From c38909f5cc133d6ecd7707bb9ffabaa6c620b0e4 Mon Sep 17 00:00:00 2001
From: pehladik <pehladik@gmail.com>
Date: Fri, 8 Feb 2019 17:06:17 +0100
Subject: [PATCH] projet init

---
 software/monitor/monitor/monitor              | Bin 115712 -> 114688 bytes
 software/monitor/monitor/monitor.csproj       |   2 -
 .../superviseur-robot/lib/commonitor.cpp      |   6 +
 software/raspberry/superviseur-robot/main.cpp |   6 +-
 .../nbproject/private/private.xml             |  16 +-
 .../private/timestamps-10.105.1.13-pi-22      | 152 ++++---
 .../raspberry/superviseur-robot/tasks.cpp     | 375 +++++++++---------
 software/raspberry/superviseur-robot/tasks.h  |  90 ++---
 8 files changed, 341 insertions(+), 306 deletions(-)

diff --git a/software/monitor/monitor/monitor b/software/monitor/monitor/monitor
index 918885c7fbbe52d45ed69231c001d05ec66a049b..f916d3ae3fc85d69d1cf992a3f13a9814d298b2e 100755
GIT binary patch
delta 30681
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diff --git a/software/monitor/monitor/monitor.csproj b/software/monitor/monitor/monitor.csproj
index 91f5ba0..34f79ce 100644
--- a/software/monitor/monitor/monitor.csproj
+++ b/software/monitor/monitor/monitor.csproj
@@ -46,8 +46,6 @@
     <Reference Include="pango-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
     <Reference Include="atk-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
     <Reference Include="glade-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
-    <Reference Include="pango-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
-    <Reference Include="atk-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
   </ItemGroup>
   <ItemGroup>
     <EmbeddedResource Include="gtk-gui\gui.stetic">
diff --git a/software/raspberry/superviseur-robot/lib/commonitor.cpp b/software/raspberry/superviseur-robot/lib/commonitor.cpp
index e5bdd60..bb64388 100644
--- a/software/raspberry/superviseur-robot/lib/commonitor.cpp
+++ b/software/raspberry/superviseur-robot/lib/commonitor.cpp
@@ -178,10 +178,16 @@ Message *ComMonitor::Read() {
     if (clientID > 0) {
         while (!endReception) {
             if ((length = recv(clientID, (void*) &data, 1, MSG_WAITALL)) > 0) {
+                //cout << "length = " << to_string(length) << endl << flush;
                 if (data != '\n') {
                     s += data;
                 } else endReception = true;
             }
+            else {
+                endReception = true;
+            }
+            
+            //cout << "2- length = " << to_string(length) << endl << flush;
         }
 
         if (length <= 0) msg = new Message(MESSAGE_MONITOR_LOST);
diff --git a/software/raspberry/superviseur-robot/main.cpp b/software/raspberry/superviseur-robot/main.cpp
index fd44ad2..f2679c3 100644
--- a/software/raspberry/superviseur-robot/main.cpp
+++ b/software/raspberry/superviseur-robot/main.cpp
@@ -37,13 +37,15 @@ int main(int argc, char **argv) {
     cout<<"#################################"<<endl;
 
     tasks.Init();
+    tasks.Run();
+    tasks.Join();
     
-    if (tasks.AcceptClient()) {
+    /*if (tasks.AcceptClient()) {
         cout << "Rock'n'Roll baby, client accepted!"<<endl<<flush;
         tasks.Run();
         
         tasks.Join();
-    }
+    }*/
     
     tasks.Stop();
     
diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml
index 0b8f05c..7505be8 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/private.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml
@@ -2,19 +2,17 @@
 <project-private xmlns="http://www.netbeans.org/ns/project-private/1">
     <data xmlns="http://www.netbeans.org/ns/make-project-private/1">
         <activeConfTypeElem>1</activeConfTypeElem>
-        <activeConfIndexElem>0</activeConfIndexElem>
+        <activeConfIndexElem>1</activeConfIndexElem>
     </data>
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
         <group>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.h</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/main.cpp</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file>
         </group>
     </open-files>
 </project-private>
diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22
index a4a139d..05a3280 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22
@@ -1,4 +1,4 @@
-#Thu Jan 17 13:32:55 CET 2019
+#Fri Feb 08 17:01:19 CET 2019
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_0.js=c1547565563000
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h_source.html=c1547565563000
@@ -19,6 +19,7 @@
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string-members.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.map=c1547564949000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h__dep__incl.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp=c1542105130000
@@ -35,15 +36,18 @@
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_b.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/uiExample.cpp=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug__RPI_.mk=c1542104029000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_4.md5=c1547563913000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/.dep.inc=c1547717148000
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__coll__graph.map=c1547560340000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.js=c1547565563000
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_7.js=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/rtvideoExample.cpp=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.cpp=c1544778298000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherits.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/CMakeLists.txt=c1542120848000
@@ -74,6 +78,7 @@
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__dep__incl.pdf=c1547560339000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/.gitignore=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/private/Makefile-variables.mk=c1542029322000
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_1.html=c1547565563000
@@ -111,6 +116,7 @@
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message__inherit__graph.pdf=c1547564949000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_0.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_position__inherit__graph.pdf=c1547560340000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_a.html=c1547565563000
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_c.html=c1547565563000
@@ -120,9 +126,13 @@
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1547728285000
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_2.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1549622533000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_9.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1547728293000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/img.h=c1548424346000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int-members.html=c1547565563000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1548424346000
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serialTest.cpp=c1548953827000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/camera_8h__incl.md5=c1547560339000
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@@ -131,6 +141,7 @@
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+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1548953827000
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@@ -155,13 +166,16 @@
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+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1548424347000
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+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1548424346000
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@@ -171,9 +185,11 @@
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+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1548953827000
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+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h=c1549641678000
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@@ -191,6 +207,7 @@
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diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 0e543ec..eacc86c 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -21,7 +21,7 @@
 // Déclaration des priorités des taches
 #define PRIORITY_TSERVER 30
 #define PRIORITY_TOPENCOMROBOT 20
-#define PRIORITY_TMOVE 10
+#define PRIORITY_TMOVE 20
 #define PRIORITY_TSENDTOMON 22
 #define PRIORITY_TRECEIVEFROMMON 25
 #define PRIORITY_TSTARTROBOT 20
@@ -57,6 +57,14 @@ void Tasks::Init() {
     /**************************************************************************************/
     /* 	Mutex creation                                                                    */
     /**************************************************************************************/
+    if (err = rt_mutex_create(&mutex_monitor, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_mutex_create(&mutex_robot, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
     if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
@@ -95,11 +103,11 @@ void Tasks::Init() {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
+    if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
+    if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
@@ -115,10 +123,6 @@ void Tasks::Init() {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_task_create(&th_camera, "th_camera", 0, PRIORITY_TCAMERA, 0)) {
-        cerr << "Error task create: " << strerror(-err) << endl << flush;
-        exit(EXIT_FAILURE);
-    }
     cout << "Tasks created successfully" << endl << flush;
 
     /**************************************************************************************/
@@ -130,47 +134,39 @@ void Tasks::Init() {
     }
     cout << "Queues created successfully" << endl << flush;
 
-    /* Open com port with STM32 */
-    cout << "Open serial com (";
-    status = robot.Open();
-    cout << status;
-    cout << ")" << endl;
-
-    if (status >= 0) {
-        // Open server
-
-        status = monitor.Open(SERVER_PORT);
-        cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
-
-        if (status < 0) throw std::runtime_error {
-            "Unable to start server on port " + std::to_string(SERVER_PORT)
-        };
-    } else
-        throw std::runtime_error {
-        "Unable to open serial port /dev/ttyS0 "
-    };
 }
 
 /**
  * @brief Démarrage des tâches
  */
 void Tasks::Run() {
+    rt_task_set_priority(NULL, T_LOPRIO);
     int err;
 
-    if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
+    if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) {
         cerr << "Error task start: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-
-    if (err = rt_task_start(&th_camera, (void(*)(void*)) & Tasks::CameraTask, this)) {
+    /**/if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }/**/
+    /**/if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }/**/
+    /**/if (err = rt_task_start(&th_openComRobot, (void(*)(void*)) & Tasks::OpenComRobot, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }/**/
+    if (err = rt_task_start(&th_startRobot, (void(*)(void*)) & Tasks::StartRobotTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_start(&th_move, (void(*)(void*)) & Tasks::MoveTask, this)) {
         cerr << "Error task start: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-
-    //    if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
-    //        cerr << "Error task start: " << strerror(-err) << endl << flush;
-    //        exit(EXIT_FAILURE);
-    //    }
 
     cout << "Tasks launched" << endl << flush;
 }
@@ -186,157 +182,31 @@ void Tasks::Stop() {
 /**
  */
 void Tasks::Join() {
+    cout << "Tasks synchronized" << endl << flush;
     rt_sem_broadcast(&sem_barrier);
     pause();
 }
 
 /**
- * @brief Thread handling server communication.
+ * @brief Thread handling server communication with the monitor.
  */
-
-void Tasks::ReceiveFromMonTask(void *arg) {
-    Message *msgRcv;
-    Message *msgSend;
-    bool isActive = true;
-
+void Tasks::ServerTask(void *arg) {
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are started)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
 
-    while (isActive) {
-        msgRcv = NULL;
-        msgSend = NULL;
+    rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
+    int status = monitor.Open(SERVER_PORT);
+    rt_mutex_release(&mutex_monitor);
 
-        msgRcv = monitor.Read();
-        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+    cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
 
-        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-            isActive = true;
-
-            delete(msgRcv); // mus be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-            cout << "isActive = false!" << msgRcv->ToString() << endl << flush;
-            isActive = false;
-
-            delete(msgRcv); // mus be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
-            msgSend = robot.Write(msgRcv);
-            cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
-        }
-
-        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
-            msgSend = robot.Write(msgRcv);
-            cout << "Start without wd answer: " << msgSend->ToString() << endl << flush;
-        }
-
-        if (msgRcv->CompareID(MESSAGE_ROBOT_RESET)) {
-            msgSend = robot.Write(msgRcv);
-            cout << "Reset answer: " << msgSend->ToString() << endl << flush;
-        }
-
-        if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
-                msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
-                msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
-                msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
-                msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
-            msgSend = robot.Write(msgRcv);
-
-            cout << "Movement answer: " << msgSend->ToString() << endl << flush;
-
-            if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
-                delete (msgSend);
-                msgSend = NULL;
-            }
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
-            sendImage = true;
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
-            sendImage = false;
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
-            sendPosition = true;
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
-            sendPosition = false;
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
-            msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
-            showArena = true;
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
-            showArena = false;
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
-            showArena = false;
-
-            delete(msgRcv); // must be deleted manually, no consumer
-        }
-
-        if (msgSend != NULL) monitor.Write(msgSend);
-    }
-}
-
-/**
- * @brief Thread handling periodic image capture.
- */
-void Tasks::CameraTask(void* arg) {
-    struct timespec tim, tim2;
-    Message *msgSend;
-    int counter;
-    int cntFrame = 0;
-    Position pos;
-    Arena arena;
-
-    tim.tv_sec = 0;
-    tim.tv_nsec = 50000000; // 50ms (20fps)
-
-    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
-
-    Camera camera = Camera(sm, 20);
-    cout << "Try opening camera" << endl << flush;
-    if (camera.Open()) cout << "Camera opened successfully" << endl << flush;
-    else {
-        cout << "Failed to open camera" << endl << flush;
-
-        exit(0);
-    }
-
-    while (1) {
-        
-    }
+    if (status < 0) throw std::runtime_error {
+        "Unable to start server on port " + std::to_string(SERVER_PORT)
+    };
+    monitor.AcceptClient(); // Wait the monitor client
+    cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
+    rt_sem_broadcast(&sem_serverOk);
 }
 
 /**
@@ -344,9 +214,147 @@ void Tasks::CameraTask(void* arg) {
  */
 void Tasks::SendToMonTask(void* arg) {
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+
+    rt_sem_p(&sem_serverOk, TM_INFINITE);
+
+    while (1) {
+        cout << "wait msg to send" << endl << flush;
+        Message *msg = ReadInQueue(&q_messageToMon);
+        cout << "Send msg to mon: " << msg->ToString() << endl << flush;
+        rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
+        monitor.Write(msg);
+        rt_mutex_release(&mutex_monitor);
+    }
+}
+
+/**
+ * @brief Thread receiving data from monitor.
+ */
+void Tasks::ReceiveFromMonTask(void *arg) {
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+
+    rt_sem_p(&sem_serverOk, TM_INFINITE);
+    cout << "Received message from monitor activated" << endl << flush;
+
+    while (1) {
+        Message *msgRcv;
+        msgRcv = monitor.Read();
+        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+
+        if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
+            delete(msgRcv);
+            exit(-1);
+        } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
+            rt_sem_v(&sem_openComRobot);
+        } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
+            rt_sem_v(&sem_startRobot);
+        } else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
+                msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
+                msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
+                msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
+                msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
+
+            rt_mutex_acquire(&mutex_move, TM_INFINITE);
+            move = msgRcv->GetID();
+            rt_mutex_release(&mutex_move);
+        }
+        delete msgRcv; // mus be deleted manually, no consumer
+    }
+}
+
+/**
+ * @brief Thread opening communication with the robot.
+ */
+void Tasks::OpenComRobot(void *arg) {
+    int status;
+    int err;
+
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+
+    while (1) {
+        rt_sem_p(&sem_openComRobot, TM_INFINITE);
+        cout << "Open serial com (";
+        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+        status = robot.Open();
+        rt_mutex_release(&mutex_robot);
+        cout << status;
+        cout << ")" << endl << flush;
+
+        Message * msgSend;
+        if (status < 0) {
+            msgSend = new Message(MESSAGE_ANSWER_NACK);
+        } else {
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+        }
+        WriteInQueue(&q_messageToMon, msgSend);
+    }
+}
+
+/**
+ * @brief Thread starting the communication with the robot.
+ */
+void Tasks::StartRobotTask(void *arg) {
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
 
     while (1) {
 
+        Message * msgSend;
+        rt_sem_p(&sem_startRobot, TM_INFINITE);
+        cout << "Start robot without watchdog (";
+        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+        msgSend = robot.Write(robot.StartWithoutWD());
+        rt_mutex_release(&mutex_robot);
+        cout << msgSend->GetID();
+        cout << ")" << endl;
+
+        cout << "Movement answer: " << msgSend->ToString() << endl << flush;
+        WriteInQueue(&q_messageToMon, msgSend);
+
+        if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
+            rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+            robotStarted = 1;
+            rt_mutex_release(&mutex_robotStarted);
+        }
+    }
+}
+
+/**
+ * @brief Thread handling control of the robot.
+ */
+void Tasks::MoveTask(void *arg) {
+    int rs;
+    int cpMove;
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+    rt_task_set_periodic(NULL, TM_NOW, 1000000000);
+
+    while (1) {
+        rt_task_wait_period(NULL);
+        cout << "Periodic movement update";
+        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+        rs = robotStarted;
+        rt_mutex_release(&mutex_robotStarted);
+        if (rs == 1) {
+            rt_mutex_acquire(&mutex_move, TM_INFINITE);
+            cpMove = move;
+            rt_mutex_release(&mutex_move);
+            
+            cout << " move: " << cpMove;
+            
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+            robot.Write(new Message((MessageID)cpMove));
+            rt_mutex_release(&mutex_robot);
+        }
+        cout << endl << flush;
     }
 }
 
@@ -355,10 +363,9 @@ void Tasks::SendToMonTask(void* arg) {
  * @param queue Queue identifier
  * @param msg Message to be stored
  */
-void WriteInQueue(RT_QUEUE &queue, Message *msg) {
+void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) {
     int err;
-
-    if ((err = rt_queue_send(&queue, (const void *) msg, sizeof ((const void *) msg), Q_NORMAL)) < 0) {
+    if ((err = rt_queue_write(queue, (const void *) &msg, sizeof ((const void *) &msg), Q_NORMAL)) < 0) {
         cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
         throw std::runtime_error{"Error in write in queue"};
     }
@@ -369,14 +376,16 @@ void WriteInQueue(RT_QUEUE &queue, Message *msg) {
  * @param queue Queue identifier
  * @return Message read
  */
-Message *ReadInQueue(RT_QUEUE &queue) {
+Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
     int err;
     Message *msg;
 
-    if ((err = rt_queue_read(&queue, (void*) msg, sizeof ((void*) msg), TM_INFINITE)) < 0) {
-        cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
-        throw std::runtime_error{"Error in write in queue"};
-    }
+    if ((err = rt_queue_read(queue, &msg, sizeof ((void*) &msg), TM_INFINITE)) < 0) {
+        cout << "Read in queue failed: " << strerror(-err) << endl << flush;
+        throw std::runtime_error{"Error in read in queue"};
+    }/** else {
+        cout << "@msg :" << msg << endl << flush;
+    } /**/
 
     return msg;
 }
diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h
index c2b3263..42eaa89 100644
--- a/software/raspberry/superviseur-robot/tasks.h
+++ b/software/raspberry/superviseur-robot/tasks.h
@@ -58,32 +58,23 @@ public:
      */
     void Join();
     
-    /**
-     */
-    bool AcceptClient() {
-        return monitor.AcceptClient();
-    }
+
     
 private:
     ComMonitor monitor;
     ComRobot robot;
-    
-    bool sendImage=false;
-    bool sendPosition=false;
-    
-    int counter;
-    bool flag;
-    
-    bool showArena=false;
-    
+    int robotStarted;
+    int move = MESSAGE_ROBOT_STOP;
+        
     RT_TASK th_server;
     RT_TASK th_sendToMon;
     RT_TASK th_receiveFromMon;
     RT_TASK th_openComRobot;
     RT_TASK th_startRobot;
     RT_TASK th_move;
-    RT_TASK th_camera;
-
+    
+    RT_MUTEX mutex_monitor;
+    RT_MUTEX mutex_robot;
     RT_MUTEX mutex_robotStarted;
     RT_MUTEX mutex_move;
 
@@ -94,10 +85,6 @@ private:
 
     RT_QUEUE q_messageToMon;
 
-    int etatCommMoniteur;
-    int robotStarted;
-    char robotMove;
-
     int MSG_QUEUE_SIZE;
 
     char mode_start;
@@ -115,50 +102,39 @@ private:
      * @return Message read
      */
     Message *ReadInQueue(RT_QUEUE *queue);
-    
-    /**
-     * @brief Thread handling server communication.
-     */
-    void ReceiveFromMonTask(void *arg);
 
     /**
-     * @brief Thread handling periodic image capture.
+     * @brief Thread handling server communication with the monitor.
      */
-    void CameraTask(void *arg);
-    
+    void ServerTask(void *arg);
+     
     /**
      * @brief Thread sending data to monitor.
      */
     void SendToMonTask(void *arg);
-//    /**
-//     * \brief       Thread handling server communication.
-//     */
-//    void f_server(void *arg);
-//
-//    /**
-//     * \brief       Thread handling communication to monitor.
-//     */
-//    void f_sendToMon(void *arg);
-//
-//    /**
-//     * \brief       Thread handling communication from monitor.
-//     */
-//    void f_receiveFromMon(void *arg);
-//
-//    /**
-//     * \brief       Thread handling opening of robot communication.
-//     */
-//    void f_openComRobot(void * arg);
-//
-//    /**
-//     * \brief       Thread handling robot mouvements.
-//     */
-//    void f_move(void *arg);
-//
-//    /**
-//     * \brief       Thread handling robot activation.
-//     */
-//    void f_startRobot(void *arg);
+        
+    /**
+     * @brief Thread receiving data from monitor.
+     */
+    void ReceiveFromMonTask(void *arg);
+    
+    /**
+     * @brief Thread opening communication with the robot.
+     */
+    void OpenComRobot(void *arg);
+
+    
+    /**
+     * @brief Thread starting the communication with the robot.
+     */
+    void StartRobotTask(void *arg);
+    
+        
+    /**
+     * @brief Thread handling control of the robot.
+     */
+    void MoveTask(void *arg);
+
 };
 
 #endif // __TASKS_H__