diff --git a/sw/logalizer/plot.pl b/sw/logalizer/plot.pl
index 104c918890..9b62949353 100755
--- a/sw/logalizer/plot.pl
+++ b/sw/logalizer/plot.pl
@@ -8,20 +8,24 @@ use Tk::LabEntry;
 use Tk::FileSelect;
 use Tk::DialogBox;
 use XML::Parser;
+use XML::DOM;
 use Expect;
+use Data::Dumper;
+use Getopt::Long;
 
-my $paparazzi_home;
+my $paparazzi_lib;
 BEGIN {
-  $paparazzi_home = "/home/drouin/work/savannah/paparazzi2";
-  $paparazzi_home = $ENV{PAPARAZZI_HOME} if defined $ENV{PAPARAZZI_HOME};
+  $paparazzi_lib = (defined $ENV{PAPARAZZI_SRC}) ?
+    $ENV{PAPARAZZI_SRC}."/sw/lib/perl" : "/usr/lib/paparazzi/";
 }
-use lib ($paparazzi_home.'/sw/lib/perl');
+use lib ($paparazzi_lib);
 
 #use ChildrenSpawner;
 @ISA = qw(Subject);
 use strict;
 use warnings;
 use diagnostics;
+use Paparazzi::Environment;
 
 use Subject;
 
@@ -33,21 +37,29 @@ my $log_filename;
 my $time_range="[]";
 my $tr_entry;
 
+my $pi = 3.14159;
+
 sub populate {
   my ($self, $args) = @_;
-  $self->SUPER::populate($args);
+  my $paparazzi_src = Paparazzi::Environment::paparazzi_src();
+  my $paparazzi_home = Paparazzi::Environment::paparazzi_home();
+  Paparazzi::Environment::check_paparazzi_home();
+#  $args->{-variables} = {paparazzi_home => $paparazzi_home};		#A quoi ça sert ?
+#  $args->{-bin_base_dir} = $paparazzi_src;											#A quoi ça sert ?
+#  $self->SUPER::populate($args);																#A quoi ça sert ?
   $self->configspec(-log => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, undef]);
   $self->configspec(-log_start_date => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, undef]);
   $self->configspec(-protocol => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, undef]);
   $self->configspec(-listbox => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, undef]);
   $self->configspec(-gnuplots => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, undef]);
+  $self->configspec(-variables => [S_SUPER,    S_SUPER,    S_SUPER,  S_SUPER,  S_SUPER, {}]);
   #  print("in Ploter::populate\n");
 }
 
 sub completeinit {
   my $self = shift;
   $self->SUPER::completeinit;
-  $self->configure('-protocol' => undef);
+  $self->configure('-protocol' => undef);	#A retirer je suppose
   $self->build_gui();
   #  print("in Ploter::completeinit\n");
 }
@@ -56,79 +68,101 @@ sub completeinit {
 # XML
 #
 sub parse_messages_xml() {
-  my $filename = $paparazzi_home."/conf/messages.xml";
-  my $p = new XML::Parser (Style => 'Tree') ;
-  my @msg_xml_tree = $p->parsefile ($filename) ;
+  my $self = shift;
+  my $filename = Paparazzi::Environment::paparazzi_src()."/conf/messages.xml";
+  my $parser = XML::DOM::Parser->new();
+  my $doc = $parser->parsefile($filename);
+	$self->{messages} = $doc;
   print STDOUT "successfully parsed $filename\n";
-  return  \@msg_xml_tree;
+  return  $doc;
 }
 
 #
 # Menus
 #
 sub build_menu_msg() {
-  my ($self, $xml_top_node, $menubar) = @_;
-  my $plot_menu = $menubar->cascade(-label => "~Data");
-  while ( defined ( my $element = shift @{ $xml_top_node } )) {
-    my $child = shift @{ $xml_top_node };
-    if ( ref $child )  {
-      my %attr = %{ shift @{ $child } };
-      if ($element eq "protocol") {
-	print "found protocol\n";
-	$self->build_msg_menu($child, $plot_menu);
-      }
-    }
-  }
+  my ($self, $doc, $menubar) = @_;
+  my $data_menu = $menubar->cascade(-label => "~Data");
+	$self->{data_menu} = $data_menu;
 }
 
-sub build_msg_menu() {
-  my ($self, $msg_node, $data_menu) = @_;
-#  sort @{$msg_node};
-  while ( defined ( my $element = shift @{ $msg_node } )) {
-    my $child = shift @{ $msg_node };
-    if ( ref $child )  {
-      my $attr = shift @{ $child };
-      if ($element eq "message") {
-	my $id = $attr->{id};
-#	print "found message $id\n";
-	my $msg_menu = $data_menu->cascade(-label => $id);
-	$self->build_field_commands($child, $id, $msg_menu);
-      }
-    }
-  } 
+sub update_menu_msg() {
+  my ($self, $ac_name, $ac_id) = @_;
+  my $data_menu = $self->{data_menu};
+	my $doc = $self->{messages};
+	my $menubar = $self->{menubar};
+  my $ac_menu = $data_menu->cascade(-label => "$ac_name ($ac_id)");
+	$self->parse_protocol($doc, $ac_menu, $ac_id);
+}
+
+sub parse_protocol() {
+  my ($self, $doc, $ac_menu, $ac_id) = @_;
+  my $protocol = $doc->getElementsByTagName('protocol')->[0];
+	print "found protocol \n";
+	$self->parse_class($protocol, $ac_menu, $ac_id);
+}
+
+sub parse_class() {
+  my ($self, $protocol, $ac_menu, $ac_id) = @_;
+	my $class_name;
+  foreach my $class ($protocol->getElementsByTagName('class')) {
+    $class_name = $class->getAttribute('name');
+		if ($class_name eq "telemetry_ap") {
+			print "found telemetry_ap class \n";
+			$self->parse_msg($class, $ac_menu, $ac_id);
+		}
+	}
+}
+
+sub parse_msg() {
+  my ($self, $class, $ac_menu, $ac_id) = @_;
+	my $msg_name;
+  foreach my $message ($class->getElementsByTagName('message')) {
+    $msg_name = $message->getAttribute('name');
+		#	print "found message $msg_name \n";
+		my $msg_menu = $ac_menu->cascade(-label => $msg_name);
+		$self->build_field_commands($message, $msg_name, $msg_menu, $ac_id);
+	}
 }
 
 sub build_field_commands() {
-  my ($self, $fields_node, $msg_name, $msg_menu) = @_;
+  my ($self, $message, $msg_name, $msg_menu, $ac_id) = @_;
   my $no_field = 0;
-  while ( defined ( my $element = shift @{ $fields_node } )) {
-    my $child = shift @{ $fields_node };
-    if ( ref $child )  {
-      my $attr = shift @{ $child } ;
-      if ($element eq "field") {
-	my $field_name = $attr->{id};
-#	print "found field $field_name\n";
-	my $no_field1 = $no_field;
-	my $file_menu = $msg_menu->command(-label => $field_name,
-					   -command => sub { on_plot($self, $msg_name, $field_name, $no_field1 )});
-	$no_field++;
-      }
-    }
-  }
+  foreach my $field ($message->getElementsByTagName('field')) {
+    my $field_name = $field->getAttribute('name');
+    my $field_unit = $field->getAttribute('unit');
+		#	print "found field $field_name \n";
+		my $no_field1 = $no_field;
+		my $file_menu = $msg_menu->command(-label => $field_name,
+																		   -command => sub {on_plot($self, $msg_name, $field_name, $no_field1, $ac_id, $field_unit)});
+		$no_field++;
+	}
+}
+
+sub build_log_menu() {
+  my ($self, $mainwindow, $menubar) = @_;
+  my $log_menu = $menubar->cascade(-label => "~Log",); 
+	my $new_log_menu = $log_menu->command(-label => "~Open new log",
+			  	     			 -command => sub { on_new_log($self, $mainwindow)});
+#	my $add_log_menu = $log_menu->command(-label => "~Add new log",
+#			  	     			 -command => sub { on_add_log($self, $mainwindow)});
 }
 
 sub build_gui() {
   my ($self) = @_;
-  my $width = 450;
+  my $width = 700;
   my $height = 300;
   my $mw = MainWindow->new;
   $mw->geometry(sprintf("%dx%d", $width, $height));
   $mw->title("Paparazzi (gnu)plotter");
 
   my $mb = $mw->Menu();
-  my $log_menu = $mb->command(-label => "~Log", 
-			      -command => sub { on_load($self, $mw)});
-  $self->build_menu_msg(@{$self->parse_messages_xml()}, $mb);
+	$self->{menubar} = $mb;
+  $self->build_log_menu($mw, $mb);
+#  my $log_menu = $mb->command(-label => "~Log", 
+#			      -command => sub { on_load($self, $mw)});
+  $self->build_menu_msg($self->parse_messages_xml(), $mb);
+#  $self->build_compiled_msg_menu($mb);
   $mw->configure(-menu => $mb);
 
   my $padx = 10;
@@ -143,9 +177,9 @@ sub build_gui() {
   $tr_entry->grid (-column=>1, -row=>3, -ipadx=>$padx);
   $tr_entry->insert(0, $time_range);
 
-  my $button = $mw->Button (-text               => "update",
-			    -command            => sub { update_time_range($self)},
-			   );
+  my $button = $mw->Button (-text => "update",
+														-command=> sub { update_time_range($self)},
+														);
   $button->grid (-column=>2, -row=>3, -ipadx=>$padx);
 
   my $listbox = $mw->Listbox();
@@ -166,29 +200,59 @@ sub add_label() {
 sub on_list_clicked() {
   my ($self, $listbox, $mw) = @_;
   my $key = $listbox->get('active');
-  my $dialog = $mw->DialogBox( -title   => "Plot command",
-			       -buttons => [ "Replot", "Cancel" ],
-			     );
-  $dialog->add("Label", -text => "Plot command")->pack();
   my $gnuplots = $self->get('-gnuplots');
   my $gnuplot = $gnuplots->{$key};
   my $plot_cmd = $gnuplot->{'plot_cmd'};
-  print "plot_cmd $plot_cmd\n";
+  my $dialog;
+  if ($gnuplot->{'normal'}) {
+	  $dialog = $mw->DialogBox( -title   => "Plot command",
+				       -buttons => [ "Replot", "Print", "Remove", "Add points", "Cancel" ],
+				     ); }
+	else {
+	  $dialog = $mw->DialogBox( -title   => "Plot command",
+				       -buttons => [ "Replot", "Remove", "Cancel" ],
+				     ); }
+	
+  $dialog->add("Label", -text => "Plot command")->pack();
+	#	print "plot_cmd $plot_cmd\n";
   my $entry = $dialog->add("Entry", -width => 150)->pack();
   $entry->insert(0,$plot_cmd);
   print "selected key $key\n";
   my $answer = $dialog->Show();
   print "selected $answer\n";
+	my ($new_plot_cmd, $exp);
+	my $timeout = 1;
+  if ($answer eq "Add points") {
+    $key =~ /([^\.]+).([^\.]+).([^\.]+).([^\.]+)/ or return;
+  	my ($msg_name, $ac_id, $field_name, $field_pos) = ($1, $2, $3, $4);
+    my $rpos = $field_pos + 3;
+
+    my $last_plot_cmd = $entry->get();
+    my $plot_points_cmd = "\"/tmp/plot_data.$msg_name.$ac_id\" using 1:$rpos w p not";
+    $new_plot_cmd = $last_plot_cmd.", ".$plot_points_cmd;
+    $entry->configure(-text => $new_plot_cmd);
+    
+    print("add points to $key \n");
+    $gnuplot->{'plot_cmd'} = $new_plot_cmd;
+    $exp = $gnuplot->{'exp'};
+    $exp->send($new_plot_cmd."\n");
+    $exp->expect($timeout);
+  }
   if ($answer eq "Replot") {
-    my $new_plot_cmd = $entry->get();
+    $new_plot_cmd = $entry->get();
     print("new_plot_cmd $new_plot_cmd \n");
     $gnuplot->{'plot_cmd'} = $new_plot_cmd;
-    my $exp = $gnuplot->{'exp'};
-    print "exp $exp\n";
+    $exp = $gnuplot->{'exp'};
+#     print "exp $exp\n";
     $exp->send($new_plot_cmd."\n");
-    my $timeout = 1;
     $exp->expect($timeout);
   }
+  if ($answer eq "Print") {
+    $self->print_plot($key, $entry);
+  }
+  if ($answer eq "Remove") {
+    $self->remove_plot($key);
+  }
 }
 
 sub update_time_range() {
@@ -196,23 +260,26 @@ sub update_time_range() {
   my $gnuplots = $self->get('-gnuplots');
   $time_range = $tr_entry->get();
   foreach my $key (keys %{$gnuplots}) {
-    print "update_range_for_key $key ($gnuplots->{$key})\n";
     my $gnuplot = $gnuplots->{$key};
-    my $plot_cmd = $gnuplot->{'plot_cmd'};
     my $exp = $gnuplot->{'exp'};
-    print "plot_cmd $time_range [$plot_cmd]\n";
-    $plot_cmd =~ s/\[.*\]/$time_range/;
-    print "new_plot_cmd $plot_cmd\n\n";
-    $gnuplot->{'plot_cmd'} = $plot_cmd;
-    $exp->send($plot_cmd."\n");
-    my $timeout = 1;
-    $exp->expect($timeout);
+		if (defined $exp) {
+    	print "update_range_for_key $key ($gnuplots->{$key})\n";
+  	  my $plot_cmd = $gnuplot->{'plot_cmd'};
+	    print "plot_cmd $time_range [$plot_cmd]\n";
+  	  $plot_cmd =~ s/\[.*\]/$time_range/;
+    	print "new_plot_cmd $plot_cmd\n\n";
+	    $gnuplot->{'plot_cmd'} = $plot_cmd;
+	    $exp->send($plot_cmd."\n");
+	    my $timeout = 1;
+	    $exp->expect($timeout);
+		}
   }
 }
 
-sub on_load() {
+sub open_log() {
   my ($self, $mw) = @_;
-  my $fs = $mw->FileSelect(-directory => $paparazzi_home."/var");
+  my $fs = $mw->FileSelect(-directory => Paparazzi::Environment::paparazzi_home()."/var/logs");
+  $fs->geometry("600x350");
   my $file_name = $fs->Show();
   if (defined $file_name) {
     print "file_name: $file_name\n";
@@ -221,15 +288,21 @@ sub on_load() {
 }
 
 sub on_plot() {
-  my ($self, $msg_name, $field_name, $field_pos) = @_;
-  #    print "in on_plot msg_name $msg_name field_name $field_name field_pos $field_pos\n";
+  my ($self, $msg_name, $field_name, $field_pos, $ac_id, $field_unit) = @_;
+  	print "in on_plot msg_name $msg_name, field_name $field_name, field_pos $field_pos, ac_id $ac_id, field_unit $field_unit \n";
 
-  my $key = $msg_name.".".$field_name.".".$field_pos;
-  $self->gen_data_file($msg_name);
-  $self->add_plot($key);
+  my $key = $msg_name.".".$ac_id.".".$field_name.".".$field_pos;
+  $self->gen_data_file($msg_name, $ac_id);
+  $self->add_plot($key, $field_unit);
 }
 
-
+sub on_new_log() {
+  my ($self, $mainwindow) = @_;
+  my $log;
+	push (@{$log}, {date=>"", ac_id=>"", type=>"", args=>""});
+  $self->configure('-log' => $log);
+	$self->open_log($mainwindow);
+}
 
 sub load_log() {
   my ($self, $filename) = @_;
@@ -238,12 +311,15 @@ sub load_log() {
   open(INFILE,  $filename) or die print STDERR "Cant open $filename: $!";
   my $log = $self->get('-log');
   $log_date = undef;
+	my $ac_list;
   my $line;
   while ($line = <INFILE>) {     # assigns each line in turn to $_
-    if ($line =~ /(^\d+\.\d+) (\w+) (.+)/) {
+    if ($line =~ /(^\d+\.\d+) (\d+) (\w+) (.+)/) {
       $log_date = $1 unless defined $log_date;
       my $rel_date = $1 - $log_date;
-      push (@{$log}, { date=>$rel_date, type=>$2, args=>$3});
+      push (@{$log}, {date=>$rel_date, ac_id=>$2, type=>$3, args=>$4});
+			$self->{ac_list}->{name}->{$2} = 1;
+#			push (@{$self->{ac_list}->{$2}}, {date=>$rel_date, type=>$3, args=>$4});
       $nb_lines++;
     }
   }
@@ -253,16 +329,37 @@ sub load_log() {
   $log_duration = "aaa";
 
 
-  print STDERR "read $nb_lines lines\n"
+  print STDERR "read $nb_lines lines\n";
+	$self->parse_conf();
 }
 
-
+sub parse_conf() {
+  my ($self) = @_;
+  my $filename = Paparazzi::Environment::paparazzi_src()."/conf/conf.xml";
+  my $parser = XML::DOM::Parser->new();
+  my $doc = $parser->parsefile($filename);
+	my ($aircraft_name, $aircraft_id);
+	my $aircraft_no = 0;
+  foreach my $aircraft ($doc->getElementsByTagName('aircraft')) {
+    $aircraft_name = $aircraft->getAttribute('name');
+    $aircraft_id = $aircraft->getAttribute('ac_id');
+		#	print "search aircraft $aircraft_name with id $aircraft_ac_id... \n";
+		if (defined $self->{ac_list}->{name}->{$aircraft_id}) {
+			print "found aircraft $aircraft_name \n";
+			$self->{ac_list}->{name}->{$aircraft_id} = $aircraft_name;
+			$aircraft_no++;
+			$self->update_menu_msg($aircraft_name, $aircraft_id);
+		}
+	}
+	print "=> found $aircraft_no aircrafts \n";
+}
 
 sub add_plot() {
-  my ($self, $data_key) = @_;
+  my ($self, $data_key, $field_unit) = @_;
 
-  $data_key =~ /([^\.]+).([^\.]+).([^\.]+)/ or return;
-  my ($msg_name, $field_name, $field_pos) = ($1, $2, $3);
+  $data_key =~ /([^\.]+).([^\.]+).([^\.]+).([^\.]+)/ or return;
+  my ($msg_name, $ac_id, $field_name, $field_pos) = ($1, $2, $3, $4);
+	my $ac_name = $self->{ac_list}->{name}->{$ac_id};
 
   my $gnuplots = $self->get('-gnuplots');
 
@@ -271,52 +368,93 @@ sub add_plot() {
 
   my $rpos = $field_pos + 3;
   my $nb_plots = scalar(keys(%{$gnuplots}));
-  my $h = $nb_plots * 240;
-  my $plot_cmd = "plot $time_range \"/tmp/plot_data.$msg_name\" using 1:$rpos t \"$field_name\" w l";
-  my $pid = $exp->spawn("/usr/bin/gnuplot", ("-geometry","1600x200+0+$h" ));
-  my $gnuplot  = { 'plot_cmd' => $plot_cmd,
-		   'exp' => $exp
-		 };
-  $gnuplots->{$data_key} = $gnuplot;
-  $self->configure('-gnuplots' => $gnuplots);
+  my $h = $nb_plots * 260;
+	my $timeout = 1;
+  
+  #Do not open again already open keys. Just show it.
+  if (defined $gnuplots->{$data_key}) {
+    print ("$data_key is already open \n");
+    $exp = $gnuplots->{$data_key}->{'exp'};
+    $exp->send($gnuplots->{$data_key}->{'plot_cmd'}."\n");
+    $exp->expect($timeout);
+  }
+  #Key is not in current list. Show it.
+  else {
+    my $plot_cmd = "plot $time_range \"/tmp/plot_data.$msg_name.$ac_id\" using 1:$rpos t \"$ac_name : $field_name ($field_unit)\" w l";
+    my $pid = $exp->spawn("/usr/bin/gnuplot", ("-geometry", "1350x200+0+$h", "-title", "$msg_name.$field_name"));
+    $pid->log_stdout(0);
+    my $gnuplot  =	{	'plot_cmd' => $plot_cmd,
+	  	     						'exp' => $exp,
+											'normal' => 1
+		   							};
+    $gnuplots->{$data_key} = $gnuplot;
+    $self->configure('-gnuplots' => $gnuplots);
+  
+    $exp->send($plot_cmd."\n");
+    $exp->expect($timeout);
+  
+    my $listbox = $self->get('-listbox');
+    $listbox->insert('end', "$data_key");
+  }
+}
 
-  $exp->send($plot_cmd."\n");
+sub print_plot() {
+  my ($self, $data_key, $entry) = @_;
+
+  $data_key =~ /([^\.]+).([^\.]+).([^\.]+).([^\.]+)/ or return;
+  my ($msg_name, $ac_id, $field_name, $field_pos) = ($1, $2, $3, $4);
+	my $ac_name = $self->{ac_list}->{name}->{$ac_id};
+
+  my $set_terminal_cmd = "set terminal jpeg giant size 1350,400";
+  my $set_output_cmd = "set output \"$log_filename\_print/$ac_name.$msg_name.$field_name.jpg\"";
+  my $plot_cmd = $entry->get();
+  my $print_cmd = "$set_terminal_cmd; $set_output_cmd; $plot_cmd";
+  
+  mkdir $log_filename."_print/";
+  
+  my $gnuplots = $self->get('-gnuplots');
+  my $exp = new Expect();
+  $exp->raw_pty(1);
+  
+  my $pid = $exp->spawn("/usr/bin/gnuplot", ("-geometry", "1x1+0+0")) or die "Don't find gnuplot";
+  $pid->log_stdout(0);
+  print("Printing $plot_cmd \n");
+  $exp->send($print_cmd."\n");
   my $timeout = 1;
   $exp->expect($timeout);
-
-  my $listbox = $self->get('-listbox');
-  $listbox->insert('end', "$data_key");
-
+  $exp->hard_close();
 }
 
 sub remove_plot() {
- my ($self, $data_key) = @_;
- my $gnuplots = $self->get('-gnuplots');
- my $gnuplot = $gnuplots->{$data_key};
- my $exp = $gnuplot->{'exp'};
- $exp->soft_close();
- $gnuplots->{$data_key} = undef;
- $self->configure('-gnuplots' => $gnuplots);
- my $listbox = $self->get('-listbox');
-#  my $idx = $listbox->index($key);
-#  $listbox->delete($idx);
+  my ($self, $data_key) = @_;
+  my $gnuplots = $self->get('-gnuplots');
+  my $gnuplot = $gnuplots->{$data_key};
+  my $exp = $gnuplot->{'exp'};
+#   $exp->soft_close();
+  $exp->hard_close();
+  $gnuplots->{$data_key} = undef;
+  $self->configure('-gnuplots' => $gnuplots);
+  my $listbox = $self->get('-listbox');
+  print "remove $data_key\n";
+  my $idx = $listbox->index('active');
+  $listbox->delete($idx);
 }
 
 
 sub gen_data_file() {
-  my ($self, $msg_name) = @_;
+  my ($self, $msg_name, $ac_id) = @_;
   my $nb_msgs = 0; 
-  my $tmp_file = "/tmp/plot_data.$msg_name";
+  my $tmp_file = "/tmp/plot_data.$msg_name.$ac_id";
   open(OUTFILE, ">".$tmp_file) or die "Can t open $tmp_file: $!";
   foreach (@{$self->get('-log')}) {
 #    print "$_->{type} eq $msg_name \n";
-    if ($_->{type} eq $msg_name) {
+    if (($_->{type} eq $msg_name && $_->{ac_id} == $ac_id) || $_->{type} eq " ") {
       print OUTFILE "$_->{date} $_->{type} $_->{args}\n";
       $nb_msgs++;
     }
   } 
   close OUTFILE;
-  print STDERR "$nb_msgs $msg_name msgs\n";
+  print STDERR "Number of messages $nb_msgs for $msg_name \n";
 }
 
 sub catchSigTerm() {
@@ -329,12 +467,14 @@ sub catchSigTerm() {
   }
 }
 
+sub tan { sin($_[0]) / cos($_[0])  }
+
 
 
 $SIG{TERM} = \&catchSigTerm ;
 #$SIG{KILL} = \&catchSigTerm ;
 my $ploter = Ploter->new();
-#$ploter->load_log("../../var/log_04_07_01__13_06_33");
+#$ploter->load_log("../../var/log_05_08_04__12_50_09");
 Tk::MainLoop();
 $ploter->catchSigTerm();
 printf STDOUT "ploter over\n";