diff --git a/examples/00_graphics/graphic_examples.py b/examples/00_graphics/graphic_examples.py
index 97777710..ae9dcb45 100644
--- a/examples/00_graphics/graphic_examples.py
+++ b/examples/00_graphics/graphic_examples.py
@@ -37,7 +37,7 @@
 DefaultView.set(fig1)
 DefaultView.draw_box([[2.2,2.5],[2.2,2.5]],[Color.blue(),Color.cyan(0.8)])
 
-fig2.draw_AUV([1,1,3.14/2],1.,[Color.black(),Color.yellow()])
+fig2.draw_AUV([1,1,3.14/2],2.,[Color.black(),Color.yellow()])
 fig2.draw_tank([2,1,3.14/2],1.,[Color.black(),Color.yellow()])
 fig2.draw_pie([2,2],[1.5,2.5],[(3*3.14/4)-0.5,(3*3.14/4)+0.5],[Color.blue(),Color.cyan()])
 fig2.draw_polyline([[2,-0.5],[4,0.5],[3,1.5],[4,2.5],[3,3]], Color.red())
diff --git a/src/graphics/3rd/vibes/vibes.cpp b/src/graphics/3rd/vibes/vibes.cpp
index 63038abd..e55a9c13 100644
--- a/src/graphics/3rd/vibes/vibes.cpp
+++ b/src/graphics/3rd/vibes/vibes.cpp
@@ -1,7 +1,7 @@
 // This file is part of VIBes' C++ API
 //
 // Copyright (c) 2013-2015 Vincent Drevelle, Jeremy Nicola, Simon Rohou,
-//                         Benoit Desrochers
+//                         Benoit Desrochers, Maël Godard
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal
@@ -28,6 +28,7 @@
 #include <cassert>
 #include <limits>
 #include <iomanip>
+#include <memory>
 
 //
 // Vibes properties key,value system implementation
@@ -94,7 +95,8 @@ namespace vibes
   namespace {
 
       /// Current communication file descriptor
-      FILE *channel=0;
+      // FILE *channel=nullptr;
+      std::shared_ptr<FILE> channel;
 
       /// Current figure name (client-maintained state)
       string current_fig="default";
@@ -125,59 +127,83 @@ namespace vibes
 
   void beginDrawing(const std::string &fileName)
   {
-    channel=fopen(fileName.c_str(),"a");
+    if (!channel)
+      channel = std::shared_ptr<FILE>(
+        fopen(fileName.c_str(),"a"),
+        // Callback for automatically closing the file
+        // when the shared_ptr is released:
+        [](FILE* file) {
+          if(file)
+            fclose(file);
+        }
+      );
+  }
+
+  void beginDrawingIfNeeded()
+  {
+    if (!channel)
+    {
+      beginDrawing();
+    }
   }
 
   void endDrawing()
   {
-    fclose(channel);
+
   }
 
+
+
   //
   // Figure management
   //
 
   void newFigure(const std::string &figureName)
   {
+    beginDrawingIfNeeded();
     std::string msg;
     if (!figureName.empty()) current_fig = figureName;
     msg ="{\"action\":\"new\","
           "\"figure\":\""+(figureName.empty()?current_fig:figureName)+"\"}\n\n";
-    fputs(msg.c_str(),channel);
-    fflush(channel);
+    fputs(msg.c_str(),channel.get());
+    fflush(channel.get());
   }
 
   void clearFigure(const std::string &figureName)
   {
+    beginDrawingIfNeeded();
     std::string msg;
     msg="{\"action\":\"clear\","
          "\"figure\":\""+(figureName.empty()?current_fig:figureName)+"\"}\n\n";
-    fputs(msg.c_str(),channel);
-    fflush(channel);
+    fputs(msg.c_str(),channel.get());
+    fflush(channel.get());
   }
 
   void closeFigure(const std::string &figureName)
   {
+    beginDrawingIfNeeded();
     std::string msg;
     msg="{\"action\":\"close\","
          "\"figure\":\""+(figureName.empty()?current_fig:figureName)+"\"}\n\n";
-    fputs(msg.c_str(),channel);
-    fflush(channel);
+    fputs(msg.c_str(),channel.get());
+    fflush(channel.get());
   }
 
   void saveImage(const std::string &fileName, const std::string &figureName)
   {
-      std::string msg;
-      msg="{\"action\":\"export\","
-           "\"figure\":\""+(figureName.empty()?current_fig:figureName)+"\","
-           "\"file\":\""+fileName+"\"}\n\n";
-      fputs(msg.c_str(),channel);
-      fflush(channel);
+    beginDrawingIfNeeded();
+    std::string msg;
+    msg="{\"action\":\"export\","
+          "\"figure\":\""+(figureName.empty()?current_fig:figureName)+"\","
+          "\"file\":\""+fileName+"\"}\n\n";
+    fputs(msg.c_str(),channel.get());
+    fflush(channel.get());
   }
 
   void selectFigure(const std::string &figureName)
   {
-     current_fig = figureName;
+    beginDrawingIfNeeded();
+    current_fig = figureName;
   }
 
 
@@ -187,17 +213,20 @@ namespace vibes
 
   void axisAuto(const std::string &figureName)
   {
+    beginDrawingIfNeeded();
     setFigureProperty(figureName.empty()?current_fig:figureName, "viewbox", "auto");
   }
 
   void axisLimits(const double &x_lb, const double &x_ub, const double &y_lb, const double &y_ub, const std::string &figureName)
   {
+    beginDrawingIfNeeded();
   Vec4d v4d = { x_lb, x_ub, y_lb, y_ub };
     setFigureProperty(figureName.empty()?current_fig:figureName, "viewbox", v4d);
   }
 
   void axisLabels(const std::string &x_label, const std::string &y_label, const std::string &figureName)
   {
+    beginDrawingIfNeeded();
     vector<string> labels;
     labels.push_back(x_label);
     labels.push_back(y_label);
@@ -206,6 +235,7 @@ namespace vibes
 
   void axisLabels(const std::vector<std::string> &labels, const std::string &figureName)
   {
+    beginDrawingIfNeeded();
     setFigureProperty( figureName.empty()?current_fig:figureName, "axislabels", labels);
   }
 
@@ -216,18 +246,20 @@ namespace vibes
 
   void drawBox(const double &x_lb, const double &x_ub, const double &y_lb, const double &y_ub, Params params)
   {
+    beginDrawingIfNeeded();
   Vec4d v4d = { x_lb, x_ub, y_lb, y_ub };
     Params msg;
     msg["action"] = "draw";
     msg["figure"] = params.pop("figure",current_fig);
     msg["shape"] = (params, "type", "box", "bounds", v4d);
 
-    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-    fflush(channel);
+    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+    fflush(channel.get());
   }
 
   void drawBox(const vector<double> &bounds, Params params)
   {
+    beginDrawingIfNeeded();
     assert(!bounds.empty());
     assert(bounds.size()%2 == 0);
 
@@ -236,13 +268,14 @@ namespace vibes
     msg["figure"] = params.pop("figure",current_fig);
     msg["shape"] = (params, "type", "box", "bounds", vector<Value>(bounds.begin(),bounds.end()));
 
-    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-    fflush(channel);
+    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+    fflush(channel.get());
   }
 
 
   void drawEllipse(const double &cx, const double &cy, const double &a, const double &b, const double &rot, Params params)
   {
+    beginDrawingIfNeeded();
     Vec2d vc = { cx, cy };
     Vec2d va = {a, b};
       Params msg;
@@ -253,14 +286,15 @@ namespace vibes
                               "axis", va,
                               "orientation", rot);
 
-      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-      fflush(channel);
+      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+      fflush(channel.get());
   }
 
   void drawConfidenceEllipse(const double &cx, const double &cy,
                              const double &sxx, const double &sxy, const double &syy,
                              const double &K, Params params)
   {
+    beginDrawingIfNeeded();
     Vec2d vc = {cx, cy};
     Vec4d vcov = { sxx, sxy, sxy, syy };
       Params msg;
@@ -271,13 +305,14 @@ namespace vibes
                               "covariance", vcov,
                               "sigma", K);
 
-      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-      fflush(channel);
+      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+      fflush(channel.get());
   }
 
   void drawConfidenceEllipse(const vector<double> &center, const vector<double> &cov,
                              const double &K, Params params)
   {
+      beginDrawingIfNeeded();
       Params msg;
       msg["action"] = "draw";
       msg["figure"] = params.pop("figure",current_fig);
@@ -286,13 +321,14 @@ namespace vibes
                               "covariance", vector<Value>(cov.begin(),cov.end()),
                               "sigma", K);
 
-      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-      fflush(channel);
+      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+      fflush(channel.get());
   }
 
   void drawSector(const double &cx, const double &cy, const double &a, const double &b,
                   const double &startAngle, const double &endAngle, Params params)
   {
+      beginDrawingIfNeeded();
       // Angle need to be in degree
       Params msg;
       Vec2d cxy={ cx, cy };
@@ -306,13 +342,14 @@ namespace vibes
                               "orientation", 0,
                               "angles", startEnd);
 
-      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-      fflush(channel);
+      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+      fflush(channel.get());
   }
 
   void drawPie(const double &cx, const double &cy, const double &r_min, const double &r_max,
                   const double &theta_min, const double &theta_max, Params params)
   {
+      beginDrawingIfNeeded();
       // Angle need to be in degree
       Params msg;
       Vec2d cxy = { cx, cy };
@@ -325,36 +362,39 @@ namespace vibes
                               "rho", rMinMax,
                               "theta", thetaMinMax);
 
-      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-      fflush(channel);
+      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+      fflush(channel.get());
   }
 
   void drawPoint(const double &cx, const double &cy, Params params)
   {
+      beginDrawingIfNeeded();
       Params msg;
       Vec2d cxy = { cx, cy };
       msg["action"]="draw";
       msg["figure"]=params.pop("figure",current_fig);
       msg["shape"]=(params, "type","point",
                             "point",cxy);
-      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-      fflush(channel);
+      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+      fflush(channel.get());
   }
 
   void drawPoint(const double &cx, const double &cy, const double &radius, Params params)
   {
+      beginDrawingIfNeeded();
       Params msg;
       Vec2d cxy = { cx, cy };
       msg["action"]="draw";
       msg["figure"]=params.pop("figure",current_fig);
       msg["shape"]=(params, "type","point",
                             "point",cxy,"Radius",radius);
-      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-      fflush(channel);
+      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+      fflush(channel.get());
   }
 
   void drawRing(const double &cx, const double &cy, const double &r_min, const double &r_max, Params params)
   {
+      beginDrawingIfNeeded();
       Params msg;
       Vec2d cxy = { cx, cy };
       Vec2d rMinMax = { r_min, r_max };
@@ -363,48 +403,52 @@ namespace vibes
       msg["shape"] = (params, "type", "ring",
                               "center", cxy,
                               "rho", rMinMax);
-      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-      fflush(channel);
+      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+      fflush(channel.get());
   }
 
   void drawBoxes(const std::vector<std::vector<double> > &bounds, Params params)
   {
+     beginDrawingIfNeeded();
      Params msg;
      msg["action"] = "draw";
      msg["figure"] = params.pop("figure",current_fig);
      msg["shape"] = (params, "type", "boxes",
                              "bounds", bounds);
 
-     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-     fflush(channel);
+     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+     fflush(channel.get());
   }
 
   void drawBoxesUnion(const std::vector<std::vector<double> > &bounds, Params params)
   {
+     beginDrawingIfNeeded();
      Params msg;
      msg["action"] = "draw";
      msg["figure"] = params.pop("figure",current_fig);
      msg["shape"] = (params, "type", "boxes union",
                              "bounds", bounds);
 
-     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-     fflush(channel);
+     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+     fflush(channel.get());
   }
 
   void drawLine(const std::vector<std::vector<double> > &points, Params params)
   {
+     beginDrawingIfNeeded();
      Params msg;
      msg["action"] = "draw";
      msg["figure"] = params.pop("figure",current_fig);
      msg["shape"] = (params, "type", "line",
                              "points", points);
 
-     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-     fflush(channel);
+     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+     fflush(channel.get());
   }
 
   void drawLine(const std::vector<double> &x, const std::vector<double> &y, Params params)
   {
+     beginDrawingIfNeeded();
      // Reshape x and y into a vector of points
      std::vector<Value> points;
      std::vector<double>::const_iterator itx = x.begin();
@@ -422,8 +466,8 @@ namespace vibes
      msg["shape"] = (params, "type", "line",
                              "points", points);
 
-     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-     fflush(channel);
+     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+     fflush(channel.get());
   }
 
   //void drawPoints(const std::vector<std::vector<double> > &points, Params params)
@@ -433,8 +477,8 @@ namespace vibes
   //    msg["figure"] = params.pop("figure",current_fig);
   //    msg["shape"] = (params, "type", "points",
   //                           "points", points);
-  //    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-  //    fflush(channel);
+  //    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+  //    fflush(channel.get());
   //}
 
   //void drawPoints(const std::vector<std::vector<double> > &points,  const std::vector<double> &colorLevels, const std::vector<double> &radiuses, Params params)
@@ -446,12 +490,13 @@ namespace vibes
   //                           "points", points,
   //                           "colorLevels", colorLevels,
   //                           "radiuses", radiuses);
-  //    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-  //    fflush(channel);
+  //    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+  //    fflush(channel.get());
   //}
 
   void drawPoints(const std::vector<double> &x, const std::vector<double> &y, Params params)
   {
+     beginDrawingIfNeeded();
       // Reshape x and y into a vector of points
      std::vector<Value> points;
      std::vector<double>::const_iterator itx = x.begin();
@@ -469,8 +514,8 @@ namespace vibes
      msg["shape"] = (params, "type", "points",
                              "centers", points);
 
-     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-     fflush(channel);
+     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+     fflush(channel.get());
   }
 
   //void drawPoints(const std::vector<double> &x, const std::vector<double> y, const std::vector<double> &colorLevels, Params params)
@@ -493,8 +538,8 @@ namespace vibes
   //                           "points", points,
   //                           "colorLevels", colorLevels);
 //
-  //   fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-  //   fflush(channel);
+  //   fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+  //   fflush(channel.get());
   //}
 
   //void drawPoints(const std::vector<double> &x, const std::vector<double> y, const std::vector<double> &colorLevels, const std::vector<double> &radiuses, Params params)
@@ -518,12 +563,13 @@ namespace vibes
   //                           "colorLevels", colorLevels,
   //                           "radiuses", radiuses);
 //
-  //   fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-  //   fflush(channel);
+  //   fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+  //   fflush(channel.get());
   //}
 
   void drawArrow(const double &xA, const double &yA, const double &xB, const double &yB, const double &tip_length, Params params)
   {
+    beginDrawingIfNeeded();
     // Reshape A and B into a vector of points
     std::vector<Value> points;
     Vec2d va = { xA, yA };
@@ -539,12 +585,13 @@ namespace vibes
                            "points", points,
                            "tip_length", tip_length);
 
-    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-    fflush(channel);
+    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+    fflush(channel.get());
   }
 
   void drawArrow(const std::vector<std::vector<double> > &points, const double &tip_length, Params params)
   {
+    beginDrawingIfNeeded();
     Params msg;
     msg["action"] = "draw";
     msg["figure"] = params.pop("figure",current_fig);
@@ -552,12 +599,13 @@ namespace vibes
                            "points", points,
                            "tip_length", tip_length);
 
-    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-    fflush(channel);
+    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+    fflush(channel.get());
   }
 
   void drawArrow(const std::vector<double> &x, const std::vector<double> &y, const double &tip_length, Params params)
   {
+    beginDrawingIfNeeded();
     // Reshape x and y into a vector of points
     std::vector<Value> points;
     std::vector<double>::const_iterator itx = x.begin();
@@ -576,12 +624,13 @@ namespace vibes
                             "points", points,
                             "tip_length", tip_length);
 
-    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-    fflush(channel);
+    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+    fflush(channel.get());
   }
 
   void drawPolygon(const std::vector<double> &x, const std::vector<double> &y, Params params)
   {
+    beginDrawingIfNeeded();
     // Reshape x and y into a vector of points
     std::vector<Value> points;
     std::vector<double>::const_iterator itx = x.begin();
@@ -599,12 +648,13 @@ namespace vibes
     msg["shape"] = (params, "type", "polygon",
                            "bounds", points);
 
-    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-    fflush(channel);
+    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+    fflush(channel.get());
   }
 
   void drawVehicle(const double &cx, const double &cy, const double &rot, const double &length, Params params)
   {
+      beginDrawingIfNeeded();
       Vec2d vc = { cx, cy };
       Params msg;
       msg["action"] = "draw";
@@ -614,12 +664,13 @@ namespace vibes
                               "length", length,
                               "orientation", rot);
 
-      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-      fflush(channel);
+      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+      fflush(channel.get());
   }
 
   void drawAUV(const double &cx, const double &cy, const double &rot, const double &length, Params params)
   {
+      beginDrawingIfNeeded();
       Vec2d vc = { cx, cy };
       Params msg;
       msg["action"] = "draw";
@@ -629,12 +680,13 @@ namespace vibes
                               "length", length,
                               "orientation", rot);
 
-      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-      fflush(channel);
+      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+      fflush(channel.get());
   }
 
   void drawTank(const double &cx, const double &cy, const double &rot, const double &length, Params params)
   {
+      beginDrawingIfNeeded();
       Vec2d vc = { cx, cy };
       Params msg;
       msg["action"] = "draw";
@@ -644,12 +696,13 @@ namespace vibes
                               "length", length,
                               "orientation", rot);
 
-      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-      fflush(channel);
+      fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+      fflush(channel.get());
   }
 
   void drawRaster(const std::string& rasterFilename, const double &xlb, const double &yub, const double &xres, const double &yres, Params params)
   {
+    beginDrawingIfNeeded();
     Vec2d ul_corner = { xlb, yub };
     Vec2d scale = { xres, yres };
 
@@ -662,13 +715,14 @@ namespace vibes
                             "scale", scale
                    );
 
-    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-    fflush(channel);
+    fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+    fflush(channel.get());
   }
 
 
   void newGroup(const std::string &name, Params params)
   {
+     beginDrawingIfNeeded();
      // Send message
      Params msg;
      msg["action"] = "draw";
@@ -676,19 +730,20 @@ namespace vibes
      msg["shape"] = (params, "type", "group",
                              "name", name);
 
-     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-     fflush(channel);
+     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+     fflush(channel.get());
   }
 
   void clearGroup(const std::string &figureName, const std::string &groupName)
   {
+     beginDrawingIfNeeded();
      Params msg;
      msg["action"] = "clear";
      msg["figure"] = figureName;
      msg["group"] = groupName;
 
-     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-     fflush(channel);
+     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+     fflush(channel.get());
   }
 
   void clearGroup(const std::string &groupName)
@@ -699,13 +754,14 @@ namespace vibes
 
   void removeObject(const std::string &figureName, const std::string &objectName)
   {
+     beginDrawingIfNeeded();
      Params msg;
      msg["action"] = "delete";
      msg["figure"] = figureName;
      msg["object"] = objectName;
 
-     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-     fflush(channel);
+     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+     fflush(channel.get());
   }
 
   void removeObject(const std::string &objectName)
@@ -716,23 +772,26 @@ namespace vibes
   // Property modification
   void setFigureProperties(const std::string &figureName, const Params &properties)
   {
+     beginDrawingIfNeeded();
      // Send message
      Params msg;
      msg["action"] = "set";
      msg["figure"] = figureName;
      msg["properties"] = properties;
 
-     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-     fflush(channel);
+     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+     fflush(channel.get());
   }
 
   void setFigureProperties(const Params &properties)
   {
+    beginDrawingIfNeeded();
      setFigureProperties(current_fig, properties);
   }
 
   void setObjectProperties(const std::string &figureName, const std::string &objectName, const Params &properties)
   {
+     beginDrawingIfNeeded();
      // Send message
      Params msg;
      msg["action"] = "set";
@@ -740,12 +799,12 @@ namespace vibes
      msg["object"] = objectName;
      msg["properties"] = properties;
 
-     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel);
-     fflush(channel);
+     fputs(Value(msg).toJSONString().append("\n\n").c_str(), channel.get());
+     fflush(channel.get());
   }
 
   void setObjectProperties(const std::string &objectName, const Params &properties)
   {
      setObjectProperties(current_fig, objectName, properties);
   }
-}
+}
\ No newline at end of file
diff --git a/src/graphics/3rd/vibes/vibes.h b/src/graphics/3rd/vibes/vibes.h
index 7fb859a9..bdfb094e 100644
--- a/src/graphics/3rd/vibes/vibes.h
+++ b/src/graphics/3rd/vibes/vibes.h
@@ -7,7 +7,7 @@
 // This file is part of VIBes' C++ API
 //
 // Copyright (c) 2013-2015 Vincent Drevelle, Jeremy Nicola, Simon Rohou,
-//                         Benoit Desrochers
+//                         Benoit Desrochers, Maël Godard
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal
@@ -221,9 +221,13 @@ namespace vibes {
   /// Start VIBes in file saving mode. All commands are saved to the specified file.
   void beginDrawing(const std::string &fileName);
 
+  /// Start VIBes in connected mode: connects to the VIBes viewer if needed.
+  void beginDrawingIfNeeded();
+
   /// Close connection to the viewer or the drawing file.
   void endDrawing();
 
+
   /** @} */ // end of group connection
 
 
@@ -460,7 +464,7 @@ namespace vibes {
     * \param params Optional attributes
     *
     * Draws a circle of radius \a r with center at (\a cx , \a cy ).
-    * This functions internally calls drawEllipse
+    * This functions internally calls \fn drawEllipse
     */
   inline void drawCircle(const double &cx, const double &cy, const double &r, Params params)
   {
@@ -537,4 +541,4 @@ namespace vibes {
 #define vibesDrawCircle(cx,cy,r,...) vibes::drawCircle(cx,cy,r,vibesParams(__VA_ARGS__))
 #endif //#ifdef VIBES_GENERATE_vibesXXX_MACROS
 
-#endif //#ifndef VIBES_CPP_API_H
+#endif //#ifndef VIBES_CPP_API_H
\ No newline at end of file
diff --git a/src/graphics/styles/codac2_Color.cpp b/src/graphics/styles/codac2_Color.cpp
index 8e6c6a78..879e0c27 100644
--- a/src/graphics/styles/codac2_Color.cpp
+++ b/src/graphics/styles/codac2_Color.cpp
@@ -2,7 +2,7 @@
  *  codac2_Color.cpp
  * ----------------------------------------------------------------------------
  *  \date       2024
- *  \author     Simon Rohou
+ *  \author     Simon Rohou, Maël Godard
  *  \copyright  Copyright 2024 Codac Team
  *  \license    GNU Lesser General Public License (LGPL)
  */
diff --git a/src/graphics/styles/codac2_Color.h b/src/graphics/styles/codac2_Color.h
index b3e3efd4..6d8a992c 100644
--- a/src/graphics/styles/codac2_Color.h
+++ b/src/graphics/styles/codac2_Color.h
@@ -2,7 +2,7 @@
  *  \file codac2_Color.h
  * ----------------------------------------------------------------------------
  *  \date       2024
- *  \author     Simon Rohou
+ *  \author     Simon Rohou, Maël Godard
  *  \copyright  Copyright 2024 Codac Team
  *  \license    GNU Lesser General Public License (LGPL)
  */