增加了配电app

.vscode/settings.json

@@ -74,7 +74,18 @@
         "thread": "cpp",
         "typeindex": "cpp",
         "variant": "cpp",
-        "*.ipp": "cpp"
+        "*.ipp": "cpp",
+        "cassert": "cpp",
+        "cerrno": "cpp",
+        "cfloat": "cpp",
+        "ciso646": "cpp",
+        "climits": "cpp",
+        "filesystem": "cpp",
+        "ios": "cpp",
+        "locale": "cpp",
+        "stack": "cpp",
+        "cstdbool": "cpp",
+        "version": "cpp"
     },
     "C_Cpp.errorSquiggles": "disabled",
     "marscode.chatLanguage": "cn",

data/msg/uPower_currentState_st.json

@@ -1,48 +1,47 @@
-{"uPower_currentState_st":{
+{
-	"HVABFTDev123Cur_uint16" : 0,
+  "HVABFTDev123Cur_uint16": 0,
-	"HVABactCur_uint16" : 0,
+  "HVABactCur_uint16": 0,
-	"HVABbowRudCur_uint16" : 0,
+  "HVABbowRudCur_uint16": 0,
-	"HVABbusBCur_uint16" : 0,
+  "HVABbusBCur_uint16": 0,
-	"HVABbusBVol_uint16" : 0,
+  "HVABbusBVol_uint16": 0,
-	"HVABmastSteGeaCur_uint16" : 0,
+  "HVABmastSteGeaCur_uint16": 0,
-	"HVABopenWaterCur_uint16" : 0,
+  "HVABopenWaterCur_uint16": 0,
-	"HVABxczCur_uint16" : 0,
+  "HVABxczCur_uint16": 0,
-	"HVBBCCUCur_uint16" : 0,
+  "HVBBCCUCur_uint16": 0,
-	"HVBBFCSSecurSysCur_uint16" : 0,
+  "HVBBFCSSecurSysCur_uint16": 0,
-	"HVBBbatInsCur_uint16" : 0,
+  "HVBBbatInsCur_uint16": 0,
-	"HVBBbowLowVolDisBoxCur_uint16" : 0,
+  "HVBBbowLowVolDisBoxCur_uint16": 0,
-	"HVBBdcC1InsCur_uint16" : 0,
+  "HVBBdcC1InsCur_uint16": 0,
-	"HVBBemer2BusVol_uint16" : 0,
+  "HVBBemer2BusVol_uint16": 0,
-	"HVBBemerBatCur_uint16" : 0,
+  "HVBBemerBatCur_uint16": 0,
-	"HVBBinsBusVol_uint16" : 0,
+  "HVBBinsBusVol_uint16": 0,
-	"HVBBplcCur_uint16" : 0,
+  "HVBBplcCur_uint16": 0,
-	"HVBBreservedCur1_uint16" : 0,
+  "HVBBreservedCur1_uint16": 0,
-	"HVBBreservedCur2_uint16" : 0,
+  "HVBBreservedCur2_uint16": 0,
-	"HVBBunit4Cur_uint16" : 0,
+  "HVBBunit4Cur_uint16": 0,
-	"HVBFTDev45Cur_uint16" : 0,
+  "HVBFTDev45Cur_uint16": 0,
-	"HVBbatGroupCur_uint16" : 0,
+  "HVBbatGroupCur_uint16": 0,
-	"HVBbowHVolDisBoxCur_uint16" : 0,
+  "HVBbowHVolDisBoxCur_uint16": 0,
-	"HVBbusACur_uint16" : 0,
+  "HVBbusACur_uint16": 0,
-	"HVBbusAVol_uint16" : 0,
+  "HVBbusAVol_uint16": 0,
-	"HVBdcDc5Cur_uint16" : 0,
+  "HVBdcDc5Cur_uint16": 0,
-	"HVBfbCur_uint16" : 0,
+  "HVBfbCur_uint16": 0,
-	"HVBmotorCur_uint16" : 0,
+  "HVBmotorCur_uint16": 0,
-	"HVBpowerBusCur_uint16" : 0,
+  "HVBpowerBusCur_uint16": 0,
-	"HVBpowerBusVol_uint16" : 0,
+  "HVBpowerBusVol_uint16": 0,
-	"HVBreservedCur1_uint16" : 0,
+  "HVBreservedCur1_uint16": 0,
-	"HVBreservedCur2_uint16" : 0,
+  "HVBreservedCur2_uint16": 0,
-	"HVBreservedCur3_uint16" : 0,
+  "HVBreservedCur3_uint16": 0,
-	"HVBsternRud1Cur_uint16" : 0,
+  "HVBsternRud1Cur_uint16": 0,
-	"HVBsternRud2Cur_uint16" : 0,
+  "HVBsternRud2Cur_uint16": 0,
-	"HVBtyzCur_uint16" : 0,
+  "HVBtyzCur_uint16": 0,
-	"LVBBbowPZDevCur_uint16" : 0,
+  "LVBBbowPZDevCur_uint16": 0,
-	"LVBBemerBatCur_uint16" : 0,
+  "LVBBemerBatCur_uint16": 0,
-	"LVBBemerBusVol_uint16" : 0,
+  "LVBBemerBusVol_uint16": 0,
-	"LVBBinsBusCur_uint16" : 0,
+  "LVBBinsBusCur_uint16": 0,
-	"LVBBunit1Cur_uint16" : 0,
+  "LVBBunit1Cur_uint16": 0,
-	"LVBBunit2Cur_uint16" : 0,
+  "LVBBunit2Cur_uint16": 0,
-	"LVBBunit3Cur_uint16" : 0,
+  "LVBBunit3Cur_uint16": 0,
-	"LVBBunit5Cur_uint16" : 0,
+  "LVBBunit5Cur_uint16": 0,
-	"LVBinsBusVol_uint16" : 0
+  "LVBinsBusVol_uint16": 0
-}
+}
-}

data/msg/uPower_disSysState_st.json

@@ -1,11 +1,10 @@
-{"uPower_disSysState_st":{
+{
-	"HVolABusBreaker_unit16" : 0,
+  "HVolABusBreaker_unit16": 0,
-	"HVolBBusBreaker_unit16" : 0,
+  "HVolBBusBreaker_unit16": 0,
-	"HVolBusBreaker_uint16" : 0,
+  "HVolBusBreaker_uint16": 0,
-	"LVolBusBreaker_uint16" : 0,
+  "LVolBusBreaker_uint16": 0,
-	"faultCode_array" : 
+  "faultCode_array": 
-	[
+  [
-		0
+    0
-	]
+  ]
-}
+}
-}

data/msg/uPower_fcsState_st.json

@@ -1,31 +1,30 @@
-{"uPower_fcsState_st":{
+{
-	"backpressure1_fp32" : 0.0,
+  "backpressure1_fp32": 0.0,
-	"backpressure2_fp32" : 0.0,
+  "backpressure2_fp32": 0.0,
-	"ch4oConcent1_fp32" : 0.0,
+  "ch4oConcent1_fp32": 0.0,
-	"ch4oConcent2_fp32" : 0.0,
+  "ch4oConcent2_fp32": 0.0,
-	"ch4o_fp32" : 0.0,
+  "ch4o_fp32": 0.0,
-	"excTemp_fp32" : 0.0,
+  "excTemp_fp32": 0.0,
-	"faultCode1_uint16" : 0,
+  "faultCode1_uint16": 0,
-	"faultCode2_uint16" : 0,
+  "faultCode2_uint16": 0,
-	"faultCode3_uint16" : 0,
+  "faultCode3_uint16": 0,
-	"fcuCurIns_fp32" : 0.0,
+  "fcuCurIns_fp32": 0.0,
-	"fcuCurPower_fp32" : 0.0,
+  "fcuCurPower_fp32": 0.0,
-	"fcuCur_fp32" : 0.0,
+  "fcuCur_fp32": 0.0,
-	"fcuFaultLeve_uint8" : 0,
+  "fcuFaultLeve_uint8": 0,
-	"fcuOutIns_fp32" : 0.0,
+  "fcuOutIns_fp32": 0.0,
-	"fcuOutPower_fp32" : 0.0,
+  "fcuOutPower_fp32": 0.0,
-	"fcuState_uint8" : 0,
+  "fcuState_uint8": 0,
-	"fcuVolIns_fp32" : 0.0,
+  "fcuVolIns_fp32": 0.0,
-	"fcuVolPower_fp32" : 0.0,
+  "fcuVolPower_fp32": 0.0,
-	"fcuVol_fp32" : 0.0,
+  "fcuVol_fp32": 0.0,
-	"flameDet_uint8" : 0,
+  "flameDet_uint8": 0,
-	"h2Concent1_fp32" : 0.0,
+  "h2Concent1_fp32": 0.0,
-	"h2Concent2_fp32" : 0.0,
+  "h2Concent2_fp32": 0.0,
-	"o2Concent1_fp32" : 0.0,
+  "o2Concent1_fp32": 0.0,
-	"o2Concent2_fp32" : 0.0,
+  "o2Concent2_fp32": 0.0,
-	"o2Level_fp32" : 0.0,
+  "o2Level_fp32": 0.0,
-	"o2_fp32" : 0.0,
+  "o2_fp32": 0.0,
-	"powLimit_fp32" : 0.0,
+  "powLimit_fp32": 0.0,
-	"powerGen_fp32" : 0.0
+  "powerGen_fp32": 0.0
-}
+}
-}

data/msg/uPower_liBatState_st.json

@@ -1,39 +1,38 @@
-{"uPower_liBatState_st":{
+{
-	"fcuCurToInsLimit1_uint8" : 0,
+  "fcuCurToInsLimit1_uint8": 0,
-	"fcuCurToinsLimit2_uint8" : 0,
+  "fcuCurToinsLimit2_uint8": 0,
-	"insBatCurElect_uint16" : 0,
+  "insBatCurElect_uint16": 0,
-	"insBatLimit_uint16" : 0,
+  "insBatLimit_uint16": 0,
-	"insBatSoc_uint8" : 0,
+  "insBatSoc_uint8": 0,
-	"insBatTotalElect_uint16" : 0,
+  "insBatTotalElect_uint16": 0,
-	"insChargeState_uint8" : 0,
+  "insChargeState_uint8": 0,
-	"insCurSocHold1_uint8" : 0,
+  "insCurSocHold1_uint8": 0,
-	"insCurSocHold2_uint8" : 0,
+  "insCurSocHold2_uint8": 0,
-	"insCurSocHold3_uint8" : 0,
+  "insCurSocHold3_uint8": 0,
-	"insCurrent_uint16" : 0,
+  "insCurrent_uint16": 0,
-	"insLinkVol_uint16" : 0,
+  "insLinkVol_uint16": 0,
-	"insNegRelayState_uint8" : 0,
+  "insNegRelayState_uint8": 0,
-	"insNegRes_uint16" : 0,
+  "insNegRes_uint16": 0,
-	"insPackVol_uint16" : 0,
+  "insPackVol_uint16": 0,
-	"insPosRelayState_uint8" : 0,
+  "insPosRelayState_uint8": 0,
-	"insPosRes_uint16" : 0,
+  "insPosRes_uint16": 0,
-	"insfaultCode_uint8" : 0,
+  "insfaultCode_uint8": 0,
-	"powBatCurElect_uint16" : 0,
+  "powBatCurElect_uint16": 0,
-	"powBatSoc_uint8" : 0,
+  "powBatSoc_uint8": 0,
-	"powBatTotalElect_uint16" : 0,
+  "powBatTotalElect_uint16": 0,
-	"powChargeState_uint8" : 0,
+  "powChargeState_uint8": 0,
-	"powCurSocHold1_uint8" : 0,
+  "powCurSocHold1_uint8": 0,
-	"powCurSocHold2_uint8" : 0,
+  "powCurSocHold2_uint8": 0,
-	"powCurSocHold3_uint8" : 0,
+  "powCurSocHold3_uint8": 0,
-	"powCurToInsLimit1_uint8" : 0,
+  "powCurToInsLimit1_uint8": 0,
-	"powCurToinsLimit2_uint8" : 0,
+  "powCurToinsLimit2_uint8": 0,
-	"powCur_uint16" : 0,
+  "powCur_uint16": 0,
-	"powLinkVol_uint16" : 0,
+  "powLinkVol_uint16": 0,
-	"powNegRelayState_uint8" : 0,
+  "powNegRelayState_uint8": 0,
-	"powNegRes_uint16" : 0,
+  "powNegRes_uint16": 0,
-	"powPosRelayState_uint8" : 0,
+  "powPosRelayState_uint8": 0,
-	"powPosRes_uint16" : 0,
+  "powPosRes_uint16": 0,
-	"powerBatLimit_uint16" : 0,
+  "powerBatLimit_uint16": 0,
-	"powerPackVol_uint16" : 0,
+  "powerPackVol_uint16": 0,
-	"powfaultCode_uint8" : 0
+  "powfaultCode_uint8": 0
-}
+}
-}

data/msg/uPower_pmState_fb.json

@@ -1,12 +1,13 @@
 {
-  "currentMod_uint8": 1,
+  "currentMod_uint8": 0,
-  "falutLevel_uint8": 0,
   "faultCode_array": 
   [
     0
   ],
+  "faultLevel_uint8": 0,
+  "leakage_uint8": 0,
   "powerState_uint8": 0,
-  "soc_uint32": 0,
+  "soc_uint16": 0,
-  "sustainableTime_uint32": 0,
+  "sustainableTime_int64": 0,
-  "workCondition_uint8": 5
+  "workCondition_uint8": 1
 }

docs/PowerManager_UI_Design.md

@@ -0,0 +1,277 @@
+# 上位机控制程序设计文档
+
+## 1. 程序架构设计
+
+采用MVC模式设计，主要分为以下模块：
+
+### 1.0 系统架构图
+```mermaid
+graph TD
+    A[用户界面] -->|控制指令| B[控制器]
+    B -->|发送命令| C[通信模块]
+    C -->|UDP协议| D[下位机]
+    D -->|状态反馈| C
+    C -->|解析数据| B
+    B -->|更新状态| A
+    B -->|记录数据| E[数据库]
+```
+
+### 1.1 消息处理流程
+1. 接收原始UDP数据
+2. 根据消息ID选择解析器
+3. 验证校验码
+4. 解析为结构化数据
+5. 触发状态更新事件
+6. 存储到数据库
+
+### 1.1 通信模块 (Model) - 详细设计
+
+#### 消息类型映射表
+| 消息ID | 消息名称 | 处理函数 | 更新频率 |
+|--------|----------|----------|----------|
+| 0x0005 | 高压母线状态 | parse_high_vol_bus | 1Hz |
+| 0x0006 | 高压A母线状态 | parse_high_a_vol_bus | 1Hz |
+| 0x0007 | 低压主母线状态 | parse_low_main_bus | 1Hz |
+| 0x0008 | 低压汇流排状态 | parse_low_bus | 1Hz |
+
+#### 异常处理机制
+1. 校验失败：丢弃数据并记录错误日志
+2. 超时处理：3次重试后标记设备离线
+3. 数据异常：触发告警并显示在界面
+```python
+class UDPMessageHandler:
+    """UDP消息处理基类"""
+    def __init__(self, ip, port):
+        self.ip = ip
+        self.port = port
+        self.socket = None
+        
+    def connect(self):
+        """建立UDP连接"""
+        pass
+        
+    def send_message(self, msg):
+        """发送消息"""
+        pass
+        
+    def receive_message(self):
+        """接收消息"""
+        pass
+        
+    def close(self):
+        """关闭连接"""
+        pass
+
+class PowerMessageHandler(UDPMessageHandler):
+    """电源管理专用消息处理器"""
+    def __init__(self, ip, port):
+        super().__init__(ip, port)
+        self.message_parsers = {
+            0x0005: self.parse_high_vol_bus,
+            0x0006: self.parse_high_a_vol_bus,
+            # 其他消息类型...
+        }
+        
+    def parse_high_vol_bus(self, data):
+        """解析高压母线消息"""
+        pass
+        
+    # 其他消息解析方法...
+```
+
+### 1.2 界面模块 (View) - 详细设计
+
+#### 主界面布局
+```mermaid
+graph LR
+    A[标题栏] --> B[状态区]
+    B --> C[电压电流仪表盘]
+    B --> D[断路器状态指示灯]
+    A --> E[控制区]
+    E --> F[电源控制按钮组]
+    E --> G[参数设置面板]
+    A --> H[日志区]
+    H --> I[实时消息列表]
+    H --> J[历史记录查询]
+```
+
+#### 组件说明
+1. 电压电流仪表盘：实时显示各母线电压电流值
+2. 断路器状态指示灯：绿色-闭合，红色-断开
+3. 电源控制按钮组：带防误触保护(需长按3秒)
+4. 参数设置面板：输入验证和范围检查
+```python
+class MainWindow(tk.Tk):
+    """主窗口"""
+    def __init__(self):
+        super().__init__()
+        self.title("电源管理系统")
+        self.geometry("1200x800")
+        
+        self.create_widgets()
+        
+    def create_widgets(self):
+        """创建界面组件"""
+        self.status_frame = StatusFrame(self)
+        self.control_frame = ControlFrame(self)
+        self.log_frame = LogFrame(self)
+        
+        # 布局管理
+        self.status_frame.pack(side=tk.TOP, fill=tk.X)
+        self.control_frame.pack(side=tk.LEFT, fill=tk.Y)
+        self.log_frame.pack(side=tk.RIGHT, expand=True, fill=tk.BOTH)
+
+class StatusFrame(tk.Frame):
+    """状态显示面板"""
+    def update_status(self, data):
+        """更新状态显示"""
+        pass
+
+class ControlFrame(tk.Frame):
+    """控制面板"""
+    def create_buttons(self):
+        """创建控制按钮"""
+        pass
+```
+
+### 1.3 控制器模块 (Controller) - 详细设计
+
+#### 状态管理机制
+1. 使用有限状态机(FSM)管理电源系统状态
+2. 状态转换规则：
+   - 仅当所有预检通过才允许上电
+   - 故障时自动进入安全状态
+   - 人工确认后才能复位
+
+#### 命令处理流程
+```mermaid
+sequenceDiagram
+    用户->>界面: 点击控制按钮
+    界面->>控制器: 发送控制命令
+    控制器->>业务逻辑: 验证命令有效性
+    业务逻辑->>通信模块: 发送UDP指令
+    通信模块->>下位机: 传输控制报文
+    下位机-->>通信模块: 返回应答
+    通信模块->>控制器: 更新命令状态
+    控制器->>界面: 显示操作结果
+    控制器->>数据库: 记录操作日志
+```
+```python
+class PowerManagerController:
+    """主控制器"""
+    def __init__(self):
+        self.message_handler = PowerMessageHandler("192.168.1.100", 5000)
+        self.view = MainWindow()
+        
+        # 绑定事件
+        self.bind_events()
+        
+    def bind_events(self):
+        """绑定UI事件"""
+        self.view.control_frame.on_button_click = self.handle_control_command
+        
+    def handle_control_command(self, cmd):
+        """处理控制命令"""
+        pass
+        
+    def start(self):
+        """启动应用程序"""
+        self.message_handler.connect()
+        self.view.mainloop()
+```
+
+## 2. 接口规范
+
+### 2.1 模块交互架构
+```mermaid
+classDiagram
+    class Communication {
+        +send_command(cmd: dict) bool
+        +get_status() dict
+        +subscribe(callback: function)
+        +on_message_received(data: bytes)
+    }
+    
+    class Controller {
+        +handle_ui_event(event: dict)
+        +update_system_status(status: dict)
+        +log_operation(log: dict)
+    }
+    
+    class UI {
+        +update_status(data: dict)
+        +show_alert(level: int, msg: str)
+        +log_message(source: str, msg: str)
+    }
+    
+    Communication --> Controller : 状态更新通知
+    Controller --> UI : 界面更新指令
+    UI --> Controller : 用户操作事件
+```
+
+### 2.2 详细接口定义
+
+#### 通信模块 → 控制器
+```python
+# 状态更新通知
+{
+    "msg_type": "status_update",
+    "timestamp": "2025-05-04T10:20:00",
+    "data": {
+        "voltage": 220.5,
+        "current": 15.2,
+        "breaker_state": True
+    }
+}
+
+# 错误通知
+{
+    "msg_type": "error",
+    "code": 1001,
+    "message": "校验失败"
+}
+```
+
+#### 控制器 → 界面
+```python
+# 状态显示更新
+{
+    "component": "voltage_meter",
+    "value": 220.5,
+    "unit": "V",
+    "normal_range": [210, 230]
+}
+
+# 告警信息
+{
+    "level": 2,  # 1-警告 2-错误 3-严重
+    "message": "A相电压过高",
+    "suggestion": "检查A相负载"
+}
+```
+
+#### 界面 → 控制器
+```python
+# 按钮操作事件
+{
+    "event_type": "button_click",
+    "button_id": "power_on",
+    "timestamp": "2025-05-04T10:20:01"
+}
+
+# 参数设置事件
+{
+    "event_type": "param_set",
+    "param": "voltage_limit",
+    "value": 230,
+    "unit": "V"
+}
+```
+
+### 2.3 错误处理规范
+1. 通信错误：自动重试3次后通知控制器
+2. 业务逻辑错误：记录详细日志并通知界面
+3. 界面错误：显示友好提示并保持最后正常状态
+
+## 3. 数据库设计
+(之前已完成的数据库表结构...)

src/pPowerManger/LowerCommManager.h

@@ -54,7 +54,7 @@ public:
     msg_CcuStateFbMsg       m_CcuCurrentState;
     msg_disHighVolBusFbMsg  m_disHighVolBusCurrentState;
     msg_disHighAVolBusFbMsg m_disHighAVolBusCurrentState;
-    msg_disHighBVolBusFbMsg m_disHighBVolBusCurrentState;
+    msg_disLowMainBusFbMsg m_disHighBVolBusCurrentState;
     msg_disLowBusFbMsg      m_disLowBusState;
     // 配电和CCU的反馈状态时间戳
     double msg_CcuStateFbMsg_Update_time;

src/pPowerManger/PowerManagerFsm.cpp

@@ -11,6 +11,37 @@ void PowerManagerFsm::react(TaskStopEvent const &e) {
     transit<RemoteControl>();
     LOG_F(INFO, "使命结束"); 
 };
+
+void PowerManagerFsm::react(CycleTriggeredEvent const &){
+    if(pm->currentMod != RunMode::Debug)
+    {
+        
+    }
+}
+bool PowerManagerFsm::handPowerProtection(DevCmdExt const &e){
+    if(pm->workCondition > WorkCondition::REMOTE_CONTROL){
+        LOG_F(INFO, "上电保护，执行任务时候禁止操作设备");
+        return false;       
+    }
+    if(e.id == DeviceId::singleBeamSonar1 ||
+       e.id == DeviceId::singleBeamSonar2 ||
+       e.id == DeviceId::singleBeamSonar3 ||
+       e.id == DeviceId::singleBeamSonar4 ||
+       e.id == DeviceId::singleBeamSonar5 ||
+       e.id == DeviceId::singleBeamSonar6 ||
+       e.id == DeviceId::singleBeamSonar7 ||
+       e.id == DeviceId::singleBeamSonar8 ||
+       e.id == DeviceId::sideSonar ||
+       e.id == DeviceId::forwardSonar ||
+       e.id == DeviceId::lowFreqSonar ||
+       e.id == DeviceId::DVL ||
+       e.id == DeviceId::USBL){
+        if(e.cmd == 1){
+            LOG_F(INFO, "水声设备操作上电保护 %d 已关闭", e.id);
+            return false;
+        }
+    }
+}
 void PowerManagerFsm::react(TaskStartEvent const &e){
     LOG_F(INFO, "TaskStartEvent received - type: %d, enableBowRudder: %d, enableBuoyancyAdjustment: %d", e.type, e.enableBowRudder, e.enableBuoyancyAdjustment);
     switch (e.type)
@@ -44,7 +75,7 @@ void PowerManagerFsm::react(TaskStartEvent const &e){
     }
 }
 
-void PowerManagerFsm::react(DevCmdExt const &e) { 
+void PowerManagerFsm::react(DevCmdExt const &e) {
     LOG_F(INFO, "DevCmdExt received - id: %d, cmd: %d", e.id, e.cmd);  
     switch (e.id)
     {
@@ -1704,6 +1735,33 @@ void PowerManagerFsm::react(DevCmdExt const &e) {
         break;
     }
 }
+
+void StandbyState::react(DevCmdExt const &e)
+{
+    LOG_F(INFO, "StandbyState::react(DevCmdExt const &e)");
+    //正常模式下，不允许执行DevCmdExt
+    if (pm->currentMod == RunMode::Normal )
+    {
+        LOG_F(INFO, "正常模式下,不允许执行DevCmdExt");
+    } 
+    else if (pm->currentMod == RunMode::Test) 
+    {   
+        if(handPowerProtection(e))
+            PowerManagerFsm::react(e);
+        else
+            LOG_F(INFO, "DevCmdExt 执行失败");  
+    } 
+    else if (pm->currentMod == RunMode::Debug)
+    {
+        LOG_F(INFO, "调试模式下,直接执行DevCmdExt");
+        PowerManagerFsm::react(e);
+    } 
+    else
+    {
+        LOG_F(INFO, "当前模式未知");
+    }
+}
+
 void PowerManagerFsm::basicNavigationFault(FaultEvent const &e)
 {
    LOG_F(INFO, "basicNavigationFault");
@@ -1712,6 +1770,7 @@ void PowerManagerFsm::basicNavigationFault(FaultEvent const &e)
         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);
    }
    if(FaultEnable::BasicNavigationFault_2)
    {
@@ -2003,7 +2062,7 @@ void StandbyState::react(MasterCommandEvent const &) {
 }
 
 void StandbyState::handlePowerOn() {
-    PowerManagerFsm::pm->m_pmEvent = "动力电上电";
+    LOG_F(INFO,"动力电上电");
     PowerManagerFsm::pm->m_CcuColCmd.powerBatCmd = 0x10;
     if(PowerManagerFsm::pm->m_pmCurrentState.ccustate.fcuState == 0x04)
         PowerManagerFsm::pm->m_CcuColCmd.fcuCmd = 0x02;
@@ -2326,6 +2385,8 @@ void RemoteControl::entry() {
     LOG_F(INFO, "进入遥控工况");
 }
 
+
+
 // void StandbyState::react(TaskStart const &)
 // {
 //     LOG_F(INFO, "接收到任务启动信息");

src/pPowerManger/PowerManagerFsm.hpp

@@ -23,9 +23,6 @@ enum class PowerSystemState {
 struct InitEvent : tinyfsm::Event { };
 struct StandbyEvent : tinyfsm::Event { };
 struct TaskStopEvent : tinyfsm::Event { };
-
-//==================状态流程事件============================
-struct MasterCommandEvent : tinyfsm::Event {};
 struct TaskStartEvent : tinyfsm::Event {
     int type;
     bool enableBowRudder;
@@ -33,14 +30,17 @@ struct TaskStartEvent : tinyfsm::Event {
     TaskStartEvent() : type(0), enableBowRudder(false), enableBuoyancyAdjustment(false) {};
     TaskStartEvent(int type, bool bowRudder, bool buoyancyAdjustment) : type(type), enableBowRudder(bowRudder), enableBuoyancyAdjustment(buoyancyAdjustment) {};
 };
-struct DeviceCmd : tinyfsm::Event { };
+//==================状态流程事件============================
+struct CycleTriggeredEvent : tinyfsm::Event {};
+struct MasterCommandEvent : tinyfsm::Event {};
+struct DeviceCmd : tinyfsm::Event {};
 struct DevCmdExt : tinyfsm::Event {
    int id;
    int cmd;
    DevCmdExt() : id(0), cmd(0) {};
    DevCmdExt(int id, int cmd) : id(id), cmd(cmd) {};
 };
-struct FaultEvent : tinyfsm::Event { 
+struct FaultEvent : tinyfsm::Event {
     unsigned int subDisSysFaultCode;
     unsigned int disSysFaultCode;
     unsigned int powerFaultCode;
@@ -78,12 +78,15 @@ public:
     virtual void react(TaskStartEvent const &e);
     virtual void react(FaultEvent const &e);
     virtual void react(TaskStopEvent const &e);
+    virtual void react(CycleTriggeredEvent const &);
 
     //操作函数
     void handelPowerCmd();
     void handleModCmd();
     void handleWorkCmd();
     void handleDeviceCmd();
+
+    bool handPowerProtection(DevCmdExt const &e);
     //故障处理
     void basicNavigationFault(FaultEvent const &e);
     void extendedNavigationFault(FaultEvent const &e);
@@ -141,6 +144,7 @@ class StandbyState : public PowerManagerFsm {
 public:
     void entry() override;
     void react(StandbyEvent const &) override;
+    void react(DevCmdExt const &e) override;
     void react(MasterCommandEvent const &) override;
 private:
     void handlePowerOn();

src/pPowerManger/PowerManger.cpp

@@ -34,6 +34,7 @@ PowerManger::PowerManger()
   sustainableTime = 0;
   m_faultNum = 0;
   m_ticker = 0;
+  m_leakage = 0;
   faultCode.push_back(0);
 
   m_pmCurrentState = {};

src/pPowerManger/PowerManger.h

@@ -98,7 +98,8 @@ class PowerManger : public AppCastingMOOSApp
   unsigned int sustainableTime;
   unsigned int  m_faultNum;
   Driver m_driver; //设备表处理
-  std::string m_pmEvent;  // 状态机事件描述
+  unsigned char m_leakage;
+  // std::string m_pmEvent;  // 状态机事件描述
   //===========================CONFIG========================================
   long          m_lPort;
   unsigned int  m_nReceiveBufferSizeKB;
@@ -106,7 +107,6 @@ class PowerManger : public AppCastingMOOSApp
   double        m_current_time; 
   unsigned int  m_ticker;
   int  connectState;
-
   //=============================过程函数======================================
   void initControlCmd();
  

src/pPowerManger/UpperCommManager.cpp

@@ -385,6 +385,8 @@ void UpperCommManager::buildSystemReport() {
 
   suffix = getTypeName(typeid(m_pm->sustainableTime).name());
   pms["sustainableTime_int64"] = m_pm->sustainableTime;
+
+  pms["leakage_uint8"] = m_pm->m_leakage;
   
   //2.构建燃料电池状态报告
   suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuState).name());

src/pPowerManger/UpperCommManager.h

@@ -27,7 +27,7 @@ using namespace std;
 
 //决策消息
 #define DB_TO_PM_DEEPTH "uDevice_depth_st"
-#define DB_TO_PM_MISSION "uPlan_taskReport_st"
+#define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
 #define DB_TO_PM_TASKSTOP "uPlan_planStop_cmd"
 
 //外部通信消息

src/pPowerManger/ccuUdpMsg.h

@@ -77,12 +77,12 @@ typedef struct
   cChecksum checkCode;
 }msg_disHVBACmd;
 
-typedef struct 
+typedef struct msg_disHVBBCmd
 {
   m_header header;
   disHighBVolBusCmd data;
   cChecksum checkCode;
-}msg_disHVBBCmd;
+}msg_disLVMBCmd;
 
 typedef struct
 {
@@ -121,12 +121,12 @@ typedef struct {
   cChecksum checkCode;
 } msg_disHighAVolBusFbMsg;
 
-// 高压母线B配电反馈
+// 仪表母线配电反馈
 typedef struct {
   m_header header;
-  disHighBVolBusState data;
+  disLowMainBusState data;
   cChecksum checkCode;
-} msg_disHighBVolBusFbMsg;
+} msg_disLowMainBusFbMsg;
 
 //仪表汇流排配电反馈
 typedef struct {

src/pPowerManger/pmSysvariable.h

@@ -120,149 +120,292 @@ typedef struct {
 
 typedef struct disHighVolBusState
 {
+  //断路器状态
+  // 5: 燃料电池断路器
   unsigned char fuelCellCircuitBreaker;
+  // 6: 动力锂电池断路器
   unsigned char powerLithiumBatteryCircuitBreaker;
+  // 7: 推进电机断路器
   unsigned char propulsionMotorCircuitBreaker;
+  // 8: 锂电池组仪表断路器
   unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+  // 9: DC/DC5模块断路器
   unsigned char dcDc5ModuleCircuitBreaker;
+  // 10: 艏部高压配电箱断路器
   unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
+  // 11:  艉部FT装置4/5断路器
   unsigned char sternFTDevice45CircuitBreaker;
+  // 12:  艉舵开关1断路器
   unsigned char sternRudderSwitch1CircuitBreaker;
+  // 13:  艉舵开关2断路器
   unsigned char sternRudderSwitch2CircuitBreaker;
+  // 14:  FB预留断路器
   unsigned char fbReservedCircuitBreaker;
+  // 15:  TYZ预留断路器
   unsigned char tyzReservedCircuitBreaker;
+  // 16:  预留断路器
   unsigned char reservedCircuitBreaker;
-  unsigned char busInsulationLow;
+  // unsigned char busInsulationLow;
-  unsigned char busAInsulationHigh;
+  // unsigned char busAInsulationHigh;
-  unsigned char lostPower;
+  // 17: DC/DC5故障字低
-  unsigned char lostEmerPower;
+  // 0x00: 正常状态
+  // Bit0: DC/DC模块过温关机
+  // Bit1: 输出过流
+  // Bit2: 输出过压
+  // Bit3: 输出欠压
+  // Bit4: 输入过压
+  // Bit5: 输入欠压
+  // Bit6: 输出短路保护
+  // Bit7: 内部故障
+  // 18: DC/DC5故障字高
+  unsigned char dcDcFaultWord1;
+  // 0x00: 正常状态
+  // Bit0: 通讯故障报警
+  // Bit1: 工作状态
+  // Bit2: 冷却泵1故障
+  // Bit3: 冷却泵2故障
+  // Bit4: 冷却水泄露
+  unsigned char dcDcFaultWord2;
+  // 19: 动力母排绝缘状态（0x55 正常，0xAA 绝缘低）
+  unsigned char powerBusInsulationStatus;
+  // 20: A汇流排绝缘状态（0x55 正常，0xAA 绝缘低）
+  unsigned char aBusInsulationStatus;
+  // 21: 仪表电源状态 （0x55 正常，0xAA 故障）
+  unsigned char meterPowerLossSignal;
+  // 22: 应急电源状态 （0x55 正常，0xAA 故障）
+  unsigned char emergencyPowerLossSignal;
+  // 23: 动力汇流排电压
   unsigned short powerBusVoltage;
+  // 24: DC/DC5模块电流
   unsigned short dcDc5ModuleCurrent;
+  // 25: 动力汇流排电流
   unsigned short powerBusCurrent;
+  // 26: A汇流排电压
   unsigned short busbarAVoltage;
+  // 27: 推进电机控制箱电流
   unsigned short propulsionMotorControlBoxCurrent;
+  // 28: A汇流排电流
   unsigned short busbarACurrent;
+  // 29: 锂电池组(仪表)电流
   unsigned short lithiumBatteryGroupMeterCurrent;
+  // 30: 艏部高压配电箱电流
   unsigned short bowHighVoltageDistributionBoxCurrent;
+  // 31:  艉部FT装置4/5电流
   unsigned short sternFTDevice45Current;
+  // 32:  TYZ预留开关电流
   unsigned short tyzReservedSwitchCurrent;
+  // 33:  艉舵开关1电流
   unsigned short sternRudderSwitch1Current;
+  // 34:  预留电流
   unsigned short reservedCurrent1; // 改为 reservedCurrent1 以避免重名
+  // 35:  艉舵开关2电流
   unsigned short sternRudderSwitch2Current;
+  // 36:  预留电流2
   unsigned short reservedCurrent2; // 改为 reservedCurrent2 以避免重名
+  // 37:  FB预留电流
   unsigned short fbReservedSwitchCurrent;
+  // 38:  预留电流3
   unsigned short reservedCurrent3; // 改为 reservedCurrent3 以避免重名
+  // 39:  冷却水压力
+  unsigned short coolWaterPressure; 
 }disHighVolBusState;
 
 typedef struct disHighAVolBusState
 {
+  //5.   艏部FT装置1/2/3断路器
   unsigned char bowFTDevice123CircuitBreaker;
+  //6.   启闭机构断路器
   unsigned char actuatorCircuitBreaker;
+  //7.   桅杆舵机控制箱断路器
   unsigned char mastSteeringGearControlBoxCircuitBreaker;
+  //8.   XCZ断路器
   unsigned char xczCircuitBreaker;
+  //9.   艏舵控制箱断路器
   unsigned char bowRudderControlBoxCircuitBreaker;
+  //10. 敞水盖启动电缸断路器
   unsigned char openWaterCoverStartCylinderCircuitBreaker;
+  //11.  仪表电源失电信号 （0x55 正常，0xAA 故障）
   unsigned char instrumentPowerFailureSignal;
+  //12.  应急电源失电信号 （0x55 正常，0xAA 故障）
   unsigned char emergencyPowerFailureSignal;
+  //13. 浸水报警
+  // unsigned char busbarBInsulationStatus;
   unsigned char waterIngressionAlarm;
+  //14.  汇流排B电压
   unsigned short busbarBVoltage;
+  //15.  汇流排B电流
   unsigned short busbarBCurrent;
+  //16.  艏部FT装置1/2/3电流
   unsigned short bowFTDevice123Current;
+  //17.  启闭机构电流
   unsigned short actuatorCurrent;
+  //18.  桅杆舵机控制箱电流
   unsigned short mastSteeringGearControlBoxCurrent;
+  //19.  XCZ电流
   unsigned short xczCurrent;
+  //20.  艏舵控制箱电流
   unsigned short bowRudderControlBoxCurrent;
+  //21.  敞水盖启动电缸电流
   unsigned short openWaterCoverStartCylinderCurrent;
 }disHighAVolBusState;
 
 typedef struct disHighBVolBusState
 {
+    //5. 锂电池组（仪表）断路器
     unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+    //6. 艏部低压配电箱断路器
     unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
+    //7.  UNIT4仪表DC48V断路器
     unsigned char unit4InstrumentDC48VCircuitBreaker;
+    //8.  DC-C1直流配电板断路器
     unsigned char dcC1DCDistributionPanelCircuitBreaker;
+    //9. 预留断路器1
     unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
+    //10. 预留断路器2
     unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
+    //11. 应急锂电池组2断路器
     unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
+    //12. 仪表电源失电信号 （0x55 正常，0xAA 故障）
     unsigned char instrumentPowerFailureSignal;
+    //13. 应急电源失电信号 （0x55 正常，0xAA 故障）
     unsigned char emergencyPowerFailureSignal;
+    //14.  仪表汇流排绝缘低 （0x55 正常，0xAA 绝缘低）
     unsigned char instrumentBusbarInsulationLow;
+    //15.  仪表母排电压
     unsigned short instrumentBusbarVoltage;
+    //16.  艏部低压配电箱电流
     unsigned short bowLowVoltageDistributionBoxCurrent;
+    //17.  DC-C1（直流配电板1）仪表DC48V电流
     unsigned short dcC1InstrumentDC48VCurrent;
+    //18.  预留电流
     unsigned short reservedCurrent1; // 为了区分，添加了数字后缀
+    //19.  应急锂电池组2电流
     unsigned short emergencyLithiumBatteryGroup2Current;
+    //20.  锂电池组（仪表）电流
     unsigned short lithiumBatteryGroupInstrumentCurrent;
+    //21.  UNIT4仪表DC48V电流
     unsigned short unit4InstrumentDC48VCurrent;
+    //22.  Ushort	预留电流
     unsigned short reservedCurrent2; // 为了区分，添加了数字后缀
+    //23.  应急2汇流排电压
     unsigned short emergency2BusbarVoltage;
+    //24.  复合能源管控系统应急DC48V电流
     unsigned short compositeEnergyManagementSystemEmergencyDC48VCurrent;
+    //25.  燃料电池安全系统应急DC48V电流
     unsigned short fuelCellSecuritySystemEmergencyDC48VCurrent;
+    //26.  PLC控制电源电流
     unsigned short plcControlPowerCurrent;
-}disHighBVolBusState;
+}disLowMainBusState;
 
 typedef struct disLowBusState
 {
+  //5.  UNIT1断路器
   unsigned char unit1CircuitBreaker;
+  //6.  UNIT2断路器
   unsigned char unit2CircuitBreaker;
+  //7.  UNIT3断路器
   unsigned char unit3CircuitBreaker;
+  //8.  UNIT5断路器
   unsigned char unit5CircuitBreaker;
+  //9.   艏部PZ装置断路器
   unsigned char bowPZDeviceCircuitBreaker;
+  //10.  预留断路器1
   unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
+  //11.  预留断路器2
   unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
+  //12.  应急锂电池组1断路器
   unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
+  //13.  仪表电源失电信号 （0x55 正常，0xAA 故障）
   unsigned char powerFailureSignal;
+  //14. 浸水报警  （0x55 正常，0xAA 故障）
   unsigned char waterIngressionAlarm;
+  //15.  仪表母排电压
   unsigned short instrumentBusbarVoltage;
+  //16.  仪表母排电流
   unsigned short instrumentBusbarCurrent;
+  //17. UNIT1电流
   unsigned short unit1Current;
+  //18. UNIT2电流
   unsigned short unit2Current;
+  //19. UNIT3电流
   unsigned short unit3Current;
+  //20. UNIT5电流
   unsigned short unit5Current;
+  //21. 艏部PZ装置电流
   unsigned short bowPZDeviceCurrent;
+  //22.  应急锂电池组1电流
   unsigned short emergencyLithiumBatteryGroup1Current;
+  //23.  应急1汇流排电压
   unsigned short emergency1BusbarVoltage;
 }disLowBusState;
 
 typedef struct disHighVolBusCmd
 {
+  // 5: 燃料电池断路器
   unsigned char fuelCellCircuitBreaker;
+  // 6: 动力锂电池断路器
   unsigned char powerLithiumBatteryCircuitBreaker;
+  // 7: 推进电机断路器
   unsigned char propulsionMotorCircuitBreaker;
+  // 8: 锂电池组仪表断路器
   unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+  // 9: DC/DC5模块断路器
   unsigned char dcDc5ModuleCircuitBreaker;
+  // 10: 艏部高压配电箱断路器
   unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
+  // 11:  艉部FT装置4/5断路器
   unsigned char sternFTDevice45CircuitBreaker;
+  // 12:  艉舵开关1断路器
   unsigned char sternRudderSwitch1CircuitBreaker;
+  // 13:  艉舵开关2断路器
   unsigned char sternRudderSwitch2CircuitBreaker;
+  // 14:  FB预留断路器
   unsigned char fbReservedCircuitBreaker;
+  // 15:  TYZ预留断路器
   unsigned char tyzReservedCircuitBreaker;
+  // 16:  预留断路器
   unsigned char reservedCircuitBreaker;
+  // 17:  DC/DC5模块启动
   unsigned char dcdc5Module;
-  unsigned char inputWater;
+  // 18:  冷却系统启动
-  unsigned char outputWater;
+  unsigned char coolingSystem;
+  // unsigned char inputWater;
+  // unsigned char outputWater;
 }disHighVolBusCmd;
 
 typedef struct disHighAVolBusCmd
 {
+  //5.   艏部FT装置1/2/3断路器
   unsigned char bowFTDevice123CircuitBreaker;
+  //6.   启闭机构断路器
   unsigned char actuatorCircuitBreaker;
+  //7.   桅杆舵机控制箱断路器
   unsigned char mastSteeringGearControlBoxCircuitBreaker;
+  //8.   XCZ断路器
   unsigned char xczCircuitBreaker;
+  //9.   艏舵控制箱断路器
   unsigned char bowRudderControlBoxCircuitBreaker;
+  //10. 敞水盖启动电缸断路器
   unsigned char openWaterCoverStartCylinderCircuitBreaker;
 }disHighAVolBusCmd;
 
 typedef struct disHighBVolBusCmd
 {
+    //5. 锂电池组（仪表）断路器
     unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+    //6. 艏部低压配电箱断路器
     unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
+    //7.  UNIT4仪表DC48V断路器
     unsigned char unit4InstrumentDC48VCircuitBreaker;
+    //8.  DC-C1直流配电板断路器
     unsigned char dcC1DCDistributionPanelCircuitBreaker;
+    //9. 预留断路器1
     unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
+    //10. 预留断路器2
     unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
+    //11. 应急锂电池组2断路器
     unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
-}disHighBVolBusCmd;
+}disLowMainBusCmd;
 
 typedef struct disLowBusCmd
 {
@@ -284,7 +427,7 @@ typedef struct pmState
   ccuState            ccustate;
   disHighVolBusState  bus1State;
   disHighAVolBusState bus2State;
-  disHighBVolBusState bus3State;
+  disLowMainBusState bus3State;
   disLowBusState      bus4State;
 } PmState;
 
@@ -439,6 +582,17 @@ namespace WorkCondition {
   };
 };
 
+namespace RunMode {
+  enum Type : unsigned char {
+    //正常模式
+    Normal = 0,
+    //测试模式
+    Test = 1,
+    //调试模式
+    Debug = 2
+  };
+};
+
 namespace TaskType {
   enum Type : unsigned char {
     THROW_LOAD = 1,      // 抛载
@@ -510,55 +664,122 @@ struct DeviceSwitchCmd
   int cmd;
 };
 
+namespace DeviceId {
+  enum Type : unsigned char {
+    singleBeamSonar1 = 0,
+    singleBeamSonar2 = 1,
+    singleBeamSonar3 = 2,
+    singleBeamSonar4 = 3,
+    singleBeamSonar5 = 4,
+    singleBeamSonar6 = 5,
+    singleBeamSonar7 = 6,
+    singleBeamSonar8 = 7,
+    forwardSonar = 8,
+    bowCover1 = 9,
+    bowCover2 = 10,
+    bowCover3 = 11,
+    bowCover4 = 12,
+    bowCover5 = 13,
+    bowCover6 = 14,
+    bowRudderDeploy = 15,
+    bowRudderServo1 = 16,
+    bowRudderServo2 = 17,
+    depth1 = 18,
+    depth2 = 19,
+    depth3 = 20,
+    overDeep1 = 21,
+    overDeep2 = 22,
+    ctd1 = 23,
+    ctd2 = 24,
+    soundVeloc = 25,
+    waterInject = 26,
+    bowWaterlnet1 = 27,
+    bowWaterlnet2 = 28,
+    bowWaterlnet3 = 29,
+    bowWaterlnet4 = 30,
+    bowWaterlnet5 = 31,
+    bowWaterlnet6 = 32,
+    bowWaterlnet7 = 33,
+    bowWaterlnet8 = 34,
+    sideSonar = 35,
+    lowFreqSonar = 36,
+    launchControler = 37,
+    photoSensor = 38,
+    electSensor = 39,
+    commMast = 40,
+    mastLiftingServo = 41,
+    USBL = 42,
+    DVL = 43,
+    buoyancyAdjust1 = 44,
+    buoyancyAdjust2 = 45,
+    buoyancyAdjust3 = 46,
+    buoyancyAdjust4 = 47,
+    buoyancyAdjust5 = 48,
+    sternRudderServo1 = 49,
+    sternRudderServo2 = 50,
+    sternRudderServo3 = 51,
+    sternRudderServo4 = 52,
+    thruster = 53,
+    bowThrow = 54,
+    sternThrow = 55,
+    buoyage = 56,
+    ins = 57,
+    ntp = 58,
+    inputWaterSensor1 = 59,
+    inputWaterSensor2 = 60,
+    inputWaterSensor3 = 61,
+  };
+}
+
 namespace FaultEnable {
   enum Type : bool {
     BasicNavigationFault_1 = true, // 使能故障
-    BasicNavigationFault_2 = false,
+    BasicNavigationFault_2 = true,
-    BasicNavigationFault_3 = false,
+    BasicNavigationFault_3 = true,
-    BasicNavigationFault_4 = false,
+    BasicNavigationFault_4 = true,
-    BasicNavigationFault_5 = false,
+    BasicNavigationFault_5 = true,
-    BasicNavigationFault_6 = false,
+    BasicNavigationFault_6 = true,
-    BasicNavigationFault_7 = false,
+    BasicNavigationFault_7 = true,
-    BasicNavigationFault_8 = false,
+    BasicNavigationFault_8 = true,
-    BasicNavigationFault_9 = false,
+    BasicNavigationFault_9 = true,
-    BasicNavigationFault_10 = false,
+    BasicNavigationFault_10 = true,
 
-    ExtendedNavigationFault_1 = false, // 使能故障
+    ExtendedNavigationFault_1 = true, // 使能故障
-    ExtendedNavigationFault_2 = false,
+    ExtendedNavigationFault_2 = true,
-    ExtendedNavigationFault_3 = false,
+    ExtendedNavigationFault_3 = true,
-    ExtendedNavigationFault_4 = false,
+    ExtendedNavigationFault_4 = true,
 
-    ObstacleAvoidanceFault_1 = false, // 使能故障
+    ObstacleAvoidanceFault_1 = true, // 使能故障
-    ObstacleAvoidanceFault_2 = false,
+    ObstacleAvoidanceFault_2 = true,
-    ObstacleAvoidanceFault_3 = false,
+    ObstacleAvoidanceFault_3 = true,
 
-    BuoyancyControlFault_1 = false, // 使能故障
+    BuoyancyControlFault_1 = true, // 使能故障
-    BuoyancyControlFault_2 = false,
+    BuoyancyControlFault_2 = true,
-    BuoyancyControlFault_3 = false,
+    BuoyancyControlFault_3 = true,
-    BuoyancyControlFault_4 = false,
+    BuoyancyControlFault_4 = true,
 
-    CommunicationSystemFault_1 = false, // 使能故障
+    CommunicationSystemFault_1 = true, // 使能故障
-    CommunicationSystemFault_2 = false,
+    CommunicationSystemFault_2 = true,
-    CommunicationSystemFault_3 = false,
+    CommunicationSystemFault_3 = true,
 
-    PayloadSystemFault_1 = false, // 使能故障
+    PayloadSystemFault_1 = true, // 使能故障
-    PayloadSystemFault_2 = false,
+    PayloadSystemFault_2 = true,
-    PayloadSystemFault_3 = false,
+    PayloadSystemFault_3 = true,
-    PayloadSystemFault_4 = false,
+    PayloadSystemFault_4 = true,
-    PayloadSystemFault_5 = false,
+    PayloadSystemFault_5 = true,
-    PayloadSystemFault_6 = false,
+    PayloadSystemFault_6 = true,
-    PayloadSystemFault_7 = false,
+    PayloadSystemFault_7 = true,
 
-    EmergencySystemFault_1 = false, // 使能故障
+    EmergencySystemFault_1 = true, // 使能故障
-    EmergencySystemFault_2 = false,
+    EmergencySystemFault_2 = true,
-    EmergencySystemFault_3 = false,
+    EmergencySystemFault_3 = true,
-    EmergencySystemFault_4 = false,
+    EmergencySystemFault_4 = true,
-    EmergencySystemFault_5 = false,
+    EmergencySystemFault_5 = true,
-    EmergencySystemFault_6 = false,
+    EmergencySystemFault_6 = true,
     
-    SensorSystemFault_1 = false, // 使能故障
+    SensorSystemFault_1 = true, // 使能故障
-    SensorSystemFault_2 = false,
+    SensorSystemFault_2 = true,
-    SensorSystemFault_3 = false,
+    SensorSystemFault_3 = true,
   };
 }
 

src/pPowerManger/udpComm.cpp

@@ -112,12 +112,12 @@ bool udpComm::getMsgFromBuff(char *m, msg_disHighAVolBusFbMsg &s)
   s = *p;
   return true;
 }
-bool udpComm::getMsgFromBuff(char *m, msg_disHighBVolBusFbMsg &s)
+bool udpComm::getMsgFromBuff(char *m, msg_disLowMainBusFbMsg &s)
 {
   cChecksum sum;
-  msg_disHighBVolBusFbMsg *p;
+  msg_disLowMainBusFbMsg *p;
-  p = reinterpret_cast<msg_disHighBVolBusFbMsg *>(m);
+  p = reinterpret_cast<msg_disLowMainBusFbMsg *>(m);
-  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighBVolBusFbMsg), sizeof(cChecksum)) & 0xFF;
+  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disLowMainBusFbMsg), sizeof(cChecksum)) & 0xFF;
   if (sum!= p->checkCode) {
     sError.push_back("DisSys HVBBus Msg Check error");
     return false;
@@ -252,7 +252,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
   }
   case DIS_HVBUSB_FB_ID: //DIS_HVBUSB_FB 0x0007
   {
-    msg_disHighBVolBusFbMsg s;
+    msg_disLowMainBusFbMsg s;
     if(getMsgFromBuff((char *)Buff,s))
     {
       if(m_qReceiveDisHighBVolBusBuffer.size()<QUENUE_SIZE)
@@ -359,7 +359,7 @@ bool udpComm::popMsgFormQueue(double &time,msg_disHighAVolBusFbMsg &m)
   m_qReceiveDisHighAVolBusBuffer.pop();
   return true;
 }
-bool udpComm::popMsgFormQueue(double &time,msg_disHighBVolBusFbMsg &m)
+bool udpComm::popMsgFormQueue(double &time,msg_disLowMainBusFbMsg &m)
 {
   if(m_qReceiveDisHighBVolBusBuffer.empty())
     return false;

src/pPowerManger/udpComm.h

@@ -32,14 +32,14 @@ public:
   bool getMsgFromBuff(char *m, msg_CcuSetParmFbMsg &s);
   bool getMsgFromBuff(char *m, msg_disHighVolBusFbMsg &s);
   bool getMsgFromBuff(char *m, msg_disHighAVolBusFbMsg &s);
-  bool getMsgFromBuff(char *m, msg_disHighBVolBusFbMsg &s);
+  bool getMsgFromBuff(char *m, msg_disLowMainBusFbMsg &s);
   bool getMsgFromBuff(char *m, msg_disLowBusFbMsg &s);
 
   bool popMsgFormQueue(double &time,msg_CcuStateFbMsg &m);
   bool popMsgFormQueue(double &time,msg_CcuSetParmFbMsg &m);
   bool popMsgFormQueue(double &time,msg_disHighVolBusFbMsg &m);
   bool popMsgFormQueue(double &time,msg_disHighAVolBusFbMsg &m);
-  bool popMsgFormQueue(double &time,msg_disHighBVolBusFbMsg &m);
+  bool popMsgFormQueue(double &time,msg_disLowMainBusFbMsg &m);
   bool popMsgFormQueue(double &time,msg_disLowBusFbMsg &m);
 
   bool sendCcuColCmd(const ccuColCmd cmd);
@@ -68,7 +68,7 @@ public:
   std::queue<std::pair<double,msg_CcuSetParmFbMsg>> m_qReceiveCcuSetParmBuffer;
   std::queue<std::pair<double,msg_disHighVolBusFbMsg>> m_qReceiveDisHighVolBusBuffer;
   std::queue<std::pair<double,msg_disHighAVolBusFbMsg>> m_qReceiveDisHighAVolBusBuffer;
-  std::queue<std::pair<double,msg_disHighBVolBusFbMsg>> m_qReceiveDisHighBVolBusBuffer;
+  std::queue<std::pair<double,msg_disLowMainBusFbMsg>> m_qReceiveDisHighBVolBusBuffer;
   std::queue<std::pair<double,msg_disLowBusFbMsg>> m_qReceiveDisLowBusBuffer;
 
 private:

test/disSysTest/db.py

@@ -0,0 +1,649 @@
+import sqlite3
+import threading
+from datetime import datetime
+from udpMsg import (
+    msg_disHighVolBusFbMsg,
+    msg_disHighAVolBusFbMsg,
+    msg_disLowMainBusFbMsg,
+    msg_disLowBusFbMsg,
+    msg_disHVBCmdMsg,
+    msg_disHVBACmdMsg,
+    msg_disLVMBCmdMsg,
+    msg_disLVBCmdMsg
+)
+
+class DB:
+    def __init__(self, db_name):
+        self.db_name = db_name
+        self.conn = None
+        self.lock = threading.Lock()
+
+    def setPath(self, path):
+        self.db_name = path
+        
+    def connect(self):
+        self.conn = sqlite3.connect(self.db_name, check_same_thread=False)
+        self.conn.row_factory = sqlite3.Row
+        self.createTable()
+        print("数据库连接成功")
+
+    def createTable(self):
+        '''创建UDP消息数据表'''
+        cursor = self.conn.cursor()
+        
+        # 高压母线配电反馈表
+        cursor.execute('''
+        CREATE TABLE IF NOT EXISTS msg_disHighVolBusFbMsg (
+            id INTEGER PRIMARY KEY AUTOINCREMENT,
+            timestamp DATETIME DEFAULT CURRENT_TIMESTAMP,
+            fuelCellCircuitBreaker INTEGER,
+            powerLithiumBatteryCircuitBreaker INTEGER,
+            propulsionMotorCircuitBreaker INTEGER,
+            lithiumBatteryGroupInstrumentCircuitBreaker INTEGER,
+            dcDc5ModuleCircuitBreaker INTEGER,
+            bowHighVoltageDistributionBoxCircuitBreaker INTEGER,
+            sternFTDevice45CircuitBreaker INTEGER,
+            sternRudderSwitch1CircuitBreaker INTEGER,
+            sternRudderSwitch2CircuitBreaker INTEGER,
+            fbReservedCircuitBreaker INTEGER,
+            tyzReservedCircuitBreaker INTEGER,
+            reservedCircuitBreaker INTEGER,
+            dcDcFaultWord1 INTEGER,
+            dcDcFaultWord2 INTEGER,
+            powerBusInsulationStatus INTEGER,
+            aBusInsulationStatus INTEGER,
+            meterPowerLossSignal INTEGER,
+            emergencyPowerLossSignal INTEGER,
+            powerBusVoltage INTEGER,
+            dcDc5ModuleCurrent INTEGER,
+            powerBusCurrent INTEGER,
+            busbarAVoltage INTEGER,
+            propulsionMotorControlBoxCurrent INTEGER,
+            busbarACurrent INTEGER,
+            lithiumBatteryGroupMeterCurrent INTEGER,
+            bowHighVoltageDistributionBoxCurrent INTEGER,
+            sternFTDevice45Current INTEGER,
+            tyzReservedSwitchCurrent INTEGER,
+            sternRudderSwitch1Current INTEGER,
+            reservedCurrent1 INTEGER,
+            sternRudderSwitch2Current INTEGER,
+            reservedCurrent2 INTEGER,
+            fbReservedSwitchCurrent INTEGER,
+            reservedCurrent3 INTEGER,
+            coolWaterPressure INTEGER
+        )
+        ''')
+        
+        # 高压母线A配电反馈表
+        cursor.execute('''
+        CREATE TABLE IF NOT EXISTS msg_disHighAVolBusFbMsg (
+            id INTEGER PRIMARY KEY AUTOINCREMENT,
+            timestamp DATETIME DEFAULT CURRENT_TIMESTAMP,
+            bowFTDevice123CircuitBreaker INTEGER,
+            actuatorCircuitBreaker INTEGER,
+            mastSteeringGearControlBoxCircuitBreaker INTEGER,
+            xczCircuitBreaker INTEGER,
+            bowRudderControlBoxCircuitBreaker INTEGER,
+            openWaterCoverStartCylinderCircuitBreaker INTEGER,
+            instrumentPowerFailureSignal INTEGER,
+            emergencyPowerFailureSignal INTEGER,
+            waterIngressionAlarm INTEGER,
+            busbarBVoltage INTEGER,
+            busbarBCurrent INTEGER,
+            bowFTDevice123Current INTEGER,
+            actuatorCurrent INTEGER,
+            mastSteeringGearControlBoxCurrent INTEGER,
+            xczCurrent INTEGER,
+            bowRudderControlBoxCurrent INTEGER,
+            openWaterCoverStartCylinderCurrent INTEGER
+        )
+        ''')
+        
+        # 仪表母线配电反馈表
+        cursor.execute('''
+        CREATE TABLE IF NOT EXISTS msg_disLowMainBusFbMsg (
+            id INTEGER PRIMARY KEY AUTOINCREMENT,
+            timestamp DATETIME DEFAULT CURRENT_TIMESTAMP,
+            lithiumBatteryGroupInstrumentCircuitBreaker INTEGER,
+            bowLowVoltageDistributionBoxCircuitBreaker INTEGER,
+            unit4InstrumentDC48VCircuitBreaker INTEGER,
+            dcC1DCDistributionPanelCircuitBreaker INTEGER,
+            reservedCircuitBreaker1 INTEGER,
+            reservedCircuitBreaker2 INTEGER,
+            emergencyLithiumBatteryGroup2CircuitBreaker INTEGER,
+            instrumentPowerFailureSignal INTEGER,
+            emergencyPowerFailureSignal INTEGER,
+            instrumentBusbarInsulationLow INTEGER,
+            instrumentBusbarVoltage INTEGER,
+            bowLowVoltageDistributionBoxCurrent INTEGER,
+            dcC1InstrumentDC48VCurrent INTEGER,
+            reservedCurrent1 INTEGER,
+            emergencyLithiumBatteryGroup2Current INTEGER,
+            lithiumBatteryGroupInstrumentCurrent INTEGER,
+            unit4InstrumentDC48VCurrent INTEGER,
+            reservedCurrent2 INTEGER,
+            emergency2BusbarVoltage INTEGER,
+            compositeEnergyManagementSystemEmergencyDC48VCurrent INTEGER,
+            fuelCellSecuritySystemEmergencyDC48VCurrent INTEGER,
+            plcControlPowerCurrent INTEGER
+        )
+        ''')
+        
+        # 仪表汇流排配电反馈表
+        cursor.execute('''
+        CREATE TABLE IF NOT EXISTS msg_disLowBusFbMsg (
+            id INTEGER PRIMARY KEY AUTOINCREMENT,
+            timestamp DATETIME DEFAULT CURRENT_TIMESTAMP,
+            unit1CircuitBreaker INTEGER,
+            unit2CircuitBreaker INTEGER,
+            unit3CircuitBreaker INTEGER,
+            unit5CircuitBreaker INTEGER,
+            bowPZDeviceCircuitBreaker INTEGER,
+            reservedCircuitBreaker1 INTEGER,
+            reservedCircuitBreaker2 INTEGER,
+            emergencyLithiumBatteryGroup1CircuitBreaker INTEGER,
+            powerFailureSignal INTEGER,
+            waterIngressionAlarm INTEGER,
+            instrumentBusbarVoltage INTEGER,
+            instrumentBusbarCurrent INTEGER,
+            unit1Current INTEGER,
+            unit2Current INTEGER,
+            unit3Current INTEGER,
+            unit5Current INTEGER,
+            bowPZDeviceCurrent INTEGER,
+            emergencyLithiumBatteryGroup1Current INTEGER,
+            emergency1BusbarVoltage INTEGER
+        )
+        ''')
+
+        # 高压母线命令表
+        cursor.execute('''
+        CREATE TABLE IF NOT EXISTS msg_disHVBCmdMsg (
+            id INTEGER PRIMARY KEY AUTOINCREMENT,
+            timestamp DATETIME DEFAULT CURRENT_TIMESTAMP,
+            fuelCellCircuitBreakerCmd INTEGER,
+            powerLithiumBatteryCircuitBreakerCmd INTEGER,
+            propulsionMotorCircuitBreakerCmd INTEGER,
+            lithiumBatteryGroupInstrumentCircuitBreakerCmd INTEGER,
+            dcDc5ModuleCircuitBreakerCmd INTEGER,
+            bowHighVoltageDistributionBoxCircuitBreakerCmd INTEGER,
+            sternFTDevice45CircuitBreakerCmd INTEGER,
+            sternRudderSwitch1CircuitBreakerCmd INTEGER,
+            sternRudderSwitch2CircuitBreakerCmd INTEGER,
+            fbReservedCircuitBreakerCmd INTEGER,
+            tyzReservedCircuitBreakerCmd INTEGER,
+            reservedCircuitBreakerCmd INTEGER,
+            dcdc5ModuleCmd INTEGER,
+            coolingSystemCmd INTEGER
+        )
+        ''')
+        
+        # 高压母线A命令表
+        cursor.execute('''
+        CREATE TABLE IF NOT EXISTS msg_disHVBACmdMsg (
+            id INTEGER PRIMARY KEY AUTOINCREMENT,
+            timestamp DATETIME DEFAULT CURRENT_TIMESTAMP,
+            bowFTDevice123CircuitBreakerCmd INTEGER,
+            actuatorCircuitBreakerCmd INTEGER,
+            mastSteeringGearControlBoxCircuitBreakerCmd INTEGER,
+            xczCircuitBreakerCmd INTEGER,
+            bowRudderControlBoxCircuitBreakerCmd INTEGER,
+            openWaterCoverStartCylinderCircuitBreakerCmd INTEGER
+        )
+        ''')
+        
+        # 仪表母线命令表
+        cursor.execute('''
+        CREATE TABLE IF NOT EXISTS msg_disLVMBCmdMsg (
+            id INTEGER PRIMARY KEY AUTOINCREMENT,
+            timestamp DATETIME DEFAULT CURRENT_TIMESTAMP,
+            lithiumBatteryGroupInstrumentCircuitBreakerCmd INTEGER,
+            bowLowVoltageDistributionBoxCircuitBreakerCmd INTEGER,
+            unit4InstrumentDC48VCircuitBreakerCmd INTEGER,
+            dcC1DCDistributionPanelCircuitBreakerCmd INTEGER,
+            reservedCircuitBreakerCmd1 INTEGER,
+            reservedCircuitBreakerCmd2 INTEGER,
+            emergencyLithiumBatteryGroup2CircuitBreakerCmd INTEGER
+        )
+        ''')
+        
+        # 仪表汇流排命令表
+        cursor.execute('''
+        CREATE TABLE IF NOT EXISTS msg_disLVBCmdMsg (
+            id INTEGER PRIMARY KEY AUTOINCREMENT,
+            timestamp DATETIME DEFAULT CURRENT_TIMESTAMP,
+            unit1CircuitBreakerCmd INTEGER,
+            unit2CircuitBreakerCmd INTEGER,
+            unit3CircuitBreakerCmd INTEGER,
+            unit5CircuitBreakerCmd INTEGER,
+            bowPZDeviceCircuitBreakerCmd INTEGER,
+            reservedCircuitBreakerCmd1 INTEGER,
+            reservedCircuitBreakerCmd2 INTEGER,
+            emergencyLithiumBatteryGroup1CircuitBreakerCmd INTEGER
+        )
+        ''')
+        
+        self.conn.commit()
+
+    def _insert_data(self, table_name, data_dict):
+        print('-----------------insert_data start')
+        '''内部方法：执行实际的数据库插入操作'''
+        with self.lock:
+            try:
+                # 检查并建立连接
+                if not self.conn:
+                    print('-----------------connecting to database')
+                    self.connect()
+                
+                print(f'-----------------connection status: {"connected" if self.conn else "disconnected"}')
+                if not self.conn:
+                    print('-----------------connection failed')
+                    return False
+                    
+                print(f'-----------------connection object: {self.conn}')
+                
+                # 创建cursor
+                try:
+                    print('-----------------creating cursor')
+                    cursor = self.conn.cursor()
+                    print('-----------------cursor created successfully')
+                except sqlite3.Error as e:
+                    print(f'-----------------cursor creation failed: {e}')
+                    return False
+                
+                # 准备查询
+                columns = ', '.join(data_dict.keys())
+                placeholders = ', '.join(['?'] * len(data_dict))
+                query = f'INSERT INTO {table_name} ({columns}) VALUES ({placeholders})'
+                print(f'-----------------prepared query: {query}')
+                
+                # 执行查询
+                try:
+                    print('-----------------executing query')
+                    cursor.execute(query, list(data_dict.values()))
+                    self.conn.commit()
+                    print(f"-----------------Data inserted successfully into {table_name}")
+                    return True
+                except sqlite3.Error as e:
+                    print(f"-----------------Error executing query: {e}")
+                    return False
+                    
+            except Exception as e:
+                print(f'-----------------unexpected error in _insert_data: {e}')
+                return False
+
+    def insertHighVolBusData(self, data:msg_disHighVolBusFbMsg):
+        '''插入高压母线配电反馈数据'''
+        print('-----------------insertHighVolBusData')
+        data_dict = {
+            'fuelCellCircuitBreaker': data.fuelCellCircuitBreaker,
+            'powerLithiumBatteryCircuitBreaker': data.powerLithiumBatteryCircuitBreaker,
+            'propulsionMotorCircuitBreaker': data.propulsionMotorCircuitBreaker,
+            'lithiumBatteryGroupInstrumentCircuitBreaker': data.lithiumBatteryGroupInstrumentCircuitBreaker,
+            'dcDc5ModuleCircuitBreaker': data.dcDc5ModuleCircuitBreaker,
+            'bowHighVoltageDistributionBoxCircuitBreaker': data.bowHighVoltageDistributionBoxCircuitBreaker,
+            'sternFTDevice45CircuitBreaker': data.sternFTDevice45CircuitBreaker,
+            'sternRudderSwitch1CircuitBreaker': data.sternRudderSwitch1CircuitBreaker,
+            'sternRudderSwitch2CircuitBreaker': data.sternRudderSwitch2CircuitBreaker,
+            'fbReservedCircuitBreaker': data.fbReservedCircuitBreaker,
+            'tyzReservedCircuitBreaker': data.tyzReservedCircuitBreaker,
+            'reservedCircuitBreaker': data.reservedCircuitBreaker,
+            'dcDcFaultWord1': data.dcDcFaultWord1,
+            'dcDcFaultWord2': data.dcDcFaultWord2,
+            'powerBusInsulationStatus': data.powerBusInsulationStatus,
+            'aBusInsulationStatus': data.aBusInsulationStatus,
+            'meterPowerLossSignal': data.meterPowerLossSignal,
+            'emergencyPowerLossSignal': data.emergencyPowerLossSignal,
+            'powerBusVoltage': data.powerBusVoltage,
+            'dcDc5ModuleCurrent': data.dcDc5ModuleCurrent,
+            'powerBusCurrent': data.powerBusCurrent,
+            'busbarAVoltage': data.busbarAVoltage,
+            'propulsionMotorControlBoxCurrent': data.propulsionMotorControlBoxCurrent,
+            'busbarACurrent': data.busbarACurrent,
+            'lithiumBatteryGroupMeterCurrent': data.lithiumBatteryGroupMeterCurrent,
+            'bowHighVoltageDistributionBoxCurrent': data.bowHighVoltageDistributionBoxCurrent,
+            'sternFTDevice45Current': data.sternFTDevice45Current,
+            'tyzReservedSwitchCurrent': data.tyzReservedSwitchCurrent,
+            'sternRudderSwitch1Current': data.sternRudderSwitch1Current,
+            'reservedCurrent1': data.reservedCurrent1,
+            'sternRudderSwitch2Current': data.sternRudderSwitch2Current,
+            'reservedCurrent2': data.reservedCurrent2,
+            'fbReservedSwitchCurrent': data.fbReservedSwitchCurrent,
+            'reservedCurrent3': data.reservedCurrent3,
+            'coolWaterPressure': data.coolWaterPressure
+        }
+        return self._insert_data('msg_disHighVolBusFbMsg', data_dict)
+
+    def insertHighAVolBusData(self, data:msg_disHighAVolBusFbMsg):
+        '''插入高压母线A配电反馈数据'''
+        data_dict = {
+            'bowFTDevice123CircuitBreaker': data.bowFTDevice123CircuitBreaker,
+            'actuatorCircuitBreaker': data.actuatorCircuitBreaker,
+            'mastSteeringGearControlBoxCircuitBreaker': data.mastSteeringGearControlBoxCircuitBreaker,
+            'xczCircuitBreaker': data.xczCircuitBreaker,
+            'bowRudderControlBoxCircuitBreaker': data.bowRudderControlBoxCircuitBreaker,
+            'openWaterCoverStartCylinderCircuitBreaker': data.openWaterCoverStartCylinderCircuitBreaker,
+            'instrumentPowerFailureSignal': data.instrumentPowerFailureSignal,
+            'emergencyPowerFailureSignal': data.emergencyPowerFailureSignal,
+            'waterIngressionAlarm': data.waterIngressionAlarm,
+            'busbarBVoltage': data.busbarBVoltage,
+            'busbarBCurrent': data.busbarBCurrent,
+            'bowFTDevice123Current': data.bowFTDevice123Current,
+            'actuatorCurrent': data.actuatorCurrent,
+            'mastSteeringGearControlBoxCurrent': data.mastSteeringGearControlBoxCurrent,
+            'xczCurrent': data.xczCurrent,
+            'bowRudderControlBoxCurrent': data.bowRudderControlBoxCurrent,
+            'openWaterCoverStartCylinderCurrent': data.openWaterCoverStartCylinderCurrent
+        }
+        return self._insert_data('msg_disHighAVolBusFbMsg', data_dict)
+
+    def insertLowMainBusData(self, data:msg_disLowMainBusFbMsg):
+        '''插入仪表母线配电反馈数据'''
+        data_dict = {
+            'lithiumBatteryGroupInstrumentCircuitBreaker': data.lithiumBatteryGroupInstrumentCircuitBreaker,
+            'bowLowVoltageDistributionBoxCircuitBreaker': data.bowLowVoltageDistributionBoxCircuitBreaker,
+            'unit4InstrumentDC48VCircuitBreaker': data.unit4InstrumentDC48VCircuitBreaker,
+            'dcC1DCDistributionPanelCircuitBreaker': data.dcC1DCDistributionPanelCircuitBreaker,
+            'reservedCircuitBreaker1': data.reservedCircuitBreaker1,
+            'reservedCircuitBreaker2': data.reservedCircuitBreaker2,
+            'emergencyLithiumBatteryGroup2CircuitBreaker': data.emergencyLithiumBatteryGroup2CircuitBreaker,
+            'instrumentPowerFailureSignal': data.instrumentPowerFailureSignal,
+            'emergencyPowerFailureSignal': data.emergencyPowerFailureSignal,
+            'instrumentBusbarInsulationLow': data.instrumentBusbarInsulationLow,
+            'instrumentBusbarVoltage': data.instrumentBusbarVoltage,
+            'bowLowVoltageDistributionBoxCurrent': data.bowLowVoltageDistributionBoxCurrent,
+            'dcC1InstrumentDC48VCurrent': data.dcC1InstrumentDC48VCurrent,
+            'reservedCurrent1': data.reservedCurrent1,
+            'emergencyLithiumBatteryGroup2Current': data.emergencyLithiumBatteryGroup2Current,
+            'lithiumBatteryGroupInstrumentCurrent': data.lithiumBatteryGroupInstrumentCurrent,
+            'unit4InstrumentDC48VCurrent': data.unit4InstrumentDC48VCurrent,
+            'reservedCurrent2': data.reservedCurrent2,
+            'emergency2BusbarVoltage': data.emergency2BusbarVoltage,
+            'compositeEnergyManagementSystemEmergencyDC48VCurrent': data.compositeEnergyManagementSystemEmergencyDC48VCurrent,
+            'fuelCellSecuritySystemEmergencyDC48VCurrent': data.fuelCellSecuritySystemEmergencyDC48VCurrent,
+            'plcControlPowerCurrent': data.plcControlPowerCurrent
+        }
+        return self._insert_data('msg_disLowMainBusFbMsg', data_dict)
+
+    def insertLowBusData(self, data:msg_disLowBusFbMsg):
+        '''插入仪表汇流排配电反馈数据'''
+        data_dict = {
+            'unit1CircuitBreaker': data.unit1CircuitBreaker,
+            'unit2CircuitBreaker': data.unit2CircuitBreaker,
+            'unit3CircuitBreaker': data.unit3CircuitBreaker,
+            'unit5CircuitBreaker': data.unit5CircuitBreaker,
+            'bowPZDeviceCircuitBreaker': data.bowPZDeviceCircuitBreaker,
+            'reservedCircuitBreaker1': data.reservedCircuitBreaker1,
+            'reservedCircuitBreaker2': data.reservedCircuitBreaker2,
+            'emergencyLithiumBatteryGroup1CircuitBreaker': data.emergencyLithiumBatteryGroup1CircuitBreaker,
+            'powerFailureSignal': data.powerFailureSignal,
+            'waterIngressionAlarm': data.waterIngressionAlarm,
+            'instrumentBusbarVoltage': data.instrumentBusbarVoltage,
+            'instrumentBusbarCurrent': data.instrumentBusbarCurrent,
+            'unit1Current': data.unit1Current,
+            'unit2Current': data.unit2Current,
+            'unit3Current': data.unit3Current,
+            'unit5Current': data.unit5Current,
+            'bowPZDeviceCurrent': data.bowPZDeviceCurrent,
+            'emergencyLithiumBatteryGroup1Current': data.emergencyLithiumBatteryGroup1Current,
+            'emergency1BusbarVoltage': data.emergency1BusbarVoltage
+        }
+        return self._insert_data('msg_disLowBusFbMsg', data_dict)
+
+    def insertHighVolBusCmd(self, data:msg_disHVBCmdMsg):
+        '''插入高压母线命令数据'''
+        data_dict = {
+            'fuelCellCircuitBreakerCmd': data.fuelCellCircuitBreaker,
+            'powerLithiumBatteryCircuitBreakerCmd': data.powerLithiumBatteryCircuitBreaker,
+            'propulsionMotorCircuitBreakerCmd': data.propulsionMotorCircuitBreaker,
+            'lithiumBatteryGroupInstrumentCircuitBreakerCmd': data.lithiumBatteryGroupInstrumentCircuitBreaker,
+            'dcDc5ModuleCircuitBreakerCmd': data.dcDc5ModuleCircuitBreaker,
+            'bowHighVoltageDistributionBoxCircuitBreakerCmd': data.bowHighVoltageDistributionBoxCircuitBreaker,
+            'sternFTDevice45CircuitBreakerCmd': data.sternFTDevice45CircuitBreaker,
+            'sternRudderSwitch1CircuitBreakerCmd': data.sternRudderSwitch1CircuitBreaker,
+            'sternRudderSwitch2CircuitBreakerCmd': data.sternRudderSwitch2CircuitBreaker,
+            'fbReservedCircuitBreakerCmd': data.fbReservedCircuitBreaker,
+            'tyzReservedCircuitBreakerCmd': data.tyzReservedCircuitBreaker,
+            'reservedCircuitBreakerCmd': data.reservedCircuitBreaker,
+            'dcdc5ModuleCmd': data.dcdc5Module,
+            'coolingSystemCmd': data.coolingSystem
+        }
+        return self._insert_data('msg_disHVBCmdMsg', data_dict)
+
+    def insertHighAVolBusCmd(self, data:msg_disHVBACmdMsg):
+        '''插入高压母线A命令数据'''
+        data_dict = {
+            'bowFTDevice123CircuitBreakerCmd': data.bowFTDevice123CircuitBreaker,
+            'actuatorCircuitBreakerCmd': data.actuatorCircuitBreaker,
+            'mastSteeringGearControlBoxCircuitBreakerCmd': data.mastSteeringGearControlBoxCircuitBreaker,
+            'xczCircuitBreakerCmd': data.xczCircuitBreaker,
+            'bowRudderControlBoxCircuitBreakerCmd': data.bowRudderControlBoxCircuitBreaker,
+            'openWaterCoverStartCylinderCircuitBreakerCmd': data.openWaterCoverStartCylinderCircuitBreaker
+        }
+        return self._insert_data('msg_disHVBACmdMsg', data_dict)
+
+    def insertLowMainBusCmd(self, data:msg_disLVMBCmdMsg):
+        '''插入仪表母线命令数据'''
+        data_dict = {
+            'lithiumBatteryGroupInstrumentCircuitBreakerCmd': data.lithiumBatteryGroupInstrumentCircuitBreaker,
+            'bowLowVoltageDistributionBoxCircuitBreakerCmd': data.bowLowVoltageDistributionBoxCircuitBreaker,
+            'unit4InstrumentDC48VCircuitBreakerCmd': data.unit4InstrumentDC48VCircuitBreaker,
+            'dcC1DCDistributionPanelCircuitBreakerCmd': data.dcC1DCDistributionPanelCircuitBreaker,
+            'reservedCircuitBreakerCmd1': data.reservedCircuitBreaker1,
+            'reservedCircuitBreakerCmd2': data.reservedCircuitBreaker2,
+            'emergencyLithiumBatteryGroup2CircuitBreakerCmd': data.emergencyLithiumBatteryGroup2CircuitBreaker
+        }
+        return self._insert_data('msg_disLVMBCmdMsg', data_dict)
+
+
+
+    def insertLowBusCmd(self, data:msg_disLVBCmdMsg):
+        '''插入仪表汇流排命令数据'''
+        data_dict = {
+            'unit1CircuitBreakerCmd': data.unit1CircuitBreaker,
+            'unit2CircuitBreakerCmd': data.unit2CircuitBreaker,
+            'unit3CircuitBreakerCmd': data.unit3CircuitBreaker,
+            'unit5CircuitBreakerCmd': data.unit5CircuitBreaker,
+            'bowPZDeviceCircuitBreakerCmd': data.bowPZDeviceCircuitBreaker,
+            'reservedCircuitBreakerCmd1': data.reservedCircuitBreaker1,
+            'reservedCircuitBreakerCmd2': data.reservedCircuitBreaker2,
+            'emergencyLithiumBatteryGroup1CircuitBreakerCmd': data.emergencyLithiumBatteryGroup1CircuitBreaker
+        }
+        return self._insert_data('msg_disLVBCmdMsg', data_dict)
+
+
+    def close(self):
+        if self.conn:
+            self.conn.close()
+
+if __name__ == "__main__":
+    # 创建数据库实例
+    db = DB('/home/zjk/project/H100/H100PowerManger/test/disSysTest/test.db')
+    db.connect()
+    
+    # 创建测试数据
+    from udpMsg import (
+        msg_disHighVolBusFbMsg,
+        msg_disHighAVolBusFbMsg,
+        msg_disLowMainBusFbMsg,
+        msg_disLowBusFbMsg,
+        msg_disHVBCmdMsg,
+        msg_disHVBACmdMsg,
+        msg_disLVMBCmdMsg,
+        msg_disLVBCmdMsg
+    )
+    
+    # 测试反馈消息存储
+    fb1 = msg_disHighVolBusFbMsg()
+    fb1.fuelCellCircuitBreaker = 1
+    fb1.powerLithiumBatteryCircuitBreaker = 1
+    fb1.propulsionMotorCircuitBreaker = 1
+    fb1.lithiumBatteryGroupInstrumentCircuitBreaker = 1
+    fb1.dcDc5ModuleCircuitBreaker = 1
+    fb1.bowHighVoltageDistributionBoxCircuitBreaker = 1
+    fb1.sternFTDevice45CircuitBreaker = 1
+    fb1.sternRudderSwitch1CircuitBreaker = 1
+    fb1.sternRudderSwitch2CircuitBreaker = 1
+    fb1.fbReservedCircuitBreaker = 1
+    fb1.tyzReservedCircuitBreaker = 1
+    fb1.reservedCircuitBreaker = 1
+    fb1.dcDcFaultWord1 = 0
+    fb1.dcDcFaultWord2 = 0
+    fb1.powerBusInsulationStatus = 1
+    fb1.aBusInsulationStatus = 1
+    fb1.meterPowerLossSignal = 0
+    fb1.emergencyPowerLossSignal = 0
+    fb1.powerBusVoltage = 220
+    fb1.dcDc5ModuleCurrent = 10
+    fb1.powerBusCurrent = 100
+    fb1.busbarAVoltage = 220
+    fb1.propulsionMotorControlBoxCurrent = 50
+    fb1.busbarACurrent = 100
+    fb1.lithiumBatteryGroupMeterCurrent = 10
+    fb1.bowHighVoltageDistributionBoxCurrent = 20
+    fb1.sternFTDevice45Current = 30
+    fb1.tyzReservedSwitchCurrent = 0
+    fb1.sternRudderSwitch1Current = 10
+    fb1.reservedCurrent1 = 0
+    fb1.sternRudderSwitch2Current = 10
+    fb1.reservedCurrent2 = 0
+    fb1.fbReservedSwitchCurrent = 0
+    fb1.reservedCurrent3 = 0
+    fb1.coolWaterPressure = 100
+    
+    fb2 = msg_disHighAVolBusFbMsg()
+    fb2.bowFTDevice123CircuitBreaker = 1
+    fb2.actuatorCircuitBreaker = 1
+    fb2.mastSteeringGearControlBoxCircuitBreaker = 1
+    fb2.xczCircuitBreaker = 1
+    fb2.bowRudderControlBoxCircuitBreaker = 1
+    fb2.openWaterCoverStartCylinderCircuitBreaker = 1
+    fb2.instrumentPowerFailureSignal = 0
+    fb2.emergencyPowerFailureSignal = 0
+    fb2.waterIngressionAlarm = 0
+    fb2.busbarBVoltage = 220
+    fb2.busbarBCurrent = 100
+    fb2.bowFTDevice123Current = 20
+    fb2.actuatorCurrent = 30
+    fb2.mastSteeringGearControlBoxCurrent = 10
+    fb2.xczCurrent = 5
+    fb2.bowRudderControlBoxCurrent = 15
+    fb2.openWaterCoverStartCylinderCurrent = 5
+    
+    fb3 = msg_disLowMainBusFbMsg()
+    fb3.lithiumBatteryGroupInstrumentCircuitBreaker = 1
+    fb3.bowLowVoltageDistributionBoxCircuitBreaker = 1
+    fb3.unit4InstrumentDC48VCircuitBreaker = 1
+    fb3.dcC1DCDistributionPanelCircuitBreaker = 1
+    fb3.reservedCircuitBreaker1 = 0
+    fb3.reservedCircuitBreaker2 = 0
+    fb3.emergencyLithiumBatteryGroup2CircuitBreaker = 1
+    fb3.instrumentPowerFailureSignal = 0
+    fb3.emergencyPowerFailureSignal = 0
+    fb3.instrumentBusbarInsulationLow = 0
+    fb3.instrumentBusbarVoltage = 48
+    fb3.bowLowVoltageDistributionBoxCurrent = 10
+    fb3.dcC1InstrumentDC48VCurrent = 5
+    fb3.reservedCurrent1 = 0
+    fb3.emergencyLithiumBatteryGroup2Current = 10
+    fb3.lithiumBatteryGroupInstrumentCurrent = 5
+    fb3.unit4InstrumentDC48VCurrent = 5
+    fb3.reservedCurrent2 = 0
+    fb3.emergency2BusbarVoltage = 48
+    fb3.compositeEnergyManagementSystemEmergencyDC48VCurrent = 5
+    fb3.fuelCellSecuritySystemEmergencyDC48VCurrent = 5
+    fb3.plcControlPowerCurrent = 5
+    
+    fb4 = msg_disLowBusFbMsg()
+    fb4.unit1CircuitBreaker = 1
+    fb4.unit2CircuitBreaker = 1
+    fb4.unit3CircuitBreaker = 1
+    fb4.unit5CircuitBreaker = 1
+    fb4.bowPZDeviceCircuitBreaker = 1
+    fb4.reservedCircuitBreaker1 = 0
+    fb4.reservedCircuitBreaker2 = 0
+    fb4.emergencyLithiumBatteryGroup1CircuitBreaker = 1
+    fb4.powerFailureSignal = 0
+    fb4.waterIngressionAlarm = 0
+    fb4.instrumentBusbarVoltage = 48
+    fb4.instrumentBusbarCurrent = 10
+    fb4.unit1Current = 2
+    fb4.unit2Current = 2
+    fb4.unit3Current = 2
+    fb4.unit5Current = 2
+    fb4.bowPZDeviceCurrent = 2
+    fb4.emergencyLithiumBatteryGroup1Current = 10
+    fb4.emergency1BusbarVoltage = 48
+    
+    db.insertHighVolBusData(fb1)
+    db.insertHighAVolBusData(fb2)
+    db.insertLowMainBusData(fb3)
+    db.insertLowBusData(fb4)
+    db.insertHighVolBusData(fb1)
+    db.insertHighAVolBusData(fb2)
+    db.insertLowMainBusData(fb3)
+    db.insertLowBusData(fb4)
+    db.insertHighVolBusData(fb1)
+    db.insertHighAVolBusData(fb2)
+    db.insertLowMainBusData(fb3)
+    db.insertLowBusData(fb4)
+    # 测试命令消息存储
+    cmd1 = msg_disHVBCmdMsg()
+    cmd1.fuelCellCircuitBreaker = 1
+    cmd1.powerLithiumBatteryCircuitBreaker = 1
+    cmd1.propulsionMotorCircuitBreaker = 1
+    cmd1.lithiumBatteryGroupInstrumentCircuitBreaker = 1
+    cmd1.dcDc5ModuleCircuitBreaker = 1
+    cmd1.bowHighVoltageDistributionBoxCircuitBreaker = 1
+    cmd1.sternFTDevice45CircuitBreaker = 1
+    cmd1.sternRudderSwitch1CircuitBreaker = 1
+    cmd1.sternRudderSwitch2CircuitBreaker = 1
+    cmd1.fbReservedCircuitBreaker = 0
+    cmd1.tyzReservedCircuitBreaker = 0
+    cmd1.reservedCircuitBreaker = 0
+    cmd1.dcdc5Module = 1
+    cmd1.coolingSystem = 1
+    
+    cmd2 = msg_disHVBACmdMsg()
+    cmd2.bowFTDevice123CircuitBreaker = 1
+    cmd2.actuatorCircuitBreaker = 1
+    cmd2.mastSteeringGearControlBoxCircuitBreaker = 1
+    cmd2.xczCircuitBreaker = 1
+    cmd2.bowRudderControlBoxCircuitBreaker = 1
+    cmd2.openWaterCoverStartCylinderCircuitBreaker = 1
+    
+    cmd3 = msg_disLVMBCmdMsg()
+    cmd3.lithiumBatteryGroupInstrumentCircuitBreaker = 1
+    cmd3.bowLowVoltageDistributionBoxCircuitBreaker = 1
+    cmd3.unit4InstrumentDC48VCircuitBreaker = 1
+    cmd3.dcC1DCDistributionPanelCircuitBreaker = 1
+    cmd3.reservedCircuitBreaker1 = 0
+    cmd3.reservedCircuitBreaker2 = 0
+    cmd3.emergencyLithiumBatteryGroup2CircuitBreaker = 1
+    
+    cmd4 = msg_disLVBCmdMsg()
+    cmd4.unit1CircuitBreaker = 1
+    cmd4.unit2CircuitBreaker = 1
+    cmd4.unit3CircuitBreaker = 1
+    cmd4.unit5CircuitBreaker = 1
+    cmd4.bowPZDeviceCircuitBreaker = 1
+    cmd4.reservedCircuitBreaker1 = 0
+    cmd4.reservedCircuitBreaker2 = 0
+    cmd4.emergencyLithiumBatteryGroup1CircuitBreaker = 1
+    
+    db.insertHighVolBusCmd(cmd1)
+    db.insertHighAVolBusCmd(cmd2)
+    db.insertLowMainBusCmd(cmd3)
+    db.insertLowBusCmd(cmd4)
+
+    db.insertHighVolBusCmd(cmd1)
+    db.insertHighAVolBusCmd(cmd2)
+    db.insertLowMainBusCmd(cmd3)
+    db.insertLowBusCmd(cmd4)
+
+    db.insertHighVolBusCmd(cmd1)
+    db.insertHighAVolBusCmd(cmd2)
+    db.insertLowMainBusCmd(cmd3)
+    db.insertLowBusCmd(cmd4)
+    
+    print("测试数据已成功插入数据库")

test/disSysTest/main.py

@@ -0,0 +1,19 @@
+import tkinter as tk
+from PowerManagerApp import PowerManagerApp
+from db import DB
+
+def main():
+    # 创建Tkinter根窗口
+    root = tk.Tk()
+    
+    # 创建PowerManagerApp实例
+    app = PowerManagerApp(root)
+    
+    # 设置窗口关闭事件处理
+    root.protocol("WM_DELETE_WINDOW", app.on_closing)
+    
+    # 启动主循环
+    root.mainloop()
+
+if __name__ == "__main__":
+    main()

test/disSysTest/test.py

@@ -0,0 +1,230 @@
+import socket
+import struct
+import threading
+import time
+from udpMsg import (
+    msg_disHighVolBusFbMsg,
+    msg_disHighAVolBusFbMsg,
+    msg_disLowMainBusFbMsg,
+    msg_disLowBusFbMsg,
+    msg_disHVBCmdMsg,
+    msg_disHVBACmdMsg,
+    msg_disLVMBCmdMsg,
+    msg_disLVBCmdMsg
+)
+
+class PowerManagerSimulator:
+    def __init__(self, host='127.0.0.1', port=5001):
+        self.host = host
+        self.port = port
+        self.running = False
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.sock.bind((host, port))
+        
+        # 初始化消息对象
+        self.high_vol_fb = msg_disHighVolBusFbMsg()
+        self.high_a_vol_fb = msg_disHighAVolBusFbMsg()
+        self.low_main_fb = msg_disLowMainBusFbMsg()
+        self.low_bus_fb = msg_disLowBusFbMsg()
+        
+        # 模拟数据初始化
+        self._init_sim_data()
+        
+    def _init_sim_data(self):
+        """初始化模拟数据"""
+        # 高压母线反馈数据 - 测试所有成员
+        self.high_vol_fb.fuelCellCircuitBreaker = 1
+        self.high_vol_fb.powerLithiumBatteryCircuitBreaker = 1
+        self.high_vol_fb.propulsionMotorCircuitBreaker = 1
+        self.high_vol_fb.lithiumBatteryGroupInstrumentCircuitBreaker = 1
+        self.high_vol_fb.dcDc5ModuleCircuitBreaker = 1
+        self.high_vol_fb.bowHighVoltageDistributionBoxCircuitBreaker = 1
+        self.high_vol_fb.sternFTDevice45CircuitBreaker = 1
+        self.high_vol_fb.sternRudderSwitch1CircuitBreaker = 1
+        self.high_vol_fb.sternRudderSwitch2CircuitBreaker = 1
+        self.high_vol_fb.fbReservedCircuitBreaker = 0
+        self.high_vol_fb.tyzReservedCircuitBreaker = 0
+        self.high_vol_fb.reservedCircuitBreaker = 0
+        self.high_vol_fb.dcDcFaultWord1 = 0x55  # 测试故障模式
+        self.high_vol_fb.dcDcFaultWord2 = 0xAA
+        self.high_vol_fb.powerBusInsulationStatus = 1
+        self.high_vol_fb.aBusInsulationStatus = 1
+        self.high_vol_fb.meterPowerLossSignal = 0
+        self.high_vol_fb.emergencyPowerLossSignal = 0
+        self.high_vol_fb.powerBusVoltage = 600  # 正常值
+        self.high_vol_fb.dcDc5ModuleCurrent = 50
+        self.high_vol_fb.powerBusCurrent = 100
+        self.high_vol_fb.busbarAVoltage = 600
+        self.high_vol_fb.propulsionMotorControlBoxCurrent = 80
+        self.high_vol_fb.busbarACurrent = 50
+        self.high_vol_fb.lithiumBatteryGroupMeterCurrent = 30
+        self.high_vol_fb.bowHighVoltageDistributionBoxCurrent = 20
+        self.high_vol_fb.sternFTDevice45Current = 15
+        self.high_vol_fb.tyzReservedSwitchCurrent = 0
+        self.high_vol_fb.sternRudderSwitch1Current = 10
+        self.high_vol_fb.reservedCurrent1 = 0
+        self.high_vol_fb.sternRudderSwitch2Current = 10
+        self.high_vol_fb.reservedCurrent2 = 0
+        self.high_vol_fb.fbReservedSwitchCurrent = 0
+        self.high_vol_fb.reservedCurrent3 = 0
+        self.high_vol_fb.coolWaterPressure = 100
+        
+        # 高压A母线反馈数据 - 测试所有成员
+        self.high_a_vol_fb.bowFTDevice123CircuitBreaker = 1
+        self.high_a_vol_fb.actuatorCircuitBreaker = 1
+        self.high_a_vol_fb.mastSteeringGearControlBoxCircuitBreaker = 1
+        self.high_a_vol_fb.xczCircuitBreaker = 1
+        self.high_a_vol_fb.bowRudderControlBoxCircuitBreaker = 1
+        self.high_a_vol_fb.openWaterCoverStartCylinderCircuitBreaker = 0
+        self.high_a_vol_fb.instrumentPowerFailureSignal = 0
+        self.high_a_vol_fb.emergencyPowerFailureSignal = 0
+        self.high_a_vol_fb.waterIngressionAlarm = 0
+        self.high_a_vol_fb.busbarBVoltage = 600
+        self.high_a_vol_fb.busbarBCurrent = 30
+        self.high_a_vol_fb.bowFTDevice123Current = 20
+        self.high_a_vol_fb.actuatorCurrent = 15
+        self.high_a_vol_fb.mastSteeringGearControlBoxCurrent = 10
+        self.high_a_vol_fb.xczCurrent = 5
+        self.high_a_vol_fb.bowRudderControlBoxCurrent = 8
+        self.high_a_vol_fb.openWaterCoverStartCylinderCurrent = 0
+        
+        # 仪表主母线反馈数据 - 测试所有成员
+        self.low_main_fb.lithiumBatteryGroupInstrumentCircuitBreaker = 1
+        self.low_main_fb.bowLowVoltageDistributionBoxCircuitBreaker = 1
+        self.low_main_fb.unit4InstrumentDC48VCircuitBreaker = 1
+        self.low_main_fb.dcC1DCDistributionPanelCircuitBreaker = 1
+        self.low_main_fb.reservedCircuitBreaker1 = 0
+        self.low_main_fb.reservedCircuitBreaker2 = 0
+        self.low_main_fb.emergencyLithiumBatteryGroup2CircuitBreaker = 0
+        self.low_main_fb.instrumentPowerFailureSignal = 0
+        self.low_main_fb.emergencyPowerFailureSignal = 0
+        self.low_main_fb.instrumentBusbarInsulationLow = 0
+        self.low_main_fb.instrumentBusbarVoltage = 48
+        self.low_main_fb.bowLowVoltageDistributionBoxCurrent = 10
+        self.low_main_fb.dcC1InstrumentDC48VCurrent = 5
+        self.low_main_fb.reservedCurrent1 = 0
+        self.low_main_fb.emergencyLithiumBatteryGroup2Current = 0
+        self.low_main_fb.lithiumBatteryGroupInstrumentCurrent = 20
+        self.low_main_fb.unit4InstrumentDC48VCurrent = 5
+        self.low_main_fb.reservedCurrent2 = 0
+        self.low_main_fb.emergency2BusbarVoltage = 48
+        self.low_main_fb.compositeEnergyManagementSystemEmergencyDC48VCurrent = 2
+        self.low_main_fb.fuelCellSecuritySystemEmergencyDC48VCurrent = 2
+        self.low_main_fb.plcControlPowerCurrent = 1
+        
+        # 仪表汇流排反馈数据 - 测试所有成员
+        self.low_bus_fb.unit1CircuitBreaker = 1
+        self.low_bus_fb.unit2CircuitBreaker = 1
+        self.low_bus_fb.unit3CircuitBreaker = 1
+        self.low_bus_fb.unit5CircuitBreaker = 1
+        self.low_bus_fb.bowPZDeviceCircuitBreaker = 1
+        self.low_bus_fb.reservedCircuitBreaker1 = 0
+        self.low_bus_fb.reservedCircuitBreaker2 = 0
+        self.low_bus_fb.emergencyLithiumBatteryGroup1CircuitBreaker = 0
+        self.low_bus_fb.powerFailureSignal = 0
+        self.low_bus_fb.waterIngressionAlarm = 0
+        self.low_bus_fb.instrumentBusbarVoltage = 48
+        self.low_bus_fb.instrumentBusbarCurrent = 500
+        self.low_bus_fb.unit1Current = 100
+        self.low_bus_fb.unit2Current = 100
+        self.low_bus_fb.unit3Current = 100
+        self.low_bus_fb.unit5Current = 100
+        self.low_bus_fb.bowPZDeviceCurrent = 50
+        self.low_bus_fb.emergencyLithiumBatteryGroup1Current = 0
+        self.low_bus_fb.emergency1BusbarVoltage = 48
+        
+    def start(self):
+        """启动模拟器"""
+        self.running = True
+        # 启动发送线程
+        self.send_thread = threading.Thread(target=self._send_loop)
+        self.send_thread.daemon = True
+        self.send_thread.start()
+        
+        # 启动接收线程
+        self.recv_thread = threading.Thread(target=self._recv_loop)
+        self.recv_thread.daemon = True
+        self.recv_thread.start()
+        
+    def stop(self):
+        """停止模拟器"""
+        self.running = False
+        self.sock.close()
+        
+    def _send_loop(self):
+        """周期性发送反馈消息"""
+        while self.running:
+            try:
+                # 发送高压母线反馈
+                data = self.high_vol_fb.pack()
+                self.sock.sendto(data, (self.host, 5000))
+                
+                # 发送高压A母线反馈
+                data = self.high_a_vol_fb.pack()
+                self.sock.sendto(data, (self.host, 5000))
+                
+                # 发送仪表主母线反馈
+                data = self.low_main_fb.pack()
+                self.sock.sendto(data, (self.host, 5000))
+                
+                # 发送仪表汇流排反馈
+                data = self.low_bus_fb.pack()
+                self.sock.sendto(data, (self.host, 5000))
+                
+                time.sleep(1)  # 每秒发送一次
+                
+            except Exception as e:
+                print(f"发送消息出错: {e}")
+                break
+                
+    def _recv_loop(self):
+        """接收并处理命令消息"""
+        while self.running:
+            try:
+                data, addr = self.sock.recvfrom(1024)
+                if len(data) < 6:  # 最小消息长度检查
+                    continue
+                    
+                msg_id = struct.unpack_from('<H', data, 2)[0]
+                
+                # 根据消息ID处理不同类型的命令
+                if msg_id == 0x0001:  # 动力母线配电指令
+                    cmd = msg_disHVBCmdMsg()
+                    if cmd.unpack(data):
+                        print("收到动力母线配电指令")
+                        # 这里可以添加命令处理逻辑
+                        
+                elif msg_id == 0x0002:  # 动力母线A配电指令
+                    cmd = msg_disHVBACmdMsg()
+                    if cmd.unpack(data):
+                        print("收到动力母线A配电指令")
+                        
+                elif msg_id == 0x0003:  # 仪表主母线配电指令
+                    cmd = msg_disLVMBCmdMsg()
+                    if cmd.unpack(data):
+                        print("收到仪表主母线配电指令")
+                        
+                elif msg_id == 0x0004:  # 仪表汇流排配电指令
+                    cmd = msg_disLVBCmdMsg()
+                    if cmd.unpack(data):
+                        print("收到仪表汇流排配电指令")
+                        
+            except Exception as e:
+                print(f"接收消息出错: {e}")
+                break
+                
+    def update_sim_data(self):
+        """更新模拟数据，可以扩展实现更复杂的模拟逻辑"""
+        # 这里可以添加数据变化的逻辑
+        pass
+
+if __name__ == "__main__":
+    simulator = PowerManagerSimulator()
+    try:
+        simulator.start()
+        print("PowerManager模拟器已启动，按Ctrl+C停止...")
+        while True:
+            time.sleep(1)
+    except KeyboardInterrupt:
+        simulator.stop()
+        print("PowerManager模拟器已停止")

test/disSysTest/udpMsg.py

@@ -0,0 +1,768 @@
+
+import struct
+# 高压母线配电反馈
+class msg_disHighVolBusFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0005
+        self.length = 38  # disHighVolBusState结构体大小
+        self.checkCode = 0x00
+        
+        # disHighVolBusState成员
+        self.fuelCellCircuitBreaker = 0x00
+        self.powerLithiumBatteryCircuitBreaker = 0x00
+        self.propulsionMotorCircuitBreaker = 0x00
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = 0x00
+        self.dcDc5ModuleCircuitBreaker = 0x00
+        self.bowHighVoltageDistributionBoxCircuitBreaker = 0x00
+        self.sternFTDevice45CircuitBreaker = 0x00
+        self.sternRudderSwitch1CircuitBreaker = 0x00
+        self.sternRudderSwitch2CircuitBreaker = 0x00
+        self.fbReservedCircuitBreaker = 0x00
+        self.tyzReservedCircuitBreaker = 0x00
+        self.reservedCircuitBreaker = 0x00
+        self.dcDcFaultWord1 = 0x00
+        self.dcDcFaultWord2 = 0x00
+        self.powerBusInsulationStatus = 0x00
+        self.aBusInsulationStatus = 0x00
+        self.meterPowerLossSignal = 0x00
+        self.emergencyPowerLossSignal = 0x00
+        self.powerBusVoltage = 0
+        self.dcDc5ModuleCurrent = 0
+        self.powerBusCurrent = 0
+        self.busbarAVoltage = 0
+        self.propulsionMotorControlBoxCurrent = 0
+        self.busbarACurrent = 0
+        self.lithiumBatteryGroupMeterCurrent = 0
+        self.bowHighVoltageDistributionBoxCurrent = 0
+        self.sternFTDevice45Current = 0
+        self.tyzReservedSwitchCurrent = 0
+        self.sternRudderSwitch1Current = 0
+        self.reservedCurrent1 = 0
+        self.sternRudderSwitch2Current = 0
+        self.reservedCurrent2 = 0
+        self.fbReservedSwitchCurrent = 0
+        self.reservedCurrent3 = 0
+        self.coolWaterPressure = 0
+
+    def pack(self):
+        self.checkCode = 0x00
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        
+        # 打包数据部分
+        data += struct.pack('<B', self.fuelCellCircuitBreaker)
+        data += struct.pack('<B', self.powerLithiumBatteryCircuitBreaker)
+        data += struct.pack('<B', self.propulsionMotorCircuitBreaker)
+        data += struct.pack('<B', self.lithiumBatteryGroupInstrumentCircuitBreaker)
+        data += struct.pack('<B', self.dcDc5ModuleCircuitBreaker)
+        data += struct.pack('<B', self.bowHighVoltageDistributionBoxCircuitBreaker)
+        data += struct.pack('<B', self.sternFTDevice45CircuitBreaker)
+        data += struct.pack('<B', self.sternRudderSwitch1CircuitBreaker)
+        data += struct.pack('<B', self.sternRudderSwitch2CircuitBreaker)
+        data += struct.pack('<B', self.fbReservedCircuitBreaker)
+        data += struct.pack('<B', self.tyzReservedCircuitBreaker)
+        data += struct.pack('<B', self.reservedCircuitBreaker)
+        data += struct.pack('<B', self.dcDcFaultWord1)
+        data += struct.pack('<B', self.dcDcFaultWord2)
+        data += struct.pack('<B', self.powerBusInsulationStatus)
+        data += struct.pack('<B', self.aBusInsulationStatus)
+        data += struct.pack('<B', self.meterPowerLossSignal)
+        data += struct.pack('<B', self.emergencyPowerLossSignal)
+        data += struct.pack('<H', self.powerBusVoltage)
+        data += struct.pack('<H', self.dcDc5ModuleCurrent)
+        data += struct.pack('<H', self.powerBusCurrent)
+        data += struct.pack('<H', self.busbarAVoltage)
+        data += struct.pack('<H', self.propulsionMotorControlBoxCurrent)
+        data += struct.pack('<H', self.busbarACurrent)
+        data += struct.pack('<H', self.lithiumBatteryGroupMeterCurrent)
+        data += struct.pack('<H', self.bowHighVoltageDistributionBoxCurrent)
+        data += struct.pack('<H', self.sternFTDevice45Current)
+        data += struct.pack('<H', self.tyzReservedSwitchCurrent)
+        data += struct.pack('<H', self.sternRudderSwitch1Current)
+        data += struct.pack('<H', self.reservedCurrent1)
+        data += struct.pack('<H', self.sternRudderSwitch2Current)
+        data += struct.pack('<H', self.reservedCurrent2)
+        data += struct.pack('<H', self.fbReservedSwitchCurrent)
+        data += struct.pack('<H', self.reservedCurrent3)
+        data += struct.pack('<H', self.coolWaterPressure)
+        
+        # 计算校验码
+        for byte in data:
+            self.checkCode = (self.checkCode + byte) & 0xFF
+        data += struct.pack('<B', self.checkCode)
+        
+        return data
+
+    def unpack(self, data):
+        if len(data) < 4 + self.length + 1:  
+            return False
+            
+        self.start1 = data[0]
+        self.start2 = data[1]
+        self.id = struct.unpack_from('<H', data, 2)[0]
+        self.length = struct.unpack_from('<H', data, 4)[0]
+        
+        offset = 6  
+        self.fuelCellCircuitBreaker = data[offset]; offset +=1
+        self.powerLithiumBatteryCircuitBreaker = data[offset]; offset +=1
+        self.propulsionMotorCircuitBreaker = data[offset]; offset +=1
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = data[offset]; offset +=1
+        self.dcDc5ModuleCircuitBreaker = data[offset]; offset +=1
+        self.bowHighVoltageDistributionBoxCircuitBreaker = data[offset]; offset +=1
+        self.sternFTDevice45CircuitBreaker = data[offset]; offset +=1
+        self.sternRudderSwitch1CircuitBreaker = data[offset]; offset +=1
+        self.sternRudderSwitch2CircuitBreaker = data[offset]; offset +=1
+        self.fbReservedCircuitBreaker = data[offset]; offset +=1
+        self.tyzReservedCircuitBreaker = data[offset]; offset +=1
+        self.reservedCircuitBreaker = data[offset]; offset +=1
+        self.dcDcFaultWord1 = data[offset]; offset +=1
+        self.dcDcFaultWord2 = data[offset]; offset +=1
+        self.powerBusInsulationStatus = data[offset]; offset +=1
+        self.aBusInsulationStatus = data[offset]; offset +=1
+        self.meterPowerLossSignal = data[offset]; offset +=1
+        self.emergencyPowerLossSignal = data[offset]; offset +=1
+        
+        self.powerBusVoltage = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.dcDc5ModuleCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.powerBusCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.busbarAVoltage = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.propulsionMotorControlBoxCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.busbarACurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.lithiumBatteryGroupMeterCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.bowHighVoltageDistributionBoxCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.sternFTDevice45Current = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.tyzReservedSwitchCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.sternRudderSwitch1Current = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.reservedCurrent1 = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.sternRudderSwitch2Current = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.reservedCurrent2 = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.fbReservedSwitchCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.reservedCurrent3 = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.coolWaterPressure = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        
+        # 校验校验码
+        checkCode = 0
+        for byte in data[:-1]:  # 不包括校验码本身
+            checkCode = (checkCode + byte) & 0xFF
+            
+        return checkCode == data[-1]
+#  高压母线A配电反馈
+class msg_disHighAVolBusFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0006
+        self.length = 18  # disHighAVolBusState结构体大小
+        self.checkCode = 0x00
+        
+        # disHighAVolBusState成员
+        self.bowFTDevice123CircuitBreaker = 0x00
+        self.actuatorCircuitBreaker = 0x00
+        self.mastSteeringGearControlBoxCircuitBreaker = 0x00
+        self.xczCircuitBreaker = 0x00
+        self.bowRudderControlBoxCircuitBreaker = 0x00
+        self.openWaterCoverStartCylinderCircuitBreaker = 0x00
+        self.instrumentPowerFailureSignal = 0x00
+        self.emergencyPowerFailureSignal = 0x00
+        self.waterIngressionAlarm = 0x00
+        self.busbarBVoltage = 0
+        self.busbarBCurrent = 0
+        self.bowFTDevice123Current = 0
+        self.actuatorCurrent = 0
+        self.mastSteeringGearControlBoxCurrent = 0
+        self.xczCurrent = 0
+        self.bowRudderControlBoxCurrent = 0
+        self.openWaterCoverStartCylinderCurrent = 0
+
+    def pack(self):
+        self.checkCode = 0x00
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        
+        # 打包数据部分
+        data += struct.pack('<B', self.bowFTDevice123CircuitBreaker)
+        data += struct.pack('<B', self.actuatorCircuitBreaker)
+        data += struct.pack('<B', self.mastSteeringGearControlBoxCircuitBreaker)
+        data += struct.pack('<B', self.xczCircuitBreaker)
+        data += struct.pack('<B', self.bowRudderControlBoxCircuitBreaker)
+        data += struct.pack('<B', self.openWaterCoverStartCylinderCircuitBreaker)
+        data += struct.pack('<B', self.instrumentPowerFailureSignal)
+        data += struct.pack('<B', self.emergencyPowerFailureSignal)
+        data += struct.pack('<B', self.waterIngressionAlarm)
+        data += struct.pack('<H', self.busbarBVoltage)
+        data += struct.pack('<H', self.busbarBCurrent)
+        data += struct.pack('<H', self.bowFTDevice123Current)
+        data += struct.pack('<H', self.actuatorCurrent)
+        data += struct.pack('<H', self.mastSteeringGearControlBoxCurrent)
+        data += struct.pack('<H', self.xczCurrent)
+        data += struct.pack('<H', self.bowRudderControlBoxCurrent)
+        data += struct.pack('<H', self.openWaterCoverStartCylinderCurrent)
+        
+        # 计算校验码
+        for byte in data:
+            self.checkCode = (self.checkCode + byte) & 0xFF
+        data += struct.pack('<B', self.checkCode)
+        
+        return data
+
+    def unpack(self, data):
+        if len(data) < 4 + self.length + 1:  # 头部4字节+数据长度+校验码1字节
+            return False
+            
+        self.start1 = data[0]
+        self.start2 = data[1]
+        self.id = struct.unpack_from('<H', data, 2)[0]
+        self.length = struct.unpack_from('<H', data, 4)[0]
+        
+        offset = 6  # 头部结束位置
+        self.bowFTDevice123CircuitBreaker = data[offset]; offset +=1
+        self.actuatorCircuitBreaker = data[offset]; offset +=1
+        self.mastSteeringGearControlBoxCircuitBreaker = data[offset]; offset +=1
+        self.xczCircuitBreaker = data[offset]; offset +=1
+        self.bowRudderControlBoxCircuitBreaker = data[offset]; offset +=1
+        self.openWaterCoverStartCylinderCircuitBreaker = data[offset]; offset +=1
+        self.instrumentPowerFailureSignal = data[offset]; offset +=1
+        self.emergencyPowerFailureSignal = data[offset]; offset +=1
+        self.waterIngressionAlarm = data[offset]; offset +=1
+        self.busbarBVoltage = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.busbarBCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.bowFTDevice123Current = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.actuatorCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.mastSteeringGearControlBoxCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.xczCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.bowRudderControlBoxCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.openWaterCoverStartCylinderCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        
+        # 校验校验码
+        checkCode = 0
+        for byte in data[:-1]:  # 不包括校验码本身
+            checkCode = (checkCode + byte) & 0xFF
+            
+        return checkCode == data[-1]
+
+#  仪表母线配电反馈
+class msg_disLowMainBusFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0007
+        self.length = 36  # disLowMainBusState结构体大小
+        self.checkCode = 0x00
+        
+        # disLowMainBusState成员
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = 0x00
+        self.bowLowVoltageDistributionBoxCircuitBreaker = 0x00
+        self.unit4InstrumentDC48VCircuitBreaker = 0x00
+        self.dcC1DCDistributionPanelCircuitBreaker = 0x00
+        self.reservedCircuitBreaker1 = 0x00
+        self.reservedCircuitBreaker2 = 0x00
+        self.emergencyLithiumBatteryGroup2CircuitBreaker = 0x00
+        self.instrumentPowerFailureSignal = 0x00
+        self.emergencyPowerFailureSignal = 0x00
+        self.instrumentBusbarInsulationLow = 0x00
+        self.instrumentBusbarVoltage = 0
+        self.bowLowVoltageDistributionBoxCurrent = 0
+        self.dcC1InstrumentDC48VCurrent = 0
+        self.reservedCurrent1 = 0
+        self.emergencyLithiumBatteryGroup2Current = 0
+        self.lithiumBatteryGroupInstrumentCurrent = 0
+        self.unit4InstrumentDC48VCurrent = 0
+        self.reservedCurrent2 = 0
+        self.emergency2BusbarVoltage = 0
+        self.compositeEnergyManagementSystemEmergencyDC48VCurrent = 0
+        self.fuelCellSecuritySystemEmergencyDC48VCurrent = 0
+        self.plcControlPowerCurrent = 0
+
+    def pack(self):
+        self.checkCode = 0x00
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        
+        # 打包数据部分
+        data += struct.pack('<B', self.lithiumBatteryGroupInstrumentCircuitBreaker)
+        data += struct.pack('<B', self.bowLowVoltageDistributionBoxCircuitBreaker)
+        data += struct.pack('<B', self.unit4InstrumentDC48VCircuitBreaker)
+        data += struct.pack('<B', self.dcC1DCDistributionPanelCircuitBreaker)
+        data += struct.pack('<B', self.reservedCircuitBreaker1)
+        data += struct.pack('<B', self.reservedCircuitBreaker2)
+        data += struct.pack('<B', self.emergencyLithiumBatteryGroup2CircuitBreaker)
+        data += struct.pack('<B', self.instrumentPowerFailureSignal)
+        data += struct.pack('<B', self.emergencyPowerFailureSignal)
+        data += struct.pack('<B', self.instrumentBusbarInsulationLow)
+        data += struct.pack('<H', self.instrumentBusbarVoltage)
+        data += struct.pack('<H', self.bowLowVoltageDistributionBoxCurrent)
+        data += struct.pack('<H', self.dcC1InstrumentDC48VCurrent)
+        data += struct.pack('<H', self.reservedCurrent1)
+        data += struct.pack('<H', self.emergencyLithiumBatteryGroup2Current)
+        data += struct.pack('<H', self.lithiumBatteryGroupInstrumentCurrent)
+        data += struct.pack('<H', self.unit4InstrumentDC48VCurrent)
+        data += struct.pack('<H', self.reservedCurrent2)
+        data += struct.pack('<H', self.emergency2BusbarVoltage)
+        data += struct.pack('<H', self.compositeEnergyManagementSystemEmergencyDC48VCurrent)
+        data += struct.pack('<H', self.fuelCellSecuritySystemEmergencyDC48VCurrent)
+        data += struct.pack('<H', self.plcControlPowerCurrent)
+        
+        # 计算校验码
+        for byte in data:
+            self.checkCode = (self.checkCode + byte) & 0xFF
+        data += struct.pack('<B', self.checkCode)
+        
+        return data
+
+    def unpack(self, data):
+        if len(data) < 4 + self.length + 1:  # 头部4字节+数据长度+校验码1字节
+            return False
+            
+        self.start1 = data[0]
+        self.start2 = data[1]
+        self.id = struct.unpack_from('<H', data, 2)[0]
+        self.length = struct.unpack_from('<H', data, 4)[0]
+        
+        offset = 6  # 头部结束位置
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = data[offset]; offset +=1
+        self.bowLowVoltageDistributionBoxCircuitBreaker = data[offset]; offset +=1
+        self.unit4InstrumentDC48VCircuitBreaker = data[offset]; offset +=1
+        self.dcC1DCDistributionPanelCircuitBreaker = data[offset]; offset +=1
+        self.reservedCircuitBreaker1 = data[offset]; offset +=1
+        self.reservedCircuitBreaker2 = data[offset]; offset +=1
+        self.emergencyLithiumBatteryGroup2CircuitBreaker = data[offset]; offset +=1
+        self.instrumentPowerFailureSignal = data[offset]; offset +=1
+        self.emergencyPowerFailureSignal = data[offset]; offset +=1
+        self.instrumentBusbarInsulationLow = data[offset]; offset +=1
+        self.instrumentBusbarVoltage = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.bowLowVoltageDistributionBoxCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.dcC1InstrumentDC48VCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.reservedCurrent1 = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.emergencyLithiumBatteryGroup2Current = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.lithiumBatteryGroupInstrumentCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.unit4InstrumentDC48VCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.reservedCurrent2 = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.emergency2BusbarVoltage = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.compositeEnergyManagementSystemEmergencyDC48VCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.fuelCellSecuritySystemEmergencyDC48VCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.plcControlPowerCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        
+        # 校验校验码
+        checkCode = 0
+        for byte in data[:-1]:  # 不包括校验码本身
+            checkCode = (checkCode + byte) & 0xFF
+            
+        return checkCode == data[-1]
+
+# 仪表汇流排配电反馈
+class msg_disLowBusFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0008
+        self.length = 24  # disLowBusState结构体大小
+        self.checkCode = 0x00
+        
+        # disLowBusState成员
+        self.unit1CircuitBreaker = 0x00
+        self.unit2CircuitBreaker = 0x00
+        self.unit3CircuitBreaker = 0x00
+        self.unit5CircuitBreaker = 0x00
+        self.bowPZDeviceCircuitBreaker = 0x00
+        self.reservedCircuitBreaker1 = 0x00
+        self.reservedCircuitBreaker2 = 0x00
+        self.emergencyLithiumBatteryGroup1CircuitBreaker = 0x00
+        self.powerFailureSignal = 0x00
+        self.waterIngressionAlarm = 0x00
+        self.instrumentBusbarVoltage = 0
+        self.instrumentBusbarCurrent = 0
+        self.unit1Current = 0
+        self.unit2Current = 0
+        self.unit3Current = 0
+        self.unit5Current = 0
+        self.bowPZDeviceCurrent = 0
+        self.emergencyLithiumBatteryGroup1Current = 0
+        self.emergency1BusbarVoltage = 0
+
+    def pack(self):
+        self.checkCode = 0x00
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        
+        # 打包数据部分
+        data += struct.pack('<B', self.unit1CircuitBreaker)
+        data += struct.pack('<B', self.unit2CircuitBreaker)
+        data += struct.pack('<B', self.unit3CircuitBreaker)
+        data += struct.pack('<B', self.unit5CircuitBreaker)
+        data += struct.pack('<B', self.bowPZDeviceCircuitBreaker)
+        data += struct.pack('<B', self.reservedCircuitBreaker1)
+        data += struct.pack('<B', self.reservedCircuitBreaker2)
+        data += struct.pack('<B', self.emergencyLithiumBatteryGroup1CircuitBreaker)
+        data += struct.pack('<B', self.powerFailureSignal)
+        data += struct.pack('<B', self.waterIngressionAlarm)
+        data += struct.pack('<H', self.instrumentBusbarVoltage)
+        data += struct.pack('<H', self.instrumentBusbarCurrent)
+        data += struct.pack('<H', self.unit1Current)
+        data += struct.pack('<H', self.unit2Current)
+        data += struct.pack('<H', self.unit3Current)
+        data += struct.pack('<H', self.unit5Current)
+        data += struct.pack('<H', self.bowPZDeviceCurrent)
+        data += struct.pack('<H', self.emergencyLithiumBatteryGroup1Current)
+        data += struct.pack('<H', self.emergency1BusbarVoltage)
+        
+        # 计算校验码
+        for byte in data:
+            self.checkCode = (self.checkCode + byte) & 0xFF
+        data += struct.pack('<B', self.checkCode)
+        
+        return data
+
+    def unpack(self, data):
+        if len(data) < 4 + self.length + 1:  # 头部4字节+数据长度+校验码1字节
+            return False
+            
+        self.start1 = data[0]
+        self.start2 = data[1]
+        self.id = struct.unpack_from('<H', data, 2)[0]
+        self.length = struct.unpack_from('<H', data, 4)[0]
+        
+        offset = 6  # 头部结束位置
+        self.unit1CircuitBreaker = data[offset]; offset +=1
+        self.unit2CircuitBreaker = data[offset]; offset +=1
+        self.unit3CircuitBreaker = data[offset]; offset +=1
+        self.unit5CircuitBreaker = data[offset]; offset +=1
+        self.bowPZDeviceCircuitBreaker = data[offset]; offset +=1
+        self.reservedCircuitBreaker1 = data[offset]; offset +=1
+        self.reservedCircuitBreaker2 = data[offset]; offset +=1
+        self.emergencyLithiumBatteryGroup1CircuitBreaker = data[offset]; offset +=1
+        self.powerFailureSignal = data[offset]; offset +=1
+        self.waterIngressionAlarm = data[offset]; offset +=1
+        self.instrumentBusbarVoltage = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.instrumentBusbarCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.unit1Current = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.unit2Current = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.unit3Current = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.unit5Current = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.bowPZDeviceCurrent = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.emergencyLithiumBatteryGroup1Current = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        self.emergency1BusbarVoltage = struct.unpack_from('<H', data, offset)[0]; offset +=2
+        
+        # 校验校验码
+        checkCode = 0
+        for byte in data[:-1]:  # 不包括校验码本身
+            checkCode = (checkCode + byte) & 0xFF
+            
+        return checkCode == data[-1]
+
+# 动力母线配电指令
+class msg_disHVBCmdMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0001
+        self.length = 18  # disHighVolBusCmd结构体大小
+        self.checkCode = 0x00
+        
+        # disHighVolBusCmd成员
+        self.fuelCellCircuitBreaker = 0x00
+        self.powerLithiumBatteryCircuitBreaker = 0x00
+        self.propulsionMotorCircuitBreaker = 0x00
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = 0x00
+        self.dcDc5ModuleCircuitBreaker = 0x00
+        self.bowHighVoltageDistributionBoxCircuitBreaker = 0x00
+        self.sternFTDevice45CircuitBreaker = 0x00
+        self.sternRudderSwitch1CircuitBreaker = 0x00
+        self.sternRudderSwitch2CircuitBreaker = 0x00
+        self.fbReservedCircuitBreaker = 0x00
+        self.tyzReservedCircuitBreaker = 0x00
+        self.reservedCircuitBreaker = 0x00
+        self.dcdc5Module = 0x00
+        self.coolingSystem = 0x00
+
+    def pack(self):
+        self.checkCode = 0x00
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        
+        # 打包数据部分
+        data += struct.pack('<B', self.fuelCellCircuitBreaker)
+        data += struct.pack('<B', self.powerLithiumBatteryCircuitBreaker)
+        data += struct.pack('<B', self.propulsionMotorCircuitBreaker)
+        data += struct.pack('<B', self.lithiumBatteryGroupInstrumentCircuitBreaker)
+        data += struct.pack('<B', self.dcDc5ModuleCircuitBreaker)
+        data += struct.pack('<B', self.bowHighVoltageDistributionBoxCircuitBreaker)
+        data += struct.pack('<B', self.sternFTDevice45CircuitBreaker)
+        data += struct.pack('<B', self.sternRudderSwitch1CircuitBreaker)
+        data += struct.pack('<B', self.sternRudderSwitch2CircuitBreaker)
+        data += struct.pack('<B', self.fbReservedCircuitBreaker)
+        data += struct.pack('<B', self.tyzReservedCircuitBreaker)
+        data += struct.pack('<B', self.reservedCircuitBreaker)
+        data += struct.pack('<B', self.dcdc5Module)
+        data += struct.pack('<B', self.coolingSystem)
+        
+        # 计算校验码
+        for byte in data:
+            self.checkCode = (self.checkCode + byte) & 0xFF
+        data += struct.pack('<B', self.checkCode)
+        
+        return data
+
+    def unpack(self, data):
+        if len(data) < 4 + self.length + 1:  # 头部4字节+数据长度+校验码1字节
+            return False
+            
+        self.start1 = data[0]
+        self.start2 = data[1]
+        self.id = struct.unpack_from('<H', data, 2)[0]
+        self.length = struct.unpack_from('<H', data, 4)[0]
+        
+        offset = 6  # 头部结束位置
+        self.fuelCellCircuitBreaker = data[offset]; offset +=1
+        self.powerLithiumBatteryCircuitBreaker = data[offset]; offset +=1
+        self.propulsionMotorCircuitBreaker = data[offset]; offset +=1
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = data[offset]; offset +=1
+        self.dcDc5ModuleCircuitBreaker = data[offset]; offset +=1
+        self.bowHighVoltageDistributionBoxCircuitBreaker = data[offset]; offset +=1
+        self.sternFTDevice45CircuitBreaker = data[offset]; offset +=1
+        self.sternRudderSwitch1CircuitBreaker = data[offset]; offset +=1
+        self.sternRudderSwitch2CircuitBreaker = data[offset]; offset +=1
+        self.fbReservedCircuitBreaker = data[offset]; offset +=1
+        self.tyzReservedCircuitBreaker = data[offset]; offset +=1
+        self.reservedCircuitBreaker = data[offset]; offset +=1
+        self.dcdc5Module = data[offset]; offset +=1
+        self.coolingSystem = data[offset]; offset +=1
+        
+        # 校验校验码
+        checkCode = 0
+        for byte in data[:-1]:  # 不包括校验码本身
+            checkCode = (checkCode + byte) & 0xFF
+            
+        return checkCode == data[-1]
+
+# 动力汇流排A配电指令
+class msg_disHVBACmdMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0002
+        self.length = 18  # disHighVolBusCmd结构体大小
+        self.checkCode = 0x00
+        
+        # disHighVolBusCmd成员
+        self.fuelCellCircuitBreaker = 0x00
+        self.powerLithiumBatteryCircuitBreaker = 0x00
+        self.propulsionMotorCircuitBreaker = 0x00
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = 0x00
+        self.dcDc5ModuleCircuitBreaker = 0x00
+        self.bowHighVoltageDistributionBoxCircuitBreaker = 0x00
+        self.sternFTDevice45CircuitBreaker = 0x00
+        self.sternRudderSwitch1CircuitBreaker = 0x00
+        self.sternRudderSwitch2CircuitBreaker = 0x00
+        self.fbReservedCircuitBreaker = 0x00
+        self.tyzReservedCircuitBreaker = 0x00
+        self.reservedCircuitBreaker = 0x00
+        self.dcdc5Module = 0x00
+        self.coolingSystem = 0x00
+
+    def pack(self):
+        self.checkCode = 0x00
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        
+        # 打包数据部分
+        data += struct.pack('<B', self.fuelCellCircuitBreaker)
+        data += struct.pack('<B', self.powerLithiumBatteryCircuitBreaker)
+        data += struct.pack('<B', self.propulsionMotorCircuitBreaker)
+        data += struct.pack('<B', self.lithiumBatteryGroupInstrumentCircuitBreaker)
+        data += struct.pack('<B', self.dcDc5ModuleCircuitBreaker)
+        data += struct.pack('<B', self.bowHighVoltageDistributionBoxCircuitBreaker)
+        data += struct.pack('<B', self.sternFTDevice45CircuitBreaker)
+        data += struct.pack('<B', self.sternRudderSwitch1CircuitBreaker)
+        data += struct.pack('<B', self.sternRudderSwitch2CircuitBreaker)
+        data += struct.pack('<B', self.fbReservedCircuitBreaker)
+        data += struct.pack('<B', self.tyzReservedCircuitBreaker)
+        data += struct.pack('<B', self.reservedCircuitBreaker)
+        data += struct.pack('<B', self.dcdc5Module)
+        data += struct.pack('<B', self.coolingSystem)
+        
+        # 计算校验码
+        for byte in data:
+            self.checkCode = (self.checkCode + byte) & 0xFF
+        data += struct.pack('<B', self.checkCode)
+        
+        return data
+
+    def unpack(self, data):
+        if len(data) < 4 + self.length + 1:  # 头部4字节+数据长度+校验码1字节
+            return False
+            
+        self.start1 = data[0]
+        self.start2 = data[1]
+        self.id = struct.unpack_from('<H', data, 2)[0]
+        self.length = struct.unpack_from('<H', data, 4)[0]
+        
+        offset = 6  # 头部结束位置
+        self.fuelCellCircuitBreaker = data[offset]; offset +=1
+        self.powerLithiumBatteryCircuitBreaker = data[offset]; offset +=1
+        self.propulsionMotorCircuitBreaker = data[offset]; offset +=1
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = data[offset]; offset +=1
+        self.dcDc5ModuleCircuitBreaker = data[offset]; offset +=1
+        self.bowHighVoltageDistributionBoxCircuitBreaker = data[offset]; offset +=1
+        self.sternFTDevice45CircuitBreaker = data[offset]; offset +=1
+        self.sternRudderSwitch1CircuitBreaker = data[offset]; offset +=1
+        self.sternRudderSwitch2CircuitBreaker = data[offset]; offset +=1
+        self.fbReservedCircuitBreaker = data[offset]; offset +=1
+        self.tyzReservedCircuitBreaker = data[offset]; offset +=1
+        self.reservedCircuitBreaker = data[offset]; offset +=1
+        self.dcdc5Module = data[offset]; offset +=1
+        self.coolingSystem = data[offset]; offset +=1
+        
+        # 校验校验码
+        checkCode = 0
+        for byte in data[:-1]:  # 不包括校验码本身
+            checkCode = (checkCode + byte) & 0xFF
+            
+        return checkCode == data[-1]
+# 仪表母线配电指令
+class msg_disLVMBCmdMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0003
+        self.length = 8  # disLowMainBusCmd结构体大小
+        self.checkCode = 0x00
+        
+        # disLowMainBusCmd成员
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = 0x00
+        self.bowLowVoltageDistributionBoxCircuitBreaker = 0x00
+        self.unit4InstrumentDC48VCircuitBreaker = 0x00
+        self.dcC1DCDistributionPanelCircuitBreaker = 0x00
+        self.reservedCircuitBreaker1 = 0x00
+        self.reservedCircuitBreaker2 = 0x00
+        self.emergencyLithiumBatteryGroup2CircuitBreaker = 0x00
+
+    def pack(self):
+        self.checkCode = 0x00
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        
+        # 打包数据部分
+        data += struct.pack('<B', self.lithiumBatteryGroupInstrumentCircuitBreaker)
+        data += struct.pack('<B', self.bowLowVoltageDistributionBoxCircuitBreaker)
+        data += struct.pack('<B', self.unit4InstrumentDC48VCircuitBreaker)
+        data += struct.pack('<B', self.dcC1DCDistributionPanelCircuitBreaker)
+        data += struct.pack('<B', self.reservedCircuitBreaker1)
+        data += struct.pack('<B', self.reservedCircuitBreaker2)
+        data += struct.pack('<B', self.emergencyLithiumBatteryGroup2CircuitBreaker)
+        
+        # 计算校验码
+        for byte in data:
+            self.checkCode = (self.checkCode + byte) & 0xFF
+        data += struct.pack('<B', self.checkCode)
+        
+        return data
+
+    def unpack(self, data):
+        if len(data) < 4 + self.length + 1:  # 头部4字节+数据长度+校验码1字节
+            return False
+            
+        self.start1 = data[0]
+        self.start2 = data[1]
+        self.id = struct.unpack_from('<H', data, 2)[0]
+        self.length = struct.unpack_from('<H', data, 4)[0]
+        
+        offset = 6  # 头部结束位置
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = data[offset]; offset +=1
+        self.bowLowVoltageDistributionBoxCircuitBreaker = data[offset]; offset +=1
+        self.unit4InstrumentDC48VCircuitBreaker = data[offset]; offset +=1
+        self.dcC1DCDistributionPanelCircuitBreaker = data[offset]; offset +=1
+        self.reservedCircuitBreaker1 = data[offset]; offset +=1
+        self.reservedCircuitBreaker2 = data[offset]; offset +=1
+        self.emergencyLithiumBatteryGroup2CircuitBreaker = data[offset]; offset +=1
+        
+        # 校验校验码
+        checkCode = 0
+        for byte in data[:-1]:  # 不包括校验码本身
+            checkCode = (checkCode + byte) & 0xFF
+            
+        return checkCode == data[-1]
+
+# 仪表汇流排配电指令
+class msg_disLVBCmdMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0004
+        self.length = 8  # disLowBusCmd结构体大小
+        self.checkCode = 0x00
+        
+        # disLowBusCmd成员
+        self.unit1CircuitBreaker = 0x00
+        self.unit2CircuitBreaker = 0x00
+        self.unit3CircuitBreaker = 0x00
+        self.unit5CircuitBreaker = 0x00
+        self.bowPZDeviceCircuitBreaker = 0x00
+        self.reservedCircuitBreaker1 = 0x00
+        self.reservedCircuitBreaker2 = 0x00
+        self.emergencyLithiumBatteryGroup1CircuitBreaker = 0x00
+
+    def pack(self):
+        self.checkCode = 0x00
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        
+        # 打包数据部分
+        data += struct.pack('<B', self.unit1CircuitBreaker)
+        data += struct.pack('<B', self.unit2CircuitBreaker)
+        data += struct.pack('<B', self.unit3CircuitBreaker)
+        data += struct.pack('<B', self.unit5CircuitBreaker)
+        data += struct.pack('<B', self.bowPZDeviceCircuitBreaker)
+        data += struct.pack('<B', self.reservedCircuitBreaker1)
+        data += struct.pack('<B', self.reservedCircuitBreaker2)
+        data += struct.pack('<B', self.emergencyLithiumBatteryGroup1CircuitBreaker)
+        
+        # 计算校验码
+        for byte in data:
+            self.checkCode = (self.checkCode + byte) & 0xFF
+        data += struct.pack('<B', self.checkCode)
+        
+        return data
+
+    def unpack(self, data):
+        if len(data) < 4 + self.length + 1:  # 头部4字节+数据长度+校验码1字节
+            return False
+            
+        self.start1 = data[0]
+        self.start2 = data[1]
+        self.id = struct.unpack_from('<H', data, 2)[0]
+        self.length = struct.unpack_from('<H', data, 4)[0]
+        
+        offset = 6  # 头部结束位置
+        self.unit1CircuitBreaker = data[offset]; offset +=1
+        self.unit2CircuitBreaker = data[offset]; offset +=1
+        self.unit3CircuitBreaker = data[offset]; offset +=1
+        self.unit5CircuitBreaker = data[offset]; offset +=1
+        self.bowPZDeviceCircuitBreaker = data[offset]; offset +=1
+        self.reservedCircuitBreaker1 = data[offset]; offset +=1
+        self.reservedCircuitBreaker2 = data[offset]; offset +=1
+        self.emergencyLithiumBatteryGroup1CircuitBreaker = data[offset]; offset +=1
+        
+        # 校验校验码
+        checkCode = 0
+        for byte in data[:-1]:  # 不包括校验码本身
+            checkCode = (checkCode + byte) & 0xFF
+            
+        return checkCode == data[-1]

test/scripts/udpmsg.py

@@ -530,14 +530,6 @@ class msg_disHVBCmd:
             self.checkCode = unpacked_data[19]
         except struct.error as e:
             print(f"Error unpacking data: msg_disHVBCmd {e}")
-
-
-#   unsigned char bowFTDevice123CircuitBreaker;
-#   unsigned char actuatorCircuitBreaker;
-#   unsigned char mastSteeringGearControlBoxCircuitBreaker;
-#   unsigned char xczCircuitBreaker;
-#   unsigned char bowRudderControlBoxCircuitBreaker;
-#   unsigned char openWaterCoverStartCylinderCircuitBreaker;
 class msg_disHVBACmd:
     def __init__(self):
         self.start1 = None
@@ -567,13 +559,6 @@ class msg_disHVBACmd:
             self.checkCode = unpacked_data[10]
         except struct.error as e:
             print(f"Error unpacking data:  msg_disHVBACmd {e}")
-    # unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
-    # unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
-    # unsigned char unit4InstrumentDC48VCircuitBreaker;
-    # unsigned char dcC1DCDistributionPanelCircuitBreaker;
-    # unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
-    # unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
-    # unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
 class msg_disHVBBCmd:
     def __init__(self):
         self.start1 = None
@@ -606,16 +591,6 @@ class msg_disHVBBCmd:
         except struct.error as e:
             print(f"Error unpacking data: msg_disHVBBCmd {e}")
 
-
-#   unsigned char unit1CircuitBreaker;
-#   unsigned char unit2CircuitBreaker;
-#   unsigned char unit3CircuitBreaker;
-#   unsigned char unit5CircuitBreaker;
-#   unsigned char bowPZDeviceCircuitBreaker;
-#   unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
-#   unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
-#   unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
-
 class msg_disLVBCmd:
     def __init__(self):
         self.start1 = None