diff --git a/bin/pPowerManger.moos b/bin/pPowerManger.moos
new file mode 100644
index 0000000..2de7531
--- /dev/null
+++ b/bin/pPowerManger.moos
@@ -0,0 +1,9 @@
+//SERVERHOST = 192.168.0.223
+//SERVERPORT = 9000
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+   log_level = INFO
+   log_file = /path/to/your/logfile.log
+}
\ No newline at end of file
diff --git a/data/msg/pl_test2_1817399773.json b/data/msg/pl_test2_1817399773.json
deleted file mode 100644
index f33f43f..0000000
--- a/data/msg/pl_test2_1817399773.json
+++ /dev/null
@@ -1,326 +0,0 @@
-{
-  "navigationParam_obj" : 
-  {
-    "limitedNavRegion_obj" : [],
-    "maxDepth_fp32" : -1,
-    "maxSpeed_fp32" : -1,
-    "maxVerSpeed_fp32" : -1,
-    "minHeight_fp32" : -1,
-    "minPitch_fp32" : -1,
-    "minTurnLimit_fp32" : -1
-  },
-  "planHash_int32" : -2031201612,
-  "planID_int32" : 1817399773,
-  "planName_str" : "pl_test2",
-  "taskSort_array_int32" : 
-  [
-    68991759,
-    1726048938,
-    68991758,
-    -2127541611,
-    1275525031,
-    -725793762
-  ],
-  "task_obj" : 
-  {
-    "-2127541611" : 
-    {
-      "bowRudderUnfold_bool" : false,
-      "depthPoints_array_fp32" : 
-      [
-        0.0
-      ],
-      "desiredDepth_fp32" : 0,
-      "desiredHeight_fp32" : 0,
-      "desiredSpeed_fp32" : 2.0577776432037354,
-      "destination_array_fp64" : 
-      [
-        20.636590882471154,
-        111.41261861598258
-      ],
-      "endDuration_int32" : 30,
-      "estimatedConsume_fp32" : 0,
-      "estimatedTime_fp32" : 0,
-      "fixedType_int32" : 1,
-      "latPoints_array_fp64" : 
-      [
-        20.636590882471154
-      ],
-      "lonPoints_array_fp64" : 
-      [
-        111.41261861598258
-      ],
-      "pastPointIndex_int32" : -1,
-      "pathLength_fp32" : 0,
-      "pointID_array_str" : 
-      [
-        "-2127541611_0"
-      ],
-      "radius_fp32" : 20,
-      "source_int32" : 1,
-      "speedType_int32" : 1,
-      "taskID_int32" : -2127541611,
-      "taskName_str" : "Hover1",
-      "taskType_str" : "hover"
-    },
-    "-725793762" : 
-    {
-      "bowRudderUnfold_bool" : false,
-      "cyclePoints_array_int32" : 
-      [
-        1
-      ],
-      "depthPoints_array_fp32" : 
-      [
-        0.0
-      ],
-      "desiredSpeed_fp32" : 1,
-      "destination_array_fp64" : 
-      [
-        20.633257427671467,
-        111.42364785945182
-      ],
-      "endWay_int32" : 1,
-      "estimatedConsume_fp32" : 0,
-      "estimatedTime_fp32" : 0,
-      "latPoints_array_fp64" : 
-      [
-        20.633257427671467
-      ],
-      "lonPoints_array_fp64" : 
-      [
-        111.42364785945182
-      ],
-      "pastPointIndex_int32" : -1,
-      "pathLength_fp32" : 0,
-      "pointID_array_str" : 
-      [
-        "-725793762_0"
-      ],
-      "radius_fp32" : 20,
-      "source_int32" : 1,
-      "speedType_int32" : 2,
-      "taskID_int32" : -725793762,
-      "taskName_str" : "Recycle1",
-      "taskType_str" : "recycle"
-    },
-    "1275525031" : 
-    {
-      "bowRudderUnfold_bool" : false,
-      "calibrateMode_int32" : 1,
-      "depthPoints_array_fp32" : 
-      [
-        0.0
-      ],
-      "desiredSpeed_fp32" : 1,
-      "destination_array_fp64" : 
-      [
-        20.641771649173037,
-        111.42562196528678
-      ],
-      "doubleCalibrateSetting_int32" : 0,
-      "estimatedConsume_fp32" : 0,
-      "estimatedTime_fp32" : 0,
-      "latPoints_array_fp64" : 
-      [
-        20.641771649173037
-      ],
-      "lonPoints_array_fp64" : 
-      [
-        111.42562196528678
-      ],
-      "pastPointIndex_int32" : -1,
-      "pathLength_fp32" : 0,
-      "pointID_array_str" : 
-      [
-        "1275525031_0"
-      ],
-      "source_int32" : 1,
-      "speedType_int32" : 2,
-      "taskID_int32" : 1275525031,
-      "taskName_str" : "Calibration1",
-      "taskType_str" : "satCalibrate"
-    },
-    "1726048938" : 
-    {
-      "attack_int32" : 0,
-      "balanceEnabled_bool" : false,
-      "bowRudderUnfold_bool" : false,
-      "calibPointsExtend_array_int32" : 
-      [
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        0
-      ],
-      "calibPoints_array_int32" : 
-      [
-        0,
-        0,
-        0
-      ],
-      "calibrateMode_int32" : 1,
-      "depthPointsExtend_array_fp32" : 
-      [
-        0.0,
-        0.0,
-        0.0,
-        0.0,
-        0.0,
-        0.0,
-        0.0,
-        0.0,
-        0.0
-      ],
-      "desiredDepth_fp32" : 0,
-      "desiredHeight_fp32" : 0,
-      "desiredSpeed_fp32" : 2,
-      "estimatedConsume_fp32" : 0,
-      "estimatedTime_fp32" : 0,
-      "fixedType_int32" : 1,
-      "flankArray_int32" : 0,
-      "latPointsExtend_array_fp64" : 
-      [
-        20.672185454579221,
-        20.654677472562906,
-        20.660540464584184,
-        20.672185454579221,
-        20.654677472562906,
-        20.660540464584184,
-        20.672185454579221,
-        20.654677472562906,
-        20.660540464584184
-      ],
-      "latPoints_array_fp64" : 
-      [
-        20.672185454579221,
-        20.654677472562906,
-        20.660540464584184
-      ],
-      "lonPointsExtend_array_fp64" : 
-      [
-        111.41573055186512,
-        111.41349821869244,
-        111.39761978934951,
-        111.41573055186512,
-        111.41349821869244,
-        111.39761978934951,
-        111.41573055186512,
-        111.41349821869244,
-        111.39761978934951
-      ],
-      "lonPoints_array_fp64" : 
-      [
-        111.41573055186512,
-        111.41349821869244,
-        111.39761978934951
-      ],
-      "loop_int32" : 3,
-      "magnet_int32" : 0,
-      "optronic_int32" : 0,
-      "pastPointIndex_int32" : -1,
-      "pathLength_fp32" : 0,
-      "pointID_array_str" : 
-      [
-        "1726048938_0",
-        "1726048938_1",
-        "1726048938_2",
-        "1726048938_3",
-        "1726048938_4",
-        "1726048938_5",
-        "1726048938_6",
-        "1726048938_7",
-        "1726048938_8"
-      ],
-      "source_int32" : 1,
-      "speedType_int32" : 2,
-      "taskID_int32" : 1726048938,
-      "taskName_str" : "AreaSurvey1",
-      "taskType_str" : "tour",
-      "towArray_int32" : 0
-    },
-    "68991758" : 
-    {
-      "balanceEnabled_bool" : false,
-      "bowRudderUnfold_bool" : false,
-      "depthPoints_array_fp32" : 
-      [
-        0.0
-      ],
-      "desiredDepth_fp32" : 0,
-      "desiredHeight_fp32" : 0,
-      "desiredSpeed_fp32" : 2,
-      "destination_array_fp64" : 
-      [
-        20.643378052620122,
-        111.4050226000524
-      ],
-      "estimatedConsume_fp32" : 0,
-      "estimatedTime_fp32" : 0,
-      "fixedType_int32" : 1,
-      "latPoints_array_fp64" : 
-      [
-        20.643378052620122
-      ],
-      "lonPoints_array_fp64" : 
-      [
-        111.4050226000524
-      ],
-      "pastPointIndex_int32" : -1,
-      "pathLength_fp32" : 0,
-      "pointID_array_str" : 
-      [
-        "68991758_0"
-      ],
-      "source_int32" : 1,
-      "speedType_int32" : 2,
-      "taskID_int32" : 68991758,
-      "taskName_str" : "Goto1",
-      "taskType_str" : "sail"
-    },
-    "68991759" : 
-    {
-      "balanceEnabled_bool" : false,
-      "bowRudderUnfold_bool" : false,
-      "depthPoints_array_fp32" : 
-      [
-        0.0
-      ],
-      "desiredDepth_fp32" : 0,
-      "desiredHeight_fp32" : 0,
-      "desiredSpeed_fp32" : 2,
-      "destination_array_fp64" : 
-      [
-        20.650305473106499,
-        111.4256434229589
-      ],
-      "estimatedConsume_fp32" : 0,
-      "estimatedTime_fp32" : 0,
-      "fixedType_int32" : 1,
-      "latPoints_array_fp64" : 
-      [
-        20.650305473106499
-      ],
-      "lonPoints_array_fp64" : 
-      [
-        111.4256434229589
-      ],
-      "pastPointIndex_int32" : -1,
-      "pathLength_fp32" : 0,
-      "pointID_array_str" : 
-      [
-        "68991759_0"
-      ],
-      "source_int32" : 1,
-      "speedType_int32" : 2,
-      "taskID_int32" : 68991759,
-      "taskName_str" : "Goto2",
-      "taskType_str" : "sail"
-    }
-  }
-}
\ No newline at end of file
diff --git a/data/msg/subDisSysCmd.json b/data/msg/subDisSysCmd.json
deleted file mode 100644
index 19d3bde..0000000
--- a/data/msg/subDisSysCmd.json
+++ /dev/null
@@ -1,64 +0,0 @@
-{
-	"DVL" : 0,
-	"USBL" : 0,
-	"bowCover1" : 0,
-	"bowCover2" : 0,
-	"bowCover3" : 0,
-	"bowCover4" : 0,
-	"bowCover5" : 0,
-	"bowCover6" : 0,
-	"bowRudderDeploy" : 0,
-	"bowRudderServo1" : 0,
-	"bowRudderServo2" : 0,
-	"bowThrow" : 0,
-	"bowWaterInet1" : 0,
-	"bowWaterInet2" : 0,
-	"bowWaterInet3" : 0,
-	"bowWaterInet4" : 0,
-	"bowWaterInet5" : 0,
-	"bowWaterInet6" : 0,
-	"bowWaterInet7" : 0,
-	"bowWaterInet8" : 0,
-	"buoyage" : 0,
-	"buoyancyAdjust1" : 0,
-	"buoyancyAdjust2" : 0,
-	"buoyancyAdjust3" : 0,
-	"buoyancyAdjust4" : 0,
-	"buoyancyAdjust5" : 0,
-	"commMast" : 0,
-	"ctd1" : 0,
-	"ctd2" : 0,
-	"depth1" : 0,
-	"depth2" : 0,
-	"depth3" : 0,
-	"electSensor" : 0,
-	"forwardSonar" : 0,
-	"inputWaterSensor1" : 0,
-	"inputWaterSensor2" : 0,
-	"inputWaterSensor3" : 0,
-	"ins" : 0,
-	"launchControler" : 0,
-	"lowFreqSonar" : 0,
-	"mastLiftingServo" : 0,
-	"ntp" : 0,
-	"overDeep1" : 0,
-	"overDeep2" : 0,
-	"photoSensor" : 0,
-	"sideSonar" : 0,
-	"singleBeamSonar1" : 0,
-	"singleBeamSonar2" : 0,
-	"singleBeamSonar3" : 0,
-	"singleBeamSonar4" : 0,
-	"singleBeamSonar5" : 0,
-	"singleBeamSonar6" : 0,
-	"singleBeamSonar7" : 0,
-	"singleBeamSonar8" : 0,
-	"soundVeloc" : 0,
-	"sternRudderServo1" : 0,
-	"sternRudderServo2" : 0,
-	"sternRudderServo3" : 0,
-	"sternRudderServo4" : 0,
-	"sternThrow" : 0,
-	"thruster" : 0,
-	"waterInject" : 0
-}
diff --git a/data/msg/uDevice_depth_st.json b/data/msg/uDevice_depth_st.json
deleted file mode 100644
index 0c734a3..0000000
--- a/data/msg/uDevice_depth_st.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "value_array_uint16" :[2,1,3]
-}
\ No newline at end of file
diff --git a/data/msg/uPower_currentState_st.json b/data/msg/uPower_currentState_st.json
deleted file mode 100644
index 68d961a..0000000
--- a/data/msg/uPower_currentState_st.json
+++ /dev/null
@@ -1 +0,0 @@
-{"uPower_currentState_st":{"HVABFTDev123Cur_uint16":0,"HVABactCur_uint16":0,"HVABbowRudCur_uint16":0,"HVABbusBCur_uint16":0,"HVABbusBVol_uint16":0,"HVABmastSteGeaCur_uint16":0,"HVABopenWaterCur_uint16":0,"HVABxczCur_uint16":0,"HVBBCCUCur_uint16":0,"HVBBFCSSecurSysCur_uint16":0,"HVBBbatInsCur_uint16":0,"HVBBbowLowVolDisBoxCur_uint16":0,"HVBBdcC1InsCur_uint16":0,"HVBBemer2BusVol_uint16":0,"HVBBemerBatCur_uint16":0,"HVBBinsBusVol_uint16":0,"HVBBplcCur_uint16":0,"HVBBreservedCur1_uint16":0,"HVBBreservedCur2_uint16":0,"HVBBunit4Cur_uint16":0,"HVBFTDev45Cur_uint16":0,"HVBbatGroupCur_uint16":0,"HVBbowHVolDisBoxCur_uint16":0,"HVBbusACur_uint16":0,"HVBbusAVol_uint16":0,"HVBdcDc5Cur_uint16":0,"HVBfbCur_uint16":0,"HVBmotorCur_uint16":0,"HVBpowerBusCur_uint16":0,"HVBpowerBusVol_uint16":0,"HVBreservedCur1_uint16":0,"HVBreservedCur2_uint16":0,"HVBreservedCur3_uint16":0,"HVBsternRud1Cur_uint16":0,"HVBsternRud2Cur_uint16":0,"HVBtyzCur_uint16":0,"LVBBbowPZDevCur_uint16":0,"LVBBemerBatCur_uint16":0,"LVBBemerBusVol_uint16":0,"LVBBinsBusCur_uint16":0,"LVBBunit1Cur_uint16":0,"LVBBunit2Cur_uint16":0,"LVBBunit3Cur_uint16":0,"LVBBunit5Cur_uint16":0,"LVBinsBusVol_uint16":0}}
diff --git a/data/msg/uPower_disSysState_st.json b/data/msg/uPower_disSysState_st.json
deleted file mode 100644
index 62af903..0000000
--- a/data/msg/uPower_disSysState_st.json
+++ /dev/null
@@ -1 +0,0 @@
-{"uPower_disSysState_st":{"HVolABusBreaker_uint16":0,"HVolBBusBreaker_uint16":0,"HVolBusBreaker_uint16":0,"LVolBusBreaker_uint16":0,"faultCode_array":[1,2,3,4,5,6,7,8,9,13,14,15,16,17,18,19,20,21,22,25,26,27,28,29,33,34,35,36,37,38,39,40,41,42,44,45]}}
diff --git a/data/msg/uPower_equState_fb.json b/data/msg/uPower_equState_fb.json
deleted file mode 100644
index 6a2672e..0000000
--- a/data/msg/uPower_equState_fb.json
+++ /dev/null
@@ -1,65 +0,0 @@
-{"uPower_equState_fb":{
-	"DVL_uint8" : 0,
-	"USBL_uint8" : 0,
-	"bowCover1_uint8" : 0,
-	"bowCover2_uint8" : 0,
-	"bowCover3_uint8" : 0,
-	"bowCover4_uint8" : 0,
-	"bowCover5_uint8" : 0,
-	"bowCover6_uint8" : 0,
-	"bowRudderDeploy_uint8" : 0,
-	"bowRudderServo1_uint8" : 0,
-	"bowRudderServo2_uint8" : 0,
-	"bowThrow_uint8" : 0,
-	"bowWaterInet1_uint8" : 0,
-	"bowWaterInet2_uint8" : 0,
-	"bowWaterInet3_uint8" : 0,
-	"bowWaterInet4_uint8" : 0,
-	"bowWaterInet5_uint8" : 0,
-	"bowWaterInet6_uint8" : 0,
-	"bowWaterInet7_uint8" : 0,
-	"bowWaterInet8_uint8" : 0,
-	"buoyage_uint8" : 0,
-	"buoyancyAdjust1_uint8" : 0,
-	"buoyancyAdjust2_uint8" : 0,
-	"buoyancyAdjust3_uint8" : 0,
-	"buoyancyAdjust4_uint8" : 0,
-	"buoyancyAdjust5_uint8" : 0,
-	"commDev_uint8" : 0,
-	"ctd1_uint8" : 0,
-	"ctd2_uint8" : 0,
-	"depth1_uint8" : 0,
-	"depth2_uint8" : 0,
-	"depth3_uint8" : 0,
-	"electSensor_uint8" : 0,
-	"forwardSonar_uint8" : 0,
-	"inputWaterSensor1_uint8" : 0,
-	"inputWaterSensor2_uint8" : 0,
-	"inputWaterSensor3_uint8" : 0,
-	"ins_uint8" : 1,
-	"launchControler_uint8" : 0,
-	"lowFreqSonar_uint8" : 0,
-	"mastLiftingServo_uint8" : 0,
-	"ntp_uint8" : 1,
-	"overDeep1_uint8" : 0,
-	"overDeep2_uint8" : 0,
-	"photoSensor_uint8" : 0,
-	"sideSonar_uint8" : 0,
-	"singleBeamSonar1_uint8" : 0,
-	"singleBeamSonar2_uint8" : 0,
-	"singleBeamSonar3_uint8" : 0,
-	"singleBeamSonar4_uint8" : 0,
-	"singleBeamSonar5_uint8" : 0,
-	"singleBeamSonar6_uint8" : 0,
-	"singleBeamSonar7_uint8" : 0,
-	"singleBeamSonar8_uint8" : 0,
-	"soundVeloc_uint8" : 0,
-	"sternRudderServo1_uint8" : 0,
-	"sternRudderServo2_uint8" : 0,
-	"sternRudderServo3_uint8" : 0,
-	"sternRudderServo4_uint8" : 0,
-	"sternThrow_uint8" : 0,
-	"thruster_uint8" : 0,
-	"waterInject_uint8" : 0
-}
-}
diff --git a/data/msg/uPower_fcsState_st.json b/data/msg/uPower_fcsState_st.json
deleted file mode 100644
index 46bb393..0000000
--- a/data/msg/uPower_fcsState_st.json
+++ /dev/null
@@ -1 +0,0 @@
-{"uPower_fcsState_st":{"backpressure1_fp32":0.0,"backpressure2_fp32":0.0,"ch4oConcent1_fp32":0.0,"ch4oConcent2_fp32":0.0,"ch4o_fp32":0.0,"excTemp_fp32":0.0,"faultCode1_uint16":0,"faultCode2_uint16":0,"faultCode3_uint16":0,"faultCode4_uint16":0,"fcCommState_uint8":0,"fcuCurIns_fp32":0.0,"fcuCurPower_fp32":0.0,"fcuCur_fp32":0.0,"fcuFaultLeve_uint8":0,"fcuOutIns_fp32":0.0,"fcuOutPower_fp32":0.0,"fcuState_uint8":0,"fcuVolIns_fp32":0.0,"fcuVolPower_fp32":0.0,"fcuVol_fp32":0.0,"flameDet_uint8":0,"h2Concent1_fp32":0.0,"h2Concent2_fp32":0.0,"o2Concent1_fp32":0.0,"o2Concent2_fp32":0.0,"o2Level_fp32":0.0,"o2_fp32":0.0,"powLimit_fp32":0.0,"powerGen_fp32":0.0}}
diff --git a/data/msg/uPower_liBatState_st.json b/data/msg/uPower_liBatState_st.json
deleted file mode 100644
index 3bd0d02..0000000
--- a/data/msg/uPower_liBatState_st.json
+++ /dev/null
@@ -1 +0,0 @@
-{"uPower_liBatState_st":{"insBatCurElect_uint16":0.0,"insBatLimit_uint16":0.0,"insBatSoc_uint8":0,"insBatTotalElect_uint16":0.0,"insChargeState_uint8":0,"insCommState_uint8":0,"insCurSocHold1_uint8":0,"insCurSocHold2_uint8":0,"insCurSocHold3_uint8":0,"insCurrent_uint16":0.0,"insFaultCode_uint8":0,"insLinkVol_uint16":0.0,"insNegRelayState_uint8":0,"insNegRes_uint16":0.0,"insPackVol_uint16":0.0,"insPosRelayState_uint8":0,"insPosRes_uint16":0.0,"powBatCurElect_uint16":0,"powBatSoc_uint8":0,"powBatTotalElect_uint16":0.0,"powChargeState_uint8":0,"powCommState_uint8":0,"powCurSocHold1_uint8":0,"powCurSocHold2_uint8":0,"powCurSocHold3_uint8":0,"powCurToInsLimit1_uint8":0.0,"powCurToInsLimit2_uint8":0.0,"powCur_uint16":0.0,"powFaultCode_uint8":0,"powLinkVol_uint16":0.0,"powNegRelayState_uint8":0,"powNegRes_uint16":0.0,"powPosRelayState_uint8":0,"powPosRes_uint16":0.0,"powerBatLimit_uint16":0,"powerPackVol_uint16":0.0}}
diff --git a/data/msg/uPower_pmState_fb.json b/data/msg/uPower_pmState_fb.json
deleted file mode 100644
index 5896dea..0000000
--- a/data/msg/uPower_pmState_fb.json
+++ /dev/null
@@ -1,13 +0,0 @@
-{
-  "currentMod_uint8": 0,
-  "faultCode_array": 
-  [
-    0
-  ],
-  "faultLevel_uint8": 0,
-  "leakage_uint8": 0,
-  "powerState_uint8": 0,
-  "soc_uint16": 0,
-  "sustainableTime_int64": 0,
-  "workCondition_uint8": 1
-}
\ No newline at end of file
diff --git a/data/msg/uPower_pmState_st.json b/data/msg/uPower_pmState_st.json
deleted file mode 100644
index df2e35e..0000000
--- a/data/msg/uPower_pmState_st.json
+++ /dev/null
@@ -1,13 +0,0 @@
-{"uPower_pmState_st":{
-	"currentMod_uint8" : 1,
-	"falutLevel_uint8" : 0,
-	"faultCode_array" : 
-	[
-		0
-	],
-	"powerState_uint8" : 0,
-	"soc_uint32" : 0,
-	"sustainableTime_uint32" : 0,
-	"workCondition_uint8" : 1
-}
-}
diff --git a/data/msg/uPower_secdistState_cmd.json b/data/msg/uPower_secdistState_cmd.json
deleted file mode 100644
index 712affc..0000000
--- a/data/msg/uPower_secdistState_cmd.json
+++ /dev/null
@@ -1 +0,0 @@
-{"uPower_secdistState_cmd":{"ADCP_uint8":2,"DVL_uint8":2,"USBL_uint8":2,"bowCover1_uint8":2,"bowCover2_uint8":2,"bowCover3_uint8":2,"bowCover4_uint8":2,"bowCover5_uint8":2,"bowCover6_uint8":2,"bowRudderDeploy_uint8":2,"bowRudderServo_uint8":2,"bowThrow_uint8":2,"bowWaterInet1_uint8":2,"bowWaterInet2_uint8":2,"bowWaterInet3_uint8":2,"bowWaterInet4_uint8":2,"bowWaterInet5_uint8":2,"bowWaterInet6_uint8":2,"bowWaterInet7_uint8":2,"bowWaterInet8_uint8":2,"buoyage_uint8":2,"buoyancyAdjust1_uint8":2,"buoyancyAdjust2_uint8":2,"buoyancyAdjust3_uint8":2,"buoyancyAdjust4_uint8":2,"buoyancyAdjust5_uint8":2,"commDevStern_uint8":2,"commDev_uint8":1,"ctd1_uint8":1,"ctd2_uint8":1,"depth1_uint8":1,"depth2_uint8":1,"depth3_uint8":1,"dragSonar_uint8":2,"electSensor_uint8":2,"forwardSonar_uint8":2,"haulingMachine_uint8":2,"inOutLetWater1_uint8":1,"inOutLetWater2_uint8":1,"inOutLetWater3_uint8":1,"launchControler_uint8":2,"lowFreqSonar_uint8":2,"mainINS_uint8":1,"mastLiftingServo_uint8":2,"photoSensor_uint8":2,"secINS_uint8":1,"sideSonar_uint8":2,"singleBeamSonar1_uint8":2,"singleBeamSonar2_uint8":2,"singleBeamSonar3_uint8":2,"singleBeamSonar4_uint8":2,"singleBeamSonar5_uint8":2,"singleBeamSonar6_uint8":2,"singleBeamSonar7_uint8":2,"singleBeamSonar8_uint8":2,"soundVeloc_uint8":1,"sternRudderServo1_uint8":2,"sternRudderServo2_uint8":2,"sternRudderServo3_uint8":2,"sternRudderServo4_uint8":2,"sternThrow_uint8":2,"thruster_uint8":2,"waterInject_uint8":2}}
diff --git a/data/msg/uPower_sysState_cmd.json b/data/msg/uPower_sysState_cmd.json
deleted file mode 100644
index 4309ae7..0000000
--- a/data/msg/uPower_sysState_cmd.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-    "powerCMD":0,
-    "modCMD":0,
-    "workCMD":0
-}
\ No newline at end of file
diff --git a/data/protocol-specs/udp/ccu_set_param_fb.json b/data/protocol-specs/udp/ccu_set_param_fb.json
deleted file mode 100644
index 3f1c4a2..0000000
--- a/data/protocol-specs/udp/ccu_set_param_fb.json
+++ /dev/null
@@ -1,52 +0,0 @@
-{
-  "protocol_name": "CCU参数设置反馈",
-  "message_id": "0x0040",
-  "length": 10,
-  "checksum": {
-    "start_offset": 0,
-    "end_offset": 6,
-    "algorithm": "sum"
-  },
-  "fields": [
-    {
-      "name": "start1",
-      "offset": 0,
-      "type": "uint8",
-      "value": "0x20",
-      "description": "起始字节1"
-    },
-    {
-      "name": "start2",
-      "offset": 1,
-      "type": "uint8",
-      "value": "0x20",
-      "description": "起始字节2"
-    },
-    {
-      "name": "id",
-      "offset": 2,
-      "type": "uint16",
-      "value": "0x0040",
-      "description": "消息ID"
-    },
-    {
-      "name": "length",
-      "offset": 4,
-      "type": "uint16",
-      "value": 10,
-      "description": "消息长度"
-    },
-    {
-      "name": "flag",
-      "offset": 6,
-      "type": "uint8",
-      "description": "设置标志位"
-    },
-    {
-      "name": "failvreCode",
-      "offset": 7,
-      "type": "uint8",
-      "description": "故障代码"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/data/protocol-specs/udp/ccu_state_fb.json b/data/protocol-specs/udp/ccu_state_fb.json
deleted file mode 100644
index d7a838a..0000000
--- a/data/protocol-specs/udp/ccu_state_fb.json
+++ /dev/null
@@ -1,637 +0,0 @@
-{
-  "message_name": "CCUStateFbMsg",
-  "protocol_id": "0x0041",
-  "endianness": "little",
-  "fields": [
-    {
-      "name": "start1",
-      "offset": 0,
-      "length": 1,
-      "type": "uint8",
-      "value": "0x20",
-      "description": "起始字节1"
-    },
-    {
-      "name": "start2",
-      "offset": 1,
-      "length": 1,
-      "type": "uint8",
-      "value": "0x20",
-      "description": "起始字节2"
-    },
-    {
-      "name": "id",
-      "offset": 2,
-      "length": 2,
-      "type": "uint16",
-      "value": "0x0041",
-      "description": "消息ID"
-    },
-    {
-      "name": "length",
-      "offset": 4,
-      "length": 2,
-      "type": "uint16",
-      "dynamic": true,
-      "description": "数据长度（自动计算）"
-    },
-    {
-      "name": "currentWorkCondition",
-      "offset": 6,
-      "length": 1,
-      "type": "uint8",
-      "enum": {"0x00":"待机","0x01":"运行","0x02":"故障"},
-      "description": "当前工作状态"
-    },
-    {
-      "name": "fcuState",
-      "offset": 7,
-      "length": 1,
-      "type": "uint8",
-      "unit": "%",
-      "description": "燃料电池状态"
-    },
-    {
-      "name": "fcuFaultLeve",
-      "offset": 8,
-      "length": 1,
-      "type": "uint8",
-      "description": "故障等级"
-    },
-    {
-      "name": "powerLimit",
-      "offset": 9,
-      "length": 4,
-      "type": "float32",
-      "unit": "kW",
-      "description": "功率限制值"
-    },
-    {
-      "name": "totalPowerGeneration",
-      "offset": 13,
-      "length": 4,
-      "type": "float32",
-      "unit": "kWh",
-      "description": "总发电量"
-    },
-    {
-      "name": "ch4o",
-      "offset": 17,
-      "length": 4,
-      "type": "float32",
-      "unit": "ppm",
-      "description": "甲醇浓度"
-    },
-    {
-      "name": "o2",
-      "offset": 21,
-      "length": 4,
-      "type": "float32",
-      "unit": "%",
-      "description": "氧气浓度"
-    },
-    {
-      "name": "fcuVoltage",
-      "offset": 25,
-      "length": 4,
-      "type": "float32",
-      "unit": "V",
-      "description": "燃料电池电压"
-    },
-    {
-      "name": "fcuCurrent",
-      "offset": 29,
-      "length": 4,
-      "type": "float32",
-      "unit": "A",
-      "description": "燃料电池电流"
-    },
-    {
-      "name": "o2Level",
-      "offset": 33,
-      "length": 4,
-      "type": "float32",
-      "unit": "%",
-      "description": "氧气含量"
-    },
-    {
-      "name": "placeholder1",
-      "offset": 37,
-      "length": 4,
-      "type": "float32",
-      "description": "预留字段1"
-    },
-    {
-      "name": "exchangerTemperature",
-      "offset": 41,
-      "length": 4,
-      "type": "float32",
-      "unit": "°C",
-      "description": "换热器温度"
-    },
-    {
-      "name": "fcuOutPower",
-      "offset": 45,
-      "length": 4,
-      "type": "float32",
-      "unit": "kW",
-      "description": "燃料电池输出功率"
-    },
-    {
-      "name": "fcuOutIns",
-      "offset": 49,
-      "length": 4,
-      "type": "float32",
-      "unit": "kΩ",
-      "description": "绝缘电阻"
-    },
-    {
-      "name": "fcuVoltageIns",
-      "offset": 53,
-      "length": 4,
-      "type": "float32",
-      "unit": "V",
-      "description": "绝缘监测电压"
-    },
-    {
-      "name": "fcuVoltagePower",
-      "offset": 57,
-      "length": 4,
-      "type": "float32",
-      "unit": "V",
-      "description": "功率电压"
-    },
-    {
-      "name": "fcuCurrentIns",
-      "offset": 61,
-      "length": 4,
-      "type": "float32",
-      "unit": "A",
-      "description": "绝缘监测电流"
-    },
-    {
-      "name": "fcuCurrentPower",
-      "offset": 65,
-      "length": 4,
-      "type": "float32",
-      "unit": "A",
-      "description": "功率电流"
-    },
-    {
-      "name": "h2Concentration1",
-      "offset": 69,
-      "length": 4,
-      "type": "float32",
-      "unit": "ppm",
-      "description": "氢气浓度1"
-    },
-    {
-      "name": "h2Concentration2",
-      "offset": 73,
-      "length": 4,
-      "type": "float32",
-      "unit": "ppm",
-      "description": "氢气浓度2"
-    },
-    {
-      "name": "o2Concentration1",
-      "offset": 77,
-      "length": 4,
-      "type": "float32",
-      "unit": "%",
-      "description": "氧气浓度1"
-    },
-    {
-      "name": "o2Concentration2",
-      "offset": 81,
-      "length": 4,
-      "type": "float32",
-      "unit": "%",
-      "description": "氧气浓度2"
-    },
-    {
-      "name": "ch4oConcentration1",
-      "offset": 85,
-      "length": 4,
-      "type": "float32",
-      "unit": "ppm",
-      "description": "甲醇浓度1"
-    },
-    {
-      "name": "ch4oConcentration2",
-      "offset": 89,
-      "length": 4,
-      "type": "float32",
-      "unit": "ppm",
-      "description": "甲醇浓度2"
-    },
-    {
-      "name": "backpressure1",
-      "offset": 93,
-      "length": 4,
-      "type": "float32",
-      "unit": "kPa",
-      "description": "背压1"
-    },
-    {
-      "name": "backpressure2",
-      "offset": 97,
-      "length": 4,
-      "type": "float32",
-      "unit": "kPa",
-      "description": "背压2"
-    },
-    {
-      "name": "flameDetection",
-      "offset": 101,
-      "length": 1,
-      "type": "uint8",
-      "description": "火焰检测状态"
-    },
-    {
-      "name": "fcuGZ_1L",
-      "offset": 102,
-      "length": 1,
-      "type": "uint8",
-      "description": "故障字1低字节"
-    },
-    {
-      "name": "fcuGZ_1H",
-      "offset": 103,
-      "length": 1,
-      "type": "uint8",
-      "description": "故障字1高字节"
-    },
-    {
-      "name": "fcuGZ_2L",
-      "offset": 104,
-      "length": 1,
-      "type": "uint8",
-      "description": "故障字2低字节"
-    },
-    {
-      "name": "fcuGZ_2H",
-      "offset": 105,
-      "length": 1,
-      "type": "uint8",
-      "description": "故障字2高字节"
-    },
-    {
-      "name": "fcuGZ_3L",
-      "offset": 106,
-      "length": 1,
-      "type": "uint8",
-      "description": "故障字3低字节"
-    },
-    {
-      "name": "fcuGZ_3H",
-      "offset": 107,
-      "length": 1,
-      "type": "uint8",
-      "description": "故障字3高字节"
-    },
-    {
-      "name": "insPosRelayState",
-      "offset": 108,
-      "length": 1,
-      "type": "uint8",
-      "description": "绝缘正极继电器状态"
-    },
-    {
-      "name": "insNegRelayState",
-      "offset": 109,
-      "length": 1,
-      "type": "uint8",
-      "description": "绝缘负极继电器状态"
-    },
-    {
-      "name": "powerPosRelayState",
-      "offset": 110,
-      "length": 1,
-      "type": "uint8",
-      "description": "功率正极继电器状态"
-    },
-    {
-      "name": "powerNegRelayState",
-      "offset": 111,
-      "length": 1,
-      "type": "uint8",
-      "description": "功率负极继电器状态"
-    },
-    {
-      "name": "insBatLimit",
-      "offset": 112,
-      "length": 2,
-      "type": "uint16",
-      "unit": "A",
-      "description": "绝缘电池电流限制"
-    },
-    {
-      "name": "powerBatLimit",
-      "offset": 114,
-      "length": 2,
-      "type": "uint16",
-      "unit": "A",
-      "description": "功率电池电流限制"
-    },
-    {
-      "name": "insBatSoc",
-      "offset": 116,
-      "length": 1,
-      "type": "uint8",
-      "unit": "%",
-      "description": "绝缘电池SOC"
-    },
-    {
-      "name": "powerBatSoc",
-      "offset": 117,
-      "length": 1,
-      "type": "uint8",
-      "unit": "%",
-      "description": "功率电池SOC"
-    },
-    {
-      "name": "insBatTotalElectricity",
-      "offset": 118,
-      "length": 2,
-      "type": "uint16",
-      "unit": "kWh",
-      "description": "绝缘电池总电量"
-    },
-    {
-      "name": "powerBatTotalElectricity",
-      "offset": 120,
-      "length": 2,
-      "type": "uint16",
-      "unit": "kWh",
-      "description": "功率电池总电量"
-    },
-    {
-      "name": "insBatCurrentElectricity",
-      "offset": 122,
-      "length": 2,
-      "type": "uint16",
-      "unit": "A",
-      "description": "绝缘电池当前电流"
-    },
-    {
-      "name": "powerBatCurrentElectricity",
-      "offset": 124,
-      "length": 2,
-      "type": "uint16",
-      "unit": "A",
-      "description": "功率电池当前电流"
-    },
-    {
-      "name": "insChargeState",
-      "offset": 126,
-      "length": 1,
-      "type": "uint8",
-      "description": "绝缘电池充电状态"
-    },
-    {
-      "name": "powerChargeState",
-      "offset": 127,
-      "length": 1,
-      "type": "uint8",
-      "description": "功率电池充电状态"
-    },
-    {
-      "name": "insLinkVoltage",
-      "offset": 128,
-      "length": 2,
-      "type": "uint16",
-      "unit": "V",
-      "description": "绝缘链路电压"
-    },
-    {
-      "name": "insPackVoltage",
-      "offset": 130,
-      "length": 2,
-      "type": "uint16",
-      "unit": "V",
-      "description": "绝缘电池组电压"
-    },
-    {
-      "name": "insCurrent",
-      "offset": 132,
-      "length": 2,
-      "type": "uint16",
-      "unit": "A",
-      "description": "绝缘电流"
-    },
-    {
-      "name": "insPosInsulationResistance",
-      "offset": 134,
-      "length": 2,
-      "type": "uint16",
-      "unit": "kΩ",
-      "description": "正极绝缘电阻"
-    },
-    {
-      "name": "insNegInsulationResistance",
-      "offset": 136,
-      "length": 2,
-      "type": "uint16",
-      "unit": "kΩ",
-      "description": "负极绝缘电阻"
-    },
-    {
-      "name": "powerLinkVoltage",
-      "offset": 138,
-      "length": 2,
-      "type": "uint16",
-      "unit": "V",
-      "description": "功率链路电压"
-    },
-    {
-      "name": "powerPackVoltage",
-      "offset": 140,
-      "length": 2,
-      "type": "uint16",
-      "unit": "V",
-      "description": "功率电池组电压"
-    },
-    {
-      "name": "powerCurrent",
-      "offset": 142,
-      "length": 2,
-      "type": "uint16",
-      "unit": "A",
-      "description": "功率电流"
-    },
-    {
-      "name": "powerPosInsulationResistance",
-      "offset": 144,
-      "length": 2,
-      "type": "uint16",
-      "unit": "kΩ",
-      "description": "功率正极绝缘电阻"
-    },
-    {
-      "name": "powerNegInsulationResistance",
-      "offset": 146,
-      "length": 2,
-      "type": "uint16",
-      "unit": "kΩ",
-      "description": "功率负极绝缘电阻"
-    },
-    {
-      "name": "insEmergencyStatusWord",
-      "offset": 148,
-      "length": 1,
-      "type": "uint8",
-      "description": "绝缘紧急状态字"
-    },
-    {
-      "name": "powerEmergencyStatusWord",
-      "offset": 149,
-      "length": 1,
-      "type": "uint8",
-      "description": "功率紧急状态字"
-    },
-    {
-      "name": "insAlarmIdentificationWord",
-      "offset": 150,
-      "length": 1,
-      "type": "uint8",
-      "description": "绝缘报警标识字"
-    },
-    {
-      "name": "powerAlarmIdentificationWord",
-      "offset": 151,
-      "length": 1,
-      "type": "uint8",
-      "description": "功率报警标识字"
-    },
-    {
-      "name": "insCurrentSocHold1",
-      "offset": 152,
-      "length": 1,
-      "type": "uint8",
-      "unit": "%",
-      "description": "绝缘电流SOC保持1"
-    },
-    {
-      "name": "insCurrentSocHold2",
-      "offset": 153,
-      "length": 1,
-      "type": "uint8",
-      "unit": "%",
-      "description": "绝缘电流SOC保持2"
-    },
-    {
-      "name": "insCurrentSocHold3",
-      "offset": 154,
-      "length": 1,
-      "type": "uint8",
-      "unit": "%",
-      "description": "绝缘电流SOC保持3"
-    },
-    {
-      "name": "fcuCurrentToInsLimit1",
-      "offset": 155,
-      "length": 1,
-      "type": "uint8",
-      "unit": "A",
-      "description": "FCU到绝缘限制1"
-    },
-    {
-      "name": "fcuCurrentToinsLimit2",
-      "offset": 156,
-      "length": 1,
-      "type": "uint8",
-      "unit": "A",
-      "description": "FCU到绝缘限制2"
-    },
-    {
-      "name": "powerCurrentSocHold1",
-      "offset": 157,
-      "length": 1,
-      "type": "uint8",
-      "unit": "%",
-      "description": "功率电流SOC保持1"
-    },
-    {
-      "name": "powerCurrentSocHold2",
-      "offset": 158,
-      "length": 1,
-      "type": "uint8",
-      "unit": "%",
-      "description": "功率电流SOC保持2"
-    },
-    {
-      "name": "powerCurrentSocHold3",
-      "offset": 159,
-      "length": 1,
-      "type": "uint8",
-      "unit": "%",
-      "description": "功率电流SOC保持3"
-    },
-    {
-      "name": "powerCurrentToInsLimit1",
-      "offset": 160,
-      "length": 1,
-      "type": "uint8",
-      "unit": "A",
-      "description": "功率到绝缘限制1"
-    },
-    {
-      "name": "powerCurrentToinsLimit2",
-      "offset": 161,
-      "length": 1,
-      "type": "uint8",
-      "unit": "A",
-      "description": "功率到绝缘限制2"
-    },
-    {
-      "name": "placeholder2",
-      "offset": 162,
-      "length": 4,
-      "type": "float32",
-      "description": "预留字段2"
-    },
-    {
-      "name": "placeholder3",
-      "offset": 166,
-      "length": 4,
-      "type": "float32",
-      "description": "预留字段3"
-    },
-    {
-      "name": "placeholder4",
-      "offset": 170,
-      "length": 4,
-      "type": "float32",
-      "description": "预留字段4"
-    },
-    {
-      "name": "placeholder5",
-      "offset": 174,
-      "length": 4,
-      "type": "float32",
-      "description": "预留字段5"
-    },
-    {
-      "name": "checkCode",
-      "offset": 178,
-      "length": 4,
-      "type": "uint32",
-      "description": "校验码（从start1到placeholder5的字节累加和）"
-    }
-  ],
-  "metadata": {
-    "total_length": 182,
-    "data_section_start": 6,
-    "data_section_end": 178,
-    "checksum_range": "0-178",
-    "float_precision": "IEEE-754单精度",
-    "reserved_fields": [
-      "placeholder1",
-      "placeholder2",
-      "placeholder3",
-      "placeholder4",
-      "placeholder5"
-    ]
-  }
-}
\ No newline at end of file
diff --git a/data/protocol-specs/udp/dis_high_a_vol_bus_fb.json b/data/protocol-specs/udp/dis_high_a_vol_bus_fb.json
deleted file mode 100644
index 8495ad6..0000000
--- a/data/protocol-specs/udp/dis_high_a_vol_bus_fb.json
+++ /dev/null
@@ -1,142 +0,0 @@
-{
-  "protocol_name": "高压A母线状态反馈",
-  "message_id": "0x0006",
-  "length": 10,
-  "checksum": {
-    "start_offset": 0,
-    "end_offset": 30,
-    "algorithm": "sum_low_byte"
-  },
-  "fields": [
-    {
-      "name": "start1",
-      "offset": 0,
-      "type": "uint8",
-      "value": "0x20",
-      "description": "起始字节1"
-    },
-    {
-      "name": "start2",
-      "offset": 1,
-      "type": "uint8",
-      "value": "0x20",
-      "description": "起始字节2"
-    },
-    {
-      "name": "id",
-      "offset": 2,
-      "type": "uint16",
-      "value": "0x0006",
-      "description": "消息ID"
-    },
-    {
-      "name": "length",
-      "offset": 4,
-      "type": "uint16",
-      "value": 10,
-      "description": "消息长度"
-    },
-    {
-      "name": "bowFTDevice123CircuitBreaker",
-      "offset": 6,
-      "type": "uint8",
-      "description": "艏部FT设备123断路器"
-    },
-    {
-      "name": "actuatorCircuitBreaker",
-      "offset": 7,
-      "type": "uint8",
-      "description": "执行机构断路器"
-    },
-    {
-      "name": "mastSteeringGearControlBoxCircuitBreaker",
-      "offset": 8,
-      "type": "uint8",
-      "description": "桅杆舵机控制箱断路器"
-    },
-    {
-      "name": "xczCircuitBreaker",
-      "offset": 9,
-      "type": "uint8",
-      "description": "XCZ断路器"
-    },
-    {
-      "name": "bowRudderControlBoxCircuitBreaker",
-      "offset": 10,
-      "type": "uint8",
-      "description": "艏舵控制箱断路器"
-    },
-    {
-      "name": "openWaterCoverStartCylinderCircuitBreaker",
-      "offset": 11,
-      "type": "uint8",
-      "description": "开盖启动气缸断路器"
-    },
-    {
-      "name": "instrumentPowerFailureSignal",
-      "offset": 12,
-      "type": "uint8",
-      "description": "仪表电源失效信号"
-    },
-    {
-      "name": "emergencyPowerFailureSignal",
-      "offset": 13,
-      "type": "uint8",
-      "description": "应急电源失效信号"
-    },
-    {
-      "name": "waterIngressionAlarm",
-      "offset": 14,
-      "type": "uint8",
-      "description": "进水报警"
-    },
-    {
-      "name": "busbarBVoltage",
-      "offset": 15,
-      "type": "uint16",
-      "description": "B排电压（V）"
-    },
-    {
-      "name": "busbarBCurrent",
-      "offset": 17,
-      "type": "uint16",
-      "description": "B排电流（A）"
-    },
-    {
-      "name": "bowFTDevice123Current",
-      "offset": 19,
-      "type": "uint16",
-      "description": "艏部FT设备123电流（A）"
-    },
-    {
-      "name": "actuatorCurrent",
-      "offset": 21,
-      "type": "uint16",
-      "description": "执行机构电流（A）"
-    },
-    {
-      "name": "mastSteeringGearControlBoxCurrent",
-      "offset": 23,
-      "type": "uint16",
-      "description": "桅杆舵机控制箱电流（A）"
-    },
-    {
-      "name": "xczCurrent",
-      "offset": 25,
-      "type": "uint16",
-      "description": "XCZ电流（A）"
-    },
-    {
-      "name": "bowRudderControlBoxCurrent",
-      "offset": 27,
-      "type": "uint16",
-      "description": "艏舵控制箱电流（A）"
-    },
-    {
-      "name": "openWaterCoverStartCylinderCurrent",
-      "offset": 29,
-      "type": "uint16",
-      "description": "开盖启动气缸电流（A）"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/data/protocol-specs/udp/dis_high_b_vol_bus_fb.json b/data/protocol-specs/udp/dis_high_b_vol_bus_fb.json
deleted file mode 100644
index d627ae1..0000000
--- a/data/protocol-specs/udp/dis_high_b_vol_bus_fb.json
+++ /dev/null
@@ -1,154 +0,0 @@
-{
-  "protocol_name": "高压B母线状态反馈",
-  "message_id": "0x0007",
-  "length": 36,
-  "checksum": {
-    "start_offset": 0,
-    "end_offset": 34,
-    "algorithm": "sum_low_byte"
-  },
-  "fields": [
-    {
-      "name": "start1",
-      "offset": 0,
-      "type": "uint8",
-      "value": "0x20",
-      "description": "起始字节1"
-    },
-    {
-      "name": "start2",
-      "offset": 1,
-      "type": "uint8",
-      "value": "0x20",
-      "description": "起始字节2"
-    },
-    {
-      "name": "id",
-      "offset": 2,
-      "type": "uint16",
-      "value": "0x0007",
-      "description": "消息ID"
-    },
-    {
-      "name": "length",
-      "offset": 4,
-      "type": "uint16",
-      "value": 36,
-      "description": "消息长度（包含校验码）"
-    },
-    {
-      "name": "lithiumBatteryGroupInstrumentCircuitBreaker",
-      "offset": 6,
-      "type": "uint8",
-      "description": "锂电池组仪表断路器"
-    },
-    {
-      "name": "bowLowVoltageDistributionBoxCircuitBreaker",
-      "offset": 7,
-      "type": "uint8",
-      "description": "艏部低压配电箱断路器"
-    },
-    {
-      "name": "unit4InstrumentDC48VCircuitBreaker",
-      "offset": 8,
-      "type": "uint8",
-      "description": "单元4仪表DC48V断路器"
-    },
-    {
-      "name": "dcC1DCDistributionPanelCircuitBreaker",
-      "offset": 9,
-      "type": "uint8",
-      "description": "DC C1直流配电板断路器"
-    },
-    {
-      "name": "reservedCircuitBreaker1",
-      "offset": 10,
-      "type": "uint8",
-      "description": "备用断路器1"
-    },
-    {
-      "name": "reservedCircuitBreaker2",
-      "offset": 11,
-      "type": "uint8",
-      "description": "备用断路器2"
-    },
-    {
-      "name": "emergencyLithiumBatteryGroup2CircuitBreaker",
-      "offset": 12,
-      "type": "uint8",
-      "description": "应急锂电池组2断路器"
-    },
-    {
-      "name": "instrumentPowerFailureSignal",
-      "offset": 13,
-      "type": "uint8",
-      "description": "仪表电源故障信号"
-    },
-    {
-      "name": "emergencyPowerFailureSignal",
-      "offset": 14,
-      "type": "uint8",
-      "description": "应急电源故障信号"
-    },
-    {
-      "name": "instrumentBusbarVoltage",
-      "offset": 15,
-      "type": "uint16",
-      "description": "仪表母线电压（V）"
-    },
-    {
-      "name": "bowLowVoltageDistributionBoxCurrent",
-      "offset": 17,
-      "type": "uint16",
-      "description": "艏部低压配电箱电流（A）"
-    },
-    {
-      "name": "dcC1InstrumentDC48VCurrent",
-      "offset": 19,
-      "type": "uint16",
-      "description": "DC C1仪表DC48V电流（A）"
-    },
-    {
-      "name": "reservedCurrent1",
-      "offset": 21,
-      "type": "uint16",
-      "description": "备用电流1（A）"
-    },
-    {
-      "name": "emergencyLithiumBatteryGroup2Current",
-      "offset": 23,
-      "type": "uint16",
-      "description": "应急锂电池组2电流（A）"
-    },
-    {
-      "name": "lithiumBatteryGroupInstrumentCurrent",
-      "offset": 25,
-      "type": "uint16",
-      "description": "锂电池组仪表电流（A）"
-    },
-    {
-      "name": "unit4InstrumentDC48VCurrent",
-      "offset": 27,
-      "type": "uint16",
-      "description": "单元4仪表DC48V电流（A）"
-    },
-    {
-      "name": "reservedCurrent2",
-      "offset": 29,
-      "type": "uint16",
-      "description": "备用电流2（A）"
-    },
-    {
-      "name": "emergency2BusbarVoltage",
-      "offset": 31,
-      "type": "uint16",
-      "description": "应急2母线电压（V）"
-    },
-    {
-      "name": "compositeEnergyManagementSystemEmergencyDC48VCurrent",
-      "offset": 33,
-      "type": "uint16",
-      "description": "综合能源管理系统应急DC48V电流（A）"
-    }
-  ]
-}
diff --git a/data/protocol-specs/udp/dis_high_vol_bus_fb.json b/data/protocol-specs/udp/dis_high_vol_bus_fb.json
deleted file mode 100644
index 2ea80a3..0000000
--- a/data/protocol-specs/udp/dis_high_vol_bus_fb.json
+++ /dev/null
@@ -1,184 +0,0 @@
-{
-  "protocol_name": "高压母线状态反馈",
-  "message_id": "0x0005",
-  "length": 38,
-  "checksum": {
-    "start_offset": 0,
-    "end_offset": 37,
-    "algorithm": "sum_low_byte"
-  },
-  "fields": [
-    {
-      "name": "start1",
-      "offset": 0,
-      "type": "uint8",
-      "value": "0x20",
-      "description": "起始字节1"
-    },
-    {
-      "name": "start2",
-      "offset": 1,
-      "type": "uint8",
-      "value": "0x20",
-      "description": "起始字节2"
-    },
-    {
-      "name": "id",
-      "offset": 2,
-      "type": "uint16",
-      "value": "0x0005",
-      "description": "消息ID"
-    },
-    {
-      "name": "length",
-      "offset": 4,
-      "type": "uint16",
-      "value": 38,
-      "description": "消息长度"
-    },
-    {
-      "name": "DCB1",
-      "offset": 6,
-      "type": "uint8",
-      "description": "直流断路器1状态"
-    },
-    {
-      "name": "DCB2",
-      "offset": 7,
-      "type": "uint8",
-      "description": "直流断路器2状态"
-    },
-    {
-      "name": "ZK1",
-      "offset": 8,
-      "type": "uint8",
-      "description": "真空接触器1状态"
-    },
-    {
-      "name": "ZK2",
-      "offset": 9,
-      "type": "uint8",
-      "description": "真空接触器2状态"
-    },
-    {
-      "name": "ZK3",
-      "offset": 10,
-      "type": "uint8",
-      "description": "真空接触器3状态"
-    },
-    {
-      "name": "ZK4",
-      "offset": 11,
-      "type": "uint8",
-      "description": "真空接触器4状态"
-    },
-    {
-      "name": "ZK5",
-      "offset": 12,
-      "type": "uint8",
-      "description": "真空接触器5状态"
-    },
-    {
-      "name": "ZK6",
-      "offset": 13,
-      "type": "uint8",
-      "description": "真空接触器6状态"
-    },
-    {
-      "name": "ZK7",
-      "offset": 14,
-      "type": "uint8",
-      "description": "真空接触器7状态"
-    },
-    {
-      "name": "ZK8",
-      "offset": 15,
-      "type": "uint8",
-      "description": "真空接触器8状态"
-    },
-    {
-      "name": "ZK9",
-      "offset": 16,
-      "type": "uint8",
-      "description": "真空接触器9状态"
-    },
-    {
-      "name": "ZK10",
-      "offset": 17,
-      "type": "uint8",
-      "description": "真空接触器10状态"
-    },
-    {
-      "name": "busInsulationLow",
-      "offset": 18,
-      "type": "uint8",
-      "description": "母线绝缘低报警"
-    },
-    {
-      "name": "busAInsulationHigh",
-      "offset": 19,
-      "type": "uint8",
-      "description": "A母线绝缘高报警"
-    },
-    {
-      "name": "lostPower",
-      "offset": 20,
-      "type": "uint8",
-      "description": "失电信号"
-    },
-    {
-      "name": "lostEmerPower",
-      "offset": 21,
-      "type": "uint8",
-      "description": "应急失电信号"
-    },
-    {
-      "name": "powerBusVoltage",
-      "offset": 22,
-      "type": "uint16",
-      "description": "动力母线电压（V）"
-    },
-    {
-      "name": "dcDc5ModuleCurrent",
-      "offset": 24,
-      "type": "uint16",
-      "description": "DC/DC5模块电流（A）"
-    },
-    {
-      "name": "powerBusCurrent",
-      "offset": 26,
-      "type": "uint16",
-      "description": "动力母线电流（A）"
-    },
-    {
-      "name": "busbarAVoltage",
-      "offset": 28,
-      "type": "uint16",
-      "description": "A排电压（V）"
-    },
-    {
-      "name": "propulsionMotorControlBoxCurrent",
-      "offset": 30,
-      "type": "uint16",
-      "description": "推进电机控制箱电流（A）"
-    },
-    {
-      "name": "busbarACurrent",
-      "offset": 32,
-      "type": "uint16",
-      "description": "A排电流（A）"
-    },
-    {
-      "name": "lithiumBatteryGroupMeterCurrent",
-      "offset": 34,
-      "type": "uint16",
-      "description": "锂电池组表计电流（A）"
-    },
-    {
-      "name": "bowHighVoltageDistributionBoxCurrent",
-      "offset": 36,
-      "type": "uint16",
-      "description": "艏部高压配电箱电流（A）"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/data/testmsg/uDevice_depth_st.json b/data/testmsg/uDevice_depth_st.json
deleted file mode 100644
index 0c734a3..0000000
--- a/data/testmsg/uDevice_depth_st.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "value_array_uint16" :[2,1,3]
-}
\ No newline at end of file
diff --git a/data/testmsg/uDevice_secdistState_st.json b/data/testmsg/uDevice_secdistState_st.json
deleted file mode 100644
index 9efd182..0000000
--- a/data/testmsg/uDevice_secdistState_st.json
+++ /dev/null
@@ -1,64 +0,0 @@
-{
-	"DVL" : 0,
-	"USBL" : 0,
-	"bowCover1" : 0,
-	"bowCover2" : 0,
-	"bowCover3" : 0,
-	"bowCover4" : 0,
-	"bowCover5" : 0,
-	"bowCover6" : 0,
-	"bowRudderDeploy" : 0,
-	"bowRudderServo1" : 0,
-	"bowRudderServo2" : 0,
-	"bowThrow" : 0,
-	"bowWaterInet1" : 0,
-	"bowWaterInet2" : 0,
-	"bowWaterInet3" : 0,
-	"bowWaterInet4" : 0,
-	"bowWaterInet5" : 0,
-	"bowWaterInet6" : 0,
-	"bowWaterInet7" : 0,
-	"bowWaterInet8" : 0,
-	"buoyage" : 0,
-	"buoyancyAdjust1" : 0,
-	"buoyancyAdjust2" : 0,
-	"buoyancyAdjust3" : 0,
-	"buoyancyAdjust4" : 0,
-	"buoyancyAdjust5" : 0,
-	"commMast" : 0,
-	"ctd1" : 0,
-	"ctd2" : 0,
-	"depth1" : 0,
-	"depth2" : 0,
-	"depth3" : 0,
-	"electSensor" : 0,
-	"forwardSonar" : 0,
-	"inputWaterSensor1" : 0,
-	"inputWaterSensor2" : 0,
-	"inputWaterSensor3" : 0,
-	"ins" : 0,
-	"launchControler" : 0,
-	"lowFreqSonar" : 0,
-	"mastLiftingServo" : 0,
-	"ntp" : 0,
-	"overDeep1" : 0,
-	"overDeep2" : 0,
-	"photoSensor" : 0,
-	"sideSonar" : 0,
-	"singleBeamSonar1" : 0,
-	"singleBeamSonar2" : 0,
-	"singleBeamSonar3" : 0,
-	"singleBeamSonar4" : 0,
-	"singleBeamSonar5" : 0,
-	"singleBeamSonar6" : 0,
-	"singleBeamSonar7" : 0,
-	"singleBeamSonar8" : 0,
-	"soundVeloc" : 0,
-	"sternRudderServo1" : 0,
-	"sternRudderServo2" : 0,
-	"sternRudderServo3" : 0,
-	"sternRudderServo4" : 0,
-	"sternThrow" : 0,
-	"thruster" : 0,
-	"waterInject" : 0
-}
\ No newline at end of file
diff --git a/data/testmsg/uExternComm_setDeviceSwitch_cmd.json b/data/testmsg/uExternComm_setDeviceSwitch_cmd.json
deleted file mode 100644
index a39f963..0000000
--- a/data/testmsg/uExternComm_setDeviceSwitch_cmd.json
+++ /dev/null
@@ -1,4 +0,0 @@
-{
-    "id_uint8" : 1,
-    "cmd_uint8" : 1
-}
\ No newline at end of file
diff --git a/data/testmsg/uExternComm_setOpCondition_cmd.json b/data/testmsg/uExternComm_setOpCondition_cmd.json
deleted file mode 100644
index 5f5ea7a..0000000
--- a/data/testmsg/uExternComm_setOpCondition_cmd.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "state_uint8" : 12
-}
\ No newline at end of file
diff --git a/data/testmsg/uExternComm_setOpMode_cmd.json b/data/testmsg/uExternComm_setOpMode_cmd.json
deleted file mode 100644
index 6c4e59c..0000000
--- a/data/testmsg/uExternComm_setOpMode_cmd.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "state_uint8" : 1
-}
\ No newline at end of file
diff --git a/data/testmsg/uExternComm_setPowerSystem_cmd.json b/data/testmsg/uExternComm_setPowerSystem_cmd.json
deleted file mode 100644
index c744c79..0000000
--- a/data/testmsg/uExternComm_setPowerSystem_cmd.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "powerCmd_uint8" :1
-}
\ No newline at end of file
diff --git a/data/testmsg/uPlan_planStop_cmd.json b/data/testmsg/uPlan_planStop_cmd.json
deleted file mode 100644
index 432e152..0000000
--- a/data/testmsg/uPlan_planStop_cmd.json
+++ /dev/null
@@ -1,4 +0,0 @@
-{
-    "stamp_fp64" : 0,           
-    "op_int32" : 1         
-}
\ No newline at end of file
diff --git a/data/testmsg/uPlan_taskStart_cmd.json b/data/testmsg/uPlan_taskStart_cmd.json
deleted file mode 100644
index 2baaacf..0000000
--- a/data/testmsg/uPlan_taskStart_cmd.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
-    "balanceEnabled_bool" : false,
-    "bowRudderUnfold_bool" : false,
-    "depthPoints_array_fp32" : 
-    [
-      0.0
-    ],
-    "desiredDepth_fp32" : 0,
-    "desiredHeight_fp32" : 0,
-    "desiredSpeed_fp32" : 2,
-    "destination_array_fp64" : 
-    [
-      20.650305473106499,
-      111.4256434229589
-    ],
-    "estimatedConsume_fp32" : 0,
-    "estimatedTime_fp32" : 0,
-    "fixedType_int32" : 1,
-    "latPoints_array_fp64" : 
-    [
-      20.650305473106499
-    ],
-    "lonPoints_array_fp64" : 
-    [
-      111.4256434229589
-    ],
-    "pastPointIndex_int32" : -1,
-    "pathLength_fp32" : 0,
-    "pointID_array_str" : 
-    [
-      "68991759_0"
-    ],
-    "source_int32" : 1,
-    "speedType_int32" : 2,
-    "taskID_int32" : 68991759,
-    "taskName_str" : "Goto2",
-    "taskType_str" : "sail"
-}
\ No newline at end of file
diff --git a/data/testmsg/uPower_equState_cmd.json b/data/testmsg/uPower_equState_cmd.json
deleted file mode 100644
index 9b0b13c..0000000
--- a/data/testmsg/uPower_equState_cmd.json
+++ /dev/null
@@ -1,64 +0,0 @@
-{
-    "DVL" : 0,
-	"USBL" : 0,
-	"bowCover1" : 0,
-	"bowCover2" : 0,
-	"bowCover3" : 0,
-	"bowCover4" : 0,
-	"bowCover5" : 0,
-	"bowCover6" : 0,
-	"bowRudderDeploy" : 0,
-	"bowRudderServo1" : 0,
-	"bowRudderServo2" : 0,
-	"bowThrow" : 0,
-	"bowWaterInet1" : 0,
-	"bowWaterInet2" : 0,
-	"bowWaterInet3" : 0,
-	"bowWaterInet4" : 0,
-	"bowWaterInet5" : 0,
-	"bowWaterInet6" : 0,
-	"bowWaterInet7" : 0,
-	"bowWaterInet8" : 0,
-	"buoyage" : 0,
-	"buoyancyAdjust1" : 0,
-	"buoyancyAdjust2" : 0,
-	"buoyancyAdjust3" : 0,
-	"buoyancyAdjust4" : 0,
-	"buoyancyAdjust5" : 0,
-	"commMast" : 0,
-	"ctd1" : 0,
-	"ctd2" : 0,
-	"depth1" : 0,
-	"depth2" : 0,
-	"depth3" : 0,
-	"electSensor" : 0,
-	"forwardSonar" : 0,
-	"inputWaterSensor1" : 0,
-	"inputWaterSensor2" : 0,
-	"inputWaterSensor3" : 0,
-	"ins" : 0,
-	"launchControler" : 0,
-	"lowFreqSonar" : 0,
-	"mastLiftingServo" : 0,
-	"ntp" : 0,
-	"overDeep1" : 0,
-	"overDeep2" : 0,
-	"photoSensor" : 0,
-	"sideSonar" : 0,
-	"singleBeamSonar1" : 0,
-	"singleBeamSonar2" : 0,
-	"singleBeamSonar3" : 0,
-	"singleBeamSonar4" : 0,
-	"singleBeamSonar5" : 0,
-	"singleBeamSonar6" : 0,
-	"singleBeamSonar7" : 0,
-	"singleBeamSonar8" : 0,
-	"soundVeloc" : 0,
-	"sternRudderServo1" : 0,
-	"sternRudderServo2" : 0,
-	"sternRudderServo3" : 0,
-	"sternRudderServo4" : 0,
-	"sternThrow" : 0,
-	"thruster" : 0,
-	"waterInject" : 0
-}
\ No newline at end of file
diff --git a/data/testmsg/uPower_sysState_cmd.json b/data/testmsg/uPower_sysState_cmd.json
deleted file mode 100644
index 29cb461..0000000
--- a/data/testmsg/uPower_sysState_cmd.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-    "powerCMD":4,
-    "modCMD":1,
-    "workCMD":12
-}
\ No newline at end of file
diff --git a/src/bck/pPowerManger/fsm/PowerManagerFsm.cpp b/src/bck/pPowerManger/fsm/PowerManagerFsm.cpp
index 4b51075..2ffe977 100644
--- a/src/bck/pPowerManger/fsm/PowerManagerFsm.cpp
+++ b/src/bck/pPowerManger/fsm/PowerManagerFsm.cpp
@@ -1796,10 +1796,12 @@ void PowerManagerFsm::basicNavigationFault()
     if(pm->m_systemData->device_common_status.ccu_status.isTimeout)
     {
         pm->m_systemData->insertFaultCode(0x1413);
+        LOG_F(INFO, "复合管控器失效");
     }
     else
     {
         pm->m_systemData->eraseFaultCode(0x1413);
+        LOC_F(INFO, "复合管控器恢复");
     }
 }
 void PowerManagerFsm::basicNavigationFault(FaultEvent const &e)
diff --git a/src/pPowerManger/LowerCommManager.cpp b/src/pPowerManger/LowerCommManager.cpp
index c485ae4..6b96a8c 100644
--- a/src/pPowerManger/LowerCommManager.cpp
+++ b/src/pPowerManger/LowerCommManager.cpp
@@ -189,25 +189,19 @@ bool LowerCommManager::updatePoweSystemStates(){
   if(!m_udpComm->m_qReceiveCcuStateBuffer.empty())
   {
     double time;
-    if(m_udpComm->popMsgFormQueue(time, m_CcuCurrentState));
+    if(m_udpComm->popMsgFormQueue(time, m_CcuCurrentState))
     {
         m_pm->m_pmCurrentState.ccustate = m_CcuCurrentState.data;
         m_pm->m_db->insertData(m_pm->m_pmCurrentState.ccustate); //写入数据库
         msg_CcuStateFbMsg_Update_time = time;
         m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.ccustate);
         m_pm->m_systemData->device_common_status.ccu_status.lastUpdateTime = m_pm->m_lowerCommManager->msg_CcuStateFbMsg_Update_time;
-
     }
-    //DEBUG
-    //写入文件
-    // std::ofstream outFile("ccuState.txt", std::ios::app);
-    // coutMsg(m_CcuCurrentState, outFile);
-    // coutMsg(m_CcuCurrentState,std::cout);
   }
   if(!m_udpComm->m_qReceiveDisHighVolBusBuffer.empty())
   {
     double time;
-    if(m_udpComm->popMsgFormQueue(time, m_disHighVolBusCurrentState));
+    if(m_udpComm->popMsgFormQueue(time, m_disHighVolBusCurrentState))
     {
         // m_udpComm->popMsgFormQueue(time,m_disHighVolBusCurrentState);
         m_pm->m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
@@ -238,7 +232,7 @@ bool LowerCommManager::updatePoweSystemStates(){
   if(!m_udpComm->m_qReceiveDisHighAVolBusBuffer.empty())
   {
     double time;
-    if(m_udpComm->popMsgFormQueue(time,m_disHighAVolBusCurrentState));
+    if(m_udpComm->popMsgFormQueue(time,m_disHighAVolBusCurrentState))
     {
         m_pm->m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
         m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus2State); //写入数据库
@@ -263,7 +257,7 @@ bool LowerCommManager::updatePoweSystemStates(){
   if(!m_udpComm->m_qReceiveDisHighBVolBusBuffer.empty())
   {
     double time;
-    if(m_udpComm->popMsgFormQueue(time,m_disHighBVolBusCurrentState));
+    if(m_udpComm->popMsgFormQueue(time,m_disHighBVolBusCurrentState))
     {
         m_pm->m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
         m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus3State); //写入数据库
@@ -287,7 +281,7 @@ bool LowerCommManager::updatePoweSystemStates(){
   if(!m_udpComm->m_qReceiveDisLowBusBuffer.empty())
   {
     double time;
-    if(m_udpComm->popMsgFormQueue(time,m_disLowBusState));
+    if(m_udpComm->popMsgFormQueue(time,m_disLowBusState))
     {
         m_pm->m_pmCurrentState.bus4State = m_disLowBusState.data;
         m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus4State); //写入数据库
diff --git a/src/pPowerManger/PowerManger.cpp b/src/pPowerManger/PowerManger.cpp
index f79ecde..eccb099 100644
--- a/src/pPowerManger/PowerManger.cpp
+++ b/src/pPowerManger/PowerManger.cpp
@@ -65,7 +65,6 @@ PowerManger::PowerManger()
   //初始化下位机通信
   m_lowerCommManager = new LowerCommManager(this,IPORT,CCUPORT,CCUHOST);
   m_lowerCommManager->initUdpComm();
-  m_lowerCommManager->startListenThread();
 
   //初始化上位机通信
   m_upperCommManager = new UpperCommManager(this);
@@ -73,7 +72,8 @@ PowerManger::PowerManger()
   //初始化数据库
   m_db = new SQLite("power_data.db");
   m_db->createTable();
-
+  
+  m_lowerCommManager->startListenThread();
   //初始化http服务器
   m_httpServer = new HttpServer(8090);
   m_httpServer->setPowerManger(this);
diff --git a/src/pPowerManger/fsm/CruiseMode.cpp b/src/pPowerManger/fsm/CruiseMode.cpp
index 48dbe35..0824d8f 100644
--- a/src/pPowerManger/fsm/CruiseMode.cpp
+++ b/src/pPowerManger/fsm/CruiseMode.cpp
@@ -49,6 +49,7 @@ void CruiseMode::entry() {
     }
     pm->workCondition = WorkCondition::CRUISE_MODE;
     LOG_F(INFO, "进入巡航模式");
+    pm->m_systemData->setSystemInfo("INFO:已进入巡航模式");
 }
 
 // CruiseMode实现
diff --git a/src/pPowerManger/fsm/DJMode.cpp b/src/pPowerManger/fsm/DJMode.cpp
index ad81a34..543a7dd 100644
--- a/src/pPowerManger/fsm/DJMode.cpp
+++ b/src/pPowerManger/fsm/DJMode.cpp
@@ -40,6 +40,7 @@ void DJMode::entry() {
     pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(1);
     pm->workCondition = WorkCondition::DJ_MODE;
     LOG_F(INFO, "进入DJ模式");
+    pm->m_systemData->setSystemInfo("INFO:已进入打击模式");
 }
 
 
diff --git a/src/pPowerManger/fsm/FaultState.cpp b/src/pPowerManger/fsm/FaultState.cpp
index 3ef4cc6..c6b3dae 100644
--- a/src/pPowerManger/fsm/FaultState.cpp
+++ b/src/pPowerManger/fsm/FaultState.cpp
@@ -6,6 +6,7 @@ void FaultState::entry() {
     if(pm->m_missionState.type == TaskType::THROW_LOAD)
     {
        LOG_F(INFO, "检测到抛载");
+       pm->m_systemData->setSystemInfo("ERROR:检测到抛载");
     }
 }
 
diff --git a/src/pPowerManger/fsm/FloatAdjust.cpp b/src/pPowerManger/fsm/FloatAdjust.cpp
index 2a0a145..bbbb884 100644
--- a/src/pPowerManger/fsm/FloatAdjust.cpp
+++ b/src/pPowerManger/fsm/FloatAdjust.cpp
@@ -13,4 +13,5 @@ void FloatAdjust::entry() {
     handleCuriseWork();
     pm->workCondition = WorkCondition::BUOYANCY_ADJUST;
     LOG_F(INFO, "进入浮调模式");
+    pm->m_systemData->setSystemInfo("INFO:已进入浮调模式");
 }
diff --git a/src/pPowerManger/fsm/FloatDown.cpp b/src/pPowerManger/fsm/FloatDown.cpp
index a9bdd1d..7631c5f 100644
--- a/src/pPowerManger/fsm/FloatDown.cpp
+++ b/src/pPowerManger/fsm/FloatDown.cpp
@@ -6,6 +6,7 @@ void FloatDown::entry() {
     handleCuriseWork();
     pm->workCondition = WorkCondition::ASCEND_DESCEND;
     LOG_F(INFO, "进入上浮下潜模式");
+    pm->m_systemData->setSystemInfo("INFO:已进入上浮下潜模式");
 }
 
 // FloatDown实现
diff --git a/src/pPowerManger/fsm/HighSpeedMode.cpp b/src/pPowerManger/fsm/HighSpeedMode.cpp
index 233f7a7..3367f9d 100644
--- a/src/pPowerManger/fsm/HighSpeedMode.cpp
+++ b/src/pPowerManger/fsm/HighSpeedMode.cpp
@@ -6,6 +6,7 @@ void HighSpeedMode::entry() {
     handleCuriseWork();
     pm->workCondition = WorkCondition::HIGH_SPEED_MODE;
     LOG_F(INFO, "进入高速模式");
+    pm->m_systemData->setSystemInfo("INFO:已经进入高速模式");
 }
 
 // HighSpeedMode实现
diff --git a/src/pPowerManger/fsm/InitState.cpp b/src/pPowerManger/fsm/InitState.cpp
index 5cdd3ac..bc17bd0 100644
--- a/src/pPowerManger/fsm/InitState.cpp
+++ b/src/pPowerManger/fsm/InitState.cpp
@@ -4,6 +4,7 @@
 void InitState::entry() {
     PowerManagerFsm::entry();
     LOG_F(INFO, "进入初始化状态");
+    pm->m_systemData->setSystemInfo("INFO:已初始化");
     pm->initControlCmd();
     pm->m_lowerCommManager->operate_hold();
     transit<StandbyState>();
diff --git a/src/pPowerManger/fsm/Lifting.cpp b/src/pPowerManger/fsm/Lifting.cpp
index 709a4f0..e27bd29 100644
--- a/src/pPowerManger/fsm/Lifting.cpp
+++ b/src/pPowerManger/fsm/Lifting.cpp
@@ -5,14 +5,18 @@ void Lifting::entry() {
     pm->workCondition = WorkCondition::CHANING;
     //1. 关闭所有水声设备
     LOG_F(INFO,"前视声纳关机指令");
+    pm->m_systemData->setSystemInfo("INFO:发送前视声纳关机");
     pm->sendNotification("uExternComm_frontSonarControl_cmd","0");
     MOOSPause(10000);
+    pm->m_systemData->setSystemInfo("INFO:已发送前视声纳关机，等待10秒");
     for(auto iter : underWterDevices)
     {
         pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(iter), 0);
+        pm->m_systemData->setSystemInfo("INFO:关闭所有水声设备");
     }
     //2. 关闭动力电设备
     //2.1 断开所有艏部高压断路器
+    pm->m_systemData->setSystemInfo("INFO:正在断开所有高压断路器");
     pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
     MOOSPause(3);
     pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(0);
@@ -26,6 +30,21 @@ void Lifting::entry() {
     pm->m_lowerCommManager->operate_HVA_xczCircuit_Breaker(0);
     MOOSPause(3);
     //2.2 断开所有艉部高压设备断路器
+    //检测电机去使能状态，5秒超时
+    auto startTime = std::chrono::steady_clock::now();
+    while(pm->m_thrustEnable == 1)
+    {
+        // 检查是否超时（5秒）
+        auto currentTime = std::chrono::steady_clock::now();
+        auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(currentTime - startTime);
+        if(elapsed.count() >= 5)
+        {
+            LOG_F(WARNING, "电机去使能超时（5秒）");
+            pm->m_systemData->setSystemInfo("ERROR:电机去使能超时（5秒）");
+            return;
+        }
+        MOOSPause(100);
+    }
     pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(0);
     MOOSPause(3);
     pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(0);
@@ -57,6 +76,7 @@ void Lifting::entry() {
     pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(0); 
     //3. 关闭燃料电池
     //4. 关闭动力锂电池
+    pm->m_systemData->setSystemInfo("INFO:正在关闭动力电");
     MOOSPause(3);
     {
         int count=0;
@@ -67,12 +87,14 @@ void Lifting::entry() {
             if(count>10)
             {
                 LOG_F(INFO, "动力锂电池无下电反馈"); 
+                pm->m_systemData->setSystemInfo("ERROR:动力锂电池无下电反馈");
                 break;
             }
             count++;
         }
     }
-    LOG_F(INFO, "动力锂电池已下电");
+    // LOG_F(INFO, "动力锂电池已下电");
+    pm->m_systemData->setSystemInfo("INFO:起吊准备完成");
     pm->workCondition = WorkCondition::LIFT_MODE;
     LOG_F(INFO, "WorkCondition %d", pm->workCondition);
 }
diff --git a/src/pPowerManger/fsm/PowerManagerFsm.cpp b/src/pPowerManger/fsm/PowerManagerFsm.cpp
index 522ee4e..072fbcd 100644
--- a/src/pPowerManger/fsm/PowerManagerFsm.cpp
+++ b/src/pPowerManger/fsm/PowerManagerFsm.cpp
@@ -67,6 +67,20 @@ void PowerManagerFsm::handleCuriseWork()
     //1. 开启动力电
     //1.1 动力锂电池上电
     pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
+    // 等待动力锂电池上电完成
+    int count=0;
+    while (!(pm->m_systemData->dyn_voltage_link > 500.0))
+    {
+        LOG_F(INFO,"动力锂电池上电中...");
+        MOOSPause(1000);
+        if(count>10)
+        {
+            LOG_F(INFO, "动力锂电池无上电反馈"); 
+            pm->m_systemData->setSystemInfo("ERROR:动力锂电池无上电反馈");
+            return;
+        }
+        count++;
+    }
     //1.2 闭合动力电断路器
     if(pm->m_systemData->power_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker != 1)
     {
@@ -168,6 +182,8 @@ void PowerManagerFsm::handleHydroacousticDeviceCmd(int id , int cmd)
             if(pm->m_depth < OVER_DEPTH)
             {
                 LOG_F(INFO, "水下设备操作上电保护 %d ", id);
+                string info = "ERROR:水下设备操作上电保护 " + DeviceId::toString((DeviceId::Type)id);
+                pm->m_systemData->setSystemInfo(info);
                 return;
             }
         }
@@ -178,6 +194,7 @@ void PowerManagerFsm::handleHydroacousticDeviceCmd(int id , int cmd)
             {
                 LOG_F(INFO,"前视声纳关机指令");
                 pm->sendNotification("uExternComm_frontSonarControl_cmd","0");
+                pm->m_systemData->setSystemInfo("INFO:前视声纳关机指令");
                 MOOSPause(10000);
             }
         }
@@ -519,6 +536,7 @@ void PowerManagerFsm::handlePropulsionMotorCmd(int id, int cmd)
                     if(elapsed.count() >= 5)
                     {
                         LOG_F(WARNING, "电机去使能超时（5秒）");
+                        pm->m_systemData->setSystemInfo("ERROR:电机去使能超时（5秒）");
                         return;
                     }
                     MOOSPause(100);
@@ -556,6 +574,7 @@ void PowerManagerFsm::handlePropulsionMotorCmd(int id, int cmd)
                     if(elapsed.count() >= 5)
                     {
                         LOG_F(WARNING, "电机去使能超时（5秒）");
+                        pm->m_systemData->setSystemInfo("ERROR:电机去使能超时（5秒）");
                         return;
                     }
                     MOOSPause(100);
@@ -580,6 +599,7 @@ void PowerManagerFsm::handlePropulsionMotorCmd(int id, int cmd)
                     if(elapsed.count() >= 5)
                     {
                         LOG_F(WARNING, "电机去使能超时（5秒）");
+                        pm->m_systemData->setSystemInfo("ERROR:电机去使能超时（5秒）");
                         return;
                     }
                     MOOSPause(100);
@@ -598,6 +618,7 @@ void PowerManagerFsm::handlePropulsionMotorCmd(int id, int cmd)
                     if(elapsed.count() >= 5)
                     {
                         LOG_F(WARNING, "电机去使能超时（5秒）");
+                        pm->m_systemData->setSystemInfo("ERROR:电机去使能超时（5秒）");
                         return;
                     }
                     MOOSPause(100);
@@ -810,6 +831,7 @@ void PowerManagerFsm::handleSideSonarCmd(int id, int cmd)
             if(pm->m_depth < OVER_DEPTH)
             {
                 LOG_F(INFO, "水下设备操作上电保护 %d ", id);
+                pm->m_systemData->setSystemInfo("ERROR:水下设备操作上电保护");
                 return;
             }
         }
@@ -964,6 +986,7 @@ void PowerManagerFsm::react(DevCmdExt const &e)
     if(pm->currentMod == PMMode::Normal)
     {
         LOG_F(INFO,"正常模式 : 操作禁止");
+        pm->m_systemData->setSystemInfo("ERROR:正常模式 : 禁止操作");
         return;
     }
     handleNoPowerDeviceCmd(e.id , e.cmd);     // 非水声仪表设备
@@ -2611,6 +2634,7 @@ void PowerManagerFsm::handelPowerCmd(){
     case 0:
     {
         LOG_F(INFO, "收到上位机控制指令:关机");
+        pm->m_systemData->setSystemInfo("INFO:收到上位机控制指令:关机");
         // MOOSPause(3);
         // int count=0;
         // while (!(pm->m_systemData->dyn_pos_relay_status == 0x02 && pm->m_systemData->dyn_neg_relay_status == 0x02))
@@ -2651,6 +2675,7 @@ void PowerManagerFsm::handelPowerCmd(){
             if(elapsed.count() >= 5)
             {
                 LOG_F(WARNING, "电机去使能超时（5秒）");
+                pm->m_systemData->setSystemInfo("ERROR:电机去使能超时（5秒）");
                 return;
             }
             MOOSPause(100);
@@ -2714,6 +2739,7 @@ void PowerManagerFsm::handelPowerCmd(){
                 if(count>10)
                 {
                     LOG_F(INFO, "动力锂电池无下电反馈"); 
+                    pm->m_systemData->setSystemInfo("ERROR:动力锂电池无下电反馈");
                     break;
                 }
                 count++;
@@ -2722,6 +2748,7 @@ void PowerManagerFsm::handelPowerCmd(){
         LOG_F(INFO, "动力锂电池已下电");     
         //3. 次级配电系统恢复待机
         pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);
+        pm->m_systemData->setSystemInfo("INFO:次级配电系统恢复待机");
         MOOSPause(3000);
         //4. 执行锂电池关机指令 
         pm->m_CcuColCmd.insBatCmd = BatteryCommand::Stop;
@@ -2730,8 +2757,24 @@ void PowerManagerFsm::handelPowerCmd(){
     case 1:
     {
         LOG_F(INFO, "收到上位机控制指令:动力电上电");
+        pm->m_systemData->setSystemInfo("INFO:收到上位机控制指令:动力电上电");
         //1. 动力锂电池上电
         pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
+        // 等待动力锂电池上电完成
+        int count=0;
+        while (!(pm->m_systemData->dyn_voltage_link > 500.0))
+        {
+            LOG_F(INFO,"动力锂电池上电中...");
+            MOOSPause(1000);
+            if(count>10)
+            {
+                LOG_F(INFO, "动力锂电池无上电反馈"); 
+                pm->m_systemData->setSystemInfo("ERROR:动力锂电池无上电反馈");
+                return;
+            }
+            count++;
+        }
+        LOG_F(INFO, "动力锂电池已上电");     
         //2. 闭合动力电断路器
         pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(1);
         MOOSPause(3);
@@ -2748,6 +2791,7 @@ void PowerManagerFsm::handelPowerCmd(){
     case 2:
     {
         LOG_F(INFO, "收到上位机控制指令:锂动力电上电");
+        pm->m_systemData->setSystemInfo("INFO:收到上位机控制指令:锂动力电上电");
         //1. 闭合动力电断路器
         pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(1);
         //2. 动力锂电池上电
@@ -2757,11 +2801,13 @@ void PowerManagerFsm::handelPowerCmd(){
     case 3:
     {
         LOG_F(INFO, "收到上位机控制指令:燃料电池上电");
+        pm->m_systemData->setSystemInfo("INFO:收到上位机控制指令:燃料电池上电");
         break;
     }
     case 4:
     {
         LOG_F(INFO, "收到上位机控制指令:锂动力电下电");
+        pm->m_systemData->setSystemInfo("INFO:收到上位机控制指令:锂动力电下电");
         //1. 动力锂电池下电
         pm->m_lowerCommManager->operate_HV_bowHighVoltageBox_Breaker(0);
         MOOSPause(3);
@@ -2781,6 +2827,7 @@ void PowerManagerFsm::handelPowerCmd(){
             if(count>10)
             {
                 LOG_F(INFO, "动力锂电池无下电反馈"); 
+                pm->m_systemData->setSystemInfo("ERROR:动力锂电池无下电反馈");
                 break;
             }
             count++;
diff --git a/src/pPowerManger/fsm/RemoteControl.cpp b/src/pPowerManger/fsm/RemoteControl.cpp
index ba2e292..e014e07 100644
--- a/src/pPowerManger/fsm/RemoteControl.cpp
+++ b/src/pPowerManger/fsm/RemoteControl.cpp
@@ -11,6 +11,7 @@ void RemoteControl::entry() {
     PowerManagerFsm::entry();
     pm->workCondition = WorkCondition::REMOTE_CONTROL;
     LOG_F(INFO, "进入遥控工况");
+    pm->m_systemData->setSystemInfo("INFO:已经进入遥控工况");
 }
 
 
diff --git a/src/pPowerManger/fsm/ShoreBasedReady.cpp b/src/pPowerManger/fsm/ShoreBasedReady.cpp
index 0d9bc1b..d33a818 100644
--- a/src/pPowerManger/fsm/ShoreBasedReady.cpp
+++ b/src/pPowerManger/fsm/ShoreBasedReady.cpp
@@ -11,10 +11,25 @@ void ShoreBasedReady::entry() {
     PowerManagerFsm::entry();
     pm->m_driver.getSHORE_BASED_READYable(&pm->m_subDisSysCmd);
     pm->workCondition = WorkCondition::CHANING;
+    
     //依次接入执行机构动力电设备
     //1. 开启动力电
     //1.1 动力锂电池上电
     pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
+    // 等待动力锂电池上电完成
+    int count=0;
+    while (!(pm->m_systemData->dyn_voltage_link > 500.0))
+    {
+        LOG_F(INFO,"动力锂电池上电中...");
+        MOOSPause(1000);
+        if(count>10)
+        {
+            LOG_F(INFO, "动力锂电池无上电反馈"); 
+            pm->m_systemData->setSystemInfo("ERROR:动力锂电池无上电反馈");
+            return;
+        }
+        count++;
+    }
     //1.2 闭合动力电断路器
     pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(1);
     MOOSPause(100);
@@ -89,4 +104,5 @@ void ShoreBasedReady::entry() {
     pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(1);
     pm->workCondition = WorkCondition::SHORE_BASED_READY;
     LOG_F(INFO, "进入岸基备航状态");
+    pm->m_systemData->setSystemInfo("INFO:已经进入岸基备航");
 }
\ No newline at end of file
diff --git a/src/pPowerManger/fsm/StandbyState.cpp b/src/pPowerManger/fsm/StandbyState.cpp
index 0943696..3a9f216 100644
--- a/src/pPowerManger/fsm/StandbyState.cpp
+++ b/src/pPowerManger/fsm/StandbyState.cpp
@@ -7,6 +7,7 @@ void StandbyState::entry() {
     pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);
     pm->m_lowerCommManager->operate_hold();
     LOG_F(INFO, "WorkCondition %d", pm->workCondition);
+    pm->m_systemData->setSystemInfo("INFO:已经进入待机状态");
 }
 void StandbyState::react(StandbyEvent const &) {
     transit<StandbyState>();
diff --git a/src/pPowerManger/fsm/SurfaceSurvey.cpp b/src/pPowerManger/fsm/SurfaceSurvey.cpp
index d71ed4c..9c70e5c 100644
--- a/src/pPowerManger/fsm/SurfaceSurvey.cpp
+++ b/src/pPowerManger/fsm/SurfaceSurvey.cpp
@@ -13,4 +13,5 @@ void SurfaceSurvey::entry() {
     handleCuriseWork();
     pm->workCondition = WorkCondition::SURFACE_RECON;
     LOG_F(INFO, "进入水面侦查模式");
+    pm->m_systemData->setSystemInfo("INFO:已经进入水面侦查模式");
 }
\ No newline at end of file
diff --git a/src/pPowerManger/fsm/UnderwaterSurvey.cpp b/src/pPowerManger/fsm/UnderwaterSurvey.cpp
index f5afc5c..d5a08f0 100644
--- a/src/pPowerManger/fsm/UnderwaterSurvey.cpp
+++ b/src/pPowerManger/fsm/UnderwaterSurvey.cpp
@@ -6,6 +6,7 @@ void UnderwaterSurvey::entry() {
     handleCuriseWork();
     pm->workCondition = WorkCondition::UNDERWATER_RECON;
     LOG_F(INFO, "进入水下侦查模式");
+    pm->m_systemData->setSystemInfo("INFO:已经进入水下侦查模式");
 }
 
 
diff --git a/src/pPowerManger/fsm/WaterBasedReady.cpp b/src/pPowerManger/fsm/WaterBasedReady.cpp
index 5d90661..4b71b17 100644
--- a/src/pPowerManger/fsm/WaterBasedReady.cpp
+++ b/src/pPowerManger/fsm/WaterBasedReady.cpp
@@ -6,11 +6,13 @@ void WaterBasedReady::entry() {
     pm->workCondition = WorkCondition::CHANING;
     PowerManagerFsm::handleCuriseWork();
     //启动水声设备
+    pm->m_systemData->setSystemInfo("INFO:启动水声设备");
     pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::DVL, (unsigned char)EquipmentCommand::ON);
     pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::USBL, (unsigned char)EquipmentCommand::ON);
     pm->m_upperCommManager->processPeriodicTasks();
     pm->workCondition = WorkCondition::WATER_BASED_READY;
     LOG_F(INFO, "进入水中备航状态");
+    pm->m_systemData->setSystemInfo("INFO:已经进入水中备航状态");
 }
 
 // WaterBasedReady实现
@@ -31,6 +33,8 @@ void WaterBasedReady::react(DevCmdExt const &e)
             if(pm->m_depth < OVER_DEPTH)
             {
                 LOG_F(INFO, "水下设备操作上电保护 %d ", id);
+                string info = "ERROR:水下设备操作上电保护 " + DeviceId::toString((DeviceId::Type)id);
+                pm->m_systemData->setSystemInfo(info);
                 return;
             }
         }
@@ -41,10 +45,14 @@ void WaterBasedReady::react(DevCmdExt const &e)
             {
                 LOG_F(INFO,"前视声纳关机指令");
                 pm->sendNotification("uExternComm_frontSonarControl_cmd","0");
+                string info = "INFO:前视声纳关机指令";
+                pm->m_systemData->setSystemInfo(info);
                 MOOSPause(10000);
             }
         }
         LOG_F(INFO, "水声设备操作: %s,%d, %d", DeviceId::toString((DeviceId::Type)id), id, cmd);
+        string info = "INFO:水声设备操作: " + DeviceId::toString((DeviceId::Type)id) + ", " + std::to_string(id) + ", " + std::to_string(cmd);
+        pm->m_systemData->setSystemInfo(info);
         pm->m_driver.setDeviceState(pm->m_subDisSysCmd, (DeviceId::Type)id, (unsigned char)cmd);
     }
     else
@@ -52,6 +60,8 @@ void WaterBasedReady::react(DevCmdExt const &e)
         if(pm->currentMod == PMMode::Normal)
         {
             LOG_F(INFO,"正常模式:操作禁止");
+            string info = "ERROR:正常模式:操作禁止";
+            pm->m_systemData->setSystemInfo(info);
             return;
         }
         else
diff --git a/src/pPowerManger/systemData.h b/src/pPowerManger/systemData.h
index 42f98a9..d65b2f1 100644
--- a/src/pPowerManger/systemData.h
+++ b/src/pPowerManger/systemData.h
@@ -11,6 +11,10 @@ private:
     SQLite* m_db;
     std::set<unsigned int> sysFaultCodes;
     mutable std::mutex sysFaultCodesMutex;
+    
+    // 系统状态描述（线程安全）
+    std::string system_info = "INFO:能源系统启动";
+    mutable std::mutex systemInfoMutex;
 public:
     /**
      * @brief 向系统故障码集合中插入一个故障码
@@ -52,6 +56,25 @@ public:
         std::lock_guard<std::mutex> lock(sysFaultCodesMutex);
         return sysFaultCodes;
     }
+
+    /**
+     * @brief 设置系统状态描述信息（线程安全）
+     * @param info 要设置的系统状态描述
+     */
+    void setSystemInfo(const std::string& info) {
+        std::lock_guard<std::mutex> lock(systemInfoMutex);
+        system_info = info;
+    }
+
+    /**
+     * @brief 获取系统状态描述信息（线程安全）
+     * @return std::string 系统状态描述
+     */
+    std::string getSystemInfo() const {
+        std::lock_guard<std::mutex> lock(systemInfoMutex);
+        return system_info;
+    }
+
     //燃料电池系统参数
     uint8_t fc_mode;                         // 燃料电池系统运行模式：00H-无效, 01H-调试, 02H-自动, 03H-补给
     uint8_t fc_status;                       // 燃料电池状态：00H-无效, 01H-初始化, ..., 0DH-维护完成
@@ -592,9 +615,9 @@ public:
     };
     ~SystemData(){};
 
-    void updateCommonStatus(double time_out=10){
+    void updateCommonStatus(double time_out=30){
         //更新时间
-        double currentTime = MOOSTime();
+        double currentTime = MOOSTime(false);
         //判断是否超时
         device_common_status.ccu_status.isTimeout = abs(currentTime - device_common_status.ccu_status.lastUpdateTime) > time_out;
         device_common_status.dis_hv_c1.isTimeout = abs(currentTime - device_common_status.dis_hv_c1.lastUpdateTime) > time_out;
@@ -839,8 +862,16 @@ public:
             std::lock_guard<std::mutex> lock(faultCodeMutex);  
             if(power_bus_status.emergencyPowerLossSignal == 1) disSysFaultCode.insert(37); else disSysFaultCode.erase(37);
             if(power_bus_status.meterPowerLossSignal == 1) disSysFaultCode.insert(36); else disSysFaultCode.erase(36);
-            if(power_bus_status.aBusInsulationStatus == 1) disSysFaultCode.insert(35); else disSysFaultCode.erase(35);
-            if(power_bus_status.powerBusInsulationStatus == 1) disSysFaultCode.insert(34); else disSysFaultCode.erase(34);
+            if(power_bus_status.powerLithiumBatteryCircuitBreaker == 1)
+            {
+                if(power_bus_status.aBusInsulationStatus == 1) disSysFaultCode.insert(35);
+                if(power_bus_status.powerBusInsulationStatus == 1) disSysFaultCode.insert(34);
+            }
+            else
+            {
+                disSysFaultCode.erase(35);
+                disSysFaultCode.erase(34);
+            }
         }
         
         //温度
diff --git a/src/pPowerManger/udpcomm/udpComm.cpp b/src/pPowerManger/udpcomm/udpComm.cpp
index 3f64212..e5e13a0 100644
--- a/src/pPowerManger/udpcomm/udpComm.cpp
+++ b/src/pPowerManger/udpcomm/udpComm.cpp
@@ -177,7 +177,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
     {
       if(m_qReceiveCcuStateBuffer.size()<QUENUE_SIZE)
       {
-        double time = MOOSTime();
+        double time = MOOSTime(false);
         m_qReceiveCcuStateBuffer.push(std::make_pair(time, s));
       }
       else
@@ -200,7 +200,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
     {
       if(m_qReceiveCcuSetParmBuffer.size()<QUENUE_SIZE)
       {
-        double time = MOOSTime();
+        double time = MOOSTime(false);
         m_qReceiveCcuSetParmBuffer.push(std::make_pair(time, s));
       }
       else
@@ -223,7 +223,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
     {
       if(m_qReceiveDisHighVolBusBuffer.size()<QUENUE_SIZE)
       {
-        double time = MOOSTime();
+        double time = MOOSTime(false);
         m_qReceiveDisHighVolBusBuffer.push(std::make_pair(time, s));
       }
       else 
@@ -246,7 +246,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
     {
       if(m_qReceiveDisHighAVolBusBuffer.size()<QUENUE_SIZE)
         {
-          double time = MOOSTime();
+          double time = MOOSTime(false);
           m_qReceiveDisHighAVolBusBuffer.push(std::make_pair(time, s));
         }
       else
@@ -269,7 +269,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
     {
       if(m_qReceiveDisHighBVolBusBuffer.size()<QUENUE_SIZE)
       {
-          double time = MOOSTime();
+          double time = MOOSTime(false);
           m_qReceiveDisHighBVolBusBuffer.push(std::make_pair(time, s));
       }
       else
@@ -292,7 +292,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
     {
       if(m_qReceiveDisLowBusBuffer.size()<QUENUE_SIZE)
        {
-          double time = MOOSTime();
+          double time = MOOSTime(false);
           m_qReceiveDisLowBusBuffer.push(std::make_pair(time, s));
        }
       else
diff --git a/src/pPowerManger/upmsg/uPower_pmState.h b/src/pPowerManger/upmsg/uPower_pmState.h
index 0f9e47b..72c865b 100644
--- a/src/pPowerManger/upmsg/uPower_pmState.h
+++ b/src/pPowerManger/upmsg/uPower_pmState.h
@@ -5,6 +5,7 @@
 #include "json/json.h"
 #include <bitset> 
 #include "../systemData.h"
+
 class uPower_pmStateMsg
 {
 private:
@@ -49,7 +50,7 @@ public:
         pms["faultLevel_uint8"] = data.getFaultCodeLevel();
 
         Json::Value faultCode_array = Json::Value(Json::arrayValue);
-        //TODO：屏蔽所有故障
+
         for(auto faultCode : data.getFaultCode())
         {
             faultCode_array.append(faultCode);
@@ -63,6 +64,8 @@ public:
 
         pms["leakage_uint8"] = state.m_leakage;
 
+        pms["info_str"] = data.getSystemInfo();
+
         // 转化为json格式
         Json::StreamWriterBuilder writerBuilder;
         writerBuilder.settings_["indentation"] = "";
diff --git a/test/disSysTest/PowerManagerApp copy.py b/test/disSysTest/PowerManagerApp copy.py
index 6a14035..0c04c4a 100644
--- a/test/disSysTest/PowerManagerApp copy.py	
+++ b/test/disSysTest/PowerManagerApp copy.py	
@@ -3,6 +3,7 @@ from tkinter import ttk
 import socket
 import threading
 import time
+import struct
 from db import DB
 import os
 from udpMsg import (
@@ -15,6 +16,10 @@ from udpMsg import (
     msg_disLVMBCmdMsg,
     msg_disLVBCmdMsg
 )
+from ccuMsg import (
+    msg_ccUFbMsg,
+    # msg_ccUCmdMsg
+)
 
 class PowerManagerApp:
     def __init__(self, root):
@@ -32,6 +37,7 @@ class PowerManagerApp:
         self.simulation_HVBACmdMsg = msg_disHVBACmdMsg()
         self.simulation_LVMBCmdMsg = msg_disLVMBCmdMsg()
         self.simulation_LVBCmdMsg = msg_disLVBCmdMsg()
+        self.simulation_ccUFbMsg = msg_ccUFbMsg()
         
         # 菜单栏复选框状态变量
         self.menu_checkbox_vars = {
@@ -1774,27 +1780,33 @@ class PowerManagerApp:
             # time.sleep(0.1)  # 1秒间隔
             # 处理高压母线数据
             packed_data = self.simulation_HighVolBusFbMsg.pack()
-            error_packed_data = packed_data[:-1] + b'\x00'  # 修改校验位为0x00
-            self.send_udp_command(error_packed_data, self.udp_ip, self.udp_control_port)
-            # time.sleep(0.1)
+            # error_packed_data = packed_data[:-1] + b'\x00'  # 修改校验位为0x00
+            self.send_udp_command(packed_data, self.udp_ip, self.udp_control_port)
+            time.sleep(0.01)
 
             # 处理高压A母线数据
             packed_data = self.simulation_HighAVolBusFbMsg.pack()
-            error_packed_data = packed_data[:-1] + b'\x00'  # 修改校验位为0x00
-            self.send_udp_command(error_packed_data, self.udp_ip, self.udp_control_port)
-            # time.sleep(0.01)
+            # error_packed_data = packed_data[:-1] + b'\x00'  # 修改校验位为0x00
+            self.send_udp_command(packed_data, self.udp_ip, self.udp_control_port)
+            time.sleep(0.01)
 
             # 处理低压母线数据
             packed_data = self.simulation_LowBusFbMsg.pack()
-            error_packed_data = packed_data[:-1] + b'\x00'  # 修改校验位为0x00
-            self.send_udp_command(error_packed_data, self.udp_ip, self.udp_control_port)
-            # time.sleep(0.01)
+            # error_packed_data = packed_data[:-1] + b'\x00'  # 修改校验位为0x00
+            self.send_udp_command(packed_data, self.udp_ip, self.udp_control_port)
+            time.sleep(0.01)
 
             # 处理仪表主母线数据
             packed_data = self.simulation_LowMainBusFbMsg.pack()
-            error_packed_data = packed_data[:-1] + b'\x00'  # 修改校验位为0x00
-            self.send_udp_command(error_packed_data, self.udp_ip, self.udp_control_port)
-            time.sleep(0.01)  # 1秒间隔
+            # error_packed_data = packed_data[:-1] + b'\x00'  # 修改校验位为0x00
+            self.send_udp_command(packed_data, self.udp_ip, self.udp_control_port)
+            time.sleep(0.01)
+
+            packed_data = self.simulation_ccUFbMsg.pack()
+            self.send_udp_command(packed_data, self.udp_ip, self.udp_control_port)
+            time.sleep(0.01)
+
+            time.sleep(0.7)  # 循环间隔
     def on_connection_changed(self, *args):
         """连接状态改变回调"""
         if self.Start_Connection.get():
diff --git a/test/disSysTest/ccuMsg.py b/test/disSysTest/ccuMsg.py
index f3b91e6..a1e702b 100644
--- a/test/disSysTest/ccuMsg.py
+++ b/test/disSysTest/ccuMsg.py
@@ -3,152 +3,150 @@ import datetime
 
 class msg_ccUFbMsg:
     def __init__(self):
-        # 消息头
+        # 消息头 - 对应C++中的m_header
         self.start1 = 0x20
         self.start2 = 0x20
         self.id = 0x0051  # CCU_STATE_FB_ID
         self.length = 0
-        self.checkCode = 0x00
+        self.checkCode = 0  # 使用4字节校验码，对应C++中的Checksum (unsigned int)
         
-        # CCU状态数据 - 根据ccuState结构体定义
-        self.fc_mode = 0x00
-        self.fc_status = 0x00
-        self.fc_fault_level = 0x00
+        # CCU状态数据 - 完全对应C++中的ccuState结构体
+        self.fc_mode = 0x00                         # 燃料电池系统运行模式：00H-无效, 01H-调试, 02H-自动, 03H-补给
+        self.fc_status = 0x00                       # 燃料电池状态：00H-无效, 01H-初始化, ..., 0DH-维护完成
+        self.fc_fault_level = 0x00                  # 燃料电池故障等级：00H-无故障, 10H-一级, 20H-二级, 30H-三级, 40H-四级
+
+        self.output_power_limit = 0                 # 系统输出功率限制值，单位：W，范围：0~30000W
+        self.total_generation_time = 0              # 系统累计发电时间，单位：0.1小时，最大值6553.5小时
+        self.total_generation_power = 0             # 系统累计发电总功率，单位：W
+        self.fault_level_1 = 0                      # 一级故障位，按位表示不同的故障项
+        self.fault_level_2 = 0                      # 二级故障位
+        self.fault_level_3 = 0                      # 三级故障位
+        self.fault_level_4 = 0                      # 四级故障位
+
+        self.hydrogen_capacity = 0                  # 储氢罐剩余容量百分比，单位：%，范围：0~100
+        self.liquid_oxygen_capacity = 0             # 液氧罐剩余容量百分比，单位：%，范围：0~100
+
+        self.palladium_temp = 0                     # 钯膜最高温度，单位：℃
+        self.main_pipe_pressure = 0                 # 主水路压力，单位：0.01kPa
+        self.aux_pipe_pressure = 0                  # 辅水路压力，单位：0.01kPa
+
+        self.cabin_pressure1 = 0                    # 舱室1压力，单位：0.01kPa
+        self.cabin_pressure2 = 0                    # 舱室2压力，单位：0.01kPa
+        self.cabin_temp1 = 0                        # 舱室1温度，单位：0.01℃
+        self.cabin_temp2 = 0                        # 舱室2温度，单位：0.01℃
+        self.cabin_humidity1 = 0                    # 舱室1湿度，单位：0.01%RH
+        self.cabin_humidity2 = 0                    # 舱室2湿度，单位：0.01%RH
+
+        self.flame_detector1 = 0x00                 # 火焰探测器1状态：00H-无效, 01H-报警, 02H-故障
+        self.flame_detector2 = 0x00                 # 火焰探测器2状态：00H-无效, 01H-报警, 02H-故障
+
+        self.h2_concentration1 = 0                  # 舱室H2浓度1，单位：0.01% LEL
+        self.h2_concentration2 = 0                  # 舱室H2浓度2，单位：0.01% LEL
+        self.h2_concentration3 = 0                  # 舱室H2浓度3，单位：0.01% LEL
+        self.o2_concentration1 = 0                  # 舱室O2浓度1，单位：0.01% LEL
+        self.o2_concentration2 = 0                  # 舱室O2浓度2，单位：0.01% LEL
+        self.ch3oh_concentration1 = 0               # 舱室甲醇气体浓度1，单位：0.01% LEL
+        self.ch3oh_concentration2 = 0               # 舱室甲醇气体浓度2，单位：0.01% LEL
+
+        self.reserved1 = [0, 0]                     # 保留字段前2个元素
+        self.emergency_battery1_voltage = 0         # 应急电池1总电压 [V]
+        self.emergency_battery1_current = 0         # 应急电池1总电流 [A]
+        self.emergency_battery1_max_temp = 0        # 应急电池1最高温度 [°C]
+        self.emergency_battery1_fault_word = 0      # 应急电池1故障字
+        self.emergency_battery2_voltage = 0         # 应急电池2总电压 [V]
+        self.emergency_battery2_current = 0         # 应急电池2总电流 [A]
+        self.emergency_battery2_max_temp = 0        # 应急电池2最高温度 [°C]
+        self.emergency_battery2_fault_word = 0      # 应急电池2故障字
         
-        self.output_power_limit = 0
-        self.total_generation_time = 0
-        self.total_generation_power = 0
-        self.fault_level_1 = 0
-        self.fault_level_2 = 0
-        self.fault_level_3 = 0
-        self.fault_level_4 = 0
+        self.cabin_ox_concentration = 0             # 仪表舱内氧气浓度 [%]
+        self.cabin_temperature = 0                  # 仪表舱内温度 [°C]
+        self.cabin_humidity = 0                     # 仪表舱内湿度 [%RH]
+        self.cabin_pressure = 0                     # 仪表舱内大气压 [kPa]
+
+        self.power_cabin_ox_concentration = 0       # 动力舱内氧气浓度 [%]
+        self.power_cabin_temperature = 0            # 动力舱内温度 [°C]
+        self.power_cabin_humidity = 0               # 动力舱内湿度 [%RH]
+        self.power_cabin_pressure = 0               # 动力舱内大气压 [kPa]
+        self.reserved2 = [0]                        # 保留字段，地址范围54~55，共2个uint8_t，协议预留
+
+        self.dyn_alarm_flag = [0] * 6               # 动力锂电池报警标志字数组，共6字节，按位表示各类报警
+        self.ins_alarm_flag = [0] * 6               # 仪表锂电池报警标志字数组，共6字节，按位表示各类报警
+
+        self.ins_relay_status1 = 0x00               # 仪表电池继电器状态，高4位表示正极继电器，低4位表示充电继电器
+        self.ins_relay_status2 = 0x00               # 仪表电池预充继电器和负极继电器状态
+        self.dyn_relay_status1 = 0x00               # 动力电池正极与充电继电器状态
+        self.dyn_relay_status2 = 0x00               # 动力电池预充与负极继电器状态
+
+        self.ins_max_discharge_power = 0            # 仪表电池最大允许放电功率，单位：kW，精度0.05kW
+        self.dyn_max_discharge_power = 0            # 动力电池最大允许放电功率，单位：kW，精度0.05kW
+
+        self.ins_soc = 0                            # 仪表锂电池荷电状态SOC，范围：0~100
+        self.dyn_soc = 0                            # 动力锂电池荷电状态SOC，范围：0~100
+
+        self.ins_total_energy = 0                   # 仪表电池总能量，单位：kWh
+        self.dyn_total_energy = 0                   # 动力电池总能量，单位：kWh
+
+        self.ins_power_input = 0                    # 仪表电池输入功率，单位：kW
+        self.dyn_power_input = 0                    # 动力电池输入功率，单位：kW
+
+        self.ins_charge_status = 0x00               # 仪表电池充放电状态：00H-无效，10H-充电，20H-放电
+        self.dyn_charge_status = 0x00               # 动力电池充放电状态：00H-无效，10H-充电，20H-放电
+
+        self.ins_voltage_link = 0                   # 仪表电池LINK端电压，单位：0.01V
+        self.ins_voltage_pack = 0                   # 仪表电池PACK端电压，单位：0.01V
+        self.ins_current = 0                        # 仪表电池电流，单位：0.01A（正值放电）
+        self.ins_resistance_pos = 0                 # 仪表电池正极绝缘电阻，单位：kΩ
+        self.ins_resistance_neg = 0                 # 仪表电池负极绝缘电阻，单位：kΩ
+
+        self.dyn_voltage_link = 0                   # 动力电池LINK端电压，单位：0.01V
+        self.dyn_voltage_pack = 0                   # 动力电池PACK端电压，单位：0.01V
+        self.dyn_current = 0                        # 动力电池电流，单位：0.01A（正值放电）
+        self.dyn_resistance_pos = 0                 # 动力电池正极绝缘电阻，单位：kΩ
+        self.dyn_resistance_neg = 0                 # 动力电池负极绝缘电阻，单位：kΩ
+
+        self.ins_emergency_status = 0x00            # 仪表电池紧急状态字，按位表示异常或告警状态
+        self.dyn_emergency_status = 0x00            # 动力电池紧急状态字，按位表示异常或告警状态
+
+        self.reserved3 = [0] * 2                    # 保留字节，协议预留
+
+        self.ins_soc_threshold1 = 0                 # 仪表电池1 SOC门限，范围：0~100
+        self.ins_soc_threshold2 = 0                 # 仪表电池2 SOC门限，范围：0~100
+        self.ins_soc_threshold3 = 0                 # 仪表电池3 SOC门限，范围：0~100
+        self.dyn_soc_threshold1 = 0                 # 动力电池1 SOC门限，范围：0~100
+        self.dyn_soc_threshold2 = 0                 # 动力电池2 SOC门限，范围：0~100
+        self.dyn_soc_threshold3 = 0                 # 动力电池3 SOC门限，范围：0~100
+
+        self.ins_power_limit1 = 0                   # 仪表电池1功率限制值，单位：%
+        self.ins_power_limit2 = 0                   # 仪表电池2功率限制值，单位：%
+        self.dyn_power_limit1 = 0                   # 动力电池1功率限制值，单位：%
+        self.dyn_power_limit2 = 0                   # 动力电池2功率限制值，单位：%
+
+        self.device_online_flag1 = 0                # 设备在线状态标志1，byte0：低压配电板在线标志位 byte1：复合管控主机在线标志位 byte2：复合管控备机在线标志位
+        self.device_online_flag2 = 0                # 设备在线状态标志2，byte0：仪表锂电在线标志位 byte1：动力锂电在线标志位 byte2：燃电锂电在线标志位 byte3：高压配电板在线标志位
         
-        self.hydrogen_capacity = 0
-        self.liquid_oxygen_capacity = 0
-        
-        self.palladium_temp = 0
-        self.main_pipe_pressure = 0
-        self.aux_pipe_pressure = 0
-        
-        self.cabin_pressure1 = 0
-        self.cabin_pressure2 = 0
-        self.cabin_temp1 = 0
-        self.cabin_temp2 = 0
-        self.cabin_humidity1 = 0
-        self.cabin_humidity2 = 0
-        
-        self.flame_detector1 = 0x00
-        self.flame_detector2 = 0x00
-        
-        self.h2_concentration1 = 0
-        self.h2_concentration2 = 0
-        self.h2_concentration3 = 0
-        self.o2_concentration1 = 0
-        self.o2_concentration2 = 0
-        self.ch3oh_concentration1 = 0
-        self.ch3oh_concentration2 = 0
-        
-        self.reserved1 = [0, 0]
-        self.emergency_battery1_voltage = 0
-        self.emergency_battery1_current = 0
-        self.emergency_battery1_max_temp = 0
-        self.emergency_battery1_fault_word = 0
-        self.emergency_battery2_voltage = 0
-        self.emergency_battery2_current = 0
-        self.emergency_battery2_max_temp = 0
-        self.emergency_battery2_fault_word = 0
-        
-        self.cabin_ox_concentration = 0
-        self.cabin_temperature = 0
-        self.cabin_humidity = 0
-        self.cabin_pressure = 0
-        
-        self.power_cabin_ox_concentration = 0
-        self.power_cabin_temperature = 0
-        self.power_cabin_humidity = 0
-        self.power_cabin_pressure = 0
-        self.reserved2 = [0]
-        
-        self.dyn_alarm_flag = [0] * 6
-        self.ins_alarm_flag = [0] * 6
-        
-        self.ins_relay_status1 = 0x00
-        self.ins_relay_status2 = 0x00
-        self.dyn_relay_status1 = 0x00
-        self.dyn_relay_status2 = 0x00
-        
-        self.ins_max_discharge_power = 0
-        self.dyn_max_discharge_power = 0
-        
-        self.ins_soc = 0
-        self.dyn_soc = 0
-        
-        self.ins_total_energy = 0
-        self.dyn_total_energy = 0
-        
-        self.ins_power_input = 0
-        self.dyn_power_input = 0
-        
-        self.ins_charge_status = 0x00
-        self.dyn_charge_status = 0x00
-        
-        self.ins_voltage_link = 0
-        self.ins_voltage_pack = 0
-        self.ins_current = 0
-        self.ins_resistance_pos = 0
-        self.ins_resistance_neg = 0
-        
-        self.dyn_voltage_link = 0
-        self.dyn_voltage_pack = 0
-        self.dyn_current = 0
-        self.dyn_resistance_pos = 0
-        self.dyn_resistance_neg = 0
-        
-        self.ins_emergency_status = 0x00
-        self.dyn_emergency_status = 0x00
-        
-        self.reserved3 = [0] * 2
-        
-        self.ins_soc_threshold1 = 0
-        self.ins_soc_threshold2 = 0
-        self.ins_soc_threshold3 = 0
-        self.dyn_soc_threshold1 = 0
-        self.dyn_soc_threshold2 = 0
-        self.dyn_soc_threshold3 = 0
-        
-        self.ins_power_limit1 = 0
-        self.ins_power_limit2 = 0
-        self.dyn_power_limit1 = 0
-        self.dyn_power_limit2 = 0
-        
-        self.device_online_flag1 = 0
-        self.device_online_flag2 = 0
-        
-        self.dyn_charge_level = 0x00
-        self.dyn_water_leak_status = 0x00
-        self.ins_water_leak_dcdc_status = 0x00
+        self.dyn_charge_level = 0x00                # 动力电池充电状态：01H-1级(不限), 02H-2级(限功率), 03H-3级(关闭)
+        self.dyn_water_leak_status = 0x00           # 动力漏水状态：0XH-正常, 1XH-异常漏水
+        self.ins_water_leak_dcdc_status = 0x00      # 仪表漏水状态与DCDC状态：低4位-漏水状态(0XH正常,1XH异常),高4位-DCDC状态(X0H正常,X1H故障)
         self.reserved4 = 0x00
-        self.heartbeat = 0
+        self.heartbeat = 0                          # 主机心跳计数器或标志值
 
     def pack(self):
-        """打包消息为字节数据"""
+        """打包消息为字节数据 - 完全对应C++中的msg_CcuStateFbMsg结构体"""
         # 重置校验码
-        self.checkCode = 0x00
+        self.checkCode = 0
         
-        # 打包消息头
-        data = struct.pack('<BBHH', 
-                          self.start1, 
-                          self.start2, 
-                          self.id, 
-                          self.length)
+        # 首先打包CCU状态数据（不包括消息头和校验码）
+        body_data = b''
         
-        # 打包CCU状态数据
-        data += struct.pack('<BBB', 
+        # 打包CCU状态数据 - 完全对应C++中的ccuState结构体
+        # 第一部分：基本状态
+        body_data += struct.pack('<BBB', 
                            self.fc_mode,
                            self.fc_status,
                            self.fc_fault_level)
         
-        data += struct.pack('<HHHHHHH',
+        # 第二部分：功率和时间
+        body_data += struct.pack('<HHHHHHH',
                            self.output_power_limit,
                            self.total_generation_time,
                            self.total_generation_power,
@@ -157,16 +155,19 @@ class msg_ccUFbMsg:
                            self.fault_level_3,
                            self.fault_level_4)
         
-        data += struct.pack('<BB',
+        # 第三部分：容量
+        body_data += struct.pack('<BB',
                            self.hydrogen_capacity,
                            self.liquid_oxygen_capacity)
         
-        data += struct.pack('<HHH',
+        # 第四部分：温度和压力
+        body_data += struct.pack('<HHH',
                            self.palladium_temp,
                            self.main_pipe_pressure,
                            self.aux_pipe_pressure)
         
-        data += struct.pack('<HHHHHH',
+        # 第五部分：舱室环境
+        body_data += struct.pack('<HHHHHH',
                            self.cabin_pressure1,
                            self.cabin_pressure2,
                            self.cabin_temp1,
@@ -174,11 +175,13 @@ class msg_ccUFbMsg:
                            self.cabin_humidity1,
                            self.cabin_humidity2)
         
-        data += struct.pack('<BB',
+        # 第六部分：火焰探测器
+        body_data += struct.pack('<BB',
                            self.flame_detector1,
                            self.flame_detector2)
         
-        data += struct.pack('<HHHHHHH',
+        # 第七部分：气体浓度
+        body_data += struct.pack('<HHHHHHH',
                            self.h2_concentration1,
                            self.h2_concentration2,
                            self.h2_concentration3,
@@ -187,8 +190,8 @@ class msg_ccUFbMsg:
                            self.ch3oh_concentration1,
                            self.ch3oh_concentration2)
         
-        # 保留字段和应急电池数据
-        data += struct.pack('<HHHHHHHH',
+        # 第八部分：保留字段和应急电池数据
+        body_data += struct.pack('<HHHHHHHH',
                            self.reserved1[0], self.reserved1[1],
                            self.emergency_battery1_voltage,
                            self.emergency_battery1_current,
@@ -197,13 +200,14 @@ class msg_ccUFbMsg:
                            self.emergency_battery2_voltage,
                            self.emergency_battery2_current)
         
-        data += struct.pack('<HHHH',
+        body_data += struct.pack('<HHHH',
                            self.emergency_battery2_max_temp,
                            self.emergency_battery2_fault_word,
                            self.cabin_ox_concentration,
                            self.cabin_temperature)
         
-        data += struct.pack('<HHHHHHHH',
+        # 第九部分：舱室环境2
+        body_data += struct.pack('<HHHHHHHH',
                            self.cabin_humidity,
                            self.cabin_pressure,
                            self.power_cabin_ox_concentration,
@@ -212,21 +216,21 @@ class msg_ccUFbMsg:
                            self.power_cabin_pressure,
                            self.reserved2[0], 0)  # 填充第二个reserved2字节
         
-        # 报警标志数组
+        # 第十部分：报警标志数组
         for flag in self.dyn_alarm_flag:
-            data += struct.pack('<B', flag)
+            body_data += struct.pack('<B', flag)
         for flag in self.ins_alarm_flag:
-            data += struct.pack('<B', flag)
+            body_data += struct.pack('<B', flag)
         
-        # 继电器状态
-        data += struct.pack('<BBBB',
+        # 第十一部分：继电器状态
+        body_data += struct.pack('<BBBB',
                            self.ins_relay_status1,
                            self.ins_relay_status2,
                            self.dyn_relay_status1,
                            self.dyn_relay_status2)
         
-        # 功率和SOC数据
-        data += struct.pack('<HHBBHHHH',
+        # 第十二部分：功率和SOC数据
+        body_data += struct.pack('<HHBBHHHH',
                            self.ins_max_discharge_power,
                            self.dyn_max_discharge_power,
                            self.ins_soc,
@@ -236,13 +240,13 @@ class msg_ccUFbMsg:
                            self.ins_power_input,
                            self.dyn_power_input)
         
-        # 充电状态
-        data += struct.pack('<BB',
+        # 第十三部分：充电状态
+        body_data += struct.pack('<BB',
                            self.ins_charge_status,
                            self.dyn_charge_status)
         
-        # 电压电流和绝缘电阻
-        data += struct.pack('<HHHHHHHHHH',
+        # 第十四部分：电压电流和绝缘电阻
+        body_data += struct.pack('<HHHHHHHHHH',
                            self.ins_voltage_link,
                            self.ins_voltage_pack,
                            self.ins_current,
@@ -254,16 +258,16 @@ class msg_ccUFbMsg:
                            self.dyn_resistance_pos,
                            self.dyn_resistance_neg)
         
-        # 紧急状态和保留字段
-        data += struct.pack('<BB',
+        # 第十五部分：紧急状态和保留字段
+        body_data += struct.pack('<BB',
                            self.ins_emergency_status,
                            self.dyn_emergency_status)
         
-        data += struct.pack('<BB',
+        body_data += struct.pack('<BB',
                            self.reserved3[0], self.reserved3[1])
         
-        # SOC门限值
-        data += struct.pack('<BBBBBB',
+        # 第十六部分：SOC门限值
+        body_data += struct.pack('<BBBBBB',
                            self.ins_soc_threshold1,
                            self.ins_soc_threshold2,
                            self.ins_soc_threshold3,
@@ -271,41 +275,54 @@ class msg_ccUFbMsg:
                            self.dyn_soc_threshold2,
                            self.dyn_soc_threshold3)
         
-        # 功率限制值
-        data += struct.pack('<BBBB',
+        # 第十七部分：功率限制值
+        body_data += struct.pack('<BBBB',
                            self.ins_power_limit1,
                            self.ins_power_limit2,
                            self.dyn_power_limit1,
                            self.dyn_power_limit2)
         
-        # 设备在线状态和心跳
-        data += struct.pack('<II',
+        # 第十八部分：设备在线状态和心跳
+        body_data += struct.pack('<II',
                            self.device_online_flag1,
                            self.device_online_flag2)
         
-        data += struct.pack('<BBBB',
+        body_data += struct.pack('<BBBB',
                            self.dyn_charge_level,
                            self.dyn_water_leak_status,
                            self.ins_water_leak_dcdc_status,
                            self.reserved4)
         
-        data += struct.pack('<I', self.heartbeat)
+        body_data += struct.pack('<I', self.heartbeat)
         
-        # 计算校验码
+        # 计算长度字段：body_data的长度
+        self.length = len(body_data)
+        
+        # 打包消息头 - 对应C++中的m_header
+        header_data = struct.pack('<BBHH', 
+                          self.start1, 
+                          self.start2, 
+                          self.id, 
+                          self.length)
+        
+        # 组合头部和body数据
+        data_without_checksum = header_data + body_data
+        
+        # 计算校验码 - 根据C++代码，计算所有数据的和（不包括校验码本身）
         self.checkCode = 0
-        for byte in data:
-            self.checkCode = (self.checkCode + byte) & 0xFF
+        for byte in data_without_checksum:
+            self.checkCode += byte
         
-        # 添加校验码
-        data += struct.pack('<B', self.checkCode)
+        # 添加校验码 - 使用4字节，对应C++中的Checksum (unsigned int)
+        checksum_data = struct.pack('<I', self.checkCode)
         
-        # 更新长度字段
-        self.length = len(data) - 6  # 减去头部6字节
+        # 完整数据：头部 + body + 校验码
+        full_data = data_without_checksum + checksum_data
         
-        return data
+        return full_data
 
     def unpack(self, data):
-        """从字节数据解包消息"""
+        """从字节数据解包消息 - 完全对应C++中的msg_CcuStateFbMsg结构体"""
         if len(data) < 10:  # 最小消息长度检查
             return False
             
@@ -317,30 +334,37 @@ class msg_ccUFbMsg:
         
         offset = 6  # 头部结束位置
         
-        # 检查数据长度是否足够
-        if len(data) < offset + self.length + 1:  # +1 for checksum
+        # 检查数据长度是否足够（现在校验码是4字节）
+        if len(data) < offset + self.length + 4:  # +4 for 4-byte checksum
             return False
         
-        # 解析CCU状态数据
+        # 解析CCU状态数据 - 完全对应C++中的ccuState结构体
+        # 第一部分：基本状态
         (self.fc_mode, self.fc_status, self.fc_fault_level) = struct.unpack_from('<BBB', data, offset); offset += 3
         
+        # 第二部分：功率和时间
         (self.output_power_limit, self.total_generation_time, self.total_generation_power,
          self.fault_level_1, self.fault_level_2, self.fault_level_3, self.fault_level_4) = struct.unpack_from('<HHHHHHH', data, offset); offset += 14
         
+        # 第三部分：容量
         (self.hydrogen_capacity, self.liquid_oxygen_capacity) = struct.unpack_from('<BB', data, offset); offset += 2
         
+        # 第四部分：温度和压力
         (self.palladium_temp, self.main_pipe_pressure, self.aux_pipe_pressure) = struct.unpack_from('<HHH', data, offset); offset += 6
         
+        # 第五部分：舱室环境
         (self.cabin_pressure1, self.cabin_pressure2, self.cabin_temp1, self.cabin_temp2,
          self.cabin_humidity1, self.cabin_humidity2) = struct.unpack_from('<HHHHHH', data, offset); offset += 12
         
+        # 第六部分：火焰探测器
         (self.flame_detector1, self.flame_detector2) = struct.unpack_from('<BB', data, offset); offset += 2
         
+        # 第七部分：气体浓度
         (self.h2_concentration1, self.h2_concentration2, self.h2_concentration3,
          self.o2_concentration1, self.o2_concentration2, self.ch3oh_concentration1,
          self.ch3oh_concentration2) = struct.unpack_from('<HHHHHHH', data, offset); offset += 14
         
-        # 保留字段和应急电池数据
+        # 第八部分：保留字段和应急电池数据
         (self.reserved1[0], self.reserved1[1], self.emergency_battery1_voltage,
          self.emergency_battery1_current, self.emergency_battery1_max_temp,
          self.emergency_battery1_fault_word, self.emergency_battery2_voltage,
@@ -349,49 +373,50 @@ class msg_ccUFbMsg:
         (self.emergency_battery2_max_temp, self.emergency_battery2_fault_word,
          self.cabin_ox_concentration, self.cabin_temperature) = struct.unpack_from('<HHHH', data, offset); offset += 8
         
+        # 第九部分：舱室环境2
         (self.cabin_humidity, self.cabin_pressure, self.power_cabin_ox_concentration,
          self.power_cabin_temperature, self.power_cabin_humidity, self.power_cabin_pressure,
          reserved2_0, reserved2_1) = struct.unpack_from('<HHHHHHBB', data, offset); offset += 16
         self.reserved2 = [reserved2_0, reserved2_1]
         
-        # 报警标志数组
+        # 第十部分：报警标志数组
         for i in range(6):
             self.dyn_alarm_flag[i] = data[offset]; offset += 1
         for i in range(6):
             self.ins_alarm_flag[i] = data[offset]; offset += 1
         
-        # 继电器状态
+        # 第十一部分：继电器状态
         (self.ins_relay_status1, self.ins_relay_status2,
          self.dyn_relay_status1, self.dyn_relay_status2) = struct.unpack_from('<BBBB', data, offset); offset += 4
         
-        # 功率和SOC数据
+        # 第十二部分：功率和SOC数据
         (self.ins_max_discharge_power, self.dyn_max_discharge_power,
          self.ins_soc, self.dyn_soc, self.ins_total_energy, self.dyn_total_energy,
          self.ins_power_input, self.dyn_power_input) = struct.unpack_from('<HHBBHHHH', data, offset); offset += 14
         
-        # 充电状态
+        # 第十三部分：充电状态
         (self.ins_charge_status, self.dyn_charge_status) = struct.unpack_from('<BB', data, offset); offset += 2
         
-        # 电压电流和绝缘电阻
+        # 第十四部分：电压电流和绝缘电阻
         (self.ins_voltage_link, self.ins_voltage_pack, self.ins_current,
          self.ins_resistance_pos, self.ins_resistance_neg, self.dyn_voltage_link,
          self.dyn_voltage_pack, self.dyn_current, self.dyn_resistance_pos,
          self.dyn_resistance_neg) = struct.unpack_from('<HHHHHHHHHH', data, offset); offset += 20
         
-        # 紧急状态和保留字段
+        # 第十五部分：紧急状态和保留字段
         (self.ins_emergency_status, self.dyn_emergency_status) = struct.unpack_from('<BB', data, offset); offset += 2
         
         (self.reserved3[0], self.reserved3[1]) = struct.unpack_from('<BB', data, offset); offset += 2
         
-        # SOC门限值
+        # 第十六部分：SOC门限值
         (self.ins_soc_threshold1, self.ins_soc_threshold2, self.ins_soc_threshold3,
          self.dyn_soc_threshold1, self.dyn_soc_threshold2, self.dyn_soc_threshold3) = struct.unpack_from('<BBBBBB', data, offset); offset += 6
         
-        # 功率限制值
+        # 第十七部分：功率限制值
         (self.ins_power_limit1, self.ins_power_limit2,
          self.dyn_power_limit1, self.dyn_power_limit2) = struct.unpack_from('<BBBB', data, offset); offset += 4
         
-        # 设备在线状态和心跳
+        # 第十八部分：设备在线状态和心跳
         (self.device_online_flag1, self.device_online_flag2) = struct.unpack_from('<II', data, offset); offset += 8
         
         (self.dyn_charge_level, self.dyn_water_leak_status,
@@ -399,12 +424,16 @@ class msg_ccUFbMsg:
         
         (self.heartbeat,) = struct.unpack_from('<I', data, offset); offset += 4
         
-        # 校验校验码
+        # 解析校验码（4字节）
+        (self.checkCode,) = struct.unpack_from('<I', data, offset); offset += 4
+        
+        # 校验校验码 - 根据C++代码，计算所有数据的和（不包括校验码本身）
         checkCode = 0
-        for byte in data[:-1]:  # 不包括校验码本身
-            checkCode = (checkCode + byte) & 0xFF
-            
-        return checkCode == data[-1]
+        # 计算除校验码外的所有字节的和
+        for i in range(len(data) - 4):  # 不包括最后4字节的校验码
+            checkCode += data[i]
+        
+        return checkCode == self.checkCode
 
     def print_info(self):
         """打印消息信息"""
@@ -423,214 +452,5 @@ class msg_ccUFbMsg:
         print(f"仪表SOC: {self.ins_soc}%")
         print(f"动力SOC: {self.dyn_soc}%")
         print(f"心跳计数器: {self.heartbeat}")
-        print(f"校验码: 0x{self.checkCode:02X}")
-
-
-class msg_ccUCmdMsg:
-    def __init__(self):
-        # 消息头
-        self.start1 = 0x20
-        self.start2 = 0x20
-        self.id = 0x0040  # CCU_CMD_ID
-        self.length = 0
-        self.checkCode = 0x00
-        
-        # 时间戳
-        self.year = 0
-        self.month = 0
-        self.day = 0
-        self.hour = 0
-        self.minute = 0
-        self.second = 0
-        self.milliseconds = 0
-        
-        # 复合管控器操作指令
-        self.fcmode = 0x00  # 燃料电池运行模式
-        self.fcuCmd = 0x00  # 燃料电池控制命令
-        self.fcuPowerEfficiency = 0x00  # 燃料电池功率效率
-        self.insChargeEnable = 0x00  # 仪表电池充电使能
-        self.insBatCmd = 0x00  # 仪表电池命令
-        self.powerBatCmd = 0x00  # 动力电池命令
-        self.powerBatEfficiency = 0  # 动力电池功率效率
-        self.heartbeat = 0  # 心跳
-        self.masterState = 0x00  # 主控状态
-        self.paceholder1 = 0  # 占位符1
-        self.paceholder2 = 0  # 占位符2
-
-    def pack(self):
-        """打包消息为字节数据"""
-        # 重置校验码
-        self.checkCode = 0x00
-        
-        # 打包消息头
-        data = struct.pack('<BBHH', 
-                          self.start1, 
-                          self.start2, 
-                          self.id, 
-                          self.length)
-        
-        # 打包时间戳
-        data += struct.pack('<HBBBBBB',
-                           self.year,
-                           self.month,
-                           self.day,
-                           self.hour,
-                           self.minute,
-                           self.second,
-                           self.milliseconds)
-        
-        # 打包复合管控器操作指令
-        data += struct.pack('<BBBBBBHBBII',
-                           self.fcmode,
-                           self.fcuCmd,
-                           self.fcuPowerEfficiency,
-                           self.insChargeEnable,
-                           self.insBatCmd,
-                           self.powerBatCmd,
-                           self.powerBatEfficiency,
-                           self.heartbeat,
-                           self.masterState,
-                           self.paceholder1,
-                           self.paceholder2)
-        
-        # 计算校验码
-        self.checkCode = 0
-        for byte in data:
-            self.checkCode = (self.checkCode + byte) & 0xFF
-        
-        # 添加校验码
-        data += struct.pack('<B', self.checkCode)
-        
-        # 更新长度字段
-        self.length = len(data) - 6  # 减去头部6字节
-        
-        return data
-
-    def unpack(self, data):
-        """从字节数据解包消息"""
-        if len(data) < 10:  # 最小消息长度检查
-            return False
-            
-        # 解析消息头
-        self.start1 = data[0]
-        self.start2 = data[1]
-        self.id = struct.unpack_from('<H', data, 2)[0]
-        self.length = struct.unpack_from('<H', data, 4)[0]
-        
-        offset = 6  # 头部结束位置
-        
-        # 检查数据长度是否足够
-        if len(data) < offset + self.length + 1:  # +1 for checksum
-            return False
-        
-        # 解析时间戳
-        (self.year, self.month, self.day, self.hour, 
-         self.minute, self.second, self.milliseconds) = struct.unpack_from('<HBBBBBB', data, offset); offset += 8
-        
-        # 解析复合管控器操作指令
-        (self.fcmode, self.fcuCmd, self.fcuPowerEfficiency,
-         self.insChargeEnable, self.insBatCmd, self.powerBatCmd,
-         self.powerBatEfficiency, self.heartbeat, self.masterState,
-         self.paceholder1, self.paceholder2) = struct.unpack_from('<BBBBBBHBBII', data, offset); offset += 20
-        
-        # 校验校验码
-        checkCode = 0
-        for byte in data[:-1]:  # 不包括校验码本身
-            checkCode = (checkCode + byte) & 0xFF
-            
-        return checkCode == data[-1]
-
-    def print_info(self):
-        """打印消息信息"""
-        print(f"消息头: start1=0x{self.start1:02X}, start2=0x{self.start2:02X}, id=0x{self.id:04X}, length={self.length}")
-        print(f"时间戳: {self.year}-{self.month:02d}-{self.day:02d} {self.hour:02d}:{self.minute:02d}:{self.second:02d}.{self.milliseconds:03d}")
-        print(f"燃料电池模式: 0x{self.fcmode:02X}")
-        print(f"燃料电池控制命令: 0x{self.fcuCmd:02X}")
-        print(f"燃料电池功率效率: {self.fcuPowerEfficiency}%")
-        print(f"仪表电池充电使能: 0x{self.insChargeEnable:02X}")
-        print(f"仪表电池命令: 0x{self.insBatCmd:02X}")
-        print(f"动力电池命令: 0x{self.powerBatCmd:02X}")
-        print(f"动力电池功率效率: {self.powerBatEfficiency}%")
-        print(f"心跳: {self.heartbeat}")
-        print(f"主控状态: 0x{self.masterState:02X}")
-        print(f"占位符1: {self.paceholder1}")
-        print(f"占位符2: {self.paceholder2}")
-        print(f"校验码: 0x{self.checkCode:02X}")
-
-
-# 测试函数
-def test_msg_ccUFbMsg():
-    """测试msg_ccUFbMsg类"""
-    msg = msg_ccUFbMsg()
-    
-    # 设置一些测试数据
-    msg.fc_mode = 0x02  # 自动模式
-    msg.fc_status = 0x06  # 运行状态
-    msg.output_power_limit = 15000
-    msg.total_generation_time = 100  # 10小时
-    msg.hydrogen_capacity = 80
-    msg.liquid_oxygen_capacity = 75
-    msg.ins_soc = 85
-    msg.dyn_soc = 90
-    msg.heartbeat = 12345
-    
-    # 打包消息
-    data = msg.pack()
-    print(f"打包后的数据长度: {len(data)} 字节")
-    
-    # 解包消息
-    msg2 = msg_ccUFbMsg()
-    if msg2.unpack(data):
-        print("解包成功!")
-        msg2.print_info()
-    else:
-        print("解包失败!")
-    
-    return msg2
-
-
-def test_msg_ccUCmdMsg():
-    """测试msg_ccUCmdMsg类"""
-    msg = msg_ccUCmdMsg()
-    
-    # 设置一些测试数据
-    msg.year = 2025
-    msg.month = 9
-    msg.day = 11
-    msg.hour = 17
-    msg.minute = 5
-    msg.second = 30
-    msg.milliseconds = 123
-    
-    msg.fcmode = 0x02  # 自动模式
-    msg.fcuCmd = 0x02  # 启动命令
-    msg.fcuPowerEfficiency = 85  # 85%效率
-    msg.insChargeEnable = 0x01  # 使能充电
-    msg.insBatCmd = 0x10  # 仪表电池启动
-    msg.powerBatCmd = 0x10  # 动力电池启动
-    msg.powerBatEfficiency = 90  # 90%效率
-    msg.heartbeat = 123
-    msg.masterState = 0x01  # 主控正常
-    msg.paceholder1 = 0
-    msg.paceholder2 = 0
-    
-    # 打包消息
-    data = msg.pack()
-    print(f"CCU命令消息打包后的数据长度: {len(data)} 字节")
-    
-    # 解包消息
-    msg2 = msg_ccUCmdMsg()
-    if msg2.unpack(data):
-        print("CCU命令消息解包成功!")
-        msg2.print_info()
-    else:
-        print("CCU命令消息解包失败!")
-    
-    return msg2
-
-
-if __name__ == "__main__":
-    print("=== 测试CCU状态反馈消息 ===")
-    test_msg_ccUFbMsg()
-    print("\n=== 测试CCU命令消息 ===")
-    test_msg_ccUCmdMsg()
+        print(f"校验码: 0x{self.checkCode:08X}")
+                          
\ No newline at end of file