diff --git a/src/CMakeFiles/prog.dir/compiler_depend.internal b/src/CMakeFiles/prog.dir/compiler_depend.internal
index 1edf401..d37cf0e 100644
--- a/src/CMakeFiles/prog.dir/compiler_depend.internal
+++ b/src/CMakeFiles/prog.dir/compiler_depend.internal
@@ -621,28 +621,9 @@ CMakeFiles/prog.dir/main.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -1283,28 +1264,9 @@ CMakeFiles/prog.dir/topLevelManager.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
diff --git a/src/CMakeFiles/prog.dir/compiler_depend.make b/src/CMakeFiles/prog.dir/compiler_depend.make
index 48485d8..430178f 100644
--- a/src/CMakeFiles/prog.dir/compiler_depend.make
+++ b/src/CMakeFiles/prog.dir/compiler_depend.make
@@ -620,28 +620,9 @@ CMakeFiles/prog.dir/main.cpp.o: main.cpp \
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -1281,28 +1262,9 @@ CMakeFiles/prog.dir/topLevelManager.cpp.o: topLevelManager.cpp \
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -1330,6 +1292,8 @@ pipeline/members/uiMergerNode.hpp:
 
 /usr/include/KHR/khrplatform.h:
 
+/usr/include/GL/glext.h:
+
 /usr/include/GL/glut.h:
 
 model/windows/window.hpp:
@@ -1346,39 +1310,9 @@ model/hardware/ihidapi/_hidapi.hpp:
 
 model/hardware/psvr/_psvr.hpp:
 
-model/patterns/observer/observable.hpp:
-
-/usr/include/asm-generic/bitsperlong.h:
-
-/usr/include/x86_64-linux-gnu/asm/bitsperlong.h:
-
-/usr/include/asm-generic/posix_types.h:
-
-/usr/include/x86_64-linux-gnu/asm/posix_types.h:
+model/hardware/hw/inputKeys.hpp:
 
-/usr/include/linux/stddef.h:
-
-/usr/include/linux/posix_types.h:
-
-/usr/include/x86_64-linux-gnu/asm/termbits.h:
-
-/usr/include/asm-generic/ioctl.h:
-
-/usr/include/linux/ioctl.h:
-
-/usr/include/GL/glext.h:
-
-/usr/include/asm-generic/ioctls.h:
-
-/usr/include/x86_64-linux-gnu/asm/ioctls.h:
-
-/usr/include/c++/11/bits/fstream.tcc:
-
-/usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h:
-
-/usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h:
-
-/usr/include/c++/11/fstream:
+model/patterns/observer/observable.hpp:
 
 model/hardware/hw/inputManager.hpp:
 
@@ -1424,8 +1358,6 @@ model/controllers/ui/menu.hpp:
 
 /usr/local/include/opencv4/opencv2/photo.hpp:
 
-/usr/include/x86_64-linux-gnu/asm/ioctl.h:
-
 /usr/local/include/opencv4/opencv2/objdetect/face.hpp:
 
 /usr/local/include/opencv4/opencv2/ml.hpp:
@@ -1678,8 +1610,6 @@ pipeline/members/videoCaptureNode.hpp:
 
 /usr/include/c++/11/bits/locale_classes.h:
 
-/usr/include/x86_64-linux-gnu/asm/posix_types_64.h:
-
 /usr/local/include/opencv4/opencv2/features2d.hpp:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/atomic_word.h:
@@ -1826,8 +1756,6 @@ pipeline/members/videoCaptureNode.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/types/locale_t.h:
 
-/usr/local/include/CppLinuxSerial/SerialPort.hpp:
-
 /usr/include/x86_64-linux-gnu/bits/libc-header-start.h:
 
 /usr/local/include/opencv4/opencv2/opencv_modules.hpp:
@@ -1930,8 +1858,6 @@ topLevelManager.cpp:
 
 /usr/include/c++/11/locale:
 
-/usr/local/include/CppLinuxSerial/Exception.hpp:
-
 /usr/include/c++/11/bits/unique_ptr.h:
 
 /usr/include/c++/11/ostream:
@@ -2470,8 +2396,6 @@ model/patterns/observer/observer.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vbmiintrin.h:
 
-/usr/include/asm-generic/termbits.h:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vbmivlintrin.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx5124fmapsintrin.h:
diff --git a/src/model/controllers/CMakeFiles/controllers.dir/compiler_depend.internal b/src/model/controllers/CMakeFiles/controllers.dir/compiler_depend.internal
index 2420d7c..66f66e6 100644
--- a/src/model/controllers/CMakeFiles/controllers.dir/compiler_depend.internal
+++ b/src/model/controllers/CMakeFiles/controllers.dir/compiler_depend.internal
@@ -184,53 +184,12 @@ model/controllers/CMakeFiles/controllers.dir/ui/menu.cpp.o
  /usr/include/c++/11/bits/stl_vector.h
  /usr/include/c++/11/bits/stl_bvector.h
  /usr/include/c++/11/bits/vector.tcc
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/c++/11/istream
- /usr/include/c++/11/ios
- /usr/include/c++/11/bits/ios_base.h
- /usr/include/c++/11/bits/locale_classes.h
- /usr/include/c++/11/bits/locale_classes.tcc
+ /usr/include/c++/11/mutex
  /usr/include/c++/11/system_error
  /usr/include/x86_64-linux-gnu/c++/11/bits/error_constants.h
  /usr/include/c++/11/stdexcept
- /usr/include/c++/11/streambuf
- /usr/include/c++/11/bits/streambuf.tcc
- /usr/include/c++/11/bits/basic_ios.h
- /usr/include/c++/11/bits/locale_facets.h
- /usr/include/c++/11/cwctype
- /usr/include/wctype.h
- /usr/include/x86_64-linux-gnu/bits/wctype-wchar.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_base.h
- /usr/include/c++/11/bits/streambuf_iterator.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h
- /usr/include/c++/11/bits/locale_facets.tcc
- /usr/include/c++/11/bits/basic_ios.tcc
- /usr/include/c++/11/ostream
- /usr/include/c++/11/bits/ostream.tcc
- /usr/include/c++/11/bits/istream.tcc
- /usr/include/c++/11/bits/codecvt.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/c++/11/sstream
- /usr/include/c++/11/bits/sstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
- /usr/include/c++/11/iostream
+ /usr/include/c++/11/bits/std_mutex.h
+ /usr/include/c++/11/bits/unique_lock.h
  /home/kanken/code/AHRS_core/src/threadweaver/threadweaver.hpp
  /usr/include/unistd.h
  /usr/include/x86_64-linux-gnu/bits/posix_opt.h
@@ -244,14 +203,37 @@ model/controllers/CMakeFiles/controllers.dir/ui/menu.cpp.o
  /usr/include/c++/11/bits/fs_fwd.h
  /usr/include/c++/11/bits/fs_path.h
  /usr/include/c++/11/locale
+ /usr/include/c++/11/bits/locale_classes.h
+ /usr/include/c++/11/bits/locale_classes.tcc
+ /usr/include/c++/11/bits/locale_facets.h
+ /usr/include/c++/11/cwctype
+ /usr/include/wctype.h
+ /usr/include/x86_64-linux-gnu/bits/wctype-wchar.h
+ /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_base.h
+ /usr/include/c++/11/bits/ios_base.h
+ /usr/include/c++/11/streambuf
+ /usr/include/c++/11/bits/streambuf.tcc
+ /usr/include/c++/11/bits/streambuf_iterator.h
+ /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h
+ /usr/include/c++/11/bits/locale_facets.tcc
  /usr/include/c++/11/bits/locale_facets_nonio.h
  /usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h
  /usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h
  /usr/include/libintl.h
+ /usr/include/c++/11/bits/codecvt.h
  /usr/include/c++/11/bits/locale_facets_nonio.tcc
  /usr/include/c++/11/bits/locale_conv.h
  /usr/include/c++/11/iomanip
  /usr/include/c++/11/bits/quoted_string.h
+ /usr/include/c++/11/sstream
+ /usr/include/c++/11/istream
+ /usr/include/c++/11/ios
+ /usr/include/c++/11/bits/basic_ios.h
+ /usr/include/c++/11/bits/basic_ios.tcc
+ /usr/include/c++/11/ostream
+ /usr/include/c++/11/bits/ostream.tcc
+ /usr/include/c++/11/bits/istream.tcc
+ /usr/include/c++/11/bits/sstream.tcc
  /usr/include/c++/11/codecvt
  /usr/include/c++/11/ext/concurrence.h
  /usr/include/c++/11/bits/shared_ptr.h
@@ -261,11 +243,13 @@ model/controllers/CMakeFiles/controllers.dir/ui/menu.cpp.o
  /usr/include/c++/11/bits/fs_dir.h
  /usr/include/c++/11/bits/fs_ops.h
  /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
+ /usr/include/c++/11/iostream
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /usr/include/c++/11/list
  /usr/include/c++/11/bits/stl_list.h
  /usr/include/c++/11/bits/list.tcc
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -887,28 +871,9 @@ model/controllers/CMakeFiles/controllers.dir/ui/uiController.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
diff --git a/src/model/controllers/CMakeFiles/controllers.dir/compiler_depend.make b/src/model/controllers/CMakeFiles/controllers.dir/compiler_depend.make
index 0fbe4fe..3417e7b 100644
--- a/src/model/controllers/CMakeFiles/controllers.dir/compiler_depend.make
+++ b/src/model/controllers/CMakeFiles/controllers.dir/compiler_depend.make
@@ -183,53 +183,12 @@ model/controllers/CMakeFiles/controllers.dir/ui/menu.cpp.o: model/controllers/ui
   /usr/include/c++/11/bits/stl_vector.h \
   /usr/include/c++/11/bits/stl_bvector.h \
   /usr/include/c++/11/bits/vector.tcc \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/c++/11/istream \
-  /usr/include/c++/11/ios \
-  /usr/include/c++/11/bits/ios_base.h \
-  /usr/include/c++/11/bits/locale_classes.h \
-  /usr/include/c++/11/bits/locale_classes.tcc \
+  /usr/include/c++/11/mutex \
   /usr/include/c++/11/system_error \
   /usr/include/x86_64-linux-gnu/c++/11/bits/error_constants.h \
   /usr/include/c++/11/stdexcept \
-  /usr/include/c++/11/streambuf \
-  /usr/include/c++/11/bits/streambuf.tcc \
-  /usr/include/c++/11/bits/basic_ios.h \
-  /usr/include/c++/11/bits/locale_facets.h \
-  /usr/include/c++/11/cwctype \
-  /usr/include/wctype.h \
-  /usr/include/x86_64-linux-gnu/bits/wctype-wchar.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_base.h \
-  /usr/include/c++/11/bits/streambuf_iterator.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h \
-  /usr/include/c++/11/bits/locale_facets.tcc \
-  /usr/include/c++/11/bits/basic_ios.tcc \
-  /usr/include/c++/11/ostream \
-  /usr/include/c++/11/bits/ostream.tcc \
-  /usr/include/c++/11/bits/istream.tcc \
-  /usr/include/c++/11/bits/codecvt.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/c++/11/sstream \
-  /usr/include/c++/11/bits/sstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
-  /usr/include/c++/11/iostream \
+  /usr/include/c++/11/bits/std_mutex.h \
+  /usr/include/c++/11/bits/unique_lock.h \
   threadweaver/threadweaver.hpp \
   /usr/include/unistd.h \
   /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
@@ -243,14 +202,37 @@ model/controllers/CMakeFiles/controllers.dir/ui/menu.cpp.o: model/controllers/ui
   /usr/include/c++/11/bits/fs_fwd.h \
   /usr/include/c++/11/bits/fs_path.h \
   /usr/include/c++/11/locale \
+  /usr/include/c++/11/bits/locale_classes.h \
+  /usr/include/c++/11/bits/locale_classes.tcc \
+  /usr/include/c++/11/bits/locale_facets.h \
+  /usr/include/c++/11/cwctype \
+  /usr/include/wctype.h \
+  /usr/include/x86_64-linux-gnu/bits/wctype-wchar.h \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_base.h \
+  /usr/include/c++/11/bits/ios_base.h \
+  /usr/include/c++/11/streambuf \
+  /usr/include/c++/11/bits/streambuf.tcc \
+  /usr/include/c++/11/bits/streambuf_iterator.h \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h \
+  /usr/include/c++/11/bits/locale_facets.tcc \
   /usr/include/c++/11/bits/locale_facets_nonio.h \
   /usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h \
   /usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h \
   /usr/include/libintl.h \
+  /usr/include/c++/11/bits/codecvt.h \
   /usr/include/c++/11/bits/locale_facets_nonio.tcc \
   /usr/include/c++/11/bits/locale_conv.h \
   /usr/include/c++/11/iomanip \
   /usr/include/c++/11/bits/quoted_string.h \
+  /usr/include/c++/11/sstream \
+  /usr/include/c++/11/istream \
+  /usr/include/c++/11/ios \
+  /usr/include/c++/11/bits/basic_ios.h \
+  /usr/include/c++/11/bits/basic_ios.tcc \
+  /usr/include/c++/11/ostream \
+  /usr/include/c++/11/bits/ostream.tcc \
+  /usr/include/c++/11/bits/istream.tcc \
+  /usr/include/c++/11/bits/sstream.tcc \
   /usr/include/c++/11/codecvt \
   /usr/include/c++/11/ext/concurrence.h \
   /usr/include/c++/11/bits/shared_ptr.h \
@@ -260,11 +242,13 @@ model/controllers/CMakeFiles/controllers.dir/ui/menu.cpp.o: model/controllers/ui
   /usr/include/c++/11/bits/fs_dir.h \
   /usr/include/c++/11/bits/fs_ops.h \
   threadweaver/debugging.hpp \
+  /usr/include/c++/11/iostream \
   model/patterns/observer/observable.hpp \
   /usr/include/c++/11/list \
   /usr/include/c++/11/bits/stl_list.h \
   /usr/include/c++/11/bits/list.tcc \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -885,28 +869,9 @@ model/controllers/CMakeFiles/controllers.dir/ui/uiController.cpp.o: model/contro
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -951,6 +916,8 @@ model/controllers/CMakeFiles/controllers.dir/ui/uiController.cpp.o: model/contro
 
 /usr/local/include/opencv4/opencv2/photo.hpp:
 
+/usr/local/include/opencv4/opencv2/objdetect/face.hpp:
+
 /usr/local/include/opencv4/opencv2/objdetect.hpp:
 
 /usr/local/include/opencv4/opencv2/ml.hpp:
@@ -985,162 +952,140 @@ model/controllers/CMakeFiles/controllers.dir/ui/uiController.cpp.o: model/contro
 
 /usr/include/c++/11/bits/stl_set.h:
 
-/usr/local/include/opencv4/opencv2/flann/result_set.h:
-
-/usr/local/include/opencv4/opencv2/flann/nn_index.h:
-
-/usr/local/include/opencv4/opencv2/flann/saving.h:
-
-/usr/local/include/opencv4/opencv2/flann/any.h:
-
-/usr/local/include/opencv4/opencv2/flann/params.h:
-
-/usr/local/include/opencv4/opencv2/flann/matrix.h:
-
-/usr/local/include/opencv4/opencv2/flann.hpp:
+model/controllers/ui/uiController.hpp:
 
-/usr/local/include/opencv4/opencv2/dnn/utils/inference_engine.hpp:
+/usr/local/include/opencv4/opencv2/stitching/detail/warpers.hpp:
 
-/usr/local/include/opencv4/opencv2/dnn/dnn.inl.hpp:
+/usr/include/c++/11/cstdlib:
 
-/usr/local/include/opencv4/opencv2/dnn/layer.hpp:
+model/controllers/ui/uiController.cpp:
 
-/usr/local/include/opencv4/opencv2/dnn/dict.hpp:
+/usr/include/c++/11/backward/binders.h:
 
-/usr/local/include/opencv4/opencv2/dnn/version.hpp:
+model/patterns/commands/commands.hpp:
 
-/usr/local/include/opencv4/opencv2/core/async.hpp:
+/usr/include/c++/11/bits/regex_automaton.h:
 
-/usr/local/include/opencv4/opencv2/dnn/dnn.hpp:
+model/hardware/hw/inputKeys.hpp:
 
-/usr/local/include/opencv4/opencv2/dnn.hpp:
+/usr/include/c++/11/bits/atomic_lockfree_defines.h:
 
-/usr/local/include/opencv4/opencv2/flann/config.h:
+/usr/include/c++/11/bits/stl_list.h:
 
-/usr/include/c++/11/bits/quoted_string.h:
+model/patterns/observer/observable.hpp:
 
-/usr/include/c++/11/bits/locale_conv.h:
+/usr/include/c++/11/type_traits:
 
-/usr/local/include/opencv4/opencv2/core/cuda.inl.hpp:
+/usr/lib/gcc/x86_64-linux-gnu/11/include/mwaitxintrin.h:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/immintrin.h:
+/usr/include/c++/11/pstl/glue_memory_impl.h:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h:
+/usr/local/include/opencv4/opencv2/core/cuda_types.hpp:
 
-/usr/include/c++/11/bits/fs_fwd.h:
+/usr/include/c++/11/bits/istream.tcc:
 
-/usr/include/c++/11/bits/stl_bvector.h:
+/usr/include/c++/11/bits/regex_scanner.h:
 
-/usr/include/x86_64-linux-gnu/bits/types/clockid_t.h:
+/usr/include/oneapi/tbb/detail/_assert.h:
 
-/usr/include/x86_64-linux-gnu/bits/types/struct___jmp_buf_tag.h:
+/usr/include/c++/11/bits/basic_ios.tcc:
 
-/usr/local/include/opencv4/opencv2/stitching/detail/seam_finders.hpp:
+/usr/include/c++/11/bits/codecvt.h:
 
-/usr/include/c++/11/filesystem:
+/usr/include/c++/11/bits/enable_special_members.h:
 
-/usr/include/c++/11/bits/locale_facets_nonio.h:
+/usr/include/c++/11/bits/uniform_int_dist.h:
 
-/usr/include/x86_64-linux-gnu/bits/unistd_ext.h:
+/usr/include/c++/11/istream:
 
-/usr/include/time.h:
+/usr/include/c++/11/sstream:
 
-/usr/local/include/opencv4/opencv2/core/ocl.hpp:
+/usr/include/c++/11/bits/quoted_string.h:
 
-/usr/include/x86_64-linux-gnu/bits/environments.h:
+/usr/include/c++/11/bits/locale_conv.h:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/os_defines.h:
+/usr/include/c++/11/bits/basic_ios.h:
 
-/usr/include/x86_64-linux-gnu/bits/posix_opt.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h:
 
-threadweaver/threadweaver.hpp:
+/usr/local/include/opencv4/opencv2/core/cuda.inl.hpp:
 
-/usr/include/c++/11/debug/debug.h:
+/usr/lib/gcc/x86_64-linux-gnu/11/include/immintrin.h:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/syslimits.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h:
 
-/usr/include/asm-generic/bitsperlong.h:
+/usr/include/c++/11/bits/locale_facets.tcc:
 
-/usr/include/x86_64-linux-gnu/asm/posix_types.h:
+/usr/local/include/opencv4/opencv2/flann/allocator.h:
 
-/usr/include/linux/posix_types.h:
+/usr/include/x86_64-linux-gnu/bits/types/struct_tm.h:
 
-/usr/include/c++/11/bits/unordered_map.h:
+/usr/include/c++/11/bits/this_thread_sleep.h:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/tmmintrin.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h:
 
-/usr/include/x86_64-linux-gnu/asm/termbits.h:
+/usr/include/c++/11/pstl/memory_impl.h:
 
-/usr/include/oneapi/tbb/tbb_allocator.h:
+/usr/local/include/opencv4/opencv2/flann/kdtree_index.h:
 
-/usr/include/linux/ioctl.h:
+/usr/include/c++/11/bits/ios_base.h:
 
-/usr/include/c++/11/bits/stl_tempbuf.h:
+/usr/include/c++/11/cwctype:
 
-/usr/include/asm-generic/ioctls.h:
+/usr/include/c++/11/bits/exception.h:
 
-/usr/include/c++/11/sstream:
+model/hardware/cameras/_cam.hpp:
 
-/usr/include/c++/11/bits/fstream.tcc:
+/usr/include/c++/11/bits/locale_classes.h:
 
-/usr/include/asm-generic/posix_types.h:
+/usr/local/include/opencv4/opencv2/features2d.hpp:
 
-/usr/include/c++/11/pstl/glue_algorithm_impl.h:
+/usr/include/c++/11/bits/fs_fwd.h:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h:
+/usr/include/c++/11/bits/stl_bvector.h:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h:
+/usr/include/x86_64-linux-gnu/bits/types/clockid_t.h:
 
-/usr/local/include/opencv4/opencv2/core/cuda_types.hpp:
+/usr/include/x86_64-linux-gnu/bits/types/struct___jmp_buf_tag.h:
 
-/usr/include/c++/11/bits/istream.tcc:
+/usr/local/include/opencv4/opencv2/stitching/detail/seam_finders.hpp:
 
-/usr/include/c++/11/bits/regex_scanner.h:
+/usr/include/c++/11/filesystem:
 
-/usr/include/oneapi/tbb/detail/_assert.h:
+/usr/include/c++/11/bits/locale_facets_nonio.h:
 
-/usr/include/c++/11/bits/basic_ios.tcc:
+/usr/include/x86_64-linux-gnu/bits/unistd_ext.h:
 
-/usr/include/c++/11/bits/codecvt.h:
+/usr/include/time.h:
 
-/usr/include/c++/11/bits/enable_special_members.h:
+/usr/local/include/opencv4/opencv2/core/ocl.hpp:
 
-/usr/include/c++/11/bits/locale_facets.tcc:
+/usr/include/x86_64-linux-gnu/bits/environments.h:
 
-/usr/local/include/opencv4/opencv2/flann/allocator.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/os_defines.h:
 
-/usr/include/x86_64-linux-gnu/bits/types/struct_tm.h:
+/usr/include/x86_64-linux-gnu/bits/posix_opt.h:
 
-/usr/include/c++/11/bits/this_thread_sleep.h:
+threadweaver/threadweaver.hpp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h:
+/usr/include/c++/11/debug/debug.h:
 
-/usr/include/c++/11/cwctype:
+/usr/lib/gcc/x86_64-linux-gnu/11/include/syslimits.h:
 
-/usr/include/c++/11/bits/exception.h:
+model/hardware/ihidapi/_hidapi.hpp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h:
+/usr/include/c++/11/ratio:
 
-/usr/include/c++/11/bits/basic_ios.h:
+/usr/include/c++/11/thread:
 
-/usr/include/c++/11/bits/uniform_int_dist.h:
+/usr/include/c++/11/bits/unique_lock.h:
 
-/usr/include/c++/11/pstl/memory_impl.h:
+/usr/include/c++/11/bits/uses_allocator.h:
 
 /usr/include/c++/11/stdexcept:
 
 /usr/include/c++/11/pstl/glue_algorithm_defs.h:
 
-model/hardware/cameras/_cam.hpp:
-
-/usr/include/c++/11/bits/locale_classes.h:
-
-/usr/local/include/opencv4/opencv2/flann/kdtree_index.h:
-
-/usr/include/c++/11/bits/ios_base.h:
-
-/usr/include/c++/11/istream:
-
 /usr/include/c++/11/bits/vector.tcc:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/cetintrin.h:
@@ -1163,21 +1108,11 @@ model/hardware/cameras/_cam.hpp:
 
 /usr/include/c++/11/limits:
 
-/usr/include/c++/11/ratio:
-
-/usr/include/c++/11/thread:
-
-model/hardware/ihidapi/_hidapi.hpp:
-
 /usr/include/c++/11/ostream:
 
-/usr/include/c++/11/bits/refwrap.h:
-
-/usr/include/linux/stddef.h:
-
-/usr/include/c++/11/bits/uses_allocator.h:
+/usr/include/c++/11/bits/unique_ptr.h:
 
-/usr/include/c++/11/bits/unique_lock.h:
+/usr/include/c++/11/bits/refwrap.h:
 
 /usr/include/c++/11/array:
 
@@ -1207,10 +1142,6 @@ model/hardware/ihidapi/_hidapi.hpp:
 
 model/hardware/hw/inputManager.hpp:
 
-/usr/include/c++/11/bits/unique_ptr.h:
-
-/usr/local/include/CppLinuxSerial/Exception.hpp:
-
 /usr/include/asm-generic/errno.h:
 
 /usr/include/x86_64-linux-gnu/bits/types/struct_sched_param.h:
@@ -1247,10 +1178,6 @@ model/hardware/hw/inputManager.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512ifmavlintrin.h:
 
-/usr/local/include/opencv4/opencv2/flann/flann_base.hpp:
-
-/usr/include/c++/11/bits/fs_path.h:
-
 /usr/include/c++/11/bits/shared_ptr.h:
 
 /usr/include/x86_64-linux-gnu/bits/byteswap.h:
@@ -1291,6 +1218,8 @@ model/hardware/hw/inputManager.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/floatn-common.h:
 
+/usr/include/x86_64-linux-gnu/bits/libc-header-start.h:
+
 /usr/include/c++/11/bits/cxxabi_init_exception.h:
 
 /usr/include/x86_64-linux-gnu/bits/stdlib-float.h:
@@ -1353,6 +1282,8 @@ model/hardware/hw/inputManager.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/types/__sigset_t.h:
 
+model/hardware/psvr/_psvr.hpp:
+
 /usr/include/x86_64-linux-gnu/asm/errno.h:
 
 /usr/include/x86_64-linux-gnu/bits/types/struct_timeval.h:
@@ -1363,6 +1294,10 @@ model/hardware/hw/inputManager.hpp:
 
 /usr/include/c++/11/pstl/parallel_impl.h:
 
+/usr/include/c++/11/bits/std_mutex.h:
+
+/usr/include/c++/11/tr1/poly_laguerre.tcc:
+
 /usr/include/x86_64-linux-gnu/bits/types/sigset_t.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/stdarg.h:
@@ -1383,6 +1318,12 @@ model/hardware/hw/inputManager.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/timex.h:
 
+/usr/include/c++/11/bits/uses_allocator_args.h:
+
+/usr/include/x86_64-linux-gnu/bits/iscanonical.h:
+
+/usr/include/c++/11/ext/string_conversions.h:
+
 /usr/include/c++/11/bits/regex_automaton.tcc:
 
 /usr/include/c++/11/functional:
@@ -1407,6 +1348,14 @@ model/controllers/ui/menuItem.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/wchar.h:
 
+/usr/include/x86_64-linux-gnu/bits/timesize.h:
+
+threadweaver/debugging.hpp:
+
+/usr/include/x86_64-linux-gnu/bits/stdio_lim.h:
+
+/usr/lib/gcc/x86_64-linux-gnu/11/include/amxbf16intrin.h:
+
 /usr/include/x86_64-linux-gnu/bits/confname.h:
 
 /usr/include/c++/11/bits/ostream_insert.h:
@@ -1433,31 +1382,17 @@ model/controllers/ui/menuItem.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/types/FILE.h:
 
+/usr/local/include/opencv4/opencv2/dnn/version.hpp:
+
 /usr/include/c++/11/bits/memoryfwd.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/prfchwintrin.h:
 
 /usr/include/oneapi/tbb/detail/_utils.h:
 
-/usr/include/x86_64-linux-gnu/asm/ioctls.h:
-
-/usr/include/c++/11/tr1/exp_integral.tcc:
-
 /usr/include/features.h:
 
-/usr/local/include/opencv4/opencv2/objdetect/face.hpp:
-
-/usr/include/x86_64-linux-gnu/asm/ioctl.h:
-
-/usr/include/x86_64-linux-gnu/bits/getopt_core.h:
-
-/usr/include/c++/11/bits/functexcept.h:
-
-/usr/local/include/opencv4/opencv2/features2d.hpp:
-
-/usr/include/x86_64-linux-gnu/asm/posix_types_64.h:
-
-/usr/include/x86_64-linux-gnu/bits/cpu-set.h:
+/usr/include/c++/11/bits/atomic_base.h:
 
 /usr/include/asm-generic/errno-base.h:
 
@@ -1473,12 +1408,6 @@ model/controllers/ui/menuItem.hpp:
 
 /usr/include/c++/11/pstl/execution_impl.h:
 
-/usr/include/c++/11/type_traits:
-
-model/patterns/observer/observable.hpp:
-
-/usr/lib/gcc/x86_64-linux-gnu/11/include/mwaitxintrin.h:
-
 /usr/include/c++/11/ext/type_traits.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vnnivlintrin.h:
@@ -1501,6 +1430,8 @@ model/patterns/observer/observable.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/stdint.h:
 
+/usr/local/include/opencv4/opencv2/flann/saving.h:
+
 /usr/lib/gcc/x86_64-linux-gnu/11/include/amxint8intrin.h:
 
 /usr/include/c++/11/bits/stl_algobase.h:
@@ -1519,9 +1450,13 @@ model/patterns/observer/observable.hpp:
 
 /usr/include/c++/11/streambuf:
 
-/usr/include/x86_64-linux-gnu/bits/libc-header-start.h:
+/usr/include/x86_64-linux-gnu/bits/getopt_core.h:
+
+/usr/include/c++/11/bits/functexcept.h:
 
-/usr/local/include/CppLinuxSerial/SerialPort.hpp:
+/usr/include/c++/11/bits/list.tcc:
+
+/usr/include/x86_64-linux-gnu/c++/11/bits/gthr.h:
 
 /usr/local/include/opencv4/opencv2/flann/dist.h:
 
@@ -1539,6 +1474,8 @@ model/patterns/observer/observable.hpp:
 
 /usr/include/c++/11/tuple:
 
+/usr/lib/gcc/x86_64-linux-gnu/11/include/adxintrin.h:
+
 /usr/include/x86_64-linux-gnu/c++/11/bits/atomic_word.h:
 
 /usr/include/x86_64-linux-gnu/bits/types.h:
@@ -1571,12 +1508,6 @@ model/patterns/observer/observable.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/waitflags.h:
 
-/usr/include/x86_64-linux-gnu/asm/bitsperlong.h:
-
-/usr/include/c++/11/backward/binders.h:
-
-model/controllers/ui/uiController.cpp:
-
 /usr/include/x86_64-linux-gnu/bits/setjmp.h:
 
 /usr/include/x86_64-linux-gnu/bits/pthreadtypes-arch.h:
@@ -1629,17 +1560,17 @@ model/controllers/ui/uiController.cpp:
 
 /usr/include/pthread.h:
 
+/usr/local/include/hidapi/hidapi.h:
+
+/usr/include/x86_64-linux-gnu/bits/cpu-set.h:
+
 /usr/include/c++/11/bits/locale_facets_nonio.tcc:
 
 /usr/include/c++/11/bits/stl_pair.h:
 
 /usr/include/c++/11/ext/atomicity.h:
 
-/usr/local/include/opencv4/opencv2/core/affine.hpp:
-
-/usr/include/c++/11/bits/std_function.h:
-
-/usr/include/x86_64-linux-gnu/bits/types/timer_t.h:
+/usr/include/c++/11/mutex:
 
 /usr/include/x86_64-linux-gnu/bits/pthreadtypes.h:
 
@@ -1657,24 +1588,14 @@ model/controllers/ui/uiController.cpp:
 
 /usr/include/c++/11/bits/stl_iterator_base_types.h:
 
-/usr/local/include/opencv4/opencv2/stitching/detail/warpers.hpp:
-
-/usr/include/c++/11/cstdlib:
-
-model/controllers/ui/uiController.hpp:
-
 /usr/include/strings.h:
 
 /usr/include/x86_64-linux-gnu/bits/struct_rwlock.h:
 
 /usr/include/x86_64-linux-gnu/bits/types/__fpos64_t.h:
 
-/usr/include/c++/11/fstream:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/fxsrintrin.h:
 
-/usr/include/asm-generic/ioctl.h:
-
 /usr/include/c++/11/bits/functional_hash.h:
 
 /usr/local/include/opencv4/opencv2/imgproc.hpp:
@@ -1693,52 +1614,16 @@ model/controllers/ui/uiController.hpp:
 
 /usr/local/include/opencv4/opencv2/core/saturate.hpp:
 
-/usr/include/oneapi/tbb/partitioner.h:
-
-/usr/include/c++/11/bits/fs_ops.h:
-
-/usr/include/c++/11/pstl/glue_memory_impl.h:
-
-/usr/include/x86_64-linux-gnu/bits/timesize.h:
-
-threadweaver/debugging.hpp:
-
-/usr/include/x86_64-linux-gnu/bits/stdio_lim.h:
-
-/usr/lib/gcc/x86_64-linux-gnu/11/include/amxbf16intrin.h:
-
-/usr/include/c++/11/bits/uses_allocator_args.h:
-
-/usr/include/c++/11/bits/stl_list.h:
-
-/usr/include/c++/11/ext/string_conversions.h:
-
-/usr/include/x86_64-linux-gnu/bits/iscanonical.h:
-
-/usr/include/x86_64-linux-gnu/c++/11/bits/gthr.h:
-
-/usr/include/c++/11/bits/list.tcc:
-
-model/hardware/psvr/_psvr.hpp:
-
-/usr/local/include/hidapi/hidapi.h:
-
-model/patterns/commands/commands.hpp:
-
-/usr/include/c++/11/bits/regex_automaton.h:
-
-/usr/lib/gcc/x86_64-linux-gnu/11/include/adxintrin.h:
-
-/usr/include/c++/11/bits/atomic_base.h:
-
-/usr/include/c++/11/bits/atomic_lockfree_defines.h:
-
 /usr/include/c++/11/memory:
 
+/usr/include/c++/11/bits/stl_tempbuf.h:
+
 /usr/include/c++/11/bits/stl_raw_storage_iter.h:
 
 /usr/include/c++/11/bits/align.h:
 
+/usr/local/include/opencv4/opencv2/flann/any.h:
+
 /usr/include/c++/11/bit:
 
 /usr/include/c++/11/bits/shared_ptr_atomic.h:
@@ -1767,10 +1652,16 @@ model/patterns/commands/commands.hpp:
 
 /usr/include/c++/11/unordered_map:
 
+/usr/local/include/opencv4/opencv2/dnn.hpp:
+
 /usr/include/c++/11/bits/hashtable.h:
 
 /usr/include/c++/11/bits/hashtable_policy.h:
 
+/usr/include/c++/11/bits/unordered_map.h:
+
+/usr/lib/gcc/x86_64-linux-gnu/11/include/tmmintrin.h:
+
 /usr/include/c++/11/bitset:
 
 /usr/include/c++/11/stack:
@@ -1789,6 +1680,8 @@ model/patterns/commands/commands.hpp:
 
 /usr/include/c++/11/bits/stl_tree.h:
 
+/usr/include/oneapi/tbb/tbb_allocator.h:
+
 /usr/include/c++/11/bits/stl_multimap.h:
 
 /usr/include/c++/11/bits/regex_constants.h:
@@ -1895,10 +1788,6 @@ model/patterns/observer/observer.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/tsxldtrkintrin.h:
 
-/usr/local/include/opencv4/opencv2/flann/general.h:
-
-/usr/local/include/opencv4/opencv2/calib3d.hpp:
-
 /usr/include/x86_64-linux-gnu/sys/single_threaded.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/waitpkgintrin.h:
@@ -1921,6 +1810,12 @@ model/patterns/observer/observer.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/emmintrin.h:
 
+/usr/include/x86_64-linux-gnu/bits/types/timer_t.h:
+
+/usr/include/c++/11/bits/std_function.h:
+
+/usr/local/include/opencv4/opencv2/core/affine.hpp:
+
 /usr/include/c++/11/list:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/mmintrin.h:
@@ -1971,8 +1866,6 @@ model/patterns/observer/observer.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vbmiintrin.h:
 
-/usr/include/asm-generic/termbits.h:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vbmivlintrin.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx5124fmapsintrin.h:
@@ -2055,15 +1948,15 @@ model/controllers/ui/menu.cpp:
 
 /usr/include/oneapi/tbb/version.h:
 
+/usr/local/include/opencv4/opencv2/flann/nn_index.h:
+
 /usr/include/oneapi/tbb/detail/_small_object_pool.h:
 
 /usr/include/oneapi/tbb/profiling.h:
 
-/usr/include/c++/11/mutex:
-
-/usr/include/c++/11/bits/std_mutex.h:
+/usr/include/c++/11/bits/fs_ops.h:
 
-/usr/include/c++/11/tr1/poly_laguerre.tcc:
+/usr/include/oneapi/tbb/partitioner.h:
 
 /usr/include/oneapi/tbb/detail/_aligned_space.h:
 
@@ -2089,6 +1982,8 @@ model/controllers/ui/menu.cpp:
 
 /usr/include/c++/11/numeric:
 
+/usr/include/c++/11/pstl/glue_algorithm_impl.h:
+
 /usr/include/c++/11/ext/numeric_traits.h:
 
 /usr/include/c++/11/pstl/glue_numeric_impl.h:
@@ -2127,6 +2022,8 @@ model/controllers/ui/menu.cpp:
 
 /usr/include/c++/11/tr1/ell_integral.tcc:
 
+/usr/include/c++/11/tr1/exp_integral.tcc:
+
 /usr/include/c++/11/tr1/hypergeometric.tcc:
 
 /usr/local/include/opencv4/opencv2/core/persistence.hpp:
@@ -2158,3 +2055,33 @@ model/controllers/ui/menu.cpp:
 /usr/local/include/opencv4/opencv2/core/cvstd.inl.hpp:
 
 /usr/local/include/opencv4/opencv2/core/optim.hpp:
+
+/usr/local/include/opencv4/opencv2/flann/config.h:
+
+/usr/local/include/opencv4/opencv2/dnn/dnn.hpp:
+
+/usr/local/include/opencv4/opencv2/core/async.hpp:
+
+/usr/local/include/opencv4/opencv2/dnn/dict.hpp:
+
+/usr/local/include/opencv4/opencv2/dnn/layer.hpp:
+
+/usr/local/include/opencv4/opencv2/dnn/dnn.inl.hpp:
+
+/usr/local/include/opencv4/opencv2/flann/result_set.h:
+
+/usr/local/include/opencv4/opencv2/dnn/utils/inference_engine.hpp:
+
+/usr/local/include/opencv4/opencv2/flann.hpp:
+
+/usr/include/c++/11/bits/fs_path.h:
+
+/usr/local/include/opencv4/opencv2/flann/flann_base.hpp:
+
+/usr/local/include/opencv4/opencv2/calib3d.hpp:
+
+/usr/local/include/opencv4/opencv2/flann/general.h:
+
+/usr/local/include/opencv4/opencv2/flann/matrix.h:
+
+/usr/local/include/opencv4/opencv2/flann/params.h:
diff --git a/src/model/hardware/hw/CMakeFiles/hw.dir/compiler_depend.internal b/src/model/hardware/hw/CMakeFiles/hw.dir/compiler_depend.internal
index 0a2cba5..a5dcfbe 100644
--- a/src/model/hardware/hw/CMakeFiles/hw.dir/compiler_depend.internal
+++ b/src/model/hardware/hw/CMakeFiles/hw.dir/compiler_depend.internal
@@ -147,7 +147,10 @@ model/hardware/hw/CMakeFiles/hw.dir/inputManager.cpp.o
  /usr/include/c++/11/bits/stl_vector.h
  /usr/include/c++/11/bits/stl_bvector.h
  /usr/include/c++/11/bits/vector.tcc
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
+ /usr/include/c++/11/mutex
+ /usr/include/c++/11/system_error
+ /usr/include/x86_64-linux-gnu/c++/11/bits/error_constants.h
+ /usr/include/c++/11/stdexcept
  /usr/include/c++/11/string
  /usr/include/c++/11/bits/char_traits.h
  /usr/include/c++/11/bits/localefwd.h
@@ -183,52 +186,8 @@ model/hardware/hw/CMakeFiles/hw.dir/inputManager.cpp.o
  /usr/include/c++/11/cstdio
  /usr/include/c++/11/bits/charconv.h
  /usr/include/c++/11/bits/basic_string.tcc
- /usr/include/c++/11/fstream
- /usr/include/c++/11/istream
- /usr/include/c++/11/ios
- /usr/include/c++/11/bits/ios_base.h
- /usr/include/c++/11/bits/locale_classes.h
- /usr/include/c++/11/bits/locale_classes.tcc
- /usr/include/c++/11/system_error
- /usr/include/x86_64-linux-gnu/c++/11/bits/error_constants.h
- /usr/include/c++/11/stdexcept
- /usr/include/c++/11/streambuf
- /usr/include/c++/11/bits/streambuf.tcc
- /usr/include/c++/11/bits/basic_ios.h
- /usr/include/c++/11/bits/locale_facets.h
- /usr/include/c++/11/cwctype
- /usr/include/wctype.h
- /usr/include/x86_64-linux-gnu/bits/wctype-wchar.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_base.h
- /usr/include/c++/11/bits/streambuf_iterator.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h
- /usr/include/c++/11/bits/locale_facets.tcc
- /usr/include/c++/11/bits/basic_ios.tcc
- /usr/include/c++/11/ostream
- /usr/include/c++/11/bits/ostream.tcc
- /usr/include/c++/11/bits/istream.tcc
- /usr/include/c++/11/bits/codecvt.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/c++/11/sstream
- /usr/include/c++/11/bits/sstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
- /usr/include/c++/11/iostream
+ /usr/include/c++/11/bits/std_mutex.h
+ /usr/include/c++/11/bits/unique_lock.h
  /home/kanken/code/AHRS_core/src/threadweaver/threadweaver.hpp
  /usr/include/unistd.h
  /usr/include/x86_64-linux-gnu/bits/posix_opt.h
@@ -242,14 +201,37 @@ model/hardware/hw/CMakeFiles/hw.dir/inputManager.cpp.o
  /usr/include/c++/11/bits/fs_fwd.h
  /usr/include/c++/11/bits/fs_path.h
  /usr/include/c++/11/locale
+ /usr/include/c++/11/bits/locale_classes.h
+ /usr/include/c++/11/bits/locale_classes.tcc
+ /usr/include/c++/11/bits/locale_facets.h
+ /usr/include/c++/11/cwctype
+ /usr/include/wctype.h
+ /usr/include/x86_64-linux-gnu/bits/wctype-wchar.h
+ /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_base.h
+ /usr/include/c++/11/bits/ios_base.h
+ /usr/include/c++/11/streambuf
+ /usr/include/c++/11/bits/streambuf.tcc
+ /usr/include/c++/11/bits/streambuf_iterator.h
+ /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h
+ /usr/include/c++/11/bits/locale_facets.tcc
  /usr/include/c++/11/bits/locale_facets_nonio.h
  /usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h
  /usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h
  /usr/include/libintl.h
+ /usr/include/c++/11/bits/codecvt.h
  /usr/include/c++/11/bits/locale_facets_nonio.tcc
  /usr/include/c++/11/bits/locale_conv.h
  /usr/include/c++/11/iomanip
  /usr/include/c++/11/bits/quoted_string.h
+ /usr/include/c++/11/sstream
+ /usr/include/c++/11/istream
+ /usr/include/c++/11/ios
+ /usr/include/c++/11/bits/basic_ios.h
+ /usr/include/c++/11/bits/basic_ios.tcc
+ /usr/include/c++/11/ostream
+ /usr/include/c++/11/bits/ostream.tcc
+ /usr/include/c++/11/bits/istream.tcc
+ /usr/include/c++/11/bits/sstream.tcc
  /usr/include/c++/11/codecvt
  /usr/include/c++/11/ext/concurrence.h
  /usr/include/c++/11/bits/shared_ptr.h
@@ -259,9 +241,31 @@ model/hardware/hw/CMakeFiles/hw.dir/inputManager.cpp.o
  /usr/include/c++/11/bits/fs_dir.h
  /usr/include/c++/11/bits/fs_ops.h
  /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
+ /usr/include/c++/11/iostream
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /usr/include/c++/11/list
  /usr/include/c++/11/bits/stl_list.h
  /usr/include/c++/11/bits/list.tcc
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
+ /usr/local/include/CppLinuxSerial/SerialPort.hpp
+ /usr/include/c++/11/fstream
+ /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
+ /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
+ /usr/include/c++/11/bits/fstream.tcc
+ /usr/include/x86_64-linux-gnu/asm/ioctls.h
+ /usr/include/asm-generic/ioctls.h
+ /usr/include/linux/ioctl.h
+ /usr/include/x86_64-linux-gnu/asm/ioctl.h
+ /usr/include/asm-generic/ioctl.h
+ /usr/include/x86_64-linux-gnu/asm/termbits.h
+ /usr/include/asm-generic/termbits.h
+ /usr/include/linux/posix_types.h
+ /usr/include/linux/stddef.h
+ /usr/include/x86_64-linux-gnu/asm/posix_types.h
+ /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
+ /usr/include/asm-generic/posix_types.h
+ /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
+ /usr/include/asm-generic/bitsperlong.h
+ /usr/local/include/CppLinuxSerial/Exception.hpp
 
diff --git a/src/model/hardware/hw/CMakeFiles/hw.dir/compiler_depend.make b/src/model/hardware/hw/CMakeFiles/hw.dir/compiler_depend.make
index 69cbe10..446c759 100644
--- a/src/model/hardware/hw/CMakeFiles/hw.dir/compiler_depend.make
+++ b/src/model/hardware/hw/CMakeFiles/hw.dir/compiler_depend.make
@@ -146,7 +146,10 @@ model/hardware/hw/CMakeFiles/hw.dir/inputManager.cpp.o: model/hardware/hw/inputM
   /usr/include/c++/11/bits/stl_vector.h \
   /usr/include/c++/11/bits/stl_bvector.h \
   /usr/include/c++/11/bits/vector.tcc \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
+  /usr/include/c++/11/mutex \
+  /usr/include/c++/11/system_error \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/error_constants.h \
+  /usr/include/c++/11/stdexcept \
   /usr/include/c++/11/string \
   /usr/include/c++/11/bits/char_traits.h \
   /usr/include/c++/11/bits/localefwd.h \
@@ -182,52 +185,8 @@ model/hardware/hw/CMakeFiles/hw.dir/inputManager.cpp.o: model/hardware/hw/inputM
   /usr/include/c++/11/cstdio \
   /usr/include/c++/11/bits/charconv.h \
   /usr/include/c++/11/bits/basic_string.tcc \
-  /usr/include/c++/11/fstream \
-  /usr/include/c++/11/istream \
-  /usr/include/c++/11/ios \
-  /usr/include/c++/11/bits/ios_base.h \
-  /usr/include/c++/11/bits/locale_classes.h \
-  /usr/include/c++/11/bits/locale_classes.tcc \
-  /usr/include/c++/11/system_error \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/error_constants.h \
-  /usr/include/c++/11/stdexcept \
-  /usr/include/c++/11/streambuf \
-  /usr/include/c++/11/bits/streambuf.tcc \
-  /usr/include/c++/11/bits/basic_ios.h \
-  /usr/include/c++/11/bits/locale_facets.h \
-  /usr/include/c++/11/cwctype \
-  /usr/include/wctype.h \
-  /usr/include/x86_64-linux-gnu/bits/wctype-wchar.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_base.h \
-  /usr/include/c++/11/bits/streambuf_iterator.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h \
-  /usr/include/c++/11/bits/locale_facets.tcc \
-  /usr/include/c++/11/bits/basic_ios.tcc \
-  /usr/include/c++/11/ostream \
-  /usr/include/c++/11/bits/ostream.tcc \
-  /usr/include/c++/11/bits/istream.tcc \
-  /usr/include/c++/11/bits/codecvt.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/c++/11/sstream \
-  /usr/include/c++/11/bits/sstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
-  /usr/include/c++/11/iostream \
+  /usr/include/c++/11/bits/std_mutex.h \
+  /usr/include/c++/11/bits/unique_lock.h \
   threadweaver/threadweaver.hpp \
   /usr/include/unistd.h \
   /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
@@ -241,14 +200,37 @@ model/hardware/hw/CMakeFiles/hw.dir/inputManager.cpp.o: model/hardware/hw/inputM
   /usr/include/c++/11/bits/fs_fwd.h \
   /usr/include/c++/11/bits/fs_path.h \
   /usr/include/c++/11/locale \
+  /usr/include/c++/11/bits/locale_classes.h \
+  /usr/include/c++/11/bits/locale_classes.tcc \
+  /usr/include/c++/11/bits/locale_facets.h \
+  /usr/include/c++/11/cwctype \
+  /usr/include/wctype.h \
+  /usr/include/x86_64-linux-gnu/bits/wctype-wchar.h \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_base.h \
+  /usr/include/c++/11/bits/ios_base.h \
+  /usr/include/c++/11/streambuf \
+  /usr/include/c++/11/bits/streambuf.tcc \
+  /usr/include/c++/11/bits/streambuf_iterator.h \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h \
+  /usr/include/c++/11/bits/locale_facets.tcc \
   /usr/include/c++/11/bits/locale_facets_nonio.h \
   /usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h \
   /usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h \
   /usr/include/libintl.h \
+  /usr/include/c++/11/bits/codecvt.h \
   /usr/include/c++/11/bits/locale_facets_nonio.tcc \
   /usr/include/c++/11/bits/locale_conv.h \
   /usr/include/c++/11/iomanip \
   /usr/include/c++/11/bits/quoted_string.h \
+  /usr/include/c++/11/sstream \
+  /usr/include/c++/11/istream \
+  /usr/include/c++/11/ios \
+  /usr/include/c++/11/bits/basic_ios.h \
+  /usr/include/c++/11/bits/basic_ios.tcc \
+  /usr/include/c++/11/ostream \
+  /usr/include/c++/11/bits/ostream.tcc \
+  /usr/include/c++/11/bits/istream.tcc \
+  /usr/include/c++/11/bits/sstream.tcc \
   /usr/include/c++/11/codecvt \
   /usr/include/c++/11/ext/concurrence.h \
   /usr/include/c++/11/bits/shared_ptr.h \
@@ -258,20 +240,42 @@ model/hardware/hw/CMakeFiles/hw.dir/inputManager.cpp.o: model/hardware/hw/inputM
   /usr/include/c++/11/bits/fs_dir.h \
   /usr/include/c++/11/bits/fs_ops.h \
   threadweaver/debugging.hpp \
+  /usr/include/c++/11/iostream \
   model/patterns/observer/observable.hpp \
   /usr/include/c++/11/list \
   /usr/include/c++/11/bits/stl_list.h \
   /usr/include/c++/11/bits/list.tcc \
-  model/patterns/observer/observer.hpp
+  model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
+  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
+  /usr/include/c++/11/fstream \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
+  /usr/include/c++/11/bits/fstream.tcc \
+  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
+  /usr/include/asm-generic/ioctls.h \
+  /usr/include/linux/ioctl.h \
+  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
+  /usr/include/asm-generic/ioctl.h \
+  /usr/include/x86_64-linux-gnu/asm/termbits.h \
+  /usr/include/asm-generic/termbits.h \
+  /usr/include/linux/posix_types.h \
+  /usr/include/linux/stddef.h \
+  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
+  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
+  /usr/include/asm-generic/posix_types.h \
+  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
+  /usr/include/asm-generic/bitsperlong.h \
+  /usr/local/include/CppLinuxSerial/Exception.hpp
 
 
-model/patterns/observer/observer.hpp:
+/usr/local/include/CppLinuxSerial/Exception.hpp:
 
-/usr/include/c++/11/bits/list.tcc:
+/usr/include/x86_64-linux-gnu/asm/posix_types.h:
 
-/usr/include/c++/11/bits/stl_list.h:
+/usr/include/linux/posix_types.h:
 
-/usr/include/c++/11/list:
+/usr/include/asm-generic/termbits.h:
 
 /usr/include/x86_64-linux-gnu/sys/select.h:
 
@@ -289,6 +293,8 @@ model/patterns/observer/observer.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/types/timer_t.h:
 
+/usr/include/c++/11/mutex:
+
 /usr/include/c++/11/bits/stl_pair.h:
 
 /usr/include/c++/11/ext/atomicity.h:
@@ -305,6 +311,10 @@ model/patterns/observer/observer.hpp:
 
 /usr/include/c++/11/ext/concurrence.h:
 
+/usr/include/x86_64-linux-gnu/asm/bitsperlong.h:
+
+/usr/include/c++/11/backward/binders.h:
+
 /usr/include/x86_64-linux-gnu/bits/time.h:
 
 /usr/include/x86_64-linux-gnu/bits/select.h:
@@ -315,9 +325,11 @@ model/patterns/observer/observer.hpp:
 
 /usr/include/strings.h:
 
-/usr/include/c++/11/bits/functional_hash.h:
+/usr/include/linux/stddef.h:
 
-/usr/include/c++/11/bits/uses_allocator.h:
+/usr/include/c++/11/bits/refwrap.h:
+
+/usr/include/c++/11/bits/functional_hash.h:
 
 model/hardware/hw/inputManager.cpp:
 
@@ -335,10 +347,10 @@ model/hardware/hw/inputManager.cpp:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/gthr.h:
 
-/usr/local/include/CppLinuxSerial/SerialPort.hpp:
-
 /usr/include/c++/11/streambuf:
 
+/usr/local/include/CppLinuxSerial/SerialPort.hpp:
+
 /usr/include/unistd.h:
 
 /usr/include/c++/11/bits/stl_algobase.h:
@@ -347,6 +359,8 @@ model/hardware/hw/inputManager.cpp:
 
 /usr/include/c++/11/cwchar:
 
+model/patterns/observer/observer.hpp:
+
 /usr/include/x86_64-linux-gnu/bits/endian.h:
 
 /usr/include/x86_64-linux-gnu/gnu/stubs.h:
@@ -425,6 +439,8 @@ model/hardware/hw/inputManager.cpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/stdarg.h:
 
+/usr/include/c++/11/bits/std_mutex.h:
+
 /usr/include/x86_64-linux-gnu/bits/timesize.h:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/cpu_defines.h:
@@ -435,10 +451,6 @@ model/hardware/hw/inputManager.cpp:
 
 /usr/include/locale.h:
 
-/usr/include/c++/11/backward/binders.h:
-
-/usr/include/x86_64-linux-gnu/asm/bitsperlong.h:
-
 /usr/include/x86_64-linux-gnu/bits/types/time_t.h:
 
 /usr/include/c++/11/bits/unique_ptr.h:
@@ -495,34 +507,36 @@ model/hardware/hw/inputManager.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/long-double.h:
 
-/usr/include/c++/11/bits/refwrap.h:
-
-/usr/include/linux/stddef.h:
-
 /usr/include/c++/11/pstl/pstl_config.h:
 
 /usr/include/c++/11/bits/allocator.h:
 
-model/patterns/observer/observable.hpp:
-
-/usr/include/c++/11/type_traits:
-
-/usr/include/x86_64-linux-gnu/sys/single_threaded.h:
-
 /usr/include/x86_64-linux-gnu/bits/floatn.h:
 
 /usr/include/c++/11/bits/range_access.h:
 
 threadweaver/debugging.hpp:
 
+/usr/include/asm-generic/bitsperlong.h:
+
+/usr/include/x86_64-linux-gnu/bits/types/sigset_t.h:
+
+/usr/include/c++/11/bits/concept_check.h:
+
 /usr/include/c++/11/bits/exception_ptr.h:
 
 /usr/include/c++/11/ext/string_conversions.h:
 
+/usr/include/c++/11/list:
+
 /usr/include/c++/11/ctime:
 
 /usr/include/x86_64-linux-gnu/bits/time64.h:
 
+/usr/include/x86_64-linux-gnu/asm/posix_types_64.h:
+
+/usr/include/x86_64-linux-gnu/bits/cpu-set.h:
+
 /usr/include/c++/11/bits/cxxabi_init_exception.h:
 
 /usr/include/wchar.h:
@@ -573,10 +587,6 @@ threadweaver/debugging.hpp:
 
 /usr/include/c++/11/bits/char_traits.h:
 
-/usr/include/x86_64-linux-gnu/bits/cpu-set.h:
-
-/usr/include/x86_64-linux-gnu/asm/posix_types_64.h:
-
 /usr/include/x86_64-linux-gnu/bits/types/error_t.h:
 
 /usr/include/c++/11/vector:
@@ -605,6 +615,14 @@ threadweaver/debugging.hpp:
 
 /usr/include/c++/11/bits/vector.tcc:
 
+/usr/include/c++/11/utility:
+
+/usr/include/c++/11/ios:
+
+/usr/include/x86_64-linux-gnu/c++/11/bits/error_constants.h:
+
+/usr/include/c++/11/stdexcept:
+
 /usr/include/c++/11/bits/localefwd.h:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/c++locale.h:
@@ -669,122 +687,116 @@ threadweaver/debugging.hpp:
 
 /usr/include/c++/11/bits/basic_string.tcc:
 
-/usr/local/include/CppLinuxSerial/Exception.hpp:
-
-/usr/include/c++/11/istream:
-
-/usr/include/c++/11/bits/ios_base.h:
+/usr/include/c++/11/bits/uses_allocator.h:
 
-/usr/include/c++/11/bits/locale_classes.h:
+/usr/include/c++/11/bits/unique_lock.h:
 
-/usr/include/c++/11/bits/locale_classes.tcc:
-
-/usr/include/c++/11/utility:
+/usr/include/c++/11/debug/debug.h:
 
-/usr/include/c++/11/ios:
+/usr/include/features-time64.h:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/error_constants.h:
+threadweaver/threadweaver.hpp:
 
-/usr/include/c++/11/stdexcept:
+/usr/include/x86_64-linux-gnu/bits/posix_opt.h:
 
-/usr/include/string.h:
+/usr/include/c++/11/bits/exception_defines.h:
 
-/usr/include/c++/11/codecvt:
+/usr/include/x86_64-linux-gnu/c++/11/bits/os_defines.h:
 
-/usr/include/c++/11/bits/streambuf.tcc:
+/usr/include/x86_64-linux-gnu/bits/environments.h:
 
-/usr/include/c++/11/bits/basic_ios.h:
+/usr/include/x86_64-linux-gnu/bits/setjmp.h:
 
-/usr/include/c++/11/bits/exception.h:
+/usr/include/time.h:
 
-/usr/include/c++/11/bits/locale_facets.h:
+/usr/include/x86_64-linux-gnu/bits/getopt_posix.h:
 
-/usr/include/c++/11/cwctype:
+/usr/include/x86_64-linux-gnu/bits/unistd_ext.h:
 
-/usr/include/c++/11/bits/streambuf_iterator.h:
+/usr/include/c++/11/bits/locale_facets_nonio.h:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h:
+/usr/include/c++/11/filesystem:
 
-/usr/include/x86_64-linux-gnu/bits/types/struct_tm.h:
+/usr/include/x86_64-linux-gnu/bits/types/struct___jmp_buf_tag.h:
 
-/usr/include/c++/11/bits/this_thread_sleep.h:
+/usr/include/x86_64-linux-gnu/bits/types/clockid_t.h:
 
-/usr/include/c++/11/bits/locale_facets.tcc:
+/usr/include/c++/11/bits/stl_bvector.h:
 
-/usr/include/c++/11/bits/codecvt.h:
+/usr/include/c++/11/bits/fs_fwd.h:
 
-/usr/include/c++/11/bits/basic_ios.tcc:
+/usr/include/c++/11/bits/locale_classes.h:
 
-/usr/include/c++/11/bits/istream.tcc:
+/usr/include/c++/11/bits/locale_classes.tcc:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h:
+/usr/include/c++/11/bits/exception.h:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h:
+/usr/include/c++/11/bits/locale_facets.h:
 
-/usr/include/asm-generic/posix_types.h:
+/usr/include/c++/11/cwctype:
 
-/usr/include/c++/11/bits/fstream.tcc:
+/usr/include/c++/11/bits/ios_base.h:
 
-/usr/include/c++/11/sstream:
+/usr/include/string.h:
 
-/usr/include/asm-generic/ioctls.h:
+/usr/include/c++/11/codecvt:
 
-/usr/include/linux/ioctl.h:
+/usr/include/c++/11/bits/streambuf.tcc:
 
-/usr/include/x86_64-linux-gnu/asm/termbits.h:
+/usr/include/c++/11/bits/streambuf_iterator.h:
 
-/usr/include/asm-generic/termbits.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h:
 
-/usr/include/linux/posix_types.h:
+/usr/include/c++/11/bits/list.tcc:
 
-/usr/include/x86_64-linux-gnu/asm/posix_types.h:
+/usr/include/x86_64-linux-gnu/bits/types/struct_tm.h:
 
-/usr/include/x86_64-linux-gnu/bits/types/sigset_t.h:
+/usr/include/c++/11/bits/this_thread_sleep.h:
 
-/usr/include/c++/11/bits/concept_check.h:
+/usr/include/c++/11/bits/locale_facets.tcc:
 
-/usr/include/asm-generic/bitsperlong.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h:
 
-/usr/include/c++/11/debug/debug.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h:
 
-/usr/include/features-time64.h:
+/usr/include/c++/11/bits/locale_conv.h:
 
-threadweaver/threadweaver.hpp:
+/usr/include/c++/11/bits/quoted_string.h:
 
-/usr/include/x86_64-linux-gnu/bits/posix_opt.h:
+/usr/include/c++/11/sstream:
 
-/usr/include/c++/11/bits/exception_defines.h:
+/usr/include/c++/11/istream:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/os_defines.h:
+/usr/include/c++/11/bits/basic_ios.h:
 
-/usr/include/x86_64-linux-gnu/bits/environments.h:
+/usr/include/c++/11/bits/codecvt.h:
 
-/usr/include/x86_64-linux-gnu/bits/setjmp.h:
+/usr/include/c++/11/bits/basic_ios.tcc:
 
-/usr/include/time.h:
+/usr/include/c++/11/bits/istream.tcc:
 
-/usr/include/x86_64-linux-gnu/bits/getopt_posix.h:
+/usr/include/c++/11/bits/fs_ops.h:
 
-/usr/include/x86_64-linux-gnu/bits/unistd_ext.h:
+/usr/include/c++/11/type_traits:
 
-/usr/include/c++/11/bits/locale_facets_nonio.h:
+/usr/include/x86_64-linux-gnu/sys/single_threaded.h:
 
-/usr/include/c++/11/filesystem:
+model/patterns/observer/observable.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/types/struct___jmp_buf_tag.h:
+/usr/include/c++/11/bits/stl_list.h:
 
-/usr/include/x86_64-linux-gnu/bits/types/clockid_t.h:
+model/hardware/hw/inputKeys.hpp:
 
-/usr/include/c++/11/bits/stl_bvector.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h:
 
-/usr/include/c++/11/bits/fs_fwd.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h:
+/usr/include/asm-generic/posix_types.h:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h:
+/usr/include/c++/11/bits/fstream.tcc:
 
-/usr/include/c++/11/bits/locale_conv.h:
+/usr/include/asm-generic/ioctls.h:
 
-/usr/include/c++/11/bits/quoted_string.h:
+/usr/include/linux/ioctl.h:
 
-/usr/include/c++/11/bits/fs_ops.h:
+/usr/include/x86_64-linux-gnu/asm/termbits.h:
diff --git a/src/model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/compiler_depend.internal b/src/model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/compiler_depend.internal
index e5ec92f..6dc0a5b 100644
--- a/src/model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/compiler_depend.internal
+++ b/src/model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/compiler_depend.internal
@@ -262,6 +262,26 @@ model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/DeviceTree.cpp.o
  /usr/include/c++/11/bits/list.tcc
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
+ /usr/local/include/CppLinuxSerial/SerialPort.hpp
+ /usr/include/c++/11/fstream
+ /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
+ /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
+ /usr/include/c++/11/bits/fstream.tcc
+ /usr/include/x86_64-linux-gnu/asm/ioctls.h
+ /usr/include/asm-generic/ioctls.h
+ /usr/include/linux/ioctl.h
+ /usr/include/x86_64-linux-gnu/asm/ioctl.h
+ /usr/include/asm-generic/ioctl.h
+ /usr/include/x86_64-linux-gnu/asm/termbits.h
+ /usr/include/asm-generic/termbits.h
+ /usr/include/linux/posix_types.h
+ /usr/include/linux/stddef.h
+ /usr/include/x86_64-linux-gnu/asm/posix_types.h
+ /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
+ /usr/include/asm-generic/posix_types.h
+ /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
+ /usr/include/asm-generic/bitsperlong.h
+ /usr/local/include/CppLinuxSerial/Exception.hpp
  /usr/include/c++/11/iterator
  /usr/include/c++/11/bits/stream_iterator.h
  /usr/include/c++/11/algorithm
diff --git a/src/model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/compiler_depend.make b/src/model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/compiler_depend.make
index c2fd01b..ecff9a7 100644
--- a/src/model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/compiler_depend.make
+++ b/src/model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/compiler_depend.make
@@ -261,6 +261,26 @@ model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/DeviceTree.cpp.o: model/hard
   /usr/include/c++/11/bits/list.tcc \
   model/patterns/observer/observer.hpp \
   model/hardware/hw/inputKeys.hpp \
+  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
+  /usr/include/c++/11/fstream \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
+  /usr/include/c++/11/bits/fstream.tcc \
+  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
+  /usr/include/asm-generic/ioctls.h \
+  /usr/include/linux/ioctl.h \
+  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
+  /usr/include/asm-generic/ioctl.h \
+  /usr/include/x86_64-linux-gnu/asm/termbits.h \
+  /usr/include/asm-generic/termbits.h \
+  /usr/include/linux/posix_types.h \
+  /usr/include/linux/stddef.h \
+  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
+  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
+  /usr/include/asm-generic/posix_types.h \
+  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
+  /usr/include/asm-generic/bitsperlong.h \
+  /usr/local/include/CppLinuxSerial/Exception.hpp \
   /usr/include/c++/11/iterator \
   /usr/include/c++/11/bits/stream_iterator.h \
   /usr/include/c++/11/algorithm \
@@ -280,18 +300,12 @@ model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/DeviceTree.cpp.o: model/hard
   /usr/include/c++/11/pstl/execution_defs.h
 
 
-/usr/include/c++/11/bits/unordered_map.h:
-
 /usr/include/c++/11/bits/hashtable_policy.h:
 
 /usr/include/c++/11/bits/hashtable.h:
 
 /usr/include/c++/11/unordered_map:
 
-/usr/include/c++/11/bits/std_function.h:
-
-/usr/include/c++/11/bits/stl_tempbuf.h:
-
 /usr/include/c++/11/pstl/execution_defs.h:
 
 /usr/include/c++/11/bits/algorithmfwd.h:
@@ -302,6 +316,40 @@ model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/DeviceTree.cpp.o: model/hard
 
 /usr/include/c++/11/bits/stream_iterator.h:
 
+/usr/local/include/CppLinuxSerial/Exception.hpp:
+
+/usr/include/x86_64-linux-gnu/asm/posix_types.h:
+
+/usr/include/linux/posix_types.h:
+
+/usr/include/c++/11/bits/unordered_map.h:
+
+/usr/include/asm-generic/termbits.h:
+
+/usr/include/asm-generic/ioctl.h:
+
+/usr/include/c++/11/bits/std_function.h:
+
+/usr/include/c++/11/bits/stl_tempbuf.h:
+
+/usr/include/linux/ioctl.h:
+
+/usr/include/asm-generic/ioctls.h:
+
+/usr/include/x86_64-linux-gnu/asm/ioctls.h:
+
+/usr/include/asm-generic/posix_types.h:
+
+/usr/include/c++/11/bits/fstream.tcc:
+
+/usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h:
+
+/usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h:
+
+/usr/include/c++/11/fstream:
+
+/usr/local/include/CppLinuxSerial/SerialPort.hpp:
+
 model/patterns/observer/observer.hpp:
 
 /usr/include/c++/11/bits/list.tcc:
@@ -318,6 +366,8 @@ model/hardware/hw/extendables/Device.hpp:
 
 /usr/include/x86_64-linux-gnu/gnu/stubs.h:
 
+/usr/include/x86_64-linux-gnu/asm/bitsperlong.h:
+
 /usr/include/c++/11/backward/binders.h:
 
 /usr/include/c++/11/bits/cxxabi_forced.h:
@@ -420,6 +470,8 @@ model/hardware/hw/extendables/Device.hpp:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/gthr.h:
 
+/usr/include/x86_64-linux-gnu/asm/ioctl.h:
+
 /usr/include/c++/11/bits/functexcept.h:
 
 /usr/include/c++/11/streambuf:
@@ -556,6 +608,8 @@ model/hardware/hw/extendables/DeviceTree.hpp:
 
 /usr/include/c++/11/list:
 
+/usr/include/asm-generic/bitsperlong.h:
+
 /usr/include/x86_64-linux-gnu/bits/types/sigset_t.h:
 
 /usr/include/c++/11/bits/concept_check.h:
@@ -626,6 +680,8 @@ threadweaver/debugging.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/types/struct_sched_param.h:
 
+/usr/include/x86_64-linux-gnu/asm/posix_types_64.h:
+
 /usr/include/x86_64-linux-gnu/bits/cpu-set.h:
 
 /usr/include/x86_64-linux-gnu/bits/pthreadtypes.h:
@@ -696,6 +752,8 @@ model/hardware/hw/extendables/DeviceCommand.hpp:
 
 /usr/include/c++/11/bits/unique_lock.h:
 
+/usr/include/x86_64-linux-gnu/asm/termbits.h:
+
 /usr/include/c++/11/bits/stl_map.h:
 
 /usr/include/c++/11/bits/ptr_traits.h:
@@ -770,6 +828,8 @@ model/hardware/hw/inputManager.hpp:
 
 /usr/include/c++/11/bits/std_thread.h:
 
+/usr/include/linux/stddef.h:
+
 /usr/include/c++/11/bits/refwrap.h:
 
 /usr/include/c++/11/vector:
diff --git a/src/model/hardware/hw/inputManager.cpp b/src/model/hardware/hw/inputManager.cpp
index a9c1bdc..44796fa 100644
--- a/src/model/hardware/hw/inputManager.cpp
+++ b/src/model/hardware/hw/inputManager.cpp
@@ -1,6 +1,10 @@
 #include "./inputManager.hpp"
 #include <CppLinuxSerial/SerialPort.hpp>
 #include <string>
+#include <mutex>
+
+std::mutex InputManager::mutex_;
+InputManager * InputManager::pinstance_;
 
 InputManager::InputManager()
 {
@@ -9,4 +13,14 @@ InputManager::InputManager()
 
 void InputManager::sendinput(unsigned int input, InputTypes type){
     sendMessage(std::to_string((unsigned int)type),std::to_string(input));
+}
+
+InputManager* InputManager::GetInstance()
+{
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (pinstance_ == nullptr)
+    {
+        pinstance_ = new InputManager();
+    }
+    return pinstance_;
 }
\ No newline at end of file
diff --git a/src/model/hardware/hw/inputManager.hpp b/src/model/hardware/hw/inputManager.hpp
index d72f3f6..83d99fa 100644
--- a/src/model/hardware/hw/inputManager.hpp
+++ b/src/model/hardware/hw/inputManager.hpp
@@ -1,11 +1,12 @@
-#ifndef _SERIAL_I
-#define _SERIAL_I
+#ifndef INPUT_MANAGER
+#define INPUT_MANAGER
 // C library headers
 #include <stdio.h>
 #include <string.h>
 
 #include <thread>
 #include <vector>
+#include <mutex>
 
 #include "./../../../threadweaver/threadweaver.hpp"
 #include "../../patterns/observer/observable.hpp"
@@ -18,7 +19,10 @@ public:
     InputManager();
     ~InputManager(){}
     void sendinput(unsigned int input, InputTypes type);
+    static InputManager *GetInstance();
 protected:
-    bool shouldRun;
+    static std::mutex mutex_;
+    static InputManager * pinstance_;
 };
+
 #endif
\ No newline at end of file
diff --git a/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.internal b/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.internal
index 6884368..6b92229 100644
--- a/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.internal
+++ b/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.internal
@@ -616,28 +616,9 @@ pipeline/CMakeFiles/pipelineLib.dir/abstract/pipelineNode.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -1259,28 +1240,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/cameraPickerNode.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -1902,28 +1864,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/displayOutputNode.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -2554,28 +2497,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/pluginNode.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -3197,28 +3121,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/fpsCounter.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -3855,28 +3760,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/staticImageOverlayer.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -4515,28 +4401,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/uiMenuItem.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -5158,28 +5025,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/zbarOverlayer.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -5818,28 +5666,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/uiDrawerNode.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -6461,28 +6290,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/uiMergerNode.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -7106,28 +6916,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/videoCaptureNode.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -7749,28 +7540,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/zbarAnalysisNode.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -8406,28 +8178,9 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menu.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/menuItem.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
- /usr/local/include/CppLinuxSerial/SerialPort.hpp
- /usr/include/c++/11/fstream
- /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
- /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
- /usr/include/c++/11/bits/fstream.tcc
- /usr/include/x86_64-linux-gnu/asm/ioctls.h
- /usr/include/asm-generic/ioctls.h
- /usr/include/linux/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/ioctl.h
- /usr/include/asm-generic/ioctl.h
- /usr/include/x86_64-linux-gnu/asm/termbits.h
- /usr/include/asm-generic/termbits.h
- /usr/include/linux/posix_types.h
- /usr/include/linux/stddef.h
- /usr/include/x86_64-linux-gnu/asm/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
- /usr/include/asm-generic/posix_types.h
- /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
- /usr/include/asm-generic/bitsperlong.h
- /usr/local/include/CppLinuxSerial/Exception.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
  /usr/local/include/hidapi/hidapi.h
@@ -8471,4 +8224,24 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o
  /home/kanken/code/AHRS_core/src/model/hardware/hw/extendables/DeviceCommand.hpp
  /home/kanken/code/AHRS_core/src/model/patterns/commands/commands.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/hw/inputManager.hpp
+ /usr/local/include/CppLinuxSerial/SerialPort.hpp
+ /usr/include/c++/11/fstream
+ /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
+ /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h
+ /usr/include/c++/11/bits/fstream.tcc
+ /usr/include/x86_64-linux-gnu/asm/ioctls.h
+ /usr/include/asm-generic/ioctls.h
+ /usr/include/linux/ioctl.h
+ /usr/include/x86_64-linux-gnu/asm/ioctl.h
+ /usr/include/asm-generic/ioctl.h
+ /usr/include/x86_64-linux-gnu/asm/termbits.h
+ /usr/include/asm-generic/termbits.h
+ /usr/include/linux/posix_types.h
+ /usr/include/linux/stddef.h
+ /usr/include/x86_64-linux-gnu/asm/posix_types.h
+ /usr/include/x86_64-linux-gnu/asm/posix_types_64.h
+ /usr/include/asm-generic/posix_types.h
+ /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
+ /usr/include/asm-generic/bitsperlong.h
+ /usr/local/include/CppLinuxSerial/Exception.hpp
 
diff --git a/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.make b/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.make
index 0b4da0e..f29ba84 100644
--- a/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.make
+++ b/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.make
@@ -615,28 +615,9 @@ pipeline/CMakeFiles/pipelineLib.dir/abstract/pipelineNode.cpp.o: pipeline/abstra
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -1257,28 +1238,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/cameraPickerNode.cpp.o: pipeline/mem
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -1899,28 +1861,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/displayOutputNode.cpp.o: pipeline/me
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -2550,28 +2493,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/pluginNode.cpp.o: pipeline/members/p
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -3192,28 +3116,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/fpsCounter.cpp.o: pipeline/
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -3849,28 +3754,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/staticImageOverlayer.cpp.o:
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -4508,28 +4394,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/uiMenuItem.cpp.o: pipeline/
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -5150,28 +5017,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/zbarOverlayer.cpp.o: pipeli
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -5809,28 +5657,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/uiDrawerNode.cpp.o: pipeline/members
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -6451,28 +6280,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/uiMergerNode.cpp.o: pipeline/members
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -7095,28 +6905,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/videoCaptureNode.cpp.o: pipeline/mem
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -7737,28 +7528,9 @@ pipeline/CMakeFiles/pipelineLib.dir/members/zbarAnalysisNode.cpp.o: pipeline/mem
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -8393,28 +8165,9 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o: pipeline/pipeline.cpp \
   model/controllers/ui/menu.hpp \
   model/controllers/ui/menuItem.hpp \
   model/hardware/hw/inputManager.hpp \
-  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
-  /usr/include/c++/11/fstream \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/c++/11/bits/fstream.tcc \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
-  /usr/include/asm-generic/ioctls.h \
-  /usr/include/linux/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/asm-generic/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/termbits.h \
-  /usr/include/asm-generic/termbits.h \
-  /usr/include/linux/posix_types.h \
-  /usr/include/linux/stddef.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/asm-generic/posix_types.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/asm-generic/bitsperlong.h \
-  /usr/local/include/CppLinuxSerial/Exception.hpp \
   model/patterns/observer/observable.hpp \
   model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -8457,8 +8210,56 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o: pipeline/pipeline.cpp \
   model/hardware/hw/extendables/Device.hpp \
   model/hardware/hw/extendables/DeviceCommand.hpp \
   model/patterns/commands/commands.hpp \
-  model/hardware/hw/inputManager.hpp
+  model/hardware/hw/inputManager.hpp \
+  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
+  /usr/include/c++/11/fstream \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
+  /usr/include/c++/11/bits/fstream.tcc \
+  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
+  /usr/include/asm-generic/ioctls.h \
+  /usr/include/linux/ioctl.h \
+  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
+  /usr/include/asm-generic/ioctl.h \
+  /usr/include/x86_64-linux-gnu/asm/termbits.h \
+  /usr/include/asm-generic/termbits.h \
+  /usr/include/linux/posix_types.h \
+  /usr/include/linux/stddef.h \
+  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
+  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
+  /usr/include/asm-generic/posix_types.h \
+  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
+  /usr/include/asm-generic/bitsperlong.h \
+  /usr/local/include/CppLinuxSerial/Exception.hpp
+
+
+/usr/include/asm-generic/bitsperlong.h:
 
+/usr/include/x86_64-linux-gnu/asm/bitsperlong.h:
+
+/usr/include/asm-generic/posix_types.h:
+
+/usr/include/x86_64-linux-gnu/asm/posix_types.h:
+
+/usr/include/linux/stddef.h:
+
+/usr/include/linux/posix_types.h:
+
+/usr/include/x86_64-linux-gnu/asm/termbits.h:
+
+/usr/include/asm-generic/ioctl.h:
+
+/usr/include/linux/ioctl.h:
+
+/usr/include/x86_64-linux-gnu/asm/ioctls.h:
+
+/usr/include/c++/11/bits/fstream.tcc:
+
+/usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h:
+
+/usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h:
+
+/usr/include/c++/11/fstream:
 
 model/hardware/hw/extendables/DeviceCommand.hpp:
 
@@ -8504,6 +8305,10 @@ pipeline/members/pluginNode.hpp:
 
 /usr/include/KHR/khrplatform.h:
 
+/usr/include/asm-generic/ioctls.h:
+
+/usr/include/GL/glext.h:
+
 /usr/include/GL/glut.h:
 
 model/windows/window.hpp:
@@ -8522,39 +8327,9 @@ model/hardware/ihidapi/_hidapi.hpp:
 
 model/hardware/psvr/_psvr.hpp:
 
-model/patterns/observer/observable.hpp:
-
-/usr/include/asm-generic/bitsperlong.h:
-
-/usr/include/x86_64-linux-gnu/asm/bitsperlong.h:
-
-/usr/include/asm-generic/posix_types.h:
-
-/usr/include/x86_64-linux-gnu/asm/posix_types.h:
-
-/usr/include/linux/stddef.h:
-
-/usr/include/linux/posix_types.h:
+model/hardware/hw/inputKeys.hpp:
 
-/usr/include/x86_64-linux-gnu/asm/termbits.h:
-
-/usr/include/asm-generic/ioctl.h:
-
-/usr/include/linux/ioctl.h:
-
-/usr/include/GL/glext.h:
-
-/usr/include/asm-generic/ioctls.h:
-
-/usr/include/x86_64-linux-gnu/asm/ioctls.h:
-
-/usr/include/c++/11/bits/fstream.tcc:
-
-/usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h:
-
-/usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h:
-
-/usr/include/c++/11/fstream:
+model/patterns/observer/observable.hpp:
 
 model/hardware/hw/inputManager.hpp:
 
diff --git a/src/pipeline/pipeline.cpp b/src/pipeline/pipeline.cpp
index a366768..419599c 100644
--- a/src/pipeline/pipeline.cpp
+++ b/src/pipeline/pipeline.cpp
@@ -10,7 +10,7 @@ Pipeline::Pipeline()
     cm->runCapture();
     psvr::Psvr *hmd = new psvr::Psvr();
     UiController *uc = new UiController(hmd);
-    InputManager *sp = new InputManager();
+    InputManager *sp = InputManager::GetInstance();
 
     sp->Attach(uc);
 
diff --git a/src/pluginManagement/CMakeFiles/PluginManager.dir/compiler_depend.internal b/src/pluginManagement/CMakeFiles/PluginManager.dir/compiler_depend.internal
index c5af590..a675c34 100644
--- a/src/pluginManagement/CMakeFiles/PluginManager.dir/compiler_depend.internal
+++ b/src/pluginManagement/CMakeFiles/PluginManager.dir/compiler_depend.internal
@@ -243,6 +243,25 @@ pluginManagement/CMakeFiles/PluginManager.dir/Plugin.cpp.o
  /usr/include/c++/11/thread
  /usr/include/c++/11/bits/std_thread.h
  /usr/include/c++/11/bits/this_thread_sleep.h
+ /usr/include/c++/11/mutex
+ /usr/include/c++/11/bits/std_mutex.h
+ /usr/include/c++/11/bits/unique_lock.h
+ /home/kanken/code/AHRS_core/src/threadweaver/threadweaver.hpp
+ /usr/include/unistd.h
+ /usr/include/x86_64-linux-gnu/bits/posix_opt.h
+ /usr/include/x86_64-linux-gnu/bits/environments.h
+ /usr/include/x86_64-linux-gnu/bits/confname.h
+ /usr/include/x86_64-linux-gnu/bits/getopt_posix.h
+ /usr/include/x86_64-linux-gnu/bits/getopt_core.h
+ /usr/include/x86_64-linux-gnu/bits/unistd_ext.h
+ /usr/include/linux/close_range.h
+ /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
+ /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
+ /usr/include/c++/11/list
+ /usr/include/c++/11/bits/stl_list.h
+ /usr/include/c++/11/bits/list.tcc
+ /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /usr/local/include/CppLinuxSerial/SerialPort.hpp
  /usr/include/c++/11/fstream
  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
@@ -263,21 +282,6 @@ pluginManagement/CMakeFiles/PluginManager.dir/Plugin.cpp.o
  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
  /usr/include/asm-generic/bitsperlong.h
  /usr/local/include/CppLinuxSerial/Exception.hpp
- /home/kanken/code/AHRS_core/src/threadweaver/threadweaver.hpp
- /usr/include/unistd.h
- /usr/include/x86_64-linux-gnu/bits/posix_opt.h
- /usr/include/x86_64-linux-gnu/bits/environments.h
- /usr/include/x86_64-linux-gnu/bits/confname.h
- /usr/include/x86_64-linux-gnu/bits/getopt_posix.h
- /usr/include/x86_64-linux-gnu/bits/getopt_core.h
- /usr/include/x86_64-linux-gnu/bits/unistd_ext.h
- /usr/include/linux/close_range.h
- /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
- /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
- /usr/include/c++/11/list
- /usr/include/c++/11/bits/stl_list.h
- /usr/include/c++/11/bits/list.tcc
- /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
  /usr/include/c++/11/iterator
  /usr/include/c++/11/bits/stream_iterator.h
  /usr/include/c++/11/algorithm
@@ -542,6 +546,25 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o
  /usr/include/c++/11/thread
  /usr/include/c++/11/bits/std_thread.h
  /usr/include/c++/11/bits/this_thread_sleep.h
+ /usr/include/c++/11/mutex
+ /usr/include/c++/11/bits/std_mutex.h
+ /usr/include/c++/11/bits/unique_lock.h
+ /home/kanken/code/AHRS_core/src/threadweaver/threadweaver.hpp
+ /usr/include/unistd.h
+ /usr/include/x86_64-linux-gnu/bits/posix_opt.h
+ /usr/include/x86_64-linux-gnu/bits/environments.h
+ /usr/include/x86_64-linux-gnu/bits/confname.h
+ /usr/include/x86_64-linux-gnu/bits/getopt_posix.h
+ /usr/include/x86_64-linux-gnu/bits/getopt_core.h
+ /usr/include/x86_64-linux-gnu/bits/unistd_ext.h
+ /usr/include/linux/close_range.h
+ /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
+ /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
+ /usr/include/c++/11/list
+ /usr/include/c++/11/bits/stl_list.h
+ /usr/include/c++/11/bits/list.tcc
+ /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/inputKeys.hpp
  /usr/local/include/CppLinuxSerial/SerialPort.hpp
  /usr/include/c++/11/fstream
  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h
@@ -562,21 +585,6 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o
  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h
  /usr/include/asm-generic/bitsperlong.h
  /usr/local/include/CppLinuxSerial/Exception.hpp
- /home/kanken/code/AHRS_core/src/threadweaver/threadweaver.hpp
- /usr/include/unistd.h
- /usr/include/x86_64-linux-gnu/bits/posix_opt.h
- /usr/include/x86_64-linux-gnu/bits/environments.h
- /usr/include/x86_64-linux-gnu/bits/confname.h
- /usr/include/x86_64-linux-gnu/bits/getopt_posix.h
- /usr/include/x86_64-linux-gnu/bits/getopt_core.h
- /usr/include/x86_64-linux-gnu/bits/unistd_ext.h
- /usr/include/linux/close_range.h
- /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
- /home/kanken/code/AHRS_core/src/model/patterns/observer/observable.hpp
- /usr/include/c++/11/list
- /usr/include/c++/11/bits/stl_list.h
- /usr/include/c++/11/bits/list.tcc
- /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
  /usr/include/c++/11/iterator
  /usr/include/c++/11/bits/stream_iterator.h
  /usr/include/c++/11/algorithm
@@ -596,9 +604,6 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o
  /usr/include/c++/11/pstl/execution_defs.h
  /home/kanken/code/AHRS_core/src/pipeline/pipeline.hpp
  /home/kanken/code/AHRS_core/src/pipeline/abstract/pipelineNode.hpp
- /usr/include/c++/11/mutex
- /usr/include/c++/11/bits/std_mutex.h
- /usr/include/c++/11/bits/unique_lock.h
  /usr/local/include/opencv4/opencv2/core.hpp
  /usr/local/include/opencv4/opencv2/core/cvdef.h
  /usr/local/include/opencv4/opencv2/core/version.hpp
diff --git a/src/pluginManagement/CMakeFiles/PluginManager.dir/compiler_depend.make b/src/pluginManagement/CMakeFiles/PluginManager.dir/compiler_depend.make
index a7606be..3b38066 100644
--- a/src/pluginManagement/CMakeFiles/PluginManager.dir/compiler_depend.make
+++ b/src/pluginManagement/CMakeFiles/PluginManager.dir/compiler_depend.make
@@ -242,6 +242,25 @@ pluginManagement/CMakeFiles/PluginManager.dir/Plugin.cpp.o: pluginManagement/Plu
   /usr/include/c++/11/thread \
   /usr/include/c++/11/bits/std_thread.h \
   /usr/include/c++/11/bits/this_thread_sleep.h \
+  /usr/include/c++/11/mutex \
+  /usr/include/c++/11/bits/std_mutex.h \
+  /usr/include/c++/11/bits/unique_lock.h \
+  threadweaver/threadweaver.hpp \
+  /usr/include/unistd.h \
+  /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
+  /usr/include/x86_64-linux-gnu/bits/environments.h \
+  /usr/include/x86_64-linux-gnu/bits/confname.h \
+  /usr/include/x86_64-linux-gnu/bits/getopt_posix.h \
+  /usr/include/x86_64-linux-gnu/bits/getopt_core.h \
+  /usr/include/x86_64-linux-gnu/bits/unistd_ext.h \
+  /usr/include/linux/close_range.h \
+  threadweaver/debugging.hpp \
+  model/patterns/observer/observable.hpp \
+  /usr/include/c++/11/list \
+  /usr/include/c++/11/bits/stl_list.h \
+  /usr/include/c++/11/bits/list.tcc \
+  model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   /usr/local/include/CppLinuxSerial/SerialPort.hpp \
   /usr/include/c++/11/fstream \
   /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
@@ -262,21 +281,6 @@ pluginManagement/CMakeFiles/PluginManager.dir/Plugin.cpp.o: pluginManagement/Plu
   /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
   /usr/include/asm-generic/bitsperlong.h \
   /usr/local/include/CppLinuxSerial/Exception.hpp \
-  threadweaver/threadweaver.hpp \
-  /usr/include/unistd.h \
-  /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
-  /usr/include/x86_64-linux-gnu/bits/environments.h \
-  /usr/include/x86_64-linux-gnu/bits/confname.h \
-  /usr/include/x86_64-linux-gnu/bits/getopt_posix.h \
-  /usr/include/x86_64-linux-gnu/bits/getopt_core.h \
-  /usr/include/x86_64-linux-gnu/bits/unistd_ext.h \
-  /usr/include/linux/close_range.h \
-  threadweaver/debugging.hpp \
-  model/patterns/observer/observable.hpp \
-  /usr/include/c++/11/list \
-  /usr/include/c++/11/bits/stl_list.h \
-  /usr/include/c++/11/bits/list.tcc \
-  model/patterns/observer/observer.hpp \
   /usr/include/c++/11/iterator \
   /usr/include/c++/11/bits/stream_iterator.h \
   /usr/include/c++/11/algorithm \
@@ -540,6 +544,25 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o: pluginManagem
   /usr/include/c++/11/thread \
   /usr/include/c++/11/bits/std_thread.h \
   /usr/include/c++/11/bits/this_thread_sleep.h \
+  /usr/include/c++/11/mutex \
+  /usr/include/c++/11/bits/std_mutex.h \
+  /usr/include/c++/11/bits/unique_lock.h \
+  threadweaver/threadweaver.hpp \
+  /usr/include/unistd.h \
+  /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
+  /usr/include/x86_64-linux-gnu/bits/environments.h \
+  /usr/include/x86_64-linux-gnu/bits/confname.h \
+  /usr/include/x86_64-linux-gnu/bits/getopt_posix.h \
+  /usr/include/x86_64-linux-gnu/bits/getopt_core.h \
+  /usr/include/x86_64-linux-gnu/bits/unistd_ext.h \
+  /usr/include/linux/close_range.h \
+  threadweaver/debugging.hpp \
+  model/patterns/observer/observable.hpp \
+  /usr/include/c++/11/list \
+  /usr/include/c++/11/bits/stl_list.h \
+  /usr/include/c++/11/bits/list.tcc \
+  model/patterns/observer/observer.hpp \
+  model/hardware/hw/inputKeys.hpp \
   /usr/local/include/CppLinuxSerial/SerialPort.hpp \
   /usr/include/c++/11/fstream \
   /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
@@ -560,21 +583,6 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o: pluginManagem
   /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
   /usr/include/asm-generic/bitsperlong.h \
   /usr/local/include/CppLinuxSerial/Exception.hpp \
-  threadweaver/threadweaver.hpp \
-  /usr/include/unistd.h \
-  /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
-  /usr/include/x86_64-linux-gnu/bits/environments.h \
-  /usr/include/x86_64-linux-gnu/bits/confname.h \
-  /usr/include/x86_64-linux-gnu/bits/getopt_posix.h \
-  /usr/include/x86_64-linux-gnu/bits/getopt_core.h \
-  /usr/include/x86_64-linux-gnu/bits/unistd_ext.h \
-  /usr/include/linux/close_range.h \
-  threadweaver/debugging.hpp \
-  model/patterns/observer/observable.hpp \
-  /usr/include/c++/11/list \
-  /usr/include/c++/11/bits/stl_list.h \
-  /usr/include/c++/11/bits/list.tcc \
-  model/patterns/observer/observer.hpp \
   /usr/include/c++/11/iterator \
   /usr/include/c++/11/bits/stream_iterator.h \
   /usr/include/c++/11/algorithm \
@@ -594,9 +602,6 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o: pluginManagem
   /usr/include/c++/11/pstl/execution_defs.h \
   pipeline/pipeline.hpp \
   pipeline/abstract/pipelineNode.hpp \
-  /usr/include/c++/11/mutex \
-  /usr/include/c++/11/bits/std_mutex.h \
-  /usr/include/c++/11/bits/unique_lock.h \
   /usr/local/include/opencv4/opencv2/core.hpp \
   /usr/local/include/opencv4/opencv2/core/cvdef.h \
   /usr/local/include/opencv4/opencv2/core/version.hpp \
@@ -1103,35 +1108,33 @@ model/controllers/ui/menu.hpp:
 
 /usr/include/c++/11/pstl/glue_memory_impl.h:
 
-/usr/include/x86_64-linux-gnu/asm/posix_types.h:
-
-/usr/include/linux/posix_types.h:
+/usr/include/c++/11/bits/stl_list.h:
 
-/usr/include/c++/11/bits/unordered_map.h:
+model/patterns/observer/observable.hpp:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/tmmintrin.h:
+/usr/include/c++/11/type_traits:
 
-/usr/include/x86_64-linux-gnu/asm/termbits.h:
+/usr/lib/gcc/x86_64-linux-gnu/11/include/mwaitxintrin.h:
 
-/usr/include/oneapi/tbb/tbb_allocator.h:
+/usr/include/time.h:
 
-/usr/include/linux/ioctl.h:
+/usr/local/include/opencv4/opencv2/core/ocl.hpp:
 
-/usr/include/c++/11/bits/stl_tempbuf.h:
+/usr/include/x86_64-linux-gnu/bits/environments.h:
 
-/usr/include/GL/glext.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/os_defines.h:
 
-/usr/include/asm-generic/ioctls.h:
+/usr/include/x86_64-linux-gnu/bits/posix_opt.h:
 
-/usr/include/c++/11/bits/fstream.tcc:
+threadweaver/threadweaver.hpp:
 
-/usr/include/asm-generic/posix_types.h:
+/usr/include/c++/11/debug/debug.h:
 
-/usr/include/c++/11/pstl/glue_algorithm_impl.h:
+/usr/lib/gcc/x86_64-linux-gnu/11/include/syslimits.h:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h:
+/usr/include/c++/11/bits/unique_lock.h:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h:
+/usr/include/c++/11/bits/uses_allocator.h:
 
 /usr/include/c++/11/bits/std_thread.h:
 
@@ -1155,6 +1158,10 @@ model/hardware/hw/inputManager.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx2intrin.h:
 
+/usr/include/x86_64-linux-gnu/asm/termbits.h:
+
+/usr/include/oneapi/tbb/tbb_allocator.h:
+
 model/patterns/commands/commands.hpp:
 
 /usr/include/c++/11/bits/regex_automaton.h:
@@ -1177,10 +1184,6 @@ model/patterns/commands/commands.hpp:
 
 /usr/include/c++/11/vector:
 
-/usr/include/oneapi/tbb/partitioner.h:
-
-/usr/include/c++/11/bits/fs_ops.h:
-
 /usr/include/c++/11/bits/refwrap.h:
 
 /usr/include/linux/stddef.h:
@@ -1207,10 +1210,6 @@ model/patterns/commands/commands.hpp:
 
 /usr/include/c++/11/bits/quoted_string.h:
 
-/usr/include/c++/11/bits/uses_allocator.h:
-
-/usr/include/c++/11/bits/unique_lock.h:
-
 /usr/include/c++/11/array:
 
 /usr/include/c++/11/ostream:
@@ -1227,6 +1226,8 @@ model/patterns/commands/commands.hpp:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h:
 
+/usr/include/x86_64-linux-gnu/bits/unistd_ext.h:
+
 /usr/include/c++/11/bits/locale_facets_nonio.h:
 
 /usr/include/c++/11/bits/locale_facets.tcc:
@@ -1241,6 +1242,8 @@ model/patterns/commands/commands.hpp:
 
 /usr/include/c++/11/bits/atomic_lockfree_defines.h:
 
+model/hardware/hw/inputKeys.hpp:
+
 /usr/local/include/opencv4/opencv2/flann/kdtree_index.h:
 
 /usr/include/c++/11/bits/ios_base.h:
@@ -1427,6 +1430,10 @@ pipeline/members/uiDrawerNode.hpp:
 
 /usr/include/c++/11/pstl/parallel_impl.h:
 
+/usr/include/c++/11/bits/std_mutex.h:
+
+/usr/include/c++/11/tr1/poly_laguerre.tcc:
+
 /usr/include/x86_64-linux-gnu/bits/types/sigset_t.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/stdarg.h:
@@ -1445,13 +1452,13 @@ pipeline/members/uiDrawerNode.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/timex.h:
 
-/usr/include/c++/11/bits/regex_automaton.tcc:
+/usr/include/c++/11/bits/uses_allocator_args.h:
 
-/usr/include/c++/11/debug/debug.h:
+/usr/include/x86_64-linux-gnu/bits/iscanonical.h:
 
-threadweaver/threadweaver.hpp:
+/usr/include/c++/11/ext/string_conversions.h:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/syslimits.h:
+/usr/include/c++/11/bits/regex_automaton.tcc:
 
 /usr/include/c++/11/functional:
 
@@ -1489,6 +1496,16 @@ threadweaver/threadweaver.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/wchar.h:
 
+/usr/include/errno.h:
+
+/usr/include/c++/11/bits/alloc_traits.h:
+
+pluginManagement/Plugin.cpp:
+
+/usr/include/x86_64-linux-gnu/bits/stdio_lim.h:
+
+/usr/lib/gcc/x86_64-linux-gnu/11/include/amxbf16intrin.h:
+
 pipeline/pipeline.hpp:
 
 /usr/include/oneapi/tbb/parallel_scan.h:
@@ -1499,6 +1516,8 @@ pipeline/pipeline.hpp:
 
 /usr/local/include/opencv4/opencv2/core/fast_math.hpp:
 
+/usr/include/x86_64-linux-gnu/bits/confname.h:
+
 /usr/include/c++/11/bits/ostream_insert.h:
 
 /usr/include/x86_64-linux-gnu/bits/types/__fpos_t.h:
@@ -1511,14 +1530,18 @@ pluginManagement/Plugin.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/types/__sigset_t.h:
 
+threadweaver/debugging.hpp:
+
+/usr/include/x86_64-linux-gnu/bits/timesize.h:
+
 /usr/include/x86_64-linux-gnu/c++/11/bits/cpu_defines.h:
 
 /usr/include/x86_64-linux-gnu/bits/wctype-wchar.h:
 
-/usr/include/c++/11/system_error:
-
 /usr/include/features-time64.h:
 
+/usr/include/c++/11/system_error:
+
 /usr/include/x86_64-linux-gnu/bits/types/locale_t.h:
 
 /usr/include/c++/11/bits/shared_ptr.h:
@@ -1529,20 +1552,6 @@ pluginManagement/Plugin.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/byteswap.h:
 
-/usr/include/errno.h:
-
-/usr/include/c++/11/bits/alloc_traits.h:
-
-pluginManagement/Plugin.cpp:
-
-/usr/include/x86_64-linux-gnu/bits/timesize.h:
-
-threadweaver/debugging.hpp:
-
-/usr/include/x86_64-linux-gnu/bits/stdio_lim.h:
-
-/usr/lib/gcc/x86_64-linux-gnu/11/include/amxbf16intrin.h:
-
 /usr/include/c++/11/string:
 
 /usr/include/x86_64-linux-gnu/bits/uio_lim.h:
@@ -1561,25 +1570,15 @@ threadweaver/debugging.hpp:
 
 /usr/include/oneapi/tbb/detail/_utils.h:
 
-/usr/include/x86_64-linux-gnu/asm/ioctls.h:
-
-/usr/include/c++/11/tr1/exp_integral.tcc:
-
 /usr/include/c++/11/bits/stl_multimap.h:
 
 /usr/include/features.h:
 
-/usr/local/include/opencv4/opencv2/objdetect/face.hpp:
-
-/usr/include/x86_64-linux-gnu/asm/ioctl.h:
-
 /usr/include/c++/11/bits/atomic_base.h:
 
-/usr/local/include/opencv4/opencv2/features2d.hpp:
-
-/usr/include/x86_64-linux-gnu/asm/posix_types_64.h:
+/usr/include/c++/11/pstl/glue_numeric_impl.h:
 
-/usr/include/x86_64-linux-gnu/bits/cpu-set.h:
+/usr/include/c++/11/ext/numeric_traits.h:
 
 /usr/include/asm-generic/errno-base.h:
 
@@ -1595,18 +1594,6 @@ threadweaver/debugging.hpp:
 
 /usr/include/c++/11/cmath:
 
-/usr/include/c++/11/type_traits:
-
-model/patterns/observer/observable.hpp:
-
-/usr/lib/gcc/x86_64-linux-gnu/11/include/mwaitxintrin.h:
-
-/usr/include/x86_64-linux-gnu/c++/11/bits/os_defines.h:
-
-/usr/local/include/opencv4/opencv2/core/ocl.hpp:
-
-/usr/include/x86_64-linux-gnu/bits/environments.h:
-
 /usr/include/c++/11/ext/type_traits.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vnnivlintrin.h:
@@ -1645,11 +1632,15 @@ model/patterns/observer/observable.hpp:
 
 /usr/include/c++/11/bits/regex.tcc:
 
-/usr/include/x86_64-linux-gnu/bits/libc-header-start.h:
+/usr/include/c++/11/streambuf:
 
-/usr/local/include/CppLinuxSerial/SerialPort.hpp:
+/usr/include/x86_64-linux-gnu/bits/getopt_core.h:
 
-/usr/include/c++/11/streambuf:
+/usr/include/c++/11/bits/functexcept.h:
+
+/usr/local/include/opencv4/opencv2/objdetect/face.hpp:
+
+/usr/include/x86_64-linux-gnu/asm/ioctl.h:
 
 /usr/include/GL/gl.h:
 
@@ -1693,6 +1684,10 @@ model/perfcheckers/framerate.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/waitflags.h:
 
+/usr/include/x86_64-linux-gnu/bits/setjmp.h:
+
+/usr/include/x86_64-linux-gnu/bits/pthreadtypes-arch.h:
+
 /usr/include/locale.h:
 
 /usr/include/c++/11/pstl/glue_numeric_defs.h:
@@ -1745,11 +1740,11 @@ model/hardware/hw/extendables/Device.hpp:
 
 /usr/include/oneapi/tbb/detail/_intrusive_list_node.h:
 
-/usr/include/time.h:
+/usr/include/x86_64-linux-gnu/bits/cpu-set.h:
 
-/usr/include/x86_64-linux-gnu/bits/pthreadtypes-arch.h:
+/usr/local/include/opencv4/opencv2/features2d.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/setjmp.h:
+/usr/include/x86_64-linux-gnu/asm/posix_types_64.h:
 
 /usr/include/c++/11/bits/locale_facets_nonio.tcc:
 
@@ -1757,11 +1752,7 @@ model/hardware/hw/extendables/Device.hpp:
 
 /usr/include/c++/11/ext/atomicity.h:
 
-/usr/local/include/opencv4/opencv2/core/affine.hpp:
-
-/usr/include/c++/11/bits/std_function.h:
-
-/usr/include/x86_64-linux-gnu/bits/types/timer_t.h:
+/usr/include/c++/11/mutex:
 
 /usr/include/x86_64-linux-gnu/bits/pthreadtypes.h:
 
@@ -1791,22 +1782,18 @@ model/controllers/ui/uiController.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/types/__fpos64_t.h:
 
-/usr/include/c++/11/fstream:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/fxsrintrin.h:
 
-/usr/include/asm-generic/ioctl.h:
-
 /usr/include/c++/11/bits/functional_hash.h:
 
 /usr/local/include/opencv4/opencv2/imgproc.hpp:
 
 /usr/include/c++/11/bits/string_view.tcc:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/lwpintrin.h:
-
 /usr/include/c++/11/bits/exception_defines.h:
 
+/usr/lib/gcc/x86_64-linux-gnu/11/include/lwpintrin.h:
+
 /usr/include/oneapi/tbb/task.h:
 
 /usr/include/stdlib.h:
@@ -1815,31 +1802,61 @@ model/controllers/ui/uiController.hpp:
 
 /usr/local/include/opencv4/opencv2/core/saturate.hpp:
 
-/usr/include/c++/11/bits/unique_ptr.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/gthr.h:
 
-/usr/local/include/CppLinuxSerial/Exception.hpp:
+/usr/include/c++/11/bits/list.tcc:
 
-/usr/include/x86_64-linux-gnu/bits/posix_opt.h:
+/usr/include/x86_64-linux-gnu/bits/libc-header-start.h:
 
-/usr/include/x86_64-linux-gnu/bits/confname.h:
+/usr/local/include/CppLinuxSerial/SerialPort.hpp:
 
-/usr/include/c++/11/bits/functexcept.h:
+/usr/include/c++/11/fstream:
 
-/usr/include/x86_64-linux-gnu/bits/getopt_core.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h:
 
-/usr/include/x86_64-linux-gnu/bits/unistd_ext.h:
+/usr/include/c++/11/bits/fs_ops.h:
 
-/usr/include/c++/11/bits/uses_allocator_args.h:
+/usr/include/oneapi/tbb/partitioner.h:
 
-/usr/include/c++/11/bits/stl_list.h:
+/usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h:
 
-/usr/include/c++/11/ext/string_conversions.h:
+/usr/include/c++/11/bits/fstream.tcc:
 
-/usr/include/x86_64-linux-gnu/bits/iscanonical.h:
+/usr/include/asm-generic/posix_types.h:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/gthr.h:
+/usr/include/c++/11/pstl/glue_algorithm_impl.h:
 
-/usr/include/c++/11/bits/list.tcc:
+/usr/include/x86_64-linux-gnu/asm/ioctls.h:
+
+/usr/include/c++/11/tr1/exp_integral.tcc:
+
+/usr/include/GL/glext.h:
+
+/usr/include/asm-generic/ioctls.h:
+
+/usr/include/linux/ioctl.h:
+
+/usr/include/c++/11/bits/stl_tempbuf.h:
+
+/usr/local/include/opencv4/opencv2/core/affine.hpp:
+
+/usr/include/x86_64-linux-gnu/bits/types/timer_t.h:
+
+/usr/include/c++/11/bits/std_function.h:
+
+/usr/include/asm-generic/ioctl.h:
+
+/usr/include/c++/11/bits/unordered_map.h:
+
+/usr/lib/gcc/x86_64-linux-gnu/11/include/tmmintrin.h:
+
+/usr/include/linux/posix_types.h:
+
+/usr/include/x86_64-linux-gnu/asm/posix_types.h:
+
+/usr/include/c++/11/bits/unique_ptr.h:
+
+/usr/local/include/CppLinuxSerial/Exception.hpp:
 
 /usr/include/c++/11/algorithm:
 
@@ -1881,12 +1898,6 @@ pluginManagement/PluginManager.hpp:
 
 pipeline/abstract/pipelineNode.hpp:
 
-/usr/include/c++/11/mutex:
-
-/usr/include/c++/11/bits/std_mutex.h:
-
-/usr/include/c++/11/tr1/poly_laguerre.tcc:
-
 /usr/local/include/opencv4/opencv2/core.hpp:
 
 /usr/include/c++/11/tr1/beta_function.tcc:
@@ -2151,10 +2162,10 @@ model/hardware/hw/extendables/SerialDevice.hpp:
 
 /usr/include/tbb/task_arena.h:
 
-/usr/include/c++/11/cwchar:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/fmaintrin.h:
 
+/usr/include/c++/11/cwchar:
+
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512erintrin.h:
 
 /usr/include/oneapi/tbb/detail/_task.h:
@@ -2258,7 +2269,3 @@ model/hardware/hw/extendables/SerialDevice.hpp:
 /usr/include/tbb/task.h:
 
 /usr/include/c++/11/numeric:
-
-/usr/include/c++/11/ext/numeric_traits.h:
-
-/usr/include/c++/11/pstl/glue_numeric_impl.h:
diff --git a/src/prog b/src/prog
index 408ad78..d39a7b0 100755
Binary files a/src/prog and b/src/prog differ