From ec2b03473c9e9459c96d16ac73eb4365d07620b7 Mon Sep 17 00:00:00 2001
From: baocm <baocm>
Date: Wed, 21 Jan 2026 11:49:35 +0800
Subject: [PATCH] =?UTF-8?q?1.=20=E5=A2=9E=E5=8A=A0=E6=8B=A6=E8=BD=A6?=
 =?UTF-8?q?=E5=99=A8=E9=94=81=E5=AE=9A=E5=8A=9F=E8=83=BD=E3=80=82?=
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---
 common/utils.hpp        | 14 ++++++++++++
 gatectrl/Subscriber.cxx | 48 +++++++++++++++++++++++++----------------
 mqttdds/Publisher.cxx   | 12 +++++++++++
 3 files changed, 55 insertions(+), 19 deletions(-)
 create mode 100644 common/utils.hpp

diff --git a/common/utils.hpp b/common/utils.hpp
new file mode 100644
index 0000000..bc25538
--- /dev/null
+++ b/common/utils.hpp
@@ -0,0 +1,14 @@
+#pragma once
+
+#include <filesystem>
+#include <fstream>
+#include <iostream>
+#include <limits.h>
+#include <unistd.h>
+
+std::filesystem::path getExeDir()
+{
+    char buf[PATH_MAX] = {0};
+    ssize_t len = readlink("/proc/self/exe", buf, sizeof(buf)-1);
+    return std::filesystem::path(std::string(buf, len)).parent_path();
+}
\ No newline at end of file
diff --git a/gatectrl/Subscriber.cxx b/gatectrl/Subscriber.cxx
index a48f9b8..6eb439b 100644
--- a/gatectrl/Subscriber.cxx
+++ b/gatectrl/Subscriber.cxx
@@ -36,6 +36,7 @@
 
 #include "msg.hpp"
 #include "DEBUG.hpp"
+#include "utils.hpp"
 
 using namespace eprosima::fastdds::dds;
 
@@ -215,33 +216,42 @@ void SubscriberApp::run(std::shared_ptr<MsgHandler> handler)
                 MsgData::BarCommandUpdate_queue_.pop();
                 lock.unlock();
                 std::vector<std::string> port;
-                if (cmd.FrontBarEnable() == true)
+                if (!std::filesystem::exists(getExeDir() / "frontbar.lock"))
                 {
-                    if (cmd.FrontBarSignalUp() == 1)
+                    if (cmd.FrontBarEnable() == true)
                     {
-                        port.push_back("FrontBarUp");
-                        handler->new_bar_state.FrontBarState = 1;
-                    }
-                    else if (cmd.FrontBarSignalDown() == 1)
-                    {
-                        port.push_back("FrontBarDown");
-                        handler->new_bar_state.FrontBarState = 2;
+                        if (cmd.FrontBarSignalUp() == 1)
+                        {
+                            port.push_back("FrontBarUp");
+                            handler->new_bar_state.FrontBarState = 1;
+                        }
+                        else if (cmd.FrontBarSignalDown() == 1)
+                        {
+                            port.push_back("FrontBarDown");
+                            handler->new_bar_state.FrontBarState = 2;
+                        }
                     }
                 }
-                if (cmd.BackBarEnable() == true)
+                if (!std::filesystem::exists(getExeDir() / "backbar.lock"))
                 {
-                    if (cmd.BackBarSignalUp() == 1)
-                    {
-                        port.push_back("BackBarUp");
-                        handler->new_bar_state.BackBarState = 1;
-                    }
-                    else if (cmd.BackBarSignalDown() == 1)
+                    if (cmd.BackBarEnable() == true)
                     {
-                        port.push_back("BackBarDown");
-                        handler->new_bar_state.BackBarState = 2;
+                        if (cmd.BackBarSignalUp() == 1)
+                        {
+                            port.push_back("BackBarUp");
+                            handler->new_bar_state.BackBarState = 1;
+                        }
+                        else if (cmd.BackBarSignalDown() == 1)
+                        {
+                            port.push_back("BackBarDown");
+                            handler->new_bar_state.BackBarState = 2;
+                        }
                     }
                 }
-                handler->CtrlBar(port);
+                if (!port.empty())
+                {
+                    handler->CtrlBar(port);
+                }
             }
             else if(!MsgData::LightsCommandUpdate_queue_.empty())
             {
diff --git a/mqttdds/Publisher.cxx b/mqttdds/Publisher.cxx
index 2f414c4..07deee4 100644
--- a/mqttdds/Publisher.cxx
+++ b/mqttdds/Publisher.cxx
@@ -37,6 +37,7 @@
 #include "json.hpp"
 #include "msg.hpp"
 #include "DEBUG.hpp"
+#include "utils.hpp"
 
 using namespace eprosima::fastdds::dds;
 using json = nlohmann::json;
@@ -463,6 +464,17 @@ void PublisherApp::run(std::shared_ptr<mqtt::async_client> dev)
                         bar_ctrl(ctrl);
                     }
                 }
+                else if (topic.find("barrier/frontlock") != std::string::npos)
+                {
+                    if (cmd["value"] == 1)
+                    {
+                        std::ofstream(getExeDir() / "frontbar.lock") << getpid();
+                    }
+                    else
+                    {
+                        std::filesystem::remove(getExeDir() / "frontbar.lock");
+                    }
+                }
                 else if (topic.find("light/frontsignal") != std::string::npos)
                 {
                     if (cmd["value"] == 1)