From 95446bdc94594215ac69e1be344b7dfd40ebde2b Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Mon, 22 Sep 2025 19:27:04 +0800
Subject: [PATCH] =?UTF-8?q?refactor(low=5Fcontroller):=20=E7=A7=BB?=
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移除LowController::stop()中不必要的线程清理代码，因为running_标志位已足够控制线程行为
在头文件中添加UT_CPU_ID_NONE宏定义用于CPU标识
---
 include/low_controller.hpp | 2 +-
 src/low_controller.cpp     | 5 -----
 2 files changed, 1 insertion(+), 6 deletions(-)

diff --git a/include/low_controller.hpp b/include/low_controller.hpp
index 52b25ed..3b6314d 100644
--- a/include/low_controller.hpp
+++ b/include/low_controller.hpp
@@ -10,7 +10,7 @@
 
 constexpr double PosStopF = (2.146E+9f);
 constexpr double VelStopF = (16000.0f);
-
+#define UT_CPU_ID_NONE  -1
 namespace custom {
 
 class LowController {
diff --git a/src/low_controller.cpp b/src/low_controller.cpp
index 8b414e4..f4ba816 100644
--- a/src/low_controller.cpp
+++ b/src/low_controller.cpp
@@ -37,11 +37,6 @@ bool LowController::stop()
     if(running_)
     {
         running_ = false;
-        if (publish_thread_)
-        {
-            publish_thread_->join();
-            publish_thread_.reset();
-        }
     }
     return true;
 }