修复了程序在启动时偶尔崩溃的问题

2026-01-27 20:45:00 +08:00
parent b5ca051831
commit e5193bd7f7
9 changed files with 456 additions and 133 deletions
@@ -1,9 +0,0 @@
-//SERVERHOST = 192.168.0.223
-//SERVERPORT = 9000
-ProcessConfig = pPowerManger
-{
-   AppTick   = 4
-   CommsTick = 4
-   log_level = INFO
-   log_file = ./logfile.log
-}
@@ -0,0 +1,34 @@
+#!/bin/bash
+
+echo "开始测试pPowerManger程序启动稳定性..."
+
+LOOP_COUNT=0
+while true; do
+    LOOP_COUNT=$((LOOP_COUNT + 1))
+    echo "\n===== 第 $LOOP_COUNT 次循环 ====="
+    
+    # 启动pPowerManger程序
+    echo "启动pPowerManger..."
+    ./pPowerManger pPowerManger.moos &
+    PROCESS_ID=$!
+    
+    # 等待5秒让程序启动
+    sleep 0.1
+    
+    # 检查程序是否还在运行
+    if kill -0 $PROCESS_ID 2>/dev/null; then
+        echo "程序启动成功，PID: $PROCESS_ID"
+        
+        # 等待2秒后关闭程序
+        sleep 2
+        echo "关闭程序..."
+        kill $PROCESS_ID
+        
+        # 等待1秒让程序彻底关闭
+        sleep 0.1
+    else
+        echo "程序启动失败！"
+        echo "故障发生在第 $LOOP_COUNT 次循环"
+        exit 0.1
+    fi
+done
@@ -0,0 +1,148 @@
+#!/bin/bash
+
+# 核心配置
+CRASH_LOG_DIR="./crash_logs"
+RUN_DURATION=2
+GDB_TIMEOUT=$((RUN_DURATION + 2))  # 延长超时，确保GDB完全初始化
+MAX_LOOP=0
+# 强制捕获所有致命信号
+CRASH_SIGNALS=("SIGSEGV" "SIGABRT" "SIGILL" "SIGFPE" "SIGBUS")
+
+# 创建日志目录
+mkdir -p ${CRASH_LOG_DIR}
+rm -f ${CRASH_LOG_DIR}/*  # 清空旧日志（可选）
+
+# 清理进程函数
+cleanup() {
+    pkill -9 gdb >/dev/null 2>&1
+    pkill -9 pPowerManger >/dev/null 2>&1
+    sleep 0.2
+}
+
+# 检查是否是真崩溃（从日志+系统日志双重验证）
+is_real_crash() {
+    local log_file=$1
+    local loop=$2
+    # 1. 检查GDB日志中的崩溃关键字
+    if grep -qiE "segmentation fault|sigsegv|crash detected|backtrace" "${log_file}"; then
+        return 0
+    fi
+    # 2. 检查系统dmesg中的段错误记录（终极验证）
+    if dmesg | grep -i "pPowerManger.*segfault" | grep -i "loop_${loop}"; then
+        return 0
+    fi
+    return 1
+}
+
+# 打印系统级崩溃日志（dmesg）
+print_system_crash_log() {
+    local loop=$1
+    echo -e "\033[33m===== 系统级崩溃日志（dmesg）=====\033[0m"
+    dmesg | grep -A 5 -B 2 "pPowerManger.*segfault" | tail -10
+    echo -e "\033[33m===================================\033[0m"
+}
+
+echo -e "🔍 启动pPowerManger稳定性测试（强制捕获段错误）\n"
+echo "📂 崩溃日志目录: ${CRASH_LOG_DIR}"
+echo "⏱ 程序运行时长: ${RUN_DURATION}秒"
+echo "📌 捕获信号: ${CRASH_SIGNALS[*]}"
+echo -e "========================================\n"
+
+cleanup  # 初始清理
+LOOP_COUNT=0
+
+while true; do
+    LOOP_COUNT=$((LOOP_COUNT + 1))
+    if [ ${MAX_LOOP} -ne 0 ] && [ ${LOOP_COUNT} -gt ${MAX_LOOP} ]; then
+        echo -e "\n✅ 测试完成（${MAX_LOOP}次循环无崩溃）"
+        cleanup
+        exit 0
+    fi
+
+    echo -e "===== 第 ${LOOP_COUNT} 次循环 ====="
+    CRASH_LOG="${CRASH_LOG_DIR}/crash_loop_${LOOP_COUNT}.log"
+    GDB_CMD="${CRASH_LOG_DIR}/gdb_cmds_${LOOP_COUNT}.gdb"
+
+    # 生成强化版GDB脚本：强制捕获所有信号，优先初始化信号处理
+    cat > ${GDB_CMD} << EOF
+# 核心：GDB启动后先设置信号捕获，再启动程序
+set args pPowerManger.moos
+set timeout ${GDB_TIMEOUT}
+set print pretty on
+set print frame-arguments all
+set logging file ${CRASH_LOG}.gdb_raw
+set logging on  # 开启GDB原始日志（双重保障）
+
+# 强制捕获所有致命信号
+EOF
+
+# 为每个崩溃信号添加捕获规则（追加到GDB脚本）
+for sig in "${CRASH_SIGNALS[@]}"; do
+    cat >> ${GDB_CMD} << EOF
+handle ${sig} stop print pass nostop  # 即使子线程崩溃也捕获
+EOF
+done
+
+# 追加程序启动和崩溃处理逻辑
+cat >> ${GDB_CMD} << EOF
+# 延迟10ms启动程序，确保GDB完全初始化
+sleep 0.01
+run
+
+# 崩溃后强制打印所有信息（无论是否主线程）
+if \$exitcode != 0 || \$signal_number != 0
+    echo "\n====================================="
+    echo "            CRASH DETECTED"
+    echo "====================================="
+    echo "Loop: ${LOOP_COUNT}"
+    echo "Exit code: \$exitcode"
+    echo "Signal: \$signal_name (\$signal_number)"
+    echo "====================================="
+    thread apply all bt full  # 打印所有线程的调用栈（关键！）
+    info threads
+    info proc mappings  # 打印内存映射（排查内存越界）
+    info locals
+    info registers
+endif
+
+set logging off
+quit
+EOF
+
+    # 核心：用nohup+GDB启动，避免输出丢失；同时记录进程ID
+    echo "启动程序（GDB强化模式）..."
+    nohup timeout ${GDB_TIMEOUT} gdb -batch -x ${GDB_CMD} ./pPowerManger > ${CRASH_LOG} 2>&1 &
+    GDB_PID=$!
+    wait ${GDB_PID}  # 等待GDB执行完成
+
+    # 双重验证：检查是否真崩溃
+    if is_real_crash ${CRASH_LOG} ${LOOP_COUNT}; then
+        # 捕获到真崩溃
+        echo -e "\033[31m❌ 第 ${LOOP_COUNT} 次循环捕获到段错误！\033[0m"
+        echo -e "\033[31m📄 崩溃日志: ${CRASH_LOG}\033[0m"
+        print_system_crash_log ${LOOP_COUNT}
+        
+        # 打印最关键的调用栈（所有线程）
+        echo -e "\033[31m===== 所有线程崩溃调用栈 =====\033[0m"
+        grep -A 50 "thread apply all bt full" ${CRASH_LOG} | grep -v "No stack frame"
+        echo -e "\033[31m==============================\033[0m"
+        
+        cleanup
+        echo -e "\n🛑 测试终止，完整日志在 ${CRASH_LOG}"
+        exit 1
+    else
+        # 无崩溃（正常退出/启动失败）
+        if grep -qi "Program exited normally" ${CRASH_LOG}; then
+            echo "✅ 程序正常运行${RUN_DURATION}秒后退出"
+        else
+            echo "⚠️  程序启动失败（非段错误），继续循环"
+            # 保留启动失败日志（方便排查）
+            mv ${CRASH_LOG} ${CRASH_LOG}.start_fail
+        fi
+        rm -f ${GDB_CMD} ${CRASH_LOG}.gdb_raw
+    fi
+
+    cleanup
+    echo -e "第 ${LOOP_COUNT} 次循环完成\n"
+    sleep 0.5
+done
@@ -0,0 +1,61 @@
+#!/bin/bash
+
+INVOCATION_ABS_DIR=`pwd`
+# 默认设为Debug模式，避免无符号编译（核心修改1）
+BUILD_TYPE="Debug"
+CMD_LINE_ARGS=""
+
+#-------------------------------------------------------------------
+#  Part 1: Check for and handle command-line arguments
+#-------------------------------------------------------------------
+for ARGI; do
+    if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then
+	printf "%s [SWITCHES]                       \n" $0
+	printf "Switches:                           \n" 
+	printf "  --help, -h                        \n" 
+        printf "  --debug,   -d                     \n"
+        printf "  --release, -r                     \n"
+	printf "Notes:                              \n"
+	printf " (1) All other command line args will be passed as args    \n"
+	printf "     to \"make\" when it is eventually invoked.            \n"
+	printf " (2) For example -k will continue making when/if a failure \n"
+	printf "     is encountered in building one of the subdirectories. \n"
+	printf " (3) For example -j2 will utilize a 2nd core in the build  \n"
+	printf "     if your machine has two cores. -j4 etc for quad core. \n"
+	exit 0;
+    elif [ "${ARGI}" = "--debug" -o "${ARGI}" = "-d" ] ; then
+        BUILD_TYPE="Debug"
+    elif [ "${ARGI}" = "--release" -o "${ARGI}" = "-r" ] ; then
+        BUILD_TYPE="Release"
+    else
+	CMD_LINE_ARGS=$CMD_LINE_ARGS" "$ARGI
+    fi
+done
+
+#-------------------------------------------------------------------
+#  Part 2: Invoke the call to make in the build directory
+#-------------------------------------------------------------------
+
+mkdir -p build
+cd build
+
+# 核心修改2：添加RK3588 ARM64编译选项+强制调试符号
+# -DCMAKE_CXX_FLAGS：全局C++编译选项，适配RK3588的cortex-a76架构
+# -DCMAKE_BUILD_TYPE：指定编译模式
+# -DCMAKE_CXX_FLAGS_DEBUG：Debug模式强制-O0 + 完整调试符号
+# -DCMAKE_CXX_FLAGS_RELEASE：Release模式保留-g（调试符号），仅优化级别-O2
+cmake \
+    -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
+    -DCMAKE_CXX_FLAGS="-march=armv8-a -mtune=cortex-a76 -mstrict-align -fPIC" \
+    -DCMAKE_CXX_FLAGS_DEBUG="-O0 -g -ggdb" \
+    -DCMAKE_CXX_FLAGS_RELEASE="-O2 -g -ggdb" \
+    ../
+
+# 核心修改3：添加-j参数加速编译（适配RK3588多核），默认用4核（可根据板卡调整）
+# 若你传了-j参数，会覆盖默认的-j4
+# if [[ ! $CMD_LINE_ARGS =~ "-j" ]]; then
+#     CMD_LINE_ARGS="-j4 ${CMD_LINE_ARGS}"
+# fi
+
+make ${CMD_LINE_ARGS}
+cd ${INVOCATION_ABS_DIR}
@@ -189,111 +189,126 @@ bool LowerCommManager::updatePoweSystemStates(){
  if(!m_udpComm->m_qReceiveCcuStateBuffer.empty())
  {
    double time;
-    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
+    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);
-    msg_CcuStateFbMsg_Update_time = time;
  }
  if(!m_udpComm->m_qReceiveDisHighVolBusBuffer.empty())
  {
    double time;
-    m_udpComm->popMsgFormQueue(time,m_disHighVolBusCurrentState);
-    m_pm->m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
-    m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus1State); //写入数据库
-    msg_disHighVolBusFbMsg_Update_time = time;
+    if(m_udpComm->popMsgFormQueue(time, m_disHighVolBusCurrentState));
+    {
+        // m_udpComm->popMsgFormQueue(time,m_disHighVolBusCurrentState);
+        m_pm->m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
+        m_pm->m_db->insertData(m_pm->m_pmCurrentState.bus1State); //写入数据库
+        msg_disHighVolBusFbMsg_Update_time = time;

-    disBus1Breaker* pdis1=new disBus1Breaker;
-    (m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker                      == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker           == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker               == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker                   == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker               == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker                    == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker                   == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker                      == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
-    pdis1 -> paceholder = 0;
-    m_pm->m_currentDisBreakerState.bus1Breaker = *pdis1;
-    delete pdis1;
+        disBus1Breaker* pdis1=new disBus1Breaker;
+        (m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker                      == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker           == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker               == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker                   == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker               == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker                    == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker                   == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker                      == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
+        pdis1 -> paceholder = 0;
+        m_pm->m_currentDisBreakerState.bus1Breaker = *pdis1;
+        delete pdis1;
+
+        m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus1State);
+        m_pm->m_systemData->device_common_status.dis_hv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighVolBusFbMsg_Update_time;
+    }
  }
  if(!m_udpComm->m_qReceiveDisHighAVolBusBuffer.empty())
  {
    double time;
-    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
-    msg_disHighAVolBusFbMsg_Update_time = time;
+    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
+        msg_disHighAVolBusFbMsg_Update_time = time;

-    disBus2Breaker* pdis2=new disBus2Breaker;
-    (m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker              == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker                    == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker  == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker                         == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker         == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
-    pdis2 -> paceholder = 0;
-    m_pm->m_currentDisBreakerState.bus2Breaker = *pdis2;
-    delete pdis2;
+        disBus2Breaker* pdis2=new disBus2Breaker;
+        (m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker              == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker                    == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker  == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker                         == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker         == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
+        pdis2 -> paceholder = 0;
+        m_pm->m_currentDisBreakerState.bus2Breaker = *pdis2;
+        delete pdis2;
+
+        m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus2State);
+        m_pm->m_systemData->device_common_status.dis_hv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighAVolBusFbMsg_Update_time;
+
+    }
  }
  if(!m_udpComm->m_qReceiveDisHighBVolBusBuffer.empty())
  {
    double time;
-    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
-    msg_disHighBVolBusFbMsg_Update_time = time;
+    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
+        msg_disHighBVolBusFbMsg_Update_time = time;

-    disBus3Breaker* pdis3=new disBus3Breaker;
-    (m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker  == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker          == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker       == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
-    (m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
-    (m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
-    pdis3->paceholder = 0;
-    m_pm->m_currentDisBreakerState.bus3Breaker = *pdis3;
-    delete pdis3;
+        disBus3Breaker* pdis3=new disBus3Breaker;
+        (m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker  == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker          == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker       == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
+        (m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
+        (m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
+        pdis3->paceholder = 0;
+        m_pm->m_currentDisBreakerState.bus3Breaker = *pdis3;
+        delete pdis3;
+        m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus3State);
+        m_pm->m_systemData->device_common_status.dis_lv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighBVolBusFbMsg_Update_time;
+    }
  } 
  if(!m_udpComm->m_qReceiveDisLowBusBuffer.empty())
  {
    double time;
-    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
-    msg_disLowBusFbMsg_Update_time = time;
+    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
+        msg_disLowBusFbMsg_Update_time = time;

-    disBus4Breaker* pdis4=new disBus4Breaker;
-    (m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker       == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker       == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker       == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker       == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
-    (m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1   == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
-    (m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2   == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
-    (m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
-    pdis4 -> paceholder = 0;
-    m_pm->m_currentDisBreakerState.bus4Breaker = *pdis4;
-    delete pdis4;
+        disBus4Breaker* pdis4=new disBus4Breaker;
+        (m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker       == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker       == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker       == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker       == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
+        (m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1   == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
+        (m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2   == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
+        (m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
+        pdis4 -> paceholder = 0;
+        m_pm->m_currentDisBreakerState.bus4Breaker = *pdis4;
+        delete pdis4;
+        m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus4State);
+        m_pm->m_systemData->device_common_status.dis_lv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disLowBusFbMsg_Update_time;
+    }
  }
-  m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.ccustate);
-  m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus1State);
-  m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus2State);
-  m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus3State);
-  m_pm->m_systemData->updateSystemData(m_pm->m_pmCurrentState.bus4State);
-  m_pm->m_systemData->device_common_status.ccu_status.lastUpdateTime = m_pm->m_lowerCommManager->msg_CcuStateFbMsg_Update_time;
-  m_pm->m_systemData->device_common_status.dis_hv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighVolBusFbMsg_Update_time;
-  m_pm->m_systemData->device_common_status.dis_hv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighAVolBusFbMsg_Update_time;
-  m_pm->m_systemData->device_common_status.dis_lv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighBVolBusFbMsg_Update_time;
-  m_pm->m_systemData->device_common_status.dis_lv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disLowBusFbMsg_Update_time;
  return true;
 }

@@ -310,18 +325,21 @@ bool LowerCommManager::listenThreadFunc()
            if(nRead > 0)
            {
                try {
-                    if(!m_udpComm->pushMsgToQueue(Buff))
+                    if(m_udpComm->pushMsgToQueue(Buff))
+                    {
+                        //更新当前状态
+                        if(!updatePoweSystemStates())
+                        {
+                            std::cerr << "Error updating power system states" << std::endl;
+                        }
+                    }
+                    else
                    {
                        for(int i=0; i<m_udpComm->sError.size(); i++)
                        {
                            cout<<MOOS::ConsoleColours::red()<< m_udpComm->sError[i] << MOOS::ConsoleColours::reset() << endl;
                        }
                    }
-                    //更新当前状态
-                    if(!updatePoweSystemStates())
-                    {
-                        std::cerr << "Error updating power system states" << std::endl;
-                    }
                }
                catch(const std::exception& e) {
                    cerr << "Error processing message: " << e.what() << endl;
@@ -55,6 +55,10 @@ PowerManger::PowerManger()
  m_subDisSysCmd = {};
  m_subDisSysState = {};
  m_subDisSysFault = {};
+
+  //初始化系统数据
+  m_systemData = new SystemData();
+
  //初始化控制指令
  initControlCmd();

@@ -70,9 +74,6 @@ PowerManger::PowerManger()
  m_db = new SQLite("power_data.db");
  m_db->createTable();

-  //初始化系统数据
-  m_systemData = new SystemData();
-
  //初始化http服务器
  m_httpServer = new HttpServer(8090);
  m_httpServer->setPowerManger(this);
@@ -36,7 +36,7 @@ public:
        uint8_t maxLevel = 0;
        // 遍历 sysFaultCodes 集合中的每个故障码
        for (auto code : sysFaultCodes) {
-            // 提取0xabcd中的b位 (右移8位后取低4位)
+            // 提取0xabcd中的b位
            uint8_t level = (code >> 8) & 0xF;
            if (level > maxLevel) {
                maxLevel = level;
@@ -46,9 +46,10 @@ public:
    }
    /**
     * @brief 获取系统当前的故障码集合
-     * @return std::set<unsigned int>& 系统当前的故障码集合
+     * @return std::set<unsigned int> 系统当前的故障码集合
     */
-    const std::set<unsigned int>& getFaultCode() const {
+    std::set<unsigned int> getFaultCode() const {
+        std::lock_guard<std::mutex> lock(sysFaultCodesMutex);
        return sysFaultCodes;
    }
    //燃料电池系统参数
@@ -524,11 +525,70 @@ public:
        return code;
    }
 public:
-    SystemData(){
-        //初始化变量全部为0
-        memset(this, 0, sizeof(SystemData));
-        disSysFaultCode.clear();
-        sysFaultCodes.clear();
+    SystemData() : 
+        m_db(nullptr),
+        fc_mode(0), fc_status(0), fc_fault_level(0),
+        output_power_limit(0.0f), total_generation_time(0.0f), total_generation_power(0.0f),
+        fc_fault_level_1(0), fc_fault_level_2(0), fc_fault_level_3(0), fc_fault_level_4(0),
+        hydrogen_capacity(0.0f), liquid_oxygen_capacity(0.0f),
+        palladium_temp(0.0f), main_pipe_pressure(0.0f), aux_pipe_pressure(0.0f),
+        cabin_pressure1(0.0f), cabin_pressure2(0.0f), cabin_temp1(0.0f), cabin_temp2(0.0f),
+        cabin_humidity1(0.0f), cabin_humidity2(0.0f),
+        flame_detector1(0), flame_detector2(0),
+        h2_concentration1(0.0f), h2_concentration2(0.0f), h2_concentration3(0.0f),
+        o2_concentration1(0.0f), o2_concentration2(0.0f),
+        ch3oh_concentration1(0.0f), ch3oh_concentration2(0.0f),
+        cabin_ox_concentration(0.0f), cabin_temperature(0.0f), cabin_humidity(0.0f), cabin_pressure(0.0f),
+        power_cabin_ox_concentration(0.0f), power_cabin_temperature(0.0f), power_cabin_humidity(0.0f), power_cabin_pressure(0.0f),
+        ins_relay_status1(0), ins_relay_status2(0), dyn_relay_status1(0), dyn_relay_status2(0),
+        ins_pos_relay_status(0), ins_charge_relay_status(0), ins_precharge_relay_status(0), ins_neg_relay_status(0),
+        dyn_pos_relay_status(0), dyn_charge_relay_status(0), dyn_precharge_relay_status(0), dyn_neg_relay_status(0),
+        ins_max_discharge_power(0.0f), dyn_max_discharge_power(0.0f),
+        ins_soc(0), dyn_soc(0),
+        ins_total_energy(0.0f), dyn_total_energy(0.0f),
+        ins_power_input(0.0f), dyn_power_input(0.0f),
+        ins_charge_status(0), dyn_charge_status(0),
+        ins_voltage_link(0.0f), ins_voltage_pack(0.0f), ins_current(0.0f),
+        ins_resistance_pos(0.0f), ins_resistance_neg(0.0f),
+        dyn_voltage_link(0.0f), dyn_voltage_pack(0.0f), dyn_current(0.0f),
+        dyn_resistance_pos(0.0f), dyn_resistance_neg(0.0f),
+        ins_emergency_status(0), dyn_emergency_status(0),
+        ins_soc_threshold1(0.0f), ins_soc_threshold2(0.0f), ins_soc_threshold3(0.0f),
+        dyn_soc_threshold1(0.0f), dyn_soc_threshold2(0.0f), dyn_soc_threshold3(0.0f),
+        ins_power_limit1(0.0f), ins_power_limit2(0.0f),
+        dyn_power_limit1(0.0f), dyn_power_limit2(0.0f),
+        device_online_flag1(0), device_online_flag2(0),
+        dyn_charge_level(0), dyn_water_leak_status(0), ins_water_leak_dcdc_status(0), reserved4(0),
+        water_leak_status_from_insbat(0), water_leak_status_from_dynbat(0), dcdc_status_from_insbat(0),
+        heartbeat(0),
+        powfaultCode(0), insfaultCode(0),
+        emergency_battery1_voltage(0.0), emergency_battery1_current(0.0), emergency_battery1_max_temp(0.0),
+        emergency_battery1_fault_word(0),
+        emergency_battery2_voltage(0.0), emergency_battery2_current(0.0), emergency_battery2_max_temp(0.0),
+        emergency_battery2_fault_word(0),
+        moosd_status(false),
+        leakageCode(0)
+    {
+        // 初始化数组
+        for (int i = 0; i < 10; ++i) reserved1[i] = 0.0f;
+        for (int i = 0; i < 2; ++i) reserved2[i] = 0;
+        for (int i = 0; i < 6; ++i) { dyn_alarm_flag[i] = 0; ins_alarm_flag[i] = 0; }
+        for (int i = 0; i < 2; ++i) reserved3[i] = 0;
+        for (int i = 0; i < 8; ++i) leakStatus[i] = false;
+        
+        // 初始化嵌套结构体（它们有自己的构造函数）
+        // m_dcdcStatus 有构造函数，会自动初始化
+        // power_bus_status 等 POD 结构体，使用 memset 局部初始化
+        memset(&power_bus_status, 0, sizeof(power_bus_status));
+        memset(&power_a_bus_status, 0, sizeof(power_a_bus_status));
+        memset(&instrument_main_bus_status, 0, sizeof(instrument_main_bus_status));
+        memset(&instrument_bus_status, 0, sizeof(instrument_bus_status));
+        memset(&device_common_status, 0, sizeof(device_common_status));
+        memset(&device_online_status, 0, sizeof(device_online_status));
+        
+        // std::set 和 std::mutex 已经通过它们的默认构造函数正确初始化
+        // 默认构造的 std::set 已经是空的，不需要调用 clear()
+        // disSysFaultCode 和 sysFaultCodes 会在后续操作中被填充
    };
    ~SystemData(){};

@@ -544,7 +604,6 @@ public:
    };

    void updateSystemData(ccuState data){
-
        fc_mode = data.fc_mode;
        fc_status = data.fc_status;
        fc_fault_level = data.fc_fault_level;
@@ -592,10 +651,12 @@ public:
        ch3oh_concentration1 = data.ch3oh_concentration1 * 0.01;
        ch3oh_concentration2 = data.ch3oh_concentration2 * 0.01;
        
-        //保留字段
-        for(int i=0; i<10; i++) {
-            reserved1[i] = data.reserved1[i];
+        //保留字段 ：ccuState中的reserved1只有2个元素，但SystemData中的reserved1有10个元素
+        // 只复制前2个元素，其余保持原值
+        for(int i=0; i<2; i++) {
+            reserved1[i] = static_cast<float>(data.reserved1[i]);
        }
+        // 注意：reserved1[2]到reserved1[9]保持原值（0.0f）
        
        //仪表舱参数
        cabin_ox_concentration = data.cabin_ox_concentration * 0.1;
@@ -705,15 +766,7 @@ public:
        water_leak_status_from_dynbat = (data.dyn_water_leak_status  >> 4) & 0x0F; // 00 正常，01 异常漏水
        dcdc_status_from_insbat = (data.ins_water_leak_dcdc_status) & 0x0F; // 00 正常，01 故障
        //更新漏水状态
-        if(water_leak_status_from_insbat == 0x01)
-        {
-            leakStatus[LEAKAGE_LI_BATTERY] = true;
-        }
-        else
-        {
-            leakStatus[LEAKAGE_LI_BATTERY] = false;
-        }
-        if(water_leak_status_from_dynbat == 0x01)
+        if(water_leak_status_from_insbat == 0x01 || water_leak_status_from_dynbat == 0x01)
        {
            leakStatus[LEAKAGE_LI_BATTERY] = true;
        }
@@ -775,18 +828,13 @@ public:
        
        //绝缘状态
        power_bus_status.powerBusInsulationStatus = data.powerBusInsulationStatus == 0x55 ? 0 : 1;
-        // if(power_bus_status.powerBusInsulationStatus == 1) disSysFaultCode.insert(34); else disSysFaultCode.erase(34);
-
        power_bus_status.aBusInsulationStatus = data.aBusInsulationStatus == 0x55 ? 0 : 1;
-        // if(power_bus_status.aBusInsulationStatus == 1) disSysFaultCode.insert(35); else disSysFaultCode.erase(35);
        
        //电源状态  
        power_bus_status.meterPowerLossSignal = data.meterPowerLossSignal == 0x55 ? 0 : 1;
-        // if(power_bus_status.meterPowerLossSignal == 1) disSysFaultCode.insert(36); else disSysFaultCode.erase(36);
-
        power_bus_status.emergencyPowerLossSignal = data.emergencyPowerLossSignal == 0x55 ? 0 : 1;

-        // if(power_bus_status.emergencyPowerLossSignal == 1) disSysFaultCode.insert(37); else disSysFaultCode.erase(37);
+        // 所有对 disSysFaultCode 的访问都在锁保护下
        {
            std::lock_guard<std::mutex> lock(faultCodeMutex);  
            if(power_bus_status.emergencyPowerLossSignal == 1) disSysFaultCode.insert(37); else disSysFaultCode.erase(37);
@@ -1764,15 +1764,37 @@ class PowerManagerApp:
            self.simulation_LowBusFbMsg.reservedCircuitBreaker2 = self.simulation_LVBCmdMsg.reservedCircuitBreaker2
            self.simulation_LowBusFbMsg.emergencyLithiumBatteryGroup1CircuitBreaker = self.simulation_LVBCmdMsg.emergencyLithiumBatteryGroup1CircuitBreaker

-            self.send_udp_command(self.simulation_HighVolBusFbMsg.pack(), self.udp_ip, self.udp_port)
-            time.sleep(1)
-            self.send_udp_command(self.simulation_HighAVolBusFbMsg.pack(), self.udp_ip, self.udp_port)
-            time.sleep(1)
-            self.send_udp_command(self.simulation_LowBusFbMsg.pack(), self.udp_ip, self.udp_port)
-            time.sleep(1)
-            self.send_udp_command(self.simulation_LowMainBusFbMsg.pack(), self.udp_ip, self.udp_port)
-            time.sleep(1)  # 1秒间隔
+            # self.send_udp_command(self.simulation_HighVolBusFbMsg.pack(), self.udp_ip, self.udp_control_port)
+            # time.sleep(0.1)
+            # self.send_udp_command(self.simulation_HighAVolBusFbMsg.pack(), self.udp_ip, self.udp_control_port)
+            # time.sleep(0.1)
+            # self.send_udp_command(self.simulation_LowBusFbMsg.pack(), self.udp_ip, self.udp_control_port)
+            # time.sleep(0.1)
+            # self.send_udp_command(self.simulation_LowMainBusFbMsg.pack(), self.udp_ip, self.udp_control_port)
+            # 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)

+            # 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)
+
+            # 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)
+
+            # 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
    def on_connection_changed(self, *args):
        """连接状态改变回调"""
        if self.Start_Connection.get():
@@ -1899,4 +1921,4 @@ if __name__ == "__main__":
    root.protocol("WM_DELETE_WINDOW", app.on_closing)
    print('start')
    root.mainloop()
-    print('end')
+    print('end')