recharge

src/recharge/src/report.cpp

@@ -39,15 +39,23 @@ void ReportManager::handleRechargeService(
     if (request->start == 1) {
         recharge_mode_enabled_.store(true, std::memory_order_release);
         //TODO 启动回充
-        _ipad->startRecharge();
-        RCLCPP_INFO(node_->get_logger(), "回充功能已开启 (启用执行器，记录最大线速度)");
+         std::thread([this]() {
+             RCLCPP_INFO(node_->get_logger(), "回充功能已开启 (启用执行器，记录最大线速度)");
+            _ipad->startRecharge();
+             RCLCPP_INFO(node_->get_logger(), "回充功能已开启 (启用执行器，记录最大线速度)END");
+         }).detach();
+       
         response->code = 0;
         response->message = "回充功能已开启";
     } else {
         recharge_mode_enabled_.store(false, std::memory_order_release);
         //TODO 关闭回充
-        _ipad->cancelRecharge();
-        RCLCPP_INFO(node_->get_logger(), "回充功能已关闭");
+        std::thread([this]() {
+             RCLCPP_INFO(node_->get_logger(), "回充功能已关闭");
+            _ipad->cancelRecharge();
+            RCLCPP_INFO(node_->get_logger(), "回充功能已关闭END");
+         }).detach();
+       
         response->code = 0;
         response->message = "回充功能已关闭";
     }