diff --git a/data/msg/uDevice_depth_st.json b/data/msg/uDevice_depth_st.json
new file mode 100644
index 0000000..0c734a3
--- /dev/null
+++ b/data/msg/uDevice_depth_st.json
@@ -0,0 +1,3 @@
+{
+    "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
index 41648bf..a8a0701 100644
--- a/data/msg/uPower_currentState_st.json
+++ b/data/msg/uPower_currentState_st.json
@@ -6,7 +6,7 @@
   "HVABbusBVol_uint16": 0,
   "HVABmastSteGeaCur_uint16": 0,
   "HVABopenWaterCur_uint16": 0,
-  "HVABxczCur_uint16": 0,
+  "HVABxczCur_uint16": 1,
   "HVBBCCUCur_uint16": 0,
   "HVBBFCSSecurSysCur_uint16": 0,
   "HVBBbatInsCur_uint16": 0,
diff --git a/data/msg/uPower_disSysState_st.json b/data/msg/uPower_disSysState_st.json
index ed8e1bf..90bc4ac 100644
--- a/data/msg/uPower_disSysState_st.json
+++ b/data/msg/uPower_disSysState_st.json
@@ -1,8 +1,8 @@
 {
   "HVolABusBreaker_unit16": 0,
-  "HVolBBusBreaker_unit16": 0,
-  "HVolBusBreaker_uint16": 0,
-  "LVolBusBreaker_uint16": 0,
+  "HVolBBusBreaker_unit16": 79,
+  "HVolBusBreaker_uint16": 58,
+  "LVolBusBreaker_uint16": 159,
   "faultCode_array": 
   [
     0
diff --git a/data/msg/uPower_fcsState_st.json b/data/msg/uPower_fcsState_st.json
index 31141fb..dde57b0 100644
--- a/data/msg/uPower_fcsState_st.json
+++ b/data/msg/uPower_fcsState_st.json
@@ -1,30 +1,30 @@
 {
-  "backpressure1_fp32": 0.0,
-  "backpressure2_fp32": 0.0,
-  "ch4oConcent1_fp32": 0.0,
-  "ch4oConcent2_fp32": 0.0,
+  "backpressure1_fp32": 1.0,
+  "backpressure2_fp32": 2.0,
+  "ch4oConcent1_fp32": 29.0,
+  "ch4oConcent2_fp32": 96.0,
   "ch4o_fp32": 0.0,
-  "excTemp_fp32": 0.0,
+  "excTemp_fp32": 23.0,
   "faultCode1_uint16": 0,
   "faultCode2_uint16": 0,
   "faultCode3_uint16": 0,
   "fcuCurIns_fp32": 0.0,
   "fcuCurPower_fp32": 0.0,
-  "fcuCur_fp32": 0.0,
+  "fcuCur_fp32": 84.0,
   "fcuFaultLeve_uint8": 0,
-  "fcuOutIns_fp32": 0.0,
-  "fcuOutPower_fp32": 0.0,
+  "fcuOutIns_fp32": 53.0,
+  "fcuOutPower_fp32": 100.0,
   "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,
+  "fcuVol_fp32": 377.0,
+  "flameDet_uint8": 1,
+  "h2Concent1_fp32": 89.0,
+  "h2Concent2_fp32": 62.0,
+  "o2Concent1_fp32": 74.0,
+  "o2Concent2_fp32": 21.0,
   "o2Level_fp32": 0.0,
   "o2_fp32": 0.0,
-  "powLimit_fp32": 0.0,
-  "powerGen_fp32": 0.0
+  "powLimit_fp32": 88.0,
+  "powerGen_fp32": 622.0
 }
\ No newline at end of file
diff --git a/data/msg/uPower_liBatState_st.json b/data/msg/uPower_liBatState_st.json
index b3e9fd4..18a243c 100644
--- a/data/msg/uPower_liBatState_st.json
+++ b/data/msg/uPower_liBatState_st.json
@@ -2,37 +2,37 @@
   "fcuCurToInsLimit1_uint8": 0,
   "fcuCurToinsLimit2_uint8": 0,
   "insBatCurElect_uint16": 0,
-  "insBatLimit_uint16": 0,
-  "insBatSoc_uint8": 0,
-  "insBatTotalElect_uint16": 0,
+  "insBatLimit_uint16": 41,
+  "insBatSoc_uint8": 42,
+  "insBatTotalElect_uint16": 617,
   "insChargeState_uint8": 0,
   "insCurSocHold1_uint8": 0,
   "insCurSocHold2_uint8": 0,
   "insCurSocHold3_uint8": 0,
-  "insCurrent_uint16": 0,
+  "insCurrent_uint16": 2,
   "insLinkVol_uint16": 0,
   "insNegRelayState_uint8": 0,
   "insNegRes_uint16": 0,
   "insPackVol_uint16": 0,
-  "insPosRelayState_uint8": 0,
+  "insPosRelayState_uint8": 1,
   "insPosRes_uint16": 0,
   "insfaultCode_uint8": 0,
   "powBatCurElect_uint16": 0,
-  "powBatSoc_uint8": 0,
-  "powBatTotalElect_uint16": 0,
+  "powBatSoc_uint8": 31,
+  "powBatTotalElect_uint16": 763,
   "powChargeState_uint8": 0,
   "powCurSocHold1_uint8": 0,
   "powCurSocHold2_uint8": 0,
   "powCurSocHold3_uint8": 0,
   "powCurToInsLimit1_uint8": 0,
   "powCurToinsLimit2_uint8": 0,
-  "powCur_uint16": 0,
+  "powCur_uint16": 21,
   "powLinkVol_uint16": 0,
-  "powNegRelayState_uint8": 0,
+  "powNegRelayState_uint8": 1,
   "powNegRes_uint16": 0,
-  "powPosRelayState_uint8": 0,
+  "powPosRelayState_uint8": 1,
   "powPosRes_uint16": 0,
-  "powerBatLimit_uint16": 0,
+  "powerBatLimit_uint16": 13,
   "powerPackVol_uint16": 0,
   "powfaultCode_uint8": 0
 }
\ No newline at end of file
diff --git a/src/pPowerManger/LowerCommManager.cpp b/src/pPowerManger/LowerCommManager.cpp
index 2b1f7bd..9978978 100644
--- a/src/pPowerManger/LowerCommManager.cpp
+++ b/src/pPowerManger/LowerCommManager.cpp
@@ -238,7 +238,7 @@ bool LowerCommManager::listenThreadFunc()
         try
         {
             int nRead = m_udpComm->udpScoket->iRecieveMessage(Buff, sizeof(Buff));
-            cout<<MOOS::ConsoleColours::yellow()<< "RECEVE DATA COUNT:" << nRead << MOOS::ConsoleColours::reset() << endl;
+            //cout<<MOOS::ConsoleColours::yellow()<< "RECEVE DATA COUNT:" << nRead << MOOS::ConsoleColours::reset() << endl;
             if(nRead > 0)
             {
                 try {
diff --git a/src/pPowerManger/PowerManagerFsm.cpp b/src/pPowerManger/PowerManagerFsm.cpp
index 8849ab9..334d5a5 100644
--- a/src/pPowerManger/PowerManagerFsm.cpp
+++ b/src/pPowerManger/PowerManagerFsm.cpp
@@ -9,71 +9,25 @@ PowerManger* PowerManagerFsm::pm = nullptr;
 // InitState实现
 void InitState::entry() {
     PowerManagerFsm::entry();
-    std::cout << "==========================="  << std::endl;
-    // PowerManagerFsm::pm->m_pmEvent = "初始化状态";
-    PowerManagerFsm::pm->printState("InitState", "进入初始化状态");
-}
-
-void InitState::react(InitEvent const &) {
-    // double StartTime = PowerManagerFsm::pm->GetAppStartTime();
-    std::cout << "开始初始化" << std::endl;
-    double StartTime = 0;
-    while (PowerManagerFsm::pm->connectState < 5) {
-        MOOSPause(1000);
-        PowerManagerFsm::pm->updateTime();
-        double dft = abs(PowerManagerFsm::pm->m_current_time - StartTime);
-        if(dft > 10) {
-            transit<FaultState>();
-            PowerManagerFsm::pm->m_faultNum = 1;
-            return;
-        }
-        string desp = "等待复合管控消息 : " + to_string(10-dft);
-        PowerManagerFsm::pm->printState("InitState", desp);
-    }
-
-    if(PowerManagerFsm::pm->checkError() < 0) {
-        transit<FaultState>();
-        PowerManagerFsm::pm->m_faultNum = 2;
-        return;
-    }
-
-    PowerManagerFsm::pm->initControlCmd();
-
-    while (true) {
-        if(PowerManagerFsm::pm->m_currentDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker == 1 ||
-           PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit5CircuitBreaker == 1 ||
-           PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit2CircuitBreaker == 1 ||
-           PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit3CircuitBreaker == 1 ||
-           PowerManagerFsm::pm->m_currentDisBreakerState.bus4Breaker.unit1CircuitBreaker == 1) {
-            transit<StandbyState>();
-            return;
-        }
-        PowerManagerFsm::pm->m_pmEvent = "等待关键断路器闭合";
-        MOOSPause(1000);
-        PowerManagerFsm::pm->printState("InitState", PowerManagerFsm::pm->m_pmEvent);
-    }
-    std::cout << "InitState: 初始化完成" << std::endl;
-    //转换到待机状态
+    std::cout << "初始化配电指令" << std::endl;
+    pm->initControlCmd();
+    // PowerManagerFsm::pm->printState("InitState", "进入初始化状态");
     transit<StandbyState>();
 }
 
 // StandbyState实现
 void StandbyState::entry() {
     PowerManagerFsm::entry();
-    PowerManagerFsm::pm->printState("StandbyState", "进入待机状态");
+    pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);  
+    pm->m_CcuColCmd.fcuCmd = FcuCommand::Stop;
+    pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Stop;
 }
 
 void StandbyState::react(StandbyEvent const &) {
-    while (true) {
-        if(PowerManagerFsm::pm->checkError() < 0) {
-            transit<FaultState>();
-            return;
-        }
-        handlePowerCommands();
-        MOOSPause(1000);
-    }
+    transit<StandbyState>();
 }
 
+
 void StandbyState::handlePowerCommands() {
     switch (PowerManagerFsm::pm->m_msCmd.powerCMD) {
         case 0: PowerManagerFsm::pm->m_pmEvent = "收到上位机控制指令:关机"; break;
@@ -90,6 +44,7 @@ void StandbyState::handlePowerOn() {
 
 // FaultState实现
 void FaultState::entry() {
+    PowerManagerFsm::entry();
     PowerManagerFsm::pm->printState("FaultState", "进入故障状态");
 }
 
diff --git a/src/pPowerManger/PowerManagerFsm.hpp b/src/pPowerManger/PowerManagerFsm.hpp
index 0be6748..3cdfcee 100644
--- a/src/pPowerManger/PowerManagerFsm.hpp
+++ b/src/pPowerManger/PowerManagerFsm.hpp
@@ -2,7 +2,12 @@
 #define POWER_MANAGER_FSM_HPP
 #include "tinyfsm.hpp"
 #include <iostream>
-
+#include <chrono>      // 新增头文件
+#include <iomanip>     // 新增头文件
+#include <ctime>       // 新增头文件，用于localtime函数
+#include <cxxabi.h>  // 新增头文件，用于demangle功能
+#include "pmSysvariable.h"
+#include "driver.h"
 // 前向声明
 class PowerManger;
 
@@ -12,7 +17,6 @@ enum class PowerSystemState {
     FAULT,
 };
 
-// 定义事件类型
 //==================状态切换事件=============================
 struct InitEvent : tinyfsm::Event { };
 struct StandbyEvent : tinyfsm::Event { };
@@ -21,18 +25,16 @@ struct FaultEvent : tinyfsm::Event {
     FaultEvent(unsigned int code) : faultCode(code) {}
 };
 //==================状态流程事件============================
-struct MasterCommandEvent : tinyfsm::Event { };
+struct MasterCommandEvent : tinyfsm::Event {};
 struct TaskStart : tinyfsm::Event { };
-// struct 
+struct DeviceCmd : tinyfsm::Event { };
 
-
-// 定义状态机基类
 class PowerManagerFsm : public tinyfsm::Fsm<PowerManagerFsm> {
 protected:
     static PowerManger* pm;
+    static DriverTable m_currentDriver;
     
 public:
-    // 初始化状态机
     static void init(PowerManger* powerManager) {
         pm = powerManager;
     }
@@ -43,30 +45,52 @@ public:
     virtual void react(FaultEvent const &) {};
     virtual void react(MasterCommandEvent const &) {};
     virtual void react(TaskStart const &) {};
+    virtual void react(DeviceCmd const &) {};
 
     // 状态机生命周期方法
-    virtual void entry() {std::cout << "[ Enter state ] : " << typeid(*this).name() << std::endl;}  // 进入状态
-    virtual void exit() {std::cout << "[ Exit state ] : " << typeid(*this).name() << std::endl;}   // 退出状态
-
-
-    // 状态转换接口
-    void triggerInitEvent() { dispatch(InitEvent()); }
-    void triggerStandbyEvent() { dispatch(StandbyEvent()); }
-    void triggerFaultEvent(unsigned int faultCode) { dispatch(FaultEvent(faultCode)); }
+    virtual void entry() {
+        auto now = std::chrono::system_clock::now();
+        auto now_time = std::chrono::system_clock::to_time_t(now);
+        
+        int status = 0;
+        char* demangled = abi::__cxa_demangle(typeid(*this).name(), nullptr, nullptr, &status);
+        std::string typeName = (status == 0) ? demangled : typeid(*this).name();
+        if (demangled) free(demangled);
+        
+        std::cout << "\033[1;38;5;51m╭──────────────────────────────────────────────────────\n"
+                  << "│ \033[1;38;5;226m⮞⮞⮞ \033[0;38;5;51m[" << std::put_time(std::localtime(&now_time), "%Y-%m-%d %H:%M:%S") 
+                  << "] \033[1;38;5;255m进入状态: \033[1;38;5;213m" << typeName << "\n"
+                  << "│                                                      \033[0m" << std::endl;
+    }
+    
+    virtual void exit() {
+        auto now = std::chrono::system_clock::now();
+        auto now_time = std::chrono::system_clock::to_time_t(now);
+        
+        int status = 0;
+        char* demangled = abi::__cxa_demangle(typeid(*this).name(), nullptr, nullptr, &status);
+        std::string typeName = (status == 0) ? demangled : typeid(*this).name();
+        if (demangled) free(demangled);
+        
+        std::cout << "\033[1;38;5;203m│                                                      \n"
+                  << "│ \033[1;38;5;208m⮜⮜⮜ \033[0;38;5;203m[" << std::put_time(std::localtime(&now_time), "%Y-%m-%d %H:%M:%S") 
+                  << "] \033[1;38;5;255m离开状态: \033[1;38;5;213m" << typeName << "\n"
+                  << "╰──────────────────────────────────────────────────────\033[0m" << std::endl;
+    }
 };
 
 
 class InitState : public PowerManagerFsm {
 public:
     void entry() override;
-    void react(InitEvent const &);
 };
 
 class StandbyState : public PowerManagerFsm {
 public:
     void entry() override;
-    void react(StandbyEvent const &);
-    PowerSystemState getCurrentState();
+    void react(StandbyEvent const &) override;
+    // void react(MasterCommandEvent const &) override;
+    // void react(DeviceCmd const &) override;
 private:
     void handlePowerCommands();
     void handlePowerOn();
@@ -78,6 +102,5 @@ public:
     void react(FaultEvent const &);
 };
 
-// FSM_INITIAL_STATE(PowerManagerFsm, InitState)
 
 #endif // POWER_MANAGER_FSM_HPP
\ No newline at end of file
diff --git a/src/pPowerManger/PowerManger.cpp b/src/pPowerManger/PowerManger.cpp
index a78b461..9741dfa 100644
--- a/src/pPowerManger/PowerManger.cpp
+++ b/src/pPowerManger/PowerManger.cpp
@@ -126,29 +126,11 @@ bool PowerManger::Iterate()
   // cout << " Current State : " << (int)PowerManagerFsm::current_state_ptr->getCurrentState();
   if (m_ticker++ % 5 == 0)
   {
+    m_CcuColCmd.heartbeat++;
     m_lowerCommManager->processPeriodicTasks();
     m_upperCommManager->processPeriodicTasks();
-    // buildPowerSysReport();
-    //Notify(PM_TO_DB_SUBDISCMD,m_driver.saveDriverTableToJson(&m_subDisSysCmd));
-    //Notify(PM_TO_DB_EQUIPMENTSTATE,m_driver.saveDriverTableToJson(&m_currentDriverState));
-    //d.保存到数据库
     writeDataToDB();
   }
-
-  ///////////////////////
-  // string a = m_driver.getSubDisCmdJson(&m_subDisSysCmd);
-  // saveStringToJsonFile(a,"/home/zjk/project/H100/H100PowerManger/data/subDisSysCmd.json");
-  ///////////////////////
-  //4. 写状态信息到数据库
-  // m_stateData.state_id = m_pmState.id;
-  // m_stateData.state_name = m_pmState.name;
-  // m_stateData.event = m_pmEvent;
-  // m_stateData.fault_code = m_faultNum;
-  // if(!m_db->insertStateData(m_stateData))
-  //   return false;
-  //AppCastingMOOSApp::PostReport();
-  //5. 清空UDP消息队列
-  // m_udpComm.clearMsgQueue(); 
   return(true);
 }
 
diff --git a/src/pPowerManger/PowerManger.h b/src/pPowerManger/PowerManger.h
index f5c754c..2145dc5 100644
--- a/src/pPowerManger/PowerManger.h
+++ b/src/pPowerManger/PowerManger.h
@@ -114,18 +114,14 @@ class PowerManger : public AppCastingMOOSApp
    LowerCommManager* m_lowerCommManager;
    UpperCommManager* m_upperCommManager;
     
-   // 状态机实例
-   PowerManagerFsm m_fsm;
+  //  // 状态机实例
+  //  PowerManagerFsm m_fsm;
  
   public:
   //===========================状态机接口=======================================
   void printState(const std::string& stateName, const std::string& desp);
   bool FSM_RUN_IS_OK = true;
- 
-  // 状态机事件触发接口
-  // void triggerInitEvent() { m_fsm.triggerInitEvent(); }
-  // void triggerStandbyEvent() { m_fsm.triggerStandbyEvent(); }
-  // void triggerFaultEvent(unsigned int faultCode) { m_fsm.triggerFaultEvent(faultCode); }
+
   //==================================================================================
    int checkError();
    bool shutdown();
diff --git a/src/pPowerManger/UpperCommManager.cpp b/src/pPowerManger/UpperCommManager.cpp
index 7497913..0190895 100644
--- a/src/pPowerManger/UpperCommManager.cpp
+++ b/src/pPowerManger/UpperCommManager.cpp
@@ -17,6 +17,10 @@ bool UpperCommManager::processUpperMsg(const string& key, const string& strJson)
         m_pm->m_subDisSysState = getSubDisState(key, strJson);
         return true;
     }
+    else if(key == DB_TO_PM_DEEPTH) {
+        m_pm->m_depth = getDeepth(key, strJson);
+        return true;
+    }
     std::cout << "Unknown key: " << key << std::endl;
     return false;
 }
@@ -25,6 +29,7 @@ const MSControlCmd UpperCommManager::getMasterControlCmd(const std::string& key,
 {
     MSControlCmd cmd;
     if (parseControlCmdFromJson(cmd, msg)) {
+        
         return cmd;
     }
     else
@@ -53,6 +58,37 @@ const DriverTable UpperCommManager::getSubDisState(const std::string& key, const
     }
 }
 
+const int UpperCommManager::getDeepth(const std::string& key, const std::string& msg){
+    int deepth;
+    Json::Value root;
+    Json::CharReaderBuilder builder;
+    JSONCPP_STRING errs;
+    
+    // 解析JSON字符串
+    std::istringstream stream(msg);
+    if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+        std::cerr << "JSON解析失败: " << errs << std::endl;
+        return -1;
+    }
+
+    // 检查并读取深度数组
+    if (root.isMember("value_array_uint16") && root["value_array_uint16"].isArray()) {
+        const Json::Value& array = root["value_array_uint16"];
+        if (array.size() >= 3) {
+            // 计算三个深度值的平均值
+            deepth = (array[0].asInt() + array[1].asInt() + array[2].asInt()) / 3;
+        } else {
+            std::cerr << "深度数组元素不足3个" << std::endl;
+            return -1;
+        }
+    } else {
+        std::cerr << "JSON格式错误" << std::endl;
+        return -1;
+    }
+    
+    return deepth;
+}
+
 const std::string UpperCommManager::getCurrentEquState(DriverTable& driver)
 {
     return m_pm->m_driver.saveDriverTableToJson(&driver);
diff --git a/src/pPowerManger/UpperCommManager.h b/src/pPowerManger/UpperCommManager.h
index 3ab3bcb..f3bf90b 100644
--- a/src/pPowerManger/UpperCommManager.h
+++ b/src/pPowerManger/UpperCommManager.h
@@ -26,7 +26,7 @@ using namespace std;
 #define DB_TO_PM_SUBDISSTATE "uDevice_secdistState_st"
 
 //决策消息
-#define DB_TO_PM_DEEPTH "uPower_depth_fb"
+#define DB_TO_PM_DEEPTH "uDevice_depth_st"
 #define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
 
 class PowerManger; // 前向声明
@@ -36,7 +36,7 @@ public:
     UpperCommManager(PowerManger* powerManager);
     ~UpperCommManager();
 
-    //周期调用
+    // 周期调用
     void processPeriodicTasks();
 
     // 处理上位机消息
@@ -49,10 +49,11 @@ public:
     const MSControlCmd getMasterControlCmd(const std::string& key, const std::string& msg);
     const DriverTable getEquipmentCmd(const std::string& key, const std::string& msg);
     const DriverTable getSubDisState(const std::string& key, const std::string& msg);
+    const int getDeepth(const std::string& key, const std::string& msg);
+
 
     const std::string getCurrentEquState(DriverTable& driver);
     const std::string getSubDisCmd(DriverTable& driver);
-
     // 其他公共函数
     string getTypeName(const string typeName);
     bool saveStringToJsonFile(const string &strJson, const string &filePath);
diff --git a/src/pPowerManger/driver.cpp b/src/pPowerManger/driver.cpp
index b5af163..7e2cc68 100644
--- a/src/pPowerManger/driver.cpp
+++ b/src/pPowerManger/driver.cpp
@@ -59,72 +59,72 @@ int Driver::getDriverTable(workCondition condition, DriverTable* driverTable)
 void Driver::getSTANDBYTable(DriverTable* driverTable)
 {
     //打开所有传感器
-    driverTable->depth1 = DRIVER_FULL_POWER_ON;
-    driverTable->depth2 = DRIVER_FULL_POWER_ON;
-    driverTable->depth3 = DRIVER_FULL_POWER_ON;
-    driverTable->overDeep1 = DRIVER_FULL_POWER_ON;
-    driverTable->overDeep2 = DRIVER_FULL_POWER_ON;
-    driverTable->ctd1 = DRIVER_FULL_POWER_ON;
-    driverTable->ctd2 = DRIVER_FULL_POWER_ON;
-    driverTable->soundVeloc = DRIVER_FULL_POWER_ON;
-    driverTable->commMast = DRIVER_FULL_POWER_ON;
-    driverTable->ins = DRIVER_FULL_POWER_ON;
-    driverTable->ntp = DRIVER_FULL_POWER_ON;
-    driverTable->inputWaterSensor1 = DRIVER_FULL_POWER_ON;
-    driverTable->inputWaterSensor2 = DRIVER_FULL_POWER_ON;
-    driverTable->inputWaterSensor3 = DRIVER_FULL_POWER_ON;
+    driverTable->depth1 = 1;
+    driverTable->depth2 = 1;
+    driverTable->depth3 = 1;
+    driverTable->overDeep1 = 1;
+    driverTable->overDeep2 = 1;
+    driverTable->ctd1 = 1;
+    driverTable->ctd2 = 1;
+    driverTable->soundVeloc = 1;
+    driverTable->commMast = 1;
+    driverTable->ins = 1;
+    driverTable->ntp = 1;
+    driverTable->inputWaterSensor1 = 1;
+    driverTable->inputWaterSensor2 = 1;
+    driverTable->inputWaterSensor3 = 1;
 
     //关闭所有负载
-    driverTable->photoSensor = DRIVER_STANDBY;
-    driverTable->electSensor = DRIVER_STANDBY;
-    driverTable->launchControler = DRIVER_STANDBY;
-    driverTable->sideSonar = DRIVER_POWER_OFF;
-    driverTable->buoyage = DRIVER_POWER_OFF;
+    driverTable->photoSensor = 0;
+    driverTable->electSensor = 0;
+    driverTable->launchControler = 0;
+    driverTable->sideSonar = 0;
+    driverTable->buoyage = 0;
     //关闭所有水声设备
-    driverTable->singleBeamSonar1 = DRIVER_POWER_OFF;
-    driverTable->singleBeamSonar2 = DRIVER_POWER_OFF;
-    driverTable->singleBeamSonar3 = DRIVER_POWER_OFF;
-    driverTable->singleBeamSonar4 = DRIVER_POWER_OFF;
-    driverTable->singleBeamSonar5 = DRIVER_POWER_OFF;
-    driverTable->singleBeamSonar6 = DRIVER_POWER_OFF;
-    driverTable->singleBeamSonar7 = DRIVER_POWER_OFF;
-    driverTable->singleBeamSonar8 = DRIVER_POWER_OFF;
-    driverTable->DVL = DRIVER_POWER_OFF;
-    driverTable->forwardSonar = DRIVER_POWER_OFF;
-    driverTable->lowFreqSonar = DRIVER_POWER_OFF;
-    driverTable->USBL = DRIVER_POWER_OFF;
+    driverTable->singleBeamSonar1 = 0;
+    driverTable->singleBeamSonar2 = 0;
+    driverTable->singleBeamSonar3 = 0;
+    driverTable->singleBeamSonar4 = 0;
+    driverTable->singleBeamSonar5 = 0;
+    driverTable->singleBeamSonar6 = 0;
+    driverTable->singleBeamSonar7 = 0;
+    driverTable->singleBeamSonar8 = 0;
+    driverTable->DVL = 0;
+    driverTable->forwardSonar = 0;
+    driverTable->lowFreqSonar = 0;
+    driverTable->USBL = 0;
     //关闭所有执行机构
-    driverTable->bowCover1 = DRIVER_POWER_OFF;
-    driverTable->bowCover2 = DRIVER_POWER_OFF;
-    driverTable->bowCover3 = DRIVER_POWER_OFF;
-    driverTable->bowCover4 = DRIVER_POWER_OFF;
-    driverTable->bowCover5 = DRIVER_POWER_OFF;
-    driverTable->bowCover6 = DRIVER_POWER_OFF;
-    driverTable->bowRudderDeploy = DRIVER_POWER_OFF;
-    driverTable->bowRudderServo1 = DRIVER_POWER_OFF;
-    driverTable->bowRudderServo2 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet1 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet2 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet3 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet4 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet5 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet6 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet7 = DRIVER_POWER_OFF;
-    driverTable->bowWaterlnet8 = DRIVER_POWER_OFF;
-    driverTable->waterInject = DRIVER_POWER_OFF;
-    driverTable->mastLiftingServo = DRIVER_POWER_OFF;
-    driverTable->buoyancyAdjust1 = DRIVER_POWER_OFF;
-    driverTable->buoyancyAdjust2 = DRIVER_POWER_OFF;
-    driverTable->buoyancyAdjust3 = DRIVER_POWER_OFF;
-    driverTable->buoyancyAdjust4 = DRIVER_POWER_OFF;
-    driverTable->buoyancyAdjust5 = DRIVER_POWER_OFF;
-    driverTable->sternRudderServo1 = DRIVER_POWER_OFF;
-    driverTable->sternRudderServo2 = DRIVER_POWER_OFF;
-    driverTable->sternRudderServo3 = DRIVER_POWER_OFF;
-    driverTable->sternRudderServo4 = DRIVER_POWER_OFF;
-    driverTable->thruster = DRIVER_POWER_OFF;
-    driverTable->bowThrow = DRIVER_POWER_OFF;
-    driverTable->sternThrow = DRIVER_POWER_OFF;
+    driverTable->bowCover1 = 0;
+    driverTable->bowCover2 = 0;
+    driverTable->bowCover3 = 0;
+    driverTable->bowCover4 = 0;
+    driverTable->bowCover5 = 0;
+    driverTable->bowCover6 = 0;
+    driverTable->bowRudderDeploy = 0;
+    driverTable->bowRudderServo1 = 0;
+    driverTable->bowRudderServo2 = 0;
+    driverTable->bowWaterlnet1 = 0;
+    driverTable->bowWaterlnet2 = 0;
+    driverTable->bowWaterlnet3 = 0;
+    driverTable->bowWaterlnet4 = 0;
+    driverTable->bowWaterlnet5 = 0;
+    driverTable->bowWaterlnet6 = 0;
+    driverTable->bowWaterlnet7 = 0;
+    driverTable->bowWaterlnet8 = 0;
+    driverTable->waterInject = 0;
+    driverTable->mastLiftingServo = 0;
+    driverTable->buoyancyAdjust1 = 0;
+    driverTable->buoyancyAdjust2 = 0;
+    driverTable->buoyancyAdjust3 = 0;
+    driverTable->buoyancyAdjust4 = 0;
+    driverTable->buoyancyAdjust5 = 0;
+    driverTable->sternRudderServo1 = 0;
+    driverTable->sternRudderServo2 = 0;
+    driverTable->sternRudderServo3 = 0;
+    driverTable->sternRudderServo4 = 0;
+    driverTable->thruster = 0;
+    driverTable->bowThrow = 0;
+    driverTable->sternThrow = 0;
 }
 
 void Driver::getSHORE_BASED_READYable(DriverTable* driverTable)
diff --git a/src/pPowerManger/pmSysvariable.h b/src/pPowerManger/pmSysvariable.h
index 48d98b0..26a03a8 100644
--- a/src/pPowerManger/pmSysvariable.h
+++ b/src/pPowerManger/pmSysvariable.h
@@ -360,5 +360,54 @@ typedef struct pmState
     unsigned int workCMD;
   }MSControlCmd;
 
+  
+namespace FcuCommand {
+  enum Type : unsigned char {
+    SelfCheck = 0x01,
+    Start = 0x02,
+    Stop = 0x03,
+    Reset = 0x04,
+    EmergencyStop = 0x05,
+    Supply = 0x06,
+    WarmUp = 0x07,
+    Maintenance = 0x08
+  };
+}
+
+enum class FcuState : unsigned char {
+ //初始化
+  Init = 0x01,
+  //待机
+  Standby = 0x02,
+  //自检异常
+  SelfCheckError = 0x03,
+  //就绪
+  Ready = 0x04,
+  //启动
+  Start = 0x05,
+  //运行
+  Running = 0x06,
+  //停机
+  Stop = 0x07,
+  //故障
+  Fault = 0x08,
+  //补给
+  Supply = 0x09,
+  //预热
+  WarmUp = 0x0A,
+  //预热完成
+  WarmUpComplete = 0x0B,
+  //维护
+  Maintenance = 0x0C,
+  //维护完成
+  MaintenanceComplete = 0x0D
+};
+
+namespace BatteryCommand {
+  enum Type : unsigned char {
+      Start = 0x10,
+      Stop = 0x20
+  };
+}
 
 #endif
\ No newline at end of file