From 3a4c1191c0257c62f9e1776213942077d85902d6 Mon Sep 17 00:00:00 2001
From: Alvin-lyq <zxwl@44.com>
Date: Thu, 7 May 2026 15:38:13 +0800
Subject: [PATCH] pl debug

---
 src/autonomy/pl/src/pl.cpp | 22 +++++++++++++++++++---
 1 file changed, 19 insertions(+), 3 deletions(-)

diff --git a/src/autonomy/pl/src/pl.cpp b/src/autonomy/pl/src/pl.cpp
index e2d34a7..67851e8 100644
--- a/src/autonomy/pl/src/pl.cpp
+++ b/src/autonomy/pl/src/pl.cpp
@@ -411,9 +411,12 @@ void PL_ProcThread()
             task_status = TaskStatus::PATH_FINISHED;  // 单路径完成
             LOG_INFO("设置任务状态为 PATH_FINISHED");
 
-            // 短暂休眠，确保车辆停稳
+            // 短暂休眠，确保车辆停稳，同时检查退出标志
             LOG_INFO("车辆停稳中...");
-            sleep(3);
+            for (int i = 0; i < 30 && !thread_exit_flag; ++i)
+            {
+                std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            }
             continue;
         }
         else if (des_pos != -1)
@@ -447,7 +450,20 @@ void PL_ProcThread()
 void* pl_thread(void* args)
 {
     (void)args;
-    sleep(3);
+    // 等待3秒，但每100ms检查一次退出标志
+    for (int i = 0; i < 30 && !thread_exit_flag; ++i)
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    }
+
+    if (thread_exit_flag)
+    {
+        LOG_INFO("pl_thread 收到退出信号，提前退出");
+        return NULL;
+    }
+
+    // 重置最近点索引，允许在新任务上自由搜索
+    g_last_road_pos = -1;
 
     if (!load_path_file())
     {