From 4e48a403e5b5742f241c2a78103ef5c23fbe37d8 Mon Sep 17 00:00:00 2001
From: Alvin-lyq <zxwl@44.com>
Date: Mon, 20 Apr 2026 09:59:02 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E7=BA=BF=E7=A8=8B=E9=80=80?=
 =?UTF-8?q?=E5=87=BA?=
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---
 src/autonomy/pl/include/pl/pl.hpp | 2 ++
 src/autonomy/pl/src/pl.cpp        | 4 +++-
 src/autonomy/pl/src/pl_node.cpp   | 9 +++++++--
 3 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/src/autonomy/pl/include/pl/pl.hpp b/src/autonomy/pl/include/pl/pl.hpp
index 8e588f2..61f151c 100644
--- a/src/autonomy/pl/include/pl/pl.hpp
+++ b/src/autonomy/pl/include/pl/pl.hpp
@@ -70,4 +70,6 @@ extern std::string filename;
 extern int d_file;
 extern Direction drive_mode;
 extern TaskStatus task_status;
+extern int thread_exit_flag;  // 线程退出标志
+
 #endif
\ No newline at end of file
diff --git a/src/autonomy/pl/src/pl.cpp b/src/autonomy/pl/src/pl.cpp
index 5400b9c..40a7ea6 100644
--- a/src/autonomy/pl/src/pl.cpp
+++ b/src/autonomy/pl/src/pl.cpp
@@ -37,6 +37,7 @@ int last_mode = 0;
 
 Direction drive_mode = Direction::STRAIGHT_D;
 TaskStatus task_status = TaskStatus::PENDING;
+int thread_exit_flag = 0;  // 线程退出标志，0=继续运行，1=需要退出
 
 // 返回单位：m
 double ntzx_GPS_length(double lonti1, double lati1, double lonti2, double lati2)
@@ -202,13 +203,14 @@ Direction straight_or_turn(double cur_direction, double des_direction, int thres
 void PL_ProcThread()
 {
     usleep(70000);
+    thread_exit_flag = 0;  // 重置退出标志
 
     int road_pos = 0;
     int des_pos = 3;
     int direction_pos = 20;
     auto next_time = std::chrono::steady_clock::now();
 
-    while (1)
+    while (!thread_exit_flag)  // 检查线程退出标志
     {
         next_time += std::chrono::milliseconds(50);
 
diff --git a/src/autonomy/pl/src/pl_node.cpp b/src/autonomy/pl/src/pl_node.cpp
index 2be7df4..6ee1327 100644
--- a/src/autonomy/pl/src/pl_node.cpp
+++ b/src/autonomy/pl/src/pl_node.cpp
@@ -110,8 +110,13 @@ class pl_node : public rclcpp::Node
         }
         else if (is_start == 1 && msg->task_status == 0)
         {
-            pthread_cancel(pl_thread_t);
-            LOG_INFO("pl_thread_t is canceled");
+            thread_exit_flag = 1;  // 设置线程退出标志
+            LOG_INFO("请求线程退出...");
+
+            // 等待线程正常退出
+            pthread_join(pl_thread_t, NULL);
+            LOG_INFO("线程已正常退出");
+
             is_start = 0;
             task_status = TaskStatus::COMPLETED;
         }