增加了xc声纳的上电

src/pPowerManger/PowerManger.cpp

@@ -21,6 +21,12 @@ bool _FsmCB(void * pParam)
     return pMe->FsmLoop();
 }
 
+bool _CommCB(void * pParam)
+{
+    PowerManger* pMe = (PowerManger* )pParam;
+    return pMe->commLoop();
+}
+
 //---------------------------------------------------------
 // Constructor()
 
@@ -78,6 +84,7 @@ PowerManger::PowerManger()
 
 PowerManger::~PowerManger()
 {
+  m_commThread.Stop();
   delete m_db;
   delete m_lowerCommManager;
   delete m_upperCommManager;
@@ -154,12 +161,12 @@ bool PowerManger::Iterate()
   // 更新系统数据
   m_systemData->updateCommonStatus();
   // m_CcuColCmd.heartbeat
-  if (m_ticker++ % 5 == 0)
-  {
-    m_CcuColCmd.heartbeat++;
-    m_lowerCommManager->processPeriodicTasks();
-    m_upperCommManager->processPeriodicTasks();
-  }
+  // if (m_ticker++ % 5 == 0)
+  // {
+  //   m_CcuColCmd.heartbeat++;
+  //   m_lowerCommManager->processPeriodicTasks();
+  //   m_upperCommManager->processPeriodicTasks();
+  // }
   return(true);
 }
 
@@ -203,6 +210,10 @@ bool PowerManger::OnStartUp()
   PowerManagerFsm::start();
   InitEvent initEvent;
   PowerManagerFsm::dispatch(initEvent);
+
+  //初始化通信线程
+  m_commThread.Initialise(_CommCB,this);
+  m_commThread.Start();
   return(true);
 }
 
@@ -224,6 +235,9 @@ void PowerManger::registerVariables()
   Register(DB_TO_PM_SETPMSYS,0);
   Register(DB_TO_PM_SETDEVSWITCH,0);
   Register(DB_TO_PM_TASKSTOP,0);
+
+  Register(uDetect_xcVoltage_cmd::key,0);
+  Register(uDetect_zdpVoltage_cmd::key,0);
 }
 
 
@@ -249,20 +263,6 @@ bool PowerManger::buildReport()
 
 bool PowerManger::FsmLoop()
 {
-  //状态机循环
-  // while (!m_FsmThread.IsQuitRequested())
-  // {
-  //   // // 检查故障并触发事件
-  //   // if(int error = checkError()) {
-  //   //   m_fsm.triggerFaultEvent(error);
-  //   // } else {
-  //   //   // 自动状态转换由状态机内部处理
-  //   //   MOOSPause(1000);
-  //   // }
-    
-  //   //延时1s
-  //   usleep(1000000);
-  // }
   return true;
 }
 
@@ -278,7 +278,6 @@ int PowerManger::checkError()
   // m_pmCurrentState.ccustate.fcuGZ_3L != 0 ||
   // m_pmCurrentState.ccustate.insEmergencyStatusWord != 0)
   return 0;
-  //2.检查断路器状态
 }
 
 void PowerManger::printState(const std::string& stateName, const std::string& desp){
@@ -360,6 +359,19 @@ unsigned char PowerManger::getFaultLevel()
     return maxLevel;
 }
 
+bool PowerManger::commLoop()
+{
+    while(!m_commThread.IsQuitRequested())
+    {
+        m_CcuColCmd.heartbeat++;
+        m_lowerCommManager->processPeriodicTasks();
+        m_upperCommManager->processPeriodicTasks();
+        // 延时1秒
+        usleep(1000000);
+    }
+    return true;
+}
+
 void PowerManger::injectFault(unsigned type,unsigned int faultCode){
   LOG_F(INFO, "注入故障: %d %d", type, faultCode);
   TestEvent testEvent("故障注入测试",type,faultCode);