修复Web服务内存泄露、数据竞争与页面显示bug，适配x86编译

- 修复WebSocket推送无背压导致mongoose发送缓冲无限增长的内存泄露
- 为SystemData增加互斥锁，消除pushSystemData与主线程的数据竞争
- 修复网页状态文本判断反转、漏水告警阈值、FC状态、H2单位等显示bug
- 按协议修正电池紧急状态枚举解码（0x3A-0x3D为1-4级报警）
- 调整CMake适配系统安装的MOOS/IvP及jsoncpp，删除ARM专用build_debug.sh

CMakeLists.txt

@@ -6,11 +6,18 @@
 #        Chris Gagner, and tips borrowed from Dave Billin
 #=======================================================================
 
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT( IVP_EXTEND )
 
 set (CMAKE_CXX_STANDARD 11)
-set (MOOSIVP_SOURCE_TREE_BASE "/home/zjk/project/lib/moos-ivp")
+
+#=======================================================================
+# IvP 库安装前缀（MOOS 与 IvP 均安装于系统 /usr/local）
+#=======================================================================
+set (IVP_PREFIX "/usr/local")
+
+# jsoncpp 头文件目录（Ubuntu 布局：/usr/include/jsoncpp/json/）
+INCLUDE_DIRECTORIES(/usr/include/jsoncpp)
 
 #=======================================================================
 # Set the output directories for the binary and library files
@@ -36,28 +43,13 @@ INCLUDE_DIRECTORIES(${MOOS_INCLUDE_DIRS})
 # Find the "moos-ivp" base directory
 #=======================================================================
 
-# Search for the moos-ivp folder
+# IvP 头文件与库从系统安装前缀加载
-find_path( MOOSIVP_SOURCE_TREE_BASE
+INCLUDE_DIRECTORIES(${IVP_PREFIX}/include/ivp)
-           NAMES build-ivp.sh build-moos.sh configure-ivp.sh
-           PATHS "../moos-ivp" "../../moos-ivp" "../../moos-ivp/trunk/" "../moos-ivp/trunk/"
-           DOC "Base directory of the MOOS-IvP source tree"
-           NO_DEFAULT_PATH
-)
 
-if (NOT MOOSIVP_SOURCE_TREE_BASE)
+FILE(GLOB IVP_INCLUDE_DIRS ${IVP_PREFIX}/include/ivp )
-    message("Please set MOOSIVP_SOURCE_TREE_BASE to  ")
-    message("the location of the \"moos-ivp\" folder ")
-    return()
-endif()
-
-#======================================================================
-# Specify where to find IvP's headers and libraries...
-#======================================================================
-
-FILE(GLOB IVP_INCLUDE_DIRS ${MOOSIVP_SOURCE_TREE_BASE}/ivp/src/lib_* )
 INCLUDE_DIRECTORIES(${IVP_INCLUDE_DIRS})
 
-FILE(GLOB IVP_LIBRARY_DIRS ${MOOSIVP_SOURCE_TREE_BASE}/lib )
+FILE(GLOB IVP_LIBRARY_DIRS ${IVP_PREFIX}/lib )
 LINK_DIRECTORIES(${IVP_LIBRARY_DIRS})
 
 #======================================================================

build_debug.sh

@@ -1,61 +0,0 @@
-#!/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}

src/pPMtest/pmSysvariable.h

@@ -98,8 +98,8 @@ typedef struct ccuState
   uint16_t dyn_resistance_pos;              // 动力电池正极绝缘电阻，单位：kΩ
   uint16_t dyn_resistance_neg;              // 动力电池负极绝缘电阻，单位：kΩ
 
-  uint8_t  ins_emergency_status;            // 仪表电池紧急状态字，按位表示异常或告警状态
+  uint8_t  ins_emergency_status;            // 仪表电池紧急状态：0x00无报警 0x3A=4级报警 0x3B=3级报警 0x3C=2级报警 0x3D=1级报警
-  uint8_t  dyn_emergency_status;            // 动力电池紧急状态字，按位表示异常或告警状态
+  uint8_t  dyn_emergency_status;            // 动力电池紧急状态：0x00无报警 0x3A=4级报警 0x3B=3级报警 0x3C=2级报警 0x3D=1级报警
 
   uint8_t  reserved3[2];                    // 保留字节，协议预留
 

src/pPowerManger/LowerCommManager.cpp

@@ -195,7 +195,10 @@ bool LowerCommManager::updatePoweSystemStates(){
         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;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
+            m_pm->m_systemData->device_common_status.ccu_status.lastUpdateTime = m_pm->m_lowerCommManager->msg_CcuStateFbMsg_Update_time;
+        }
     }
   }
   if(!m_udpComm->m_qReceiveDisHighVolBusBuffer.empty())
@@ -226,7 +229,10 @@ bool LowerCommManager::updatePoweSystemStates(){
         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;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
+            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())
@@ -250,7 +256,10 @@ bool LowerCommManager::updatePoweSystemStates(){
         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;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
+            m_pm->m_systemData->device_common_status.dis_hv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighAVolBusFbMsg_Update_time;
+        }
 
     }
   }
@@ -275,7 +284,10 @@ bool LowerCommManager::updatePoweSystemStates(){
         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;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
+            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())
@@ -300,7 +312,10 @@ bool LowerCommManager::updatePoweSystemStates(){
         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;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
+            m_pm->m_systemData->device_common_status.dis_lv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disLowBusFbMsg_Update_time;
+        }
     }
   }
   return true;

src/pPowerManger/fsm/PowerManagerFsm.cpp

@@ -1777,7 +1777,7 @@ void PowerManagerFsm::basicNavigationFault()
         }
     }
     //=====处理动力电池故障======================
-    if(pm->m_systemData->dyn_emergency_status >= 1 )
+    if(pm->m_systemData->dyn_emergency_status != 0 )
     {
         pm->m_systemData->insertFaultCode(0x130B);
     }
@@ -1807,7 +1807,7 @@ void PowerManagerFsm::basicNavigationFault()
         pm->m_systemData->eraseFaultCode(0x1305);
     }
     //=====处理仪表锂电池失效=================
-    if(pm->m_systemData->ins_emergency_status > 1)
+    if(pm->m_systemData->ins_emergency_status != 0)
     {
         pm->m_systemData->insertFaultCode(0x1412);
     }

src/pPowerManger/httpserver/data.h

@@ -1798,11 +1798,11 @@ function getDCDCStatusText(status) {
 // 紧急状态文本转换
 function getEmergencyStatusText(status) {
     const statuses = {
-        0: '正常',
+        0: '无报警',
-        58: '四级紧急',
+        58: '4级报警',
-        59: '三级紧急',
+        59: '3级报警',
-        60: '二级紧急',
+        60: '2级报警',
-        61: '一级紧急',
+        61: '1级报警',
     };
     return statuses[status] || '未知状态';
 }

src/pPowerManger/httpserver/httpserver.cpp

@@ -353,6 +353,8 @@ void HttpServer::pushSystemData() {
         return;
     }
 
+    std::lock_guard<std::mutex> dataLock(m_systemData->m_dataMutex);
+
     // 序列化系统数据为JSON
     json j;
     
@@ -790,6 +792,9 @@ void HttpServer::pushSystemData() {
     // 发送给所有WebSocket客户端
     std::lock_guard<std::mutex> lock(ws_connections_mutex_);
     for (auto c : ws_connections_) {
+        if (c->send.len > MAX_WS_BACKLOG) {
+            continue;
+        }
         mg_ws_send(c, msg.c_str(), msg.size(), WEBSOCKET_OP_TEXT);
     }
 }
@@ -1057,6 +1062,9 @@ void HttpServer::monitorLogFile() {
 
         std::lock_guard<std::mutex> lock(ws_connections_mutex_);
         for (auto c : ws_connections_) {
+            if (c->send.len > MAX_WS_BACKLOG) {
+                continue;
+            }
             mg_ws_send(c, msg.c_str(), msg.size(), WEBSOCKET_OP_TEXT);
         }
     }

src/pPowerManger/httpserver/httpserver.h

@@ -84,6 +84,7 @@ private:
     std::streampos m_lastLogPosition = 0;
     std::deque<std::string> m_logCache;  // 缓存最近的日志
     static const size_t MAX_CACHE_SIZE = 1000;  // 最大缓存条数
+    static const size_t MAX_WS_BACKLOG = 256 * 1024;  // WebSocket发送积压阈值，超过则跳过推送
 
 };
 

src/pPowerManger/httpserver/index.h

@@ -762,8 +762,8 @@ body {
                         <div class="data-row"><span>输出功率限制:</span><span id="output-power-limit">-</span>W</div>
                         <div class="data-row"><span>氢容量:</span><span id="hydrogen-capacity">-</span>%</div>
                         <div class="data-row"><span>液氧容量:</span><span id="liquid-oxygen-capacity">-</span>%</div>
-                        <div class="data-row"><span>H2浓度1:</span><span id="h2-concentration1">-</span>ppm</div>
+                        <div class="data-row"><span>H2浓度1:</span><span id="h2-concentration1">-</span>% LEL</div>
-                        <div class="data-row"><span>H2浓度2:</span><span id="h2-concentration2">-</span>ppm</div>
+                        <div class="data-row"><span>H2浓度2:</span><span id="h2-concentration2">-</span>% LEL</div>
                         </div>
                         </div>
 
@@ -994,11 +994,9 @@ body {
         ws.onmessage = (event) => {
             try {
             const data = JSON.parse(event.data);
-                console.log('收到数据:', data); // 调试日志
             
             // 更新MOOSDB信息
             if (data.moosdb) {
-                    console.log('更新MOOSDB数据:', data.moosdb);
                     updateWithDebounce('header-appFreq', data.moosdb.appFreq, 2);
                     updateWithDebounce('card-appFreq', data.moosdb.appFreq, 2);
                     updateWithDebounce('header-commFreq', data.moosdb.commFreq, 2);
@@ -1061,7 +1059,6 @@ body {
 
                 // 更新动力电池数据
                 if (batteryData.dyn) {
-                    console.log('更新动力电池数据:', batteryData.dyn);
                     updateRelayStatus('dyn_pos_relay_status', batteryData.dyn.pos_relay_status);
                     updateRelayStatus('dyn_neg_relay_status', batteryData.dyn.neg_relay_status);
                     
@@ -1077,13 +1074,10 @@ body {
                     updateStatusWithDebounce('dyn_charge_status', batteryData.dyn.charge_status, getChargeStatusText);
                     updateEmergencyStatus('dyn_emergency_status', batteryData.dyn.emergency_status, getEmergencyStatusText);
                     updateRelayStatus('dyn_charge_relay_status', data.dyn_charge_relay_status);
-                    updateWithDebounce('dyn_alarm_flag1', data.dyn_alarm_flag1, 0);
-                    updateWithDebounce('dyn_alarm_flag2', data.dyn_alarm_flag2, 0);
                 }
 
                 // 更新仪表电池数据
                 if (batteryData.ins) {
-                    console.log('更新仪表电池数据:', batteryData.ins);
                     updateRelayStatus('ins_pos_relay_status', batteryData.ins.pos_relay_status);
                     updateRelayStatus('ins_neg_relay_status', batteryData.ins.neg_relay_status);
                     
@@ -1099,8 +1093,6 @@ body {
                     updateStatusWithDebounce('ins_charge_status', batteryData.ins.charge_status, getChargeStatusText);
                     updateEmergencyStatus('ins_emergency_status', batteryData.ins.emergency_status, getEmergencyStatusText);
                     updateRelayStatus('ins_charge_relay_status', data.ins_charge_relay_status);
-                    updateWithDebounce('ins_alarm_flag1', data.ins_alarm_flag1, 0);
-                    updateWithDebounce('ins_alarm_flag2', data.ins_alarm_flag2, 0);
                 }
 
                 // 更新燃料电池和环境数据
@@ -1360,8 +1352,6 @@ body {
             return;
         }
 
-        console.log(`更新 ${elementId}: ${currentValue} -> ${formattedValue}`);
-
         // 清除之前的定时器
         if (updateTimers[elementId]) {
             clearTimeout(updateTimers[elementId]);
@@ -1442,11 +1432,11 @@ body {
 
     function getEmergencyStatusText(status) {
         const statuses = {
-            0: '正常',
+            0: '无报警',
-            58: '四级紧急',
+            58: '4级报警',
-            59: '三级紧急',
+            59: '3级报警',
-            60: '二级紧急',
+            60: '2级报警',
-            61: '一级紧急',
+            61: '1级报警',
         };
         return statuses[status] || '未知';
     }
@@ -1473,19 +1463,19 @@ body {
     }
 
     function getDCDCStatusText(status) {
-        return status === 1 ? '正常' : '异常';
+        return status === 0 ? '正常' : '异常';
     }
 
     function getCoolingStatusText(status) {
-        return status === 1 ? '正常' : '异常';
+        return status === 0 ? '正常' : '异常';
     }
 
     function getInsulationStatusText(status) {
-        return status === 1 ? '正常' : '异常';
+        return status === 0 ? '正常' : '绝缘低';
     }
 
     function getPowerStatusText(status) {
-        return status === 1 ? '正常' : '异常';
+        return status === 0 ? '正常' : '故障';
     }
 
     function getWaterAlarmText(status) {
@@ -1498,7 +1488,7 @@ body {
     }
 
     function getFCStatusText(status) {
-        const statuses = { 0: '无效', 1: '初始化', 2: '待机', 3: '启动中', 4: '运行', 5: '关机中', 6: '故障' };
+        const statuses = { 0: '无效', 1: '初始化', 2: '待机', 3: '启动中', 4: '运行', 5: '关机中', 6: '故障', 7: '维护', 8: '校准', 9: '测试', 10: '紧急停止', 11: '重启', 12: '升级', 13: '维护完成' };
         return statuses[status] || '未知';
     }
 
@@ -1588,7 +1578,6 @@ body {
         }
 
         const text = getStatusText(value);
-        console.log(`更新设备状态 ${elementId}: ${value} -> ${text}`);
         
         if (element.textContent === text) {
             return;
@@ -1628,7 +1617,7 @@ body {
         if (status === undefined || status === null) return;
         
         const isOn = status === 1;
-        const newText = isOn ? '闭合' : '断开';
+        const newText = isOn ? '闭合' : (status === 2 ? '断开' : '无效');
         
         // 获取上次的状态
         const lastState = lastRelayStates[elementId];
@@ -1826,7 +1815,7 @@ body {
                 (data.dyn_alarm_flag1 > 0) || (data.dyn_alarm_flag2 > 0) ||
                 (data.dyn_alarm_flag3 > 0) || (data.dyn_alarm_flag4 > 0) ||
                 (data.dyn_alarm_flag5 > 0) || (data.dyn_alarm_flag6 > 0) ||
-                (data.water_leak_status_from_dynbat > 1);
+                (data.water_leak_status_from_dynbat > 0);
         }
 
         if (hasInsAlarmData) {

src/pPowerManger/pmSysvariable.h

@@ -5,6 +5,7 @@
 #include<string>
 #include <map>
 #include <unordered_set> 
+#include <cstdint>
 
 #define BREAK_OFF 0xAA
 #define BREAK_ON  0x55
@@ -107,8 +108,8 @@ typedef struct ccuState
   uint16_t dyn_resistance_pos;              // 动力电池正极绝缘电阻，单位：kΩ
   uint16_t dyn_resistance_neg;              // 动力电池负极绝缘电阻，单位：kΩ
 
-  uint8_t  ins_emergency_status;            // 仪表电池紧急状态字，按位表示异常或告警状态
+  uint8_t  ins_emergency_status;            // 仪表电池紧急状态：0x00无报警 0x3A=4级报警 0x3B=3级报警 0x3C=2级报警 0x3D=1级报警
-  uint8_t  dyn_emergency_status;            // 动力电池紧急状态字，按位表示异常或告警状态
+  uint8_t  dyn_emergency_status;            // 动力电池紧急状态：0x00无报警 0x3A=4级报警 0x3B=3级报警 0x3C=2级报警 0x3D=1级报警
 
   uint8_t  reserved3[2];                    // 保留字节，协议预留
 

src/pPowerManger/systemData.h

@@ -616,6 +616,7 @@ public:
     ~SystemData(){};
 
     void updateCommonStatus(double time_out=30){
+        std::lock_guard<std::mutex> lock(m_dataMutex);
         //更新时间
         double currentTime = MOOSTime(false);
         //判断是否超时
@@ -627,6 +628,7 @@ public:
     };
 
     void updateSystemData(ccuState data){
+        std::lock_guard<std::mutex> lock(m_dataMutex);
         fc_mode = data.fc_mode;
         fc_status = data.fc_status;
         fc_fault_level = data.fc_fault_level;
@@ -811,6 +813,7 @@ public:
     }
     std::set<unsigned int> disSysFaultCode;
     mutable std::mutex faultCodeMutex;
+    mutable std::mutex m_dataMutex;  // 保护普通数据字段，供更新线程与HTTP服务线程互斥访问
     void updateBreakerFault(unsigned char& breakerStatus, unsigned char rawStatus, unsigned int faultCode)
     {
         std::lock_guard<std::mutex> lock(faultCodeMutex);  
@@ -830,6 +833,7 @@ public:
         breakerStatus = newStatus;  // 保证状态更新也是原子的
     }
     void updateSystemData(disHighVolBusState data){
+        std::lock_guard<std::mutex> lock(m_dataMutex);
         updateBreakerFault(power_bus_status.fuelCellCircuitBreaker, data.fuelCellCircuitBreaker, 1);
         updateBreakerFault(power_bus_status.powerLithiumBatteryCircuitBreaker, data.powerLithiumBatteryCircuitBreaker, 2);
         updateBreakerFault(power_bus_status.propulsionMotorCircuitBreaker, data.propulsionMotorCircuitBreaker, 3);
@@ -899,6 +903,7 @@ public:
         power_bus_status.coolWaterPressure = data.coolWaterPressure * 0.1;
     };
     void updateSystemData(disHighAVolBusState data){
+        std::lock_guard<std::mutex> lock(m_dataMutex);
         //断路器状态 (0x55 1 0xAA 0 0x5A 2)
         updateBreakerFault(power_a_bus_status.bowFTDevice123CircuitBreaker, data.bowFTDevice123CircuitBreaker, 13);       
         updateBreakerFault(power_a_bus_status.actuatorCircuitBreaker, data.actuatorCircuitBreaker, 14);       
@@ -943,6 +948,7 @@ public:
         power_a_bus_status.openWaterCoverStartCylinderCurrent = data.openWaterCoverStartCylinderCurrent * 0.1;
     };
     void updateSystemData(disLowMainBusState data){
+        std::lock_guard<std::mutex> lock(m_dataMutex);
         //断路器状态 (0x55 1 0xAA 0 0x5A 2)
         updateBreakerFault(instrument_main_bus_status.lithiumBatteryGroupInstrumentCircuitBreaker, data.lithiumBatteryGroupInstrumentCircuitBreaker, 19);
         updateBreakerFault(instrument_main_bus_status.bowLowVoltageDistributionBoxCircuitBreaker,data.bowLowVoltageDistributionBoxCircuitBreaker, 20);
@@ -984,6 +990,7 @@ public:
         instrument_main_bus_status.plcControlPowerCurrent = data.plcControlPowerCurrent * 0.1;
     }
     void updateSystemData(disLowBusState data){
+        std::lock_guard<std::mutex> lock(m_dataMutex);
         //断路器状态 (0x55 1 0xAA 0 0x5A 2)
         updateBreakerFault(instrument_bus_status.unit1CircuitBreaker, data.unit1CircuitBreaker, 26);
         updateBreakerFault(instrument_bus_status.unit2CircuitBreaker, data.unit2CircuitBreaker, 27);