From dbe9afa69ce201261e28f7cfb88db19507ab1103 Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Thu, 29 May 2025 09:27:56 -0400
Subject: [PATCH] patch

---
 src/modelec_com/src/multiple_serial_listener.cpp           | 2 --
 src/modelec_strat/data/config.xml                          | 6 +++---
 src/modelec_strat/src/enemy_manager.cpp                    | 6 ++----
 src/modelec_strat/src/missions/banner_mission.cpp          | 2 +-
 src/modelec_strat/src/missions/prepare_concert_mission.cpp | 2 +-
 src/modelec_strat/src/navigation_helper.cpp                | 4 +++-
 src/modelec_strat/src/strat_fms.cpp                        | 5 ++---
 7 files changed, 12 insertions(+), 15 deletions(-)

diff --git a/src/modelec_com/src/multiple_serial_listener.cpp b/src/modelec_com/src/multiple_serial_listener.cpp
index 400edfd..04d0544 100644
--- a/src/modelec_com/src/multiple_serial_listener.cpp
+++ b/src/modelec_com/src/multiple_serial_listener.cpp
@@ -72,8 +72,6 @@ namespace Modelec
                 {
                     std::string d = std::string(read_buffer_.begin(), read_buffer_.begin() + bytes_transferred);
 
-                    RCLCPP_INFO(rclcpp::get_logger("SerialListener"), "Received data: %s", d.c_str());
-
                     auto allMess = Modelec::split(d, '\n');
                     for (const auto& mess : allMess)
                     {
diff --git a/src/modelec_strat/data/config.xml b/src/modelec_strat/data/config.xml
index 3700056..51e6e51 100644
--- a/src/modelec_strat/data/config.xml
+++ b/src/modelec_strat/data/config.xml
@@ -7,9 +7,9 @@
         </size>
         <detection>
             <min_move_threshold_mm>50</min_move_threshold_mm>
-            <refresh_rate>0.5</refresh_rate>
+            <refresh_rate>3</refresh_rate>
             <max_stationary_time_s>5</max_stationary_time_s>
-            <min_emergency_distance_mm>50</min_emergency_distance_mm>
+            <min_emergency_distance_mm>500</min_emergency_distance_mm>
             <margin_detection_table_mm>50</margin_detection_table_mm>
         </detection>
         <factor_close_enemy>-0.3</factor_close_enemy>
@@ -93,4 +93,4 @@
         <time_to_put_zone>77</time_to_put_zone>
         <time_to_remove_top_pot>65</time_to_remove_top_pot>
     </pami>
-</config>
+</config>
\ No newline at end of file
diff --git a/src/modelec_strat/src/enemy_manager.cpp b/src/modelec_strat/src/enemy_manager.cpp
index fb3d57b..1e298a4 100644
--- a/src/modelec_strat/src/enemy_manager.cpp
+++ b/src/modelec_strat/src/enemy_manager.cpp
@@ -156,10 +156,6 @@ namespace Modelec
 
                 is_enemy_close_ = false;
             }
-            else
-            {
-                is_enemy_close_ = false;
-            }
 
             // Convert to local robot frame
             double x_local = range * std::cos(angle) * 1000.0; // meters -> mm
@@ -192,6 +188,8 @@ namespace Modelec
 
         if (min_distance < std::numeric_limits<double>::max())
         {
+            is_enemy_close_ = false;
+
             modelec_interfaces::msg::OdometryPos enemy_pos;
             enemy_pos.x = best_x;
             enemy_pos.y = best_y;
diff --git a/src/modelec_strat/src/missions/banner_mission.cpp b/src/modelec_strat/src/missions/banner_mission.cpp
index 73c9667..490e242 100644
--- a/src/modelec_strat/src/missions/banner_mission.cpp
+++ b/src/modelec_strat/src/missions/banner_mission.cpp
@@ -74,7 +74,7 @@ namespace Modelec
 
         case UNDEPLOY_BANNER:
             {
-                nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 600, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
+                nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 550, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
 
                 step_ = GO_FORWARD;
             }
diff --git a/src/modelec_strat/src/missions/prepare_concert_mission.cpp b/src/modelec_strat/src/missions/prepare_concert_mission.cpp
index f7a8ae8..3140181 100644
--- a/src/modelec_strat/src/missions/prepare_concert_mission.cpp
+++ b/src/modelec_strat/src/missions/prepare_concert_mission.cpp
@@ -43,7 +43,7 @@ namespace Modelec
             {
                 column_ = col;
 
-                auto pos = column_->GetOptimizedGetPos(nav_->GetCurrentPos()).GetTakeBasePosition();
+                auto pos = column_->GetOptimizedGetPos(nav_->GetCurrentPos()).GetTakePosition(400);
 
                 auto res = nav_->GoToRotateFirst(pos, false, Pathfinding::FREE | Pathfinding::WALL);
                 if (res != Pathfinding::FREE)
diff --git a/src/modelec_strat/src/navigation_helper.cpp b/src/modelec_strat/src/navigation_helper.cpp
index 3b1c79b..c51b6cf 100644
--- a/src/modelec_strat/src/navigation_helper.cpp
+++ b/src/modelec_strat/src/navigation_helper.cpp
@@ -539,7 +539,7 @@ namespace Modelec
 
         if (HasArrived())
         {
-            RCLCPP_INFO(node_->get_logger(), "No path to replanning, ignoring enemy position");
+            RCLCPP_DEBUG(node_->get_logger(), "No path to replanning, ignoring enemy position");
             return;
         }
 
@@ -552,6 +552,8 @@ namespace Modelec
 
     void NavigationHelper::OnEnemyPositionClose(const modelec_interfaces::msg::OdometryPos::SharedPtr msg)
     {
+        RCLCPP_INFO(node_->get_logger(), "Enemy is close, replanning...");
+
         last_was_close_enemy_ = true;
 
         pathfinding_->OnEnemyPosition(msg);
diff --git a/src/modelec_strat/src/strat_fms.cpp b/src/modelec_strat/src/strat_fms.cpp
index b53594f..811906f 100644
--- a/src/modelec_strat/src/strat_fms.cpp
+++ b/src/modelec_strat/src/strat_fms.cpp
@@ -158,10 +158,9 @@ namespace Modelec
                 if (!is_banner_done_)
                 {
                     Transition(State::DO_PROMOTION, "Start promotion");
-                }
-                else
+                }else if (elapsed.seconds() >= 96)
                 {
-                    Transition(State::STOP, "Start prepare concert");
+                    Transition(State::STOP, "Finish");
                 }
                 // TODO : check the time needed by the mission
                 /*else if (elapsed.seconds() < 70)