From 3b8b3a2d6209eb26407a0de4a81844e91094eb95 Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Thu, 29 May 2025 08:26:05 -0400
Subject: [PATCH] send one time

---
 .../include/modelec_strat/enemy_manager.hpp   |  2 ++
 src/modelec_strat/src/enemy_manager.cpp       | 25 +++++++++++++------
 2 files changed, 20 insertions(+), 7 deletions(-)

diff --git a/src/modelec_strat/include/modelec_strat/enemy_manager.hpp b/src/modelec_strat/include/modelec_strat/enemy_manager.hpp
index 577a7ac..ff6ccf4 100644
--- a/src/modelec_strat/include/modelec_strat/enemy_manager.hpp
+++ b/src/modelec_strat/include/modelec_strat/enemy_manager.hpp
@@ -38,6 +38,8 @@ namespace Modelec
         bool enemy_initialized_ = false;
         rclcpp::Time last_publish_time_;
 
+        bool is_enemy_close_ = false;
+
         float min_move_threshold_mm_ = 0.0f;
         float refresh_rate_s_ = 0.0f;
 
diff --git a/src/modelec_strat/src/enemy_manager.cpp b/src/modelec_strat/src/enemy_manager.cpp
index e0ffd57..1624bc3 100644
--- a/src/modelec_strat/src/enemy_manager.cpp
+++ b/src/modelec_strat/src/enemy_manager.cpp
@@ -138,16 +138,27 @@ namespace Modelec
                 // Check if in bounds
                 if (x_global >= 0 && x_global <= (map_width_ - margin_detection_table_) && y_global >= 0 && y_global <= (map_height_ - margin_detection_table_))
                 {
-                    modelec_interfaces::msg::OdometryPos emergency_msg;
-                    emergency_msg.x = x_global;
-                    emergency_msg.y = y_global;
-                    emergency_msg.theta = 0.0;
+                    if (!is_enemy_close_)
+                    {
+                        modelec_interfaces::msg::OdometryPos emergency_msg;
+                        emergency_msg.x = x_global;
+                        emergency_msg.y = y_global;
+                        emergency_msg.theta = 0.0;
 
-                    close_enemy_pos_pub_->publish(emergency_msg);
-                    RCLCPP_WARN(this->get_logger(), "EMERGENCY CLOSE OBJECT DETECTED at x=%.2f y=%.2f (%.1f mm)", x_global, y_global, range_mm);
+                        close_enemy_pos_pub_->publish(emergency_msg);
+                        RCLCPP_WARN(this->get_logger(), "EMERGENCY CLOSE OBJECT DETECTED at x=%.2f y=%.2f (%.1f mm)", x_global, y_global, range_mm);
+
+                        is_enemy_close_ = true;
+                    }
+
+                    break;
                 }
 
-                break;;
+                is_enemy_close_ = false;
+            }
+            else
+            {
+                is_enemy_close_ = false;
             }
 
             // Convert to local robot frame