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0414-3

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Alvin-lyq 2026-04-14 10:25:48 +08:00
parent e62d791607
commit 01c51a7971
1 changed files with 5 additions and 8 deletions
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13
src/autonomy/fu/src/fu_node.cpp
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@ -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", 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.obstacle_distance,
state_machine_->obstacle_analysis.left_edge, state_machine_->obstacle_analysis.right_edge); state_machine_->obstacle_analysis.obstacle_width, state_machine_->obstacle_analysis.left_edge,
state_machine_->obstacle_analysis.right_edge);
} }
// ======== 计算行驶状态 ======== // ======== 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） // 检查栅格数据新鲜度（超过3秒认为数据过期）
auto now = node_clock_->now(); auto now = node_clock_->now();
double grid_age = 0.0;
{
std::lock_guard<std::mutex> 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） // 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; bool is_grid_valid = false;
{ {
std::lock_guard<std::mutex> lock(grid_mutex_); std::lock_guard<std::mutex> lock(grid_mutex_);
grid_age = (now - last_grid_time_).seconds();
is_grid_valid = grid_data_valid_; is_grid_valid = grid_data_valid_;
} }