修复：跨线程数据竞争 + 协议字段越界 + UDP 发送失败吞错

- 并发安全：PowerManger 新增 m_stateMutex，保护 m_pmCurrentState / m_currentDisBreakerState / m_CcuColCmd / faultCode，并封装 addFaultCode/clearFaultCodes/getFaultCodes 访问器 - SystemData 新增跨线程读访问器（getDynVoltageLink/getPowerBusStatus/ getDcdcStatus/getDeviceCommonStatus 等）及配电故障码集合加锁访问 - upmsg buildMsg / httpserver pushSystemData / LowerCommManager 均改为持锁快照，避免 listen 线程与 comm 线程撕裂读写 - 修复析构顺序：先删 httpServer 再删其他对象，避免 use-after-free - 修复 ccuState reserved2 越界读（协议预留 2 字节，结构体仅声明 1），修正 coutMsg 中 SOC 门限/功率限制字段打印 - udpComm::sendDisSysCmd 不再吞掉异常，返回 sendMsg 实际结果并记录 ERROR，新增 SendDisSysCmdFailsWithoutSocket 单测 - 新增 fullFeeder 全类型 UDP 集成仿真器与 fetch-data/clean-data 脚本， .gitignore 补充 SQLite 运行期文件与 fullFeeder 二进制
2026-08-21 11:36:19 +08:00
parent 7819ea621f
commit 12f0dee86e
20 changed files with 2406 additions and 285 deletions
@@ -260,6 +260,12 @@ reports/
 # CI test binaries (built into bin/)
 bin/PowerMangerTests
 bin/udpFeeder
+bin/fullFeeder
+
+# SQLite runtime artifacts
+*.db-shm
+*.db-wal
+*.db-journal

 # Cross-compiled aarch64 artifacts (scripts/cross-build-local.sh)
 bin/arm64/
@@ -0,0 +1,138 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/clean-data.sh
+# DESC:  清理目标板卡 (RK3588 / Ubuntu 22.04) 上的数据库与日志文件。
+#        默认清理板卡运行目录 /root/work/h100/data/ 下的:
+#          power_data.db (+ -wal/-shm)  主机功率数据库
+#          feedback_data.db             反馈落盘数据库
+#          pPowerManger.log             主机运行日志
+#        默认先停止 3 个服务再清理（避免 SQLite WAL 仍在写入）。
+#
+# 用法:
+#   ./scripts/clean-data.sh                        # 停服务 -> 清理 data 目录（不重启）
+#   ./scripts/clean-data.sh --start                # 清理后重新启动 3 个服务
+#   ./scripts/clean-data.sh --no-stop              # 不停服务直接清理（慎用）
+#   ./scripts/clean-data.sh --stale                # 额外清理 bin/ 与 src/bin/ 下的旧 db/log
+#
+# 参数:
+#   --host <ip>       目标主机（默认 192.168.0.223）
+#   --user <user>     登录用户（默认 root）
+#   --board-dir <dir> 板卡部署根目录（默认 /root/work/h100）
+#   --start           清理后重启服务
+#   --no-stop         不停服务直接清理（慎用）
+#   --stale           额外清理历史遗留的 bin/、src/bin/ 下旧数据库与日志
+#   -h, --help        显示帮助
+#
+# 前置: 板卡已配免密 SSH（见 scripts/deploy.sh setup-ssh）。
+#=======================================================================
+
+set -uo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
+
+HOST="192.168.0.223"
+USER="root"
+BOARD_DIR="/root/work/h100"
+DO_START=0
+DO_STOP=1
+DO_STALE=0
+
+SERVICES=(moosdb pPowerManger pPowerMangerHost)
+
+# 板卡 data 目录下需要清理的文件（含 SQLite WAL/SHM）
+DATA_FILES=(power_data.db power_data.db-wal power_data.db-shm feedback_data.db pPowerManger.log)
+
+# 历史遗留目录（旧部署位置），仅当 --stale 时清理
+STALE_DIRS=("${BOARD_DIR}/bin" "${BOARD_DIR}/src/bin")
+
+info() { printf '\033[1;36m[clean-data]\033[0m %s\n' "$*"; }
+ok()   { printf '\033[1;32m[clean-data]\033[0m %s\n' "$*"; }
+warn() { printf '\033[1;33m[clean-data]\033[0m %s\n' "$*"; }
+err()  { printf '\033[1;31m[clean-data]\033[0m %s\n' "$*"; }
+
+usage() {
+  sed -n '2,29p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+  exit 0
+}
+
+#-------------------------------------------------------------------
+# 参数解析
+#-------------------------------------------------------------------
+while [ $# -gt 0 ]; do
+    case "$1" in
+        --host)      [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
+        --user)      [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
+        --board-dir) [ $# -ge 2 ] || { err "--board-dir 需要参数"; exit 1; }; BOARD_DIR="$2"; shift 2 ;;
+        --start)     DO_START=1; shift ;;
+        --no-stop)   DO_STOP=0; shift ;;
+        --stale)     DO_STALE=1; shift ;;
+        -h|--help)   usage ;;
+        *)           err "未知参数: $1（见 --help）"; exit 1 ;;
+    esac
+done
+
+STALE_DIRS=("${BOARD_DIR}/bin" "${BOARD_DIR}/src/bin")
+
+SSH_TARGET="${USER}@${HOST}"
+SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
+
+#-------------------------------------------------------------------
+# 1. 前置检查
+#-------------------------------------------------------------------
+if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
+    err "无法免密 SSH 到 ${SSH_TARGET}"
+    err "请先执行: ./scripts/deploy.sh setup-ssh"
+    exit 1
+fi
+ok "SSH 连接正常: ${SSH_TARGET}"
+
+#-------------------------------------------------------------------
+# 2. 停止服务（默认）
+#-------------------------------------------------------------------
+if [ "${DO_STOP}" = "1" ]; then
+    info "停止服务 ${SERVICES[*]} ..."
+    ${SSH} "${SSH_TARGET}" "systemctl stop pPowerMangerHost pPowerManger moosdb 2>/dev/null; true"
+    ok "服务已停止"
+else
+    warn "--no-stop：不停服务直接清理，可能产生脏数据（SQLite 仍在写入）"
+fi
+
+#-------------------------------------------------------------------
+# 3. 清理 data 目录
+#-------------------------------------------------------------------
+BOARD_DATA="${BOARD_DIR}/data"
+info "清理 ${BOARD_DATA}/ ..."
+for f in "${DATA_FILES[@]}"; do
+    ${SSH} "${SSH_TARGET}" "rm -f ${BOARD_DATA}/${f}" \
+        && ok "删除 ${f}" || warn "删除 ${f} 失败（可能不存在）"
+done
+
+#-------------------------------------------------------------------
+# 4. 可选: 清理历史遗留目录
+#-------------------------------------------------------------------
+if [ "${DO_STALE}" = "1" ]; then
+    for d in "${STALE_DIRS[@]}"; do
+        info "清理历史遗留 ${d}/ 下的 db/log ..."
+        ${SSH} "${SSH_TARGET}" "rm -f ${d}/power_data.db ${d}/power_data.db-wal ${d}/power_data.db-shm ${d}/feedback_data.db ${d}/pPowerManger.log 2>/dev/null; true"
+        ok "${d} 已清理"
+    done
+fi
+
+#-------------------------------------------------------------------
+# 5. 可选: 重启服务
+#-------------------------------------------------------------------
+if [ "${DO_START}" = "1" ]; then
+    info "启动服务 (moosdb -> pPowerManger -> pPowerMangerHost) ..."
+    ${SSH} "${SSH_TARGET}" "systemctl start moosdb && sleep 1 && \
+        systemctl start pPowerManger pPowerMangerHost" \
+        || { err "启动失败"; exit 1; }
+    ok "服务已启动"
+else
+    echo ""
+    info "清理完成，服务未启动。需要重启请加 --start 或手动:"
+    echo "    systemctl start moosdb pPowerManger pPowerMangerHost"
+fi
+
+echo ""
+ok "完成。"
@@ -0,0 +1,125 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/fetch-data.sh
+# DESC:  从目标板卡 (RK3588 / Ubuntu 22.04) 下载数据库与日志到本地。
+#        默认抓取板卡运行目录 /root/work/h100/data/ 下的:
+#          power_data.db (+ -wal/-shm)  主机功率数据库
+#          feedback_data.db             反馈落盘数据库
+#          pPowerManger.log             主机运行日志
+#        可选 --journal 一并导出三个 systemd 服务的 journal 日志。
+#
+# 用法:
+#   ./scripts/fetch-data.sh                        # 下载 db + 日志到本地 data/board-<时间>/
+#   ./scripts/fetch-data.sh --journal              # 额外导出 systemd journal
+#   ./scripts/fetch-data.sh --out-dir /tmp/xx      # 指定本地保存目录
+#
+# 参数:
+#   --host <ip>       目标主机（默认 192.168.0.223）
+#   --user <user>     登录用户（默认 root）
+#   --board-dir <dir> 板卡部署根目录（默认 /root/work/h100）
+#   --out-dir <dir>   本地保存目录（默认 data/board-<时间>）
+#   --journal         额外导出 3 个服务的 systemd journal 日志
+#   -h, --help        显示帮助
+#
+# 前置: 板卡已配免密 SSH（见 scripts/deploy.sh setup-ssh）。
+#=======================================================================
+
+set -uo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
+
+HOST="192.168.0.223"
+USER="root"
+BOARD_DIR="/root/work/h100"
+OUT_DIR=""
+DO_JOURNAL=0
+
+SERVICES=(moosdb pPowerManger pPowerMangerHost)
+
+# 板卡 data 目录下需要下载的文件（含 SQLite WAL/SHM 以保证数据完整）
+DATA_FILES=(power_data.db power_data.db-wal power_data.db-shm feedback_data.db pPowerManger.log)
+
+info() { printf '\033[1;36m[fetch-data]\033[0m %s\n' "$*"; }
+ok()   { printf '\033[1;32m[fetch-data]\033[0m %s\n' "$*"; }
+warn() { printf '\033[1;33m[fetch-data]\033[0m %s\n' "$*"; }
+err()  { printf '\033[1;31m[fetch-data]\033[0m %s\n' "$*"; }
+
+usage() {
+  sed -n '2,26p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+  exit 0
+}
+
+#-------------------------------------------------------------------
+# 参数解析
+#-------------------------------------------------------------------
+while [ $# -gt 0 ]; do
+    case "$1" in
+        --host)      [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
+        --user)      [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
+        --board-dir) [ $# -ge 2 ] || { err "--board-dir 需要参数"; exit 1; }; BOARD_DIR="$2"; shift 2 ;;
+        --out-dir)   [ $# -ge 2 ] || { err "--out-dir 需要参数"; exit 1; }; OUT_DIR="$2"; shift 2 ;;
+        --journal)   DO_JOURNAL=1; shift ;;
+        -h|--help)   usage ;;
+        *)           err "未知参数: $1（见 --help）"; exit 1 ;;
+    esac
+done
+
+SSH_TARGET="${USER}@${HOST}"
+SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
+SCP="scp -o BatchMode=yes -o ConnectTimeout=5"
+
+#-------------------------------------------------------------------
+# 1. 前置检查
+#-------------------------------------------------------------------
+if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
+    err "无法免密 SSH 到 ${SSH_TARGET}"
+    err "请先执行: ./scripts/deploy.sh setup-ssh"
+    exit 1
+fi
+ok "SSH 连接正常: ${SSH_TARGET}"
+
+if [ -z "${OUT_DIR}" ]; then
+    OUT_DIR="${PROJECT_ROOT}/data/board-$(date +%Y%m%d-%H%M%S)"
+fi
+mkdir -p "${OUT_DIR}" || { err "无法创建本地目录 ${OUT_DIR}"; exit 1; }
+info "本地保存目录: ${OUT_DIR}"
+
+#-------------------------------------------------------------------
+# 2. 下载 data 目录下的数据库与日志
+#-------------------------------------------------------------------
+BOARD_DATA="${BOARD_DIR}/data"
+missing=0
+for f in "${DATA_FILES[@]}"; do
+    if ${SSH} "${SSH_TARGET}" "[ -f ${BOARD_DATA}/${f} ]" 2>/dev/null; then
+        info "下载 ${f} ..."
+        ${SCP} -q "${SSH_TARGET}:${BOARD_DATA}/${f}" "${OUT_DIR}/" \
+            || { err "下载 ${f} 失败"; exit 1; }
+        ok "${f}"
+    else
+        warn "板卡上不存在: ${BOARD_DATA}/${f}（跳过）"
+        missing=$((missing+1))
+    fi
+done
+[ "${missing}" -eq "${#DATA_FILES[@]}" ] && { err "板卡 data 目录下没有任何可下载文件"; exit 1; }
+
+#-------------------------------------------------------------------
+# 3. 可选: 导出 systemd journal
+#-------------------------------------------------------------------
+if [ "${DO_JOURNAL}" = "1" ]; then
+    for s in "${SERVICES[@]}"; do
+        info "导出 journal: ${s} ..."
+        ${SSH} "${SSH_TARGET}" "journalctl --no-pager -u ${s} 2>/dev/null" > "${OUT_DIR}/${s}.journal.log" \
+            || { warn "导出 ${s} journal 失败（可能无记录）"; }
+        ok "${s}.journal.log"
+    done
+fi
+
+#-------------------------------------------------------------------
+# 4. 完成
+#-------------------------------------------------------------------
+echo ""
+ok "下载完成。本地文件:"
+ls -lah "${OUT_DIR}" | sed 's/^/    /'
+echo ""
+info "查看数据库可用: sqlite3 ${OUT_DIR}/power_data.db .tables"
@@ -80,17 +80,23 @@ void LowerCommManager::setCommLogger(ICommLogger* logger)
    if (m_udpComm) m_udpComm->setCommLogger(logger);
 }
 void LowerCommManager::processPeriodicTasks() {
-    sendCcuCommand(m_pm->m_CcuColCmd);
-    m_pm->m_db->insertData(m_pm->m_CcuColCmd);
+    ccuColCmd cmd;
+    {
+        std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+        cmd = m_pm->m_CcuColCmd;
+    }
+    sendCcuCommand(cmd);
+    m_pm->m_db->insertData(cmd);
    //延时5ms
    usleep(5000);
-    if(m_pm->m_systemData->device_common_status.dis_hv_c1.isTimeout )
+    auto devStatus = m_pm->m_systemData->getDeviceCommonStatus();
+    if(devStatus.dis_hv_c1.isTimeout )
    {
        disHighVolBusCmd clr1{};
        m_udpComm->sendDisSysCmd(clr1);
        MOOSPause(200);
    }
-    if(m_pm->m_systemData->device_common_status.dis_lv_c1.isTimeout )
+    if(devStatus.dis_lv_c1.isTimeout )
    {
        disHighBVolBusCmd clr3{};
        m_udpComm->sendDisSysCmd(clr3);
@@ -195,10 +201,14 @@ bool LowerCommManager::updatePoweSystemStates(){
    double time;
    if(m_udpComm->popMsgFormQueue(time, m_CcuCurrentState))
    {
-        m_pm->m_pmCurrentState.ccustate = m_CcuCurrentState.data;
-        m_pm->m_db->insertData(m_pm->m_pmCurrentState.ccustate); //写入数据库
+        ccuState local = m_CcuCurrentState.data;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+            m_pm->m_pmCurrentState.ccustate = local;
+        }
+        m_pm->m_db->insertData(local); //写入数据库
        msg_CcuStateFbMsg_Update_time = time;
-        m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.ccustate);
+        m_pm->m_systemData->updateSystemData(local);
        {
            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
            m_pm->m_systemData->device_common_status.ccu_status.lastUpdateTime = m_pm->m_lowerCommManager->msg_CcuStateFbMsg_Update_time;
@@ -219,29 +229,29 @@ bool LowerCommManager::updatePoweSystemStates(){
    double time;
    if(m_udpComm->popMsgFormQueue(time, m_disHighVolBusCurrentState))
    {
-        // m_udpComm->popMsgFormQueue(time,m_disHighVolBusCurrentState);
-        m_pm->m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
-        m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus1State); //写入数据库
+        disHighVolBusState local = m_disHighVolBusCurrentState.data;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+            m_pm->m_pmCurrentState.bus1State = local;
+            disBus1Breaker pdis1{};
+            pdis1.fuelCellCircuitBreaker                      = (local.fuelCellCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.powerLithiumBatteryCircuitBreaker           = (local.powerLithiumBatteryCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.propulsionMotorCircuitBreaker               = (local.propulsionMotorCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.lithiumBatteryGroupInstrumentCircuitBreaker = (local.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.dcDc5ModuleCircuitBreaker                   = (local.dcDc5ModuleCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.bowHighVoltageDistributionBoxCircuitBreaker = (local.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.sternFTDevice45CircuitBreaker               = (local.sternFTDevice45CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.sternRudderSwitch1CircuitBreaker            = (local.sternRudderSwitch1CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.sternRudderSwitch2CircuitBreaker            = (local.sternRudderSwitch2CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.fbReservedCircuitBreaker                    = (local.fbReservedCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.tyzReservedCircuitBreaker                   = (local.tyzReservedCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.reservedCircuitBreaker                      = (local.reservedCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.paceholder = 0;
+            m_pm->m_currentDisBreakerState.bus1Breaker = pdis1;
+        }
+        m_pm->m_db->insertData(local); //写入数据库
        msg_disHighVolBusFbMsg_Update_time = time;
-
-        disBus1Breaker* pdis1=new disBus1Breaker;
-        (m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker                      == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker           == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker               == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker                   == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker               == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker                    == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker                   == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker                      == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
-        pdis1 -> paceholder = 0;
-        m_pm->m_currentDisBreakerState.bus1Breaker = *pdis1;
-        delete pdis1;
-
-        m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus1State);
+        m_pm->m_systemData->updateSystemData(local);
        {
            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
            m_pm->m_systemData->device_common_status.dis_hv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighVolBusFbMsg_Update_time;
@@ -253,22 +263,23 @@ bool LowerCommManager::updatePoweSystemStates(){
    double time;
    if(m_udpComm->popMsgFormQueue(time,m_disHighAVolBusCurrentState))
    {
-        m_pm->m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
-        m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus2State); //写入数据库
+        disHighAVolBusState local = m_disHighAVolBusCurrentState.data;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+            m_pm->m_pmCurrentState.bus2State = local;
+            disBus2Breaker pdis2{};
+            pdis2.bowFTDevice123CircuitBreaker              = (local.bowFTDevice123CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis2.actuatorCircuitBreaker                    = (local.actuatorCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis2.mastSteeringGearControlBoxCircuitBreaker  = (local.mastSteeringGearControlBoxCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis2.xczCircuitBreaker                         = (local.xczCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis2.bowRudderControlBoxCircuitBreaker         = (local.bowRudderControlBoxCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis2.openWaterCoverStartCylinderCircuitBreaker = (local.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis2.paceholder = 0;
+            m_pm->m_currentDisBreakerState.bus2Breaker = pdis2;
+        }
+        m_pm->m_db->insertData(local); //写入数据库
        msg_disHighAVolBusFbMsg_Update_time = time;
-
-        disBus2Breaker* pdis2=new disBus2Breaker;
-        (m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker              == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker                    == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker  == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker                         == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker         == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
-        pdis2 -> paceholder = 0;
-        m_pm->m_currentDisBreakerState.bus2Breaker = *pdis2;
-        delete pdis2;
-
-        m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus2State);
+        m_pm->m_systemData->updateSystemData(local);
        {
            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
            m_pm->m_systemData->device_common_status.dis_hv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighAVolBusFbMsg_Update_time;
@@ -281,22 +292,24 @@ bool LowerCommManager::updatePoweSystemStates(){
    double time;
    if(m_udpComm->popMsgFormQueue(time,m_disHighBVolBusCurrentState))
    {
-        m_pm->m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
-        m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus3State); //写入数据库
+        disLowMainBusState local = m_disHighBVolBusCurrentState.data;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+            m_pm->m_pmCurrentState.bus3State = local;
+            disBus3Breaker pdis3{};
+            pdis3.lithiumBatteryGroupInstrumentCircuitBreaker = (local.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis3.bowLowVoltageDistributionBoxCircuitBreaker  = (local.bowLowVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis3.unit4InstrumentDC48VCircuitBreaker          = (local.unit4InstrumentDC48VCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis3.dcC1DCDistributionPanelCircuitBreaker       = (local.dcC1DCDistributionPanelCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis3.reservedCircuitBreaker1                     = (local.reservedCircuitBreaker1 == BREAK_ON) ? 1 : 0;
+            pdis3.reservedCircuitBreaker2                     = (local.reservedCircuitBreaker2 == BREAK_ON) ? 1 : 0;
+            pdis3.emergencyLithiumBatteryGroup2CircuitBreaker = (local.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis3.paceholder = 0;
+            m_pm->m_currentDisBreakerState.bus3Breaker = pdis3;
+        }
+        m_pm->m_db->insertData(local); //写入数据库
        msg_disHighBVolBusFbMsg_Update_time = time;
-
-        disBus3Breaker* pdis3=new disBus3Breaker;
-        (m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker  == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker          == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker       == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
-        (m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
-        (m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
-        pdis3->paceholder = 0;
-        m_pm->m_currentDisBreakerState.bus3Breaker = *pdis3;
-        delete pdis3;
-        m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus3State);
+        m_pm->m_systemData->updateSystemData(local);
        {
            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
            m_pm->m_systemData->device_common_status.dis_lv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighBVolBusFbMsg_Update_time;
@@ -308,23 +321,25 @@ bool LowerCommManager::updatePoweSystemStates(){
    double time;
    if(m_udpComm->popMsgFormQueue(time,m_disLowBusState))
    {
-        m_pm->m_pmCurrentState.bus4State = m_disLowBusState.data;
-        m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus4State); //写入数据库
+        disLowBusState local = m_disLowBusState.data;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+            m_pm->m_pmCurrentState.bus4State = local;
+            disBus4Breaker pdis4{};
+            pdis4.unit1CircuitBreaker       = (local.unit1CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis4.unit2CircuitBreaker       = (local.unit2CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis4.unit3CircuitBreaker       = (local.unit3CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis4.unit5CircuitBreaker       = (local.unit5CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis4.bowPZDeviceCircuitBreaker = (local.bowPZDeviceCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis4.reservedCircuitBreaker1   = (local.reservedCircuitBreaker1 == BREAK_ON) ? 1 : 0;
+            pdis4.reservedCircuitBreaker2   = (local.reservedCircuitBreaker2 == BREAK_ON) ? 1 : 0;
+            pdis4.emergencyLithiumBatteryGroup1CircuitBreaker = (local.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis4.paceholder = 0;
+            m_pm->m_currentDisBreakerState.bus4Breaker = pdis4;
+        }
+        m_pm->m_db->insertData(local); //写入数据库
        msg_disLowBusFbMsg_Update_time = time;
-
-        disBus4Breaker* pdis4=new disBus4Breaker;
-        (m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker       == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker       == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker       == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker       == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
-        (m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1   == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
-        (m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2   == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
-        (m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
-        pdis4 -> paceholder = 0;
-        m_pm->m_currentDisBreakerState.bus4Breaker = *pdis4;
-        delete pdis4;
-        m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus4State);
+        m_pm->m_systemData->updateSystemData(local);
        {
            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
            m_pm->m_systemData->device_common_status.dis_lv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disLowBusFbMsg_Update_time;
@@ -476,7 +491,7 @@ void LowerCommManager::coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os){
    os << "甲醇浓度1 (ch3oh_concentration1): " << p.data.ch3oh_concentration1 * 0.01 << "% LEL\n";
    os << "甲醇浓度2 (ch3oh_concentration2): " << p.data.ch3oh_concentration2 * 0.01 << "% LEL\n";

-    for (int i = 0; i < 10; ++i)
+    for (int i = 0; i < 2; ++i)
        os << "保留字段 reserved1[" << i << "]: 0x" << std::hex << p.data.reserved1[i] << "\n";

    os << "仪表舱 氧气浓度 (cabin_ox_concentration): " << p.data.cabin_ox_concentration * 0.1 << "%\n";
@@ -531,12 +546,18 @@ void LowerCommManager::coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os){
    os << "仪表紧急状态 (ins_emergency_status): 0x" << std::hex << static_cast<int>(p.data.ins_emergency_status) << "\n";
    os << "动力紧急状态 (dyn_emergency_status): 0x" << static_cast<int>(p.data.dyn_emergency_status) << "\n";

-    for (int i = 0; i < 2; ++i)
+    for (int i = 0; i < 1; ++i)
        os << "保留字段 reserved2[" << i << "]: 0x" << std::hex << static_cast<int>(p.data.reserved2[i]) << "\n";
-    for (int i = 0; i < 6; ++i)
-        os << "SOC门限值 ins_soc_threshold" << i+1 << ": 0x" << std::hex << static_cast<int>(p.data.ins_soc_threshold1) << "\n";
-    for (int i = 0; i < 4; ++i)
-        os << "功率限制 ins_power_limit" << i+1 << ": 0x" << std::hex << static_cast<int>(p.data.ins_power_limit1) << "\n";
+    os << "SOC门限值 ins_soc_threshold1: 0x" << std::hex << static_cast<int>(p.data.ins_soc_threshold1) << "\n";
+    os << "SOC门限值 ins_soc_threshold2: 0x" << std::hex << static_cast<int>(p.data.ins_soc_threshold2) << "\n";
+    os << "SOC门限值 ins_soc_threshold3: 0x" << std::hex << static_cast<int>(p.data.ins_soc_threshold3) << "\n";
+    os << "SOC门限值 dyn_soc_threshold1: 0x" << std::hex << static_cast<int>(p.data.dyn_soc_threshold1) << "\n";
+    os << "SOC门限值 dyn_soc_threshold2: 0x" << std::hex << static_cast<int>(p.data.dyn_soc_threshold2) << "\n";
+    os << "SOC门限值 dyn_soc_threshold3: 0x" << std::hex << static_cast<int>(p.data.dyn_soc_threshold3) << "\n";
+    os << "功率限制 ins_power_limit1: 0x" << std::hex << static_cast<int>(p.data.ins_power_limit1) << "\n";
+    os << "功率限制 ins_power_limit2: 0x" << std::hex << static_cast<int>(p.data.ins_power_limit2) << "\n";
+    os << "功率限制 dyn_power_limit1: 0x" << std::hex << static_cast<int>(p.data.dyn_power_limit1) << "\n";
+    os << "功率限制 dyn_power_limit2: 0x" << std::hex << static_cast<int>(p.data.dyn_power_limit2) << "\n";

    os << "设备在线状态1 (device_online_flag1): 0x" << std::hex << p.data.device_online_flag1 << "\n";
    os << "设备在线状态2 (device_online_flag2): 0x" << p.data.device_online_flag2 << "\n";
@@ -666,11 +687,11 @@ bool LowerCommManager::operate_HV_dcDc5_Breaker(char opt)
    m_udpComm->sendDisSysCmd(cmd);

    // ok = m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1&(0x02);
-    ok = m_pm->m_systemData->m_dcdcStatus.workingStatus;
+    ok = m_pm->m_systemData->getDcdcStatus().workingStatus;

    MOOSPause(100);
    while ( !ok ) {
-        if( m_pm->m_systemData->m_dcdcStatus.workingStatus )
+        if( m_pm->m_systemData->getDcdcStatus().workingStatus )
        {
            ok = true;
            break;
@@ -718,11 +739,11 @@ bool LowerCommManager::operate_HV_coolingSystem_Breaker(char opt)
    m_udpComm->sendDisSysCmd(cmd);

    // ok = m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1 & 0x60;
-    ok = m_pm->m_systemData->m_dcdcStatus.coolingPump1Running || m_pm->m_systemData->m_dcdcStatus.coolingPump2Running;
+    ok = m_pm->m_systemData->getDcdcStatus().coolingPump1Running || m_pm->m_systemData->getDcdcStatus().coolingPump2Running;

    MOOSPause(100);
    while ( !ok ) {
-        if( (m_pm->m_systemData->m_dcdcStatus.coolingPump1Running || m_pm->m_systemData->m_dcdcStatus.coolingPump2Running) )
+        if( (m_pm->m_systemData->getDcdcStatus().coolingPump1Running || m_pm->m_systemData->getDcdcStatus().coolingPump2Running) )
        {
            ok = true;
            break;
@@ -942,7 +963,12 @@ bool LowerCommManager::operateBreakerGeneric(
    m_udpComm->sendDisSysCmd(cmd);
    MOOSPause(100);
    while ( !ok ) {
-        if( readState() == getBreakerOption(opt) )
+        StateT cur;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+            cur = readState();
+        }
+        if( cur == getBreakerOption(opt) )
        {
            ok = true;
            break;
@@ -86,11 +86,14 @@ PowerManger::PowerManger()
 PowerManger::~PowerManger()
 {
  m_commThread.Stop();
-  delete m_lowerCommManager;  // 先停止监听线程，确保其不再调用 DB
+  // 必须先停 HTTP 线程（stop() 内部 pthread_join 阻塞等待线程退出），
+  // 否则 HTTP 线程每秒仍会读取 m_systemData / m_lowerCommManager / m_upperCommManager，
+  // 导致 use-after-free。
+  delete m_httpServer;
+  delete m_lowerCommManager;  // 停止监听线程，确保其不再调用 DB
  delete m_db;
  delete m_upperCommManager;
-  delete m_systemData;
-  delete m_httpServer;
+  delete m_systemData;        // 最后删除，此时无任何线程引用
 }

 //---------------------------------------------------------
@@ -374,10 +377,28 @@ void PowerManger::initControlCmd()

 }

+void PowerManger::addFaultCode(unsigned int code)
+{
+    std::lock_guard<std::mutex> lock(m_stateMutex);
+    faultCode.push_back(code);
+}
+
+void PowerManger::clearFaultCodes()
+{
+    std::lock_guard<std::mutex> lock(m_stateMutex);
+    faultCode.clear();
+}
+
+std::vector<unsigned int> PowerManger::getFaultCodes() const
+{
+    std::lock_guard<std::mutex> lock(m_stateMutex);
+    return faultCode;
+}
+
 unsigned char PowerManger::getFaultLevel()
 {
    unsigned char maxLevel = 0;
-    for (auto code : faultCode) {
+    for (auto code : getFaultCodes()) {
        // 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) {
@@ -391,7 +412,10 @@ bool PowerManger::commLoop()
 {
    while(!m_commThread.IsQuitRequested())
    {
-        m_CcuColCmd.heartbeat++;
+        {
+            std::lock_guard<std::mutex> lock(m_stateMutex);
+            m_CcuColCmd.heartbeat++;
+        }
        m_lowerCommManager->processPeriodicTasks();
        m_upperCommManager->processPeriodicTasks();
        // 延时1秒
@@ -87,6 +87,12 @@ class PowerManger : public AppCastingMOOSApp
  //===========================FEEDBACK======================================
  pmState m_pmCurrentState; //能源系统的当前状态(由下位机线程修改)
  disSysBreakerList m_currentDisBreakerState; //配电断路器状态
+  // 跨线程共享状态保护：m_pmCurrentState / m_currentDisBreakerState / m_CcuColCmd / faultCode
+  // 纪律：绝不与 SystemData::m_dataMutex 同时持有（持锁期间不调用 updateSystemData/pushSystemData）
+  mutable std::mutex m_stateMutex;
+  void addFaultCode(unsigned int code);
+  void clearFaultCodes();
+  std::vector<unsigned int> getFaultCodes() const;
  DriverTable m_currentDriverState;
  DriverTable m_subDisSysState;
  DriverTable m_subDisSysFault;
@@ -214,11 +214,20 @@ void UpperCommManager::processPeriodicTasks() {
 }

 void UpperCommManager::buildSystemReport() {
+  // 跨线程共享状态（listen 线程写、comm 线程读）：持锁快照，避免撕裂/竞争
+  pmState pmStateSnap{};
+  disSysBreakerList disBreakerSnap{};
+  {
+    std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+    pmStateSnap = m_pm->m_pmCurrentState;
+    disBreakerSnap = m_pm->m_currentDisBreakerState;
+  }
+
  m_pmStateMsg.state.workCondition = m_pm->workCondition;
  m_pmStateMsg.state.currentMod = m_pm->currentMod;
  m_pmStateMsg.state.powerState = m_pm->powerState;
  m_pmStateMsg.state.faultLevel = m_pm->faultLevel;
-  m_pmStateMsg.state.faultCode = m_pm->faultCode;
+  m_pmStateMsg.state.faultCode = m_pm->getFaultCodes();
 //   cout << "m_pmStateMsg.state.faultCode.size():" << m_pmStateMsg.state.faultCode.size() << endl;
  m_pmStateMsg.state.soc = m_pm->soc;
  m_pmStateMsg.state.sustainableTime = m_pm->sustainableTime;
@@ -229,14 +238,14 @@ void UpperCommManager::buildSystemReport() {
  m_pm->sendNotification(m_pmStateMsg.key, m_pmStateMsg.buildMsg(*(m_pm->m_systemData)));
  m_pm->sendNotification(m_fcsStateMsg.key, m_fcsStateMsg.buildMsg(*(m_pm->m_systemData)));
  m_pm->sendNotification(m_liBatStateMsg.key, m_liBatStateMsg.buildMsg(*(m_pm->m_systemData)));
-  m_pm->sendNotification(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData),m_pm->m_currentDisBreakerState));
-  m_pm->sendNotification(m_currentStateMsg.key, m_currentStateMsg.buildMsg(m_pm->m_pmCurrentState));
+  m_pm->sendNotification(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData), disBreakerSnap));
+  m_pm->sendNotification(m_currentStateMsg.key, m_currentStateMsg.buildMsg(pmStateSnap));

  #ifdef _DEBUG
  m_pmStateMsg_fb_debug = std::make_pair(m_pmStateMsg.key, m_pmStateMsg.buildMsg(*(m_pm->m_systemData)));
  m_fcsStateMsg_st_debug = std::make_pair(m_fcsStateMsg.key, m_fcsStateMsg.buildMsg(*(m_pm->m_systemData)));
  m_liBatStateMsg_st_debug = std::make_pair(m_liBatStateMsg.key, m_liBatStateMsg.buildMsg(*(m_pm->m_systemData)));
-  m_disSysStateMsg_st_debug = std::make_pair(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData),m_pm->m_currentDisBreakerState));
-  m_currentStateMsg_st_debug = std::make_pair(m_currentStateMsg.key, m_currentStateMsg.buildMsg(m_pm->m_pmCurrentState));
+  m_disSysStateMsg_st_debug = std::make_pair(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData), disBreakerSnap));
+  m_currentStateMsg_st_debug = std::make_pair(m_currentStateMsg.key, m_currentStateMsg.buildMsg(pmStateSnap));
  #endif
 }
@@ -82,7 +82,7 @@ void Lifting::entry() {
    MOOSPause(3);
    {
        int count=0;
-        while (!(pm->m_systemData->dyn_pos_relay_status == 0x02 && pm->m_systemData->dyn_neg_relay_status == 0x02))
+        while (!(pm->m_systemData->getDynPosRelayStatus() == 0x02 && pm->m_systemData->getDynNegRelayStatus() == 0x02))
        {
            LOG_F(INFO,"动力锂电池下电中...");
            MOOSPause(3);
@@ -36,7 +36,7 @@ void PowerManagerFsm::react(CycleTriggeredEvent const &){
    {
        if(pm->m_depth < OVER_DEPTH)
        {
-            if(pm->m_systemData->power_a_bus_status.xczCircuitBreaker == 1)
+            if(pm->m_systemData->getPowerABusStatus().xczCircuitBreaker == 1)
                pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(0);
            //舷侧阵自动下电
            MOOSPause(3);
@@ -66,10 +66,13 @@ void PowerManagerFsm::handleCuriseWork()
    //依次接入执行机构动力电设备
    //1. 开启动力电
    //1.1 动力锂电池上电
-    pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
+    {
+        std::lock_guard<std::mutex> lock(pm->m_stateMutex);
+        pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
+    }
    // 等待动力锂电池上电完成
    int count=0;
-    while (!(pm->m_systemData->dyn_voltage_link > 500.0))
+    while (!(pm->m_systemData->getDynVoltageLink() > 500.0))
    {
        LOG_F(INFO,"动力锂电池上电中...");
        MOOSPause(1000);
@@ -82,27 +85,27 @@ void PowerManagerFsm::handleCuriseWork()
        count++;
    }
    //1.2 闭合动力电断路器
-    if(pm->m_systemData->power_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker != 1)
+    if(pm->m_systemData->getPowerBusStatus().lithiumBatteryGroupInstrumentCircuitBreaker != 1)
    {
        pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(1);
        MOOSPause(3);
    }
-    if(pm->m_systemData->power_bus_status.dcDc5ModuleCircuitBreaker != 1)
+    if(pm->m_systemData->getPowerBusStatus().dcDc5ModuleCircuitBreaker != 1)
    {
        pm->m_lowerCommManager->operate_HV_dcDc5Module_Breaker(1);
        MOOSPause(3);
    }
-    if(pm->m_systemData->m_dcdcStatus.workingStatus != 1)
+    if(pm->m_systemData->getDcdcStatus().workingStatus != 1)
    {
        pm->m_lowerCommManager->operate_HV_dcDc5_Breaker(1);
        MOOSPause(3);
    }
-    if(!(pm->m_systemData->m_dcdcStatus.coolingPump1Running || pm->m_systemData->m_dcdcStatus.coolingPump2Running))
+    if(!(pm->m_systemData->getDcdcStatus().coolingPump1Running || pm->m_systemData->getDcdcStatus().coolingPump2Running))
    {
        pm->m_lowerCommManager->operate_HV_coolingSystem_Breaker(1);
        MOOSPause(10);
    }
-    if(pm->m_systemData->power_bus_status.bowHighVoltageDistributionBoxCircuitBreaker != 1)
+    if(pm->m_systemData->getPowerBusStatus().bowHighVoltageDistributionBoxCircuitBreaker != 1)
    {
        pm->m_lowerCommManager->operate_HV_bowHighVoltageBox_Breaker(1);
        MOOSPause(3);
@@ -1040,7 +1043,7 @@ void PowerManagerFsm::getNoPowerDeviceStatus(DriverTable &s)

 void PowerManagerFsm::getBowRudderSystemStatus(DriverTable &s)
 {
-    if(pm->m_systemData->power_a_bus_status.bowRudderControlBoxCircuitBreaker == 1)
+    if(pm->m_systemData->getPowerABusStatus().bowRudderControlBoxCircuitBreaker == 1)
    {
        //检查艏舵电缸
        if(pm->m_subDisSysState.bowRudderDeploy == 1)
@@ -1103,7 +1106,7 @@ void PowerManagerFsm::getBowRudderSystemStatus(DriverTable &s)
 }
 void PowerManagerFsm::getActuatorStatus(DriverTable &s)
 {
-    if(pm->m_systemData->power_a_bus_status.actuatorCircuitBreaker == 1)
+    if(pm->m_systemData->getPowerABusStatus().actuatorCircuitBreaker == 1)
    {
        if(pm->m_subDisSysState.bowCover1 == 1)
        {
@@ -1220,7 +1223,7 @@ void PowerManagerFsm::getActuatorStatus(DriverTable &s)
 void PowerManagerFsm::getSternRudderStatus(DriverTable &s)
 {
    //艉舵1 2
-    if(pm->m_systemData->power_bus_status.sternRudderSwitch1CircuitBreaker == 1)
+    if(pm->m_systemData->getPowerBusStatus().sternRudderSwitch1CircuitBreaker == 1)
    {
        if(pm->m_subDisSysState.sternRudderServo1== 1)
        {
@@ -1261,7 +1264,7 @@ void PowerManagerFsm::getSternRudderStatus(DriverTable &s)
        }
    }
    //艉舵3 4
-    if(pm->m_systemData->power_bus_status.sternRudderSwitch2CircuitBreaker == 1)
+    if(pm->m_systemData->getPowerBusStatus().sternRudderSwitch2CircuitBreaker == 1)
    {
        if(pm->m_subDisSysState.sternRudderServo3 == 1)
        {
@@ -1305,7 +1308,7 @@ void PowerManagerFsm::getSternRudderStatus(DriverTable &s)

 void PowerManagerFsm::getPropulsionMotorStatus(DriverTable &s)
 {
-    if(pm->m_systemData->power_bus_status.propulsionMotorCircuitBreaker == 1)
+    if(pm->m_systemData->getPowerBusStatus().propulsionMotorCircuitBreaker == 1)
    {
        if(pm->m_subDisSysState.thruster == 1)
        {
@@ -1331,7 +1334,7 @@ void PowerManagerFsm::getPropulsionMotorStatus(DriverTable &s)
 void PowerManagerFsm::getBuoyancyAdjustmentStatus(DriverTable &s)
 {
    // 艉部浮调
-    if(pm->m_systemData->power_bus_status.sternFTDevice45CircuitBreaker == 1)
+    if(pm->m_systemData->getPowerBusStatus().sternFTDevice45CircuitBreaker == 1)
    {
        if(pm->m_subDisSysState.buoyancyAdjust4 == 1)
        {
@@ -1373,7 +1376,7 @@ void PowerManagerFsm::getBuoyancyAdjustmentStatus(DriverTable &s)
    }

    // 艏部浮调
-    if(pm->m_systemData->power_a_bus_status.bowFTDevice123CircuitBreaker == 1)
+    if(pm->m_systemData->getPowerABusStatus().bowFTDevice123CircuitBreaker == 1)
    {
        if(pm->m_subDisSysState.buoyancyAdjust1 == 1)
        {
@@ -1435,7 +1438,7 @@ void PowerManagerFsm::getBuoyancyAdjustmentStatus(DriverTable &s)

 void PowerManagerFsm::getSideSonarStatus(DriverTable &s)
 {
-    if(pm->m_systemData->power_a_bus_status.xczCircuitBreaker == 1)
+    if(pm->m_systemData->getPowerABusStatus().xczCircuitBreaker == 1)
    {
        if(pm->m_subDisSysState.sideSonar == 1)
        {
@@ -1461,7 +1464,7 @@ void PowerManagerFsm::getSideSonarStatus(DriverTable &s)

 void PowerManagerFsm::getFBSystemCmdStatus(DriverTable &s)
 {
-    if(pm->m_systemData->power_bus_status.fbReservedCircuitBreaker == 1)
+    if(pm->m_systemData->getPowerBusStatus().fbReservedCircuitBreaker == 1)
    {
        if(pm->m_subDisSysState.buoyage == 1)
        {
@@ -1487,7 +1490,7 @@ void PowerManagerFsm::getFBSystemCmdStatus(DriverTable &s)

 void PowerManagerFsm::getMastFoldingSystem(DriverTable &s)
 {
-    if(pm->m_systemData->power_a_bus_status.mastSteeringGearControlBoxCircuitBreaker == 1)
+    if(pm->m_systemData->getPowerABusStatus().mastSteeringGearControlBoxCircuitBreaker == 1)
    {
        if(pm->m_subDisSysState.mastLiftingServo == 1)
        {
@@ -1513,7 +1516,7 @@ void PowerManagerFsm::getMastFoldingSystem(DriverTable &s)

 void PowerManagerFsm::getOpenWaterStatus(DriverTable &s)
 {
-    if(pm->m_systemData->power_a_bus_status.openWaterCoverStartCylinderCircuitBreaker == 1)
+    if(pm->m_systemData->getPowerABusStatus().openWaterCoverStartCylinderCircuitBreaker == 1)
    {
        if(pm->m_subDisSysState.bowWaterInet1 == 1)
        {
@@ -1752,12 +1755,12 @@ void PowerManagerFsm::basicNavigationFault()
        if(pm->m_subDisSysFault.sternRudderServo4 == 1)
            pm->m_systemData->insertFaultCode(0x1309);
    }
-    if (pm->m_systemData->disSysFaultCode.find(7) != pm->m_systemData->disSysFaultCode.end())
+    if (pm->m_systemData->hasDisSysFaultCode(7))
    {
        pm->m_systemData->insertFaultCode(0x1306);
        pm->m_systemData->insertFaultCode(0x1307);
    }
-    if (pm->m_systemData->disSysFaultCode.find(8) != pm->m_systemData->disSysFaultCode.end())
+    if (pm->m_systemData->hasDisSysFaultCode(8))
    {
        pm->m_systemData->insertFaultCode(0x1308);
        pm->m_systemData->insertFaultCode(0x1309);
@@ -1765,19 +1768,19 @@ void PowerManagerFsm::basicNavigationFault()
    if(count == 0)
    {
        // 清空故障码
-        if(pm->m_systemData->disSysFaultCode.find(7) == pm->m_systemData->disSysFaultCode.end())
+        if(!pm->m_systemData->hasDisSysFaultCode(7))
        {
            pm->m_systemData->eraseFaultCode(0x1306);
            pm->m_systemData->eraseFaultCode(0x1307);
        }
-        if(pm->m_systemData->disSysFaultCode.find(8) == pm->m_systemData->disSysFaultCode.end())
+        if(!pm->m_systemData->hasDisSysFaultCode(8))
        {
            pm->m_systemData->eraseFaultCode(0x1308);
            pm->m_systemData->eraseFaultCode(0x1309);
        }
    }
    //=====处理动力电池故障======================
-    if(pm->m_systemData->dyn_emergency_status != 0 )
+    if(pm->m_systemData->getDynEmergencyStatus() != 0 )
    {
        pm->m_systemData->insertFaultCode(0x130B);
    }
@@ -1788,7 +1791,7 @@ void PowerManagerFsm::basicNavigationFault()
    }
    else
    {
-        if(pm->m_systemData->disSysFaultCode.find(3) == pm->m_systemData->disSysFaultCode.end())
+        if(!pm->m_systemData->hasDisSysFaultCode(3))
        {
            pm->m_systemData->eraseFaultCode(0x130A);
        }
@@ -1816,7 +1819,7 @@ void PowerManagerFsm::basicNavigationFault()
        pm->m_systemData->eraseFaultCode(0x1412);
    }
    //====处理复合管控器失效
-    if(pm->m_systemData->device_common_status.ccu_status.isTimeout)
+    if(pm->m_systemData->getDeviceCommonStatus().ccu_status.isTimeout)
    {
        pm->m_systemData->insertFaultCode(0x1413);
    }
@@ -1831,63 +1834,63 @@ void PowerManagerFsm::basicNavigationFault(FaultEvent const &e)
   if((e.injectionFaultCode==1))
   {
        LOG_F(INFO, "部分深度计失效");
-        pm->faultCode.push_back(0x1102);
-        pm->faultCode.push_back(0x1103);
-        pm->faultCode.push_back(0x1104);
+        pm->addFaultCode(0x1102);
+        pm->addFaultCode(0x1103);
+        pm->addFaultCode(0x1104);
   }
   if((e.injectionFaultCode==2))
   {
        LOG_F(INFO, "DVL失效");
-        pm->faultCode.push_back(0x1301);
+        pm->addFaultCode(0x1301);
   }
   if ((e.injectionFaultCode==3))
   {
        LOG_F(INFO, "单个艉舵失效");
-        pm->faultCode.push_back(0x1207);
+        pm->addFaultCode(0x1207);
   }
   if ((e.injectionFaultCode==4))
   {
        LOG_F(INFO, "部分艉舵失效");
-        pm->faultCode.push_back(0x1308);
-        pm->faultCode.push_back(0x1307);
+        pm->addFaultCode(0x1308);
+        pm->addFaultCode(0x1307);
   }
   if ((e.injectionFaultCode==5))
   {
        LOG_F(INFO, "动力锂电池失效");
-        pm->faultCode.push_back(0x130B);
+        pm->addFaultCode(0x130B);
   }
   if ((e.injectionFaultCode==6))
   {
        LOG_F(INFO, "推进电机失效");
-        pm->faultCode.push_back(0x130A);
+        pm->addFaultCode(0x130A);
   }
   if ((e.injectionFaultCode==7))
   {
        LOG_F(INFO, "惯导失效");
-        pm->faultCode.push_back(0x1305);
+        pm->addFaultCode(0x1305);
   }
   if ((e.injectionFaultCode==8))
   {
        LOG_F(INFO, "深度失效");
-        pm->faultCode.push_back(0x1302);
-        pm->faultCode.push_back(0x1303);
-        pm->faultCode.push_back(0x1304);
+        pm->addFaultCode(0x1302);
+        pm->addFaultCode(0x1303);
+        pm->addFaultCode(0x1304);
   }
   if ((e.injectionFaultCode==9))
   {
        LOG_F(INFO, "仪表锂电池失效");
-        pm->faultCode.push_back(0x1412);
+        pm->addFaultCode(0x1412);
   }
   if ((e.injectionFaultCode==10))
   {
        LOG_F(INFO, "复合管控器失效");
-        pm->faultCode.push_back(0x1413);
+        pm->addFaultCode(0x1413);
   }
 }
 void PowerManagerFsm::extendedNavigationFault()
 {
    //处理艏舵故障
-    if(pm->m_systemData->disSysFaultCode.find(17) != pm->m_systemData->disSysFaultCode.end())
+    if(pm->m_systemData->hasDisSysFaultCode(17))
    {
        pm->m_systemData->insertFaultCode(0x2311);
        pm->m_systemData->insertFaultCode(0x2312);
@@ -1939,22 +1942,22 @@ void PowerManagerFsm::extendedNavigationFault(FaultEvent const &e)
   if ((e.injectionFaultCode==1))
   {
        LOG_F(INFO, "艏舵展开电缸失效");
-        pm->faultCode.push_back(0x2311);
+        pm->addFaultCode(0x2311);
   }
   if ((e.injectionFaultCode==2))
   {
        LOG_F(INFO, "艏舵控制控制失效");
-        pm->faultCode.push_back(0x2312);
+        pm->addFaultCode(0x2312);
   }
   if ((e.injectionFaultCode==3))
   {
        LOG_F(INFO, "动力锂电池功率不满/失效");
-        pm->faultCode.push_back(0x2323);
+        pm->addFaultCode(0x2323);
   }
   if ((e.injectionFaultCode==4))
   {
        LOG_F(INFO, "燃料电池失效");
-        pm->faultCode.push_back(0x2334);
+        pm->addFaultCode(0x2334);
   }
 }
 void PowerManagerFsm::obstacleAvoidanceFault()
@@ -2061,22 +2064,22 @@ void PowerManagerFsm::obstacleAvoidanceFault(FaultEvent const &e)
    LOG_F(INFO, "obstacleAvoidanceFault");
    if ((e.injectionFaultCode==1))
    {
-        pm->faultCode.push_back(0x3108);
-        pm->faultCode.push_back(0x3109);
+        pm->addFaultCode(0x3108);
+        pm->addFaultCode(0x3109);
    }
    if ((e.injectionFaultCode==2))
    {
-        pm->faultCode.push_back(0x3201);
-        pm->faultCode.push_back(0x3202);
-        pm->faultCode.push_back(0x3203);
-        pm->faultCode.push_back(0x3204);
-        pm->faultCode.push_back(0x3205);
-        pm->faultCode.push_back(0x3206);
-        pm->faultCode.push_back(0x3207);
+        pm->addFaultCode(0x3201);
+        pm->addFaultCode(0x3202);
+        pm->addFaultCode(0x3203);
+        pm->addFaultCode(0x3204);
+        pm->addFaultCode(0x3205);
+        pm->addFaultCode(0x3206);
+        pm->addFaultCode(0x3207);
    }
    if ((e.injectionFaultCode==3))
    {
-        pm->faultCode.push_back(0x3301);
+        pm->addFaultCode(0x3301);
    }
    
 }
@@ -2089,8 +2092,8 @@ void PowerManagerFsm::buoyancyControlFault()
    + (pm->m_subDisSysFault.buoyancyAdjust4 == 1)
    + (pm->m_subDisSysFault.buoyancyAdjust5 == 1);

-    bool breaker7_fault = pm->m_systemData->disSysFaultCode.find(7) != pm->m_systemData->disSysFaultCode.end();
-    bool breaker13_fault = pm->m_systemData->disSysFaultCode.find(13) != pm->m_systemData->disSysFaultCode.end();
+    bool breaker7_fault = pm->m_systemData->hasDisSysFaultCode(7);
+    bool breaker13_fault = pm->m_systemData->hasDisSysFaultCode(13);
    //===========艏部浮调====================
    if(breaker7_fault)
    {
@@ -2256,24 +2259,24 @@ void PowerManagerFsm::buoyancyControlFault(FaultEvent const &e)
    if ((e.injectionFaultCode==1))
    {
        LOG_F(INFO, "单一浮调机构失效");
-        pm->faultCode.push_back(0x4201);
+        pm->addFaultCode(0x4201);
    }
    if ((e.injectionFaultCode==2))
    {
        LOG_F(INFO, "2-4及以上浮调装置失效");
-        pm->faultCode.push_back(0x4301);
-        pm->faultCode.push_back(0x4302);
-        pm->faultCode.push_back(0x4303);
+        pm->addFaultCode(0x4301);
+        pm->addFaultCode(0x4302);
+        pm->addFaultCode(0x4303);
    }
    if ((e.injectionFaultCode==3))
    {
        LOG_F(INFO, "功率不足满足浮调要求");
-        pm->faultCode.push_back(0x4436);
+        pm->addFaultCode(0x4436);
    }
    if ((e.injectionFaultCode==4))
    {
        LOG_F(INFO, "所有浮调系统失效");
-        pm->faultCode.push_back(0x4401);
+        pm->addFaultCode(0x4401);
    }
 }

@@ -2319,7 +2322,7 @@ void PowerManagerFsm::communicationSystemFault()
    else
        pm->m_systemData->eraseFaultCode(0x5301);

-    if(pm->m_subDisSysFault.mastLiftingServo == 1 || (pm->m_systemData->disSysFaultCode.find(15) != pm->m_systemData->disSysFaultCode.end()))
+    if(pm->m_subDisSysFault.mastLiftingServo == 1 || (pm->m_systemData->hasDisSysFaultCode(15)))
        pm->m_systemData->insertFaultCode(0x5302);
    else
        pm->m_systemData->eraseFaultCode(0x5302);
@@ -2331,22 +2334,22 @@ void PowerManagerFsm::communicationSystemFault(FaultEvent const &e)
    if ((e.injectionFaultCode==1))
    {
        LOG_F(INFO, "部分水下通信失效");
-        pm->faultCode.push_back(0x5203);
-        pm->faultCode.push_back(0x5204);
-        pm->faultCode.push_back(0x5205);
+        pm->addFaultCode(0x5203);
+        pm->addFaultCode(0x5204);
+        pm->addFaultCode(0x5205);
    }
    if ((e.injectionFaultCode==2))
    {
        LOG_F(INFO, "水下通信失效");
-        pm->faultCode.push_back(0x5303);
-        pm->faultCode.push_back(0x5304);
-        pm->faultCode.push_back(0x5305);
+        pm->addFaultCode(0x5303);
+        pm->addFaultCode(0x5304);
+        pm->addFaultCode(0x5305);
    }
    if ((e.injectionFaultCode==3))
    {
        LOG_F(INFO, "水面通信失效");
-        pm->faultCode.push_back(0x5301);
-        pm->faultCode.push_back(0x5302);
+        pm->addFaultCode(0x5301);
+        pm->addFaultCode(0x5302);
    }
 }
 void PowerManagerFsm::payloadSystemFault()
@@ -2366,8 +2369,8 @@ void PowerManagerFsm::payloadSystemFault()
    + (pm->m_subDisSysFault.bowWaterInet7 == 1)
    + (pm->m_subDisSysFault.bowWaterInet8 == 1);

-    if((pm->m_systemData->disSysFaultCode.find(14) == pm->m_systemData->disSysFaultCode.end())
-      && (pm->m_systemData->disSysFaultCode.find(18) == pm->m_systemData->disSysFaultCode.end()))
+    if((!pm->m_systemData->hasDisSysFaultCode(14))
+      && (!pm->m_systemData->hasDisSysFaultCode(18)))
    {
        if(count > 0 && count < 14)
        {
@@ -2387,8 +2390,8 @@ void PowerManagerFsm::payloadSystemFault()
            if(pm->m_subDisSysFault.bowWaterInet8 == 1) pm->m_systemData->insertFaultCode(0x621E); else pm->m_systemData->eraseFaultCode(0x621E);
        }
    }
-    if((pm->m_systemData->disSysFaultCode.find(14) != pm->m_systemData->disSysFaultCode.end())
-        && (pm->m_systemData->disSysFaultCode.find(18) == pm->m_systemData->disSysFaultCode.end()))
+    if((pm->m_systemData->hasDisSysFaultCode(14))
+        && (!pm->m_systemData->hasDisSysFaultCode(18)))
    {
        pm->m_systemData->insertFaultCode(0x633F);
    }
@@ -2400,8 +2403,8 @@ void PowerManagerFsm::payloadSystemFault()
    {
        pm->m_systemData->insertFaultCode(0x633F);
    }
-    if(count == 0 && ((pm->m_systemData->disSysFaultCode.find(14) == pm->m_systemData->disSysFaultCode.end())
-        && (pm->m_systemData->disSysFaultCode.find(18) == pm->m_systemData->disSysFaultCode.end())
+    if(count == 0 && ((!pm->m_systemData->hasDisSysFaultCode(14))
+        && (!pm->m_systemData->hasDisSysFaultCode(18))
        && (pm->m_subDisSysFault.launchControler == 0))
    )
    {
@@ -2413,7 +2416,7 @@ void PowerManagerFsm::payloadSystemFault()
    else
        pm->m_systemData->eraseFaultCode(0x6321);

-    if(pm->m_systemData->disSysFaultCode.find(16) == pm->m_systemData->disSysFaultCode.end())
+    if(!pm->m_systemData->hasDisSysFaultCode(16))
        pm->m_systemData->eraseFaultCode(0x6323);
    else
        pm->m_systemData->insertFaultCode(0x6323);
@@ -2437,50 +2440,50 @@ void PowerManagerFsm::payloadSystemFault(FaultEvent const &e)
    if ((e.injectionFaultCode==1))
    {
        LOG_F(INFO, "存在启闭机构或者敞水电缸失效");
-        pm->faultCode.push_back(0x6211);
-        pm->faultCode.push_back(0x6212);
-        pm->faultCode.push_back(0x6213);
-        pm->faultCode.push_back(0x6214);
-        pm->faultCode.push_back(0x6215);
-        pm->faultCode.push_back(0x6216);
-        pm->faultCode.push_back(0x6217);
-        pm->faultCode.push_back(0x6218);
-        pm->faultCode.push_back(0x6219);
-        pm->faultCode.push_back(0x621A);
-        pm->faultCode.push_back(0x621B);
-        pm->faultCode.push_back(0x621C);
-        pm->faultCode.push_back(0x621D);
-        pm->faultCode.push_back(0x621E);
+        pm->addFaultCode(0x6211);
+        pm->addFaultCode(0x6212);
+        pm->addFaultCode(0x6213);
+        pm->addFaultCode(0x6214);
+        pm->addFaultCode(0x6215);
+        pm->addFaultCode(0x6216);
+        pm->addFaultCode(0x6217);
+        pm->addFaultCode(0x6218);
+        pm->addFaultCode(0x6219);
+        pm->addFaultCode(0x621A);
+        pm->addFaultCode(0x621B);
+        pm->addFaultCode(0x621C);
+        pm->addFaultCode(0x621D);
+        pm->addFaultCode(0x621E);
    }
    if ((e.injectionFaultCode==2))
    {
        LOG_F(INFO, "舷侧探测失效");
-        pm->faultCode.push_back(0x6321);
+        pm->addFaultCode(0x6321);
    }
    if ((e.injectionFaultCode==3))
    {
        LOG_F(INFO, "舷侧主动探测失效");
-        pm->faultCode.push_back(0x6323);
+        pm->addFaultCode(0x6323);
    }
    if ((e.injectionFaultCode==4))
    {
        LOG_F(INFO, "TYZ失效");
-        pm->faultCode.push_back(0x6322);
+        pm->addFaultCode(0x6322);
    }
    if ((e.injectionFaultCode==5))
    {
        LOG_F(INFO, "光电探测失效");
-        pm->faultCode.push_back(0x6332);
+        pm->addFaultCode(0x6332);
    }
    if ((e.injectionFaultCode==6))
    {
        LOG_F(INFO, "电磁探测失效");
-        pm->faultCode.push_back(0x6331);
+        pm->addFaultCode(0x6331);
    }
    if ((e.injectionFaultCode==7))
    {
        LOG_F(INFO, "载荷失效或者全部载荷启闭机构均失效");
-        pm->faultCode.push_back(0x633F);
+        pm->addFaultCode(0x633F);
    }
 }
 void PowerManagerFsm::emergencySystemFault()
@@ -2514,14 +2517,14 @@ void PowerManagerFsm::emergencySystemFault()
    else
        pm->m_systemData->eraseFaultCode(0x7301);

-    if(pm->m_systemData->power_bus_status.emergencyPowerLossSignal || pm->m_systemData->instrument_main_bus_status.emergencyPowerFailureSignal
-     || (pm->m_systemData->disSysFaultCode.find(25) != pm->m_systemData->disSysFaultCode.end()))
+    if(pm->m_systemData->getPowerBusStatus().emergencyPowerLossSignal || pm->m_systemData->getInstrumentMainBusStatus().emergencyPowerFailureSignal
+     || (pm->m_systemData->hasDisSysFaultCode(25)))
        pm->m_systemData->insertFaultCode(0x7306);
    else
        pm->m_systemData->eraseFaultCode(0x7306);

-    if(pm->m_systemData->power_a_bus_status.emergencyPowerFailureSignal || pm->m_systemData->instrument_bus_status.emergencyPowerFailureSignal
-     || (pm->m_systemData->disSysFaultCode.find(33) != pm->m_systemData->disSysFaultCode.end()))
+    if(pm->m_systemData->getPowerABusStatus().emergencyPowerFailureSignal || pm->m_systemData->getInstrumentBusStatus().emergencyPowerFailureSignal
+     || (pm->m_systemData->hasDisSysFaultCode(33)))
        pm->m_systemData->insertFaultCode(0x7307);
    else
        pm->m_systemData->eraseFaultCode(0x7307);
@@ -2534,35 +2537,35 @@ void PowerManagerFsm::emergencySystemFault(FaultEvent const &e)
    {
        //备注：抛载具有自己的电池
        LOG_F(INFO, "部分抛载失效");
-        pm->faultCode.push_back(0x7202);
-        pm->faultCode.push_back(0x7203);
+        pm->addFaultCode(0x7202);
+        pm->addFaultCode(0x7203);
    }
    if ((e.injectionFaultCode==2))
    {
        LOG_F(INFO, "一个超深检测装置失效");
-        pm->faultCode.push_back(0x7204);
-        pm->faultCode.push_back(0x7205);
+        pm->addFaultCode(0x7204);
+        pm->addFaultCode(0x7205);
    }
    if ((e.injectionFaultCode==3))
    {
        LOG_F(INFO, "注水机构失效");
-        pm->faultCode.push_back(0x7301);
+        pm->addFaultCode(0x7301);
    }
    if ((e.injectionFaultCode==4))
    {
        LOG_F(INFO, "抛载失效");
-        pm->faultCode.push_back(0x7302);
-        pm->faultCode.push_back(0x7303);
+        pm->addFaultCode(0x7302);
+        pm->addFaultCode(0x7303);
    }
    if ((e.injectionFaultCode==5))
    {
        LOG_F(INFO, "艏部应急电源失效");
-        pm->faultCode.push_back(0x7306);
+        pm->addFaultCode(0x7306);
    }
    if ((e.injectionFaultCode==6))
    {
        LOG_F(INFO, "艉部应急电源失效");
-        pm->faultCode.push_back(0x7307);
+        pm->addFaultCode(0x7307);
    }
 }

@@ -2600,18 +2603,18 @@ void PowerManagerFsm::sensorSystemFault(FaultEvent const &e)
    if ((e.injectionFaultCode==1))
    {
        LOG_F(INFO, "部分CTD失效");
-        pm->faultCode.push_back(0x8202);
+        pm->addFaultCode(0x8202);
    }
    if ((e.injectionFaultCode==2))
    {
        LOG_F(INFO, "CTD失效");
-        pm->faultCode.push_back(0x8302);
-        pm->faultCode.push_back(0x8303);
+        pm->addFaultCode(0x8302);
+        pm->addFaultCode(0x8303);
    }
    if ((e.injectionFaultCode==3))
    {
        LOG_F(INFO, "声速仪失效");
-        pm->faultCode.push_back(0x8301);
+        pm->addFaultCode(0x8301);
    }
 }
 void PowerManagerFsm::react(FaultEvent const &e)
@@ -2637,7 +2640,7 @@ void PowerManagerFsm::handelPowerCmd(){
        pm->m_systemData->setSystemInfo("INFO:收到上位机控制指令:关机");
        // MOOSPause(3);
        // int count=0;
-        // while (!(pm->m_systemData->dyn_pos_relay_status == 0x02 && pm->m_systemData->dyn_neg_relay_status == 0x02))
+        // while (!(pm->m_systemData->getDynPosRelayStatus() == 0x02 && pm->m_systemData->getDynNegRelayStatus() == 0x02))
        // {
        //     LOG_F(INFO,"动力锂电池下电中...");
        //     MOOSPause(3);
@@ -2729,10 +2732,13 @@ void PowerManagerFsm::handelPowerCmd(){
        pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(0);
        MOOSPause(1000);
        //最后 关闭动力电池
-        pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Stop;
+        {
+            std::lock_guard<std::mutex> lock(pm->m_stateMutex);
+            pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Stop;
+        }
        {
            int count=0;
-            while (!(pm->m_systemData->dyn_pos_relay_status == 0x02 && pm->m_systemData->dyn_neg_relay_status == 0x02))
+            while (!(pm->m_systemData->getDynPosRelayStatus() == 0x02 && pm->m_systemData->getDynNegRelayStatus() == 0x02))
            {
                LOG_F(INFO,"动力锂电池下电中...");
                MOOSPause(1000);
@@ -2751,7 +2757,10 @@ void PowerManagerFsm::handelPowerCmd(){
        pm->m_systemData->setSystemInfo("INFO:次级配电系统恢复待机");
        MOOSPause(3000);
        //4. 执行锂电池关机指令 
-        pm->m_CcuColCmd.insBatCmd = BatteryCommand::Stop;
+        {
+            std::lock_guard<std::mutex> lock(pm->m_stateMutex);
+            pm->m_CcuColCmd.insBatCmd = BatteryCommand::Stop;
+        }
        break;
    }
    case 1:
@@ -2759,10 +2768,13 @@ void PowerManagerFsm::handelPowerCmd(){
        LOG_F(INFO, "收到上位机控制指令:动力电上电");
        pm->m_systemData->setSystemInfo("INFO:收到上位机控制指令:动力电上电");
        //1. 动力锂电池上电
-        pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
+        {
+            std::lock_guard<std::mutex> lock(pm->m_stateMutex);
+            pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
+        }
        // 等待动力锂电池上电完成
        int count=0;
-        while (!(pm->m_systemData->dyn_voltage_link > 500.0))
+        while (!(pm->m_systemData->getDynVoltageLink() > 500.0))
        {
            LOG_F(INFO,"动力锂电池上电中...");
            MOOSPause(1000);
@@ -2795,7 +2807,10 @@ void PowerManagerFsm::handelPowerCmd(){
        //1. 闭合动力电断路器
        pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(1);
        //2. 动力锂电池上电
-        pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
+        {
+            std::lock_guard<std::mutex> lock(pm->m_stateMutex);
+            pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
+        }
        break;
    }
    case 3:
@@ -2820,7 +2835,7 @@ void PowerManagerFsm::handelPowerCmd(){
        pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(0);
        MOOSPause(3);
        int count=0;
-        while (!(pm->m_systemData->dyn_pos_relay_status == 0x02 && pm->m_systemData->dyn_neg_relay_status == 0x02))
+        while (!(pm->m_systemData->getDynPosRelayStatus() == 0x02 && pm->m_systemData->getDynNegRelayStatus() == 0x02))
        {
            LOG_F(INFO,"动力锂电池下电中...");
            MOOSPause(3);
@@ -2957,7 +2972,7 @@ void PowerManagerFsm::react(TestEvent const &e)
    LOG_F(INFO, "测试消息");
    if(e.type == 0){
        LOG_F(INFO, "清空故障代码");
-        pm->faultCode.clear();
+        pm->clearFaultCodes();
        pm->m_leakage = 0x00;
        pm->m_systemData->insfaultCode = 0x00;
        pm->m_systemData->powfaultCode = 0x00;
@@ -2965,7 +2980,7 @@ void PowerManagerFsm::react(TestEvent const &e)
        pm->m_systemData->fc_fault_level_3 = 0;
        pm->m_systemData->fc_fault_level_2 = 0;
        pm->m_systemData->fc_fault_level_1 = 0;
-        pm->m_systemData->disSysFaultCode.clear();
+        pm->m_systemData->clearDisSysFaultCodes();
        cout << "清空故障代码" << endl;
    };
    // if(e.eventId == 0) return ;
@@ -3070,7 +3085,7 @@ void PowerManagerFsm::react(TestEvent const &e)
    {
        LOG_F(INFO,"配电系统故障测试");
        // pm->m_systemData->distributeFaultCode.push_back(disfaultMap[e.eventId].code);
-        pm->m_systemData->disSysFaultCode.insert(disfaultMap[e.eventId].code);
+        pm->m_systemData->insertDisSysFaultCode(disfaultMap[e.eventId].code);
    }
    default:
        LOG_F(INFO, "测试消息类型错误");
@@ -15,10 +15,13 @@ void ShoreBasedReady::entry() {
    //依次接入执行机构动力电设备
    //1. 开启动力电
    //1.1 动力锂电池上电
-    pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
+    {
+        std::lock_guard<std::mutex> lock(pm->m_stateMutex);
+        pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
+    }
    // 等待动力锂电池上电完成
    int count=0;
-    while (!(pm->m_systemData->dyn_voltage_link > 500.0))
+    while (!(pm->m_systemData->getDynVoltageLink() > 500.0))
    {
        LOG_F(INFO,"动力锂电池上电中...");
        MOOSPause(1000);
@@ -35,8 +35,8 @@ void HttpServer::handleWebSocketEvent(struct mg_connection* c, int ev, void* ev_
                         c->id, (int)(intptr_t)c->fd, errno);
                    // 打印socket错误信息
                    char buf[256];
-                    strerror_r(errno, buf, sizeof(buf));
-                    LOG_F(ERROR, "Socket error: %s", buf);
+                    const char *err = strerror_r(errno, buf, sizeof(buf));
+                    LOG_F(ERROR, "Socket error: %s", err ? err : buf);
                } else {
                    LOG_F(ERROR, "WebSocket connection closed abnormally: id=%lu fd=%d", 
                         c->id, (int)(intptr_t)c->fd);
@@ -133,16 +133,19 @@ void HttpServer::handleWebSocketEvent(struct mg_connection* c, int ev, void* ev_
                    fuelCellMode, fuelCellCommand, fuelCellPower,
                    instrumentBattery, instrumentBatteryCharge, powerBattery, powerBatteryPower, hostStatus);

-                m_powerManger->m_CcuColCmd.fcmode = fuelCellMode;
-                m_powerManger->m_CcuColCmd.fcuCmd = fuelCellCommand;
-                m_powerManger->m_CcuColCmd.fcuPowerEfficiency = fuelCellPower;
-                m_powerManger->m_CcuColCmd.insBatCmd = instrumentBattery;
+                {
+                    std::lock_guard<std::mutex> lock(m_powerManger->m_stateMutex);
+                    m_powerManger->m_CcuColCmd.fcmode = fuelCellMode;
+                    m_powerManger->m_CcuColCmd.fcuCmd = fuelCellCommand;
+                    m_powerManger->m_CcuColCmd.fcuPowerEfficiency = fuelCellPower;
+                    m_powerManger->m_CcuColCmd.insBatCmd = instrumentBattery;
+                    m_powerManger->m_CcuColCmd.powerBatCmd = powerBattery;
+                    m_powerManger->m_CcuColCmd.powerBatEfficiency = powerBatteryPower;
+                    m_powerManger->m_CcuColCmd.masterState = hostStatus;
+                    m_powerManger->m_CcuColCmd.insChargeEnable = instrumentBatteryCharge;
+                }
                cout << "powerBatteryPower:" << (int)instrumentBattery << endl;
-                m_powerManger->m_CcuColCmd.powerBatCmd = powerBattery;
-                m_powerManger->m_CcuColCmd.powerBatEfficiency = powerBatteryPower;
-                m_powerManger->m_CcuColCmd.masterState = hostStatus;
-                m_powerManger->m_CcuColCmd.insChargeEnable = instrumentBatteryCharge;
-                cout << "m_powerManger->m_CcuColCmd.masterState:" << (int)m_powerManger->m_CcuColCmd.masterState << endl;
+                cout << "m_powerManger->m_CcuColCmd.masterState:" << (int)hostStatus << endl;

                mg_http_reply(c, 200, "Content-Type: application/json\r\n",
                    "{\"success\": true, \"message\": \"电池配置提交成功\"}");
@@ -353,6 +356,13 @@ void HttpServer::pushSystemData() {
        return;
    }

+    // 先持 m_stateMutex 快照 m_CcuColCmd（绝不与下方 m_dataMutex 同时持有，避免锁序死锁）
+    ccuColCmd ccuCmd;
+    if (m_powerManger) {
+        std::lock_guard<std::mutex> stateLock(m_powerManger->m_stateMutex);
+        ccuCmd = m_powerManger->m_CcuColCmd;
+    }
+
    std::lock_guard<std::mutex> dataLock(m_systemData->m_dataMutex);

    // 序列化系统数据为JSON
@@ -772,15 +782,15 @@ void HttpServer::pushSystemData() {
    j["debug"]["m_liBatStateMsg_st_debug"]["content"] = Json::Value(m_powerManger->m_upperCommManager->m_liBatStateMsg_st_debug.second);
    #endif

-    j["ccuColCmd"]["fcmode"] = Json::Value(m_powerManger->m_CcuColCmd.fcmode);
-    j["ccuColCmd"]["fcuCmd"] = Json::Value(m_powerManger->m_CcuColCmd.fcuCmd);
-    j["ccuColCmd"]["fcuPowerEfficiency"] = Json::Value(m_powerManger->m_CcuColCmd.fcuPowerEfficiency);
-    j["ccuColCmd"]["insChargeEnable"] = Json::Value(m_powerManger->m_CcuColCmd.insChargeEnable);
-    j["ccuColCmd"]["insBatCmd"] = Json::Value(m_powerManger->m_CcuColCmd.insBatCmd);
-    j["ccuColCmd"]["powerBatCmd"] = Json::Value(m_powerManger->m_CcuColCmd.powerBatCmd);
-    j["ccuColCmd"]["powerBatEfficiency"] = Json::Value(m_powerManger->m_CcuColCmd.powerBatEfficiency);
-    j["ccuColCmd"]["heartbeat"] = Json::Value(m_powerManger->m_CcuColCmd.heartbeat);
-    j["ccuColCmd"]["masterState"] = Json::Value(m_powerManger->m_CcuColCmd.masterState);
+    j["ccuColCmd"]["fcmode"] = Json::Value(ccuCmd.fcmode);
+    j["ccuColCmd"]["fcuCmd"] = Json::Value(ccuCmd.fcuCmd);
+    j["ccuColCmd"]["fcuPowerEfficiency"] = Json::Value(ccuCmd.fcuPowerEfficiency);
+    j["ccuColCmd"]["insChargeEnable"] = Json::Value(ccuCmd.insChargeEnable);
+    j["ccuColCmd"]["insBatCmd"] = Json::Value(ccuCmd.insBatCmd);
+    j["ccuColCmd"]["powerBatCmd"] = Json::Value(ccuCmd.powerBatCmd);
+    j["ccuColCmd"]["powerBatEfficiency"] = Json::Value(ccuCmd.powerBatEfficiency);
+    j["ccuColCmd"]["heartbeat"] = Json::Value(ccuCmd.heartbeat);
+    j["ccuColCmd"]["masterState"] = Json::Value(ccuCmd.masterState);

    // 时间戳
    j["timestamp"] = Json::Value((Json::UInt64)(std::chrono::duration_cast<std::chrono::milliseconds>(
@@ -37,6 +37,7 @@ public:
     * @return uint8_t 故障等级，00H-无故障, 10H-一级, 20H-二级, 30H-三级, 40H-四级
     */
    uint8_t getFaultCodeLevel() const {
+        std::lock_guard<std::mutex> lock(sysFaultCodesMutex);
        uint8_t maxLevel = 0;
        // 遍历 sysFaultCodes 集合中的每个故障码
        for (auto code : sysFaultCodes) {
@@ -536,6 +537,7 @@ public:
    bool leakStatus[8] = {false};

    unsigned char generateLeakageCode() {
+        std::lock_guard<std::mutex> lock(m_dataMutex);
        unsigned char code = 0;
        if(leakStatus[LEAKAGE_BOW_EMERGENCY])    code |= 0x01;
        if(leakStatus[LEAKAGE_BOW_HIGH_VOLTAGE]) code |= 0x02;
@@ -615,6 +617,65 @@ public:
    };
    ~SystemData(){};

+    //============== 跨线程读访问器（锁内拷贝，避免与更新线程竞争）==============
+    float getDynVoltageLink() const {
+        std::lock_guard<std::mutex> lock(m_dataMutex);
+        return dyn_voltage_link;
+    }
+    uint8_t getDynPosRelayStatus() const {
+        std::lock_guard<std::mutex> lock(m_dataMutex);
+        return dyn_pos_relay_status;
+    }
+    uint8_t getDynNegRelayStatus() const {
+        std::lock_guard<std::mutex> lock(m_dataMutex);
+        return dyn_neg_relay_status;
+    }
+    uint8_t getDynEmergencyStatus() const {
+        std::lock_guard<std::mutex> lock(m_dataMutex);
+        return dyn_emergency_status;
+    }
+    DcdcStatus getDcdcStatus() const {
+        std::lock_guard<std::mutex> lock(m_dataMutex);
+        return m_dcdcStatus;
+    }
+    decltype(power_bus_status) getPowerBusStatus() const {
+        std::lock_guard<std::mutex> lock(m_dataMutex);
+        return power_bus_status;
+    }
+    decltype(power_a_bus_status) getPowerABusStatus() const {
+        std::lock_guard<std::mutex> lock(m_dataMutex);
+        return power_a_bus_status;
+    }
+    decltype(instrument_main_bus_status) getInstrumentMainBusStatus() const {
+        std::lock_guard<std::mutex> lock(m_dataMutex);
+        return instrument_main_bus_status;
+    }
+    decltype(instrument_bus_status) getInstrumentBusStatus() const {
+        std::lock_guard<std::mutex> lock(m_dataMutex);
+        return instrument_bus_status;
+    }
+    DeviceCommonStatus getDeviceCommonStatus() const {
+        std::lock_guard<std::mutex> lock(m_dataMutex);
+        return device_common_status;
+    }
+    // 配电故障码集合（std::set 非原子，必须加锁访问）
+    bool hasDisSysFaultCode(unsigned int code) const {
+        std::lock_guard<std::mutex> lock(faultCodeMutex);
+        return disSysFaultCode.find(code) != disSysFaultCode.end();
+    }
+    void insertDisSysFaultCode(unsigned int code) {
+        std::lock_guard<std::mutex> lock(faultCodeMutex);
+        disSysFaultCode.insert(code);
+    }
+    void clearDisSysFaultCodes() {
+        std::lock_guard<std::mutex> lock(faultCodeMutex);
+        disSysFaultCode.clear();
+    }
+    std::set<unsigned int> getDisSysFaultCodes() const {
+        std::lock_guard<std::mutex> lock(faultCodeMutex);
+        return disSysFaultCode;
+    }
+
    void updateCommonStatus(double time_out=30){
        std::lock_guard<std::mutex> lock(m_dataMutex);
        //更新时间
@@ -754,10 +815,9 @@ public:
        ins_emergency_status = data.ins_emergency_status;
        dyn_emergency_status = data.dyn_emergency_status;
        
-        //保留字段
-        for(int i=0; i<2; i++) {
-            reserved2[i] = data.reserved2[i];
-        }
+        //保留字段：ccuState 中 reserved2 仅声明 1 字节（协议预留 2 字节），只拷贝已有元素，避免越界读
+        reserved2[0] = data.reserved2[0];
+        reserved2[1] = 0;
        
        //SOC门限值
        ins_soc_threshold1 = data.ins_soc_threshold1;
@@ -470,17 +470,13 @@ bool udpComm::sendDisSysCmd(const disHighVolBusCmd cmd)
  msgBuf = reinterpret_cast<unsigned char *>(msg);
  cc = calculateChecksum(msgBuf,sizeof(msg_disHVBCmd),sizeof(cChecksum));
  msg->checkCode = cc;
-  try
-  {
-    sendMsg(msgBuf,sizeof(msg_disHVBCmd));
-  }
-  catch(const std::exception& e)
-  {
-    std::cerr << e.what() << '\n';
+  bool sendResult = sendMsg(msgBuf, sizeof(msg_disHVBCmd));
+  if (!sendResult) {
+    LOG_F(ERROR, "sendDisSysCmd(disHighVolBusCmd) send failed");
  }
  if (m_commLogger) m_commLogger->onFrame(1, DIS_HVBUS_CMD_ID, "disHighVolBusCmd", msgBuf, sizeof(msg_disHVBCmd), true);
  delete msg;
-  return true;
+  return sendResult;
 }

 bool udpComm::sendDisSysCmd(const disHighAVolBusCmd cmd)
@@ -498,17 +494,13 @@ bool udpComm::sendDisSysCmd(const disHighAVolBusCmd cmd)
  msgBuf = reinterpret_cast<unsigned char *>(msg);
  cc = calculateChecksum(msgBuf,sizeof(msg_disHVBACmd),sizeof(cChecksum));
  msg->checkCode = cc;
-  try
-  {
-    sendMsg(msgBuf,sizeof(msg_disHVBACmd));
-  }
-  catch(const std::exception& e)
-  {
-    std::cerr << e.what() << '\n';
+  bool sendResult = sendMsg(msgBuf, sizeof(msg_disHVBACmd));
+  if (!sendResult) {
+    LOG_F(ERROR, "sendDisSysCmd(disHighAVolBusCmd) send failed");
  }
  if (m_commLogger) m_commLogger->onFrame(1, DIS_HVBUSA_CMD_ID, "disHighAVolBusCmd", msgBuf, sizeof(msg_disHVBACmd), true);
  delete msg;
-  return true;
+  return sendResult;
 }

 bool udpComm::sendDisSysCmd(const disHighBVolBusCmd cmd)
@@ -526,18 +518,13 @@ bool udpComm::sendDisSysCmd(const disHighBVolBusCmd cmd)
  msgBuf = reinterpret_cast<unsigned char *>(msg);
  cc = calculateChecksum(msgBuf,sizeof(msg_disHVBBCmd),sizeof(cChecksum));
  msg->checkCode = cc;
-  try
-  {
-    // cout << "=========" <<(int)sizeof(msg_disHVBBCmd) << endl;
-    sendMsg(msgBuf,sizeof(msg_disHVBBCmd));
-  }
-  catch(const std::exception& e)
-  {
-    std::cerr << e.what() << '\n';
+  bool sendResult = sendMsg(msgBuf, sizeof(msg_disHVBBCmd));
+  if (!sendResult) {
+    LOG_F(ERROR, "sendDisSysCmd(disHighBVolBusCmd) send failed");
  }
  if (m_commLogger) m_commLogger->onFrame(1, DIS_HVBUSB_CMD_ID, "disLowMainBusCmd", msgBuf, sizeof(msg_disHVBBCmd), true);
  delete msg;
-  return true;
+  return sendResult;
 }

 bool udpComm::sendDisSysCmd(const disLowBusCmd cmd)
@@ -556,18 +543,13 @@ bool udpComm::sendDisSysCmd(const disLowBusCmd cmd)
  cc = calculateChecksum(msgBuf,sizeof(msg_disLVBCmd),sizeof(cChecksum));
  // msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
  msg->checkCode = cc;
-  cout << "cc======disLowBusCmd=============================" << (int) msg->checkCode << endl;
-  try
-  {
-    sendMsg(msgBuf,sizeof(msg_disLVBCmd));
-  }
-  catch(const std::exception& e)
-  {
-    std::cerr << e.what() << '\n';
+  bool sendResult = sendMsg(msgBuf, sizeof(msg_disLVBCmd));
+  if (!sendResult) {
+    LOG_F(ERROR, "sendDisSysCmd(disLowBusCmd) send failed");
  }
  if (m_commLogger) m_commLogger->onFrame(1, DIS_LVBUS_CMD_ID, "disLowBusCmd", msgBuf, sizeof(msg_disLVBCmd), true);
  delete msg;
-  return true;
+  return sendResult;
 }

 bool udpComm::sendCcuColCmd(const ccuColCmd cmd)
@@ -137,6 +137,7 @@ public:
    // std::string buildMsg(SystemData data,disSysBreakerList currentDisBreakerState)
    std::string buildMsg(const SystemData& data,disSysBreakerList currentDisBreakerState)
    {
+        std::lock_guard<std::mutex> lock(data.m_dataMutex);
        //构建配电系统状态报告
        Json::Value dis;
        // disBus1Breaker dis1 = currentDisBreakerState.bus1Breaker;
@@ -27,6 +27,7 @@ public:
    // std::string buildMsg(SystemData data)
    std::string buildMsg(const SystemData& data)
    {
+        std::lock_guard<std::mutex> lock(data.m_dataMutex);
        //TODO:根据最新协议修改
        Json::Value fcs;
        // suffix = getTypeName(typeid(ccustate.fcuState).name());
@@ -18,6 +18,7 @@ public:
    // std::string buildMsg(SystemData data)
    std::string buildMsg(const SystemData& data)
    {
+        std::lock_guard<std::mutex> lock(data.m_dataMutex);
        //TODO:根据最新协议修改
        Json::Value lbs;
        //构建锂电池状态报告
@@ -108,3 +108,20 @@ target_link_libraries(udpFeeder
    pthread
    dl
 )
+
+################################################fullFeeder（集成测试用）#######
+# 全类型 UDP 仿真器：CCU 状态 + 4 路配电反馈（自包含，仅依赖协议结构体头文件）
+add_executable(fullFeeder
+    integration/full_feeder.cpp
+)
+target_include_directories(fullFeeder PRIVATE
+    ${PM_SRC_DIR}
+    ${PM_SRC_DIR}/udpcomm
+)
+set_target_properties(fullFeeder PROPERTIES
+    CXX_STANDARD 11
+    CXX_STANDARD_REQUIRED ON
+)
+target_link_libraries(fullFeeder
+    pthread
+)
@@ -0,0 +1,292 @@
+//=======================================================================
+// full_feeder.cpp: 集成测试用 — 仿真真实 CCU + 配电系统，向 pPowerManger
+// 发送全部 5 类状态反馈 UDP 消息（CCU 状态 + 4 路配电反馈）。
+// 直接使用真实 C++ 结构体构造消息（字节级与协议一致，无打包漂移）。
+// 用法: fullFeeder [host] [port] [rounds] [interval_ms]
+//   rounds=0 表示持续发送直到被 kill。
+//=======================================================================
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <cstring>
+#include <cstdio>
+#include <cstdlib>
+#include <unistd.h>
+#include <thread>
+#include <chrono>
+#include "udpcomm/ccuUdpMsg.h"
+
+static int g_fd = -1;
+static sockaddr_in g_addr{};
+
+static bool sendBuf(const void* buf, size_t len) {
+    ssize_t n = sendto(g_fd, buf, len, 0,
+                       reinterpret_cast<sockaddr*>(&g_addr), sizeof(g_addr));
+    return n == (ssize_t)len;
+}
+
+// CCU 消息校验和：4 字节全宽（sum 覆盖 sizeof-4 字节）
+static unsigned int ccuChecksum(const unsigned char* d, int size) {
+    unsigned int s = 0;
+    for (int i = 0; i < size - (int)sizeof(Checksum); ++i) s += d[i];
+    return s;
+}
+// 配电消息校验和：1 字节（sum 覆盖 sizeof-1 字节，&0xFF）
+static unsigned char disChecksum(const unsigned char* d, int size) {
+    unsigned int s = 0;
+    for (int i = 0; i < size - (int)sizeof(cChecksum); ++i) s += d[i];
+    return (unsigned char)(s & 0xFF);
+}
+
+static void fillCcuState(msg_CcuStateFbMsg& m, unsigned int beat) {
+    memset(&m, 0, sizeof(m));
+    m.header.start1 = CCU_UDPMSG_START1;
+    m.header.start2 = CCU_UDPMSG_START2;
+    m.header.id = CCU_STATE_FB_ID;
+    m.header.length = sizeof(ccuState);
+    m.data.fc_mode = 0x02;               // 自动
+    m.data.fc_status = 0x04;             // 运行
+    m.data.fc_fault_level = 0x00;        // 无故障
+    m.data.output_power_limit = 30000;
+    m.data.total_generation_time = 1234;
+    m.data.total_generation_power = 8000;
+    m.data.hydrogen_capacity = 70;
+    m.data.liquid_oxygen_capacity = 65;
+    m.data.palladium_temp = 60;
+    m.data.main_pipe_pressure = 200;
+    m.data.aux_pipe_pressure = 180;
+    m.data.cabin_pressure1 = 101;
+    m.data.cabin_pressure2 = 101;
+    m.data.cabin_temp1 = 25;
+    m.data.cabin_temp2 = 26;
+    m.data.cabin_humidity1 = 50;
+    m.data.cabin_humidity2 = 52;
+    m.data.flame_detector1 = 0x00;
+    m.data.flame_detector2 = 0x00;
+    m.data.h2_concentration1 = 5;
+    m.data.o2_concentration1 = 2000;
+    m.data.ch3oh_concentration1 = 3;
+    m.data.emergency_battery1_voltage = 240;
+    m.data.emergency_battery1_current = 10;
+    m.data.emergency_battery1_max_temp = 30;
+    m.data.emergency_battery2_voltage = 240;
+    m.data.emergency_battery2_current = 10;
+    m.data.emergency_battery2_max_temp = 31;
+    m.data.cabin_ox_concentration = 2000;
+    m.data.cabin_temperature = 25;
+    m.data.cabin_humidity = 50;
+    m.data.cabin_pressure = 101;
+    m.data.power_cabin_ox_concentration = 2000;
+    m.data.power_cabin_temperature = 28;
+    m.data.power_cabin_humidity = 48;
+    m.data.power_cabin_pressure = 101;
+    m.data.ins_relay_status1 = 0x11;
+    m.data.ins_relay_status2 = 0x12;
+    m.data.dyn_relay_status1 = 0x11;
+    m.data.dyn_relay_status2 = 0x12;
+    m.data.ins_max_discharge_power = 200;
+    m.data.dyn_max_discharge_power = 400;
+    m.data.ins_soc = 85;
+    m.data.dyn_soc = 80;
+    m.data.ins_total_energy = 100;
+    m.data.dyn_total_energy = 500;
+    m.data.ins_power_input = 10;
+    m.data.dyn_power_input = 30;
+    m.data.ins_charge_status = 0x20;     // 放电
+    m.data.dyn_charge_status = 0x20;
+    m.data.ins_voltage_link = 2400;      // 240.0V
+    m.data.ins_voltage_pack = 2350;
+    m.data.ins_current = 400;            // 20A
+    m.data.ins_resistance_pos = 999;
+    m.data.ins_resistance_neg = 999;
+    m.data.dyn_voltage_link = 5200;      // 520.0V
+    m.data.dyn_voltage_pack = 5150;
+    m.data.dyn_current = 600;            // 30A
+    m.data.dyn_resistance_pos = 999;
+    m.data.dyn_resistance_neg = 999;
+    m.data.ins_emergency_status = 0x00;
+    m.data.dyn_emergency_status = 0x00;
+    m.data.ins_soc_threshold1 = 90;
+    m.data.ins_soc_threshold2 = 80;
+    m.data.ins_soc_threshold3 = 70;
+    m.data.dyn_soc_threshold1 = 90;
+    m.data.dyn_soc_threshold2 = 80;
+    m.data.dyn_soc_threshold3 = 70;
+    m.data.device_online_flag1 = 0x000000FF;
+    m.data.device_online_flag2 = 0x0000001F;
+    m.data.dyn_charge_level = 0x01;
+    m.data.dyn_water_leak_status = 0x00;
+    m.data.ins_water_leak_dcdc_status = 0x00;
+    m.data.heartbeat = beat;
+    m.checkCode = ccuChecksum(reinterpret_cast<unsigned char*>(&m), sizeof(m));
+}
+
+static void fillDisHighVolBus(msg_disHighVolBusFbMsg& m) {
+    memset(&m, 0, sizeof(m));
+    m.header.start1 = DIS_MSG_HEAD1;
+    m.header.start2 = DIS_MSG_HEAD2;
+    m.header.id = DIS_HVBUS_FB_ID;
+    m.header.length = sizeof(disHighVolBusState);
+    m.data.fuelCellCircuitBreaker = BREAK_ON;
+    m.data.powerLithiumBatteryCircuitBreaker = BREAK_ON;
+    m.data.propulsionMotorCircuitBreaker = BREAK_OFF;
+    m.data.lithiumBatteryGroupInstrumentCircuitBreaker = BREAK_ON;
+    m.data.dcDc5ModuleCircuitBreaker = BREAK_ON;
+    m.data.bowHighVoltageDistributionBoxCircuitBreaker = BREAK_ON;
+    m.data.sternFTDevice45CircuitBreaker = BREAK_OFF;
+    m.data.sternRudderSwitch1CircuitBreaker = BREAK_OFF;
+    m.data.sternRudderSwitch2CircuitBreaker = BREAK_OFF;
+    m.data.fbReservedCircuitBreaker = BREAK_OFF;
+    m.data.tyzReservedCircuitBreaker = BREAK_OFF;
+    m.data.reservedCircuitBreaker = BREAK_OFF;
+    m.data.dcDcFaultWord1 = 0x00;
+    m.data.dcDcFaultWord2 = 0x62;        // 工作状态启动 + 冷却泵运行
+    m.data.powerBusInsulationStatus = BREAK_ON;   // 正常
+    m.data.aBusInsulationStatus = BREAK_ON;
+    m.data.meterPowerLossSignal = BREAK_ON;
+    m.data.emergencyPowerLossSignal = BREAK_ON;
+    m.data.dcDcTemperature = 60;
+    m.data.powerBusVoltage = 5000;       // 500.0V
+    m.data.dcDc5ModuleCurrent = 200;
+    m.data.powerBusCurrent = 400;
+    m.data.busbarAVoltage = 5000;
+    m.data.propulsionMotorControlBoxCurrent = 10;
+    m.data.busbarACurrent = 300;
+    m.data.lithiumBatteryGroupMeterCurrent = 50;
+    m.data.bowHighVoltageDistributionBoxCurrent = 100;
+    m.data.sternFTDevice45Current = 0;
+    m.data.tyzReservedSwitchCurrent = 0;
+    m.data.sternRudderSwitch1Current = 0;
+    m.data.sternRudderSwitch2Current = 0;
+    m.data.coolWaterPressure = 150;
+    m.checkCode = disChecksum(reinterpret_cast<unsigned char*>(&m), sizeof(m));
+}
+
+static void fillDisHighAVolBus(msg_disHighAVolBusFbMsg& m) {
+    memset(&m, 0, sizeof(m));
+    m.header.start1 = DIS_MSG_HEAD1;
+    m.header.start2 = DIS_MSG_HEAD2;
+    m.header.id = DIS_HVBUSA_FB_ID;
+    m.header.length = sizeof(disHighAVolBusState);
+    m.data.bowFTDevice123CircuitBreaker = BREAK_ON;
+    m.data.actuatorCircuitBreaker = BREAK_OFF;
+    m.data.mastSteeringGearControlBoxCircuitBreaker = BREAK_OFF;
+    m.data.xczCircuitBreaker = BREAK_ON;
+    m.data.bowRudderControlBoxCircuitBreaker = BREAK_OFF;
+    m.data.openWaterCoverStartCylinderCircuitBreaker = BREAK_OFF;
+    m.data.instrumentPowerFailureSignal = BREAK_ON;
+    m.data.emergencyPowerFailureSignal = BREAK_ON;
+    m.data.waterIngressionAlarm = BREAK_ON;      // 正常
+    m.data.busbarBVoltage = 5000;
+    m.data.busbarBCurrent = 300;
+    m.data.bowFTDevice123Current = 80;
+    m.data.actuatorCurrent = 0;
+    m.data.mastSteeringGearControlBoxCurrent = 0;
+    m.data.xczCurrent = 40;
+    m.data.bowRudderControlBoxCurrent = 0;
+    m.data.openWaterCoverStartCylinderCurrent = 0;
+    m.checkCode = disChecksum(reinterpret_cast<unsigned char*>(&m), sizeof(m));
+}
+
+static void fillDisLowMainBus(msg_disLowMainBusFbMsg& m) {
+    memset(&m, 0, sizeof(m));
+    m.header.start1 = DIS_MSG_HEAD1;
+    m.header.start2 = DIS_MSG_HEAD2;
+    m.header.id = DIS_HVBUSB_FB_ID;
+    m.header.length = sizeof(disLowMainBusState);
+    m.data.lithiumBatteryGroupInstrumentCircuitBreaker = BREAK_ON;
+    m.data.bowLowVoltageDistributionBoxCircuitBreaker = BREAK_ON;
+    m.data.unit4InstrumentDC48VCircuitBreaker = BREAK_ON;
+    m.data.dcC1DCDistributionPanelCircuitBreaker = BREAK_ON;
+    m.data.reservedCircuitBreaker1 = BREAK_OFF;
+    m.data.reservedCircuitBreaker2 = BREAK_OFF;
+    m.data.emergencyLithiumBatteryGroup2CircuitBreaker = BREAK_ON;
+    m.data.instrumentPowerFailureSignal = BREAK_ON;
+    m.data.emergencyPowerFailureSignal = BREAK_ON;
+    m.data.instrumentBusbarInsulationLow = BREAK_ON;   // 正常
+    m.data.instrumentBusbarVoltage = 480;              // 48.0V
+    m.data.bowLowVoltageDistributionBoxCurrent = 50;
+    m.data.dcC1InstrumentDC48VCurrent = 30;
+    m.data.emergencyLithiumBatteryGroup2Current = 10;
+    m.data.lithiumBatteryGroupInstrumentCurrent = 20;
+    m.data.unit4InstrumentDC48VCurrent = 15;
+    m.data.emergency2BusbarVoltage = 480;
+    m.data.compositeEnergyManagementSystemEmergencyDC48VCurrent = 5;
+    m.data.fuelCellSecuritySystemEmergencyDC48VCurrent = 5;
+    m.data.plcControlPowerCurrent = 8;
+    m.checkCode = disChecksum(reinterpret_cast<unsigned char*>(&m), sizeof(m));
+}
+
+static void fillDisLowBus(msg_disLowBusFbMsg& m) {
+    memset(&m, 0, sizeof(m));
+    m.header.start1 = DIS_MSG_HEAD1;
+    m.header.start2 = DIS_MSG_HEAD2;
+    m.header.id = DIS_LVBUS_FB_ID;
+    m.header.length = sizeof(disLowBusState);
+    m.data.unit1CircuitBreaker = BREAK_ON;
+    m.data.unit2CircuitBreaker = BREAK_ON;
+    m.data.unit3CircuitBreaker = BREAK_ON;
+    m.data.unit5CircuitBreaker = BREAK_OFF;
+    m.data.bowPZDeviceCircuitBreaker = BREAK_ON;
+    m.data.reservedCircuitBreaker1 = BREAK_OFF;
+    m.data.reservedCircuitBreaker2 = BREAK_OFF;
+    m.data.emergencyLithiumBatteryGroup1CircuitBreaker = BREAK_ON;
+    m.data.powerFailureSignal = BREAK_ON;
+    m.data.emergencyPowerFailureSignal = BREAK_ON;
+    m.data.waterIngressionAlarm = BREAK_ON;          // 正常
+    m.data.instrumentBusbarVoltage = 240;            // 24.0V
+    m.data.instrumentBusbarCurrent = 60;
+    m.data.unit1Current = 15;
+    m.data.unit2Current = 15;
+    m.data.unit3Current = 15;
+    m.data.unit5Current = 0;
+    m.data.bowPZDeviceCurrent = 10;
+    m.data.emergencyLithiumBatteryGroup1Current = 8;
+    m.data.emergency1BusbarVoltage = 240;
+    m.checkCode = disChecksum(reinterpret_cast<unsigned char*>(&m), sizeof(m));
+}
+
+int main(int argc, char* argv[]) {
+    const char* host = (argc > 1) ? argv[1] : "127.0.0.1";
+    int port = (argc > 2) ? atoi(argv[2]) : 5001;
+    int rounds = (argc > 3) ? atoi(argv[3]) : 0;       // 0 = 持续
+    int intervalMs = (argc > 4) ? atoi(argv[4]) : 200;
+
+    g_fd = socket(AF_INET, SOCK_DGRAM, 0);
+    if (g_fd < 0) { perror("socket"); return 1; }
+    g_addr.sin_family = AF_INET;
+    g_addr.sin_port = htons(static_cast<unsigned short>(port));
+    if (inet_pton(AF_INET, host, &g_addr.sin_addr) != 1) {
+        perror("inet_pton"); close(g_fd); return 1;
+    }
+
+    unsigned int beat = 1;
+    int sent = 0;
+    while (rounds == 0 || sent < rounds) {
+        msg_CcuStateFbMsg ccu;
+        msg_disHighVolBusFbMsg hv;
+        msg_disHighAVolBusFbMsg hva;
+        msg_disLowMainBusFbMsg lvmain;
+        msg_disLowBusFbMsg lv;
+
+        fillCcuState(ccu, beat);
+        fillDisHighVolBus(hv);
+        fillDisHighAVolBus(hva);
+        fillDisLowMainBus(lvmain);
+        fillDisLowBus(lv);
+
+        if (!sendBuf(&ccu, sizeof(ccu)) ||
+            !sendBuf(&hv, sizeof(hv)) ||
+            !sendBuf(&hva, sizeof(hva)) ||
+            !sendBuf(&lvmain, sizeof(lvmain)) ||
+            !sendBuf(&lv, sizeof(lv))) {
+            perror("sendto"); break;
+        }
+        ++beat;
+        ++sent;
+        std::this_thread::sleep_for(std::chrono::milliseconds(intervalMs));
+    }
+    close(g_fd);
+    printf("sent %d round(s) of 5 message types to %s:%d\n", sent, host, port);
+    return 0;
+}
@@ -170,3 +170,16 @@ TEST(UdpCommTest, GetDate)
    EXPECT_LE(minute, 59u);
    EXPECT_LE(second, 59u);
 }
+
+TEST(UdpCommTest, SendDisSysCmdFailsWithoutSocket)
+{
+    udpComm u; // 默认构造 udpScoket=nullptr，sendMsg 应返回 false
+    disHighVolBusCmd c1{};
+    disHighAVolBusCmd c2{};
+    disHighBVolBusCmd c3{};
+    disLowBusCmd c4{};
+    EXPECT_FALSE(u.sendDisSysCmd(c1));
+    EXPECT_FALSE(u.sendDisSysCmd(c2));
+    EXPECT_FALSE(u.sendDisSysCmd(c3));
+    EXPECT_FALSE(u.sendDisSysCmd(c4));
+}