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task debug

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Alvin-lyq 2026-05-07 13:53:20 +08:00
parent 1785d45a8c
commit 2de676ef8a
1 changed files with 11 additions and 3 deletions
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8
src/communication/task_manager/src/task_manager_main.cpp
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@ -618,10 +618,18 @@ class TaskManagerNode : public rclcpp::Node
else else
{ {
// 如果不是 PATH_FINISHED 状态，直接同步更新任务管理器的状态 // 如果不是 PATH_FINISHED 状态，直接同步更新任务管理器的状态
// 但忽略来自PL的COMPLETED状态，避免stop后状态被覆盖
if (msg->task_status != TaskStatus::COMPLETED)
{
LOG_INFO_THROTTLE(5000, "更新任务状态: %d", msg->task_status); LOG_INFO_THROTTLE(5000, "更新任务状态: %d", msg->task_status);
task_manager.setTaskStatus(msg->task_status); task_manager.setTaskStatus(msg->task_status);
task_manager.updateCurrentTaskStatus(status_up); task_manager.updateCurrentTaskStatus(status_up);
} }
else
{
LOG_DEBUG("忽略PL的COMPLETED状态，避免stop后状态被覆盖");
}
}
} }
else else
{ {