_TSTARTROBOT, 0)) {
+    if (err == rt_task_create(&th_startRobot, "th_startRobot", 0, PRIORITY_TSTARTROBOT, 0)) {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0)) {
+    if ((err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0))) {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
@@ -140,7 +141,7 @@ void Tasks::Init() {
  * @brief Démarrage des tâches
  */
 void Tasks::Run() {
-    rt_task_set_priority(NULL, T_LOPRIO);
+    rt_task_set_priority(nullptr, T_LOPRIO);
     int err;
 
     if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) {
@@ -217,7 +218,7 @@ void Tasks::ServerTask(void *arg) {
 /**
  * @brief Thread sending data to monitor.
  */
-void Tasks::SendToMonTask(void* arg) {
+[[noreturn]] void Tasks::SendToMonTask(void* arg) {
     Message *msg;
     
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
@@ -229,7 +230,7 @@ void Tasks::SendToMonTask(void* arg) {
     /**************************************************************************************/
     rt_sem_p(&sem_serverOk, TM_INFINITE);
 
-    while (1) {
+    while (true) {
         cout << "wait msg to send" << endl << flush;
         msg = ReadInQueue(&q_messageToMon);
         cout << "Send msg to mon: " << msg->ToString() << endl << flush;
@@ -255,7 +256,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
     rt_sem_p(&sem_serverOk, TM_INFINITE);
     cout << "Received message from monitor activated" << endl << flush;
 
-    while (1) {
+    while (true) {
         msgRcv = monitor.Read();
         cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
 
@@ -283,7 +284,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
 /**
  * @brief Thread opening communication with the robot.
  */
-void Tasks::OpenComRobot(void *arg) {
+[[noreturn]] void Tasks::OpenComRobot(void *arg) {
     int status;
     int err;
 
@@ -294,7 +295,7 @@ void Tasks::OpenComRobot(void *arg) {
     /**************************************************************************************/
     /* The task openComRobot starts here                                                  */
     /**************************************************************************************/
-    while (1) {
+    while (true) {
         rt_sem_p(&sem_openComRobot, TM_INFINITE);
         cout << "Open serial com (";
         rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@@ -316,7 +317,7 @@ void Tasks::OpenComRobot(void *arg) {
 /**
  * @brief Thread starting the communication with the robot.
  */
-void Tasks::StartRobotTask(void *arg) {
+[[noreturn]] void Tasks::StartRobotTask(void *arg) {
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
     // Synchronization barrier (waiting that all tasks are starting)
     rt_sem_p(&sem_barrier, TM_INFINITE);
@@ -324,8 +325,7 @@ void Tasks::StartRobotTask(void *arg) {
     /**************************************************************************************/
     /* The task startRobot starts here                                                    */
     /**************************************************************************************/
-    while (1) {
-
+    while (true) {
         Message * msgSend;
         rt_sem_p(&sem_startRobot, TM_INFINITE);
         cout << "Start robot without watchdog (";
@@ -349,7 +349,7 @@ void Tasks::StartRobotTask(void *arg) {
 /**
  * @brief Thread handling control of the robot.
  */
-void Tasks::MoveTask(void *arg) {
+[[noreturn]] void Tasks::MoveTask(void *arg) {
     int rs;
     int cpMove;
     
@@ -357,13 +357,13 @@ void Tasks::MoveTask(void *arg) {
     // Synchronization barrier (waiting that all tasks are starting)
     rt_sem_p(&sem_barrier, TM_INFINITE);
     
-    /**************************************************************************************/
-    /* The task starts here                                                               */
-    /**************************************************************************************/
-    rt_task_set_periodic(NULL, TM_NOW, 100000000);
+    /***************************************************************************************
+     * The task starts here
+     **************************************************************************************/
+    rt_task_set_periodic(nullptr, TM_NOW, 100000000);
 
-    while (1) {
-        rt_task_wait_period(NULL);
+    while (true) {
+        rt_task_wait_period(nullptr);
         cout << "Periodic movement update";
         rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
         rs = robotStarted;
@@ -410,7 +410,7 @@ Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
         throw std::runtime_error{"Error in read in queue"};
     }/** else {
         cout << "@msg :" << msg << endl << flush;
-    } /**/
+    } **/
 
     return msg;
 }
diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h
index 27fe329..6b4fa70 100644
--- a/software/raspberry/superviseur-robot/tasks.h
+++ b/software/raspberry/superviseur-robot/tasks.h
@@ -110,7 +110,7 @@ private:
     /**
      * @brief Thread sending data to monitor.
      */
-    void SendToMonTask(void *arg);
+    [[noreturn]] void SendToMonTask(void *arg);
         
     /**
      * @brief Thread receiving data from monitor.
@@ -120,17 +120,17 @@ private:
     /**
      * @brief Thread opening communication with the robot.
      */
-    void OpenComRobot(void *arg);
+    [[noreturn]] void OpenComRobot(void *arg);
 
     /**
      * @brief Thread starting the communication with the robot.
      */
-    void StartRobotTask(void *arg);
+    [[noreturn]] void StartRobotTask(void *arg);
     
     /**
      * @brief Thread handling control of the robot.
      */
-    void MoveTask(void *arg);
+    [[noreturn]] void MoveTask(void *arg);
     
     /**********************************************************************/
     /* Queue services                                                     */