From 01c51a797120a7bcfccacc52bf2de16a350efc79 Mon Sep 17 00:00:00 2001 From: Alvin-lyq Date: Tue, 14 Apr 2026 10:25:48 +0800 Subject: [PATCH] 0414-3 --- src/autonomy/fu/src/fu_node.cpp | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/src/autonomy/fu/src/fu_node.cpp b/src/autonomy/fu/src/fu_node.cpp index 0c27966..1523d60 100644 --- a/src/autonomy/fu/src/fu_node.cpp +++ b/src/autonomy/fu/src/fu_node.cpp @@ -949,8 +949,9 @@ class fu_node : public rclcpp::Node } LOG_INFO_THROTTLE(1000, "[障碍物分析] 距离：%d栅格 | 宽度：%d栅格 | 左边缘：%d | 右边缘：%d", - state_machine_->obstacle_analysis.obstacle_distance, state_machine_->obstacle_analysis.obstacle_width, - state_machine_->obstacle_analysis.left_edge, state_machine_->obstacle_analysis.right_edge); + state_machine_->obstacle_analysis.obstacle_distance, + state_machine_->obstacle_analysis.obstacle_width, state_machine_->obstacle_analysis.left_edge, + state_machine_->obstacle_analysis.right_edge); } // ======== 计算行驶状态 ======== @@ -1012,16 +1013,12 @@ class fu_node : public rclcpp::Node // 检查栅格数据新鲜度（超过3秒认为数据过期） auto now = node_clock_->now(); - double grid_age = 0.0; - { - std::lock_guard lock(grid_mutex_); - grid_age = (now - last_grid_time_).seconds(); - } - // 如果有有效栅格数据，即使稍微过期也继续使用（只要数据不是太旧） + double grid_age = 0.0; bool is_grid_valid = false; { std::lock_guard lock(grid_mutex_); + grid_age = (now - last_grid_time_).seconds(); is_grid_valid = grid_data_valid_; }