[pl]避免忙等待，避免忙等待

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;