commit

aarch64/pjisuv/master/service/produce_window.go

@@ -1761,7 +1761,6 @@ func ProduceWindow() {
 							subscribersMutexes[i].Unlock()
 						}
 						subscribersTimeMutexes[i].Unlock()
-						// -------- 触发后更新共享变量
 						// 更新共享变量
 						mutexOfTpperception.RLock()
 						{
@@ -2187,16 +2186,12 @@ func ProduceWindow() {
 				})
 			}
 
-			// 39
-			if topic == masterConfig.TopicOfPjVehicleFdbPub &&
-				(len(masterConfig.RuleOfPjVehicleFdbPub1) > 0 ||
-					len(masterConfig.RuleOfPjVehicleFdbPub2) > 0 ||
-					len(masterConfig.RuleOfPjVehicleFdbPub3) > 0) {
+			// 39 有共享变量的订阅者必须被创建
+			if topic == masterConfig.TopicOfPjVehicleFdbPub {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
 					Topic: topic,
 					Callback: func(data *pjisuv_msgs.VehicleFdb) {
-						shareVars.Store("Automode", data.Automode)
 						subscribersTimeMutexes[i].Lock()
 						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
 							subscribersMutexes[i].Lock()
@@ -2240,6 +2235,8 @@ func ProduceWindow() {
 							subscribersMutexes[i].Unlock()
 						}
 						subscribersTimeMutexes[i].Unlock()
+						// 更新共享变量
+						shareVars.Store("Automode", data.Automode)
 					},
 				})
 			}