diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk
index b279a12..3a34516 100644
--- a/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk
+++ b/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk
@@ -49,8 +49,8 @@ OBJECTFILES= \
 CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
 
 # CC Compiler Flags
-CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
-CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
+CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 -pg
+CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 -pg
 
 # Fortran Compiler Flags
 FFLAGS=
@@ -67,7 +67,7 @@ LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam
 
 ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
 	${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
-	${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lpthread -lrt
+	${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lpthread -lrt -pg
 
 ${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib/base64
diff --git a/software/raspberry/superviseur-robot/nbproject/configurations.xml b/software/raspberry/superviseur-robot/nbproject/configurations.xml
index e59133e..a0d54a3 100644
--- a/software/raspberry/superviseur-robot/nbproject/configurations.xml
+++ b/software/raspberry/superviseur-robot/nbproject/configurations.xml
@@ -213,7 +213,7 @@
             <pElem>./</pElem>
             <pElem>./lib</pElem>
           </incDir>
-          <commandLine>-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11</commandLine>
+          <commandLine>-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 -pg</commandLine>
           <preprocessorList>
             <Elem>_WITH_TRACE_</Elem>
             <Elem>__WITH_ARUCO__</Elem>
@@ -226,7 +226,7 @@
             <linkerLibLibItem>raspicam_cv</linkerLibLibItem>
             <linkerLibLibItem>raspicam</linkerLibLibItem>
           </linkerLibItems>
-          <commandLine>-Wl,--no-as-needed -lpthread -lrt</commandLine>
+          <commandLine>-Wl,--no-as-needed -lpthread -lrt -pg</commandLine>
         </linkerTool>
       </compileType>
       <item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">
diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml
index 32ac27e..1da5277 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/private.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml
@@ -9,6 +9,7 @@
         <group>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
+            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp</file>
diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.11-pi-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.11-pi-22
index 1fca2ca..aafbae6 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.11-pi-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.11-pi-22
@@ -1,4 +1,4 @@
-#Thu Jan 24 10:34:54 CET 2019
+#Thu Jan 24 17:03:52 CET 2019
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@@ -300,12 +300,12 @@
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-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1547735186000
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-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__inherit__graph.map=c1547560340000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1547735186000
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-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.png=c1547560339000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__inherit__graph.map=c1547560340000
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+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.png=c1547560339000
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-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk=c1548321601000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk=c1548345603000
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-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp=c1548322487000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__coll__graph.md5=c1547560339000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp=c1548345823000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/doxygen.png=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__coll__graph.md5=c1547560339000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/commonitor_8h__incl.png=c1547560339000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_0.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_c.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_0.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_7.js=c1547565563000
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@@ -415,21 +415,21 @@
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_6.js=c1547565563000
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-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/commonitor_8h__incl.md5=c1547560339000
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+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/commonitor_8h__incl.md5=c1547560339000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.html=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/closed.png=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int.html=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serverTest.cpp=c1547736477000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1548321303000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serverTest.cpp=c1547736477000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int.html=c1547565563000
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-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_1.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/not_for_students/examples/.gitignore=c1547736477000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menudata.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_1.js=c1547565563000
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+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menudata.js=c1547565563000
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.map=c1547560339000
@@ -440,17 +440,17 @@
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 VERSION=1.3
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/robot-icon.resized.png=c1547565563000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.js=c1547565563000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h.html=c1547565563000
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diff --git a/software/raspberry/superviseur-robot/tasks_pthread.cpp b/software/raspberry/superviseur-robot/tasks_pthread.cpp
index c145c3e..886f775 100644
--- a/software/raspberry/superviseur-robot/tasks_pthread.cpp
+++ b/software/raspberry/superviseur-robot/tasks_pthread.cpp
@@ -72,6 +72,7 @@ void Tasks::Init() {
 }
 
 void Tasks::Run() {
+    
     threadTimer = new thread((void (*)(void*)) & Tasks::TimerTask, this);
     threadServer = new thread((void (*)(void*)) & Tasks::ServerTask, this);
 
@@ -86,7 +87,6 @@ void Tasks::Stop() {
 void Tasks::ServerTask(void *arg) {
     Message *msgRcv;
     Message *msgSend;
-    bool isActive = true;
 
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
 
@@ -115,6 +115,8 @@ void Tasks::ServerTask(void *arg) {
         if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
             msgSend = robot.Write(msgRcv);
             cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
+            
+            isActive=false;
         }
 
         if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
@@ -135,7 +137,7 @@ void Tasks::ServerTask(void *arg) {
             msgSend = robot.Write(msgRcv);
 
             cout << "Movement answer: " << msgSend->ToString() << endl << flush;
-
+            
             if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
                 delete (msgSend);
                 msgSend = NULL;
@@ -228,7 +230,7 @@ void Tasks::TimerTask(void* arg) {
 
     counter_img = 0;
 
-    while (1) {
+    while (isActive) {
         Img image = camera.Grab(); // 15fps
         cntFrame++;
         cout << "cnt: " << to_string(cntFrame) << endl << flush;
diff --git a/software/raspberry/superviseur-robot/tasks_pthread.h b/software/raspberry/superviseur-robot/tasks_pthread.h
index dda6150..29c90e5 100644
--- a/software/raspberry/superviseur-robot/tasks_pthread.h
+++ b/software/raspberry/superviseur-robot/tasks_pthread.h
@@ -89,7 +89,7 @@ private:
     
     int counter;
     bool flag;
-    
+    bool isActive = true;
     bool showArena=false;
     
     thread *threadServer;