diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..ee202d8
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,16 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/clang",
+            "cStandard": "c11",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "clang-x64"
+        }
+    ],
+    "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
new file mode 100644
index 0000000..29327bf
--- /dev/null
+++ b/.vscode/tasks.json
@@ -0,0 +1,16 @@
+{
+  // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "taskName": "Compile on raspberry",
+            "command": "rsync -az '${file}' 10.105.1.6:~ && ssh server.example.org 'chmod +x ./${fileBasename}; ./${fileBasename}'",
+            "type": "shell",
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            }
+        }
+    ]
+}
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/Essai_VSC/CMakeLists.txt b/software/raspberry/superviseur-robot/Essai_VSC/CMakeLists.txt
new file mode 100644
index 0000000..33ee530
--- /dev/null
+++ b/software/raspberry/superviseur-robot/Essai_VSC/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.9)
+project(stress)
+
+set(CMAKE_CXX_STANDARD 11)
+
+set(SOURCE_FILES main.cpp ../src/robot.cpp ../src/robot.h)
+add_executable(stress ${SOURCE_FILES})
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/example/stress/main.cpp b/software/raspberry/superviseur-robot/Essai_VSC/main.cpp
similarity index 94%
rename from software/raspberry/superviseur-robot/example/stress/main.cpp
rename to software/raspberry/superviseur-robot/Essai_VSC/main.cpp
index 2fc71fc..94ec11e 100644
--- a/software/raspberry/superviseur-robot/example/stress/main.cpp
+++ b/software/raspberry/superviseur-robot/Essai_VSC/main.cpp
@@ -1,6 +1,6 @@
 #include <iostream>
-#include "../../src/definitions.h"
-#include "../../src/robot.h"
+#include "../src/definitions.h"
+#include "../src/robot.h"
 #include <ctime>
 
 #define NB_TEST 50
@@ -19,7 +19,7 @@ int nb_unknown_cmd;
 int flipflop;
 
 int main() {
-    if (open_communication_robot("/dev/ttyUSB0") != 0) {
+    if (open_communication_robot() != 0) {
         std::cout << "Unable to open com port" << std::endl;
 
         return -1;
diff --git a/software/raspberry/superviseur-robot/example/.cproject b/software/raspberry/superviseur-robot/example/.cproject
new file mode 100644
index 0000000..f17ed7c
--- /dev/null
+++ b/software/raspberry/superviseur-robot/example/.cproject
@@ -0,0 +1,145 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+	<storageModule moduleId="org.eclipse.cdt.core.settings">
+		<cconfiguration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908" moduleId="org.eclipse.cdt.core.settings" name="serialTest">
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="Test RF quality" id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908" name="serialTest" parent="com.atollic.managedbuild.pctools.config.gnu.exe.debug">
+					<folderInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908." name="/" resourcePath="">
+						<toolChain id="com.atollic.managedbuild.pctoolschain.gnu.exe.debug.1644719303" name="Atollic Linux PC Tools" superClass="com.atollic.managedbuild.pctoolschain.gnu.exe.debug">
+							<targetPlatform id="com.atollic.pctools.managedbuild.target.gnu.platform.exe.debug.444948895" name="Debug Platform" superClass="com.atollic.pctools.managedbuild.target.gnu.platform.exe.debug"/>
+							<builder buildPath="${workspace_loc:/Dumber-Robot-Exemple}/Debug" customBuilderProperties="toolChainpathType=1|toolChainpathString=/opt/Atollic_TrueSTUDIO_for_STM32_x86_64_9.0.0/ARMTools/bin|" id="com.atollic.pctools.managedbuild.target.gnu.builder.exe.debug.703691933" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="GNU Make Builder" superClass="com.atollic.pctools.managedbuild.target.gnu.builder.exe.debug"/>
+							<tool id="com.atollic.managedbuild.pctools.gnu.archiver.base.754185313" name="Archiver" superClass="com.atollic.managedbuild.pctools.gnu.archiver.base"/>
+							<tool id="com.atollic.managedbuild.pctools.gnu.cpp.compiler.exe.debug.460714726" name="C++ Compiler" superClass="com.atollic.managedbuild.pctools.gnu.cpp.compiler.exe.debug">
+								<option id="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.optimization.level.759860919" name="Optimization Level" superClass="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
+								<option id="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.debugging.level.1134609705" name="Debug Level" superClass="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
+								<option id="com.atollic.pctools.gnu.cpp.compiler.option.include.paths.1092205484" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
+								</option>
+								<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.compiler.input.18466674" superClass="com.atollic.managedbuild.pctools.gnu.cpp.compiler.input"/>
+							</tool>
+							<tool id="com.atollic.managedbuild.pctools.gnu.c.compiler.exe.debug.1524457175" name="C Compiler" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.exe.debug">
+								<option defaultValue="com.atollic.pctools.gnu.c.optimization.level.none" id="com.atollic.pctools.gnu.c.compiler.exe.debug.option.optimization.level.602619486" name="Optimization Level" superClass="com.atollic.pctools.gnu.c.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
+								<option id="com.atollic.pctools.gnu.c.compiler.exe.debug.option.debugging.level.1202784327" name="Debug Level" superClass="com.atollic.pctools.gnu.c.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.c.debugging.level.max" valueType="enumerated"/>
+								<option id="com.atollic.pctools.gnu.c.compiler.option.include.paths.608880272" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
+								</option>
+								<inputType id="com.atollic.managedbuild.pctools.gnu.c.compiler.input.978460249" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.input"/>
+							</tool>
+							<tool id="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug.650018959" name="C Linker" superClass="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug"/>
+							<tool id="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug.949894658" name="C++ Linker" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug">
+								<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.linker.input.520817887" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.input">
+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
+								</inputType>
+							</tool>
+							<tool id="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug.1090002007" name="Assembler" superClass="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug">
+								<inputType id="com.atollic.managedbuild.pctools.gnu.assembler.input.665455269" superClass="com.atollic.managedbuild.pctools.gnu.assembler.input"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+					<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.107079152" name="image.h" rcbsApplicability="disable" resourcePath="lib/image.h" toolsToInvoke=""/>
+					<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.2136136082" name="Makefile" rcbsApplicability="disable" resourcePath="src/Makefile" toolsToInvoke=""/>
+					<sourceEntries>
+						<entry excluding="monitor.cpp|image.h|image.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="lib"/>
+						<entry excluding="Makefile|videoExample.cpp|uiExample.cpp|serialExample.cpp|rtvideoExample.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
+					</sourceEntries>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
+		<cconfiguration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353" moduleId="org.eclipse.cdt.core.settings" name="Server test">
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="ServerTest" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="Test server setup" id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353" name="Server test" parent="com.atollic.managedbuild.pctools.config.gnu.exe.debug">
+					<folderInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353." name="/" resourcePath="">
+						<toolChain id="com.atollic.managedbuild.pctoolschain.gnu.exe.debug.1769978487" name="Atollic Linux PC Tools" superClass="com.atollic.managedbuild.pctoolschain.gnu.exe.debug">
+							<targetPlatform id="com.atollic.pctools.managedbuild.target.gnu.platform.exe.debug.1135891617" name="Debug Platform" superClass="com.atollic.pctools.managedbuild.target.gnu.platform.exe.debug"/>
+							<builder buildPath="${workspace_loc:/Dumber-Robot-Exemple}/Debug" customBuilderProperties="toolChainpathType=1|toolChainpathString=/opt/Atollic_TrueSTUDIO_for_STM32_x86_64_9.0.0/ARMTools/bin|" id="com.atollic.pctools.managedbuild.target.gnu.builder.exe.debug.1461439116" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="GNU Make Builder" superClass="com.atollic.pctools.managedbuild.target.gnu.builder.exe.debug"/>
+							<tool id="com.atollic.managedbuild.pctools.gnu.archiver.base.1426655308" name="Archiver" superClass="com.atollic.managedbuild.pctools.gnu.archiver.base"/>
+							<tool id="com.atollic.managedbuild.pctools.gnu.cpp.compiler.exe.debug.115182827" name="C++ Compiler" superClass="com.atollic.managedbuild.pctools.gnu.cpp.compiler.exe.debug">
+								<option id="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.optimization.level.1103169709" name="Optimization Level" superClass="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
+								<option id="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.debugging.level.1900144654" name="Debug Level" superClass="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
+								<option id="com.atollic.pctools.gnu.cpp.compiler.option.include.paths.2096629070" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
+								</option>
+								<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.compiler.input.928183158" superClass="com.atollic.managedbuild.pctools.gnu.cpp.compiler.input"/>
+							</tool>
+							<tool id="com.atollic.managedbuild.pctools.gnu.c.compiler.exe.debug.1435027661" name="C Compiler" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.exe.debug">
+								<option defaultValue="com.atollic.pctools.gnu.c.optimization.level.none" id="com.atollic.pctools.gnu.c.compiler.exe.debug.option.optimization.level.169974575" name="Optimization Level" superClass="com.atollic.pctools.gnu.c.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
+								<option id="com.atollic.pctools.gnu.c.compiler.exe.debug.option.debugging.level.980419679" name="Debug Level" superClass="com.atollic.pctools.gnu.c.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.c.debugging.level.max" valueType="enumerated"/>
+								<option id="com.atollic.pctools.gnu.c.compiler.option.include.paths.967863685" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
+								</option>
+								<inputType id="com.atollic.managedbuild.pctools.gnu.c.compiler.input.1991549921" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.input"/>
+							</tool>
+							<tool id="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug.1530079011" name="C Linker" superClass="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug"/>
+							<tool id="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug.1993338495" name="C++ Linker" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug">
+								<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.linker.input.774293629" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.input">
+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
+								</inputType>
+							</tool>
+							<tool id="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug.210875902" name="Assembler" superClass="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug">
+								<inputType id="com.atollic.managedbuild.pctools.gnu.assembler.input.61333264" superClass="com.atollic.managedbuild.pctools.gnu.assembler.input"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+					<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353.lib/image.h" name="image.h" rcbsApplicability="disable" resourcePath="lib/image.h" toolsToInvoke=""/>
+					<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353.src/Makefile" name="Makefile" rcbsApplicability="disable" resourcePath="src/Makefile" toolsToInvoke=""/>
+					<sourceEntries>
+						<entry excluding="monitor.cpp|image.h|image.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="lib"/>
+						<entry excluding="serialTest.cpp|Makefile|videoExample.cpp|uiExample.cpp|serialExample.cpp|rtvideoExample.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
+					</sourceEntries>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="Dumber-Robot-Exemple.com.atollic.pctools.managedbuild.target.gnu.exe.162302072" name="Executable" projectType="com.atollic.pctools.managedbuild.target.gnu.exe"/>
+	</storageModule>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="Server test">
+			<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
+		</configuration>
+		<configuration configurationName="serialTest">
+			<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
+		</configuration>
+		<configuration configurationName="Debug">
+			<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
+		</configuration>
+		<configuration configurationName="Release">
+			<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
+		</configuration>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
+</cproject>
diff --git a/software/raspberry/superviseur-robot/example/.gitignore b/software/raspberry/superviseur-robot/example/.gitignore
new file mode 100644
index 0000000..0ae6ecd
--- /dev/null
+++ b/software/raspberry/superviseur-robot/example/.gitignore
@@ -0,0 +1,2 @@
+/Debug/
+/Server test/
diff --git a/software/raspberry/superviseur-robot/example/.gitignores b/software/raspberry/superviseur-robot/example/.gitignores
new file mode 100644
index 0000000..e69de29
diff --git a/software/raspberry/superviseur-robot/example/.project b/software/raspberry/superviseur-robot/example/.project
new file mode 100644
index 0000000..9fdc26d
--- /dev/null
+++ b/software/raspberry/superviseur-robot/example/.project
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>Dumber-Robot-Exemple</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+</projectDescription>
diff --git a/software/raspberry/superviseur-robot/example/.settings/language.settings.xml b/software/raspberry/superviseur-robot/example/.settings/language.settings.xml
new file mode 100644
index 0000000..9abb758
--- /dev/null
+++ b/software/raspberry/superviseur-robot/example/.settings/language.settings.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<project>
+	<configuration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908" name="serialTest">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="205429042390110507" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
+	<configuration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353" name="Server test">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="205429042390110507" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
+</project>
diff --git a/software/raspberry/superviseur-robot/example/stress/CMakeLists.txt b/software/raspberry/superviseur-robot/example/CMakeLists.txt
similarity index 100%
rename from software/raspberry/superviseur-robot/example/stress/CMakeLists.txt
rename to software/raspberry/superviseur-robot/example/CMakeLists.txt
diff --git a/software/raspberry/superviseur-robot/example/lib b/software/raspberry/superviseur-robot/example/lib
new file mode 120000
index 0000000..e057607
--- /dev/null
+++ b/software/raspberry/superviseur-robot/example/lib
@@ -0,0 +1 @@
+../src/
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/example/serialTest/lib/subdir.mk b/software/raspberry/superviseur-robot/example/serialTest/lib/subdir.mk
new file mode 100644
index 0000000..acc4132
--- /dev/null
+++ b/software/raspberry/superviseur-robot/example/serialTest/lib/subdir.mk
@@ -0,0 +1,28 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+# Add inputs and outputs from these tool invocations to the build variables 
+CPP_SRCS += \
+../lib/Robot.cpp \
+../lib/Serial.cpp \
+../lib/TcpServer.cpp \
+../lib/message.cpp 
+
+OBJS += \
+./lib/Robot.o \
+./lib/Serial.o \
+./lib/TcpServer.o \
+./lib/message.o 
+
+CPP_DEPS += \
+./lib/Robot.d \
+./lib/Serial.d \
+./lib/TcpServer.d \
+./lib/message.d 
+
+
+# Each subdirectory must supply rules for building sources it contributes
+lib/%.o: ../lib/%.cpp
+	g++ -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/lib" -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/src" -O0 -g3 -Wall -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+
diff --git a/software/raspberry/superviseur-robot/example/serialTest/makefile b/software/raspberry/superviseur-robot/example/serialTest/makefile
new file mode 100644
index 0000000..2e10274
--- /dev/null
+++ b/software/raspberry/superviseur-robot/example/serialTest/makefile
@@ -0,0 +1,56 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+-include ../makefile.init
+
+RM := rm -rf
+
+# All of the sources participating in the build are defined here
+-include sources.mk
+-include src/subdir.mk
+-include lib/subdir.mk
+-include subdir.mk
+-include objects.mk
+
+ifneq ($(MAKECMDGOALS),clean)
+ifneq ($(strip $(CC_DEPS)),)
+-include $(CC_DEPS)
+endif
+ifneq ($(strip $(C++_DEPS)),)
+-include $(C++_DEPS)
+endif
+ifneq ($(strip $(C_UPPER_DEPS)),)
+-include $(C_UPPER_DEPS)
+endif
+ifneq ($(strip $(CXX_DEPS)),)
+-include $(CXX_DEPS)
+endif
+ifneq ($(strip $(CPP_DEPS)),)
+-include $(CPP_DEPS)
+endif
+ifneq ($(strip $(C_DEPS)),)
+-include $(C_DEPS)
+endif
+endif
+
+-include ../makefile.defs
+
+# Add inputs and outputs from these tool invocations to the build variables 
+
+# All Target
+all: Dumber-Robot-Exemple
+
+# Tool invocations
+Dumber-Robot-Exemple: $(OBJS) $(USER_OBJS)
+	g++  -o "Dumber-Robot-Exemple" $(OBJS) $(USER_OBJS) $(LIBS)
+
+# Other Targets
+clean:
+	-$(RM) $(CC_DEPS)$(C++_DEPS)$(EXECUTABLES)$(C_UPPER_DEPS)$(CXX_DEPS)$(OBJS)$(CPP_DEPS)$(C_DEPS) Dumber-Robot-Exemple
+	-@echo ' '
+
+.PHONY: all clean dependents
+.SECONDARY:
+
+-include ../makefile.targets
diff --git a/software/raspberry/superviseur-robot/example/serialTest/objects.mk b/software/raspberry/superviseur-robot/example/serialTest/objects.mk
new file mode 100644
index 0000000..742c2da
--- /dev/null
+++ b/software/raspberry/superviseur-robot/example/serialTest/objects.mk
@@ -0,0 +1,8 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+USER_OBJS :=
+
+LIBS :=
+
diff --git a/software/raspberry/superviseur-robot/example/serialTest/sources.mk b/software/raspberry/superviseur-robot/example/serialTest/sources.mk
new file mode 100644
index 0000000..af09391
--- /dev/null
+++ b/software/raspberry/superviseur-robot/example/serialTest/sources.mk
@@ -0,0 +1,28 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+C_UPPER_SRCS := 
+CXX_SRCS := 
+C++_SRCS := 
+OBJ_SRCS := 
+CC_SRCS := 
+ASM_SRCS := 
+CPP_SRCS := 
+C_SRCS := 
+O_SRCS := 
+S_UPPER_SRCS := 
+CC_DEPS := 
+C++_DEPS := 
+EXECUTABLES := 
+C_UPPER_DEPS := 
+CXX_DEPS := 
+OBJS := 
+CPP_DEPS := 
+C_DEPS := 
+
+# Every subdirectory with source files must be described here
+SUBDIRS := \
+lib \
+src \
+
diff --git a/software/raspberry/superviseur-robot/example/serialTest/src/subdir.mk b/software/raspberry/superviseur-robot/example/serialTest/src/subdir.mk
new file mode 100644
index 0000000..b2d1bab
--- /dev/null
+++ b/software/raspberry/superviseur-robot/example/serialTest/src/subdir.mk
@@ -0,0 +1,22 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+# Add inputs and outputs from these tool invocations to the build variables 
+CPP_SRCS += \
+../src/serialTest.cpp \
+../src/serverTest.cpp 
+
+OBJS += \
+./src/serialTest.o \
+./src/serverTest.o 
+
+CPP_DEPS += \
+./src/serialTest.d \
+./src/serverTest.d 
+
+
+# Each subdirectory must supply rules for building sources it contributes
+src/%.o: ../src/%.cpp
+	g++ -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/lib" -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/src" -O0 -g3 -Wall -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+
diff --git a/software/raspberry/superviseur-robot/example/src/serialTest.cpp b/software/raspberry/superviseur-robot/example/src/serialTest.cpp
new file mode 100644
index 0000000..ebf0666
--- /dev/null
+++ b/software/raspberry/superviseur-robot/example/src/serialTest.cpp
@@ -0,0 +1,186 @@
+/*******************************************************************************
+ * 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 <iostream>
+#include <ctime>
+#include "Robot.h"
+#include <unistd.h>
+
+using namespace std;
+
+#define NB_TEST 50
+#define DELAY_BETWEEN_TEST 1000000 // 1 seconde
+
+int nb_retries;
+int nb_test;
+
+int laststatus;
+int nb_success;
+int nb_timeout;
+int nb_unknown_cmd;
+
+int flipflop;
+
+int Test(Robot rob) {
+    try {
+        if (flipflop == 0) {
+            rob.Move(100);
+        } else {
+            rob.Move(-100);
+        }
+    } catch (string e) {
+        //if (e.find("Timeout")==string.npos)
+        //    status=ROBOT_TIMED_OUT;
+
+
+    }
+
+    return rob.GetLastCommandStatus();;
+}
+
+int main() {
+    Robot myRobot;
+
+    if (myRobot.Open("/dev/ttyUSB0") == SUCCESS) { // ouverture de la com avec le robot
+
+        std::cout << "Start robot: ";
+        try {
+            myRobot.StartWithoutWatchdog();
+        } catch ( string e ) {
+            std::cerr << std::endl << e << std::endl;
+            return 1;
+        }
+
+        if (myRobot.GetLastCommandStatus()==SUCCESS)
+            std::cout << "Ok" <<std::endl;
+        else {
+            std::cout << " Error: GetLastCommand returns " << myRobot.GetLastCommandStatus() <<std::endl;
+            return 2;
+        }
+
+        std::cout << "Start stress test" << std::endl;
+        time_t t_debut, t_fin;
+        struct tm *tm_debut, *tm_fin;
+
+        time(&t_debut);
+        tm_debut = localtime((const time_t*)&t_debut);
+        std::cout << "[start time]: " << asctime(tm_debut) << std::endl;
+
+        nb_success =0;
+        nb_timeout =0;
+        nb_unknown_cmd =0;
+        flipflop = 0;
+
+        for (nb_test=0; nb_test < NB_TEST; nb_test++) {
+            laststatus=Test(myRobot);
+
+            if (flipflop ==0) flipflop=1;
+            else flipflop =0;
+
+            if (laststatus == SUCCESS) nb_success++;
+            else if (laststatus == TIMEOUT_COMMAND) nb_timeout++;
+            else if ((laststatus == INVALID_ANSWER) || (laststatus == INVALID_COMMAND)) nb_unknown_cmd ++;
+
+            std::cout << "Test " << nb_test << " [s " << nb_success
+                    << ": t " << nb_timeout << ": u " << nb_unknown_cmd
+                    << "]"<< "\x1B" <<"[30D"<<std::flush;
+
+            usleep(DELAY_BETWEEN_TEST);
+        }
+
+        time(&t_fin);
+        tm_fin = localtime((const time_t*)&t_fin);
+        std::cout << std::endl << std::endl << "[end time]: " << asctime(tm_fin) << std::endl;
+
+        std::cout << "Reset robot" <<std::endl;
+        myRobot.Reset();
+
+        std::cout << "Close com" <<std::endl;
+        myRobot.Close();
+
+    } else {
+        std::cerr << "Unable to open \\dev\\ttyUSB0" << std::endl;
+
+        return 2;
+    }
+
+    //    if (open_communication_robot("/dev/ttyUSB0") != 0) {
+    //        std::cout << "Unable to open com port" << std::endl;
+    //
+    //        return -1;
+    //    }
+    //
+    //    std::cout << "Debut du test de stress" << std::endl;
+    //    time_t t_debut, t_fin;
+    //    struct tm *tm_debut, *tm_fin;
+    //
+    //    time(&t_debut);
+    //    tm_debut = localtime((const time_t*)&t_debut);
+    //
+    //    std::cout << "[heure debut]: " << asctime(tm_debut) << std::endl;
+    //
+    //    nb_retries=-1;
+    //    do {
+    //        usleep(DELAY_BETWEEN_RETRIES);
+    //        nb_retries++;
+    //        laststatus = send_command_to_robot(DMB_START_WITHOUT_WD);
+    //    } while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
+    //
+    //    if(nb_retries == NB_RETRIES_MAX) {
+    //        std::cout << "Unable to start robot" <<std::endl;
+    //
+    //        return -1;
+    //    }
+    //
+    //    nb_success =0;
+    //    nb_timeout =0;
+    //    nb_unknown_cmd =0;
+    //    flipflop = 0;
+    //
+    //    for (nb_test=0; nb_test < NB_TEST; nb_test++) {
+    //        nb_retries=-1;
+    //
+    //        do {
+    //            usleep(DELAY_BETWEEN_RETRIES);
+    //            nb_retries++;
+    //            if (flipflop == 0) {
+    //                laststatus = send_command_to_robot(DMB_TURN, "100");
+    //            } else {
+    //                laststatus = send_command_to_robot(DMB_TURN, "-100");
+    //            }
+    //
+    //        } while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
+    //
+    //        if (flipflop ==0) flipflop=1;
+    //        else flipflop =0;
+    //
+    //        if (laststatus == 0) nb_success++;
+    //        else if (laststatus == ROBOT_TIMED_OUT) nb_timeout++;
+    //        else if (laststatus == ROBOT_UKNOWN_CMD) nb_unknown_cmd ++;
+    //
+    //        std::cout << "Test " << nb_test << " [s " << nb_success
+    //                  << ": t " << nb_timeout << ": u " << nb_unknown_cmd
+    //                  << "]"<< "\x1B" <<"[30D"<<std::flush;
+    //
+    //        usleep(DELAY_BETWEEN_TEST);
+    //    }
+    //
+    //    time(&t_fin);
+    //    tm_fin = localtime((const time_t*)&t_fin);
+    //
+    //    std::cout << std::endl << std::endl << "[heure fin]: " << asctime(tm_fin) << std::endl;
+
+    return 0;
+}
diff --git a/software/raspberry/superviseur-robot/example/src/serverTest.cpp b/software/raspberry/superviseur-robot/example/src/serverTest.cpp
new file mode 100644
index 0000000..c8a1304
--- /dev/null
+++ b/software/raspberry/superviseur-robot/example/src/serverTest.cpp
@@ -0,0 +1,111 @@
+/*******************************************************************************
+ * 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 <iostream>
+#include "Robot.h"
+#include "TcpServer.h"
+
+int main (void)
+{
+    TcpServer server;
+    int clientFD;
+    string msgIn, msgOut,tmp;
+    bool finish;
+
+    Robot robot;
+
+    cout << "TCP server example" << endl;
+
+    cout << "Bind and listen on port 1337: ";
+    try {
+        server.Listen(1337);
+    }
+    catch ( const invalid_argument &ia ) {
+        cerr << "Error binding server: " << ia.what() << endl;
+        return 1;
+    }
+
+    cout << "Ok" <<endl;
+
+    cout << "Open com with robot: ";
+    try {
+        robot.Open ("/dev/ttyUSB0");
+    } catch (string e)
+    {
+        cerr << e << endl;
+        return 3;
+    }
+
+    cout << "Ok" <<endl;
+
+    while (1)
+    {
+        cout << "Wait for client to connect: ";
+        try {
+            clientFD= server.AcceptClient();
+        }
+        catch ( const invalid_argument &ia ) {
+            cerr << "Error during client accept: " << ia.what() << endl;
+            return 2;
+        }
+
+        cout << to_string(clientFD) << endl;
+
+        msgIn.clear();
+        finish=false;
+
+        do {
+            msgIn = server.Receive(clientFD, 2); // cmd + \n
+
+            if (msgIn.empty()) finish=true;
+            else {
+                try {
+                    switch (msgIn[0]) {
+                        case 's':
+                            // Start robot
+                            robot.StartWithoutWatchdog();
+                            break;
+                        case 'f':
+                            robot.Move(100);
+                            break;
+                        case 'b':
+                            robot.Move(-100);
+                            break;
+                        case 'r':
+                            robot.Turn(90);
+                            break;
+                        case 'l':
+                            robot.Turn(-90);
+                            break;
+                        case 'Q':
+                            robot.Reset();
+                            break;
+                    }
+                } catch (string e) {
+                    cerr << e;
+                }
+
+                if (robot.GetLastCommandStatus() == SUCCESS)
+                    server.Send(clientFD, "OK\n");
+                else server.Send(clientFD, "ERR\n");
+            }
+        } while (finish==false);
+
+        cout << "Client disconnected" <<endl;
+        clientFD=-1;
+    }
+
+    return 0;
+}
diff --git a/software/raspberry/superviseur-robot/example/stress/.gitignore b/software/raspberry/superviseur-robot/example/stress/.gitignore
deleted file mode 100644
index c9866a5..0000000
--- a/software/raspberry/superviseur-robot/example/stress/.gitignore
+++ /dev/null
@@ -1,8 +0,0 @@
-*.o
-*.d
-CMakeTmp
-stress.dir
-3.9.6
-*.log
-*.bin
-
diff --git a/software/raspberry/superviseur-robot/example/stress/.idea/codeStyles/Project.xml b/software/raspberry/superviseur-robot/example/stress/.idea/codeStyles/Project.xml
deleted file mode 100644
index 30aa626..0000000
--- a/software/raspberry/superviseur-robot/example/stress/.idea/codeStyles/Project.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<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/example/stress/.idea/misc.xml b/software/raspberry/superviseur-robot/example/stress/.idea/misc.xml
deleted file mode 100644
index 79b3c94..0000000
--- a/software/raspberry/superviseur-robot/example/stress/.idea/misc.xml
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
-</project>
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/example/stress/.idea/modules.xml b/software/raspberry/superviseur-robot/example/stress/.idea/modules.xml
deleted file mode 100644
index e99616d..0000000
--- a/software/raspberry/superviseur-robot/example/stress/.idea/modules.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/stress.iml" filepath="$PROJECT_DIR$/.idea/stress.iml" />
-    </modules>
-  </component>
-</project>
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/example/stress/.idea/stress.iml b/software/raspberry/superviseur-robot/example/stress/.idea/stress.iml
deleted file mode 100644
index f08604b..0000000
--- a/software/raspberry/superviseur-robot/example/stress/.idea/stress.iml
+++ /dev/null
@@ -1,2 +0,0 @@
-<?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/example/stress/.idea/vcs.xml b/software/raspberry/superviseur-robot/example/stress/.idea/vcs.xml
deleted file mode 100644
index b2bdec2..0000000
--- a/software/raspberry/superviseur-robot/example/stress/.idea/vcs.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<?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/example/stress/.idea/workspace.xml b/software/raspberry/superviseur-robot/example/stress/.idea/workspace.xml
deleted file mode 100644
index dd1259b..0000000
--- a/software/raspberry/superviseur-robot/example/stress/.idea/workspace.xml
+++ /dev/null
@@ -1,294 +0,0 @@
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diff --git a/software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeCache.txt b/software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeCache.txt
deleted file mode 100644
index 41d6b63..0000000
--- a/software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeCache.txt
+++ /dev/null
@@ -1,355 +0,0 @@
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-########################
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-
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-//Additional command line arguments when CodeBlocks invokes make.
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-
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-//CXX compiler
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diff --git a/software/raspberry/superviseur-robot/src.sav/definitions.h b/software/raspberry/superviseur-robot/src.sav/definitions.h
new file mode 100644
index 0000000..b016653
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src.sav/definitions.h
@@ -0,0 +1,57 @@
+/*
+ * 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:   msg.h
+ * Author: pehladik
+ *
+ * Created on 15 janvier 2018, 20:45
+ */
+
+#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'
+#define CAM_ARENA_CONFIRM           'x'
+#define CAM_ARENA_INFIRM            'z'
+#define CAM_COMPUTE_POSITION        'p'
+#define CAM_STOP_COMPUTE_POSITION   's'
+
+#define DMB_BAT_LOW 0
+#define DMB_BAT_MEDIUM 1
+#define DMB_BAT_HIGHT 2
+
+#define DMB_BUSY 1
+#define DMB_DO_NOTHING 0
+
+#endif /* MSG_H */
+
diff --git a/software/raspberry/superviseur-robot/src.sav/image.cpp b/software/raspberry/superviseur-robot/src.sav/image.cpp
new file mode 100644
index 0000000..0cf8540
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src.sav/image.cpp
@@ -0,0 +1,211 @@
+/**
+ * \file      image.cpp
+ * \author    L.Senaneuch
+ * \version   1.0
+ * \date      06/06/2017
+ * \brief     Fonctions de traitement d'image utilisable pour la détection du robot.
+ *
+ * \details   Ce fichier utilise la libraire openCV2 pour faciliter le traitement d'image dans le projet Destijl.
+ *            Il permet de faciliter la détection de l'arène et la détection du robot.
+ *			  /!\ Attention Bien que celui-ci soit un .cpp la structure du code n'est pas sous forme d'objet.
+ */
+
+#include "image.h"
+#include <iostream>
+
+using namespace cv;
+#ifndef __STUB__
+using namespace raspicam;
+#else
+Image stubImg;
+#endif
+using namespace std;
+
+float calculAngle(Position * positionRobot);
+int cropArena(Image *imgInput, Image *imgOutput, Arene *AreneInput);
+float euclideanDist(Point& p, Point& q);
+
+void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene)
+{
+    if(imgInput!=imgOutput)
+        *imgOutput=imgInput->clone();
+    rectangle(*imgOutput,monArene->tl(),monArene->br(),Scalar(0,0,125),2,8,0);
+}
+
+int open_camera(Camera  *camera)
+{
+#ifndef __STUB__
+    camera->set(CV_CAP_PROP_FORMAT, CV_8UC3);
+    camera->set(CV_CAP_PROP_FRAME_WIDTH,WIDTH);
+    camera->set(CV_CAP_PROP_FRAME_HEIGHT,HEIGHT);
+
+    printf("Opening Camera...\n");
+    if (!(camera->open())) {
+        perror("Can't open Camera\n") ;
+        return -1;
+    }
+    else
+    {
+        printf("Camera warmup 2sec\n");
+        sleep(2);
+        printf("Start capture\n");
+        return 0;
+    }   
+#endif
+}
+
+void get_image(Camera *camera, Image * monImage, const char  * fichier) // getImg(Camera, Image img);
+{
+#ifndef __STUB__
+    camera->grab();
+    camera->retrieve(*monImage);
+    cvtColor(*monImage,*monImage,CV_BGR2RGB);
+#else
+    stubImg = imread(fichier, CV_LOAD_IMAGE_COLOR);
+    stubImg.copyTo(*monImage);
+#endif
+}
+
+void close_camera(Camera *camera) // closeCam(Camera) : camera Entrer
+{
+#ifndef __STUB__
+    camera->release();
+#endif
+}
+
+
+int detect_arena(Image *monImage, Arene *rectangle) // Image en entrée // rectangle en sortie
+{
+    vector<vector<Point> > contours;
+    vector<Point> approx;
+    vector<Vec4i> hierarchy;
+
+    Image imageTrt;
+    cvtColor(*monImage,imageTrt,CV_RGB2GRAY); // conversion en niveau de gris
+    threshold(imageTrt,imageTrt,128,255,CV_THRESH_BINARY); // Threshold les éléments les plus clair
+    Canny(imageTrt, imageTrt, 100,200,3); // detection d'angle
+
+    findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
+    for(unsigned int i = 0; i < contours.size();i++)
+	{
+        approxPolyDP(Image(contours[i]), approx, arcLength(Image(contours[i]), true)*0.1, true);
+        if(approx.size()==4 && fabs(cv::contourArea(contours[i])) > 100000)
+        {
+            *rectangle = boundingRect(Image(contours[i]));
+            return 0;
+        }
+    }
+    return -1;
+}
+
+int cropArena(Image *imgInput, Image *imgOutput, Arene *areneInput) // image // rectangle // image2
+{
+    Image img;
+    img=imgInput->clone();
+
+    *imgOutput = img(*areneInput);
+    return 0;
+}
+
+float euclideanDist(Point& p, Point& q) {
+    Point diff = p - q;
+    return cv::sqrt(diff.x*diff.x + diff.y*diff.y);
+}
+
+void compress_image(Image *imgInput, Jpg *imageCompress) // image entrée // imageEncodé en sortie
+{
+    imencode(".jpg",*imgInput,*imageCompress);
+}
+
+
+int detect_position(Image *imgInput, Position *posTriangle, Arene * monArene) // entree : image  / sortie tab pos
+{
+    vector<vector<Point> > contours;
+    vector<Point> approx;
+    vector<Vec4i> hierarchy;
+
+    Image imgTraitment;
+
+    if(monArene==NULL)
+        imgTraitment=imgInput->clone();
+    else
+        cropArena(imgInput,&imgTraitment, monArene);
+
+    cvtColor(imgTraitment,imgTraitment,CV_RGB2GRAY);
+    threshold(imgTraitment,imgTraitment,128,255,CV_THRESH_BINARY);
+    findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
+
+    int nbrTriangle = 0;
+    for(unsigned int i = 0;i < contours.size();i++)
+	{
+        approxPolyDP(Mat(contours[i]), approx, arcLength(Mat(contours[i]), true)*0.17, true);
+        if(approx.size() == 3 && fabs(contourArea(contours[i])) > 200 && fabs(contourArea(contours[i])) < 700)
+        {
+
+            Point a,b,c;
+            Point center;
+
+
+            a = approx[0];
+            b = approx[1];
+            c = approx[2];
+
+
+            if(monArene !=NULL) // ajout de l'offset de l'arène
+            {
+               a.x += monArene->x;
+               a.y += monArene->y;
+               b.x += monArene->x;
+               b.y += monArene->y;
+               c.x += monArene->x;
+               c.y += monArene->y;		    
+            }
+		
+            center.x = (a.x + b.x + c.x)/3;
+            center.y = (a.y + b.y + c.y)/3;
+
+            posTriangle[nbrTriangle].center=center;
+
+            if(euclideanDist(center,b) > euclideanDist(center,a) && euclideanDist(center,b) > euclideanDist(center,c) )
+            {
+
+                posTriangle[nbrTriangle].direction=b;
+                //line(img,center,b,Scalar(0,125,0),2,8,0);
+            }
+            else if(euclideanDist(center,a) > euclideanDist(center,c))
+            {
+                posTriangle[nbrTriangle].direction=a;
+                //line(img,center,a,Scalar(0,125,0),2,8,0);
+
+            }
+            else
+            {
+                posTriangle[nbrTriangle].direction=c;
+                //line(img,center,c,Scalar(0,125,0),2,8,0);
+            }
+            posTriangle[nbrTriangle].angle=calculAngle(&posTriangle[nbrTriangle]);
+
+            nbrTriangle++;
+
+        }
+    }
+    return nbrTriangle;
+}
+
+void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot) // img E/S   pos : E
+{
+    if(imgInput!=imgOutput)
+    {
+        *imgOutput=imgInput->clone();
+    }
+    line(*imgOutput,positionRobot->center,positionRobot->direction,Scalar(0,125,0),2,8,0);
+}
+
+float calculAngle(Position * positionRobot) // position en entree
+{
+    float a = positionRobot->direction.x - positionRobot->center.x;
+    float b = positionRobot->direction.y - positionRobot->center.y ;
+    float angle = atan2(b,a);
+    return angle * 180.f/M_PI;
+
+}
diff --git a/software/raspberry/superviseur-robot/src.sav/image.h b/software/raspberry/superviseur-robot/src.sav/image.h
new file mode 100644
index 0000000..bf16031
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src.sav/image.h
@@ -0,0 +1,128 @@
+/**
+ * \file      image.h
+ * \author    L.Senaneuch
+ * \version   1.0
+ * \date      06/06/2017
+ * \brief     Fonctions de traitement d'image utilisable pour la d�tection du robot.
+ *
+ * \details   Ce fichier utilise la libraire openCV2 pour faciliter le traitement d'image dans le projet Destijl.
+ *            Il permet de faciliter la d�tection de l'ar�ne et la d�tection du robot.
+ *			  /!\ Attention Bien que celui-ci soit un .cpp la structure du code n'est pas sous forme d'objet.
+ */
+
+
+#ifndef IMAGERIE_H
+#define IMAGERIE_H
+
+#ifndef __STUB__
+#include <raspicam/raspicam_cv.h>
+#else
+#include <opencv2/highgui/highgui.hpp>
+#endif
+#include "opencv2/imgproc/imgproc.hpp"
+#include <unistd.h>
+#include <math.h>
+
+#define WIDTH 480 //1280 1024 640 480
+#define HEIGHT 360 // 960 768 480 360
+
+using namespace std;
+using namespace cv;
+#ifndef __STUB__
+using namespace raspicam;
+#endif
+
+typedef Mat Image;
+#ifndef __STUB__
+typedef RaspiCam_Cv Camera;
+#else
+typedef int Camera;
+#endif
+typedef Rect Arene;
+typedef vector<unsigned char> Jpg;
+
+struct Position {
+    Point center;
+    Point direction;
+    float angle;
+};
+
+/**
+ * \brief      Ouvre une camera.
+ * \details    Met à jour le descripteur de fichier passé en paramètre pour correspondre à la camera ouverte
+ *             
+ * \param    *Camera      	Pointeur d'un file descriptor d'une camera ouverte
+ * \return retourne 0 si la camera a été ouverte correctement et -1 si une erreur survient.
+ */
+int open_camera(Camera *camera);
+
+/**
+ * \brief      Ferme la camera passé en paramètre
+ *             
+ * \param    *Camera       Pointeur sur la camera à fermer
+ */
+void close_camera(Camera *camera);
+
+/**
+ * \brief      Capture une image avec la camera passée en entrée. En cas de test
+ * sans camera, la fonction charge une image 
+ * \details    La camera doit préalablement être ouverte via \a openCamera(...)
+ *             
+ * \param    *Camera       Pointeur sur la camera passée en entrée.
+ * \param    *monImage 	   Pointeur sur une image capturée. 
+ * \param    *fichier         chemin du fichier d'image
+ * \return    Retourne -1 si une erreur survient.
+ */
+void get_image(Camera *camera, Image * monImage, const char *fichier = NULL);
+
+/**
+ * \brief      Détecte une arène dans une image fournis en paramètre.
+ *             
+ * \param    *monImage       Pointeur sur l'image d'entrée
+ * \param    *rectangle 	 Pointeur sur les coordonnées du rectangles trouvé. 
+ * \return    Retourne -1 si aucune arène n'est détectée. Sinon retourne 0
+ */
+int detect_arena(Image *monImage, Arene *rectangle);
+
+/**
+ * \brief      Dessine le plus petit rectangle contenant l'arène
+ 
+ * \param    *imgInput       Pointeur sur l'image d'entrée.
+ * \param    *imgOutput      Pointeur sur l'image de sortie (image d'entrée + arène marquée)
+ * \param    *monArene		 Pointeur de type Arène contenant les information à dessiner
+ */
+void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene);
+
+/**
+ * \brief      Détecte la position d'un robot.
+ * \details    Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.
+ *             
+ * \param    *imgInput       Pointeur sur l'image sur laquelle chercher la position du des robots.
+ * \param    *posTriangle    Pointeur sur un tableau de position ou seront stocké les positions des triangles détectés.
+ * \param    *monArene       Pointeur de type Arène si nécessaire d'affiner la recherche (optionnel) 
+ * \return    Le nombre de triangles détectés.
+ */
+int detect_position(Image *imgInput, Position *posTriangle, Arene * monArene = NULL);
+
+/**
+ * \brief      Dessine sur une image en entrée la position d'un robot et sa direction.
+ * \details    Sauvegarde l'image des coordonnées passées par positionRobot 
+ * superposée à l'image d'entrée sur imgOutput.
+ *             
+ * \param      *imgInput	      	Pointeur sur l'image d'entrée
+ * \param      *imgOutput    		Pointeur sur l'image de sortie ( image 
+ * d'entrée + dessin de la position)
+ * \param      *positionRobot   	Pointeur sur la structure position d'un robot.
+ */
+void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot);
+
+/**
+ * \brief      Détecte la position d'un robot.
+ * \details    Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.
+ *             
+ * \param    *imgInput      	Pointeur sur l'image à sauvegarder en mémoire sous format jpg.
+ * \param    *imageCompress	Pointeur sur une image .jpg.
+ */
+void compress_image(Image *imgInput, Jpg *imageCompress);
+
+#endif // IMAGERIE_H
diff --git a/software/raspberry/superviseur-robot/src.sav/message.cpp b/software/raspberry/superviseur-robot/src.sav/message.cpp
new file mode 100644
index 0000000..62f350f
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src.sav/message.cpp
@@ -0,0 +1,29 @@
+/*
+ * 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.
+ */
+#include "message.h"
+
+void set_msgToMon_header(MessageToMon *msg, char *header) {
+    memcpy(msg->header, header, sizeof (header));
+}
+
+void set_msgToMon_data(MessageToMon *msg, void * data) {
+    if (msg->data != NULL) {
+        free(msg->data);
+    }
+    msg->data = malloc(sizeof (data));
+    memcpy(msg->data, data, sizeof (data));
+}
+
+void free_msgToMon_data(MessageToMon *msg) {
+    if (msg->data != NULL) {
+        free(msg->data);
+    }
+}
+
+void print_msgToMon(MessageToMon *msg) {
+    printf("header: %s\n", msg->header);
+    printf("data: %s\n", msg->data);
+}
diff --git a/software/raspberry/superviseur-robot/src.sav/message.h b/software/raspberry/superviseur-robot/src.sav/message.h
new file mode 100644
index 0000000..10a7292
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src.sav/message.h
@@ -0,0 +1,33 @@
+/*
+ * 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:   message.h
+ * Author: pehladik
+ *
+ * Created on 7 février 2018, 17:20
+ */
+
+#ifndef MESSAGE_H
+#define MESSAGE_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+
+typedef struct {
+    char header[4];
+    void *data = NULL;
+} MessageToMon;
+
+void set_msgToMon_header(MessageToMon *msg, char *header);
+void set_msgToMon_data(MessageToMon *msg, void * data);
+void free_msgToMon_data(MessageToMon *msg);
+void print_msgToMon(MessageToMon *msg);
+
+#endif /* MESSAGE_H */
+
diff --git a/software/raspberry/superviseur-robot/src.sav/monitor.cpp b/software/raspberry/superviseur-robot/src.sav/monitor.cpp
new file mode 100644
index 0000000..9bd5ed4
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src.sav/monitor.cpp
@@ -0,0 +1,161 @@
+#include "monitor.h"
+
+using namespace std;
+
+SOCKADDR_IN ssin;
+SOCKET sock;
+socklen_t recsize = sizeof (ssin);
+
+/*Socket et contexte d'adressage du client */
+SOCKADDR_IN csin;
+SOCKET csock;
+socklen_t crecsize = sizeof (csin);
+
+int sock_err;
+pid_t pidNodejs;
+
+string serverReceive(int size);
+int serverSend(const void *data, int dataLength);
+int receive(char *data);
+
+int run_nodejs(const char * path, char * file) {
+    int ret;
+    //char *const parmList[] = {"/bin/ls", "-l", "/home", NULL};
+    char * const parmList[] = {"node", file, NULL};
+
+    if ((ret = fork()) == -1)
+        perror("fork error");
+    else if (ret == 0) {
+        ret = execv(path, parmList);
+    }
+    return ret;
+}
+
+int kill_nodejs() {
+#ifdef __VERBOSE__  
+    printf("kill nodejs\n");
+#endif
+    return kill(pidNodejs, SIGTERM);
+}
+
+int open_server(int port) {
+    /* Création d'un socket */
+    sock = socket(AF_INET, SOCK_STREAM, 0);
+    int enable = 1;
+
+    /* Si la socket est valide */
+    if (sock != INVALID_SOCKET) {
+#ifdef _WITH_TRACE_
+        printf("TCP/IP Socket %d opened\n", sock);
+#endif
+        setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof (enable));
+
+        /* Configuration */
+        ssin.sin_addr.s_addr = htonl(INADDR_ANY); /* Adresse IP automatique */
+        ssin.sin_family = AF_INET; /* Protocole familial (IP) */
+        ssin.sin_port = htons(port); /* Listage du port */
+        sock_err = bind(sock, (SOCKADDR*) & ssin, recsize);
+
+        /* Si la socket fonctionne */
+        if (sock_err != SOCKET_ERROR) {
+            /* Démarrage du listage (mode server) */
+            sock_err = listen(sock, 1);
+
+            /* Si la socket fonctionne */
+            if (sock_err != SOCKET_ERROR) {
+                /* Attente pendant laquelle le client se connecte */
+#ifdef _WITH_TRACE_
+                printf("Waiting a client on port %d\n", port);
+#endif
+                csock = accept(sock, (SOCKADDR*) & csin, &crecsize);
+#ifdef _WITH_TRACE_
+                printf("Client connected\n");
+#endif
+                return 0;
+            } else {
+                perror("listen");
+            }
+        } else {
+            perror("bind");
+            return (-1);
+        }
+    } else {
+        perror("socket");
+        return (-1);
+    }
+    return 0;
+}
+
+int close_server(void) {
+    /* Fermeture de la socket client et de la socket serveur */
+    close(csock);
+    close(sock);
+    printf("Socket fermé\n");
+    return 0;
+}
+
+int send_message_to_monitor(const char* typeMessage, const void * data) {
+    if ((string) typeMessage == HEADER_STM_IMAGE) {
+        Jpg * imgC = (Jpg*) data;
+        serverSend("IMG", 3);
+        serverSend(imgC->data(), imgC->size());
+        serverSend("TRAME", 5);
+        return 0;
+    } else if ((string) typeMessage == HEADER_STM_POS) {
+        char buffer[20];
+        Position * maPosition = (Position*) data;
+        sprintf(buffer, "POScenter: %3d;%3d | %.1fTRAME", maPosition->center.x, maPosition->center.y, maPosition->angle);
+        serverSend(buffer, strlen(buffer));
+        return 0;
+    } else if ((string) typeMessage == HEADER_STM_MES) {
+        char buffer[50];
+        sprintf(buffer, "MSG%sTRAME", (const char*) data);
+        serverSend(buffer, strlen(buffer));
+        return 0;
+    } else if ((string) typeMessage == HEADER_STM_ACK) {
+        char buffer[50];
+        sprintf(buffer, "ACK%sTRAME", (const char*) data);
+        serverSend(buffer, strlen(buffer));
+        return 0;
+    } else if ((string) typeMessage == HEADER_STM_BAT) {
+        char buffer[50];
+        sprintf(buffer, "BAT%sTRAME", (const char*) data);
+        serverSend(buffer, strlen(buffer));
+        return 0;
+    } else if ((string) typeMessage == HEADER_STM_NO_ACK) {
+        char buffer[50];
+        sprintf(buffer, "NAK%sTRAME", (const char*) data);
+        serverSend(buffer, strlen(buffer));
+        return 0;
+    } else if ((string) typeMessage == HEADER_STM_LOST_DMB) {
+        char buffer[50];
+        sprintf(buffer, "LCD%sTRAME", (const char*) data);
+        serverSend(buffer, strlen(buffer));
+        return 0;
+    } else {
+        return -1;
+    }
+}
+
+int receive_message_from_monitor(char *typeMessage, char *data) {
+    char buffer[20];
+    int tBuffer = receive(buffer);
+    sscanf(buffer, "%3s:%s", typeMessage, data);
+    return tBuffer;
+}
+
+int receive(char *data) {
+    int result;
+    result = recv(csock, data, 20, 0);
+    //cout <<"Data : " << data << endl;
+    return result;
+}
+
+int serverSend(const void *data, int dataLength) {
+    if (send(csock, data, dataLength, 0) != dataLength) {
+        perror("Send failed : ");
+        return false;
+    }
+
+    return true;
+}
diff --git a/software/raspberry/superviseur-robot/src.sav/monitor.h b/software/raspberry/superviseur-robot/src.sav/monitor.h
new file mode 100644
index 0000000..c06572d
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src.sav/monitor.h
@@ -0,0 +1,115 @@
+//
+// Created by lucien on 05/04/17.
+//
+
+#ifndef TCPSERVER_H
+#define TCPSERVER_H
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <signal.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include "image.h"
+#include "definitions.h"
+
+#define HEADER_STM_IMAGE "IMG" // Envoi d'une image
+#define HEADER_STM_BAT "BAT" // Envoi de l'état de la batterie
+#define HEADER_STM_POS "POS" // Envoi de la position
+#define HEADER_STM_NO_ACK "NAK" // Acquittement d'un échec
+#define HEADER_STM_ACK "ACK" // Acquittement d'un succès
+#define HEADER_STM_MES "MSG" // Message textuel
+#define HEADER_STM_LOST_DMB "LCD" // Perte de la communication avec le robot
+
+#define HEADER_MTS_MSG "MSG" // Message directe pour Console Dumber
+#define HEADER_MTS_DMB_ORDER "DMB" // Message d'ordre pour le robot
+#define HEADER_MTS_COM_DMB "COM" // Message de gestion de la communication avec le robot
+#define HEADER_MTS_CAMERA "CAM" // Message de gestion de la camera
+#define HEADER_MTS_STOP "STO" // Message d'arrêt du system
+
+#define INVALID_SOCKET -1
+#define SOCKET_ERROR -1
+
+#define DEFAULT_PORT  8080
+#define DEFAULT_PARITY 0
+
+#define DETECT_ARENA    (1)
+#define CHECK_ARENA     (2)
+#define NO_ARENA        (3)
+
+#define DEFAULT_NODEJS_PATH "/usr/bin/nodejs"
+#define DEFAULT_INTERFACE_FILE "./interface.js"
+
+#define closesocket(param) close(param)
+
+typedef int SOCKET;
+typedef struct sockaddr_in SOCKADDR_IN;
+typedef struct sockaddr SOCKADDR;
+
+typedef struct {
+    char header[4];
+    char data[100];
+} MessageFromMon;
+
+
+/**
+ * \brief    Lance nodejs .
+ * \param    path    chemin de l'executable nodejs (défaut /usr/bin/nodejs)
+ * \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);
+
+/**
+ * \brief    Tue le process exécutant nodejs.
+ * \return   retourne 0 en cas de succès et -1 sinon.
+ */
+int kill_nodejs();
+
+/**
+ * \brief      Mise en place du serveur (port 8080 par défaut).
+ * \param    port    numéro du port utilisé par le serveur (8080 par défaut).
+ * \return   retourne 0 si le serveur est mis en place et -1 en cas de problème.
+ */
+int open_server(int port = DEFAULT_PORT); //public
+
+/**
+ * \brief    Ferme le serveur.
+ * \return   retourne 0 si le serveur est fermé et -1 en cas de problème.
+ */
+int close_server(void); // public
+
+/**
+ * \brief    Envoi d'un message vers l'interface graphique
+ * \param    typeMessage     Type du message envoyé. Les valeurs possibles sont 
+ * IMG pour une image, MES pour un message à afficher dans la console, POS pour
+ * la position du robot, BAT pour une valeur de la batterie et ACK pour valider
+ * un message de l'interface.
+ * \param  data   données associées au message. Le type de la donnée doit
+ * correspondre au message : Image pour IMG, char * MES, Position pour POS, 
+ * char * pour BAT et rien pour ACK. Attention, il n'y a aucune vérification
+ * a posterio.
+ * \return   retourne 0 si l'envoie a bien été réalisé et -1 en cas de problème.
+ */
+int send_message_to_monitor(const char* typeMessage, const void * data = NULL);
+
+/**
+ * \brief    Réception d'un message. La fonction est bloquante et retourne par
+ * référence le type de message reçu (DMB pour un ordre au robot, ARN pour la
+ * détection des arènes et POS pour un calcul de position) ainsi que les données
+ * associées.
+ * \param    typeMessage     Type du message reçu : DMB pour un ordre au robot, 
+ * ARN pour la demande de détection de l'arène, POS pour un calcul de position
+ * et MSG pour un message de l'interface
+ * \param  data   données associées au message reçu.
+ * \return   retourne 0 la taille du message reçu ou une valeur négative si la
+ * connexion est perdue.
+ */
+int receive_message_from_monitor(char *typeMessage, char *data);
+
+
+#endif // TCPSERVER_H
diff --git a/software/raspberry/superviseur-robot/src/robot.cpp b/software/raspberry/superviseur-robot/src.sav/robot.cpp
similarity index 90%
rename from software/raspberry/superviseur-robot/src/robot.cpp
rename to software/raspberry/superviseur-robot/src.sav/robot.cpp
index a871d8f..b3c4242 100644
--- a/software/raspberry/superviseur-robot/src/robot.cpp
+++ b/software/raspberry/superviseur-robot/src.sav/robot.cpp
@@ -1,3 +1,13 @@
+/**
+ * \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;
@@ -190,19 +200,19 @@ int getChar(char * c)
 
 int readSerial(char * msg)
 {
-    char car;
-    int i =0,j=0;
-    for(j = 0 ; j < 20 ; j++)
+    char car=0;
+    int i=0;
+    for(int j = 0 ; j < 20 ; j++)
         msg[j]=0;
-    while(car !='\r' && car!='\n')
-    {
-        if(i>=20)
+    
+    while(car !='\r' && car!='\n') {
+        if(i>=20) 
             return -5;
 
-        if(getChar(&car)==ROBOT_TIMED_OUT)
-        {
+        if(getChar(&car)==ROBOT_TIMED_OUT) {
             return ROBOT_TIMED_OUT;
         }
+        
         msg[i] = car;
         i++;
     }
diff --git a/software/raspberry/superviseur-robot/src/robot.h b/software/raspberry/superviseur-robot/src.sav/robot.h
similarity index 98%
rename from software/raspberry/superviseur-robot/src/robot.h
rename to software/raspberry/superviseur-robot/src.sav/robot.h
index 9fbe42d..e095f27 100644
--- a/software/raspberry/superviseur-robot/src/robot.h
+++ b/software/raspberry/superviseur-robot/src.sav/robot.h
@@ -1,5 +1,5 @@
 /**
- * \file      serial.h
+ * \file      robot.h
  * \author    L.Senaneuch
  * \version   1.0
  * \date      06/06/2017
diff --git a/software/raspberry/superviseur-robot/src/Robot.cpp b/software/raspberry/superviseur-robot/src/Robot.cpp
new file mode 100644
index 0000000..c1abdab
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src/Robot.cpp
@@ -0,0 +1,349 @@
+/*******************************************************************************
+ * 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/src/Robot.h b/software/raspberry/superviseur-robot/src/Robot.h
new file mode 100644
index 0000000..b3f9765
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src/Robot.h
@@ -0,0 +1,84 @@
+/*******************************************************************************
+ * 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/src/Serial.cpp b/software/raspberry/superviseur-robot/src/Serial.cpp
new file mode 100644
index 0000000..f9d1486
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src/Serial.cpp
@@ -0,0 +1,164 @@
+/*******************************************************************************
+ * 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/src/Serial.h b/software/raspberry/superviseur-robot/src/Serial.h
new file mode 100644
index 0000000..c2a1b11
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src/Serial.h
@@ -0,0 +1,49 @@
+/*
+ * 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/src/TcpServer.cpp b/software/raspberry/superviseur-robot/src/TcpServer.cpp
new file mode 100644
index 0000000..7fe55d4
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src/TcpServer.cpp
@@ -0,0 +1,93 @@
+/*******************************************************************************
+ * 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/src/TcpServer.h b/software/raspberry/superviseur-robot/src/TcpServer.h
new file mode 100644
index 0000000..450705b
--- /dev/null
+++ b/software/raspberry/superviseur-robot/src/TcpServer.h
@@ -0,0 +1,35 @@
+//
+// 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/src/definitions.h b/software/raspberry/superviseur-robot/src/definitions.h
index b016653..9d0f08d 100644
--- a/software/raspberry/superviseur-robot/src/definitions.h
+++ b/software/raspberry/superviseur-robot/src/definitions.h
@@ -14,30 +14,6 @@
 #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/src/image.cpp b/software/raspberry/superviseur-robot/src/image.cpp
index 885d046..0cf8540 100644
--- a/software/raspberry/superviseur-robot/src/image.cpp
+++ b/software/raspberry/superviseur-robot/src/image.cpp
@@ -1,5 +1,5 @@
 /**
- * \file      imagerie.cpp
+ * \file      image.cpp
  * \author    L.Senaneuch
  * \version   1.0
  * \date      06/06/2017
diff --git a/software/raspberry/superviseur-robot/src/image.h b/software/raspberry/superviseur-robot/src/image.h
index 82fee2d..bf16031 100644
--- a/software/raspberry/superviseur-robot/src/image.h
+++ b/software/raspberry/superviseur-robot/src/image.h
@@ -1,5 +1,5 @@
 /**
- * \file      imagerie.h
+ * \file      image.h
  * \author    L.Senaneuch
  * \version   1.0
  * \date      06/06/2017