From 00dfa3f2ab6870d572dcd60e25f03aa5f5e2c5f2 Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Sat, 1 Nov 2025 10:06:10 +0100
Subject: [PATCH 01/49] Feat :  Creation du fichier backend qui permettra de
 recupererles informations (vitesse reelles,vites que voit la camera etc...)  
     Pour l'instat il n'y a que la recuperation de la vitesse reell vitesse
 cible

---
 src/HL/backend.py | 60 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 60 insertions(+)
 create mode 100644 src/HL/backend.py

diff --git a/src/HL/backend.py b/src/HL/backend.py
new file mode 100644
index 00000000..0891985d
--- /dev/null
+++ b/src/HL/backend.py
@@ -0,0 +1,60 @@
+from flask import Flask, jsonify
+from flask_cors import CORS
+import time
+# --- NOUVELLES IMPORTATIONS POUR LES CAPTEURS ---
+
+import smbus as smbus  #type: ignore #ignore the module could not be resolved error because it is a linux only module
+# --------------------------------------------
+
+# Initialise l'application Flask
+app = Flask(__name__)
+CORS(app)
+
+# ---------------------------
+# Create an SMBus instance
+bus = smbus.SMBus(1)  # 1 indicates /dev/i2c-1
+
+# I2C address of the slave
+SLAVE_ADDRESS = 0x08
+
+def lire_donnees_arduino():
+    """
+    Lit 4 octets de l'Arduino et les convertit en 2 entiers.
+    On veut la vitesse reel et la vitesse cible
+    """
+    try:
+        # Demande 4 octets à l'esclave.
+        # read_i2c_block_data(adresse, commande, nombre_octets)
+        # La "commande" (le 0) n'est pas utilisée par notre Arduino,
+        # mais le protocole l'exige.
+        data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, 4)
+
+        # Les données arrivent sous forme de liste :
+        # data = [highByte1, lowByte1, highByte2, lowByte2]
+
+        # Reconstituer les entiers
+        valeur1 = (data[0] << 8) | data[1]
+        valeur2 = (data[2] << 8) | data[3]
+
+        return valeur1, valeur2
+
+    except IOError as e:
+        print(f"Erreur I2C : {e}")
+        return None, None
+    except Exception as e:
+        print(f"Erreur inattendue : {e}")
+        return None, None
+
+
+
+# Définit la "route" principale de l'API
+@app.route('/data')
+def get_data():
+    vitesse_reelle,vitesse_cible = lire_donnees_arduino()
+    donnees = {'vitesse_reelles':vitesse_reelle,'vitesse_cible':vitesse_cible}
+    return jsonify(donnees)
+
+
+# Point d'entrée pour démarrer le serveur
+if __name__ == '__main__':
+    app.run(host='0.0.0.0', port=5000)
\ No newline at end of file

From 9337d689855df09599be60970aa44611582440ed Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Tue, 4 Nov 2025 15:03:14 +0100
Subject: [PATCH 02/49] Feat : Ajout de la vision de la camera

---
 src/HL/Camera.py                   |  22 ++++
 src/HL/backend.py                  |  68 +++++++++--
 src/HL/site_controle/controle.html | 174 +++++++++++++++++++++++++++++
 3 files changed, 257 insertions(+), 7 deletions(-)
 create mode 100644 src/HL/site_controle/controle.html

diff --git a/src/HL/Camera.py b/src/HL/Camera.py
index 4d2a78ac..b8ac02c4 100644
--- a/src/HL/Camera.py
+++ b/src/HL/Camera.py
@@ -6,6 +6,8 @@
 import threading
 import shutil
 import scipy as sp
+import io  # <-- NOUVEL IMPORT
+import cv2 # <-- NOUVEL IMPORT
 
 N_IMAGES = 100  # Number of images to capture
 SAVE_DIR = "Captured_Frames"  # Directory to save frames
@@ -36,6 +38,10 @@ def __init__(self):
         os.makedirs(SAVE_DIR, exist_ok=True)  # Crée le répertoire s'il n'existe pas
         os.makedirs(DEBUG_DIR, exist_ok=True)  # Crée le répertoire de débogage s'il n'existe pas
         os.makedirs(DEBUG_DIR_wayfinding, exist_ok=True)  # Crée le répertoire de débogage s'il n'existe pas
+        # --- VARIABLES POUR LE STREAMING ---
+        self.streaming_frame = None  # Contiendra les bytes de l'image JPEG
+        self.streaming_lock = threading.Lock()  # Sécurité pour le thread
+        # ---------------------------------------------
         self.capture_image()  # Capture une image pour initialiser le répertoire de sauvegarde
         
     def capture_image(self):
@@ -44,6 +50,22 @@ def capture_image(self):
         frame = self.picam2.capture_array()
         image = Image.fromarray(frame).convert("RGB")
         image.save(self.image_path)
+        # Pour l'envoie du flux video
+        # Redimensionner l'image pour un flux plus léger (ex: 640x360)
+        # Note: 1920x1080 -> 16:9. Gardons le ratio.
+        stream_width = 640
+        stream_height = int(stream_width * (1080 / 1920))  # 640x360
+
+        stream_frame = cv2.resize(frame, (stream_width, stream_height))
+
+        # Encoder cette petite image en JPEG
+        ret, buffer = cv2.imencode('.jpg', stream_frame)
+
+        if ret:
+            # Stocker les bytes de l'image de manière sécurisée
+            with self.streaming_lock:
+                self.streaming_frame = buffer.tobytes()
+        #Fin de la partie ajouté
         self.image_no += 1
         return image
     
diff --git a/src/HL/backend.py b/src/HL/backend.py
index 0891985d..76733700 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -1,9 +1,11 @@
 from flask import Flask, jsonify
 from flask_cors import CORS
 import time
-# --- NOUVELLES IMPORTATIONS POUR LES CAPTEURS ---
-
+import logging as log
+import numpy as np
 import smbus as smbus  #type: ignore #ignore the module could not be resolved error because it is a linux only module
+from Camera import Camera
+
 # --------------------------------------------
 
 # Initialise l'application Flask
@@ -11,12 +13,20 @@
 CORS(app)
 
 # ---------------------------
-# Create an SMBus instance
+# Creer une instance SMBus
 bus = smbus.SMBus(1)  # 1 indicates /dev/i2c-1
 
 # I2C address of the slave
 SLAVE_ADDRESS = 0x08
 
+log.basicConfig(level=log.INFO) # Mettre log.DEBUG pour plus de détails
+log.info("Initialisation de la caméra...")
+cam = Camera()
+log.info("Caméra initialisée.")
+log.info("Démarrage du thread de capture...")
+cam.start()
+log.info("Thread de capture démarré.")
+
 def lire_donnees_arduino():
     """
     Lit 4 octets de l'Arduino et les convertit en 2 entiers.
@@ -27,14 +37,14 @@ def lire_donnees_arduino():
         # read_i2c_block_data(adresse, commande, nombre_octets)
         # La "commande" (le 0) n'est pas utilisée par notre Arduino,
         # mais le protocole l'exige.
-        data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, 4)
+        data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, 8)
 
         # Les données arrivent sous forme de liste :
         # data = [highByte1, lowByte1, highByte2, lowByte2]
 
         # Reconstituer les entiers
-        valeur1 = (data[0] << 8) | data[1]
-        valeur2 = (data[2] << 8) | data[3]
+        valeur1 = (data[0] << 24) | (data[1] << 16) |(data[2] << 8) | data[3]
+        valeur2 = (data[4] << 24) | (data[5] << 16) |(data[6] << 8) | data[7]
 
         return valeur1, valeur2
 
@@ -45,14 +55,58 @@ def lire_donnees_arduino():
         print(f"Erreur inattendue : {e}")
         return None, None
 
+def gen_frames():
+    """Générateur qui lit le flux depuis l'objet Caméra."""
+    log.info("Démarrage du flux vidéo.")
+    while True:
+        # Limite le framerate pour ne pas saturer le réseau
+        time.sleep(0.05)  # ~20 images/seconde
+
+        frame_bytes = None
 
+        # Lit l'image la plus récente de manière thread-safe
+        with cam.streaming_lock:
+            frame_bytes = cam.streaming_frame
+
+        if frame_bytes:
+            # Envoie l'image au navigateur
+            yield (b'--frame\r\n'
+                   b'Content-Type: image/jpeg\r\n\r\n' + frame_bytes + b'\r\n')
 
 # Définit la "route" principale de l'API
 @app.route('/data')
 def get_data():
+    """
+    Cette route exécute votre analyse d'image
+    et renvoie les résultats.
+    """
     vitesse_reelle,vitesse_cible = lire_donnees_arduino()
     donnees = {'vitesse_reelles':vitesse_reelle,'vitesse_cible':vitesse_cible}
-    return jsonify(donnees)
+    try:
+        matrix = cam.camera_matrix()
+
+        # Renvoyer des données utiles au format JSON
+        if matrix is not None:
+            data = {
+                'matrix_sum': int(np.sum(matrix)),
+                'matrix_mean': float(np.mean(matrix)),
+                'total_red': int(np.count_nonzero(matrix == -1)),
+                'total_green': int(np.count_nonzero(matrix == 1)),
+            }
+        else:
+            data = {'error': 'Matrix could not be calculated'}
+
+        return jsonify(data|donnees)
+    except Exception as e:
+        log.error(f"Erreur dans /data: {e}")
+        return jsonify({'error': str(e)}), 500
+
+
+@app.route('/video_feed')
+def video_feed():
+    """La route qui sert le flux vidéo."""
+    return Response(gen_frames(),
+                    mimetype='multipart/x-mixed-replace; boundary=frame')
 
 
 # Point d'entrée pour démarrer le serveur
diff --git a/src/HL/site_controle/controle.html b/src/HL/site_controle/controle.html
new file mode 100644
index 00000000..f3b1cbf7
--- /dev/null
+++ b/src/HL/site_controle/controle.html
@@ -0,0 +1,174 @@
+<!DOCTYPE html>
+<html lang="fr">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>Dashboard Pi Complet</title>
+    <style>
+        body { font-family: Arial, sans-serif; margin: 20px; background-color: #f0f2f5; }
+        h1, h2 { color: #333; border-bottom: 2px solid #ccc; padding-bottom: 5px; }
+
+        /* Conteneur principal pour organiser en colonnes */
+        .container {
+            display: flex;
+            flex-wrap: wrap; /* Permet de passer à la ligne sur petits écrans */
+            gap: 20px;
+        }
+
+        /* Colonne de gauche (Vidéo) */
+        .video-col {
+            flex: 2; /* Prend 2/3 de la largeur */
+            min-width: 640px;
+        }
+
+        /* Colonne de droite (Données) */
+        .data-col {
+            flex: 1; /* Prend 1/3 de la largeur */
+            min-width: 300px;
+        }
+
+        /* Styles pour les boîtes de données */
+        .data-box {
+            background-color: #ffffff;
+            padding: 20px;
+            border-radius: 8px;
+            box-shadow: 0 2px 4px rgba(0,0,0,0.1);
+            margin-bottom: 20px;
+        }
+        .data-box h2 {
+            margin-top: 0;
+        }
+        .data-box div {
+            font-size: 20px;
+            margin-bottom: 12px;
+            display: flex;
+            justify-content: space-between;
+        }
+        .data-box div strong {
+            font-size: 22px;
+            color: #0056b3;
+        }
+
+        /* Style pour la vidéo */
+        #video-stream {
+            display: block;
+            width: 100%; /* S'adapte à la largeur de sa colonne */
+            height: auto;
+            border-radius: 8px;
+            background-color: #000;
+        }
+
+        #status { font-size: 14px; color: grey; margin-top: 10px; }
+    </style>
+</head>
+<body>
+
+<h1>Dashboard Raspberry Pi</h1>
+
+<div class="container">
+
+    <div class="video-col">
+        <div class="data-box">
+            <h2>Flux en direct</h2>
+            <img id="video-stream"
+                 src="http://[VOTRE_IP_RASPBERRY_PI]:5000/video_feed"
+                 alt="Flux vidéo du Raspberry Pi">
+        </div>
+    </div>
+
+    <div class="data-col">
+
+        <div class="data-box">
+            <h2>Analyse Caméra</h2>
+            <div>Total Vert : <strong id="cam-green">--</strong></div>
+            <div>Total Rouge : <strong id="cam-red">--</strong></div>
+            <div>Somme Matrice : <strong id="cam-sum">--</strong></div>
+        </div>
+
+        <div class="data-box">
+            <h2>Données Arduino (I2C)</h2>
+            <div>Capteur A0 : <strong id="arduino-a0">--</strong></div>
+            <div>Compteur : <strong id="arduino-count">--</strong></div>
+        </div>
+
+        <div id="status">En attente de données...</div>
+    </div>
+
+</div>
+
+<script>
+    // ###############################################################
+    // ##  IMPORTANT : REMPLACEZ PAR L'ADRESSE IP DE VOTRE PI       ##
+    // ###############################################################
+    const RASPBERRY_PI_IP = "[VOTRE_IP_RASPBERRY_PI]";
+    // ###############################################################
+
+    // --- SECTION SCRIPT (MISE À JOUR) ---
+
+    const apiUrl = `http://${RASPBERRY_PI_IP}:5000/data`;
+
+    // Sélection des éléments d'analyse caméra
+    const camGreenEl = document.getElementById('cam-green');
+    const camRedEl = document.getElementById('cam-red');
+    const camSumEl = document.getElementById('cam-sum');
+
+    // Sélection des nouveaux éléments Arduino
+    const arduinoA0El = document.getElementById('arduino-a0');
+    const arduinoCountEl = document.getElementById('arduino-count');
+
+    const statusElement = document.getElementById('status');
+    const videoElement = document.getElementById('video-stream');
+
+    // Configure la source vidéo (une seule fois)
+    videoElement.src = `http://${RASPBERRY_PI_IP}:5000/video_feed`;
+
+    async function fetchData() {
+        statusElement.textContent = "Mise à jour...";
+        try {
+            const response = await fetch(apiUrl);
+            if (!response.ok) {
+                throw new Error(`Erreur HTTP: ${response.status}`);
+            }
+
+            // Récupère l'objet JSON complet
+            const data = await response.json();
+
+            // --- Mise à jour des données Caméra ---
+            if (data.camera && !data.camera.error) {
+                camGreenEl.textContent = data.camera.total_green;
+                camRedEl.textContent = data.camera.total_red;
+                camSumEl.textContent = data.camera.matrix_sum;
+            } else {
+                camGreenEl.textContent = "Erreur";
+                camRedEl.textContent = "Erreur";
+                camSumEl.textContent = "Erreur";
+            }
+
+            // --- Mise à jour des données Arduino ---
+            if (data.arduino && data.arduino.capteur_A0 !== null) {
+                arduinoA0El.textContent = data.arduino.capteur_A0;
+                arduinoCountEl.textContent = data.arduino.compteur;
+            } else {
+                // Gère le cas où l'I2C échoue (retourne null)
+                arduinoA0El.textContent = "Erreur I2C";
+                arduinoCountEl.textContent = "Erreur I2C";
+            }
+
+            statusElement.textContent = `Dernière mise à jour : ${new Date().toLocaleTimeString()}`;
+
+        } catch (error) {
+            console.error("Impossible de récupérer les données:", error);
+            statusElement.textContent = `Erreur de connexion au Pi (${error.message})`;
+        }
+    }
+
+    // Appelle la fonction une première fois au chargement
+    fetchData();
+
+    // Met à jour les données toutes les 5 secondes (5000 ms)
+    // (Vous pouvez réduire à 2000ms si vous voulez plus de réactivité)
+    setInterval(fetchData, 5000);
+
+</script>
+</body>
+</html>
\ No newline at end of file

From c783228901aab00219382ddb83f522a2dd3e11a1 Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Tue, 4 Nov 2025 15:23:30 +0100
Subject: [PATCH 03/49] Fix: mis Ip arduin o pour le site

---
 src/HL/site_controle/controle.html | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/HL/site_controle/controle.html b/src/HL/site_controle/controle.html
index f3b1cbf7..1a074ac2 100644
--- a/src/HL/site_controle/controle.html
+++ b/src/HL/site_controle/controle.html
@@ -100,7 +100,7 @@ <h2>Données Arduino (I2C)</h2>
     // ###############################################################
     // ##  IMPORTANT : REMPLACEZ PAR L'ADRESSE IP DE VOTRE PI       ##
     // ###############################################################
-    const RASPBERRY_PI_IP = "[VOTRE_IP_RASPBERRY_PI]";
+    const RASPBERRY_PI_IP = "192.168.1.10";
     // ###############################################################
 
     // --- SECTION SCRIPT (MISE À JOUR) ---

From b16d93a6b0c87912440227899f88fdc4c37085b7 Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Tue, 4 Nov 2025 16:17:38 +0100
Subject: [PATCH 04/49] fix : import

---
 src/HL/Serveur.py |  0
 src/HL/backend.py | 11 ++++++-----
 2 files changed, 6 insertions(+), 5 deletions(-)
 create mode 100644 src/HL/Serveur.py

diff --git a/src/HL/Serveur.py b/src/HL/Serveur.py
new file mode 100644
index 00000000..e69de29b
diff --git a/src/HL/backend.py b/src/HL/backend.py
index 76733700..e6225c6c 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -1,10 +1,11 @@
-from flask import Flask, jsonify
+from flask import Flask, jsonify, Response
 from flask_cors import CORS
 import time
 import logging as log
 import numpy as np
 import smbus as smbus  #type: ignore #ignore the module could not be resolved error because it is a linux only module
 from Camera import Camera
+import struct
 
 # --------------------------------------------
 
@@ -29,7 +30,7 @@
 
 def lire_donnees_arduino():
     """
-    Lit 4 octets de l'Arduino et les convertit en 2 entiers.
+    Lit huit octets de l'Arduino et les convertit en 2 float.
     On veut la vitesse reel et la vitesse cible
     """
     try:
@@ -43,10 +44,10 @@ def lire_donnees_arduino():
         # data = [highByte1, lowByte1, highByte2, lowByte2]
 
         # Reconstituer les entiers
-        valeur1 = (data[0] << 24) | (data[1] << 16) |(data[2] << 8) | data[3]
-        valeur2 = (data[4] << 24) | (data[5] << 16) |(data[6] << 8) | data[7]
+        vitesse_reel = struct.unpack('<f', bytearray(data[0:4]))[0]
+        vitesse_cible = struct.unpack('<f', bytearray(data[4:8]))[0]
 
-        return valeur1, valeur2
+        return vitesse_reel, vitesse_cible
 
     except IOError as e:
         print(f"Erreur I2C : {e}")

From 59fce7b82b6f682d99030b974d6aff2d2c6a39f7 Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Tue, 4 Nov 2025 19:05:02 +0100
Subject: [PATCH 05/49] Feat : Creation du seerveur et adapdation de backend

---
 src/HL/Serveur.py | 69 +++++++++++++++++++++++++++++++++++++++++++++++
 src/HL/backend.py | 32 ++++------------------
 2 files changed, 74 insertions(+), 27 deletions(-)

diff --git a/src/HL/Serveur.py b/src/HL/Serveur.py
index e69de29b..758013f9 100644
--- a/src/HL/Serveur.py
+++ b/src/HL/Serveur.py
@@ -0,0 +1,69 @@
+import time
+import logging
+import sys
+from systemd.journal import JournaldLogHandler
+import zerorpc
+import struct
+import smbus #type: ignore
+"""
+Lanccer un serveur qui tourne h24 qui gere l'intercommunication des processus (qui sont externe a la Pi)
+Cf envoie vitesse a l'arduino, communication avec l'ecran , avec les boutons ,avec le lidar et la camera 
+Tout doit passer par cette classe qui tourne s
+"""
+
+bus = smbus.SMBus(1)  # 1 indicates /dev/i2c-1
+
+# I2C address of the slave
+SLAVE_ADDRESS = 0x08
+
+
+vitesse = 200 # en millimetre par seconde
+direction = 100 # en degré
+
+
+class ApiVoiture(): # pylint: disable=too-few-public-methods
+    """
+        ça controlera tout
+    """
+
+    def write_vitesse_direction(self,vitesse, direction):
+        # Convert string to list of ASCII values
+        data = struct.pack('<ff', float(vitesse), float(direction))
+        bus.write_i2c_block_data(SLAVE_ADDRESS, 0, list(data))
+
+    def read_data(self,length):
+        # Read a block of data from the slave
+        data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, length)
+        # Convert the byte data to a float
+        if len(data) >= 4:
+            float_value = struct.unpack('f', bytes(data[:4]))[0]
+            return float_value
+        else:
+            raise ValueError("Not enough data received from I2C bus")
+
+    def lire_donnees_arduino(self):
+        """
+        Lit huit octets de l'Arduino et les convertit en 2 float.
+        On veut la vitesse reel et la vitesse cible
+        """
+        try:
+            # Demande 8 octets à l'esclave.
+            data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, 8)
+            # Reconstituer les entiers
+            vitesse_reel = struct.unpack('<f', bytearray(data[0:4]))[0]
+            vitesse_cible = struct.unpack('<f', bytearray(data[4:8]))[0]
+
+            return vitesse_reel, vitesse_cible
+
+        except IOError as e:
+            print(f"Erreur I2C : {e}")
+            return None, None
+        except Exception as e:
+            print(f"Erreur inattendue : {e}")
+            return None, None
+
+if __name__ == '__main__':
+
+    s  = zerorpc.Server(ApiVoiture())
+    s.bind("tcp://0.0.0.0:4242")
+    s.run()
\ No newline at end of file
diff --git a/src/HL/backend.py b/src/HL/backend.py
index e6225c6c..111651e2 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -5,6 +5,7 @@
 import numpy as np
 import smbus as smbus  #type: ignore #ignore the module could not be resolved error because it is a linux only module
 from Camera import Camera
+import zerorpc
 import struct
 
 # --------------------------------------------
@@ -13,6 +14,10 @@
 app = Flask(__name__)
 CORS(app)
 
+IP_DU_RASPBERRY_PI = "192.168.1.25"
+
+c = c = zerorpc.Client()
+c.connect("tcp://127.0.0.1:4242")
 # ---------------------------
 # Creer une instance SMBus
 bus = smbus.SMBus(1)  # 1 indicates /dev/i2c-1
@@ -28,33 +33,6 @@
 cam.start()
 log.info("Thread de capture démarré.")
 
-def lire_donnees_arduino():
-    """
-    Lit huit octets de l'Arduino et les convertit en 2 float.
-    On veut la vitesse reel et la vitesse cible
-    """
-    try:
-        # Demande 4 octets à l'esclave.
-        # read_i2c_block_data(adresse, commande, nombre_octets)
-        # La "commande" (le 0) n'est pas utilisée par notre Arduino,
-        # mais le protocole l'exige.
-        data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, 8)
-
-        # Les données arrivent sous forme de liste :
-        # data = [highByte1, lowByte1, highByte2, lowByte2]
-
-        # Reconstituer les entiers
-        vitesse_reel = struct.unpack('<f', bytearray(data[0:4]))[0]
-        vitesse_cible = struct.unpack('<f', bytearray(data[4:8]))[0]
-
-        return vitesse_reel, vitesse_cible
-
-    except IOError as e:
-        print(f"Erreur I2C : {e}")
-        return None, None
-    except Exception as e:
-        print(f"Erreur inattendue : {e}")
-        return None, None
 
 def gen_frames():
     """Générateur qui lit le flux depuis l'objet Caméra."""

From 9a94768a97c5425d3b068840ed2a5ff5b4a49116 Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Tue, 4 Nov 2025 19:06:07 +0100
Subject: [PATCH 06/49] =?UTF-8?q?M=C3=AAme=20chose=20que=20precedament?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/HL/Serveur.py | 32 +++++++++++++++++++++++++++++++-
 src/HL/backend.py | 36 +++++-------------------------------
 2 files changed, 36 insertions(+), 32 deletions(-)

diff --git a/src/HL/Serveur.py b/src/HL/Serveur.py
index 758013f9..337c35b3 100644
--- a/src/HL/Serveur.py
+++ b/src/HL/Serveur.py
@@ -4,9 +4,12 @@
 from systemd.journal import JournaldLogHandler
 import zerorpc
 import struct
+import logging as log
+
+from Camera import Camera
 import smbus #type: ignore
 """
-Lanccer un serveur qui tourne h24 qui gere l'intercommunication des processus (qui sont externe a la Pi)
+Lancer un serveur qui tourne h24 qui gere l'intercommunication des processus (qui sont externe a la Pi)
 Cf envoie vitesse a l'arduino, communication avec l'ecran , avec les boutons ,avec le lidar et la camera 
 Tout doit passer par cette classe qui tourne s
 """
@@ -26,6 +29,15 @@ class ApiVoiture(): # pylint: disable=too-few-public-methods
         ça controlera tout
     """
 
+    def __init__(self):
+        log.basicConfig(level=log.INFO)  # Mettre log.DEBUG pour plus de détails
+        log.info("Initialisation de la caméra...")
+        self.cam = Camera()
+        log.info("Caméra initialisée.")
+        log.info("Démarrage du thread de capture...")
+        cam.start()
+        log.info("Thread de capture démarré.")
+
     def write_vitesse_direction(self,vitesse, direction):
         # Convert string to list of ASCII values
         data = struct.pack('<ff', float(vitesse), float(direction))
@@ -62,6 +74,24 @@ def lire_donnees_arduino(self):
             print(f"Erreur inattendue : {e}")
             return None, None
 
+    def gen_frames(self):
+        """Générateur qui lit le flux depuis l'objet Caméra."""
+        log.info("Démarrage du flux vidéo.")
+        while True:
+            # Limite le framerate pour ne pas saturer le réseau
+            time.sleep(0.05)  # ~20 images/seconde
+
+            frame_bytes = None
+
+            # Lit l'image la plus récente de manière thread-safe
+            with self.cam.streaming_lock:
+                frame_bytes = self.cam.streaming_frame
+
+            if frame_bytes:
+                # Envoie l'image au navigateur
+                yield (b'--frame\r\n'
+                       b'Content-Type: image/jpeg\r\n\r\n' + frame_bytes + b'\r\n')
+
 if __name__ == '__main__':
 
     s  = zerorpc.Server(ApiVoiture())
diff --git a/src/HL/backend.py b/src/HL/backend.py
index 111651e2..e2ad2b15 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -16,8 +16,8 @@
 
 IP_DU_RASPBERRY_PI = "192.168.1.25"
 
-c = c = zerorpc.Client()
-c.connect("tcp://127.0.0.1:4242")
+c = zerorpc.Client()
+c.connect(f"tcp://{IP_DU_RASPBERRY_PI}:4242")
 # ---------------------------
 # Creer une instance SMBus
 bus = smbus.SMBus(1)  # 1 indicates /dev/i2c-1
@@ -25,32 +25,6 @@
 # I2C address of the slave
 SLAVE_ADDRESS = 0x08
 
-log.basicConfig(level=log.INFO) # Mettre log.DEBUG pour plus de détails
-log.info("Initialisation de la caméra...")
-cam = Camera()
-log.info("Caméra initialisée.")
-log.info("Démarrage du thread de capture...")
-cam.start()
-log.info("Thread de capture démarré.")
-
-
-def gen_frames():
-    """Générateur qui lit le flux depuis l'objet Caméra."""
-    log.info("Démarrage du flux vidéo.")
-    while True:
-        # Limite le framerate pour ne pas saturer le réseau
-        time.sleep(0.05)  # ~20 images/seconde
-
-        frame_bytes = None
-
-        # Lit l'image la plus récente de manière thread-safe
-        with cam.streaming_lock:
-            frame_bytes = cam.streaming_frame
-
-        if frame_bytes:
-            # Envoie l'image au navigateur
-            yield (b'--frame\r\n'
-                   b'Content-Type: image/jpeg\r\n\r\n' + frame_bytes + b'\r\n')
 
 # Définit la "route" principale de l'API
 @app.route('/data')
@@ -59,10 +33,10 @@ def get_data():
     Cette route exécute votre analyse d'image
     et renvoie les résultats.
     """
-    vitesse_reelle,vitesse_cible = lire_donnees_arduino()
+    vitesse_reelle,vitesse_cible = c.lire_donnees_arduino()
     donnees = {'vitesse_reelles':vitesse_reelle,'vitesse_cible':vitesse_cible}
     try:
-        matrix = cam.camera_matrix()
+        matrix = c.cam.camera_matrix()
 
         # Renvoyer des données utiles au format JSON
         if matrix is not None:
@@ -84,7 +58,7 @@ def get_data():
 @app.route('/video_feed')
 def video_feed():
     """La route qui sert le flux vidéo."""
-    return Response(gen_frames(),
+    return Response(c.gen_frames(),
                     mimetype='multipart/x-mixed-replace; boundary=frame')
 
 

From 43f7e152764d906ad4637048bb1ec01220ad196f Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Wed, 5 Nov 2025 21:56:46 +0100
Subject: [PATCH 07/49] suppression du serveur de cette branch)

---
 src/HL/Serveur.py | 99 -----------------------------------------------
 1 file changed, 99 deletions(-)

diff --git a/src/HL/Serveur.py b/src/HL/Serveur.py
index 337c35b3..e69de29b 100644
--- a/src/HL/Serveur.py
+++ b/src/HL/Serveur.py
@@ -1,99 +0,0 @@
-import time
-import logging
-import sys
-from systemd.journal import JournaldLogHandler
-import zerorpc
-import struct
-import logging as log
-
-from Camera import Camera
-import smbus #type: ignore
-"""
-Lancer un serveur qui tourne h24 qui gere l'intercommunication des processus (qui sont externe a la Pi)
-Cf envoie vitesse a l'arduino, communication avec l'ecran , avec les boutons ,avec le lidar et la camera 
-Tout doit passer par cette classe qui tourne s
-"""
-
-bus = smbus.SMBus(1)  # 1 indicates /dev/i2c-1
-
-# I2C address of the slave
-SLAVE_ADDRESS = 0x08
-
-
-vitesse = 200 # en millimetre par seconde
-direction = 100 # en degré
-
-
-class ApiVoiture(): # pylint: disable=too-few-public-methods
-    """
-        ça controlera tout
-    """
-
-    def __init__(self):
-        log.basicConfig(level=log.INFO)  # Mettre log.DEBUG pour plus de détails
-        log.info("Initialisation de la caméra...")
-        self.cam = Camera()
-        log.info("Caméra initialisée.")
-        log.info("Démarrage du thread de capture...")
-        cam.start()
-        log.info("Thread de capture démarré.")
-
-    def write_vitesse_direction(self,vitesse, direction):
-        # Convert string to list of ASCII values
-        data = struct.pack('<ff', float(vitesse), float(direction))
-        bus.write_i2c_block_data(SLAVE_ADDRESS, 0, list(data))
-
-    def read_data(self,length):
-        # Read a block of data from the slave
-        data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, length)
-        # Convert the byte data to a float
-        if len(data) >= 4:
-            float_value = struct.unpack('f', bytes(data[:4]))[0]
-            return float_value
-        else:
-            raise ValueError("Not enough data received from I2C bus")
-
-    def lire_donnees_arduino(self):
-        """
-        Lit huit octets de l'Arduino et les convertit en 2 float.
-        On veut la vitesse reel et la vitesse cible
-        """
-        try:
-            # Demande 8 octets à l'esclave.
-            data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, 8)
-            # Reconstituer les entiers
-            vitesse_reel = struct.unpack('<f', bytearray(data[0:4]))[0]
-            vitesse_cible = struct.unpack('<f', bytearray(data[4:8]))[0]
-
-            return vitesse_reel, vitesse_cible
-
-        except IOError as e:
-            print(f"Erreur I2C : {e}")
-            return None, None
-        except Exception as e:
-            print(f"Erreur inattendue : {e}")
-            return None, None
-
-    def gen_frames(self):
-        """Générateur qui lit le flux depuis l'objet Caméra."""
-        log.info("Démarrage du flux vidéo.")
-        while True:
-            # Limite le framerate pour ne pas saturer le réseau
-            time.sleep(0.05)  # ~20 images/seconde
-
-            frame_bytes = None
-
-            # Lit l'image la plus récente de manière thread-safe
-            with self.cam.streaming_lock:
-                frame_bytes = self.cam.streaming_frame
-
-            if frame_bytes:
-                # Envoie l'image au navigateur
-                yield (b'--frame\r\n'
-                       b'Content-Type: image/jpeg\r\n\r\n' + frame_bytes + b'\r\n')
-
-if __name__ == '__main__':
-
-    s  = zerorpc.Server(ApiVoiture())
-    s.bind("tcp://0.0.0.0:4242")
-    s.run()
\ No newline at end of file

From dece7b4e47e669b848cee365bc59f7c13acf2a4e Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Wed, 5 Nov 2025 21:59:32 +0100
Subject: [PATCH 08/49] =?UTF-8?q?Ajout=20du=20serveur=20a=20la=20branch=20?=
 =?UTF-8?q?main=20manager.=20Attention=20pas=20encore=20eu=20la=20modif=20?=
 =?UTF-8?q?de=20la=20classe=20camera=20donc=20en=20l'etat=20possible=20pro?=
 =?UTF-8?q?bleme=20avec=20les=20fonctions=20li=C3=A9es?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/HL/Serveur.py | 99 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 99 insertions(+)
 create mode 100644 src/HL/Serveur.py

diff --git a/src/HL/Serveur.py b/src/HL/Serveur.py
new file mode 100644
index 00000000..337c35b3
--- /dev/null
+++ b/src/HL/Serveur.py
@@ -0,0 +1,99 @@
+import time
+import logging
+import sys
+from systemd.journal import JournaldLogHandler
+import zerorpc
+import struct
+import logging as log
+
+from Camera import Camera
+import smbus #type: ignore
+"""
+Lancer un serveur qui tourne h24 qui gere l'intercommunication des processus (qui sont externe a la Pi)
+Cf envoie vitesse a l'arduino, communication avec l'ecran , avec les boutons ,avec le lidar et la camera 
+Tout doit passer par cette classe qui tourne s
+"""
+
+bus = smbus.SMBus(1)  # 1 indicates /dev/i2c-1
+
+# I2C address of the slave
+SLAVE_ADDRESS = 0x08
+
+
+vitesse = 200 # en millimetre par seconde
+direction = 100 # en degré
+
+
+class ApiVoiture(): # pylint: disable=too-few-public-methods
+    """
+        ça controlera tout
+    """
+
+    def __init__(self):
+        log.basicConfig(level=log.INFO)  # Mettre log.DEBUG pour plus de détails
+        log.info("Initialisation de la caméra...")
+        self.cam = Camera()
+        log.info("Caméra initialisée.")
+        log.info("Démarrage du thread de capture...")
+        cam.start()
+        log.info("Thread de capture démarré.")
+
+    def write_vitesse_direction(self,vitesse, direction):
+        # Convert string to list of ASCII values
+        data = struct.pack('<ff', float(vitesse), float(direction))
+        bus.write_i2c_block_data(SLAVE_ADDRESS, 0, list(data))
+
+    def read_data(self,length):
+        # Read a block of data from the slave
+        data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, length)
+        # Convert the byte data to a float
+        if len(data) >= 4:
+            float_value = struct.unpack('f', bytes(data[:4]))[0]
+            return float_value
+        else:
+            raise ValueError("Not enough data received from I2C bus")
+
+    def lire_donnees_arduino(self):
+        """
+        Lit huit octets de l'Arduino et les convertit en 2 float.
+        On veut la vitesse reel et la vitesse cible
+        """
+        try:
+            # Demande 8 octets à l'esclave.
+            data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, 8)
+            # Reconstituer les entiers
+            vitesse_reel = struct.unpack('<f', bytearray(data[0:4]))[0]
+            vitesse_cible = struct.unpack('<f', bytearray(data[4:8]))[0]
+
+            return vitesse_reel, vitesse_cible
+
+        except IOError as e:
+            print(f"Erreur I2C : {e}")
+            return None, None
+        except Exception as e:
+            print(f"Erreur inattendue : {e}")
+            return None, None
+
+    def gen_frames(self):
+        """Générateur qui lit le flux depuis l'objet Caméra."""
+        log.info("Démarrage du flux vidéo.")
+        while True:
+            # Limite le framerate pour ne pas saturer le réseau
+            time.sleep(0.05)  # ~20 images/seconde
+
+            frame_bytes = None
+
+            # Lit l'image la plus récente de manière thread-safe
+            with self.cam.streaming_lock:
+                frame_bytes = self.cam.streaming_frame
+
+            if frame_bytes:
+                # Envoie l'image au navigateur
+                yield (b'--frame\r\n'
+                       b'Content-Type: image/jpeg\r\n\r\n' + frame_bytes + b'\r\n')
+
+if __name__ == '__main__':
+
+    s  = zerorpc.Server(ApiVoiture())
+    s.bind("tcp://0.0.0.0:4242")
+    s.run()
\ No newline at end of file

From 58e9f80b519b892f5adda1b79c3d7693869c1d84 Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Wed, 5 Nov 2025 23:19:32 +0100
Subject: [PATCH 09/49] test

---
 src/HL/backend.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/HL/backend.py b/src/HL/backend.py
index e2ad2b15..a42b8052 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -33,8 +33,8 @@ def get_data():
     Cette route exécute votre analyse d'image
     et renvoie les résultats.
     """
-    vitesse_reelle,vitesse_cible = c.lire_donnees_arduino()
-    donnees = {'vitesse_reelles':vitesse_reelle,'vitesse_cible':vitesse_cible}
+    vitesse_reelle = c.read_data(3)[2]
+    donnees = {'vitesse_reelles':vitesse_reelle}
     try:
         matrix = c.cam.camera_matrix()
 

From b13868d452eb6fbf3e581039bc464b713b0cb55d Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Wed, 5 Nov 2025 23:21:10 +0100
Subject: [PATCH 10/49] test

---
 src/HL/Serveur.py | 33 ++++++++-------------------------
 1 file changed, 8 insertions(+), 25 deletions(-)

diff --git a/src/HL/Serveur.py b/src/HL/Serveur.py
index 337c35b3..04ad937e 100644
--- a/src/HL/Serveur.py
+++ b/src/HL/Serveur.py
@@ -43,36 +43,19 @@ def write_vitesse_direction(self,vitesse, direction):
         data = struct.pack('<ff', float(vitesse), float(direction))
         bus.write_i2c_block_data(SLAVE_ADDRESS, 0, list(data))
 
-    def read_data(self,length):
+    def read_data(self,num_floats=3):
+
+        # Each float is 4 bytes
+        length = num_floats * 4
         # Read a block of data from the slave
         data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, length)
-        # Convert the byte data to a float
-        if len(data) >= 4:
-            float_value = struct.unpack('f', bytes(data[:4]))[0]
-            return float_value
+        # Convert the byte data to floats
+        if len(data) >= length:
+            float_values = struct.unpack('f' * num_floats, bytes(data[:length]))
+            return list(float_values)
         else:
             raise ValueError("Not enough data received from I2C bus")
 
-    def lire_donnees_arduino(self):
-        """
-        Lit huit octets de l'Arduino et les convertit en 2 float.
-        On veut la vitesse reel et la vitesse cible
-        """
-        try:
-            # Demande 8 octets à l'esclave.
-            data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, 8)
-            # Reconstituer les entiers
-            vitesse_reel = struct.unpack('<f', bytearray(data[0:4]))[0]
-            vitesse_cible = struct.unpack('<f', bytearray(data[4:8]))[0]
-
-            return vitesse_reel, vitesse_cible
-
-        except IOError as e:
-            print(f"Erreur I2C : {e}")
-            return None, None
-        except Exception as e:
-            print(f"Erreur inattendue : {e}")
-            return None, None
 
     def gen_frames(self):
         """Générateur qui lit le flux depuis l'objet Caméra."""

From 35dced8d72d5511345f23224198d7fccc9f73686 Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Wed, 5 Nov 2025 23:44:28 +0100
Subject: [PATCH 11/49] rest

---
 src/HL/Serveur.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/HL/Serveur.py b/src/HL/Serveur.py
index 04ad937e..b37f390b 100644
--- a/src/HL/Serveur.py
+++ b/src/HL/Serveur.py
@@ -1,7 +1,6 @@
 import time
 import logging
 import sys
-from systemd.journal import JournaldLogHandler
 import zerorpc
 import struct
 import logging as log
@@ -35,7 +34,7 @@ def __init__(self):
         self.cam = Camera()
         log.info("Caméra initialisée.")
         log.info("Démarrage du thread de capture...")
-        cam.start()
+        self.cam.start()
         log.info("Thread de capture démarré.")
 
     def write_vitesse_direction(self,vitesse, direction):

From 48e3e34ec6f9c34a62c2615c06ca1b50b902acfa Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Sat, 22 Nov 2025 00:45:55 +0100
Subject: [PATCH 12/49] tkt

---
 .idea/CoVAPSy.iml    |   13 +
 .idea/misc.xml       |    7 +
 .idea/workspace.xml  |   77 ++
 To                   |    0
 pyproject.toml       |    8 -
 src/HL/Serveur.py    |    2 +-
 src/HL/Serveur_mq.py |    2 +-
 uv.lock              | 1636 +++++++++++++++++++++---------------------
 8 files changed, 934 insertions(+), 811 deletions(-)
 create mode 100644 .idea/CoVAPSy.iml
 create mode 100644 .idea/misc.xml
 create mode 100644 .idea/workspace.xml
 delete mode 100644 To

diff --git a/.idea/CoVAPSy.iml b/.idea/CoVAPSy.iml
new file mode 100644
index 00000000..3e42242f
--- /dev/null
+++ b/.idea/CoVAPSy.iml
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="WEB_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$">
+      <excludeFolder url="file://$MODULE_DIR$/.tmp" />
+      <excludeFolder url="file://$MODULE_DIR$/temp" />
+      <excludeFolder url="file://$MODULE_DIR$/tmp" />
+      <excludeFolder url="file://$MODULE_DIR$/.venv" />
+    </content>
+    <orderEntry type="jdk" jdkName="Python 3.13 (CoVAPSy)" jdkType="Python SDK" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 00000000..a9333300
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Black">
+    <option name="sdkName" value="Python 3.13 (CoVAPSy)" />
+  </component>
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.13 (CoVAPSy)" project-jdk-type="Python SDK" />
+</project>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
new file mode 100644
index 00000000..24b6b5bb
--- /dev/null
+++ b/.idea/workspace.xml
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="AutoImportSettings">
+    <option name="autoReloadType" value="SELECTIVE" />
+  </component>
+  <component name="ChangeListManager">
+    <list default="true" id="f4e8ae2a-5680-4523-8af5-7f1b244ed678" name="Changes" comment="" />
+    <option name="SHOW_DIALOG" value="false" />
+    <option name="HIGHLIGHT_CONFLICTS" value="true" />
+    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+    <option name="LAST_RESOLUTION" value="IGNORE" />
+  </component>
+  <component name="FileTemplateManagerImpl">
+    <option name="RECENT_TEMPLATES">
+      <list>
+        <option value="HTML File" />
+      </list>
+    </option>
+  </component>
+  <component name="Git.Settings">
+    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
+  </component>
+  <component name="ProjectColorInfo">{
+  &quot;associatedIndex&quot;: 1
+}</component>
+  <component name="ProjectId" id="34vwKrOCmMK7c5Qx9XwlAk9AuYY" />
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diff --git a/To b/To
deleted file mode 100644
index e69de29b..00000000
diff --git a/pyproject.toml b/pyproject.toml
index ef93535e..4a2839c5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -14,14 +14,6 @@ authors = [
 ]
 
 dependencies = [
-    "gpiozero>=2.0.1",
-    "lgpio[rpi]>=0.2.2.0",
-    "luma-core>=2.5.1",
-    "luma-oled>=3.14.0",
-    "matplotlib[rpi]>=3.10.5",
-    "netifaces>=0.11.0",
-    "smbus>=1.1.post2",
-    "zmq>=0.0.0",
 ]
 
 [project.optional-dependencies]
diff --git a/src/HL/Serveur.py b/src/HL/Serveur.py
index 9fbf850d..6c0b3858 100644
--- a/src/HL/Serveur.py
+++ b/src/HL/Serveur.py
@@ -1,6 +1,6 @@
 import time
 import sys
-# from systemd.journal import JournalHandler #il y a des soucis dessus pour linstant
+# from systemd.journal import JournalHandler #il y a des soucis dessus pour l'instant
 import zerorpc
 import struct
 import logging as log
diff --git a/src/HL/Serveur_mq.py b/src/HL/Serveur_mq.py
index 600279f8..6580ee00 100644
--- a/src/HL/Serveur_mq.py
+++ b/src/HL/Serveur_mq.py
@@ -3,7 +3,7 @@
 
 import time
 import threading
-import smbus
+import smbus #type: ignore
 import logging as log
 import struct
 import os, signal
diff --git a/uv.lock b/uv.lock
index fe1363c7..f0ca5c12 100644
--- a/uv.lock
+++ b/uv.lock
@@ -2,23 +2,15 @@ version = 1
 revision = 3
 requires-python = ">=3.10"
 resolution-markers = [
-    "python_full_version >= '3.13' and sys_platform == 'darwin'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
-    "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "(python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'linux')",
-    "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'linux')",
-    "python_full_version == '3.11.*' and sys_platform == 'darwin'",
-    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and sys_platform != 'darwin' and sys_platform != 'linux')",
-    "python_full_version < '3.11' and sys_platform == 'darwin'",
-    "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux')",
+    "python_full_version >= '3.13'",
+    "python_full_version == '3.12.*'",
+    "python_full_version == '3.11.*'",
+    "python_full_version < '3.11'",
 ]
 
 [[package]]
 name = "adafruit-blinka"
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+version = "8.68.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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@@ -29,52 +21,52 @@ dependencies = [
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     { name = "toml", marker = "python_full_version < '3.11'" },
 ]
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+    { url = "https://files.pythonhosted.org/packages/ce/88/f82fc7dbfe6dc4d1bb6e6dd99b48b5ad4df2acee56bb5e560203108a60a3/adafruit_blinka-8.68.0-py3-none-any.whl", hash = "sha256:6a1f60fa03312da0bcac9f282930d3a69e07486ef968d30a5f518ebe13a04e7a", size = 741725, upload-time = "2025-11-20T21:20:23.045Z" },
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 dependencies = [
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 [[package]]
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-version = "1.12.1"
+version = "1.12.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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@@ -82,22 +74,22 @@ dependencies = [
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 [[package]]
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+version = "3.6.17"
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 [[package]]
@@ -106,16 +98,17 @@ version = "1.0.3"
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+    { name = "spidev" },
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 [[package]]
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+version = "3.85.0"
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 [[package]]
@@ -140,16 +133,6 @@ sdist = { url = "https://files.pythonhosted.org/packages/fc/de/0a176512f6fab96eb
 name = "autotech"
 version = "0.1.0"
 source = { virtual = "." }
-dependencies = [
-    { name = "gpiozero" },
-    { name = "lgpio" },
-    { name = "luma-core" },
-    { name = "luma-oled" },
-    { name = "matplotlib" },
-    { name = "netifaces" },
-    { name = "smbus" },
-    { name = "zmq" },
-]
 
 [package.optional-dependencies]
 docs = [
@@ -176,7 +159,7 @@ rpi = [
 simu = [
     { name = "matplotlib" },
     { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
-    { name = "numpy", version = "2.3.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "onnx" },
     { name = "onnxruntime" },
     { name = "psutil" },
@@ -189,20 +172,14 @@ requires-dist = [
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 [[package]]
@@ -1571,7 +1554,7 @@ name = "nvidia-cudnn-cu12"
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 source = { registry = "https://pypi.org/simple" }
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+    { name = "nvidia-cublas-cu12" },
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From bcfa7f70672e1293e0f83e65b38e0a0f710ade8f Mon Sep 17 00:00:00 2001
From: ExoRoy <nayachid@hotmail.fr>
Date: Thu, 27 Nov 2025 18:26:26 +0100
Subject: [PATCH 13/49] modif webapp

---
 src/HL/site_controle/controle.html | 255 ++++++++++++++---------------
 src/HL/site_controle/webapp.py     |  78 +++++++++
 2 files changed, 204 insertions(+), 129 deletions(-)
 create mode 100644 src/HL/site_controle/webapp.py

diff --git a/src/HL/site_controle/controle.html b/src/HL/site_controle/controle.html
index 1a074ac2..64857ebd 100644
--- a/src/HL/site_controle/controle.html
+++ b/src/HL/site_controle/controle.html
@@ -2,172 +2,169 @@
 <html lang="fr">
 <head>
     <meta charset="UTF-8">
-    <meta name="viewport" content="width=device-width, initial-scale=1.0">
-    <title>Dashboard Pi Complet</title>
+    <title>Contrôle Robot Pi</title>
     <style>
-        body { font-family: Arial, sans-serif; margin: 20px; background-color: #f0f2f5; }
-        h1, h2 { color: #333; border-bottom: 2px solid #ccc; padding-bottom: 5px; }
-
-        /* Conteneur principal pour organiser en colonnes */
-        .container {
-            display: flex;
-            flex-wrap: wrap; /* Permet de passer à la ligne sur petits écrans */
-            gap: 20px;
-        }
-
-        /* Colonne de gauche (Vidéo) */
-        .video-col {
-            flex: 2; /* Prend 2/3 de la largeur */
-            min-width: 640px;
-        }
+        body { font-family: 'Segoe UI', Arial, sans-serif; margin: 20px; background-color: #1a1a1a; color: white; }
 
-        /* Colonne de droite (Données) */
-        .data-col {
-            flex: 1; /* Prend 1/3 de la largeur */
-            min-width: 300px;
-        }
+        .container { display: flex; gap: 20px; flex-wrap: wrap; }
+        .col-main { flex: 2; min-width: 600px; }
+        .col-side { flex: 1; min-width: 300px; }
 
-        /* Styles pour les boîtes de données */
-        .data-box {
-            background-color: #ffffff;
+        /* Boites */
+        .box {
+            background-color: #2d2d2d;
             padding: 20px;
-            border-radius: 8px;
-            box-shadow: 0 2px 4px rgba(0,0,0,0.1);
+            border-radius: 10px;
             margin-bottom: 20px;
+            box-shadow: 0 4px 6px rgba(0,0,0,0.3);
         }
-        .data-box h2 {
-            margin-top: 0;
-        }
-        .data-box div {
-            font-size: 20px;
-            margin-bottom: 12px;
-            display: flex;
-            justify-content: space-between;
-        }
-        .data-box div strong {
-            font-size: 22px;
-            color: #0056b3;
+        h2 { border-bottom: 1px solid #444; padding-bottom: 10px; margin-top: 0; color: #00d2ff; }
+
+        /* Vidéo */
+        img#video-stream { width: 100%; border-radius: 5px; background: #000; }
+
+        /* Boutons de contrôle */
+        .control-grid { display: grid; grid-template-columns: repeat(2, 1fr); gap: 10px; }
+        button {
+            padding: 15px;
+            font-size: 16px;
+            border: none;
+            border-radius: 5px;
+            cursor: pointer;
+            background-color: #444;
+            color: white;
+            transition: background 0.3s;
         }
+        button:hover { background-color: #666; }
+        button.active { background-color: #00d2ff; color: #000; font-weight: bold; }
+        button.stop { background-color: #ff4444; grid-column: span 2; }
 
-        /* Style pour la vidéo */
-        #video-stream {
-            display: block;
-            width: 100%; /* S'adapte à la largeur de sa colonne */
-            height: auto;
-            border-radius: 8px;
-            background-color: #000;
-        }
+        /* Données */
+        .data-row { display: flex; justify-content: space-between; margin-bottom: 10px; font-size: 18px; }
+        .val { font-weight: bold; color: #00ff88; }
 
-        #status { font-size: 14px; color: grey; margin-top: 10px; }
+        /* Lidar Simple Visualisation */
+        #lidar-canvas { width: 100%; height: 200px; background: #000; border-radius: 5px; }
     </style>
 </head>
 <body>
 
-<h1>Dashboard Raspberry Pi</h1>
+    <h1>Pilotage Robot Raspberry Pi</h1>
 
-<div class="container">
+    <div class="container">
+        <div class="col-main">
+            <div class="box">
+                <h2>Flux Caméra</h2>
+                <img id="video-stream" src="/video_feed" alt="Flux Vidéo non disponible">
+            </div>
 
-    <div class="video-col">
-        <div class="data-box">
-            <h2>Flux en direct</h2>
-            <img id="video-stream"
-                 src="http://[VOTRE_IP_RASPBERRY_PI]:5000/video_feed"
-                 alt="Flux vidéo du Raspberry Pi">
-        </div>
-    </div>
-
-    <div class="data-col">
-
-        <div class="data-box">
-            <h2>Analyse Caméra</h2>
-            <div>Total Vert : <strong id="cam-green">--</strong></div>
-            <div>Total Rouge : <strong id="cam-red">--</strong></div>
-            <div>Somme Matrice : <strong id="cam-sum">--</strong></div>
+            <div class="box">
+                <h2>Scanner Lidar</h2>
+                <canvas id="lidar-canvas" width="600" height="200"></canvas>
+            </div>
         </div>
 
-        <div class="data-box">
-            <h2>Données Arduino (I2C)</h2>
-            <div>Capteur A0 : <strong id="arduino-a0">--</strong></div>
-            <div>Compteur : <strong id="arduino-count">--</strong></div>
+        <div class="col-side">
+
+            <div class="box">
+                <h2>Programmes</h2>
+                <div class="control-grid">
+                    <button onclick="envoie_num(1)">Auto Driving</button>
+                    <button onclick="envoie_num(2)">PS4 Controller</button>
+                    <button onclick="envoie_num(3)">Connect BT</button>
+                    <button onclick="envoie_num(4)">Remote Control</button>
+                    <button onclick="envoie_num(0)" class="stop">STOP / Idle</button>
+                </div>
+                <p style="text-align:center; margin-top:10px;">Actif : <span id="prog-actif" style="color:#00d2ff">--</span></p>
+            </div>
+
+            <div class="box">
+                <h2>Télémétrie</h2>
+                <div class="data-row">LiPo : <span id="val-lipo" class="val">--</span> V</div>
+                <div class="data-row">NiMH : <span id="val-nimh" class="val">--</span> V</div>
+                <div class="data-row">Vitesse : <span id="val-speed" class="val">--</span></div>
+            </div>
+
+            <div id="status" style="color: gray; font-size: 12px;">Connexion...</div>
         </div>
-
-        <div id="status">En attente de données...</div>
     </div>
 
-</div>
-
 <script>
-    // ###############################################################
-    // ##  IMPORTANT : REMPLACEZ PAR L'ADRESSE IP DE VOTRE PI       ##
-    // ###############################################################
-    const RASPBERRY_PI_IP = "192.168.1.10";
-    // ###############################################################
-
-    // --- SECTION SCRIPT (MISE À JOUR) ---
+    // Pas besoin de mettre l'IP en dur si on sert le fichier depuis Flask (chemin relatif)
+    // Si vous ouvrez le fichier HTML en local (file://), remettez http://IP_DU_PI:5000
+    const API_BASE = "";
 
-    const apiUrl = `http://${RASPBERRY_PI_IP}:5000/data`;
-
-    // Sélection des éléments d'analyse caméra
-    const camGreenEl = document.getElementById('cam-green');
-    const camRedEl = document.getElementById('cam-red');
-    const camSumEl = document.getElementById('cam-sum');
-
-    // Sélection des nouveaux éléments Arduino
-    const arduinoA0El = document.getElementById('arduino-a0');
-    const arduinoCountEl = document.getElementById('arduino-count');
-
-    const statusElement = document.getElementById('status');
-    const videoElement = document.getElementById('video-stream');
+    // --- Fonction demandée pour changer de programme ---
+    async function envoie_num(num) {
+        try {
+            const response = await fetch(`${API_BASE}/set_program/${num}`, { method: 'POST' });
+            const result = await response.json();
+            console.log("Changement programme:", result);
 
-    // Configure la source vidéo (une seule fois)
-    videoElement.src = `http://${RASPBERRY_PI_IP}:5000/video_feed`;
+            // Mise à jour visuelle rapide (sera confirmée par le fetchData)
+            document.getElementById('status').textContent = `Commande programme ${num} envoyée...`;
+        } catch (error) {
+            console.error("Erreur commande:", error);
+            alert("Impossible de changer le programme");
+        }
+    }
 
+    // --- Récupération des données ---
     async function fetchData() {
-        statusElement.textContent = "Mise à jour...";
         try {
-            const response = await fetch(apiUrl);
-            if (!response.ok) {
-                throw new Error(`Erreur HTTP: ${response.status}`);
-            }
+            const response = await fetch(`${API_BASE}/data`);
+            if (!response.ok) throw new Error("Erreur réseau");
 
-            // Récupère l'objet JSON complet
             const data = await response.json();
 
-            // --- Mise à jour des données Caméra ---
-            if (data.camera && !data.camera.error) {
-                camGreenEl.textContent = data.camera.total_green;
-                camRedEl.textContent = data.camera.total_red;
-                camSumEl.textContent = data.camera.matrix_sum;
-            } else {
-                camGreenEl.textContent = "Erreur";
-                camRedEl.textContent = "Erreur";
-                camSumEl.textContent = "Erreur";
-            }
+            // Mise à jour Texte
+            document.getElementById('val-lipo').textContent = data.batterie.lipo.toFixed(2);
+            document.getElementById('val-nimh').textContent = data.batterie.nimh.toFixed(2);
+            document.getElementById('val-speed').textContent = data.robot.vitesse.toFixed(2);
+            document.getElementById('prog-actif').textContent = data.robot.programme;
+            document.getElementById('status').textContent = "Connecté - " + new Date().toLocaleTimeString();
 
-            // --- Mise à jour des données Arduino ---
-            if (data.arduino && data.arduino.capteur_A0 !== null) {
-                arduinoA0El.textContent = data.arduino.capteur_A0;
-                arduinoCountEl.textContent = data.arduino.compteur;
-            } else {
-                // Gère le cas où l'I2C échoue (retourne null)
-                arduinoA0El.textContent = "Erreur I2C";
-                arduinoCountEl.textContent = "Erreur I2C";
+            // Mise à jour Canvas Lidar (Visualisation simple des distances)
+            if (data.robot.lidar) {
+                drawLidar(data.robot.lidar);
             }
 
-            statusElement.textContent = `Dernière mise à jour : ${new Date().toLocaleTimeString()}`;
-
         } catch (error) {
-            console.error("Impossible de récupérer les données:", error);
-            statusElement.textContent = `Erreur de connexion au Pi (${error.message})`;
+            console.error(error);
+            document.getElementById('status').textContent = "Déconnecté";
         }
     }
 
-    // Appelle la fonction une première fois au chargement
-    fetchData();
+    // --- Dessin simple du Lidar ---
+    function drawLidar(distances) {
+        const canvas = document.getElementById('lidar-canvas');
+        const ctx = canvas.getContext('2d');
+        const width = canvas.width;
+        const height = canvas.height;
+
+        // Effacer
+        ctx.fillStyle = 'black';
+        ctx.fillRect(0, 0, width, height);
+        ctx.strokeStyle = '#00ff00';
+        ctx.beginPath();
+
+        // On trace une ligne représentant les distances
+        const step = width / distances.length;
+
+        distances.forEach((dist, i) => {
+            // Normalisation simple (0-2000mm vers 0-height)
+            let h = (dist / 2000) * height;
+            if (h > height) h = height;
+
+            ctx.moveTo(i * step, height);
+            ctx.lineTo(i * step, height - h);
+        });
+        ctx.stroke();
+    }
 
-    // Met à jour les données toutes les 5 secondes (5000 ms)
-    // (Vous pouvez réduire à 2000ms si vous voulez plus de réactivité)
-    setInterval(fetchData, 5000);
+    // Boucle de mise à jour (toutes les 500ms)
+    setInterval(fetchData, 500);
+    fetchData();
 
 </script>
 </body>
diff --git a/src/HL/site_controle/webapp.py b/src/HL/site_controle/webapp.py
new file mode 100644
index 00000000..fe854311
--- /dev/null
+++ b/src/HL/site_controle/webapp.py
@@ -0,0 +1,78 @@
+from flask import Flask, jsonify, render_template, Response, request
+from flask_cors import CORS
+import zmq
+from Camera import Camera
+
+app = Flask(__name__, template_folder=".")  # Cherche les html dans le dossier courant
+CORS(app)
+
+# --- Configuration ZMQ (Le Client) ---
+context = zmq.Context()
+# On se connecte au port 5557 défini dans Serveur_mq.py
+mq_socket = context.socket(zmq.REQ)
+mq_socket.connect("tcp://127.0.0.1:5557")
+
+
+@app.route('/')
+def index():
+    # Assurez-vous que controle.html est dans le même dossier
+    return render_template('controle.html')
+
+
+@app.route('/data')
+def get_data():
+    """ Demande les infos à Serveur_mq.py """
+    try:
+        # 1. Envoi de la demande
+        mq_socket.send_json({"cmd": "info"})
+        # 2. Réception de la réponse (bloquant)
+        data = mq_socket.recv_json()
+
+        # On restructure pour correspondre à ce que le HTML attend
+        formatted_data = {
+            "batterie": {
+                "lipo": data.get("voltage_lipo", 0),
+                "nimh": data.get("voltage_nimh", 0)
+            },
+            "robot": {
+                "vitesse": data.get("vitesse_reelle", 0),
+                "programme": data.get("programme_actuel", "Inconnu"),
+                "lidar": data.get("lidar_data", [])
+            }
+        }
+        return jsonify(formatted_data)
+    except Exception as e:
+        # Si ZMQ plante (timeout), on réinitialise le socket
+        print(f"Erreur ZMQ: {e}")
+        global mq_socket
+        mq_socket.close()
+        mq_socket = context.socket(zmq.REQ)
+        mq_socket.connect("tcp://127.0.0.1:5557")
+        return jsonify({"error": "Pas de connexion au robot"}), 500
+
+
+@app.route('/set_program/<int:prog_id>', methods=['POST'])
+def set_program(prog_id):
+    """ Envoie l'ordre de changer de programme """
+    try:
+        mq_socket.send_json({"cmd": "change_program", "id": prog_id})
+        response = mq_socket.recv_json()
+        return jsonify(response)
+    except Exception as e:
+        return jsonify({"error": str(e)}), 500
+
+@app.route('/video_feed')
+def video_feed():
+    """La route qui sert le flux vidéo."""
+    return Response(gen_frames(),
+                    mimetype='multipart/x-mixed-replace; boundary=frame')
+
+
+# --- Route Vidéo (Si vous avez intégré la classe Camera ici ou via un import) ---
+# Voir la réponse précédente pour l'implémentation de gen_frames()
+# @app.route('/video_feed')
+# def video_feed():
+#     return Response(gen_frames(), mimetype='multipart/x-mixed-replace; boundary=frame')
+
+if __name__ == '__main__':
+    app.run(host='0.0.0.0', port=5000, threaded=True)
\ No newline at end of file

From 298f9030db5739ba90bf6b346f7bc6ed770ccf3d Mon Sep 17 00:00:00 2001
From: ExoRoy <nachid.raslane@telecom-sudparis.eu>
Date: Fri, 19 Dec 2025 11:19:45 +0100
Subject: [PATCH 14/49] ajout dependance pas faire attention

---
 uv.lock | 2560 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 2560 insertions(+)
 create mode 100644 uv.lock

diff --git a/uv.lock b/uv.lock
new file mode 100644
index 00000000..e9ceb319
--- /dev/null
+++ b/uv.lock
@@ -0,0 +1,2560 @@
+version = 1
+revision = 3
+requires-python = ">=3.10"
+resolution-markers = [
+    "python_full_version >= '3.13'",
+    "python_full_version == '3.12.*'",
+    "python_full_version == '3.11.*'",
+    "python_full_version < '3.11'",
+]
+
+[[package]]
+name = "adafruit-blinka"
+version = "8.68.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "adafruit-circuitpython-typing" },
+    { name = "adafruit-platformdetect" },
+    { name = "adafruit-pureio" },
+    { name = "binho-host-adapter" },
+    { name = "pyftdi" },
+    { name = "sysv-ipc", marker = "platform_machine != 'mips' and sys_platform == 'linux'" },
+    { name = "toml", marker = "python_full_version < '3.11'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/dd/15/e452ca7e9f8c25e42d97c32b5a548324d978397648c674b7f7f2ad1ea0ce/adafruit_blinka-8.68.1.tar.gz", hash = "sha256:81808f5b5a16cbb880bf3617907888d105877b479e84318859e011477b889b34", size = 923629, upload-time = "2025-12-18T23:01:15.671Z" }
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+]
+
+[[package]]
+name = "adafruit-circuitpython-busdevice"
+version = "5.2.14"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "adafruit-blinka" },
+    { name = "adafruit-circuitpython-typing" },
+]
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+]
+
+[[package]]
+name = "adafruit-circuitpython-connectionmanager"
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+[[package]]
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+    { name = "adafruit-circuitpython-requests" },
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+]
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+dependencies = [
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+
+[[package]]
+name = "autotech"
+version = "0.1.0"
+source = { virtual = "." }
+dependencies = [
+    { name = "flask" },
+    { name = "flask-cors" },
+    { name = "zmq" },
+]
+
+[package.optional-dependencies]
+docs = [
+    { name = "mkdocs" },
+    { name = "mkdocs-git-authors-plugin" },
+    { name = "mkdocs-git-revision-date-localized-plugin" },
+    { name = "mkdocs-mermaid2-plugin" },
+]
+rpi = [
+    { name = "adafruit-blinka" },
+    { name = "adafruit-circuitpython-vl53l0x" },
+    { name = "adafruit-ssd1306" },
+    { name = "gpiozero" },
+    { name = "luma-core" },
+    { name = "luma-oled" },
+    { name = "matplotlib" },
+    { name = "netifaces" },
+    { name = "onnxruntime" },
+    { name = "pyps4controller" },
+    { name = "rpi-gpio" },
+    { name = "rpi-hardware-pwm" },
+    { name = "smbus" },
+    { name = "spidev" },
+    { name = "zmq" },
+]
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+    { name = "onnxruntime" },
+    { name = "psutil" },
+    { name = "stable-baselines3" },
+    { name = "torch" },
+]
+
+[package.metadata]
+requires-dist = [
+    { name = "adafruit-blinka", marker = "extra == 'rpi'", specifier = ">=8.0.0" },
+    { name = "adafruit-circuitpython-vl53l0x", marker = "extra == 'rpi'", specifier = ">=3.6.0" },
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+    { name = "onnx", marker = "extra == 'simu'", specifier = ">=1.8.0" },
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+    { name = "pyps4controller", marker = "extra == 'rpi'", specifier = ">=1.2.0" },
+    { name = "rpi-gpio", marker = "extra == 'rpi'", specifier = ">=0.7.1" },
+    { name = "rpi-hardware-pwm", marker = "extra == 'rpi'", specifier = ">=0.1.0" },
+    { name = "smbus", marker = "extra == 'rpi'", specifier = ">=1.1.post2" },
+    { name = "spidev", marker = "extra == 'rpi'", specifier = ">=3.5" },
+    { name = "stable-baselines3", marker = "extra == 'simu'", specifier = ">=1.6.0" },
+    { name = "torch", marker = "extra == 'simu'", specifier = ">=1.9.0" },
+    { name = "zmq", specifier = ">=0.0.0" },
+    { name = "zmq", marker = "extra == 'rpi'", specifier = ">=0.0.0" },
+]
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From 644dcb404d4f245ec7320cec4f92a28ee37502ee Mon Sep 17 00:00:00 2001
From: ExoRoy <nachid.raslane@telecom-sudparis.eu>
Date: Fri, 19 Dec 2025 12:27:38 +0100
Subject: [PATCH 15/49] modif du backend a test quand je serai sur des
 fonctions a use

---
 src/HL/backend.py                  | 111 +++++++++++++----------------
 src/HL/site_controle/controle.html | 108 +++++++++++++++++-----------
 2 files changed, 118 insertions(+), 101 deletions(-)

diff --git a/src/HL/backend.py b/src/HL/backend.py
index a42b8052..973b940d 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -1,67 +1,58 @@
-from flask import Flask, jsonify, Response
+from flask import Flask, jsonify, Response, render_template
 from flask_cors import CORS
-import time
-import logging as log
-import numpy as np
-import smbus as smbus  #type: ignore #ignore the module could not be resolved error because it is a linux only module
-from Camera import Camera
-import zerorpc
-import struct
+from programme import Program
 
 # --------------------------------------------
-
-# Initialise l'application Flask
-app = Flask(__name__)
-CORS(app)
-
-IP_DU_RASPBERRY_PI = "192.168.1.25"
-
-c = zerorpc.Client()
-c.connect(f"tcp://{IP_DU_RASPBERRY_PI}:4242")
-# ---------------------------
-# Creer une instance SMBus
-bus = smbus.SMBus(1)  # 1 indicates /dev/i2c-1
-
-# I2C address of the slave
-SLAVE_ADDRESS = 0x08
-
-
-# Définit la "route" principale de l'API
-@app.route('/data')
-def get_data():
-    """
-    Cette route exécute votre analyse d'image
-    et renvoie les résultats.
-    """
-    vitesse_reelle = c.read_data(3)[2]
-    donnees = {'vitesse_reelles':vitesse_reelle}
-    try:
-        matrix = c.cam.camera_matrix()
-
-        # Renvoyer des données utiles au format JSON
-        if matrix is not None:
-            data = {
-                'matrix_sum': int(np.sum(matrix)),
-                'matrix_mean': float(np.mean(matrix)),
-                'total_red': int(np.count_nonzero(matrix == -1)),
-                'total_green': int(np.count_nonzero(matrix == 1)),
+class Backend(Program):
+    """ ce programme permet de controler le site via le site web"""
+
+    def __init__(self,server):
+        super().__init__()
+        self.name = "Backend"
+        self.controls_car = False
+        self.server = server
+        self.running = False
+        self.app = Flask(__name__, template_folder="/site_controle")                                                     # Cherche les html dans le dossier site controle
+        CORS(self.app)
+
+        self.app.add_url_rule('/', view_func=self.index)                                                            # equivalent à @self.app.route dans nos fonction
+        self.app.add_url_rule('/data', view_func=self.get_data)
+        self.app.add_url_rule('/video_feed', view_func=self.get_video)
+        self.app.add_url_rule('/set_program/<int:prog_id>', view_func=self.set_program, methods=['POST'])
+
+    def start(self):
+        self.running = True
+        self.app.run(host='0.0.0.0', port=5000) # lance le serveur
+
+    def kill(self):
+        self.running = False
+
+    def index(self):
+        return render_template('controle.html')
+
+    def get_data(self):
+        """ Demande les infos à Serveur """
+        data = self.server.i2c_received()
+
+        formatted_data = {
+            "batterie": {
+                "lipo": data.get("voltage_lipo", 0),
+                "nimh": data.get("voltage_nimh", 0)
+            },
+            "robot": {
+                "vitesse": data.get("vitesse_reelle", 0),
+                "programme": data.get("programme_actuel", "Inconnu"),     # Cyril si tu peux envoyer le programme actuel dans le serv ça m'arrangerrai
+                "lidar": self.server.lidar()             #je suis pas sur de ça
             }
-        else:
-            data = {'error': 'Matrix could not be calculated'}
-
-        return jsonify(data|donnees)
-    except Exception as e:
-        log.error(f"Erreur dans /data: {e}")
-        return jsonify({'error': str(e)}), 500
-
+        }
+        return jsonify(formatted_data)
 
-@app.route('/video_feed')
-def video_feed():
-    """La route qui sert le flux vidéo."""
-    return Response(c.gen_frames(),
-                    mimetype='multipart/x-mixed-replace; boundary=frame')
+    def set_program(self,prog_id):
+       self.server.start_process(prog_id)
+       return jsonify({"status": "ok", "program_id": prog_id})
 
+    def get_video(self):
+        self.server.camera()         # pas sur non plus                                                                                    #
+        return Response(self.server.camera(), mimetype='multipart/x-mixed-replace; boundary=frame')
 
-# Point d'entrée pour démarrer le serveur
-if __name__ == '__main__':
-    app.run(host='0.0.0.0', port=5000)
\ No newline at end of file
+#-------------------------------------------
diff --git a/src/HL/site_controle/controle.html b/src/HL/site_controle/controle.html
index 64857ebd..20e78759 100644
--- a/src/HL/site_controle/controle.html
+++ b/src/HL/site_controle/controle.html
@@ -5,7 +5,6 @@
     <title>Contrôle Robot Pi</title>
     <style>
         body { font-family: 'Segoe UI', Arial, sans-serif; margin: 20px; background-color: #1a1a1a; color: white; }
-
         .container { display: flex; gap: 20px; flex-wrap: wrap; }
         .col-main { flex: 2; min-width: 600px; }
         .col-side { flex: 1; min-width: 300px; }
@@ -21,7 +20,7 @@
         h2 { border-bottom: 1px solid #444; padding-bottom: 10px; margin-top: 0; color: #00d2ff; }
 
         /* Vidéo */
-        img#video-stream { width: 100%; border-radius: 5px; background: #000; }
+        img#video-stream { width: 100%; border-radius: 5px; background: #000; min-height: 300px; }
 
         /* Boutons de contrôle */
         .control-grid { display: grid; grid-template-columns: repeat(2, 1fr); gap: 10px; }
@@ -36,14 +35,14 @@
             transition: background 0.3s;
         }
         button:hover { background-color: #666; }
-        button.active { background-color: #00d2ff; color: #000; font-weight: bold; }
+        button:active { transform: scale(0.98); }
         button.stop { background-color: #ff4444; grid-column: span 2; }
 
         /* Données */
         .data-row { display: flex; justify-content: space-between; margin-bottom: 10px; font-size: 18px; }
         .val { font-weight: bold; color: #00ff88; }
 
-        /* Lidar Simple Visualisation */
+        /* Lidar */
         #lidar-canvas { width: 100%; height: 200px; background: #000; border-radius: 5px; }
     </style>
 </head>
@@ -55,7 +54,7 @@ <h1>Pilotage Robot Raspberry Pi</h1>
         <div class="col-main">
             <div class="box">
                 <h2>Flux Caméra</h2>
-                <img id="video-stream" src="/video_feed" alt="Flux Vidéo non disponible">
+                <img id="video-stream" src="/video_feed" alt="En attente du flux vidéo...">
             </div>
 
             <div class="box">
@@ -75,7 +74,7 @@ <h2>Programmes</h2>
                     <button onclick="envoie_num(4)">Remote Control</button>
                     <button onclick="envoie_num(0)" class="stop">STOP / Idle</button>
                 </div>
-                <p style="text-align:center; margin-top:10px;">Actif : <span id="prog-actif" style="color:#00d2ff">--</span></p>
+                <p style="text-align:center; margin-top:10px;">Programme Actuel : <span id="prog-actif" style="color:#00d2ff; font-weight:bold;">--</span></p>
             </div>
 
             <div class="box">
@@ -85,85 +84,112 @@ <h2>Télémétrie</h2>
                 <div class="data-row">Vitesse : <span id="val-speed" class="val">--</span></div>
             </div>
 
-            <div id="status" style="color: gray; font-size: 12px;">Connexion...</div>
+            <div id="status" style="color: gray; font-size: 12px; text-align: right;">Connexion...</div>
         </div>
     </div>
 
 <script>
-    // Pas besoin de mettre l'IP en dur si on sert le fichier depuis Flask (chemin relatif)
-    // Si vous ouvrez le fichier HTML en local (file://), remettez http://IP_DU_PI:5000
-    const API_BASE = "";
-
-    // --- Fonction demandée pour changer de programme ---
+    // --- 1. Changement de Programme ---
     async function envoie_num(num) {
-        try {
-            const response = await fetch(`${API_BASE}/set_program/${num}`, { method: 'POST' });
-            const result = await response.json();
-            console.log("Changement programme:", result);
+        const statusElem = document.getElementById('status');
+        statusElem.textContent = `Envoi commande ${num}...`;
 
-            // Mise à jour visuelle rapide (sera confirmée par le fetchData)
-            document.getElementById('status').textContent = `Commande programme ${num} envoyée...`;
+        try {
+            // Appel à la route définie : /set_program/<int:prog_id>
+            const response = await fetch(`/set_program/${num}`, { method: 'POST' });
+
+            if (response.ok) {
+                // On essaie de lire le JSON seulement si le serveur en renvoie un
+                try {
+                    const result = await response.json();
+                    console.log("Retour serveur:", result);
+                } catch(e) {
+                    console.log("Commande envoyée (pas de JSON reçu)");
+                }
+                statusElem.textContent = "Commande reçue !";
+            } else {
+                statusElem.textContent = "Erreur serveur : " + response.status;
+            }
         } catch (error) {
             console.error("Erreur commande:", error);
-            alert("Impossible de changer le programme");
+            statusElem.textContent = "Erreur de connexion";
         }
     }
 
-    // --- Récupération des données ---
+    // --- 2. Récupération des Données (Télémétrie) ---
     async function fetchData() {
         try {
-            const response = await fetch(`${API_BASE}/data`);
+            const response = await fetch('/data');
             if (!response.ok) throw new Error("Erreur réseau");
 
             const data = await response.json();
 
-            // Mise à jour Texte
-            document.getElementById('val-lipo').textContent = data.batterie.lipo.toFixed(2);
-            document.getElementById('val-nimh').textContent = data.batterie.nimh.toFixed(2);
-            document.getElementById('val-speed').textContent = data.robot.vitesse.toFixed(2);
-            document.getElementById('prog-actif').textContent = data.robot.programme;
-            document.getElementById('status').textContent = "Connecté - " + new Date().toLocaleTimeString();
+            // --- Adaptation aux clés du dictionnaire Python ---
+            // Python structure:
+            // { "batterie": {"lipo": X, "nimh": Y}, "robot": {"vitesse": Z, "programme": P, "lidar": L} }
+
+            if (data.batterie) {
+                document.getElementById('val-lipo').textContent = (data.batterie.lipo || 0).toFixed(2);
+                document.getElementById('val-nimh').textContent = (data.batterie.nimh || 0).toFixed(2);
+            }
+
+            if (data.robot) {
+                document.getElementById('val-speed').textContent = (data.robot.vitesse || 0).toFixed(2);
+                document.getElementById('prog-actif').textContent = data.robot.programme || "Inconnu";
 
-            // Mise à jour Canvas Lidar (Visualisation simple des distances)
-            if (data.robot.lidar) {
-                drawLidar(data.robot.lidar);
+                // Dessin du Lidar si les données existent
+                if (Array.isArray(data.robot.lidar)) {
+                    drawLidar(data.robot.lidar);
+                }
             }
 
+            document.getElementById('status').textContent = "Connecté - " + new Date().toLocaleTimeString();
+
         } catch (error) {
-            console.error(error);
-            document.getElementById('status').textContent = "Déconnecté";
+            console.error("Erreur fetch:", error);
+            document.getElementById('status').textContent = "Déconnecté"; // Indicateur visuel important
         }
     }
 
-    // --- Dessin simple du Lidar ---
+    // --- 3. Visualisation Lidar (Simple) ---
     function drawLidar(distances) {
         const canvas = document.getElementById('lidar-canvas');
+        if (!canvas) return;
         const ctx = canvas.getContext('2d');
         const width = canvas.width;
         const height = canvas.height;
 
-        // Effacer
+        // Reset fond noir
         ctx.fillStyle = 'black';
         ctx.fillRect(0, 0, width, height);
+
+        if (distances.length === 0) return;
+
         ctx.strokeStyle = '#00ff00';
+        ctx.lineWidth = 2;
         ctx.beginPath();
 
-        // On trace une ligne représentant les distances
         const step = width / distances.length;
 
         distances.forEach((dist, i) => {
-            // Normalisation simple (0-2000mm vers 0-height)
-            let h = (dist / 2000) * height;
-            if (h > height) h = height;
+            // Echelle : supposons que 2000mm = haut du canvas
+            let barHeight = (dist / 2000) * height;
+            if (barHeight > height) barHeight = height;
+
+            // On dessine "l'espace vide" ou l'obstacle
+            // Ici on dessine une ligne au sol qui monte selon la distance
+            const x = i * step;
+            const y = height - barHeight;
 
-            ctx.moveTo(i * step, height);
-            ctx.lineTo(i * step, height - h);
+            if (i === 0) ctx.moveTo(x, y);
+            else ctx.lineTo(x, y);
         });
         ctx.stroke();
     }
 
-    // Boucle de mise à jour (toutes les 500ms)
+    // Rafraichissement toutes les 500ms
     setInterval(fetchData, 500);
+    // Premier appel immédiat
     fetchData();
 
 </script>

From fbabfdaeb54b3f1f9e4dc103f72f2f72fc46cb18 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sat, 10 Jan 2026 01:53:32 +0100
Subject: [PATCH 16/49] feat: test de backend.py

---
 src/HL/Serveur_mq.py |  10 +-
 src/HL/backend.py    | 269 ++++++++++++++++++++++++++++++++++++-------
 2 files changed, 235 insertions(+), 44 deletions(-)

diff --git a/src/HL/Serveur_mq.py b/src/HL/Serveur_mq.py
index 2894cd03..aef4aaba 100644
--- a/src/HL/Serveur_mq.py
+++ b/src/HL/Serveur_mq.py
@@ -33,6 +33,7 @@
 from src.HL.actionneur_capteur.Camera import ProgramStreamCamera
 from src.HL.programme.module_initialisation import Initialisation
 from src.HL.programme.Car import Ai_Programme
+from backend import BackendAPI
 
 from Autotech_constant import I2C_NUMBER_DATA_RECEIVED, I2C_SLEEP_RECEIVED, I2C_SLEEP_ERROR_LOOP, TEXT_HEIGHT, TEXT_LEFT_OFFSET
 
@@ -86,7 +87,14 @@ def __init__(self):
 
         self.initialisation_module = Initialisation(self,Camera,Lidar,ToF, I2c_arduino)
         
-        self.programme = [SshProgramme(), self.initialisation_module, Ai_Programme(self), PS4ControllerProgram(), RemoteControl(), ProgramStreamCamera(self), Poweroff()]
+        self.programme = [SshProgramme(),
+                         self.initialisation_module, 
+                         Ai_Programme(self), 
+                         PS4ControllerProgram(), 
+                         RemoteControl(), 
+                         ProgramStreamCamera(self), 
+                         BackendAPI(self, host="0.0.0.0", port=8001, site_dir="/home/intech/CoVAPSy/site_controle"),
+                         Poweroff()]
         self.log.debug("Programmes chargés: %s", [type(p).__name__ for p in self.programme])
 
         # donnée de l'écran
diff --git a/src/HL/backend.py b/src/HL/backend.py
index 973b940d..646e167d 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -1,58 +1,241 @@
-from flask import Flask, jsonify, Response, render_template
-from flask_cors import CORS
+# BackendAPI.py
+from __future__ import annotations
+
+import threading
+import time
+import logging
+from typing import Any, Dict, Optional, List
+
+import uvicorn
+from fastapi import FastAPI, HTTPException
+from fastapi.middleware.cors import CORSMiddleware
+from fastapi.responses import HTMLResponse
+from fastapi.staticfiles import StaticFiles
+
 from programme import Program
+from Autotech_constant import (
+    LOGGING_LEVEL,
+    PORT_STREAMING_CAMERA,
+    STREAM_PATH,
+)
 
-# --------------------------------------------
-class Backend(Program):
-    """ ce programme permet de controler le site via le site web"""
+class BackendAPI(Program):
+    """
+    Programme backend web de contrôle.
+    - Respecte Program: start/kill/running/controls_car
+    - Expose une API REST:
+        GET  /api/status
+        GET  /api/programs
+        POST /api/programs/{id}/toggle
+        POST /api/programs/{id}/start
+        POST /api/programs/{id}/kill
+        GET  /api/stream/camera
+    - Sert un frontend statique (optionnel) via / (index.html)
+    """
 
-    def __init__(self,server):
+    def __init__(
+        self,
+        server: Any,
+        host: str = "0.0.0.0",
+        port: int = 8001,
+        site_dir: Optional[str] = None,  # ex: "/home/intech/CoVAPSy/site_controle"
+        cors_allow_origins: Optional[List[str]] = None,
+    ):
         super().__init__()
-        self.name = "Backend"
-        self.controls_car = False
+        self.logger = logging.getLogger(__name__)
+
         self.server = server
+        self.controls_car = False
         self.running = False
-        self.app = Flask(__name__, template_folder="/site_controle")                                                     # Cherche les html dans le dossier site controle
-        CORS(self.app)
 
-        self.app.add_url_rule('/', view_func=self.index)                                                            # equivalent à @self.app.route dans nos fonction
-        self.app.add_url_rule('/data', view_func=self.get_data)
-        self.app.add_url_rule('/video_feed', view_func=self.get_video)
-        self.app.add_url_rule('/set_program/<int:prog_id>', view_func=self.set_program, methods=['POST'])
+        self.host = host
+        self.port = port
+        self._thread: Optional[threading.Thread] = None
+        self._uvicorn_server: Optional[uvicorn.Server] = None
+
+        self.app = FastAPI(title="CoVAPSy Remote Control API", version="1.0.0")
+
+        # CORS: pratique si ton frontend est sur un autre port / autre machine
+        if cors_allow_origins is None:
+            cors_allow_origins = ["*"]
+        self.app.add_middleware(
+            CORSMiddleware,
+            allow_origins=cors_allow_origins,
+            allow_credentials=True,
+            allow_methods=["*"],
+            allow_headers=["*"],
+        )
+
+        # Frontend statique (optionnel)
+        # - si site_dir contient un index.html, il sera servi à "/"
+        if site_dir:
+            self.app.mount("/static", StaticFiles(directory=site_dir), name="static")
+
+            @self.app.get("/", response_class=HTMLResponse)
+            def index():
+                # Le frontend peut être /static/index.html ou /static/controle.html selon ton choix
+                # Ici on renvoie juste une page qui redirige vers /static/
+                return """
+                <html>
+                  <head><meta charset="utf-8"><title>CoVAPSy</title></head>
+                  <body>
+                    <h3>CoVAPSy Control</h3>
+                    <p>Frontend: <a href="/static/">/static/</a></p>
+                  </body>
+                </html>
+                """
+
+        self._setup_routes()
+
+    # ----------------------------
+    # Helpers: lecture état voiture
+    # ----------------------------
+    def _arduino(self):
+        # server.arduino_I2C est une property dans ton Serveur
+        return getattr(self.server, "arduino_I2C", None)
+
+    def _get_telemetry(self) -> Dict[str, Any]:
+        ard = self._arduino()
+        # On protège tout: si pas initialisé, on renvoie 0
+        voltage_lipo = float(getattr(ard, "voltage_lipo", 0.0) or 0.0) if ard else 0.0
+        voltage_nimh = float(getattr(ard, "voltage_nimh", 0.0) or 0.0) if ard else 0.0
+        vitesse_r = float(getattr(ard, "vitesse_r", 0.0) or 0.0) if ard else 0.0
+
+        # Programme qui contrôle la voiture actuellement
+        last_ctrl = int(getattr(self.server, "last_programme_control", 0) or 0)
+        programmes = getattr(self.server, "programme", [])
+        prog_name = None
+        if isinstance(programmes, list) and 0 <= last_ctrl < len(programmes):
+            prog_name = type(programmes[last_ctrl]).__name__
+
+        return {
+            "battery": {"lipo": voltage_lipo, "nimh": voltage_nimh},
+            "car": {"vitesse_reelle": vitesse_r, "programme_controle": prog_name, "programme_id": last_ctrl},
+            "timestamp": time.time(),
+        }
+
+    def _list_programs(self) -> List[Dict[str, Any]]:
+        programmes = getattr(self.server, "programme", [])
+        out: List[Dict[str, Any]] = []
+        if not isinstance(programmes, list):
+            return out
+
+        for i, p in enumerate(programmes):
+            out.append(
+                {
+                    "id": i,
+                    "name": type(p).__name__,
+                    "running": bool(getattr(p, "running", False)),
+                    "controls_car": bool(getattr(p, "controls_car", False)),
+                    "display": p.display() if hasattr(p, "display") else type(p).__name__,
+                }
+            )
+        return out
+
+    def _camera_stream_url(self) -> str:
+        # On suppose que le stream est servi par un autre service sur la Pi
+        # Si tu veux mettre l’IP dynamique, tu peux la récupérer via ta fonction get_ip()
+        ip = getattr(getattr(self.server, "SOCKET_ADRESS", None), "IP", None)
+        # Dans tes constantes tu as SOCKET_ADRESS["IP"], mais côté serveur c'est dans Autotech_constant,
+        # donc plus simple: on lit l'IP du serveur si tu l’as quelque part, sinon on laisse en relatif.
+        # Pour l’instant on fait simple: si server a un attribut ip, on l'utilise sinon 192.168.1.10
+        ip = getattr(self.server, "ip", None) or "192.168.1.10"
+        # ton chemin réel est /stream.mjpg d’après ton message, pas /stream
+        # donc on renvoie les deux pour compatibilité:
+        return f"http://{ip}:{PORT_STREAMING_CAMERA}/stream.mjpg"
 
+    # ----------------------------
+    # Routes
+    # ----------------------------
+    def _setup_routes(self) -> None:
+        @self.app.get("/api/status")
+        def status():
+            return {
+                "backend": {"running": self.running, "host": self.host, "port": self.port},
+                "telemetry": self._get_telemetry(),
+                "programs": self._list_programs(),
+            }
+
+        @self.app.get("/api/programs")
+        def programs():
+            return self._list_programs()
+
+        @self.app.post("/api/programs/{prog_id}/toggle")
+        def toggle_program(prog_id: int):
+            programmes = getattr(self.server, "programme", [])
+            if not isinstance(programmes, list) or not (0 <= prog_id < len(programmes)):
+                raise HTTPException(status_code=404, detail="Unknown program id")
+
+            self.server.start_process(prog_id)
+            # après action, renvoyer état mis à jour
+            return {"status": "ok", "program_id": prog_id, "programs": self._list_programs()}
+
+        @self.app.post("/api/programs/{prog_id}/start")
+        def start_program(prog_id: int):
+            programmes = getattr(self.server, "programme", [])
+            if not isinstance(programmes, list) or not (0 <= prog_id < len(programmes)):
+                raise HTTPException(status_code=404, detail="Unknown program id")
+
+            p = programmes[prog_id]
+            if getattr(p, "running", False):
+                return {"status": "already_running", "program_id": prog_id}
+
+            # utilise ta logique centralisée
+            self.server.start_process(prog_id)
+            return {"status": "ok", "program_id": prog_id}
+
+        @self.app.post("/api/programs/{prog_id}/kill")
+        def kill_program(prog_id: int):
+            programmes = getattr(self.server, "programme", [])
+            if not isinstance(programmes, list) or not (0 <= prog_id < len(programmes)):
+                raise HTTPException(status_code=404, detail="Unknown program id")
+
+            p = programmes[prog_id]
+            if not getattr(p, "running", False):
+                return {"status": "already_stopped", "program_id": prog_id}
+
+            # ta logique: toggle kill si running
+            self.server.start_process(prog_id)
+            return {"status": "ok", "program_id": prog_id}
+
+        @self.app.get("/api/stream/camera")
+        def camera_stream():
+            # On ne proxifie pas (mauvais plan). On donne juste l'URL.
+            return {"url": self._camera_stream_url()}
+
+    # ----------------------------
+    # Program interface
+    # ----------------------------
     def start(self):
+        if self.running:
+            return
         self.running = True
-        self.app.run(host='0.0.0.0', port=5000) # lance le serveur
 
-    def kill(self):
-        self.running = False
+        # Uvicorn "propre" (permet d'arrêter via should_exit)
+        config = uvicorn.Config(self.app, host=self.host, port=self.port, log_level="info")
+        self._uvicorn_server = uvicorn.Server(config)
 
-    def index(self):
-        return render_template('controle.html')
-
-    def get_data(self):
-        """ Demande les infos à Serveur """
-        data = self.server.i2c_received()
-
-        formatted_data = {
-            "batterie": {
-                "lipo": data.get("voltage_lipo", 0),
-                "nimh": data.get("voltage_nimh", 0)
-            },
-            "robot": {
-                "vitesse": data.get("vitesse_reelle", 0),
-                "programme": data.get("programme_actuel", "Inconnu"),     # Cyril si tu peux envoyer le programme actuel dans le serv ça m'arrangerrai
-                "lidar": self.server.lidar()             #je suis pas sur de ça
-            }
-        }
-        return jsonify(formatted_data)
+        def _run():
+            try:
+                self.logger.info("BackendAPI starting on %s:%d", self.host, self.port)
+                self._uvicorn_server.run()
+            except Exception as e:
+                self.logger.error("BackendAPI crashed: %s", e, exc_info=True)
+            finally:
+                self.running = False
+                self.logger.warning("BackendAPI stopped")
 
-    def set_program(self,prog_id):
-       self.server.start_process(prog_id)
-       return jsonify({"status": "ok", "program_id": prog_id})
+        self._thread = threading.Thread(target=_run, daemon=True)
+        self._thread.start()
 
-    def get_video(self):
-        self.server.camera()         # pas sur non plus                                                                                    #
-        return Response(self.server.camera(), mimetype='multipart/x-mixed-replace; boundary=frame')
+    def kill(self):
+        if not self.running:
+            return
+        self.running = False
+        if self._uvicorn_server:
+            self._uvicorn_server.should_exit = True
+        self.logger.info("BackendAPI kill requested")
 
-#-------------------------------------------
+    def display(self):
+        name = self.__class__.__name__
+        return f"{name}\n(running)" if self.running else name

From a51bdc9083cbe0ddeb1a7b57d36d0c5baec1743c Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sat, 10 Jan 2026 02:10:52 +0100
Subject: [PATCH 17/49] feat: rajout du frontend et du backend simple avec
 implementation du site

---
 pyproject.toml                  |   2 +
 src/HL/Serveur_mq.py            |   2 +-
 src/HL/backend.py               |   4 +-
 src/HL/site_controle/app.js     |  76 ++++++++++
 src/HL/site_controle/index.html |  50 +++++++
 src/HL/site_controle/style.css  |  60 ++++++++
 uv.lock                         | 246 ++++++++++++++++++++++++++++++++
 7 files changed, 437 insertions(+), 3 deletions(-)
 create mode 100644 src/HL/site_controle/app.js
 create mode 100644 src/HL/site_controle/index.html
 create mode 100644 src/HL/site_controle/style.css

diff --git a/pyproject.toml b/pyproject.toml
index 048b860f..49028236 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -14,6 +14,8 @@ authors = [
 ]
 
 dependencies = [
+    "fastapi>=0.128.0",
+    "uvicorn>=0.40.0",
 ]
 
 [project.optional-dependencies]
diff --git a/src/HL/Serveur_mq.py b/src/HL/Serveur_mq.py
index aef4aaba..31ed46be 100644
--- a/src/HL/Serveur_mq.py
+++ b/src/HL/Serveur_mq.py
@@ -93,7 +93,7 @@ def __init__(self):
                          PS4ControllerProgram(), 
                          RemoteControl(), 
                          ProgramStreamCamera(self), 
-                         BackendAPI(self, host="0.0.0.0", port=8001, site_dir="/home/intech/CoVAPSy/site_controle"),
+                         BackendAPI(self, host="0.0.0.0", port=8001, site_dir="/home/intech/CoVAPSy/src/HL/site_controle"),
                          Poweroff()]
         self.log.debug("Programmes chargés: %s", [type(p).__name__ for p in self.programme])
 
diff --git a/src/HL/backend.py b/src/HL/backend.py
index 646e167d..29246709 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -12,7 +12,7 @@
 from fastapi.responses import HTMLResponse
 from fastapi.staticfiles import StaticFiles
 
-from programme import Program
+from src.HL.programme.programme import Program
 from Autotech_constant import (
     LOGGING_LEVEL,
     PORT_STREAMING_CAMERA,
@@ -38,7 +38,7 @@ def __init__(
         server: Any,
         host: str = "0.0.0.0",
         port: int = 8001,
-        site_dir: Optional[str] = None,  # ex: "/home/intech/CoVAPSy/site_controle"
+        site_dir: Optional[str] = None,  # ex: "/home/intech/CoVAPSy/src/HL/site_controle"
         cors_allow_origins: Optional[List[str]] = None,
     ):
         super().__init__()
diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
new file mode 100644
index 00000000..cd898a05
--- /dev/null
+++ b/src/HL/site_controle/app.js
@@ -0,0 +1,76 @@
+const API = ""; // même origine (FastAPI)
+
+async function fetchStatus() {
+    const res = await fetch(`${API}/api/status`);
+    return await res.json();
+}
+
+async function fetchCameraUrl() {
+    const res = await fetch(`${API}/api/stream/camera`);
+    const data = await res.json();
+    return data.url;
+}
+
+async function toggleProgram(id) {
+    await fetch(`${API}/api/programs/${id}/toggle`, { method: "POST" });
+}
+
+async function startProgram(id) {
+    await fetch(`${API}/api/programs/${id}/start`, { method: "POST" });
+}
+
+async function killProgram(id) {
+    await fetch(`${API}/api/programs/${id}/kill`, { method: "POST" });
+}
+
+function updateTelemetry(t) {
+    document.getElementById("lipo").textContent = t.battery.lipo.toFixed(2);
+    document.getElementById("nimh").textContent = t.battery.nimh.toFixed(2);
+    document.getElementById("vitesse").textContent = t.car.vitesse_reelle.toFixed(2);
+    document.getElementById("active_program").textContent =
+        t.car.programme_controle ?? "Aucun";
+}
+
+function updatePrograms(programs) {
+    const tbody = document.getElementById("program_table");
+    tbody.innerHTML = "";
+
+    for (const p of programs) {
+        const tr = document.createElement("tr");
+
+        tr.innerHTML = `
+            <td>${p.id}</td>
+            <td>${p.name}</td>
+            <td>${p.running ? "🟢" : "🔴"}</td>
+            <td>${p.controls_car ? "🚗" : "-"}</td>
+            <td>
+                <button class="toggle" onclick="toggleProgram(${p.id})">Toggle</button>
+                <button class="start" onclick="startProgram(${p.id})">Start</button>
+                <button class="kill" onclick="killProgram(${p.id})">Kill</button>
+            </td>
+        `;
+
+        tbody.appendChild(tr);
+    }
+}
+
+async function refresh() {
+    try {
+        const data = await fetchStatus();
+        updateTelemetry(data.telemetry);
+        updatePrograms(data.programs);
+    } catch (e) {
+        console.error("API unreachable", e);
+    }
+}
+
+async function init() {
+    const camUrl = await fetchCameraUrl();
+    document.getElementById("camera").src = camUrl;
+
+    // refresh toutes les 250 ms
+    setInterval(refresh, 250);
+    refresh();
+}
+
+init();
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
new file mode 100644
index 00000000..1f2c6f70
--- /dev/null
+++ b/src/HL/site_controle/index.html
@@ -0,0 +1,50 @@
+<!DOCTYPE html>
+<html lang="fr">
+<head>
+    <meta charset="UTF-8">
+    <title>CoVAPSy – Remote Control</title>
+    <link rel="stylesheet" href="style.css">
+</head>
+<body>
+
+<h1>🚗 CoVAPSy – Remote Control</h1>
+
+<div class="grid">
+
+    <!-- TELEMETRY -->
+    <div class="card">
+        <h2>📊 Télémétrie</h2>
+        <p>LiPo: <span id="lipo">--</span> V</p>
+        <p>NiMH: <span id="nimh">--</span> V</p>
+        <p>Vitesse réelle: <span id="vitesse">--</span></p>
+        <p>Programme actif: <span id="active_program">--</span></p>
+    </div>
+
+    <!-- CAMERA -->
+    <div class="card">
+        <h2>📷 Caméra</h2>
+        <img id="camera" src="" alt="Camera stream">
+    </div>
+
+    <!-- PROGRAMS -->
+    <div class="card full">
+        <h2>🧠 Programmes</h2>
+        <table>
+            <thead>
+                <tr>
+                    <th>ID</th>
+                    <th>Nom</th>
+                    <th>État</th>
+                    <th>Contrôle voiture</th>
+                    <th>Actions</th>
+                </tr>
+            </thead>
+            <tbody id="program_table"></tbody>
+        </table>
+    </div>
+
+</div>
+
+<script src="app.js"></script>
+</body>
+</html>
diff --git a/src/HL/site_controle/style.css b/src/HL/site_controle/style.css
new file mode 100644
index 00000000..2b4b956c
--- /dev/null
+++ b/src/HL/site_controle/style.css
@@ -0,0 +1,60 @@
+body {
+    font-family: Arial, sans-serif;
+    background: #0f1117;
+    color: #eaeaea;
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index 4b5d9e52..0d7e86e4 100644
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+[[package]]
+name = "starlette"
+version = "0.50.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "anyio" },
+    { name = "typing-extensions", marker = "python_full_version < '3.13'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/ba/b8/73a0e6a6e079a9d9cfa64113d771e421640b6f679a52eeb9b32f72d871a1/starlette-0.50.0.tar.gz", hash = "sha256:a2a17b22203254bcbc2e1f926d2d55f3f9497f769416b3190768befe598fa3ca", size = 2646985, upload-time = "2025-11-01T15:25:27.516Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/d9/52/1064f510b141bd54025f9b55105e26d1fa970b9be67ad766380a3c9b74b0/starlette-0.50.0-py3-none-any.whl", hash = "sha256:9e5391843ec9b6e472eed1365a78c8098cfceb7a74bfd4d6b1c0c0095efb3bca", size = 74033, upload-time = "2025-11-01T15:25:25.461Z" },
+]
+
 [[package]]
 name = "sympy"
 version = "1.14.0"
@@ -2492,6 +2712,18 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/18/67/36e9267722cc04a6b9f15c7f3441c2363321a3ea07da7ae0c0707beb2a9c/typing_extensions-4.15.0-py3-none-any.whl", hash = "sha256:f0fa19c6845758ab08074a0cfa8b7aecb71c999ca73d62883bc25cc018c4e548", size = 44614, upload-time = "2025-08-25T13:49:24.86Z" },
 ]
 
+[[package]]
+name = "typing-inspection"
+version = "0.4.2"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "typing-extensions" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/55/e3/70399cb7dd41c10ac53367ae42139cf4b1ca5f36bb3dc6c9d33acdb43655/typing_inspection-0.4.2.tar.gz", hash = "sha256:ba561c48a67c5958007083d386c3295464928b01faa735ab8547c5692e87f464", size = 75949, upload-time = "2025-10-01T02:14:41.687Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/dc/9b/47798a6c91d8bdb567fe2698fe81e0c6b7cb7ef4d13da4114b41d239f65d/typing_inspection-0.4.2-py3-none-any.whl", hash = "sha256:4ed1cacbdc298c220f1bd249ed5287caa16f34d44ef4e9c3d0cbad5b521545e7", size = 14611, upload-time = "2025-10-01T02:14:40.154Z" },
+]
+
 [[package]]
 name = "tzdata"
 version = "2025.3"
@@ -2510,6 +2742,20 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/6d/b9/4095b668ea3678bf6a0af005527f39de12fb026516fb3df17495a733b7f8/urllib3-2.6.2-py3-none-any.whl", hash = "sha256:ec21cddfe7724fc7cb4ba4bea7aa8e2ef36f607a4bab81aa6ce42a13dc3f03dd", size = 131182, upload-time = "2025-12-11T15:56:38.584Z" },
 ]
 
+[[package]]
+name = "uvicorn"
+version = "0.40.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "click" },
+    { name = "h11" },
+    { name = "typing-extensions", marker = "python_full_version < '3.11'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/c3/d1/8f3c683c9561a4e6689dd3b1d345c815f10f86acd044ee1fb9a4dcd0b8c5/uvicorn-0.40.0.tar.gz", hash = "sha256:839676675e87e73694518b5574fd0f24c9d97b46bea16df7b8c05ea1a51071ea", size = 81761, upload-time = "2025-12-21T14:16:22.45Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/3d/d8/2083a1daa7439a66f3a48589a57d576aa117726762618f6bb09fe3798796/uvicorn-0.40.0-py3-none-any.whl", hash = "sha256:c6c8f55bc8bf13eb6fa9ff87ad62308bbbc33d0b67f84293151efe87e0d5f2ee", size = 68502, upload-time = "2025-12-21T14:16:21.041Z" },
+]
+
 [[package]]
 name = "watchdog"
 version = "6.0.0"

From f88f004ef8b87915d04518b8761b121ad618c8c7 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sat, 10 Jan 2026 02:10:57 +0100
Subject: [PATCH 18/49] feat : oublie de app.js oups

---
 src/HL/site_controle/app.js | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index cd898a05..7ddab72e 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -74,3 +74,4 @@ async function init() {
 }
 
 init();
+ 
\ No newline at end of file

From 3b1916cd7241fb96ae03d9fc55a7da174da6667e Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sat, 10 Jan 2026 02:46:44 +0100
Subject: [PATCH 19/49] feat : suppression de truc inutile

---
 src/HL/site_controle/controle.html | 197 -----------------------------
 src/HL/site_controle/webapp.py     |  78 ------------
 2 files changed, 275 deletions(-)
 delete mode 100644 src/HL/site_controle/controle.html
 delete mode 100644 src/HL/site_controle/webapp.py

diff --git a/src/HL/site_controle/controle.html b/src/HL/site_controle/controle.html
deleted file mode 100644
index 20e78759..00000000
--- a/src/HL/site_controle/controle.html
+++ /dev/null
@@ -1,197 +0,0 @@
-<!DOCTYPE html>
-<html lang="fr">
-<head>
-    <meta charset="UTF-8">
-    <title>Contrôle Robot Pi</title>
-    <style>
-        body { font-family: 'Segoe UI', Arial, sans-serif; margin: 20px; background-color: #1a1a1a; color: white; }
-        .container { display: flex; gap: 20px; flex-wrap: wrap; }
-        .col-main { flex: 2; min-width: 600px; }
-        .col-side { flex: 1; min-width: 300px; }
-
-        /* Boites */
-        .box {
-            background-color: #2d2d2d;
-            padding: 20px;
-            border-radius: 10px;
-            margin-bottom: 20px;
-            box-shadow: 0 4px 6px rgba(0,0,0,0.3);
-        }
-        h2 { border-bottom: 1px solid #444; padding-bottom: 10px; margin-top: 0; color: #00d2ff; }
-
-        /* Vidéo */
-        img#video-stream { width: 100%; border-radius: 5px; background: #000; min-height: 300px; }
-
-        /* Boutons de contrôle */
-        .control-grid { display: grid; grid-template-columns: repeat(2, 1fr); gap: 10px; }
-        button {
-            padding: 15px;
-            font-size: 16px;
-            border: none;
-            border-radius: 5px;
-            cursor: pointer;
-            background-color: #444;
-            color: white;
-            transition: background 0.3s;
-        }
-        button:hover { background-color: #666; }
-        button:active { transform: scale(0.98); }
-        button.stop { background-color: #ff4444; grid-column: span 2; }
-
-        /* Données */
-        .data-row { display: flex; justify-content: space-between; margin-bottom: 10px; font-size: 18px; }
-        .val { font-weight: bold; color: #00ff88; }
-
-        /* Lidar */
-        #lidar-canvas { width: 100%; height: 200px; background: #000; border-radius: 5px; }
-    </style>
-</head>
-<body>
-
-    <h1>Pilotage Robot Raspberry Pi</h1>
-
-    <div class="container">
-        <div class="col-main">
-            <div class="box">
-                <h2>Flux Caméra</h2>
-                <img id="video-stream" src="/video_feed" alt="En attente du flux vidéo...">
-            </div>
-
-            <div class="box">
-                <h2>Scanner Lidar</h2>
-                <canvas id="lidar-canvas" width="600" height="200"></canvas>
-            </div>
-        </div>
-
-        <div class="col-side">
-
-            <div class="box">
-                <h2>Programmes</h2>
-                <div class="control-grid">
-                    <button onclick="envoie_num(1)">Auto Driving</button>
-                    <button onclick="envoie_num(2)">PS4 Controller</button>
-                    <button onclick="envoie_num(3)">Connect BT</button>
-                    <button onclick="envoie_num(4)">Remote Control</button>
-                    <button onclick="envoie_num(0)" class="stop">STOP / Idle</button>
-                </div>
-                <p style="text-align:center; margin-top:10px;">Programme Actuel : <span id="prog-actif" style="color:#00d2ff; font-weight:bold;">--</span></p>
-            </div>
-
-            <div class="box">
-                <h2>Télémétrie</h2>
-                <div class="data-row">LiPo : <span id="val-lipo" class="val">--</span> V</div>
-                <div class="data-row">NiMH : <span id="val-nimh" class="val">--</span> V</div>
-                <div class="data-row">Vitesse : <span id="val-speed" class="val">--</span></div>
-            </div>
-
-            <div id="status" style="color: gray; font-size: 12px; text-align: right;">Connexion...</div>
-        </div>
-    </div>
-
-<script>
-    // --- 1. Changement de Programme ---
-    async function envoie_num(num) {
-        const statusElem = document.getElementById('status');
-        statusElem.textContent = `Envoi commande ${num}...`;
-
-        try {
-            // Appel à la route définie : /set_program/<int:prog_id>
-            const response = await fetch(`/set_program/${num}`, { method: 'POST' });
-
-            if (response.ok) {
-                // On essaie de lire le JSON seulement si le serveur en renvoie un
-                try {
-                    const result = await response.json();
-                    console.log("Retour serveur:", result);
-                } catch(e) {
-                    console.log("Commande envoyée (pas de JSON reçu)");
-                }
-                statusElem.textContent = "Commande reçue !";
-            } else {
-                statusElem.textContent = "Erreur serveur : " + response.status;
-            }
-        } catch (error) {
-            console.error("Erreur commande:", error);
-            statusElem.textContent = "Erreur de connexion";
-        }
-    }
-
-    // --- 2. Récupération des Données (Télémétrie) ---
-    async function fetchData() {
-        try {
-            const response = await fetch('/data');
-            if (!response.ok) throw new Error("Erreur réseau");
-
-            const data = await response.json();
-
-            // --- Adaptation aux clés du dictionnaire Python ---
-            // Python structure:
-            // { "batterie": {"lipo": X, "nimh": Y}, "robot": {"vitesse": Z, "programme": P, "lidar": L} }
-
-            if (data.batterie) {
-                document.getElementById('val-lipo').textContent = (data.batterie.lipo || 0).toFixed(2);
-                document.getElementById('val-nimh').textContent = (data.batterie.nimh || 0).toFixed(2);
-            }
-
-            if (data.robot) {
-                document.getElementById('val-speed').textContent = (data.robot.vitesse || 0).toFixed(2);
-                document.getElementById('prog-actif').textContent = data.robot.programme || "Inconnu";
-
-                // Dessin du Lidar si les données existent
-                if (Array.isArray(data.robot.lidar)) {
-                    drawLidar(data.robot.lidar);
-                }
-            }
-
-            document.getElementById('status').textContent = "Connecté - " + new Date().toLocaleTimeString();
-
-        } catch (error) {
-            console.error("Erreur fetch:", error);
-            document.getElementById('status').textContent = "Déconnecté"; // Indicateur visuel important
-        }
-    }
-
-    // --- 3. Visualisation Lidar (Simple) ---
-    function drawLidar(distances) {
-        const canvas = document.getElementById('lidar-canvas');
-        if (!canvas) return;
-        const ctx = canvas.getContext('2d');
-        const width = canvas.width;
-        const height = canvas.height;
-
-        // Reset fond noir
-        ctx.fillStyle = 'black';
-        ctx.fillRect(0, 0, width, height);
-
-        if (distances.length === 0) return;
-
-        ctx.strokeStyle = '#00ff00';
-        ctx.lineWidth = 2;
-        ctx.beginPath();
-
-        const step = width / distances.length;
-
-        distances.forEach((dist, i) => {
-            // Echelle : supposons que 2000mm = haut du canvas
-            let barHeight = (dist / 2000) * height;
-            if (barHeight > height) barHeight = height;
-
-            // On dessine "l'espace vide" ou l'obstacle
-            // Ici on dessine une ligne au sol qui monte selon la distance
-            const x = i * step;
-            const y = height - barHeight;
-
-            if (i === 0) ctx.moveTo(x, y);
-            else ctx.lineTo(x, y);
-        });
-        ctx.stroke();
-    }
-
-    // Rafraichissement toutes les 500ms
-    setInterval(fetchData, 500);
-    // Premier appel immédiat
-    fetchData();
-
-</script>
-</body>
-</html>
\ No newline at end of file
diff --git a/src/HL/site_controle/webapp.py b/src/HL/site_controle/webapp.py
deleted file mode 100644
index fe854311..00000000
--- a/src/HL/site_controle/webapp.py
+++ /dev/null
@@ -1,78 +0,0 @@
-from flask import Flask, jsonify, render_template, Response, request
-from flask_cors import CORS
-import zmq
-from Camera import Camera
-
-app = Flask(__name__, template_folder=".")  # Cherche les html dans le dossier courant
-CORS(app)
-
-# --- Configuration ZMQ (Le Client) ---
-context = zmq.Context()
-# On se connecte au port 5557 défini dans Serveur_mq.py
-mq_socket = context.socket(zmq.REQ)
-mq_socket.connect("tcp://127.0.0.1:5557")
-
-
-@app.route('/')
-def index():
-    # Assurez-vous que controle.html est dans le même dossier
-    return render_template('controle.html')
-
-
-@app.route('/data')
-def get_data():
-    """ Demande les infos à Serveur_mq.py """
-    try:
-        # 1. Envoi de la demande
-        mq_socket.send_json({"cmd": "info"})
-        # 2. Réception de la réponse (bloquant)
-        data = mq_socket.recv_json()
-
-        # On restructure pour correspondre à ce que le HTML attend
-        formatted_data = {
-            "batterie": {
-                "lipo": data.get("voltage_lipo", 0),
-                "nimh": data.get("voltage_nimh", 0)
-            },
-            "robot": {
-                "vitesse": data.get("vitesse_reelle", 0),
-                "programme": data.get("programme_actuel", "Inconnu"),
-                "lidar": data.get("lidar_data", [])
-            }
-        }
-        return jsonify(formatted_data)
-    except Exception as e:
-        # Si ZMQ plante (timeout), on réinitialise le socket
-        print(f"Erreur ZMQ: {e}")
-        global mq_socket
-        mq_socket.close()
-        mq_socket = context.socket(zmq.REQ)
-        mq_socket.connect("tcp://127.0.0.1:5557")
-        return jsonify({"error": "Pas de connexion au robot"}), 500
-
-
-@app.route('/set_program/<int:prog_id>', methods=['POST'])
-def set_program(prog_id):
-    """ Envoie l'ordre de changer de programme """
-    try:
-        mq_socket.send_json({"cmd": "change_program", "id": prog_id})
-        response = mq_socket.recv_json()
-        return jsonify(response)
-    except Exception as e:
-        return jsonify({"error": str(e)}), 500
-
-@app.route('/video_feed')
-def video_feed():
-    """La route qui sert le flux vidéo."""
-    return Response(gen_frames(),
-                    mimetype='multipart/x-mixed-replace; boundary=frame')
-
-
-# --- Route Vidéo (Si vous avez intégré la classe Camera ici ou via un import) ---
-# Voir la réponse précédente pour l'implémentation de gen_frames()
-# @app.route('/video_feed')
-# def video_feed():
-#     return Response(gen_frames(), mimetype='multipart/x-mixed-replace; boundary=frame')
-
-if __name__ == '__main__':
-    app.run(host='0.0.0.0', port=5000, threaded=True)
\ No newline at end of file

From 949da5bb71979fe23eca2aec6b96ae7f38e9ad78 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sat, 10 Jan 2026 03:16:21 +0100
Subject: [PATCH 20/49] feat: rajout de lien complet

---
 src/HL/backend.py               | 2 +-
 src/HL/site_controle/index.html | 5 ++---
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/HL/backend.py b/src/HL/backend.py
index 29246709..4444be4d 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -80,7 +80,7 @@ def index():
                   <head><meta charset="utf-8"><title>CoVAPSy</title></head>
                   <body>
                     <h3>CoVAPSy Control</h3>
-                    <p>Frontend: <a href="/static/">/static/</a></p>
+                    <p>Frontend: <a href="/static/index.html">/static/index.html</a></p>
                   </body>
                 </html>
                 """
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index 1f2c6f70..dfd09932 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -13,7 +13,7 @@ <h1>🚗 CoVAPSy – Remote Control</h1>
 
     <!-- TELEMETRY -->
     <div class="card">
-        <h2>📊 Télémétrie</h2>
+        <h2>Télémétrie:</h2>
         <p>LiPo: <span id="lipo">--</span> V</p>
         <p>NiMH: <span id="nimh">--</span> V</p>
         <p>Vitesse réelle: <span id="vitesse">--</span></p>
@@ -22,13 +22,12 @@ <h2>📊 Télémétrie</h2>
 
     <!-- CAMERA -->
     <div class="card">
-        <h2>📷 Caméra</h2>
         <img id="camera" src="" alt="Camera stream">
     </div>
 
     <!-- PROGRAMS -->
     <div class="card full">
-        <h2>🧠 Programmes</h2>
+        <h2>Programmes:</h2>
         <table>
             <thead>
                 <tr>

From e3406dd327eb7478002d90109a3afaa23f1259c3 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 15:24:51 +0100
Subject: [PATCH 21/49] feat: rajout du lancement automatique du backend et de
 la camera au lancement de la voiture

---
 src/HL/Autotech_constant.py         | 8 +++++++-
 src/HL/actionneur_capteur/Camera.py | 6 +++++-
 src/HL/backend.py                   | 5 +++++
 3 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/src/HL/Autotech_constant.py b/src/HL/Autotech_constant.py
index 717800ef..872fb97c 100644
--- a/src/HL/Autotech_constant.py
+++ b/src/HL/Autotech_constant.py
@@ -42,6 +42,7 @@
 TEXT_LEFT_OFFSET = 3 # Offset from the left of the screen to ensure no cuttoff
 
 
+
 script_dir = os.path.dirname(os.path.abspath(__file__))
 MODEL_PATH = os.path.join(script_dir, "model_CNN1D.onnx")  # Allows the model to be loaded from the same directory as the script regardless of the current working directory (aka where the script is run from)
 
@@ -59,4 +60,9 @@
 # In our case Higher temperature means less agressive driving and lower temperature means more aggressive driving.
 
 
-LOGGING_LEVEL = logging.DEBUG # can be either NOTSET, DEBUG, INFO, WARNING, ERROR, CRITICAL
\ No newline at end of file
+LOGGING_LEVEL = logging.DEBUG # can be either NOTSET, DEBUG, INFO, WARNING, ERROR, CRITICAL
+
+#Startup
+ON_START_CAMERA_STREAM = True #If True the camera stream will start at the launch of the car
+ON_START_BACKEND = True #If True the backend will start at the launch of the car
+ON_START_LIDAR_STREAM = True #If True the lidar stream will start at the launch of the car
\ No newline at end of file
diff --git a/src/HL/actionneur_capteur/Camera.py b/src/HL/actionneur_capteur/Camera.py
index 8c0bd9c7..bb83bdaa 100644
--- a/src/HL/actionneur_capteur/Camera.py
+++ b/src/HL/actionneur_capteur/Camera.py
@@ -41,7 +41,7 @@ def outputframe(self, frame, keyframe=True):
 
 from src.HL.programme.Camera_serv import StreamServer, StreamHandler, StreamOutput, frame_buffer
 from src.HL.programme.programme import Program
-from src.HL.Autotech_constant import PORT_STREAMING_CAMERA, SIZE_CAMERA_X, SIZE_CAMERA_Y, FRAME_RATE, CAMERA_QUALITY, STREAM_PATH
+from src.HL.Autotech_constant import PORT_STREAMING_CAMERA, SIZE_CAMERA_X, SIZE_CAMERA_Y, FRAME_RATE, CAMERA_QUALITY, STREAM_PATH, ON_START_CAMERA_STREAM
 
 class ProgramStreamCamera(Program):
     def __init__(self,serveur):
@@ -50,6 +50,10 @@ def __init__(self,serveur):
         self.serveur = serveur
         self.running = False
         self.controls_car = False
+        
+        if ON_START_CAMERA_STREAM:
+            self.start()
+
     
     @property
     def camera(self):
diff --git a/src/HL/backend.py b/src/HL/backend.py
index 4444be4d..67761f78 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -17,6 +17,7 @@
     LOGGING_LEVEL,
     PORT_STREAMING_CAMERA,
     STREAM_PATH,
+    ON_START_BACKEND,
 )
 
 class BackendAPI(Program):
@@ -87,6 +88,10 @@ def index():
 
         self._setup_routes()
 
+        time.sleep(1)  # Petit délai pour s'assurer que tout est prêt avant de démarrer
+        if ON_START_BACKEND:
+            self.start()
+
     # ----------------------------
     # Helpers: lecture état voiture
     # ----------------------------

From 61fbe8786765a52fe000a189bf588c7b39287ea7 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 15:49:05 +0100
Subject: [PATCH 22/49] rajout du stream du lidar pour le recupe sur le site

---
 src/HL/backend.py               | 41 +++++++++++++++++++++++++
 src/HL/site_controle/lidar.html | 53 +++++++++++++++++++++++++++++++++
 2 files changed, 94 insertions(+)
 create mode 100644 src/HL/site_controle/lidar.html

diff --git a/src/HL/backend.py b/src/HL/backend.py
index 67761f78..beecf8a1 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -148,6 +148,25 @@ def _camera_stream_url(self) -> str:
         # ton chemin réel est /stream.mjpg d’après ton message, pas /stream
         # donc on renvoie les deux pour compatibilité:
         return f"http://{ip}:{PORT_STREAMING_CAMERA}/stream.mjpg"
+    
+    def _lidar(self):
+        return getattr(self.server, "lidar", None)
+
+    def _get_lidar_points_cartesian(self):
+        lidar = self._lidar()
+        if not lidar:
+            return None
+
+        # Attention: numpy → list
+        x = (np.cos(lidar.xTheta) * lidar.rDistance).tolist()
+        y = (np.sin(lidar.xTheta) * lidar.rDistance).tolist()
+
+        return {
+            "x": x,
+            "y": y,
+            "unit": "mm",
+            "timestamp": time.time(),
+        }
 
     # ----------------------------
     # Routes
@@ -207,6 +226,28 @@ def kill_program(prog_id: int):
         def camera_stream():
             # On ne proxifie pas (mauvais plan). On donne juste l'URL.
             return {"url": self._camera_stream_url()}
+        
+        @self.app.get("/api/lidar")
+        def lidar_snapshot():
+            data = self._get_lidar_points_cartesian()
+            if data is None:
+                raise HTTPException(status_code=503, detail="Lidar not available")
+            return data
+        
+        @self.app.websocket("/api/lidar/ws")
+        async def lidar_ws(ws: WebSocket):
+            await ws.accept()
+            self.logger.info("Lidar WS client connected")
+
+            try:
+                while True:
+                    data = self._get_lidar_points_cartesian()
+                    if data:
+                        await ws.send_json(data)
+                    await asyncio.sleep(0.05)  # 20 Hz
+            except WebSocketDisconnect:
+                self.logger.info("Lidar WS client disconnected")
+
 
     # ----------------------------
     # Program interface
diff --git a/src/HL/site_controle/lidar.html b/src/HL/site_controle/lidar.html
new file mode 100644
index 00000000..0a644168
--- /dev/null
+++ b/src/HL/site_controle/lidar.html
@@ -0,0 +1,53 @@
+<!DOCTYPE html>
+<html>
+<head>
+  <meta charset="utf-8">
+  <title>LIDAR</title>
+  <style>
+    canvas { background: #111; }
+  </style>
+</head>
+<body>
+
+<canvas id="lidar" width="600" height="600"></canvas>
+
+<script>
+const canvas = document.getElementById("lidar");
+const ctx = canvas.getContext("2d");
+const scale = 0.05; // mm → pixels
+
+const ws = new WebSocket("ws://" + location.host + "/api/lidar/ws");
+
+ws.onmessage = (e) => {
+  const data = JSON.parse(e.data);
+
+  ctx.clearRect(0, 0, canvas.width, canvas.height);
+
+  // origine au centre
+  ctx.save();
+  ctx.translate(canvas.width/2, canvas.height/2);
+
+  // grille simple
+  ctx.strokeStyle = "#333";
+  for (let r = 500; r <= 5000; r += 500) {
+    ctx.beginPath();
+    ctx.arc(0, 0, r * scale, 0, Math.PI * 2);
+    ctx.stroke();
+  }
+
+  // points lidar
+  ctx.fillStyle = "#00ff88";
+  for (let i = 0; i < data.x.length; i++) {
+    ctx.fillRect(
+      data.x[i] * scale,
+      -data.y[i] * scale,
+      2, 2
+    );
+  }
+
+  ctx.restore();
+};
+</script>
+
+</body>
+</html>

From b9c97555092a8d5fae3109cc983d2b72b293cace Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 17:09:45 +0100
Subject: [PATCH 23/49] =?UTF-8?q?feat:=20rajout=20la=20possibilit=C3=A9=20?=
 =?UTF-8?q?de=20stream=20le=20lidar?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/HL/backend.py               | 35 +++++++++++++++++++++++++++------
 src/HL/site_controle/lidar.html |  4 +++-
 2 files changed, 32 insertions(+), 7 deletions(-)

diff --git a/src/HL/backend.py b/src/HL/backend.py
index beecf8a1..f21cd4b3 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -11,6 +11,10 @@
 from fastapi.middleware.cors import CORSMiddleware
 from fastapi.responses import HTMLResponse
 from fastapi.staticfiles import StaticFiles
+import numpy as np
+import asyncio
+from fastapi import WebSocket
+from fastapi.websockets import WebSocketDisconnect
 
 from src.HL.programme.programme import Program
 from Autotech_constant import (
@@ -48,6 +52,7 @@ def __init__(
         self.server = server
         self.controls_car = False
         self.running = False
+        self.lidar_yaw = 0.0  # radians
 
         self.host = host
         self.port = port
@@ -91,6 +96,8 @@ def index():
         time.sleep(1)  # Petit délai pour s'assurer que tout est prêt avant de démarrer
         if ON_START_BACKEND:
             self.start()
+        
+
 
     # ----------------------------
     # Helpers: lecture état voiture
@@ -154,20 +161,36 @@ def _lidar(self):
 
     def _get_lidar_points_cartesian(self):
         lidar = self._lidar()
-        if not lidar:
+        if not lidar or lidar.rDistance is None:
             return None
 
-        # Attention: numpy → list
-        x = (np.cos(lidar.xTheta) * lidar.rDistance).tolist()
-        y = (np.sin(lidar.xTheta) * lidar.rDistance).tolist()
+        r = np.asarray(lidar.rDistance)
+        n = r.shape[0]
+
+        # angles du lidar (repère capteur)
+        theta_lidar = np.linspace(
+            -3*np.pi/4,   # -135°
+            +3*np.pi/4,   # +135°
+            n,
+            endpoint=True
+        )
+
+        # correction d’orientation
+        theta_world = theta_lidar + self.lidar_yaw
+
+        # projection
+        x = np.sin(theta_world) * r
+        y = -np.cos(theta_world) * r  # Y vers le haut écran
 
         return {
-            "x": x,
-            "y": y,
+            "x": x.tolist(),
+            "y": y.tolist(),
             "unit": "mm",
             "timestamp": time.time(),
         }
 
+
+
     # ----------------------------
     # Routes
     # ----------------------------
diff --git a/src/HL/site_controle/lidar.html b/src/HL/site_controle/lidar.html
index 0a644168..4db38e93 100644
--- a/src/HL/site_controle/lidar.html
+++ b/src/HL/site_controle/lidar.html
@@ -16,7 +16,9 @@
 const ctx = canvas.getContext("2d");
 const scale = 0.05; // mm → pixels
 
-const ws = new WebSocket("ws://" + location.host + "/api/lidar/ws");
+const proto = location.protocol === "https:" ? "wss" : "ws";
+const ws = new WebSocket(proto + "://" + location.host + "/api/lidar/ws");
+
 
 ws.onmessage = (e) => {
   const data = JSON.parse(e.data);

From 3f465d78cce4f1bb1e8f9262e7d44c8996296009 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 17:39:18 +0100
Subject: [PATCH 24/49] fix: petit fix dans le stream du lidar

---
 src/HL/backend.py               |  9 ++++---
 src/HL/site_controle/lidar.html | 45 ++++++++++++++++++++++++++++++---
 2 files changed, 48 insertions(+), 6 deletions(-)

diff --git a/src/HL/backend.py b/src/HL/backend.py
index f21cd4b3..35d1dc78 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -52,7 +52,8 @@ def __init__(
         self.server = server
         self.controls_car = False
         self.running = False
-        self.lidar_yaw = 0.0  # radians
+        self.lidar_yaw = 0  # rotation fixe pour que "devant" = haut écran
+
 
         self.host = host
         self.port = port
@@ -179,8 +180,10 @@ def _get_lidar_points_cartesian(self):
         theta_world = theta_lidar + self.lidar_yaw
 
         # projection
-        x = np.sin(theta_world) * r
-        y = -np.cos(theta_world) * r  # Y vers le haut écran
+        # Repère monde: +Y = devant le lidar
+        x = -np.sin(theta_world) * r
+        y = np.cos(theta_world) * r
+
 
         return {
             "x": x.tolist(),
diff --git a/src/HL/site_controle/lidar.html b/src/HL/site_controle/lidar.html
index 4db38e93..2cfc0256 100644
--- a/src/HL/site_controle/lidar.html
+++ b/src/HL/site_controle/lidar.html
@@ -14,7 +14,7 @@
 <script>
 const canvas = document.getElementById("lidar");
 const ctx = canvas.getContext("2d");
-const scale = 0.05; // mm → pixels
+const scale = 0.15; // mm → pixels
 
 const proto = location.protocol === "https:" ? "wss" : "ws";
 const ws = new WebSocket(proto + "://" + location.host + "/api/lidar/ws");
@@ -30,12 +30,51 @@
   ctx.translate(canvas.width/2, canvas.height/2);
 
   // grille simple
+  // paramètres d’échelle
+  const circleStepMM = 100;   // 10 cm
+  const circleCount = 15;
+
+  // grille circulaire
   ctx.strokeStyle = "#333";
-  for (let r = 500; r <= 5000; r += 500) {
+  ctx.lineWidth = 1;
+
+  for (let i = 1; i <= circleCount; i++) {
+    const r = i * circleStepMM * scale;
     ctx.beginPath();
-    ctx.arc(0, 0, r * scale, 0, Math.PI * 2);
+    ctx.arc(0, 0, r, 0, Math.PI * 2);   
     ctx.stroke();
+    if (i % (circleCount / 3) === 0){
+    // label distance
+    ctx.fillStyle = "#777";
+    ctx.font = "10px monospace";
+    ctx.fillText(`${i * 10} cm`, r + 2, 0);
+    }
   }
+  // FOV du lidar (270°)
+  ctx.strokeStyle = "#444";
+  ctx.lineWidth = 1;
+
+  const fovMin = -135 * Math.PI / 180;
+  const fovMax =  135 * Math.PI / 180;
+  const fovRadius = 1500 * scale;
+
+  ctx.beginPath();
+  // ligne gauche
+  ctx.moveTo(0, 0);
+  ctx.lineTo(
+  Math.sin(fovMin) * fovRadius,
+  -Math.cos(fovMin) * fovRadius
+  );
+  ctx.stroke();
+
+  // ligne droite
+  ctx.beginPath();
+  ctx.moveTo(0, 0);
+  ctx.lineTo(
+  Math.sin(fovMax) * fovRadius,
+  -Math.cos(fovMax) * fovRadius
+  );
+  ctx.stroke();
 
   // points lidar
   ctx.fillStyle = "#00ff88";

From 7c671cd29071bc4e639df2d265ac3a6d43ce1447 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 17:50:38 +0100
Subject: [PATCH 25/49] =?UTF-8?q?feat=20:=20rajout=20a=20la=20page=20lidar?=
 =?UTF-8?q?=20et=20au=20backend=20pour=20afficher=20les=20points=20lidar?=
 =?UTF-8?q?=20en=20temps=20r=C3=A9el?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/HL/site_controle/app.js     | 69 ++++++++++++++++++++++++++++++++-
 src/HL/site_controle/index.html |  6 ++-
 2 files changed, 73 insertions(+), 2 deletions(-)

diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index 7ddab72e..6f6fb5ea 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -68,10 +68,77 @@ async function init() {
     const camUrl = await fetchCameraUrl();
     document.getElementById("camera").src = camUrl;
 
-    // refresh toutes les 250 ms
+    initLidar();
     setInterval(refresh, 250);
     refresh();
 }
 
+function initLidar() {
+    const canvas = document.getElementById("lidar");
+    if (!canvas) return;
+
+    const ctx = canvas.getContext("2d");
+    const scale = 0.15; // 10 cm = 15 px
+
+    const proto = location.protocol === "https:" ? "wss" : "ws";
+    const ws = new WebSocket(proto + "://" + location.host + "/api/lidar/ws");
+
+    ws.onmessage = (e) => {
+        const data = JSON.parse(e.data);
+
+        ctx.clearRect(0, 0, canvas.width, canvas.height);
+
+        ctx.save();
+        ctx.translate(canvas.width / 2, canvas.height / 2);
+
+        /* ---------- Grille ---------- */
+        const circleStepMM = 100; // 10 cm
+        const circleCount = 15;
+
+        ctx.strokeStyle = "#333";
+        ctx.lineWidth = 1;
+
+        for (let i = 1; i <= circleCount; i++) {
+            const r = i * circleStepMM * scale;
+            ctx.beginPath();
+            ctx.arc(0, 0, r, 0, Math.PI * 2);
+            ctx.stroke();
+
+            ctx.fillStyle = "#777";
+            ctx.font = "10px monospace";
+            ctx.fillText(`${i * 10} cm`, r + 4, 0);
+        }
+
+        /* ---------- Axes ---------- */
+        ctx.strokeStyle = "#555";
+        ctx.beginPath();
+        ctx.moveTo(-canvas.width / 2, 0);
+        ctx.lineTo(canvas.width / 2, 0);
+        ctx.stroke();
+
+        ctx.beginPath();
+        ctx.moveTo(0, -canvas.height / 2);
+        ctx.lineTo(0, canvas.height / 2);
+        ctx.stroke();
+
+        /* ---------- Points LIDAR ---------- */
+        ctx.fillStyle = "#00ff88";
+        for (let i = 0; i < data.x.length; i++) {
+            ctx.fillRect(
+                data.x[i] * scale,
+               -data.y[i] * scale,
+                2, 2
+            );
+        }
+
+        ctx.restore();
+    };
+
+    ws.onclose = () => {
+        console.warn("LIDAR WS disconnected");
+    };
+}
+
+
 init();
  
\ No newline at end of file
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index dfd09932..e89cb22a 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -24,7 +24,11 @@ <h2>Télémétrie:</h2>
     <div class="card">
         <img id="camera" src="" alt="Camera stream">
     </div>
-
+    <!-- LIDAR -->
+    <div class="card">
+        <h2>LIDAR</h2>
+        <canvas id="lidar" width="400" height="400"></canvas>
+    </div>
     <!-- PROGRAMS -->
     <div class="card full">
         <h2>Programmes:</h2>

From 82c2d6f9fa31c577e8e847f48af096bfd83edb38 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 18:18:33 +0100
Subject: [PATCH 26/49] =?UTF-8?q?fix:=20fix=20de=20l'apper=C3=A7ue=20du=20?=
 =?UTF-8?q?lidar=20dans=20le=20site?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/HL/site_controle/app.js     | 67 ---------------------------------
 src/HL/site_controle/index.html | 14 +++++--
 2 files changed, 10 insertions(+), 71 deletions(-)

diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index 6f6fb5ea..53c25565 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -68,77 +68,10 @@ async function init() {
     const camUrl = await fetchCameraUrl();
     document.getElementById("camera").src = camUrl;
 
-    initLidar();
     setInterval(refresh, 250);
     refresh();
 }
 
-function initLidar() {
-    const canvas = document.getElementById("lidar");
-    if (!canvas) return;
-
-    const ctx = canvas.getContext("2d");
-    const scale = 0.15; // 10 cm = 15 px
-
-    const proto = location.protocol === "https:" ? "wss" : "ws";
-    const ws = new WebSocket(proto + "://" + location.host + "/api/lidar/ws");
-
-    ws.onmessage = (e) => {
-        const data = JSON.parse(e.data);
-
-        ctx.clearRect(0, 0, canvas.width, canvas.height);
-
-        ctx.save();
-        ctx.translate(canvas.width / 2, canvas.height / 2);
-
-        /* ---------- Grille ---------- */
-        const circleStepMM = 100; // 10 cm
-        const circleCount = 15;
-
-        ctx.strokeStyle = "#333";
-        ctx.lineWidth = 1;
-
-        for (let i = 1; i <= circleCount; i++) {
-            const r = i * circleStepMM * scale;
-            ctx.beginPath();
-            ctx.arc(0, 0, r, 0, Math.PI * 2);
-            ctx.stroke();
-
-            ctx.fillStyle = "#777";
-            ctx.font = "10px monospace";
-            ctx.fillText(`${i * 10} cm`, r + 4, 0);
-        }
-
-        /* ---------- Axes ---------- */
-        ctx.strokeStyle = "#555";
-        ctx.beginPath();
-        ctx.moveTo(-canvas.width / 2, 0);
-        ctx.lineTo(canvas.width / 2, 0);
-        ctx.stroke();
-
-        ctx.beginPath();
-        ctx.moveTo(0, -canvas.height / 2);
-        ctx.lineTo(0, canvas.height / 2);
-        ctx.stroke();
-
-        /* ---------- Points LIDAR ---------- */
-        ctx.fillStyle = "#00ff88";
-        for (let i = 0; i < data.x.length; i++) {
-            ctx.fillRect(
-                data.x[i] * scale,
-               -data.y[i] * scale,
-                2, 2
-            );
-        }
-
-        ctx.restore();
-    };
-
-    ws.onclose = () => {
-        console.warn("LIDAR WS disconnected");
-    };
-}
-
 
 init();
  
\ No newline at end of file
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index e89cb22a..ed0441d1 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -25,10 +25,16 @@ <h2>Télémétrie:</h2>
         <img id="camera" src="" alt="Camera stream">
     </div>
     <!-- LIDAR -->
-    <div class="card">
-        <h2>LIDAR</h2>
-        <canvas id="lidar" width="400" height="400"></canvas>
-    </div>
+<div class="card">
+    <iframe
+        src="/static/lidar.html"
+        width="800"
+        height="800"
+        style="border: none;
+        transform: scale(0.85);
+        transform-origin: top left;">
+    </iframe>
+</div>
     <!-- PROGRAMS -->
     <div class="card full">
         <h2>Programmes:</h2>

From fc26b5483146bc838f791e9c84a0dd8b50d66f92 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 18:26:00 +0100
Subject: [PATCH 27/49] fix : test

---
 src/HL/site_controle/app.js     | 68 +++++++++++++++++++++++++++++++++
 src/HL/site_controle/index.html | 13 ++-----
 2 files changed, 71 insertions(+), 10 deletions(-)

diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index 53c25565..f119126a 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -64,10 +64,78 @@ async function refresh() {
     }
 }
 
+function initLidar() {
+    const canvas = document.getElementById("lidar");
+    if (!canvas) return;
+
+    const ctx = canvas.getContext("2d");
+    const scale = 0.15; // 10 cm = 15 px
+
+    const proto = location.protocol === "https:" ? "wss" : "ws";
+    const ws = new WebSocket(proto + "://" + location.host + "/api/lidar/ws");
+
+    ws.onmessage = (e) => {
+        const data = JSON.parse(e.data);
+
+        ctx.clearRect(0, 0, canvas.width, canvas.height);
+
+        ctx.save();
+        ctx.translate(canvas.width / 2, canvas.height / 2);
+
+        /* ---------- Grille ---------- */
+        const circleStepMM = 100; // 10 cm
+        const circleCount = 15;
+
+        ctx.strokeStyle = "#333";
+        ctx.lineWidth = 1;
+
+        for (let i = 1; i <= circleCount; i++) {
+            const r = i * circleStepMM * scale;
+            ctx.beginPath();
+            ctx.arc(0, 0, r, 0, Math.PI * 2);
+            ctx.stroke();
+
+            ctx.fillStyle = "#777";
+            ctx.font = "10px monospace";
+            ctx.fillText(`${i * 10} cm`, r + 4, 0);
+        }
+
+        /* ---------- Axes ---------- */
+        ctx.strokeStyle = "#555";
+        ctx.beginPath();
+        ctx.moveTo(-canvas.width / 2, 0);
+        ctx.lineTo(canvas.width / 2, 0);
+        ctx.stroke();
+
+        ctx.beginPath();
+        ctx.moveTo(0, -canvas.height / 2);
+        ctx.lineTo(0, canvas.height / 2);
+        ctx.stroke();
+
+        /* ---------- Points LIDAR ---------- */
+        ctx.fillStyle = "#00ff88";
+        for (let i = 0; i < data.x.length; i++) {
+            ctx.fillRect(
+                data.x[i] * scale,
+               -data.y[i] * scale,
+                2, 2
+            );
+        }
+
+        ctx.restore();
+    };
+
+    ws.onclose = () => {
+        console.warn("LIDAR WS disconnected");
+    };
+}
+
+
 async function init() {
     const camUrl = await fetchCameraUrl();
     document.getElementById("camera").src = camUrl;
 
+    initLidar();
     setInterval(refresh, 250);
     refresh();
 }
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index ed0441d1..0d3317c7 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -25,16 +25,9 @@ <h2>Télémétrie:</h2>
         <img id="camera" src="" alt="Camera stream">
     </div>
     <!-- LIDAR -->
-<div class="card">
-    <iframe
-        src="/static/lidar.html"
-        width="800"
-        height="800"
-        style="border: none;
-        transform: scale(0.85);
-        transform-origin: top left;">
-    </iframe>
-</div>
+    <div class="card">
+        <canvas id="lidar" width="400" height="400"></canvas>
+    </div>
     <!-- PROGRAMS -->
     <div class="card full">
         <h2>Programmes:</h2>

From 887d8abf3962748778498fcab3f01f4e9d970338 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 19:14:40 +0100
Subject: [PATCH 28/49] fix : fix du lidat

---
 src/HL/site_controle/app.js     | 28 ++++++++++++++++++++--------
 src/HL/site_controle/index.html |  3 ++-
 2 files changed, 22 insertions(+), 9 deletions(-)

diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index f119126a..32e1e4ac 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -95,9 +95,12 @@ function initLidar() {
             ctx.arc(0, 0, r, 0, Math.PI * 2);
             ctx.stroke();
 
+            if (i % (circleCount / 3) === 0){
+            // label distance
             ctx.fillStyle = "#777";
             ctx.font = "10px monospace";
-            ctx.fillText(`${i * 10} cm`, r + 4, 0);
+            ctx.fillText(`${i * 10} cm`, r + 2, 0);
+            }
         }
 
         /* ---------- Axes ---------- */
@@ -131,15 +134,24 @@ function initLidar() {
 }
 
 
+
 async function init() {
-    const camUrl = await fetchCameraUrl();
-    document.getElementById("camera").src = camUrl;
+    try {
+        const camUrl = await fetchCameraUrl();
+        const camEl = document.getElementById("camera");
+        if (camEl) {
+            camEl.src = camUrl;
+        } else {
+            console.warn("Element #camera introuvable au moment d'init");
+        }
 
-    initLidar();
-    setInterval(refresh, 250);
-    refresh();
+        initLidar();
+        setInterval(refresh, 250);
+        refresh();
+    } catch (e) {
+        console.error("Erreur dans init:", e);
+    }
 }
 
-
-init();
+window.addEventListener("DOMContentLoaded", init);
  
\ No newline at end of file
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index 0d3317c7..f291f3ef 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -47,6 +47,7 @@ <h2>Programmes:</h2>
 
 </div>
 
-<script src="app.js"></script>
+<script src="/static/app.js" defer></script>
+
 </body>
 </html>

From 7511ebd397aa9dd733c6db1cb83c6e81a40895b6 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 19:17:23 +0100
Subject: [PATCH 29/49] fix : fix du lidar sur le site

---
 src/HL/site_controle/app.js    | 24 ++++++++++++++++++++++++
 src/HL/site_controle/style.css |  7 +++++++
 2 files changed, 31 insertions(+)

diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index 32e1e4ac..51db3ca6 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -102,7 +102,31 @@ function initLidar() {
             ctx.fillText(`${i * 10} cm`, r + 2, 0);
             }
         }
+        // FOV du lidar (270°)
+        ctx.strokeStyle = "#444";
+        ctx.lineWidth = 1;
+
+        const fovMin = -135 * Math.PI / 180;
+        const fovMax =  135 * Math.PI / 180;
+        const fovRadius = 1500 * scale;
 
+        ctx.beginPath();
+        // ligne gauche
+        ctx.moveTo(0, 0);
+        ctx.lineTo(
+        Math.sin(fovMin) * fovRadius,
+        -Math.cos(fovMin) * fovRadius
+        );
+        ctx.stroke();
+
+        // ligne droite
+        ctx.beginPath();
+        ctx.moveTo(0, 0);
+        ctx.lineTo(
+        Math.sin(fovMax) * fovRadius,
+        -Math.cos(fovMax) * fovRadius
+        );
+        ctx.stroke();
         /* ---------- Axes ---------- */
         ctx.strokeStyle = "#555";
         ctx.beginPath();
diff --git a/src/HL/site_controle/style.css b/src/HL/site_controle/style.css
index 2b4b956c..912b464b 100644
--- a/src/HL/site_controle/style.css
+++ b/src/HL/site_controle/style.css
@@ -58,3 +58,10 @@ img {
     border-radius: 6px;
     background: black;
 }
+.card img,
+.card canvas {
+    width: 100%;
+    height: auto;
+    display: block;
+}
+

From fdb25b6ea7b8fa54cbc145781a28d12de2e6e157 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 20:07:24 +0100
Subject: [PATCH 30/49] =?UTF-8?q?feat:=20rajout=20de=20property=20pour=20d?=
 =?UTF-8?q?irection=5Fd=20et=20vitesse=5Fd.=20pour=20plus=20de=20lisibilit?=
 =?UTF-8?q?=C3=A9=20et=20plus=20facile=20a=20recupe=20pour=20le=20backend?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/HL/Serveur_mq.py                   | 8 ++++++++
 src/HL/actionneur_capteur/masterI2C.py | 2 +-
 src/HL/site_controle/app.js            | 1 -
 3 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/HL/Serveur_mq.py b/src/HL/Serveur_mq.py
index 03e07bfd..734baf71 100644
--- a/src/HL/Serveur_mq.py
+++ b/src/HL/Serveur_mq.py
@@ -109,6 +109,14 @@ def tof(self):
     @property
     def arduino_I2C(self):
         return self.initialisation_module.arduino_I2C
+    
+    @property
+    def vitesse_d(self):
+        return self.programme[self.last_programme_control].vitesse_d
+    
+    @property
+    def direction_d(self):
+        return self.programme[self.last_programme_control].direction_d
     #-----------------------------------------------------------------------------------------------------
     # affichage de l'écrans
     #-----------------------------------------------------------------------------------------------------
diff --git a/src/HL/actionneur_capteur/masterI2C.py b/src/HL/actionneur_capteur/masterI2C.py
index edecdf80..7448db5f 100644
--- a/src/HL/actionneur_capteur/masterI2C.py
+++ b/src/HL/actionneur_capteur/masterI2C.py
@@ -32,7 +32,7 @@ def start_send(self):
         self.log.info("Thread I2C loop démarré")
         while self.send_running:
             try :
-                data = struct.pack('<ff', float(round(self.serveur.programme[self.serveur.last_programme_control].vitesse_d)), float(round(self.serveur.programme[self.serveur.last_programme_control].direction_d)))
+                data = struct.pack('<ff', float(round(self.serveur.vitesse_d)), float(round(self.serveur.direction_d)))
                 self.bus.write_i2c_block_data(SLAVE_ADDRESS, 0, list(data))
             except Exception as e:
                 self.log.error("Erreur I2C write: %s", e, exc_info=True)
diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index 51db3ca6..c4d434f6 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -44,7 +44,6 @@ function updatePrograms(programs) {
             <td>${p.running ? "🟢" : "🔴"}</td>
             <td>${p.controls_car ? "🚗" : "-"}</td>
             <td>
-                <button class="toggle" onclick="toggleProgram(${p.id})">Toggle</button>
                 <button class="start" onclick="startProgram(${p.id})">Start</button>
                 <button class="kill" onclick="killProgram(${p.id})">Kill</button>
             </td>

From 2323ce231f6d09a743e155f8736a45b685e10bfe Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 20:30:09 +0100
Subject: [PATCH 31/49] feat: rajout de la vitesse demander et direction
 demander au site

---
 src/HL/Serveur_mq.py            |  1 +
 src/HL/backend.py               | 16 ++++++++++++++--
 src/HL/site_controle/app.js     |  9 ++++++++-
 src/HL/site_controle/index.html |  3 +++
 4 files changed, 26 insertions(+), 3 deletions(-)

diff --git a/src/HL/Serveur_mq.py b/src/HL/Serveur_mq.py
index 734baf71..9daa17c4 100644
--- a/src/HL/Serveur_mq.py
+++ b/src/HL/Serveur_mq.py
@@ -117,6 +117,7 @@ def vitesse_d(self):
     @property
     def direction_d(self):
         return self.programme[self.last_programme_control].direction_d
+        
     #-----------------------------------------------------------------------------------------------------
     # affichage de l'écrans
     #-----------------------------------------------------------------------------------------------------
diff --git a/src/HL/backend.py b/src/HL/backend.py
index 35d1dc78..21eaaa79 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -121,9 +121,21 @@ def _get_telemetry(self) -> Dict[str, Any]:
         if isinstance(programmes, list) and 0 <= last_ctrl < len(programmes):
             prog_name = type(programmes[last_ctrl]).__name__
 
+        vitesse_d = float(getattr(self.server, "vitesse_d", 0.0) or 0.0)
+        direction_d = float(getattr(self.server, "direction_d", 0.0) or 0.0)
+
         return {
-            "battery": {"lipo": voltage_lipo, "nimh": voltage_nimh},
-            "car": {"vitesse_reelle": vitesse_r, "programme_controle": prog_name, "programme_id": last_ctrl},
+            "battery": {
+                "lipo": voltage_lipo,
+                "nimh": voltage_nimh
+            },
+            "car": {
+                "vitesse_reelle": vitesse_r,
+                "vitesse_demandee": vitesse_d,
+                "direction_demandee": direction_d,
+                "programme_controle": prog_name,
+                "programme_id": last_ctrl
+            },
             "timestamp": time.time(),
         }
 
diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index c4d434f6..71d394ed 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -26,7 +26,14 @@ async function killProgram(id) {
 function updateTelemetry(t) {
     document.getElementById("lipo").textContent = t.battery.lipo.toFixed(2);
     document.getElementById("nimh").textContent = t.battery.nimh.toFixed(2);
-    document.getElementById("vitesse").textContent = t.car.vitesse_reelle.toFixed(2);
+    document.getElementById("vitesse").textContent =
+        t.car.vitesse_reelle.toFixed(2);
+
+    document.getElementById("vitesse_d").textContent =
+        t.car.vitesse_demandee.toFixed(2);
+
+    document.getElementById("direction_d").textContent =
+        t.car.direction_demandee.toFixed(2);
     document.getElementById("active_program").textContent =
         t.car.programme_controle ?? "Aucun";
 }
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index f291f3ef..0a4024db 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -17,6 +17,9 @@ <h2>Télémétrie:</h2>
         <p>LiPo: <span id="lipo">--</span> V</p>
         <p>NiMH: <span id="nimh">--</span> V</p>
         <p>Vitesse réelle: <span id="vitesse">--</span></p>
+        <p>Vitesse demandée: <span id="vitesse_d">--</span></p>
+        <p>Direction demandée: <span id="direction_d">--</span></p>
+
         <p>Programme actif: <span id="active_program">--</span></p>
     </div>
 

From d0545b91a4096dcbdf794b6c037854d2d06fdaeb Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 20:39:42 +0100
Subject: [PATCH 32/49] feat: rajout de websocket dans les dependance

---
 pyproject.toml |   1 +
 uv.lock        | 166 +++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 167 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index 49028236..d0122a91 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -16,6 +16,7 @@ authors = [
 dependencies = [
     "fastapi>=0.128.0",
     "uvicorn>=0.40.0",
+    "websocket>=0.2.1",
 ]
 
 [project.optional-dependencies]
diff --git a/uv.lock b/uv.lock
index 0d7e86e4..5f49ca47 100644
--- a/uv.lock
+++ b/uv.lock
@@ -168,6 +168,7 @@ source = { virtual = "." }
 dependencies = [
     { name = "fastapi" },
     { name = "uvicorn" },
+    { name = "websocket" },
 ]
 
 [package.optional-dependencies]
@@ -238,6 +239,7 @@ requires-dist = [
     { name = "stable-baselines3", marker = "extra == 'simu'", specifier = ">=1.6.0" },
     { name = "torch", marker = "extra == 'simu'", specifier = ">=1.9.0" },
     { name = "uvicorn", specifier = ">=0.40.0" },
+    { name = "websocket", specifier = ">=0.2.1" },
     { name = "zmq", marker = "extra == 'rpi'", specifier = ">=0.0.0" },
 ]
 provides-extras = ["docs", "simu", "rpi"]
@@ -854,6 +856,58 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/51/c7/b64cae5dba3a1b138d7123ec36bb5ccd39d39939f18454407e5468f4763f/fsspec-2025.12.0-py3-none-any.whl", hash = "sha256:8bf1fe301b7d8acfa6e8571e3b1c3d158f909666642431cc78a1b7b4dbc5ec5b", size = 201422, upload-time = "2025-12-03T15:23:41.434Z" },
 ]
 
+[[package]]
+name = "gevent"
+version = "25.9.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "cffi", marker = "platform_python_implementation == 'CPython' and sys_platform == 'win32'" },
+    { name = "greenlet", marker = "platform_python_implementation == 'CPython'" },
+    { name = "zope-event" },
+    { name = "zope-interface" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/9e/48/b3ef2673ffb940f980966694e40d6d32560f3ffa284ecaeb5ea3a90a6d3f/gevent-25.9.1.tar.gz", hash = "sha256:adf9cd552de44a4e6754c51ff2e78d9193b7fa6eab123db9578a210e657235dd", size = 5059025, upload-time = "2025-09-17T16:15:34.528Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/ae/c7/2c60fc4e5c9144f2b91e23af8d87c626870ad3183cfd09d2b3ba6d699178/gevent-25.9.1-cp310-cp310-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:856b990be5590e44c3a3dc6c8d48a40eaccbb42e99d2b791d11d1e7711a4297e", size = 1831980, upload-time = "2025-09-17T15:41:22.597Z" },
+    { url = "https://files.pythonhosted.org/packages/2e/ae/49bf0a01f95a1c92c001d7b3f482a2301626b8a0617f448c4cd14ca9b5d4/gevent-25.9.1-cp310-cp310-manylinux2014_ppc64le.manylinux_2_17_ppc64le.whl", hash = "sha256:fe1599d0b30e6093eb3213551751b24feeb43db79f07e89d98dd2f3330c9063e", size = 1918777, upload-time = "2025-09-17T15:48:57.223Z" },
+    { url = "https://files.pythonhosted.org/packages/88/3f/266d2eb9f5d75c184a55a39e886b53a4ea7f42ff31f195220a363f0e3f9e/gevent-25.9.1-cp310-cp310-manylinux2014_s390x.manylinux_2_17_s390x.whl", hash = "sha256:f0d8b64057b4bf1529b9ef9bd2259495747fba93d1f836c77bfeaacfec373fd0", size = 1869235, upload-time = "2025-09-17T15:49:18.255Z" },
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From 3d6d66f7f9368eb4b43a6f1330cb3c4d82654987 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 23:13:25 +0100
Subject: [PATCH 33/49] rajout de websockets

---
 pyproject.toml |  2 ++
 uv.lock        | 72 ++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 74 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index d0122a91..0301c3eb 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -17,6 +17,7 @@ dependencies = [
     "fastapi>=0.128.0",
     "uvicorn>=0.40.0",
     "websocket>=0.2.1",
+    "websockets>=16.0",
 ]
 
 [project.optional-dependencies]
@@ -67,4 +68,5 @@ rpi = [
     "matplotlib>=3.10.5",
     "opencv-python>=4.12.0.88",
     "scipy>=1.15.3",
+    "websockets>=16.0",
 ]
diff --git a/uv.lock b/uv.lock
index 5f49ca47..21473b4c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -169,6 +169,7 @@ dependencies = [
     { name = "fastapi" },
     { name = "uvicorn" },
     { name = "websocket" },
+    { name = "websockets" },
 ]
 
 [package.optional-dependencies]
@@ -196,6 +197,7 @@ rpi = [
     { name = "scipy", version = "1.16.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
     { name = "smbus" },
     { name = "spidev" },
+    { name = "websockets" },
     { name = "zmq" },
 ]
 simu = [
@@ -240,6 +242,8 @@ requires-dist = [
     { name = "torch", marker = "extra == 'simu'", specifier = ">=1.9.0" },
     { name = "uvicorn", specifier = ">=0.40.0" },
     { name = "websocket", specifier = ">=0.2.1" },
+    { name = "websockets", specifier = ">=16.0" },
+    { name = "websockets", marker = "extra == 'rpi'", specifier = ">=16.0" },
     { name = "zmq", marker = "extra == 'rpi'", specifier = ">=0.0.0" },
 ]
 provides-extras = ["docs", "simu", "rpi"]
@@ -2907,6 +2911,74 @@ dependencies = [
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/f2/6d/a60d620ea575c885510c574909d2e3ed62129b121fa2df00ca1c81024c87/websocket-0.2.1.tar.gz", hash = "sha256:42b506fae914ac5ed654e23ba9742e6a342b1a1c3eb92632b6166c65256469a4", size = 195339, upload-time = "2010-12-03T11:51:30.867Z" }
 
+[[package]]
+name = "websockets"
+version = "16.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/04/24/4b2031d72e840ce4c1ccb255f693b15c334757fc50023e4db9537080b8c4/websockets-16.0.tar.gz", hash = "sha256:5f6261a5e56e8d5c42a4497b364ea24d94d9563e8fbd44e78ac40879c60179b5", size = 179346, upload-time = "2026-01-10T09:23:47.181Z" }
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+]
+
 [[package]]
 name = "zmq"
 version = "0.0.0"

From 72b232f441a37f2d80231e914d19f0f80bbd0570 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 23:43:12 +0100
Subject: [PATCH 34/49] =?UTF-8?q?feat=20:=20rajout=20de=20la=20consigne=20?=
 =?UTF-8?q?r=C3=A9el=20et=20de=20la=20direction=20demand=C3=A9?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/HL/backend.py               |   2 +-
 src/HL/site_controle/app.js     | 122 ++++++++++++++++++++++++++++++++
 src/HL/site_controle/index.html |  13 ++++
 3 files changed, 136 insertions(+), 1 deletion(-)

diff --git a/src/HL/backend.py b/src/HL/backend.py
index 21eaaa79..abf71ba2 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -282,7 +282,7 @@ async def lidar_ws(ws: WebSocket):
                     data = self._get_lidar_points_cartesian()
                     if data:
                         await ws.send_json(data)
-                    await asyncio.sleep(0.05)  # 20 Hz
+                    await asyncio.sleep(0.1)
             except WebSocketDisconnect:
                 self.logger.info("Lidar WS client disconnected")
 
diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index 71d394ed..bc81eb3b 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -1,4 +1,115 @@
 const API = ""; // même origine (FastAPI)
+const speedHistory = {
+    real: [],
+    demand: [],
+    maxPoints: 100
+};
+
+function drawSpeedChart() {
+    const canvas = document.getElementById("speedChart");
+    if (!canvas) return;
+
+    const ctx = canvas.getContext("2d");
+    const w = canvas.width;
+    const h = canvas.height;
+
+    ctx.clearRect(0, 0, w, h);
+
+    // axes
+    ctx.strokeStyle = "#444";
+    ctx.beginPath();
+    ctx.moveTo(40, 10);
+    ctx.lineTo(40, h - 20);
+    ctx.lineTo(w - 10, h - 20);
+    ctx.stroke();
+
+    const maxVal = Math.max(
+        ...speedHistory.real,
+        ...speedHistory.demand,
+        1
+    );
+
+    function drawCurve(data, color) {
+        ctx.strokeStyle = color;
+        ctx.beginPath();
+
+        data.forEach((v, i) => {
+            const x = 40 + (i / speedHistory.maxPoints) * (w - 60);
+            const y = h - 20 - (v / maxVal) * (h - 40);
+            if (i === 0) ctx.moveTo(x, y);
+            else ctx.lineTo(x, y);
+        });
+
+        ctx.stroke();
+    }
+
+    drawCurve(speedHistory.demand, "#ffaa00"); // consigne
+    drawCurve(speedHistory.real, "#00ff88");   // réel
+
+    // légende
+    ctx.fillStyle = "#ffaa00";
+    ctx.fillText("Consigne", w - 100, 20);
+    ctx.fillStyle = "#00ff88";
+    ctx.fillText("Réelle", w - 100, 35);
+}
+
+function drawSteering(angle) {
+    const canvas = document.getElementById("steeringViz");
+    if (!canvas) return;
+
+    const ctx = canvas.getContext("2d");
+    const w = canvas.width;
+    const h = canvas.height;
+
+    ctx.clearRect(0, 0, w, h);
+
+    const centerX = w / 2;
+    const centerY = h * 0.9;
+    const radius = h * 0.7;
+
+    // rapporteur
+    ctx.strokeStyle = "#444";
+    ctx.beginPath();
+    ctx.arc(centerX, centerY, radius, Math.PI, 0);
+    ctx.stroke();
+
+    // graduations
+    for (let i = -45; i <= 45; i += 15) {
+        const a = Math.PI + (i * Math.PI / 180);
+        ctx.beginPath();
+        ctx.moveTo(
+            centerX + Math.cos(a) * (radius - 10),
+            centerY + Math.sin(a) * (radius - 10)
+        );
+        ctx.lineTo(
+            centerX + Math.cos(a) * radius,
+            centerY + Math.sin(a) * radius
+        );
+        ctx.stroke();
+    }
+
+    // mapping direction → angle
+    const maxAngleDeg = 45;
+    const a = Math.PI + (angle / 1.0) * (maxAngleDeg * Math.PI / 180);
+
+    // tige
+    ctx.strokeStyle = "#00ff88";
+    ctx.lineWidth = 3;
+    ctx.beginPath();
+    ctx.moveTo(centerX, centerY);
+    ctx.lineTo(
+        centerX + Math.cos(a) * (radius - 20),
+        centerY + Math.sin(a) * (radius - 20)
+    );
+    ctx.stroke();
+
+    // centre
+    ctx.fillStyle = "#00ff88";
+    ctx.beginPath();
+    ctx.arc(centerX, centerY, 5, 0, Math.PI * 2);
+    ctx.fill();
+}
+
 
 async function fetchStatus() {
     const res = await fetch(`${API}/api/status`);
@@ -36,6 +147,17 @@ function updateTelemetry(t) {
         t.car.direction_demandee.toFixed(2);
     document.getElementById("active_program").textContent =
         t.car.programme_controle ?? "Aucun";
+    speedHistory.real.push(t.car.vitesse_reelle);
+    speedHistory.demand.push(t.car.vitesse_demandee);
+
+    if (speedHistory.real.length > speedHistory.maxPoints) {
+        speedHistory.real.shift();
+        speedHistory.demand.shift();
+    }
+
+    drawSpeedChart();
+    drawSteering(t.car.direction_demandee);
+
 }
 
 function updatePrograms(programs) {
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index 0a4024db..d8f6d1fa 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -31,6 +31,19 @@ <h2>Télémétrie:</h2>
     <div class="card">
         <canvas id="lidar" width="400" height="400"></canvas>
     </div>
+    <!-- SPEED CHART -->
+    <div class="card">
+        <h2>Vitesse (consigne vs réelle)</h2>
+        <canvas id="speedChart" width="400" height="200"></canvas>
+    </div>
+
+    <!-- STEERING -->
+    <div class="card">
+        <h2>Direction demandée</h2>
+        <canvas id="steeringViz" width="400" height="200"></canvas>
+    </div>
+
+
     <!-- PROGRAMS -->
     <div class="card full">
         <h2>Programmes:</h2>

From db15261373c96030300d420f9c17b81508032929 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sun, 11 Jan 2026 23:56:11 +0100
Subject: [PATCH 35/49] =?UTF-8?q?feat:=20rajout=20de=20la=20visualisation?=
 =?UTF-8?q?=20de=20la=20dif=C3=A9rence=20entre=20vitesse=5Fr=C3=A9el=20et?=
 =?UTF-8?q?=20vitesse=5Fdemander=20plus=20une=20visualisation=20de=20la=20?=
 =?UTF-8?q?direction?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/HL/site_controle/app.js     | 47 ++++++++++++++++++++++-----------
 src/HL/site_controle/index.html |  2 --
 2 files changed, 32 insertions(+), 17 deletions(-)

diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index bc81eb3b..6dbad98e 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -53,7 +53,7 @@ function drawSpeedChart() {
     ctx.fillText("Réelle", w - 100, 35);
 }
 
-function drawSteering(angle) {
+function drawSteering(directionDeg) {
     const canvas = document.getElementById("steeringViz");
     if (!canvas) return;
 
@@ -64,18 +64,29 @@ function drawSteering(angle) {
     ctx.clearRect(0, 0, w, h);
 
     const centerX = w / 2;
-    const centerY = h * 0.9;
-    const radius = h * 0.7;
+    const centerY = h * 0.85;
+    const radius = h * 0.65;
 
-    // rapporteur
+    /* -------- Rapporteur (-18° à +18°) -------- */
     ctx.strokeStyle = "#444";
+    ctx.lineWidth = 1;
+
+    const maxDeg = 18;
+
     ctx.beginPath();
-    ctx.arc(centerX, centerY, radius, Math.PI, 0);
+    ctx.arc(
+        centerX,
+        centerY,
+        radius,
+        (-90 - maxDeg) * Math.PI / 180,
+        (-90 + maxDeg) * Math.PI / 180
+    );
     ctx.stroke();
 
-    // graduations
-    for (let i = -45; i <= 45; i += 15) {
-        const a = Math.PI + (i * Math.PI / 180);
+    /* -------- Graduations -------- */
+    for (let d = -18; d <= 18; d += 6) {
+        const a = (d - 90) * Math.PI / 180;
+
         ctx.beginPath();
         ctx.moveTo(
             centerX + Math.cos(a) * (radius - 10),
@@ -86,24 +97,30 @@ function drawSteering(angle) {
             centerY + Math.sin(a) * radius
         );
         ctx.stroke();
+
+        ctx.fillStyle = "#777";
+        ctx.font = "10px monospace";
+        ctx.fillText(
+            `${d}°`,
+            centerX + Math.cos(a) * (radius + 10) - 8,
+            centerY + Math.sin(a) * (radius + 10) + 3
+        );
     }
 
-    // mapping direction → angle
-    const maxAngleDeg = 45;
-    const a = Math.PI + (angle / 1.0) * (maxAngleDeg * Math.PI / 180);
+    /* -------- Tige (direction demandée) -------- */
+    const angleRad = (directionDeg - 90) * Math.PI / 180;
 
-    // tige
     ctx.strokeStyle = "#00ff88";
     ctx.lineWidth = 3;
     ctx.beginPath();
     ctx.moveTo(centerX, centerY);
     ctx.lineTo(
-        centerX + Math.cos(a) * (radius - 20),
-        centerY + Math.sin(a) * (radius - 20)
+        centerX + Math.cos(angleRad) * (radius - 20),
+        centerY + Math.sin(angleRad) * (radius - 20)
     );
     ctx.stroke();
 
-    // centre
+    /* -------- Centre -------- */
     ctx.fillStyle = "#00ff88";
     ctx.beginPath();
     ctx.arc(centerX, centerY, 5, 0, Math.PI * 2);
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index d8f6d1fa..2ebe03de 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -33,13 +33,11 @@ <h2>Télémétrie:</h2>
     </div>
     <!-- SPEED CHART -->
     <div class="card">
-        <h2>Vitesse (consigne vs réelle)</h2>
         <canvas id="speedChart" width="400" height="200"></canvas>
     </div>
 
     <!-- STEERING -->
     <div class="card">
-        <h2>Direction demandée</h2>
         <canvas id="steeringViz" width="400" height="200"></canvas>
     </div>
 

From 100d15f0e6a0ff5c78814fa2337610a98c72e2e1 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Tue, 13 Jan 2026 13:51:59 +0100
Subject: [PATCH 36/49] fix : suppression d'un fichier inutile

---
 src/HL/Serveur.py | 98 -----------------------------------------------
 1 file changed, 98 deletions(-)
 delete mode 100644 src/HL/Serveur.py

diff --git a/src/HL/Serveur.py b/src/HL/Serveur.py
deleted file mode 100644
index 6c0b3858..00000000
--- a/src/HL/Serveur.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import time
-import sys
-# from systemd.journal import JournalHandler #il y a des soucis dessus pour l'instant
-import zerorpc
-import struct
-import logging as log
-
-# from Camera import Camera
-import smbus #type: ignore
-
-# uv pip install systemd-python
-# uv pip install picamera2
-# sudo apt install python3-libcamera
-"""
-Lancer un serveur qui tourne h24 qui gere l'intercommunication des processus (qui sont externe a la Pi)
-Cf envoie vitesse a l'arduino, communication avec l'ecran , avec les boutons ,avec le lidar et la camera 
-Tout doit passer par cette classe qui tourne s
-"""
-
-bus = smbus.SMBus(1)  # 1 indicates /dev/i2c-1
-
-# I2C address of the slave
-SLAVE_ADDRESS = 0x08
-
-
-class ApiVoiture(): # pylint: disable=too-few-public-methods
-    """
-        ça controlera tout
-    """
-
-    def __init__(self):
-        self.vitesse_r = 0 # vitesse en metre par seconde réel
-        self.vitesse_d = 0 # vitesse demander en metre par seconde
-        self.direction = 0 # direction en degrés avec 0 le degré du centre
-        self.voltage_lipo = 0
-        self.voltage_nimh = 0
-        log.basicConfig(level=log.INFO)  # Mettre log.DEBUG pour plus de détails
-        log.info("Initialisation de la caméra...")
-        # self.cam = Camera()
-        log.info("Caméra initialisée.")
-        log.info("Démarrage du thread de capture...")
-        self.cam.start()
-        log.info("Thread de capture démarré.")
-        self.vitesse_m_s = 0
-        self.direction = 0
-
-    def write_vitesse_direction(self,vitesse, direction):
-
-        self.vitesse_d = vitesse #on enregistre la vitesse demandé
-        self.direction = direction # on enregistre la direction voulue
-
-        data = struct.pack('<ff', float(vitesse), float(direction))
-        bus.write_i2c_block_data(SLAVE_ADDRESS, 0, list(data))
-
-    def read_data(self,num_floats=3):
-
-
-        # Each float is 4 bytes
-        length = num_floats * 4
-        # Read a block of data from the slave
-        data = bus.read_i2c_block_data(SLAVE_ADDRESS, 0, length)
-        # Convert the byte data to floats
-        if len(data) >= length:
-            float_values = struct.unpack('f' * num_floats, bytes(data[:length]))
-            return list(float_values)
-
-        else:
-            raise ValueError("Not enough data received from I2C bus")
-
-
-    def gen_frames(self):
-        """Générateur qui lit le flux depuis l'objet Caméra."""
-        log.info("Démarrage du flux vidéo.")
-        while True:
-            # Limite le framerate pour ne pas saturer le réseau
-            time.sleep(0.05)  # ~20 images/seconde
-
-            frame_bytes = None
-
-            # Lit l'image la plus récente de manière thread-safe
-            with self.cam.streaming_lock:
-                frame_bytes = self.cam.streaming_frame
-
-            if frame_bytes:
-                # Envoie l'image au navigateur
-                yield (b'--frame\r\n'
-                       b'Content-Type: image/jpeg\r\n\r\n' + frame_bytes + b'\r\n')
-
-if __name__ == '__main__':
-
-    try:
-        api = ApiVoiture()
-        s = zerorpc.Server(api)
-        s.bind("tcp://0.0.0.0:4242")
-        print("Serveur ZERORPC lancé sur tcp://0.0.0.0:4242")
-        s.run()
-    except Exception as e:
-        print("Erreur au démarrage :", e)
\ No newline at end of file

From 1a9656d4c1124a197ca798c8bb99903483e10341 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Wed, 14 Jan 2026 18:44:22 +0100
Subject: [PATCH 37/49] fix:passage avec un system de wobsocket pour moin de
 log impossible

---
 src/HL/actionneur_capteur/masterI2C.py |  1 +
 src/HL/backend.py                      | 12 +++++++
 src/HL/site_controle/app.js            | 44 +++++++++++++++++++-------
 3 files changed, 45 insertions(+), 12 deletions(-)

diff --git a/src/HL/actionneur_capteur/masterI2C.py b/src/HL/actionneur_capteur/masterI2C.py
index 7448db5f..0427a6db 100644
--- a/src/HL/actionneur_capteur/masterI2C.py
+++ b/src/HL/actionneur_capteur/masterI2C.py
@@ -34,6 +34,7 @@ def start_send(self):
             try :
                 data = struct.pack('<ff', float(round(self.serveur.vitesse_d)), float(round(self.serveur.direction_d)))
                 self.bus.write_i2c_block_data(SLAVE_ADDRESS, 0, list(data))
+                time.sleep(1e-5) # Short delay to prevent overwhelming the bus
             except Exception as e:
                 self.log.error("Erreur I2C write: %s", e, exc_info=True)
                 time.sleep(I2C_SLEEP_ERROR_LOOP)
diff --git a/src/HL/backend.py b/src/HL/backend.py
index abf71ba2..34e561bd 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -285,6 +285,18 @@ async def lidar_ws(ws: WebSocket):
                     await asyncio.sleep(0.1)
             except WebSocketDisconnect:
                 self.logger.info("Lidar WS client disconnected")
+        @self.app.websocket("/api/telemetry/ws")
+        async def telemetry_ws(ws: WebSocket):
+            await ws.accept()
+            self.logger.info("Telemetry WS client connected")
+
+            try:
+                while True:
+                    data = self._get_telemetry()
+                    await ws.send_json(data)
+                    await asyncio.sleep(0.25)  # 4 Hz, comme avant
+            except WebSocketDisconnect:
+                self.logger.info("Telemetry WS client disconnected")
 
 
     # ----------------------------
diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index 6dbad98e..21a20c15 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -139,16 +139,15 @@ async function fetchCameraUrl() {
     return data.url;
 }
 
-async function toggleProgram(id) {
-    await fetch(`${API}/api/programs/${id}/toggle`, { method: "POST" });
-}
 
 async function startProgram(id) {
     await fetch(`${API}/api/programs/${id}/start`, { method: "POST" });
+    refreshPrograms();
 }
 
 async function killProgram(id) {
     await fetch(`${API}/api/programs/${id}/kill`, { method: "POST" });
+    refreshPrograms();
 }
 
 function updateTelemetry(t) {
@@ -198,17 +197,15 @@ function updatePrograms(programs) {
         tbody.appendChild(tr);
     }
 }
-
-async function refresh() {
+async function refreshPrograms() {
     try {
-        const data = await fetchStatus();
-        updateTelemetry(data.telemetry);
-        updatePrograms(data.programs);
+        const res = await fetch("/api/programs");
+        const programs = await res.json();
+        updatePrograms(programs);
     } catch (e) {
-        console.error("API unreachable", e);
+        console.error("Failed to refresh programs", e);
     }
 }
-
 function initLidar() {
     const canvas = document.getElementById("lidar");
     if (!canvas) return;
@@ -301,7 +298,30 @@ function initLidar() {
         console.warn("LIDAR WS disconnected");
     };
 }
+function initTelemetryWS() {
+    const proto = location.protocol === "https:" ? "wss" : "ws";
+    const ws = new WebSocket(proto + "://" + location.host + "/api/telemetry/ws");
+
+    ws.onmessage = (e) => {
+        const data = JSON.parse(e.data);
+        updateTelemetry(data);
+    };
+
+    ws.onclose = () => {
+        console.warn("Telemetry WS disconnected, retrying...");
+        setTimeout(initTelemetryWS, 1000);
+    };
+}
 
+async function loadProgramsOnce() {
+    try {
+        const res = await fetch("/api/programs");
+        const programs = await res.json();
+        updatePrograms(programs);
+    } catch (e) {
+        console.error("Failed to load programs", e);
+    }
+}
 
 
 async function init() {
@@ -315,8 +335,8 @@ async function init() {
         }
 
         initLidar();
-        setInterval(refresh, 250);
-        refresh();
+        initTelemetryWS();
+        loadProgramsOnce();
     } catch (e) {
         console.error("Erreur dans init:", e);
     }

From 667acf4d6a8db52283abb5c5d8636574badf9e5a Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Wed, 14 Jan 2026 18:54:13 +0100
Subject: [PATCH 38/49] =?UTF-8?q?fix:=20soucis=20dans=20poweroff=20fix=20(?=
 =?UTF-8?q?un=20log=20qui=20bloqu=C3=A9=20le=20poweroff?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/HL/programme/Poweroff.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/HL/programme/Poweroff.py b/src/HL/programme/Poweroff.py
index c82ca9dd..19abd3b9 100644
--- a/src/HL/programme/Poweroff.py
+++ b/src/HL/programme/Poweroff.py
@@ -14,7 +14,7 @@ def kill(self):
         pass
 
     def start(self):
-        self.log("Power off started")
+        self.log.info("Power off started")
         subprocess.Popen(
                 "sudo poweroff",
                 shell=True,

From b93d2c912ba685174154756f7eedeac744e70133 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Thu, 15 Jan 2026 15:48:39 +0100
Subject: [PATCH 39/49] feat: rajout du fait que le lidar et la camera sont
 clicable pour pouvoir les ouvrir dans un autre onglet

---
 src/HL/backend.py               | 1 +
 src/HL/site_controle/app.js     | 6 +++++-
 src/HL/site_controle/index.html | 8 ++++++--
 src/HL/site_controle/style.css  | 5 +++++
 4 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/src/HL/backend.py b/src/HL/backend.py
index 34e561bd..64c0a253 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -88,6 +88,7 @@ def index():
                   <body>
                     <h3>CoVAPSy Control</h3>
                     <p>Frontend: <a href="/static/index.html">/static/index.html</a></p>
+                    <p>Lidar: <a href="/static/lidar.html">/static/lidar.html</a></p>
                   </body>
                 </html>
                 """
diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index 21a20c15..a766da88 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -328,8 +328,12 @@ async function init() {
     try {
         const camUrl = await fetchCameraUrl();
         const camEl = document.getElementById("camera");
-        if (camEl) {
+        const camLink = document.getElementById("camera-link");
+
+        if (camEl && camLink) {
             camEl.src = camUrl;
+            camLink.href = camUrl;
+
         } else {
             console.warn("Element #camera introuvable au moment d'init");
         }
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index 2ebe03de..a651413b 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -25,11 +25,15 @@ <h2>Télémétrie:</h2>
 
     <!-- CAMERA -->
     <div class="card">
-        <img id="camera" src="" alt="Camera stream">
+        <a id="camera-link" href="#" target="_blank">
+            <img id="camera" src="" alt="Camera stream">
+        </a>
     </div>
     <!-- LIDAR -->
     <div class="card">
-        <canvas id="lidar" width="400" height="400"></canvas>
+        <a href="/static/lidar.html" target="_blank">
+            <canvas id="lidar" width="400" height="400"></canvas>
+        </a>
     </div>
     <!-- SPEED CHART -->
     <div class="card">
diff --git a/src/HL/site_controle/style.css b/src/HL/site_controle/style.css
index 912b464b..5130d908 100644
--- a/src/HL/site_controle/style.css
+++ b/src/HL/site_controle/style.css
@@ -65,3 +65,8 @@ img {
     display: block;
 }
 
+
+a:hover > img,
+a:hover > canvas {
+    outline: 2px solid #00ff88;
+}

From ef88bad79cf3443c3dc62df592964c4ddf5726fc Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Thu, 15 Jan 2026 16:03:20 +0100
Subject: [PATCH 40/49] fix: vue pour lorsque la voiture recule

---
 src/HL/site_controle/app.js     | 23 ++++++++++++++++++-----
 src/HL/site_controle/index.html |  2 +-
 2 files changed, 19 insertions(+), 6 deletions(-)

diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index a766da88..f52f0c5b 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -23,11 +23,24 @@ function drawSpeedChart() {
     ctx.lineTo(w - 10, h - 20);
     ctx.stroke();
 
-    const maxVal = Math.max(
-        ...speedHistory.real,
-        ...speedHistory.demand,
-        1
+    
+
+    const maxAbs = Math.max(
+    ...speedHistory.real.map(Math.abs),
+    ...speedHistory.demand.map(Math.abs),
+    1
     );
+    const yZero = h / 2;
+    const scaleY = (h - 40) / (2 * maxAbs);
+    // ligne y=0
+    ctx.strokeStyle = "#666";
+    ctx.setLineDash([5, 5]);
+    ctx.beginPath();
+    ctx.moveTo(40, yZero);
+    ctx.lineTo(w - 10, yZero);
+    ctx.stroke();
+    ctx.setLineDash([]);
+
 
     function drawCurve(data, color) {
         ctx.strokeStyle = color;
@@ -35,7 +48,7 @@ function drawSpeedChart() {
 
         data.forEach((v, i) => {
             const x = 40 + (i / speedHistory.maxPoints) * (w - 60);
-            const y = h - 20 - (v / maxVal) * (h - 40);
+            const y = yZero - v * scaleY;
             if (i === 0) ctx.moveTo(x, y);
             else ctx.lineTo(x, y);
         });
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index a651413b..7775c723 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -37,7 +37,7 @@ <h2>Télémétrie:</h2>
     </div>
     <!-- SPEED CHART -->
     <div class="card">
-        <canvas id="speedChart" width="400" height="200"></canvas>
+        <canvas id="speedChart" width="400" height="400"></canvas>
     </div>
 
     <!-- STEERING -->

From 364eabdea50e72c3d1fde78228dfee6791851404 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Fri, 16 Jan 2026 16:12:06 +0100
Subject: [PATCH 41/49] feat: suppression de chose inutile

---
 src/HL/backend.py | 16 ++++------------
 1 file changed, 4 insertions(+), 12 deletions(-)

diff --git a/src/HL/backend.py b/src/HL/backend.py
index 64c0a253..2a0e7327 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -159,15 +159,8 @@ def _list_programs(self) -> List[Dict[str, Any]]:
         return out
 
     def _camera_stream_url(self) -> str:
-        # On suppose que le stream est servi par un autre service sur la Pi
-        # Si tu veux mettre l’IP dynamique, tu peux la récupérer via ta fonction get_ip()
         ip = getattr(getattr(self.server, "SOCKET_ADRESS", None), "IP", None)
-        # Dans tes constantes tu as SOCKET_ADRESS["IP"], mais côté serveur c'est dans Autotech_constant,
-        # donc plus simple: on lit l'IP du serveur si tu l’as quelque part, sinon on laisse en relatif.
-        # Pour l’instant on fait simple: si server a un attribut ip, on l'utilise sinon 192.168.1.10
         ip = getattr(self.server, "ip", None) or "192.168.1.10"
-        # ton chemin réel est /stream.mjpg d’après ton message, pas /stream
-        # donc on renvoie les deux pour compatibilité:
         return f"http://{ip}:{PORT_STREAMING_CAMERA}/stream.mjpg"
     
     def _lidar(self):
@@ -243,7 +236,6 @@ def start_program(prog_id: int):
             if getattr(p, "running", False):
                 return {"status": "already_running", "program_id": prog_id}
 
-            # utilise ta logique centralisée
             self.server.start_process(prog_id)
             return {"status": "ok", "program_id": prog_id}
 
@@ -257,13 +249,13 @@ def kill_program(prog_id: int):
             if not getattr(p, "running", False):
                 return {"status": "already_stopped", "program_id": prog_id}
 
-            # ta logique: toggle kill si running
+            # toggle kill if running
             self.server.start_process(prog_id)
             return {"status": "ok", "program_id": prog_id}
 
         @self.app.get("/api/stream/camera")
         def camera_stream():
-            # On ne proxifie pas (mauvais plan). On donne juste l'URL.
+            # give the URL.
             return {"url": self._camera_stream_url()}
         
         @self.app.get("/api/lidar")
@@ -295,7 +287,7 @@ async def telemetry_ws(ws: WebSocket):
                 while True:
                     data = self._get_telemetry()
                     await ws.send_json(data)
-                    await asyncio.sleep(0.25)  # 4 Hz, comme avant
+                    await asyncio.sleep(0.25)  # 4 Hz
             except WebSocketDisconnect:
                 self.logger.info("Telemetry WS client disconnected")
 
@@ -308,7 +300,7 @@ def start(self):
             return
         self.running = True
 
-        # Uvicorn "propre" (permet d'arrêter via should_exit)
+        # Uvicorn
         config = uvicorn.Config(self.app, host=self.host, port=self.port, log_level="info")
         self._uvicorn_server = uvicorn.Server(config)
 

From 723af24f73dd5a92c0d03e94368c1a44bc46c067 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Sat, 24 Jan 2026 22:35:31 +0100
Subject: [PATCH 42/49] fix: pour que mat soit content (suppression dosssier
 inutile et changement pyproject)

---
 .idea/CoVAPSy.iml   | 13 --------
 .idea/misc.xml      |  7 ----
 .idea/workspace.xml | 81 ---------------------------------------------
 pyproject.toml      |  9 ++---
 4 files changed, 5 insertions(+), 105 deletions(-)
 delete mode 100644 .idea/CoVAPSy.iml
 delete mode 100644 .idea/misc.xml
 delete mode 100644 .idea/workspace.xml

diff --git a/.idea/CoVAPSy.iml b/.idea/CoVAPSy.iml
deleted file mode 100644
index 3e42242f..00000000
--- a/.idea/CoVAPSy.iml
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="WEB_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$">
-      <excludeFolder url="file://$MODULE_DIR$/.tmp" />
-      <excludeFolder url="file://$MODULE_DIR$/temp" />
-      <excludeFolder url="file://$MODULE_DIR$/tmp" />
-      <excludeFolder url="file://$MODULE_DIR$/.venv" />
-    </content>
-    <orderEntry type="jdk" jdkName="Python 3.13 (CoVAPSy)" jdkType="Python SDK" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
deleted file mode 100644
index a9333300..00000000
--- a/.idea/misc.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="Black">
-    <option name="sdkName" value="Python 3.13 (CoVAPSy)" />
-  </component>
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.13 (CoVAPSy)" project-jdk-type="Python SDK" />
-</project>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
deleted file mode 100644
index 4cef7f8b..00000000
--- a/.idea/workspace.xml
+++ /dev/null
@@ -1,81 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="AutoImportSettings">
-    <option name="autoReloadType" value="SELECTIVE" />
-  </component>
-  <component name="ChangeListManager">
-    <list default="true" id="f4e8ae2a-5680-4523-8af5-7f1b244ed678" name="Changes" comment="" />
-    <option name="SHOW_DIALOG" value="false" />
-    <option name="HIGHLIGHT_CONFLICTS" value="true" />
-    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
-    <option name="LAST_RESOLUTION" value="IGNORE" />
-  </component>
-  <component name="FileTemplateManagerImpl">
-    <option name="RECENT_TEMPLATES">
-      <list>
-        <option value="HTML File" />
-      </list>
-    </option>
-  </component>
-  <component name="Git.Settings">
-    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
-  </component>
-  <component name="ProjectColorInfo">{
-  &quot;associatedIndex&quot;: 1
-}</component>
-  <component name="ProjectId" id="34vwKrOCmMK7c5Qx9XwlAk9AuYY" />
-  <component name="ProjectViewState">
-    <option name="hideEmptyMiddlePackages" value="true" />
-    <option name="showLibraryContents" value="true" />
-  </component>
-  <component name="PropertiesComponent">{
-  &quot;keyToString&quot;: {
-    &quot;DefaultHtmlFileTemplate&quot;: &quot;HTML File&quot;,
-    &quot;ModuleVcsDetector.initialDetectionPerformed&quot;: &quot;true&quot;,
-    &quot;RunOnceActivity.ShowReadmeOnStart&quot;: &quot;true&quot;,
-    &quot;RunOnceActivity.TerminalTabsStorage.copyFrom.TerminalArrangementManager.252&quot;: &quot;true&quot;,
-    &quot;RunOnceActivity.git.unshallow&quot;: &quot;true&quot;,
-    &quot;com.intellij.ml.llm.matterhorn.ej.ui.settings.DefaultAutoModeForALLUsers.v1&quot;: &quot;true&quot;,
-    &quot;com.intellij.ml.llm.matterhorn.ej.ui.settings.DefaultModelSelectionForGA.v1&quot;: &quot;true&quot;,
-    &quot;git-widget-placeholder&quot;: &quot;main-manager&quot;,
-    &quot;junie.onboarding.icon.badge.shown&quot;: &quot;true&quot;,
-    &quot;last_opened_file_path&quot;: &quot;/home/exoroy/PycharmProjects/PythonProject2/CoVAPSy&quot;,
-    &quot;node.js.detected.package.eslint&quot;: &quot;true&quot;,
-    &quot;node.js.detected.package.tslint&quot;: &quot;true&quot;,
-    &quot;node.js.selected.package.eslint&quot;: &quot;(autodetect)&quot;,
-    &quot;node.js.selected.package.tslint&quot;: &quot;(autodetect)&quot;,
-    &quot;nodejs_package_manager_path&quot;: &quot;npm&quot;,
-    &quot;settings.editor.selected.configurable&quot;: &quot;preferences.pluginManager&quot;,
-    &quot;to.speed.mode.migration.done&quot;: &quot;true&quot;,
-    &quot;vue.rearranger.settings.migration&quot;: &quot;true&quot;
-  }
-}</component>
-  <component name="SharedIndexes">
-    <attachedChunks>
-      <set>
-        <option value="bundled-js-predefined-d6986cc7102b-3aa1da707db6-JavaScript-PY-252.27397.106" />
-        <option value="bundled-python-sdk-4e2b1448bda8-9a97661f3031-com.jetbrains.pycharm.pro.sharedIndexes.bundled-PY-252.27397.106" />
-      </set>
-    </attachedChunks>
-  </component>
-  <component name="TaskManager">
-    <task active="true" id="Default" summary="Default task">
-      <changelist id="f4e8ae2a-5680-4523-8af5-7f1b244ed678" name="Changes" comment="" />
-      <created>1762107294838</created>
-      <option name="number" value="Default" />
-      <option name="presentableId" value="Default" />
-      <updated>1762107294838</updated>
-      <workItem from="1762107297723" duration="1166000" />
-      <workItem from="1762109143334" duration="1365000" />
-      <workItem from="1763763425124" duration="5034000" />
-    </task>
-    <servers />
-  </component>
-  <component name="TypeScriptGeneratedFilesManager">
-    <option name="version" value="3" />
-  </component>
-  <component name="com.intellij.coverage.CoverageDataManagerImpl">
-    <SUITE FILE_PATH="coverage/CoVAPSy$lanch_one_simu.coverage" NAME="lanch_one_simu Coverage Results" MODIFIED="1766138694709" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="false" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/scripts" />
-    <SUITE FILE_PATH="coverage/CoVAPSy$onnx_utils.coverage" NAME="onnx_utils Coverage Results" MODIFIED="1766138688645" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="false" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/src/Simulateur" />
-  </component>
-</project>
\ No newline at end of file
diff --git a/pyproject.toml b/pyproject.toml
index 0301c3eb..af3945dd 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -14,10 +14,7 @@ authors = [
 ]
 
 dependencies = [
-    "fastapi>=0.128.0",
-    "uvicorn>=0.40.0",
-    "websocket>=0.2.1",
-    "websockets>=16.0",
+
 ]
 
 [project.optional-dependencies]
@@ -69,4 +66,8 @@ rpi = [
     "opencv-python>=4.12.0.88",
     "scipy>=1.15.3",
     "websockets>=16.0",
+    "fastapi>=0.128.0",
+    "uvicorn>=0.40.0",
+    "websocket>=0.2.1",
+    "websockets>=16.0",
 ]

From a4d07b0b8a8816f7261fa533b773f815e1bcdada Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Mon, 26 Jan 2026 14:51:45 +0100
Subject: [PATCH 43/49] fix: changement des nom des variable en anglais

---
 scripts/commande_PS4.py                | 14 ++++++------
 scripts/remote_control_controller.py   | 12 +++++------
 src/HL/Autotech_constant.py            |  6 +++---
 src/HL/Serveur_mq.py                   |  8 +++----
 src/HL/actionneur_capteur/Camera.py    |  4 ++--
 src/HL/actionneur_capteur/masterI2C.py |  6 +++---
 src/HL/backend.py                      | 16 +++++++-------
 src/HL/programme/Car.py                | 30 +++++++++++++-------------
 src/HL/programme/RemoteControl.py      |  6 +++---
 src/HL/programme/SshProgramme.py       |  4 ++--
 src/HL/programme/programme.py          |  4 ++--
 src/HL/site_controle/app.js            |  4 ++--
 src/HL/site_controle/index.html        |  4 ++--
 13 files changed, 59 insertions(+), 59 deletions(-)

diff --git a/scripts/commande_PS4.py b/scripts/commande_PS4.py
index f0a8dbde..a6a0428a 100644
--- a/scripts/commande_PS4.py
+++ b/scripts/commande_PS4.py
@@ -18,7 +18,7 @@ def envoie_donnee(Voiture): #si utilisation de la voiture directement
     bus = smbus.SMBus(1)
     while True:
             try :
-                data = struct.pack('<ff', float(round(Voiture.vitesse_mms)), float(round(Voiture.direction_d)))
+                data = struct.pack('<ff', float(round(Voiture.vitesse_mms)), float(round(Voiture.direction)))
                 bus.write_i2c_block_data(SLAVE_ADDRESS, 0, list(data))
                 #time.sleep(0.00005)
             except Exception as e:
@@ -64,12 +64,12 @@ def kill(self):
         self.running = False
 
     @property
-    def vitesse_d(self):
+    def target_speed(self):
         return self.controller.vitesse_mms
     
     @property
-    def direction_d(self):
-        return self.controller.direction_d
+    def direction(self):
+        return self.controller.direction
 
 class MyController(Controller):
 
@@ -77,7 +77,7 @@ def __init__(self, **kwargs):
         super().__init__(**kwargs)
         self.log = logging.getLogger(__name__)
         self.vitesse_mms = 0 # vitesse initiale en métre par milliseconde
-        self.direction_d = 0 # angle initiale des roues en degrés
+        self.direction = 0 # angle initiale des roues en degrés
         self.filtered = 0
         self.alpha = 0.3
         self.running = 0
@@ -120,12 +120,12 @@ def on_R1_release(self):
     def on_L3_right(self,value):
         # print("x_r :", value, "degré : ",map_range(value,-32767, 32767, 60, 120))
         dir = map_range(value, 0, 32767, 0, MAX_ANGLE)
-        self.direction_d = dir
+        self.direction = dir
 
     def on_L3_left(self,value):
         #print("x_r :", value, "degré : ",map_range(value,-32767, 0, -MAX_ANGLE, 0 ))
         dir = self.stable_direction(value)
-        self.direction_d = dir
+        self.direction = dir
 
 
     def on_L2_press(self, value):
diff --git a/scripts/remote_control_controller.py b/scripts/remote_control_controller.py
index 8e808ee8..9dd2b2e5 100644
--- a/scripts/remote_control_controller.py
+++ b/scripts/remote_control_controller.py
@@ -10,16 +10,16 @@
 sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
 
 def envoie_donnee():
-    global vitesse_m, direction_d
+    global vitesse_m, direction
     while True:
-        packet = struct.pack("ff", vitesse_m, direction_d)
+        packet = struct.pack("ff", vitesse_m, direction)
         sock.sendto(packet, ("192.168.1.10", 5556))
         time.sleep(0.05)
 
 ###################################################
 # Paramètres véhicule
 ###################################################
-direction_d = 0
+direction = 0
 vitesse_m = 0
 
 vitesse_max_m_s_soft = 2
@@ -30,9 +30,9 @@ def map_range(x, in_min, in_max, out_min, out_max):
     return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
 
 def set_direction_degre(angle_degre):
-    global direction_d
-    direction_d = angle_degre
-    print(direction_d, vitesse_m)
+    global direction
+    direction = angle_degre
+    print(direction, vitesse_m)
 
 def set_vitesse_m_ms(vit):
     global vitesse_m
diff --git a/src/HL/Autotech_constant.py b/src/HL/Autotech_constant.py
index 872fb97c..608badfc 100644
--- a/src/HL/Autotech_constant.py
+++ b/src/HL/Autotech_constant.py
@@ -63,6 +63,6 @@
 LOGGING_LEVEL = logging.DEBUG # can be either NOTSET, DEBUG, INFO, WARNING, ERROR, CRITICAL
 
 #Startup
-ON_START_CAMERA_STREAM = True #If True the camera stream will start at the launch of the car
-ON_START_BACKEND = True #If True the backend will start at the launch of the car
-ON_START_LIDAR_STREAM = True #If True the lidar stream will start at the launch of the car
\ No newline at end of file
+CAMERA_STREAM_ON_START = True #If True the camera stream will start at the launch of the car
+BACKEND_ON_START = True #If True the backend will start at the launch of the car
+LIDAR_STREAM_ON_START = True #If True the lidar stream will start at the launch of the car
\ No newline at end of file
diff --git a/src/HL/Serveur_mq.py b/src/HL/Serveur_mq.py
index 9daa17c4..94496612 100644
--- a/src/HL/Serveur_mq.py
+++ b/src/HL/Serveur_mq.py
@@ -111,12 +111,12 @@ def arduino_I2C(self):
         return self.initialisation_module.arduino_I2C
     
     @property
-    def vitesse_d(self):
-        return self.programme[self.last_programme_control].vitesse_d
+    def target_speed(self):
+        return self.programme[self.last_programme_control].target_speed
     
     @property
-    def direction_d(self):
-        return self.programme[self.last_programme_control].direction_d
+    def direction(self):
+        return self.programme[self.last_programme_control].direction
         
     #-----------------------------------------------------------------------------------------------------
     # affichage de l'écrans
diff --git a/src/HL/actionneur_capteur/Camera.py b/src/HL/actionneur_capteur/Camera.py
index bb83bdaa..c561f547 100644
--- a/src/HL/actionneur_capteur/Camera.py
+++ b/src/HL/actionneur_capteur/Camera.py
@@ -41,7 +41,7 @@ def outputframe(self, frame, keyframe=True):
 
 from src.HL.programme.Camera_serv import StreamServer, StreamHandler, StreamOutput, frame_buffer
 from src.HL.programme.programme import Program
-from src.HL.Autotech_constant import PORT_STREAMING_CAMERA, SIZE_CAMERA_X, SIZE_CAMERA_Y, FRAME_RATE, CAMERA_QUALITY, STREAM_PATH, ON_START_CAMERA_STREAM
+from src.HL.Autotech_constant import PORT_STREAMING_CAMERA, SIZE_CAMERA_X, SIZE_CAMERA_Y, FRAME_RATE, CAMERA_QUALITY, STREAM_PATH, CAMERA_STREAM_ON_START
 
 class ProgramStreamCamera(Program):
     def __init__(self,serveur):
@@ -51,7 +51,7 @@ def __init__(self,serveur):
         self.running = False
         self.controls_car = False
         
-        if ON_START_CAMERA_STREAM:
+        if CAMERA_STREAM_ON_START:
             self.start()
 
     
diff --git a/src/HL/actionneur_capteur/masterI2C.py b/src/HL/actionneur_capteur/masterI2C.py
index 0427a6db..eb12823c 100644
--- a/src/HL/actionneur_capteur/masterI2C.py
+++ b/src/HL/actionneur_capteur/masterI2C.py
@@ -9,7 +9,7 @@ class I2c_arduino:
     def __init__(self,serveur):
         self.log = logging.getLogger(__name__)
         self.serveur = serveur
-        self.vitesse_r = 0
+        self.current_speed = 0
         self.send_running = True
         self.receive_running = True
         
@@ -32,7 +32,7 @@ def start_send(self):
         self.log.info("Thread I2C loop démarré")
         while self.send_running:
             try :
-                data = struct.pack('<ff', float(round(self.serveur.vitesse_d)), float(round(self.serveur.direction_d)))
+                data = struct.pack('<ff', float(round(self.serveur.target_speed)), float(round(self.serveur.direction)))
                 self.bus.write_i2c_block_data(SLAVE_ADDRESS, 0, list(data))
                 time.sleep(1e-5) # Short delay to prevent overwhelming the bus
             except Exception as e:
@@ -53,7 +53,7 @@ def start_received(self):
                 # on enregistre les valeur
                 self.voltage_lipo = list_valeur[0]
                 self.voltage_nimh = list_valeur[1]
-                self.vitesse_r = list_valeur[2]
+                self.current_speed = list_valeur[2]
             else:
                 self.log.warning("I2C: taille inattendue (%d au lieu de %d)", len(data), length)
             time.sleep(I2C_SLEEP_RECEIVED)
\ No newline at end of file
diff --git a/src/HL/backend.py b/src/HL/backend.py
index 2a0e7327..0fb97d6e 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -21,7 +21,7 @@
     LOGGING_LEVEL,
     PORT_STREAMING_CAMERA,
     STREAM_PATH,
-    ON_START_BACKEND,
+    BACKEND_ON_START,
 )
 
 class BackendAPI(Program):
@@ -96,7 +96,7 @@ def index():
         self._setup_routes()
 
         time.sleep(1)  # Petit délai pour s'assurer que tout est prêt avant de démarrer
-        if ON_START_BACKEND:
+        if BACKEND_ON_START:
             self.start()
         
 
@@ -113,7 +113,7 @@ def _get_telemetry(self) -> Dict[str, Any]:
         # On protège tout: si pas initialisé, on renvoie 0
         voltage_lipo = float(getattr(ard, "voltage_lipo", 0.0) or 0.0) if ard else 0.0
         voltage_nimh = float(getattr(ard, "voltage_nimh", 0.0) or 0.0) if ard else 0.0
-        vitesse_r = float(getattr(ard, "vitesse_r", 0.0) or 0.0) if ard else 0.0
+        current_speed = float(getattr(ard, "current_speed", 0.0) or 0.0) if ard else 0.0
 
         # Programme qui contrôle la voiture actuellement
         last_ctrl = int(getattr(self.server, "last_programme_control", 0) or 0)
@@ -122,8 +122,8 @@ def _get_telemetry(self) -> Dict[str, Any]:
         if isinstance(programmes, list) and 0 <= last_ctrl < len(programmes):
             prog_name = type(programmes[last_ctrl]).__name__
 
-        vitesse_d = float(getattr(self.server, "vitesse_d", 0.0) or 0.0)
-        direction_d = float(getattr(self.server, "direction_d", 0.0) or 0.0)
+        target_speed = float(getattr(self.server, "target_speed", 0.0) or 0.0)
+        direction = float(getattr(self.server, "direction", 0.0) or 0.0)
 
         return {
             "battery": {
@@ -131,9 +131,9 @@ def _get_telemetry(self) -> Dict[str, Any]:
                 "nimh": voltage_nimh
             },
             "car": {
-                "vitesse_reelle": vitesse_r,
-                "vitesse_demandee": vitesse_d,
-                "direction_demandee": direction_d,
+                "vitesse_reelle": current_speed,
+                "vitesse_demandee": target_speed,
+                "direction_demandee": direction,
                 "programme_controle": prog_name,
                 "programme_id": last_ctrl
             },
diff --git a/src/HL/programme/Car.py b/src/HL/programme/Car.py
index 46b6a23f..afce745d 100644
--- a/src/HL/programme/Car.py
+++ b/src/HL/programme/Car.py
@@ -19,8 +19,8 @@ def __init__(self,driving_strategy, serveur):
         self.log = logging.getLogger(__name__)
 
         """Initialize the car's components."""
-        self.vitesse_d = 0  # Speed in millimeters per second
-        self.direction_d = 0  # Steering angle in degrees
+        self.target_speed = 0  # Speed in millimeters per second
+        self.direction = 0  # Steering angle in degrees
         self.serveur = serveur
         self.reverse_count = 0
         def _initialize_ai():
@@ -52,8 +52,8 @@ def tof(self):
 
 
     def stop(self):
-        self.vitesse_d = 0
-        self.direction_d = 0
+        self.target_speed = 0
+        self.direction = 0
         self.log.info("Arrêt du moteur")
         
 
@@ -65,7 +65,7 @@ def has_Crashed(self):
             # min_index = self.lidar.rDistance.index(min(small_distances))
             while self.tof.get_distance() < REAR_BACKUP_DIST:
                 self.log.info(f"Obstacle arriere détecté {self.tof.get_distance()}")
-                self.vitesse_d = 0
+                self.target_speed = 0
                 time.sleep(0.1)
             return True
         return False
@@ -74,9 +74,9 @@ def turn_around(self):
         """Turn the car around."""
         self.log.info("Turning around")
         
-        self.vitesse_d = 0
-        self.direction_d = MAX_ANGLE
-        self.vitesse_d = -2 #blocing call
+        self.target_speed = 0
+        self.direction = MAX_ANGLE
+        self.target_speed = -2 #blocing call
         time.sleep(1.8) # Wait for the car to turn around
         if self.camera.is_running_in_reversed():
             self.turn_around()
@@ -93,7 +93,7 @@ def main(self):
         lidar_data_ai= (lidar_data-0.5)*(
             LIDAR_DATA_OFFSET + LIDAR_DATA_AMPLITUDE * np.exp(-1/2*((np.arange(1080) - 135) / LIDAR_DATA_SIGMA**2))
         ) #convertir en mètre et ajouter un bruit gaussien #On traffique les données fournit a l'IA
-        self.direction_d, self.vitesse_d = self.driving(lidar_data_ai) #l'ai prend des distance en mètre et non en mm
+        self.direction, self.target_speed = self.driving(lidar_data_ai) #l'ai prend des distance en mètre et non en mm
         self.log.debug(f"Min Lidar: {min(lidar_data)}, Max Lidar: {max(lidar_data)}")
 
         if self.camera.is_running_in_reversed():
@@ -120,8 +120,8 @@ def main(self):
             if color == 1:
                 self.log.info("Obstacle vert détecté")
             angle= -color*MAX_ANGLE
-            self.vitesse_d = -2
-            self.direction_d = angle
+            self.target_speed = -2
+            self.direction = angle
 
 
 
@@ -137,16 +137,16 @@ def __init__(self, serveur):
         self.controls_car = True
 
     @property
-    def vitesse_d(self):
+    def target_speed(self):
         if self.GR86 == None:
             return 0
-        return self.GR86.vitesse_d
+        return self.GR86.target_speed
     
     @property
-    def direction_d(self):
+    def direction(self):
         if self.GR86 == None:
             return 0
-        return self.GR86.direction_d
+        return self.GR86.direction
 
     def run(self):
         while self.running:
diff --git a/src/HL/programme/RemoteControl.py b/src/HL/programme/RemoteControl.py
index c9e33617..f0ebdee2 100644
--- a/src/HL/programme/RemoteControl.py
+++ b/src/HL/programme/RemoteControl.py
@@ -13,8 +13,8 @@ def __init__(self):
         self.log = logging.getLogger(__name__)
         self.controls_car = True
         self.running = False
-        self.vitesse_d = 0
-        self.direction_d = 0
+        self.target_speed = 0
+        self.direction = 0
     
         #initialisation
         self.public = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
@@ -29,7 +29,7 @@ def car_controle(self,sock):
         while self.running:
             try:
                 data, ip = sock.recvfrom(1024)
-                self.vitesse_d, self.direction_d = struct.unpack("ff", data)
+                self.target_speed, self.direction = struct.unpack("ff", data)
             except socket.timeout:
                 continue
 
diff --git a/src/HL/programme/SshProgramme.py b/src/HL/programme/SshProgramme.py
index b9e589b2..f08381f7 100644
--- a/src/HL/programme/SshProgramme.py
+++ b/src/HL/programme/SshProgramme.py
@@ -11,8 +11,8 @@ def __init__(self):
         self.running = True
         self.controls_car = True
 
-        self.vitesse_d = 0
-        self.direction_d = 0
+        self.target_speed = 0
+        self.direction = 0
 
         # Cache IP
         self.ip = None
diff --git a/src/HL/programme/programme.py b/src/HL/programme/programme.py
index 990b21ec..9530372f 100644
--- a/src/HL/programme/programme.py
+++ b/src/HL/programme/programme.py
@@ -6,8 +6,8 @@
 class Program:
     controls_car:bool # correspond si le programme cotronle la voiture ou non pour savoir si il faut arreter l'ancien programme qui controle la voiture
     running:bool # état de base du programme (au lancement de la voiture)
-    vitesse_d:Optional[float] # target speed
-    direction_d:Optional[float] # target direction
+    target_speed:Optional[float] # target speed
+    direction:Optional[float] # target direction
 
     def __init__(self):
         self.logger = logging.getLogger(__name__)
diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index f52f0c5b..c28e97a7 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -169,10 +169,10 @@ function updateTelemetry(t) {
     document.getElementById("vitesse").textContent =
         t.car.vitesse_reelle.toFixed(2);
 
-    document.getElementById("vitesse_d").textContent =
+    document.getElementById("target_speed").textContent =
         t.car.vitesse_demandee.toFixed(2);
 
-    document.getElementById("direction_d").textContent =
+    document.getElementById("direction").textContent =
         t.car.direction_demandee.toFixed(2);
     document.getElementById("active_program").textContent =
         t.car.programme_controle ?? "Aucun";
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index 7775c723..edd1e28d 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -17,8 +17,8 @@ <h2>Télémétrie:</h2>
         <p>LiPo: <span id="lipo">--</span> V</p>
         <p>NiMH: <span id="nimh">--</span> V</p>
         <p>Vitesse réelle: <span id="vitesse">--</span></p>
-        <p>Vitesse demandée: <span id="vitesse_d">--</span></p>
-        <p>Direction demandée: <span id="direction_d">--</span></p>
+        <p>Vitesse demandée: <span id="target_speed">--</span></p>
+        <p>Direction demandée: <span id="direction">--</span></p>
 
         <p>Programme actif: <span id="active_program">--</span></p>
     </div>

From e617139fd896dbde4d67f3433059bbe2be1c7aeb Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Mon, 26 Jan 2026 15:09:41 +0100
Subject: [PATCH 44/49] feat: for happy matthias

---
 src/HL/backend.py           |  7 +++----
 src/HL/site_controle/app.js | 12 ++++++++++++
 2 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/src/HL/backend.py b/src/HL/backend.py
index 0fb97d6e..d49232dd 100644
--- a/src/HL/backend.py
+++ b/src/HL/backend.py
@@ -1,5 +1,4 @@
 # BackendAPI.py
-from __future__ import annotations
 
 import threading
 import time
@@ -111,9 +110,9 @@ def _arduino(self):
     def _get_telemetry(self) -> Dict[str, Any]:
         ard = self._arduino()
         # On protège tout: si pas initialisé, on renvoie 0
-        voltage_lipo = float(getattr(ard, "voltage_lipo", 0.0) or 0.0) if ard else 0.0
-        voltage_nimh = float(getattr(ard, "voltage_nimh", 0.0) or 0.0) if ard else 0.0
-        current_speed = float(getattr(ard, "current_speed", 0.0) or 0.0) if ard else 0.0
+        voltage_lipo = getattr(ard, "voltage_lipo", 0.0) if ard else 0.0
+        voltage_nimh = getattr(ard, "voltage_nimh", 0.0) if ard else 0.0
+        current_speed = getattr(ard, "current_speed", 0.0) if ard else 0.0
 
         # Programme qui contrôle la voiture actuellement
         last_ctrl = int(getattr(self.server, "last_programme_control", 0) or 0)
diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index c28e97a7..9c1ad43e 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -143,11 +143,17 @@ function drawSteering(directionDeg) {
 
 async function fetchStatus() {
     const res = await fetch(`${API}/api/status`);
+    if (!res.ok) {
+        throw new Error(`API status failed: ${res.status}`);
+    }
     return await res.json();
 }
 
 async function fetchCameraUrl() {
     const res = await fetch(`${API}/api/stream/camera`);
+    if (!res.ok) {
+        throw new Error(`Camera url API failed: ${res.status}`);
+    }
     const data = await res.json();
     return data.url;
 }
@@ -213,6 +219,9 @@ function updatePrograms(programs) {
 async function refreshPrograms() {
     try {
         const res = await fetch("/api/programs");
+        if (!res.ok) {
+        throw new Error(`Programs API failed: ${res.status}`);
+    }
         const programs = await res.json();
         updatePrograms(programs);
     } catch (e) {
@@ -329,6 +338,9 @@ function initTelemetryWS() {
 async function loadProgramsOnce() {
     try {
         const res = await fetch("/api/programs");
+        if (!res.ok) {
+            throw new Error(`Programs API failed: ${res.status}`);
+        }
         const programs = await res.json();
         updatePrograms(programs);
     } catch (e) {

From 90b10b3c8416a770daaf2bfd9da24c6c6fa0e31a Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Mon, 26 Jan 2026 15:15:17 +0100
Subject: [PATCH 45/49] feat: minus error

---
 src/HL/site_controle/app.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index 9c1ad43e..f249b35b 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -47,7 +47,7 @@ function drawSpeedChart() {
         ctx.beginPath();
 
         data.forEach((v, i) => {
-            const x = 40 + (i / speedHistory.maxPoints) * (w - 60);
+            const x = 40 + (i / (data.length - 1)) * (w - 60);
             const y = yZero - v * scaleY;
             if (i === 0) ctx.moveTo(x, y);
             else ctx.lineTo(x, y);

From be57b1ad02055447731bcb36ef698fb66fcf5ad6 Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Mon, 26 Jan 2026 15:28:59 +0100
Subject: [PATCH 46/49] feat: pour le genti matthias

---
 src/HL/site_controle/app.js | 23 +++++++++++++++++------
 1 file changed, 17 insertions(+), 6 deletions(-)

diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index f249b35b..2758be56 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -60,10 +60,13 @@ function drawSpeedChart() {
     drawCurve(speedHistory.real, "#00ff88");   // réel
 
     // légende
+    
     ctx.fillStyle = "#ffaa00";
     ctx.fillText("Consigne", w - 100, 20);
     ctx.fillStyle = "#00ff88";
     ctx.fillText("Réelle", w - 100, 35);
+    ctx.font = "10px monospace";
+    
 }
 
 function drawSteering(directionDeg) {
@@ -228,7 +231,7 @@ async function refreshPrograms() {
         console.error("Failed to refresh programs", e);
     }
 }
-function initLidar() {
+function initLidar(retryDelay = 1000) {
     const canvas = document.getElementById("lidar");
     if (!canvas) return;
 
@@ -237,7 +240,7 @@ function initLidar() {
 
     const proto = location.protocol === "https:" ? "wss" : "ws";
     const ws = new WebSocket(proto + "://" + location.host + "/api/lidar/ws");
-
+    try{
     ws.onmessage = (e) => {
         const data = JSON.parse(e.data);
 
@@ -315,20 +318,28 @@ function initLidar() {
 
         ctx.restore();
     };
+    }catch(e){
+        console.error("Erreur dans LIDAR WS onmessage:", e);
+    }
 
     ws.onclose = () => {
         console.warn("LIDAR WS disconnected");
-    };
+
+        setTimeout(() => {
+            initLidar(Math.min(retryDelay * 2, 8000));
+        }, retryDelay);
 }
 function initTelemetryWS() {
     const proto = location.protocol === "https:" ? "wss" : "ws";
     const ws = new WebSocket(proto + "://" + location.host + "/api/telemetry/ws");
-
-    ws.onmessage = (e) => {
+    try{
+            ws.onmessage = (e) => {
         const data = JSON.parse(e.data);
         updateTelemetry(data);
     };
-
+    }catch(e){
+    console.error("Erreur dans Telemetry WS onmessage:", e);
+}   
     ws.onclose = () => {
         console.warn("Telemetry WS disconnected, retrying...");
         setTimeout(initTelemetryWS, 1000);

From d11c7e92f374a80f64b5cbb4bf820cb2f760b6fa Mon Sep 17 00:00:00 2001
From: Cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Mon, 26 Jan 2026 15:29:49 +0100
Subject: [PATCH 47/49] fix: oublie de crochet)

---
 src/HL/site_controle/app.js | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
index 2758be56..575b3332 100644
--- a/src/HL/site_controle/app.js
+++ b/src/HL/site_controle/app.js
@@ -329,6 +329,7 @@ function initLidar(retryDelay = 1000) {
             initLidar(Math.min(retryDelay * 2, 8000));
         }, retryDelay);
 }
+}
 function initTelemetryWS() {
     const proto = location.protocol === "https:" ? "wss" : "ws";
     const ws = new WebSocket(proto + "://" + location.host + "/api/telemetry/ws");

From a8ebf975107396dcba8fa95ff2fd73116a9b2ebf Mon Sep 17 00:00:00 2001
From: cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Tue, 27 Jan 2026 13:39:25 +0100
Subject: [PATCH 48/49] =?UTF-8?q?feat:=20rajout=20du=20logo=20de=20autotec?=
 =?UTF-8?q?h=20en=20haut=20=C3=A0=20gauche=20de=20la=20page?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/HL/site_controle/index.html                |   2 +-
 ...ch 2025 (long)_promo Ecole_transparent.png" | Bin 0 -> 236183 bytes
 2 files changed, 1 insertion(+), 1 deletion(-)
 create mode 100644 "src/HL/site_controle/ressources/Logo_\303\251quipe N\302\26020_AutoTech 2025 (long)_promo Ecole_transparent.png"

diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index edd1e28d..0b93feb8 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -6,7 +6,7 @@
     <link rel="stylesheet" href="style.css">
 </head>
 <body>
-
+<img src="ressources/Logo_équipe N°20_AutoTech 2025 (long)_promo Ecole_transparent.png" alt="Logo CoVAPSy" class="logo">
 <h1>🚗 CoVAPSy – Remote Control</h1>
 
 <div class="grid">
diff --git "a/src/HL/site_controle/ressources/Logo_\303\251quipe N\302\26020_AutoTech 2025 (long)_promo Ecole_transparent.png" "b/src/HL/site_controle/ressources/Logo_\303\251quipe N\302\26020_AutoTech 2025 (long)_promo Ecole_transparent.png"
new file mode 100644
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From 6dc82f170af5d3b7d82b086e46d125c456395f64 Mon Sep 17 00:00:00 2001
From: cbampeta <cyril.bampeta@telecom-sudparis.eu>
Date: Tue, 27 Jan 2026 13:42:11 +0100
Subject: [PATCH 49/49] fix la top barre du site avec le logo

---
 src/HL/site_controle/index.html |  6 ++++--
 src/HL/site_controle/style.css  | 11 +++++++++++
 2 files changed, 15 insertions(+), 2 deletions(-)

diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
index 0b93feb8..dacbc6f5 100644
--- a/src/HL/site_controle/index.html
+++ b/src/HL/site_controle/index.html
@@ -6,8 +6,10 @@
     <link rel="stylesheet" href="style.css">
 </head>
 <body>
-<img src="ressources/Logo_équipe N°20_AutoTech 2025 (long)_promo Ecole_transparent.png" alt="Logo CoVAPSy" class="logo">
-<h1>🚗 CoVAPSy – Remote Control</h1>
+<header class="topbar">
+    <img src="ressources/Logo_équipe N°20_AutoTech 2025 (long)_promo Ecole_transparent.png" alt="Logo CoVAPSy" class="logo">
+    <h1> CoVAPSy – Remote Control</h1>
+</header>
 
 <div class="grid">
 
diff --git a/src/HL/site_controle/style.css b/src/HL/site_controle/style.css
index 5130d908..ec2f9b43 100644
--- a/src/HL/site_controle/style.css
+++ b/src/HL/site_controle/style.css
@@ -70,3 +70,14 @@ a:hover > img,
 a:hover > canvas {
     outline: 2px solid #00ff88;
 }
+.topbar {
+    display: flex;
+    align-items: center;
+    gap: 15px;
+    padding: 10px;
+}
+
+.logo {
+    height: 50px;
+    width: auto;
+}