From f3dd9e2c5a6310b40a50133d71f69d615dc21d86 Mon Sep 17 00:00:00 2001
From: zjk <1553836110@qq.com>
Date: Tue, 18 Aug 2026 19:45:50 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9E=84=E5=BB=BA=EF=BC=9A=E4=BF=AE=E5=A4=8D?=
 =?UTF-8?q?=20GTest=20=E9=93=BE=E6=8E=A5=E5=A4=B1=E8=B4=A5=E2=80=94?=
 =?UTF-8?q?=E2=80=94=E6=98=BE=E5=BC=8F=E6=8C=87=E5=AE=9A=20Linux=20GTest?=
 =?UTF-8?q?=20=E9=85=8D=E7=BD=AE=EF=BC=8C=E9=81=BF=E5=85=8D=E4=BB=8E=20PAT?=
 =?UTF-8?q?H=20=E6=8E=A2=E6=B5=8B=E5=88=B0=20Windows=20Anaconda=20?=
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MIME-Version: 1.0
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Content-Transfer-Encoding: 8bit

---
 .gitignore                                  |    1 +
 build.sh                                    |   19 +-
 docs/上位机下位机通信协议.md                | 1240 +++++++++++++++
 scripts/run_host_sim.sh                     |  306 ++++
 src/CMakeLists.txt                          |    1 +
 src/pPowerManger/httpserver/httpserver.cpp  |    2 +-
 src/pPowerManger/upmsg/uPower_disSysState.h |    8 +-
 src/pPowerMangerHost/CMakeLists.txt         |  115 ++
 src/pPowerMangerHost/HostSim.cpp            |  229 +++
 src/pPowerMangerHost/HostSim.h              |   61 +
 src/pPowerMangerHost/HostSim_Info.cpp       |  114 ++
 src/pPowerMangerHost/HostSim_Info.h         |   17 +
 src/pPowerMangerHost/WebServer.cpp          |  115 ++
 src/pPowerMangerHost/WebServer.h            |   42 +
 src/pPowerMangerHost/main.cpp               |   51 +
 src/pPowerMangerHost/pPowerMangerHost.moos  |    8 +
 src/pPowerMangerHost/web/index.html         |  720 +++++++++
 test/disSysTest.zip                         |  Bin 323990 -> 0 bytes
 test/disSysTest/PowerManagerApp111.py       | 1578 +++++++++++++++++++
 test/until/DriverTest.cpp                   |    8 +
 20 files changed, 4629 insertions(+), 6 deletions(-)
 create mode 100644 docs/上位机下位机通信协议.md
 create mode 100755 scripts/run_host_sim.sh
 create mode 100644 src/pPowerMangerHost/CMakeLists.txt
 create mode 100644 src/pPowerMangerHost/HostSim.cpp
 create mode 100644 src/pPowerMangerHost/HostSim.h
 create mode 100644 src/pPowerMangerHost/HostSim_Info.cpp
 create mode 100644 src/pPowerMangerHost/HostSim_Info.h
 create mode 100644 src/pPowerMangerHost/WebServer.cpp
 create mode 100644 src/pPowerMangerHost/WebServer.h
 create mode 100644 src/pPowerMangerHost/main.cpp
 create mode 100644 src/pPowerMangerHost/pPowerMangerHost.moos
 create mode 100644 src/pPowerMangerHost/web/index.html
 delete mode 100644 test/disSysTest.zip
 create mode 100644 test/disSysTest/PowerManagerApp111.py

diff --git a/.gitignore b/.gitignore
index 9a673a8..078ff44 100644
--- a/.gitignore
+++ b/.gitignore
@@ -250,6 +250,7 @@ bin/ccuState.txt
 bin/pPowerManger
 bin/SQLiteTest
 bin/pPMtest
+bin/pPowerMangerHost
 
 # CI test reports
 reports/
diff --git a/build.sh b/build.sh
index e96a58a..25e9198 100755
--- a/build.sh
+++ b/build.sh
@@ -38,7 +38,24 @@ done
 mkdir -p build
 cd build
 
-cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ../
+# 修复: PATH 中包含了 Windows Anaconda(/mnt/d/Software/Anaconda),
+# 其下的 GTest 是 Windows .lib, 无法被 Linux 链接器使用。
+# 因此显式指定 Linux 平台的 GTest 配置, 覆盖 CMake 从 PATH 探测到的不正确路径。
+CMAKE_ARGS="-DCMAKE_BUILD_TYPE=${BUILD_TYPE}"
+if [ -z "${GTest_DIR}" ]; then
+    for GTEST_CONFIG in \
+        /usr/lib/x86_64-linux-gnu/cmake/GTest/GTestConfig.cmake \
+        /usr/lib/cmake/GTest/GTestConfig.cmake \
+        /usr/local/lib/cmake/GTest/GTestConfig.cmake \
+        "${HOME}/miniconda/lib/cmake/GTest/GTestConfig.cmake"; do
+        if [ -f "${GTEST_CONFIG}" ]; then
+            CMAKE_ARGS="${CMAKE_ARGS} -DGTest_DIR=$(dirname "${GTEST_CONFIG}")"
+            break
+        fi
+    done
+fi
+
+cmake ${CMAKE_ARGS} ../
 
 make ${CMD_LINE_ARGS}
 cd ${INVOCATION_ABS_DIR}
diff --git a/docs/上位机下位机通信协议.md b/docs/上位机下位机通信协议.md
new file mode 100644
index 0000000..44b1e65
--- /dev/null
+++ b/docs/上位机下位机通信协议.md
@@ -0,0 +1,1240 @@
+# H100PowerManger 上位机 / 下位机通信协议
+
+> 本文档整理自 `src/pPowerManger` 源码，完整描述能源管理程序 `pPowerManger` 与 **上位机**（任务规划 / 决策 / 外部通信 / XC 阵 / ZDP 等 MOOS 应用）以及与 **下位机**（复合管控器 CCU、高压母线、高压汇流排 A、仪表母线、仪表汇流排等配电设备）之间的通信协议。
+>
+> 主要源码依据：
+> - 上位机：`UpperCommManager.h/.cpp`、`PowerManger.h/.cpp`、`driver.h/.cpp`、`upmsg/*.h`
+> - 下位机：`LowerCommManager.h/.cpp`、`udpcomm/udpComm.h/.cpp`、`udpcomm/ccuUdpMsg.h`、`pmSysvariable.h`
+
+## 目录
+
+1. [总体架构](#1-总体架构)
+2. [上位机通信协议（MOOS + JSON）](#2-上位机通信协议moos--json)
+   - 2.1 通信方式与参数
+   - 2.2 消息总览
+   - 2.3 上位机 → pPowerManger（订阅消息）
+   - 2.4 pPowerManger → 上位机（发布消息）
+   - 2.5 设备表（DriverTable）字段
+   - 2.6 次级配电（secdist）字段
+   - 2.7 设备 ID 枚举
+3. [下位机通信协议（UDP 二进制）](#3-下位机通信协议udp-二进制)
+   - 3.1 通信方式与参数
+   - 3.2 通用帧格式与校验
+   - 3.3 消息 ID 汇总
+   - 3.4 复合管控器（CCU）报文
+   - 3.5 配电系统报文
+4. [附录：常量与枚举](#4-附录常量与枚举)
+
+---
+
+## 1. 总体架构
+
+```
+                     ┌─────────────────────────────────────────────────────┐
+                     │                      上 位 机                       │
+                     │  任务规划 / 决策 / 外部通信 / XC阵 / ZDP / 推进器     │
+                     └─────────────────────┬───────────────────────────────┘
+                                           │  MOOS 消息（JSON 字符串）
+                                           │  MOOSDB  ServerPort=9000  AppTick=4
+                     ┌─────────────────────▼───────────────────────────────┐
+                     │                 pPowerManger（能源管理程序）          │
+                     │   UpperCommManager  ⇄  状态机 FSM  ⇄  LowerCommManager │
+                     └─────────────────────┬───────────────────────────────┘
+                                           │  UDP 二进制帧（小端）
+                                           │  本机 5001  ⇄  CCU 192.168.0.140:7000
+                     ┌─────────────────────▼───────────────────────────────┐
+                     │                      下 位 机                       │
+                     │  复合管控器 CCU / 高压母线 / 高压汇流排A / 仪表母线 / 仪表汇流排 │
+                     └─────────────────────────────────────────────────────┘
+```
+
+- **上位机通信**：MOOS 变量承载 **JSON 字符串**，由 `UpperCommManager` 处理。订阅注册于 `PowerManger::registerVariables()`，发布通过 `PowerManger::sendNotification()`。
+- **下位机通信**：**UDP** 承载 **二进制结构体帧**（`#pragma pack(1)` 紧凑、小端），由 `LowerCommManager` + `udpComm` 处理。
+- 关键配置（`PowerManger.h`）：
+
+  ```c
+  #define IPORT   5001            // 本机 UDP 监听端口
+  #define CCUPORT 7000            // CCU 目标端口
+  #define CCUHOST "192.168.0.140" // CCU 目标地址
+  #define MAX_UDP_PKT_SIZE 65535  // UDP 最大报文
+  ```
+
+---
+
+## 2. 上位机通信协议（MOOS + JSON）
+
+### 2.1 通信方式与参数
+
+| 项目 | 说明 |
+|------|------|
+| 传输载体 | MOOS 消息（`CMOOSMsg`），值为 `std::string` 型 JSON |
+| 报文格式 | JSON（jsoncpp），键名带类型后缀，如 `xxx_uint8`、`xxx_fp32`、`xxx_array` |
+| 运行频率 | `AppTick = 4`（状态机主循环 4Hz）、`CommsTick = 4` |
+| 消息倾斜校验 | `OnNewMail` 中，消息时标与本地时差 > `m_skew`（默认 10s）则丢弃 |
+| 周期发送 | `commLoop()` 每 1s 调用 `processPeriodicTasks()` 发布周期反馈 |
+
+### 2.2 消息总览
+
+#### 2.2.1 订阅消息（上位机 → pPowerManger）
+
+| 序号 | MOOS 变量名 | 含义 | 触发动作 |
+|------|-------------|------|----------|
+| 1 | `uPower_sysState_cmd` | 系统主控指令 | `MasterCommandEvent` |
+| 2 | `uPower_equState_cmd` | 设备控制指令（设备表） | `DevCmdExt`（逐设备） |
+| 3 | `uDevice_secdistState_st` | 次级配电状态反馈 | 更新 `m_subDisSysState` |
+| 4 | `uDevice_depth_st` | 深度（三路取均值） | 更新 `m_depth` |
+| 5 | `uPlan_taskStart_st` | 任务开始 | `TaskStartEvent` |
+| 6 | `uPlan_planStop_st` | 任务停止 | — |
+| 7 | `uExternComm_setOpCondition_cmd` | 设置工况 | `MasterCommandEvent` |
+| 8 | `uExternComm_setOpMode_cmd` | 设置模式 | `MasterCommandEvent` |
+| 9 | `uExternComm_setPowerSystem_cmd` | 设置电源系统 | `MasterCommandEvent` |
+| 10 | `uExternComm_setDeviceSwitch_cmd` | 单个设备开关 | `DevCmdExt` |
+| 11 | `uDetect_xcVoltage_cmd` | XC 阵电压申请 | 舷侧声呐电压指令 |
+| 12 | `uDetect_zdpVoltage_cmd` | ZDP 电压申请 | 低频声呐开关 |
+| 13 | `uDevice_thruster_st` | 推进器状态 | 更新转速/使能 |
+
+> `uExternComm_setThrustSpeed_cmd`（字段 `rpm_int16`、`enable_int16`）已在 `upmsg` 中定义，但 `registerVariables()` 中已注释，当前**未订阅**。
+
+#### 2.2.2 发布消息（pPowerManger → 上位机）
+
+| 序号 | MOOS 变量名 | 含义 |
+|------|-------------|------|
+| 1 | `uPower_pmState_fb` | 能源管理整体状态 |
+| 2 | `uPower_fcsState_st` | 燃料电池系统状态 |
+| 3 | `uPower_liBatState_st` | 锂电池状态（仪表 / 动力 / 应急） |
+| 4 | `uPower_disSysState_st` | 配电系统状态（断路器位图 + 故障码） |
+| 5 | `uPower_currentState_st` | 各母线电压 / 电流 |
+| 6 | `uPower_equState_fb` | 设备状态反馈（设备表） |
+| 7 | `uPower_secdistState_cmd` | 次级配电指令（UNIT1~5 设备开关） |
+| 8 | `uPower_equInsState_fb` | 设备在线状态（位图） |
+| 9 | `uPower_subDisFault_st` | （仅 `_DEBUG`）次级配电故障表 |
+
+---
+
+### 2.3 上位机 → pPowerManger（订阅消息）
+
+#### 2.3.1 `uPower_sysState_cmd` — 系统主控指令
+
+解析结果写入 `m_msCmd`（`MSControlCmd`），并触发 `MasterCommandEvent`。
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `powerCMD` | uint | 电源系统指令 |
+| `modCMD` | uint | 模式指令 |
+| `workCMD` | uint | 工况指令 |
+
+示例：
+
+```json
+{"powerCMD":1,"modCMD":2,"workCMD":3}
+```
+
+#### 2.3.2 `uPower_equState_cmd` — 设备控制指令（设备表）
+
+解析 `DriverTable`，逐条派发 `DevCmdExt{id, cmd}`（`id` 为设备 ID，见 2.7）。字段名 → 设备 ID 映射见 `Driver::loadDriverIdFromJson()`。
+
+JSON 字段为 `<设备名>_uint8`，取值含义见 `EquipmentCommand`（0=断电，1=上电，2=仪表电上电，3=动力电上电，4=仪表电断电，5=动力电断电）。
+
+示例：
+
+```json
+{"thruster_uint8":1,"depth1_uint8":1,"buoyage_uint8":0}
+```
+
+> 完整字段清单见 [2.5 设备表字段](#25-设备表drivertable字段)。
+
+#### 2.3.3 `uDevice_secdistState_st` — 次级配电状态反馈
+
+解析到 `m_subDisSysState`（`DriverTable`）。字段为 `<设备名>_uint8`，按 UNIT1~5 分组。
+
+> 完整字段清单见 [2.6 次级配电字段](#26-次级配电secdist字段)。
+
+#### 2.3.4 `uDevice_depth_st` — 深度
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `value_array_int32` | int[] | 深度数组，取前 3 个元素平均值 |
+
+示例：
+
+```json
+{"value_array_int32":[1200,1210,1190]}
+```
+
+#### 2.3.5 `uPlan_taskStart_st` — 任务开始
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `taskType_str` | string | 任务类型（见 `TaskType::fromString`） |
+| `balanceEnabled_bool` | bool | 使能浮力调节 |
+| `bowRudderUnfold_bool` | bool | 艏舵展开 |
+
+示例：
+
+```json
+{"taskType_str":"sail","balanceEnabled_bool":true,"bowRudderUnfold_bool":false}
+```
+
+#### 2.3.6 `uPlan_planStop_st` — 任务停止
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `op_int32` | int | 1 = 停止 |
+
+示例：
+
+```json
+{"op_int32":1}
+```
+
+#### 2.3.7 `uExternComm_setOpCondition_cmd` — 设置工况
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `state_uint8` | uint | 工况值（见 `WorkCondition`） |
+
+#### 2.3.8 `uExternComm_setOpMode_cmd` — 设置模式
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `state_uint8` | uint | 模式值（见 `RunMode`） |
+
+#### 2.3.9 `uExternComm_setPowerSystem_cmd` — 设置电源系统
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `powerCmd_uint8` | uint | 电源系统指令 |
+
+#### 2.3.10 `uExternComm_setDeviceSwitch_cmd` — 单个设备开关
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `id_uint8` | uint | 设备 ID（见 2.7） |
+| `cmd_uint8` | uint | 开关指令（`EquipmentCommand`） |
+
+示例：
+
+```json
+{"id_uint8":53,"cmd_uint8":1}
+```
+
+#### 2.3.11 `uDetect_xcVoltage_cmd` — XC 阵电压申请
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `xcLowVoltageAdd_int32` | int | 低压申请（0=无命令，1=申请仪表上电，2=申请仪表断电） |
+| `xcHighVoltageAdd_int32` | int | 高压申请（0=无命令，1=申请高压上电，2=申请高压断电） |
+
+#### 2.3.12 `uDetect_zdpVoltage_cmd` — ZDP 电压申请
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `zdpVoltageAdd_int32` | int | 电压申请（同 XC 定义） |
+
+#### 2.3.13 `uDevice_thruster_st` — 推进器状态
+
+| 字段 | 类型 | 单位 | 说明 |
+|------|------|------|------|
+| `rpm_int16` | int16 | rpm | 实际转速 |
+| `voltage_uint16` | uint16 | V | 电压 |
+| `current_uint16` | uint16 | A | 电流 |
+| `ctrlTemp_uint16` | uint16 | ℃ | 控制器温度 |
+| `motorTemp_uint16` | uint16 | ℃ | 电机温度 |
+| `motorTorque_uint16` | uint16 | N·m | 电机扭矩 |
+| `maxTorque_uint16` | uint16 | N·m | 电机最大扭矩（0=未使能） |
+| `error_int64` | int64 | — | 错误码 |
+
+---
+
+### 2.4 pPowerManger → 上位机（发布消息）
+
+#### 2.4.1 `uPower_pmState_fb` — 能源管理整体状态
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `workCondition_uint8` | uint8 | 当前工况（`WorkCondition`） |
+| `currentMod_uint8` | uint8 | 当前模式 |
+| `powerState_uint8` | uint8 | 电源状态 |
+| `faultLevel_uint8` | uint8 | 故障等级（取 `getFaultCodeLevel()`） |
+| `faultCode_array` | uint[] | 故障码数组 |
+| `soc_uint16` | uint16 | 荷电状态 SOC |
+| `sustainableTime_int64` | int64 | 可持续时间 |
+| `leakage_uint8` | uint8 | 漏水标志（`generateLeakageCode()`） |
+| `info_str` | string | 系统信息描述 |
+
+#### 2.4.2 `uPower_fcsState_st` — 燃料电池系统状态
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `backpressure1_fp32` | float | 背压 1 |
+| `backpressure2_fp32` | float | 背压 2 |
+| `ch4oConcent1_fp32` | float | 甲醇浓度 1 |
+| `ch4oConcent2_fp32` | float | 甲醇浓度 2 |
+| `ch4o_fp32` | float | 备用 |
+| `excTemp_fp32` | float | 钯膜温度 |
+| `fcuCurIns_fp32` | float | 备用 |
+| `fcuCurPower_fp32` | float | 备用 |
+| `fcuCur_fp32` | float | 备用 |
+| `fcuFaultLeve_uint8` | uint8 | 故障等级 |
+| `fcuOutIns_fp32` | float | 备用 |
+| `fcuOutPower_fp32` | float | 备用 |
+| `fcuState_uint8` | uint8 | 燃料电池状态（`FcuState`） |
+| `fcuVolIns_fp32` | float | 备用 |
+| `fcuVolPower_fp32` | float | 备用 |
+| `fcuVol_fp32` | float | 备用 |
+| `h2Concent1_fp32` | float | H2 浓度 1 |
+| `h2Concent2_fp32` | float | H2 浓度 2 |
+| `o2Concent1_fp32` | float | O2 浓度 1 |
+| `o2Concent2_fp32` | float | O2 浓度 2 |
+| `o2Level_fp32` | float | 备用 |
+| `o2_fp32` | float | 备用 |
+| `powLimit_fp32` | float | 输出功率限制 |
+| `powerGen_fp32` | float | 累计发电功率 |
+| `flameDet_uint8` | uint8 | 火焰探测器状态 |
+| `faultCode1_uint16` | uint16 | 一级故障字 |
+| `faultCode2_uint16` | uint16 | 二级故障字 |
+| `faultCode3_uint16` | uint16 | 三级故障字 |
+| `faultCode4_uint16` | uint16 | 四级故障字 |
+| `fcCommState_uint8` | uint8 | 通信状态（当前固定为 0） |
+
+#### 2.4.3 `uPower_liBatState_st` — 锂电池状态
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `insBatCurElect_uint16` | uint16 | 仪表电池电流电量 |
+| `insBatLimit_uint16` | uint16 | 仪表电池限功率 |
+| `insBatSoc_uint8` | uint8 | 仪表电池 SOC |
+| `insBatTotalElect_uint16` | uint16 | 仪表电池总能量 |
+| `insChargeState_uint8` | uint8 | 仪表电池充放电状态 |
+| `insCurSocHold1_uint8` | uint8 | 备用 |
+| `insCurSocHold2_uint8` | uint8 | 备用 |
+| `insCurSocHold3_uint8` | uint8 | 备用 |
+| `insCurrent_uint16` | uint16 | 仪表电池电流 |
+| `insLinkVol_uint16` | uint16 | 仪表电池 LINK 电压 |
+| `insNegRelayState_uint8` | uint8 | 仪表电池负极继电器状态（固定 0） |
+| `insNegRes_uint16` | uint16 | 仪表电池负极绝缘电阻 |
+| `insPackVol_uint16` | uint16 | 仪表电池 PACK 电压 |
+| `insPosRelayState_uint8` | uint8 | 仪表电池正极继电器状态（固定 0） |
+| `insPosRes_uint16` | uint16 | 仪表电池正极绝缘电阻 |
+| `powBatCurElect_uint16` | uint16 | 动力电池电流电量（固定 0） |
+| `powBatSoc_uint8` | uint8 | 动力电池 SOC |
+| `powBatTotalElect_uint16` | uint16 | 动力电池总能量 |
+| `powChargeState_uint8` | uint8 | 动力电池充放电状态 |
+| `powCurSocHold1_uint8` | uint8 | 备用 |
+| `powCurSocHold2_uint8` | uint8 | 备用 |
+| `powCurSocHold3_uint8` | uint8 | 备用 |
+| `powCurToInsLimit1_uint8` | uint8 | 动力→仪表限功率 1 |
+| `powCurToInsLimit2_uint8` | uint8 | 动力→仪表限功率 2 |
+| `powCur_uint16` | uint16 | 动力电池电流 |
+| `powLinkVol_uint16` | uint16 | 动力电池 LINK 电压 |
+| `powNegRelayState_uint8` | uint8 | 动力电池负极继电器状态（固定 0） |
+| `powNegRes_uint16` | uint16 | 动力电池负极绝缘电阻 |
+| `powPosRelayState_uint8` | uint8 | 动力电池正极继电器状态（固定 0） |
+| `powPosRes_uint16` | uint16 | 动力电池正极绝缘电阻 |
+| `powerBatLimit_uint16` | uint16 | 备用 |
+| `powerPackVol_uint16` | uint16 | 动力电池 PACK 电压 |
+| `powFaultCode_uint8` | uint8 | 动力电池故障码 |
+| `insFaultCode_uint8` | uint8 | 仪表电池故障码 |
+| `insCommState_uint8` | uint8 | 仪表电池通信状态（固定 0） |
+| `powCommState_uint8` | uint8 | 动力电池通信状态（固定 0） |
+| `emergencyBattery1Voltage_int16` | int16 | 应急电池 1 电压 |
+| `emergencyBattery1Current_int16` | int16 | 应急电池 1 电流 |
+| `emergencyBattery1MaxTemp_int16` | int16 | 应急电池 1 最高温度 |
+| `emergencyBattery1FaultWord_uint16` | uint16 | 应急电池 1 故障字 |
+| `emergencyBattery2Voltage_int16` | int16 | 应急电池 2 电压 |
+| `emergencyBattery2Current_int16` | int16 | 应急电池 2 电流 |
+| `emergencyBattery2MaxTemp_int16` | int16 | 应急电池 2 最高温度 |
+| `emergencyBattery2FaultWord_uint16` | uint16 | 应急电池 2 故障字 |
+
+#### 2.4.4 `uPower_disSysState_st` — 配电系统状态
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `HVolABusBreaker_uint16` | uint16 | 高压母线（BUS1）断路器位图 |
+| `HVolBBusBreaker_uint16` | uint16 | 高压汇流排 A（BUS2）断路器位图 |
+| `HVolBusBreaker_uint16` | uint16 | 仪表母线（BUS3）断路器位图 |
+| `LVolBusBreaker_uint16` | uint16 | 仪表汇流排（BUS4）断路器位图 |
+| `faultCode_array` | uint[] | 配电故障码数组 |
+
+位图定义（bit0 起始）：
+
+| 位 | HVolABusBreaker | HVolBBusBreaker | HVolBusBreaker | LVolBusBreaker |
+|----|-----------------|-----------------|----------------|----------------|
+| bit0 | 燃料电池断路器 | 艏部FT装置1-3 | 锂电池组(仪表)断路器 | UNIT1断路器 |
+| bit1 | 动力锂电池断路器 | 启闭机构断路器 | 艏部低压配电箱断路器 | UNIT2断路器 |
+| bit2 | 推进电机断路器 | 桅杆舵机控制箱断路器 | UNIT4仪表DC48V断路器 | UNIT3断路器 |
+| bit3 | 锂电池组仪表断路器 | XCZ断路器 | DC-C1直流配电板断路器 | UNIT5断路器 |
+| bit4 | DC/DC5模块断路器 | 艏舵控制箱断路器 | 预留断路器1 | 艏部PZ装置断路器 |
+| bit5 | 艏部高压配电箱断路器 | 敞水盖启动电缸断路器 | 预留断路器2 | 预留断路器1 |
+| bit6 | 艉部FT装置4/5断路器 | — | 应急锂电池组2断路器 | 预留断路器2 |
+| bit7 | 艉舵开关1断路器 | — | — | 应急锂电池组1断路器 |
+| bit8 | 艉舵开关2断路器 | — | — | — |
+| bit9 | FB预留断路器 | — | — | — |
+| bit10 | TYZ预留断路器 | — | — | — |
+| bit11 | 预留断路器 | — | — | — |
+
+#### 2.4.5 `uPower_currentState_st` — 各母线电压/电流
+
+**高压母线（HVB，BUS1）**
+
+| 字段 | 类型 | 来源 |
+|------|------|------|
+| `HVBpowerBusVol_uint16` | uint16 | 动力汇流排电压 |
+| `HVBdcDc5Cur_uint16` | uint16 | DC/DC5 模块电流 |
+| `HVBpowerBusCur_uint16` | uint16 | 动力汇流排电流 |
+| `HVBbusAVol_uint16` | uint16 | A 汇流排电压 |
+| `HVBmotorCur_uint16` | uint16 | 推进电机控制箱电流 |
+| `HVBbusACur_uint16` | uint16 | A 汇流排电流 |
+| `HVBbatGroupCur_uint16` | uint16 | 锂电池组(仪表)电流 |
+| `HVBbowHVolDisBoxCur_uint16` | uint16 | 艏部高压配电箱电流 |
+| `HVBFTDev45Cur_uint16` | uint16 | 艉部FT装置4/5电流 |
+| `HVBtyzCur_uint16` | uint16 | TYZ预留开关电流 |
+| `HVBsternRud1Cur_uint16` | uint16 | 艉舵开关1电流 |
+| `HVBreservedCur1_uint16` | uint16 | 预留电流1 |
+| `HVBsternRud2Cur_uint16` | uint16 | 艉舵开关2电流 |
+| `HVBreservedCur2_uint16` | uint16 | 预留电流2 |
+| `HVBfbCur_uint16` | uint16 | FB预留电流 |
+| `HVBreservedCur3_uint16` | uint16 | 预留电流3 |
+
+**高压汇流排 A（HVAB，BUS2）**
+
+| 字段 | 类型 | 来源 |
+|------|------|------|
+| `HVABbusBVol_uint16` | uint16 | 汇流排 B 电压 |
+| `HVABbusBCur_uint16` | uint16 | 汇流排 B 电流 |
+| `HVABFTDev123Cur_uint16` | uint16 | 艏部FT装置1/2/3电流 |
+| `HVABactCur_uint16` | uint16 | 启闭机构电流 |
+| `HVABmastSteGeaCur_uint16` | uint16 | 桅杆舵机控制箱电流 |
+| `HVABxczCur_uint16` | uint16 | XCZ电流 |
+| `HVABbowRudCur_uint16` | uint16 | 艏舵控制箱电流 |
+| `HVABopenWaterCur_uint16` | uint16 | 敞水盖启动电缸电流 |
+
+**仪表母线（HVBB，BUS3）**
+
+| 字段 | 类型 | 来源 |
+|------|------|------|
+| `HVBBinsBusVol_uint16` | uint16 | 仪表母排电压 |
+| `HVBBbowLowVolDisBoxCur_uint16` | uint16 | 艏部低压配电箱电流 |
+| `HVBBdcC1InsCur_uint16` | uint16 | DC-C1 仪表DC48V电流 |
+| `HVBBreservedCur1_uint16` | uint16 | 预留电流1 |
+| `HVBBemerBatCur_uint16` | uint16 | 应急锂电池组2电流 |
+| `HVBBbatInsCur_uint16` | uint16 | 锂电池组(仪表)电流 |
+| `HVBBunit4Cur_uint16` | uint16 | UNIT4 仪表DC48V电流 |
+| `HVBBreservedCur2_uint16` | uint16 | 预留电流2 |
+| `HVBBemer2BusVol_uint16` | uint16 | 应急2汇流排电压 |
+| `HVBBCCUCur_uint16` | uint16 | 复合能源管控系统应急DC48V电流 |
+| `HVBBFCSSecurSysCur_uint16` | uint16 | 燃料电池安全系统应急DC48V电流 |
+| `HVBBplcCur_uint16` | uint16 | PLC控制电源电流 |
+
+**仪表汇流排（LVB，BUS4）**
+
+| 字段 | 类型 | 来源 |
+|------|------|------|
+| `LVBinsBusVol_uint16` | uint16 | 仪表母排电压 |
+| `LVBBinsBusCur_uint16` | uint16 | 仪表母排电流 |
+| `LVBBunit1Cur_uint16` | uint16 | UNIT1 电流 |
+| `LVBBunit2Cur_uint16` | uint16 | UNIT2 电流 |
+| `LVBBunit3Cur_uint16` | uint16 | UNIT3 电流 |
+| `LVBBunit5Cur_uint16` | uint16 | UNIT5 电流 |
+| `LVBBbowPZDevCur_uint16` | uint16 | 艏部PZ装置电流 |
+| `LVBBemerBatCur_uint16` | uint16 | 应急锂电池组1电流 |
+| `LVBBemerBusVol_uint16` | uint16 | 应急1汇流排电压 |
+
+#### 2.4.6 `uPower_equState_fb` — 设备状态反馈
+
+设备表 JSON（字段同 2.5），反映当前设备状态。
+
+#### 2.4.7 `uPower_secdistState_cmd` — 次级配电指令
+
+次级配电 JSON（字段同 2.6），向次级配电系统下发 UNIT1~5 设备开关指令。
+
+#### 2.4.8 `uPower_equInsState_fb` — 设备在线状态（位图）
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `sensor_int16` | uint16 | 传感器状态位图 |
+| `actuator_int16` | uint16 | 执行机构状态位图 |
+| `motion_int16` | uint16 | 运动状态位图 |
+| `loadcomm_int16` | uint16 | 负载通信状态位图 |
+| `throwpower_int16` | uint16 | 抛载/电源状态位图 |
+
+位图定义：
+
+| 位 | sensor_int16 | actuator_int16 | motion_int16 | loadcomm_int16 | throwpower_int16 |
+|----|--------------|----------------|--------------|----------------|------------------|
+| bit0 | 单波束声呐1 | 启闭机构1 | 艉部舵机1 | 载荷发控 | 艏部抛载 |
+| bit1 | 单波束声呐2 | 启闭机构2 | 艉部舵机2 | 光电桅杆 | 保留 |
+| bit2 | 单波束声呐3 | 启闭机构3 | 艉部舵机3 | 电磁桅杆 | 保留 |
+| bit3 | 单波束声呐4 | 启闭机构4 | 艉部舵机4 | 保留 | 保留 |
+| bit4 | 单波束声呐5 | 启闭机构5 | 艏舵电缸 | 舷侧声纳 | 保留 |
+| bit5 | 单波束声呐6 | 启闭机构6 | 注水机构 | 拖曳声纳 | 保留 |
+| bit6 | 单波束声呐7 | 保留 | 推进电机 | 保留 | 保留 |
+| bit7 | 单波束声呐8 | 保留 | 浮调机构1 | 保留 | 保留 |
+| bit8 | 前视声呐 | 敞水机构1 | 浮调机构2 | 通信桅杆 | 燃料电池控制器 |
+| bit9 | CTD1 | 敞水机构2 | 浮调机构3 | 中低频声呐 | 仪表配电板 |
+| bit10 | CTD2 | 敞水机构3 | 浮调机构4 | 高频声通机 | 动力配电板 |
+| bit11 | 声速仪 | 敞水机构4 | 浮调机构5 | 浮标系统 | 仪表锂电池 |
+| bit12 | NTP | 敞水机构5 | DVL | 通信桅杆舵机 | 动力锂电 |
+| bit13 | 深度计1 | 敞水机构6 | 惯导系统 | 光电桅杆舵机 | 艉部抛载 |
+| bit14 | 深度计2 | 敞水机构7 | 艏舵左舵机 | 电磁桅杆舵机 | 保留 |
+| bit15 | 深度计3 | 敞水机构8 | 艏右舵舵机 | 保留 | 保留 |
+
+---
+
+### 2.5 设备表（DriverTable）字段
+
+以下字段用于 `uPower_equState_cmd` 与 `uPower_equState_fb`，全部为 `<设备名>_uint8`：
+
+| 序号 | 字段 | 对应设备 ID |
+|------|------|-------------|
+| 1 | `depth1_uint8` | 18 |
+| 2 | `depth2_uint8` | 19 |
+| 3 | `depth3_uint8` | 20 |
+| 4 | `overDeep1_uint8` | 21 |
+| 5 | `overDeep2_uint8` | 22 |
+| 6 | `ctd1_uint8` | 23 |
+| 7 | `ctd2_uint8` | 24 |
+| 8 | `soundVeloc_uint8` | 25 |
+| 9 | `commDev_uint8` | 40 |
+| 10 | `ins_uint8` | 57 |
+| 11 | `ntp_uint8` | 58 |
+| 12 | `inputWaterSensor1_uint8` | 59 |
+| 13 | `inputWaterSensor2_uint8` | 60 |
+| 14 | `inputWaterSensor3_uint8` | 61 |
+| 15 | `singleBeamSonar1_uint8` | 0 |
+| 16 | `singleBeamSonar2_uint8` | 1 |
+| 17 | `singleBeamSonar3_uint8` | 2 |
+| 18 | `singleBeamSonar4_uint8` | 3 |
+| 19 | `singleBeamSonar5_uint8` | 4 |
+| 20 | `singleBeamSonar6_uint8` | 5 |
+| 21 | `singleBeamSonar7_uint8` | 6 |
+| 22 | `singleBeamSonar8_uint8` | 7 |
+| 23 | `forwardSonar_uint8` | 8 |
+| 24 | `DVL_uint8` | 43 |
+| 25 | `lowFreqSonar_uint8` | 36 |
+| 26 | `USBL_uint8` | 42 |
+| 27 | `bowCover1_uint8` | 9 |
+| 28 | `bowCover2_uint8` | 10 |
+| 29 | `bowCover3_uint8` | 11 |
+| 30 | `bowCover4_uint8` | 12 |
+| 31 | `bowCover5_uint8` | 13 |
+| 32 | `bowCover6_uint8` | 14 |
+| 33 | `bowRudderDeploy_uint8` | 15 |
+| 34 | `bowRudderServo1_uint8` | 16 |
+| 35 | `bowRudderServo2_uint8` | 17 |
+| 36 | `bowWaterInet1_uint8` | 27 |
+| 37 | `bowWaterInet2_uint8` | 28 |
+| 38 | `bowWaterInet3_uint8` | 29 |
+| 39 | `bowWaterInet4_uint8` | 30 |
+| 40 | `bowWaterInet5_uint8` | 31 |
+| 41 | `bowWaterInet6_uint8` | 32 |
+| 42 | `bowWaterInet7_uint8` | 33 |
+| 43 | `bowWaterInet8_uint8` | 34 |
+| 44 | `waterInject_uint8` | 26 |
+| 45 | `mastLiftingServo_uint8` | 41 |
+| 46 | `buoyancyAdjust1_uint8` | 44 |
+| 47 | `buoyancyAdjust2_uint8` | 45 |
+| 48 | `buoyancyAdjust3_uint8` | 46 |
+| 49 | `buoyancyAdjust4_uint8` | 47 |
+| 50 | `buoyancyAdjust5_uint8` | 48 |
+| 51 | `sternRudderServo1_uint8` | 49 |
+| 52 | `sternRudderServo2_uint8` | 50 |
+| 53 | `sternRudderServo3_uint8` | 51 |
+| 54 | `sternRudderServo4_uint8` | 52 |
+| 55 | `thruster_uint8` | 53 |
+| 56 | `bowThrow_uint8` | 54 |
+| 57 | `sternThrow_uint8` | 55 |
+| 58 | `photoSensor_uint8` | 38 |
+| 59 | `electSensor_uint8` | 39 |
+| 60 | `launchControler_uint8` | 37 |
+| 61 | `sideSonar_uint8` | 35 |
+| 62 | `buoyage_uint8` | 56 |
+
+---
+
+### 2.6 次级配电（secdist）字段
+
+以下字段用于 `uPower_secdistState_cmd` 与 `uDevice_secdistState_st`，全部为 `<设备名>_uint8`：
+
+**UNIT1（19 项）**
+
+| 字段 | 字段 | 字段 |
+|------|------|------|
+| `bowCover1_uint8` | `bowCover2_uint8` | `bowCover3_uint8` |
+| `bowCover4_uint8` | `bowCover5_uint8` | `bowCover6_uint8` |
+| `singleBeamSonar1_uint8` | `singleBeamSonar2_uint8` | `singleBeamSonar3_uint8` |
+| `singleBeamSonar4_uint8` | `singleBeamSonar5_uint8` | `singleBeamSonar6_uint8` |
+| `forwardSonar_uint8` | `depth3_uint8` | `soundVeloc_uint8` |
+| `bowRudderServo_uint8` | `bowRudderDeploy_uint8` | `ctd1_uint8` |
+| `waterInject_uint8` | | |
+
+**UNIT2（11 项）**
+
+| 字段 | 字段 | 字段 |
+|------|------|------|
+| `sideSonar_uint8` | `bowWaterInet1_uint8` | `bowWaterInet2_uint8` |
+| `bowWaterInet3_uint8` | `bowWaterInet4_uint8` | `bowWaterInet5_uint8` |
+| `bowWaterInet6_uint8` | `bowWaterInet7_uint8` | `bowWaterInet8_uint8` |
+| `launchControler_uint8` | `electSensor_uint8` | `lowFreqSonar_uint8` |
+
+**UNIT3（11 项）**
+
+| 字段 | 字段 | 字段 |
+|------|------|------|
+| `buoyancyAdjust1_uint8` | `buoyancyAdjust2_uint8` | `buoyancyAdjust3_uint8` |
+| `USBL_uint8` | `depth1_uint8` | `commDev_uint8` |
+| `mastLiftingServo_uint8` | `DVL_uint8` | `ADCP_uint8` |
+| `inOutLetWater1_uint8` | `inOutLetWater2_uint8` | |
+
+**UNIT4（16 项）**
+
+| 字段 | 字段 | 字段 |
+|------|------|------|
+| `singleBeamSonar7_uint8` | `singleBeamSonar8_uint8` | `buoyage_uint8` |
+| `bowThrow_uint8` | `depth2_uint8` | `thruster_uint8` |
+| `dragSonar_uint8` | `haulingMachine_uint8` | `buoyancyAdjust4_uint8` |
+| `buoyancyAdjust5_uint8` | `sternRudderServo1_uint8` | `sternRudderServo2_uint8` |
+| `sternRudderServo3_uint8` | `sternRudderServo4_uint8` | `ctd2_uint8` |
+| `commDevStern_uint8` | `inOutLetWater3_uint8` | |
+
+**UNIT5（4 项）**
+
+| 字段 | 字段 |
+|------|------|
+| `secINS_uint8` | `photoSensor_uint8` |
+| `sternThrow_uint8` | `mainINS_uint8` |
+
+---
+
+### 2.7 设备 ID 枚举（DeviceId）
+
+| ID | 名称 | ID | 名称 | ID | 名称 |
+|----|------|----|------|----|------|
+| 0 | singleBeamSonar1 | 21 | overDeep1 | 42 | USBL |
+| 1 | singleBeamSonar2 | 22 | overDeep2 | 43 | DVL |
+| 2 | singleBeamSonar3 | 23 | ctd1 | 44 | buoyancyAdjust1 |
+| 3 | singleBeamSonar4 | 24 | ctd2 | 45 | buoyancyAdjust2 |
+| 4 | singleBeamSonar5 | 25 | soundVeloc | 46 | buoyancyAdjust3 |
+| 5 | singleBeamSonar6 | 26 | waterInject | 47 | buoyancyAdjust4 |
+| 6 | singleBeamSonar7 | 27 | bowWaterInet1 | 48 | buoyancyAdjust5 |
+| 7 | singleBeamSonar8 | 28 | bowWaterInet2 | 49 | sternRudderServo1 |
+| 8 | forwardSonar | 29 | bowWaterInet3 | 50 | sternRudderServo2 |
+| 9 | bowCover1 | 30 | bowWaterInet4 | 51 | sternRudderServo3 |
+| 10 | bowCover2 | 31 | bowWaterInet5 | 52 | sternRudderServo4 |
+| 11 | bowCover3 | 32 | bowWaterInet6 | 53 | thruster |
+| 12 | bowCover4 | 33 | bowWaterInet7 | 54 | bowThrow |
+| 13 | bowCover5 | 34 | bowWaterInet8 | 55 | sternThrow |
+| 14 | bowCover6 | 35 | sideSonar | 56 | buoyage |
+| 15 | bowRudderDeploy | 36 | lowFreqSonar | 57 | ins |
+| 16 | bowRudderServo1 | 37 | launchControler | 58 | ntp |
+| 17 | bowRudderServo2 | 38 | photoSensor | 59 | inputWaterSensor1 |
+| 18 | depth1 | 39 | electSensor | 60 | inputWaterSensor2 |
+| 19 | depth2 | 40 | commMast | 61 | inputWaterSensor3 |
+| 20 | depth3 | 41 | mastLiftingServo | — | — |
+
+---
+
+## 3. 下位机通信协议（UDP 二进制）
+
+### 3.1 通信方式与参数
+
+| 项目 | 说明 |
+|------|------|
+| 传输 | UDP 单播 |
+| 本机地址 | 绑定端口 `5001` |
+| 下位机地址 | `192.168.0.140:7000` |
+| 字节序 | 小端（little-endian） |
+| 对齐 | `#pragma pack(1)` 紧凑，无填充 |
+| 监听 | `LowerCommManager::listenThreadFunc()` 独立线程接收 |
+| 分拣 | `udpComm::pushMsgToQueue()` 按消息 ID 入队，队列上限 `QUENUE_SIZE = 100` |
+| 周期发送 | `commLoop()` 每 1s：`sendCcuCommand`（CCU 操作指令）+ `processPeriodicTasks` |
+
+### 3.2 通用帧格式与校验
+
+所有报文统一为：**消息头（6B）+ 数据区 + 校验字段**。以下帧结构表中，`偏移(字节)` 均为相对整帧起始的绝对偏移。
+
+#### 3.2.1 消息头 `m_header`（6 字节）
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 1 |
+| 1 | start2 | u8 | 起始符 2 |
+| 2~3 | id | u16 | 消息标识（小端） |
+| 4~5 | length | u16 | 数据区长度 |
+
+- 起始符分类：
+  - CCU 报文：`start1 = start2 = 0x20`
+  - 配电报文：`start1 = start2 = 0x40`
+
+#### 3.2.2 日期 `m_date`（8 字节，仅 CCU 操作指令携带）
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | year | u16 | 年 |
+| 2 | month | u8 | 月 |
+| 3 | day | u8 | 日 |
+| 4 | hour | u8 | 时 |
+| 5 | minute | u8 | 分 |
+| 6 | second | u8 | 秒 |
+| 7 | milliseconds | u8 | 毫秒（每 10ms 一档） |
+
+#### 3.2.3 校验字段宽度
+
+| 报文类别 | 校验字段类型 | 宽度 |
+|----------|--------------|------|
+| CCU 报文 | `Checksum`（unsigned int） | 4 字节 |
+| 配电报文 | `cChecksum`（unsigned char） | 1 字节 |
+
+#### 3.2.4 校验算法
+
+```
+校验和 = 从 start1 起至校验字段之前的所有字节累加求和（不含校验字段本身）
+```
+
+- CCU 报文：校验字段 4 字节，实际发送 / 比较取累加和**低 8 位**（`cc & 0xFF`）。
+- 配电报文：校验字段 1 字节，`sum = 累加和 & 0xFF`。
+- 接收端校验不符则丢弃该帧并记录 `Check error`。
+
+```c
+Checksum calculateChecksum(const unsigned char* data, int size) {
+    Checksum checksum = 0;
+    int size_data = size - sizeof(Checksum);   // 去掉末尾校验字段
+    for (int i = 0; i < size_data; i++) checksum += data[i];
+    return checksum;
+}
+```
+
+### 3.3 消息 ID 汇总
+
+| 分类 | ID | 方向 | 报文结构体 | 说明 |
+|------|-----|------|------------|------|
+| CCU | `0x0040` | 发送 | `msg_CcuColCmdMsg` | 复合管控器操作指令 |
+| CCU | `0x0041` | 发送 | `msg_CcuSetParmMsg` | 复合管控器参数设定指令 |
+| CCU | `0x0051` | 接收 | `msg_CcuStateFbMsg` | 复合管控器状态反馈 |
+| CCU | `0x0040` | 接收 | `msg_CcuSetParmFbMsg` | 复合管控器参数设定反馈（与操作指令 ID 复用） |
+| 配电 | `0x0001` | 发送 | `msg_disHVBCmd` | 高压母线配电指令 |
+| 配电 | `0x0002` | 发送 | `msg_disHVBACmd` | 高压汇流排A配电指令 |
+| 配电 | `0x0003` | 发送 | `msg_disHVBBCmd` | 仪表母线配电指令 |
+| 配电 | `0x0004` | 发送 | `msg_disLVBCmd` | 仪表汇流排配电指令 |
+| 配电 | `0x0005` | 接收 | `msg_disHighVolBusFbMsg` | 高压母线配电反馈 |
+| 配电 | `0x0006` | 接收 | `msg_disHighAVolBusFbMsg` | 高压汇流排A配电反馈 |
+| 配电 | `0x0007` | 接收 | `msg_disLowMainBusFbMsg` | 仪表母线配电反馈 |
+| 配电 | `0x0008` | 接收 | `msg_disLowBusFbMsg` | 仪表汇流排配电反馈 |
+
+> 说明：`CCU_SET_PARM_FB_ID` 与 `CCU_CMD_ID` 同为 `0x0040`。接收端以起始符 `0x20 0x20` 判定为 CCU 报文后，将 `0x0040` 一律按“参数设定反馈”处理（操作指令只发送不接收，实际不冲突）。
+
+### 3.4 复合管控器（CCU）报文
+
+#### 3.4.1 操作指令 `msg_CcuColCmdMsg`（0x0040，发送）
+
+总长度 36 字节。
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 0x20 |
+| 1 | start2 | u8 | 起始符 0x20 |
+| 2~3 | id | u16 | 消息标识 0x0040 |
+| 4~5 | length | u16 | 数据区长度（=18） |
+| 6~7 | year | u16 | 年 |
+| 8 | month | u8 | 月 |
+| 9 | day | u8 | 日 |
+| 10 | hour | u8 | 时 |
+| 11 | minute | u8 | 分 |
+| 12 | second | u8 | 秒 |
+| 13 | milliseconds | u8 | 毫秒（每 10ms 一档） |
+| 14 | fcmode | u8 | 燃料电池运行模式 |
+| 15 | fcuCmd | u8 | 燃料电池控制指令（`FcuCommand`） |
+| 16 | fcuPowerEfficiency | u8 | 燃料电池输出功率（默认 8kW） |
+| 17 | insChargeEnable | u8 | 仪表电池充电使能（0x30=不允许充电） |
+| 18 | insBatCmd | u8 | 仪表电池指令（`BatteryCommand`） |
+| 19 | powerBatCmd | u8 | 动力电池指令 |
+| 20~21 | powerBatEfficiency | u16 | 动力电池效率（0=最大） |
+| 22 | heartbeat | u8 | 心跳计数（周期自增） |
+| 23 | masterState | u8 | 主站状态（0xAA=运行中） |
+| 24~27 | paceholder1 | u32 | 预留 |
+| 28~31 | paceholder2 | u32 | 预留 |
+| 32~35 | checkCode | u32 | 校验和（累加和低 8 位） |
+
+#### 3.4.2 参数设定指令 `msg_CcuSetParmMsg`（0x0041，发送）
+
+总长度 20 字节。
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 0x20 |
+| 1 | start2 | u8 | 起始符 0x20 |
+| 2~3 | id | u16 | 消息标识 0x0041 |
+| 4~5 | length | u16 | 数据区长度（=10） |
+| 6 | insSocHold1 | u8 | 仪表 SOC 保持门限 1 |
+| 7 | insSocHold2 | u8 | 仪表 SOC 保持门限 2 |
+| 8 | insSocHold3 | u8 | 仪表 SOC 保持门限 3 |
+| 9 | fcuToInsLimit1 | u8 | FCU→仪表限功率 1 |
+| 10 | fcuToinsLimit2 | u8 | FCU→仪表限功率 2 |
+| 11 | powerSocHold1 | u8 | 动力 SOC 保持门限 1 |
+| 12 | powerSocHold2 | u8 | 动力 SOC 保持门限 2 |
+| 13 | powerSocHold3 | u8 | 动力 SOC 保持门限 3 |
+| 14 | fcuToPowerLimit1 | u8 | FCU→动力限功率 1 |
+| 15 | fcuToPowerLimit2 | u8 | FCU→动力限功率 2 |
+| 16~19 | checkCode | u32 | 校验和（累加和低 8 位） |
+
+#### 3.4.3 状态反馈 `msg_CcuStateFbMsg`（0x0051，接收）
+
+总长度 182 字节。
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 0x20 |
+| 1 | start2 | u8 | 起始符 0x20 |
+| 2~3 | id | u16 | 消息标识 0x0051 |
+| 4~5 | length | u16 | 数据区长度 |
+| 6 | fc_mode | u8 | 燃料电池运行模式（00=无效,01=调试,02=自动,03=补给） |
+| 7 | fc_status | u8 | 燃料电池状态（`FcuState`） |
+| 8 | fc_fault_level | u8 | 故障等级（00=无,10=一级,20=二级,30=三级,40=四级） |
+| 9~10 | output_power_limit | u16 | 输出功率限制 [W]，0~30000 |
+| 11~12 | total_generation_time | u16 | 累计发电时间 [0.1h]，最大 6553.5h |
+| 13~14 | total_generation_power | u16 | 累计发电总功率 [W] |
+| 15~16 | fault_level_1 | u16 | 一级故障位 |
+| 17~18 | fault_level_2 | u16 | 二级故障位 |
+| 19~20 | fault_level_3 | u16 | 三级故障位 |
+| 21~22 | fault_level_4 | u16 | 四级故障位 |
+| 23 | hydrogen_capacity | u8 | 储氢罐剩余容量 [%] |
+| 24 | liquid_oxygen_capacity | u8 | 液氧罐剩余容量 [%] |
+| 25~26 | palladium_temp | u16 | 钯膜最高温度 [℃] |
+| 27~28 | main_pipe_pressure | u16 | 主水路压力 [0.01kPa] |
+| 29~30 | aux_pipe_pressure | u16 | 辅水路压力 [0.01kPa] |
+| 31~32 | cabin_pressure1 | u16 | 舱室1压力 [0.01kPa] |
+| 33~34 | cabin_pressure2 | u16 | 舱室2压力 [0.01kPa] |
+| 35~36 | cabin_temp1 | u16 | 舱室1温度 [0.01℃] |
+| 37~38 | cabin_temp2 | u16 | 舱室2温度 [0.01℃] |
+| 39~40 | cabin_humidity1 | u16 | 舱室1湿度 [0.01%RH] |
+| 41~42 | cabin_humidity2 | u16 | 舱室2湿度 [0.01%RH] |
+| 43 | flame_detector1 | u8 | 火焰探测器1（00=无效,01=报警,02=故障） |
+| 44 | flame_detector2 | u8 | 火焰探测器2 |
+| 45~46 | h2_concentration1 | u16 | 舱室H2浓度1 [0.01% LEL] |
+| 47~48 | h2_concentration2 | u16 | 舱室H2浓度2 [0.01% LEL] |
+| 49~50 | h2_concentration3 | u16 | 舱室H2浓度3 [0.01% LEL] |
+| 51~52 | o2_concentration1 | u16 | 舱室O2浓度1 [0.01% LEL] |
+| 53~54 | o2_concentration2 | u16 | 舱室O2浓度2 [0.01% LEL] |
+| 55~56 | ch3oh_concentration1 | u16 | 舱室甲醇浓度1 [0.01% LEL] |
+| 57~58 | ch3oh_concentration2 | u16 | 舱室甲醇浓度2 [0.01% LEL] |
+| 59~62 | reserved1[2] | u16×2 | 保留 |
+| 63~64 | emergency_battery1_voltage | u16 | 应急电池1总电压 [V] |
+| 65~66 | emergency_battery1_current | u16 | 应急电池1总电流 [A] |
+| 67~68 | emergency_battery1_max_temp | u16 | 应急电池1最高温度 [℃] |
+| 69~70 | emergency_battery1_fault_word | u16 | 应急电池1故障字 |
+| 71~72 | emergency_battery2_voltage | u16 | 应急电池2总电压 [V] |
+| 73~74 | emergency_battery2_current | u16 | 应急电池2总电流 [A] |
+| 75~76 | emergency_battery2_max_temp | u16 | 应急电池2最高温度 [℃] |
+| 77~78 | emergency_battery2_fault_word | u16 | 应急电池2故障字 |
+| 79~80 | cabin_ox_concentration | u16 | 仪表舱氧气浓度 [%] |
+| 81~82 | cabin_temperature | u16 | 仪表舱温度 [℃] |
+| 83~84 | cabin_humidity | u16 | 仪表舱湿度 [%RH] |
+| 85~86 | cabin_pressure | u16 | 仪表舱大气压 [kPa] |
+| 87~88 | power_cabin_ox_concentration | u16 | 动力舱氧气浓度 [%] |
+| 89~90 | power_cabin_temperature | u16 | 动力舱温度 [℃] |
+| 91~92 | power_cabin_humidity | u16 | 动力舱湿度 [%RH] |
+| 93~94 | power_cabin_pressure | u16 | 动力舱大气压 [kPa] |
+| 95 | reserved2[1] | u8 | 保留 |
+| 96~101 | dyn_alarm_flag[6] | u8×6 | 动力锂电池报警标志 |
+| 102~107 | ins_alarm_flag[6] | u8×6 | 仪表锂电池报警标志 |
+| 108 | ins_relay_status1 | u8 | 仪表电池正极(高4)/充电(低4)继电器 |
+| 109 | ins_relay_status2 | u8 | 仪表电池预充/负极继电器 |
+| 110 | dyn_relay_status1 | u8 | 动力电池正极/充电继电器 |
+| 111 | dyn_relay_status2 | u8 | 动力电池预充/负极继电器 |
+| 112~113 | ins_max_discharge_power | u16 | 仪表电池最大放电功率 [kW, 0.05] |
+| 114~115 | dyn_max_discharge_power | u16 | 动力电池最大放电功率 [kW, 0.05] |
+| 116 | ins_soc | u8 | 仪表电池 SOC [%] |
+| 117 | dyn_soc | u8 | 动力电池 SOC [%] |
+| 118~119 | ins_total_energy | u16 | 仪表电池总能量 [kWh] |
+| 120~121 | dyn_total_energy | u16 | 动力电池总能量 [kWh] |
+| 122~123 | ins_power_input | u16 | 仪表电池输入功率 [kW] |
+| 124~125 | dyn_power_input | u16 | 动力电池输入功率 [kW] |
+| 126 | ins_charge_status | u8 | 仪表电池充放电（00=无效,10=充电,20=放电） |
+| 127 | dyn_charge_status | u8 | 动力电池充放电状态 |
+| 128~129 | ins_voltage_link | u16 | 仪表电池 LINK 电压 [0.01V] |
+| 130~131 | ins_voltage_pack | u16 | 仪表电池 PACK 电压 [0.01V] |
+| 132~133 | ins_current | u16 | 仪表电池电流 [0.01A]，正值放电 |
+| 134~135 | ins_resistance_pos | u16 | 仪表电池正极绝缘电阻 [kΩ] |
+| 136~137 | ins_resistance_neg | u16 | 仪表电池负极绝缘电阻 [kΩ] |
+| 138~139 | dyn_voltage_link | u16 | 动力电池 LINK 电压 [0.01V] |
+| 140~141 | dyn_voltage_pack | u16 | 动力电池 PACK 电压 [0.01V] |
+| 142~143 | dyn_current | u16 | 动力电池电流 [0.01A]，正值放电 |
+| 144~145 | dyn_resistance_pos | u16 | 动力电池正极绝缘电阻 [kΩ] |
+| 146~147 | dyn_resistance_neg | u16 | 动力电池负极绝缘电阻 [kΩ] |
+| 148 | ins_emergency_status | u8 | 仪表电池紧急状态（0x00=无,0x3A=4级…0x3D=1级） |
+| 149 | dyn_emergency_status | u8 | 动力电池紧急状态 |
+| 150~151 | reserved3[2] | u8×2 | 保留 |
+| 152 | ins_soc_threshold1 | u8 | 仪表电池1 SOC 门限 |
+| 153 | ins_soc_threshold2 | u8 | 仪表电池2 SOC 门限 |
+| 154 | ins_soc_threshold3 | u8 | 仪表电池3 SOC 门限 |
+| 155 | dyn_soc_threshold1 | u8 | 动力电池1 SOC 门限 |
+| 156 | dyn_soc_threshold2 | u8 | 动力电池2 SOC 门限 |
+| 157 | dyn_soc_threshold3 | u8 | 动力电池3 SOC 门限 |
+| 158 | ins_power_limit1 | u8 | 仪表电池1功率限制 [%] |
+| 159 | ins_power_limit2 | u8 | 仪表电池2功率限制 [%] |
+| 160 | dyn_power_limit1 | u8 | 动力电池1功率限制 [%] |
+| 161 | dyn_power_limit2 | u8 | 动力电池2功率限制 [%] |
+| 162~165 | device_online_flag1 | u32 | 设备在线标志1（byte0=低压配电板,byte1=CCU主机,byte2=CCU备机） |
+| 166~169 | device_online_flag2 | u32 | 设备在线标志2（byte0=仪表锂电,byte1=动力锂电,byte2=燃电锂电,byte3=高压配电板） |
+| 170 | dyn_charge_level | u8 | 动力电池充电（01=1级,02=2级限功率,03=3级关闭） |
+| 171 | dyn_water_leak_status | u8 | 动力漏水（0X=正常,1X=异常） |
+| 172 | ins_water_leak_dcdc_status | u8 | 仪表漏水(低4)/DCDC(高4)状态 |
+| 173 | reserved4 | u8 | 保留 |
+| 174~177 | heartbeat | u32 | 主机心跳 |
+| 178~181 | checkCode | u32 | 校验和 |
+
+#### 3.4.4 参数设定反馈 `msg_CcuSetParmFbMsg`（0x0040，接收）
+
+总长度 12 字节。
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 0x20 |
+| 1 | start2 | u8 | 起始符 0x20 |
+| 2~3 | id | u16 | 消息标识 0x0040 |
+| 4~5 | length | u16 | 数据区长度 |
+| 6 | flag | u8 | 应答标志 |
+| 7 | failureCode | u8 | 失败码 |
+| 8~11 | checkCode | u32 | 校验和 |
+
+### 3.5 配电系统报文
+
+断路器字段取值：
+
+| 值 | 含义 |
+|----|------|
+| `0x55` | 合闸（ON） |
+| `0xAA` | 分闸（OFF） |
+| `0x00` | 无操作 / 保持 |
+| `0x5A` | 故障脱扣（仅反馈） |
+
+#### 3.5.1 高压母线（BUS1）
+
+**指令 `msg_disHVBCmd`（0x0001，发送）**
+
+总长度 21 字节。
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 0x40 |
+| 1 | start2 | u8 | 起始符 0x40 |
+| 2~3 | id | u16 | 消息标识 0x0001 |
+| 4~5 | length | u16 | 数据区长度（固定 18） |
+| 6 | fuelCellCircuitBreaker | u8 | 燃料电池断路器 |
+| 7 | powerLithiumBatteryCircuitBreaker | u8 | 动力锂电池断路器 |
+| 8 | propulsionMotorCircuitBreaker | u8 | 推进电机断路器 |
+| 9 | lithiumBatteryGroupInstrumentCircuitBreaker | u8 | 锂电池组仪表断路器 |
+| 10 | dcDc5ModuleCircuitBreaker | u8 | DC/DC5模块断路器 |
+| 11 | bowHighVoltageDistributionBoxCircuitBreaker | u8 | 艏部高压配电箱断路器 |
+| 12 | sternFTDevice45CircuitBreaker | u8 | 艉部FT装置4/5断路器 |
+| 13 | fbReservedCircuitBreaker | u8 | FB预留断路器 |
+| 14 | sternRudderSwitch1CircuitBreaker | u8 | 艉舵开关1断路器 |
+| 15 | sternRudderSwitch2CircuitBreaker | u8 | 艉舵开关2断路器 |
+| 16 | tyzReservedCircuitBreaker | u8 | TYZ预留断路器 |
+| 17 | reservedCircuitBreaker | u8 | 预留断路器 |
+| 18 | dcdc5Module | u8 | DC/DC5模块启动 |
+| 19 | coolingSystem | u8 | 冷却系统启动 |
+| 20 | checkCode | u8 | 校验和（累加和低 8 位） |
+
+**反馈 `msg_disHighVolBusFbMsg`（0x0005，接收）**
+
+总长度 60 字节。
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 0x40 |
+| 1 | start2 | u8 | 起始符 0x40 |
+| 2~3 | id | u16 | 消息标识 0x0005 |
+| 4~5 | length | u16 | 数据区长度 |
+| 6 | fuelCellCircuitBreaker | u8 | 燃料电池断路器状态 |
+| 7 | powerLithiumBatteryCircuitBreaker | u8 | 动力锂电池断路器状态 |
+| 8 | propulsionMotorCircuitBreaker | u8 | 推进电机断路器状态 |
+| 9 | lithiumBatteryGroupInstrumentCircuitBreaker | u8 | 锂电池组仪表断路器状态 |
+| 10 | dcDc5ModuleCircuitBreaker | u8 | DC/DC5模块断路器状态 |
+| 11 | bowHighVoltageDistributionBoxCircuitBreaker | u8 | 艏部高压配电箱断路器状态 |
+| 12 | sternFTDevice45CircuitBreaker | u8 | 艉部FT装置4/5断路器状态 |
+| 13 | fbReservedCircuitBreaker | u8 | FB预留断路器状态 |
+| 14 | sternRudderSwitch1CircuitBreaker | u8 | 艉舵开关1断路器状态 |
+| 15 | sternRudderSwitch2CircuitBreaker | u8 | 艉舵开关2断路器状态 |
+| 16 | tyzReservedCircuitBreaker | u8 | TYZ预留断路器状态 |
+| 17 | reservedCircuitBreaker | u8 | 预留断路器状态 |
+| 18 | dcDcFaultWord1 | u8 | DC/DC5故障字低（Bit0过温关机…Bit7内部故障） |
+| 19 | dcDcFaultWord2 | u8 | DC/DC5故障字高（Bit0通讯故障,Bit1工作状态,Bit2/3冷却泵1/2故障,Bit5/6冷却泵1/2运行） |
+| 20 | powerBusInsulationStatus | u8 | 动力母排绝缘状态（0x55正常,0xAA绝缘低） |
+| 21 | aBusInsulationStatus | u8 | A汇流排绝缘状态（0x55正常,0xAA绝缘低） |
+| 22 | meterPowerLossSignal | u8 | 仪表电源状态（0x55正常,0xAA故障） |
+| 23 | emergencyPowerLossSignal | u8 | 应急电源状态（0x55正常,0xAA故障） |
+| 24 | dcDcTemperature | u8 | DC/DC温度 |
+| 25~26 | powerBusVoltage | u16 | 动力汇流排电压 |
+| 27~28 | dcDc5ModuleCurrent | u16 | DC/DC5模块电流 |
+| 29~30 | powerBusCurrent | u16 | 动力汇流排电流 |
+| 31~32 | busbarAVoltage | u16 | A汇流排电压 |
+| 33~34 | propulsionMotorControlBoxCurrent | u16 | 推进电机控制箱电流 |
+| 35~36 | busbarACurrent | u16 | A汇流排电流 |
+| 37~38 | lithiumBatteryGroupMeterCurrent | u16 | 锂电池组(仪表)电流 |
+| 39~40 | bowHighVoltageDistributionBoxCurrent | u16 | 艏部高压配电箱电流 |
+| 41~42 | sternFTDevice45Current | u16 | 艉部FT装置4/5电流 |
+| 43~44 | tyzReservedSwitchCurrent | u16 | TYZ预留开关电流 |
+| 45~46 | sternRudderSwitch1Current | u16 | 艉舵开关1电流 |
+| 47~48 | reservedCurrent1 | u16 | 预留电流1 |
+| 49~50 | sternRudderSwitch2Current | u16 | 艉舵开关2电流 |
+| 51~52 | reservedCurrent2 | u16 | 预留电流2 |
+| 53~54 | fbReservedSwitchCurrent | u16 | FB预留电流 |
+| 55~56 | reservedCurrent3 | u16 | 预留电流3 |
+| 57~58 | coolWaterPressure | u16 | 冷却水压力 |
+| 59 | checkCode | u8 | 校验和（累加和低 8 位） |
+
+#### 3.5.2 高压汇流排 A（BUS2）
+
+**指令 `msg_disHVBACmd`（0x0002，发送）**
+
+总长度 13 字节。
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 0x40 |
+| 1 | start2 | u8 | 起始符 0x40 |
+| 2~3 | id | u16 | 消息标识 0x0002 |
+| 4~5 | length | u16 | 数据区长度（固定 6） |
+| 6 | bowFTDevice123CircuitBreaker | u8 | 艏部FT装置1/2/3断路器 |
+| 7 | actuatorCircuitBreaker | u8 | 启闭机构断路器 |
+| 8 | mastSteeringGearControlBoxCircuitBreaker | u8 | 桅杆舵机控制箱断路器 |
+| 9 | xczCircuitBreaker | u8 | XCZ断路器 |
+| 10 | bowRudderControlBoxCircuitBreaker | u8 | 艏舵控制箱断路器 |
+| 11 | openWaterCoverStartCylinderCircuitBreaker | u8 | 敞水盖启动电缸断路器 |
+| 12 | checkCode | u8 | 校验和（累加和低 8 位） |
+
+**反馈 `msg_disHighAVolBusFbMsg`（0x0006，接收）**
+
+总长度 32 字节。
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 0x40 |
+| 1 | start2 | u8 | 起始符 0x40 |
+| 2~3 | id | u16 | 消息标识 0x0006 |
+| 4~5 | length | u16 | 数据区长度 |
+| 6 | bowFTDevice123CircuitBreaker | u8 | 艏部FT装置1/2/3断路器状态 |
+| 7 | actuatorCircuitBreaker | u8 | 启闭机构断路器状态 |
+| 8 | mastSteeringGearControlBoxCircuitBreaker | u8 | 桅杆舵机控制箱断路器状态 |
+| 9 | xczCircuitBreaker | u8 | XCZ断路器状态 |
+| 10 | bowRudderControlBoxCircuitBreaker | u8 | 艏舵控制箱断路器状态 |
+| 11 | openWaterCoverStartCylinderCircuitBreaker | u8 | 敞水盖启动电缸断路器状态 |
+| 12 | instrumentPowerFailureSignal | u8 | 仪表电源失电信号（0x55正常,0xAA故障） |
+| 13 | emergencyPowerFailureSignal | u8 | 应急电源失电信号（0x55正常,0xAA故障） |
+| 14 | waterIngressionAlarm | u8 | 浸水报警 |
+| 15~16 | busbarBVoltage | u16 | 汇流排B电压 |
+| 17~18 | busbarBCurrent | u16 | 汇流排B电流 |
+| 19~20 | bowFTDevice123Current | u16 | 艏部FT装置1/2/3电流 |
+| 21~22 | actuatorCurrent | u16 | 启闭机构电流 |
+| 23~24 | mastSteeringGearControlBoxCurrent | u16 | 桅杆舵机控制箱电流 |
+| 25~26 | xczCurrent | u16 | XCZ电流 |
+| 27~28 | bowRudderControlBoxCurrent | u16 | 艏舵控制箱电流 |
+| 29~30 | openWaterCoverStartCylinderCurrent | u16 | 敞水盖启动电缸电流 |
+| 31 | checkCode | u8 | 校验和（累加和低 8 位） |
+
+#### 3.5.3 仪表母线（BUS3，低压主母线）
+
+**指令 `msg_disHVBBCmd`（0x0003，发送）**
+
+总长度 14 字节。
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 0x40 |
+| 1 | start2 | u8 | 起始符 0x40 |
+| 2~3 | id | u16 | 消息标识 0x0003 |
+| 4~5 | length | u16 | 数据区长度（固定 8） |
+| 6 | lithiumBatteryGroupInstrumentCircuitBreaker | u8 | 锂电池组(仪表)断路器 |
+| 7 | bowLowVoltageDistributionBoxCircuitBreaker | u8 | 艏部低压配电箱断路器 |
+| 8 | unit4InstrumentDC48VCircuitBreaker | u8 | UNIT4仪表DC48V断路器 |
+| 9 | dcC1DCDistributionPanelCircuitBreaker | u8 | DC-C1直流配电板断路器 |
+| 10 | reservedCircuitBreaker1 | u8 | 预留断路器1 |
+| 11 | reservedCircuitBreaker2 | u8 | 预留断路器2 |
+| 12 | emergencyLithiumBatteryGroup2CircuitBreaker | u8 | 应急锂电池组2断路器 |
+| 13 | checkCode | u8 | 校验和（累加和低 8 位） |
+
+**反馈 `msg_disLowMainBusFbMsg`（0x0007，接收）**
+
+总长度 41 字节。
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 0x40 |
+| 1 | start2 | u8 | 起始符 0x40 |
+| 2~3 | id | u16 | 消息标识 0x0007 |
+| 4~5 | length | u16 | 数据区长度 |
+| 6 | lithiumBatteryGroupInstrumentCircuitBreaker | u8 | 锂电池组(仪表)断路器状态 |
+| 7 | bowLowVoltageDistributionBoxCircuitBreaker | u8 | 艏部低压配电箱断路器状态 |
+| 8 | unit4InstrumentDC48VCircuitBreaker | u8 | UNIT4仪表DC48V断路器状态 |
+| 9 | dcC1DCDistributionPanelCircuitBreaker | u8 | DC-C1直流配电板断路器状态 |
+| 10 | reservedCircuitBreaker1 | u8 | 预留断路器1状态 |
+| 11 | reservedCircuitBreaker2 | u8 | 预留断路器2状态 |
+| 12 | emergencyLithiumBatteryGroup2CircuitBreaker | u8 | 应急锂电池组2断路器状态 |
+| 13 | instrumentPowerFailureSignal | u8 | 仪表电源失电信号（0x55正常,0xAA故障） |
+| 14 | emergencyPowerFailureSignal | u8 | 应急电源失电信号（0x55正常,0xAA故障） |
+| 15 | instrumentBusbarInsulationLow | u8 | 仪表汇流排绝缘低（0x55正常,0x55绝缘低） |
+| 16~17 | instrumentBusbarVoltage | u16 | 仪表母排电压 |
+| 18~19 | bowLowVoltageDistributionBoxCurrent | u16 | 艏部低压配电箱电流 |
+| 20~21 | dcC1InstrumentDC48VCurrent | u16 | DC-C1仪表DC48V电流 |
+| 22~23 | reservedCurrent1 | u16 | 预留电流1 |
+| 24~25 | emergencyLithiumBatteryGroup2Current | u16 | 应急锂电池组2电流 |
+| 26~27 | lithiumBatteryGroupInstrumentCurrent | u16 | 锂电池组(仪表)电流 |
+| 28~29 | unit4InstrumentDC48VCurrent | u16 | UNIT4仪表DC48V电流 |
+| 30~31 | reservedCurrent2 | u16 | 预留电流2 |
+| 32~33 | emergency2BusbarVoltage | u16 | 应急2汇流排电压 |
+| 34~35 | compositeEnergyManagementSystemEmergencyDC48VCurrent | u16 | 复合能源管控系统应急DC48V电流 |
+| 36~37 | fuelCellSecuritySystemEmergencyDC48VCurrent | u16 | 燃料电池安全系统应急DC48V电流 |
+| 38~39 | plcControlPowerCurrent | u16 | PLC控制电源电流 |
+| 40 | checkCode | u8 | 校验和（累加和低 8 位） |
+
+#### 3.5.4 仪表汇流排（BUS4）
+
+**指令 `msg_disLVBCmd`（0x0004，发送）**
+
+总长度 15 字节。
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 0x40 |
+| 1 | start2 | u8 | 起始符 0x40 |
+| 2~3 | id | u16 | 消息标识 0x0004 |
+| 4~5 | length | u16 | 数据区长度（固定 8） |
+| 6 | unit1CircuitBreaker | u8 | UNIT1断路器 |
+| 7 | unit2CircuitBreaker | u8 | UNIT2断路器 |
+| 8 | unit3CircuitBreaker | u8 | UNIT3断路器 |
+| 9 | unit5CircuitBreaker | u8 | UNIT5断路器 |
+| 10 | bowPZDeviceCircuitBreaker | u8 | 艏部PZ装置断路器 |
+| 11 | reservedCircuitBreaker1 | u8 | 预留断路器1 |
+| 12 | reservedCircuitBreaker2 | u8 | 预留断路器2 |
+| 13 | emergencyLithiumBatteryGroup1CircuitBreaker | u8 | 应急锂电池组1断路器 |
+| 14 | checkCode | u8 | 校验和（累加和低 8 位） |
+
+**反馈 `msg_disLowBusFbMsg`（0x0008，接收）**
+
+总长度 36 字节。
+
+| 偏移(字节) | 字段 | 类型 | 说明 |
+|------------|------|------|------|
+| 0 | start1 | u8 | 起始符 0x40 |
+| 1 | start2 | u8 | 起始符 0x40 |
+| 2~3 | id | u16 | 消息标识 0x0008 |
+| 4~5 | length | u16 | 数据区长度 |
+| 6 | unit1CircuitBreaker | u8 | UNIT1断路器状态 |
+| 7 | unit2CircuitBreaker | u8 | UNIT2断路器状态 |
+| 8 | unit3CircuitBreaker | u8 | UNIT3断路器状态 |
+| 9 | unit5CircuitBreaker | u8 | UNIT5断路器状态 |
+| 10 | bowPZDeviceCircuitBreaker | u8 | 艏部PZ装置断路器状态 |
+| 11 | reservedCircuitBreaker1 | u8 | 预留断路器1状态 |
+| 12 | reservedCircuitBreaker2 | u8 | 预留断路器2状态 |
+| 13 | emergencyLithiumBatteryGroup1CircuitBreaker | u8 | 应急锂电池组1断路器状态 |
+| 14 | powerFailureSignal | u8 | 仪表电源失电信号（0x55正常,0xAA故障） |
+| 15 | emergencyPowerFailureSignal | u8 | 应急电源失电信号（0x55正常,0xAA故障） |
+| 16 | waterIngressionAlarm | u8 | 浸水报警（0x55正常,0xAA故障） |
+| 17~18 | instrumentBusbarVoltage | u16 | 仪表母排电压 |
+| 19~20 | instrumentBusbarCurrent | u16 | 仪表母排电流 |
+| 21~22 | unit1Current | u16 | UNIT1电流 |
+| 23~24 | unit2Current | u16 | UNIT2电流 |
+| 25~26 | unit3Current | u16 | UNIT3电流 |
+| 27~28 | unit5Current | u16 | UNIT5电流 |
+| 29~30 | bowPZDeviceCurrent | u16 | 艏部PZ装置电流 |
+| 31~32 | emergencyLithiumBatteryGroup1Current | u16 | 应急锂电池组1电流 |
+| 33~34 | emergency1BusbarVoltage | u16 | 应急1汇流排电压 |
+| 35 | checkCode | u8 | 校验和（累加和低 8 位） |
+
+---
+
+## 4. 附录：常量与枚举
+
+### 4.1 断路器 / 信号常量
+
+```c
+#define BREAK_OFF   0xAA   // 分闸
+#define BREAK_ON    0x55   // 合闸
+#define BREAK_FALSE 0x5A   // 故障脱扣（仅反馈）
+```
+
+### 4.2 燃料电池控制指令 `FcuCommand`
+
+| 值 | 含义 |
+|----|------|
+| 0x01 | 自检 SelfCheck |
+| 0x02 | 启动 Start |
+| 0x03 | 停机 Stop |
+| 0x04 | 复位 Reset |
+| 0x05 | 急停 EmergencyStop |
+| 0x06 | 补给 Supply |
+| 0x07 | 预热 WarmUp |
+| 0x08 | 维护 Maintenance |
+
+### 4.3 燃料电池状态 `FcuState`
+
+| 值 | 含义 | 值 | 含义 |
+|----|------|----|------|
+| 0x01 | 初始化 Init | 0x08 | 故障 Fault |
+| 0x02 | 待机 Standby | 0x09 | 补给 Supply |
+| 0x03 | 自检异常 SelfCheckError | 0x0A | 预热 WarmUp |
+| 0x04 | 就绪 Ready | 0x0B | 预热完成 WarmUpComplete |
+| 0x05 | 启动 Start | 0x0C | 维护 Maintenance |
+| 0x06 | 运行 Running | 0x0D | 维护完成 MaintenanceComplete |
+| 0x07 | 停机 Stop | — | — |
+
+### 4.4 电池指令 `BatteryCommand`
+
+| 值 | 含义 |
+|----|------|
+| 0x00 | 保持 Hold |
+| 0x10 | 启动 Start |
+| 0x20 | 停机 Stop |
+
+### 4.5 设备控制 `EquipmentCommand`
+
+| 值 | 含义 |
+|----|------|
+| 0 | 断电 OFF |
+| 1 | 上电 ON |
+| 2 | 仪表电上电 METER_ON |
+| 3 | 动力电上电 POWER_ON |
+| 4 | 仪表电断电 METER_OFF |
+| 5 | 动力电断电 POWER_OFF |
+
+### 4.6 任务类型 `TaskType`
+
+| 值 | 含义 | 字符串 |
+|----|------|--------|
+| 1 | 抛载 | throwLoad |
+| 2 | 运动上浮 | floatUp |
+| 3 | 回收 | recycle |
+| 4 | 悬停 | hover |
+| 5 | 上浮通信 | satComm |
+| 6 | 上浮校准 | satCalibrate |
+| 7 | 游曳 | tour |
+| 8 | 航行 | sail |
+| 9 | 紧急上浮通信 | emerSatComm |
+| 10 | 紧急航行 | emerSail |
+
+### 4.7 工况 `WorkCondition`
+
+| 值 | 含义 | 值 | 含义 |
+|----|------|----|------|
+| 0 | 工况切换中 | 7 | 上浮下潜 |
+| 1 | 待机 | 8 | 浮调模式 |
+| 2 | 岸基备航 | 9 | 水下侦查 |
+| 3 | 水中备航 | 10 | 水面侦查 |
+| 4 | 遥控工况 | 11 | DJ模式 |
+| 5 | 巡航模式 | 12 | 调试模式 |
+| 6 | 高速模式 | — | — |
+
+### 4.8 运行模式 `RunMode`
+
+| 值 | 含义 |
+|----|------|
+| 0 | 正常模式 Normal |
+| 1 | 测试模式 Test |
+| 2 | 调试模式 Debug |
+
+### 4.9 故障码格式
+
+- 系统故障码：`faultCode` 中每个值为 `0xabcd`，`b` 位（右移 8 位取低 4 位）表示故障等级（`PowerManger::getFaultLevel()`）。
+- 锂电池故障码映射表：`src/pPowerManger/faultCode.h` 中 `batfaultMap`（1~4 级，0x01~0xC9）。
+- 配电故障码映射表：`src/pPowerManger/faultCode.h` 中 `disfaultMap`（1~45 项断路器脱扣/绝缘/失电/浸水故障）。
diff --git a/scripts/run_host_sim.sh b/scripts/run_host_sim.sh
new file mode 100755
index 0000000..0b4a815
--- /dev/null
+++ b/scripts/run_host_sim.sh
@@ -0,0 +1,306 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/run_host_sim.sh
+# DESC:  运行与测试 pPowerMangerHost（模拟 pPowerManger 上位机的网页程序）
+#
+# 用法:
+#   ./scripts/run_host_sim.sh run             启动 MOOSDB + pPowerManger
+#                                             + pPowerMangerHost（前台运行，
+#                                             Ctrl-C 退出并清理）
+#   ./scripts/run_host_sim.sh test            自动化测试 pPowerMangerHost：
+#                                             网页 HTTP / WebSocket 反馈 /
+#                                             指令下发到 MOOSDB
+#   ./scripts/run_host_sim.sh build           仅编译需要的目标
+#   ./scripts/run_host_sim.sh stop            清理残留进程
+#   ./scripts/run_host_sim.sh help            显示帮助
+#
+# 环境变量（可覆盖）:
+#   SERVER_HOST       MOOSDB 地址（默认 localhost）
+#   SERVER_PORT       MOOSDB 端口（默认 9000）
+#   WEB_PORT         网页监听端口（默认 18080）
+#   WITH_POWERMANGER run 模式是否同时启动 pPowerManger（默认 1）
+#=======================================================================
+set -uo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+BIN_DIR="${ROOT}/bin"
+MOOS_TEMPLATE="${ROOT}/src/pPowerMangerHost/pPowerMangerHost.moos"
+
+SERVER_HOST="${SERVER_HOST:-localhost}"
+SERVER_PORT="${SERVER_PORT:-9000}"
+WEB_PORT="${WEB_PORT:-18080}"
+WITH_POWERMANGER="${WITH_POWERMANGER:-1}"
+
+MOOSDB_BIN="${MOOSDB_BIN:-$(command -v MOOSDB || true)}"
+POKE_BIN="$(command -v uPokeDB || true)"
+PM_BIN="${BIN_DIR}/pPowerManger"
+HOST_BIN="${BIN_DIR}/pPowerMangerHost"
+
+MOOSDB_PID=""
+PM_PID=""
+HOST_PID=""
+WORKDIR=""
+MISSION=""
+
+info()  { printf '\033[1;36m[host-sim]\033[0m %s\n' "$*"; }
+ok()    { printf '\033[1;32m[host-sim]\033[0m %s\n' "$*"; }
+warn()  { printf '\033[1;33m[host-sim]\033[0m %s\n' "$*"; }
+err()   { printf '\033[1;31m[host-sim]\033[0m %s\n' "$*"; }
+
+usage() {
+  sed -n '2,23p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+  exit 0
+}
+
+# 生成临时 mission 文件（同时含 pPowerManger 与 pPowerMangerHost 两个配置块）
+make_mission() {
+  WORKDIR="$(mktemp -d)"
+  MISSION="${WORKDIR}/host_sim.moos"
+  cat > "${MISSION}" <<EOF
+ServerHost = ${SERVER_HOST}
+ServerPort = ${SERVER_PORT}
+Community  = h100hostsim
+
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+}
+
+ProcessConfig = pPowerMangerHost
+{
+   AppTick   = 4
+   CommsTick = 4
+   WEB_PORT  = ${WEB_PORT}
+}
+EOF
+}
+
+kill_proc() {
+  [ -n "$1" ] && kill "$1" 2>/dev/null && wait "$1" 2>/dev/null
+}
+
+cleanup() {
+  kill_proc "${HOST_PID}"
+  kill_proc "${PM_PID}"
+  kill_proc "${MOOSDB_PID}"
+  [ -n "${WORKDIR}" ] && rm -rf "${WORKDIR}"
+}
+
+build_targets() {
+  info "编译 pPowerManger / pPowerMangerHost ..."
+  mkdir -p "${ROOT}/build"
+  cd "${ROOT}/build"
+  cmake -DCMAKE_BUILD_TYPE=Release "${ROOT}" >/dev/null 2>&1 || { err "cmake 失败"; return 1; }
+  make -j2 pPowerManger pPowerMangerHost >/dev/null 2>&1 || { err "make 失败"; return 1; }
+  cd "${ROOT}"
+  ok "编译完成"
+}
+
+check_binaries() {
+  local missing=0
+  [ -n "${MOOSDB_BIN}" ] || { err "未找到 MOOSDB（请加入 PATH）"; missing=1; }
+  [ -x "${HOST_BIN}" ]  || { err "未找到 ${HOST_BIN}（请先运行: $0 build）"; missing=1; }
+  if [ "${WITH_POWERMANGER}" = "1" ]; then
+    [ -x "${PM_BIN}" ]  || { err "未找到 ${PM_BIN}（请先运行: $0 build）"; missing=1; }
+  fi
+  return "${missing}"
+}
+
+start_moosdb() {
+  make_mission
+  info "启动 MOOSDB (${SERVER_HOST}:${SERVER_PORT}) ..."
+  "${MOOSDB_BIN}" --moos_no_colour "${MISSION}" > "${WORKDIR}/moosdb.log" 2>&1 &
+  MOOSDB_PID=$!
+  sleep 1
+  kill -0 "${MOOSDB_PID}" 2>/dev/null || { err "MOOSDB 未存活"; return 1; }
+}
+
+start_pm() {
+  info "启动 pPowerManger ..."
+  ( cd "${WORKDIR}" && exec "${PM_BIN}" "${MISSION}" ) > "${WORKDIR}/pm.log" 2>&1 &
+  PM_PID=$!
+  sleep 1
+  kill -0 "${PM_PID}" 2>/dev/null || warn "pPowerManger 未存活（无 CCU 硬件属正常）"
+}
+
+start_host() {
+  info "启动 pPowerMangerHost (网页端口 ${WEB_PORT}) ..."
+  ( cd "${WORKDIR}" && exec "${HOST_BIN}" "${MISSION}" ) > "${WORKDIR}/host.log" 2>&1 &
+  HOST_PID=$!
+  sleep 2
+  kill -0 "${HOST_PID}" 2>/dev/null || { err "pPowerMangerHost 未存活"; return 1; }
+}
+
+#-----------------------------------------------------------------------
+# 测试项
+#-----------------------------------------------------------------------
+test_http() {
+  info "测试: 网页 HTTP (http://${SERVER_HOST}:${WEB_PORT}/) ..."
+  local code
+  code="$(curl -s -o /dev/null -w '%{http_code}' "http://${SERVER_HOST}:${WEB_PORT}/" 2>/dev/null || echo 000)"
+  if [ "${code}" = "200" ]; then
+    ok "网页 HTTP 200 通过"
+    return 0
+  else
+    err "网页 HTTP 失败 (code=${code})"
+    return 1
+  fi
+}
+
+# 反馈链路：向 MOOSDB 注入一条假的反馈变量 → 宿主订阅后应经 WS 推给浏览器
+test_monitor_loop() {
+  info "测试: 反馈链路 (MOOSDB -> pPowerMangerHost -> WebSocket) ..."
+  if [ -z "${POKE_BIN}" ]; then
+    warn "未找到 uPokeDB，跳过反馈链路测试"
+    return 0
+  fi
+  if ! python3 -c "import websockets" >/dev/null 2>&1; then
+    warn "未安装 python3 websockets，跳过反馈链路测试"
+    return 0
+  fi
+
+  local fb_key="uPower_pmState_fb"
+  local fb_val='{"workCondition_uint8":9,"currentMod_uint8":1,"powerState_uint8":1,"faultLevel_uint8":0,"soc_uint16":88,"sustainableTime_int64":3600,"leakage_uint8":0,"info_str":"host-sim-test"}'
+
+  # 先让 WS 客户端连接等待快照，再注入反馈
+  FB_KEY="${fb_key}" python3 - "${WEB_PORT}" > "${WORKDIR}/ws_fb.log" 2>&1 <<'PY' &
+import asyncio, json, os, sys
+import websockets
+
+PORT = int(sys.argv[1])
+KEY = os.environ["FB_KEY"]
+
+async def main():
+    uri = f"ws://localhost:{PORT}/ws"
+    async with websockets.connect(uri) as ws:
+        try:
+            while True:
+                msg = await asyncio.wait_for(ws.recv(), timeout=8)
+                snap = json.loads(msg)
+                if isinstance(snap, dict) and KEY in snap:
+                    print(f"FEEDBACK_OK {KEY}")
+                    return
+        except asyncio.TimeoutError:
+            pass
+    print("FEEDBACK_TIMEOUT")
+
+asyncio.run(main())
+PY
+  WS_PID=$!
+  sleep 1
+
+  "${POKE_BIN}" --host="${SERVER_HOST}" --port="${SERVER_PORT}" "${fb_key}=${fb_val}" >/dev/null 2>&1
+  wait "${WS_PID}" 2>/dev/null
+
+  if grep -q "FEEDBACK_OK" "${WORKDIR}/ws_fb.log" 2>/dev/null; then
+    ok "反馈链路通过（${fb_key} 已推送到浏览器）"
+    return 0
+  else
+    err "反馈链路失败（WS 未收到 ${fb_key}）"
+    cat "${WORKDIR}/ws_fb.log" >&2
+    return 1
+  fi
+}
+
+# 指令下发：网页 WS 下发 -> 宿主 Notify -> MOOSDB -> (宿主订阅回环) -> 推回浏览器
+# 利用宿主订阅了 uPower_pmState_fb，下发该变量后经 MOOSDB 回环，能收到即证明
+# 指令确实进入了 MOOSDB。
+test_command_notify() {
+  info "测试: 指令下发 (WebSocket -> pPowerMangerHost -> MOOSDB) ..."
+  if ! python3 -c "import websockets" >/dev/null 2>&1; then
+    warn "未安装 python3 websockets，跳过指令下发校验"
+    return 0
+  fi
+
+  python3 - "${WEB_PORT}" > "${WORKDIR}/ws_cmd.log" 2>&1 <<'PY'
+import asyncio, json, sys
+import websockets
+
+PORT = int(sys.argv[1])
+KEY = "uPower_pmState_fb"
+TAG = "cmd-loopback-test"
+
+async def main():
+    uri = f"ws://localhost:{PORT}/ws"
+    async with websockets.connect(uri) as ws:
+        await ws.send(json.dumps({"key": KEY, "value": {"info_str": TAG, "workCondition_uint8": 7}}))
+        try:
+            while True:
+                msg = await asyncio.wait_for(ws.recv(), timeout=8)
+                snap = json.loads(msg)
+                if isinstance(snap, dict) and KEY in snap:
+                    obj = json.loads(snap[KEY])
+                    if obj.get("info_str") == TAG:
+                        print("CMD_OK")
+                        return
+        except asyncio.TimeoutError:
+            pass
+    print("CMD_TIMEOUT")
+
+asyncio.run(main())
+PY
+  local r=$?
+
+  if [ ${r} -eq 0 ] && grep -q "CMD_OK" "${WORKDIR}/ws_cmd.log" 2>/dev/null; then
+    ok "指令下发到 MOOSDB 通过（uPower_pmState_fb 已回环）"
+    return 0
+  else
+    err "指令下发校验失败：未收到回环快照"
+    cat "${WORKDIR}/ws_cmd.log" >&2
+    return 1
+  fi
+}
+
+#-----------------------------------------------------------------------
+# 命令入口
+#-----------------------------------------------------------------------
+cmd_run() {
+  check_binaries || return 1
+  start_moosdb || return 1
+  [ "${WITH_POWERMANGER}" = "1" ] && start_pm
+  start_host || return 1
+
+  info "全部启动完成。"
+  info "浏览器访问: http://${SERVER_HOST}:${WEB_PORT}/"
+  info "按 Ctrl-C 退出并清理。"
+  echo ""
+
+  trap 'info "退出清理..."; cleanup; exit 0' INT TERM
+  while kill -0 "${HOST_PID}" 2>/dev/null; do sleep 1; done
+  info "pPowerMangerHost 已退出。"
+  cleanup
+}
+
+cmd_test() {
+  check_binaries || return 1
+  start_moosdb || return 1
+  start_host || return 1
+
+  local pass=0 fail=0 r
+
+  test_http;          r=$?; [ $r -eq 0 ] && pass=$((pass+1)) || fail=$((fail+1))
+  test_monitor_loop;  r=$?; [ $r -eq 0 ] && pass=$((pass+1)) || fail=$((fail+1))
+  test_command_notify;r=$?; [ $r -eq 0 ] && pass=$((pass+1)) || fail=$((fail+1))
+
+  echo ""
+  info "==== 测试结果: 通过 ${pass} / 失败 ${fail} ===="
+  cleanup
+  [ "${fail}" -eq 0 ]
+}
+
+cmd_stop() {
+  pkill -f "${HOST_BIN}" 2>/dev/null
+  pkill -f "${PM_BIN}" 2>/dev/null
+  pkill -x MOOSDB 2>/dev/null
+  ok "已清理残留进程"
+}
+
+case "${1:-run}" in
+  run)   cmd_run ;;
+  test)  cmd_test ;;
+  build) build_targets ;;
+  stop)  cmd_stop ;;
+  help|-h|--help) usage ;;
+  *)     usage ;;
+esac
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 900b228..40c1d62 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -19,6 +19,7 @@ INCLUDE_DIRECTORIES(${LOCAL_LIBRARY_DIRS})
 ADD_SUBDIRECTORY(pPowerManger)
 # ADD_SUBDIRECTORY(appPowerMangerWebUI)
 add_subdirectory(pPMtest)
+add_subdirectory(pPowerMangerHost)
 ##############################################################################
 #                           END of CMakeLists.txt
 ##############################################################################
diff --git a/src/pPowerManger/httpserver/httpserver.cpp b/src/pPowerManger/httpserver/httpserver.cpp
index 68c82dc..0a466dc 100644
--- a/src/pPowerManger/httpserver/httpserver.cpp
+++ b/src/pPowerManger/httpserver/httpserver.cpp
@@ -865,7 +865,7 @@ void HttpServer::handleLogRequest(struct mg_connection* c, const std::string& ms
             response["type"] = "log";
             response["page"] = page;
             response["pageSize"] = pageSize;
-            response["total"] = static_cast<unsigned long long>(logs.size()); // 返回总条数
+            response["total"] = static_cast<Json::UInt64>(logs.size()); // 返回总条数
             response["content"] = Json::arrayValue;
             
             if (reverse) {
diff --git a/src/pPowerManger/upmsg/uPower_disSysState.h b/src/pPowerManger/upmsg/uPower_disSysState.h
index e7f7fed..6af268a 100644
--- a/src/pPowerManger/upmsg/uPower_disSysState.h
+++ b/src/pPowerManger/upmsg/uPower_disSysState.h
@@ -152,7 +152,7 @@ public:
         m_state_of_bus_hv.set_fb_reserved_breaker((data.power_bus_status.fbReservedCircuitBreaker == 1));
         m_state_of_bus_hv.set_tyz_reserved_breaker((data.power_bus_status.tyzReservedCircuitBreaker == 1));
         m_state_of_bus_hv.set_reserved_breaker((data.power_bus_status.reservedCircuitBreaker == 1));
-        dis["HVolABusBreaker_uint16"]  = static_cast<unsigned long long>(m_state_of_bus_hv.relay_states.to_ulong());
+        dis["HVolABusBreaker_uint16"]  = static_cast<Json::UInt64>(m_state_of_bus_hv.relay_states.to_ulong());
 
 
         m_state_of_bus_hv_a.set_bow_ft_device_1_3_breaker((data.power_a_bus_status.bowFTDevice123CircuitBreaker == 1));
@@ -161,7 +161,7 @@ public:
         m_state_of_bus_hv_a.set_xcz_breaker((data.power_a_bus_status.xczCircuitBreaker == 1));
         m_state_of_bus_hv_a.set_bow_rudder_control_box_breaker((data.power_a_bus_status.bowRudderControlBoxCircuitBreaker == 1));
         m_state_of_bus_hv_a.set_open_water_cover_actuator_breaker((data.power_a_bus_status.openWaterCoverStartCylinderCircuitBreaker == 1));
-        dis["HVolBBusBreaker_uint16"]  = static_cast<unsigned long long>(m_state_of_bus_hv_a.relay_states.to_ulong());
+        dis["HVolBBusBreaker_uint16"]  = static_cast<Json::UInt64>(m_state_of_bus_hv_a.relay_states.to_ulong());
 
         m_state_of_bus_lv.set_bow_low_voltage_box_breaker((data.instrument_main_bus_status.bowLowVoltageDistributionBoxCircuitBreaker == 1));
         m_state_of_bus_lv.set_dc_c1_dc_distribution_board_breaker((data.instrument_main_bus_status.dcC1DCDistributionPanelCircuitBreaker == 1));
@@ -170,7 +170,7 @@ public:
         m_state_of_bus_lv.set_emergency_lithium_battery_group_2_breaker((data.instrument_main_bus_status.emergencyLithiumBatteryGroup2CircuitBreaker == 1));
         m_state_of_bus_lv.set_reserved_breaker_1((data.instrument_main_bus_status.reservedCircuitBreaker1 == 1));
         m_state_of_bus_lv.set_reserved_breaker_2((data.instrument_main_bus_status.reservedCircuitBreaker2 == 1));
-        dis["HVolBusBreaker_uint16"]  = static_cast<unsigned long long>(m_state_of_bus_lv.relay_states.to_ulong());
+        dis["HVolBusBreaker_uint16"]  = static_cast<Json::UInt64>(m_state_of_bus_lv.relay_states.to_ulong());
 
 
         m_state_of_bus_lv_a.set_unit1_breaker((data.instrument_bus_status.unit1CircuitBreaker == 1));
@@ -181,7 +181,7 @@ public:
         m_state_of_bus_lv_a.set_reserved_breaker_1((data.instrument_bus_status.reservedCircuitBreaker1 == 1));
         m_state_of_bus_lv_a.set_reserved_breaker_2((data.instrument_bus_status.reservedCircuitBreaker2 == 1));
         m_state_of_bus_lv_a.set_emergency_lithium_battery_group_1_breaker((data.instrument_bus_status.emergencyLithiumBatteryGroup1CircuitBreaker == 1));
-        dis["LVolBusBreaker_uint16"]  = static_cast<unsigned long long>(m_state_of_bus_lv_a.relay_states.to_ulong());
+        dis["LVolBusBreaker_uint16"]  = static_cast<Json::UInt64>(m_state_of_bus_lv_a.relay_states.to_ulong());
         
         //构建配电系统故障码
         Json::Value faultCodeDis_array = Json::Value(Json::arrayValue);
diff --git a/src/pPowerMangerHost/CMakeLists.txt b/src/pPowerMangerHost/CMakeLists.txt
new file mode 100644
index 0000000..6f0d0fe
--- /dev/null
+++ b/src/pPowerMangerHost/CMakeLists.txt
@@ -0,0 +1,115 @@
+#--------------------------------------------------------
+# The CMakeLists.txt for:                       pPowerMangerHost
+# Description: 模拟 pPowerManger 上位机（发指令 / 监控），
+#              通过 mongoose HTTP+WebSocket 提供网页交互。
+#              复用 src/pPowerManger/httpserver/mongoose.c，
+#              不新增任何第三方依赖。
+#--------------------------------------------------------
+
+SET(MONGOOSE_SRC
+  ${CMAKE_SOURCE_DIR}/src/pPowerManger/httpserver/mongoose.c)
+
+SET(SRC
+  HostSim.cpp
+  HostSim_Info.cpp
+  WebServer.cpp
+  main.cpp
+  ${MONGOOSE_SRC}
+)
+
+#--------------------------------------------------------
+# web/ 目录 -> webassets_gen.h : 通用嵌入式资源表
+# 扫描 web/ 下所有文件，逐个读成字节数组，并生成 {路径, MIME, 数据} 注册表。
+# 新增页面/资源只需放入 web/ 目录，CMake 自动重新生成（含重新 configure）。
+#--------------------------------------------------------
+SET(WEB_ASSET_DIR ${CMAKE_CURRENT_SOURCE_DIR}/web)
+SET(WEB_ASSET_HDR ${CMAKE_CURRENT_BINARY_DIR}/webassets_gen.h)
+
+FILE(GLOB WEB_ASSET_FILES ${WEB_ASSET_DIR}/*)
+LIST(SORT WEB_ASSET_FILES)
+LIST(LENGTH WEB_ASSET_FILES WEB_ASSET_COUNT)
+IF(NOT WEB_ASSET_FILES)
+  MESSAGE(FATAL_ERROR "web/ 目录为空，请至少放入一个页面资源")
+ENDIF()
+
+# 目录内文件增删/修改时自动重新 configure
+SET_PROPERTY(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS
+  ${WEB_ASSET_DIR} ${WEB_ASSET_FILES})
+
+SET(WEB_ASSET_HEADER
+"// Auto-generated from web/, DO NOT EDIT
+#ifndef WEBASSETS_GEN_H
+#define WEBASSETS_GEN_H
+
+#include <string.h>
+
+namespace webassets {
+
+struct Asset {
+    const char* path;
+    const char* mime;
+    const unsigned char* data;
+    unsigned long len;
+};
+
+")
+
+SET(WEB_ASSET_ARRAYS "")
+SET(WEB_ASSET_REGISTRY "")
+
+FOREACH(f ${WEB_ASSET_FILES})
+  GET_FILENAME_COMPONENT(name ${f} NAME)
+  STRING(MAKE_C_IDENTIFIER ${name} arrname)
+
+  # 读成十六进制字节序列，再转成 C 数组初始化
+  FILE(READ ${f} hexdata HEX)
+  STRING(REGEX REPLACE "([0-9a-f][0-9a-f])" "0x\\1," hexdata "${hexdata}")
+
+  # 按扩展名推断 MIME（if/elseif 体内命令须另起一行）
+  SET(mime "application/octet-stream")
+  IF(name MATCHES "\\.(html|htm)$")
+    SET(mime "text/html; charset=utf-8")
+  ELSEIF(name MATCHES "\\.css$")
+    SET(mime "text/css")
+  ELSEIF(name MATCHES "\\.js$")
+    SET(mime "application/javascript")
+  ELSEIF(name MATCHES "\\.json$")
+    SET(mime "application/json")
+  ELSEIF(name MATCHES "\\.png$")
+    SET(mime "image/png")
+  ELSEIF(name MATCHES "\\.(jpe?g)$")
+    SET(mime "image/jpeg")
+  ELSEIF(name MATCHES "\\.gif$")
+    SET(mime "image/gif")
+  ELSEIF(name MATCHES "\\.svg$")
+    SET(mime "image/svg+xml")
+  ELSEIF(name MATCHES "\\.(woff2?)$")
+    SET(mime "font/woff2")
+  ELSEIF(name MATCHES "\\.txt$")
+    SET(mime "text/plain")
+  ENDIF()
+
+  STRING(APPEND WEB_ASSET_ARRAYS
+    "static const unsigned char ${arrname}[] = { ${hexdata} };\n\n")
+  STRING(APPEND WEB_ASSET_REGISTRY
+    "    { \"${name}\", \"${mime}\", ${arrname}, sizeof(${arrname}) },\n")
+ENDFOREACH()
+
+FILE(WRITE ${WEB_ASSET_HDR}
+"${WEB_ASSET_HEADER}${WEB_ASSET_ARRAYS}static const Asset REGISTRY[] = {\n${WEB_ASSET_REGISTRY}};\n\ninline const Asset* find(const char* path) {\n    const unsigned long n = sizeof(REGISTRY) / sizeof(REGISTRY[0]);\n    for (unsigned long i = 0; i < n; ++i) {\n        if (strcmp(REGISTRY[i].path, path) == 0) return &REGISTRY[i];\n    }\n    return NULL;\n}\n\n}\n#endif\n")
+
+MESSAGE(STATUS "Generated ${WEB_ASSET_HDR} (${WEB_ASSET_COUNT} files) from ${WEB_ASSET_DIR}")
+
+
+ADD_EXECUTABLE(pPowerMangerHost ${SRC})
+
+TARGET_INCLUDE_DIRECTORIES(pPowerMangerHost PRIVATE
+  ${CMAKE_SOURCE_DIR}/src/pPowerManger/httpserver
+  ${CMAKE_CURRENT_BINARY_DIR})
+
+TARGET_LINK_LIBRARIES(pPowerMangerHost
+   ${MOOS_LIBRARIES}
+   mbutil
+   m
+   pthread
+   jsoncpp)
diff --git a/src/pPowerMangerHost/HostSim.cpp b/src/pPowerMangerHost/HostSim.cpp
new file mode 100644
index 0000000..4d3d268
--- /dev/null
+++ b/src/pPowerMangerHost/HostSim.cpp
@@ -0,0 +1,229 @@
+/************************************************************/
+/*    NAME:                                               */
+/*    ORGN: MIT                                             */
+/*    FILE: HostSim.cpp                                     */
+/*    DATE:                                                 */
+/************************************************************/
+
+#include <iterator>
+#include <sstream>
+#include "MBUtils.h"
+#include "HostSim.h"
+#include "WebServer.h"
+#include "json/json.h"
+
+using namespace std;
+
+//---------------------------------------------------------
+// Constructor
+
+HostSim::HostSim()
+  : m_feedbackDirty(false), m_webServer(nullptr), m_webPort(18080)
+{
+}
+
+//---------------------------------------------------------
+// Destructor
+
+HostSim::~HostSim()
+{
+  if (m_webServer) {
+    m_webServer->stop();
+    delete m_webServer;
+    m_webServer = nullptr;
+  }
+}
+
+//---------------------------------------------------------
+// Procedure: OnNewMail
+
+bool HostSim::OnNewMail(MOOSMSG_LIST &NewMail)
+{
+  MOOSMSG_LIST::iterator p;
+  for (p = NewMail.begin(); p != NewMail.end(); p++) {
+    CMOOSMsg &msg = *p;
+    string key = msg.GetKey();
+
+    if (msg.IsString()) {
+      lock_guard<mutex> lock(m_feedbackMutex);
+      m_feedback[key] = msg.GetString();
+      m_feedbackDirty = true;
+    }
+  }
+  return true;
+}
+
+//---------------------------------------------------------
+// Procedure: OnConnectToServer
+
+bool HostSim::OnConnectToServer()
+{
+  RegisterVariables();
+  return true;
+}
+
+//---------------------------------------------------------
+// Procedure: Iterate()
+//            happens AppTick times per second
+
+bool HostSim::Iterate()
+{
+  // 1. 处理网页下发的指令 -> Notify 到 MOOSDB
+  drainCommands();
+
+  // 2. 若有反馈更新，推送快照到所有网页客户端
+  bool dirty = false;
+  {
+    lock_guard<mutex> lock(m_feedbackMutex);
+    dirty = m_feedbackDirty;
+  }
+  if (dirty && m_webServer) {
+    m_webServer->broadcast(buildSnapshot());
+    lock_guard<mutex> lock(m_feedbackMutex);
+    m_feedbackDirty = false;
+  }
+
+  return true;
+}
+
+//---------------------------------------------------------
+// Procedure: OnStartUp()
+
+bool HostSim::OnStartUp()
+{
+  list<string> sParams;
+  m_MissionReader.EnableVerbatimQuoting(false);
+  if (m_MissionReader.GetConfiguration(GetAppName(), sParams)) {
+    list<string>::iterator p;
+    for (p = sParams.begin(); p != sParams.end(); p++) {
+      string line  = *p;
+      string param = tolower(biteStringX(line, '='));
+      string value = line;
+
+      if (param == "web_port") {
+        m_webPort = atoi(value.c_str());
+      }
+    }
+  }
+
+  // 启动网页服务器
+  m_webServer = new WebServer();
+  m_webServer->setOnMessage([this](const string& msg) {
+    this->handleWebMessage(msg);
+  });
+  m_webServer->start(m_webPort);
+
+  RegisterVariables();
+  return true;
+}
+
+//---------------------------------------------------------
+// Procedure: handleWebMessage
+//            网页下发 JSON: {"key":"...", "value":{...}} 或
+//            {"key":"...", "value":"..."}，把 value 序列化为字符串后入队
+
+void HostSim::handleWebMessage(const std::string& msg)
+{
+  Json::CharReaderBuilder builder;
+  Json::Value root;
+  JSONCPP_STRING errs;
+  istringstream stream(msg);
+  if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+    return;
+  }
+
+  if (!root.isMember("key")) {
+    return;
+  }
+
+  string key = root["key"].asString();
+  string valueStr;
+
+  if (root.isMember("value")) {
+    const Json::Value& v = root["value"];
+    if (v.isString()) {
+      // 允许直接发送原始 JSON 字符串
+      valueStr = v.asString();
+    } else {
+      Json::StreamWriterBuilder wb;
+      wb.settings_["indentation"] = "";
+      valueStr = Json::writeString(wb, v);
+    }
+  }
+
+  pushCommand(key, valueStr);
+}
+
+//---------------------------------------------------------
+// Procedure: pushCommand
+
+void HostSim::pushCommand(const string& key, const string& jsonValue)
+{
+  lock_guard<mutex> lock(m_cmdMutex);
+  m_cmdQueue.push(make_pair(key, jsonValue));
+}
+
+//---------------------------------------------------------
+// Procedure: drainCommands
+
+bool HostSim::drainCommands()
+{
+  vector<pair<string, string> > pending;
+  {
+    lock_guard<mutex> lock(m_cmdMutex);
+    while (!m_cmdQueue.empty()) {
+      pending.push_back(m_cmdQueue.front());
+      m_cmdQueue.pop();
+    }
+  }
+
+  for (size_t i = 0; i < pending.size(); i++) {
+    Notify(pending[i].first, pending[i].second);
+  }
+  return true;
+}
+
+//---------------------------------------------------------
+// Procedure: buildSnapshot
+
+string HostSim::buildSnapshot()
+{
+  Json::Value root(Json::objectValue);
+  {
+    lock_guard<mutex> lock(m_feedbackMutex);
+    for (map<string, string>::iterator it = m_feedback.begin();
+         it != m_feedback.end(); ++it) {
+      root[it->first] = it->second;
+    }
+  }
+
+  Json::StreamWriterBuilder wb;
+  wb.settings_["indentation"] = "";
+  return Json::writeString(wb, root);
+}
+
+//---------------------------------------------------------
+// Procedure: RegisterVariables
+
+void HostSim::RegisterVariables()
+{
+  registerFeedbackVars();
+}
+
+//---------------------------------------------------------
+// Procedure: registerFeedbackVars
+//            订阅 pPowerManger 上位机反馈变量
+
+void HostSim::registerFeedbackVars()
+{
+  // 状态报告
+  Register("uPower_pmState_fb", 0);      // 能源管理总状态
+  Register("uPower_fcsState_st", 0);     // 燃料电池状态
+  Register("uPower_liBatState_st", 0);   // 锂电池状态
+  Register("uPower_disSysState_st", 0);  // 配电系统状态
+  Register("uPower_currentState_st", 0); // 母线电压电流
+  Register("uPower_equState_fb", 0);     // 设备状态
+  Register("uPower_equInsState_fb", 0);  // 设备仪表状态
+  Register("uPower_secdistState_cmd", 0);// 次级配电状态
+  Register("uPower_subDisFault_st", 0);  // 次级配电故障状态(_DEBUG 下发布)
+}
diff --git a/src/pPowerMangerHost/HostSim.h b/src/pPowerMangerHost/HostSim.h
new file mode 100644
index 0000000..0838970
--- /dev/null
+++ b/src/pPowerMangerHost/HostSim.h
@@ -0,0 +1,61 @@
+/************************************************************/
+/*    NAME:                                               */
+/*    ORGN: MIT                                             */
+/*    FILE: HostSim.h                                       */
+/*    DATE:                                                 */
+/************************************************************/
+
+#ifndef HOSTSIM_HEADER
+#define HOSTSIM_HEADER
+
+#include "MOOS/libMOOS/MOOSLib.h"
+#include <string>
+#include <map>
+#include <vector>
+#include <mutex>
+#include <queue>
+#include <atomic>
+
+class WebServer;
+
+// 模拟 pPowerManger 上位机：网页 <-> MOOSDB 桥
+class HostSim : public CMOOSApp
+{
+ public:
+   HostSim();
+   ~HostSim();
+
+ protected: // Standard MOOSApp functions to overload
+   bool OnNewMail(MOOSMSG_LIST &NewMail);
+   bool Iterate();
+   bool OnConnectToServer();
+   bool OnStartUp();
+   void RegisterVariables();
+
+ public: // 由 WebServer 线程调用
+   // 网页下发的指令：key 为 MOOS 变量名，jsonValue 为已序列化的 JSON 字符串
+   void pushCommand(const std::string& key, const std::string& jsonValue);
+   // 取当前所有反馈变量的 JSON 快照
+   std::string buildSnapshot();
+
+ private:
+   void registerFeedbackVars();
+   bool drainCommands();
+   void handleWebMessage(const std::string& msg);
+
+ private: // State variables
+   // 反馈缓存：key -> 最新 JSON 字符串
+   std::mutex m_feedbackMutex;
+   std::map<std::string, std::string> m_feedback;
+   bool m_feedbackDirty;
+
+   // 待发送指令队列
+   std::mutex m_cmdMutex;
+   std::queue<std::pair<std::string, std::string> > m_cmdQueue;
+
+   // 网页服务器
+   WebServer* m_webServer;
+   int m_webPort;
+};
+
+#endif
diff --git a/src/pPowerMangerHost/HostSim_Info.cpp b/src/pPowerMangerHost/HostSim_Info.cpp
new file mode 100644
index 0000000..6008e43
--- /dev/null
+++ b/src/pPowerMangerHost/HostSim_Info.cpp
@@ -0,0 +1,114 @@
+/****************************************************************/
+/*   NAME:                                               */
+/*   ORGN: MIT Cambridge MA                                     */
+/*   FILE: HostSim_Info.cpp                                     */
+/*   DATE:                                                     */
+/****************************************************************/
+
+#include <cstdlib>
+#include <iostream>
+#include "HostSim_Info.h"
+#include "ColorParse.h"
+#include "ReleaseInfo.h"
+
+using namespace std;
+
+//----------------------------------------------------------------
+// Procedure: showSynopsis
+
+void showSynopsis()
+{
+  blk("SYNOPSIS:                                                       ");
+  blk("------------------------------------                            ");
+  blk("  pPowerMangerHost 模拟 pPowerManger 的上位机。                 ");
+  blk("  通过 MOOSDB 与 pPowerManger 交互，并使用网页进行界面交互：    ");
+  blk("  下发指令 / 监控反馈，浏览器访问 http://<host>:18080 。         ");
+  blk("                                                                ");
+}
+
+//----------------------------------------------------------------
+// Procedure: showHelpAndExit
+
+void showHelpAndExit()
+{
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("Usage: pPowerMangerHost file.moos [OPTIONS]                     ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  showSynopsis();
+  blk("                                                                ");
+  blk("Options:                                                        ");
+  mag("  --alias","=<ProcessName>                                      ");
+  blk("      Launch pPowerMangerHost with the given process name.      ");
+  mag("  --example, -e                                                 ");
+  blk("      Display example MOOS configuration block.                 ");
+  mag("  --help, -h                                                    ");
+  blk("      Display this help message.                                ");
+  mag("  --interface, -i                                               ");
+  blk("      Display MOOS publications and subscriptions.              ");
+  mag("  --version,-v                                                  ");
+  blk("      Display the release version of pPowerMangerHost.          ");
+  blk("                                                                ");
+  exit(0);
+}
+
+//----------------------------------------------------------------
+// Procedure: showExampleConfigAndExit
+
+void showExampleConfigAndExit()
+{
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("pPowerMangerHost Example MOOS Configuration                     ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  blk("ProcessConfig = pPowerMangerHost                                ");
+  blk("{                                                               ");
+  blk("  AppTick   = 4                                                 ");
+  blk("  CommsTick = 4                                                 ");
+  blk("  WEB_PORT  = 18080   // 网页监听端口                            ");
+  blk("}                                                               ");
+  blk("                                                                ");
+  exit(0);
+}
+
+//----------------------------------------------------------------
+// Procedure: showInterfaceAndExit
+
+void showInterfaceAndExit()
+{
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("pPowerMangerHost INTERFACE                                      ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  showSynopsis();
+  blk("                                                                ");
+  blk("SUBSCRIPTIONS:                                                  ");
+  blk("------------------------------------                            ");
+  blk("  uPower_pmState_fb       能源管理总状态                         ");
+  blk("  uPower_fcsState_st      燃料电池状态                           ");
+  blk("  uPower_liBatState_st    锂电池状态                             ");
+  blk("  uPower_disSysState_st   配电系统状态                           ");
+  blk("  uPower_currentState_st  母线电压电流                           ");
+  blk("  uPower_equState_fb      设备状态                               ");
+  blk("  uPower_equInsState_fb   设备仪表状态                           ");
+  blk("  uPower_secdistState_cmd 次级配电状态                           ");
+  blk("                                                                ");
+  blk("PUBLICATIONS:                                                   ");
+  blk("------------------------------------                            ");
+  blk("  由网页下发，任意 MOOS 变量（命令类）Notify 到 MOOSDB。          ");
+  blk("  例如 uExternComm_setOpCondition_cmd / uPlan_taskStart_st 等。  ");
+  blk("                                                                ");
+  exit(0);
+}
+
+//----------------------------------------------------------------
+// Procedure: showReleaseInfoAndExit
+
+void showReleaseInfoAndExit()
+{
+  showReleaseInfo("pPowerMangerHost", "gpl");
+  exit(0);
+}
diff --git a/src/pPowerMangerHost/HostSim_Info.h b/src/pPowerMangerHost/HostSim_Info.h
new file mode 100644
index 0000000..1361dc5
--- /dev/null
+++ b/src/pPowerMangerHost/HostSim_Info.h
@@ -0,0 +1,17 @@
+/****************************************************************/
+/*   NAME:                                               */
+/*   ORGN: MIT Cambridge MA                                     */
+/*   FILE: HostSim_Info.h                                       */
+/*   DATE:                                                     */
+/****************************************************************/
+
+#ifndef HOSTSIM_INFO_HEADER
+#define HOSTSIM_INFO_HEADER
+
+void showSynopsis();
+void showHelpAndExit();
+void showExampleConfigAndExit();
+void showInterfaceAndExit();
+void showReleaseInfoAndExit();
+
+#endif
diff --git a/src/pPowerMangerHost/WebServer.cpp b/src/pPowerMangerHost/WebServer.cpp
new file mode 100644
index 0000000..6f65b89
--- /dev/null
+++ b/src/pPowerMangerHost/WebServer.cpp
@@ -0,0 +1,115 @@
+#include "WebServer.h"
+#include "webassets_gen.h"
+#include <iostream>
+
+//---------------------------------------------------------
+// 事件处理：HTTP 路由 + WebSocket 收发
+
+void WebServer::handleEvent(struct mg_connection* c, int ev, void* ev_data) {
+    if (ev == MG_EV_HTTP_MSG) {
+        struct mg_http_message* hm = (struct mg_http_message*)ev_data;
+
+        // WebSocket 升级
+        if (mg_match(hm->uri, mg_str("/ws"), NULL)) {
+            mg_ws_upgrade(c, hm, NULL);
+            return;
+        }
+
+        // 静态资源路由：在嵌入式资源表 webassets 中按路径查找并返回
+        std::string path(hm->uri.buf, hm->uri.len);
+        if (path == "/" || path == "/index.html") {
+            path = "index.html";
+        } else if (!path.empty() && path[0] == '/') {
+            path = path.substr(1);
+        }
+
+        const webassets::Asset* a = webassets::find(path.c_str());
+        if (a) {
+            std::string hdr = "Content-Type: ";
+            hdr += a->mime;
+            hdr += "\r\n";
+            mg_http_reply(c, 200, hdr.c_str(), "%.*s", (int) a->len,
+                          (const char*) a->data);
+        } else {
+            mg_http_reply(c, 404, "Content-Type: text/plain\r\n", "Not Found\n");
+        }
+    } else if (ev == MG_EV_WS_OPEN) {
+        std::lock_guard<std::mutex> lock(m_wsMutex);
+        m_wsConnections.push_back(c);
+    } else if (ev == MG_EV_CLOSE || ev == MG_EV_ERROR) {
+        std::lock_guard<std::mutex> lock(m_wsMutex);
+        for (auto it = m_wsConnections.begin(); it != m_wsConnections.end(); ++it) {
+            if (*it == c) {
+                m_wsConnections.erase(it);
+                break;
+            }
+        }
+    } else if (ev == MG_EV_WS_MSG) {
+        struct mg_ws_message* wm = (struct mg_ws_message*)ev_data;
+        std::string msg(wm->data.buf, wm->data.len);
+        if (m_onMessage) {
+            m_onMessage(msg);
+        }
+    }
+}
+
+WebServer::WebServer() : m_port(0), m_running(false) {
+    mg_mgr_init(&m_mgr);
+}
+
+WebServer::~WebServer() {
+    stop();
+    mg_mgr_free(&m_mgr);
+}
+
+void WebServer::setOnMessage(std::function<void(const std::string&)> handler) {
+    m_onMessage = handler;
+}
+
+bool WebServer::start(int port) {
+    if (m_running) return true;
+    m_port = port;
+
+    std::string addr = "http://0.0.0.0:" + std::to_string(port);
+    mg_http_listen(&m_mgr, addr.c_str(), [](mg_connection* c, int ev, void* ev_data) {
+        WebServer* server = static_cast<WebServer*>(c->fn_data);
+        if (server) server->handleEvent(c, ev, ev_data);
+    }, this);
+
+    m_running = true;
+    m_thread = std::thread([this]() { serverThreadFunc(); });
+
+    std::cout << "pPowerMangerHost web UI listening on " << addr << std::endl;
+    return true;
+}
+
+void WebServer::stop() {
+    if (!m_running) return;
+    m_running = false;
+    if (m_thread.joinable()) m_thread.join();
+
+    std::lock_guard<std::mutex> lock(m_wsMutex);
+    for (auto c : m_wsConnections) {
+        mg_ws_send(c, "", 0, WEBSOCKET_OP_CLOSE);
+    }
+    m_wsConnections.clear();
+}
+
+bool WebServer::serverThreadCB(void* pParam) {
+    WebServer* pThis = static_cast<WebServer*>(pParam);
+    return pThis->serverThreadFunc();
+}
+
+bool WebServer::serverThreadFunc() {
+    while (m_running) {
+        mg_mgr_poll(&m_mgr, 200);
+    }
+    return true;
+}
+
+void WebServer::broadcast(const std::string& text) {
+    std::lock_guard<std::mutex> lock(m_wsMutex);
+    for (auto c : m_wsConnections) {
+        mg_ws_send(c, text.c_str(), text.size(), WEBSOCKET_OP_TEXT);
+    }
+}
diff --git a/src/pPowerMangerHost/WebServer.h b/src/pPowerMangerHost/WebServer.h
new file mode 100644
index 0000000..b2f94e5
--- /dev/null
+++ b/src/pPowerMangerHost/WebServer.h
@@ -0,0 +1,42 @@
+#ifndef WEBSERVER_H
+#define WEBSERVER_H
+
+#include "mongoose.h"
+#include <string>
+#include <functional>
+#include <vector>
+#include <mutex>
+#include <atomic>
+#include <thread>
+
+class WebServer {
+public:
+    WebServer();
+    ~WebServer();
+
+    // 启动 HTTP+WebSocket 服务器（阻塞在独立线程）
+    bool start(int port);
+    void stop();
+
+    // 向所有 WebSocket 客户端广播文本
+    void broadcast(const std::string& text);
+
+    // 收到网页 WS 消息时的回调
+    void setOnMessage(std::function<void(const std::string&)> handler);
+
+private:
+    static bool serverThreadCB(void* pParam);
+    bool serverThreadFunc();
+    void handleEvent(struct mg_connection* c, int ev, void* ev_data);
+
+    struct mg_mgr m_mgr;
+    int m_port;
+    std::atomic<bool> m_running;
+    std::thread m_thread;
+
+    std::mutex m_wsMutex;
+    std::vector<mg_connection*> m_wsConnections;
+    std::function<void(const std::string&)> m_onMessage;
+};
+
+#endif // WEBSERVER_H
diff --git a/src/pPowerMangerHost/main.cpp b/src/pPowerMangerHost/main.cpp
new file mode 100644
index 0000000..eee528a
--- /dev/null
+++ b/src/pPowerMangerHost/main.cpp
@@ -0,0 +1,51 @@
+/************************************************************/
+/*    NAME:                                               */
+/*    ORGN: MIT                                             */
+/*    FILE: main.cpp                                        */
+/*    DATE:                                                 */
+/************************************************************/
+
+#include <string>
+#include "MBUtils.h"
+#include "ColorParse.h"
+#include "HostSim.h"
+#include "HostSim_Info.h"
+
+using namespace std;
+
+int main(int argc, char *argv[])
+{
+  string mission_file;
+  string run_command = argv[0];
+
+  for(int i=1; i<argc; i++) {
+    string argi = argv[i];
+    if((argi=="-v") || (argi=="--version") || (argi=="-version"))
+      showReleaseInfoAndExit();
+    else if((argi=="-e") || (argi=="--example") || (argi=="-example"))
+      showExampleConfigAndExit();
+    else if((argi == "-h") || (argi == "--help") || (argi=="-help"))
+      showHelpAndExit();
+    else if((argi == "-i") || (argi == "--interface"))
+      showInterfaceAndExit();
+    else if(strEnds(argi, ".moos") || strEnds(argi, ".moos++"))
+      mission_file = argv[i];
+    else if(strBegins(argi, "--alias="))
+      run_command = argi.substr(8);
+    else if(i==2)
+      run_command = argi;
+  }
+
+  if(mission_file == "")
+    showHelpAndExit();
+
+  cout << termColor("green");
+  cout << "pPowerMangerHost launching as " << run_command << endl;
+  cout << termColor() << endl;
+
+  HostSim hostSim;
+
+  hostSim.Run(run_command.c_str(), mission_file.c_str());
+
+  return(0);
+}
diff --git a/src/pPowerMangerHost/pPowerMangerHost.moos b/src/pPowerMangerHost/pPowerMangerHost.moos
new file mode 100644
index 0000000..08de558
--- /dev/null
+++ b/src/pPowerMangerHost/pPowerMangerHost.moos
@@ -0,0 +1,8 @@
+//SERVERHOST = 192.168.0.223
+//SERVERPORT = 9000
+ProcessConfig = pPowerMangerHost
+{
+   AppTick   = 4
+   CommsTick = 4
+   WEB_PORT  = 18080
+}
diff --git a/src/pPowerMangerHost/web/index.html b/src/pPowerMangerHost/web/index.html
new file mode 100644
index 0000000..d12cb56
--- /dev/null
+++ b/src/pPowerMangerHost/web/index.html
@@ -0,0 +1,720 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+<meta charset="utf-8">
+<meta name="viewport" content="width=device-width, initial-scale=1">
+<title>pPowerManger 上位机模拟</title>
+<style>
+  :root {
+    --bg: #0f172a;
+    --panel: #1e293b;
+    --border: #334155;
+    --fg: #e2e8f0;
+    --acc: #38bdf8;
+    --ok: #22c55e;
+    --warn: #f59e0b;
+    --err: #ef4444;
+  }
+
+  * { box-sizing: border-box; }
+
+  body {
+    margin: 0;
+    font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "PingFang SC", "Microsoft YaHei", sans-serif;
+    background: var(--bg);
+    color: var(--fg);
+  }
+
+  header {
+    display: flex;
+    align-items: center;
+    gap: 12px;
+    padding: 12px 20px;
+    background: var(--panel);
+    border-bottom: 1px solid var(--border);
+  }
+
+  header h1 { font-size: 16px; margin: 0; }
+
+  .dot {
+    width: 10px;
+    height: 10px;
+    border-radius: 50%;
+    background: var(--err);
+  }
+  .dot.on { background: var(--ok); }
+
+  main {
+    display: grid;
+    grid-template-columns: 1fr 1fr;
+    gap: 16px;
+    padding: 16px;
+    max-width: 1500px;
+    margin: 0 auto;
+  }
+
+  @media (max-width: 900px) {
+    main { grid-template-columns: 1fr; }
+  }
+
+  section {
+    background: var(--panel);
+    border: 1px solid var(--border);
+    border-radius: 10px;
+    padding: 14px;
+  }
+  section.wide {
+    margin: 0 16px 16px;
+    max-width: 1468px;
+  }
+
+  section h2 {
+    font-size: 14px;
+    margin: 0 0 10px;
+    color: var(--acc);
+  }
+
+  .row {
+    display: flex;
+    gap: 8px;
+    flex-wrap: wrap;
+    align-items: center;
+    margin-bottom: 8px;
+  }
+
+  label {
+    font-size: 12px;
+    color: #94a3b8;
+  }
+
+  select, input, textarea, button {
+    background: #0b1220;
+    color: var(--fg);
+    border: 1px solid var(--border);
+    border-radius: 6px;
+    padding: 6px 8px;
+    font-size: 13px;
+  }
+
+  textarea {
+    font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
+    width: 100%;
+    min-height: 90px;
+    resize: vertical;
+  }
+
+  button {
+    cursor: pointer;
+    background: #0ea5e9;
+    border-color: #0ea5e9;
+    color: #fff;
+  }
+  button:hover { filter: brightness(1.1); }
+  button.sec {
+    background: #334155;
+    border-color: #475569;
+  }
+
+  .chip {
+    display: inline-block;
+    padding: 3px 8px;
+    margin: 2px;
+    border-radius: 999px;
+    border: 1px solid var(--border);
+    cursor: pointer;
+    font-size: 12px;
+  }
+  .chip:hover { border-color: var(--acc); }
+
+  .var-item {
+    border: 1px solid var(--border);
+    border-radius: 8px;
+    margin-bottom: 8px;
+    overflow: hidden;
+  }
+  .var-item summary {
+    cursor: pointer;
+    padding: 8px 10px;
+    font-size: 13px;
+    background: #16202f;
+    user-select: none;
+  }
+  .var-item pre {
+    margin: 0;
+    padding: 10px;
+    font-size: 12px;
+    overflow-x: auto;
+    background: #0b1220;
+    color: #a5f3fc;
+    white-space: pre-wrap;
+    word-break: break-all;
+  }
+
+  .muted {
+    color: #64748b;
+    font-size: 12px;
+  }
+
+  #log {
+    font-size: 12px;
+    color: #94a3b8;
+    max-height: 180px;
+    overflow-y: auto;
+  }
+  #log .send { color: var(--acc); }
+  #log .err { color: var(--err); }
+
+  #chart {
+    width: 100%;
+    height: 280px;
+    display: block;
+    background: #0b1220;
+    border: 1px solid var(--border);
+    border-radius: 8px;
+  }
+
+  .serie {
+    display: inline-flex;
+    align-items: center;
+    gap: 6px;
+    padding: 3px 8px;
+    margin: 2px;
+    border-radius: 999px;
+    border: 1px solid var(--border);
+    font-size: 12px;
+    background: #0b1220;
+  }
+  .serie .swatch {
+    width: 10px;
+    height: 10px;
+    border-radius: 2px;
+    display: inline-block;
+  }
+  .serie .rm {
+    cursor: pointer;
+    color: #94a3b8;
+    font-weight: bold;
+  }
+  .serie .rm:hover { color: var(--err); }
+</style>
+</head>
+<body>
+<header>
+  <span class="dot" id="wsDot"></span>
+  <h1>pPowerManger 上位机模拟 (Web UI)</h1>
+  <span class="muted" id="wsState">连接中…</span>
+</header>
+<main>
+  <section>
+    <h2>指令下发</h2>
+    <div class="row">
+      <label>命令类型</label>
+      <select id="cmdType"></select>
+    </div>
+    <div class="row">
+      <label>MOOS 变量</label>
+      <input id="cmdKey" style="flex:1" />
+    </div>
+    <div class="row">
+      <label>JSON 载荷</label>
+    </div>
+    <textarea id="cmdValue"></textarea>
+    <div class="row" style="margin-top:8px">
+      <button id="btnSend">发送</button>
+      <button id="btnReset" class="sec">重置模板</button>
+    </div>
+
+    <h2>快捷指令</h2>
+    <div id="quick"></div>
+
+    <h2>通用 MOOS 通知</h2>
+    <div class="row">
+      <input id="rawKey" placeholder="变量名" style="flex:1" />
+      <input id="rawValue" placeholder="JSON 字符串" style="flex:2" />
+      <button id="btnRawSend">Notify</button>
+    </div>
+  </section>
+
+  <section>
+    <h2>反馈监控（pPowerManger 发往上位机的全部消息）</h2>
+    <div class="muted" id="monitorMeta"></div>
+    <div id="monitor"></div>
+  </section>
+</main>
+
+<section class="wide">
+  <h2>连续数据曲线</h2>
+  <div class="row">
+    <label>选择字段</label>
+    <select id="fieldSel" style="flex:1"></select>
+    <button id="btnAddSeries">添加曲线</button>
+    <button id="btnClearSeries" class="sec">清空全部</button>
+  </div>
+  <div id="seriesBox" style="margin-bottom:8px"></div>
+  <canvas id="chart"></canvas>
+</section>
+
+<section class="wide">
+  <h2>操作日志</h2>
+  <div id="log"></div>
+</section>
+
+<script>
+// ---- 数据定义 ----
+const WORK_CONDITIONS = [
+  [0, "切换中"],
+  [1, "待机"],
+  [2, "岸基备航"],
+  [3, "水中备航"],
+  [4, "遥控"],
+  [5, "巡航"],
+  [6, "高速"],
+  [7, "上浮下潜"],
+  [8, "浮调"],
+  [9, "水下侦查"],
+  [10, "水面侦查"],
+  [11, "DJ"],
+  [12, "调试"]
+];
+
+const MODES = [
+  [0, "正常"],
+  [1, "测试"],
+  [2, "调试"]
+];
+
+const POWER_CMDS = [
+  [0, "断电"],
+  [1, "上电"],
+  [2, "保持"]
+];
+
+const TASKS = [
+  ["throwLoad", "抛载"],
+  ["floatUp", "运动上浮"],
+  ["recycle", "回收"],
+  ["hover", "悬停"],
+  ["satComm", "上浮通信"],
+  ["satCalibrate", "上浮校准"],
+  ["tour", "游曳"],
+  ["sail", "航行"],
+  ["emerSatComm", "紧急上浮通信"],
+  ["emerSail", "紧急航行"]
+];
+
+const DEVICES = [
+  [0, "singleBeamSonar1"],
+  [1, "singleBeamSonar2"],
+  [2, "singleBeamSonar3"],
+  [3, "singleBeamSonar4"],
+  [4, "singleBeamSonar5"],
+  [5, "singleBeamSonar6"],
+  [6, "singleBeamSonar7"],
+  [7, "singleBeamSonar8"],
+  [8, "forwardSonar"],
+  [9, "bowCover1"],
+  [10, "bowCover2"],
+  [11, "bowCover3"],
+  [12, "bowCover4"],
+  [13, "bowCover5"],
+  [14, "bowCover6"],
+  [15, "bowRudderDeploy"],
+  [16, "bowRudderServo1"],
+  [17, "bowRudderServo2"],
+  [18, "depth1"],
+  [19, "depth2"],
+  [20, "depth3"],
+  [21, "overDeep1"],
+  [22, "overDeep2"],
+  [23, "ctd1"],
+  [24, "ctd2"],
+  [25, "soundVeloc"],
+  [26, "waterInject"],
+  [27, "bowWaterInet1"],
+  [28, "bowWaterInet2"],
+  [29, "bowWaterInet3"],
+  [30, "bowWaterInet4"],
+  [31, "bowWaterInet5"],
+  [32, "bowWaterInet6"],
+  [33, "bowWaterInet7"],
+  [34, "bowWaterInet8"],
+  [35, "sideSonar"],
+  [36, "lowFreqSonar"],
+  [37, "launchControler"],
+  [38, "photoSensor"],
+  [39, "electSensor"],
+  [40, "commMast"],
+  [41, "mastLiftingServo"],
+  [42, "USBL"],
+  [43, "DVL"],
+  [44, "buoyancyAdjust1"],
+  [45, "buoyancyAdjust2"],
+  [46, "buoyancyAdjust3"],
+  [47, "buoyancyAdjust4"],
+  [48, "buoyancyAdjust5"],
+  [49, "sternRudderServo1"],
+  [50, "sternRudderServo2"],
+  [51, "sternRudderServo3"],
+  [52, "sternRudderServo4"],
+  [53, "thruster"],
+  [54, "bowThrow"],
+  [55, "sternThrow"],
+  [56, "buoyage"],
+  [57, "ins"],
+  [58, "ntp"],
+  [59, "inputWaterSensor1"],
+  [60, "inputWaterSensor2"],
+  [61, "inputWaterSensor3"]
+];
+
+const DEV_CMDS = [
+  [0, "断电(OFF)"],
+  [1, "上电(ON)"],
+  [2, "仪表上电"],
+  [3, "动力上电"],
+  [4, "仪表断电"],
+  [5, "动力断电"]
+];
+
+const COMMANDS = {
+  setOpCondition: {
+    key: "uExternComm_setOpCondition_cmd",
+    tpl: { state_uint8: 1 },
+    label: "设置工况"
+  },
+  setOpMode: {
+    key: "uExternComm_setOpMode_cmd",
+    tpl: { state_uint8: 0 },
+    label: "设置模式"
+  },
+  setPowerSystem: {
+    key: "uExternComm_setPowerSystem_cmd",
+    tpl: { powerCmd_uint8: 1 },
+    label: "电源系统"
+  },
+  masterControl: {
+    key: "uPower_sysState_cmd",
+    tpl: { powerCMD: 0, modCMD: 0, workCMD: 0 },
+    label: "主控指令"
+  },
+  setDeviceSwitch: {
+    key: "uExternComm_setDeviceSwitch_cmd",
+    tpl: { id_uint8: 0, cmd_uint8: 1 },
+    label: "设备开关"
+  },
+  taskStart: {
+    key: "uPlan_taskStart_st",
+    tpl: { taskType_str: "sail", balanceEnabled_bool: true, bowRudderUnfold_bool: true },
+    label: "任务启动"
+  },
+  planStop: {
+    key: "uPlan_planStop_st",
+    tpl: { op_int32: 1 },
+    label: "任务停止"
+  },
+  depth: {
+    key: "uDevice_depth_st",
+    tpl: { value_array_int32: [0, 0, 0] },
+    label: "深度"
+  },
+  equState: {
+    key: "uPower_equState_cmd",
+    tpl: {},
+    label: "设备指令(DriverTable)"
+  },
+  secdistState: {
+    key: "uDevice_secdistState_st",
+    tpl: {},
+    label: "次级配电状态"
+  }
+};
+
+// ---- 曲线相关 ----
+const COLORS = [
+  "#38bdf8", "#22c55e", "#f59e0b", "#ef4444", "#a78bfa",
+  "#f472b6", "#34d399", "#fbbf24", "#fb923c", "#e879f9"
+];
+const MAX_POINTS = 300;
+
+let history = {};         // path -> { color, points: [[t, v], ...] }
+let allFields = new Set();
+let nextColor = 0;
+let ws = null;
+let currentCmd = "setOpCondition";
+
+// ---- 工具函数 ----
+function el(id) {
+  return document.getElementById(id);
+}
+
+function log(msg, cls) {
+  const d = document.createElement("div");
+  if (cls) d.className = cls;
+  d.textContent = msg;
+  el("log").appendChild(d);
+  el("log").scrollTop = el("log").scrollHeight;
+}
+
+// ---- 通信 ----
+function connect() {
+  const proto = location.protocol === "https:" ? "wss://" : "ws://";
+  ws = new WebSocket(proto + location.host + "/ws");
+  ws.onopen = () => {
+    el("wsDot").classList.add("on");
+    el("wsState").textContent = "已连接";
+  };
+  ws.onclose = () => {
+    el("wsDot").classList.remove("on");
+    el("wsState").textContent = "已断开，重连中…";
+    setTimeout(connect, 1000);
+  };
+  ws.onerror = () => ws.close();
+  ws.onmessage = (e) => {
+    try {
+      const snap = JSON.parse(e.data);
+      onSnapshot(snap);
+    } catch (err) {
+      log("解析反馈失败: " + err, "err");
+    }
+  };
+}
+
+function sendMsg(obj) {
+  if (!ws || ws.readyState !== WebSocket.OPEN) {
+    log("未连接", "err");
+    return;
+  }
+  ws.send(JSON.stringify(obj));
+  log("发送 -> " + obj.key + " : " + JSON.stringify(obj.value), "send");
+}
+
+// ---- 指令下发 ----
+function applyTemplate(cmdType) {
+  const c = COMMANDS[cmdType];
+  el("cmdKey").value = c.key;
+  el("cmdValue").value = JSON.stringify(c.tpl, null, 2);
+}
+
+function sendCurrent() {
+  let v;
+  try {
+    v = JSON.parse(el("cmdValue").value);
+  } catch (e) {
+    log("JSON 非法: " + e.message, "err");
+    return;
+  }
+  sendMsg({ key: el("cmdKey").value, value: v });
+}
+
+function buildQuick(){
+  const box = el("quick");
+  let html = "";
+
+  html += '<div class="muted">工况 (setOpCondition)</div><div>';
+  WORK_CONDITIONS.forEach(([v,n]) => { html += `<span class="chip" data-act="cond" data-v="${v}">${n}</span>`; });
+  html += "</div>";
+
+  html += '<div class="muted" style="margin-top:8px">模式 (setOpMode)</div><div>';
+  MODES.forEach(([v,n]) => { html += `<span class="chip" data-act="mode" data-v="${v}">${n}</span>`; });
+  html += "</div>";
+
+  html += '<div class="muted" style="margin-top:8px">电源 (setPowerSystem)</div><div>';
+  POWER_CMDS.forEach(([v,n]) => { html += `<span class="chip" data-act="power" data-v="${v}">${n}</span>`; });
+  html += "</div>";
+
+  html += '<div class="muted" style="margin-top:8px">任务启动 (taskStart)</div><div>';
+  TASKS.forEach(([v,n]) => { html += `<span class="chip" data-act="task" data-v="${v}">${n}</span>`; });
+  html += "</div>";
+
+  html += '<div class="muted" style="margin-top:8px">设备开关 (setDeviceSwitch)</div>';
+  html += '<div class="row"><select id="devSel">' + DEVICES.map(([v,n])=>`<option value="${v}">${n}</option>`).join("") + "</select>" +
+          '<select id="devCmd">' + DEV_CMDS.map(([v,n])=>`<option value="${v}">${n}</option>`).join("") + "</select>" +
+          '<button id="btnDev">执行</button></div>';
+
+  box.innerHTML = html;
+
+  box.querySelectorAll(".chip").forEach(ch => {
+    ch.onclick = () => {
+      const act = ch.dataset.act, v = ch.dataset.v;
+      if(act === "cond") sendMsg({ key: COMMANDS.setOpCondition.key, value: {state_uint8: Number(v)} });
+      else if(act === "mode") sendMsg({ key: COMMANDS.setOpMode.key, value: {state_uint8: Number(v)} });
+      else if(act === "power") sendMsg({ key: COMMANDS.setPowerSystem.key, value: {powerCmd_uint8: Number(v)} });
+      else if(act === "task") sendMsg({ key: COMMANDS.taskStart.key, value: {taskType_str: v, balanceEnabled_bool: true, bowRudderUnfold_bool: true} });
+    };
+  });
+
+  el("btnDev").onclick = () => {
+    sendMsg({ key: COMMANDS.setDeviceSwitch.key, value: { id_uint8: Number(el("devSel").value), cmd_uint8: Number(el("devCmd").value) } });
+  };
+}
+
+function escapeHtml(s){ return s.replace(/[&<>]/g, c => ({"&":"&amp;","<":"&lt;",">":"&gt;"}[c])); }
+
+function renderMonitor(snap){
+  const keys = Object.keys(snap).sort();
+  el("monitorMeta").textContent = "收到 " + keys.length + " 个反馈变量 · " + new Date().toLocaleTimeString();
+  const box = el("monitor");
+  box.innerHTML = "";
+  keys.forEach(k => {
+    const raw = snap[k];
+    let pretty = raw;
+    try { pretty = JSON.stringify(JSON.parse(raw), null, 2); } catch(e){}
+    const d = document.createElement("details");
+    d.className = "var-item";
+    d.innerHTML = `<summary>${k}</summary><pre>${escapeHtml(pretty)}</pre>`;
+    box.appendChild(d);
+  });
+}
+
+// ---- 连续数据曲线 ----
+function collectNumbers(node, prefix, out){
+  if (Array.isArray(node)) return;
+  if (typeof node === "number") { out[prefix] = node; return; }
+  if (node && typeof node === "object") {
+    for (const k in node) collectNumbers(node[k], prefix + "." + k, out);
+  }
+}
+
+function onSnapshot(snap){
+  renderMonitor(snap);
+
+  const now = Date.now();
+  const nums = {};
+  for (const key in snap) {
+    let obj; try { obj = JSON.parse(snap[key]); } catch(e){ continue; }
+    collectNumbers(obj, key, nums);
+  }
+  for (const p in nums) allFields.add(p);
+
+  for (const p in history) {
+    if (p in nums) {
+      history[p].points.push([now, nums[p]]);
+      if (history[p].points.length > MAX_POINTS) history[p].points.shift();
+    }
+  }
+
+  refreshFieldOptions();
+  drawChart();
+}
+
+function refreshFieldOptions(){
+  const sel = el("fieldSel");
+  const prev = sel.value;
+  const arr = Array.from(allFields).sort();
+  sel.innerHTML = arr.map(p => `<option value="${p}">${p}</option>`).join("");
+  if (prev && arr.indexOf(prev) >= 0) sel.value = prev;
+}
+
+function addSeries(path){
+  if (!path || history[path]) return;
+  history[path] = { color: COLORS[nextColor % COLORS.length], points: [] };
+  nextColor++;
+  renderSeriesBox();
+  drawChart();
+}
+
+function removeSeries(path){
+  delete history[path];
+  renderSeriesBox();
+  drawChart();
+}
+
+function renderSeriesBox(){
+  const box = el("seriesBox");
+  const paths = Object.keys(history);
+  if (!paths.length) { box.innerHTML = '<span class="muted">未添加曲线</span>'; return; }
+  box.innerHTML = paths.map(p =>
+    `<span class="serie"><span class="swatch" style="background:${history[p].color}"></span>${p}` +
+    `<span class="rm" data-path="${p}">×</span></span>`
+  ).join("");
+  box.querySelectorAll(".rm").forEach(x => { x.onclick = () => removeSeries(x.dataset.path); });
+}
+
+function fmt(v){ return Math.abs(v) >= 1000 ? v.toFixed(0) : (Math.abs(v) >= 10 ? v.toFixed(1) : v.toFixed(2)); }
+function fmtTime(t){ const d = new Date(t); return d.toLocaleTimeString(); }
+
+function drawChart(){
+  const canvas = el("chart");
+  const dpr = window.devicePixelRatio || 1;
+  const w = canvas.clientWidth || 1000;
+  const h = canvas.clientHeight || 280;
+  canvas.width = Math.floor(w * dpr);
+  canvas.height = Math.floor(h * dpr);
+  const ctx = canvas.getContext("2d");
+  ctx.setTransform(dpr,0,0,dpr,0,0);
+  ctx.fillStyle = "#0b1220"; ctx.fillRect(0,0,w,h);
+
+  const series = Object.keys(history).filter(k => history[k].points.length >= 1);
+  if (!series.length){
+    ctx.fillStyle = "#64748b"; ctx.font = "13px sans-serif"; ctx.textAlign = "center";
+    ctx.fillText("添加曲线后显示连续数据趋势", w/2, h/2);
+    return;
+  }
+
+  let minT=Infinity, maxT=-Infinity, minV=Infinity, maxV=-Infinity;
+  series.forEach(k => history[k].points.forEach(([t,v])=>{
+    if(t<minT)minT=t; if(t>maxT)maxT=t; if(v<minV)minV=v; if(v>maxV)maxV=v;
+  }));
+  if(minV === maxV){ minV -= 1; maxV += 1; }
+  if(minT === maxT){ minT -= 500; maxT += 500; }
+
+  const pad = {l:52,r:12,t:12,b:26};
+  const pw = w - pad.l - pad.r, ph = h - pad.t - pad.b;
+  const X = t => pad.l + (t-minT)/(maxT-minT)*pw;
+  const Y = v => pad.t + (1-(v-minV)/(maxV-minV))*ph;
+
+  ctx.strokeStyle = "#1e293b"; ctx.fillStyle = "#94a3b8"; ctx.font = "10px sans-serif";
+  for(let i=0;i<=4;i++){
+    const val = minV + (maxV-minV)*i/4, yy = Y(val);
+    ctx.textAlign = "right"; ctx.fillText(fmt(val), pad.l-6, yy+3);
+    ctx.beginPath(); ctx.moveTo(pad.l, yy); ctx.lineTo(w-pad.r, yy); ctx.stroke();
+  }
+  for(let i=0;i<=4;i++){
+    const tt = minT + (maxT-minT)*i/4, xx = X(tt);
+    ctx.textAlign = "center"; ctx.fillText(fmtTime(tt), xx, h-pad.b+14);
+    ctx.beginPath(); ctx.moveTo(xx, pad.t); ctx.lineTo(xx, h-pad.b); ctx.stroke();
+  }
+
+  series.forEach(k => {
+    const {color, points} = history[k];
+    ctx.strokeStyle = color; ctx.lineWidth = 1.5; ctx.beginPath();
+    points.forEach(([t,v],i)=>{ const xx=X(t), yy=Y(v); if(i)ctx.lineTo(xx,yy); else ctx.moveTo(xx,yy); });
+    ctx.stroke();
+  });
+}
+
+// 初始化
+function init(){
+  const sel = el("cmdType");
+  Object.keys(COMMANDS).forEach(k => {
+    const o = document.createElement("option");
+    o.value = k; o.textContent = COMMANDS[k].label;
+    sel.appendChild(o);
+  });
+  sel.value = currentCmd;
+  applyTemplate(currentCmd);
+  sel.onchange = () => { currentCmd = sel.value; applyTemplate(currentCmd); };
+
+  el("btnSend").onclick = sendCurrent;
+  el("btnReset").onclick = () => applyTemplate(currentCmd);
+  el("btnRawSend").onclick = () => {
+    const k = el("rawKey").value.trim();
+    const v = el("rawValue").value.trim();
+    if(!k){ log("变量名为空", "err"); return; }
+    sendMsg({ key: k, value: v });
+  };
+
+  el("btnAddSeries").onclick = () => addSeries(el("fieldSel").value);
+  el("btnClearSeries").onclick = () => { history = {}; nextColor = 0; renderSeriesBox(); drawChart(); };
+
+  window.addEventListener("resize", drawChart);
+
+  buildQuick();
+  renderSeriesBox();
+  drawChart();
+  connect();
+}
+init();
+</script>
+</body>
+</html>
diff --git a/test/disSysTest.zip b/test/disSysTest.zip
deleted file mode 100644
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diff --git a/test/disSysTest/PowerManagerApp111.py b/test/disSysTest/PowerManagerApp111.py
new file mode 100644
index 0000000..576b900
--- /dev/null
+++ b/test/disSysTest/PowerManagerApp111.py
@@ -0,0 +1,1578 @@
+import tkinter as tk
+from tkinter import ttk
+import socket
+import threading
+import time
+from db import DB
+import os
+from udpMsg import (msg_disHighVolBusFbMsg, msg_disHighAVolBusFbMsg,
+                    msg_disLowMainBusFbMsg, msg_disLowBusFbMsg,
+                    msg_disHVBCmdMsg, msg_disHVBACmdMsg, msg_disLVMBCmdMsg,
+                    msg_disLVBCmdMsg)
+
+
+class PowerManagerApp:
+
+    def __init__(self, root):
+        self.root = root
+
+        # 解决字体模糊问题
+        style = ttk.Style()
+        style.configure('.', font=('Microsoft YaHei', 10))
+
+        self.root.title("电源管理系统")
+        self.root.tk.call('tk', 'scaling', 1.5)  # 适配高DPI显示
+        # 移除固定窗口大小设置，实现自适应
+        self.root.minsize(800, 600)  # 设置最小窗口大小
+
+        # UDP通信配置
+        # self.udp_ip = "127.0.0.1"
+        self.udp_ip = "192.168.0.140"  #本机IP，需配置一致
+        self.udp_port = 7000
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.sock.bind((self.udp_ip, self.udp_port))
+
+        self.disSysPortC1 = 6000
+        self.disSysHostC1 = '192.168.1.154'  #动力
+        self.disSysPortC2 = 6000
+        self.disSysHostC2 = '192.168.1.158'  #仪表
+
+        # self.disSysPortC1 = 7000
+        # self.disSysHostC1 = '192.168.0.140'
+        # self.disSysPortC2 = 7000
+        # self.disSysHostC2 = '192.168.0.140'
+
+        # 数据库配置
+        # self.db = DB('/home/zjk/project/H100/H100PowerManger/test/disSysTest/test.db')
+        self.db = DB(os.path.join(os.path.dirname(__file__), 'test.db'))
+        self.db.connect()
+
+        # 状态数据 - 完全匹配udpMsg.py中的定义
+        self.status_data = {
+            "high_vol_bus": {
+                "breakers": {
+                    "燃料电池断路器": 0,
+                    "动力锂电池断路器": 0,
+                    "推进电机断路器": 0,
+                    "锂电池组仪表断路器": 0,
+                    "DC/DC汇流排断路器": 0,
+                    "艏部高压断路器": 0,
+                    "艉FT设备45断路器": 0,
+                    "FB备用断路器": 0,
+                    "艉舵机开关1断路器": 0,
+                    "艉舵机开关2断路器": 0,
+                    "TYZ备用断路器": 0,
+                    "备用断路器": 0
+                },
+                "faults": {
+                    "DC/DC故障1": 0,
+                    "DC/DC故障2": 0
+                },
+                "insulation": {
+                    "动力母线绝缘状态": 0,
+                    "A母线绝缘状态": 0
+                },
+                "alarms": {
+                    "仪表电源丢失信号": 0,
+                    "应急电源丢失信号": 0
+                },
+                "voltage": {
+                    "动力母线电压": 0.0,
+                    "A母线电压": 0.0
+                },
+                "current": {
+                    "动力母线电流": 0.0,
+                    "DC/DC5模块电流": 0.0,
+                    "推进电机控制箱电流": 0.0,
+                    "A母线电流": 0.0,
+                    "锂电池组仪表电流": 0.0,
+                    "艏高压配电盒电流": 0.0,
+                    "艉FT设备45电流": 0.0,
+                    "TYZ备用开关电流": 0.0,
+                    "FB备用开关电流": 0.0,
+                    "备用电流1": 0.0,
+                    "艉舵机开关1电流": 0.0,
+                    "备用电流2": 0.0,
+                    "艉舵机开关2电流": 0.0,
+                    "备用电流3": 0.0
+                },
+                "cool_water_pressure": 0.0,
+                "dcdc_temp": 0
+            },
+            "high_a_vol_bus": {
+                "breakers": {
+                    "艏FT设备123断路器": 0,
+                    "启闭机构断路器": 0,
+                    "桅杆舵机断路器": 0,
+                    "XCZ断路器": 0,
+                    "艏舵控制箱断路器": 0,
+                    "敞水盖断路器": 0
+                },
+                "alarms": {
+                    "仪表电源故障": 0,
+                    "应急电源故障": 0,
+                    "进水报警": 0
+                },
+                "voltage": {
+                    "B母线电压": 0.0
+                },
+                "current": {
+                    "B母线电流": 0.0,
+                    "艏FT设备123电流": 0.0,
+                    "执行机构电流": 0.0,
+                    "桅舵机控制箱电流": 0.0,
+                    "XCZ电流": 0.0,
+                    "艏舵控制箱电流": 0.0,
+                    "开盖启动气缸电流": 0.0
+                }
+            },
+            "low_main_bus": {
+                "breakers": {
+                    "锂电池组仪表断路器": 0,
+                    "艏部低压断路器": 0,
+                    "单元4仪表48V断路器": 0,
+                    "DC/C1直流配电板断路器": 0,
+                    "备用断路器1": 0,
+                    "备用断路器2": 0,
+                    "应急锂电池组2断路器": 0
+                },
+                "alarms": {
+                    "仪表电源故障": 0,
+                    "应急电源故障": 0
+                },
+                "insulation": 0,
+                "voltage": {
+                    "仪表母线电压": 0.0,
+                    "应急2母线电压": 0.0
+                },
+                "current": {
+                    "艏低压配电盒电流": 0.0,
+                    "DC/C1仪表48V电流": 0.0,
+                    "备用电流1": 0.0,
+                    "应急锂电池组2电流": 0.0,
+                    "锂电池组仪表电流": 0.0,
+                    "单元4仪表48V电流": 0.0,
+                    "备用电流2": 0.0,
+                    "综合能量管理系统应急DC48V电流": 0.0,
+                    "燃料电池安全系统应急DC48V电流": 0.0,
+                    "PLC控制电源电流": 0.0
+                }
+            },
+            "low_bus": {
+                "breakers": {
+                    "单元1断路器": 0,
+                    "单元2断路器": 0,
+                    "单元3断路器": 0,
+                    "单元5断路器": 0,
+                    "艏PZ设备断路器": 0,
+                    "备用断路器1": 0,
+                    "备用断路器2": 0,
+                    "应急锂电池组1断路器": 0
+                },
+                "alarms": {
+                    "仪表电源故障": 0,
+                    "应急电源故障": 0,
+                    "进水报警": 0
+                },
+                "voltage": {
+                    "仪表母线电压": 0.0,
+                    "应急1母线电压": 0.0
+                },
+                "current": {
+                    "仪表母线电流": 0.0,
+                    "单元1电流": 0.0,
+                    "单元2电流": 0.0,
+                    "单元3电流": 0.0,
+                    "单元5电流": 0.0,
+                    "艏PZ设备电流": 0.0,
+                    "应急锂电池组1电流": 0.0
+                }
+            }
+        }
+
+        # 初始化界面
+        self.setup_ui()
+
+        # 启动UDP接收线程
+        self.running = True
+        self.recv_thread = threading.Thread(target=self.udp_receive_loop)
+        self.recv_thread.daemon = True
+        self.recv_thread.start()
+
+        # 启动状态更新定时器
+        self.update_ui()
+
+    def setup_ui(self):
+        """初始化用户界面"""
+        # 主框架
+        main_frame = ttk.Frame(self.root, padding="10")
+        main_frame.pack(fill=tk.BOTH, expand=True)
+        self.root.grid_rowconfigure(0, weight=1)
+        self.root.grid_columnconfigure(0, weight=1)
+
+        # 状态显示区
+        status_frame = ttk.LabelFrame(main_frame, text="系统状态", padding="10")
+        status_frame.pack(fill=tk.BOTH, expand=True, pady=5)
+
+        # 创建Canvas和Scrollbar
+        self.notebook = ttk.Notebook(status_frame)
+        self.notebook.pack(fill=tk.BOTH, expand=True, padx=5, pady=5)
+
+        # 高压母线状态页
+        high_vol_frame = ttk.Frame(self.notebook)
+        self.notebook.add(high_vol_frame, text="动力配电板")
+        self.setup_high_vol_ui(high_vol_frame)
+
+        # 高压A母线状态页
+        high_a_vol_frame = ttk.Frame(self.notebook)
+        self.notebook.add(high_a_vol_frame, text="艏部高压")
+        self.setup_high_a_vol_ui(high_a_vol_frame)
+
+        # 仪表主母线状态页
+        low_main_frame = ttk.Frame(self.notebook)
+        self.notebook.add(low_main_frame, text="仪表配电板")
+        self.setup_low_main_ui(low_main_frame)
+
+        # 仪表母线状态页
+        low_bus_frame = ttk.Frame(self.notebook)
+        self.notebook.add(low_bus_frame, text="艏部低压")
+        self.setup_low_bus_ui(low_bus_frame)
+
+        # 控制区
+        control_frame = ttk.LabelFrame(main_frame, text="控制面板", padding="10")
+        control_frame.pack(fill=tk.BOTH, expand=True, pady=5)
+        control_frame.grid_rowconfigure(0, weight=1)
+        control_frame.grid_columnconfigure(0, weight=1)
+
+        # 创建Canvas和Scrollbar
+        canvas = tk.Canvas(control_frame)
+        scrollbar = ttk.Scrollbar(control_frame,
+                                  orient="vertical",
+                                  command=canvas.yview)
+        canvas.configure(yscrollcommand=scrollbar.set)
+
+        # 将Canvas和Scrollbar放入控制区
+        canvas.pack(side="left", fill="both", expand=True)
+        scrollbar.pack(side="right", fill="y")
+
+        # 创建内部Frame用于放置Notebook
+        inner_frame = ttk.Frame(canvas)
+        self.inner_frame_id = canvas.create_window((0, 0),
+                                                   window=inner_frame,
+                                                   anchor="nw")
+
+        # 配置Canvas滚动区域
+        def configure_canvas(event):
+            canvas.configure(scrollregion=canvas.bbox("all"))
+            canvas.itemconfig(self.inner_frame_id, width=event.width)
+
+        inner_frame.bind("<Configure>", configure_canvas)
+        canvas.bind("<Configure>", configure_canvas)
+
+        # 绑定鼠标滚轮事件
+        def on_mousewheel(event):
+            canvas.yview_scroll(int(-1 * (event.delta / 120)), "units")
+
+        canvas.bind_all("<MouseWheel>", on_mousewheel)
+
+        # 状态显示区 - 使用Notebook组织不同母线状态
+        self.notebook_c = ttk.Notebook(inner_frame)
+        self.notebook_c.pack(fill="both", expand=True, padx=5, pady=5)
+
+        high_vol_control_frame = ttk.Frame(self.notebook_c)
+        self.notebook_c.add(high_vol_control_frame, text="动力配电板")
+        self.setup_hvb_control(high_vol_control_frame)
+
+        high_a_vol_control_frame = ttk.Frame(self.notebook_c)
+        self.notebook_c.add(high_a_vol_control_frame, text="艏部高压")
+        self.setup_hvba_control(high_a_vol_control_frame)
+
+        low_main_control_frame = ttk.Frame(self.notebook_c)
+        self.notebook_c.add(low_main_control_frame, text="仪表配电板")
+        self.setup_lvmb_control(low_main_control_frame)
+
+        low_bus_control_frame = ttk.Frame(self.notebook_c)
+        self.notebook_c.add(low_bus_control_frame, text="艏部低压")
+        self.setup_lvb_control(low_bus_control_frame)
+
+        # 日志区
+        log_frame = ttk.LabelFrame(main_frame, text="系统日志", padding="10")
+        log_frame.pack(fill=tk.BOTH, expand=True, pady=5)
+        log_frame.grid_rowconfigure(0, weight=1)
+        log_frame.grid_columnconfigure(0, weight=1)
+
+        self.log_text = tk.Text(log_frame, height=10, state=tk.DISABLED)
+        self.log_text.pack(fill=tk.BOTH, expand=True)
+
+        scrollbar = ttk.Scrollbar(log_frame,
+                                  orient=tk.VERTICAL,
+                                  command=self.log_text.yview)
+        scrollbar.pack(side=tk.RIGHT, fill=tk.Y)
+        self.log_text.config(yscrollcommand=scrollbar.set)
+
+    def setup_hvb_control(self, parent):
+        """设置动力母线配电指令控制面板"""
+        frame = ttk.LabelFrame(parent, text="动力母线配电指令", padding="10")
+        frame.pack(fill=tk.X, pady=5)
+
+        # 断路器控制按钮
+        breaker_names = [
+            "燃料电池断路器", "动力锂电池断路器", "推进电机断路器", "锂电池组仪表断路器", "DC/DC汇流排断路器",
+            "艏部高压断路器", "艉FT设备45断路器", "FB备用断路器", "艉舵机开关1断路器", "艉舵机开关2断路器",
+            "TYZ备用断路器", "备用断路器", "DC/DC模块启动", "冷却系统启动"
+        ]
+
+        for i, name in enumerate(breaker_names):
+            row = i // 3
+            col = i % 3
+            btn_frame = ttk.Frame(frame)
+            btn_frame.grid(row=row, column=col, padx=10, pady=2, sticky=tk.W)
+
+            ttk.Label(btn_frame, text=name, width=20).pack(side=tk.LEFT)
+            on_btn = ttk.Button(
+                btn_frame,
+                text="合",
+                width=3,
+                command=lambda n=name: self.send_hvb_cmd(n, 0x55))
+            on_btn.pack(side=tk.LEFT, padx=2)
+            off_btn = ttk.Button(
+                btn_frame,
+                text="分",
+                width=3,
+                command=lambda n=name: self.send_hvb_cmd(n, 0xAA))
+            off_btn.pack(side=tk.LEFT, padx=2)
+
+    def setup_hvba_control(self, parent):
+        """设置动力汇流排A配电指令控制面板"""
+        frame = ttk.LabelFrame(parent, text="动力汇流排A配电指令", padding="10")
+        frame.pack(fill=tk.X, pady=5)
+
+        # 断路器控制按钮
+        breaker_names = [
+            "艏FT设备123断路器", "启闭机构断路器", "桅杆舵机断路器", "XCZ断路器", "艏舵控制箱断路器",
+            "敞水盖断路器"
+        ]
+
+        for i, name in enumerate(breaker_names):
+            row = i // 3
+            col = i % 3
+            btn_frame = ttk.Frame(frame)
+            btn_frame.grid(row=row, column=col, padx=10, pady=2, sticky=tk.W)
+
+            ttk.Label(btn_frame, text=name, width=20).pack(side=tk.LEFT)
+            on_btn = ttk.Button(
+                btn_frame,
+                text="合",
+                width=3,
+                command=lambda n=name: self.send_hvba_cmd(n, 0x55))
+            on_btn.pack(side=tk.LEFT, padx=2)
+            off_btn = ttk.Button(
+                btn_frame,
+                text="分",
+                width=3,
+                command=lambda n=name: self.send_hvba_cmd(n, 0xAA))
+            off_btn.pack(side=tk.LEFT, padx=2)
+
+    def setup_lvmb_control(self, parent):
+        """设置仪表母线配电指令控制面板"""
+        frame = ttk.LabelFrame(parent, text="仪表母线配电指令", padding="10")
+        frame.pack(fill=tk.X, pady=5)
+
+        # 断路器控制按钮
+        breaker_names = [
+            "锂电池组仪表断路器", "艏部低压断路器", "单元4仪表48V断路器", "DC/C1直流配电板断路器", "备用断路器1",
+            "备用断路器2", "应急锂电池组2断路器"
+        ]
+
+        for i, name in enumerate(breaker_names):
+            row = i // 3
+            col = i % 3
+            btn_frame = ttk.Frame(frame)
+            btn_frame.grid(row=row, column=col, padx=10, pady=2, sticky=tk.W)
+
+            ttk.Label(btn_frame, text=name, width=20).pack(side=tk.LEFT)
+            on_btn = ttk.Button(
+                btn_frame,
+                text="合",
+                width=3,
+                command=lambda n=name: self.send_lvmb_cmd(n, 0x55))
+            on_btn.pack(side=tk.LEFT, padx=2)
+            off_btn = ttk.Button(
+                btn_frame,
+                text="分",
+                width=3,
+                command=lambda n=name: self.send_lvmb_cmd(n, 0xaa))
+            off_btn.pack(side=tk.LEFT, padx=2)
+
+    def setup_lvb_control(self, parent):
+        """设置仪表汇流排配电指令控制面板"""
+        frame = ttk.LabelFrame(parent, text="仪表汇流排配电指令", padding="10")
+        frame.pack(fill=tk.X, pady=5)
+
+        # 断路器控制按钮
+        breaker_names = [
+            "单元1断路器", "单元2断路器", "单元3断路器", "单元5断路器", "艏PZ设备断路器", "备用断路器1",
+            "备用断路器2", "应急锂电池组1断路器"
+        ]
+
+        for i, name in enumerate(breaker_names):
+            row = i // 3
+            col = i % 3
+            btn_frame = ttk.Frame(frame)
+            btn_frame.grid(row=row, column=col, padx=10, pady=2, sticky=tk.W)
+
+            ttk.Label(btn_frame, text=name, width=20).pack(side=tk.LEFT)
+            on_btn = ttk.Button(
+                btn_frame,
+                text="合",
+                width=3,
+                command=lambda n=name: self.send_lvb_cmd(n, 0x55))
+            on_btn.pack(side=tk.LEFT, padx=2)
+            off_btn = ttk.Button(
+                btn_frame,
+                text="分",
+                width=3,
+                command=lambda n=name: self.send_lvb_cmd(n, 0xaa))
+            off_btn.pack(side=tk.LEFT, padx=2)
+
+    def send_hvb_cmd(self, breaker_name, state):
+        """发送动力母线配电指令"""
+        # print(breaker_name,state)
+        cmd = msg_disHVBCmdMsg()
+        if breaker_name == "燃料电池断路器":
+            cmd.fuelCellCircuitBreaker = state
+        elif breaker_name == "动力锂电池断路器":
+            cmd.powerLithiumBatteryCircuitBreaker = state
+        elif breaker_name == "推进电机断路器":
+            cmd.propulsionMotorCircuitBreaker = state
+        elif breaker_name == "锂电池组仪表断路器":
+            cmd.lithiumBatteryGroupInstrumentCircuitBreaker = state
+        elif breaker_name == "DC/DC汇流排断路器":
+            cmd.dcDc5ModuleCircuitBreaker = state
+        elif breaker_name == "艏部高压断路器":
+            cmd.bowHighVoltageDistributionBoxCircuitBreaker = state
+        elif breaker_name == "艉FT设备45断路器":
+            cmd.sternFTDevice45CircuitBreaker = state
+        elif breaker_name == "FB备用断路器":
+            cmd.sternRudderSwitch1CircuitBreaker = state
+        elif breaker_name == "艉舵机开关1断路器":
+            cmd.sternRudderSwitch2CircuitBreaker = state
+        elif breaker_name == "艉舵机开关2断路器":
+            cmd.fbReservedCircuitBreaker = state
+        elif breaker_name == "TYZ备用断路器":
+            cmd.tyzReservedCircuitBreaker = state
+        elif breaker_name == "备用断路器":
+            cmd.reservedCircuitBreaker = state
+        elif breaker_name == "DC/DC模块启动":
+            cmd.dcdc5Module = state
+        elif breaker_name == "冷却系统启动":
+            cmd.coolingSystem = state
+
+        # self.send_udp_command(cmd.pack())
+        self.send_udp_command(cmd.pack(), self.disSysHostC1, self.disSysPortC1)
+        self.db.insertHighVolBusCmd(cmd)
+        if state == 0x55:
+            buntu = True
+        else:
+            buntu = False
+        self.log_message(f"发送动力母线配电指令: {breaker_name} {'合' if buntu else '分'}")
+
+    def send_hvba_cmd(self, breaker_name, state):
+        """发送动力汇流排A配电指令"""
+        cmd = msg_disHVBACmdMsg()
+
+        if breaker_name == "艏FT设备123断路器":
+            cmd.bowFTDevice123CircuitBreaker = state
+        elif breaker_name == "启闭机构断路器":
+            cmd.actuatorCircuitBreaker = state
+        elif breaker_name == "桅杆舵机断路器":
+            cmd.mastSteeringGearControlBoxCircuitBreaker = state
+        elif breaker_name == "XCZ断路器":
+            cmd.xczCircuitBreaker = state
+        elif breaker_name == "艏舵控制箱断路器":
+            cmd.bowRudderControlBoxCircuitBreaker = state
+        elif breaker_name == "敞水盖断路器":
+            cmd.openWaterCoverStartCylinderCircuitBreaker = state
+        if state == 0x55:
+            buntu = True
+        else:
+            buntu = False
+        self.log_message(
+            f"发送动力汇流排A配电指令: {breaker_name} {'合' if buntu else '分'}")
+        # self.send_udp_command(cmd.pack())
+        self.send_udp_command(cmd.pack(), self.disSysHostC1, self.disSysPortC1)
+        self.db.insertHighAVolBusCmd(cmd)
+
+    def send_lvmb_cmd(self, breaker_name, state):
+        """发送仪表母线配电指令"""
+        cmd = msg_disLVMBCmdMsg()
+        if breaker_name == "锂电池组仪表断路器":
+            cmd.lithiumBatteryGroupInstrumentCircuitBreaker = state
+        elif breaker_name == "艏部低压断路器":
+            cmd.bowLowVoltageDistributionBoxCircuitBreaker = state
+        elif breaker_name == "单元4仪表48V断路器":
+            cmd.unit4InstrumentDC48VCircuitBreaker = state
+        elif breaker_name == "DC/C1直流配电板断路器":
+            cmd.dcC1DCDistributionPanelCircuitBreaker = state
+        elif breaker_name == "备用断路器1":
+            cmd.reservedCircuitBreaker1 = state
+        elif breaker_name == "备用断路器2":
+            cmd.reservedCircuitBreaker2 = state
+        elif breaker_name == "应急锂电池组2断路器":
+            cmd.emergencyLithiumBatteryGroup2CircuitBreaker = state
+
+        # self.send_udp_command(cmd.pack())
+        self.send_udp_command(cmd.pack(), self.disSysHostC2, self.disSysPortC2)
+        self.db.insertLowMainBusCmd(cmd)
+        if state == 0x55:
+            buntu = True
+        else:
+            buntu = False
+        self.log_message(f"发送仪表母线配电指令: {breaker_name} {'合' if buntu else '分'}")
+
+    def send_lvb_cmd(self, breaker_name, state):
+        """发送仪表汇流排配电指令"""
+        cmd = msg_disLVBCmdMsg()
+        if breaker_name == "单元1断路器":
+            cmd.unit1CircuitBreaker = state
+        elif breaker_name == "单元2断路器":
+            cmd.unit2CircuitBreaker = state
+        elif breaker_name == "单元3断路器":
+            cmd.unit3CircuitBreaker = state
+        elif breaker_name == "单元5断路器":
+            cmd.unit5CircuitBreaker = state
+        elif breaker_name == "艏PZ设备断路器":
+            cmd.bowPZDeviceCircuitBreaker = state
+        elif breaker_name == "备用断路器1":
+            cmd.reservedCircuitBreaker1 = state
+        elif breaker_name == "备用断路器2":
+            cmd.reservedCircuitBreaker2 = state
+        elif breaker_name == "应急锂电池组1断路器":
+            cmd.emergencyLithiumBatteryGroup1CircuitBreaker = state
+
+        # self.send_udp_command(cmd.pack())
+        self.send_udp_command(cmd.pack(), self.disSysHostC2, self.disSysPortC2)
+        self.db.insertLowBusCmd(cmd)
+        if state == 0x55:
+            buntu = True
+        else:
+            buntu = False
+        self.log_message(
+            f"发送仪表汇流排配电指令: {breaker_name} {'合' if buntu else '分'}")
+
+    def udp_receive_loop(self):
+        """UDP接收消息循环"""
+        while self.running:
+            # print('接收中')
+            try:
+                data, addr = self.sock.recvfrom(1024)
+                self.process_udp_message(data)
+                # print('接收成功')
+            except Exception as e:
+                self.log_message(f"接收错误: {str(e)}")
+
+    def setup_high_vol_ui(self, parent):
+        """设置高压母线状态界面"""
+        # 初始化故障位列表
+        self.high_vol_dcdc_fault1_bits = []
+        self.high_vol_dcdc_fault2_bits = []
+
+        frame = ttk.LabelFrame(parent, text="高压母线状态")
+        frame.pack(fill=tk.BOTH, expand=True, padx=2, pady=2)
+
+        # 使用网格布局管理器
+        frame.grid_columnconfigure(0, weight=1)
+        frame.grid_columnconfigure(1, weight=1)
+        frame.grid_columnconfigure(2, weight=1)
+        frame.grid_columnconfigure(3, weight=1)
+
+        # 电压显示
+        ttk.Label(frame, text="动力母线电压(V):").grid(row=0, column=0, sticky=tk.W)
+        self.high_vol_power_voltage = ttk.Label(frame, text="0.0V")
+        self.high_vol_power_voltage.grid(row=0, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="A母线电压(V):").grid(row=0, column=2, sticky=tk.W)
+        self.high_vol_a_voltage = ttk.Label(frame, text="0.0V")
+        self.high_vol_a_voltage.grid(row=0, column=3, sticky=tk.W)
+
+        # 断路器状态
+        ttk.Label(frame, text="断路器状态:").grid(row=2,
+                                             column=0,
+                                             columnspan=4,
+                                             sticky=tk.W)
+        self.high_vol_breakers = {}
+        breaker_names = list(
+            self.status_data["high_vol_bus"]["breakers"].keys())
+
+        for i, name in enumerate(breaker_names):
+            ttk.Label(frame, text=name).grid(row=3 + i // 3,
+                                             column=(i % 3) * 2,
+                                             sticky=tk.W)
+            canvas = tk.Canvas(frame, width=20, height=20, bg="white")
+            canvas.grid(row=3 + i // 3, column=(i % 3) * 2 + 1, sticky=tk.W)
+            self.high_vol_breakers[name] = canvas
+
+        # 绝缘状态
+        ttk.Label(frame, text="动力母线绝缘:").grid(row=9, column=0, sticky=tk.W)
+        self.high_vol_power_insulation = ttk.Label(frame, text="正常")
+        self.high_vol_power_insulation.grid(row=9, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="A母线绝缘:").grid(row=9, column=2, sticky=tk.W)
+        self.high_vol_a_insulation = ttk.Label(frame, text="正常")
+        self.high_vol_a_insulation.grid(row=9, column=3, sticky=tk.W)
+
+        # 故障状态 - 扩展显示所有故障位
+        fault_labels1 = [
+            "过温关机", "输出过流", "输出过压", "输出欠压", "输入过压", "输入欠压", "输出短路保护", "内部故障"
+        ]
+        fault_labels2 = [
+            "通信故障", "工作状态", "冷却泵1故障", "冷却泵2故障", "冷却水泄漏", "冷却泵1运行状态",
+            "冷却泵2运行状态", "保留"
+        ]
+
+        # DC/DC故障显示
+        fault_frame = ttk.Frame(frame)
+        fault_frame.grid(row=10, column=0, columnspan=4, sticky=tk.W, pady=2)
+
+        ttk.Label(fault_frame, text="DC/DC故障字1:").grid(row=0,
+                                                       column=0,
+                                                       sticky=tk.W)
+        for i, label in enumerate(fault_labels1):
+            ttk.Label(fault_frame, text=label).grid(row=1 + i // 4,
+                                                    column=(i % 4) * 2,
+                                                    sticky=tk.W,
+                                                    padx=2)
+            canvas = tk.Canvas(fault_frame,
+                               width=16,
+                               height=16,
+                               bg="white",
+                               highlightthickness=1)
+            canvas.grid(row=1 + i // 4,
+                        column=(i % 4) * 2 + 1,
+                        sticky=tk.W,
+                        padx=2)
+            self.high_vol_dcdc_fault1_bits.append(canvas)
+
+        ttk.Label(fault_frame, text="DC/DC故障字2:").grid(row=3,
+                                                       column=0,
+                                                       sticky=tk.W)
+        for i, label in enumerate(fault_labels2):
+            ttk.Label(fault_frame, text=label).grid(row=4 + i // 4,
+                                                    column=(i % 4) * 2,
+                                                    sticky=tk.W,
+                                                    padx=2)
+            canvas = tk.Canvas(fault_frame,
+                               width=16,
+                               height=16,
+                               bg="white",
+                               highlightthickness=1)
+            canvas.grid(row=4 + i // 4,
+                        column=(i % 4) * 2 + 1,
+                        sticky=tk.W,
+                        padx=2)
+            self.high_vol_dcdc_fault2_bits.append(canvas)
+
+        # 绝缘状态 - 详细显示
+        ttk.Label(frame, text="动力母线绝缘:").grid(row=16, column=0, sticky=tk.W)
+        self.high_vol_power_insulation = ttk.Label(frame, text="正常")
+        self.high_vol_power_insulation.grid(row=16, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="A母线绝缘:").grid(row=16, column=2, sticky=tk.W)
+        self.high_vol_a_insulation = ttk.Label(frame, text="正常")
+        self.high_vol_a_insulation.grid(row=16, column=3, sticky=tk.W)
+
+        # 电流值显示
+        current_labels = [
+            ("动力母线电流(A):", "powerBusCurrent"),
+            ("A汇流排电流(A):", "busbarACurrent"),
+            ("DC/DC5模块电流(A):", "dcDc5ModuleCurrent"),
+            ("推进电机控制箱电流(A):", "propulsionMotorControlBoxCurrent"),
+            ("锂电池组(仪表)电流(A):", "lithiumBatteryGroupMeterCurrent"),
+            ("艏部高压配电箱电流(A):", "bowHighVoltageDistributionBoxCurrent"),
+            ("艉部FT装置4/5电流(A):", "sternFTDevice45Current"),
+            ("TYZ预留开关电流(A):", "tyzReservedSwitchCurrent"),
+            ("艉舵开关1电流(A):", "sternRudderSwitch1Current"),
+            ("艉舵开关2电流(A):", "sternRudderSwitch2Current"),
+            ("FB预留开关电流(A):", "fbReservedSwitchCurrent"),
+            ("备用电流1(A):", "reservedCurrent1"), ("备用电流2(A):",
+                                                "reservedCurrent2"),
+            ("备用电流3(A):", "reservedCurrent3")
+        ]
+
+        for i, (label, _) in enumerate(current_labels):
+            ttk.Label(frame, text=label).grid(row=17 + i // 2,
+                                              column=(i % 2) * 2,
+                                              sticky=tk.W)
+            label_var = ttk.Label(frame, text="0.0A")
+            label_var.grid(row=17 + i // 2,
+                           column=(i % 2) * 2 + 1,
+                           sticky=tk.W)
+            setattr(self, f"high_vol_{current_labels[i][1]}", label_var)
+
+        # 冷却水压力
+        ttk.Label(frame, text="冷却水压力(MPa):").grid(row=24,
+                                                  column=0,
+                                                  sticky=tk.W)
+        self.high_vol_cool_water_pressure = ttk.Label(frame, text="0.00KPa")
+        self.high_vol_cool_water_pressure.grid(row=24, column=1, sticky=tk.W)
+
+        # 冷却水压力
+        ttk.Label(frame, text="DC/DC温度:").grid(row=24, column=3, sticky=tk.W)
+        self.high_vol_dcdc_temp = ttk.Label(frame, text="0.00摄氏度")
+        self.high_vol_dcdc_temp.grid(row=24, column=4, sticky=tk.W)
+
+        ttk.Label(frame, text="仪表失电信号:").grid(row=25, column=0, sticky=tk.W)
+        self.high_vol_losspower_insulation = ttk.Label(frame, text="正常")
+        self.high_vol_losspower_insulation.grid(row=25, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="应急失电信号").grid(row=25, column=2, sticky=tk.W)
+        self.high_vol_loss_emerpower_insulation = ttk.Label(frame, text="正常")
+        self.high_vol_loss_emerpower_insulation.grid(row=25,
+                                                     column=3,
+                                                     sticky=tk.W)
+
+    def setup_high_a_vol_ui(self, parent):
+        """设置高压A母线状态界面"""
+        frame = ttk.LabelFrame(parent, text="高压A母线状态")
+        frame.pack(fill=tk.BOTH, expand=True, padx=5, pady=5)
+
+        # 使用网格布局管理器
+        frame.grid_columnconfigure(0, weight=1)
+        frame.grid_columnconfigure(1, weight=1)
+        frame.grid_columnconfigure(2, weight=1)
+
+        # 电压显示 - 添加详细说明
+        ttk.Label(frame, text="汇流排B电压(V):").grid(row=0, column=0, sticky=tk.W)
+        self.high_a_vol_voltage = ttk.Label(frame, text="0.0 V")
+        self.high_a_vol_voltage.grid(row=0, column=1, sticky=tk.W)
+
+        # 电流显示 - 统一格式
+        ttk.Label(frame, text="汇流排B电流(A):").grid(row=1, column=0, sticky=tk.W)
+        self.high_a_vol_current = ttk.Label(frame, text="0.0 A")
+        self.high_a_vol_current.grid(row=1, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="艏部FT设备123电流(A):").grid(row=2,
+                                                      column=0,
+                                                      sticky=tk.W)
+        self.high_a_vol_bow_ft_current = ttk.Label(frame, text="0.0 A")
+        self.high_a_vol_bow_ft_current.grid(row=2, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="启闭机构电流(A):").grid(row=3, column=0, sticky=tk.W)
+        self.high_a_vol_actuator_current = ttk.Label(frame, text="0.0 A")
+        self.high_a_vol_actuator_current.grid(row=3, column=1, sticky=tk.W)
+
+        # 补充缺失的电流显示项
+        ttk.Label(frame, text="桅杆舵机控制箱电流(A):").grid(row=4,
+                                                    column=0,
+                                                    sticky=tk.W)
+        self.high_a_vol_mast_steering_current = ttk.Label(frame, text="0.0 A")
+        self.high_a_vol_mast_steering_current.grid(row=4,
+                                                   column=1,
+                                                   sticky=tk.W)
+
+        ttk.Label(frame, text="XCZ电流(A):").grid(row=4, column=2, sticky=tk.W)
+        self.high_a_vol_xcz_current = ttk.Label(frame, text="0.0 A")
+        self.high_a_vol_xcz_current.grid(row=4, column=3, sticky=tk.W)
+
+        ttk.Label(frame, text="艏舵控制箱电流(A):").grid(row=5, column=0, sticky=tk.W)
+        self.high_a_vol_bow_rudder_current = ttk.Label(frame, text="0.0 A")
+        self.high_a_vol_bow_rudder_current.grid(row=5, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="敞水盖启动电缸电流(A):").grid(row=5,
+                                                    column=2,
+                                                    sticky=tk.W)
+        self.high_a_vol_open_cover_current = ttk.Label(frame, text="0.0 A")
+        self.high_a_vol_open_cover_current.grid(row=5, column=3, sticky=tk.W)
+
+        # 断路器状态 - 添加详细说明
+        ttk.Label(frame, text="高压A母线断路器状态:").grid(row=10,
+                                                  column=0,
+                                                  columnspan=4,
+                                                  sticky=tk.W)
+        self.high_a_vol_breakers = {}
+        breaker_names = list(
+            self.status_data["high_a_vol_bus"]["breakers"].keys())
+
+        for i, name in enumerate(breaker_names):
+            ttk.Label(frame, text=f"{name}状态:").grid(row=8 + i // 2,
+                                                     column=(i % 2) * 2,
+                                                     sticky=tk.W)
+            canvas = tk.Canvas(frame, width=20, height=20, bg="white")
+            canvas.grid(row=8 + i // 2, column=(i % 2) * 2 + 1, sticky=tk.W)
+            self.high_a_vol_breakers[name] = canvas
+
+        # 报警状态 - 更详细描述
+        ttk.Label(frame, text="仪表电源失电信号:").grid(row=11, column=0, sticky=tk.W)
+        self.high_a_vol_instrument_power_fault = ttk.Label(frame, text="正常")
+        self.high_a_vol_instrument_power_fault.grid(row=11,
+                                                    column=1,
+                                                    sticky=tk.W)
+
+        ttk.Label(frame, text="应急电源失电信号:").grid(row=11, column=2, sticky=tk.W)
+        self.high_a_vol_emergency_power_fault = ttk.Label(frame, text="正常")
+        self.high_a_vol_emergency_power_fault.grid(row=11,
+                                                   column=3,
+                                                   sticky=tk.W)
+
+        ttk.Label(frame, text="进水报警:").grid(row=12, column=0, sticky=tk.W)
+        self.high_a_vol_water_alarm = ttk.Label(frame, text="无")
+        self.high_a_vol_water_alarm.grid(row=12, column=1, sticky=tk.W)
+
+    def process_udp_message(self, data):
+        """处理接收到的UDP消息"""
+        try:
+            msg_id = int.from_bytes(data[2:4], byteorder='little')
+            print('----------------------------', hex(msg_id))
+            if msg_id == 0x0005:  # 高压母线状态
+                msg = msg_disHighVolBusFbMsg()
+                if msg.unpack(data):
+                    self.db.insertHighVolBusData(msg)
+                    # self.update_high_vol_ui(bus)
+                    bus = self.status_data["high_vol_bus"]
+                    bus["voltage"]["动力母线电压"] = msg.powerBusVoltage / 10.0
+                    bus["voltage"]["A母线电压"] = msg.busbarAVoltage / 10.0
+                    bus["current"]["动力母线电流"] = msg.powerBusCurrent / 10.0
+                    bus["current"][
+                        "DC/DC5模块电流"] = msg.dcDc5ModuleCurrent / 10.0
+                    bus["current"][
+                        "推进电机控制箱电流"] = msg.propulsionMotorControlBoxCurrent / 10.0
+                    bus["current"]["A母线电流"] = msg.busbarACurrent / 10.0
+                    bus["current"][
+                        "锂电池组仪表电流"] = msg.lithiumBatteryGroupMeterCurrent / 10.0
+                    bus["current"][
+                        "艏高压配电盒电流"] = msg.bowHighVoltageDistributionBoxCurrent / 10.0
+                    bus["current"][
+                        "艉FT设备45电流"] = msg.sternFTDevice45Current / 10.0
+                    bus["current"][
+                        "TYZ备用开关电流"] = msg.tyzReservedSwitchCurrent / 10.0
+                    bus["current"][
+                        "FB备用开关电流"] = msg.sternRudderSwitch1Current / 10.0
+                    bus["current"]["备用电流1"] = msg.reservedCurrent1 / 10.0
+                    bus["current"][
+                        "艉舵机开关1电流"] = msg.sternRudderSwitch2Current / 10.0
+                    bus["current"]["备用电流2"] = msg.reservedCurrent2 / 10.0
+                    bus["current"][
+                        "艉舵机开关2电流"] = msg.fbReservedSwitchCurrent / 10.0
+                    bus["current"]["备用电流3"] = msg.reservedCurrent3 / 10.0
+
+                    # bus["breakers"]["燃料电池断路器"] = 1 if msg.fuelCellCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["动力锂电池断路器"] = 1 if msg.powerLithiumBatteryCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["推进电机断路器"] = 1 if msg.propulsionMotorCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["锂电池组仪表断路器"] = 1 if msg.lithiumBatteryGroupInstrumentCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["DC/DC汇流排断路器"] = 1 if msg.dcDc5ModuleCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["艏部高压断路器"] = 1 if msg.bowHighVoltageDistributionBoxCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["艉FT设备45断路器"] = 1 if msg.sternFTDevice45CircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["艉舵机开关1断路器"] = 1 if msg.sternRudderSwitch1CircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["艉舵机开关2断路器"] = 1 if msg.sternRudderSwitch2CircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["FB备用断路器"] = 1 if msg.fbReservedCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["TYZ备用断路器"] = 1 if msg.tyzReservedCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["备用断路器"] = 1 if msg.reservedCircuitBreaker == 0x55 else 0
+
+                    bus["breakers"]["燃料电池断路器"] = msg.fuelCellCircuitBreaker
+                    bus["breakers"][
+                        "动力锂电池断路器"] = msg.powerLithiumBatteryCircuitBreaker
+                    bus["breakers"][
+                        "推进电机断路器"] = msg.propulsionMotorCircuitBreaker
+                    bus["breakers"][
+                        "锂电池组仪表断路器"] = msg.lithiumBatteryGroupInstrumentCircuitBreaker
+                    bus["breakers"][
+                        "DC/DC汇流排断路器"] = msg.dcDc5ModuleCircuitBreaker
+                    bus["breakers"][
+                        "艏部高压断路器"] = msg.bowHighVoltageDistributionBoxCircuitBreaker
+                    bus["breakers"][
+                        "艉FT设备45断路器"] = msg.sternFTDevice45CircuitBreaker
+                    bus["breakers"][
+                        "FB备用断路器"] = msg.sternRudderSwitch1CircuitBreaker
+                    bus["breakers"][
+                        "艉舵机开关1断路器"] = msg.sternRudderSwitch2CircuitBreaker
+                    bus["breakers"]["艉舵机开关2断路器"] = msg.fbReservedCircuitBreaker
+                    bus["breakers"]["TYZ备用断路器"] = msg.tyzReservedCircuitBreaker
+                    bus["breakers"]["备用断路器"] = msg.reservedCircuitBreaker
+
+                    # print('----------------------------',bus["breakers"])
+
+                    bus["faults"]["DC/DC故障1"] = msg.dcDcFaultWord1
+                    bus["faults"]["DC/DC故障2"] = msg.dcDcFaultWord2
+
+                    if msg.powerBusInsulationStatus == 0x55:
+                        bus["insulation"]["动力母线绝缘状态"] = 0
+                    else:
+                        bus["insulation"]["动力母线绝缘状态"] = 1
+
+                    if msg.aBusInsulationStatus == 0x55:
+                        bus["insulation"]["A母线绝缘状态"] = 0
+                    else:
+                        bus["insulation"]["A母线绝缘状态"] = 1
+
+                    # if msg.meterPowerLossSignal == 0x55:
+                    #     bus["alarms"]["仪表电源丢失信号"] = 0
+                    # else:
+                    #     bus["alarms"]["仪表电源丢失信号"] = 1
+                    bus["alarms"]["应急电源丢失信号"] = msg.emergencyPowerLossSignal
+                    bus["alarms"]["仪表电源丢失信号"] = msg.meterPowerLossSignal
+                    # if msg.emergencyPowerLossSignal == 0x55:
+                    #     bus["alarms"]["应急电源丢失信号"] = 0
+                    # else:
+                    #     bus["alarms"]["应急电源丢失信号"] = 1
+                    bus["cool_water_pressure"] = msg.coolWaterPressure / 10.0
+                    bus["dcdc_temp"] = msg.dcdcTemperature - 40
+
+                    self.status_data["high_vol_bus"] = bus
+                    # 更新UI显示
+                    # print(self.status_data)
+
+                    self.log_message("收到高压母线状态更新")
+            elif msg_id == 0x0006:  # 高压A母线状态
+                msg = msg_disHighAVolBusFbMsg()
+                if msg.unpack(data):
+                    self.db.insertHighAVolBusData(msg)
+                    bus = self.status_data["high_a_vol_bus"]
+                    bus["voltage"]["B母线电压"] = msg.busbarBVoltage / 10.0
+                    bus["current"]["B母线电流"] = msg.busbarBCurrent / 10.0
+                    bus["current"][
+                        "艏FT设备123电流"] = msg.bowFTDevice123Current / 10.0
+                    bus["current"]["执行机构电流"] = msg.actuatorCurrent / 10.0
+                    bus["current"][
+                        "桅舵机控制箱电流"] = msg.mastSteeringGearControlBoxCurrent / 10.0
+                    bus["current"]["XCZ电流"] = msg.xczCurrent / 10.0
+                    bus["current"][
+                        "艏舵控制箱电流"] = msg.bowRudderControlBoxCurrent / 10.0
+                    bus["current"][
+                        "开盖启动气缸电流"] = msg.openWaterCoverStartCylinderCurrent / 10.0
+
+                    # bus["breakers"]["艏FT设备123断路器"] = 1 if msg.bowFTDevice123CircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["启闭机构断路器"] = 1 if msg.actuatorCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["桅杆舵机断路器"] = 1 if msg.mastSteeringGearControlBoxCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["XCZ断路器"] = 1 if msg.xczCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["艏舵控制箱断路器"] = 1 if msg.bowRudderControlBoxCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["敞水盖断路器"] = 1 if msg.openWaterCoverStartCylinderCircuitBreaker == 0x55 else 0
+                    bus["breakers"][
+                        "艏FT设备123断路器"] = msg.bowFTDevice123CircuitBreaker
+                    bus["breakers"]["启闭机构断路器"] = msg.actuatorCircuitBreaker
+                    bus["breakers"][
+                        "桅杆舵机断路器"] = msg.mastSteeringGearControlBoxCircuitBreaker
+                    bus["breakers"]["XCZ断路器"] = msg.xczCircuitBreaker
+                    bus["breakers"][
+                        "艏舵控制箱断路器"] = msg.bowRudderControlBoxCircuitBreaker
+                    bus["breakers"][
+                        "敞水盖断路器"] = msg.openWaterCoverStartCylinderCircuitBreaker
+
+                    bus["alarms"]["仪表电源故障"] = msg.instrumentPowerFailureSignal
+                    bus["alarms"]["应急电源故障"] = msg.emergencyPowerFailureSignal
+                    bus["alarms"]["进水报警"] = msg.waterIngressionAlarm
+
+                    self.log_message("收到高压A母线状态更新")
+            elif msg_id == 0x0007:  # 仪表主母线状态
+                msg = msg_disLowMainBusFbMsg()
+                if msg.unpack(data):
+                    self.db.insertLowMainBusData(msg)
+                    bus = self.status_data["low_main_bus"]
+                    bus["voltage"][
+                        "仪表母线电压"] = msg.instrumentBusbarVoltage / 10.0
+                    bus["voltage"][
+                        "应急2母线电压"] = msg.emergency2BusbarVoltage / 10.0
+                    bus["current"][
+                        "艏低压配电盒电流"] = msg.bowLowVoltageDistributionBoxCurrent / 10.0
+                    bus["current"][
+                        "DC/C1仪表48V电流"] = msg.dcC1InstrumentDC48VCurrent / 10.0
+                    bus["current"]["备用电流1"] = msg.reservedCurrent1 / 10.0
+                    bus["current"][
+                        "应急锂电池组2电流"] = msg.emergencyLithiumBatteryGroup2Current / 10.0
+                    bus["current"][
+                        "锂电池组仪表电流"] = msg.lithiumBatteryGroupInstrumentCurrent / 10.0
+                    bus["current"][
+                        "单元4仪表48V电流"] = msg.unit4InstrumentDC48VCurrent / 10.0
+                    bus["current"]["备用电流2"] = msg.reservedCurrent2 / 10.0
+                    bus["current"][
+                        "综合能量管理系统应急DC48V电流"] = msg.compositeEnergyManagementSystemEmergencyDC48VCurrent / 10.0
+                    bus["current"][
+                        "燃料电池安全系统应急DC48V电流"] = msg.fuelCellSecuritySystemEmergencyDC48VCurrent / 10.0
+                    bus["current"][
+                        "PLC控制电源电流"] = msg.plcControlPowerCurrent / 10.0
+
+                    # bus["breakers"]["锂电池组仪表断路器"] = 1 if msg.lithiumBatteryGroupInstrumentCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["艏部低压断路器"] = 1 if msg.bowLowVoltageDistributionBoxCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["单元4仪表48V断路器"] = 1 if msg.unit4InstrumentDC48VCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["DC/C1直流配电板断路器"] = 1 if msg.dcC1DCDistributionPanelCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["备用断路器1"] = 1 if msg.reservedCircuitBreaker1 == 0x55 else 0
+                    # bus["breakers"]["备用断路器2"] = 1 if msg.reservedCircuitBreaker2 == 0x55 else 0
+                    # bus["breakers"]["应急锂电池组2断路器"] = 1 if msg.emergencyLithiumBatteryGroup2CircuitBreaker == 0x55 else 0
+                    bus["breakers"][
+                        "锂电池组仪表断路器"] = msg.lithiumBatteryGroupInstrumentCircuitBreaker
+                    bus["breakers"][
+                        "艏部低压断路器"] = msg.bowLowVoltageDistributionBoxCircuitBreaker
+                    bus["breakers"][
+                        "单元4仪表48V断路器"] = msg.unit4InstrumentDC48VCircuitBreaker
+                    bus["breakers"][
+                        "DC/C1直流配电板断路器"] = msg.dcC1DCDistributionPanelCircuitBreaker
+                    bus["breakers"]["备用断路器1"] = msg.reservedCircuitBreaker1
+                    bus["breakers"]["备用断路器2"] = msg.reservedCircuitBreaker2
+                    bus["breakers"][
+                        "应急锂电池组2断路器"] = msg.emergencyLithiumBatteryGroup2CircuitBreaker
+
+                    # 0x55 正常
+                    # 0xaa 故障
+                    # if msg.instrumentPowerFailureSignal == 0x55:
+                    #     bus["alarms"]["仪表电源故障"] = 0
+                    # else:
+                    #     bus["alarms"]["仪表电源故障"] = 1
+                    bus["alarms"]["仪表电源故障"] = msg.instrumentPowerFailureSignal
+                    # if msg.emergencyPowerFailureSignal == 0x55:
+                    #     bus["alarms"]["应急电源故障"] = 0
+                    # else:
+                    #     bus["alarms"]["应急电源故障"] = 1
+                    bus["alarms"]["应急电源故障"] = msg.emergencyPowerFailureSignal
+                    # bus["insulation"] = msg.instrumentBusbarInsulationLow
+                    if msg.instrumentBusbarInsulationLow == 0x55:
+                        bus["insulation"] = 0
+                    else:
+                        bus["insulation"] = 1
+                    bus["insulation"] = msg.instrumentBusbarInsulationLow
+
+                    self.log_message("收到仪表主母线状态更新")
+                else:
+                    print("仪表主母线状态", "解析失败")
+
+            elif msg_id == 0x0008:  # 仪表母线状态
+                msg = msg_disLowBusFbMsg()
+                if msg.unpack(data):
+                    self.db.insertLowBusData(msg)
+                    bus = self.status_data["low_bus"]
+                    bus["voltage"][
+                        "仪表母线电压"] = msg.instrumentBusbarVoltage / 10.0
+                    bus["voltage"][
+                        "应急1母线电压"] = msg.emergency1BusbarVoltage / 10.0
+                    bus["current"][
+                        "仪表母线电流"] = msg.instrumentBusbarCurrent / 10.0
+                    bus["current"]["单元1电流"] = msg.unit1Current / 10.0
+                    bus["current"]["单元2电流"] = msg.unit2Current / 10.0
+                    bus["current"]["单元3电流"] = msg.unit3Current / 10.0
+                    bus["current"]["单元5电流"] = msg.unit5Current / 10.0
+                    bus["current"]["艏PZ设备电流"] = msg.bowPZDeviceCurrent / 10.0
+                    bus["current"][
+                        "应急锂电池组1电流"] = msg.emergencyLithiumBatteryGroup1Current / 10.0
+
+                    # bus["breakers"]["单元1断路器"] = 1 if msg.unit1CircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["单元2断路器"] = 1 if msg.unit2CircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["单元3断路器"] = 1 if msg.unit3CircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["单元5断路器"] = 1 if msg.unit5CircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["艏PZ设备断路器"] = 1 if msg.bowPZDeviceCircuitBreaker == 0x55 else 0
+                    # bus["breakers"]["备用断路器1"] = 1 if msg.reservedCircuitBreaker1 == 0x55 else 0
+                    # bus["breakers"]["备用断路器2"] = 1 if msg.reservedCircuitBreaker2 == 0x55 else 0
+                    # bus["breakers"]["应急锂电池组1断路器"] = 1 if msg.emergencyLithiumBatteryGroup1CircuitBreaker == 0x55 else 0
+
+                    bus["breakers"]["单元1断路器"] = msg.unit1CircuitBreaker
+                    bus["breakers"]["单元2断路器"] = msg.unit2CircuitBreaker
+                    bus["breakers"]["单元3断路器"] = msg.unit3CircuitBreaker
+                    bus["breakers"]["单元5断路器"] = msg.unit5CircuitBreaker
+                    bus["breakers"]["艏PZ设备断路器"] = msg.bowPZDeviceCircuitBreaker
+                    bus["breakers"]["备用断路器1"] = msg.reservedCircuitBreaker1
+                    bus["breakers"]["备用断路器2"] = msg.reservedCircuitBreaker2
+                    bus["breakers"][
+                        "应急锂电池组1断路器"] = msg.emergencyLithiumBatteryGroup1CircuitBreaker
+
+                    bus["alarms"]["仪表电源故障"] = msg.instrumentPowerFailureSignal
+                    bus["alarms"]["应急电源故障"] = msg.emergencyPowerFailureSignal
+                    bus["alarms"]["进水报警"] = msg.waterIngressionAlarm
+                    self.log_message("收到仪表母线状态更新")
+                else:
+                    print("仪表母线状态", "解析失败")
+
+            else:
+                self.log_message("消息解析失败")
+                print('消息处理完成')
+
+        except Exception as e:
+            self.log_message(f"消息处理错误: {str(e)}")
+
+    def setup_low_main_ui(self, parent):
+        """设置仪表主母线状态界面"""
+        frame = ttk.LabelFrame(parent, text="仪表主母线状态")
+        frame.pack(fill=tk.BOTH, expand=True, padx=2, pady=2)
+
+        # 显式配置4列网格布局
+        frame.grid_columnconfigure(0, weight=1)
+        frame.grid_columnconfigure(1, weight=1)
+        frame.grid_columnconfigure(2, weight=1)
+        frame.grid_columnconfigure(3, weight=1)
+
+        # 电压显示
+        ttk.Label(frame, text="仪表母线电压(V):").grid(row=0, column=0, sticky=tk.W)
+        self.low_main_instrument_voltage = ttk.Label(frame, text="0.0")
+        self.low_main_instrument_voltage.grid(row=0, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="应急2汇流排电压(V):").grid(row=0,
+                                                   column=2,
+                                                   sticky=tk.W)
+        self.low_main_emergency2_voltage = ttk.Label(frame, text="0.0")
+        self.low_main_emergency2_voltage.grid(row=0, column=3, sticky=tk.W)
+
+        # 电流显示
+        ttk.Label(frame, text="艏部低压配电箱电流(A):").grid(row=1,
+                                                    column=0,
+                                                    sticky=tk.W)
+        self.low_main_bow_current = ttk.Label(frame, text="0.0")
+        self.low_main_bow_current.grid(row=1, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="锂电池组（仪表）电流(A):").grid(row=1,
+                                                     column=2,
+                                                     sticky=tk.W)
+        self.low_main_battery_current = ttk.Label(frame, text="0.0")
+        self.low_main_battery_current.grid(row=1, column=3, sticky=tk.W)
+
+        # 补充其他电流显示项
+        ttk.Label(frame, text="DC-C1(直流配电板1)仪表DC48V电流(A):").grid(row=2,
+                                                                 column=0,
+                                                                 sticky=tk.W)
+        self.low_main_dcc1_current = ttk.Label(frame, text="0.0")
+        self.low_main_dcc1_current.grid(row=2, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="应急锂电池组2电流(A):").grid(row=2,
+                                                    column=2,
+                                                    sticky=tk.W)
+        self.low_main_emergency2_current = ttk.Label(frame, text="0.0")
+        self.low_main_emergency2_current.grid(row=2, column=3, sticky=tk.W)
+
+        ttk.Label(frame, text="单元4仪表48V电流(A):").grid(row=3,
+                                                     column=0,
+                                                     sticky=tk.W)
+        self.low_main_unit4_current = ttk.Label(frame, text="0.0")
+        self.low_main_unit4_current.grid(row=3, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="复合能源管控系统应急DC48V电流(A):").grid(row=3,
+                                                            column=2,
+                                                            sticky=tk.W)
+        self.low_main_energy_current = ttk.Label(frame, text="0.0")
+        self.low_main_energy_current.grid(row=3, column=3, sticky=tk.W)
+
+        ttk.Label(frame, text="燃料电池安保系统应急DC48V电流(A):").grid(row=4,
+                                                            column=0,
+                                                            sticky=tk.W)
+        self.low_main_fuelcell_current = ttk.Label(frame, text="0.0")
+        self.low_main_fuelcell_current.grid(row=4, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="PLC控制电源电流(A):").grid(row=4,
+                                                    column=2,
+                                                    sticky=tk.W)
+        self.low_main_plc_current = ttk.Label(frame, text="0.0")
+        self.low_main_plc_current.grid(row=4, column=3, sticky=tk.W)
+
+        # 断路器状态
+        ttk.Label(frame, text="断路器状态:").grid(row=5,
+                                             column=0,
+                                             columnspan=4,
+                                             sticky=tk.W)
+        self.low_main_breakers = {}
+        breaker_names = list(
+            self.status_data["low_main_bus"]["breakers"].keys())
+
+        # 断路器状态 - 调整为每行3个断路器，从行6开始
+        for i, name in enumerate(breaker_names):
+            row = 6 + i // 3
+            col = (i % 3) * 2
+            ttk.Label(frame, text=name).grid(row=row, column=col, sticky=tk.W)
+            canvas = tk.Canvas(frame, width=20, height=20, bg="white")
+            canvas.grid(row=row, column=col + 1, sticky=tk.W)
+            self.low_main_breakers[name] = canvas
+
+        # 报警状态
+        ttk.Label(frame, text="仪表电源失电信号 :").grid(row=9, column=0, sticky=tk.W)
+        self.low_main_instrument_fault = ttk.Label(frame, text="无")
+        self.low_main_instrument_fault.grid(row=9, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="应急电源失电信号 :").grid(row=9, column=2, sticky=tk.W)
+        self.low_main_emergency_fault = ttk.Label(frame, text="无")
+        self.low_main_emergency_fault.grid(row=9, column=3, sticky=tk.W)
+
+        # 绝缘状态
+        ttk.Label(frame, text="仪表汇流排绝缘低 :").grid(row=10, column=0, sticky=tk.W)
+        self.low_main_insulation = ttk.Label(frame, text="正常")
+        self.low_main_insulation.grid(row=10, column=1, sticky=tk.W)
+
+        # 备用电流
+        ttk.Label(frame, text="备用电流1 :").grid(row=11, column=0, sticky=tk.W)
+        self.low_main_reserved1 = ttk.Label(frame, text="0.0")
+        self.low_main_reserved1.grid(row=11, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="备用电流2 :").grid(row=11, column=2, sticky=tk.W)
+        self.low_main_reserved2 = ttk.Label(frame, text="0.0")
+        self.low_main_reserved2.grid(row=11, column=3, sticky=tk.W)
+
+        return frame
+
+    def setup_low_bus_ui(self, parent):
+        """设置仪表母线状态界面"""
+        frame = ttk.LabelFrame(parent, text="仪表母线状态")
+        frame.pack(fill=tk.BOTH, expand=True, padx=2, pady=2)
+
+        # 显式配置4列网格布局
+        frame.grid_columnconfigure(0, weight=1)
+        frame.grid_columnconfigure(1, weight=1)
+        frame.grid_columnconfigure(2, weight=1)
+        frame.grid_columnconfigure(3, weight=1)
+
+        # 电压显示
+        ttk.Label(frame, text="仪表母排电压(V):").grid(row=0, column=0, sticky=tk.W)
+        self.low_bus_instrument_voltage = ttk.Label(frame, text="0.0")
+        self.low_bus_instrument_voltage.grid(row=0, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="应急1母线电压(V):").grid(row=0, column=2, sticky=tk.W)
+        self.low_bus_emergency1_voltage = ttk.Label(frame, text="0.0")
+        self.low_bus_emergency1_voltage.grid(row=0, column=3, sticky=tk.W)
+
+        # 电流显示
+        ttk.Label(frame, text="单元1电流(A):").grid(row=1, column=0, sticky=tk.W)
+        self.low_bus_unit1_current = ttk.Label(frame, text="0.0")
+        self.low_bus_unit1_current.grid(row=1, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="单元2电流(A):").grid(row=1, column=2, sticky=tk.W)
+        self.low_bus_unit2_current = ttk.Label(frame, text="0.0")
+        self.low_bus_unit2_current.grid(row=1, column=3, sticky=tk.W)
+
+        ttk.Label(frame, text="仪表母排电流(A):").grid(row=2, column=0, sticky=tk.W)
+        self.low_bus_main_current = ttk.Label(frame, text="0.0")
+        self.low_bus_main_current.grid(row=2, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="单元3电流(A):").grid(row=2, column=2, sticky=tk.W)
+        self.low_bus_unit3_current = ttk.Label(frame, text="0.0")
+        self.low_bus_unit3_current.grid(row=2, column=3, sticky=tk.W)
+
+        ttk.Label(frame, text="单元5电流(A):").grid(row=3, column=0, sticky=tk.W)
+        self.low_bus_unit5_current = ttk.Label(frame, text="0.0")
+        self.low_bus_unit5_current.grid(row=3, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="艏PZ设备电流(A):").grid(row=3, column=2, sticky=tk.W)
+        self.low_bus_bow_pz_current = ttk.Label(frame, text="0.0")
+        self.low_bus_bow_pz_current.grid(row=3, column=3, sticky=tk.W)
+
+        ttk.Label(frame, text="应急锂电池组1电流(A):").grid(row=4,
+                                                    column=0,
+                                                    sticky=tk.W)
+        self.low_bus_emergency1_current = ttk.Label(frame, text="0.0")
+        self.low_bus_emergency1_current.grid(row=4, column=1, sticky=tk.W)
+
+        # 断路器状态
+        ttk.Label(frame, text="断路器状态:").grid(row=5,
+                                             column=0,
+                                             columnspan=4,
+                                             sticky=tk.W)
+        self.low_bus_breakers = {}
+        breaker_names = list(self.status_data["low_bus"]["breakers"].keys())
+
+        for i, name in enumerate(breaker_names):
+            row = 6 + i // 2
+            col = (i % 2) * 2
+            ttk.Label(frame, text=name).grid(row=row, column=col, sticky=tk.W)
+            canvas = tk.Canvas(frame, width=20, height=20, bg="white")
+            canvas.grid(row=row, column=col + 1, sticky=tk.W)
+            self.low_bus_breakers[name] = canvas
+
+        # 报警状态
+        ttk.Label(frame, text="仪表电失电信号 :").grid(row=10, column=0, sticky=tk.W)
+        self.low_bus_power_fault = ttk.Label(frame, text="无")
+        self.low_bus_power_fault.grid(row=10, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="应急电失电信号 :").grid(row=11, column=0, sticky=tk.W)
+        self.low_bus_emgpower_fault = ttk.Label(frame, text="无")
+        self.low_bus_emgpower_fault.grid(row=11, column=1, sticky=tk.W)
+
+        ttk.Label(frame, text="浸水报警 :").grid(row=10, column=2, sticky=tk.W)
+        self.low_bus_water_alarm = ttk.Label(frame, text="无")
+        self.low_bus_water_alarm.grid(row=10, column=3, sticky=tk.W)
+
+        return frame
+
+    def send_udp_command(self, data, ip, port):
+        """发送UDP命令"""
+        try:
+            # self.sock.sendto(data, (self.udp_ip, self.udp_port + 1))
+            self.sock.sendto(data, (ip, port))
+            print(f"发送命令到 {ip}:{port} ", data)
+        except Exception as e:
+            self.log_message(f"发送命令失败: {str(e)}")
+
+    def update_high_vol_ui(self, status):
+        """更新高压母线UI显示"""
+        # 更新电压显示
+        self.high_vol_power_voltage.config(
+            text=f"{status['voltage']['动力母线电压']:.1f} V")
+        self.high_vol_a_voltage.config(
+            text=f"{status['voltage']['A母线电压']:.1f} V")
+
+        # # 更新电流显示
+        # self.high_vol_power_current.config(text=f"{status['current']['动力母线电流']:.1f}")
+        # self.high_vol_a_current.config(text=f"{status['current']['A母线电流']:.1f}")
+
+        # 更新所有电流值
+        current_vars = [('powerBusCurrent', '动力母线电流'),
+                        ('busbarACurrent', 'A母线电流'),
+                        ('dcDc5ModuleCurrent', 'DC/DC5模块电流'),
+                        ('propulsionMotorControlBoxCurrent', '推进电机控制箱电流'),
+                        ('lithiumBatteryGroupMeterCurrent', '锂电池组仪表电流'),
+                        ('bowHighVoltageDistributionBoxCurrent', '艏高压配电盒电流'),
+                        ('sternFTDevice45Current', '艉FT设备45电流'),
+                        ('tyzReservedSwitchCurrent', 'TYZ备用开关电流'),
+                        ('fbReservedSwitchCurrent', '艉舵机开关2电流'),
+                        ('sternRudderSwitch1Current', 'FB备用开关电流'),
+                        ('sternRudderSwitch2Current', '艉舵机开关1电流'),
+                        ('reservedCurrent1', '备用电流1'),
+                        ('reservedCurrent2', '备用电流2'),
+                        ('reservedCurrent3', '备用电流3')]
+
+        for var_name, data_key in current_vars:
+            label = getattr(self, f"high_vol_{var_name}")
+            label.config(text=f"{status['current'][data_key]:.1f} A")
+
+        # 更新断路器状态
+        for name, state in status['breakers'].items():
+            if name in self.high_vol_breakers:
+                canvas = self.high_vol_breakers[name]
+                # color = 'green' if state else 'red'
+                # print(name, hex(state))
+                if state == 0x55:
+                    color = "yellow"
+                elif state == 0xAA:
+                    color = "black"
+                elif state == 0x5A:
+                    color = "red"
+                else:
+                    color = "white"
+                canvas.delete("all")
+                canvas.create_oval(2, 2, 18, 18, fill=color, outline="black")
+
+        # 更新DC/DC故障状态
+        dcdc_fault1 = status['faults']['DC/DC故障1']
+        dcdc_fault2 = status['faults']['DC/DC故障2']
+
+        for i in range(8):
+            color1 = 'red' if (dcdc_fault1 & (1 << i)) else 'green'
+            color2 = 'red' if (dcdc_fault2 & (1 << i)) else 'green'
+            self.high_vol_dcdc_fault1_bits[i].config(bg=color1)
+            self.high_vol_dcdc_fault2_bits[i].config(bg=color2)
+
+        # 更新绝缘状态
+        insulation_power = status['insulation']['动力母线绝缘状态']
+        insulation_a = status['insulation']['A母线绝缘状态']
+
+        power_text = "故障" if insulation_power else f"正常"
+        a_text = "故障" if insulation_a else f"正常"
+
+        self.high_vol_power_insulation.config(text=power_text)
+        self.high_vol_a_insulation.config(text=a_text)
+
+        # 更新冷却水压力
+        self.high_vol_cool_water_pressure.config(
+            text=f"{status['cool_water_pressure']:.1f} Kpa")
+
+        # # 更新温度状态
+        self.high_vol_dcdc_temp.config(text=f"{status['dcdc_temp']} 摄氏度")
+        # "仪表电源丢失信号": 0,
+        # "应急电源丢失信号": 0
+        # 更新失电故障显示
+        self.high_vol_losspower_insulation.config(
+            text="正常" if status['alarms']['仪表电源丢失信号'] == 0x55 else "故障")
+        self.high_vol_loss_emerpower_insulation.config(
+            text="正常" if status['alarms']['应急电源丢失信号'] == 0x55 else "故障")
+
+    def update_ui(self):
+        """更新界面状态"""
+        # 更新高压母线状态
+        high_vol = self.status_data["high_vol_bus"]
+        self.update_high_vol_ui(high_vol)
+        # 更新高压A母线状态
+        high_a_vol = self.status_data["high_a_vol_bus"]
+        self.high_a_vol_voltage.config(
+            text=f"{high_a_vol['voltage']['B母线电压']:.1f} V")
+        self.high_a_vol_current.config(
+            text=f"{high_a_vol['current']['B母线电流']:.1f} A")
+        self.high_a_vol_bow_ft_current.config(
+            text=f"{high_a_vol['current']['艏FT设备123电流']:.1f} A")
+        self.high_a_vol_actuator_current.config(
+            text=f"{high_a_vol['current']['执行机构电流']:.1f} A")
+
+        # 更新新增的电流显示项
+        self.high_a_vol_mast_steering_current.config(
+            text=f"{high_a_vol['current']['桅舵机控制箱电流']:.1f} A")
+        self.high_a_vol_xcz_current.config(
+            text=f"{high_a_vol['current']['XCZ电流']:.1f} A")
+        self.high_a_vol_bow_rudder_current.config(
+            text=f"{high_a_vol['current']['艏舵控制箱电流']:.1f} A")
+        self.high_a_vol_open_cover_current.config(
+            text=f"{high_a_vol['current']['开盖启动气缸电流']:.1f} A")
+
+        for name, canvas in self.high_a_vol_breakers.items():
+            state = high_a_vol["breakers"].get(name, 0)
+            if state == 0x55:
+                color = "yellow"
+            elif state == 0xAA:
+                color = "black"
+            elif state == 0x5A:
+                color = "red"
+            else:
+                color = "white"
+            # color = "green" if state else "red"
+            canvas.create_oval(2, 2, 18, 18, fill=color, outline="black")
+
+        # 更新仪表主母线状态
+        low_main = self.status_data["low_main_bus"]
+        for name, canvas in self.low_main_breakers.items():
+            state = low_main["breakers"].get(name, 0)
+            # color = "green" if state else "red"
+            if state == 0x55:
+                color = "yellow"
+            elif state == 0xAA:
+                color = "black"
+            elif state == 0x5A:
+                color = "red"
+            else:
+                color = "white"
+            canvas.create_oval(2, 2, 18, 18, fill=color, outline="black")
+
+        # 更新仪表母线状态
+        low_bus = self.status_data["low_bus"]
+        for name, canvas in self.low_bus_breakers.items():
+            state = low_bus["breakers"].get(name, 0)
+            # color = "green" if state else "red"
+            if state == 0x55:
+                color = "yellow"
+            elif state == 0xAA:
+                color = "black"
+            elif state == 0x5A:
+                color = "red"
+            else:
+                color = "white"
+            canvas.create_oval(2, 2, 18, 18, fill=color, outline="black")
+
+        self.high_a_vol_instrument_power_fault.config(
+            text="正常" if high_a_vol["alarms"]["仪表电源故障"] == 0x55 else "故障")
+        self.high_a_vol_emergency_power_fault.config(
+            text="正常" if high_a_vol["alarms"]["应急电源故障"] == 0x55 else "故障")
+        self.high_a_vol_water_alarm.config(
+            text="正常" if high_a_vol["alarms"]["进水报警"] == 0x55 else "故障")
+
+        # 更新仪表主母线状态
+        low_main = self.status_data["low_main_bus"]
+        self.low_main_instrument_voltage.config(
+            text=f"{low_main['voltage']['仪表母线电压']:.1f} V")
+        self.low_main_emergency2_voltage.config(
+            text=f"{low_main['voltage']['应急2母线电压']:.1f} V")
+        self.low_main_bow_current.config(
+            text=f"{low_main['current']['艏低压配电盒电流']:.1f} A")
+        self.low_main_battery_current.config(
+            text=f"{low_main['current']['锂电池组仪表电流']:.1f} A")
+
+        # 更新新增的电流显示项
+        self.low_main_dcc1_current.config(
+            text=f"{low_main['current']['DC/C1仪表48V电流']:.1f} A")
+        self.low_main_emergency2_current.config(
+            text=f"{low_main['current']['应急锂电池组2电流']:.1f} A")
+        self.low_main_unit4_current.config(
+            text=f"{low_main['current']['单元4仪表48V电流']:.1f} A")
+        self.low_main_energy_current.config(
+            text=f"{low_main['current']['综合能量管理系统应急DC48V电流']:.1f} A")
+        self.low_main_fuelcell_current.config(
+            text=f"{low_main['current']['燃料电池安全系统应急DC48V电流']:.1f} A")
+        self.low_main_plc_current.config(
+            text=f"{low_main['current']['PLC控制电源电流']:.1f} A")
+        # 新增加备用电流
+        self.low_main_reserved1.config(
+            text=f"{low_main['current']['备用电流1']:.1f} A")
+        self.low_main_reserved2.config(
+            text=f"{low_main['current']['备用电流2']:.1f} A")
+
+        for name, canvas in self.low_main_breakers.items():
+            state = low_main["breakers"].get(name, 0)
+            # color = "green" if state else "red"
+            if state == 0x55:
+                color = "yellow"
+            elif state == 0xAA:
+                color = "black"
+            elif state == 0x5A:
+                color = "red"
+            else:
+                color = "white"
+            canvas.create_oval(2, 2, 18, 18, fill=color, outline="black")
+
+        self.low_main_instrument_fault.config(
+            text="正常" if low_main["alarms"]["仪表电源故障"] == 0x55 else "故障")
+        self.low_main_emergency_fault.config(
+            text="正常" if low_main["alarms"]["应急电源故障"] == 0x55 else "故障")
+        self.low_main_insulation.config(
+            text="正常" if low_main["insulation"] == 0x55 else "故障")
+
+        # 更新仪表母线状态
+        low_bus = self.status_data["low_bus"]
+        self.low_bus_instrument_voltage.config(
+            text=f"{low_bus['voltage']['仪表母线电压']:.1f} V")
+        self.low_bus_emergency1_voltage.config(
+            text=f"{low_bus['voltage']['应急1母线电压']:.1f} V")
+        self.low_bus_unit1_current.config(
+            text=f"{low_bus['current']['单元1电流']:.1f} A")
+        self.low_bus_unit2_current.config(
+            text=f"{low_bus['current']['单元2电流']:.1f} A")
+
+        # 更新新增的电流显示项
+        self.low_bus_main_current.config(
+            text=f"{low_bus['current']['仪表母线电流']:.1f} A")
+        self.low_bus_unit3_current.config(
+            text=f"{low_bus['current']['单元3电流']:.1f} A")
+        self.low_bus_unit5_current.config(
+            text=f"{low_bus['current']['单元5电流']:.1f} A")
+        self.low_bus_bow_pz_current.config(
+            text=f"{low_bus['current']['艏PZ设备电流']:.1f} A")
+        self.low_bus_emergency1_current.config(
+            text=f"{low_bus['current']['应急锂电池组1电流']:.1f} A")
+
+        for name, canvas in self.low_bus_breakers.items():
+            state = low_bus["breakers"].get(name, 0)
+            # color = "green" if state else "red"
+            if state == 0x55:
+                color = "yellow"
+            elif state == 0xAA:
+                color = "black"
+            elif state == 0x5A:
+                color = "red"
+            else:
+                color = "white"
+            canvas.create_oval(2, 2, 18, 18, fill=color, outline="black")
+
+        self.low_bus_power_fault.config(
+            text="正常" if low_bus["alarms"]["仪表电源故障"] == 0x55 else "故障")
+        self.low_bus_emgpower_fault.config(
+            text="正常" if low_bus["alarms"]["应急电源故障"] == 0x55 else "故障")
+        self.low_bus_water_alarm.config(
+            text="正常" if low_bus["alarms"]["进水报警"] == 0x55 else "故障")
+        # print('update_ui')
+        # 每500ms更新一次
+        self.root.after(1000, self.update_ui)
+
+    def log_message(self, message):
+        """记录日志消息"""
+        timestamp = time.strftime("%Y-%m-%d %H:%M:%S")
+        self.log_text.config(state=tk.NORMAL)
+        self.log_text.insert(tk.END, f"[{timestamp}] {message}\n")
+
+        # 获取当前所有行数
+        line_count = int(self.log_text.index('end-1c').split('.')[0])
+        # 如果超过50行，删除最旧的行
+        if line_count > 50:
+            self.log_text.delete(1.0, 2.0)
+
+        self.log_text.config(state=tk.DISABLED)
+        self.log_text.see(tk.END)
+
+    def on_closing(self):
+        """窗口关闭事件处理"""
+        self.running = False
+        self.sock.close()
+        self.root.destroy()
+
+
+if __name__ == "__main__":
+    root = tk.Tk()
+    app = PowerManagerApp(root)
+
+    root.protocol("WM_DELETE_WINDOW", app.on_closing)
+    print('start')
+    root.mainloop()
+    print('end')
diff --git a/test/until/DriverTest.cpp b/test/until/DriverTest.cpp
index cf330d8..d461672 100644
--- a/test/until/DriverTest.cpp
+++ b/test/until/DriverTest.cpp
@@ -2,6 +2,13 @@
 // DriverTest: Driver 类的设备表生成（覆盖全部 10 个工况）、设备状态读写、
 // JSON 序列化/反序列化。
 // 不改动生产代码；仅链接 src/pPowerManger/driver.cpp。
+//
+// 测试目的：
+//   1. 验证每种工况模式下，驱动表生成是否符合预期的设备开关状态
+//   2. 验证设备状态的读写操作（setDeviceState / getDeviceState）
+//   3. 验证驱动表的 JSON 序列化/反序列化是否能正确往返
+//   4. 验证 JSON 解析为设备命令的逻辑
+//   5. 验证安全读取无符号整数的边界处理
 //=======================================================================
 #include <gtest/gtest.h>
 #include <cstring>
@@ -10,6 +17,7 @@
 
 // ----------------------------------------------------------------------
 // 全字段比较宏（62 个设备字段）
+// 用于比较两个 DriverTable 结构体的所有字段是否完全相等
 // ----------------------------------------------------------------------
 #define EXPECT_TABLE_EQ(a, b) do {                                             \
     EXPECT_EQ((a).depth1,(b).depth1); EXPECT_EQ((a).depth2,(b).depth2);         \