From f2d82e9adcfa300502b12f327b476adeca469321 Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Fri, 30 May 2025 07:28:10 -0400
Subject: [PATCH] banner mission

---
 src/modelec_strat/data/obstacles.xml             | 12 ++++++------
 .../src/missions/banner_mission.cpp              |  2 +-
 src/modelec_strat/src/strat_fms.cpp              | 16 ++++++++++------
 3 files changed, 17 insertions(+), 13 deletions(-)

diff --git a/src/modelec_strat/data/obstacles.xml b/src/modelec_strat/data/obstacles.xml
index a30ffed..e1e2905 100644
--- a/src/modelec_strat/data/obstacles.xml
+++ b/src/modelec_strat/data/obstacles.xml
@@ -5,25 +5,25 @@
     <Obstacle id="3" x="2150" y="1900" theta="1.5708" width="400" height="200" type="estrade"/>
 
     <!-- Gradin TOP TO BOTTOM    LEFT -->
-    <!--<Gradin id="10" x="825" y="1725" theta="-1.5708" width="400" height="100" type="gradin" />
+    <Gradin id="10" x="825" y="1725" theta="-1.5708" width="400" height="100" type="gradin" />
     <Gradin id="11" x="75" y="1325" theta="0" width="400" height="100" type="gradin"/>
     <Gradin id="12" x="1100" y="950" theta="1.5708" width="400" height="100" type="gradin" >
         <possible-angle theta="-1.5708" />
     </Gradin>
     <Gradin id="13" x="75" y="400" theta="0" width="400" height="100" type="gradin"/>
-    <Gradin id="14" x="775" y="250" theta="1.5708" width="400" height="100" type="gradin"/>-->
+    <Gradin id="14" x="775" y="250" theta="1.5708" width="400" height="100" type="gradin"/>
 
     <!-- Gradin TOP TO BOTTOM    RIGHT -->
-    <!--<Gradin id="20" x="2175" y="1725" theta="-1.5708" width="400" height="100" type="gradin" />
+    <Gradin id="20" x="2175" y="1725" theta="-1.5708" width="400" height="100" type="gradin" />
     <Gradin id="21" x="2925" y="1325" theta="3.1415" width="400" height="100" type="gradin"/>
     <Gradin id="22" x="1900" y="950" theta="1.5708" width="400" height="100" type="gradin">
         <possible-angle theta="-1.5708" />
     </Gradin>
     <Gradin id="23" x="2925" y="400" theta="3.1415" width="400" height="100" type="gradin"/>
-    <Gradin id="24" x="2225" y="250" theta="1.5708" width="400" height="100" type="gradin"/>-->
+    <Gradin id="24" x="2225" y="250" theta="1.5708" width="400" height="100" type="gradin"/>
 
     <!-- PAMI Start -->
-    <!--<Obstacle id="30" x="75" y="1750" theta="1.5708" width="150" height="450" type="pami-start"/>
-    <Obstacle id="31" x="2925" y="1750" theta="1.5708" width="150" height="450" type="pami-start"/>-->
+    <Obstacle id="30" x="75" y="1750" theta="1.5708" width="150" height="450" type="pami-start"/>
+    <Obstacle id="31" x="2925" y="1750" theta="1.5708" width="150" height="450" type="pami-start"/>
 
 </Obstacles>
diff --git a/src/modelec_strat/src/missions/banner_mission.cpp b/src/modelec_strat/src/missions/banner_mission.cpp
index d938d51..ae3e59f 100644
--- a/src/modelec_strat/src/missions/banner_mission.cpp
+++ b/src/modelec_strat/src/missions/banner_mission.cpp
@@ -41,7 +41,7 @@ namespace Modelec
 
         if (!nav_->HasArrived())
         {
-            if ((node_->now() - go_timeout_).seconds() < 4)
+            if ((node_->now() - go_timeout_).seconds() < 10)
             {
                 return;
             }
diff --git a/src/modelec_strat/src/strat_fms.cpp b/src/modelec_strat/src/strat_fms.cpp
index 0514f8d..7ebbbea 100644
--- a/src/modelec_strat/src/strat_fms.cpp
+++ b/src/modelec_strat/src/strat_fms.cpp
@@ -155,16 +155,20 @@ namespace Modelec
             {
                 auto elapsed = now - match_start_time_;
 
-                // TODO : next thing to upgrade to have a good strat
-                /*if (!is_banner_done_)
+                if (!is_banner_done_)
                 {
                     Transition(State::DO_PROMOTION, "Start promotion");
-                }*/
-                if (elapsed.seconds() >= 2)
+                }
+                else
+                {
+                    Transition(State::STOP, "All missions done");
+                }
+
+                /*if (elapsed.seconds() >= 2)
                 {
                     Transition(State::DO_GO_HOME, "Go Home");
-                }
-                // TODO : check the time needed by the mission
+                }*/
+
                 /*else if (elapsed.seconds() < 70)
                 {
                     Transition(State::DO_PREPARE_CONCERT, "Proceed to concert");