From b5a746c2eff836e859db606163e89cd321163c0d Mon Sep 17 00:00:00 2001
From: zhaojingkui <1553836110@qq.com>
Date: Mon, 7 Apr 2025 21:45:19 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B5=8B=E8=AF=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 missions/pPowerManger.moos            |  5 +++++
 src/pPowerManger/LowerCommManager.cpp | 18 +++++++++---------
 src/pPowerManger/PowerManger.cpp      | 25 +++++++++++++------------
 src/pPowerManger/PowerManger.h        |  7 ++++---
 4 files changed, 31 insertions(+), 24 deletions(-)
 create mode 100644 missions/pPowerManger.moos

diff --git a/missions/pPowerManger.moos b/missions/pPowerManger.moos
new file mode 100644
index 0000000..3fe4061
--- /dev/null
+++ b/missions/pPowerManger.moos
@@ -0,0 +1,5 @@
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+}
\ No newline at end of file
diff --git a/src/pPowerManger/LowerCommManager.cpp b/src/pPowerManger/LowerCommManager.cpp
index e32e198..4a69676 100644
--- a/src/pPowerManger/LowerCommManager.cpp
+++ b/src/pPowerManger/LowerCommManager.cpp
@@ -14,10 +14,10 @@ LowerCommManager::LowerCommManager(PowerManger* pm, long myPort, long ccuPort, c
     m_udpComm = new udpComm();
     m_port = myPort;
     m_udpComm->ccuHost = cccHost;
-    if(ccuPort < 0 || ccuPort > 65535) {
-        throw std::invalid_argument("Invalid CCU port: " + std::to_string(ccuPort));
-    }
-    m_udpComm->ccuPort = static_cast<unsigned short>(ccuPort);
+    m_udpComm->ccuPort = ccuPort;
+    m_udpComm->udpScoket = new XPCUdpSocket(m_port);
+    m_udpSocket = new XPCUdpSocket(2000);
+
 }
 
 LowerCommManager::~LowerCommManager(){
@@ -33,16 +33,16 @@ LowerCommManager::~LowerCommManager(){
 }
 bool LowerCommManager::initUdpComm(){
   //设置UDP监听端口
-  XPCUdpSocket* m_udpSocket = new XPCUdpSocket(m_port);
-  if(m_udpSocket)
+//   XPCUdpSocket* m_udpSocket = new XPCUdpSocket(m_port);
+  if(m_udpComm->udpScoket)
   {
     try
     {
-        m_udpSocket->vBindSocket();
+        m_udpComm->udpScoket->vBindSocket();
         m_udpComm->ccuHost = m_ccuHost;
         m_udpComm->ccuPort = m_ccuPort;
         cout<<MOOS::ConsoleColours::green()<< "UDP set succeed!"<< MOOS::ConsoleColours::reset() << endl;
-        m_udpComm->udpScoket = m_udpSocket;
+        // m_udpComm->udpScoket = m_udpSocket;
     }
     catch(const std::exception& e)
     {
@@ -62,8 +62,8 @@ bool LowerCommManager::initUdpComm(){
 void LowerCommManager::processPeriodicTasks() {
     // sendCcuCommand(m_pm->m_CcuColCmd);
     // sendDisSysCommand(m_pm->m_targetDisBreakerState);
+    m_udpSocket->iSendMessageTo((void*) "hello", 5, m_ccuPort, m_ccuHost);
     int msg = 10;
-    m_udpComm->udpScoket->iSendMessageTo((void*) msg, 6, m_udpComm->ccuPort, "127.0.0.1");
     m_udpComm->clearMsgQueue();
 }
 
diff --git a/src/pPowerManger/PowerManger.cpp b/src/pPowerManger/PowerManger.cpp
index d4f11a9..7c6ec8a 100644
--- a/src/pPowerManger/PowerManger.cpp
+++ b/src/pPowerManger/PowerManger.cpp
@@ -73,6 +73,7 @@ PowerManger::PowerManger()
 
   //初始化UDP通信
   m_lowerCommManager = new LowerCommManager(this,IPORT,CCUPORT,CCUHOST);
+
   m_lowerCommManager->initUdpComm();
     
   // 初始化状态机
@@ -328,19 +329,19 @@ XPCUdpSocket* PowerManger::setUdpScoket(long lPort)
 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);
-    // }
+  // 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);
-  }
+  //   //延时1s
+  //   usleep(1000000);
+  // }
   return true;
 }
 
diff --git a/src/pPowerManger/PowerManger.h b/src/pPowerManger/PowerManger.h
index 3c90208..5c148a8 100644
--- a/src/pPowerManger/PowerManger.h
+++ b/src/pPowerManger/PowerManger.h
@@ -26,7 +26,7 @@ class PowerManagerFsm;
 #include <queue>
 #include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
 #include "MOOS/libMOOS/Utils/MOOSThread.h"
-#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
+// #include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
 #include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
 #include "MOOS/libMOOS/Utils/ConsoleColours.h"
 #include "ccuUdpMsg.h"
@@ -158,9 +158,10 @@ class PowerManger : public AppCastingMOOSApp
    bool getMsCmdFromJson(MSControlCmd &cmd,const string &strJson);
  
   private:
-   CMOOSThread   m_ListenThread;
-   CMOOSThread   m_FsmThread;
+  //  CMOOSThread   m_ListenThread;
+  //  CMOOSThread   m_FsmThread;
    LowerCommManager* m_lowerCommManager;
+   XPCUdpSocket* m_udpSocket;
     
    // 状态机实例
    PowerManagerFsm m_fsm;