Fixed timing issue with battery

Fully working positions with multiple robots
Added basic position management.
2025-06-08 22:00:49 +02:00 · 2024-05-15 20:15:47 +02:00 · 2024-05-15 19:37:20 +02:00 · 2024-05-15 18:39:08 +02:00 · 2024-05-15 17:32:53 +02:00 · 2024-05-14 21:44:18 +02:00
33 changed files with 907 additions and 368 deletions
--- a/.gitignore
+++ b/.gitignore
@ -54,19 +54,6 @@ GUI
 *.7z
 *.rar

-# Images
-*.jpg
-*.png
-*.gif
-*.bmp
-*.jpeg
-*.tiff
-*.svg
-
-# Documents
-*.pdf
-*.chm
-
 # Trucs de MDK
 *.uvgui*
 *.bak
@ -83,7 +70,4 @@ GUI
 /software/dumber3/Tests/
 /software/dumber3/workspace/

-/hardware/meca/Dumber_2022/Pieces/
-/hardware/meca/Dumber_2022/OldVersions/
-
 /doc/Doc\ robot/doxygen/
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@ -0,0 +1,18 @@
+{
+  "configurations": [
+    {
+      "name": "linux-gcc-x64",
+      "includePath": [
+        "${workspaceFolder}/**"
+      ],
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "${default}",
+      "cppStandard": "${default}",
+      "intelliSenseMode": "linux-gcc-x64",
+      "compilerArgs": [
+        ""
+      ]
+    }
+  ],
+  "version": 4
+}
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -0,0 +1,59 @@
+{
+  "C_Cpp_Runner.cCompilerPath": "gcc",
+  "C_Cpp_Runner.cppCompilerPath": "g++",
+  "C_Cpp_Runner.debuggerPath": "gdb",
+  "C_Cpp_Runner.cStandard": "",
+  "C_Cpp_Runner.cppStandard": "",
+  "C_Cpp_Runner.msvcBatchPath": "",
+  "C_Cpp_Runner.useMsvc": false,
+  "C_Cpp_Runner.warnings": [
+    "-Wall",
+    "-Wextra",
+    "-Wpedantic",
+    "-Wshadow",
+    "-Wformat=2",
+    "-Wcast-align",
+    "-Wconversion",
+    "-Wsign-conversion",
+    "-Wnull-dereference"
+  ],
+  "C_Cpp_Runner.msvcWarnings": [
+    "/W4",
+    "/permissive-",
+    "/w14242",
+    "/w14287",
+    "/w14296",
+    "/w14311",
+    "/w14826",
+    "/w44062",
+    "/w44242",
+    "/w14905",
+    "/w14906",
+    "/w14263",
+    "/w44265",
+    "/w14928"
+  ],
+  "C_Cpp_Runner.enableWarnings": true,
+  "C_Cpp_Runner.warningsAsError": false,
+  "C_Cpp_Runner.compilerArgs": [],
+  "C_Cpp_Runner.linkerArgs": [],
+  "C_Cpp_Runner.includePaths": [],
+  "C_Cpp_Runner.includeSearch": [
+    "*",
+    "**/*"
+  ],
+  "C_Cpp_Runner.excludeSearch": [
+    "**/build",
+    "**/build/**",
+    "**/.*",
+    "**/.*/**",
+    "**/.vscode",
+    "**/.vscode/**"
+  ],
+  "C_Cpp_Runner.useAddressSanitizer": false,
+  "C_Cpp_Runner.useUndefinedSanitizer": false,
+  "C_Cpp_Runner.useLeakSanitizer": false,
+  "C_Cpp_Runner.showCompilationTime": false,
+  "C_Cpp_Runner.useLinkTimeOptimization": false,
+  "C_Cpp_Runner.msvcSecureNoWarnings": false
+}
--- a/README.md
+++ b/README.md
@ -8,3 +8,6 @@ Depot du projet de temps reel 4eme année au departement GEI de l'INSA Toulouse.
 - doc: contient les sujets de TD et TP
 - aruco_markers: Script de generation des tags (aruco) utilisés sur les robots

+
+/home/xenomai/.netbeans/remote/10.105.0.144/insa-10577-Linux-x86_64/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/dist/Debug__RPI_/GNU-Linux
+
--- a/hardware/meca/Dumber_2022/Dumber_2022_git.ipj
+++ b/hardware/meca/Dumber_2022/Dumber_2022_git.ipj
--- a/software/dumber3/.cproject
+++ b/software/dumber3/.cproject
@ -22,7 +22,6 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.1508870668" name="Core" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.475855176" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.802392362" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32L071CBTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32L0xx_HAL_Driver/Inc | ../Drivers/CMSIS/Device/ST/STM32L0xx/Include | ../Drivers/STM32L0xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM0 ||  ||  || USE_HAL_DRIVER | STM32L010x6 ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32L071CBTx_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c.1064254422" name="Runtime library" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c.value.nano_c" valueType="enumerated"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1582271634" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/Dumber3}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1329460993" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.635805233" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@ -34,7 +33,7 @@
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.620486962" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.2040942504" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.2040942504" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o2" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1441075970" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
--- a/software/dumber3/Application/application.c
+++ b/software/dumber3/Application/application.c
@ -35,10 +35,6 @@
 * Robot is basically controlled by a supervisor program and move depending on commands send by supervisor.
 * Movements are controlled by a camera.
 *
- * @warning Very important information: robot is use a 2.5V power supply so
- *          XBEE MODULES FROM S1 GENERATION DON'T WORK
- *          Use, at least, module from S2 generation
- *
 * @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
 * @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
 *
@ -70,7 +66,6 @@
 #include "battery.h"

 #include "panic.h"
-#include "rtos_support.h"

 /** @addtogroup Application_Software
  * @{
@ -128,7 +123,7 @@ StaticTask_t xTaskApplicationMain;
 /* Buffer that the task being created will use as its stack.  Note this is
    an array of StackType_t variables.  The size of StackType_t is dependent on
    the RTOS port. */
-StackType_t xStackApplicationMain[ STACK_SIZE*2 ];
+StackType_t xStackApplicationMain[ STACK_SIZE ];
 TaskHandle_t xHandleApplicationMain = NULL;

 StaticTimer_t xBufferTimerTimeout;
@ -149,9 +144,6 @@ APPLICATION_Timeout systemTimeout = {0};
  * @return None
  */
 void APPLICATION_Init(void) {
-	/* Init du support RTOS (notamment le timer de run time) */
-	//RTOS_SUPPORT_Init(); /* <- used for freertos run time usage */
-
 	/* Init des messages box */
 	MESSAGE_Init();

@ -167,7 +159,7 @@ void APPLICATION_Init(void) {
 	xHandleApplicationMain = xTaskCreateStatic(
 			APPLICATION_Thread,       /* Function that implements the task. */
 			"APPLICATION Thread",          /* Text name for the task. */
-			STACK_SIZE*2,      /* Number of indexes in the xStack array. */
+			STACK_SIZE,      /* Number of indexes in the xStack array. */
 			NULL,    /* Parameter passed into the task. */
 			PriorityApplicationHandler,/* Priority at which the task is created. */
 			xStackApplicationMain,          /* Array to use as the task's stack. */
@ -224,7 +216,6 @@ void APPLICATION_Thread(void* params) {
 					case CMD_TEST:
 					case CMD_DEBUG:
 						cmdSendAnswer(ANS_OK);
-						break;
 					case CMD_POWER_OFF:
 						systemInfos.powerOffRequired=1;
 						cmdSendAnswer(ANS_OK);
@ -414,15 +405,10 @@ void APPLICATION_StateMachine(void) {
 				if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance !=0)) ||
 						((systemInfos.cmd == CMD_TURN) && (systemInfos.turns !=0))) {
 					systemInfos.endOfMouvement = 0;
+					cmdSendAnswer(ANS_OK);
 					APPLICATION_TransitionToNewState(stateInMouvement);
-				} else {
-					if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance ==0)) || // This case (M=0 or T=0) correspond to STOP
-						((systemInfos.cmd == CMD_TURN) && (systemInfos.turns ==0))) {
-						systemInfos.endOfMouvement = 1;
-					}
-				}
-				cmdSendAnswer(ANS_OK);
-			} else if (systemInfos.state == stateInMouvement) { // in this state, MOVE and TURN cmds are accepted only if they come with no parameter (0)
+				} // if TURN and MOVE are sent without parameter, do nothing: we are still in run state
+			} else if (systemInfos.state == stateInMouvement) { // in this state, MOVE and TURN cmds are accepted only if they come with no parameter
 				if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance ==0)) ||
 						((systemInfos.cmd == CMD_TURN) && (systemInfos.turns ==0))) {
 					systemInfos.endOfMouvement = 1;
--- a/software/dumber3/Application/application.h
+++ b/software/dumber3/Application/application.h
@ -41,8 +41,6 @@
 #include "xbee.h"
 #include "commands.h"

-#include "rtos_support.h"
-
 #include "main.h"

 /** @addtogroup Application_Software
--- a/software/dumber3/Application/config.h
+++ b/software/dumber3/Application/config.h
@ -44,11 +44,11 @@
 *  Version in plain text and as a numeric value
 */
 ///@{
-#define SYSTEM_VERSION_STR			"2.3"
-#define SYSTEM_VERSION				0x0203	// Upper byte: major version, lower byte: minor version
+#define SYSTEM_VERSION_STR			"2.1"
+#define SYSTEM_VERSION				0x0201	// Upper byte: major version, lower byte: minor version
 ///@}

-#define STACK_SIZE 					64
+#define STACK_SIZE 					0x100

 /** @name Tasks priority constants
 *  Priority is based on configMAX_PRIORITIES which represent highest task priority.
--- a/software/dumber3/Application/messages.c
+++ b/software/dumber3/Application/messages.c
@ -62,12 +62,6 @@ void  MESSAGE_Init(void) {
 	MOTORS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
 	APPLICATION_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
 	XBEE_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
-
-	/* Add queues to registry in order to view them in stm32cube ide */
-	vQueueAddToRegistry(LEDS_Mailbox,"LEDS Mailbox");
-	vQueueAddToRegistry(MOTORS_Mailbox,"MOTORS Mailbox");
-	vQueueAddToRegistry(APPLICATION_Mailbox,"APPLICATION Mailbox");
-	vQueueAddToRegistry(XBEE_Mailbox,"XBEE Mailbox");
 }

 /**
--- a/software/dumber3/Application/rtos_support.c
+++ b/software/dumber3/Application/rtos_support.c
@ -1,115 +0,0 @@
-/**
- ******************************************************************************
- * @file motors.c
- * @brief motors driver body
- * @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
- * @date December 2023
- *
- ******************************************************************************
- * @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
- * @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
- *
- * @copyright This file is part of "Dumber" project
- *
- * @copyright This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public
- * License as published by the Free Software Foundation; either
- * version 3 of the License, or (at your option) any later version.
- *
- * @copyright This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * Lesser General Public License for more details.
-
- * @copyright You should have received a copy of the GNU Lesser General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
- *
- ******************************************************************************
- */
-
-#include "rtos_support.h"
-
-#include "stm32l0xx_ll_tim.h"
-
-/** @addtogroup Application_Software
-  * @{
-  */
-
-/** @addtogroup RTOS_SUPPORT
- * RTOS support module provide several functions for task run time measurement.
- * @{
- */
-
-/** @addtogroup RTOS_SUPPORT_Private Private
- * @{
- */
-
-uint16_t RTOS_SUPPORT_counter16bitUpper=0;
-
-/**
- * @brief TIM7 Initialization Function
- */
-void RTOS_SUPPORT_Init(void) {
-	TIM_ClockConfigTypeDef sClockSourceConfig = { 0 };
-	TIM_HandleTypeDef htim7;
-
-	__HAL_RCC_TIM7_CLK_ENABLE();
-
-	htim7.Instance = TIM7;
-	htim7.Init.Prescaler = 0;
-	htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
-	htim7.Init.Period = 65535;
-	htim7.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-	htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-	if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
-	{
-		Error_Handler();
-	}
-
-	sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-	if (HAL_TIM_ConfigClockSource(&htim7, &sClockSourceConfig) != HAL_OK) {
-		Error_Handler();
-	}
-
-	/* TIM7 interrupt Init */
-	LL_TIM_EnableIT_UPDATE(TIM7);
-	HAL_NVIC_SetPriority(TIM7_IRQn, 1, 0);
-	HAL_NVIC_EnableIRQ(TIM7_IRQn);
-
-	RTOS_SUPPORT_counter16bitUpper=0;
-	LL_TIM_EnableCounter(TIM7);
-}
-
-/**
- * @brief Get 32bit emulated timer based on TIM7
- *
- * @return 32bit timer
- */
-uint32_t RTOS_SUPPORT_GetTimer(void) {
-
-	uint16_t currentVal=LL_TIM_GetCounter(TIM7);
-
-	return (uint32_t)((((uint32_t)RTOS_SUPPORT_counter16bitUpper)<<16) + (uint32_t)currentVal);
-}
-
-/**
-  * @brief This function handles TIM7 update interrupt for 32bit
-  */
-void TIM7_IRQHandler(void) {
-  LL_TIM_ClearFlag_UPDATE(TIM7);
-
-  RTOS_SUPPORT_counter16bitUpper++;
-}
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
--- a/software/dumber3/Application/rtos_support.h
+++ b/software/dumber3/Application/rtos_support.h
@ -1,40 +0,0 @@
-/*
- * rtos_support.h
- *
- *  Created on: Jan 12, 2024
- *      Author: dimercur
- */
-
-#ifndef RTOS_SUPPORT_H_
-#define RTOS_SUPPORT_H_
-
-#include "application.h"
-
-/** @addtogroup Application_Software
-  * @{
-  */
-
-/** @addtogroup RTOS_SUPPORT
- * @{
- */
-
-/** @addtogroup RTOS_SUPPORT_Public Public
- * @{
- */
-
-void RTOS_SUPPORT_Init(void);
-uint32_t RTOS_SUPPORT_GetTimer(void);
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-#endif /* RTOS_SUPPORT_H_ */
--- a/software/dumber3/Application/xbee.c
+++ b/software/dumber3/Application/xbee.c
@ -40,11 +40,6 @@

 /** @addtogroup XBEE
 * Xbee driver handles RF communications with supervisor
- *
- * @warning Very important information: robot is use a 2.5V power supply so
- *          XBEE MODULES FROM S1 GENERATION DON'T WORK
- *          Use, at least, module from S2 generation
- *
 * @{
 */

@ -103,6 +98,7 @@ StackType_t xStackXbeeRX[ STACK_SIZE ];
 TaskHandle_t xHandleXbeeRX = NULL;

 uint8_t rxBuffer[XBEE_RX_BUFFER_MAX_LENGTH]={0};
+//uint8_t rxWaitForACK =0;
 uint8_t rxPhase;
 uint16_t rxCmdLength;
 uint16_t rxDataToReceive;
@ -114,7 +110,9 @@ uint16_t rxIndex;

 /****** TX part ******/
 SemaphoreHandle_t xHandleSemaphoreTX = NULL;
+//SemaphoreHandle_t xHandleSemaphoreTX_ACK = NULL;
 StaticSemaphore_t xSemaphoreTX;
+//StaticSemaphore_t xSemaphoreTX_ACK;

 /**
 * @brief  Function for initializing xbee system
@ -124,14 +122,12 @@ StaticSemaphore_t xSemaphoreTX;
 */
 void XBEE_Init(void) {
 	xHandleSemaphoreTX = xSemaphoreCreateBinaryStatic( &xSemaphoreTX );
+	//xHandleSemaphoreTX_ACK = xSemaphoreCreateBinaryStatic( &xSemaphoreTX_ACK );
 	xSemaphoreGive(xHandleSemaphoreTX);
+	//xSemaphoreTake(xHandleSemaphoreTX_ACK);

 	xHandleSemaphoreRX = xSemaphoreCreateBinaryStatic( &xSemaphoreRx );

-	/* Add semaphores to registry in order to view them in stm32cube ide */
-	vQueueAddToRegistry(xHandleSemaphoreTX,"XBEE TX sem");
-	vQueueAddToRegistry(xHandleSemaphoreRX,"XBEE RX sem");
-
 	/* Create the task without using any dynamic memory allocation. */
 	xHandleXbeeRX = xTaskCreateStatic(
 			XBEE_RxThread,       /* Function that implements the task. */
@ -208,6 +204,10 @@ int XBEE_SendData(char* data) {
 	                           if answer is false, it means timeout appends
 	                           We should probably reset something in "else" branch */

+		//	while (LL_USART_IsEnabledIT_TXE(hlpuart1.Instance)) {
+		//		vTaskDelay(pdMS_TO_TICKS(1));
+		//	}
+
 		strncpy((char*)txBuffer,data,XBEE_TX_BUFFER_MAX_LENGTH-1);
 		txBuffer[XBEE_TX_BUFFER_MAX_LENGTH-1]=0;
 		txRemainingData = strlen((char*)txBuffer);
@ -261,12 +261,6 @@ void XBEE_TX_IRQHandler(void) {
 *
 * Wait for incoming message and send them to application mailbox
 *
- * @warning Very important information: robot is use a 2.5V power supply so
- *          XBEE MODULES FROM S1 GENERATION DON'T WORK
- *          Use, at least, module from S2 generation
- *          Behavior of using S1 generation is that you receive only two '0' chars than nothing. In
- *          case of this behavior, check module generation
- *
 * @param[in] params Initial task parameters
 * @return None
 */
@ -304,12 +298,6 @@ void XBEE_RxThread(void* params) {
 * 		  This ISR is called when USART reception register is full, containing a newly received char
 * 		  A Semaphore is used to signal end of frame reception to \ref XBEE_RxThread function
 *
- * @warning Very important information: robot is use a 2.5V power supply so
- *          XBEE MODULES FROM S1 GENERATION DON'T WORK
- *          Use, at least, module from S2 generation
- *          Behavior of using S1 generation is that you receive only two '0' chars than nothing. In
- *          case of this behavior, check module generation
- *
 * @param None
 * @return None
 */
@ -318,11 +306,6 @@ void XBEE_RX_IRQHandler(void) {
 	uint8_t data;

 	data = LL_USART_ReceiveData8(hlpuart1.Instance); // lecture de l'octet reçu
-	/*
-	 * In case you only receive '0' chars (than nothing), check you XBEE module generation
-	 * XBEE MODULES FROM S1 GENERATION DON'T WORK because robot is 2.5V and modules need more
-	 * Use, at least, module from S2 generation
-	 */

 	if (data != XBEE_ENDING_CHAR) { // end of command not received
 		rxBuffer[rxIndex] = data;
--- a/software/dumber3/Core/Inc/FreeRTOSConfig.h
+++ b/software/dumber3/Core/Inc/FreeRTOSConfig.h
@ -31,9 +31,6 @@
 #ifndef FREERTOS_CONFIG_H
 #define FREERTOS_CONFIG_H

-extern void RTOS_SUPPORT_Init(void);
-extern uint32_t RTOS_SUPPORT_GetTimer(void);
-
 /*-----------------------------------------------------------
 * Application specific definitions.
 *
@ -65,9 +62,9 @@ extern uint32_t RTOS_SUPPORT_GetTimer(void);
 #define configUSE_TICK_HOOK                      0
 #define configCPU_CLOCK_HZ                       ( SystemCoreClock )
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
-#define configMAX_PRIORITIES                     ( 12 )
+#define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)10240)
+#define configTOTAL_HEAP_SIZE                    ((size_t)1024)
 #define configMAX_TASK_NAME_LEN                  ( 25 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0
@ -85,13 +82,13 @@ extern uint32_t RTOS_SUPPORT_GetTimer(void);

 /* Co-routine definitions. */
 #define configUSE_CO_ROUTINES                    0
-#define configMAX_CO_ROUTINE_PRIORITIES          ( 1 )
+#define configMAX_CO_ROUTINE_PRIORITIES          ( 2 )

 /* Software timer definitions. */
 #define configUSE_TIMERS                         1
-#define configTIMER_TASK_PRIORITY                ( 1 )
+#define configTIMER_TASK_PRIORITY                ( 3 )
 #define configTIMER_QUEUE_LENGTH                 10
-#define configTIMER_TASK_STACK_DEPTH             64
+#define configTIMER_TASK_STACK_DEPTH             256

 /* The following flag must be enabled only when using newlib */
 #define configUSE_NEWLIB_REENTRANT          1
@ -155,8 +152,4 @@ placed into the low power state respectively. */
 #define configPOST_SLEEP_PROCESSING                       PostSleepProcessing
 #endif /* configUSE_TICKLESS_IDLE == 1 */

-#define configGENERATE_RUN_TIME_STATS       		1
-#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() RTOS_SUPPORT_Init()
-#define portGET_RUN_TIME_COUNTER_VALUE() RTOS_SUPPORT_GetTimer()
-
 #endif /* FREERTOS_CONFIG_H */
--- a/software/dumber3/Core/Src/main.c
+++ b/software/dumber3/Core/Src/main.c
@ -55,12 +55,12 @@ TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim21;

 /* Definitions for defaultTask */
-//osThreadId_t defaultTaskHandle;
-//const osThreadAttr_t defaultTask_attributes = {
-//  .name = "defaultTask",
-//  .stack_size = 128 * 4,
-//  .priority = (osPriority_t) osPriorityNormal,
-//};
+osThreadId_t defaultTaskHandle;
+const osThreadAttr_t defaultTask_attributes = {
+  .name = "defaultTask",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
+};
 /* USER CODE BEGIN PV */

 /* USER CODE END PV */
@ -146,7 +146,7 @@ int main(void)

  /* Create the thread(s) */
  /* creation of defaultTask */
-//defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
 	/* add threads, ... */
@ -644,9 +644,9 @@ TickType_t msToTicks(TickType_t ms) {
 * @retval None
 */
 /* USER CODE END Header_StartDefaultTask */
-//void StartDefaultTask(void *argument)
-//{
-//  /* USER CODE BEGIN 5 */
+void StartDefaultTask(void *argument)
+{
+  /* USER CODE BEGIN 5 */
 //	LEDS_State state = leds_off;
 //
 //	/* Infinite loop */
@ -660,13 +660,8 @@ TickType_t msToTicks(TickType_t ms) {
 //
 //		vTaskDelay(pdMS_TO_TICKS(5000));
 //	}
-//  /* USER CODE END 5 */
-//
-//	while (1)
-//	{
-//		//vTaskDelay(pdMS_TO_TICKS(50));
-//	}
-//}
+  /* USER CODE END 5 */
+}

 /**
  * @brief  Period elapsed callback in non blocking mode
--- a/software/dumber3/Dumber3
+++ b/software/dumber3/Dumber3
@ -35,11 +35,10 @@
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="3344"/>
    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_ALLOW_HALT" value="false"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_SIGNAL_HALT" value="false"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_DEVICE_SHAREABLE_ALLOWED" value="false"/>
@ -71,7 +70,7 @@
    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="enable"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="true"/>
    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="freertos"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
@ -81,9 +80,9 @@
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.stlink"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.openocd"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
-    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
+    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="3333"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
--- a/software/raspberry/superviseur-robot/nbproject/configurations.xml
+++ b/software/raspberry/superviseur-robot/nbproject/configurations.xml
@ -41,9 +41,21 @@
                   kind="IMPORTANT_FILES_FOLDER">
      <itemPath>./Makefile</itemPath>
    </logicalFolder>
+    <logicalFolder name="TestFiles"
+                   displayName="Test Files"
+                   projectFiles="false"
+                   kind="TEST_LOGICAL_FOLDER">
+    </logicalFolder>
+    <logicalFolder name="ExternalFiles"
+                   displayName="Important Files"
+                   projectFiles="false"
+                   kind="IMPORTANT_FILES_FOLDER">
+      <itemPath>./Makefile</itemPath>
+    </logicalFolder>
  </logicalFolder>
  <sourceRootList>
    <Elem>lib</Elem>
+    <Elem>lib</Elem>
  </sourceRootList>
  <projectmakefile>./Makefile</projectmakefile>
  <confs>
--- a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
@ -41,7 +41,7 @@
    </conf>
    <conf name="Debug__RPI_" type="1">
      <toolsSet>
-        <developmentServer>xenomai@10.105.1.7:22</developmentServer>
+        <developmentServer>xenomai@10.105.0.146:22</developmentServer>
        <platform>2</platform>
      </toolsSet>
      <dbx_gdbdebugger version="1">
--- a/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.0.138-xenomai-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.0.138-xenomai-22
--- a/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.0.140-xenomai-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.0.140-xenomai-22
--- a/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.0.144-xenomai-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.0.144-xenomai-22
--- a/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.0.145-xenomai-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.0.145-xenomai-22
--- a/software/raspberry/superviseur-robot/nbproject/private/private.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml
@ -6,6 +6,9 @@
    </data>
    <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
    <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
-        <group/>
+        <group>
+            <file>file:/home/boujon/Documents/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
+            <file>file:/home/boujon/Documents/dumber/software/raspberry/superviseur-robot/tasks.h</file>
+        </group>
    </open-files>
 </project-private>
--- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.138-xenomai-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.138-xenomai-22
@ -0,0 +1,39 @@
+#Tue Mar 26 14:16:07 CET 2024
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/main.cpp=c1711457904172
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1711457904197
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1711458297850
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/Makefile=c1711457904018
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1711457904155
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1711457904169
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1711458297867
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1711457904114
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1711457904187
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.h=c1711457904245
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/README.md=c1711457904021
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1711458720366
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1711457904182
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1711457904238
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1711457904124
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1711457904242
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1711457904151
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.dep.inc=c1711458948692
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.h=c1711457904162
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1711457904141
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1711457904135
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1711457904159
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1711457904130
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1711457904132
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1711457904148
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/wrapper.c=c1711457904248
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1711457904138
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1711457904165
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1711457904109
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1711457904127
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1711457904121
+VERSION=1.3
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1711457904144
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1711457904185
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1711457904190
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.gitignore=c1711457904015
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1711457904230
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1711457904118
--- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.140-xenomai-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.140-xenomai-22
@ -0,0 +1,39 @@
+#Thu Apr 04 18:04:54 CEST 2024
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/main.cpp=c1712238648769
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1712238648773
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1712238648790
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/Makefile=c1712238648634
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1712238648755
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1712238648766
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1712238648775
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1712238648721
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1712238648782
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.h=c1712246527533
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/README.md=c1712238648637
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1712238648826
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1712238648778
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1712238648829
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1712238648730
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1712246689680
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1712238648753
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.dep.inc=c1712238648629
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.h=c1712238648760
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1712238648744
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1712238648739
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1712238648758
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1712238648735
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1712238648737
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1712238648750
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/wrapper.c=c1712238648838
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1712238648742
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1712238648763
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1712238648718
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1712238648733
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1712238648728
+VERSION=1.3
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1712238648747
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1712238648780
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1712238648784
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.gitignore=c1712238648632
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1712238648823
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1712238648726
--- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.144-xenomai-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.144-xenomai-22
@ -0,0 +1,39 @@
+#Tue Mar 26 16:47:57 CET 2024
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/main.cpp=c1711457904172
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1711457904197
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1711458297850
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/Makefile=c1711457904018
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1711457904155
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1711457904169
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1711458297867
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1711457904114
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1711457904187
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.h=c1711467801732
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/README.md=c1711457904021
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1711458720366
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1711457904182
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1711457904238
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1711457904124
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1711468071294
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1711457904151
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.h=c1711457904162
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.dep.inc=c1711458948692
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1711457904141
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1711457904135
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1711457904159
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1711457904130
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1711457904132
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1711457904148
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/wrapper.c=c1711457904248
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1711457904138
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1711457904165
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1711457904109
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1711457904127
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1711457904121
+VERSION=1.3
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1711457904144
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1711457904185
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1711457904190
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.gitignore=c1711457904015
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1711457904230
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1711457904118
--- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.145-xenomai-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.145-xenomai-22
@ -0,0 +1,39 @@
+#Tue May 07 19:37:34 CEST 2024
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/main.cpp=c1712238648769
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1712238648773
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1712238648790
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/Makefile=c1712238648634
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1712238648755
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1712238648766
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1712238648775
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1712238648721
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1712238648782
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.h=c1715102079582
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/README.md=c1712238648637
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1712238648826
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1712238648778
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1712238648829
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1712238648730
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1715103442554
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1712238648753
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.dep.inc=c1712238648629
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.h=c1712238648760
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1712238648744
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1712238648739
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1712238648758
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1712238648735
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1712238648737
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1712238648750
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/wrapper.c=c1712238648838
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1712238648742
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1712238648763
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1712238648718
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1712238648733
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1712238648728
+VERSION=1.3
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1712238648747
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1712238648780
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1712238648784
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.gitignore=c1712238648632
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1712238648823
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1712238648726
--- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.146-xenomai-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.146-xenomai-22
--- a/software/raspberry/superviseur-robot/nbproject/project.properties
+++ b/software/raspberry/superviseur-robot/nbproject/project.properties
@ -1,2 +1,2 @@
-#Tue Nov 13 11:04:27 CET 2018
+#Tue May 14 13:44:12 CEST 2024
 project.license=gpl30
--- a/software/raspberry/superviseur-robot/nbproject/project.xml
+++ b/software/raspberry/superviseur-robot/nbproject/project.xml
@ -11,6 +11,7 @@
            <make-dep-projects/>
            <sourceRootList>
                <sourceRootElem>lib</sourceRootElem>
+                <sourceRootElem>lib</sourceRootElem>
            </sourceRootList>
            <confList>
                <confElem>
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@ -17,15 +17,26 @@

 #include "tasks.h"
 #include <stdexcept>
+#include <vector>

-// Déclaration des priorités des taches
+// Task priority: higher has the best priority 
 #define PRIORITY_TSERVER 30
 #define PRIORITY_TOPENCOMROBOT 20
 #define PRIORITY_TMOVE 20
 #define PRIORITY_TSENDTOMON 22
 #define PRIORITY_TRECEIVEFROMMON 25
 #define PRIORITY_TSTARTROBOT 20
+
+// Added Priorities
+// Camera is the most important as it has the most demanding timing request (10ms)
 #define PRIORITY_TCAMERA 21
+// Battery has a timing request of 500ms which is not important
+#define PRIORITY_TBATTERY 19
+// These priorities are for "Semaphored" tasks, not periodic.
+// Their priority is lower.
+#define PRIORITY_TSETCAMERA 18
+#define PRIOTITY_TARENA 17
+#define PRIOTITY_TPOSITION 16

 /*
 * Some remarks:
@ -37,7 +48,7 @@
 * 3- Data flow is probably not optimal
 * 
 * 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
- *   time for internal buffer to flush
+ *   time for interponal buffer to flush
 * 
 * 5- Same behavior existe for ComMonitor::Write !
 * 
@ -73,6 +84,28 @@ void Tasks::Init() {
        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
+    
+    // Added Mutexes
+    if (err = rt_mutex_create(&mutex_batteryGet, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_mutex_create(&mutex_cameraStatus, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_mutex_create(&mutex_camera, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_mutex_create(&mutex_arena, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_mutex_create(&mutex_arenaStatus, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
    cout << "Mutexes created successfully" << endl << flush;

    /**************************************************************************************/
@ -94,6 +127,20 @@ void Tasks::Init() {
        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
+    
+    // Added Semaphores
+    if (err = rt_sem_create(&sem_instantBattery, NULL, 0, S_FIFO)) {
+        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_sem_create(&sem_manageCamera, NULL, 0, S_FIFO)) {
+        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_sem_create(&sem_arenaChoice, NULL, 0, S_FIFO)) {
+        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
    cout << "Semaphores created successfully" << endl << flush;

    /**************************************************************************************/
@ -123,6 +170,28 @@ void Tasks::Init() {
        cerr << "Error task create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
+    // Added tasks
+    if (err = rt_task_create(&th_batteryPeriodic, "th_batteryPeriodic", 0, PRIORITY_TBATTERY, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_create(&th_battery, "th_battery", 0, PRIORITY_TBATTERY, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_create(&th_cameraManage, "th_cameraManage", 0, PRIORITY_TSETCAMERA, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_create(&th_cameraImage, "th_cameraImage", 0, PRIORITY_TCAMERA, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_create(&th_arenaChoice, "th_arenaChoice", 0, PRIOTITY_TARENA, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    
    cout << "Tasks created successfully" << endl << flush;

    /**************************************************************************************/
@ -167,6 +236,28 @@ void Tasks::Run() {
        cerr << "Error task start: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
+    
+    // Added Tasks
+    if (err = rt_task_start(&th_batteryPeriodic, (void(*)(void*)) & Tasks::BatteryPeriodicTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_start(&th_battery, (void(*)(void*)) & Tasks::BatteryTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_start(&th_cameraManage, (void(*)(void*)) & Tasks::ManageCameraTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_start(&th_cameraImage, (void(*)(void*)) & Tasks::ImageCameraTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    if (err = rt_task_start(&th_arenaChoice, (void(*)(void*)) & Tasks::ArenaChoiceTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }

    cout << "Tasks launched" << endl << flush;
 }
@ -192,7 +283,7 @@ void Tasks::Join() {
 */
 void Tasks::ServerTask(void *arg) {
    int status;
-    
+
    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are started)
    rt_sem_p(&sem_barrier, TM_INFINITE);
@ -219,7 +310,7 @@ void Tasks::ServerTask(void *arg) {
 */
 void Tasks::SendToMonTask(void* arg) {
    Message *msg;
-    
+
    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are starting)
    rt_sem_p(&sem_barrier, TM_INFINITE);
@ -244,11 +335,11 @@ void Tasks::SendToMonTask(void* arg) {
 */
 void Tasks::ReceiveFromMonTask(void *arg) {
    Message *msgRcv;
-    
+
    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are starting)
    rt_sem_p(&sem_barrier, TM_INFINITE);
-    
+
    /**************************************************************************************/
    /* The task receiveFromMon starts here                                                */
    /**************************************************************************************/
@ -276,6 +367,77 @@ void Tasks::ReceiveFromMonTask(void *arg) {
            move = msgRcv->GetID();
            rt_mutex_release(&mutex_move);
        }
+
+        // Added messages
+        // Battery
+        else if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
+            rt_mutex_acquire(&mutex_batteryGet, TM_INFINITE);
+            batteryEnabled = true;
+            rt_mutex_release(&mutex_batteryGet);
+            
+            // Calling BatteryTask, unblocking the thread.
+            rt_sem_v(&sem_instantBattery);
+        }
+        // Camera
+        else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
+            rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
+            if(CameraStatusEnum::CLOSED == cameraStatus)
+                cameraStatus = CameraStatusEnum::OPENING;
+            rt_mutex_release(&mutex_cameraStatus);
+            
+            // Calling manageCamera, unblocking the thread.
+            rt_sem_v(&sem_manageCamera);
+        }
+        else if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
+            rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
+            if(CameraStatusEnum::OPENED == cameraStatus)
+                cameraStatus = CameraStatusEnum::CLOSING;
+            rt_mutex_release(&mutex_cameraStatus);
+            
+            // Calling manageCamera, unblocking the thread.
+            rt_sem_v(&sem_manageCamera);
+        }
+        // Arena
+        else if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
+            rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
+            if(ArenaStatusEnum::NONE == arenaStatus)
+                arenaStatus = ArenaStatusEnum::SEARCHING;
+            rt_mutex_release(&mutex_arenaStatus);
+            
+            // Calling arenaChoice, unblocking the thread.
+            rt_sem_v(&sem_arenaChoice);
+        }
+        else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
+            rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
+            if(ArenaStatusEnum::SEARCHED == arenaStatus)
+                arenaStatus = ArenaStatusEnum::CONFIRM;
+            rt_mutex_release(&mutex_arenaStatus);
+            
+            // Calling arenaChoice, unblocking the thread.
+            rt_sem_v(&sem_arenaChoice);
+        }
+        else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
+            rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
+            if(ArenaStatusEnum::SEARCHED == arenaStatus)
+                arenaStatus = ArenaStatusEnum::INFIRM;
+            rt_mutex_release(&mutex_arenaStatus);
+            
+            // Calling arenaChoice, unblocking the thread.
+            rt_sem_v(&sem_arenaChoice);
+        }
+        else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)){   
+            rt_mutex_acquire(&mutex_positionEnabled, TM_INFINITE);
+            positionEnabled = true;
+            rt_mutex_release(&mutex_positionEnabled);
+        }
+        else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)){   
+            rt_mutex_acquire(&mutex_positionEnabled, TM_INFINITE);
+            positionEnabled = false;
+            rt_mutex_release(&mutex_positionEnabled);
+        }
+        else if (msgRcv->CompareID(MESSAGE_CAM_IMAGE)) {
+            //?
+        }
        delete(msgRcv); // mus be deleted manually, no consumer
    }
 }
@ -290,7 +452,7 @@ void Tasks::OpenComRobot(void *arg) {
    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are starting)
    rt_sem_p(&sem_barrier, TM_INFINITE);
-    
+
    /**************************************************************************************/
    /* The task openComRobot starts here                                                  */
    /**************************************************************************************/
@ -320,7 +482,7 @@ void Tasks::StartRobotTask(void *arg) {
    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are starting)
    rt_sem_p(&sem_barrier, TM_INFINITE);
-    
+
    /**************************************************************************************/
    /* The task startRobot starts here                                                    */
    /**************************************************************************************/
@ -336,7 +498,7 @@ void Tasks::StartRobotTask(void *arg) {
        cout << ")" << endl;

        cout << "Movement answer: " << msgSend->ToString() << endl << flush;
-        WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
+        WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon

        if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
            rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
@ -352,11 +514,11 @@ void Tasks::StartRobotTask(void *arg) {
 void Tasks::MoveTask(void *arg) {
    int rs;
    int cpMove;
-    
+
    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are starting)
    rt_sem_p(&sem_barrier, TM_INFINITE);
-    
+
    /**************************************************************************************/
    /* The task starts here                                                               */
    /**************************************************************************************/
@ -364,7 +526,7 @@ void Tasks::MoveTask(void *arg) {

    while (1) {
        rt_task_wait_period(NULL);
-        cout << "Periodic movement update";
+        //cout << "Periodic movement update";
        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
        rs = robotStarted;
        rt_mutex_release(&mutex_robotStarted);
@ -372,14 +534,14 @@ void Tasks::MoveTask(void *arg) {
            rt_mutex_acquire(&mutex_move, TM_INFINITE);
            cpMove = move;
            rt_mutex_release(&mutex_move);
-            
+
            cout << " move: " << cpMove;
-            
+
            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
-            robot.Write(new Message((MessageID)cpMove));
+            robot.Write(new Message((MessageID) cpMove));
            rt_mutex_release(&mutex_robot);
        }
-        cout << endl << flush;
+        //cout << endl << flush;
    }
 }

@ -415,3 +577,298 @@ Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
    return msg;
 }

+/************************************************************************/
+/* Added Tasks                                                          */
+/************************************************************************/
+
+void Tasks::BatteryPeriodicTask(void * arg) {
+    // Variables
+    int rs(0);
+    bool be(false);
+
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+
+
+    // Periodic task set to 500ms
+    rt_task_set_periodic(NULL, TM_NOW, 500000000);
+
+    while (1) {
+        rt_task_wait_period(NULL);
+        this->SendBattery(rs,be);
+    }
+}
+
+void Tasks::BatteryTask(void * arg) {
+    // Variables
+    int rs(0);
+    bool be(false);
+    
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+    
+    while(1)
+    {
+        // Called when semaphore arenChoice incremented
+        rt_sem_p(&sem_instantBattery, TM_INFINITE);
+        this->SendBattery(rs,be);
+    }
+}
+
+void Tasks::ManageCameraTask(void * arg)
+{
+    // Variables
+    int rs(0);
+    CameraStatusEnum cs(CameraStatusEnum::CLOSED);
+
+    // Checking if all tasks started
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+
+
+    while(1)
+    {
+        // Called when semaphore manageCamera incremented
+        rt_sem_p(&sem_manageCamera, TM_INFINITE);
+        
+        // Check the status of the camera and store it in a local variable
+        rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
+        cs = cameraStatus;
+        rt_mutex_release(&mutex_cameraStatus);
+
+        // Opening the camera
+        if(CameraStatusEnum::OPENING == cs)
+        {
+            const MessageID tempMessage = this->OpenCamera();
+            WriteInQueue(&q_messageToMon, new Message(tempMessage));
+        }
+        // Closing the camera
+        if(CameraStatusEnum::CLOSING == cs)
+        {
+            this->CloseCamera();
+            WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
+        }
+    }
+}
+
+void Tasks::ImageCameraTask(void * arg)
+{
+    // Variables
+    CameraStatusEnum cs = CameraStatusEnum::CLOSED;
+    Arena a = Arena();
+    std::vector<MessagePosition*> msgPos = {};
+    MessageImg *msgImg = nullptr;
+    bool pe = false;
+    std::list<Position> listPos = {};
+    
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+    
+    // Periodic task set to 10ms
+    rt_task_set_periodic(NULL, TM_NOW, 100000000);
+
+    while(1)
+    {
+        rt_task_wait_period(NULL);
+        
+        // Check the status of the camera
+        rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
+        const CameraStatusEnum cs = cameraStatus;
+        rt_mutex_release(&mutex_cameraStatus);
+        
+        // Gathering arena
+        rt_mutex_acquire(&mutex_arena, TM_INFINITE);
+        a = arena;
+        rt_mutex_release(&mutex_arena);
+        
+        rt_mutex_acquire(&mutex_positionEnabled, TM_INFINITE);
+        pe = positionEnabled;
+        rt_mutex_release(&mutex_positionEnabled);
+        
+        // Only gather image if opened
+        if(CameraStatusEnum::OPENED == cs)
+        {
+            // Gathering an image from the camera
+            rt_mutex_acquire(&mutex_camera, TM_INFINITE);
+            Img * img = new Img(cam->Grab());
+            rt_mutex_release(&mutex_camera);
+            
+            // If arena has been found, draw overlay
+            if(!a.IsEmpty())
+                img->DrawArena(a);
+            
+            // Gathering position
+            if(pe)
+            {
+                // Gather every robot available
+                listPos = img->SearchRobot(a);
+                // For every position, draw the robot and send the message
+                for(auto l : listPos)
+                {
+                    img->DrawRobot(l);
+                    msgPos.emplace_back(new MessagePosition(MESSAGE_CAM_POSITION, l));
+                }
+            }
+            
+            msgImg= new MessageImg(MESSAGE_CAM_IMAGE, img);
+            rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
+            // Writing every message position
+            for(auto mp : msgPos)
+                monitor.Write(mp);
+            // Writing every message image
+            monitor.Write(msgImg);
+            rt_mutex_release(&mutex_monitor);
+            
+            // clearing the vector because all its values are unassigned
+            msgPos.clear();
+        }
+    }
+}
+
+void Tasks::ArenaChoiceTask(void * arg)
+{   
+    // Variables
+    Img* img = nullptr;
+    Arena a;
+    ArenaStatusEnum as(ArenaStatusEnum::NONE);
+    
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+    
+    while(1)
+    {
+        // Called when semaphore arenChoice incremented
+        rt_sem_p(&sem_arenaChoice, TM_INFINITE);
+
+        // Check the status of the arena
+        rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
+        as = arenaStatus;
+        rt_mutex_release(&mutex_arenaStatus);
+        
+        // ASK_ARENA
+        if(as == ArenaStatusEnum::SEARCHING)
+        {   
+            // Change status for next command
+            rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
+            arenaStatus = ArenaStatusEnum::SEARCHED;
+            rt_mutex_release(&mutex_arenaStatus);
+            
+            rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
+            const CameraStatusEnum cs = cameraStatus;
+            rt_mutex_release(&mutex_cameraStatus);
+            
+            // Only search if camera is already opened
+            if(CameraStatusEnum::OPENED == cs)
+            {
+                // Prepare to close the camera
+                rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
+                cameraStatus = CameraStatusEnum::CLOSING;
+                rt_mutex_release(&mutex_cameraStatus);
+                
+                // Gathering last image
+                rt_mutex_acquire(&mutex_camera, TM_INFINITE);
+                img = new Img(cam->Grab());
+                rt_mutex_release(&mutex_camera);
+                // Closing camera when prompted
+                this->CloseCamera();
+                // Putting the arena overlay if found
+                a = img->SearchArena();
+            }
+            
+            if(a.IsEmpty())
+                WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
+            // If arena is not empty show the arena
+            else {
+                // Adding overlay on the image
+                img->DrawArena(a);
+                // Sending it to the writing queue
+                MessageImg *msgImg = new MessageImg(MESSAGE_CAM_IMAGE, img);
+                rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
+                monitor.Write(msgImg);
+                rt_mutex_release(&mutex_monitor);
+                WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
+            }
+        }
+        
+        // ARENA_CONFIRM / INFIRM
+        if((ArenaStatusEnum::CONFIRM == as) || (ArenaStatusEnum::INFIRM == as))
+        {
+            rt_mutex_acquire(&mutex_arena, TM_INFINITE);
+            arena = a;
+            rt_mutex_release(&mutex_arena);
+            
+            // empty the temporary arena
+            a = Arena();
+            // Re-open the camera (showing overlay if arena is stored)
+            rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
+            cameraStatus = CameraStatusEnum::OPENING;
+            rt_mutex_release(&mutex_cameraStatus);
+            this->OpenCamera();
+
+            // Change the status of the arena to default value
+            rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
+            arenaStatus = ArenaStatusEnum::NONE;
+            rt_mutex_release(&mutex_arenaStatus);
+        }
+    }
+}
+
+/************************************************************************/
+/* Added functions                                                      */
+/************************************************************************/
+
+void Tasks::SendBattery(int& rs, bool& be)
+{
+    // Verify that the robot has started
+    rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+    rs = robotStarted;
+    rt_mutex_release(&mutex_robotStarted);
+
+    // Checking if battery should be gathered
+    rt_mutex_acquire(&mutex_batteryGet, TM_INFINITE);
+    be = batteryEnabled;
+    rt_mutex_release(&mutex_batteryGet);
+
+    if ((rs != 0) && be) {
+        // Acquire the battery level and send it to the message queue
+        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+        Message* msg = robot.Write(new Message(MESSAGE_ROBOT_BATTERY_GET));
+        rt_mutex_release(&mutex_robot);
+        WriteInQueue(&q_messageToMon, msg);
+    }
+}
+
+MessageID Tasks::OpenCamera()
+{
+    cout << "Called " << __PRETTY_FUNCTION__ << endl << flush;
+    // Opening camera
+    rt_mutex_acquire(&mutex_camera, TM_INFINITE);
+    const bool isOpened = cam->Open();
+    rt_mutex_release(&mutex_camera);
+
+    // Changing status if succeeded
+    if(isOpened)
+    {
+        rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
+        cameraStatus = CameraStatusEnum::OPENED;
+        rt_mutex_release(&mutex_cameraStatus);
+    }
+    return (isOpened ? MESSAGE_ANSWER_ACK : MESSAGE_ANSWER_NACK);
+}
+
+void Tasks::CloseCamera()
+{
+    cout << "\n\nCalled " << __PRETTY_FUNCTION__ << "\n\n" << flush;
+    // Closing Camera
+    rt_mutex_acquire(&mutex_camera, TM_INFINITE);
+    cam->Close();
+    rt_mutex_release(&mutex_camera);
+    
+    // Changing Status
+    rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
+    cameraStatus = CameraStatusEnum::CLOSED;
+    rt_mutex_release(&mutex_cameraStatus);
+}
--- a/software/raspberry/superviseur-robot/tasks.h
+++ b/software/raspberry/superviseur-robot/tasks.h
@ -36,6 +36,33 @@

 using namespace std;

+/**
+ * @brief The monitor can change the shared data 'cameraStatus' to
+ *  either 'OPENING' or 'CLOSING'. ManageCamera() will be awake afterwards.
+ * Then the variable can switch state to open or close the camera.
+ * Default value should be 'CLOSED'.
+ */
+enum class CameraStatusEnum {
+    CLOSED,
+    OPENING,
+    OPENED,
+    CLOSING
+};
+
+/**
+ * @ref CameraStatusEnum "Same principle"
+ * @brief The arena can change the shared data 'arenaStatus' to
+ * either 'SEARCHING', 'CONFIRM' or 'INFIRM'. The other status will be
+ * changed by the task ArenaChoice().
+ */
+enum class ArenaStatusEnum {
+    NONE,
+    SEARCHING,
+    SEARCHED,
+    CONFIRM,
+    INFIRM
+};
+
 class Tasks {
 public:
    /**
@ -52,12 +79,12 @@ public:
     * @brief Stops tasks
     */
    void Stop();
-    
+
    /**
     * @brief Suspends main thread
     */
    void Join();
-    
+
 private:
    /**********************************************************************/
    /* Shared data                                                        */
@ -66,7 +93,24 @@ private:
    ComRobot robot;
    int robotStarted = 0;
    int move = MESSAGE_ROBOT_STOP;
+
+    /************************************************************************/
+    /* Added variables                                                      */
+    /************************************************************************/
    
+    // when gathering battery, set to true
+    bool batteryEnabled = false;
+    // current status of the camera
+    CameraStatusEnum cameraStatus = CameraStatusEnum::CLOSED;
+    // camera object
+    Camera* cam = new Camera(sm, 10);
+    // current status of the arena
+    ArenaStatusEnum arenaStatus = ArenaStatusEnum::NONE;
+    // arena object (overlay of the arena on the img)
+    Arena arena;
+    // when gathering position, set to true
+    bool positionEnabled = false;
+
    /**********************************************************************/
    /* Tasks                                                              */
    /**********************************************************************/
@ -77,6 +121,12 @@ private:
    RT_TASK th_startRobot;
    RT_TASK th_move;
    
+    RT_TASK th_batteryPeriodic;
+    RT_TASK th_battery;
+    RT_TASK th_cameraManage;
+    RT_TASK th_cameraImage;
+    RT_TASK th_arenaChoice;
+
    /**********************************************************************/
    /* Mutex                                                              */
    /**********************************************************************/
@ -85,6 +135,21 @@ private:
    RT_MUTEX mutex_robotStarted;
    RT_MUTEX mutex_move;

+    // Added mutexes
+
+    // Locking the variable 'robotBatteryGet'
+    RT_MUTEX mutex_batteryGet;
+    // Locking the variable 'cameraStatus'
+    RT_MUTEX mutex_cameraStatus;
+    // Locking the variable 'cam'
+    RT_MUTEX mutex_camera;
+    // Locking the variable 'arena'
+    RT_MUTEX mutex_arena;
+    // Locking the variable 'arenaStatus'
+    RT_MUTEX mutex_arenaStatus;
+    // Locking the variable 'positionEnabled'
+    RT_MUTEX mutex_positionEnabled;
+
    /**********************************************************************/
    /* Semaphores                                                         */
    /**********************************************************************/
@ -93,12 +158,21 @@ private:
    RT_SEM sem_serverOk;
    RT_SEM sem_startRobot;

+    // Added semaphores
+
+    // Used when we want to show the battery once.
+    RT_SEM sem_instantBattery;
+    // Used to call ManageCameraTask (non-periodic)
+    RT_SEM sem_manageCamera;
+    // Used to call ArenaChoiceTask (non-periodic)
+    RT_SEM sem_arenaChoice;
+
    /**********************************************************************/
    /* Message queues                                                     */
    /**********************************************************************/
    int MSG_QUEUE_SIZE;
    RT_QUEUE q_messageToMon;
-    
+
    /**********************************************************************/
    /* Tasks' functions                                                   */
    /**********************************************************************/
@ -106,17 +180,17 @@ private:
     * @brief Thread handling server communication with the monitor.
     */
    void ServerTask(void *arg);
-     
+
    /**
     * @brief Thread sending data to monitor.
     */
    void SendToMonTask(void *arg);
-        
+
    /**
     * @brief Thread receiving data from monitor.
     */
    void ReceiveFromMonTask(void *arg);
-    
+
    /**
     * @brief Thread opening communication with the robot.
     */
@ -126,12 +200,67 @@ private:
     * @brief Thread starting the communication with the robot.
     */
    void StartRobotTask(void *arg);
-    
+
    /**
     * @brief Thread handling control of the robot.
     */
    void MoveTask(void *arg);
+
+
+    /************************************************************************/
+    /* Added Tasks                                                          */
+    /************************************************************************/
+
+    /**
+     * @brief [periodic: 500ms]
+     * Task managing the battery. When prompted will get the battery
+     * from the robot and resend it to the monitor.
+     */
+    void BatteryPeriodicTask(void * arg);
+    void BatteryTask(void * arg);
+
+    /**
+     * @brief Task managing the camera opening and closing. Will check what
+     * state the camera has and change depending on what the monitor asks.
+     */
+    void ManageCameraTask(void * arg);
+
+    /**
+     * @brief [periodic: 10ms]
+     * Task Managing the image received by the camera. Will send each frame
+     * if camera's state is opened.
+     */
+    void ImageCameraTask(void * arg);
+
+    /**
+     * @brief Task managing the Arena.
+     * Will search for a camera and overlay if found.
+     * Will store the arena and then show it afterwards.
+     */
+    void ArenaChoiceTask(void * arg);
    
+    
+    void FindPositionTask(void * arg);
+    
+    /************************************************************************/
+    /* Added functions                                                      */
+    /************************************************************************/
+    
+    void SendBattery(int& rs, bool& be);
+    
+    /**
+     * @brief Thread safe. Will open the camera and change the status if succeeded.
+     * 
+     * @return MessageID returns MESSAGE_ANSWER_ACK if successful, NACK if not.
+     */
+    MessageID OpenCamera();
+
+    /**
+     * @brief Thread safe. Will close the camera and change the status.
+     */
+    void CloseCamera();
+
+
    /**********************************************************************/
    /* Queue services                                                     */
    /**********************************************************************/
@ -141,7 +270,7 @@ private:
     * @param msg Message to be stored
     */
    void WriteInQueue(RT_QUEUE *queue, Message *msg);
-    
+
    /**
     * Read a message from a given queue, block if empty
     * @param queue Queue identifier
@ -149,7 +278,10 @@ private:
     */
    Message *ReadInQueue(RT_QUEUE *queue);

+
+
 };

+
 #endif // __TASKS_H__ 

--- a/software/robot/robot
+++ b/software/robot/robot
@ -1,78 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.cubeprog_external_loaders" value="[]"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
-    <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/robot.elf&quot;,&quot;fProjectName&quot;:&quot;robot&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="/home/dimercur/Travail/git/dumber/software/robot/Release/st-link_gdbserver_log.txt"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="connect_under_reset"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
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Author	SHA1	Message	Date
Robin Marin-Muller	0121dc5707	Fixed timing issue with battery	2024-05-15 20:15:47 +02:00
Robin Marin-Muller	d89d36d040	Fully working positions with multiple robots	2024-05-15 19:37:20 +02:00
Robin Marin-Muller	ce68e09679	Added basic position management.	2024-05-15 18:39:08 +02:00
Robin Marin-Muller	5b9656c67a	Fixed mutex issues with arena. Fully working arena.	2024-05-15 17:32:53 +02:00
Yohan Boujon	fc2a05ab13	Added comments. maybe fixed issue with overlay not showing when choosing arena.	2024-05-14 21:44:18 +02:00
Yohan Boujon	0792fc301d	Added semaphore for ManageCamera Task. Added some comments.	2024-05-14 20:49:26 +02:00
Yohan Boujon	9df1899580	Added semaphore for Arena	2024-05-14 13:55:27 +02:00
Robin Marin-Muller	8b39e4e099	Fixed issues with Arena, but not displaying overlay yet	2024-05-14 10:56:58 +02:00
Yohan Boujon	866412162b	Renamed Tasks to respect requirements	2024-05-11 22:14:08 +02:00
Yohan Boujon	61b7855f3c	Fixed issue with cam opening/closing. Changing how Camera behaves and Arena	2024-05-11 14:35:51 +02:00
Yohan Boujon	e018b5d0f4	Storing into a vector the choosen Arena	2024-05-11 12:11:24 +02:00
Yohan Boujon	5904a21007	Added Mutex and Thread management for arenaChoice.	2024-05-11 11:20:44 +02:00
Robin Marin-Muller	8f84e6d42e	Arena detection working without Mutexes	2024-05-07 20:03:15 +02:00
Robin Marin-Muller	80fa2240f8	Fixed battery error	2024-04-04 18:13:03 +02:00
Robin Marin-Muller	c67814a39b	Added acknowledge, created SendToRobot()	2024-04-04 17:55:02 +02:00
Robin Marin-Muller	b7fae99df4	Fully working Camera closing	2024-04-04 17:27:28 +02:00
Marin-Muller Robin	b75a775775	Fully working Camera opening	2024-04-04 17:07:38 +02:00
Yohan Boujon	8d8dc0586f	Camera: Added boilerplate for camera opening and image gathering (to test). Battery: Sending data to monitor.	2024-03-26 23:17:38 +01:00
Marin-Muller Robin	7d8d4456aa	Battery is now fully working.	2024-03-26 16:52:41 +01:00
Marin-Muller Robin	9a88a66cc1	Added battery monitoring task	2024-03-26 15:27:20 +01:00