From d37c19a4711d4d0389d87399561813a2a854c4cd Mon Sep 17 00:00:00 2001
From: cxh <zxwl@56.com>
Date: Wed, 18 Jun 2025 17:32:49 +0800
Subject: [PATCH] Auto commit at 2025-06-18 17:32:49

---
 src/ctrl_arbiter/src/ctrl_arbiter.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/ctrl_arbiter/src/ctrl_arbiter.cpp b/src/ctrl_arbiter/src/ctrl_arbiter.cpp
index 0d3e674..ad8e212 100644
--- a/src/ctrl_arbiter/src/ctrl_arbiter.cpp
+++ b/src/ctrl_arbiter/src/ctrl_arbiter.cpp
@@ -48,6 +48,7 @@ public:
 
         timer_ = this->create_wall_timer(20ms, [this]()
                                          { this->arbitrateAndPublish(); });
+        RCLCPP_INFO(this->get_logger(), "ArbitrationNode started, waiting for control sources...");
     }
 
 private:
@@ -60,16 +61,19 @@ private:
         if (radio_valid_ && (now - radio_last_time_).nanoseconds() < timeout_ms_ * 1000000)
         {
             publisher_->publish(radio_msg_);
+            RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "[ARBITER] Using RADIO control");
             return;
         }
         if (remote_valid_ && (now - remote_last_time_).nanoseconds() < timeout_ms_ * 1000000)
         {
             publisher_->publish(remote_msg_);
+            RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "[ARBITER] Using REMOTE control");
             return;
         }
         if (auto_valid_ && (now - auto_last_time_).nanoseconds() < timeout_ms_ * 1000000)
         {
             publisher_->publish(auto_msg_);
+            RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "[ARBITER] Using AUTO control");
             return;
         }
 
@@ -87,6 +91,8 @@ private:
         safe_msg.dust_shake = false;
 
         publisher_->publish(safe_msg);
+        RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 1000,
+                             "[ARBITER] All sources timeout, publishing FAILSAFE control");
     }
 
     rclcpp::Publisher<sweeperMsg::McCtrl>::SharedPtr publisher_;