diff --git a/CMakeLists.txt b/CMakeLists.txt
index 49112ee..74d79e3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,8 @@ project(ProtocolDeveloppement)
 
 set(CMAKE_CXX_STANDARD 14)
 
-set(CMAKE_PREFIX_PATH "/Qt/6.5.0/android_arm64_v8a/lib/cmake")
+#set(CMAKE_PREFIX_PATH "/Qt/6.5.0/android_arm64_v8a/lib/cmake")
+set(CMAKE_PREFIX_PATH "D:/programme/Qt/6.5.0/mingw_64/lib/cmake")
 
 
 find_package(Qt6Widgets REQUIRED)
@@ -13,6 +14,8 @@ find_package(Qt6Gui REQUIRED)
 add_executable(${PROJECT_NAME}
         main.cpp
         stompframe.cpp
+        stomp.cpp
+        app.cpp
 )
 
 link_directories( ${PCL_LIBRARY_DIRS} )
diff --git a/app.cpp b/app.cpp
index cbbb67b..ec96429 100644
--- a/app.cpp
+++ b/app.cpp
@@ -25,6 +25,7 @@ void App::receiveIndication(int id, QString destination, QString body) {
     if(destination.contains("field")){
         fillField(body);
     }
+    computeMove();
 }
 
 void App::disconnectConfirmation() {
@@ -40,26 +41,51 @@ void App::addGem(int x, int y, int pts) {
     g.x = x;
     g.y = y;
     g.pts = pts;
+    g.relativePts = computeRelativePts(g);
     gems_.append(g);
 }
 
+void App::printGem() {
+    for (Gem g: gems_) {
+        qDebug() << g.x << ":" << g.y << " - " << g.pts << Qt::endl;
+    }
+}
+
 void App::fillField(QString body) {
-    static int x = 0;
-    static int y = 0;
+    int x = 0;
+    int y = 0;
+    gems_.clear();
     for(int i = 0; i<body.length(); i++) {
         const QChar c = body.at(i);
-        if(c == 'g') addGem(x, y, 100);
-        if(c == 'G') addGem(x, y, 250);
-        if(c == 'D') addGem(x, y, 500);
         if(c == 'Y') {
             myVehicle_.x = x;
             myVehicle_.y = y;
             myVehicle_.me = true;
         }
+        if(c == 'g') addGem(x, y, 100);
+        if(c == 'G') addGem(x, y, 250);
+        if(c == 'D') addGem(x, y, 500);
         if(c == '\n') {
             y++;
             x = 0;
+        } else {
+            x++;
         }
-        x++;
     }
 }
+
+QVector2D App::computeRelativePts(Gem g) {
+    QVector2D v = QVector2D(myVehicle_.x, myVehicle_.y) - QVector2D(g.x, g.y);
+}
+
+void App::computeMove() {
+    Gem myGem;
+    for(Gem g : gems_) {
+        if(g.pts > myGem.pts) myGem = g;
+    }
+    if(myGem.x>myVehicle_.x) st_->sendRequest("/topic/sdi10.gem.command", "right");
+    else if(myGem.x<myVehicle_.x) st_->sendRequest("/topic/sdi10.gem.command", "left");
+    else if(myGem.y>myVehicle_.y) st_->sendRequest("/topic/sdi10.gem.command", "down");
+    else if(myGem.y<myVehicle_.y) st_->sendRequest("/topic/sdi10.gem.command", "up");
+}
+
diff --git a/app.h b/app.h
index aada023..0b3d136 100644
--- a/app.h
+++ b/app.h
@@ -4,6 +4,7 @@
 #include <QObject>
 #include "interface/iStompObserver.h"
 #include "stomp.h"
+#include <QVector2D>
 
 class App : public QObject, public interface::iStompObserver {
 public:
@@ -26,6 +27,7 @@ private:
         int x;
         int y;
         int pts;
+        QVector2D relativePts;
     } Gem;
 
     typedef struct {
@@ -37,7 +39,10 @@ private:
     QVector<Gem> gems_;
     Vehicle myVehicle_;
     void addGem(int x, int y, int pts);
+    void printGem();
     void fillField(QString body);
+    QVector2D computeRelativePts(Gem g);
+    void computeMove();
 
 };