ajout du serveur dans le moniteur

2018-10-25 15:02:48 +02:00 · 2018-10-25 15:02:48 +02:00 · 8536d288ce
commit 8536d288ce
parent 0cdea959df
24 changed files with 1488 additions and 96 deletions
--- a/.gitignore
+++ b/.gitignore
@ -62,3 +62,4 @@ GUI
 # Android
 *.apk

+/software/raspberry/superviseur-robot/superviseur/dist/
--- a/software/monitor/monitor/.gitignore
+++ b/software/monitor/monitor/.gitignore
@ -0,0 +1,40 @@
+# Autosave files
+*~
+
+# build
+[Oo]bj/
+[Bb]in/
+packages/
+TestResults/
+
+# globs
+Makefile.in
+*.DS_Store
+*.sln.cache
+*.suo
+*.cache
+*.pidb
+*.userprefs
+*.usertasks
+config.log
+config.make
+config.status
+aclocal.m4
+install-sh
+autom4te.cache/
+*.user
+*.tar.gz
+tarballs/
+test-results/
+Thumbs.db
+
+# Mac bundle stuff
+*.dmg
+*.app
+
+# resharper
+*_Resharper.*
+*.Resharper
+
+# dotCover
+*.dotCover
--- a/software/monitor/monitor/MonitorUI.cs
+++ b/software/monitor/monitor/MonitorUI.cs
@ -0,0 +1,16 @@
+using System;
+using Gtk;
+
+public partial class MainWindow : Gtk.Window
+{
+    public MainWindow() : base(Gtk.WindowType.Toplevel)
+    {
+        Build();
+    }
+
+    protected void OnDeleteEvent(object sender, DeleteEventArgs a)
+    {
+        Application.Quit();
+        a.RetVal = true;
+    }
+}
--- a/software/monitor/monitor/Program.cs
+++ b/software/monitor/monitor/Program.cs
@ -0,0 +1,16 @@
+using System;
+using Gtk;
+
+namespace monitor
+{
+    class MainClass
+    {
+        public static void Main(string[] args)
+        {
+            Application.Init();
+            MainWindow win = new MainWindow();
+            win.Show();
+            Application.Run();
+        }
+    }
+}
--- a/software/monitor/monitor/Properties/AssemblyInfo.cs
+++ b/software/monitor/monitor/Properties/AssemblyInfo.cs
@ -0,0 +1,26 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+
+// Information about this assembly is defined by the following attributes. 
+// Change them to the values specific to your project.
+
+[assembly: AssemblyTitle("monitor")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("")]
+[assembly: AssemblyCopyright("${AuthorCopyright}")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// The assembly version has the format "{Major}.{Minor}.{Build}.{Revision}".
+// The form "{Major}.{Minor}.*" will automatically update the build and revision,
+// and "{Major}.{Minor}.{Build}.*" will update just the revision.
+
+[assembly: AssemblyVersion("1.0.*")]
+
+// The following attributes are used to specify the signing key for the assembly, 
+// if desired. See the Mono documentation for more information about signing.
+
+//[assembly: AssemblyDelaySign(false)]
+//[assembly: AssemblyKeyFile("")]
--- a/software/monitor/monitor/gtk-gui/MainWindow.cs
+++ b/software/monitor/monitor/gtk-gui/MainWindow.cs
@ -0,0 +1,126 @@
+
+// This file has been generated by the GUI designer. Do not modify.
+
+public partial class MainWindow
+{
+	private global::Gtk.UIManager UIManager;
+
+	private global::Gtk.VBox vbox1;
+
+	private global::Gtk.MenuBar menubar1;
+
+	private global::Gtk.HBox hbox1;
+
+	private global::Gtk.DrawingArea drawingarea1;
+
+	private global::Gtk.Alignment alignment1;
+
+	private global::Gtk.ScrolledWindow GtkScrolledWindow;
+
+	private global::Gtk.Frame frame1;
+
+	private global::Gtk.Fixed fixed4;
+
+	private global::Gtk.Button button7;
+
+	private global::Gtk.Label GtkLabel2;
+
+	private global::Gtk.Statusbar statusbar1;
+
+	protected virtual void Build()
+	{
+		global::Stetic.Gui.Initialize(this);
+		// Widget MainWindow
+		this.UIManager = new global::Gtk.UIManager();
+		global::Gtk.ActionGroup w1 = new global::Gtk.ActionGroup("Default");
+		this.UIManager.InsertActionGroup(w1, 0);
+		this.AddAccelGroup(this.UIManager.AccelGroup);
+		this.Name = "MainWindow";
+		this.Title = global::Mono.Unix.Catalog.GetString("Monitor UI");
+		this.WindowPosition = ((global::Gtk.WindowPosition)(4));
+		// Container child MainWindow.Gtk.Container+ContainerChild
+		this.vbox1 = new global::Gtk.VBox();
+		this.vbox1.Name = "vbox1";
+		this.vbox1.Spacing = 6;
+		// Container child vbox1.Gtk.Box+BoxChild
+		this.UIManager.AddUiFromString("<ui><menubar name=\'menubar1\'/></ui>");
+		this.menubar1 = ((global::Gtk.MenuBar)(this.UIManager.GetWidget("/menubar1")));
+		this.menubar1.Name = "menubar1";
+		this.vbox1.Add(this.menubar1);
+		global::Gtk.Box.BoxChild w2 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.menubar1]));
+		w2.Position = 0;
+		w2.Expand = false;
+		w2.Fill = false;
+		// Container child vbox1.Gtk.Box+BoxChild
+		this.hbox1 = new global::Gtk.HBox();
+		this.hbox1.Name = "hbox1";
+		this.hbox1.Spacing = 6;
+		// Container child hbox1.Gtk.Box+BoxChild
+		this.drawingarea1 = new global::Gtk.DrawingArea();
+		this.drawingarea1.Name = "drawingarea1";
+		this.hbox1.Add(this.drawingarea1);
+		global::Gtk.Box.BoxChild w3 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.drawingarea1]));
+		w3.Position = 0;
+		// Container child hbox1.Gtk.Box+BoxChild
+		this.alignment1 = new global::Gtk.Alignment(0.5F, 0.5F, 1F, 1F);
+		this.alignment1.Name = "alignment1";
+		// Container child alignment1.Gtk.Container+ContainerChild
+		this.GtkScrolledWindow = new global::Gtk.ScrolledWindow();
+		this.GtkScrolledWindow.Name = "GtkScrolledWindow";
+		this.GtkScrolledWindow.ShadowType = ((global::Gtk.ShadowType)(1));
+		// Container child GtkScrolledWindow.Gtk.Container+ContainerChild
+		global::Gtk.Viewport w4 = new global::Gtk.Viewport();
+		w4.ShadowType = ((global::Gtk.ShadowType)(0));
+		// Container child GtkViewport.Gtk.Container+ContainerChild
+		this.frame1 = new global::Gtk.Frame();
+		this.frame1.Name = "frame1";
+		this.frame1.ShadowType = ((global::Gtk.ShadowType)(0));
+		// Container child frame1.Gtk.Container+ContainerChild
+		this.fixed4 = new global::Gtk.Fixed();
+		this.fixed4.Name = "fixed4";
+		this.fixed4.HasWindow = false;
+		// Container child fixed4.Gtk.Fixed+FixedChild
+		this.button7 = new global::Gtk.Button();
+		this.button7.CanFocus = true;
+		this.button7.Name = "button7";
+		this.button7.UseUnderline = true;
+		this.button7.Label = global::Mono.Unix.Catalog.GetString("GtkButton");
+		this.fixed4.Add(this.button7);
+		global::Gtk.Fixed.FixedChild w5 = ((global::Gtk.Fixed.FixedChild)(this.fixed4[this.button7]));
+		w5.X = 30;
+		w5.Y = 25;
+		this.frame1.Add(this.fixed4);
+		this.GtkLabel2 = new global::Gtk.Label();
+		this.GtkLabel2.Name = "GtkLabel2";
+		this.GtkLabel2.LabelProp = global::Mono.Unix.Catalog.GetString("<b>Controls</b>");
+		this.GtkLabel2.UseMarkup = true;
+		this.frame1.LabelWidget = this.GtkLabel2;
+		w4.Add(this.frame1);
+		this.GtkScrolledWindow.Add(w4);
+		this.alignment1.Add(this.GtkScrolledWindow);
+		this.hbox1.Add(this.alignment1);
+		global::Gtk.Box.BoxChild w10 = ((global::Gtk.Box.BoxChild)(this.hbox1[this.alignment1]));
+		w10.Position = 1;
+		this.vbox1.Add(this.hbox1);
+		global::Gtk.Box.BoxChild w11 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.hbox1]));
+		w11.Position = 1;
+		// Container child vbox1.Gtk.Box+BoxChild
+		this.statusbar1 = new global::Gtk.Statusbar();
+		this.statusbar1.Name = "statusbar1";
+		this.statusbar1.Spacing = 6;
+		this.vbox1.Add(this.statusbar1);
+		global::Gtk.Box.BoxChild w12 = ((global::Gtk.Box.BoxChild)(this.vbox1[this.statusbar1]));
+		w12.Position = 2;
+		w12.Expand = false;
+		w12.Fill = false;
+		this.Add(this.vbox1);
+		if ((this.Child != null))
+		{
+			this.Child.ShowAll();
+		}
+		this.DefaultWidth = 1039;
+		this.DefaultHeight = 705;
+		this.Show();
+		this.DeleteEvent += new global::Gtk.DeleteEventHandler(this.OnDeleteEvent);
+	}
+}
--- a/software/monitor/monitor/gtk-gui/generated.cs
+++ b/software/monitor/monitor/gtk-gui/generated.cs
@ -0,0 +1,30 @@
+
+// This file has been generated by the GUI designer. Do not modify.
+namespace Stetic
+{
+	internal class Gui
+	{
+		private static bool initialized;
+
+		internal static void Initialize(Gtk.Widget iconRenderer)
+		{
+			if ((Stetic.Gui.initialized == false))
+			{
+				Stetic.Gui.initialized = true;
+			}
+		}
+	}
+
+	internal class ActionGroups
+	{
+		public static Gtk.ActionGroup GetActionGroup(System.Type type)
+		{
+			return Stetic.ActionGroups.GetActionGroup(type.FullName);
+		}
+
+		public static Gtk.ActionGroup GetActionGroup(string name)
+		{
+			return null;
+		}
+	}
+}
--- a/software/monitor/monitor/gtk-gui/gui.stetic
+++ b/software/monitor/monitor/gtk-gui/gui.stetic
@ -0,0 +1,129 @@
+<?xml version="1.0" encoding="utf-8"?>
+<stetic-interface>
+  <configuration>
+    <images-root-path>..</images-root-path>
+  </configuration>
+  <import>
+    <widget-library name="glade-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
+    <widget-library name="../bin/Debug/monitor.exe" internal="true" />
+  </import>
+  <widget class="Gtk.Window" id="MainWindow" design-size="1039 705">
+    <action-group name="Default" />
+    <property name="MemberName" />
+    <property name="Title" translatable="yes">Monitor UI</property>
+    <property name="WindowPosition">CenterOnParent</property>
+    <signal name="DeleteEvent" handler="OnDeleteEvent" />
+    <child>
+      <widget class="Gtk.VBox" id="vbox1">
+        <property name="MemberName" />
+        <property name="Spacing">6</property>
+        <child>
+          <widget class="Gtk.MenuBar" id="menubar1">
+            <property name="MemberName" />
+            <node name="__gtksharp_132_Stetic_Editor_ActionMenuBar" type="Menubar" />
+          </widget>
+          <packing>
+            <property name="Position">0</property>
+            <property name="AutoSize">True</property>
+            <property name="Expand">False</property>
+            <property name="Fill">False</property>
+          </packing>
+        </child>
+        <child>
+          <widget class="Gtk.HBox" id="hbox1">
+            <property name="MemberName" />
+            <property name="Spacing">6</property>
+            <child>
+              <widget class="Gtk.DrawingArea" id="drawingarea1">
+                <property name="MemberName" />
+              </widget>
+              <packing>
+                <property name="Position">0</property>
+                <property name="AutoSize">True</property>
+              </packing>
+            </child>
+            <child>
+              <widget class="Gtk.Alignment" id="alignment1">
+                <property name="MemberName" />
+                <child>
+                  <widget class="Gtk.ScrolledWindow" id="GtkScrolledWindow">
+                    <property name="MemberName" />
+                    <property name="ShadowType">In</property>
+                    <child>
+                      <widget class="Gtk.Viewport" id="GtkViewport">
+                        <property name="MemberName" />
+                        <property name="ShadowType">None</property>
+                        <child>
+                          <widget class="Gtk.Frame" id="frame1">
+                            <property name="MemberName" />
+                            <property name="ShowScrollbars">True</property>
+                            <property name="ShadowType">None</property>
+                            <child>
+                              <widget class="Gtk.Fixed" id="fixed4">
+                                <property name="MemberName" />
+                                <property name="HasWindow">False</property>
+                                <child>
+                                  <widget class="Gtk.Button" id="button7">
+                                    <property name="MemberName" />
+                                    <property name="CanFocus">True</property>
+                                    <property name="Type">TextOnly</property>
+                                    <property name="Label" translatable="yes">GtkButton</property>
+                                    <property name="UseUnderline">True</property>
+                                  </widget>
+                                  <packing>
+                                    <property name="X">30</property>
+                                    <property name="Y">25</property>
+                                  </packing>
+                                </child>
+                              </widget>
+                            </child>
+                            <child>
+                              <widget class="Gtk.Label" id="GtkLabel2">
+                                <property name="MemberName" />
+                                <property name="LabelProp" translatable="yes">&lt;b&gt;Controls&lt;/b&gt;</property>
+                                <property name="UseMarkup">True</property>
+                              </widget>
+                              <packing>
+                                <property name="type">label_item</property>
+                              </packing>
+                            </child>
+                          </widget>
+                        </child>
+                      </widget>
+                    </child>
+                  </widget>
+                </child>
+              </widget>
+              <packing>
+                <property name="Position">1</property>
+                <property name="AutoSize">True</property>
+              </packing>
+            </child>
+          </widget>
+          <packing>
+            <property name="Position">1</property>
+            <property name="AutoSize">True</property>
+          </packing>
+        </child>
+        <child>
+          <widget class="Gtk.Statusbar" id="statusbar1">
+            <property name="MemberName" />
+            <property name="Spacing">6</property>
+            <child>
+              <placeholder />
+            </child>
+            <child>
+              <placeholder />
+            </child>
+          </widget>
+          <packing>
+            <property name="Position">2</property>
+            <property name="AutoSize">True</property>
+            <property name="Expand">False</property>
+            <property name="Fill">False</property>
+          </packing>
+        </child>
+      </widget>
+    </child>
+  </widget>
+</stetic-interface>
--- a/software/monitor/monitor/monitor.csproj
+++ b/software/monitor/monitor/monitor.csproj
@ -0,0 +1,64 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">x86</Platform>
+    <ProjectGuid>{F759E76E-E6D5-4117-8CE3-7FB83FECCAF9}</ProjectGuid>
+    <OutputType>WinExe</OutputType>
+    <RootNamespace>monitor</RootNamespace>
+    <AssemblyName>monitor</AssemblyName>
+    <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|x86' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug</OutputPath>
+    <DefineConstants>DEBUG;</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <PlatformTarget>x86</PlatformTarget>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|x86' ">
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release</OutputPath>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <PlatformTarget>x86</PlatformTarget>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="System" />
+    <Reference Include="gtk-sharp, Version=2.4.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f">
+      <SpecificVersion>False</SpecificVersion>
+    </Reference>
+    <Reference Include="gdk-sharp, Version=2.4.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f">
+      <SpecificVersion>False</SpecificVersion>
+    </Reference>
+    <Reference Include="glib-sharp, Version=2.4.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f">
+      <SpecificVersion>False</SpecificVersion>
+    </Reference>
+    <Reference Include="glade-sharp, Version=2.4.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f">
+      <SpecificVersion>False</SpecificVersion>
+    </Reference>
+    <Reference Include="pango-sharp, Version=2.4.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f">
+      <SpecificVersion>False</SpecificVersion>
+    </Reference>
+    <Reference Include="atk-sharp, Version=2.4.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f">
+      <SpecificVersion>False</SpecificVersion>
+    </Reference>
+    <Reference Include="Mono.Posix" />
+  </ItemGroup>
+  <ItemGroup>
+    <EmbeddedResource Include="gtk-gui\gui.stetic">
+      <LogicalName>gui.stetic</LogicalName>
+    </EmbeddedResource>
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="gtk-gui\generated.cs" />
+    <Compile Include="MonitorUI.cs" />
+    <Compile Include="gtk-gui\MainWindow.cs" />
+    <Compile Include="Program.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <Import Project="$(MSBuildBinPath)\Microsoft.CSharp.targets" />
+</Project>
--- a/software/monitor/monitor/monitor.sln
+++ b/software/monitor/monitor/monitor.sln
@ -0,0 +1,17 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2012
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "monitor", "monitor.csproj", "{F759E76E-E6D5-4117-8CE3-7FB83FECCAF9}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x86 = Debug|x86
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{F759E76E-E6D5-4117-8CE3-7FB83FECCAF9}.Debug|x86.ActiveCfg = Debug|x86
+		{F759E76E-E6D5-4117-8CE3-7FB83FECCAF9}.Debug|x86.Build.0 = Debug|x86
+		{F759E76E-E6D5-4117-8CE3-7FB83FECCAF9}.Release|x86.ActiveCfg = Release|x86
+		{F759E76E-E6D5-4117-8CE3-7FB83FECCAF9}.Release|x86.Build.0 = Release|x86
+	EndGlobalSection
+EndGlobal
--- a/software/raspberry/conception_robot_2018.pdf
+++ b/software/raspberry/conception_robot_2018.pdf
--- a/software/raspberry/sujet_robot_2018.pdf
+++ b/software/raspberry/sujet_robot_2018.pdf
--- a/software/raspberry/superviseur-robot/lib/server.h
+++ b/software/raspberry/superviseur-robot/lib/server.h
@ -0,0 +1,28 @@
+/*
+ * To change this license header, choose License Headers in Project Properties.
+ * To change this template file, choose Tools | Templates
+ * and open the template in the editor.
+ */
+
+/* 
+ * File:   server.h
+ * Author: dimercur
+ *
+ * Created on 19 octobre 2018, 14:24
+ */
+
+#ifndef _SERVER_H_
+#define _SERVER_H_
+
+#define DEFAULT_SERVER_PORT 2323
+
+int openServer (int port);
+int closeServer();
+int acceptClient();
+
+int sendDataToServer(char *data, int length);
+int sendDataToServerForClient(int client, char *data, int length);
+int receiveDataFromServer(char *data, int size);
+int receiveDataFromServerFromClient(int client, char *data, int size);
+#endif /* _SERVER_H_ */
+
--- a/software/raspberry/superviseur-robot/lib/src/monitor.cpp
+++ b/software/raspberry/superviseur-robot/lib/src/monitor.cpp
@ -1,4 +1,5 @@
 #include "monitor.h"
+#include "server.h"

 using namespace std;

@ -6,131 +7,48 @@ SOCKADDR_IN ssin;
 SOCKET sock;
 socklen_t recsize = sizeof (ssin);

-/*Socket et contexte d'adressage du client */
-SOCKADDR_IN csin;
-SOCKET csock;
-socklen_t crecsize = sizeof (csin);
-
-int sock_err;
-pid_t pidNodejs;

 string serverReceive(int size);
-int serverSend(const void *data, int dataLength);
+int sendMessage(const char *data, int dataLength);
 int receive(char *data);

-int run_nodejs(const char * path, char * file) {
-    int ret;
-    //char *const parmList[] = {"/bin/ls", "-l", "/home", NULL};
-    char * const parmList[] = {"node", file, NULL};
-
-    if ((ret = fork()) == -1)
-        perror("fork error");
-    else if (ret == 0) {
-        ret = execv(path, parmList);
-    }
-    return ret;
-}
-
-int kill_nodejs() {
-#ifdef __VERBOSE__  
-    printf("kill nodejs\n");
-#endif
-    return kill(pidNodejs, SIGTERM);
-}
-
-int open_server(int port) {
-    /* Création d'un socket */
-    sock = socket(AF_INET, SOCK_STREAM, 0);
-    int enable = 1;
-
-    /* Si la socket est valide */
-    if (sock != INVALID_SOCKET) {
-#ifdef _WITH_TRACE_
-        printf("TCP/IP Socket %d opened\n", sock);
-#endif
-        setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof (enable));
-
-        /* Configuration */
-        ssin.sin_addr.s_addr = htonl(INADDR_ANY); /* Adresse IP automatique */
-        ssin.sin_family = AF_INET; /* Protocole familial (IP) */
-        ssin.sin_port = htons(port); /* Listage du port */
-        sock_err = bind(sock, (SOCKADDR*) & ssin, recsize);
-
-        /* Si la socket fonctionne */
-        if (sock_err != SOCKET_ERROR) {
-            /* Démarrage du listage (mode server) */
-            sock_err = listen(sock, 1);
-
-            /* Si la socket fonctionne */
-            if (sock_err != SOCKET_ERROR) {
-                /* Attente pendant laquelle le client se connecte */
-#ifdef _WITH_TRACE_
-                printf("Waiting a client on port %d\n", port);
-#endif
-                csock = accept(sock, (SOCKADDR*) & csin, &crecsize);
-#ifdef _WITH_TRACE_
-                printf("Client connected\n");
-#endif
-                return 0;
-            } else {
-                perror("listen");
-            }
-        } else {
-            perror("bind");
-            return (-1);
-        }
-    } else {
-        perror("socket");
-        return (-1);
-    }
-    return 0;
-}
-
-int close_server(void) {
-    /* Fermeture de la socket client et de la socket serveur */
-    close(csock);
-    close(sock);
-    printf("Socket fermé\n");
-    return 0;
-}
-
 int send_message_to_monitor(const char* typeMessage, const void * data) {
    if ((string) typeMessage == HEADER_STM_IMAGE) {
        Jpg * imgC = (Jpg*) data;
-        serverSend("IMG", 3);
-        serverSend(imgC->data(), imgC->size());
-        serverSend("TRAME", 5);
+        sendMessage("IMG", 3);
+        sendMessage((const char*)imgC->data(), imgC->size());
+        sendMessage("TRAME", 5);
        return 0;
    } else if ((string) typeMessage == HEADER_STM_POS) {
        char buffer[400];
        Position * maPosition = (Position*) data;
        sprintf(buffer, "POScenter: %3d;%3d | %.1fTRAME", maPosition->center.x, maPosition->center.y, maPosition->angle);
-        serverSend(buffer, strlen(buffer));
+        sendMessage(buffer, strlen(buffer));
        return 0;
    } else if ((string) typeMessage == HEADER_STM_MES) {
        char buffer[50];
        sprintf(buffer, "MSG%sTRAME", (const char*) data);
-        serverSend(buffer, strlen(buffer));
+        sendMessage(buffer, strlen(buffer));
        return 0;
    } else if ((string) typeMessage == HEADER_STM_ACK) {
        char buffer[50];
        sprintf(buffer, "ACK%sTRAME", (const char*) data);
-        serverSend(buffer, strlen(buffer));
+        sendMessage(buffer, strlen(buffer));
        return 0;
    } else if ((string) typeMessage == HEADER_STM_BAT) {
        char buffer[50];
        sprintf(buffer, "BAT%sTRAME", (const char*) data);
-        serverSend(buffer, strlen(buffer));
+        sendMessage(buffer, strlen(buffer));
        return 0;
    } else if ((string) typeMessage == HEADER_STM_NO_ACK) {
        char buffer[50];
        sprintf(buffer, "NAK%sTRAME", (const char*) data);
-        serverSend(buffer, strlen(buffer));
+        sendMessage(buffer, strlen(buffer));
        return 0;
    } else if ((string) typeMessage == HEADER_STM_LOST_DMB) {
        char buffer[50];
        sprintf(buffer, "LCD%sTRAME", (const char*) data);
-        serverSend(buffer, strlen(buffer));
+        sendMessage(buffer, strlen(buffer));
        return 0;
    } else {
        return -1;
@ -146,13 +64,13 @@ int receive_message_from_monitor(char *typeMessage, char *data) {

 int receive(char *data) {
    int result;
-    result = recv(csock, data, 20, 0);
+    result = receiveDataFromServer(data, 20);
    //cout <<"Data : " << data << endl;
    return result;
 }

-int serverSend(const void *data, int dataLength) {
-    if (send(csock, data, dataLength, 0) != dataLength) {
+int sendMessage(const char *data, int dataLength) {
+    if (sendDataToServer((char*)data, dataLength) != dataLength) {
        perror("Send failed : ");
        return false;
    }
--- a/software/raspberry/superviseur-robot/lib/src/server.cpp
+++ b/software/raspberry/superviseur-robot/lib/src/server.cpp
@ -0,0 +1,97 @@
+/*
+ * To change this license header, choose License Headers in Project Properties.
+ * To change this template file, choose Tools | Templates
+ * and open the template in the editor.
+ */
+
+/* 
+ * File:   server.cpp
+ * Author: dimercur
+ * 
+ * Created on 19 octobre 2018, 14:24
+ */
+
+#include "server.h"
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <netinet/in.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#define NB_CONNECTION_MAX 1
+
+int socketFD = -1;
+int clientID = -1;
+
+int openServer(int port) {
+    struct sockaddr_in server;
+
+    socketFD = socket(AF_INET, SOCK_STREAM, 0);
+    if (socketFD < 0) {
+        perror("Can not create socket");
+        exit(-1);
+    }
+
+    server.sin_addr.s_addr = INADDR_ANY;
+    server.sin_family = AF_INET;
+    server.sin_port = htons(port);
+
+    if (bind(socketFD, (struct sockaddr *) &server, sizeof (server)) < 0) {
+        perror("Can not bind socket");
+        exit(-1);
+    }
+
+    listen(socketFD, NB_CONNECTION_MAX);
+
+    return socketFD;
+}
+
+int closeServer() {
+    close(socketFD);
+
+    socketFD = -1;
+}
+
+int acceptClient() {
+    struct sockaddr_in client;
+    int c = sizeof (struct sockaddr_in);
+
+    clientID = accept(socketFD, (struct sockaddr *) &client, (socklen_t*) & c);
+
+    if (clientID < 0) {
+        perror("Accept failed in acceptClient");
+        exit(-1);
+    }
+
+    return clientID;
+}
+
+int sendDataToServer(char *data, int length) {
+    return sendDataToServerForClient(clientID, data, length);
+}
+
+int sendDataToServerForClient(int client, char *data, int length) {
+    if (client >= 0)
+        return write(client, (void*)data, length);
+    else return 0;
+}
+
+int receiveDataFromServer(char *data, int size) {
+    return receiveDataFromServerFromClient(clientID, data, size);
+}
+
+int receiveDataFromServerFromClient(int client, char *data, int size) {
+    char length = 0;
+
+    if (client > 0) {
+        if ((length = recv(client, (void*)data, size, 0)) > 0) {
+            data[length] = 0;
+        }
+    }
+
+    return length;
+}
+
+
--- a/software/raspberry/superviseur-robot/nbproject/private/CodeAssistancePathMapper.properties
+++ b/software/raspberry/superviseur-robot/nbproject/private/CodeAssistancePathMapper.properties
@ -0,0 +1 @@
+# Automatic path mapper. CRC = 1
--- a/software/raspberry/superviseur-robot/nbproject/private/Default-build.log
+++ b/software/raspberry/superviseur-robot/nbproject/private/Default-build.log
@ -0,0 +1,48 @@
+Scanning dependencies of target destijl
+[ 12%] Building CXX object lib/CMakeFiles/destijl.dir/src/robot.cpp.o
+[ 25%] Building CXX object lib/CMakeFiles/destijl.dir/src/monitor.cpp.o
+In file included from /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp:1:0:
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/./monitor.h:65:117: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
+ int run_nodejs(const char *path = (const char*)DEFAULT_NODEJS_PATH, char *file = (const char*)DEFAULT_INTERFACE_FILE);
+                                                                                                                     ^
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp: In function ‘int run_nodejs(const char*, char*)’:
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp:24:50: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
+     char * const parmList[] = {"node", file, NULL};
+                                                  ^
+[ 37%] Building CXX object lib/CMakeFiles/destijl.dir/src/message.cpp.o
+[ 50%] Building CXX object lib/CMakeFiles/destijl.dir/src/image.cpp.o
+[ 62%] Linking CXX static library /home/dimercur/Documents/Travail/git/dumber/software/raspberry/lib/libdestijl.a
+[ 62%] Built target destijl
+Scanning dependencies of target superviseur
+[ 75%] Building CXX object superviseur/CMakeFiles/superviseur.dir/src/main.cpp.o
+In file included from /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h:28:0,
+                 from /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp:19:
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib/monitor.h:65:117: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
+ int run_nodejs(const char *path = (const char*)DEFAULT_NODEJS_PATH, char *file = (const char*)DEFAULT_INTERFACE_FILE);
+                                                                                                                     ^
+[ 87%] Building CXX object superviseur/CMakeFiles/superviseur.dir/src/functions.cpp.o
+In file included from /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h:28:0,
+                 from /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp:1:
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib/monitor.h:65:117: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
+ int run_nodejs(const char *path = (const char*)DEFAULT_NODEJS_PATH, char *file = (const char*)DEFAULT_INTERFACE_FILE);
+                                                                                                                     ^
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp: In function ‘void f_server(void*)’:
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp:15:81: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
+     err = run_nodejs("/usr/local/bin/node", "/home/pi/Interface_Robot/server.js");
+                                                                                 ^
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp: In function ‘void f_openComRobot(void*)’:
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp:140:53: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
+             set_msgToMon_header(&msg, HEADER_STM_ACK);
+                                                     ^
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp:144:56: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
+             set_msgToMon_header(&msg, HEADER_STM_NO_ACK);
+                                                        ^
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp: In function ‘void f_startRobot(void*)’:
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp:176:53: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
+             set_msgToMon_header(&msg, HEADER_STM_ACK);
+                                                     ^
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp:180:56: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
+             set_msgToMon_header(&msg, HEADER_STM_NO_ACK);
+                                                        ^
+[100%] Linking CXX executable /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur/bin/superviseur
+[100%] Built target superviseur
--- a/software/raspberry/superviseur-robot/nbproject/private/Default-exec.log
+++ b/software/raspberry/superviseur-robot/nbproject/private/Default-exec.log
@ -0,0 +1,225 @@
+called: /usr/bin/g++
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib
+	/usr/bin/g++
+	-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/.
+	-I/usr/xenomai/include/mercury
+	-I/usr/xenomai/include
+	-D_GNU_SOURCE
+	-D_REENTRANT
+	-fasynchronous-unwind-tables
+	-D__MERCURY__
+	-I/usr/xenomai/include/alchemy
+	-g3
+	-gdwarf-2
+	-std=gnu++11
+	-o
+	CMakeFiles/destijl.dir/src/robot.cpp.o
+	-c
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp
+
+called: /usr/bin/g++
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib
+	/usr/bin/g++
+	-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/.
+	-I/usr/xenomai/include/mercury
+	-I/usr/xenomai/include
+	-D_GNU_SOURCE
+	-D_REENTRANT
+	-fasynchronous-unwind-tables
+	-D__MERCURY__
+	-I/usr/xenomai/include/alchemy
+	-g3
+	-gdwarf-2
+	-std=gnu++11
+	-o
+	CMakeFiles/destijl.dir/src/monitor.cpp.o
+	-c
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp
+
+called: /usr/bin/g++
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib
+	/usr/bin/g++
+	-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/.
+	-I/usr/xenomai/include/mercury
+	-I/usr/xenomai/include
+	-D_GNU_SOURCE
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+	-fasynchronous-unwind-tables
+	-D__MERCURY__
+	-I/usr/xenomai/include/alchemy
+	-g3
+	-gdwarf-2
+	-std=gnu++11
+	-o
+	CMakeFiles/destijl.dir/src/message.cpp.o
+	-c
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp
+
+called: /usr/bin/g++
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib
+	/usr/bin/g++
+	-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/.
+	-I/usr/xenomai/include/mercury
+	-I/usr/xenomai/include
+	-D_GNU_SOURCE
+	-D_REENTRANT
+	-fasynchronous-unwind-tables
+	-D__MERCURY__
+	-I/usr/xenomai/include/alchemy
+	-g3
+	-gdwarf-2
+	-std=gnu++11
+	-o
+	CMakeFiles/destijl.dir/src/image.cpp.o
+	-c
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp
+
+called: /usr/bin/ar
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib
+	/usr/bin/ar
+	qc
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/lib/libdestijl.a
+	CMakeFiles/destijl.dir/src/robot.cpp.o
+	CMakeFiles/destijl.dir/src/monitor.cpp.o
+	CMakeFiles/destijl.dir/src/message.cpp.o
+	CMakeFiles/destijl.dir/src/image.cpp.o
+
+called: /usr/bin/g++
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur
+	/usr/bin/g++
+	-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src
+	-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib
+	-I/usr/xenomai/include
+	-I/usr/xenomai/include/mercury
+	-I/usr/xenomai/include/mercury
+	-I/usr/xenomai/include
+	-D_GNU_SOURCE
+	-D_REENTRANT
+	-fasynchronous-unwind-tables
+	-D__MERCURY__
+	-I/usr/xenomai/include/alchemy
+	-g3
+	-gdwarf-2
+	-std=gnu++11
+	-o
+	CMakeFiles/superviseur.dir/src/main.cpp.o
+	-c
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp
+
+called: /usr/bin/g++
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur
+	/usr/bin/g++
+	-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src
+	-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib
+	-I/usr/xenomai/include
+	-I/usr/xenomai/include/mercury
+	-I/usr/xenomai/include/mercury
+	-I/usr/xenomai/include
+	-D_GNU_SOURCE
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+	-fasynchronous-unwind-tables
+	-D__MERCURY__
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+
+called: /usr/bin/g++
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur
+	/usr/bin/g++
+	-I/usr/xenomai/include/mercury
+	-I/usr/xenomai/include
+	-D_GNU_SOURCE
+	-D_REENTRANT
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+	-lcopperplate
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+	-Wl,-rpath,/usr/xenomai/lib
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/lib/libdestijl.a
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+called: /usr/bin/ld
+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur
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+	-plugin
+	/usr/lib/gcc/x86_64-linux-gnu/7/liblto_plugin.so
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+	-lalchemy
+	-lcopperplate
+	/usr/xenomai/lib/xenomai/bootstrap.o
+	--wrap=main
+	--dynamic-list=/usr/xenomai/lib/dynlist.ld
+	-lmercury
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+	CMakeFiles/superviseur.dir/src/main.cpp.o
+	CMakeFiles/superviseur.dir/src/functions.cpp.o
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+	/home/dimercur/Documents/Travail/git/dumber/software/raspberry/lib/libdestijl.a
+	-lstdc++
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+	-lgcc_s
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+
--- a/software/raspberry/superviseur-robot/nbproject/private/Default.properties
+++ b/software/raspberry/superviseur-robot/nbproject/private/Default.properties
@ -0,0 +1,6 @@
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp=/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib#-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/. -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/destijl.dir/src/message.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp=/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib#-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/. -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/destijl.dir/src/monitor.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp=/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib#-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/. -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/destijl.dir/src/robot.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp=/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib#-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/. -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/destijl.dir/src/image.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp=/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur#-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/superviseur.dir/src/main.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp=/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur#-I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/superviseur.dir/src/functions.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp
--- a/software/raspberry/superviseur-robot/nbproject/private/c_standard_headers_indexer.c
+++ b/software/raspberry/superviseur-robot/nbproject/private/c_standard_headers_indexer.c
@ -0,0 +1,75 @@
+/*
+ * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS HEADER.
+ *
+ * Copyright (c) 2016 Oracle and/or its affiliates. All rights reserved.
+ *
+ * Oracle and Java are registered trademarks of Oracle and/or its affiliates.
+ * Other names may be trademarks of their respective owners.
+ *
+ * The contents of this file are subject to the terms of either the GNU
+ * General Public License Version 2 only ("GPL") or the Common
+ * Development and Distribution License("CDDL") (collectively, the
+ * "License"). You may not use this file except in compliance with the
+ * License. You can obtain a copy of the License at
+ * http://www.netbeans.org/cddl-gplv2.html
+ * or nbbuild/licenses/CDDL-GPL-2-CP. See the License for the
+ * specific language governing permissions and limitations under the
+ * License.  When distributing the software, include this License Header
+ * Notice in each file and include the License file at
+ * nbbuild/licenses/CDDL-GPL-2-CP.  Oracle designates this
+ * particular file as subject to the "Classpath" exception as provided
+ * by Oracle in the GPL Version 2 section of the License file that
+ * accompanied this code. If applicable, add the following below the
+ * License Header, with the fields enclosed by brackets [] replaced by
+ * your own identifying information:
+ * "Portions Copyrighted [year] [name of copyright owner]"
+ *
+ * If you wish your version of this file to be governed by only the CDDL
+ * or only the GPL Version 2, indicate your decision by adding
+ * "[Contributor] elects to include this software in this distribution
+ * under the [CDDL or GPL Version 2] license." If you do not indicate a
+ * single choice of license, a recipient has the option to distribute
+ * your version of this file under either the CDDL, the GPL Version 2 or
+ * to extend the choice of license to its licensees as provided above.
+ * However, if you add GPL Version 2 code and therefore, elected the GPL
+ * Version 2 license, then the option applies only if the new code is
+ * made subject to such option by the copyright holder.
+ *
+ * Contributor(s):
+ */
+
+// List of standard headers was taken in http://en.cppreference.com/w/c/header
+
+#include <assert.h> 	 // Conditionally compiled macro that compares its argument to zero
+#include <ctype.h> 	 // Functions to determine the type contained in character data
+#include <errno.h> 	 // Macros reporting error conditions
+#include <float.h> 	 // Limits of float types
+#include <limits.h> 	 // Sizes of basic types
+#include <locale.h> 	 // Localization utilities
+#include <math.h> 	 // Common mathematics functions
+#include <setjmp.h> 	 // Nonlocal jumps
+#include <signal.h> 	 // Signal handling
+#include <stdarg.h> 	 // Variable arguments
+#include <stddef.h> 	 // Common macro definitions
+#include <stdio.h> 	 // Input/output
+#include <string.h> 	 // String handling
+#include <stdlib.h> 	 // General utilities: memory management, program utilities, string conversions, random numbers
+#include <time.h> 	 // Time/date utilities
+#include <iso646.h>      // (since C95) Alternative operator spellings
+#include <wchar.h>       // (since C95) Extended multibyte and wide character utilities
+#include <wctype.h>      // (since C95) Wide character classification and mapping utilities
+#ifdef _STDC_C99
+#include <complex.h>     // (since C99) Complex number arithmetic
+#include <fenv.h>        // (since C99) Floating-point environment
+#include <inttypes.h>    // (since C99) Format conversion of integer types
+#include <stdbool.h>     // (since C99) Boolean type
+#include <stdint.h>      // (since C99) Fixed-width integer types
+#include <tgmath.h>      // (since C99) Type-generic math (macros wrapping math.h and complex.h)
+#endif
+#ifdef _STDC_C11
+#include <stdalign.h>    // (since C11) alignas and alignof convenience macros
+#include <stdatomic.h>   // (since C11) Atomic types
+#include <stdnoreturn.h> // (since C11) noreturn convenience macros
+#include <threads.h>     // (since C11) Thread library
+#include <uchar.h>       // (since C11) UTF-16 and UTF-32 character utilities
+#endif
--- a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
@ -0,0 +1,331 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configurationDescriptor version="100">
+  <logicalFolder name="root" displayName="root" projectFiles="true" kind="ROOT">
+    <df root="." name="0">
+      <df name=".idea">
+        <df name="codeStyles">
+        </df>
+      </df>
+      <df name="build">
+        <df name="CMakeFiles">
+          <df name="3.10.2">
+            <df name="CompilerIdCXX">
+              <df name="tmp">
+              </df>
+              <in>CMakeCXXCompilerId.cpp</in>
+            </df>
+          </df>
+          <df name="CMakeTmp">
+          </df>
+          <in>feature_tests.cxx</in>
+        </df>
+        <df name="lib">
+          <df name="CMakeFiles">
+            <df name="destijl.dir">
+              <df name="src">
+              </df>
+            </df>
+          </df>
+        </df>
+        <df name="superviseur">
+          <df name="CMakeFiles">
+            <df name="superviseur.dir">
+              <df name="src">
+              </df>
+            </df>
+          </df>
+        </df>
+      </df>
+      <df name="cmake-build-debug">
+        <df name="CMakeFiles">
+          <df name="3.10.2">
+            <df name="CompilerIdCXX">
+              <df name="tmp">
+              </df>
+              <in>CMakeCXXCompilerId.cpp</in>
+            </df>
+          </df>
+          <df name="3.12.2">
+            <df name="CompilerIdCXX">
+              <df name="tmp">
+              </df>
+              <in>CMakeCXXCompilerId.cpp</in>
+            </df>
+          </df>
+          <df name="CMakeTmp">
+          </df>
+          <in>feature_tests.cxx</in>
+        </df>
+        <df name="examples">
+          <df name="CMakeFiles">
+            <df name="serialTest.dir">
+              <df name="src">
+              </df>
+            </df>
+            <df name="serialtest.dir">
+              <df name="src">
+              </df>
+            </df>
+            <df name="serverTest.dir">
+              <df name="src">
+              </df>
+            </df>
+            <df name="servertest.dir">
+              <df name="src">
+              </df>
+            </df>
+          </df>
+        </df>
+        <df name="lib">
+          <df name="CMakeFiles">
+            <df name="destijl.dir">
+              <df name="src">
+              </df>
+            </df>
+          </df>
+        </df>
+        <df name="monitor">
+          <df name="CMakeFiles">
+            <df name="monitor.dir">
+              <df name="src">
+              </df>
+            </df>
+          </df>
+        </df>
+        <df name="monitor-pc">
+          <df name="CMakeFiles">
+            <df name="monitor.dir">
+              <df name="src">
+              </df>
+            </df>
+          </df>
+        </df>
+        <df name="monitor-pthread">
+          <df name="CMakeFiles">
+            <df name="monitor.dir">
+              <df name="src">
+              </df>
+            </df>
+          </df>
+        </df>
+        <df name="superviseur">
+          <df name="CMakeFiles">
+            <df name="superviseur-xenomai.dir">
+              <df name="src">
+              </df>
+            </df>
+            <df name="superviseur.dir">
+              <df name="src">
+              </df>
+            </df>
+          </df>
+        </df>
+        <df name="superviseur-pthread">
+          <df name="CMakeFiles">
+            <df name="superviseur-pthread.dir">
+              <df name="src">
+              </df>
+            </df>
+          </df>
+        </df>
+        <df name="superviseur-xenomai">
+          <df name="CMakeFiles">
+            <df name="superviseur-xenomai.dir">
+              <df name="src">
+              </df>
+            </df>
+          </df>
+        </df>
+      </df>
+      <df name="CMakeFiles">
+        <df name="3.10.2">
+          <df name="CompilerIdCXX">
+            <df name="tmp">
+            </df>
+          </df>
+        </df>
+        <df name="CMakeTmp">
+        </df>
+      </df>
+      <df name="examples">
+        <df name="bin">
+        </df>
+        <df name="src">
+          <in>rtvideoExample.cpp</in>
+          <in>serialExample.cpp</in>
+          <in>serialTest.cpp</in>
+          <in>serverTest.cpp</in>
+          <in>uiExample.cpp</in>
+          <in>videoExample.cpp</in>
+        </df>
+      </df>
+      <df name="futur">
+        <df name="examples">
+          <df name="bin">
+          </df>
+          <df name="src">
+            <in>rtvideoExample.cpp</in>
+            <in>serialExample.cpp</in>
+            <in>serialTest.cpp</in>
+            <in>serverTest.cpp</in>
+            <in>uiExample.cpp</in>
+            <in>videoExample.cpp</in>
+          </df>
+        </df>
+        <df name="lib">
+          <df name="src">
+            <in>Camera.cpp</in>
+            <in>Image.cpp</in>
+            <in>MsgManager.cpp</in>
+            <in>Robot.cpp</in>
+            <in>Serial.cpp</in>
+            <in>TcpServer.cpp</in>
+          </df>
+          <in>Camera.h</in>
+          <in>Definition.h</in>
+          <in>Image.h</in>
+          <in>MsgManager.h</in>
+          <in>Robot.h</in>
+          <in>Serial.h</in>
+          <in>TcpServer.h</in>
+        </df>
+        <df name="superviseur-xenomai">
+          <df name="bin">
+          </df>
+          <df name="src">
+            <in>Program.cpp</in>
+            <in>Tasks.cpp</in>
+            <in>Tasks.h</in>
+          </df>
+        </df>
+      </df>
+      <df name="lib">
+        <df name="CMakeFiles">
+          <df name="destijl.dir">
+            <df name="src">
+            </df>
+          </df>
+        </df>
+        <df name="src">
+          <in>image.cpp</in>
+          <in>message.cpp</in>
+          <in>monitor.cpp</in>
+          <in>robot.cpp</in>
+          <in>server.cpp</in>
+        </df>
+        <in>definitions.h</in>
+        <in>image.h</in>
+        <in>message.h</in>
+        <in>monitor.h</in>
+        <in>robot.h</in>
+        <in>server.h</in>
+      </df>
+      <df name="src.sav">
+        <in>definitions.h</in>
+        <in>image.cpp</in>
+        <in>image.h</in>
+        <in>message.cpp</in>
+        <in>message.h</in>
+        <in>monitor.cpp</in>
+        <in>monitor.h</in>
+        <in>robot.cpp</in>
+        <in>robot.h</in>
+      </df>
+      <df name="superviseur">
+        <df name="bin">
+        </df>
+        <df name="build">
+          <df name="Debug">
+            <df name="GNU-Linux">
+              <df name="_ext">
+                <df name="a59f760b">
+                </df>
+              </df>
+              <df name="src">
+              </df>
+            </df>
+          </df>
+        </df>
+        <df name="CMakeFiles">
+          <df name="superviseur.dir">
+            <df name="src">
+            </df>
+          </df>
+        </df>
+        <df name="dist">
+          <df name="Debug">
+            <df name="GNU-Linux">
+            </df>
+          </df>
+        </df>
+        <df name="src">
+          <in>functions.cpp</in>
+          <in>functions.h</in>
+          <in>main.cpp</in>
+        </df>
+        <in>.gitignore</in>
+      </df>
+      <df name="superviseur-pthread">
+        <df name="bin">
+        </df>
+        <df name="src">
+          <in>Program.cpp</in>
+          <in>Tasks.cpp</in>
+          <in>Tasks.h</in>
+        </df>
+      </df>
+      <df name="superviseur-xenomai">
+        <df name="bin">
+        </df>
+      </df>
+    </df>
+  </logicalFolder>
+  <projectmakefile>Makefile</projectmakefile>
+  <confs>
+    <conf name="Default" type="0">
+      <toolsSet>
+        <developmentServer>localhost</developmentServer>
+        <platform>2</platform>
+      </toolsSet>
+      <compile>
+        <compiledirpicklist>
+          <compiledirpicklistitem>.</compiledirpicklistitem>
+          <compiledirpicklistitem>${AUTO_FOLDER}</compiledirpicklistitem>
+        </compiledirpicklist>
+        <compiledir>${AUTO_FOLDER}</compiledir>
+        <compilecommandpicklist>
+          <compilecommandpicklistitem>${MAKE} ${ITEM_NAME}.o</compilecommandpicklistitem>
+          <compilecommandpicklistitem>${AUTO_COMPILE}</compilecommandpicklistitem>
+        </compilecommandpicklist>
+        <compilecommand>${AUTO_COMPILE}</compilecommand>
+      </compile>
+      <dbx_gdbdebugger version="1">
+        <gdb_pathmaps>
+        </gdb_pathmaps>
+        <gdb_interceptlist>
+          <gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
+        </gdb_interceptlist>
+        <gdb_options>
+          <DebugOptions>
+          </DebugOptions>
+        </gdb_options>
+        <gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
+      </dbx_gdbdebugger>
+      <nativedebugger version="1">
+        <engine>gdb</engine>
+      </nativedebugger>
+      <runprofile version="9">
+        <runcommandpicklist>
+          <runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
+        </runcommandpicklist>
+        <runcommand>"${OUTPUT_PATH}"</runcommand>
+        <rundir>.</rundir>
+        <buildfirst>false</buildfirst>
+        <terminal-type>0</terminal-type>
+        <remove-instrumentation>0</remove-instrumentation>
+        <environment>
+        </environment>
+      </runprofile>
+    </conf>
+  </confs>
+</configurationDescriptor>
--- a/software/raspberry/superviseur-robot/nbproject/private/cpp_standard_headers_indexer.cpp
+++ b/software/raspberry/superviseur-robot/nbproject/private/cpp_standard_headers_indexer.cpp
@ -0,0 +1,135 @@
+/*
+ * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS HEADER.
+ *
+ * Copyright (c) 2016 Oracle and/or its affiliates. All rights reserved.
+ *
+ * Oracle and Java are registered trademarks of Oracle and/or its affiliates.
+ * Other names may be trademarks of their respective owners.
+ *
+ * The contents of this file are subject to the terms of either the GNU
+ * General Public License Version 2 only ("GPL") or the Common
+ * Development and Distribution License("CDDL") (collectively, the
+ * "License"). You may not use this file except in compliance with the
+ * License. You can obtain a copy of the License at
+ * http://www.netbeans.org/cddl-gplv2.html
+ * or nbbuild/licenses/CDDL-GPL-2-CP. See the License for the
+ * specific language governing permissions and limitations under the
+ * License.  When distributing the software, include this License Header
+ * Notice in each file and include the License file at
+ * nbbuild/licenses/CDDL-GPL-2-CP.  Oracle designates this
+ * particular file as subject to the "Classpath" exception as provided
+ * by Oracle in the GPL Version 2 section of the License file that
+ * accompanied this code. If applicable, add the following below the
+ * License Header, with the fields enclosed by brackets [] replaced by
+ * your own identifying information:
+ * "Portions Copyrighted [year] [name of copyright owner]"
+ *
+ * If you wish your version of this file to be governed by only the CDDL
+ * or only the GPL Version 2, indicate your decision by adding
+ * "[Contributor] elects to include this software in this distribution
+ * under the [CDDL or GPL Version 2] license." If you do not indicate a
+ * single choice of license, a recipient has the option to distribute
+ * your version of this file under either the CDDL, the GPL Version 2 or
+ * to extend the choice of license to its licensees as provided above.
+ * However, if you add GPL Version 2 code and therefore, elected the GPL
+ * Version 2 license, then the option applies only if the new code is
+ * made subject to such option by the copyright holder.
+ *
+ * Contributor(s):
+ */
+
+// List of standard headers was taken in http://en.cppreference.com/w/cpp/header
+
+#include <cstdlib> 	    // General purpose utilities: program control, dynamic memory allocation, random numbers, sort and search
+#include <csignal> 	    // Functions and macro constants for signal management
+#include <csetjmp> 	    // Macro (and function) that saves (and jumps) to an execution context
+#include <cstdarg> 	    // Handling of variable length argument lists
+#include <typeinfo> 	    // Runtime type information utilities
+#include <bitset> 	    // std::bitset class template
+#include <functional> 	    // Function objects, designed for use with the standard algorithms
+#include <utility> 	    // Various utility components
+#include <ctime> 	    // C-style time/date utilites
+#include <cstddef> 	    // typedefs for types such as size_t, NULL and others
+#include <new> 	            // Low-level memory management utilities
+#include <memory> 	    // Higher level memory management utilities
+#include <climits>          // limits of integral types
+#include <cfloat> 	    // limits of float types
+#include <limits> 	    // standardized way to query properties of arithmetic types
+#include <exception> 	    // Exception handling utilities
+#include <stdexcept> 	    // Standard exception objects
+#include <cassert> 	    // Conditionally compiled macro that compares its argument to zero
+#include <cerrno>           // Macro containing the last error number
+#include <cctype>           // functions to determine the type contained in character data
+#include <cwctype>          // functions for determining the type of wide character data
+#include <cstring> 	    // various narrow character string handling functions
+#include <cwchar> 	    // various wide and multibyte string handling functions
+#include <string> 	    // std::basic_string class template
+#include <vector> 	    // std::vector container
+#include <deque> 	    // std::deque container
+#include <list> 	    // std::list container
+#include <set> 	            // std::set and std::multiset associative containers
+#include <map> 	            // std::map and std::multimap associative containers
+#include <stack> 	    // std::stack container adaptor
+#include <queue> 	    // std::queue and std::priority_queue container adaptors
+#include <algorithm> 	    // Algorithms that operate on containers
+#include <iterator> 	    // Container iterators
+#include <cmath>            // Common mathematics functions
+#include <complex>          // Complex number type
+#include <valarray>         // Class for representing and manipulating arrays of values
+#include <numeric>          // Numeric operations on values in containers
+#include <iosfwd>           // forward declarations of all classes in the input/output library
+#include <ios>              // std::ios_base class, std::basic_ios class template and several typedefs
+#include <istream>          // std::basic_istream class template and several typedefs
+#include <ostream>          // std::basic_ostream, std::basic_iostream class templates and several typedefs
+#include <iostream>         // several standard stream objects
+#include <fstream>          // std::basic_fstream, std::basic_ifstream, std::basic_ofstream class templates and several typedefs
+#include <sstream>          // std::basic_stringstream, std::basic_istringstream, std::basic_ostringstream class templates and several typedefs
+#include <strstream>        // std::strstream, std::istrstream, std::ostrstream(deprecated)
+#include <iomanip>          // Helper functions to control the format or input and output
+#include <streambuf>        // std::basic_streambuf class template
+#include <cstdio>           // C-style input-output functions
+#include <locale>           // Localization utilities
+#include <clocale>          // C localization utilities
+#include <ciso646>          // empty header. The macros that appear in iso646.h in C are keywords in C++
+#if __cplusplus >= 201103L
+#include <typeindex>        // (since C++11) 	std::type_index
+#include <type_traits>      // (since C++11) 	Compile-time type information
+#include <chrono>           // (since C++11) 	C++ time utilites
+#include <initializer_list> // (since C++11) 	std::initializer_list class template
+#include <tuple>            // (since C++11) 	std::tuple class template
+#include <scoped_allocator> // (since C++11) 	Nested allocator class
+#include <cstdint>          // (since C++11) 	fixed-size types and limits of other types
+#include <cinttypes>        // (since C++11) 	formatting macros , intmax_t and uintmax_t math and conversions
+#include <system_error>     // (since C++11) 	defines std::error_code, a platform-dependent error code
+#include <cuchar>           // (since C++11) 	C-style Unicode character conversion functions
+#include <array>            // (since C++11) 	std::array container
+#include <forward_list>     // (since C++11) 	std::forward_list container
+#include <unordered_set>    // (since C++11) 	std::unordered_set and std::unordered_multiset unordered associative containers
+#include <unordered_map>    // (since C++11) 	std::unordered_map and std::unordered_multimap unordered associative containers
+#include <random>           // (since C++11) 	Random number generators and distributions
+#include <ratio>            // (since C++11) 	Compile-time rational arithmetic
+#include <cfenv>            // (since C++11) 	Floating-point environment access functions
+#include <codecvt>          // (since C++11) 	Unicode conversion facilities
+#include <regex>            // (since C++11) 	Classes, algorithms and iterators to support regular expression processing
+#include <atomic>           // (since C++11) 	Atomic operations library
+#include <ccomplex>         // (since C++11)(deprecated in C++17) 	simply includes the header <complex>
+#include <ctgmath>          // (since C++11)(deprecated in C++17) 	simply includes the headers <ccomplex> (until C++17)<complex> (since C++17) and <cmath>: the overloads equivalent to the contents of the C header tgmath.h are already provided by those headers
+#include <cstdalign>        // (since C++11)(deprecated in C++17) 	defines one compatibility macro constant
+#include <cstdbool>         // (since C++11)(deprecated in C++17) 	defines one compatibility macro constant
+#include <thread>           // (since C++11) 	std::thread class and supporting functions
+#include <mutex>            // (since C++11) 	mutual exclusion primitives
+#include <future>           // (since C++11) 	primitives for asynchronous computations
+#include <condition_variable> // (since C++11) 	thread waiting conditions
+#endif
+#if __cplusplus >= 201300L
+#include <shared_mutex>     // (since C++14) 	shared mutual exclusion primitives
+#endif
+#if __cplusplus >= 201500L
+#include <any>              // (since C++17) 	std::any class template
+#include <optional>         // (since C++17) 	std::optional class template
+#include <variant>          // (since C++17) 	std::variant class template
+#include <memory_resource>  // (since C++17) 	Polymorphic allocators and memory resources
+#include <string_view>      // (since C++17) 	std::basic_string_view class template
+#include <execution>        // (since C++17) 	Predefined execution policies for parallel versions of the algorithms
+#include <filesystem>       // (since C++17) 	std::path class and supporting functions
+#endif
--- a/software/raspberry/superviseur-robot/nbproject/private/launcher.properties
+++ b/software/raspberry/superviseur-robot/nbproject/private/launcher.properties
@ -0,0 +1,42 @@
+# Launchers File syntax:
+#
+# [Must-have property line] 
+# launcher1.runCommand=<Run Command>
+# [Optional extra properties] 
+# launcher1.displayName=<Display Name, runCommand by default>
+# launcher1.hide=<true if lancher is not visible in menu, false by default>
+# launcher1.buildCommand=<Build Command, Build Command specified in project properties by default>
+# launcher1.runDir=<Run Directory, ${PROJECT_DIR} by default>
+# launcher1.runInOwnTab=<false if launcher reuse common "Run" output tab, true by default>
+# launcher1.symbolFiles=<Symbol Files loaded by debugger, ${OUTPUT_PATH} by default>
+# launcher1.env.<Environment variable KEY>=<Environment variable VALUE>
+# (If this value is quoted with ` it is handled as a native command which execution result will become the value)
+# [Common launcher properties]
+# common.runDir=<Run Directory>
+# (This value is overwritten by a launcher specific runDir value if the latter exists)
+# common.env.<Environment variable KEY>=<Environment variable VALUE>
+# (Environment variables from common launcher are merged with launcher specific variables)
+# common.symbolFiles=<Symbol Files loaded by debugger>
+# (This value is overwritten by a launcher specific symbolFiles value if the latter exists)
+#
+# In runDir, symbolFiles and env fields you can use these macroses:
+# ${PROJECT_DIR}    -   project directory absolute path
+# ${OUTPUT_PATH}    -   linker output path (relative to project directory path)
+# ${OUTPUT_BASENAME}-   linker output filename
+# ${TESTDIR}        -   test files directory (relative to project directory path)
+# ${OBJECTDIR}      -   object files directory (relative to project directory path)
+# ${CND_DISTDIR}    -   distribution directory (relative to project directory path)
+# ${CND_BUILDDIR}   -   build directory (relative to project directory path)
+# ${CND_PLATFORM}   -   platform name
+# ${CND_CONF}       -   configuration name
+# ${CND_DLIB_EXT}   -   dynamic library extension
+#
+# All the project launchers must be listed in the file!
+#
+# launcher1.runCommand=...
+# launcher2.runCommand=...
+# ...
+# common.runDir=...
+# common.env.KEY=VALUE
+
+# launcher1.runCommand=<type your run command here>
--- a/software/raspberry/superviseur-robot/nbproject/private/private.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml
@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project-private xmlns="http://www.netbeans.org/ns/project-private/1">
+    <code-assistance-data xmlns="http://www.netbeans.org/ns/make-project-private/1">
+        <code-model-enabled>true</code-model-enabled>
+    </code-assistance-data>
+    <data xmlns="http://www.netbeans.org/ns/make-project-private/1">
+        <activeConfTypeElem>0</activeConfTypeElem>
+        <activeConfIndexElem>0</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/src/monitor.cpp</file>
+            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp</file>
+            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp</file>
+            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h</file>
+            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp</file>
+            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h</file>
+        </group>
+    </open-files>
+</project-private>