2.15.26

main.py

@@ -22,7 +22,7 @@ from version import VERSION
 # from logger import init_logging, get_logger, stop_logging
 from logger_manager import logger_manager
 from time_sync import sync_system_time_from_4g
-from power import init_ina226
+from power import charging_shutdown_monitor, init_ina226
 from laser_manager import laser_manager
 from vision import start_save_shot_worker
 from network import network_manager
@@ -125,6 +125,13 @@ def cmd_str():
     logger_manager.init_logging(log_level=logging.DEBUG)
     logger = logger_manager.logger
 
+    # 充电关机独立读取 INA226，不依赖 TCP 连接或心跳流程。
+    try:
+        _thread.start_new_thread(charging_shutdown_monitor, ())
+    except Exception as e:
+        if logger:
+            logger.error(f"[CHARGE] 启动独立监测线程失败: {e}")
+
     # 补充：因为初始化的时候，激光会亮，先关了它
     # laser_manager.turn_off_laser()