From 2451177ccd99fd29d802b98c120bcf2c9cde2049 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20DI=20MERCURIO?= <dimercur@insa-toulouse.fr>
Date: Fri, 19 Oct 2018 10:53:20 +0200
Subject: [PATCH] Last commit to branch master.

after that next commits will be in branch dev or stable
---
 .../raspberry/superviseur-robot/.gitignore    |   9 +
 .../raspberry/superviseur-robot/.idea/.name   |   1 +
 .../.idea/codeStyles/Project.xml              |  29 +
 .../superviseur-robot/.idea/misc.xml          |   7 +
 .../superviseur-robot/.idea/modules.xml       |   8 +
 .../.idea/superviseur-robot.iml               |   2 +
 .../raspberry/superviseur-robot/.idea/vcs.xml |   6 +
 .../superviseur-robot/.idea/workspace.xml     | 864 ++++++++++++++++++
 .../superviseur-robot/CMakeLists.txt          |  22 +-
 .../superviseur-robot/ProjDestijl.cbp         | 142 +++
 .../superviseur-robot/compile_commands.json   |  32 +
 .../superviseur-robot/destijl_init/Makefile   |  36 -
 .../superviseur-robot/examples/CMakeLists.txt |   8 +-
 .../superviseur-robot/lib/.gitignore          |   5 +
 .../superviseur-robot/lib/CMakeLists.txt      |   4 +-
 .../raspberry/superviseur-robot/lib/Robot.h   |  84 --
 .../raspberry/superviseur-robot/lib/Serial.h  |  49 -
 .../superviseur-robot/lib/TcpServer.h         |  35 -
 .../superviseur-robot/lib/definitions.h       |  24 +
 .../raspberry/superviseur-robot/lib/image.h   |   2 +
 .../raspberry/superviseur-robot/lib/monitor.h |   2 +-
 .../raspberry/superviseur-robot/lib/robot.h   |  64 ++
 .../superviseur-robot/lib/src/Robot.cpp       | 349 -------
 .../superviseur-robot/lib/src/Serial.cpp      | 164 ----
 .../superviseur-robot/lib/src/TcpServer.cpp   |  93 --
 .../superviseur-robot/lib/src/message.cpp     |   2 +-
 .../superviseur-robot/lib/src/monitor.cpp     |   2 +-
 .../superviseur-robot/lib/src/robot.cpp       | 236 +++++
 .../nbproject/configurations.xml              | 116 +++
 .../superviseur-robot/nbproject/project.xml   |  26 +
 .../superviseur-pthread/CMakeLists.txt        |   9 +
 .../superviseur-pthread/bin/monitor           | Bin 0 -> 49552 bytes
 .../bin/superviseur-pthread                   | Bin 0 -> 228344 bytes
 .../superviseur-pthread/src/Program.cpp       | 273 ++++++
 .../superviseur-pthread/src/Tasks.cpp         | 246 +++++
 .../superviseur-pthread/src/Tasks.h           |  44 +
 .../superviseur-robot/superviseur/.gitignore  |   9 +
 .../superviseur/CMakeLists.txt                |  15 +
 .../src/functions.cpp                         |   6 +-
 .../header => superviseur/src}/functions.h    |  10 +-
 .../src}/main.cpp                             |  17 +-
 41 files changed, 2211 insertions(+), 841 deletions(-)
 create mode 100644 software/raspberry/superviseur-robot/.idea/.name
 create mode 100644 software/raspberry/superviseur-robot/.idea/codeStyles/Project.xml
 create mode 100644 software/raspberry/superviseur-robot/.idea/misc.xml
 create mode 100644 software/raspberry/superviseur-robot/.idea/modules.xml
 create mode 100644 software/raspberry/superviseur-robot/.idea/superviseur-robot.iml
 create mode 100644 software/raspberry/superviseur-robot/.idea/vcs.xml
 create mode 100644 software/raspberry/superviseur-robot/.idea/workspace.xml
 create mode 100644 software/raspberry/superviseur-robot/ProjDestijl.cbp
 create mode 100644 software/raspberry/superviseur-robot/compile_commands.json
 delete mode 100644 software/raspberry/superviseur-robot/destijl_init/Makefile
 delete mode 100644 software/raspberry/superviseur-robot/lib/Robot.h
 delete mode 100644 software/raspberry/superviseur-robot/lib/Serial.h
 delete mode 100644 software/raspberry/superviseur-robot/lib/TcpServer.h
 create mode 100644 software/raspberry/superviseur-robot/lib/robot.h
 delete mode 100644 software/raspberry/superviseur-robot/lib/src/Robot.cpp
 delete mode 100644 software/raspberry/superviseur-robot/lib/src/Serial.cpp
 delete mode 100644 software/raspberry/superviseur-robot/lib/src/TcpServer.cpp
 create mode 100644 software/raspberry/superviseur-robot/lib/src/robot.cpp
 create mode 100644 software/raspberry/superviseur-robot/nbproject/configurations.xml
 create mode 100644 software/raspberry/superviseur-robot/nbproject/project.xml
 create mode 100644 software/raspberry/superviseur-robot/superviseur-pthread/CMakeLists.txt
 create mode 100755 software/raspberry/superviseur-robot/superviseur-pthread/bin/monitor
 create mode 100755 software/raspberry/superviseur-robot/superviseur-pthread/bin/superviseur-pthread
 create mode 100644 software/raspberry/superviseur-robot/superviseur-pthread/src/Program.cpp
 create mode 100644 software/raspberry/superviseur-robot/superviseur-pthread/src/Tasks.cpp
 create mode 100644 software/raspberry/superviseur-robot/superviseur-pthread/src/Tasks.h
 create mode 100644 software/raspberry/superviseur-robot/superviseur/.gitignore
 create mode 100644 software/raspberry/superviseur-robot/superviseur/CMakeLists.txt
 rename software/raspberry/superviseur-robot/{destijl_init => superviseur}/src/functions.cpp (98%)
 rename software/raspberry/superviseur-robot/{destijl_init/header => superviseur/src}/functions.h (90%)
 rename software/raspberry/superviseur-robot/{destijl_init => superviseur/src}/main.cpp (91%)

diff --git a/software/raspberry/superviseur-robot/.gitignore b/software/raspberry/superviseur-robot/.gitignore
index 8826514..8ba92f7 100644
--- a/software/raspberry/superviseur-robot/.gitignore
+++ b/software/raspberry/superviseur-robot/.gitignore
@@ -1,2 +1,11 @@
 build/
 src.sav/
+cmake-build-debug/
+futur/
+build/
+CMakeFiles/
+
+Makefile
+*.cmake
+CMakeCache.txt
+
diff --git a/software/raspberry/superviseur-robot/.idea/.name b/software/raspberry/superviseur-robot/.idea/.name
new file mode 100644
index 0000000..02eef87
--- /dev/null
+++ b/software/raspberry/superviseur-robot/.idea/.name
@@ -0,0 +1 @@
+ProjDestijl
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/.idea/codeStyles/Project.xml b/software/raspberry/superviseur-robot/.idea/codeStyles/Project.xml
new file mode 100644
index 0000000..30aa626
--- /dev/null
+++ b/software/raspberry/superviseur-robot/.idea/codeStyles/Project.xml
@@ -0,0 +1,29 @@
+<component name="ProjectCodeStyleConfiguration">
+  <code_scheme name="Project" version="173">
+    <Objective-C-extensions>
+      <file>
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Import" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Macro" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Typedef" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Enum" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Constant" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Global" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Struct" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="FunctionPredecl" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Function" />
+      </file>
+      <class>
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Property" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Synthesize" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InitMethod" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="StaticMethod" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InstanceMethod" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="DeallocMethod" />
+      </class>
+      <extensions>
+        <pair source="cpp" header="h" fileNamingConvention="NONE" />
+        <pair source="c" header="h" fileNamingConvention="NONE" />
+      </extensions>
+    </Objective-C-extensions>
+  </code_scheme>
+</component>
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/.idea/misc.xml b/software/raspberry/superviseur-robot/.idea/misc.xml
new file mode 100644
index 0000000..8822db8
--- /dev/null
+++ b/software/raspberry/superviseur-robot/.idea/misc.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+  <component name="JavaScriptSettings">
+    <option name="languageLevel" value="ES6" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/.idea/modules.xml b/software/raspberry/superviseur-robot/.idea/modules.xml
new file mode 100644
index 0000000..7a92ef3
--- /dev/null
+++ b/software/raspberry/superviseur-robot/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/superviseur-robot.iml" filepath="$PROJECT_DIR$/.idea/superviseur-robot.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/.idea/superviseur-robot.iml b/software/raspberry/superviseur-robot/.idea/superviseur-robot.iml
new file mode 100644
index 0000000..f08604b
--- /dev/null
+++ b/software/raspberry/superviseur-robot/.idea/superviseur-robot.iml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="CMake" type="CPP_MODULE" version="4" />
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/.idea/vcs.xml b/software/raspberry/superviseur-robot/.idea/vcs.xml
new file mode 100644
index 0000000..c2365ab
--- /dev/null
+++ b/software/raspberry/superviseur-robot/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/../../.." vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/.idea/workspace.xml b/software/raspberry/superviseur-robot/.idea/workspace.xml
new file mode 100644
index 0000000..2579f0f
--- /dev/null
+++ b/software/raspberry/superviseur-robot/.idea/workspace.xml
@@ -0,0 +1,864 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeRunConfigurationManager" shouldGenerate="true" shouldDeleteObsolete="true" buildAllGenerated="true">
+    <generated>
+      <config projectName="ProjDestijl" targetName="superviseur" />
+      <config projectName="ProjDestijl" targetName="destijl" />
+    </generated>
+  </component>
+  <component name="CMakeSettings" AUTO_RELOAD="true">
+    <configurations>
+      <configuration PROFILE_NAME="Debug" CONFIG_NAME="Debug" />
+    </configurations>
+  </component>
+  <component name="ChangeListManager">
+    <list default="true" id="4c044020-a391-4234-8366-64abd3f0f464" name="Default Changelist" comment="">
+      <change afterPath="$PROJECT_DIR$/.idea/codeStyles/Project.xml" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/.idea/vcs.xml" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/superviseur-pthread/CMakeLists.txt" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/superviseur-pthread/src/Program.cpp" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/superviseur-pthread/src/Tasks.cpp" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/superviseur-pthread/src/Tasks.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.gitignore" beforeDir="false" afterPath="$PROJECT_DIR$/.gitignore" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/CMakeLists.txt" beforeDir="false" afterPath="$PROJECT_DIR$/CMakeLists.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/destijl_init/Makefile" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/examples/CMakeLists.txt" beforeDir="false" afterPath="$PROJECT_DIR$/examples/CMakeLists.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/lib/CMakeLists.txt" beforeDir="false" afterPath="$PROJECT_DIR$/lib/CMakeLists.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/lib/Robot.h" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/lib/Serial.h" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/lib/TcpServer.h" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/lib/definitions.h" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/lib/image.h" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/lib/message.h" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/lib/monitor.h" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/lib/src/Robot.cpp" beforeDir="false" />
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+      <change beforePath="$PROJECT_DIR$/lib/src/image.cpp" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/lib/src/message.cpp" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/lib/src/monitor.cpp" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/superviseur-xenomai/src/Program.cpp" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/superviseur-xenomai/src/Tasks.cpp" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/superviseur-xenomai/src/Tasks.h" beforeDir="false" />
+    </list>
+    <ignored path="$PROJECT_DIR$/cmake-build-debug/" />
+    <ignored path="$PROJECT_DIR$/CMakeFiles/" />
+    <ignored path="$PROJECT_DIR$/superviseur/CMakeFiles/" />
+    <ignored path="$PROJECT_DIR$/lib/CMakeFiles/" />
+    <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
+    <option name="SHOW_DIALOG" value="false" />
+    <option name="HIGHLIGHT_CONFLICTS" value="true" />
+    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+    <option name="LAST_RESOLUTION" value="IGNORE" />
+  </component>
+  <component name="ExecutionTargetManager" SELECTED_TARGET="CMakeBuildProfile:Debug" />
+  <component name="FUSProjectUsageTrigger">
+    <session id="-329952360">
+      <usages-collector id="statistics.lifecycle.project">
+        <counts>
+          <entry key="project.closed" value="2" />
+          <entry key="project.open.time.3" value="1" />
+          <entry key="project.open.time.9" value="1" />
+          <entry key="project.opened" value="2" />
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+      <usages-collector id="statistics.file.extensions.open">
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+          <entry key="cpp" value="36" />
+          <entry key="gitignore" value="1" />
+          <entry key="h" value="18" />
+          <entry key="txt" value="20" />
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+      </usages-collector>
+      <usages-collector id="statistics.file.types.open">
+        <counts>
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+          <entry key="ObjectiveC" value="54" />
+          <entry key="PLAIN_TEXT" value="1" />
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+      </usages-collector>
+      <usages-collector id="statistics.file.extensions.edit">
+        <counts>
+          <entry key="cpp" value="3165" />
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+          <entry key="h" value="1381" />
+          <entry key="txt" value="1035" />
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+      </usages-collector>
+      <usages-collector id="statistics.file.types.edit">
+        <counts>
+          <entry key="CMakeLists.txt" value="1035" />
+          <entry key="Doxygen file" value="2" />
+          <entry key="ObjectiveC" value="4544" />
+          <entry key="PLAIN_TEXT" value="19" />
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+  </component>
+  <component name="FileEditorManager">
+    <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
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+  <component name="IdeDocumentHistory">
+    <option name="CHANGED_PATHS">
+      <list>
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+        <option value="$PROJECT_DIR$/lib/Definition.h" />
+        <option value="$PROJECT_DIR$/lib/src/Robot.cpp" />
+        <option value="$PROJECT_DIR$/lib/Image.h" />
+        <option value="$PROJECT_DIR$/lib/Camera.h" />
+        <option value="$PROJECT_DIR$/lib/src/Camera.cpp" />
+        <option value="$PROJECT_DIR$/lib/src/Image.cpp" />
+        <option value="$PROJECT_DIR$/destijl_init/CMakeLists.txt" />
+        <option value="$PROJECT_DIR$/monitor/CMakeLists.txt" />
+        <option value="$PROJECT_DIR$/monitor/src/functions.h" />
+        <option value="$PROJECT_DIR$/monitor/src/main.cpp" />
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+        <option value="$PROJECT_DIR$/monitor-pc/src/functions.h" />
+        <option value="$PROJECT_DIR$/monitor-pc/src/main.cpp" />
+        <option value="$PROJECT_DIR$/monitor-pthread/CMakeLists.txt" />
+        <option value="$PROJECT_DIR$/superviseur-pthread/src/Functions.h" />
+        <option value="$PROJECT_DIR$/superviseur-pthread/src/Functions.cpp" />
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+        <option value="$PROJECT_DIR$/lib/TcpServer.h" />
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+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/superviseur-xenomai/src/Tasks.h">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="748">
+          <caret line="84" column="60" selection-start-line="84" selection-start-column="60" selection-end-line="84" selection-end-column="60" />
+          <folding>
+            <element signature="e#316#341#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/lib/MsgManager.h">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="-151">
+          <caret line="20" column="8" selection-start-line="20" selection-start-column="8" selection-end-line="20" selection-end-column="8" />
+          <folding>
+            <element signature="e#86#105#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/superviseur-xenomai/src/Tasks.cpp">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="410">
+          <caret line="92" column="35" lean-forward="true" selection-start-line="92" selection-start-column="35" selection-end-line="92" selection-end-column="35" />
+          <folding>
+            <element signature="e#0#19#0" expanded="true" />
+            <element signature="e#876#929#0" expanded="true" />
+            <element signature="e#1024#1083#0" expanded="true" />
+            <element signature="e#1218#1293#0" expanded="true" />
+            <element signature="e#1799#1852#0" expanded="true" />
+            <element signature="e#1939#2002#0" expanded="true" />
+            <element signature="e#2104#2194#0" expanded="true" />
+            <element signature="e#2383#2442#0" expanded="true" />
+            <element signature="e#2683#2730#0" expanded="true" />
+            <element signature="e#3232#3297#0" expanded="true" />
+            <element signature="e#3735#3816#0" expanded="true" />
+            <element signature="e#3922#3978#0" expanded="true" />
+            <element signature="e#6217#6275#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/lib/src/Image.cpp">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="419">
+          <caret line="51" column="6" selection-start-line="51" selection-start-column="6" selection-end-line="51" selection-end-column="26" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/lib/src/MsgManager.cpp">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="339">
+          <caret line="136" column="23" selection-start-line="136" selection-start-column="23" selection-end-line="136" selection-end-column="23" />
+          <folding>
+            <element signature="e#44#64#0" expanded="true" />
+            <element signature="e#751#793#0" expanded="true" />
+            <element signature="e#832#878#0" expanded="true" />
+            <element signature="e#938#967#0" expanded="true" />
+            <element signature="e#1253#1282#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/superviseur-xenomai/CMakeLists.txt">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="60">
+          <caret line="4" column="82" selection-start-line="4" selection-start-column="82" selection-end-line="4" selection-end-column="82" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/lib/image.h">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="209">
+          <caret line="17" selection-start-line="17" selection-end-line="17" />
+          <folding>
+            <element signature="e#566#599#0" expanded="true" />
+            <element signature="e#635#673#0" expanded="true" />
+            <element signature="e#865#890#0" expanded="true" />
+            <element signature="e#935#962#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/lib/src/message.cpp">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="405">
+          <caret line="27" column="32" selection-start-line="27" selection-start-column="32" selection-end-line="27" selection-end-column="32" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/lib/monitor.h">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="389">
+          <caret line="64" column="94" selection-start-line="64" selection-start-column="94" selection-end-line="64" selection-end-column="94" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/lib/src/monitor.cpp">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="338">
+          <caret line="104" column="23" selection-start-line="104" selection-start-column="23" selection-end-line="104" selection-end-column="23" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/superviseur/src/functions.h">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="180">
+          <caret line="51" column="21" selection-start-line="51" selection-start-column="12" selection-end-line="51" selection-end-column="21" />
+          <folding>
+            <element signature="e#319#337#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/CMakeLists.txt">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="330">
+          <caret line="22" selection-start-line="22" selection-end-line="22" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/lib/CMakeLists.txt">
+      <provider selected="true" editor-type-id="text-editor">
+        <state>
+          <caret column="81" selection-start-column="81" selection-end-column="81" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/superviseur/CMakeLists.txt">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="135">
+          <caret line="9" selection-start-line="9" selection-end-line="9" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/superviseur/src/main.cpp">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="75">
+          <caret line="89" column="13" selection-start-line="89" selection-start-column="13" selection-end-line="89" selection-end-column="13" />
+          <folding>
+            <element signature="e#88#106#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/superviseur/src/functions.cpp">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="300">
+          <caret line="20" column="19" selection-start-line="20" selection-start-column="19" selection-end-line="20" selection-end-column="19" />
+        </state>
+      </provider>
+    </entry>
+  </component>
+</project>
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/CMakeLists.txt b/software/raspberry/superviseur-robot/CMakeLists.txt
index 4230fc8..c7d8880 100644
--- a/software/raspberry/superviseur-robot/CMakeLists.txt
+++ b/software/raspberry/superviseur-robot/CMakeLists.txt
@@ -1,13 +1,23 @@
-cmake_minimum_required(VERSION 3.9)
-project(ProjDestjil CXX)
+cmake_minimum_required(VERSION 3.6)
+project(ProjDestijl CXX)
 
 set (ProjDestjil_VERSION_MAJOR 1)
 set (ProjDestjil_VERSION_MINOR 0)
 set (CMAKE_CXX_STANDARD 11)
 
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../lib)
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../lib)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/superviseur/bin)
+
+option(BUILD_FOR_XENOMAI "Build for Raspberry" OFF)
+
+set(CMAKE_BUILD_TYPE DEBUG)
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy")
+
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt")
 
 add_subdirectory("lib")
-add_subdirectory("examples")
-#add_subdirectory("destjil_init")
+#add_subdirectory("examples")
+add_subdirectory("superviseur")
+
diff --git a/software/raspberry/superviseur-robot/ProjDestijl.cbp b/software/raspberry/superviseur-robot/ProjDestijl.cbp
new file mode 100644
index 0000000..7ade805
--- /dev/null
+++ b/software/raspberry/superviseur-robot/ProjDestijl.cbp
@@ -0,0 +1,142 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<CodeBlocks_project_file>
+	<FileVersion major="1" minor="6"/>
+	<Project>
+		<Option title="ProjDestijl"/>
+		<Option makefile_is_custom="1"/>
+		<Option compiler="gcc"/>
+		<Option virtualFolders="CMake Files\;CMake Files\lib\;CMake Files\superviseur\;"/>
+		<Build>
+			<Target title="all">
+				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 all"/>
+					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="rebuild_cache">
+				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 rebuild_cache"/>
+					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="edit_cache">
+				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 edit_cache"/>
+					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="destijl">
+				<Option output="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/lib/libdestijl.a" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib"/>
+				<Option object_output="./"/>
+				<Option type="2"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/."/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 destijl"/>
+					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="destijl/fast">
+				<Option output="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/lib/libdestijl.a" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib"/>
+				<Option object_output="./"/>
+				<Option type="2"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/."/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 destijl/fast"/>
+					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="superviseur">
+				<Option output="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur/bin/superviseur" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/../superviseur/bin"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src"/>
+					<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib"/>
+					<Add directory="/usr/xenomai/include"/>
+					<Add directory="/usr/xenomai/include/mercury"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 superviseur"/>
+					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="superviseur/fast">
+				<Option output="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur/bin/superviseur" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/../superviseur/bin"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src"/>
+					<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib"/>
+					<Add directory="/usr/xenomai/include"/>
+					<Add directory="/usr/xenomai/include/mercury"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 superviseur/fast"/>
+					<CompileFile command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -f &quot;/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+		</Build>
+		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp">
+			<Option target="destijl"/>
+		</Unit>
+		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp">
+			<Option target="destijl"/>
+		</Unit>
+		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp">
+			<Option target="destijl"/>
+		</Unit>
+		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp">
+			<Option target="destijl"/>
+		</Unit>
+		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp">
+			<Option target="superviseur"/>
+		</Unit>
+		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h">
+			<Option target="superviseur"/>
+		</Unit>
+		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp">
+			<Option target="superviseur"/>
+		</Unit>
+		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/CMakeLists.txt">
+			<Option virtualFolder="CMake Files\"/>
+		</Unit>
+		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/CMakeLists.txt">
+			<Option virtualFolder="CMake Files\lib\"/>
+		</Unit>
+		<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/CMakeLists.txt">
+			<Option virtualFolder="CMake Files\superviseur\"/>
+		</Unit>
+	</Project>
+</CodeBlocks_project_file>
diff --git a/software/raspberry/superviseur-robot/compile_commands.json b/software/raspberry/superviseur-robot/compile_commands.json
new file mode 100644
index 0000000..e195bcd
--- /dev/null
+++ b/software/raspberry/superviseur-robot/compile_commands.json
@@ -0,0 +1,32 @@
+[
+{
+  "directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib",
+  "command": "/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",
+  "file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp"
+},
+{
+  "directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib",
+  "command": "/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",
+  "file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp"
+},
+{
+  "directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib",
+  "command": "/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/message.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp",
+  "file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp"
+},
+{
+  "directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib",
+  "command": "/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",
+  "file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp"
+},
+{
+  "directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur",
+  "command": "/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",
+  "file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp"
+},
+{
+  "directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur",
+  "command": "/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/functions.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp",
+  "file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp"
+}
+]
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/destijl_init/Makefile b/software/raspberry/superviseur-robot/destijl_init/Makefile
deleted file mode 100644
index b53f036..0000000
--- a/software/raspberry/superviseur-robot/destijl_init/Makefile
+++ /dev/null
@@ -1,36 +0,0 @@
-
-CC=g++
-CFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -c -g -D_WITH_TRACE_ -I/usr/xenomai/include/ -I/usr/xenomai/include/mercury -MMD -MP
-LDFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -L/usr/xenomai/lib -lalchemy -lcopperplate -lmercury -L/opt/vc/lib -I/usr/local/include -lopencv_highgui -lopencv_core -lopencv_imgproc -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt -Wl,-rpath /usr/xenomai/lib -lopencv_highgui -lopencv_core -lopencv_imgcodecs -lraspicam_cv -lopencv_imgproc -lpthread
-EXEC=superviseur
-SRC= $(wildcard *.cpp ./src/*.cpp ./../src/*.cpp)
-OBJ= $(SRC:.cpp=.o)
-
-
-all: $(EXEC)
-
-
-$(EXEC): $(OBJ)
-	@$(CC) -o $@ $^ $(LDFLAGS)
-
-
-main.o: main.cpp
-
-
-%.o: %.cpp
-	@$(CC) -o $@ -c $< $(CFLAGS)
-
-
-.PHONY: clean mrproper
-
-
-clean:
-	@rm -rf *.o
-	@rm -rf *.d
-	@rm -rf ./src/*.o
-	@rm -rf ./src/*.d
-	@rm -rf ./../src/*o
-	@rm -rf ./../src/*.d
-
-mrproper: clean
-	@rm -rf $(EXEC)
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/examples/CMakeLists.txt b/software/raspberry/superviseur-robot/examples/CMakeLists.txt
index 18f5ffb..619a497 100644
--- a/software/raspberry/superviseur-robot/examples/CMakeLists.txt
+++ b/software/raspberry/superviseur-robot/examples/CMakeLists.txt
@@ -4,8 +4,8 @@ set(serialTest_FILES ./src/serialTest.cpp)
 set(serverTest_FILES ./src/serverTest.cpp)
 include_directories(./src ../lib)
 
-add_executable(serialTest ${serialTest_FILES})
-target_link_libraries(serialTest destjil)
+add_executable(serialtest ${serialTest_FILES})
+target_link_libraries(serialtest destijl)
 
-add_executable(serverTest ${serverTest_FILES})
-target_link_libraries(serverTest destjil)
+add_executable(servertest ${serverTest_FILES})
+target_link_libraries(servertest destijl)
diff --git a/software/raspberry/superviseur-robot/lib/.gitignore b/software/raspberry/superviseur-robot/lib/.gitignore
index dce1580..25793f0 100644
--- a/software/raspberry/superviseur-robot/lib/.gitignore
+++ b/software/raspberry/superviseur-robot/lib/.gitignore
@@ -1 +1,6 @@
+CMakeFiles/
+
 libdestjil.a
+Makefile
+*.cmake
+
diff --git a/software/raspberry/superviseur-robot/lib/CMakeLists.txt b/software/raspberry/superviseur-robot/lib/CMakeLists.txt
index 3e891f9..318684e 100644
--- a/software/raspberry/superviseur-robot/lib/CMakeLists.txt
+++ b/software/raspberry/superviseur-robot/lib/CMakeLists.txt
@@ -1,5 +1,5 @@
-set(LIB_FILES ./src/Serial.cpp ./src/Robot.cpp ./src/TcpServer.cpp)
+set(LIB_FILES ./src/robot.cpp ./src/monitor.cpp ./src/message.cpp ./src/image.cpp)
 include_directories("./")
 
-add_library(destjil STATIC ${LIB_FILES})
+add_library(destijl STATIC ${LIB_FILES})
 
diff --git a/software/raspberry/superviseur-robot/lib/Robot.h b/software/raspberry/superviseur-robot/lib/Robot.h
deleted file mode 100644
index b3f9765..0000000
--- a/software/raspberry/superviseur-robot/lib/Robot.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2018 INSA - GEI, Toulouse, France.
- * All rights reserved. This program and the accompanying materials
- * are made available "AS IS", without any warranty of any kind.
- *
- * INSA assumes no responsibility for errors or omissions in the 
- * software or documentation available. 
- *
- * Contributors:
- *     Lucien Senaneuch - Initial API and implementation
- *     Sebastien DI MERCURIO - Maintainer since Octobre 2018
- *******************************************************************************/
-/**
- * \file      robot.h
- * \author    L.Senaneuch
- * \version   1.0
- * \date      06/06/2017
- * \brief     Fonction permettant la communication avec le robot.
- *
- * \details   Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
- */
-
-#ifndef __ROBOT_H__
-#define __ROBOT_H__
-
-#include <iostream>
-#include <string>
-#include <Serial.h>
-
-using namespace std;
-
-#define REJECTED_COMMAND                    -3
-#define INVALID_COMMAND                     -4
-#define TIMEOUT_COMMAND                     -5
-#define INVALID_ANSWER                      -6
-
-#define BATTERY_FULL                        2
-#define BATTERY_LOW                         1
-#define BATTERY_EMPTY                       0
-
-class Robot : public Serial {
-    public:
-        Robot();
-        virtual ~Robot();
-
-        char Open();
-        char Open(const char *path);
-        char Close();
-
-        int GetLastCommandStatus();
-
-        void Ping();
-        void Reset();
-
-        void StartWithoutWatchdog();
-        void StartWithWatchdog();
-        void ResetWatchdog();
-
-        void Move(int distance);
-        void Turn(int angle);
-
-        void PowerOff();
-
-        char GetBatteryLevel();
-        string GetVersion();
-        bool IsBusy();
-
-        // Ces deux methodes virtuelles sont a redefinir (surcharger) dans une classe qui etends la classe Robot
-        // Servez vous en pour faire une action avant (prologue) ou apres (epilogue) une commande au robot
-        virtual void CommunicationProlog();
-        virtual void CommunicationEpilog();
-
-        static const string InvalidAnswerException;
-    private:
-
-        int lastCommandStatus;
-
-        char SendCommand(string cmd, string *ans);
-        string AddChecksum(string cmd);
-        bool ValidateChecksum(string *answerWithoutChecksum, string answer);
-        void CheckAnswer(string ans);
-};
-
-#endif //__ROBOT_H__
diff --git a/software/raspberry/superviseur-robot/lib/Serial.h b/software/raspberry/superviseur-robot/lib/Serial.h
deleted file mode 100644
index c2a1b11..0000000
--- a/software/raspberry/superviseur-robot/lib/Serial.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
- * Serial.h
- *
- *  Created on: 12 oct. 2018
- *      Author: dimercur
- */
-
-#ifndef SERIAL_H_
-#define SERIAL_H_
-
-#include <iostream>
-#include <string>
-#include <vector>
-
-using namespace std;
-
-#define SUCCESS                             0
-#define INVALID_COMMUNICATION_PORT          -1
-#define COMMUNICATION_PORT_ALREADY_OPENED   -2
-
-#define DEFAULT_SERIAL_PORT             "/dev/ttyS0"
-#define DEFAULT_BAUDRATE                9600
-
-class Serial {
-    public:
-        static const string TimeoutException;
-        static const string IOErrorException;
-        static const string BufferOverflowException;
-
-        Serial();
-        virtual ~Serial();
-
-        char Open(void);
-        char Open(int baudrate);
-        char Open(const char *path, int baudrate);
-        char Close(void);
-
-        bool IsOpen();
-        ssize_t Send(string mes);
-        string Receive(int size);
-        string Receive(vector<char> endingChars, int maxLength);
-
-    private:
-        int serialPortDescriptor;
-        int SetBaudrate(int baudrate);
-        char GetChar(); // read 1 char
-};
-
-#endif /* SERIAL_H_ */
diff --git a/software/raspberry/superviseur-robot/lib/TcpServer.h b/software/raspberry/superviseur-robot/lib/TcpServer.h
deleted file mode 100644
index 450705b..0000000
--- a/software/raspberry/superviseur-robot/lib/TcpServer.h
+++ /dev/null
@@ -1,35 +0,0 @@
-//
-// Created by senaneuc on 12/06/18.
-//
-
-#ifndef TCP_SERVER_H_
-#define TCP_SERVER_H_
-
-#define NB_CONNECTION_MAX 5
-
-#include <iostream>
-#include <vector>
-
-using namespace std;
-
-class TcpServer {
-public:
-    TcpServer();
-    virtual ~TcpServer();
-
-    int Listen (int port);
-    int AcceptClient();
-    int Send(int clien_fd, string mes);
-    int Broadcast(string mes);
-    string Receive(int client_fd, int size);
-
-    const vector<int> &getSocketClients() const;
-
-    void SetSocketClients(const vector<int> &socketClients);
-
-private:
-    vector<int> socketClients;
-    int socketFD;
-};
-
-#endif /* TCP_SERVER_H_ */
diff --git a/software/raspberry/superviseur-robot/lib/definitions.h b/software/raspberry/superviseur-robot/lib/definitions.h
index 9d0f08d..b016653 100644
--- a/software/raspberry/superviseur-robot/lib/definitions.h
+++ b/software/raspberry/superviseur-robot/lib/definitions.h
@@ -14,6 +14,30 @@
 #ifndef DEFINITIONS_H
 #define DEFINITIONS_H
 
+#define OPEN_COM_DMB  'o'
+#define CLOSE_COM_DMB 'C'
+
+#define DMB_PING                'p'
+#define DMB_IDLE                'r'
+#define DMB_START_WITHOUT_WD    'u'
+#define DMB_START_WITH_WD       'W'
+#define DMB_RELOAD_WD           'w'
+#define DMB_GET_VBAT            'v'
+#define DMB_IS_BUSY             'b'
+#define DMB_MOVE                'M'
+#define DMB_TURN                'T'
+#define DMB_GO_FORWARD          'F'
+#define DMB_GO_BACK             'B'
+#define DMB_GO_LEFT             'L'
+#define DMB_GO_RIGHT            'R'
+#define DMB_STOP_MOVE           'S'
+
+#define ROBOT_TIMED_OUT -3
+#define ROBOT_UKNOWN_CMD -2
+#define ROBOT_ERROR  -1
+#define ROBOT_CHECKSUM  -4
+#define ROBOT_OK    0
+
 #define CAM_OPEN                    'A'
 #define CAM_CLOSE                   'I'
 #define CAM_ASK_ARENA               'y'
diff --git a/software/raspberry/superviseur-robot/lib/image.h b/software/raspberry/superviseur-robot/lib/image.h
index bf16031..0cc8466 100644
--- a/software/raspberry/superviseur-robot/lib/image.h
+++ b/software/raspberry/superviseur-robot/lib/image.h
@@ -14,6 +14,8 @@
 #ifndef IMAGERIE_H
 #define IMAGERIE_H
 
+#define __STUB__
+
 #ifndef __STUB__
 #include <raspicam/raspicam_cv.h>
 #else
diff --git a/software/raspberry/superviseur-robot/lib/monitor.h b/software/raspberry/superviseur-robot/lib/monitor.h
index c06572d..ea128a4 100644
--- a/software/raspberry/superviseur-robot/lib/monitor.h
+++ b/software/raspberry/superviseur-robot/lib/monitor.h
@@ -62,7 +62,7 @@ typedef struct {
  * \param    file  chemin du fichier de l'interface (défaut ./interface.js)
  * \return   retourne 0 si le process a été lancé et -1 sinon.
  */
-int run_nodejs(const char * path = DEFAULT_NODEJS_PATH, char * file = DEFAULT_INTERFACE_FILE);
+int run_nodejs(const char *path = (const char*)DEFAULT_NODEJS_PATH, char *file = (const char*)DEFAULT_INTERFACE_FILE);
 
 /**
  * \brief    Tue le process exécutant nodejs.
diff --git a/software/raspberry/superviseur-robot/lib/robot.h b/software/raspberry/superviseur-robot/lib/robot.h
new file mode 100644
index 0000000..e095f27
--- /dev/null
+++ b/software/raspberry/superviseur-robot/lib/robot.h
@@ -0,0 +1,64 @@
+/**
+ * \file      robot.h
+ * \author    L.Senaneuch
+ * \version   1.0
+ * \date      06/06/2017
+ * \brief     Fonction permettant la communication avec le robot.
+ *
+ * \details   Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
+ */
+
+
+#ifndef DUMBERC_SERIAL_H_H
+#define DUMBERC_SERIAL_H_H
+
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <string.h>
+#include <stdlib.h>
+#include "definitions.h"
+
+
+#define serialPort "/dev/ttyS0"
+
+typedef struct
+   {
+    char header[4];
+    char data[20];
+   } MessageToRobot;
+
+ /**
+ * \brief     Ouvre la communication avec le robot.
+ * \details   Ouvre le serial port passé en paramétre. Par defaut cette fonction ouvre le port ttySO connecté au module xbee.
+ *             
+ * \param    *path    chaine de caractère indiquant le path du port serie à ouvrir.
+ * \return    Return -1 si l'ouverture c'est mal passé et 0 si le port est ouvert.
+ */
+int open_communication_robot(const char * path=serialPort);
+
+ /**
+ * \brief      Ferme la communication avec le robot.
+ * \details    Ferme le descripteur de fichier du port serie contrôlant le robot.
+ *             
+ * \param     void	aucun 
+ * \return    Retourne -1 en cas d'erreur ou 0 en cas de fermeture effectué
+ */
+int close_communication_robot(void);
+
+ /**
+ * \brief      Envoi une commande au robot et attends sa réponse.
+ * \details    Envoi une commande au robot en ajoutant le checksum et lis la réponse du robot en verifiant le checksum.
+			   Le premier paramétre \a cmd correspond au type de commande ex : PING, SETMOVE ...
+			   Le second paramétre  \a *arg correspond aux arguments à la commande ex : SETMOVE, "100"
+			   La fonction retourne un code confirmation transmise par le robot (ROBOT_CHEKSUM, ROBOT_ERROR, ROBOT_TIMED_OUT, ROBOT_OK, ROBOT_UKNOW_CMD)
+ *             
+ * \param    cmd    Entête de la commande
+ * \param    *arg   Argument de la commande 
+ * \return   retourne un code confirmation.
+ */
+int send_command_to_robot(char cmd, const char * arg=NULL);
+
+
+#endif //DUMBERC_SERIAL_H_H
diff --git a/software/raspberry/superviseur-robot/lib/src/Robot.cpp b/software/raspberry/superviseur-robot/lib/src/Robot.cpp
deleted file mode 100644
index c1abdab..0000000
--- a/software/raspberry/superviseur-robot/lib/src/Robot.cpp
+++ /dev/null
@@ -1,349 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2018 INSA - GEI, Toulouse, France.
- * All rights reserved. This program and the accompanying materials
- * are made available "AS IS", without any warranty of any kind.
- *
- * INSA assumes no responsibility for errors or omissions in the 
- * software or documentation available. 
- *
- * Contributors:
- *     Lucien Senaneuch - Initial API and implementation
- *     Sebastien DI MERCURIO - Maintainer since Octobre 2018
- *******************************************************************************/
-
-/**
- * \file      robot.cpp
- * \author    L.Senaneuch
- * \version   1.0
- * \date      06/06/2017
- * \brief     Fonction permettant la communication avec le robot.
- *
- * \details   Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
- */
-
-#include "Robot.h"
-
-#include <unistd.h>
-#include <fcntl.h>
-#include <termios.h>
-
-#include <stdlib.h>
-#include "definitions.h"
-
-using namespace std;
-
-#define ROBOT_CMD_ENDING_CHAR           '\r'
-
-#define ROBOT_CMD_PING                  'p'
-#define ROBOT_CMD_RESET                 'r'
-#define ROBOT_CMD_START_WITHOUT_WD      'u'
-#define ROBOT_CMD_START_WITH_WD         'W'
-#define ROBOT_CMD_RELOAD_WD             'w'
-#define ROBOT_CMD_GET_VBAT              'v'
-#define ROBOT_CMD_IS_BUSY               'b'
-#define ROBOT_CMD_MOVE                  'M'
-#define ROBOT_CMD_TURN                  'T'
-#define ROBOT_CMD_GET_VERSION           'V'
-#define ROBOT_CMD_POWER_OFF             'z'
-
-#define ROBOT_CMD_OK_ANS                "O"
-#define ROBOT_CMD_ERR_ANS               "E"
-#define ROBOT_CMD_UNKNOW_ANS            "C"
-
-const string Robot::InvalidAnswerException = "Invalid answer exception";
-
-Robot::Robot() {
-
-}
-
-Robot::~Robot() {
-    this->Close();
-}
-
-char Robot::Open() {
-    return Serial::Open(DEFAULT_SERIAL_PORT,9600);
-}
-
-char Robot::Open(const char *path) {
-    return Serial::Open(path,9600);
-}
-
-char Robot::Close() {
-    return Serial::Close();
-}
-
-int Robot::GetLastCommandStatus() {
-    return this->lastCommandStatus;
-}
-
-void Robot::Ping() {
-#ifndef __STUB__
-    string ans;
-    SendCommand(string(1,ROBOT_CMD_PING), &ans);
-
-    CheckAnswer(ans);
-#else
-    return SUCCESS;
-#endif /* __STUB__ */
-}
-
-void Robot::Reset() {
-#ifndef __STUB__
-    string ans;
-    SendCommand(string(1,ROBOT_CMD_RESET), &ans);
-
-    CheckAnswer(ans);
-#else
-    return SUCCESS;
-#endif /* __STUB__ */
-}
-
-void Robot::StartWithoutWatchdog() {
-#ifndef __STUB__
-    string ans;
-    SendCommand(string(1,ROBOT_CMD_START_WITHOUT_WD), &ans);
-
-    CheckAnswer(ans);
-#else
-    return SUCCESS;
-#endif /* __STUB__ */
-}
-
-void Robot::StartWithWatchdog() {
-#ifndef __STUB__
-    string ans;
-    SendCommand(string(1,ROBOT_CMD_START_WITH_WD), &ans);
-
-    CheckAnswer(ans);
-#else
-    return SUCCESS;
-#endif /* __STUB__ */
-}
-
-void Robot::ResetWatchdog() {
-#ifndef __STUB__
-    string ans;
-    SendCommand(string(1,ROBOT_CMD_RELOAD_WD), &ans);
-
-    CheckAnswer(ans);
-#else
-    return SUCCESS;
-#endif /* __STUB__ */
-}
-
-void Robot::Move(int distance) {
-#ifndef __STUB__
-    string ans;
-    SendCommand(string(1,ROBOT_CMD_MOVE) + "="+to_string(distance), &ans);
-
-    CheckAnswer(ans);
-#else
-    return SUCCESS;
-#endif /* __STUB__ */
-}
-
-void Robot::Turn(int angle) {
-#ifndef __STUB__
-    string ans;
-    SendCommand(string(1,ROBOT_CMD_TURN) + "="+to_string(angle), &ans);
-
-    CheckAnswer(ans);
-#else
-    return SUCCESS;
-#endif /* __STUB__ */
-}
-
-void Robot::PowerOff() {
-#ifndef __STUB__
-    string ans;
-    SendCommand(string(1,ROBOT_CMD_POWER_OFF), &ans);
-
-    CheckAnswer(ans);
-#else
-    return SUCCESS;
-#endif /* __STUB__ */
-}
-
-char Robot::GetBatteryLevel() {
-#ifndef __STUB__
-    string ans;
-
-    SendCommand(string(1,ROBOT_CMD_GET_VBAT), &ans);
-    lastCommandStatus=SUCCESS;
-
-    if (ans.length()==1) {
-        if ((ans[0] != '2') && (ans[0] != '1') && (ans[0] != '0')) {
-            lastCommandStatus=INVALID_ANSWER;
-            throw (InvalidAnswerException + " raised in Robot::GetBatteryLevel. Invalid battery value (" + ans[0] +")\n");
-        }
-    } else {
-        lastCommandStatus=INVALID_ANSWER;
-        throw (InvalidAnswerException + " raised in Robot::GetBatteryLevel. Invalid answer length (" + to_string(ans.length())+")\n");
-    }
-
-    return ans[0];
-#else
-    return BATTERY_FULL;
-#endif /* __STUB__ */
-}
-
-string Robot::GetVersion() {
-#ifndef __STUB__
-    string ans;
-
-    SendCommand(string(1,ROBOT_CMD_GET_VERSION), &ans);
-    lastCommandStatus=SUCCESS;
-
-    if (ans.find("version")== string::npos) {
-        lastCommandStatus=INVALID_ANSWER;
-        throw (InvalidAnswerException + " raised in Robot::GetVersion. Invalid version (" + ans +")\n");
-    }
-
-    return ans;
-#else
-    return "1.3";
-#endif /* __STUB__ */
-}
-
-bool Robot::IsBusy() {
-#ifndef __STUB__
-    string ans;
-
-    SendCommand(string(1,ROBOT_CMD_IS_BUSY), &ans);
-    lastCommandStatus=SUCCESS;
-
-    if (ans.length()!=1) {
-        lastCommandStatus=INVALID_ANSWER;
-        throw (InvalidAnswerException + " raised in Robot::GetBatteryLevel. Invalid answer length (" + to_string(ans.length())+")\n");
-    }
-
-    if (ans[0]=='1')
-        return true;
-    else if (ans[0]=='0')
-        return false;
-    else {
-        lastCommandStatus=INVALID_ANSWER;
-        throw (InvalidAnswerException + " raised in Robot::IsBusy. Invalid value (" + ans[0] +")\n");
-    }
-#else
-    return false;
-#endif /* __STUB__ */
-}
-
-void Robot::CommunicationProlog() {}
-void Robot::CommunicationEpilog() {}
-
-/****************************/
-/* PRIVATE                  */
-/****************************/
-
-char Robot::SendCommand(string cmd, string *ans) {
-    string commandString;
-    commandString = this->AddChecksum(cmd);
-
-    this->CommunicationProlog(); // action avant le debut de la commande
-
-    ssize_t status = Send(commandString);
-
-    if (status == (ssize_t)commandString.length()) {
-        // Recuperation de la reponse
-        string commandResponse;
-        vector<char> endingChars;
-
-        endingChars.push_back('\r');
-        try {
-            commandResponse = Serial::Receive(endingChars,30);
-        } catch (string e) {
-            if (e.find("Timeout")!= string::npos)
-                lastCommandStatus= TIMEOUT_COMMAND;
-            else
-                lastCommandStatus=INVALID_ANSWER;
-
-            if (lastCommandStatus == TIMEOUT_COMMAND)
-                throw (Serial::TimeoutException + " raised in Robot::SendCommand. Timeout while receiving answer from robot.\n");
-            else
-                throw (e + " raised in Robot::SendCommand.\n");
-        }
-
-        this->CommunicationEpilog(); // Action a faire apres la commande
-
-        if (ValidateChecksum(&commandResponse, commandResponse)) {
-            ans->assign(commandResponse);
-        } else {
-            lastCommandStatus = INVALID_ANSWER;
-            throw InvalidAnswerException;
-        }
-
-        lastCommandStatus=SUCCESS;
-    } else {
-        lastCommandStatus=INVALID_COMMUNICATION_PORT;
-
-        throw IOErrorException;
-    }
-
-    return lastCommandStatus;
-}
-
-void Robot::CheckAnswer(string ans) {
-
-    if (ans.length()==1)
-    {
-        switch (ans.at(0)) {
-            case 'o':
-            case 'O':
-                lastCommandStatus=SUCCESS;
-                break;
-            case 'e':
-            case 'E':
-                lastCommandStatus=REJECTED_COMMAND;
-                break;
-            case 'c':
-            case 'C':
-                lastCommandStatus=INVALID_COMMAND;
-                break;
-            default:
-                lastCommandStatus = INVALID_ANSWER;
-                throw InvalidAnswerException;
-        }
-    } else {
-        lastCommandStatus = INVALID_ANSWER;
-        throw InvalidAnswerException;
-    }
-}
-
-string Robot::AddChecksum(string cmd) {
-    string commandWithChecksum(cmd);
-    char checksum=0;
-
-    commandWithChecksum.resize(cmd.length()+2, ' ');
-
-    for (size_t i=0; i<commandWithChecksum.length()-2; i++) {
-        checksum = checksum^commandWithChecksum.at(i);
-    }
-
-    commandWithChecksum.at(commandWithChecksum.length()-2) = checksum;
-    commandWithChecksum.at(commandWithChecksum.length()-1) = '\r';
-
-    return commandWithChecksum;
-}
-
-bool Robot::ValidateChecksum(string *answerWithoutChecksum, string answer) {
-    string localAnswer(answer, 0, answer.length()-1); // recopie de la chaine initiale, sans le dernier caractere (checksum)
-    char checksum=0;
-    bool status=false;
-
-    if (answer.length()<2) // trop court pour contenir un checksum
-        throw InvalidAnswerException;
-    else {
-        for (size_t i=0; i< answer.length()-1; i++) {
-            checksum = checksum^answer.at(i);
-        }
-
-        if (answer.at(answer.length()-1) == checksum) {
-            status=true;
-        }
-    }
-
-    answerWithoutChecksum->assign(localAnswer);
-    return status;
-}
diff --git a/software/raspberry/superviseur-robot/lib/src/Serial.cpp b/software/raspberry/superviseur-robot/lib/src/Serial.cpp
deleted file mode 100644
index f9d1486..0000000
--- a/software/raspberry/superviseur-robot/lib/src/Serial.cpp
+++ /dev/null
@@ -1,164 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2018 INSA - GEI, Toulouse, France.
- * All rights reserved. This program and the accompanying materials
- * are made available "AS IS", without any warranty of any kind.
- *
- * INSA assumes no responsibility for errors or omissions in the 
- * software or documentation available. 
- *
- * Part of code Copyright ST Microelectronics.
- *
- * Contributors:
- *     Lucien Senaneuch - Initial API and implementation
- *     Sebastien DI MERCURIO - Maintainer since Octobre 2018
- *******************************************************************************/
-
-#include <Serial.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <termios.h>
-
-#include <stdlib.h>
-
-#include <algorithm>
-
-const string Serial::TimeoutException = "Timeout exception";
-const string Serial::IOErrorException = "IO error exception";
-const string Serial::BufferOverflowException = "Buffer overflow exception";
-
-Serial::Serial() {
-    this->serialPortDescriptor=-1;
-}
-
-Serial::~Serial() {
-    this->Close();
-}
-
-char Serial::Open(void) {
-    return this->Open(DEFAULT_SERIAL_PORT, DEFAULT_BAUDRATE);
-}
-
-char Serial::Open(int baudrate) {
-    return this->Open(DEFAULT_SERIAL_PORT, baudrate);
-}
-
-char Serial::Open(const char *path, int baudrate) {
-#ifndef __STUB__
-    struct termios options;
-
-    if (this->IsOpen() == true) return COMMUNICATION_PORT_ALREADY_OPENED;
-
-    this->serialPortDescriptor = open(path, O_RDWR | O_NOCTTY | O_NDELAY);
-
-    if(this->serialPortDescriptor >= 0) {
-        fcntl(this->serialPortDescriptor, F_SETFL, 0);
-        tcgetattr(this->serialPortDescriptor, &options);
-        options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
-        cfsetospeed (&options, this->SetBaudrate(baudrate));
-        cfsetispeed (&options, this->SetBaudrate(baudrate));
-        options.c_cc[VMIN]=0;
-        options.c_cc[VTIME]=10;
-        tcsetattr(this->serialPortDescriptor, TCSANOW, &options);
-
-        return SUCCESS;
-    }
-    else {
-        std::cerr << "[Robot::Open] Can't open port " << path;
-        return INVALID_COMMUNICATION_PORT;
-    }
-#else
-    return SUCCESS;
-#endif
-}
-
-char Serial::Close(void) {
-#ifndef __STUB__
-    if (this->serialPortDescriptor<0) {
-        if (close(this->serialPortDescriptor) == 0)
-            return SUCCESS;
-        else return INVALID_COMMUNICATION_PORT;
-    } else return SUCCESS;
-#else
-    return SUCCESS;
-#endif
-}
-
-bool Serial::IsOpen() {
-    if(this->serialPortDescriptor >= 0)
-        return true;
-    else
-        return false;
-}
-
-ssize_t Serial::Send(string mes) {
-    ssize_t n;
-
-    n=write(this->serialPortDescriptor, (void*)mes.c_str(), mes.length());
-
-    if (n< (ssize_t)mes.length())
-        throw (IOErrorException + " raised in Serial::Send. Requested to send " + to_string(mes.length()) + " characters, sent only " + to_string(n) +"\n");
-    else
-        return n;
-}
-
-string Serial::Receive(int size) {
-    string mes;
-
-    while(mes.length() < (unsigned int)size){
-        mes += this->GetChar();
-    }
-
-    return mes;
-}
-
-string Serial::Receive(vector<char> endingChars,int maxLength) {
-    string mes;
-    char c;
-
-    bool characterFound = false;
-
-    do {
-        c= GetChar();
-
-        if (std::find(endingChars.begin(), endingChars.end(), c)!=endingChars.end()) //recherche du caractere dans la liste des caractere de fin
-            characterFound=true;
-        else {
-            mes += c;
-        }
-    } while ((mes.length()<(unsigned int)maxLength) && (characterFound==false));
-
-    if (mes.length()>=(unsigned int)maxLength) {
-        throw (BufferOverflowException + " raised in Serial::Receive. Received data exceed " + to_string(maxLength) + "chars\n");
-    }
-
-    return mes;
-}
-
-int Serial::SetBaudrate(int baudrate) {
-    switch(baudrate){
-        case 4800:
-            return baudrate = B4800;
-        case 9600:
-            return baudrate = B9600;
-        case 38400:
-            return baudrate = B38400;
-        case 57600:
-            return baudrate = B57600;
-        case 115200:
-            return baudrate = B115200;
-        default:
-            std::cerr << "Baudrate not supported" << std::endl;
-            return -1;
-    }
-}
-
-char Serial::GetChar() {
-    char c;
-
-    if (read(this->serialPortDescriptor, &c, 1) > 0)
-        return c;
-    else
-        throw (TimeoutException + " raised in Serial::GetChar\n");
-}
-
-
diff --git a/software/raspberry/superviseur-robot/lib/src/TcpServer.cpp b/software/raspberry/superviseur-robot/lib/src/TcpServer.cpp
deleted file mode 100644
index 7fe55d4..0000000
--- a/software/raspberry/superviseur-robot/lib/src/TcpServer.cpp
+++ /dev/null
@@ -1,93 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2018 INSA - GEI, Toulouse, France.
- * All rights reserved. This program and the accompanying materials
- * are made available "AS IS", without any warranty of any kind.
- *
- * INSA assumes no responsibility for errors or omissions in the 
- * software or documentation available. 
- *
- * Part of code Copyright ST Microelectronics.
- *
- * Contributors:
- *     Lucien Senaneuch - Initial API and implementation
- *     Sebastien DI MERCURIO - Maintainer since Octobre 2018
- *******************************************************************************/
-
-
-#include "TcpServer.h"
-#include <netinet/in.h>
-#include <zconf.h>
-#include <vector>
-
-TcpServer::TcpServer() {
-    this->socketFD = -1;
-    this->socketClients.clear();
-}
-
-int TcpServer::Listen (int port) {
-    struct sockaddr_in server;
-
-    this->socketFD = socket(AF_INET, SOCK_STREAM, 0);
-    if(this->socketFD < 0){
-        throw invalid_argument("Can not create socket");
-    }
-
-    server.sin_addr.s_addr = INADDR_ANY;
-    server.sin_family = AF_INET;
-    server.sin_port = htons(port);
-
-    if(bind(this->socketFD, (struct sockaddr *) &server, sizeof(server)) < 0) {
-        throw invalid_argument("Can not bind socket");
-    }
-
-    listen(this->socketFD , NB_CONNECTION_MAX);
-
-    return this->socketFD;
-}
-
-int TcpServer::AcceptClient() {
-    struct sockaddr_in client;
-    int c = sizeof(struct sockaddr_in);
-
-    int fd = accept(this->socketFD,(struct sockaddr *) &client, (socklen_t*)&c);
-
-    if (fd >=0 )
-        this->socketClients.push_back(fd);
-    else throw invalid_argument("Accept failed in TcpServer::AcceptClient");
-
-    return fd;
-}
-
-int TcpServer::Send(int client, string mes) {
-    return write(client, mes.c_str(), mes.size());
-}
-
-string TcpServer::Receive(int client_fd, int size){
-    char tab[size];
-
-    if(recv(client_fd,tab,size,0) >0) {
-        tab[size] = 0;
-        return string(tab);
-    } else
-        return string();
-}
-
-int TcpServer::Broadcast(string mes) {
-    for (int socket : this->socketClients) {
-        int err = write(socket, mes.c_str(), mes.size());
-    }
-
-    return 0;
-}
-
-const vector<int> &TcpServer::getSocketClients() const {
-    return socketClients;
-}
-
-void TcpServer::SetSocketClients(const std::vector<int> &socketClients) {
-    this->socketClients = socketClients;
-}
-
-TcpServer::~TcpServer() {
-    close(this->socketFD);
-}
diff --git a/software/raspberry/superviseur-robot/lib/src/message.cpp b/software/raspberry/superviseur-robot/lib/src/message.cpp
index 62f350f..717250c 100644
--- a/software/raspberry/superviseur-robot/lib/src/message.cpp
+++ b/software/raspberry/superviseur-robot/lib/src/message.cpp
@@ -25,5 +25,5 @@ void free_msgToMon_data(MessageToMon *msg) {
 
 void print_msgToMon(MessageToMon *msg) {
     printf("header: %s\n", msg->header);
-    printf("data: %s\n", msg->data);
+    printf("data: %s\n", (char*)msg->data);
 }
diff --git a/software/raspberry/superviseur-robot/lib/src/monitor.cpp b/software/raspberry/superviseur-robot/lib/src/monitor.cpp
index 9bd5ed4..f145f46 100644
--- a/software/raspberry/superviseur-robot/lib/src/monitor.cpp
+++ b/software/raspberry/superviseur-robot/lib/src/monitor.cpp
@@ -102,7 +102,7 @@ int send_message_to_monitor(const char* typeMessage, const void * data) {
         serverSend("TRAME", 5);
         return 0;
     } else if ((string) typeMessage == HEADER_STM_POS) {
-        char buffer[20];
+        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));
diff --git a/software/raspberry/superviseur-robot/lib/src/robot.cpp b/software/raspberry/superviseur-robot/lib/src/robot.cpp
new file mode 100644
index 0000000..b3c4242
--- /dev/null
+++ b/software/raspberry/superviseur-robot/lib/src/robot.cpp
@@ -0,0 +1,236 @@
+/**
+ * \file      robot.cpp
+ * \author    L.Senaneuch
+ * \version   1.0
+ * \date      06/06/2017
+ * \brief     Fonction permettant la communication avec le robot.
+ *
+ * \details   Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
+ */
+
+#include "robot.h"
+
+int fd;
+
+int getChar(char * c);
+int readSerial(char * msg);
+char checkSumGO(char * msg);
+int receiveMsg(void);
+int sendCmd(char cmd, const char * arg);
+
+int open_communication_robot(const char * path)
+{
+#ifndef __STUB__
+    struct termios options;
+    fd = open(path, O_RDWR | O_NOCTTY | O_NDELAY);
+    if(fd !=-1)
+    {
+        fcntl(fd, F_SETFL, 0);
+        tcgetattr(fd, &options);
+        options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+        cfsetospeed (&options, B9600);
+        cfsetispeed (&options, B9600);
+        options.c_cc[VMIN]=0;
+        options.c_cc[VTIME]=0;
+        tcsetattr(fd, TCSANOW, &options);
+        return 0;
+    }
+    else
+    {
+        perror("can't openSerial");
+        return -1;
+    }
+#else
+    return 0;
+#endif
+}
+
+
+int close_communication_robot(void)
+{
+#ifndef __STUB__
+    return close(fd);
+#else
+    return 0;
+#endif
+}
+
+
+int send_command_to_robot(char cmd, const char * arg)
+{
+#ifndef __STUB__
+    sendCmd(cmd,arg);
+    // TODO : check return from sendCmd
+    return receiveMsg();
+#else
+    int reponse;
+    switch(cmd)
+    {
+        case DMB_PING:
+            reponse = 0;
+            break;
+        case DMB_IDLE:
+            reponse = 0;
+            break;
+        case DMB_START_WITH_WD:
+            reponse = 0;
+            break;
+        case DMB_RELOAD_WD:
+            reponse = 0;
+            break;
+        case DMB_GET_VBAT:
+            reponse = 2;
+            break;
+        case DMB_IS_BUSY:
+            reponse = 1;
+            break;
+        case DMB_START_WITHOUT_WD:
+            reponse = 0;
+            break;
+        case DMB_MOVE:
+            reponse = 0;
+            break;
+        case DMB_TURN:
+            reponse = 0;
+            break;
+        case DMB_GO_FORWARD:
+            reponse = 0;
+            break;
+        case DMB_GO_BACK:
+            reponse = 0;
+            break;
+        case DMB_GO_LEFT:
+            reponse = 0;
+            break;
+        case DMB_GO_RIGHT:
+            reponse = 0;
+            break;
+        case DMB_STOP_MOVE:
+            reponse = 0;
+            break;
+        default:
+            reponse = 0;
+            break;
+    }
+    return reponse;
+#endif
+}
+
+/****************************/
+/* PRIVATE                  */
+/****************************/
+
+int sendCmd(char cmd, const char * arg)
+{
+    char cmdWithArg[20]={};
+    cmdWithArg[0]=cmd;
+    switch(cmd)
+    {
+        case DMB_GO_FORWARD: strcpy(cmdWithArg,"M=+64000");
+            break;
+        case DMB_GO_BACK:    strcpy(cmdWithArg,"M=-64000");
+            break;
+        case DMB_GO_LEFT:  strcpy(cmdWithArg,"T=+64000");
+            break;
+        case DMB_GO_RIGHT: strcpy(cmdWithArg,"T=-64000");
+            break;
+        case DMB_STOP_MOVE:  strcpy(cmdWithArg,"M=0");
+            break;
+        case DMB_MOVE:   strcat(cmdWithArg,"=");
+            strcat(cmdWithArg,arg);
+            break;
+        case DMB_TURN:   strcat(cmdWithArg,"=");
+            strcat(cmdWithArg,arg);
+            break;
+    }
+    int sizeCmd = strlen(cmdWithArg);
+    cmdWithArg[sizeCmd] = checkSumGO(cmdWithArg);
+    cmdWithArg[sizeCmd+1] = '\r';
+    cmdWithArg[sizeCmd+2] = '\0';
+    return write(fd,cmdWithArg,strlen(cmdWithArg));
+}
+
+int receiveMsg(void)
+{
+    char msg[20];
+    int b;
+    if((b = readSerial(msg))!=ROBOT_TIMED_OUT)
+    {
+        int taille = strlen(msg);
+        char checksum = msg[taille-2];
+        msg[taille-1] = 0;
+        msg[taille-2] = 0;
+        if(checksum!=checkSumGO(msg))
+        {
+            return ROBOT_CHECKSUM;
+        }
+        else
+        {
+            switch(msg[0])
+            {
+                case 'O' : return 0;
+                case 'E' : return ROBOT_ERROR;
+                case 'C' : return ROBOT_UKNOWN_CMD;
+                default :  return atoi(&msg[0]);
+            }
+        }
+    }
+    else
+    {
+        return ROBOT_TIMED_OUT;
+    }
+}
+
+int getChar(char * c)
+{
+    int n =0;
+    int delay =0;
+    while((n=read(fd,c,1)) <=0)
+    {
+        usleep(5000);
+        delay++;
+        if(delay > 10)
+        {
+            return ROBOT_TIMED_OUT;
+        }
+
+    }
+    return n;
+}
+
+int readSerial(char * msg)
+{
+    char car=0;
+    int i=0;
+    for(int j = 0 ; j < 20 ; j++)
+        msg[j]=0;
+    
+    while(car !='\r' && car!='\n') {
+        if(i>=20) 
+            return -5;
+
+        if(getChar(&car)==ROBOT_TIMED_OUT) {
+            return ROBOT_TIMED_OUT;
+        }
+        
+        msg[i] = car;
+        i++;
+    }
+    return i;
+}
+
+char checkSumGO(char * msg)
+{
+    char resultat = 0;
+    int i = 0;
+    int taille = strlen(msg);
+    for(i=0;i<taille;i++)
+    {
+        resultat^=msg[i];
+    }
+    return resultat;
+
+}
+
+
+
diff --git a/software/raspberry/superviseur-robot/nbproject/configurations.xml b/software/raspberry/superviseur-robot/nbproject/configurations.xml
new file mode 100644
index 0000000..2d288ae
--- /dev/null
+++ b/software/raspberry/superviseur-robot/nbproject/configurations.xml
@@ -0,0 +1,116 @@
+<?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="lib">
+        <df name="src">
+          <in>image.cpp</in>
+          <in>message.cpp</in>
+          <in>monitor.cpp</in>
+          <in>robot.cpp</in>
+        </df>
+      </df>
+      <df name="superviseur">
+        <df name="src">
+          <in>functions.cpp</in>
+          <in>main.cpp</in>
+        </df>
+        <in>.gitignore</in>
+      </df>
+    </df>
+    <logicalFolder name="ExternalFiles"
+                   displayName="Important Files"
+                   projectFiles="false"
+                   kind="IMPORTANT_FILES_FOLDER">
+      <itemPath>CMakeLists.txt</itemPath>
+      <itemPath>Makefile</itemPath>
+      <itemPath>nbproject/private/launcher.properties</itemPath>
+    </logicalFolder>
+  </logicalFolder>
+  <sourceFolderFilter>^(nbproject)$</sourceFolderFilter>
+  <sourceRootList>
+    <Elem>.</Elem>
+  </sourceRootList>
+  <projectmakefile>Makefile</projectmakefile>
+  <confs>
+    <conf name="Default" type="0">
+      <toolsSet>
+        <compilerSet>default</compilerSet>
+        <dependencyChecking>false</dependencyChecking>
+        <rebuildPropChanged>false</rebuildPropChanged>
+      </toolsSet>
+      <flagsDictionary>
+        <element flagsID="0" commonFlags="-std=gnu++11"/>
+      </flagsDictionary>
+      <codeAssistance>
+      </codeAssistance>
+      <makefileType>
+        <makeTool>
+          <buildCommandWorkingDir>.</buildCommandWorkingDir>
+          <buildCommand>${MAKE} -f Makefile</buildCommand>
+          <cleanCommand>${MAKE} -f Makefile clean</cleanCommand>
+          <executablePath></executablePath>
+          <ccTool>
+            <preprocessorList>
+              <Elem>_GNU_SOURCE</Elem>
+              <Elem>_REENTRANT</Elem>
+              <Elem>__MERCURY__</Elem>
+            </preprocessorList>
+          </ccTool>
+        </makeTool>
+        <preBuild>
+          <preBuildCommandWorkingDir>.</preBuildCommandWorkingDir>
+          <preBuildCommand>${CMAKE} -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${IDE_CC} -DCMAKE_CXX_COMPILER=${IDE_CXX} -DCMAKE_C_FLAGS_DEBUG="-g3 -gdwarf-2" -DCMAKE_CXX_FLAGS_DEBUG="-g3 -gdwarf-2" -DCMAKE_EXPORT_COMPILE_COMMANDS=ON .</preBuildCommand>
+        </preBuild>
+      </makefileType>
+      <folder path="0/lib">
+        <ccTool>
+          <incDir>
+            <pElem>lib</pElem>
+            <pElem>/usr/xenomai/include/mercury</pElem>
+            <pElem>/usr/xenomai/include</pElem>
+            <pElem>/usr/xenomai/include/alchemy</pElem>
+          </incDir>
+        </ccTool>
+      </folder>
+      <folder path="0/superviseur">
+        <ccTool>
+          <incDir>
+            <pElem>superviseur/src</pElem>
+            <pElem>lib</pElem>
+            <pElem>/usr/xenomai/include</pElem>
+            <pElem>/usr/xenomai/include/mercury</pElem>
+            <pElem>/usr/xenomai/include/alchemy</pElem>
+            <pElem>superviseur</pElem>
+          </incDir>
+        </ccTool>
+      </folder>
+      <item path="lib/src/image.cpp" ex="false" tool="1" flavor2="8">
+        <ccTool flags="0">
+        </ccTool>
+      </item>
+      <item path="lib/src/message.cpp" ex="false" tool="1" flavor2="8">
+        <ccTool flags="0">
+        </ccTool>
+      </item>
+      <item path="lib/src/monitor.cpp" ex="false" tool="1" flavor2="8">
+        <ccTool flags="0">
+        </ccTool>
+      </item>
+      <item path="lib/src/robot.cpp" ex="false" tool="1" flavor2="8">
+        <ccTool flags="0">
+        </ccTool>
+      </item>
+      <item path="superviseur/.gitignore" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="superviseur/src/functions.cpp" ex="false" tool="1" flavor2="8">
+        <ccTool flags="0">
+        </ccTool>
+      </item>
+      <item path="superviseur/src/main.cpp" ex="false" tool="1" flavor2="8">
+        <ccTool flags="0">
+        </ccTool>
+      </item>
+    </conf>
+  </confs>
+</configurationDescriptor>
diff --git a/software/raspberry/superviseur-robot/nbproject/project.xml b/software/raspberry/superviseur-robot/nbproject/project.xml
new file mode 100644
index 0000000..54c6d81
--- /dev/null
+++ b/software/raspberry/superviseur-robot/nbproject/project.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://www.netbeans.org/ns/project/1">
+    <type>org.netbeans.modules.cnd.makeproject</type>
+    <configuration>
+        <data xmlns="http://www.netbeans.org/ns/make-project/1">
+            <name>superviseur-robot</name>
+            <c-extensions/>
+            <cpp-extensions>cpp,cxx</cpp-extensions>
+            <header-extensions>h</header-extensions>
+            <sourceEncoding>UTF-8</sourceEncoding>
+            <make-dep-projects/>
+            <sourceRootList>
+                <sourceRootElem>.</sourceRootElem>
+            </sourceRootList>
+            <confList>
+                <confElem>
+                    <name>Default</name>
+                    <type>0</type>
+                </confElem>
+            </confList>
+            <formatting>
+                <project-formatting-style>false</project-formatting-style>
+            </formatting>
+        </data>
+    </configuration>
+</project>
diff --git a/software/raspberry/superviseur-robot/superviseur-pthread/CMakeLists.txt b/software/raspberry/superviseur-robot/superviseur-pthread/CMakeLists.txt
new file mode 100644
index 0000000..a7619e8
--- /dev/null
+++ b/software/raspberry/superviseur-robot/superviseur-pthread/CMakeLists.txt
@@ -0,0 +1,9 @@
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../superviseur-pthread/bin)
+
+set(superviseur_pthread_FILES ./src/Program.cpp src/Tasks.cpp)
+
+include_directories(./src ../lib)
+
+add_executable(superviseur-pthread ${superviseur_pthread_FILES})
+target_link_libraries(superviseur-pthread destijl pthread rt)
+
diff --git a/software/raspberry/superviseur-robot/superviseur-pthread/bin/monitor b/software/raspberry/superviseur-robot/superviseur-pthread/bin/monitor
new file mode 100755
index 0000000000000000000000000000000000000000..72ffe5c8b69850f967037915e43fe5ea8367b2ec
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diff --git a/software/raspberry/superviseur-robot/superviseur-pthread/bin/superviseur-pthread b/software/raspberry/superviseur-robot/superviseur-pthread/bin/superviseur-pthread
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diff --git a/software/raspberry/superviseur-robot/superviseur-pthread/src/Program.cpp b/software/raspberry/superviseur-robot/superviseur-pthread/src/Program.cpp
new file mode 100644
index 0000000..dd97455
--- /dev/null
+++ b/software/raspberry/superviseur-robot/superviseur-pthread/src/Program.cpp
@@ -0,0 +1,273 @@
+/* 
+ * File:   Program.c
+ * Author: dimercur
+ *
+ * Created on 23 octobre 2018, 19:45
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <iostream>
+#include <string>
+
+#include <sys/mman.h>
+
+#include <pthread.h>
+#include <semaphore.h>
+#include <mqueue.h>
+#include <sched.h>
+
+#include "Tasks.h"
+
+using namespace std;
+
+class Program {
+public:
+// Déclaration des handleurs de tache
+    pthread_t th_server;
+    pthread_t th_sendToMon;
+    pthread_t th_receiveFromMon;
+    pthread_t th_openComRobot;
+    pthread_t th_startRobot;
+    pthread_t th_move;
+
+// Déclaration des priorités des taches
+    int PRIORITY_TSERVER = 30;
+    int PRIORITY_TOPENCOMROBOT = 20;
+    int PRIORITY_TMOVE = 10;
+    int PRIORITY_TSENDTOMON = 25;
+    int PRIORITY_TRECEIVEFROMMON = 22;
+    int PRIORITY_TSTARTROBOT = 20;
+
+// Declaration de mutex
+    pthread_mutex_t mutex_robotStarted;
+    pthread_mutex_t mutex_move;
+
+//declaration de semaphores
+    sem_t sem_barrier;
+    sem_t sem_openComRobot;
+    sem_t sem_serverOk;
+    sem_t sem_startRobot;
+
+// Déclaration des files de message
+    mqd_t q_messageToMon;
+    struct mq_attr q_messageToMonAttr;
+
+    int MSG_QUEUE_SIZE = 10;
+
+// Déclaration des ressources partagées
+    int etatCommMoniteur = 1;
+    int robotStarted = 0;
+
+    Program();
+    virtual ~Program();
+
+/**
+ * \fn void initStruct(void)
+ * \brief Initialisation des structures de l'application (tâches, mutex, 
+ * semaphore, etc.)
+ */
+    void initStruct(void);
+
+/**
+ * \fn void startTasks(void)
+ * \brief Démarrage des tâches
+ */
+    void startTasks(void);
+
+/**
+ * \fn void deleteTasks(void)
+ * \brief Arrêt des tâches
+ */
+    void deleteTasks(void);
+
+    /**
+     * \fn int run(void)
+     * \brief execute program
+     */
+    int run(void);
+};
+
+int main(int argc, char **argv) {
+    int err;
+    Program myProg;
+    TcpServer server;
+
+    Tasks::messages.SetServer(&server);
+
+    //Lock the memory to avoid memory swapping for this program
+    mlockall(MCL_CURRENT | MCL_FUTURE);
+
+    printf("#################################\n");
+    printf("#      DE STIJL PROJECT         #\n");
+    printf("#################################\n");
+
+    return myProg.run();
+}
+
+Program::Program() {}
+Program::~Program() {}
+
+int Program::run(void) {
+
+    this->initStruct();
+    this->startTasks();
+    //sem_post(&sem_barrier);
+    pause();
+    this->deleteTasks();
+}
+
+void Program::initStruct(void) {
+
+    int err;
+
+    /* Creation des mutex */
+    mutex_robotStarted=PTHREAD_MUTEX_INITIALIZER;
+    mutex_move=PTHREAD_MUTEX_INITIALIZER;
+
+    /* Creation du semaphore */
+    if (sem_init(&sem_barrier, 0, 0) == -1) {
+        printf("Error semaphore create: %s\n", strerror(-err));
+        exit(EXIT_FAILURE);
+    }
+
+    if (sem_init(&sem_openComRobot, 0, 0) == -1) {
+        printf("Error semaphore create: %s\n", strerror(-err));
+        exit(EXIT_FAILURE);
+    }
+
+    if (sem_init(&sem_serverOk, 0, 0) == -1) {
+        printf("Error semaphore create: %s\n", strerror(-err));
+        exit(EXIT_FAILURE);
+    }
+
+    if (sem_init(&sem_startRobot, 0, 0) == -1) {
+        printf("Error semaphore create: %s\n", strerror(-err));
+        exit(EXIT_FAILURE);
+    }
+
+    /* Sous pthread, les taches sont executées dés leur creation
+     * la creation des taches se fait donc dans startTask */
+
+    /* Creation des files de messages */
+    q_messageToMonAttr.mq_flags = 0;
+    q_messageToMonAttr.mq_maxmsg = 10;
+    q_messageToMonAttr.mq_msgsize = 200;
+    q_messageToMonAttr.mq_curmsgs = 0;
+
+    q_messageToMon = mq_open("MessageToMon", O_CREAT | O_RDWR, 0644, &q_messageToMonAttr);
+    if((mqd_t)-1 != q_messageToMon){
+        printf("Error msg queue create: %s\n", strerror(-err));
+        exit(EXIT_FAILURE);
+    }
+
+//    if (err = rt_queue_create(&q_messageToMon, "toto", MSG_QUEUE_SIZE * sizeof (MessageToRobot), MSG_QUEUE_SIZE, Q_FIFO)) {
+//        printf("Error msg queue create: %s\n", strerror(-err));
+//        exit(EXIT_FAILURE);
+//    }
+}
+
+void Program::startTasks() {
+
+    int err;
+    pthread_attr_t tattr;
+    pthread_t tid;
+    int ret;
+    sched_param param;
+
+    /* initialized with default attributes */
+    ret = pthread_attr_init (&tattr);
+
+    /* safe to get existing scheduling param */
+    ret = pthread_attr_getschedparam (&tattr, &param);
+
+    /* set the priority; others are unchanged */
+    param.sched_priority = PRIORITY_TSTARTROBOT;
+
+    /* setting the new scheduling param */
+    ret = pthread_attr_setschedparam (&tattr, &param);
+
+    /* Creation des taches */
+
+    if ((err = pthread_create(&th_startRobot, &tattr, (void* (*)(void*))Tasks::f_startRobot, NULL))) {
+        printf("Error task create: %s\n", strerror(-err));
+        exit(EXIT_FAILURE);
+    }
+
+    /* safe to get existing scheduling param */
+    ret = pthread_attr_getschedparam (&tattr, &param);
+
+    /* set the priority; others are unchanged */
+    param.sched_priority = PRIORITY_TRECEIVEFROMMON;
+
+    /* setting the new scheduling param */
+    ret = pthread_attr_setschedparam (&tattr, &param);
+
+    if ((err = pthread_create(&th_receiveFromMon, &tattr, (void* (*)(void*))Tasks::f_receiveFromMon, NULL))) {
+        printf("Error task create: %s\n", strerror(-err));
+        exit(EXIT_FAILURE);
+    }
+
+    /* safe to get existing scheduling param */
+    ret = pthread_attr_getschedparam (&tattr, &param);
+
+    /* set the priority; others are unchanged */
+    param.sched_priority = PRIORITY_TSENDTOMON;
+
+    /* setting the new scheduling param */
+    ret = pthread_attr_setschedparam (&tattr, &param);
+
+    if ((err = pthread_create(&th_sendToMon, &tattr, (void* (*)(void*))Tasks::f_sendToMon, NULL))) {
+        printf("Error task create: %s\n", strerror(-err));
+        exit(EXIT_FAILURE);
+    }
+
+    /* safe to get existing scheduling param */
+    ret = pthread_attr_getschedparam (&tattr, &param);
+
+    /* set the priority; others are unchanged */
+    param.sched_priority = PRIORITY_TOPENCOMROBOT;
+
+    /* setting the new scheduling param */
+    ret = pthread_attr_setschedparam (&tattr, &param);
+
+    if ((err = pthread_create(&th_openComRobot, &tattr, (void* (*)(void*))Tasks::f_openComRobot, NULL))) {
+        printf("Error task create: %s\n", strerror(-err));
+        exit(EXIT_FAILURE);
+    }
+
+    /* safe to get existing scheduling param */
+    ret = pthread_attr_getschedparam (&tattr, &param);
+
+    /* set the priority; others are unchanged */
+    param.sched_priority = PRIORITY_TMOVE;
+
+    /* setting the new scheduling param */
+    ret = pthread_attr_setschedparam (&tattr, &param);
+
+    if ((err = pthread_create(&th_move, &tattr, (void* (*)(void*))Tasks::f_move, NULL)))  {
+        printf("Error task create: %s\n", strerror(-err));
+        exit(EXIT_FAILURE);
+    }
+
+    /* safe to get existing scheduling param */
+    ret = pthread_attr_getschedparam (&tattr, &param);
+
+    /* set the priority; others are unchanged */
+    param.sched_priority = PRIORITY_TSERVER;
+
+    /* setting the new scheduling param */
+    ret = pthread_attr_setschedparam (&tattr, &param);
+
+    if ((err = pthread_create(&th_server, &tattr, (void* (*)(void*))Tasks::f_server, NULL))) {
+        printf("Error task create: %s\n", strerror(-err));
+        exit(EXIT_FAILURE);
+    }
+}
+
+void Program::deleteTasks() {
+    pthread_cancel(th_server);
+    pthread_cancel(th_openComRobot);
+    pthread_cancel(th_move);
+}
diff --git a/software/raspberry/superviseur-robot/superviseur-pthread/src/Tasks.cpp b/software/raspberry/superviseur-robot/superviseur-pthread/src/Tasks.cpp
new file mode 100644
index 0000000..701647c
--- /dev/null
+++ b/software/raspberry/superviseur-robot/superviseur-pthread/src/Tasks.cpp
@@ -0,0 +1,246 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include <iostream>
+#include <string>
+
+#include <pthread.h>
+#include <semaphore.h>
+#include <mqueue.h>
+#include <sched.h>
+
+#include <Robot.h>
+#include <Camera.h>
+#include <Image.h>
+#include <TcpServer.h>
+#include <MsgManager.h>
+
+//#include "../../lib/Robot.h"
+//#include "../../lib/Camera.h"
+//#include "../../lib/Image.h"
+//#include "../../lib/TcpServer.h"
+
+#include "Tasks.h"
+
+void Tasks::f_server(void *arg) {
+//    int err;
+//    /* INIT */
+//    RT_TASK_INFO info;
+//    rt_task_inquire(NULL, &info);
+//    printf("Init %s\n", info.name);
+//    rt_sem_p(&sem_barrier, TM_INFINITE);
+//
+//    err = run_nodejs("/usr/local/bin/node", "/home/pi/Interface_Robot/server.js");
+//
+//    if (err < 0) {
+//        printf("Failed to start nodejs: %s\n", strerror(-err));
+//        exit(EXIT_FAILURE);
+//    } else {
+//#ifdef _WITH_TRACE_
+//        printf("%s: nodejs started\n", info.name);
+//#endif
+//        open_server();
+//        rt_sem_broadcast(&sem_serverOk);
+//    }
+}
+
+void Tasks::f_sendToMon(void * arg) {
+//    int err;
+//    MessageToMon msg;
+//
+//    /* INIT */
+//    RT_TASK_INFO info;
+//    rt_task_inquire(NULL, &info);
+//    printf("Init %s\n", info.name);
+//    rt_sem_p(&sem_barrier, TM_INFINITE);
+//
+//#ifdef _WITH_TRACE_
+//    printf("%s : waiting for sem_serverOk\n", info.name);
+//#endif
+//    rt_sem_p(&sem_serverOk, TM_INFINITE);
+//    while (1) {
+//
+//#ifdef _WITH_TRACE_
+//        printf("%s : waiting for a message in queue\n", info.name);
+//#endif
+//        if (rt_queue_read(&q_messageToMon, &msg, sizeof (MessageToRobot), TM_INFINITE) >= 0) {
+//#ifdef _WITH_TRACE_
+//            printf("%s : message {%s,%s} in queue\n", info.name, msg.header, msg.data);
+//#endif
+//
+//            send_message_to_monitor(msg.header, msg.data);
+//            free_msgToMon_data(&msg);
+//            rt_queue_free(&q_messageToMon, &msg);
+//        } else {
+//            printf("Error msg queue write: %s\n", strerror(-err));
+//        }
+//    }
+}
+
+void Tasks::f_receiveFromMon(void *arg) {
+//    MessageFromMon msg;
+//    int err;
+//
+//    /* INIT */
+//    RT_TASK_INFO info;
+//    rt_task_inquire(NULL, &info);
+//    printf("Init %s\n", info.name);
+//    rt_sem_p(&sem_barrier, TM_INFINITE);
+//
+//#ifdef _WITH_TRACE_
+//    printf("%s : waiting for sem_serverOk\n", info.name);
+//#endif
+//    rt_sem_p(&sem_serverOk, TM_INFINITE);
+//    do {
+//#ifdef _WITH_TRACE_
+//        printf("%s : waiting for a message from monitor\n", info.name);
+//#endif
+//        err = receive_message_from_monitor(msg.header, msg.data);
+//#ifdef _WITH_TRACE_
+//        printf("%s: msg {header:%s,data=%s} received from UI\n", info.name, msg.header, msg.data);
+//#endif
+//        if (strcmp(msg.header, HEADER_MTS_COM_DMB) == 0) {
+//            if (msg.data[0] == OPEN_COM_DMB) { // Open communication supervisor-robot
+//#ifdef _WITH_TRACE_
+//                printf("%s: message open Xbee communication\n", info.name);
+//#endif
+//                rt_sem_v(&sem_openComRobot);
+//            }
+//        } else if (strcmp(msg.header, HEADER_MTS_DMB_ORDER) == 0) {
+//            if (msg.data[0] == DMB_START_WITHOUT_WD) { // Start robot
+//#ifdef _WITH_TRACE_
+//                printf("%s: message start robot\n", info.name);
+//#endif
+//                rt_sem_v(&sem_startRobot);
+//
+//            } else if ((msg.data[0] == DMB_GO_BACK)
+//                    || (msg.data[0] == DMB_GO_FORWARD)
+//                    || (msg.data[0] == DMB_GO_LEFT)
+//                    || (msg.data[0] == DMB_GO_RIGHT)
+//                    || (msg.data[0] == DMB_STOP_MOVE)) {
+//
+//                rt_mutex_acquire(&mutex_move, TM_INFINITE);
+//                move = msg.data[0];
+//                rt_mutex_release(&mutex_move);
+//#ifdef _WITH_TRACE_
+//                printf("%s: message update movement with %c\n", info.name, move);
+//#endif
+//
+//            }
+//        }
+//    } while (err > 0);
+
+}
+
+void Tasks::f_openComRobot(void * arg) {
+//    int err;
+//
+//    /* INIT */
+//    RT_TASK_INFO info;
+//    rt_task_inquire(NULL, &info);
+//    printf("Init %s\n", info.name);
+//    rt_sem_p(&sem_barrier, TM_INFINITE);
+//
+//    while (1) {
+//#ifdef _WITH_TRACE_
+//        printf("%s : Wait sem_openComRobot\n", info.name);
+//#endif
+//        rt_sem_p(&sem_openComRobot, TM_INFINITE);
+//#ifdef _WITH_TRACE_
+//        printf("%s : sem_openComRobot arrived => open communication robot\n", info.name);
+//#endif
+//        err = open_communication_robot();
+//        if (err == 0) {
+//#ifdef _WITH_TRACE_
+//            printf("%s : the communication is opened\n", info.name);
+//#endif
+//            MessageToMon msg;
+//            set_msgToMon_header(&msg, HEADER_STM_ACK);
+//            write_in_queue(&q_messageToMon, msg);
+//        } else {
+//            MessageToMon msg;
+//            set_msgToMon_header(&msg, HEADER_STM_NO_ACK);
+//            write_in_queue(&q_messageToMon, msg);
+//        }
+//    }
+}
+
+void Tasks::f_startRobot(void * arg) {
+//    int err;
+//
+//    /* INIT */
+//    RT_TASK_INFO info;
+//    rt_task_inquire(NULL, &info);
+//    printf("Init %s\n", info.name);
+//    rt_sem_p(&sem_barrier, TM_INFINITE);
+//
+//    while (1) {
+//#ifdef _WITH_TRACE_
+//        printf("%s : Wait sem_startRobot\n", info.name);
+//#endif
+//        rt_sem_p(&sem_startRobot, TM_INFINITE);
+//#ifdef _WITH_TRACE_
+//        printf("%s : sem_startRobot arrived => Start robot\n", info.name);
+//#endif
+//        err = send_command_to_robot(DMB_START_WITHOUT_WD);
+//        if (err == 0) {
+//#ifdef _WITH_TRACE_
+//            printf("%s : the robot is started\n", info.name);
+//#endif
+//            rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+//            robotStarted = 1;
+//            rt_mutex_release(&mutex_robotStarted);
+//            MessageToMon msg;
+//            set_msgToMon_header(&msg, HEADER_STM_ACK);
+//            write_in_queue(&q_messageToMon, msg);
+//        } else {
+//            MessageToMon msg;
+//            set_msgToMon_header(&msg, HEADER_STM_NO_ACK);
+//            write_in_queue(&q_messageToMon, msg);
+//        }
+//    }
+}
+
+void Tasks::f_move(void *arg) {
+//    /* INIT */
+//    RT_TASK_INFO info;
+//    rt_task_inquire(NULL, &info);
+//    printf("Init %s\n", info.name);
+//    rt_sem_p(&sem_barrier, TM_INFINITE);
+//
+//    /* PERIODIC START */
+//#ifdef _WITH_TRACE_
+//    printf("%s: start period\n", info.name);
+//#endif
+//    rt_task_set_periodic(NULL, TM_NOW, 100000000);
+//    while (1) {
+//#ifdef _WITH_TRACE_
+//        printf("%s: Wait period \n", info.name);
+//#endif
+//        rt_task_wait_period(NULL);
+//#ifdef _WITH_TRACE_
+//        printf("%s: Periodic activation\n", info.name);
+//        printf("%s: move equals %c\n", info.name, move);
+//#endif
+//        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+//        if (robotStarted) {
+//            rt_mutex_acquire(&mutex_move, TM_INFINITE);
+//            send_command_to_robot(move);
+//            rt_mutex_release(&mutex_move);
+//#ifdef _WITH_TRACE_
+//            printf("%s: the movement %c was sent\n", info.name, move);
+//#endif
+//        }
+//        rt_mutex_release(&mutex_robotStarted);
+//    }
+}
+
+void Tasks::write_in_queue(mqd_t *queue, MsgManager msg) {
+//    void *buff;
+//    buff = rt_queue_alloc(&q_messageToMon, sizeof (MessageToMon));
+//    memcpy(buff, &msg, sizeof (MessageToMon));
+//    rt_queue_send(&q_messageToMon, buff, sizeof (MessageToMon), Q_NORMAL);
+}
+
+MsgManager Tasks::messages;
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/superviseur-pthread/src/Tasks.h b/software/raspberry/superviseur-robot/superviseur-pthread/src/Tasks.h
new file mode 100644
index 0000000..17cca2e
--- /dev/null
+++ b/software/raspberry/superviseur-robot/superviseur-pthread/src/Tasks.h
@@ -0,0 +1,44 @@
+/*
+ * 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:   functions.h
+ * Author: pehladik
+ *
+ * Created on 15 janvier 2018, 12:50
+ */
+
+#ifndef TASKS_H
+#define TASKS_H
+
+#include <mqueue.h>
+#include <MsgManager.h>
+
+class Tasks {
+public:
+    static MsgManager messages;
+
+    static void f_server(void *arg);
+
+    static void f_sendToMon(void *arg);
+
+    static void f_receiveFromMon(void *arg);
+
+    static void f_openComRobot(void *arg);
+
+    static void f_move(void *arg);
+
+    static void f_startRobot(void *arg);
+
+private:
+    char mode_start;
+
+    static void write_in_queue(mqd_t *queue, MsgManager msg);
+    Tasks() {}
+};
+
+#endif /* TASKS_H */
+
diff --git a/software/raspberry/superviseur-robot/superviseur/.gitignore b/software/raspberry/superviseur-robot/superviseur/.gitignore
new file mode 100644
index 0000000..f7365e8
--- /dev/null
+++ b/software/raspberry/superviseur-robot/superviseur/.gitignore
@@ -0,0 +1,9 @@
+bin/
+build/
+CMakeFiles/
+
+.dep.inc
+Makefile
+*.cmake
+*.o
+
diff --git a/software/raspberry/superviseur-robot/superviseur/CMakeLists.txt b/software/raspberry/superviseur-robot/superviseur/CMakeLists.txt
new file mode 100644
index 0000000..fd22eaa
--- /dev/null
+++ b/software/raspberry/superviseur-robot/superviseur/CMakeLists.txt
@@ -0,0 +1,15 @@
+set(superviseur_FILES ./src/main.cpp src/functions.cpp)
+
+include_directories(./src ../lib /usr/xenomai/include /usr/xenomai/include/mercury)
+link_directories(/usr/xenomai/lib)
+
+add_executable(superviseur ${superviseur_FILES})
+target_link_libraries(superviseur destijl)
+
+#add_custom_command(TARGET superviseur POST_BUILD
+#        COMMAND sudo chown root ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/superviseur
+#        COMMAND sudo chgrp root ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/superviseur
+#        COMMAND sudo chmod +s ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/superviseur
+#        WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+#        COMMENT "Add sticky bit"
+#)
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/destijl_init/src/functions.cpp b/software/raspberry/superviseur-robot/superviseur/src/functions.cpp
similarity index 98%
rename from software/raspberry/superviseur-robot/destijl_init/src/functions.cpp
rename to software/raspberry/superviseur-robot/superviseur/src/functions.cpp
index 4312e9e..59551d0 100644
--- a/software/raspberry/superviseur-robot/destijl_init/src/functions.cpp
+++ b/software/raspberry/superviseur-robot/superviseur/src/functions.cpp
@@ -1,4 +1,4 @@
-#include "../header/functions.h"
+#include "functions.h"
 
 char mode_start;
 
@@ -102,7 +102,7 @@ void f_receiveFromMon(void *arg) {
                     || (msg.data[0] == DMB_STOP_MOVE)) {
 
                 rt_mutex_acquire(&mutex_move, TM_INFINITE);
-                move = msg.data[0];
+                robotMove = msg.data[0];
                 rt_mutex_release(&mutex_move);
 #ifdef _WITH_TRACE_
                 printf("%s: message update movement with %c\n", info.name, move);
@@ -207,7 +207,7 @@ void f_move(void *arg) {
         rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
         if (robotStarted) {
             rt_mutex_acquire(&mutex_move, TM_INFINITE);
-            send_command_to_robot(move);
+            send_command_to_robot(robotMove);
             rt_mutex_release(&mutex_move);
 #ifdef _WITH_TRACE_
             printf("%s: the movement %c was sent\n", info.name, move);
diff --git a/software/raspberry/superviseur-robot/destijl_init/header/functions.h b/software/raspberry/superviseur-robot/superviseur/src/functions.h
similarity index 90%
rename from software/raspberry/superviseur-robot/destijl_init/header/functions.h
rename to software/raspberry/superviseur-robot/superviseur/src/functions.h
index efe2faf..1953ac2 100644
--- a/software/raspberry/superviseur-robot/destijl_init/header/functions.h
+++ b/software/raspberry/superviseur-robot/superviseur/src/functions.h
@@ -25,10 +25,10 @@
 #include <alchemy/sem.h>
 #include <alchemy/queue.h>
 
-#include "../../src/monitor.h"    
-#include "../../src/robot.h"
-#include "../../src/image.h"
-#include "../../src/message.h"
+#include "monitor.h"
+#include "robot.h"
+#include "image.h"
+#include "message.h"
 
 extern RT_TASK th_server;
 extern RT_TASK th_sendToMon;
@@ -49,7 +49,7 @@ extern RT_QUEUE q_messageToMon;
 
 extern int etatCommMoniteur;
 extern int robotStarted;
-extern char move;
+extern char robotMove;
 
 extern int MSG_QUEUE_SIZE;
 
diff --git a/software/raspberry/superviseur-robot/destijl_init/main.cpp b/software/raspberry/superviseur-robot/superviseur/src/main.cpp
similarity index 91%
rename from software/raspberry/superviseur-robot/destijl_init/main.cpp
rename to software/raspberry/superviseur-robot/superviseur/src/main.cpp
index e451b6e..a12c146 100644
--- a/software/raspberry/superviseur-robot/destijl_init/main.cpp
+++ b/software/raspberry/superviseur-robot/superviseur/src/main.cpp
@@ -16,7 +16,7 @@
 #include <alchemy/sem.h>
 #include <alchemy/queue.h>
 
-#include "./header/functions.h"
+#include "functions.h"
 
 // Déclaration des taches
 RT_TASK th_server;
@@ -51,7 +51,7 @@ int MSG_QUEUE_SIZE = 10;
 // Déclaration des ressources partagées
 int etatCommMoniteur = 1;
 int robotStarted = 0;
-char move = DMB_STOP_MOVE;
+char robotMove = DMB_STOP_MOVE;
 
 /**
  * \fn void initStruct(void)
@@ -91,10 +91,11 @@ int main(int argc, char **argv) {
 }
 
 void initStruct(void) {
+
     int err;
     /* Creation des mutex */
     if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
-        printf("Error mutex create: %s\n", strerror(-err));
+        printf("Error mutex create: %d %s\n", err, strerror(-err));
         exit(EXIT_FAILURE);
     }
     if (err = rt_mutex_create(&mutex_move, NULL)) {
@@ -103,20 +104,20 @@ void initStruct(void) {
     }
 
     /* Creation du semaphore */
-    if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
-        printf("Error semaphore create: %s\n", strerror(-err));
+    if (err = rt_sem_create(&sem_barrier, "truc", 0, S_FIFO)) {
+        printf("Error semaphore create 1: %d %s\n", err, strerror(-err));
         exit(EXIT_FAILURE);
     }
     if (err = rt_sem_create(&sem_openComRobot, NULL, 0, S_FIFO)) {
-        printf("Error semaphore create: %s\n", strerror(-err));
+        printf("Error semaphore create 2: %s\n", strerror(-err));
         exit(EXIT_FAILURE);
     }
     if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) {
-        printf("Error semaphore create: %s\n", strerror(-err));
+        printf("Error semaphore create 3: %s\n", strerror(-err));
         exit(EXIT_FAILURE);
     }
     if (err = rt_sem_create(&sem_startRobot, NULL, 0, S_FIFO)) {
-        printf("Error semaphore create: %s\n", strerror(-err));
+        printf("Error semaphore create 4: %s\n", strerror(-err));
         exit(EXIT_FAILURE);
     }