From 946ad6bfc5ab81ec55e780a8f4d1a8b7d623915e Mon Sep 17 00:00:00 2001
From: lyq <zxwl@44.com>
Date: Mon, 20 Apr 2026 09:43:05 +0800
Subject: [PATCH] =?UTF-8?q?[pl]=E9=81=BF=E5=85=8D=E5=BF=99=E7=AD=89?=
 =?UTF-8?q?=E5=BE=85=EF=BC=8C=E9=81=BF=E5=85=8D=E5=BF=99=E7=AD=89=E5=BE=85?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/autonomy/pl/src/pl.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/autonomy/pl/src/pl.cpp b/src/autonomy/pl/src/pl.cpp
index c9cd453..5400b9c 100644
--- a/src/autonomy/pl/src/pl.cpp
+++ b/src/autonomy/pl/src/pl.cpp
@@ -206,9 +206,12 @@ void PL_ProcThread()
     int road_pos = 0;
     int des_pos = 3;
     int direction_pos = 20;
+    auto next_time = std::chrono::steady_clock::now();
 
     while (1)
     {
+        next_time += std::chrono::milliseconds(50);
+
         g_NavInfo.Latitude_degree = g_rtk.lat;
         g_NavInfo.Longitude_degree = g_rtk.lon;
         g_NavInfo.Yaw_rad = g_rtk.direction;
@@ -274,6 +277,12 @@ void PL_ProcThread()
         }
 
         // printf("x_cm:%lf y_cm:%lf speed:%d\n", x, y, pl_speed);
+
+        // 避免忙等待，增加延迟让 CPU 能够处理其他任务
+        auto now = std::chrono::steady_clock::now();
+        if (now > next_time)
+            next_time = now;
+        std::this_thread::sleep_until(next_time);
     }
 
     return;