进行了水面端测试

src/pPowerManger/PowerManger.cpp

@@ -29,7 +29,7 @@ PowerManger::PowerManger()
   workCondition = 0;
   currentMod = 0;
   powerState = 0;
-  falutLevel = 0;
+  faultLevel = 0;
   soc = 0;
   sustainableTime = 0;
   m_faultNum = 0;
@@ -125,6 +125,7 @@ bool PowerManger::Iterate()
   AppCastingMOOSApp::Iterate();
   // 打印当前状态
   // cout << " Current State : " << (int)PowerManagerFsm::current_state_ptr->getCurrentState();
+  faultLevel = getFaultLevel();
   if (m_ticker++ % 5 == 0)
   {
     m_CcuColCmd.heartbeat++;
@@ -196,6 +197,11 @@ void PowerManger::registerVariables()
   Register(DB_TO_PM_SUBDISSTATE, 0);
   Register(DB_TO_PM_MISSION,0);
   Register(DB_TO_PM_DEEPTH,0);
+  Register(DB_TO_PM_SETOPCONDITION,0);
+  Register(DB_TO_PM_SETOPMODE,0);
+  Register(DB_TO_PM_SETPMSYS,0);
+  Register(DB_TO_PM_SETDEVSWITCH,0);
+  Register(DB_TO_PM_TASKSTOP,0);
 }
 
 
@@ -277,14 +283,6 @@ void PowerManger::printState(const std::string& stateName, const std::string& de
 }
 
 
-//==============================系统操作函数====================
-bool PowerManger::shutdown()
-{
-  m_CcuColCmd.masterState = 0xFF; //关机 
-  return true;
-}
-
-
 void PowerManger::initControlCmd()
 {
   //================初始化配电指令=============================
@@ -340,4 +338,17 @@ void PowerManger::initControlCmd()
   m_msCmd.workCMD = 99;
   //================初始化设备驱动指令========================
 
-} 
+}
+
+unsigned char PowerManger::getFaultLevel()
+{
+    unsigned char maxLevel = 0;
+    for (auto code : faultCode) {
+        // 提取0xabcd中的b位 (右移8位后取低4位)
+        unsigned char level = (code >> 8) & 0xF;
+        if (level > maxLevel) {
+            maxLevel = level;
+        }
+    }
+    return maxLevel;
+}