diff --git a/src/pPowerManger.zip b/src/pPowerManger.zip
deleted file mode 100644
index a15027b..0000000
Binary files a/src/pPowerManger.zip and /dev/null differ
diff --git a/src/pPowerManger/CMakeLists.txt b/src/pPowerManger/CMakeLists.txt
index 9d7b35d..6095a65 100644
--- a/src/pPowerManger/CMakeLists.txt
+++ b/src/pPowerManger/CMakeLists.txt
@@ -85,7 +85,7 @@ SET(DRIVER_SRC
 
 # ADD_LIBRARY(SQLiteDB STATIC ${SQLITEDB_SRC})
 ADD_LIBRARY(UDPComm STATIC ${UDPCOMM_SRC})
-ADD_LIBRARY(FSMLib STATIC ${FSMLIB_SRC})
+# ADD_LIBRARY(FSMLib STATIC ${FSMLIB_SRC})
 ADD_LIBRARY(Driver STATIC ${DRIVER_SRC})
 # ADD_LIBRARY(PowerMange STATIC ${POWERMANGE_SRC})
 
diff --git a/src/pPowerManger/LowerCommManager.cpp b/src/pPowerManger/LowerCommManager.cpp
index e88d54c..2f98cba 100644
--- a/src/pPowerManger/LowerCommManager.cpp
+++ b/src/pPowerManger/LowerCommManager.cpp
@@ -402,14 +402,25 @@ void LowerCommManager::coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os){
     os << "甲醇浓度1 (ch3oh_concentration1): " << p.data.ch3oh_concentration1 * 0.01 << "% LEL\n";
     os << "甲醇浓度2 (ch3oh_concentration2): " << p.data.ch3oh_concentration2 * 0.01 << "% LEL\n";
 
-    for (int i = 0; i < 18; ++i)
+    for (int i = 0; i < 10; ++i)
         os << "保留字段 reserved1[" << i << "]: 0x" << std::hex << p.data.reserved1[i] << "\n";
 
+    os << "仪表舱 氧气浓度 (cabin_ox_concentration): " << p.data.cabin_ox_concentration * 0.1 << "%\n";
+    os << "仪表舱 温度 (cabin_temperature): " << static_cast<int16_t> (p.data.cabin_temperature) * 0.1 << "°C\n";
+    os << "仪表舱 湿度 (cabin_humidity): " << p.data.cabin_humidity * 0.1 << "% RH\n";
+    os << "仪表舱 大气压 (cabin_pressure): " << p.data.cabin_pressure * 0.2 << " kPa\n";
+
+    os << "动力舱 氧气浓度 (power_cabin_ox_concentration): " << p.data.power_cabin_ox_concentration * 0.1 << "%\n";
+    os << "动力舱 温度 (power_cabin_temperature): " << static_cast<int16_t> (p.data.power_cabin_temperature) * 0.1 << "°C\n";
+    os << "动力舱 湿度 (power_cabin_humidity): " << p.data.power_cabin_humidity * 0.1 << "% RH\n";
+    os << "动力舱 大气压 (power_cabin_pressure): " << p.data.power_cabin_pressure * 0.2 << " kPa\n";
+    
     for (int i = 0; i < 6; ++i)
         os << "动力电池报警标志 dyn_alarm_flag[" << i << "]: 0x" << std::hex << static_cast<int>(p.data.dyn_alarm_flag[i]) << "\n";
     for (int i = 0; i < 6; ++i)
         os << "仪表电池报警标志 ins_alarm_flag[" << i << "]: 0x" << std::hex << static_cast<int>(p.data.ins_alarm_flag[i]) << "\n";
 
+
     os << "仪表正极/充电继电器状态 (ins_relay_status1): 0x" << std::hex << static_cast<int>(p.data.ins_relay_status1) << "\n";
     os << "仪表预充/负极继电器状态 (ins_relay_status2): 0x" << static_cast<int>(p.data.ins_relay_status2) << "\n";
     os << "动力正极/充电继电器状态 (dyn_relay_status1): 0x" << static_cast<int>(p.data.dyn_relay_status1) << "\n";
@@ -434,12 +445,12 @@ void LowerCommManager::coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os){
     os << std::dec;
     os << "仪表LINK电压: " << p.data.ins_voltage_link * 0.01 << " V\n";
     os << "仪表PACK电压: " << p.data.ins_voltage_pack * 0.01 << " V\n";
-    os << "仪表电流: " << p.data.ins_current * 0.01 << " A\n";
+    os << "仪表电流: " << static_cast<int16_t> (p.data.ins_current) * 0.01 << " A\n";
     os << "仪表正端绝缘电阻: " << p.data.ins_resistance_pos << " kΩ\n";
     os << "仪表负端绝缘电阻: " << p.data.ins_resistance_neg << " kΩ\n";
     os << "动力LINK电压: " << p.data.dyn_voltage_link * 0.01 << " V\n";
     os << "动力PACK电压: " << p.data.dyn_voltage_pack * 0.01 << " V\n";
-    os << "动力电流: " << p.data.dyn_current * 0.01 << " A\n";
+    os << "动力电流: " << static_cast<int16_t> (p.data.dyn_current) * 0.05 << " A\n";
     os << "动力正端绝缘电阻: " << p.data.dyn_resistance_pos << " kΩ\n";
     os << "动力负端绝缘电阻: " << p.data.dyn_resistance_neg << " kΩ\n";
 
diff --git a/src/pPowerManger/PowerManger.cpp b/src/pPowerManger/PowerManger.cpp
index 191cfc0..baf720b 100644
--- a/src/pPowerManger/PowerManger.cpp
+++ b/src/pPowerManger/PowerManger.cpp
@@ -139,7 +139,7 @@ bool PowerManger::Iterate()
   PowerManagerFsm::dispatch(cycleEvent);
   faultLevel = getFaultLevel();
   //打印信息大小
-  cout << sizeof(m_CcuColCmd) << endl;
+  // cout << sizeof(m_CcuColCmd) << endl;
   if (m_ticker++ % 5 == 0)
   {
     m_CcuColCmd.heartbeat++;
diff --git a/src/pPowerManger/UpperCommManager.cpp b/src/pPowerManger/UpperCommManager.cpp
index a6062a6..28411f9 100644
--- a/src/pPowerManger/UpperCommManager.cpp
+++ b/src/pPowerManger/UpperCommManager.cpp
@@ -4,34 +4,36 @@
 #include "fsm/PowerManagerFsm.hpp"
 
 UpperCommManager::UpperCommManager(PowerManger* pm) : m_pm(pm) {
-    // 初始化消息结构体
-    // uPower_equInsStateMsg m_equInsStateMsg;
-    // uDevice_secdistStateMsg m_secdistStateMsg;
-    // uPower_equStateMsg m_equStateMsg;
-    // uPower_disSysStateMsg m_disSysStateMsg;
-    // uPower_currentStateMsg m_currentStateMsg;
-    // uPower_pmStateMsg m_pmStateMsg;
-    // uPower_fcsStateMsg m_fcsStateMsg;
-    // uPower_liBatStateMsg m_liBatStateMsg;
-
-    // //上位机订阅消息
-    // uDevice_depthMsg m_depthMsg;
-    // uExternComm_setOpConditionMsg m_setOpConditionMsg;
+    // 初始化消息对象
     m_secdistStateMsg = uDevice_secdistStateMsg();
     m_setOpConditionMsg = uExternComm_setOpConditionMsg();
-
+    m_depthMsg = uDevice_depthMsg();
+    m_taskStartMsg = uPlan_taskStartMsg();
+    m_equInsStateMsg = uPower_equInsStateMsg();
+    m_equStateMsg = uPower_equStateMsg();
+    m_setPMSysMsg = uExternComm_setPowerSystemMsg();
 };
 
 bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) {
-    if(key == DB_TO_PM_MSCMD) {
-        m_pm->m_msCmd = getMasterControlCmd(key, strJson);
-        cout << "m_msCmd: " << endl;
+    // if(key == DB_TO_PM_MSCMD) 
+    // {
+    //     m_pm->m_msCmd = getMasterControlCmd(key, strJson);
+    //     cout << "m_msCmd: " << endl;
+    //     MasterCommandEvent event;
+    //     PowerManagerFsm::dispatch(event);
+    //     return true;
+    // }
+    if (key == m_sysStateMsg.key)
+    {
+        m_pm->m_msCmd = m_sysStateMsg.getMasterControlCmd(key, strJson);
         MasterCommandEvent event;
         PowerManagerFsm::dispatch(event);
         return true;
     }
-    else if(key == DB_TO_PM_EQUIPMENTCMD) {
-        m_pm->m_MSDriverCmd = getEquipmentCmd(key, strJson);
+    // 设备状态处理
+    else if(key == m_equStateMsg.key_cmd)
+    {
+        m_pm->m_MSDriverCmd = m_equStateMsg.getEquipmentCmd(key, strJson);
         vector<DriverCommand> devCmdExt = m_pm->m_driver.loadDriverIdFromJson(strJson);
         if (devCmdExt.empty()) {
             LOG_F(WARNING, "控制指令");
@@ -42,72 +44,86 @@ bool UpperCommManager::processUpperMsg(const string& key, const string& strJson)
                 PowerManagerFsm::dispatch(event);
             }
         }
-        return true;
     }
-    // else if(key == DB_TO_PM_SUBDISSTATE) {
-    //     m_pm->m_subDisSysState = getSubDisState(key, strJson);
+    // else if(key == DB_TO_PM_EQUIPMENTCMD)
+    // {
+    //     m_pm->m_MSDriverCmd = getEquipmentCmd(key, strJson);
+    //     vector<DriverCommand> devCmdExt = m_pm->m_driver.loadDriverIdFromJson(strJson);
+    //     if (devCmdExt.empty()) {
+    //         LOG_F(WARNING, "控制指令");
+    //     }
+    //     else {
+    //         for (auto& cmd : devCmdExt) {
+    //             DevCmdExt event(cmd.id, cmd.cmd);
+    //             PowerManagerFsm::dispatch(event);
+    //         }
+    //     }
     //     return true;
     // }
     // 次级配电状态处理
-    else if(key == m_secdistStateMsg.key_fb) {
+    else if(key == m_secdistStateMsg.key_fb) 
+    {
        m_secdistStateMsg.parseMsg(strJson, m_pm->m_subDisSysState);
        //debug 接受到次级配电状态，自动更新到设备状态
        //TODO:自动更新到设备状态
        //m_pm->m_subDisSysState = m_pm->m_deviceState;
        return true;
     }
-    // else if(key == DB_TO_PM_DEEPTH) {
-    //     m_pm->m_depth = getDeepth(key, strJson);
-    //     return true;
-    // }
+    // 深度获取
     else if(key == m_depthMsg.key)
     {
         m_pm->m_depth = m_depthMsg.getDepth(key, strJson);
         return true;
     }
-    else if(key == DB_TO_PM_MISSION) {
-        m_pm->m_missionState = getMission(key, strJson);
+    else if(key == m_taskStartMsg.key) 
+    {
+        m_pm->m_missionState = m_taskStartMsg.getMission(key, strJson);
         TaskStartEvent event;
         event.type = m_pm->m_missionState.type;
         event.enableBowRudder = m_pm->m_missionState.enableBowRudder;
         event.enableBuoyancyAdjustment = m_pm->m_missionState.enableBuoyancyAdjustment;
         PowerManagerFsm::dispatch(event);
         return true;
-    } else if(key == DB_TO_PM_SETOPCONDITION) {
-        m_pm->m_msCmd.workCMD = getSetOpCondition(key, strJson);
+    }
+    else if(key == m_setOpModeMsg.key) 
+    {
+        m_pm->m_msCmd.modCMD = m_setOpModeMsg.getSetOpMode(key, strJson);
         MasterCommandEvent event;
         PowerManagerFsm::dispatch(event);
         return true;
-    // } else if(key == DB_TO_PM_SETOPMODE) {
-    //     m_pm->m_msCmd.modCMD = getSetOpMode(key, strJson);
-    //     MasterCommandEvent event;
-    //     PowerManagerFsm::dispatch(event);
-    //     return true;
-    } else if(key == m_setOpConditionMsg.key) {
+    } else if(key == m_setOpConditionMsg.key) 
+    {
         m_pm->m_msCmd.workCMD = m_setOpConditionMsg.getSetOpCondition(key, strJson);
         MasterCommandEvent event;
         PowerManagerFsm::dispatch(event);
-    } else if(key == DB_TO_PM_SETPMSYS) {
-        m_pm->m_msCmd.powerCMD = getSetPMSys(key, strJson);
+    } 
+    else if(key == m_setPMSysMsg.key)
+    {
+        m_pm->m_msCmd.powerCMD = m_setPMSysMsg.getSetPMSys(key, strJson);
         MasterCommandEvent event;
         PowerManagerFsm::dispatch(event);
         return true;
-    } else if(key == DB_TO_PM_SETDEVSWITCH) {
+    }
+    else if(key == m_setDevSwitchMsg.key)
+    {
         DeviceSwitchCmd cmd;
-        cmd = getSetDevSwitch(key, strJson);
+        cmd = m_setDevSwitchMsg.getSetDevSwitch(key, strJson);
         if (cmd.id < 0) {
           LOG_F(WARNING, "parse device switch error:%s", strJson.c_str());
         }
-        else {
+        else 
+        {
             DevCmdExt devCmdExt;
             devCmdExt.id = cmd.id;
             devCmdExt.cmd = cmd.cmd;
             PowerManagerFsm::dispatch(devCmdExt);
+            LOG_F(INFO, "set dev switch success");
+            return true;
         }
-        LOG_F(INFO, "set dev switch success");
-        return true;
-    } else if(key == DB_TO_PM_TASKSTOP) {
-        bool stop = getTaskStop(key, strJson);
+    }
+    else if(key == m_taskStopMsg.key) 
+    {
+        bool stop = m_taskStopMsg.getTaskStop(key, strJson);
         if (stop) {
             LOG_F(INFO, "task stop success");
             return true;
@@ -116,45 +132,45 @@ bool UpperCommManager::processUpperMsg(const string& key, const string& strJson)
             LOG_F(WARNING, "task stop error:%s", strJson.c_str());
             return false;
         }
-    }
+    };
     LOG_F(WARNING, "Unknown key: %s", key.c_str());
     return false;
 }
 
-const MSControlCmd UpperCommManager::getMasterControlCmd(const std::string& key, const std::string& msg)
-{
-    MSControlCmd cmd;
-    if (parseControlCmdFromJson(cmd, msg)) {
+// const MSControlCmd UpperCommManager::getMasterControlCmd(const std::string& key, const std::string& msg)
+// {
+//     MSControlCmd cmd;
+//     if (parseControlCmdFromJson(cmd, msg)) {
         
-        return cmd;
-    }
-    else
-    {
-        cout << MOOS::ConsoleColours::Red << "parse control cmd error:" << msg
-             << MOOS::ConsoleColours::reset << endl;
-    }
-}
+//         return cmd;
+//     }
+//     else
+//     {
+//         cout << MOOS::ConsoleColours::Red << "parse control cmd error:" << msg
+//              << MOOS::ConsoleColours::reset << endl;
+//     }
+// }
 
-const DriverTable UpperCommManager::getEquipmentCmd(const std::string& key, const std::string& msg)
-{
-    DriverTable cmd;
-    if (m_pm->m_driver.loadDriverTableFromJson(msg, cmd) < 0) {
-        cout << MOOS::ConsoleColours::Red << "get equipment cmd error:" << msg
-             << MOOS::ConsoleColours::reset << endl;
-        LOG_F(WARNING, "get equipment cmd error:%s", msg.c_str());
-    }
-    return cmd;
-}
+// const DriverTable UpperCommManager::getEquipmentCmd(const std::string& key, const std::string& msg)
+// {
+//     DriverTable cmd;
+//     if (m_pm->m_driver.loadDriverTableFromJson(msg, cmd) < 0) {
+//         cout << MOOS::ConsoleColours::Red << "get equipment cmd error:" << msg
+//              << MOOS::ConsoleColours::reset << endl;
+//         LOG_F(WARNING, "get equipment cmd error:%s", msg.c_str());
+//     }
+//     return cmd;
+// }
 
-const DriverTable UpperCommManager::getSubDisState(const std::string& key, const std::string& msg)
-{
-    DriverTable state;
-    if (m_pm->m_driver.loadDriverTableFromJson(msg, state) < 0) {
-        cout << MOOS::ConsoleColours::Red << "get sub dis state error:" << msg
-             << MOOS::ConsoleColours::reset << endl;
-        LOG_F(WARNING, "get sub dis state error:%s", msg.c_str());
-    }
-}
+// const DriverTable UpperCommManager::getSubDisState(const std::string& key, const std::string& msg)
+// {
+//     DriverTable state;
+//     if (m_pm->m_driver.loadDriverTableFromJson(msg, state) < 0) {
+//         cout << MOOS::ConsoleColours::Red << "get sub dis state error:" << msg
+//              << MOOS::ConsoleColours::reset << endl;
+//         LOG_F(WARNING, "get sub dis state error:%s", msg.c_str());
+//     }
+// }
 
 // const int UpperCommManager::getDeepth(const std::string& key, const std::string& msg){
 //     int deepth;
@@ -188,160 +204,160 @@ const DriverTable UpperCommManager::getSubDisState(const std::string& key, const
 //     return deepth;
 // }
 
-MissionState UpperCommManager::getMission(const std::string& key, const std::string& msg) {
-    MissionState mission;
-    Json::Value root;
-    Json::CharReaderBuilder builder;
-    JSONCPP_STRING errs;
+// MissionState UpperCommManager::getMission(const std::string& key, const std::string& msg) {
+//     MissionState mission;
+//     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;
-        LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-        return mission;
-    }
+//     // 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;
+//         LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+//         return mission;
+//     }
     
-    // 提取taskType_str
-    if (root.isMember("taskType_str") && root["taskType_str"].isString()) {
-        mission.type = TaskType::fromString(root["taskType_str"].asString());
-        LOG_F(INFO, "taskType: %d", mission.type, root["taskType_str"].asString());
-    }
+//     // 提取taskType_str
+//     if (root.isMember("taskType_str") && root["taskType_str"].isString()) {
+//         mission.type = TaskType::fromString(root["taskType_str"].asString());
+//         LOG_F(INFO, "taskType: %d", mission.type, root["taskType_str"].asString());
+//     }
 
-    // 提取balanceEnabled_bool
-    if (root.isMember("balanceEnabled_bool") && root["balanceEnabled_bool"].isBool()) {
-        mission.enableBuoyancyAdjustment = root["balanceEnabled_bool"].asBool();
-        LOG_F(INFO, "balanceEnabled_bool: %d", mission.enableBuoyancyAdjustment);
-    }
+//     // 提取balanceEnabled_bool
+//     if (root.isMember("balanceEnabled_bool") && root["balanceEnabled_bool"].isBool()) {
+//         mission.enableBuoyancyAdjustment = root["balanceEnabled_bool"].asBool();
+//         LOG_F(INFO, "balanceEnabled_bool: %d", mission.enableBuoyancyAdjustment);
+//     }
     
-    // 提取bowRudderUnfold_bool
-    if (root.isMember("bowRudderUnfold_bool") && root["bowRudderUnfold_bool"].isBool()) {
-        mission.enableBowRudder = root["bowRudderUnfold_bool"].asBool();
-        LOG_F(INFO, "bowRudderUnfold_bool: %d", mission.enableBowRudder);
-    }
+//     // 提取bowRudderUnfold_bool
+//     if (root.isMember("bowRudderUnfold_bool") && root["bowRudderUnfold_bool"].isBool()) {
+//         mission.enableBowRudder = root["bowRudderUnfold_bool"].asBool();
+//         LOG_F(INFO, "bowRudderUnfold_bool: %d", mission.enableBowRudder);
+//     }
 
     
-    return mission;
-}
+//     return mission;
+// }
 
-int UpperCommManager::getSetOpCondition(const std::string& key, const std::string& msg)
-{
-    Json::Value root;
-    Json::CharReaderBuilder builder;
-    JSONCPP_STRING errs;
+// int UpperCommManager::getSetOpCondition(const std::string& key, const std::string& msg)
+// {
+//     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)) {
-        LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-        return -1;
-    }
+//     // 解析JSON字符串
+//     std::istringstream stream(msg);
+//     if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+//         LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+//         return -1;
+//     }
 
-    // 检查并读取操作条件
-    if (root.isMember("state_uint8") && root["state_uint8"].isUInt()) {
-        return root["state_uint8"].asUInt();
-        LOG_F(INFO, "上位机指令:opCondition: %d", root["state_uint8"].asUInt());
-    } else {
-        LOG_F(WARNING, "缺少或类型不匹配: opCondition");
-        return -1;
-    }
-}
+//     // 检查并读取操作条件
+//     if (root.isMember("state_uint8") && root["state_uint8"].isUInt()) {
+//         return root["state_uint8"].asUInt();
+//         LOG_F(INFO, "上位机指令:opCondition: %d", root["state_uint8"].asUInt());
+//     } else {
+//         LOG_F(WARNING, "缺少或类型不匹配: opCondition");
+//         return -1;
+//     }
+// }
 
-int UpperCommManager::getSetOpMode(const std::string& key, const std::string& msg)
-{
-    Json::Value root;
-    Json::CharReaderBuilder builder;
-    JSONCPP_STRING errs;
+// int UpperCommManager::getSetOpMode(const std::string& key, const std::string& msg)
+// {
+//     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)) {
-        LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-        return -1;
-    }
+//     // 解析JSON字符串
+//     std::istringstream stream(msg);
+//     if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+//         LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+//         return -1;
+//     }
 
-    // 检查并读取操作模式
-    if (root.isMember("state_uint8") && root["state_uint8"].isUInt()) {
-        return root["state_uint8"].asUInt();
-    } else {
-        LOG_F(WARNING, "缺少或类型不匹配: opMode");
-        return -1;
-    }
-}
+//     // 检查并读取操作模式
+//     if (root.isMember("state_uint8") && root["state_uint8"].isUInt()) {
+//         return root["state_uint8"].asUInt();
+//     } else {
+//         LOG_F(WARNING, "缺少或类型不匹配: opMode");
+//         return -1;
+//     }
+// }
 
-int UpperCommManager::getSetPMSys(const std::string& key, const std::string& msg)
-{
-    Json::Value root;
-    Json::CharReaderBuilder builder;
-    JSONCPP_STRING errs;
+// int UpperCommManager::getSetPMSys(const std::string& key, const std::string& msg)
+// {
+//     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;
-    }
+//     // 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;
+//     }
 
-    // 检查并读取电源系统设置
-    if (root.isMember("powerCmd_uint8") && root["powerCmd_uint8"].isUInt()) {
-        return root["powerCmd_uint8"].asUInt();
-    } else {
-        LOG_F(WARNING, "缺少或类型不匹配: powerCmd_uint8");
-        return -1;
-    }
-}
+//     // 检查并读取电源系统设置
+//     if (root.isMember("powerCmd_uint8") && root["powerCmd_uint8"].isUInt()) {
+//         return root["powerCmd_uint8"].asUInt();
+//     } else {
+//         LOG_F(WARNING, "缺少或类型不匹配: powerCmd_uint8");
+//         return -1;
+//     }
+// }
 
-DeviceSwitchCmd UpperCommManager::getSetDevSwitch(const std::string& key, const std::string& msg)
-{
-    Json::Value root;
-    Json::CharReaderBuilder builder;
-    JSONCPP_STRING errs;
-    DeviceSwitchCmd cmd;
-    // 解析JSON字符串
-    std::istringstream stream(msg);
-    if (!Json::parseFromStream(builder, stream, &root, &errs)) {
-        LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-        cmd.id = -1;
-    }
+// DeviceSwitchCmd UpperCommManager::getSetDevSwitch(const std::string& key, const std::string& msg)
+// {
+//     Json::Value root;
+//     Json::CharReaderBuilder builder;
+//     JSONCPP_STRING errs;
+//     DeviceSwitchCmd cmd;
+//     // 解析JSON字符串
+//     std::istringstream stream(msg);
+//     if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+//         LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+//         cmd.id = -1;
+//     }
 
-    // 检查并读取设备开关状态
-    if (root.isMember("id_uint8") && root["id_uint8"].isUInt()) {
-        cmd.id = root["id_uint8"].asUInt();
-    } else {
-        cmd.id = -1;
-        LOG_F(WARNING, "缺少或类型不匹配: id_uint8");
-    }
-    if (root.isMember("cmd_uint8") && root["cmd_uint8"].isUInt()) {
-        cmd.cmd = root["cmd_uint8"].asUInt();
-    } else {
-        LOG_F(WARNING, "缺少或类型不匹配: state_bool");
-    }
-    return cmd;
-  }
+//     // 检查并读取设备开关状态
+//     if (root.isMember("id_uint8") && root["id_uint8"].isUInt()) {
+//         cmd.id = root["id_uint8"].asUInt();
+//     } else {
+//         cmd.id = -1;
+//         LOG_F(WARNING, "缺少或类型不匹配: id_uint8");
+//     }
+//     if (root.isMember("cmd_uint8") && root["cmd_uint8"].isUInt()) {
+//         cmd.cmd = root["cmd_uint8"].asUInt();
+//     } else {
+//         LOG_F(WARNING, "缺少或类型不匹配: state_bool");
+//     }
+//     return cmd;
+//   }
   
-  bool UpperCommManager::getTaskStop(const std::string& key, const std::string& msg) {
-      Json::Value root;
-      Json::CharReaderBuilder builder;
-      JSONCPP_STRING errs;
+//   bool UpperCommManager::getTaskStop(const std::string& key, const std::string& msg) {
+//       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)) {
-          LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
-          return false;
-      }
+//       // 解析JSON字符串
+//       std::istringstream stream(msg);
+//       if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+//           LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+//           return false;
+//       }
   
-      // 检查op_int32字段
-      if (root.isMember("op_int32") && root["op_int32"].isInt()) {
-          return root["op_int32"].asInt() == 1;
-      }
-      return false;
-  }
+//       // 检查op_int32字段
+//       if (root.isMember("op_int32") && root["op_int32"].isInt()) {
+//           return root["op_int32"].asInt() == 1;
+//       }
+//       return false;
+//   }
 
-const std::string UpperCommManager::getSubDisCmd(DriverTable& driver)
-{
-    return m_pm->m_driver.saveDriverTableToJson(&driver);
-}
+// const std::string UpperCommManager::getSubDisCmd(DriverTable& driver)
+// {
+//     return m_pm->m_driver.saveDriverTableToJson(&driver);
+// }
 
 void UpperCommManager::processPeriodicTasks() {
     buildSystemReport();
@@ -352,54 +368,56 @@ void UpperCommManager::processPeriodicTasks() {
     //发送次级配电指令 修改后的代码
     // strJson = getSubDisCmd(m_pm->m_subDisSysCmd);
     strJson =  m_secdistStateMsg.buildMsg(m_pm->m_subDisSysCmd);
+    cout << (int)m_pm->m_subDisSysCmd.depth1 << endl;
+
     m_pm->sendNotification(m_secdistStateMsg.key_cmd, strJson);
     //发送仪表电状态
     m_pm->sendNotification(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
 }
-bool UpperCommManager::parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson)
-{
-  Json::CharReaderBuilder builder;
-  Json::Value root;
-  std::string errs;
+// bool UpperCommManager::parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson)
+// {
+//   Json::CharReaderBuilder builder;
+//   Json::Value root;
+//   std::string errs;
 
-  // 解析JSON字符串
-  std::istringstream s(strJson);
-  if (!Json::parseFromStream(builder, s, &root, &errs))
-  {
-      std::cerr << "JSON解析失败: " << errs << std::endl;
-      return false; // 解析失败
-  }
-  if (root.isMember("powerCMD") && root["powerCMD"].isUInt())
-  {
-      cmd.powerCMD = root["powerCMD"].asUInt();
-  }
-  else
-  {
-      std::cerr << "缺少或类型不匹配: powerCMD" << std::endl;
-      return false; // 缺少或类型不匹配
-  }
+//   // 解析JSON字符串
+//   std::istringstream s(strJson);
+//   if (!Json::parseFromStream(builder, s, &root, &errs))
+//   {
+//       std::cerr << "JSON解析失败: " << errs << std::endl;
+//       return false; // 解析失败
+//   }
+//   if (root.isMember("powerCMD") && root["powerCMD"].isUInt())
+//   {
+//       cmd.powerCMD = root["powerCMD"].asUInt();
+//   }
+//   else
+//   {
+//       std::cerr << "缺少或类型不匹配: powerCMD" << std::endl;
+//       return false; // 缺少或类型不匹配
+//   }
 
-  if (root.isMember("modCMD") && root["modCMD"].isUInt())
-  {
-      cmd.modCMD = root["modCMD"].asUInt();
-  }
-  else
-  {
-      std::cerr << "缺少或类型不匹配: modCMD" << std::endl;
-      return false; // 缺少或类型不匹配
-  }
+//   if (root.isMember("modCMD") && root["modCMD"].isUInt())
+//   {
+//       cmd.modCMD = root["modCMD"].asUInt();
+//   }
+//   else
+//   {
+//       std::cerr << "缺少或类型不匹配: modCMD" << std::endl;
+//       return false; // 缺少或类型不匹配
+//   }
 
-  if (root.isMember("workCMD") && root["workCMD"].isUInt())
-  {
-      cmd.workCMD = root["workCMD"].asUInt();
-  }
-  else
-  {
-      std::cerr << "缺少或类型不匹配: workCMD" << std::endl;
-      return false; // 缺少或类型不匹配
-  }
-  return true; // 成功
-}
+//   if (root.isMember("workCMD") && root["workCMD"].isUInt())
+//   {
+//       cmd.workCMD = root["workCMD"].asUInt();
+//   }
+//   else
+//   {
+//       std::cerr << "缺少或类型不匹配: workCMD" << std::endl;
+//       return false; // 缺少或类型不匹配
+//   }
+//   return true; // 成功
+// }
 void UpperCommManager::buildSystemReport() {
   m_pmStateMsg.state.workCondition = m_pm->workCondition;
   m_pmStateMsg.state.currentMod = m_pm->currentMod;
@@ -417,16 +435,16 @@ void UpperCommManager::buildSystemReport() {
   m_pm->sendNotification(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(m_pm->m_currentDisBreakerState));
   m_pm->sendNotification(m_currentStateMsg.key, m_currentStateMsg.buildMsg(m_pm->m_pmCurrentState));
 }
-bool UpperCommManager::saveStringToJsonFile(const string &strJson, const string &filePath)
-{
-  std::ofstream file(filePath, std::ios::trunc);
-  if (file.is_open()) {
-      file << strJson;
-      file.close();
-      // std::cout << "字符串已成功保存到文件中。" << std::endl;
-      return true;
-  } else {
-      std::cerr << "无法打开文件！" << std::endl;
-      return false;
-  }
-}
\ No newline at end of file
+// bool UpperCommManager::saveStringToJsonFile(const string &strJson, const string &filePath)
+// {
+//   std::ofstream file(filePath, std::ios::trunc);
+//   if (file.is_open()) {
+//       file << strJson;
+//       file.close();
+//       // std::cout << "字符串已成功保存到文件中。" << std::endl;
+//       return true;
+//   } else {
+//       std::cerr << "无法打开文件！" << std::endl;
+//       return false;
+//   }
+// }
\ No newline at end of file
diff --git a/src/pPowerManger/UpperCommManager.h b/src/pPowerManger/UpperCommManager.h
index 84b5af5..c22c8e5 100644
--- a/src/pPowerManger/UpperCommManager.h
+++ b/src/pPowerManger/UpperCommManager.h
@@ -18,6 +18,14 @@
 #include "upmsg/uPower_liBatState.h"
 #include "upmsg/uDevice_depth.h"
 #include "upmsg/uExternComm_setOpCondition.h"
+#include "upmsg/uExternComm_setOpMode.h"
+#include "upmsg/uPlan_taskStart.h"
+#include "upmsg/uPlan_planStop.h"
+#include "upmsg/uExternComm_setDeviceSwitch.h"
+#include "upmsg/uExternComm_setPowerSystem.h"
+#include "upmsg/uPower_equState.h"
+#include "upmsg/uPower_sysState.h"
+
 using namespace std;
 #define VAR_TO_STR(var) #var
 //控制消息
@@ -52,21 +60,20 @@ public:
     void buildSystemReport();
     
     // 消息处理函数
-    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 MSControlCmd getMasterControlCmd(const std::string& key, const std::string& msg);
+    // const DriverTable getEquipmentCmd(const std::string& key, const std::string& msg);
+    // int getSetPMSys(const std::string& key, const std::string& msg);
+    // DeviceSwitchCmd getSetDevSwitch(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);
-    MissionState getMission(const std::string& key, const std::string& msg);
-    bool getTaskStop(const std::string& key, const std::string& msg);
+    // MissionState getMission(const std::string& key, const std::string& msg);
+    // bool getTaskStop(const std::string& key, const std::string& msg);
     // 处理外部通信消息
-    int getSetOpCondition(const std::string& key, const std::string& msg);
-    int getSetOpMode(const std::string& key, const std::string& msg);
-    int getSetPMSys(const std::string& key, const std::string& msg);
-    DeviceSwitchCmd getSetDevSwitch(const std::string& key, const std::string& msg);
-
-    const std::string getSubDisCmd(DriverTable& driver);
+    // int getSetOpCondition(const std::string& key, const std::string& msg);
+    // int getSetOpMode(const std::string& key, const std::string& msg);
+    // const std::string getSubDisCmd(DriverTable& driver);
     // 其他公共函数
-    bool saveStringToJsonFile(const string &strJson, const string &filePath);
+    // bool saveStringToJsonFile(const string &strJson, const string &filePath);
 
 public:
     //定义上位机消息
@@ -82,13 +89,18 @@ public:
     //上位机订阅消息
     uDevice_depthMsg m_depthMsg;
     uExternComm_setOpConditionMsg m_setOpConditionMsg;
-
+    uExternComm_setOpModeMsg m_setOpModeMsg;
+    uPlan_taskStartMsg m_taskStartMsg;
+    uPlan_planStopMsg m_taskStopMsg;
+    uExternComm_setDeviceSwitchMsg m_setDevSwitchMsg;
+    uExternComm_setPowerSystemMsg m_setPMSysMsg;
+    uPower_sysStateMsg m_sysStateMsg;
 private:
     PowerManger* m_pm;
     MSControlCmd m_msCmd;
     Driver m_driver;
 
-    bool parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson);
+    // bool parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson);
 };
 
 #endif // UPPER_COMM_MANAGER_H
\ No newline at end of file
diff --git a/src/pPowerManger/fsm/FloatAdjust.cpp b/src/pPowerManger/fsm/FloatAdjust.cpp
index 259c323..8ead65b 100644
--- a/src/pPowerManger/fsm/FloatAdjust.cpp
+++ b/src/pPowerManger/fsm/FloatAdjust.cpp
@@ -14,7 +14,7 @@ void FloatAdjust::entry() {
     pm->m_driver.getCRUISE_MODEable(&pm->m_subDisSysCmd);
     //依次接入执行机构动力电设备
     //TODO:接入执行机构动力电设备
-
+    
     //TODO：解除非必要动力电设备
     pm->workCondition = WorkCondition::BUOYANCY_ADJUST;
     LOG_F(INFO, "进入浮调模式");
diff --git a/src/pPowerManger/fsm/StandbyState.cpp b/src/pPowerManger/fsm/StandbyState.cpp
index 1003dc7..114a2fc 100644
--- a/src/pPowerManger/fsm/StandbyState.cpp
+++ b/src/pPowerManger/fsm/StandbyState.cpp
@@ -3,14 +3,13 @@
 // StandbyState实现
 void StandbyState::entry() {
     PowerManagerFsm::entry();
-    pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);  
     // pm->m_CcuColCmd.fcuCmd = FcuCommand::Stop;
     // pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Stop;
     // 启动流程 仪表电一直设置为启动
     pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
     pm->workCondition = WorkCondition::STANDBY;
-
-    // 依次启动仪表电设备
+    // 启动设备
+    pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);
 
     // 
     LOG_F(INFO, "WorkCondition %d", pm->workCondition);
diff --git a/src/pPowerManger/pmSysvariable.h b/src/pPowerManger/pmSysvariable.h
index 3dd63c9..eb247e5 100644
--- a/src/pPowerManger/pmSysvariable.h
+++ b/src/pPowerManger/pmSysvariable.h
@@ -51,7 +51,16 @@ typedef struct ccuState
   uint16_t ch3oh_concentration1;            // 舱室甲醇气体浓度1，单位：0.01% LEL
   uint16_t ch3oh_concentration2;            // 舱室甲醇气体浓度2，单位：0.01% LEL
 
-  uint16_t reserved1[18];                   // 保留字段，地址范围35~52，共18个uint16_t，协议预留
+  uint16_t reserved1[10];                   // 保留字段，地址范围35~52，共18个uint16_t，协议预留
+  uint16_t cabin_ox_concentration;      // 仪表舱内氧气浓度 [%]
+  uint16_t cabin_temperature;           // 仪表舱内温度 [°C]
+  uint16_t cabin_humidity;              // 仪表舱内湿度 [%RH]
+  uint16_t cabin_pressure;             // 仪表舱内大气压 [kPa]
+
+  uint16_t power_cabin_ox_concentration; // 动力舱内氧气浓度 [%]
+  uint16_t power_cabin_temperature;      // 动力舱内温度 [°C]
+  uint16_t power_cabin_humidity;         // 动力舱内湿度 [%RH]
+  uint16_t power_cabin_pressure;         // 动力舱内大气压 [kPa]
   uint8_t  reserved2[1];                    // 保留字段，地址范围54~55，共2个uint8_t，协议预留
 
   uint8_t  dyn_alarm_flag[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
diff --git a/src/pPowerManger/upmsg/uDevice_secdistState.h b/src/pPowerManger/upmsg/uDevice_secdistState.h
index f61c440..2c6f58a 100644
--- a/src/pPowerManger/upmsg/uDevice_secdistState.h
+++ b/src/pPowerManger/upmsg/uDevice_secdistState.h
@@ -107,7 +107,7 @@ public:
         auto checkField = [&root](const std::string& field) -> bool {
             if(!root.isMember(field) || !root[field].isUInt()) {
                 // std::cerr << "Missing or invalid field: " << field << std::endl;
-                LOG_F(ERROR, "Missing or invalid field: %s", field.c_str());
+                // LOG_F(ERROR, "Missing or invalid field: %s", field.c_str());
                 return false;
             }
             return true;
@@ -188,6 +188,8 @@ public:
         if(!checkField("sternThrow_uint8")) ok=false; state.sternThrow = root["sternThrow_uint8"].asUInt();
         if(!checkField("mainINS_uint8")) ok=false; state.mainINS = root["mainINS_uint8"].asUInt();
 
+        //不检查字段缺失
+        ok = true;
         return ok;
     };
     std::string buildSecdistStateToJson(DeviceSecdistState &state){
@@ -433,6 +435,8 @@ public:
     std::string buildMsg(DriverTable &driver){
         DeviceSecdistState s;
         converFromDriverTable(s,driver);
+        // std::cout << (int)s.depth1 << std::endl;
+        // std::cout << buildSecdistStateToJson(s) << std::endl;
         return buildSecdistStateToJson(s);
     };
 
diff --git a/src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h b/src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h
new file mode 100644
index 0000000..2afaa1d
--- /dev/null
+++ b/src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h
@@ -0,0 +1,43 @@
+#ifndef UEXTERNCOMM_SETDEVICESWITCH_CMD_H
+#define UEXTERNCOMM_SETDEVICESWITCH_CMD_H
+#include <string>
+
+class uExternComm_setDeviceSwitchMsg
+{
+private:
+    /* data */
+public:
+    std::string key = "uExternComm_setDeviceSwitch_cmd";
+
+    uExternComm_setDeviceSwitchMsg(/* args */){};
+    ~uExternComm_setDeviceSwitchMsg(){};
+    DeviceSwitchCmd getSetDevSwitch(const std::string& key, const std::string& msg)
+    {
+        Json::Value root;
+        Json::CharReaderBuilder builder;
+        JSONCPP_STRING errs;
+        DeviceSwitchCmd cmd;
+        // 解析JSON字符串
+        std::istringstream stream(msg);
+        if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+            cmd.id = -1;
+        }
+    
+        // 检查并读取设备开关状态
+        if (root.isMember("id_uint8") && root["id_uint8"].isUInt()) {
+            cmd.id = root["id_uint8"].asUInt();
+        } else {
+            cmd.id = -1;
+            LOG_F(WARNING, "缺少或类型不匹配: id_uint8");
+        }
+        if (root.isMember("cmd_uint8") && root["cmd_uint8"].isUInt()) {
+            cmd.cmd = root["cmd_uint8"].asUInt();
+        } else {
+            LOG_F(WARNING, "缺少或类型不匹配: state_bool");
+        }
+        return cmd;
+    };
+};
+
+#endif
\ No newline at end of file
diff --git a/src/pPowerManger/upmsg/uExternComm_setDeviceSwitch_cmd.h b/src/pPowerManger/upmsg/uExternComm_setDeviceSwitch_cmd.h
deleted file mode 100644
index 9a5748f..0000000
--- a/src/pPowerManger/upmsg/uExternComm_setDeviceSwitch_cmd.h
+++ /dev/null
@@ -1,7 +0,0 @@
-#ifndef UEXTERNCOMM_SETDEVICESWITCH_CMD_H
-#define UEXTERNCOMM_SETDEVICESWITCH_CMD_H
-#include <string>
-
-
-
-#endif
\ No newline at end of file
diff --git a/src/pPowerManger/upmsg/uExternComm_setOpMode.h b/src/pPowerManger/upmsg/uExternComm_setOpMode.h
new file mode 100644
index 0000000..4c58701
--- /dev/null
+++ b/src/pPowerManger/upmsg/uExternComm_setOpMode.h
@@ -0,0 +1,46 @@
+#ifndef UEXTERCOMM_SETOPMODE_CMD_H
+#define UEXTERCOMM_SETOPMODE_CMD_H
+#include <string>
+#include "../loguru.hpp"
+
+//外部通信消息
+#define DB_TO_PM_SETOPMODE "uExternComm_setOpMode_cmd"
+
+class uExternComm_setOpModeMsg
+{
+private:
+    /* data */
+public:
+    std::string key = "uExternComm_setOpMode_cmd";
+    uExternComm_setOpModeMsg(/* args */){};
+    ~uExternComm_setOpModeMsg(){};
+
+    int getSetOpMode(const std::string& msgkey, const std::string& msg){
+        if (msgkey!= key)
+        {
+            LOG_F(WARNING, "消息类型错误 %s", msgkey.c_str());
+            return 0;
+        }
+        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)) {
+            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+            return -1;
+        }
+    
+        // 检查并读取操作模式
+        if (root.isMember("state_uint8") && root["state_uint8"].isUInt()) {
+            return root["state_uint8"].asUInt();
+        } else {
+            LOG_F(WARNING, "缺少或类型不匹配: opMode");
+            return -1;
+        }
+    };
+};
+
+
+#endif
diff --git a/src/pPowerManger/upmsg/uExternComm_setOpMode_cmd.h b/src/pPowerManger/upmsg/uExternComm_setOpMode_cmd.h
deleted file mode 100644
index 201fe5d..0000000
--- a/src/pPowerManger/upmsg/uExternComm_setOpMode_cmd.h
+++ /dev/null
@@ -1,2 +0,0 @@
-//外部通信消息
-#define DB_TO_PM_SETOPMODE "uExternComm_setOpMode_cmd"
diff --git a/src/pPowerManger/upmsg/uExternComm_setPowerSystem.h b/src/pPowerManger/upmsg/uExternComm_setPowerSystem.h
new file mode 100644
index 0000000..a6ced49
--- /dev/null
+++ b/src/pPowerManger/upmsg/uExternComm_setPowerSystem.h
@@ -0,0 +1,39 @@
+#ifndef UEXTERNCONM_SETPMSYS_H
+#define UEXTERNCONM_SETPMSYS_H
+#include <string>
+#include "../loguru.hpp"
+#define DB_TO_PM_SETPMSYS "uExternComm_setPowerSystem_cmd"
+class uExternComm_setPowerSystemMsg
+{
+private:
+
+public:
+    std::string key = "uExternComm_setPowerSystem_cmd";
+    uExternComm_setPowerSystemMsg(/* args */){};
+    ~uExternComm_setPowerSystemMsg(){};
+
+    int getSetPMSys(const std::string& key, const std::string& msg)
+    {
+        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;
+        }
+
+        // 检查并读取电源系统设置
+        if (root.isMember("powerCmd_uint8") && root["powerCmd_uint8"].isUInt()) {
+            return root["powerCmd_uint8"].asUInt();
+        } else {
+            LOG_F(WARNING, "缺少或类型不匹配: powerCmd_uint8");
+            return -1;
+        }
+    }
+};
+
+#endif
+
diff --git a/src/pPowerManger/upmsg/uExternComm_setPowerSystem_cmd.h b/src/pPowerManger/upmsg/uExternComm_setPowerSystem_cmd.h
deleted file mode 100644
index 9ca2f37..0000000
--- a/src/pPowerManger/upmsg/uExternComm_setPowerSystem_cmd.h
+++ /dev/null
@@ -1,2 +0,0 @@
-//外部通信消息
-#define DB_TO_PM_SETPMSYS "uExternComm_setPowerSystem_cmd"
diff --git a/src/pPowerManger/upmsg/uPlan_planStop.h b/src/pPowerManger/upmsg/uPlan_planStop.h
new file mode 100644
index 0000000..9defc3c
--- /dev/null
+++ b/src/pPowerManger/upmsg/uPlan_planStop.h
@@ -0,0 +1,35 @@
+#ifndef UPLAN_PLANSTOP_CMD_H
+#define UPLAN_PLANSTOP_CMD_H
+#include <string>
+#include "../loguru.hpp"
+#define DB_TO_PM_TASKSTOP "uPlan_planStop_cmd"
+class uPlan_planStopMsg
+{
+private:
+    /* data */
+public:
+    std::string key = "uPlan_planStop_cmd";
+    uPlan_planStopMsg(/* args */){};
+    ~uPlan_planStopMsg(){};
+    bool getTaskStop(const std::string& key, const std::string& msg) {
+        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)) {
+            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+            return false;
+        }
+    
+        // 检查op_int32字段
+        if (root.isMember("op_int32") && root["op_int32"].isInt()) {
+            return root["op_int32"].asInt() == 1;
+        }
+        return false;
+    };
+};
+
+#endif
+
diff --git a/src/pPowerManger/upmsg/uPlan_planStop_cmd.h b/src/pPowerManger/upmsg/uPlan_planStop_cmd.h
deleted file mode 100644
index 1c59edc..0000000
--- a/src/pPowerManger/upmsg/uPlan_planStop_cmd.h
+++ /dev/null
@@ -1,2 +0,0 @@
-//决策消息
-#define DB_TO_PM_TASKSTOP "uPlan_planStop_cmd"
diff --git a/src/pPowerManger/upmsg/uPlan_taskStart.h b/src/pPowerManger/upmsg/uPlan_taskStart.h
new file mode 100644
index 0000000..8a87c02
--- /dev/null
+++ b/src/pPowerManger/upmsg/uPlan_taskStart.h
@@ -0,0 +1,55 @@
+#ifndef UPPERCOMMMANAGER_H
+#define UPPERCOMMMANAGER_H
+#include <string>
+#include "../pmSysvariable.h"
+#include "../loguru.hpp"
+//决策消息
+#define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
+
+class uPlan_taskStartMsg
+{
+private:
+    /* data */
+public:
+    std::string key = "uPlan_taskStart_cmd";
+    uPlan_taskStartMsg(/* args */){};
+    ~uPlan_taskStartMsg(){};
+
+    MissionState getMission(const std::string& key, const std::string& msg) {
+        MissionState mission;
+        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;
+            LOG_F(WARNING, "JSON解析失败: %s", errs.c_str());
+            return mission;
+        }
+        
+        // 提取taskType_str
+        if (root.isMember("taskType_str") && root["taskType_str"].isString()) {
+            mission.type = TaskType::fromString(root["taskType_str"].asString());
+            LOG_F(INFO, "taskType: %d", mission.type, root["taskType_str"].asString());
+        }
+    
+        // 提取balanceEnabled_bool
+        if (root.isMember("balanceEnabled_bool") && root["balanceEnabled_bool"].isBool()) {
+            mission.enableBuoyancyAdjustment = root["balanceEnabled_bool"].asBool();
+            LOG_F(INFO, "balanceEnabled_bool: %d", mission.enableBuoyancyAdjustment);
+        }
+        
+        // 提取bowRudderUnfold_bool
+        if (root.isMember("bowRudderUnfold_bool") && root["bowRudderUnfold_bool"].isBool()) {
+            mission.enableBowRudder = root["bowRudderUnfold_bool"].asBool();
+            LOG_F(INFO, "bowRudderUnfold_bool: %d", mission.enableBowRudder);
+        }
+    
+        
+        return mission;
+    };
+};
+
+#endif
diff --git a/src/pPowerManger/upmsg/uPlan_taskStart_cmd.h b/src/pPowerManger/upmsg/uPlan_taskStart_cmd.h
deleted file mode 100644
index 5bbb366..0000000
--- a/src/pPowerManger/upmsg/uPlan_taskStart_cmd.h
+++ /dev/null
@@ -1,2 +0,0 @@
-//决策消息
-#define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
diff --git a/src/pPowerManger/upmsg/uPower_equState.h b/src/pPowerManger/upmsg/uPower_equState.h
index 78035e6..0818093 100644
--- a/src/pPowerManger/upmsg/uPower_equState.h
+++ b/src/pPowerManger/upmsg/uPower_equState.h
@@ -14,6 +14,7 @@ public:
     };
     ~uPower_equStateMsg() {};
     std::string key = "uPower_equState_fb";
+    std::string key_cmd = "uPower_equState_cmd";
 
     Driver driver;
 
@@ -21,6 +22,16 @@ public:
     {
         return driver.saveDriverTableToJson(&s);
     }
+
+    const DriverTable getEquipmentCmd(const std::string& key, const std::string& msg)
+    {
+        DriverTable cmd;
+        if (driver.loadDriverTableFromJson(msg, cmd) < 0) 
+        {
+            LOG_F(WARNING, "get equipment cmd error:%s", msg.c_str());
+        }
+        return cmd;
+    }
 };
 
 #endif
\ No newline at end of file
diff --git a/src/pPowerManger/upmsg/uPower_equState_cmd.h b/src/pPowerManger/upmsg/uPower_equState_cmd.h
deleted file mode 100644
index b10826a..0000000
--- a/src/pPowerManger/upmsg/uPower_equState_cmd.h
+++ /dev/null
@@ -1,2 +0,0 @@
-//控制消息
-#define DB_TO_PM_EQUIPMENTCMD "uPower_equState_cmd"
diff --git a/src/pPowerManger/upmsg/uPower_sysState.h b/src/pPowerManger/upmsg/uPower_sysState.h
new file mode 100644
index 0000000..425c4c8
--- /dev/null
+++ b/src/pPowerManger/upmsg/uPower_sysState.h
@@ -0,0 +1,75 @@
+#ifndef U_POWER_SYSSTATE_FB_H
+#define U_POWER_SYSSTATE_FB_H
+#include "../driver.h"
+#include "string"
+#include "json/json.h"
+#include <bitset>
+#include "../loguru.hpp"
+class uPower_sysStateMsg
+{
+private:
+    /* data */
+public:
+    uPower_sysStateMsg() {
+    };
+    ~uPower_sysStateMsg() {};   
+    std::string key = "uPower_sysState_cmd";
+    const MSControlCmd getMasterControlCmd(const std::string& key, const std::string& msg)
+    {
+        MSControlCmd cmd;
+        if (parseControlCmdFromJson(cmd, msg)) {
+            
+            return cmd;
+        }
+        else
+        {
+            LOG_F(WARNING, "get master control cmd error:%s", msg.c_str());
+        }
+    };
+    bool parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson)
+    {
+        Json::CharReaderBuilder builder;
+        Json::Value root;
+        std::string errs;
+
+        // 解析JSON字符串
+        std::istringstream s(strJson);
+        if (!Json::parseFromStream(builder, s, &root, &errs))
+        {
+            std::cerr << "JSON解析失败: " << errs << std::endl;
+            return false; // 解析失败
+        }
+        if (root.isMember("powerCMD") && root["powerCMD"].isUInt())
+        {
+            cmd.powerCMD = root["powerCMD"].asUInt();
+        }
+        else
+        {
+            std::cerr << "缺少或类型不匹配: powerCMD" << std::endl;
+            return false; // 缺少或类型不匹配
+        }
+
+        if (root.isMember("modCMD") && root["modCMD"].isUInt())
+        {
+            cmd.modCMD = root["modCMD"].asUInt();
+        }
+        else
+        {
+            std::cerr << "缺少或类型不匹配: modCMD" << std::endl;
+            return false; // 缺少或类型不匹配
+        }
+
+        if (root.isMember("workCMD") && root["workCMD"].isUInt())
+        {
+            cmd.workCMD = root["workCMD"].asUInt();
+        }
+        else
+        {
+            std::cerr << "缺少或类型不匹配: workCMD" << std::endl;
+            return false; // 缺少或类型不匹配
+        }
+        return true; // 成功
+    };
+};
+
+#endif 
diff --git a/src/pPowerManger/upmsg/uPower_sysState_cmd.h b/src/pPowerManger/upmsg/uPower_sysState_cmd.h
deleted file mode 100644
index 3d86d5a..0000000
--- a/src/pPowerManger/upmsg/uPower_sysState_cmd.h
+++ /dev/null
@@ -1,2 +0,0 @@
-//控制消息
-#define DB_TO_PM_MSCMD "uPower_sysState_cmd"