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pl debug

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Alvin-lyq 2026-05-07 13:34:15 +08:00
parent 7c1c6afd28
commit 3d6cfc2b49
1 changed files with 14 additions and 1 deletions
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15
src/autonomy/pl/src/pl_node.cpp
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@ -107,7 +107,7 @@ class pl_node : public rclcpp::Node
pthread_create(&pl_thread_t, NULL, pl_thread, NULL); pthread_create(&pl_thread_t, NULL, pl_thread, NULL);
LOG_INFO("started"); LOG_INFO("started");
is_start = 1; is_start = 1;
task_status = TaskStatus::PENDING; task_status = TaskStatus::RUNNING;
} }
else if (is_start == 1 && msg->task_status == 0) else if (is_start == 1 && msg->task_status == 0)
{ {
@ -231,9 +231,22 @@ class pl_node : public rclcpp::Node
void timer_callback_task() void timer_callback_task()
{ {
// 仅在任务启动后才发布任务状态，避免初始化时的 PENDING 状态覆盖 task_manager 的 RUNNING 状态
if (is_start == 0)
{
return;
}
// 创建消息 // 创建消息
sweeper_interfaces::msg::Task message; sweeper_interfaces::msg::Task message;
message.task_status = task_status; message.task_status = task_status;
message.task_id = current_task_id;
message.task_name = current_task_name;
message.mode = current_task_mode;
message.duration = current_task_duration;
message.count = current_task_count;
message.route_name = current_route_name;
message.file_name = current_file_name;
task_publisher_->publish(message); task_publisher_->publish(message);
} }