diff --git a/src/pPowerManger.zip b/src/pPowerManger.zip
new file mode 100644
index 0000000..3b96a9c
Binary files /dev/null and b/src/pPowerManger.zip differ
diff --git a/src/pPowerManger/PowerManger.cpp b/src/pPowerManger/PowerManger.cpp
index a3c6734..617c4e7 100644
--- a/src/pPowerManger/PowerManger.cpp
+++ b/src/pPowerManger/PowerManger.cpp
@@ -341,11 +341,11 @@ void PowerManger::initControlCmd()
   //================初始化复合管控=============================
   m_CcuColCmd.fcmode = 0x00; //默认无效
   m_CcuColCmd.fcuCmd = 0x00; //无效指令
-  m_CcuColCmd.fcuPowerEfficiency = 15; //默认为15kw
+  m_CcuColCmd.fcuPowerEfficiency = 8; //默认为8kw
   m_CcuColCmd.insChargeEnable = 0x30; //不允许充电
   m_CcuColCmd.insBatCmd = 0x00; //无效指令
   m_CcuColCmd.powerBatCmd = 0x00; //无效指令
-  m_CcuColCmd.powerBatEfficiency = 230; //默认为最大
+  m_CcuColCmd.powerBatEfficiency = 00; //默认为最大
   m_CcuColCmd.heartbeat = 0;
   m_CcuColCmd.masterState = 0xAA;//主站状态,运行中
   //================初始化上位机指令=========================
@@ -373,4 +373,25 @@ void PowerManger::injectFault(unsigned type,unsigned int faultCode){
   LOG_F(INFO, "注入故障: %d %d", type, faultCode);
   TestEvent testEvent("故障注入测试",type,faultCode);
   PowerManagerFsm::dispatch(testEvent);
+}
+
+
+void PowerManger::pushDeviceCommand(DeviceSwitchCmd cmd) {
+    std::lock_guard<std::mutex> lock(m_deviceCmdMutex);
+    m_deviceCmdQuenue.push(cmd);
+}
+
+bool PowerManger::popDeviceCommand(DeviceSwitchCmd &cmd) {
+    std::lock_guard<std::mutex> lock(m_deviceCmdMutex);
+    if(m_deviceCmdQuenue.empty()) {
+        return false;
+    }
+    cmd = m_deviceCmdQuenue.front();
+    m_deviceCmdQuenue.pop();
+    return true;
+}
+
+bool PowerManger::isDeviceCmdEmpty() const {
+    std::lock_guard<std::mutex> lock(m_deviceCmdMutex);
+    return m_deviceCmdQuenue.empty();
 }
\ No newline at end of file
diff --git a/src/pPowerManger/PowerManger.h b/src/pPowerManger/PowerManger.h
index 9c7d0ec..47a6b70 100644
--- a/src/pPowerManger/PowerManger.h
+++ b/src/pPowerManger/PowerManger.h
@@ -102,7 +102,12 @@ class PowerManger : public AppCastingMOOSApp
   unsigned int  m_faultNum;
   Driver m_driver; //设备表处理
   unsigned char m_leakage;
-  // std::string m_pmEvent;  // 状态机事件描述
+  //============================Device Option================================
+  std::queue<DeviceSwitchCmd> m_deviceCmdQuenue;
+  mutable std::mutex m_deviceCmdMutex;
+  void pushDeviceCommand(DeviceSwitchCmd cmd);
+  bool popDeviceCommand(DeviceSwitchCmd &cmd);
+  bool isDeviceCmdEmpty() const;
   //===========================CONFIG========================================
   long          m_lPort;
   unsigned int  m_nReceiveBufferSizeKB;
@@ -113,7 +118,7 @@ class PowerManger : public AppCastingMOOSApp
   int  connectState;
   //=============================过程函数======================================
   void initControlCmd();
- 
+  
   public:
   //  CMOOSThread   m_FsmThread;
    LowerCommManager* m_lowerCommManager;
diff --git a/src/pPowerManger/UpperCommManager.cpp b/src/pPowerManger/UpperCommManager.cpp
index eb9c1b8..7782c52 100644
--- a/src/pPowerManger/UpperCommManager.cpp
+++ b/src/pPowerManger/UpperCommManager.cpp
@@ -141,7 +141,7 @@ bool UpperCommManager::processUpperMsg(const string& key, const string& strJson)
     else if(key == m_taskStopMsg.key) 
     {
         #ifdef _DEBUG
-        m_taskStopMsg_st_debug = std::make_pair(key, strJson);
+            m_taskStopMsg_st_debug = std::make_pair(key, strJson);
         #endif
         bool stop = m_taskStopMsg.getTaskStop(key, strJson);
         if (stop) {
@@ -170,9 +170,9 @@ void UpperCommManager::processPeriodicTasks() {
     //发送仪表电状态
     m_pm->sendNotification(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
     #ifdef _DEBUG
-    m_equInsStateMsg_fb_degub = std::make_pair(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
-    m_secdistStateMsg_cmd_debug = std::make_pair(m_secdistStateMsg.key_cmd,strJson);
-    m_equStateMsg_fb_debug = std::make_pair(m_equStateMsg.key_cmd,m_equStateMsg.buildMsg(m_pm->m_currentDriverState));
+        m_equInsStateMsg_fb_degub = std::make_pair(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
+        m_secdistStateMsg_cmd_debug = std::make_pair(m_secdistStateMsg.key_cmd,strJson);
+        m_equStateMsg_fb_debug = std::make_pair(m_equStateMsg.key_cmd,m_equStateMsg.buildMsg(m_pm->m_currentDriverState));
     #endif
 }
 
diff --git a/src/pPowerManger/driver.cpp b/src/pPowerManger/driver.cpp
index 93fc42b..f1ff3d3 100644
--- a/src/pPowerManger/driver.cpp
+++ b/src/pPowerManger/driver.cpp
@@ -14,6 +14,140 @@ void Driver::setDebug(bool debug)
     this->debug = debug;
 }
 
+void Driver::setDeviceState(DriverTable &driverTable, DeviceId::Type deviceId, unsigned char s) {
+    switch(deviceId) {
+        case DeviceId::depth1: driverTable.depth1 = s; break;
+        case DeviceId::depth2: driverTable.depth2 = s; break;
+        case DeviceId::depth3: driverTable.depth3 = s; break;
+        case DeviceId::overDeep1: driverTable.overDeep1 = s; break;
+        case DeviceId::overDeep2: driverTable.overDeep2 = s; break;
+        case DeviceId::ctd1: driverTable.ctd1 = s; break;
+        case DeviceId::ctd2: driverTable.ctd2 = s; break;
+        case DeviceId::soundVeloc: driverTable.soundVeloc = s; break;
+        case DeviceId::commMast: driverTable.commMast = s; break;
+        case DeviceId::ins: driverTable.ins = s; break;
+        case DeviceId::ntp: driverTable.ntp = s; break;
+        case DeviceId::inputWaterSensor1: driverTable.inputWaterSensor1 = s; break;
+        case DeviceId::inputWaterSensor2: driverTable.inputWaterSensor2 = s; break;
+        case DeviceId::inputWaterSensor3: driverTable.inputWaterSensor3 = s; break;
+        case DeviceId::singleBeamSonar1: driverTable.singleBeamSonar1 = s; break;
+        case DeviceId::singleBeamSonar2: driverTable.singleBeamSonar2 = s; break;
+        case DeviceId::singleBeamSonar3: driverTable.singleBeamSonar3 = s; break;
+        case DeviceId::singleBeamSonar4: driverTable.singleBeamSonar4 = s; break;
+        case DeviceId::singleBeamSonar5: driverTable.singleBeamSonar5 = s; break;
+        case DeviceId::singleBeamSonar6: driverTable.singleBeamSonar6 = s; break;
+        case DeviceId::singleBeamSonar7: driverTable.singleBeamSonar7 = s; break;
+        case DeviceId::singleBeamSonar8: driverTable.singleBeamSonar8 = s; break;
+        case DeviceId::forwardSonar: driverTable.forwardSonar = s; break;
+        case DeviceId::DVL: driverTable.DVL = s; break;
+        case DeviceId::lowFreqSonar: driverTable.lowFreqSonar = s; break;
+        case DeviceId::USBL: driverTable.USBL = s; break;
+        case DeviceId::bowWaterInet1: driverTable.bowWaterInet1 = s; break;
+        case DeviceId::bowWaterInet2: driverTable.bowWaterInet2 = s; break;
+        case DeviceId::bowWaterInet3: driverTable.bowWaterInet3 = s; break;
+        case DeviceId::bowWaterInet4: driverTable.bowWaterInet4 = s; break;
+        case DeviceId::bowWaterInet5: driverTable.bowWaterInet5 = s; break;
+        case DeviceId::bowWaterInet6: driverTable.bowWaterInet6 = s; break;
+        case DeviceId::bowWaterInet7: driverTable.bowWaterInet7 = s; break;
+        case DeviceId::bowWaterInet8: driverTable.bowWaterInet8 = s; break;
+        case DeviceId::bowRudderDeploy: driverTable.bowRudderDeploy = s; break;
+        case DeviceId::bowRudderServo1: driverTable.bowRudderServo1 = s; break;
+        case DeviceId::bowRudderServo2: driverTable.bowRudderServo2 = s; break;
+        case DeviceId::bowCover1: driverTable.bowCover1 = s; break;
+        case DeviceId::bowCover2: driverTable.bowCover2 = s; break;
+        case DeviceId::bowCover3: driverTable.bowCover3 = s; break;
+        case DeviceId::bowCover4: driverTable.bowCover4 = s; break;
+        case DeviceId::bowCover5: driverTable.bowCover5 = s; break;
+        case DeviceId::bowCover6: driverTable.bowCover6 = s; break;
+        case DeviceId::waterInject: driverTable.waterInject = s; break;
+        case DeviceId::mastLiftingServo: driverTable.mastLiftingServo = s; break;
+        case DeviceId::buoyancyAdjust1: driverTable.buoyancyAdjust1 = s; break;
+        case DeviceId::buoyancyAdjust2: driverTable.buoyancyAdjust2 = s; break;
+        case DeviceId::buoyancyAdjust3: driverTable.buoyancyAdjust3 = s; break;
+        case DeviceId::buoyancyAdjust4: driverTable.buoyancyAdjust4 = s; break;
+        case DeviceId::buoyancyAdjust5: driverTable.buoyancyAdjust5 = s; break;
+        case DeviceId::sternRudderServo1: driverTable.sternRudderServo1 = s; break;
+        case DeviceId::sternRudderServo2: driverTable.sternRudderServo2 = s; break;
+        case DeviceId::sternRudderServo3: driverTable.sternRudderServo3 = s; break;
+        case DeviceId::sternRudderServo4: driverTable.sternRudderServo4 = s; break;
+        case DeviceId::thruster: driverTable.thruster = s; break;
+        case DeviceId::bowThrow: driverTable.bowThrow = s; break;
+        case DeviceId::sternThrow: driverTable.sternThrow = s; break;
+        case DeviceId::photoSensor: driverTable.photoSensor = s; break;
+        case DeviceId::electSensor: driverTable.electSensor = s; break;
+        case DeviceId::launchControler: driverTable.launchControler = s; break;
+        case DeviceId::sideSonar: driverTable.sideSonar = s; break;
+        case DeviceId::buoyage: driverTable.buoyage = s; break;
+        default: break;
+    }
+}
+unsigned char Driver::getDeviceState(const DriverTable &driverTable, DeviceId::Type deviceId) {
+    switch(deviceId) {
+        case DeviceId::depth1: return driverTable.depth1;
+        case DeviceId::depth2: return driverTable.depth2;
+        case DeviceId::depth3: return driverTable.depth3;
+        case DeviceId::overDeep1: return driverTable.overDeep1;
+        case DeviceId::overDeep2: return driverTable.overDeep2;
+        case DeviceId::ctd1: return driverTable.ctd1;
+        case DeviceId::ctd2: return driverTable.ctd2;
+        case DeviceId::soundVeloc: return driverTable.soundVeloc;
+        case DeviceId::commMast: return driverTable.commMast;
+        case DeviceId::ins: return driverTable.ins;
+        case DeviceId::ntp: return driverTable.ntp;
+        case DeviceId::inputWaterSensor1: return driverTable.inputWaterSensor1;
+        case DeviceId::inputWaterSensor2: return driverTable.inputWaterSensor2;
+        case DeviceId::inputWaterSensor3: return driverTable.inputWaterSensor3;
+        case DeviceId::singleBeamSonar1: return driverTable.singleBeamSonar1;
+        case DeviceId::singleBeamSonar2: return driverTable.singleBeamSonar2;
+        case DeviceId::singleBeamSonar3: return driverTable.singleBeamSonar3;
+        case DeviceId::singleBeamSonar4: return driverTable.singleBeamSonar4;
+        case DeviceId::singleBeamSonar5: return driverTable.singleBeamSonar5;
+        case DeviceId::singleBeamSonar6: return driverTable.singleBeamSonar6;
+        case DeviceId::singleBeamSonar7: return driverTable.singleBeamSonar7;
+        case DeviceId::singleBeamSonar8: return driverTable.singleBeamSonar8;
+        case DeviceId::forwardSonar: return driverTable.forwardSonar;
+        case DeviceId::DVL: return driverTable.DVL;
+        case DeviceId::lowFreqSonar: return driverTable.lowFreqSonar;
+        case DeviceId::USBL: return driverTable.USBL;
+        case DeviceId::bowWaterInet1: return driverTable.bowWaterInet1;
+        case DeviceId::bowWaterInet2: return driverTable.bowWaterInet2;
+        case DeviceId::bowWaterInet3: return driverTable.bowWaterInet3;
+        case DeviceId::bowWaterInet4: return driverTable.bowWaterInet4;
+        case DeviceId::bowWaterInet5: return driverTable.bowWaterInet5;
+        case DeviceId::bowWaterInet6: return driverTable.bowWaterInet6;
+        case DeviceId::bowWaterInet7: return driverTable.bowWaterInet7;
+        case DeviceId::bowWaterInet8: return driverTable.bowWaterInet8;
+        case DeviceId::bowRudderDeploy: return driverTable.bowRudderDeploy;
+        case DeviceId::bowRudderServo1: return driverTable.bowRudderServo1;
+        case DeviceId::bowRudderServo2: return driverTable.bowRudderServo2;
+        case DeviceId::bowCover1: return driverTable.bowCover1;
+        case DeviceId::bowCover2: return driverTable.bowCover2;
+        case DeviceId::bowCover3: return driverTable.bowCover3;
+        case DeviceId::bowCover4: return driverTable.bowCover4;
+        case DeviceId::bowCover5: return driverTable.bowCover5;
+        case DeviceId::bowCover6: return driverTable.bowCover6;
+        case DeviceId::waterInject: return driverTable.waterInject;
+        case DeviceId::mastLiftingServo: return driverTable.mastLiftingServo;
+        case DeviceId::buoyancyAdjust1: return driverTable.buoyancyAdjust1;
+        case DeviceId::buoyancyAdjust2: return driverTable.buoyancyAdjust2;
+        case DeviceId::buoyancyAdjust3: return driverTable.buoyancyAdjust3;
+        case DeviceId::buoyancyAdjust4: return driverTable.buoyancyAdjust4;
+        case DeviceId::buoyancyAdjust5: return driverTable.buoyancyAdjust5;
+        case DeviceId::sternRudderServo1: return driverTable.sternRudderServo1;
+        case DeviceId::sternRudderServo2: return driverTable.sternRudderServo2;
+        case DeviceId::sternRudderServo3: return driverTable.sternRudderServo3;
+        case DeviceId::sternRudderServo4: return driverTable.sternRudderServo4;
+        case DeviceId::thruster: return driverTable.thruster;
+        case DeviceId::bowThrow: return driverTable.bowThrow;
+        case DeviceId::sternThrow: return driverTable.sternThrow;
+        case DeviceId::photoSensor: return driverTable.photoSensor;
+        case DeviceId::electSensor: return driverTable.electSensor;
+        case DeviceId::launchControler: return driverTable.launchControler;
+        case DeviceId::sideSonar: return driverTable.sideSonar;
+        case DeviceId::buoyage: return driverTable.buoyage;
+        default: return 0; // 默认返回0表示无效状态
+    }
+}
 void Driver::getSTANDBYTable(DriverTable* driverTable)
 {
     //打开所有传感器
diff --git a/src/pPowerManger/driver.h b/src/pPowerManger/driver.h
index e11dcac..463ee11 100644
--- a/src/pPowerManger/driver.h
+++ b/src/pPowerManger/driver.h
@@ -5,6 +5,7 @@
 #include "iostream"
 #include <sstream>
 #include <vector>
+#include "pmSysvariable.h"
 
 #define DRIVER_POWER_OFF 0x00
 #define DRIVER_FULL_POWER_ON 0x01
@@ -101,10 +102,8 @@ public:
     std::unique_ptr<DriverTable> nextDriverTable;
 
     //操作函数，操作指定设备
-    //TODO: 增加设备操作函数
-    void operateSubDriver(int id, int cmd, DriverTable* driverTable);
-    // void setDriverTable(DriverTable* driverTable, ,DriverCmd::Type cmd);
-
+    void setDeviceState(DriverTable &driverTable, DeviceId::Type deviceId, unsigned char s);
+    unsigned char getDeviceState(const DriverTable &driverTable, DeviceId::Type deviceId);
 
     void getSTANDBYTable(DriverTable* driverTable);
     void getSHORE_BASED_READYable(DriverTable* driverTable);
diff --git a/src/pPowerManger/fsm/PowerManagerFsm.cpp b/src/pPowerManger/fsm/PowerManagerFsm.cpp
index b464417..c62d90c 100644
--- a/src/pPowerManger/fsm/PowerManagerFsm.cpp
+++ b/src/pPowerManger/fsm/PowerManagerFsm.cpp
@@ -55,6 +55,11 @@ bool PowerManagerFsm::handPowerProtection(DevCmdExt const &e){
 }
 
 void PowerManagerFsm::handleNoPowerDeviceCmd(int id , int cmd){
+    if(pm->currentMod == PMMode::Normal)
+    {
+        LOG_F(INFO,"正常模式 : 操作禁止");
+        return;
+    }
     if(id == DeviceId::depth1 ||
        id == DeviceId::depth2 ||
        id == DeviceId::depth3 ||
@@ -72,19 +77,343 @@ void PowerManagerFsm::handleNoPowerDeviceCmd(int id , int cmd){
        id == DeviceId::bowThrow ||
        id == DeviceId::sternThrow ||
        id == DeviceId::ins ||
-       id == DeviceId::ntp ||
        id == DeviceId::inputWaterSensor1 ||
        id == DeviceId::inputWaterSensor2 ||
        id == DeviceId::inputWaterSensor3
     )
     {
-        LOG_F(INFO, "无动力电设备操作");
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, (DeviceId::Type)id, (unsigned char)cmd);
+        LOG_F(INFO, "无动力电设备操作: %s,%d, %d", DeviceId::toString((DeviceId::Type)id),id, cmd);
+    }
+}
+void PowerManagerFsm::handleHydroacousticDeviceCmd(int id , int cmd)
+{
+    if (pm->currentMod  != PMMode::Debug)
+    {
+        if(pm->m_depth < 10 || cmd != EquipmentCommand::OFF)
+        {
+            LOG_F(INFO, "水下设备操作上电保护 %d ", id);
+            return;
+        }
+    }
+    if(pm->currentMod == PMMode::Normal)
+    {
+        LOG_F(INFO, "正常模式：禁止操作");
+        return;
+    }
+    
+    if(id == DeviceId::singleBeamSonar1 ||
+       id == DeviceId::singleBeamSonar2 ||
+       id == DeviceId::singleBeamSonar3 ||
+       id == DeviceId::singleBeamSonar4 ||
+       id == DeviceId::singleBeamSonar5 ||
+       id == DeviceId::singleBeamSonar6 ||
+       id == DeviceId::singleBeamSonar7 ||
+       id == DeviceId::singleBeamSonar8 ||
+       id == DeviceId::forwardSonar ||
+       id == DeviceId::USBL ||
+       id == DeviceId::DVL ||
+       id == DeviceId::lowFreqSonar)
+    {
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, (DeviceId::Type)id, (unsigned char)cmd);
+        LOG_F(INFO, "水声设备操作: %s,%d, %d", DeviceId::toString((DeviceId::Type)id), id, cmd);
     }
 }
 
-void PowerManagerFsm::react(DeviceCmd const &){
-    LOG_F(INFO, "DeviceCmd received");
+void PowerManagerFsm::handleBowRudderSystemCmd(int id, int cmd){
+
+    if(pm->currentMod == PMMode::Normal)
+    {
+        LOG_F(INFO, "正常模式：禁止操作");
+        return;
+    }
+
+    if(id == DeviceId::bowRudderDeploy || 
+       id == DeviceId::bowRudderServo1 ||
+       id == DeviceId::bowRudderServo2)
+    {
+        if(pm->currentMod  == PMMode::Test)
+        {
+            if(cmd == EquipmentCommand::OFF)
+            {
+                pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
+                MOOSPause(10);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderDeploy, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo1, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo2, (unsigned char)cmd);
+                pm->m_upperCommManager->processPeriodicTasks();
+            } else if( cmd == EquipmentCommand::ON)
+            {
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderDeploy, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo1, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo2, (unsigned char)cmd);
+                pm->m_upperCommManager->processPeriodicTasks();
+                MOOSPause(10);
+                pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
+            }
+        }
+    }
 }
+void PowerManagerFsm::handleActuatorCmd(int id, int cmd){
+
+    if(pm->currentMod == PMMode::Normal)
+    {
+        LOG_F(INFO, "正常模式：禁止操作");
+        return;
+    }
+
+    if(id == DeviceId::bowCover1 ||
+       id == DeviceId::bowCover2 ||
+       id == DeviceId::bowCover3 ||
+       id == DeviceId::bowCover4 ||
+       id == DeviceId::bowCover5 ||
+       id == DeviceId::bowCover6)
+    {
+        if(pm->currentMod  == PMMode::Test)
+        {
+            if(cmd == EquipmentCommand::OFF)
+            {
+                pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+                MOOSPause(10);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
+                pm->m_upperCommManager->processPeriodicTasks();
+            } else if(cmd == EquipmentCommand::ON)
+            {
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
+                pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
+            }
+        }
+    }
+
+}
+void PowerManagerFsm::handleSternRudderCmd(int id, int cmd)
+{
+
+    if(pm->currentMod == PMMode::Normal)
+    {
+        LOG_F(INFO, "正常模式：禁止操作");
+        return;
+    }
+    
+    if(id == DeviceId::sternRudderServo1 ||
+       id == DeviceId::sternRudderServo2 ||
+       id == DeviceId::sternRudderServo3 ||
+       id == DeviceId::sternRudderServo4)
+    {
+        if(pm->currentMod  == PMMode::Test)
+        {
+            if(cmd == EquipmentCommand::OFF)
+            {
+                pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(BREAK_OFF);
+                pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(BREAK_OFF);
+                MOOSPause(10);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo1, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo2, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo3, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo4, (unsigned char)cmd);
+
+            } else if (cmd == EquipmentCommand::ON)
+            {
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo1, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo2, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo3, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo4, (unsigned char)cmd);
+                MOOSPause(10);
+                pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(BREAK_ON);
+                pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(BREAK_ON);
+            }
+        }
+    }
+}
+
+void PowerManagerFsm::handlePropulsionMotorCmd(int id, int cmd)
+{
+
+    if(pm->currentMod == PMMode::Normal)
+    {
+        LOG_F(INFO, "正常模式：禁止操作");
+        return;
+    }
+    
+    if(id == DeviceId::thruster)
+    {
+        if(pm->currentMod  == PMMode::Test)
+        {
+            if(cmd == EquipmentCommand::OFF)
+            {
+                pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(BREAK_OFF);
+                MOOSPause(10);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::thruster, (unsigned char)cmd);
+            } else if(cmd == EquipmentCommand::ON)
+            {
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::thruster, (unsigned char)cmd);
+                MOOSPause(10);
+                pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(BREAK_ON);
+            }
+        }
+    }
+}
+
+void PowerManagerFsm::handleBuoyancyAdjustmentCmd(int id, int cmd)
+{
+
+    if(pm->currentMod == PMMode::Normal)
+    {
+        LOG_F(INFO, "正常模式：禁止操作");
+        return;
+    }
+    
+    if(id == DeviceId::buoyancyAdjust1 ||
+       id == DeviceId::buoyancyAdjust2 ||
+       id == DeviceId::buoyancyAdjust3)
+    {
+        if (pm->currentMod  == PMMode::Test)
+        {
+            if(cmd == EquipmentCommand::OFF)
+            {
+                pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(BREAK_OFF);
+                MOOSPause(10);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust1, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust2, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust3, (unsigned char)cmd);
+            } else if(cmd == EquipmentCommand::ON)
+            {
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust1, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust2, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust3, (unsigned char)cmd);                
+                MOOSPause(10);
+                pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(BREAK_ON);
+            }
+        }
+    }
+
+    if(id == DeviceId::buoyancyAdjust4 ||
+       id == DeviceId::buoyancyAdjust5)
+    {
+        if (pm->currentMod  == PMMode::Test)
+        {
+            if(cmd == EquipmentCommand::OFF)
+            {
+                pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(BREAK_OFF);
+                MOOSPause(10);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust4, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust5, (unsigned char)cmd);
+            } else if(cmd == EquipmentCommand::ON)
+            {
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust4, (unsigned char)cmd);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust5, (unsigned char)cmd);
+                MOOSPause(10);
+                pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(BREAK_ON);
+            }
+        }
+    }
+}
+
+void PowerManagerFsm::handleFBSystemCmd(int id, int cmd)
+{
+
+    if(pm->currentMod == PMMode::Normal)
+    {
+        LOG_F(INFO, "正常模式：禁止操作");
+        return;
+    }
+    
+    if(id == DeviceId::buoyage)
+    {
+        if(pm->currentMod  == PMMode::Test)
+        {
+            if(cmd == EquipmentCommand::OFF)
+            {
+                pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(BREAK_OFF);
+                MOOSPause(10);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyage, (unsigned char)cmd);
+            } else if(cmd == EquipmentCommand::ON)
+            {
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyage, (unsigned char)cmd);
+                MOOSPause(10);
+                pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(BREAK_ON);
+            }            
+        }
+    }
+}
+
+void PowerManagerFsm::handleSideSonarCmd(int id, int cmd)
+{
+
+    if(pm->currentMod == PMMode::Normal)
+    {
+        LOG_F(INFO, "正常模式：禁止操作");
+        return;
+    }
+    
+    if(id == DeviceId::sideSonar)
+    {
+        if (pm->currentMod  != PMMode::Debug)
+        {
+            if(pm->m_depth < 10 || cmd != EquipmentCommand::OFF)
+            {
+                LOG_F(INFO, "水下设备操作上电保护 %d ", id);
+                return;
+            }
+        }
+        if(pm->currentMod == PMMode::Test)
+        {
+            if(cmd == EquipmentCommand::OFF)
+            {
+                pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(BREAK_OFF);
+                MOOSPause(10);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sideSonar, (unsigned char)cmd);
+            } else if(cmd == EquipmentCommand::ON)
+            {
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sideSonar, (unsigned char)cmd);
+                MOOSPause(10);
+                pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(BREAK_ON);
+            }     
+        }
+    }
+}
+
+void PowerManagerFsm::handleMastFoldingSystemCmd(int id, int cmd)
+{
+
+    if(pm->currentMod == PMMode::Normal)
+    {
+        LOG_F(INFO, "正常模式：禁止操作");
+        return;
+    }
+    
+    if(id == DeviceId::mastLiftingServo)
+    {
+        if(pm->currentMod == PMMode::Test)
+        {
+            if(cmd == EquipmentCommand::OFF)
+            {
+                pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(BREAK_OFF);
+                MOOSPause(10);
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::mastLiftingServo, (unsigned char)cmd);
+            } else if(cmd == EquipmentCommand::ON)
+            {
+                pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::mastLiftingServo, (unsigned char)cmd);
+                MOOSPause(10);
+                pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(BREAK_ON);
+            }
+        }
+    }
+}
+
+// void PowerManagerFsm::react(DeviceCmd const &){
+//     LOG_F(INFO, "DeviceCmd received");
+// }
 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)
@@ -117,1747 +446,1770 @@ void PowerManagerFsm::react(TaskStartEvent const &e){
         break;
     }
 }
-
 void PowerManagerFsm::react(DevCmdExt const &e) {
-    LOG_F(INFO, "DevCmdExt received - id: %d, cmd: %d", e.id, e.cmd);  
-    switch (e.id)
-    {
-    case 0:
-    {
-        LOG_F(INFO, "DevCmdExt received singleBeamSonar1 - id: %d, cmd: %d", e.id, e.cmd);
-        if(e.cmd <=1)
-        {
-            pm->m_subDisSysCmd.singleBeamSonar1 = e.cmd;
-            #ifdef DEBUG
-            pm->m_currentDriverState.singleBeamSonar1 = e.cmd;
-            #endif
-        }
-        else
-            LOG_F(WARNING, "DevCmdExt received singleBeamSonar1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        break;
-    }
-    case 1:
-    {
-        LOG_F(INFO, "DevCmdExt received singleBeamSonar2 - id: %d, cmd: %d", e.id, e.cmd);
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.singleBeamSonar2 = e.cmd;
-            #ifdef DEBUG
-            pm->m_currentDriverState.singleBeamSonar2 = e.cmd;
-            #endif
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received singleBeamSonar2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 2:
-    {
-        LOG_F(INFO, "DevCmdExt received singleBeamSonar3 - id: %d, cmd: %d", e.id, e.cmd);
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.singleBeamSonar3 = e.cmd;
-            #ifdef DEBUG
-            pm->m_currentDriverState.singleBeamSonar3 = e.cmd;
-            #endif
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received singleBeamSonar3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 3:
-    {
-        LOG_F(INFO, "DevCmdExt received singleBeamSonar4 - id: %d, cmd: %d", e.id, e.cmd);
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.singleBeamSonar4 = e.cmd;
-            #ifdef DEBUG
-            pm->m_currentDriverState.singleBeamSonar4 = e.cmd;
-            #endif
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received singleBeamSonar4 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 4:
-    {
-        LOG_F(INFO, "DevCmdExt received singleBeamSonar5 - id: %d, cmd: %d", e.id, e.cmd);
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.singleBeamSonar5 = e.cmd;
-            #ifdef DEBUG
-            pm->m_currentDriverState.singleBeamSonar5 = e.cmd;
-            #endif
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received singleBeamSonar5 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 5:
-    {
-        LOG_F(INFO, "DevCmdExt received singleBeamSonar6 - id: %d, cmd: %d", e.id, e.cmd);
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.singleBeamSonar6 = e.cmd;
-            #ifdef DEBUG
-            pm->m_currentDriverState.singleBeamSonar6 = e.cmd;
-            #endif
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received singleBeamSonar6 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 6:
-    {
-        LOG_F(INFO, "DevCmdExt received singleBeamSonar7 - id: %d, cmd: %d", e.id, e.cmd);
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.singleBeamSonar7 = e.cmd;
-            #ifdef DEBUG
-            pm->m_currentDriverState.singleBeamSonar7 = e.cmd;
-            #endif
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received singleBeamSonar7 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 7:
-    {
-        LOG_F(INFO, "DevCmdExt received singleBeamSonar8 - id: %d, cmd: %d", e.id, e.cmd);
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.singleBeamSonar8 = e.cmd;
-            #ifdef DEBUG
-            pm->m_currentDriverState.singleBeamSonar8 = e.cmd;
-            #endif
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received singleBeamSonar8 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-
-    case 8:
-    {
-        LOG_F(INFO, "DevCmdExt received forwardSonar - id: %d, cmd: %d", e.id, e.cmd);
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.forwardSonar = e.cmd;
-            #ifdef DEBUG
-            pm->m_currentDriverState.forwardSonar = e.cmd;
-            #endif
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received forwardSonar - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 9:
-    {
-        LOG_F(INFO, "DevCmdExt received bowCover1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowCover1 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
-            MOOSPause(10);
-            pm->m_subDisSysCmd.bowCover1 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
-            MOOSPause(1);
-            pm->m_subDisSysCmd.bowCover1 = 1;
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowCover1 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowCover1 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowCover1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-
-    case 10:
-    {
-        LOG_F(INFO, "DevCmdExt received bowCover2 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowCover2 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
-            MOOSPause(1);
-            pm->m_subDisSysCmd.bowCover2 = 0;
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowCover2 = 1;
-            //TODO ：动力电上电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowCover2 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowCover2 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowCover2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 11:
-    {
-        LOG_F(INFO, "DevCmdExt received bowCover3 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowCover3 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.bowCover3 = 0;
-            //TODO ：动力电断电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowCover3 = 1;
-            //TODO ：动力电上电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowCover3 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowCover3 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowCover2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 12:
-    {
-        LOG_F(INFO, "DevCmdExt received bowCover4 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowCover4 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.bowCover4 = 0;
-            //TODO ：动力电断电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowCover4 = 1;
-            //TODO ：动力电上电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowCover4 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowCover4 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowCover2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-            break;
-    }
-    case 13:
-    {
-        LOG_F(INFO, "DevCmdExt received bowCover5 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowCover5 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.bowCover5 = 0;
-            //TODO ：动力电断电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowCover5 = 1;
-            //TODO ：动力电上电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowCover5 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowCover5 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowCover5 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 14:
-    {
-        LOG_F(INFO, "DevCmdExt received bowCover6 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowCover6 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.bowCover6 = 0;
-            //TODO ：动力电断电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowCover6 = 1;
-            //TODO ：动力电上电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowCover6 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowCover6 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowCover6 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 15:
-    {
-        LOG_F(INFO, "DevCmdExt received bowRudderDeploy - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowRudderDeploy = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.bowRudderDeploy = 0;
-            //TODO ：动力电断电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowRudderDeploy = 1;
-            //TODO ：动力电上电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowRudderDeploy = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowRudderDeploy = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowRudderDeploy - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 16:
-    {
-        LOG_F(INFO, "DevCmdExt received bowRudderServo1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowRudderServo1 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.bowRudderServo1 = 0;
-            //TODO ：动力电断电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
-
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowRudderServo1 = 1;
-            //TODO ：动力电上电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowRudderServo1 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowRudderServo1 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowRudderServo1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 17:
-    {
-        LOG_F(INFO, "DevCmdExt received bowRudderServo2 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowRudderServo2 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.bowRudderServo2 = 0;
-            //TODO ：动力电断电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowRudderServo2 = 1;
-            //TODO ：动力电上电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowRudderServo2 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowRudderServo2 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowRudderServo2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 18:
-    {
-        LOG_F(INFO, "DevCmdExt received depth1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.depth1 = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.depth1 = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received depth1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 19:
-    {
-        LOG_F(INFO, "DevCmdExt received depth2 - id: %d, cmd: %d", e.id, e.cmd);
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.depth2 = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received depth2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 20:
-    {
-        LOG_F(INFO, "DevCmdExt received depth3 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.depth3 = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.depth3 = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received depth3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 21:
-    {
-        LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.overDeep1 = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.overDeep1 = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received overDeep1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 22:
-    {
-        LOG_F(INFO, " - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.overDeep2 = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.overDeep2 = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received overDeep2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 23:
-    {
-        LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.ctd1 = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.ctd1 = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received ctd1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 24:
-    {
-        LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.ctd2 = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.ctd2 = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received ctd2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 25:
-    {
-        LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.soundVeloc = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.soundVeloc = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received soundVeloc - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 26:
-    {
-        LOG_F(INFO, "DevCmdExt received waterInject - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.waterInject = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.waterInject = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.waterInject = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.waterInject = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.waterInject = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received waterInject - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 27:
-    {
-        LOG_F(INFO, "DevCmdExt received bowWaterInet1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterInet1 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.bowWaterInet1 = 0;
-            //TODO ：动力电断电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowWaterInet1 = 1;
-            //TODO ：动力电上电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowWaterInet1 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowWaterInet1 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowWaterInet1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 28:
-    {
-        LOG_F(INFO, "DevCmdExt received bowWaterInet2 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterInet2 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
-            MOOSPause(1);
-            pm->m_subDisSysCmd.bowWaterInet2 = 0;
-            //TODO ：动力电断电
-            
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowWaterInet2 = 1;
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowWaterInet2 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowWaterInet2 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowWaterInet2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 29:
-    {
-        LOG_F(INFO, "DevCmdExt received bowWaterInet2 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterInet3 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
-            MOOSPause(1);
-            pm->m_subDisSysCmd.bowWaterInet3 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowWaterInet3 = 1;
-            //TODO ：动力电上电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowWaterInet3 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowWaterInet3 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowWaterInet3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 30:
-    {
-        LOG_F(INFO, "DevCmdExt received bowWaterInet4 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterInet4 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
-            MOOSPause(1);
-            pm->m_subDisSysCmd.bowWaterInet4 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowWaterInet4 = 1;
-            //TODO ：动力电上电
-            MOOSPause(1);
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowWaterInet4 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowWaterInet4 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-            pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowWaterInet4 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 31:
-    {
-        LOG_F(INFO, "DevCmdExt received bowWaterInet4 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterInet5 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.bowWaterInet5 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowWaterInet5 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowWaterInet5 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowWaterInet5 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowWaterInet5 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 32:
-    {
-        LOG_F(INFO, "DevCmdExt received bowWaterInet6 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterInet6 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.bowWaterInet6 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowWaterInet6 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowWaterInet6 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowWaterInet6 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowWaterInet6 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 33:
-    {
-        LOG_F(INFO, "DevCmdExt received bowWaterInet7 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterInet7 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.bowWaterInet7 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowWaterInet7 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowWaterInet7 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowWaterInet7 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowWaterInet7 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 34:
-    {
-        LOG_F(INFO, "DevCmdExt received bowWaterInet8 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowWaterInet8 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.bowWaterInet8 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.bowWaterInet8 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.bowWaterInet8 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.bowWaterInet8 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowWaterInet8 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 35:
-    {
-        LOG_F(INFO, "DevCmdExt received sideSonar - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.sideSonar = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.sideSonar = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.sideSonar = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.sideSonar = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.sideSonar = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received sideSonar - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 36:
-    {
-        LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.lowFreqSonar = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.lowFreqSonar = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received lowFreqSonar - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 37:
-    {
-        LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.launchControler = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.launchControler = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received launchControler - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 38:
-    {
-        LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.photoSensor = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.photoSensor = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received photoSensor - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 39:
-    {
-        LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.electSensor = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.electSensor = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received electSensor - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 40:
-    {
-        LOG_F(INFO, "DevCmdExt received commMast - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.commMast = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.commMast = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received commMast - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 41:
-    {
-        LOG_F(INFO, "DevCmdExt received mastLiftingServo - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.mastLiftingServo = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.mastLiftingServo = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.mastLiftingServo = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.mastLiftingServo = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.mastLiftingServo = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received mastLiftingServo - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 42:
-    {
-        LOG_F(INFO, "DevCmdExt received USBL - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.USBL = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.USBL = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received USBL - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 43:
-    {
-        LOG_F(INFO, "DevCmdExt received DVL - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.DVL = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.DVL = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received DVL - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 44:
-    {
-        LOG_F(INFO, "DevCmdExt received buoyancyAdjust1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.buoyancyAdjust1 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust1 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust1 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust1 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust1 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received buoyancyAdjust1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 45:
-    {
-        LOG_F(INFO, "DevCmdExt received buoyancyAdjust2 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.buoyancyAdjust2 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust2 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust2 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust2 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust2 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received buoyancyAdjust2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 46:
-    {
-        LOG_F(INFO, "DevCmdExt received buoyancyAdjust3 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.buoyancyAdjust3 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust3 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust3 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust3 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust3 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received buoyancyAdjust3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 47:
-    {
-        LOG_F(INFO, "DevCmdExt received buoyancyAdjust4 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.buoyancyAdjust4 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust4 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust4 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust4 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust4 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received buoyancyAdjust4 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 48:
-    {
-        LOG_F(INFO, "DevCmdExt received buoyancyAdjust5 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.buoyancyAdjust5 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust5 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust5 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust5 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.buoyancyAdjust5 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received buoyancyAdjust5 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 49:
-    {
-        LOG_F(INFO, "DevCmdExt received sternRudderServo1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.sternRudderServo1 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.sternRudderServo1 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.sternRudderServo1 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.sternRudderServo1 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.sternRudderServo1 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received sternRudderServo1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 50:
-    {
-        LOG_F(INFO, "DevCmdExt received sternRudderServo2 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.sternRudderServo2 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.sternRudderServo2 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.sternRudderServo2 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.sternRudderServo2 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.sternRudderServo2 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received sternRudderServo2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 51:
-    {
-        LOG_F(INFO, "DevCmdExt received sternRudderServo3 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.sternRudderServo3 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.sternRudderServo3 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.sternRudderServo3 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.sternRudderServo3 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.sternRudderServo3 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received sternRudderServo3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 52:
-    {
-        LOG_F(INFO, "DevCmdExt received sternRudderServo4 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.sternRudderServo4 = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.sternRudderServo4 = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.sternRudderServo4 = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.sternRudderServo4 = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.sternRudderServo4 = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received sternRudderServo4 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 53:
-    {
-        LOG_F(INFO, "DevCmdExt received thruster - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.thruster = e.cmd;
-        #endif
-        if (e.cmd == 0)
-        {
-            pm->m_subDisSysCmd.thruster = 0;
-            //TODO ：动力电断电
-        }
-        else if (e.cmd == 1)
-        {
-            pm->m_subDisSysCmd.thruster = 1;
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 2)
-        {
-            pm->m_subDisSysCmd.thruster = 1;
-        }
-        else if (e.cmd == 3)
-        {
-            //TODO ：动力电上电
-        }
-        else if (e.cmd == 4)
-        {
-            pm->m_subDisSysCmd.thruster = 0;
-        }
-        else if (e.cmd == 5)
-        {
-            //TODO ：动力电断电
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received thruster - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 54:
-    {
-        LOG_F(INFO, "DevCmdExt received bowThrow - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.bowThrow = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.bowThrow = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received bowThrow - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 55:
-    {
-        LOG_F(INFO, "DevCmdExt received sternThrow - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.sternThrow = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.sternThrow = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received sternThrow - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 56:
-    {
-        LOG_F(INFO, "DevCmdExt received buoyage - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.buoyage = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.buoyage = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received buoyage - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 57:
-    {
-        {
-            LOG_F(INFO, "DevCmdExt received buoyage - id: %d, cmd: %d", e.id, e.cmd);
-            #ifdef DEBUG
-            pm->m_currentDriverState.ins = e.cmd;
-            #endif
-            if (e.cmd <= 1)
-            {
-                pm->m_subDisSysCmd.ins = e.cmd;
-            }
-            else
-            {
-                LOG_F(WARNING, "DevCmdExt received ins - id: %d, cmd: %d is out of range", e.id, e.cmd);
-            }
-            break;
-        }
-    }
-    case 58:
-    {
-        LOG_F(INFO, "DevCmdExt received buoyage - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.ntp = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.ntp = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received ntp - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 59:
-    {
-        LOG_F(INFO, "DevCmdExt received inputWaterSensor1 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.inputWaterSensor1 = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.inputWaterSensor1 = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received inputWaterSensor1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 60:
-    {
-        LOG_F(INFO, "DevCmdExt received inputWaterSensor2 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.inputWaterSensor2 = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.inputWaterSensor2 = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received inputWaterSensor2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    case 61:
-    {
-        LOG_F(INFO, "DevCmdExt received inputWaterSensor3 - id: %d, cmd: %d", e.id, e.cmd);
-        #ifdef DEBUG
-        pm->m_currentDriverState.inputWaterSensor3 = e.cmd;
-        #endif
-        if (e.cmd <= 1)
-        {
-            pm->m_subDisSysCmd.inputWaterSensor3 = e.cmd;
-        }
-        else
-        {
-            LOG_F(WARNING, "DevCmdExt received inputWaterSensor3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
-        }
-        break;
-    }
-    default:
-        LOG_F(WARNING, "DevCmdExt received unknown id: %d, cmd: %d", e.id, e.cmd);
-        break;
-    }
+    LOG_F(INFO, "DevCmdExt received - id: %d, cmd: %d", e.id, e.cmd); 
+    // 非水声仪表设备
+    handleNoPowerDeviceCmd(e.id , e.cmd);
+    // 水声设备处理
+    handleHydroacousticDeviceCmd(e.id , e.cmd);
+    // 艏舵设备处理
+    handleBowRudderSystemCmd(e.id , e.cmd);
+    // 启闭机构处理
+    handleActuatorCmd(e.id , e.cmd);
+    // 艉舵设备处理
+    handleSternRudderCmd(e.id , e.cmd);
+    // 推进电机处理
+    handlePropulsionMotorCmd(e.id , e.cmd);
+    // 浮调设备处理
+    handleBuoyancyAdjustmentCmd(e.id , e.cmd);
+    // FB设备处理
+    handleFBSystemCmd(e.id , e.cmd);
+    // 舷侧设备处理
+    handleSideSonarCmd(e.id , e.cmd);
+    // 桅杆设备处理
+    handleMastFoldingSystemCmd(e.id , e.cmd);
 }
 
+// void PowerManagerFsm::react(DevCmdExt const &e) {
+//     LOG_F(INFO, "DevCmdExt received - id: %d, cmd: %d", e.id, e.cmd);  
+//     switch (e.id)
+//     {
+//     case 0:
+//     {
+//         LOG_F(INFO, "DevCmdExt received singleBeamSonar1 - id: %d, cmd: %d", e.id, e.cmd);
+//         if(e.cmd <=1)
+//         {
+//             pm->m_subDisSysCmd.singleBeamSonar1 = e.cmd;
+//             #ifdef DEBUG
+//             pm->m_currentDriverState.singleBeamSonar1 = e.cmd;
+//             #endif
+//         }
+//         else
+//             LOG_F(WARNING, "DevCmdExt received singleBeamSonar1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         break;
+//     }
+//     case 1:
+//     {
+//         LOG_F(INFO, "DevCmdExt received singleBeamSonar2 - id: %d, cmd: %d", e.id, e.cmd);
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.singleBeamSonar2 = e.cmd;
+//             #ifdef DEBUG
+//             pm->m_currentDriverState.singleBeamSonar2 = e.cmd;
+//             #endif
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received singleBeamSonar2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 2:
+//     {
+//         LOG_F(INFO, "DevCmdExt received singleBeamSonar3 - id: %d, cmd: %d", e.id, e.cmd);
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.singleBeamSonar3 = e.cmd;
+//             #ifdef DEBUG
+//             pm->m_currentDriverState.singleBeamSonar3 = e.cmd;
+//             #endif
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received singleBeamSonar3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 3:
+//     {
+//         LOG_F(INFO, "DevCmdExt received singleBeamSonar4 - id: %d, cmd: %d", e.id, e.cmd);
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.singleBeamSonar4 = e.cmd;
+//             #ifdef DEBUG
+//             pm->m_currentDriverState.singleBeamSonar4 = e.cmd;
+//             #endif
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received singleBeamSonar4 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 4:
+//     {
+//         LOG_F(INFO, "DevCmdExt received singleBeamSonar5 - id: %d, cmd: %d", e.id, e.cmd);
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.singleBeamSonar5 = e.cmd;
+//             #ifdef DEBUG
+//             pm->m_currentDriverState.singleBeamSonar5 = e.cmd;
+//             #endif
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received singleBeamSonar5 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 5:
+//     {
+//         LOG_F(INFO, "DevCmdExt received singleBeamSonar6 - id: %d, cmd: %d", e.id, e.cmd);
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.singleBeamSonar6 = e.cmd;
+//             #ifdef DEBUG
+//             pm->m_currentDriverState.singleBeamSonar6 = e.cmd;
+//             #endif
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received singleBeamSonar6 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 6:
+//     {
+//         LOG_F(INFO, "DevCmdExt received singleBeamSonar7 - id: %d, cmd: %d", e.id, e.cmd);
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.singleBeamSonar7 = e.cmd;
+//             #ifdef DEBUG
+//             pm->m_currentDriverState.singleBeamSonar7 = e.cmd;
+//             #endif
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received singleBeamSonar7 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 7:
+//     {
+//         LOG_F(INFO, "DevCmdExt received singleBeamSonar8 - id: %d, cmd: %d", e.id, e.cmd);
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.singleBeamSonar8 = e.cmd;
+//             #ifdef DEBUG
+//             pm->m_currentDriverState.singleBeamSonar8 = e.cmd;
+//             #endif
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received singleBeamSonar8 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+
+//     case 8:
+//     {
+//         LOG_F(INFO, "DevCmdExt received forwardSonar - id: %d, cmd: %d", e.id, e.cmd);
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.forwardSonar = e.cmd;
+//             #ifdef DEBUG
+//             pm->m_currentDriverState.forwardSonar = e.cmd;
+//             #endif
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received forwardSonar - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 9:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowCover1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowCover1 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+//             MOOSPause(10);
+//             pm->m_subDisSysCmd.bowCover1 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
+//             MOOSPause(1);
+//             pm->m_subDisSysCmd.bowCover1 = 1;
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowCover1 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowCover1 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowCover1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+
+//     case 10:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowCover2 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowCover2 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+//             MOOSPause(1);
+//             pm->m_subDisSysCmd.bowCover2 = 0;
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowCover2 = 1;
+//             //TODO ：动力电上电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowCover2 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowCover2 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowCover2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 11:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowCover3 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowCover3 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.bowCover3 = 0;
+//             //TODO ：动力电断电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowCover3 = 1;
+//             //TODO ：动力电上电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowCover3 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowCover3 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowCover2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 12:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowCover4 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowCover4 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.bowCover4 = 0;
+//             //TODO ：动力电断电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowCover4 = 1;
+//             //TODO ：动力电上电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowCover4 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowCover4 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowCover2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//             break;
+//     }
+//     case 13:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowCover5 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowCover5 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.bowCover5 = 0;
+//             //TODO ：动力电断电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowCover5 = 1;
+//             //TODO ：动力电上电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowCover5 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowCover5 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowCover5 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 14:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowCover6 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowCover6 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.bowCover6 = 0;
+//             //TODO ：动力电断电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowCover6 = 1;
+//             //TODO ：动力电上电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowCover6 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowCover6 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowCover6 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 15:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowRudderDeploy - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowRudderDeploy = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.bowRudderDeploy = 0;
+//             //TODO ：动力电断电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowRudderDeploy = 1;
+//             //TODO ：动力电上电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowRudderDeploy = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowRudderDeploy = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowRudderDeploy - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 16:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowRudderServo1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowRudderServo1 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.bowRudderServo1 = 0;
+//             //TODO ：动力电断电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
+
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowRudderServo1 = 1;
+//             //TODO ：动力电上电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowRudderServo1 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowRudderServo1 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowRudderServo1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 17:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowRudderServo2 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowRudderServo2 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.bowRudderServo2 = 0;
+//             //TODO ：动力电断电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowRudderServo2 = 1;
+//             //TODO ：动力电上电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowRudderServo2 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowRudderServo2 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowRudderServo2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 18:
+//     {
+//         LOG_F(INFO, "DevCmdExt received depth1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.depth1 = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.depth1 = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received depth1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 19:
+//     {
+//         LOG_F(INFO, "DevCmdExt received depth2 - id: %d, cmd: %d", e.id, e.cmd);
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.depth2 = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received depth2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 20:
+//     {
+//         LOG_F(INFO, "DevCmdExt received depth3 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.depth3 = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.depth3 = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received depth3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 21:
+//     {
+//         LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.overDeep1 = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.overDeep1 = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received overDeep1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 22:
+//     {
+//         LOG_F(INFO, " - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.overDeep2 = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.overDeep2 = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received overDeep2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 23:
+//     {
+//         LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.ctd1 = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.ctd1 = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received ctd1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 24:
+//     {
+//         LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.ctd2 = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.ctd2 = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received ctd2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 25:
+//     {
+//         LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.soundVeloc = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.soundVeloc = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received soundVeloc - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 26:
+//     {
+//         LOG_F(INFO, "DevCmdExt received waterInject - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.waterInject = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.waterInject = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.waterInject = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.waterInject = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.waterInject = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received waterInject - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 27:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowWaterInet1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowWaterInet1 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet1 = 0;
+//             //TODO ：动力电断电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet1 = 1;
+//             //TODO ：动力电上电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet1 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet1 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowWaterInet1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 28:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowWaterInet2 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowWaterInet2 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
+//             MOOSPause(1);
+//             pm->m_subDisSysCmd.bowWaterInet2 = 0;
+//             //TODO ：动力电断电
+            
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet2 = 1;
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet2 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet2 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowWaterInet2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 29:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowWaterInet2 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowWaterInet3 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
+//             MOOSPause(1);
+//             pm->m_subDisSysCmd.bowWaterInet3 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet3 = 1;
+//             //TODO ：动力电上电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet3 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet3 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowWaterInet3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 30:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowWaterInet4 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowWaterInet4 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
+//             MOOSPause(1);
+//             pm->m_subDisSysCmd.bowWaterInet4 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet4 = 1;
+//             //TODO ：动力电上电
+//             MOOSPause(1);
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet4 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_ON);
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet4 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//             pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(BREAK_OFF);
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowWaterInet4 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 31:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowWaterInet4 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowWaterInet5 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet5 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet5 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet5 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet5 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowWaterInet5 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 32:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowWaterInet6 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowWaterInet6 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet6 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet6 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet6 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet6 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowWaterInet6 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 33:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowWaterInet7 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowWaterInet7 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet7 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet7 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet7 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet7 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowWaterInet7 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 34:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowWaterInet8 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowWaterInet8 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet8 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet8 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet8 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.bowWaterInet8 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowWaterInet8 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 35:
+//     {
+//         LOG_F(INFO, "DevCmdExt received sideSonar - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.sideSonar = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.sideSonar = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.sideSonar = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.sideSonar = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.sideSonar = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received sideSonar - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 36:
+//     {
+//         LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.lowFreqSonar = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.lowFreqSonar = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received lowFreqSonar - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 37:
+//     {
+//         LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.launchControler = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.launchControler = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received launchControler - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 38:
+//     {
+//         LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.photoSensor = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.photoSensor = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received photoSensor - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 39:
+//     {
+//         LOG_F(INFO, "DevCmdExt received overDeep1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.electSensor = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.electSensor = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received electSensor - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 40:
+//     {
+//         LOG_F(INFO, "DevCmdExt received commMast - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.commMast = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.commMast = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received commMast - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 41:
+//     {
+//         LOG_F(INFO, "DevCmdExt received mastLiftingServo - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.mastLiftingServo = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.mastLiftingServo = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.mastLiftingServo = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.mastLiftingServo = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.mastLiftingServo = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received mastLiftingServo - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 42:
+//     {
+//         LOG_F(INFO, "DevCmdExt received USBL - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.USBL = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.USBL = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received USBL - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 43:
+//     {
+//         LOG_F(INFO, "DevCmdExt received DVL - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.DVL = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.DVL = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received DVL - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 44:
+//     {
+//         LOG_F(INFO, "DevCmdExt received buoyancyAdjust1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.buoyancyAdjust1 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust1 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust1 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust1 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust1 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received buoyancyAdjust1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 45:
+//     {
+//         LOG_F(INFO, "DevCmdExt received buoyancyAdjust2 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.buoyancyAdjust2 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust2 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust2 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust2 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust2 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received buoyancyAdjust2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 46:
+//     {
+//         LOG_F(INFO, "DevCmdExt received buoyancyAdjust3 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.buoyancyAdjust3 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust3 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust3 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust3 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust3 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received buoyancyAdjust3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 47:
+//     {
+//         LOG_F(INFO, "DevCmdExt received buoyancyAdjust4 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.buoyancyAdjust4 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust4 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust4 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust4 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust4 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received buoyancyAdjust4 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 48:
+//     {
+//         LOG_F(INFO, "DevCmdExt received buoyancyAdjust5 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.buoyancyAdjust5 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust5 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust5 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust5 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.buoyancyAdjust5 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received buoyancyAdjust5 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 49:
+//     {
+//         LOG_F(INFO, "DevCmdExt received sternRudderServo1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.sternRudderServo1 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo1 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo1 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo1 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo1 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received sternRudderServo1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 50:
+//     {
+//         LOG_F(INFO, "DevCmdExt received sternRudderServo2 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.sternRudderServo2 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo2 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo2 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo2 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo2 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received sternRudderServo2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 51:
+//     {
+//         LOG_F(INFO, "DevCmdExt received sternRudderServo3 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.sternRudderServo3 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo3 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo3 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo3 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo3 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received sternRudderServo3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 52:
+//     {
+//         LOG_F(INFO, "DevCmdExt received sternRudderServo4 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.sternRudderServo4 = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo4 = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo4 = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo4 = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.sternRudderServo4 = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received sternRudderServo4 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 53:
+//     {
+//         LOG_F(INFO, "DevCmdExt received thruster - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.thruster = e.cmd;
+//         #endif
+//         if (e.cmd == 0)
+//         {
+//             pm->m_subDisSysCmd.thruster = 0;
+//             //TODO ：动力电断电
+//         }
+//         else if (e.cmd == 1)
+//         {
+//             pm->m_subDisSysCmd.thruster = 1;
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 2)
+//         {
+//             pm->m_subDisSysCmd.thruster = 1;
+//         }
+//         else if (e.cmd == 3)
+//         {
+//             //TODO ：动力电上电
+//         }
+//         else if (e.cmd == 4)
+//         {
+//             pm->m_subDisSysCmd.thruster = 0;
+//         }
+//         else if (e.cmd == 5)
+//         {
+//             //TODO ：动力电断电
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received thruster - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 54:
+//     {
+//         LOG_F(INFO, "DevCmdExt received bowThrow - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.bowThrow = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.bowThrow = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received bowThrow - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 55:
+//     {
+//         LOG_F(INFO, "DevCmdExt received sternThrow - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.sternThrow = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.sternThrow = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received sternThrow - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 56:
+//     {
+//         LOG_F(INFO, "DevCmdExt received buoyage - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.buoyage = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.buoyage = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received buoyage - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 57:
+//     {
+//         {
+//             LOG_F(INFO, "DevCmdExt received buoyage - id: %d, cmd: %d", e.id, e.cmd);
+//             #ifdef DEBUG
+//             pm->m_currentDriverState.ins = e.cmd;
+//             #endif
+//             if (e.cmd <= 1)
+//             {
+//                 pm->m_subDisSysCmd.ins = e.cmd;
+//             }
+//             else
+//             {
+//                 LOG_F(WARNING, "DevCmdExt received ins - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//             }
+//             break;
+//         }
+//     }
+//     case 58:
+//     {
+//         LOG_F(INFO, "DevCmdExt received buoyage - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.ntp = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.ntp = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received ntp - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 59:
+//     {
+//         LOG_F(INFO, "DevCmdExt received inputWaterSensor1 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.inputWaterSensor1 = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.inputWaterSensor1 = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received inputWaterSensor1 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 60:
+//     {
+//         LOG_F(INFO, "DevCmdExt received inputWaterSensor2 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.inputWaterSensor2 = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.inputWaterSensor2 = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received inputWaterSensor2 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     case 61:
+//     {
+//         LOG_F(INFO, "DevCmdExt received inputWaterSensor3 - id: %d, cmd: %d", e.id, e.cmd);
+//         #ifdef DEBUG
+//         pm->m_currentDriverState.inputWaterSensor3 = e.cmd;
+//         #endif
+//         if (e.cmd <= 1)
+//         {
+//             pm->m_subDisSysCmd.inputWaterSensor3 = e.cmd;
+//         }
+//         else
+//         {
+//             LOG_F(WARNING, "DevCmdExt received inputWaterSensor3 - id: %d, cmd: %d is out of range", e.id, e.cmd);
+//         }
+//         break;
+//     }
+//     default:
+//         LOG_F(WARNING, "DevCmdExt received unknown id: %d, cmd: %d", e.id, e.cmd);
+//         break;
+//     }
+// }
+
 void PowerManagerFsm::basicNavigationFault(FaultEvent const &e)
 {
    LOG_F(INFO, "basicNavigationFault");
diff --git a/src/pPowerManger/fsm/PowerManagerFsm.hpp b/src/pPowerManger/fsm/PowerManagerFsm.hpp
index 7381eea..5ecf21d 100644
--- a/src/pPowerManger/fsm/PowerManagerFsm.hpp
+++ b/src/pPowerManger/fsm/PowerManagerFsm.hpp
@@ -79,12 +79,12 @@ public:
     static void init(PowerManger* powerManager) {
         pm = powerManager;
     }
-    
+
     virtual void react(tinyfsm::Event const &) { std::cout << "[ Reseve Envt ] " << "No Idear" << std::endl; }
     virtual void react(InitEvent const &) {};
-    virtual void react(StandbyEvent const &) { };
+    virtual void react(StandbyEvent const &) {};
     virtual void react(MasterCommandEvent const &) { LOG_F(INFO, "MasterCommandEvent");};
-    virtual void react(DeviceCmd const &);
+    // virtual void react(DeviceCmd const &);
     virtual void react(DevCmdExt const &e);
     virtual void react(TaskStartEvent const &e);
     virtual void react(FaultEvent const &e);
@@ -94,22 +94,38 @@ public:
     //测试事件
     virtual void react(TestEvent const &);
 
-    //操作函数
+    //======================操作函数=============================
     void handelPowerCmd();
     void handleModCmd();
     void handleWorkCmd();
     void handleDeviceCmd();
 
+    // 非水声仪表设备
     void handleNoPowerDeviceCmd(int id , int cmd);
+    // 水声设备处理
+    void handleHydroacousticDeviceCmd(int id , int cmd);
+    // 艏舵设备处理
     void handleBowRudderSystemCmd(int id, int cmd);
+    // 启闭机构处理
     void handleActuatorCmd(int id, int cmd);
+    // 艉舵设备处理
     void handleSternRudderCmd(int id, int cmd);
+    // 推进电机处理
     void handlePropulsionMotorCmd(int id, int cmd);
+    // 浮调设备处理
     void handleBuoyancyAdjustmentCmd(int id, int cmd);
+    // FB设备处理
     void handleFBSystemCmd(int id, int cmd);
+    // 舷侧设备处理
     void handleSideSonarCmd(int id, int cmd);
+    // 桅杆设备处理
     void handleMastFoldingSystemCmd(int id, int cmd);
 
+    //获取仅仪表设备状态
+    // void getNoPowerDeviceStatus()
+
+
+
     bool handPowerProtection(DevCmdExt const &e);
     //故障处理
     void basicNavigationFault(FaultEvent const &e);
diff --git a/src/pPowerManger/httpserver/data.h b/src/pPowerManger/httpserver/data.h
index c657739..22ed19e 100644
--- a/src/pPowerManger/httpserver/data.h
+++ b/src/pPowerManger/httpserver/data.h
@@ -1727,10 +1727,10 @@ function getDCDCStatusText(status) {
 function getEmergencyStatusText(status) {
     const statuses = {
         0: '正常',
-        58: '一级紧急',
-        59: '二级紧急',
-        60: '三级紧急',
-        61: '四级紧急',
+        58: '四级紧急',
+        59: '三级紧急',
+        60: '二级紧急',
+        61: '一级紧急',
     };
     return statuses[status] || '未知状态';
 }
diff --git a/src/pPowerManger/httpserver/httpserver.cpp b/src/pPowerManger/httpserver/httpserver.cpp
index 95092c9..a33c242 100644
--- a/src/pPowerManger/httpserver/httpserver.cpp
+++ b/src/pPowerManger/httpserver/httpserver.cpp
@@ -656,6 +656,7 @@ void HttpServer::pushSystemData() {
     j["moosdb"]["serverHost"] = Json::Value(m_powerManger->GetServerHost());
     j["moosdb"]["serverPort"] = Json::Value(m_powerManger->GetServerPort());
     
+
     // degub
     #ifdef _DEBUG
     //订阅消息
@@ -714,6 +715,17 @@ void HttpServer::pushSystemData() {
     j["debug"]["m_liBatStateMsg_st_debug"]["name"] = Json::Value(m_powerManger->m_upperCommManager->m_liBatStateMsg_st_debug.first);
     j["debug"]["m_liBatStateMsg_st_debug"]["content"] = Json::Value(m_powerManger->m_upperCommManager->m_liBatStateMsg_st_debug.second);
     #endif
+
+    j["ccuColCmd"]["fcmode"] = Json::Value(m_powerManger->m_CcuColCmd.fcmode);
+    j["ccuColCmd"]["fcuCmd"] = Json::Value(m_powerManger->m_CcuColCmd.fcuCmd);
+    j["ccuColCmd"]["fcuPowerEfficiency"] = Json::Value(m_powerManger->m_CcuColCmd.fcuPowerEfficiency);
+    j["ccuColCmd"]["insChargeEnable"] = Json::Value(m_powerManger->m_CcuColCmd.insChargeEnable);
+    j["ccuColCmd"]["insBatCmd"] = Json::Value(m_powerManger->m_CcuColCmd.insBatCmd);
+    j["ccuColCmd"]["powerBatCmd"] = Json::Value(m_powerManger->m_CcuColCmd.powerBatCmd);
+    j["ccuColCmd"]["powerBatEfficiency"] = Json::Value(m_powerManger->m_CcuColCmd.powerBatEfficiency);
+    j["ccuColCmd"]["heartbeat"] = Json::Value(m_powerManger->m_CcuColCmd.heartbeat);
+    j["ccuColCmd"]["masterState"] = Json::Value(m_powerManger->m_CcuColCmd.masterState);
+
     // 时间戳
     j["timestamp"] = Json::Value((Json::UInt64)(std::chrono::duration_cast<std::chrono::milliseconds>(
         std::chrono::system_clock::now().time_since_epoch()).count()));
diff --git a/src/pPowerManger/httpserver/index.h b/src/pPowerManger/httpserver/index.h
index f2605cf..8cb97d5 100644
--- a/src/pPowerManger/httpserver/index.h
+++ b/src/pPowerManger/httpserver/index.h
@@ -15,9 +15,11 @@ const std::string INDEX_HTML = R"(
     --primary-color: #2563eb;
     --primary-hover: #1d4ed8;
     --bg-color: #f8fafc;
-    --sidebar-width: 60px;
-    --sidebar-expanded: 220px;
-    --header-height: 36px;
+    --sidebar-width: 50px;
+    --sidebar-expanded: 200px;
+    --header-height: 40px;
+    --card-shadow: 0 2px 4px -1px rgba(0, 0, 0, 0.1), 0 1px 2px -1px rgba(0, 0, 0, 0.06);
+    --transition-speed: 0.3s;
 }
 
 * {
@@ -30,6 +32,7 @@ body {
     font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
     background-color: var(--bg-color);
     color: #1a1a1a;
+    line-height: 1.5;
 }
 
 .container {
@@ -45,11 +48,11 @@ body {
 .header {
     grid-area: unset;
     background: white;
-    padding: 0 0.5rem;
+    padding: 0 0.75rem;
     display: flex;
     align-items: center;
     justify-content: space-between;
-    box-shadow: 0 1px 2px rgba(0, 0, 0, 0.1);
+    box-shadow: var(--card-shadow);
     position: fixed;
     top: 0;
     right: 0;
@@ -59,9 +62,10 @@ body {
 }
 
 .header h1 {
-    font-size: 1.25rem;
+    font-size: 1.1rem;
     font-weight: 600;
     color: #1a1a1a;
+    letter-spacing: -0.025em;
 }
 
 .sidebar {
@@ -72,9 +76,9 @@ body {
     position: fixed;
     left: 0;
     top: 0;
-    padding: 0.5rem 0.25rem;
-    transition: width 0.3s ease;
-    box-shadow: 1px 0 3px rgba(0, 0, 0, 0.1);
+    padding: 1rem 0.5rem;
+    transition: width var(--transition-speed) ease;
+    box-shadow: var(--card-shadow);
     z-index: 20;
 }
 
@@ -85,17 +89,17 @@ body {
 .sidebar-menu {
     display: flex;
     flex-direction: column;
-    gap: 0.5rem;
+    gap: 0.75rem;
 }
 
 .sidebar-button {
     display: flex;
     align-items: center;
-    padding: 0.5rem 0.75rem;
-    border-radius: 0.375rem;
+    padding: 0.75rem 1rem;
+    border-radius: 0.5rem;
     color: #4b5563;
     text-decoration: none;
-    transition: all 0.2s ease;
+    transition: all var(--transition-speed) ease;
     white-space: nowrap;
     overflow: hidden;
 }
@@ -103,6 +107,7 @@ body {
 .sidebar-button:hover {
     background: var(--bg-color);
     color: var(--primary-color);
+    transform: translateX(4px);
 }
 
 .sidebar-icon {
@@ -113,80 +118,440 @@ body {
 
 .main-content {
     grid-area: main-content;
-    padding: 1px;
+    padding: 1rem;
     margin-top: var(--header-height);
+    max-width: 1800px;
+    margin-left: auto;
+    margin-right: auto;
 }
 
 .status-bar {
     position: fixed;
     top: 4px;
-    right: 8px;
+    right: 12px;
     background: white;
-    padding: 4px 8px;
-    border-radius: 4px;
-    box-shadow: 0 2px 4px rgba(0, 0, 0, 0.1);
+    padding: 4px 12px;
+    border-radius: 8px;
+    box-shadow: var(--card-shadow);
     display: flex;
-    gap: 8px;
+    gap: 12px;
     z-index: 15;
 }
 
 .status-info {
     display: flex;
     align-items: center;
-    gap: 8px;
+    gap: 12px;
     color: #4b5563;
-    font-size: 0.875rem;
+    font-size: 0.8rem;
 }
 
 .status-info span {
     display: flex;
     align-items: center;
-    gap: 0.5rem;
+    gap: 2px 6px;
+    padding: 2px 6px;
+    border-radius: 4px;
+    background: var(--bg-color);
 }
 
 .data-panel {
     background: white;
-    border-radius: 4px;
-    padding: 20px;
-    box-shadow: 0 2px 4px rgba(0, 0, 0, 0.1);
-    height: calc(100vh - var(--header-height) + 3px);
+    border-radius: 12px;
+    padding: 16px;
+    box-shadow: var(--card-shadow);
+    height: calc(100vh - var(--header-height) - 2rem);
     overflow: auto;
+    gap: 16px;
+}
+
+.status-cards {
+    display: grid;
+    grid-template-columns: repeat(auto-fit, minmax(240px, 1fr));
+    gap: 16px;
+    margin-bottom: 16px;
+}
+
+.status-card {
+    background: white;
+    border-radius: 12px;
+    padding: 12px;
+    box-shadow: var(--card-shadow);
+    border: 1px solid #e5e7eb;
+    transition: transform var(--transition-speed) ease;
+}
+
+.status-card:hover {
+    transform: translateY(-4px);
+}
+
+.status-card h3 {
+    font-size: 1rem;
+    font-weight: 600;
+    color: #1a1a1a;
+    margin-bottom: 0.75rem;
+    padding-bottom: 0.5rem;
+    border-bottom: 2px solid #e5e7eb;
+}
+
+.status-item {
+    display: flex;
+    align-items: center;
+    gap: 8px;
+    padding: 4px 8px;
+    margin-bottom: 4px;
+    min-height: 32px;
+    border-bottom: 1px solid #f3f4f6;
+    transition: background-color var(--transition-speed) ease;
+}
+
+.status-item:hover {
+    background: #f9fafb;
+}
+
+.status-item:last-child {
+    border-bottom: none;
+}
+
+.status-label {
+    color: #4b5563;
+    font-weight: 500;
+    font-size: 0.85rem;
+}
+
+.status-value {
+    margin-left: auto;
+    font-weight: 600;
+    font-size: 0.85rem;
+    padding: 2px 6px;
+    border-radius: 4px;
+    min-width: 50px;
+    text-align: center;
+}
+
+.value-group {
+    margin-left: auto;
+    font-weight: 600;
+    font-family: 'SF Mono', 'Consolas', monospace;
+    text-align: right;
+    font-size: 0.8rem;
+}
+
+.status-value.online {
+    background-color: #dcfce7;
+    color: #166534;
+}
+
+.status-value.offline {
+    background-color: #fee2e2;
+    color: #991b1b;
+}
+
+.status-value.timeout {
+    background-color: #fef3c7;
+    color: #92400e;
+}
+
+.status-time {
+    font-size: 0.75rem;
+    color: #666;
+    margin-left: auto;
+    white-space: nowrap;
 }
 
 .panel-title {
-    font-size: 1.2rem;
+    font-size: 1.25rem;
     font-weight: 600;
     color: #1a1a1a;
-    margin-bottom: 8px;
-    padding-bottom: 4px;
-    border-bottom: 1px solid #e5e7eb;
+    margin-bottom: 1rem;
+    padding-bottom: 0.5rem;
+    border-bottom: 2px solid #e5e7eb;
 }
 
-.content-placeholder {
+.battery-cards {
+    display: grid;
+    grid-template-columns: repeat(auto-fit, minmax(240px, 1fr));
+    gap: 16px;
+    margin-top: 16px;
+    margin-left: auto;
+    margin-right: auto;
+}
+
+.battery-card {
+    background: white;
+    border-radius: 12px;
+    padding: 16px;
+    box-shadow: var(--card-shadow);
+    transition: transform var(--transition-speed) ease;
+    max-width: none;
+    margin: 0 auto;
+    width: 100%;
+    border: 1px solid #e5e7eb;
+}
+
+.battery-card:hover {
+    transform: translateY(-4px);
+}
+
+.battery-card h3 {
+    font-size: 1rem;
+    font-weight: 600;
+    color: #1a1a1a;
+    margin-bottom: 0.75rem;
+    padding-bottom: 0.5rem;
+    border-bottom: 2px solid #e5e7eb;
+    text-align: center;
+}
+
+.battery-data {
+    display: flex;
+    flex-direction: column;
+    gap: 0;
+}
+
+.data-row {
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+    padding: 6px 4px;
+    border-radius: 0;
+    transition: background-color var(--transition-speed) ease;
+    gap: 8px;
+    min-height: 28px;
+    border-bottom: 1px solid #f3f4f6;
+    background: transparent;
+}
+
+.data-row:last-child {
+    border-bottom: none;
+}
+
+.data-row:hover {
+    background: #f9fafb;
+}
+
+.data-row span:first-child {
+    color: #4b5563;
+    font-weight: 500;
+    white-space: nowrap;
+    font-size: 0.8rem;
+}
+
+.data-row span:last-child {
+    color: #1a1a1a;
+    font-weight: 600;
+    font-family: 'SF Mono', 'Consolas', monospace;
+    text-align: right;
+    min-width: 60px;
+    font-size: 0.8rem;
+}
+
+.value-changing {
+    animation: highlight 0.5s ease;
+}
+
+@keyframes highlight {
+    0% { background-color: rgba(37, 99, 235, 0.1); }
+    100% { background-color: transparent; }
+}
+
+.relay-status {
+    font-weight: 600;
+    padding: 2px 8px;
+    border-radius: 4px;
+    min-width: 50px;
+    text-align: center;
+    margin-left: auto;
+    transition: all 0.3s ease;
+}
+
+.relay-status.on {
+    background-color: #dcfce7;
+    color: #166534;
+}
+
+.relay-status.off {
+    background-color: #fee2e2;
+    color: #991b1b;
+}
+
+.relay-status.unstable {
+    background-color: #fef3c7;
+    color: #92400e;
+    animation: none;
+}
+
+@media (min-width: 768px) {
+    .battery-data {
+        display: grid;
+        grid-template-columns: repeat(2, 1fr);
+        gap: 0 24px;
+    }
+
+    .data-row:nth-last-child(2):nth-child(odd) {
+        border-bottom: none;
+    }
+}
+
+@media (max-width: 767px) {
+    .status-cards, .battery-cards {
+        grid-template-columns: 1fr;
+    }
+    
+    .main-content {
+        padding: 0.5rem;
+    }
+    
+    .data-panel {
+        padding: 12px;
+    }
+}
+
+@media (min-width: 768px) and (max-width: 1199px) {
+    .status-cards {
+        grid-template-columns: repeat(3, 1fr);
+    }
+    
+    .battery-cards {
+        grid-template-columns: repeat(2, 1fr);
+    }
+}
+
+@media (min-width: 1200px) and (max-width: 1599px) {
+    .status-cards, .battery-cards {
+        grid-template-columns: repeat(4, 1fr);
+    }
+}
+
+@media (min-width: 1600px) {
+    .status-cards, .battery-cards {
+        grid-template-columns: repeat(5, 1fr);
+    }
+}
+
+.control-grid {
+    display: grid;
+    grid-template-columns: repeat(auto-fit, minmax(250px, 1fr));
+    gap: 16px 24px;
+    margin-bottom: 24px;
+}
+.control-group {
+    display: flex;
+    flex-direction: column;
+    gap: 8px;
+}
+.button-group {
+    display: flex;
+    gap: 8px;
+}
+.button {
+    flex-grow: 1;
+    padding: 8px 12px;
+    border: 1px solid #d1d5db;
+    border-radius: 6px;
+    background-color: white;
+    color: #374151;
+    font-weight: 500;
+    cursor: pointer;
+    transition: all 0.2s;
+    font-size: 0.85rem;
+}
+.button:hover {
+    background-color: #f9fafb;
+    border-color: #9ca3af;
+}
+.button-active {
+    background-color: var(--primary-color);
+    color: white;
+    border-color: var(--primary-color);
+}
+.button-active:hover {
+    background-color: var(--primary-hover);
+    border-color: var(--primary-hover);
+}
+.slider-group {
+    grid-column: 1 / -1; /* Span across all columns */
+}
+.slider-container {
     display: flex;
     align-items: center;
-    justify-content: center;
-    height: calc(100% - 2rem);
-    color: #6b7280;
-    font-size: 1.1rem;
-    margin-top: 24px;
-    padding: 0 20px;
+    gap: 16px;
+}
+.slider {
+    flex-grow: 1;
+    height: 8px;
+    -webkit-appearance: none;
+    background: #e5e7eb;
+    border-radius: 4px;
+    outline: none;
+}
+.slider::-webkit-slider-thumb {
+    -webkit-appearance: none;
+    width: 20px;
+    height: 20px;
+    background: var(--primary-color);
+    border-radius: 50%;
+    cursor: pointer;
+    border: 3px solid white;
+    box-shadow: 0 0 5px rgba(0,0,0,0.2);
+}
+.slider-value {
+    min-width: 60px;
+    text-align: right;
+    font-weight: 600;
+    font-family: 'SF Mono', 'Consolas', monospace;
+}
+.form-submit {
+    margin-top: 16px;
+    width: 100%;
+    padding: 12px;
+    font-size: 1rem;
+    grid-column: 1 / -1;
+}
+.status-message {
+    padding: 12px;
+    border-radius: 8px;
+    background-color: #f0fdf4;
+    color: #166534;
+    display: none;
+    margin-bottom: 16px;
+    text-align: center;
+    font-weight: 500;
+}
+.status-message.error {
+    background-color: #fef2f2;
+    color: #991b1b;
 }
 
-@media (max-width: 768px) {
-    .container {
-        grid-template-columns: 1fr;
-        grid-template-areas:
-            "header"
-            "main-content";
-    }
+.status-value.emergency {
+    background-color: #fee2e2;
+    color: #b91c1c;
+    animation: emergency-pulse 1.5s infinite;
+    font-weight: bold;
+}
 
-    .sidebar {
-        transform: translateX(-100%);
-    }
+@keyframes emergency-pulse {
+    0% { background-color: #fee2e2; }
+    50% { background-color: #fca5a5; }
+    100% { background-color: #fee2e2; }
+}
 
-    .header {
-        left: 0;
+.battery-card.has-alarm {
+    animation: alarm-pulse 2s infinite ease-in-out;
+}
+
+@keyframes alarm-pulse {
+    0% {
+        border-color: #f87171; /* light red */
+        box-shadow: 0 0 0 0 rgba(239, 68, 68, 0.7), var(--card-shadow);
+    }
+    70% {
+        border-color: #ef4444; /* red */
+        box-shadow: 0 0 0 12px rgba(239, 68, 68, 0), var(--card-shadow);
+    }
+    100% {
+        border-color: #f87171; /* light red */
+        box-shadow: 0 0 0 0 rgba(239, 68, 68, 0), var(--card-shadow);
     }
 }
 </style>
@@ -230,11 +595,11 @@ body {
         <h1>Power Manager System</h1>
         <div class="status-bar">
             <div class="status-info">
-                <span>🟢 系统状态: <span id="systemStatus">运行中</span></span>
-                <span>⚡ 应用频率: <span id="appFreq">0</span> Hz</span>
-                <span>📡 通信频率: <span id="commFreq">0</span> Hz</span>
-                <span>💻 CPU负载: <span id="cpuLoad">0</span>%</span>
-                <span>⏱️ 迭代间隔: <span id="timeSinceIterate">0</span>ms</span>
+                <span>🟢 系统状态: <span id="header-system-status">运行中</span></span>
+                <span>⚡ 应用频率: <span id="header-appFreq">0</span> Hz</span>
+                <span>📡 通信频率: <span id="header-commFreq">0</span> Hz</span>
+                <span>💻 CPU负载: <span id="header-cpuLoad">0</span>%</span>
+                <span>⏱️ 迭代间隔: <span id="header-timeSinceIterate">0</span>ms</span>
                 <span>🕒 更新时间: <time id="updateTime">2025-05-18 15:52</time></span>
             </div>
         </div>
@@ -242,73 +607,1153 @@ body {
 
     <div class="main-content">
         <div class="data-panel">
+            <div class="status-cards">
+                <div class="status-card">
+                    <h3>系统数据健康</h3>
+                    <div class="status-item">
+                        <span class="status-label">系统状态:</span>
+                        <span id="card-system-status" class="status-value">运行中</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">应用频率:</span>
+                        <span class="value-group"><span id="card-appFreq">0</span> Hz</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">通信频率:</span>
+                        <span class="value-group"><span id="card-commFreq">0</span> Hz</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">CPU负载:</span>
+                        <span class="value-group"><span id="card-cpuLoad">0</span>%</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">迭代间隔:</span>
+                        <span class="value-group"><span id="card-timeSinceIterate">0</span>ms</span>
+                    </div>
+                </div>
+
+                <div class="status-card">
+                    <h3>设备通信状态</h3>
+                    <div class="status-item">
+                        <span class="status-label">仪表锂电池:</span>
+                        <span id="ins-online-state" class="status-value">-</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">动力锂电池:</span>
+                        <span id="dyn-online-state" class="status-value">-</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">燃料电池:</span>
+                        <span id="fuel-online-state" class="status-value">-</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">高压配电板:</span>
+                        <span id="high-voltage-online-state" class="status-value">-</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">低压配电板:</span>
+                        <span id="low-voltage-online-state" class="status-value">-</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">复合管控主机:</span>
+                        <span id="composite-online-state" class="status-value">-</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">复合管控备机:</span>
+                        <span id="composite-backup-online-state" class="status-value">-</span>
+                    </div>
+                </div>
+
+                <div class="status-card">
+                    <h3>通信状态详情</h3>
+                    <div class="status-item">
+                        <span class="status-label">CCU状态:</span>
+                        <span id="ccu-status-timeout" class="status-value">-</span>
+                        <span id="ccu-status-last-update" class="status-time">-</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">高压配电1:</span>
+                        <span id="dis-hv-c1-timeout" class="status-value">-</span>
+                        <span id="dis-hv-c1-last-update" class="status-time">-</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">高压配电2:</span>
+                        <span id="dis-hv-c2-timeout" class="status-value">-</span>
+                        <span id="dis-hv-c2-last-update" class="status-time">-</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">低压配电1:</span>
+                        <span id="dis-lv-c1-timeout" class="status-value">-</span>
+                        <span id="dis-lv-c1-last-update" class="status-time">-</span>
+                    </div>
+                    <div class="status-item">
+                        <span class="status-label">低压配电2:</span>
+                        <span id="dis-lv-c2-timeout" class="status-value">-</span>
+                        <span id="dis-lv-c2-last-update" class="status-time">-</span>
+                    </div>
+                </div>
+                <div class="battery-card">
+                    <h3>CCU 控制指令</h3>
+                    <div class="battery-data">
+                        <div class="data-row"><span>燃料电池模式设定:</span><span id="fcmode">--</span></div>
+                        <div class="data-row"><span>燃料电池指令:</span><span id="fcuCmd">--</span></div>
+                        <div class="data-row"><span>燃料电池动力通路功率配置:</span><span><span id="fcuPowerEfficiency">--</span> kW</span></div>
+                        <div class="data-row"><span>仪表锂电池允许充电标志位:</span><span id="insChargeEnable">--</span></div>
+                        <div class="data-row"><span>仪表锂电池启停指令:</span><span id="insBatCmd">--</span></div>
+                        <div class="data-row"><span>动力锂电池启停指令:</span><span id="powerBatCmd">--</span></div>
+                        <div class="data-row"><span>动力锂电池电池功率配置值:</span><span><span id="powerBatEfficiency">--</span> kW</span></div>
+                        <div class="data-row"><span>主机心跳:</span><span id="heartbeat">--</span></div>
+                        <div class="data-row"><span>主机状态:</span><span id="masterState">--</span></div>
+                    </div>
+                </div>
+            </div>
+
             <div class="panel-title">系统数据监控</div>
-            <div class="content-placeholder">
-                <p>暂无数据显示</p>
+            <div class="battery-cards">
+                <div class="battery-card">
+                    <h3>动力锂电池状态</h3>
+                    <div class="battery-data">
+                        <div class="data-row"><span>正极断路器:</span><span id="dyn_pos_relay_status" class="relay-status">-</span></div>
+                        <div class="data-row"><span>负极断路器:</span><span id="dyn_neg_relay_status" class="relay-status">-</span></div>
+                        <div class="data-row"><span>充电继电器:</span><span id="dyn_charge_relay_status" class="relay-status">-</span></div>
+                        <div class="data-row"><span>SOC:</span><span id="dyn_soc">-</span>%</div>
+                        <div class="data-row"><span>LINK电压:</span><span id="dyn_voltage_link">-</span>V</div>
+                        <div class="data-row"><span>PACK电压:</span><span id="dyn_voltage_pack">-</span>V</div>
+                        <div class="data-row"><span>电流:</span><span id="dyn_current">-</span>A</div>
+                        <div class="data-row"><span>正极绝缘电阻:</span><span id="dyn_resistance_pos">-</span>kΩ</div>
+                        <div class="data-row"><span>负极绝缘电阻:</span><span id="dyn_resistance_neg">-</span>kΩ</div>
+                        <div class="data-row"><span>总能量:</span><span id="dyn_total_energy">-</span>kWh</div>
+                        <div class="data-row"><span>最大放电功率:</span><span id="dyn_max_discharge_power">-</span>kW</div>
+                        <div class="data-row"><span>充电状态:</span><span id="dyn_charge_status">-</span></div>
+                        <div class="data-row"><span>紧急状态:</span><span id="dyn_emergency_status" class="status-value">-</span></div>
+                        </div>
+                        </div>
+                
+                <div class="battery-card">
+                    <h3>仪表锂电池状态</h3>
+                    <div class="battery-data">
+                        <div class="data-row"><span>正极断路器:</span><span id="ins_pos_relay_status" class="relay-status">-</span></div>
+                        <div class="data-row"><span>负极断路器:</span><span id="ins_neg_relay_status" class="relay-status">-</span></div>
+                        <div class="data-row"><span>充电继电器:</span><span id="ins_charge_relay_status" class="relay-status">-</span></div>
+                        <div class="data-row"><span>SOC:</span><span id="ins_soc">-</span>%</div>
+                        <div class="data-row"><span>LINK电压:</span><span id="ins_voltage_link">-</span>V</div>
+                        <div class="data-row"><span>PACK电压:</span><span id="ins_voltage_pack">-</span>V</div>
+                        <div class="data-row"><span>电流:</span><span id="ins_current">-</span>A</div>
+                        <div class="data-row"><span>正极绝缘电阻:</span><span id="ins_resistance_pos">-</span>kΩ</div>
+                        <div class="data-row"><span>负极绝缘电阻:</span><span id="ins_resistance_neg">-</span>kΩ</div>
+                        <div class="data-row"><span>总能量:</span><span id="ins_total_energy">-</span>kWh</div>
+                        <div class="data-row"><span>最大放电功率:</span><span id="ins_max_discharge_power">-</span>kW</div>
+                        <div class="data-row"><span>充电状态:</span><span id="ins_charge_status">-</span></div>
+                        <div class="data-row"><span>紧急状态:</span><span id="ins_emergency_status" class="status-value">-</span></div>
+                        </div>
+                        </div>
+
+                <div class="battery-card">
+                    <h3>燃料电池状态</h3>
+                    <div class="battery-data">
+                        <div class="data-row"><span>FC模式:</span><span id="fc-mode">-</span></div>
+                        <div class="data-row"><span>FC状态:</span><span id="fc-status">-</span></div>
+                        <div class="data-row"><span>故障等级:</span><span id="fc-fault-level">-</span></div>
+                        <div class="data-row"><span>输出功率限制:</span><span id="output-power-limit">-</span>W</div>
+                        <div class="data-row"><span>氢容量:</span><span id="hydrogen-capacity">-</span>%</div>
+                        <div class="data-row"><span>液氧容量:</span><span id="liquid-oxygen-capacity">-</span>%</div>
+                        <div class="data-row"><span>H2浓度1:</span><span id="h2-concentration1">-</span>ppm</div>
+                        <div class="data-row"><span>H2浓度2:</span><span id="h2-concentration2">-</span>ppm</div>
+                        </div>
+                        </div>
+
+                <div class="battery-card">
+                    <h3>锂电舱环境数据</h3>
+                    <div class="battery-data">
+                        <div class="data-row"><span>仪表舱压力:</span><span id="cabin-pressure1">-</span>kPa</div>
+                        <div class="data-row"><span>动力舱压力:</span><span id="cabin-pressure2">-</span>kPa</div>
+                        <div class="data-row"><span>仪表舱温度:</span><span id="cabin-temp1">-</span>°C</div>
+                        <div class="data-row"><span>动力舱温度:</span><span id="cabin-temp2">-</span>°C</div>
+                        <div class="data-row"><span>仪表舱湿度:</span><span id="cabin-humidity1">-</span>%</div>
+                        <div class="data-row"><span>动力舱湿度:</span><span id="cabin-humidity2">-</span>%</div>
+                        </div>
+                    </div>
+                </div>
+                
+            <div class="panel-title">电池报警状态</div>
+            <div class="battery-cards">
+                <div class="battery-card" id="dyn-alarm-card">
+                    <h3>动力锂电池报警</h3>
+                    <div class="battery-data">
+                        <div class="data-row"><span>报警标志1:</span><span id="dyn-alarm-flag1">-</span></div>
+                        <div class="data-row"><span>报警标志2:</span><span id="dyn-alarm-flag2">-</span></div>
+                        <div class="data-row"><span>报警标志3:</span><span id="dyn-alarm-flag3">-</span></div>
+                        <div class="data-row"><span>报警标志4:</span><span id="dyn-alarm-flag4">-</span></div>
+                        <div class="data-row"><span>报警标志5:</span><span id="dyn-alarm-flag5">-</span></div>
+                        <div class="data-row"><span>报警标志6:</span><span id="dyn-alarm-flag6">-</span></div>
+                        <div class="data-row"><span>充电等级:</span><span id="dyn-charge-level">-</span></div>
+                        <div class="data-row"><span>漏水状态:</span><span id="water-leak-status-from-dynbat">-</span></div>
+                        </div>
+                        </div>
+                <div class="battery-card" id="ins-alarm-card">
+                    <h3>仪表锂电池报警</h3>
+                    <div class="battery-data">
+                        <div class="data-row"><span>报警标志1:</span><span id="ins-alarm-flag1">-</span></div>
+                        <div class="data-row"><span>报警标志2:</span><span id="ins-alarm-flag2">-</span></div>
+                        <div class="data-row"><span>报警标志3:</span><span id="ins-alarm-flag3">-</span></div>
+                        <div class="data-row"><span>报警标志4:</span><span id="ins-alarm-flag4">-</span></div>
+                        <div class="data-row"><span>报警标志5:</span><span id="ins-alarm-flag5">-</span></div>
+                        <div class="data-row"><span>报警标志6:</span><span id="ins-alarm-flag6">-</span></div>
+                        <div class="data-row"><span>漏水状态:</span><span id="water-leak-status-from-insbat">-</span></div>
+                        <div class="data-row"><span>DCDC状态:</span><span id="dcdc-status-from-insbat">-</span></div>
+                        </div>
+                        </div>
+                        </div>
+
+            <div class="panel-title">配电系统状态</div>
+            <div class="battery-cards">
+                <div class="battery-card">
+                    <h3>动力母线状态</h3>
+                    <div class="battery-data">
+                        <div class="data-row"><span>燃料电池断路器:</span><span id="power-bus-fuel-cell-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>动力锂电池断路器:</span><span id="power-bus-power-lithium-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>推进电机断路器:</span><span id="power-bus-propulsion-motor-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>锂电池组仪表断路器:</span><span id="power-bus-lithium-meter-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>DC/DC5模块断路器:</span><span id="power-bus-dcdc5-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>艏部高压配电箱断路器:</span><span id="power-bus-bow-high-voltage-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>艉部FT装置4/5断路器:</span><span id="power-bus-stern-ft-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>艉舵开关1断路器:</span><span id="power-bus-stern-rudder1-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>艉舵开关2断路器:</span><span id="power-bus-stern-rudder2-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>FB预留断路器:</span><span id="power-bus-fb-reserved-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>TYZ预留断路器:</span><span id="power-bus-tyz-reserved-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>预留断路器:</span><span id="power-bus-reserved-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>DC/DC5模块状态:</span><span id="power-bus-dcdc-status">-</span></div>
+                        <div class="data-row"><span>冷却系统状态:</span><span id="power-bus-cooling-status">-</span></div>
+                        <div class="data-row"><span>动力母排绝缘状态:</span><span id="power-bus-insulation-status">-</span></div>
+                        <div class="data-row"><span>A汇流排绝缘状态:</span><span id="power-bus-a-insulation-status">-</span></div>
+                        <div class="data-row"><span>仪表电源状态:</span><span id="power-bus-meter-power-status">-</span></div>
+                        <div class="data-row"><span>应急电源状态:</span><span id="power-bus-emergency-power-status">-</span></div>
+                        <div class="data-row"><span>DC/DC温度:</span><span id="power-bus-dcdc-temperature">-</span>°C</div>
+                        <div class="data-row"><span>动力汇流排电压:</span><span id="power-bus-voltage">-</span>V</div>
+                        <div class="data-row"><span>DC/DC5模块电流:</span><span id="power-bus-dcdc-current">-</span>A</div>
+                        <div class="data-row"><span>动力汇流排电流:</span><span id="power-bus-current">-</span>A</div>
+                        <div class="data-row"><span>A汇流排电压:</span><span id="power-bus-a-voltage">-</span>V</div>
+                        <div class="data-row"><span>推进电机控制箱电流:</span><span id="power-bus-propulsion-current">-</span>A</div>
+                        <div class="data-row"><span>A汇流排电流:</span><span id="power-bus-a-current">-</span>A</div>
+                        <div class="data-row"><span>锂电池组(仪表)电流:</span><span id="power-bus-lithium-meter-current">-</span>A</div>
+                        <div class="data-row"><span>艏部高压配电箱电流:</span><span id="power-bus-bow-high-voltage-current">-</span>A</div>
+                        <div class="data-row"><span>艉部FT装置4/5电流:</span><span id="power-bus-stern-ft-current">-</span>A</div>
+                        <div class="data-row"><span>TYZ预留开关电流:</span><span id="power-bus-tyz-reserved-current">-</span>A</div>
+                        <div class="data-row"><span>艉舵开关1电流:</span><span id="power-bus-stern-rudder1-current">-</span>A</div>
+                        <div class="data-row"><span>艉舵开关2电流:</span><span id="power-bus-stern-rudder2-current">-</span>A</div>
+                        <div class="data-row"><span>预留电流1:</span><span id="power-bus-reserved-current1">-</span>A</div>
+                        <div class="data-row"><span>FB预留电流:</span><span id="power-bus-fb-reserved-current">-</span>A</div>
+                        <div class="data-row"><span>预留电流2:</span><span id="power-bus-reserved-current2">-</span>A</div>
+                        <div class="data-row"><span>预留电流3:</span><span id="power-bus-reserved-current3">-</span>A</div>
+                        <div class="data-row"><span>冷却水压力:</span><span id="power-bus-cool-water-pressure">-</span>kPa</div>
+                        </div>
+                        </div>
+
+                <div class="battery-card">
+                    <h3>仪表主母线状态</h3>
+                    <div class="battery-data">
+                        <div class="data-row"><span>锂电池组(仪表)断路器:</span><span id="instrument-main-bus-lithium-meter-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>艏部低压配电箱断路器:</span><span id="instrument-main-bus-bow-low-voltage-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>UNIT4仪表DC48V断路器:</span><span id="instrument-main-bus-unit4-dc48v-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>DC-C1直流配电板断路器:</span><span id="instrument-main-bus-dc-c1-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>预留断路器1:</span><span id="instrument-main-bus-reserved-circuit-breaker1" class="relay-status">-</span></div>
+                        <div class="data-row"><span>预留断路器2:</span><span id="instrument-main-bus-reserved-circuit-breaker2" class="relay-status">-</span></div>
+                        <div class="data-row"><span>应急锂电池组2断路器:</span><span id="instrument-main-bus-emergency-lithium2-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>仪表电源状态:</span><span id="instrument-main-bus-power-status">-</span></div>
+                        <div class="data-row"><span>应急电源状态:</span><span id="instrument-main-bus-emergency-power-status">-</span></div>
+                        <div class="data-row"><span>仪表母线排绝缘状态:</span><span id="instrument-main-bus-insulation-status">-</span></div>
+                        <div class="data-row"><span>仪表母排电压:</span><span id="instrument-main-bus-voltage">-</span>V</div>
+                        <div class="data-row"><span>艏部低压配电箱电流:</span><span id="instrument-main-bus-bow-low-voltage-current">-</span>A</div>
+                        <div class="data-row"><span>DC-C1仪表DC48V电流:</span><span id="instrument-main-bus-dc-c1-current">-</span>A</div>
+                        <div class="data-row"><span>预留电流1:</span><span id="instrument-main-bus-reserved-current1">-</span>A</div>
+                        <div class="data-row"><span>应急锂电池组2电流:</span><span id="instrument-main-bus-emergency-lithium2-current">-</span>A</div>
+                        <div class="data-row"><span>锂电池组(仪表)电流:</span><span id="instrument-main-bus-lithium-meter-current">-</span>A</div>
+                        <div class="data-row"><span>UNIT4仪表DC48V电流:</span><span id="instrument-main-bus-unit4-dc48v-current">-</span>A</div>
+                        <div class="data-row"><span>预留电流2:</span><span id="instrument-main-bus-reserved-current2">-</span>A</div>
+                        <div class="data-row"><span>应急2汇流排电压:</span><span id="instrument-main-bus-emergency2-voltage">-</span>V</div>
+                        <div class="data-row"><span>复合能源管控系统应急DC48V电流:</span><span id="instrument-main-bus-composite-energy-current">-</span>A</div>
+                        <div class="data-row"><span>燃料电池安全系统应急DC48V电流:</span><span id="instrument-main-bus-fuel-cell-security-current">-</span>A</div>
+                        <div class="data-row"><span>PLC控制电源电流:</span><span id="instrument-main-bus-plc-current">-</span>A</div>
+                    </div>
+                </div>
+
+                <div class="battery-card">
+                    <h3>仪表母线状态</h3>
+                    <div class="battery-data">
+                        <div class="data-row"><span>UNIT1断路器:</span><span id="instrument-bus-unit1-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>UNIT2断路器:</span><span id="instrument-bus-unit2-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>UNIT3断路器:</span><span id="instrument-bus-unit3-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>UNIT5断路器:</span><span id="instrument-bus-unit5-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>艏部PZ装置断路器:</span><span id="instrument-bus-bow-pz-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>预留断路器1:</span><span id="instrument-bus-reserved-circuit-breaker1" class="relay-status">-</span></div>
+                        <div class="data-row"><span>预留断路器2:</span><span id="instrument-bus-reserved-circuit-breaker2" class="relay-status">-</span></div>
+                        <div class="data-row"><span>应急锂电池组1断路器:</span><span id="instrument-bus-emergency-lithium1-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>仪表电源状态:</span><span id="instrument-bus-power-status">-</span></div>
+                        <div class="data-row"><span>应急电源状态:</span><span id="instrument-bus-emergency-power-status">-</span></div>
+                        <div class="data-row"><span>浸水报警:</span><span id="instrument-bus-water-alarm">-</span></div>
+                        <div class="data-row"><span>仪表母排电压:</span><span id="instrument-bus-voltage">-</span>V</div>
+                        <div class="data-row"><span>仪表母排电流:</span><span id="instrument-bus-current">-</span>A</div>
+                        <div class="data-row"><span>UNIT1电流:</span><span id="instrument-bus-unit1-current">-</span>A</div>
+                        <div class="data-row"><span>UNIT2电流:</span><span id="instrument-bus-unit2-current">-</span>A</div>
+                        <div class="data-row"><span>UNIT3电流:</span><span id="instrument-bus-unit3-current">-</span>A</div>
+                        <div class="data-row"><span>UNIT5电流:</span><span id="instrument-bus-unit5-current">-</span>A</div>
+                        <div class="data-row"><span>艏部PZ装置电流:</span><span id="instrument-bus-bow-pz-current">-</span>A</div>
+                        <div class="data-row"><span>应急锂电池组1电流:</span><span id="instrument-bus-emergency-lithium1-current">-</span>A</div>
+                        <div class="data-row"><span>应急1汇流排电压:</span><span id="instrument-bus-emergency1-voltage">-</span>V</div>
+                    </div>
+                </div>
+
+                <div class="battery-card">
+                    <h3>动力母线A状态</h3>
+                    <div class="battery-data">
+                        <div class="data-row"><span>艏部FT装置1/2/3断路器:</span><span id="power-a-bus-bow-ft-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>启闭机构断路器:</span><span id="power-a-bus-actuator-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>桅杆舵机控制箱断路器:</span><span id="power-a-bus-mast-steering-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>XCZ断路器:</span><span id="power-a-bus-xcz-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>艏舵控制箱断路器:</span><span id="power-a-bus-bow-rudder-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>敞水盖启动电缸断路器:</span><span id="power-a-bus-water-cover-circuit-breaker" class="relay-status">-</span></div>
+                        <div class="data-row"><span>仪表电源状态:</span><span id="power-a-bus-power-status">-</span></div>
+                        <div class="data-row"><span>应急电源状态:</span><span id="power-a-bus-emergency-power-status">-</span></div>
+                        <div class="data-row"><span>浸水报警:</span><span id="power-a-bus-water-alarm">-</span></div>
+                        <div class="data-row"><span>汇流排B电压:</span><span id="power-a-bus-b-voltage">-</span>V</div>
+                        <div class="data-row"><span>汇流排B电流:</span><span id="power-a-bus-b-current">-</span>A</div>
+                        <div class="data-row"><span>艏部FT装置1/2/3电流:</span><span id="power-a-bus-bow-ft-current">-</span>A</div>
+                        <div class="data-row"><span>启闭机构电流:</span><span id="power-a-bus-actuator-current">-</span>A</div>
+                        <div class="data-row"><span>桅杆舵机控制箱电流:</span><span id="power-a-bus-mast-steering-current">-</span>A</div>
+                        <div class="data-row"><span>XCZ电流:</span><span id="power-a-bus-xcz-current">-</span>A</div>
+                        <div class="data-row"><span>艏舵控制箱电流:</span><span id="power-a-bus-bow-rudder-current">-</span>A</div>
+                        <div class="data-row"><span>敞水盖启动电缸电流:</span><span id="power-a-bus-water-cover-current">-</span>A</div>
+                    </div>
+                </div>
             </div>
         </div>
+
     </div>
-</div>
 
-<script>
-let ws = null;
+    <script>
+    let ws = null;
+    let updateTimers = {};
+    let lastRelayStates = {};
+    let relayDebounceTime = 500;
+    let currentAlarmState = { dyn: false, ins: false };
 
-function initWebSocket() {
-    ws = new WebSocket('ws://' + window.location.host + '/ws');
+    function initWebSocket() {
+        ws = new WebSocket('ws://' + window.location.host + '/ws');
 
-    ws.onopen = () => {
-        console.log('WebSocket连接已建立');
-        updateStatus('运行中', true);
-    };
+        ws.onopen = () => {
+            console.log('WebSocket连接已建立');
+            updateStatus('运行中', true);
+        };
 
-    ws.onmessage = (event) => {
-        const data = JSON.parse(event.data);
-        console.log('收到系统数据:', data);
-        
-        // 更新MOOSDB信息
-        if (data.moosdb) {
-            document.getElementById('appFreq').textContent = data.moosdb.appFreq.toFixed(2);
-            document.getElementById('commFreq').textContent = data.moosdb.commFreq.toFixed(2);
-            document.getElementById('cpuLoad').textContent = data.moosdb.cpuLoad.toFixed(1);
-            document.getElementById('timeSinceIterate').textContent = data.moosdb.timeSinceIterate.toFixed(0);
+        ws.onmessage = (event) => {
+            try {
+            const data = JSON.parse(event.data);
+                console.log('收到数据:', data); // 调试日志
+            
+            // 更新MOOSDB信息
+            if (data.moosdb) {
+                    console.log('更新MOOSDB数据:', data.moosdb);
+                    updateWithDebounce('header-appFreq', data.moosdb.appFreq, 2);
+                    updateWithDebounce('card-appFreq', data.moosdb.appFreq, 2);
+                    updateWithDebounce('header-commFreq', data.moosdb.commFreq, 2);
+                    updateWithDebounce('card-commFreq', data.moosdb.commFreq, 2);
+                    updateWithDebounce('header-cpuLoad', data.moosdb.cpuLoad, 1);
+                    updateWithDebounce('card-cpuLoad', data.moosdb.cpuLoad, 1);
+                    updateWithDebounce('header-timeSinceIterate', data.moosdb.timeSinceIterate, 0);
+                    updateWithDebounce('card-timeSinceIterate', data.moosdb.timeSinceIterate, 0);
+                }
+
+                // 更新设备通信状态
+                if (data.device_online_status) {
+                    const statusMap = {
+                        'ins_online_state': 'ins-online-state',
+                        'dyn_online_state': 'dyn-online-state',
+                        'fuel_online_state': 'fuel-online-state',
+                        'high_voltage_online_state': 'high-voltage-online-state',
+                        'low_voltage_online_state': 'low-voltage-online-state',
+                        'composite_online_state': 'composite-online-state',
+                        'composite_backup_online_state': 'composite-backup-online-state'
+                    };
+                    for (const key in statusMap) {
+                        if (data.device_online_status[key] !== undefined) {
+                            updateDeviceStatus(statusMap[key], data.device_online_status[key], getOnlineStateText, 'online');
+                        }
+                    }
+                }
+
+                // 更新电池数据
+                const batteryData = {
+                    dyn: {
+                        soc: data.dyn_soc,
+                        voltage_link: data.dyn_voltage_link,
+                        voltage_pack: data.dyn_voltage_pack,
+                        current: data.dyn_current,
+                        resistance_pos: data.dyn_resistance_pos,
+                        resistance_neg: data.dyn_resistance_neg,
+                        total_energy: data.dyn_total_energy,
+                        max_discharge_power: data.dyn_max_discharge_power,
+                        charge_status: data.dyn_charge_status,
+                        emergency_status: data.dyn_emergency_status,
+                        pos_relay_status: data.dyn_pos_relay_status,
+                        neg_relay_status: data.dyn_neg_relay_status
+                    },
+                    ins: {
+                        soc: data.ins_soc,
+                        voltage_link: data.ins_voltage_link,
+                        voltage_pack: data.ins_voltage_pack,
+                        current: data.ins_current,
+                        resistance_pos: data.ins_resistance_pos,
+                        resistance_neg: data.ins_resistance_neg,
+                        total_energy: data.ins_total_energy,
+                        max_discharge_power: data.ins_max_discharge_power,
+                        charge_status: data.ins_charge_status,
+                        emergency_status: data.ins_emergency_status,
+                        pos_relay_status: data.ins_pos_relay_status,
+                        neg_relay_status: data.ins_neg_relay_status
+                    }
+                };
+
+                // 更新动力电池数据
+                if (batteryData.dyn) {
+                    console.log('更新动力电池数据:', batteryData.dyn);
+                    updateRelayStatus('dyn_pos_relay_status', batteryData.dyn.pos_relay_status);
+                    updateRelayStatus('dyn_neg_relay_status', batteryData.dyn.neg_relay_status);
+                    
+                    updateWithDebounce('dyn_soc', batteryData.dyn.soc, 1);
+                    updateWithDebounce('dyn_voltage_link', batteryData.dyn.voltage_link, 2);
+                    updateWithDebounce('dyn_voltage_pack', batteryData.dyn.voltage_pack, 2);
+                    updateWithDebounce('dyn_current', batteryData.dyn.current, 2);
+                    updateWithDebounce('dyn_resistance_pos', batteryData.dyn.resistance_pos, 1);
+                    updateWithDebounce('dyn_resistance_neg', batteryData.dyn.resistance_neg, 1);
+                    updateWithDebounce('dyn_total_energy', batteryData.dyn.total_energy, 2);
+                    updateWithDebounce('dyn_max_discharge_power', batteryData.dyn.max_discharge_power, 2);
+                    
+                    updateStatusWithDebounce('dyn_charge_status', batteryData.dyn.charge_status, getChargeStatusText);
+                    updateEmergencyStatus('dyn_emergency_status', batteryData.dyn.emergency_status, getEmergencyStatusText);
+                    updateRelayStatus('dyn_charge_relay_status', data.dyn_charge_relay_status);
+                    updateWithDebounce('dyn_alarm_flag1', data.dyn_alarm_flag1, 0);
+                    updateWithDebounce('dyn_alarm_flag2', data.dyn_alarm_flag2, 0);
+                }
+
+                // 更新仪表电池数据
+                if (batteryData.ins) {
+                    console.log('更新仪表电池数据:', batteryData.ins);
+                    updateRelayStatus('ins_pos_relay_status', batteryData.ins.pos_relay_status);
+                    updateRelayStatus('ins_neg_relay_status', batteryData.ins.neg_relay_status);
+                    
+                    updateWithDebounce('ins_soc', batteryData.ins.soc, 1);
+                    updateWithDebounce('ins_voltage_link', batteryData.ins.voltage_link, 2);
+                    updateWithDebounce('ins_voltage_pack', batteryData.ins.voltage_pack, 2);
+                    updateWithDebounce('ins_current', batteryData.ins.current, 2);
+                    updateWithDebounce('ins_resistance_pos', batteryData.ins.resistance_pos, 1);
+                    updateWithDebounce('ins_resistance_neg', batteryData.ins.resistance_neg, 1);
+                    updateWithDebounce('ins_total_energy', batteryData.ins.total_energy, 2);
+                    updateWithDebounce('ins_max_discharge_power', batteryData.ins.max_discharge_power, 2);
+                    
+                    updateStatusWithDebounce('ins_charge_status', batteryData.ins.charge_status, getChargeStatusText);
+                    updateEmergencyStatus('ins_emergency_status', batteryData.ins.emergency_status, getEmergencyStatusText);
+                    updateRelayStatus('ins_charge_relay_status', data.ins_charge_relay_status);
+                    updateWithDebounce('ins_alarm_flag1', data.ins_alarm_flag1, 0);
+                    updateWithDebounce('ins_alarm_flag2', data.ins_alarm_flag2, 0);
+                }
+
+                // 更新燃料电池和环境数据
+                updateStatusWithDebounce('fc-mode', data.fc_mode, getFCModeText);
+                updateStatusWithDebounce('fc-status', data.fc_status, getFCStatusText);
+                updateWithDebounce('fc-fault-level', data.fc_fault_level, 0);
+                updateWithDebounce('output-power-limit', data.output_power_limit, 0);
+                updateWithDebounce('hydrogen-capacity', data.hydrogen_capacity, 1);
+                updateWithDebounce('liquid-oxygen-capacity', data.liquid_oxygen_capacity, 1);
+                updateWithDebounce('cabin-pressure1', data.cabin_pressure1, 2);
+                updateWithDebounce('cabin-pressure2', data.cabin_pressure2, 2);
+                updateWithDebounce('cabin-temp1', data.cabin_temp1, 1);
+                updateWithDebounce('cabin-temp2', data.cabin_temp2, 1);
+                updateWithDebounce('cabin-humidity1', data.cabin_humidity1, 1);
+                updateWithDebounce('cabin-humidity2', data.cabin_humidity2, 1);
+                updateWithDebounce('h2-concentration1', data.h2_concentration1, 0);
+                updateWithDebounce('h2-concentration2', data.h2_concentration2, 0);
+
+                // 更新电池报警状态
+                updateWithDebounce('dyn-alarm-flag1', data.dyn_alarm_flag1, 0);
+                updateWithDebounce('dyn-alarm-flag2', data.dyn_alarm_flag2, 0);
+                updateWithDebounce('dyn-alarm-flag3', data.dyn_alarm_flag3, 0);
+                updateWithDebounce('dyn-alarm-flag4', data.dyn_alarm_flag4, 0);
+                updateWithDebounce('dyn-alarm-flag5', data.dyn_alarm_flag5, 0);
+                updateWithDebounce('dyn-alarm-flag6', data.dyn_alarm_flag6, 0);
+                updateStatusWithDebounce('dyn-charge-level', data.dyn_charge_level, getChargeLevelText);
+                updateStatusWithDebounce('water-leak-status-from-dynbat', data.water_leak_status_from_dynbat, getWaterLeakStatusText);
+                
+                updateWithDebounce('ins-alarm-flag1', data.ins_alarm_flag1, 0);
+                updateWithDebounce('ins-alarm-flag2', data.ins_alarm_flag2, 0);
+                updateWithDebounce('ins-alarm-flag3', data.ins_alarm_flag3, 0);
+                updateWithDebounce('ins-alarm-flag4', data.ins_alarm_flag4, 0);
+                updateWithDebounce('ins-alarm-flag5', data.ins_alarm_flag5, 0);
+                updateWithDebounce('ins-alarm-flag6', data.ins_alarm_flag6, 0);
+                updateStatusWithDebounce('water-leak-status-from-insbat', data.water_leak_status_from_insbat, getWaterLeakStatusText);
+                updateStatusWithDebounce('dcdc-status-from-insbat', data.dcdc_status_from_insbat, getDCDCStatusFromInsbatText);
+
+                // 更新通信状态详情
+                if (data.comm_state) {
+                    const commMap = {
+                        'ccu_status': 'ccu-status',
+                        'dis_hv_c1': 'dis-hv-c1',
+                        'dis_hv_c2': 'dis-hv-c2',
+                        'dis_lv_c1': 'dis-lv-c1',
+                        'dis_lv_c2': 'dis-lv-c2'
+                    };
+                    for (const key in commMap) {
+                        if (data.comm_state[key]) {
+                            const status = data.comm_state[key];
+                            updateDeviceStatus(`${commMap[key]}-timeout`, status.isTimeout ? 1 : 0, getTimeoutText, 'timeout');
+                            updateTimeValue(`${commMap[key]}-last-update`, status.lastUpdateTime);
+                        }
+                    }
+                }
+                
+                // 更新动力母线状态
+                if (data.power_bus_status) {
+                    const bus = data.power_bus_status;
+                    updateCircuitBreakerStatus('power-bus-fuel-cell-circuit-breaker', bus.fuelCellCircuitBreaker);
+                    updateCircuitBreakerStatus('power-bus-power-lithium-circuit-breaker', bus.powerLithiumBatteryCircuitBreaker);
+                    updateCircuitBreakerStatus('power-bus-propulsion-motor-circuit-breaker', bus.propulsionMotorCircuitBreaker);
+                    updateCircuitBreakerStatus('power-bus-lithium-meter-circuit-breaker', bus.lithiumBatteryGroupInstrumentCircuitBreaker);
+                    updateCircuitBreakerStatus('power-bus-dcdc5-circuit-breaker', bus.dcDc5ModuleCircuitBreaker);
+                    updateCircuitBreakerStatus('power-bus-bow-high-voltage-circuit-breaker', bus.bowHighVoltageDistributionBoxCircuitBreaker);
+                    updateCircuitBreakerStatus('power-bus-stern-ft-circuit-breaker', bus.sternFTDevice45CircuitBreaker);
+                    updateCircuitBreakerStatus('power-bus-stern-rudder1-circuit-breaker', bus.sternRudderSwitch1CircuitBreaker);
+                    updateCircuitBreakerStatus('power-bus-stern-rudder2-circuit-breaker', bus.sternRudderSwitch2CircuitBreaker);
+                    updateCircuitBreakerStatus('power-bus-fb-reserved-circuit-breaker', bus.fbReservedCircuitBreaker);
+                    updateCircuitBreakerStatus('power-bus-tyz-reserved-circuit-breaker', bus.tyzReservedCircuitBreaker);
+                    updateCircuitBreakerStatus('power-bus-reserved-circuit-breaker', bus.reservedCircuitBreaker);
+
+                    updateWithDebounce('power-bus-dcdc-temperature', bus.dcDcTemperature, 1);
+                    updateWithDebounce('power-bus-voltage', bus.powerBusVoltage, 2);
+                    updateWithDebounce('power-bus-dcdc-current', bus.dcDc5ModuleCurrent, 2);
+                    updateWithDebounce('power-bus-current', bus.powerBusCurrent, 2);
+                    updateWithDebounce('power-bus-a-voltage', bus.busbarAVoltage, 2);
+                    updateWithDebounce('power-bus-propulsion-current', bus.propulsionMotorControlBoxCurrent, 2);
+                    updateWithDebounce('power-bus-a-current', bus.busbarACurrent, 2);
+                    updateWithDebounce('power-bus-lithium-meter-current', bus.lithiumBatteryGroupMeterCurrent, 2);
+                    updateWithDebounce('power-bus-bow-high-voltage-current', bus.bowHighVoltageDistributionBoxCurrent, 2);
+                    updateWithDebounce('power-bus-stern-ft-current', bus.sternFTDevice45Current, 2);
+                    updateWithDebounce('power-bus-tyz-reserved-current', bus.tyzReservedSwitchCurrent, 2);
+                    updateWithDebounce('power-bus-stern-rudder1-current', bus.sternRudderSwitch1Current, 2);
+                    updateWithDebounce('power-bus-stern-rudder2-current', bus.sternRudderSwitch2Current, 2);
+                    updateWithDebounce('power-bus-reserved-current1', bus.reservedCurrent1, 2);
+                    updateWithDebounce('power-bus-fb-reserved-current', bus.fbReservedSwitchCurrent, 2);
+                    updateWithDebounce('power-bus-reserved-current2', bus.reservedCurrent2, 2);
+                    updateWithDebounce('power-bus-reserved-current3', bus.reservedCurrent3, 2);
+                    updateWithDebounce('power-bus-cool-water-pressure', bus.coolWaterPressure, 2);
+
+                    updateStatusWithDebounce('power-bus-dcdc-status', bus.dcDcModuleStatus, getDCDCStatusText);
+                    updateStatusWithDebounce('power-bus-cooling-status', bus.coolingSystemStatus, getCoolingStatusText);
+                    updateStatusWithDebounce('power-bus-insulation-status', bus.powerBusInsulationStatus, getInsulationStatusText);
+                    updateStatusWithDebounce('power-bus-a-insulation-status', bus.aBusInsulationStatus, getInsulationStatusText);
+                    updateStatusWithDebounce('power-bus-meter-power-status', bus.meterPowerLossSignal, getPowerStatusText);
+                    updateStatusWithDebounce('power-bus-emergency-power-status', bus.emergencyPowerLossSignal, getPowerStatusText);
+                }
+
+                // 更新仪表主母线状态
+                if (data.instrument_main_bus_status) {
+                    const bus = data.instrument_main_bus_status;
+                    updateCircuitBreakerStatus('instrument-main-bus-lithium-meter-circuit-breaker', bus.lithiumBatteryGroupInstrumentCircuitBreaker);
+                    updateCircuitBreakerStatus('instrument-main-bus-bow-low-voltage-circuit-breaker', bus.bowLowVoltageDistributionBoxCircuitBreaker);
+                    updateCircuitBreakerStatus('instrument-main-bus-unit4-dc48v-circuit-breaker', bus.unit4InstrumentDC48VCircuitBreaker);
+                    updateCircuitBreakerStatus('instrument-main-bus-dc-c1-circuit-breaker', bus.dcC1DCDistributionPanelCircuitBreaker);
+                    updateCircuitBreakerStatus('instrument-main-bus-reserved-circuit-breaker1', bus.reservedCircuitBreaker1);
+                    updateCircuitBreakerStatus('instrument-main-bus-reserved-circuit-breaker2', bus.reservedCircuitBreaker2);
+                    updateCircuitBreakerStatus('instrument-main-bus-emergency-lithium2-circuit-breaker', bus.emergencyLithiumBatteryGroup2CircuitBreaker);
+
+                    updateWithDebounce('instrument-main-bus-voltage', bus.instrumentBusbarVoltage, 2);
+                    updateWithDebounce('instrument-main-bus-bow-low-voltage-current', bus.bowLowVoltageDistributionBoxCurrent, 2);
+                    updateWithDebounce('instrument-main-bus-dc-c1-current', bus.dcC1InstrumentDC48VCurrent, 2);
+                    updateWithDebounce('instrument-main-bus-reserved-current1', bus.reservedCurrent1, 2);
+                    updateWithDebounce('instrument-main-bus-emergency-lithium2-current', bus.emergencyLithiumBatteryGroup2Current, 2);
+                    updateWithDebounce('instrument-main-bus-lithium-meter-current', bus.lithiumBatteryGroupInstrumentCurrent, 2);
+                    updateWithDebounce('instrument-main-bus-unit4-dc48v-current', bus.unit4InstrumentDC48VCurrent, 2);
+                    updateWithDebounce('instrument-main-bus-reserved-current2', bus.reservedCurrent2, 2);
+                    updateWithDebounce('instrument-main-bus-emergency2-voltage', bus.emergency2BusbarVoltage, 2);
+                    updateWithDebounce('instrument-main-bus-composite-energy-current', bus.compositeEnergyManagementSystemEmergencyDC48VCurrent, 2);
+                    updateWithDebounce('instrument-main-bus-fuel-cell-security-current', bus.fuelCellSecuritySystemEmergencyDC48VCurrent, 2);
+                    updateWithDebounce('instrument-main-bus-plc-current', bus.plcControlPowerCurrent, 2);
+                    
+                    updateStatusWithDebounce('instrument-main-bus-power-status', bus.instrumentPowerFailureSignal, getPowerStatusText);
+                    updateStatusWithDebounce('instrument-main-bus-emergency-power-status', bus.emergencyPowerFailureSignal, getPowerStatusText);
+                    updateStatusWithDebounce('instrument-main-bus-insulation-status', bus.instrumentBusbarInsulationLow, getInsulationStatusText);
+                }
+
+                // 更新仪表母线状态
+                if (data.instrument_bus_status) {
+                    const bus = data.instrument_bus_status;
+                    updateCircuitBreakerStatus('instrument-bus-unit1-circuit-breaker', bus.unit1CircuitBreaker);
+                    updateCircuitBreakerStatus('instrument-bus-unit2-circuit-breaker', bus.unit2CircuitBreaker);
+                    updateCircuitBreakerStatus('instrument-bus-unit3-circuit-breaker', bus.unit3CircuitBreaker);
+                    updateCircuitBreakerStatus('instrument-bus-unit5-circuit-breaker', bus.unit5CircuitBreaker);
+                    updateCircuitBreakerStatus('instrument-bus-bow-pz-circuit-breaker', bus.bowPZDeviceCircuitBreaker);
+                    updateCircuitBreakerStatus('instrument-bus-reserved-circuit-breaker1', bus.reservedCircuitBreaker1);
+                    updateCircuitBreakerStatus('instrument-bus-reserved-circuit-breaker2', bus.reservedCircuitBreaker2);
+                    updateCircuitBreakerStatus('instrument-bus-emergency-lithium1-circuit-breaker', bus.emergencyLithiumBatteryGroup1CircuitBreaker);
+
+                    updateWithDebounce('instrument-bus-voltage', bus.instrumentBusbarVoltage, 2);
+                    updateWithDebounce('instrument-bus-current', bus.instrumentBusbarCurrent, 2);
+                    updateWithDebounce('instrument-bus-unit1-current', bus.unit1Current, 2);
+                    updateWithDebounce('instrument-bus-unit2-current', bus.unit2Current, 2);
+                    updateWithDebounce('instrument-bus-unit3-current', bus.unit3Current, 2);
+                    updateWithDebounce('instrument-bus-unit5-current', bus.unit5Current, 2);
+                    updateWithDebounce('instrument-bus-bow-pz-current', bus.bowPZDeviceCurrent, 2);
+                    updateWithDebounce('instrument-bus-emergency-lithium1-current', bus.emergencyLithiumBatteryGroup1Current, 2);
+                    updateWithDebounce('instrument-bus-emergency1-voltage', bus.emergency1BusbarVoltage, 2);
+
+                    updateStatusWithDebounce('instrument-bus-power-status', bus.powerFailureSignal, getPowerStatusText);
+                    updateStatusWithDebounce('instrument-bus-emergency-power-status', bus.emergencyPowerFailureSignal, getPowerStatusText);
+                    updateStatusWithDebounce('instrument-bus-water-alarm', bus.waterIngressionAlarm, getWaterAlarmText);
+                }
+
+                // 更新动力母线A状态
+                if (data.power_a_bus_status) {
+                    const bus = data.power_a_bus_status;
+                    updateCircuitBreakerStatus('power-a-bus-bow-ft-circuit-breaker', bus.bowFTDevice123CircuitBreaker);
+                    updateCircuitBreakerStatus('power-a-bus-actuator-circuit-breaker', bus.actuatorCircuitBreaker);
+                    updateCircuitBreakerStatus('power-a-bus-mast-steering-circuit-breaker', bus.mastSteeringGearControlBoxCircuitBreaker);
+                    updateCircuitBreakerStatus('power-a-bus-xcz-circuit-breaker', bus.xczCircuitBreaker);
+                    updateCircuitBreakerStatus('power-a-bus-bow-rudder-circuit-breaker', bus.bowRudderControlBoxCircuitBreaker);
+                    updateCircuitBreakerStatus('power-a-bus-water-cover-circuit-breaker', bus.openWaterCoverStartCylinderCircuitBreaker);
+
+                    updateWithDebounce('power-a-bus-b-voltage', bus.busbarBVoltage, 2);
+                    updateWithDebounce('power-a-bus-b-current', bus.busbarBCurrent, 2);
+                    updateWithDebounce('power-a-bus-bow-ft-current', bus.bowFTDevice123Current, 2);
+                    updateWithDebounce('power-a-bus-actuator-current', bus.actuatorCurrent, 2);
+                    updateWithDebounce('power-a-bus-mast-steering-current', bus.mastSteeringGearControlBoxCurrent, 2);
+                    updateWithDebounce('power-a-bus-xcz-current', bus.xczCurrent, 2);
+                    updateWithDebounce('power-a-bus-bow-rudder-current', bus.bowRudderControlBoxCurrent, 2);
+                    updateWithDebounce('power-a-bus-water-cover-current', bus.openWaterCoverStartCylinderCurrent, 2);
+
+                    updateStatusWithDebounce('power-a-bus-power-status', bus.instrumentPowerFailureSignal, getPowerStatusText);
+                    updateStatusWithDebounce('power-a-bus-emergency-power-status', bus.emergencyPowerFailureSignal, getPowerStatusText);
+                    updateStatusWithDebounce('power-a-bus-water-alarm', bus.waterIngressionAlarm, getWaterAlarmText);
+                }
+            
+                updateCcuControlData(data);
+                updateAlarmState(data);
+                updateTime();
+            } catch (e) {
+                console.error('数据处理错误:', e, '原始数据:', event.data);
+            }
+        };
+
+        ws.onclose = () => {
+            console.log('WebSocket连接已关闭');
+            updateStatus('已断开', false);
+            // 5秒后重新连接
+            setTimeout(initWebSocket, 5000);
+        };
+
+        ws.onerror = (error) => {
+            console.error('WebSocket错误:', error);
+            updateStatus('错误', false);
+        };
+    }
+
+    function updateWithDebounce(elementId, value, decimals = 1, threshold = 0.01) {
+        if (value === undefined || value === null) {
+            console.log(`${elementId} 的值无效:`, value);
+            return;
         }
         
-        updateTime();
-    };
+        const element = document.getElementById(elementId);
+        if (!element) {
+            console.log(`未找到元素: ${elementId}`);
+            return;
+        }
 
-    ws.onclose = () => {
-        console.log('WebSocket连接已关闭');
-        updateStatus('已断开', false);
-        setTimeout(initWebSocket, 5000);
-    };
+        // 格式化新值
+        const formattedValue = Number(value).toFixed(decimals);
+        const currentValue = element.textContent.replace(/[^0-9.-]/g, '');
+        
+        // 如果变化小于阈值，不更新
+        if (Math.abs(parseFloat(formattedValue) - parseFloat(currentValue)) < threshold) {
+            return;
+        }
 
-    ws.onerror = (error) => {
-        console.error('WebSocket错误:', error);
-        updateStatus('错误', false);
-    };
-}
+        console.log(`更新 ${elementId}: ${currentValue} -> ${formattedValue}`);
 
-function updateStatus(status, isConnected) {
-    const statusElement = document.querySelector('.status-info span:first-child');
-    statusElement.innerHTML = `${isConnected ? '🟢' : '🔴'} 系统状态: ${status}`;
-}
+        // 清除之前的定时器
+        if (updateTimers[elementId]) {
+            clearTimeout(updateTimers[elementId]);
+        }
 
-function updateTime() {
-    const now = new Date();
-    const timeStr = now.toLocaleString('zh-CN', {
-        year: 'numeric',
-        month: '2-digit',
-        day: '2-digit',
-        hour: '2-digit',
-        minute: '2-digit',
-        second: '2-digit',
-        hour12: false
-    });
-    document.getElementById('updateTime').textContent = timeStr;
-}
+        // 设置新的定时器
+        updateTimers[elementId] = setTimeout(() => {
+            element.textContent = formattedValue;
+            const parentRow = element.closest('.status-item, .data-row');
+            if (parentRow) {
+                parentRow.classList.add('value-changing');
+                setTimeout(() => parentRow.classList.remove('value-changing'), 500);
+            }
+            delete updateTimers[elementId];
+        }, 100);
+    }
 
-window.addEventListener('load', initWebSocket);
-</script>
+    function updateStatusWithDebounce(elementId, value, transformFunc) {
+        if (value === undefined || value === null) return;
+        
+        const element = document.getElementById(elementId);
+        if (!element) return;
+
+        const newText = transformFunc(value);
+        if (element.textContent === newText) return;
+
+        if (updateTimers[elementId]) {
+            clearTimeout(updateTimers[elementId]);
+        }
+
+        updateTimers[elementId] = setTimeout(() => {
+            element.textContent = newText;
+            const parentRow = element.closest('.status-item, .data-row');
+            if (parentRow) {
+                parentRow.classList.add('value-changing');
+                setTimeout(() => parentRow.classList.remove('value-changing'), 500);
+            }
+            delete updateTimers[elementId];
+        }, 100);
+    }
+
+    function getChargeStatusText(status) {
+        return status === 16 ? '充电' : (status === 32 ? '放电' : '无效');
+    }
+
+    function updateEmergencyStatus(elementId, value, transformFunc) {
+        if (value === undefined || value === null) return;
+        
+        const element = document.getElementById(elementId);
+        if (!element) return;
+
+        if (updateTimers[elementId]) {
+            clearTimeout(updateTimers[elementId]);
+        }
+
+        updateTimers[elementId] = setTimeout(() => {
+            const newText = transformFunc(value);
+            const isEmergency = value != 0;
+            const needsUpdate = element.textContent !== newText || element.classList.contains('emergency') !== isEmergency;
+
+            if (needsUpdate) {
+                element.textContent = newText;
+                if (isEmergency) {
+                    element.classList.add('emergency');
+                } else {
+                    element.classList.remove('emergency');
+                }
+
+                const parentRow = element.closest('.data-row');
+                if (parentRow) {
+                    parentRow.classList.add('value-changing');
+                    setTimeout(() => parentRow.classList.remove('value-changing'), 500);
+                }
+            }
+            delete updateTimers[elementId];
+        }, 100);
+    }
+
+    function getEmergencyStatusText(status) {
+        const statuses = {
+            0: '正常',
+            58: '四级紧急',
+            59: '三级紧急',
+            60: '二级紧急',
+            61: '一级紧急',
+        };
+        return statuses[status] || '未知';
+    }
+
+    function getOnlineStateText(state) {
+        const states = {
+            0: "未上线",
+            1: "在线",
+            2: "上线后掉线"
+        };
+        return states[state] || '未知';
+    }
+
+    function getTimeoutText(isTimeout) {
+        return isTimeout === 0 ? '正常' : '超时';
+    }
+
+    function getDCDCStatusText(status) {
+        return status === 1 ? '正常' : '异常';
+    }
+
+    function getCoolingStatusText(status) {
+        return status === 1 ? '正常' : '异常';
+    }
+
+    function getInsulationStatusText(status) {
+        return status === 1 ? '正常' : '异常';
+    }
+
+    function getPowerStatusText(status) {
+        return status === 1 ? '正常' : '异常';
+    }
+
+    function getWaterAlarmText(status) {
+        return status === 1 ? '报警' : '正常';
+    }
+
+    function getFCModeText(mode) {
+        const modes = { 0: '无效', 1: '调试', 2: '自动', 3: '补给' };
+        return modes[mode] || '未知';
+    }
+
+    function getFCStatusText(status) {
+        const statuses = { 0: '无效', 1: '初始化', 2: '待机', 3: '启动中', 4: '运行', 5: '关机中', 6: '故障' };
+        return statuses[status] || '未知';
+    }
+
+    function getChargeLevelText(level) {
+        const levels = { 1: '1级(不限)', 2: '2级(限功率)', 3: '关闭' };
+        return levels[level] || '未知';
+    }
+
+    function getWaterLeakStatusText(status) {
+        return status === 0 ? '正常' : '异常漏水';
+    }
+
+    function getDCDCStatusFromInsbatText(status) {
+        return status === 0 ? '正常' : '故障';
+    }
+
+    function getMasterStateText(state) {
+        const states = {
+            170: '运行',
+            255: '关机'
+        };
+        return states[state] || '故障';
+    }
+
+    function getBatCmdText(cmd) {
+        const commands = {
+            0: '无效',
+            16: '启动',
+            32: '关闭'
+        };
+        return commands[cmd] || '未知指令';
+    }
+
+    function getInsChargeEnableText(state) {
+        const states = {
+            0: '允许充电',
+            48: '禁止充电'
+        };
+        return states[state] || '未知状态';
+    }
+
+    function getFcuCmdText(cmd) {
+        const commands = {
+            0: '无效',
+            1: '自检',
+            2: '启动',
+            3: '停机',
+            4: '复位',
+            5: '紧急停机',
+            6: '补给',
+            7: '制氢预热',
+            8: '停机维护（关机）'
+        };
+        return commands[cmd] || '未知指令';
+    }
+
+    function updateCcuControlData(data) {
+        if (data.ccuColCmd) {
+            const ccuData = data.ccuColCmd;
+            updateStatusWithDebounce('fcmode', ccuData.fcmode, getFCModeText);
+            updateStatusWithDebounce('fcuCmd', ccuData.fcuCmd, getFcuCmdText);
+            updateWithDebounce('fcuPowerEfficiency', ccuData.fcuPowerEfficiency, 2);
+            updateStatusWithDebounce('insChargeEnable', ccuData.insChargeEnable, getInsChargeEnableText);
+            updateStatusWithDebounce('insBatCmd', ccuData.insBatCmd, getBatCmdText);
+            updateStatusWithDebounce('powerBatCmd', ccuData.powerBatCmd, getBatCmdText);
+            updateWithDebounce('powerBatEfficiency', ccuData.powerBatEfficiency, 2);
+            updateWithDebounce('heartbeat', ccuData.heartbeat, 0);
+            updateStatusWithDebounce('masterState', ccuData.masterState, getMasterStateText);
+        }
+    }
+
+    function updateDeviceStatus(elementId, value, getStatusText, statusType) {
+        if (value === undefined || value === null) {
+            console.log(`${elementId} 的状态值无效:`, value);
+            return;
+        }
+        
+        const element = document.getElementById(elementId);
+        if (!element) {
+            console.log(`未找到元素: ${elementId}`);
+            return;
+        }
+
+        const text = getStatusText(value);
+        console.log(`更新设备状态 ${elementId}: ${value} -> ${text}`);
+        
+        if (element.textContent === text) {
+            return;
+        }
+
+        if (updateTimers[elementId]) {
+            clearTimeout(updateTimers[elementId]);
+        }
+
+        updateTimers[elementId] = setTimeout(() => {
+            element.textContent = text;
+            if (statusType === 'online') {
+                if (value === 1) { // online
+                    element.className = 'status-value online';
+                } else if (value === 2) { // was online, now disconnected
+                     element.className = 'status-value timeout';
+                } else { // offline/not yet online
+                     element.className = 'status-value offline';
+                }
+            } else if (statusType === 'timeout') {
+                element.className = 'status-value ' + (value === 0 ? 'online' : 'timeout');
+            }
+            const parentRow = element.closest('.status-item');
+            if (parentRow) {
+                parentRow.classList.add('value-changing');
+                setTimeout(() => parentRow.classList.remove('value-changing'), 500);
+            }
+            delete updateTimers[elementId];
+        }, 100);
+    }
+
+    function updateRelayStatus(elementId, status) {
+        const element = document.getElementById(elementId);
+        if (!element) return;
+        
+        // 如果状态无效，不更新
+        if (status === undefined || status === null) return;
+        
+        const isOn = status === 1;
+        const newText = isOn ? '闭合' : '断开';
+        
+        // 获取上次的状态
+        const lastState = lastRelayStates[elementId];
+        
+        // 如果是第一次更新，记录状态并直接更新
+        if (lastState === undefined) {
+            lastRelayStates[elementId] = {
+                status: isOn,
+                timestamp: Date.now(),
+                count: 1
+            };
+            element.textContent = newText;
+            element.className = 'relay-status ' + (isOn ? 'on' : 'off');
+            return;
+        }
+        
+        // 如果状态相同，不更新
+        if (lastState.status === isOn) {
+            return;
+        }
+        
+        // 计算距离上次状态改变的时间
+        const timeSinceLastChange = Date.now() - lastState.timestamp;
+        
+        // 如果状态在短时间内频繁变化，增加防抖时间
+        if (timeSinceLastChange < relayDebounceTime) {
+            lastState.count++;
+            
+            // 如果状态频繁变化，显示不稳定状态
+            if (lastState.count > 3) {
+                element.textContent = '不稳定';
+                element.className = 'relay-status unstable';
+                const parentRow = element.closest('.data-row');
+                if(parentRow) {
+                    parentRow.classList.add('value-changing');
+                    setTimeout(() => parentRow.classList.remove('value-changing'), 500);
+                }
+                return;
+            }
+            
+            // 清除之前的定时器
+            if (updateTimers[elementId]) {
+                clearTimeout(updateTimers[elementId]);
+            }
+            
+            // 设置新的定时器
+            updateTimers[elementId] = setTimeout(() => {
+                // 再次检查当前状态
+                if (lastRelayStates[elementId].count <= 3) {
+                    element.textContent = newText;
+                    element.className = 'relay-status ' + (isOn ? 'on' : 'off');
+                }
+                delete updateTimers[elementId];
+            }, relayDebounceTime);
+            
+            return;
+        }
+        
+        // 如果状态稳定，更新状态
+        lastState.status = isOn;
+        lastState.timestamp = Date.now();
+        lastState.count = 1;
+        
+        element.textContent = newText;
+        element.className = 'relay-status ' + (isOn ? 'on' : 'off');
+        const parentRow = element.closest('.data-row');
+        if(parentRow) {
+            parentRow.classList.add('value-changing');
+            setTimeout(() => parentRow.classList.remove('value-changing'), 500);
+        }
+    }
+
+    function updateStatus(status, isConnected) {
+        const headerStatusSpan = document.getElementById('header-system-status');
+        if (headerStatusSpan) {
+            headerStatusSpan.parentElement.innerHTML = `${isConnected ? '🟢' : '🔴'} 系统状态: <span id="header-system-status">${status}</span>`;
+        }
+
+        const cardStatusSpan = document.getElementById('card-system-status');
+        if (cardStatusSpan) {
+            cardStatusSpan.textContent = status;
+            cardStatusSpan.className = 'status-value ' + (isConnected ? 'online' : 'offline');
+            const parentRow = cardStatusSpan.closest('.status-item');
+            if (parentRow) {
+                parentRow.classList.add('value-changing');
+                setTimeout(() => parentRow.classList.remove('value-changing'), 500);
+            }
+        }
+    }
+
+    function updateTime() {
+        const now = new Date();
+        const timeStr = now.toLocaleString('zh-CN', {
+            year: 'numeric',
+            month: '2-digit',
+            day: '2-digit',
+            hour: '2-digit',
+            minute: '2-digit',
+            second: '2-digit',
+            hour12: false
+        });
+        document.getElementById('updateTime').textContent = timeStr;
+    }
+
+    function updateTimeValue(elementId, timestamp) {
+        const element = document.getElementById(elementId);
+        if (!element) {
+            console.log(`未找到元素: ${elementId}`);
+            return;
+        }
+
+        if (!timestamp) {
+            element.textContent = '-';
+            return;
+        }
+
+        const date = new Date(timestamp * 1000);
+        element.textContent = date.toLocaleString('zh-CN');
+    }
+
+    // Helper functions for batch updates
+    function updateAllWithDebounce(prefix, keys, data) {
+        keys.forEach(key => {
+            const elementId = `${prefix}-${key}`;
+            const dataKey = `${prefix.replace(/-/g, '_')}_${key.replace(/-/g, '_')}`;
+            updateWithDebounce(elementId, data[dataKey], 1);
+        });
+    }
+
+    function updateAllRelayStatus(prefix, keys, data) {
+        keys.forEach(key => {
+            const elementId = `${prefix}-${key}`;
+            const dataKey = `${prefix.replace(/-/g, '_')}_${key.replace(/-/g, '_')}`;
+            updateRelayStatus(elementId, data[dataKey]);
+        });
+    }
+
+    function getCircuitBreakerStatusText(status) {
+        const statuses = {
+            0: '断开',
+            1: '闭合', 
+            2: '故障'
+        };
+        return statuses[status] || '未知';
+    }
+
+    function updateCircuitBreakerStatus(elementId, status) {
+        const element = document.getElementById(elementId);
+        if (!element) return;
+        
+        if (status === undefined || status === null) return;
+
+        const newText = getCircuitBreakerStatusText(status);
+        let newClass = 'relay-status ';
+        if (status === 1) { // 闭合
+            newClass += 'on';
+        } else if (status === 0) { // 断开
+            newClass += 'off';
+        } else { // 故障 or other
+            newClass += 'unstable';
+        }
+
+        if (element.textContent === newText && element.className === newClass) return;
+
+        if (updateTimers[elementId]) {
+            clearTimeout(updateTimers[elementId]);
+        }
+
+        updateTimers[elementId] = setTimeout(() => {
+            element.textContent = newText;
+            element.className = newClass;
+            const parentRow = element.closest('.data-row');
+            if(parentRow) {
+                parentRow.classList.add('value-changing');
+                setTimeout(() => parentRow.classList.remove('value-changing'), 500);
+            }
+            delete updateTimers[elementId];
+        }, 100);
+    }
+
+    function updateAlarmState(data) {
+        const dynAlarmCard = document.getElementById('dyn-alarm-card');
+        const insAlarmCard = document.getElementById('ins-alarm-card');
+
+        if (!dynAlarmCard || !insAlarmCard) return;
+
+        const dynAlarmKeys = ['dyn_alarm_flag1', 'dyn_alarm_flag2', 'dyn_alarm_flag3', 'dyn_alarm_flag4', 'dyn_alarm_flag5', 'dyn_alarm_flag6', 'water_leak_status_from_dynbat'];
+        const insAlarmKeys = ['ins_alarm_flag1', 'ins_alarm_flag2', 'ins_alarm_flag3', 'ins_alarm_flag4', 'ins_alarm_flag5', 'ins_alarm_flag6', 'water_leak_status_from_insbat', 'dcdc_status_from_insbat'];
+
+        const hasDynAlarmData = dynAlarmKeys.some(key => data[key] !== undefined);
+        const hasInsAlarmData = insAlarmKeys.some(key => data[key] !== undefined);
+
+        if (hasDynAlarmData) {
+            currentAlarmState.dyn =
+                (data.dyn_alarm_flag1 > 0) || (data.dyn_alarm_flag2 > 0) ||
+                (data.dyn_alarm_flag3 > 0) || (data.dyn_alarm_flag4 > 0) ||
+                (data.dyn_alarm_flag5 > 0) || (data.dyn_alarm_flag6 > 0) ||
+                (data.water_leak_status_from_dynbat > 1);
+        }
+
+        if (hasInsAlarmData) {
+            currentAlarmState.ins =
+                (data.ins_alarm_flag1 > 0) || (data.ins_alarm_flag2 > 0) ||
+                (data.ins_alarm_flag3 > 0) || (data.ins_alarm_flag4 > 0) ||
+                (data.ins_alarm_flag5 > 0) || (data.ins_alarm_flag6 > 0) ||
+                (data.water_leak_status_from_insbat > 0) || (data.dcdc_status_from_insbat > 0);
+        }
+
+        if (currentAlarmState.dyn) {
+            dynAlarmCard.classList.add('has-alarm');
+        } else {
+            dynAlarmCard.classList.remove('has-alarm');
+        }
+
+        if (currentAlarmState.ins) {
+            insAlarmCard.classList.add('has-alarm');
+        } else {
+            insAlarmCard.classList.remove('has-alarm');
+        }
+    }
+
+    window.addEventListener('load', initWebSocket);
+    </script>
 </body>
 </html>
 )";
diff --git a/src/pPowerManger/pmSysvariable.h b/src/pPowerManger/pmSysvariable.h
index 6209f75..684e7c7 100644
--- a/src/pPowerManger/pmSysvariable.h
+++ b/src/pPowerManger/pmSysvariable.h
@@ -679,7 +679,7 @@ namespace TaskType {
   }
 }
 
-namespace DriverCmd {
+namespace EquipmentCommand {
   enum Type : unsigned char {
     OFF = 0, //断电
     ON = 1,  //上电
@@ -773,6 +773,74 @@ namespace DeviceId {
     inputWaterSensor2 = 60,
     inputWaterSensor3 = 61,
   };
+  inline const std::string toString(Type type) {
+    static const std::map<Type, std::string> names = {
+        {singleBeamSonar1, "singleBeamSonar1"},
+        {singleBeamSonar2, "singleBeamSonar2"},
+        {singleBeamSonar3, "singleBeamSonar3"},
+        {singleBeamSonar4, "singleBeamSonar4"},
+        {singleBeamSonar5, "singleBeamSonar5"},
+        {singleBeamSonar6, "singleBeamSonar6"},
+        {singleBeamSonar7, "singleBeamSonar7"},
+        {singleBeamSonar8, "singleBeamSonar8"},
+        {forwardSonar, "forwardSonar"},
+        {bowCover1, "bowCover1"},
+        {bowCover2, "bowCover2"},
+        {bowCover3, "bowCover3"},
+        {bowCover4, "bowCover4"},
+        {bowCover5, "bowCover5"},
+        {bowCover6, "bowCover6"},
+        {bowRudderDeploy, "bowRudderDeploy"},
+        {bowRudderServo1, "bowRudderServo1"},
+        {bowRudderServo2, "bowRudderServo2"},
+        {depth1, "depth1"},
+        {depth2, "depth2"},
+        {depth3, "depth3"},
+        {overDeep1, "overDeep1"},
+        {overDeep2, "overDeep2"},
+        {ctd1, "ctd1"},
+        {ctd2, "ctd2"},
+        {soundVeloc, "soundVeloc"},
+        {waterInject, "waterInject"},
+        {bowWaterInet1, "bowWaterInet1"},
+        {bowWaterInet2, "bowWaterInet2"},
+        {bowWaterInet3, "bowWaterInet3"},
+        {bowWaterInet4, "bowWaterInet4"},
+        {bowWaterInet5, "bowWaterInet5"},
+        {bowWaterInet6, "bowWaterInet6"},
+        {bowWaterInet7, "bowWaterInet7"},
+        {bowWaterInet8, "bowWaterInet8"},
+        {sideSonar, "sideSonar"},
+        {lowFreqSonar, "lowFreqSonar"},
+        {launchControler, "launchControler"},
+        {photoSensor, "photoSensor"},
+        {electSensor, "electSensor"},
+        {commMast, "commMast"},
+        {mastLiftingServo, "mastLiftingServo"},
+        {USBL, "USBL"},
+        {DVL, "DVL"},
+        {buoyancyAdjust1, "buoyancyAdjust1"},
+        {buoyancyAdjust2, "buoyancyAdjust2"},
+        {buoyancyAdjust3, "buoyancyAdjust3"},
+        {buoyancyAdjust4, "buoyancyAdjust4"},
+        {buoyancyAdjust5, "buoyancyAdjust5"},
+        {sternRudderServo1, "sternRudderServo1"},
+        {sternRudderServo2, "sternRudderServo2"},
+        {sternRudderServo3, "sternRudderServo3"},
+        {sternRudderServo4, "sternRudderServo4"},
+        {thruster, "thruster"},
+        {bowThrow, "bowThrow"},
+        {sternThrow, "sternThrow"},
+        {buoyage, "buoyage"},
+        {ins, "ins"},
+        {ntp, "ntp"},
+        {inputWaterSensor1, "inputWaterSensor1"},
+        {inputWaterSensor2, "inputWaterSensor2"},
+        {inputWaterSensor3, "inputWaterSensor3"}
+    };
+    auto it = names.find(type);
+    return it != names.end() ? it->second : "unknown";
+  }
 }
 
 namespace FaultEnable {
diff --git a/test/disSysTest.zip b/test/disSysTest.zip
index 09dec11..7b4b4d3 100644
Binary files a/test/disSysTest.zip and b/test/disSysTest.zip differ
diff --git a/test/disSysTest/PowerManagerApp.py b/test/disSysTest/PowerManagerApp.py
index 70c12d7..b892bd1 100644
--- a/test/disSysTest/PowerManagerApp.py
+++ b/test/disSysTest/PowerManagerApp.py
@@ -25,20 +25,24 @@ class PowerManagerApp:
         style.configure('.', font=('Microsoft YaHei', 10))
         
         self.root.title("电源管理系统")
-        self.root.geometry("1200x800")
         self.root.tk.call('tk', 'scaling', 1.5)  # 适配高DPI显示
+        # 移除固定窗口大小设置，实现自适应
+        self.root.minsize(800, 600)  # 设置最小窗口大小
         
         # UDP通信配置
         # self.udp_ip = "127.0.0.1"
-        self.udp_ip = "192.168.0.224"
-        self.udp_port = 5002
+        self.udp_ip = "192.168.0.140"
+        self.udp_port = 7000
         self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         self.sock.bind((self.udp_ip, self.udp_port))
 
         self.disSysPortC1 = 6000
         self.disSysHostC1 = '192.168.1.154'
+        # self.disSysHostC1 = '127.0.0.1'
         self.disSysPortC2 = 6000
         self.disSysHostC2 = '192.168.1.158'
+        # self.disSysHostC2 = '127.0.0.1'
+
 
         # self.disSysPortC1 = 7000
         # self.disSysHostC1 = '192.168.0.140'
@@ -210,12 +214,14 @@ class PowerManagerApp:
         # 主框架
         main_frame = ttk.Frame(self.root, padding="10")
         main_frame.pack(fill=tk.BOTH, expand=True)
+        self.root.grid_rowconfigure(0, weight=1)
+        self.root.grid_columnconfigure(0, weight=1)
         
         # 状态显示区
         status_frame = ttk.LabelFrame(main_frame, text="系统状态", padding="10")
-        status_frame.pack(fill=tk.X, pady=5)
+        status_frame.pack(fill=tk.BOTH, expand=True, pady=5)
         
-        # 状态显示区 - 使用Notebook组织不同母线状态
+        # 创建Canvas和Scrollbar
         self.notebook = ttk.Notebook(status_frame)
         self.notebook.pack(fill=tk.BOTH, expand=True, padx=5, pady=5)
         
@@ -242,10 +248,39 @@ class PowerManagerApp:
         # 控制区
         control_frame = ttk.LabelFrame(main_frame, text="控制面板", padding="10")
         control_frame.pack(fill=tk.BOTH, expand=True, pady=5)
+        control_frame.grid_rowconfigure(0, weight=1)
+        control_frame.grid_columnconfigure(0, weight=1)
+
+        # 创建Canvas和Scrollbar
+        canvas = tk.Canvas(control_frame)
+        scrollbar = ttk.Scrollbar(control_frame, orient="vertical", command=canvas.yview)
+        canvas.configure(yscrollcommand=scrollbar.set)
+
+        # 将Canvas和Scrollbar放入控制区
+        canvas.pack(side="left", fill="both", expand=True)
+        scrollbar.pack(side="right", fill="y")
+
+        # 创建内部Frame用于放置Notebook
+        inner_frame = ttk.Frame(canvas)
+        self.inner_frame_id = canvas.create_window((0, 0), window=inner_frame, anchor="nw")
+
+        # 配置Canvas滚动区域
+        def configure_canvas(event):
+            canvas.configure(scrollregion=canvas.bbox("all"))
+            canvas.itemconfig(self.inner_frame_id, width=event.width)
+
+        inner_frame.bind("<Configure>", configure_canvas)
+        canvas.bind("<Configure>", configure_canvas)
+
+        # 绑定鼠标滚轮事件
+        def on_mousewheel(event):
+            canvas.yview_scroll(int(-1*(event.delta/120)), "units")
+
+        canvas.bind_all("<MouseWheel>", on_mousewheel)
 
         # 状态显示区 - 使用Notebook组织不同母线状态
-        self.notebook_c = ttk.Notebook(control_frame)
-        self.notebook_c.pack(fill=tk.BOTH, expand=True, padx=5, pady=5)
+        self.notebook_c = ttk.Notebook(inner_frame)
+        self.notebook_c.pack(fill="both", expand=True, padx=5, pady=5)
 
         high_vol_control_frame = ttk.Frame(self.notebook_c)
         self.notebook_c.add(high_vol_control_frame, text="高压母线")
@@ -266,6 +301,8 @@ class PowerManagerApp:
         # 日志区
         log_frame = ttk.LabelFrame(main_frame, text="系统日志", padding="10")
         log_frame.pack(fill=tk.BOTH, expand=True, pady=5)
+        log_frame.grid_rowconfigure(0, weight=1)
+        log_frame.grid_columnconfigure(0, weight=1)
         
         self.log_text = tk.Text(log_frame, height=10, state=tk.DISABLED)
         self.log_text.pack(fill=tk.BOTH, expand=True)
@@ -465,6 +502,9 @@ class PowerManagerApp:
             cmd.emergencyLithiumBatteryGroup2CircuitBreaker = state
 
         # self.send_udp_command(cmd.pack())
+        print(breaker_name,state)
+        print(cmd)
+        # print(cmd.unpack())
         self.send_udp_command(cmd.pack(), self.disSysHostC2, self.disSysPortC2)
         self.db.insertLowMainBusCmd(cmd)
         if state==0x55:
@@ -703,7 +743,7 @@ class PowerManagerApp:
         """处理接收到的UDP消息"""
         try:
             msg_id = int.from_bytes(data[2:4], byteorder='little')
-            print('----------------------------',hex(msg_id))
+            # print('----------------------------',hex(msg_id))
             if msg_id == 0x0005:  # 高压母线状态
                 msg = msg_disHighVolBusFbMsg()
                 if msg.unpack(data):
@@ -865,10 +905,12 @@ class PowerManagerApp:
                     #     bus["alarms"]["应急电源故障"] = 1
                     bus["alarms"]["应急电源故障"] = msg.emergencyPowerFailureSignal
                     # bus["insulation"] = msg.instrumentBusbarInsulationLow
-                    if msg.instrumentBusbarInsulationLow == 0x55:
-                        bus["insulation"] = 0
-                    else:
-                        bus["insulation"] = 1
+                    bus["insulation"] = msg.instrumentBusbarInsulationLow
+
+                    # if msg.instrumentBusbarInsulationLow == 0x55:
+                    #     bus["insulation"] = 0
+                    # else:
+                    #     bus["insulation"] = 1
                     
                     self.log_message("收到仪表主母线状态更新")
                 else:
@@ -1097,7 +1139,7 @@ class PowerManagerApp:
         try:
             # self.sock.sendto(data, (self.udp_ip, self.udp_port + 1))
             self.sock.sendto(data, (ip, port))
-            print(f"发送命令到 {ip}:{port} ", data)
+            print(f"发送命令到 {ip}:{port} ", data.hex())
         except Exception as e:
             self.log_message(f"发送命令失败: {str(e)}")
     
diff --git a/test/disSysTest/udpMsg.py b/test/disSysTest/udpMsg.py
index e39a950..a9d8dc2 100644
--- a/test/disSysTest/udpMsg.py
+++ b/test/disSysTest/udpMsg.py
@@ -627,13 +627,13 @@ class msg_disLVMBCmdMsg:
         self.checkCode = 0x00
         
         # disLowMainBusCmd成员
-        self.lithiumBatteryGroupInstrumentCircuitBreaker = 0x55
-        self.bowLowVoltageDistributionBoxCircuitBreaker = 0x55
-        self.unit4InstrumentDC48VCircuitBreaker = 0x55
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = 0x00
+        self.bowLowVoltageDistributionBoxCircuitBreaker = 0x00
+        self.unit4InstrumentDC48VCircuitBreaker = 0x00
         self.dcC1DCDistributionPanelCircuitBreaker = 0x00
-        self.reservedCircuitBreaker1 = 0x55
-        self.reservedCircuitBreaker2 = 0x55
-        self.emergencyLithiumBatteryGroup2CircuitBreaker = 0x55
+        self.reservedCircuitBreaker1 = 0x00
+        self.reservedCircuitBreaker2 = 0x00
+        self.emergencyLithiumBatteryGroup2CircuitBreaker = 0x00
 
     def pack(self):
         self.checkCode = 0x00