diff --git a/Messagerie.py b/Messagerie.py
index ccc08f1..46b09e8 100644
--- a/Messagerie.py
+++ b/Messagerie.py
@@ -1,6 +1,8 @@
 import struct
 import serial
+import socket
 from time import sleep
+from time import time
 
 
 def send_msg(message : bytes):
@@ -10,21 +12,100 @@ def send_msg(message : bytes):
 
 def msg_envoi_donnees(carte_id: bytes, registre : int, charge_utile : bytes):
     send_msg(struct.pack('ccBB{}s'.format(charge_utile.__len__()), b'r', carte_id, registre, charge_utile.__len__(), charge_utile))
+
+def msg_demande_donnees(carte_id: bytes, registre : int, charge_utile : bytes):
+    pass
     
 def led_on():
     msg_envoi_donnees(b'D', 0x00, b'\x06')
 
 def led_off():
     msg_envoi_donnees(b'D', 0x00, b'\x36') 
+
+def lecture_pos():
+    ser.write(b'\xFF\xFF\x05dP\x00\x0c\x00')
+    nb_read = ser.in_waiting
+    data = ser.read(nb_read)
+    print("nb_read={}".format(nb_read))
+    list_message = data.split(b"\xff\xffP")
+    print("nb_read={}, list_message={}".format(nb_read, len(list_message)))
+    if len(list_message)>1:
+        if len(list_message[1])>12:
+                int_value = struct.unpack('fff',list_message[1][1:13])
+                return (int_value[0],int_value[1],int_value[2])
+
+def lecture_abscisse():
+    ser.write(b'\xFF\xFF\x05dP\x8C\x04\x00')
+    while ser.in_waiting == 0:
+        pass
+    data = ser.read(ser.in_waiting)
+    list_message = data.split(b"\xff\xffP")
+    if len(list_message)>1:
+        if len(list_message[1])>4:
+                int_value = struct.unpack('f',list_message[1][1:5])
+                return int_value[0]
+
+def lecture_pos_consigne():
+    ser.write(b'\xFF\xFF\x05dP\x00\x08\x00')
+    while ser.in_waiting == 0:
+        pass
+    data = ser.read(ser.in_waiting)
+    list_message = data.split(b"\xff\xffP")
+    if len(list_message)>1:
+        if len(list_message[1])>12:
+                int_value = struct.unpack('ff',list_message[1][1:9])
+                return (int_value[0],int_value[1])
+        
+def lecture_propulsion():
+    ser.write(b'\xFF\xFF\x05dP\x80\x18\x00')
+    nb_read = ser.in_waiting
+    data = ser.read(nb_read)
+    # print("nb_read={}".format(nb_read))
+    list_message = data.split(b"\xff\xffP")
+    # print("nb_read={}, list_message={}".format(nb_read, len(list_message)))
+    if len(list_message)>1:
+        if len(list_message[1])>25:
+                struct_value = struct.unpack('ffffff',list_message[1][1:25])
+                return (struct_value[0],struct_value[1],struct_value[2], struct_value[3], struct_value[4], struct_value[5])
     
 if __name__ == "__main__":
+
+    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
+    sock.sendto(bytes(">c:1", "utf-8"), ("127.0.0.1", 47269))
+
+
     ser = serial.Serial('/dev/ttyACM0' , 115200)
-    traj = struct.pack('bffff', 0, 0.0, 0.0, 100. , 0.)
+    traj = struct.pack('bffff', 0, 0.0, 0.0, 500. , 0.)
+    # traj = struct.pack('bffffffff', 2, 
+    #                    0.0, 0.0, 
+    #                    150. , 0.,
+    #                    50. , 200.,
+    #                    200. , 200.,)
     msg_envoi_donnees(b'P', 0x22, traj)
 
     while True:
+        pos = None
+        #données_propulsion= None
+        données_propulsion = lecture_propulsion()
+        #abscisse = lecture_abscisse()
+        #pos_consigne = lecture_pos_consigne()
+
+        # if pos is not None and abscisse is not None and pos_consigne is not None :
+        #    print(">pos:{:.2f}:{:.2f}:{:.2f}:{:.2f}:{:.2f}".
+        #          format(pos[0],pos[1], abscisse, pos_consigne[0], pos_consigne[1] )) 
+
+        if données_propulsion != None : 
+            x, y = données_propulsion[0],données_propulsion[1]    
+            orientation = données_propulsion[2]
+            abscisse = données_propulsion[3]
+            x_consigne, y_consigne = données_propulsion[4],données_propulsion[5]    
+            print("propulsion\t{:.3f}\t{:.2f}\t{:.2f}\t{:.2f}\t{:.2f}\t{:.2f}\t{:.2f}\t".format(time(), x, y, orientation, abscisse, x_consigne, y_consigne))
+        else:
+            # print("propulsion=None")
+            pass
         
-        led_off()
-        sleep(0.5)
-        led_on()
-        sleep(0.5)
\ No newline at end of file
+        #abscisse = lecture_abscisse()
+        # if abscisse != None:
+        #      print(">abscisse:{:.2f}".format(abscisse))
+
+        sleep(0.05)
\ No newline at end of file