完善了次级配电的功能

src/pPowerManger/upmsg/uDevice_secdistState.h

@@ -4,6 +4,7 @@
 #include <json/json.h>
 #include "../driver.h"
 #include "../logc/loguru.hpp"
+#include <cstring> 
 
 class uDevice_secdistStateMsg
 {
@@ -329,7 +330,7 @@ public:
         state.bowThrow = driver.bowThrow;
         state.depth2 = driver.depth2;
         state.thruster = driver.thruster;
-        state.haulingMachine = 0; // No corresponding field in DriverTable
+        state.haulingMachine = 2; // No corresponding field in DriverTable
         state.buoyancyAdjust4 = driver.buoyancyAdjust4;
         state.buoyancyAdjust5 = driver.buoyancyAdjust5;
         state.sternRudderServo1 = driver.sternRudderServo1;
@@ -337,7 +338,7 @@ public:
         state.sternRudderServo3 = driver.sternRudderServo3;
         state.sternRudderServo4 = driver.sternRudderServo4;
         state.ctd2 = driver.ctd2;
-        state.commDevStern = 0; // No corresponding field in DriverTable
+        state.commDevStern = 2; // No corresponding field in DriverTable
         state.inOutLetWater3 = driver.inputWaterSensor3;
 
         // UNIT5
@@ -350,7 +351,7 @@ public:
         // driver.overDeep1 
         // driver.overDeep2
         // driver.ntp
-        state.dragSonar = 0; // Assuming dragSonar is same as lowFreqSonar
+        state.dragSonar = 2; // Assuming dragSonar is same as lowFreqSonar
 
 
         return true;
@@ -449,6 +450,46 @@ public:
         converToDriverTable(s,driver);
         return true;
     };
+
+    std::string buildMsg(DriverTable driver, DriverTable driver_state){
+        DeviceSecdistState s;
+        DriverTable driverCopy = driver;
+        for (size_t i = 0; i < sizeof(DriverTable); ++i) {
+            unsigned char* driverCopyPtr = reinterpret_cast<unsigned char*>(&driverCopy) + i;
+            unsigned char* statePtr = reinterpret_cast<unsigned char*>(&driver_state) + i;
+            if (*driverCopyPtr == *statePtr) {
+                *driverCopyPtr = 2;
+            }
+        }
+        converFromDriverTable(s, driverCopy);
+        // std::cout << (int)s.depth1 << std::endl;
+        // std::cout << buildSecdistStateToJson(s) << std::endl;
+        return buildSecdistStateToJson(s);
+    };
+
+    std::string buildMsg(DriverTable driver, DriverTable driver_state,  unsigned int nCheck){
+        static size_t callCount = 0; // 静态变量，记录函数调用次数
+        DeviceSecdistState s;
+        DriverTable driverCopy = driver;
+        if (nCheck > 0 && callCount % nCheck == 0)
+        {
+            for (size_t i = 0; i < sizeof(DriverTable); ++i) {
+                unsigned char* driverCopyPtr = reinterpret_cast<unsigned char*>(&driverCopy) + i;
+                unsigned char* statePtr = reinterpret_cast<unsigned char*>(&driver_state) + i;
+                if (*driverCopyPtr == *statePtr) {
+                    *driverCopyPtr = 2;
+                }
+            }
+        } 
+        else {
+            memset(&driverCopy, 2, sizeof(DriverTable));
+        }
+        callCount ++;
+        converFromDriverTable(s, driverCopy);
+        // std::cout << (int)s.depth1 << std::endl;
+        // std::cout << buildSecdistStateToJson(s) << std::endl;
+        return buildSecdistStateToJson(s);
+    };
 };
 
 

src/pPowerManger/upmsg/uPlan_taskStart.h

@@ -4,14 +4,14 @@
 #include "../pmSysvariable.h"
 #include "../logc/loguru.hpp"
 //决策消息
-#define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
+#define DB_TO_PM_MISSION "uPlan_taskStart_st"
 
 class uPlan_taskStartMsg
 {
 private:
     /* data */
 public:
-    std::string key = "uPlan_taskStart_cmd";
+    std::string key = "uPlan_taskStart_st";
     uPlan_taskStartMsg(/* args */){};
     ~uPlan_taskStartMsg(){};
 

src/pPowerManger/upmsg/uPower_disSysState.h

@@ -133,8 +133,9 @@ public:
             }
         }
     }m_state_of_bus_lv_a;
-    
-    std::string buildMsg(SystemData data,disSysBreakerList currentDisBreakerState)
+
+    // std::string buildMsg(SystemData data,disSysBreakerList currentDisBreakerState)
+    std::string buildMsg(const SystemData& data,disSysBreakerList currentDisBreakerState)
     {
         //构建配电系统状态报告
         Json::Value dis;
@@ -182,11 +183,14 @@ public:
         m_state_of_bus_lv_a.set_emergency_lithium_battery_group_1_breaker((data.instrument_bus_status.emergencyLithiumBatteryGroup1CircuitBreaker == 1));
         dis["LVolBusBreaker_uint16"]  = m_state_of_bus_lv.relay_states.to_ulong();
         
-        //TODO: 构建配电系统故障码
+        //构建配电系统故障码
         Json::Value faultCodeDis_array = Json::Value(Json::arrayValue);
-        for(auto val : data.disSysFaultCode)
         {
-            faultCodeDis_array.append(val);
+            std::lock_guard<std::mutex> lock(data.faultCodeMutex);
+            for(auto val : data.disSysFaultCode)
+            {
+                faultCodeDis_array.append(val);
+            }
         }        
         dis["faultCode_array"] = faultCodeDis_array;
 

src/pPowerManger/upmsg/uPower_fcsState.h

@@ -24,7 +24,8 @@ public:
         unsigned int errorCode : 8;        // 错误代码
     } state;
 
-    std::string buildMsg(SystemData data)
+    // std::string buildMsg(SystemData data)
+    std::string buildMsg(const SystemData& data)
     {
         //TODO:根据最新协议修改
         Json::Value fcs;

src/pPowerManger/upmsg/uPower_liBatState.h

@@ -15,8 +15,8 @@ public:
     ~uPower_liBatStateMsg() {};
     std::string key = "uPower_liBatState_st";
 
-
-    std::string buildMsg(SystemData data)
+    // std::string buildMsg(SystemData data)
+    std::string buildMsg(const SystemData& data)
     {
         //TODO:根据最新协议修改
         Json::Value lbs;